adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7906, 0.6025, -0.392, -0.0196, -0.0341, 0.9993, -0.0212, 0.7925, 0.6056, -0.3969, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3197, 10.3453, 1.9316, -0.0806, 0.1978, -0.0904, -0.5812, -1.306, 9.812, 1.9609, -0.0366, -0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abe0af17a307fecf54aae7e0fa97fd4f6a4d91ff5cff010b27575ba1c5a0d48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d597e50a7bad5bb507cfa56dca0024e140c6d5d0c11e3f1c824a56cd936e0e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c12a3b8ba1af7ae9c814c9085fb8435d887056465b6678df76078fef76e081a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_09620f9db701d8c9016ab4367b750487d08aea94939d51c8ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.15},\"note\":\"The safe is open at the back-left, with a yellow object to its right and two soft toys near its front. I’ll position the right gripper over the yellow object first, keeping the other arm clear.\"}",
  "call_id": "call_IJG9fe4NuuVehQtlD46S141T",
  "id": "fc_09620f9db701d8c9016ab4367ed05487d0b7c0a3c21f5e1d9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IJG9fe4NuuVehQtlD46S141T",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7444, 1.6939, 1.1107, -0.1944, 0.5694, 0.4431, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3901 right_y=0.2348 right_z=0.1357 right_yaw=0.0353 right_pitch=-0.0489 right_roll=-0.0368 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.7162, 6.694, 1.8291, -0.0659, 0.0024, -0.0171, 0.1299, -8.3077, 8.6359, 1.6484, 0.5006, 0.105, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd14a5e307764f6e4f060d48a776c172e3235fa1534c6d12ad62edcf1175d9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cae631f6847e2a5a93f27df1189dc90ca9f3ab8aa6433766cfe839ecad5e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d95a5304118221a736eb58dba7f7766ed8190255bcfc4f6db00f6d22e7ab9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7906, 0.6025, -0.392, -0.0196, -0.0341, 0.9993, -0.0212, 0.7925, 0.6056, -0.3969, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3197, 10.3453, 1.9316, -0.0806, 0.1978, -0.0904, -0.5812, -1.306, 9.812, 1.9609, -0.0366, -0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7444, 1.6939, 1.1107, -0.1944, 0.5694, 0.4431, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3901 right_y=0.2348 right_z=0.1357 right_yaw=0.0353 right_pitch=-0.0489 right_roll=-0.0368 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.7162, 6.694, 1.8291, -0.0659, 0.0024, -0.0171, 0.1299, -8.3077, 8.6359, 1.6484, 0.5006, 0.105, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd14a5e307764f6e4f060d48a776c172e3235fa1534c6d12ad62edcf1175d9a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cae631f6847e2a5a93f27df1189dc90ca9f3ab8aa6433766cfe839ecad5e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d95a5304118221a736eb58dba7f7766ed8190255bcfc4f6db00f6d22e7ab9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaF9EMKKz6lVDu8qpFN2kNDSWaeURAO8b6nYEy-vWJhBoz2_GTv-8VUTfpVw1Dx8n26_LxkrEi7efTmlKYzOspmtSM_7vJrl_56buVOgpUcgzU0-hWLfxT7nmgWr45osnV_z1dIhg2xxfM6aNMA4sIeNtGr0KeifGEGKyuKqEkVVe-pmEI0Ct1Dn1EeXFhH-8a9nwH1JQkcy7sJlho0-aVQeaZv37DXwBfbx7gvcsj6PkhAAeNn59MBCDrah8MozH_etbmb9XoDWvEdsfUa3qB8pXltOntnoTrSHZM-DxE18jMeaMk9OYNWpZM7qVdTFAQVe5ItlN2CcO1L1fbnXKvIJbdPgKRAjBmJd3OvTi_pBat-nhdiFjEDLsIEUMU4_OGGIRvLmIwql3f_mgmKOBm7C8XYeBccggr-J_T89wUhPi1GqgruvLG8Ls9aCN69uWRBOideLGCsth8AlEUDKs4UXqfMEez80W_vV0IlSuaPKpA-rv2Sr-Oq9ze-0cQ4qNaUcX4wWRmTzlUMhNNhdj1bMa2b66FG5uPz4kvr26Ba9k83EEwV0HOBxxHAK-2D0sp1iFvBiG-GiRy8nFyyhUKIOrn95b8mXfFeuAtF90ZK0GJcpdIVi_LT-Ol0NPoJKUaSSbPpALbjzI9526qDo-7SF0DI4AzWGrpeQXaQ4nDSXQXQlcsMfs3bIQQbnVLs8bTl7ar_3ObST3oLhuzRMXoomSHd_GJrghEJeBbdlPaYDzUjMwl0HS073rbnlWlFrUjtFxSdWmBrDwh7hXAO936CmNbCcxmvPAFPQzkY7d3zjQbizK_1wHNYZI3Pg2VZ3bW-bRt7la8oZXver3h4Y5IkHLjkTDh-bWpMf3maDdLx2cPVOdEcOnDxgSZ-yBjL-wvZdm0HIwLJXvSYmoCPBJevbDvrBLLf34l-_J7ne1zkKWHC03d9Dd16gnQeRHzjCl30zKCAJIRyO6J9c85yyC4MJzpl3S87uu7kcCInGf-GAUApVADqjUHKeO1jkqNpbp2pEfa65cXetFTxxlVxHQqWpNRffTBJ3ejdeUyxCj8UT1298GhJyT0mJhT-uxuBQu779K5AyCyhZQEJk1_Mgwqrvt4hjC8KW6Evc_xp4_LfP_nWxHN70IMp1qehKyK4sLuDUpiWWFaA8usK-GJrYJAdhNGoB9kge7kNeTuYhwsCrsRNmJLkqJ9OUOOEXaYDpKW_2WU3DF0DkSvsxCVs6Aaz5d13FWYd-8byggSuAvsavxEurRuNoxGSUFv-edf8HQXfGOYY8hWvMqFZT4oU9Cy5IAUSMa-AqqEfGWaE9Gq0bFWhXYyBjdQZuPuZqSdOYuoq89fNtNECJGZuzViJwGZwPKev3y5HG3PfF10djZzOhTCkCPtuewAw2riC7UW14XUl0Z-_Fu5ROF4zDEIeg0_h66DInK62zPb19wIa7SSEOOiswT63S4S_4r8djKoepgHiMBESIhrMpzC-RRRuGd0uslRkgnGxGHm2HPvSI6IBwfe-l-cjopronBWf-xBYNyFz5AJOEkgkuyr2_RVNc7p-F7b1aILam7Fa2xqOx-koLkT8Jgv9YbJSvS8LysSp_N94yg_203QWaMZkgT40QWQ_XThsPaaiYlSvfZoCVqH5WHiI6smaFlmo9Cpuc48Ztsa4_YMznXBYIw-ThjN44I7zMBJkiVy4yRJdk1eYEgJ2QaUoCk3TNpxqok6jE0ju2OoKwbdOT_j1tJkQ6H2Bd5E0UVp1RvAtTW65Ju05pMoQFDdLna2bPMp1K7T8gGuPELJWNrnMgzPz_M0YGAKYf24_GFbsLY9TPliDHREY9eUVgHKuQh3mGbI-FSwFzblmexCfcKX-6FeR0K3BP2H1eOOq5yUgSSogjaWftaMLum4sLYzdppcjw2kL8Mv70UyvyQYID_3qqlSuLCKYD0ZIBCIGp_eZ69JTNR-Y1aBFsy5mDEnGtZi4Xuc4cHTG4YzwrmDymo46GRxXq-R4Eh1rGhCRrmr7tx9h5eC4ipvxlnGtLy96OnNo-hwv0-UoiLUOUMeJAs5psnKpg3j8toM6X6LZnmiC87Pey_oBEf7gtUiLEi8os4vzL9WjEzj6pWBOVUV_xsqkpUMTmekAohEyxgNp-wsaX91WHInT9N1ZMA6lfA1FB14MRF082Kv_cJB8wC0GGiMtUCeY6YmDR0lucZ6a-4hqKwGypPOQ_mMEco8r2bqJlBnPsYuGZ65AwDvp9XHpclBdQ_nfbNNYZBcdt5j7yX-M2lu2GkTmL5XonVi8JWm__1MhNYV7eXzHLFz01cexSUe0FkFVgcrAZOOxz2dqEENpfavcEVA4onvpJyV8CV-2z1kg5VGdvYVoHY-hCYeAhkIN8yxMgJ7Du5V_JtbPY5KebbYoKHjPyKHFG_6r10-cXlLVHg77rxeZAy-eTqho",
  "id": "rs_09620f9db701d8c9016ab436825ee087d0b97e0d1fd6d8543e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.205,\"right_z\":0.11},\"note\":\"The right wrist camera shows the yellow object slightly to the right of the jaw column and short of the fingertips. I’ll shift the gripper toward it and slightly forward before lowering to grasp height.\"}",
  "call_id": "call_LyQCQfqLQQ6eu9p7TV1hXxwg",
  "id": "fc_09620f9db701d8c9016ab4368476a087d08459ff408556d585",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LyQCQfqLQQ6eu9p7TV1hXxwg",
  "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, 0.7967, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6373, 1.7393, 1.0702, -0.1154, 0.5053, 0.3794, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4126 right_y=0.2035 right_z=0.1088 right_yaw=0.0109 right_pitch=-0.0837 right_roll=-0.0564 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2376, 7.0496, 1.7118, -0.0513, -0.0415, -0.0122, -0.0342, -8.0889, 6.5299, 1.9609, 0.2369, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65ad80e1ce44512bf012216ce8de0e00a688dadc919d990477d1108f54844b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ac2b724315570205b3c21c14ad05e1eb36ba60acc706c815c90d4a364a5bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5929bbe2c883db3a90c7756f7acaab19ca067e1d44bc62027f49a84daf7a35c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7444, 1.6939, 1.1107, -0.1944, 0.5694, 0.4431, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3901 right_y=0.2348 right_z=0.1357 right_yaw=0.0353 right_pitch=-0.0489 right_roll=-0.0368 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.7162, 6.694, 1.8291, -0.0659, 0.0024, -0.0171, 0.1299, -8.3077, 8.6359, 1.6484, 0.5006, 0.105, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6373, 1.7393, 1.0702, -0.1154, 0.5053, 0.3794, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4126 right_y=0.2035 right_z=0.1088 right_yaw=0.0109 right_pitch=-0.0837 right_roll=-0.0564 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2376, 7.0496, 1.7118, -0.0513, -0.0415, -0.0122, -0.0342, -8.0889, 6.5299, 1.9609, 0.2369, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65ad80e1ce44512bf012216ce8de0e00a688dadc919d990477d1108f54844b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ac2b724315570205b3c21c14ad05e1eb36ba60acc706c815c90d4a364a5bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5929bbe2c883db3a90c7756f7acaab19ca067e1d44bc62027f49a84daf7a35c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaIfTvgjMtzvryTlwMwL2JUM64kbChvsCDJTGF7iO-Y9FvJ5_XpPDc_tmziQ9rKE7-myWAY76Xp0mp10ps5vgGmUh974AbAb33CZDEffiJ6KIg2XnKx1FJ7SvfRWMnw5HKV46yrUn1FUo2S5WrFBmd8WLINFc6I9G2pGfVXxP1lJ10EGajcYcww0IQvqDP4J1abqH23T6NaJS2RA0GK9_O5xXK45dk1s0ybuBQoMfEjrpmqHZYn3oHOBcdzUwzpwk0_uWir3dz7yw-ipOSpI6h5lax-9eQXBhev9OhcA02wu08Lsrlgi5OAdpY207HuJzhQz5opTRHHXkbtKCNnZu3B_HBeCAO2KlWmzjarwOXaIzDeqJc5aGc6U4S23sYSSMcd1zrKIvCFbgydiyjVoLzPiykLD0yhjANzmpJI_0Jo54MJN2ir3_KeLgmYktH0aTvQLTjPjim9K9bjxEPuwjg2wtNGDGvSnBmL7y2PJjVvkIIAdJiTUbupoz1k_3ycc2REOv-R0ZXL-zdnruK_VDQfiQge-g02-jxZcsLNouWJpOyD7kjfgKR0K_QtpgSj_sPCYtFDBgxXUR_0ixur2ahhDsa_RwgspOKD56ULZ-owcVKsKhDmpBjbymePDAXNK4AQvKIPSjI_L9ohyrFdGtYSaOBuZWTFiAzilkOOOLViyFYrYFGkhbAQmTLJzkQ45BBfdugUNI8Tgbcdt6bJGs_rXBRZ0-fM_-jzy1zq6rkmChCVs9btbLNcvNFmgZLhmWAbZLQGQD0nQZiO-yLNssMr_tVtxPVnxfce42BsEEtOX6zEVshfIanH-MvCmziYdfUsnrJl0LHd5Cc3aEmNnd4DvhnVMd1gNKHOpFrgsFC_B9T99uVxdUuUt_C-VOYylOYqXs9vmgMVeJCGbWdIOmeGiDwYIdUaC_afe0vKfE3jqV9JcqJ3ZZGt0SaadI8nroAqZAv_X55mXSrupO4Bwr4cqu-qSYop9lHsp3fEnUrWVZ6-FDZYM36UCJAkLqHbU4bJnneOziHof4jfTBIFGABLCJCXmeNBoWBuRQfKy92lUJ6JENO_b6SahIHa4KixinDKBBKbgTtfCh8GAyYp2vU-CcxZQNfq5FxoAQQWeUqRq4dwp_D0hxc-xvRNGVU7BHppDz_kSfH5s-temamdyS2R4aTG2ebmkjLDhEub1kvkETj0PlbQRefAFG1huYPEZf_XWm12DBNiXU9mpjfNZCtKG2vKiUcr3-rXuAxj3WZIOXR9y-nGM1ypJsLhdL0mxoclV_Qyl1XHtoZh6UXSRUtHiY38UZtnHLJscGfdAompx8xzQ2fZaokvq8PlYS66fXsNirum4IjrvRPZ877ezFtMLG8LjyuwiU3yJFCFrT1wFPtJYhaydipO3NsfV731GA7pkmHthFIbnli9lI3XxhivOW4aqC12q7wWfZl7tsyhzG0Ohd9e3B16ZTgXDGMNR83f49YsebO6kBZyvHuqelchlgsInxgm9Hb_dKmAkp2ajipekp1QiFcasbCkf0X_r7jQVhNCkY6wizBeBH28QNxCTCbNlKAAEctBCEjhNRF7xnWDGzj9fSeOyhy0vlgS7p2bomWiODkRhD5UMFFAdmNbVyeaLFAAyTtuasevdWR5j4lOU10GM9DJrEU10uCi0UH4xB_5DQit1j6ammhOu2uIyD41D7XLIBOelk_Da7GvQqrNjELJqsm2nMKCTM9ru9WSh60UzNHtbPlel8-SnIekjqQT8yzPfdVpKBLEdb568PSwdHd4vRxEmyNfea7c6-Q1ktnk5yu9I0Q8oey1dR6FGbxpo-ar_zih3jwUThWOUQnUXIYUFAwkjKVQ0Un0lL1T--AQeyBJObKj7DZLqp9ptA==",
  "id": "rs_09620f9db701d8c9016ab436865a9887d0a5298b7bfdacc956",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.437,\"right_y\":0.205,\"right_z\":0.027},\"note\":\"The yellow object is now near the right gripper’s centerline, and its bottom still appears ahead of the jaws. I’ll advance a little and lower to its mid-height for the grasp.\"}",
  "call_id": "call_QDb8xDhYtzhJig6uPMRjQJ96",
  "id": "fc_09620f9db701d8c9016ab43687879c87d09917757eb28dc4de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QDb8xDhYtzhJig6uPMRjQJ96",
  "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, 0.7967, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.6292, 1.7657, 1.0542, -0.0723, 0.4816, 0.3595, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.0236 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4151 right_y=0.2054 right_z=0.0966 right_yaw=0.0318 right_pitch=-0.0933 right_roll=-0.0578 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0735, 7.1726, 1.7509, -0.0757, -0.0562, -0.0122, 0.0615, -8.0889, 6.147, 1.6044, 0.315, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978472720a40228705fa98f25c087aaabe3cf9da10c15d6da414cb462a72b1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabb1a8646b8ad985c57f9476ae3a67a86c1d279d07ebe4da33b490814628223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a69ee5d4f3d68ff7082b76ead0824323d1dc6d8050c8564c9245c0db5895fea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7906, 0.6025, -0.392, -0.0196, -0.0341, 0.9993, -0.0212, 0.7925, 0.6056, -0.3969, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3197, 10.3453, 1.9316, -0.0806, 0.1978, -0.0904, -0.5812, -1.306, 9.812, 1.9609, -0.0366, -0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6373, 1.7393, 1.0702, -0.1154, 0.5053, 0.3794, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4126 right_y=0.2035 right_z=0.1088 right_yaw=0.0109 right_pitch=-0.0837 right_roll=-0.0564 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2376, 7.0496, 1.7118, -0.0513, -0.0415, -0.0122, -0.0342, -8.0889, 6.5299, 1.9609, 0.2369, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.6292, 1.7657, 1.0542, -0.0723, 0.4816, 0.3595, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.0236 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4151 right_y=0.2054 right_z=0.0966 right_yaw=0.0318 right_pitch=-0.0933 right_roll=-0.0578 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0735, 7.1726, 1.7509, -0.0757, -0.0562, -0.0122, 0.0615, -8.0889, 6.147, 1.6044, 0.315, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978472720a40228705fa98f25c087aaabe3cf9da10c15d6da414cb462a72b1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabb1a8646b8ad985c57f9476ae3a67a86c1d279d07ebe4da33b490814628223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a69ee5d4f3d68ff7082b76ead0824323d1dc6d8050c8564c9245c0db5895fea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaMq3ysLtX4ikFEK8-b5LiQOlwIb1S9T2i_4THZ1Ews2b_wHGX_6feVXIdAKeQC10SInXMyqFQrm8tLKAdy9XjwvDWzI6p4gHdbrOBQtI5uuOL3R0lbKEt-uEDlyKhu_oO6GhajJ8EXfPNQr7EANN4snFY5SRR-banuxJEsPJJCp_Hsh7-qn9HISiNPBcFAzAFzqxgkLlgpdsqf0F_Up7HSF6qLofV-d4BwF3_nYVzBu7ELv_ujGd1zyoCkLNBdTUFlWvnca7ZoA3X4FxfJzbSVbwbkdLLzBad8OjE_ks6OH1y_4W5_jdrEof5qtzKYBwtRNSqEKDu87KIFnQ9aCSXA9-P8F2mYwYPWnWIaiYYE9vWN9ulmG2MrIQcDY8fG7H8N95t9h6XRyv3IJHMlG-5ffUVkcAB74wbTW6-l_M0BEJ3oFZG4NMZWnf6qq8JA9YOagWSs9MuNa-xzmzigSnAa-SNXCcdNQ79G3YXRDg2Np8cxIVU9ZIAzqPGAwfmk2HASwjO6OA44nJ7ZgiT-KxcSTOAtw4yyY7L89hgXi0BWPHvymRxqo9lMu4XiMTKdIouayNSW-vgDumVgf6_DOsKg4X2STS8bBwowER13jtPhvud7pxXsynup3hEFjmMatnJ9l86Owt-0Gk4kZt48z4HlzYgGHDk3hMLXilBFJBzQvWtchXc1HOi8y7FBBoEyQf2RgxmnN9nYflawXuQutWJtf9dew2UeLOpl5abc5G1EdpPPFxQcTtcrv7evElNNhp5SmlmrJhe5k752-jSPbi6WdF_zAfBr6K2eMLDRtnF_crNCTViXBff9-BDRbLZNrGHLXThZXV2M0nWfvKLZcaDEleMNGRGOH1ubE0qyo5SW8sEGqUcwiZVwm_cItDZsRWmc6fzoTfbObu5nd0Lr_mTS-d6t5eFlP6B3TNxMtBY9y89w0EzDtCLIDfdu_KM94YnphAY4K6WEFnsmBliZVBL02cP2AxEBcfyfJ4VhBbrYS2iS2WlQ7r5qJJ_Bfm7K8Hf4u0GU0IiL-i3Mw0arrvSOj0FGmyAYAfs521sJfju1Es-qmVvRardkLamlHzMtW8mbGsw9DwYxkiXCun7l-etr-37jMcmQsioq-hpUgsdFRKsxyKFg6cdRHXzlcGRH2GcVaVvkupekHNfex9e47FCIa2TrlPLyhMZX2R6vtnFWEVP1CqaKq7_-px2SEWEjjJp_DKzKWlekALrKLMzwaO8W7LTUzWqpRNG5kQm9y1l4AIZvs7CSoeedvmqlK-I7BvVYdGw8A-3TeHA4s_G01sEdEyNtrP1hqX8gYwFMwpNK1m8FbNiFt3TIKOC4BPbLrdTnq6cp0dH8T72rhv2Zhlo_Qs1lUvuj6ufh44UtDZn27kO-GrkkjGPlM8scjXJip3gbAERPEehk7YuTNkWN3PfdKSoq0kO-AFthutzN1FggxlQfF3QsHXKAVeIQCJANYQFphGUIzl4hYtwB6qzAuvnUHA33Jc-5Emwqx93pCmv3DzIkCteHeOcR4mtwA1KLNPDm-5dZHsVCQ2gsSe8kDhGInQRfCYYdngI5YUT280IsmOxiFKupUVSrOONCIxlEWkLC99VkdFkV4F8pPoM0_uc02IbxIiFr0yhxvdHOuoGsHTSG0DlW_yE8BOJXwD7S3RSPIjeAlE63abu9J17269nhhKqZIzxrfOISGTa9tuSf28A07KOttkJaQjAutvYbxkj61GMzBpU4uJDcF5Iabbw2tmEmJkI-bjb6SAVWTAACsYaTnFii-OF4x2PbygQF30dqpOyp2Gb0nUSDGlgbzSQjmco-SV0KJdQbV-j-ZoowvHhGtzlUEUxZNXN7BxSDrQ67ZZ1HlvpynGjmgZqiT3TEz9M4LC4lbZixwwSCg1uUVEtuSrnui4-J3GN_cojPnFxQJKCGBiPyUHuqwXZnAs2MS6hraJJtJVPMMFuE3UPehZY=",
  "id": "rs_09620f9db701d8c9016ab4368a1d3c87d093d049ae2fc24275",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.205,\"right_z\":0.115,\"right_pitch\":0.35},\"note\":\"The descent stopped well above the requested height, with the yellow object still below the gripper; the arm appears constrained in this wrist pose. I’ll tip the tool forward and reset slightly higher to make room for a controlled descent.\"}",
  "call_id": "call_bm38jZwQTuJ7P4GBwzzjVW9l",
  "id": "fc_09620f9db701d8c9016ab4368b642c87d082b14eeb892a86a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bm38jZwQTuJ7P4GBwzzjVW9l",
  "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]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0383, 0.9992, 0.675, 1.8225, 0.7429, 0.6819, 0.635, 0.1516, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0404 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4147 right_y=0.2023 right_z=0.0979 right_yaw=0.0515 right_pitch=0.2645 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3744, 6.9675, 1.8291, -0.0659, -0.0415, -0.0122, 0.294, -7.0632, 5.3949, 2.2686, 0.2613, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26ddb5dfb8647672918c9ec3b26198fd8da8895f70c2736e4ea2caad022f866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0015eab50790d225be1dcaf18cf0bf790ea3696beae85376608a36e6368a36b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac8bbcdf6cf3318f834858bdc302a27d6e09c4565aa549af108c8e4860e98f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7444, 1.6939, 1.1107, -0.1944, 0.5694, 0.4431, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0015 left_pitch=-0.0164 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3901 right_y=0.2348 right_z=0.1357 right_yaw=0.0353 right_pitch=-0.0489 right_roll=-0.0368 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.7162, 6.694, 1.8291, -0.0659, 0.0024, -0.0171, 0.1299, -8.3077, 8.6359, 1.6484, 0.5006, 0.105, -0.022]",
      "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, 0.7967, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.6292, 1.7657, 1.0542, -0.0723, 0.4816, 0.3595, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.0236 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4151 right_y=0.2054 right_z=0.0966 right_yaw=0.0318 right_pitch=-0.0933 right_roll=-0.0578 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0735, 7.1726, 1.7509, -0.0757, -0.0562, -0.0122, 0.0615, -8.0889, 6.147, 1.6044, 0.315, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0383, 0.9992, 0.675, 1.8225, 0.7429, 0.6819, 0.635, 0.1516, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0404 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4147 right_y=0.2023 right_z=0.0979 right_yaw=0.0515 right_pitch=0.2645 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3744, 6.9675, 1.8291, -0.0659, -0.0415, -0.0122, 0.294, -7.0632, 5.3949, 2.2686, 0.2613, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26ddb5dfb8647672918c9ec3b26198fd8da8895f70c2736e4ea2caad022f866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0015eab50790d225be1dcaf18cf0bf790ea3696beae85376608a36e6368a36b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac8bbcdf6cf3318f834858bdc302a27d6e09c4565aa549af108c8e4860e98f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaQlf84lS7aHSUDsFdUP1bP7skYfniPpfjKYYsvfDIekFf2lNuVvJBnU9x8FuwNYSODlJY1aEg7Xovh97UKIBbFQwe0leXLZydvjesF3YWEvBwWAvjb1c2e2QDjVJ17BxEUoSx5AeMN8Yd595qE51kGabseWJQDa33jDEyMu8UfmdVhOR481nuwBv5ZpWw19mkdPNMBhqv9FnlBYiOUyrcGsasaC-K7RP-jSSkgO9VJUCW6xF08_Y21V2yBsc0cjolKrdHzDTy1iSWuVRiD6-ZheY7EA_Mi417jRrU2If8GU-nGWjsuT1kmeJfwdbYALU1OSx3zWnNLs-hqn4vSGSt6faROrMSvDiIXk0svwOpDPYIHamEtSjYtMWjpqfTzz66xEmtSQMwfy1Z52jAjTaVG1p38qHIi2KAfOwRZfB60AFVlX_sxVmlZxazhdb1lGS11AAI6dE06D6JkzFzf1KF1DYhXzE2OHFvzyiL0SdISatfWpSR3j1JVA1SOhL9hZQaPDSbVEuC2ZlE3-UGY_JuYv12Q6B2NmWTIV3dRMJXbkyuvzaCWO6Nl9UEyqjZ89gfUL_ffsL5WyMnW7hWSNI5IZS03rjzuqcLNL4ngtae4GZGuAt7Ysqz4ZOCrzIEyo_nUZ1otDv8FXNjXadndYUNEWpqPmkPDjz-NgOlvWaisntMEFTlcGO--9l7sBbmYcVnciyLS7sBniDcxHshDe1hb76NYZJ-i_k1Yl46eK_iVpZstOCvEL594Ioz53-82bURMfCIs02raJjzGCf89f1BOTJfywua-3T0z55uWab6nHj_Rf-Ci4XZynng8EsFL8NqTkXVz5LkZhc0qbi7yzG5q21SL8KZf8miDsMOzikBqBm78foXavczww0FU6xMtK9foNIFZPiOBIaT6DIVFkNn2d8RmuMm4VMPf-pZg2A1rgwG7XgsPXysmWcm27xADCmldHQEPA8eKtZAw3fA5UyRlEkRHj7GGawJHf3R_IYN-rWP25cI5b9TYH7II2pjLL3Bg-jpRi4NWvI8hJTfaU05xVA29oJkdgnsAFx8whMF3Jcb7ucNS4Qb3Ehwkupb9X4ZaWrW0Sz2O-Z_r3WUssObbPiok-LvzUPpTOuC7SwqpPzEUXvvlc3c4HfmjAu77i9UK_ktN9N0EX1q-JET-bVoBas6VX8EvQ_PF3aYQl4CCdGEdGSdKHmissh0Ujo462UcF8zWsmvP2etZBMsjo6LHGre4ko44l-YbZRp38-HEKQDzEEtUYu3wX0_804vc6ijoed1wsnxwXNSycmnU3YbAaB9zCGJ59eIt2ABluUSvZawmKxL6kUJXpz5MoiYcWhWfgEOp42TMsm09OmbDOW59tBypnbxhhZmQOZ2AVaU-1S4HyfFw3tt2BB_fhKBPrAxsBG6TrSEXETRzryJEWMGQheOXAtDMZw1v49DGyY6HiRW5_Wh_qquMWhzHQS1A9IYZp2XJX2Wz6w2CbI3oipVf9dOB6ZJvosM7P7ypUQ1Josm-pAUTLO-sQ3kdtXI7jwrDp",
  "id": "rs_09620f9db701d8c9016ab4368f445487d08a30542273094193",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.205,\"right_z\":0.045,\"right_pitch\":0.35},\"note\":\"Tilting the wrist changed the view but the grasp point stayed around 10 cm high, so the previous forward target may have been out of reach. I’ll bring it slightly back toward the base while lowering toward the yellow object.\"}",
  "call_id": "call_4zSifNMp88ZsYGXZuZ8duAef",
  "id": "fc_09620f9db701d8c9016ab4368fcbcc87d0b874a2f86bdbc66e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4zSifNMp88ZsYGXZuZ8duAef",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4362, -0.0189, -0.0383, 0.9992, 0.7147, 2.0438, 0.6449, 1.0435, 0.6807, 0.1318, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1681 left_yaw=0.0017 left_pitch=-0.0492 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3997 right_y=0.2044 right_z=0.044 right_yaw=0.0565 right_pitch=0.3075 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.265, 7.159, 1.7363, -0.0317, -0.0513, -0.0122, 0.5265, -6.5709, 3.2752, 1.4432, 0.0659, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc62f0fc97cf21360eef8ae1d27a30c8898dacfd52fce9a34af9a9dbbca0b026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e76d833b65c784c45ae5e6319792332c07b527750bbcc9f82b5db30968513e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76add79fad4d0f529b40cacf1f963f847aecf1a486216e14a21e5aa016d3be6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4088, -0.0189, -0.0383, 0.9992, 0.6373, 1.7393, 1.0702, -0.1154, 0.5053, 0.3794, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.1744 left_yaw=0.0017 left_pitch=-0.0191 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4126 right_y=0.2035 right_z=0.1088 right_yaw=0.0109 right_pitch=-0.0837 right_roll=-0.0564 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.2376, 7.0496, 1.7118, -0.0513, -0.0415, -0.0122, -0.0342, -8.0889, 6.5299, 1.9609, 0.2369, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0383, 0.9992, 0.675, 1.8225, 0.7429, 0.6819, 0.635, 0.1516, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0404 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4147 right_y=0.2023 right_z=0.0979 right_yaw=0.0515 right_pitch=0.2645 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3744, 6.9675, 1.8291, -0.0659, -0.0415, -0.0122, 0.294, -7.0632, 5.3949, 2.2686, 0.2613, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4362, -0.0189, -0.0383, 0.9992, 0.7147, 2.0438, 0.6449, 1.0435, 0.6807, 0.1318, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1681 left_yaw=0.0017 left_pitch=-0.0492 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3997 right_y=0.2044 right_z=0.044 right_yaw=0.0565 right_pitch=0.3075 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.265, 7.159, 1.7363, -0.0317, -0.0513, -0.0122, 0.5265, -6.5709, 3.2752, 1.4432, 0.0659, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc62f0fc97cf21360eef8ae1d27a30c8898dacfd52fce9a34af9a9dbbca0b026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e76d833b65c784c45ae5e6319792332c07b527750bbcc9f82b5db30968513e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76add79fad4d0f529b40cacf1f963f847aecf1a486216e14a21e5aa016d3be6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaUBwOLM2SThSzwPa4Lfa1SGZzUP8Lpr2z8gq11f8Qj8Cdd70lKUrWISMw2A0bK9NlJysWMZeEl2qOzqV6u2Jg5pHlKmn1fR70auH6lVH-UvRv0Bl8Kk96og9sX5dHN8lcPcdmSEOGPv2jaBI24vdNuN6CaPo7t_vvURrE9VpYd6aPeAm24dj54wRstCQt5-ISEQ_mPDB5NtZRvdwRzwS2sqZbVBYhmLT4PPhe2QVCo-Q-DZ55zMkvh7VEnfXP0mAugZMmKZd1ylPHuV0vahvxK9vEXhJe2ftkoC388U4KLLnI7Ce89xa2aKyyMCxQC6X5IwPyVhQlC6hGUXUL5l_zLh5qgRYa3951-SY5pABeUP0Dz9Y9m6zHucueHPUKciYKa3DGZIo9SF7pkcUptFAQGPezZobAzSvgb1hkdZgOaTx5MeZUi4ugMPG9SJY9v7XcJNxiTx7-Pm8UU0nm3Vn_98Jrkp05azOy4RUbqxhUg0qVpwvL7hM0gicYjWQI_cbBo5PwEg-GnNWHpqZlaJHKftUeMkWm41UBz_0LDo7fllTPWsTtZEiELQADmicgAHczbGndHwqmgzlyCdVg7AiyujA9kZ1CVvqkslnwUgTSjTPgcHafpGiH_SEUAcIFNydQSfwa0VXR17uVrOMG1gSVsyp8D2lPurNE_eSDFFppa3voPHKlZxVx6j11dJ93yVatXPkSZZ_zzsMhdest1F9RrcmcNLO-RmTyPexskpvCQ_-QRwgWl8LLTY8xYNNvPI38bQh-CaB_9lbgbeKW0Q08J0P6v6hyf7suH2yp8XjKXFNEefQyTAu8tsiyde-xGi3cirIKZ8jbW-I-PMRmpeXInK97K2Z0DfCWFzHZ3SUV0DmatdosR7ScEE6l6ZtZjoWf4jK9q_QPX4Re0N33ZFz40iWdF83lrCGl8PrXrriW2xNHiT94xgQfKw0W4JrDv-WMU2Pdu-RV5b3gVstkz2QKVAkOwAaN7vnwg-N-Zl2dNhtRdWJmp4yp-n4d92DzhQdKYMBSkGvQaAgr9lzC7S79NUYFA_9av1VNUAMjmPx4hAA7JIZf530rB_ZVs0QIzTj84kRl14VMcRq56_86O5jWFzxAVF0E7cANk6NQTxHzxTl_1I6mcd6EJ7GxdsWEmXOxo6aIL8fQD0l5fn-1EA8ZfMjqWvuaXNOczy4uDfeWIpUltUQCHzvGaLHYCkDNsj9G35bvlb-aaKave0BjK0Pvy_s7ClvsaeXewfTokKxJDG5ZJ1YBhTd43EEcS8Ki7ARp4NYwu4I_Rw3ghwVWJp_lbRpLSMuKWq99pCLRtZ-4Zhtyk1mpcRi5Aug7gQsS9redcOodF9fmrQXlFDq7d3elkD421SoXulWUM3WPVzG2LNrsEDiV3x9iw9bMDE4H6qWj-eYcv1w2DFqqwkuUncSvtUsZVwgdvfa_n22TseWO2LdB1780vjUWO1kJl3ljCfYsx0JZXplrwl37GjiosHp93x7fsCmZ3dNT64kzTa83iwXiTu07DjkrFIzXJld9qoFHXtdd7XXpdKCFenvbUYqR-xiVJHMpN5qN2rhccthtHqqlZtmuHa0md-wZG0hTDPzUfhWy4Fcy9frg6CiOKT6N5IoijYWJHn5VktGYaTgoAcR2NNPJ3R-0Q75IHGDiuNQufmrdkcWDLA98GwvFRIbEvr0K6gf5ptqRFVajyX6DcalfCVz-yYllmj0cAM2xeDd9wR2BpRbdKOSxMllwqv_oWuTy49Y0g4Bmx_pwboOkl7--c-xDzaZ_NhjGNpGucfreOElU8U_mzVK2LZuSq-g7akWislUyvh7utGOpbdJEKEuk=",
  "id": "rs_09620f9db701d8c9016ab436928a8487d08ebd63bef47fb5df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.417,\"right_y\":0.204,\"right_z\":0.04,\"right_pitch\":0.35},\"note\":\"The gripper now reaches grasp height, but the yellow piece appears just ahead of the fingertips in both views. I’ll move forward about 2 cm while keeping the jaws open and low.\"}",
  "call_id": "call_2H3KDBg57DW2piEGeWuhR4Oz",
  "id": "fc_09620f9db701d8c9016ab43693f2e087d0bf823dae920835c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2H3KDBg57DW2piEGeWuhR4Oz",
  "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, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6849, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0019 left_pitch=-0.0679 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0551 right_pitch=0.3423 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5111, 6.9949, 1.8291, -0.0611, -0.0513, -0.0122, 0.3487, -7.5692, 3.7538, 1.9072, 0.1734, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ec44aecc1752557800668a2e5af6f22f70658e75511ffb88d7c5b595b9ab8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accc2d2c084f314ccd7f6547225d7c51c443e1b287c9c324b91fde33d85208bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bf0a757b6ae8c2bf27c598f63e421c846da975ff073a95b3272b79a183b30d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.6292, 1.7657, 1.0542, -0.0723, 0.4816, 0.3595, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1735 left_yaw=0.0017 left_pitch=-0.0236 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4151 right_y=0.2054 right_z=0.0966 right_yaw=0.0318 right_pitch=-0.0933 right_roll=-0.0578 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0735, 7.1726, 1.7509, -0.0757, -0.0562, -0.0122, 0.0615, -8.0889, 6.147, 1.6044, 0.315, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4362, -0.0189, -0.0383, 0.9992, 0.7147, 2.0438, 0.6449, 1.0435, 0.6807, 0.1318, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1681 left_yaw=0.0017 left_pitch=-0.0492 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3997 right_y=0.2044 right_z=0.044 right_yaw=0.0565 right_pitch=0.3075 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.265, 7.159, 1.7363, -0.0317, -0.0513, -0.0122, 0.5265, -6.5709, 3.2752, 1.4432, 0.0659, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6849, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0019 left_pitch=-0.0679 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0551 right_pitch=0.3423 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5111, 6.9949, 1.8291, -0.0611, -0.0513, -0.0122, 0.3487, -7.5692, 3.7538, 1.9072, 0.1734, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ec44aecc1752557800668a2e5af6f22f70658e75511ffb88d7c5b595b9ab8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accc2d2c084f314ccd7f6547225d7c51c443e1b287c9c324b91fde33d85208bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0bf0a757b6ae8c2bf27c598f63e421c846da975ff073a95b3272b79a183b30d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaZx4pzUPYdVCe0jFqxOrX-Ja2FzmHSfq1dpxWQQhhH6VDR4VAqfienegDZ0m9joItgJY2lWmgFrOlf9dxZ14Llu259fz3C5BsCvHjBSnYh3T-4IRjOJjFKnTxhaK9CrMutvM37tS8hkO1HPVq9KM7n0aN-OGYbaLUcu5BNiB_XZJlkQdgpxdBVCypXsOfYs14MYA0i5TVDoVEKTiwf-mUr42uOmFChAPRlcwHVvoDmJaZxxfsBqHAGdCUaUm4y51IVD3QoLNOnwD2pVXxnJLxsoOPEs_6bkeDEtI2kx4mT-xZyXcRI7Yz2l3g1xoqRjEpWgoP8zMtUO9qp6ovuNujKXWUvdlhXXP9KF5v4ACPRzvOD2y3Lr6wmlk544ZwY20MgHq3LhRj_EBgxmuus_y46WdfmTZa7SHodZb_8iOTokvCIlZSIEhtW2kKqIansGjymoUQ-IabGDP2R7_vCWO4AigKtD8xwaPD40l6TkZ7j7nMTsY86ZRo11vnl7SFNfyg9H27PbNbuSTqFPNNgenNaR5lNRhHcfdmffj8uFb8XAcgR8o5G-pBqNHsfquzyms-OMFQ46RoGLAzU0XTzRCVDK-HYFBCNGIzp2Fn5STb1ZRwNP6Grw581dDCNWmzXemoXSe0BJ_n23B41NZalW3MqCNX7Pi3_gTOB2rEcuQb92T2vDh_8QNv88uV0cN2lGosyZYO8njYxjlAkGlPw2NcN0zywNNf-SQPunmuvU1ASXeRnZRsiKOpeUhCKFf6jv8q1ilTht_l9ySkI8pzQUxB9ftWJoXKnMj0kTGMiFy23VhwjWRIDO0m0HM1fK43I6-zE-BAUPMjkLMLDOnUw_P9ksXryUlxwG7Hc6qPgIyVOWWzZj1SIP944PwL5jB60OAsYoEE7d_tVEgUhgTMWDRKmv4b2wNmediCYf5t7fpBjGCYOq1wQzlWpceOPtgPsUzTRp2H9B-Gr2K9YmYm42sk3IkjS-FnM1POwgRjHnWujDHjnsJ2wqYl0rgqMg4WHXLERqQPMT3r3AtFAe_Kac9oRVhssQAjlZMhu60LNtdfr7dFX4WEfkBzMd_XBvolfAfUvEgN_P7TfhF02ZfDOWkMQvInyqe6t1j7aqdYkxbmS9pUDcj5Fc8x1xXk4Y81W6-waNTbTtFqxDQH_ojyHkI8p0XpqepeoCKqL58Ebouu4zKwASzzkgN4M_FSEGDOSttSTcgnvFNgqHD3N-sc-c1kAqoadzzH-5WH5uAeD3Jwaw-k64QzW5uAlv0BJY2y4nSP3Qw9FdWFlATmAk-bEb7GPzBVosK7OcqXIYsBAaUGk51WLpnzSRUBgBeQgRyykFk89EaNYyt3c7vlXkPEGkf1pwp2KvHGRinXtchyjAUFHxBzxb6VrlKMfAa2zOxZYa1kvpeCRI5kgKoSrem8dztW_-1nzhM8ntBR3W7_vfEA9JYHHmZ3ZWxc2ENFpoevG7bVSBuI6gLHdxBFaeHoaCHLzWBgyvNUEjwG0L2UavioIU0z801h1BtC1fQy4YRfE3zPW2sEHWBCeG2ta5WVx7FycQQRYVXJBBIRs81sJ6I7Kvh0HWSs-2PHWZVnvEOJW6a1Wt085o9NheocLm254pJrhk5WBZo0OWFyHIrVYIdBtDmr68JHC7md0_stXaOsGE7fUoDXDtPjd_Bkw31hNTB5XFaRZRlp1YizlvDMES2A8Ks3B4vtCCI5EzUjDKHUxqMjDxLtPlL79OEGcZEdLZ9dufNSnC8smmu1rXsRbszdIqpVQ_ilwmjyl9DJJzbpZZNhDyMN3Wt-FEJTZaVZGF0cl0wU2BBYraeZ_3rVT3j-xRVyFdZvzOKw0jj1xix8obYpL6SUH4PiONHX6UmdMooT-9zErKbWPNa8VgmYUr-c4_LquuIZEmbfiMFMj9_Y3t-X9keQp1dzwIzAkfjibK-Kke1YP-QyUSFox-BxJmlZYVTEaaVSbC_bbO-zQsFrkUZaV6CJ6E2iJ8_2qZuBx1Suv7upKqyTnG_m6yP_L2atwcSqwM1eVTQivyExyVns6kyEMc--ZOrRwv7nuH7yLyA382SZc53r2zGdwL_uQ5zedHY2WswcgeUJPtG0jPnRWWnwdF-7yyXQzEFeEbdG_hvZDWEF00KcRUvz5-q23-ec9LeWup28pKEyjQJDxuUZHcNXf1-kmp4VU_l3GjforKzwDngp3kBtGexEZ7hg959Qxbe4iRhI4VXWBD8WOxAQtC1a_T9M7LVMchIHjqo040vPP5-BryTfuXlDWsKh1Do6nQKLiToj0qgBTG0DOwWeSvNT8swHScgFINvimaj4LrskgIqozxKc9MOS-332oKHFr_7cfKioCh_B6-oAZEUU1zIPRZx-WDB94mBU4-bOrIhpxdy7Y-aSGyOSKGEKmxYyr88ME4kRHazF8IBcX1Tt-GJeYouSosF8m-c8GF1GfihzSRvFtsR1QhpW6dXqK6QRLBPXLEZlMR4Jj8s04X_HHPDf59iNRX2MH4Na8hwSPf51Afpxd26iRTdnY1SvQUWgscV6z04qiP7EU9RZ5w7MQjUCck2H1jm9qIOoX_buKc9hjW2LPtp-5nQdUP-a-HnhQu1k06J-PKfp9NJjTEHMJ_raKKB2x7JBsM_5KOc6dV-aL_LB8KX3RyPDAIZNb0AgPnUPukb0EpMS155YstVDgsjUBvbGwwHzjH8aRqS1CuAvWw02H37om2nK_OQMCurLOxyw02F8iCOdyQthwzvMU8kfPpFLDqFXtE4772TClB0J7lj3oe8feuT42evaq9BFvovcDctIm1-R-CHPmFIdglYa85Qhf2Z33vclD8_HNsxJxCsPTB4upBkAvqLeiMorg-iXJK-bsxuYatbt-hkTCwu0H-LUeeZri1DRq1fYV1EOV6ol8npqvWdhhDWYMXyWkhOIW_B51KVWZC8g5Np1Qj14IkuWwpu9d8zqKDmW8VqshMXmrqXMr-moS6a4UHex7422mWniSGBqNAG1vsMKWgNgjZ8ojeegsmFO2f3EJexkTpQ==",
  "id": "rs_09620f9db701d8c9016ab43695b79487d0b8bed7e1aeb67b76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.205,\"right_z\":0.085,\"right_pitch\":0.6},\"note\":\"The gripper cannot advance at its current low pose, while the yellow piece remains visibly in front. I’ll raise and pitch the tool farther forward, then check whether the arm can reach over it.\"}",
  "call_id": "call_rvd56pN9jZKHQkWkIvcRoI95",
  "id": "fc_09620f9db701d8c9016ab43699001087d09578b43e00988419",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rvd56pN9jZKHQkWkIvcRoI95",
  "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, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6846, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.0747 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0554 right_pitch=0.3422 right_roll=-0.0915 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0188, 6.9538, 1.707, -0.0562, -0.0708, -0.0122, 0.335, -7.3778, 3.8359, 1.9121, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c409a43f7a1debc11ca83f7615a55b8f34d3264d9361443e7cda4495d59f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e6af8e4c39704be4b43b85cb889a086f3479a63fec32e5485fb469b98f7730",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dc78c20ff92e768200cb7b7106f10487b0d7a79c780189b807d98a87fbc787",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0383, 0.9992, 0.675, 1.8225, 0.7429, 0.6819, 0.635, 0.1516, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0017 left_pitch=-0.0404 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4147 right_y=0.2023 right_z=0.0979 right_yaw=0.0515 right_pitch=0.2645 right_roll=-0.091 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3744, 6.9675, 1.8291, -0.0659, -0.0415, -0.0122, 0.294, -7.0632, 5.3949, 2.2686, 0.2613, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6849, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0019 left_pitch=-0.0679 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0551 right_pitch=0.3423 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5111, 6.9949, 1.8291, -0.0611, -0.0513, -0.0122, 0.3487, -7.5692, 3.7538, 1.9072, 0.1734, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6846, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.0747 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0554 right_pitch=0.3422 right_roll=-0.0915 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0188, 6.9538, 1.707, -0.0562, -0.0708, -0.0122, 0.335, -7.3778, 3.8359, 1.9121, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c409a43f7a1debc11ca83f7615a55b8f34d3264d9361443e7cda4495d59f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e6af8e4c39704be4b43b85cb889a086f3479a63fec32e5485fb469b98f7730",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63dc78c20ff92e768200cb7b7106f10487b0d7a79c780189b807d98a87fbc787",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDadH5kEw2D4izZUCbj4sjz6Pip_JZ8w4Sp40h87agjml3lUfU_JeynmLS9sj0NzaUUqBAz25ODHjloVCH4D5WfM7Wt9TZmlnU0mL9rDE25zq6uBakC0SPob-hMsYOFNIse2iEZTm_l9dcSkHj6Cad7qHrVPLrurzslRzBKQVbh8xThvSFvsKKvAlSj_1u0YHmAl4BOOpm-ArifZrw709x3G0Spj8jHVtKjKg9PPS3iVnoK6gilfz4g6YoJe2NP3jTY2zShiheGSfvSFaV2gEsLvO-PeDDeaR4bvkY1_v9BkOyBWMMxomsP3zMJeYW8nz6IGU9iKMDqjCgznxMiMllu1yQE7veHHfAtJT-dsltkyHIX9ZddcUuuBT0iY6-p1drgNdwu87gmXG9EH6np8U7ZuyZBHjCcn2cW56zePM5Whtzgm0iaVcKYSIzHoj7Bz1V6DgrZDifUx1vt3LaRQrhaMfyChkp0zUmBsc92-eWLj1jkeLqh0zx9GUHnypVP1GvQ_Gl6Lck2kIgv0glEF7kGbkmcflLjvh53bIHFhgYKHbV0mDeNMdSWaTPMY2Gj-kzf0dzvktWstgwnG_7xxWY0_2nWBKwZ1xN_2HEG7aDnPsN7p8z4iQyEOk3hAihyOdd-UHNbv1SknaY96TIHi7EuQ3XWHLG5yTKKyhRdmvmCM9Kl-GdqIO-xihdLuUUNMSb2a1wj9gCwaQrK469fu-_gLTB-LUTgLVCluxye1ueqgRambcDxmEYoALwg3GAxMFQN-b1FtkpbwLRfR0WQ1LfMqlg25WJJu8EX4zbvAh_ejSwUvk4K-Ivfw8MnbsGD3oaEsx_jnDdPA6TUFk77PLIf-oPxf15OvW9gatT0tg-k2jHPHVXP3Mh_PUIBqEmIaNrtQkmFOXkWF6nsHFqy1BE8f4cI2h3brgPNEfW88VweFWax2bnSHiGmEVJJo5eohWq_4t2k5-i1LEodzZrGRK97MNy1w_tZUqOwm3kX_JwFWbVoVNqfryaRjQ3q3otxGbk2iikcmshvouOzfRRbyADDv14nKAnvSKvh3IMEGnwTsBJT0BRPNGpk7DdwkszNUngl8IDTFYOXlgQshhjLejC2Yb-6OlYqmrhnUZganIE06dckLOugcShgSW_fzKze5BDelVJNM0L1XKCH6D9E3Fn9b_f5SfHPi75_-J75IaXdOdlQ0V0d9gUqbEq_eUmDklnQY8_N1WXeYIosj8l71TVD7ZTC8n7ZepJbTonMZhOB2GE1lcOoEsoWOckfF-yRgaHMN2p8QB36tcyMygP9EZZulN0xeduSqLryK-WfKj1PpnllwN_bHwz0zoj7IN3uncFNuIie0XLtwRz8H7xHbuXBmEEGLrsuEe4RYx4_9hEZ_-nBoPA4pK7U_gqldLlGFIaJULDnqBlCUUze1crxtIqjPcT1648QkzVYWei1MUPLqW8SZj9FGmjrJX4gqmKutIw7jWq6I8F6wt_hX38xEL_82M2mvORpKIzs91z3HB3xNQV_aA5EUtrR3zZlps2GlHjsEvucktOhJNmF96nypYAp2T2uP2-Bdw-Y7InbVCNj4bmlUGCMGQY8O3ay6jZMKWSiDP-YCMV8xGHTXD5CUy5JaFDjZ8wNCzcE3R6aSJW0mVl5T4nxu9_c8eSlyCFvwhkW-",
  "id": "rs_09620f9db701d8c9016ab4369b821087d0abf687bf917f70e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.205,\"right_z\":0.16,\"right_pitch\":0.45},\"note\":\"That target did not move the arm at all, indicating a local reach or configuration limit. I’ll back away and lift first, then approach from a less folded position.\"}",
  "call_id": "call_9hsRqkDOlSn4ufPFz1cu1QLE",
  "id": "fc_09620f9db701d8c9016ab4369c8f9887d09544b1a028198e4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9hsRqkDOlSn4ufPFz1cu1QLE",
  "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, 0.804, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.8268, 1.6318, 0.556, 0.8612, 0.7891, 0.0628, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1597 left_yaw=0.002 left_pitch=-0.0904 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3575 right_y=0.2086 right_z=0.1472 right_yaw=0.0789 right_pitch=0.4309 right_roll=-0.0983 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0598, 6.9265, 1.7802, -0.0659, -0.0513, -0.0122, 0.4171, -7.5282, 5.6, 1.9756, 0.1392, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de16edc2236a91db71778702734ae8d2a6a2ba7c2ac53cb7a94eeb822bb17c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741c5d1846590d3fe27aa72b7533fe2e20a0b6956f9dd1bc39c45a8a878b6dd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6381563d7608e3bbbdd11865b93c66d25a24bd431fe53f87bfd2717b0f59cb55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4362, -0.0189, -0.0383, 0.9992, 0.7147, 2.0438, 0.6449, 1.0435, 0.6807, 0.1318, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1681 left_yaw=0.0017 left_pitch=-0.0492 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3997 right_y=0.2044 right_z=0.044 right_yaw=0.0565 right_pitch=0.3075 right_roll=-0.0985 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.265, 7.159, 1.7363, -0.0317, -0.0513, -0.0122, 0.5265, -6.5709, 3.2752, 1.4432, 0.0659, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6846, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.0747 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0554 right_pitch=0.3422 right_roll=-0.0915 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0188, 6.9538, 1.707, -0.0562, -0.0708, -0.0122, 0.335, -7.3778, 3.8359, 1.9121, 0.188, -0.0464, -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, 0.804, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.8268, 1.6318, 0.556, 0.8612, 0.7891, 0.0628, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1597 left_yaw=0.002 left_pitch=-0.0904 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3575 right_y=0.2086 right_z=0.1472 right_yaw=0.0789 right_pitch=0.4309 right_roll=-0.0983 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0598, 6.9265, 1.7802, -0.0659, -0.0513, -0.0122, 0.4171, -7.5282, 5.6, 1.9756, 0.1392, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de16edc2236a91db71778702734ae8d2a6a2ba7c2ac53cb7a94eeb822bb17c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741c5d1846590d3fe27aa72b7533fe2e20a0b6956f9dd1bc39c45a8a878b6dd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6381563d7608e3bbbdd11865b93c66d25a24bd431fe53f87bfd2717b0f59cb55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDagBOsrH6AClLFF8EqPEOgiuIYaRs0ngZCmrio16T5daHIh4ETOQj9QFX9BawI4JUPYyGPgtyj91eXtByPWq2L82SWwK1N3H8uekxcbChoo2WHA0HgfXuc4o_utrEGl388UvkIK9vWvOWeJW0qWdGUPcIlzRsmIbOvyrbBJkvulh052mYiJZhH2_--oUX3r7C2mJ4aHmwwJ-CAJNZHe3jk7RDXa_KkyoKXQ87L6_IDuDw4K2pUFTm_72BcS99__9BW5KgxntI4Cjbv4RX6HnwL4-8LMckrQre_80zFnQgmetpDwE13VGQVdxsM45QJcUCg5jrQayIa9bxnXonUZspa9ZbuMJt3Ez6pvFynhFzDG0jV9uC_LiOZAV6CjVdpNdcNaefOxV0jOFNrVDJ1cfuhpRBqJ54n9_0b6nrXu4KMijgPUzAsWgJ9irEJaVDEgTX7HWotVgYD1WGpkkeDxvN-pCszsXKCNU6zgpZKjpCtrv4PRSrIRBBMRx3sNjI6XsgQ9jAKTNBlxuUlDVtLao1t2V5K-5Y4TcB5mxxR-pBMQBGpC3a57td7kBP8ogvSJ4lUeIXbguWY41DWs8JIDolqW0rJ9k_Pzh7gL7WUS_k0GogwwP-zht7r8jhv2eniifAp51KaZNaWkQHyooChS_LoGxioCUCTjh2t2V30CiEZuMAgWZuJbJRWT06h3_u_mmHCkrC1eK1j0k79S1KYSHkqrAmt6b50dkz_eza_9N5ywpbbO-yfjFeJRjoSF0GUL2xaBlhBZMDEQZdFgXZ4e8YucH-sOQGBOY_sxSt5uCsYZh3qZ4RLg2Wh6vZQEacEDzFNUDiS0IusGHFadrEUmS7TkVnrb6pqi2VflSSyA5fJNlxOyvrWekpwWzTVjJof9XymfaB7zsocBYUr6nmEuc6UUrMwQby3i1yyPN853I2xVZ4KW6bLjWYAxjcRsvbPtDULZWwhnAPWlJyquVvSN4X-sxypIcZogpvtd_M6Dj5jH-d5jrnqw4J-wFc14JxojfOY88vp8HLHnmlFgO0QJxYwkMxAOw2ph5OuDDNR-nkrE6ZZ8IpSotKNFXkmya3gC5fVJqLt1n_yRd7QtrO5u-xEH3Vv5QF_HUf3xew-rHD2aNISZPPZceKR7XmKqz9DGcyyv5A4xIYXHo9Tp8U4BjmS3XCntHFCCKHac5czrfopicuB0-FQJr1UrznILj69X2dh3451OnMdmuufvIOlLcZqEjVa8tWvf5PW5PCOUP8vSmpwhHsrYd2pNJMT96zZgvm3rebs0iY2ZOsx_M0CLL9IgHJvs7bjYnkd_V3ktn1A7_JUqYODcasxX5ozGEVdKlYbOuwPFZjYS_mg266ZAyRa-DLC-ABVx3T2Qgzuf3jWLhpk=",
  "id": "rs_09620f9db701d8c9016ab4369f09b887d0867a5190a6d240de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.205,\"right_z\":0.15,\"right_pitch\":0.45},\"note\":\"The arm has lifted and retracted successfully; the yellow object is still ahead on the wrist camera’s centerline. I’ll approach it at a safe height before trying a vertical descent.\"}",
  "call_id": "call_B3PfmWsqBuhOEhwS4D3HyJ9q",
  "id": "fc_09620f9db701d8c9016ab4369f804487d0b9cad1a549bc033c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3PfmWsqBuhOEhwS4D3HyJ9q",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.6201, 1.8565, 0.8017, 0.8463, 0.5999, -0.0006, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0018 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4456 right_y=0.2001 right_z=0.1374 right_yaw=0.0794 right_pitch=0.4081 right_roll=-0.1278 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 7.0632, 1.6923, -0.0073, -0.0024, -0.0122, -0.2667, -8.1709, 7.3231, 2.1172, -0.0611, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec9ed125f6863a2bd32d64658a06b3d88e5eef9da7affdbe90bd98e822053a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a391466797f224cf3bafd5a83485280b7a5a731b3b31f13e88a41ef121a63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9f1e2b8e0501013207d9082b071cbe570a94b39de3acee86d255b53aae9639",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6849, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0019 left_pitch=-0.0679 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0551 right_pitch=0.3423 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5111, 6.9949, 1.8291, -0.0611, -0.0513, -0.0122, 0.3487, -7.5692, 3.7538, 1.9072, 0.1734, -0.0659, -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, 0.804, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.8268, 1.6318, 0.556, 0.8612, 0.7891, 0.0628, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1597 left_yaw=0.002 left_pitch=-0.0904 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3575 right_y=0.2086 right_z=0.1472 right_yaw=0.0789 right_pitch=0.4309 right_roll=-0.0983 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0598, 6.9265, 1.7802, -0.0659, -0.0513, -0.0122, 0.4171, -7.5282, 5.6, 1.9756, 0.1392, -0.0366, -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, 0.8078, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.6201, 1.8565, 0.8017, 0.8463, 0.5999, -0.0006, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0018 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4456 right_y=0.2001 right_z=0.1374 right_yaw=0.0794 right_pitch=0.4081 right_roll=-0.1278 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 7.0632, 1.6923, -0.0073, -0.0024, -0.0122, -0.2667, -8.1709, 7.3231, 2.1172, -0.0611, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec9ed125f6863a2bd32d64658a06b3d88e5eef9da7affdbe90bd98e822053a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a391466797f224cf3bafd5a83485280b7a5a731b3b31f13e88a41ef121a63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9f1e2b8e0501013207d9082b071cbe570a94b39de3acee86d255b53aae9639",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDajfI0whF1zU0gW97ve--f2g-9IHi_oybFR3GUbeAlwdImB48ynIkpN5AhMhnMLhTuxWoq2BU-lhi3VoCLtmfRG1CmyTlZQW_Cb_RQ1CC2qnTHmfK-F5YbeAvyrhGfIwE8A1a2-J6_oCVK0bYX7pavdBeYYqDTJhdu4zPTrQ8FThNsXUMhACjczAlIpbs2pe-AwJMBTtKqjaCyyFdHaiNt_V9dMjDDjMNvee2tWARypecmPT97Z00vlQsQzVPibonwZMtXpRe0ig6AuqaJX6_nqsplfZ-49bBweyU1hvE9oAXzy8raJVQbJ7nyS4c06a99zExWl4Ho5Ksu__WTrRqNoPksLwmpsU4pqe2ecl8-KzNV1tR2YD2bMHCf5j564zSocnyswxXIGsrZJ70swmEWXTJGbuXuENxqU4Ek27Q2DoV5shWuQtS8qH27jgnvOYcQ8KKSuaYmXoIa4oz-NZOv_58l_5HFxXTGpikwbX_GiyGf58MIRRoP_Qrw1NRuI0nZokutYbJ6FEKZNqRmGE4KmsXEuIx15kDtA6gUccckDtgXbyqQIO82VQAFK8E3jki3IRAs1O68MFgXtiUHCfbgRc8Rip7AO_42WM_T2CqAChVgX3Rn2loEE8zk_DdnrlIf8M5FFA7jbcN7ERaxZ-yr7bUoA-wuETuPYQWbFuG3gstksL4_Pz01il47bRbWdMDbjm8VrcMYouUSfhwy7lYgejTT6QpFcFw1reukW65wJvUYsnqQPOOpv9qqKApEn_IYrCs2fuBkNf15jtoZHfLm1OYNpNdgNjkNG2TWat8IoSyofrcyQ5r__w1RNDQAJIo5e_cwyT_IMZ9D7W8XSwxoCA5KARlpUkPLeyOaW-qLNFNctE-WVxIirJWtSX1Wq0f1Rkoyg5s7crddhrEuGTCucEOFVEOXdsqPm9EKsZXQDyiWZCPe12Jmq37AIpVf_C2Y0wRHQqurNQrUugNlec_ZiJyhqTyw-apTlmnOuqMKgklhHoihDU4jv3HfCJYLLvA0ql-d6EKhmD1J8d2fFnV_bYxBPOjNGM01rTOamrT8ahOZty8I8A_vA6_pD5Rbbtmur8FfUJDcJsP2R7U3Y4kq02a0e3XbskGVYS9XeTN9rb02YSNpOsUhGAuEZLxPWBP61LndQC35c9n3Y708rkmYZkDIvJRLGE0rJjzL8064RoWgVICElASb4bwoQyZjNzmAWH3BcGBIet6xoBVwOrPFggRzG3m3kDPus6Gg3cShJXSGHHESrmuantSf-MccQEwpfKIJEjcm5hr7fC1TZ2CJ4ATmgeBujCIlG4Zcay6f93yTx2wBtQnZNJ7Gx8JgL_NJEx_3RTAi45XLRSNwynFQkHCFF6LNliu0JDS9QS3Ad1D2zT2Wtt6F-LLABMx-sw0hnv8Z4LFTuQSBpSP7-s3C08orb7Ihke2XgiK-pzk2ccmWsrXhfjmUMes7kla9fjgi8",
  "id": "rs_09620f9db701d8c9016ab436a1f2cc87d09b07d92b957babb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.443,\"right_y\":0.205,\"right_z\":0.027,\"right_pitch\":0.45},\"note\":\"The yellow object has moved to the bottom of the wrist view, consistent with the fingertips being over it. I’ll lower straight down at this forward position to try a centered pickup.\"}",
  "call_id": "call_G0NEbe6h3aGJO2nkjGj8YP0H",
  "id": "fc_09620f9db701d8c9016ab436a2938887d088286ee212baac1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G0NEbe6h3aGJO2nkjGj8YP0H",
  "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, 0.8097, 0.6064, -0.4965, -0.0189, -0.0383, 0.9992, 0.6346, 2.265, 0.7837, 1.3808, 0.606, 0.001, 0.9996]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1537 left_yaw=0.0018 left_pitch=-0.1198 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4481 right_y=0.2094 right_z=0.0549 right_yaw=0.0593 right_pitch=0.5003 right_roll=-0.0635 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.265, 6.9265, 1.7411, -0.0708, -0.0171, -0.0122, 0.1436, -6.9675, 2.7829, 0.9597, 0.188, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00107543c26ce9d5c043b20ebb762b0ce09e7bd0f59acc521028862bebb1d5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d677eed77d996ccaa7651c357dd381a5ff200222b664462a3c38163d3f9d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c3e10b84e27829450eee5973931925c357ac61d53c9856f5460ad570384661",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.7143, 2.0686, 0.6353, 1.1221, 0.6846, 0.1116, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.0747 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4005 right_y=0.2041 right_z=0.0464 right_yaw=0.0554 right_pitch=0.3422 right_roll=-0.0915 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0188, 6.9538, 1.707, -0.0562, -0.0708, -0.0122, 0.335, -7.3778, 3.8359, 1.9121, 0.188, -0.0464, -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, 0.8078, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.6201, 1.8565, 0.8017, 0.8463, 0.5999, -0.0006, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0018 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4456 right_y=0.2001 right_z=0.1374 right_yaw=0.0794 right_pitch=0.4081 right_roll=-0.1278 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 7.0632, 1.6923, -0.0073, -0.0024, -0.0122, -0.2667, -8.1709, 7.3231, 2.1172, -0.0611, 0.0171, -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, 0.8097, 0.6064, -0.4965, -0.0189, -0.0383, 0.9992, 0.6346, 2.265, 0.7837, 1.3808, 0.606, 0.001, 0.9996]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1537 left_yaw=0.0018 left_pitch=-0.1198 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4481 right_y=0.2094 right_z=0.0549 right_yaw=0.0593 right_pitch=0.5003 right_roll=-0.0635 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.265, 6.9265, 1.7411, -0.0708, -0.0171, -0.0122, 0.1436, -6.9675, 2.7829, 0.9597, 0.188, -0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00107543c26ce9d5c043b20ebb762b0ce09e7bd0f59acc521028862bebb1d5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d677eed77d996ccaa7651c357dd381a5ff200222b664462a3c38163d3f9d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c3e10b84e27829450eee5973931925c357ac61d53c9856f5460ad570384661",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDao4Dou4ZQyJtbiCIozf6FklFa7_bWLGsn1hcVG9XzsgKKt4rNhihR6EfGAsKsNJK2edvQgcjK6zw3zXGeVHas1lbYiCJ_c7mTpfC31NK-fXnphVETc_GGDdXIAFM3Zi7_t8ERmMnz4uEKDAH0saa_1wvIJrh9KO36nMVz7ku9lq7Em8H4NcdeWPONYcQLm2UvddLS63zy2ctp-YSII7fy_sEQNJf46A7ibFEx9qRun1am2P3RwZfNjeLOODv6ENU__Le3ngC2orC0S2DzZQaQOHXYEaoRgOiiWS2GHFSM5otGrxWOM_oNyqubr1NQgPgMqifQttEJRN9fYK5DxzQpvj5JSvDyQ59fTTOoxaXESq-zYtYR1SEQkBaA71XTJG67WMA_wlb8DNWPIn2jYMQ76q_JqcBAkTbcVMHiiVto3AN4DY3euiW2KuAU1IV4PxcmQc_58b7MqFVI-BU0HPK3JPCi923Oudd3w_-TaI7TKiBJ16PmRh7fn12yBwqWU2-t_WmIjf8cPGHWnjJq6JUPbWajmtBcJPn3mv6tqqBATV41feIAmofmCmSjN9F_4LamfszNxJo8j0vY6LyXLV3EngYxaBI64GXISm7n2M4b-z7Uw_sw1TkntGeXy4aZ011maemHix3trbFnLp8_fgVpXwt02eO_z607EQivmlVBltBoK_q7zPyIxP3d0MIlrJ_hQPTfGYmQTuTiI5j0YO32pxfNGs99QzTC9juuikVuccISPZWu3JGvUpmg7yU4wjzBZQxZOhRVIklHe675Ud1ezUz3nQgYGVC6KUgEFC1O17CAkjWcEZfXeT0LyzfOaaAdmc8APmNfFNLlt2iOtFrZUjMFvlri8NoS7KV8rlaB0osXT3VIvhdyM5w63swMgkYFTQ4RPRPuHPM96GfisW9TuvB7SwWqoD96pErL8YXqp-0fbzv72MuWWE9ujGiyIeKXm9I4wo5r5ElCLaPHW45EkDt4AizxHc51ciFVgI98JP-ahQQ6EWLNfKZQREdp0hMktvnumEtjlE3SFSRHXttLQ3uYY0sh7EZ6yKXFXDpyZLuQvtSOspN1BanW0KsmwSfWRhlzzUayclnqYDwvKpf1yqUAWyNVnFxvlaseCFlwyTGCOGKc45P5mjzFbS8nbC_TejSc82enB1raathRKPdRWDp6B-QncJFg5sZ_cmUoZ6q6HvDoSZSxXRd7WN61e26dD8IN90qpmmt3YzEe24gXFW9xDs4MbRW5TW42Yoj0HtdJjh5cB7le1kqKVRfIR7ESop0ukFSZl18g8HryZkpvERMOtKkQ-Volna1gFuoLwgxPcVFSaDbxZ_3fJGhpORXgpWjPp1eMD0-duWoTZARFxfy0X73fUfXhbONUCuGK-FQs4BVbSdZDCRxZMlvnzhMLgU2U3I2jcjhBaJoEvewDXP3VGpG7FM8yJZXciwtbb1-CP7nBNnIjYRaFQRy4w4XcwmBqihG7MA2r3DnHSK5p-M1st0zQ-9U9BURKRW-HjiW2cDPa11JECs5as0hr0aJ4Vtk1MsLtk5mkKf7IgJzY0DM4rd235VTtdeO9s0bdoEg8SHEyj3LyuPfXm79URAj07BycLswTV26nb80bR0BzO0r009Oi-1YJUhYd3evHCDjgiYMrrI_qXo2NzawHHR86Fm7OQWGm7TYaDldOOC_jTrVeBlTnA_NZmmU8AFiD_ak-ddOML_cy19jB3ne5j-sLnUNGN2DxMq360pU3kkEJUKsM9Ahu8jR2YjbIAa3leQbIEpzFM63UL38_BXZZLMLok_Jk8GHQHG3V60RdGHlffIf9svMcFwUt69TH_AxPnmVdHA-z4ayhQAgiuOmEDmS4uJ8zypQPh5NJS-d-gw0Aa7lKaWbIAkOUiPg-5Thv8JwE8bbuEywUAwXdHu9AsB1VeyyddnNQieSZJyKkf6U99rzjXacAp-wsW35dzuhKCs2iJi9HX21FDSXEoFRkKnJcAY7DtVF3qiOfnxFUIwJQ8kg84tW9-asPVDrqdjd-ZutGqGCg8-sELIwyXvDK49aTWzKqxK8_R_xNy9RfWFXV8S4cwGw_Q3A_WIEpQQGepy-d4CEW4gf3TOFQn8VbAjRmym9xVg9bkOLJnXnHV3uQ3LX9bB3P2AIcAfUQshKZBunUmQ1BCUOeLPCWi102vjOGc_2e8EBXwrqXxBIV3E-w1Pczjkefv7jFeC9Wkux4p1lHvWxvxudeuoWWGMR5V1t5H_KIdDd1BgvxHnbAJZN_iI4242KrdmaDd6Cay1WPJ6Iz9rSyZGhvbPxP-EjuLxEMT8OQBM45pKJfhDz6m1lSfvEa31RLl-JcOu4fgCVohMB9O4KOOBsRjHdgHm2brNhiKR0wNz4yK9oL1jLM2jmHlAQXvpzYwOD9M2It0bc9JXPDjBO-PaEvlabRDmV0c8Iaz",
  "id": "rs_09620f9db701d8c9016ab436a5470c87d0ba6acf7620116bb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.205,\"right_z\":0.018,\"right_pitch\":0.6},\"note\":\"The jaws appear to straddle the yellow object, but the arm stopped at about 5.5 cm instead of reaching the requested height. I’ll use the remaining forward pitch to see whether it can descend a little farther before closing.\"}",
  "call_id": "call_5nzqIky0rCT5JB5UoAI3UWue",
  "id": "fc_09620f9db701d8c9016ab436a7ce9887d0808d7aa27f2841e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5nzqIky0rCT5JB5UoAI3UWue",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.6365, 2.4268, 0.87, 1.5696, 0.6003, -0.0315, 0.9996]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1501 left_yaw=0.0021 left_pitch=-0.1381 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4584 right_y=0.2192 right_z=0.044 right_yaw=0.0499 right_pitch=0.5941 right_roll=-0.0284 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4701, 6.9128, 1.7411, -0.0366, -0.0513, -0.0122, -0.6769, -8.8274, 3.6718, 1.8144, 0.0366, -0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab037d36a566c3693d8b64f05a4ab1f1b12b42500e39769f49bcf80356b3b7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d49b9388671afd055fb060024fad16c34bf7fc9b963f6ebdb6c95f6f5beb6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8d3860615eb15f72fb3d50d46f187e182fb05a0305c7e46f2ce1af6c12a8d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.8268, 1.6318, 0.556, 0.8612, 0.7891, 0.0628, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1597 left_yaw=0.002 left_pitch=-0.0904 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3575 right_y=0.2086 right_z=0.1472 right_yaw=0.0789 right_pitch=0.4309 right_roll=-0.0983 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0598, 6.9265, 1.7802, -0.0659, -0.0513, -0.0122, 0.4171, -7.5282, 5.6, 1.9756, 0.1392, -0.0366, -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, 0.8097, 0.6064, -0.4965, -0.0189, -0.0383, 0.9992, 0.6346, 2.265, 0.7837, 1.3808, 0.606, 0.001, 0.9996]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1537 left_yaw=0.0018 left_pitch=-0.1198 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4481 right_y=0.2094 right_z=0.0549 right_yaw=0.0593 right_pitch=0.5003 right_roll=-0.0635 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.265, 6.9265, 1.7411, -0.0708, -0.0171, -0.0122, 0.1436, -6.9675, 2.7829, 0.9597, 0.188, -0.2271, -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, 0.8124, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.6365, 2.4268, 0.87, 1.5696, 0.6003, -0.0315, 0.9996]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1501 left_yaw=0.0021 left_pitch=-0.1381 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4584 right_y=0.2192 right_z=0.044 right_yaw=0.0499 right_pitch=0.5941 right_roll=-0.0284 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4701, 6.9128, 1.7411, -0.0366, -0.0513, -0.0122, -0.6769, -8.8274, 3.6718, 1.8144, 0.0366, -0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab037d36a566c3693d8b64f05a4ab1f1b12b42500e39769f49bcf80356b3b7f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d49b9388671afd055fb060024fad16c34bf7fc9b963f6ebdb6c95f6f5beb6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8d3860615eb15f72fb3d50d46f187e182fb05a0305c7e46f2ce1af6c12a8d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDascSRFpD5quLk4E6wIg3NXYs9uyoigOEryvFzaDYLL6l3GD3IsKFUu-SRb-1Ji7O0fBItEVw6Src8dL1KZ3lrDm6CupMOtCevhK5k3q-PP3n-3_Rnwnzc6LP1UdGCqTZwRa2kf9n8MEBy51u0pkXWuXFg76sS_ljdo6MpBFdXOqgISz4OPqzesfx5tuFnradYrKu7HyGCSmKIrIbCHeH_i8X7NkLrc4u6WWzplzO2O2A6x2gP7j0a3zdLuLg7spGV5EOGYqrLm0i5rNgURxLeqpI-dLgi1MwaiBEQcfNPZpxYit_H5y3X7KuOFFZStm3HeoasMCLy1lFLHLkZo5ilVkontyN-CmSd1AefqeO6OCI2qNf1ChGJmiXXqtnHFFJ7biXVwokjfCDaHjpMxDbRiZaGqXex-w1sfey54kY2NEMZAjo4y5lsGyXLHZA6K9M9ByB51gVCnRNFKxpJINnB36fJsvZSBPSuUGdKOPQn6VytBJAsB4A68Rd3TkxtX2RO0A9lgX9jbPy5RZxZuEm7xMnxodyWYItWwFKqQhl7GyO0rB62n5F_ycfwex4PmN1Jd5K8jSlusl886n9MpNZm80Zbik-SF-H512JGe-nwTy8QI9ccTEYx1xHqNjLU1w3Fw6XlPJinjlzEbZPxBNCBAUiwU1XFrqx9iRY3YcYa45jt6xtmKWQHDBbT75KLn8ErEE5iA_yojTr9O7G868kwrJvRDVoy_leTIrsp_FgynrORZRfPxOh5rhdBOaSrVALv3DezxW07kGMasAe0en3pvNPL2P11S_pdH2d7IK2QEuJTHhBrcmW85o4cG6ZS6jtl4qDad5mjAPe1Q55FvVeA7SYTHPNGIK3TaBaFKm0hDOT24HN0K4UqeqAu9bEZpC1pEjsVoapHaJsKRgDZ9QYamq5QYV7JwovOhuCQa0KZnTLHmR_mK_xjydlkxoLQGJy9PDUe3U3T2GhP-yNeQpV3ZRCK6VoyZQd-JW8uKrOvwUTFZ6UL2jZhgujAhKmGhJcWsmjN5c7b-w-iS9JaRWFhuCS7UEaU2ZXqx9N5_FwZFpEQoQA4rIlOq251p4b5PXeJTuOozg2z1GIwTpTs5AQCsazAKrO_QFzE8_zLUc9FDJVlqpXfOTykDxdCgKiVKamj9kZafU2ql6wDZEECE_DfPYA-VbZ_qofJI0ZW-Nvs4y0LJhlQpnR0iM2Ry4j9uMjA1_WEv_ZusH0c7lYMYcjSxurLLTA9f4Cu22raNcGKCk0egpqv80pAdNIdEEv3gcOuOPPW7W_T5P-iWKvlALZTrJu9VJCBuKc2ydAEyByfQs37QhG3dChwvHS7gTP07fkP6K6FJz_pv2Nvhyzh6yu_7_MQxh7GQ0UdGoLppizOCCh2aJqIGwRAu52cXJ6GXPezHHH61wkd_lQISLsIQou-43gWiANUMRkoAQ03CgOeppOwPymYAfI7gTqCtNjpex0A8DIAujTBkD0zIZsOGlVNVJK4ipGM-aVAl0o3nw-VXOws1WohkSvQrNHym0DzuyXg7QPon1BOUfCHz6RC1LJOF0dWzkegqU2WLhUhOxwZFX-Gjp7ueK3_hhr042o6FJcdoEtuZnBpOYA9SgdWXtZum5lGw6fG7MoF-giMNeEmb6OuXuyKndU5EHx6qRT8bbpo0W_YMpIfF854zNNolewvOPB8AzpG87ER6zFwMgjiTLSK9gg8S94fqS5-jW4z_6DJK",
  "id": "rs_09620f9db701d8c9016ab436aa1c3087d0a25a94c1ac89bff5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.188,\"right_z\":0.032,\"right_pitch\":0.6},\"note\":\"At the lower pitched pose, the yellow object is slightly right of the jaw center in the wrist view. I’ll correct that sideways offset and lower a centimeter before closing.\"}",
  "call_id": "call_h4LdYXczorUiCPMLWx8Nubb3",
  "id": "fc_09620f9db701d8c9016ab436ab5c3087d09705f2934f2d2f2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h4LdYXczorUiCPMLWx8Nubb3",
  "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, 0.8135, 0.6064, -0.5179, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5964, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1487 left_yaw=0.0021 left_pitch=-0.1449 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4609 right_y=0.221 right_z=0.0431 right_yaw=0.0629 right_pitch=0.5973 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.8855, 1.6679, -0.0611, -0.0611, -0.0122, -0.6632, -9.0051, 3.9316, 1.7656, 0.0904, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca57d613a69a1df51c94627146d58ce76ecd6e34b28cfe9eaf7609339ae2f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b19f5f042fb768829cf88f5d6e507962a7a3923726569479624795626778f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555fd803c0c4586ae81d7638d315c29867c452eb3eb918d5cb63ba940b5944e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.6201, 1.8565, 0.8017, 0.8463, 0.5999, -0.0006, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0018 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4456 right_y=0.2001 right_z=0.1374 right_yaw=0.0794 right_pitch=0.4081 right_roll=-0.1278 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.4974, 7.0632, 1.6923, -0.0073, -0.0024, -0.0122, -0.2667, -8.1709, 7.3231, 2.1172, -0.0611, 0.0171, -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, 0.8124, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.6365, 2.4268, 0.87, 1.5696, 0.6003, -0.0315, 0.9996]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1501 left_yaw=0.0021 left_pitch=-0.1381 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4584 right_y=0.2192 right_z=0.044 right_yaw=0.0499 right_pitch=0.5941 right_roll=-0.0284 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4701, 6.9128, 1.7411, -0.0366, -0.0513, -0.0122, -0.6769, -8.8274, 3.6718, 1.8144, 0.0366, -0.1978, -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, 0.8135, 0.6064, -0.5179, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5964, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1487 left_yaw=0.0021 left_pitch=-0.1449 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4609 right_y=0.221 right_z=0.0431 right_yaw=0.0629 right_pitch=0.5973 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.8855, 1.6679, -0.0611, -0.0611, -0.0122, -0.6632, -9.0051, 3.9316, 1.7656, 0.0904, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca57d613a69a1df51c94627146d58ce76ecd6e34b28cfe9eaf7609339ae2f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b19f5f042fb768829cf88f5d6e507962a7a3923726569479624795626778f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555fd803c0c4586ae81d7638d315c29867c452eb3eb918d5cb63ba940b5944e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDaurUFzf_2u-shA2-UGW9Z5qjomoG9CGKSGRSOEakYLFnzZ5-FEbwX6sKOeKGeGKzIJRiglDIO99q7xGx2Fu0lMtl_k-jIQWsQIa_3tm3_TKAJdwVDILmgnnhaEjcYzvoR9-3KBzps87llz3E-O6rEzXT7OcKdyOC-3CcWqvYoc9xQMobbIkYEQy5sPsMGGHKT_uZmlss8IdEbRIclE3cfXLdHB137oaGJOxDXhuV5mCYpQbCUZ_hNE0auywoj6FOZH6fKe7fH_Xa7m6Pp5Ibe-TseVO4KbinzYSrmkVieLvQjAErQaRT-TuNv_FCTQ9qfahdKH4esIb0-HcUePE0pmguil2bDwfn-6R4LpH9jOMhjG7hIMIG64wlVgytKdiks6U0fF6XkvDzKDUgxxqhrGIlBn2TMTlTdR1TKwsdOD4wnNMt-L1pSh07Q6HhB2H2H9GbEX-imRrIoNcHUQ8ah4rKJjVOwBqsv-OOWfWyD2jxH3YNMshS-hvek0k5ao0ZnWMrKCyFLaav_hiGBBUhiQz-nN-wLUzHCmg4vRSRRm8V3Hx_nUBf_0kfLbOOTyLKP0x1MldB3MnfvkffW8FBKs0g2ftGhpvoGwCw-0dkOzFyZnFlTgi_nUdA8Do7kgG2bJcZ604kc2-TM_OQH_njTlJp8-STYblf6pxffmcb3zcgwgYzBGzo0UvTdx0Ik-7YBPPb61Fc0_yiuuaCgu0csD8GsPBwZBhlxqk2ed0P9Q8kMqdagJSlVBmSJKOE62OUnwdpbaK9iwD1dG9O1x7Hcb_GHwB_C54vnIRucGfKUBo0TFr0Ug0IEeiNAMBlDpQcxIuJqmkTpEMMPDclBcrMdl8uE4Vw-fN20mvgVMMoTkX2s8Ej2uPE_m7cNsT2CGWoPlhjlTmapG5gVcSHSLRk0QpF31QxauGHYuS25lSUFz80-PYIdAXZ1NFCYi4Q_bBfXsoz3gHS0MZ9g5Cqb1hQIzNuGmowRFzOZwqYd2yGdZgDiuyH1K3SIRGfpNN_FKQjYCA33E8LBWqW3H4d4fVsMgRMOvE1KQQY5NDA5Ojw_WPH9ipkobU8-o7-XDs5L_d4Euws6v6P8Gt91neh04odiNTSdbKMxos1Xinh9Fjnsfnqnx7fg3uqFdOps_97bC8K9p7GrXa8bmuARcVobYw0x4thTtC6I754s5crjFDz0FWCNlS8Sc4LT2VOIHlhn24-f6de6lVKaUEJVKzbV-OGOQc9nSUypJ4MWzfXExsNY2u4DjmAtkxJNGHyhiEiLyKPKl07d3RbFPuzObTkhBZE2LBXQCOD7i_9UOQj8hLx3Wfe02OMSSEp8OhTosmmJKhJ2YnCb3h6K8fKRSH9V760yg8S_JqELB_vz978LlwjH7tAuc1lduIklDcStp8hX2WmKrkfbrJcvFSrGRExMaNTSSqmXI4-9icRFWFMbeFoZfjfdLjzE6POcw8UjnxiXeWcoz",
  "id": "rs_09620f9db701d8c9016ab436ad585c87d0b5334bec19d3db54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.18,\"right_z\":0.12,\"right_pitch\":0.5},\"note\":\"The sideways correction did not take; the arm is near its forward limit in this pose. I’ll retract and lift so I can align laterally before approaching again.\"}",
  "call_id": "call_XIeIBdlsLfCEV7ZZklg7YrKt",
  "id": "fc_09620f9db701d8c9016ab436adcdc087d092d815fd25d36187",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XIeIBdlsLfCEV7ZZklg7YrKt",
  "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, 0.8162, 0.6064, -0.5259, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5934, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2743 left_y=0.0017 left_z=0.1466 left_yaw=0.0021 left_pitch=-0.1556 left_roll=-0.001 left_gripper=0.9992 right_x=0.4609 right_y=0.2215 right_z=0.0431 right_yaw=0.066 right_pitch=0.5974 right_roll=-0.0474 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.6386, -0.0757, -0.0464, -0.0122, -0.6359, -9.0188, 3.7402, 1.7314, 0.0806, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fc91cede85744d9d433004548be80cf0e3ed48fc616474bb2e45daa4d602fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa1646b8904a6220f2ddfcae35aa5fce8c18ba608b4c497b0a6a21eb359269e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b8dafdea7d6a8d9b23c1b9651bfd7ee938261b62b93d3d37dad992e937fde4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4965, -0.0189, -0.0383, 0.9992, 0.6346, 2.265, 0.7837, 1.3808, 0.606, 0.001, 0.9996]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1537 left_yaw=0.0018 left_pitch=-0.1198 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4481 right_y=0.2094 right_z=0.0549 right_yaw=0.0593 right_pitch=0.5003 right_roll=-0.0635 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.265, 6.9265, 1.7411, -0.0708, -0.0171, -0.0122, 0.1436, -6.9675, 2.7829, 0.9597, 0.188, -0.2271, -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, 0.8135, 0.6064, -0.5179, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5964, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1487 left_yaw=0.0021 left_pitch=-0.1449 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4609 right_y=0.221 right_z=0.0431 right_yaw=0.0629 right_pitch=0.5973 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.8855, 1.6679, -0.0611, -0.0611, -0.0122, -0.6632, -9.0051, 3.9316, 1.7656, 0.0904, -0.1197, -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, 0.8162, 0.6064, -0.5259, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5934, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2743 left_y=0.0017 left_z=0.1466 left_yaw=0.0021 left_pitch=-0.1556 left_roll=-0.001 left_gripper=0.9992 right_x=0.4609 right_y=0.2215 right_z=0.0431 right_yaw=0.066 right_pitch=0.5974 right_roll=-0.0474 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.6386, -0.0757, -0.0464, -0.0122, -0.6359, -9.0188, 3.7402, 1.7314, 0.0806, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fc91cede85744d9d433004548be80cf0e3ed48fc616474bb2e45daa4d602fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa1646b8904a6220f2ddfcae35aa5fce8c18ba608b4c497b0a6a21eb359269e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b8dafdea7d6a8d9b23c1b9651bfd7ee938261b62b93d3d37dad992e937fde4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDazZ_gegGzOBF3MY3NkcsObJP5OzZ26H4qWuqgEnPRt6zbtfFv3hZ4ygjAQdDi5d-FSwpoNHVcE9pwup3aX1UdxucDqlFHq-epdq2jP0vCRYMZ1bqG09DnBsdQ7JpL-dXmSoLxPhCFH_YmicT4gM7q1HTNj45LkimQ2nIxGDJ9eQvwPBVKz5Jf6UlOWTlws85en-mQy5sGLCsGO8niUGbVGBBLaHV96V5OHCTrcAqBNf5W8y3D5SOUePUE4YpNAD4WCHVhbnhbeXLTaM2iW1O5eCo2htlgffEcnwgfLenwIOYI4IVfv5dfdviDLvRSe9rBledA76p7eooAyiYGtXOL0KDmybmyU9hdZHb2V2ehJaXZzAO0tAXlqjeugrkaUWI8XLdmQ7J5gYj3GnbDlbNXaBB4Qa7qe4FNvvESpSJ9IOfUoVwsUldfmT7bIR5KgwRdc7XlHyzoUtiq5MCn9x5jNweR29e179nTSoAtv2-5dCHzcZH4gVnH1vH9JgLZZf-qydV8tu5PBxU5L-e-sms5R3b9p6FevQRxJbQDxAGRvgUyNfzgMSxa8GO0PPSdUHA4rUSzDCAJGJjqcgFOlWuJlTzUqZVfSLQ4gn-auMAyx3Sc0Ujvf5jyWX5i4CIbQwkbWbH8zUSrXtI9gfoB4HPRmxdJv-e8WkZcvMqZ1K4H0RNIkgqWt4dsaLSAwojCEFasjI8twqYc0fz0Q96aQyUhJD3OIlFfTa3dNJQnxyhmEqVSyoXUzEa93RMJILiiucADGravzKvwBf-ge3XU_LK_hqnXz9YIZjFmxbtgXI4aH0DPhpnnDluidFQMg04qqHxeb8laKOMx1sUv44VbaWv8wzLJNXYVQykXJeBJi6hs7QSKmx_ZzAysF8sIhszvRo8y7k9e3dxsv3dX-DPO9E5lkgtb1_zHsvrNCHUvsujnObvdyAd9mqeXQL1sWY_F3rAWT1gYVqzfLUAG76pOfoCNHJxFWdlql8cNsCKdU1jY7Q5VRvtk5yL5jmuCAqgp9uhQYxJL8reQiR94dU1xbt-VHigw2yyQsAEgRolNPruPpwpnEnaRGNAq4sHfkjrYWtJdSPqXXMS5o6AChUcsrgpiGFUbNOH0j0E7b0WeTRCxNvcbL-Ok_WrOP9vKoxvuUfQn4rCeDpxocnLzEh31fFZFSgxRRK6OORa64QiqIVd_ivD1krT9TQPTQnJ6x6tkj7vDIfHE4q89IJL2HVvuijEj3RSriEax4dX0ZVHtvbmwzVfqtR3bBbQqzWoXf7p-8y0KiizcRG3rDzEfJjHlQGAj3ziekIlzCal4Ti7AsPbZlmYJl1XJrB38CPyi_SWb9SUmQ-Gb98HobUkyma7ltU4XlhWk9Ih1t_vg4DHsdaLFS3TFge8IGQIAnhAhWiaZXWNs4s5UN6vQ79t5EODLHcy3nhWb7hSVLaN4gRG_uC2_bPBjxBBTUw9zDe8kWuSfwLwEbfEYLkOd5SfQiUkehoJj9Te0COK6s3GwYPMd3YCpavLxNQC48Tfdsat-sybja4v8qBK70c37juQLUXEONUpMwJmOuDoH3UOZ89m_qLjNtzGTCnZHh9Qpl8Ep75GPSwNb8njzhoUCIcDZ-01qHrC-OwgSxrqYwjvvzok41SMV7u-cfKW0HaL-r1A7gFERar-bSmC5pz613UCSMPQVTMo-_a_WQWgdncHeijdhZlHRyMCVnVeCjNn9cNfRNgnlJRVheiOaz3Q4ft6afs8rs8bKm2onNAr_nNxN94HRXreyp3l_bZQWWyFRcOUCPm0FpPW5jCBBLyXlvQJ3Jqdbc19QA5b9DcVo-YenPlrhYHFMD_wfcQ-DKHBJgVBk5LNt6WlXp4DF7LqFFGrCyRGgC-I8dDawqEk82vVstE_TjnTlObqAopcxJLnho1l7N5k1jWhSk4dV1oTiWUrdGLrvGQb3lGBrovn0A0H9Kvh6AUjyVIS17MoiYYwX_ijJSmkw12_4og4-as_YMbKkOYG1vS1nLXszVmlQGkr8-VRksMRGXjUQol9mNX7YpqPQSzSY5PnKaTpWgRFzL9bVD4pLmIJe5GcAjiM7wwkDLCcHI2FjVUpWMZLCX_Gj5b6RSlqz7LKOomraddioZ-_ZzMQdLDe0Z8aFyYYGwTYjZ_B2XOCHcailY6EsH8Y_MzkkWWt5o1DDZSsqqj4ONDZHTp4JoIDw4od34NviHT6sD7dljSq63xqlfcAAQyeEal5MF47XE3P03Ux-BSc8KwcF-hesde92_3IqeFrn624rTOr0C8-9LXenblhRlUy3xK_LvgVgBkNilGOZaTcAn-80XfkDQXOdejoNTsrtusXuiXpneQsqaiah7quaasGqyZ4glcNZv2mhQ",
  "id": "rs_09620f9db701d8c9016ab436aff2a087d0bbe5952689ca53f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.22,\"right_z\":0.09,\"right_pitch\":0.35},\"note\":\"The retraction was also refused, so this wrist configuration may be jammed at a kinematic limit. I’ll first lift nearly vertically while easing the pitch, then reposition once it is clear.\"}",
  "call_id": "call_yQpDoUG2qj3kcCWRjjFxvHbl",
  "id": "fc_09620f9db701d8c9016ab436b2041087d0a66ae86d9d086711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yQpDoUG2qj3kcCWRjjFxvHbl",
  "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, 0.8188, 0.6064, -0.54, -0.0189, -0.0383, 0.9992, 0.6308, 2.0735, 0.8436, 0.9421, 0.569, 0.0757, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.002 left_pitch=-0.1724 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4544 right_y=0.2184 right_z=0.0706 right_yaw=0.0886 right_pitch=0.3405 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2923, 6.8581, 1.6825, -0.0611, -0.0366, -0.0122, -0.6769, -12.1504, 7.6513, 2.1465, 0.0855, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a491d8f5ad7567b95d95afb67568bdb7e21beac9b9dc689410c4b7b37bddf47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22aa89d9900e58be754aac760a146dc7ac3a1ada28fe0862b79eeba1467aa5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77051c842e111e4cb3a6dd78b1990cf870ee65d687ce87d59b43b9aeab7e7e2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.6365, 2.4268, 0.87, 1.5696, 0.6003, -0.0315, 0.9996]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1501 left_yaw=0.0021 left_pitch=-0.1381 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4584 right_y=0.2192 right_z=0.044 right_yaw=0.0499 right_pitch=0.5941 right_roll=-0.0284 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4701, 6.9128, 1.7411, -0.0366, -0.0513, -0.0122, -0.6769, -8.8274, 3.6718, 1.8144, 0.0366, -0.1978, -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, 0.8162, 0.6064, -0.5259, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5934, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2743 left_y=0.0017 left_z=0.1466 left_yaw=0.0021 left_pitch=-0.1556 left_roll=-0.001 left_gripper=0.9992 right_x=0.4609 right_y=0.2215 right_z=0.0431 right_yaw=0.066 right_pitch=0.5974 right_roll=-0.0474 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.6386, -0.0757, -0.0464, -0.0122, -0.6359, -9.0188, 3.7402, 1.7314, 0.0806, -0.1245, -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, 0.8188, 0.6064, -0.54, -0.0189, -0.0383, 0.9992, 0.6308, 2.0735, 0.8436, 0.9421, 0.569, 0.0757, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.002 left_pitch=-0.1724 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4544 right_y=0.2184 right_z=0.0706 right_yaw=0.0886 right_pitch=0.3405 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2923, 6.8581, 1.6825, -0.0611, -0.0366, -0.0122, -0.6769, -12.1504, 7.6513, 2.1465, 0.0855, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a491d8f5ad7567b95d95afb67568bdb7e21beac9b9dc689410c4b7b37bddf47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a22aa89d9900e58be754aac760a146dc7ac3a1ada28fe0862b79eeba1467aa5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77051c842e111e4cb3a6dd78b1990cf870ee65d687ce87d59b43b9aeab7e7e2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa2FNsI59cQVFTc_TDtkYOeLkuX0vEUo6QvNVdVVRNa9f3RAnG2sfyDiSgI7i7C3TVkc9yRLQ3B2v0uj5cHeaNYLMyk7-U6v1gQHAkTs2SrIMO2I6d2hV6OCu9S8esO1NCpn0wE9y0GrHsU9gJx8RGn-KL2BpY8-wvzr4ewSQGeIObFdo7JtPYRv_wPdadh0T9dttk1MbdQ_E3OP7XNsCPWLC7wxVpWEjFcLLCJcb0Nwr1rlsLC2ncneLB6m1p1bkCXfPuCka8w3g3f6YCGvfOMqctfkZfi9hSrC7p2HYFNXPW1A7ObHqHkSrUEzuOczRAR92XlBV2AjuxzqjB24AZ4vLTiZokK2pNoaAt9QROJQlHh9eMbkHN6ZIa1E1OHqZ17rG0x0uzpXK5RXTjilyE_fPiz9hc8_e8jg-34fgse6AoH3a4ZeeQX3Rm0xMU5POG8c6Jkf8M9_1cxfvPXcSuIWFr_yRyD38nvMU4mEKC6KTm2khlgFeOmDHVVYrJ7mkFU_UWcBUW50u8DJkUBkQB1mNyQeYrfRm8qCrBucs67XZelMAb_PiLq3iqfGWFNP3l4zmFd4Qq_UmMqwrChIxGzXr2IeTOB8DGQTt7NtN028wEICDvFX6IBV0TugnhSypZXgAnpnhr7YN_R2Whp39dG5IV2ruujLLuqgXYRhEcfWhdVuR9PFi_fgh0Adwx52hL0AVHWLQsqmPWvZs5DrC4VhqMCEdt4veBjOVmWRJdhZFwTKgr6Ap0r3OiLuSbdbq82ZbCzRkRIRRHZyTPFFHZXp_TBsTeQvFbcAZKV-62j_8KQlvl7xNq_cbEpvgszav9qmhOVZkUI_2zW5F_d4dRue68Pg4AXMCc9vbeZGtGwp7F9ZxY6LSUX4KGz5SxTKsfflmXBNGMFg8DOzeFYieq1-eFJ7uyBcFzuWZ1oZ07gPoiOQ2ZrmVLGIShGNXz7BG32OvYRXPHd-z3lBIKjgiHbfggTzJ4Sz59USp116rUHUfnyYI_ly4_sfmU0inwHGCzpgiocuSgJ9YBSEMadrTviTP0R-KdHGFCNh31NfQ2PvGYrdqj2t7IyuZDBEfUuBzlOEay832_-CMS01rGdVcxsYlFw3CVDNaK8YU-88_AfRbm7IaxqSFy78AtY-tbUwy5fG6W9VR2yzJcQ5ePeKrCSbiSBewwPzUNZpdnZotvvnl7Ef-f-7USP4S4Yi7QMqRTU9ppqqGDHaElfjg21o5d3poDtkl39eKmi_EojKIRCgugn7FixllTCJdOS5e6vu63Tr7kqGBLwGCk2M11wDeskwnZFzd4oN8mdnPbA8ng41Vl1EFKCMc2L1JaLKjjzrgJHdJqOFFgTUMbafcwPB_Amf5fSi5nwsVOP2hfurpCpWcZLeUpSg-NHl-BV6LZjMQ6kM9tcobUB2Jtgxrptv1GpetwcJDpJUuywIp6puM58mtM3IuxpnlVnbzzy3EDzfz9RonuWWONEHZrvSRoiANMrG4O8brJLhpsPvDAZLDNM1nVkuycrcC8zMb4gbe7uxe3RjRFV0dLTKqDJyaICxBsgMLuPw_lFS_v2WNxLqVob13x3PTvspkOmIOQBxJ2AeL0QM92GwwOlSpJ2fdnmPJJ0pbqSzKxNAALvssp3uQrhapKa88KZCWNYCUBqOAYwxwWnxLT5SarLM28ZAEOx5HYpPR4CCy9RdX-Zy5rYEuvTmt3YA4NXJP6jXu1h9S9KrZX3x0RNvQgm-6IfXWsxUfeEhQTlopWR1I39F6xBmDRaw__9Bc9yWJSDfS8ZqlVE1NIX",
  "id": "rs_09620f9db701d8c9016ab436b4b10c87d08d7ba9aee386c14e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.215,\"right_z\":0.03,\"right_pitch\":0.35},\"note\":\"The vertical lift freed the arm, and the yellow object is now centered between the wrist-camera jaws. I’ll descend at this alignment to grip its upper half.\"}",
  "call_id": "call_dBRozzZcg5TBKdQoE1NtaNzB",
  "id": "fc_09620f9db701d8c9016ab436b5f57c87d0860da36dd572d5db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dBRozzZcg5TBKdQoE1NtaNzB",
  "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, 0.8204, 0.6064, -0.5442, -0.0189, -0.0387, 0.9992, 0.6308, 2.1738, 0.836, 1.0794, 0.5632, 0.094, 0.9996]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1422 left_yaw=0.0022 left_pitch=-0.1781 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4549 right_y=0.2199 right_z=0.049 right_yaw=0.0772 right_pitch=0.3654 right_roll=-0.048 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1009, 6.9812, 1.6142, -0.0757, -0.0464, -0.0122, -0.0342, -6.9128, 2.6462, 1.1453, 0.2076, -0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e0f9823cdb855bcf2a79658a03a7181614dc1fa1b0f8f8881a124ab0d6106e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de947afae3ee78f7e0ae8cd2896af09cdfa3635d36493a7642d3c2d4c3baa83b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba16d80f3dc8172a9c69a26f3fbc0016e68f3dbc68da6bbc80c575aebb0fd9ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 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, 0.6064, -0.5179, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5964, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1487 left_yaw=0.0021 left_pitch=-0.1449 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4609 right_y=0.221 right_z=0.0431 right_yaw=0.0629 right_pitch=0.5973 right_roll=-0.0473 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 6.8855, 1.6679, -0.0611, -0.0611, -0.0122, -0.6632, -9.0051, 3.9316, 1.7656, 0.0904, -0.1197, -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, 0.6064, -0.54, -0.0189, -0.0383, 0.9992, 0.6308, 2.0735, 0.8436, 0.9421, 0.569, 0.0757, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.002 left_pitch=-0.1724 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4544 right_y=0.2184 right_z=0.0706 right_yaw=0.0886 right_pitch=0.3405 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2923, 6.8581, 1.6825, -0.0611, -0.0366, -0.0122, -0.6769, -12.1504, 7.6513, 2.1465, 0.0855, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8204, 0.6064, -0.5442, -0.0189, -0.0387, 0.9992, 0.6308, 2.1738, 0.836, 1.0794, 0.5632, 0.094, 0.9996]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1422 left_yaw=0.0022 left_pitch=-0.1781 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4549 right_y=0.2199 right_z=0.049 right_yaw=0.0772 right_pitch=0.3654 right_roll=-0.048 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1009, 6.9812, 1.6142, -0.0757, -0.0464, -0.0122, -0.0342, -6.9128, 2.6462, 1.1453, 0.2076, -0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e0f9823cdb855bcf2a79658a03a7181614dc1fa1b0f8f8881a124ab0d6106e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de947afae3ee78f7e0ae8cd2896af09cdfa3635d36493a7642d3c2d4c3baa83b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba16d80f3dc8172a9c69a26f3fbc0016e68f3dbc68da6bbc80c575aebb0fd9ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa4883s_nC2VpLQoSmf46I1h5kiEhzWCy72Pl_MyqYHQMffVX5nb_3XW9ZnuoHE6zJaGsnIHuoo4e_QdWlJI5p_N3g6XAfWsDFviwwteQKaZlI1UhvmG_K-kpv0J9dEthsgkY5F_4dwR8-8Jk97czwpaTUNpWrr0uDvBZe2TBk8oVpPFeXa0vkm44kXgy3Z1OyH0vd1HQ1C_VcoX5LWnhwblm3sBJ_PPqjcr0-7IrVI5A2zxE74wxU9fs3Oz_nvFVzhd9m8UKWj2wokc4x5SvcnBn-yLaaUaJJWAuu8sJavMkEl2IEYwSva4chyquAw_aJfNZBBLd-RK5HU_sR7qXWU0XAu_6A7foQZDaLZX8_6kLq79UiWv5kDkbFCHyzRZCC_BDc5KlUV62jjOA4bcQAHkFRLY72L9qLC_3Zr90aSMRq6cldukikwmhTlyfxob2ywcfC1f-DHi77hXtflpvKTNiu8Q_VIquZIVLCbm3ayTw7Vhk_VNFd5BBTOnyz7xvsbh5183ljggf97MLYJgOidKTMXVu_VgfmOyshGxgArSO9jNHOvMuJ44YHO0WFatDsK_wgsIIeMWrdpqNKNL9WsKiVD6QVd6TfltdpVAWm-b1JkfVhq9PbUn3vvQNG5pVno2tJZdZuOKPaZkq0colqNFAOuqELx3Azg-n1iGaLJK15Xbce2rQa4ggFmH7WC7fWc1UuZTalZlHBaQbbkINdnw-SmNGaDwYNVyQjeLpuhuOX9WYijqfDZ0WpfMjVJWqYzxG0GfsCRkYxhEf3wRzwVTK-u0aiWB-5r_ttQOHDlWNo9j6QYuIpedYXZDIIwCo4Eg1U-5nVgablK8a502bsyjhrMI01g1qDN7BgvHdiOo6U_x22gQle1hytkT0vGaqJTMzVTwTwAWZ7PlqhoPxKhCjWyMz7PRgVSGVS0nmKEpU12Cp_Ms0OGQo2H3-jkTOlAP2Ed40fpnVo5peHT3bpSLy4Rkt1R29kr6bvN5nAUBZGDmu57qoCq4KWH6Y1rCsPGT1Ax_CucPB30jCmPw3XKmxHsfE7KHLiv07Rt6mXn4sZ0T2sAL5PrM3tJPlbOYsySY3TXVoRGQk-HdkcTUMQT8cc5sIYhzAwF6B0WiK8owSG7OOQjeZeiEw1hmpUBj5192EsGZFbfF1FNDL6j4PtHIJoAI8FdrMFmxW-Mo65Ve9xngRwDdDdAfxTSMGHA3cUQ7yaWaglqbGrYfOLE-mmoFPWYHmeQg7sr2T18xxGWnN0=",
  "id": "rs_09620f9db701d8c9016ab436b7ec2487d0a6158061e2a3ec7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object fills the gap between the right jaws at their current low pose. I’ll close the gripper and check the settled opening for a secure hold.\"}",
  "call_id": "call_gGEzAYNz9TzDeW6BW1oAOan8",
  "id": "fc_09620f9db701d8c9016ab436b8238c87d08552e1914fa86e14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gGEzAYNz9TzDeW6BW1oAOan8",
  "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, 0.8207, 0.6064, -0.5594, -0.0189, -0.0383, 0.9992, 0.6312, 2.1899, 0.8356, 1.1168, 0.5606, 0.0898, 0.0083]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1394 left_yaw=0.0021 left_pitch=-0.1937 left_roll=0.0001 left_gripper=0.9992 right_x=0.4555 right_y=0.221 right_z=0.0492 right_yaw=0.0781 right_pitch=0.3828 right_roll=-0.04 right_gripper=0.0083\nstate[joint_eff]: [-0.0205, -1.306, 6.8444, 1.7411, -0.0806, -0.0513, -0.0073, -0.0889, -11.4393, 4.1094, 1.4286, 0.0611, 0.0073, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b5c5f2705b87a2b65900caeb033915060d8d6361febf4e8f78a01dc6c47399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f73ac8081fe420acd8e7359e244e2d009a509308eff468b9d0541138bbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cf8474ee2f3c870cc1bbc4fddd4bfc70ff156e174f33193150bcb0f797cb46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5259, -0.0189, -0.0387, 0.9992, 0.6353, 2.4371, 0.8845, 1.5696, 0.5934, -0.0494, 0.9996]\nstate[eef_state]: left_x=0.2743 left_y=0.0017 left_z=0.1466 left_yaw=0.0021 left_pitch=-0.1556 left_roll=-0.001 left_gripper=0.9992 right_x=0.4609 right_y=0.2215 right_z=0.0431 right_yaw=0.066 right_pitch=0.5974 right_roll=-0.0474 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.6386, -0.0757, -0.0464, -0.0122, -0.6359, -9.0188, 3.7402, 1.7314, 0.0806, -0.1245, -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, 0.8204, 0.6064, -0.5442, -0.0189, -0.0387, 0.9992, 0.6308, 2.1738, 0.836, 1.0794, 0.5632, 0.094, 0.9996]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1422 left_yaw=0.0022 left_pitch=-0.1781 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4549 right_y=0.2199 right_z=0.049 right_yaw=0.0772 right_pitch=0.3654 right_roll=-0.048 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1009, 6.9812, 1.6142, -0.0757, -0.0464, -0.0122, -0.0342, -6.9128, 2.6462, 1.1453, 0.2076, -0.2369, -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, 0.8207, 0.6064, -0.5594, -0.0189, -0.0383, 0.9992, 0.6312, 2.1899, 0.8356, 1.1168, 0.5606, 0.0898, 0.0083]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1394 left_yaw=0.0021 left_pitch=-0.1937 left_roll=0.0001 left_gripper=0.9992 right_x=0.4555 right_y=0.221 right_z=0.0492 right_yaw=0.0781 right_pitch=0.3828 right_roll=-0.04 right_gripper=0.0083\nstate[joint_eff]: [-0.0205, -1.306, 6.8444, 1.7411, -0.0806, -0.0513, -0.0073, -0.0889, -11.4393, 4.1094, 1.4286, 0.0611, 0.0073, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b5c5f2705b87a2b65900caeb033915060d8d6361febf4e8f78a01dc6c47399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f73ac8081fe420acd8e7359e244e2d009a509308eff468b9d0541138bbf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cf8474ee2f3c870cc1bbc4fddd4bfc70ff156e174f33193150bcb0f797cb46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDa9XQldNu5-RqY9Mugy6Pr_Fu_UDKnGvDQQ_VVbbXuMBsfmIaPE_UGZe_khqyjAOWQQ35p1zX0p2XQitapPvNI243F2QNRl0ZBOXA_1FjdGnj8Qfxogywr7ibM-1NEIKqFJuoZ1X8SG_SGGTq9yMOy-m4xZckTVE1rUR3YNwTglFR2d0E6-rlNBHLm0oyiH5JjyPF5fYknrPkvhi9gom53BlLe63JtX7VJfb5ZzJbJ_PIGnLg_psxx8ByJ_arN4WRJyV3xCrSjt-wu5_V9zCHyAtzzB6mThb-VSNM8RiyRBbeg6RMQ1kaFvYvDP4KbCDGuc3A1DRonEwj5g5OSvMBpyoX6-IGfbDJ5PAGHYpDxZYlohvdTn7kzqrVWMN3xkMYjWWu4ySPgDCMClCiEyMp56MlfqkpQUDt3C1b_3brfzCPdwZK19aOjrgMcSpgOrWria0CvDW_NmEs34GTMKtF5vf7cAkZ0coceOfrpzYdK9fMOY6X7Ix3HyAYePzQJ_6z0s0lV8GJYyybVLbuXxhF7zf4fYKjlNmhMZYwCQDWBgvwDUAr9PkAigR2yNy3T0PRqIjTOk5BEfkkvmuuCLkFdVV_mS10mJxPUJQd1bpiveBDaj8XR6wjrlzeoWYXSFIwpXv_hsqTPRj7mGtnmvywLve5bBCxgUvLS1BG9mZEBeC5joqdXLIwjnPpu0OhpUVjb5DjpaZUnO0KA_WIBO1nIpbKnXDWJ-lsfwOu94ha77qQl_5WJtZXRzKQ6QumaQVtf0Ay9UE5Ia6coW_wy1jtqzAUUVkNpLu34Z6YHBGX7cFpQHkeQmCWPG-w0-IxpJOobGRanynnrZOAfsivSzd3_T3CL-l3am7f-lAQJT7w4Ay5uvTiHjcPYY7duHhtj6hAn2mQqCA0KbAfYuuVUmExk_EIHjdB_CdO1GimAi7PguuTveKLdmyH_vPdGKJ47n-fExvyfYOrId2y4o5Ohdq-LMljVQDcMyNdRZduG_y9ptwLCXCZXGf94_rAp-jdP2sy-IDxhlWwa_icMZNyxH_osk2EnUKC07XyoQ8PXE5g4N1rW5a9i-1zlSPIFcUlBM1yWEns-qWoqdny6LE8aZEVrKWt0JuYkgKflMfzbHaVU0jV4_JIMivX3V0sU81bXsqN99lAC5svvRTCX2bwpFRIOarft24YYcl4wvATGZ8vG4rXoh29ou8LsVxa6468_YrC5RfxXxGHkkFrLo_kn3qFOVbX5pbIjiM-zJIJCJDt9N8wkhwcB0Ym2wgqCOYncJ19JOSS04XQFVtp2-u5eRItKbvcNDVOtSliT9fGCMaB0Cr7UgkF5bAIsQKlTvkAueGQf-GvihKv_Wx9Fpdmsj9KbJniUxWruTtecNHY2-gHn36rYEfOz9x7xS3AVhpK1Dm7L_9eAkF8hL5396mnBru-vWFqvkvyAR9SU0dvBInq8PxhJTxGKQDVwuHiJxqBAcXDDD6h1uB59_srcBO1uLJkVCwoTKpMjWf3JicQBLPC48hS_fJz05rXfaN7mJlquixCfxJDElTDPdKbylPGvsxVwguxqv1SNzQVHBVmfFjd5Ru8atIeVXuTVUTmZ-geLgNyviQDEj1UOHsjbOLWz_pjC-8kgCMMyDXS-L5zKYi_G9gFBTE8jJAzcDa11zQ8LJyx0ffO5AY3SKbNcWLPJHL_7_fL_GreWNn65vj35e8UedxYphIeB447oJJ58L0bl9GN12QmRU_X-2bu4b8WaxJupAae47CqruOvfaJu7jJoKB2bO7G93TFZYanjF5IWmi8qQ0AfPDMokBS18wQ32s5FcypJqyXV_U9aOLgFzLKjag1YUgy9ptQmfeNDXaBcSK0H3znMReoDQLLPPq1UY4Bw5vAC7J2QC67qy9J2Z5nJRjANkSPE7rSghLLFItATNdUXVWnpavYVQmwrS4-KFZeTMlO4fhOvmxDOTx7uh-u3oS6MFkR5LBKVYiaYn_edN-vRpmB4NaChVJ7tBIiVV7CN47rGK-YBhSB2wXwWh30UHQVKyW5DZqCr_KgxRH8Tvr8nfZv03LHC3bmfmOKBbnJMNc0G73PhlBhTmGRUvKw8bVoZc=",
  "id": "rs_09620f9db701d8c9016ab436baf54087d0a0985146689ad8ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.205,\"right_z\":0.14,\"right_pitch\":0.45,\"right_gripper\":1},\"note\":\"The fully closed gripper reads nearly zero, so it missed; the yellow piece remains visible past the fingertips. I’ll reopen and lift, then approach a little farther forward from above rather than repeat the same grasp.\"}",
  "call_id": "call_KMgCG8lQwcvrUOYGD9AfcKtY",
  "id": "fc_09620f9db701d8c9016ab436bc4ad487d09344d60cd8549599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KMgCG8lQwcvrUOYGD9AfcKtY",
  "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, 0.8249, 0.6064, -0.5705, -0.0189, -0.0387, 0.9992, 0.6365, 1.8721, 0.728, 0.9413, 0.5636, 0.0521, 0.9946]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1364 left_yaw=0.0023 left_pitch=-0.209 left_roll=0.0002 left_gripper=0.9992 right_x=0.4316 right_y=0.2061 right_z=0.122 right_yaw=0.0957 right_pitch=0.4118 right_roll=-0.0612 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.0462, 6.8444, 1.6777, -0.0513, -0.0708, -0.0122, 0.5402, -9.9897, 4.9983, 2.0879, 0.1685, -0.0757, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41960a5fadcd5f4cae2ba1e96ea96118968e56b40e6e0ed6f063ff7d884799bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef69a4b02cc3534a4bf02cf0586ea57cfcf8244daa698459e96310f7cd26c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857fb787e62d9113c8ecdf583203db5c23f6f4b0a03ad9fd1f81bc8bce560e7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.54, -0.0189, -0.0383, 0.9992, 0.6308, 2.0735, 0.8436, 0.9421, 0.569, 0.0757, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1433 left_yaw=0.002 left_pitch=-0.1724 left_roll=-0.0003 left_gripper=0.9992 right_x=0.4544 right_y=0.2184 right_z=0.0706 right_yaw=0.0886 right_pitch=0.3405 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2923, 6.8581, 1.6825, -0.0611, -0.0366, -0.0122, -0.6769, -12.1504, 7.6513, 2.1465, 0.0855, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5594, -0.0189, -0.0383, 0.9992, 0.6312, 2.1899, 0.8356, 1.1168, 0.5606, 0.0898, 0.0083]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1394 left_yaw=0.0021 left_pitch=-0.1937 left_roll=0.0001 left_gripper=0.9992 right_x=0.4555 right_y=0.221 right_z=0.0492 right_yaw=0.0781 right_pitch=0.3828 right_roll=-0.04 right_gripper=0.0083\nstate[joint_eff]: [-0.0205, -1.306, 6.8444, 1.7411, -0.0806, -0.0513, -0.0073, -0.0889, -11.4393, 4.1094, 1.4286, 0.0611, 0.0073, 0.6862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5705, -0.0189, -0.0387, 0.9992, 0.6365, 1.8721, 0.728, 0.9413, 0.5636, 0.0521, 0.9946]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1364 left_yaw=0.0023 left_pitch=-0.209 left_roll=0.0002 left_gripper=0.9992 right_x=0.4316 right_y=0.2061 right_z=0.122 right_yaw=0.0957 right_pitch=0.4118 right_roll=-0.0612 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.0462, 6.8444, 1.6777, -0.0513, -0.0708, -0.0122, 0.5402, -9.9897, 4.9983, 2.0879, 0.1685, -0.0757, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41960a5fadcd5f4cae2ba1e96ea96118968e56b40e6e0ed6f063ff7d884799bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ef69a4b02cc3534a4bf02cf0586ea57cfcf8244daa698459e96310f7cd26c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857fb787e62d9113c8ecdf583203db5c23f6f4b0a03ad9fd1f81bc8bce560e7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbAfI9Vi3kcQE-OjbekG5hgerWM4Zxp1415de2QB2a5cyWPkG7sDCZFqDD0AO8_K9-GtcIgYFFctmj2_ZEaqd4FDzADuFhxHf2rDnum8J2pHvql8uQmK6YGaMe5pq2ost_VGX8v-LU56kFhhlzP0Wub15OMwcUzlnEpPnOlgIhZsRY10yWfMxZ03AJGgNS6HGFzHTXVNK-6oHj57BeXz4L8V7noa9rhBnUyeKY3C85e9Ai2fbf931Pg_op1gzSEQLo5XTYP9x_pYRAf2CAAoFxBIcZSLoLBzaxlmyxxWlx_WITEtSZhgF-17IDtU3eRHMifOZradsZd3VDzVoGdP5atsLoP28LmL8LBYQvXG8fYOoAhAPWwmZETZNE9VtTPhsDn_VPttriPm5oS0PBjBhvey6SOdZYvt5wwRX5BaaV_Q8yAgb9knE3v5gOUG7qwUWv28YDorN9DFxx0sKW7acZhAInBdq6BmdCGefogjYHChqcvO5Wk5VQxliVRfxt0EddpA4e6518_pgWga8R_YwlQi8heLHUx0ZnV8yy78c7LSdTlPAPqUeOFFyGb2kUcLelCRkjRKKGzWt0aAqu16t0PXS5d7CINZlD2SL8eKGbrInfKvT8MP41IDxLno_ImuOYaS-ormqCS1tC1-p7OV8QngSo-trlOCnm2YmZ72QwvEqzW_Q2vI9MW0woa8qPkYtDEBn9ihgrc54j90XyhpGL0VXlMZzWGAMi5PWi5H4zcZQWJmy2jOYjBB68OClgVyqG99qKGevIsCx5GBevPM-rAjV7W6DYgiO3dtcx319VLYOU9jqvm88Ps-SEAezCP8MQndn41DOOO-Kb2EtJpLtvSBSJis10t3E47U0f39U8UFG9_PPvMVzDiI-6nf2pfQjlwIu3XXajtRGff--kofwQs2gzuhIa-fDUhhDEEJnOKWMuD6ujN3Z-6dVkD1YpIw5LXkPIS1q1BBAq_7FKG1uUtNilkFqMv_09BtUvf8JyXy6XEKcgkL7Mw3Ur23lu8h7bXKjIL3zq7YvBa7U9CGw1-sGZvUsgu42Ap6tbh0myigzpfNbL0wMXjMW0MoYJgfJN3DlL1qaAJ-0GsPunZHctPNyGdRSx7uZUgMM8xZylv9UPS81CuXVRvlVFqCBSVO0m-8OhbpXX_A2GEL7LsI_UxZK4WdgaTXv37PGRDFnzyWq_YD7_dvIgW8zJLkXv5dVaCObVisbTlHBd0JmjiJ8fMcx8qZMJXRdHi4s08vzlC9I4yAoVp2e39UF01897VeSBYYF2xUm1Kgtu5824f8_l2Ie_M9gHaMn0sdUYXIdXh8viQ--i3GbyL3-pz6Ve7hrq1uoWrs24jaNHCMI7hFU99YQdNkHyjmiQslXSy_hUUxOOFIOjcaO3Atyu5bAumMc6Zwe0Xp0bkpObKW5a72vcXreP8We1lCROoVv3GbnZIYFZ6EzUNUwDM1ycGOh6Rp7If9wPKOE9iTM3cYIgWshcooT-9SfoOvPxxWdFqQlDWxgWHNfzoM8PK2EBjPzWMKrbYz83De2hu1NOm7I16ItJmiCCe_DjZc-zI4iYzEIo-FJED6jQoNjkCNTNl1Ysjlcq8r9fkIUvurI2tVP7k-iZWcSJTiVhdVs2kak_-DnkLXUA=",
  "id": "rs_09620f9db701d8c9016ab436bf2e4c87d0a70588c7e47ee7a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.215,\"right_z\":0.145,\"right_pitch\":0.5},\"note\":\"The jaws are open again and the yellow object is still just forward of them. I’ll advance farther at clearance height, with a small lateral correction, before descending.\"}",
  "call_id": "call_KlnytedVacYv4ApcqPM8jlfO",
  "id": "fc_09620f9db701d8c9016ab436c02c0c87d08e7210e4cb95136b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KlnytedVacYv4ApcqPM8jlfO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8272, 0.6064, -0.5835, -0.0189, -0.0383, 0.9992, 0.5869, 1.9762, 0.8677, 0.9142, 0.5224, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0022 left_pitch=-0.2243 left_roll=0.0008 left_gripper=0.9992 right_x=0.4684 right_y=0.21 right_z=0.1192 right_yaw=0.1091 right_pitch=0.4133 right_roll=-0.0982 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.8308, 1.619, -0.0806, -0.0513, -0.0122, -0.4855, -9.0735, 7.4051, 2.4298, 0.0855, 0.0073, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0681069cc9bfd3c407a3341ec30740d0fa6ff82ce1f9842a2406aa83485654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ec24ae3b134406e01a3b8183f09d20154cc4d60cdd69fef62566857b6ac943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ce158ebf67a1e0a43df1f9d061cd8dce1ee43169c424e1e03a901f5225b7a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8204, 0.6064, -0.5442, -0.0189, -0.0387, 0.9992, 0.6308, 2.1738, 0.836, 1.0794, 0.5632, 0.094, 0.9996]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1422 left_yaw=0.0022 left_pitch=-0.1781 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4549 right_y=0.2199 right_z=0.049 right_yaw=0.0772 right_pitch=0.3654 right_roll=-0.048 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1009, 6.9812, 1.6142, -0.0757, -0.0464, -0.0122, -0.0342, -6.9128, 2.6462, 1.1453, 0.2076, -0.2369, -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, 0.8249, 0.6064, -0.5705, -0.0189, -0.0387, 0.9992, 0.6365, 1.8721, 0.728, 0.9413, 0.5636, 0.0521, 0.9946]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1364 left_yaw=0.0023 left_pitch=-0.209 left_roll=0.0002 left_gripper=0.9992 right_x=0.4316 right_y=0.2061 right_z=0.122 right_yaw=0.0957 right_pitch=0.4118 right_roll=-0.0612 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.0462, 6.8444, 1.6777, -0.0513, -0.0708, -0.0122, 0.5402, -9.9897, 4.9983, 2.0879, 0.1685, -0.0757, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8272, 0.6064, -0.5835, -0.0189, -0.0383, 0.9992, 0.5869, 1.9762, 0.8677, 0.9142, 0.5224, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0022 left_pitch=-0.2243 left_roll=0.0008 left_gripper=0.9992 right_x=0.4684 right_y=0.21 right_z=0.1192 right_yaw=0.1091 right_pitch=0.4133 right_roll=-0.0982 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.8308, 1.619, -0.0806, -0.0513, -0.0122, -0.4855, -9.0735, 7.4051, 2.4298, 0.0855, 0.0073, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0681069cc9bfd3c407a3341ec30740d0fa6ff82ce1f9842a2406aa83485654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ec24ae3b134406e01a3b8183f09d20154cc4d60cdd69fef62566857b6ac943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ce158ebf67a1e0a43df1f9d061cd8dce1ee43169c424e1e03a901f5225b7a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbDfqAWysCdwdJbMus40cK5zG5LDtika6wkzKrzR3uIQ_4qWjP_axs-PrnhG3jn94U33hByhUKS-mzBZ_ltbL8h1jRN04Vbq8jLdph4IB1rhO3NuBtMwKO38w_HsmMY0ZtUwtTgYlyl_VFIP-o4Tf_YjyejlC3zzACLIDivVz05qf0RkdBnqNQBoZllzJWxl2ha02MClhHVjHmEwyO8cXhYRVlZsB1ld0QFBdmsdOal05Vvm1eWGZX4Tn07pkyzKSLO5HtGy2H1HdGvfFodPamWv83jy97VaTgnd_EJ5jP8fz_3ALPOp4u19N3DOfCmrS9DLM5SPR6JRQk63AXJQhywr_ObDrn1yGxjy8bee13rKajx4wuGtFVcCm7MsIXXHW69e90pz8IfuL7ZfrPImdU_ZwU8fmpC8lthq3f5gkhZ7s-5fs8H6cVz_N515aAv1r7UkFfGBbKRM3REzDqLvhoI87ZpvtYWg-bOsqr3QNiGuSDT_krcNSsjQLJLwohhTfQGWY7wYKQrNVGIZ8kgyX2VLd1ByoR290P8j2-TPv2Zb7_fAGFslswfLhASF0Xsv9ep8UwQCuM9ax09WZlDAVoUdi6FLGMWYV5LQ321DjLJ4l-c5hHE0T4mJ1JKoiE91iWV8CkO_ih_Tly3cyix6S2jich_XSuaJtzaTSG4ieMSjCnKYSwX7mwbYdkB3ZtzADNT3zXUizXVodqqoPcbqzfC6rehm_f_eQ3Ty1uHjXEp25zP0OReNI1f9AEUXjfTTzDm5x0QaQf7A0bb7Qqwfw5QAExVa4fm95EwRSUNkHB15SmOZMFVUkA3cfapFdhV80j79B7iB-tH-Okwe5HoF1dojyE6R-qoWJnz1fS6G9RVKptA2dZczWOVPO515lUIspX78ANYVXk1y4Yv75rMfRXJPbNXuFv_pyGrzUXTVBzl5JT07e2HdDVtVUkO5OrovgDbJml13y_vzOFLjjLwNQVNP4s28wiEUWIbGQlUq0TFP1jZPSwqjh7m-ztuhEbucQl5CcfGQtJP6LigNA01lBNMiDn35ya7UsVhoCL3QlLz8sgeHSRNFBQIqTgrWUtGEG2OsQrkIVL-bdy1b8OHdp7BvQTLUwr2yftR7Olxn6i7CM_sQZS5t8HJd-QnXnNcM_wV1BJmjjOQp-3KqEu6vb0dKEVZgoExNTkn3QdHue7U7_4zNQBQsZi_u0B7p2jnwP0d9swaKvlHSSsMtTEh7KPcaRfP1B-toyM_neFIh1qVLaSQkNZ3sqoO_HLwjE49aCxYIPbJZ_CkQl0gTFm0j3ZuaTYCTDiM8mXNKwB3mB_cfkQyfqTgPeKY6Rviz_bcj39YJk-dPjsT0a7r35Mj52E4cbxLI-l1cLfSFLdd9gnptc1Yq65A1Bk1Vg8CggPABswCuVVmd5uA-3ZmRa_6MtoRzSH0wQhINKNelRmVB-sKsi6CppjnmSqRorjoTUbNulwl",
  "id": "rs_09620f9db701d8c9016ab436c253a087d0b7ca96581b3420cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.21,\"right_z\":0.024,\"right_pitch\":0.5},\"note\":\"The yellow object is now at the bottom edge of the wrist view, indicating the gripper has advanced over its tabletop position. I’ll descend almost vertically and inspect the final jaw alignment.\"}",
  "call_id": "call_0vJ15uugXczXKi8OagBiQVaL",
  "id": "fc_09620f9db701d8c9016ab436c3080c87d0b322605977253b6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0vJ15uugXczXKi8OagBiQVaL",
  "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, 0.8299, 0.6064, -0.5903, -0.0189, -0.0383, 0.9992, 0.59, 2.3539, 0.8738, 1.4124, 0.5125, -0.0151, 0.9954]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1318 left_yaw=0.0022 left_pitch=-0.2338 left_roll=0.001 left_gripper=0.9992 right_x=0.4716 right_y=0.2158 right_z=0.0457 right_yaw=0.1048 right_pitch=0.5241 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6093, -0.0317, -0.0562, -0.0122, -0.253, -7.9795, 3.5624, 0.8278, 0.232, -0.232, -0.0073]\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,$blob:cad5f08118411e58c3607192e30bb56d788bf1618d7bfc2b5960a8d82fcc9023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8bc926668df5dfb7580f30e9be41e97dab2bbc2bc1270bd06ebfef66475a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c69507dbbf3bdd50ba6f1913e6d407ad2601a8cfa023ef7cf4a3f96dd1582d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 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, 0.6064, -0.5594, -0.0189, -0.0383, 0.9992, 0.6312, 2.1899, 0.8356, 1.1168, 0.5606, 0.0898, 0.0083]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1394 left_yaw=0.0021 left_pitch=-0.1937 left_roll=0.0001 left_gripper=0.9992 right_x=0.4555 right_y=0.221 right_z=0.0492 right_yaw=0.0781 right_pitch=0.3828 right_roll=-0.04 right_gripper=0.0083\nstate[joint_eff]: [-0.0205, -1.306, 6.8444, 1.7411, -0.0806, -0.0513, -0.0073, -0.0889, -11.4393, 4.1094, 1.4286, 0.0611, 0.0073, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8272, 0.6064, -0.5835, -0.0189, -0.0383, 0.9992, 0.5869, 1.9762, 0.8677, 0.9142, 0.5224, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0022 left_pitch=-0.2243 left_roll=0.0008 left_gripper=0.9992 right_x=0.4684 right_y=0.21 right_z=0.1192 right_yaw=0.1091 right_pitch=0.4133 right_roll=-0.0982 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.8308, 1.619, -0.0806, -0.0513, -0.0122, -0.4855, -9.0735, 7.4051, 2.4298, 0.0855, 0.0073, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6064, -0.5903, -0.0189, -0.0383, 0.9992, 0.59, 2.3539, 0.8738, 1.4124, 0.5125, -0.0151, 0.9954]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1318 left_yaw=0.0022 left_pitch=-0.2338 left_roll=0.001 left_gripper=0.9992 right_x=0.4716 right_y=0.2158 right_z=0.0457 right_yaw=0.1048 right_pitch=0.5241 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6093, -0.0317, -0.0562, -0.0122, -0.253, -7.9795, 3.5624, 0.8278, 0.232, -0.232, -0.0073]\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,$blob:cad5f08118411e58c3607192e30bb56d788bf1618d7bfc2b5960a8d82fcc9023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8bc926668df5dfb7580f30e9be41e97dab2bbc2bc1270bd06ebfef66475a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c69507dbbf3bdd50ba6f1913e6d407ad2601a8cfa023ef7cf4a3f96dd1582d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbHHiDUnGsP-s_uOqjH556JQziucztR6WBFTJTimCId62dS0OOvrjTtgMo43kYy0ZgeNyCFlMzZbD3xw_zwoHao5HT6_AGqa7-HbrykKpehyFoIIDg0r0oV5q5LTvxXBgIyO4or28rRrrlTdjAGSoUiMm85aHPelBK60TS47aSM0BrrfBEje4RyZl_BheIZJczINY3TzxH3nvwAZX_eb1Ahr1Yjl07f3krnRNR3Tdb4DSOcidLEChmncVlk6We3C3K9KzZGMAmN1VQdpToC5gl6Y0tvo8iVACKlH0tFi3_7TjiQLev8nT5YzHRpRachhnKZoKI7KqtrjcfWcFhM0hU1spZ2BN-lE50L8EXCfbH4GOTDiuWLEukOkWt8DUQdYMLMVL5Eso07PVugDyMukF-ZiscQV3gLPV9dnyt-rFuvqqxluVxvajHbKJ5PtYULC7F3CTcZhkbKRLt2cJMarYA57JNAJsSLp4Em9HmiOOajNRyH-1XsYeNo7Xgpsb5c1ed3MTK25cV2gYcOUcRZEQe0LJlJ2DQwnWkd6edpCSGEnvSSkCKZwszTnhhV4CZRpDDP4FwMryKu02K772QmZbytUyOXEryJPHvL1TRv1wZ4uMOclrHhxTFt5LbRrFMhBmgpy4AbtmxulrTkUMbjePnxtJbARWJcljBR9jp0_96PEnUN4Dzc4TeF8oCLccdxgsNMQxO1CCLnrVIpLlbAnYKhRDtVYmtsT7Xf4V8U7zIS5AOVKqp24_L4a-euNfqqOvp5S0uConGDG5t_eUBhTOD2hZVRN4Dua99dcU-ko6kk9vW0Qz7FP_3cl0arhPO5aCytQY-p-REUMINFL5RFiHiavjsR1kBDR3LjoqJ63WvWY6gLnfEK6U_VZlwWHV5vHcwq0eP8XPvXzIJxdedtWGRqk372EQScpTLS4Ga0_t33V7IuHyW4b8vM75mFWzTsWcqmfAtsY3UGQAZ_ojD9-iE9j5-t1dpqZB9JjYRMsq9-oid5zzH_iTA9gCU7jH0esxqF24G-8ukWoRDjrzdALqo-wb4fjF_N9Dasw19fdoFH94b58eg6B1ZmaDKrPYasZ7AKiSJohC211drlbU0rFpysLPzpsS_4EMzrIfJmqdAPXKbllsQAJIYLRLsTUEiWs-c2fLa2lp-0f_ZNnoHlvoJt9wbOo9MU5w5tdROsqfHnGUxsWnfGPHU5mrEG0vSgxKGK570tJ1PfSwl0ATy9jDl4dDBovQS-JOx60GVk_1UhNi1LaH7SkacOUKpXJ83ebDWwAmBEFvfE3DGBEukbXCUEMjt31JrJEDXKeK2PUVtx3yki5QUFOoWCPjw2qAjGgfZayFh2SAGcsa6OuAZ8BfK2tASzpxvTlAqXVZL97RLtZs-Efpgx09l0mksiUPxVsfGTc47whxAYTsLYA5HPLHTDwv86uhAbruTB91Et1if4eEYtkAVgpqpYHHvtkzleYOTfw1iZ5OEJigqsYgJxKNAxPb_tA0Cq6J9hzV9Cqvy5fEZ95pI_o8b5WhnjEBPq3Qn4ozpl84iF4aeUIvTcFyYrJHdgTz650xaLxrcvSBQVkSsw8GWtdmN5_2DjVt6bFjbt9IGMbBUbJ7kKZIVdZfBn1-CskDYEl0N6Zp2NT3fNiST3CPZTaX6zHviQbbRapkqB-LfHh7JM-dYHSTao3fgp4rbux0puM0eMyeQtq2MKPNnkvmUeQ-nyCeYSVv-eA4UoU2B-w_dc1ffkeLJ0eb87lG8h1Zo8qZgRf6c81B6gbNQ5WWdAeQt17xe5w5bvEVvvM7Ujp-kUFsKTXxjKsWo0IVzs8Vlkb0i35WdQzj_jjzxr9iPDqrEBgQRE7MUlO1h0AVdhDZVUjlqZO41HPV73uhjbpW7j1ssv2N2sQc4Zt12ZSJ9A6wt0t9FpWgoD0R1o",
  "id": "rs_09620f9db701d8c9016ab436c5b17087d097e443ec67f22cd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.21,\"right_z\":0.04,\"right_pitch\":0.52},\"note\":\"At grasp height the yellow piece is centered but still visibly ahead of the actual fingertip gap. I’ll advance the grasp point roughly 2 cm while staying low.\"}",
  "call_id": "call_C3I4gVbFl4JXhVn4P1TndN35",
  "id": "fc_09620f9db701d8c9016ab436c6fe4087d08f73016bd897eda8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C3I4gVbFl4JXhVn4P1TndN35",
  "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, 0.8303, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5739, 2.3882, 0.9058, 1.4395, 0.4835, -0.0227, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1313 left_yaw=0.0022 left_pitch=-0.2365 left_roll=0.001 left_gripper=0.9992 right_x=0.4798 right_y=0.2167 right_z=0.0444 right_yaw=0.1151 right_pitch=0.5452 right_roll=-0.0491 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.1556, 7.1316, 1.4774, -0.0611, -0.0366, -0.0122, -1.4291, -10.5641, 4.8205, 1.8144, 0.2466, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25c015b452c42b143b1eec66c97061a65c7423f40f20092466ca175187a01c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c7deb8ec1770d2c0cdc069047c5e08850f10beb40e47a3330734dff430ad22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d942088c532a21a153c18ebf072640a64d11ddd89462976838611d419f3f855",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5705, -0.0189, -0.0387, 0.9992, 0.6365, 1.8721, 0.728, 0.9413, 0.5636, 0.0521, 0.9946]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1364 left_yaw=0.0023 left_pitch=-0.209 left_roll=0.0002 left_gripper=0.9992 right_x=0.4316 right_y=0.2061 right_z=0.122 right_yaw=0.0957 right_pitch=0.4118 right_roll=-0.0612 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.0462, 6.8444, 1.6777, -0.0513, -0.0708, -0.0122, 0.5402, -9.9897, 4.9983, 2.0879, 0.1685, -0.0757, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6064, -0.5903, -0.0189, -0.0383, 0.9992, 0.59, 2.3539, 0.8738, 1.4124, 0.5125, -0.0151, 0.9954]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1318 left_yaw=0.0022 left_pitch=-0.2338 left_roll=0.001 left_gripper=0.9992 right_x=0.4716 right_y=0.2158 right_z=0.0457 right_yaw=0.1048 right_pitch=0.5241 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6093, -0.0317, -0.0562, -0.0122, -0.253, -7.9795, 3.5624, 0.8278, 0.232, -0.232, -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, 0.8303, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5739, 2.3882, 0.9058, 1.4395, 0.4835, -0.0227, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1313 left_yaw=0.0022 left_pitch=-0.2365 left_roll=0.001 left_gripper=0.9992 right_x=0.4798 right_y=0.2167 right_z=0.0444 right_yaw=0.1151 right_pitch=0.5452 right_roll=-0.0491 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.1556, 7.1316, 1.4774, -0.0611, -0.0366, -0.0122, -1.4291, -10.5641, 4.8205, 1.8144, 0.2466, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25c015b452c42b143b1eec66c97061a65c7423f40f20092466ca175187a01c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c7deb8ec1770d2c0cdc069047c5e08850f10beb40e47a3330734dff430ad22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d942088c532a21a153c18ebf072640a64d11ddd89462976838611d419f3f855",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbL2S1ufMP2dxop_dpFFHHfP2lRPUceHqw8IwXxgwJlnCADP0rhUgAk1jQYK6tf77zTkEcaSjBNnTfn4yMboptrCC00WUP_rIJyENAZj_iqEezkkbGIBgG2IcsncyhmQh1T__UFSHIvOLm7uTJMJgDMftBoMJ43AWSBEx6brxAPUog0CYHWkTSJF_cQaJF_2wHQp7q0v3I6r5rdU3iW7CpY60Ybz3cFbPDqFvkDXvJiwF7eP8Mor_9ocBu7PpAgxrA9r5kcT0Tkj2V9Sm1a-PQr5G-fZljbSOYYV85WcdgnfBj3h8Ee0vhyvgUBIjmqIs_Ufv56JMYf6MCiqhP7VtIhair9fZJb0PtrOrtn0H3OMft4mWo874sEAjfhFGXV8TvBnE_vHBcfSfzuZvvQNVE0b4TVTFNpfKkm6vagzboXWLZoGOqb5W9SVN9XREFB0bHx4GIg0ois-5XOJR1zqQAE1ZSLGWN7Pk7nHRmCycGx1ARayIYXxmzmaSt6o7ypfwQ4g7EEfc9cmzb9cFRcvpO_Z9jpsYaNNNYQoFRWGReJ0UWwobVSffc5zMaYcaij-0d9lDOZbLQAf5p1C7Ur9zXfW7jgeHw0CTGnxswlg4Omv-AV2s4ZsUGX3pmTcgUjBirU_MHoujJGZM4u07lxXofxJgkVUUOwp_rkOgMozRp01vf7CzQNg54AHT5DI0i8LEnHiSIH8mpu90EXtX0wpEaFCwUM6znMATORx0VHvqwpcGRyIQRg56JR2h5BeiLwN1Em278vmGKFgIXm1xGUg4OQYFUxybOydqn2cwQDDutZrRQD6wUDG5NaS4VSw56AdujAl5pQjufZTBBpae1RWpfEGG3e0Q_Zv-YWdqQFp-lcoiJhAzajvehqyWXRmzGqSdG1rwB6ZKca6TukQd43F5IYT9t5aqn5L7f1hDo7_PGv0LL-Wwy0-uQWErW7w1g1FK56e0a-XGhK6j_Gco25oqIsR7nEi1_vl_VQDaxFvwZ1oKZnsHNKYl9DHr6QmuuyY8I-Xq5qiL6DA0CTHqIF2e7ELtX4Kv1MGUdUNMCi05tLiYptTmkudbaWJ8RAGCR64YN0cFCF4IyKAEcEJpQ_EpnSE4RX8VszLjdRIJz3_rmuWWIwbVgL908vd6-9W39MYXHvbhE73EDqgEesFzH8Si13BVBTVb3joOsUVMmr_A3S6fTOhnNjwFICMM3SCRMEV-yLGxVs6bRvaPZwvpyqkiPzQu6bYAMPLgXALH7yQxvSm0_12chF7RkdCN6JR5H5xB75qxEVtHeW3Qhi6aSgHOXScxy39O1O2v2Jd3QLOzmQ2h1HARzdJ4XVKTByLhEKdxmMfa5UZOahdbvufMXOGrC0euWLLclKmQh2kdec8OQee1-XSmeORlqR7w1H09DWTNEGhjp32DkDx2o9Oil0gtOgNMdYzq1YLI6dYHQzbxVoInc9E7SfpvVhNKA1jYVDXfKzSGVhumfpzj_s-2s1eo4CTeS5L-L9wUdS5y40BppyJ7opKCOdaMPUHL-ErZnM5WOg65bfWGhYKX-ZzEXQUT4UPsChVEs17fWfbu5x77XuIJdkXinu4lvbSWSQK7DEiPg_wyua8_1KlcH5Ap0ENbOiCPBnLau_ZO2kKioPzoFnbXgBi3MqcRP7yUWH3P8g7fGz7r8oIB4vfUov_hKy0sfT3LVTU_Uqme8yhNt3nCIK796gAqRhXGOfRit0PJDUDOypGonjT85YIAkvplw96mOl8qt9A36J13ELu_xLEQ07fUhW2SmWju0jdeMMZ23hOZiGAX-TY6WvN0DkvEIHYy7sElq0L9u1rF5lcCsIYVOYN_EubaLM5iATZwnfVDeNeR4gYVkYB6p-zkQRSaBuyKfaRhfF5tEuVrGNQt4NT5aFPQI=",
  "id": "rs_09620f9db701d8c9016ab436c9233887d0affdc792669b30e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.21,\"right_z\":0.045,\"right_pitch\":0.6},\"note\":\"Advancing moved the fruit toward the fingertip row, but it is not quite under the grasp point yet. I’ll test a further forward reach with maximum forward wrist pitch.\"}",
  "call_id": "call_1vo5u3NLmEHGCz8OetjJhdaU",
  "id": "fc_09620f9db701d8c9016ab436ca55e487d0a49e24ab5ebfb79c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vo5u3NLmEHGCz8OetjJhdaU",
  "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, 0.8314, 0.6064, -0.593, -0.0189, -0.0383, 0.9992, 0.5354, 2.4413, 0.9932, 1.4441, 0.4286, -0.0319, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.131 left_yaw=0.0023 left_pitch=-0.238 left_roll=0.0011 left_gripper=0.9992 right_x=0.5022 right_y=0.2167 right_z=0.0457 right_yaw=0.1264 right_pitch=0.5798 right_roll=-0.0392 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2923, 6.8444, 1.4969, -0.0708, -0.0464, -0.0122, -1.1692, -9.7573, 4.465, 2.0, 0.2173, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323b249543611f8c534907a70812784017e7e8665d60751ab470c3e4e435d63f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078f83f0c9bdecaee69e730a618cb1cef25c62489fd7e77e10b1cd50e70bf744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a77e885bcdce5b18f2c415fe2748b3bcffaef8c79cd9288a26f43610a6a2d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8272, 0.6064, -0.5835, -0.0189, -0.0383, 0.9992, 0.5869, 1.9762, 0.8677, 0.9142, 0.5224, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0022 left_pitch=-0.2243 left_roll=0.0008 left_gripper=0.9992 right_x=0.4684 right_y=0.21 right_z=0.1192 right_yaw=0.1091 right_pitch=0.4133 right_roll=-0.0982 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.8308, 1.619, -0.0806, -0.0513, -0.0122, -0.4855, -9.0735, 7.4051, 2.4298, 0.0855, 0.0073, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5739, 2.3882, 0.9058, 1.4395, 0.4835, -0.0227, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1313 left_yaw=0.0022 left_pitch=-0.2365 left_roll=0.001 left_gripper=0.9992 right_x=0.4798 right_y=0.2167 right_z=0.0444 right_yaw=0.1151 right_pitch=0.5452 right_roll=-0.0491 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.1556, 7.1316, 1.4774, -0.0611, -0.0366, -0.0122, -1.4291, -10.5641, 4.8205, 1.8144, 0.2466, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6064, -0.593, -0.0189, -0.0383, 0.9992, 0.5354, 2.4413, 0.9932, 1.4441, 0.4286, -0.0319, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.131 left_yaw=0.0023 left_pitch=-0.238 left_roll=0.0011 left_gripper=0.9992 right_x=0.5022 right_y=0.2167 right_z=0.0457 right_yaw=0.1264 right_pitch=0.5798 right_roll=-0.0392 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2923, 6.8444, 1.4969, -0.0708, -0.0464, -0.0122, -1.1692, -9.7573, 4.465, 2.0, 0.2173, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323b249543611f8c534907a70812784017e7e8665d60751ab470c3e4e435d63f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078f83f0c9bdecaee69e730a618cb1cef25c62489fd7e77e10b1cd50e70bf744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a77e885bcdce5b18f2c415fe2748b3bcffaef8c79cd9288a26f43610a6a2d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbNluH1kr07YRT5Rdb0Z_JX9vRsRKSJvABbIj7hglsShn829zhIDno5EMf6IdXk5txkHH-FzhmG_nBFO5jnts7ufyQ4gPY9Wc_E0dUAURHuD6bpo1_mjIAvfXMqmWMsanITLyCAx_RwuySDw84uX5QQllC8MK-ajoiOrHIk2jPx5nhT97pTayQKLiLh2ELAyYzZ24Ty2Mq_6D-1s-Fm_CmKw_F91sisg8gIQgol3HCTRAmNcZJoNzhbKrqstKdppi4TH3DYfubeI6CxYySWUXiPHAxBg0o_-I6nvmabIt9qZAQZFL4BxvXIDFM1Gn7D7cFx9M68h6v88BvVB-QGnNm3ckM2Fx0N1V3FeAfZU5UE7S9yR7u58KOLSpZGwtMXzcqk8TgU062UOaqVlxz3UuiLTl7cCRan-2ufGihY1PhCB6XRn0es_gWMOeJgU8d7JC_BJ2AqlxfKuigKlSJiZAuGQ4xmu6MeZlwxsc_3LzeK5eVUTW7w-1AubtT_bBh_tasyJ2UqCyOT9RMeBCSy4OjqHKGrhtoecuOnQ_crrEQT3dSBaMAd6YYRp1SLgVJDNPoPt1Olojxdn7-UHPyuACCjf7RVRk-oUTRZWMl6XfK31OSC0R9yUxtdUQk-vDv-z6uJtFl_7k0Zg01OUnZx_6S4ml30-iw2pkzaTltKMaioeNBkIyIHh6AkLtIYp-JbYgfyQin0Ep2RQRE-UXJm_RX1pjheZtfBwxQyNxCcwQWUxT4i5Svgpzh-WQvnOgCXUXYMQSqiDLs2Q9V2KayblztgL1IHCzaF8NZmInDdKR7mS-ChAyHlPFGmKpS_W8x2i7sBjLVxKPtihXjBmrZYALZ1YuTM787Wll_riXQtwcJzJPt5SsXLTHs_NyMBNX1s4NuzOhjlzzGCIHAAyUisDJQdSEPtiEb6lLyFmFF09kVyjpqv-xXIqr_DVnKfyE4hgTha0CP3oXTArvLz4otevQSiPGlFkkNuIEuteaT-2cKvIzLn-toURbFtMetLlPZq-gYVrJNQuB1x-tPxiri_pT9NiM_rdgqGw57xtk8s1pcOGaUOIW2jSBbI0b5l5l2iUQtYfMmJzD9R2l0ABaZ9zq1ks-1OJ5KR8-Yyx98dv4M_B9wt8KTExjlSuoOGRYb1exFZszJZkxEB_TJYbTEb9IGMY16JWpJIdzgggUj3eSZ8CzeuZu2T_RniTKBhsXjWBI4_q0UGh0VQhMHrC0PzxpJ6nA==",
  "id": "rs_09620f9db701d8c9016ab436cc808887d090ba16bf7788d4f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object has shifted down to the fingertip region and is centered between the jaws. I’ll close here and use the gripper opening to tell whether this forward pickup succeeded.\"}",
  "call_id": "call_hiVSth9Xu52gHkeUJ7mWsbvJ",
  "id": "fc_09620f9db701d8c9016ab436ccadac87d0aa721e9738e05e22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hiVSth9Xu52gHkeUJ7mWsbvJ",
  "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, 0.8322, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5224, 2.4519, 1.0119, 1.4796, 0.4049, -0.0647, 0.5174]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1308 left_yaw=0.0023 left_pitch=-0.2384 left_roll=0.0011 left_gripper=0.9992 right_x=0.5075 right_y=0.2161 right_z=0.0544 right_yaw=0.1479 right_pitch=0.6193 right_roll=-0.0593 right_gripper=0.5174\nstate[joint_eff]: [-0.0752, -1.1419, 7.0359, 1.4921, -0.0659, -0.0415, -0.0122, -0.6359, -9.8803, 4.4239, 1.6923, 0.1538, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3c5eaddd8172c3a787fd886775c0ff58965b5835b2cb0122207273648df190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8feaf70190e5a1dd4fc8660099310ef2007416fde00cbcd564d9d4f8d4240e81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f8f6b0a4fb2ada286b1199cea37f6df65a6f957a708b44a4997bb90395f754",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6064, -0.5903, -0.0189, -0.0383, 0.9992, 0.59, 2.3539, 0.8738, 1.4124, 0.5125, -0.0151, 0.9954]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1318 left_yaw=0.0022 left_pitch=-0.2338 left_roll=0.001 left_gripper=0.9992 right_x=0.4716 right_y=0.2158 right_z=0.0457 right_yaw=0.1048 right_pitch=0.5241 right_roll=-0.055 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9812, 1.6093, -0.0317, -0.0562, -0.0122, -0.253, -7.9795, 3.5624, 0.8278, 0.232, -0.232, -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, 0.8314, 0.6064, -0.593, -0.0189, -0.0383, 0.9992, 0.5354, 2.4413, 0.9932, 1.4441, 0.4286, -0.0319, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.131 left_yaw=0.0023 left_pitch=-0.238 left_roll=0.0011 left_gripper=0.9992 right_x=0.5022 right_y=0.2167 right_z=0.0457 right_yaw=0.1264 right_pitch=0.5798 right_roll=-0.0392 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2923, 6.8444, 1.4969, -0.0708, -0.0464, -0.0122, -1.1692, -9.7573, 4.465, 2.0, 0.2173, -0.1734, -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, 0.8322, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5224, 2.4519, 1.0119, 1.4796, 0.4049, -0.0647, 0.5174]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1308 left_yaw=0.0023 left_pitch=-0.2384 left_roll=0.0011 left_gripper=0.9992 right_x=0.5075 right_y=0.2161 right_z=0.0544 right_yaw=0.1479 right_pitch=0.6193 right_roll=-0.0593 right_gripper=0.5174\nstate[joint_eff]: [-0.0752, -1.1419, 7.0359, 1.4921, -0.0659, -0.0415, -0.0122, -0.6359, -9.8803, 4.4239, 1.6923, 0.1538, 0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3c5eaddd8172c3a787fd886775c0ff58965b5835b2cb0122207273648df190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8feaf70190e5a1dd4fc8660099310ef2007416fde00cbcd564d9d4f8d4240e81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f8f6b0a4fb2ada286b1199cea37f6df65a6f957a708b44a4997bb90395f754",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbSbnevN9TWW61BljTTKK9qez01BCVJu9xemAguQVzAKbHcrlI2J1vlwHZE7SmXq0GQf3hdPEhkjMSMHciJb3TqGOGp_fdn2yZ7lUbeCbCHaeFUnla_HNZEpu5rOFj0bhondpyjJVXDX-kFp5qBHr584NLwOTvBUIc1b5e5eLF_ZhdUZYaaQ96LgShm-LdwYzfUk9qfzYZKyOXJpmX_EQQijcMwynlZiiAtjOSZmE04ZR-MVz6-6tMd5c3XVOLeSSdN_b2TxgV1EstQyC8xza2FdevKEQYDL5uZdKyLBDLFDwdkSoUVAyj9ovHWZIVhnoSGqfNErrHoEnENXxUoJN9ROgsFQq0ruW2RydHc44m2TacIPKhefgWAOBkduYH-3tMIOf-4hfXpH8Cw73gaI7LpSKWSzzPBdA0iuyRhlxYge4LR7veyuptxIlTAn76dsikU_9cWD2RkcvzT81K262mSnKruoDQVY6o5tWF0yEpinpT0i4h310u9BAu5Jm3VGroP_jSF7j1u5_SYJjQDcgQjVxiuJIINPN5HbR_kk3jB3eF-fN1xviUbsLkSZEzz5NK11Gipk1S8-Ir9ZiX7T2YWn1WGJE7zG8ed8L6e3yfShtYZaazLSauwObZiDc11QiDW4lKFcTwE3icPIwug9plvKK5snwk53JC9kOru_vxbthVATfXaoFFd68kLhpc3p8Y3EfPsHCHbSVEnrEIs9DXRYGSazSAGjXDNVHxlKPRL6Ib-3lMmUcJj3xNOpC4XdzfBj6ZlEgb2caJykb_siOZ1AndVBXyN8wadp6uZf__zxoVkx4F4mZzovRP8ZGusFfHpfsUa6B0lcD74raNN0Gacnh55E4IzMVzJNjboUbR6A1_RM90wbaVnkjpQD-xhlxIgUPmSY5jcPDRAtufPZXdxg_b9KsDLdOULIs2Yjc3W6dhRk6trrdVfAKCjlcsIPvEhEd6sfKxUVT0mc4YavnJWu9IlefCoH-nus8fBznyMqAyTC2UTtBoeHjOZpemrCgABEhwyQU-JfoKi9-3QvqcAT22hJRY7fjEOD6qannv9NXAmwmi3GxEZOG_97nlwQ6rVUkcEncbqW1x1HkHy3Wd52uNN1Hxb0y-BGK3LM0NuDtuQGs_nKskfJ5qx4fPNlXDxjJibr3u9YdV3fE4XUgB9XxpKVnHcg5Dk_rFOUoEQvElZfMewrklvOSc2oUCcHspHQcLCyi2kpLLSlHOBiaW77yKOflLohtGH61YAP4GQNideYt60LtDnMURC4XKrnz-utaXZmCAINsXbt2_2tdpFcz49jFWSLw5KUPpkJ8mAjxmAE72dfH0-0Twm1_Kc8aVYVA48tJMKK56QPXc2SUUJHX-EK0Zb_ADL2NLLMj9UWW1FchpjoiFqS9FdZ0UVrhM8GIHxFE5WZqYYA_geHT8SdwRelHqH3hax4--vibu6RXrz-5WmlmdZURBlffuI60gjIZBlaOclHqAnjlNrR0FG00lVhi1XwOz1FTkF6zxWJIDEDrrtyjCSkOTHLJ3PfVKz2oFgsks4dzZQU-oBx7cstOLV9HKBzJviqjzcLmWsq_AKs1GDG6I6_qAMlItwVgWbsU7xlexSI8hzdO7xQWhKY_x1N4EG5PAGgo6ARK_UHvHiSy-izsIlhQ2WVEOlrWoFgSDCNSiIb3QOnDrAA4mbQ1FhHa2stfTUy7j3q6Tpsw-DWXzO9XQxydJaE85bX_YPIupleh-m9tlLxMXZDZJj9p-t0-u-vLe-VEqin01DVroz80pN4tM_xi4Et9tjOXviGpTUyPD5bft6blzveNOgwZpiGyQ5Y1JtlMPkHb9Loxg=",
  "id": "rs_09620f9db701d8c9016ab436d0c55087d0b7426daa80fba7f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.21,\"right_z\":0.17,\"right_pitch\":0.35},\"note\":\"The right gripper stopped half open, consistent with holding the yellow object. I’ll lift and retract gently, then confirm from the overhead view that it travels with the jaws.\"}",
  "call_id": "call_g3BTPkKwbQrnyNta5VCcyAMi",
  "id": "fc_09620f9db701d8c9016ab436d212b487d09851b84961ba3ff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g3BTPkKwbQrnyNta5VCcyAMi",
  "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, 0.836, 0.6064, -0.6071, -0.0189, -0.0383, 0.9992, 0.5835, 1.8111, 0.8433, 0.5789, 0.4526, -0.0193, 0.5174]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1275 left_yaw=0.0024 left_pitch=-0.2567 left_roll=0.0015 left_gripper=0.9992 right_x=0.4439 right_y=0.2047 right_z=0.114 right_yaw=0.2082 right_pitch=0.2259 right_roll=-0.1895 right_gripper=0.5174\nstate[joint_eff]: [-0.0889, -1.0462, 6.9812, 1.6484, -0.0611, -0.0562, -0.0122, 0.335, -12.465, 9.1556, 3.4261, 0.1001, 0.6569, 1.0183]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4eb6114a5c753e5544432ebd643a004a137183b453c8fd977d11fb86a33def",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c485d9dcc87b8265fad81fc4bf20018fb758a11b4f7e743b3872ea595e449d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535cc0327e273688a558c9d974e6ffc34b1179ed0326411ad991c76c63bb5df6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5739, 2.3882, 0.9058, 1.4395, 0.4835, -0.0227, 0.9954]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1313 left_yaw=0.0022 left_pitch=-0.2365 left_roll=0.001 left_gripper=0.9992 right_x=0.4798 right_y=0.2167 right_z=0.0444 right_yaw=0.1151 right_pitch=0.5452 right_roll=-0.0491 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.1556, 7.1316, 1.4774, -0.0611, -0.0366, -0.0122, -1.4291, -10.5641, 4.8205, 1.8144, 0.2466, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5224, 2.4519, 1.0119, 1.4796, 0.4049, -0.0647, 0.5174]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1308 left_yaw=0.0023 left_pitch=-0.2384 left_roll=0.0011 left_gripper=0.9992 right_x=0.5075 right_y=0.2161 right_z=0.0544 right_yaw=0.1479 right_pitch=0.6193 right_roll=-0.0593 right_gripper=0.5174\nstate[joint_eff]: [-0.0752, -1.1419, 7.0359, 1.4921, -0.0659, -0.0415, -0.0122, -0.6359, -9.8803, 4.4239, 1.6923, 0.1538, 0.1245, 1.0281]",
      "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, 0.6064, -0.6071, -0.0189, -0.0383, 0.9992, 0.5835, 1.8111, 0.8433, 0.5789, 0.4526, -0.0193, 0.5174]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1275 left_yaw=0.0024 left_pitch=-0.2567 left_roll=0.0015 left_gripper=0.9992 right_x=0.4439 right_y=0.2047 right_z=0.114 right_yaw=0.2082 right_pitch=0.2259 right_roll=-0.1895 right_gripper=0.5174\nstate[joint_eff]: [-0.0889, -1.0462, 6.9812, 1.6484, -0.0611, -0.0562, -0.0122, 0.335, -12.465, 9.1556, 3.4261, 0.1001, 0.6569, 1.0183]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4eb6114a5c753e5544432ebd643a004a137183b453c8fd977d11fb86a33def",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c485d9dcc87b8265fad81fc4bf20018fb758a11b4f7e743b3872ea595e449d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535cc0327e273688a558c9d974e6ffc34b1179ed0326411ad991c76c63bb5df6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbYxB9boJZ5e3YA4gvbD3H-3U-4CoPUETPtiBY-s7rsKZO8OtKciqVM0h1usfqAdV4Wrvlx7NlmcAWiZ71Ub7WsUCYYL7PFLKLAfeSVvgEF2sET7wBL8CWB_hPTU_8NTR0s_Ekn0fo5auL4tjkFI_4bxkSzFf8KecRqtze91LKad9gm1qLIxslrhRimPNAdNuLmsTRfP1cNzbnxYrAa_XO_8JQUjRjPUlhwsKQ4irTT_DfftABKqF5uT0oZTQj9vI6Tj39CX0WY9a23iY3CeAr1reXY5nfhsjXI9tgpsHcltRVvmf4nakvQPpg2cmqoo2NuDc5AP-m2pTaO7dqFGnF10GK3ntwgtNVRLkCp6iDu6nTOtK6Lf_A3yrKyNi75Iz3JLh6-G6vKyFIF9PYwQqi_aimJr0lLcxFIJ7ECBBe_aXi-Bg93vYG0sY9P8bfBTN_FMdH76PL4Mtkk17vorMLT5gFgj1GXIDVd6wcDhYat2fxxR0XEfIj1dVtBIa8-mqnGoK31KJ8lFH3YgLhY26HuGe4Wcd-ZsX19uz6kks7L6TO3k7S3ETNw1356z9cJhOhHICFbxtBB-jYaKdniX0ePEnWWT5bxiY4vLdvzoDK6-TGzwK7s2RNCsNSrwnKM2K8Gs9dZnvfwkmWkbDPDpWWa73ufxrp_qY2v0oTYq-bftXFcjtqT9wnxHhVz8SXKIp2D0YvZ76VSemJcONVIwDqTiKLgSLzttEYS8G6Ufhq1ip-mcj9DC60eBmqwfpf3OPaevbBWlmVfV6nS2zfVcIa4q4v_rn_Syxjf9gavQyOGjmkVlGdBZZO7OcD_eqkP43fVuZOKFoZdLXdE1bsfdqoNaJbL6ydsNz7ZdfZJKnG8mtUGioHyW3u-eB8r_xdj_LqnELHq6anVkjVRr1FEzKMjyLC4_HrZSDaeSj5-wAe0K7Wb694XicDRmsshBYzKtV0-vJm9s6YJ213u_vguy13FUVFV283dpv5pQxFr_UbwYxxs6QiGu20ZbbBvw84imFvxVnW-oBpXa-biI52VlsP7s9PXP0zW_JRjPSqvjyKL_Jo5YjOnNKPcN6_39u2xGURQtdnqK9O6ZZiOnXJrXEC12An54PMSr5h-t71OU3j-qjO1mgR2i6gcfgf8Lx6H-xNCfDjfrvOtNN-0VwyCIK6w6AlZvo7c9CaLq9YTn0NtqX29ULbC31XaRQY0bBc19cnh-LdAGTYmOTxc-uoc5DqL8ALJorURWfTQWDP9_tmxaz137FQd7C0ej6sdQ3huoKWf6k_iAvVVbjgwUslRCe_rfzCN1_j8-wUDm7knmc-VhwQngyNJOQbZS0MN3_fkIsOKslBzsoxSQ0ovj8iOoZ9sFisswHFdDUGh_6yj1uN1S8-j_08K2SvXU1eV6UUYxZZJM4kNycrh8ivLYU8_eWowV5cnoXk_xAspEN7ZqJdqIYj8Rk2KqzDLHNG7s3k57ps3tfZTfE9bRfF6MadCalS1msWUun1HeyvM9Mpb7_oIBwyHiibXj3-Q2DnHxVJ4lctmLMF6cOg4OLogST6QVkopENjjQmyLemk1FYtXs8_X05xlBmnEBYQpBS1OwAd7q9BPwLaazyyDLa1Kyvfqty12V01yIlSCIdFf7BBh46U_LcSTFLeSHgY7_4RaxtTnajGYaMTx7OONk2pxdTzBNuk_tbsI_2dGVvdGscXWHbcX6VyuawBuT3p2tKxFHqvnle6N2Zq8aBbPy0PyZ54ZVCf7iKgwrXJWX95ayyv-ZAN3AWF6MqfyZ2No-NcE6Ljzdc-qh04B_USZO8ok-MiGspQ9Ms1ljNwmLFeA8lOAtTznc4tM7vbe4haRTp8Jeio8MIlEbeG-34x8wHnjNn-RUyryLfbNqMN48Bi8w2p3ggeCdf61_xzfX_DhKWYsroHjiSIK0VwiCvlP3BATlgcTmONGhTkYWLawkt_YrcNCdTJGhSDOGa6__ZbQl4KZX-0XuXAjmfd78sgrUUZ1dcTlktySZlBftl1lITZdn3L5CuGt-ovFJWsoRY2qaHvG8Oc61R3Hp_xmkOOkJxMV_wSxB6knBuk7qKJYwp78lxBEb-b8EERTpm27Lu3oTsTQaVPhv1pwho-tpBKZC0kyN46GBNfq-gcv_LR37rL0-zq7XdqfG0vmHbSvvAi-rVMOsNVlSG8zCTxmF70PzXbIE3N2JwbkcqS0VmJUNUTpVa0bs6jQ29GchlBIxUiUptfX7tIrBePyN60_Sc4tJ0RdMRfEPHmDYncKuEtZanyWYVEL1VMNv9Y0o9Rs1qtVtxn_s0CVQLICr9T3VOQwpQHvDLSzvhddD1gSG3_f-atMVHLxIrnWlbHXHs83f2BU-4L4IxlmEDRJpXciF0WXkM-N6TGMLZ-U4JbSJhB5sUtAAWIRjc41yZS8d1Hb7RVaCPwwqrDomB9rVX1BGrPgXddF41HQmKGk3E23dky7a_5fc-H5PWk1FlhgysJrSU3KcDx8diT7D4IFCUYt6S6c83Mdo0e3aMQF9MNTM5bHRpri8MWBihvRtLLMIaa-5PLyCsTNjbWVMX3YUqCF86NdoYZiE45GEl6I7BuBep7jy_Wa_N2UqcDtktG6GbEQuoL3fcBWRSut2EOU6LpSExCvqqLJCIJfIzovKg==",
  "id": "rs_09620f9db701d8c9016ab436d4b99487d0b971222fc20398d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.33,\"right_z\":0.23,\"right_pitch\":0.2},\"note\":\"The yellow object is no longer at its original spot in the overhead view, and the right gripper remains half open while lifting. I’ll carry it above the safe’s red interior, clearing the raised lid and rim.\"}",
  "call_id": "call_I01drPBAKPdF4e1QCqg13SdG",
  "id": "fc_09620f9db701d8c9016ab436d792c487d0ab696309b1771df0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I01drPBAKPdF4e1QCqg13SdG",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6064, -0.6117, -0.0189, -0.0387, 0.9992, 1.0351, 1.7218, 1.2129, -0.2516, 0.8051, 0.1635, 0.5182]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1267 left_yaw=0.0026 left_pitch=-0.2616 left_roll=0.0013 left_gripper=0.9992 right_x=0.3323 right_y=0.3173 right_z=0.1735 right_yaw=0.3068 right_pitch=0.0407 right_roll=-0.3823 right_gripper=0.5182\nstate[joint_eff]: [-0.0342, -1.3197, 6.9949, 1.5507, -0.0562, -0.0659, -0.0122, 0.1299, -10.3043, 11.2342, 3.0598, 0.398, 0.8376, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772b86e5547325b467795bf108082faee9660e13d306dfa54fd2dcdb40f6168d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16e7347fac514a1b71049b99aa4f00c5f3fb709d17291cd0fc8759cdff6ced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525c5d33dd0f3b7c19fa697fbfec278e735b4eb4a9c454221653e1011bc89ab4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6064, -0.593, -0.0189, -0.0383, 0.9992, 0.5354, 2.4413, 0.9932, 1.4441, 0.4286, -0.0319, 0.9954]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.131 left_yaw=0.0023 left_pitch=-0.238 left_roll=0.0011 left_gripper=0.9992 right_x=0.5022 right_y=0.2167 right_z=0.0457 right_yaw=0.1264 right_pitch=0.5798 right_roll=-0.0392 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -1.2923, 6.8444, 1.4969, -0.0708, -0.0464, -0.0122, -1.1692, -9.7573, 4.465, 2.0, 0.2173, -0.1734, -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, 0.836, 0.6064, -0.6071, -0.0189, -0.0383, 0.9992, 0.5835, 1.8111, 0.8433, 0.5789, 0.4526, -0.0193, 0.5174]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1275 left_yaw=0.0024 left_pitch=-0.2567 left_roll=0.0015 left_gripper=0.9992 right_x=0.4439 right_y=0.2047 right_z=0.114 right_yaw=0.2082 right_pitch=0.2259 right_roll=-0.1895 right_gripper=0.5174\nstate[joint_eff]: [-0.0889, -1.0462, 6.9812, 1.6484, -0.0611, -0.0562, -0.0122, 0.335, -12.465, 9.1556, 3.4261, 0.1001, 0.6569, 1.0183]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6064, -0.6117, -0.0189, -0.0387, 0.9992, 1.0351, 1.7218, 1.2129, -0.2516, 0.8051, 0.1635, 0.5182]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1267 left_yaw=0.0026 left_pitch=-0.2616 left_roll=0.0013 left_gripper=0.9992 right_x=0.3323 right_y=0.3173 right_z=0.1735 right_yaw=0.3068 right_pitch=0.0407 right_roll=-0.3823 right_gripper=0.5182\nstate[joint_eff]: [-0.0342, -1.3197, 6.9949, 1.5507, -0.0562, -0.0659, -0.0122, 0.1299, -10.3043, 11.2342, 3.0598, 0.398, 0.8376, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772b86e5547325b467795bf108082faee9660e13d306dfa54fd2dcdb40f6168d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16e7347fac514a1b71049b99aa4f00c5f3fb709d17291cd0fc8759cdff6ced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525c5d33dd0f3b7c19fa697fbfec278e735b4eb4a9c454221653e1011bc89ab4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbgsLDEIrZ95VfSIVJlYqrtD4SAXqPZ-5bF52GMwuaoH4kwt0KhWDEtetwUSLsR63tYR9L3zj9-qQ7C4j6ZeQzyJ-oKl_F4ZopHuMkJUmr7Z16nIqx61ib-irP4-08Ug4rtSLz4wVw80uq_2MmM-ojaCONr5R6YrEtj3pKlPGkB_pnlTzQLLO6uxu0TuuClTIpGyaDPr-54qwLUVCaTarJe5OKgtcDo4_-hTb1aux4qTzCLKhx3TB51QS6dJU-Nh7ZnwQ951aUYOlHMxH76OSva1TFE_uhBMtgTGu1ZpuMjzCB11PJHbZVf66H1siR8JgNKEQZ1_HxfHUbBaE1aBQukztizAxj6eUc1yGMH4A1l_8b9KQLNpum0m0ZLPaq363mVxI3AczmlNNJ50vz2JDoRhG8cVjWo1HDiH2vNSXrct63rOTDTAQU2Emi9u35k7sQ5NOym_vuURoJ4yhoZ31a2J_CRshNyBrzW2mvJ8mEW9hAhvOLQqoXpxjwPigrqhjeQ1RNHbA3_3MAeOGbrvZTcE4RnifwAr-C8hX01TK0cztom9ma0QqfQcJqc86Ti6zHXsY4MT9blsUKCPAHlIhZncmcNRn9RBYzlp6lH8sA8s62RpdbcbGG8jprrsQR4ki5gIR8n6W5p6fovn1uJR5y0NLBg0zOenCyIfdmuLGskPuthcHqq8EkmObU0V5mKnR55TmeHtmM1y_B_rUipHu0xMLZShqhNUfaJjPxKG3y2LW-C7w1SIC52yQGHisgphcP9MUt09dfTcb2dhclAjyLe2_moFdtwI-rX7eW0YKhIygIptY7i-viGh-FQDwOnrH2jnrbphUAjXqU9hu3I4nJnkyM6jpcyd0jh7xgW6FtDSngA90jRpgCRiEozx3szpe-_S44-TBFXYaGy79qbJXpY_Jf8DLhsQMDQYJ4GBLq7eK_4ULgO3wCW-og6SYpojDBsInZQPrFyVjq287fgcxdO4eHuf0nSKD_2S4cVafXTatPQd4DsnSG6rv7lGH1GPYAhUs2hs0-c6e5KW4014MaFu-OsWvywSHWvLSRVjnnFajICED966vGfknwxRN7TKaoNFPwdlIPnhUpCrsH9KuwAIVInHwVhuupPMkHb-iuLKqoVlbDXbMxGQ_hhntj9NPmdB_qsVigcV_1ZNEBY3yQQNbTMbBQoL4prI-Rz_eEnHOGG9ptsQuXhYi4ktSvB_vJ93ppJgONUNzIoymaN-wDyBRfuIo64PtPEhKZlL0txz0yOZT66SdWo92-6H_mjM-NJMIoXp_6eyDlLcCwsHJ_ifZyDnGD95PDX3VnOmAUzK6iRYaK1GZi_YEnpK587sxXGLZqALW6rNfVjZnxbEMgcno9OhNW5jmu0a8Rk3OkLdQdqyqZSXl7GejSw0yUL_AAUFpTLs_dG0VIp364yaFYiQBLYtwSEe8spYi739isHB8o2FLLFhrd6ivXq-cIrAEv9tmiBbQ5cWGU0J-f0LD6bu9wSGae_KAd6bu5WzvVlSuQrGqC-cmeO0v6TZX6GozWOD_82COU08vcMIoihKLyupWd5W1ml91R7ybvlgxY-429tgMM75ipIBk7_jO5arnEZ6vQFI7pc68ENVvnQMgb-cTsblpx30C5KsiuKOax2eNTZIx9apYTISlFIFAfYEnkzru2aYuP8yLeiCjqTh7KiDdZu3xHdE9MJ4tlDFUxF2Xmj-yxGxJHkj2-ha84edhktKqra-N0cSs1vAM1nX79EbO3NOyR08redKv0HdXk78wP2Px1d-83CDIoT_iebvlUdfUvn6sCm1_dQUbVvemlvlUinCo8KzfAgLuqc0r7vGsFjEhF_Dp0PcjTxCoqBSIYQxQqoO3i9HlxJlffy1BoMIt1gdm2WRzVuQ-O22w4ADipauH55LDcuqmD5jybMc4g63Z9LFuUOodPJYOqugiK3oTXzgTydrkK9FgHy_2e2mwXgVN8En11r5sIGREsTJMzPUjB2Q_eF3NT5LYm-tzL7ooVBWSTLhD8-vkqgHfvAIR-XobG9hU4BiCw_beI7QddjBWh7aT_f0R38TJJF_fB6ii7pW2ZWA0gTBFyzh6koA2GVNAGBKjqAliPlLeY3NkydlgWZapW-5r4lf_wz1LM9g7FiaCnKr3faOpsNEKmIExzanBNPHNv_wo8KSTGTNb--gl2tjpAKqTmhrqAkdHiKHIrFL2HYfCidxnilJkoLiV7fPms-XI7C3exgRCpTrCiNRnWz6TxSsdAixMQQ0wJ34DPsdFJN0R9K6p6nMUb9z93zUBs9PqSXdQUePZz9b7HYrhpV2BThgYnLRKwcW1ElDxpwQGd3oh4_G3Kc-fztzRi3QbdQNX_KFXx_-A_KVHfvOjXl0N7ptCvbUeXOpZzghbHSv-ONWzOFT4Z4nPeMNhDQPPscn_sEnTmOX93ETnWCA1loVYL-kScqvBHVamuDoOQ8VaXbixSCEihIYoTv5_a3tiGGvkKGilrTXUUe6ZbbD4YxFqwVDL10febgUmwYaOZTyqKAvQb16OOl4b4dUpBv8W4apvKJr2r7HahVN8SHcqxTBx6wvT5_BN2j9SPZyTCztp-Y3o0pxmhh1Md1_HHOA7vzNDfcaYHcotjcKZB6NqbDCR_vpm31eyTeeLE2TG7T2GJ9hSrXe3T9Ir-iW3COwXxcNYCK8aAsaBxAtBRt6myN_sueQ1kSJDTRddj41PeZuNMPD5lGtbJZGW2Xgj92J97iREZITdF3fwOY1r-krbUYWW_jK5RokhM6TBk6AxBQAD_Jp6LV_L-LE4_trqnw1xcpsvGMnghIte7rOIDmdWjiQaHvT6Mojup13LrjgQelLGsdXbiSXXIIYN46AnzkzSV5hN-wPet-8QSGcmtbavWzJVQT3PGpCJjR1hLFBuXkiswDbpIA7K4mvoU077QQ6mQf7onSmu3IOC97O4QwcZgVsdQJ86wPoLUeHkIVzhyQ9k6LWflJpGrFSk7xhv5tkD1SJmFJQmeK5x-_XuuWDMgNPie2wZdf_TWnTjOBQ_Im-BdwfuyN0eJ246gPrVXGuPx9pHZ6n_DUlsJi-aLhd7UmqqmJ8dxHWNPUSx_Dr-5TYsriZZrrA2BVOt_m5nvwyEe1SREVgB7mkhqM-a8om7EluU4sZ8VQhSf7Ojwyi55vkwFuD6vtuLEVBlG5NrqmBbt1t4SPNehkadDAJrFGo_m_mc466HS9k4eURztPL6rWMIZTonnwQ_MLr4T0tW8XXoSyWgmQPKdUw1qXNqJEhZTTmMBKBhI-on5qbD8NcxuYpwAUQaiK3DI7c5hDMoG7j7tJqRrN8WnYOMQK2hvdDBERoKqmBljjEp8KxPHCiab-at-38EggdZMVSQwOSnDAQdJqqXDT2YxCnCeg6fV9QreFUDBB_6MnddMY4Z4DlLrhIPg4JVfNcU7i5tPlJd4JdzEhoq50t1P5-6OmsC0K_FRisoaFy5kDs75sdoAOMq2tG9Ce2_gXY6KTwesvtxc=",
  "id": "rs_09620f9db701d8c9016ab436dadb0487d09b118c911ef3966d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.36,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The safe shifted as the carrying arm passed its lid, so I’ll use its new position rather than the original placement target. I’ll move the held object over the exposed red tray while keeping the tool clear of the upright door.\"}",
  "call_id": "call_0SQagOHAHZAAIrhM6u5aGQti",
  "id": "fc_09620f9db701d8c9016ab436dfc95887d0b17882f9baca3d43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0SQagOHAHZAAIrhM6u5aGQti",
  "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, 0.836, 0.6064, -0.6144, -0.0189, -0.0383, 0.9992, 1.2442, 1.8111, 1.3022, -0.514, 0.8848, 0.3901, 0.5194]\nstate[eef_state]: left_x=0.2593 left_y=0.002 left_z=0.1263 left_yaw=0.0024 left_pitch=-0.2639 left_roll=0.0016 left_gripper=0.9992 right_x=0.2611 right_y=0.3558 right_z=0.1462 right_yaw=0.3488 right_pitch=-0.0464 right_roll=-0.4267 right_gripper=0.5194\nstate[joint_eff]: [-0.0205, -1.0872, 6.9128, 1.5653, -0.0611, -0.0415, -0.0122, 0.212, -8.8, 9.2513, 1.2234, 0.6667, 0.1538, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8a4bae671e48aff810030f0ecf3f5ee39f4fe7ab0ef1a0d633ca3f2756756a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b76282283ece640852fcd75eebafabe55edba1a124c9091fb69b6d10046a0f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49740355ae8a3c2265925df5817acd0d51a645c02fb4fee126390a5069a96ba7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.5926, -0.0189, -0.0383, 0.9992, 0.5224, 2.4519, 1.0119, 1.4796, 0.4049, -0.0647, 0.5174]\nstate[eef_state]: left_x=0.2632 left_y=0.002 left_z=0.1308 left_yaw=0.0023 left_pitch=-0.2384 left_roll=0.0011 left_gripper=0.9992 right_x=0.5075 right_y=0.2161 right_z=0.0544 right_yaw=0.1479 right_pitch=0.6193 right_roll=-0.0593 right_gripper=0.5174\nstate[joint_eff]: [-0.0752, -1.1419, 7.0359, 1.4921, -0.0659, -0.0415, -0.0122, -0.6359, -9.8803, 4.4239, 1.6923, 0.1538, 0.1245, 1.0281]",
      "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, 0.8364, 0.6064, -0.6117, -0.0189, -0.0387, 0.9992, 1.0351, 1.7218, 1.2129, -0.2516, 0.8051, 0.1635, 0.5182]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1267 left_yaw=0.0026 left_pitch=-0.2616 left_roll=0.0013 left_gripper=0.9992 right_x=0.3323 right_y=0.3173 right_z=0.1735 right_yaw=0.3068 right_pitch=0.0407 right_roll=-0.3823 right_gripper=0.5182\nstate[joint_eff]: [-0.0342, -1.3197, 6.9949, 1.5507, -0.0562, -0.0659, -0.0122, 0.1299, -10.3043, 11.2342, 3.0598, 0.398, 0.8376, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6064, -0.6144, -0.0189, -0.0383, 0.9992, 1.2442, 1.8111, 1.3022, -0.514, 0.8848, 0.3901, 0.5194]\nstate[eef_state]: left_x=0.2593 left_y=0.002 left_z=0.1263 left_yaw=0.0024 left_pitch=-0.2639 left_roll=0.0016 left_gripper=0.9992 right_x=0.2611 right_y=0.3558 right_z=0.1462 right_yaw=0.3488 right_pitch=-0.0464 right_roll=-0.4267 right_gripper=0.5194\nstate[joint_eff]: [-0.0205, -1.0872, 6.9128, 1.5653, -0.0611, -0.0415, -0.0122, 0.212, -8.8, 9.2513, 1.2234, 0.6667, 0.1538, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8a4bae671e48aff810030f0ecf3f5ee39f4fe7ab0ef1a0d633ca3f2756756a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b76282283ece640852fcd75eebafabe55edba1a124c9091fb69b6d10046a0f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49740355ae8a3c2265925df5817acd0d51a645c02fb4fee126390a5069a96ba7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbnJ7MLSd1ECSGtCQn-RhZJxn8XhfSvWqO6tdxO5YpfS-iq5KhwkFX6LN8Iq2nqI9TKxRwB8lIliYRQtPKBZQu5SqJlDQ4KVA3vdMefujCYaMLg_Bb_nWKv6QF5nrY-hnimwAJev4k5qsw8vvbs61xjVPc0scUW7o2-QKJH8uEz5yaApd6wawpQAB9LktRcCkqmnBVmBkum6EBCq-JhiXa5dlhFlRQyP8B-9mXc2N6r45wFt8anb6iJHqeGIBz5oe3zDryg7gtgthCRKaKuekBo0fLdIsZAAWyEBS2iihFT0XdzD0hufwou2dnot00SFbYQNxwli3nj6vaB7Yorv69PZNRe5xYvbwA1EqU2eD6rYZfNgGs0lf4sdFvM4wk8Ww1NbzpNR8OYOEj1pjmVW4V8y8dpbZDELoJDmzo1SZrd5dMbYeoMXvLFy4HlUZF67pOYkpn1hVRYgTEYWNw_zj4I0W3otwaJorJUFRFNI6N046KOK4mOW9hfkp_HLCGKsCefexAoyDRv6XYyyWicW-aiGklRMWr7xp81P524w7h3xs0EK6we1OV1CpqSFUcX8USxRX74gva_QIglpttfpkNKYLsb9hLPGcHfOrWzLQ8CKIY7ZZPepIrLerCLOUKr-FQRv7yCtj0EX4f423VHIfHogYMmqANBnGZd4L73au9dGYofzcvib07xmyTnPGVM1jLJFR-x1PedUiJlZYW9-YboxbqhdCl-UafY8YbgQ2drs3InM6XDXnd8Ms12H_mw3jIEgiDS9aOpU7uqlOLdWaIEHJnw7JxxeTF6Ow89u9QICIGmIilxx0uCUJ3_dHLp2P67mZoO1nlU26x69-qPPlWXwb-dBhAZABiPnr12QVBsY3wUNyuKgZqIkGdjSSWOhVxovqSNMMYx6yOeZOlIgXsYRseKSE46AV36f8EtfcRROFz3pKvT6CHCQTA3Su5zHIQELwwT6LEY2h39hbqlUPq8GWE1ZsMUTom4X9GovkFUSEZ1rqDvKGeQ-ywEtTunycX4tSJavIt8rQxd1caUFDAwxtxJc7WMgOz1HehKbwaTR-rAS9bt-Q_N41hjNX3oZK8YVLap_Ua0ST3yrMjia_vEGNZbptUah9bSmJluMaEOusIXPH_iTdEYASgkTaFxv3qdsM0S1sLoLjqFdK2I-YJ-QYiD12KtlKZEUh3mdUTJXivdtqveyggiE8aTYujv6BuZfswLZKqTuZtq1Uzuh9x8dZtElygtEtVRgT0Ak9gCyFV8Xmw30n1y8zJE9q2hLzv_qSpIoZ4er5Cg81d8jqqJ2_aHJBDd2Rl4i8sWdYTjGhd7KC6eFYrYCJ8Imr8qkGHQHsGgJ16DeNMymB5Exmju-lJV3bDUSlOkBnOka_h3-Oz_SzR7WmHVTm8ByQ1HOe5Y8BUO2GvnMFYJpdGpQ5mM0cPFQH0c-hO03GIr91OYrKaPd5-6SWnet87zsmylkm9NIJo-QVC2g8xJNf4U8v00I9K9UV8BGZNwze7U2DiLxdJxaM_HQzVv9ZGhcqicrRwEXKuS65VkIILx0WubrJP86qwU6YZ0_IIbaC82Epe4W3pFbpTI4IEyxDVcpbhbBb95taEfJOx9tHdskk3tGbSPpD8poIhL2Q_6aJ1HQHgk6s6vyqiu6raCgMMTD8tLFOmxbDPe3luh-wbRL7qA_3C8oPzAJz78BPeSo4OdtA105s9mqQ0uNBeIZHwPrasdP7Q_kfiYOlro-ZFlqnTFvgIyrIwtBTf7gs_Nkrr6Bx6jJEohbHssZ9_EIXlMieWyEYH9kzhbjV3l2OHIs4h2mSvQfAF-zgCavktPbRS_00YXsbPnXhtf2rJ5RbTHWkV8V8QLAGfUTMK0_ynIJvwMi6XtqdQtt1ZJ-fKpIyQYy2j7RQgPEmLlCeWJZzRemWBNVZGn71CUnan6Gn0pQYP1xvaN8h3KGvdXfKk9uAbGw323N1ZSUygVE5JT_3dQPnr8i0Xs0hFCcvhdUo8PAGVZzkshWE1A85eq90iyIRsaK7TWdpvPGWfKdtM1Mkc3lecrwWfvbzVRBmFZPOww3wicFUJ4ioXNObCCEVUAN9jpSTFBApLlNm4YlPqgpoHW031sd4LBX-QpatkvNDbwjZ6UbVXeOlP5MscSYeH0HG-fDnXkl3ek2fqs5zok9DQiRd02EG1O6HjdHRwvaPN2GLlJGXWZXOXsg5eV6hYOFiVwJVLbpecaAdlq1-lyOjjU_EBoVW3UUc_eVVIktqdWJ3OYMD0VURPuR7ybO-d9ZEMNgxgqhcHYBFOlRTT8dVsL0vLOyWHiqKD53ICOjZePdPiJcAqUU5PBR7_iWtiwx7D09FLaTRL2NK2tZK1EZr8OrqvkaBdXbToWEWxHgrdbj_3DIzNV7Omm_ri_i5RRZ4FpqgN9Vg0NjVBA_VkFrDG2KoVSYzfE6X_a66QSdIHMhGb-jJQH91IWHCpeDLGX0XhmaZBKBPfcKDu_fHpcoMOSYkl3A8JLu6Cmf-Rmz7HoCmsm0r7_ZTVenbn7ZKxXJGivfjEUWQrJiYxN7KuF8h_5PJulqNPMjlb0VFy0ik84Tt4-gRlAu6ZqZJbo2EXAT_h-SHtp2_R8IXGkup5b9U_e_mWvmdtMVGslKWk9FZpsT7mNSS5ZmKWKpBQibiQnOZy8UYOuMfI-jYQhdxu16ThMaftWfEq6ga-_seaRys220VvdnaquWm4MiUgGNSovdR_l2mMG3UW3gi4yB81ioxAckIlrLaM2pdRqojLrp5i8-fqIBLR2U-lXnJPnoZcS2CFUoBLEZkzqleAS8Lfypy23vjTCYAYV7YFPR6HooVmAVMrtQgruVRcJ21J1SrirEcv8gFWcKl1_3iGElsw-LbG6YGGxhyYWW-pwn22eosO80UmcxHlmbqMamRWHWZrqCSAgUs0ao9QMONIjhHtPo31zYbOs25Bq07ZD6lr40lyRLi6Mnpq3NpszkuWmBgAx9PhORMmlfGlneEYdaWvju6z3zmtA9WZ2yUha1bb5d9AFMgXxmMMLD2x3twNlNvIrY-Pi4vdpwkzHzEvxEz2Kpllp8C2Uwbs9OMSBUCmXvA2E488c5s2mjQb6YJeI1mqxL72nPyEsBhmRCxdnqwRtf2oTkYDMd-8Z4W3YViOTKfW7LIJ8yzUujOtUa-Sa8bwSoaOqf5eR-yIDGmsWnA79K0HVU-pv7sZxTA35RneJ85zJ4d1RQBTP8brhE3IGcztfk1vON3gtngI-DXG-fg8_Y4Wuc3Dwx_zpx--XtXyjyri7YSj9uahgWO6U3YyTC3tkYwUWeHnq-QYUWrET6bylAqou3VHbth3s4g4ek88niz-Tfx0JmMKze5zbsISjmNzY8E_W3QDNwhFGnaz3dEhzVDg97qv0uakVGMaWH8wMSg4e8pWq3uNylQ==",
  "id": "rs_09620f9db701d8c9016ab436e1f85887d0bd7c31a7cf45d16f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.355,\"right_z\":0.08},\"note\":\"The right gripper is above the shifted safe tray, with the brown toy visible nearby in the wrist view. I’ll lower carefully toward the tray before releasing what the gripper is holding.\"}",
  "call_id": "call_gso5hrOpKJOKuJh13VPRLVxq",
  "id": "fc_09620f9db701d8c9016ab436e640e487d0af86814370c6de12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gso5hrOpKJOKuJh13VPRLVxq",
  "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, 0.836, 0.6064, -0.6151, -0.0189, -0.0383, 0.9992, 1.2613, 1.816, 1.309, -0.5682, 0.8795, 0.4492, 0.5198]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1262 left_yaw=0.0024 left_pitch=-0.2647 left_roll=0.0016 left_gripper=0.9992 right_x=0.2524 right_y=0.3542 right_z=0.141 right_yaw=0.3366 right_pitch=-0.0689 right_roll=-0.4176 right_gripper=0.5198\nstate[joint_eff]: [-0.0752, -1.3197, 6.8444, 1.4774, -0.0464, -0.0269, -0.0122, -0.1573, -9.1145, 8.9778, 1.2381, 0.8034, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cb03e35fc3f37a682fb9b86676e5786fa5beaa2869c569162d9d574ab2d368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b149bafcc5471c1a912f91c2a59f59dbd020e4c7a33876dbfe75c6f73e885a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fde7e7efe9e053899b8e3d54bc15a1ed6621ee61fd77e9fbe331ba734fe236e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 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, 0.6064, -0.6071, -0.0189, -0.0383, 0.9992, 0.5835, 1.8111, 0.8433, 0.5789, 0.4526, -0.0193, 0.5174]\nstate[eef_state]: left_x=0.2606 left_y=0.002 left_z=0.1275 left_yaw=0.0024 left_pitch=-0.2567 left_roll=0.0015 left_gripper=0.9992 right_x=0.4439 right_y=0.2047 right_z=0.114 right_yaw=0.2082 right_pitch=0.2259 right_roll=-0.1895 right_gripper=0.5174\nstate[joint_eff]: [-0.0889, -1.0462, 6.9812, 1.6484, -0.0611, -0.0562, -0.0122, 0.335, -12.465, 9.1556, 3.4261, 0.1001, 0.6569, 1.0183]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6064, -0.6144, -0.0189, -0.0383, 0.9992, 1.2442, 1.8111, 1.3022, -0.514, 0.8848, 0.3901, 0.5194]\nstate[eef_state]: left_x=0.2593 left_y=0.002 left_z=0.1263 left_yaw=0.0024 left_pitch=-0.2639 left_roll=0.0016 left_gripper=0.9992 right_x=0.2611 right_y=0.3558 right_z=0.1462 right_yaw=0.3488 right_pitch=-0.0464 right_roll=-0.4267 right_gripper=0.5194\nstate[joint_eff]: [-0.0205, -1.0872, 6.9128, 1.5653, -0.0611, -0.0415, -0.0122, 0.212, -8.8, 9.2513, 1.2234, 0.6667, 0.1538, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6064, -0.6151, -0.0189, -0.0383, 0.9992, 1.2613, 1.816, 1.309, -0.5682, 0.8795, 0.4492, 0.5198]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1262 left_yaw=0.0024 left_pitch=-0.2647 left_roll=0.0016 left_gripper=0.9992 right_x=0.2524 right_y=0.3542 right_z=0.141 right_yaw=0.3366 right_pitch=-0.0689 right_roll=-0.4176 right_gripper=0.5198\nstate[joint_eff]: [-0.0752, -1.3197, 6.8444, 1.4774, -0.0464, -0.0269, -0.0122, -0.1573, -9.1145, 8.9778, 1.2381, 0.8034, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cb03e35fc3f37a682fb9b86676e5786fa5beaa2869c569162d9d574ab2d368",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b149bafcc5471c1a912f91c2a59f59dbd020e4c7a33876dbfe75c6f73e885a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fde7e7efe9e053899b8e3d54bc15a1ed6621ee61fd77e9fbe331ba734fe236e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbq1mqBGMbR3r3S0jrZwathulqXpo1kM6qZGMAc0cztBBkDXsHBVo9Ez7e1HFbL948PzIAm8c0eoTftpQtHd3fdxQWZITo0O8zmzA7tJJ8bmVYkEEet2-fAB7QGg3lRt2YUz0kuMU3g4jSwaWgw_c-cwbFzEZLsKeBFeLYxeR2AYUMqzqXrv_1aXA1yIWYM4nm_9DkjBZiCRXUa4oi9OhacniPQAvLjp0MH1s3iFHoLvfb8HA9vYnDXVDOWh9wGw_t7JyKZ5eolKA9d6uSh74XlaqDu4qnRqMdC4Os50qR0zrBybvp3As41Elt50zMj_rpRacJc0oTNrvCqCEJmFqLzkgerZVWEuTJGrN6djK20OzNCcoAhj7PoZlVBQqTWUJhch65sjUXUF4u91T4Az2q8VeVD-NLkjzs8E5XfYyMGGI-dWcV2ODmlaqn0mT1BWWDZvvbqyqJwXcURs1Wa3t8Up1kW24Fdk5GM4YJacM7IzBG2bBYw81rDGexMzaKDmiENaxcHX6ny1ySl-uGkFLE64jjqu1Zxgyq5qReTjfddFAQWN8vlEZBEnx3jqjqvUagA36tinpeD37Emtl840nl47EyRaS_7Fr4wk1UAQppnRddOqrY8spt3f06nmO8g61EbTC1hF3OjT99wu1j4vfuUPkzm1eVxE_kkX4gB0Olv5kplFSu0vRcN6GFR5GoePjGtralRGip-Kh3gPUeuRdtCHBQCKCumSXdFcSce4tkHjL7WhMa04N_8-YQcxX5HAsSl8qm2BgSP6qYNp1hntUnOUF3DQo9SPF36pVjqZTP7G6iQmPMH-4Bj_LEpaB6t0PGBsLYfUoBW_pt9awVcHoJRXHoiVOY-jQHzuH_-EXhI9AyuTP8dTW8ti0POR0YxmYpvR0Wr9P5RalRo86gHr460L5uh0XE579kD3WzXzOxcGfVoZ0qCjg8rYX3eNdfF5o6jtW2A5qIpLcLXpLkdB-8m5qieTE4vGwUQMXPkOdL_QrEFVL-m1X0yvgsRKVSBwQY1StPUq0If6uyRjp4jW25JT79spa49zyZzo_n39n8EwNn91Irq49z6nBUA0AaeZzr6ARkkKrKaJkq9Q8ActIdwFxUDKtP8qg2wy_7Pd2EBfcpTpuISBdNDAJKA90t33hvqs8kl1pjAW_ozVZvK3E_PVZ88h1hlPQvNnTeeQ763xfxuDXIxiTMIjmoJlZHwIJGSTx0TaHb6JOUkeWP4RA9z2SrehlBt8OIRtvoMfVFr14XRoiQlYO2lqvfIZ-yPn97DdNW3zZ68GFkqtfOogFpvb7mVaxxsvsRuxFM-_OfF6WeYCXxsF9i_3hKOT8WnzNMo",
  "id": "rs_09620f9db701d8c9016ab436e965dc87d0ae14cd3b0de3ce6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped almost immediately, indicating contact with the safe or an object in it. I’ll open the gripper now rather than press farther into the tray.\"}",
  "call_id": "call_A5zdCJvJmoQKH7o3DzBAhtaz",
  "id": "fc_09620f9db701d8c9016ab436e9afa487d09487bdfcb59f0b56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A5zdCJvJmoQKH7o3DzBAhtaz",
  "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, 0.8406, 0.6064, -0.6327, -0.0189, -0.0387, 0.9992, 1.2613, 1.816, 1.3136, -0.5713, 0.9051, 0.4496, 0.9948]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1223 left_yaw=0.0028 left_pitch=-0.2868 left_roll=0.0019 left_gripper=0.9992 right_x=0.2547 right_y=0.3523 right_z=0.1454 right_yaw=0.3235 right_pitch=-0.0499 right_roll=-0.4295 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.6889, 6.9265, 1.5995, -0.0708, -0.0659, -0.0122, -0.335, -9.265, 8.841, 1.2576, 0.6178, 0.1001, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3190acfd3817bfc5b404e475dda4a4ac3713f041e32dbe959c8f45bc02504c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9082e055777bc7b4eda8b6689e6e30d3213a105629808081f68e53a3225675de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05967e7fb3d791f0b906a450f5a1c172a1ded197a520fee03540bd49fb7317a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6064, -0.6117, -0.0189, -0.0387, 0.9992, 1.0351, 1.7218, 1.2129, -0.2516, 0.8051, 0.1635, 0.5182]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1267 left_yaw=0.0026 left_pitch=-0.2616 left_roll=0.0013 left_gripper=0.9992 right_x=0.3323 right_y=0.3173 right_z=0.1735 right_yaw=0.3068 right_pitch=0.0407 right_roll=-0.3823 right_gripper=0.5182\nstate[joint_eff]: [-0.0342, -1.3197, 6.9949, 1.5507, -0.0562, -0.0659, -0.0122, 0.1299, -10.3043, 11.2342, 3.0598, 0.398, 0.8376, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6064, -0.6151, -0.0189, -0.0383, 0.9992, 1.2613, 1.816, 1.309, -0.5682, 0.8795, 0.4492, 0.5198]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1262 left_yaw=0.0024 left_pitch=-0.2647 left_roll=0.0016 left_gripper=0.9992 right_x=0.2524 right_y=0.3542 right_z=0.141 right_yaw=0.3366 right_pitch=-0.0689 right_roll=-0.4176 right_gripper=0.5198\nstate[joint_eff]: [-0.0752, -1.3197, 6.8444, 1.4774, -0.0464, -0.0269, -0.0122, -0.1573, -9.1145, 8.9778, 1.2381, 0.8034, 0.1294, 0.0317]",
      "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, 0.8406, 0.6064, -0.6327, -0.0189, -0.0387, 0.9992, 1.2613, 1.816, 1.3136, -0.5713, 0.9051, 0.4496, 0.9948]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1223 left_yaw=0.0028 left_pitch=-0.2868 left_roll=0.0019 left_gripper=0.9992 right_x=0.2547 right_y=0.3523 right_z=0.1454 right_yaw=0.3235 right_pitch=-0.0499 right_roll=-0.4295 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.6889, 6.9265, 1.5995, -0.0708, -0.0659, -0.0122, -0.335, -9.265, 8.841, 1.2576, 0.6178, 0.1001, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3190acfd3817bfc5b404e475dda4a4ac3713f041e32dbe959c8f45bc02504c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9082e055777bc7b4eda8b6689e6e30d3213a105629808081f68e53a3225675de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05967e7fb3d791f0b906a450f5a1c172a1ded197a520fee03540bd49fb7317a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDbtUcZGVcGhl4d_xDJ1j7qNQ2V6QapwPHmBH4DaFy4aRMo64NJ12fxId9cjtqGPs2DYUJyvJssJeSSr-u7Yv1ukLggZQ4v7zKEePsEKDb8qBC3Lq3aihEnGBakbMS2vQwGW4Tdroduz7T35tEnlmflIVLbDWKlhlA_rLV8bhQHdspxz5XdTQuB4QrtqDZ-TdQAsgKIYT0Wm-OGW-L2LvZNmC6Mbt0G4qaMmLn7mU8xRVizUKzbEaFhrafErZAovjeZWkXFoxZ3ou5EtrUXPH54O3_iUN5Kwfh31Fm3UJ-BFme6sumEXt_3tF6qM_FnySuzM3hk172CsrXLiIEHDtpgRpvRd0c0OHZM3VGdeHMbTbtKQ3Y7xSw6LvdsxkjK5D4iDssy8fmXv_41q17WMMEDlItEaEPoBlOFg--vBk-8Rw-8u5GeGxNwAV6fVW7y2AFZz7Hakl1u34JUlTIQKjXcYQPGVJKaEH5zEf6FXoEdqVhT_s3sDmJrxrmrHfXMlpZbP3TIGQ6Wkikt2b3tF06hYYr1aPuxxr6lg_SIbjk8FxqXXfteSF9N_aMe9RupH_ULM_eYow_6quc2m3U6xAuS2JXP0sBX5jZICzXiW2vsvVVuRo2zHbObKyQzI30Gzx7bXmP7tSFQMURbcqG0HE7WCR8Zh8D17CXzWYlxIuSMRU1tz4cPg89RUc8vlWRJotIlqgxo-61ZQZdhFl9j5RtuMwYCih_PfXalsr-F_DVptDJt-qzAKMZoaAAu0QxxVUShb8FLMoBBEj912gjG7I-j9gBhLKYgxgomcE5yEfFWunbJZxPiECQz_dM0t4wayhg1a2l8I5zieYQAzlNRu-a8dxsYpRYG9cDJb5XRKEO-DD7EqaEi5thc0I3OiacVvAgutvt4tV9MP9ZKyCdMUEgALiHLQFZirp7_5-wEBbPH6MNtQjtGVjEOFqqW-L1go3hfv5PsNKeMn-_eB9J2bd9Fa5wYZ_FXsoTLzMuFoLj2KJEWuaeLzs5UULVX7ezjWusSCvuiGB--fJYr5WAvPf82fU259adEMaY1-4B-69CQhfvBlLOt-oe8wEO4SE_Sg0_lXxXXjW3batY8ZHN8qtQeLxMzpqc6UlbROycEzwpVgSIcGZj2iQ4LlKzidqvacMo3WQ1yEVu0WcD9kWeXcFnLTvc1xuFuTLHZuPxypGY5C9lTCLWVJurPAUW6VOvMTv4jeGJ2S_-o4292B3-QQb19tVlz98Wjk0See_CE0FjRGp2pK-qOTqb93-bihkV_BDLBx9teQBreR3RJAMctLOXlYS2uZ1bYXKnMI6RoJao84prnh_aEJnly_5OQLfIb0nr7PzQOidMtscUIWJemYKd9xsILKq1zbKPILKBnLdv0n2QTJV2kXHgGbjIiZucnuX17hR47YPpyWUBUziH5pP8FGQDZtFFTWXE5r1J-kN9sw4hiv46f3SfLyoNsbnptV1Jcv6o08x8XwCJIcfr6JCse01d68GXowPJDEFO0ZMuWQrH9JMxrfm5xx5qc2mPebEpj2Hw5fMswBr1SkRC5rQmWJWvZMwcWcP-27FnyKJUBW0lE=",
  "id": "rs_09620f9db701d8c9016ab436ebec1487d09a5cff3250941495",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.21},\"note\":\"The gripper has reopened, but the arm blocks the overhead view of the tray. I’ll withdraw to the right and upward to inspect where the released object landed and avoid dragging the safe again.\"}",
  "call_id": "call_SlmWyzF9P5yZfU6wb26xSwM7",
  "id": "fc_09620f9db701d8c9016ab436ecba1087d09fd93e56e835e148",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SlmWyzF9P5yZfU6wb26xSwM7",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8425, 0.6064, -0.6373, -0.0189, -0.0387, 0.9992, 0.5503, 0.9848, 0.7963, -0.4808, 0.4461, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1211 left_yaw=0.0028 left_pitch=-0.2933 left_roll=0.002 left_gripper=0.9992 right_x=0.2988 right_y=0.0981 right_z=0.2028 right_yaw=0.2836 right_pitch=-0.072 right_roll=-0.4337 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.8171, 1.4628, -0.0757, -0.0562, -0.0122, -0.1299, -3.2068, 6.8991, 1.7802, 0.0952, -0.0073, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba7666d82eb39dc9f54fcb19fc34e1aa38fb4af7cd46f3228c231b0e26fbc5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7a9d14ddf60aefe2c1c80e2ab95c4be17439f2f0cecbcc64da88d305e82a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfeb6a535973d1de6bc149e72f3bcbc5e01c21a0051b927ba811a4e4509ee7a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 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, 0.6064, -0.6144, -0.0189, -0.0383, 0.9992, 1.2442, 1.8111, 1.3022, -0.514, 0.8848, 0.3901, 0.5194]\nstate[eef_state]: left_x=0.2593 left_y=0.002 left_z=0.1263 left_yaw=0.0024 left_pitch=-0.2639 left_roll=0.0016 left_gripper=0.9992 right_x=0.2611 right_y=0.3558 right_z=0.1462 right_yaw=0.3488 right_pitch=-0.0464 right_roll=-0.4267 right_gripper=0.5194\nstate[joint_eff]: [-0.0205, -1.0872, 6.9128, 1.5653, -0.0611, -0.0415, -0.0122, 0.212, -8.8, 9.2513, 1.2234, 0.6667, 0.1538, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8406, 0.6064, -0.6327, -0.0189, -0.0387, 0.9992, 1.2613, 1.816, 1.3136, -0.5713, 0.9051, 0.4496, 0.9948]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1223 left_yaw=0.0028 left_pitch=-0.2868 left_roll=0.0019 left_gripper=0.9992 right_x=0.2547 right_y=0.3523 right_z=0.1454 right_yaw=0.3235 right_pitch=-0.0499 right_roll=-0.4295 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.6889, 6.9265, 1.5995, -0.0708, -0.0659, -0.0122, -0.335, -9.265, 8.841, 1.2576, 0.6178, 0.1001, -0.1978]\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, 0.8425, 0.6064, -0.6373, -0.0189, -0.0387, 0.9992, 0.5503, 0.9848, 0.7963, -0.4808, 0.4461, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1211 left_yaw=0.0028 left_pitch=-0.2933 left_roll=0.002 left_gripper=0.9992 right_x=0.2988 right_y=0.0981 right_z=0.2028 right_yaw=0.2836 right_pitch=-0.072 right_roll=-0.4337 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.8171, 1.4628, -0.0757, -0.0562, -0.0122, -0.1299, -3.2068, 6.8991, 1.7802, 0.0952, -0.0073, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba7666d82eb39dc9f54fcb19fc34e1aa38fb4af7cd46f3228c231b0e26fbc5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7a9d14ddf60aefe2c1c80e2ab95c4be17439f2f0cecbcc64da88d305e82a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfeb6a535973d1de6bc149e72f3bcbc5e01c21a0051b927ba811a4e4509ee7a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb2qznHKDqgr7KCCT88gsgTZ8mJYZyhjD7sds86xxw5-RAJDu-R9y4y0XP2znKQXaiyfhMnaHrapPUOuMl5sLBAoWKuSEcee-FEWsWZkRJ7IEZh0iniOPdRKDvyP8oRh8wnTOPJX4DVU2-Z3cxk5kAUrYBbCJiMGkpwXFBETWzCXf7x43D1Sp8oBYqIlkDo6gLA5jU_L7-pxILCkoKPXnEoRKxkJh9A89yvUv1gXUO4h5YH7k5fHDgtSkuc94PB77-S4B8MljPWAekFfIBVmkt2nuUO61VAnbvn_9yxSHRCaC_1J019RZ-_9wRbImgtJ05P19dfnCZBj-GkZLwhE5df1-DCHiNCU3kpuo87VrC_YzzPC358x3JIRHYXMPdToFMBB9D3ranPIwNpc1kz7m6v5chSPGboTI68cBnw74MQCu-HQDBxib_pxNtAnOCrJknK6jmx2xxQZPDbMvL_cDi9v7EMIio89V9ldfPu_FV3XqQtnLv042B7P27IzmD21rjlg_bgjoDuuJq2tXY1MVuZELgQtHtuYcrHH0HhWBdxIHsLmUKQ_uAzpWEGjLPiYGhRXT2_peDj_gbD5naRz6pQpwv9IhB3wNWMcilXJP6xr42r1M9iawb_Fk_lxmrGWSx7NSq0zzAlOU4L2Mjlek4Gb-dSsEXv6QZtX-UOykkkmlCsX6xpI8tv-2oQG0VLNJ1fRzgaOQ3vJP5RuOZkaOxaCdeaAGM8mr0_fP4u-sBnsC_JxfCWxrH3Y0luZf7yMgl_1hhhrxvOpJ1YDI93XmhqrG3NwQMOAUWYziqxHd1zPpAK0h76aAYtIPrBVrMxRtXnAMNbeUd58YFuNYLIDCoPJjNfr9_6L7MTrnGkqn1Opmrveg3o99dIPjzpXTKozgLIkF29G8QhKnhnfZiA2q910WUCRjP384PiGUK9H4EJvxT3wxiFpZY8MNrf5MYGqC0VnlsqTqp5pze9hagy_ceRxXh_Ofr7-Hsjubb0zS2-FCxTY4x0nKodAQnKw5RF3jx_PVLriRMaKkUpBtSipPk_nBJFiqaXevP0LHPqXnWErI5QB0Hfs8TxaG95wo3GQI4SHBsxpTtIOdUyMAiLKIYVeGQtXijq-POfJHLh3c_d_p19uyy29rb_iJlhgaQrqogOcMvsGePmgrbTmpCkmQQitNZnkyos-4BztSip-py6kzxXN-JNrssQ19i3HyrQxZ1L-bHeaGSFPLv1d9n0Z9j9ON-KmDWTuyVyTJldwdJSFiz1OGAnAjTKY_teucrlMKfZOMz9Q6cqVmwTGBRw-CWA3GM4rJrYpsBw-lBuUeIC5sxN8S-xUIojYsgXDT1cZJLzcLw5t-7-OWYmAnNet76pjFZv8V1OHN3KIMUOCtoXLgC56Xzy_vc-Z8bBY6_p-YWYUmxudS02BFGz2b5ZhzbXy0D1WV060zAnz8omiMYU5_9_dtvTCPuYY_w9roaQlVrdCoZyGnujozt4AKxBPXtEegEQ6b81VpW1AzoWNzGPifaTX9F1PM5NqiWb4ZJFaaNog8wpFSOk-46LZOoDgWNB3njrSypcskT3cZxPT5S9d0f6_D7IBMZ5o9dbS8n2oWdCWuIqf1ncl1YDtL6_7gHUZC4-4hPuut5FLYtW5Hp6CDlXwPaBS09ZcXV-yWTvq5BYEJ2pNqKrJnQlVOo6aEJtlr77OfUGXIuYBn9zofXf6LvXaQOc1LJBSW0kqOWXf2f7qoQdXTr1Raeqx6WwhIpF8ZBaSSgc12RYkqEvteox0I--wlWC7uH_SRsoFFJ6TFSsF7oNFn9bSipmfDKesEURJ-9m3E39zfCq7UIeN75YwyEv67o05MsLKjIYipCY8w1JMXiJPchxbkP-dh__t3-eRP1ohpA-C3oTkGCj5LiihESY5SS64En7aqhE9eAFUwQrwbqc_Ih2LkORi8jiHgiS0epmnbYMZ4H7IdXePLpBxA8XPxXQ4Y47K8jh5gfoAlGgk1RBLMvcZ_imZx0lSQIGR5JYwDlg7Y0k9R2qz92SPWC1phoa_tYezpaJ21F8yzJtYaW_18xYQrgxCGEHGHyIx9Lf1Vl8o-vYaHncSCskzomeUkVjjUgUr2DqpAk08OSXMz8-GQz3mTWqqILMkYJqoLXFwy5J1FQqMsKx1n6UbvIQ9djQi9ryJhbmaxYVMrEibFJgBppb7e4fzBOON2vc29oZhP4_Lh70M07g5a-pCH6lT42FEfiCOdtI-Qoeo1BP7tGMvp6qi1UTd3SLzX-g3EF95sFSYnVRgd15vQQ6Bko7exKkDKQlznORnEMQbOXrdYnUKHTDKoYzyLJWlImFa_87CbTDNRkpm3iWFV9PUh8teGHgl5cQMNhSle4uiwoT4jgc3KcPvzepfy_PHzIedX3b6RIJU8NH8-BIFZBIG9VpFkYadGe6XmxpmFuZWMEzG4lYgjD4FjQwD5tTrVswKnCr9vWhY9YW9PShOLYD8ckadjaISQhdLDFFrdZsTV2ffXRnwCLPXzo2FLG3sqoz5kxFrOwqerWyVOX4zVuBRNnf2c5x9qZ5VcuxuXr3vzPnOr6F9ThPPIGsO3qfPm4YhbkqU5jTeFTpI4EzEvSb9lJjAWuO9o99tSWqEi-B9s9nR01gIdg4esQzlmdrVWW4m1l38UOLPU702jsfchAtnhLMNaZ2BBVWNBcroWTDMtGT0ylV5umCFukRafyqQluPSXq-ba_oLan3ntxpiybFR5UkiBqbZz_v9coaQGexuh538Z5FJgZ0Twv0wtMg2lJ0rw40lHavQdqPN4qF-i7QgEiAI1DoyelUpBhEE7wC3Pd6pzGshNk_CZFZG3qjYKvxNJckvocfoAEtxuRc2_2Li66sP0M2HUZZo1ncSGtCM9J0ECeSVytqFPXsTjWDFUW27YT7JE32k6_Zi8WP65t6InQBEQA85MBCbdm2mL2tG9Kr27qz3G_PdBVRdq5BujsyUKR1chUMJJTNxiXgLX88y1-hfonjGbAmg_uwBIPyQuoi6VvVCJayU8qjeow6R7XIE8z6uhgSssX1f-t8QMWlBqkBTeLBaMGQcWTtgOPqyI9bwUVJXc87SNNfQxLhzxMkBmOB93tOyyscA0Y9Fe07Bfd7XNWTZLTb_6rbkmMnYK_otAZx7yxoDK28nyRN0lStf-VFEPMVfd1Lqm72mpZPh7x7DBIIQYjATYezBeyTX-VaFf1i7je0T4Qf2Hz-ubCtJh-fyXszFisJN13uTn-Dr-06rKslT7U6vDahYKChCF4P7NSOwZRftaNzm2koyKKNkQWGHfl0l24QnkMQsIzi7SGXn4Z4hayJB2nWRCtDCBJtBpt8olC8o74OUcIsOY1_wsw1n5U1SV-MeijhlH339dxk3mAaZBPuNMaOckhX3n8M9j5TwpaceWfEIkRukV616pZ2L8ZTqgMKgK0IPaZfel6VLOgi5Dd8YIEift6wQ0Nv0KZmg0sEOkrCMwKnrbtpn6h4ZTxrvZjdE4xGC2difWQ=",
  "id": "rs_09620f9db701d8c9016ab436f1057887d0b41874f6d88e5e66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.3,\"right_z\":0.16,\"right_pitch\":0.1},\"note\":\"With the right arm withdrawn, the brown toy is visible beside the open safe; the pale toy is farther left, and I cannot yet confirm the yellow object’s final position. I’ll approach the brown toy from above with the right gripper.\"}",
  "call_id": "call_EURi7fVIbKbSrfSDw1gEuvFL",
  "id": "fc_09620f9db701d8c9016ab436f54d5887d0b67198dde74510df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EURi7fVIbKbSrfSDw1gEuvFL",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.3155, 1.5841, 1.0, -0.4808, 1.0348, 0.4427, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1207 left_yaw=0.0028 left_pitch=-0.2952 left_roll=0.0021 left_gripper=0.9992 right_x=0.229 right_y=0.2902 right_z=0.1509 right_yaw=0.3185 right_pitch=0.0471 right_roll=-0.4925 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.0325, 6.7487, 1.4432, -0.0659, -0.0611, -0.0122, 0.2803, -6.3658, 8.0479, 1.0672, 0.6178, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd5bd8e1bd683ab4b24e3bd1dd97b92b13642ce485497fdf568c37452b378c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2168f90f6834e88e5566ae64f5c95e0423bd69462d8668839d8bf15dc5ed5d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0736d5028559df0a070f1c03f99560260fe5a552a1681c2632be0699bbd18671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 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, 0.6064, -0.6151, -0.0189, -0.0383, 0.9992, 1.2613, 1.816, 1.309, -0.5682, 0.8795, 0.4492, 0.5198]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1262 left_yaw=0.0024 left_pitch=-0.2647 left_roll=0.0016 left_gripper=0.9992 right_x=0.2524 right_y=0.3542 right_z=0.141 right_yaw=0.3366 right_pitch=-0.0689 right_roll=-0.4176 right_gripper=0.5198\nstate[joint_eff]: [-0.0752, -1.3197, 6.8444, 1.4774, -0.0464, -0.0269, -0.0122, -0.1573, -9.1145, 8.9778, 1.2381, 0.8034, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8425, 0.6064, -0.6373, -0.0189, -0.0387, 0.9992, 0.5503, 0.9848, 0.7963, -0.4808, 0.4461, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1211 left_yaw=0.0028 left_pitch=-0.2933 left_roll=0.002 left_gripper=0.9992 right_x=0.2988 right_y=0.0981 right_z=0.2028 right_yaw=0.2836 right_pitch=-0.072 right_roll=-0.4337 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.8171, 1.4628, -0.0757, -0.0562, -0.0122, -0.1299, -3.2068, 6.8991, 1.7802, 0.0952, -0.0073, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.3155, 1.5841, 1.0, -0.4808, 1.0348, 0.4427, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1207 left_yaw=0.0028 left_pitch=-0.2952 left_roll=0.0021 left_gripper=0.9992 right_x=0.229 right_y=0.2902 right_z=0.1509 right_yaw=0.3185 right_pitch=0.0471 right_roll=-0.4925 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.0325, 6.7487, 1.4432, -0.0659, -0.0611, -0.0122, 0.2803, -6.3658, 8.0479, 1.0672, 0.6178, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd5bd8e1bd683ab4b24e3bd1dd97b92b13642ce485497fdf568c37452b378c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2168f90f6834e88e5566ae64f5c95e0423bd69462d8668839d8bf15dc5ed5d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0736d5028559df0a070f1c03f99560260fe5a552a1681c2632be0699bbd18671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb7YbPFgGW9sLJGdE_YwpW5UtaNvHZuZP1qFW1-V8nQY6iYrUuoC6UrE2D7uNJ2v8fYodMV9T4F_AefFbVRZxg3QmNHzmpqU91lOFOfDUo-HSYVDM62BFhQg9KS4MUd0TEFU__bKd6ZHpvEohyUkaSxsIXgdxVUW2vBUtQmot6U7N6Upn5365938r2fTS_YHnwwfgiJFU_IZtt-buS0rlWP-0ek2I3eQVHjOi40qZiDu3l5Rz_J1ijVx-NGt_b2sxubk6NgsIdO1RgiOkpKm4f_TpZM5fGtKfn4_QveLGQ52tpBmOJpC1angv6IlT3Up2wXo4qOJ8XnmZS_j4wZVIUEW8p1KK17NXRaUqQYoKTW_BaxFw3isx5Ixve8pPB01ayB1Wpk_tya0QhTWQ19mkr8WxYH8QhhnoTOR1ppGg_EBqvKoWl2bNFCQksexdjfR4og5LjZ7ZICd_qGWUjmLDMchVqU2lfSZNq6QhyapCc6GnQQ5Kwm5mdyR5OHuPTA97B_cZ9h8_LGtwwgin-iykOs0HajMgyCAVg1c1E4EO3Im6VP3PQurOnrZJdouohg9dTGqwnKV4ycw2ewDg3OZWNqBMjv3klR2mdOFKnbREagsByYApObQFWLCGkS4zsUb1fCSmVQqeBbK-dgHX6o83ze1-CqotVMk32UstaVYjHN_gsQJEu3UkTD6PvIT7bkzqUZYKrD5bdLmHzV87FHIXHPQ69wupqyYwYXpPlI5_9OS51KYmXxFVebSCWRZm0U-f0tGd4ynj5oiuFp7OzoFOBGzeYyMktywml3xAqwYINTYok-TUbVqxYAzgrYTOnzH6rwqeQflAHAZk52hAClAY6TeTZi9hVdTzkSZuWM-xMjtWTmCJncj_jFnx5hofADl-xF6kGvvO42XCrzV5aTwoTqSDqtQ-Dj_BJDkdu9zWVWqBZ8CcFQheXsWP7Ew1DTVzMu6NJcZODtfYrdB0y1WIQo17QJuigoyKCMZVGoWwFIjTjnLfiGhiazTVtHV45qT2JqPGHVqmemtErGmkNqyIekFGAqISxaZ72q4ZBiCr0SAxDvrNajp-VuIPYjWCuT5oyy6tm0JwVMSQNmQPP-tv-rAAjtuXgM-tkvLymxwJMk4EMomvhxoWDpOWOvyN51RFp6Vwf4wESmZ0NWQ33IuhcHvsD5Xw33mQ6PYFEADncClPQF9SQZf_WUXgdGw8h2QdKlGLAd7G-Bd444jhKWo3IGUy9jp9hEpwumkC0OA56Pfukp03n9Uzwq4KfGEyXt2BHzHOKae0OHj3sg3bd8HgMpINTeqD2uv2vD0qTe6FtdAlc44oXpcFbIHKfnb3E5bhmp-qATXF4kFmNvbXSm20Mrwn3_hdwZc3UuvnFOCiN_wCSZjCIREDJcLbtBn-_mTwaJoUUSUrPCiviPSfduYDuok0dS5FQ43sXB_LSxgaDw9IUPl8qtLn5-lPbHOKhSTJ9IqMGnoM0tZYvn6c_ejpMg8GLVCJUPARYrIgaIiDLpwnwK4cK_P3naT4VaaTSIXtyFz8Zg4K4wv8C02_m2tWBUpVFFWf5wC0x_bxDV86yDXU2i6hr4aXmrIF4-1j1uPPo0FtRYoiVMyuFL-HZ_pODXmTklsubt9k4Mp1ImNx9kFaAU-BDD-lGf1ClILTomxeE_mb4hx3WkuNrxl5MD5_Sxliq3pHx4jYIOBpvvoEV2l_togbteiGrGH6g7nKVTM-Ol0L8vQQmGhBpQRM4UrBBNlO8kyK2ewfw00LUJ5XU02XNXrH6EnvdDIhRoIm-eAY7j1APmb2g5UHEw7fotZQQwtNf1KmbRMt4DzDJfyjyjDpUpu_xqT50LibHk09DrZwHTtq08u8g4eR6IUR0GUEMfmozjHVJnaK3nCOKLbWnSZMYIHmnVYYTxR6LvqcNrNGAotlTk2Qtnp2IZ1yKyMk3cbg==",
  "id": "rs_09620f9db701d8c9016ab436f9041087d098763859ed77b797",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.253,\"right_y\":0.337,\"right_z\":0.13,\"right_pitch\":0.1},\"note\":\"The brown toy appears left of the right wrist camera’s jaw column and slightly forward of the fingertips. I’ll shift toward it and advance a few centimeters while staying above the safe’s edge.\"}",
  "call_id": "call_fG7f5QPPGUG9hAxyFeLbVybk",
  "id": "fc_09620f9db701d8c9016ab436fa96dc87d0b3caf6931e98a11d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fG7f5QPPGUG9hAxyFeLbVybk",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8444, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2861, 1.7653, 1.0615, -0.3538, 1.0615, 0.3866, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1205 left_yaw=0.0026 left_pitch=-0.296 left_roll=0.0023 left_gripper=0.9992 right_x=0.2494 right_y=0.316 right_z=0.1223 right_yaw=0.3034 right_pitch=0.0553 right_roll=-0.5474 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.3944, -0.0855, -0.0562, -0.0122, 0.6359, -7.5966, 8.0615, 1.2772, 0.4518, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d291bcd15eced8560d5448aa74dd35bfd7b565fe2610ea2da956e7337588adc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c382cf9b69819b9f5e836544886d20dbc0f3adbff2ebbfde57544e24ad50c849",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7378cd985e65da68b5a1da79cacfdf95847c17a961a1f271f0d1d4bcf960cce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8406, 0.6064, -0.6327, -0.0189, -0.0387, 0.9992, 1.2613, 1.816, 1.3136, -0.5713, 0.9051, 0.4496, 0.9948]\nstate[eef_state]: left_x=0.2559 left_y=0.0021 left_z=0.1223 left_yaw=0.0028 left_pitch=-0.2868 left_roll=0.0019 left_gripper=0.9992 right_x=0.2547 right_y=0.3523 right_z=0.1454 right_yaw=0.3235 right_pitch=-0.0499 right_roll=-0.4295 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.6889, 6.9265, 1.5995, -0.0708, -0.0659, -0.0122, -0.335, -9.265, 8.841, 1.2576, 0.6178, 0.1001, -0.1978]\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, 0.8436, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.3155, 1.5841, 1.0, -0.4808, 1.0348, 0.4427, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1207 left_yaw=0.0028 left_pitch=-0.2952 left_roll=0.0021 left_gripper=0.9992 right_x=0.229 right_y=0.2902 right_z=0.1509 right_yaw=0.3185 right_pitch=0.0471 right_roll=-0.4925 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.0325, 6.7487, 1.4432, -0.0659, -0.0611, -0.0122, 0.2803, -6.3658, 8.0479, 1.0672, 0.6178, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8444, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2861, 1.7653, 1.0615, -0.3538, 1.0615, 0.3866, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1205 left_yaw=0.0026 left_pitch=-0.296 left_roll=0.0023 left_gripper=0.9992 right_x=0.2494 right_y=0.316 right_z=0.1223 right_yaw=0.3034 right_pitch=0.0553 right_roll=-0.5474 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.3944, -0.0855, -0.0562, -0.0122, 0.6359, -7.5966, 8.0615, 1.2772, 0.4518, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d291bcd15eced8560d5448aa74dd35bfd7b565fe2610ea2da956e7337588adc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c382cf9b69819b9f5e836544886d20dbc0f3adbff2ebbfde57544e24ad50c849",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7378cd985e65da68b5a1da79cacfdf95847c17a961a1f271f0d1d4bcf960cce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDb_LUmolvK7_Gc-vQUZyPJ06wS_87DE2t2fe8DrafuEsiqhO7jwWQhKG4vmZqUsgQEzvMMM97ZcAF6DubCXJjS9KiYzSA_HU7XJ_QFcDqRcICD8bZoaW67LgVWPOiaJ_hEQSUPl_8iH1q4nt50OGIq7IJ1yBogQtAJzYgYBFNSmrj8EYcUuIgp0T4O-QfurL32KydcLAQESdgLkS29WByie8VLvwPLyRxa-hzUDOlDX1JIkUSthhIoUu96fTuFeWEwS9hqjfboWfmbsOLhkjf4PKn69DgpDShni7qbYvHBjr0NuZD8GIjkP5So-E30OVTthkU6sAd2ae58hKkpcjiQ3KVZud1lAeCP8EhE80T5H_CvsNEMLcwbTHRZGbQhIuCd-OOtzeZqTqYIoghuCz4N3YL9Z5s8hAipX3dw9Hczx1-5kYtim_nqb5eWBFz85sAlFdzacCnfPypzWn4eB5poWjcLISNgPnsAzoXjQwuUXzNdEgcM5yrIj7HuFpA42yrYNXdXw93anGAz3gNAwunijGL_X2tt3pPZqDzBQL35hUXxglkGx33rBAqL0P2DY-xGJ_BQLvkoUSOs0O95yvldZCTwp338m2UbhBVx_hZLgmQHtE3lPczbEAiwusluMWNAYxUO4kaAb18k66grka3dKMjper9A42gzWPbLwSSA2L2DIiMhrGGiJENCV_9W9kB8GWVFflTZ1XVeadSjuNGqbP-B93oXjjqL5camPIaxkipvehdqkxvHao-Cg_TitvpjXXJIta2CZ55LFKFj8QjAu0Z2SUWWItb3mKg4tHj6Sd40U3Iw7m7juQXkA5RBgzlvvcSu7vsdeLuCAZ4nMrUM6awbSwctzx-pAzJ5pA-_k_2WDJvUP6XKzmxySGBFuXFGkKxSuz7cjO7E4IUqIAdpx5hjUWcCe6IviO71aM8af5R4cpmzBsXOBVD5wAnvCuNLTFsNDUcV6WiXBlagGs8XEzNzyklwmMe5AJ5Bd5rQ5xYJgnRmkQZiNwbp6VmUxwumv8Xt0xKc67q6xD9RFUxZLL6adG-C3_48qJZBDQUQAiwh4_CxwpsFnlQqWraaCOTPzk7ab18xySH6RA3cCXU3WAJxLf2T45kbsWARY2flKeVJv8KQIq9ZjTlfNhLXVMjeXvZJHV7AdxgmJAJm57z4hWZGe05z2qncJcLAXW9UiTIT96BSiFG0yBjMqdCQPfda0pz3mBxkw-CNCgsNhSyyuiO-QQZHNV9ipalb24NSbFVB38DZoP4YrCCzFCNqtPyE5TamRJOcqGp8SzuYlwK2qyrVeAhRU2DJDWrmEZYf_7CmaX0Z6D2nGAgkfmr5Ht5lkbA-L7l7jz59MH4YYdHbvcvooH8w1yRfKrDi-RbT2IqNNT50GQTWY3qa8FwpWmv0UJp33KHiAy-SvNKvMzUVf684KagJtXdIH7ycBI3swB_iAI--A26idCwhJ3hcrVqwdWZ4uZwIV1p6e-D5sR5sfG8YomzPbNKqeclgj1qY4uL2NfC0d_ZZtday2Vy91ZjzRh9-uwEj9vDbrUEXIlTOSiBeIX4veVTGVF2AHghN6JSSMLyVrkUs-AWNnEpEIo1VHEUMvSW3JKnwlzcE9WgKVvVwPICXQMKDae24KONW6dhZF8Gxp7pWk9RtJDT3GCYltsFUadIFFa0tyH6hNJskOpzJKZ4tTNBTd4-EebuznSUMo0HhFkX2QGuyeR9F8U9LgHbn2f9msyOoBb8fE8KKjAIq5LFG9EbyZR3N8Xu3s7PxI3epoCmn03Qko1KskBvu1iKxDn_50SEX_5JRyHQfrX7q7nZOUeUN1NPZRDFbvDHubXN1tDzyGN_7tYfPqJfbWo8K8FW1zZQ_DUmd-b1u3ui5flNivBnwvA4I9MhrKTYsVmunRz_91Cr_dkzv54OfeA_CmrBTFGkG_F_QcUAdfBs4UEuOcVuBSgCHTY-R8ewOCzJG2UzTB-xYvm6Op1b02ZShZIeJfvtjADXP4GuFr07GrGsC5L_BxGYPrz_pls-C9Fvq6G2iUKknZrzL9fsZPhSzZ12JUSXtFZq3bwzDAwA==",
  "id": "rs_09620f9db701d8c9016ab436fcd14887d09ebdffa8dec8e3fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.318,\"right_z\":0.055,\"right_pitch\":0.1},\"note\":\"The brown toy is nearly centered in the wrist view, though the safe has shifted slightly when the arm approached its rim. I’ll lower and advance toward the toy’s body, avoiding any farther sideways motion into the safe.\"}",
  "call_id": "call_6UWi6NBRvlzbAcRg5YAzRQKa",
  "id": "fc_09620f9db701d8c9016ab436fe705887d096b9384b7b2d84dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6UWi6NBRvlzbAcRg5YAzRQKa",
  "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, 0.8455, 0.6064, -0.6376, -0.0189, -0.0383, 0.9992, 1.29, 1.7912, 1.0687, -0.2962, 1.0546, 0.3477, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2505 right_y=0.327 right_z=0.1188 right_yaw=0.327 right_pitch=0.0612 right_roll=-0.5454 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.4017, 6.7487, 1.3993, -0.0464, -0.0366, -0.0122, 0.0615, -8.4171, 7.9932, 1.3602, 0.4322, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653a0cdab1d50b1103aaa14967683deaa70343f12ca4ae6eff7dfc6b51cc0e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5402106e6238b1c0c78e91d17c937b0ee540b413229e6a1675a4e5941cb625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e19a9d8cf3f6b850e5b3cb1efbbab1ae8cd473a67442c3df7e7166124c482d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8425, 0.6064, -0.6373, -0.0189, -0.0387, 0.9992, 0.5503, 0.9848, 0.7963, -0.4808, 0.4461, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1211 left_yaw=0.0028 left_pitch=-0.2933 left_roll=0.002 left_gripper=0.9992 right_x=0.2988 right_y=0.0981 right_z=0.2028 right_yaw=0.2836 right_pitch=-0.072 right_roll=-0.4337 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.306, 6.8171, 1.4628, -0.0757, -0.0562, -0.0122, -0.1299, -3.2068, 6.8991, 1.7802, 0.0952, -0.0073, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8444, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2861, 1.7653, 1.0615, -0.3538, 1.0615, 0.3866, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1205 left_yaw=0.0026 left_pitch=-0.296 left_roll=0.0023 left_gripper=0.9992 right_x=0.2494 right_y=0.316 right_z=0.1223 right_yaw=0.3034 right_pitch=0.0553 right_roll=-0.5474 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.3944, -0.0855, -0.0562, -0.0122, 0.6359, -7.5966, 8.0615, 1.2772, 0.4518, -0.0611, -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, 0.8455, 0.6064, -0.6376, -0.0189, -0.0383, 0.9992, 1.29, 1.7912, 1.0687, -0.2962, 1.0546, 0.3477, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2505 right_y=0.327 right_z=0.1188 right_yaw=0.327 right_pitch=0.0612 right_roll=-0.5454 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.4017, 6.7487, 1.3993, -0.0464, -0.0366, -0.0122, 0.0615, -8.4171, 7.9932, 1.3602, 0.4322, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653a0cdab1d50b1103aaa14967683deaa70343f12ca4ae6eff7dfc6b51cc0e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5402106e6238b1c0c78e91d17c937b0ee540b413229e6a1675a4e5941cb625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e19a9d8cf3f6b850e5b3cb1efbbab1ae8cd473a67442c3df7e7166124c482d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcEyk1_n-HytmmgnjiDlxu9VY2kS26w4VEF3p0aCzuN9-VBbxXTyn9ZUVRxRAmpGycspUsXHLB0CQ6U1fQp3JM0_nmGDsT19GUsMKExniHzmaZ9NPXg_oHrF8oQpwVIjkq3xuynreaKTfU_nfDKmBqQOoBweWwiBDSxLki_2Ue7pKCrSPfzlZ1yfODY5nOvhENPE8yHoXCDngrrbgMTY6qil3d_aNmxqcCe-SIfj5OOVYpqaUhoE4Rq5azpz5D00G34qn5TUS00vPHjAK6dL2UW6ijyvL3rWcnGBdymk5Mi4voDaB0FV3MqxIBoa0Y51H36pGZgZBCKbRTpJMKGFH4H-_L5W6W9rT3BKMIdp6KyD_IaC94njCcRNBJOrqCRFYelvMEDxip1McPqYTTwHCKd3fGoNnF7X5edNukNSPdpFX_PK7z-lq5wqUwu_nk8cZl4M2BBPX5dYARnBKMvI6m9cpTFzDclOBg5JCXBYJOdi5u3eYAP02-lmvfs38q7abURjvrlpnmbBq34Sml8LVrMb6e_HGgIUCCvLapwf2wpOjhhfo01cv8lI1xGhh_XiQ8M_byBi4rMN19SDNtTLLu5hmbKiLv_efoRELWeSa8cBeQnM0l5b4fs5tiFo91mYoICYxcWeYYFWi8rZRdJ7WQ_Btmjuc7M0gmzHgah_vuLGrF4sG6-drOjEp7AYSiHq5xsWceG8eKC0rgw2SFZ6aunJ_gWWZRsyRgAwlbIjTF8yUr4PP_VCAMky17rAN4gwnnj6-I4wYnU5Si0uNHuH-HfyP01jmtqZbVppLCQjcFW_r2UDe-x49DrORQ3tjhQoGhLq7DCpcFOISPdlJ6d6YDnFyPFHa_KtMqjxi9TdNvyuczl2NPfNvl5zytWtWbvlAzJ83zIldJg03XZztmu8wUXUuSaBuKXHvjdqISkW4HdujRF8wlUdDOQMwHPKCCyp7Mplj8NLWqRqDcVN8Tiq5KZhFjymHEfVDf8rE_T6QZKkbgmshQUsK15aRcRPKt56tgAfgEFz4wAQhCLNkAM_azviog_isy_V-e28X52n2hjkMgXwrylcz6bxvxnxbnEzzWK-Q3WcV-5x1odZ8lsehbrmoRWWlZ5DbI1ZTq4T78Ds1D_ioImIhBuoV-ZVphyepPeH4rrTfkerObhyrH2ycT96_LI3qWpAOBJqoAczZltbgjEu8f82AiZvhtP5TkjrovPjJ8aHjqbsRF55xKybqzKqOYvp7s8Dhb8gYrB-qd42NIf0UQfr8g6GkwKrgoW9H2QR20bUji6edrOs2wE4tb9svwODpXAfYiMLUJnCYnTy4TztqcUxQwT2RW0FBEEP3G3Nw_BPpA6SixdFo1fh9Vjf6RPuKKZcdXe9Fzb4ty7oz5otWtPcH-7Go2zzWJhmV2cFyWJAG8HF9qe05zoo3L1JPdVVX8yD2FbeU99WDJghsV4KJfJ-iJjkjDnI7IfV91Miq3hpjJQ420P57scIrCksslyTOI_Pcjd1aq5T347Cp9WTsl24gRUAum_2sCekqNkwPr97FqaSqmyr7bj4zaBD3PLrdh13asMZBJTBnDq3DavsSgcuMm5zsGARMkDniOuA9Nmg4pkHqn69GMoIxlc2UVAPorsX8if89pQfr-qNC6dm2pYO-6R5fqDn-3ogBjEy_ZIkrDe4vt8tTIm5Z6nExDYFYYEvM8S4EgPRkmxP4IlvdjULTdBgTuXLPQvLVa0O03B55J7W1RKT0uXxopNUz-coJIc3tMEXJ8nBTq9y1PTygi4eD5d2tFjr6nyw_pEwbfb49Y-GUhrJcbfRD83u60_xadftdnBskVYtDSylvguaeYL7C7HACv2HtATBEDljY8LwdpXBVkz48zkjXBe4X58Etc9ugpRAhpynbBkMPX_CShmDhYiOprT9vuAt5I4baZWrMFo0SkBQOxXwfz58qBbdVhDqD5lae0cbq03LCsqonEWZ-snW9-G85xtrB4kJZpQpg7sqWg34trjxvvLzbtzvvvVtu1JssBiAG5dGUMe7WXjJhVLmmt0RJCQSLd1GgqkqjK0EZDWOyNCUOLAQDlkI3XiZO5hpgoDkFXuGRWGfAm_dPzxCLicmK5jxti8mIfuP33pXVRVTj90A1MwZJ9a7EUWfwWO06RNDuLQLJV19mUrwzlRLp-te8Y7_1x7uOofl4qWAUtRCrYbeQYkYUKgmfMjPWdLd_KCuUNapIWR38d1r1i-KVfcatu1Le4KHJ4EhPKznB8vzcrQ0z-1pnKm4MT87YW8pM-LaljMsZAcqVqJ3Vy-m210Kupf1HEbvRHMAms0tCIoIv8BO2eGYzNi6WslpIv_9JuWeENsYpoVaA2keZ8ShoGvwdpY5f75",
  "id": "rs_09620f9db701d8c9016ab43701f09487d09501840966f8fff5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.25,\"right_z\":0.11,\"right_pitch\":0},\"note\":\"The arm stopped well above the brown toy, and the safe edge moved, so this descent is contacting the safe rather than reaching the toy. I’ll move the gripper rightward away from the rim and approach the toy from its exposed side.\"}",
  "call_id": "call_sRx6VQSGIpMTbPFQatx7YtEf",
  "id": "fc_09620f9db701d8c9016ab43703685887d0a8c840c2102e4b3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sRx6VQSGIpMTbPFQatx7YtEf",
  "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, 0.8452, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2118, 1.6859, 0.9436, -0.2173, 0.9813, 0.2626, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2634 right_y=0.2942 right_z=0.1152 right_yaw=0.3259 right_pitch=0.024 right_roll=-0.5339 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.3944, -0.0513, -0.0464, -0.0171, -1.306, -8.841, 8.0342, 1.8681, 0.2662, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f82bc7f2ca295becca218f307729ac99c941c61d0acc03f2701de41f3587ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cc216864ced3491dfd187e241bb037e6b30c747cccece598e5613b7b68bcf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3717e32ff5e5b8bebc1f495158a99d5204f880d6c1270da86373dcb51079768",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8436, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.3155, 1.5841, 1.0, -0.4808, 1.0348, 0.4427, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1207 left_yaw=0.0028 left_pitch=-0.2952 left_roll=0.0021 left_gripper=0.9992 right_x=0.229 right_y=0.2902 right_z=0.1509 right_yaw=0.3185 right_pitch=0.0471 right_roll=-0.4925 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.0325, 6.7487, 1.4432, -0.0659, -0.0611, -0.0122, 0.2803, -6.3658, 8.0479, 1.0672, 0.6178, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8455, 0.6064, -0.6376, -0.0189, -0.0383, 0.9992, 1.29, 1.7912, 1.0687, -0.2962, 1.0546, 0.3477, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2505 right_y=0.327 right_z=0.1188 right_yaw=0.327 right_pitch=0.0612 right_roll=-0.5454 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.4017, 6.7487, 1.3993, -0.0464, -0.0366, -0.0122, 0.0615, -8.4171, 7.9932, 1.3602, 0.4322, 0.0366, -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, 0.8452, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2118, 1.6859, 0.9436, -0.2173, 0.9813, 0.2626, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2634 right_y=0.2942 right_z=0.1152 right_yaw=0.3259 right_pitch=0.024 right_roll=-0.5339 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.3944, -0.0513, -0.0464, -0.0171, -1.306, -8.841, 8.0342, 1.8681, 0.2662, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f82bc7f2ca295becca218f307729ac99c941c61d0acc03f2701de41f3587ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cc216864ced3491dfd187e241bb037e6b30c747cccece598e5613b7b68bcf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3717e32ff5e5b8bebc1f495158a99d5204f880d6c1270da86373dcb51079768",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcHLuzJlTzWZx_YVWmrI3DvXtGRYX5-DVhfXx8fX__3NTc-0cBJaFvrjjMJsyYCWpVDpLYt_z6hnm1CcghxnFBYZCVR2dq1eXilt05EfnE4WDv1o3UyYeCkutw-HiehZSmRHftenrTAnxxv3VLTH1vni_JTxQ561W3Vgvq5ZPrIXXBKh5JwRPCqBmFwt9lfmbXhfjvxYq5NVKpcruuHcXfChePD3T0OcowDo8g3gptOBWtLPSH5W8yulXcy82f6Fg8hPPjq0DNrks5jGvqNzBQMjcR97oEq99dSreKhAu6LGCDLcQ5yYppNTMzz6LmWdpJmAHaTckd32E_8knX7cDZEch7zBB7_xy9q6nsh8ARRP2pzG5TqIyk6eKtzYGEEb1MgdPLj9UA2xMjnj65zrSVzoyAX2abPJ6i9NdCkrVo95hSAR9Q4mS7tC4XNYsAN5hE3M1nMJNsEui5PbWztMZRx7k0P4tES6SuG5086hrcP7h_sfOd26lLIISH2yCh8eDqxZ9lTJ8TW4aLSNZbN1r50MTBYDHFfj-GQYPrJ9blzzYNH6M776w2fxuYjk700jxxwfvWiB_pDBkHWwPkIv24BSKvQgfAObGW-of17LsOGQEK44Oj1TgO7vlGiFa9HWE2JqMwMaNPPvfB8QQ_7jvzqPoefVisC9sCDwZdAJRGE_s3smGVx0bjrRdCO14DKwYBrN6j2W1pAP0ZuO9eIfucZao38SoC9pyuNofrhucoxdAZ6IYl9XF1gqoTpuka945fpHj3T7II0LkFgt7yaX-mfYkRCsVC0tvRc_zSv3pi7RAdFuBY8fryA5D9qVKSiVxm_rC_qr8vQsQsZsLM8KoQsZl892ENkJ99CmdsUvhYdiYdrKhlLm4EiUxCgLkBwXRm9HI4SqQpC15qy5TLPEiuKRdY7VvBGlty0dYiEjcIB354W0sjKAmMW05X1q9ulPJdONEv3YectbVIZ0iF2VpDBQpybn2NmP2z87fRvB9qDtBBT3rwaTe8F9dWW78VzccWCpEaN0O_LgMQ6fQh_F8h7kbAV97eUOB8nhhEVkkGDiPovSeHAK6i0W___eE0DNi4WxS4cJQXFdxXLCyBNdr_9AaoBV3GwEcngv1YXh9_jlCE7fmzSO7G-Yg9-1xA4LCYkZeP63ad9DPkDHXw03LvAmxrDsTsEIqBNeZIn8T4ce4Bc1RBmT24Crx22bTpb0HKZHzY6V16MJzT7TTDqSb8rwhI8IiDKssRyBgWvwh997IsBNSeVUb5ndxkq175TEyvmy-dNWxOGeJaNbpjsmUJsLMW0IbzC2mMkNJ7x_eRKIy28QouBfcX2E0jnT-4lyqnlaeGv2P9FskdIRotY5-W3Jeg1jk8cIUslQOq0mIl399XAT1g0Q4Yu7mywaRj_rv1Q4YD3Dfq0UwfmfrsD3EBElFo2iZw8Sq-AGIivWlZjZYs=",
  "id": "rs_09620f9db701d8c9016ab43705fa5887d08e0093ab97c3f0c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.28,\"right_z\":0.045,\"right_pitch\":0},\"note\":\"The brown toy is now centered in the wrist view and the gripper is clear of the safe’s right-hand edge. I’ll move forward over it and lower to grasp its middle.\"}",
  "call_id": "call_MpgX5Fiyi8Ctel8Bjjmqg85C",
  "id": "fc_09620f9db701d8c9016ab43706a73c87d0831423eaab2efaad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MpgX5Fiyi8Ctel8Bjjmqg85C",
  "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, 0.8478, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.1187, 1.8275, 0.8009, 0.0681, 0.9127, 0.16, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1196 left_yaw=0.0026 left_pitch=-0.2998 left_roll=0.0024 left_gripper=0.9992 right_x=0.2831 right_y=0.2712 right_z=0.0432 right_yaw=0.3208 right_pitch=-0.0469 right_roll=-0.5807 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.5658, 6.8991, 1.4579, -0.0611, -0.0611, -0.0122, -0.1709, -6.9949, 5.053, 1.4383, 0.3443, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b2c0ff6b0a10bfbb4b291f0d2a7e69e34834ccf78b4929f45510cd6cf621cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b88cf797bae136cc9b7be976d7d07cd80e5d633eee0fee8977b8605a1a3b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7762e0af54c04ebcad31df57bd5088de47a843ddb382abb3c2c54a5ca3595908",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8444, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2861, 1.7653, 1.0615, -0.3538, 1.0615, 0.3866, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1205 left_yaw=0.0026 left_pitch=-0.296 left_roll=0.0023 left_gripper=0.9992 right_x=0.2494 right_y=0.316 right_z=0.1223 right_yaw=0.3034 right_pitch=0.0553 right_roll=-0.5474 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.3944, -0.0855, -0.0562, -0.0122, 0.6359, -7.5966, 8.0615, 1.2772, 0.4518, -0.0611, -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, 0.8452, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2118, 1.6859, 0.9436, -0.2173, 0.9813, 0.2626, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2634 right_y=0.2942 right_z=0.1152 right_yaw=0.3259 right_pitch=0.024 right_roll=-0.5339 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.3944, -0.0513, -0.0464, -0.0171, -1.306, -8.841, 8.0342, 1.8681, 0.2662, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8478, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.1187, 1.8275, 0.8009, 0.0681, 0.9127, 0.16, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1196 left_yaw=0.0026 left_pitch=-0.2998 left_roll=0.0024 left_gripper=0.9992 right_x=0.2831 right_y=0.2712 right_z=0.0432 right_yaw=0.3208 right_pitch=-0.0469 right_roll=-0.5807 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.5658, 6.8991, 1.4579, -0.0611, -0.0611, -0.0122, -0.1709, -6.9949, 5.053, 1.4383, 0.3443, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b2c0ff6b0a10bfbb4b291f0d2a7e69e34834ccf78b4929f45510cd6cf621cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b88cf797bae136cc9b7be976d7d07cd80e5d633eee0fee8977b8605a1a3b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7762e0af54c04ebcad31df57bd5088de47a843ddb382abb3c2c54a5ca3595908",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcLaWzT0CEU7cTlOHOVQJBifTIS-nxTqbcG6ytEBEq21JAtI7Cdlkf6OHBKne2Pw_J-rdcmvxnF6JlnI_NT1apmm2cydmsmW9_rK-yRvWO6FQtu5qtaEHA0swMQWVyzKPMOdPCTtpKsQo0KYhGErA0d5MADfUQRI50T_DON-KbF4iHpCj_SoCE4w1JvQ7JXTnjqjBeKlkaxOn7DqhCaHCkIxQ6HWC8dJBYUwz5EcPtLchHnMmM3HooTUYy3lFHV3pahMM9jo8FIIfSxnlEFNujRmaGQ3MUZbWM_Vlly-UcbRev0-Z_Sdl6qs7BicQd5xpmTdeOdcHejNXrqjLqFhxjfA-b7aq8wXJ6eaNfL03ygppkCT_aNCS_uyA_upcBO8yaklNGh12y1EmtMlU7yWCGiBOVdRqs1VdzVv0WWyQ7cviqpKDmzqnMgLhW8gZjydnPkgJ5IulhmIj7Kj5B5yk9PP4m035Qj8wiqZQYY2vhOLWnhl1w6Llh3LEtDC9qJ5vaYAoPWzd6JT-FQn2wHFiYFK3UKB0UoKc4RzWdI5n8MCYIDPYb0orkRl4OEg5JlyaTiV7GE41qvgtLR__KYNLG8MCyHDN-lN4JLH1yw1KEUBXHIVpjA6XhrfhoizN3Rv9kxpf1unYB7sdmj9TxQbPyhpepjHvoImCWiMXy3emaBwchcgt4AgDB7gyT63N2taRA4U0lqA6joJgEtm_rlOt1hff4HVHT1kvzwZmO5gmdpqYjdj6CKrvkurjNFaDKXakG9gZLils-ktysjc7SqvM8Phh5raGj-79445kP0V4_MbWTkwsRwCMtL3lhc-85yKD1FPZ9EeO5eO3uJmyEVjnp71xF5eAju9dIyXpnWU_nL3KHvZgmoa4r6RrEjDhh6lhLWqMJmLDkOiOXlJoIZwROxmK3gwBSCoSLedCsCgRdAN43REE6MCBA6yGmNwfO1V1TXZH3-yhEMsvBCgcks2ViUtE3yLwOYRS_MFmVgUKtWrU_lhRmeI1iydc7YeKL20pFHgiokMS3fwi8WQ8EKVfoacQTjw6E4ba0-qrYO5vxyjGEQqO7kxI8NoopXFSp6K3n1vfHKlWgB2cR2EnEU2WfuQsJ4bpYuj1Zssm5At5sIx7CWCd1u-Pqa1SiEdy-93aNlYiHqMhgzLKEIir4mfV2-CGw9AhvW6JmU97V3fsYwLnFWKEGWFfq_o2Bogx-tY_ef5L6DH5s1aDu2EdTxLoP4Ipx7XeLUZpbF1fToaAvetOliNzB3m1m102vdQJXDWYOeMJS29jKLuEEr7vL_uprR2yS300sFz7hDyoKcEUhQulLqIGGxbvOgNWERM5YDGUSBK4NmtG064crhJ53OxvFlAlCKvi1q2ru9kAbVaYblL1wuj30FgRj6sPO3vamfNuLtpme1iy7xQcgi68OlmWfwhA==",
  "id": "rs_09620f9db701d8c9016ab43709ac8087d0bc05abb95a6184a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy’s body is between the right jaws at table-level grasp height. I’ll close on it and check whether the fingers stop around the plush rather than closing empty.\"}",
  "call_id": "call_kXVIFRyopWdzUe4vfY8Bo7kW",
  "id": "fc_09620f9db701d8c9016ab4370a426087d0ad4673e409f4b881",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kXVIFRyopWdzUe4vfY8Bo7kW",
  "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, 0.849, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.1095, 1.8385, 0.7952, 0.152, 0.8989, 0.1345, 0.0088]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3005 left_roll=0.0022 left_gripper=0.9992 right_x=0.2889 right_y=0.2787 right_z=0.0452 right_yaw=0.3336 right_pitch=-0.0148 right_roll=-0.5464 right_gripper=0.0088\nstate[joint_eff]: [-0.0479, -1.4564, 6.7761, 1.3944, -0.0464, -0.0366, -0.0122, -0.1162, -7.4872, 4.9162, 1.5018, 0.3834, 0.0611, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdbcb5ab97b32d5a2db22bae62296e6fef4843fa3d45022b37d10aa62ba4aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d0f449f7c53d45d5cd672441e196faf0b5a14d19a79ee0772ee03c0fbd5826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601b0370759ded7858f3fddaaee14c3ece385032cf1ee1b065c0d30dcbf26259",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8455, 0.6064, -0.6376, -0.0189, -0.0383, 0.9992, 1.29, 1.7912, 1.0687, -0.2962, 1.0546, 0.3477, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2505 right_y=0.327 right_z=0.1188 right_yaw=0.327 right_pitch=0.0612 right_roll=-0.5454 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.4017, 6.7487, 1.3993, -0.0464, -0.0366, -0.0122, 0.0615, -8.4171, 7.9932, 1.3602, 0.4322, 0.0366, -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, 0.8478, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.1187, 1.8275, 0.8009, 0.0681, 0.9127, 0.16, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1196 left_yaw=0.0026 left_pitch=-0.2998 left_roll=0.0024 left_gripper=0.9992 right_x=0.2831 right_y=0.2712 right_z=0.0432 right_yaw=0.3208 right_pitch=-0.0469 right_roll=-0.5807 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.5658, 6.8991, 1.4579, -0.0611, -0.0611, -0.0122, -0.1709, -6.9949, 5.053, 1.4383, 0.3443, -0.0269, -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, 0.849, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.1095, 1.8385, 0.7952, 0.152, 0.8989, 0.1345, 0.0088]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3005 left_roll=0.0022 left_gripper=0.9992 right_x=0.2889 right_y=0.2787 right_z=0.0452 right_yaw=0.3336 right_pitch=-0.0148 right_roll=-0.5464 right_gripper=0.0088\nstate[joint_eff]: [-0.0479, -1.4564, 6.7761, 1.3944, -0.0464, -0.0366, -0.0122, -0.1162, -7.4872, 4.9162, 1.5018, 0.3834, 0.0611, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdbcb5ab97b32d5a2db22bae62296e6fef4843fa3d45022b37d10aa62ba4aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d0f449f7c53d45d5cd672441e196faf0b5a14d19a79ee0772ee03c0fbd5826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601b0370759ded7858f3fddaaee14c3ece385032cf1ee1b065c0d30dcbf26259",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcP1_yk-8unF8quJOWubEsiNn5zOz6iOIMxK1sQ94rrMN8Ae_LILX7QydFQ6Jm4A7eRPYFWBvREq0QrYjBtBW0GhI1sYxiBmEJaA5ejmStg1uHxut521DGY68jAy-KIXupZoO74HDR9DTXbKvC5zfQDP3uFqPFhj-EasLEcN9AOkCJVOPZx9e0NnaaGVB-F4UthI6A6nIKLnDEFGRHCMoqyMuii8Z7N2AkQqNfs_14YzXUqlPWHXyJ4nd1fzl6-748Eb5LLV4xPVnx3tkxz_77XFep0mkSGL15ZvL1pGHP6iDUTOvFQW7WoB7PvE9qAGeFjR2aCcqQaRnVhlz2f6hyujFWghE9yF5WlQgLm58hP5_vZeBvuQSVaC84tbLXmXiFw0NU82bCWBorLwziyk8ArzsIsDgNzlHwQXi-kGsZft1RzM_BNrXi0unvIGVhzTo7GxlgyzsWYEjKOKldqk7HF-9QOSY2oqSCidh4ogby5iuRdHLtfRKUve6hiQtMqgHaxTCdFEkgDtbuCOnqEJhm2sZ7NsNc7Gj_F6poToNErfQ2suM5yyK0RaFD06fu0sEu-xHLppzkFFzvjOIqQJHVMBNRuSCaPSsDx5Io-SghB0fSqDpPHfpZqOOQHZHEJRFG8OXXWHE5CLegAvHfaamcT_OB26C59qQVmYZ3ao9fmoFo-Aa5glnQSpRpEfAQTDHU1aTSRma9wgZa5GMrtjpfFvb7yaJ7q1bYyVflx1395zOpNhHbE8NIFmcsxpeqqKaaTrqMmwfgL1rPyqyhuXy2l7-M3xl6R3AYXuH6vVRoLYh2A3E6LGYO36KS-ri3Zf3KYU5rzWuu-AIsjjnJKI5h88SFQbKb_5EZE1OdBcnS3Rjsdry9D72keV9XapZedBimy09NP6D_6KA9diEu41TfGJ5dMYABUo0Qmug-UGQ6p7FF2ZvDq0PaXx5wwCKY0atteobSpIB97HQVs0oYFcIjzsJvDuohdLQrnlnPd8nX24AJpnlXb8hCLrOUP1onbDtsyyCa4iJIXuj41m7hHr2hHOU8lhVQmh9ODvZoV6LUJtir7p-w9UxSPyR0ATj1QEZvNP7but3OEP3ukoYlAReUcWvi0xcr9suIaehtWSwtRMSNe2GDe5XXILDTdXg6_8kKvbCRGi_TGdfWWzdnEJZTD2bB5cI6UbtbSKca3S98v8kCAxd2uq3uaxNHgbKOilxIG9uvPDphppr-ZLhbbzOcpvkCJaREw0_UhAJb2WDg1ktxc3JycYMAKa-1L6wqTF5aS9Kdsv9CG1yMoD0JsyQAgIj7KNaHGmP1QBvK5UlBKJq9O2-JQ3WDUXr5qgiHfFjSKJPIzpCJrv2hbh5GvAen0vSOCBxQHG5lANFCRpYZ0IdNLWnv0DODj-3vwrzwTSHL9xNCoiNR9E801uw0Hoc9zTwiN8PiHd-fJZ1146KgUYoiW0-2fksVfYuYORcJ-tMa3ysZq_MeESlitcU1J1xUDWOuQdsuk80EZVZ7lwIERV6mPmXD3-at5FXEBxlDhv-M17tpyspiqq_4uNrTIo_Pj23UBO5aJvVMdkDQrALgtB9v4a9Ha4Wk2XbioFJwj7pIuin7dBtSYBOofyMcTd9Pwnyj0Fzs3D2DtmwxDLpaMrq6iO1pkitiiJx093lbct1VrWRpzr28uBoiglvnzRmeUTLAnWm7MzsoNhp75wg4RLKKYhi0-uGsHUrJThFTgMn2yiaYzuAkYn0jwKfiIj20qdBMiYYftne8OL38gQ0cRNGh9LD0BtlMv0l6JSac6XpjLbFpe0uL1178ivqfxkNDPBOpQdkMQ-XRabLB-t-xVt1E_K15u8HGBV0zNtb3Ft3Pc_MrgfGBWeqzj_1OIwRxgP1rw2Mbo4Mzeq8I93ttTFssc7TODpdWQbNFMRmLEEcGq1eNi2ukzLSP4TC3LfN7wpaT2K8QnJwcMq-xrcBRIljpIimR8AdWxuIo81a0B1bDNClpYr_-XpF_74gcugkMU2zZeyWUe2X6etdMVD0CeqgKX24E3axGTHsKFmDoGuf1nshZihoW3YoQulwhurQ0cywsVwzBGPM2GS4s9Dwx-u7qqUOUuxVCnHvIGt0h55iET8vvO8-y4gHc-M5pgsgb34BCv3WFzHvwJxKnTYB8fDkzgdCqTwvY8ZNgMppDfSwTKPm5QTyxbb51QucLi8xBsgK4oZNO4WgHYxyDIjyyaFRGJ2iGr44unYkNfU7GRonKtfQhxhy9wVUbis4F3I_sHkNAD0TbHwJKkrEQyIm3bLtZEY1TE9XIeyufeopYpny0t6cdm5_Zi_nsDTBBeeH43sw==",
  "id": "rs_09620f9db701d8c9016ab4370d155087d098e58af5bce2d2ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.307,\"right_y\":0.278,\"right_z\":0.008,\"right_gripper\":1},\"note\":\"The gripper closed almost completely, so it missed the brown toy despite its fur filling the camera foreground. I’ll reopen, advance about 2 cm, and lower close to the table for one corrected grasp.\"}",
  "call_id": "call_DXJ339caCcHa1umhJylHNARX",
  "id": "fc_09620f9db701d8c9016ab4370eefe887d0b502b83b4785bb56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DXJ339caCcHa1umhJylHNARX",
  "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, 0.849, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.0645, 1.9511, 0.7906, 0.363, 0.8852, 0.0776, 0.9943]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0026 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.3094 right_y=0.2834 right_z=0.0264 right_yaw=0.3241 right_pitch=0.0305 right_roll=-0.522 right_gripper=0.9943\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.4383, -0.0806, -0.022, -0.0122, -0.6359, -5.4222, 3.7402, 1.0818, 0.0366, -0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2a73c7165629be42f71913409958820b7601fa5b061165d57a112d5787590c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3861abe3da24a012722da1d4b3a51b4fd9d299cc038e7bce256c939143c595d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e0da07b4c80c90ec1f0392276180e5ba66468232f31fa3bdd92dc5599d96fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8452, 0.6064, -0.638, -0.0189, -0.0383, 0.9992, 1.2118, 1.6859, 0.9436, -0.2173, 0.9813, 0.2626, 0.9954]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1203 left_yaw=0.0026 left_pitch=-0.2967 left_roll=0.0024 left_gripper=0.9992 right_x=0.2634 right_y=0.2942 right_z=0.1152 right_yaw=0.3259 right_pitch=0.024 right_roll=-0.5339 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.3944, -0.0513, -0.0464, -0.0171, -1.306, -8.841, 8.0342, 1.8681, 0.2662, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.1095, 1.8385, 0.7952, 0.152, 0.8989, 0.1345, 0.0088]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3005 left_roll=0.0022 left_gripper=0.9992 right_x=0.2889 right_y=0.2787 right_z=0.0452 right_yaw=0.3336 right_pitch=-0.0148 right_roll=-0.5464 right_gripper=0.0088\nstate[joint_eff]: [-0.0479, -1.4564, 6.7761, 1.3944, -0.0464, -0.0366, -0.0122, -0.1162, -7.4872, 4.9162, 1.5018, 0.3834, 0.0611, 0.7497]",
      "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, 0.849, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.0645, 1.9511, 0.7906, 0.363, 0.8852, 0.0776, 0.9943]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0026 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.3094 right_y=0.2834 right_z=0.0264 right_yaw=0.3241 right_pitch=0.0305 right_roll=-0.522 right_gripper=0.9943\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.4383, -0.0806, -0.022, -0.0122, -0.6359, -5.4222, 3.7402, 1.0818, 0.0366, -0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2a73c7165629be42f71913409958820b7601fa5b061165d57a112d5787590c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3861abe3da24a012722da1d4b3a51b4fd9d299cc038e7bce256c939143c595d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e0da07b4c80c90ec1f0392276180e5ba66468232f31fa3bdd92dc5599d96fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcS-cOoCpalSH8rBuMTYcADJdD7IPo_uaDLNzoL9iGWnuWRYITRT-ft9_IRXlX5Mw7-ZdCr0lXfflZdxbdWVAInKQhCq8E7SFq5990Qs1uKpYzl8MrN76IE-HHZMu9N94Ix5gyS0GxwTihWJ96izS4X4761pgK_owalqTIs13kR_1ID_QJx9PhTErw5OmTGYyl7LPLOjRJvJhkXMSZjSlgz9KJk-5teKzmRGRXtiqPjj0kV1cV44237G9DHb8uC-K5FjAzDzdEpwg_zG3vIlken7nGZKGD629VCMZCh-TzlAgR-xUwLaNuvDeEkhaLX2VdxbQONhZ9aY0vPxu2gwWx5KQ68nUVTQ_CUJz6g5xXzNnkntenNYGQRqXZngIVgg2-qsxGX-QELhBj43T2OYQtpblUjwm7P9Smo70wIwiijl6StXwVCwhTNPUtXJ56s5l1fRLPHntFBhjJXwH7-4Kt74jhNamBzBBrx8NpdH1GrY0rZxIf_AaklPqcL63q4F3G_enMs5wpx_tMbXli0Kby1rTazU7RMraaB4P6dsqAIH-QVsUxHrkb7yQVaqA2XhuLe1s45o70IRcZNfpeoGHD9RgbeRf9E7ENo_U2r78QnOHdwoNp02LJAWpynTqjmThmhlI6UAYl896jtwue0HFY94L7SS3I-79fRwvO6MeUuIIKZRBv1YX7yYfVtLPcQ7-eTtiOAIO6NvdvxEtr-Xdn45VQFkrCkHeFA4ZRYOG9ZEHfde6mkLX_I_F3dfcJRoeUX0kspYAptFY5iB8i5yxHqGOQfhFyq-ZbFwvAFbv8ucNDRcsM9rx_I38DTE8dfOE5KsP5_djk4nao-ewOfgmVHVr3eFWEm20Hc2AjN8ZYjcLeL5rZZRCuw-It4fQ3h9pD4U6uztXoeDKH28IuhaHeZBia8wUe6ZzmEswIt19h44k8pSwtpI7sfves2DSkL1FVXz-QgFNnA08TByeA9UE1EBtGqV3Iq1Ma11nuNdKYuatnufeSy340V2qfAZSVOa_wI50kGx8kTu4TY-JVD4hqn8IjYCxpx-3GMTCanChOUvQja57ydZOsamqMPQNRc9Tt6PlV1mSwAsObeiKsKtfp0R_Q_yx0s2DDsG1PsGe1jM7Ni5s3gw1N04LR7yZdguANzCaSmFIcFupfYr7jHe19zibkNkpeaKUgdVKX6BFg-wbbUqY65L1naoYxfjtnE13b3t45F7d5vFgsKX-oxM2nS-2g8Jv7dxHD_Jo7R3Msys_ojlrhkDIXLdStLNVWu1rtDpyTo8MbgEJTlJgO_rL19e6Bp-zViFQclYZL7J9VwDPOk12zjF5LKhp-xUMztRprz",
  "id": "rs_09620f9db701d8c9016ab43711dc8887d087ac1e929268f574",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the low forward correction, the brown fur lies between the visible jaw wedges. I’ll close once more at this pose and judge the grip by the remaining jaw opening.\"}",
  "call_id": "call_Gm8NuCOAxYfvWn3L7HXuTLHk",
  "id": "fc_09620f9db701d8c9016ab437121fa487d0af46c1eccd9cb5b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gm8NuCOAxYfvWn3L7HXuTLHk",
  "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, 0.849, 0.6064, -0.6384, -0.0189, -0.0387, 0.9992, 1.0615, 1.956, 0.7906, 0.3573, 0.8776, 0.0708, 0.0087]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3009 left_roll=0.0022 left_gripper=0.9992 right_x=0.3093 right_y=0.2825 right_z=0.023 right_yaw=0.3298 right_pitch=0.017 right_roll=-0.531 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.0872, 6.8581, 1.3797, -0.0269, -0.0659, -0.0122, 0.1299, -9.1692, 4.6427, 1.3797, 0.359, 0.0366, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c4dc7ee0e64ae8e5c311358c992cca5925780c8f78a8907c7b8d79b4ebc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912bc36c0c95f5dd438f8ae49e99ac182efd02ddf534b63beaef490d471ac843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2591b092ad8582893853316da3083ca911577dd183e32626255f159a4855e492",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8478, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.1187, 1.8275, 0.8009, 0.0681, 0.9127, 0.16, 0.9954]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1196 left_yaw=0.0026 left_pitch=-0.2998 left_roll=0.0024 left_gripper=0.9992 right_x=0.2831 right_y=0.2712 right_z=0.0432 right_yaw=0.3208 right_pitch=-0.0469 right_roll=-0.5807 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.5658, 6.8991, 1.4579, -0.0611, -0.0611, -0.0122, -0.1709, -6.9949, 5.053, 1.4383, 0.3443, -0.0269, -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, 0.849, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.0645, 1.9511, 0.7906, 0.363, 0.8852, 0.0776, 0.9943]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0026 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.3094 right_y=0.2834 right_z=0.0264 right_yaw=0.3241 right_pitch=0.0305 right_roll=-0.522 right_gripper=0.9943\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.4383, -0.0806, -0.022, -0.0122, -0.6359, -5.4222, 3.7402, 1.0818, 0.0366, -0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.6384, -0.0189, -0.0387, 0.9992, 1.0615, 1.956, 0.7906, 0.3573, 0.8776, 0.0708, 0.0087]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3009 left_roll=0.0022 left_gripper=0.9992 right_x=0.3093 right_y=0.2825 right_z=0.023 right_yaw=0.3298 right_pitch=0.017 right_roll=-0.531 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.0872, 6.8581, 1.3797, -0.0269, -0.0659, -0.0122, 0.1299, -9.1692, 4.6427, 1.3797, 0.359, 0.0366, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c4dc7ee0e64ae8e5c311358c992cca5925780c8f78a8907c7b8d79b4ebc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912bc36c0c95f5dd438f8ae49e99ac182efd02ddf534b63beaef490d471ac843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2591b092ad8582893853316da3083ca911577dd183e32626255f159a4855e492",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "encrypted_content": "gAAAAABqtDcakmiJXfofHOotycanuv0wKDvxWAagsXlXKTWz0aC4XaCKBu5YJqjPdlk4_IZl_18-LfxN6MlkzSBX742rmA9pJz1JspctYvtrSPgkiwjKZoUIrtAVdXZxI5Ke91Ax2OmsrVhpqOCWHPZlzsFr3BVI5NtowPiJXgVqX43kZ7_OCfOJmwdrldhFWynmpwoR6m2uWHRKzx6iIqXlfy727X3YFmlQFudFR2BUurnV9eoJO2eOjUVgFwjOyeOHRRcaAOYcJcLoTRyVMMQ16tqFt3N8BXgnKIE2O59SMps4vPWz1Y-zB3nXg5zuRBxsGaz-MmrNW1A5aFAJiPPKS1oQ_r40KqNsykQ-EdDMoxUVfh-mHmUQpe-vIhbWkdRFayG3kthQ-EnV82BRUuSfeyBDinjjBpOeyl661Je7u9v8WXuF0frtWDodN2ao4L-m4d3QDStbmx470q9RvK05HckPattQGpn_eQorwVoSFPCXf1g8R8veSp0OqQBA7zq4qrPMBMAv2UhnKoJBitpgaSB5V-4AzLYh6OEkk7TU-kb8Bpjbz_xo1PDY1HFi5AjA7YNx39Vqb9gT9nUizLJG4Bo2GirU8LARDCYVNHzc6rCgAXuMrzXnC_dSuJbtdLklTTYyOQjuBOgP3IFpoeanwQv-IgVTQfq1lZFKJLZZrXPlK158JhS5YvkqlxP9aWPfufz4yu4ZQfFpbsdEAUD5QyUEWXi4h29SvNXxsI2sXKEUuy310T9Y5KufePKJhp5vsmZlZfgkCD3utRVWCbxwsLPeukPj3dY_0Fd0Ftmw802X8AwybC9T3krwkWwvLpLPq7xigPvpQLnkTfgK2vwlnI-aVK-UtTzUzd5ABin4lhlEms1b--Di8FPjkbrfoIH6Eh9oLHhZKiINTZk7M5W2b-dSUMIA5f5lbIbaXYd5nnEOqog6FwqXfDYrVXWffeDCIVKnzhVJKndCMcT0l8_fowMe3TPJuQ6ps98XgbejVvCb8H9D9KNRKc7Fe8ahrtGICndFA1QEaYlH2TBR59L6iKmGBx2SpptPQZavhFGPRQCEzpterY6zh0K4EkFfy1mT0DrzhasZqLhGDebXhJRxC5wVDYnsiiIrHhF78pnTiLxsATJsNCmqspF2eXAT6vDnjo76ubYRO-DmSSuCLj-BwA-V7AoB3uyOP56WuAZrEzWkycm84eM-1sMbAxQJFGr9ME78FkiIYvmxIzpfdcRLCHSyfQa6CnBvVp9KQDm5qqSoPz7SRTzb7u9PwJtS9LNN0SoONtn1kL_56Wgai-rpYxvx6fehVkFPmP7_dEdWhbE-IsUBpX07FuFEQP3zRsrCcgZhF1BiXdYjy8MIw67xtgtD2u6ETgaTDzHnLb8J5ohMseV1dGuddOBF8tsSozzO2xgsshkm3a-p2ZoqZmiHtJTL67Z-QeciGY7HXXb_Rfrk4Qpd8GAGN4BDdWmYCIIXJxAzz458QgGfh8TyI_K9TPxARqbxo2PsyzKqyv1sVhzRh_whv7cfdRzrapP5Uqxch1pf6VPQdNYyg2r04DbAkyjEQsK-buSXUfw3V_LG6GjOFjkcfdXWvQue3cBWTd65MHWYuQLpT-y-rUeyLAZINR4AXR7f_DSCP6t1QfCDhiavZf8DXOix6eJNOwZySsPvnUV9bumOZcxG_gV7pnll4vvlN8-XfUFGCcfP4fNyMxv42z05AWicFyz42CsvnNqxE7t81ecWaTlVkkgTm7Ge_AF_mKOJ2hVxaa3i1Rvd-_BQUnUrReLu8dokHEJQWIAi1oSRSXOtn16rvEq3QNZNoel0JmvmRD7dFq3Lp63zqPQiCyHPU2XkwQSsq9KSI1JnM_6Dfs8s44-dGIdR5dTndHJ3rAa8s3QQY0e2PthYtmvlY9OosyfDCCwx7D7FCqldFEyZYxW9MDsiQcqYhNUuqO24Gt06CfEmKv5FHJ_ejgArsmpwZyjpKdQ623H9Sh7EAwglNB3S1vQXidqOVUeq1XioVYmzo0KcLhsmYNUQ1PaZvCPY3eqDqeXSzbvOAiSk8yQvttFL4NYXhy4XiZ5Wc5k_RaTxSEbvdNAZuCB6_oFBEZemf_TOEKbcMxrqaN8wCyejjdc6v2wVrtCchYJKIYmHGRUaGl4FvJWr5-VkJZPgWQeLug2OxbcVDTaSRLxLDkBkS6KigYpc7roTziUAu0CvfWpT82wuHu6CbNbK9AAdgacpuP4UwtF0-MwNhtoRXGaVj8_KUAD0CbhhzMtij86YDdCHzt-dxJd1kFfN4GJYdgVSwrA6x1X28DTQEz6tSGKsmznWDkU1KoyHBhB6QbsTFPqU4iQCCvKxDvAewRqKf97pe5Nc7mrMXl1BANVlYR7lai2mmXLLYQlF2_OFKvL5eq6D54oiFH8TZHgviBntEwCuezd-lqUn9hy9t-FBltNqUmrD0Uf5ZfZxPpYl1trhsg946S6Bt_BNHoeAJBpHIKEpI409ov3MKMsfnIXcEVQ9A3lEtuYYL3FP-S3XMawpe1AwHKx9cVO9JXJEhPpvQnH-EXH3VAEE5t4p7H9MDEeA7_LbHEbS9mK_cIiBaANRA5gBQ1dL2Ov0JvLcDCOPWvPITqk4mQ9CfTqFq96cJSklt5ndEheKfZkhzpFhnUR--2blwXXRKrn0h1mbBIzkKNZhKxSevHsrBtj7w3pneUZ0nFtoDr2lxN10YVqGoOxoxNjVq5R4M7r4rgfdLl1uAkc1KkkQ8eJOHETOIa1RcT5we0xYaH4pXzpDuXVdhR4b4wHdmPdyhafBDMyhUI1_TvEs3L6erogcxz_Dhv2WKL6Zv1CGW0NKXEpStk6q4BQMV32Y6A-rMg61-u13PX3euTluefZh2X1jdyaQfPxB0dQGtK2tE4MZuLDzcqFRGU3TMiBTr4MWJiS8k1h5TSlUVWjOpCCiVUaIa-PvDw9RzTgUHEN0LxiKbldx9J3xn51omNpzLBmxnibtNEzRiBRPSW8Vub98bmmf33wphbkoozlLFQ3eP6Nki4_5cEw2OKzOUY3KewTYlkdZbtDoQL5ZOvrgVGpmtIltirofz1To6nZzFg_8yxq9KLJYhTDhIkmuBDZ-ut0EJxEucBFaqDWFTFTPE3sjD0T788gU2J-dZ_25XNjJkmbQb7xjqW-jAZNcDuomfggJk-GVLLgv1hFKi8dqdq7Ir6CvxFprBYMLvqBFmYI_yvv__RPPfv8kclsjgMMyIzcGoqOi1eX92hUcruwZPjZxutvcPRzePyAPblkfFI4w2VfN5EeKu4bEzPSxeIF6TPWylphdrjnHhd_sV3yH69Y8E4bLqkb0KVg8edRxExrIiOTpWLCRQ7JwnisAuwGLiMlcMH3iVvv84SS12KTTOrDwhGm3jl-Vz_PsZo0X5k5xaYp-m673TYZpYeVb9yhIrAXDIVGkdXc4b9UARGx9bkfQQPWbAZQ4NC06tIpK2jQBlgiG7L2oAZyYJYG7hKKG6T2_e5xDWzGzf223Ld1dF7zzIW_QIG9r8tmTkJw4tKCOsvpoyqTLbO3ZOoiy3t4Ik-zjIa0rLBegOJWqMZc-d-ROUP7aTtbUcFfLqEik0MO47ctsV3nVHjHQu-MiSGTiV5LPn4JFLlldS-9jfoeF-0yzmrtDg8CjjXMl-RuKlkLQm3zLPZikogzhAA7VOkNfMYtqEJDVqa5kZATCNVI8QRmkCytQ21PExGWaY50iGxrmFRsFPqoNZdZ3y9rhtpHwng==",
  "id": "rs_09620f9db701d8c9016ab437153a4887d0a2b9b66ff45e4108",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcao-Qf1zk8Rj-avYd7WFC_A7LbFYutF7ggGYYOPryeF3cJIkNRFgWAgKafNzLs6sA9K6sEur_nM-nFcQ3_2YxNPYcX6hQ5m3MmiHX_dJapcKCLqCtBFRzMJsxswVkpqjFrs82QofQ6g0jVY8evPUCR8taAA037jOJoMjrzRBn70jrwt0-VWtJciIR-jICkCfVZAPLqKaQk1t_5827H8v39uG9loDkQ9yrWyqro5aWwWgh05rit4HuzGtAMi9WnStCdVhFsoc0E2j_0Otlh_YFMDJi9y_jbEomThglA-qBmazSoJMC22Hp7OpsDMtfeGqZR5U901Wm1imtJaOvt-j-SBt4C6iK0Wdi6VU5G0p2ENcAHT_6G8nrO3N_VKB1AgivItfirtR5fuTo6YYz_jF6Fx8su6VqBI5z2uw3l83K8dt5occO66HWkoDRgUeOZ7hzZf_jtNBoORzH2hfYrouGkte4mn7rnKZ7H_gpNmSNgcMYr8aCJGg5ItHDmnH6p59b21HmKjsn2jRtJHmte2A-klHHRT0BeoGdBapi8-HYgP0owlUoRlyNRZFVFi5QMpupxpFHJ5T0ZDE7cnEXCH2s4Of_MP7Pt4gfB92VPEFKtpb6Js7dwdW9jder_djsKs70wLx5Ift6zOsCFLZRA-weGAiGBPKf5dqm-IkzpNOFkThFUaxIWFrNln3np8yRSdO7FaDh4xYy-oXXWqSn2k-eSPMRaFbvf-w81SUeEHya7Iex9chFYp3oZvUfvC9IKU13YJuLiv7YxsQkbJkzbZoq0gaqNQMY7kHyQNxd8p9oWuakYgB-b6vEknxYUev5lFGiwksyBCQh3h-71SbDTKDZYn_P3bpM2qYt2yyps8jBYeAp-4USX_ov0LfqUpJ4o0tZr7X9WxBy9QMtLogYtScKb0lB3cX3R-KeYwlBNYMkWoh1q5CEq7nomoEdfFl18wdsLsXwVCfOpi41BaKSuriKhKwVDzM_qbmEuiMJCD9LSmzU9YVGYcRX3KwTYtan87ftF3dTzy9Vznfo3LH_HHWIsTuy1bk5YwUIVJS_1WPvt_txWGYEd4AIriLdiKZIzIS5zOLEBi13FS2fPzTmWg2z_KFb9e4gxlFEX7nmHkr_7DXwQZZAA44VvEcs4FQR6aR2lFRNh6ElWYRpZBdCNv-CbIvAqNgocgY8h4jPYOjC4EWJU9BfrSKXcipxNhoeqC9df25mTWofUq-_j5JsSekNlTZNKY3PkRG425aAtcf3ScKDhS8fvY1WFSQNmRFn6o8yOPlXYvH4knxd7DQU6rovHp9mjKD1SyipGIEaNtYMBm4r-uHvzjKi_be-h9j6-hjKavBRapRBqUBcb1ByF647IodrzBZcQXekFPw1HJDTl7W-vp2ZfNIXvP7Im4EF7MLcWC-6U1kXCWtB5L4BDh4m4C3gOXkKaPPM42Ckxvj4Hp55UO4NU4LYMmOTRIoEnlYGPyGs95a3E_lpU5v3eokPBHcwKfbxMsT70T8yw86v-RCr4S7d7F2w29n0psZPrKk6ooc7cguWC98zDq-ymdygeFO1gb1toTTp92_dP0ypyHqw0T4_CRIu4rrfuiXN2wto3GNOlBSz_ldM63jZ5hh_oBH8OD8ofMd5bZiIL7FND9uymICKH5jQ7doPSH0ABY9I28vf8zewE2yLxJ3H2Icm-MXvx7Z2f0n6G_VomXNv08BYw0aVFJP2L58FTZMU2Ngtr",
  "id": "rs_09620f9db701d8c9016ab43718ba8087d0b2a29c13ff6ad1fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.215,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The second close was empty too. In the overhead view, the brown toy’s torso lies to the right and slightly ahead of the grasp point, so I’ll reopen and shift toward its visible body rather than repeat the same camera-based alignment.\"}",
  "call_id": "call_PV9Z8ER05b4kp3kCV3BNJGZP",
  "id": "fc_09620f9db701d8c9016ab43719b6ac87d0be1f6e49e33f67cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PV9Z8ER05b4kp3kCV3BNJGZP",
  "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, 0.849, 0.6064, -0.6388, -0.0189, -0.0383, 0.9992, 0.86, 1.8317, 0.6117, 0.5297, 0.7387, -0.1101, 0.9943]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1193 left_yaw=0.0026 left_pitch=-0.3013 left_roll=0.0025 left_gripper=0.9992 right_x=0.3376 right_y=0.2154 right_z=0.03 right_yaw=0.3148 right_pitch=0.0047 right_roll=-0.5367 right_gripper=0.9943\nstate[joint_eff]: [-0.0752, -1.306, 6.7761, 1.3944, -0.0659, -0.0269, -0.0122, -0.4718, -8.335, 4.0547, 1.6142, 0.188, -0.0757, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb72d035d922b3f47a32f3c2336b976cc440188410401dea98df04ed8ee5ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b593a6edd7719e8ce3c334a39c69d1da164b2c7f2c8e26de542201f0f6f324b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262edd9546bbc761a6a56576ee710464bd433acebdf608510a0d2c3e1ebfa2cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.638, -0.0189, -0.0387, 0.9992, 1.1095, 1.8385, 0.7952, 0.152, 0.8989, 0.1345, 0.0088]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3005 left_roll=0.0022 left_gripper=0.9992 right_x=0.2889 right_y=0.2787 right_z=0.0452 right_yaw=0.3336 right_pitch=-0.0148 right_roll=-0.5464 right_gripper=0.0088\nstate[joint_eff]: [-0.0479, -1.4564, 6.7761, 1.3944, -0.0464, -0.0366, -0.0122, -0.1162, -7.4872, 4.9162, 1.5018, 0.3834, 0.0611, 0.7497]",
      "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, 0.849, 0.6064, -0.6384, -0.0189, -0.0387, 0.9992, 1.0615, 1.956, 0.7906, 0.3573, 0.8776, 0.0708, 0.0087]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0028 left_pitch=-0.3009 left_roll=0.0022 left_gripper=0.9992 right_x=0.3093 right_y=0.2825 right_z=0.023 right_yaw=0.3298 right_pitch=0.017 right_roll=-0.531 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.0872, 6.8581, 1.3797, -0.0269, -0.0659, -0.0122, 0.1299, -9.1692, 4.6427, 1.3797, 0.359, 0.0366, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.6388, -0.0189, -0.0383, 0.9992, 0.86, 1.8317, 0.6117, 0.5297, 0.7387, -0.1101, 0.9943]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1193 left_yaw=0.0026 left_pitch=-0.3013 left_roll=0.0025 left_gripper=0.9992 right_x=0.3376 right_y=0.2154 right_z=0.03 right_yaw=0.3148 right_pitch=0.0047 right_roll=-0.5367 right_gripper=0.9943\nstate[joint_eff]: [-0.0752, -1.306, 6.7761, 1.3944, -0.0659, -0.0269, -0.0122, -0.4718, -8.335, 4.0547, 1.6142, 0.188, -0.0757, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb72d035d922b3f47a32f3c2336b976cc440188410401dea98df04ed8ee5ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b593a6edd7719e8ce3c334a39c69d1da164b2c7f2c8e26de542201f0f6f324b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:262edd9546bbc761a6a56576ee710464bd433acebdf608510a0d2c3e1ebfa2cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDce9lSZ64tuXvVty-nvDboKm9lOr7GrLAAk5kjUJV-9vQPKTjBCmUX7_SdGoejn0zJD85aQkDvesdgSBcgJ6hZhrQJG5qXiTx2gp4ttCFckAqciCgu_-f4WvIGl2X3l3yC0XLNroblDV1exAI-jegHqQdiHgNPkMOW9ZvaSickHONlZuPmboiJAYRJ5_wKfRp-NX2ehzq6_nL5aPiX-DkVprZcDNuhbxH7THIGcmMZN0Dn-v8N6ufjM6VhRq7VXLudZR7gVGUtuMRo3JYF95rHlqd7hYjIvEo-G96EwKAUymHletIlnglp63noPLKI1-J61_2CK6UbxQxsWuLHLIpp6FJCPcQvl5KuE9ONBCHtXjMVXUeOW9xbHQrLLaQCQNURfSwzHfPCYdISUHPkKr2WViz9cnSQV6bMeqY1Nll_kPif34rk8PXTpO7Z4RMAD96RCE4mMh2Gj80G2qh_Axt91YSpOgSHyS574mgzOpH-Yu3-Kxf9FRuTyapeuKIPFcNNoHb-ATXjeB3M96z9p60CoE89EXX6ngclwpJisdyMy8yxTp6nWXHig-pr_aZQ_FcqyAwPNQgRY7nEHG6vv6OaxhLZGfKXG5URhKiwmGFL0TnDZgso2ZVDbxPZlelCIn6F7R7P0BP7DPrcxR9Nkw-HT13ichEPKJ5xj9lxbMK2whCStIwmRaQqbn1Ztjl1nNPTWApXEm2bGJF5PXG-zNgbc_2enB65tb2bMMM2PaIu2tcdgE5tbCr9giLMbTnLuAknJQLrol4to3txzvHpmV_NPJRSdLlwrG1aY9XYR7Vrhz09nQgK0Bzid71CaHpQOsfM1pQOQBdF9RTqpvz1dsBUO2x1r8p9IXFv05xYH3QgC-VYKd5UE2jGZFv5O83wh_4WyVuWeTw08BcSoYZoeh4i_jVolNVThIglO02AwHvfuSmwcbexbI1O8ZBJrUn9aG9iBQGlV90jHKnyhBCfEjroSVt01zFgkuePTz_2qTqUe6x_SUSZe_13qsa41enAl3L0LdVEI6ncAS815wUwZVkxiNd05mD8V3khgx-petJyDoKeW0DTvMJ9JDixDFWeGzQi0UITkpoWBuTYu-6d0HD7zHRryzt4NGVUkaF9wbjl2JY_ArH8IRhmEdIFLhbnJuu8CGmKs2dIKAAZEOa2FgER9HXcThb3L3a-BDn69TT3Li2tyQ54KCr1RK8oIZGrb-grZrIjjdBWZHBZmE2Zh-ofA7nV11r0cM2uHS1OJ5GYwPJXu61HrSYU05PFDdZ0k0PqByBHA7ha_o_MEEVF0pqYtfNOyUWU8VVmi3iB-_hsWlErjnl5kqVaFJuDh-7DjF4qyxi57cWIKfsSh42iIvBf7oRZyjqZxjYYINBq8K6IiIQV_4QTCW6cB_LMtRoRdRnSPJoGW7T7j-QXs8smVJc31khtZW9nyJoLvmcue0OZnVqYwwjbDmu-VTV6cVZ71-jqu5br9UcU9c2-g6DPSDV3TAD_fURIRCtr_d03gzOmp_E1LHTLar4u6bHN5ZJkVJkKz8Gb8kfPegfusj_X8MgynIrp4hQjWW982hI0F1GY5OCguhBm6-npicXnjB4sgBnacwbyNafxV_KBFYeb0YlBUTe9r2iZRnx7UFdptMbuykD4E90XcPvhWxQO1WdNehTl1gChVE3NbdevFl0sRwG3hJm2Rf0cjnsUIT5SfBLhnOhEJx_klMYWvs4inll3Z1b97k9-XQH4saf3RJVKZ7fjvIETVtOn4_vFRQ3yZrHZ8KPDVAlxRgoal46cqU6xhXbp_-D8KsOqCb40HAiZYDIW6spfCS9MqLy9z_Ka3Q7AIE3PJHnX-O-QmvK0HPU0PWaEv97I_NOx_ZZNJduEKjAj_zVk9BwuJdiNlHnYZ1o0vIhwfJJg65amfpGFVlijpZ90uF3_VHcTN73LRT-U8D_YJIoIBV94ndzk_7ME7MC9NB0eumdYvKXXDxWJIM55zrgzGlmZ9GJlgqCA8WqfaJSdYvtFPp5YpVqrYzF3d1fllZY5Vr3m3jhNdqOSwW_rGy9dSCaRd1wYgNmxyAKQVOHV7s6V7ug7xq8JAKLAu8GOnnL-j8rMgv4C_5B5vowm93t3A",
  "id": "rs_09620f9db701d8c9016ab4371c9fa887d08941dc31b457be57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.19,\"right_z\":0.025},\"note\":\"The gripper is now over the brown toy’s exposed side, with its head near the fingertips. I’ll make a small forward-and-right correction to center the head before closing.\"}",
  "call_id": "call_G7CEP6OkgydNWtFDMCCjTNgT",
  "id": "fc_09620f9db701d8c9016ab4371e3d0887d0969a3cbdf8c3d08f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G7CEP6OkgydNWtFDMCCjTNgT",
  "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, 0.849, 0.6064, -0.6456, -0.0189, -0.0387, 0.9992, 0.7605, 1.8324, 0.5922, 0.6006, 0.6689, -0.1776, 0.9953]\nstate[eef_state]: left_x=0.2535 left_y=0.0021 left_z=0.1182 left_yaw=0.0029 left_pitch=-0.3082 left_roll=0.0024 left_gripper=0.9992 right_x=0.3571 right_y=0.1935 right_z=0.0304 right_yaw=0.3019 right_pitch=0.0096 right_roll=-0.5311 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.2923, 6.735, 1.4432, -0.0806, -0.0659, -0.0122, -0.1436, -5.5453, 3.8632, 1.6728, 0.1734, 0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1034c92ab80c9b83f4f337d5267cf0eea5a11270a71da2e193781f0935ef8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2a14958416d6f544feaf3e53ce294561038aab33c717efdafe0dfc399f368c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bb72f2a406287ea986ec3e8b848e9534c92ca094ce70b217122a3ece46a359",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.6384, -0.0189, -0.0383, 0.9992, 1.0645, 1.9511, 0.7906, 0.363, 0.8852, 0.0776, 0.9943]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1194 left_yaw=0.0026 left_pitch=-0.3009 left_roll=0.0025 left_gripper=0.9992 right_x=0.3094 right_y=0.2834 right_z=0.0264 right_yaw=0.3241 right_pitch=0.0305 right_roll=-0.522 right_gripper=0.9943\nstate[joint_eff]: [0.0068, -1.265, 6.9402, 1.4383, -0.0806, -0.022, -0.0122, -0.6359, -5.4222, 3.7402, 1.0818, 0.0366, -0.1148, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.6388, -0.0189, -0.0383, 0.9992, 0.86, 1.8317, 0.6117, 0.5297, 0.7387, -0.1101, 0.9943]\nstate[eef_state]: left_x=0.2548 left_y=0.0021 left_z=0.1193 left_yaw=0.0026 left_pitch=-0.3013 left_roll=0.0025 left_gripper=0.9992 right_x=0.3376 right_y=0.2154 right_z=0.03 right_yaw=0.3148 right_pitch=0.0047 right_roll=-0.5367 right_gripper=0.9943\nstate[joint_eff]: [-0.0752, -1.306, 6.7761, 1.3944, -0.0659, -0.0269, -0.0122, -0.4718, -8.335, 4.0547, 1.6142, 0.188, -0.0757, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.849, 0.6064, -0.6456, -0.0189, -0.0387, 0.9992, 0.7605, 1.8324, 0.5922, 0.6006, 0.6689, -0.1776, 0.9953]\nstate[eef_state]: left_x=0.2535 left_y=0.0021 left_z=0.1182 left_yaw=0.0029 left_pitch=-0.3082 left_roll=0.0024 left_gripper=0.9992 right_x=0.3571 right_y=0.1935 right_z=0.0304 right_yaw=0.3019 right_pitch=0.0096 right_roll=-0.5311 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.2923, 6.735, 1.4432, -0.0806, -0.0659, -0.0122, -0.1436, -5.5453, 3.8632, 1.6728, 0.1734, 0.0073, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1034c92ab80c9b83f4f337d5267cf0eea5a11270a71da2e193781f0935ef8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2a14958416d6f544feaf3e53ce294561038aab33c717efdafe0dfc399f368c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bb72f2a406287ea986ec3e8b848e9534c92ca094ce70b217122a3ece46a359",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDcitlKB2-3cqbqrm5g3qyiiw8LjkxRVko2DoXMWU3CcRGfu766bRl6Yth-UVoloigADLkmx3ZyV1QDacQjM88sYkMm5lDnatxDtG3QVyDFUC7Kyy4mjJxT5y6b1PfuptFlPBQanAzqAHnWtYCPY96DOBkYZw6yjCXsjhK7Av8RoKQHPiYDo5jYD7KEAiiuyYYTpX-BSQefx60ELnlp-MuF_Q0HcmGnQKGQK96qVI-eNe8tnrJ93Zwh9kntokFxo7l1zupFOsFRiU0woFePXxHQlbQflWSNoXPAX1ktPCFM02JXPPs-2EHq8Khz0MIk3Eqw0QCU6HHD34dO-7smEn_EBixzvmlTHTZE77PduDawtJdpeZ6XC6UqkLyYw81PPF0b0vaxycCe8Axmjdvmoqc7Utfk8eAbq2m0-gjuGxRm9smS2n9HD2iYleq_BQnAdHBZkhywLDIznObCUKo8OcfpifdiV5UxZR-aiiXrzfIZYfiN-VPSB0-AismAiprvxVAIGWbYH5jQnTj1fZGeLeIZVschMtOKOZASBJoynnPhCK1WxYRj5boocxkuSV4B2dys5A1wiB1ft2vrFZAqE1sN1ag82AEpRvV8szTxWaGIIvaBfsWbNekvlC9u71dYmdqFwJ1pTUTkJxgW0pz0k37V5crN73c_pb1buKNM7lmyzOS7ynyVat0HvEbI-YHzW7t4tAxm7BtdJU8H5Z5tdgEbDlKM1PZsgszByo_v-9N9zR4Wy8Z-qthOymnM0vVhTqKeaqj_m5VvU0lvF1lRPHP9Fr6OtZ3H6h9ZpVgz0wEXmQeBgPhbM8fs1-g7y4Uczmu4fuRwizaPh_G1X3jLy0Q8pNMvnLpBE8JJ1_KAkgjvEdFg4CRccajEcYH6I8bQQgk3xeshOBZZtr4ElBtGf_awQBD6tCik8Yaf9tJ9RRDa268AHzy22p68V6NGc360HaDNPzfOGAExI3jjc9nC5cHJ_T7txkp65pivioSd3wJvBZ5I4-wkdjf0bqoUY7pjL48_K85G5DipQulz9hnqk6_BNv2Hl8iIGmkZ43VQV64Yinuzt54JPfU6hJMzRoZQdBIlbfvNRootlawXoMx6QaIxVyTfs346Okk7GPR350K2inPs7pSYBmTg1wkf9uzPwRHd3JMuyiW6CI13wBnzvCRC1IgIdpNrEMATRvokjs5Ko6pilS08_j6RYq6Pvty0exQK_z8PO_0mjIIdJmCi1hrhSOLDhO4KXSNjQPTFUDojCtZOrg4s_RERhc8v43pZYRitt",
  "id": "rs_09620f9db701d8c9016ab43721034487d08ccf662a6e2d645a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown head and upper body now fill the space between the low right-hand jaws. I’ll close at this remeasured position and check for a nonzero settled opening.\"}",
  "call_id": "call_iDP75I9i8ZMoCRwzQB1fDBPU",
  "id": "fc_09620f9db701d8c9016ab43721426087d0828c4a61401eb3f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iDP75I9i8ZMoCRwzQB1fDBPU",
  "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, 0.849, 0.6064, -0.6567, -0.0189, -0.0383, 0.9992, 0.7616, 1.8324, 0.5842, 0.5995, 0.6575, -0.1837, 0.0088]\nstate[eef_state]: left_x=0.2514 left_y=0.0022 left_z=0.1165 left_yaw=0.0028 left_pitch=-0.3192 left_roll=0.0029 left_gripper=0.9992 right_x=0.3545 right_y=0.1938 right_z=0.027 right_yaw=0.3151 right_pitch=-0.0034 right_roll=-0.534 right_gripper=0.0088\nstate[joint_eff]: [-0.1573, -1.3333, 6.7214, 1.4774, -0.0611, -0.0611, -0.0122, -0.2256, -7.4735, 5.0256, 1.5653, 0.3297, 0.0366, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213bdbe2d0537c2c0913993814703f5b80f0b8418092315c2b758fc7f3001864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dbde48ff6c92a86e4fbf78d6bafea2e55da075263c1df3f2ab923cf732b16a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfb20a46c4010e934bcaf7517cafd1bc61ce242b82390b8116915d92dafefb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}