adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.3927, -0.0193, -0.0338, 0.9998, -0.0273, 0.7944, 0.6056, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2928 right_y=-0.001 right_z=0.1772 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.2769, 2.0098, -0.0464, 0.1832, -0.0366, 0.1299, -1.5795, 9.7709, 1.917, -0.0122, -0.022, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4344c6edac0cf6483b02cb32a7065a687083bb4255b46228da42457ed13800fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a438c75f2e8764b00b910c47dec9da7e17c7f2eeb0edd0991f34d860325c5870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a43d5e7cb228f6baffc3996ea0d5fb59e6349a12810e7ef43360a29dca0e745",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0e11210e9970fc1b016ab44d3dc16c87d0946e836768c21347",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1HZ7duncyV_4DcujVv6i0FCZGqAFJbNXUmFva9dPvk1QD03oGN1nCTAegoWZbHfsl-4gaKgBTGn7ZZYpiBP1Godg7pW9r0J7FaVfnh5VjvUbgRVMWqQ0s_ulWHx8Pl-ArZd5bQOSFjx0SQV5HoEXgjt2ukFzbSV7mDOKZVerOIyQYGEDB9vL8Kz7p4F_2zbO1sqsPWwfW74JQm0hrmkNZQZ2sB9KB2ckwrzurr4gwbsHx-bCyczhns03aE08cRao1BRivs3yseEqRQHWhQJW5KPlFcRnKxAvHHGyhnIGd5S99s_S5PZd8_u3Wc5JcHE8WWk3Q1udRap7E7wz2OlGDlv2-RV2Cs8aUe8nZIfLkUETciLEEk2Y2VKOIiCClHKm_-TnyaYDBa0HyB_TnqBAQHABEPR_9ovLAIEwXuD7eX5qG26osKhbVzwHAyZMVwGcm1NoKe6--gcuNayw24MJuLzIx2QCkplgdjN9D4xgqJ9spa8cJJ3KPz3Wz-8vrWpcEP08BWzrOoCyqn_s042H41R_xi6eVMD3SVWAmBUAx19-83HZBNJRxo0yAh09G80XTbeyfj8849WwfK-kJAs4ZrAHrT6PqcMDkgsdnZNuC87EGsgA-AVsnPqoWii9P3fOMHTFQXut7cSL5m0p3LyMckeKHvkN2C52S8AZCLxDPZFg_G9OsANNvYV8QmGa4W_qFppSNRvlrVEkoDcZgtG0mtHMLfQ2krmkL4GNDkSIkJIYRBsX_ujYCzHlTEY7UYyNAcQeKI3YmuqLYprDkJ7-x-YmAZWdZMG-rmGZTTDinZlJfLkrC2owDCpI1A9SHDBCRqRjKT4hP3nSYDwcKZ2enCR22zd0LM3MX9DTRAHn3Jbgz6RQiApQtDkGa9MbBRG5X2zQ_0QcflOxcKQFKt7goULVaxiluLEjF6og3dCTevUYBPTbn_Li62ZvK5kDTYI6aU5L1gbW_B0KQCE8UwrvzJ4MPgOWhxLm51kfXinRCAPdsD1o7zsYIU_52RAuh86CXHF8MCxzrTOeK7ZGluYhYBDNn5weYqDTl0NBaiPHaeH_mgKpyt3bNn8Gi_JtNG4PM57gB69Bsm3Svu4wPgeWnNeoUhlejogWGDjBYHOEISFLj4G8hdQ3MXCtoev0nuThaZszCWvyZ-cJLU_D__TnIJ-OdZvv_KlADYzcmQ7hTg-h1HqiNyyG_oO3IvwkbfSEaoVeog8zdsCX2Tm_ATApc-1sC6rgEK1Z4BOb23odO3SYX6iDgB04xb-0JwM5OiTfT1IaYuFmnTxSJHzAfsC4mn1BvidqlWx4AEpVEAPAPzVAZQAX15xL1koYo5o10MseEzM2w_CVHikMM3MpaXACCu8I7_sxZ6lg9bBVCWuI9xBThKIsV4blvE3OdBN_vXF-NKlsDeMMEcx2u7FxuLIHnqoUr3UdybxVZADS87XdOAtI7P-NyvWlpyogJvkjKj0tXLUjQ49P2RT4Aq_KRRGv2hker-qHfh5WMZDFet3dHbduNwLdcWVQuPDx-jbp1W97CSwxr55Vfr10Q9Xf13uEbEZmyLGg8FZNl2WxPLt1EfQO-iP25UHL0bxP4pIqPMZpALBy3SQV2ueWRfNkKK3J8HLrfpdlB7WG1ltw7-02O-XDiKdMlwgt9lwMqW9mOjmHiy1eggaLNvsDUrbpmiGP4rCaS_shbF56oMv0IMT2VsZoR1lEylNkOixf8CcLbx1SZzAjXSF1VXL62BaAyy30mxhZvGVWrITiCn1O6sDkuwyMAd2vNZy6cV7V6Owdfr-xZm6Gx-r2lTqscafxQdy_JAh42R6IMeXVhY33qlt0X0CzRZW7HDHWJKved7WZH2zHDAnZn3MOiYztGSMCHITc8CTHEAicKtsDH7dcVjB-Foim2xPmMPG9daWJvMH-3fk6MLsdKZr5JW8ALFbGZ8plbx8qkGIcvyfJmUft2JC2GxOMvifEyTj5z-QWUVoHyeUVR2F8ojhFOWKl1ZeiNHkvldXkSTYzOP3VHXRf6fhTiL5F_q0Umbvrh3uujLWEqcjD8HNEpClm4SrTgGNWODVWoV63NvMaGHlE5Ws_bKl2Em5xrNykOq1eToY6nBgZZMuGV-gndz8cEqAnojrM4SF-sc-m6vGBlEwibuLUgN0g1OFrzR8EvkZQxRh9O1Jk6wnq1TneyTYtNeRqAfQtGfxUf4P-MA9RgKMUJqedbbHOw_mM3r9Ysg8SCZiDnNgcpX_uVMwasjpdwsnR5nAj5OEh_hyPHsfgij0tXrs9KPjm9xfZ3AhJrZqUmuA5kDFF42EGCC2n_cjPjNvoFVqHJw5z1Du2UPK7NBj4ZpsCRv5qXpKAAPmAhHrZI_gmAKWUT1IAK5CPJhV3_ohbbJ4l_hE4Gt9dUoCUzdAwGS1wJxHkmYCUmbBH15t6y_Lp0kDGjdrrJ_xj_iV_26_iIQLM67OfRYNzW4wfxunZw9I3pQX4dzqA_7TSyu9zMP7Oz-1LWOx0IyisZn7hM2Ag7eXIWNTKFQ1us2LwjmZMtnpHZ02ndByDcOxhXQDfdgzoSyFdHwATHEaFdooM7QNM1bf4JMIRL9oZxWgL98hswFB5YEgiffDaS1FI22q9-F-ric6V-TaAvjlVawhc-NJfq7tQ8tuhBWpXtyrR7MW6OYo_EiOT4jAAoaHQYS1WPQcAaJDFWjW5A371kwkiJ1Z5C8noI3WfbqHpTE9jBZePYlbW_dEZ4W4xb9GnhFbkUpONnJYGFwd-5uc1MExGQetJqJInSUOdT0LzvA2FF3uOmb_K98UYrQzB-WoFV2_hXF7bQyHe7RsiQQOChA9qgmouFxPxI24gy7xtlKBizH7oDVQ_CCv8FQXMKRDIffSfU21jT4jlmnYN5_9cMiJY9OQKx8qda7ac3Hk1-eHASSx9xkDnruQsdiudYv-gbI8q_cD4ZGm4XIj94k47Tx83dOYDXjll0djIsVSvFcpyYGLZS_ubU0bFovhtAMdrNfzuJqGYn6fialvC51cBGDuwJYy_wx2FbGANGDwLncfZtdHUPWLW7DNIhE_vaNy_JVUEhEiI5YIqlSfRFk_c5ZeZHG4eBotIUXxQNDbup2FQXqh6FnEWw7-NMjithKRDm_rZvFgIyWlOAdSoNHc60ijaf_w52eGK1Daegs6BcGRH38NJwtzS-RGPTZaYwa7JeAaaV9pOsiVU4UhRBcbcnZf7BxFuRjTJtk0tKMTX94xUen7_jqG5q0BsxiMfRSGKT8VzXOeN5ID2dt9y5O",
  "id": "rs_0e11210e9970fc1b016ab44d42d81087d08cb1279a9fab655e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.11,\"left_z\":0.14,\"left_gripper\":1.0,\"right_x\":0.293,\"right_y\":-0.001,\"right_z\":0.177,\"right_gripper\":1.0},\"note\":\"I see three loose objects: a small white plush left of the open safe, a yellow object beyond it, and a larger brown plush near the front. I’ll first bring the left gripper above the white plush while keeping the right arm parked.\"}",
  "call_id": "call_VPSk4HTBOd87REgh4OO2BLhf",
  "id": "fc_0e11210e9970fc1b016ab44d46b09487d09cc9a08727652812",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VPSk4HTBOd87REgh4OO2BLhf",
  "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]: [-0.63, 1.0424, 0.5613, -0.2596, -0.4751, -0.3832, 0.9998, -0.0277, 0.7986, 0.6056, -0.4297, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.1083 left_z=0.1267 left_yaw=-0.0439 left_pitch=-0.0632 left_roll=0.0267 left_gripper=0.9998 right_x=0.2884 right_y=-0.0009 right_z=0.1693 right_yaw=-0.0003 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.0564, 7.7333, 1.8486, -0.4078, -0.0269, -0.0415, -0.1162, -1.4701, 7.0632, 2.0586, -0.0073, -0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a9c5f9ee1347781c0e935b93bfd4c44ba93b0f098f18313ecd8aefff80a346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73682bdc0cb25fed2fc6f6891d961b54ce2d86fdb501f4dbd61f9982bed080b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6509ab47b295a9c0f871e95c6caaaf559ba154653022a161844d92157109db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.3927, -0.0193, -0.0338, 0.9998, -0.0273, 0.7944, 0.6056, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2928 right_y=-0.001 right_z=0.1772 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.2769, 2.0098, -0.0464, 0.1832, -0.0366, 0.1299, -1.5795, 9.7709, 1.917, -0.0122, -0.022, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.63, 1.0424, 0.5613, -0.2596, -0.4751, -0.3832, 0.9998, -0.0277, 0.7986, 0.6056, -0.4297, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.1083 left_z=0.1267 left_yaw=-0.0439 left_pitch=-0.0632 left_roll=0.0267 left_gripper=0.9998 right_x=0.2884 right_y=-0.0009 right_z=0.1693 right_yaw=-0.0003 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.0564, 7.7333, 1.8486, -0.4078, -0.0269, -0.0415, -0.1162, -1.4701, 7.0632, 2.0586, -0.0073, -0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a9c5f9ee1347781c0e935b93bfd4c44ba93b0f098f18313ecd8aefff80a346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73682bdc0cb25fed2fc6f6891d961b54ce2d86fdb501f4dbd61f9982bed080b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6509ab47b295a9c0f871e95c6caaaf559ba154653022a161844d92157109db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1MSusYbqmlD2uL_Sz4mXeau7LK0l7vfb0hqgokdtL85Oc8jGTkpq4R2kvnKDykWEQ_A3A87XjnF0k3uVOU6vzjq43Uys8oDB07Km8-XWO47-2YXQI_SwoKLMydjzRvhAsBiOhs3KdERNlKaK_5VArgramXYT0T1xLH9zJXq73zt6IUQmdz9pAtqO47RXxkxraaYrQYkSDKiGfnYgS_3jGVvR5u8DsF1vNRKRVXaSc-HZnIxIEST30Yxdl4sTE_qbtOxOwD2ecrCjFPj3xwYHQjzQWfkcZEBJ4PsMhz-Z0hJLPCw9-_dJQRAodTymB0xTO4I6XZfVmn8bWjLKDrPlXxECkrgd_vLFhMGYQacMhlv2wxt9Ydqu15fBhmjOjZ-hXXIpZftunahTeEnuco8EHyNvP005sCkPdMmiW88KcD-v7QKzkK0mpk3nyV4X2Zlt358X_iPb51otjTiagZ4hW3PYbcWsi04eLtiCtHvRKzaGjAk4rxlBYDrYIRf99VNJzatud3ZnIyVjy-Z1qZTUWvZbV0Q6mn_9NEEV_tqIxR5eOCqDoo8IbkdwduLHHSh2opzLUPPZrshDsKyJu1BEgtpNzE7uzu36nXRtG5GCmJbGacLgsQ_UcDFQhoHTfK_s2FotAWv3wGCJokFaAt9VqG6oVp8HrnLto8qVbiy5z02Spsmf8tDR2yzq6hL6lUZrpUNfh7KYdCKhgL_usPioYL-xomVrQBhibfQrNip5W476InXKCFmlA2kZ8Psh0dD-qhu8H3OYUv_UZBnBF2rjz8-_Tkobn9QGJ_2TwoMxsiamJBNFUWTbee-Pk4sIHnqyrPbvWF-5nx_ywsEHCSgndGoXpvBe5mgfS6ZK1KoOZn6m6KBvVaBMqUlqRj0Nplvtckr_XuvFYc6ns-Vioqi80lay1D2S-aWyVQ-RnrtyB_BvT-vLSSLB8p9OYI5u3foOT1mdMpyP2a9Kh3GLlC6dQVcGWphbgm-T7G5TvxcNbp9JR54HYQvuPYOCrvwQNT2IP5WQb0RYPl5SwAZCGSWsP2GamPWssiZQFBK5HgwmoHX7KbRQ6UuA7ASbVMqULmVxKhUIOx_zgJ0Ee2wtEEe3hk4PqXeqHdgppnrdw9qMhK6NytjXrgY2cvHO55LLCNCggVj8uTiE4geGQ38XaSg1cadKMzNmuYJYtsTmmzgicZNlT7z-O1kjZTRsT6v3Vh-Sw5AmYv1Nv8o57UWAkciRKU832mHMOIBVtTeVLeZ2sg73AWOOD4bgtD9ozKEgZL4Qr_1iwUHVDJT8s40QeXjVsdPzcLGNtuqYSxSdpZOZwYKyZ1MBT_1MnQcY-jpYyo8xoJjTS_Fn16zHif72tIk_IIAxVQ7fy9mja4U3nUVxuq64bA0D0zkO-QDLfsdK_FynQALjo2_iZrBp_1oJGREbB4FBj8cOFFvVQkCc0szSzSN8ib7Aa5K7HoJxjgB_oYKho9-sQyG1C1WFiwFbkYNAYSfxBHRnwYHMPlhJDhWy2zHCtTr_-J8hixj1_v0gnCVp1NwevPJg7cUdjpaHBxRa9d7XedZ6wlKNecEiRs5ZQn_WFv_G7Ze78ep0hldD3Q_hesYz1zSep2ACks4a_p5xHGm6rV5ADAocVTmhw3uGZvwNH5TtMhCMflrJwaBlX1efS5D3FdyIrIrVOoWUlQE15SnfbhNhSiMilKRxCfxsT4BKHrCVX8ShR9QClk8PWmy0NKJYYqa3T7q07m8TFOdrb1E0aQ_Tp_dgAhRXcCp297vjCg_WOLqVh5DBzO1NmXzL2H-XzJohemBeatUxBbUAGuw_trS7P435YSfjN17H_PwAPb1xetXm5J7O6hsei6wx2TtDsnCBddacXDkSnDY-riDbgWq1sWH9YKQpxvbUGoTZPz-uXYmlRabqkBGO9Yi1CzYcFnRDMTh9LjWYvffg8m0FF2NImp94FgWj3n9c0-s2V8ggwRYn7xhhyX3Yccd4YcPOLB5-0ZRSRc88seAzXi1A==",
  "id": "rs_0e11210e9970fc1b016ab44d49ded887d0940faa815aec7626",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.11,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The white plush is now centered between the left jaw columns, but it is still fully visible with space below it in the wrist view, which means the fingertips are a little short. I’ll advance about 3 cm while staying high before descending.\"}",
  "call_id": "call_Opqop3YYZIQPhAqOpJn4za5P",
  "id": "fc_0e11210e9970fc1b016ab44d4b651c87d09bbf72ccd5661184",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Opqop3YYZIQPhAqOpJn4za5P",
  "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]: [-0.5644, 1.1465, 0.585, -0.2356, -0.4564, -0.3695, 0.9998, -0.0277, 0.8024, 0.6056, -0.4412, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0973 left_z=0.1095 left_yaw=0.0025 left_pitch=-0.118 left_roll=0.0575 left_gripper=0.9998 right_x=0.2869 right_y=-0.0009 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.0, 10.1538, 1.9267, -0.0611, 0.1783, -0.0366, -0.0889, -1.4154, 6.9675, 1.8193, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14637a9fc35443ef9cd872059bb820994e3db478933ddad4b9a25d4a00753c61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb28b10dda7ee5fd796b380bf80ce732706d5e437cc826addd34310c2392ac56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428476045eda7d6ef7594cae175ce3c6d7e7004ac3589402f92caca68854e9c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.63, 1.0424, 0.5613, -0.2596, -0.4751, -0.3832, 0.9998, -0.0277, 0.7986, 0.6056, -0.4297, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.1083 left_z=0.1267 left_yaw=-0.0439 left_pitch=-0.0632 left_roll=0.0267 left_gripper=0.9998 right_x=0.2884 right_y=-0.0009 right_z=0.1693 right_yaw=-0.0003 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.0564, 7.7333, 1.8486, -0.4078, -0.0269, -0.0415, -0.1162, -1.4701, 7.0632, 2.0586, -0.0073, -0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5644, 1.1465, 0.585, -0.2356, -0.4564, -0.3695, 0.9998, -0.0277, 0.8024, 0.6056, -0.4412, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0973 left_z=0.1095 left_yaw=0.0025 left_pitch=-0.118 left_roll=0.0575 left_gripper=0.9998 right_x=0.2869 right_y=-0.0009 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.0, 10.1538, 1.9267, -0.0611, 0.1783, -0.0366, -0.0889, -1.4154, 6.9675, 1.8193, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14637a9fc35443ef9cd872059bb820994e3db478933ddad4b9a25d4a00753c61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb28b10dda7ee5fd796b380bf80ce732706d5e437cc826addd34310c2392ac56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428476045eda7d6ef7594cae175ce3c6d7e7004ac3589402f92caca68854e9c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1PNk23yjDY6FHdC2_BOW7CZD7JXhqhlTdqKfaC7Gaghn2uqSIDRTAZ7Zl7gNx78pzvmt6sCGcpPxVdS254nughSV0ooDp2UGRBMvPwrk7TZ8CaZvcG2nvQWJ3-EDPu5noB97nKM0k9ZpBDWBqS7deHjDo1qExMH8HsFNzNdxcMQC20OD6FnrEdmDTvUQCNXHH1qqKS7BcKUCmmqAD1eRHrv45b2dNAkqtQaKHSD4AHF9tk_IBaxYSNS0D3g-Upti-8RjJpYqW52H0nxXWLVwerwMgCLyd7w2-ztY-jwaBSvAij5TEQnwy2Rpv_-NGttixPIzDPnyL59JiJiu6X-Q70jlLpHjJkAUGOFeBT3BjIgOtwuDd3y-YNIjv6ixEQ2wMq7KlrzMAtM0p78ENpo1FgrG8vdfUoaJVSYP_ClkAF97BLicWcjgI7XOzP4JePYS6SykJe_Ozv9_eRkCKKMXJzxWbKnyUqpkY0BByB7xHeq6YtvNtsy1qPiQybz3Ald20s1VeX8HS0A7zfNT-zTwGbRE0r7BKLf4FaPsdFxCu6k9kxhWe6QagxSbl7vnfbpiCxpQuz2wJXQlZlSYK3EV2ykJuYSB2lfpyKw1Jf8FTdqrxkzHQ-cASqcZVd3b-mn0PCB8IItLIHwDZnxVovUK9hcCyXO50-hHT5LzD4CGnDkPgB651cdGnP5N6ar5GrjtmWfuoHRDhgf8SNq58USpE57m5hBzXaB2yITb8g3vPn9uVBqH5gc7T1otqgXZ2dPLuAVp6oCbDTXqwfuwzpuUl8dWzEc8YghduFQE7Jb-InJ8-X8z7Rq7Dx1II2apuGWTubf1Jh_gpmxuOyObCqXSO7Dy4sZdkPvm_ISyMWXoF0b20nFPc8u_TV08PgJeGw71X3xFClIJkE48cWuTsHdHBgPBr1st0oGISTzH3ISK1Y6PIAeA6e2_lKWQPP9HUALeABBuP8N5s2r_zo9aHR90g0wJ_bCrjjjo8dcPZpIRJsNOakiYiFOps7t3wu-6m85mEye1cxLFGa5eqhHNMwFbl0R_3R7jrszWmZDY6Aq7F5KBduyqMVuWhIyn9465EpO2IhI85RaLvF_4QB2fyMIPHqDeFU5Dise8PKhKwLiTkXmK0WkZDWZcRrT7-uMshWSV-_Jh7y0J0NJVDKX9dCxRTyv17AJMFLtZJP7CVJXIfwq_yRMecrata-wcVdeBOin38OiPrhP4JAWjxFqHGXykHK7zLBsdLNC_S0p84wg6S8Wf4bbZGDMoDelcijLxgkdX186kY9DVJZeWfuyz1e3XhRSRhmx2mGfkX7b6aCGboHjENfNzoCiK4Jqmm_kJ8JvSDVC5fgLV8T43nTfdlJmdp9x0ZRg4SrXD6UQ9CV9bOk3HwQ3QIkJHUHZmtVPZdgC9hKeCa2ivl-Fw_xw-_41_vUGjpGDtZX4JEcPNt-NTGnUpasuGOvoDdb8Ta6wZ7Funbcs46VNWPcVaBP6OcRSIdcidSejeCnw5IaVvHvCi9v6H9OPHQS6cnfGVJB5sHGQRgiUpmzL0rSOLVzAY4RJ-Qs1OcjQlDcSHGnJ8qowMEBZRkLmFka89IGWfdUySbi4-0l3AnCiyUXzVja_pS-gCH9nbDNFzeRpdR1vVtSJsHGOstAHlPXD2gd3zEoT5tIiIwj48mrvCEJVQET496m2ogP1s7ibIqbq4yrWBeczBwnrH4RDSldwyF_Q424-vHN3NJtUkcDf1ipeuALlMAsWOoitQ==",
  "id": "rs_0e11210e9970fc1b016ab44d4d85ac87d0b9538448e1cbd41e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.11,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"After the advance, the white plush fills the pickup area between the jaws and is aligned near the jaw centerline. I’ll descend to its mid-height at table level, keeping the gripper open.\"}",
  "call_id": "call_Usb430IHEZt2znjXIxTlXB4z",
  "id": "fc_0e11210e9970fc1b016ab44d4e992087d0a9ccd1c357760409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Usb430IHEZt2znjXIxTlXB4z",
  "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]: [-0.5758, 1.491, 0.4252, 0.1703, -0.4576, -0.3794, 0.9998, -0.0277, 0.8043, 0.6056, -0.4557, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3069 left_y=-0.1019 left_z=0.0115 left_yaw=0.006 left_pitch=-0.1997 left_roll=0.1049 left_gripper=0.9998 right_x=0.2849 right_y=-0.0008 right_z=0.1626 right_yaw=-0.0002 right_pitch=-0.0694 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4496, 4.5744, 1.5897, -0.2564, -0.0708, -0.0366, -0.1983, -1.388, 6.9538, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65fdc82a1a9f0ac02eca042a43650206e24671d639a28247d3896de390c0458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ac42a0c6de61acd3dc60940aa26046da9e1147a6d3e350058184d4fd4f162b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68eba0e5efe86f4bca2fe1cb9bd130997a7f5db0cf9dcbc3c2f53aea5b7560a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.3927, -0.0193, -0.0338, 0.9998, -0.0273, 0.7944, 0.6056, -0.3962, -0.0193, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0015 left_z=0.1775 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9998 right_x=0.2928 right_y=-0.001 right_z=0.1772 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3607, 10.2769, 2.0098, -0.0464, 0.1832, -0.0366, 0.1299, -1.5795, 9.7709, 1.917, -0.0122, -0.022, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5644, 1.1465, 0.585, -0.2356, -0.4564, -0.3695, 0.9998, -0.0277, 0.8024, 0.6056, -0.4412, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0973 left_z=0.1095 left_yaw=0.0025 left_pitch=-0.118 left_roll=0.0575 left_gripper=0.9998 right_x=0.2869 right_y=-0.0009 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.0, 10.1538, 1.9267, -0.0611, 0.1783, -0.0366, -0.0889, -1.4154, 6.9675, 1.8193, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5758, 1.491, 0.4252, 0.1703, -0.4576, -0.3794, 0.9998, -0.0277, 0.8043, 0.6056, -0.4557, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3069 left_y=-0.1019 left_z=0.0115 left_yaw=0.006 left_pitch=-0.1997 left_roll=0.1049 left_gripper=0.9998 right_x=0.2849 right_y=-0.0008 right_z=0.1626 right_yaw=-0.0002 right_pitch=-0.0694 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4496, 4.5744, 1.5897, -0.2564, -0.0708, -0.0366, -0.1983, -1.388, 6.9538, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65fdc82a1a9f0ac02eca042a43650206e24671d639a28247d3896de390c0458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ac42a0c6de61acd3dc60940aa26046da9e1147a6d3e350058184d4fd4f162b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68eba0e5efe86f4bca2fe1cb9bd130997a7f5db0cf9dcbc3c2f53aea5b7560a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1SfgJEGv8tL-Anj2MwgzEbC9TXrcKvS-VaNsXc4IuGm722KGdhzdsmFaxKryeXIxyLM5jM36P78U5Swk93bwZy4_LQ0NwF47MtZsK8ZOgUekRy3wx7bv8fnclg2HJ9GQT0FqRNgOVXydLUHy46tcNsaP1TMEc6KTU_jW0v9wHVLMWkQOsWsNht2mtphosD4k1y3vO0vp05ETxUEcNwsJrpULmZrXVHh26n80kvK7yvh-FNnauIFciK_O_xUfaAl-ca7KQJBTrx2pRfmh3aBYafOy1shLt5kQZ78Hu8VIgL9J_weRxFmeHXosLmL2uI5Qgkt2phAB8liaMgodyLoNHHyPUg2RXY5smqi3On3PZbfo9jOuzfWQ3T3x8sLqaRzosAPufPGyUcup4BzW0V8V5I4RW3fdoCX1FEC34WjWuNcblYspL6h0KmQGnwjgOSpvBp90neTXIFIpVyxjzwERwwgPVIARK51poVeeeuacLXNv-POQ5cuxHCVetNcxjKA4ToMqJwDRfUhAKER-cXv1LwgwSj50CK0UbXU38ZF0apz4Hexi9UfT_h6MNA8ZD0-NDhNadprUN7mWxH_RHyrTTFuoifzq_i2xQPIS0a38YAKVxeqMAblEI5hnFVD0p0Fz_pNcWWlefD1ka2IInsoCiQicejGrRbxSLNTDxMW5aosCId3OzkGcZ3JQrVTzssd2KBVI-VDML8RQXlGs5d0mrB8ptmCfCwB4CMuZVmMM7r8mvjnYwWKrjus6GG7x80j7JGshaHP7dlYfWvqgunmnYb08iBiWWIlJWu8i8jYVLKgjqvA9cWB1-jI5Vet6uulpMPYUAjt1qxY4lhKdXv0S2M-AHA4y2k5lN6VqI83Z6Y2f_od-NBvWokn9A541eUMTdzGytGSjkJR0ik3wfpLewEzr7PNz5daq-r-OIhF4e9hr5e6i4rwj0OBaHY5GjhoUFucJ2CbuJdDldlvE0JlYvnFbIugVVV23nVBwFFs2lL-qBEpAL1RLV2bgsXonULnI5T8oq02MXj71fnERU9b8zTLA-gbopggiGho8jR7z7RRIrTz1SlEv7NhYfLLCt4SqvYxM4eoLPpgy5k9Ut8a7GSxUoYM5nreEgVkwcgmAg4K-Dn2FqljPkaXqkSMcETlucoj62JdW2i1nu1KHM1kmykNeSNcXqcoIaahgJjN6V73VsPIsO3gOzTEyvq89npxjEmdtXZm6mfqPsW1-Lv9QUdQ8M4QxsON-eVOMuCm6-sp6L685felpoPQFWM6ekjPR_N",
  "id": "rs_0e11210e9970fc1b016ab44d513ec087d089836504e722c55e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left grasp point reached about 1 cm above the table with the plush between the jaws. I’ll close the gripper fully and check the settled opening to confirm a grasp.\"}",
  "call_id": "call_BgJR6tHNVlDl6nvTOyVJnU8h",
  "id": "fc_0e11210e9970fc1b016ab44d51853487d0ad713d489ccbfa93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BgJR6tHNVlDl6nvTOyVJnU8h",
  "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]: [-0.5762, 1.5066, 0.4129, 0.1555, -0.4606, -0.3801, 0.0105, -0.0277, 0.8062, 0.6056, -0.4831, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2996 left_y=-0.0967 left_z=0.0014 left_yaw=0.0135 left_pitch=-0.2339 left_roll=0.1306 left_gripper=0.0105 right_x=0.2807 right_y=-0.0007 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.0988 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2427, 5.8735, 1.453, -0.2173, -0.022, 0.8327, -0.0889, -1.1692, 7.0906, 1.9609, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61aa6d34722236fe28af92fda03f85c6b2836596f54aa3f0a91a68b2dc57e01d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8dd16781442010d416b157f4ef859726d48b1000a88e247a9be2f1bed4571a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dcb7815d43e3f2be738d58545641d079cee6ca610fdf2882186217c024f9ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.63, 1.0424, 0.5613, -0.2596, -0.4751, -0.3832, 0.9998, -0.0277, 0.7986, 0.6056, -0.4297, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.1083 left_z=0.1267 left_yaw=-0.0439 left_pitch=-0.0632 left_roll=0.0267 left_gripper=0.9998 right_x=0.2884 right_y=-0.0009 right_z=0.1693 right_yaw=-0.0003 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.0564, 7.7333, 1.8486, -0.4078, -0.0269, -0.0415, -0.1162, -1.4701, 7.0632, 2.0586, -0.0073, -0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5758, 1.491, 0.4252, 0.1703, -0.4576, -0.3794, 0.9998, -0.0277, 0.8043, 0.6056, -0.4557, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3069 left_y=-0.1019 left_z=0.0115 left_yaw=0.006 left_pitch=-0.1997 left_roll=0.1049 left_gripper=0.9998 right_x=0.2849 right_y=-0.0008 right_z=0.1626 right_yaw=-0.0002 right_pitch=-0.0694 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4496, 4.5744, 1.5897, -0.2564, -0.0708, -0.0366, -0.1983, -1.388, 6.9538, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5762, 1.5066, 0.4129, 0.1555, -0.4606, -0.3801, 0.0105, -0.0277, 0.8062, 0.6056, -0.4831, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2996 left_y=-0.0967 left_z=0.0014 left_yaw=0.0135 left_pitch=-0.2339 left_roll=0.1306 left_gripper=0.0105 right_x=0.2807 right_y=-0.0007 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.0988 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2427, 5.8735, 1.453, -0.2173, -0.022, 0.8327, -0.0889, -1.1692, 7.0906, 1.9609, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61aa6d34722236fe28af92fda03f85c6b2836596f54aa3f0a91a68b2dc57e01d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8dd16781442010d416b157f4ef859726d48b1000a88e247a9be2f1bed4571a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dcb7815d43e3f2be738d58545641d079cee6ca610fdf2882186217c024f9ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1WeVycwdc-Lp4tuCtKiNIKacE9ZBBpynoEdaNmEWfVa-Iru93OfLxpsf2YB0ibZAlhShVseAARoBuokH2tFts_9Nr_GRf_3de5bIhcIlGiUb9InX8PSPZKVBY5VQpawoi6LBgdTIqA2RmLIsp_In-67oNzQgWdqc1MBoA8JarvLV1m0-hkAD9maYBkgs7hRPhiMw_2olftZ1APU6CDUbZi_PnClDzh1v7SSr1heVzS9htJWstErownKC3pXUPZmEB_oGsW9EpqOpfJ3rrdg-6EKQ6II2a8KJzWGsX5nIEcyo7PgtXlqS3KjVm1QPUy040nCkDYSamNTQ7rVYRogqKRHF3MSAIUpr0dA9bqwEBmukHqhTj0Ft9hMneVkT3qDwSZkE3YCqGr35ZEj_zLxlBMj595m-B0iviaRg2dUPODBpKxeRy-_uv40VP_u8XLLPHhqE8PRpJe6ew05bt-vMUKE6pYSR8v3kArFMqTpFc2_J8g1GBVgTdzAbvrQftVRmYdyXGjOwv86cfAklDC2aFvL26nXw6sk6pCbxi0aNFuCYvDqiETX9Lgw06-TxcqmtAOIIl6HkVeR8s8G-J1uQtgH04FcL5HMb5Snh3vyia8tRcLOIvHIbfjFEyHnXiCkc1zlnIW__SdT0MCN8FqRqj7ytVbRiINiUbORjS2_r9PhPMR3JEg5nNpE8Db3Zg6VB3kTmIAczVIqJonGCSeSmeGPKtH57A7Z137eH02ihpr7-8FRcu0bRNA7mlySIAgqORXsjFLbSDsOde33ckieIQlllIbK_k0ebleVBkKDudnTr_LYHQBRSMaouE9Smz1kTPXZ38lT25nhgOmgYl-TJj2ThIKrA-7koKnM4NetoKQfvQdBRKijfZneI50JX6kJq8J-ZjiO2XRTFg82ikenKBQWGu5FtT3IRAE7msVB1lejRp5vKUtLo9pGHWV_kPxsTTqc18D678fCj1CJyko7ymVVLQ8iEU8HLv5VqZJhCfshQkVGjxthmy0J195L5eRXZ4vmz7QAhigl5Qyf1DCVILZXsBcET3QDFqX6VAi9QEqRy2V9Bi6ljG-MBmhRZjKyp4wKff94lQClppR1Scmvo1bntPCUENT2f6SO4PiDsPKtmfb89YHa6hFXmBYPy4NndNWdEDhTTmt47hb8GICIU9bz54lwal_E85DbcHEwGBwFHI0jKLYTn_3gLTFsKRh0tx6nE311nNhe6gdfcP3aVnIEn0HWrYrbrvxGfoI4gAAnbwQ2BWNRJ8m40AyUpIhr3cVW7l5QJSft3WmowbIpmA8SSnajVDsJlTbPJ5T_9nDGKdNlWKW2GCok6D8Ic8WSRb70ndt3XVK2E8ZTO_AJuschOCzRp6yQOxzqq6KGEdPWAdF8i_WYH4dpU7H7sYhassZWrvPa2icp3h0jz8sfufr_cKq69hqPzC7QtFO8ufyG-p7JQ5mntDqfXeM55gKYtZCPL--DERyRYZz3gFOT9oRyqy3fJtzi76_lB9z5dLdG-AcpsHsIhTVGFforFa3tR1r_VNYz7kyCJShJsgo07FtyxGxD85qrd8nC98WYDbjZQ0rY6dneCRi1dnzI0lCIbQOskSzayKwHfC9ngc-AT5BbW5bG_YRdVY73FTQ5fh0KUXFoyS7u-HMwdBYfeyZSlJERGjkROBYqQfWbC4PtbSLO4Ryp1SscCp4cdm-wkAy0W2VFcXHwLRY5XAJZoYbjb9H44caefLfikB2r-24AjCEkjKVVDm8pIKpW3PSwqsyO7Awcs4b7hVmct2oVmhwdlmQCCsaGfp1nogxwWjhbmnGCmxZmUAmiZ8jxETt84nkHsTgd1DLZHAKmJWuKztgXFWHp4RecBBI8Nm6ulCBSmn3nfLObFXhoae84Rd57ES-7Jp5mJ1yd7kXWvf0t3y2rwMYj5s1pchXcYJICagGJCoJ7bwMS3XFw5BZLjBi6ht1KXSTc19E6kClxwS1qT8D8k_oguG_9hLBCFOXrQiOY28eix7wpdBmPSvZq9Fwi6FAUeePdeYWe6egjb408NPijcJk1CI17IaJQmua4l9o3FMgTDfMGsrD7h6Gcgge9nyDgaY3XjoxjeJmbvyLAvQfwImUTamu-gD_H1Ccxsfs6eM3PbxLFzngjWFNCqaQ5KLsSk9PoK6xxkic-KBTZH3AWZlrNe2MOoG_oElU4vZOl0lmJmoP9220OnVCGZhrVviVzLHsH4VQ2kEzgcYz4IwEgFIHLm1HcVp9KRKI74zgCeEXmY_WeuwsajPFbD2z8ZRXUyy2oqf4QEPcZEuTLv0ri4AeX4OwIKXL37Clj3TS4ji1bg==",
  "id": "rs_0e11210e9970fc1b016ab44d54261487d0963e513ea363bae6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.105,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.01, so the first close was empty; the plush was nudged a little farther forward and is now beyond the fingertips. I’ll reopen, raise, and move about 3 cm outward for one measured retry.\"}",
  "call_id": "call_CpJRjrUj6hYvjrEBqz365rRS",
  "id": "fc_0e11210e9970fc1b016ab44d5634cc87d0a661b005dc9ee548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CpJRjrUj6hYvjrEBqz365rRS",
  "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]: [-0.5392, 1.3441, 0.7773, -0.3859, -0.4381, -0.3641, 0.9954, -0.0277, 0.8101, 0.6018, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.326 left_y=-0.1035 left_z=0.1009 left_yaw=0.0265 left_pitch=-0.2572 left_roll=0.1342 left_gripper=0.9954 right_x=0.2775 right_y=-0.0006 right_z=0.1508 right_yaw=-0.0001 right_pitch=-0.1239 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.9265, 8.7043, 1.3944, -0.2027, 0.105, -0.1245, -0.0615, -1.2103, 7.2821, 1.7509, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50ba5273947c5efd5feb5054a85ed2ba36a06f85eb7b83f3f458266576ac302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1b403aefa33cd2fa92c9b708fbe349bdb75124bb82a4594d01a09f9e07e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d7331d41f16b2f6311ea0eb89b6cc5e1841edccb509276657308d8eed0edaec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5644, 1.1465, 0.585, -0.2356, -0.4564, -0.3695, 0.9998, -0.0277, 0.8024, 0.6056, -0.4412, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0973 left_z=0.1095 left_yaw=0.0025 left_pitch=-0.118 left_roll=0.0575 left_gripper=0.9998 right_x=0.2869 right_y=-0.0009 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -4.0, 10.1538, 1.9267, -0.0611, 0.1783, -0.0366, -0.0889, -1.4154, 6.9675, 1.8193, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5762, 1.5066, 0.4129, 0.1555, -0.4606, -0.3801, 0.0105, -0.0277, 0.8062, 0.6056, -0.4831, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2996 left_y=-0.0967 left_z=0.0014 left_yaw=0.0135 left_pitch=-0.2339 left_roll=0.1306 left_gripper=0.0105 right_x=0.2807 right_y=-0.0007 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.0988 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2427, 5.8735, 1.453, -0.2173, -0.022, 0.8327, -0.0889, -1.1692, 7.0906, 1.9609, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5392, 1.3441, 0.7773, -0.3859, -0.4381, -0.3641, 0.9954, -0.0277, 0.8101, 0.6018, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.326 left_y=-0.1035 left_z=0.1009 left_yaw=0.0265 left_pitch=-0.2572 left_roll=0.1342 left_gripper=0.9954 right_x=0.2775 right_y=-0.0006 right_z=0.1508 right_yaw=-0.0001 right_pitch=-0.1239 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.9265, 8.7043, 1.3944, -0.2027, 0.105, -0.1245, -0.0615, -1.2103, 7.2821, 1.7509, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50ba5273947c5efd5feb5054a85ed2ba36a06f85eb7b83f3f458266576ac302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1b403aefa33cd2fa92c9b708fbe349bdb75124bb82a4594d01a09f9e07e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d7331d41f16b2f6311ea0eb89b6cc5e1841edccb509276657308d8eed0edaec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1bfJFlBWzRWS3EQShn2P5-UCRL7sn-mUdomAxPA9Bz046DYjYy_WLsCdHVG4tirKVAccbQJRjwnbHfyO1pzuWQiWaanBBOxmXY8_bhOaRR7CKuM0nG8sWde0yE-TebO_IUWtDO5IQ2q7KJI-08jLJU0RVz69RDdbqdTP-IkT3i45IVe--MTonsz5her88BHN9w-Jis3A_oRvFXWEnGQDsj2VPYNVQbS1NUEILKSHbj8okhttKXbnrjGFFCPEpjPObXsw6WCjckt6Nd4zMoZAa50pHkoHieoYp0wNjndcNLaqcn2sUya5xlOw4uMCEboF8YMai65Te2HzU1_n_LiVTBQ4dotjKeIvKz2v3Jlw9Cb1CVnQgh3wiPvcXcgx4g_J8KAad7wMdkBbZ6bk8TMqI2TXLhkwLp_cA_NyveCvfNlD2OlW0EGO8apcm9Qrdp1U-9TEkZA8jtv9rp_pzPyzU8C9PLV-zd8TsR2Bu3kZ178c-BvRKg_7gy9IED7wdP8PzTc-H3nSuhFL1lpNt7qPEDWYGQBUwZ1VBXwmdKyMNg1MMnaxbPeGcOmXEbI9AyVOcNlEUzOZW3NgaEFdBIXduT_tABUNq6u0czu63ubdhfFZN_nogMBAhkOfGsN9w4KRyEPgOi7MN0ozmPzwcxYU0k30RnCLmhv7IDKL10hz4nWdw-_aozJvr2dQCK1cBZ1y0WXSayWdQxbRT0WTwKMuOI6mKu2Sc-JurVjzph9q7HdXzinftRiHvAcKVYRxoQw16KYB6Y8gU07PYpYcZgYDMboz43m1ov9X0_dNmKYlXqx-o781f-2ISTIebmDuP8wVwCo9zdYZZSMzl48K9ZSgUR1PFacNDngCy9_VCuGlqkoKfN8C1LBbbBuqLOhreJntCvvFPcKk74KaYimerf0v8qsinwieXG1XOr3pUlZnoa3SvRb1fWyYbUOzaiK8iO9pXXls0OHK0IBNvFdgBVEVGXLmX6IjK61h9hEAA6Hb58wyaH9STCXAJ1VVoJbUB0XVzLdcrLw4vaTe-pLEoECEKlxZjLFU5jPK8u-7PXIdreN7RPgBWAsB7T4-47Kazz0D9c_csNCJIcby26w5h4q2n3HqHOn5C_DXKuPv1nCkAnPXJCdG3WyBNHr_jqLb5E2pEk1m5RA2MkRJkeFECKZLEJr2FmkXgs-J0Olq2y73_glPb9T3Dsl4om_c3NEAaGtHCgk01Fq-RbfIHTMier54jqRbF61RIeP3LPEiGDuovfiegaNPsKq1Rs2DB4K7n9S2ESFEGYeOvM_yLZJORS5V4ZjrtFLG59ohlj9M1N_9TYvzg5W1oOuqAtTRoCBhhHvKuUz220YKgKISQTpv0Ry6zk0A3j3uI4A4QoSC_gay2tjMvXZN0qlH4dPYa5cd2hIi7y7Xujsk8nrEzUzhTdxjH5DW6unxtmsAXCWdUcZETBggw4xqThm4lKp6yefs8mXdyLN2ZCj-hlte0Cm6Kn7vuUPHeH3k_aCI3DDt2WD6IjAdEykOof-C09EQw5TZRLmKF9ACelkmJ67iCdawSQaghHbNv_9AfEw7OLKQunSDPLcKJhZFXLhMpqOoC4P7NNSsR4Yiz2m68Vq9TiXAcWe1JS7Y-EsJlZoBVxGn5oPuOKUBPYA9WiQcPg01xof-T0Glvg1qQqShjm6g2F-ubPbRcZPHp8146JoX7pj56XY7pkDTLUDuub-y_dlo0BMpdMTTqr",
  "id": "rs_0e11210e9970fc1b016ab44d58ff7c87d09c8d303f39bc67d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The retry view shows the white plush clearly between the jaws but still with a little empty space below it, and its center is slightly to the gripper’s right. I’ll advance 2 cm and shift right about 1.5 cm for better centering before descending.\"}",
  "call_id": "call_jZ6zQRxmPBQJZfBcbnCGTeE6",
  "id": "fc_0e11210e9970fc1b016ab44d5a7f0c87d085b89a4984c3d3c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jZ6zQRxmPBQJZfBcbnCGTeE6",
  "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]: [-0.5419, 1.4055, 0.8486, -0.4427, -0.4408, -0.3656, 0.9985, -0.0277, 0.8097, 0.6018, -0.5056, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3324 left_y=-0.108 left_z=0.1006 left_yaw=0.0339 left_pitch=-0.2954 left_roll=0.1615 left_gripper=0.9985 right_x=0.2767 right_y=-0.0005 right_z=0.15 right_yaw=0.0003 right_pitch=-0.1285 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.6957, 8.2803, 1.4286, -0.2515, 0.0513, -0.1734, -0.0479, -1.1556, 6.9128, 1.7411, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aeca8bc1781d4a6dc3587938db1d521bb42a541cd4a0b33b4da5105b67299da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fabe6d31ae16281ba87c53d7877f4066888907b20cd308d9490f37037303084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d4b52a90d932c5d166a5afcd83b97cc596a7742e00a1f969710eee28c72d0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5758, 1.491, 0.4252, 0.1703, -0.4576, -0.3794, 0.9998, -0.0277, 0.8043, 0.6056, -0.4557, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3069 left_y=-0.1019 left_z=0.0115 left_yaw=0.006 left_pitch=-0.1997 left_roll=0.1049 left_gripper=0.9998 right_x=0.2849 right_y=-0.0008 right_z=0.1626 right_yaw=-0.0002 right_pitch=-0.0694 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.4496, 4.5744, 1.5897, -0.2564, -0.0708, -0.0366, -0.1983, -1.388, 6.9538, 1.7753, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5392, 1.3441, 0.7773, -0.3859, -0.4381, -0.3641, 0.9954, -0.0277, 0.8101, 0.6018, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.326 left_y=-0.1035 left_z=0.1009 left_yaw=0.0265 left_pitch=-0.2572 left_roll=0.1342 left_gripper=0.9954 right_x=0.2775 right_y=-0.0006 right_z=0.1508 right_yaw=-0.0001 right_pitch=-0.1239 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.9265, 8.7043, 1.3944, -0.2027, 0.105, -0.1245, -0.0615, -1.2103, 7.2821, 1.7509, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.4055, 0.8486, -0.4427, -0.4408, -0.3656, 0.9985, -0.0277, 0.8097, 0.6018, -0.5056, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3324 left_y=-0.108 left_z=0.1006 left_yaw=0.0339 left_pitch=-0.2954 left_roll=0.1615 left_gripper=0.9985 right_x=0.2767 right_y=-0.0005 right_z=0.15 right_yaw=0.0003 right_pitch=-0.1285 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.6957, 8.2803, 1.4286, -0.2515, 0.0513, -0.1734, -0.0479, -1.1556, 6.9128, 1.7411, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aeca8bc1781d4a6dc3587938db1d521bb42a541cd4a0b33b4da5105b67299da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fabe6d31ae16281ba87c53d7877f4066888907b20cd308d9490f37037303084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d4b52a90d932c5d166a5afcd83b97cc596a7742e00a1f969710eee28c72d0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1eWPogvQb7jlIrToqmoGfByi6mqPN2xR5ZUDKzkDyyd_Wf3t3NrudJB6gsDTOjgZ5s8bfQo1etDeWIxOOn0_hL92y4Af-sdVA3NBlzzwraqqb90d_TnmGfVxTty8QXDocKMQCtA8CJ-TbJBfBmS6AEhFZqaaad_e6ngmXObwt7VV7flKIXgJlXn6269fqPnU6bysliVjC1XBEgBWjFlRYNdmTmbcyFqLbRunRJOVexdi1bTE_CGhx6KjOXaeqPbxO-mt_YUvznKAYaUWKLZL-Ab2ENmtq0x0WwDp9dyvq0wyd5yAygekwt8xi25WlCyz1ml1OggYLy8gkrHuGBJLD_9jc0h4p5V13q6uqArk8ziYM1ojt8G_Ofxw8KNJxxnQsVW0S3To1EUfXSWAPCv_5ROiRE-WJ5hgKUo5TcLw47TGj8M843BoTUSDL8r-WAUbAHi3eoAWSO4LYPJWmldqFZRrkJ91JSfe9kdbFeZxFfJPu54FjySNsaPUksL5Un6tBPHgdJDA2Qzo6ndCMzbMWeG2ozyuM28VkAy7ep2qaUF7WAMJShyZ6dgMfMfBZFsSB3hxYN3neIYJOKPCnAvGHKG6bBIpgooL3CUSQqeQsZGzIbzWiJ8DQf83E-mU7AfxF71medIB3rfLlrhqKMt9sUe_e7hpyAnoeLkSpBqNdNJAK3YD8EPveycIf_T1qCxUsrctpySfH7cAmKQcafuVQUftlMRfXAnggFnVPrvh9qNT3M9N8JRzAPiGngm3h-ASlHCnuGgnqszJp9Rtol3pc84ccT3uUrIKYE4_JHtwdnC1R1jIfsVDoN6QQEpWEsrZ9UEw7pm85V7DgQZ3Gcf3LSWfCvEr9_WvVaseENn2FqACTt5tFnB2S2vtM8_nLyQXeCqFzq3nACIS3QyawRt7T13vtkhSrHwUXOb_FcY65eIPDv5qFz9App3K_GJPHW65waOLNLdfbLFYi8or7lYbqrL0LJKM9VRJFaMfCEAb9iOEf7bGt1YTjYqGGCM_rINB7Lzhuk660YPHpyQbO_K2Y7oaJm980uSawjrVTBv2CP23kpmzka_nmqBNKADPpv6hw8-lnZVMIWN_kK45a0EnUd7zBo7VtlICM75DXbo_k-FxHniaooDDjRHhsDR6EaaScom3J9IYIt30w_pxIm5TlCWWmLdeVUx9ZMn8YNle0A6_Ghn4HfN3o0SNQu_q8h5tP-cAKtZseTjSnTusVeXCwGx_vH09IGr7nb0bJzUzonEayqPOn6uszIVw_uu0bN6nv-lKHz8F93x9d0XvRMOp1WsCZhyqxHEs29QUxIHg2109IKDyBPcZ8eIfe-Pm_U90_9s0yA26aAALhiAIfuQQ7b6isLRP3gsCpXdb4Eyxrq2asONWKrn1mt5-XNMCJ2lTC9K6cUHUjRAHZ5BgoO--2RTmEjV9pcC3XxRTmg5ACZfXReY1CxftVCcoHyp0pcVj4OMHMGYxZyOwLLxnZ7IZuFPBvCA5naFjgmYA0T5ZL0FLusRInyySX6yXCSoFTuvLq_",
  "id": "rs_0e11210e9970fc1b016ab44d5ca64887d089110ff58fe7397a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"The plush remains centered between the open fingers after the small correction. I’ll now descend to about 1.5 cm above the table to grasp its body rather than its furthest edge.\"}",
  "call_id": "call_Qz8duBqHDiAOotGHhm1OJ5Ge",
  "id": "fc_0e11210e9970fc1b016ab44d5d576c87d0b0a7bfcb22293bd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qz8duBqHDiAOotGHhm1OJ5Ge",
  "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]: [-0.5426, 1.4578, 0.873, -0.4267, -0.4385, -0.3759, 0.9985, -0.0277, 0.8135, 0.6018, -0.5232, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.1133 left_z=0.0943 left_yaw=0.0393 left_pitch=-0.3054 left_roll=0.1597 left_gripper=0.9985 right_x=0.274 right_y=-0.0005 right_z=0.1458 right_yaw=0.0004 right_pitch=-0.1498 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5026, 8.7043, 1.37, -0.3053, 0.0024, -0.1734, -0.0479, -1.4427, 7.0359, 1.7705, -0.0855, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77de37959f8176f3ca070058a7b5ec46d57e772a01d0d29b9d83f2d1f47d8c11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f4309cbc57ea366c89619803f44e7c90a0b40d554e8363e63c777ef035981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda762dfc5e54adf457befa613a3cdd93579887c196405011a282d2fae7ba642",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5762, 1.5066, 0.4129, 0.1555, -0.4606, -0.3801, 0.0105, -0.0277, 0.8062, 0.6056, -0.4831, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2996 left_y=-0.0967 left_z=0.0014 left_yaw=0.0135 left_pitch=-0.2339 left_roll=0.1306 left_gripper=0.0105 right_x=0.2807 right_y=-0.0007 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.0988 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.2427, 5.8735, 1.453, -0.2173, -0.022, 0.8327, -0.0889, -1.1692, 7.0906, 1.9609, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.4055, 0.8486, -0.4427, -0.4408, -0.3656, 0.9985, -0.0277, 0.8097, 0.6018, -0.5056, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3324 left_y=-0.108 left_z=0.1006 left_yaw=0.0339 left_pitch=-0.2954 left_roll=0.1615 left_gripper=0.9985 right_x=0.2767 right_y=-0.0005 right_z=0.15 right_yaw=0.0003 right_pitch=-0.1285 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.6957, 8.2803, 1.4286, -0.2515, 0.0513, -0.1734, -0.0479, -1.1556, 6.9128, 1.7411, -0.0757, -0.0513, -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]: [-0.5426, 1.4578, 0.873, -0.4267, -0.4385, -0.3759, 0.9985, -0.0277, 0.8135, 0.6018, -0.5232, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.1133 left_z=0.0943 left_yaw=0.0393 left_pitch=-0.3054 left_roll=0.1597 left_gripper=0.9985 right_x=0.274 right_y=-0.0005 right_z=0.1458 right_yaw=0.0004 right_pitch=-0.1498 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5026, 8.7043, 1.37, -0.3053, 0.0024, -0.1734, -0.0479, -1.4427, 7.0359, 1.7705, -0.0855, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77de37959f8176f3ca070058a7b5ec46d57e772a01d0d29b9d83f2d1f47d8c11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f4309cbc57ea366c89619803f44e7c90a0b40d554e8363e63c777ef035981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda762dfc5e54adf457befa613a3cdd93579887c196405011a282d2fae7ba642",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1lxrMvdlWvHKCRlkGF1B8yW9G-wwbXzdXoFGJl81vRXbOjhU9569QQMrthmHnqW4tmcjWOQBG23mPk33xJTXerSaZeoIVScc6UfvmkCedqKrPYkH90Ax5DzIN2dWGsf89z5ydAvYBK7ig-uRL-MjlhVrIGS8HiUOU_Y_VVqcE83smaGNW_Nymf_QS2A5gKohd9i1M7vEjlp6iV0X0c3M9SlFXsA7gJbOToI8KRdCgVGHdfKW57dpfmUGTxzBAI_NIOGxHoieSsHAp_KuQXBWHoWWFpB38qF6Cl4A2QJz8qw56g1pBGq0W2DGHfy_UA1TgW428UBmykjaIaoTxObV001nLj_QwC3RSfaNbhvHVmnGlW2wJN00acuMfX38AHw3Ql60vlR8PPpxbcTt9-jONLlw0lcTSZugLtBGSquyllz3fAW2nNlveEXYZRtfU9wH5YOf3GMGF2HSLCPdAfpHdolDsIoQu4eB_eBqlDjAM0svW5VnXLX4wYjNvGjjA51NUd6WYlYQusjGHb2mL7Jr5DWBE353e7_HSj9pR2uraOk9DNBOXXP1oioBkb5bAK0oeFfnFgP21bCl7xELOJrO77RFMXfXe1OG_TCW8HzQGGaG3fUObRIUlFhWOtoDPwCTSAQKGEHlqky8a0gY1vfIa7JRK0pqpEk0kEtOoIAI9i73JBaKwVNotdnJlBYAZvX9hyyvfHpbmvIVh8CLot2WdNooaiSD6TNKFhSdyqcCX1Ee7k_es-9ITxqODgXgQwL6NFasQrk_-hlb-Duy4DF3T2FK-O8SXkMXTeWF4fEox_WAN7KumMoACYRwXZRmRkS0d2k5QWtUAN5zssRonUbExSyjXxlvK612aJXFZpzHFPdxjr-bxUyehbT-t1DxkQfOL6mmR2gGz1eOohOGCVSdqPGeQ6brFI-JltYDGkUuXAxnAZtIrt8NKNiPWmtpZ8mNKBtuuBB0or_l706vL1-qbjLhU5e7K3x-a51_ERpwBhppuxCyLZnrAVrQwavEiNiVnfQSmgzdQ0PmiHQXcGlYoGxQcdPlFVQJ8d0athFprAmQ88MpDtKDeJE9K_aQUxXAWtmEKr-fPlIvKy9SBEdt0pM_318b99NlYfrNBBLT_3-tLZmZ0Oj1UrhTNd-FgKWln6EfamHn2oUoo7XNWmjbbKgKOQO5bzBIgHlYmv61bRjYMauBpWgPPXT99UWxc6vcmy3aGi2iyeBpl4xj9QFfdcB18WiU0Y84_AwYpK4A29AGQpmQbGmIlyKtjTmdvIFRhLmBoVk-PmA7DQmIRAxnnvjJYRN4LTvLKopf8GUqliHPXbaWQ0eyo62lUW8ciaBK61oRtUHfG55b62gxj2hkj5AS5bBDR7-NjTUnfrWSB2kIM0KiCM7TiAZf77vKVbzL7JLjxwxVcz35j2fb7EPafrsfiQxda3D6sopZTPg19GPUGxdPH5Au30rOc9HCOSzokY3mE6XCmQjopb4MRagf-it45xHtxn3-72M2UfWiF4TJOwNrAMLU9MHuDYlpORNiqnn6lN6yJ8KY0q2yU1MJHdWmUyhLBXXgNEPGtBn6yNABnYGGbcGbklS-bZwnd668yH7LEz6Jrm66yNzkfWPaNSrTGF6muH_LQfTC20koDu9WmQCqeE7InDMwLDYX99aTU1igDj0G1uzrc03SUPYx4FEEERj_TGMv5iv7eHhv4LB3EEgJzHKCdpIOCnVTLk4yeSss3y2yPQ0HKf_esByx1w52Fhisd_aIJTQXfSGdwa1yMyz4LWEjTY3HuwuAE2LNNPRvkeyE2D_f4RIoue8Z7m0kAjzllFAqEid4L-mHnmMzT7YgjL7RTUl05_JNqijZG_VmpKhDsFPbeuq4A3xLdH7TTSQSqoyvp_MphO82EDF2J8SRZwhCJGuc1GF90LY4898p1PviZxWfdQWGMRP0tVVfC6dvuOx14WtmpX0b7VmTaUvOcTO2FE4mhZ3sJw1t7TOt8iB9VK-aHTD7wnvjZYuRZOVDwOGfUqEAUmHC-Eakcv2Xn_PrRFG69ftYEqhwPUXKMhBMNUNQWRvMx7JntiABMTa-SH8MeTIBSB6ARYTlBVPXhS6vLL86NLrn5XXEq8EsL5c2bdCJ0ArakMTqIQQmY63lSJ7s9Fm6mSq-VR3Qy13Qczzh4YR-_CNzEiDYkwTWj77CrOIw6GIxutHSAEmX9y-A-3DAE4MhrSfxI85SmZQURK7a49PMa6TpIDshokcw3Pvb7vcl8_ASBmqp1mAh4Gr7_L-BLeFPoOtBpszD1s_4vxP0B7OWd-OWGn3CUR_XhC3f7Z1NkmBje1_o4ZSALfYvSN2UdJNPEllhZCpfptVfJIamNw5ZpwRwQ44yBR3yvEi3F5JtoviLLhGsHzn9KraAoB--ntOSI1ZiEaD2IxSpFyHvVbBzYV5-AV-wssLgAI0SiKXy43quNAdx7OynmlyuD8C9ege5RJkua9ZgIdmjujTGwpLFBGqs_YmNuVxsY4bfCEJnglGoitoNm3AG10qAthIuG56ev7m41GkFrxOxXsLBHdqSAcPudXlZS3kBNBvNks1G1vtomJwDqXbLIlEy4c0AjaAW_toQ_PaO2ed7x86xZUKOWOjCjsxht1fcPD2ugJU9PSKEP_-Mw2_UYxgtPhyN-KiKYGb2q5KgrgTb6A-V0009UA6DN2wlP61tJ7OQq3EKFYnwiUbdMpCrr9HV9CjBbj6p-8lT-iFGAVBB4jsoe5QP1U9tbXexi7T9jHt1R4FyKYy4eKbtbDL4SywaCwt0T6gGxG-fn4HhX_inyjUsocmhSwflmW_TXFUIx5dhYmWvI0Du-FOdy-R2cBsx04XBnCvmg4RKtmtxpxh_oIprzquWIysma1BjBlYIvJQz9M-cgIG5KuJqycyxnOb-c5FYfOHbNkM0tT7KF9aspI17QIit4Fz_67Rsk784WLcU5s7e7rbGLL1hSsjT-osOFAjjwM_RiBHtyMuueccyefbTJhD4zsuGPGW1p6jDAoOQVOI24IFPA1pZTcmsaOF1TrnwM8oSXzO83HyNMD2X3lV1Xk0j5iEIWVs1rRnGOUnnQesuTJKDPSbRIwps2PmaG2GaUFHXtnF2pAhvgedOzL5Q4Srx6_w4j1lNc3vGANr-LzxUymljTBH-n1PZ9CyEkpK2-ABq0VtZQbdGsJUPv6dIeK16wfXGV3GigceaVL3IXSu1sh1dSzgaaJzRwo3I8yWwauvjOyMaXx9_xE1UplMuIaKFw-TISyeubH7J7Sb59B17BpObhepHcsOKcAmGEXj7RULQ9YYcVm9BBpl10E7eLVpY8HQC9FjXSe8J8lLkOZzONiie42ONMmqtSWRS9gWzBt1bCHpXzxw-3kwo0E9yrvSe4Vfec7pTKYgRE9V9RRIGJRfhSme9kjHYTauZDbHWN4uP78xi-H8iIEvhw-2zffGuAhW8H-74oJj4-BJ7TmNhzVAfIpnQkQMi9a5YllILbfS4ucCX2_IQ1J8IzaE_XrNgClx8QZ0rIK6HiGstDz1lofmGjIr1LzzQwtKlEp1l92KIK9GdKVuWN5WUOHED47A0ho-2_igcVPsqhvWMIghzyYsC0W_x9PldNIOzIweqMHYa4fJIwKJyRt6pfOo8ohozA2TdjjPG9OtqicTuOOSFalrUhPvdX0cWMPtRM8baaFMm8X2uI-WhipMThcgrBl2XyruRT38tbipUlbP-8xrzd79oqk-dhyMaU5NkCCTpc_Duu6Ls0gXShoLCMCcIzKxgG8Y9ikIgj-bY8qTteAj1tApJl8zP2KG7MhcDLbD6bRX0l3Bnx2OEjTAbQ4LOzwGKgP9QKGW5wnZOyja8hGRBm9x1QgzIKTlGVewjsFwajcohB3WPuPz1Nu4e-E_Fjlj7cLKT720yhmN4DKE8JMXbjyI3FY3PLILTqIDrMK1DJMzkOVbR9Uch7EizO5fvepFdNkrPcty8N7ynUkNK49rP83lItdxQtDMAtX8ohiG3tNX-XSgnvfv-rZeCNSXs74wpxcuMAngR9aUnKAD2R74v_DcrpMroI65_tG-ro2k5k8SGPG4GYPzS2FRSMKr0qxSVzLPfdgtjtptCSZpQbswX29xAYmkn48sVplMb0aaxmYljVOhet6Qjc=",
  "id": "rs_0e11210e9970fc1b016ab44d5fa62c87d09d03438598627200",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1lQE3UdzGJ5JylGEJDkS8_T3MUi0XFPpN2v0-ypd1WZ9GN_NvUIz2qkeRlfBEy3rCDd72CeW9GeXPmYycP-O7SjMRmveL544K40aU2ksdusrZ82EyIPDAuFfXCZaZYCwo9Jzz-NmyfDJJjVnj4DscMkMzwDoOShtCtUyd_EiVk_AEPq8W50Fz7gXgBqmpAiGy3Dp7v68S14Kt1KfSdLUQu6Q-d-JeWL9C4oHOgBsf8J5zhtSafNYvlkYGFIibBL8j-KOVIjljSfxnxHw4IN9MO_AWlh602n1RdiNcQK9eRhobB8xwFQwDk-jWoD2ErjL1XWuKUXZ5XQqUa-cAHVdj_NiX8NMtbxwGvK6XVL2ahKG1DxVIbX0ocU82rBMGh2rbVF8ujFC4PzWDLtV1vWvVV2kGmYZQBMpxYStgjePMaR1miBpYkJ0Ze1d_aq_lP_X9H04Lm0LUgLdgW9uten3ZzxZAyZ_pCij1cwucEEJSTIM4Gf0_Yrz07FR4F9b8uMLEPdkkpW2O-5xRywAGCn2k_IGskprLj8my-ZU6TnYX1c_aJ3ci9AuAJZVL7silEoNRMIwnhuXsNtGngqCLhHWSX8gmRM_8g1NQSswAWr4wvRPGMbeuW8omOwVb6_4_WwwNfXQonD35paDZwoii7VypAAIK_7ZUgX600QyW6BsJEsyV8McCjEQOVn_wxWQsfPosqSrv5hsJaTct3SHJjVVo8NMGJY8KVFDzf73Zd3507KR-wWD1KyRDy3yXQkooKow3jz7B-1mkZa8TguBiY8IaufseCuQ4fGprIRaMGuAPD638eNoITuRacq8qC6LE1HD6LuE36JrH90DqiP6wibA91tOL6Rn3syNLCZBDfjS4l614jvCp6IIxAFuNgR3FXfwXxXPp6ZaN_gtLi7z3EtKno-iKodaA_LilhwRjhL6Xma44N_tQDZx2XB5HQ4pea5_kHpqsjULkkZQjrwhD3yKl5W4DWdjdJycLf1UZS9lgi7EBEh4rrssIn87GzH7xp6xtw_2itd3U4AqfnNoS-7d7VlGIjmyKcUctNi8X18O6xvNi9idHAd2ZhVBoZ2fQCmGTEjzBjnWtvvpZM3BdoBZCUWZn_kqc8bi6dNEqqqhFgnbTOWBTujwfCF_9BQD_IdA-iRcrbyaCr6wRJkMf1sFt5q3m5vIIT46paDkTM3abNZgRken9ExncnosCl2PpH37XN",
  "id": "rs_0e11210e9970fc1b016ab44d64da7087d0b3770ae67aaa539e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.11,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The arm stopped near 9 cm high instead of descending, likely because the open safe rim is crowding the right side of the wrist. I’ll ease the grasp point slightly back and left while descending, giving the wrist more clearance from the safe wall.\"}",
  "call_id": "call_uS1sbZdvGalfpo9phQtJXnSP",
  "id": "fc_0e11210e9970fc1b016ab44d64f81487d09285fdcec3700a04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uS1sbZdvGalfpo9phQtJXnSP",
  "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]: [-0.551, 1.6295, 0.6571, -0.1204, -0.4568, -0.4034, 0.9986, -0.0277, 0.8173, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1024 left_z=0.0041 left_yaw=0.0762 left_pitch=-0.3604 left_roll=0.2045 left_gripper=0.9986 right_x=0.2689 right_y=-0.0003 right_z=0.1393 right_yaw=0.0005 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.0274, 5.3538, -0.6911, 0.6325, 0.3248, -0.1392, -0.3214, -1.4838, 7.0769, 1.8242, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f692f886e4275f8f89b869505de63c95a9cb8d12649fcdabb4e061d0e3a63381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e6914e5f8c56092e7d63d22576995f0bef96166a7a6cd534bbb57fa47cbd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a73d47b807a2f85c52a3f6608477dbe0934797fd4e7a17549f926e3db87587d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5392, 1.3441, 0.7773, -0.3859, -0.4381, -0.3641, 0.9954, -0.0277, 0.8101, 0.6018, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.326 left_y=-0.1035 left_z=0.1009 left_yaw=0.0265 left_pitch=-0.2572 left_roll=0.1342 left_gripper=0.9954 right_x=0.2775 right_y=-0.0006 right_z=0.1508 right_yaw=-0.0001 right_pitch=-0.1239 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -6.9265, 8.7043, 1.3944, -0.2027, 0.105, -0.1245, -0.0615, -1.2103, 7.2821, 1.7509, -0.0513, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.4578, 0.873, -0.4267, -0.4385, -0.3759, 0.9985, -0.0277, 0.8135, 0.6018, -0.5232, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.1133 left_z=0.0943 left_yaw=0.0393 left_pitch=-0.3054 left_roll=0.1597 left_gripper=0.9985 right_x=0.274 right_y=-0.0005 right_z=0.1458 right_yaw=0.0004 right_pitch=-0.1498 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5026, 8.7043, 1.37, -0.3053, 0.0024, -0.1734, -0.0479, -1.4427, 7.0359, 1.7705, -0.0855, -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]: [-0.551, 1.6295, 0.6571, -0.1204, -0.4568, -0.4034, 0.9986, -0.0277, 0.8173, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1024 left_z=0.0041 left_yaw=0.0762 left_pitch=-0.3604 left_roll=0.2045 left_gripper=0.9986 right_x=0.2689 right_y=-0.0003 right_z=0.1393 right_yaw=0.0005 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.0274, 5.3538, -0.6911, 0.6325, 0.3248, -0.1392, -0.3214, -1.4838, 7.0769, 1.8242, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f692f886e4275f8f89b869505de63c95a9cb8d12649fcdabb4e061d0e3a63381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e6914e5f8c56092e7d63d22576995f0bef96166a7a6cd534bbb57fa47cbd72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a73d47b807a2f85c52a3f6608477dbe0934797fd4e7a17549f926e3db87587d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1pRK1gmohqDMH7FanmQX8kQJ83toHWXRt3FXlFoPUFUa-3ehWHmcjGCfApC4GoAPV7tRZ5jr6FgibN9b8fW8j7W9g9t6_Gnci5SP_qIFp8h7DjlBmwQCINIzaO-4aOG-_n586tOTVZZzob4_a-LJWvJlRBMTNzaxAVXpzYgP5bJOn5pYLBv2YpmkcWBSXStT8nxxNj-n_uL_Q-PzOTSyMf01xqnG0BVdYO5xLxx2R9eYBozpT_UbY4gRX3Niokvztja01en6bzm7GPT267frT9yAm0htNMdfSb6dEeqN8yT7Pp2CMz7r0le_O3Hyw0F9vKU1IXoL7t6HLAxO1Q55B8fadpfMyVTm8BQPCTxeLCEAoowjWQwnM86ofl45mT7Gy3FlvPr85rEkH9HearUVc5h4IUsOWiEN1SMYQpR439MCENEeAitO8-oChDRQuwljOZykSjv9X8LlJQz71IZ93qFp_F_QJDEBvGo4wr_HafUCOyyI7c_x4ouUAakA_7Z16x8j_WDmIghOQVo23GI57LPTkCWdZWVA1IrA9EuKREaehIrKh2wArOxgjfBpJiYlIVbhHHZXseSDngERgVoq6CuJDarbdyCUMNPcXTfbhY7J9fFQbDyX9ik9cqSnhYniX7eaBURsFHDvHg91lkALsKuB9WO4YXXkdxXgvbrXYZ570Fayw8ST5rl30d-vVNwBYelrkZsx_cke8QFOZkwlxemQKKGGw1FE21HcgF9Bvph-xiyZv4Cmew54vhiY6q4Fq-MO5kf5WY-bB0lRVMjYH58HihX8NZiS3Pz2ujvBFDAEucAj3T0eV8L2imEa2OHoZ_B1N4iUdseXXulQZeusD-e10qiffDE2NpST33kGhBsSRJa20cSO0yBY2QvuVyIRmry9gua_4XGfs4W99Qc150bnjRd_9H6vH5hw1QfDzz6VEU5v7769vK5wxxqQCNz9tg-swdnCFtSbAhJ913qo__vTWDlmIesT1n9poQQe0OJMmTejZjxcxuuH-vy_fPbFxTuwyGx40WYlfFGQjfmWgUs6D-xJEulkTIWz69LUhYWoykCODaOuzyJ0yv1wGO8Uyvs3fvI8MH7O3U0z0Q9XnHjvC6mNsmLUXHkCCV16ts8zFgHafEtNuaMwrP_dRH8_fadhj5RCk7cq3MUq90CAp9pMSJ_UXSC4PvOrMMD68_dOTCrxGXmLKdQVWWf9hDLm-eA642_Is1tvmjzN1dIH45iIEgmQ3KNnPXQSBjId9rxpU=",
  "id": "rs_0e11210e9970fc1b016ab44d678af887d0b8327f95afc27e83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The adjusted path reached table level, and the white plush is now squarely between the jaws with clearance from the safe rim. I’ll close and verify the gripper opening.\"}",
  "call_id": "call_5FmsHHNrplpUe0G5yACSeOto",
  "id": "fc_0e11210e9970fc1b016ab44d67b98887d09ad455e23b7a09f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5FmsHHNrplpUe0G5yACSeOto",
  "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]: [-0.5549, 1.6363, 0.6441, -0.1184, -0.4572, -0.4061, 0.0103, -0.0277, 0.8173, 0.6006, -0.5873, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3175 left_y=-0.1008 left_z=-0.0016 left_yaw=0.0782 left_pitch=-0.3744 left_roll=0.2145 left_gripper=0.0103 right_x=0.2629 right_y=-0.0001 right_z=0.133 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -6.9402, 6.065, 1.0134, -0.2418, 0.0024, 0.7985, -0.3624, -1.0462, 6.9265, 1.8535, -0.0659, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78e84744950559dfe0ec67ed9626af35accf993e68c8512140a677ba3f22f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf18b77b116721b69bafed2742b1ff1f694bb405f58a37388ca92a4e94f558fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bac41c901e7eb54f29e796c6590acab75b7672f6fa68546de1da76e7c909e87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5419, 1.4055, 0.8486, -0.4427, -0.4408, -0.3656, 0.9985, -0.0277, 0.8097, 0.6018, -0.5056, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3324 left_y=-0.108 left_z=0.1006 left_yaw=0.0339 left_pitch=-0.2954 left_roll=0.1615 left_gripper=0.9985 right_x=0.2767 right_y=-0.0005 right_z=0.15 right_yaw=0.0003 right_pitch=-0.1285 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -5.6957, 8.2803, 1.4286, -0.2515, 0.0513, -0.1734, -0.0479, -1.1556, 6.9128, 1.7411, -0.0757, -0.0513, -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]: [-0.551, 1.6295, 0.6571, -0.1204, -0.4568, -0.4034, 0.9986, -0.0277, 0.8173, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1024 left_z=0.0041 left_yaw=0.0762 left_pitch=-0.3604 left_roll=0.2045 left_gripper=0.9986 right_x=0.2689 right_y=-0.0003 right_z=0.1393 right_yaw=0.0005 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.0274, 5.3538, -0.6911, 0.6325, 0.3248, -0.1392, -0.3214, -1.4838, 7.0769, 1.8242, -0.0415, -0.022, -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]: [-0.5549, 1.6363, 0.6441, -0.1184, -0.4572, -0.4061, 0.0103, -0.0277, 0.8173, 0.6006, -0.5873, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3175 left_y=-0.1008 left_z=-0.0016 left_yaw=0.0782 left_pitch=-0.3744 left_roll=0.2145 left_gripper=0.0103 right_x=0.2629 right_y=-0.0001 right_z=0.133 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -6.9402, 6.065, 1.0134, -0.2418, 0.0024, 0.7985, -0.3624, -1.0462, 6.9265, 1.8535, -0.0659, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78e84744950559dfe0ec67ed9626af35accf993e68c8512140a677ba3f22f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf18b77b116721b69bafed2742b1ff1f694bb405f58a37388ca92a4e94f558fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bac41c901e7eb54f29e796c6590acab75b7672f6fa68546de1da76e7c909e87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1yeXJXqjPfRrdLlTX2rQRYlT1GcAh_wsR6hkWMoTPyxrRtDxZYqZgrWAMT8dTtYsI8lLXK2xaUJwDVlhOn99CgUj2vWhGvu1bVI4ExhqHFMlGXW_8v2Btu3cFrBoxsOHhc3po1BVaDvk2r20y6Xvf74_a4Wo8gB8Da8HUYclkyIEm2iY8taLTked4ue8V-tzSvs96agzXyoL-ZJXUYNbh17x7MIdqyzLsKhAkfT56f_VVkSUeQRjGZYR29rwEPDtEeDViJ9zMqrnH3-2KieaGUxQ37BdNxSCq2VQofywNrywsrAn6Xlimlr3KYAwV7-MvOeZELC7Qq6IFMXv4RDRlumr9WdlcHD_ccfT1y1O2F3_HyKF_KwbWz6XABNXrLVsC2sH-SPFIzMgLB8DPCUSB-kcu7j3uXasqe2yl7AiuHT2bc3kXFCbN2J4F6L9g6BoKuo2sYPqe_lcN8YqUgiokbNkSCZ6iqpBFBGfjWbUh-S6g5iJ2yCAfkTFBPErb3qoVdbK0zl1_rGIyQyeEs2NEWSpJdJnG66-4-k0NZtFJrBS3pxia9Pvq4LgfAcTsGvGzoC29V1BSf33HOTK4ZxXZZjaSlROzZk0dZnPLi33X2b5oLEwPARMiRAMGJ5w8jG1_yc_3YKLxQ5SnhdEf3l1qwff2GUl1_r9QilZ0HDo9jhg3Y4By83lf3YEEZYyJq1jdcRB-zexC1GZBNcR6Xh6QRXK1_Li2jOHGIwoiMM-5nwYOvO7yBsb0IVSnzA5I_9A8fHtQC_V-mxC7oaAwSIUqozUKPSb5DmvfOoBWV9tAiNvDq1m79FJq3vLV6tttRoc6_T_0wRqYJ-33PPUmn2WqbdXiP30MUA9qn9rRxWans5rKihHz7xXUxt9tqkIPE7P3ycUO3Uhc9uAcdg69COqE5CxK4E7iT3UL0myZgj21ThkRtpsIsE9MHkEQzwXoHGFby1ih1RKOyuQCJFjc4B0P7VJryrOn998Bc_jRZqTzUsyCvLizJeP9GH699vOFqV811idCiZZraEtpF71e1eWsJ292fKav7WcqBaerqLNrld1iLXu-tXHZx56uJJ83GTic5mFNf57NJ6G5ic1z1FHsj89Xckc50itY3lefvhr0eGad3s8rOLjbCO3yvjZO-0xsWK1UvUQaKrA0muXUo424ceHXKTuOGrDPk3VdkS5NvVDY2KVeFdi09qscybG5Hm03nh_emkTKlhcwcf9DQZoq-4_NaavefgzsvGiYWjax6cozUUhI81JseQa4vFyHbI-14mWgWNGom7PXOT8Z9mQ_vhWIZEEgTzaVx-Pq-ZnSIYERH-6wKbiNr0-7dxj6Yrq36Fi-y834_8qJdeGY18CXyB07HO1M6zaMLkIHd6OWFHWzboDonImFKVR3G_MnkUxkTYNt2L-b81fxVmDpCh7yHycZgYbBaz6ERZoES0Wra7qQ425EMaU5kuSfvBGItEYb2vsZe3or0eBZ9jKy3wsKUO_AhOsE-Cue_d2AGvq1mCI3nRlDtlCyzOXqwVG34-gBVJ1OYW7-UMwPOk0-rCnPeV4fwa5cv7dYSp2OSeMjfQ__mTfexZi1cDCw_N0nebwgdL3lVwc1L5sS_wW6Ve3R01wgYPhLpYdhF-ms919pLi7w81ZXYCue-b6E6jpdtTt3hOlXolHH4-8TEao5_Abdv8grCeaCCMB2rRAmdnsommDe11reWvTMNsIVcRVMw_5yXPe63nv8dU2XOqgGaHkJuRuCYb6Y2v_d0GUmL0XlOp_6TQz-YWIQuEOcHDyvGeWGJDothToIlz5vPDu3yMVC-RmB3NJSPg36b2nWhNV_FyHw-mNGq8YAQ7m9zwXzdy5_VbAoLI7kZKuDK0TVSZp75ELfMm7QbPD-N9qaRJ8hwRbKG1ge3esKlVn_5n9PwM5IYOwoXa5Y1JbmjkAwq7wsb7p0ot5T40K5_pI3yleTwphzsGmSDdg_JqqKotRS_lsv8qTnRi_KHhuf9wWcRsGSBZ9bGtzHv-ZNHVDNKP8kw70bwXP1SoJ8D8Do5Z29DVlZh3ry8JVwA_ZuqvpBprwx76PyNMezJO9HrgI3EVk6v-pNc9wymcz2Ycw3LF9p2qeIBaAYZu91PWZgKaevv63OqfSWkSvFYCbv8Hbr8U3TP_xqNMbeDEHSJbkceJU2U5NHgsvfz8vKUxUrJBTD6inGp6sWkRr9odvfM00RQSyZmSZobo3TRigFl2coey8rFkSvNbU1ZIhfaWpNTaM-RAp8y0tBTx1o5c1AZ9758Vk69PQptC-oSZboZTCy663zkbuYSQU1Z-npnr--tMgedQwijoKOBpf7GtpqE2WRNMWFgVCFJ1cNtR7AdzYvKq-xMSdHilR_QKZB4qlHUOFFsE4SjQGdjpo34UNKI2YyHZPZQhq3ncZg9q1z0B8yj8FKDkWFN0GzR3zvTVkRRwv3DdGZHwcyzcfbQwja9CWCw6SIAK-H_sMLahjBR4MZv3kpvS1nnMxjU_DWUI-vyak5Tp_wOUu38MTNxgr7tzStDFTd9VzFazQyhmIOPr6Ui6s4LeQrPYruW7Pzd-bT8E2kPtukj0VCuotCNQWgxTzpL7Ts4GYO_xhsiZ0AkdgslER4f1WRAsybLrSgKGeynhs8PwDLmdREM-rSA30gy8mLoBmDQIbru6pXzyoP14zo2_E33mMPsZQ305Q0EE8ppyjN-nQ7wxdZVGhpr-pjnUmRZ78Hqh2QOUxzi2A7gdNzOiJYj5gPbYqJMHnOU1HnzXkqVIJgN9iixNWEq1q8tIjdMV_LOGOndWWVIQFeDHwPVcJVTIxiPWGmMtzO9jdhIB3-R5_IdGtPkyfrXmNU1ay6L02rbzeHQnp4lBmGx2-lxZcHaumF2cMzX7VYqxNj6cWg04WRP-jBDWtwv8P-NQ8NjmK-Edj3Ie64Np5vpnZF8djzYMDd4UQMrsOScMNkTcgdu3qsqQMBqXtx9EH3U3rj9Cteokvi9vIwxyQqHfuq8VQ0grUPrfIIcN6Pj5I_6Idgro569JUNXO0w7uzioWYIUm_cLzHtEnRJr9PveWOgoLk2sh0sJGKK8Y_MBIbyFgrEdGQd76iJSe04sV5l4fgKZCpuqKjKZaUdu-4ZZsteYeZE6TMSRys41-FcS1tbBZsLNFtlP4-KgOuP0mzYeoCE3DnXiB2NF6ZzI7vjxpLWm8PXslTEvwTRhIhpgTsj5SEO5j8YGlnc4LR6Jsqhhi167Tr08rc_5_eBgtd8CvGLk27i4f2zCcXCQj5KchU_ZiZWlvXmv_YABfOIiQ0l-pcz9YQnQWXx70n99q8fzX3l9DNSumEVKTHVnGgcvaRLbDwuC5M9-VY6rdbB-9s5c2psXWExR3U99OjpFhMcdPSJCu2mmn9otd9dQW8iuWFZQkrwXN_WahiUMC9wr8M9tC0lh3aUQR9odlokjIDTmkmBhiwRl4HFEKnXNVb32eW8bEviGJIhn73qC90N12AsRGIjGS1xA1IBtJOPEaQSCHoVFHRE5X_G5wvGaRt_yKbqXUo9u-feaoP30ZZmfjPNU27UlcvUCOKpZcQHbkmTTj7q-ApIHWrFjBAhk5RM-s5TxIUT87_hXiE1UTdJrWCV6N4WaBEqwM1RB6izfclrTMl8cAxK2tlStoJh8WgPp7PFTeCSk1g6owsEW49dPdph7Puc27-JDXbZBmUQl1e1LW4IWiZ7BET0FF26m42g3D3tsIrVpVU1DubnQxHyiJ6M4tsGVoakW7exegVFYveUzWPzb4sxz8LMWwGDE6RVwlYKZ21Ayd31xjVQzFll39Nekj1TE8zu_yLrp_DfXaSMQmOElpULM6Sk7rqHuZB4CBl3RPCNxs3j34CACnIkPBB5FjGd2_ycT8Cy948h3lPa-Aa-ocrzzEtFAo70x8ZEfytFXa3f_G8RMtJn4T5DgXvq489kFHXPcfnvenNdgQtjDv6wggAlyhAoZhW0NUzWCWngYSfznrP3vhJ4gVV3YBtTI4U70CwgD9U8=",
  "id": "rs_0e11210e9970fc1b016ab44d6bedfc87d0aa71bc75ed83181f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE1ypuZRwfLWtd2UlD7D1aRqHBNZ8zjiKX92rTln4Omz_KcxmMsMfjLYsXyFnQvmlTYIjSA_CN3Pnpl5BYfNtgub1GpUPdTdExiTofSiiU-wnGrNKDBKYuK74uhhf56MWyEI8ctAFo5NkTdkj9vwbbVVKF_hV5_BYwGWm_L3FRtvFPVVf-m0N2dXDYkln_kOOI7bz0Ve-bKb8aHPrvvPLg2ruLDL24WcF_wK8jwMyYHeg51BH9m-FXOqaIDS-pmW51TMTAsJI_aLHWH-O_7ZkQEThSDSD_SlL_ioUJlc68Rvq_xwiiaZnZ3oWqSWNjbNflQpLbtbDMxS-eed1PXmqKGTsBkanwnjwtuezBM9VpIUVUa46sr2KT547au-DUdmmTA-v0Fknlq8FMFjRdK1vVf46grqPsUVnxB32s1froJ6p-mCHzP5S6O_U3KYQzqvaDFqcBK8Xksvc-1w9PBnZlwhNHUjogI22qRH1ZfpMlc-wL-5bPty-Zk4IOXW8mk7OJG7gyMxYxpFRmYPT9_op-DRhazo7X2WTgA5Mqt3RSa_XuYltlrHtS-M4XZdCu9x3u3aCPXlse3xidQA4ruhAwgN0IEVxVQCXCrD4gTAUdGGlptiPspZ92PeDUlYvQ26e-MVmBRANbrEJQenkwLwCGvwSGk6GCxXA5DYoGw-GE7Qigo2AV1dohNCQOIwCLHRpYbDhO9MEhQUSgYqoiKMwcNeodHTZ6XFlAt3W0jhFPt6aFks1L5unkTNmdvZzEiXm5_V6ZyVL4ZtaJG33tTXQgeo-v_nPcEklftgXqlLU5S5CGW6NyXYRb_fGjdicRpixTaNXrT1I2bc0P-pkVEKlHKgoitrf1u_RdN_1atxy1kBnfIkexkVceLvNZOUUmcSv-kUAhUpsKFwsfQ3DJnqGgK7EO_MoO0sYxMKBh-ex4L-AiYxalME6q2VUHp1wLty_7SdZnL9ExfXDQIN351Zl-nmehQfiP_mYYT0hOxDPnAE8c1c6qh7dN2tiN3-bFbd7flf5JbGIEV5zlrvviiLK-nQtwjl7D6l5-95VwrY7ayqFvPXqC5SIG0YsMSOkhR7gpZxeFOYHbYEiwbvG1W6xlE0ge0DTNnd6Fgw7jGLrxPPqEHLHqotJOZVPmxLbo8bdf3-9-gCOC5U3SIJg5Q-XqFzi8ptkPjEdfLZURKqUdZ5XO8pgc1P1lIRNTW74scTyPipuBMw4FpZ0JElGKFe19fvYqZC8rvf_KrfYDQLtjNIgInJeoAdQwqpmQGamGFTVT_qNOrWfc6w0z8t6jXTLRoX3i2mEFNZ2P8rl9Gk17oGjaU=",
  "id": "rs_0e11210e9970fc1b016ab44d71172087d092586f07344d5de7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.41,\"right_y\":0.22,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The second full close also left the gripper empty because the rounded white plush slipped forward, so I’ll stop repeating that grasp and re-approach it later with a gentler partial close. For now I’ll park the left arm and bring the right arm above the clearly separated yellow object.\"}",
  "call_id": "call_suXakYZVIzMGTdvT77lBhD6p",
  "id": "fc_0e11210e9970fc1b016ab44d71768487d09149f39578da0fcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_suXakYZVIzMGTdvT77lBhD6p",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1844, 1.1263, 0.9516, -0.8505, -0.2771, -0.0929, 0.9974, 0.6403, 1.7416, 1.3186, -0.54, 0.4049, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=-0.0008 left_z=0.1618 left_yaw=0.1057 left_pitch=-0.4061 left_roll=0.213 left_gripper=0.9974 right_x=0.3968 right_y=0.2133 right_z=0.1356 right_yaw=0.0275 right_pitch=-0.2706 right_roll=-0.0306 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -4.2735, 9.3744, 1.3358, -0.1392, 0.1734, -0.0073, -0.0479, -8.7179, 8.759, 1.4237, 0.3101, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c346ccda2dd64fca0c99e6d0410a5088864f12858f17a587a1fc54c59f63c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a000cce6c7e912458c2013d5ee24a70a106ea1b672bb5a3b1d57cf1e88cb4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c81c6f8bae9d78f1db9f634999aef9b72084e908c4751de88439c2b7bdd77e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 40 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.4578, 0.873, -0.4267, -0.4385, -0.3759, 0.9985, -0.0277, 0.8135, 0.6018, -0.5232, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.1133 left_z=0.0943 left_yaw=0.0393 left_pitch=-0.3054 left_roll=0.1597 left_gripper=0.9985 right_x=0.274 right_y=-0.0005 right_z=0.1458 right_yaw=0.0004 right_pitch=-0.1498 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -6.5026, 8.7043, 1.37, -0.3053, 0.0024, -0.1734, -0.0479, -1.4427, 7.0359, 1.7705, -0.0855, -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]: [-0.5549, 1.6363, 0.6441, -0.1184, -0.4572, -0.4061, 0.0103, -0.0277, 0.8173, 0.6006, -0.5873, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3175 left_y=-0.1008 left_z=-0.0016 left_yaw=0.0782 left_pitch=-0.3744 left_roll=0.2145 left_gripper=0.0103 right_x=0.2629 right_y=-0.0001 right_z=0.133 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -6.9402, 6.065, 1.0134, -0.2418, 0.0024, 0.7985, -0.3624, -1.0462, 6.9265, 1.8535, -0.0659, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1844, 1.1263, 0.9516, -0.8505, -0.2771, -0.0929, 0.9974, 0.6403, 1.7416, 1.3186, -0.54, 0.4049, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=-0.0008 left_z=0.1618 left_yaw=0.1057 left_pitch=-0.4061 left_roll=0.213 left_gripper=0.9974 right_x=0.3968 right_y=0.2133 right_z=0.1356 right_yaw=0.0275 right_pitch=-0.2706 right_roll=-0.0306 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -4.2735, 9.3744, 1.3358, -0.1392, 0.1734, -0.0073, -0.0479, -8.7179, 8.759, 1.4237, 0.3101, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c346ccda2dd64fca0c99e6d0410a5088864f12858f17a587a1fc54c59f63c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a000cce6c7e912458c2013d5ee24a70a106ea1b672bb5a3b1d57cf1e88cb4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c81c6f8bae9d78f1db9f634999aef9b72084e908c4751de88439c2b7bdd77e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE13m-IWY3Wl6qpiRL6hXBs6bv71e2XOzjSgEQUNNNIrscVF7QrXojZCQJRQZwoHPneBRMiCzS3U9HLgzKWWt9uH6pwHxz5m-WWzXM5hRjzOH52c9VHJlIAXJNb7-K2zZPrAtcprZbVkEl_HSIEK2PoWDEZaxixdn9V6HtC5sJJ8qm1lJF9jfW9t-sy2TK-shr7edzGmW1aoqmLs-3WTMZLMuMvpfzzEWy6XtXLb9aOLCND_9Lv6N2K0CLE_SW-S_GTJBnO4tmxlc9ZLN6CiXS0eelGTSXDQQkFpNk952BQpDBrVWKMMQSn3SSrxwHhZKOcpL1haRD3ErHjTk7-DjdGkl399HovJF1IUXXHdDkZQ1WNs1iujvnty3ywD_7yoRBUuE9XVl8V4HMKPdnsnfn5DIGSskWxtG9PlzYr1zOLjEILraHqs4-Uo7OcTwt1e2CC6Ti57fB1sSsbAV5d2uRqLVgT_8qZgkO7zl3sMITc-ag_4-ZfjWl2txGu0XwzNbBZqbAA8v2Xgd5ikL70Ozl5zvNxBtuAhqsOW4iORdG7R64D27hcfmJdWTqEl2mwGX9mbNZfH8rOj5hIUK58k1DsvU3XrImj6VuQ6ixcWpsLyAxJI4qnkhov8jjt-dDKO6NHoD9VHf1cdc8BT8D3OWuo05Q0FIbPxFljT4LpXjwuzTR3GqvMuPpx6BbB_QfcZk_v7YjS6ArQ4ktqSJ20RyJR7SKPIPN0lMrF4GqboOya_ICV7ImCHB0UqTsuW8iUeEQQBxJ_AotXkTV02_cgBPgZfictalVArnwtXRlN9ZklOhpELbv1arLIvr5QIyc-4pHmBq3PKKu4XBJVUzlqE9i5sS-J_l4HC0vofco9jR3c97powQPegILr11Ydwalc-DjbzlWebQeeHGWc6Zr154qKbnAyui7m5Z370H_ClYDiHzJ0gFcX1DtemOK4q6fL5EA5TF_CDK6WhCECl58ShJq_-u2U3_AUfcTmMuSUiNdrcA4Nk0tvlE7lRaEDCtRoI4bG65FlcvZDWYDBrdr7dMbvXNzHIpsVfELD8OPt0XOARyG-fMf1oWCmhtEOxFey7XjMvmf6f39ZGZR9xnrVa1Q8rXeJnrTzdPhPpem8BTpq9s6Lp_GF_kAs8Y9HZv0DvvBYz-FLpWvwOziUNG9cXlne9tYCGMEjPO90yTL6HxaQJ3mmzyPPAWfLbHra7IBk0ElU3Z-wGRJiEV9XiVXfzelbEA9Ypecblbs2xiraylD8kpDhHfghDhSGPbaLF4p42BF3WZwujsVtnPzM90dUjZiHqkCLVg-NMhcCb_HQHlGwGZWK37UDqx51Fr5KH5SgfxayE0hzE7rtZrjjmjo95yvvET1WaLZlXWu1Cv6eGRKsxGb2gSY07JZoP4fvRnAx7hG0DHIeDhJQ5y1WNNsZ6E7HXEnHVz8b-X_jkJCpUMiH6UfP9lI3u1r1npC4Fdr_qebYoEz6YBw_ykASLTSrNxHKuwKfRgtKfvaG5V_IaxpzTZi-SJIidWvsjPjJnFoFqODuo",
  "id": "rs_0e11210e9970fc1b016ab44d75ada087d0b4955a384896ac99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.2,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The yellow object is clearly visible near the right jaw column, with ample empty image below it; the safe wall is to its left. I’ll advance 3 cm and shift slightly right so the fingertips arrive over the object without contacting the safe.\"}",
  "call_id": "call_W9cIW5o7sPApfapp3i12rdJL",
  "id": "fc_0e11210e9970fc1b016ab44d764ba887d0b2678b27701736d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W9cIW5o7sPApfapp3i12rdJL",
  "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]: [-0.1829, 1.1286, 0.9562, -0.8722, -0.2661, -0.0868, 0.9977, 0.5793, 1.7763, 1.3533, -0.5701, 0.371, 0.4259, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0016 left_z=0.1598 left_yaw=0.0964 left_pitch=-0.4282 left_roll=0.2127 left_gripper=0.9977 right_x=0.4097 right_y=0.1958 right_z=0.1281 right_yaw=0.0122 right_pitch=-0.3125 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.906, 6.4068, 1.3651, -0.2418, -0.0366, 0.0269, -0.1709, -8.3214, 9.3744, 1.5507, 0.1343, 0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1e7574b73ae4989b5faa9f0d0f393a9a33ae85ac0fbf2d71c90258cecaa662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f71356664ae8cac5c39cd96180699b94c57f8da2b56de7459099ffdfe22172",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342ec2c04bb49537b1ec5f38c6bcb490a6efc0014e38dd3148852aa39cd44e7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 1.6295, 0.6571, -0.1204, -0.4568, -0.4034, 0.9986, -0.0277, 0.8173, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3223 left_y=-0.1024 left_z=0.0041 left_yaw=0.0762 left_pitch=-0.3604 left_roll=0.2045 left_gripper=0.9986 right_x=0.2689 right_y=-0.0003 right_z=0.1393 right_yaw=0.0005 right_pitch=-0.1842 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.0274, 5.3538, -0.6911, 0.6325, 0.3248, -0.1392, -0.3214, -1.4838, 7.0769, 1.8242, -0.0415, -0.022, -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]: [-0.1844, 1.1263, 0.9516, -0.8505, -0.2771, -0.0929, 0.9974, 0.6403, 1.7416, 1.3186, -0.54, 0.4049, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=-0.0008 left_z=0.1618 left_yaw=0.1057 left_pitch=-0.4061 left_roll=0.213 left_gripper=0.9974 right_x=0.3968 right_y=0.2133 right_z=0.1356 right_yaw=0.0275 right_pitch=-0.2706 right_roll=-0.0306 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -4.2735, 9.3744, 1.3358, -0.1392, 0.1734, -0.0073, -0.0479, -8.7179, 8.759, 1.4237, 0.3101, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 1.1286, 0.9562, -0.8722, -0.2661, -0.0868, 0.9977, 0.5793, 1.7763, 1.3533, -0.5701, 0.371, 0.4259, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0016 left_z=0.1598 left_yaw=0.0964 left_pitch=-0.4282 left_roll=0.2127 left_gripper=0.9977 right_x=0.4097 right_y=0.1958 right_z=0.1281 right_yaw=0.0122 right_pitch=-0.3125 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.906, 6.4068, 1.3651, -0.2418, -0.0366, 0.0269, -0.1709, -8.3214, 9.3744, 1.5507, 0.1343, 0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1e7574b73ae4989b5faa9f0d0f393a9a33ae85ac0fbf2d71c90258cecaa662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f71356664ae8cac5c39cd96180699b94c57f8da2b56de7459099ffdfe22172",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342ec2c04bb49537b1ec5f38c6bcb490a6efc0014e38dd3148852aa39cd44e7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE17IhSTTiYJeL8NmbfYm6wXXz0evkqtuda9geLTG83eVo9TIzEN0ZcxwHmJ8TaqtPhv6FKH0POiGIcJcElCUcQgLVhG_69dQXqjfqkLkQsv3o5fIvouKjoC746Hiuxrh8jNSfcn5Msl4OqJ6qIiAnMAKeTPVziirfqvTVaOyTFOcSXC_p6qcmyvK-adkd5vt_4z9obKuFdkoNN82lwn9BeUlWcj7aJExbFDAlBx6Zs1Zpl3y9sEYleqy1QXjaVbaGEzm3TrmQJ8pN4e8zO_tvhGmKlmM8q36mTyIUSSw1Nw4Uf4dVYYr41Cs_H9Keb9FSwi-AeuZNQLTHvQ63keJTSQrUGeQnvyesRlgDApwvwIJl46cxE-j6cYrUagm5wOuPg8g71DpMUBoeeaKs0GlYhQHyu3rY2fx6KjQey-apOSOinUdiJIBut2QFr90B6RAYGOhPzCNMZQMoDVVn8bgWksKsYUEAMddeDI-ZLpZEHJLe-AlmWK4AFmJNmjD5I4Gh1y5kltBODLv40E9J1GgysnFWjB6vrnwkc1r2qDbhBVk0JS1dQvDfQHh5xk1Yz4WmlbFE7prNJ03mzwox1H2TL4NlQNAjzmMROuGwhWw5x-rSYfcCkpaVSRqkc1AFYSg98VEPOAgx-6fu_D_Qt-QnZ_B1cgZXOjMt8qX-vRyuB5jH7SAMvuYwyJyw9JpH4UEFbN11WDYYCMIxK9y2vpmRWvJDVkz1YovPcbl2HmCkyNbP5ynRAhSJGMzXfZ2K8-ekTZ6HlE5dDAr1dWod2rLAkR2e0AT-SSTuwCxqrf9-R3fJK2Fgaw_iXA6P-a7X3lX3y8NQv5-GwAXOCKvtKjsTXCknA6E7F6OR-1QghBFAMUKncPFGQhjMxNeMqxOf1DjRrFC4Fd4RBbCu11lnBPrZElhqJPwaiFQRBnhVSg32vrplHbPm1KdgF2_h8PD2lkoVHUB9BjAVXEvyhgBmu2FHOJVgYSbYFzqYwXUIPJlmydsn9fs59rux_o6lZHvGlMTyi1lQLFQ2WSDmfRIQEViwXRm9mBcam8Td4hNRrkxrs5o7ISgG_4SLh8btDOeLl-_KAs-KBnG_tZT6p42A-g_W2ebQc99RBf0RngS0FVoqY52pzG7CB2S3WQIfCrX4AXpbQv4X7K8pDGmtse4XLPGvA5dCK0g_y0qstIaGUwXQVdWa-Uo16fmjaLRROZvVQblCl9yGQubF2J9R3CdCEtTUoAkzEZtAI9LTHIuYIDz2vUOITURVPZPHPAxGJ0UukZLrDTMTPOvucTbqKOi71WOV32ls5OIJO0It-7Kkvc0UROhKZBoG7hteP4ZvAHLBytnbgStv1yRduF0KIph94dpJ58drgD0oVGwFphbpzD_-pCfMq6RWSIbrTVT4nTteM-h1-zuEFjgyAlzUf697PYLijdWL1BNe3F-g42uq-y2RKh75R_B94v-hZk0mx6ILEwKm0DAQNfK4mLdoYYMekukeEz2GrOrotJjSXEhcH4NLuyTeUYYD8NVd6gYTw4bBa9psYK_A-JVDlCxkXd1hOvmIPPMwvDie3myLbqbGcRAQbJHHH-p132UjQNcPFAax2jsKchUGbbG2hHx8jSf8cVGFHvhk988WsQ1RFo6UEhTXmhGffqkB9xnkWWuBK6bdRZPnd3imKOyzt5nASsLle4D5J5UYURvpiJAokFiZ5NIljgaFmiN57syJ_StS9TxHGO6Wocj0eCIHp5Pux7oebOPH9df1tBilCZESEzsrYQivsLiSGu6SNHUE6Lck_1SvxL-9M-WxfIuYETrwjQiX5Vs4AH1IyufujPT7eXnSuopt6ahNJ5xoTsgG16x7CMNH86wwAxKMCJYU508YH0y6r2AbdZL0zO_eu2owOHLDR50HE-ResW4MH5Zh5rZOIEcpC1llp5oZrYvf1BGY8pwfB-7hL9zP2f3dutrwgk6xOHVpvB8dyv_Ps1g9mc05_IZbqndhmwKvzp0mf3LSw-nSap43zoBze1t1hv4wCbBBDZh4OieOuIIlanJ11vxW9HVi06bMZs6OFxn7rvpXfUx908Cvo5WJY9GnlOYFE1LshBtGW-e5g=",
  "id": "rs_0e11210e9970fc1b016ab44d78a3ac87d0b6ef7f22d4e341a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The yellow object is now centered, but the safe rim is close to the left open finger. I’ll narrow the gripper to about 6 cm while still high, leaving enough clearance around the object and reducing the chance of clipping the rim during descent.\"}",
  "call_id": "call_8Tk4gqdMHGh9vzi1IjJgKwCB",
  "id": "fc_0e11210e9970fc1b016ab44d7a466887d0b7029ab9f82eab24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Tk4gqdMHGh9vzi1IjJgKwCB",
  "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]: [-0.1825, 1.1286, 0.9543, -0.8761, -0.2657, -0.0906, 0.9977, 0.5674, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6541]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4334 left_roll=0.2118 left_gripper=0.9977 right_x=0.4133 right_y=0.1942 right_z=0.1243 right_yaw=0.024 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6541\nstate[joint_eff]: [-0.1162, -2.9333, 6.653, 1.1746, -0.1783, -0.0317, -0.0073, -0.2256, -9.306, 9.0735, 1.5653, 0.2027, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a55ff6599af5a1ac992620a0e63f5a92d6e3c7ca2eb12bf56cae82ec09cea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57374b915d31db7b2c3f532993da2da39c816e747daa48c114c3a04556d2cbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d162ace350052dcbc2b169da515de3488c554fd9b9f019e9a18078512051de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5549, 1.6363, 0.6441, -0.1184, -0.4572, -0.4061, 0.0103, -0.0277, 0.8173, 0.6006, -0.5873, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3175 left_y=-0.1008 left_z=-0.0016 left_yaw=0.0782 left_pitch=-0.3744 left_roll=0.2145 left_gripper=0.0103 right_x=0.2629 right_y=-0.0001 right_z=0.133 right_yaw=0.0007 right_pitch=-0.2189 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -6.9402, 6.065, 1.0134, -0.2418, 0.0024, 0.7985, -0.3624, -1.0462, 6.9265, 1.8535, -0.0659, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 1.1286, 0.9562, -0.8722, -0.2661, -0.0868, 0.9977, 0.5793, 1.7763, 1.3533, -0.5701, 0.371, 0.4259, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0016 left_z=0.1598 left_yaw=0.0964 left_pitch=-0.4282 left_roll=0.2127 left_gripper=0.9977 right_x=0.4097 right_y=0.1958 right_z=0.1281 right_yaw=0.0122 right_pitch=-0.3125 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.906, 6.4068, 1.3651, -0.2418, -0.0366, 0.0269, -0.1709, -8.3214, 9.3744, 1.5507, 0.1343, 0.0464, -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]: [-0.1825, 1.1286, 0.9543, -0.8761, -0.2657, -0.0906, 0.9977, 0.5674, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6541]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4334 left_roll=0.2118 left_gripper=0.9977 right_x=0.4133 right_y=0.1942 right_z=0.1243 right_yaw=0.024 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6541\nstate[joint_eff]: [-0.1162, -2.9333, 6.653, 1.1746, -0.1783, -0.0317, -0.0073, -0.2256, -9.306, 9.0735, 1.5653, 0.2027, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a55ff6599af5a1ac992620a0e63f5a92d6e3c7ca2eb12bf56cae82ec09cea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57374b915d31db7b2c3f532993da2da39c816e747daa48c114c3a04556d2cbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d162ace350052dcbc2b169da515de3488c554fd9b9f019e9a18078512051de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE19mhSMg7d_1j6mKJBzHkYEaYDoylMiPvYv_iCn9BchQpN6MNr-5li8m_vilkK7nUmY-5nROmqwf3SKsIwsa8ot8HPZ7npDRCfWWM3VlTYQoKqDm2UkBI0c0RatXCV_T6-Xt_l-a1HsHYocAzPygZXy0ivMCvx-9zOiY7oEug97OX2EkmsMf8sBCquawl0BQCgpgucUCCeUzG2JFugYxJb3MV20OLDTHVu2Vg1JYAvTOW1oiXNMVWIF0yk6VHU3IwzRgumqe990D5loF8g3R1L17AF00Lx-sFJaAbkC2b64A057DlfI-0sfEB9W3s-5lrcrBke06CE_b3FsQKPucnJ0AiafLD7YBZb6V85Zx7rQR-s5OcTGwVi-FpuClyWamLUuUyezh2mW0XA5dWfeUngT5LR2bqyE0rU-boozQm8EqmCBZM8v1o9HP1URlx2xs8pf_OjK9J5sNl8RrDH2X81xq5W2CQosqYQaNDyQd0hf8D-E97IgsBF_T7lfU_vRVerPOI-b3Ux_C1OzyzSjf7Ja7Sh_1AzNTlzmoxY8mUHoH3e2giB8EtghWtqxOQzn3GnESOTr6XcxiDjSpo7yTR_21jbnvyKRNMb67dgSYQ8v-P76hnZ4edu_cr-aW5-MX7zikMn7nNswAew1w-tLdPrr3noTXHm2aFuVNYfBDyP32cCAdc30W67x-EtLUgLni8YJVhwIdlrBqIdadYnlglRGKZ0HOxJbxi5aiYg7vFm128G-4EpuCwnyRAO7onOERlXm0J8TFFNhRDcdThBX2nPYDnZiamyf-l_AoklSe9PVftJT-v1kfQ61lgAKJaaCKu8MtbvUSscA-o9xjZqOJwjr43aO6sqXje75ZJYqxDyIMCecknGV3YtpNLAYSptXpeF0Hs-JCYATRjPXxlm84Yf6R_4Sd84YaEdUf3ggah3PTwqNvXIpoanvHvp24ObaorlMgjXqmI8Krr-U6Pvpeg6t29z_dlrtsXpjDwhoGB0SZ6rWT1IkZWYEk2Ek4_KrorsO1BP2dNZKTd8gK-fk9Um4XnUZF2u_F6ZvTmg-je94ov-NAFqsDQYQ2fkqxAPA0S0_JHF6Xb3vWIKDq1kg2YthI3yxagOjXEwgADNImKvV33FL_C6rxFuBmJZ5BhUCB73_d31tS3v81u6UnfeNnVmXqbQZrGI8kijXkEnwrJIkdndstKeZkwrrLyX2vplpau9LCSavS5hZBU3LzSL7LwiPO5e1M-qz7rAIU9Fqo_mUEfXlSbrGvTnaqviwUJx8MOlG1pBjl0T19TmImTk0j7NTWSQGVr-ZkaX5nvQPb-W1CsJ_RcovOCUY3NhFTRo9V85O",
  "id": "rs_0e11210e9970fc1b016ab44d7cab4887d0a5fc9c9986faf78b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.2,\"right_z\":0.025,\"right_gripper\":0.65},\"note\":\"With the jaws narrowed, the yellow object remains centered and the near finger now clears the safe rim. I’ll descend to roughly the object’s mid-height for a controlled grasp.\"}",
  "call_id": "call_AyRcad4k5Uk8DF8qNDnSvdbU",
  "id": "fc_0e11210e9970fc1b016ab44d7cf6d087d09b3e92d3befc9a22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AyRcad4k5Uk8DF8qNDnSvdbU",
  "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]: [-0.1825, 1.1286, 0.9543, -0.8764, -0.2657, -0.0906, 0.9977, 0.5671, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6517]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4337 left_roll=0.2119 left_gripper=0.9977 right_x=0.4134 right_y=0.1941 right_z=0.1243 right_yaw=0.0237 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6517\nstate[joint_eff]: [-0.0342, -3.2479, 6.612, 1.1453, -0.149, -0.0513, -0.0073, -0.1436, -9.0188, 8.8821, 1.5165, 0.1392, -0.022, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09fe078ab141117548470c899c5e672547a5b6275de8efe5e22f48dab0ca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ad0823875a36baa7436aa6979f272abe49d248ea81cb8cc6d9926e0c18d515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce937cd832bcc650a67e897f6ddfe441152130d2b8fa72c5720ccf78eb879875",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1844, 1.1263, 0.9516, -0.8505, -0.2771, -0.0929, 0.9974, 0.6403, 1.7416, 1.3186, -0.54, 0.4049, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=-0.0008 left_z=0.1618 left_yaw=0.1057 left_pitch=-0.4061 left_roll=0.213 left_gripper=0.9974 right_x=0.3968 right_y=0.2133 right_z=0.1356 right_yaw=0.0275 right_pitch=-0.2706 right_roll=-0.0306 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -4.2735, 9.3744, 1.3358, -0.1392, 0.1734, -0.0073, -0.0479, -8.7179, 8.759, 1.4237, 0.3101, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1286, 0.9543, -0.8761, -0.2657, -0.0906, 0.9977, 0.5674, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6541]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4334 left_roll=0.2118 left_gripper=0.9977 right_x=0.4133 right_y=0.1942 right_z=0.1243 right_yaw=0.024 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6541\nstate[joint_eff]: [-0.1162, -2.9333, 6.653, 1.1746, -0.1783, -0.0317, -0.0073, -0.2256, -9.306, 9.0735, 1.5653, 0.2027, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1286, 0.9543, -0.8764, -0.2657, -0.0906, 0.9977, 0.5671, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6517]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4337 left_roll=0.2119 left_gripper=0.9977 right_x=0.4134 right_y=0.1941 right_z=0.1243 right_yaw=0.0237 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6517\nstate[joint_eff]: [-0.0342, -3.2479, 6.612, 1.1453, -0.149, -0.0513, -0.0073, -0.1436, -9.0188, 8.8821, 1.5165, 0.1392, -0.022, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09fe078ab141117548470c899c5e672547a5b6275de8efe5e22f48dab0ca6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ad0823875a36baa7436aa6979f272abe49d248ea81cb8cc6d9926e0c18d515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce937cd832bcc650a67e897f6ddfe441152130d2b8fa72c5720ccf78eb879875",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2C-eWmUf7S11n5xv4vvN_K8AYUV8S8zEQc41tF7Wgfcqpm6I314FIp8QrZ2f1Ro53Ew3RlQpCqmyxNN5lnSSSd5mH4i088YO7hwlZz61qUicoS6PxIWOjqMzLh5hYOcQ12MIrRBQyB0YVMh5I_1nSAsAp4sEU-xK9aWtz0E8r_bk-8osXTnfBQY6lZ7HVpRbmx5V-3TZwKlF8w9LBPank5OE0PXMAnDzgtHR2u8bKfJUmJPjx4U54lkn-dPB3WG7Y6v9AjfaIyO7lxulSEFpBAkB0IElYelpuu_h3kxSNMJrHyD0tps8_DUOekyNcNBDB9qD61QRyZht2m4W7uKJVHbKwVDifxGkYchgSY0y6Si8qH1rlcHYH5X2efMisg5qAjsTGO_du0qQq527IG01v8Gl4CS4MrWfl3fQU9AtWL57O-YOLsptHWIj6Tte1_AldwsyA8yJNoFYIayJuhDgWuhIR0RzefFSmFP0PS1doeIbdzZ3F1-zJHgjKZkl5-lW30iuuBrZ7fy3il5-3C35FD1mGrxn8RB-7VFIpUZPvfVUNC-KzEW0HeQTLNiao9LdVC_qcp1M3gTvLjVzuR1Ooup6N1d8gN8vMGyWwhIFrWDOz3M9smPi5uv1ECgIQ-eeHNvdJNtwW-e2Kd6vPtP-hHZXZSPJWbjVpjDG7bkGV3AotqPA4ClgRd_zpckR4qIYVhBEJgriLcJwMawXlJs9jhwdNW7cQO3lWp5SwpvmwDDgddovcN9mQDemRgefphrNzjpV1mmfbaG_YCIr7uBRmqRhIfCpfCogwkr3Y1_DQqCwcxkTDz6CMDji1VNMRBID7wF9csIzswBXt1ikNfImwaYsQrHO59aQCr73sBSg_te8udxM_wzgA6Jzm681TFsAp_lbnXwZbBPFJqyLDNkndcX8GSiC-giFd223XeTnoLghka7CodIRMGrhiAHTibJvdgXduqspBl-acB56YGyR5-oirEwnAJZhmlbCIkGqWgqNUy8QM8bHs_24DYxbnHRYnPIX7gh5E37VwvUMBa01Byny4IkQgXG2dkqvZn8sEnav8HRZcsqJ48Y-ohlWb2tTQRCBKcmNkLQ0mcLXqJMp1vc6b5_dvjjCj0dBUxAk7X5QAZ9NIeJcJkR5Q2ZrQhqEnS45epuA3ls_O3dmZf1WxEwL3qYiLIUTWP8S76G-dKpeRuYB4WFa6t3SulFkvknkDXllJNg_yDEpmAiq6xZwscIVaKaHoUT7Xn6RmsdHN_x-v3a7TvWvNKKRXoSC5pmcfoJmkKtIXejpNIxWKlqSxf-ndQe5axGStWKqpU5PA9Og-SsHCBnwUwDpdeZ9w64fg2b92iQkF4KvK87ZA_ab3xC3YvuGDflPj-oZ4RYCAR1MuAt3iJqSCaOYdJL1QOVvKUqdvwCjNOBylc5CiS1yKeYSNGz9-E-pgOUSb1YiD4VUGSs0cD2EUyIK5Mu9OuuP7om3AmmAwFD2xoi8yK0yptnthHHJIPnFv7-kAwU8Mz_VQuptysC2fr-R7Tz9DImIs4bw1n79Cf6CZsunsBxjuDwZY_4JM22ppkA071jaiU7GD-InwZzr0LbeMQ7_ryDNovs-k428utizAivSc_KsMogtsa2hhwsYeUtscEku_cQNFcdFL3JcBzhOdxpYyFcKo1JEtRxeYTUe0MyhsnLzBPxCWcnLMhAXODNdWR4XXbUcacyO_9sBpQOWMf1M9e2IrGTuBUcHlZdG5OevKzpy542LzdzH_pcIKuXABQgV45XE_1Ktpbkcvxf3BtYLv_KzxSFLnHSvrWshrgII6-9AVVX3pSaLL6FEwMfpaRkUrKpYKPwG8_W6_tpMMTbWAaP2FaOVH2TwIKHoYgx2I12w-mmjtnJWPpoIpAw9C-6Jf01SxtzSTxeXTlteM1x9B1Se0UBCb3G3wAT_Setx6DhC5L91yRaOl9VoBINmUoy_QI0qU=",
  "id": "rs_0e11210e9970fc1b016ab44d805a9c87d089d247076d149f37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.18,\"right_z\":0.02,\"right_gripper\":0.65},\"note\":\"The arm did not descend at all, indicating an awkward IK pose rather than contact. I’ll ease the grasp point slightly back and right while descending, as that should let the elbow reconfigure and still keep the narrowed jaws around the yellow object.\"}",
  "call_id": "call_grAU5Bm3oKUQExHknbbKeFk9",
  "id": "fc_0e11210e9970fc1b016ab44d81da3c87d08d699405f202ebd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_grAU5Bm3oKUQExHknbbKeFk9",
  "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]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5556, 1.8622, 1.0389, -0.2302, 0.3496, 0.3923, 0.6513]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3895 right_y=0.1748 right_z=0.021 right_yaw=0.0135 right_pitch=-0.3748 right_roll=-0.0911 right_gripper=0.6513\nstate[joint_eff]: [-0.0068, -3.4256, 6.8171, 1.1648, -0.2076, -0.0464, -0.0073, -0.3214, -8.1983, 6.1333, 1.4676, 0.1148, -0.0611, 0.1148]\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,$blob:4159cdf2a183e3082e4f5457707e8dfec1085e6a3d2da24335bf73c6dee08546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2de10ac7c0ffb4004f8a665da3f421f5fb28927324f5eddb2c9f4c3131359d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ee52129e458539569e6d5437ca39d94b9baf3dd5c7416d85df97e7837c7edd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1829, 1.1286, 0.9562, -0.8722, -0.2661, -0.0868, 0.9977, 0.5793, 1.7763, 1.3533, -0.5701, 0.371, 0.4259, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0016 left_z=0.1598 left_yaw=0.0964 left_pitch=-0.4282 left_roll=0.2127 left_gripper=0.9977 right_x=0.4097 right_y=0.1958 right_z=0.1281 right_yaw=0.0122 right_pitch=-0.3125 right_roll=-0.0525 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.906, 6.4068, 1.3651, -0.2418, -0.0366, 0.0269, -0.1709, -8.3214, 9.3744, 1.5507, 0.1343, 0.0464, -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]: [-0.1825, 1.1286, 0.9543, -0.8764, -0.2657, -0.0906, 0.9977, 0.5671, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6517]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4337 left_roll=0.2119 left_gripper=0.9977 right_x=0.4134 right_y=0.1941 right_z=0.1243 right_yaw=0.0237 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6517\nstate[joint_eff]: [-0.0342, -3.2479, 6.612, 1.1453, -0.149, -0.0513, -0.0073, -0.1436, -9.0188, 8.8821, 1.5165, 0.1392, -0.022, 0.1636]",
      "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]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5556, 1.8622, 1.0389, -0.2302, 0.3496, 0.3923, 0.6513]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3895 right_y=0.1748 right_z=0.021 right_yaw=0.0135 right_pitch=-0.3748 right_roll=-0.0911 right_gripper=0.6513\nstate[joint_eff]: [-0.0068, -3.4256, 6.8171, 1.1648, -0.2076, -0.0464, -0.0073, -0.3214, -8.1983, 6.1333, 1.4676, 0.1148, -0.0611, 0.1148]\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,$blob:4159cdf2a183e3082e4f5457707e8dfec1085e6a3d2da24335bf73c6dee08546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2de10ac7c0ffb4004f8a665da3f421f5fb28927324f5eddb2c9f4c3131359d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ee52129e458539569e6d5437ca39d94b9baf3dd5c7416d85df97e7837c7edd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2Gm4105VxIMi-Sa6BzsV6Rnnz3klPYHFK_iwbKW5QYVOk-_1oVJiAdxwwAbmLFfVPM-h8XSsdYhQM9GEgyWyPkoRa4vaHYKKP_1__JmHec17DcdRSUCnt4q7tpDzsChsYE0bpk8ytItUhJFo2-lvmew0gHubbK4lP-AKvYq-x24rqIbfwPhwyJ5rFMqj93UDI2F1g8gModNYxfNibrxTUQ7PPaS6dq4v_ld40Wpw3jZS1ZYEfSKh4T6k_WnviiLMP1aMCvX65RHf9AuCtNBByfv7EmLk0I0EPqe-PfL-zOLSOkzZVhB0H0j1FBBP-8Vf_zPQBWl1qQDtU9AsfY9gUlr3RoYf8avwSwOChbBOQ3XE97cWYAO7XalPaQxmUn3X3FOOxwvmXcCFo3SwWt2-ZXHt0EoGS93UDwa2UfjFw2LedlaQ035gc4RKs0bJFimvx14cPJJF2Yho87vD9TsXIG2j1Y9sQWgAqPGrOIqqEDrfUZCn-SH-Ynk_UUINUZpenDk6SmpSWSTvKxIp7Os-LzawKPLUotGUm8DwG0PisWZopp3NHsTPhfeNupqO21CADEwqt3u4tH1wQQS4Q0C0ZJOgFuTj2QUmXFnwxzsHC5gyVJcrKTVplOJZ4WkfM9_hjDbLYT6Mlk5H8i1_ZHfzhLjufu_3ECWoCi4_TH3rQ3GeAWLnQfX8I-B6T87txufyi8OQ0V3mITm74gcOmTCCAiyn133pWoECM0PZ0WL2PusCmjHv6XqFWvhVSSgoxR3HSJjpNKMCIDZnxvJ_OT3ELplNHI4dxerk8Ll19ddI2eLu0B_LPy8FErG-CmshvCcXp3vEBWFCtQpPm2Dd5V6ClnsEoSZ0vlNxIH3c3SjXxzE-1u3PdBYxGODx3aaD6a_2GCrWykRyBhwLMD71lD2OcC7DGAzwEbknbRjuqWUUA92yBZE7XCpyKqhSiGQfRbbeFA1vg_s_rP9nbSTqdC-sSYw_e0RLo3K1uYMd3KgXrq1U8Q9tGd7LBZC5ihMrw7iC-a4u_jcmqHGbPS9Ut2X5bJum6z20klGyUy6KrP92cfdzoNhVIer_Xd25ESxmQXxTIls5QHLUlF5dW1nY3_5nmo9sUIZCJ5ZaeLhToGuLfPmhflqBYiuhkDuLXGKeMly-bE5RzFn_8oceA4yKnRSBsCVHTQzKerCdpGppSnR5HCBE5lw1u4VggIS7dGYKhRLJ0G3-sF6NtBZ2ZYqsLrth9E-ldM7eRoxK3Z9SyRieBn21oEKuS7Xy6yx_K-MBRr_3x1mFuQE9Mq6Ajpj-nl58tQHD3fnboxZptO0OTGz5i-u_443Cr-L3SAh145uSieoxDf9s0oxEMSK92KlYh2dhfDtbnWOfQUHMXgxdsk9y0UMh8BHGNzDTvJHf_2TrQTqyYwy-BLS496mJcAHAClcfDXic8PKwkIh-l-WhGPQPoe9IespNype1Oov3RjpanBIHaKlbcGKvWRjqxkOxP54ygg0DT2D3VhYkbRPcAAfL6HuFioFWKw30kdrgaKFf5c1rUXp3HlniZUNqp_9yCt5s9uglSgakCiS99WwDZ0gRzq4gvQ0sICdOCj3AJ1oAKuqPyivHGdkjy4Et8GgCKAUAUi6HbDecqjkp5gxAbmqVV8oeHeTpNrQ5JBRsCYjRWYfT0AD_fl_dfzins1QyxUOIGkMjZeLyrvfQXqE709B0JmUZsB088WPQhfkglMC-lyR1GL-WKpu8gZy1H_r4pssaqvQYpsG-Wulawciz0q79FotWuO94cLVa2b-g2VAoUccNO05bQ1P0CQYvlMDBE5WWzF6Q==",
  "id": "rs_0e11210e9970fc1b016ab44d84836487d0bc76e8fa63963eff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The adjusted descent reached 2 cm above the table, and the yellow object is now directly at the grasp point and out of the wrist camera as expected. I’ll close only to about 3 cm jaw spacing to hold the rounded object without squeezing it out.\"}",
  "call_id": "call_gco0sGO75Nb2Gz5bjzbIdIAD",
  "id": "fc_0e11210e9970fc1b016ab44d85c91087d0b08135a186962247",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gco0sGO75Nb2Gz5bjzbIdIAD",
  "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]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5549, 1.8851, 1.0187, -0.2283, 0.3439, 0.3923, 0.3042]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3816 right_y=0.1707 right_z=0.0053 right_yaw=0.0084 right_pitch=-0.4126 right_roll=-0.1095 right_gripper=0.3042\nstate[joint_eff]: [-0.0752, -3.0974, 6.5026, 1.16, -0.1929, -0.0708, -0.0073, -0.0342, -10.9333, 7.1043, 1.199, 0.2515, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b852e79074d3746d70ffc917cf420ef17ebda817a9bd55ce9ca6e193bf299da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2785a56178680d36af01875da523457607d4486011b058be80f95d01b89f9f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba4d9fa7367eefce486cdb6b7fec92447d9e5b433830794f60deed51ec798d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1286, 0.9543, -0.8761, -0.2657, -0.0906, 0.9977, 0.5674, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6541]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4334 left_roll=0.2118 left_gripper=0.9977 right_x=0.4133 right_y=0.1942 right_z=0.1243 right_yaw=0.024 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6541\nstate[joint_eff]: [-0.1162, -2.9333, 6.653, 1.1746, -0.1783, -0.0317, -0.0073, -0.2256, -9.306, 9.0735, 1.5653, 0.2027, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5556, 1.8622, 1.0389, -0.2302, 0.3496, 0.3923, 0.6513]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3895 right_y=0.1748 right_z=0.021 right_yaw=0.0135 right_pitch=-0.3748 right_roll=-0.0911 right_gripper=0.6513\nstate[joint_eff]: [-0.0068, -3.4256, 6.8171, 1.1648, -0.2076, -0.0464, -0.0073, -0.3214, -8.1983, 6.1333, 1.4676, 0.1148, -0.0611, 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]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5549, 1.8851, 1.0187, -0.2283, 0.3439, 0.3923, 0.3042]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3816 right_y=0.1707 right_z=0.0053 right_yaw=0.0084 right_pitch=-0.4126 right_roll=-0.1095 right_gripper=0.3042\nstate[joint_eff]: [-0.0752, -3.0974, 6.5026, 1.16, -0.1929, -0.0708, -0.0073, -0.0342, -10.9333, 7.1043, 1.199, 0.2515, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b852e79074d3746d70ffc917cf420ef17ebda817a9bd55ce9ca6e193bf299da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2785a56178680d36af01875da523457607d4486011b058be80f95d01b89f9f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba4d9fa7367eefce486cdb6b7fec92447d9e5b433830794f60deed51ec798d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2L1DMWmsI8_YQ3kVT46GnL4yWAA_7OxumlTj4bjTb0ssy77-GlPt6RqhbWmy0z622yG8bqUuKA7rUkQQcowczl6RJRZCjDwRVd4vWcTOIpvubMljvDB-GI5TJIPP5YwSk9sR9pNDLYqgofFkHOSgjaoAujgejEhc6gRazt7T9UnXENKoWh0p9M51Lo3xD_WU_Ohz6j79FPiGXifv2EYRiVIZH166sP-ckPEJcjU2uLjKsnLj6ZBSW2ixo-DKKUIDNmB23r4op7Hqny1dvwAssXFHbyNEs54Wve71v3L2REXGoFOb7RirWigBWssO8Sprp_1EVNrli_1kQUEQSnBCsMwUKvk3NLq9WPih0QziVBVMFP-DUqkg0CouEqYIW3DdIpB6KcKFc3ahW1tVKxt-ErhUmYgnV0mqzh2p82SgcCRaE3mmU87xV519GT2IjcSQ5B3sheH7NZtwp-G3PCKLGGr7f8SASlHu4CA-wM4umLTg-kSvgtw5YP2NnK0izXs4aDeIwWvUS5ng_0AAUFC23BpcBnrOogVC9K_FnFlzslR6VrKD_U4eEIFkJfR9TwRB2PdX1Z3QO2Wk5UJUkq0xcrI69FcaujHXz4cfLe6eqVvcD3Rgsr5o-yZ9-wxEfhfQEg10Hu1GFbywBzdWhM2U_o5--247wDZKScTaIRFcRIFYyaTvJC8ntHA0SiJDH5D7vvPyvEBe_7auGbxe_vbppj9PxYLnrH4KBn1MtLrZ-1iLbMmsVdqtyavUR2hqHOztFwkxLDp7BWyQloNdI_yHoxk2Z4oePwG2TaZ_9qHyXP4VGdI37DubmlDa-gl4-Jhx29nUGT5LrgNyc72YTrQHx2NdYatWIsR7kqhHJkpgPy_-SydG58y_4UOHlMVxMxoYyD5sLLztlzHKrHtp65NDhqmBobX-mXiDWA1W8nZdAwKC6Kgt-eaL3ETAjBE2ulwGfV7sD0lp4xBLrAZ6jSEBsWY_9gHUE2uaVFQOjH1iwYz_r7ZdwrxkCKxA5iIgrFDwFeDk6mZAjEmB2UMHXYFZ1EHcV-H1mlRJ5KUkT8D5pmlYFZz90XoxBFaaSGQmPLrICXjj50yvt0H6pGqLwvRy5wigPjB5Of63Me9goi1Rpl-F7BC7KfS5gZWI-y_0QFqF8Lf9QKnr9M8I4bL10IIYrCrSHmhogGroaqnAJuVgz3rouXIFQN81n3fJ4O5u0HtLioe9iGOxsRO9XKntzjdMcmjqrvoHyiAargrDuWfliaZaWFf7qBnfOOXPryAu1xLPzeo5fbgZ-JsvICIQQ4KcHHFmlN-oiIiQBGzUHvVBr7fRYgFMAXgKu83msUBlcgMN3poAPl51xYgDT6NwJVJcp0U9pgn5XKbbuV7ui4uEevv0tcGhmY_OwpFu2vlpQhqT34xVGMBjS3ZH26QCkLcGuXIScFaibG2ggxmu3_qPzhPcCh_ZD0tDbjmkad6ECZuK55eTmSvdWc2kkf7jgPEdHqCmg58jjLOEv6o7GKMnD5_fVXTRQvM_FaU5LboPylVwmO1Vbk9e07fXrC4_-60dN1szGsjV5aQBDGPC6-MxEmn23vnHxsP4u_R3_aAlynGw0hrZsBkULHTOxEi8NAttYE45OHcr1vvE8ZqaOWYMN3na_RuC7k7wWzZMxnGW_A_AJo_HB6aKo6woSnFTbAge_uOYiwbF9U2J-nMMHQlv3gNZPAq1TaUBl-VZkF3WrT8k6Wg-tqUE97-qA1kD0gx4exUa866cvbBNFKShIB0Mz4migDame2DiazXk2UJFGC9t9YqPk5P3P1UwCoVvhmQIqa2zKlDV-1kOMoyq7sae71epPYMBjPDVI5BBQKl6ZxjStu6QGsn_x5_HL3rvj_3gjHuf7e7vJEVdI2qlI6iYdF5SxJuJjQoGAEU96SsQ3VdpSyUPLdCoTUkB_TrXP13aB3sN82aOZo3eEIjfhv9mxQZ07UdFgKSeag4Hx-cvBfNCy-xpw6t4q1JS_jxMiW8Ppfj8mnK9hwHWuyAAwh8DSFWxzzWMr9RJF8EBJWLytUMIZv3RWjyOSvTFBfh28mVT4rEVnsQA5NArAPKAsCr_lZXc0TwmXSI_s50zKQn9s_X9vzUs-diaPySN2XoX0SmtHeL76T6-5z-NH-AbWECs0d5NI=",
  "id": "rs_0e11210e9970fc1b016ab44d88f79887d0b5b251df43a02d8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.19,\"right_z\":0.03,\"right_gripper\":0.65},\"note\":\"The overhead view shows the yellow object still a few centimetres forward of the wrist, so the partial close was short of it rather than a grasp. Now that the arm is low and reconfigured, I’ll reopen and advance roughly 3 cm at this height to bring the fingertips around it.\"}",
  "call_id": "call_NDiFPFCE8HqmjbAmMSDJj1sJ",
  "id": "fc_0e11210e9970fc1b016ab44d8ac5c087d080cf7c933b921d1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NDiFPFCE8HqmjbAmMSDJj1sJ",
  "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]: [-0.1825, 1.1328, 0.9543, -0.8841, -0.2657, -0.0906, 0.9978, 0.5541, 1.9484, 1.203, -0.3542, 0.3374, 0.384, 0.6456]\nstate[eef_state]: left_x=0.2813 left_y=-0.0011 left_z=0.1566 left_yaw=0.101 left_pitch=-0.4451 left_roll=0.2156 left_gripper=0.9978 right_x=0.4077 right_y=0.1877 right_z=0.0245 right_yaw=0.0167 right_pitch=-0.4204 right_roll=-0.1119 right_gripper=0.6456\nstate[joint_eff]: [-0.0479, -3.4667, 6.4889, 1.1551, -0.1343, -0.0611, -0.0073, -0.5538, -9.0735, 7.1726, 1.0672, 0.188, 0.0415, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07facc6c310ffcbf3717ffa1bbade5aa1845134f5c19418c4b3640ed30185049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1096012d0f8649f27ebf6a39010571c052f9a87a458b71398a3cef31a7be388f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7281ee9a9118a15870c457524c0b87e9fadd055b9bf3da3111de157099a328c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1286, 0.9543, -0.8764, -0.2657, -0.0906, 0.9977, 0.5671, 1.792, 1.3636, -0.5716, 0.3584, 0.4, 0.6517]\nstate[eef_state]: left_x=0.2827 left_y=-0.0014 left_z=0.1586 left_yaw=0.0994 left_pitch=-0.4337 left_roll=0.2119 left_gripper=0.9977 right_x=0.4134 right_y=0.1941 right_z=0.1243 right_yaw=0.0237 right_pitch=-0.3248 right_roll=-0.0638 right_gripper=0.6517\nstate[joint_eff]: [-0.0342, -3.2479, 6.612, 1.1453, -0.149, -0.0513, -0.0073, -0.1436, -9.0188, 8.8821, 1.5165, 0.1392, -0.022, 0.1636]",
      "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]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5549, 1.8851, 1.0187, -0.2283, 0.3439, 0.3923, 0.3042]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3816 right_y=0.1707 right_z=0.0053 right_yaw=0.0084 right_pitch=-0.4126 right_roll=-0.1095 right_gripper=0.3042\nstate[joint_eff]: [-0.0752, -3.0974, 6.5026, 1.16, -0.1929, -0.0708, -0.0073, -0.0342, -10.9333, 7.1043, 1.199, 0.2515, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1328, 0.9543, -0.8841, -0.2657, -0.0906, 0.9978, 0.5541, 1.9484, 1.203, -0.3542, 0.3374, 0.384, 0.6456]\nstate[eef_state]: left_x=0.2813 left_y=-0.0011 left_z=0.1566 left_yaw=0.101 left_pitch=-0.4451 left_roll=0.2156 left_gripper=0.9978 right_x=0.4077 right_y=0.1877 right_z=0.0245 right_yaw=0.0167 right_pitch=-0.4204 right_roll=-0.1119 right_gripper=0.6456\nstate[joint_eff]: [-0.0479, -3.4667, 6.4889, 1.1551, -0.1343, -0.0611, -0.0073, -0.5538, -9.0735, 7.1726, 1.0672, 0.188, 0.0415, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07facc6c310ffcbf3717ffa1bbade5aa1845134f5c19418c4b3640ed30185049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1096012d0f8649f27ebf6a39010571c052f9a87a458b71398a3cef31a7be388f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7281ee9a9118a15870c457524c0b87e9fadd055b9bf3da3111de157099a328c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2QaaFyniomrv-kRQnPDd19KhRc5i7LBlhN_HfmTh35EkXEzyP0pws1XbamfGtlgUDtBhcpBW0nrYVE4nuoBaIJ2DGeYXR5sC8OUh1HOuZ-CExgmJusMxjqycN5Z2zPBBc8JutKYHZZXxq-U1UbGcuTiZ4OzDXUm8POZhp4oYBQRbX_mrqNllJwb-2hYa1Yu8EXBnA7bBCl4S8hMK1YDqTwaPnQ_tAfNflweJ7dGlI6S9_elrtSVEv1DQX8JtpWZK6TzCfjDCw_qMMGypdHzUQRaTb2w2sUZddk8df5CEmedawveZTQt9jK9aB4YjAPKR-umpmvx5O5ZoZZMu9_NIJnuxXpUB3NH7QtTwo4lUnLxYxQ_72UsEfIPoO40mQPI9avD_rczQd_PSzBCgIxW_WJfWyxD0Hli58I04Tb4cI-BGJlVjhoXNtoqKkWCww9l52flIJwcSWoyKxQbO-iPJYyGgebnNfoMEIMgsvWoG2BsrdkP1R_LHmKt3bSAu1cUyFi8ev3CT2rWmCoRkzDyA3HR1lOTfbfNbYEUIL59XmrYHViqdoeRd50MAdDfDDRS-mi0HuEYRqPUNyQoT2cuOW3acYDRKPCRENmKhrFz07LN_m_VuOpHBf2XezcwIV1lfSbrC5BmxGgTtqZcIRHd2q8BsW02k0LPhlyTmOv6Jg9sB0LJx42OdxIKoCpD-1IAhtHd8wzVAb_Ni9JYlF1us2vqSlmd5d5IbUjVWIFNt90IKB0grSUWzlpdZo8DwHKuEONq_H5EBlsL-dgYzgIPU9VhAMHMwT1zh3x5AAcPh2KQX2Dob9prJMR4CPi74injf-pJ7a3RJPzmO1h3_L97gccEpIgPqYNoGescxDHmJ8WBnHz7DgNLIt1TrJy4jH5fmlczbuSQtGIuhZTnop7hhQOP0mEjBnul4Z1D7ixljN6sgz8vl6W2SvN3Yb9ufEBFf4q7udr-GfdrTpIdFh4Q0B4_mgSuhPQmCvWl6OsobM0hGGDSd6DECt9tpcoIZsj9MzrEqqEXuFi-8WQkDRnZL8fRRmyW1qj7H2XKJEfBr39uqiVk7BK5WLzKYTYOLzRwjZKdm0Rlqoib_4AHkeWHSKUN3639ljXFVgko9jbpUUo2nSDAZE1qBqaf7uzbht-d2xqr1Xw4DLQEqcdMYQgIO9c53zMJtCmVrF7rPOICwfoc3M9AkuD7AGBabyyaxEI09wuiPD_WIhs_cGJwAmMEjcvM8Fe0NP2CW5iTm3ZtC1lgdL2MtyoN7eOs6wEERWpGHQOI02K6Maph7XOSkpsECh7o01v_ydYbHuU1EDdhQlN2S7FjjsTWw0wiVimkApNge-_eIoNAu2w9s-ize8njP-pYCrcCqm0tuRHrZrWtg57OFRl_J-L2pCe-xyIcrMKdloly3uuhB6KkGeRkK9rrlg1Iw9MH1bEndrze8PbydCu2K93xfpJUgqKnBX7eiPsLWYb5AmKA3fTVJ0Icot0w_Y-O9nBUQAdZNAKim0Pt7HTAEdC-ad7AaigcOFVLYt8rhjz_zEZY_t8V1zS4AmxOU5cBwZHyzy0osd81H6lHyCavoc=",
  "id": "rs_0e11210e9970fc1b016ab44d8ea47c87d0a4f682ff5508be57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.19,\"right_z\":0.025,\"right_gripper\":0.65},\"note\":\"The yellow object is now just entering the top of the wrist view between the narrowed jaws, and the overhead view shows the fingers nearly around it. I’ll advance the final 1–2 cm without changing height.\"}",
  "call_id": "call_8sxpAfIZYhcUPREff9BBHGK7",
  "id": "fc_0e11210e9970fc1b016ab44d8f676887d0b6eccda8e8e373b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8sxpAfIZYhcUPREff9BBHGK7",
  "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]: [-0.1825, 1.1328, 0.9543, -0.8848, -0.2657, -0.0906, 0.9978, 0.5472, 1.9736, 1.2461, -0.3885, 0.3271, 0.3733, 0.6488]\nstate[eef_state]: left_x=0.2811 left_y=-0.0011 left_z=0.1565 left_yaw=0.1011 left_pitch=-0.4458 left_roll=0.2158 left_gripper=0.9978 right_x=0.4124 right_y=0.189 right_z=0.0237 right_yaw=0.0207 right_pitch=-0.4399 right_roll=-0.1185 right_gripper=0.6488\nstate[joint_eff]: [-0.0342, -3.2889, 6.6667, 1.1258, -0.2076, -0.0562, -0.0171, -0.9368, -8.8, 8.253, 1.2625, 0.1832, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c207d7e3f85af7c6ff54adc111f91189f2231b7b7eb7d0e63485bf1f0e8008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b724e775ee5df13e2094d5c7ca21bc72605d7b7a373cb18058ad6634caf8295d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e8bb4042897797611371005b6b63c2be3a259e6998c17983541d818f6be836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5556, 1.8622, 1.0389, -0.2302, 0.3496, 0.3923, 0.6513]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3895 right_y=0.1748 right_z=0.021 right_yaw=0.0135 right_pitch=-0.3748 right_roll=-0.0911 right_gripper=0.6513\nstate[joint_eff]: [-0.0068, -3.4256, 6.8171, 1.1648, -0.2076, -0.0464, -0.0073, -0.3214, -8.1983, 6.1333, 1.4676, 0.1148, -0.0611, 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]: [-0.1825, 1.1328, 0.9543, -0.8841, -0.2657, -0.0906, 0.9978, 0.5541, 1.9484, 1.203, -0.3542, 0.3374, 0.384, 0.6456]\nstate[eef_state]: left_x=0.2813 left_y=-0.0011 left_z=0.1566 left_yaw=0.101 left_pitch=-0.4451 left_roll=0.2156 left_gripper=0.9978 right_x=0.4077 right_y=0.1877 right_z=0.0245 right_yaw=0.0167 right_pitch=-0.4204 right_roll=-0.1119 right_gripper=0.6456\nstate[joint_eff]: [-0.0479, -3.4667, 6.4889, 1.1551, -0.1343, -0.0611, -0.0073, -0.5538, -9.0735, 7.1726, 1.0672, 0.188, 0.0415, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1328, 0.9543, -0.8848, -0.2657, -0.0906, 0.9978, 0.5472, 1.9736, 1.2461, -0.3885, 0.3271, 0.3733, 0.6488]\nstate[eef_state]: left_x=0.2811 left_y=-0.0011 left_z=0.1565 left_yaw=0.1011 left_pitch=-0.4458 left_roll=0.2158 left_gripper=0.9978 right_x=0.4124 right_y=0.189 right_z=0.0237 right_yaw=0.0207 right_pitch=-0.4399 right_roll=-0.1185 right_gripper=0.6488\nstate[joint_eff]: [-0.0342, -3.2889, 6.6667, 1.1258, -0.2076, -0.0562, -0.0171, -0.9368, -8.8, 8.253, 1.2625, 0.1832, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c207d7e3f85af7c6ff54adc111f91189f2231b7b7eb7d0e63485bf1f0e8008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b724e775ee5df13e2094d5c7ca21bc72605d7b7a373cb18058ad6634caf8295d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e8bb4042897797611371005b6b63c2be3a259e6998c17983541d818f6be836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2UzHGIfKOMBnGDRIQDRLvmfXRSI-jGvfMFkHYlg5Q-pNEXOi5xGOSPnX7J9Bo2O9TPTOOmBOoBd_lJaFWb7eN4jVeKtsznqKSeAyOlpbTsa4iddqkwXysBqrwhR61Tqb2bS-6biWfGc-Z02Urvq3T1h4mhSoQUH5OBoETTSBsAbJqAPAWViJRpz68BDCHngKFIpoMV5ZsE-Iyi3BOD9-Jk5T7OnEKntelsNjpUA1Jng9nc3hd6Mc317i1uPgAKF54GYnTwufxQYP0RskdeRShn2CZ6JBqfIrrFY_lCJmnDqpYO0Skf9iX87Yx0JDV2kQqWUpfIjA6VNenvt9YOSNkoD7X_qAoVODeKBECX5qMBfCcCpjkhAOmFxNEZSsKlfrwMMOD_sT7OXitAr8mapYMJ0Btwu7cOG4blqHdt0flGeMdKHE6JZK1ZBI5ayvCUjOXSNQbpnYZXLIITdFHebxFg4AzUHsgJ1m2Yi-0CDH-wk2DRxDswRbwK4f41P2HN_3J0dEbCsA_5FAes2x9TlqnFfGDWFfHnA-EVPb14ZNrG7i2BvfDD-H7tC5UE6JTL9BNvfQrBysUsLBo8OHu8iTyrrRISK4g85qLi3z0xnK9B9oj_0u8qQ15b1E7zn7PjlWRI-zjLxZRDcxCRA6zDUZeR5mkQXA6JHrwWWgsWigEwqW78MKRENxtJjMBhjc7jjOkLSBzfJvMbF4SXavfvsHnuso2AoBe-oLe5Ws-8kgnZBOJtXfspe3RNZ4H3_vgKcWHotcNqR20Q7YusdMZwdEne3q4-_L67oCSLrLcEft7y7UVUC1I7EyJh049vYG1sursmlT6aRUagzSF-4S4rLpHN9xnpgIiLlCp8obzz-j7DU2azrgOMgfi9GQRyMOMRu8FOYfw-c-3fCvprdmifTrGNsgHjNE1hce05eAIeilsOJrrIvxPYOlxy9rc-zzoiqGWLheeNiiMOm2H6Ra51X0hx9IVL_TEMcJrGCb6JjnZoceXeLGxum65v0reo-r7wKsPkAsxeucBIl9-ZF8zkVOlKc0F3LQF64RnYQtjo7tmyD_pvQusQGC33AuvAzuvugfDzPscd9L2z2N9n3bY0E7XyqIEzZG-wwKPI11X3dzFrLCJN8ChOGgLudiQpfC7FYFwxGTKuGlau8xVj8J3Cw6ff3rE6lKe9vBDPXAyblrGPchdWtFZvedHlANDvKEOfsWT0GqQAFoa1wjpKdzbbv_KIYck0iLzFwQ9wME5gPaqmZijntIR7ZpE2r8YQeqy9kZpNEKUjcHXWByUtO1_qbXsWDW6bE-knAbf6MyJLMVCw50T9z61_A6rsA1I2ZExHl4cymASfHUXYBKFVazWX0bx1eK695j19HlUwEweP-e22HmDRCgnlrrtJdvRREiWjXK_JWRNwYYQoGnHMqZ2kmFxHp7W0UoKioniQd3uepd2IIIgyqBoOOKMVhCHb4vyPuAAO_1diALWGnJkWxFVoKiEmYuTcpxnemDI9VGzegUYTq-pH9ZJUzYVYAEc3cU_fAF-Wm4cUPaZBRRvRZdxDid3LPdhWSl6yBwWMXV51FPH65BXKpx7RJzojF7RvmQwILhT0ir0xKlspCrjJYZDe1_hSjpghLUUQk9yqjLoS_g8FDkbod0K71m1f3WCQruyucSjuhKDAw5PlW-gXvUdXK25F5N9kQqOkYZIimRZ6Zn_qMtHcIiyqMY1HFLnb6gmhPSDQLUgYNT9YI_7XmFMgkZT-q10KW_JsizHxaX1gMcJ1Q8AFrc_1MN3Cm4Eomrbzlewl",
  "id": "rs_0e11210e9970fc1b016ab44d92192487d0b2f72359394c457e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.19,\"right_z\":0.025,\"right_gripper\":0.65},\"note\":\"At table height the wrist view makes the remaining gap clear: the yellow object is centered but still several centimetres beyond the fingertips. I’ll make a larger 4 cm radial advance, staying low and keeping the safe rim to the left.\"}",
  "call_id": "call_eUG8wDUYDZbila6tetwHgPNh",
  "id": "fc_0e11210e9970fc1b016ab44d935c1087d098c99b774fd0285f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eUG8wDUYDZbila6tetwHgPNh",
  "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]: [-0.1825, 1.1332, 0.9543, -0.8963, -0.2657, -0.0906, 0.9978, 0.5148, 2.0613, 1.3674, -0.4538, 0.3103, 0.3397, 0.6488]\nstate[eef_state]: left_x=0.2788 left_y=-0.0006 left_z=0.1551 left_yaw=0.1027 left_pitch=-0.4572 left_roll=0.2195 left_gripper=0.9978 right_x=0.4329 right_y=0.187 right_z=0.0172 right_yaw=0.0147 right_pitch=-0.4775 right_roll=-0.14 right_gripper=0.6488\nstate[joint_eff]: [0.0068, -3.2479, 6.4752, 1.2088, -0.1392, -0.0757, -0.0171, -0.6632, -10.2222, 7.747, 1.1941, 0.149, -0.0659, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1335728bc8dcd9ba7a1cbe4cfceefeaf52ee7b80d0b3b067d2ed36238aafe8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06c4440b697a5b6ac0ab5dd10856d143336e1ac316fb972826d6a2478d5e208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69c63954604e7d2eb399d4b17d8daadb4686b2fe28e21d8c2bfcfe3a8c96862",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1305, 0.9543, -0.8799, -0.2657, -0.0906, 0.9977, 0.5549, 1.8851, 1.0187, -0.2283, 0.3439, 0.3923, 0.3042]\nstate[eef_state]: left_x=0.282 left_y=-0.0012 left_z=0.1577 left_yaw=0.1001 left_pitch=-0.4389 left_roll=0.2136 left_gripper=0.9977 right_x=0.3816 right_y=0.1707 right_z=0.0053 right_yaw=0.0084 right_pitch=-0.4126 right_roll=-0.1095 right_gripper=0.3042\nstate[joint_eff]: [-0.0752, -3.0974, 6.5026, 1.16, -0.1929, -0.0708, -0.0073, -0.0342, -10.9333, 7.1043, 1.199, 0.2515, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1328, 0.9543, -0.8848, -0.2657, -0.0906, 0.9978, 0.5472, 1.9736, 1.2461, -0.3885, 0.3271, 0.3733, 0.6488]\nstate[eef_state]: left_x=0.2811 left_y=-0.0011 left_z=0.1565 left_yaw=0.1011 left_pitch=-0.4458 left_roll=0.2158 left_gripper=0.9978 right_x=0.4124 right_y=0.189 right_z=0.0237 right_yaw=0.0207 right_pitch=-0.4399 right_roll=-0.1185 right_gripper=0.6488\nstate[joint_eff]: [-0.0342, -3.2889, 6.6667, 1.1258, -0.2076, -0.0562, -0.0171, -0.9368, -8.8, 8.253, 1.2625, 0.1832, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1332, 0.9543, -0.8963, -0.2657, -0.0906, 0.9978, 0.5148, 2.0613, 1.3674, -0.4538, 0.3103, 0.3397, 0.6488]\nstate[eef_state]: left_x=0.2788 left_y=-0.0006 left_z=0.1551 left_yaw=0.1027 left_pitch=-0.4572 left_roll=0.2195 left_gripper=0.9978 right_x=0.4329 right_y=0.187 right_z=0.0172 right_yaw=0.0147 right_pitch=-0.4775 right_roll=-0.14 right_gripper=0.6488\nstate[joint_eff]: [0.0068, -3.2479, 6.4752, 1.2088, -0.1392, -0.0757, -0.0171, -0.6632, -10.2222, 7.747, 1.1941, 0.149, -0.0659, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1335728bc8dcd9ba7a1cbe4cfceefeaf52ee7b80d0b3b067d2ed36238aafe8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06c4440b697a5b6ac0ab5dd10856d143336e1ac316fb972826d6a2478d5e208",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69c63954604e7d2eb399d4b17d8daadb4686b2fe28e21d8c2bfcfe3a8c96862",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2YXrrdN0LhzDXPVbT7C9LhPnIxGfO2E-xa4UFhUbisCCO6cUHBpw7glnc1Qk-rQcP40UNY9ZcCm-7WwlTqOFsIv30MxQbRLdT6i-sptYTby-1Mq0fLCRhmetfpLFkllrkTUFXAZvVS-2lYCokEqBLYOKwhnyk1yHsYJqM1ylNX_ONODHZ1ziB5cfvC7WRYk-eKlQ_wxyGUfI1wZhfxHwbeC_gJnMM9X5hd1qweGxZ4XZm0LoVmOIGPn9GSzHp1Absr_pbM9W1hC0IQzJXhX-FR9D4m7TJtfOQp0eI7MOMF2alI4jI-_y5-8-BX65pyzok909dyjt9VmhIXVkBZSPrMFYmrNTUvVCvVTLn1enPKx_1Osw46P1GkAUaHfKfBEy53rOytGx-TMU_LL5b3PIwSl-kMgq3jNRcjUu42zsMusV5hNhFgtM0cBLvraLDrseFULY2c47vp63zqlGhRCIpyEGFmVijbVZ-jiG7glvaPdIPjDQTm0wZTbhIIEIMOc0dWnqVKDS1PxuqDCzpP0s5pjpIaGJ4f2oA6usm36Y8ubHTsCFRZ-2ZJtnHq4YOT6kXKGdBHELHnssbHgtJjYykoWkGPJ_FMDGvf2iqoy1S4CiCODNybftPlURenvojf5Exxwh_m9k-N-hFRWMNdPNC466TRi3hYx_JBtfkznOTU5hxT_6SNGV-QRwQp2CDemUVJTX4rmdDhSOfqgv2HRggBaOrcdfRqiccZeLYdAhr8zb9IpipuSKAor2snIITv0FimvwObHyyio2LqlGhUJPzGoMq5j4VJ1oiP3ZKIPCuOo1v4-uz4R20gBBFLwsFGtxrshTZpb3HSFA8DbKnIHxfkaG7eYv_zqSrEHyg9jGiV0w4GET-_eqHAJk615yDmsGQ4vkOkJQMAEv5UIM1zPlXQmW0KYULqzAijLjJVRLrWfSBDC2ngQwDdsALGsXdozbKrsyZdxGiMlHeHRrJlwe0YuI-2CpYImLICTDohUZwf40mff3vwty7A1MDFbefLONYTkB5zeOfMxfkU6cZowg969Q_bFLHvmuD01sk7iiTrzqUt7p_bi6ygoStYRlMmMPCHAIXCzG7EmQ_OcXIfmtinYTCoeYaD6ReCFPgd4PvRhoJUuR37yinjW26z11UXoWwWj5f0HM_qLTHeLp3-DpDeh9T8mBC8LZyytOSWTfHfhhtkuqRfTjCn-ibkTUswVReEsOsnfEwTkXmsuhpgrfH-WBE6eBaGsPYHkoATU5N0O34xdR73d_XJDYcZCBrFXhVCrYa_ba4AHjUnIOnqQFeg0Gj3V4Or8Ent0IF6Kf6xwCRBax8M1liiIUwmlP1o0uLlpm0Bn0y5NRFamBgRZDGLivd_ZecovvjTvefOG2kfVULLs-mHE0xPG54QlPgS1zyx0SfwbbbOwRKzanFBQTncFadOjIDwGEshSp9Tjcl7XX_YoNNUUm8fagrxHPVMzPjNU5vohJ3oYUZyPaMLP151zj14fOITpFD7oeDeaKcE-88Jz7l1TaBKJNxH3rbOYCE2N8tNmygdTn90GG82j1FgymBc9iX-izJ10ulcPwl7XMO89H2_wLO-9ktt71uBU8FZFp3Pr68LAd0h6oe6FWUnm-394kHtLfUxQHStjjcGEQGBzRFiiRuufvyBkPe6jsZvPFNr7KehUbbTc-tubOIE2ePnRwDTbd_j1TvAKCIULSj85LLc2oEhVGbeDL1W-SelurCLdnWUL6Ic-1tb1MENLjQ8N3YPeEoAWlXYQfw8_R30fH9BvIDbxDx7x0EXQvwl8ZIYG2GkOyID1uFj1DZzvaLpPuqrpvzmTMkCWFWRU5Zoid_16oTRZenM6D9FqN5L",
  "id": "rs_0e11210e9970fc1b016ab44d9698ac87d0b95258d807ae9f78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.19,\"right_z\":0.02,\"right_gripper\":0.65},\"note\":\"The yellow object moved closer and larger in the wrist image but still has substantial clear space below it, so the fingertips remain short. I’ll advance another 3–4 cm, still within the verified table-contact reach.\"}",
  "call_id": "call_1jLXnx8FIaqafIKyVawR472Z",
  "id": "fc_0e11210e9970fc1b016ab44d97c8f087d08bb3888692e31382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1jLXnx8FIaqafIKyVawR472Z",
  "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]: [-0.1825, 1.1343, 0.9543, -0.8989, -0.2657, -0.0906, 0.9977, 0.4885, 2.1513, 1.5101, -0.5274, 0.2939, 0.3099, 0.6488]\nstate[eef_state]: left_x=0.2782 left_y=-0.0005 left_z=0.1545 left_yaw=0.1032 left_pitch=-0.4608 left_roll=0.2207 left_gripper=0.9977 right_x=0.4555 right_y=0.1882 right_z=0.0143 right_yaw=0.0153 right_pitch=-0.5055 right_roll=-0.1522 right_gripper=0.6488\nstate[joint_eff]: [-0.0752, -3.3299, 6.4479, 1.16, -0.2076, -0.0366, -0.0171, -0.6632, -11.1795, 8.0205, 1.0281, 0.1538, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9479f1182e68cbb9bedb2254dfd6cd20e3e8fb744a70e118140af69c9f746b58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc094dd0b928110d14d2942189654baae18843d1555bf75d8bd5c9d9a95ea25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643e797b1385bd5e9bb694cde66b1ef612554fb91da20fb2e9da7913681182b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1328, 0.9543, -0.8841, -0.2657, -0.0906, 0.9978, 0.5541, 1.9484, 1.203, -0.3542, 0.3374, 0.384, 0.6456]\nstate[eef_state]: left_x=0.2813 left_y=-0.0011 left_z=0.1566 left_yaw=0.101 left_pitch=-0.4451 left_roll=0.2156 left_gripper=0.9978 right_x=0.4077 right_y=0.1877 right_z=0.0245 right_yaw=0.0167 right_pitch=-0.4204 right_roll=-0.1119 right_gripper=0.6456\nstate[joint_eff]: [-0.0479, -3.4667, 6.4889, 1.1551, -0.1343, -0.0611, -0.0073, -0.5538, -9.0735, 7.1726, 1.0672, 0.188, 0.0415, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1332, 0.9543, -0.8963, -0.2657, -0.0906, 0.9978, 0.5148, 2.0613, 1.3674, -0.4538, 0.3103, 0.3397, 0.6488]\nstate[eef_state]: left_x=0.2788 left_y=-0.0006 left_z=0.1551 left_yaw=0.1027 left_pitch=-0.4572 left_roll=0.2195 left_gripper=0.9978 right_x=0.4329 right_y=0.187 right_z=0.0172 right_yaw=0.0147 right_pitch=-0.4775 right_roll=-0.14 right_gripper=0.6488\nstate[joint_eff]: [0.0068, -3.2479, 6.4752, 1.2088, -0.1392, -0.0757, -0.0171, -0.6632, -10.2222, 7.747, 1.1941, 0.149, -0.0659, -0.1392]",
      "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]: [-0.1825, 1.1343, 0.9543, -0.8989, -0.2657, -0.0906, 0.9977, 0.4885, 2.1513, 1.5101, -0.5274, 0.2939, 0.3099, 0.6488]\nstate[eef_state]: left_x=0.2782 left_y=-0.0005 left_z=0.1545 left_yaw=0.1032 left_pitch=-0.4608 left_roll=0.2207 left_gripper=0.9977 right_x=0.4555 right_y=0.1882 right_z=0.0143 right_yaw=0.0153 right_pitch=-0.5055 right_roll=-0.1522 right_gripper=0.6488\nstate[joint_eff]: [-0.0752, -3.3299, 6.4479, 1.16, -0.2076, -0.0366, -0.0171, -0.6632, -11.1795, 8.0205, 1.0281, 0.1538, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9479f1182e68cbb9bedb2254dfd6cd20e3e8fb744a70e118140af69c9f746b58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc094dd0b928110d14d2942189654baae18843d1555bf75d8bd5c9d9a95ea25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643e797b1385bd5e9bb694cde66b1ef612554fb91da20fb2e9da7913681182b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2bSy_3hWbYkVYXh9-eIlwI05jg5rWTRqXOBuMHJsJpZxd8NuSyN38_TW055eL9P99ePKaRbfrRIqfcb7Zr61xSVl2taCwfBCaPcqQBK3HYmGaboei7tXfYnHJnnvqfrkbT887xoM8ClTUrc5BE3XJZ8NaaupL2eG-8oz_b4uWZX6DK-svqkOYXwWOeXVaC2w9d0e4anZaxWuJv6M1-o4JidJ_XXEOL6_ZX_fPN-iceVNo1R9cYvjURzyEN1CEYesCZRh58DyoPTHwrq8JAldYiL-zSKP5TEH2Y713Tqiiy5OWSC2N1r0O7-49xGX4ogspmpYNZr_PLGGOOBXzypepyh9V9pHdnCXR8OeupHAOLfHNBBMDJULiDFD926NGqleNKCHMCU1jEZq2nq63wpEjw-dfyltFqIWSOzztckN6_ggVXuw853suTTFD_HQBSsHoMi_eUm2RVIlgJbP7VMQQTLHVDfuulfU5kFcKbY7rplKfRuxbYvNtYyY6Wx_OgRZivxCB2VQOUceaN2iekX8FQGQ0HdErbSmSBBM4xfSdXZQJCOtGXkv1syGw7N7063TTvbqAJ_izbLGkgOFqEGXuV5bWKoPuYotkU6XA9AAGsvlYlOGpBJbRbOcNyHINlLE8bm0FDIsUJV2QI10uVQP9OSwJUosxlTGAP-2IKPhoHqigL4q5MXMhQRraJ16xcSZIduJl5BPowcc1H8rtLDEWQZ2t-giO8eyJKGRZXZkzR6Yiy-IoE9ZSCxJOwzskufC29q5NIzrPcB0bOZv238Bj2I_aWIqME8CzuqgW71fJqWeKqPjmtqBeJJRfBAzv9Yuy9zdwYDXUZ-sxAU7MCdcfSlNSyypFwju2alhX4tKPAx7VLvOxYYadlP4cgXXxHZCSRY1PGYwu3ksQSi6e7bvG29Ntl7ui0S-NWRBPwghf7NGZrdlkPkvhHJsLUJ1kwRNiDxpCfsPfy-v-EsjIU73BA6-8E85PY-SSe6JPav0jqtWOTNYgnDKrHelka8JqTTbLMn_S_4glRfU7Irpw2mKS5VmAqHBIn9WgEhd__gKbadJPMapPomdD68vf_VoBRiLTfFHYfXG4leItnJMzQ7okeUZWE21QW7_5lnV1f-bNEa2BKBtruhVKqemKnP_-aeHwOSd543iSenGOVP0W5hlQcpN5EI02qG42NnfIqarr7MNk1-ZUuUWOJ3oPlGpgkBdAA0-s7Czr5hdhwIsZyhn9LVl_zyP4zFXBt-u-SN-t8pi33mB0QPJSVkojPghi8j1faY2097cpXlbWivOISV5OshjREIVNMEzU2gJhkiXitUpuEt3VVuS_njwvr-2v9vhKJvaZMSH6CtJmVU7ukkdRUO9INRyjXheRIaVJoQMzLviijI0Pc1bjYS5bjwF6x7QwczlNvtj-DjnIyucuYoCIGwtv9KGO4x0q5jnQj5RQ8tfA0o98NzhJ6rpm37-Wr2p0OILIJbB1RdYuHmXPjpivkWyAo8YcHmI87JM384-8L_hE=",
  "id": "rs_0e11210e9970fc1b016ab44d9a48b887d095b452d1dbc2e2d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.015,\"right_gripper\":0.65},\"note\":\"The yellow object has shifted downward toward the fingertips as expected and remains centered. I’ll use the remaining safe table-level reach to advance another 3 cm and seat it between the jaws.\"}",
  "call_id": "call_hvKAVxnIrsZOT6U3hJnhJ45j",
  "id": "fc_0e11210e9970fc1b016ab44d9ad8b487d0a7c7a98ca45cc9d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hvKAVxnIrsZOT6U3hJnhJ45j",
  "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]: [-0.1825, 1.1362, 0.9543, -0.9005, -0.2657, -0.0906, 0.9977, 0.4664, 2.2395, 1.6543, -0.6125, 0.2825, 0.2832, 0.6488]\nstate[eef_state]: left_x=0.278 left_y=-0.0005 left_z=0.1539 left_yaw=0.1037 left_pitch=-0.4641 left_roll=0.2218 left_gripper=0.9977 right_x=0.4746 right_y=0.1878 right_z=0.0108 right_yaw=0.0122 right_pitch=-0.5386 right_roll=-0.1701 right_gripper=0.6488\nstate[joint_eff]: [-0.0615, -3.3026, 6.4479, 1.1013, -0.1392, -0.0513, -0.0073, -0.6632, -11.453, 7.8838, 1.0818, 0.1392, 0.0611, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60319faea85b7548e677ef48fecad7ebbef8e6f367d13237849f3ca9e8623136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84269f6767be70a7631f165fa2b860dff023e5e9c9c58133ec3362f5da5f534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9da66de8159ab8e781683b04f990fef9b898df1aac9a72c515572e59178d3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1328, 0.9543, -0.8848, -0.2657, -0.0906, 0.9978, 0.5472, 1.9736, 1.2461, -0.3885, 0.3271, 0.3733, 0.6488]\nstate[eef_state]: left_x=0.2811 left_y=-0.0011 left_z=0.1565 left_yaw=0.1011 left_pitch=-0.4458 left_roll=0.2158 left_gripper=0.9978 right_x=0.4124 right_y=0.189 right_z=0.0237 right_yaw=0.0207 right_pitch=-0.4399 right_roll=-0.1185 right_gripper=0.6488\nstate[joint_eff]: [-0.0342, -3.2889, 6.6667, 1.1258, -0.2076, -0.0562, -0.0171, -0.9368, -8.8, 8.253, 1.2625, 0.1832, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1343, 0.9543, -0.8989, -0.2657, -0.0906, 0.9977, 0.4885, 2.1513, 1.5101, -0.5274, 0.2939, 0.3099, 0.6488]\nstate[eef_state]: left_x=0.2782 left_y=-0.0005 left_z=0.1545 left_yaw=0.1032 left_pitch=-0.4608 left_roll=0.2207 left_gripper=0.9977 right_x=0.4555 right_y=0.1882 right_z=0.0143 right_yaw=0.0153 right_pitch=-0.5055 right_roll=-0.1522 right_gripper=0.6488\nstate[joint_eff]: [-0.0752, -3.3299, 6.4479, 1.16, -0.2076, -0.0366, -0.0171, -0.6632, -11.1795, 8.0205, 1.0281, 0.1538, 0.0269, -0.1392]",
      "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]: [-0.1825, 1.1362, 0.9543, -0.9005, -0.2657, -0.0906, 0.9977, 0.4664, 2.2395, 1.6543, -0.6125, 0.2825, 0.2832, 0.6488]\nstate[eef_state]: left_x=0.278 left_y=-0.0005 left_z=0.1539 left_yaw=0.1037 left_pitch=-0.4641 left_roll=0.2218 left_gripper=0.9977 right_x=0.4746 right_y=0.1878 right_z=0.0108 right_yaw=0.0122 right_pitch=-0.5386 right_roll=-0.1701 right_gripper=0.6488\nstate[joint_eff]: [-0.0615, -3.3026, 6.4479, 1.1013, -0.1392, -0.0513, -0.0073, -0.6632, -11.453, 7.8838, 1.0818, 0.1392, 0.0611, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60319faea85b7548e677ef48fecad7ebbef8e6f367d13237849f3ca9e8623136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84269f6767be70a7631f165fa2b860dff023e5e9c9c58133ec3362f5da5f534",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9da66de8159ab8e781683b04f990fef9b898df1aac9a72c515572e59178d3f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2f1d-5orDsWCRt3cFZU515wXdFd8ONqo-s_7_g-V2_6tBTO2JitMEeo3_itIdGC6_xkkP7PoTXAEC8nLMFedqnRbOv3v-4gUCI1lzW14lhoUq2OcGWrwwjDxxn13hLqp8XFMbrk8WW4ihHF2yQRma9fJT57kDmLXg9nDRLtJhjSEURBav7AmX-hyNwNCUgeCIiCGaAWwh7fKcWSo15Px4K2-D-YliLaV-6sJzGUNTVhn7uUG_diIGNSe1u1ZHzfe8miqsvx8_Zdy7ZfcoSiWD1ecd6zHbAT9WCwCE-4bsVK2B-otsktS0aXd565_dr0Wss_xKFpmIJJjtrMUGsRwRHm_F56YjpOHUH44NkBaGIU_w1ZfsEd8XQfyU942JFZFCCPN_ZRlCvOkx_DPd6e4g5gHHL5ed9NCmlc2km0WV1PMIrRdasBaoTvsQEm1fqgADjFv7WzIicTR2Rf3UikU3ZDI1-fCL7DVxsPaN3RjxEkxOOQyUZm4nhPlyCqolqS0I5PIGVr9T1guKK6wmBvnU_UUp2XoAvzB0eIHsTdse_zahinHVJuHHlMzIJAM3MvxP92xbA3kP-qqPXW_EJlQ6RlzYSy0oqLd4hq-uVMcCaaqhHF7STwsmjqb4GlKg162ZXTsnbraltLW3gpDomugcSp2nIRYDwHvy3xQYQizQijA6EvjeV7bLXxYA38eNDTZzPeghfkRnNGe5fBgwAoOIwe-QIM6Mlbp4I8srb4sdzAtJ7WlzcGZYLddVs4KGfNlktMIgCrGa4CpdA4ypaFknMVAhtFEL-iiC4R2hqeiu7LyoN7n3DsBN6fnTKlYBQpbNvEl0kb-kGNeeQj0CYfoimDd917RaDm0-vym_LuN3TlMl88OvFAyr0ITZPr7vfD-vQwsBsmPxXrqwWKWjmG52PRnSHJb3SuckQK15uUR3OTYpdDKU6T_vdBi7MBL42YyxpEDKvP-suhNRI28DZdgBXFgrHzsV6VPSIViVTvxJLQmXVXdSZq6KeQg3WQiL6OfXdIeqK6MbFfxw9CREhiThEgHizkpprmdWAmNLKi2wPt594MwwKRqcgYQ8L8malSMpQjiJ3qMhmAkHerDXR4U3hBb7wGh3nFahwJHU_Nx6kGVIZPxnFyKhuefyxNBKr6UsobXq1qXmmzqNoHzBlYYw4NaJ1YP_1sAD1fThNcpEeRTfXdY8iJeTFKCi9pFUCbuaoZO72e6ZN6K7cShXXlo5j9gOLE3bEvQDnjJRJ0sG5ek-zuc9dX0mMH-j5S3LHxKyxRi5cn_8TS-EuTNewxvIWVW3KDrgiExGgvxtbpAfjSeVdyxC5xF9Jvw5eiTrbZJteL2WUowQFRtkl4Zjsg79vDjCAYYNtcYTMV4TWnjL_uILUSalj316nUdV6Z9Nh1B-zeSkuENl6GfO8bJKlDUgGus-S-Lvgs45TdHM5uD2iDRjcqR5rsNEKZK8dk2Im5ozPYtMlUxlrbj_XWwWa4F2TuCzO7MaeExeeLUGe-6Wz86aq9X4ZZsMTdBsiphGgCW3QJ3qqYc185KUn8FLNd3RqkbsFs4l9C4hatWU228--IKi7HnnrbUqaplpmow_BohwY",
  "id": "rs_0e11210e9970fc1b016ab44d9dd1f887d0b96111a6fd9ee892",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.19,\"right_z\":0.015,\"right_gripper\":0.65},\"note\":\"The object now nearly fills the pickup corridor, with only a small gap remaining above the visible fingertips. I’ll advance the final 2 cm to bring its rounded body to the grasp point.\"}",
  "call_id": "call_a9Fepn1ga7ulyldLXtCOmK7H",
  "id": "fc_0e11210e9970fc1b016ab44d9ece0087d0b52cbc8a28b325b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a9Fepn1ga7ulyldLXtCOmK7H",
  "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]: [-0.1825, 1.137, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.4557, 2.2932, 1.7599, -0.6773, 0.2729, 0.2661, 0.6488]\nstate[eef_state]: left_x=0.2775 left_y=-0.0004 left_z=0.1534 left_yaw=0.1042 left_pitch=-0.4674 left_roll=0.2229 left_gripper=0.9977 right_x=0.4869 right_y=0.1896 right_z=0.0125 right_yaw=0.0174 right_pitch=-0.5559 right_roll=-0.1759 right_gripper=0.6488\nstate[joint_eff]: [-0.1709, -3.3436, 6.4479, 1.1355, -0.2076, -0.0757, -0.0073, -0.841, -11.5761, 8.0479, 0.9939, 0.0855, 0.0757, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0344c2873b80c5b9c12cf2d586196cebd75ebe6c0895999ee400f68bddf3ecf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4948fd49e19849ecc4c7fe7af6d73963f5129fa238cf69ab05d71fb4fae85885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c74ee6ebef9d52ef0a335b22d6d79b466f8eb183fb39c2befc6545809cbb38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1332, 0.9543, -0.8963, -0.2657, -0.0906, 0.9978, 0.5148, 2.0613, 1.3674, -0.4538, 0.3103, 0.3397, 0.6488]\nstate[eef_state]: left_x=0.2788 left_y=-0.0006 left_z=0.1551 left_yaw=0.1027 left_pitch=-0.4572 left_roll=0.2195 left_gripper=0.9978 right_x=0.4329 right_y=0.187 right_z=0.0172 right_yaw=0.0147 right_pitch=-0.4775 right_roll=-0.14 right_gripper=0.6488\nstate[joint_eff]: [0.0068, -3.2479, 6.4752, 1.2088, -0.1392, -0.0757, -0.0171, -0.6632, -10.2222, 7.747, 1.1941, 0.149, -0.0659, -0.1392]",
      "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]: [-0.1825, 1.1362, 0.9543, -0.9005, -0.2657, -0.0906, 0.9977, 0.4664, 2.2395, 1.6543, -0.6125, 0.2825, 0.2832, 0.6488]\nstate[eef_state]: left_x=0.278 left_y=-0.0005 left_z=0.1539 left_yaw=0.1037 left_pitch=-0.4641 left_roll=0.2218 left_gripper=0.9977 right_x=0.4746 right_y=0.1878 right_z=0.0108 right_yaw=0.0122 right_pitch=-0.5386 right_roll=-0.1701 right_gripper=0.6488\nstate[joint_eff]: [-0.0615, -3.3026, 6.4479, 1.1013, -0.1392, -0.0513, -0.0073, -0.6632, -11.453, 7.8838, 1.0818, 0.1392, 0.0611, -0.1392]",
      "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]: [-0.1825, 1.137, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.4557, 2.2932, 1.7599, -0.6773, 0.2729, 0.2661, 0.6488]\nstate[eef_state]: left_x=0.2775 left_y=-0.0004 left_z=0.1534 left_yaw=0.1042 left_pitch=-0.4674 left_roll=0.2229 left_gripper=0.9977 right_x=0.4869 right_y=0.1896 right_z=0.0125 right_yaw=0.0174 right_pitch=-0.5559 right_roll=-0.1759 right_gripper=0.6488\nstate[joint_eff]: [-0.1709, -3.3436, 6.4479, 1.1355, -0.2076, -0.0757, -0.0073, -0.841, -11.5761, 8.0479, 0.9939, 0.0855, 0.0757, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0344c2873b80c5b9c12cf2d586196cebd75ebe6c0895999ee400f68bddf3ecf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4948fd49e19849ecc4c7fe7af6d73963f5129fa238cf69ab05d71fb4fae85885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c74ee6ebef9d52ef0a335b22d6d79b466f8eb183fb39c2befc6545809cbb38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2lGZZiPkH8tqWXBjJfDjEJj3WXuwEAVWIFzxqaTNiDPGe0CSlw-ct42vN-JKUSN9IM7o-_POYsnmWh3-66RkKJiwfqV8zQojiVMZqk7APuA-6EfR1stVVEjBOZ6T4Ard6GoYcgR13JpDgeW1XkpOEgvdwMMB4PbWtVlV9V3WftDqL86AgJsR8nNyLb_Pn753n_Tm-OKoc1DMeNvnNoCqjwrdFMl-PLg-GhBi25T_D_iuOmx4kTRsVORsnpVY0WHeUv9hvKD4DS-lenMVR1SRQrqb7br0Icrm7wcnsN_7lBejKefDg3orfE4GpbzPrqKKz8_HUIFNWdqnD0ma1KMjey3nmZP1TFehszH5fe9OSsqcN6IBJrCniOVddtMSjGHcHPSsJoLmzLkiMyFrApRCRPqGtdLiQJP14IxpGgjtkDOpSm2uP_Ppn4NtrI7_UTA7ZAtDosFXV5vlPbwdlxn54ybJVJkmbRKiMYJJw4_8bGOvDrWvKB571YQxE9YKq7Fgiw7QiIEpIOcsgscVRWhaiTjhONDkQo5MgadBEBMC4TXTar-gLTSDuXZpNdaOyNWN2U5RC--1qx5Q1rA5W_xBYKq5lh5inEEKyaOCPiHdP7_qEFhWOo1b3lJAkDIDcJpoS87yowE-c8dHX2F7flh6V5UPXi1vbBjHSI7Ga9cOF7IqmAh0oFm_g38a0lj5yOaBe_gCRv2Rl8RoC2WtJFXl_VfzOI8V-BAHZhjDWVQE9EzvVN7pRoof9mzWsMz_oO73hQs3c9Pi-ljixaKlFx26SaveuyU-4jLsNrXI0xmMaz-pUcT2k1QAfYmrJKp9LLoHfqiKJUbUO898dRIMP7xm7t7iP-8aWeEeECFR3kZ4gBYBD7xS9joeN5YZAwDmyd1enDvkGYm4Mh2WQfY4ehoY5n6d7YZMtwMdTz658AqN3ODpGEWiU9WDCwsySKk8EhSdTpjuGT1KoB-LroI1dODfBOpFWFAnQLDFPQ7U1VBMi6iT__8ZbQnnAPc_tHJ9rMUHK2bdimSyV2_7lMEB91VcST9GZ99Bv9fRSEDS5oFuWxoqQodpRQx6xyz1wnvPBhQ2L61S6Ag7Er8MX9QVyfXT-E5jwFvFquXLNOOOl7t2pjl2NGuDMvS8xuCLHwCeIXTesj0uOpVgh78iZeneibUZ0FBGcOcJ8_w59IPhG_uNz-2K5g5nkpfKCzvVuK9i-egZmC5FWCHg3CRhddu8dxrTAsYvFhIo4f3stfwz6K6g79T---uSHhOmULnCMFejjSfLFUnijXd_fezO1MurclwuqJBZXr7v2-5LjdAx58v_EqaZaoFTSG3Ck0pHRpNfshJ5mN3Mg1h-iVdb2hiPfy2O3rDoewqi1oC7c1oHwvD8q2NBUpi_OSva1g5ZiyCl6Twp6_ZOGKqsSYBJjkZfzRhQMjT_B1eJ_QR5k5GHbZSGrNDeizMqUbCt9S31HLaFJkfCJhuc2ozIlrQ8378MEO00xuv07qQ2L96WrJTy_t2Bc5a6ljCfQa1vwXXJSVddOhpodfhsmmFJcSi4sPsKhG1KJDJdiopidb3XkIl27IKbF439sH9HKASJPsBprDj5uriHHQswpBTp8ddAq3_ocHH67AK5lfPK5lPFHFx3cTsYdP4YptWr2DormW18BDdVxXA66PR9lXq-vVToeJoAa6MItXPP0G8YcxS256_LdVRPLjsoSGNvSkptjSqqPnY6JSE2ccSOoRtlWIhI5wI3XyVsIIa8xHaSBtKwnqndLdq3qomgSvaTcxor-6JsDQNSfuWjb-mIkDi6k3-qI2RD0EcukB1hN5ps_aXdTdBVaO3-EG5UNEZF0P2Ox3npeUXXTEKUxzETa60tbCZC_3bGpvy6JZQXmTy5zDMulWmBTZKsWTG1OcjxSZ42gsHlroAMelu-2ybVJB-_ENPacYAYsK-yAx5vYWwmE-FdDj53L4E1ze_OJSsZSYKBJFu1BLcNzdCK57ElXPji7T82FBBHdCtXDt3vg0_hCGHPrNfK8WOxEarmxCmrXjjNW7fMZQWE9O_XZ20v4hihQRMfceHJvmQ6zz_pc7I_QuUprXfAqHEYoSIOyu2S4sQVNe5yRKO5yXNXWblfGQ_cv1s5KWu1bOJ9oafvkh1lpJksdcuV7JnqwhVxddNaa-zyE0KNvdzrkuM9L8CPxg9JhPrDHdFgpdYjQo1D_SwX30jeV-O3uZyt6WpC7ytEjPFVaM3LfTVbVmi4n6-i6UYpg9ZVTtByOaeyvLfKZaab32LtyOfMhnld05uds2uPcIPRD8Nqn6-xx4ftVqq66znSv1iRIMY-SwbPTFeeC60OP_bQ6bUrSYvvNp16hjd5ht9bvh2X8u4FW8oNKT3_2rA4owgBygT16-ITLZzCo0yTqVqQcn50GBBvyzd2pRin2R93gORK59uhZdo_phbvEXfX-CAHYxL-pZFXtl2bDVU1jFoEuRHGf3tPCcA08In95_izjlaJpo8ru6-LiV82ZD8AUEUXKc57skM6KdB8ZBZK2RgQjNJrMIoM9_2iCNc03Nt4edYZNH1nFDN-aucnERI_Fcpl4ImNlw1w94xaJLSTytUJoxY0fi28yMaaF96ssmbNKPrWzmiweZe3UwHEyztPttiXUkcZX1jCTHPNo-m32bY6lpZ_hf5FulJRVA2nEgk9PtIn2QEv0XtaG-2cJmsmicwO85WPyIb4mhgzj0FIqpEnuvwU0vxeMu0Q4OKJq9ZpW9rpuHYIfQ091ielGWqEFay4VdbL5MePQkASYaUVIQoOK9JDddFm122mAHRmy0OMlCSK9-ijgQlrDa7LCekmZmDia_oEzDaDzxT1LaZ-mI_OefcwXOwwaxLS0PaTCikhu9q84nMSmxLIKsp2NHbhT-IESeX9QW0e7lJ81fgxbx7K4lTxNQNXG_cHEAyUN5Mb498UZRwgjS-oCfMShatAAxkLVXNGf6YsA534OawQqoZItTZJICliWlgRNiy4-VNdIb_1J5604oMuwx",
  "id": "rs_0e11210e9970fc1b016ab44da12fe487d0993c5ce0b8e5ec16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.19,\"right_z\":0.01,\"right_gripper\":0.65,\"right_pitch\":0.2},\"note\":\"The yellow object’s near end is now just a few centimetres from the jaw tips, but the arm is at a stretched, backward-tilted pose. I’ll tip the tool slightly forward while requesting one final centimetre of reach, which should improve the geometry without forcing down on the table.\"}",
  "call_id": "call_eQZYT6q5hqVpekfsTWwH3tCb",
  "id": "fc_0e11210e9970fc1b016ab44da4279087d0a8071c82b0e36baf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eQZYT6q5hqVpekfsTWwH3tCb",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1378, 0.9543, -0.9028, -0.2657, -0.0906, 0.9977, 0.5179, 2.2623, 1.1015, 0.6693, 0.5568, 0.0887, 0.6488]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1532 left_yaw=0.1043 left_pitch=-0.4678 left_roll=0.223 left_gripper=0.9977 right_x=0.5095 right_y=0.1869 right_z=0.0109 right_yaw=0.0117 right_pitch=0.1629 right_roll=-0.1745 right_gripper=0.6488\nstate[joint_eff]: [0.0479, -3.1521, 6.4479, 1.1355, -0.1734, -0.0366, -0.0073, 0.5402, -9.6615, 4.6564, 1.7558, 0.1538, -0.0708, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170242feaaeab85ad8e7da4b693fba7d640586f112bcd15092f61067a3949365",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b21aab6641f5847f008ae300b1b90824824f7c10abb61fd5fc22921876eefd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f44bdfd97353e37f56bd6e2d17bf6495f808f5052fc437ef23f00411d727b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1343, 0.9543, -0.8989, -0.2657, -0.0906, 0.9977, 0.4885, 2.1513, 1.5101, -0.5274, 0.2939, 0.3099, 0.6488]\nstate[eef_state]: left_x=0.2782 left_y=-0.0005 left_z=0.1545 left_yaw=0.1032 left_pitch=-0.4608 left_roll=0.2207 left_gripper=0.9977 right_x=0.4555 right_y=0.1882 right_z=0.0143 right_yaw=0.0153 right_pitch=-0.5055 right_roll=-0.1522 right_gripper=0.6488\nstate[joint_eff]: [-0.0752, -3.3299, 6.4479, 1.16, -0.2076, -0.0366, -0.0171, -0.6632, -11.1795, 8.0205, 1.0281, 0.1538, 0.0269, -0.1392]",
      "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]: [-0.1825, 1.137, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.4557, 2.2932, 1.7599, -0.6773, 0.2729, 0.2661, 0.6488]\nstate[eef_state]: left_x=0.2775 left_y=-0.0004 left_z=0.1534 left_yaw=0.1042 left_pitch=-0.4674 left_roll=0.2229 left_gripper=0.9977 right_x=0.4869 right_y=0.1896 right_z=0.0125 right_yaw=0.0174 right_pitch=-0.5559 right_roll=-0.1759 right_gripper=0.6488\nstate[joint_eff]: [-0.1709, -3.3436, 6.4479, 1.1355, -0.2076, -0.0757, -0.0073, -0.841, -11.5761, 8.0479, 0.9939, 0.0855, 0.0757, -0.1392]",
      "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]: [-0.1825, 1.1378, 0.9543, -0.9028, -0.2657, -0.0906, 0.9977, 0.5179, 2.2623, 1.1015, 0.6693, 0.5568, 0.0887, 0.6488]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1532 left_yaw=0.1043 left_pitch=-0.4678 left_roll=0.223 left_gripper=0.9977 right_x=0.5095 right_y=0.1869 right_z=0.0109 right_yaw=0.0117 right_pitch=0.1629 right_roll=-0.1745 right_gripper=0.6488\nstate[joint_eff]: [0.0479, -3.1521, 6.4479, 1.1355, -0.1734, -0.0366, -0.0073, 0.5402, -9.6615, 4.6564, 1.7558, 0.1538, -0.0708, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170242feaaeab85ad8e7da4b693fba7d640586f112bcd15092f61067a3949365",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b21aab6641f5847f008ae300b1b90824824f7c10abb61fd5fc22921876eefd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f44bdfd97353e37f56bd6e2d17bf6495f808f5052fc437ef23f00411d727b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2qkf8UvJZJMJkLK7FNdbtLG7Y0FPY9kRrn_fp2pjEg6Jj1WGlnjP58DOx95R42vIU6c1xjwLhYjgp5NOG7BfW_6h2ys7p_Kbsug_7fitZDsVEinMKl_yO3JAdP2Qq-URK1QUPqOvk9UInxFcmtW4mZFdQ4vWgmQj5BdOWVFeg-2mkE0mXu4Vy1-wTTXs_Zzej3Emrevj-ACg1Fq6h2yNp1DdNdQfp3ry2xPclM950bQjA1_1IfcSl1xW5cWmMIb1HpC_U8i2IbUIElfVIlhu1LmfamPImXhRiF-jpJI-fbggQvVNHwB4qg7jX9e4PcfwYy2tKywjASAWHUtw2jrAuyrFptFUpwiR_8YDu6y2xs2lL7eCu4eN6wqWfRCixfSzpRU2u9LrvmqlQfCJfHKU-uZnB4S5rYbRYAhZl2o62eZz-k3PmG8e8PUp2rY23_OUcHhro0idnr_SSMCeKmQ2SpBA5sSzYU5Mq9Ov1HC9NDYEfYFeH5xrbWq0qvDAWIyZf1dQampbp3HLRiAYbeqVQSgnUfypZE2cGzmLBY6CXFN-5rQB-NS6IhGaAqELQvNeC67oESa56m1iCRhI49VKX0j0C50ZkQsErvntNT-erjg3703Jnmk-WUvQzDNggO6AWUigpp96lc37VR5oAVT74xTwCqo8xyNa5ITpMdN1o4kMJ-He1-cygumUAjlmqIy1JS63jZ13xd2aWrbDjh5a4pkrB_5nLMnKBanYUbP7l_ErDq7cdV5WQLTA7rq96ZwoGuKlNo7tUhEt-C4-L6AnNY9JKaoglc5EB6OTYaZXIo4GO0eXzPvtIu5QHAoZPOWg3oBTzszldb2lXfmmp4VklfpU2VWbwAB1J1ad_5yZlPqC1vk9pO8o5SYq_PC4Eus6-jabneThRV70rcEPLceIQVGNPYTRi250XpJsRnRHCYeLAWPd0dLYi0zgiuTZ64v93zNhOtlhJ-C_qTCQ5UXBYEYg3f2e-U-nNzgwby1gFfwqJH9KopFwIVVqnCvuvW5MJrT2StXZTaolROar3ma7MB3oJENtEOftrbrNjAqlwzf37umLJ86PbpLvdBGAdUbWM4mMv9qHp2weih3FBfu71akIsiH0e-5KHiDWOki3HfsOlyjconMOp3KC6aZ9Gjk8jbZP58NGHsyzeinyERmVcCBqfFlsJyhGInFZch6XBeDIRpe64Y0QxMFSl2VfVK73Fq5HBprPJkyJtwhgxwAkfPMuThpMqCf4RYJym_rq6yoxKSl_WRJtxfssjgN_k3pU_lQ5qr5Yq-fUExDb5LNoFkLKnEsiMW6nFr4Uy_tvw3L4isAPTnuzxAQllj19cWpOfH8B9Y-5GKcAoWn9xCCUw8VBfllbUY7FxkEFFk5bH8BqClEs1FN34wfuJX03nCREYNNOprH56XvMKi4mNQo1B7lceW3VtZYjZJgAXOPnu6JpW0lDSq2oBbWO8ncm_g0GRQ0JcBb_PPVKrLyrG7p3PGgA==",
  "id": "rs_0e11210e9970fc1b016ab44da96f3087d0bfce460027104445",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The forward tool pitch worked: the yellow object is now visibly between both jaw tips. I’ll close gently to about 4 cm spacing, enough to hold it without squeezing the rounded shape out.\"}",
  "call_id": "call_9lOQsesXKUTPXhxcoau8JOKC",
  "id": "fc_0e11210e9970fc1b016ab44daa11d487d09b4990394729fe36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9lOQsesXKUTPXhxcoau8JOKC",
  "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]: [-0.1825, 1.1389, 0.9543, -0.9031, -0.2657, -0.0906, 0.9978, 0.5179, 2.2704, 1.0939, 0.6907, 0.5571, 0.0856, 0.4061]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1529 left_yaw=0.1045 left_pitch=-0.4692 left_roll=0.2235 left_gripper=0.9978 right_x=0.5087 right_y=0.1864 right_z=0.0083 right_yaw=0.0126 right_pitch=0.1677 right_roll=-0.1747 right_gripper=0.4061\nstate[joint_eff]: [-0.0479, -3.2068, 6.612, 1.1306, -0.1929, -0.0415, -0.0073, -0.1983, -11.959, 5.641, 1.4725, 0.1294, -0.0171, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a825649a2e6e1395dae898a59626b3127c2441885797e41f069d01f3d14fd829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a428339a5abd3d159437bc9d9bf2765fef67f9fd73f6677ea578921e914b367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41f04919c874c23dcec4809bfcd592ad2f4dc77a1d836752632fc5a6b55cc24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1362, 0.9543, -0.9005, -0.2657, -0.0906, 0.9977, 0.4664, 2.2395, 1.6543, -0.6125, 0.2825, 0.2832, 0.6488]\nstate[eef_state]: left_x=0.278 left_y=-0.0005 left_z=0.1539 left_yaw=0.1037 left_pitch=-0.4641 left_roll=0.2218 left_gripper=0.9977 right_x=0.4746 right_y=0.1878 right_z=0.0108 right_yaw=0.0122 right_pitch=-0.5386 right_roll=-0.1701 right_gripper=0.6488\nstate[joint_eff]: [-0.0615, -3.3026, 6.4479, 1.1013, -0.1392, -0.0513, -0.0073, -0.6632, -11.453, 7.8838, 1.0818, 0.1392, 0.0611, -0.1392]",
      "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]: [-0.1825, 1.1378, 0.9543, -0.9028, -0.2657, -0.0906, 0.9977, 0.5179, 2.2623, 1.1015, 0.6693, 0.5568, 0.0887, 0.6488]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1532 left_yaw=0.1043 left_pitch=-0.4678 left_roll=0.223 left_gripper=0.9977 right_x=0.5095 right_y=0.1869 right_z=0.0109 right_yaw=0.0117 right_pitch=0.1629 right_roll=-0.1745 right_gripper=0.6488\nstate[joint_eff]: [0.0479, -3.1521, 6.4479, 1.1355, -0.1734, -0.0366, -0.0073, 0.5402, -9.6615, 4.6564, 1.7558, 0.1538, -0.0708, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1389, 0.9543, -0.9031, -0.2657, -0.0906, 0.9978, 0.5179, 2.2704, 1.0939, 0.6907, 0.5571, 0.0856, 0.4061]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1529 left_yaw=0.1045 left_pitch=-0.4692 left_roll=0.2235 left_gripper=0.9978 right_x=0.5087 right_y=0.1864 right_z=0.0083 right_yaw=0.0126 right_pitch=0.1677 right_roll=-0.1747 right_gripper=0.4061\nstate[joint_eff]: [-0.0479, -3.2068, 6.612, 1.1306, -0.1929, -0.0415, -0.0073, -0.1983, -11.959, 5.641, 1.4725, 0.1294, -0.0171, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a825649a2e6e1395dae898a59626b3127c2441885797e41f069d01f3d14fd829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a428339a5abd3d159437bc9d9bf2765fef67f9fd73f6677ea578921e914b367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41f04919c874c23dcec4809bfcd592ad2f4dc77a1d836752632fc5a6b55cc24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2tIx_X18fntE894-7FyrJHbaLA_X6WuhpOktLqb88AsV4uC1ii0mJL_4SQe99cpJQ5VwI5M-kWdlQrEMxPzuuzreiHYmkmFMMt5wHezFJnFQBJkceDnCD5hKBwtTXGUZsFCTgcAPjT1ypIqTT93B-k06X-kf9z3FWvKFXU2-vUEYQAyjrE3w_-QbjYYf2bEzZbXj0ihAOanHSY784_we6WcdEIWdyhkbS8P9C8GL6QtU48UgZKfAAzbaYExuqWjJ8utD5kJt_XaqphSMMRHu3CW1Wu-w1s2P_QOVHmEzHjvD2nGdSWqoXIb27CbNDHPhF0XFkRdzcLL2U8bFOgk5gJIkoewA7UNZQPFGyq_oA_tb0optXLJZRYSqUTjCDBHoEA7PZhzkEE9QkirsE_cT33cCl9u-vBLPyMO2ct_WtikVcIL8SUwizUrwBt0Fk1xDofKMhkndYJpwMFzPtM2CnZ1PM0363XHsbo_eoAt20700_S8-HEQ3F5pAhcT8bgbMMo2aKTQa9WiEVmH5qZI-2lkfnT2SwZ34eVB9oF_6K-qyCPDBbpQf7d2fCF6HLb2QrMsFpIh2l9Xr2mwG7o3wv-_bOzmfY-3p6QPihlWPQ6mWo1xkLZYwLOkpcKUINRBxggHoU1gDb-U5G4udGZlqiRQmUvBJ9yxKGKbPdP3Wtqyp84XFiGUcwahKkgqVoUDtHV0yC6s4V7hCKPK0T47HH4HA0OWxQopnGHUdwfVHGSDQy0iETarl3wWHAMV14iMtEryfaU0ofEMfGVEP-SX_wJwio3seGpR5v_BczBQFeTZr1G2dHLf56FP2rV305P9kurqVIN6V_ehWog5Gs553Z2dYXR2PVbHaSvRml51AWAhGX60w87QCd31dVnAa5y2eSk34GbtXWCT25Blh9w-bb_YGL7-_DMFwJZ5owCShSD-i2vb1fS-vgxrykcqfdTiWOtXDGrOSVCl653JdS4kw8xjgguryE_WscqtegSOpgN8W2ZJwld2uFor43U3KxJE7q7-Q7JULIahubtj2y5cpYJ9WwGUwL1xxc7xBe2L1tXBASnot8b1J9bDZ5sfbOQXfXHMqcwoWfuTvCYnGi_mVKJmwhAZPllwPE46Xcbile6vgeJewu4-2L8v4rIFt5nh79zZYkg_sKfnAcgURfVpU7pvaK2mlASwM6_SStkGnzrnT_-RxxZK2YrDAsohRHQutzXRip188gqW7lxbHQKGcR3SPRr7QqEy41JIDLxgMt90N82a31Z1iBWvzJt5Iif-Hl_WnnNBTAYNTWl80jyQMT9cssL_MmKI5qrBEzX-YlywE60KpYal6Io2bJSkqCHTOPSoa0GEmRs8xZ7JMxq8WIvOGPpgHnWLSEikMXEFMAVh7GaRxYK7j5ONYfDj3LisOCKgws2nLZjsvu8LS_-UHvMfIdoT05xCF-RF-iEK_YOpYk=",
  "id": "rs_0e11210e9970fc1b016ab44dac37c087d0aecbc56d8468a8dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.1,\"right_pitch\":0.2,\"right_gripper\":0.4},\"note\":\"The gripper settled slightly above the commanded opening with the yellow object wedged symmetrically between the jaws, indicating contact. I’ll lift it about 8 cm and pull back slightly, then confirm it moved in the overhead view.\"}",
  "call_id": "call_VFDYuqJ6bQNUkNoB0wikKEFp",
  "id": "fc_0e11210e9970fc1b016ab44dacc77c87d09936dcc9be2e1b11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VFDYuqJ6bQNUkNoB0wikKEFp",
  "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]: [-0.1825, 1.1397, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.5648, 1.9991, 1.0309, 0.4908, 0.5873, 0.0856, 0.4031]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1527 left_yaw=0.1046 left_pitch=-0.47 left_roll=0.2237 left_gripper=0.9977 right_x=0.4821 right_y=0.1938 right_z=0.0847 right_yaw=0.0342 right_pitch=0.1819 right_roll=-0.1828 right_gripper=0.4031\nstate[joint_eff]: [-0.0752, -3.0838, 6.653, 1.1306, -0.188, -0.0708, -0.0122, 0.1573, -11.4393, 5.5179, 2.0, 0.2711, 0.0708, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7233a4421b3fe4e978580404e2f83be464e182be1caf1c824879ad2c77e9b307",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766a613f650ef0288d5edb2f28539b467e67da4b547e5c2d57b9c1d2d9dc1cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1795d0775daa3cab7dd84dde2aaa72fae222baf4afd8a9a60acd5422b06a481",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.137, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.4557, 2.2932, 1.7599, -0.6773, 0.2729, 0.2661, 0.6488]\nstate[eef_state]: left_x=0.2775 left_y=-0.0004 left_z=0.1534 left_yaw=0.1042 left_pitch=-0.4674 left_roll=0.2229 left_gripper=0.9977 right_x=0.4869 right_y=0.1896 right_z=0.0125 right_yaw=0.0174 right_pitch=-0.5559 right_roll=-0.1759 right_gripper=0.6488\nstate[joint_eff]: [-0.1709, -3.3436, 6.4479, 1.1355, -0.2076, -0.0757, -0.0073, -0.841, -11.5761, 8.0479, 0.9939, 0.0855, 0.0757, -0.1392]",
      "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]: [-0.1825, 1.1389, 0.9543, -0.9031, -0.2657, -0.0906, 0.9978, 0.5179, 2.2704, 1.0939, 0.6907, 0.5571, 0.0856, 0.4061]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1529 left_yaw=0.1045 left_pitch=-0.4692 left_roll=0.2235 left_gripper=0.9978 right_x=0.5087 right_y=0.1864 right_z=0.0083 right_yaw=0.0126 right_pitch=0.1677 right_roll=-0.1747 right_gripper=0.4061\nstate[joint_eff]: [-0.0479, -3.2068, 6.612, 1.1306, -0.1929, -0.0415, -0.0073, -0.1983, -11.959, 5.641, 1.4725, 0.1294, -0.0171, 0.3053]",
      "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]: [-0.1825, 1.1397, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.5648, 1.9991, 1.0309, 0.4908, 0.5873, 0.0856, 0.4031]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1527 left_yaw=0.1046 left_pitch=-0.47 left_roll=0.2237 left_gripper=0.9977 right_x=0.4821 right_y=0.1938 right_z=0.0847 right_yaw=0.0342 right_pitch=0.1819 right_roll=-0.1828 right_gripper=0.4031\nstate[joint_eff]: [-0.0752, -3.0838, 6.653, 1.1306, -0.188, -0.0708, -0.0122, 0.1573, -11.4393, 5.5179, 2.0, 0.2711, 0.0708, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7233a4421b3fe4e978580404e2f83be464e182be1caf1c824879ad2c77e9b307",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766a613f650ef0288d5edb2f28539b467e67da4b547e5c2d57b9c1d2d9dc1cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1795d0775daa3cab7dd84dde2aaa72fae222baf4afd8a9a60acd5422b06a481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE2y7BI3Ln0HiWIwRa16Wmr7ezKCd3TAMNFTPtaXVsuBN0HD_Ckj5TtRvGOWnMyr8G4y7dWdBupiXXLsN9HuM6LBZR6-F1RKBLdIbLKMoCAdaSWOGsZlETzJ8K2R06HTWvuvdES5D1qPGIfyAn6tbGNA-j6oUCoiHzhi3_EUBJ33xGMohNmzQOZ5Jl4D0BUVaN-Q07vy27JUVg7czNfaRXSc4JoZblPNyFRej_6V9_Ocqg1wvYydyRuX5hja-Ki4rUbDCSAeL0pnzL8qdTXhXTNWPgvBaTe_4lk1XodQWeyR4pX2mT9sHPCl6nW90iSrwQHb490bTO311B_ju7Et1fRYmBROsTCWvNhV0jTZkTfB9faXXJnzU7oT9DWoWu8bexD6Bb366BLiFpDY5_KWWyMccelILL4WzXkwaqqsuwcwUhSBg3ymcQW_FtCjlZLzsBdci416veE24He3efJc0EycvIn1Xz48OnxlbXckLchOh2p4TBuG_LkHgswHdNXacXNiLc3AzHj7shUxlKRjGpK9zM3J6e41nOjBhj6t1GO7iNrfFDyFYJMEzSj9T1NOQ904e3i-IQmEpUqV3_igRtJ2e5YVxNzKuMCdvT_oQug5qzxapy_vLSBVmTxrLrZ_jsLE1-vL8u03nPCaqWodTm4GGsJm5rZBYDapgZxGT4gJ0riopthOJ1A0m8BR4uHcKuN9dTSXHr0wL6vz30Z--3SjbO409XhO0pzSltYd_ytrbLsGVz8TrqOwrUrjOc12gib6Y1cVj0k6RLzmEhXv5cK15Dw2lPHuzZw4_fNHQGg-7OsW3FyHrjlpPjoapNn4e8QzIcg7VQwI5DgBUuo75YPdn2OrrnFIrBvkBqYfnYTNX8QqA8IwcDQR8EOoDnxZc2uBcMGsUDLklFaKDaYjlUyutos0AJzh7HYAwHPSEkqWYUKEOwBoD5u3FJfMcCL01Au8Pku0lrewlHE-b79bygDUaI3XS6STxv2EhLA3dZVSpIiw27rkIK3qsioOrmA63tX7KiikFbT9NoW24kBD_NqxivouFC3FFuN8_fnjVN0HH8lLZ18EgKM9c45zVJumNoKRx4YT0YuQzQX8me5VncPlNiKmeuHbCmBUroIdYbAewfxOoF6axMlr4O7J_msGslAtvNYgbHMDX7et3nepFfg93yFgYaxK78Jiix8C5G_EjKXWje4g2vvfQmSAJBCSAP8ZzZZkK_-mEPzfFn-ypgUFop8lMCMTfwDLzYoOpI67OdzQ4stYUA0Ner15X95gLYK2eOdyI_KAFN49ySMs67uDXf9OjPkuhyS45gl24HRJPFY5f2oIFc6TTtzfyXLpYpy5nVwv4P2xSmqoo6qOwXbW0vn0uqS2oGdq92JnnXtCVYGciq_771nk4rMrMCGat52Q_RtGYJEPmehhpeYMZfzO_TW_wJd7TUwnsYsNml3u5tpw0m7LIu9ffJkuJdFNDi64oU99l2Rshje5w1tggbh6PrWyIEOzQpOjNMcpifLX6wubzTfvV2XGt1xJikaOR4Eeaw_FMVQZxo75oYaAtfAhQrIAp5Y0BjyRwCLGAj3pxcO6bVqHwpAf6aMHBQeP45JhnqOTIOb1Oc1urXGyOdPwinVALjvrECkgSarij_wCiEHqKv2SLBFDblxbyRSNQd4RWcqI9_R7nuZKYe8A_LYhLzMlzdeRaLUKZjbkTaHUwqSDITndfqIzFkJZwritIicPhjFyE7vyqDFtuGfAEHsJcQzT6ioUIq-_3Uo1YCgV0zhkQyeB3IlsvVc2JePivG9JivXRhJ7gxcLg0bS69WeJMYcb99TP7puviKgWJFsIIUz2s6ElXErccjn4mwRTw2dF-hjh7NV6hE77cMz867YYC-A37AwQVx3yLqk-lQ5Uo70EuSoHjVHgdWgHwJt-V_0JHL3GlMJeBrrVc4hqi8SBBOAJB_6FYPkRv41CsHYTlSWUjUJrb7b9tiG2KhuVlmnQN_mnCZ7WmkWhjr6rOqUbetyPslCNijzZUm7POIiHQeI-hM5mVDEYWXVrVIkgc1eLwpvly4FIfT3ZinMsJLvtEMK66g6fi7cykSbQNp2nBqk=",
  "id": "rs_0e11210e9970fc1b016ab44daf5edc87d0951efc43ad468081",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.35,\"right_z\":0.2,\"right_pitch\":0.0,\"right_gripper\":0.4},\"note\":\"The yellow object rose with the jaws, confirming the grasp. I’ll carry it high to the center of the open safe, moving left and back while leveling the tool to clear the walls.\"}",
  "call_id": "call_gQBgTfoGGQXuju0ejZBB7rlg",
  "id": "fc_0e11210e9970fc1b016ab44db1523887d09c8487700848739c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQBgTfoGGQXuju0ejZBB7rlg",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1435, 0.9543, -0.9062, -0.2657, -0.0902, 0.9977, 0.9852, 2.014, 1.7599, -0.6365, 0.8066, 0.5159, 0.403]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1514 left_yaw=0.1054 left_pitch=-0.4766 left_roll=0.2261 left_gripper=0.9977 right_x=0.3832 right_y=0.3535 right_z=0.1976 right_yaw=0.0779 right_pitch=0.0056 right_roll=-0.1792 right_gripper=0.403\nstate[joint_eff]: [-0.0752, -3.453, 6.5162, 1.1209, -0.1099, -0.0122, -0.0073, 0.1983, -10.3179, 8.2393, 1.1795, 0.525, 0.2125, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25e9aed3d55c83158aa9916b3aba77ef2b7d3ec17e55581d0be953c1691101e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb0bcbd81a51531935eb3d57159c016aeb99e6ad7e7c534079a0114cab5b1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7044bc3e8194203405d7283ca56171d3699485b98a030320daf187125f91bdaa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1378, 0.9543, -0.9028, -0.2657, -0.0906, 0.9977, 0.5179, 2.2623, 1.1015, 0.6693, 0.5568, 0.0887, 0.6488]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1532 left_yaw=0.1043 left_pitch=-0.4678 left_roll=0.223 left_gripper=0.9977 right_x=0.5095 right_y=0.1869 right_z=0.0109 right_yaw=0.0117 right_pitch=0.1629 right_roll=-0.1745 right_gripper=0.6488\nstate[joint_eff]: [0.0479, -3.1521, 6.4479, 1.1355, -0.1734, -0.0366, -0.0073, 0.5402, -9.6615, 4.6564, 1.7558, 0.1538, -0.0708, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1397, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.5648, 1.9991, 1.0309, 0.4908, 0.5873, 0.0856, 0.4031]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1527 left_yaw=0.1046 left_pitch=-0.47 left_roll=0.2237 left_gripper=0.9977 right_x=0.4821 right_y=0.1938 right_z=0.0847 right_yaw=0.0342 right_pitch=0.1819 right_roll=-0.1828 right_gripper=0.4031\nstate[joint_eff]: [-0.0752, -3.0838, 6.653, 1.1306, -0.188, -0.0708, -0.0122, 0.1573, -11.4393, 5.5179, 2.0, 0.2711, 0.0708, 0.3101]",
      "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]: [-0.1825, 1.1435, 0.9543, -0.9062, -0.2657, -0.0902, 0.9977, 0.9852, 2.014, 1.7599, -0.6365, 0.8066, 0.5159, 0.403]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1514 left_yaw=0.1054 left_pitch=-0.4766 left_roll=0.2261 left_gripper=0.9977 right_x=0.3832 right_y=0.3535 right_z=0.1976 right_yaw=0.0779 right_pitch=0.0056 right_roll=-0.1792 right_gripper=0.403\nstate[joint_eff]: [-0.0752, -3.453, 6.5162, 1.1209, -0.1099, -0.0122, -0.0073, 0.1983, -10.3179, 8.2393, 1.1795, 0.525, 0.2125, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25e9aed3d55c83158aa9916b3aba77ef2b7d3ec17e55581d0be953c1691101e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb0bcbd81a51531935eb3d57159c016aeb99e6ad7e7c534079a0114cab5b1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7044bc3e8194203405d7283ca56171d3699485b98a030320daf187125f91bdaa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE23s2QTYArbJKBVRO2oxfNWjLks0BUGQnfr3W6box6xLahDJ7ytYRAFKDq3aWALT1CORK073tcuCgIEOGdd5oykkf0gm9JsylSH1OdD5tfymVB3priANe589sCB8inAtvkDrPaGscFbtKqN0auBI0tlKTXtvTerLll1fEbodYMSUTOaeOw4VapQ9_SFX9R3BEe0VmlEu_8Qf7pqaKCISCr7Nlo949xhpVSfuneC4XR90HURR3TSCBjA0P28ayTfP0jZvTAxV2Jj-a5NIC4a0bOZ3pTqG1AC57KpSg_Nbgj72PP-UqS-u6odlTGBIajmT3uezg2iCZuvssstAgn8GZ8-HBT4WREgw0irY89iUO7lCpH-UuqC2w76U-EKxXsNICvewm8W5W8PzOq7eSl7TFveXeFNprbf_QvQ_4MyNk5VHfwHuNsvfZTDbxzzkLwDHK6-eAvcoS6R9i0E5FP-X1CRyTeLyEykPgcWmn2N2wSfIBKFewEjSl_WAidu0wBxsRH1RTekYK2ihM12DpTrnVCYwrhNUur9ATa_G5l-B8Y7Qoc1YYosLK98za0T5npY1YA0Jfk9H6oeRasVu6kQLE7qh5y_w11J-oZpyw_sAHKNqOLSaezUcEVhNt5w2r3YPStumsCjr_ua-v6Yag-zECA4RFdru1he-Zbczfb_D1ODQUH3-wG5VgggSqh5A3ArK5XFQC_2hB0gzgwBsK9OuLGJiA2AXH4jETpAr92kJNo9mM5mi1CnjumJn09iXamNLPua5WSNzXNRyO9GDH_uoYalgvRldU1SvYClbK27tx8tI94au3h8YN6iBN3JXw3jPoq1KoATKtfJdYlspDYULM4ZfCCamqUgB222jPDvSqy5vMoWWUuQEFL-itAXCbtnvWq8HygYGSE_GxXcrlwQoNCiyaYrv5gT2pFaWZYeM2aZsIIybwtY_LELY1dAyuPeR5AEk2vgpRJVegB0WHxsbSHaNw90xNnOleHSXHIBDktBszp_6hgz7tOKT4LCqIZAPbAZvIjrmrXnM1Z8I_ZJW6hz6LyqfNnEMVwebENW5MVx3MhxcXj0HwZkTypJbH3w9Woo8jjJvodxNoKekbCH1G_5y-ZpITcKldG6kwjz2AbGvWXytqgPdtc-ID5bD0v0ENAWgspyQ0c4VnXxecdhYZecCPf10sJI8rca2YtemwDNzi_kD6hlroXj1YjAtkA71MlJ3fDAYxwZYbB076-mMyAsOMGpe5zn3QKYi5xtuhNj5ifiY5IoRw1sJj5fqDMnwXA1eaLii94MrYjfLi8LB1PB-x5sT--krIlVGOTaAqNyM6xewdCBXINbjS_Dxik0nP_mfsrb4kQP0kMO7QYscHFN4iUOMta8ZeJqxNmHvou5lrAtC9ILYi9Cvchv1D6EkKZFwFosbN8L-PC8i6f4LUxPTO028rqXSP-GC0LwONy-uGjQI-Ude1JtSPKSYKEGAHIxK2vf8YslkiQ1EaWBM_YzQ46mM51CneTBCZPk_eRjh7I2o-XuKkTauDXtDId2kdM8mmraqKeY652GjQhetAZ1gtQyE4KMFmervoAtyOHNrSQSuBMOrTRUEVkkSUAKITm_wTiWQDPfWkvuCS3VVnFWIM7BO0hUCTDYnT3Ybqedj5YQfnE_ZbglT-TrtgD4Y7VK21sdXVmR4kM5LPmiTgF9f3yfutePaGJnT45Xic2nhUJsgyYTQSqLRRLkRuIllXW1croXh_tH8_9NG1JrTnFdnOxepZe7wr8M_E9xto83oDgUbn_BjAYFRR1g8qrci7mMjwP9mw6jJSmI0AvexVK8xiODORkJVjPnRdsx-6gKk-pMTDZKn1w0pefgFc0tU_BeEYi2ZVA_5p6Jvw7amP7BiYACD-9u8kZbXmLBaAOJl3ExCM1ULr2nWeQ02JgwXVjs",
  "id": "rs_0e11210e9970fc1b016ab44db4ea9487d0a98d1b3b2f0f7af0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.35,\"right_z\":0.07,\"right_pitch\":0.0,\"right_gripper\":0.4},\"note\":\"The held yellow object is centered above the red safe interior with the wrist clearing the walls. I’ll lower it inside to about 7 cm grasp height, letting its bottom approach the padded base before release.\"}",
  "call_id": "call_e3cjKfQaVQ1yuJYUoIv4lsdq",
  "id": "fc_0e11210e9970fc1b016ab44db6481c87d0b4814a24e1c40681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e3cjKfQaVQ1yuJYUoIv4lsdq",
  "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]: [-0.1825, 1.1439, 0.9543, -0.9062, -0.2657, -0.0906, 0.9977, 0.9863, 2.1025, 1.4078, -0.2539, 0.7929, 0.5232, 0.4018]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4769 left_roll=0.226 left_gripper=0.9977 right_x=0.3743 right_y=0.3442 right_z=0.0713 right_yaw=0.0828 right_pitch=-0.038 right_roll=-0.2121 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.2205, 6.4479, 1.0672, -0.2076, -0.0659, -0.0073, -0.1709, -10.7009, 6.5026, 1.4774, 0.4371, -0.0171, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f416535133682ae85d6db8129d531e0e4a29b470ee458ac64d7cefe07d4e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2f394169b13bf2c7c3f1316e04463c95dfee99691aad93557830086af3f321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98035609bde0f395ab7632389d4ab260ea60b45443d3622881c99a2a85fbbaf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1389, 0.9543, -0.9031, -0.2657, -0.0906, 0.9978, 0.5179, 2.2704, 1.0939, 0.6907, 0.5571, 0.0856, 0.4061]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1529 left_yaw=0.1045 left_pitch=-0.4692 left_roll=0.2235 left_gripper=0.9978 right_x=0.5087 right_y=0.1864 right_z=0.0083 right_yaw=0.0126 right_pitch=0.1677 right_roll=-0.1747 right_gripper=0.4061\nstate[joint_eff]: [-0.0479, -3.2068, 6.612, 1.1306, -0.1929, -0.0415, -0.0073, -0.1983, -11.959, 5.641, 1.4725, 0.1294, -0.0171, 0.3053]",
      "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]: [-0.1825, 1.1435, 0.9543, -0.9062, -0.2657, -0.0902, 0.9977, 0.9852, 2.014, 1.7599, -0.6365, 0.8066, 0.5159, 0.403]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1514 left_yaw=0.1054 left_pitch=-0.4766 left_roll=0.2261 left_gripper=0.9977 right_x=0.3832 right_y=0.3535 right_z=0.1976 right_yaw=0.0779 right_pitch=0.0056 right_roll=-0.1792 right_gripper=0.403\nstate[joint_eff]: [-0.0752, -3.453, 6.5162, 1.1209, -0.1099, -0.0122, -0.0073, 0.1983, -10.3179, 8.2393, 1.1795, 0.525, 0.2125, 0.3053]",
      "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]: [-0.1825, 1.1439, 0.9543, -0.9062, -0.2657, -0.0906, 0.9977, 0.9863, 2.1025, 1.4078, -0.2539, 0.7929, 0.5232, 0.4018]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4769 left_roll=0.226 left_gripper=0.9977 right_x=0.3743 right_y=0.3442 right_z=0.0713 right_yaw=0.0828 right_pitch=-0.038 right_roll=-0.2121 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.2205, 6.4479, 1.0672, -0.2076, -0.0659, -0.0073, -0.1709, -10.7009, 6.5026, 1.4774, 0.4371, -0.0171, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f416535133682ae85d6db8129d531e0e4a29b470ee458ac64d7cefe07d4e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2f394169b13bf2c7c3f1316e04463c95dfee99691aad93557830086af3f321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98035609bde0f395ab7632389d4ab260ea60b45443d3622881c99a2a85fbbaf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE26sFVoB0VyNXYJbeeFeshIjZcKzuox2EqHEVB7h2sUuv__jZCxVq2UrvrIUJAslBF0h2nVxR7cHPvS6k2sK_tj1ae-dvTAwE6j3vNHS5S_C3NCzaBiFiB0hvXvzqYEOFIZnc7cBP40ZGg_j94AHaM9pEWk-b4nQM9xhi8-y9s-4h83T03IFZhicwREdqLFM6hIaQ0pbkQBb1CwBG0syY-xXDPS0pDl9HXqyvHZppJYj2R_zxipMZT34U6YikA6EFcv7GchVu38_fDU0SH99Z8gOm5zW7PyysAL1LAJ9bxj_BZ_EfoRmDhJ7qggifFsse1lqarb4ZYKrsGd1b4YOvlQDNE_tyUY3yPvB7zMBieZr9lFfu-g_QpXIQ7uFIU3NYzBFGA3aRzrxUkRG8UG7ff5dgT8JaO8JTq08vz1nV6_li8sqCrLfQHz-O3PiTfZubkrPnZvr-kFH2bfD9NC3xUX5RY_Wht9Mr7D1_wzcumqr7CXkRqRXG-V5nQdR6OleIbnajS3yEggKVn7wvbV0Fyb30oGGKtsbzVPjYEqj2bOSMQ_ZzWHCJkEKRvYPJ0KapuOQwbFld2fNcfEcsrHx3MOyeSWDqk9EFt8Y13tjxCWKEfVbR9OFKS56BWphwJhutOkpfhIXSebdxBSt5003pIC0uj1hRxYMNLsp5f7xq1LcC-Wx8khtRJcwDo0Xvz0gm4pG14CwBjkNB3gYM8XXwsl2WgpjD-OY0Y2MTX68OkYjL0O6qd-fdr-4wgxuI1Y97TR00-tPk1ZazDqxqxeFINNgnzzfU0X92OWc9HX53NZvPcXUws_pK2YHj4H2FQ4JG8PA7LQy_1PWpC3oNjw8wGB_bNbOCmU-QYuWEdnApQxH6l_-kzbgCOHpmoSBA8W93Ehodr0aQPQuP1s_YwNvKFP9IXEIZo8EGEb7zLxmi_Ki6si7Qn847VZwKfnKIw8UaisWGvXTci7TZm1GFVPbMG72KY9tDDJMeciwNBBq29dId0LqiQKfBpORizUctyHmYeUMUMSeJLnf9WwyDO7PRKFFJ5CNy84gn2dtapDJAcqeDVIzDAr0R_WBct0Hul6XwDdwVvMyBtCegYLvV7PY56ouyQbqATenEi0cSBIjxSTuHRHMoUxFrfKi7J1qwQjGllqdLh5ERsW_X5aDp75joUxpV3_OEgurvIE5KkikvSBn6Ku1L07ojcoqpF7Qm45a3yN9v_duri3zSmZLqUOSlMxuwB32m6H8hl6IdzUZGOFZ0j0gUsalY5oI7zdXaCzcVr4AMBQBaofjr3CHiDxQOxFjxz7vjC4qlL1vgCAIAepRLYLpxPBqLSjgAf3EMmi0koL",
  "id": "rs_0e11210e9970fc1b016ab44db96c5c87d09aee56426c7ba610",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.35,\"right_z\":0.04,\"right_pitch\":0.0,\"right_gripper\":0.4},\"note\":\"The yellow object is fully inside the safe and its lower end is close to the base, while the gripper still clears the rim. I’ll lower another 3 cm so it is supported before opening.\"}",
  "call_id": "call_jfgKTSscE51HqOestLZjNaoc",
  "id": "fc_0e11210e9970fc1b016ab44db9b55c87d0a4ffda4d02daaec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jfgKTSscE51HqOestLZjNaoc",
  "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]: [-0.1825, 1.1439, 0.9543, -0.9058, -0.2657, -0.0906, 0.9978, 0.9871, 2.1563, 1.3842, -0.1543, 0.7967, 0.5083, 0.4018]\nstate[eef_state]: left_x=0.2772 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4766 left_roll=0.2259 left_gripper=0.9978 right_x=0.3777 right_y=0.3492 right_z=0.0495 right_yaw=0.0899 right_pitch=-0.0236 right_roll=-0.2088 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.0965, -0.2125, -0.0415, -0.0073, 0.0889, -10.3316, 4.9162, 1.4725, 0.4762, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d2f7b02f3869ab1a0da752f508303b3ca0014c64a10289c27d3ba39ca8c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3094f41f853c6a586f1f495b728b423c176db19c682e4210ee557b4cd6d3b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0443a75ed94886f006eea48d10519ad13145bf203ae082df53adbeb57f3782",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1397, 0.9543, -0.9031, -0.2657, -0.0906, 0.9977, 0.5648, 1.9991, 1.0309, 0.4908, 0.5873, 0.0856, 0.4031]\nstate[eef_state]: left_x=0.2776 left_y=-0.0004 left_z=0.1527 left_yaw=0.1046 left_pitch=-0.47 left_roll=0.2237 left_gripper=0.9977 right_x=0.4821 right_y=0.1938 right_z=0.0847 right_yaw=0.0342 right_pitch=0.1819 right_roll=-0.1828 right_gripper=0.4031\nstate[joint_eff]: [-0.0752, -3.0838, 6.653, 1.1306, -0.188, -0.0708, -0.0122, 0.1573, -11.4393, 5.5179, 2.0, 0.2711, 0.0708, 0.3101]",
      "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]: [-0.1825, 1.1439, 0.9543, -0.9062, -0.2657, -0.0906, 0.9977, 0.9863, 2.1025, 1.4078, -0.2539, 0.7929, 0.5232, 0.4018]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4769 left_roll=0.226 left_gripper=0.9977 right_x=0.3743 right_y=0.3442 right_z=0.0713 right_yaw=0.0828 right_pitch=-0.038 right_roll=-0.2121 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.2205, 6.4479, 1.0672, -0.2076, -0.0659, -0.0073, -0.1709, -10.7009, 6.5026, 1.4774, 0.4371, -0.0171, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1439, 0.9543, -0.9058, -0.2657, -0.0906, 0.9978, 0.9871, 2.1563, 1.3842, -0.1543, 0.7967, 0.5083, 0.4018]\nstate[eef_state]: left_x=0.2772 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4766 left_roll=0.2259 left_gripper=0.9978 right_x=0.3777 right_y=0.3492 right_z=0.0495 right_yaw=0.0899 right_pitch=-0.0236 right_roll=-0.2088 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.0965, -0.2125, -0.0415, -0.0073, 0.0889, -10.3316, 4.9162, 1.4725, 0.4762, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1d2f7b02f3869ab1a0da752f508303b3ca0014c64a10289c27d3ba39ca8c50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3094f41f853c6a586f1f495b728b423c176db19c682e4210ee557b4cd6d3b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0443a75ed94886f006eea48d10519ad13145bf203ae082df53adbeb57f3782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE28yXjXkL-W_RYtzisf7AoxPzfwR-a3JBeI4ng-RtpMHpJcbfwWpdZGnNljJRyHdNhShy-ebUnRxniutQIVtbrbXGKS0UIljoQ0szA3XLP6PgPMGEcIKHb-K8aJJUHmq713wSznJxeUX_DvkKkvwx1UopAZW4N7Zbk_i0GWDT1diehpJm_CDfX-GY_RQmXhRLQRiIpUMW075dLZUDwcIk7RWcFBrU418zj0NQwQrLHUHoVSjFhVVmdO8u8EvM2GByljjZybxr3FvAp1NiDA2NLNYp27aaCDwlPwyBCwkREJxYJgWNZRbirB8ss4JlIjOsvPh6V2e3fMVgbsRKqG4JgWOS-EkTjmVUPlXfX92K9GMS4rbLrJYnKTkdWbjBHXB967Cg21gWWRbRn9HqguwYBq5rp726t20YbX3XCJKaV1Jeqx8sKlCKfGKQUP5pTCqGuZhk3m3EV03Z9BJFr3bQVyy4PTS-5-Y62t5dvpAJLigWK5yZQaHtY-F8sXuXzY9loFSaZwXepLffBTTnKarCLjibe_I5KLLt40SujntsINF6_3cvi32mZrUhOhIWFGugels9e_MwjFT8NI4QDdh05xz8bsnvUgUdQCE0cYDK9VzmyunDVMSIeF84DPoyqpXlUM-WLU_ez2Njv8WYqtvXqHO4xLsxXG3w9QO2gjMVvFnhurTzHZIMNEsdJvtlZEqw3WDQIN_6Bn4jUQMGC1EIpjCc78rUohHUYK3uPOhPIeiFxd8ry5ZZREwGSe_Oqek4JmVg1yBzMNbyOkN_v9lhlBmJ8_dIKAWdpeXzrzgzX45LQIjfRLHCLqVrsZo3f4ERIFSDFkEC_aQdeaVyAqRjCo8tow2wx8QUBBRA0HnEHIyn_XsvLJQinoRGDHyCgPPLcxIxd2d50iHp3h4zCwieJgt8NpcTTEiTejlwIjgu4ynsmTk-q9hLxuCKOROyypT7He1JG_u79n12OY_7xjnLaNMplgANWzUnls1emrrD1ZZFzJTYYEfTdd6H21mKUMSBweWC8vkUOaIlwmmRuXw9SokNB7mR6YQyvPiEdrWUctYBw40dXCQCt1q43pontvBDd8I-4jAenOj7V5IGScaqdUk5y8P3aXaDlmVMl0I6kSLxYxhI7Mm88iYpuHFElxR5KEzhkTV9tvguAHVueYhx9DTYPTJajKi2DA-T45F2O-TTo=",
  "id": "rs_0e11210e9970fc1b016ab44dbbf39487d0810e7f93cb679a3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped near 5 cm and the yellow object appears supported inside the safe. I’ll open the gripper fully to release it.\"}",
  "call_id": "call_CwRwbDMPK9wW4akw8HCdVelu",
  "id": "fc_0e11210e9970fc1b016ab44dbc13f087d0863ad8dc639b8e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CwRwbDMPK9wW4akw8HCdVelu",
  "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]: [-0.1825, 1.1446, 0.9543, -0.907, -0.2657, -0.0906, 0.9977, 0.9871, 2.1742, 1.3743, -0.086, 0.831, 0.4984, 0.9947]\nstate[eef_state]: left_x=0.277 left_y=-0.0003 left_z=0.151 left_yaw=0.1059 left_pitch=-0.4784 left_roll=0.2265 left_gripper=0.9977 right_x=0.3832 right_y=0.35 right_z=0.0491 right_yaw=0.074 right_pitch=0.0215 right_roll=-0.2019 right_gripper=0.9947\nstate[joint_eff]: [-0.2256, -3.2068, 6.6393, 1.1013, -0.1441, -0.0464, -0.0171, -0.0479, -10.947, 5.6137, 1.1453, 0.1734, 0.0024, -0.2271]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5505ce8ebceb88967891ffa4d8b9dc0f66ca7ce4cdefe1effc0a40e324317ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490251ee7cc61c2d0932e812d83ad4359f3780893a4e4bc67a3cb2c5bbded59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7e26a13463523ed3676254064b42b42d079a1a9701ab037fa515f755e50494",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1435, 0.9543, -0.9062, -0.2657, -0.0902, 0.9977, 0.9852, 2.014, 1.7599, -0.6365, 0.8066, 0.5159, 0.403]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1514 left_yaw=0.1054 left_pitch=-0.4766 left_roll=0.2261 left_gripper=0.9977 right_x=0.3832 right_y=0.3535 right_z=0.1976 right_yaw=0.0779 right_pitch=0.0056 right_roll=-0.1792 right_gripper=0.403\nstate[joint_eff]: [-0.0752, -3.453, 6.5162, 1.1209, -0.1099, -0.0122, -0.0073, 0.1983, -10.3179, 8.2393, 1.1795, 0.525, 0.2125, 0.3053]",
      "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]: [-0.1825, 1.1439, 0.9543, -0.9058, -0.2657, -0.0906, 0.9978, 0.9871, 2.1563, 1.3842, -0.1543, 0.7967, 0.5083, 0.4018]\nstate[eef_state]: left_x=0.2772 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4766 left_roll=0.2259 left_gripper=0.9978 right_x=0.3777 right_y=0.3492 right_z=0.0495 right_yaw=0.0899 right_pitch=-0.0236 right_roll=-0.2088 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.0965, -0.2125, -0.0415, -0.0073, 0.0889, -10.3316, 4.9162, 1.4725, 0.4762, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1446, 0.9543, -0.907, -0.2657, -0.0906, 0.9977, 0.9871, 2.1742, 1.3743, -0.086, 0.831, 0.4984, 0.9947]\nstate[eef_state]: left_x=0.277 left_y=-0.0003 left_z=0.151 left_yaw=0.1059 left_pitch=-0.4784 left_roll=0.2265 left_gripper=0.9977 right_x=0.3832 right_y=0.35 right_z=0.0491 right_yaw=0.074 right_pitch=0.0215 right_roll=-0.2019 right_gripper=0.9947\nstate[joint_eff]: [-0.2256, -3.2068, 6.6393, 1.1013, -0.1441, -0.0464, -0.0171, -0.0479, -10.947, 5.6137, 1.1453, 0.1734, 0.0024, -0.2271]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5505ce8ebceb88967891ffa4d8b9dc0f66ca7ce4cdefe1effc0a40e324317ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490251ee7cc61c2d0932e812d83ad4359f3780893a4e4bc67a3cb2c5bbded59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7e26a13463523ed3676254064b42b42d079a1a9701ab037fa515f755e50494",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3HAUGCoESPlpufLOrnUxf8u69gCa4KiJf7bM3TbmnSHXN_bQO0NnZ-oSB-zGVJironM0G9gAr9OXX2KPgfQv4mkjsMbUnkK3m3cW80jloVA3tqZCa_cfd30WgA6qhVtUC3ZXs_a5JwetwF0TaIu6aMtYytsO3bfCkowxDfEmmsiqtZPcqRRRxdAa1conliocTmpUbprHEJ5CnI1qTQnLahxbyq07Kd4GS0zNnvYN21Zq-IV_M6FCIpYXYQNKBXgqYZhJSc0Rd1mfetkvh9AuXj16iDmPVlEBrmM2oZKueepumVpyAsmgt7KV2cT3qBWmSY6VTa1GTYLu2kRX0rrBEW-ksqfgHaDVDvnHLXcvWMU76rczrSZAtfM4IlVjdyvH6EFagHO1SVyFSpP319cR41HIT-Sq48caO3jPk98XDISptxzR5x6VlirQ6szvhciV3nRqj-ePfr3KF96PMvTqdwDgegB0xDKDO8LrCANA4B54Rc0MvWvtytK3o98eNxCqF0g-ENHewbj13ZsIxpCBwtcXfBt2O5eApSnx64k027XAqW57NAIPZUgxIhRgB-_Vwb1XvpSKtewVIa9t1Z8n1gfnxDdWia36cFKVNQgyVKBGj1A2YtHIsB477hyf-3xjC2nT2VP2Dcwp966cc8h24_nl7rrua7ZAmbPinmQ8MI7eSeqtI7d-4pcnZ-7GliQFVvRY6egKDn333CDG_oXAuDkF8o80Mbkb9mD5MhXa5DGSR71QimEMGw2mSkh0HgVEOYEqU01i2Y0wYVa2fwmBEfY0quZ_Ao9bCIqgsGaqFyK3YaXMwSLX-96jxL16nUNnRs_md2cCIsNvf3GKiEOBPkmrHFIDlBa5Kg99TApY_0o94hWfrRlURtS3_5GWDSMr4TWSMQPnJsqud9KvLp6shNiTh77-BySmp4f8C3zX8k3mIG9MgoN3DSDnZlYB1iDKaXlCsoyEkCnuTEBQ_7R4Yya0Se-50MmhD_fU0qY9ZQwelZM7UuO-krqPZeMH363sLHo87VzGTnfZ2Qq0HeIXdxlrw4M-jWYdmT6emiyMaf8IzGY8mH1RcJxB_Lkle-YlKmgrRz9s5sZvzefgE1JaLcmLxI6mXQgZSUaGZ9AL2MfDaPf9fvbTZv-XpCSeDaoHyKicyUksI3nAwh4ABoCi3yj0O2wqqcVfbo3mds55XseP9N2wiuXnGr36ZfjQMTENVGIikblG1m53RVYewUklhiHawI8roL9QNRLuGa1ffs1Yg4jcdMOsbqWU-GgpVHUoHCt29FPJa76cmpKPq_xtVOGcVE6gFF6TNyHM6yraB6eFvMaC-sTFP3NCOqLomoYlli7J_7vQIm-fl_hJ8jvwHiQKL4gRlAuq1HCjNT9qnq41iHUKjejfnSMLNpU2ZsX89vnDVkJDWbEvmP3tm8vPpbmppoelHUcqpxnfHnv_qSbOzr6Txnrjtwe28xdTiCPormbp16AzB-BtNRbBYXktzSfvCv4q0gEK2FvE9xrYY71jhnog_eKVepp75Kc0woj1z_aVXaIJQhUqK7kQutZWHZG8g0hGA40gzQnXDu6RyU_BRtLcFqrgYAypeeiEcS3W42bhiJhfE-NOsaD86cT_LUozX8ozfz3fTkeAvVpgQ8zwEQmGgWGi9juymIz2GGK-_Epz_EPyDxfof73eoQRd4A02j3Q2aM-DVGwnCGZIo7wstDn8j8FzIMD2Z3PnOZsS0Hu7kTTH_gfEAkpjhEUrkk1rqRbUvM0jyZVOTbq0hH7JzTH49U6cEZF9p3lB8-GleqnHIeod4nQkDy8m1HLkb6ofQeGTZDVDyzvxvLvN52Fn0wYhvrAfaXERuqKMfEuXIGFmROXxAz4K84nR36AzZF5hcIodHILHG7lxfJf3mYCYkAGLLhvd0gXEeVIZJ8W2u2uXsc6yPnv2Wi1d8wuL7LWbP99pO45FjXNjSyrDIO3dWHz8PFnF2ds3kngwWijat1TXpqfwipa2eKhd71xjA21UiQ4W_zdAO5nQu3gP0ereTuFv1Ouif2yzgwpGeFYFUpphyNp16M0MVyiSOT9XSe94CubHqBHzl1YB1KLVNQLOMgsn07ohJZXG5qJpFiBirmCTW4G8Tgjfuh_bhFw1kdqXR7Ni3VaTGcuRAU-G0KFEBorVQjDcWcXxL-3LGGnMCuYvwGM4SRWrtJtEb6UmL1f8hhtWaQbrTahTb__rK1QiccS_V9a0eWnzShUL5WvGIehVQMFAIlhNkzu3jbDURwSlaaPRMdjmJ8_50Fjhp-b42gWktPVHYYqY30L6pFvPkWu4YnLEjtR73TDZDaF5UDQVXR_tZQIohH9Gn1Z8Mpy3fnrhl0cvT4C7ZvdUSoZXOv3x2_DgOtl9dxnA_EGqgtNXGSmTNV0f_suITcJcVj1QNOLeuu1JdqBnZsb4wL0CDO5I_UxBqQ74AEvq26_tS2uBv8_BrfcNr3kTUyUCYDfh6-EoEkKES810JZS0ClCGNi9Qlu-Mlhaq0YpzSmnWNfnOj-ZPjAyLuS0ykAjzydgLjfOSBu1pHHAVXAZul_jmxzhnTUXzfsu7If6Y7XAX_EEg2ml57QKnGA4zOIECwNO-GAC4mhz-yyy5ftP_zlKWfz1MC1zMQ5p-5lYLLBvHQWaP53ijPW6wFWHfoMVHiThlfAvldfVrWrdTUhT6KvQVRqhQF3L3j684DBFprbsXTjaYn9reMNtNl0rJyu4wqf5Avo49llCODvKag9vUItM4ZcCaKiduwl3ObLsFNh8P16bz1miziD5JkXeDBJ39H9CmlfibW2sr61RIw28R1uVyv8SzdtE4NPuHRPinIJfGTJ0Fz-hgu2SW6xL4C_D_6zft8ShrGMYqdmzpyXWoaS8LIrSAxtAFH2NGGUUkdrLFLyArJmGzbIBmk8TLkQOFjUcV7AbK7FLripId4_moMXUdB4NPgYnhGwKsUzl0xHuFtEmc1Wdo04OfjcO1nTReWw79eAPIFiAzL9AmdrUFn2We0zEHeZc4tX-7bRzKHsBIGHQy683hDxvO_NN0KlsQvHMSDTX3IRhSn9irJiJ-2c5CMrcC18csDgsMWbZnTfeo3UlBDPpjWCfvBTWzHRzihs6DLXnwMnML0tQmXJ0HiG__T62vqB89W4eTRcQEPWks_gh0JEysi9s6_Ux4BUeWL_79egMilZC4j1IG9dX1cJCxFJXP7v3bwb-j_kGqyvK0XdJX6TVNDinm0jWgiQ5mOkMHydj60SZObkXjOIQvfHep7iZ3rjvvez6JRdHSSm_DJrG6jlPePnAgdcrjp1a7DMRcUH_x6HOzig9uxg0EotXiNa8k0S73lZ1bRazI_xIKmQzBoSNYmsP3DZS7CR7Ik1lRMEDDa0B3uy7bQLqZLcO0yk0ilOfTzS3ClCVSqogvbCQTOdXbeCDMidcDeB_XdKJsBZgr6jmLCEPdAZ2UA-4xdBUg0LBIacBAys1t40eJqpzCVTIPlyJbBRmJGn-KKXPetpO3SXAq1uR3GsD4oPVo-eXcIKRDxls0mnKR-VBtO_6Ntwzg5NFtTJy3lljcUs8LZG2GM8NBr57NRAOmTxTlpL5CGDTHeI-A9A-gT9__P16QbsQw8JGbs1xDVz3kwwhlLiAZU40ZAYizgUFLreNUkAxhZRiajw-Pu6EkFssfZ66DjBPV-sLev9Hp4VGbi6ri1yXFk0zbxLM7E1N_CsD4prKH1b6CvYsT7K8opYINh0cus0WHnPQA6AGB-7tovjoPNCOKr4cZUAoY_e5EMC0x7U",
  "id": "rs_0e11210e9970fc1b016ab44dbee60c87d0a622998224c4ccb6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3HhExFu6agrYAiG7wjPWgNLMshA04_YkPYNcsC6l_3lOCoxYv2pRvcf-5T7OYhoW39eJTY9KjN13mQIkzU7nH13RaeLXCidWHfqaYSSyd24NlLkzxeYeaesQBuAsFacxhy8-hpPFIXq1rlAN6LX-lwbHGkOCwwlWS4kKG1aN04tb0w-6ylnVL6WX4Gr6Ot9cLZXYQ9yaqwmpot6Ov5d-VJGlH_pzWl3VAKrhsMueKsDwj1wIcSvBBZFMgbELuPjSXrQmj4TTHufW0Z1OHgtvrjRjvTfSMkMsMe-LpZYFq_uXyQCQ8_9xekhP3c-oGoRKEuBuvYqPGQx8XlX4PYD7sBxHqg0Qjjdecw9lTk2e5Fb9xV-j-CY5QktXIU7V7yk08BMeW2z6zVtSFHRMo1vpWF9Lx-L_JTNmsb8fGalySurGN8Yfsnh48HFWaOeQT4PAWGDE2R1c7-lxSOYE9E0CrQmkKaGlhzt-d7NlH4sF0cZp77Cv-T6YgYQhNIMdyhi_ojHjywmIoMFymkQK2O-gS8fgCdqMNqp3e96oiCd7f_z-Vxs8AlyfsrP_mdalpR0rfrALxFtrLAn9ycjQ2uHbAUKXUiSLV-xx7LiaLWQmmKwHAiTev3da_VwfpBm_OQHLwqvb7gBTx8eQmDjZrf4QbD6tFIo5XhJmUB8XUIfSb-c-GYulPqomOzg5DAMeUD7ZrKGHjn_S9rGnW1fzZINE8nGjxgD0RQbg0YPoVuLfRg2OCCwrPJEaQGD2nKIKJVQ2JuSHixG5GPkdJcNhJNE0VOZD0ivNmXIr9qGxBFz7dt5pntfKF38vrkrvhBwDDA9Uf0xplvF_LU3kdtwRx__7luE-52J8n961B1g7TJWtiJctQDhBDrkPRQnHdtXOmzefWZ9-__ZaMRd2Q4ADMdEX-ruoX-TIWb7se2v5E6K4aTSFXhP9npiKeNRK7nfnv5vetoW1nejD9QaAapN7JKFSXZkOieio5IRLevKnC9-7gJPAeseD2lG8XH8L1NZ1C3CjsyBFDQe9Aa7dnlgAuWHHilk7mkQklDKZuHXRVHKBVcjY6Gb_t8j3V2SwjkjuZPMzV1zEZoJ4IKnUnUdTIA-zgYS_Ns4xLX-JMnT3j-IUrKGbYo9wq1aaT4HXR7JxKcD76YFFWju0TcjpjvOctb7avSYXa8Q-2IL_6Hv5YmmArHAZ51P8A-JTfWu6h7rSB-mKnom2dOIGrlWqBAHxvTVmhjWVu8WUZpsVPGY75hRLcghbihCV93_WNrRJfuFARpgse8YB0BYAzi159xpVkZrUelrZOfTA_RYEQKUrhDsiXgfZwg8lLS9pEUOFv52jcA2PAHyiND33GfO9Tcasj64ZfaK1N6avbE16eOPi2_3WSTPzCaly7DZvSQwBBovOZVqnkt8VNS2L27K8TeO-ZS5IR8jMjzJj4lxRiv-t0bKZbw5lvlvERM-4oj-XiXiGvYRVzgynDzoIJbc6gWzTXZaVBKrciBfyV8noFizoJB-EXQsS_gRHcXURFSeDRyzM4HEvA78zL6HFgOyS5fEsog3OZajnapD7QPzRGUGVRgPzw0C-FXrOIbyYYnklvEB3cZVJ9XnzwBjon2GuyJ6IMDCvxImOaOXV49acohd9i6dU_-3HmWqYflxsqRlbPuS0pnwYSccZk-AYyusRU6CUF3fGrKBD6d81CA-2mReDDkpDOs3_vEEO3F8ecf6LCZ9HRmWxRe2iNf7moiioGd7hhAl4oOiPglyXTgt9z8IGgGOWjs3upJnUtZfQI5oiPAxRoaznS5Zpy3bnzFQDAv3oiFxd44Q1qIWMfQB3LxJARq2dvjdG64uhrTR8TD21pav6-6SWlG3KnCMuqGfdjinfYM8j3AudTqLY4-hjFxpdgMuATmbxjtf49msZHfYhWPB83cRkGWBk9FzHaffESpexnpI4eA2UlMyyepx6R5SthnUl6oUB5VTNHIiJfEN8y55YY44kbWUhqcEeBikgeWTsI3tDsazeYugqJ8edG6KwhcrmCWPKGO1JvdJHPGiGsoCxWka6E_yy3aFoR5ojIgbNzUpvCfbXf1PqfcGf2myGMQnna35aDV3elrllRmHlLMGhuvpMDj4d0lOueXJi1XDA8FrrNl0j-y5yL_U0eKp_FxC9NHNnYDM6nkLPGrdqNPQKLPpsrlaGg3GBnaekwI2-3LmjSu750Fj4OpiwhYrMaYFNZj-uXbc2roDN6s5tWGC8sw-iZ376efMslC5Bxl1UkShaawuMeKtUtUTxJNcmSAfdq0mPqaeiz3Ql_zHsDSczgT8WEqCDr5wj9Kr1ET0PextxwuirORxA-SwdxhIkIZYETCRxWIsX107aU2iLL0wtV2VYMS",
  "id": "rs_0e11210e9970fc1b016ab44dc3853087d098fb042489fc711e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.12,\"left_gripper\":0.65,\"right_x\":0.27,\"right_y\":0.22,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The yellow object is released inside the safe. I’ll lift the right arm toward the brown plush and simultaneously bring the left arm back above the shifted white plush, narrowing the left jaws so a gentler grasp cannot eject it again.\"}",
  "call_id": "call_KTX3mm9MYrfx2qRe5ROIABnV",
  "id": "fc_0e11210e9970fc1b016ab44dc60ac487d08647850e93c07a70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KTX3mm9MYrfx2qRe5ROIABnV",
  "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]: [-0.506, 1.6287, 1.2083, -0.841, -0.3771, -0.3977, 0.6516, 1.0664, 1.4174, 0.952, -0.4446, 0.8631, 0.5808, 0.999]\nstate[eef_state]: left_x=0.3435 left_y=-0.1119 left_z=0.1073 left_yaw=0.1054 left_pitch=-0.5412 left_roll=0.2498 left_gripper=0.6516 right_x=0.2782 right_y=0.2337 right_z=0.1707 right_yaw=0.0897 right_pitch=0.0364 right_roll=-0.1661 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.3231, 8.9094, 1.0232, -0.4176, 0.1148, -0.0317, 0.4444, -6.1197, 6.5709, 1.4579, 0.442, 0.1197, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1bb9055fcc887e2978c1746c40637b71f81d2e1637ffe57dcfda090f89f074e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c3de191fe6343e3716667f806061038b10e9262dbd84e050e8a4df035cafbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52195b86ac6abd09a3c487c0eab32442691c0adf5cc4efdcfc506f32b595a4b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 117 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]: [-0.1825, 1.1439, 0.9543, -0.9062, -0.2657, -0.0906, 0.9977, 0.9863, 2.1025, 1.4078, -0.2539, 0.7929, 0.5232, 0.4018]\nstate[eef_state]: left_x=0.2771 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4769 left_roll=0.226 left_gripper=0.9977 right_x=0.3743 right_y=0.3442 right_z=0.0713 right_yaw=0.0828 right_pitch=-0.038 right_roll=-0.2121 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.2205, 6.4479, 1.0672, -0.2076, -0.0659, -0.0073, -0.1709, -10.7009, 6.5026, 1.4774, 0.4371, -0.0171, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1825, 1.1446, 0.9543, -0.907, -0.2657, -0.0906, 0.9977, 0.9871, 2.1742, 1.3743, -0.086, 0.831, 0.4984, 0.9947]\nstate[eef_state]: left_x=0.277 left_y=-0.0003 left_z=0.151 left_yaw=0.1059 left_pitch=-0.4784 left_roll=0.2265 left_gripper=0.9977 right_x=0.3832 right_y=0.35 right_z=0.0491 right_yaw=0.074 right_pitch=0.0215 right_roll=-0.2019 right_gripper=0.9947\nstate[joint_eff]: [-0.2256, -3.2068, 6.6393, 1.1013, -0.1441, -0.0464, -0.0171, -0.0479, -10.947, 5.6137, 1.1453, 0.1734, 0.0024, -0.2271]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.506, 1.6287, 1.2083, -0.841, -0.3771, -0.3977, 0.6516, 1.0664, 1.4174, 0.952, -0.4446, 0.8631, 0.5808, 0.999]\nstate[eef_state]: left_x=0.3435 left_y=-0.1119 left_z=0.1073 left_yaw=0.1054 left_pitch=-0.5412 left_roll=0.2498 left_gripper=0.6516 right_x=0.2782 right_y=0.2337 right_z=0.1707 right_yaw=0.0897 right_pitch=0.0364 right_roll=-0.1661 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.3231, 8.9094, 1.0232, -0.4176, 0.1148, -0.0317, 0.4444, -6.1197, 6.5709, 1.4579, 0.442, 0.1197, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1bb9055fcc887e2978c1746c40637b71f81d2e1637ffe57dcfda090f89f074e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c3de191fe6343e3716667f806061038b10e9262dbd84e050e8a4df035cafbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52195b86ac6abd09a3c487c0eab32442691c0adf5cc4efdcfc506f32b595a4b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Qfvg8O_OLbTOyiQaYzHeRP3itm3eq1Pr3bB1eAIILUGxdjhK_AcS8FChdsiAXQujZw7oVlHiLdQrOiZVEJz5rc9v7MchwzVBXEtpLPdJE_hJ6lr2jElGudUTU_LT8SSyUzC8brMWP-mX-J4E7i5giYVIAZle1pcX8K-IPx6pstWdmmtzCTd3ZWtw8WSXY2EvS3Lefdkth_MaoH4OfwdoUxcbmLiFM5hgkUmG7sywVeTcdd4PfuLTLV866KroJj8fvOKxf2cF89EsE4KAbZSwZhLp5KYZE2J0GtwSoEra57ClJtce6wyFIWpL7FBHKafSDNshLa8vr3g-hRlgcC0QLE060cZbAGqIQLB9qn2W1NZzzVjeGC5SObn88r0RRN6mvgh5JVXrHAHk7BBJTQObS7N_w1fz32zmjRWF68OcT4ULiQxd8CJDkBu5ZPuL6ICQV9tpK-4xq_FI1TAjYiYT6cC1bzp-B8edduUownSEC99N7hd_uwptTGu07SMJKSN6rK4piZJ9IxIk6J6JP46954X-kp4hGPudPCl9pqeHbFi60uGUL5ISv-ml0PK6aj_cY-ZskkwvbbJ2CwZgMGqa5K6zKgM1kf_eBcH9B6geuC3y8cX6qHXqL0V95xfV601_YGeXpMVrRrzq7kknNASkw9d4MGhXfbSmLwivAdkifAkkV0m00htgbWYQxmsbLftA0VG7Oh2vjh6RBJ1t5ZosejyKPehl_PS2FQ97T9CB1b7LrN0_zBJon2vLvi5cHDVucDga50aH3JpcqXX1p9EwVDeGX8Xs-OtJ1I2jb4wWI1Yz52LlzmN27aBX7hMvZNSbCvUJMd7mfyAq_jywzJWjOcEqLp9iNfenhw3yfDpjFprPdzwgNghKMmoFbZ1xhUGkQntL898GJNwmwJQrS9QlJ8ZNukM6_jteqH4KiW95Ay1oA7N0GRzDBBaIDGmujqZZKHi-uuP9EbPivaP61OxiEvbuCPTEGMry630CEoYpMQycXDVduTxMvYCmtxpMB-rwHohwH5orjCAOYkNysTfOxkePekZCNErk81AHilTpc35c8FAVf8Rn9JQoP904X7DGrSSVBeIz3VR4ju8KJGdmv7odfL_pzeska_6P-qtQ-zxMNDk1P_xZkU4BZmsZKwg8Y0mt1iJZoGeEm2_skaaUtHjXNTwe7DM3wwK37sWdn8MAR8A1L4a2lF1aGGbbHEavLr2IWxXXpMnZvhXRvBLQduGSWBny06nwDZQyTsRwNc2l33YHLkt53Ap-Z31facGNO5Ym2FA6HP-R7FMY3FjKyW9lnCepdrxZlhqUN4pqDeSYu8Gcuq4sXRV4LV1MkwSpo2Q47Ywm8jGMFBLryn-8NT-JugwstxkMOgFFbCX86CSorcz-3U4ZYj8smg7AHdcFlwlPNRM2mMNsLqKhIcMBucPc41vXMfwvzfqGs3rg-3cwPUs1J3ItFL5O7TiKdqTdSa0j5B7QR2ZCp_srR2jxnwQAZi-N1lGrqYyAxOggTNzZnHNpaCPiouYoYvX_iLokpYQiOe2kMN0wEKccillI1Nb73kyL_d_6YAIqTaDaTxbdnBZUUoYd2jmImY-YwTSJtGbCEbF9tC1G3EiUsqJCD_tCuwr54BAWerIT7W2KUc0eeykw9Ll6VBS3iD7tZHVJ572q_1ilBbYuxyxRFZECsRM4OJ0SQK2q99z8W3GNewHwHKWjwjlCFALkAI9UJocFMt2tOVC4totdIFIiPYH0Yj433oKCERyv-bOIa63i3cgKtbB5a63B-pbARjHVAfTnVtHQY_47MVCW3i5TYaC4xhaRTyB3aFve6JwABtmK1X2wwzhhPuxgvwVnHdB3r5qvpRvPqmDxPi6GcoG-sT1vTinocr9ZNqUjNUB2I68qAcSrDUGg3RCMKInD5pbbli_O6ZsI1pjATdWmmVlCbwK47nqHWuPEwsrxMpjOg5oKxn-EpWhaMg6_MqG5zZjGZ0jnM_CZI72pzZbfaqlw4QDA9xPiTexJs0sdzqd9daucu0NU=",
  "id": "rs_0e11210e9970fc1b016ab44dcd53d087d084cd3a6390081556",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.12,\"left_z\":0.01,\"left_gripper\":0.65},\"note\":\"Both remaining objects are now centered in their respective wrist views. I’ll first advance the left fingertips about 3 cm and descend around the white plush with the jaws already narrowed.\"}",
  "call_id": "call_EwW0RnOSJmh4ODzrxaCVux8y",
  "id": "fc_0e11210e9970fc1b016ab44dcf4e8887d09b1037f18b31ec04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EwW0RnOSJmh4ODzrxaCVux8y",
  "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]: [-0.4946, 1.8351, 1.0775, -0.5507, -0.384, -0.3977, 0.6512, 1.0676, 1.4189, 0.9428, -0.4767, 0.8528, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3577 left_y=-0.1136 left_z=0.0164 left_yaw=0.1392 left_pitch=-0.5755 left_roll=0.2884 left_gripper=0.6512 right_x=0.2741 right_y=0.2295 right_z=0.1623 right_yaw=0.0999 right_pitch=0.005 right_roll=-0.2003 right_gripper=0.9989\nstate[joint_eff]: [0.7043, -7.2957, 5.135, 1.199, -0.1001, 0.1832, 0.1148, -0.1846, -5.6821, 7.1863, 1.4432, 0.4371, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8233a660d1ac1123b1fe5a8787c35172dcb52c46f07853ef7778e1f28f8aa2c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ec3d2cf7995501ad6d63ea43236b3d38d83cd9e66243a231ad8629212185a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e631f5b3a109bcf9ae01c0ecdce2882ab8bb155911335d7ed8c1660b52118c46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 113 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]: [-0.1825, 1.1439, 0.9543, -0.9058, -0.2657, -0.0906, 0.9978, 0.9871, 2.1563, 1.3842, -0.1543, 0.7967, 0.5083, 0.4018]\nstate[eef_state]: left_x=0.2772 left_y=-0.0003 left_z=0.1513 left_yaw=0.1056 left_pitch=-0.4766 left_roll=0.2259 left_gripper=0.9978 right_x=0.3777 right_y=0.3492 right_z=0.0495 right_yaw=0.0899 right_pitch=-0.0236 right_roll=-0.2088 right_gripper=0.4018\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.0965, -0.2125, -0.0415, -0.0073, 0.0889, -10.3316, 4.9162, 1.4725, 0.4762, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.506, 1.6287, 1.2083, -0.841, -0.3771, -0.3977, 0.6516, 1.0664, 1.4174, 0.952, -0.4446, 0.8631, 0.5808, 0.999]\nstate[eef_state]: left_x=0.3435 left_y=-0.1119 left_z=0.1073 left_yaw=0.1054 left_pitch=-0.5412 left_roll=0.2498 left_gripper=0.6516 right_x=0.2782 right_y=0.2337 right_z=0.1707 right_yaw=0.0897 right_pitch=0.0364 right_roll=-0.1661 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.3231, 8.9094, 1.0232, -0.4176, 0.1148, -0.0317, 0.4444, -6.1197, 6.5709, 1.4579, 0.442, 0.1197, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4946, 1.8351, 1.0775, -0.5507, -0.384, -0.3977, 0.6512, 1.0676, 1.4189, 0.9428, -0.4767, 0.8528, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3577 left_y=-0.1136 left_z=0.0164 left_yaw=0.1392 left_pitch=-0.5755 left_roll=0.2884 left_gripper=0.6512 right_x=0.2741 right_y=0.2295 right_z=0.1623 right_yaw=0.0999 right_pitch=0.005 right_roll=-0.2003 right_gripper=0.9989\nstate[joint_eff]: [0.7043, -7.2957, 5.135, 1.199, -0.1001, 0.1832, 0.1148, -0.1846, -5.6821, 7.1863, 1.4432, 0.4371, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8233a660d1ac1123b1fe5a8787c35172dcb52c46f07853ef7778e1f28f8aa2c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ec3d2cf7995501ad6d63ea43236b3d38d83cd9e66243a231ad8629212185a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e631f5b3a109bcf9ae01c0ecdce2882ab8bb155911335d7ed8c1660b52118c46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3UKRwROI_Thisqqt56MMM1f1USCqzs0LW1aULjg-bB8Rzk6A4ktAKxTcL121LKharWG9GedpGF3OTILSqIdnVKYqkAwdZbYD7kN_aY2uR9EQ29YHDpg7GTHXQK_X_SGn00FiobsIhps6cRvif7UFdltfqETeBisjdKdJcLebrkNcbRaTBdHb9FuoJ7KGLjYOVo5XKzgFAzPSilUaoO_8KS4nG2JIglKIjdrRBzG2LD6zOefV9TbRWORQ1Fk3--Ti722v_9tNuzZ12RrDZUnubHDwtUJlMlzpcnRIWmPEdYKo3IrDTGNFCtoaUKuu1NgN_hEit22jAZYz7pVsjN-NT-bT7Q2iGRC5PmkWZY8k_QHXTPjYHC1TvGfBmn_0yY5uTHp7469IghRxJMFcS0UnIFV3DGnng_EtYFBJ55p9jtJZqxWeNkuUKvoUvKyhH-H5qput0iqzo6rC-st0g2ZbIYV0pdYGDq7EnX6wkwae7pVmEtn_GgVMywbdG15bInRCDs20aIZNpDEVL9S084e46QEjTZq1y8XxjrxC5A1YXcvoOdDtsSgtBjVQPDKymr4kLZuT2UidC3Hwn0Rxc415rwBBmMzQ01UXat1kDdbi4XBrvW2fpIFm7fFD5iZwVfYtWezKKXuwy45JWoXHgtkmqW3WNPn5Sy4_tZWBsO0LnRWzdpYCic65A04WGqOy9mlY2mGYtIw4PZTE-KtNVYbf0TrySQrRPl0jlwtpHWGz-zQP_pfo8At52tkYrPxhJ6ZHk_i8RdI5qn6ROwkwg4Emuztvan3KN8x7mCYFegsRLN01LiDnHPmS17l1PfSFrtKu3grbCV5GAdZggyBVbAVf25y0yEcbaQjP7SCqcz_B77AR4pR9vIRiFdJk-94psOmPMur2q4p9SuPd-ySHwRPEbPqwOyxA1jyJb3-_NPfdLi6Py6QuvGBNbZdPFocufECHnftzoVz5-H4IwWKBJqauujxoiOHUdWOXxkSI-5I8VmWW-yDDywHWVdp4dsQqcfIKU4bzNVPMlpC9d6RyMafsIjbmpvABqcge_0vcnOZACQ7mRYQetNPp-PsCWvICvLu5xg_n0kvvhySvzEsVQ0SLhjq48y4DV6ptJ9HNs-xOqq-AJuPi1gojHzprNEZIft7w4Sc4yy-mX_09heIycBDv18FR5bkyl6lNbZyq7Qc-4OSV9yLX0n3PSjx6weKLwM9Y9Hwz9D4OHPi9bqAEx3R0Bnwhc6mRCPVRlYw9-Y-qrsB4tDxzlfse-Ominor4oxGESKGiccp0xae8wBqUuZm5TSs9cP9jAKSBoRpuGL5YJPKPZ6l7yA6IIPIdT8B2rM6TDjrGnjFrOEV-dFS0-I5f947hpi3WGi0S2wqEI4NJfLvVGkPY3xg7jj9q_w3ghzzgLm6aSPkDucWkHgNW0oI3vozghEORf8gRypr2J5TMiMGHB7MPLS7--mkAJs5DikdDBK0nj2OA5YD8YmVz4gdWCo5n30L-Xj4aaCTz9eNSKCAnA5Srlnu0WjYh6gtPg1dRFqUSiStU7bdb3xqfdWd0IVR07sdMKvE-pwpNbJNxP1PYFtfHqxWnwLpG20ZwLCABAE",
  "id": "rs_0e11210e9970fc1b016ab44dd2e37887d0a66ebce8ded6a5aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"The narrowed left jaws are now at table level around the white plush’s torso, rather than its rounded ends. I’ll close gently to roughly 4 cm spacing to secure it without squeezing it forward.\"}",
  "call_id": "call_76LaNHEWgXNu1RQa7tXPp8Sz",
  "id": "fc_0e11210e9970fc1b016ab44dd3a48487d0ab05344d3f7d37c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_76LaNHEWgXNu1RQa7tXPp8Sz",
  "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]: [-0.4904, 1.8454, 1.0733, -0.5224, -0.4061, -0.3988, 0.4043, 1.0676, 1.4189, 0.9428, -0.4812, 0.8486, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3629 left_y=-0.1106 left_z=0.0148 left_yaw=0.1556 left_pitch=-0.5515 left_roll=0.2983 left_gripper=0.4043 right_x=0.2735 right_y=0.2294 right_z=0.1614 right_yaw=0.1024 right_pitch=-0.0004 right_roll=-0.2021 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -9.4701, 5.9829, 0.5006, -0.0464, -0.0171, 0.1734, -0.3487, -5.7504, 6.4479, 1.2234, 0.3199, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922f73758d60c74e4ffddb6ce57978b38830e2591820421244b5545150c36d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76a069c25aa49076b525c5d6242de643699424fad2a6d4a402967b373a34be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6145bcacebef5645d84e6b30aa147ce90a9727c31852964ebb54ecf32687a5f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 117 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]: [-0.1825, 1.1446, 0.9543, -0.907, -0.2657, -0.0906, 0.9977, 0.9871, 2.1742, 1.3743, -0.086, 0.831, 0.4984, 0.9947]\nstate[eef_state]: left_x=0.277 left_y=-0.0003 left_z=0.151 left_yaw=0.1059 left_pitch=-0.4784 left_roll=0.2265 left_gripper=0.9977 right_x=0.3832 right_y=0.35 right_z=0.0491 right_yaw=0.074 right_pitch=0.0215 right_roll=-0.2019 right_gripper=0.9947\nstate[joint_eff]: [-0.2256, -3.2068, 6.6393, 1.1013, -0.1441, -0.0464, -0.0171, -0.0479, -10.947, 5.6137, 1.1453, 0.1734, 0.0024, -0.2271]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4946, 1.8351, 1.0775, -0.5507, -0.384, -0.3977, 0.6512, 1.0676, 1.4189, 0.9428, -0.4767, 0.8528, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3577 left_y=-0.1136 left_z=0.0164 left_yaw=0.1392 left_pitch=-0.5755 left_roll=0.2884 left_gripper=0.6512 right_x=0.2741 right_y=0.2295 right_z=0.1623 right_yaw=0.0999 right_pitch=0.005 right_roll=-0.2003 right_gripper=0.9989\nstate[joint_eff]: [0.7043, -7.2957, 5.135, 1.199, -0.1001, 0.1832, 0.1148, -0.1846, -5.6821, 7.1863, 1.4432, 0.4371, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4904, 1.8454, 1.0733, -0.5224, -0.4061, -0.3988, 0.4043, 1.0676, 1.4189, 0.9428, -0.4812, 0.8486, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3629 left_y=-0.1106 left_z=0.0148 left_yaw=0.1556 left_pitch=-0.5515 left_roll=0.2983 left_gripper=0.4043 right_x=0.2735 right_y=0.2294 right_z=0.1614 right_yaw=0.1024 right_pitch=-0.0004 right_roll=-0.2021 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -9.4701, 5.9829, 0.5006, -0.0464, -0.0171, 0.1734, -0.3487, -5.7504, 6.4479, 1.2234, 0.3199, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:922f73758d60c74e4ffddb6ce57978b38830e2591820421244b5545150c36d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d76a069c25aa49076b525c5d6242de643699424fad2a6d4a402967b373a34be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6145bcacebef5645d84e6b30aa147ce90a9727c31852964ebb54ecf32687a5f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Yl1i7IUDDK0Heg6T8uDbeO-1sYD2KIUO68KiWdK1VszS0DAi39pi3C9cgACZK3QttBToTJdVLNALCTYH_lnXQp-2Sc7lumX6JfLKa5me1nb-VaTaevwoJDRci8i19XteS6xthkLRW2qWewc0k5Tfcm4y_r9ibEsi0Hhc2stJeRcGx_Hl3MhVs6t7IFmMItmiqiiJu5wXpNG90lCs8RuSYax8125OE1Zih5SkCyEQyQCADDvjedkFHovtsiZgsb74PTjXymlPDSqAuzhvDRck7H0u7lXlNSOXQj6EBScEM_DsX3Qm7P6I68nxNpnskO8dbBSsglUCdKidD5rwiH--DaQvVXHvYkBUXWls1QR61D4zMbipPASzRsVzCkSbcsR5dflIslfXREREeDJSP-mttunzZj6RxjLYeOKkgGzsSoBR27RuWWgLBpexGkxyJkbgAjprqa6urdDLWWHJIzNEWciarkmyT_-zcrJdfVmEQyqSg-cWu1LZLoJLsJcvccxNgk_vZFth6Ow9XwVbVKP4Z5UueDNSIBMN_N6AhojUQFrTHKIVfJFQUd3exJtZVIXu8KSSctAXABaWye-DsB-mL_Md_poMSm5KZOYFMsNGoXIGximClJ32sdxlCoBxxeKKH-uIIQZ2G035VOj5PSJ8OLSTBDt1xs1HiKRyyHGuvYH-gRQGQh--VHgM1E9XO3KCwMfhkghTbZBHiODN1Fys1oxDVKNJrDijJjKfOpGfts3J-y7MxzRS9R2_z9kXI5qb8xR77HtJhGkCqCqo2xC-W2XtVGVK5NKcoPgiMXUKiDJIReGGJVbxn_pBUeutMtjtNphB5Yk79TuKOPRLHTkiX5Ca34-P1NDXJftH-LOI1sdrWGtIoLEoIHcvINCPYAfI4HYGX1VAY0MbZeMgyHfID2dGtyfIfeJqjQxN4mirnhdMc1m2IqRKCoalR8KNYPe1tINPp0hidoUr29Nd5A8qbNAeskEp_eewMCdSmCHzt6rEWCRRiElSoVDz5yiPwDV876CEfc-KvXbiYvP3H_QNlig9awO0guNs9_7gLyGaXdvlCFeAcGh7UeBSM8jtsvvjtVO_pTMkEPZvMoTy0qf6_HG6U1A5nDGIROiEbGhh7fXseyiB0T0MFt6OIcxtlSxLixUuRnw5g9ja6nw60KqXT5v-L1tp8lJU4EW40TOU_RVwTPbOVIQ3XiUwFo5JKf1P9GYyhSznC88u8NmQ_rZ3OUXEq9cuhtL_0LVuxCQRb_7hP-avJGCj595493tyh5KFwXjNuKcRY7ABvdJJylZ60HHim0nuI8pDfyuoWULRd5aPiZXoknC6p12B0_MuEBYDNXwA4j47Pf5oENsyNwkc02plRH-4KfthUi9yM5ZBwwK2kUdm5pTIGrjHKZlwrc2W7oIG3qZdZlYCjeEn6WQBm9JQCPBBuiD8CtCZeGKPDDaJPHlUomxUwoUbT1MyXp-RzSkaP8MMXJbDADBvG6b8kRdQd4I0gM0IJEv_KgXFtcEVp9qgC_mWvzPByjLgE1_wVdMtuuujpot_y6opeFFCQrbUGP6ztRUVW0HPQWHmoR0_LPcbXmF00kRKmYt3R6rOsSCXrJsNoUBCkVv8Kulab7gjfUmEoHF4tmahN18O_TC5TPH2o-vus7Om47paoSVvL",
  "id": "rs_0e11210e9970fc1b016ab44dd5fd6c87d0806d5c26b69d2665",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.3,\"left_z\":0.2,\"left_gripper\":0.4},\"note\":\"The white plush remains centered between the partly closed jaws with slight contact at the commanded opening. I’ll lift it and carry it directly above the safe, watching the overhead view for whether it rises with the gripper.\"}",
  "call_id": "call_V2Iilil9oOImOIMnEJsLjbkI",
  "id": "fc_0e11210e9970fc1b016ab44dd6e43087d0bd644839e614ea04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V2Iilil9oOImOIMnEJsLjbkI",
  "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]: [-0.8265, 2.2787, 2.3894, -1.5391, -0.4507, -0.7532, 0.4005, 1.0676, 1.4197, 0.9428, -0.4984, 0.8413, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3715 left_y=-0.2845 left_z=0.1726 left_yaw=0.1272 left_pitch=-0.5584 left_roll=0.2667 left_gripper=0.4005 right_x=0.2718 right_y=0.228 right_z=0.1585 right_yaw=0.1064 right_pitch=-0.0155 right_roll=-0.2134 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -11.5761, 8.2256, 0.3492, -0.5495, -0.0904, 0.0317, -0.0479, -5.7915, 6.5436, 1.3407, 0.4322, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f233107b254cb52b7e7c8f4d77832befc633bb2e606a2d0fc8227461d05a63f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c488deb368a794e5a69617c9b4ab0f7eb9e9f4396757816e49ec89f510a9576a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f0ebd08804f18657535e275a0f238e7a6a96ea40b5be25c111f5f5c49549e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.506, 1.6287, 1.2083, -0.841, -0.3771, -0.3977, 0.6516, 1.0664, 1.4174, 0.952, -0.4446, 0.8631, 0.5808, 0.999]\nstate[eef_state]: left_x=0.3435 left_y=-0.1119 left_z=0.1073 left_yaw=0.1054 left_pitch=-0.5412 left_roll=0.2498 left_gripper=0.6516 right_x=0.2782 right_y=0.2337 right_z=0.1707 right_yaw=0.0897 right_pitch=0.0364 right_roll=-0.1661 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -7.3231, 8.9094, 1.0232, -0.4176, 0.1148, -0.0317, 0.4444, -6.1197, 6.5709, 1.4579, 0.442, 0.1197, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4904, 1.8454, 1.0733, -0.5224, -0.4061, -0.3988, 0.4043, 1.0676, 1.4189, 0.9428, -0.4812, 0.8486, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3629 left_y=-0.1106 left_z=0.0148 left_yaw=0.1556 left_pitch=-0.5515 left_roll=0.2983 left_gripper=0.4043 right_x=0.2735 right_y=0.2294 right_z=0.1614 right_yaw=0.1024 right_pitch=-0.0004 right_roll=-0.2021 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -9.4701, 5.9829, 0.5006, -0.0464, -0.0171, 0.1734, -0.3487, -5.7504, 6.4479, 1.2234, 0.3199, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8265, 2.2787, 2.3894, -1.5391, -0.4507, -0.7532, 0.4005, 1.0676, 1.4197, 0.9428, -0.4984, 0.8413, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3715 left_y=-0.2845 left_z=0.1726 left_yaw=0.1272 left_pitch=-0.5584 left_roll=0.2667 left_gripper=0.4005 right_x=0.2718 right_y=0.228 right_z=0.1585 right_yaw=0.1064 right_pitch=-0.0155 right_roll=-0.2134 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -11.5761, 8.2256, 0.3492, -0.5495, -0.0904, 0.0317, -0.0479, -5.7915, 6.5436, 1.3407, 0.4322, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f233107b254cb52b7e7c8f4d77832befc633bb2e606a2d0fc8227461d05a63f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c488deb368a794e5a69617c9b4ab0f7eb9e9f4396757816e49ec89f510a9576a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f0ebd08804f18657535e275a0f238e7a6a96ea40b5be25c111f5f5c49549e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3eVU2iFvGDm7bJowZ_5EBqUiP3v-cL4588B3IGzxevLn9Q1hoJM-IZ_gpwKUb-VZOCiOmMJfhcH7OqvclslZ-uJJCuTga4EB5S8gDXlNQnBBwrrGJxBQUa01yozoVBjR4Bd6lv-y4Key-eMPFYenhUB3me90JPWGdFhV3Hu1_ED2nJQTTbpx6EuS8AIrkZ7f4UeyZzDnxriN7yMNXeEEMhByvV-k6mtBcXLJrUzJQhWMqcUpcfZH8EOg-YxT5QMIKhyeyIZEXzz08-sQ7VJJW3ZYIAl_uMcbUZbm5G04O7xWkbZuHg5ycrcDXXZeWPJdCQ2g0hNi1F-FP6bCIICWL-gLLrd2DphpspA59TqZxbKW9bz19u5VNCyGRP-pK2UFst4o0Ccht9NG1_2BqFfIG0uAI3r-X8-Ly41M9DRFGX5KEIYIO_3EWiB28s-AM1VglRX3a6f_WhOVBqVJUFOaimlf6txKzp5ZczVNXjmi8BbydueksZ_Cb58wdYg7RK_JNHixr1mptGTIYBv-_tFhmW_wIobm3FNnIzfPqdKup3nJPf2pjMaLbC-NgDCM6f_sTbzZrN5olUBBqVJEEGU80Vd3-W0Uj5eSR8dsInp0T4gchldGtx1uu7L9jayb8OPTqxWcTg5iN9jkCA5b8JVmP9FzIHoz3WiOki4jU_HwibfwBlJ9ten2sTvgEUwnAHLO9U6HWZYmr4zdD5OHDrwfALFHfQcZK-IJBgJx10pqcX4BQP8qcjK92NfOaw17JXroCP44k_IkCZDio1fdXWNZsdc6FxhKP1F_8PVCks5wJUerduj3iAPbpmniY1nDqtxZ_v818_Bqs5dVKQ6RJu0MnJuuyx1uVxU19fmk1t0cnvoUWqBcGLA5UMYXlDSnDeXmuSBM_gIv2kyj_4EmvcXjrI-6DJ2qqvvJyPgSonJNxStVy2A-aac37sR2M1RmG__-Y-eWYwILkbFFMcxQh9FdH4BGHLLaXAAWavTA5YIaUGYFdyqY2jW8aIgrirSJn6bDjdoNkxKcZvlt9aButnvl0rp00G0Aqk8LZ_AQmOJ3GzFcjJW_0x5BpANPnvbsudyAD0MyAlXph-RQKAMpIuXaK_sX3hKvXm-V9Wb1Q9WGx0Yos8IYMNrdrarUOXL3vjisf3i6MGQMtFRjurVDOQtHR-E2fnT2-n_5BfTk0AGOdWjAtDKJ5VMBSTdB99_gDAu-w4jYmdMaY7gpiZHDQOPUWHmh2AXe5B0OMRqHyShsFLP1Bk7JsypIo34B1rhFEUk7iNqKAASKss4rvq8C0yt2BLJFPeXw0luIhGyqiD145rOpH3ePLOzf-AVGy6oJoXyS93vhAW3gUAB9mAv-1N8qpxPD3rupbgY7tZNMWlNqnPMypBpO5rA3MKFqytV8w9CiWODDOoG71TrZ5tsmRM_a7G8_JFFJkW10FyMJbnNiuuMV5hk8iqExG3mmqeqQ68K80CkiyyZjU8BunD46lOvjj7xtRu-ruo8W3jf6AjZQHok0YNwQDYb-Qa09jFJHN2mhsoKw5LCN4RM1gJiGHijiX2THuukCr0IfMxrfjKRVSosA2wAMZTyDSJyLMAP_Ac4vdFi07DAuHA-Jmamum_alsiYCo-ont0KSdCTj0Cgbof051t5SGIJebutvCCJiRBE_q86iPJ2Yunz_G7Ryqe6ZH2R7vb8hcijcfIYec0WzZMi03D49TsZJafJqNzQQ2-K1A2Y1yfL6GQ7LenZx2QNURCBq1pfv8Rmqo4dRdo5jdt_K6S_pxoETd0ipkN8zKSZ7KZkyMdCMlMp6TPjCuxY1n0bP1dw0-xc9gvLG2xZxKAlRs7ACIIzMxM7vvoUN5l-Dw-eCGJQ1VMLyVe2Cg7JcZSLH92IqzzC95FG3L4BhBZuBAtE0t_gPk5vteJJsK0faiJrupOD4iVpvQEllqOpSAPuy6jebnPC5pm-2SuIzKNzTdq5n8bNroadfG6Q1Bocr32PBTNJSwD8BQum6g_MBu7Fp_rBx8Hm0rXYyQsuR1N3dKtx3uferR0_O8L9_BzUa4MNK9E-0Nss8z3Ln0V8AtpinAn1L6quhHz189PfQhWMEmFyB7wjDzBbxUqhPwPOYap3OeycXaXbMfZs7nneCznxlgJiIbKfDjbzFhYvi5DdApS06w3u4Gk2lvZnLjuT6W4Xwo2NSyNjbBr_Jd5N0D0s3NY5nh6vvZOtozKjrM0Yspqro5h6b89hkzLlnivJCqtGil4azocAoL0REapG4PA94hp_xmuTbcwPAceajMnuFkAjfaBZlUzrL0PSbHLDDn62i-ZUSxU7FpG9ARjeX479GXPjKm679m14mtDhzu9OzUInrTua2SGHWWsY_3dGyKjM2SeZKheCZ92kWU4SziCy2iIFf-TI094JepdDescP3xbc8AKTzhZVLyiOzEuJpXK_uSHJHo1Mv9QKwjOtFwCH6IWOKhvbepk1wLJds7Jp50=",
  "id": "rs_0e11210e9970fc1b016ab44ddb0d2887d0a836cd4d91be59c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.29,\"right_y\":0.23,\"right_z\":0.02,\"right_gripper\":0.8},\"note\":\"The white plush slipped free during the carry and is now beside the safe, so I’ll leave it for a final regrasp. The brown plush is already centered in the right wrist view; I’ll park the left arm and lower narrowed right jaws around its torso.\"}",
  "call_id": "call_G1Gv3tT4OhLddYFhEsVPzAzl",
  "id": "fc_0e11210e9970fc1b016ab44ddda69887d08ecfd21bbb73949b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1Gv3tT4OhLddYFhEsVPzAzl",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1944, 1.3075, 1.1969, -1.1091, -0.2905, -0.1402, 0.9981, 1.0176, 1.7557, 0.6621, 0.1833, 0.8158, 0.5232, 0.8014]\nstate[eef_state]: left_x=0.2888 left_y=-0.0016 left_z=0.1749 left_yaw=0.1702 left_pitch=-0.5803 left_roll=0.2709 left_gripper=0.9981 right_x=0.2912 right_y=0.2335 right_z=0.0306 right_yaw=0.1008 right_pitch=-0.0001 right_roll=-0.1932 right_gripper=0.8014\nstate[joint_eff]: [0.0205, -5.5179, 6.1197, 1.1209, -0.1001, 0.0952, -0.1538, -0.6632, -5.1077, 3.8496, 1.2137, 0.2515, -0.1929, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a529e7852965107a6c0bec576638f8f8410ed5aea53d25490b72f662f70377f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebec5c4c711a74832818e28d3ff806c3b35df58c27690111730ed603efde501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f964c73f4d3d2cba487ed410963d2bb97cbc31a9722f9aa14d3e500f27aeb8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.4946, 1.8351, 1.0775, -0.5507, -0.384, -0.3977, 0.6512, 1.0676, 1.4189, 0.9428, -0.4767, 0.8528, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3577 left_y=-0.1136 left_z=0.0164 left_yaw=0.1392 left_pitch=-0.5755 left_roll=0.2884 left_gripper=0.6512 right_x=0.2741 right_y=0.2295 right_z=0.1623 right_yaw=0.0999 right_pitch=0.005 right_roll=-0.2003 right_gripper=0.9989\nstate[joint_eff]: [0.7043, -7.2957, 5.135, 1.199, -0.1001, 0.1832, 0.1148, -0.1846, -5.6821, 7.1863, 1.4432, 0.4371, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8265, 2.2787, 2.3894, -1.5391, -0.4507, -0.7532, 0.4005, 1.0676, 1.4197, 0.9428, -0.4984, 0.8413, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3715 left_y=-0.2845 left_z=0.1726 left_yaw=0.1272 left_pitch=-0.5584 left_roll=0.2667 left_gripper=0.4005 right_x=0.2718 right_y=0.228 right_z=0.1585 right_yaw=0.1064 right_pitch=-0.0155 right_roll=-0.2134 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -11.5761, 8.2256, 0.3492, -0.5495, -0.0904, 0.0317, -0.0479, -5.7915, 6.5436, 1.3407, 0.4322, -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]: [-0.1944, 1.3075, 1.1969, -1.1091, -0.2905, -0.1402, 0.9981, 1.0176, 1.7557, 0.6621, 0.1833, 0.8158, 0.5232, 0.8014]\nstate[eef_state]: left_x=0.2888 left_y=-0.0016 left_z=0.1749 left_yaw=0.1702 left_pitch=-0.5803 left_roll=0.2709 left_gripper=0.9981 right_x=0.2912 right_y=0.2335 right_z=0.0306 right_yaw=0.1008 right_pitch=-0.0001 right_roll=-0.1932 right_gripper=0.8014\nstate[joint_eff]: [0.0205, -5.5179, 6.1197, 1.1209, -0.1001, 0.0952, -0.1538, -0.6632, -5.1077, 3.8496, 1.2137, 0.2515, -0.1929, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a529e7852965107a6c0bec576638f8f8410ed5aea53d25490b72f662f70377f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebec5c4c711a74832818e28d3ff806c3b35df58c27690111730ed603efde501",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f964c73f4d3d2cba487ed410963d2bb97cbc31a9722f9aa14d3e500f27aeb8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3kDWkjbhL01AuK81-CXSuAXt9kRvZOYd1cMvfgvVozinViRjEU8E76CilQwdhuKEXY9f7C5EhrD1mZhUQdbgpIBRctDu2EqUkeSf_XdXz_RdTIDniQgcmL1pqaxETbj-tb1w4sBmXoZk2qqLhtjqca6a9vzUg6hpnkNKEyqK2pJDgHSSdJc6X0XTu0b_5guOq5HKhyCpWTa2QWujE2nvcHbJjDHIOTwVzrGPk7tKxCPBP91fGxBSHHNL34vhIg-Ua376QTLuU5c5WwdwrxCC2ph7ePSpIwd1GiIz4QTIq1uNdShP_GwajIf7g8kFjCFLtUHVraT3cvxMJV3wnLDuEqdXaIR3DEGFRbq7OWJZXx-AEradN0EZPyrTHDW2oAyKAEgoC4JUjptlf1uwxZM-SfGfAVog2_qH3FgDucmfdHvh49NWeQa7j9JffMp07RPHNh_7X6XYkr5bnQfgHPeCXoCxjQSoITFOZcJ0sVXD0puHnIc2BOLdZsf3Qgga0KTQLCk12MSRUr62fIblybiF95HDTia6ZEQnPEdxrzLmo_N6zcjVs87NKPkyHpZzyBxO3pwGVQ-fHzXAMczUNopO4X70NKt15_2OSdo8kMzxfsDYGNsVY5GfwE87Ih-QcWoKMLOWVhcrr8qIIV8BRp6U-1c8Ed6Ifw2uNXo8OQ8sTKSfxLqDwsE6rElj7sHM-NNCNuF0UhpnhxiS46i6oakLttpqCVMbTTAEE6k8t675PiAJuDiSVhknlftbP4d0_NYOrfrkFfDdjeNs7As4YekRAM_Mf7iMjJ51afRxWTVcG2wHA80jcJYDb7PuGjBXQDxQUeTxcCKaQRsKSf4uhYEKgm1_DFhTrbHD60r7AfD8BsAWwHwQWOzzmhOCuAH-k0Yeu9E1UXuO5A8m4Pk9HeAv3xNPRagiDcD8HGo6bubtPEJkxv_tLLtxCnoJpythlhBxLK4Bgx9Vz9mCTXMxfX80nHhbfNQPDYppMv1QTgkHKoi6km5Lfi3dPj89zL7viJVExSQPdHZcgbOUDowBbgHE7oW8sK5BRY9whbZ6-luArAs8KjLzCslB1AzdWW4w98BAemb9Qytyv89LOi-MyPLFWuOTq5-0tdKK50OskLkQRJiJ-En1Nv3H5iTxOSBRI72YiJFxZLqWP6HSVEZkIxJ2f2wo6D5xJrUIp2xSTkZruaX8EnoKEfL1LRovAv9xoSQgh4KbmgBWuJ1-PLEPdGM2SMUI-vogOm340cQjM0CttYcBuIEZeKnlZ71fjHyu4pmj-ZukLRS-QloT4tSDUU0xl7WA==",
  "id": "rs_0e11210e9970fc1b016ab44de2de9487d093512d20df8baf35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The right jaws reached about 3 cm above the table and straddle the brown plush’s central torso, with the limbs outside the closing path. I’ll close to about 4.5 cm spacing to grip the soft body.\"}",
  "call_id": "call_dzEL7LfXjyB27orYltrZkjkc",
  "id": "fc_0e11210e9970fc1b016ab44de32a0487d082ac2a95df8322db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dzEL7LfXjyB27orYltrZkjkc",
  "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]: [-0.1951, 1.3071, 1.1896, -1.1072, -0.2813, -0.1356, 0.9979, 1.0149, 1.7645, 0.6598, 0.2092, 0.8146, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2876 left_y=-0.0032 left_z=0.1723 left_yaw=0.1592 left_pitch=-0.5886 left_roll=0.2656 left_gripper=0.9979 right_x=0.293 right_y=0.2349 right_z=0.03 right_yaw=0.0984 right_pitch=0.0084 right_roll=-0.1802 right_gripper=0.4545\nstate[joint_eff]: [-0.0205, -4.465, 6.7761, 0.8718, -0.315, -0.0562, -0.0317, -0.1162, -7.9111, 5.0393, 1.0769, 0.2857, -0.0122, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289a59c125c58b8d403b6bacc15198be4a6390f9a597d7524b5f4f3ed1954496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50906ad3d6ee7fa9154c928b0c36025ca92f8e4ec262146f21edab5bdc8667d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6e0d951e993b2e112aa99356e10e7644cf110c536dd574a073b096e3840ad7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.4904, 1.8454, 1.0733, -0.5224, -0.4061, -0.3988, 0.4043, 1.0676, 1.4189, 0.9428, -0.4812, 0.8486, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3629 left_y=-0.1106 left_z=0.0148 left_yaw=0.1556 left_pitch=-0.5515 left_roll=0.2983 left_gripper=0.4043 right_x=0.2735 right_y=0.2294 right_z=0.1614 right_yaw=0.1024 right_pitch=-0.0004 right_roll=-0.2021 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -9.4701, 5.9829, 0.5006, -0.0464, -0.0171, 0.1734, -0.3487, -5.7504, 6.4479, 1.2234, 0.3199, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1944, 1.3075, 1.1969, -1.1091, -0.2905, -0.1402, 0.9981, 1.0176, 1.7557, 0.6621, 0.1833, 0.8158, 0.5232, 0.8014]\nstate[eef_state]: left_x=0.2888 left_y=-0.0016 left_z=0.1749 left_yaw=0.1702 left_pitch=-0.5803 left_roll=0.2709 left_gripper=0.9981 right_x=0.2912 right_y=0.2335 right_z=0.0306 right_yaw=0.1008 right_pitch=-0.0001 right_roll=-0.1932 right_gripper=0.8014\nstate[joint_eff]: [0.0205, -5.5179, 6.1197, 1.1209, -0.1001, 0.0952, -0.1538, -0.6632, -5.1077, 3.8496, 1.2137, 0.2515, -0.1929, 0.105]\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]: [-0.1951, 1.3071, 1.1896, -1.1072, -0.2813, -0.1356, 0.9979, 1.0149, 1.7645, 0.6598, 0.2092, 0.8146, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2876 left_y=-0.0032 left_z=0.1723 left_yaw=0.1592 left_pitch=-0.5886 left_roll=0.2656 left_gripper=0.9979 right_x=0.293 right_y=0.2349 right_z=0.03 right_yaw=0.0984 right_pitch=0.0084 right_roll=-0.1802 right_gripper=0.4545\nstate[joint_eff]: [-0.0205, -4.465, 6.7761, 0.8718, -0.315, -0.0562, -0.0317, -0.1162, -7.9111, 5.0393, 1.0769, 0.2857, -0.0122, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289a59c125c58b8d403b6bacc15198be4a6390f9a597d7524b5f4f3ed1954496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50906ad3d6ee7fa9154c928b0c36025ca92f8e4ec262146f21edab5bdc8667d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6e0d951e993b2e112aa99356e10e7644cf110c536dd574a073b096e3840ad7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3qfWlWcscNNvJrltf_pi0BT_MdO1yn4u2szycpRezmjmNZTqmcwtqjOYeiGluNp2ZZKZnV2vazURmpJl3eGyJlNz6x-qFR2idFKkgikee8ZhmwGvIynAxgkufiZXVpuOY_FJRV-tQG1dSOwrgyP6skp3QL0d9dnOmXOhaoslEf1p3ksbggiRiPJx9JWkvDSjC60j6f3pRa4ABaQQwUZf1Si9GP1_xbWdM5uoZn2F-XOfTYqxelbmwmpOK-08kq3Aao-7nDtxdg63CQ8qE6JUJA8214QnAbN_bENAbGk9BjYHLacXj1w07bCSAFl9xuJsF244xys4VlQgOHct_4vjaHs8nYNbv_faOUGfqXomtNHZEw0jJAWttqcnosfLNmqCUPRmUoLts6lvy41qGX6KnCxalG8mZZRYn16AY0G7IFYDMAur3J6sNPgc7IuCIwv2a4nSIuZhMeD4H3cgYEOR-JmhPV0pHDjKsD9vpG-FHBkzqXhtkqseHh0pHNU30zDNHQ6rZq4gLH3H8xg_PdLaIK6w-Wv6VGpMlAn4nLjpQIEiMN0xqXmdyun67HrSlJRX4ydPAniQXnVxxIR_zK2zDBzAM5AKkkgtsGkExvYCl-igBA93nGvmvFluyGjQdz4jx9jncKZ0My_4kPKNC1SpXCn5h1RhvPTSZ7qoX5Dbng_34TZ5gXAV9_kfd1rze9GbazdBQbXzfij2TcNppm1ucEzGZPvDj-WWVscfO59vB914M0xvyYPogDF9DpTebIBFJ7CJVM3LG4IdXHbANnDX3n_VjsyLe4EES6TIfHcpgQJQrmnvZEHfPHW9muC2yz8Gocmk8cerGKspx1ORR3SaCNNrx1Ff6_aTjQw6P4kO1u1xdmHjPtvdLiF3Aa52K_BSqG1RpG--Tnwm7EcFEY1BdCR5A6vx6KK32rlLwRQjSPJniJTt013A6wDo_P4LOq1I_f1DXmwfUB3xBbraHpDzfTQND0Yhjes6MPUJtLcqBFqcQPXUxtTiXGYQH15fw38hBy0avUm8vF4acieVhr8B3Du1xrImpkzcBwADCV-Z0vfIFvPJSpukTZ0_MG1sLiAQtYnW5aeHqjMJUWmmDe01Tglt7VxnKRrDCNB3iyt96YIOMy4a34pF3t95563LBDoUI2Y_HYehRiVnC6PxWsZZAEywU_qbW2osn-Kit1XE7LKZRVjGhA8DkjbwctOMaCAUz-BlrJ2tXYaHXqi8D7e_ylZWIYnLVb3g1ZXwr6Bxi2fQzLlbm7GNn-xdCs3EXKLRVSAJhj4NUML9a0eM-Comqn8A==",
  "id": "rs_0e11210e9970fc1b016ab44de7edb487d0b3e2f632b326dcd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.35,\"right_z\":0.2,\"right_gripper\":0.45},\"note\":\"The brown plush’s torso is compressed between the right jaws at the commanded spacing. I’ll lift and carry it over the safe in one high motion; the overhead view will confirm whether it comes along.\"}",
  "call_id": "call_Mnn243cviFby1C36Ums7kBL5",
  "id": "fc_0e11210e9970fc1b016ab44de8d2b087d08e0a4ed759eb8343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mnn243cviFby1C36Ums7kBL5",
  "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]: [-0.1959, 1.3071, 1.1893, -1.108, -0.2806, -0.1425, 0.9979, 0.9894, 1.956, 1.6424, -0.548, 0.786, 0.4862, 0.4511]\nstate[eef_state]: left_x=0.2874 left_y=-0.0035 left_z=0.1721 left_yaw=0.1624 left_pitch=-0.589 left_roll=0.2619 left_gripper=0.9979 right_x=0.3748 right_y=0.3493 right_z=0.1904 right_yaw=0.1112 right_pitch=0.0085 right_roll=-0.1716 right_gripper=0.4511\nstate[joint_eff]: [-0.1299, -4.4376, 6.2564, 0.8669, -0.2222, -0.0073, -0.0171, -0.6359, -10.4821, 7.9658, 1.2039, 0.4078, 0.0073, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7146041d7946f02e1a00f57b511162e83905842c3a53ec872fa4cf4c0a52c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b9ee3148b86d077a99e783717fc6bcc719c247636e54753da2f8a3709f7d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7c670ef37ebab5ff7400a19e244095129e07965cdc4112e3296c81180c5f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.8265, 2.2787, 2.3894, -1.5391, -0.4507, -0.7532, 0.4005, 1.0676, 1.4197, 0.9428, -0.4984, 0.8413, 0.5766, 0.9989]\nstate[eef_state]: left_x=0.3715 left_y=-0.2845 left_z=0.1726 left_yaw=0.1272 left_pitch=-0.5584 left_roll=0.2667 left_gripper=0.4005 right_x=0.2718 right_y=0.228 right_z=0.1585 right_yaw=0.1064 right_pitch=-0.0155 right_roll=-0.2134 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -11.5761, 8.2256, 0.3492, -0.5495, -0.0904, 0.0317, -0.0479, -5.7915, 6.5436, 1.3407, 0.4322, -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]: [-0.1951, 1.3071, 1.1896, -1.1072, -0.2813, -0.1356, 0.9979, 1.0149, 1.7645, 0.6598, 0.2092, 0.8146, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2876 left_y=-0.0032 left_z=0.1723 left_yaw=0.1592 left_pitch=-0.5886 left_roll=0.2656 left_gripper=0.9979 right_x=0.293 right_y=0.2349 right_z=0.03 right_yaw=0.0984 right_pitch=0.0084 right_roll=-0.1802 right_gripper=0.4545\nstate[joint_eff]: [-0.0205, -4.465, 6.7761, 0.8718, -0.315, -0.0562, -0.0317, -0.1162, -7.9111, 5.0393, 1.0769, 0.2857, -0.0122, 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]: [-0.1959, 1.3071, 1.1893, -1.108, -0.2806, -0.1425, 0.9979, 0.9894, 1.956, 1.6424, -0.548, 0.786, 0.4862, 0.4511]\nstate[eef_state]: left_x=0.2874 left_y=-0.0035 left_z=0.1721 left_yaw=0.1624 left_pitch=-0.589 left_roll=0.2619 left_gripper=0.9979 right_x=0.3748 right_y=0.3493 right_z=0.1904 right_yaw=0.1112 right_pitch=0.0085 right_roll=-0.1716 right_gripper=0.4511\nstate[joint_eff]: [-0.1299, -4.4376, 6.2564, 0.8669, -0.2222, -0.0073, -0.0171, -0.6359, -10.4821, 7.9658, 1.2039, 0.4078, 0.0073, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b7146041d7946f02e1a00f57b511162e83905842c3a53ec872fa4cf4c0a52c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b9ee3148b86d077a99e783717fc6bcc719c247636e54753da2f8a3709f7d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7c670ef37ebab5ff7400a19e244095129e07965cdc4112e3296c81180c5f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE3wS5ckYYE-Yrsw9Ga3JZ2w0knyt33xtcRedwKWs9vkIrwikwRW03r9sLKvXfY-rji2Hlat26DOqrgKpLbTMt5EQ9c1F_Upp4bZSsoMyO5vUbtHEUGpHyak7UItefBx7S9QpON8COMac6qjOPZBd6ZtQd61DUCaosUT5Wn9EKWlWAvMvP9g3ltgBbRbwWplUEQbfLIoG-Aw9lBIZCJVvZrXZEBRxgP-Ib4CJFSISX2AXsrDg_JKwVMJscIOI1AUJyu3LstkcHryiLQ_UPUmCPdgbty_ulpeaZ6nJWFJfjqx6EmHzqrC2Hk0QGtu9yOsPaFjTOb08CBYqg9189O5sjisMl66HzaU2Too9KbnmUSUfC_5UKMt0-u-vJN1PpvN2IdocuhRAKHyo0OcGA_a4YGtxK5UzVpmI9uyvIYXfYC5hPnzJs122SU3m7BD6CSosTLs4ittSJ7CLM4dgrHYs6NyaUGOj85Lg-kGoReRUhgc2Gf6-xMIMqwoEX8hWlVWcFuXfCix289D2npoHalK4J-IADCKGQ1gZDsx2DHWpI5_3XaU-N01ZB8ILmieJGObvVqCmsrL_O5FCKVWO0cQxqs6JePhbmchojukTnlumxq3dsjgz2goBK0o6iVMVHq2xj3n8AKzolOWHJOVRk5TIS9oC4eXsVelWDcxVSB0yW4CbjkseOgAxTL-ZBbhmDEADy3VkU160LsP1DXu7DzFeHDX1cKg9wnQORxNef8hOL4N_HUKGxlXZv7b7yWTrQAy6yaUw5JVFsfjkFPwtv1jFGuL-iP0GBLGRrFRSuF15vn9EEBbIHCjEbrIvn35qPV-56KWsVb59Bo5g5k34VBbrZsPtM_HV_Il1dMTskGzhHEOMN-2Asxs2IgQOxBbA6iYUVsU4mBklF7YZNdEzxarZk_EfcKksv5x_-V_5OTQo66JA7OcVD597KJ6liCrboZS61kvrUoXijPXrnoFBKmaUhr2BQB4rh1eeMSc51EdG5nHZnHQoDtDHYKfthB2Lv-sW8tbJj9SDARcKsEi5Mnd67YF1ZEaq6x5-_KcSe-UUwYGqZ1ftvMFrzdusMiVEAopou1KGPzT5JYigaZsQ7wvOj7420u-K6ritzXCm3lECv50dCNlYIpD7QN0N5Ln7Lw-ZVCJrAPsd5W2fcRRvAngRmsQFJBdzaEBgKxevmn9zp1hJqERJqpQxK7PkeNaUbfv-F1f4ueAHO2zh9fJn5lcGM_2EY-X4T0_s-N_16Yjsiv4qBXBi_gif9nQDUiXqqSkN0MmYdHzr_T6q-csYugkGwlp9Qks59KaGDNR2DIojB15ZSrtwQTI83-AtAcHINs-DnH50xS-naP48GFxp2D2EfXAl4SFSjhlLQ1ErjraL1ifuiSsiFgWIomH_mrePamLEur5ITzTDDd6J_nyYrsa5575CHmZXx4oIUDf3hMPj0TLwBGc1YgM1-fq-p4eLPXWQHuBp397AYEz757PJsCxZjW_-PJMsHi5Zh-F-yvHimrEAVaRNJPVzkWzt53JLHWSSjlTo-6EhmTnwzlSvXeTZvnAH2_OD3lsACfStqWISyuKOyJG5KSNCY8kX90v-TdYURbSe9dbMPq7CyU5qrowwLhC8RBcP20hP5iMDYf4GDF4CRiftbtDnUuPmeWjjIRaFsP2eyeAdVattISDFaZYXiHhkGhmlvykT6LIkJrkPPOvOZWjCNGjA-E2QaMh6-2YHiFxt2cg9If7ECPOp2x9g46HjOBQznl5ddnDou9QdnWXppp9UAJojzCz8pmQHXG9agtA07tCRrjcLwI8JVb1IwX0VgtU8R-K4hBLJJKHJJUM_fIHx4CcIem1c1FuG8PsgugEEWF0gQMM-HExvZ5anzT-Uq_ZIwL3QeZ5L4iVC2z1uTFzjL2ZtwK0tdCJkrAiFxuwIFrU8LtIWJZ_Wf-NBf3BT1rmCHq1NrOnlZdr_n6ch_rrljAbO-Q6b30TVEn1Vzx8bAjUBLx-0iUsxmKUASxmVv64L1etD6HC-gQJ3dyalggSAGWbAA5VAiIp7uDidG0HTwzDV0F2t1AAbiBfuIU8uQ8kiO4FwvTzcwY2O_YdleGiP-sHHQFhVP7qHBfwqEGXjru5Kj71pcTQ5XOCWvZ9REFXDOo7-Ozyd_MTgKzf4rXwtg6Q16QmJMyppzhc1x331ut6su5BXBe70HL5PXpxIHCiTwMWzi398ZDChK6jtkXodTWOYE8gJcYBlPumqQRjRNQNxouDbxEP3kZTayzngRbzLeCzf49jTeIbSmuWYB7xkU1hTrXs6dtfxJIEvUL-sMQJawX_SNK-Naowj0IwdZgxhjhTYrfkGaQ4vWfdRvagLVJXust6HalskJGJmIpg_lcTWFQS3YfwGPYqGeo4holYdhptiJ-yZ8T4sADlXT8iqgvEBft9lX7pkOLk1GDqGGLxXjS6oO9nKDKAOmGuWtn4ln3TJoHXmELPTF1pK6D02Wx9OEwMDwjf6SuGCHrCszNeXJFDkhNTaCWtoNxiA1LOi9rTzpyCL_eQuGKvnog9mHT9k6rnkOF-bZAQBNZXMt59owivDGQq-Hj9ntWiJnR9D0kkixFJn7UTJ3xpKmkyuvqmvxSGOiLNaj92HEfuTD2n60tWg4Er38y4p74qkA==",
  "id": "rs_0e11210e9970fc1b016ab44ded1d8c87d09e8ff793bb33a5eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.11,\"left_z\":0.015,\"left_gripper\":0.75,\"right_x\":0.29,\"right_y\":0.23,\"right_z\":0.02,\"right_gripper\":0.8},\"note\":\"The brown plush also slipped from a partial soft-body grasp, so both plushes need firmer compression rather than gentle spacing. I’ll bring both arms back around their already measured torso positions with moderately narrowed jaws, preparing simultaneous firm grasps.\"}",
  "call_id": "call_qGKb0olzGWD4ZbzlKfPD3jJH",
  "id": "fc_0e11210e9970fc1b016ab44def5fa087d0b7b098e466a7bf1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qGKb0olzGWD4ZbzlKfPD3jJH",
  "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]: [-0.4667, 1.8187, 1.0664, -0.6342, -0.342, -0.4053, 0.7516, 1.0069, 1.7634, 0.6491, 0.2142, 0.7971, 0.5056, 0.7981]\nstate[eef_state]: left_x=0.3389 left_y=-0.1004 left_z=0.012 left_yaw=0.1723 left_pitch=-0.6614 left_roll=0.3015 left_gripper=0.7516 right_x=0.2923 right_y=0.2325 right_z=0.0262 right_yaw=0.1112 right_pitch=-0.0072 right_roll=-0.1906 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -8.3077, 7.5692, 0.7937, -0.4371, -0.0708, 0.0122, 0.3077, -6.1333, 4.0821, 0.7497, 0.1832, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4aa955462d5c2956f6008b9a16e1e00f768a28a36a7ccff7b98871801ffbb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873755f9722a85891b3d1705439f3fdbbe17e3ff761a98e77873e68c4bf5e1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5adc625de038464fbab80288fce9bd46ca7245f0d2e6d6b0862ab0992f880",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1944, 1.3075, 1.1969, -1.1091, -0.2905, -0.1402, 0.9981, 1.0176, 1.7557, 0.6621, 0.1833, 0.8158, 0.5232, 0.8014]\nstate[eef_state]: left_x=0.2888 left_y=-0.0016 left_z=0.1749 left_yaw=0.1702 left_pitch=-0.5803 left_roll=0.2709 left_gripper=0.9981 right_x=0.2912 right_y=0.2335 right_z=0.0306 right_yaw=0.1008 right_pitch=-0.0001 right_roll=-0.1932 right_gripper=0.8014\nstate[joint_eff]: [0.0205, -5.5179, 6.1197, 1.1209, -0.1001, 0.0952, -0.1538, -0.6632, -5.1077, 3.8496, 1.2137, 0.2515, -0.1929, 0.105]\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]: [-0.1959, 1.3071, 1.1893, -1.108, -0.2806, -0.1425, 0.9979, 0.9894, 1.956, 1.6424, -0.548, 0.786, 0.4862, 0.4511]\nstate[eef_state]: left_x=0.2874 left_y=-0.0035 left_z=0.1721 left_yaw=0.1624 left_pitch=-0.589 left_roll=0.2619 left_gripper=0.9979 right_x=0.3748 right_y=0.3493 right_z=0.1904 right_yaw=0.1112 right_pitch=0.0085 right_roll=-0.1716 right_gripper=0.4511\nstate[joint_eff]: [-0.1299, -4.4376, 6.2564, 0.8669, -0.2222, -0.0073, -0.0171, -0.6359, -10.4821, 7.9658, 1.2039, 0.4078, 0.0073, 0.0952]",
      "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]: [-0.4667, 1.8187, 1.0664, -0.6342, -0.342, -0.4053, 0.7516, 1.0069, 1.7634, 0.6491, 0.2142, 0.7971, 0.5056, 0.7981]\nstate[eef_state]: left_x=0.3389 left_y=-0.1004 left_z=0.012 left_yaw=0.1723 left_pitch=-0.6614 left_roll=0.3015 left_gripper=0.7516 right_x=0.2923 right_y=0.2325 right_z=0.0262 right_yaw=0.1112 right_pitch=-0.0072 right_roll=-0.1906 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -8.3077, 7.5692, 0.7937, -0.4371, -0.0708, 0.0122, 0.3077, -6.1333, 4.0821, 0.7497, 0.1832, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4aa955462d5c2956f6008b9a16e1e00f768a28a36a7ccff7b98871801ffbb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873755f9722a85891b3d1705439f3fdbbe17e3ff761a98e77873e68c4bf5e1cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5adc625de038464fbab80288fce9bd46ca7245f0d2e6d6b0862ab0992f880",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE30AzjjkYqI3PJA3WSzyceEjc5V38iXQeK5kk0dWPuavY_PBzUllSrCDhy2d8dndlXJO2Ri10SVuqdtMQaNYGDO8JbDsXQFV9IZ4X-UXIUwxWA2ucTlf97dvHkPsPkHtYzn6hvNAnJIWG-1h5m-fb3hd94Vl7AtgJqdR5BFcUA4hIhKxwWGjx2lVRXcytZWjXmc_bLHvN3uCtLK8v4KyEWegCUUFi5wDNx-HshPTYzZzbCnUOVnmKfFMCBzK4iuvFB-ugA9I0qME4X3MCj1jH2a4jxZiI4WZcRl7Cn50wGanBVywZNs8PfaJbOn6GB-HGHP810ZXY_ea9M2ohfntShaQaRvA6Sv9UN47nK5YZWo0R_UG0A47NlfDoN7DLWhTR9cCD9ZvWsz59s7xurQB3RK5b-E_yU2JEMlZqHG2B9PwY5x6ej3YnKe8f0qpaYa8g4gmM5GCDoi2Z_NdVjdl7FYTM-PX-WE8FhgofWozqRabyE5WA4ryuo1CD56oLdeZVB0n_T_391dxKNQ4zLo_I7XV-8nDwNnqxCKK9qOb3_3IYKFDRZRsJ5KV5ZjCyIQo7zQoOSqCtEygQ8ND7YXspuwzTmBKbfLmlsJXKxfV_Ralh0kafoP9A5oyZGZ3-mxKFHZ54zGZMix2PyHSbb11UhkyImKciTQaYkUOwLxIeATV59hrnEzePLEDVV-iQoKkW8-hJJQjYEehj0HTPWj2jKtRsdFGcJI2YU0UcZxUrBR5ULlEadIC4OJMdy79ZmSM7nTgYw7ePnRRzHgzDnHIuZEZ7mJcsCMq_bsYme6JolUoK6iBNgfoxSVsnGzHjzUWIGyMafIfijmgCTFu-iMDbkNOBsS7QCsvGOfTeOdh6MZNCuto3ZujJ-CVBQGuL85eM9QNdKeSt3duAVyMx6Rmqlrl4sZbi1FY2fmXtBx4uOVjRGijCP6z5cLo5EaK6nUpQgVRt88KHYESojW67YrrdR3rU85JYylhivY3yw7FSk0dcUL_EW_o3uRkQrEtNdFEYbCR9YTpEcsQjsBJEzKMkD9h34HlDZ0dElRhG69wXj5sC27ToPbFjf2DfZjtW2Hj67JIz_rUu7Tl3FMZKv-XVX-x062abYeAQe0RuK68spMpVwd9_2gSvlMr5AAZQC8gaBfKC6X_9LT8D8bHTFlimOFTIEMGgWYMgxOmx8uMU6ob_gMe-4oxfpNvbWCcTiYmnoBrRDNi1l3x532C4ElQh-uF_YNhlv5np25HTr7W57o_aJTSj7pclmdh2HnwGaNLxYP3xGmi4UTzKXvcwgOufMXJu-JV3zdk1IH03KEgtymDyc=",
  "id": "rs_0e11210e9970fc1b016ab44df314c087d081ce88d00f63521a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both wrist views now show the plush torsos squarely filling the gap between the jaws at table height. I’ll close both grippers fully so the soft stuffing compresses enough to prevent another slip.\"}",
  "call_id": "call_ZMIctOo6WY2C4BacHgN68T7T",
  "id": "fc_0e11210e9970fc1b016ab44df352d487d097f971edc4c68a3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZMIctOo6WY2C4BacHgN68T7T",
  "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]: [-0.485, 1.8156, 1.0103, -0.5758, -0.3641, -0.4232, 0.0175, 1.0065, 1.7641, 0.6415, 0.234, 0.7929, 0.5041, 0.0169]\nstate[eef_state]: left_x=0.3329 left_y=-0.1003 left_z=0.0023 left_yaw=0.1806 left_pitch=-0.641 left_roll=0.3112 left_gripper=0.0175 right_x=0.2923 right_y=0.2332 right_z=0.0258 right_yaw=0.1143 right_pitch=-0.0027 right_roll=-0.1809 right_gripper=0.0169\nstate[joint_eff]: [-0.1162, -10.0308, 5.3949, 0.7839, -0.3883, 0.0415, 0.8376, -0.0615, -7.159, 5.4632, 1.0965, 0.315, 0.0024, 0.7839]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f036ef0ef160e0ec0c02087ef9f71710f8adbe54a8a3f7eec0dd7eefe2abc328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d152ccb62e2c1c309c10249309a0b9cf657af22ac97e91a9b217f4527b5f4036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d239bf0d1eb33fa5d15db3c5713bedb3a350ed3073c3ac04bbc173cf731898",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 1.3071, 1.1896, -1.1072, -0.2813, -0.1356, 0.9979, 1.0149, 1.7645, 0.6598, 0.2092, 0.8146, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2876 left_y=-0.0032 left_z=0.1723 left_yaw=0.1592 left_pitch=-0.5886 left_roll=0.2656 left_gripper=0.9979 right_x=0.293 right_y=0.2349 right_z=0.03 right_yaw=0.0984 right_pitch=0.0084 right_roll=-0.1802 right_gripper=0.4545\nstate[joint_eff]: [-0.0205, -4.465, 6.7761, 0.8718, -0.315, -0.0562, -0.0317, -0.1162, -7.9111, 5.0393, 1.0769, 0.2857, -0.0122, 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]: [-0.4667, 1.8187, 1.0664, -0.6342, -0.342, -0.4053, 0.7516, 1.0069, 1.7634, 0.6491, 0.2142, 0.7971, 0.5056, 0.7981]\nstate[eef_state]: left_x=0.3389 left_y=-0.1004 left_z=0.012 left_yaw=0.1723 left_pitch=-0.6614 left_roll=0.3015 left_gripper=0.7516 right_x=0.2923 right_y=0.2325 right_z=0.0262 right_yaw=0.1112 right_pitch=-0.0072 right_roll=-0.1906 right_gripper=0.7981\nstate[joint_eff]: [-0.3487, -8.3077, 7.5692, 0.7937, -0.4371, -0.0708, 0.0122, 0.3077, -6.1333, 4.0821, 0.7497, 0.1832, -0.0317, 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]: [-0.485, 1.8156, 1.0103, -0.5758, -0.3641, -0.4232, 0.0175, 1.0065, 1.7641, 0.6415, 0.234, 0.7929, 0.5041, 0.0169]\nstate[eef_state]: left_x=0.3329 left_y=-0.1003 left_z=0.0023 left_yaw=0.1806 left_pitch=-0.641 left_roll=0.3112 left_gripper=0.0175 right_x=0.2923 right_y=0.2332 right_z=0.0258 right_yaw=0.1143 right_pitch=-0.0027 right_roll=-0.1809 right_gripper=0.0169\nstate[joint_eff]: [-0.1162, -10.0308, 5.3949, 0.7839, -0.3883, 0.0415, 0.8376, -0.0615, -7.159, 5.4632, 1.0965, 0.315, 0.0024, 0.7839]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f036ef0ef160e0ec0c02087ef9f71710f8adbe54a8a3f7eec0dd7eefe2abc328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d152ccb62e2c1c309c10249309a0b9cf657af22ac97e91a9b217f4527b5f4036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d239bf0d1eb33fa5d15db3c5713bedb3a350ed3073c3ac04bbc173cf731898",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE4BYTVpgK0yfl5FgBgeViX_sgbeWmAs9ZcHKI-zuXfJX2SRgAsVHG2_nwqiWTMPag8qOR6A-SV7XhaheYcYxg2gXlFOQsnt1l3y5oR47dp4cNvVgEmpdVq6hznHiJUOXQiMATuSP14r9Iuabvc0wRlkB_8lntucEd4EXyijqnOcRCE5VTva-GekMD5yWNIFaD-VF-9ZOWaikR7E7mMNCp5mI7DBZiZ1bCJX_vT1eBFWlvn5LlBhVWJeGHH3Quzb-IVOtuUNRCzr64ucwhiaG9Kv0fG7nxAjB5KU5D3eDP8l8TE6qHuoMPsYDLZ0pf3ui6iAFVLWeoataOvnBD3yTYe8xtW1oJUn44qZYPE68TdAHOxtdW6pwMqqmrWKrVGdqYC202X4M-3MIvJCXCjxjx5Lh8XjM9E-5zbHrXbCUw3kDfZsqPdnvORMOs1DiC4j2raUiA8FZ6OdAwDC5QnX9YPQ4zlGT6XL-p-oQXJOSePrfUFbUhmkocNMeFPsiAOSDzwBeDyZPlZkyJ3Wg3Uc1lQIUwW4TFFwzzaT_dSu68aJm8Y4lI-5eG_XLRQJKmeuv4L85paVmEOIb0K4zs0wRx1uQHOt-swTTka6UhZDahqN_dlqlZhWZSdSam3E3eJKuhwLak38jKXVGLCp881r1Lp_e4-Jh0M_NuvRmswwrXOv78cJj8QL9ylHixJgXShSEhQtUxx6IqmW1ZYvNfLjhfwAzSMnuAaL8PFmjTEgQJ0xpPlZCa38b9VVWbQLvQ9su0i-sj-hjIXcb_XgVWx62js1C6hwJP1TB9pg6d-19g4sBNSlyXlZbK9aoVAVK1Ky7Wf_8laPMjFT2ksVYApatQnBM8U9MP1qzKjVhhF7Ootb1T86LeSyd4ZopbcXM3FHUJES90p5I14yyboKtXk6KjYpWNtz9olZUgDS9FR21ggjL9WNSv5xTg60BbhlUXV7IWXH5suvZ6gWt-UTMAKyXy6elPsayob1PQPJ4NTAZJFVY04k-0vzcM_wMMXA0X1c-gwW-o3bI-yFc4FpkuYDWg_k7Lh4LkV8SKA0sWLKqie1deZezilsgO1ld5R6D4gMeB6-fbdDwphjhUJPhDIiXm7BL-r-f1L3ivlKXv2F1QgKwnhffPDrtyigi_Gtks5ZsgMzXqC6Wr71CYmv4M-B30t7_cAyuZ1EoAfJzTY9hYN8w06glvQYF7olnnO7Tp61R8L_F98oc6CY4sucUOpc72qSd8uGQJYtXQr8NYfuIRA_MV20Mnnvrrp3bNnls16-TiSl520uDXyoLm-wcTQyTcMOIB4Qx9FK0iXPn4AvpkxSWHH99ttzQcY178scSifbe1UDVxVJ2ueGDslk52FXCaTajNqiBBwrgFmB3TzyC3FjYVWqTmmoe9rUr6v7-G5I_ftLglGqyP_CZ6qvFdtWRKvNqBM94WpA40ppcZqnwcoD5a6M-i8ctjsQ0tKuoDvmUz_IuROYJEegXgTLjhzqLOr-dVV2dJMIjU_58wG7fPMkaLXTmFwQIVjXOv2wwzRd2v8wM9_HkUQ8Ym10Yxjmo5hdVfcNOeiAcd1XonmTTq06cTZM8wTWR5qdR7XqjgoML6RdQ4WANQEsGkQn2xc54O2FaUjiFqSItUXs1ndQTel6ZNXlR1blJyYMNhLjRbcoJnVj6tkmVa-oHKWmH7WlGHtgs6rKT-IH_rlhUgcQMAWKk-9Fpkea3TYnFMvtCwDSox0NWM5gpwLGsHDI5f6IwlV5A66rVw1J4pxBgLjY4C3Z5xdlPXIzi6KPD0MRMLcUF1WFuAVJJHGXGCmS5Ql79KP4s-iTqsgeTE4yXQzeGtSXeGj0D6uxURO2V1Rmiz4Nr76MZ2NmMW-XTPrTpn42knKKr1Um6009M5RRNWsJWTXXLl9K13j8xBehcY3luhskFSXK32wdYkAsBeyagh-XUY8o8tazCG4ECVZN9Kh38Lf5yeUJ700KRAQadylnl2KZQCy__MTd0QBoo6Sx-T4_B5cMrk2Yid3zv-XYrZC0AgvCDEOq9PHRJl145DVYPZtoF2dsPxWQM1YRvBewdXsvmUqMPZ4y1-BAHDtV8_rLnqThc8pVuQvJ7YhoWXiRZiag_JFlb5FVGM-u2cosD0uSY_rp94yW1_3Gr_xNzB_1TXBrHPxVTHQ2-N5wrlplXsMRJA9eDIuSL9Xfh3GY7dLpJna0HPUpTrS41dLmuN0TAAucUnPksrxdq5EPoBIuLi4YC1iasSpct2ZgHgvKVhK3AaEsDx5dAqUUxgUMctFIj4VCjTZsUN0RlsY8Q3y9KK81PHWQX9wJe-4-5VFfo95_hk3XYUkGShV6ExwIEmOMW6_B9TA5h4piyWkN5-nYWd7jD2TWk-VtjunGc9Zcs58kDH4uAbhRx1RQFMDlhD8kpQFhNmPuEKKhppAniSt6XZpZitGbWzsNWVazX9GpnpbIG3ozXCYWU5Jk5ne84zEmGC0yfCG9Ls_K_fhyjxfBlIL5MpGZL2m6Nvy7_dcgtpuSyz5jX3mktzs6xgwHv-wabkwB2sFkii-zTY2kvJW1xGmwRfrjzBB10SyocKm4RB5Q_-m2a5c5ItoblHlN6OiFtB1swISdfeS4xlMeuZIrjC_wi0fBFN9tose4um2_AbuSavb9deylFR3aCQdTIL0lPedPGndJml-rTBqhP4Yl8yvHiH8efn40VZpK9JK11WhifIH4BXqtmVp3gYgks1MMXanCvCtWVpObTMr1fMWr489asW-sF4oTIfnIAvznydeEqMzMa3sVZ6QBb2JzsI4WR6SNz2l1MXMxllwp71vkEnwm5IAd5lY9c_cB_DMosrOZAao-uyZMaPv5PS9j_JLfX7hkvn7ktoUy5uiZ3cNKbk_Z9Km1UJ6pyK6KwQgvQmlOFm4x2CWQu-VksV5MT9GO1YTokPvmpB0GiQ3RAhGIkZ75Fwsa3O97SicfFHu6XE0aD5HSoPfWUqRpi1whaYxUfcdkils8dJQ-sFcJ4Rs0QQ4grCw4J4x0RJOaMkxgtZfxQL9WVOzwKBWLBjaOohZxPgfRiaUrkNVD_HUdGkxE3y11rWpVzrAVzq-VvS87iHjNUrifftdUpB0kPpW-AD9v29dzc4VcutzC3t1AMVKIJG7iynaOi87i6GWdBISUIQKv_Ih9k2kU1t1zru7UO1oQ6pt5pQn56Cr8UMAGDHpINI-yYR2ZUwkTauiyeq9YAUfwFKCwNPJyrT0OPPQJV0BQPUS5eWjFKEOblaPQzX_8oRHXWvrfFQ3g6VDaTfC7XUYOZ4IXGehqSEtad4OOpGw7eyWUIxT8lasmyZcUaGwBPWyAkMdczWVqbV9eZr6vyJpd7cltk-sqdDEEMkEGWfmTd9N_ks1Vu61AVGTph0gcke_FS7shxogxiESnhaWaP0SZ5U647eNWtzl4cgfz3G7HAnP8SzEfOlDRhAl1U2HaT8go0CDCz_hOoUl18DyL8VhW6CpyXzy88FwUhiilSe_63CPInzE79ta8xCGO8UAm_xMFZyBELg3njXD4_UVTpJed6klqA5Cv9jwUBQLf1bLu-LqzuGDvU8rConc835HxlgnXurXIljkGODjuad_alGlPBIB-VgD5YLR_WpHLtFp1PNTHV8ipIKF9OYuu8IyV8XWrKWettd2VuM9dBPLt73-xr3t2PH04IEQJ3HX3_0tJRNDd0wHemYZ3AMD8UPTak9GVHRTrUKHOH77mi-nVVs2YrGgjbb7p_KoqJiQk9uUZh7J2TrTEylg_hHEzn05Q-A9GMA4tvVfT-Hpa0UgA_hz9mBnx6HEkXZfVzpqFB8oeMYYm2VQG19H12C6nNCTn9LWjw3hfVjhEunXRhcfqj4FrLccKQybvFPNPaFEbATMidZ3LI7V-JJIQ3If4t9ggggEUqf8fTOPxoBNRvmVOplAKbH3_yFCEUBdHl0IqLpISf28etiHmIAEYTd1Oz3AMwvgPgOs8NpI6QSlU6MpNiiEnELuuzZiPARJsiUfRa3sInnCBdrB5Xa0q03LoTZ9MVAWs3y6JcOaVGW19qtySOuQhQONWNnMsvt8D5dI69M2V-J8CoIwM71Qs0au3H8tEj_G_2sNOwqI9cMMkMgdIbUFWZ1ruoNHsZ3JpD1nMCk8mA7w0Wc14fYLB5QDzGM9PtH77Twfv-0YLhPEX0yA3BPOMRE6nOjCULa1QtEBZjpEcc-lROF2tev1VIPcV-fiSyF4HOaindepCyPUroRQ_cdQqMb07uBwkKrxfFRiykAfNs0qicBbMLbWAlRoSuxERZhmNiGwQ4hUytLmoBFL-GKGFISMqWulM5qZFq1k8OdVsnIpc2TEvLSWlgVprXlCgK2NI1gUfBiVMJfSfR7thgg2uwBwxlyz0AIGJzJ2q5720vIFZ0iuNSETKCfyLevaC_E2G_87v",
  "id": "rs_0e11210e9970fc1b016ab44df687b887d0b243924dfa89ecbc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE4BYNIeVP9ImbCGVa2CObYdNLZs5QNH-BqZZ9BWJrwGFXfKW_DO-2gtX0GWNHzi3vJ6Hmn5IXCzSu-V5FD8jbA9tlqehuaBwtz7a7BWrEL-oImEFUoOpb3qPa-z8OKAb-Oys1IbZPkT5mlvvmR8HkgBjn0cQ-EXGSgZsja_FpAsLINiXBiRd_YzYAKwLH7b5S8CRyFXFl9Q7yXD2f51DDUpX9OK23QZ34pFjE0otgodirihRlusMg0gzlV6ZoLMgVMg4XRj2Cp_nLOGc-3P0h1hXyGV3iQYvawxbjKKqh162nATLa8_GKNSaVhgHIOoUvCG9jU_I9BEoE0JBrct9t__3nFx0JV1S7PwBeVUCHNXRvfv8A--BmhIf3OpFP1kme-6TIKUNNJ2TPwHlihM0ZtcQlbwg9WLdTc3o6sbanxx2HQawdeAQCCR-V6Z2qaBKX8Pj8BnQy2Im4n8m6iD2NYQ1esQ9Iy23U7azybO97-tlmXvkVlteZfTD7bbCB7ZFM5yT1gH5RIGWZqm8f9o0_FQpo-dzHZ6E-VSf7kPXNsOWm6rCr5G4lJYVO7FgqYPxyHTZKIBdUuqYFaourfCPBXG68DxQYXIx7n9nm2ypOof8QG7EgW3pY0zncNO3bTm8MkTbROCdDNyB4m8FB7LMBmrNoQsLJ1GDoih7c84fmxnd44LG2pTV5OqJ9landuceJbhtxT4nQ5NeZvhpQUS2diV9SgvIe-a-agD3M-SK-PEeoDhB1idmO5DnDEUHDars2zRaVAiOwNb5XI1kDDevv6pFqHcoO4IR6t-5YSesvxDywzrcGWdhfMdalLQvGe8NsZVk3nB8CK0W3gOLxjWa8q9fUIcHoUviDc_NPAAM6mcEii3bDH2dKYcF71gCwCKlo3l37SwWpRPkc6Z9zABZRDsXI7V5s-gG20vVqeztvXQAuGeuIZNbm7e1RUPTJWkFRu8LQf5ZLlAgO6YU3VlYURyXETyoU2AyJmk1XgDSfnfJjZ95FvN2_D5l4Dj_pjSXlg7t6-mwmW2WcdfHkfDS3XBlyR3_CiOfo6lGY32p-yIcnaCNQ4uZShC8adLw-cOmReyaIp-JJAE1eIySkPQnBbQTS_-o-qiOwYOU708J2pMX9iK8nxRa1bCTWiMIVZPtjzscimgPaWW64taIznTN9gvh6zWmdoUVj0Ae61K05nMCwt8MeTqX5pAjtkVfvXBMNbPf3OrYnLdjICKou42wmgXjmkN-Hxmve7efOdRpddqyuhrFFoAwuaqIdc4sutXugxD8Hqtry1brZlAAGKufhGy3b-gaCkdHhqU24ZvxrQ6Pkty_RBPVWJLz_1V8CYLSvSTWT5uCvqv7oTdAWCA6gKhQJOPGy1Z6FOhlbLwUr9dDGtlzQXyUOuGsv2NUTjF3ijQRFqoxXctk1eMkO3ZkZvXHbU4gZLNMo1KCG0qp6YdRVTNKjvsZE8XH8Yp__JbPvNYU5Haf3kAjXPVnCvbD7yHeOoGcz9uWSGTQQ2O1QRL8gEunXvh_vzvSiWqXK6QjeWSi1c4FSuwWpLK52bipQiq5ahALFBdxq5Kx0xtQuiiU5_FYX6AeaTJu7M1bZPgSmtl1Z4ddC67B4BGfLPhzn2MmJ354n0tl3jv7gTJP4-XOXAbGHpQggLJxqHvKT3z3vdzSkpntS-xT_MQ5Ro_IlQpI2E5DsBfUcI5iDV504IsWk-UUXatE3jbrqnU6rfMHJJHpfjUCVr5n5Tzh8D9Xd1L1F8_7DJ6KXSUdl0k6LX-QZpvId4EbtmYRzwznSuLrUX886BT3UFROxyWE9yigtbtLvvzYMkrBik0r65HJQt9V-fqYtzBw4sCuo0kfT1NTdHp9jW-WchFXFIqMsXRLcpNpb1nGYSqWoSitDdRXuz3nrttwDWnAGnJQ2e94ayMM_YSK7evPl2-9BkhVOexUho6duY15Tv00NdIPVV9wC-Gcx-LWuPLeeHE0Qlpy1GAXLmyp_3yG67UqbzngKAPhDRukHi1Tz0BXWNXU4aLnCjq9-GBngG2ygZMBaVnZXYVjbLT2ramP-G3RK5GcXCMRonjLl2H0Rjb0q-VwtszbG-xIysAlHOSR7QkIRZWS9F_IsOotIYQ4d0aogt-CHzAiMyb73Zp-Bml7rC6COvnorG7kHmgq3LJn2xT1hqDd1YMd9GNgXK9r-ww3Q0E7ED2l4ZW-iyikIBAPtO0gmnOTzYgYvhuYZWOKSezce-q5ii7uR33XPfp_FmT2wmejFnwrBn-95s4NoItxoW_QEfpxntON64Sal8nFrbldmWc24d2Y7H8sw-IXfBE5QNTW9yyHhAzsCc55_JEdgbhetTj2zENiCxhU2P8TM6Sf_hF2eoOMF1hvtQenHpqSGl00FjU3I62--7F_C6FiuaYLigN3rjyMwpHE2YxwxluFyD2f_K8kp636oTwThY7zker6qaD-4GML5_Xqj0_3-KcXqUdliDt6qYHb0scQQg4fIvt6e-iTE0I9ak6WYtbaHDWQjgVy5sMTalLhNG1A7KdtHfRrtE3PWJYNVjV00VGQUhRECkQGqKFHp71GPgvxc4W1VcUNPBOr5fJwK57pWt9yweb81G590bY9-ZQBiI7xRmknOK6n4g4Z3J5Pg893u6j6wATjFKyX1O0pbiTTtYsRP2dOpiK40uHs6kvTdFOKUFYwHgbctZ1_SwhWSYh_tIgELpHUuxsF4tTYaaXBWftsazKH-ZiZNzVyFxkqQ8WzoUWNhpPRmvlka7JE5BvqbWR46-t2CLphTU8oEKdvln0u3lGvE2vigKIfTHkrvGdXT4URnP6AmXfYFp5DMsSYDIPtfHWl8iapFKAIFKfWwBSuEgJgXnGjk3k5vkKusc1YI_BlhL8FvLCVfKR9jhIeOs8r5nw5U8BDatIKgWGydGhUWJMRojNf4CVlyeHt4U9TJLwmx-GixACLJHcRWII8U6Pxk7Y6Qdt33M4sgasc315_DPp8YWyuvEfb4ra4uRiDU3RhAmg4bsfBmTVLAsYwkR-GQq4jolYZEzuaS9oPkoP73S2OjTCeW9wTmIDEeGag65d6oftyH466IE-VmsQ7UXdhPuPDgaVibNBgDa9OR2-qpozIb5It0scBkUKD85vt4DR2pcrCV9qJMoElQrBnxWdqdBkrDCt929Wwu5P7NU72AM_EdAQ9YcvHWI18587A7U8fmFlr2jGdFhr2oPOTv1Re-qzboGoNw-8z31uZ9gko9UKGVEfwwR7lJoSR2tFhW4cUSGhTviWtgxlvllRPQWFZg39J7xINdvwH-ph3NbffzcUqSGBZn1nxq4v8AWL7LuvAIzJEdT74poD3x30mBpepK1u30Z7ywSsL5qUZar81xvCQmvduK85XmZm-DwJwqlmUPTlG__pcVJR-cs9KYnZQubUiM4POpJ6dQEbyoL15c8Bqn_2afv7_537Rqtvnbk8s2uUdmQsHaxt_xKqdF-_AOq8P0y8Y1KZ547wT7-xRlg88DVtxJ3pzD5euk089Fs2uzRk6MNiTgzG82t5_LqLjifomKeXyhodFYbO7ChdEFWzni7Rx2l4rHCRM0OZVrRqKKt1e1zR76gug8WUbleokLkyCROLC2gVZkSwJhMZ7TX4cxDt2mMI_Xfg4eE-QX57Wp_aU9fBnG_AslzizOgWRQjkVQ8UtkGnwfBYwiRYagBm4TS9pDKHk9mr1LuUUUtFFJQQ8WdmEMfKk23WzBgyXI5aYdMBM9nhw-B62jm9f36E31yTY36Y_kFkoLMWNZlJ3_CZU8L574ibqyNE1ypcdB38xPSmRva0CThDbpouHSL1tW55mgA=",
  "id": "rs_0e11210e9970fc1b016ab44dfb8db887d08d650bdbdf3b4c61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.1,\"left_z\":0.015,\"left_gripper\":0.75,\"right_x\":0.34,\"right_y\":0.233,\"right_z\":0.025,\"right_gripper\":0.8},\"note\":\"The near-zero readings show both closes were still just short of the plush bodies; both objects remain visible beyond the fingertips. I’ll reopen and advance each grasp point about 4–5 cm at the same low height, keeping the excellent lateral alignment.\"}",
  "call_id": "call_APfLdeMQsxzIvyYx00qYmFYC",
  "id": "fc_0e11210e9970fc1b016ab44e00169c87d09c7563c4619be61a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_APfLdeMQsxzIvyYx00qYmFYC",
  "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]: [-0.4374, 1.898, 1.1423, -0.6041, -0.371, -0.3897, 0.7458, 0.8799, 1.8301, 0.7105, 0.3088, 0.7166, 0.3874, 0.7944]\nstate[eef_state]: left_x=0.3668 left_y=-0.0969 left_z=0.0083 left_yaw=0.2024 left_pitch=-0.6257 left_roll=0.317 left_gripper=0.7458 right_x=0.3343 right_y=0.2278 right_z=0.0256 right_yaw=0.1019 right_pitch=-0.0051 right_roll=-0.1819 right_gripper=0.7944\nstate[joint_eff]: [0.4034, -8.0889, 7.665, 0.7399, -0.2613, 0.2076, -0.0708, -0.3761, -6.2154, 6.5436, 1.3358, 0.2076, -0.0855, -0.2027]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a25c15b488f015c2bcaa50818ce2d986a319e5df154aaa98090dd2415d41461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e69d7ca92f5b5368009ecd8bbb29d9fb00c18526830f820991bcd4e71840d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac9eb61bb2e217624315aa171af7123fa7888580864df165de60078fd103508",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 146 changed as sent

message 154 changed as sent

message 159 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.3071, 1.1893, -1.108, -0.2806, -0.1425, 0.9979, 0.9894, 1.956, 1.6424, -0.548, 0.786, 0.4862, 0.4511]\nstate[eef_state]: left_x=0.2874 left_y=-0.0035 left_z=0.1721 left_yaw=0.1624 left_pitch=-0.589 left_roll=0.2619 left_gripper=0.9979 right_x=0.3748 right_y=0.3493 right_z=0.1904 right_yaw=0.1112 right_pitch=0.0085 right_roll=-0.1716 right_gripper=0.4511\nstate[joint_eff]: [-0.1299, -4.4376, 6.2564, 0.8669, -0.2222, -0.0073, -0.0171, -0.6359, -10.4821, 7.9658, 1.2039, 0.4078, 0.0073, 0.0952]",
      "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]: [-0.485, 1.8156, 1.0103, -0.5758, -0.3641, -0.4232, 0.0175, 1.0065, 1.7641, 0.6415, 0.234, 0.7929, 0.5041, 0.0169]\nstate[eef_state]: left_x=0.3329 left_y=-0.1003 left_z=0.0023 left_yaw=0.1806 left_pitch=-0.641 left_roll=0.3112 left_gripper=0.0175 right_x=0.2923 right_y=0.2332 right_z=0.0258 right_yaw=0.1143 right_pitch=-0.0027 right_roll=-0.1809 right_gripper=0.0169\nstate[joint_eff]: [-0.1162, -10.0308, 5.3949, 0.7839, -0.3883, 0.0415, 0.8376, -0.0615, -7.159, 5.4632, 1.0965, 0.315, 0.0024, 0.7839]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4374, 1.898, 1.1423, -0.6041, -0.371, -0.3897, 0.7458, 0.8799, 1.8301, 0.7105, 0.3088, 0.7166, 0.3874, 0.7944]\nstate[eef_state]: left_x=0.3668 left_y=-0.0969 left_z=0.0083 left_yaw=0.2024 left_pitch=-0.6257 left_roll=0.317 left_gripper=0.7458 right_x=0.3343 right_y=0.2278 right_z=0.0256 right_yaw=0.1019 right_pitch=-0.0051 right_roll=-0.1819 right_gripper=0.7944\nstate[joint_eff]: [0.4034, -8.0889, 7.665, 0.7399, -0.2613, 0.2076, -0.0708, -0.3761, -6.2154, 6.5436, 1.3358, 0.2076, -0.0855, -0.2027]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a25c15b488f015c2bcaa50818ce2d986a319e5df154aaa98090dd2415d41461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e69d7ca92f5b5368009ecd8bbb29d9fb00c18526830f820991bcd4e71840d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac9eb61bb2e217624315aa171af7123fa7888580864df165de60078fd103508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE4FdgJ9VjgeqRMP_lB-wyaaTMnOlXEZzD7MV3MEerr-WLIz1BA3VtH0dSRXHgFuexB2cU2s39V0EBEQfHjNXsp6j1wkR_UQv4qyDL9y7SnWAwLceNrxeg2FLQLsIKHsnzyGMgK2heKR77xKC3DOa9dZdp5ziXHFh1kOFE81mnN5nMVdIwXud5-sUgh7dkVIye5-5_lB9VcoXU1j7a3YnWug9eYYQJp0zKUqwqC4ASnedA1tq4r9zF8LfCJcV_UnzJo6P6Mr81JRtX1UzowzHD7mxAY5c8yUMUG9VL2Mq41gNFufgOdi1aXF9RbQZlR4u54ndhCZ0TiHHRnr2Jdq9CRJisTQrt1wIyCSVX-EShr7OVG2xicE3A2jqq1hYMjy2yOpx_NcbFZCzGUT5p-cTYelxJiJj9rfLc0elco6TVzqqt82fAac5pHIIZ0UxkEo6S1cMdFR5zD_SBf68hnd_-BrZU-3vdlgSDr1-SpzpdDYZFzYPG0RtN4guAfgCpLpw2qGj09nyCAXihX_Y7Nux8PSCiVck6yJtbpjB5Cz9Ch9XL8X6xbjQrvQEwK3gIbtbleImKa4SNJN1b5bk68HR4oV4TEPCSyb6GDt6ru_qP-CbzB0mcoypIy_kQcwLOLp5-6cxrXO-TNRvGzqK82qB0oUqb-m5JfVS9ibO0v88ZvNINEfSnNuuOOL0nmzJtbL8nQdgxrl_2t9V1VnnKY_6sjQqx5dg5rHFAv5GQP0lpnBsusmcDblaptanrc-U39PrP6CRspSe_OqVXMH15JQWYQsn0qouz8JSspRHBR93rlwbzGXD4VDbglbyFW2TMwjb7l_z1BOrzgLzTEWbxcR1P1XmfBgZDr8XZOmHj8Vw--dEv8XhwaaWcsX7idf1luj6phps8KNwC5ICMWckd7C_10P-yYFsz8Pzny8Gw6jBHjclqi6J99qapbOgp0hqbW6y7l-7blu4HEtDgFYo_44wI2NQ3Et22LAqgNC3Gv6FAqz2bety2E5CavAc84SnLM07yU0okPrlgjPKzIELSNkR86QaAG-DvuZXQF1G6W9aH_icsROAzXTKixqleTMiyt__sYCIM41G7DQEAi6KboG8w_W2zGCmj1kUlI73YE5Lm7yM0ocFVRc8wjBLzyV2U_flYCxbk1mE3c8_2QCyeu6Wa24jdR0HbOBKHNQWyscKP7gu7gJQ201JKkcI9hNpQx8aKjZwogJoItZz51Dh_OjMO_K0UJnHFg01dvKkO94utTuMrgQWVSzdhsfJjsoXALHh2sgSzxeYwCrkzjJ_2ONSeyigSFuCN4OjyV1v0cIUTcfQDajozvzgSRf3IBzh11k-S2PQSbGCMlkBzFSLXrXBKddNbR3jofgCuamsYwvf9Uteq0NHGaPcMW2F66jT-1-5U08Hk_3aduzE7udWfp3XhiEt6EmMP44qXi9abLoMenIlFOazF2N9wEaJJy29V80D6fgRzHvlls_YuAaaNTvhgLRNHBjNeMgxRlPLHR-gmnio_yA0G0U3WJfvLNbjhBoyDx7E9_pYnNUzwkIFylgj2lSfnH8asQjmdRsl75ogHDqCxaUm9xy1ptD2L9HAVNKD5NOpxFoE0oqlyAcPaDVqmcENQdwHpX1q-YMaIfvip2k9g2EBqzKpdzS13z0t2mJQ15M-H3NkTrwozVucXM2h5kM_WJiw_-cbcZgc6O0Bp_txBY1fq1LiWNnbsu6B3xp-un07wauBaLzBR__bUXCracGiAEGvVk_Bfj9Ci4hQoQ4-a5jFo0vHxdYe-OktNMdwTktIFgHpKUCtcLOZ8zAyi0wlQ==",
  "id": "rs_0e11210e9970fc1b016ab44e035a3c87d09966f327f54ee01c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.1,\"left_z\":0.1,\"left_gripper\":0.0,\"right_x\":0.34,\"right_y\":0.233,\"right_z\":0.11,\"right_gripper\":0.0},\"note\":\"The advance now places both plush bodies visibly inside the jaw gaps—the white face and brown torso are at the fingertip line. I’ll close firmly while lifting vertically, so compression occurs before meaningful horizontal motion.\"}",
  "call_id": "call_WcvZBzCH1ofNAfVj5bf1ZLke",
  "id": "fc_0e11210e9970fc1b016ab44e045bb487d097706c24732b15da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WcvZBzCH1ofNAfVj5bf1ZLke",
  "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]: [-0.4377, 1.8549, 1.3682, -0.9024, -0.3748, -0.3988, 0.1199, 0.8757, 1.6535, 0.8581, -0.0517, 0.7013, 0.3737, 0.0162]\nstate[eef_state]: left_x=0.3739 left_y=-0.0996 left_z=0.0734 left_yaw=0.2239 left_pitch=-0.6452 left_roll=0.3387 left_gripper=0.1199 right_x=0.3358 right_y=0.2303 right_z=0.0886 right_yaw=0.115 right_pitch=-0.0404 right_roll=-0.2103 right_gripper=0.0162\nstate[joint_eff]: [-0.1983, -12.2188, 8.212, 0.735, -0.3687, 0.0904, 0.7888, -0.1299, -9.1145, 8.294, 1.4872, 0.3492, 0.0806, 0.7985]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e63791f73b7a8c9f18c5ce66eeaed2b66d83646d03d18e4edd8276944933c14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ed13eb4cb895e967570de821c5a2ddc40aadd60146df882017738643e2d7c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1a6cd543fdf3f858b7dd38561e077e54c930f112951d94addceae33251eeb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}