adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3935, -0.0193, -0.0341, 0.9985, -0.0212, 0.7937, 0.6064, -0.3965, -0.0204, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1772 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2928 right_y=0.001 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2359, 2.0098, -0.0562, 0.1538, -0.1636, -0.5812, -1.4838, 9.7162, 1.9219, -0.0366, -0.0562, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fc7556846ade0a12f101836c799bdbe1af97ca37cedf2b9ab7614d50a28881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f020f8aebc08036fca7fdfb35d62ce152df708471d384136b9ee460ba955024c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92b7c307939995c902eb0706ec53b57edb13c4477aede09b27dcc2fdb814138",
      "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_00ee5701d177c464016ab447516acc87d0aa762743b27d4beb",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdaS3o7cpsSJiU_uO7knixn76qgwkwRRCr2AXnB2lCLuhmZBgU_xw1qF9FInVlu09uCp2DAfKt0TMwjXV1ZV4q91axdE2I4reqxFVoAbi_5eOX-WUsaVdJieBHvSYKXZiWAKUB8rVc_WVDfAtVK16oSAjGIMC608RIT55fmvZyH0Gdpa9g2JXQYopMOAyjZztaCWi1k2Jjs0kHvvoYkrxL2ddSCjcdb0Kj8F-bTDpdOHUG1F0Aop_HM8Bb-mAom-cHodT7-pVtzcdcX0UtmlzXoF6-jaxxMnppyHHTevUzEf0jzr1PXc1b6W6BtOBqcsvMPHYC503mhYHJLJycWMEf8WCMn4KHZ_QysS0vfb3EqJR7ryr6sm8xWPkm77RgTtzv85B-sEiJq2ZrJbOFAZAcgCVQ2zDywS70xGOKqptJHa-hkmUxY_Ey5ccvP_oh3mFPjIJYsmp41aqdeqVFZXP1aSwfMXoZiEr62y3Dr4Dvk_Bg0Nh-HNI0VYHo7JLZQ1OPyYIFMSsXZ18ZBLlD436hnKp5UIHn87-bdqOT2Talz9FxQF_j2gjC7H8KbSYWRBy36EsMvCYH4ekpxvrDummOotGlCzHm0wYbxyRm2D5B-8cllIuRlfd-zjSzYW-bUtlj25_zXHQ3LrbzAhyWGUHC7G025XdgFMPx3EQx2MtsH65YOffiRa_UwHqPZ50U1ouCk6wxr--K6HseyO16M1hAa9EIbtn2ZCl00Go-XQYNdjqYG-Vq-sEpSMZ910BMWPTcXeQ1IXGBvt1JoaW0MKU7KFcGNByRYjYUwDmMkpSSey0hTqHu-i2AOrD9FXJlh1Tn47OauJiC6RZzI8poWFq96ejkeEXNXAZLAuy4i3YR-VSRxaPtfaiyzJefmd_7sXxI48sn8l4zbDLXp8IUn95gBZ0t_gh323Cetp0ppb5GtTJenC7JVz1r8XezvXdrg262nHHyIyc7CQvwcNh3m26IspZFkAvflUwcyMUpXSiECc6pEh-YvfbYs4DbkDiIVIdAyZj2fwms070YsedtQtbdbLp8JY6GlsNxslhBRGX-6BLpBhu0goWIs17syr8tNMixzBYVmKL-sakPyNQsgogTFePpORDGqYCEGlHKy1UFc9c96spp3k6MxiYs_lAh3sM-pyYxWbYhEBvEVywtnkTTxcfA3u6EnttGwtHvR8lnQqTzNY25pxZ0JxjUjIOFDPHfsutUnHkOlLA-KKbVIAd7jJxX6jhWU9MuEVujfL6fysMp0ZtbtVwO4iCxgykZtatmeho3A1-Hykktpw5SPuTIb_aZ6wTtp8DuZR-Ij8bhXjxepnBtU-7eOOOfzWwoEvAdnLy94VgP58JhS-AsGjWQp3_xWL39E6W-DwjCW4EjD_QT77BxD25S3Rh6wJmVMDZbUYWaBL_A4HIrOILtrZ5RQImniWzsF9YjZmqgSrxF9yB20VVR-sKgMwH7zvTM2XxTprAwCjIyJFMBMHW3wnexHPgjhK7NtHVwS-UP5ksKzw00gwGNDPz0A0jdbMRIEq9tM3Zc5oMC14SVH2j7t9tjcyybLFxhI1GBQD4hFwIdUsu1DHhDcI8q-hjHwSQ9ObCtR8rM2UVfg9w7mh6jSE_lqanwMqcVnP5_35_ejlhidc3D9B6xla-wkFxr8RTzesm2v2dAsMEsA86LZ1igL0hcJCkOFFPJo2UEZyRxSMsMPFOAFlJrrJ39Yd1FW24Z2BlLWVmiInBFk6koH-cMI_R_aGv9HM_j0wRujT1JWAkxAI9M-uPQbezRfidswWDorXr51VxVbsAmWSKkf3Sxh-4epeb_g0J9vc6G0MZTxNBT8YFyyZItavWnwOmFEnwR-QsSOnNpvihycSYdVpAXXYII4EBWYzXyaQgy7z_R0598vpRf960ksHacJGxE9IrkF6jpbQuyjOnRLW20nUnOKP20vB9MOMpJige-COMr2cfQ8oS4_WveMP7aWRNoiC4BeYb3w3rB6SDd8ST5NyshWlYMBIZfjRI5UYYI2HQj8w0_Y8-x3AW_5duw1rn-3PnY4k24_KI9z6ZxRbIajdPA2i1chOisJTrgnfMSeb4T06GkG6_ul0zKenYpzlB35Hm0IUBvThnw8CY4kECAdesPRRaMQvmeZcJWiVXYMy79gew1X5YQ_Ts3U3JCYJzzhQLMLlmvJ10IbKZTBI5DIkDDHaKohpau7Uz2SYj8olnB3sa_K00eV_F6BgCpCzT24DsmgZURib7HEVdBoL_omsBQst2cNnTZlolxAuO5iOArNbsM_ksft_QU3c1p7HELiHYZx4VbWtKuRHbhLucjERVB8FuUNJJsQp04e1suS4nQipVjL0IQ_PPgQQY5Pv3Tu7LY8ovsv2bc2eqvp9-m_Wx36hZnd--lkU0o0FsJqJXpdU9_Y0hio2y0ORbjcNh3XRRLUz-FcX0BPeYAzfUbfV3geAIoW1x21_VY9yRFgdz_vH0jtDqOFRHM16jBdii1hx39_kigvIUQV7f_9Zpo3bp068RXR4H1Ie6nuGMFq3dFEr1wBJwUv5QeQAzkPPilAlhTvEO2ry14YzZQpbv9JDvXcbDnHH0W5gyTAMpkkp1J9pdHzMSTy2lvl25YOpoBBpRYE1KtcYp0bM3cjk7W2V-4DQg7ayihDs7YLqbIXYUzFJDxVDpbrCYK_gRTZTzXx-XojGJfakQ6H6oaHekLnuWlseriahwnuDtsQXm-Dp13zU1o6EWqiOr6r03eYKrB8EBqHAdgXclx6ksImSpmkKYtEAi4Iuvt7QBt0EK68w1ZLIv3gMRO5AjnJpLukHymXs9MZQCvl7M_L6U88W6NHWPmrIo328u3Fm3pPNaoTO7V7wRoUNASQtRfdpAsDZi84iMDWQ6eOcK4cBU3kGvVbvU53v0ijmxD9Lbllk29SRPc1ZG9XSlpl_iRGWOP27-JKcis58o8sdlYB9k2FafNvHveF3ovRserFIYP1p6_GXCy6qjOeDcMaeppgSTXYuNXTMiB-yQxiSFGbkSTf3kJHtZgy4p69fw==",
  "id": "rs_00ee5701d177c464016ab447560d2487d0b5faa82084c813e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The open safe is centered on the table; I see a small white plush to its lower-left, a yellow object to its upper-right, and a brown teddy lower-right. I’ll first bring the left gripper above the white plush using the overhead geometry, keeping the right arm parked.\"}",
  "call_id": "call_unqOMWGz8TAtKxxlMVMFEAy2",
  "id": "fc_00ee5701d177c464016ab44759f4d887d0ab12a567faee1893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_unqOMWGz8TAtKxxlMVMFEAy2",
  "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]: [-0.5396, 1.4681, 0.8951, -0.1574, -0.4267, -0.3439, 0.9985, -0.0212, 0.7986, 0.6056, -0.4335, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.1415 left_z=0.1383 left_yaw=-0.0134 left_pitch=-0.0704 left_roll=0.0256 left_gripper=0.9985 right_x=0.2878 right_y=0.001 right_z=0.1685 right_yaw=-0.0007 right_pitch=-0.0427 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.5846, 9.4291, 1.7314, -0.4029, 0.0659, -0.1685, -0.0752, -1.6068, 7.0632, 2.0586, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f445d2b9cdc21f5754035ab9727633101b3529aa0144ebbd58df1a3a41bd91da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f3cd6e664eaad9606b9186f73c0f119d494119b5bb65119a9f073d7423b005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52ba533e81afe569dcc974cacbad7643f9b003d98778e01be0c9f67de83bd1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3935, -0.0193, -0.0341, 0.9985, -0.0212, 0.7937, 0.6064, -0.3965, -0.0204, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1772 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2928 right_y=0.001 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2359, 2.0098, -0.0562, 0.1538, -0.1636, -0.5812, -1.4838, 9.7162, 1.9219, -0.0366, -0.0562, -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]: [-0.5396, 1.4681, 0.8951, -0.1574, -0.4267, -0.3439, 0.9985, -0.0212, 0.7986, 0.6056, -0.4335, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.1415 left_z=0.1383 left_yaw=-0.0134 left_pitch=-0.0704 left_roll=0.0256 left_gripper=0.9985 right_x=0.2878 right_y=0.001 right_z=0.1685 right_yaw=-0.0007 right_pitch=-0.0427 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.5846, 9.4291, 1.7314, -0.4029, 0.0659, -0.1685, -0.0752, -1.6068, 7.0632, 2.0586, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f445d2b9cdc21f5754035ab9727633101b3529aa0144ebbd58df1a3a41bd91da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f3cd6e664eaad9606b9186f73c0f119d494119b5bb65119a9f073d7423b005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52ba533e81afe569dcc974cacbad7643f9b003d98778e01be0c9f67de83bd1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdfY3PZwW6Akob3xlvsfFT592kq7tizA8FlvfftJ07j6nn0_DNbmLFuTgV3WzV8AAtrucJHMriBLQPG_3-nFaZ3j0ws3yr42hI1BHyK3xTVKywPruSwKexg5-ti8Q-aN3KYo9ZzZMgrSNgvgtihF7HNTB5sWdwVee8lbwfVhnuW0ZLx0imq0U4fzyW4bnp5h1DAvsC4Aee8tNuCDS6gh1UPfcm-BCwmUypvqvYUmIje-DSSubDV6p6QJuJDr05eV9u8c7OQBD1T4lBxLb7UeVmMvsxeR4lWNZJxAjzxhfKzw4CADtWPeFLuxVws_1MisrovYzzr-NmEEFBKs-9bZdV52-BDdXdcVbbsjqE6IIbQCW8mi50AVDHFXouOCemLBiku8BcUA40-yeBZcj-DGBgoXl0l8OhXy_NgW84uqYHEgflDs3C3SYAs73hYE1vUkhLyoRCUjaU1rqQ_mK92DZNt-gKXm1w8idl6oMUzsNvKlw_Awi6QptcLRZLZwl0hgEoV2RMGezdaUsGWZaVODW7z-hnduA5zYqpUcRrqW2JhNyyrjhgI46xyz88n_ODOrSoDQVRX2y8xr-nvA6k5IJLaqVaDIHGtxwyP7I818JVNpEe64ZL5yNU1Gxf8zaNPLKySf3zONjoyEQ87KNEXHWqQv28g-gCiEzYkpNP91qWui2x9wg56kAhal9dGrEo7w07Uv8TS4wHODX8b4FVNMZOD_7wxm2UMi4E_xkuzUaKIHU8mZs56xl-df7J-t19zcu9QbNJr_4XY84-jjhUD5Lwvi8i-QYi3OiwejiEVuMvUfyUzsKCaRgsMN8XrTE-DjzfxdTwV0LtukDnbcUcOQXW9TTMDsQN15eqSWu8vIgDEI4-CbMk0advJA1HCRpR_7k54SbGhzrNG1YWBR4FmvQC4iSkDTQGRbmZIntTaFscqPxiPPb97T1cnKqbHxbB7WPCNlglVmJb4AzaIvo11XEBzFvdIMSSaGGOR7C01b1nw_6mkuTHEOsuY3wLxKdDuacsDeUWY9XhsRpsVqrkWqKTw08drga4UBFTz9WABoJ9MgMdxvLulYxEYenJ3DTFhiPjEZdLhoMpQO4nRLJT8KzAn59n0nrOXsvQTOsfxibfXJPL_gxWDbwHE5C7RzRmvPZBXu1-JLt5GbEJ9wsE5tTlGAo-SH98bGUO_rfFN5W6ITACtB20G-JQ7W_IPdi6yB6Rltog8l9Ip8G0TNgAluNidv5kBt_-24QsLKFRIaC8doochA0Jk1-dRw15ZNcXl0wif-oJbYO4talISmfBaSradPurYysloHlcvoJlTAOWnAaYyZAsXScwUlKirmWx_-JSxlgqS6TM1JB1RawLgUT3flplm21SEv67VO8tX5YW5bjS2gHvq549TB2IEksI8hefxXobr7g5l4AEGhEhankA5-_ylMOD_QWdCSyGNrKbGL4iIW4cEO9vXJ5x0_p_oU-mpVMPUcVMa3A2rf2AkkfTMJMfEwdvFfV-sCk-PwXuPX_iTMBtrZK5SxhoEAmdqWvJ99-uTrFzPRk7l-skW8fXvScdFVHu_ILPl_y9-sSrf13kgdR4bmKoeHtb5LJRXh0aaqEUkYUMrJ56g0tVzzeaospqKCnTPk5AQB_W9SVpzjXAcobzbc9mJFLiL7I3lNnv2h2TuTwKluGso0MgAGXGcW6xakfowlaFuWmfb_NeqhENNeI4vmhMcD19nPyL_-p-rRcScEOAbA3gJQO0xr65pRTigac_haAWwTM76NkWIh9k-4m7-PlKU9aVdgqRPEiFindyHwoZK_cAICFBkJcr4bkxsh6NcuDf2sAHhKH4E4JRw4ujki4MlfvaFuvHkttoj8BfDdcmy8nysxzGQB7JIO1mjZ0I4O82U57E3AEZgn1rZGwwdj8SNdTZex7HdAj-R_MJvZ9AFwmyZJeq3GUmhGyPkZAJVJXblfl3lBmC4_A14o3JIXQ40Zkzj1WMjNKfBl2OBRzdZEB4BVAOuvP5gpCvw8IE1XMKF5nXR54ZutBQ=",
  "id": "rs_00ee5701d177c464016ab4475d62b887d0a553e368e32ec851",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.13,\"left_z\":0.1},\"note\":\"The white plush is now at the very bottom of the left wrist view, showing that the gripper has gone slightly beyond it; it is also a little left of the jaw centerline. I’ll shift a few centimeters back toward the base and slightly left before descending.\"}",
  "call_id": "call_UW3Tzh3NT4Redy3IqGL7UTY3",
  "id": "fc_00ee5701d177c464016ab4475f08f487d0b0e5d3be162b650b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UW3Tzh3NT4Redy3IqGL7UTY3",
  "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]: [-0.5659, 1.4082, 0.691, -0.0719, -0.4427, -0.3637, 0.9985, -0.0212, 0.8005, 0.6056, -0.4492, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.1279 left_z=0.0938 left_yaw=-0.0135 left_pitch=-0.1147 left_roll=0.0498 left_gripper=0.9985 right_x=0.2856 right_y=0.001 right_z=0.1649 right_yaw=-0.001 right_pitch=-0.0603 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7624, 8.0889, 2.0781, -0.2564, -0.0317, -0.022, -0.1846, -1.388, 6.9949, 1.8828, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84526f0448eb8e0f6e9244a578ff3c34d26cdff6c72e22e551e3e1cd5733e339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66caea0662b972383a2e2885429fd53eca4e6e5df5027991bb9ef9270fb2e1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d584e39821a82dfc8a90052f01d0f963169c0b91ad557e4f1e128fe553425e31",
      "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]: [-0.5396, 1.4681, 0.8951, -0.1574, -0.4267, -0.3439, 0.9985, -0.0212, 0.7986, 0.6056, -0.4335, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.1415 left_z=0.1383 left_yaw=-0.0134 left_pitch=-0.0704 left_roll=0.0256 left_gripper=0.9985 right_x=0.2878 right_y=0.001 right_z=0.1685 right_yaw=-0.0007 right_pitch=-0.0427 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.5846, 9.4291, 1.7314, -0.4029, 0.0659, -0.1685, -0.0752, -1.6068, 7.0632, 2.0586, -0.022, -0.0317, -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]: [-0.5659, 1.4082, 0.691, -0.0719, -0.4427, -0.3637, 0.9985, -0.0212, 0.8005, 0.6056, -0.4492, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.1279 left_z=0.0938 left_yaw=-0.0135 left_pitch=-0.1147 left_roll=0.0498 left_gripper=0.9985 right_x=0.2856 right_y=0.001 right_z=0.1649 right_yaw=-0.001 right_pitch=-0.0603 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7624, 8.0889, 2.0781, -0.2564, -0.0317, -0.022, -0.1846, -1.388, 6.9949, 1.8828, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84526f0448eb8e0f6e9244a578ff3c34d26cdff6c72e22e551e3e1cd5733e339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66caea0662b972383a2e2885429fd53eca4e6e5df5027991bb9ef9270fb2e1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d584e39821a82dfc8a90052f01d0f963169c0b91ad557e4f1e128fe553425e31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdjKTHAOT6k60Pya29D5eYsqxtTmdwoj88MINYdYFnjpYyfV9PtuofgUNtDwb1XRd0JtMVgWzJqibiCuXB8e9llyYrKxYIlaNNPZCvJ0jOVHhkJiCVEvBbZsIqMN4r7YSwlCJwiPUx_kFh_g6HiZOZA8f-qBzuHhHhS5cNlMopIcHy4yjO2zPLE3brkRLpKsxswm1MsdAYHOk0M5tOtAmJQviQjc-MeIpoT0PRVXP6L575-C_EffA88V3IpsqU8GKQIXtrwIZfXOliJK-bj0p9FfiwVrQ1bKBxrHEvTD64f5dUDwwByF24Wg6DA-ahETXhdYH9a3nHIMkAugXIfDbq0ggEFk7ehDgqv1ML9jtkQIH5rr-PIb56nXa-Nkhw2eu2v2prpuDgObq0TwQS36-9tu4A7XhcU-bLqj5RXnQNGBpjAIOwBqSYa1l3om3hK_Ffz4KIHDGg-57-lnCKZaRfUHaJ-pobuSqTDQuYQvmeM1GjysbUVdlBfdrDvrYyJtXUR3iy9SfopAIumI1X14ptfw9Q1WXwmMjiK3yKpAfDwgFp5DlTvCOmVCsUVU6VwvPsv2H6TNa20T8Aioe_Z-_eWrx3sO7_NdgbTEpI0X7DDXzAXYqX5Y2_g_B36xD47VPAb8G0KQg5DcnILtkK0nUhgRe7UQ062vTQdjLYqqB7i8hDjaPlw3KtfyEmOKGmf9qBGpGvuB1FcND0a236WoXAnZfZDW_58iHKSESymG_3_vFNC7oU-AOWIgWzWdvw8Zt96ZMswb4aLI7eNqQrXsNAw3sGW44kACssyJ0Ibp7uy2ZyBdvf8_5PBfpySP_XXhg70wexza6S4yLIaeWdJWJERUz9tjnhMX-XgUadmXNR2kk8klPaBfRL9w9qXl4im7I35Hf_FVGEnZ_OkopVkxd8mD4FDlf23vHpQ21e89PNWc1XFHSfnz5AIvyw-L8basI4gAyfmPGJuDcIVKGky-FXZher2zHO3AU-qc8Wi_gDWxmKS6-vVpNJ8Wnz4hfyJef62y5LMXxrds0et1Q1Umsqkv4ndQsrwkQu3bKplUiXqVVnaZSxsBGM9DJeSrBRSoeWaaakfqa28aWBzmLWuVCiDqoTD3-feG8j2YtY83zF66oD2KbYazfecN_YVlKZLBbFm9Ikk-wbzw38ZGBMvYI71o1WxhsNn_9oYvhMMc_WjgR32i75mwBUTYZufBkK-fq4xfJ9ndMdgi5AF-qS5azUoGvh6XEA9hQznhHEnT8WokAt3c9o3bTvEDZY6cS2bUQDE71qnHWmVDgxWK-b-Ar40xeM92k6EgoODnijL8Hbo2Bm1nfKlp44M0y5mF8G8EcvHaptOO6uushPhiQNFde3cOSPgOT0EBiJGrS0fQd1SHDe__R_N7QrVLErM9k5vqpSqio9xtFImu1IearJhH0pO4lDdKL7ouWPV1WKFeBw3s0qH4PmvdZ9g2rSVnDOr3tTHOSoC9WxDv_eDJwm9CrW_1PO_oBO2vUEGf-kofL8zcI9MlZ-OsMuH_wz8yFMNWO0_C-qPt9u6Y4D_sDK33_U2E_fY6ikQk9mdxDEPnXq_b51L7zCTc__IkbPB3QslCFcZ",
  "id": "rs_00ee5701d177c464016ab44761291087d09a0234c3560409a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.11,\"left_z\":-0.005,\"left_gripper\":1.0},\"note\":\"At the lower height the white plush fills the near-bottom of the wrist image, which is where an item directly under the fingertips disappears from view; it remains slightly left of center. I’ll make the small lateral correction and descend to table level with the jaws open.\"}",
  "call_id": "call_PDriSl1S58OjSWgDdLpqHj08",
  "id": "fc_00ee5701d177c464016ab44762011087d0b6bf6da3a019e252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PDriSl1S58OjSWgDdLpqHj08",
  "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]: [-0.5114, 1.6897, 0.4786, 0.4107, -0.4133, -0.3382, 0.9985, -0.0212, 0.8043, 0.6052, -0.4732, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3463 left_y=-0.1088 left_z=-0.0003 left_yaw=0.0048 left_pitch=-0.136 left_roll=0.0571 left_gripper=0.9985 right_x=0.2821 right_y=0.0012 right_z=0.159 right_yaw=-0.0007 right_pitch=-0.0885 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -4.506, 3.3846, 0.9255, -0.0317, 0.188, -0.1734, -0.2256, -1.5111, 7.1316, 2.0049, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c9148671cfdf1f00157fcdcd3e2113ffbdbc89d70731074af450225f417316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0bf598d232736b5d9c8c09abc922101c89901f517e8e49119850f0ffc7764f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc05d65eb90573eb9bc76d340acfa7f02aeaa8bdbeabc5b08f60b4e6de820e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3935, -0.0193, -0.0341, 0.9985, -0.0212, 0.7937, 0.6064, -0.3965, -0.0204, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1772 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2928 right_y=0.001 right_z=0.1777 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2359, 2.0098, -0.0562, 0.1538, -0.1636, -0.5812, -1.4838, 9.7162, 1.9219, -0.0366, -0.0562, -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]: [-0.5659, 1.4082, 0.691, -0.0719, -0.4427, -0.3637, 0.9985, -0.0212, 0.8005, 0.6056, -0.4492, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.1279 left_z=0.0938 left_yaw=-0.0135 left_pitch=-0.1147 left_roll=0.0498 left_gripper=0.9985 right_x=0.2856 right_y=0.001 right_z=0.1649 right_yaw=-0.001 right_pitch=-0.0603 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7624, 8.0889, 2.0781, -0.2564, -0.0317, -0.022, -0.1846, -1.388, 6.9949, 1.8828, -0.0317, -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]: [-0.5114, 1.6897, 0.4786, 0.4107, -0.4133, -0.3382, 0.9985, -0.0212, 0.8043, 0.6052, -0.4732, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3463 left_y=-0.1088 left_z=-0.0003 left_yaw=0.0048 left_pitch=-0.136 left_roll=0.0571 left_gripper=0.9985 right_x=0.2821 right_y=0.0012 right_z=0.159 right_yaw=-0.0007 right_pitch=-0.0885 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -4.506, 3.3846, 0.9255, -0.0317, 0.188, -0.1734, -0.2256, -1.5111, 7.1316, 2.0049, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c9148671cfdf1f00157fcdcd3e2113ffbdbc89d70731074af450225f417316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0bf598d232736b5d9c8c09abc922101c89901f517e8e49119850f0ffc7764f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc05d65eb90573eb9bc76d340acfa7f02aeaa8bdbeabc5b08f60b4e6de820e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdl81JGthQK0hXv9lr4ReIAHloxzZ78LbF2y98Rm8-l61yTWNESJ401IkHNCGOcScSPx2Cp27SrXATxrgoGZPAcQL6QHxNZ5F6v35PKUo1A_oxkRNnqTAB4GzpI8jgxCpURLIxUttbwx8bjktYEnuLXnxEx4J4jF4p8p3NbXIkqNY1-qJc3wkRcJ7_ZVFSaQSFIzYinrpTn__RAdmHRCNIXyZTiajBNJv8coBCXkxKMFf69mOYO-h2IOmiQgaSVCechIHAnSASoypxDudrjRjXUZLQkIz_XOq5gkG0OG1Mv02HqGDdt9LszHLT4IIfbXuyxw2oanLnDEFmMGVViEZq_R3-vOm_eZimjfYpXee8H_mcBNPiQem0vZoO3jcb0itn-ax9quB_JyxNF8SUZI9PU6mJ-inU4f-n2ad5u3O4KiaTJDbXROhjy3sK_XxfcTf4JuRTnvHHfCXE4f9mHRkhEGDQlgd1KCiv-bZFv53k9F2utbBPhmmfOqoRLh_Ls85TTgTw_1qvUk1dM5dAizwrU4Xbhqlgxd83cFP07VW4D6SdjsW6pasGHyO70T33bcGldFKJiLkJa4Pg2HUlBV2h4b-oJaAtAANDW_iIuHxsdMJfgEOcUh-qDjeyA3WKkaZsEbO2ji0axt1Vbw95dfimPEWJR6Ct2zZ54A3H1HMB9lNhuHc87-s1dxtkN5oQvX0R-2RPA3tw7Al0Il3EU-p_AdwMJzjAkbjCj7sa7j0UW9MDI5I_Jb0TgHZd3KK_dGQOJwV_cz0ozK2HgCmRcdDJOl5r80EYanYZ6KhfN6Sg5IBSNXNESL96EbBEWAtgj8aUJYULWKJ9MTt0HinGAbFByMumwiwzB-w2upAWl8X5EFPBi10-PLic1f0hRXniSL3Wh5RZT5DwqWb-AdKm_AXJsQHx9xmlBsdaPs3dspuAkZLqrJ8WaZ2Vwi-90tl3lcJuatt1NXjF5Gx8Votx1N81A2eKuk8TU1bMs86PPLyPWiflDblwDH6TLAQ-sxtB9YC_ZaMfYmCDKeztBHsLEN75TrgMgY_533x1VfB7YTM9SqrsUjEClHVJArRvsmTv2e1UvA4zm54t2-ElWZtLLJVP_P58d6jjQNa56w2L2rFuK2QoTiF0oY15b_vtMUgSpIMHXsreNN94buikZJq-0gl1W35bmSQjsNkjZTKpsTuiCahfcDS3kTKyLi0ZIIwJfwDBjJssWdA2czJNY8M9PPyzeDz-SSvGPtKU3E1J9AHyLfDAQ-9_6C482xHl3ZUhgH-69",
  "id": "rs_00ee5701d177c464016ab44765038887d0b32e6a3b8b7397ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush is centered between the open fingers at table level. I’ll close the left gripper to secure it.\"}",
  "call_id": "call_rECxcugeV8pLBegZNcJRDglz",
  "id": "fc_00ee5701d177c464016ab44765347c87d0a26d2340cd9c605c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rECxcugeV8pLBegZNcJRDglz",
  "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]: [-0.5098, 1.6932, 0.4732, 0.4477, -0.4244, -0.3454, 0.3076, -0.0212, 0.8043, 0.6029, -0.4999, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.35 left_y=-0.1083 left_z=0.0035 left_yaw=0.0173 left_pitch=-0.1074 left_roll=0.0442 left_gripper=0.3076 right_x=0.2776 right_y=0.0012 right_z=0.1529 right_yaw=-0.0008 right_pitch=-0.1175 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -6.5436, 4.8889, 1.1502, -0.1294, 0.0415, 0.7937, -0.1709, -1.0872, 7.1863, 1.8877, -0.0464, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2571a35e1177f3921c1e350fa23715efdfd6d8055bd701a9e81f3a39dbd0a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7f832b4c73e4b5b3b1597ee3b0ff13e625480c7d3cc2209c178f9df92f97b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a547fff6ca41fd5b267a1bf96b33a633b9052565c047488377483bcb6f7932",
      "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]: [-0.5396, 1.4681, 0.8951, -0.1574, -0.4267, -0.3439, 0.9985, -0.0212, 0.7986, 0.6056, -0.4335, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.1415 left_z=0.1383 left_yaw=-0.0134 left_pitch=-0.0704 left_roll=0.0256 left_gripper=0.9985 right_x=0.2878 right_y=0.001 right_z=0.1685 right_yaw=-0.0007 right_pitch=-0.0427 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -6.5846, 9.4291, 1.7314, -0.4029, 0.0659, -0.1685, -0.0752, -1.6068, 7.0632, 2.0586, -0.022, -0.0317, -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]: [-0.5114, 1.6897, 0.4786, 0.4107, -0.4133, -0.3382, 0.9985, -0.0212, 0.8043, 0.6052, -0.4732, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3463 left_y=-0.1088 left_z=-0.0003 left_yaw=0.0048 left_pitch=-0.136 left_roll=0.0571 left_gripper=0.9985 right_x=0.2821 right_y=0.0012 right_z=0.159 right_yaw=-0.0007 right_pitch=-0.0885 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -4.506, 3.3846, 0.9255, -0.0317, 0.188, -0.1734, -0.2256, -1.5111, 7.1316, 2.0049, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5098, 1.6932, 0.4732, 0.4477, -0.4244, -0.3454, 0.3076, -0.0212, 0.8043, 0.6029, -0.4999, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.35 left_y=-0.1083 left_z=0.0035 left_yaw=0.0173 left_pitch=-0.1074 left_roll=0.0442 left_gripper=0.3076 right_x=0.2776 right_y=0.0012 right_z=0.1529 right_yaw=-0.0008 right_pitch=-0.1175 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -6.5436, 4.8889, 1.1502, -0.1294, 0.0415, 0.7937, -0.1709, -1.0872, 7.1863, 1.8877, -0.0464, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2571a35e1177f3921c1e350fa23715efdfd6d8055bd701a9e81f3a39dbd0a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7f832b4c73e4b5b3b1597ee3b0ff13e625480c7d3cc2209c178f9df92f97b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a547fff6ca41fd5b267a1bf96b33a633b9052565c047488377483bcb6f7932",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdqoDitkSkwmn47npnJj9eACdAwcBlUDDzsfnvWmYG_SHeEC10rejpZyH5EOuhI7_6jaPud-fG-9jcY8ax6jwHzwdosdJQKd2jhs-B5-KHSXTgXZfo-rynDW2x9jzN3logrWoZL_sYlVhsiB33mcEpdMbLL-RNRsA9rktpvreVnPxDOohD_0jOwfa9M3qy7cQz2KnlrihjT7Gsn7PotNyd9i8fAo5C8QdefeJcZ1JkO1maVY93fvhZ1eki6VM4FiLmX_RJu5LFsR9JfXSsBQRGsqvJQerKXz81xdJHlmmlcxcnqsGsyPljMoVhp74cn6ufp0ZXTKcCOfWMrFS1PRRmxzjlK4W3Jchje34q9ioqEldqiPlQxaCc-Z5JtWVR6T-nfSDhAmLywroOquKgtSPpHDhI6jcucitRKKPXk1wBzX8ZXx_DqPfvNsOV8bLCiPWXEbTNKTSmI5HJw07vkpuoQycTrFSc2vgiceqbqPs2GXF-oZQ_M3htfxRXcZEZEjOmZ4_LWecAfkoyaGOdzeDJX9ZAw6Ifp_GcWq1DsGi-CDcYeWLUq1YdNCjUy_fXLOADWnsOsem8HsYHnCrJXkuGVcsF8jeCFdc05xq12ex3JscaGa6pzO4EpMkJCjPKDzw2iGv1rOPnXRjOuQG19oWZo6xDYFK2wo7fU7mdLBjt4zSjCiza9oEEbwxt1QthZsLUTN42vuqSoItmTaZQ-pt-Qv-L0hTlXiJHJ6pngMXvtxak8FnFbxSB0dQGyZha1MQJVLCLCo1Tf14dmjznEbYmFjJRvN9VNkQnBsLRkuhJYflzU9RDeYvM3vy2Yosny4vIUEf10mLjKAnXRCxMzbQE5V6VYyKQ-_GM1Ob3AF5GPDeQl1hSWAinizLuSznz22oaifzDNjKUYF8WK_b1fLHBs2zq6vbg1HofKQPbbRwO2a0j8GiaiH68tK3yVR5g2cGdyL9MfjP-UTouyhTZxNI7zyG1R9TcsoV-dP4JN-AQ9cg_jWZE_livJeOf-xdmqECcWqRfJ5rhwe9qmajTmGWbnTHsa13LjF87OxKedl9RDGZLdjHP0hisl8QKd1Rcd5e7mPzqMzgG9pjoK7zdgZLvVW1hlDj2FFGHINwo2oaaPFnuZHmUlJuyQXIdX_oBXDQ4uz_QeDziggOft_TILe43IvMqYupwqwaJdTsXhnVZnRVRuuGOiGAr56qIzqkE4ngZMdi_vzBGmROG_3SRa6cPXPJDx0D6_4L1YB6frtnFx6J-L6iVdCbzPHalcwwUddr_Vrw9cLU74uVNXOazctS2Z8UkVLR0v1eHme40hj1t93Sfg0meQphb-dUWGI8-4J99obMfBvPfWmpzIxqsVa_Xc2Ks7ixotUwzWXni9G8L5aXwBfFrl79elsHdbHLPq3tEqq7Zz0ZuVIhCmnqcw_lTEW033mciScANYNf_119G5ONKi7PqrExcT3AolIxfjWIKMuLoHzzgG_VrfkHtNdxKJcBCdhcp2dk8bnl-MjmzMVT8qqYu40VMrcz4fvF5aweQ5IEzyu8tVpYOuu2F_kKP6BzAx20KSJBGbn0xoKQB4PSWW5yCYJnf0lNlgFzMqd_W3fKcww-aqS1RKQdUCdOhd34twxHoRSd4qklucPqZvCylN6Kc27scU4j15yCBY068g0kY3jq_jsUZBgr9ZjdFSiAWT6Y3gkdVmZl3tvZNMZKlA9tHkQPwtMnpVy5Lk_PCVnbhWq19UBvvCW117-_n5qogthV56FTqZgiQOhfXcsaLpChamckF9hn5byqQCOzb-p8V2tn68-qK1H-Yobiw8UiFcwYUr2qRDRUP-bVdHBxah1qBFECXNhB__MO1NMWmMCSane_vwqMyEbx8v8J43PJw5yTX0o9yPhBcL5zSHCeZUwnaNZZcvG6FVAHfogFaa9ftEIW7elbDLyBVORnzFSca6JfMQAxxdJDBlK9vcVAdySfLMZ1G-d5Yl3GZMPirAJOryk7D4OesUqvf_lsFvUXtFywxF1SXkkr02BGkSCKEpqIpv6hqCQfo7mcPZhOiLQlLTpgr81oGJLwKPfgrZTSvewvc-r7_sYX_fAfIbzAEum8zrG6OfRQg1BlpT4zHO9KdWzjGstLCgqlpJ63raSw==",
  "id": "rs_00ee5701d177c464016ab44767ea2487d090121af2dc2231d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.23,\"left_z\":0.2},\"note\":\"The gripper settled at 0.31 rather than the empty value, confirming a solid grasp on the plush. I’ll lift it well clear of the rim and carry it over the broad center of the safe interior.\"}",
  "call_id": "call_tQCnw0QpJVb3qxXHHUx9nXJe",
  "id": "fc_00ee5701d177c464016ab44769eaac87d0aa17fb47345ddc40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tQCnw0QpJVb3qxXHHUx9nXJe",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6662, 1.8091, 1.4982, -0.5217, -0.5194, -0.4843, 0.3105, -0.0212, 0.8078, 0.6018, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4372 left_y=-0.2276 left_z=0.1856 left_yaw=0.0139 left_pitch=-0.1151 left_roll=0.0278 left_gripper=0.3105 right_x=0.2737 right_y=0.0013 right_z=0.1471 right_yaw=-0.0005 right_pitch=-0.1457 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.6889, 8.8684, 1.1893, -0.398, 0.0757, 0.2955, -0.1709, -1.4427, 6.9949, 1.8046, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7453dfc75151cd7061e6ef78e11eb6fd899a7213d9ad7cd9e3e9a57448dfb0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233dba805f5abcd62dae9d0ffc78b5d298139dbdfb7d8c4674d3ae2892793ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4159da1b93f121c050af785ca178103c60e06345405d716b14c218523bbba6d2",
      "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]: [-0.5659, 1.4082, 0.691, -0.0719, -0.4427, -0.3637, 0.9985, -0.0212, 0.8005, 0.6056, -0.4492, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.1279 left_z=0.0938 left_yaw=-0.0135 left_pitch=-0.1147 left_roll=0.0498 left_gripper=0.9985 right_x=0.2856 right_y=0.001 right_z=0.1649 right_yaw=-0.001 right_pitch=-0.0603 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -6.7624, 8.0889, 2.0781, -0.2564, -0.0317, -0.022, -0.1846, -1.388, 6.9949, 1.8828, -0.0317, -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]: [-0.5098, 1.6932, 0.4732, 0.4477, -0.4244, -0.3454, 0.3076, -0.0212, 0.8043, 0.6029, -0.4999, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.35 left_y=-0.1083 left_z=0.0035 left_yaw=0.0173 left_pitch=-0.1074 left_roll=0.0442 left_gripper=0.3076 right_x=0.2776 right_y=0.0012 right_z=0.1529 right_yaw=-0.0008 right_pitch=-0.1175 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -6.5436, 4.8889, 1.1502, -0.1294, 0.0415, 0.7937, -0.1709, -1.0872, 7.1863, 1.8877, -0.0464, -0.022, -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]: [-0.6662, 1.8091, 1.4982, -0.5217, -0.5194, -0.4843, 0.3105, -0.0212, 0.8078, 0.6018, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4372 left_y=-0.2276 left_z=0.1856 left_yaw=0.0139 left_pitch=-0.1151 left_roll=0.0278 left_gripper=0.3105 right_x=0.2737 right_y=0.0013 right_z=0.1471 right_yaw=-0.0005 right_pitch=-0.1457 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.6889, 8.8684, 1.1893, -0.398, 0.0757, 0.2955, -0.1709, -1.4427, 6.9949, 1.8046, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7453dfc75151cd7061e6ef78e11eb6fd899a7213d9ad7cd9e3e9a57448dfb0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233dba805f5abcd62dae9d0ffc78b5d298139dbdfb7d8c4674d3ae2892793ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4159da1b93f121c050af785ca178103c60e06345405d716b14c218523bbba6d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdvjxivtYSA9tf8YUQmPY8N7-Vw7-UejbX94edwCsfC5_uu0xGPeZ_a4bcvyvSjdCHt9Z_EsWDnonBYET8KS4UHI8nXP2acnL_vMK_MyG-XYY5Cas8ANRYuVfdy8-5Y_vOItIaht56X1goPgFmkneEQy8V07mABS0wnWlwykFJBXg5JGqj7RLkTDYdshvYJzbE7Ya-H0SBem5kctRGB4mF3IHPxBXQ1iLWiLCTtHAkreF9clOVl8ygQlCPErh0VBZaG7tswm_flrm478DlnSpA_OuXhujj_ZR2MXCM0ZKlpkZYFEroQvDZ7f9KcAN39-qdYNq3hSu4LIHbXX8N9a6HT03Rl5mGZyaNKMHb_uTvvWhpqurv9Mv8YFmO4LO_9z0bM0M0w906yLWr3sVjfRcRMffsKA0niokW7q_3sJcayGM8dGj4VgDBrgt3FXp-GFrlCJ6r-FsIaHBB9vIFEqrxJ9fpJwxzvSOORvEvQ4Y1EyoedzNltNGoexYmKRNpo-cuz3jQWbgcxtZxPcqVTLhEu1M1xRNoFn0MIbdUaKzvBA-i09DQIxYRYAWBX-v_QFqn7Es_7MtfNy5D3m0mFL9e6zClGvqwG24NRpMi277kGA9YS_d7_HolHEUg-uT54yZK8T94XbNrAWPRt4_HEKdfHnKYzXnJHKViNO5ONFLjLZDeCPfhu82r6_l2AwyC6zathJXUN-HSAtnDxlU2GFWHT8jCohWJlSxKkQVMIX2whYv337y0_CyWUbgKezOt8RVjes-zccAcY-ymxkGfpkGcVOYj0927cB9pFnVbKhLDC1lATo4_YiJXabIqtu9bF8FVCX9rZ56pnHeqO0yRf1qBq35UPysQHBAPr6aycADj3oZpX4RI75MzI-bpevwLHNziccJFRgQsd7eRFXFLQlgd6lCasBYnTeNHpQrI7yzFniz4w43HU8bwcuNp3F9TNE5wNtyB_HHz_r1ZcCynHthDjPBOE0NBN2aiaHjtITymhnincbkwzhzjOPIoo7tZB4u_rOpVs4CeF9VQLMmiEtjc9-qnUnPA4P8giS07C07UzAp5Jwq-dtXLlPJHTQXCywkDZMHBxQjUqN_M8KKxLFLO6k7kJrWxJyRVUqSRp0X20rQntRTPbTX6z1NiOo3EYZGtQngJ7jsvOp-OF8P3ATKIYed_Vgv6Lh8gJoCdjgXpkM5f8y8JVGysz3UNDwa5r9Sqom0XNv4mF0eQCWBUvXJv9fOKHBM3W9k3S7Dfs-4P8wz2XfIX_70giJVfalyWZEieGbDJI1_WFHiKT0mWKVKVF7cOK6XJa4tl8d4bni1P4nXaHdD9HgvF6XMZq5fIXCiZbqvcZ_KZz6m1sF_C-VA29hoxJMsLz3TNFWVV7vhxc-jpxNet8bCw16A1sxxrZrIJSsYliqCOCNtVut2Dr7_ktZMb1aiS_aqeMVuJ1jqzy35qp60S5LeBSCrf3ovo4FMBVsHWOMEt8_Q1Ac1MVqK4Wsp4deYnzmfXrvQLQ36fPr8uWyOyFjas491oc_UADuUB5QCxMdoQXoRk5PqhvlapgCc6yVerMWgTk8S4rQU5PKQ56AJCwSB-e9YP3R8ruhEjx4koJvU0J4At354terP9shLt6rV5AAe2XL2ANcq1b6Ox9n6CtcQ9BiIsg3XnmvBmnTSKYogzZMqjVyfpbY_ult6fLYZOACfEMXK6_DOagaTAOF1v_wRcfQNw4m7YaoZd9WctfoGZ_hWBQJZk6gVC5i-eGerB2b1YlhWEXm2Ic2o5I32-hx7uDU2jQ4NPI_K34-t71Gco48pR4D172S4ne_A==",
  "id": "rs_00ee5701d177c464016ab4476d039487d089ccaa705cd440e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.25,\"left_z\":0.1},\"note\":\"The lifted plush moved with the gripper. The overhead view shows the grasp point just forward-left of the cavity center, so I’ll center it deeper over the red floor and begin a controlled descent.\"}",
  "call_id": "call_hmeYKmef0hVcQwuOqrmEXnGV",
  "id": "fc_00ee5701d177c464016ab4476e437887d0b6ca7104da29616c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hmeYKmef0hVcQwuOqrmEXnGV",
  "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]: [-0.7864, 1.8126, 1.1896, -0.3233, -0.569, -0.5739, 0.3121, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3844 left_y=-0.2454 left_z=0.0967 left_yaw=-0.01 left_pitch=-0.1717 left_roll=0.0655 left_gripper=0.3121 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=-0.0007 right_pitch=-0.1793 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.6496, 6.4479, 1.5995, -0.5543, -0.0952, 0.149, -0.1573, -1.5248, 6.9128, 1.9219, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affdb9f2383dd3697ccdb04385d64b5263ccaf2f7cef69a9fb963021c297076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929787eb0e29615b5d281d51a828b2d216bd83287b9e142d54c6989fb5a49700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a901b46e17e230c59b77b4b66695d4e5e271eea1b655db12723c3633cffb9fa",
      "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]: [-0.5114, 1.6897, 0.4786, 0.4107, -0.4133, -0.3382, 0.9985, -0.0212, 0.8043, 0.6052, -0.4732, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3463 left_y=-0.1088 left_z=-0.0003 left_yaw=0.0048 left_pitch=-0.136 left_roll=0.0571 left_gripper=0.9985 right_x=0.2821 right_y=0.0012 right_z=0.159 right_yaw=-0.0007 right_pitch=-0.0885 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5128, -4.506, 3.3846, 0.9255, -0.0317, 0.188, -0.1734, -0.2256, -1.5111, 7.1316, 2.0049, -0.0317, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6662, 1.8091, 1.4982, -0.5217, -0.5194, -0.4843, 0.3105, -0.0212, 0.8078, 0.6018, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4372 left_y=-0.2276 left_z=0.1856 left_yaw=0.0139 left_pitch=-0.1151 left_roll=0.0278 left_gripper=0.3105 right_x=0.2737 right_y=0.0013 right_z=0.1471 right_yaw=-0.0005 right_pitch=-0.1457 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.6889, 8.8684, 1.1893, -0.398, 0.0757, 0.2955, -0.1709, -1.4427, 6.9949, 1.8046, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7864, 1.8126, 1.1896, -0.3233, -0.569, -0.5739, 0.3121, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3844 left_y=-0.2454 left_z=0.0967 left_yaw=-0.01 left_pitch=-0.1717 left_roll=0.0655 left_gripper=0.3121 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=-0.0007 right_pitch=-0.1793 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.6496, 6.4479, 1.5995, -0.5543, -0.0952, 0.149, -0.1573, -1.5248, 6.9128, 1.9219, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affdb9f2383dd3697ccdb04385d64b5263ccaf2f7cef69a9fb963021c297076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929787eb0e29615b5d281d51a828b2d216bd83287b9e142d54c6989fb5a49700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a901b46e17e230c59b77b4b66695d4e5e271eea1b655db12723c3633cffb9fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00ee5701d177c464016ab44770da6487d09bc47898a9967068",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The plush is now centered over the red floor with clearance from all four safe walls. I’ll lower it near the floor before releasing so it does not bounce out.\"}",
  "call_id": "call_o18GzqxMhB3HBOYEe8znb4aG",
  "id": "fc_00ee5701d177c464016ab44771ee7c87d0b8fa2def80e480c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o18GzqxMhB3HBOYEe8znb4aG",
  "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]: [-0.7906, 1.9152, 1.0767, -0.1543, -0.5697, -0.5819, 0.3149, -0.0212, 0.8116, 0.6018, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.2411 left_z=0.0353 left_yaw=-0.003 left_pitch=-0.2039 left_roll=0.0935 left_gripper=0.3149 right_x=0.2655 right_y=0.0014 right_z=0.1374 right_yaw=-0.0007 right_pitch=-0.1987 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.7026, 6.2154, 1.2869, -0.1929, 0.0855, 0.2808, -0.0342, -1.1282, 6.8581, 1.707, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1675a64dc44a6b2a9eac0e309308ff1ae0654a1b78d8b2df37f445fbcb296066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fad10f7cc4d6cdd5b2ca9256f7a6b2c87333144830d5976a81d106444f5b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e59df2e15f85de44b408dba272dffce4624dabcdf09ccb2d00c3baacb60307f",
      "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]: [-0.5098, 1.6932, 0.4732, 0.4477, -0.4244, -0.3454, 0.3076, -0.0212, 0.8043, 0.6029, -0.4999, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.35 left_y=-0.1083 left_z=0.0035 left_yaw=0.0173 left_pitch=-0.1074 left_roll=0.0442 left_gripper=0.3076 right_x=0.2776 right_y=0.0012 right_z=0.1529 right_yaw=-0.0008 right_pitch=-0.1175 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -6.5436, 4.8889, 1.1502, -0.1294, 0.0415, 0.7937, -0.1709, -1.0872, 7.1863, 1.8877, -0.0464, -0.022, -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]: [-0.7864, 1.8126, 1.1896, -0.3233, -0.569, -0.5739, 0.3121, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3844 left_y=-0.2454 left_z=0.0967 left_yaw=-0.01 left_pitch=-0.1717 left_roll=0.0655 left_gripper=0.3121 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=-0.0007 right_pitch=-0.1793 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.6496, 6.4479, 1.5995, -0.5543, -0.0952, 0.149, -0.1573, -1.5248, 6.9128, 1.9219, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7906, 1.9152, 1.0767, -0.1543, -0.5697, -0.5819, 0.3149, -0.0212, 0.8116, 0.6018, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.2411 left_z=0.0353 left_yaw=-0.003 left_pitch=-0.2039 left_roll=0.0935 left_gripper=0.3149 right_x=0.2655 right_y=0.0014 right_z=0.1374 right_yaw=-0.0007 right_pitch=-0.1987 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.7026, 6.2154, 1.2869, -0.1929, 0.0855, 0.2808, -0.0342, -1.1282, 6.8581, 1.707, -0.0366, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1675a64dc44a6b2a9eac0e309308ff1ae0654a1b78d8b2df37f445fbcb296066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fad10f7cc4d6cdd5b2ca9256f7a6b2c87333144830d5976a81d106444f5b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e59df2e15f85de44b408dba272dffce4624dabcdf09ccb2d00c3baacb60307f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd2BwQbaDb2XFQMhbjEW158HJnj4iFK4d1FeN3j6Jbl0RWwCxaquimWzMDnJE2uyuVtr9uJkZOztT9AshC43T_tfITv6SXn9HR2g73191QmPi0zhBbU1eSaGhVOzMyoaXKndZtXM4wBPVmiYG3pNYkTv84f4AD22hicA-hDBxeLY964em_35dSzvPSX6TWCA9dHtV05waL1DRHDM4rX9C4KrGEMGHAdiMZ2O3cNvVW8Aqqub-wHFhVg04tO0XiykQubeJog_ko1VhOlkB6nM43vLfeCfivVoi6P3C_0-8R1l4I0C_gVEhaadeoRZGNg-x9Ggf0FB_UUfiCQl7NOpHG93mXS7kuSCG5z0HN9LTnmHKLdeGluwWuj5Vj6UMJLZ0hfPclpv-qk3cuJSRbCRVUMCkdAWi-VFETGFkGYA5qtzV6i3vveswNUO2vhIcmjbCQR4N0ucyu9QB0nY0Rxvfj-m6K3Mx0zxB5jeaUIwaVgvsyslRwfTcW9TpqhYwbXG1OZZBEeyO5Keeg5l-pS6V76ZTezuJB48mP1Q-0fdBOf3KP2Bfs6jDeiPtt1_5RKGLWL4ZYly872g3VHPUdwmnOEgeGynfK1C_5QzaRnb3pV0fUVt8VPJpkKuZrBHp5iYe5CWj59mV0HIM475kNdwpjeFibV1dfHN6qugdbtcvfbdxn4bY5ILETDuJc0GnnRU87Qj1mz6odr34p8xmHwdDreRghdGHD5I8Wd134DD_sMdbsRY-uNYatPGWQPSEMyTpy5JXXn6ErDueZtFaqwn1ufHVnTwUGLsMtJCzWXA8JPcL0JFE54prWv8sbgivvUQ3VS1Z12Mf6L6PGQoQP78ajEwf5NJGRSybXnvXmiDW7oeFLO0nWOR_L2jjmRU3aqLSHh3rC4CUKuzTXWHokv4hB98hiThWbS9SQeoHtyQKtu9UsgwApYOwTLHykAksz9e9kPmOnBldnpjB8sP2So2y_4k1ggHfdGbPMH9fVa3HxsvdSMHIhHUjIEwtZXdZQjvSTTXlM_2ColboWhaxNQvyK6OlMhATzcMHzqh8iu-G3TxL4Qv-tt-m3TLsHrYagYyBOyOG1JLVqBDgLJ-dr-vGB7rfTL9pvZt6mZDcciAayNG_6p614oAABVAVGbB7bMnM8tLKWYlb4RJOZxoH2F9I2_QN2OiM1bP0GZVomh7zVVLIE=",
  "id": "rs_00ee5701d177c464016ab447758fe487d086410c859d964d59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is low inside the safe and remains well within the walls. I’ll open the gripper to release it.\"}",
  "call_id": "call_9nzdZVQkZuL952Cw2rSf2D6b",
  "id": "fc_00ee5701d177c464016ab44775a22887d08358905848e962de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9nzdZVQkZuL952Cw2rSf2D6b",
  "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]: [-0.7898, 1.9224, 1.071, -0.1085, -0.5716, -0.5816, 0.9953, -0.0212, 0.8127, 0.6018, -0.6098, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2448 left_z=0.0361 left_yaw=-0.0057 left_pitch=-0.1797 left_roll=0.0713 left_gripper=0.9953 right_x=0.2589 right_y=0.0016 right_z=0.1307 right_yaw=-0.0004 right_pitch=-0.2369 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -8.9504, 5.2581, 1.4921, -0.2759, 0.0122, 0.0611, -0.1573, -1.2513, 7.0085, 1.8486, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b3914327c7a16080abf8da0fdc6ea461d1a754c8e40f8bf989a0c2f6d7c38d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ba2ac2e6208b23f3b2ca6135432392e3d09e60f95e59ad11404caf1de2a779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2336749db665f8c6ef148efe143f182f06f6b9859777b4fd8c8b9992277a27e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6662, 1.8091, 1.4982, -0.5217, -0.5194, -0.4843, 0.3105, -0.0212, 0.8078, 0.6018, -0.5236, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4372 left_y=-0.2276 left_z=0.1856 left_yaw=0.0139 left_pitch=-0.1151 left_roll=0.0278 left_gripper=0.3105 right_x=0.2737 right_y=0.0013 right_z=0.1471 right_yaw=-0.0005 right_pitch=-0.1457 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -9.6889, 8.8684, 1.1893, -0.398, 0.0757, 0.2955, -0.1709, -1.4427, 6.9949, 1.8046, -0.0562, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7906, 1.9152, 1.0767, -0.1543, -0.5697, -0.5819, 0.3149, -0.0212, 0.8116, 0.6018, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.2411 left_z=0.0353 left_yaw=-0.003 left_pitch=-0.2039 left_roll=0.0935 left_gripper=0.3149 right_x=0.2655 right_y=0.0014 right_z=0.1374 right_yaw=-0.0007 right_pitch=-0.1987 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.7026, 6.2154, 1.2869, -0.1929, 0.0855, 0.2808, -0.0342, -1.1282, 6.8581, 1.707, -0.0366, -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]: [-0.7898, 1.9224, 1.071, -0.1085, -0.5716, -0.5816, 0.9953, -0.0212, 0.8127, 0.6018, -0.6098, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2448 left_z=0.0361 left_yaw=-0.0057 left_pitch=-0.1797 left_roll=0.0713 left_gripper=0.9953 right_x=0.2589 right_y=0.0016 right_z=0.1307 right_yaw=-0.0004 right_pitch=-0.2369 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -8.9504, 5.2581, 1.4921, -0.2759, 0.0122, 0.0611, -0.1573, -1.2513, 7.0085, 1.8486, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b3914327c7a16080abf8da0fdc6ea461d1a754c8e40f8bf989a0c2f6d7c38d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ba2ac2e6208b23f3b2ca6135432392e3d09e60f95e59ad11404caf1de2a779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2336749db665f8c6ef148efe143f182f06f6b9859777b4fd8c8b9992277a27e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd5FCI9LHYH9MJSEsT7GikgPtn2TXww4lIt0-amqZmnCY3ebXD96gjxbHOu_5EYiv4KLIOdCbZos5ST1aYy9O-tSpRH1lcMNc-0vsmd2Muy3sKzwJHpfTqbsQfU0RQe02jUPiyEGiNLdOlYi8NJk850xu8jDFJ5hmJHOQ9Fa_fZ4T1My5tQjpHiMyOXQlqtJnr3DG2w1QyjvLGfdTHDiMSEe3pclbIE3SizYq5xp87MpNgmbgUgHf6N-4EvamrjvuFMNDj_mLkszpbgtmCAG42Ng8y-JovCY2uKgJp027gBWsfKkuYaLUbZFVBZa1DUldWwho_TLUswpKPs8zBwFgbreyOVVI3ZKjgSPnmQz5Tt1xZGQLODU83us8WSyOuBas3cLn1qNurLveS4St5PixGDhB77lpF6lUtZNPET4gWO9JKzCc5aWNmpYtdnzuyqlB0RL6sIGgZ5k-zjzRcp3hznCeHtwd4JomIjgNtv5OnmsM6PDdQgU9F7JX-h0JRQmDM4pW_jqJSri62lEpMSz-a9D_gguHYUudbvQ5zvDbYERgFetaL5Ed1kwyZWfweWdGSBK7xH-bv5rj7bnorW3EWKC7Zt99PsFMQTxKS0-AJsYQEZa24n65yTY93Lnrk3vLF3sMaI31UtEUGaJ3NlszSVSUnTTqTWIN72qE-9guP8ywXnAPoQkc6VFcQgW1aCc_aI57otDkVih7IoLpMe3TlKTMnOklofqKmvH_gV01ZRp-RuCnbpgvRVuRc7Nw3Q1X9XF8vrumBW29wAhBZqdI64f2NWJ85hnxLpxfMJnhYqO0DkXgdd0ii5oV1qQ7AZCJq1B1Y_parOlz_1OloLyBCz8-Dl6LXCXGWyC5JNin7sZuY3MsU-Jk5IJtUHrMEaRM8psusNxNzAMNjW5e_UkhxScX9_VkQjP6NazyqsUu9YCoaBEtdm_P3PZcivmhYC6hq5EXHfWkR-ilHMoP8uiFXU6SpQ0wqcQ0QV-X-IdLB3CIXRm-TtCOzM1qQgrALZCezObWw1CA7XrEArV9ecWvgf7qYMXesXj1AxaSnmq16LRwwTCcUbWCU5YKgKU4DrRnBsjSoQ3WaW0mK2TKcdH2TemQkTjejv0nE5DKvNDI8gDL6dWwSpwUjfZLL6SMH7Kkw08ZEBidfDBjvoVt3JIBm8lDTXzERwL-zHhFaBPKpOa3v-SFpt4_TvRO2Nai-K3J3dQ3gfej-mPvaDPt9fjIoq-_2N1zBQpVNfPSh5gFWjmtkHWDzCsrxjjmz7iQCuCRSdttbxCyDSeap5hlDVyyXR10nwjEbenZxj9ZMoxpz1wy4Secj_fAZlc_bdO7-txAz_JNunQiSNS8rIF9pHgajQGf_HCGhXQMRYjC2k-b70JMip--owSymt0AbIRJjv6uoD85_yzL_nEdqyKQN9lhw5GFvD2qTtH5F-wsBR1BC-TrTyqE71E3XyDAjEIW4qC7b-cGk6Jlj406xh3hKJfMEGl_rCkfEdN133AaLJNO5vGkU=",
  "id": "rs_00ee5701d177c464016ab44777e84087d0af0da43c7ad19d0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18},\"note\":\"The fingers are visibly open around the plush, which is resting on the safe floor. I’ll retract and park the left arm so the interior is clear and the right arm can handle the remaining objects.\"}",
  "call_id": "call_01o8Q12wkBsyMK4WoaSjmQRi",
  "id": "fc_00ee5701d177c464016ab44778ac4487d08d1b19548c6a4b9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_01o8Q12wkBsyMK4WoaSjmQRi",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0872, 0.9428, 0.7486, -0.6071, -0.1383, -0.0635, 0.9958, -0.0212, 0.8173, 0.601, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0028 left_z=0.1614 left_yaw=0.0506 left_pitch=-0.2111 left_roll=0.0705 left_gripper=0.9958 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=-0.0003 right_pitch=-0.2674 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.7419, 10.3316, 1.7363, 0.0659, 0.1099, 0.0415, -0.3487, -1.5248, 6.8308, 1.6777, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96c09d8819fafad49717045f7fec539ff0048bba0aa4015a30d5a3a1e583fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc6baa9dab20645446efcd1cb3b1d06572562db53c6c10e40bccbe706f7628c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a348999f5f631766563acbdd9ef3bb1189ce404484a4ca59300608d355a0cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7864, 1.8126, 1.1896, -0.3233, -0.569, -0.5739, 0.3121, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3844 left_y=-0.2454 left_z=0.0967 left_yaw=-0.01 left_pitch=-0.1717 left_roll=0.0655 left_gripper=0.3121 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=-0.0007 right_pitch=-0.1793 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -8.6496, 6.4479, 1.5995, -0.5543, -0.0952, 0.149, -0.1573, -1.5248, 6.9128, 1.9219, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7898, 1.9224, 1.071, -0.1085, -0.5716, -0.5816, 0.9953, -0.0212, 0.8127, 0.6018, -0.6098, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2448 left_z=0.0361 left_yaw=-0.0057 left_pitch=-0.1797 left_roll=0.0713 left_gripper=0.9953 right_x=0.2589 right_y=0.0016 right_z=0.1307 right_yaw=-0.0004 right_pitch=-0.2369 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -8.9504, 5.2581, 1.4921, -0.2759, 0.0122, 0.0611, -0.1573, -1.2513, 7.0085, 1.8486, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0872, 0.9428, 0.7486, -0.6071, -0.1383, -0.0635, 0.9958, -0.0212, 0.8173, 0.601, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0028 left_z=0.1614 left_yaw=0.0506 left_pitch=-0.2111 left_roll=0.0705 left_gripper=0.9958 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=-0.0003 right_pitch=-0.2674 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.7419, 10.3316, 1.7363, 0.0659, 0.1099, 0.0415, -0.3487, -1.5248, 6.8308, 1.6777, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96c09d8819fafad49717045f7fec539ff0048bba0aa4015a30d5a3a1e583fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc6baa9dab20645446efcd1cb3b1d06572562db53c6c10e40bccbe706f7628c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a348999f5f631766563acbdd9ef3bb1189ce404484a4ca59300608d355a0cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd-5TOoA8UmysrAVglfkvt2-KQcZgZJ_yf0ekpVIr3mSqkKwO_spNWK9Lm8MPmXpveId-cbCdRVWmzXLHQ2cYg9jPHjDxOkZFbqKLBplFOoJVhtELynGEuP5WSsqUcS0W7s-IGFTbYKnDRE7O3HNzmIrS47mVXfsjZy_-QHwkVAWG3MkbE82LfCZCtUtczxuCEzv0wdlCY6TD_bskSrR0lSUOMelL9D6ThdEl4STbuswlRDLlS5m9bGH0Ksi3s7c_HuXLjtt-59zOexZMucJ8JdfOhNm_uZxYIyjgSbQBRkQDztCLRh7egulxJcnQQt-hj-GE2WeR4D7BjSkkP-yd6nSNxS8saag3mKPtCrk352Ri_kmmbe5UhQdlvEObApny58vB2FeyfIZqYCiC53EZ4kCnvv169Oh7BiRvtSxfcif-uxfzJTLraq3fRINYcCnqRgdHv_f9anrj4Oskjm89eFGQpWAyrLq8qUFKw2uFzj4pxITra03zqkUMKpkZWUk12F0kuym0xUpDkdtehAniGoDOGhwBXKUcrfALc3i2hw-Cnz9UC1wvpT9rn0-ZKgm-fQCKEQuoZ8-_8KEmm7L4dxDdAgAonYD2WmBoeJdmMrDiJ5rrDQ_hJ5dO_3rHiej578RpHhmYRVAhlAyPiTzZr0lxCNMGW5rmB7cnquY6L8Qv2008D9M6rbfy87mDt257LWbVUiQnqKKLXKnM_kNI9siiU2bkTBJ1qaiexAcKwIr82o20zxbBBEppNoQ7X-rfuT2hg_IyxGsjs7r-KepTFqZldwpZZsliriCUl7KbYSWr801k7fqQCoqGO2fnKyiqSGp7oFJy77SLUR-HGfgQjkjK0F21bzXt1nkbrQLL2V77sLLdQMaVzc87i6IYYt7-_GhUzMhizXoWtR1mk7_gZBbCcLm9qWTcD0KojAT2AGojOcU059PRethx4GkIdqlcSYdSKA7rQp-AxJrMN60uMUUyDW8AX9xb6-mH8J5MW7qffGvsAwjCyJrS58ESo1_6JmDkoT1ZYXMn1Eb2r5R2zVCHwIBmQXJpmqCstCQkoy3E_g_4h7yadNgpTBJIjOuFZq0jWHa0eRnKzpPL1S-NZlUut1v4RUeCF_QFiwjHBsj0Xz9Fg1_0Jf7vlw9byPzuU7uSLVIQ9RUSazbe6pwf0-QQl_yZHWZElI0gj38362KIWSw2DebErbT7d6TsmzQS9I1lcTHVmND5DMoiW4VD48JB84YcSRW7OBxAr2rBwC29bMszTI2QCqVUBh_t0J_3j_zlrxTHeoxft5y0ww-BP1ibA-Qkc9OSHMoz0bdrcdGFatK51n6toJVKRiSppgL4Lc_OCsWr-DHWjZSHe51HoLAn38cLfFEGHccs1ELyfNFhSdaXQdIjV-GuM7psm6EmpWann99MzT7h2StyapBShl-Te9AdSeQKQkD8nLFIPRdOa8FCf2d2sZ6QL3Y1Copv3r_21Cw14MzMfue2d1ULhAWWcYQoPEjAx1FiEtNj2wVOxRe-eXGP37QjDfDzkuMlN4b0Xzxl7Q61EfGC55jWIPzYuRT_JXxhe3Kxw_aCYEF3XLR7q1XzG41L9_QHnRbi4AHoGyHWowITciVe75Ju6N6v0J94B-8ojj4t45fA2NXqodnT0ltrzzIInsDo1U38aqxr3rq4EQ2vEgwDSayMn1x_WXjWsuEOuTNfqhivseYBhEA93SxaUz1Kx4KZqCu-pSlsk74lN3oAzr3kOZurizBSKHpsHayI9b94NorAM1lik=",
  "id": "rs_00ee5701d177c464016ab4477ca71c87d0b67d14599e4ad48d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.21,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the plush is clearly inside the safe. I’ll now bring the right gripper above the small yellow object, which is farther forward and to the right arm’s left.\"}",
  "call_id": "call_Bn5ji8rc9v9lHFR7OukpSuNg",
  "id": "fc_00ee5701d177c464016ab4477db9c887d0bdd75cacdf644355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bn5ji8rc9v9lHFR7OukpSuNg",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9474, 0.7521, -0.6312, -0.1276, -0.0643, 0.9958, 0.5343, 1.8862, 1.5635, -0.6559, 0.3183, 0.3946, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1574 left_yaw=0.0442 left_pitch=-0.2371 left_roll=0.0655 left_gripper=0.9958 right_x=0.4446 right_y=0.203 right_z=0.145 right_yaw=0.0216 right_pitch=-0.3242 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -2.2359, 6.694, 1.7753, -0.1441, -0.0171, -0.0073, -0.0889, -9.894, 8.5402, 1.5018, 0.2564, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5703406a67c1641345d21c440cb3c0f12b077cc79ddbdee1f74348c3521063b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3655fa462d037a9bfd4be0a4dd2238aaef7c8bf31d05abfec51d52142a132d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0628a7909ce38911387028a9a0507a29b7e5709337529f1a0f66e38e1f3b16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7906, 1.9152, 1.0767, -0.1543, -0.5697, -0.5819, 0.3149, -0.0212, 0.8116, 0.6018, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.2411 left_z=0.0353 left_yaw=-0.003 left_pitch=-0.2039 left_roll=0.0935 left_gripper=0.3149 right_x=0.2655 right_y=0.0014 right_z=0.1374 right_yaw=-0.0007 right_pitch=-0.1987 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -9.7026, 6.2154, 1.2869, -0.1929, 0.0855, 0.2808, -0.0342, -1.1282, 6.8581, 1.707, -0.0366, -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]: [-0.0872, 0.9428, 0.7486, -0.6071, -0.1383, -0.0635, 0.9958, -0.0212, 0.8173, 0.601, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0028 left_z=0.1614 left_yaw=0.0506 left_pitch=-0.2111 left_roll=0.0705 left_gripper=0.9958 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=-0.0003 right_pitch=-0.2674 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.7419, 10.3316, 1.7363, 0.0659, 0.1099, 0.0415, -0.3487, -1.5248, 6.8308, 1.6777, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9474, 0.7521, -0.6312, -0.1276, -0.0643, 0.9958, 0.5343, 1.8862, 1.5635, -0.6559, 0.3183, 0.3946, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1574 left_yaw=0.0442 left_pitch=-0.2371 left_roll=0.0655 left_gripper=0.9958 right_x=0.4446 right_y=0.203 right_z=0.145 right_yaw=0.0216 right_pitch=-0.3242 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -2.2359, 6.694, 1.7753, -0.1441, -0.0171, -0.0073, -0.0889, -9.894, 8.5402, 1.5018, 0.2564, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5703406a67c1641345d21c440cb3c0f12b077cc79ddbdee1f74348c3521063b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3655fa462d037a9bfd4be0a4dd2238aaef7c8bf31d05abfec51d52142a132d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0628a7909ce38911387028a9a0507a29b7e5709337529f1a0f66e38e1f3b16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeEhuvwMvKeWVEe9QfNej-EvyQTPPv3HlCzeL3U_GKZcJZ7i2kB2P9Yx3ZYokUVf6UgT7I3fpD8UvH-zx9yBen24QppAG3LfQ5sHHOSF2lUZc614VcHoKQr1ExBcWoFpgg5N3SoYpLKuJIl6FMG7IkrVJHE03rb3bq3Zx6eQ55KisNZTH9uGvVR6RpdHntFPlgcUg6RdoL8vwqRRdlMgX5_0lA1xr-mgipAizRbxKGh7vPiBR1k4b0n5nQAEzzUkNywRQVECAn1varN2Rk4dl3ExWxjfvnDvy3gtWTqYFxlq77y68lEOfbkMo8aSS6s6fbqXZjH5Uij-B6yZv7CyYsaHNnrPiY_eQv7n73SK7uGtToG3UlQLM0bgWCFrqbJ5dSRG3ho0JRSjsUQ8E9Tz6eNih_mQO9MTRb-hapm1bF70e9e0i12p3GfsLDuCdCPDQb5fnyxF_qCjwQWXHQl2cd5VY-nx9O5NjkWHh7zROdgGW-vQbbq1akUdrFEBwu5PFlBuUSD3HnsGGrHcvt_xn_rb_qutZ5b5gno88aBvdW0EoIBhMdq382tu-IZ0TONoRz_7q8mSJBbloN68nyQM8dj6LLT_EwE8YgJHsMg1iOODtzOTgE4FNUDNm_c5QcU17hBDv6MCbhNEaZyb8xJIXKV_HDzpqE2PY9NmYIWOrgql6uAFVYi0HzRDQkJ3WnJdT63FAMIDrucLBCCDIBNA6WOPtYJS0tQ7eqEyrLsaxbgGWcuaD81G0yKnLSmnZdiVuX1SP1048WjseqJRT1DcnDCONhBMgaAamTZ1jXKoMAxHtChLsUQ3LuxDmmvAHHGgR0FZFin9NrqsGbcwpt03qeSl0p256Eq1MpDplE-vndWyFhhNSXlxOti2kgyo9WFJiNjA9JgQ9njC08vrgnVRPIl0njDI0pQnbKlTwuFTA1Sf67qn37hRhwvn-nH111vF--Aj-pbUWfsLBFXP4bjq6W7MQbB13FwJczynBBy1MrfGWXLcf5ikFfyvqIj9kjd0CeDfg_61a8nkdBK3RJpLGfDqTSRDdQti03WSFTlM1k9jRWQBqVM2b2O7UHtKM0e1ejha3Fjag0YLnDjb6IgM4CdXPteAaAPuobZNUY-2UAGl8mZhp1SJfnR1KkW3uLzkMvmDYQS8A96THGqZNcT0dBmsqpVbyAhAbVlApYOWuA2xgobt36iBmearGDRAqgogVFCAhzj7jAG1M5etU61cQPVn8gPT4lQ_kkNy2KiKU07wL2pmkCgWKVs15IAbVrZ-xurDyq6XPgQk1Rp0yrpefv1nQSAYdioJB9oCsXt3zpAVv08iR958o1ksFy_-RKypaNFRRAjMfslBkgwWD5qeN9dSNwFYN5hgzGi8Msp2oQYv_VosM-27TyfTfIol203VlxA9P7OIE6FgvVk__NAd24UvrDtB5OarUmbbgtu545cFegqC8ZKZQ3rHTCtWSPnVsZp0lC2-0mYRQ_Xo8F8zYd3yKQQeCE6SCPWbFSX_eopwFcqn1Nm32S06S4JrhoisEHa1YTyXpCffXdc9VExrnOmzMPkyhhAs7bxqBxBD3vshzCqMWQo_WBak_DcbIlxshoLsQu695oZV8eVTRHvMknP33PAOkNIXKLZBf4a9R5wF9EaanCua6FdubVT-RooYnxqyCO1UUItHxAI0e2x0Qiuq6FLyLcZYjTfoGNafjv5vIwrgp1-dW6jDXhFV2ftRilgYCOWN98nW54PLQEzrYj20BTNHGWNHJSkkgRigVuNmVU=",
  "id": "rs_00ee5701d177c464016ab44781a4fc87d0ae1fafa62d1df709",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.205,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The yellow object is centered in the right wrist image but still has clear image space below it, indicating the fingertips are a few centimeters short. I’ll advance about 3 cm and descend to its mid-height for the grasp.\"}",
  "call_id": "call_eAeECPDXGztAY7pemwkGbo6o",
  "id": "fc_00ee5701d177c464016ab447830d1087d084e1022ae9415043",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eAeECPDXGztAY7pemwkGbo6o",
  "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]: [-0.0856, 0.9482, 0.7521, -0.6373, -0.1272, -0.0647, 0.9958, 0.5014, 2.1048, 1.4189, -0.3431, 0.2943, 0.363, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1562 left_yaw=0.0443 left_pitch=-0.2439 left_roll=0.0659 left_gripper=0.9958 right_x=0.466 right_y=0.2011 right_z=0.0258 right_yaw=0.018 right_pitch=-0.3787 right_roll=-0.0548 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.0991, 6.9538, 1.5311, -0.0855, -0.0708, -0.0171, -0.7316, -10.9197, 6.0376, 1.5702, 0.1148, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3d6cc5732b0f11234e84feb348eec5e0e64652c0b4ad9c51d5d2966ebfdfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c380c4292736865a0e574027468d20ae74628ddd4eb484c98615869cb0c21396",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f383457c30cc6c048cb4a6f18fca325778555a9e16a9edb4b36eb03007cc119d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7898, 1.9224, 1.071, -0.1085, -0.5716, -0.5816, 0.9953, -0.0212, 0.8127, 0.6018, -0.6098, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3822 left_y=-0.2448 left_z=0.0361 left_yaw=-0.0057 left_pitch=-0.1797 left_roll=0.0713 left_gripper=0.9953 right_x=0.2589 right_y=0.0016 right_z=0.1307 right_yaw=-0.0004 right_pitch=-0.2369 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -8.9504, 5.2581, 1.4921, -0.2759, 0.0122, 0.0611, -0.1573, -1.2513, 7.0085, 1.8486, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9474, 0.7521, -0.6312, -0.1276, -0.0643, 0.9958, 0.5343, 1.8862, 1.5635, -0.6559, 0.3183, 0.3946, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1574 left_yaw=0.0442 left_pitch=-0.2371 left_roll=0.0655 left_gripper=0.9958 right_x=0.4446 right_y=0.203 right_z=0.145 right_yaw=0.0216 right_pitch=-0.3242 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -2.2359, 6.694, 1.7753, -0.1441, -0.0171, -0.0073, -0.0889, -9.894, 8.5402, 1.5018, 0.2564, 0.2173, -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]: [-0.0856, 0.9482, 0.7521, -0.6373, -0.1272, -0.0647, 0.9958, 0.5014, 2.1048, 1.4189, -0.3431, 0.2943, 0.363, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1562 left_yaw=0.0443 left_pitch=-0.2439 left_roll=0.0659 left_gripper=0.9958 right_x=0.466 right_y=0.2011 right_z=0.0258 right_yaw=0.018 right_pitch=-0.3787 right_roll=-0.0548 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.0991, 6.9538, 1.5311, -0.0855, -0.0708, -0.0171, -0.7316, -10.9197, 6.0376, 1.5702, 0.1148, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3d6cc5732b0f11234e84feb348eec5e0e64652c0b4ad9c51d5d2966ebfdfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c380c4292736865a0e574027468d20ae74628ddd4eb484c98615869cb0c21396",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f383457c30cc6c048cb4a6f18fca325778555a9e16a9edb4b36eb03007cc119d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeH-lsrEsqxyxH5GusVttCXU4T-KJEDfRWxTX0ikjDtZ2KjJkpLKrZziXfGkGrH-5Mf9wlT--027eGRVqAmyeq0GmDIBzv_ByY_YQFDtM1k0u4CsJ3MazfOxdF2S98kFlbJDhpU2TdKfqaBoqgT4K7mXRXhlGfOcBMFFyFMTPP-IwIsdvZf9bAn8QmEbQ6GmQLCWFb-jHr15PxCr6dqQhC6pK5xdb07L9Z3z2C077y83APzuuX4_5m1Z4GnmVlZ9XppxNe1Vqa291uBY5SfhdcWZU2HE8keBEd48cCu-OIKV-r9Rq7Fen6vU1c8c50hkYWZWxdFUlB3ySenPjYjoxIrT7jdOvuWfrWCIixWI0SphQRQ6v92yjgwVDnQaDa41-rzXx8i5xK7N3mS3mWh6mjpvOPk4Wb1dDiupOGQhiptHjevObQnVS4-RFoIt69oltQ36rtWRtMj8UdnBMEd4TP9lq_8_jTd-hZ2kK2J6F7_wcOXkS3l2sgf-dxXSXoRz5z9_SJ0fb9C0BRN-QWtGGRynaMrwLqRzbyjGNiqUF0kqVwVpErwgVKO3YAf4jmm_dS7-F2Kxl8uvvLD2DQmXhybw_TTZ9SUMHaspdZuUfeaNaJ5ne-fb7_bBlX5-Y6ceUVR1PHd_xMJbbSemn79JqsFenbVRC8Vxj1xf69n0cjrJUOpNABSlb2BQr6jobLC0EdFYXoONPX9oKq0F6o8UgEnmVEBocUmsn4eWepPkaomIesQY6kU7os-w2GH331TZoA9TOyCXp4xe3KB-g31vMhp0e1VyCQaGbNjNq6KjnCKWq8R-MPBB7OARYyAO3LhMdSFzqNK8BKgEueTyp0AHIDCG5C9s_vobSWVjyN7vCxUo4b_OfQGeeIXY7wVhCcQhmADoyMUfuMWuxqLowxA0x7qn9BFiZWcUMmlm5ldPPCtz27LkpUZvGeNYpIzjGxrQ0tbhFjr768juudEl-a2Q6dxvdCxVKFoRVFZiug8VgotxN1WfFHoslULFk-ubrkyS57sBXe_086gY-1Dm_tBhP9Z4i06Y2rmktPLRe0PY5YDOBL06q7FeTrqANZIfPttrQTzVV24bDe0jCMZQYpIKMYrOVhKU160B-q8j3awvJkkDYTHpmRfQQ_ovnNBgMYRpjAyPLhsYEOm5mPjFoHiXSi8gRMALCAmd2GrjROEkyrzYqXKPYMBHBz9nf0AgWUnd_36wDtarK3htutYkPYrUlkeqTeZXRXj_RuFGC-UQ-TRS7GxeQ-Y-vTpTzE_MJ7ffce8inv2GiIisEv-IBfkUxF-r7UUO83bO37RVZ35tz4pTMjBQ_9YzlDUfSusjKVBfN_lroqxsJtLsNPRAAm6l5j0-CINS0akCMgYA_VHgaM5vtW97wlOUS8rMAeMf7N95d_BDggKJ96fTbGGg8m7PmE5dCWkNSrwzuso745HWJzq6tI146M2jCfvgYNV5n-9iJQJfF3QnKqWbqac4EvCaErcpzALhWGLo5mFBzxCLoFkyIlX0wrTbGsKv2x8A0gBrjhUxABr9B2gIlLWpi9EFAZy0BA9Q4mLN-C2lXE5CUqHfQvOlRerA9CUGVUl_mO005D1Nzu1obs7Cpsn9_gdp9OP_R09g9bBXX1IMHn86l3vr_VvYtP9rIFVt3492xhKfiES7GvO1hND8kJxBwn_ftwrjg==",
  "id": "rs_00ee5701d177c464016ab44785fd4087d087d2e40f287fcc3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the yellow object is centered between the finger paths, with its narrow width across the closing direction. I’ll close the right gripper around it.\"}",
  "call_id": "call_JxpNm2EUVfmzOidH8lvQSgB4",
  "id": "fc_00ee5701d177c464016ab4478721a887d0b9e6387405faea4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JxpNm2EUVfmzOidH8lvQSgB4",
  "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]: [-0.0856, 0.9482, 0.7521, -0.6376, -0.1272, -0.0643, 0.9958, 0.498, 2.1212, 1.4143, -0.3496, 0.2913, 0.3565, 0.0117]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1561 left_yaw=0.0441 left_pitch=-0.2443 left_roll=0.0662 left_gripper=0.9958 right_x=0.4627 right_y=0.1979 right_z=0.0153 right_yaw=0.0156 right_pitch=-0.4045 right_roll=-0.07 right_gripper=0.0117\nstate[joint_eff]: [-0.2393, -2.0991, 6.7761, 1.4676, -0.0806, -0.0611, -0.0073, -0.0889, -12.8889, 6.6667, 1.2234, 0.2027, 0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e17bbcd2472a9afab17ea1ab98d258ae46322d025df9b66f8fc734088633c14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36cb1250b91f41eec02af0b4c51ced40e78c56295d80eba32a8547845c58fcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a52403cffaea118bc666bdf2a910607be4b4d51beba149c3854921f53c37b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0872, 0.9428, 0.7486, -0.6071, -0.1383, -0.0635, 0.9958, -0.0212, 0.8173, 0.601, -0.635, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0028 left_z=0.1614 left_yaw=0.0506 left_pitch=-0.2111 left_roll=0.0705 left_gripper=0.9958 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=-0.0003 right_pitch=-0.2674 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -2.7419, 10.3316, 1.7363, 0.0659, 0.1099, 0.0415, -0.3487, -1.5248, 6.8308, 1.6777, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9482, 0.7521, -0.6373, -0.1272, -0.0647, 0.9958, 0.5014, 2.1048, 1.4189, -0.3431, 0.2943, 0.363, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1562 left_yaw=0.0443 left_pitch=-0.2439 left_roll=0.0659 left_gripper=0.9958 right_x=0.466 right_y=0.2011 right_z=0.0258 right_yaw=0.018 right_pitch=-0.3787 right_roll=-0.0548 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.0991, 6.9538, 1.5311, -0.0855, -0.0708, -0.0171, -0.7316, -10.9197, 6.0376, 1.5702, 0.1148, -0.0366, -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]: [-0.0856, 0.9482, 0.7521, -0.6376, -0.1272, -0.0643, 0.9958, 0.498, 2.1212, 1.4143, -0.3496, 0.2913, 0.3565, 0.0117]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1561 left_yaw=0.0441 left_pitch=-0.2443 left_roll=0.0662 left_gripper=0.9958 right_x=0.4627 right_y=0.1979 right_z=0.0153 right_yaw=0.0156 right_pitch=-0.4045 right_roll=-0.07 right_gripper=0.0117\nstate[joint_eff]: [-0.2393, -2.0991, 6.7761, 1.4676, -0.0806, -0.0611, -0.0073, -0.0889, -12.8889, 6.6667, 1.2234, 0.2027, 0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e17bbcd2472a9afab17ea1ab98d258ae46322d025df9b66f8fc734088633c14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36cb1250b91f41eec02af0b4c51ced40e78c56295d80eba32a8547845c58fcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a52403cffaea118bc666bdf2a910607be4b4d51beba149c3854921f53c37b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeM8jLfaW5EztJgyoNRosx_BezHB0yUWqwgHW_sDLzTZWt3U7xDsbwxqNogwom8m8YTu5Ra7vqiqhZbJ3YarRwymgA-D9-VRoyM1L9eMeTnSROByeicxkMnXNyGKq7Fg7QYqS08PmdcKMFnSUTjAqmZbJNDE1KuzoVpqm-X2IU59-jdtKYVgCdAvA0t0OkJhpl9naN-GtnloRH5nriAmYGr-CYeU-_fIZJF0k30NPstBBJ6eSwCQa2vS1dV4Kh47oUiw4mqk5RaglxyUAzp0tN8vbiWoEAYddYqdCTADTaa6jn_sq-MLnmXxLAC_FoVDTONmb258hzuIe_g00G_WRipVs0Lm-60LNCF0W_ecv7VC5TlO7RwFG21tvJA2W0Oou5MHKKPe3p5_qVIul71Rlo0zWHHxn-inGNHhpVZMH914uYa8YBcsAwCYtSChIqniBbphHMnxFXk6RKv41iIqU-tA4aQW0XSToCEoCmXoJZMXwUUKfOzF6qI8Y1G7cbvkh3QQ5pGzjG0M8fgDJp-rNLn1I2xIFj-_5uzAEnAPW-HS-AuZ6ZxcFfqz3H4luBErQmaTEmlYxO1BS-LxGQD4eH9IRtl3HBRwbmDtQC6ShPvf13jA70gNXk143dwUtYdlbsL1STdLnmCmCOXaB_Mcs8_miS_9PsHTs_DfWnPPA7mwLdIj5lSBaeQzKywQFtNFAHXcKDuvPo0HSAMC4zQXyoBuPINE0n3WAn1T5yO_YXxD6YOFLWtlVG09YJiko-PXl7EBOFgG658ZX8NDJgvpe6eaNQjhXGyV7QVtA71FcY0jGTE_yNnpt8kGm_9On9JyQXPKjP571k3RiYRV5s2L-rRI9cP3CfY64f0-JTavqciQ1TEoEvSSKFMy8W_W8maqpGbtM10vnWUFMY7hy-m5oNZqIhWE4NmdX_K6EcVlkbQ_JzksfeWhbfq8OW5sYoNl7LiPEQ8bzOyN2TlrbY4fxcnF7hjfnu2C_4Tsg5UYCJrPlOrUu1iLsaqROYTCTxZQT8Zw0SJFVv5gfi_-_kdIU4vFKAYsnh89sDFlNOgE9JecVeEA61XHIXJdhYylCfngiXBbrvG1FLO4rzeWWDSOOLeFkkrkngQJK23ZBnB0pN3ywghE8AYyJZoIyYa_d8xPSohpu93lMiAuwLc_l6EAq7uPOdat2MYjPc-rDdQ2SqBa90pgy9GLYtdDB1WnRVqCqaWyM4CnoPBUQqDciCWk6HvVGtA94OU22kGqH9iz59616F6wOW8453j5Bt96fEkJobWIHarGFdM70ruSoLG9kikvZL2wU-VjofBxt-0uTJgeX8Q4GJaUtKO0ObqpAJEU75TvzJeQtrLnUmdxLIAy8Jy3uGfpKgoAPFHM0PQSfTByuGpnEIuNvR11TTD91Coz41W5J5POCbEVe_dMF3mMXWPzSRURRNPR3hkjgr1Tv-lEXa6hTKWaQN4f2IKpsT7RytItdwVdjeHUvtD-jbfXNRUVbB2gssO0dVKn7rr1LyGQq8T89H5n-IKv5UWoO_beSXRAlIyJ_c_e2Px70hAzlmGQJdwEYbbcNoZ0wmx8JtvEyJwGHNH_HJIXecd8sZ50yK6aub2oAIo0NQsNAy94QVkdkj-ieSdHhSh_LkxINUNdSTumySeoZkn92XUqZp_VEk4dQ7lmLaVejqVEf7w2E0TivQkCos2KWCxBkIlKNnNb4djijq3PcvVJHMm3Dm1W6ntcsCP6cCWmAnOGRf63JklNX9CD-LXkRb-Pef_4fky4yEQG_PY3a8XLAspTd1wJflaZ01lE2sSIuHrO3Zd3iFtEMTkCo378LkvBp0Ary6bOks=",
  "id": "rs_00ee5701d177c464016ab44789e56487d08f983f9d8ba05cb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The right gripper settled at the empty value and the yellow object remains just forward of the closed jaw tip in the wrist view. I’ll reopen and advance the grasp point another 2 cm while staying at grasp height for one corrected attempt.\"}",
  "call_id": "call_4IxbsEF81QAgqIIHjhAizaDz",
  "id": "fc_00ee5701d177c464016ab4478b4cf087d0b19aa75df0c8841f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4IxbsEF81QAgqIIHjhAizaDz",
  "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]: [-0.0856, 0.9497, 0.7521, -0.6533, -0.1272, -0.0643, 0.9958, 0.4778, 2.1529, 1.5177, -0.4519, 0.2722, 0.3267, 0.9945]\nstate[eef_state]: left_x=0.2814 left_y=0.0019 left_z=0.1531 left_yaw=0.0447 left_pitch=-0.2613 left_roll=0.0685 left_gripper=0.9958 right_x=0.4728 right_y=0.1954 right_z=0.0229 right_yaw=0.023 right_pitch=-0.4405 right_roll=-0.0862 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2222, 6.9402, 1.5751, -0.1343, -0.0366, -0.0171, -0.5949, -10.4, 8.4718, 1.2869, 0.1343, 0.1001, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69cdc4ac7f23e3c7823147c49a64b0d329c03940c88a033d7e2ff7f1b9c4f9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695cd55d42d70a356e78cec1a2116e921afcd049c37a16876d8a23ffdbe7f04c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f218461187f3a04e50249abc3e1fa95f0dd297c1ee721b8fc160c60da41b3049",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9474, 0.7521, -0.6312, -0.1276, -0.0643, 0.9958, 0.5343, 1.8862, 1.5635, -0.6559, 0.3183, 0.3946, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1574 left_yaw=0.0442 left_pitch=-0.2371 left_roll=0.0655 left_gripper=0.9958 right_x=0.4446 right_y=0.203 right_z=0.145 right_yaw=0.0216 right_pitch=-0.3242 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -2.2359, 6.694, 1.7753, -0.1441, -0.0171, -0.0073, -0.0889, -9.894, 8.5402, 1.5018, 0.2564, 0.2173, -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]: [-0.0856, 0.9482, 0.7521, -0.6376, -0.1272, -0.0643, 0.9958, 0.498, 2.1212, 1.4143, -0.3496, 0.2913, 0.3565, 0.0117]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1561 left_yaw=0.0441 left_pitch=-0.2443 left_roll=0.0662 left_gripper=0.9958 right_x=0.4627 right_y=0.1979 right_z=0.0153 right_yaw=0.0156 right_pitch=-0.4045 right_roll=-0.07 right_gripper=0.0117\nstate[joint_eff]: [-0.2393, -2.0991, 6.7761, 1.4676, -0.0806, -0.0611, -0.0073, -0.0889, -12.8889, 6.6667, 1.2234, 0.2027, 0.0562, 1.033]\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]: [-0.0856, 0.9497, 0.7521, -0.6533, -0.1272, -0.0643, 0.9958, 0.4778, 2.1529, 1.5177, -0.4519, 0.2722, 0.3267, 0.9945]\nstate[eef_state]: left_x=0.2814 left_y=0.0019 left_z=0.1531 left_yaw=0.0447 left_pitch=-0.2613 left_roll=0.0685 left_gripper=0.9958 right_x=0.4728 right_y=0.1954 right_z=0.0229 right_yaw=0.023 right_pitch=-0.4405 right_roll=-0.0862 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2222, 6.9402, 1.5751, -0.1343, -0.0366, -0.0171, -0.5949, -10.4, 8.4718, 1.2869, 0.1343, 0.1001, -0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69cdc4ac7f23e3c7823147c49a64b0d329c03940c88a033d7e2ff7f1b9c4f9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695cd55d42d70a356e78cec1a2116e921afcd049c37a16876d8a23ffdbe7f04c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f218461187f3a04e50249abc3e1fa95f0dd297c1ee721b8fc160c60da41b3049",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeQywsCixF5e_sEB-NtjX5KlA9vwbfWubjfCylOLDcIwpncEYu2n7WmvXQi2A3lEae24kO8CnqqfjsaaEpqkGnF7VQPVTbGBC6ClFYTHKeLnExpiLW1Pn20smoAu9j_DGRr6Lrc6SYajPqGRoELMWq5dEt_15TVVCGEUJTlUhF4HFcvrt_-V-Gx_Vn__HAT4jux2Q0Dh_MT99zlU2F2bE30NHw6keiLz66ma9FzvyGnr5n-dhEI06DxT7_wLlgG1bC_oqY9GffuHnfexSy3A_8eKRSKTKWy1gvalD0yHj2s04mqVPgoFsuy8dOsDb6fxmlJYN1NYCfsu8H2lqeDXsboKjtLJk6r0Y5PCO7CzKRT9Ed7lbHGOPtX40LqG_cNbuDDnTQYewyeb3zuj_Z98GUY44OfX5mRr26K_GRiGIoR_C12hTBUzAWdertvqpZsRF9XGSYpjSktrX-a--ZT34A8vYRE5H-9t88rahlwz0zgKiN3DmEnFbqyukmXpAvZF-GMUBwT3GFz4tBxOwyDxnMySoGzrIvdwdrDVTw6I6o1JmSnbce6bJ8HeDtszVJScosxm4MCyb5Uh8R889jUO1-tS3y5haW4d7XUWtQ61288O5KRrt0xpn7hkkOTEgzHJPBs3_rzf2-azLQVrVtVqec6h1UH2pOQhczU14eW9m5xLdf0Te_uu1HVqZP7acXfkkrbAePhQyUWOyahBhIUvmDFRfWFejRnQ-IQCSPdaKZ6BeJjsGscuWMDsxr5hbgdzRc5AA24mYd1RWBr0V3il3rUyJJRuCfiMRD8DcLTFgEq21mLC-XE4AaWuO3MIOMicUGYqhZTDx1AdsYxr9LkSoXhrwqj8qlDO_eqaItJfjPYkl6EFa_IuaqVQI77gX4yb5l1TwKieE-i7KUzyDYDRu8FjUSdnNcpZFF3unSXtkbxwBDRIIVDcosMZZ6BsIeuWFYq_lt2L_w94Z6Qx1OcRYXP9-1GbwUAnqxhWKBVQND3x8PlyQ8qWbCHbfmYYIvgFl1yhGU3UYCHZ5SRlvrLQd6vEz2sbASiwJocCHbIE9pVFsIhuk5IqQHVYo-DwqCDR2LdPq-WbiFCZzEfZYBMNCxeiFrteg57NKMypRcZRkrdleN8D_gjEwQubGxndaS1fkUThuT7RCylWKVz8a-KAYypC7dGPRBsO3-3ZLjxzCVPgGpxdHekhiqr0KkTMk8z9tXO553Dj98tfTgu-YAAs25-wcyHHZ9m1uxVTRFYhEoUr9jXGDegAy5FT8Svpbnx2bEHSNqb1vZC3Zd6CEiR8sLyheEhRR7od9xuFNRw7pCupG6eflw2Bo8AbnewxYFgjEJ4nTQ5tQwnrU9sm25b9ZbPCtcdnOFirHYlpbWajO92ZDbxzQdV8Rj3-D72X5BYpr9DgPwkfG4MEHLIfJVbAw2PyumC7bvF0V10m70D4lFvMC754SmrEBvEWj7M7Qr5mXJ7kV7FOL8nsyqGVoVFgO6vypGe5PJVTiuuMfwgDq1ucllfUk_b74eRalm0gLZNcu1yX8E8FOccGpYuLEgK8_lylSlVz-SpjASnLY3jDdvgdpo7lAGtomGlKv2hs4Gy6gtHqKqj35ZFnR-UGcnb4-OQZdFTH10Or6CrbT1BBjfwhlNEIeVpCrcGwKHM3Sd-xoL6CBJSY3FIfPRChNTOKekL49UpvF12ViJ684IFMHdr7gqKOer_TzJYRpDTiLLt5RDLvZL1ryUnPJEDGYQKqNKjvc9mHyzp-ZZUUDQadVnvBGfVttq36GeLvulT5qK4sGAEN7PEd-uITUbCtogzm07tti6_GFu8DICUj0QBLkmvu9joLbkh46PgNURx5tLeLxu6",
  "id": "rs_00ee5701d177c464016ab4478e432487d08fa487ed9682054c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward correction the yellow object has shifted down between the open fingers and is centered laterally. I’ll close again from this corrected position.\"}",
  "call_id": "call_LPvDXxKe04xYZdmJlRLl7Mgo",
  "id": "fc_00ee5701d177c464016ab4478f748087d083a8bf834c6d7918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LPvDXxKe04xYZdmJlRLl7Mgo",
  "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]: [-0.0853, 0.9497, 0.7521, -0.6609, -0.1272, -0.0647, 0.9958, 0.4767, 2.1536, 1.5181, -0.4629, 0.2722, 0.3214, 0.0119]\nstate[eef_state]: left_x=0.2799 left_y=0.0022 left_z=0.1519 left_yaw=0.0456 left_pitch=-0.2689 left_roll=0.0692 left_gripper=0.9958 right_x=0.4709 right_y=0.1938 right_z=0.0215 right_yaw=0.0227 right_pitch=-0.451 right_roll=-0.0948 right_gripper=0.0119\nstate[joint_eff]: [-0.1573, -1.935, 6.7624, 1.536, -0.1197, -0.0415, -0.0122, -0.0615, -11.9179, 6.2838, 1.1893, 0.1636, 0.0122, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:782a1ffe78fceb0cd4c6824897f125f05146de141334140b909425aa407a5293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c8fa438eb3410e8ef8ed324c6b97225a2904e1b3886f8ba623e9b07b6f8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30acdad314e9be5cb019a12edd30fef5d25d218bc13a24627f04d556037cb164",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9482, 0.7521, -0.6373, -0.1272, -0.0647, 0.9958, 0.5014, 2.1048, 1.4189, -0.3431, 0.2943, 0.363, 0.9996]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1562 left_yaw=0.0443 left_pitch=-0.2439 left_roll=0.0659 left_gripper=0.9958 right_x=0.466 right_y=0.2011 right_z=0.0258 right_yaw=0.018 right_pitch=-0.3787 right_roll=-0.0548 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.0991, 6.9538, 1.5311, -0.0855, -0.0708, -0.0171, -0.7316, -10.9197, 6.0376, 1.5702, 0.1148, -0.0366, -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]: [-0.0856, 0.9497, 0.7521, -0.6533, -0.1272, -0.0643, 0.9958, 0.4778, 2.1529, 1.5177, -0.4519, 0.2722, 0.3267, 0.9945]\nstate[eef_state]: left_x=0.2814 left_y=0.0019 left_z=0.1531 left_yaw=0.0447 left_pitch=-0.2613 left_roll=0.0685 left_gripper=0.9958 right_x=0.4728 right_y=0.1954 right_z=0.0229 right_yaw=0.023 right_pitch=-0.4405 right_roll=-0.0862 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2222, 6.9402, 1.5751, -0.1343, -0.0366, -0.0171, -0.5949, -10.4, 8.4718, 1.2869, 0.1343, 0.1001, -0.1343]\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]: [-0.0853, 0.9497, 0.7521, -0.6609, -0.1272, -0.0647, 0.9958, 0.4767, 2.1536, 1.5181, -0.4629, 0.2722, 0.3214, 0.0119]\nstate[eef_state]: left_x=0.2799 left_y=0.0022 left_z=0.1519 left_yaw=0.0456 left_pitch=-0.2689 left_roll=0.0692 left_gripper=0.9958 right_x=0.4709 right_y=0.1938 right_z=0.0215 right_yaw=0.0227 right_pitch=-0.451 right_roll=-0.0948 right_gripper=0.0119\nstate[joint_eff]: [-0.1573, -1.935, 6.7624, 1.536, -0.1197, -0.0415, -0.0122, -0.0615, -11.9179, 6.2838, 1.1893, 0.1636, 0.0122, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:782a1ffe78fceb0cd4c6824897f125f05146de141334140b909425aa407a5293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c8fa438eb3410e8ef8ed324c6b97225a2904e1b3886f8ba623e9b07b6f8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30acdad314e9be5cb019a12edd30fef5d25d218bc13a24627f04d556037cb164",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeVXAAdnkmQkCLeks1T5f_c6Biq7cW7Jqr2VzBfXEW8ernqVWSs2MmyNvZRsem7C5k8n7nPWghAirGZHgFhuiSppycC6dGmoxfrULwJRlXhmX9MmLFrIZrysciRqtAMhtsR5mO7mtQNcVVJ4AYWjBSPIWY2yjk7ZqdZoIq4HnRUOUArfd9aasAUWCj64tNrEmGZHet-qvTPo_P7kehaXnssuQ9qPczrr3-s1NnVEQPJ-c8rkVDsLrGtWAC-kCajAYc3eGtPWtos9UxLZekYImh5WAAoP02RfJgXK3tlwDY-QD0i-ihzCqQnebmJkbxSNpbmu7UIdhoeCBBMypr0u8uFY3thW6o_br-NIdsCmg--jXQUz_fFnT5ZdwZiUI-fhRft1QUmJ2LNILBb3OLKBjk4WRJKdf_j5qRWB4UEZ1w3lMgara80pJ3DAywZQEAO1F3xkQF_b8jHLcOyzJJ2nxg_dWlyguTLrkkqGimzyR61Vq8pThuuaHeW3i7JtwK0iI-AH-4XbsLDP6kr_waWA4ybf2cZkHpffg8iFF1_iSTzNdqvLC1ZpvZIM3GKwxrR0D2F91as7azIaIw3ziff8hLD_MreiUmU59K-yDbEALw9JIxUqeUzbd4drMpKldvECBzaKWHGrKqI5KE7LzaUbluIYAfh5LQCfa6coip3mBVx61jLowww9TdZN7GlzxFB0w-PVLu1L5CcQxPpYN2Hv6YpPkFKw1BN7tJpQdlGjADFR8_cvfA9iKjMbJvX4Fkf5mJrCzMzKsIXSxJ5-mlbe21HSf2uEVWClBkaIb0Jszg6Pi3VK8XoE3mmLqilr0MWARIhlkpUpRnkkXmOOXD5w2P1bkVGheVF4nLJa1ezsAJRKY8YPRyo32hgaow6qRmgvrPdfZ8UokGrvC8JQgCMJW-vVA9bgp-wO_88OwrSuZKDBROc7Luxv6-zpGtNIUZ4xfizP3f3xBZVvFOjYQ9Y0GKC3Bjg2_PrXkETq602-XxNAA05XvAux16JnrBrqj3oD9zlA3ARVGZAkZK_KUBNUpclgB5hT_yTv4UQ8XZumxqUPeoI_-SuCK6vet3M6n36nESFeq3VUCzbdik0PnT2xqS2PXfhR__UWxTWFRB11h7Q5ku_Qj1_OsoIb_TeR7V71m4GrOAnZ_hjH8WNUHtfZ9oWrdfzBKZage9kxSkQWR5R3RAJhvFI7gXwtCSJL25Xx77luyx6QiU8T10QDxEIwpfSqGPZIoeKBfkU-hrNF2ttQVagWTgCFhSpN1LXv9PZE21Ya1ubCc2QzjeXjQ2ZDWdUqWYgiPz1nm3hzH1AoA5yG-gdDi8lyavVJBDDsIQq3CJtaTkrK3jZ27hJA0m3O0Wx4kWyb6871un-K9v5D7Ga3tPwuQxI8NoEffcTU9HSxSIj-8GW12GEwk6jI_LuPWDvrCwB2icFPh7MEVwuEabMGNj8jA7SWDjc3r17rFtXVpUxmmejm017RgSTSxdoPDnFsIhpZMC68SXfqBivm1LPWnwyUTp5Ypx1PehL4P4T7mtN_rMXcPWKdV3WQpzvkqDJCDUI5TT68m8hPi_9RqjLYIT3ebBx0eSqabmVnFOgg9KniTEAk1zQbE8R1cGz3rUtIhPBi8go326bKoSP0lgxINNSd3dAGZDIAgOL7Xmqpp8AFgx1r07t5YRXTcg9Bn_4i9WM9RGeAxuKdyI_LNAmBRdjABmbCVXQ4tn_bgkLz11T74n6NCCxG23dWo9V1Peagd2IA513qF9J5iBqh85Igm_x1IzNy4YfLIcMf42cMdiKzkGjxRnp-i3ropkckmlbh3xzhM7Kiqm_fYsJzcz6hTri_EAaq50gKbOLsv3j6EaHAQU96KDf-NDQZgtSJsLNF8-wmmbqMwZo4zDmCjqkB50q1lxQ-LS0xyXaS6Hf6dtYn72zGUO1yJjB8M43zEoPI1lMiivEApNBfNMkJwpOsTBbthesm1-cD-mlTUMqI3AJQMgEJnS4C4_dRjTCUsnk1WqFoN6tJ3tPR8Y-D_T2zrJGTinAKMCYUl7Lf-VXshFmhFMQ_QZmpVoRcwaEZBkFhAZJJy79R0ydFCjhR3L9XDbViLQ4QVpIWoLu7VoJ-LEo8alSzhWlpllsNeAiD8VZkXzOo2TaBfAaku8wxDLReaIj-orL9BacuWcMSRDMnpPtJBFY_F_WttBSpjnCMNaGVqXydJAg0FdFumQ6Wh6HGoijJAUcLJaYnfbsDGTu1ZT4A29w1ggOckI_g_pAZIu_9A4mE9NUSSMzbmodSvF8kK7o1Kpe1av6YCIwSph8A8BvYr0suyf2C1YOIB36j6nGmNNH8-96oy3aGHtMbO7dnWAXm6CpGULhwe9yJdaYU5vAWL9YKZ0WzLALlbXozSeVtQ==",
  "id": "rs_00ee5701d177c464016ab447922cbc87d08eb365d9a163e5a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The second close is still empty; the wrist view now makes clear that the fingertips remain behind the yellow object despite its centered appearance. I’ll remeasure by opening and extending another few centimeters, using a slightly higher grasp point to avoid dragging on the table.\"}",
  "call_id": "call_LBLoCnRj9hZ2Ia0tDSEnS9BS",
  "id": "fc_00ee5701d177c464016ab447945c2087d093e28050d773458f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LBLoCnRj9hZ2Ia0tDSEnS9BS",
  "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]: [-0.0853, 0.9497, 0.7521, -0.6758, -0.1272, -0.0647, 0.9958, 0.4477, 2.2318, 1.6928, -0.59, 0.2497, 0.2844, 0.9947]\nstate[eef_state]: left_x=0.2772 left_y=0.0024 left_z=0.1495 left_yaw=0.0461 left_pitch=-0.2836 left_roll=0.0713 left_gripper=0.9958 right_x=0.4917 right_y=0.1917 right_z=0.0282 right_yaw=0.0292 right_pitch=-0.4892 right_roll=-0.1093 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -2.0718, 6.735, 1.5702, -0.1245, -0.0415, -0.0122, -0.5812, -11.0701, 9.4154, 1.2918, 0.2027, 0.0513, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c15e129876f6001e3b2bcc2048d1e86f521afe22b9463f6d21fada4c5bd1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023b68a0980fdf4f37555bcd0c6f185ab5f0433bf9fbfa48dc548b9d06cf496b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a01a7fe3fd43afb6e9c03e6593b3ac1e5bfc84d8c8778726607360cbe1add5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9482, 0.7521, -0.6376, -0.1272, -0.0643, 0.9958, 0.498, 2.1212, 1.4143, -0.3496, 0.2913, 0.3565, 0.0117]\nstate[eef_state]: left_x=0.2842 left_y=0.0017 left_z=0.1561 left_yaw=0.0441 left_pitch=-0.2443 left_roll=0.0662 left_gripper=0.9958 right_x=0.4627 right_y=0.1979 right_z=0.0153 right_yaw=0.0156 right_pitch=-0.4045 right_roll=-0.07 right_gripper=0.0117\nstate[joint_eff]: [-0.2393, -2.0991, 6.7761, 1.4676, -0.0806, -0.0611, -0.0073, -0.0889, -12.8889, 6.6667, 1.2234, 0.2027, 0.0562, 1.033]\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]: [-0.0853, 0.9497, 0.7521, -0.6609, -0.1272, -0.0647, 0.9958, 0.4767, 2.1536, 1.5181, -0.4629, 0.2722, 0.3214, 0.0119]\nstate[eef_state]: left_x=0.2799 left_y=0.0022 left_z=0.1519 left_yaw=0.0456 left_pitch=-0.2689 left_roll=0.0692 left_gripper=0.9958 right_x=0.4709 right_y=0.1938 right_z=0.0215 right_yaw=0.0227 right_pitch=-0.451 right_roll=-0.0948 right_gripper=0.0119\nstate[joint_eff]: [-0.1573, -1.935, 6.7624, 1.536, -0.1197, -0.0415, -0.0122, -0.0615, -11.9179, 6.2838, 1.1893, 0.1636, 0.0122, 1.0379]\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]: [-0.0853, 0.9497, 0.7521, -0.6758, -0.1272, -0.0647, 0.9958, 0.4477, 2.2318, 1.6928, -0.59, 0.2497, 0.2844, 0.9947]\nstate[eef_state]: left_x=0.2772 left_y=0.0024 left_z=0.1495 left_yaw=0.0461 left_pitch=-0.2836 left_roll=0.0713 left_gripper=0.9958 right_x=0.4917 right_y=0.1917 right_z=0.0282 right_yaw=0.0292 right_pitch=-0.4892 right_roll=-0.1093 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -2.0718, 6.735, 1.5702, -0.1245, -0.0415, -0.0122, -0.5812, -11.0701, 9.4154, 1.2918, 0.2027, 0.0513, -0.2125]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c15e129876f6001e3b2bcc2048d1e86f521afe22b9463f6d21fada4c5bd1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023b68a0980fdf4f37555bcd0c6f185ab5f0433bf9fbfa48dc548b9d06cf496b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a01a7fe3fd43afb6e9c03e6593b3ac1e5bfc84d8c8778726607360cbe1add5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeYqfsqlV7o6fJd08y4spDGRzWsXKyM6vBDWQG5oSZ-vp_CGFNx-6187Ek6AbtylZ2YBIov3CuU192LNjJ7ot73iVwe2xUFfWrHB1qfOij0-tsvxy8bCGnwCkiWzSkwMcCaA4S8DmePJQEixarSykPqx2gZG-pgu_pBZTFjg59XUPCDdJA2_DaY_Cf4fHUFAEh8qE4GFv2Wv6tRFG2hqba7oP6En-2ljwPzZwcPpAFQucyfGDDpeZzU1WJcyi1N5p0IjGkegTwq7Xqe2cx9J_zzkGFKSsNXtD-b3nDC_uZoU9caY2iK8eIyKF8QiteUkRi0vaAm6SkkqDC_9rLZxuXtYhcPlMeWhp8rHnKADZIHb2JlG6JejEBn8_JF6geWvPoXfoh2PaA0kyfZ4Hj1Ziz9qwEYF45OyowDkPlUIIQZ96zdDdGXnH5OIlZRgAEeXdJcyWjXk74I4UN_DRmsL_nu8k146FQ0wph4WYASTFHZHdl7jMAVjFO5zM9vzgUwbfkC-EIeI91G2Pt2snwkIMG2IjcSF1gkl8YP6srjqjtsg9eLB_X3jipfLKkmSz8TFaP1xq7x17Vo8MIkXdcWyxgNpG6jr2MKElc7bbksYtdWXgsStm9oieqF5TPy1QccGEjVHggHRuv_guA79p9GQ3pHwpkn5WoT4RuIp_8_pFkxGRf_6xvWo3YCXOAW_rZgA7H1OqbvGzFzo7AmgZDwuV2QvoGpReZun3IIplozIS9E2X9Bi3GmwuAL60fq9vQ4Oo5cwdKcZ14qxLyH7-ZXj6-0fQ7TyozJvcWIbQru2IHdugeQbbFkRYIQXYT9V7cBqOFC0h1olH3ps_iCoNMg6P6wC1hsbyzLQtxhA3GRbVPqiIhmrVVKhssGxD_ohF3x_a7VNs2oSPlneKYRjC6YmhvEXDyJGIN7UUVvvUQeMJye4b5jZTTQYZo6DN_vE0bKT5SA9CWNxalZI2gmoqdJ2PMO7hSpI3zXX_tAfhQPYHYLx9hJjvzwOaFx-ZcjrI-I_kXn65DhCVrTtMP-b5y8NK0GVttTuAmIyxV3D4jjkNo41_qPJOFRpp0r1d5-fA9GcvAKLXo7ZPP4MmjiLjK3CKx-hsnjapSHB3V2LiwhaEzYBpied6ls3-o1YZLF-9DbHO_TywwVb50NEpgww_NTPWQozIypUJ7C_zLzeOje_2vD_zGMe18_u-_Pe-_B2-NDZByMc4fyKzjnEvba7HN1GcN71SqeQw4SXY7KEhyAjeVY-fpMRLe893k4_6tachdbcs1zUBn9XaOAxGWFaJTTuonrpg==",
  "id": "rs_00ee5701d177c464016ab4479757a087d0838fb32840ea3f43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"This extension moved the yellow object down to the fingertip level; it is now visibly flanked by both open jaws rather than merely centered in the camera. I’ll close from this properly advanced position.\"}",
  "call_id": "call_OCfU5kujPXxQJcc0SDYuT4Ui",
  "id": "fc_00ee5701d177c464016ab44797a4d887d0aaafb262520923dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OCfU5kujPXxQJcc0SDYuT4Ui",
  "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]: [-0.0856, 0.9497, 0.7521, -0.6899, -0.1272, -0.0647, 0.9958, 0.4454, 2.2387, 1.6958, -0.6125, 0.2462, 0.2798, 0.0116]\nstate[eef_state]: left_x=0.2745 left_y=0.0025 left_z=0.1473 left_yaw=0.0463 left_pitch=-0.2976 left_roll=0.0732 left_gripper=0.9958 right_x=0.4878 right_y=0.1891 right_z=0.0234 right_yaw=0.0269 right_pitch=-0.5148 right_roll=-0.1207 right_gripper=0.0116\nstate[joint_eff]: [-0.3214, -2.0718, 6.7077, 1.536, -0.0904, -0.0708, -0.0171, -0.0752, -13.1897, 6.147, 1.2088, 0.1783, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d631cd6b86f54ab386b520569962974d040333df0a09004ecdd2ac88427d729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1e8b5ae7ef8402acf05e5dc2030ef185ec54ae33b1c1648fcbb6d251f581f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ab00f0095a8d170d3a89df6ffceacca38dd72450308bbc484cfae96515abf9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9497, 0.7521, -0.6533, -0.1272, -0.0643, 0.9958, 0.4778, 2.1529, 1.5177, -0.4519, 0.2722, 0.3267, 0.9945]\nstate[eef_state]: left_x=0.2814 left_y=0.0019 left_z=0.1531 left_yaw=0.0447 left_pitch=-0.2613 left_roll=0.0685 left_gripper=0.9958 right_x=0.4728 right_y=0.1954 right_z=0.0229 right_yaw=0.023 right_pitch=-0.4405 right_roll=-0.0862 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.2222, 6.9402, 1.5751, -0.1343, -0.0366, -0.0171, -0.5949, -10.4, 8.4718, 1.2869, 0.1343, 0.1001, -0.1343]\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]: [-0.0853, 0.9497, 0.7521, -0.6758, -0.1272, -0.0647, 0.9958, 0.4477, 2.2318, 1.6928, -0.59, 0.2497, 0.2844, 0.9947]\nstate[eef_state]: left_x=0.2772 left_y=0.0024 left_z=0.1495 left_yaw=0.0461 left_pitch=-0.2836 left_roll=0.0713 left_gripper=0.9958 right_x=0.4917 right_y=0.1917 right_z=0.0282 right_yaw=0.0292 right_pitch=-0.4892 right_roll=-0.1093 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -2.0718, 6.735, 1.5702, -0.1245, -0.0415, -0.0122, -0.5812, -11.0701, 9.4154, 1.2918, 0.2027, 0.0513, -0.2125]\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]: [-0.0856, 0.9497, 0.7521, -0.6899, -0.1272, -0.0647, 0.9958, 0.4454, 2.2387, 1.6958, -0.6125, 0.2462, 0.2798, 0.0116]\nstate[eef_state]: left_x=0.2745 left_y=0.0025 left_z=0.1473 left_yaw=0.0463 left_pitch=-0.2976 left_roll=0.0732 left_gripper=0.9958 right_x=0.4878 right_y=0.1891 right_z=0.0234 right_yaw=0.0269 right_pitch=-0.5148 right_roll=-0.1207 right_gripper=0.0116\nstate[joint_eff]: [-0.3214, -2.0718, 6.7077, 1.536, -0.0904, -0.0708, -0.0171, -0.0752, -13.1897, 6.147, 1.2088, 0.1783, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d631cd6b86f54ab386b520569962974d040333df0a09004ecdd2ac88427d729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1e8b5ae7ef8402acf05e5dc2030ef185ec54ae33b1c1648fcbb6d251f581f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ab00f0095a8d170d3a89df6ffceacca38dd72450308bbc484cfae96515abf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEecFp5XUnt2XooVXP_fpAetWqAzPXwv9BI_5AHjga5rDq142X6BBmJh12vlw1aOSAisdx22VgfG1KGwsd_Cqkp5OJKClcmaoWR8xbEo-b_wu5gBhjhqijBbL4mEgyzQKCusvOr5zJUpKYa6ejzIJIodfKzpfOL75GswwxeJqS_KxTy57T4lxaGn16tW1w0sZR_YVGYrxLfKfURqkSRP7r4FNQdDdo3nx7U3igh6MbFATuKgqhSHAUF4rAHmn3ZlEHGzSwlJfv-J4w0CpJqFE31ESE2ox077dt4V73xsqImYdqCvImv-uvbLGNM2E4-MEtyaylu78N8Uzg1Ts_KL7WdinqP3FVmslzwXID2aCUjDx4WmG40tLW5d1a78YwA0vWZiX-3l5zevh-SVGSJM-bD7URz70cv3fXwWMwAMWvquEnHi21Hz8pql6at0ZfUC068QD6Fp05EahZTQkda4b0Ic0pzGrhPuGV4SmBPZjmdrWIw_cbIo8INJuH2VudkHrVNL0DnfZJFLRrZD6LGoMSMokHdKjKVKXZbUTBWNMBZyk0JN5zJcC9TOzykd3PBOfLUs2OcnEOz5k_xsjELoIDCbdi8yh5tJbCTq6kvoQ3J12_BSdbXzfHjjj04oOJ7AaVGAYMg7LICw9aGSgDtNBkMjMEEau50sLQaCjD1xlGs0EQFhKyPdoqDJW67x0OSZhKQWVq6Au0CFfmAHyQTMP_mZLwTMC-oSGbqW8tfekEvwTKMJZLb2U9vTNS8g2HOYCimmzweKFfFgsrjlgwMaoYqcRQwSP51OCQ49Hmqu7iY0YIr1v1Wi0NreKJyjIF5TTagFUZPxXUHgZuwUceH7dw450IMTGDM3fiC-fq4U9J7-MMovw2ev5VD_ByVkLZhTNsWRTY_2kbVz-5xXXVOhVnMO6QSgKBBGl85a-K7sackzGipT9V6xHiVK9ryeUhWH8PTIskG-HYNJaGip3LiJL5bBB5mQRnvZIhVvZmog8ucZ4yCCHmii9j77dGsh1yAUXFFMFxAD-YyUW6KYMQCrjOJCPhh8ZKU7zfhL5O5I9K02d6cmdphEHGWdwLmv0_FwYJZVXD1RfeVoKcXVehf4qj4HM2fJSISTQ-IG0jCYYnKyLs5pZtHVOdhvBDe6pqDknkoRMIe9zIdzAQTZNNalSP_t1filGbNusJlL0WaTChf1QOLtRwaz-2P0eKfWPgPIO0ejzSO29GJUGE6B0Z5gpUuZepRGsBDkSwtS8j5bTBiwH-Mg4x_ZY5Ew_hdjfDyhumybBznexrhZw3pRNyuhDSJxp4x0mBv0ImC8OQNb0sa6UDVKXcsO8JDDTj7WmHLjdqzBvIsZgV5JoD9e7n8H-TPXx_qW7uh3bgXE8nvKoy8KsiTVGnr__PWwt7-fRbdogCFf2JuURv4WZFxF-JV-JTYgHOgYJRLlBTvwlvMG9kzIZ6xwjNqEHSSlhHCZaMHrvPLExeWZFbE2okECW7gnbhhVBcsV9yxuQKtkRXa9lgsGLGNisB5uXW6UD34HL5VJwZJKXUqfMJf21EmVx6pEU2HtPP3cEHHGs0hv7NANiSYD40ijdSwhllSDSYVUQrUmaZmzSpgBHibQ3BvVqxAfSIa2xkJU2mVhID1xq5u4uATKzK3vlERwHc3SDRNRb_Wnie-OyQtXkU5_BSgvP_M0ZTxPz0H4Zk9vLNNNARqM9RUrc8eHfQsTOe4gbCXM2LJll39KfPYR85Gx7Usa8ApqFg0yVkm5guE8Z71MuAX7Lr3hZDxA-QWoaq6tFIVI5Ren8eOT97lp6Uj7ePgIfD4b1ofIX0DTqLWYShbfio1WF8nRAHvBXKBwh8UO6nBaMgWSsAX1btGfNbVsGwcJ8ZWKIcMBdv9Bv_KBNBzqW6OByuIG-iXsf1fcRVocKib5ZQw-iyj_MzXQsiwOIYpgBYdpwnUN6XitZTVEhuaO6OOwGVgTW-RrteG89UqSsJtTVlxMOPuDd53mjYC4FiNLul7ZZpUBhA==",
  "id": "rs_00ee5701d177c464016ab4479a606487d086536965cf9e422b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_z\":0.065,\"right_gripper\":1.0},\"note\":\"Although the object is at fingertip range, the empty reading shows the jaws closed below its broad body at the table and pushed past it. I’ll reopen and raise the grasp point to the yellow object’s mid-height while maintaining the same outward position.\"}",
  "call_id": "call_nNjkaAVo23TSO2HHVDE4rgTw",
  "id": "fc_00ee5701d177c464016ab4479be4d087d087a99c6e2b45de9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nNjkaAVo23TSO2HHVDE4rgTw",
  "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]: [-0.0853, 0.9497, 0.7521, -0.6971, -0.1272, -0.0647, 0.9958, 0.4362, 2.2475, 1.8729, -0.8021, 0.2382, 0.2581, 0.9945]\nstate[eef_state]: left_x=0.2731 left_y=0.0028 left_z=0.1462 left_yaw=0.047 left_pitch=-0.3048 left_roll=0.0742 left_gripper=0.9958 right_x=0.4947 right_y=0.1886 right_z=0.061 right_yaw=0.0336 right_pitch=-0.5388 right_roll=-0.134 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.0581, 6.7077, 1.4823, -0.0757, -0.0708, -0.0073, -0.8684, -11.0838, 8.759, 1.2234, 0.1197, 0.149, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc916419bca60005edfca22317d7b9c2cb04d0d33bf3283bb781ca6f667d3b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5a803f7c60fb26a78133625ce47f230891c9ce0cc376d8e60c55d88a39c026",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32edd06d98551b7813650a2d652cdfb4a45953e1028540a3b246065c737fa243",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9497, 0.7521, -0.6609, -0.1272, -0.0647, 0.9958, 0.4767, 2.1536, 1.5181, -0.4629, 0.2722, 0.3214, 0.0119]\nstate[eef_state]: left_x=0.2799 left_y=0.0022 left_z=0.1519 left_yaw=0.0456 left_pitch=-0.2689 left_roll=0.0692 left_gripper=0.9958 right_x=0.4709 right_y=0.1938 right_z=0.0215 right_yaw=0.0227 right_pitch=-0.451 right_roll=-0.0948 right_gripper=0.0119\nstate[joint_eff]: [-0.1573, -1.935, 6.7624, 1.536, -0.1197, -0.0415, -0.0122, -0.0615, -11.9179, 6.2838, 1.1893, 0.1636, 0.0122, 1.0379]\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]: [-0.0856, 0.9497, 0.7521, -0.6899, -0.1272, -0.0647, 0.9958, 0.4454, 2.2387, 1.6958, -0.6125, 0.2462, 0.2798, 0.0116]\nstate[eef_state]: left_x=0.2745 left_y=0.0025 left_z=0.1473 left_yaw=0.0463 left_pitch=-0.2976 left_roll=0.0732 left_gripper=0.9958 right_x=0.4878 right_y=0.1891 right_z=0.0234 right_yaw=0.0269 right_pitch=-0.5148 right_roll=-0.1207 right_gripper=0.0116\nstate[joint_eff]: [-0.3214, -2.0718, 6.7077, 1.536, -0.0904, -0.0708, -0.0171, -0.0752, -13.1897, 6.147, 1.2088, 0.1783, 0.0171, 1.0281]\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]: [-0.0853, 0.9497, 0.7521, -0.6971, -0.1272, -0.0647, 0.9958, 0.4362, 2.2475, 1.8729, -0.8021, 0.2382, 0.2581, 0.9945]\nstate[eef_state]: left_x=0.2731 left_y=0.0028 left_z=0.1462 left_yaw=0.047 left_pitch=-0.3048 left_roll=0.0742 left_gripper=0.9958 right_x=0.4947 right_y=0.1886 right_z=0.061 right_yaw=0.0336 right_pitch=-0.5388 right_roll=-0.134 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.0581, 6.7077, 1.4823, -0.0757, -0.0708, -0.0073, -0.8684, -11.0838, 8.759, 1.2234, 0.1197, 0.149, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc916419bca60005edfca22317d7b9c2cb04d0d33bf3283bb781ca6f667d3b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5a803f7c60fb26a78133625ce47f230891c9ce0cc376d8e60c55d88a39c026",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32edd06d98551b7813650a2d652cdfb4a45953e1028540a3b246065c737fa243",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEehEEmna7s64SuC0bL6vi52UBpo46VbFQgpX6SgE-jr81gJnV2fM76svjrMXFhg4_P6mBPHA6NOx0Fj5iDHmxzGwHAKpsNIpjswA8Z2y9fixSr7XSAoIcz9HMY56A7kn0_nBeuXq-c7r1YHt4CeenrUo_Ov7J9gB2D-kKUFap-uig_cUPIoh1truLUVihzjNhI-hv6sb3ZE5BLkXRpZnnT0fiXFEKtkRAdUSuY_L313emlPr3qW9DPfXd8KkaNLqVyvFCISg-1qmGliUfhHxn3z5fYzwZM4qsAYPSG3sQj7nVKB9ruc0QzqYjAiMlVqiWPhFW9XfRaQ6ga4SfKbvJcSiDp-5HJLuO4HnGm99yz3sTNHu6bCrQIg2J_bYFGhbn_qrjHwDSGhJANQV_n3rY3XJG-80ANqL8wwR4r8nXDHOa6rGif-b_U5F22iLT4GPiaP0i64LiR8H6n-54R8RJ_mmvOs1kaYlvdrgHu9g1IaMDEFL2wUtyCIP3-Aeyd1EpYjASeaXiYyydcj60KtIixwr4DRyzLouvxKiqnfMgU5k05x2riowUPZBAzDC2UD8dl66H-_Tlte-AKhL4MuvEs0bo0e1BVU1v6WYvV8wQ7QXXJdjl7T96KmacfBQvzG_4rKhrXe2sPh_180731RvI2NmrLL4xR5YHh9G2l3vjt_HkqDh74sBjEUKJB5KbRBHGCO2hqOnjYR0jtQZB2KIo1IPxIckckHTzyE1bbiXA7ICwvsKRp-mNpgSTUAYnRY4gL--ryEtgOPhNRRPzDUOvMHSdS5ihoAVm9Z98FrEsrCF4Lfb_EyAck-KpHl-ArG915VoxsVrdGf0lKiSCLe8t5Jey8ZeiFGaFguBMMBfysWzvzpWZIAvmlLR2dIs_WX9ll24Xaw5yMwmmwCeELS_RE-rHjRAvv5y4VcPWGfGP6LI2CgSGmqTv_1JR-_tCgzdYXvn1Ej5WOUQgXWQZ0lCwl7Wif0fDoQ4YpefZSL7TDdCStP1gGXUDb3Mgx7vf_WWUVWJdVDXcc8Xt7pKgReuvZp16-SU1XnkbCfnpNU5dd3bjmoy5XJEYhYjIeGceOfUf2FcBNVJlZinDA1LpceyWFoFreE2BYbfAG3h9jQjY3ItNj0JA1npxQk_GAIG8qSueLdldt672MfnVOhp23VZSJbL0R1IHjAnEiHLzKQHS3OwE88ljhURp_0Et4eVq_pK7Yneh7TQCxc60G4lJ6uPfA1SI8fQd6nTrJyiPqCC58dFqiNwPRrzEBwmBHf5uLACTkaTdLD2bOeExMTX86G7UDA5VAYJ8HxeIdsqjWCrzzle8_ja07WM4_Ajeog_D4xYkjdg91Nx6XPVzkECCbaI9Bb0SdllFRLZW91C_TRgJTzeD7ZzT_em5ZXmSQ3MfrQTpMoccjRrVRqctm8dV5-sDEIoeWLYvIIxiin4t44kp-UumSlCNLCLKr45dZNv1NrKz7uyMKpIWHW2l9stAbBBVHs2fJzFjGGlAnY8wQAbfU-cUVHdQuguCXCUEz6fEgaFP6S8SwnCJceMA4tK6X4O6T97PNY7WTXlPh7-kvHqQ6ouW5xTWp__XJqoyBDui9B3rwXMtvKbU1f2L5SkMednlRRhkk6Qd7CUDZRl8EOLJifuSA=",
  "id": "rs_00ee5701d177c464016ab4479f06e087d0aaaf15e6f48b2ea0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_z\":0.065},\"note\":\"At mid-height the yellow object is centered but still has substantial clear wrist-image space below it, so it remains short of the fingertips. I’ll use the extra reach available above table level to extend another 3 cm before closing.\"}",
  "call_id": "call_Re2Yu16eip91VN35QfVAelk5",
  "id": "fc_00ee5701d177c464016ab447a0149087d09f4c6e44e6016b10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Re2Yu16eip91VN35QfVAelk5",
  "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]: [-0.0853, 0.9535, 0.7521, -0.7097, -0.1272, -0.0647, 0.9958, 0.4229, 2.3455, 2.0518, -0.8932, 0.2264, 0.2379, 0.9953]\nstate[eef_state]: left_x=0.2708 left_y=0.0029 left_z=0.1433 left_yaw=0.0477 left_pitch=-0.3211 left_roll=0.0765 left_gripper=0.9958 right_x=0.5138 right_y=0.1917 right_z=0.0627 right_yaw=0.0414 right_pitch=-0.5539 right_roll=-0.1369 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2906, 6.6803, 1.5018, -0.0659, -0.0611, -0.0073, -1.1009, -12.3692, 8.1846, 0.9304, 0.105, 0.0171, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3873c3880f0be633392f9f035eab3171ca4899729724c1360877365548ca7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9a09594c9a95b4a808388dc7e3c94a1b7e917bcac12fe2ef926a8527438743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18a9ed4c802aa1bab482a87d9097d14f16c84e0f0694dff23898116254f6259",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9497, 0.7521, -0.6758, -0.1272, -0.0647, 0.9958, 0.4477, 2.2318, 1.6928, -0.59, 0.2497, 0.2844, 0.9947]\nstate[eef_state]: left_x=0.2772 left_y=0.0024 left_z=0.1495 left_yaw=0.0461 left_pitch=-0.2836 left_roll=0.0713 left_gripper=0.9958 right_x=0.4917 right_y=0.1917 right_z=0.0282 right_yaw=0.0292 right_pitch=-0.4892 right_roll=-0.1093 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -2.0718, 6.735, 1.5702, -0.1245, -0.0415, -0.0122, -0.5812, -11.0701, 9.4154, 1.2918, 0.2027, 0.0513, -0.2125]\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]: [-0.0853, 0.9497, 0.7521, -0.6971, -0.1272, -0.0647, 0.9958, 0.4362, 2.2475, 1.8729, -0.8021, 0.2382, 0.2581, 0.9945]\nstate[eef_state]: left_x=0.2731 left_y=0.0028 left_z=0.1462 left_yaw=0.047 left_pitch=-0.3048 left_roll=0.0742 left_gripper=0.9958 right_x=0.4947 right_y=0.1886 right_z=0.061 right_yaw=0.0336 right_pitch=-0.5388 right_roll=-0.134 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.0581, 6.7077, 1.4823, -0.0757, -0.0708, -0.0073, -0.8684, -11.0838, 8.759, 1.2234, 0.1197, 0.149, 0.0611]\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]: [-0.0853, 0.9535, 0.7521, -0.7097, -0.1272, -0.0647, 0.9958, 0.4229, 2.3455, 2.0518, -0.8932, 0.2264, 0.2379, 0.9953]\nstate[eef_state]: left_x=0.2708 left_y=0.0029 left_z=0.1433 left_yaw=0.0477 left_pitch=-0.3211 left_roll=0.0765 left_gripper=0.9958 right_x=0.5138 right_y=0.1917 right_z=0.0627 right_yaw=0.0414 right_pitch=-0.5539 right_roll=-0.1369 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2906, 6.6803, 1.5018, -0.0659, -0.0611, -0.0073, -1.1009, -12.3692, 8.1846, 0.9304, 0.105, 0.0171, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3873c3880f0be633392f9f035eab3171ca4899729724c1360877365548ca7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9a09594c9a95b4a808388dc7e3c94a1b7e917bcac12fe2ef926a8527438743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18a9ed4c802aa1bab482a87d9097d14f16c84e0f0694dff23898116254f6259",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEejI6qsSfrrCiUdrTg8ek0npRMzfh7wXoLXa6SlLsWr9_RhvuQ2-rIbZrvG3Y3V8kNT1NdKDX90EXa3zZ6nqKByszrc1fW_RM681l4EOJb6o-9FS1A0bWeCseV4f765VpH_nAhbpkTUcC5z02nQjWfSkcaIkeMpXJpSQbs2cVlAOHXFI26gw89G6mvpYnKQwZthC-pOo2-v8JHPgy9FPDbqnN517TLWbmVOstgNLC56cEH0jH0xSqcJgngMrvPeIHzsjiLJe5DmO5EXBvGQ8WLNxByZXCg1oRoK7lIFn6OrFxlZO7in8jXVrLTUPHAx_PnKqz2Nvmf3qQlzUzNERhN8nDnwpC_G2IdXlyuIcSCiO-74XHnJY_WXK4tIU4AqwtWM4GB458zdHcZz7vfYXi7pdwMA8tTwZ1bSPXg6as4zlsivnmZ_V30mKW5EgYBSOfP8uYvsI9wWZV7_lWwHRJaV__n2mX9bXhepRaHdh8OhPqW5ZpmDfR65Era671PMYuq6hnlFJ9vRg4BRDUMGrQfSEHRdUlpie7TQlqU4v6JmIlbaxeir-sXVAukIfLFSjpPtIrjlPJLzHxQLVXdKuWbVPEY29DAsKLTZfRjsVFggPD94t-2bLUomaTKGnrBoAMV-A8YKc9JiftL-i2Fpklqp4_fgFy7GHE5Lvq0SDMe19r3cQA7uIQAcFM2qaefqO06ppDAcX-_SXVPZ4yKhUsTGA4QdkONC8djNac7-JZUXB5v6Au1P-d_wEgHS-sfXla5uSPz-8p-93sleVbNj27uBkrbb2mIvvDpou7m4kF8ZfSjTvzZGQWWS0rH3GgMJ4Jidx1ldYLc4yQjmxjW-pQkTws7B17DAKMLvzylI3alfw4KxXJS3NlYD1eM9G02QJ1Z3WU7n4CYBE3cSTbdk89Jf0iiW2qdNRFVHs7HyZ2ML28xc8jXqzl3f2FoTPOt-jqSB5TtHwCwBrCV9Wxvb2xWcnkVg7pM-e83nOvhSpC2MkKFKTWU80b_fC7c8agUkLtr6Tu2WQm5H2oOEYPoNaYWWHHojUrzIfUu_kguuvJ78IGrmfkb4nDCoZApoBC4RkSJVQ9jJ0iHvA5lzkdlisjHp7KRNAXpsEII1oDVcAH-lacAbUrAybDQ2Qyw-gkD8MttdcQnGuNznsGgmDDtc2RAhB3AdGf57n5pQEjI5r8oJguXTtUHQDkO_48S6lNIQc3pyQY8goyDdhnP-DFcW8PUT3Js4tnXMlT7DhTjrLCqyAXg=",
  "id": "rs_00ee5701d177c464016ab447a2740c87d0974aa3392c3636c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The added extension brought the yellow object down to the actual fingertip zone while the jaws remain aligned across its width. I’ll close at this mid-body height.\"}",
  "call_id": "call_SyDCzFl0KzfuTQjPzjG3z6JM",
  "id": "fc_00ee5701d177c464016ab447a29b1887d087c3066574cf4d6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SyDCzFl0KzfuTQjPzjG3z6JM",
  "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]: [-0.0853, 0.9539, 0.7521, -0.7197, -0.1272, -0.0647, 0.9958, 0.4225, 2.3657, 2.0537, -0.9112, 0.2234, 0.2348, 0.0118]\nstate[eef_state]: left_x=0.2689 left_y=0.0031 left_z=0.1418 left_yaw=0.0481 left_pitch=-0.3313 left_roll=0.0779 left_gripper=0.9958 right_x=0.5094 right_y=0.19 right_z=0.0511 right_yaw=0.0371 right_pitch=-0.5888 right_roll=-0.1514 right_gripper=0.0118\nstate[joint_eff]: [0.0205, -2.0718, 6.8444, 1.4676, -0.1245, -0.0562, -0.0122, -0.0342, -15.2547, 6.147, 1.0476, 0.1197, -0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8838b4c4f0c67dfb5f51c99e1e07df15552d4c03cb38bd44e6c2d08ec60483b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c9c18e6276ef48cd5bacfb4038bb8260067cc79cf1f5d531bee9d086a9d1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752ff138e005a55cee3dc54420a0ed748688f57661fd9910edff2897e774f9f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9497, 0.7521, -0.6899, -0.1272, -0.0647, 0.9958, 0.4454, 2.2387, 1.6958, -0.6125, 0.2462, 0.2798, 0.0116]\nstate[eef_state]: left_x=0.2745 left_y=0.0025 left_z=0.1473 left_yaw=0.0463 left_pitch=-0.2976 left_roll=0.0732 left_gripper=0.9958 right_x=0.4878 right_y=0.1891 right_z=0.0234 right_yaw=0.0269 right_pitch=-0.5148 right_roll=-0.1207 right_gripper=0.0116\nstate[joint_eff]: [-0.3214, -2.0718, 6.7077, 1.536, -0.0904, -0.0708, -0.0171, -0.0752, -13.1897, 6.147, 1.2088, 0.1783, 0.0171, 1.0281]\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]: [-0.0853, 0.9535, 0.7521, -0.7097, -0.1272, -0.0647, 0.9958, 0.4229, 2.3455, 2.0518, -0.8932, 0.2264, 0.2379, 0.9953]\nstate[eef_state]: left_x=0.2708 left_y=0.0029 left_z=0.1433 left_yaw=0.0477 left_pitch=-0.3211 left_roll=0.0765 left_gripper=0.9958 right_x=0.5138 right_y=0.1917 right_z=0.0627 right_yaw=0.0414 right_pitch=-0.5539 right_roll=-0.1369 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2906, 6.6803, 1.5018, -0.0659, -0.0611, -0.0073, -1.1009, -12.3692, 8.1846, 0.9304, 0.105, 0.0171, 0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9539, 0.7521, -0.7197, -0.1272, -0.0647, 0.9958, 0.4225, 2.3657, 2.0537, -0.9112, 0.2234, 0.2348, 0.0118]\nstate[eef_state]: left_x=0.2689 left_y=0.0031 left_z=0.1418 left_yaw=0.0481 left_pitch=-0.3313 left_roll=0.0779 left_gripper=0.9958 right_x=0.5094 right_y=0.19 right_z=0.0511 right_yaw=0.0371 right_pitch=-0.5888 right_roll=-0.1514 right_gripper=0.0118\nstate[joint_eff]: [0.0205, -2.0718, 6.8444, 1.4676, -0.1245, -0.0562, -0.0122, -0.0342, -15.2547, 6.147, 1.0476, 0.1197, -0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8838b4c4f0c67dfb5f51c99e1e07df15552d4c03cb38bd44e6c2d08ec60483b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c9c18e6276ef48cd5bacfb4038bb8260067cc79cf1f5d531bee9d086a9d1af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752ff138e005a55cee3dc54420a0ed748688f57661fd9910edff2897e774f9f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEepqSDodcLcxxtFR9HBlDhp74A9bZ88hfa7HVHYU3ms0u7ajXomyJoXDhGD3R5cPjQhJROkA7M3ZJJ6FIUBrXg_p7n7cT0_qhMG6etxhi8VYObqrZbZCaus6lHwCb-wfpo7c7EvDbQhamvBTCx5gmLySnZn6FstGmX9QiOnmDJ_Te1eOUgxI_2yKYPJaHVaVKjX7xc3sbijrWvmrqlLFmtbv2F8vni9G8VnLFMk6LzZQd-QDf-UfNt8vG9QURf3BUxoA2vbLtO7JTos4TTxukhtcC4ZSOMsrjlHr4hFCCFtsDjR2dDg8WNNTRnl3dvjOU8QKjUmt_mV6BOXpm-8PvvtJactjs2UZg9KbTmjoA6ewTC9kzWqQP71wKxzS1TqNrPkO_BkkOA3Yba1GnevmTDML4wC0END8aIu3fcDJNl0Dk7rsOYqnR9KNpyknPtnaOrfhVXTy3H0gkZqalFBQpX9h25lG4XpYx5T6V7PdAK7OwfUx7dF5rorhUjjdc1pJKf5GhyJwSaNlZ6ewbTBOCH74n8q6kp0a07unydEHK7tF5mTbTuLxjcLaJaUICWgTZdC6o0yRGjOesfJi6Nqcgsfn22388PPYHKbMe3DXak-HSUouaqkuVnGDac0MqR2i4m_2G95_-VV-YTPlRG5ihLLUVyROcB-yBJII0NM-1yrrJxYQZ6pfC73SgKau4-OYZsVYMgNdGcyH_10VQDsCasrP7N5ZPMGgyLfbKzzLo5vlQRq5gaKYSlQ1W7pWe0K7SVoreHOHui70v8xaGoLduzNbp7lJ6INvzXrezSneWTRjwnYeHidFWD3b7lI39JWHhDJzJjnYiVaVIWSDfmElAsNSK3So8V8X3_e_Xvh7SIga1XTQ3sjFtQ94_VDHFRGeYrUHgbzTh7Pcp_wyNQOpFkLBtm6aeuWiP56M4zGaxeFuwWILpHnSEyultlftnWM_fl5FH71iWUcQ63w6yi7C_CbI7av172Xya_GXjxL-TuLxYZ7s3w6o4oxmiQ8mpEiAXhMyB1TTfTpBAMVAgMwEGfDyBPHWgIsvqbmu2xpMsSF_NV5cpUJh8aq1B8LWSuOPibbO3kR9i05Rhz-iI87S7gfA1877JM8Q_VrexLA1OxCB9AfrrNObxON78XcTUTS5d6rhuaIBpS5weBs-270KI6u0kaAymfUapycf67w6LsAsxS0hxOXltSRkIW38nE7JETjKlUvny0iIUgnek8lt54Xp1SMgZVx2C-bmHbWjQmTe7RVylruBXXuc9qHVwTyYmht3uqDVueka09jMca1arDuomiX9KSuv3h6gUMmvHn4Tfo2AW4jarF1wCSqXJCbFxDOIDi6rQPDkD4gyK6zCgWcRJN1hWi7n2XvNcLqYL-VBtbdkz1QATuik3y2DOkVfGUsYgDgvL6PNBclRmNovdEWx2LfmXW2rOw7pXQT_JS0TP_SXVt0xFhmua8wNsvg--VAjWnhG6tehqm_C55UaSL0VbgLxsjGWH5Nca55babnAL-SRsV07XvkDqqIfJRwpmFUVhdt--eBgcPY9FAXrtGHSA6WN_80t_G6ynT0a93GxCYzcrvyCLvrnQhX6XGqXjyfctIWVNymO7NSgkdmAiL9UxvR_T1ujdqS-4fkqQzGHP-Mq2TpX2ayPSPicVu3zRVoyeS0OY76VSh6WjyBdhZ6UaIuxgFmozHvwG1WfPsM6uAiQEg3-0s7X2rwjTffR3KwOZFTVGVRmRAnt9V0APnvD5ueDc-pMHaeDYnWiloJrZzoSmGAqEW_aXts0X9s_5HUl3uZzmH8WQ659SNucuacS2MN87drkfAHZgk_ceYh5AZX7AYDec95TOLw4p7OtkDzhdG-TcHPg-sseU5pBy8nR2VvNhXIGzG3jsFKYIdiHTC-4e8ajt5ILKBThruKsavQz2Iv4M6xf9yp41VQRLG0MDLRFhpVz_aerfrvRjfXsACFoGyaBCm8TBD80_YjMCPSHIc4gWv6DIWP-ADZj51cC1uyu9G5UmKaNrs_4RkyZ-67xGyFr2BEfpatknnTCozRGRLCrv03cyuraK46rPdQ6Qvxhllb26U9HfUj3oef1K2ITa_WtzmhBKv6F1GbH92YIIxret7Ry5lyfS9N0k6CeE2K2844EZWOYIzK-gCL5aJwI4R6bsPnm0rm5-zubgWDW8lcJAi_QwV0aa8K9z5-f8nAQwWIXo8U4KVkFbv0XdidrNzZZw3qKWDAihQ4woEv",
  "id": "rs_00ee5701d177c464016ab447a5d07887d08b90a71d68d320a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The empty reading and image show the fingertips met just behind the yellow object, pushing it farther forward; the prior camera perspective understated the remaining depth. I’ll reopen and make one larger outward move at mid-height so the object is unmistakably between the fingers.\"}",
  "call_id": "call_TullM8YLUAwXJjG5IOMM9ND0",
  "id": "fc_00ee5701d177c464016ab447a7bb3087d0848f9e45ca915d14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TullM8YLUAwXJjG5IOMM9ND0",
  "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]: [-0.0856, 0.9539, 0.7521, -0.7273, -0.1272, -0.0647, 0.9958, 0.3973, 2.6102, 2.5763, -1.1912, 0.21, 0.1978, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0031 left_z=0.1406 left_yaw=0.0481 left_pitch=-0.3388 left_roll=0.079 left_gripper=0.9958 right_x=0.5446 right_y=0.1925 right_z=0.0691 right_yaw=0.0482 right_pitch=-0.5981 right_roll=-0.1553 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -2.0308, 6.653, 1.4286, -0.1197, -0.0659, -0.0122, -0.6769, -13.7915, 7.8974, 0.9841, 0.1343, 0.0317, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3333e3bd18700560286247a45b02c1889e211625a254ccf98f42e6e15f5a6c79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ba00d9569af329b175cc2276c207b06059e8268213a3756c59246460d546ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f1c5e54b6ed71117216d0f9d3c2a2ed0370292c7975621a73393bcbef362c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9497, 0.7521, -0.6971, -0.1272, -0.0647, 0.9958, 0.4362, 2.2475, 1.8729, -0.8021, 0.2382, 0.2581, 0.9945]\nstate[eef_state]: left_x=0.2731 left_y=0.0028 left_z=0.1462 left_yaw=0.047 left_pitch=-0.3048 left_roll=0.0742 left_gripper=0.9958 right_x=0.4947 right_y=0.1886 right_z=0.061 right_yaw=0.0336 right_pitch=-0.5388 right_roll=-0.134 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.0581, 6.7077, 1.4823, -0.0757, -0.0708, -0.0073, -0.8684, -11.0838, 8.759, 1.2234, 0.1197, 0.149, 0.0611]\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]: [-0.0853, 0.9539, 0.7521, -0.7197, -0.1272, -0.0647, 0.9958, 0.4225, 2.3657, 2.0537, -0.9112, 0.2234, 0.2348, 0.0118]\nstate[eef_state]: left_x=0.2689 left_y=0.0031 left_z=0.1418 left_yaw=0.0481 left_pitch=-0.3313 left_roll=0.0779 left_gripper=0.9958 right_x=0.5094 right_y=0.19 right_z=0.0511 right_yaw=0.0371 right_pitch=-0.5888 right_roll=-0.1514 right_gripper=0.0118\nstate[joint_eff]: [0.0205, -2.0718, 6.8444, 1.4676, -0.1245, -0.0562, -0.0122, -0.0342, -15.2547, 6.147, 1.0476, 0.1197, -0.0171, 1.0476]",
      "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]: [-0.0856, 0.9539, 0.7521, -0.7273, -0.1272, -0.0647, 0.9958, 0.3973, 2.6102, 2.5763, -1.1912, 0.21, 0.1978, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0031 left_z=0.1406 left_yaw=0.0481 left_pitch=-0.3388 left_roll=0.079 left_gripper=0.9958 right_x=0.5446 right_y=0.1925 right_z=0.0691 right_yaw=0.0482 right_pitch=-0.5981 right_roll=-0.1553 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -2.0308, 6.653, 1.4286, -0.1197, -0.0659, -0.0122, -0.6769, -13.7915, 7.8974, 0.9841, 0.1343, 0.0317, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3333e3bd18700560286247a45b02c1889e211625a254ccf98f42e6e15f5a6c79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ba00d9569af329b175cc2276c207b06059e8268213a3756c59246460d546ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f1c5e54b6ed71117216d0f9d3c2a2ed0370292c7975621a73393bcbef362c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEesCv7CrfkO-tvsuW-DVt37yqO-6N0dWtLEeCsecHwXz7GlRXiSq87fP4Yuh43H6xenlQWNXGkH45WH8cCn_KdsgDl0jk6NASDzYTlqVshp4WOCiRyEg-DxzhaeIBejf6vnaYcq0HXZONKywehT178XlR2mUEERivgriI1I8-DPpR9f_lucwftmkSHgiuqt1D8oyeJguFzXwxa6Nl0My3_9kLiqqUtRS9ijdFUXrGf1qoGVQ9Nt0ClauyW7wEgrV5CvEjQYDaYghTyZ5cumQkBhIHiaoCBcSvcd9Q8tOOvi0KbNjQRk6aluFZbg_O8io3ctQZEqUWgRSEj8fnh6-04a042bHY82EvlGFZTu8l_c9iTFwVdL_n9fD-doUjYJNyfa5YS2l_thcHAPSEkgr5bGm4ML6qpDXB8gFVz0NsOukQez4qj1jiNWQ4XzDfa492RmQti7Op0McXaEFS3GBMErzeILd99Zkx03YcVkew1gxVEcQzUhr6nfrxWs9gCbniL0wBBI4fW-r821GHY9FS0chwst53bxZLAwD5Dnquto0LishFFkYXGKy0diZ6Gbl3q2kjbELwaPHadRjxy9KyhiiOHAlJVicfcfD9Q9mTTgTWjtOlD1TbPAdm7Vd2fCjHTz61F4UGZT2ecSaJEbF0acQzs9Az7VSzKk4i_wYIW_uwGQMSUycKMg9i62Kzd3FcF0o3CRrYBwuLX5Xk5iilGXlIDP_oQl1rFZFkz4Ln9wQvYXKEuMj9KyIvNboP5VcvRL7ymeDrmJtbH3p2QXnlRuw-1HAtJd9Syq5b7RdKwZ9mwxTBT-3KgMGVGgvEpUK2k3QPcf4gBd-LfhDH0i9Lv_gaMo5X-feycU6uvRtJ-YwcKwbDUyljqfcAymdOxIClwciwYSqeI_afuXoNu93TsxWQm5XeSuJ5PpR4ukoeg-D-AhxWMpfiveLEq31wYZISSu_d8ABSIdqWUNLNbgpZ-JNy7d4kvbELrKIZOfPRxSM8t7O-xXFHPPEVvvnVDlgasy66mBnOYDa3E7ZvNDQH9ZHxYAlU5tcCUx5N4pPUrRPSTnd6n4mLGaiDmGqTmkvH8KhJdJ7YbTprOvF_bxxsmRv61Mtz3JT1RFn69TVFFbTQQctIrkzM4q28Puxm5xri5QPGR8-Pz7GGSgEGWgVqVxWHZUmcj5CSyRmkZK2-eRRf6LygSyR6GCij-TNnbgm6HMWstZxZ3rpfS4bNEi8fGS51MaB2grlWzgrDSRm2zaX9LiB6aaFGY9R7pbhe9cH6ts",
  "id": "rs_00ee5701d177c464016ab447ab1cfc87d0950e6a245cf381c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The larger extension has finally placed both open fingertips alongside the yellow object, clearly straddling it in the wrist view. I’ll close now.\"}",
  "call_id": "call_SGBIO5ZNa8obShQja7ObGbZ9",
  "id": "fc_00ee5701d177c464016ab447ab534487d0bb64de1b9da7b608",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SGBIO5ZNa8obShQja7ObGbZ9",
  "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]: [-0.0853, 0.9539, 0.7521, -0.7414, -0.1272, -0.0647, 0.9958, 0.3977, 2.6236, 2.5782, -1.2152, 0.2085, 0.1902, 0.0116]\nstate[eef_state]: left_x=0.2646 left_y=0.0035 left_z=0.1386 left_yaw=0.0492 left_pitch=-0.3528 left_roll=0.081 left_gripper=0.9958 right_x=0.5391 right_y=0.1907 right_z=0.0604 right_yaw=0.0465 right_pitch=-0.6326 right_roll=-0.172 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -2.0171, 6.9265, 1.4823, -0.0757, -0.0708, -0.0171, -0.335, -15.7197, 6.1197, 1.0769, 0.105, 0.0757, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7240403000d8593c2b33c263065af69b7489748cf1ec9b5f1106aaf4645fef9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c37656c72c5fb9d1c0694450c5cd2b07c536a537706c9d988cce9f605cede49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64a9d93ae68cf048640f9581875c877cf6968e04934e38223543b3d9bd82fbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9535, 0.7521, -0.7097, -0.1272, -0.0647, 0.9958, 0.4229, 2.3455, 2.0518, -0.8932, 0.2264, 0.2379, 0.9953]\nstate[eef_state]: left_x=0.2708 left_y=0.0029 left_z=0.1433 left_yaw=0.0477 left_pitch=-0.3211 left_roll=0.0765 left_gripper=0.9958 right_x=0.5138 right_y=0.1917 right_z=0.0627 right_yaw=0.0414 right_pitch=-0.5539 right_roll=-0.1369 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2906, 6.6803, 1.5018, -0.0659, -0.0611, -0.0073, -1.1009, -12.3692, 8.1846, 0.9304, 0.105, 0.0171, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9539, 0.7521, -0.7273, -0.1272, -0.0647, 0.9958, 0.3973, 2.6102, 2.5763, -1.1912, 0.21, 0.1978, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0031 left_z=0.1406 left_yaw=0.0481 left_pitch=-0.3388 left_roll=0.079 left_gripper=0.9958 right_x=0.5446 right_y=0.1925 right_z=0.0691 right_yaw=0.0482 right_pitch=-0.5981 right_roll=-0.1553 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -2.0308, 6.653, 1.4286, -0.1197, -0.0659, -0.0122, -0.6769, -13.7915, 7.8974, 0.9841, 0.1343, 0.0317, -0.0952]\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]: [-0.0853, 0.9539, 0.7521, -0.7414, -0.1272, -0.0647, 0.9958, 0.3977, 2.6236, 2.5782, -1.2152, 0.2085, 0.1902, 0.0116]\nstate[eef_state]: left_x=0.2646 left_y=0.0035 left_z=0.1386 left_yaw=0.0492 left_pitch=-0.3528 left_roll=0.081 left_gripper=0.9958 right_x=0.5391 right_y=0.1907 right_z=0.0604 right_yaw=0.0465 right_pitch=-0.6326 right_roll=-0.172 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -2.0171, 6.9265, 1.4823, -0.0757, -0.0708, -0.0171, -0.335, -15.7197, 6.1197, 1.0769, 0.105, 0.0757, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7240403000d8593c2b33c263065af69b7489748cf1ec9b5f1106aaf4645fef9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c37656c72c5fb9d1c0694450c5cd2b07c536a537706c9d988cce9f605cede49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64a9d93ae68cf048640f9581875c877cf6968e04934e38223543b3d9bd82fbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEezUx4oQtttYuUhbfnmP8ZG4-tqbGKn0-eMKSO2kf1vr0bwABHvZFoOnIkgQQGig9mvHnyUZFtcLG3jh7t8BWEPT5lrGxf9OnsywHlTSBAVqfCxqsR5QHj-7n4X10ilyeHi6_60MHNr8gQNBksxn__oF_G1gTb7W9x7f0LPhq7rcnmPPlgdLCElOFRNXJIkWWF7xqu2uaDx1ORo9i2QW_ZCPf3F9oygpZxWbOKBnhAdm-bKzI1WlUeSSpLpM0PBFeKQ_cjV2R5iNi8Hqx_MmIfaIkiEc53dv9eBOC3a7IKsmSSlm4pXhGKmLrpFqeyWYbQP5pj_UNI5te9uRpsiHqztXu5kqeUQsvEmmswBCnMlkAYkx1U3gEqAK3rqVNq4_iqO0VhyGR3GuIvkUE-YI0xdngo_evp5LUxmM9fsnm5GamVQ0cbfsqnBReQAM7X01jxo4Pz0gvM7WP1Wq9Hy_AejBvxqCNAEIycD_WfKYF4BS8Kua5EAXEfx9mt58p7HB6fkHdxuEy1tkxsAAXrsVj2qqRCm7RmZyG7cwgh1xPnVbE5DAjVvs8qiYLWt-7aWdMpfSLvtB_-HeLT-CiXb7TSgDd3_H_uh5gzsSQ0McjJW2mYITLL43fmsUI0uVXP6IkMQRfH8W7jBRLeIDPtZJ9Z-m_x9blCciNmX89K6ZBiH1kGmgTTGmmnvwoHxGyHJGk3ygg6Ly0YDHC0Etbk7llZZM5IEtfpIc6ZcYu2FzBzopIgfZalGFcCeKUa_n5IW8sCkxHwC7bJYBH_ZX5oFs4f5orkFoObvC9bT3oCdABc_gVL-2uUyYEgCVKReGklRKih9Ikt0o0wQNy6F4Gbj3JLbLG6W8okthiOj5xpybdGuiNIA63q-cbJyEKHuFfDncpyQM5gd1fks8ZLRcAxbW_1_ep4w_d9twiORcl_7mMa9ZGM8xX7FEdPo0uf7ITGe8_Xw51WQcFG9pNgrhl8-YhmhA3duxDjZoGWdbnDmW0TSzbSGuvcsiDEmjFizPG_eCaWB45NfBvgq2o9u-5hNQYS5qUjxB8AStdB2cmdlp7mQL_NCAh1YiskTsSsdi8qWvncuJ1m6yJyVWaACL_b_32jgYk4JauOmVDnycdEmLyxKSvInSAEz8IOAqJccJiBqrjhfbxBTwRNIqemWvM0zRJxoLl_Jl97XTIXbxNeXWCswrCBJ0xoUVYoj93vFMXf0rdhQpmK51mkwjCpXB2BuVDVY5cCEDV_cE-s2kCQJ9xa564f-jiiaRWV7b1ciWOgm8dJh6UoUbpxjopLdYj7MTdsXPybT6qIwqpsxHkac6ti8lqcjxKETEDraPEL64UXZZZqLLDyUL0VnH0ux5sWqV0POBhi-CnbnVf5X2lGW96YA47cKPrxX9rXUj-89peUese67qmsZ1RW46GLI9AMztOGgcC2OVTVwCqOy9Mngj6rjavIAvI4GcAdWw4vVWOBvGVr6rMlodeSyrz932ja_z5RjevjzZhICXJmNQzxe1vMtlxFJmhIh9X-6jZWAUEyPgxS7qHPHDQzBrSQQnlqtSxQWTBGQLEk0Lrj9cWflOZY_-WeabcjPmk79yX4nXfmk9yabfzBWF4Lf709rL9jCRjfsQwYiNo2RI9Dh0IbPvuU_DbztKb89ZmkWGs8N2H2EaYDiF4qHsaIhBijG7OOEzp-AYKvxutAht4196jSUnUpQy3dCwm8r2ZrrSU-fyvsACyTqB57Tyb-K63SweP5aXH0Ih1Hub9kKq15-A6D-KPunPMtVm0yw1WiMya3DP7NdlRCfrPY89s2FsOeolXmfteecvxzcaGkfdzgJS1cUUgyMUcybD5C7CnQAefmLGMW4NZ8bxjdNU--oV6KuIezKH0-CZFB0X7jW0LR6EFjCPn_AnJCb79vRwSaoSeNDMtXRznU3LlN2KoOm3nKpxldNB6lMxgEXEW0T0Jr3gSfTV_cL_X0QXRho9svpRPT_Q2gOSWoe6n4D5QTDQy2DhjlmEyVkc6QtU7AjGn98iUm_Du8NxbrNSChbMaN7KwlLY7cWF4PymkjJhMXGFqxVSxNd-_Ta8YtB_LuhZvWNkKFOfO0zhqd8NzqsGMvezwihqw15RwbpMOinD7tRFvgbCc2P00hcWQryIyU11AQR1DG6UG9hArgCYXqXwJ7rrlA2p8iM_jE1KijmB3zcBA0n1q749lRyfPT1kVWO9tyMVSJOlP-5Qvki67-tK3AkxATaxGCceFOjRIlK98E4Clln8STWkuAz_KgZhT4SpTV6wKUui8ctG4GmKciEV6zdTqIw1-jKXpS29ibfJRmICnASCR67AsENoki5C-sMN7DxS4nfuEkF89s5BLlSd07P6DglUfpfU2pQutiaV6Y3YfxBE27dx0eKHYHucAJSk1mGiB1PiDspYkuea3-0iDqv8A6GuhnWvyINr4RKWJ75cww5x3FDwhRvIX0lAz6bSdhOGaXIiU6B0dWpGmzBLJEfqTAl7Fx8wcHFFdbsbd2BjPWMLFpCSfDGlf2EjX2-yqMyfyKGA-VNAMomeof37aamrWWKVDfx34YnkYPDCnoePTWtR1cxNRsy2uJgk2bN3JMTwbEF_FnCkElgw_Vms2NdYbMklZQKimP51fnpICf31UHqq8RIVp0mHPxZGpGX8kIGI2YU3nebkZVHKMDeb9NcUPLF5SqBTUwrGKFxGE6vPF0Qv9IruNQ6q5rD60igdQ8oSUSsSCrRksysMAJiR1A1j9h1TEj-QjWUefbURT4gDd9gcuGVyaQ4vnV4fOKdKOrIqT8g0o6dswKFM8Nwud0LZWvKMM11ZrzL02tP-lf7g9q1nuDQzZraizJKbaF2qZkd5eAqdmJHXI2LcHw82tLlB54kVIa9cJQ1rbLPfi65TEPlXw7mc4jEqbLQvbiPrTGCUmwbuYvfHJllzbIYnU-9cXuPEPpdfDnY3KnjrXB-sYoUrC_knGlFduzqEQ8KjO8cp7dRacaJiGkmJgmYw6Z9W5D6VzQNjvSWd1VN6L_Pkf8yXNjkCL-bOw1HTc-a0INWRKIni_fOIKOWypPv74ntELcipaRik2ug-1y6oBz8QiMN5I1a3OtGIlCjwTdAx8ofIwpeWtEL54h3fcE_h12rfDTYB0MBG8xFJOVRlMudHb1cfatLC5nXw8bre_D3WxLhQCdiP-1Alul-BeBuqIN_mxYf0vtvOyvS",
  "id": "rs_00ee5701d177c464016ab447ae85bc87d0abc82dcc24ade9df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The rounded yellow object again slipped forward as the jaws closed along its short axis. I’ll lift, reopen, and rotate the gripper 90 degrees so the jaws approach along the object’s longer, less eject-prone direction.\"}",
  "call_id": "call_zEuF3cplebl1qNIHTrcgIj5W",
  "id": "fc_00ee5701d177c464016ab447b206c887d092af945e2a51eb5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zEuF3cplebl1qNIHTrcgIj5W",
  "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]: [-0.0853, 0.9554, 0.7521, -0.7483, -0.1272, -0.0643, 0.9958, 0.2474, 2.6415, 2.7071, -1.4055, -0.2459, -1.0409, 0.9949]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1372 left_yaw=0.0493 left_pitch=-0.3612 left_roll=0.0824 left_gripper=0.9958 right_x=0.5193 right_y=0.1792 right_z=0.0797 right_yaw=1.2402 right_pitch=-0.6576 right_roll=-0.1011 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -2.1675, 6.6393, 1.3895, -0.1148, -0.0562, -0.0171, 0.1162, -18.6735, 6.694, 0.7302, -0.3736, -0.2027, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0570a724cb2835f7a07d458879c899f3b24507baa74eb89d0e1a6c86e6f00e97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b93f8b78c15f438bc78e3647c7d5781e5b22a86d934ade5aee084aef00a3c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f706fe06da1b62629fa60eab0505efebda924a5728a7ee3b7d833c688fce97f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9539, 0.7521, -0.7197, -0.1272, -0.0647, 0.9958, 0.4225, 2.3657, 2.0537, -0.9112, 0.2234, 0.2348, 0.0118]\nstate[eef_state]: left_x=0.2689 left_y=0.0031 left_z=0.1418 left_yaw=0.0481 left_pitch=-0.3313 left_roll=0.0779 left_gripper=0.9958 right_x=0.5094 right_y=0.19 right_z=0.0511 right_yaw=0.0371 right_pitch=-0.5888 right_roll=-0.1514 right_gripper=0.0118\nstate[joint_eff]: [0.0205, -2.0718, 6.8444, 1.4676, -0.1245, -0.0562, -0.0122, -0.0342, -15.2547, 6.147, 1.0476, 0.1197, -0.0171, 1.0476]",
      "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]: [-0.0853, 0.9539, 0.7521, -0.7414, -0.1272, -0.0647, 0.9958, 0.3977, 2.6236, 2.5782, -1.2152, 0.2085, 0.1902, 0.0116]\nstate[eef_state]: left_x=0.2646 left_y=0.0035 left_z=0.1386 left_yaw=0.0492 left_pitch=-0.3528 left_roll=0.081 left_gripper=0.9958 right_x=0.5391 right_y=0.1907 right_z=0.0604 right_yaw=0.0465 right_pitch=-0.6326 right_roll=-0.172 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -2.0171, 6.9265, 1.4823, -0.0757, -0.0708, -0.0171, -0.335, -15.7197, 6.1197, 1.0769, 0.105, 0.0757, 1.033]\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]: [-0.0853, 0.9554, 0.7521, -0.7483, -0.1272, -0.0643, 0.9958, 0.2474, 2.6415, 2.7071, -1.4055, -0.2459, -1.0409, 0.9949]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1372 left_yaw=0.0493 left_pitch=-0.3612 left_roll=0.0824 left_gripper=0.9958 right_x=0.5193 right_y=0.1792 right_z=0.0797 right_yaw=1.2402 right_pitch=-0.6576 right_roll=-0.1011 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -2.1675, 6.6393, 1.3895, -0.1148, -0.0562, -0.0171, 0.1162, -18.6735, 6.694, 0.7302, -0.3736, -0.2027, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0570a724cb2835f7a07d458879c899f3b24507baa74eb89d0e1a6c86e6f00e97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b93f8b78c15f438bc78e3647c7d5781e5b22a86d934ade5aee084aef00a3c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f706fe06da1b62629fa60eab0505efebda924a5728a7ee3b7d833c688fce97f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe3KcrnGERpcBQlUq51LI9TN5s9YZsMDDI_qj5q1GnLgSWUmxVGCDmpv0FbA_QCLcB7JzGArNtCEZYSc4RmUnbxSZYJ4nlpe9c75iy7j1li_dNzVItVVk7iBd5UzRwERqkz149dDV-K6tYTdpwRWEXd3p3eDOrcS1tJUc9rIQ9KnqtU7yvYOgcv5aW83CAYF6upCybg4yVh7kN9GtzTbwv9pDjvr4kpem6WZFT1_GVu3o0DoeupZ2kncbKadHlcVhMxz55wxPXu12ITFwlxAMM1lp40y5kviGOfogMdAGRhCNAtgadnyXCxJ40TkTidv8Te40cXXCGgON7iodP_DT5_nxTjWrLdhF5hzzKIZepEV64OUeuenZ2AAppKiBft53SUvybyi8QyokvBLVGQ_VDF1DbmzaY1rDW-DkQTO37egdkcF3wrtpOWhCz74ZSbhRRf3KCcmxF9FvFcIhCHpQVI4ki0LGgY-ltfPaw_iGvWvzUGcF6T1PMGSqSFxbt2-yuTYY_Ov-iN9dI93KFATZhciZkjGNT2F5LvPfkqT9AI5M23YGXJiICw0MRkSYNXIY3h_mBgsD9jOmK7YUeD_CgqkRb8rV0V-1nzeaQyKTMCWm3GZeqCZgMWiyPFUQHEE-0cPl_44xff8yC9BhfjGKiyDuM7kR90nNuBMqR8Z2E3xc7xRBCrSrlrEyclG1Ki1cv5nHqiAjm3iKpUcCdNCHpXvEcxdbVK6XiIKx0TGP2fAapY3uCfc0OHEhy9Q_WB4A6BJMO879Jq_j_3grPYfMFeJ_52FTTaOCt_c28OcxZbGSuGhmQEQJXoJvs-8S3O3FfsGDxb5mwy6oQBwSiADEDpbZBX1SiEjaFffnKrZyia9eOU4H0HDKbWKdPGgza06hYl25RRLscLbN3StGCmJ5gV21X05fIwhHxYGLEfusAOuV5KmFRwPRrAOfyQXNQQTc0_Qq4IsSe8WymrjXT8_oYOyCI4kjJn6XnDpw7o6-ypwAXEX3LKyJm2_BnmdoH18ugP03srW88_K3XbEpaeqgdKIK-NJrsYAIEfU7ODJklC7Yrn07cFysK3vK3Ks3EdAre85UwLQ1vhr5x4IPwgoa0O7s9cMyjtPEvUadR28s24Zf9vb7qR8ZBZQwf3jktusMiUQbca6nrCde1QWDxumeCDc_gzv1abGInb34OJroJhui-fYlysqEgteeBHC477y8PgiUpLXmr4TmMdAVDHYTyQ7NLI_8Oek47adqPSZM5TayHm2u72SJHLfE4IqWEuIqcrecsDZQtAPyVrZXy-mc6TtrPIOuGyjfeYAwcs1kkc32NXK4g5-ScKdn15Qw3XCN8VPR2JheaAVr6Me3rjhcqht1x6SS8MIaOlNLnwNM0lEANMkqHrbAVfU_Sao91NtxNk0UcGu0qAMLFo1KnCgAaE2NMVWRoQ0pggPdauVecI6g9PUwN00efGB5G_andqpRhixMswVt_kiqrpe2ENaTZKTmqzcqgdBF41ak-eqwiJ8_UMPV09W4SUR-Mc1ie-UnuHhhsfRbD1xQjs6pOFOgN7ZSuar8DYah5-Nwj-0JscqYQbnMOY37Pi_YA_wkR2ZvxHiIqZU_3PkNZJAq6PLtrX71APWtDGewx36-NsqjjQoS62-OLT8oEbzUChTNk-XWEwDQlxFc7LfN3G4oSUfDBxcO7aVSFN7QrchMqyjBMKE6teJ4l8w35JOTONR1RerwXw6XBqMlEoMAa_8HVhd7spGS1EzP8cNjUOwy0ImmkH_Yw=",
  "id": "rs_00ee5701d177c464016ab447b5438487d08a50ba4dbb5d1053",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"With the rotated gripper, the yellow object sits centrally between the two finger tips at mid-height. I’ll close only to a moderate gap first, preventing a forceful full-close from squirting the rounded object away.\"}",
  "call_id": "call_ZfW9C0UegQZIy9zk3VlYZmPr",
  "id": "fc_00ee5701d177c464016ab447b6348087d0ab9cbc52de117d4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZfW9C0UegQZIy9zk3VlYZmPr",
  "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]: [-0.0856, 0.9558, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2672, -1.0996, 0.4044]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.137 left_yaw=0.0492 left_pitch=-0.3623 left_roll=0.0824 left_gripper=0.9958 right_x=0.5184 right_y=0.1832 right_z=0.089 right_yaw=1.2843 right_pitch=-0.6351 right_roll=-0.1292 right_gripper=0.4044\nstate[joint_eff]: [-0.0752, -2.0581, 6.6393, 1.3016, -0.1343, -0.0562, -0.0171, -0.0068, -17.7709, 6.694, 0.7204, -0.2808, -0.0415, 0.0269]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea3a5acca3d71a0d4ccc2fb7790e575877c92eb918b5ab380e626d786cfda07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ad78d6d630c1d739b8c834242659f1e94ee9eb940a1417fa9bd453c258221e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaabb3c97ea9c855f5c6438c20c98f8c62249fb664c0bb6057f44a8abe8c50c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9539, 0.7521, -0.7273, -0.1272, -0.0647, 0.9958, 0.3973, 2.6102, 2.5763, -1.1912, 0.21, 0.1978, 0.9945]\nstate[eef_state]: left_x=0.2674 left_y=0.0031 left_z=0.1406 left_yaw=0.0481 left_pitch=-0.3388 left_roll=0.079 left_gripper=0.9958 right_x=0.5446 right_y=0.1925 right_z=0.0691 right_yaw=0.0482 right_pitch=-0.5981 right_roll=-0.1553 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -2.0308, 6.653, 1.4286, -0.1197, -0.0659, -0.0122, -0.6769, -13.7915, 7.8974, 0.9841, 0.1343, 0.0317, -0.0952]\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]: [-0.0853, 0.9554, 0.7521, -0.7483, -0.1272, -0.0643, 0.9958, 0.2474, 2.6415, 2.7071, -1.4055, -0.2459, -1.0409, 0.9949]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1372 left_yaw=0.0493 left_pitch=-0.3612 left_roll=0.0824 left_gripper=0.9958 right_x=0.5193 right_y=0.1792 right_z=0.0797 right_yaw=1.2402 right_pitch=-0.6576 right_roll=-0.1011 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -2.1675, 6.6393, 1.3895, -0.1148, -0.0562, -0.0171, 0.1162, -18.6735, 6.694, 0.7302, -0.3736, -0.2027, -0.232]\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]: [-0.0856, 0.9558, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2672, -1.0996, 0.4044]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.137 left_yaw=0.0492 left_pitch=-0.3623 left_roll=0.0824 left_gripper=0.9958 right_x=0.5184 right_y=0.1832 right_z=0.089 right_yaw=1.2843 right_pitch=-0.6351 right_roll=-0.1292 right_gripper=0.4044\nstate[joint_eff]: [-0.0752, -2.0581, 6.6393, 1.3016, -0.1343, -0.0562, -0.0171, -0.0068, -17.7709, 6.694, 0.7204, -0.2808, -0.0415, 0.0269]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea3a5acca3d71a0d4ccc2fb7790e575877c92eb918b5ab380e626d786cfda07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ad78d6d630c1d739b8c834242659f1e94ee9eb940a1417fa9bd453c258221e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaabb3c97ea9c855f5c6438c20c98f8c62249fb664c0bb6057f44a8abe8c50c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe59kvg8Sg-NFqHGeyqZ3CHtWdIZTp2ZRWMTrQO0iAppR3YyPEjV0-X72KBSMI41_mQKD7eha1b6JVKkwZCZNOS38Dyn_FRUHgcIc4vlW4wgZke-kf55lzo6rvQ9jbIDnJd-UhduFb2bMP_SOMiQuTCSQa8K3BiaqrpTtmhoF5bRDDI1rhiLvKDPPasRaDYUdSrY8lsa8bhb0FlN-3DsOPQbRbzSIxJwJ-QaPKBdB7Hy_F1LydD8ZEf-bnhIgsCCcvSGZExgekFsTVQrrxOd_m1KkCsEv20A_A-xC5bvlfp8QKQ4HaxT4nBT_66LGn3yqn9zPBr42_ZDmuXru0QPZkgb7DTnNo2oK-fki2oVOdbIEC7wHD5JyFNPySqgniEzPqtyckaVEGBqYBAn5hZrwPFOnercq24a0wcyCr4nLM0-BiiqGOZfaGI74Fi_p91usY7rJ1UZq4fE8J8Ulnn3dOd3ilbDT9VOmVPxkl15lNJ2wwXMbic8ABSBftWnJOT2YnFy-xtqHsE7ZoYGvpsJ_myqciJi99-ccSDpLP3_JO02Sg8pC5rKvQobrAuX1FNOtSTXs0ZTpi-tgo7ejlO3uHbKDY-EPhbT1hBcXkeas2HHTgYf7jxhJmoWUbWnUHnM8Ss2IHOqu0meQKXGzEApYHFBm_-JYOKKs8S0_h8-EBdhUWDtOCeF5y-HyrpiLzXS0qmR8M4_M-ieQMjijLaf7ZPpliHq1ke81qZctDJJBjrEOBMDVQPX4Bx8ab8LpACT5tZp_hwjXJKn3O-Gxhphftt9s9RWy20C7NeS_ww1lSrxv97R35bozyGH8KXCT8asL97Vjrt-O3-g-YLhBC7Ah0dAFBL3tecup69aeSAzL_rJi556q2-Mkq_cp5ClZHeYqbmng-Eqt9J9NyMLjSHY7n88dbcgbWb48U8rcdh6firlNai_Alff_EDmd9JgO8iY78UcfwnieTC3jrfBBeTfkzk0BH5aUgamXyvuQdEXjbqYMXkvdT3ObPxm5YBOx-E9rJlKHreeVBB2AggfI-pVpeCLfjoSLqFZF9Lp0qM4kePP67gTFZfb8d4BkK17HxKdj3z97LfL5NpYHO4uDTchdgGBqQIHXGNviJPQFYFKLDVh2uFMdFZywQc54-XQoD5bkh00HqPNyH1BaeomxaoIhL-Wg7jYeDfXJd651e4_YjJ8Fqo-sRxRWeze0VhbxRx5A2ViugZotpBA3xOkdt9JLAQ95X6kIglirdV2JTuzxSHzlA5YvDb89SXxbgK07nP1d3oH2OnFp6WZ0Ik8IYMFv9ZnJrhqrTk0H6uN3YKAUZy57kc5utRTwWZj0vqSXyinO3s3wCVeTH85PaDypAtvva_-WSV7lOpoj0QwxJBzwVSsqQ=",
  "id": "rs_00ee5701d177c464016ab447b8cb1c87d0b0fc7c8a932f89fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The partial close has narrowed the jaws around the yellow object without displacing it, but a small gap remains on both sides. I’ll tighten incrementally to a roughly 2.7 cm commanded gap.\"}",
  "call_id": "call_BTXqoZ3qHPtDhVO6AGhKEWOQ",
  "id": "fc_00ee5701d177c464016ab447b9342087d0845a4d35f0783b77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BTXqoZ3qHPtDhVO6AGhKEWOQ",
  "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]: [-0.0853, 0.9558, 0.7521, -0.749, -0.1272, -0.0643, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2668, -1.0996, 0.2844]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.137 left_yaw=0.0494 left_pitch=-0.3623 left_roll=0.0826 left_gripper=0.9958 right_x=0.5185 right_y=0.1831 right_z=0.089 right_yaw=1.2841 right_pitch=-0.6354 right_roll=-0.1294 right_gripper=0.2844\nstate[joint_eff]: [-0.1026, -1.9761, 6.6256, 1.2918, -0.1099, -0.0366, -0.0122, -0.0752, -17.7162, 6.5436, 0.7106, -0.3101, -0.022, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32ef5a8faecfc0ae3631b994bd5b366c7fcc90b6962286fe1492a44674b755c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c46383717bb27a4b5832a098aac34241a2613fb1a33c6823131bba787bd0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedb5a16206dcf12868560bbf1cae12d60791e2714ef6526c1ff0367155a1152",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9539, 0.7521, -0.7414, -0.1272, -0.0647, 0.9958, 0.3977, 2.6236, 2.5782, -1.2152, 0.2085, 0.1902, 0.0116]\nstate[eef_state]: left_x=0.2646 left_y=0.0035 left_z=0.1386 left_yaw=0.0492 left_pitch=-0.3528 left_roll=0.081 left_gripper=0.9958 right_x=0.5391 right_y=0.1907 right_z=0.0604 right_yaw=0.0465 right_pitch=-0.6326 right_roll=-0.172 right_gripper=0.0116\nstate[joint_eff]: [-0.1573, -2.0171, 6.9265, 1.4823, -0.0757, -0.0708, -0.0171, -0.335, -15.7197, 6.1197, 1.0769, 0.105, 0.0757, 1.033]\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]: [-0.0856, 0.9558, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2672, -1.0996, 0.4044]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.137 left_yaw=0.0492 left_pitch=-0.3623 left_roll=0.0824 left_gripper=0.9958 right_x=0.5184 right_y=0.1832 right_z=0.089 right_yaw=1.2843 right_pitch=-0.6351 right_roll=-0.1292 right_gripper=0.4044\nstate[joint_eff]: [-0.0752, -2.0581, 6.6393, 1.3016, -0.1343, -0.0562, -0.0171, -0.0068, -17.7709, 6.694, 0.7204, -0.2808, -0.0415, 0.0269]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9558, 0.7521, -0.749, -0.1272, -0.0643, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2668, -1.0996, 0.2844]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.137 left_yaw=0.0494 left_pitch=-0.3623 left_roll=0.0826 left_gripper=0.9958 right_x=0.5185 right_y=0.1831 right_z=0.089 right_yaw=1.2841 right_pitch=-0.6354 right_roll=-0.1294 right_gripper=0.2844\nstate[joint_eff]: [-0.1026, -1.9761, 6.6256, 1.2918, -0.1099, -0.0366, -0.0122, -0.0752, -17.7162, 6.5436, 0.7106, -0.3101, -0.022, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32ef5a8faecfc0ae3631b994bd5b366c7fcc90b6962286fe1492a44674b755c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c46383717bb27a4b5832a098aac34241a2613fb1a33c6823131bba787bd0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedb5a16206dcf12868560bbf1cae12d60791e2714ef6526c1ff0367155a1152",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
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  "id": "rs_00ee5701d177c464016ab447bb253c87d08d35d9bc71120c9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.18},\"note\":\"At 0.28 the fingertip edges visibly contact both sides of the yellow object and the gripper effort has begun to rise slightly. I’ll test this gentle pinch by lifting and retracting; the overhead view will show whether the object follows.\"}",
  "call_id": "call_qHm6AJWvDIkDSDvhZ8CeBYmo",
  "id": "fc_00ee5701d177c464016ab447bc572887d09a12d81fc579bb7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qHm6AJWvDIkDSDvhZ8CeBYmo",
  "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]: [-0.0853, 0.9577, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2546, 2.5046, 2.7205, -1.5433, -0.2745, -1.092, 0.2836]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1366 left_yaw=0.0497 left_pitch=-0.3642 left_roll=0.0826 left_gripper=0.9958 right_x=0.4868 right_y=0.1799 right_z=0.1472 right_yaw=1.2922 right_pitch=-0.6303 right_roll=-0.1178 right_gripper=0.2836\nstate[joint_eff]: [0.0068, -1.9624, 6.8581, 1.3553, -0.1148, -0.0611, -0.0073, 0.2667, -16.9504, 5.2581, 0.862, -0.3736, 0.0562, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc808814773acf9af8f612af5e0206590ef0175a3a77f1e5478b696dc4f1f0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ec44230678709d616899b27f3679959945cff0765921479838a1542592da57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6456d08b3d7e44aad7ce13f4ae9dca720eefefbc502c93ef3fc762ad0ace5a1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9554, 0.7521, -0.7483, -0.1272, -0.0643, 0.9958, 0.2474, 2.6415, 2.7071, -1.4055, -0.2459, -1.0409, 0.9949]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1372 left_yaw=0.0493 left_pitch=-0.3612 left_roll=0.0824 left_gripper=0.9958 right_x=0.5193 right_y=0.1792 right_z=0.0797 right_yaw=1.2402 right_pitch=-0.6576 right_roll=-0.1011 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -2.1675, 6.6393, 1.3895, -0.1148, -0.0562, -0.0171, 0.1162, -18.6735, 6.694, 0.7302, -0.3736, -0.2027, -0.232]\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]: [-0.0853, 0.9558, 0.7521, -0.749, -0.1272, -0.0643, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2668, -1.0996, 0.2844]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.137 left_yaw=0.0494 left_pitch=-0.3623 left_roll=0.0826 left_gripper=0.9958 right_x=0.5185 right_y=0.1831 right_z=0.089 right_yaw=1.2841 right_pitch=-0.6354 right_roll=-0.1294 right_gripper=0.2844\nstate[joint_eff]: [-0.1026, -1.9761, 6.6256, 1.2918, -0.1099, -0.0366, -0.0122, -0.0752, -17.7162, 6.5436, 0.7106, -0.3101, -0.022, 0.1294]",
      "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]: [-0.0853, 0.9577, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2546, 2.5046, 2.7205, -1.5433, -0.2745, -1.092, 0.2836]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1366 left_yaw=0.0497 left_pitch=-0.3642 left_roll=0.0826 left_gripper=0.9958 right_x=0.4868 right_y=0.1799 right_z=0.1472 right_yaw=1.2922 right_pitch=-0.6303 right_roll=-0.1178 right_gripper=0.2836\nstate[joint_eff]: [0.0068, -1.9624, 6.8581, 1.3553, -0.1148, -0.0611, -0.0073, 0.2667, -16.9504, 5.2581, 0.862, -0.3736, 0.0562, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc808814773acf9af8f612af5e0206590ef0175a3a77f1e5478b696dc4f1f0c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ec44230678709d616899b27f3679959945cff0765921479838a1542592da57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6456d08b3d7e44aad7ce13f4ae9dca720eefefbc502c93ef3fc762ad0ace5a1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfF0KPEOybBsl46hNHlo9EA0cwSsGvCFi105mlkvskfpyJYSSKEKOP1NOg2SvDX4mAaK8hxTbHF-b6wvfXM26xKOnpwLiJNV-z4mMEok7QX-y2M08_GvGV8cztRbnuIpOcliorf65iALpntpfak6idAvTiG6-F52ALXaXq5zLmtQkOK6LMhbWdm0_yxW99uGT_YIHArri7xOtk-92CGuyB0E4SvKKNw_EQyrAkZkzTdnBbHBqBX3AohhIgg2ISFItwYnegGQOItjRGXIJvmOJrj--fn_Vi7bYAcLITup4tkkyKS2wvRatSNVFamPw9BPTMzETtfb-GEAaMU8hfjHBZMQMRaioGgE7TffPSkrc89mw2eCyvCbXrGgwRJbkBdWS-JMg6VlHGAkYgO78nqrErAy6Jo7u_-UDBCFBzhHk2_X5TW5fBOBAbNLpDVy8lTmSVgySXOiaNJ_v6S5MTUV4AFDoT9Bqr3mPjEmecdI1yQU1rWaaEyPUktaYqPK3yNlrDetdZ84q5QMscFAVkm9coEmbEckQTJjUDnqt6RxRWBCFqcY3CXfZExjwqxPLQC5r2hrSIMgGtMUgqslb5vmpCcOGOSMlYwSWRxh76xeWh_rvoa3-uHFnpv-zxibeq8t7_wS64gnjI76cqolBl5AqtYWlnuCZOGBttEdTyYEu9uea02lKl0jNcitNs4ggwMmUA_ez0tyUGImLs9R081g7QT97hR__n75KccgNwqA3VI8s4CkYewdf5h2LR1TV4pfC-dK-dVgzda6QqoCYKkZWL1Z9w-mgiY-0mryxutFH8cuL3ab_96cf5r9t29VX0WYRYwftJR8T_Bg7Bnt20vH5UTsYlzf7lxTkPNLc7yA4XmhHxSMUmPHAGGh_kZl2iVRT8Ja7wYU1xPT18mRIyiD2D2sGM5PEEe0I77ejmwkWZQ13LlQUz4b3x9rdJBFpqRQe4vWvT5WIB1j6MA7HZdaYa6XDOzt-mmQhk9QFQ0Jz-eDH4_X4IyU8tFJAA9q89JVlRgUpIm4qxWczPQmLvM-v-t19JJNoLu1MicOJGS0y-HXGdqnr4xhV1yUVikvJF_yLWbZYkVOzR06cj_EJPL9yM2SYzJNYSrBr9hsHsJ-clOwr-c2c6Dfb8RRZcBFRVFVFPnTpBzDZUimtGbjqn0ueTMSn-X26xOq1ivEJ6dG3e79PlK_rqFengX54gUXrGY8iZ-F8rqjiWDZwUg5rw2iIXwwdhLg8C5cHQVVti1dBuSBGmjaT4ajYcW3PvZsSPcXxMO-9frFLP3pllUgyNvZ7Fn6hYRQbNwjdQ2pC2jeZusX-P-uw3K4cONFexzt5IQZTU4-tt6JD7_ZVCcM6LcO71jAGzj7LDXk_CwI1Mb39TjoO24xtNoCuSUpilpXUZBvSxz0XlP_m6JakQONibSfQHnNELOx639ouPV1v3pcnwg-P1iFOjkb07ZiHfsRnpMd_kn5LLrngESQrJ3XlErEc6d4HERAM10CeML8q4e5PhUmNue4ea3seWUEj30P1BYvQ2uk89jaeUqh8Ffe4BQhej1K8OCR2EuhEcfvBgY_3z6Rmrkd6ePPzSCUPtaLRcIdx65offUsp4JjyWvo9hJ8dIQSEnNwlAuTn_1aK0mJpl7OLteh-VcHORKTXmoG9xMkNub68-XXuSvaN9iHjqXqPjbYYTiNf4J41Ch4CZy5PLvZTnopFTLyR6gxENzLmOAE6M2RAszv556naUphcS71i4SelqLNqtm7jr2Ffsa8p2ns9JL0r3ZR9lh-5ob97NYS7PALURzszW_pAShI_tDgwWgBGCpbzA50cxOiSkx0tAbLVRmqlrosew0WXfjnvhR1jSMDNggCHGpwP0CKF08unlEGy-_LanbPBYM0OvrpwEEOeGfgj6n9-xjBkb2uuNMnBxgZpDSGT_eNEJHYMn9aX9u6S-E61E79_GKDELqjkyogsBGSbl8w3yceA6JbCkSOd7DjXpYyPGCnI14qnoe1hm0PBjZrAiB6QSEFQr9QxG4FRd_CnIOqZxhrWdybokfouOUzJQT_niFeW_tiN9lKIu7w1rH2TAuPz6wGcOcotj4gkm-TOA5Xikw3kWu1CnOe1drq_l-iuwAHZ4T8VswlVImDiJsSVSiWkGQ8WkqLt4NNdGzCt6qrOeowUTkjQiSwPsN_PolG1cOJB_mZIznJSdVQqry5k11mg_oFua_Jb_ueY_duu1qxZUeY63-PT6TaHf7pZEu1yDekgUFTFmzkb3dH-o888-AFBA_0OSiIlM2kdAeIMl4gwpXb0bb7Gx6AEgYmM6ef-vHETOh5ci_fOUgRn2avqitJdMC4VxHwk1Q1od08PtT0QJnt5kmKkzXD0R2cqXej6k5C8apGxVebUOMj3s4Cjk-pb6sRmnLxgUHo4-Y_vUqvpexvzeq8TLxK8GtizW0cdBpFAFFoI-bTJXqnz5aKNCdBr4H7I61NpM3pEnLqXX4gfBP9e1F8RIk4yzBYsh_lzBeiENXV-qTQQs0y7QSkLbCDIh1F5mGA0ZnibisvL21NXKLA32OJraSUhEqjKLMJZtGjtO1Cse422egkyXF8BRNt-L49QidNnAm8uRv-08bdoh4GLrn5j5ENC8rrWiHeXPN9kGlpBQpK3ZZoou86i7sSKP8DuCBNNwnrjZataGtr2q-ZFLC1LxB91mezWiVqJ0Ffsb_05c2-V0jeqe2RwLnYMRvQvn8iyYcNcAVKYpXnYsYwqEmEsSAM0WTP2tcGxji6dI139qg2VzvmFlNP9fWXfNJ9LOBoTQmyjOAmY94vd-HCbtH1ARqw_j6l6Xb-Kjy9jxb_N_5_EuVMi4evmqkQ6IrT1jwHSkSoiKJfe1USORrqSy78jBJL7srm7DRjF7CZVLE1mEUvw5o4riPT7FhM1Bjwfur8Pv6zmHzJMx8UZyufXzd_2-hn7z92C5ZDDu6rTzXK-qCJB4IK7J2FRSC4Wnd8xchLf3MaNQckgl_NHY5qfU9pnKA12HMuqYM_CJ08ejts4JrxwM3D8hQmDtyAWeKYagbIMLt6XV4sgqpnoMdCslntTV2KJuEx8_1ITGLomNYjihA4Un-lov-i_-2fM3BQHae8JHr_INgGATmx5LlWA7uHuRvgRWSpcomV9wA35d-DLGHHuZPOCrLKjDLBQMP4A1qGw6x0lIe0X0GlgX5znaMo-qdfD72CX5GqUjGGfF8On84N5EsHNyWyClPkjN6xFYJpw8OVt5fk8x8c6vdkqg9QtqKWn5T-z4aQqbWTpuAXNdNRa6caI65MkoN81GH6R0LmCwm47T0WkW5WPp13x9QuROJNtFaBFJlIYH9Uw-XNb1mgFqQPmDGaIdpeEXAV_B3irYTUC6nRi5VE_IdIHKTYE85P5jdbSPBf4YpT6s47-beLp_FjqMPL8y8s7Gujt95766IQI6ZSovFej-F53c_MkG_T05qWc4sER4EGo1rp4tkUCdZ68nZRg5mZrReywLdce2eq7zjgYSGK2spqT-M6VHgmY7SW9a7OiYLHM91hqQuRh2J7IdN21QrgI-bPIdxEKFekvMH88YOMgkZfs_AoC5tDWdqkRiGm7LP9a6Twzm8tJAUemGx_tAxTro7cgubJZWb-SlvY4OZU_h-wyH6mOn0Ayqm5yQuT31fmJWBXYPyUCYHs6soc4Yu9vom-03o-4OcCcO4oempyGYqf1KAdR6wjG440YrfkVSa_Zw7L9t5X8eLkA==",
  "id": "rs_00ee5701d177c464016ab447bef1a887d0a9a08639332d37f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_z\":0.085,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The test lift showed the yellow object stayed on the table, so the apparent pinch was still just behind it. I’ll exploit the arm’s remaining high-level reach and move substantially farther forward with the rotated, open gripper for a final true straddle.\"}",
  "call_id": "call_oct4SIAMn92YPfZwH6mc3o0Z",
  "id": "fc_00ee5701d177c464016ab447c4189087d08ca31c7002b4d925",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oct4SIAMn92YPfZwH6mc3o0Z",
  "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]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.2558, 2.458, 2.711, -1.5742, -0.2749, -1.0885, 0.9948]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4766 right_y=0.1779 right_z=0.1656 right_yaw=1.2874 right_pitch=-0.6266 right_roll=-0.1225 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.2632, 6.694, 1.3504, -0.1245, -0.0513, -0.0122, 0.0205, -14.6256, 5.5453, 0.7204, -0.398, 0.0855, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf11ab5d8c283e25b11b546881676c9cead67fccee65eb641830dbcfa41dde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3272758226b9261f4110e248fb398fe14bbeee1648c66c776a183c73ac31dc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7146182901463715777d75133657ea2fa9f2428b3d0ae5803b98a28b836d01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9558, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2672, -1.0996, 0.4044]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.137 left_yaw=0.0492 left_pitch=-0.3623 left_roll=0.0824 left_gripper=0.9958 right_x=0.5184 right_y=0.1832 right_z=0.089 right_yaw=1.2843 right_pitch=-0.6351 right_roll=-0.1292 right_gripper=0.4044\nstate[joint_eff]: [-0.0752, -2.0581, 6.6393, 1.3016, -0.1343, -0.0562, -0.0171, -0.0068, -17.7709, 6.694, 0.7204, -0.2808, -0.0415, 0.0269]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9577, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2546, 2.5046, 2.7205, -1.5433, -0.2745, -1.092, 0.2836]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1366 left_yaw=0.0497 left_pitch=-0.3642 left_roll=0.0826 left_gripper=0.9958 right_x=0.4868 right_y=0.1799 right_z=0.1472 right_yaw=1.2922 right_pitch=-0.6303 right_roll=-0.1178 right_gripper=0.2836\nstate[joint_eff]: [0.0068, -1.9624, 6.8581, 1.3553, -0.1148, -0.0611, -0.0073, 0.2667, -16.9504, 5.2581, 0.862, -0.3736, 0.0562, -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]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.2558, 2.458, 2.711, -1.5742, -0.2749, -1.0885, 0.9948]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4766 right_y=0.1779 right_z=0.1656 right_yaw=1.2874 right_pitch=-0.6266 right_roll=-0.1225 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.2632, 6.694, 1.3504, -0.1245, -0.0513, -0.0122, 0.0205, -14.6256, 5.5453, 0.7204, -0.398, 0.0855, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf11ab5d8c283e25b11b546881676c9cead67fccee65eb641830dbcfa41dde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3272758226b9261f4110e248fb398fe14bbeee1648c66c776a183c73ac31dc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7146182901463715777d75133657ea2fa9f2428b3d0ae5803b98a28b836d01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfKhORAzwPMcghFayscAznhwpZcfg2pTQfEHQhXXXVC6HEotmHzNBwYDLNKV_KP4yeqV72g9YrnFqoZiQrzBv3dU60kmO1PeiWYm3bqpzXc5S3fkHbCB0SM1MwQRNpGHe8Hj_DsEGDJp9VXgSG7Sn8oJp4CRKeRdzZMyb-_6i3hJRGP7VswgS-mvx6atBfuuCWCpthVSHj4hcnYwU0psTFpjAU8xIkV8gGxCZYH1oOQDtOShEdf36YrYuj3NhvmXOZoChXv6_zseYRs9G5olIGmxvHJrm1OZDJA2FqnRSVKiZ7zZzpqdI8xKJiWhxMwzThakRoF-NGRRqLME83wb7b5Yqovb13uw1bi0-lziTmxvRemUJmk3mXu8nLndqANSuzk-vFWO9w8A0YB9HfWdrRvwR67SjPKoo74C7j6BePQd1vGQhxYpG7LGII3J23uqMjVQ6ib3TNwh_lF65VQztb29Z649NnsTLZrYPM-v3mduBkR3sBAKvCP5hU1K1TJDLVlb8v5CCnen_6wsNVLw8Q2LBUS-av40MVaY5yxMwW4Mm3R91pY4y4YOiZIYJAfe87AwbBT86WbTb6LR3UHemXZvrQb6dJSMNr-wRtnKF8LWJn9lwwZFW10AYozjWsFftp6g53ZhDF1Mqg08IHPAyDMwjKhnf3ywFwiEaPBZen5HigNpZLp-D9VFUdYI8E5-_4ZjkBH83NjPxbp0Ka8MtsfeHIyQcGPq32NLyQ5DRva7PAOn8eIVCWTCK972ugU6maxaQ56wqlO_uZWOyS1q1oAceN76ZyAgO2Zb8CxbKBIKJdD3n6-1T0nKFNS2lFrwU4LSS4vrdJKe3b9C2KHASNecizeouTTFfuuUq-dSxvziz2keqAO9aWHazDLUzABpuemBenq9FZRJ87cXXDYD_cbtcshllC3ASv9fD3DmHJQflaiY4aK92MUPMXn8f-4-_2KBQQIiLJv8_-MS1h8Ikw-IqZMG24iK1KD7_ZFLp95A05MkWzPkTvq_iGmN0Fl4WRiuvS3XL1jWZDn4ifvK0yPcwR170zCEOik0azAlTN37UpS_wD9OLQCTUEme5i2fsaGnR3Ou8yAHGX91mJl4_U8erd0bUO6z51wk51AtXCqeQwLOy3NLrP_7usRBkdtBjB7YdZUM6Drn1r29ii3vbxfoABfrTflu4U3KN2o_dbrfjD3Qbu0wbjG-xAGqsLRAAq2spPnzysO5ovi2Lby_Xw-xY7sA-qILL70opm0wvrQeuUAo4zA9qZVf-M5krLmZIdBtiDatRAjHKnehIM8GIU02g39AZXyprs4QwqFNdtQXUDpMMbI2aOvLEwzFeN8wjTQHujssry_SgukvGsXqDnTgL_rTda_-QRJeHFULyEfi2eO7xNtT_39RO6h2eA7wmS5W8m9fU4IoG95nJgnIT5M3f9omuAv8TVpesNbPsU7CF9vAYTolxAZgOg5275SNwkoX-Ar6EUW_Hv0Dyq9I49OzKHnBf-aIpAWK9nwUiHb_W57PZs-Q6ZWluhnnOcYJyLxRkzSqRR5giL1LhFzXGK67ZfnK_UthVMeNtIEaD0Sdyr4omnRHFCwypPFEnQ4UXE3M9zO_8zhAAn2zO-hJhY4dqcKxhv866fAEut6I7SbDmoczDEtik3YS3rWewsPmnjHnRvHzhLo2tSg9gAd4_En4HYsyCxdY7EC9t4MktcMS5nzYMEhwvJHX-n4XCcmdLM1OSJ6u-gkEyxL0jGyiRnp2P4XwEIVWT2hqy6BM3mfjYDSHEDa5CMaSRRTRbtJICBOjrt_BT94X46vBIxWuWelZx4ZpJU9ppciR113NJxvIuX6EU2cCF5rRug4cuDWdUtjUV2W5iIF_C2k1ElYMXHmPioH-qXjxonMVEX65Uk9TXWXjNLdDNL-8kVbnG6Mdp1KeZN1uiibhJ_aTHc7go5La9sGC7mGzwTDwzJ8tTMGdOB2Jb4Mr7ut-rxvy776gauIyDz0ppInqERZioYy71MvdOHIdzToAvBxjIEI8jBfkEhbk5puVKbDAQ8ZL268mP-S1Nj7_lEfgTxSPy3d1r-IKlNhMczSXsPGC9Fvf0qQ1exkj4MUGWcnAFLo5hsxzp07WvI6jHGYNnzgkrdrnJ3WL7STDfBr0owxFgKpcCtAsNmbwYpprHNMtEdpPkir62O8kCBGzolKicG_yFE6Y4f_5LIBEUjUqIlfIxQyzeSFXk0UkV2SdY6y0Ggd3JeQ7supm9YjtIQLrMMis2RtNUaCipdu_KGSZ61RyPsDnbaTQJP4_t08pFvtclpdX_kZVZ2F",
  "id": "rs_00ee5701d177c464016ab447c704f087d08346cde97015fd90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The low far-forward target hit an awkward IK limit and the readback moved upward instead of outward. I’ll reset the right arm to a higher, neutral-yaw posture before making any further approach; this should restore forward reach.\"}",
  "call_id": "call_9LAA8uuzQ8KzW40WH1q8VqXY",
  "id": "fc_00ee5701d177c464016ab447c96a2487d08432c1c859c7cae4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9LAA8uuzQ8KzW40WH1q8VqXY",
  "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]: [-0.0856, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3935, 2.3936, 2.7018, -1.597, 0.1322, -0.144, 0.999]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.1359 left_yaw=0.0493 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4665 right_y=0.1723 right_z=0.1877 right_yaw=0.3481 right_pitch=-0.7105 right_roll=-0.2229 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -2.0581, 6.6256, 1.3016, -0.1343, -0.0708, -0.0171, 0.2393, -16.3487, 5.7641, 1.2137, 0.1978, 0.2711, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7d5eaaa59f907851fbde026c821731636a84b14e1cbc61415675d73f1ae464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a158c6faaca0fa2ba4f8cbbe43281a29d278fed9a7cf97668eca72ae665c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a621bc5353935f370687764aadc53c44ecf5878e2b2041e4ec85f5254936d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9558, 0.7521, -0.749, -0.1272, -0.0643, 0.9958, 0.2481, 2.6255, 2.7071, -1.4055, -0.2668, -1.0996, 0.2844]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.137 left_yaw=0.0494 left_pitch=-0.3623 left_roll=0.0826 left_gripper=0.9958 right_x=0.5185 right_y=0.1831 right_z=0.089 right_yaw=1.2841 right_pitch=-0.6354 right_roll=-0.1294 right_gripper=0.2844\nstate[joint_eff]: [-0.1026, -1.9761, 6.6256, 1.2918, -0.1099, -0.0366, -0.0122, -0.0752, -17.7162, 6.5436, 0.7106, -0.3101, -0.022, 0.1294]",
      "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]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.2558, 2.458, 2.711, -1.5742, -0.2749, -1.0885, 0.9948]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4766 right_y=0.1779 right_z=0.1656 right_yaw=1.2874 right_pitch=-0.6266 right_roll=-0.1225 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.2632, 6.694, 1.3504, -0.1245, -0.0513, -0.0122, 0.0205, -14.6256, 5.5453, 0.7204, -0.398, 0.0855, -0.2222]\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]: [-0.0856, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3935, 2.3936, 2.7018, -1.597, 0.1322, -0.144, 0.999]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.1359 left_yaw=0.0493 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4665 right_y=0.1723 right_z=0.1877 right_yaw=0.3481 right_pitch=-0.7105 right_roll=-0.2229 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -2.0581, 6.6256, 1.3016, -0.1343, -0.0708, -0.0171, 0.2393, -16.3487, 5.7641, 1.2137, 0.1978, 0.2711, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7d5eaaa59f907851fbde026c821731636a84b14e1cbc61415675d73f1ae464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a158c6faaca0fa2ba4f8cbbe43281a29d278fed9a7cf97668eca72ae665c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0a621bc5353935f370687764aadc53c44ecf5878e2b2041e4ec85f5254936d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfOydxry765tP-zMIzlWqBC-AdlmDxr-801lgKJlVBGRzXqOyybf6jjWn0oFACHtoKtY5f_Ni3iDsj-5AQ1eM1pt2vtVNDSAyJ4WvF2iEP9aG_LZkQh4a093BCTorLBae2-o2xYBYeLQSJnI2h2JfqZo8TFDCimsO2da-b_JNBXxToEG9djn7AEdVk4vjTnSHWw-do41X5M7QNm63g_hhKLlElgveRF7ES8XuY7Hk2oBkzL2AANKJfSStWpcVYaiiX_XYCKpgYcaUEIRiCofXV362H0CvZsvpoKRMkIu_mrJAkIq3aPpVNgmWjyBanCBKG8QtvpFwbndGLZPjmk6PqCh2NCsrQzpr2be6go57uu7EnsYyP8y2vCD1x5_hw2j5q_yZtH61Jtz91d-LBXr7me9cGdSGpcJ5XXZVP3LbX85wOtjjftBZbMLh1y402SL6ECB9UgAWkFnSzw3kD8dg8edvBUqLBE3mCeFIVn8vqrd5FlnHlgTLDoKmwiqhPHL_BZVB0JAfBStqfMtYZBLfoQuRV8PxDSZzS9u-ovutpEykFV9SpuuIO0vmQ5JzQZXilIXTgzn2IEgFP4E4haPpwp7B4Ki4Zp9rJUFAbLcVfoqDnBm348TLqiqBW9JxE9YThS_woTt2Jw3RiOxPSAJBvl1o8m4d36WIACqLZMRrw4ISyXIF1LJr4ygCLJYbL-Kyxh2GtWKNI7ZergPQEBelPg2Eb0dO0IetCXOAnFcFy87VAKNCR0VraTXDMnFtgJhv1z5v2MinHnxpqdLz1eTJCuORzSGEo2aEWw61dlIVt_RoxtK7c9JugZCLJDtvXkDyBR9QqWzYdKKdkQFbGNgcJaIrj8y-uM5g-afrk1whTs1BnS0Ja2oZaxHWWKDEh1LQONBvXQQ10YpNlwNQPjt8ruRE0KbpoxEGFCb_xQq-OpLRCecInfpvkbZDhfTNMBzh4wpfU7GVtrhXv4M3aVop1dafnmRZmxHOvMbNQzrJf2mXm49UmqVXaj7QDDGUfHL-VnB9WlsANbxAny_9tk0rQLJrTUUaNCoc96bGp7ORYrSd09hcuzmcbu-l1HoaQIk4vk35mLlZvbh0nxh1HrAc0K3erL_96xZR7XL7BcNrCrzhfKE9XYWBsITmYU4515_KLX-M9FfX_TZMPkR10ipgzHjvspgFLtV7szY5B9sPUULybKXixwlaon0GdlEByI53mdhVkLaS2D2aKQt5LdvpQ8eK2vCM2zz-7zm3tulcXoZ-n4b_wITDVELLMmeBCZJoWtLjNdVvRbjhoZfpwDMxMJGlbjVOdEbt2XQSyZMewYYXuthAdSlRQHGOCB1KT9s6ahOaek_F6UwSM72vw6iQMfCZL5fXXVOybOTQRSN-nD-35-Db39LEZEDhSpzhGIZWGDFVslR1zZB9zhCiIT9CiDJyIHoJcl6BakfFUGEV9rsNe6FT_PfFbBBeWt__cCln74BhHr-EReTuS9qzQLgCSXKnmAVEEYb_lwAlBuNW-zFVnXL6xwojkkuPGocjmbWd8abfUFmhUlk1mNJWHZI0XNELt5HoyFG3ddQ3nCd6cfhMDqcMGHNof1mzFMu6aPW_BFu5TsILGgDIXyqdlEj707VbPQqFsVZjtxyChKja_b0sLdkIaH2fiUoGp8EIiujruJWNp1VhtZB2X3-S4oJXjmhMfqpvkmLvva5o0rxaC1_FFd0Q-9CUg2OTsijyz2bxAUNK2Xx5D-p49SGeNPDfXHgM9aPzNJejsID6Y6klrd2sfpNXBMt39CwogHJnaL0rucM6VScNsJiFN1IkwUZUqoE22iZn57W6m3HiHv0wUwz2gAkK4N_LbFi3pNBehZzhOTmYLc9b7oQwWxjijPfYGAEO9Fkn4tENQMO9sqHW9d9q0FIJwBQaNBupHJ4re-JB0oDZfftkQ8YX5UFOYJfK07i_pvAKUFE1dqReDCXMt_lpE=",
  "id": "rs_00ee5701d177c464016ab447cc983c87d09f66a2c6f1e61da5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.19,\"right_z\":0.18,\"right_yaw\":0.0},\"note\":\"The neutral reset improved the posture but the arm has not fully unfolded yet. I’ll now extend at a high, reachable carry height toward the yellow object, then descend only after forward reach is established.\"}",
  "call_id": "call_lqWRl1lSv7p3Op7rAXPp48c0",
  "id": "fc_00ee5701d177c464016ab447ce21b087d0a408f2714379e553",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lqWRl1lSv7p3Op7rAXPp48c0",
  "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]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3954, 2.3676, 2.5835, -1.4624, 0.1673, -0.0788, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4834 right_y=0.1738 right_z=0.1762 right_yaw=0.27 right_pitch=-0.6575 right_roll=-0.2354 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.9487, 6.6256, 1.2723, -0.1099, -0.0366, -0.0171, -0.4855, -13.559, 6.4342, 1.2381, 0.0073, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5235bbea9701f7415232cf3134292db36e19c0ef66b01dc13b8aad61021d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bef4add975e7b0ac514bfa3479937f18e16020ed01d7913332432b1ede19ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002eb7af9cf09470f53d506098b99ab4e6ffb0a59b9c432866c35f80c9a1f94a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9577, 0.7521, -0.749, -0.1272, -0.0647, 0.9958, 0.2546, 2.5046, 2.7205, -1.5433, -0.2745, -1.092, 0.2836]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1366 left_yaw=0.0497 left_pitch=-0.3642 left_roll=0.0826 left_gripper=0.9958 right_x=0.4868 right_y=0.1799 right_z=0.1472 right_yaw=1.2922 right_pitch=-0.6303 right_roll=-0.1178 right_gripper=0.2836\nstate[joint_eff]: [0.0068, -1.9624, 6.8581, 1.3553, -0.1148, -0.0611, -0.0073, 0.2667, -16.9504, 5.2581, 0.862, -0.3736, 0.0562, -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]: [-0.0856, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3935, 2.3936, 2.7018, -1.597, 0.1322, -0.144, 0.999]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.1359 left_yaw=0.0493 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4665 right_y=0.1723 right_z=0.1877 right_yaw=0.3481 right_pitch=-0.7105 right_roll=-0.2229 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -2.0581, 6.6256, 1.3016, -0.1343, -0.0708, -0.0171, 0.2393, -16.3487, 5.7641, 1.2137, 0.1978, 0.2711, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3954, 2.3676, 2.5835, -1.4624, 0.1673, -0.0788, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4834 right_y=0.1738 right_z=0.1762 right_yaw=0.27 right_pitch=-0.6575 right_roll=-0.2354 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.9487, 6.6256, 1.2723, -0.1099, -0.0366, -0.0171, -0.4855, -13.559, 6.4342, 1.2381, 0.0073, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5235bbea9701f7415232cf3134292db36e19c0ef66b01dc13b8aad61021d44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bef4add975e7b0ac514bfa3479937f18e16020ed01d7913332432b1ede19ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002eb7af9cf09470f53d506098b99ab4e6ffb0a59b9c432866c35f80c9a1f94a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfTRyph6aVa4DICu5DwaNEUjzFjIH0jFfnqTh-myldL-anQI-iVsnAkkNwAD30kMw861gMzM_bQgIMpgrNXr1hSkNxl7ufj5lqqdqCGO5dAo_E2PKs48uo51gjGduniixK1xosuvb_Xst3lMpFcgWPF71QpWUY3WuEI7S5GYpMngTUBv5Trxe1Zc9A22dL_YZ8NPmIrDeBh-4CfnpUWOienjpgVL15qLnw8Q6ZC5ZH7FFqqx1U2NoCdyH9IneW6s7lEcMWwjX5LSi_7ZPXlDY2ZsmfdSo36VDoywBrI9TSWp9VOA2qu9Km9B1vnczHDuHP1MHeVReiru1lBHR_MRaWnGOcX9M-Wf1BKM4VrCBL9HAGSWf6N9YYGAk9RdoC_EZ-FhxOnF1LPWOI445ELSbeqPVqH0-ouzQPb1-3Wtso2Muy0TWmSW5Glh_HatJZOxwgklUEhWI6cr7-r-YFN9NBIaf-6W8UJ5keYRukBEw_rVHu3BLrkGOgHXMTFssWZ7CY5ML1eCJDB-H6JmoT6B-_yJVcZ9nkVuGIh_QFBRsmvs-1ffjfoWWhlK4PIqFF9SOS7UlsgV8kgenmIq9mqVm4QfuDxUoXhtSgTDvskHypIp3tuD0IZXvi9c1vZUFZkWAJ7LSVYYUtbF9yg6_6S3bX8m3wDta0HGeUKmNnEf672l6qSj8AL7OPS1OGxfWrbkqyMfMrx1GZp8LdGK9MNUMurtDdIqjL3vwD3hxjKeyKgYy3yTahFZe9rocY4-IG4mvZQEWKtqgkjAXwROoQc8bl5_dfMzR3pZLva1Q3_1iujlY-CcUw24JF-J4vTwqKoWczv65Hhy3fUdY0QknR6UWTUKLCT86iUJ7k25AsDv9tmBnKBL6AuliM-3CxWOit92D_oiMJUMURePxSbJlmzKCk5cYa25YdEGOmM-PwMbLEfZvVQLhotJbN2FsBNzxIOniJlL26EkX_AUNi_yLEuvMYs7dnwJnxExKIpNR8hI4tbagQ1DvKM9-XEhZuSIlBt39Xl8xcXmfbKI-q9KDDggxJ5K-Lid_K7N_aiIc1MNbnc_og9kV6LC_Y-NfGa1wPKR8QcFmF6ydGWPsjVdZALBsK0WAJXqzJ0mATkN1wA84P4M7HeIHFLruDbIoFIfewy-9xrlORdNN30l-36shF23D31KsH2QfaPYvVZVzufiAu8OziG2cnGZySPO5fKa8CSEAyblKeC9H-uDJkFpunwNAnLnjNtD_dv2b19HMr6ZbJcK3ZzJtZAGHmIeFFAaQ34CBl_ZyrSlQvv5Q5K-62EllU8ZEABSNjWbRb7tI-tmAAVAEe2_Q_48f3q3JYEiBv7NIk4YJEa8HnrRNklgMKg_MzWVRzcz32yptncITey5MRgBlNfw9_B-8TSABFZKsskwE3YeacTnIDjeiVPI-BXLz6pBJd2vfSaXVakG7hms84kJZaDsFMO3b-ZGH0z_905ibRtXzvB7jsBVkPWjNgqnbQWHW6oHVA1YJV4S-po49irN5xfS-ny-8Og_ViJxzydwZNOJTpAR0QQlCAIXiP-rOsv8Z-_AkCA71Z4LffLPBHeiWyXuznQWgSJA_Ps4XzLQfEn7zuSz5pW8lFFXL0yFCJHlGHsxjpGoOED0JPyJp8uUG6gZWa_AWAbXSR3NTavd2jy7j2tg0UsC8HtlVThICR5iAlQ-Zg02XMFgcrcECQmz4HlkvWrRQZ26-lq245Rj_hG",
  "id": "rs_00ee5701d177c464016ab447d1356887d0a55982235e0c82cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_z\":0.16,\"right_pitch\":0.5,\"right_yaw\":0.0},\"note\":\"Forward extension is being limited because the tool has sagged into a strongly backward pitch. I’ll explicitly command the allowed forward pitch, which this rig uses to reach near 0.59 m at carry height.\"}",
  "call_id": "call_5w0F8VocL6FSfRIxwDp477Ui",
  "id": "fc_00ee5701d177c464016ab447d2590487d08ce234c590082424",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5w0F8VocL6FSfRIxwDp477Ui",
  "output": [
    {
      "text": "executing move_to over 39 steps (3.9s)",
      "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]: [-0.0853, 0.963, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.4637, 2.1281, 1.2377, 0.6991, 0.5606, -0.1505, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1352 left_yaw=0.0498 left_pitch=-0.3702 left_roll=0.0838 left_gripper=0.9958 right_x=0.5559 right_y=0.177 right_z=0.1418 right_yaw=0.0423 right_pitch=0.4038 right_roll=-0.2714 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.2496, 6.8718, 1.2772, -0.0464, -0.0269, -0.0171, 0.0068, -10.5915, 6.4205, 2.5128, 0.1832, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e38d00b8ffbc526547dbdb18cc84f1df570a67a9af22c0402208b1de202d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64be2a6ce2baead201677e18b2148f2db369a37152dd5fc3018f3685ef50a13e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5df03c781d62fad371c4e47540674f6dba1af0136391985fd7e2f24ca101345",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.2558, 2.458, 2.711, -1.5742, -0.2749, -1.0885, 0.9948]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4766 right_y=0.1779 right_z=0.1656 right_yaw=1.2874 right_pitch=-0.6266 right_roll=-0.1225 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.2632, 6.694, 1.3504, -0.1245, -0.0513, -0.0122, 0.0205, -14.6256, 5.5453, 0.7204, -0.398, 0.0855, -0.2222]\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]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3954, 2.3676, 2.5835, -1.4624, 0.1673, -0.0788, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4834 right_y=0.1738 right_z=0.1762 right_yaw=0.27 right_pitch=-0.6575 right_roll=-0.2354 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.9487, 6.6256, 1.2723, -0.1099, -0.0366, -0.0171, -0.4855, -13.559, 6.4342, 1.2381, 0.0073, 0.022, -0.0171]\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]: [-0.0853, 0.963, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.4637, 2.1281, 1.2377, 0.6991, 0.5606, -0.1505, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1352 left_yaw=0.0498 left_pitch=-0.3702 left_roll=0.0838 left_gripper=0.9958 right_x=0.5559 right_y=0.177 right_z=0.1418 right_yaw=0.0423 right_pitch=0.4038 right_roll=-0.2714 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.2496, 6.8718, 1.2772, -0.0464, -0.0269, -0.0171, 0.0068, -10.5915, 6.4205, 2.5128, 0.1832, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e38d00b8ffbc526547dbdb18cc84f1df570a67a9af22c0402208b1de202d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64be2a6ce2baead201677e18b2148f2db369a37152dd5fc3018f3685ef50a13e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5df03c781d62fad371c4e47540674f6dba1af0136391985fd7e2f24ca101345",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfa75N7ymez_pSToQfgDBAQ3ZF5QpaBensFkcltkP8YF6tELRIOvjkJh_0WOommpXUxcMC_SQoFWF6jlOwoKIZBfaJAPsFzlLbOTLvU1k1VVdKRUBF_gmSM00sUaJzzLX0s_zOoRi9vY6m6z1Z-KWIA4tlKrizX2vRgW5WrhrDLj8O7GDntg7YucETSghU2uSgTNiFY76XqMYsgmzP6XkWS6EyibbCx6Kz0bk15Xv5cR78KdZNHWCM_zWvHp-cTHW40VpZOQ5BcWfhizkIXPB9suAAqFXMX9ZC2wDuRvGfEhBAjb6bvmQjJBL6l_ozNyTkqr7xg6zKz9d5CeTjVgqS90vlRWt8Iri2H6VsRsr5XWneE2MmJWivi04Cgz9Xcb-c-z8tWT3bVGBrJ4cPWRg_p1gGy50Kh7Maz7k-ztVfnylKpWGdCATINn6kL9mlfRAm6-F3D5a0FFQSO7AD73E_TpEUyiZQVKYO9kxnuuTmzBZw966GF-D03MS246KtapXBoQ17BQ0YdBRMe1HtT3vws76V5ViYHXsvsF2ZjP4e_HaFbjoFQcahevP5eQ1VO2ApieDmZpvAazOVnUIH0T_vW3aMRI3cvAh1JmMFWM76gWhoWnessqoSVyrEmlTBTsr4MLyZ7wVjNZXDeXZewe-nZMqfdSMWVpGJFlBpXiPhv-o-2dAex5GnywDncLGXxuVAJTuRO7_1Q8PLOcMZeoTPsXoX2EAjmDzPUjWelLKaYiG0OOdPR3R9mOzD0e_F0wHzqU-eS5fUFNAuuKNqBhFXnt6RLzKD2TvMbdt_ysjPd6zTVp7D_PjFRYaqsaj6WJLFVuwf5M9kRsrdB-IX8EeRtDcJeoffIzLj9mCSgvdOaLo99_NIhB212yFAUJE9Kot60uzrM4NApg4WxG3x6sux3-FusdI2LPRhCH3NXPV76ZcBNjnzqlKxevhEIb_3AsY4tJlBLOjGJnuzZdHlJzMIOim1APuSA_DxoewuB81Haz0FEXGkyyPwGXj7PBLJfmAK5Un5hl6WR7gJmgfq0Yj7pDBX2Bzk8Tz0OsqYYnCJDVXb3wTdKRaw0cnbcPCVx-dnj1ykxqPAgHUP2kxi0-4auxDV7hB59EUsVr6oL_5a09gy_SVHNvFa9LjE5cy4snuJ6vVLMJDWzt-bkB2bDUnKwhhXkMxx2tpHvdmCJUomN3skhjwMgs_xcyqK7AQ9DVBr-xEw76Dse3QhsgNGQHERNgaKaT0Hp1t_7jeLZT24gqYniIgSg4_nPG5ThZe84QpZQWGy3E8ckQ3g6NiMvYT74kMKd66b5cQvyO1ixq0NATOochlDixN_dwc9J4nXc6Q_xROorl5jIZEvBFXF_iTdQhv2cuBkkCOLnL9ucqHOLaf9zOMU9NHNqvWiFGFAl1cdkLfl1hfURpcMGw5h49WGv3mdL6vJl1hEGy3hVFjKJ22VK5LxZ45I2j38ymmVQM1lJcCwhVO9r4c8XjUTDmuzv5b-alwMkF3eeHdzUthhrMrd-un2uZZ-txm7ZT7xMnvBtxG7cay6U-5XXOPH33q86apLjooHU4jTCVpjHUzzJUeY=",
  "id": "rs_00ee5701d177c464016ab447d8701487d08fac50ac4a3d6ecc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_z\":0.07,\"right_pitch\":0.5,\"right_gripper\":1.0},\"note\":\"Explicit forward pitch successfully extended the grasp point to 0.556 m, directly over the yellow object in the overhead view. I’ll descend vertically to its mid-height while keeping this reachable posture.\"}",
  "call_id": "call_Nw1i7RXcd2K3FEFrHXkD3xTa",
  "id": "fc_00ee5701d177c464016ab447d926d487d0a7e19fa87b9e6d88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nw1i7RXcd2K3FEFrHXkD3xTa",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3661, 1.1797, 0.9897, 0.5621, -0.1844, 0.999]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1348 left_yaw=0.0501 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5517 right_y=0.1746 right_z=0.0495 right_yaw=0.0613 right_pitch=0.3938 right_roll=-0.3099 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -2.0581, 6.6393, 1.2821, -0.105, -0.0611, -0.0171, 0.0205, -12.4923, 5.6957, 2.5421, 0.1294, -0.1441, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2961b34278d27b45b885b00f55bb8e1919b52c43986c80d343a5823964773778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba67135e50010d353b935d186f00315714067572d377d54fac90ebd81787adb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55c2b28fc813c618ba2169751b8e881609e1b9727ea3fe6ae68b47d12a133ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3935, 2.3936, 2.7018, -1.597, 0.1322, -0.144, 0.999]\nstate[eef_state]: left_x=0.2632 left_y=0.0035 left_z=0.1359 left_yaw=0.0493 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4665 right_y=0.1723 right_z=0.1877 right_yaw=0.3481 right_pitch=-0.7105 right_roll=-0.2229 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -2.0581, 6.6256, 1.3016, -0.1343, -0.0708, -0.0171, 0.2393, -16.3487, 5.7641, 1.2137, 0.1978, 0.2711, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.963, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.4637, 2.1281, 1.2377, 0.6991, 0.5606, -0.1505, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1352 left_yaw=0.0498 left_pitch=-0.3702 left_roll=0.0838 left_gripper=0.9958 right_x=0.5559 right_y=0.177 right_z=0.1418 right_yaw=0.0423 right_pitch=0.4038 right_roll=-0.2714 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.2496, 6.8718, 1.2772, -0.0464, -0.0269, -0.0171, 0.0068, -10.5915, 6.4205, 2.5128, 0.1832, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3661, 1.1797, 0.9897, 0.5621, -0.1844, 0.999]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1348 left_yaw=0.0501 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5517 right_y=0.1746 right_z=0.0495 right_yaw=0.0613 right_pitch=0.3938 right_roll=-0.3099 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -2.0581, 6.6393, 1.2821, -0.105, -0.0611, -0.0171, 0.0205, -12.4923, 5.6957, 2.5421, 0.1294, -0.1441, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2961b34278d27b45b885b00f55bb8e1919b52c43986c80d343a5823964773778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba67135e50010d353b935d186f00315714067572d377d54fac90ebd81787adb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55c2b28fc813c618ba2169751b8e881609e1b9727ea3fe6ae68b47d12a133ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfcTZ2qbV6X86ug5nMgHC_88I-i7Av1oGlUI4knQkeuLn5dQfrj0wgxtkFnoVzef_iNjyA0YSPUzvjjhesppxo6R3EcOyqmGrMhAcEsX14JCdZYbJaSBM6ZXwoEbKn0RhapF_QlIx4979x2eFs8yMrwd-ffTtKvXGB3zwWumtCK3OaKoVnnKCx4HZIJD6BzeMu_eCJRSWreHDKJFTbbPl208PXTpNg1qmVpXhIsMAUQNM7nCjGlKzGm5HsOw87qjFlNoFYm2ZzjohOVCqY2znvl6fm7Iqxx11jd3hQFo5X_HOMRgdRLRU3WdoV-xFdJIhUWr6L3PrcX0Its3ctN3oCxUMSEr8zXw_53CVjDTHJCDWn2g8X0X7NdHjI_Jp3IyUiU2j7630saJaRVPtvkQXXodgxGdaRvPrQ6QkT596rRhZuOKDFiJ2WyfOsOzKbUiad64bE7b6COiRHAcqoiZgraawouADKJDLSiEKnmydT_7b4tPBIj60TT7_ZEbscx6czLkRh_EHDTroYS-XjK_oPMFoh6O-rQGWTKlnsBtaw--soXBeVHcyqsYSq6R4crd3G72DRgguXV0U4XexP4pXZhJZ8abr5LmL_MYGhdXyjPI6WYxWlJ4G02sdioT8rCqQd0Cj_iSlEuD3Z0IdW2Zd7MfPZdurwLWBYstPrA-tV_ZH8R6wtHlhlWfYb_-hqfJlMJXtKbHLUScCm5JAGf0fXrM_rJ9Kq94SySlGqdkIK_XAOuL16e5Em4nR14V9ZAphaEntEqAxi_7Lv5RLMfUb6KyfqKYGH4VtQxeN_GiWXr-BlXthgKwY1hARdvJq6E_wkvXPB6a75SBK4fmVQGYz-40Lsa8IbOluVsHo0z3leR24UHFSvRQKVqDIbmfa5NCVuu34FjcBfQNhQ8qmvBWqDvWqo7qR3wPSTOU1DZ1T7DNh_F5l7udq7fnlG6fDbRsqTmenNXaB037feMZspJ44xF9xyBSrU139PFoQcyFD37UqQj-vN0yW4mmFbzSqshYMxoaqnTsVpfvxuxhA7mC366iRCgMq4rW2WnkroZ5ZeFQbL0-PE_QtzaVCPOUAwq61lIgU-zUmdynaAP8hXcA-EyRJ68x0Ky0uoNkXyAG8hnbHNdDsas004pwkiI9v5vht9inCZm2x7D3jecxfddEvtOPDyAumRjX8W4D0_RPNkvEe3URbZnrCIuBDagCx0SIUoyrZ6yoRsj8aKN-_rk5sGoiw4elTQoTiKtyVxpp6FyqmqKJMiHX8h6KiCMmLsdWvjvWTPlHkQAPrKYJqnTuh8LxQ==",
  "id": "rs_00ee5701d177c464016ab447dbc88887d0869d4a8f947ea3a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now low over the yellow object, with the overhead view showing it directly beneath the jaw body. I’ll close from this true top-down grasp position.\"}",
  "call_id": "call_GA7l94P9DnsqYiYKdN92KEKA",
  "id": "fc_00ee5701d177c464016ab447dc100887d0a4cd31fdcdac54c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GA7l94P9DnsqYiYKdN92KEKA",
  "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]: [-0.0856, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3863, 1.1778, 0.9897, 0.561, -0.1917, 0.5309]\nstate[eef_state]: left_x=0.2633 left_y=0.0035 left_z=0.1348 left_yaw=0.0497 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5501 right_y=0.174 right_z=0.0377 right_yaw=0.0699 right_pitch=0.3721 right_roll=-0.3265 right_gripper=0.5309\nstate[joint_eff]: [-0.1709, -2.0991, 6.653, 1.3065, -0.1294, -0.0562, -0.0122, -0.1299, -13.8598, 5.0667, 1.8095, 0.0171, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec34b21b617e987cd2444686793cecb5f896830fff46d18638684feb7c14b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89ae5d01fbb22cb3ba95c403d721468d0c938b779b874a27f86831a3ad0be88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833c254eaf15843f67fe18d155fdf498ee1b529f7cc9a74c8530b07881bcc648",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9604, 0.7521, -0.7494, -0.1272, -0.0643, 0.9958, 0.3954, 2.3676, 2.5835, -1.4624, 0.1673, -0.0788, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1359 left_yaw=0.0497 left_pitch=-0.3672 left_roll=0.0833 left_gripper=0.9958 right_x=0.4834 right_y=0.1738 right_z=0.1762 right_yaw=0.27 right_pitch=-0.6575 right_roll=-0.2354 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -1.9487, 6.6256, 1.2723, -0.1099, -0.0366, -0.0171, -0.4855, -13.559, 6.4342, 1.2381, 0.0073, 0.022, -0.0171]\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]: [-0.0853, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3661, 1.1797, 0.9897, 0.5621, -0.1844, 0.999]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1348 left_yaw=0.0501 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5517 right_y=0.1746 right_z=0.0495 right_yaw=0.0613 right_pitch=0.3938 right_roll=-0.3099 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -2.0581, 6.6393, 1.2821, -0.105, -0.0611, -0.0171, 0.0205, -12.4923, 5.6957, 2.5421, 0.1294, -0.1441, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3863, 1.1778, 0.9897, 0.561, -0.1917, 0.5309]\nstate[eef_state]: left_x=0.2633 left_y=0.0035 left_z=0.1348 left_yaw=0.0497 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5501 right_y=0.174 right_z=0.0377 right_yaw=0.0699 right_pitch=0.3721 right_roll=-0.3265 right_gripper=0.5309\nstate[joint_eff]: [-0.1709, -2.0991, 6.653, 1.3065, -0.1294, -0.0562, -0.0122, -0.1299, -13.8598, 5.0667, 1.8095, 0.0171, -0.0024, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec34b21b617e987cd2444686793cecb5f896830fff46d18638684feb7c14b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89ae5d01fbb22cb3ba95c403d721468d0c938b779b874a27f86831a3ad0be88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833c254eaf15843f67fe18d155fdf498ee1b529f7cc9a74c8530b07881bcc648",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfhNKrYghuxN-1mkY12HTJZ7hsghfD1enyQ9SVIfl8Kma8HtmrvheNv3Nbf0f1DL34N_Rf1E1qF0r1lc8HuVnZwDXqL-ZQ5UqJya5YGrYwglN0lODrCe5MK0_SJ8b4165CG2rplEKw4ZhdSRthas9RYFoWuO1eMnw_aqEjrtazCGqdeVqIG6jIYrH_QT3pUvN7WSFhYLZw7NW1VWAmNNqtfq82u6YltKNYn2UpdtXiAxUQhyRLkCYStp4Xs4A0M31CWhASaN7kNOJ5dM6WAhyXvFamPcX1iSwXjXEqFeBUQuh7s7saIcASZj5N_9itb0OvqY_CM3AbfeOMU7-pmT7Ezqd7kcQQ25Xj2Xw8PdbpDRXAGJDLNF_vu6llexTnX_X6ObCBQATaCIMhHUaB3OsnrcJQ4jbOQjSJOYJv_-n7Vu8XQYfY0f0LXtstKnJaxTDVKEm7Q9JJ6ir76U3fg1s0EIflxM7xILNG8bbOS4DsmPv7sKTjpBbNETKTDt3Oxt5f2T2RjAVMy0fonDrvyfG5aOyTc988htbWPurvmyZgjzSPrtwOQmJ6GFLlIZW2CDWB3blyosT8PCCdg_3gdxh4JYjuueqgNkYY2R0iWJtPYwX3eugXFCJFfJNn4G7yVYr1zUublEqpn6nYU_UdRCm1g37YO8VKAzZZbeshidx-yWZReMWZb9C3OruhGuwYMoZoOUhgZwEX2AV6w2ohp5wU0Z8UuOQjg34QWpJ7CPr-kU9eDrj2lw-UuBu85AQviD5E0Yrm9vXnAqEBaNW9orIdMdfKXJVxQzPwCuu0LKNBFvaMjLiGoyPmG58euoIasobEjrX0FqC9qhozurC94wfwBeXP85VPrlXxNjCE6J1V551jjGmoHfv0OZjjpV1bl_4vKDPXbgrJhaIqt-6P3htyD5OzKhl-jLatxq-BMmYW_Cbc2o1t5SFeVdRnQYyQ33tL3PiMcS6x93VfY1Qd0bLdIMkc5Q0BunzSeX7qOczZIBfDkOBOIp8tZRgcNHygUQjmY9o5aufDVwWCMqmDdYXacjLPL6s2c6PeyZ0tIePUxMKQFesFvMlViYyuH-5Xu9sifnOvYUP_sI9owc2oCbjobEpYKx3GsURYlv3HmNxvm7ky2ftiYnqE71GqM6CYINPKDTCxsDIiB-1zIa_j-c5mOiNWxAraGULV2Swn8neeHR1ZufyZKgeOkwfCrZA_m2vSLeX2Dkrc5Z9cYUyfSo1yX6q3vQxFV5yulOBYrNfdC1fU6ltdDPbu17Xlnf60D4g_5Bxtz6X64X2-c9b9Z9J-4QOkZ56I7ryOVyRQOVwpVvbZr-0a4EYv7eWTSwtiaTG_wyH7WuzZq_SeavHQJSqkk6FZgAfrMAPw0UFndKs8CLOI6kTihsONATlpfixSyFmsFng9Y6fmaPCJSJccKaXTUF65T84nFQkeqLUpmqrPjPOGdesiKqV4cTLPby7oeoqsaDPDix0uQZjkG03s-yY-J9N3FqA9KP3c3J_c3tamD8OnN92IJ90GYxhbL_b8DQqvFLDi8wGGFNEhDwQmQUhx54B0X4hhR-XswFyN9uOSI9KxK2EN2ZuuWo4opxAnhKfmC1UPDLa94EO_ShTWEDYrDWA==",
  "id": "rs_00ee5701d177c464016ab447dee71087d097a949e8e224e7fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.38,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The gripper stopped at 0.53, confirming a secure grasp of the yellow object at last. I’ll lift it high and carry it over the right side of the safe interior, within the right arm’s cross-table limit.\"}",
  "call_id": "call_0hwwDEAcQkGaHXM7GKSo7crB",
  "id": "fc_00ee5701d177c464016ab447dff03887d08432eff4885fb353",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0hwwDEAcQkGaHXM7GKSo7crB",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9695, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 1.0302, 2.0949, 1.647, -0.1081, 1.0378, 0.1356, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1337 left_yaw=0.05 left_pitch=-0.3763 left_roll=0.0844 left_gripper=0.9958 right_x=0.4026 right_y=0.3821 right_z=0.2044 right_yaw=0.122 right_pitch=0.2785 right_roll=-0.3562 right_gripper=0.5324\nstate[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.326, -0.1197, -0.0562, -0.0122, 0.2393, -11.5214, 8.9368, 1.619, 0.4762, 0.1587, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f17eaec18d2f3b551f1b4c6c97b4a16eb309ff29dd2b882e1ae9b923b8f8ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d14fe00583a8df940a8a18199ef589da09955878c95f52e1e4c672cc3e4306c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b193ea3cdaa9230d544468c157adc3cad22eb18880d5a59cd6b90f3c553bd6db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.963, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.4637, 2.1281, 1.2377, 0.6991, 0.5606, -0.1505, 0.9989]\nstate[eef_state]: left_x=0.2632 left_y=0.0036 left_z=0.1352 left_yaw=0.0498 left_pitch=-0.3702 left_roll=0.0838 left_gripper=0.9958 right_x=0.5559 right_y=0.177 right_z=0.1418 right_yaw=0.0423 right_pitch=0.4038 right_roll=-0.2714 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -2.2496, 6.8718, 1.2772, -0.0464, -0.0269, -0.0171, 0.0068, -10.5915, 6.4205, 2.5128, 0.1832, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3863, 1.1778, 0.9897, 0.561, -0.1917, 0.5309]\nstate[eef_state]: left_x=0.2633 left_y=0.0035 left_z=0.1348 left_yaw=0.0497 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5501 right_y=0.174 right_z=0.0377 right_yaw=0.0699 right_pitch=0.3721 right_roll=-0.3265 right_gripper=0.5309\nstate[joint_eff]: [-0.1709, -2.0991, 6.653, 1.3065, -0.1294, -0.0562, -0.0122, -0.1299, -13.8598, 5.0667, 1.8095, 0.0171, -0.0024, 1.0281]\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]: [-0.0856, 0.9695, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 1.0302, 2.0949, 1.647, -0.1081, 1.0378, 0.1356, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1337 left_yaw=0.05 left_pitch=-0.3763 left_roll=0.0844 left_gripper=0.9958 right_x=0.4026 right_y=0.3821 right_z=0.2044 right_yaw=0.122 right_pitch=0.2785 right_roll=-0.3562 right_gripper=0.5324\nstate[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.326, -0.1197, -0.0562, -0.0122, 0.2393, -11.5214, 8.9368, 1.619, 0.4762, 0.1587, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f17eaec18d2f3b551f1b4c6c97b4a16eb309ff29dd2b882e1ae9b923b8f8ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d14fe00583a8df940a8a18199ef589da09955878c95f52e1e4c672cc3e4306c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b193ea3cdaa9230d544468c157adc3cad22eb18880d5a59cd6b90f3c553bd6db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfmlb6JDSDLBvm86FlR5N-qboLROcRWbV4wbNMKRe_z7_koaiV7HIshZRYI3dnoFchbU_cuKpM0vdfVowGlPQR3kmNLWfWUA4tD23LefjXHrwK8_-bHlbLpEnDoAVlU2sPieMfcRt6H0L17dncaMJiUKTLgjrIZ5HkIol-RwHx1CNivy8Dy7pyKXrMcvXC0gJ8g94Z3-9haGtEeJkunalOSCnvjAnUaivpxOvspX6tAO_qrhb9KGC3tgeewAWEDnF6WOClCoNk_x9yZxtXrSGAbRwMjRtg8vdZvNnhaeKJlqoVC6WoA312xV0tITXSQqXIfD48KYpgQAj-kFj8sxBUciX_n2W-z_ry-DypxTVLYH8g35F-RY-Zpl7Kdd5ZKSVlVwcHcmdXx0MKihDQDTtssAc_9GKEDYI9u_mz6o3oTUJYOnSJD8meZZ1WCBiaNz5dSSi6qnr8NHfFIq6N_DT3wklCI195UerUVNELm_dolRpzMgwFDsoAcafbnSes0Uuzq37Ol9mOKV39Ukiw9PkFDfHo37rRYLRkRXgofqqHlXTfq11j2nNxcWEVUYOV0XjHTlmj62zHepQXIiIALIuhTa2NexxEI7uplWL8HCsGRB3XyeOiJseqzns7MoTFu4D9aoBFpK7S8rH3nQf1ns2xofHPpmoKpy_8O4lP61b71NNcZd9iWlMPi_Jv-mESuQVv51qdTHW1vTUun4KL6Xg3XapFialPtHayeFOsY8DtyVYCHaZzHtnhBTufWpIjjbtBVDI50SOoCb7VTD5v-mnq45S8HTssZH5EYV7ueqzdxehOq2FnEdVAvq58TsRrdhkduhZOxdstRiXcRD8b-WTTLILUGaa_mddaK3kl9JT6RsVrxEoCNlWkUcGZ5ksl70Zbv6j3gw9uYsY5ZJlt2C6IumwQdv2mzYzejFreEevsMdUlwpQyxiQHW2ho4fzniiXA3P4X9411ZYVzDTIbp0urqBVkN_I0XU0omssuj-w7KyUT7jYIFpnOfzOkJUMf3gfMu6ZwHCi0WPLEcZ2ogYZqTOia3jG4QyKT1WXpUToA1dLyNSo_OD2V6mLhZvIuThI07OP5r9wShOPyShEdBGPKCyZmI6DX9T6S5zqgQO2amHjutueBMx4IDeu3w2-ngAxcuTGXm2iiR2_GSxSg1_dXOAK_DcfRUN0nIRfweItOOhOdMEmTFkQ0Uaqlsf86DzmLQyk7g6MHhbWZUDMgrG-AJnAkObZe6ffhhP1VNPVYmRXwAmjR96aH0_UfCp0U2x7DIKFE-s-AR7YOIzFHj_Kcml9BS3LYlFwO-AbKMaJIko2ZyxJmtGfnBKvquuYE4y5kY",
  "id": "rs_00ee5701d177c464016ab447e53cec87d0a5ffa939a24d0803",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.385,\"right_z\":0.07},\"note\":\"The yellow object remains secured over the cavity, and the wrist view shows the red interior below with clearance from the lid. I’ll lower it near the safe floor.\"}",
  "call_id": "call_oUmJAxYjnnad58apqlFbeE2Z",
  "id": "fc_00ee5701d177c464016ab447e5adbc87d098341e70536ffe5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oUmJAxYjnnad58apqlFbeE2Z",
  "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]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0531, 2.2734, 1.4143, 0.2371, 1.042, 0.1505, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3895 right_y=0.383 right_z=0.0745 right_yaw=0.1478 right_pitch=0.2426 right_roll=-0.397 right_gripper=0.5324\nstate[joint_eff]: [-0.1846, -2.1949, 6.7487, 1.2772, -0.1001, -0.0708, -0.0171, 0.2803, -11.3846, 5.8598, 1.7265, 0.3639, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c877d08131065b310299a5c07767f11b03dada628895c3e23726fea2b0f798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef33bc50f00ba8d68010ea78692f3d97dfae211602cf7e03b94c937158fb1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b764f403e4e6d389202455592cb7bb2f47a4592292cf5bec483acabba96c73e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3661, 1.1797, 0.9897, 0.5621, -0.1844, 0.999]\nstate[eef_state]: left_x=0.2633 left_y=0.0036 left_z=0.1348 left_yaw=0.0501 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5517 right_y=0.1746 right_z=0.0495 right_yaw=0.0613 right_pitch=0.3938 right_roll=-0.3099 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -2.0581, 6.6393, 1.2821, -0.105, -0.0611, -0.0171, 0.0205, -12.4923, 5.6957, 2.5421, 0.1294, -0.1441, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9695, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 1.0302, 2.0949, 1.647, -0.1081, 1.0378, 0.1356, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1337 left_yaw=0.05 left_pitch=-0.3763 left_roll=0.0844 left_gripper=0.9958 right_x=0.4026 right_y=0.3821 right_z=0.2044 right_yaw=0.122 right_pitch=0.2785 right_roll=-0.3562 right_gripper=0.5324\nstate[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.326, -0.1197, -0.0562, -0.0122, 0.2393, -11.5214, 8.9368, 1.619, 0.4762, 0.1587, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0531, 2.2734, 1.4143, 0.2371, 1.042, 0.1505, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3895 right_y=0.383 right_z=0.0745 right_yaw=0.1478 right_pitch=0.2426 right_roll=-0.397 right_gripper=0.5324\nstate[joint_eff]: [-0.1846, -2.1949, 6.7487, 1.2772, -0.1001, -0.0708, -0.0171, 0.2803, -11.3846, 5.8598, 1.7265, 0.3639, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c877d08131065b310299a5c07767f11b03dada628895c3e23726fea2b0f798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef33bc50f00ba8d68010ea78692f3d97dfae211602cf7e03b94c937158fb1ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b764f403e4e6d389202455592cb7bb2f47a4592292cf5bec483acabba96c73e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfpA4N940b3hhjsp6l5vaHFswg1IH6Jif9b-uQjQ9YYlyeZOXmSUl84ioY0hSDCyHYT_POC__I1hG8nNGADeWAERIQCdEeaGpX_uiuX1hCb406ccwlN3i82kUd9xtATQ-p1imsl3dqDMt_gOQbGGpaj8WiPgi6t3wkROoZnUvikolSfV6zplorvme7msRzkFThG3qdcns1dyozOnYBV0EJdVczkL3Bha5wmez0IK8odk9kZjVg8MX-vT7i3KK6bROHA3iy1LG75Tzmf39WZo2azF3RemcdFyommFvrJpFNd0x9IcX9FRfgC2_2NYZobV5O3t7e956DUo0OUBNsRrMItSVQ4IlorvClVkPEXEfwTDecnkqdpfeF2hIOh_0dDAlN6LzSH4OdXQyYeLkUE42pOVR_Dqxtr-2Hmo5LxCCNeW0OKk1tWPb9OoVJIyb0zDMxb6bCi8-yGtXyNgqVePUOhaQxie9BXnzgR8sXdnT-Qhh7_Fa9zwAtlBxFy1ZuYE3KG84hLRccP2WXicJWL1Dt-_1PBGBI3tyQ8jN3YdKt37SXROu_HOFLHvOWKmeGvicufHHayNPuAJ0_X8c9SJ8Z3qAOdgK2Eq1PCGNw3ZHIPRVx6ZgBuFvuOMdMpfTAHV4PB13tfHHprjDDum_rFbip1WdXl-MiwjnyVTruS9sLRQ0aMBf3-3-5MrgYWWT72LZs0-Ug-T3B_N5fN72RXVC5NNta6dhlAMbnHZ6yackng3sIsa4Ubiw0wTIfZqGvjPr9aMF8Bp6yOipufnhCRulNoXA-Y0OVMM-dt8ZxY2JxAJKwJq6Z77uAlu02ARSBsxXGrnFGdOh4kOH2El5GY2XDTQTaOYbzkKqt-C8aAD4vOYa5RRXItSkVuCiOhh3xwLSoKubQ2BJoq5poQo9baZp5OUx4yGHun8Tx1SHEu84DA4YHJKlGZj5T0rAApprLuoWEgN6nqav5wE1nani6ScOHdK-j5d2GUWyOcHcjOVCQnS6522LAq8uFeI2uoPURZ2OhiMVb4Z84ddXp3iifdupmmNu69G1-JEIfpgaewi8dk3ozfmGrg-QGy4RoSxxwKqyfsxUJSLkvnMHi1c6oPUG_gALM4srBu6h-pa6yYo3XZxtOUBAB6-A793vu9zDBO1SiQU2CN4yFs2DbCarLpTpaTs-FsHml9iTbpP3JjbREqPjywNX1auSe66mB8KSScSAb0V2FAVy2vAXRF-mhqyEfDg_p4VUpUHv3bn90Rlh7-46E=",
  "id": "rs_00ee5701d177c464016ab447e88b8c87d0afa056f1b8f6dbd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow object is now visibly resting low on the red floor between the safe walls. I’ll release it.\"}",
  "call_id": "call_k9eAQa0EwOAgi121Wk12qM7s",
  "id": "fc_00ee5701d177c464016ab447e8b92887d0b3fa03044284f9c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k9eAQa0EwOAgi121Wk12qM7s",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0515, 2.286, 1.4033, 0.2615, 1.058, 0.1501, 0.9946]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3899 right_y=0.3791 right_z=0.0691 right_yaw=0.1347 right_pitch=0.2504 right_roll=-0.4027 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.894, 6.8308, 1.3016, -0.1343, -0.0659, -0.0171, -0.1709, -13.5043, 6.8444, 1.1306, 0.1929, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b846e45ce84a2f3f57e5295202233dd3a385c2a26b14a22d5692a78184119bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa87a766c9b541457e4dcecfc565c0243fe60e89f16d055fa70368ce667ab6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c74fee620043575427e854769ff76894a4a59b4f114490017e98672c7292bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9649, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 0.4637, 2.3863, 1.1778, 0.9897, 0.561, -0.1917, 0.5309]\nstate[eef_state]: left_x=0.2633 left_y=0.0035 left_z=0.1348 left_yaw=0.0497 left_pitch=-0.3717 left_roll=0.0837 left_gripper=0.9958 right_x=0.5501 right_y=0.174 right_z=0.0377 right_yaw=0.0699 right_pitch=0.3721 right_roll=-0.3265 right_gripper=0.5309\nstate[joint_eff]: [-0.1709, -2.0991, 6.653, 1.3065, -0.1294, -0.0562, -0.0122, -0.1299, -13.8598, 5.0667, 1.8095, 0.0171, -0.0024, 1.0281]\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]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0531, 2.2734, 1.4143, 0.2371, 1.042, 0.1505, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3895 right_y=0.383 right_z=0.0745 right_yaw=0.1478 right_pitch=0.2426 right_roll=-0.397 right_gripper=0.5324\nstate[joint_eff]: [-0.1846, -2.1949, 6.7487, 1.2772, -0.1001, -0.0708, -0.0171, 0.2803, -11.3846, 5.8598, 1.7265, 0.3639, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0515, 2.286, 1.4033, 0.2615, 1.058, 0.1501, 0.9946]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3899 right_y=0.3791 right_z=0.0691 right_yaw=0.1347 right_pitch=0.2504 right_roll=-0.4027 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.894, 6.8308, 1.3016, -0.1343, -0.0659, -0.0171, -0.1709, -13.5043, 6.8444, 1.1306, 0.1929, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b846e45ce84a2f3f57e5295202233dd3a385c2a26b14a22d5692a78184119bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa87a766c9b541457e4dcecfc565c0243fe60e89f16d055fa70368ce667ab6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c74fee620043575427e854769ff76894a4a59b4f114490017e98672c7292bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfvlZ1lYuFDJfwPiKCeix89G2M9nd_S6ZCp3SimvLwMAwXxPzwbf7iq_PeIW1rI9MWdH4k5afhyYxFEhlUvNS64tkH8b93VJXXeZQBoxZ1mJ1Lf8nLY3zyHuYTLo9h5NkrQ4ljPIQRt7omfzCuKkaqnPiqTwxW7fsXKsP40Dfir89MqVkVhRiEYWwlO0mrL-WdfzP_P4thuS58Lxfe509Y1LryJOGMbp7m7A8IIeMFEEk39RIlCp43JYjJyfVgro1Lf1D2LHqPUlR0qOZeapMptA33zKjobdxV1r9ksjSO9dcE4HFJLycUka54KyDM83Frm2rWNXL9GFaltRUHOotzwoMXt3biTwXDb6mcHtiuADSSob7-mGePuyuVDm1BAyFqgpbT59hZZiZKWE1h0hzauXQpnEfMd24a8UL2cJvy4ZGhwHAxjinOoIjevirkhTBV0dTp_gfXLqChfzgPTRr-Kgkbi_mNJtSUKtJGzvO0MiBrdVKvf2jNMVGtGJJi2u9f95bA4qTO81sd51YzMfsiqSeCNqqIRPxf7FtUhm3KQ910-lqQlQVEXG6iXuabIj1Fc8XG1z3q-rdM70fDN_-EZRD6yHrHh2nFyf6tia1Z00x4J2mtx1YyAAqEslhY_CPaQDTaYkYqW1kkTnfsjMYydjGzZ0INIHdNUK2esYbe-uJbrOAh9atOVSup4-qb3dt6UMkMH6vWPhrKNloN5MiB5J6SYHt5XjltLyO5EkfLa2OljhnuBlrQnbH1qXnOO9QnJXbJhtNiW1p5KSPdc_ZCZC1yWZc2xPN1K5o542womqD1QQP4QMF5euWrTgHvCCH6Aau9VzGamih4kt6iUXrCtLOry1aw1hFSLeOSB2oS-RW3PwvEATlY2_Jzd-kX94zS8IPaEfD3ZQ60xxkDFh7HEy5FmwG8-RRda7j8hrtDt8w0mDV1A_E2NfReoGEn0Q0-ePR_OdnGF-Ak9dc2lKuvcyWQ7kmnWCjeAhAm00B-iFi3w-Tamu80H_JA1DUn6bP0cuXDP_pbs-c_XMNGjvLxW7mYHsbhS_2ZJf95BL0bV9mlj-6vDBxWpgirFDOz1B5wDB_9SsqRNQ77_-Oajor2ZertLy-gsD8oMvXh9jOPgRNLbLv3woeqzGTkg2DvBe_zA_3rKHnBtOQ35FzA0bRp0OgqMR-qR_gphc1lA-7XE9TwwrqgZMcuYRoxBsalUTCEZ-7a1cRCJ9c3TIckm6fBlLfO0FqJwqbboamaDtKWnOKcgnXCTogZV1M9_GKK_FcsvNCRHWjNv6sJzVPGgKbNISlm_eTV-1KFDugb90K8J4GmWZYQwTJ6tzmW28aIMzX7_dWWXk6rx5TG9vCj0YCkyiyppRamOb1ZhqhJdnY4f-DnxCpetQcxDVapQqO_P259HEI_HTK-KZ6Of6ZSvKetMCfJ0UzuYogr_sIenFVOg9hSB5rIygcir0WedlgYepVD3sB_PclEbpQl7ZSkkX47_aoBCiC1KZXD1npohjNyTCyROL_xtd6v0cF5bk7SsCQVw2FYIivvC5D1b9bCi3624-TMlz9wmy_J2PBRCAgSWOI0rp3lL_8DsYQxoRQkOZ4EMWwS5DOG-3eHErz_yEGPvUg==",
  "id": "rs_00ee5701d177c464016ab447ebd37487d0a3d53aab858b0dd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.16,\"right_pitch\":0.0,\"right_yaw\":0.0},\"note\":\"The yellow object has been released inside beside the white plush. The remaining brown teddy is immediately in front-right of the safe, so I’ll retract the right gripper to hover above it.\"}",
  "call_id": "call_8zSTIrazKXQNpzEFAytta0jg",
  "id": "fc_00ee5701d177c464016ab447ed634087d09ef5f9962edfd3e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8zSTIrazKXQNpzEFAytta0jg",
  "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]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0195, 1.8969, 1.3651, -0.5423, 0.9726, 0.4908, 0.9953]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3449 right_y=0.2891 right_z=0.1406 right_yaw=0.0272 right_pitch=0.0084 right_roll=-0.4297 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2085, 6.735, 1.3211, -0.1294, -0.0415, -0.0171, -0.4718, -11.9863, 9.0598, 1.1404, 0.4225, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9298d66c5a5b7a49e88ae9ae68419817f1f4883b021b0af107f96b0669be0031",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5595273f18906b77d4d8aa0c6c12b7920d5993b767b527e3bcc40426062ffed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70060de366a409ae80829ba0ffe3bdb11dd1f3e67bc94c90f6074b9f49ea4b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9695, 0.7521, -0.7494, -0.1272, -0.0647, 0.9958, 1.0302, 2.0949, 1.647, -0.1081, 1.0378, 0.1356, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1337 left_yaw=0.05 left_pitch=-0.3763 left_roll=0.0844 left_gripper=0.9958 right_x=0.4026 right_y=0.3821 right_z=0.2044 right_yaw=0.122 right_pitch=0.2785 right_roll=-0.3562 right_gripper=0.5324\nstate[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.326, -0.1197, -0.0562, -0.0122, 0.2393, -11.5214, 8.9368, 1.619, 0.4762, 0.1587, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0515, 2.286, 1.4033, 0.2615, 1.058, 0.1501, 0.9946]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3899 right_y=0.3791 right_z=0.0691 right_yaw=0.1347 right_pitch=0.2504 right_roll=-0.4027 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.894, 6.8308, 1.3016, -0.1343, -0.0659, -0.0171, -0.1709, -13.5043, 6.8444, 1.1306, 0.1929, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0195, 1.8969, 1.3651, -0.5423, 0.9726, 0.4908, 0.9953]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3449 right_y=0.2891 right_z=0.1406 right_yaw=0.0272 right_pitch=0.0084 right_roll=-0.4297 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2085, 6.735, 1.3211, -0.1294, -0.0415, -0.0171, -0.4718, -11.9863, 9.0598, 1.1404, 0.4225, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9298d66c5a5b7a49e88ae9ae68419817f1f4883b021b0af107f96b0669be0031",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5595273f18906b77d4d8aa0c6c12b7920d5993b767b527e3bcc40426062ffed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70060de366a409ae80829ba0ffe3bdb11dd1f3e67bc94c90f6074b9f49ea4b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEf0ymgRJPT7JSTpEcfuO96-rm9Un2mgGQkxRqPq7Jl3jpdYDTOV7IpF7bsomZ1MpaBsyw6bQS8ESie8fMDcSnbE05ukbdpv3ZwASw1cEv0GBQkJHeSR6OASNVglDT0J8cAbGUHxA_s9oUWXyV2cFjssilDrSVuYW5CHhu3Us8UXI4vTLb0_moFQsT00gwuph-nHNY-hSNvpBRTqbl9PsaFP-mhjrC1ALN3sc4BtVbkwoJEdFe02Xy8NvpawOEiOAjgLEP7Rjt_VhW783sfcmZSo6jM5h3jTXN37vGDmbv-1R6taklyEX7vWQEm8SPN-TQ6t_GOSjUZe-gH6GBAuU8QCTthtARYPdG2dtvttPLnDP-hzKjvT7sdg5PSbzrHcgYbCW2U_FNB-jx3gH-lMCjVs82ydoxwlxQ1pXaDlJTUePyHIXzAWNcGVWPRz-LTW5krdkZKGQtbJ-HP5NEpW0r3jhR-mtv0FpxY4QiJP6NRae8DWJUPumb7SMejGe05FFUiQhsxLEwM4mDZ4FnEoi96McFSDXuTyyEwEVfY8p3Xvh7jF-MJOJOf9_OdZCAiFYuMlgVNDYWLQ21RNLidymRqnJAxKtAANBwz04cDXedC6d464q-KCDjoOLujjLNjTXspiPbedDd8vd0dWxCAyunDeTlIngAh-xl5A_EEesq909fwFESRSsmyU_0W2snZsd9ZYZbkE68G0Dg13uisU1jvOsZKHPEaUItcxv5uqC6eTs-JydkU3G8WiYvcfjxH40oes14oU5xMLQs4XwX_RL5e65L7JdNvC46SQcevGP5STJSfk2LTrZZogHTzxKUslkXB62k5rNMDBkezzYJBE87l9wpb-yNhBQYrsl59qGFs8DrJWOZWmmDppIMkDrNcXLf3kitymSjEPpvLYQj0jhXumaPx-wKPrTxCXX80xxkNbtQS2px4-ZutYDZNTGRQCMwDUmunxZ1KgA36l56xIxjKQR278tWQGIzsKLz1FNOh3x1lmltZsVBqYbV5SG6IliJctLymZSx0W13bm3kEh--97KCxiL9ZP0eVUlb0ZcfDig-RAU0351Mlx2AknfEETP0Twe3DOrL0ECNGzWN4kar2piGhohR7EmQOi4hVu00nTE9t6pcAwlWQKUYnSmNpkiCPLIdSjcdlC7zhxlfe8m4iDQs5tvXXEkILEfspsibgrbQozklGrU03bfA9DHrmGTYrbm7Nf82qaJTNyWyGMOwN1KypViXsNFxhRbopabGsxddVn7xJ67k0gVpl1ceMjf0HAVgSoVCqFyZ82TQXFqVzm7OzDwjASTT6wINXqSAd-Oi4YBVOZdSPJ3KtLeO_nLkO4KghgcqDawjspYi8ljm2HYGACYvnXP3PA7zvW7No33y3sG06uKDjL6GHrYgji6ZvRKfNss1oiLXVMSz5hGrHcnA==",
  "id": "rs_00ee5701d177c464016ab447f2957c87d0b3e486d16faa1016",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.28,\"right_z\":0.045},\"note\":\"The teddy appears at the bottom center of the right wrist view, indicating it is directly under the fingertips, while the safe is behind it. I’ll descend to the teddy’s body height with the jaws open.\"}",
  "call_id": "call_vuuXwz1GZzpQelz5zye281ZL",
  "id": "fc_00ee5701d177c464016ab447f2f6d087d0b051ae9676e0dd2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vuuXwz1GZzpQelz5zye281ZL",
  "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]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0225, 1.9968, 1.1339, -0.2562, 0.9565, 0.498, 0.9954]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0505 left_pitch=-0.3785 left_roll=0.0847 left_gripper=0.9958 right_x=0.3333 right_y=0.2757 right_z=0.0508 right_yaw=0.0337 right_pitch=-0.0265 right_roll=-0.4535 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.1128, 6.6393, 1.2723, -0.1197, -0.0757, -0.0073, 0.5812, -8.3624, 5.1897, 1.0672, 0.5739, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee0ecec5afa971eafdabf0b56bc54d2da8edbe2163ab8176f404daec655352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f92e479b67df461072d673d5463f153375e5c2deeda9489c863d7d861e4cd99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75eb48c8a0225d1e362a818437fe8c57f47083f3d6d120cd65fd8372ee8f05c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0531, 2.2734, 1.4143, 0.2371, 1.042, 0.1505, 0.5324]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3895 right_y=0.383 right_z=0.0745 right_yaw=0.1478 right_pitch=0.2426 right_roll=-0.397 right_gripper=0.5324\nstate[joint_eff]: [-0.1846, -2.1949, 6.7487, 1.2772, -0.1001, -0.0708, -0.0171, 0.2803, -11.3846, 5.8598, 1.7265, 0.3639, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0195, 1.8969, 1.3651, -0.5423, 0.9726, 0.4908, 0.9953]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3449 right_y=0.2891 right_z=0.1406 right_yaw=0.0272 right_pitch=0.0084 right_roll=-0.4297 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2085, 6.735, 1.3211, -0.1294, -0.0415, -0.0171, -0.4718, -11.9863, 9.0598, 1.1404, 0.4225, 0.1099, 0.0659]",
      "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]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0225, 1.9968, 1.1339, -0.2562, 0.9565, 0.498, 0.9954]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0505 left_pitch=-0.3785 left_roll=0.0847 left_gripper=0.9958 right_x=0.3333 right_y=0.2757 right_z=0.0508 right_yaw=0.0337 right_pitch=-0.0265 right_roll=-0.4535 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.1128, 6.6393, 1.2723, -0.1197, -0.0757, -0.0073, 0.5812, -8.3624, 5.1897, 1.0672, 0.5739, 0.0171, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee0ecec5afa971eafdabf0b56bc54d2da8edbe2163ab8176f404daec655352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f92e479b67df461072d673d5463f153375e5c2deeda9489c863d7d861e4cd99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75eb48c8a0225d1e362a818437fe8c57f47083f3d6d120cd65fd8372ee8f05c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf372zMpDu3SDMhHg12a1ilY5B8OunZJk6Mqf4Qn5k2LQPxskFfsMGgDIVFykFpIJk2W0OzPZttGRDaON4Xp5EB5ssKlPWOPW6NsbCscNfMY4EdZPePei9L9GQ0sVBpeTpV8FLUh36JcGLicvgBPnXeZORHYYw1gJNx9RZXnWqBrv0k1aShYFCfQRStCAY9lj7EPEIWNGQ07S9sfz9xEjtEfTP3b3VsiNmkg3kfD1YizH0BcTWCryT8HjwdjVKk10T3u2OUQ_JYxEshK2uzjXLh2iIZ18qx0Mhn4eqhPuxQbNHVA4y3aEDAO7cHiA8dIUT2K1XgevNKVaCy3qJHUOyvfvLRoWl6SrTI3CiZV-5nAmjG7YqnfmCME_EggqJKdUTk84RGMrhKAKP2GaEDrdlT581q5aKJaLqqgaj4DOFkAfL-GH5P7pLlPor8IQ5m3dPczDjrVB0_VRTXDKrhiJXJXn6NyLocGv6C8gndViWJBvKCnE8pyT06Ps7QyAvlM3qXr_Qr8Jc4g6O4D-ZrkZUXOF13HYdrv8waZrhhFfhD4nsY5isBLpuJTHwAg8jCC6kGaXyUBEVPjHUJgmK9jJ8qRReOdoIZPsh-xM38sbM_fq5eL5tf_dDTXBLuQjrPBmVtEb5w1-rd93AKnvo5o8Sc7gwN9aDy_CvYV6tyG0MDPF2BAizISXNkZ9bdYiAoSt_2VyZDxEJvZAAAUZ3TCz10hLbq-VGWbJDaj9Dt76jW_lpwvXCL4WI2Bas8r48ML870oLqWEaEoOM3hHR2QJqYRkU_YAxjXszoZL7Drrqx1rwn7s5atAqo3M2as0bLXD5xIqWaolilMls4oklVQbOBJ6TMB2sFjpRmWhdyNEu1Nti4dANlIpHobVcOt3AhdhUgS6l8wCAqdVXUqgJN3_Tze9AGICYge2hPOWiku-OVJ_LMW4bcwV-d0L8jRB0hF__oDVp_dsiMPOdQAuQkPIC6ZYFooElg4_4aNvt5dGrvDvdn8XE5VNp1BXDWOasVC1MgIn8MYYbuZyO-ZMeM-JQEgBt3aivOdAfFfsZqIJWORdkoP4S6hO4ec4EDJo97TxVS3d8r-cdWVHib94L5S1kLwVQVF7HnU5vE4ixhZx5qIZGhw-BNwU2wJvKf9KCWtVFzQTvs9TwA26n3gTxGtu5ZzpYME726H7XKFHhL3_xFaF8bdpjdMqgNkrLFHAQYnfnTmKAXZsqDxQw_jNqkVoXCc49ah8_l9efvgpMS2K_5znnS1SmI-zxzc70ON_WiIt3vLdrnL475-iucJyHldlRP0v7QS9S_OVDJmd9Zx1-58xdIR3YaWZC-WlPvyLLeULztW8X0NzK7FCCXRHEohgcWj1VOI_yS6pP2fL0gxn_0H2hvC2vX7PuseAjp-EPQroFYNX9_5rgXLe1RDmF_748yJn7rRsNfOEUDpMC473evCD-ma7bq5ny1su1R1dPhq7NOTmnCWfHZgKEJBj6TvaloOqHnLIEE3VZYh0tG827f1WK8=",
  "id": "rs_00ee5701d177c464016ab447f5f94887d092b1ef6501882cbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose the teddy’s torso fills the area between the open fingertips, centered laterally. I’ll close around its soft body.\"}",
  "call_id": "call_wpeEHyAjzx1NTEQjLxjrZAVr",
  "id": "fc_00ee5701d177c464016ab447f6976487d0bde61b74efa0de52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wpeEHyAjzx1NTEQjLxjrZAVr",
  "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]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0233, 2.0159, 1.1202, -0.2562, 0.9482, 0.4976, 0.0117]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0503 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3298 right_y=0.2721 right_z=0.0385 right_yaw=0.0373 right_pitch=-0.051 right_roll=-0.4771 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -1.9624, 6.653, 1.2576, -0.1197, -0.0415, -0.0171, -0.1573, -11.3983, 6.5573, 0.9206, 0.4957, -0.0171, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930b8b1da81e0c8dc2ed79fee6ca76b448987e5a6347c3a1501316800183e0ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a734f534de77ae8a5aa3fda97e7bd61b317d996696edf4016a1b4462d7bcbd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bfde295e3788838f52e27c0f119269ac4811e3e9e07b6277f65207fdcea153",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9707, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0515, 2.286, 1.4033, 0.2615, 1.058, 0.1501, 0.9946]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1333 left_yaw=0.0501 left_pitch=-0.3778 left_roll=0.0846 left_gripper=0.9958 right_x=0.3899 right_y=0.3791 right_z=0.0691 right_yaw=0.1347 right_pitch=0.2504 right_roll=-0.4027 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.894, 6.8308, 1.3016, -0.1343, -0.0659, -0.0171, -0.1709, -13.5043, 6.8444, 1.1306, 0.1929, 0.0073, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0647, 0.9958, 1.0225, 1.9968, 1.1339, -0.2562, 0.9565, 0.498, 0.9954]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0505 left_pitch=-0.3785 left_roll=0.0847 left_gripper=0.9958 right_x=0.3333 right_y=0.2757 right_z=0.0508 right_yaw=0.0337 right_pitch=-0.0265 right_roll=-0.4535 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.1128, 6.6393, 1.2723, -0.1197, -0.0757, -0.0073, 0.5812, -8.3624, 5.1897, 1.0672, 0.5739, 0.0171, -0.0024]\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]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0233, 2.0159, 1.1202, -0.2562, 0.9482, 0.4976, 0.0117]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0503 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3298 right_y=0.2721 right_z=0.0385 right_yaw=0.0373 right_pitch=-0.051 right_roll=-0.4771 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -1.9624, 6.653, 1.2576, -0.1197, -0.0415, -0.0171, -0.1573, -11.3983, 6.5573, 0.9206, 0.4957, -0.0171, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930b8b1da81e0c8dc2ed79fee6ca76b448987e5a6347c3a1501316800183e0ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a734f534de77ae8a5aa3fda97e7bd61b317d996696edf4016a1b4462d7bcbd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bfde295e3788838f52e27c0f119269ac4811e3e9e07b6277f65207fdcea153",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
  "encrypted_content": "gAAAAABqtEf6XNXQ9NVKFSdM0DbH3RXJ_dvTDPWJHzJO_K1-TTgLzH8XWf_VdWaU7y57tqGwMWnDH5IcNkzJBlTgztlnGgDshFMIMymHph4H8yZpWenMIfaHVPBzg6a-d1oeltr9y-BRHdb6oNPwVRGRzRqLFIaLW3kQ15G9ruphy5dD6RM2WnU92cFNhQXxxUcRHnLWaRvpFbINSceNgAgP1-lwslRNai4YG4tLHVmX5lyfecNYykFicyjYMfI2FumapXxNfNzw39KmqPaOy8R2Cwfeo8X663z_XDSpK7WJtxpPlL-Fay7oK3gI4Jclu4jaJuFUXTSDBMXyrFJgDznF6iJWXcAoyl959WR05alRJVFG9CgB6LdrhKLrSofM75vC8Kz7h_XXnQQKiTrjQNGtUZOXSE-d8CgpwzZ7CxyFW87NCS_hPpE6q__kkULoyggvMc_6mPKVz_DTd4K102GpIM1phCeuJ1DILHRH0Sv3StE1b-xPQYoBiW59vUTVJpiJ41bxDB-yCZroUAvKIU2s-5VGa1RfBh34EeQ5185Y5ypwL4txEMz7Mbs-8Dk7rxzHIe3psS5sEgj9aKDN-y3iebueA9wII7XYoN9qd52epNBujuc4XF9D6-IoW2g2URquDmACEUp3TQyzx4r_nrbrBErAI_-NvFflDDmfPR-IQM989x7AwCDbC_mTOXrkB1C5y-s1E5JNK7dJ7G8UuGld_nBbfH0SJbd0gFtS05ZL5t-t1aqH3QtSUYtJLRVK7A0Axxg6ENjP9xRxK1RXxqWDW-Id_6TsfxNM1shKb1nksLxEUL4j578ixd3WpC0ySnZnwz-2hMRcD8hTrB4AlO4MyPHCYCZayqWhP57DXRjiO8qkizMdml9U7H4YZHkB6KkPp-4ar1IdcNqd_Y4dx82q9CgouzF-FV5279gcxPnZztF3txA7B1C-DRG7U232BLRoBjqIcKrjpDuXYe5rsH81d5FmOy2nvNietJaP0Ihf5FuubKxfXeUqD3GVHVHV8Y4A32MhCxy_E9BAcVQsryRJa3p6T1FZ33JaZ-u1Rbt9yBtB35DAAypC4-3qpyFAu94DFtRRxyNQafigNgMJho6_lsrCmOfnt5d4NfdNu_Bv_4mopI3NuOTUAY6rhmQxzLmytTyhdANiDOqSLkAoX0OtItYd0YsZdpZZWQl5fMDbsYs_-QMvmfyjSky5_iefNlV-5XoRni3LA2tHDiy041o3j-m1VUd_3YS7fNxFJTQmwyznOYbn3LdroBvw0xMwKSmZ8UvE1Caosj0CtZWGYBG9jyQMLeMiXw==",
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The empty reading shows the fingers closed just behind the teddy, which remains at the bottom of the wrist image. I’ll reopen and advance about 3.5 cm at body height for the corrected grasp.\"}",
  "call_id": "call_SY7onR3NeCKdYZpWfcyxvzbm",
  "id": "fc_00ee5701d177c464016ab447f9dd9c87d0a123cc14c1b77441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SY7onR3NeCKdYZpWfcyxvzbm",
  "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]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.9512, 2.0163, 1.1675, -0.2676, 0.9009, 0.384, 0.9945]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3535 right_y=0.2633 right_z=0.0446 right_yaw=0.0446 right_pitch=-0.0946 right_roll=-0.5139 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -2.1128, 6.8308, 1.2772, -0.0904, -0.0269, -0.0171, -0.5949, -9.0735, 8.4991, 1.2576, 0.5934, -0.0122, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32da7953c50ad87a3973b82c09ed8b1c1f07db7a941afaac8c09bae6b3df59fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5963782c527171356f7997fc4905648d14153c3bd496ba09742b98a5a8dd750e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4c4638a5d48aeab2a059939e90b5529cc83e9da4d75e3fe62e80c3f373f8ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0195, 1.8969, 1.3651, -0.5423, 0.9726, 0.4908, 0.9953]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3449 right_y=0.2891 right_z=0.1406 right_yaw=0.0272 right_pitch=0.0084 right_roll=-0.4297 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.2085, 6.735, 1.3211, -0.1294, -0.0415, -0.0171, -0.4718, -11.9863, 9.0598, 1.1404, 0.4225, 0.1099, 0.0659]",
      "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]: [-0.0853, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 1.0233, 2.0159, 1.1202, -0.2562, 0.9482, 0.4976, 0.0117]\nstate[eef_state]: left_x=0.2634 left_y=0.0036 left_z=0.1331 left_yaw=0.0503 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3298 right_y=0.2721 right_z=0.0385 right_yaw=0.0373 right_pitch=-0.051 right_roll=-0.4771 right_gripper=0.0117\nstate[joint_eff]: [-0.1709, -1.9624, 6.653, 1.2576, -0.1197, -0.0415, -0.0171, -0.1573, -11.3983, 6.5573, 0.9206, 0.4957, -0.0171, 1.0525]",
      "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]: [-0.0856, 0.9714, 0.7521, -0.7498, -0.1272, -0.0643, 0.9958, 0.9512, 2.0163, 1.1675, -0.2676, 0.9009, 0.384, 0.9945]\nstate[eef_state]: left_x=0.2634 left_y=0.0035 left_z=0.1331 left_yaw=0.0499 left_pitch=-0.3785 left_roll=0.085 left_gripper=0.9958 right_x=0.3535 right_y=0.2633 right_z=0.0446 right_yaw=0.0446 right_pitch=-0.0946 right_roll=-0.5139 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -2.1128, 6.8308, 1.2772, -0.0904, -0.0269, -0.0171, -0.5949, -9.0735, 8.4991, 1.2576, 0.5934, -0.0122, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32da7953c50ad87a3973b82c09ed8b1c1f07db7a941afaac8c09bae6b3df59fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5963782c527171356f7997fc4905648d14153c3bd496ba09742b98a5a8dd750e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4c4638a5d48aeab2a059939e90b5529cc83e9da4d75e3fe62e80c3f373f8ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEgAQB3Is3p8u1pZUGGcNHdNv0-D6sG8-1HqNeeb-PiKrs4BYFrnrefN_VgOYqUw3ApTFrkV1tngfwAD5-N2adeJPDSlq_q5zpL4MySwK9t067egtSBYjxHCfqHYanOacvEIVKRNssi69EALHhu7QCns_lyXvpkxIAIM1FrsOWauZydsgn83RzYzyUuzzpzadk2w5SV0A1EAr58eeyhRkFKGbqlozqFfFwE34fPALuBFcFwUcESaVOrtv4V_6wwSGCvji2O32-T8y1bBBd5wAE2kcTIIwNKGQjFBv4vAuicLEfgomeVemcvOwcM1MWXvnD_HDOg0r5e_ZtUnP2ActTm2Z6K3Zq-ENRSFLLAZrk4VTOqqI57KHH-R-x1si0K1YnOMm2I1EEgwhmrqaZajiGNiC_tmQxxb71-08PVU5Sc55r661ISOfBXSbjkeL2NK6WIbQTbUCN-Q374Bg2gshmgSLI7fT4YaqWfDEm7A0uSzDnpEIslA5VssK9Y9_LaS_xMyQ9DlYf4lps-ttjJs1J8OJSNBYVk4buarMEX5RAdQqwn80Drm-haTZmBEVCd2G-4sHwnKrYAcGcAq0koodtSGdb4pYKEHNsmntStSzV1hkF8_Fuqtkcibbs5F3tK9olRkoc1Q--jwKpkBnZakYJrzDo1koS9oxN-LLUsIjGO5r9TCkiOP4yRThl4YlGFhI7_f_Yweo3-rKbVu6DJmYN36pOlhJWsz-nCl8k8P_xpjF3_8NeQWRH7ib85gPMDN-CAlOnvDMO-77I4rPmAo1fil2Vxw1jsKlPvle5FVxGw66iY9VvkX_84lwurYKiBj2h9khiQ1VmRp4MsVhhrQd8A6ZGK-4iqi-_PyxCtVfpMvb05aOAOkfYD3ENkXdMns1_TdVbSR_69KkJiXPfUbBX1YVH6t6M2gCfML2laPtiIqDm3Ql66ZCc9h8wBilwyqhM3AxaM5aT-EPIHIJpl-X3-AnJif8pzPCTgBvvw1VEQVdjp5fLO8ZhCN6oTFGl732USx3ctc1h1rHGLGzTO9iON7wr7JlcnjywTvhguLtQZc3VS3h7f8dkzPZAgNHOdWJKykJFnJjMWuY8xnR4GJ8H3jlTC2LsmXAm1v7o8WUdTGCfSizjRMvs-mzYY4dowYWO2LIGeq5USe5Jpr9KA72Cxq9dcbq0-kmbtSFVlGQkcJ8s_JdWSbNxga1uU-3JeGgX64R2OTExh5caTjI2BzZqdMwMg6VHuMw6wAFT6VoIxhvSswKbcwhRmktKEPFKywlmTi1HAkOs_cLrhsoG1Em3fXhfhKNOSWSqlm_MAgR3_hzf5x9TkJGI-9hYrguegWIKCKrz3z1a48V2ExUNPyxbrWrvlxN_Ez32FSUOJ0ygw87uxTUTD5PWhhlP_GZdx_hdHPjBAyEzNdxljNOdfdWkZiRqG3INgBJJikxl5ewmQ_6jh8wx1d6tkC-1S9TQ3ztFwIcQV91Ldr1u_rcfhVF5aHHCe080ovxdFaQavjdSOWzZxehIL2cCtlkHYw8l2bR18yQvY2_9n5Zk7NJ2JUblZn97LxUvuk2dT0sQEIPDxN0givkmtsqMLlQEZOedgHW7M9cnYeKx62SXneXL1e2YL8j6pShn8_WEVVo4fJMkSVgkUl2kFFB-Na3vd3yRH4Fk4tdwex4VcstIYu6pl_bTZONMEezHFSV7SHeIdXzwqQM3ehgAvwNk9y4B58FgFSkrW0afUHyXeL2I2-B7ZJyi7-CVvHs7AaEZz5Ff9bKMpG7lTVK9D8bFS_f4S58uf7ywDhr-EJNE2AM_YPnnaUywFlwGm1ATg3j3v0ElA9m5uU3hVQv-aQNrS4dMKvIr8uglfYXHydqk3A0IzFfCX4ul2TRKgCG4_JGowWcdJWim4Ee-LWzd5CQA83mpK0W1aLp-qBbnh6s2Cyh9ULrllkvRovArLKDUYJ14Nh982Q0GJjatUy6_bIPMv8_5Xieh0OMI8Otn8tkI1kzcAthEQtT788lefoDgCsvq5nIUMWrTZYS8q-0McXI-wWorndD60yeoITSQCqepGqCDpTsmBY6nM3srKu3vE-sqgtnvtU3yQWr-T3ftvXrn5QZpSo29w_hsxepfralSNpVWA6dVPi09TSpenYKPMovq9X_MjGrSSEvsPmIqnXCzjPHDKpqAmIHwG6kNfU8hmO7BXMVwLldlSknesZ5QRkTFMRrGi7JT1pxpQ=",
  "id": "rs_00ee5701d177c464016ab447fd35c887d08091d9dc1e54fd68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_z\":0.055},\"note\":\"The overhead view clarifies the teddy is toward the base from the gripper, not farther forward; the wrist’s bottom position confirms that direction. I’ll correct inward by about 5 cm while keeping the jaws open and low.\"}",
  "call_id": "call_1LtJyIR0hsyvSVjB01yGNh9Q",
  "id": "fc_00ee5701d177c464016ab447ff433887d09696024cb7b4cf34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1LtJyIR0hsyvSVjB01yGNh9Q",
  "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]: [-0.0853, 0.9779, 0.7521, -0.7647, -0.1272, -0.0647, 0.9958, 1.0546, 1.9701, 1.1183, -0.3805, 0.9131, 0.4957, 0.9953]\nstate[eef_state]: left_x=0.2605 left_y=0.0038 left_z=0.1296 left_yaw=0.0517 left_pitch=-0.3997 left_roll=0.0879 left_gripper=0.9958 right_x=0.3101 right_y=0.2704 right_z=0.0426 right_yaw=0.0782 right_pitch=-0.1234 right_roll=-0.5275 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -2.6735, 6.7487, 1.4286, -0.0952, -0.0659, -0.0122, -0.0205, -11.7812, 5.2034, 0.8767, 0.7057, 0.1294, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343d2df9e38491fea5177873f64ceb3001c88d0ddd4c13ff63909af729ca6493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c2713e46a333536c0a4e09098260a2d0bbe3c5bb1e4683d65259c79c0d424d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10570e351b074f9602f0378280ecc1f823daaf89789fa76978972590a285c45a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}