adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "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, 0.7925, 0.6033, -0.3935, -0.0193, -0.0368, 0.9998, -0.0212, 0.7937, 0.6064, -0.4015, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.2496, 2.0391, -0.0513, 0.1929, -0.0366, -0.2393, -1.4564, 9.6342, 2.0586, -0.0464, 0.1001, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edbad04fea7465ee52c6ad05dd926cf43d6c0a19976eed6324cec272efb33b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032fb240505f078a2184f460c671ef50b8feba8f3a233efd535dd4053f457cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b253ae2fccd4ab3e679d812cdbe2369b49ce069827ac8af70fc32388a542267d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0a6e4bd6cdd145b5016ab438a4cf0087d09f7c55723e727993",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDis1Mk9Y2EBE5Ut0ZjOfX7kwXRIwmBzkwKd8TIwFAL1O82meSYt1y2O0dpPHX_0qKKEAJe8StcGStciSqog8NnQtYHYVxdsD7XT0-_5NDoZmEJ7HuIPXadOiaryjMWl522TEYqz_AeFwjoYew4hCAo1xhfaFd8eEf-dxZPFNV6I7QacR9pJxscfw_I_R5j9j0uDyIYJBZEm8g2mNW7weEXFpMco-7iIxcy21DsJvRFZhVSIdSQ7oiafMPZAqJ9cKed30nkxP5VRC5izOkjlk28OGvRxhb7oRNl_XGI_UE-HjQIIqYWG5gSqUeWNEjOaLbQ0Khcyzb3b5DcYRClSHkg43XFpxPlJdHX8uGqa-G8SAYn04hkJwDssp_yuIapPWdGA5ziIAFOQDcJzGWCegvt_GyPTCHAKLnGQk59hUxOnOw_vqcMAqpDr-M1cRsdnqBMD30GKNCy1E-QMKjaXFz9vWL2e0z_Gtj658SPwiNS_54IfReagkSRSYcFHpJzi7fQ7s2v2BfzQMPkpSB0nqlG1LKP_ZqUwrR_FUx2obACX7utrv9SeDyziJyOVq45_r3fGKus9uWdkX0A0D5h2TFQhjIqG_C-0yFBeoOlYYGrytxnBzQLgNVE5E6VYXl1qaQMKWTnCWL6Rnwn8YZU4wK91OIMbvRa8el2q8NrSajvpXlUelGR0D_s6E2jFa7GlODcfgK74hQFkkhZL3G9SzpDj30Th1EhpXaL9Yi7XaMrN1Hd7v-QPnXVQhw5sdj34gF8J3A8SwMPGvnlgk2wY_XfzyHaFMFAy0rEK84UdZjo317Ms0wy3Ip__0he06SDdYuEihef5pFa_J-C3x_l-xlTcbwQPBj1GGwfREjSMMJ1cGoTVK4Zvms-3sZx1TMl3JvN41vhWm06WTO8IEG-toLABHs-HwO4ymX-35J11A95BSSxnCezpIQ8hGtnaof2_Es4uIUq_yEr49BEFezJAHAn1VMiCTJfRg_9OYpr0c8jptBzE3mKmrowTAsWpESQCbTLmBWec2zMDrgZkfBMzkKz4DzkIQM-veRZlWQwlX4E6sEG1D0G76oSqbmn5cAUoh5xRKk8cp0BjhPelaWOyOiBNJn4iCmN72FHTxpSPM8VvcsPuF5Zfd_VHVWpbJ-GFNmaw6ye-WUGMwLMtfd0lbrriJe_Smv8FkiVqONc17ha6b24ajD5KoSYtJHHJLmx7_MD1-w_LPCVQWtAiyGcg28qRqDuy7qVcalArfgVzhEdxVFwHyMMeX-MtsdvqwtYVY06b1UGimDEfjpTf3S2GZXYgCMiXSTaLgiY9JuD3_uf6P4FolyowGiEUnbKD0MrTnzAQW2H4nPfqLcCvyBRe1eLtTpOTTHPPYWq8MdcHjkDe5pIzqZN9M5vqtqLbGWz4HSI8tAvNcLuNRgMQSqbHfdk-54n2q82WEsf9b5_VunrLAr3hPBaM95Bst1RtRGLHi_tKmCRasjBYzHLno1CZR9vP1KC3axv0-oK-K_lX8DDrQnRxnFeBmuDDSPK8lkBYpJ2oUnfTAXEMo8neqUPLcRy5CNMAod__hRciDHhFo-tKA9JedaaEzstpsNc5Ggmn6K0lS9XIJeY0fOeeU2zGZDEn6peVeMjZ4HyH2OusFcPPUjWyfWKg8ONQj8y-AwQJKrNBetfmOgD712I0c3KOGffjDTNozPpSZGDnTFRGMhJJrHWJUOHaYLWm_z18UqG3bG3NGltn-JIxpizQQdDbGa_jlYID5L0X1fUN86qY18LMaZlYHiyn9Uw80gv5ldU-LsvXwRKIU4ticW-WyDX3WEUHmFKWf8BxvmZw2R4Om9qqy0SLaU3wfnnCkI7UGp5ymUwe-TLtEAzn-grjVbJ70UVh325kCh8fposwxYgcF4XwhOwwwz24hnwDoHnaTPqMynZQ_z854X5yOOm1s6RlgQjjdx6K8Q29Aroax9wGjXoFTlI3pGCD2bxYoV2uCKWgnqdOqhBlxZ2a66w1qa-vILBpIB_2Qbg1KTIi56AoNKJ1Qrc7qhRDCWA3JowdM2HY0PJQ7kmvP6TcBoyRLtLTM_rYeZFKtkNB8TGa1qqX-Xx6T-2zhiFBQmTL6WEkgGzUOqcR",
  "id": "rs_0a6e4bd6cdd145b5016ab438aa751087d0bac5540b848f8898",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.008,\"left_z\":0.115},\"note\":\"The safe is open near the upper-left, with a white toy beside it, a yellow object farther right, and a brown toy nearer the camera. I’m bringing the left gripper just above the white toy for a careful grasp.\"}",
  "call_id": "call_d9yPscbvyXbzyJICK5FsgIyk",
  "id": "fc_0a6e4bd6cdd145b5016ab438abb10887d0b4fe992e9c30b46c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d9yPscbvyXbzyJICK5FsgIyk",
  "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]: [-0.0631, 1.008, 0.4408, -0.1265, -0.0486, -0.0612, 0.9998, -0.0212, 0.7994, 0.6075, -0.4332, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.0073 left_z=0.0968 left_yaw=-0.0056 left_pitch=-0.1102 left_roll=0.0021 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1693 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.2889, 6.6667, 2.1221, -0.1832, -0.0464, -0.0171, -0.0615, -1.5658, 6.9265, 2.0244, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca364fdeddafa9070e0931c53c8bfaca58a04071abb48512523dacff3c2de452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8395912dbeeaa7745007b30d1076b9f4d79f498cbb2ddb01952ba162c0e15dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdebd36a1b32a2b5f98247e6aa81844a018c941014b0dd113d8cff6669ce239b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 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, 0.7925, 0.6033, -0.3935, -0.0193, -0.0368, 0.9998, -0.0212, 0.7937, 0.6064, -0.4015, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.2496, 2.0391, -0.0513, 0.1929, -0.0366, -0.2393, -1.4564, 9.6342, 2.0586, -0.0464, 0.1001, -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]: [-0.0631, 1.008, 0.4408, -0.1265, -0.0486, -0.0612, 0.9998, -0.0212, 0.7994, 0.6075, -0.4332, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.0073 left_z=0.0968 left_yaw=-0.0056 left_pitch=-0.1102 left_roll=0.0021 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1693 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.2889, 6.6667, 2.1221, -0.1832, -0.0464, -0.0171, -0.0615, -1.5658, 6.9265, 2.0244, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca364fdeddafa9070e0931c53c8bfaca58a04071abb48512523dacff3c2de452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8395912dbeeaa7745007b30d1076b9f4d79f498cbb2ddb01952ba162c0e15dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdebd36a1b32a2b5f98247e6aa81844a018c941014b0dd113d8cff6669ce239b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDiw0TUfZLtwUbBZj9OgfwQZBkVxSoZrr2-tCwQt7kh2CCGo00OnRsrG7En04WYvegJCrqPqCF0Urr7t_ipu7dMqp-SoEDFGjaf8gbGYpshACg5lHgW3Utt1e6jDJEYS0qesCo7h85Zb4F4pZTrTNCdvOYbVg9IQGNNgYNeCljK85iLlqg5MyCdQuHPraaedVvaap-KIdaFYLCPwicQCvofdnaBiPBIiZOinAg-7H7CC1xb2Kxw0GSKzFMN5CppWcg53gRy9EUZMDCaDzb4QyKdBwASsRX_Wt9aMFZpctzT5P2h0CIMteaDYubLxgJbP9Yd4IsKOql4bHUuOFaqbOmJ-yykmqS0etp1sil888QGuyVnrJIk1UyoCBpn5urOdCGshMSNylgCN1eEy7iuui0rLHmlp-w0fj6fV_kOQxERSPl1PDHeK83UhYB9OEcygAX4_0sO9iTp40QTxmu5Lh9SWi4_mMXXv4jL1oqe7dRX30logVBX4fP3n-_wa-Tnqcr5F-AR0hmiuRYg9Kzzl6l86w3b39A1GGhWAlDWqFm9z8oWWcA_yBVGCZGod2W1JIENhNMmjarwMLvHcMEdJWL1LWz0ZBYPH6asyz-P_TE9VO7_N6VbiS229UTxjWeeRAmayCsY6ObYEOAUyDXWAedRD4b2cPP6nutc3NucCo_BTCKU3qI2hMaCDzle09R9pZp0yyanqma5EtPSTin6736D03bg7yP_9chXHzgk96ATf3loBH04buN-0aYaRMvjUV2l3-lM8TZAYfSnVs43cQjVgqra-nWPWcy0XtRlWfo1kvviKzxGBjhSpPKWVH2Wz3axHhGSzzLBWLeeNP3UfvUNQPAUJeyNJTg8ijZOSiBiWkWZEEHxp7gThw1nXKesekCL_KGi_Cw7jCQMFjq9zsHy6wol2lXvkcBF8HBgHdkw3x_PUSgMzxqVCe4cPJeuFStMU_FNt8UZhW15UlRK5RQqEae7qnXXZm6zh7_s-1odYMqQwnPs6Cx3YCH0Zj71DEFvcSORuT1ZJkaBkgOLvlcq9gFRo3zX8TdEDmIQYc4b5SNq6D_JdCpMCnsJSVJ-hb1Z6UJeio5RlwKNqrIfn1WDyvqXsEW8I-Kau645MlNfYn77gHmg6zBNx7dVezuFKwgbd8mvJO3Yp2GOc_tLzTEEmrATYHfWiiSLLrhAYNl3Rd2BcITfTsr_9fdbczeF-k2t4jpUCFGgd6KrcOwpJ-lMKxoUIOmK8kMZRMIOduEKJmSScI2LyGcqXivcXE-aA4LOo2resumGYuHY6r7RlBzy8OAQSWUulkpjhi75sT0el-39D4yaEpC9_DXOgu4TUAOlVjfcyTdtGYdK-t8lBcz4Mm_3aB8iEEYAToi29sozcX5bXsgCRBtM27DdHXZMwyV0tgfQzOBTMUvQFgqEzhoj3iSt-qQvT8KRZ2mDdAQwfRhl2chOPAvfWAhaeH2FcXZb17CwUeDtu3xd7X3z-0rX6-TqGBlaVuYjJ3a-4TNimvSc8bdraenP73cIVVScty8Va8R8NkFg1AmHFPtwknUb0dnPEuJS203JAqOST9or3S6HiFuFJ3-o8uabLqGTGRDuk4arpAX3KCAl5KTm0Ehf2ru4zcr2N_uNaCdH4vf7iDZ7hqMqfzwxwvURZpVYQquHRWSIwckN2CQGNDfsj_-g9x3gd4XXeVBtlXxxPJnN6z6CcXHjjXhSyAB5f_jxT9klY",
  "id": "rs_0a6e4bd6cdd145b5016ab438ae7b5087d0aa97e7392ca0400b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.008,\"left_z\":0.035},\"note\":\"The white toy is centered in the left wrist view, but its feet still sit ahead of the fingertips. I’m moving slightly forward and lower to bring the open jaws around it.\"}",
  "call_id": "call_5acUYxuEvzuuVuqhOOlKlK5O",
  "id": "fc_0a6e4bd6cdd145b5016ab438af7aa887d0b0cff5b601001ab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5acUYxuEvzuuVuqhOOlKlK5O",
  "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]: [-0.0631, 1.3861, 0.3779, 0.1902, -0.0555, -0.0639, 0.9997, -0.0212, 0.8028, 0.6056, -0.4553, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.0069 left_z=0.0165 left_yaw=0.0031 left_pitch=-0.234 left_roll=0.0127 left_gripper=0.9997 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=0.0003 right_pitch=-0.0637 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -5.9692, 5.4359, 2.1661, 0.0269, 0.022, -0.0171, -0.0205, -1.2376, 7.1316, 1.8926, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff9dbc07c850f16a46df9666668ef07b6ff8a633b30f2396065c07c4806a949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba6b4ef403778ee1753b49a0838c86fc1aaedd936a87b28bb32110214d14745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d42085def2ddd96cca457f69ebc7452b635b8a0cf2c5d1c5bb8d4e675da6bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0631, 1.008, 0.4408, -0.1265, -0.0486, -0.0612, 0.9998, -0.0212, 0.7994, 0.6075, -0.4332, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.0073 left_z=0.0968 left_yaw=-0.0056 left_pitch=-0.1102 left_roll=0.0021 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1693 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.2889, 6.6667, 2.1221, -0.1832, -0.0464, -0.0171, -0.0615, -1.5658, 6.9265, 2.0244, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0631, 1.3861, 0.3779, 0.1902, -0.0555, -0.0639, 0.9997, -0.0212, 0.8028, 0.6056, -0.4553, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.0069 left_z=0.0165 left_yaw=0.0031 left_pitch=-0.234 left_roll=0.0127 left_gripper=0.9997 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=0.0003 right_pitch=-0.0637 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -5.9692, 5.4359, 2.1661, 0.0269, 0.022, -0.0171, -0.0205, -1.2376, 7.1316, 1.8926, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff9dbc07c850f16a46df9666668ef07b6ff8a633b30f2396065c07c4806a949",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba6b4ef403778ee1753b49a0838c86fc1aaedd936a87b28bb32110214d14745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d42085def2ddd96cca457f69ebc7452b635b8a0cf2c5d1c5bb8d4e675da6bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDi2jmL0uOaLYNV2Y-BbHqexr6l0CtmCEGH-G7gI2Jd1RjanCcyTxF3EPNGI4iNum70UmR2UOzan9lj8AjWIUN2WDJ_l1Igr687UMuNVhSsjnu-Oe67k-95V5EmM1aJvM8czRKd9WMiNV4U-h1B2WURmeR22vPjA-pFe9F-JzheeOjwV6v4QOGoeSFtQIToEQ2U93N6fCuYleyx2znpaCN1dQ2Ru-W6SmN6SeJQ4tsaez9v2dDP3IBpqKR1Grgck7kgF4Hj1WJsol37sCi_UpGB2zjw7YL5FqmaNV1HnTEAVdruXB9DQxzKXOUras_-THsy-dwSuv9AGpYT6dPC5NBe6tIajd_oRQXNN1aTod_jVwfByYQ-FwUa7a98bjmmV8-lKOJgm3Fao_zDPiZwQea3bv2OsBTWLHYdhV2XVuuZrqeWjcQpEGvjEP1MU4BeHp00ACIszQxsA1Dud_FcSWscD8xAZt1b5248Naq7no66TzLrKGz94_7eQ1z0_CgwDGuUZiQ2H0ZUnE1e2CcyTd9YSwN2Epp8YeN5J3000bmamo_Yy9KXiQYta1e5wv1tDTxgoVbaoKZmAr8o9oiarLJPGeP2dw-WPgL4QmVXN9hAFXmytNdl5oFs92Y_0q8r_PhSJo43gkfoJZAwgI8IqkTSC-MUaZ0sph2i4dk-hXBpfA8Lew76oqdg8lBp5GFUkBPjzJAJMc0whs16G7IvMQcT0vxDMU7e5Mh0vD5FYP339BFsE-30WXZQ0a9lC9T6odBINuGBSV45lRfAknFDayKsUZ9PGtzFB3bBCwggmuLwYXN3vq0f5XFa-rJqWBVGxz83_onfIzdlZobMyojrX5HginHcUIo4_vTVypLCrBvY5_KvVmSybgpaxT-mq4BmUb8zEk7oJkeC_tCJavpzN7U5fwza6b36HQ_MKUZCuOWuc8Q0GJZCcJSGO82K58JbipxlmwoEGlvZpDvpOaaNy10B7XeYrtuj8UkSy_ZLJ29lZ6tzFN-x79THfwVet0FLHa2gFkdCk_HyxZQ1LSByYxdpkwmy0kqdZHc6W7BRR-VrwF57EINleYSHK6rVQduB0Szzf4Tuun1Q_gX-yaUFhhnBxtJVqPY1eaoMMPd9YT8CIpXAwjwWz0z6-4EAA5WvyU1KFT4MoKkYXqNYTnVmPajhIM8FaX1nIAC23DfzlicEJh-g8iDwXEyRw8UenAM61b4trTiiO2OvZ9-M2cvyMeT3BjxBsaYeHmBfCLsbeweG2sLFbbRYrIZjVOg4E6_jaSwLPh5Mppk8WKbHdCvRXbZ6RcCAu7qnb1FoX6C-pMn760HUKTv_KCl-vyJsDesIIDmdK0jkV8h_iVcsRHcj1xsWmfCAW-e_Bxe3JkN9ALMz6A_McyMc3SyX8CKMbyruaOo1EGXCNiwc1CsHLk_74TP5B9QwvmIrXGEnT5vOwRAwBVRg8HKPehbAYglYGS4VvcoMrX4o73hL2dn2FMx7urm2rrDnVdrs-xnc9ab0B5LbdQpWMGw2u4gct_ccVM-BnVvL77yWCObVMJtpND2ZmKw_-KgqoCqeren8Y5amNyoXNtGYdyyaol7A1pj88OH63ofbfAJM5JtVEXA82NRBe1QOjCbZjWlCjC1zrUtraNUMWJDfsMSNTsCviqhzr4K0di-qAh5HYtkgU8DcSx2Xuv2ZH0hN7BzH3simfoy7h7fgtRjhSdYZcUMX9Ayy2A5VJen9jalrqIYahEb0kJmoMqlftRppvQ98n1x0kzswQe-U119upamZoW-Io9jmYg4SKkSDX_sHPJSlKqiOcUV1hdzRRLw4UcdDUPib5lXuR0AcUSnRQ6jgs9dryIuqb1mQreQqJaHPpJ-FzLi4v3qEXf1SLVLPILipHPfKspoKNpM4ivBduyGJaGa4cf_GB3IiNrqI2KpXYJ2AuXRa1hfmB56fzyT0ndwdR7c4zbTACdCZPy_FtYQpVV-NfZn-eEpZ6WUumYU-Ea_XrEp9n8RsXZ0o1NJq9_t6kflr5y1hKFekUuqLgk_XadDbp5rGvAb_qcWM_sw4619jaUyd8aPfBYNw-D6HxslOy3Ti5NIRTyTGltVgPXtkBLB_nD_2SviQOtbbdWAPMI6jzbTTrp8-9pgbZR05VV8uqiyF_6iABCQ8ZSdGJ1jfeyI5IEqTVzxUQBYtbz9BbZKnlPyqruX3qBglFlNBDgkYuM1tptGUDA9xR_qc5bOOdIwptVXg5-1rHIcrV",
  "id": "rs_0a6e4bd6cdd145b5016ab438b3b2fc87d0b54b80632060dd34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.052},\"note\":\"The open jaws are near table height, and the white toy is aligned side-to-side but still appears just ahead of the pinch point. I’m advancing a few centimeters while lifting slightly to avoid scraping the tabletop.\"}",
  "call_id": "call_rRwEz07q9gcJj26oDk8hjzNs",
  "id": "fc_0a6e4bd6cdd145b5016ab438b584e887d09a1811a4f509f2f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rRwEz07q9gcJj26oDk8hjzNs",
  "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]: [-0.054, 1.4597, 0.5797, 0.065, -0.0563, -0.0647, 0.9997, -0.0212, 0.8051, 0.6056, -0.4774, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.006 left_z=0.0445 left_yaw=0.0133 left_pitch=-0.2309 left_roll=0.0126 left_gripper=0.9997 right_x=0.2816 right_y=0.0012 right_z=0.1582 right_yaw=0.0003 right_pitch=-0.0881 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.8068, 7.6786, 1.5458, 0.0415, 0.0952, -0.0122, -0.253, -1.2513, 7.1179, 2.0537, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab121fc5a99a9845635ba3ed3193eb3228425fc3d042e343097128f483ab3e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294be11cafb42ad22977a74daeb5a1c8a2eaa799b24636fd8993b8dc725d0b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911eb58130cfa06498075481b520a367fce8c8369b108dda350611ed8c0fea42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 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, 0.7925, 0.6033, -0.3935, -0.0193, -0.0368, 0.9998, -0.0212, 0.7937, 0.6064, -0.4015, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2921 right_y=0.0009 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.2496, 2.0391, -0.0513, 0.1929, -0.0366, -0.2393, -1.4564, 9.6342, 2.0586, -0.0464, 0.1001, -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]: [-0.0631, 1.3861, 0.3779, 0.1902, -0.0555, -0.0639, 0.9997, -0.0212, 0.8028, 0.6056, -0.4553, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.0069 left_z=0.0165 left_yaw=0.0031 left_pitch=-0.234 left_roll=0.0127 left_gripper=0.9997 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=0.0003 right_pitch=-0.0637 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -5.9692, 5.4359, 2.1661, 0.0269, 0.022, -0.0171, -0.0205, -1.2376, 7.1316, 1.8926, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.054, 1.4597, 0.5797, 0.065, -0.0563, -0.0647, 0.9997, -0.0212, 0.8051, 0.6056, -0.4774, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.006 left_z=0.0445 left_yaw=0.0133 left_pitch=-0.2309 left_roll=0.0126 left_gripper=0.9997 right_x=0.2816 right_y=0.0012 right_z=0.1582 right_yaw=0.0003 right_pitch=-0.0881 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.8068, 7.6786, 1.5458, 0.0415, 0.0952, -0.0122, -0.253, -1.2513, 7.1179, 2.0537, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab121fc5a99a9845635ba3ed3193eb3228425fc3d042e343097128f483ab3e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294be11cafb42ad22977a74daeb5a1c8a2eaa799b24636fd8993b8dc725d0b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911eb58130cfa06498075481b520a367fce8c8369b108dda350611ed8c0fea42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDi6Roqy-kQlVlYQoKDIfSF6Oa82FCd1NPFbwndtsAKa3ky5CbukNZ5ywTm1Cq7Si50sftU_dZrsnerSADPBo92zfDOz7CyVgEdH-dqnqk2zN4tgRU2J4ORvKcN6JOStwp941y0reHGdFX25RtlfOz8L4vnJVaSFDwGrk1OIsHAzZK-P9j8IwA7KL4UO0dUJo53Rm273Zy0BmDqN7s2n3PuNRaxWzBh66S75k42FbXV6twSAKCDFB7HtkMlgybJ80j0oft6Jo6rcRuD6hSN-xRpFnam8dtrEACdRMo_qECa4zD7ZmMhR815c0ysRBNJljQiWfsFsnXNIVUc3-DmFhlO3GOzQkTYhihC0BOqZ9QVd0vIsJ16OyKjoPfC-WOfzpwQ2EqW2LVcvry98ynMTRRXGR7aLX0Xr_9gMKCqORWzMSjJGD7zmpnQpOQlXKr-6iiHteVYAu-eNBxMsOD3_OOJ3GGLY5sOeBevUg4a0RR9PXWamV3LNyIL-qAWLCzXlZmmM8PdtBgXNQTxzbUAe2BWLu6yYv6-QCM9t8jmQ13CVRfwCpToomz2XBXFonV39MPO0G3ODwbJimcxdvsqwFghZKWHQVI6AF8P0oU6Ft94J49gCxefBjO631CNvHNHeVp6NPCk328GOVBMNQUAOYlwvDgkbog90_mL-ckzQh8GltP3Zl9OQ8KNk2ZfidS3r7DIl3GQyH7HqMPGGVj_kmZA-lN3CtJlK23w2dYsgxV5umy7EgfpEuy_QWWv98UQzXEcev6nadI9gTEA3tqHh3j3y2xeeWGaU50WjklpSAmDLHXnIHwFyktgN9GP-vtyv3XA6Ck7K3n0IuiSfufYYw2d8kCmP22s3Pgcfj5QZUhseispXxfuVW5hEbDrAD2NNHbBIOzjvmrjOISUrVMUQBxpNx_5MYo7ndII1e1r-Nvhy_VhQiHbvkuJ4wWfyNBaphNTzv302gcK_jfhv9seq78OOEVLrMgSGVywRYSkbxojpPkOp-tFzYz9Zwc6_wm67TxExVsC36L71oqILyVwvwMbzg5aQy0-SIowjNVST0WkOU8n9SJfaJKpxBOMTfjV42LiD4c3TEempHFGHnYAaNB0Tg2c-EWef4uCK1Nh9kKM8Z9XAr5oSd84IP_gYo6Xr5a1O-VW6xSByIKtSLO38yKQahVh3J_5F41qANZPCwgTNNaTalIkFq733oCfRMTKUveW8MbrOOzqQMyz-XKqkoSAjfcfHF4y03fdtkYmVmgridto6vuouWsJXAqxHxY6Nmvz1sKsreOrPX0MHRYzLN-rU5MHU3MOY7r9Fxnd7PxmQ72dp7oQPiDy8eYQ6teVFCsdE7-xp_pDyI1-QgPgdHBsn9Mjpi8i95qUmUsoZaGkp0h5krBILoyx35L7uPfsL_SkALZwkDuFrtYv3j6NIlowvCosKskAfh__LO5y0s2qq_HqlibNUDxZej5rSWu5Pb0qYsll2_5Gj6Si5gHZOQIqz3ejYMUtBB3mmPcu4tf4pjUMNRt5lM22HhttKUHKltZYUh8qpqIWy_prAud7PYMpOpXGFOGo0uGbCUlxIWwvnCKXntp_DwY-fB5IT2Rj9EfFCSdhZUDIRI0pfLtOhwzuLaLWlwRsbCFF-43Q_doVUYPSNMIdCaZ5o0FQ4VofrfOmT",
  "id": "rs_0a6e4bd6cdd145b5016ab438b8bce887d08ad933a7598aac40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.026,\"left_gripper\":0},\"note\":\"The white toy now fills the pinch area in the wrist camera, with its body between the open jaws. I’m closing the left gripper at a low height to catch it.\"}",
  "call_id": "call_5W8sZyARA8bmTHizUMAULtyo",
  "id": "fc_0a6e4bd6cdd145b5016ab438b9bb0087d081ce530d9fa9cc33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5W8sZyARA8bmTHizUMAULtyo",
  "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]: [-0.0517, 1.5375, 0.5758, 0.1364, -0.0566, -0.0719, 0.0192, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.368 left_y=-0.0054 left_z=0.0283 left_yaw=0.0202 left_pitch=-0.2411 left_roll=0.0085 left_gripper=0.0192 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=0.0003 right_pitch=-0.1121 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.3009, 5.012, 1.7509, -0.0611, 0.0024, 0.8327, -0.0342, -1.3197, 6.9675, 1.8291, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab0c797b2024649b1662bcb60a0d2df04f934cff32c70aab5dc58beb538a884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4481f452e112feb50cac0520b81671178897580a26fc922b4b34b0eeaa6224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461454928516c331297b69bf101a8da451116a1b3762d658f717959215564ae9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0631, 1.008, 0.4408, -0.1265, -0.0486, -0.0612, 0.9998, -0.0212, 0.7994, 0.6075, -0.4332, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.0073 left_z=0.0968 left_yaw=-0.0056 left_pitch=-0.1102 left_roll=0.0021 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1693 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.2889, 6.6667, 2.1221, -0.1832, -0.0464, -0.0171, -0.0615, -1.5658, 6.9265, 2.0244, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.054, 1.4597, 0.5797, 0.065, -0.0563, -0.0647, 0.9997, -0.0212, 0.8051, 0.6056, -0.4774, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.006 left_z=0.0445 left_yaw=0.0133 left_pitch=-0.2309 left_roll=0.0126 left_gripper=0.9997 right_x=0.2816 right_y=0.0012 right_z=0.1582 right_yaw=0.0003 right_pitch=-0.0881 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.8068, 7.6786, 1.5458, 0.0415, 0.0952, -0.0122, -0.253, -1.2513, 7.1179, 2.0537, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 1.5375, 0.5758, 0.1364, -0.0566, -0.0719, 0.0192, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.368 left_y=-0.0054 left_z=0.0283 left_yaw=0.0202 left_pitch=-0.2411 left_roll=0.0085 left_gripper=0.0192 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=0.0003 right_pitch=-0.1121 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.3009, 5.012, 1.7509, -0.0611, 0.0024, 0.8327, -0.0342, -1.3197, 6.9675, 1.8291, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab0c797b2024649b1662bcb60a0d2df04f934cff32c70aab5dc58beb538a884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4481f452e112feb50cac0520b81671178897580a26fc922b4b34b0eeaa6224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461454928516c331297b69bf101a8da451116a1b3762d658f717959215564ae9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDi_8bApebd-JmFk_EkMmFqYUwX_zpuqkLGV5sHfO3-BFtYnD9e3PSqT6D4D8KJtyN8GyAM6Wbi__06GpgRA7qEL5H1L8YWpQVrVVEsT1xhuZXqGT4kNFhM5wZ2tVtbzCCKQ9bu7dYF02Hhr7CEvOrO3G6eRPpyffHmrHlCkOrydAidryyE6EQ7TdEzIyGhrqf_aDjBnbqIdD8HSyAtvq2jjxehnhEXlAEqnt2SdwyYM-D7Cvqnb3T9J2YuYJavgmCwNH9QPIPSHi1EtX0uvcI7ZHa9JT4sZLjNhNOjBkt8MFaB3LySgbhvMM-idNqTJHiWL24Qdbv55BlPT_moTO8xrYl4_Kx26Tk0H3ojNEi2Ie0FMaoaHjd383VODXRAnoQwAVYEz-XnRBukFXs6bnkzxAjis7pwZxfa2OuGg0P5Ff26WwhYI5WjTpgFJ82ciK2JnPqlVwbs7-jafQ3_gDcR_dIAYKBZNbMqdNNJq8t4kisP8gC7zqRDnIita7DP-IH2igH7bpo8qT2fsMqkaN4DcvQIZ8Z1ruo-pCBbgIPcqQSY-ctljGLl1EXMKD8b5DcmCYPkUw9Q4oiXIJ1CMcQXk52lKdswngN_0ADyeXNeMRk1C8D7bBY-7eaiUQNNSQoL4in-MDp8_L2a9LT5cDk-6T01gErdnOpabqjlk4upx0D4sH_bYEGvtc1nI_0WE3V9-5XC_3N1iiLsRtq2hFn4oU4iaXaGb0vIgeq7EzahQ-q60YWvaBRYgDm4p-hYRwkocPWrx_loI2Y763hd9I6t2zzyCZJRAjKc3R95zI-VobPisCEaFpeJYZYrx3wMmQH7agvVwqfP5J4C_YPD8Q7kXRAmvGY9RWqOKVaHFmC3CpEAkU0BGr2zha7e-rdJt4cs-2_RK53dAqJVogIxIaO0hC7mhmn4csE4Vj5Hqe5pJ2b9pfUzKnh9_wJgrd0z_Gki5-AwBO-B59BLTgn2Kc5RSsPuB-F4ct8oSYnRSZ1EBOpDTmPfbBpMDW2pwVVY4k1W-zh6QxZ-tWLYoVIUajdRaRU8uVRRkIY7pRQZ8eONRT-NliRRp5d4NQzXlua4Rc0825AzHtW_0F8vScV2-BV1WFDlCTtBC9J8Cutd46g5KMA9bCcszbeFcJOym5arDcYiptwatdqldb1ibpBeqK4Nfmwe845ENpor2xDy7s6ryY8lQxfTmBLUxVfVdkdY47Textl6sCe85_75vGJaV0NfC1Z79c9PF5DAEkYKaqUE1zuj7q6g94npwyjXinpTKAzhYR2GwJI2-wGSM6o-PrIhf93aG3b2VqU91IyXbgCmNDrb1e34BNPycFkP4u4ICLJZpQiGIicdDWK6zjQolsVqQQC7XaNgvj4tHT2ZFr6di0ARjEYOGytILOi9VRLg91TnUteKtH8upjNFOGgKJWFl1TSXx8vZps0nBsflxuwS38IO7zjYVzacmUfY6K9bC2jQw6h8bh2T4LsXglPWoQF6MHLpxcX5LrK8Fq8ZMF2PNXhUOpZB6p_XidkoWWDB3wvlSdS-lCH4GD_dJEiXPrYW3mrkqmR1lGpDHKPL7FhXo_XgpHXWXInBrz9-rtcputwhDvRDFwNiv_7ElG1LrxZq65AQjnv2I_Mk13X0bugymx_z6XFAhPuM1Rb-efnVvZtsvu3U2SizlmsB6W42DzDgGjGcsbvHdR2m3SORAUvmG_fECJ6pomEuMZlc6i624uVfEigOVP7WfMDDaXvaaHX8X9_BzqPJOgbKREE4CnnQzSehzT7bFTocmIwRpJFdnHFNJsUu0eCBZ-Jdv3bQjXGmf-Zjw4_SLsw7ljYlQiISDuiT2Lpbi9vh5PJMG99aN4HrG1DGLU8ErNpPWgyL5Cpk-p0h4zftDCFoAFuRvGXw2YU_FypR-6YBa5gZoFM3BxrTt1rhT8gB3l7_Q72FWrn8ICwlcnGQYwj3-X_mTMTCKxTFFXM0NhX2C9rQZq2GhJWxQo9i_8m7ZWtfrgoYkbJJeJNT1p1vYxIUHyLeetQ1CtDZHHn9MXvDm1qX8LN3gZFGICj1hDMNQHpEgnATIXPjFjsEDMBxMJBgRIW2C0ST6pH2_UEUuDF61NBL-8vIctytJ",
  "id": "rs_0a6e4bd6cdd145b5016ab438bc8d0887d08c0e0338bbd7b696",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The gripper closed almost fully, so it missed the white toy; the wrist view shows its body just ahead of the pinch point. I’m reopening and advancing roughly 3 cm for one better-aligned attempt.\"}",
  "call_id": "call_bLQpDWQHPUaoto31kQNABeF4",
  "id": "fc_0a6e4bd6cdd145b5016ab438be77d087d086ccf39e9bd4ee05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bLQpDWQHPUaoto31kQNABeF4",
  "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]: [-0.0509, 1.6039, 0.696, 0.0357, -0.0566, -0.0837, 0.9955, -0.0212, 0.8062, 0.6056, -0.5232, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.006 left_z=0.0311 left_yaw=0.0286 left_pitch=-0.2878 left_roll=0.0041 left_gripper=0.9955 right_x=0.2743 right_y=0.0013 right_z=0.1493 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.188, 8.4034, 1.5604, -0.0464, 0.1587, -0.1392, -0.0889, -1.1419, 6.9128, 1.7949, -0.0855, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6799c8ae79239217e582c133fee763a395f2460f46c6a13a515906d1549757fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d397ad6f4c599439f0d5ba5219facecc8109cf07a6761e39f675793c69d0e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b91b3ec5e196bbcd598ffa47334be7d06d93fd9e56f54436316324f742a2995",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0631, 1.3861, 0.3779, 0.1902, -0.0555, -0.0639, 0.9997, -0.0212, 0.8028, 0.6056, -0.4553, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3217 left_y=-0.0069 left_z=0.0165 left_yaw=0.0031 left_pitch=-0.234 left_roll=0.0127 left_gripper=0.9997 right_x=0.2848 right_y=0.0011 right_z=0.1631 right_yaw=0.0003 right_pitch=-0.0637 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -5.9692, 5.4359, 2.1661, 0.0269, 0.022, -0.0171, -0.0205, -1.2376, 7.1316, 1.8926, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 1.5375, 0.5758, 0.1364, -0.0566, -0.0719, 0.0192, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.368 left_y=-0.0054 left_z=0.0283 left_yaw=0.0202 left_pitch=-0.2411 left_roll=0.0085 left_gripper=0.0192 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=0.0003 right_pitch=-0.1121 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.3009, 5.012, 1.7509, -0.0611, 0.0024, 0.8327, -0.0342, -1.3197, 6.9675, 1.8291, -0.0611, -0.0415, -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]: [-0.0509, 1.6039, 0.696, 0.0357, -0.0566, -0.0837, 0.9955, -0.0212, 0.8062, 0.6056, -0.5232, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.006 left_z=0.0311 left_yaw=0.0286 left_pitch=-0.2878 left_roll=0.0041 left_gripper=0.9955 right_x=0.2743 right_y=0.0013 right_z=0.1493 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.188, 8.4034, 1.5604, -0.0464, 0.1587, -0.1392, -0.0889, -1.1419, 6.9128, 1.7949, -0.0855, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6799c8ae79239217e582c133fee763a395f2460f46c6a13a515906d1549757fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d397ad6f4c599439f0d5ba5219facecc8109cf07a6761e39f675793c69d0e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b91b3ec5e196bbcd598ffa47334be7d06d93fd9e56f54436316324f742a2995",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjC_aY8VKTS8Q_MKapFSyX21DJjySl6Yjre0sld7RyAzV3vr6wFytafyh7c4fTKMi6_fRFfsiYcGQcOKfCWdKkTTPV_RqSJfBWiLY8474Ih9ALk-AHCG6hpzE3u8TKFlLUTEqNslaTH6rnFG5gkWGuACivktmQ4D7uiI7VJZgAnVQos3fokZ6aouR-PeXF7AF1e7YQkp2l_Ekc9PbUOka5p5utKEIL7Sq_EGmg_RWwLi1k4WgF4GQ-YExdkbb1Hu_J-v29lOTY_sK0iB400TI6m_Mfnj-wK2ZVUgL2cr_cd7o6xGv2BsMquOnnbyzJiw4adyDo66e0jBr_05iQlLVvvj6GFwem7QD6M_eUt_Wq9yY2ynuUQack2318Va8qn0Kbc6LfTZPt8NXUIPnSoD6L_zXmqqiI5MzcApKvwnecYhobfRmyEPWgeVhfKD3oxb-iOKJP_EccbkboswwW6MZywT7mrMrFOzGRKuJHLAx6wJTjI7ZjAmQiK-wwTXrC7I3Gb5IQdI_CTID3PUiO-z70zofE4bzwzHlN4DAX1T2NsccXugqO424d0O2dgp9S54E7Gs89PcVvKRDbDFvP3tiUNyUU1J2r2Ine6xar0Z1Ycb7gZi39iyc8z2baLkptlMEzUZ5529AejQkOHDxn4bhtY-xVII9BUv8Jz1oUPmertyNnNK6AhoTzQUz_FSlvEhGcY-RSj43dTnVBhGYB6LOyoDHD9uMYbmGLPj2MdlidA4sZ1A1Fvbc_L0sFy-5l705vT-WehfO_NC1EQapWMgCpl3L3mrDtkW6lEMhoIC_loTSVBDnL2JhtRHNZRfHEuS05u7PdogdjcumdKQPA16sVH1CgcpXiJtn1XGbQg1FK4-tpDiLzOGDuOTHbBSr1YQ4SQa4xLSFuOa4bWGP562jDpl1QqFieId5cWpTOGYu1IkENovhOk9ZXTxrQEiKH-DQMAjNxPKnIeL9M4Y-vGI5PSKnxWxFOk0Ghr9dpGLtsyFRHYIat11gOF5BFR9PNkDVbYbq0-PXNvMjGKnN7olkyNRAswL61rBjMvCJ6iRahURAwxNBv-PghQ-SNIKwxsqStKRP0a1UggTKDPxWyqAE2M8vT-eSsucxjK0hIEaDWK7lHpJdz2add5_VPlux-vgMVT4TsJMcP9xZx8IPFXmoZQXh9W2fjJjbd3D7ZDnL_RMHhYIlY8UMt5PL1EBPygkBrVF0wpG7NyEzmjHJ3sJ_vwfOtfpN_548R20tzKznoBVvq-gCAYQqJ4DItMCHF89yyNQljmg1acbSufs-aWRdKSv1mIl-2t6QDMxr4TPZ3_eFMd8hrqHN8KiuVueIN9KbA2",
  "id": "rs_0a6e4bd6cdd145b5016ab438c15a8487d0b5672f10d34190a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.044},\"note\":\"The white toy is more centered and much closer between the open jaws, though the arm stopped short of the full forward target. I’m nudging forward again at the same low clearance before closing.\"}",
  "call_id": "call_OKQY7TiKI6zqI95GnVPYS9Fa",
  "id": "fc_0a6e4bd6cdd145b5016ab438c1c13087d08a6191bff064b2f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OKQY7TiKI6zqI95GnVPYS9Fa",
  "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]: [-0.0509, 1.6711, 0.7921, -0.0372, -0.0563, -0.0906, 0.9968, -0.0212, 0.8093, 0.6056, -0.543, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.0068 left_z=0.0289 left_yaw=0.0334 left_pitch=-0.3315 left_roll=0.003 left_gripper=0.9968 right_x=0.2711 right_y=0.0013 right_z=0.1449 right_yaw=0.0002 right_pitch=-0.1579 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.5419, 8.0342, 1.619, 0.0073, 0.0904, 0.1294, -0.0479, -1.2923, 6.8855, 1.9365, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1d0c4a0d898ffadc01e609692647cf98ca1c2534c8d9c23ec88b5831aedc8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fae836976bc4b7e769323edd39d16004396c028d5e39cc529b7461c0e31f86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725936b72580a98b451c4c0e67f1e1036fabb8e9861f84f18385639fb35289bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.054, 1.4597, 0.5797, 0.065, -0.0563, -0.0647, 0.9997, -0.0212, 0.8051, 0.6056, -0.4774, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3624 left_y=-0.006 left_z=0.0445 left_yaw=0.0133 left_pitch=-0.2309 left_roll=0.0126 left_gripper=0.9997 right_x=0.2816 right_y=0.0012 right_z=0.1582 right_yaw=0.0003 right_pitch=-0.0881 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.8068, 7.6786, 1.5458, 0.0415, 0.0952, -0.0122, -0.253, -1.2513, 7.1179, 2.0537, -0.0855, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 1.6039, 0.696, 0.0357, -0.0566, -0.0837, 0.9955, -0.0212, 0.8062, 0.6056, -0.5232, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.006 left_z=0.0311 left_yaw=0.0286 left_pitch=-0.2878 left_roll=0.0041 left_gripper=0.9955 right_x=0.2743 right_y=0.0013 right_z=0.1493 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.188, 8.4034, 1.5604, -0.0464, 0.1587, -0.1392, -0.0889, -1.1419, 6.9128, 1.7949, -0.0855, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 1.6711, 0.7921, -0.0372, -0.0563, -0.0906, 0.9968, -0.0212, 0.8093, 0.6056, -0.543, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.0068 left_z=0.0289 left_yaw=0.0334 left_pitch=-0.3315 left_roll=0.003 left_gripper=0.9968 right_x=0.2711 right_y=0.0013 right_z=0.1449 right_yaw=0.0002 right_pitch=-0.1579 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.5419, 8.0342, 1.619, 0.0073, 0.0904, 0.1294, -0.0479, -1.2923, 6.8855, 1.9365, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1d0c4a0d898ffadc01e609692647cf98ca1c2534c8d9c23ec88b5831aedc8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fae836976bc4b7e769323edd39d16004396c028d5e39cc529b7461c0e31f86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:725936b72580a98b451c4c0e67f1e1036fabb8e9861f84f18385639fb35289bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjESeI7Eg-XJf79UzA0wZs2D8xt17QakBxGalcf3Yq_3ku-6rr88o1I1nJHGab-QNDNE_MEWOjf0s7CmYwGj-VbkSJggsdR9nnFB9UeL_D41JHVUWgSruPxzs_Vw6kv6FZp0kFEToS77pDuh9dnwX9BYdNzqKFX_OsedCeHAgXFh1_TxPYgvOxLfd3vJD39vIaC5cJmNhuc_OR4pUXpYvEYcUPurJiWFLbY0aUiiAk8CjzUiWHu0MjnER29secXiFea99oFmIJKP72QJWtF1j8GNjAd0_cmUVCBAcmEL85dI3dsFxQTXuMaTfu5PkT7kt09Z85N2IXQk3M_9iCiNnZXpYz_kPf7rWsf7oTrs9rJi0QbukPu41gkb0V4kgEFql7nS-E5nYW7v21WZ24bTTdHrlZWHPHbVY6vOk3b461S87DmKgwQ5dukW1NVPvV0MPUjs9PbFCpzIR8BM6fHzymLnHKIRRXQhU4JSyhMydUCyNHY6mMEFJA8bLLsfnoDkaRUzIfLSoWZ85pMGKmgg4YT6Oii6dxTpF-1ANE0P8s40Cmu1Cw-bFZjsYOBbuGkrtSx70YywU-BkEfjUmAie8Kpxb8_POClQmKbfibi-icytznYQCkCHjPqvwMjoHSqiOSfKZHkZB59bWTKr-eQQTFWol6XaDz2WZKyujPx77bJViOFMmsu8Ktuf4vAgyEXuPgV2Yz9No6JYu6AAGQWA2nQpo8Jmrdd4fJubJidc9Dw-RWHeXjTsvlIQmoa5qfaQRP6vykl7vZfbgpZHOGuCQZ_XkeOjntR4bNS3jedhFQHDY1e1RGNoiOZV3-HJaOirTs6i_TjBFAo0zsRd8K9aNRxbdvE94Rd0_N22Cws4-9aHw1JmLEAM6dECi6CH7bA06daTK0ZijZunCrTzccwyYUgjivXmOXt0Vfvsx8fwUycSu4cUf6Xmsk8oKppVRGCdZAuUoTCbWXwAZ8u5PgrZ-f2gna3rUGPDABYShMHnXzeqXU6CKfAoJAKIJeXma132DkG-fXUOJyuvlYsxjvzNggI1fxl1vWELMfdw_24VHzUO5ygqOj4eSN399OwjyP6et-OwUaHt92TGVgvcBeH2zz6yUONVSRZWiu5bqo9q1SCEOFtw96w81bNDq6I_F7Mzl34uKoBHNEeCCn-w_CNWyEh6aIxgzH56vDRhuzpSK8_n3pdP0OxLtnWRQ5S6Y70RCukGn6QhNKxUV6pEWIFRN9j5FL62rte1KD209NFxGX8gDbWeaLzjgPrcukzj40aHum_",
  "id": "rs_0a6e4bd6cdd145b5016ab438c3a77087d0984f77edcb21bfc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The toy’s body has reached the jaw area, while the safe remains clear to its right. I’m closing the gripper now and will check whether the jaws retain a measurable thickness.\"}",
  "call_id": "call_woS1vLcymwP3waeADRyh5q2l",
  "id": "fc_0a6e4bd6cdd145b5016ab438c3e02887d0819d9dac9fea2e41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_woS1vLcymwP3waeADRyh5q2l",
  "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]: [-0.0509, 1.6783, 0.7967, -0.0566, -0.0566, -0.0948, 0.0334, -0.0212, 0.8093, 0.6056, -0.5682, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.0066 left_z=0.0249 left_yaw=0.0369 left_pitch=-0.3535 left_roll=0.0026 left_gripper=0.0334 right_x=0.2669 right_y=0.0015 right_z=0.1404 right_yaw=0.0004 right_pitch=-0.1831 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.9658, 5.3675, 1.5653, -0.0708, -0.1197, 0.906, -0.0752, -0.8957, 6.9675, 1.7656, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1013be2555ec1f9890084a9cf9b0a0cce8f89a770c6646437c974c32eedec5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb513325d97ff4c89ae790f43fa670435ee27383b9f0282f7e7e17e076ad72ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b3a3b4260e0fb4c502684c344e9275c1ad681b4f39fbca0833341216b7379f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0517, 1.5375, 0.5758, 0.1364, -0.0566, -0.0719, 0.0192, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.368 left_y=-0.0054 left_z=0.0283 left_yaw=0.0202 left_pitch=-0.2411 left_roll=0.0085 left_gripper=0.0192 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=0.0003 right_pitch=-0.1121 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.3009, 5.012, 1.7509, -0.0611, 0.0024, 0.8327, -0.0342, -1.3197, 6.9675, 1.8291, -0.0611, -0.0415, -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]: [-0.0509, 1.6711, 0.7921, -0.0372, -0.0563, -0.0906, 0.9968, -0.0212, 0.8093, 0.6056, -0.543, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.0068 left_z=0.0289 left_yaw=0.0334 left_pitch=-0.3315 left_roll=0.003 left_gripper=0.9968 right_x=0.2711 right_y=0.0013 right_z=0.1449 right_yaw=0.0002 right_pitch=-0.1579 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.5419, 8.0342, 1.619, 0.0073, 0.0904, 0.1294, -0.0479, -1.2923, 6.8855, 1.9365, -0.0269, -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]: [-0.0509, 1.6783, 0.7967, -0.0566, -0.0566, -0.0948, 0.0334, -0.0212, 0.8093, 0.6056, -0.5682, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.0066 left_z=0.0249 left_yaw=0.0369 left_pitch=-0.3535 left_roll=0.0026 left_gripper=0.0334 right_x=0.2669 right_y=0.0015 right_z=0.1404 right_yaw=0.0004 right_pitch=-0.1831 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.9658, 5.3675, 1.5653, -0.0708, -0.1197, 0.906, -0.0752, -0.8957, 6.9675, 1.7656, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1013be2555ec1f9890084a9cf9b0a0cce8f89a770c6646437c974c32eedec5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb513325d97ff4c89ae790f43fa670435ee27383b9f0282f7e7e17e076ad72ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b3a3b4260e0fb4c502684c344e9275c1ad681b4f39fbca0833341216b7379f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjLCI7evIOKUx3yMAcM5LXttlawcvRvcmQXR60fDnFvveEfLyVY__cmUFpoyWtHk0JMBZVfP9CqEGvj2Mqb20iwUmrQD7eIZoAsW3x27uhot0lfC8KII0XfRZzmiBwjKewlXJedWlbKer4rqiQB7E-wR2d_bNoR-nfzTvIjuMtSFwbTB3V9wUt8g3n4tUml_mpZhDrLQtZW2PrRTsePIjeyBJkqAKYgi5DREqvdeyNhlCKhhf56exdhfh-QWcO1M9zJQypvoCQ_ifRQDRFWxtRMTl04r6qggzVpL52NbJkqcSdWBFbpgbisxm749_-Rv0xxvW-g5OcnSlbC9eSPEPBdsMF_h6nZR9Swe5ZjkHbX-MUOkL-kFMIvps1N8iVHmlIUw2niZr0-6LzeavsFQ48K7WFqspDjgIAor4ZXetEWmo3SytfN01qQB1GwsRTVpcHnmMyvqBs5G97ESp99yaLfUaJEWaWcJvml1YLjI5UnsUDVTENANBv4H83bCbo6Hmmzv1-ZsT4v5Zhcrx_CvauNEjnM1s69VLEyWd2bUgXP6V2-LUQxtOiYjsRYobuwJyWRaX-3vaUWzZHxE_Jd0ZENnnWi-APDR-XYSIB3PJSavA3TG-n4I1KYI7kc7h9HWopidEdFQBsNDuJEN0H2S4aS1F9jp_JqbQJiTDhyudGPS-5jCFNJ3XCOEiHbAbyX1ZJ9Kz-knBCXzdsBCjWxwAaRSzt_WkuzWbwRgRY2IOcGlWY9rkYN3zo7PyB_fS74glTMtT_mU3Z2gM447WAmbCbvjOwrSxnovlTIBpPwwipSRUKxdnbtWA3-JfHFeRJ2hPXsjl6GK9n8f67_QMxOcsayxn40yC6xNHXlVzRZ9uNnSI4EmA03Cty671EwdrCjVuaXiFjq1VmfDEGqANr6NR_fPIquarELqgYJGdyns4YH3xqAvOMks8pEyHOJ4h3O9uHFkB9Uabkz78iGY7Qmb-BH4zmvmMnLEh1Ich55rT5omhEldlg9joSjiUe50YTZdf4N-pnBA1QO1ChTp4erT6CTCwIIsvTObCH6jcWxSwdpuGkmo52r7X80yBJN6rj7qqkZx4-qnfXMGRjBs4fde0ddFSWJTUtvviMA-HPA24mhbeyzPpDkgoQ1FD1eQuI_dtpW0lpiTFcx1XPCqKu_BR9hG6OtmskBWUsozVwwEFBjh2pJc4RF6_BJh-Bbw7f7lvvFa2YiCCunO0fpCktB4KJCyw67BZZXYtnQ5aksvz4cJgoY5oqNAhSfwxPSfJUPx74usVD94VoIwA2R7xQf0BO4D8KiH7NlrbL1GrgZOza5aC_iLgfj7_r6zsk3R9kGEe2OhMqJpdpa3s-59bNGAN4kGwPJr9KVr_cnypXu0ULO17w4Mjeg4Ho_nqxGaFnAIq9Mog4MxckQgyt8hsPdlirz0xTMFRvH3ygL9hEhQNQmcgNrcRlWb6vIsBpHnjq9HUC2xswVK4wXSiYPqq8p7z4JO3khbZ_AL4ugN4eGMi8S4Wh0T1GQpX47KVd6fsd-r6iC20FYJ2Phy_BoQ0QfSbP1cRJpFrxv05d5s6oJkmbNCRUPuAjSn0FoZlwa_WsLKs7oQ4EMzvvdy-szRdPzFPOqIHscRzNKFPJSWxKFE72GcRACQsi8imnH4vr5c1yOEFNF5pY9xkPnzf89hmcU45prQHz6HjE2XczjD7fCoOfIBZ8roCEZ6nCrxzXq6spNkQWk3q7NZ5MxPNG79C-02xzL2vwz2C9rGy84uT1ZSTHJqMHDCeF1FzVoefvyoW8WADIZuxJzDDA8BqcVp_rNL59BWONd1qqADFt7n_IgXgTYpQ2n1cq4UmhZM2-PxDXxDLA5WwtFBdEesniCAuzBQ-j4aMdvHDzaMeVoE8NuZ4o1bl23hChHzZHuqlNcYz7gyUh_Gzc3I7293sMZ4GBqevwWdxzyg7xSjMhECPoq0nZVbCTIwOUDpp-I0gnisz-RI5TLUibwrWW-MprCAqlDOu8O3Z4T_sp6aHJKhMdIlHxwP9CNICY7Fv5ch8Z5atOpieexrDgwfIqNHeVi8jMTe8Q4EWMm03hR0-dOnyXZn8oYNqmp2I8gK-iTJ0kTG8pm8iWA_48dGHDfHZZ_bE0_SYeLQ3KKQPEephqAfsvTJSx35L63gplqOxfL5E555CqCz8nWdpxAFz9ymxKvx6VC03-OYoUcduhWUurLbHXNUQnBmi87DjFCnoaHqr36aUnMep3WrPS3RTqOThzoquD4jEXcV8dkYgZ7CpEIVAjBLf9BLTbi1X2dg0m-gwBKeOg_ww1al4w_MJ_e7KDWknfkerPWNOggC3Z8SlxgQHlR294axlNGGO7Y3Xfgd9_WTYJHOuq64ZFjJJfQwDUs0XVcFwlOx0fzQzteb_IQxd05Xz7r3a6hWEbB2-dbU6xspgl5Pv3MSBV3EYHtXpgevozTC7Poks6DZR9LwAOkcijLX7MKV7vmtscC1xqycA3V4KqnZlfKKM8BaRTyyH03xG307KHiHfWDp3gt3Ri0ahzp_PvduLY_cgkjL58Xm1Rr-E3UReET1dfYsH6JFkC5P5bWGt1noLSb-vpqb8wbWaJcikC78fyHQvlfOaKl86NNPx8DRWDGkbV-_UnrBKbHj5_kYeetTII5fYlpY8QPF4v0IpxO8g68r4c8B1zSTBdmXjypNkGyMQG3Us4KjYDcAX2v05ATBWjQozhBeztK4yBVAj6PD0hEgCG0uWje5lxweGnsjAp0v3jkWTkd7y0foMzztSBUsYLbMnC74UL42F4ksn6BGE1x6dEG-32OWHAXc9NU_mMF0URRW8i3r1wDRsNuOeLiXW3rX4KLKyepAVTBsH95WiFaVO4RI5cLDnJ_kuAftkY0eCWIl6hDpu0WE_AYcxaG4GAxZhkM8zTa2Yotu5uPofc9EPjGa-6WCaSvtCUHGYuzNw2DBNC_3cRIkjIYCZIQUbgHSirxW2gBfxE_72H3bVvzOw2qxOKeul_Rzjn5hX7P7VwBYdeW5fn-sPDLgVZ_Zh7-vzOHUs9909VDARqwJIiuAnPHh1C05C7lviiHUW7L3Fu7-KJmBlBTwiNjxJByt9iS_abpRMKU3e4B5MUKWBLd_aYXXczs_KzJ8vbrboLjbcNWScu4rxJBGqO7uYeasLYPULIpoiwL5VwH1moZV0U=",
  "id": "rs_0a6e4bd6cdd145b5016ab438c66ee487d096b32b8f42448a46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The second close also settled nearly empty; the toy remains ahead in the wrist view, so I’m changing the grasp position rather than repeating the same close. I’m opening and reaching farther over its thicker body.\"}",
  "call_id": "call_G23g5DZ1YSRlkrEyezMT3X0T",
  "id": "fc_0a6e4bd6cdd145b5016ab438ca388c87d0b9654dd0496e007a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G23g5DZ1YSRlkrEyezMT3X0T",
  "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]: [-0.0509, 1.7477, 1.0538, -0.279, -0.0563, -0.1078, 0.995, -0.0212, 0.8116, 0.6056, -0.5999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.0085 left_z=0.0577 left_yaw=0.0454 left_pitch=-0.388 left_roll=-0.0023 left_gripper=0.995 right_x=0.2614 right_y=0.0015 right_z=0.1343 right_yaw=0.0002 right_pitch=-0.217 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -7.6923, 8.8547, 1.3407, -0.022, 0.1294, 0.022, -0.0615, -1.2376, 6.8171, 1.8388, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b33dc40b61f231a2be9f1ca15aff1973f481ff982c5dd27b800a9d74eb55278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1379d5c2ac0eda69466ef4597bac86de47745d3764b33c5c63bef1ce358bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ac64f1586fddef79dd3371347aad92ba141f5c036a2ee2f8f5a2614771579a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0509, 1.6039, 0.696, 0.0357, -0.0566, -0.0837, 0.9955, -0.0212, 0.8062, 0.6056, -0.5232, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3855 left_y=-0.006 left_z=0.0311 left_yaw=0.0286 left_pitch=-0.2878 left_roll=0.0041 left_gripper=0.9955 right_x=0.2743 right_y=0.0013 right_z=0.1493 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -6.188, 8.4034, 1.5604, -0.0464, 0.1587, -0.1392, -0.0889, -1.1419, 6.9128, 1.7949, -0.0855, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 1.6783, 0.7967, -0.0566, -0.0566, -0.0948, 0.0334, -0.0212, 0.8093, 0.6056, -0.5682, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.0066 left_z=0.0249 left_yaw=0.0369 left_pitch=-0.3535 left_roll=0.0026 left_gripper=0.0334 right_x=0.2669 right_y=0.0015 right_z=0.1404 right_yaw=0.0004 right_pitch=-0.1831 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.9658, 5.3675, 1.5653, -0.0708, -0.1197, 0.906, -0.0752, -0.8957, 6.9675, 1.7656, -0.0611, -0.0269, -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]: [-0.0509, 1.7477, 1.0538, -0.279, -0.0563, -0.1078, 0.995, -0.0212, 0.8116, 0.6056, -0.5999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.0085 left_z=0.0577 left_yaw=0.0454 left_pitch=-0.388 left_roll=-0.0023 left_gripper=0.995 right_x=0.2614 right_y=0.0015 right_z=0.1343 right_yaw=0.0002 right_pitch=-0.217 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -7.6923, 8.8547, 1.3407, -0.022, 0.1294, 0.022, -0.0615, -1.2376, 6.8171, 1.8388, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b33dc40b61f231a2be9f1ca15aff1973f481ff982c5dd27b800a9d74eb55278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1379d5c2ac0eda69466ef4597bac86de47745d3764b33c5c63bef1ce358bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ac64f1586fddef79dd3371347aad92ba141f5c036a2ee2f8f5a2614771579a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjOwF505u3kjJkb_oaG7aRqntqbRtWtidaLJKjxNs7aWtJ5lZkI-0feqASeEthyyvfes7PN-wmlvoqgo943XVnqGdaCL4LuVbrJ-UA_JygPx-rAAjPo4Mng9ghGjwhbwDL-VV5bfhI7Jev8fT7sF2ArJnIXWJwT7vb97ERuKVb6FOraLcJrXer4D2gn4JWtny2znGEPjAVltSnMMrhLxVgMrAJJ36N7Z6wlNJECkwmGvX9lLql7O0g0p5YXb8HepS5mkcXXBuTz9rGOCSW1rAb6535cXwBI4_i806ey6GvbqT18kJs63LxrLAnnw98Ihp2Wa0rAACG_JTOozlEgvRgGow4qbb_9aNGb8FGvDooKt_UgeTzmt_2MVPHoUgYGQ5e-9tc_Ca9r_EjGjd3QLc0k5aiGxzucPUVWtR8H383qqOByP15PSIxnWaqvdsSuGDpftaXTIC_uXoraj2xt92U2jydTTJrdNtnBn6gxtko_rjt5EihmEt6Ca_5Vpm0LTAPETrP7pZQ9EAHfrWY8PrNArBmMbUMvjzDHdaH-BsZLvesLpS9u_LHzhDBjArnhybhT61UMFI3sH4oMLKahCsGhy0YIK-pXjU4VqdSQcLZISPYUsxvyLnc7uOwGtrN09hpscKRQfR0tqsv2wogqmYscOiHk6xJkPY42AIjosNnAuPzhH6E62dxdOwdS85TokJMne9i5wyWgv4goyCv6xKtedRS8lDuaZjWLUmGIrk8TuU5x9lNuf5QT7OcIkrqcng2BvKXrq5E0Q4uaJcgBBu3z7doAIlTrg1I94DdqwtDys_elBRcncU0GKt0zgIBRZn7sqFTDx2-iG6bHb5UNHKo4QVeCqeKkf88PDA-S2PcwuyYEtTFjZ5AJCcrGE3xvwcgK-iahs-4Ys_27W7VwWu7DdEdZYZSA4WUtaivLsJJmUJlhnIEPAReVGgXNJabv-sB6heGBXUsa05UJvnkSWVMhUb_5S_9QYjzjX8vdhZDpzhWmuq930rPkF7IoOcawC3LRbEzpLqr32TV56OGRbqmc_Zrp7Q7iqmKxqX68OA9ngIUYD9XW-mKUtDGejsSfmXGwQ4VO7cb6_0rK1ikv5qO_LlNcVsbpaS7HexvApirD4U0zFqUxvt1MWrWPceyUJdCgFpwesJwN9XMrAUhMIWWKCyRQLwLLSJ_hoN8fnrVxQ74U2cFIQp_BzGZU5QlhsGbC9bWe8NR6Cd5Ui_mB2vx9fffcAIRjAoX7n-gbyzUoSvD2RyQYFJ3izmg4K9aKzmc9CxMt_1aK9DE9gvZZK9EOdzyuwJ7VjrJU_UohYIOfsg7HQolvC4XiK7HghZJl1HS8jfq1GfbSEMgC3T_jBWFXtXTuYwYvdRPfDrZt_yV570Rf2UC-1w7v7IaJ4qX_TptI7B5WWkUWSDstqQUFG-kQqvVf8MZ5DfXsYXGLt23FnLx5es9MkUohuqMQsDOsP1eg-_tXOfMC-ik1Dr3nIB9CynwDFehdiZWDsDhYDzhTMqefmGLl-PmTA4RwR9QC-vhNWH0nuFz1ua-9pt9YedkNdXEchCRh2voGwR9RX_Qt_C4=",
  "id": "rs_0a6e4bd6cdd145b5016ab438ccffcc87d0b94036a788168374",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.052,\"left_gripper\":0},\"note\":\"At this farther position, the white toy’s rounded upper body overlaps the left gripper’s pinch area. I’m closing at that height to try to hold the body instead of the thin lower part.\"}",
  "call_id": "call_0ityNYbYnW3y5KUPQE9Vs66H",
  "id": "fc_0a6e4bd6cdd145b5016ab438cdb78887d0ac40596f578863ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ityNYbYnW3y5KUPQE9Vs66H",
  "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]: [-0.0517, 1.7508, 1.0515, -0.2913, -0.0566, -0.1135, 0.0114, -0.0212, 0.812, 0.6056, -0.617, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.0086 left_z=0.054 left_yaw=0.0492 left_pitch=-0.4055 left_roll=-0.0036 left_gripper=0.0114 right_x=0.2583 right_y=0.0016 right_z=0.1313 right_yaw=0.0005 right_pitch=-0.2346 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -7.9248, 5.2581, 1.6679, -0.0269, 0.0415, 0.9695, -0.1299, -1.1692, 6.9675, 1.6532, -0.0171, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d4d4b74f32c95105a101068a3e456f16506120a42084674e59a7b856c61b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faff3360de9867211261dc8b6bda69b1b4500c20332e8b727fbec54e2bda6f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71819cd96a26c22a4834490aa6d748db972e25db84ff88cc8dd8dc3d443391c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0509, 1.6711, 0.7921, -0.0372, -0.0563, -0.0906, 0.9968, -0.0212, 0.8093, 0.6056, -0.543, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3992 left_y=-0.0068 left_z=0.0289 left_yaw=0.0334 left_pitch=-0.3315 left_roll=0.003 left_gripper=0.9968 right_x=0.2711 right_y=0.0013 right_z=0.1449 right_yaw=0.0002 right_pitch=-0.1579 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -7.5419, 8.0342, 1.619, 0.0073, 0.0904, 0.1294, -0.0479, -1.2923, 6.8855, 1.9365, -0.0269, -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]: [-0.0509, 1.7477, 1.0538, -0.279, -0.0563, -0.1078, 0.995, -0.0212, 0.8116, 0.6056, -0.5999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.0085 left_z=0.0577 left_yaw=0.0454 left_pitch=-0.388 left_roll=-0.0023 left_gripper=0.995 right_x=0.2614 right_y=0.0015 right_z=0.1343 right_yaw=0.0002 right_pitch=-0.217 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -7.6923, 8.8547, 1.3407, -0.022, 0.1294, 0.022, -0.0615, -1.2376, 6.8171, 1.8388, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0517, 1.7508, 1.0515, -0.2913, -0.0566, -0.1135, 0.0114, -0.0212, 0.812, 0.6056, -0.617, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.0086 left_z=0.054 left_yaw=0.0492 left_pitch=-0.4055 left_roll=-0.0036 left_gripper=0.0114 right_x=0.2583 right_y=0.0016 right_z=0.1313 right_yaw=0.0005 right_pitch=-0.2346 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -7.9248, 5.2581, 1.6679, -0.0269, 0.0415, 0.9695, -0.1299, -1.1692, 6.9675, 1.6532, -0.0171, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d4d4b74f32c95105a101068a3e456f16506120a42084674e59a7b856c61b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faff3360de9867211261dc8b6bda69b1b4500c20332e8b727fbec54e2bda6f4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71819cd96a26c22a4834490aa6d748db972e25db84ff88cc8dd8dc3d443391c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjUBWwa0ABNlEjjarzRbOw345BWJ86LhjWnAgwNBFqP8i4EbZ5KYXS1KxzawU6fSv2yiYXssoUd5GN4GvzvGGjRKiukH3dnTJTugJD_liUDtMbs-idSPXc-4tUKkzjQOSk3ZVc0MEPOlIRTzjI6fmBa66gazSqIZ3M6KIxAGkEukHLS1LQYj3-MkVB6evrI7NvGII6DwXzC86lv6mRrY18tbBxFLhyYf6dqcrPi9866Sef0a9e90VG4kdSa8xvcR7BrZnmR-PH1edEprWY89aY8HFKpqnd_GG4vmfmOg8pnjj2RXWA2wpKzMQiL5F8XNxAv_AnUPJw0VueOPY3btW8KL4VfX2SCzGx8PHMQ_7ZEi18Ujla0YxHy-S1xONW1kacOwAnqzhLfSB8vytkYL_eRMWcUbxWym6UfgMSjCt-F3TZoYFZh7Z_2rNV6zOWEs2WoCJ9jSfIM6mmlzgxWAU54hgA94dXj4gikNdW6mlXJc5TgASa4T407PboKwkBFAT7aAaIEOaUU9uwbPnPRSh7_UIV-0TN-LPsbuul7f4coWnGb9ZWqQPZ7L_X1NdcwOoC6jAbgtgEQzz1Mq5C9iyzYIuL0yVDffJz3BAeTjJ2JKqSm3_I_PfmQu1SbEW_UhYfvvlCKwYJiNl1jDM28FXIqi6TYl2Jxd35hJ323WC-AaS1L-ZFnljSrj_-e99KsviusFyIyc-WCh-IkzGSpnHn3wRZrZTpLnut3BYgCeX030bgqED9JZFG46repCZAX_Sd3UNAlhCd__vsulfQEWXhQFaCH6L9BG9RxvUzxey8p7eFAdSThD_M5iLtiKROxmPXjMqI2jP6V5DpVBqkfuEKlp6FUrypVzryLDDhn2cOOhBrvZjV5aPBDR67o1CUCenvSm0X5GJ-PLTtHi5YFDWXdjyB5XcJhHKMAKh1DEyypH5mWBG57wyWA71h5xwL6n5rn2AAMf72Ul9cgbym-vohqWWrUw3wQApft5mmeJjwoXAN2xFXvGG4p6M-skgvqtNJJzHRhEjhka7m46FnQoIrHNwwkZnoktuFj9NSzYNbBApvYlIbFqAl-BC_lxNzAqriMj7cTl_9hpxf65QmBl5YKtDtkgCfLSFB2otvyLC1SkgpYCRNvGJrbinR41DX0yyI0BmpyoeXNPYyU4w4uNx109CeOSaGuULzA3IMIrq2jg04yFRpC_24OeU3z3J_9n8UvH9eEFB3i77JND5cxc3sp4sxE05J5pQ-YQgQd5HyXGzDikvPAdUHLx1Cch1HFKwdD636BFqMXp1hU_rRwggDIi8zohcJa6q0ShEMy-za5pGU_tZQrVQT4imNoqyGxjaDoxKAnmhH8LwRw9Qd53dNUgWhlJf-5yuzDOxAuIIlrnd9PPzwG9QpP37CLHK9zikU9bqDTGRgtCnsF_g9vxhHG3_Ta1mHVCRq_h2H1ohSaSdN3SSK_B_HDnOZqtnHJvVg80cJnJ4mLPy4Kc5X-SspgtCHEebV29JKMyI_qlBovopBr8Y84RFefr0X2BU-EWHlTf5JH6QKssN8gUaeI8nYPrW2XEKoQXx-FsIsFzPblEtToaromd6jsAXwg3RoMiZhtxgyCxL0DTNX2V9eQaaYbkuX1_tneDsclwM6qDHGmlU5jXMD5-h-I9QZ9W-VsumebGjWQTh8YIwfWJ2TYglA_pIISK2RBTGG_uvtfQAj78W7kOxp05aDKFvgHdhsJt_86XlWBqwH9Vj8TyPoCZMEHOGs8oeWYV8aQmirxZwY4TUxgzkXqTZ9TO5d8tNV1dsyVtkuCDNRMZsGvPyqnsLTvsrOHL6sK7iy5ZeHMlgQYWBOho8M_BexgDnzlprdcgVSoA4cKvdz2NIlhPvWyqusrAllsTNXHO0Q0OmquGrjPaDxXY1kDTHh_BsBGaibmP_JBMmLdmzJnNCpD51fW3jzl9uzSVLaxkaunc3yDU2wrbh79_an3isr87IfeU5fo31hRygpLFnl4ge7tjANuxGkynO22hErFPTvlYwoU-7idhj7YfPpotnJpvuXOQS5XAAfDV8smbxkFDULb7I0BHotVVhsHoRn_tOqg-osgVAEUERLqo9gmJzmp_iSDcmQd-McP1O7WqVkDd3LRBy9m08BjZvMlIN6GUtQfcACOkbyZVcthhrNceR7c3CdSGHDcxBh0_hdWpYTtvt4MncgsO9uxWOoGTPJTNvBMu3EGQU5W_ahm2l6rIBWbAssrrhxmUATeJLMrn1kTnDzN_j5RvMO0zWyJFlxT1IENnLYx1b00OtKo7Ky-2aIna5yUsc_YKRDO3xWowr6OIDFqT2CvyImP-6qophHyTGW4IQfHeDYMiJDwhWQfCPXfVRcWHzH6rP02",
  "id": "rs_0a6e4bd6cdd145b5016ab438d0979887d08cc106126ef03f01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The jaws again closed empty while the toy remained visibly in front of them. I’m making a larger forward correction toward the toy, keeping the jaws open and just above the table.\"}",
  "call_id": "call_OxqUkBVjEqwDaI7lMRX3VrOI",
  "id": "fc_0a6e4bd6cdd145b5016ab438d3513c87d0a3f88b51f22dea0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OxqUkBVjEqwDaI7lMRX3VrOI",
  "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]: [-0.049, 1.8801, 1.2606, -0.4091, -0.0566, -0.1249, 0.995, -0.0212, 0.8116, 0.6056, -0.6353, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0091 left_z=0.0591 left_yaw=0.0606 left_pitch=-0.4434 left_roll=-0.0059 left_gripper=0.995 right_x=0.2549 right_y=0.0017 right_z=0.1283 right_yaw=0.0009 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0872, 9.0598, 1.2821, -0.0562, 0.1197, -0.0757, -0.1709, -1.0735, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351c6b003e5e371e766b8ed138797d8969b7997accda1db9c994860decf2faa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f416b8e205151e6b45940260fb75cc4201ed38bc33d79172c66ffd73c31a0751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2849566f3adee6405e60c9ac5398234a600d5b0c76ebd05f568876db76ed3045",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0509, 1.6783, 0.7967, -0.0566, -0.0566, -0.0948, 0.0334, -0.0212, 0.8093, 0.6056, -0.5682, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3963 left_y=-0.0066 left_z=0.0249 left_yaw=0.0369 left_pitch=-0.3535 left_roll=0.0026 left_gripper=0.0334 right_x=0.2669 right_y=0.0015 right_z=0.1404 right_yaw=0.0004 right_pitch=-0.1831 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.9658, 5.3675, 1.5653, -0.0708, -0.1197, 0.906, -0.0752, -0.8957, 6.9675, 1.7656, -0.0611, -0.0269, -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]: [-0.0517, 1.7508, 1.0515, -0.2913, -0.0566, -0.1135, 0.0114, -0.0212, 0.812, 0.6056, -0.617, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.0086 left_z=0.054 left_yaw=0.0492 left_pitch=-0.4055 left_roll=-0.0036 left_gripper=0.0114 right_x=0.2583 right_y=0.0016 right_z=0.1313 right_yaw=0.0005 right_pitch=-0.2346 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -7.9248, 5.2581, 1.6679, -0.0269, 0.0415, 0.9695, -0.1299, -1.1692, 6.9675, 1.6532, -0.0171, -0.0513, -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]: [-0.049, 1.8801, 1.2606, -0.4091, -0.0566, -0.1249, 0.995, -0.0212, 0.8116, 0.6056, -0.6353, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0091 left_z=0.0591 left_yaw=0.0606 left_pitch=-0.4434 left_roll=-0.0059 left_gripper=0.995 right_x=0.2549 right_y=0.0017 right_z=0.1283 right_yaw=0.0009 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0872, 9.0598, 1.2821, -0.0562, 0.1197, -0.0757, -0.1709, -1.0735, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351c6b003e5e371e766b8ed138797d8969b7997accda1db9c994860decf2faa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f416b8e205151e6b45940260fb75cc4201ed38bc33d79172c66ffd73c31a0751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2849566f3adee6405e60c9ac5398234a600d5b0c76ebd05f568876db76ed3045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjYfxLpT-KCHkwXz65CZQpk2iKPLW7GmpFNIcm7wkdsLGF0NNTVWZhzVU905qhvxUAEjjHhsrQoJ6BRRPx3RbH9ywcdi_Vc4HnAQNWRQIoTecPlHdsvGRbAoqo1QZNb3T-PUJZI2j8e878YRtOl0d0CBFNG8GYutBWMKPHaRuXkdi9_524K9T4Qcp1KQUJW8G00i9wZ5ncv1lB8SJvHSwcAb9-IPMjsrDTqEzh5FHbkUGk5S7_tpDraQ5VrkKw7qYOSBW_HjNpNc1BP5i5_JZXBp34GbriFZrm_Vkv1QEZAZgiriXMqFd1Z67ZqX7FMUkW1voIqJhkdMIBaEC5Xl4giTJyq4YR4RrO2Kb753EMbJGAbbXG85V7uHwtua9ZyBhmch1cUqBkFQqC9xlidC1L50z90Sw2JEfozUm6mcXGaG2Fr51WUfvRmCtLpZb6hesUaayH82UppxrnlklEqT26Fz6S6gq7iI6EZLDXfmiVFra0emEeJvm4nR9KPjwOp6I7jHJrlSxp2OYMIaRXim8zHSULk3isma2yVdav0mhDtI0nCq9bELJWkpN9vGdXa6lq48a04ehZ9OeK4Q4MSREHHkN5Zi40uihk6EX1qUoL55BJj_bWjLZ7-tv0KdxhhftYgqWWgg_B4SlsSHdrrhkg9jYexu5TzExJr0upKpPiEWqTLscFx9kLbXIu5O9BKAvOenmKTWXpQ7auOxzIbRCEg0WkY87x9BhXUK9p8ubpT621QhRqBpDcS5zUJZ6uiW8fzb6dAcSkEPWs2ZoLn5L78kQtYjAdxC1s8TDbWFYn_NJqTCrt4rVXOgq3pN31xJCW0oLXVhZRXQ5eeJw0iNAg4D6HRKvEdiJCPZ1472o0GHmzXGnGbf7IhwIY-T8jtfVT-_-EHjxm-2nEM5jSzZ-yFe0cM_kXts-txCBLPwDkR85FoJ2lSxlom3FeSrmo0CbQBQQeurSWnahBEYiyNxLuYUvElGIii2PT8X-wGlp9YN0QtUTSM3UBnnS9ocqt3DcaXan1Veu8DRpH6MSg7IP4354tnp9OmEzkqRn0sa_7OHM1HjwYSRzLq_BJkBlCZ19oQW76P2foVkZw6MQIKmUSuVNhv_1UnyiBpEqZwWmyki_zVpeUr0jaOIA871OoXLPZi1ZGtZglr6tAuS-4VYt73qVKIS4bPl6MOpqX9v90IUKiomJUoQ3zZsDHFpAiLzGyDJKikT8cs_bNgTb0E4NpviE_MdbsHjKdE_RdZ3-zJms9W2XVK_btLqW7qKHRFkXmi0SnkD1aTiUkQQIFTz1TRwTPU0nZAx1yUp1gBpA2NaAjZOW-XNWIk_sxOseOU26EJncf6KkZbgKgspffEs4GibvGwmCweO-STqUzHxhjdrnkFjJ21Qzw-Cgc4IDocdIrI5mQWeTgymeAtl13OHP9O2_WURyiF20S4PqYfYnKAB1E102u2ov-b2FafiV6XpBtJMFyTALWyfJudcXEF68bwv-JtNjuTfoj0gPSfJRFyI0buGU76fp2Ilkwzg5WK_DziHwd-gJC6AfiblFMcLDCZyk6z94zETYi31E62o8tfAUFcCKr_QlmT8CKYzm-CKtt4d9nCO4qxrkGptmzGbCxHXQM2mcA_uwn-9Doqr5EB3uAeGTd3wmegtbb1vH5PfEKZBxpwYlC-lzBtyfU0CFPQFZouuZFGFsQceEiqdvqSmIUZ7-bYdSP8k79J8maNuVPPiw7_Q4cKG1m1puH91pzjqv7JDygNxDHuinSmEPYCQn1WKpm6ETg1Jbxb2DdtrfTRrcXb13tOUtuMkbc8WUA1DD6RPRiouYoSHpV4jlIRptCNnaanCubK1dTVCBe84d-d1jlW2rsaNTwilfANcaBEoj6Sk3fibSltIvJvRAgDSpo=",
  "id": "rs_0a6e4bd6cdd145b5016ab438d606fc87d092cdff279ef909eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.478,\"left_z\":0.027},\"note\":\"The white toy is now partly beneath the open gripper, with its upper portion at the bottom of the wrist image. I’m lowering around its body before closing, without moving toward the safe’s rim.\"}",
  "call_id": "call_krHeNagDY1LcBm1mEszlNKO2",
  "id": "fc_0a6e4bd6cdd145b5016ab438d758d887d091cf52e885d11817",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_krHeNagDY1LcBm1mEszlNKO2",
  "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]: [-0.0463, 1.948, 1.2652, -0.3508, -0.0494, -0.139, 0.9963, -0.0212, 0.8139, 0.6056, -0.6491, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0095 left_z=0.0377 left_yaw=0.0654 left_pitch=-0.4491 left_roll=-0.0202 left_gripper=0.9963 right_x=0.2524 right_y=0.0017 right_z=0.1256 right_yaw=0.0007 right_pitch=-0.2685 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.1453, 7.0222, 0.8376, -0.2564, 0.2222, 0.1197, -0.0752, -0.8137, 6.7624, 1.6972, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231cbfcea5ec800c85062138e803edc940a8a9cfee9f7ad23540fb504c7bc488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a745cc51df2e483cab1c2580a4a7e73146f0914b2f347917bcb0487402bba68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe3a3b58547bf0c654ba5c007660b94342311e9dd614f154c9d94387ea51ade",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0509, 1.7477, 1.0538, -0.279, -0.0563, -0.1078, 0.995, -0.0212, 0.8116, 0.6056, -0.5999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.432 left_y=-0.0085 left_z=0.0577 left_yaw=0.0454 left_pitch=-0.388 left_roll=-0.0023 left_gripper=0.995 right_x=0.2614 right_y=0.0015 right_z=0.1343 right_yaw=0.0002 right_pitch=-0.217 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -7.6923, 8.8547, 1.3407, -0.022, 0.1294, 0.022, -0.0615, -1.2376, 6.8171, 1.8388, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.049, 1.8801, 1.2606, -0.4091, -0.0566, -0.1249, 0.995, -0.0212, 0.8116, 0.6056, -0.6353, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0091 left_z=0.0591 left_yaw=0.0606 left_pitch=-0.4434 left_roll=-0.0059 left_gripper=0.995 right_x=0.2549 right_y=0.0017 right_z=0.1283 right_yaw=0.0009 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0872, 9.0598, 1.2821, -0.0562, 0.1197, -0.0757, -0.1709, -1.0735, 7.0085, 1.6484, -0.0464, -0.0611, -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]: [-0.0463, 1.948, 1.2652, -0.3508, -0.0494, -0.139, 0.9963, -0.0212, 0.8139, 0.6056, -0.6491, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0095 left_z=0.0377 left_yaw=0.0654 left_pitch=-0.4491 left_roll=-0.0202 left_gripper=0.9963 right_x=0.2524 right_y=0.0017 right_z=0.1256 right_yaw=0.0007 right_pitch=-0.2685 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.1453, 7.0222, 0.8376, -0.2564, 0.2222, 0.1197, -0.0752, -0.8137, 6.7624, 1.6972, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231cbfcea5ec800c85062138e803edc940a8a9cfee9f7ad23540fb504c7bc488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a745cc51df2e483cab1c2580a4a7e73146f0914b2f347917bcb0487402bba68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe3a3b58547bf0c654ba5c007660b94342311e9dd614f154c9d94387ea51ade",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjaUbsm7wDym7-e63JtkPjJn1vyyVfCGmV7C9cKRN574cYHxoS-wmEFQWhUGpSiq_NNPslPbuwJzhvAORV6a9zfjZ4hs8lsHVrGd8A_dN33Y-uWZauSeFh6q71_l4odI3xHb_M4nkJ_C5eDGIRG5iGn3rC392MSj9bOhLGTQw35Fa1Dy0bfk_z3VSw2jaJvd-xmjePpsFJaF48Bl52Kdi09eoI_LO4yjKL5hUVlz0D0oVxObwHPUMtGC3Ne_UbT6TzM8IuHYVCPZbVfERK3GueoChrUSpx-lmLlpyCoi6socbj2c3JynK8NnG6vYLFr4RvbOvNMuBs-VKGPntyZuvVCnvnb7idSALCDMwOIY_GeBOOeKQXwG2zdeWN90VWDboF5UAiBEnE7dmmtxxmVH9TQ6Ad5O0HIShPYHusaygu3kac4L1VGxJ528oB57twyUQhyxyfgSgm3f0edQzp7UaQQP-JwNx_1DAF0hAAPFdWklreiM09DbjOE_J0qZl3Dgw8VGPeULkXHwx2SKmMlnrx11gTP4NqLcREN4bE5YXhW_FhnmGzt72GYvd9_QAvWfaxBXFSUPHDlu4FSVjJreOirxs99WTtzrg7VkvYxpfWT6yW3OQS3gQNFr0jooQUmGEUbWtlm9jPNCrwbt3BXLCXFPInmY41HLBS_taXyzDzQkrWZdWHM2T8v15ZRXom7bInFFVWCxTmbq1GkfBPyza2YCMoDlLr5P6wKB34mcy8-kT3EkKTbs_cdp0AEF0Qkn3C5re8AWPJvRmAK0MsxzISJP1LpPZX4c2oG054ftpoZ-TYP-qp3KaLGo-X0zyh0gn6TPKxTpGi8uKInq-VHBw9hlHzI5YuPBH9ioTsWGWOs7fDko4gcRGUew69Lzrw9UOMkLPZ8XH8igaEXjHDTau1AmAJt29Phzh0xho6NLVc-akhqQJ-hcEahEvGKbn6uu654L9zYvYkY43yD5NPnH_7spYVtIF7cnBuKir0QdsxfcMRhs_fGhxuJpa0vB6wEvUL6ubCyJaHh4kdmah2ePIOImyZuWmUVgiPFbiZeIuUdztw3BnnQak8jjAZPSz1U-Hljygj__HO8fC4cbkGSKlVkvYEh5NPacuSYR2NopwKUCx2JCqUzoi9dIk0y0kow8FQnWktMUalJ7x37aFLeoLUn1Kyf72AhFY9VL6rn-JyTTZp9MMNaxQeEzzt3ut8d0g7cYYV1qaAO8SFcIgJBwJPNiIRE_Jnj7cXDQD_VXVQzyRzKeZD4d3hINxzD0hvU_gXTVCl8G3hVY2ROlT3bKcR-sqDhiYU7rvkRM9KZhzbb1GtpdkurGR4tGewBaCbVPy7a",
  "id": "rs_0a6e4bd6cdd145b5016ab438d95d9487d0b0f0d2fa5a9f0d38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are lowered around the white toy’s lower body, and the safe’s wall is still to the right. I’m closing once at this corrected position and checking the gripper reading.\"}",
  "call_id": "call_YUpdFeILmgzwHjBsiz39Awvk",
  "id": "fc_0a6e4bd6cdd145b5016ab438d9b5d087d099afde809208ba6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YUpdFeILmgzwHjBsiz39Awvk",
  "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]: [-0.0452, 1.9503, 1.2655, -0.2707, 0.0418, -0.2443, 0.0114, -0.0212, 0.8158, 0.6056, -0.6724, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4872 left_y=-0.0258 left_z=0.0475 left_yaw=0.0428 left_pitch=-0.3842 left_roll=-0.1743 left_gripper=0.0114 right_x=0.248 right_y=0.0018 right_z=0.1214 right_yaw=0.0008 right_pitch=-0.2937 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.4684, 6.1744, 0.7546, -0.0855, 0.442, 0.5446, -0.1983, -1.1419, 6.7214, 1.6532, -0.0366, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1c70549bd32a3aa5f43390b9b974d8035163d8213c50cf4e61b4c19e59b7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53038007bc3336d437c0c5836b240805231456c7000fa046c37f8b1c498be62f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e48696bb236ae0ec3482f52a1d36001e5d90473b9bc9956e2fb37cff438beb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0517, 1.7508, 1.0515, -0.2913, -0.0566, -0.1135, 0.0114, -0.0212, 0.812, 0.6056, -0.617, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.0086 left_z=0.054 left_yaw=0.0492 left_pitch=-0.4055 left_roll=-0.0036 left_gripper=0.0114 right_x=0.2583 right_y=0.0016 right_z=0.1313 right_yaw=0.0005 right_pitch=-0.2346 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -7.9248, 5.2581, 1.6679, -0.0269, 0.0415, 0.9695, -0.1299, -1.1692, 6.9675, 1.6532, -0.0171, -0.0513, -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]: [-0.0463, 1.948, 1.2652, -0.3508, -0.0494, -0.139, 0.9963, -0.0212, 0.8139, 0.6056, -0.6491, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0095 left_z=0.0377 left_yaw=0.0654 left_pitch=-0.4491 left_roll=-0.0202 left_gripper=0.9963 right_x=0.2524 right_y=0.0017 right_z=0.1256 right_yaw=0.0007 right_pitch=-0.2685 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.1453, 7.0222, 0.8376, -0.2564, 0.2222, 0.1197, -0.0752, -0.8137, 6.7624, 1.6972, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0452, 1.9503, 1.2655, -0.2707, 0.0418, -0.2443, 0.0114, -0.0212, 0.8158, 0.6056, -0.6724, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4872 left_y=-0.0258 left_z=0.0475 left_yaw=0.0428 left_pitch=-0.3842 left_roll=-0.1743 left_gripper=0.0114 right_x=0.248 right_y=0.0018 right_z=0.1214 right_yaw=0.0008 right_pitch=-0.2937 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.4684, 6.1744, 0.7546, -0.0855, 0.442, 0.5446, -0.1983, -1.1419, 6.7214, 1.6532, -0.0366, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1c70549bd32a3aa5f43390b9b974d8035163d8213c50cf4e61b4c19e59b7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53038007bc3336d437c0c5836b240805231456c7000fa046c37f8b1c498be62f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e48696bb236ae0ec3482f52a1d36001e5d90473b9bc9956e2fb37cff438beb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a6e4bd6cdd145b5016ab438dd18fc87d0a509578cea1f5739",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The white toy is still outside the safe and the jaws closed empty; the gripper is now very close to the safe’s side. I’m lifting and reopening before withdrawing so I don’t drag against the lid or rim.\"}",
  "call_id": "call_5VmuZ1eYSdEECYdd0fcIR22g",
  "id": "fc_0a6e4bd6cdd145b5016ab438e0ca5887d096112636bc89063b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5VmuZ1eYSdEECYdd0fcIR22g",
  "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]: [-0.0452, 1.8885, 1.5482, -0.675, 0.0338, -0.2607, 0.995, -0.0212, 0.8173, 0.6056, -0.6796, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4829 left_y=-0.0242 left_z=0.1282 left_yaw=0.0625 left_pitch=-0.4446 left_roll=-0.1705 left_gripper=0.995 right_x=0.2467 right_y=0.0018 right_z=0.1199 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.012, 9.306, 1.4188, 0.0659, 0.1245, 0.0171, -0.0342, -1.1829, 6.735, 1.4383, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b187a044d0ab1b188dbc0e7a7da02ec02fb6e79b0a7bf311215296b11de22a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc57342138c4ff826d3c827f86a0efa0ade81986b8dc3557a33d57dac39929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef01ecdbe5c11f31189d7cf0160bc95fe6c378c6aabf5efc26634326715f43b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.049, 1.8801, 1.2606, -0.4091, -0.0566, -0.1249, 0.995, -0.0212, 0.8116, 0.6056, -0.6353, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4619 left_y=-0.0091 left_z=0.0591 left_yaw=0.0606 left_pitch=-0.4434 left_roll=-0.0059 left_gripper=0.995 right_x=0.2549 right_y=0.0017 right_z=0.1283 right_yaw=0.0009 right_pitch=-0.2525 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -9.0872, 9.0598, 1.2821, -0.0562, 0.1197, -0.0757, -0.1709, -1.0735, 7.0085, 1.6484, -0.0464, -0.0611, -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]: [-0.0452, 1.9503, 1.2655, -0.2707, 0.0418, -0.2443, 0.0114, -0.0212, 0.8158, 0.6056, -0.6724, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4872 left_y=-0.0258 left_z=0.0475 left_yaw=0.0428 left_pitch=-0.3842 left_roll=-0.1743 left_gripper=0.0114 right_x=0.248 right_y=0.0018 right_z=0.1214 right_yaw=0.0008 right_pitch=-0.2937 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.4684, 6.1744, 0.7546, -0.0855, 0.442, 0.5446, -0.1983, -1.1419, 6.7214, 1.6532, -0.0366, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0452, 1.8885, 1.5482, -0.675, 0.0338, -0.2607, 0.995, -0.0212, 0.8173, 0.6056, -0.6796, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4829 left_y=-0.0242 left_z=0.1282 left_yaw=0.0625 left_pitch=-0.4446 left_roll=-0.1705 left_gripper=0.995 right_x=0.2467 right_y=0.0018 right_z=0.1199 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.012, 9.306, 1.4188, 0.0659, 0.1245, 0.0171, -0.0342, -1.1829, 6.735, 1.4383, -0.0562, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b187a044d0ab1b188dbc0e7a7da02ec02fb6e79b0a7bf311215296b11de22a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc57342138c4ff826d3c827f86a0efa0ade81986b8dc3557a33d57dac39929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef01ecdbe5c11f31189d7cf0160bc95fe6c378c6aabf5efc26634326715f43b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjo_oxznJHSHRJrcEt49kV1OHQ8HaqS5VsOWqe_e3awP13tXikuG-HEXf5gu3LcgADxzX_lcnont1pq-eu39r6oWnTh61K1SP-SPLiN15-USFK9DQrGnVOvsvJ28jKUQqloyzO7aH1MuWUhjh2TjrcRN7zoZB9pq45wk0yL5t_Yjol5N1ORWtS7VlnF7zS_nK-2y0o6KxoJUG-PPL_SB0ab_p_uRQrEhQdFD5fGJvtLazSXLRHoaQw1Xe2LBAj8EnVz-Gao5HfYl4XT-1Juk7AQ1iQHHz4oDzQ1JFA7LzIk3EM_p-UbrvSBqa4MMkZ0N3p2Hku9E_Y4AMaF4j5YX2DHtgjYxH22cqI8cx187G55KyelE2G38KreUjTU6x8cVBtEjmoEC1hTuuZBINVzZBx7R0O0kXrvyZOOVLZ2vDSNJcqbBrknyw3iWAoAsO4TmlcNWPy2mrTIDZQhvPf68x9KkaFZoIeDSe2HzCr5K6iJXA3AQCcEkBTURt8kHra5e5ohAI039b6OMYtgL_SZskqNNI0lnQgJsUhbmR1yK7nFM-VmI6ifYbVTr-W167dNPvY371n-OJcITrZdwvtyLhckEO8Azl4qxvY3li9QVCX-XemEpcnRUitnHiUviBfUdFNJOTuTOS90iwKjpeBPbdnlA8_FtIMJXjEQcwJy4PcBqu-_zLoaSx7Z1PEEWfWjVucK_1_fU-gkYyeN68ry4my--RGhHIfE60jWF_0cfVYQIpQqYtHSpoFFB61hTOwUrsaGpEw5NDAfC1Hr4AX36D5_d1pvqwfCWoQbUQJ0afG9_9g9VJ2_AtU-snki7rQERQhNkPKotHkbzEq8NXxPhP2lbX1auZu0KegSi-A3oME8HOt672dpj_Xqkhh6rFTYCLD3PckMkoHG4mcbpfr5pw5Nz4MBnAQoAcEiPUYthQIaY4HiRKIyZ2xd2ebTJSTsd2lNG3wJgF5SZUfRhIx91HFe5fLq6s_bcMHaA8K2xslrIt4SZeGhS3scL6hDyDmSExuFa6rrijZAtPA349yz13Jb_7kvpWOEFmhLhk3bZeiqoIthU_MKKRi1kFMTLOKFRAOAVEmAFcPWQf7gH-WwrG9yOmzykYlSyx2-3ngY8bORzlmSIiYcHyWt9LUFA1F8bHU8N_x-JgrE9cPSdK40f15E98QRoF2BiTsXaDjUEcA9iTKo4qOyOY9kBQHsXVJNzy8PK76kL96HVjzl-qJDV_AY1SM9gQeywJJo_2iWKWO_Nyl9KsNQZj_sIpqWAYaO5tk3MPBfNFS7ej9jacvTZb7zp9NWekpcR6uuvs7lydZHifzbAU0WQpoZNtjz9VdOF4ZKO4qmAa1md8sVgI1zM-LFhOBFypzYGVH1arVZaoQ_2hXzGfEgSxqnftNdnvTYIqWP_FjcmNSqlc77pmcBsuZKLtKbckVWVwW2Z_vvH_vFDIZRXaORYOJvkLGLd3UDSUqUTokmnearDHW9xlXlyAZNkGiwltr-MvaIi7xrLXXDfJFsQNSYMnT9g31h2j7Ihxti0JIcoRM72rXJGYav34iZvARIkH239phs-RsqcYiok_tI2UBuVWNixrBUdEG283ZG2rpf4m52cEIzzg4UEM7eqv7nHHS5Bo045m8uueVDUWw0veVVmoZDyyfQmzLQloA2DvVYgVdDiF5c7RAjvsnznwpP9tAXsBLIWJgG3g8r9d1TVFF7ZVAGz1s7WIgimfDF5sLRKm36wgLUWO39X_KCQsgD1pdsH1-za4JgusidYwk2i_ohTJV4kGFZ1DJVcERWuuEuGGVsMUkn09lmJebOhp8YTFu8hklTnajN0s_d9xXENSyfdzs7qJOt0-vvMurbs7WOcU1d9Q9CNWeqUXiXHcMFdEZVjBbKjeYLqD_sRqqar-rL2movYGfrkxQGSej1GsrZ2mobFFeDiaiA24-e11q9D0V6TaRe4wm_YgK_nEG9aqSUebgSmsfdOYCUH0vAZMZFFO3qqOdMfOs72lt1k0jwDDEuGwWAkayvayCQg1R9Mg_GWZXYOg9kGt8-pSg1OSjYsZa2EnPvXMMMyFejc59pj98Fojy2M6AwzkuJAMU=",
  "id": "rs_0a6e4bd6cdd145b5016ab438e59d6487d0aebb95d7ba737db4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.36,\"right_y\":0.255,\"right_z\":0.15},\"note\":\"The white toy remains beside the safe; the yellow object is isolated to its right. I’m parking the left arm and bringing the right arm above the yellow object to grasp the easier target first.\"}",
  "call_id": "call_6m3wxptpOvhAjB9aG0HnYTIu",
  "id": "fc_0a6e4bd6cdd145b5016ab438e784a087d09a967a7271e20ac3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6m3wxptpOvhAjB9aG0HnYTIu",
  "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]: [0.0277, 1.1709, 1.0588, -0.9066, 0.0647, -0.2104, 0.9963, 0.7826, 1.7424, 1.3823, -0.7292, 0.4301, 0.6147, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1778 left_yaw=0.0764 left_pitch=-0.4456 left_roll=-0.1702 left_gripper=0.9963 right_x=0.3488 right_y=0.2481 right_z=0.1377 right_yaw=0.0262 right_pitch=-0.3483 right_roll=-0.0303 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -4.0957, 6.3795, 1.37, 0.1099, 0.1538, 0.1197, -0.1026, -8.6769, 8.5538, 1.1795, 0.4322, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5fa377a3eaab2d7008347932e71f538b78d1e90067bf4d2dae362fde2d5993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5400eeabf2cf98083392a6cf535c0a2c822f80a228bb4d0fe1ea95c95e0c115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc357e3f69176493a997991b1c22cbfadb6d7aba77a8bc2c6f1d6839ec084af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0463, 1.948, 1.2652, -0.3508, -0.0494, -0.139, 0.9963, -0.0212, 0.8139, 0.6056, -0.6491, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0095 left_z=0.0377 left_yaw=0.0654 left_pitch=-0.4491 left_roll=-0.0202 left_gripper=0.9963 right_x=0.2524 right_y=0.0017 right_z=0.1256 right_yaw=0.0007 right_pitch=-0.2685 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.1453, 7.0222, 0.8376, -0.2564, 0.2222, 0.1197, -0.0752, -0.8137, 6.7624, 1.6972, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0452, 1.8885, 1.5482, -0.675, 0.0338, -0.2607, 0.995, -0.0212, 0.8173, 0.6056, -0.6796, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4829 left_y=-0.0242 left_z=0.1282 left_yaw=0.0625 left_pitch=-0.4446 left_roll=-0.1705 left_gripper=0.995 right_x=0.2467 right_y=0.0018 right_z=0.1199 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.012, 9.306, 1.4188, 0.0659, 0.1245, 0.0171, -0.0342, -1.1829, 6.735, 1.4383, -0.0562, -0.0464, -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]: [0.0277, 1.1709, 1.0588, -0.9066, 0.0647, -0.2104, 0.9963, 0.7826, 1.7424, 1.3823, -0.7292, 0.4301, 0.6147, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1778 left_yaw=0.0764 left_pitch=-0.4456 left_roll=-0.1702 left_gripper=0.9963 right_x=0.3488 right_y=0.2481 right_z=0.1377 right_yaw=0.0262 right_pitch=-0.3483 right_roll=-0.0303 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -4.0957, 6.3795, 1.37, 0.1099, 0.1538, 0.1197, -0.1026, -8.6769, 8.5538, 1.1795, 0.4322, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5fa377a3eaab2d7008347932e71f538b78d1e90067bf4d2dae362fde2d5993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5400eeabf2cf98083392a6cf535c0a2c822f80a228bb4d0fe1ea95c95e0c115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc357e3f69176493a997991b1c22cbfadb6d7aba77a8bc2c6f1d6839ec084af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjt7ngmnAhojnSwyonoD8nd3P8xPS2cXd0sGTeWqdPgOWbP3AbGWFiRWlfbl82I3pd61VPFtl2gULMg9uvt9rBHTRsfIohpY_GLX3dDGKI-IluqFYA6SS4DnHh5LG9v_38IwHxEmkF0f4oCx00uszW4KIq34n3L6WR4MAfIC4zzwib9AX0ozqLW3wyjowPqs_kip3C4LZzpNuA2ab2bNcuwzXp3nvrdvWx-QZs10Gh-z6nJjQYRUZrMj9YBD0g5LSY2PENgcWCgDkwzWu7r2xNx0uBQJHKKriG02xNgDR6Ap6-icV_niKMbAW1rY_XXVhXPy6KZnXkT3-5zpH1G1mLVsrpnE0VhXDB8x9cvz0eBWkhcChTN1-3HwqJU9SGZ_6cfFmNqe0CuyJM4arrr-fIzQsoNKIZpED8acw4NCsP6d5KY_TOPG8K5eckHd8ZTdoetVhJWIrYXsFzkm2p0RzpNKShUzkwsfiIOhlza_T8r--HVosgimSEIo42MUNFi3dVfEl1pkVClCoav8FPdbJfjenGc84u6OS6cs4c0tgIiMbm8qesgoO8QMJYTMTDujeRr3a9_BdLJRW-ycaYodMjB1DgLyrBZhx9m6WmD22G1DtySbh2dbbm_I01UCrGdC9EoHQH0g2QPy1OCPCV8yCBSWFaEofbplUQE_AW_50wiRdNpcWTUyA6tm7FCYWi2nuDGD4_Bryvq2nHVbbWfmtx6V_60k_oboMoyc2NoWxxx7d0QjQnQ6d_Klm8LBf4kaMHpKoksHx8TqCkSa_Orr7E2B_9aokABayVABTHpSR4I0ce9vWuBchrwmgsnErscE5HrEdWC2hy9-3xpwynDDB8fTVM_dMr1g5Zzf3fvZIv-qjAErLUfkL13fAqZ7cJvgyeTa2zPYPBTf2oEJtRhljpF5Vhg3UkC4OpIP0tJwQBdfUpj9VQLR2ATda60w0MQ25_SM5Fa-5JBOwDkVd8-EFCN0F5o6As67Gp00zZh9bQnd_jcWwvUVXD3GTshcTQFGTnyrILr8rJ0t656x2TfbomHeEjXCPwvgas6DiN56KZoCcaQ1ZfebwhGiQnN-LzodluRpUzC_Mz7QAWn_vgXBGKQ-DtqaiaKb5PjwvQ76xq7LQLegtQodEn1aynbPanV3uRPF0zMbSaiYNfpBy1aeS-k2CYnE5OPH1WnUo7qnzYqGbe34O1yPLt0lqtiMmifxMBqJMr9MFvWZo2uUeSuYulI3IY0j2Aa9AONgMWshR7EHSBaqfXS-sj9EwDACOPUJ40RcWZwqD0vvMA1Q858vnje9zCP36180QiqiBHjG8PlXTOTaSl10tvMpll_MWDScMiMYigR2aN8FkRECzsmr1n-aehb4IV4t81IaIo3C_FCpXQoSoEsgswDXaAWTBBIYgbgLXRysz2eSGhMr4Ig4gSUrIUJC54ECkw3V-seUMP9_k9_gPw5xdGDZ_K6DbLBlNrERtyk-85rQgLkei4HB_PudVc61Ph49w-146OL1vSTUdW5vB6Zj1H0-yjiLK8latuqM_TFFZgRArE7DXMSs2Rqnog08hjFoUQlt1XRpAhbhe1HwF99E_xLI9ut23EPQvXIAQdzTzQ8fA6BPl2FNCUOTgML6XjybAfIug_1GPaHQRqosDW__Jdk696e_5YAOHKCKQ5ILwivW3iRpKsYW82vbziMiyD7ROpeFbVPIdZ5Oo3tIhfT70uPjpfWCFTFB2Ote01rt_58sziNhH3oEwTMAMPkZGs20NUC0FU1EXvkQCnPNgi9qHBF8v2iEULTfq7f4TSJUHKb-aBWf0pSZzFOUMQWQyA9loxBeZiAv24iNSY66W0myk_iDNnWdXQQpqJx",
  "id": "rs_0a6e4bd6cdd145b5016ab438eb7b5087d094fef0af27276aeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.255,\"right_z\":0.065},\"note\":\"The yellow object is centered in the right wrist camera but still well ahead of the fingertips. I’m advancing and descending with the right jaws open to surround its upright body.\"}",
  "call_id": "call_fZ48cdMk60YPHXorXDBfIdP0",
  "id": "fc_0a6e4bd6cdd145b5016ab438ece9c487d08ecb4769c22db8c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZ48cdMk60YPHXorXDBfIdP0",
  "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]: [0.0277, 1.1725, 1.058, -0.9215, 0.0669, -0.2146, 0.9964, 0.6872, 1.9739, 1.3838, -0.556, 0.379, 0.5262, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1752 left_yaw=0.0772 left_pitch=-0.4632 left_roll=-0.1738 left_gripper=0.9964 right_x=0.3924 right_y=0.2421 right_z=0.0551 right_yaw=0.0051 right_pitch=-0.424 right_roll=-0.0871 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.5897, 6.735, 1.3455, 0.0122, -0.0171, 0.0024, -0.7316, -9.853, 8.6496, 1.4383, 0.2613, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c104cfbe206c691884d075c86459b815fad724160ef126901c99b8422b3e7776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2981445de26a275be3e351b9ec33f1a8cc47e3208c6175b695d2a5223b22b3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db332a02f643fab2194e877f72b1f828ed368927a9df28f76933477a23a2c7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0452, 1.9503, 1.2655, -0.2707, 0.0418, -0.2443, 0.0114, -0.0212, 0.8158, 0.6056, -0.6724, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4872 left_y=-0.0258 left_z=0.0475 left_yaw=0.0428 left_pitch=-0.3842 left_roll=-0.1743 left_gripper=0.0114 right_x=0.248 right_y=0.0018 right_z=0.1214 right_yaw=0.0008 right_pitch=-0.2937 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -10.4684, 6.1744, 0.7546, -0.0855, 0.442, 0.5446, -0.1983, -1.1419, 6.7214, 1.6532, -0.0366, -0.0317, -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]: [0.0277, 1.1709, 1.0588, -0.9066, 0.0647, -0.2104, 0.9963, 0.7826, 1.7424, 1.3823, -0.7292, 0.4301, 0.6147, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1778 left_yaw=0.0764 left_pitch=-0.4456 left_roll=-0.1702 left_gripper=0.9963 right_x=0.3488 right_y=0.2481 right_z=0.1377 right_yaw=0.0262 right_pitch=-0.3483 right_roll=-0.0303 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -4.0957, 6.3795, 1.37, 0.1099, 0.1538, 0.1197, -0.1026, -8.6769, 8.5538, 1.1795, 0.4322, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0277, 1.1725, 1.058, -0.9215, 0.0669, -0.2146, 0.9964, 0.6872, 1.9739, 1.3838, -0.556, 0.379, 0.5262, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1752 left_yaw=0.0772 left_pitch=-0.4632 left_roll=-0.1738 left_gripper=0.9964 right_x=0.3924 right_y=0.2421 right_z=0.0551 right_yaw=0.0051 right_pitch=-0.424 right_roll=-0.0871 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.5897, 6.735, 1.3455, 0.0122, -0.0171, 0.0024, -0.7316, -9.853, 8.6496, 1.4383, 0.2613, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c104cfbe206c691884d075c86459b815fad724160ef126901c99b8422b3e7776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2981445de26a275be3e351b9ec33f1a8cc47e3208c6175b695d2a5223b22b3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db332a02f643fab2194e877f72b1f828ed368927a9df28f76933477a23a2c7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDjxYctfcq7XbwaIZa-H88LmJoMQntdYtrUoukYF-rEnw7C6UXeO_CbuAGQFtQepI99x9VQhbD0Qnk3kRj1eIWtAkelcIQdIZPNnR21QoqqzqWb0V35v6KDYd5eSY0cmFD4iWgcAxfBbZU8o7GNxJoZbgIVLDGXg-_6P3SWgvtibycdq5EVHx_77jhNY3udQb6MKD3SLjBlXcRRPw9eztQ9eQtNoxtD2FTLJheWt6CnKFjTah2BLZi7DN8FlezVPM1LB67ZMq8vDLiR3C14qFP-q0NToFXFYs7VW8uW3meMNoni0Q0hylaJzUHPgkNeeZut6XbTsac7y7Fvg0aN1lGs71MlRtjsBsLEuFRCFqcjJb5SxKI7tV9QoyDBHtMyKRg7WnyjGVbaHwFoydBQeIVCpI2J_qGU8ldHsJAPkMxZFgVS_JPjZR-I-8MoFsQ9NimUxSFTpmQ1cpHGB8CoYgYjbaw2OmtmvzHr-3Rj0SNtHpOFRj2YD_l1sbqNF7gPJilKlSI6UiH3yeFyVGroSd49wCN3LMj7i7Dnwk2nhGYfxhLoMZdrQfSdywVlrvKtLwgl2srcHqPgao07jxMVrOYgWYA8LRtV5ERCkV-WTVpK7ONV6OowtfLi4FNspq7mjwzRVOEayhJKXFjlcZx_4VZdgQiuakQAMFWaqOa6vKe4dFHQwMU6MOarbLrxbtnzwkI5QwGirNYNrCHBjzRtmI95iQ9d36C1dNiUNuSM2c7_JTYTDm08I5gA5cwS1cZpWUyugFSJWpmJV1sas54iarp5VRx5WZtafRGh7aQtEheBFQLeJqzdFuIC02cuAfjI0Lq761sinWAmSJEyzVbHHquMX5BqVznZgpMzMMqyOlTMkL-pI2dEpv5DxZfl-9e_Agk18jmD-xuPfglSbE68i5aZTkSdwLW01lX4OrRCB8kSpQyQH68hA7Z3wMolwll9y0NDz9hkmyY6BP4yZdrTAvyDXg7Y_YxWNIC-PBZRkaBSxem2GmStzOiEWBJ4Ye5bKv6IK_VHBX34vk6nmNGyakF0R47zi-vh4ocIp95PEhx7jy0BkPJ5IbKAcp0ztpIB4mZKYdOk1ug3n7VUN6XfVYOoZ93Qyt8O0hIbzeUihmDA0ewbuabhbsR0AbIF1vjtSzL-feYwfFh2fqZfvC-SGa4aRZc6tDkj57XEDOhYrZ4TmK9oQ8pa9r5-QHz18HOSIRb_R7Tv8O_KIM4kk-3s1ouiyLp-99vuL7Gt0A0Ulr8K94vpxD7_1MAyPx6Yhcl8hmSYz7xg7RaRjZN213HIxmPZBSDTISQqlCy2O49TwxPe8ycYkiBDqMJeqXCa8OUt_882QcyxP3k_OHE7M6WJ_OVOibWTFBo_7qTi1XsG4wISJn7-7Ma07ThhTGB2TgmvTRINCWj6tQk6dK3lbN8r8ncPuYaqX54xTWk9gh02Rs3QHFRhP1Qkc54eUCS0Jq1m5TeCA3RHNy-bSvbYgN3wynSNfqqX7h4suMSaTIes6gmDvLwnrn4oNreatnYq_iW2ziq2sgSjI-gfkgDmQcmVb22jQPsCJ5sgCz68sSqaw4yoAV22IQYXyC8zqaUoalhiBxqwS7M_0QmgAMkLZAxNMYYV5S9tFwskYwJpgHDib-6N1Fxh9M_as6wjZA92asawB5AelHdfhpiYZ2QYcVp52l75-3Qsw6qYX8tDjIlBk9PAZLPZaNHVMAv09CY48u3bs0N65xkaZnOSrzEv6EIQXJAqhpEurUTo7mQNSOwPDChjyjzSKC-yGogrPKSsd5KwF2uNDekubLd577b2lBTHMFopziQckA6MFgubYjwYOWRrTKwk=",
  "id": "rs_0a6e4bd6cdd145b5016ab438ef828c87d0914cb6f410980bf8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.255,\"right_z\":0.075},\"note\":\"The yellow object is still high in the wrist image after descending, which means it remains ahead of the pinch point. I’m advancing radially without descending further, so its base comes toward the jaws.\"}",
  "call_id": "call_QMZ7h81pwtg8VbILZMnlOoPF",
  "id": "fc_0a6e4bd6cdd145b5016ab438f076f887d0adff0b69d94055cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMZ7h81pwtg8VbILZMnlOoPF",
  "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]: [0.0269, 1.1725, 1.058, -0.9249, 0.0669, -0.2184, 0.9965, 0.6151, 2.1742, 1.7573, -0.7174, 0.342, 0.4526, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0789 left_pitch=-0.467 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4552 right_y=0.2535 right_z=0.0708 right_yaw=0.0089 right_pitch=-0.4382 right_roll=-0.0921 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.3983, 6.653, 1.2088, -0.0073, 0.022, -0.0024, -0.5812, -11.5214, 8.0889, 1.033, 0.1441, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1dba31cf5096c53fb7df809749416a26be178f0e942172d810e5b9a70a2779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c35389375771aaed08e4652c4fc619b4c7d0ef7de099a6a2bfbb20f05646ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abd802b68ff818716ad534cb05634bbe5184c776b06e7d08d8c9e275bc1455c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0452, 1.8885, 1.5482, -0.675, 0.0338, -0.2607, 0.995, -0.0212, 0.8173, 0.6056, -0.6796, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4829 left_y=-0.0242 left_z=0.1282 left_yaw=0.0625 left_pitch=-0.4446 left_roll=-0.1705 left_gripper=0.995 right_x=0.2467 right_y=0.0018 right_z=0.1199 right_yaw=0.0009 right_pitch=-0.3024 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.012, 9.306, 1.4188, 0.0659, 0.1245, 0.0171, -0.0342, -1.1829, 6.735, 1.4383, -0.0562, -0.0464, -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]: [0.0277, 1.1725, 1.058, -0.9215, 0.0669, -0.2146, 0.9964, 0.6872, 1.9739, 1.3838, -0.556, 0.379, 0.5262, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1752 left_yaw=0.0772 left_pitch=-0.4632 left_roll=-0.1738 left_gripper=0.9964 right_x=0.3924 right_y=0.2421 right_z=0.0551 right_yaw=0.0051 right_pitch=-0.424 right_roll=-0.0871 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.5897, 6.735, 1.3455, 0.0122, -0.0171, 0.0024, -0.7316, -9.853, 8.6496, 1.4383, 0.2613, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1725, 1.058, -0.9249, 0.0669, -0.2184, 0.9965, 0.6151, 2.1742, 1.7573, -0.7174, 0.342, 0.4526, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0789 left_pitch=-0.467 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4552 right_y=0.2535 right_z=0.0708 right_yaw=0.0089 right_pitch=-0.4382 right_roll=-0.0921 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.3983, 6.653, 1.2088, -0.0073, 0.022, -0.0024, -0.5812, -11.5214, 8.0889, 1.033, 0.1441, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1dba31cf5096c53fb7df809749416a26be178f0e942172d810e5b9a70a2779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c35389375771aaed08e4652c4fc619b4c7d0ef7de099a6a2bfbb20f05646ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abd802b68ff818716ad534cb05634bbe5184c776b06e7d08d8c9e275bc1455c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj1dfLXbAzCJ6rc1JRPvX0G_EfBkYtL3-TCzhqlKpxrvKShpSSWO3rgSEXmykxDl9MSxQJlnWkr5yhfbflPx97Acvlh8LJ_N8LtOlZBq9I_pFy7CectNPzgOkbDxN4X-23bKW5J3rH-YtbKHSMefNxN6BOvciDabsMPJRtv90oixyfXzrIdoDNGd1IaMMZW_HyAoBTFNdxk8G_lro9vbNLU_3Una0sk86R1rLKBQYvq7pvhJlFBpdX695v6vn23Eiu_VwKFxvNC3Tcc7S-DlUElbiKdtm3JKtpveeXxPG-bRQdMA8ltL56Aplv8G1MfgteKrNABJZ9qHl0jX6jnWO09jJ20UZjR0F9SQ0yG7olVit2pRRVpuFxK8xJuk5SDdfmo8y9T-gVyjlZ6KC0A2zRLsAjU2vGfMyQCnX2gnbGvZt55AaspLbA7J-dD_mGRDNJ74cOn6YEe6X_oFChYKqHUwfW1CbvPbTGaHcx_7Nghu6qGqFHdsyCzxpVbxCSQudb9K0hIIlivVZ_kV_Nu7uOgeDJQJYGV9USnlqZVGGBBl7apXh_a_ZECmhzYi4v9ADlob2cjzvw4BJwSKlKYR6UCurUjG2xCYxnvZM56rTUyZY_C1YrqdewC77Gwg-XXDDh0kHo8rYJC9FVL2I66oB2AqPj2fgCir-PY7AWvDPrjH3i8nJytVoDvyj9ebXX2Nc7KnBq8vmh6QPtlu3BZg8NjTzVVNWITZ49SFYyVotl2Pf8txl2tBgHAy4aNmZ9SMv-cmpwM9_MXm5IdEPeRSscw_CM1R-uhWXPcLZQh96tbEXZke9VEfzpVxFufM0qzZwGsneVC1KCqC-l-_bBhdS4njegKxr0F3TRbZx8UkuDQNgRni-AiH2bDQtvbvRxVNHUjC5t7mzcIgh7djBR0y9wlH1m5S_6ttMVolkY09rdawbim3Y0GbmKqgJncrro7uZnel9x2U8gflOJ_NYV3MfwYeGz0PybD9Ku_G77nLA1q5pDr9ULXqT8q3ecfnatsa0_qJWIqNLF7wtTn03J97b8CuusyLyKDxxk-CdQvjxEFWTTCvUG-45hUgE0K8rhDjWX_IsiALeaagwmOZ0kNXeN8nCFXJjmHM_4mgl-liupl9zeoOH-ZKm_rqHrsdUjYQ-Ngfy3Z95oxf8O7QK8jBH_VOLT0Gpq4caQ6OigknIKorUwqPk7vVPGEgf55Z02btzKVmr1tVF4qUP616VRFM_l252fQPjI_MR-wYdo75ZDxKg2Xtqnt7bDQ-iV2jFUFBp7gCymL-d4cPOgpWykHipXZrEtdTNgqOQ5s3znfmRa-HvZd0fmDfRiFI0PKh3m4_rDNwMqC1m-NN0n7bPnEDW6ToMHD994wDTd2G8gwOlBaAJoCmBqTqYojc0CKk7VmKbEGJj7xPt8yuvScJIxVraaX9uoyXlnhHcGQz8G0djksLmJUtppmyeq7E-b5RfM7Ar1QjqKlWrMk4tB7hx8pqto-ff7T7fuAP5EP4FHnEju8ZCInhtpNUz7K2OjiVg41q3rxsp7cYYMVPUe8Jw7YT0Dl2BsWioGyJtIyqNpHXWWA_7qKUBNOzINErXgPMoippZ3I",
  "id": "rs_0a6e4bd6cdd145b5016ab438f4108087d0b5441cc1a963c795",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_z\":0.045},\"note\":\"The yellow object’s base has moved close to the right gripper’s jaw row. I’m advancing another few centimeters and lowering to mid-body height for a centered grasp.\"}",
  "call_id": "call_fChJl7yV0Auju5XMqaNcIgdY",
  "id": "fc_0a6e4bd6cdd145b5016ab438f4f82c87d09f21147d394986a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fChJl7yV0Auju5XMqaNcIgdY",
  "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]: [0.0269, 1.1725, 1.0554, -0.9257, 0.0669, -0.2184, 0.9965, 0.5915, 2.2665, 1.8313, -0.7277, 0.3233, 0.421, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=-0.0004 left_z=0.1736 left_yaw=0.079 left_pitch=-0.4704 left_roll=-0.1756 left_gripper=0.9965 right_x=0.47 right_y=0.2524 right_z=0.0478 right_yaw=0.0115 right_pitch=-0.4732 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.6034, 6.6803, 1.1648, 0.022, -0.0171, -0.0073, -0.9778, -11.8769, 8.4444, 1.1306, 0.1685, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b6b40fbf3f897ad9211d57c85a9691f140b230c32aae657ca1f404edc452b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1430d4482234f335a01331909c88bdf1be7af034c00d25936e82e00ec52a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d32c1619879396c19291d98eba1cd22003a5ef9e73f77cd47795bd1e7299b53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0277, 1.1709, 1.0588, -0.9066, 0.0647, -0.2104, 0.9963, 0.7826, 1.7424, 1.3823, -0.7292, 0.4301, 0.6147, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0004 left_z=0.1778 left_yaw=0.0764 left_pitch=-0.4456 left_roll=-0.1702 left_gripper=0.9963 right_x=0.3488 right_y=0.2481 right_z=0.1377 right_yaw=0.0262 right_pitch=-0.3483 right_roll=-0.0303 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -4.0957, 6.3795, 1.37, 0.1099, 0.1538, 0.1197, -0.1026, -8.6769, 8.5538, 1.1795, 0.4322, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1725, 1.058, -0.9249, 0.0669, -0.2184, 0.9965, 0.6151, 2.1742, 1.7573, -0.7174, 0.342, 0.4526, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0789 left_pitch=-0.467 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4552 right_y=0.2535 right_z=0.0708 right_yaw=0.0089 right_pitch=-0.4382 right_roll=-0.0921 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.3983, 6.653, 1.2088, -0.0073, 0.022, -0.0024, -0.5812, -11.5214, 8.0889, 1.033, 0.1441, 0.0513, -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]: [0.0269, 1.1725, 1.0554, -0.9257, 0.0669, -0.2184, 0.9965, 0.5915, 2.2665, 1.8313, -0.7277, 0.3233, 0.421, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=-0.0004 left_z=0.1736 left_yaw=0.079 left_pitch=-0.4704 left_roll=-0.1756 left_gripper=0.9965 right_x=0.47 right_y=0.2524 right_z=0.0478 right_yaw=0.0115 right_pitch=-0.4732 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.6034, 6.6803, 1.1648, 0.022, -0.0171, -0.0073, -0.9778, -11.8769, 8.4444, 1.1306, 0.1685, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b6b40fbf3f897ad9211d57c85a9691f140b230c32aae657ca1f404edc452b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1430d4482234f335a01331909c88bdf1be7af034c00d25936e82e00ec52a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d32c1619879396c19291d98eba1cd22003a5ef9e73f77cd47795bd1e7299b53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj5ixO71h8S2B02iIqHdNT8taWW9eMh4FZuF6qD98j_jl6XRKPtqkF_QL3kuFCJrwOoib-c0T8bJv7I8YgYnVNozMLG19alOfnUoyE2UX6TPOKrTHe2HLJfyGecJi_TQQUpDHz1_jhkYagfWLbIwW59y-HiLQ_qWwqrkjibYBKFSjpSNGvYkAk4N4N0batfUF9St6jbWuwA4A1Huy320FXQYzmoSj8iSL78ojU1D9IBUbrDw_yvA6NmNCAFbVpodg1yjKHz2v8lqUhkcTm6zFL94q0T2e8wTCyb8XhgURjJWjvdFCFyZTBq78pHJnVxr8fDdRCnscMyfyDj6lzxlKH1tlD7l-ZE-UCARcjqnyH6wrvdKYYKCi1NveWPVB2GhBpdWGXSpf9lSzMgga3ak1ws5tymTqiFR3dD2VsYeAaWuzjJ-EpgSC6imP6LHxWhW_iC8_C7ci4cTQfFD5lqPYwDZBJFmH7cAQ9HGw7uetW-W2pCpVhRgKCGGsJVjb5bQMApm-kSiM_bomm31zAQElfm-tbrjaFMQXFUAbMe8zKR_ERAJcqyR97Ws3Rh-BS9D8AXyXMgkCCl82mlIqbQ7az5LgD2naM7LS_5tULdApbhZQSZlR85lgsl8LbEGLn0Ocp5w3s2UoM7Nvew7MgKeiV7jn1r9Df9tAbzve0GZcqJB1Ed1vhy5ccPhFTzGjMjl_jcyF-jBoJHViM1iQz9USMvBTo4zneporNNPMMYZCsDu3FssWb4z0xqnQqG8YGg4xQi_i4Ph5BOKB_xZkLsqWyJOiac9NTpQSraSr2HVKlWudL1SrFikujA8MSF4o5iS5IakvKrYOzCAcML_gALv-cNVE-OAMbvXDBHc5zmMy39Xgpb0lPVOdbYA6vhRCaT3RVG74tddqng0FhpdhcITO1IvM3OcIU_gRq9J0qUVNp6EBqQjCWD6RDbcEcsd7yiyMyI-7BBIOo5hGSjld1FnTdmde7770UN-COuAx6_zxRSYds432FeyDCTZOvwlEHM29YewGkQzZV2aolr7BO3TbBnxWcXCN2c3CHC5ckx95AEKY0Vl4zON0jSXnMMrdh5YwkqafvuyC2tI3ODcw4sw7I4M1dQvDDL77qN4tnwKrfTQVIBIKh4MyklSs9B3qbFeYcSmiGXF4FNfNK5pbleMp5f2iCE1H4JWjNfoAIkaca-ujcOx3ENICmo3lV3knz_ZmbOH67JlIfKXa5X-gLFrrdKyROa0HwouUM_0tGAADm9EmEwmP5vie5euYE_VrS6YUMQRahLdReymD0KZbOepwQakUwlU4QEHQcveKuoE1ewQOIv6mWOGzfPHROqaeSMoZLiuE4PTGuhhswCSwISjMk8ywaSvG6K4yv_jqeGsO8KNtBmm7Sj9eN-4PB4d-whjMSW9ndla6_t64ICU_hpRWhNcR53zsyeyx7I5SoDJPWospHJgdYUxhVts6QzL619b7bJ9pdnJ621lnn_zZM9GzEI0YK6TCtt8PGs0Cge7J6lDvW71kDQpe2BpBrAkawykr-9DN0UXeg0OIsEycQgC4ydqNtnceRQ_lmdqvyAULo_x7YFMmXf22UsrqfdXMMxrciPy3MYnMkHpICOHwMD6WYcXGldBFwh3OXz4aX8t5S3hyGASMkxv9SraG_TlAzBZyNNZOoaQrn10mJgbpdkpgnJMC_diaobw3jjUxQ8jAJeDf_oUX-4SKceoLkR4FKaFV1zLH_qgXFM3EP5_ZFDDv14Odknt8a1CtqW-FSyvWa66stiUNKk_5U8ZNuwXpwLmlrQB0dAyYf1l_XBGaAA5rczXwnk3PS0RRkhiUTKnDOnrUE=",
  "id": "rs_0a6e4bd6cdd145b5016ab438f729f487d0a85636f3e22d3c14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.482,\"right_y\":0.233,\"right_z\":0.039},\"note\":\"The yellow object now reaches the jaw row, but sits slightly to the right in the wrist image. I’m shifting the gripper a little right to center it before closing.\"}",
  "call_id": "call_0GTaBWIvRsA0yhVVwCXzfi5j",
  "id": "fc_0a6e4bd6cdd145b5016ab438f87f8087d08a3f17ca1573fed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0GTaBWIvRsA0yhVVwCXzfi5j",
  "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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2192, 0.9965, 0.5762, 2.3077, 1.8347, -0.7189, 0.3168, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0794 left_pitch=-0.4701 left_roll=-0.176 left_gripper=0.9965 right_x=0.4731 right_y=0.2461 right_z=0.0284 right_yaw=-0.0028 right_pitch=-0.5012 right_roll=-0.128 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.3436, 6.5436, 1.2137, 0.0024, -0.0269, -0.0122, -0.3487, -13.6547, 8.6906, 1.3065, 0.2173, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47c738a7693399ff09b6fb4b7f02e272d192752cac2d31afaba28e46f31b965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14cd95ce720dd0d0cde74ff3724a91c53e6eaadfc86800dbeaf363cc9d95695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17447e2e85134a3f4d6a4af98f7bb40f1dfe8cae36c4395d4a8afa094e3e8847",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0277, 1.1725, 1.058, -0.9215, 0.0669, -0.2146, 0.9964, 0.6872, 1.9739, 1.3838, -0.556, 0.379, 0.5262, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1752 left_yaw=0.0772 left_pitch=-0.4632 left_roll=-0.1738 left_gripper=0.9964 right_x=0.3924 right_y=0.2421 right_z=0.0551 right_yaw=0.0051 right_pitch=-0.424 right_roll=-0.0871 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -3.5897, 6.735, 1.3455, 0.0122, -0.0171, 0.0024, -0.7316, -9.853, 8.6496, 1.4383, 0.2613, 0.0269, -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]: [0.0269, 1.1725, 1.0554, -0.9257, 0.0669, -0.2184, 0.9965, 0.5915, 2.2665, 1.8313, -0.7277, 0.3233, 0.421, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=-0.0004 left_z=0.1736 left_yaw=0.079 left_pitch=-0.4704 left_roll=-0.1756 left_gripper=0.9965 right_x=0.47 right_y=0.2524 right_z=0.0478 right_yaw=0.0115 right_pitch=-0.4732 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.6034, 6.6803, 1.1648, 0.022, -0.0171, -0.0073, -0.9778, -11.8769, 8.4444, 1.1306, 0.1685, 0.0855, -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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2192, 0.9965, 0.5762, 2.3077, 1.8347, -0.7189, 0.3168, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0794 left_pitch=-0.4701 left_roll=-0.176 left_gripper=0.9965 right_x=0.4731 right_y=0.2461 right_z=0.0284 right_yaw=-0.0028 right_pitch=-0.5012 right_roll=-0.128 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.3436, 6.5436, 1.2137, 0.0024, -0.0269, -0.0122, -0.3487, -13.6547, 8.6906, 1.3065, 0.2173, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47c738a7693399ff09b6fb4b7f02e272d192752cac2d31afaba28e46f31b965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14cd95ce720dd0d0cde74ff3724a91c53e6eaadfc86800dbeaf363cc9d95695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17447e2e85134a3f4d6a4af98f7bb40f1dfe8cae36c4395d4a8afa094e3e8847",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj8L1S4yLy_eTOkCY8X2SV2GAjtdZ6n2l__YPYGVECXTmWlXyf4j2ypFDsybL8rwXfJkY_T9-cmFNsVjb0EqHX_F9G5bphGYfzf3NSuQn1WkxU_ZqPBKBqzxdBy9WHPVIyvZ_lYtAGgSd-MBgzxLDiJMD9oJynrAaSI9UrqwmwK8yOTvvn0N6E4GRX_J07H6Kzrk5205ssH2vnESKEsQYv-Vr3dfWfrHSUP1ryAh_SoLoP_fMCQwcNltfzHSWRPeHBxWMb-P-WRBZavIWpZkhHPbcTqgiV5YrOfDKzNtq969J-ozr9CSiID4ezpMFPEvJhGPMDDrLxmuyw7eAjY7CDjE_tpCILG-87xSQbZfceuLqw8Qz6cQmxawuVjEC8fayb-pazzmhZT1t4JerNyYWV1h4GtGl5-UwmrDBpL1DNuHNmPMxZxfj0Bj2K_pehxQVR2lxndgTnHAmfnlEE12p-fpG-fykYqgntEwWZdgwc1yHgWTXyE4ZVd_z2mm9AMrHwmLhxZPm_X7_PZxZ3FsJp4kCb_n69dmVPVnBf18yguPcndD3g2H5GsIjq9hhhP4kwOb7XRZhL9XhCCl2zpSUKXf9bmOsYYqKkS426wGHnGymn3Lg6B6oKJK6EyBsgjT5f-C30tU0Chc6AQJ572PPuvwnYJNY0X3y4QE546J3kFHWPu2uq1p-diZejwheLxJCvV0D-B79RyLI1wBpJAIiQ5rv7IlYVjdLW4wT-fLopbwiCbJNddkxzQcIrcOIV9SahMTuF4AWUOQVnqu-AxOhXar6GOIDvXAlu1kToFoY9HHWb3W2CSAJJH7Vwp2H3R7RSSPA7Iz1DhMEokUzk0vwigzVdx9rXITO9w7VPQMpFVee81qv7y_vKAPz3Kt3rm7UFsyQHC-7WnjWBrtWPqr2KQQsvmsgnku42jbXQ8M4BzyG8nl85VkzIlLOt44cYjcCiP6L1CiRjUy7-HVSIurkz3hjpEs-dyyIgiZlKV4yZcSHxqU2bKgYS67Ol7Zph5dDTr7aRdEVAu9uDt2W7sWw5QB7WERZb1a_rzzWDGRD3F9io2_pVooJK8o1MdnkMzjXJ9WQeoGLkQWwC_SmIZ_-Gkl_HyOF-udlyk-7C_O8M7MSxcSEsWRGhEZGA9zyWFen0lkYPd9obbO72Kh5Bb1OmJHtx_0QfpQnpTjbrGfPNKRJKT5WUxZJLZTh6EvJHTNSawIZZgE4BbD50N3cSqNmH9xRIZ1ijIgro-FnEN0RE6Yqu9WvbosRfxh7yeSXz1c2ln07xjcOklUTQ96t6MlNJQN9CAVU-Dh_pHf9YryuuCr3argyLozPRqi9455AiGAUR0wQreUswR7NGZ1DKMD_mE0bVTY6bFGOzd1XFOje0q6StD1jHVOgRW0wkHtAufiYc3hmJ5QNPnWWwSrn4ycOcQe1GIi7Uz-UF9rWD4_b7H5SmU-ZUGEOklV4c6znh4XCd0pCIM_c9nIeIraEtc3BYd9JRAlXSR7X58dzMyiAo7gFmoaE3QGfCnjoZWZW8BygjORsXyJVsyHHBAXkiv8VPYxCTp9MC9x0uVVH6xYs_vpaFBBsadHMZrsRqzD-noC0lRais3bBeDkZxYlvsyZgc3OSF_vG7H6xMHyT5dWp77zWSpYAaB7veLhZ_Rat2A1gDZAjNPv07RDTQwdvoiBIBjVW0uw3V3bEX_8G-_GBWNFglFae2-3BEZ_UH-RwV-ADP4cBujedio4f9BCz49pM_IU2YAhf_WCuZGNOJ8YJs6cEyfmoNidly35y0PZ9hqChSmxTggcCuoqPi97i5uj7B1Kg==",
  "id": "rs_0a6e4bd6cdd145b5016ab438fa356c87d0ac1a681b3db5d2b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.205,\"right_z\":0.052},\"note\":\"The yellow object is still offset right despite the small shift, and I don’t want the jaw to eject it sideways. I’m making a larger sideways correction while keeping the gripper at body height.\"}",
  "call_id": "call_PzYKNaDqKJ7LGqgk3oTvDK7v",
  "id": "fc_0a6e4bd6cdd145b5016ab438fb7a9c87d082d4822e68daeaa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PzYKNaDqKJ7LGqgk3oTvDK7v",
  "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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2188, 0.9965, 0.5766, 2.3077, 1.8347, -0.7193, 0.3168, 0.4137, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0792 left_pitch=-0.4701 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4729 right_y=0.2462 right_z=0.0283 right_yaw=-0.0022 right_pitch=-0.5015 right_roll=-0.1284 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.5761, 6.5162, 1.1697, 0.0024, -0.022, -0.0122, -0.212, -13.5863, 8.5675, 1.2918, 0.1929, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc78a24c100b372db0d3821e3217dc73a67fe7c3e1b45d504f4abd8b168217f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e0a6d31cfc480f3ee002bdd38f6c6526ba5e0222f2cb3a304252d9678d13a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3691e707aa2de9af1680ea90dc642c704c5aaaea27ca7e7131b2140eaf90ae42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1725, 1.058, -0.9249, 0.0669, -0.2184, 0.9965, 0.6151, 2.1742, 1.7573, -0.7174, 0.342, 0.4526, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0789 left_pitch=-0.467 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4552 right_y=0.2535 right_z=0.0708 right_yaw=0.0089 right_pitch=-0.4382 right_roll=-0.0921 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.3983, 6.653, 1.2088, -0.0073, 0.022, -0.0024, -0.5812, -11.5214, 8.0889, 1.033, 0.1441, 0.0513, -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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2192, 0.9965, 0.5762, 2.3077, 1.8347, -0.7189, 0.3168, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0794 left_pitch=-0.4701 left_roll=-0.176 left_gripper=0.9965 right_x=0.4731 right_y=0.2461 right_z=0.0284 right_yaw=-0.0028 right_pitch=-0.5012 right_roll=-0.128 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.3436, 6.5436, 1.2137, 0.0024, -0.0269, -0.0122, -0.3487, -13.6547, 8.6906, 1.3065, 0.2173, 0.0073, -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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2188, 0.9965, 0.5766, 2.3077, 1.8347, -0.7193, 0.3168, 0.4137, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0792 left_pitch=-0.4701 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4729 right_y=0.2462 right_z=0.0283 right_yaw=-0.0022 right_pitch=-0.5015 right_roll=-0.1284 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.5761, 6.5162, 1.1697, 0.0024, -0.022, -0.0122, -0.212, -13.5863, 8.5675, 1.2918, 0.1929, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc78a24c100b372db0d3821e3217dc73a67fe7c3e1b45d504f4abd8b168217f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e0a6d31cfc480f3ee002bdd38f6c6526ba5e0222f2cb3a304252d9678d13a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3691e707aa2de9af1680ea90dc642c704c5aaaea27ca7e7131b2140eaf90ae42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDj_WFHxFsDliC6j02tiN5rUJ481kAujbq45dOCGxhDjhfqGos1bCF7FSHfOlqrk4W9CKOc8zvAU9vLAwdqxHxe_inoKlVDCNISBtvKjVAYpgDu8ElrSo4NqOXcWeDbWCN_zPrKIt-Jfs1tQslfA-_3xQd5R1ZHnmp6z8vYGFtU4YyEdBdEEaNIalTzAewrzp8fbxlLtYTcKq1e-x5joH7GOUlwptdE_xmi68mEpq6WaKI7LIK6psE0abPDhwvHhOz_grmvRZP4FHlTXnW-9E0Z_mS9u-WnB_fDmLoX6er9TsMUrzAoMcOYzDT6J27gcICI4B0Jw8iVkyudkNGFI2aDRlX4tBBasTz56i3ebSFhBU8AvyzdTQ7fEXewMdcmf5FlOMhGUH0EX17TsB0fR8Hk_g8y4qKOPXvHoWD0RZhxIfOEdzOf364TZt8K316SB2kFj1onPCV0Tzhy4TRssWTdyUvdaERVPqoFut9dubQhCy2LtpIhcabEM23tW6iZb_LULGfzVTAPVSIYbfUaT_E3br31xAr9X8ggqum7tCLYGper0GUQEnQEoGHMyVLd7HskeKUM5P6K5qvGiHG2AHq-sqIliO05hmpMpWt-RGIqcb4cxaXjXVoqhwflfB3xKVHd0ot2L0ZLRiq0UsDeitTnYNDFYz1APDZ2J1fdiWwurXaJDy1FEFaFttPO-pFbe76AHmv_WQIjmiuXML2z8GcS7bAQ-xKlZC44Ni0_UjJ5WTXNCYrThvblgtQX_heu4HyvktPlVGy_DwhC0p-yJXkE8s4KFFzpvZ3O3GVHId52Brll0i8UE89heMu5zNgm-SoI2i2LRCEolRaNpaanwjclcua_XJQOB9s7mZkoYNEIv9FxTBcXe7qNsdhy7aD-3HXbg0eyil4N_YKz8e1vOKsw29H88d9ZvurQCAIyUa2MQl_AeLXQ3iSlN7y7PYM_iULgDZF9DAgv3HcjCkD9-5CEad2C7ISpd5J3UChYpSJhOwHe7rK4Ub86Y0eG5t1ueQs2806TxWFgOYn9VtDfISADV3xdrRO2kny83R4lKw3E0_6hsRZFY6XhcjAcCbhO4bGHqSxfURTCAxHiPCefG7HV1dFaV3A1YEgIVKN-DPy4UiUkuZYIhJ4R2D-s4NKkFgmfDxUDOPIsSGBltDsNr8neuUHzb2z6JMLD6XQ5AjFFyGUTukdBTsijZQBIFhTtVZxvNGT-HeI8YKVB1TBQphByjrwP05Il0Kl0r7C28wkRwWGJu0vBiLE0MMUwMKLgGTp371nrZx35t_1pLhW9FQPztTTOTM4ihW6USyujLEOk_WwXrYM6ibR_MOu5fXDpZBov8Dwz-d4tZ8wpdN1Ox5PRz8ENWbEuKKecV9yxq6IeXgi_XKBLc2uriLNSeIwbYuaEnDICIzkG15kEvU23sd4PgNfyJcfc85nUuVh-B6QquLSJfibiJ64gs8XCrhcqt3yUaO8t4qt43Xt9GnUgfhuHJGYirUn4_w43s_8T-PshOUr5AtDCWOyPWAzGW_Lu_ZymCGbBJQ4zfuKcFp41g5tUk5e3Yb3su_Kgm6-1LKlh4QePsl-PmT2n8yippFkhKhN6S8QI4D97qidJe049ZXahQWWqanpDuAoBdBzfpw3wCC4g=",
  "id": "rs_0a6e4bd6cdd145b5016ab438fd950c87d08f81359a89e01aa2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.205,\"right_z\":0.13},\"note\":\"The right arm did not follow the sideways command at this low pose, suggesting the jaws are blocked by the object or table. I’m lifting clear first, then I’ll approach the yellow object from a better lateral alignment.\"}",
  "call_id": "call_NTZsAwEaHoQiWJFIXEqhFUdE",
  "id": "fc_0a6e4bd6cdd145b5016ab438fe650c87d0bcc7045a35d54140",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NTZsAwEaHoQiWJFIXEqhFUdE",
  "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]: [0.0269, 1.1725, 1.0538, -0.9287, 0.0673, -0.2222, 0.9965, 0.5274, 2.2013, 1.8702, -0.9051, 0.2905, 0.3683, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0005 left_z=0.1727 left_yaw=0.081 left_pitch=-0.4754 left_roll=-0.1778 left_gripper=0.9965 right_x=0.4603 right_y=0.2137 right_z=0.0764 right_yaw=-0.0148 right_pitch=-0.5552 right_roll=-0.1544 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.6034, 6.6393, 1.1893, -0.0171, -0.0171, -0.0073, -0.1846, -15.9521, 9.0598, 1.4042, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ac897d2456b30c3965fb581b04d5b0a4a38587501155373ca605dedb2a3448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a435bc6ce2984da1aa48182c0464b784d18bf936aabb3851a48407cbbffdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3664e27121a11262c92ddb9babcd4095cf52ccbc58a8b4c74412becf354b1457",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1725, 1.0554, -0.9257, 0.0669, -0.2184, 0.9965, 0.5915, 2.2665, 1.8313, -0.7277, 0.3233, 0.421, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=-0.0004 left_z=0.1736 left_yaw=0.079 left_pitch=-0.4704 left_roll=-0.1756 left_gripper=0.9965 right_x=0.47 right_y=0.2524 right_z=0.0478 right_yaw=0.0115 right_pitch=-0.4732 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.6034, 6.6803, 1.1648, 0.022, -0.0171, -0.0073, -0.9778, -11.8769, 8.4444, 1.1306, 0.1685, 0.0855, -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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2188, 0.9965, 0.5766, 2.3077, 1.8347, -0.7193, 0.3168, 0.4137, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0792 left_pitch=-0.4701 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4729 right_y=0.2462 right_z=0.0283 right_yaw=-0.0022 right_pitch=-0.5015 right_roll=-0.1284 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.5761, 6.5162, 1.1697, 0.0024, -0.022, -0.0122, -0.212, -13.5863, 8.5675, 1.2918, 0.1929, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1725, 1.0538, -0.9287, 0.0673, -0.2222, 0.9965, 0.5274, 2.2013, 1.8702, -0.9051, 0.2905, 0.3683, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0005 left_z=0.1727 left_yaw=0.081 left_pitch=-0.4754 left_roll=-0.1778 left_gripper=0.9965 right_x=0.4603 right_y=0.2137 right_z=0.0764 right_yaw=-0.0148 right_pitch=-0.5552 right_roll=-0.1544 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.6034, 6.6393, 1.1893, -0.0171, -0.0171, -0.0073, -0.1846, -15.9521, 9.0598, 1.4042, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ac897d2456b30c3965fb581b04d5b0a4a38587501155373ca605dedb2a3448",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a435bc6ce2984da1aa48182c0464b784d18bf936aabb3851a48407cbbffdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3664e27121a11262c92ddb9babcd4095cf52ccbc58a8b4c74412becf354b1457",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkDjMHoBirEh0LQiWyZx5ICwMwLjQACnOt3VL41GKhZTA80RAgvj5KQhiI4cdvqlIPsR8by4ayF8kH1JX45o9atHXO1ZDkaEki5pEvwKwNmn5XiNqM6j-IvL4qVOghVCtjADiYkEH6fdqkOFG1Px-_qimGNjI6MHqapuWLXAJVXxX4_C0QPDKXNTMNlO3cOM4BMEbETU5zjjzlL9rXPSCoIT8moISY-ESBuhnSH7NGB6SQrokkVvOJfSLPN63bvUGVdajr2BMDq34UtwUr7Yz_Nxl7XqMmNfMZqgrXDNSKgqAam2uRzCCFJ0aCCZftq9PQS88eDCAwXz8BHEj6iXtrWMvRmxEoxkuwMgUUQUc8CUWuIyRt1Qxvo0y3tiWxYZKnLwhv8aMOcwCz78o1-wmKjFIUnMaNxg7A5IS5hujVO6EyDQOGq2mlomuq5ggVMCDmY5LlZIfnZDfJEKWTsvD8d_mUdzYrlFgrPlTM_3e95PHVSjVSj2Rm9X_LsdHL5wS_FpJSFeA9ttCKMp9WhJJYpSyRTBloFQnpqErQX8Lxxl485yi77TI8E6kOCuNXDOM_shx92LnxuP-qP2w2THd7snosm92DbfRDTM8K7PStLfhl1vV23Vmaz7uHYlBRaOi5QBtHGKty3uQ7prkIxiqCwFudCioNX4bIHztA0RPWJ_aSK599XqHbT0Meg0ubuawaenRiNDyfOGy2ahYWzMg52ymca1_U9H558VLaxQIwkCAxrQB3GnUsF4LgvqPKLm-eOg0Bvl3zetLfWRDFXRrZ76bEhF6aO4jNPSb4pw4Rp7gEOUwRGsaJL3I_pku-t7KoVh4vgwAkJnc-Q7EDxka10OGzl9kLnxolBAt6exflgSdq_tvI_1PBTv9HMNd-ZjVdLee3JNOf7HApRrDLZCDz9QljY9B3rAS4-oPVy9JAM-O6BHLVCf8H3Dt24rHRtqm5f5gWTbrJ3WWH4Jx3ZITCkLpPg3pFbt5PQwyq-MxStzAzHviX9ZYqid9KC0WQqf2uQ71UScwnYv3eYo-s_LZs_pNMpUclY0xqpKmHsdMbFsDzIS6aYn869B3d32ielxd32Mz6H36TxL5-7UGLnlWnIReQiaHV48bXmVJbiiTe83sd83VWL0i7o9S4CP2-eoRywYooxFUdjBDWgN5AkYhvuDOh72X1r1V9fXwaIeH9e4H0J7uTlIWRUK9Q9MWuBYock7tvB2_6DaCFbmnzqOhbjh6ftSbqOw0t_uynPaK-OkY6JfXrM7mK-brQ86z_brDcPZE17_EDfk2hQlBASGFzNWJgvpIC1xH2RgIn5ESKtx3Qa-4lnVCAWO2HwHm8Oaq-wT964Q2fLWfDpK29Kn-5SlBM3XC7yqRF_t9_0rwuheVD2ZuWv-n3h_U53TDoIjhsPxy9hZYEvY2ImMsSfzJk0e6Uoc3_dvB7a4VGsEsXArCG8kqPA1dZGmR-mxv-9WlCR2fH8VPOe6d6s8VL33LdLGe98mLGFjr_WO8FZwio9xFtdgJHNb703K2EJm0aqRrg4JBL41d2bDveoVpe_MOkj2lSJ8QDj2MdENU4jvEzbzeZPp2PgHWMPS14v3FeLOG9SNxdbaxlNSFHuOqSc1dBXZk6kshfnUz3Xa3daqodPusai0ur2L11tisFsng7EqE_UpyN0ER4T3QCD9LPU3n8sE1TRZImZP7Yz_se_hub9VVjwEQoc86-YLmgsvd7e41lI6iE1JgH6fojmE7ur6HkHmdhzPDc2o9up1-IKM0FHbxwlvwtvT3-nbyEo70bW0ypmxAl_1Q_c4UM8ee0ME0SZ47k-1yHqn4V1fyR0w439BNJA773EUG9PvXSIitH3Wdg6LQ68x3cbjdYkrRQuEIG4OA2FMqpSrfSDqMvbecFDneva6kIp1UcErFNP49UA-KBaUgts902B2e4JE-UhnxlrEE2LyXqr1PdXvK1bS0PAu5ED7uNzMaBway1DRlwUSS3LlLVl3oQ49MrKXY52DWvzmwjwPulkRBoQRemFS-ww7Ko=",
  "id": "rs_0a6e4bd6cdd145b5016ab43900e2b887d0ae5b0ae8608d7d8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.21,\"right_z\":0.055},\"note\":\"After lifting, the yellow object is much better centered between the jaws. I’m advancing at this corrected lateral position and descending to grasp its upright body.\"}",
  "call_id": "call_YV3Ei9pKGR8T8bCky2UeIxHl",
  "id": "fc_0a6e4bd6cdd145b5016ab43902b4e487d0ae584075495aaba5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YV3Ei9pKGR8T8bCky2UeIxHl",
  "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]: [0.0269, 1.1744, 1.0538, -0.9291, 0.0669, -0.2222, 0.9966, 0.5022, 2.2776, 1.9656, -0.9276, 0.2779, 0.3389, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.1721 left_yaw=0.0815 left_pitch=-0.4776 left_roll=-0.1773 left_gripper=0.9966 right_x=0.4782 right_y=0.2114 right_z=0.0679 right_yaw=-0.0114 right_pitch=-0.5667 right_roll=-0.1586 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1385, 6.6393, 1.1502, -0.0171, -0.0317, -0.0073, -0.8274, -13.4632, 7.4872, 0.9353, 0.149, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9059fcce0a33c372c78d273aab922616e10f98cd32390ce2edace9543f6a1d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d094543d66531fbbec64274840df5ef8b491a02b4d08de52757ca642d2f2d21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f9fd7a85f6dabb78ece71408407b93b64e6145704238dfcd013730782e1d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2192, 0.9965, 0.5762, 2.3077, 1.8347, -0.7189, 0.3168, 0.4141, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0794 left_pitch=-0.4701 left_roll=-0.176 left_gripper=0.9965 right_x=0.4731 right_y=0.2461 right_z=0.0284 right_yaw=-0.0028 right_pitch=-0.5012 right_roll=-0.128 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.3436, 6.5436, 1.2137, 0.0024, -0.0269, -0.0122, -0.3487, -13.6547, 8.6906, 1.3065, 0.2173, 0.0073, -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]: [0.0269, 1.1725, 1.0538, -0.9287, 0.0673, -0.2222, 0.9965, 0.5274, 2.2013, 1.8702, -0.9051, 0.2905, 0.3683, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0005 left_z=0.1727 left_yaw=0.081 left_pitch=-0.4754 left_roll=-0.1778 left_gripper=0.9965 right_x=0.4603 right_y=0.2137 right_z=0.0764 right_yaw=-0.0148 right_pitch=-0.5552 right_roll=-0.1544 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.6034, 6.6393, 1.1893, -0.0171, -0.0171, -0.0073, -0.1846, -15.9521, 9.0598, 1.4042, 0.1636, 0.0708, -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]: [0.0269, 1.1744, 1.0538, -0.9291, 0.0669, -0.2222, 0.9966, 0.5022, 2.2776, 1.9656, -0.9276, 0.2779, 0.3389, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.1721 left_yaw=0.0815 left_pitch=-0.4776 left_roll=-0.1773 left_gripper=0.9966 right_x=0.4782 right_y=0.2114 right_z=0.0679 right_yaw=-0.0114 right_pitch=-0.5667 right_roll=-0.1586 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1385, 6.6393, 1.1502, -0.0171, -0.0317, -0.0073, -0.8274, -13.4632, 7.4872, 0.9353, 0.149, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9059fcce0a33c372c78d273aab922616e10f98cd32390ce2edace9543f6a1d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d094543d66531fbbec64274840df5ef8b491a02b4d08de52757ca642d2f2d21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15f9fd7a85f6dabb78ece71408407b93b64e6145704238dfcd013730782e1d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkGQwqqVAf-Pjvos5iEu10Yfp4iWvw17ElnSjkXBEFZZe44BaCzeeQUgbyq2Gi___Z-vkXC2JDxlG2oATDjmT7fvwDW95gv_9EcqULOkaT5p-uEIGD82ss_BG_XGnBlcJ4b2gvVRj0vItzzzKOK-j93bLyKS48nq1zUT4X36TaAKxfV1KDdASREXvGe2L5srKLscQtUK9oIPSYifJ-vVAydGjCe6oQUULTxs3IyEy4UcCqTEORYkpUhELBed1d5VOMXFUtHzYj9l1pi9a6EogOwU1XMMitKd6idprkZc4grWiwIYOfvgIhnRuTBxhVeIaihcCBYm99EUpkjCckDXBDpxXjuTtyTGDcQ_ttOk1XFcziJi0d19IXrbrlwYJwjCpXaPd3mxYhEj8vJlFEmItNfAQ3AMCiWasfLQU-rWREaewjcpiQPCis_hVaZ6npzshyDRkBaODypgULVcIWpN6QyBgWSLSwSA5pHPVPeUTI6AYob7tIQN4xzIQea8pcAfkgEOX87N_YWXckBpMba9gQRUJ9YhEdOUAHLKYKzT3HXwKgFl1ELagE3PZfF1t4SX-EdkFRDvv-s0qRxHm0f34wat1NQuARyWFbjS58RHi8Y9ltV6SBHEAjM12QzPq-OGH7Se5KEM3X1b5wbt89tPcHV1VzJ0lLVwr_x5Th99xmPgJZx5YzmAJ1LGRUYF6Kxu_zGVIKEtIV9KLOk3S_x9_kg5VMc4JaMaVIB6tGUaF-TLabTZjiHsIpJAK1Z8F8_ewaB_25MCYhBwlGW7GBf74wtR_7dCgXzNm1reeIqBchOBb5rvFq5B3DCC6lgcKUTZalOjr_vEfR0dQGHc18miXTVJReiundr3aNS6zvNTJBDqGEe9Soj_A4f3ebexGooYc-pLpxV2tN9oM1tmkI9yZXYXi5jkK0n7_0y-d3JiwI_xULfaUffcdmEYvgzCHKk6bqHWNcdSukC9TxwRvcNPCbp5AqaDRiFgmhXKzOYy90GKTzsyCeGMHRHORSK3-qXhp3eNgknpnIMJPppt-H9KV1ChZE89E51mbaNId55Xzf-yLj4PLm0C5I1NuKynyexjPZBpHsLAAnHPzoASixlxhXS-YiDf3ZC_7f2R92sYPeOHx49i0HQIgrfNVF6OOsbcl_oLPmvvgubS1tobiL9mWuJiLF18cfM_ZpWKq5F3FDpMVxLFwMRBFuCzI9u8cLQEIxhn4IcH4bajIXeJhFj-O2r6gKR0Jl-W9Sk3y2pRLugV7OLV4F8OB_P0KunYuO2CiTYgTywj1Xyd-FcTszvEOzo-uNLR9oeb_dOUWnp0AK0LHKol2WPdt0zBvwPjKdEvbT7mMbQemx2n6qMWXq1zOF8VKHCgHDbmD7hTz5Xe-Yy6JJ9ECxNMrYA01HnmEV_w2IDYH6699SgRmh-WJi2mciUFPNlzegTVV_0jnzJelSg_KjkR5oKGyANu7oDOyRQwE17TLXhtgdaYMls6gSiz0hxstVHF_20iYKEUoPxwmNPHFOC9X9zWDSZQ9IyZqTD4eDDkQejF1_Tc8wnyVI9UQPrJ2zsMfmM9A0QJkHLAN7QhaqrkgGZr60t_w1mzrWvfGn_itahxAMu0D_HGRLOXP8dZIwudbzJuNtQX7W0wgt0RLrD7meRhB6-01vsHKb-4NVYWwteEfytgqp5OCUYgUuTfUBy-8Mnuh1t4f2pye3SnwKM5kO-ReGM5441fCJqtSOzas6xuWwBTsfV6OLq_KjBcA==",
  "id": "rs_0a6e4bd6cdd145b5016ab439050a6887d0b58d9d86a7756189",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.502,\"right_y\":0.225,\"right_z\":0.04},\"note\":\"The yellow object is now at the lower part of the wrist view but slightly left of the jaw center. I’m shifting a little left and lowering while advancing to put the jaws around it.\"}",
  "call_id": "call_l5jjRRUS3rqgcRasRUCnXz8g",
  "id": "fc_0a6e4bd6cdd145b5016ab43906251887d0a6d447401a10247f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l5jjRRUS3rqgcRasRUCnXz8g",
  "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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9966, 0.4976, 2.3905, 2.0472, -0.9501, 0.2718, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9966 right_x=0.4863 right_y=0.2143 right_z=0.0353 right_yaw=-0.0218 right_pitch=-0.6173 right_roll=-0.1893 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5897, 6.5983, 1.1453, -0.0171, -0.0659, -0.0122, 0.4308, -12.3966, 7.6513, 0.8425, 0.1783, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ae4144eb50482aec46c986eb5ac8d1e0093fce9dbf320e5f721a7cd1375dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afda856b98a4366ca8c8cd63bd1ffa8f495715d97a2a6756947e4b90762efc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06da6e3b17ea2de80e5f54616f5e3dac4be35377ba18ef7e0d44f2e4a1038586",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1725, 1.0554, -0.9253, 0.0669, -0.2188, 0.9965, 0.5766, 2.3077, 1.8347, -0.7193, 0.3168, 0.4137, 0.9996]\nstate[eef_state]: left_x=0.2922 left_y=-0.0004 left_z=0.1737 left_yaw=0.0792 left_pitch=-0.4701 left_roll=-0.1758 left_gripper=0.9965 right_x=0.4729 right_y=0.2462 right_z=0.0283 right_yaw=-0.0022 right_pitch=-0.5015 right_roll=-0.1284 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.5761, 6.5162, 1.1697, 0.0024, -0.022, -0.0122, -0.212, -13.5863, 8.5675, 1.2918, 0.1929, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0538, -0.9291, 0.0669, -0.2222, 0.9966, 0.5022, 2.2776, 1.9656, -0.9276, 0.2779, 0.3389, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.1721 left_yaw=0.0815 left_pitch=-0.4776 left_roll=-0.1773 left_gripper=0.9966 right_x=0.4782 right_y=0.2114 right_z=0.0679 right_yaw=-0.0114 right_pitch=-0.5667 right_roll=-0.1586 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1385, 6.6393, 1.1502, -0.0171, -0.0317, -0.0073, -0.8274, -13.4632, 7.4872, 0.9353, 0.149, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9966, 0.4976, 2.3905, 2.0472, -0.9501, 0.2718, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9966 right_x=0.4863 right_y=0.2143 right_z=0.0353 right_yaw=-0.0218 right_pitch=-0.6173 right_roll=-0.1893 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5897, 6.5983, 1.1453, -0.0171, -0.0659, -0.0122, 0.4308, -12.3966, 7.6513, 0.8425, 0.1783, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ae4144eb50482aec46c986eb5ac8d1e0093fce9dbf320e5f721a7cd1375dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afda856b98a4366ca8c8cd63bd1ffa8f495715d97a2a6756947e4b90762efc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06da6e3b17ea2de80e5f54616f5e3dac4be35377ba18ef7e0d44f2e4a1038586",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkKi8t8dOus7TnWSMi0jLIq5vfOTSb_tnMePDMmkdNlOEuc-KquA0Xe17Ye_jGGd7J_oQu4WyZr-F9q-pHIceu6Y12CKCosD2aHEiTfjjFlOqxdKMSW-1JgBupa-qklcQ9_cp5YxWWtcwub6BDBg3QxK9uvjJ1sgZRgr3Z87Li2Nwdk14ZFRiB5NGCFk8XbSnuTokIeYf54ITUPjjc5-fcKcoTkaVbDOQzIJ1dNbwLpuQEAuV5CEBL8dnZ-ppgqThv99Bvbc65n-h5SIjG1-Gb8oLQ0WgtGLTtPDgTnSSRov0qZQddoC1LgYKBDjp7W8T7aOzb8wc4mFw_kpb76Sy5naudUBTZAvAft5U0WFAykIXC11X9OM2wU-8BXKi_gCedQtks7_NKNOhVSACV54F3RP-kALu4AmP0HMWRGvgvm_AokxIEKr2e5SXdYckcsu6gFguTJR1EdX80O8EFwKAOEklfDiaDLnm-eaI1vqA_mNb1VyLGO4zH6VdC-kvAqSNnaq0vmmciJE_rf1w1w6u2kRietu9FcFBQeIiaoEk5YiApFA4bxjr4EAetvbgaHI-i11GA3X_6AbbhNTGRZ2h2iLdBnAjigNDB0YXKvOi4fjHHaUrQZBja98JYKAZmm_pu4IQrpawAZFaTiCOAhrDxvZEvseeQ2uzdHrFO0G-JyceZ1ZlnbgpwN9RykPAPGOVujhR0jDG2A4NBxWDWmHX5T0OhLq7nQneW4CXTLQk-TntpoBqrY5uteYQDjDH3xOz_wjmsq5siEbb0ITcS_j7xNIL7ztc7QAgPActV1V5bsSR_yMLbi5n0mGcEZqJc_ogh4vLa2FYS4VzinncWFezfLp-CWvcA81R8ze43kowmWWQ7nvEIGPsJrfXthpqD4wMuPzoI8_iRbV32h9d8szlG-1maBK_S05JaYlQEeUUyyuRpv2H8CNA9wyfTUp4nGRjbmv1kaHiQ3aQKqATmWAOsdE3rX2mVJ0fKo31Zeqax-76YGSgNH5cDjtOatV79v6C7r6WP2_T0TapnagIOSwdnLGtIuV0kQb8JGn3ZlD60lmy1geb70wNAz1n5PXpKxSD7PFqsdh5ShIeBFItXCHcQhWzkFIloGYAO90RaLxlWje60rtluf6ubxI-hOnFAgwLeWSZfhoiavN7SJiFSW9IyHKxAqLu9064z-sLcPyzEb0nCj63StUv8lQYBO9JXNVrcTPYHlg9wf5EOyXbX15-5EAlr-4lbqEaDzcbsAQ0cp6SCspZGzm17E2tjcbZvX5cHD1rwOu3ehLOv7WPZH52127_A_0YmsJbGQ5JU9qzV_BfjPXy032lkSaLbp_hWxC4Bmoqn1J75q6KFrpw5fHARf0cs2g4DF0uvBNHN5DkW6cNoA59qgOYA_elkAPglkUrTKMStpJiT-pmFcus3go2QOv3YWsNHFpH0jzclTw15Ycudl71yIQp9Pya_Vf9o8hqbS41x5U18cWQMvI1lT0qHOMi_-v0EsdfyDlf9zPvtosGNCtP0ObO0C-7pWNQYvoEoVOGsPmMbvXKu1zlORT5EbOTaaZLR0sNAEzm-4Rfo26knr9lraGhZwWc9z2daXgzvKG1dwvjEnc9xYL7PTSihai6nMS_wEpRSF2PC3yzhL3SH4cC3NOyNj3Y1WtxnpD9ev_kx-U_qSVAAV53bQuhdqaYZ2An0aSAUDmzpxBH9XJragA6pBmRffCmAUltE-q1HWpeIjOO2H9iLP_t8D3nzbRnCRCVYr43otVt7JFXkPlgc8Dn3QTwttZqd-MLpN1W5T7OslwrQfWn6rqeO8024ATmBfTzY4WnDoegTgt6wAkeWUVdSDYGSkR0HbRbfa_1Xm-24HiKqU15VYCgQPs3BFWf9Lyj-KYtovHJENqYAXZ5s=",
  "id": "rs_0a6e4bd6cdd145b5016ab439089f4487d097c611cc3c59a648",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.24,\"right_z\":0.058},\"note\":\"The yellow object is close to the jaw row, but it remains offset left and could slip during closure. I’m making one final small lateral correction with a little clearance.\"}",
  "call_id": "call_Gl0yi4bWhjYcuzibvXg1H3pl",
  "id": "fc_0a6e4bd6cdd145b5016ab4390a133087d0a26b02b8ce7ec1c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gl0yi4bWhjYcuzibvXg1H3pl",
  "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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.997, 0.5037, 2.4111, 2.083, -0.9443, 0.2718, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.997 right_x=0.4927 right_y=0.2215 right_z=0.0365 right_yaw=-0.0088 right_pitch=-0.599 right_roll=-0.1765 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.5897, 6.4889, 1.1502, -0.0415, -0.022, 0.0317, -0.1026, -12.6974, 8.253, 1.0037, 0.1294, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ded64aed64c14d1bc679d86307afa8e459f01bd58359189e4d31b49dd2c9e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f721dfbca313fd064e2daf9dd3e0cd04baf70deff77bd5ee056c82c52ecb8316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ea83ac9c12e8bcc005bec883c05fd6b202ef8c6b78b71480c603cd52c3895a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1725, 1.0538, -0.9287, 0.0673, -0.2222, 0.9965, 0.5274, 2.2013, 1.8702, -0.9051, 0.2905, 0.3683, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0005 left_z=0.1727 left_yaw=0.081 left_pitch=-0.4754 left_roll=-0.1778 left_gripper=0.9965 right_x=0.4603 right_y=0.2137 right_z=0.0764 right_yaw=-0.0148 right_pitch=-0.5552 right_roll=-0.1544 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.6034, 6.6393, 1.1893, -0.0171, -0.0171, -0.0073, -0.1846, -15.9521, 9.0598, 1.4042, 0.1636, 0.0708, -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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9966, 0.4976, 2.3905, 2.0472, -0.9501, 0.2718, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9966 right_x=0.4863 right_y=0.2143 right_z=0.0353 right_yaw=-0.0218 right_pitch=-0.6173 right_roll=-0.1893 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5897, 6.5983, 1.1453, -0.0171, -0.0659, -0.0122, 0.4308, -12.3966, 7.6513, 0.8425, 0.1783, 0.0855, -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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.997, 0.5037, 2.4111, 2.083, -0.9443, 0.2718, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.997 right_x=0.4927 right_y=0.2215 right_z=0.0365 right_yaw=-0.0088 right_pitch=-0.599 right_roll=-0.1765 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.5897, 6.4889, 1.1502, -0.0415, -0.022, 0.0317, -0.1026, -12.6974, 8.253, 1.0037, 0.1294, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ded64aed64c14d1bc679d86307afa8e459f01bd58359189e4d31b49dd2c9e48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f721dfbca313fd064e2daf9dd3e0cd04baf70deff77bd5ee056c82c52ecb8316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ea83ac9c12e8bcc005bec883c05fd6b202ef8c6b78b71480c603cd52c3895a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkNaQ4gwCUW5FnvtLcTHw1QgaY6BVQbjZsTM3lyH371xkFwgaK8ZrvENNQbVQQBsNSJ3CAlYwIPX1ngrbbNq0Ss2D7_P1CUU-M7fsDr7zyue7gqlZM0gUvCcD3H9ZHlGDPzCyK0B-OnmXasXr7KWoV9xsUfGepVkxuFBnzV2KU8UCVkUKa-9hkuU_aYzelQD1z4ML8fQN8d3ObLcbTsKoG4wN_R_A-ts6jFVr-AmXe-1BBcdiybJuw3lPZIPmNaFPoLCT7ruPRws1LYDexl-T3He7iQlj0IJApNbK4AzB9ReQrLcBdN6EMUxihwYrBIO77X3YK6cP2q0foCeT5xrpgq2Ag70y_lm_5iOppnkRHstx_Ak0Lml8R3egItOnTT4qzggck8uJtCDe2NcTkna8-gRci5U-yo9tr7tt0SojZc1KF3Hi7D89Z_8oCfERhWQsZj0sPZte0k4htuVV21mmSUpLE1yGk2XhOTPwJC9GQYQaZy2sHlXY_2-lwuWhQhysDAgtLUFpJVYBlmlXP5FvvLm_ku6Y4sXqZ1Hg8tLlWWgrA8608cNwmqZ53tubUFBdZ7100207s1rlLrC81AjoSS3vlCEU6HqOcB7TQUMPFiEHCckSRsj0W9YdpI_BNInuAGDMGB3uYI3mK2it1tWfnQmr6mtcAKj0qyQfuEzT1-Qx11-dhBmHN8XU7uHhnVMTvsWQ_b0BmEtv1AG8W3MSyc6uRhW1N_FAev1RJCMsxGTawEZvLs2MUZe0qQaZWA5pBp-NGIBFm5jOc1HaLtbTv57fwrjVs4aKWqThsFS5GiR9sfcyQexL7jPPj7tHzZnVT1KxNiSYOvLW98PhpTTBiEuH8e2O4XHf4Jqk8AaPedTqdJSzDHKZtiLqdpjdcFAcOTlOQfPYcAi9AIgWBVBhdagaqQ3iva-19QVchsXD0TVBXmfDEsBTWIN9cnxgDlxJ05-MZgBRxPUz7lQuPHp0OGf4522i1IbLz4OviSlzB23S4GBnhInVfWUfEgtb31yFcvqPzyLfkC-DqxIeav-GRTL-8hQMlnEeUcvRolgL9UixEDnDSVTR2On1zDr_kAF5k8QBNlK4auq3QFeA5m_EhCgDsCfvwE9svNK2okmYxI3JSGpp1rvKUkKP0hOZzTEW5SqyUmU_t28Ft_ry29gR6o71ZMep6-ZxJQjtjqjLXBlSHrV1yZ5sfSvkt0pV0f_g69m5F3lTEVkhZTd9-tKRdYWLB_W6Jnto6mFu9wHXfQH911R73W9Mwg9LP6-RN_i2RYFWedOmTCecw0YgQEVj0hW3BqM4mqvGwCAa1gtdINOu1VIFEJrHyAKXnboLf5EzODVKMmw6S5QfCcnON0rXNOo9QsoBhMDawlU0OamU68u-8=",
  "id": "rs_0a6e4bd6cdd145b5016ab4390c321087d0b64414a38f4735b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the right jaws and reaches the pinch area. I’m closing the gripper and will confirm the grasp by its settled opening and a short lift.\"}",
  "call_id": "call_zgAAWnxloQSCm2y6ZPKegV6E",
  "id": "fc_0a6e4bd6cdd145b5016ab4390c959487d09572ded1fb46d63f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zgAAWnxloQSCm2y6ZPKegV6E",
  "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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9971, 0.5037, 2.4111, 2.083, -0.9455, 0.2718, 0.3283, 0.4996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9971 right_x=0.4925 right_y=0.2214 right_z=0.0364 right_yaw=-0.0087 right_pitch=-0.6001 right_roll=-0.1775 right_gripper=0.4996\nstate[joint_eff]: [-0.1709, -3.5761, 6.5026, 1.1648, -0.0171, -0.0317, -0.0073, -0.3077, -13.7504, 6.5162, 0.7937, 0.105, -0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9169e500334fb850b709f376fa68e57ed37efd49b3c7add6459801396d70856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83dc1a4c8359838de7e555df5efc7b17a04712392e72ed46cf666f42aca3359b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450352915741d30b299462020fbae02f8827f7302b6e57a8e7244d32347a569f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1744, 1.0538, -0.9291, 0.0669, -0.2222, 0.9966, 0.5022, 2.2776, 1.9656, -0.9276, 0.2779, 0.3389, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.1721 left_yaw=0.0815 left_pitch=-0.4776 left_roll=-0.1773 left_gripper=0.9966 right_x=0.4782 right_y=0.2114 right_z=0.0679 right_yaw=-0.0114 right_pitch=-0.5667 right_roll=-0.1586 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.1385, 6.6393, 1.1502, -0.0171, -0.0317, -0.0073, -0.8274, -13.4632, 7.4872, 0.9353, 0.149, -0.1343, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.997, 0.5037, 2.4111, 2.083, -0.9443, 0.2718, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.997 right_x=0.4927 right_y=0.2215 right_z=0.0365 right_yaw=-0.0088 right_pitch=-0.599 right_roll=-0.1765 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.5897, 6.4889, 1.1502, -0.0415, -0.022, 0.0317, -0.1026, -12.6974, 8.253, 1.0037, 0.1294, 0.0708, -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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9971, 0.5037, 2.4111, 2.083, -0.9455, 0.2718, 0.3283, 0.4996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9971 right_x=0.4925 right_y=0.2214 right_z=0.0364 right_yaw=-0.0087 right_pitch=-0.6001 right_roll=-0.1775 right_gripper=0.4996\nstate[joint_eff]: [-0.1709, -3.5761, 6.5026, 1.1648, -0.0171, -0.0317, -0.0073, -0.3077, -13.7504, 6.5162, 0.7937, 0.105, -0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9169e500334fb850b709f376fa68e57ed37efd49b3c7add6459801396d70856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83dc1a4c8359838de7e555df5efc7b17a04712392e72ed46cf666f42aca3359b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450352915741d30b299462020fbae02f8827f7302b6e57a8e7244d32347a569f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkRCskxg3ANP0P1o63srD8nYW2h82d2WsS2GUpz7ijqWon81GUJXivHm92udysqsjovdmgjhfUnmnoyYiOQUvhPr_SSBJPLZKHx0qfXWoqRQx-F0fQbwHOFmTM2sXsNHTX0FSIqeDKSs8oPA0xUphd3cH-LqY1z8vbMjw8x7jAg6hcTc3MiIdXkgo3aGYzsXiVymC5m00ai3Nki4RB6mI-OYEKTOOmwVvhaXD9rO3smwkEDIiQzaQYNLgDckZOkHUyVFIIfMKdIqFyyTBkhysHv9l1YZXCo_XSj1QLc_ucYyeZm10b1yFGvxW5kE6IScrKSlH25brPyRuNma4oP0rTiVjHZR4W7EwcFaCtBqTab3_0qbmk1Xw4BX7YNKx352yFnCZPe7attjY8Z03UUlZqvB-Ay3PZzuDxhzfOsKeVqRJoXu5E3s5hoJcsxiDGphoAiGZoeR4zu8IVYVpvJ-VbuvzN-OO6g6ULJs-mfP-ISAoIkQSCXEbVEpoJ6cE37u86IA9SaO8afgjkVKbphUUEY1JN85i8RaixTNm2FSr-zQZyigpxEjyHwYJfqydgrK6N6yJTnESq_L9meFd2v6pR2vduMrtblFTjSdS-BHQ0KZjeR2rQCx-iAEzGI3dbTJnDANLRhWpbt-8eVng16MYWvOIjPiP6WgrBlctK9JPNRRanm6AUsXVeKB6sHA_-nLERhh1aqa5xoQGFojHkuU3RVdeBWzLAUO0-7Su9MYM7HYMgJV0vWJasUlhAqhJlBvjHJhWNCBHuBQFBgxBeIFEZi40EAi4thS46isUjMC0KGhEdnylYGijOs6MqfBcF8aWQ2EU4N1K2sTHmch4UTUq_-n5HNvmYewRs7nDkeMkjruQfbZA_SaHBj22RuEt9W4tM_KPDIrO9M6MSloUrMzniymGs1O1Q0f5H6OpzLzk1QzlwiIISKiA6jc9xGHm7fRxMwXGc0jKJMall4k1d2uJxnxxHphJSLbPmq1PsjgjFaUFt87fg9okROLnT7yAli9Zo5QNHQAMftJrHPpaiWY4dukiSUWJi2XOTBfSZE4auU-1jVi_epuWQCGqbsTSsLtB8iB-ZSeJtQ_SG5FpZ2vjD6oFy7J08j1tCzcHwzrO46LCqDFKMlQFN59Jezwxckf0ctAHR8NyD_z01iCp2Zg5W-WADBlxkrwRXsbpYJeW7F3kwd-gxgA_FEjDDtf0xztDCgA-_6UigLnJ4PmYdKS9kFnqzWtR7eHpVI5qOvbq-Jbj-X0ULXD6QwA3KzPsT6hW4nzraTYcGpjBbd_uo-ei3j-VGky5AY05mWytvtMjKhvrA_y9QRtRatzfo_6YmeR830",
  "id": "rs_0a6e4bd6cdd145b5016ab43910a01487d0a68abc1e90a696fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_z\":0.175},\"note\":\"The right gripper remains about half open after closing, consistent with holding the yellow object. I’m lifting it clear of the table to verify it moves with the jaws before taking it over the safe.\"}",
  "call_id": "call_iKbDLIFJTUzZWREiE3uJ1V83",
  "id": "fc_0a6e4bd6cdd145b5016ab43910f61c87d093568a6bc67a2a9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iKbDLIFJTUzZWREiE3uJ1V83",
  "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]: [0.0269, 1.1744, 1.0534, -0.9298, 0.0669, -0.2226, 0.9971, 0.5274, 2.4535, 2.7159, -1.4929, 0.2687, 0.3294, 0.5022]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1719 left_yaw=0.0817 left_pitch=-0.4788 left_roll=-0.1774 left_gripper=0.9971 right_x=0.4756 right_y=0.2268 right_z=0.1747 right_yaw=0.0306 right_pitch=-0.5636 right_roll=-0.149 right_gripper=0.5022\nstate[joint_eff]: [-0.0479, -3.5761, 6.4889, 1.1453, -0.0415, -0.0659, -0.0171, -0.0615, -11.1521, 6.4615, 0.9206, 0.2906, 0.1734, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8f44ab6338351e39d80ce0de69905aa73bb714f39169b47d1b4b03c317ffee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b4a43f2127afbf91e51a48d71fb1d20d8308933a8603206070aedb6cb1e692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d2364fcaa3ecfe667f61a9aed6a312bcf8cdbf6cc408ee1df31c58fff87af8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9966, 0.4976, 2.3905, 2.0472, -0.9501, 0.2718, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9966 right_x=0.4863 right_y=0.2143 right_z=0.0353 right_yaw=-0.0218 right_pitch=-0.6173 right_roll=-0.1893 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -3.5897, 6.5983, 1.1453, -0.0171, -0.0659, -0.0122, 0.4308, -12.3966, 7.6513, 0.8425, 0.1783, 0.0855, -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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9971, 0.5037, 2.4111, 2.083, -0.9455, 0.2718, 0.3283, 0.4996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9971 right_x=0.4925 right_y=0.2214 right_z=0.0364 right_yaw=-0.0087 right_pitch=-0.6001 right_roll=-0.1775 right_gripper=0.4996\nstate[joint_eff]: [-0.1709, -3.5761, 6.5026, 1.1648, -0.0171, -0.0317, -0.0073, -0.3077, -13.7504, 6.5162, 0.7937, 0.105, -0.0269, 0.9206]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9298, 0.0669, -0.2226, 0.9971, 0.5274, 2.4535, 2.7159, -1.4929, 0.2687, 0.3294, 0.5022]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1719 left_yaw=0.0817 left_pitch=-0.4788 left_roll=-0.1774 left_gripper=0.9971 right_x=0.4756 right_y=0.2268 right_z=0.1747 right_yaw=0.0306 right_pitch=-0.5636 right_roll=-0.149 right_gripper=0.5022\nstate[joint_eff]: [-0.0479, -3.5761, 6.4889, 1.1453, -0.0415, -0.0659, -0.0171, -0.0615, -11.1521, 6.4615, 0.9206, 0.2906, 0.1734, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8f44ab6338351e39d80ce0de69905aa73bb714f39169b47d1b4b03c317ffee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b4a43f2127afbf91e51a48d71fb1d20d8308933a8603206070aedb6cb1e692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d2364fcaa3ecfe667f61a9aed6a312bcf8cdbf6cc408ee1df31c58fff87af8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a6e4bd6cdd145b5016ab43915409887d08a733d9f7763b650",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.393,\"right_z\":0.19},\"note\":\"The yellow object lifted with the right gripper, so the grasp is secure. I’m carrying it above the open safe and aiming for the middle of its red interior, with clearance over the rim.\"}",
  "call_id": "call_IHBZRtV6TmjHewkIxEsMKglT",
  "id": "fc_0a6e4bd6cdd145b5016ab43917def887d09dad182b8a180be6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IHBZRtV6TmjHewkIxEsMKglT",
  "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]: [0.0269, 1.1744, 1.0534, -0.9367, 0.0673, -0.2256, 0.9971, 0.8665, 2.5008, 2.7598, -1.5913, 0.3485, 0.6369, 0.5042]\nstate[eef_state]: left_x=0.2895 left_y=-0.0005 left_z=0.1711 left_yaw=0.0834 left_pitch=-0.486 left_roll=-0.179 left_gripper=0.9971 right_x=0.3726 right_y=0.351 right_z=0.1613 right_yaw=0.0674 right_pitch=-0.5744 right_roll=-0.1471 right_gripper=0.5042\nstate[joint_eff]: [-0.0615, -3.5487, 6.4479, 1.3065, 0.022, -0.0171, -0.0171, 0.3077, -12.5333, 5.2444, 0.8913, 0.3443, 0.1245, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f60041bf2cfade4d738ed6a89eb514334ad49ee4156a84352da2a329b84ae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc01b28eb95bc7e566fe7bb88a3156754e84872065970b9276fca396e4cab5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834dd7e38dc9466b16b9d741ad60b0b919db676bc38a4764179b81f42ca5d2da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.997, 0.5037, 2.4111, 2.083, -0.9443, 0.2718, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.997 right_x=0.4927 right_y=0.2215 right_z=0.0365 right_yaw=-0.0088 right_pitch=-0.599 right_roll=-0.1765 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.5897, 6.4889, 1.1502, -0.0415, -0.022, 0.0317, -0.1026, -12.6974, 8.253, 1.0037, 0.1294, 0.0708, -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]: [0.0269, 1.1744, 1.0534, -0.9298, 0.0669, -0.2226, 0.9971, 0.5274, 2.4535, 2.7159, -1.4929, 0.2687, 0.3294, 0.5022]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1719 left_yaw=0.0817 left_pitch=-0.4788 left_roll=-0.1774 left_gripper=0.9971 right_x=0.4756 right_y=0.2268 right_z=0.1747 right_yaw=0.0306 right_pitch=-0.5636 right_roll=-0.149 right_gripper=0.5022\nstate[joint_eff]: [-0.0479, -3.5761, 6.4889, 1.1453, -0.0415, -0.0659, -0.0171, -0.0615, -11.1521, 6.4615, 0.9206, 0.2906, 0.1734, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9367, 0.0673, -0.2256, 0.9971, 0.8665, 2.5008, 2.7598, -1.5913, 0.3485, 0.6369, 0.5042]\nstate[eef_state]: left_x=0.2895 left_y=-0.0005 left_z=0.1711 left_yaw=0.0834 left_pitch=-0.486 left_roll=-0.179 left_gripper=0.9971 right_x=0.3726 right_y=0.351 right_z=0.1613 right_yaw=0.0674 right_pitch=-0.5744 right_roll=-0.1471 right_gripper=0.5042\nstate[joint_eff]: [-0.0615, -3.5487, 6.4479, 1.3065, 0.022, -0.0171, -0.0171, 0.3077, -12.5333, 5.2444, 0.8913, 0.3443, 0.1245, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f60041bf2cfade4d738ed6a89eb514334ad49ee4156a84352da2a329b84ae2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc01b28eb95bc7e566fe7bb88a3156754e84872065970b9276fca396e4cab5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834dd7e38dc9466b16b9d741ad60b0b919db676bc38a4764179b81f42ca5d2da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_0a6e4bd6cdd145b5016ab4391b13d087d09acd29774772747d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkhXFE4T12gh-lgBVRVj9irCGSmeNq_Xu2MtM6DeCui5UmWJJUQPriTEN7MorEsENvY_f7dA7Macs5EJKaoeTPqCCoeJgUb_lUho_L_oJNJAeog4TJHxFVlDZX9MPeiisqRj0tN4nUAbdkMP-Gq22KV5e66qf0I-X-ugtWPuhiz6ciFwUHD9rHqY5uqtjKDnfgn0-mv3g5FVeX-KYZzg0b3k5VMDDuOGhLyUmLWAqI-A1gJJ--nZ3Hz0OODL7JazUBP4IYLg4neTEsvKU5L8ErKU3L5kY2ds39Y1UjE1YabR-GKEOSTzQlU6UzEu9DRA8G1HYk3hj8xa7AY-7l_JfpifV48bjHLquo1aHTDR990K2u542qcYeKOJy1k8op96hHc9y0OllGPxJf2wnmeRHkjG7Hr0u4I5nBTuFrtMp7Nxvx3L21Ps_XWAnWEc128gunWMEEdMzoMs2tp6H4nGmUmUJNx5HfO2lp77mBb7GmQCRHxB428Ldc9xvNUhPlRfplpOYrh0VxUzrQS-0phZwGQYuRNy_D4nyKIP8Dh5fLBO9RoAV_LzaXcqjqE_g-KhgcJKH-mKxE9p13r5dlk3BgLGxk3lEr9YT8edlV_8nH0p7uZEG0wtwO2QYLX9KSfZa6VDugAfVx9PSUhg4lie-r_CMnumDMrWKQsQdm1NlejPk7W0hu17zq6ihP__dDEPsq8TyZQ_g4OFZYfZGgYGlwAyOxVLPAfQQoXeDB4zL1oqV4ocTAVn8EaVLDJqcrc1fY5M5U_5xedoIteLEk9j5wGnvEcirJEAYwggBvndrEYcSpJ9LZY-Ri52fHM4MknRIe3rf2rF2zxiwwkiTE7rXAPvxWI3BfdKGvSR5d7RyWQrnu19kMvrc-XJHzxdBXr9hSESjPKqm9-EbQ1eumQtQBjF2jixuztlPnrKR_nNdzfub7zm8RmDC0tywOjUPPMeQwbPa_RkNk_2q5_rXr4kqe9_qeZ9SYrlcYZZbn35GslN-nyYBBfffr0jU1uK5jETI-IpT0YxypxSZ4vij9PxSHJ4JkoGEvAGZNOX5wF_cSYkHd0_bYFlTysbKE42kYhlcwl_pZaoUdGk-CvO1xM4lZPFIysTp_uJ0-LnRlXUfoZaAXYlcjG-PIaw0YNhYwJRkqn8FGUCWSszoKassvkoDNRVchCltj5RE-Z65NdM6reOh5Q8Ygi9PuM4agVkPoEFKo7t0CealLq7VNIp5y8bTBbP0xmDA3Eqvnh4kS9F1-LqRUU6WdM-6wB2xoqKC8zDi9liePnayo5uMctTpXRyZE08oZrZTExVUYAQ3zrop2MT2WJ-bGDtrAyyS_YKhWnFlz3V0o03v6y3ZY9SYL7NTvFFxFMpYAmT_51Zp9Rzm7E0uw1-NSCR-ySW9vECdVPKyyWUofeGPVfcCIdoU2kJt84c1G1l48nA7bvJZON6OE-DjJvbXHA3tuHYrpSqR3GM6oMqneJpVMSGvVZ6Pydrii2YQa3-wYtZ90faVyjAcZWC0r6E6py3NwUzbruhI5dcmY-QcESNar4QOVKCdCnPXbdwT5YmMYIEaPxEmMfhc0QahxzHxFIE9khPI572fm95wfDx-7t-zzwm5S99s_8eNaT_xyw8zqapGnKfEOGTuUGnFm03AmLRVa8uRgknW-w7oF2V7_ac5XtccKqMKNFNodnPCXEhkS8X6vS8sxuvSlHSZjEafKp5iyMO1yLyZspRTJ36ltkcX2zz4PbApNYEm7_mIqZsNIz_vOoM1KhddcR01Q5Hx3P73dy7VsBrpcH2GmVI6VOKEXX9BbiNb_gYIrs1CqxZdv43YplWDNT4l-SXCOwevFUQOeJN8AdK39jidzROScC7XoHjVuv20-w7dAQhcERhSWSpfn2RSCrIrjsLcjzj_LbYJrPHawzbCzzLX4l244XrUb-Q7g8aS8iD4qAwKztc5dvaHH3U_8brOfJwsA=",
  "id": "rs_0a6e4bd6cdd145b5016ab4391f145487d0954e25f05fef7e1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.4,\"right_z\":0.2},\"note\":\"The yellow object is hovering over the safe, but its right side is near the safe’s wall. I’m shifting as far toward the safe’s center as the right arm allows while keeping it raised above the rim.\"}",
  "call_id": "call_IzOpzK3gODnW7w7wcF5dX4bh",
  "id": "fc_0a6e4bd6cdd145b5016ab4392077ac87d099dd16cd57c29038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IzOpzK3gODnW7w7wcF5dX4bh",
  "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]: [0.0269, 1.1744, 1.0534, -0.9443, 0.0669, -0.2256, 0.9971, 0.8494, 2.5065, 2.7628, -1.597, 0.3428, 0.6147, 0.5057]\nstate[eef_state]: left_x=0.2879 left_y=-0.0005 left_z=0.1701 left_yaw=0.084 left_pitch=-0.4936 left_roll=-0.1782 left_gripper=0.9971 right_x=0.3775 right_y=0.3447 right_z=0.1587 right_yaw=0.0648 right_pitch=-0.5861 right_roll=-0.16 right_gripper=0.5057\nstate[joint_eff]: [-0.1026, -3.6034, 6.4479, 1.199, -0.0366, -0.0562, -0.0122, -0.1983, -11.5624, 7.8701, 0.9353, 0.1538, -0.0269, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b7943578aeee08f681e293cdc34f4c0fd5a3d5e7cd5e4cabe6976fea8d1ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa68ae678cb22acae47547be4d8dc63b8b5a89f9c30607daec267db5c9c3ad3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6204fc146aca9662dc14d79aba37af2446f3c4a02ef0f42e3d08644deffbc18f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9291, 0.0669, -0.2226, 0.9971, 0.5037, 2.4111, 2.083, -0.9455, 0.2718, 0.3283, 0.4996]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.172 left_yaw=0.0817 left_pitch=-0.478 left_roll=-0.1775 left_gripper=0.9971 right_x=0.4925 right_y=0.2214 right_z=0.0364 right_yaw=-0.0087 right_pitch=-0.6001 right_roll=-0.1775 right_gripper=0.4996\nstate[joint_eff]: [-0.1709, -3.5761, 6.5026, 1.1648, -0.0171, -0.0317, -0.0073, -0.3077, -13.7504, 6.5162, 0.7937, 0.105, -0.0269, 0.9206]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9367, 0.0673, -0.2256, 0.9971, 0.8665, 2.5008, 2.7598, -1.5913, 0.3485, 0.6369, 0.5042]\nstate[eef_state]: left_x=0.2895 left_y=-0.0005 left_z=0.1711 left_yaw=0.0834 left_pitch=-0.486 left_roll=-0.179 left_gripper=0.9971 right_x=0.3726 right_y=0.351 right_z=0.1613 right_yaw=0.0674 right_pitch=-0.5744 right_roll=-0.1471 right_gripper=0.5042\nstate[joint_eff]: [-0.0615, -3.5487, 6.4479, 1.3065, 0.022, -0.0171, -0.0171, 0.3077, -12.5333, 5.2444, 0.8913, 0.3443, 0.1245, 0.1978]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9443, 0.0669, -0.2256, 0.9971, 0.8494, 2.5065, 2.7628, -1.597, 0.3428, 0.6147, 0.5057]\nstate[eef_state]: left_x=0.2879 left_y=-0.0005 left_z=0.1701 left_yaw=0.084 left_pitch=-0.4936 left_roll=-0.1782 left_gripper=0.9971 right_x=0.3775 right_y=0.3447 right_z=0.1587 right_yaw=0.0648 right_pitch=-0.5861 right_roll=-0.16 right_gripper=0.5057\nstate[joint_eff]: [-0.1026, -3.6034, 6.4479, 1.199, -0.0366, -0.0562, -0.0122, -0.1983, -11.5624, 7.8701, 0.9353, 0.1538, -0.0269, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b7943578aeee08f681e293cdc34f4c0fd5a3d5e7cd5e4cabe6976fea8d1ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa68ae678cb22acae47547be4d8dc63b8b5a89f9c30607daec267db5c9c3ad3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6204fc146aca9662dc14d79aba37af2446f3c4a02ef0f42e3d08644deffbc18f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDklJcAPCPuR2XXFDuzgW-UyFHZY_V7aX3sUqiANv6HKEvW2NIZFJaNCA4BG1z8OgJqyAxWu4BgbNMZgnURbidAgG1b5cCiI0-HEj8vy3sDeeOit0mQMVCGOCw1JYmWwrRm_NZYuLB-ZRuyeacyqMxLw7WMUOFyfo8oAq1ECvm3z1bcQnUbCxPFNvqd7X1dvGr5R9do1g0759dnYSP82lMCbVanC6z9q_ikX58w8rnvRL7YYxk8fSK4TtDfS38fqDFuVmLXU5Yy2enAoC0Vi8J7pYGzc2CL_03Nn9hW7NV9Ln1-x5Qb8FmDcF8DSanrJxulljPdpQKkcIuAYZIiEimzeFh5HCKJB0l_TVs7scnoBheGfbTbiqXsh2zTclE7M24HQa0gEY3wfpIiMAGgFZisC9efFAc8wgIHP45RVASSX5xb82ITElz6gryVSTgG1u06i9B603w6hqzUTmMHHTH9xuYe17AEUCLlo2zpcHLW_GxKv8d2hzHGgTyUCL32O5UfhmPh0_J8o61r6Ou3lw4LAQk3eTQqIh9XgfvgXtrj966BtWAw13RMbQKmS4ZhwHVuBwcpeO9teNwv4NaoaPXRw5a311DCXAig-ejqgYL07Ld8pyDJB3Ky5xzrYsAmkkL73HYdG0UP64_Zs25ia_u8XkQbSDE4Ol3EuGo4fH-r_SBdV6Y_iM_nnMIqxYcwd7RHkZL_wLUWv4VIX3SZO1v0GvMkhtYOA76wO52XIJunaIjTjdAWiDFY4uMygIukRTVy3pu1TjKAbYg-vyrfYpn-oG-ZZYdBaYctiTgsF9k7vWTvlxyw_apq1mvvQ8wJVmQ2N7NtdaKpDf6Ya7TD_97Vo6Ygbx7vq1X6XtISwPZvPPWGeUAdr64U1yw6q3Du4TeXF0K8ExtVgFAlLNHKzBI1q-fAUlnM1G1citFCqjDz9ifocKdIQ3D1DGoufY-hVfMHlD4eHnflKQgIMDfgT3RtREL-7GYmk62-tUOCeUeMCJv_q2V0K66_OivGK_7HMAeMpNJtmQSLTA7BkxQCzWSBt9412XclA5XuCyEdZ_befsdf8aV8a0qi-d1ftYhxWE0eT9VG8R60d4kbCIhKpw3qHNaxS7tBBcZwBJFrZjbLDY01JRrEh07at5pB8dZoBRYMPuzEEEsAmxvXVhCiagwR7-39tGQdG4lQidmMtSVKeNJyvqUGfYuaqIat1_hrQNFj8LGJyNYpcne1ADNYvmx6CLLWWZl95xT7i1cHnSU5g1573ozQOOWE4lhh-f3VwXXCDuFwD2hv8Ny-L-N-eB7Rw0tcxEnrcqOHe-AyqEtKh99WykFmChifU9lmnlUjl54Cs2LhQ2ZdY5ajnGwOToCm7pDTvPHX2LLWqC5O7Hp9NPUgp8rvzvKqBZBA1dB4yLM4lUbqshEF4EtYzEUCJDTzcyc8Ht26ydk27R4-YTFiWMISgXjbF_1cuhKRueBM7jFfxwRauFuva42BOZU-iuxh6K_XUUuXiYqmcoReS_h8XgdhXGXHXSLF1KxGHOn0Uk_43SzhgsdmzmHNlr1fPtHVK_GDCrT13MB5udn6eFXBvJzYX731Ht8b_hnFvktjOCf-XVjNat_BYUSPXZH3KqI5ZEiZATRwonMKRJ5Xf94g2x2FTtMw8IpUvJkmQXgNG8MUW3vuoFvNFCiONzIWHNyABaIHX79KrMo9AuApM4_EdhGgdqaafBlr2gI9BWEN0Ba7-4uPAhFkekd3vZ-DDbcbmABUveGpYXY0AzfSb6RgxkHNHT5VsiapwPE5A7WrMXucWDjH4OwiXHVnIJYewzhupUt-dyuOljaeqwY6gWxobEDk61ke32V1wXsbBEelFsj6TkGs2A7zETwZghj2MQ-57pGXpG0WdDsiql5W-UB3bLlGUy7NvS8kIQsgUH_lc-phziRDrQhoO8-Vd9yTLh9ImtfxewdXtaJohCLG4622bTqrnj6ADUcU5yyGeFIgBarzmNZByZeyyOch2WfiMwaXxmZWaw0wo3j1Arg3FD6gav31NwPTLeY3o2CJG8T5CjLUzOGFDke7Fbq7Vwg_Nhg4mIpoLhmUw2j0QrRYivfjHRudafml0e1wINZ8f3MYDgdoNQ4X3aGuqEMvyspT97Q1DTvMC3NQHDqnL0dNkaVFgdUkcU4UGKr-n6Q6e0LjW-s8SaMuZqmtL7fySEXPTkA57_YdTXiYduPY0fMfjD7JvwdI3dXYLxdF1ZT-ES4hJFmoTpOqrXcWKSGpx--6GmaqEK8CBVHX1WAktyZk_Rv_GPkTgjND2RvWGOofH5GPCZaEZOTaZ5duHtKR1M659H_9HuSi8wmW6w4_PagaMsidCA4Fj_8m_AZl5ZBYuDd9o7893PeYC8dGXw12GW2ulCn6n500oF6FmBhBmtvY8gljhbGuwBaEMowm2H75AWtLJrG1KUMn3VR4RBFHi_pfvvjFqy36iXiKYMMmaMQkfYxW7FTA=",
  "id": "rs_0a6e4bd6cdd145b5016ab43922a37487d090bb1c2a400c64a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.35,\"right_z\":0.085},\"note\":\"The arm cannot move farther sideways at this pose, but the overhead view shows the held yellow object above the safe opening. I’m lowering it slowly into the interior and will watch for contact before releasing.\"}",
  "call_id": "call_9gD3OLNL8IXmo9mpsH1rnpTc",
  "id": "fc_0a6e4bd6cdd145b5016ab43925147c87d080c0009833b85ccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9gD3OLNL8IXmo9mpsH1rnpTc",
  "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]: [0.0269, 1.1744, 1.0534, -0.9482, 0.0669, -0.226, 0.9971, 0.8646, 2.373, 2.1593, -1.2621, 0.3458, 0.622, 0.5082]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1697 left_yaw=0.0844 left_pitch=-0.4974 left_roll=-0.1781 left_gripper=0.9971 right_x=0.357 right_y=0.3319 right_z=0.0672 right_yaw=0.0007 right_pitch=-0.6749 right_roll=-0.2821 right_gripper=0.5082\nstate[joint_eff]: [-0.0889, -3.453, 6.4342, 1.1844, -0.0073, -0.0513, -0.0171, 0.253, -16.5675, 6.9402, 0.7057, 0.022, 0.1245, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6affc2fcdb420dd28fdf34e0229024ac438a5a01d3eb103735a49f647e7c597f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965e1f3ac58398739eeece4673ad6876f89ed6837e9d6bdb03f5cd3c901eb345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00609f5dd174a26b73235a0d55364b005be4bf893e8e715f7f062f4781af048f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9298, 0.0669, -0.2226, 0.9971, 0.5274, 2.4535, 2.7159, -1.4929, 0.2687, 0.3294, 0.5022]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1719 left_yaw=0.0817 left_pitch=-0.4788 left_roll=-0.1774 left_gripper=0.9971 right_x=0.4756 right_y=0.2268 right_z=0.1747 right_yaw=0.0306 right_pitch=-0.5636 right_roll=-0.149 right_gripper=0.5022\nstate[joint_eff]: [-0.0479, -3.5761, 6.4889, 1.1453, -0.0415, -0.0659, -0.0171, -0.0615, -11.1521, 6.4615, 0.9206, 0.2906, 0.1734, 0.2515]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9443, 0.0669, -0.2256, 0.9971, 0.8494, 2.5065, 2.7628, -1.597, 0.3428, 0.6147, 0.5057]\nstate[eef_state]: left_x=0.2879 left_y=-0.0005 left_z=0.1701 left_yaw=0.084 left_pitch=-0.4936 left_roll=-0.1782 left_gripper=0.9971 right_x=0.3775 right_y=0.3447 right_z=0.1587 right_yaw=0.0648 right_pitch=-0.5861 right_roll=-0.16 right_gripper=0.5057\nstate[joint_eff]: [-0.1026, -3.6034, 6.4479, 1.199, -0.0366, -0.0562, -0.0122, -0.1983, -11.5624, 7.8701, 0.9353, 0.1538, -0.0269, 0.1441]\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]: [0.0269, 1.1744, 1.0534, -0.9482, 0.0669, -0.226, 0.9971, 0.8646, 2.373, 2.1593, -1.2621, 0.3458, 0.622, 0.5082]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1697 left_yaw=0.0844 left_pitch=-0.4974 left_roll=-0.1781 left_gripper=0.9971 right_x=0.357 right_y=0.3319 right_z=0.0672 right_yaw=0.0007 right_pitch=-0.6749 right_roll=-0.2821 right_gripper=0.5082\nstate[joint_eff]: [-0.0889, -3.453, 6.4342, 1.1844, -0.0073, -0.0513, -0.0171, 0.253, -16.5675, 6.9402, 0.7057, 0.022, 0.1245, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6affc2fcdb420dd28fdf34e0229024ac438a5a01d3eb103735a49f647e7c597f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965e1f3ac58398739eeece4673ad6876f89ed6837e9d6bdb03f5cd3c901eb345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00609f5dd174a26b73235a0d55364b005be4bf893e8e715f7f062f4781af048f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkqSgizOLvj2Q0iJYOIGZKmKqYV88a59S6XIczDTEcgNMJVaxOSccR1EvgfRkGm8pBqs-QY98nZ37AL5psIgTvS3Jl3WUTXM0c67V0SfKSbkXSVwTCdgm3kiOWaZYNFsubR0kHvF3Ex4njTdSYO9PJpE-Mfj8PM-oJL8Bpximt484IM6RfsSxxDvduPIzktppFSal37Wf-VM8n9c_SwteA2wJI95hHltjGipkFuuaFwsZzMSH6gFmyhZu8iAG7PdjHssAzMsnyzITH0drnBJ5BGK7P3sNp2ypKDCf-ZHFxUM2V_f_WbBTGy0K3vnfa0wOXjrKirlMUbTVpdLWvZEwkSD-6Y0wNJjPKtcrmfyGU3ESMNvhNKweXNEBbKfEcp27nC5mJkzMBQezeDomOr9DWsLs9b6wKXtF82kk4BJlpc5G9vBUOKVKhccTMsT8edJZb4P-dlR1VyzP2BU-7p5VUJe33YtWZDmdZwHiRLPf-UIrR67Zk5Q1Gl7cAwumqLrMourd5xHY8g-puLQTNv5VnFEPa3XhE4OpDRaI788kK-QdhPzl7qxbAedV41xaTFdQUvfq6ailKunXXj4moSz1zHEdId_mBYW1VaVK5O4uCnc2bGcdOaZoDBJG5LOWGRbWOLDUdR_7nqadOMLTm6y0Wfkon9St8TSpQTM7NEmY3b0WlTGVlf0kZuloBottTv6nK6kcAMWKoJ_bIJJ_0Iu6hQu307_6Yke435V0fNWBd8KG-rB-d69i2dVQBvq3Ta_q9IBNKJf2UoNqTIZ9EHQugi_CYZkxd4_2j22gsuoOKkoEnWUOKyO4pFU-C58zitbmxUqMR0PMQNx1Y85rCqbSLyTQ_lf3wyPUgiFxVZhh21ceI80iwe69fG3Th2YtwqV5veB49rRy-_HxRdM50MdikwaQPt1_SmVbCFs6M7A3nP--mM8817MVz0DwypKAbvaZza5kayAKOAQYghLnIG51KgsWng0WB3gSF1Brrj7HnBdwGoNWqp-EXWr8JTX9jLuCbGURiFHcts-VvyyxHKr3NCN1mKOLiG8bU8vIFgJW6Bv8cSXBlkx0pw7ecMUbkv6FnpiUkdk5rN5UIWus7SSnNaGSLED03JStGrbFLHZcGxKdAQB0v31jiY9QcU1vuFb9FGyjW79fQ2nsp0GHp6PaECwsOJ5v9d5Ye-aMpnjyU9-sVz5hHx0zCF-BB60iJgPxPY4YmC_hCI0AIyk1nw9vy7ckF2pdCBdCX3c3THYlL1Hmq6tB5krogbSyAjxzIKLwD8x_Uf91rb_mVBjz6KTQrQ-zaVSRc_ULQlmdbgjsNzofzLeWgsVS3D7SyDRvXNzSU3F3mJ8btaCxtks3ixX9Um4reeLm4XllP9TufYK89BxUh01eUo_LnLIpqRlAKFyzaxI1-SX1rFH2JV0mTWz5cZ-0uNFxA6iCMmrKkKhwNZid5Oic92YcaeRCkC2cmXs5Pet5h8xyhrvBPtXFd8_gyEWgcxx6pOM4SwRPYkR6MR0dQVyBx2yJBclESfBBlOHGYuQobtShV_YY9BeWOZvReqQj4JTQtLzLQAlSxVVJBPujUKjtSRcTHgNP8sFwllmdZrQ3ziGhpF6B8-AJoLStAENSC02a6hC_36iuX-EJjStqG97BKsD9WxfcS3ZxE_lsdzmN-esUlO5sB2ds3UjpXuaxHBywUy6C7D5xSGrNWaaOiMeW6z4_EIz2oDchOpOJ1n4dJ8x-yIgH5puWlW2hF-YfYv7Y6wze6CzOEUUgppU9dPNm-fwp4_UfKzOVyenWw4iHKHN0Hjgx4YrkWSIBe5nRPgymHNqLVeD0_eFEAOHn_6QIwPveO6KIoKZtdLo02la5ZuceNQuedXcL_lgvCFupGUnkm_RJXPlj11YnBd6E5j-I2MwBmlgUoUrvolbmyktwYlL1BW3O4w5I_Ot754fT6-F-QwhdrZF5MHEuhjtVH2DjnzevQrmrIsCb1jI8OMiLbhA2TP4wCBmRAvcy583eogSGJbRlDybgJD8ZxjlyTSzj_s0gyWKSUq9da5w2ask4p9Sce2yqxqXlMWhM9MKVc8M8ARQl8k9E7x-5BN0F4-S__S1Q-t1mDZ9Hz1v5eNs3IZgPaYZqrQmWc-3Cv70NFtobb3z5Ue4IfOiAck2I8=",
  "id": "rs_0a6e4bd6cdd145b5016ab43927a38c87d0a7ad188ba49cb290",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.385,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The yellow object is down near the safe, but the wrist view places much of it against the right-hand rim. I’m lifting it again and trying a more central approach rather than releasing it onto the edge.\"}",
  "call_id": "call_FQXN7fsblKqthPVUgu6f96Of",
  "id": "fc_0a6e4bd6cdd145b5016ab43929371087d08c0b36f4dcd35521",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FQXN7fsblKqthPVUgu6f96Of",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9501, 0.0669, -0.226, 0.9971, 1.1286, 2.2383, 1.9293, -0.9684, 0.8997, 0.7494, 0.5094]\nstate[eef_state]: left_x=0.2867 left_y=-0.0005 left_z=0.1695 left_yaw=0.0844 left_pitch=-0.4993 left_roll=-0.178 left_gripper=0.9971 right_x=0.3302 right_y=0.3825 right_z=0.1299 right_yaw=0.021 right_pitch=-0.0907 right_roll=-0.3517 right_gripper=0.5094\nstate[joint_eff]: [-0.0068, -3.412, 6.4752, 1.2283, -0.0317, -0.0806, -0.0171, 0.3761, -15.9248, 6.2974, 1.1013, 0.7155, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee024a80663d4427aff111cf9b2e3919bb8ec135b7f2b39e8d1d713f15abfe4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae5c3a2ac70d08eb240fd9e6e0ede01f49dbdd1e39f3c4a59befdf653c2c55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa7f26039b1545a5a61268c137752bdcdc98cc7e5cdd1c81bc3453dad884560",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9367, 0.0673, -0.2256, 0.9971, 0.8665, 2.5008, 2.7598, -1.5913, 0.3485, 0.6369, 0.5042]\nstate[eef_state]: left_x=0.2895 left_y=-0.0005 left_z=0.1711 left_yaw=0.0834 left_pitch=-0.486 left_roll=-0.179 left_gripper=0.9971 right_x=0.3726 right_y=0.351 right_z=0.1613 right_yaw=0.0674 right_pitch=-0.5744 right_roll=-0.1471 right_gripper=0.5042\nstate[joint_eff]: [-0.0615, -3.5487, 6.4479, 1.3065, 0.022, -0.0171, -0.0171, 0.3077, -12.5333, 5.2444, 0.8913, 0.3443, 0.1245, 0.1978]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9482, 0.0669, -0.226, 0.9971, 0.8646, 2.373, 2.1593, -1.2621, 0.3458, 0.622, 0.5082]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1697 left_yaw=0.0844 left_pitch=-0.4974 left_roll=-0.1781 left_gripper=0.9971 right_x=0.357 right_y=0.3319 right_z=0.0672 right_yaw=0.0007 right_pitch=-0.6749 right_roll=-0.2821 right_gripper=0.5082\nstate[joint_eff]: [-0.0889, -3.453, 6.4342, 1.1844, -0.0073, -0.0513, -0.0171, 0.253, -16.5675, 6.9402, 0.7057, 0.022, 0.1245, 0.2515]\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]: [0.0269, 1.1744, 1.0534, -0.9501, 0.0669, -0.226, 0.9971, 1.1286, 2.2383, 1.9293, -0.9684, 0.8997, 0.7494, 0.5094]\nstate[eef_state]: left_x=0.2867 left_y=-0.0005 left_z=0.1695 left_yaw=0.0844 left_pitch=-0.4993 left_roll=-0.178 left_gripper=0.9971 right_x=0.3302 right_y=0.3825 right_z=0.1299 right_yaw=0.021 right_pitch=-0.0907 right_roll=-0.3517 right_gripper=0.5094\nstate[joint_eff]: [-0.0068, -3.412, 6.4752, 1.2283, -0.0317, -0.0806, -0.0171, 0.3761, -15.9248, 6.2974, 1.1013, 0.7155, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee024a80663d4427aff111cf9b2e3919bb8ec135b7f2b39e8d1d713f15abfe4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae5c3a2ac70d08eb240fd9e6e0ede01f49dbdd1e39f3c4a59befdf653c2c55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa7f26039b1545a5a61268c137752bdcdc98cc7e5cdd1c81bc3453dad884560",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkx4EBjqGTiqEUkJELJcoQgE-pEiC-3VG08AHeirpm2Z9ooSDMQFvsqoUU_c-I3FrLdT1JwrrAmh7WBt6MZct5wuynLtdHL0t7s96B3p0DcznjyZkLZkByYMilwQAlKnBp95xF4cWX1DKu8FMDqKLNWyiJ_HBUK87EBJIOdfpDT3JXkf8YaICy5rWrz6gxWXdrr7jXhfmaUR3IAlZQnXruu0Tz1FiqJvl6lp2nRwA3uBX6G2_O1SJ8V7eBs3tn24h1yYkosjNlJLhMa_VZbcRXsv7iIQWACdpuOAr9veig6A3uOtX8hVcP2OwxHtp7tVtDYnBXqRsUSypWozhSs3PewWO-6HEQ-xXzrQe-Q8gSLtfus1WruQclX746fhGlaKS7rFrTzgZwKgEqbE9mno5gvfoquBKLeJrjXY46mIPTwrc8iEVfMtG99RTc4vuV5HeY_fy_7aXv4yD4uLjJbyNolJV9S1awAxW2PtQGqg-lX844qAhjAP6wJmuLw12KwNHpIefccByp9RlMJJuU_IMa6johhxcudsmU9tOJQkKaYanOqsrJcg7zAUiTxCLEnY61Eai0H_UKCUZ0eVbalUjWb_Og9FZ_5Ncie1JkUQ2Dqq9p4I4_GJ2JcZ3YHxmFN8F8axs9Kb8cJkCUHZOwTXUqj58wQqC4C77bxUqn-fKGS5SBPyYQW06z7uKZ6NXWfXIIEAb8LdEw-lK3HNZTIyB08v4iN43rhChIJszCUNSxKFXny2ZnbCxUXxD_4X2FdEpP55-2mG-ymeUvidIO1BwRkqwIDwgMv6PRQwcBU_zqoV5R6Pzmia9JEo_1luQP4TkeGEGtzhOp7eLQ8SL2U66QASiemm-jdGoQ6Ev-GHXjdO5Bmt1zzKaHTX9kIgZXUPb6YUWIi5iv7Mp83qKlVcbmHoz6l-yEr53FPrNvun6ej5__MZ7ugzBagC-JMUMkXsF9RgsQBxgv_vCKI5IBRXJdjBrSZ30zFP34ZFkk3ygBWz63qU6q_fOd_UJEo3xAOaD6Ow3DngqJupynbKcht3_0QLCV3D1PMwAZ7u3HxHXwnvBz9IfeLoVe84Z2sunMGCg7-Q6Gb98nxdRSemKIRXZJWFvfXm2ucU8WcJ2S3jtzbcrWvZ2cqBW4AE3cI8Or2Rg-9sgbPBMpjG2ct-OEWmfFkW4NgrjF0iyOywmmHG9ivp8RCMlMklYAk_eSE1X3cZqiLrMLboSiwAoL9H6nUgUM47-X51LVIo741XzB0C0yZkw3GXW2SXpZhP7QIkDn3jzmmA6u8Snn5Kwq9x7FC7mZ3dA1ZPZu-5Cs_olBtGbV4UX2pVN2IFh6CjwEfYlEPW9RA_Nun_maudg3xHjkLxUCXCd7LOl2cg1ykmVZlOYc3scAr_IlOgmd2bSXdSn7-gjSS508Adp-mP7IZhKym2OQ_MForLtz4kIXvstF06vFsUcDVfWD6w8Oxg34tdG2PzfFYcRG7inH5L18kOFN4JdcwO_bman3ziN3zXrM8dE-VExEIfEUuVxpRT0rQGCUWmAOyQgzomJRhTOU0OLWQLO_SN2rOSD9VFEtz6aR4Sgsf6WNqdNLi3X3QvFRvlyIxIzFz-BTfua1lFt96Dmr7hRZdofjnQBRDtnXtGvMC8wWS-Eo8nhzepjt6dnajmtI9mpPaNjsv0ltKCh1xenJL3qdjzXZKVt4SQFH-YDeJB6dqjaOsRp10bH4USDKbaHdXuH76iU4teHybw0cDoR0A2Xl334fyNwy1P6MTvycB-ZesbFbAoANFEC_RbtGTG5GbYoE1o8ikjDSOs5KKTZAwwChHen4v7fNlSJ3Ur3YOIkfmdnmR7fW_NS6timiOQ366FZjerSm_dcaoZap71awk0lheq_qxR2nxJopJsW-CuErs4zrNYBFm1pXuOwxrVjP2zrWPQyAuhLQA8vlKU7EiE3jSPutAARrB-cHNI-lEDk3j88q8X716PoKywQdtc_LucMiQ73t_BR6EWUQ9_crZRWbRXHEBr3EuBhp_mwinklXM0VQHddB6P8ioe17eLTbPo337MRL8H7_AZuSnuEzlPSuAu75eKKziNMWa2KlkO8rQq0zThgTFGL8sCv-Ik7gmvIGLhgQQwJabyV8FyDBRxjtnFsGL5lCJCec16EscPctl5xfeIm1k6u-s0pBAuDcZvhDNTAUjbAPC1DCMuQTAuytA1BYlKgtKGHyt3va91R9-oDIY1sQfKS9DEMS4unHVeNCTXq0ZzOH0UD5KG9nLBXyvleEMxyAZD080QxKFA7rOULmLvvYSM-8sSJPlNrsEAT9OvuY3mdkf73M28UCHYyukKRNmZaj8hJIdlp-TAyvgb9yXQPajYVzUtfmrxpeFgXdYYK9kAjP2p7yUZFipJaErh7L9q7gO05EZCodmI_nxMjZFAaLJlez5-9kqp1L7uGBu-jlsFJgLL8dj8Kp54BftnqPenopZitbCTCk5LrU3rNxW7_2JWnQm2duU1K_H3fFPj4WoI3UmUmo5BcpXbz0lFNU5EmavhyQYZTf_MDROjNcDOCBkBrJoGE7I3rxmLXLbv4jqtOYILQ-BpIo9_jOPjN8ZcyiXDxUf4YjliKlJU1TwyHjcbLfEyto-LpPmmXvJVfRRsSXEIki9mWqVJfhsJ7vC4Z_BetKqKLSRF8IbLQKiqyyIAb7KHCPppdeHzLzMu4haw9F_27pEs30nlxDOOr795BGLq1ppaLF3EJSZT9JWFhuoeyNHKjKpRhaXUg7Ap2VlNgEeG6LCWI9WqtBwUaeH049Kp9XGQgF5qkbT-M_X8y-wOdqLEkcjiQ0XdkkyKZ8O-EFMx0gnv5WPKSAYnhJydju1BUYJ2_AhPHTQVTeWJf23limn5HHCeMITeP-a",
  "id": "rs_0a6e4bd6cdd145b5016ab4392dc35087d0a708e57e294bf62e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.4,\"right_z\":0.085,\"right_pitch\":0},\"note\":\"The right arm has reached farther toward the safe’s center, and the yellow object is now visibly inside its opening from above. I’m lowering it with a slight forward correction to keep it away from the near rim.\"}",
  "call_id": "call_qRFOJRe22e8qzX44vNV4JwDE",
  "id": "fc_0a6e4bd6cdd145b5016ab439307dfc87d0a8ed23952003a356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qRFOJRe22e8qzX44vNV4JwDE",
  "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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1168, 2.3299, 1.8809, -0.8017, 0.9356, 0.6987, 0.5105]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3453 right_y=0.3916 right_z=0.0854 right_yaw=0.0254 right_pitch=-0.0581 right_roll=-0.3837 right_gripper=0.5105\nstate[joint_eff]: [-0.0479, -3.412, 6.5299, 1.199, -0.022, -0.0464, -0.0122, -0.4444, -12.9436, 6.6256, 1.0379, 0.735, -0.0513, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcad0c41678a2e6374ec5c5353c489758a4afb8163e907a736595ad6fe388cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaa08e7a7f5cef7615b0821ac831306fa3762fad3dc1dbed082b21f24f2ab62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7423aa956471323ceb64c075ae84edebcbd8a6a1a376c97efdb93bce628cb57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9443, 0.0669, -0.2256, 0.9971, 0.8494, 2.5065, 2.7628, -1.597, 0.3428, 0.6147, 0.5057]\nstate[eef_state]: left_x=0.2879 left_y=-0.0005 left_z=0.1701 left_yaw=0.084 left_pitch=-0.4936 left_roll=-0.1782 left_gripper=0.9971 right_x=0.3775 right_y=0.3447 right_z=0.1587 right_yaw=0.0648 right_pitch=-0.5861 right_roll=-0.16 right_gripper=0.5057\nstate[joint_eff]: [-0.1026, -3.6034, 6.4479, 1.199, -0.0366, -0.0562, -0.0122, -0.1983, -11.5624, 7.8701, 0.9353, 0.1538, -0.0269, 0.1441]\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]: [0.0269, 1.1744, 1.0534, -0.9501, 0.0669, -0.226, 0.9971, 1.1286, 2.2383, 1.9293, -0.9684, 0.8997, 0.7494, 0.5094]\nstate[eef_state]: left_x=0.2867 left_y=-0.0005 left_z=0.1695 left_yaw=0.0844 left_pitch=-0.4993 left_roll=-0.178 left_gripper=0.9971 right_x=0.3302 right_y=0.3825 right_z=0.1299 right_yaw=0.021 right_pitch=-0.0907 right_roll=-0.3517 right_gripper=0.5094\nstate[joint_eff]: [-0.0068, -3.412, 6.4752, 1.2283, -0.0317, -0.0806, -0.0171, 0.3761, -15.9248, 6.2974, 1.1013, 0.7155, 0.1538, 0.1099]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1168, 2.3299, 1.8809, -0.8017, 0.9356, 0.6987, 0.5105]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3453 right_y=0.3916 right_z=0.0854 right_yaw=0.0254 right_pitch=-0.0581 right_roll=-0.3837 right_gripper=0.5105\nstate[joint_eff]: [-0.0479, -3.412, 6.5299, 1.199, -0.022, -0.0464, -0.0122, -0.4444, -12.9436, 6.6256, 1.0379, 0.735, -0.0513, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcad0c41678a2e6374ec5c5353c489758a4afb8163e907a736595ad6fe388cf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baaa08e7a7f5cef7615b0821ac831306fa3762fad3dc1dbed082b21f24f2ab62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7423aa956471323ceb64c075ae84edebcbd8a6a1a376c97efdb93bce628cb57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
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  "id": "rs_0a6e4bd6cdd145b5016ab439335d3487d08813a396b4d5a737",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.048},\"note\":\"The yellow object is over the red floor of the open safe, with its base still slightly above it. I’m lowering until it is supported before opening the gripper.\"}",
  "call_id": "call_m4ffNpe1wFhWjlK0AcCJpFNy",
  "id": "fc_0a6e4bd6cdd145b5016ab4393546b487d0bcb398a1b12bcb22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m4ffNpe1wFhWjlK0AcCJpFNy",
  "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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1152, 2.3573, 1.8648, -0.741, 0.947, 0.6731, 0.5122]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3492 right_y=0.395 right_z=0.0721 right_yaw=0.0339 right_pitch=-0.0458 right_roll=-0.3941 right_gripper=0.5122\nstate[joint_eff]: [-0.0889, -3.4803, 6.612, 1.1355, -0.0464, -0.0611, -0.0171, -0.1573, -13.7778, 7.159, 1.0916, 0.6129, 0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310f5da289d1b982d28b5385a9aacf5410383c4b317257a5b3cf2eebdb4b596c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d5854f92abe2c7f3528e6c4fcfbbb99bf85edc962746eddf8133cf3294a8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e57f092666fbb448dd5acc8727e52a6739f80738974f6ef0f43fc7cfc1182",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9482, 0.0669, -0.226, 0.9971, 0.8646, 2.373, 2.1593, -1.2621, 0.3458, 0.622, 0.5082]\nstate[eef_state]: left_x=0.2871 left_y=-0.0005 left_z=0.1697 left_yaw=0.0844 left_pitch=-0.4974 left_roll=-0.1781 left_gripper=0.9971 right_x=0.357 right_y=0.3319 right_z=0.0672 right_yaw=0.0007 right_pitch=-0.6749 right_roll=-0.2821 right_gripper=0.5082\nstate[joint_eff]: [-0.0889, -3.453, 6.4342, 1.1844, -0.0073, -0.0513, -0.0171, 0.253, -16.5675, 6.9402, 0.7057, 0.022, 0.1245, 0.2515]\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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1168, 2.3299, 1.8809, -0.8017, 0.9356, 0.6987, 0.5105]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3453 right_y=0.3916 right_z=0.0854 right_yaw=0.0254 right_pitch=-0.0581 right_roll=-0.3837 right_gripper=0.5105\nstate[joint_eff]: [-0.0479, -3.412, 6.5299, 1.199, -0.022, -0.0464, -0.0122, -0.4444, -12.9436, 6.6256, 1.0379, 0.735, -0.0513, 0.1099]\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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1152, 2.3573, 1.8648, -0.741, 0.947, 0.6731, 0.5122]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3492 right_y=0.395 right_z=0.0721 right_yaw=0.0339 right_pitch=-0.0458 right_roll=-0.3941 right_gripper=0.5122\nstate[joint_eff]: [-0.0889, -3.4803, 6.612, 1.1355, -0.0464, -0.0611, -0.0171, -0.1573, -13.7778, 7.159, 1.0916, 0.6129, 0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310f5da289d1b982d28b5385a9aacf5410383c4b317257a5b3cf2eebdb4b596c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d5854f92abe2c7f3528e6c4fcfbbb99bf85edc962746eddf8133cf3294a8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e57f092666fbb448dd5acc8727e52a6739f80738974f6ef0f43fc7cfc1182",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk_31dNPKuvtA3UQivnqLjSzWRjMHKOkXAz2u2vMMIHe7APgabIp-jHTj7U1JPeBVHDtY1jKi2qR9QE0HxMZdd2stPJk2NVcVavw02xfYTJlCysbfekJn2MKteaAyFRE6LGM6S9774uqxRkhv1TGbw7AMpM77sXZNkIZtlcOEFn3jyVi5aBNLsrPWsBsRDXxMjbyqNXEuEDqy5K9CcGBaPsSfedVCDK_dCacMCOv9nMuQ3A2LZqimX99efVklyLRXS7CYZBKphLrPnfWhRL06_EQirDGNdV9NXpJJqoL3GEG9ee0It_1ChZVBpI2UrHUQMYfinZf9OZw3KuurZ88pk_yNx6wYsRJjPySvU5qBuHSrfcks3aLvnpFUp8DAsW-d6-70zMArhAXCgkdA0o0GIFwpkzCOYw28GkqsO2FqYX_vV-HjI123GfIYILRJ0xl0jm8UzDOszlTJ3kGzg0caSYYC48f1r7t--ifE9Po6yvo65DzCsYrNhQ44d9pbQnc1pSsXMrNnKouOgMTE_cVh3e9tvl6VtHGLVhsnRrumKDQl2CMLpNzd46EOhhHw5mqF-IwQdEm_JFJaKwgg_6FMk44j23yg1Bgje1JfLDcQ325SpbHz9XsZS7F714NHRBRScNv3StbOcmFUEBYZ8FpGQw7mJFtodt9FZfuk0lwpvSU1tJ_-poQ8bToE0-G97sYYc7ACCVceEoMxm_n3_JiPaj4xcZhHSXwmO3uBDBlfMWOmhoinYIyA4zq25c82t6tz93jnVxWrTGYDkh91FiN-mEJnqf6a-04pKstc-ilXX-KBkg7bVajRa4jz_gwjO4e0OsoU1t_8UPMrF7c2TPpw8cfmHVNNBoVLGNQG5PcxfTV16uyTvOZkJHZKc8o3J-DawD2cS2vRZUEof7LQcVgi_3T-CMtEyyNP5UzE2A8mCMRc_6gI7uRMQs3WNmWIspkyzbVQG4Ug8kdJZ2IEHn7Kng7e06NHYXd_DQkLCNeWCF1KM_jeIJ0QTlDpH9QDOHcUO7wJKd0mHg9bVIwvTHBKHRX0a1OiQp1yVnC1vNWjxjkYAcGS4JrRtUN5hB3REmr8yiQNGAP__gjUSB4Oh4AN2vx9oiHUXQk3MjGz52FnJx-YBLfJRQ4aG_HLbLc4uaBQK3ZmlsdWs6ODF6ca9Ng_Si6biqb-rOxFDPfIKHEEDE28DZX9lTGA2lxKnNfNzKucORr6qEbE_aD5b7e9J_sVjwN90FJHYoMhd1bLAwLUVX14OwGa_lUqTpki7pwEtgK4cTgMlIupyMMJx581uB3R651BJ6Y-ACJ_nqQNDrCAtMDY0chzXRuk6go5oLTBaUjGq1RrxY05uGJTqAR10BQ2VRDg0xzzSpP1tKs-ZlBOzfBy4ujdqA4RWbYzTHJJAy40UZGmw3QXkd1lfrIpLLWsv5kYTuxJXCQKNGZCEbyVeQj697nLis5NU3GDF3vpemvc4yQiOu_K_qn3xp14hvB1rSywWICmORHuvhgHclWdBnkmlREBMdzxw4hPZ9fwpIC-6jot7DXXtdo_f-BeK3FEn-9_Vc1YomWrAkwdOm8ECwUkeThhgVY4SyvGyvGsJoG4v35OapWrbXpNhkGSP0idmYkzoR_HLA_ClGjwVBTwVXHRMDMIkrukzrzKp4_mChKK5v93BkVDp5-VtQiSQEQxsDAX27IqrR3N6JeBrfSQ05kr9oHFD0Wx4aFe0l9ZdSgFD4m0NcCqb-XgycCIYgUi0MUunl5dfSx0d92QuPsmojaiEbVJdo7fGv67GZAVz0j_wZfqWu5NLkGHLDT4VQJ4eRRB1yRI-YzeDKxopgiy6jMvivvXYvtcWCTKh37CkXFPr5vivooDBrsfy9YTs6ZIZdbEy9JyVfrj33IYXPcnl9jgnMTt7BWgoKw0Ec-TwBt8648dJRlOKAmgqeh71maBUqBoHaFJhXbex84VyTImey35s6Ef_DpKKACVDuceBHNtBKH8RxADZ5sEu3dSPEGhq8vdlyWmSX3XNLKIFfwCFqogysoPt9ylgew_UOHL_5nk8Zg9NcdKbwsq1Bo5xXhyAkRGN5siTbP9e9YaR2Ihc1DA8yJA5H2nvZPQdYThXvl8ieGJq3101HBWC8lIcVWX2vQp8HrzYQ9TXYTQN5Q_kH-v1ap72viNwmO-fh6uqcA3zp3DWfREs6INadJKaGdH07skO0m-DZXyuDt--Rupr8rK_XsYQSV4OzSfDzy7Ibpeudu5SfNrB8SSYrxnKKmrab8vtM1aWvxVwqBdZbHOv7ARNXeoJvKqVLz5cVbLzKf_SsulCCp1yygMKOIrzkx3rP4otsboBEpgUvs2xCgr-GuTCB_NN56LUODR5K4bDHBHjvspPJmmct0JNrT5WgLdixl1PSLWLUvlZSqJz7B-QpvesZH-LLaFyeFZ-Ao7yXzGfIDhgbnqMfTBpkbVjFXYg8FTnOmjwo41Cku0Bmuk_CWNXgSeGTNH_sq__LR9_HKw9U9FdVzr1Az7Pl6N4LfTrrhKn4hlbRo9WSkJRSSjXS0ebb1br_tmQzakrQYutjbAUHtbA5QP6z3eOLRvKEe4Ks0Mkg2_hMF4Vjj1Q6ocVCrS5ZLcJhVxbGzQcmiqwMfYhDXWh46plklk_O50HU5mi3W9DJy-cjQo_4qQyjpHfFgn_EiVFGIV5meQ6amFnwTUnK2JyQasdkxw38WlRJZVtWFcoEw1jkknh8V9HGhhpDYODoGd7MN7hRSzhokH_y-JZrS-ttTB5WvJEib4ndNjtP4t2kkEcaRInBcn6keF4CGS2FKKwX3aBpQKIXEry_J7iABaJ1NXJ8xmtiXiMI-5P3B4z9UqrgOxqxz1NZ9vXX3TVBV05FOSAMpMI0ROsTCpGzn1pkiEUZ0m1Uma4NjstMG_2n9hiDupQvkMdgNkECItI7Ejil0Tn4aBoyng9LT8RpEO5XQ_46yy8lBMrWpxotYZZeouRGQ68IMhITICO1XgyThFqkl_y3tOx0yRdhi2KVxyKleijaPEfrQvgIZGWT3FeQ9cpiEM7pDzDRrgMb7cTV43b0WNJaZdmRqDZf2zhNO4BWsG5FtzzTKDlwHkY_Cl0PS7jbrDc_xxf_DjRoA-nsq9sYcUFmYip2ZuwCJe1bxKx2HoCa-AZYQZSn5O2pXUe7VvzwcxRaBt-Tg5M7yujPhG87lbeJvL8YlT8GhBWwR4i3Odm7jDfYjLDRSvMPAS6Z4uUxRiwINQE0stC5PjZV8M_LoF7DH0QUHHGCZ8B0lONkbXh4lU3uvIAiwG614Q5o1h5zt7uwabIHsu9ROEcBuLkjoi0UYsWRSQhjMaB8Cl5drNMLlj50sx8l18jPZDWr25edYAvMpA85SrjthzzZNSzVREHk80sH1tp4Hc-RLOnNhb2-ycv2PmB7Qh3VMyOciswiRbXMLz17HL7z7TGd58NKEWWaSbmvfIMqvQk783PwDzZjp4oljqH93iH5uK5iHSKDtz7VgpzUQy8-C5tRmpVgulDzWMSVYSWHDN_4d3t48Hv6MvOqAeQgXrNZzDxNMINDpb3fASIMo3aagTIo04bVzOJYH0JhYwj5f2BYUID5K0BxOI4_XRstkXlwXPb_bbkV2P6AEzx4uWbJcJj_a1EZelxLBLJ66sB7sLThjkfjo0Tz8FSbeUOO8P8f1clf5nZvrxMxdtooZLWrLijL9F7XDRTXISHzWZMsIyUnSVIS3OTUtwFlyneC7tHiQSqs9skSDiTniQtPcgN467faYOQRbM6b4ZgkG_4GIGTLJWwB6XwSMD3eWoI57WebniK-3L62MzNIAw3rnsaImC3WAOASql92vzfLOFxAO4y5f-4QKqbbFKt_myNjFodhrHos4Ol-tqbm9tFnNAN1ZB5lMjf2M_v9EbHyq4KF3Eoi_ac773QCu-6yGlEzZcJ3a0GLLbtfUWHsAOZId6IUywEVuSqNCVj2wT_loC1rjMFtUl1f1HWmavzU5KvXXh1ukQ==",
  "id": "rs_0a6e4bd6cdd145b5016ab439378fcc87d0a7816478840b8176",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk_G6d58z5xfyP6f1vbvMnFzyczA4oYRMJNTprL7L9xiczX9A9H3pYoFwsIqR9tefucBZeI_QoBEL9tZ3PyVNVEGGK18tus1nhrqtvejSgMt7q_x56569Zp1ovMn60Huz8wT6CrXHuQczhdX-0okw1ZuIHjN6wdMuPGj-HIYf9xQ5BveCoYH-mEMsDk-GNj1KZL_eSCmNt4meR1FciPsk3upw0MH_3F7gnXl67UCpfkkPOgQgzFULi8nDGG04BS0MKIkwDZrYcrQBY-lCeg1mZaySoKOogAMhUy7zh7wIVT7uScqv6RIoC_W70oJkXGfdMriFvM93JNxkWVICBWeUkcJrQdZ7yr11h4VLzZZ-4LeTn0W2HT-kUBflFfGZt8-oubpvWrbKzcq3-1Cbm9pTyrBzZJ8Wq3650MZUESR2utf_JQJo1ZAbHQ6ZjA21AEEbf1elmcF_Pt7d7as-pXbAgB1lqfxIXslfyTCAR_211FGOul4L98T0sSENOMrU89o4I2w-COsmlsy_93WdK5OTobEmkT9sSWc8Y9uhP6epYJJ-7lktZ5bh9ZEo4kurZNJdggcE1_-viWVTazhEQBqQLzflp7dWmre7CiYjaHuw8FvjegOxcN-BAziVFoAUwRua_4l17xlswCb4JdvC58MrvvnCoboiLXN0Eo62Wk_h0d-ZZE0kZGCQ6JEpNrAZyNFhaz9glb-g_9HBVigAqY-e2ChqGjpQ7SosF8qhwlij9UKaHYwI00pyiKoUAzn6DoMvY_C0oEAanKbBUDVmrsfEQJ8SFIYxi2IJV9T_U0mfGRN35Hm3-9q00vRoF_8DauydVmV2qpI15GD9mDy6mhkZuPO5zVYKN_UYz03HO_ZwPlVtw0Ltyyp4xdhjoe5ZHnZzr_4VaikbP0CbZ6QdX44WuxGZLR9MC7gVFUQFdKO2ld8ulvLNYeYvZFftdKtPa9STFRPROr896e2e-gv8e_kIyZO4CcJSA6f9ea2HvOhja6wt--7r_QYolIiLMyy5F4bWeMY4QtHHBkCGlwdWMJPrFn3SZMHFZTvK-g9QASUSUSEEb7brv-OSiN9j3wVCmKItyzX0bfPqUoE4Wj8bJOtG1iy2F7NjKKlRPff3W4M5lax56I1x3n_ayLqNZtTyysXp_9jYaEOnNveV2j95Fn0ebpzieyUtDbELQlAjGrrQBjSAiXpr_KlO07ppqLvXmP1E3RP26W0_qtNh2zkK3FHkZnwXVPGeLH4D7JeKl9ZaoW5r6p3QRbfDfe_n_2u7Ts_MYR90zS_VPxOJ3303am8Bz67qG6ZyiFHaCM25GMWwqBD5EbCH_Nr8jGq0Qh1udESDwrA-RNm6Imm55zmSplpR6NDyABoDWYcm_sFiyfk0k2UJJXxlUd0zANtID40APxTL0ktSx_2fYbBWBQsOdPWiWr3tttNWT8jHNm1dXLHtatTR7buGqAuZZtbhm8e43rPXk_ttpDlQ3iGXMM85QEuZsQSvPAvBPgnsSDMcY8I9jm-EGoBLerRIzvvl0nGy-c3kcjP8e-Ls6gXrRS0koJoZKuT6y3Gzq-AfRfrVa1DJcLLtqsBIwu4TOzWFVSVYum49O_E1S9461HVEzPJVS9-hhDrCcg4_Bb8orT1BYqj6bI8ki_YILlQzsHItUETXHBLohFqDPuycxxianDoUbMuLu9dKs6IcC4PzlnCn-R7vYoJFRY5Nuy-pfXJy8fRKPH65CdkcE9xUpI48kfdGlrps1JhiK2yG114KZvnNDVoWWcpwA06239bFWg-GK4a1XrzZtrbS_xtkl0FLKpc2cmkUjLLfkl2JWRwKDDPxuQjjt2FF7G9BFEDxF2eGoWYyz8aq8miT_PADW_fclRQsSDDoYe6a5xuMsGDMohxxZ3B4-0l23-u5uOdliumnx-OpXBnMIr_Mw2qBC6FZZJ7I7fWZZwHyHzmzxmfNnSyoj-713KrIZQINoBKYX2l5ze44Bw8uPMp5r9gy-5oAwpBSBaar07G5xAPwqKH30tQJQAyZ66pDxTyldcRLZ2pIb3BOeUJo65ni-VBG3UUHDrh8VVjwUhX6VJG_0kAE5uPsodrHYxjDkHK9GYb0-q6kl9Tdr178LUrx1k0NWjWSmw0ipQ8F-jVJK5CLGW6gDD7_-hLW2x98RFeEtuzI_Bkjb7LLvKGMQhJHWiFOU6e5qXKAP60J5u9JvDpEImdQKujsUkLBncg4-tDbl08B5h4k1YhDJ3gKywFbEEtn4I-Qblpz_LQ5eov9RCXkasSh93yZvWHSk38p2kCwLXNtA1EMiNNZP7V-pHHXlwTRWHt2xMpaFucANJnPu56EvMWMxvCDpHG_35JvZ-ruAqrNWyV1kLjKNcW2G89eIh9zShnIVhC5BPo4P9KabDB39PmqkEJvqCAuRwhSCPZWp8rJC9l0pyTxPsUpSFVs3wt8MrhzG4vEKN8iFUVMo_BFqhYThYXTCM3q4AiRQVDX_QxSypb2OXJtuNbYc3WsmwrkqAUkmXoWgN89NxiSY-rdflez4p-B3POg9bF3aYySPfUsNReaQ1xh3Ue7NWwhl2OydA_Z8enekKnXGQlsJczESebS95RoJ-WeTls3tVrFJfW6yS62p7xp3iAaH-SdTyiLHo-4T3XBHIoZ1cQEHSALgfto2D5x7vlqu8rWs=",
  "id": "rs_0a6e4bd6cdd145b5016ab4393bb73087d0a70e657bf7c8dd1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.105,\"right_roll\":0.5},\"note\":\"The yellow object is straddling the safe’s right edge, so releasing it now might leave it outside. I’m gently tilting the held object toward the safe’s interior before setting it down.\"}",
  "call_id": "call_Q1xhkng4QvU5qSBJcPNwnZBW",
  "id": "fc_0a6e4bd6cdd145b5016ab4393e2fac87d0ac72d75f608e699d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q1xhkng4QvU5qSBJcPNwnZBW",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0107, 1.9835, 1.2942, -0.1806, 0.6216, 0.9127, 0.5138]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1686 left_yaw=0.0869 left_pitch=-0.503 left_roll=-0.1749 left_gripper=0.9971 right_x=0.3449 right_y=0.3632 right_z=0.0811 right_yaw=-0.007 right_pitch=-0.1048 right_roll=0.2509 right_gripper=0.5138\nstate[joint_eff]: [-0.1026, -3.8359, 6.735, 1.1502, 0.0513, -0.0464, -0.0171, 0.8137, -10.906, 7.1316, 1.7949, 0.1783, 0.1441, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc3184ba5bd604cbd1ee9fb2840266c23a1de33dbbc7fc452c36e28f8544f26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030ba9ba0e841e07b8d83b8a04e3d4d2ad1ef75a4d239449902404b75732658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bb399fa95c6a990ae346f4b483b9010718dcf18fa5e00a197b91e43b8eb63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9501, 0.0669, -0.226, 0.9971, 1.1286, 2.2383, 1.9293, -0.9684, 0.8997, 0.7494, 0.5094]\nstate[eef_state]: left_x=0.2867 left_y=-0.0005 left_z=0.1695 left_yaw=0.0844 left_pitch=-0.4993 left_roll=-0.178 left_gripper=0.9971 right_x=0.3302 right_y=0.3825 right_z=0.1299 right_yaw=0.021 right_pitch=-0.0907 right_roll=-0.3517 right_gripper=0.5094\nstate[joint_eff]: [-0.0068, -3.412, 6.4752, 1.2283, -0.0317, -0.0806, -0.0171, 0.3761, -15.9248, 6.2974, 1.1013, 0.7155, 0.1538, 0.1099]",
      "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]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1152, 2.3573, 1.8648, -0.741, 0.947, 0.6731, 0.5122]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3492 right_y=0.395 right_z=0.0721 right_yaw=0.0339 right_pitch=-0.0458 right_roll=-0.3941 right_gripper=0.5122\nstate[joint_eff]: [-0.0889, -3.4803, 6.612, 1.1355, -0.0464, -0.0611, -0.0171, -0.1573, -13.7778, 7.159, 1.0916, 0.6129, 0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0107, 1.9835, 1.2942, -0.1806, 0.6216, 0.9127, 0.5138]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1686 left_yaw=0.0869 left_pitch=-0.503 left_roll=-0.1749 left_gripper=0.9971 right_x=0.3449 right_y=0.3632 right_z=0.0811 right_yaw=-0.007 right_pitch=-0.1048 right_roll=0.2509 right_gripper=0.5138\nstate[joint_eff]: [-0.1026, -3.8359, 6.735, 1.1502, 0.0513, -0.0464, -0.0171, 0.8137, -10.906, 7.1316, 1.7949, 0.1783, 0.1441, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc3184ba5bd604cbd1ee9fb2840266c23a1de33dbbc7fc452c36e28f8544f26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030ba9ba0e841e07b8d83b8a04e3d4d2ad1ef75a4d239449902404b75732658",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bb399fa95c6a990ae346f4b483b9010718dcf18fa5e00a197b91e43b8eb63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlCzDSeA891lsjUTGwjkHGu4S4lnsh4vhIYgh7OetKq-m9m2cgEfjOQynUX7BNRVM4TTVwFod5CAD-mz1JV6ZhcCSt4KgB0VPW_QYN79aBLyIbY8ASgqwbx63IIiDOlURB9IgBxhajUjlhvaxXei1GwAxa9i85TMeDpl-GVALwyx-s5i2Gf1BPFqMaZqAeWhQQvNOtq24fx3ijiW_VV8TAOC8R_okcjh3Gz2WOEJYOWg9tbYWhbme-1lIcCtEDxWdBlSlqhXla_BhPvj2Js3sVA9S73znGVkSUsiY8URi1Snjq8XJ16syOjc31taM7AKKUbMBwwFL12_ConfscgDf4UHJK6-OPFoMyWqOsWOS5wbncH8S4YmRvW2NRRQA1Ac_VZ30sJr8HcRZFQOoFqhG-aXLJz6TBqr07QG65c2gb2YtG28vrUUXK-a3Rk8spB3fnWoT78BXHDys2bTBzuP-7LbJbbfkEQ0N3jkuwJBo93XNPpZzDqoebPPxvr_QDY5Nn3_b08Wq9XmPoAfcEGqY4wVhXrVXRd6_9DeWpMsKDRMkg-YiAdMtiyPP--ypWnrXrntQipgyMhVp-VA0SiBxzyLO_n1K4Lasp2dR-sCMcYDI2D9fU8GJbXXpMVsdtb7muYfMF8sGK4NgXmV3fPNPA8tYqGUAvYQ4x2xYoKS8TfsHnp0Ja2ZfdvhTAHFIfTgDrmI0RM2PD10VClgA1kYV1sDqU6NQeJczG_82MYBZSjC4yDjSpPzK3-cvBIGXzS5jfhAZL0iRfjwyyLYQim4HrP-CFlGwc9yChsJKPOgzf58Z4Lu7EEUX_d1GPvAaWA9iXS1UQRqPNvSw_taoxojB5HfCUdHTpW4YV1anL7HPjJlu8np_Gw6cf_5Gr1zX-BJmfQgD2Z7hGLRcqu4LmhcenqeiPQ7P7w1MO1rAemNdlm4CdnTe0fN3L33zgmO8d-tpJmAeH2mKhQXhTHlmnz9J26EL5UbqfYUPuPpFWZdezWTXrqmEjSTzUGZjzkQHEi_ba6PDzExjRKOn__yB5Pi5iu51ntWvw4LNXgRFgs18SGQ97v8dSmTa35dKTdyt_YXtcSBZURAkMta5m3ERAwyfpVtKeEsrcWgxFZvBYQTELfIvSM2oFoDZX2jt6fTEDKrg-c-Bs0-df1aYdALMx825WCN1unzRAXAHobvFC20ZpVz4N_vwFD347Y7W3IkBvUFi9hnuzThtccNSGJZ_y9C7tqRmWZJOpeV9SJE3Vxo62RJGdjcwlmEJgj4Y-p9WgbRmqH0n_V0XD-N2ce0A3YWvG4ril_e4w50EZBDfWP7YG7SgP63dSDDWvJswM14Iu7w745NeuBIZVu-V5B_g5nxf9SBkeGHdgPYKcMJTuuSdv1mNLKpRpbJRcuEcPHjU332hVHqNWQNtNEonUl0Zxx2nVwXBvOxM2FflpAzV-XCLW-njAen62-Ed2fXWzL8R_Ez8_kGjXx1wrt1wIgXP9MF9zBD61Y9OrA7vhaouLDZBSMLNGyYF7Tf4ef9F05og23dS4XljhJTPKEHD3ZzyKM4bt2bjPPcoVXx4YXoco3d15yYpp8X6QG3gLfDAZBfQaUMBHlF31aXmGQl4xL1qtx6IPnmyvk1uRkaPTNvrfCVsfO_Ic=",
  "id": "rs_0a6e4bd6cdd145b5016ab43941705c87d08431458e08fcb33a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.39,\"right_z\":0.045,\"right_roll\":0.5},\"note\":\"With the wrist tilted inward, the yellow object now appears over the safe’s red floor rather than beyond its side. I’m lowering it the last few centimeters while maintaining that inward tilt.\"}",
  "call_id": "call_lf4hNdzseo1C12ymVBoCMfUV",
  "id": "fc_0a6e4bd6cdd145b5016ab439421d0087d0acbaedb42885e70d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lf4hNdzseo1C12ymVBoCMfUV",
  "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]: [0.0269, 1.177, 1.0534, -0.9516, 0.0639, -0.2256, 0.9971, 1.005, 2.0552, 1.2163, 0.0719, 0.5518, 1.0019, 0.5144]\nstate[eef_state]: left_x=0.2865 left_y=0.0 left_z=0.1685 left_yaw=0.0873 left_pitch=-0.5033 left_roll=-0.1745 left_gripper=0.9971 right_x=0.3486 right_y=0.3829 right_z=0.0506 right_yaw=0.0004 right_pitch=-0.1102 right_roll=0.4351 right_gripper=0.5144\nstate[joint_eff]: [-0.0068, -3.6308, 6.4205, 1.1111, -0.0317, -0.0366, -0.0171, 0.0889, -9.6752, 5.7368, 1.8095, 0.2369, 0.1636, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8a25341518cfbbb8fb02a7a561b889604c27bf8f34bde031cd2d4b3fd82fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9841861d3ec9f1bbe7f8ca8bee21ffde26b0e19f349673e58a2c244d89e4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2233d31ea2d83da9ca4b23c7583f5a9190f7dd40580cd7850c736feb8b2bdd81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1168, 2.3299, 1.8809, -0.8017, 0.9356, 0.6987, 0.5105]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3453 right_y=0.3916 right_z=0.0854 right_yaw=0.0254 right_pitch=-0.0581 right_roll=-0.3837 right_gripper=0.5105\nstate[joint_eff]: [-0.0479, -3.412, 6.5299, 1.199, -0.022, -0.0464, -0.0122, -0.4444, -12.9436, 6.6256, 1.0379, 0.735, -0.0513, 0.1099]\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]: [0.0269, 1.177, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0107, 1.9835, 1.2942, -0.1806, 0.6216, 0.9127, 0.5138]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1686 left_yaw=0.0869 left_pitch=-0.503 left_roll=-0.1749 left_gripper=0.9971 right_x=0.3449 right_y=0.3632 right_z=0.0811 right_yaw=-0.007 right_pitch=-0.1048 right_roll=0.2509 right_gripper=0.5138\nstate[joint_eff]: [-0.1026, -3.8359, 6.735, 1.1502, 0.0513, -0.0464, -0.0171, 0.8137, -10.906, 7.1316, 1.7949, 0.1783, 0.1441, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9516, 0.0639, -0.2256, 0.9971, 1.005, 2.0552, 1.2163, 0.0719, 0.5518, 1.0019, 0.5144]\nstate[eef_state]: left_x=0.2865 left_y=0.0 left_z=0.1685 left_yaw=0.0873 left_pitch=-0.5033 left_roll=-0.1745 left_gripper=0.9971 right_x=0.3486 right_y=0.3829 right_z=0.0506 right_yaw=0.0004 right_pitch=-0.1102 right_roll=0.4351 right_gripper=0.5144\nstate[joint_eff]: [-0.0068, -3.6308, 6.4205, 1.1111, -0.0317, -0.0366, -0.0171, 0.0889, -9.6752, 5.7368, 1.8095, 0.2369, 0.1636, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8a25341518cfbbb8fb02a7a561b889604c27bf8f34bde031cd2d4b3fd82fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9841861d3ec9f1bbe7f8ca8bee21ffde26b0e19f349673e58a2c244d89e4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2233d31ea2d83da9ca4b23c7583f5a9190f7dd40580cd7850c736feb8b2bdd81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlGJVXY4fj-xfLqcdB7mb1yNT9QbuSU0hDi2-MsPI5L-693V6t7fJ5uXMuA6-U_rFPGQQ3ZpZm08sHsk0vje2eelJClu7sJLasfThfHBbpKq8VB6qKkFBg_qpOKGDn3T53N6StC63ThBNMvVvNgISydTzUF-HaEr7ukJV5AIWp6wKjiAYO1-rLXBwXfRbkQCP-O5MVCWR4_lgQLDJIQcaM7u8CR2hc39vkS9GZkcvuRHi_7c0_gL4tgOGpqFDuXHG1ppqX3aSkYmxcbhh1Qer29GFQeqzhCph06MHF2uUBvRXfnfKTjGLkbOcpruVmp7nNtF3we5cFU8CSrcHNTYKWnd6M2p_FZl4TeuqhQz5KxeaOSxcdvs2pHAc7yh3oSaRr62GpC9IS0scSZI3eUBaaM1hN8MzrLqGLyXlpw13JxarjEF9rG0pijzBjkZRSCY4ziiU8PdbfH_85M2OpbhhubrC7P83C4BU0OXhpGVvAgiCIvhlBLc8rO4zOft9aZQ98pux7-HfnOYhIcj-4jknOIedCt2K20Ju_Dd91r2E-ttQov35hV0lNU9eQuYygLzb18T6wLGb513H0HxKAYH7HwGQqBfCD-FI8CKDrB3lKnfH0goQJ7RP4zbjxrOipqKtbO5OUo-rdte718Rc1189vO1pjDECz4ZJXfGioc7bOMca6dd7etSK8rsAGMvVCUu75f6f9xN7WntYJoOKO_WzWdfjH8lca4wDNIRtxbUEPE-_Rq_6D0gARhkNlvEM48fyM9qiAQMNYZPOjlAZER2DNpMl0KhFIpxxa2uipxC9nDFMQbRII-A4rOg9Ie9IZ2I5vyN2mB88tCSyODEHTfhul_bZuJnC2CqWvjKB54rU3YK5SjoWCizalMIhAjNZsnRLV1eZrLVTdarA8is4cb-oByMxScwaf8grBgftxs5EXA49z5DOzsBfAFTsDEWArgcp6cs52p3yMDSQ6eE0IeFzfSBa9I-XRGvaeMS3_yEWXSVFxtfT4fl47o2xY9mQfn9U6k25YTTK0E7Sw66_98gBV2JIJgkI7QALZW-9HKLIrNliZcSP-GibULkTXOxFpvKISL0dZ58AGRgXGuGT1UoRlnMBAtReqJnanM7l4abffltUCbG_i6dHTyDE_kuyx1QDT2utvX5SvwuWspw5zfe20Le9vI1VJ6G9oLJoDSyihnzyYzpsWWA8ZFcQhWQeEhMjbTzuuOxwc6JFRSvf1lYH1d1Elj5Z7yTgBvIKX38yE1THYSmH-GUMUQBnw4Izjebb08q8B1aAsleOJutg75JCxXqYbASbSgqxXPC7pRxgCPF7TYVV5j3wAa_-0T1B0TqR9Je5mLYZPh2WhD3MdUgQlUKA4us5P93cJcs_H8UuT3rEjuz0Zj4nLaaoPWH-DAGTBid90qqlIQ_EWGWbt4xgL4dL10zoWNuBQOBj9lCTtLI9mnrqqNuj7uFHxXTG_q0_lIKjskE13AwsOaQDAatThWUsyQRCBCepu_DxkkH06pHbEJKSoDp3K7ZOHCxXJOIcg2m0l8e53ugHfDjjKGAzl3d4Lz3e_WeUi2ecPhxFBmMUgQUGsuCb5wt4VBa_81yETho-yJ5TxBrk7U2UqpErbqkU-iUG_mLU7u9MugmJToQ6GkB8pTBZMtLw-8Rtw5By9vr9dfz_TsrFfDm1ZB2rEojD7r1V7ihhR185SZWWvi6RK4E4giaswTqN7cbhqtO4oDeRclzk5Z_7vC2AgCUZi4Z3U8TDjC5L4mPtf1DtVYalK4Yn5ciA_8Qi7Em66pURJV",
  "id": "rs_0a6e4bd6cdd145b5016ab4394465d087d0adbd1b42c70ce309",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is at the bottom of the safe opening, and the gripper has reached a low placement height. I’m opening the jaws to leave it there, then I’ll lift away to verify where it settled.\"}",
  "call_id": "call_pmw2NCtIAtB1KnwnKGBRb0Ea",
  "id": "fc_0a6e4bd6cdd145b5016ab43945a1b887d090dcfa7741381869",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pmw2NCtIAtB1KnwnKGBRb0Ea",
  "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]: [0.0269, 1.1782, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0046, 2.0705, 1.2072, 0.1677, 0.5495, 1.0267, 0.9944]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1683 left_yaw=0.0869 left_pitch=-0.5041 left_roll=-0.1748 left_gripper=0.9971 right_x=0.3542 right_y=0.392 right_z=0.0552 right_yaw=-0.0047 right_pitch=-0.0797 right_roll=0.5159 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -3.6991, 6.5299, 1.1893, 0.0024, -0.0269, -0.0171, 0.1162, -10.2085, 6.2564, 1.2234, 0.0952, 0.1343, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58c820c72ae704661f550cc9bae916c7b950607801bc4a9620674a20de0cfc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5939b31cc4e04f263edd8d06b15b4ccfc6c140592e6434df21eb3d73e84f8774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac8e7dec0e63fba96993de61367869cb95aa36240a3639e1f39325868d447bc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1744, 1.0534, -0.9508, 0.0669, -0.226, 0.9971, 1.1152, 2.3573, 1.8648, -0.741, 0.947, 0.6731, 0.5122]\nstate[eef_state]: left_x=0.2865 left_y=-0.0005 left_z=0.1694 left_yaw=0.0845 left_pitch=-0.5001 left_roll=-0.178 left_gripper=0.9971 right_x=0.3492 right_y=0.395 right_z=0.0721 right_yaw=0.0339 right_pitch=-0.0458 right_roll=-0.3941 right_gripper=0.5122\nstate[joint_eff]: [-0.0889, -3.4803, 6.612, 1.1355, -0.0464, -0.0611, -0.0171, -0.1573, -13.7778, 7.159, 1.0916, 0.6129, 0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9516, 0.0639, -0.2256, 0.9971, 1.005, 2.0552, 1.2163, 0.0719, 0.5518, 1.0019, 0.5144]\nstate[eef_state]: left_x=0.2865 left_y=0.0 left_z=0.1685 left_yaw=0.0873 left_pitch=-0.5033 left_roll=-0.1745 left_gripper=0.9971 right_x=0.3486 right_y=0.3829 right_z=0.0506 right_yaw=0.0004 right_pitch=-0.1102 right_roll=0.4351 right_gripper=0.5144\nstate[joint_eff]: [-0.0068, -3.6308, 6.4205, 1.1111, -0.0317, -0.0366, -0.0171, 0.0889, -9.6752, 5.7368, 1.8095, 0.2369, 0.1636, 0.0611]\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]: [0.0269, 1.1782, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0046, 2.0705, 1.2072, 0.1677, 0.5495, 1.0267, 0.9944]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1683 left_yaw=0.0869 left_pitch=-0.5041 left_roll=-0.1748 left_gripper=0.9971 right_x=0.3542 right_y=0.392 right_z=0.0552 right_yaw=-0.0047 right_pitch=-0.0797 right_roll=0.5159 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -3.6991, 6.5299, 1.1893, 0.0024, -0.0269, -0.0171, 0.1162, -10.2085, 6.2564, 1.2234, 0.0952, 0.1343, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58c820c72ae704661f550cc9bae916c7b950607801bc4a9620674a20de0cfc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5939b31cc4e04f263edd8d06b15b4ccfc6c140592e6434df21eb3d73e84f8774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac8e7dec0e63fba96993de61367869cb95aa36240a3639e1f39325868d447bc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlK_Gi06NESc31eEdSGIRI5FDZzAvqhYMm9LV4iNwj_fTR77Jby_jrvF4lTR94lReY4n6L-UTzMjldubxYyLQNrDeSx1Vwb_nvuDJxWIC4wVAd47xKzgxKscjlGq8RV8Ks2gkP00cKcbMpZ5OeAliObmYaOaxIKN8jHuY2OPro_Q1sXDSaaa69abg6Ekek8T2-AO_EvhEmCwzpAYbFvKIDvchzLMbEj9-UDDU5eMzY_QmwtND3l7Krc2CzD2gCfMkBhflrXMraNmhUSNpxfqfTTfnWCQ46H1jFRp_MUKVFw6-_utVfInNrXwaYCxNquYbkbTQR37IhD944k0m9jaleEiHLDG145UCBU9K0ern2rqwuNk-SCGgIafgoYpTz5B-Gg7TQ1gB8XvhwXRFcnJlqE96moSPHgavUmXT5X1AAEfjVsJcL_zpBaGo9_gcXywSzFvg9p8jMwghgiP9tleK1aprRL9xp8le72pUwrsO0Znwjv7diqThT9KVRzLoBE42g-JXSZNShzx6_-gcgKcfphFm7IW-XIWoNrhqFtywOxXcL70tWTJV1K17G70KHzLxvoeqDkk6UHE4q9sI2tm_gP4Jyaj5WcbuG2oAo2X9UpRmi3nVcrYhSi1EWTU1hcxLVuYyVU0u6OQd-lMOjgkndwECr9sZhnMowcZWvUtrSs5ZP9WDZ0C6t_91nZ_FKHZgw6A0w8sCkROIb1Gc2J0I_N4tE05ine2uFlPrqnac4qTRNUNFMqD93ztnzS7lCchJm_X-RsLzBBJ1Lud6hl82s1TgWZ42h9dZYP7mAmQFt9bnE1AfNGrDVH0HN04sauR9ml_VXyUJJItX1ML25kT4Vzxr5IFp76jruQf8pqSQ805N55ZYP24AOdGgc4lkgchB9fNwssxNNIgLvOtIAL4B-jKPq0digHYrgLr2ZfEfav_U2mzHYV1rGSGv8hIFT-tVSWrShPHzlncMrpAHoU9Vn8z4g3cn4lKYPDloB94OclzzHagwB4tojfxhkNgqj0Ppsws2CcNYhXWBDml0p6Otba-IxMZ5sye2UyL6QAVprA0mrFiuyHgl0GYlN2P0ZrE-vtk0EOsHWuAt9rpvQ0rhquamL3zDjpaVbd9Ai1K1EW-JRbslTWHUGTokRWW3m9JTS1I5Kc5xTnJ8ArNlpBAm0b0HmM40Tled5uP7yFCfeFOET1C5d2glsxtTj4wYjrorvfnA2kf6zm9UNh0o_sCaLByl1nQ-qjIsZINRC1QITk3gOFPImqL7VoqkTX2ZpHsdBIJygwduOBrLI228i6txq8Zu6ymc1qCIHhHNC5TLAG4mpww1Wf7UuHwDxHueugWflKP5-zzQpa66UscD95Pi0qDOXGuTjrAnhIALk1WqjCSvXKjwsqEreK5XkOUgup4AchZ5o8Ms4JWM9pMbG8v09Avl_cSjsp0I0mbilWUS4AevJdCPcEvCusYJ3yVWIPpuQtignkk2R1f-fGMJ0ZX_Wrt3hIGWYxyrYoDVizn6hB12JJmsg4UseUmCyQG1GlDnASKvxIIFnOXOMxDdFC0oyDrEqbOvlWTTX-SXqv38u-pBWxv-GijXoTzbRmEGMwDV2S4PFR2q_GjZpNKN4LinQA5Cb2qRtSHiDfAISvxd-yHmZr75xJkSGOiAVTjMI1gU0p22QIkXH-cMpJ3--KDOTGYgs52N9t1_ggaVuNDL9cxA9vKIwTdeFqO8kq3uN-oWLLRwhWk9jq2gO3lPLMa-BKxxg349xVuHn1FPeGExUW12wS5r8MzgXNEGYo3JAaX-z9sHAIQ_V5kUux9aximtJQ3kOwv4N7mnzopa7BIuAgFiMJS-ryMf2J224yc0uQDgWvDeP0ch7mN6FiHb0LQEBEcuQ1cwwXsnpNMC60-StalvMlrLMQ9eVtd4x749H34PQXzNRb2JX6Vlcb8x0LmNPRtozNoMWRAgA2zCc7FjYo4_J0kwMhgfxmc2xs0xs05lbZUM_8v1vtHqMtPPf7F2qw6oRubODFXXFn2kCrTe2zyQDvp2bKHDEvtyzxxQAtlAnamvPD5J4NhMeBibT0MKdO8qE_bLCwBuC3IXbrZ4LG2MrJA9CEuSXvUuxSen8j-HvbuJTmHObVyONITRJzDlokK5KENcMxwpU3Rz9VhnKuXtVA94OL64dIVNjdwSCJ3LxtWtH7I4Kn973z5Ac6h6vvGO04O0mR_7UtW-dBl-Y3MJTIHT2MSN1ocBAxzFK_8XGHt1anRlJoGdl_ESS9tr4bel31HTkjkD2luqmYABt8kWtps3BLxgnMPma7edp9k0Gsr01vy78T9C2AyvUu-rNsVh78zYNbitO_qwtDKn0YtDQoUwzKHWCy6Y6YJgq8f0cLy9Ks-qznBZ0M2SESZmlLOQ==",
  "id": "rs_0a6e4bd6cdd145b5016ab439481f6887d0b04f2e4c1ad071e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_roll\":0},\"note\":\"The yellow object is resting against the inside-right edge of the open safe. I’m withdrawing the right arm so it no longer blocks access to the brown toy and the remaining white toy.\"}",
  "call_id": "call_l3zYDydVKg5XGqeq6rOkd7ap",
  "id": "fc_0a6e4bd6cdd145b5016ab4394a1e1c87d0bad32f35aaa11dee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l3zYDydVKg5XGqeq6rOkd7ap",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [0.0261, 1.179, 1.0534, -0.9585, 0.0639, -0.226, 0.9971, 0.0025, 0.8658, 0.6994, -0.5652, 0.0341, 0.0387, 0.9952]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1672 left_yaw=0.087 left_pitch=-0.5121 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2841 right_y=-0.0017 right_z=0.1671 right_yaw=-0.0578 right_pitch=-0.1424 right_roll=0.015 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6718, 6.4342, 1.1648, 0.0073, -0.0757, -0.0171, -0.212, -2.359, 10.1402, 1.9414, -0.0952, -0.0464, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac19785aba81fa55c53fb7a45dc37efea9344b13162668bf9f4e188ae581c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52b7d4085bc337143931881041b8812754335e41096aff5f611957a4b035775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c65f3ca7a005574079705089c82be1d55c44fed174573eec3b84fa73dc627f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0107, 1.9835, 1.2942, -0.1806, 0.6216, 0.9127, 0.5138]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1686 left_yaw=0.0869 left_pitch=-0.503 left_roll=-0.1749 left_gripper=0.9971 right_x=0.3449 right_y=0.3632 right_z=0.0811 right_yaw=-0.007 right_pitch=-0.1048 right_roll=0.2509 right_gripper=0.5138\nstate[joint_eff]: [-0.1026, -3.8359, 6.735, 1.1502, 0.0513, -0.0464, -0.0171, 0.8137, -10.906, 7.1316, 1.7949, 0.1783, 0.1441, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1782, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0046, 2.0705, 1.2072, 0.1677, 0.5495, 1.0267, 0.9944]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1683 left_yaw=0.0869 left_pitch=-0.5041 left_roll=-0.1748 left_gripper=0.9971 right_x=0.3542 right_y=0.392 right_z=0.0552 right_yaw=-0.0047 right_pitch=-0.0797 right_roll=0.5159 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -3.6991, 6.5299, 1.1893, 0.0024, -0.0269, -0.0171, 0.1162, -10.2085, 6.2564, 1.2234, 0.0952, 0.1343, -0.2125]",
      "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]: [0.0261, 1.179, 1.0534, -0.9585, 0.0639, -0.226, 0.9971, 0.0025, 0.8658, 0.6994, -0.5652, 0.0341, 0.0387, 0.9952]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1672 left_yaw=0.087 left_pitch=-0.5121 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2841 right_y=-0.0017 right_z=0.1671 right_yaw=-0.0578 right_pitch=-0.1424 right_roll=0.015 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6718, 6.4342, 1.1648, 0.0073, -0.0757, -0.0171, -0.212, -2.359, 10.1402, 1.9414, -0.0952, -0.0464, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac19785aba81fa55c53fb7a45dc37efea9344b13162668bf9f4e188ae581c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52b7d4085bc337143931881041b8812754335e41096aff5f611957a4b035775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c65f3ca7a005574079705089c82be1d55c44fed174573eec3b84fa73dc627f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlRyNcTZjilMzLbjf_u1ZAp6hn0FuzOCOAkfdkqsEO4DKjr-g0VFUI-wp4dz2bbzulGQMrnMzE2HOaABIEX3DZgdmtay5XhVjGt-VaudUTZvmEd0qXDrjmO4-zJMmjihBdf7oPOjnDsaJAlhvEFiASMJNjF_XnDYZzksotK0GZFISsXQwecbkYm5NRmDAnz-UUSCCdS7ltdnbV04jlBXO6Bjla0HPvivvgVX8PxU5RzmpOP_bw_5-kgdejGl2MeEMO5C1Zoj09YVCZYusIBNVw-hrDPHdd7uLQPnZ3owZErc6szLRbd1fVS6dLE2LPO5-fO1TLY1tN_px2voSBdpaINVFku-3QJXxiQuIOp0b0O722ApbGFyGmxrCi8ktQOGe5jOMyFidCGmO2aeIojDYjKFGImt2cTwaiZQfaTnnz89HgrMJ9s-B2gr-1vfvRb1o3Qda8-zX6-ZinkzuYnFzGj8xFQTkzSvhajy2nFjQQ_8RB-KPx4_jT8G15qa1kl3a5bx-9o43RrDjMSGUeTtB8QrzcGAwR4h-TKFvjAF1C2gh9-0020NV3yFIO02xO32Ma84KgpIazkMxwlErohEL9wRTH5R5bm3TtnEZ6AWT9o7b8pcc4RNW3-0HZOVB36upQmcg7vTPfke7Pxj-sG3SPQe7V3ouq0V_zXpM8_jDh2ckEBkG94eBYzcWkeUVJhVo5nrCpU_Fe-voPV_uBlufCy0PZxBOj8Xf22xPUqKQuAXHjP5jRTMrs5eQR0Z71pGhDgA7jR1RUVzYs4shW57EYev9ER93043vsMkxswqhDiMPiPS9h6ml85A2g2cHjVdNeNeHs67UHuOv-4NPgsz4uumyFIbn9OohODAzM3hGLstoV8mZgddvegCFwa61SKdWq9GefcR3ZU_sXdA4IgmrV5EyxoPT6LV3cyhZvN3Dmg-w6SEzypQw4jdQzoRxs-KIxbvb8kSOZ8Q83U9ma7GasMd4_iX_kVd2ofuAi2s8JkLRQLu4UnJbqXpWf6d-9iRqRVfGhS-MXUVEZYyPPnfKW5Z80j4DBrjqdpfF8slHAP3Wy_QMYc_z48FdKphHRhReFSZAFFzjwVAF1VYVip5rLCkfKB_fhbT1EIGhiD4YKPnpZrPJKFgxxsgzZ-ifqg_E29uaBDmZayyaPiGDR8Gq0D54qW0loFbWe1lrpkrv-XEXVGsT-iq0e2ChENOW-nKW0E5qGi4m69audVO3U2O0AV6aKu_qN59ecAaYPU7skS2H6YJ5qug_ujnYtUgOG2tN2UnwsZTAa-CpauKj9lm1CshbmNQ4EUhuPopPBbIG7dVXz2DNDoJ4EQQVQRnUTsAEgfjIARyjPWcSToXECZkjwDLVKt7W19Pr_X7CpZYm9EBDZ1rdcZ1YskUWts2Q8L7740eH38dq1_ZxwXmMKLqHrMjvqdG3Oir3cX4NaYvFqp9KSJrJDlX7UjnWxEaCkdggNeQIby6Rwy_R_ZgfKmfAbfGUZQK-WDiS5BkCseIGXWmKr_AoCKjqWqX6Y0WDzMqarcV8hdOD-TzZgKmToMaBwq6LkXpUHhU3wV_E7x5Ac7JzuKDE4KDwfRWADvdt002175S6SZ6eFANxQ6b7dPm1Iwz2mHrY4eVsR5R0utW9y6BOefpqiTmp9BmQvgE_LoIg63oKVSIBZlbPaZXYkM-m1iiXiS6iWqgFdTbkkZEDuiBAqHllno7tnXBJYKu5THscoOLr7k5q0k-vllSQ96YyoiL6I-xTSIIKdXEX5yyKGPF_ZTVsKUwo5EbmvoQ8XI0CJDmQTHPV8szygwCUO1ZfY1nDCw_FZbMZmziy5J6w0rKchYyWbCpePyww6AGyNT1N6-X_vGoRil9SF9IcH9b4vvJyqn7WI7yemvUi70J9-qY1UJFrR88BbBaasYEOZRcrg3NjvWMbLB5CuqYOGCuqOtUVLCSnpI9yFQB-95caVEXm0Q3h2elxo8hiFqCJXC3Vrd4GMbLEYJueFqfKt5ylpIMMXTXhxT5UDidTJie1S6IDFk52MkR3qoePg4jsUtFJ1WF9c3DfihdLdqpjw-4bNokTk46IxaPdOnmFqWGieqmvlDefb9FtS877MhdzZhsDjhmMLAO2_PzOwfzoTqplBiFA==",
  "id": "rs_0a6e4bd6cdd145b5016ab4394f7e8c87d09b0256d2062de85d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":-0.17,\"left_z\":0.12,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow object is visibly inside the safe. The brown plush lies nearer the camera, so I’m bringing the left gripper above its torso while keeping the right arm parked.\"}",
  "call_id": "call_UFufziLZCGP5SnLlyuZBPaZy",
  "id": "fc_0a6e4bd6cdd145b5016ab439510d2087d0957c2a2a09c52d05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UFufziLZCGP5SnLlyuZBPaZy",
  "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]: [-1.2129, 1.2106, 0.6605, -0.6624, -0.865, -1.0908, 0.9971, 0.0006, 0.8677, 0.6991, -0.6098, 0.0261, 0.0269, 0.9953]\nstate[eef_state]: left_x=0.2105 left_y=-0.1688 left_z=0.1093 left_yaw=0.0378 left_pitch=-0.0709 left_roll=0.0371 left_gripper=0.9971 right_x=0.2766 right_y=-0.0009 right_z=0.1584 right_yaw=-0.0467 right_pitch=-0.1895 right_roll=0.0092 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -3.9316, 7.7744, 0.8571, -0.7106, -0.1245, -0.0122, 0.0889, -1.7162, 6.8718, 2.0098, 0.0513, 0.0757, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244c01077ae8a3a7759f8a56120a7f41819f08d3922f286253c52d1046d868f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a52877f7f4e62b65c875cf85a555732bdfb54add57aede3a355621b01d3b6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce61e8eb013b44d2a1bdb30eca1989d0c18942184e9b6639093ab7d060498578",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.177, 1.0534, -0.9516, 0.0639, -0.2256, 0.9971, 1.005, 2.0552, 1.2163, 0.0719, 0.5518, 1.0019, 0.5144]\nstate[eef_state]: left_x=0.2865 left_y=0.0 left_z=0.1685 left_yaw=0.0873 left_pitch=-0.5033 left_roll=-0.1745 left_gripper=0.9971 right_x=0.3486 right_y=0.3829 right_z=0.0506 right_yaw=0.0004 right_pitch=-0.1102 right_roll=0.4351 right_gripper=0.5144\nstate[joint_eff]: [-0.0068, -3.6308, 6.4205, 1.1111, -0.0317, -0.0366, -0.0171, 0.0889, -9.6752, 5.7368, 1.8095, 0.2369, 0.1636, 0.0611]\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]: [0.0261, 1.179, 1.0534, -0.9585, 0.0639, -0.226, 0.9971, 0.0025, 0.8658, 0.6994, -0.5652, 0.0341, 0.0387, 0.9952]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1672 left_yaw=0.087 left_pitch=-0.5121 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2841 right_y=-0.0017 right_z=0.1671 right_yaw=-0.0578 right_pitch=-0.1424 right_roll=0.015 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6718, 6.4342, 1.1648, 0.0073, -0.0757, -0.0171, -0.212, -2.359, 10.1402, 1.9414, -0.0952, -0.0464, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2129, 1.2106, 0.6605, -0.6624, -0.865, -1.0908, 0.9971, 0.0006, 0.8677, 0.6991, -0.6098, 0.0261, 0.0269, 0.9953]\nstate[eef_state]: left_x=0.2105 left_y=-0.1688 left_z=0.1093 left_yaw=0.0378 left_pitch=-0.0709 left_roll=0.0371 left_gripper=0.9971 right_x=0.2766 right_y=-0.0009 right_z=0.1584 right_yaw=-0.0467 right_pitch=-0.1895 right_roll=0.0092 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -3.9316, 7.7744, 0.8571, -0.7106, -0.1245, -0.0122, 0.0889, -1.7162, 6.8718, 2.0098, 0.0513, 0.0757, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244c01077ae8a3a7759f8a56120a7f41819f08d3922f286253c52d1046d868f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a52877f7f4e62b65c875cf85a555732bdfb54add57aede3a355621b01d3b6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce61e8eb013b44d2a1bdb30eca1989d0c18942184e9b6639093ab7d060498578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlXMX0qBB7cBlWWp8mT6eqaN1xBgVThmOmyLO_TNi-94HufVmZVBM1y8a3umUUhYKvcYGdDuGRYjxi6knmK8GURv8uCWJ39xvDQGafv1Z6w7WjsVVQ6IUN5RRNmwD6zqFO9D00cA33gMz8zLOSokoTmIiHTfyi-WIl32C5Uvfa9v0BASQdYTftqnPyVpHJ2JSWCPcpBL0Bapea5H_yoME93il7TpfKi2hAt00ByV4ZTUhP-51MQGr2M9NmNRMkVur1q-Wx3fg6B26IqgGch3il3Y58XQh1rNd5gcOsuya406zl88p3qAR1QN_ppkn3uBozBMH17u3Xx_4gjtMxnKoi5v76v5zZjj7XYxCx-vI6Y3qGR9tBI7qTlnhIKkjN3NmaKCUUaMwGZflG2M7RFi7l3Ho-Nu3ECJjLNEfiBB0ynVwh0U4-4Ec5EY0OpH0DZRQBB7T3pLb47qDXk5g6Kz5pTMkhafWONZOH5GhLAzKKVDCredEftQDdvFW4lm3YhNcTZq85iOcL-F6Fh9NhMYqe3u0CvyA6oXZKW_d2UD2eBGJrDJFMcN4100iHdYumX5NIlpwt6dQ04BKhd8jxWEUDw9fF3cm4eZOKV4iuvidcHGN3SGh_r9TfsUhBbWiMnMtN2KsSLB0yonEnqoCAo-j_EA0F1GiLirkowZry-zZQnd8644_Ej1tI40NuCo0k4US-Zt_LMfjO78RKNoKbyfvL7pA5G_FqKjnBamNSG9KqK7LbjsYaZ53koschIxu9ip62eDQ2HwbBchSEuzEp7ucc_5UNPzNRuOzMpsBXznTmX8FDQPhcdB7TuujqKCSR7syCaA8YTNk0f11p8B_iz2Aa9ydO4yArNv3HpTzW0X3emNlUDLn3ey64Apwqa3PE1T-nthvPpaVq93XAnpv3Inix1S29DKh_Yb2lNYsFAYOs_CPttBe4-7ovjtTNhRRStMEfCj5OFKJhk5ybudrqYu3ahAUcpeGVBbT1se1z6b1kLByPBsEkez9_eDJZb32gt0b8qLkDyuw2T9I11mxZkeN-7jDFTVdYdXE5sYiOt0_hnGsOSVj8lHfYQOWAP_HY2nK23mXXNnHTp7ka-UvsnhV7I6hpQqse90IHVxJsd3f2jzkJNzwsOeA70U8cGTg4ykUK88ChGYmhWO_IgRcryaFBz6UG77lnFNi8nbMDw5VVs1rVOYaAI8ybK2iL-QWpov6L9m3f6qxRGs7Pa_NVopDKmXvylz-agNgvOc8UF4FnKMEv37-E9aiYigByBojWIErOw9TrFxPAk1P5uVwT0xOxjWB5CGfqw2nKNeUNe8ssL8DYxg6jaae8m1VWRvTm967q_3p3zIAWw4PefGsfOVWt8mgym6A3n86irW3uxL_Q3FzQNqGJ7cxsWlri1b2SpTYJ9--3V_m9X25Z8SdUMIjFBasF3pSR50hesUcm5_37C6PcbSr8yUg93dLiXoi44dIdZb12m5dFSN_gJ9ON4Ky7NpSLRafIvJlWFP9sHf138zPMmcbjoP-pmThCG4Cckj5V4FTKkssOPZTtBlRfTYKSZ-kFntyu6KUzWeXV6ywGiUxdE34agE1a2tiWSOvqiONe6MR3YlCVQEjW_irBCPeXHnRzTOSwxnglKE8Te6Rr1UB4OeT_vFld8rB6jStwckx8d9ZV4K-ZkWWNXQ419HH584bsRdsPZOHVwMKHXQp288EqXqpebhO5ojQL8h98PSVYNUVo9H9RkI_lDesle27-jw66wgBTBGrI2KyzI8tVMqS67VrVGXjYS7ayU9-pHjO-5ph2rDy22TgvCkkM9yPBaSGdzAi7x9zpk1SD_t_OJYhlYVqT12neQ6mBe2oVaA4ChQH80qxb7IQNWU-B__pwxlA4W72v4663ASHbPmhLfKyC2Xlw5mC063_YjhD6cw213kDhhS4LuKLqKxZqKqdQDJaBMnv9QYlOT1X-mPPOW1uTw6BVP8WPng9NWTLOPG-l__iGcfIL1t_zpWm9e-_5TCSqdvv67vzYtz1IAnykgvHP037oFuXpuMv-Escqjc__dddJJIa2MJ83cEEKU8mtKnmXjhbeGzOJTdEwzWMkhi1EGb2GZFkYrnsNQnXQ45YaquNHvAY6qDLtKjKFZ-AIih_fAq8Y5E5R2gW6XuXyYxTA=",
  "id": "rs_0a6e4bd6cdd145b5016ab43954814087d08a8a955812f337d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.242,\"left_y\":-0.198,\"left_z\":0.065},\"note\":\"The brown plush’s torso fills the lower-right of the left wrist view, just ahead and right of the gripper. I’m shifting a little right and forward while lowering toward its thicker middle.\"}",
  "call_id": "call_FqiIkMMApmdzgsfAJnYhdRpY",
  "id": "fc_0a6e4bd6cdd145b5016ab43956363c87d0ab5c675dce13da39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FqiIkMMApmdzgsfAJnYhdRpY",
  "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]: [-1.1385, 1.4353, 0.643, -0.4427, -0.8581, -1.0466, 0.9971, 0.0006, 0.8707, 0.6991, -0.6235, 0.0288, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.2336 left_y=-0.1787 left_z=0.0662 left_yaw=0.087 left_pitch=-0.0861 left_roll=0.0913 left_gripper=0.9971 right_x=0.2743 right_y=-0.0013 right_z=0.1552 right_yaw=-0.0487 right_pitch=-0.2061 right_roll=0.0059 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -6.9402, 5.4906, 1.0037, -0.6422, 0.1636, -0.0122, -0.0889, -1.6889, 6.8718, 1.7753, -0.0464, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38d0490a06279f79f4ef9f093b180c78dc2e71c0d85b7c856f74aa03e9c6553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482e7f548139fd3425f7133b31931204b5e71d466ae21a4308cc8d3e0b519a56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db163db84828033b0abcab927b1fcce70eaadcfcc643fa7fc85c20bc69ab1ef0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0269, 1.1782, 1.0534, -0.9512, 0.0643, -0.2256, 0.9971, 1.0046, 2.0705, 1.2072, 0.1677, 0.5495, 1.0267, 0.9944]\nstate[eef_state]: left_x=0.2866 left_y=-0.0001 left_z=0.1683 left_yaw=0.0869 left_pitch=-0.5041 left_roll=-0.1748 left_gripper=0.9971 right_x=0.3542 right_y=0.392 right_z=0.0552 right_yaw=-0.0047 right_pitch=-0.0797 right_roll=0.5159 right_gripper=0.9944\nstate[joint_eff]: [-0.0205, -3.6991, 6.5299, 1.1893, 0.0024, -0.0269, -0.0171, 0.1162, -10.2085, 6.2564, 1.2234, 0.0952, 0.1343, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2129, 1.2106, 0.6605, -0.6624, -0.865, -1.0908, 0.9971, 0.0006, 0.8677, 0.6991, -0.6098, 0.0261, 0.0269, 0.9953]\nstate[eef_state]: left_x=0.2105 left_y=-0.1688 left_z=0.1093 left_yaw=0.0378 left_pitch=-0.0709 left_roll=0.0371 left_gripper=0.9971 right_x=0.2766 right_y=-0.0009 right_z=0.1584 right_yaw=-0.0467 right_pitch=-0.1895 right_roll=0.0092 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -3.9316, 7.7744, 0.8571, -0.7106, -0.1245, -0.0122, 0.0889, -1.7162, 6.8718, 2.0098, 0.0513, 0.0757, -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]: [-1.1385, 1.4353, 0.643, -0.4427, -0.8581, -1.0466, 0.9971, 0.0006, 0.8707, 0.6991, -0.6235, 0.0288, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.2336 left_y=-0.1787 left_z=0.0662 left_yaw=0.087 left_pitch=-0.0861 left_roll=0.0913 left_gripper=0.9971 right_x=0.2743 right_y=-0.0013 right_z=0.1552 right_yaw=-0.0487 right_pitch=-0.2061 right_roll=0.0059 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -6.9402, 5.4906, 1.0037, -0.6422, 0.1636, -0.0122, -0.0889, -1.6889, 6.8718, 1.7753, -0.0464, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38d0490a06279f79f4ef9f093b180c78dc2e71c0d85b7c856f74aa03e9c6553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482e7f548139fd3425f7133b31931204b5e71d466ae21a4308cc8d3e0b519a56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db163db84828033b0abcab927b1fcce70eaadcfcc643fa7fc85c20bc69ab1ef0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlaR0X-KYg_FqqUI2fsEQ8cLW5DdFxtf9SvZg5pAevXfz5tl2Hndxy6mn1Qs2dK8wv0vG5EhapoNoNWa0PTTdTK6dFm5GwM6sgKSBiyQeaiqWioaUB9_2HNoqvM7YyCKVGKrsxsvyxpFeH7BxKnN5ZPPEJob4BTg2nJlar1TYQ56XORUyKgNqfD7kXMYsOmQU0pLkhnG_sk8_En0HYixzyHqw_aW_OTFoSULlH7PlDKtotqeu3zDUcUFN0CY3Pucg0MADV76C3wKJyN9unSi8hISTAdDNVn9czI6ibnSta0b_LBe3_OnsqTOhEn16XTsZqk1bCTLi8t3iBKm6G38PPjOid0c1e1MOPcUtjRuV__wZHYJodNxKPT78poNkPxAitRcpiDSMLq4-XGOBwa4z83g8vLeLcTC2KgoRlI9RX6K_EP5p05vNE3-ypWZhTc-88vgcAzXTCZn6DAWRXOw4gxtgMVj3poBv1W2b8e_wUC7y3LgsTNaE5dqKKfCM-wFllp3SsmhKHcllqTyYFy3CM-pfP7SD4eMtdVdI-C_KGdB8y0a_KNGAfgIwaSKSsi9892aw5dPk9u8o7NC3G3_81ds6IOMMqRamAYPxl4BUWVM65Eo2IWHs6c24CWy7Vi6tqImKsnnpnb7ylXQUnwR-leV2rwy5Io12Ny0ibXvtIoyHGZ6rnW6x_bCi-igvPxd6zLmpSxidaBpuvj47ViIxTAi0Mr7EiUEH0AXrr-mU8KhkuFUrM07jOK-NVbD1I_Vcy2Gizrszn009BmQkp6epr6C2JnjAum8L0KzZGGoUSHyR5wJPHRpMji_jgM7sNjJ_1Ggr-EDk2L5fpD84dSpP78hlwvz7F4eDumvTgnNIfqoXJsRzdguBATG67FR5Zlys4WxIPLhzZMqydYi518e1EIpkMe0UNfo2OF5GV3JNaZKs4U8rOIZ27lBEZm9DHK9VdoPwFYLyhNwvLwBk-3xmEwfURqW278RgDb6BSbXzS7heLXYT5YnfO3QTS7eaV-TUx_6xRZtk87A5WYQ_SOi8ztK389XgvPyUVTHEoMU1PiIoEh1CTR8_HnDZuTB8nVASSaHWUklhjg7OfhyO-8tOFnUQbdZvnSObbDSgAyXAWKOF_y3i3gMMbL36zMswRRx4R7Kg4rpoY1dFpUWTYJSJATJ3__1b3ecwjJ7BGiNEgpU_fboidfuSoS_7dKyWm1BMduMvCsAPE4ZOyxlPQPXvVY6Y9O16b1lZm3PFnfdvXl_an1y_0-dCdInSqzhhG388mPO70RLVv2qlmSqmyTFA5mbg_y7tcwe8WDbqcbpAOUt3QOtZKTBQSO6HsLjneLLE5Zdsmue-onUZ2V1tzUWVu2Da_4KYKMTIY1_RJDtif0E1KuGV7XaOgziHho9Z6GCpdBvDF21dOawXTfXOTCUPevSAMMqsP-rNkpvbGGx_gPk4FydsR8v4RnzACIuJOQ1Od2NqoQ8GLZkHHPH5yzQkHeDW4PL2tqune9EokkfIycjgg=",
  "id": "rs_0a6e4bd6cdd145b5016ab4395960f487d0898cd1cea8021351",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.215,\"left_z\":0.037},\"note\":\"The brown plush is now under the left jaws, with a thick patch of fur close to the pinch row. I’m lowering slightly and centering over that patch before closing.\"}",
  "call_id": "call_rTGq4haUKMNcfYcuvyNc6X3e",
  "id": "fc_0a6e4bd6cdd145b5016ab4395a0ffc87d0b560e8c462cf051c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTGq4haUKMNcfYcuvyNc6X3e",
  "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]: [-1.1316, 1.4933, 0.6422, -0.3813, -0.8349, -1.0328, 0.9971, 0.0006, 0.8726, 0.6991, -0.6357, 0.0292, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.236 left_y=-0.186 left_z=0.0527 left_yaw=0.0777 left_pitch=-0.1065 left_roll=0.0919 left_gripper=0.9971 right_x=0.2722 right_y=-0.0014 right_z=0.1526 right_yaw=-0.0492 right_pitch=-0.2202 right_roll=0.0049 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -5.0256, 6.8034, 0.7937, -0.6227, -0.0464, -0.0122, -0.1026, -1.7299, 6.8171, 1.6044, -0.0024, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f048c407139a179ca64f440d83e59131f12629b74a283460149bc3343b7210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7108839c37245d7435be8442d26838d09fb548e2171a2d3213db7a64a68ee5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df63c4091a400ca8eccb517e2bc7e9b6bdb1bb80d30804ae3158b084f7152cd3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0261, 1.179, 1.0534, -0.9585, 0.0639, -0.226, 0.9971, 0.0025, 0.8658, 0.6994, -0.5652, 0.0341, 0.0387, 0.9952]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1672 left_yaw=0.087 left_pitch=-0.5121 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2841 right_y=-0.0017 right_z=0.1671 right_yaw=-0.0578 right_pitch=-0.1424 right_roll=0.015 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6718, 6.4342, 1.1648, 0.0073, -0.0757, -0.0171, -0.212, -2.359, 10.1402, 1.9414, -0.0952, -0.0464, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1385, 1.4353, 0.643, -0.4427, -0.8581, -1.0466, 0.9971, 0.0006, 0.8707, 0.6991, -0.6235, 0.0288, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.2336 left_y=-0.1787 left_z=0.0662 left_yaw=0.087 left_pitch=-0.0861 left_roll=0.0913 left_gripper=0.9971 right_x=0.2743 right_y=-0.0013 right_z=0.1552 right_yaw=-0.0487 right_pitch=-0.2061 right_roll=0.0059 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -6.9402, 5.4906, 1.0037, -0.6422, 0.1636, -0.0122, -0.0889, -1.6889, 6.8718, 1.7753, -0.0464, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1316, 1.4933, 0.6422, -0.3813, -0.8349, -1.0328, 0.9971, 0.0006, 0.8726, 0.6991, -0.6357, 0.0292, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.236 left_y=-0.186 left_z=0.0527 left_yaw=0.0777 left_pitch=-0.1065 left_roll=0.0919 left_gripper=0.9971 right_x=0.2722 right_y=-0.0014 right_z=0.1526 right_yaw=-0.0492 right_pitch=-0.2202 right_roll=0.0049 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -5.0256, 6.8034, 0.7937, -0.6227, -0.0464, -0.0122, -0.1026, -1.7299, 6.8171, 1.6044, -0.0024, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f048c407139a179ca64f440d83e59131f12629b74a283460149bc3343b7210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7108839c37245d7435be8442d26838d09fb548e2171a2d3213db7a64a68ee5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df63c4091a400ca8eccb517e2bc7e9b6bdb1bb80d30804ae3158b084f7152cd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDldn1G7cZ4kh4NOLQDDvVhLpkld3Bs_djcOZsxv-KXAAThIvMxGmZ3PgYv9UOCZLkGrPSW4xJ1RSbP-M0L4W0zPAZl9xGg-vUUYNj-J3_wD-2ly0XmAqe1yXUNmZK7Q8Ss-dpElAlA0BuaZ0A9R0Q0Je3VMlTLQhk3Qm2jABExlQgsjv_tY61_oDauNqXiwqo6knNi2rHiWszYHtMPwBUPu2bxgovJduxl4UI3eftscx78ce72aw3u5C_GiHlQKENXerkTGPacKZYiixs6Gadkj4b-yjlcZIZravbXiPC5F3l9fkiNd1YagNB3faZ4OerQEeP5bo6Uu8WYrNZKl687L2W1JTm2A9Gmr93r8hKWVWW3oHvZUXFE-oKMEg1nc1RsBd73fr91PlA6j2kumUvoOYXs6EsMs1AVFuIkC0VRKoi7omgneVE2j2BlaJyK71FS0UGHrrVIJat_Z3smiCTRFObBhx4BYY76nNDA8DmiS6rAhUpSErjh1teE1vpofaJd_gpzYmBCg68ubkkcMx_vaXHkq0Vgi3DMKzi1vQSvjL63AlLZ291LYN92cIL_iN7SP63hsxpmfOT9NKdlSdSWR6-P1FxQnlEcWSPDLiEFvos7PlsEr6ylP4hf6EBQlDT_D0EIIMTTJG9lAF1QyOj7y4gAi1LEvimObi1aN4uwcb2d5Np0INzJCIWpeQasSu8kzBsea5syvDyFheIrcYrGN31uP6sHZQt3UiOGpCEX_pjmKcJciTcyxwOWEuBt4R0DdhyhDM8bmRGKu61oTUL7UfiNUbj_VXJVVo1IdFLBKp9ksbtkwXy4pcHIaM_VG8JJjK20W7C1bSvpBfqFP_Ac5XAN8o8RptvIhDeMiFCjQ_nbXBLusmBf8MVroBHJXjTK-UiX7qVqwppMEdLNnjdkMX9pjQ8tfvUJ3B0dNk3HzAVkevfCwPN7-koMGi5nT1GMJluiXqYOda9a56_AoW1T0tHbCGu2oIQvkZS4e2ZaOfuVFJnYeuF6XqufCSSz1DIot5Zs7ORJNkPi1m3YuPIJY60G2yWyaJw1gKCciPKvqk0MZYnDLQwE64CGXPtoMKYw1hyScQAM-ZkL1Rq33Oj9RA4uh7J2WBuoWMD2yu9oBvYzon6v6KggbtSvGhKttWoW9Qdat-5l5Wkwg9Yrfr90j1sHVOGL6aG0eyXvRqv_6YQ5Q0UJHlPciazMwQjagY4t4oFx6bgONmy-nKXmDi7ywlaasf2jcRTUA0_-ox7kW9UepX1Fv8m7UDx9n92glaRpVDZzVfvWHL1TvbsYXqsLqFbxGBVn2vUljwzeqRnN8cRAjuXeFpHdTto5fwgzs3CwdHcV7W32AWaCkFVE54N_mNEne7LqLWWTCUC2WUmcjyTemMNOF09fXI4nvvJGGbKWXsCTwXSoQWVI9iRwMFzdcpO3HJdijBEYMmorohi5SAMt4rilPBXXfgcYd8ZJ-bbHVFtohdHmsKAn0VGsX5ysKtK9asKYx6fEsLCj1qYcnyhs2SVN_JfLrF_caKEfVlNBzaSH5Wb5I6-aQMc3BO4vxig==",
  "id": "rs_0a6e4bd6cdd145b5016ab4395ca9d087d09e1695b8ef2e0ff8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are against the brown plush’s furry torso, and the arm stopped advancing at this low height. I’m closing here to test whether the thicker fabric is within the grasp.\"}",
  "call_id": "call_lyInDxqkeRImFmbvug3m9wIL",
  "id": "fc_0a6e4bd6cdd145b5016ab4395d3e3c87d08a4224afbe2cc030",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lyInDxqkeRImFmbvug3m9wIL",
  "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]: [-1.1316, 1.4933, 0.6418, -0.3965, -0.8303, -1.0405, 0.0112, 0.0006, 0.8726, 0.6991, -0.6575, 0.0288, 0.0261, 0.9953]\nstate[eef_state]: left_x=0.2344 left_y=-0.1839 left_z=0.0511 left_yaw=0.0818 left_pitch=-0.1156 left_roll=0.0992 left_gripper=0.0112 right_x=0.2683 right_y=-0.0013 right_z=0.149 right_yaw=-0.0491 right_pitch=-0.2419 right_roll=0.0041 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -5.2308, 5.3402, 0.9255, -0.4811, 0.0757, 0.9402, -0.1846, -1.3333, 6.7761, 1.7167, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62909f563d094c0a1ad0d79511fb671c0a204ce2be4cd3930ffe7231e0b641ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44339aa0ee80f3ac027f3588a9045e2f1508212512320b108b7acfa1256c38d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2991a35550532e4d5fe45dc90d3ccd9d17a512fb6c2e8c8d614698890a2d575",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}