adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6033, -0.3908, -0.0193, -0.0341, 0.9993, -0.0204, 0.7929, 0.6075, -0.3962, -0.0185, -0.033, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3333, 10.2769, 1.9756, -0.0708, 0.1343, -0.0904, -0.5538, -1.3197, 9.7026, 1.9072, -0.0464, 0.1978, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a38d5601be5fc842372903432ecda784112430fc08e3b5b343ec79b3fe77f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70658b6cfe62b75d2c33cef3e92f9fffbc4129c09fbd3568ff1a8b080d319b9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34950f25c40329fe090f8e881d52a2dd9e9232e5e14020ca69eb13b7193a5e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBiwNMOD9_SGiWuGMFw0SYAZBsL6TuDik_2pDl0Yfq1sGAmG7wTQDyRY4ynL69UbzI3Blu4Dxl_aXag4z0q8aL2nkKoCwUnHwZoh6pCBcaYKRnBm3mbIasZUJkQc5FTMHCgxYPYmp33gBC2_qwW8Ndo3Htku78r0GRiNTKUVl4a1aYb_Njv3fU8RW8ZpTrsolcHvnKc5MTGVtwLbFZYug8Z1IlQmK57SRIx_J0CvwEfd7kmgb6s-kzxlAvD4xJUjmejj2Zsz03Jeh0lEbvNHWEoy6pncDyqCsAJuzhv0mlP9OkLG__JN1546fAX1mhVXIeuBcV9szH9b9joku5bviETa_bmrIJaEkYvM63KdPLWJiO3S7Ozh-rF_DLrJsK0Nzt9rL9m09O1sSOtcUcJ7i7D2igezHUDekAhmu0jmgGYjHoLdUh04kSerBsrJtNrTd3wdUCU5R4-fWNxv9xNroGL_azdfxhID2g4wnL9k5PAaevSE0No0tvyKtmenAX3Qql4If3Ra0Ls44NBoj4eiSiGtxFH35PBMwXUkTgBnC704ZrcW-Hi7MnGEJvssMUu9sk7vlrgLkVGDuHgm2DVYVIOufkm9wEq-CfAOk9UovGrnsN_bVn92fqqRGDkCkm-Kf75KLYUYL2yZAJPCAkWTOpVKm8gyqg1QbvFSwlAzR9YBY4G9tfrFVQTGS1YgXP50b2oH6K4VQvHchPi64Wn7XkrrHRpD08q5Nvp7AaIiulI4pXOBMyJkl_oZbaPUUqIGvm1SwDq7Vzp21wYBhM8Sxd9OYRu4O3Dn6HRRR4igj7RE5w3hLbxCR1fpqeNMYvGEvRg0Y-z1SHgiBztw3kHRLuK_MGPVChiGSl283-Ta2GF61XYFzE8XRnwhcoEZWb0EseHTem2JPXfuHRrc1JWETQQZu6UR5mEEswWD9CtTKCJcfo6F5ZZjszmrRtQBE2qgIomIm-14P0YF9qSK7zjdGB3UIK-46yvQuBe3f8_4_BhqXksLprLJgTu0sCNETJT3oqcEEpJ0ML0wWYH0SuVdFt6sIcqP9EiB5kJugjObSjlf1nRSYrnGIhFBKpb2hgRzjgb5ygi4OGZoBlJY_DJSp7Yw677sMrGT3xdJ_QpJv1mDaHyKzrwYrN57u4Kzl4DP-_-qUNpZbWhxEDGojigxNCBdlKmwcxwTYL0GzcApsBMxA4d363Zp5Ju98QLWde1jog_ESXSi4AnLHA0kZz3rniJfUon0taBh3oX76gg4-aU7piucmbN06V3rggzi4ZhIlvQpO2LIHC8bGob0ndKWuJOzRdDQxEiZesNWfo92Xmy07EHAkJRYZldj1V26yZ9wHshW9gqvTdcnmd369oVDT0VAOzmVK5ppVZgMt_xlwQz7L4mU73f647Yh2aQLqRuQylt2bxpRD9uU0L_2SoK5kA0Vgc0NK7ntuchYtNjW2m5FAGC3xIGpU0Lxu20u4gi4Ai18zFda1zZnw9lzEL9y3bFmIxn4bR-Y3nRD2dRCVK-VC_F34vNVa88i1txZqhZJxV3Qz1AiCHIRAZAaDmJEJJIVZnPx7vRYg5iVwsFAgN-w8oiE7lhp_R1ovuj-wOKY78sLVzK55iDeuwCKr_jF23IuetOj8TVseKW-pVt7Kmf_3SdSGzv8xbu5TW_uSrasVT31oo0HzEP_F-MVd0ke5MYblyzuHpAUo5TUi-5kbQoo06_AB95oZVSM22A-ep5ZjEPyOM5vzPnzrm_QdbnhFooRlSXWJLSrTw1sdM7fh60LAgpVsa9CHhOz01mGjtq6h_rPHtKUM6RtsijR4J7wFEMlujEX3vb7ZDFLC6KUNiYjY6JxFJvsyVrVQKcXVOfQpupWKeY09qxwnacqCoqizxPVvo0HRG-jw3nTlUXifIru8pbkDc7JNWXcgtQE0gQV7ETwgQqk5XoQsi94fAbAysn1c4GAIwJ1jgHVv_IQiy2jw6lxT76QYuOlx_zTcISCK7-XovYxXITbON3ljQkBc_R8OPl1K1OD4xE5OzywIftuwyoacfR7TlRtBhDIOLfsre0wWRw36UH60uSX_ghmiSDeFCErOTEBcBL8XGTm-5Dr5MuI67SP3EW3pgsWI3Cu9u_Ls13ehYNMMeYxSPmQ5XNowD5uWLh17UZpg4xZNRGyxGTg0wc64izO8BXXRedRxgh5o-7wSk2DX48RvNYfujboqN-NRfDjb9689ibjLtWzno5hVjd2_vJOC3n1XWOlwsHCFBQKKBChIrJdy5561TmxazGISiLdSpHW_OrJtu-6jR6iB12e-aPWZzsTNnIMtcolupHCh0Rp1VH5JLKJtyP29RSqmJv9l1ahpLd68MxGLP8DzI0d7KA3k2XzwtiuRISL96BI8uGVx2KP2huz44iiBUPLeS9_ymNf3f_b4vsPQ2q5PAorDBzvwqrSolXt_tltzlOLUpxXCkYlt2W_LZHYc-END7laQaLc8KxzQrjLekoe9wnsfuvK0S7yXgVXP5Y8HvioDoRvh4fObTMvD6nmU6StxEakJS37oxfBkmXh3gwfMb8-wKnKgKNDNGpTwnq7QHRovIjgTUU_sYfOJaQvpmj4Dqnp5L2ZaAuuqftTwo2Be4w7gFv0w0yVwXAVg4Cc4sronEqFgdVzAnmokTB8aHMfeMVl5E3AkSIQuHK-afJtKo9makZfT9lGad-Crxro0mVFolp1YQ5LeqCcAyYU9AXLJBi_gTCZF0NKqNzZUeoAGklEsIYiZ17Khe8s2___n1n8reLNhdWJOp-3VPJNDWdEXK4KKEay5pa4K2NLqFunEjGEiGXM50SUGpNWulqzTsAkcN-JmnnVN5d32qjDbdjvUN2Y3EpT-NXEIsSnS1a2PEKUtyrFyFZ6t8SKLDQ4jeQMvswBtVsJ-3Ziu3_w9qGQRLRu_aiUXAJ3EbxaT00C8UXlViRWsiihn_cBEDOedy6n0W26tmFEO-T4iXsy2WMkpaOlBFkRGQbhIFQ_R1DQWproFQlETOKK2LC1CZ6OMY55qR_2syvm5WIBAon0J00ze4-JbEPIeF9QNlz9IwAgkPJ9icSK9qT_p4nTzVXNzJkjaaoB-jWO1y8a_5a19dzdo9kcaNdHN0Tc8wUr0rZQM0fbYLgcQ1tRu-E7fsljBbWnCXCH9w91AD36vko4OFJMuebL0AKzTThGRwIaVk9qwYQmHKW-CXeONDfsPaY9Ek8fXKpBfQE15UPqUkp_29XPNjODxLDCGt9kJkNr_q01g2-EG04j-ZX7f9ScbUMNjyn8GFRrv42B5MRI0vAgACUoAknA2jnBP3iwtluxyMaF9cI_LQDHh9de9n5ammT7ssj9cd-PqH5BuLtdiRmTY51DvyvfvTCsP-JOA4OegU=",
  "id": "rs_00e9a09a8d48789e016ab4205c75f887d097e80780ed1a5cd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.17,\"right_z\":0.16},\"note\":\"The safe is open in the center, with a yellow object to its right and two soft-looking objects below it. I’m bringing the right gripper above the yellow object to line up a grasp.\"}",
  "call_id": "call_teJbmLQvb2ZNJZw01NnzfBlD",
  "id": "fc_00e9a09a8d48789e016ab420613e4087d09b03b0728055b0ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_teJbmLQvb2ZNJZw01NnzfBlD",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.0383, 0.9992, 0.5488, 1.5566, 0.9852, -0.152, 0.4229, 0.2745, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4012 right_y=0.1645 right_z=0.141 right_yaw=0.0351 right_pitch=-0.0672 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6342, 6.8171, 1.8388, -0.0659, -0.0171, -0.0171, 0.0889, -7.241, 8.7726, 1.9219, 0.2906, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f337c8e376654f14332c1b5fe0f8ab08a1e31db756e73b7a3904acb18fe5766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63b196d35e9199c69cd5fc46ee7bc64457a154c99ed8e8f48350bb561d00aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5249dded142e37a1d0147e51e56519043864e2b1a8dee4b7af303b9c3e590cee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6033, -0.3908, -0.0193, -0.0341, 0.9993, -0.0204, 0.7929, 0.6075, -0.3962, -0.0185, -0.033, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3333, 10.2769, 1.9756, -0.0708, 0.1343, -0.0904, -0.5538, -1.3197, 9.7026, 1.9072, -0.0464, 0.1978, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.0383, 0.9992, 0.5488, 1.5566, 0.9852, -0.152, 0.4229, 0.2745, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4012 right_y=0.1645 right_z=0.141 right_yaw=0.0351 right_pitch=-0.0672 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6342, 6.8171, 1.8388, -0.0659, -0.0171, -0.0171, 0.0889, -7.241, 8.7726, 1.9219, 0.2906, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f337c8e376654f14332c1b5fe0f8ab08a1e31db756e73b7a3904acb18fe5766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63b196d35e9199c69cd5fc46ee7bc64457a154c99ed8e8f48350bb561d00aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5249dded142e37a1d0147e51e56519043864e2b1a8dee4b7af303b9c3e590cee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBn7_q8s1SM5_qmy6nAVle8qHAxJk2rqCdFUWBr71J6388HIaELX4vwhAUwO9s9QBmjdcEUpMmpDMzM3q2X56F36uDEKRxmhzqyv806xaG73KdeS8kxVzgMtLLU6mzTQn5xa1SN-xpFgSwbkI4suAO9YcIYS_QIqJB0JNbB2kaHeVtSH1ikXyAWBX7ZRK8G3-eKxnABMOs4BTojgxmLPF0Z5opUHZ-pWRV7Ie0bNK-i-HbaleQMcVh_e5_X-1JylysCDNoRSIMNhi9owaYSH2Mdhyz1-dW3nHU2oy5ftsBG-YWNYoS-_wmiIvtDvFvrDtJWSN0jmg9ifKbABxGY6EmktrZNz2zqFEgMI9kEiL7RVH7AFne7OVIobgOhS2OIaTLWvjSDxG-OXBJqtkuXvUdiLKYmjSBwudndtgLN7M7317cZ8JYPQolDkdUy-QEZlGgTR8k-2f10jM6aSWSaaEdwrBnzd1-aL-KeujyFFo_z431b1s4mK_i37EsnTo8vNFrRjW_6PrsCmJpFqjM3lgMpY0tVEsXBtClKdfdHMBk01riHI2ynWnOn8gUdC883LRFHDNJLn5hAKklmdrnaM1MNOvONPPVcwIse8tbf1rFpvFUEAhHNli4S-H3K9LQhxENrp5X3vkfyf1f02LasKPS94O-tzhg3R78T4DAWsOyukJjyDaE7eTpybCIn3nJeoCTLV5N4tVQMyeV-soChAO1wE6-lu58pIOkdUt2aqDMNbnMVPfnNMfVQRrSZnZg6Buh3-CiVvD5ZVtdZ-R5W0WG1RwEsiuYDJ4fWqbkdXDnK9ENYS0HyWpreSZCzz9TKjpRVv-xAlZYc8NkuG2tdJJFboOwR1kQ_PVivAPSiYRr63kHhecfdFDWx5jI_eHCcgGLkPchzQ7k0hJ7DJWa5L6v3oZDGiAE2CCxmA9P7DnNbz3YVA9mLFNVXmwPFVJ_hBRUZ3TTke9p4O3bprRYhIVsivO73srXm1lea-uADlkyMNf-yzgj83X2vdx1iqnYhcMUPg5dgfoor85dAKniyBJz8mRgyLuC5i4cIkaYk1n-d5x1IW3VMRmdzv6LcHn4qWj-m0cQGf8Pfx6VifK7M_UjldhUat2M5hWc4-BXPQxTzE6ZUWsBxZH8Q2zKTO-s0_bCJNBllqlFDSxnwvEXb4nIiv3zh06eYNbYAv4hremVhXTP30QkT5y3GOJLex8qMuL8w20q1H_xMLH-u9h5dPb0lltqYTYekLlulwa_T4MtOs9CexKSzMPca84mXgj3YIc8G--NxGHzsZrw5Cd8a657_CQYMd5ZkQM6GWJl5_ySlMw2LLWYt0Zhx8VtAFIjjSU4sF_ZtSD_D0D7WBe-z0GB3Nimrz1wQwwtCOj_XFXZ75-INTvuYSXDK6FLOWClRcQ0q95KDyDP7ioafZg6BCkGGCS38Gtu9IZMiGkFygS9_xWGaRPthPjXtzpuOrXyrR_98xgAs6tCHA8L-9rnjKKs-IH45dTp-ZtSpJRkFqrWjp_wtbP_QGQtkLacoHBf2un2SRTk-wDp948X4AHJE8onHnuLM-u5MZXLt9Tjl3WyAlx_ey5HN_J4M4V3AZ6JazBOMV1keCrg-CdJzDtG-IOY6fjw7taS5Atao2dOJc6q4_ZcQfrDBH6bUSbdhWmUX_kn46C_niJ6vQc97mWLpm--P1TwiJKWLBVpviQ0c_3NbfDuxGZoKjCoJwTQv1JFACuEXAupo6lJ0JAQtxF1T3ZdP1wK9XpVPFeQcExmyOFJAb-1IGJ-Mj-UWgSCGQQuIlOKedovo1T70EX0k-SmSh9Jig2nytjHDDuG2E6asurwFBfUPngoorhH34V2K636wC5W9ntKCU-tNvbTSPR5NW8n0TGvyon44F81Hx5Gct0ZrkcYFLJABUMf6PYMTD71i0j6kHBJLQHfGlUvth3ZkYTyJwOGorU3EnyLjcNR3ZdBLKx7lGxI-3Vz9D_r-bKVZaXrPshlHghzG0QetgiRJOkt6o1x9lkz6nmif6s_jVHgndsi88oySHe81tVZBEw0i2urebMB3JXCubfl3lHBCR8Bo8OFl-cxB3Kp8zyBFZF1BaFYtMC0XxKJg9nhd_wyswpfeGI9mM-U1BrEta5FjJi_KwJPlKO8X2w_FNrKpgKn-3z_QatjMxKrGXF-zPrKpMpC2XbPvJr-hYXuTSWgu_q1R7UckycM67PzU9KSfHKN3EBwQYw4MFkgi9ZjNEwTt5DdjH5j-rUBW9XZizolSnV1uiKKFnifBgmpimPMmHaNZ9wE=",
  "id": "rs_00e9a09a8d48789e016ab420644b5487d080e8f6f41c7fda74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The yellow object is visible ahead of and slightly right of the right gripper; the gripper is still high above the table. I’m moving forward and down in a small step to bring the jaws beside it.\"}",
  "call_id": "call_zUbzTwcK3IboZW8iJPQSGqdL",
  "id": "fc_00e9a09a8d48789e016ab4206660ac87d0ad4900e6a58de809",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zUbzTwcK3IboZW8iJPQSGqdL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.4488, 1.784, 0.9329, 0.0605, 0.3607, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4292 right_y=0.1415 right_z=0.0582 right_yaw=0.0132 right_pitch=-0.1483 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1692, 6.9812, 1.7998, -0.0659, -0.0659, -0.0073, -0.4308, -8.4444, 6.2701, 2.0293, 0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f03b4699c5ded21017bad1cb8d3d51067101d38231de121eec259dff9c28473",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a422fd52d5fcfb928afedb11b6c9f1d2cd9dd2fd02d185a328cce24c30b37888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd412db315fe844bc1a5d4b8a225473f5841015375c31abe47c7976a8b61f21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.0383, 0.9992, 0.5488, 1.5566, 0.9852, -0.152, 0.4229, 0.2745, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4012 right_y=0.1645 right_z=0.141 right_yaw=0.0351 right_pitch=-0.0672 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6342, 6.8171, 1.8388, -0.0659, -0.0171, -0.0171, 0.0889, -7.241, 8.7726, 1.9219, 0.2906, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.4488, 1.784, 0.9329, 0.0605, 0.3607, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4292 right_y=0.1415 right_z=0.0582 right_yaw=0.0132 right_pitch=-0.1483 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1692, 6.9812, 1.7998, -0.0659, -0.0659, -0.0073, -0.4308, -8.4444, 6.2701, 2.0293, 0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f03b4699c5ded21017bad1cb8d3d51067101d38231de121eec259dff9c28473",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a422fd52d5fcfb928afedb11b6c9f1d2cd9dd2fd02d185a328cce24c30b37888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd412db315fe844bc1a5d4b8a225473f5841015375c31abe47c7976a8b61f21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBstKLsSPdKTe1nCYTO13CQmxibuvHDyp6tnHaGUIsArHr1jFvt2H-e7-A5z8DJCinheCVH6jat55TsHV_dNCg-Jtta-TNniz9YuQ3ClmOJ_L4UCoB0xY8ko9lTeIuducttDP1BsEwD7a_VPOfYErTTcoHogXt5i_yUGKVCtM5lJoGRKsYSh2hr8MXBkcX2ibIAxDR6JzBEqv13HPS6UIhdL-Z2z_VslZtlTdZ45PdiLagYojVpYriSOVK6Jru-Xwd-EC2MKl4dxLw4XMyG2LKQ5-pKQyZhFSvqp_8FiPG2ceHY3HiMVPn3M65rWeRIncfXIPKE7U5FOFn9oyWtQx0PxOA3WNIGCXOw7h433cpb6Dn6zE1LPgu8Y1MBIlFLSOqEP0cOod_uPAN2aPSNWNwvT4nRjaci64e78FcMTnylGxeq4yTdfE9zzUp7QNumx_oOujN-ne8-cXrd6dmbw6b2e5YC38vvLcfak_HLr_zENftBn6eZmEZeH1WzOpbflNBITz8Bwhga9g1TPsIUn-3SroiZsicG_DkQQr8ZlZ9dpuDBruICmpLIUQuDhoqcT4ApM5mLQAYiQfcy-1wjdDUQQH6ArOTFGrL_Y5k3hZSJ2LG0LyGz7vZsd_X6mFdbD718z5_b9B8pI4itHerxpq_SC6WEsKeGRy4iBMI-VBOO5M7nsLoFpwC-aZV5UoP2ZOK4kCCev9h9HhxzKb3IPGW2ZI8iRLWiLIx1snrs8CaSiOxfY_Y5EltPvmjfS0q6G_Zg-LfwHx98WikMzJY4CvGPhThhAgG5Kp9M_uLe38NbrRIy-mirCzBLUOuvariz8JoqjX_YMZsnvC8uL3wnbUX37w9G1BKBg5ni-3k6uwthCjgfcW3C2Lm2gxT6hti9a0BMctwH0UolxAxLcrfKD0NIdY44t35H-PoNfbfixq12QT_0DdRonFlkfcDNvaVcQgIwslKuDALPniaFpRA8m95XN2Ui_nzZW9jfLP_zNbx-lUpSsUxMZ6d88Y3xmBdIAa5iEW86s7q1pT6OmAZyjysvZUbewSuraLONndN6nRrMpRp1vrVfOgrkN-jxs94eqrt6a46yFWRU9AXBioP5kiXRqOAr-TH2WC3Tmc5igw8WDvuXhujrZnrjuQFoxZfSoKEw9iH3kBFUHRaboPxJe_wTjNVvWKEhDuCDD7QkJ8yUBmV1N2UZrDdrv1U99p-lwnWRT3uMvgb9lIuLGig_RpgsXnYNLKk5jQBsT1Ow-GgAsFmw1rwqzcrIAyCuGa8xdty3F3lXnXDDe135N5aofKX-wXbox1m26Ei_gGYzNm_031_Ats4VWJHyvmYE2yqW3fzhy1oHr1kgvLJTQkBddLpzhIztwOTZ-fr5Tj99Nsu5JuVcnCBJ1ccLga9VSpDe50wDFVpgTAq_w8BXFIpUC4uaMD_c6qCZcCCYHwvwjDPiBWHpxiPFgmvB5uDRsrualOJaASwSFEp0wBjTOHUZIw2pc6uJNPzQwW3QXJjKJYSGfP45T-rrexcBag3Np_hNUdnxxOATDjS0lHVlvDLrnfLuPal1EOXv4w9ALzDwjnT6k12IYUeZ7NybeJ9fj0FBC2J4MeBJajZ-pX_Vg4H0uX4sQUEKr6OgrYAgVK-qmWpJ2154mq2wxuMdGTi310XIGgcAESadyEOx8tqjxZHIbW72JUSbPIUBAhDuUbxR5EaJ_Qa74051IyXeEaq0xFqG_skJaR-04TSIktZLidBKYUvHk4g2O3rqGK-DEawL2tY8QQYUNZLpa8lUofAknXb3pHnDWkgSNfMoIM72ilNhvjJuiFaPamXiy0DybgcV2IVSGBWOLWpuLjHfCZ0-CiFM9SvocBieaZew3n0-hOdPy31Ws1ABIfioq34wtRvQYxUICqXTBzy8gc2qV-xm-PG4U6DBS6hnzDLCBER5iX3XjjlmtsAYjnpJGc3GhGfwYNDw2v6bdD0SeQ2xSvebq3zO5jeC6EEG6lw5Nu3SUiukSTa0x-7jnJ5esfNwFXTRme1wGbBXRt9gUtq3Y_TPQdeqvl0Eh-_G8m3YkuOIWcvw7OBhsz_ycg__D9rljq4ZWhz0JNwoF1B7WqGbKy-QjFHNpOLYoZh-xJF9MAIvmhIW-dC7n1D47KTjevOEsF3WzNoY8GcGIjOc409zEtddod_-G28W05xtPJZGK8CXsGwL314FUqymUo0FRICV753VXISvDwGlFeHhkfo0oeSVXBuK-PGMUs8qHncSfnVGCedHgWyUrT7jKtmaDgZvx20lA284iic=",
  "id": "rs_00e9a09a8d48789e016ab42068eff487d080953b030313a55a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.14,\"right_z\":0.035},\"note\":\"The yellow object remains ahead of the fingertips in the wrist view, and the gripper is nearly at its height. I’m advancing toward it while lowering slightly, staying on the right side of the safe.\"}",
  "call_id": "call_81DqotoAw3b4eDgnNTnosjnm",
  "id": "fc_00e9a09a8d48789e016ab4206b51a887d0a1d85bd72726a9c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_81DqotoAw3b4eDgnNTnosjnm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4286, -0.0189, -0.0383, 0.9992, 0.3862, 1.9827, 1.0821, 0.0772, 0.3149, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4702 right_y=0.136 right_z=0.0247 right_yaw=0.0106 right_pitch=-0.1936 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.388, 6.9675, 1.8339, -0.0659, 0.0024, -0.0122, -0.3897, -9.6068, 7.5009, 1.7998, 0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2fa804fd8c6feb38bc89c4a02f3bd041a6b6add1901a4d5962f373df214db26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfb45be2984f135ff33c79eb5f70e45613e2622a543371b891f34cab8506e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1c196c8f6a4aa4965e36d3912d1876a65e7856aa9447b659f60fd620f4224b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6033, -0.3908, -0.0193, -0.0341, 0.9993, -0.0204, 0.7929, 0.6075, -0.3962, -0.0185, -0.033, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1785 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3333, 10.2769, 1.9756, -0.0708, 0.1343, -0.0904, -0.5538, -1.3197, 9.7026, 1.9072, -0.0464, 0.1978, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.4488, 1.784, 0.9329, 0.0605, 0.3607, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4292 right_y=0.1415 right_z=0.0582 right_yaw=0.0132 right_pitch=-0.1483 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1692, 6.9812, 1.7998, -0.0659, -0.0659, -0.0073, -0.4308, -8.4444, 6.2701, 2.0293, 0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4286, -0.0189, -0.0383, 0.9992, 0.3862, 1.9827, 1.0821, 0.0772, 0.3149, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4702 right_y=0.136 right_z=0.0247 right_yaw=0.0106 right_pitch=-0.1936 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.388, 6.9675, 1.8339, -0.0659, 0.0024, -0.0122, -0.3897, -9.6068, 7.5009, 1.7998, 0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2fa804fd8c6feb38bc89c4a02f3bd041a6b6add1901a4d5962f373df214db26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfb45be2984f135ff33c79eb5f70e45613e2622a543371b891f34cab8506e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1c196c8f6a4aa4965e36d3912d1876a65e7856aa9447b659f60fd620f4224b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00e9a09a8d48789e016ab4206d6ce487d0bfa156ace06fedcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.14,\"right_z\":0.02},\"note\":\"The yellow object is still just beyond the fingertips, close to the safe’s right edge. I’m trying one more short forward reach before closing the jaws.\"}",
  "call_id": "call_mrzCwUrFUZFAbPRnwWoa98eX",
  "id": "fc_00e9a09a8d48789e016ab4206f077c87d0b3ae25196d5bc16e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mrzCwUrFUZFAbPRnwWoa98eX",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4362, -0.0189, -0.0387, 0.9992, 0.3649, 2.0892, 1.2285, 0.0196, 0.2932, 0.1524, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0026 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4986 right_y=0.1396 right_z=0.0165 right_yaw=0.0161 right_pitch=-0.2167 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5111, 7.2137, 1.7314, -0.0562, -0.0415, -0.0122, -0.4855, -10.0444, 7.3915, 1.5897, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e666456578c6f7048ab2c341282c576a4ba331ffba730ebf2b38e840b842a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f87e47fc674163af9e8a5cb8e1f7fde6a64d4e9a03e49a9824838bce7a943a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d27d939a064a9190a13dc6db0d8c49d5f4f15cd67abd5cc02a70560129b19db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.0383, 0.9992, 0.5488, 1.5566, 0.9852, -0.152, 0.4229, 0.2745, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4012 right_y=0.1645 right_z=0.141 right_yaw=0.0351 right_pitch=-0.0672 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6342, 6.8171, 1.8388, -0.0659, -0.0171, -0.0171, 0.0889, -7.241, 8.7726, 1.9219, 0.2906, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4286, -0.0189, -0.0383, 0.9992, 0.3862, 1.9827, 1.0821, 0.0772, 0.3149, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4702 right_y=0.136 right_z=0.0247 right_yaw=0.0106 right_pitch=-0.1936 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.388, 6.9675, 1.8339, -0.0659, 0.0024, -0.0122, -0.3897, -9.6068, 7.5009, 1.7998, 0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4362, -0.0189, -0.0387, 0.9992, 0.3649, 2.0892, 1.2285, 0.0196, 0.2932, 0.1524, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0026 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4986 right_y=0.1396 right_z=0.0165 right_yaw=0.0161 right_pitch=-0.2167 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5111, 7.2137, 1.7314, -0.0562, -0.0415, -0.0122, -0.4855, -10.0444, 7.3915, 1.5897, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e666456578c6f7048ab2c341282c576a4ba331ffba730ebf2b38e840b842a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f87e47fc674163af9e8a5cb8e1f7fde6a64d4e9a03e49a9824838bce7a943a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d27d939a064a9190a13dc6db0d8c49d5f4f15cd67abd5cc02a70560129b19db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCB0uYxAOyhfbn2ZdsOOdlg1UuCQLTFRKK-G0gBRtI2bfclcnP0La5tEZfEBnsd1EO9REzEXVnuUr93ZfRm2OQ1Ofb4zGrUFfRRALLs2CjdJ3w8VAE4QBz6jrMTAXMt04RmvyKCHHN3lj5jipuhEpn_xDu64O3HPsgHMitKAUgrrTL0UO9zVhq_TwFkBffTWgIcZEcCWkLhwpTNtx5AUsYIBl96-r3V4y6Ey-jdypWke7ZvYIIOrIC4sHCaHonEWQixftOvZ2vMj4DAHAzfJFQfK5ZBF7YSVRr4xBRQOWriUa_sZvwI28xF9mkIhY5Hif0Uz5Cql8GGBfybT51lakwZpINsKy-iwbHqdH5I4zUjV7tTFxOOOjSv_TU8rZYMOcfFKAfvKltKm2kYRjKgE73m05y8oK1nhKF7wup_QA64kpq9XnrrIUxcLVM_MYKg9ZnzkAufID_8KPLQvpX2paoFPjLZl5GXn8p03aK-LoMqrArOA34hwpRGa1vCea8YBNXmmwz1g-TMF5KzhogBnE7MEtxrVna1n6l_FYYYdwgOWb1EfUTH0I4pEWBh0Qo41jZyyKKqT9QUmR6qQNAc71IExEpkgQPREBLZAibmROx0-3koxF8ndbDtQZ27hGJ4Krtd_oyFGdBAe24jzoF7Sj7SHn4eAvx0AMxCYY12bIuLTIfftAuGvHKgM7TqHl1S0OgDn1JkJGiKFwpJZVVxYdz87xth1cgDdmqGjU8cPawE1ZJ9SbAtjd32lUJTYE9V_NZTCM_QGaKu8YXMmWkaqMzfWUv1GlRQ44pHGupKhvYAd-t79dS2bT_fZ7iHYGrDBLiDQFZs4A5mpLnQIUTJIBQ2YYFzIEBYex4rqBcJzYIZCfQ8Y6Pq5bPWRte00_4NDhQoBwidAN8YVB4-E27b-_oEjeewTimIhgjX8jdCighrJXw078wm0rBU6LRKLzDNWIBKha5-jCYdinmcT0bYSwXBGdzpSOmtUEg2CprSh6VMKSdacy2yxOdt9CTjNnHutIPgVZPVCY8lTO-ZXKTji0GFJ73sJqhU8dHlb5TKXtmIaAC2ovENpiUyH3ENvDOy01yuNDrDk6iymlB4yvNE7Jg1f2WRUpJBDFkKUnR2OMb5vFWo70tHOa8U6xpxlI8xWp7fDgs5iDZXMFiuFatMOZlp4UDb7zp_kMk9ssVqDnPTkQJxS2BW7jOGlX3s4Uxkba2pJsiYUtdX_yMJayfn4i7SN8imyXdjFR7CoE99gAiJo7Sb1wZ5vvXH5PrXvLwMbIIeMCx0of_N-_k6_wozWSBUJJbayyfIYlivVj9oAsILSOuURwjhCOHvLt9CBQYJqpLvVV0_XOmtXJCTkHOPPt_WEa78RvxR5Q4HYQQnOU5bEQKWinsvcvHypmgv6VsbHmXBQrEoldpjLMrbuE8ddT7nxilyjAUQTkkNHEZOPxtcmZEKioWMFhHs-P2H_QQX39Oq9TW6B7LCXv8EPQNWCzGkEsWnnhw6Z3a6zWhsH8Cdh6EdtxtGE4PeeTphBq6VpGLFNVwMneXM7JuBZYxSax3RYOBQ9WNvC161LV0hGB07XxUE=",
  "id": "rs_00e9a09a8d48789e016ab42072500c87d0a2252fdb477ff997",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.528,\"right_y\":0.135,\"right_z\":0.025},\"note\":\"The yellow object is centered horizontally but still has a gap below it in the wrist view. I’m advancing about 2 cm more so it sits between the jaws rather than ahead of them.\"}",
  "call_id": "call_tjo4kyXOFue9P780hpZfrwKB",
  "id": "fc_00e9a09a8d48789e016ab4207331bc87d0928cdfd090e0f376",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tjo4kyXOFue9P780hpZfrwKB",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0383, 0.9992, 0.3416, 2.1323, 1.3319, -0.0521, 0.2676, 0.1299, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5162 right_y=0.1378 right_z=0.0206 right_yaw=0.0257 right_pitch=-0.2349 right_roll=-0.1013 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.9463, -0.0806, -0.0122, -0.0122, -0.6632, -10.3179, 8.0752, 1.7216, 0.2759, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06ea72cc250503d92879f354e2edd562f977f12aa6e78c2e9cdcb8977e16943",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2f922010728d4bb54fe85dd4ccc95a31c7ebff19b4954f3fdfde3c1563d008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435ce9bc5ed3d4bb14fd2336081b01ca36790b75beb7c01d0e113568a86cec25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4133, -0.0189, -0.0383, 0.9992, 0.4488, 1.784, 0.9329, 0.0605, 0.3607, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0255 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4292 right_y=0.1415 right_z=0.0582 right_yaw=0.0132 right_pitch=-0.1483 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1692, 6.9812, 1.7998, -0.0659, -0.0659, -0.0073, -0.4308, -8.4444, 6.2701, 2.0293, 0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4362, -0.0189, -0.0387, 0.9992, 0.3649, 2.0892, 1.2285, 0.0196, 0.2932, 0.1524, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0026 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4986 right_y=0.1396 right_z=0.0165 right_yaw=0.0161 right_pitch=-0.2167 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5111, 7.2137, 1.7314, -0.0562, -0.0415, -0.0122, -0.4855, -10.0444, 7.3915, 1.5897, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0383, 0.9992, 0.3416, 2.1323, 1.3319, -0.0521, 0.2676, 0.1299, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5162 right_y=0.1378 right_z=0.0206 right_yaw=0.0257 right_pitch=-0.2349 right_roll=-0.1013 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.9463, -0.0806, -0.0122, -0.0122, -0.6632, -10.3179, 8.0752, 1.7216, 0.2759, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06ea72cc250503d92879f354e2edd562f977f12aa6e78c2e9cdcb8977e16943",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2f922010728d4bb54fe85dd4ccc95a31c7ebff19b4954f3fdfde3c1563d008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435ce9bc5ed3d4bb14fd2336081b01ca36790b75beb7c01d0e113568a86cec25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCB2Q5UvSJpbRmH4by-zMxJ8uFPCMuAe5ftTUc0j_qvpOxU3UJoPkfjzGtbQSIK_nkUyzQiOOByFafBAnrpDRzd5iPQmIaCIUKctRjT8UBsatOgjGmNxrcn8IlqBRuF1sf0SGHVWtbW2FlURzKFF5uVmKZIoe73CFk9A4NdRxbNAtgIukvizf18lbMtW-vrWCFz-XnXQuPqUSEhlISJ793Vdl_jYzVDFaZO3oiqZqu1LzU-umo1UNLuXaUjwNIonVTDRvNQFFWzYc3sSnLwPMgqWNYCrhF9dAYNCb-H0rhf3UEpcXIunOlZlVPginRUrRuDq3j0VFFdLb5cvoQyzyeNt5Y6nbfwFrjDVjsomZpA02lDtA4J5ROoKB2o05yIPnModE2rGq4pegahnoResjNVoT2NjeKqVrrBuXJTFwn19WoWH5cUkcE3_wVF73PbJfnszN9rbvww7BDOm4CeKqJ1Y7_yBSAaODD9YwTqK-yoQHNPmTPJhdojXU4wkhAoREHHts4mInHyQecfddXXl6YC0a9BffCskRZ1xpjnK-U5B55A5DuesYDyz1aaUfK8u-KhtB13e65Af48TkBZax895wqbqJ4cCDjuqeiyMO7hcuSPGLD8oGROiO5SVOePH1d9XbydNuCKjKgs3xFYC513L65hG_cV0hi3NocJe0Pyvd7rkJdoqBJfvU7gZaERofNzzIAdejs8fpZmfwEa2s51uzX_7Bm5TjA08Z2KgbbA9iXar-fXjcqSXLW_1H2tZNiUbElKXlljqSeTdt1PMBRzFeianRcfqdfT82MwSqSGaEJRr1U0LznUlsEQvFEq1DsAJQT-UUNUzThzsq_CB_fqEYG6Ur6mDgz8UK_aRgCRqnBcx3Bz227CP2XNad04SLVzk1UBZvJ2pC885Ew7Lzuyd7rHSs91Ri_u683feM9yBxzB3audUJc9llB1FwM7taOEhjFogM9I9XVDlNVezFZBhnsIW6jL38kaTQvSutlL9wo3Nxv4wwXmiKAcHGQnD128tJ2xQKoQvf-04rEz8WJ83xC8gHUU3XKBxwTev6YEuAYmBU5y9w_88K9wWnnjq7HgQAAjM5gVyPi9HbuZmb9uNBeG-fDIKgM-i63LyoS4d8D5LcaL8-X0UTW5DA2Jt3PuoUtSJS-rEzVn_ZRmzUw4381WvS1vl67ktT5mlrgZ7Qn6lFH2NT2ATuVzqIJaDS_8y-huW9tWwcDHwKuuNg0uwAKov4gDaq_NKDIEo4FN7fVNL5O_OIF7UI8WQhS9JusY6tENRHlKA21b2D0Yu613ba1dY-Ku9WUv_iZLB4juY0il_VvWbiQYHSxUUY-Th19sXktd5Xzk-4znzEt7OIOmDtuLjstZYTKzO7_BNrcXEDfCULBmahiBkfOMsmkay9fu5E6o_BV-v0mp7QQc3MK9Oz5FDNXRPRApx0BRHVGFS6z8yhqhumezSBkhOf6OJHi775He-89myz1GFxST6wK1qzgA==",
  "id": "rs_00e9a09a8d48789e016ab42075515887d0800efce3542d8a32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now fills the center of the jaw opening in the right wrist camera. I’m closing the gripper to test whether it is captured.\"}",
  "call_id": "call_apLUw0k6UGba3JSUqwPm1BNN",
  "id": "fc_00e9a09a8d48789e016ab42075e84c87d099a2a7b11c6bb972",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_apLUw0k6UGba3JSUqwPm1BNN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.3447, 2.1376, 1.335, -0.0711, 0.2306, 0.1364, 0.0277]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0763 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5118 right_y=0.1446 right_z=0.0147 right_yaw=0.0543 right_pitch=-0.2634 right_roll=-0.0757 right_gripper=0.0277\nstate[joint_eff]: [-0.1299, -1.2513, 6.9538, 1.7314, -0.0659, -0.0464, -0.0122, -0.4991, -12.0547, 5.9282, 1.536, 0.7595, -0.2027, 1.2772]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be05869880b2a53006c1334e2f256aabfdcda330a12f7310ea2fdbf756fb6c65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2cf39044c0de9e32fce4cdf1cb6d5cda0a7ba2d0ba0ad2e3df9b363120aa354",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a20fe613d60b949fe9e60c3e83d503fd70b47fe6307753c6cfbb131aab0403e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4286, -0.0189, -0.0383, 0.9992, 0.3862, 1.9827, 1.0821, 0.0772, 0.3149, 0.1711, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0024 left_pitch=-0.0431 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4702 right_y=0.136 right_z=0.0247 right_yaw=0.0106 right_pitch=-0.1936 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.388, 6.9675, 1.8339, -0.0659, 0.0024, -0.0122, -0.3897, -9.6068, 7.5009, 1.7998, 0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0383, 0.9992, 0.3416, 2.1323, 1.3319, -0.0521, 0.2676, 0.1299, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5162 right_y=0.1378 right_z=0.0206 right_yaw=0.0257 right_pitch=-0.2349 right_roll=-0.1013 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.9463, -0.0806, -0.0122, -0.0122, -0.6632, -10.3179, 8.0752, 1.7216, 0.2759, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.3447, 2.1376, 1.335, -0.0711, 0.2306, 0.1364, 0.0277]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0763 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5118 right_y=0.1446 right_z=0.0147 right_yaw=0.0543 right_pitch=-0.2634 right_roll=-0.0757 right_gripper=0.0277\nstate[joint_eff]: [-0.1299, -1.2513, 6.9538, 1.7314, -0.0659, -0.0464, -0.0122, -0.4991, -12.0547, 5.9282, 1.536, 0.7595, -0.2027, 1.2772]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be05869880b2a53006c1334e2f256aabfdcda330a12f7310ea2fdbf756fb6c65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2cf39044c0de9e32fce4cdf1cb6d5cda0a7ba2d0ba0ad2e3df9b363120aa354",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a20fe613d60b949fe9e60c3e83d503fd70b47fe6307753c6cfbb131aab0403e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCB9LUnW-thAWK_yvjRYxiI0NgbzCmFt5l7z97JFEkugzydr8UFrW3NGuyz8WB-NiUpGtFwEs3DqvgxM3ZsVHVxfi0aCW1Ub5fM9yWgdZWyhTkcODi2o0vsNKXMJSs_u7srOLDRnaK70rrVCloU9_-UfHkO900NvHTiMgO9oYiShdBjwk9J7wm79F6HROBATRcqdcrRao8jzrEY-Mz2PNMxpsGT4gQZsU94QyMsOAq7Gel87RcpzJrFvIrFFwpksAoH4I8e5x4GtciqB0dNyvLiRZ6pkGAwZollKb9SDkWBa7pg7NqHV1E12elo7ymYHLO7nceUKQH0ZlIMzwALBvrxp5eTQJWlW5dY_UeN-ELd1Liq6jh-7CHhfSsayMNH5eDSVntKOqs1V-05BkygG36stuDIjTv7wG95niF4xQ9BXa8pBCQ25cn3Vp6_-bx1BEkr_jD0hVJhlzBroJ6HhdkJxKh8XUvD6ifI6rsanB4ndnjZKtTJofj89mDwcQkWzE2gIHJw5eFTeWwFxsbQx7vUFqOP0jDIHU77NKXy2oI8EBoEjWVaea7MwoQ7maIJuNxXM0kMobsqfIg74jLRNNZYVMdQba9Eb317_X1BejfFS_PDHaWy65FgP6eqrZ1RgdjtidANDnFe9t0TaEL8_oxjp-Y0rC3vB89BRWc2QmyEBm6X9ihT-_LgX4HmYXgLls8oScqspvC7nPzppt1Lb2w-g_VGraRHbywiyaqfBq9QPbmL72qqnaWj9QcZFPUU7ehmt7r4K_eIu8N9uhRnlc4GszUpH2-_SA0YQcWkrc5PoYY7kU-gPazWE-D5jC-UMRLE0RocbWrNRbLoT6k73BgUBY9usKiXFHX62cr4CxUHPWIZaNztGyZBg-2ZfKfl5R3uyKMgTt9DY_BXaf_sDe1euYtPJq2-MVo7ryBuURzG715F77jrkxIMYhdXhr_fho8K4KqldPYXE1aQNPJQDmkIZaYDjJqyr70KelIcc14OKOoEjN7ptA9R_pvF3ffxzkwNpECDlUu_pUqgsOMGuHRusTHNhhciZpB4e4K6WfNylEiOzv2Kvg-St0jv0Cy8rNOnWcGE6ID5D35qDu7svHw_SphG9kRR648hcFZuxzmSlg_oXxbNgMT2h0s9MnJGx9mFp2aRmC-MmIEUmFSlcJwxmRpQZ_TfU1vUHq5s8UKjhEcI560bVg-NCND96X0C9KJknbboso_SPsmM-wXeveKQoyAH8LVQ1CjQDnY5UeAI2YHcro6Mieue4sEGxQf3zmXTc6vqC-HguJCFREOdYVA0-k_Has4SruUrq7lZatsqkQTr9hY7xoDQK4NYYTfZ7iLS5B8b6aVTMXMispZwCoemR4HnSDfs5drPri5IOiHlGNbHX1gvRDC3ya0Xed2xzsjOxG3rHXvxnGOp4orfxNvbHH_PSX_GTCx48OLyzlVMI2gEcZLBLLy1LXZ8LgCE8BrE3VS-8AJ_vNTVHZZ3tbGQ15BmC3BpGQ6wxQP1g1DWEnWRgVzauX-XVJ1j_Uk6OISMpKFamXM-kiAFaZFQuiBahUJNeIMZLi7uEA4J81nzqS_C1PXlevWRr1UW2TYDvue7kVT3W5fWPpEa_WcZEhxehfbHaGVCDzGILAfjY-ZsWJYEI1UnHGbNaMnrMaUx_FxVu4u1r_R_Jh1SLBeBCeXlDC0yKsLt1YusYM-8b7oraF0xQobW30xDJSSMvjA3tgB7vidWytjQWe0KDF6E8puwYW-iqOMYGtkPPsMwB7bwQBe4L1MdkgIK_9oRDgy899Vt7V65jYReqP3t1Qre24jaMDEunt8vo1shE8B-tKTQ6ThoHHlcErWr6oYEQxm87cOX5MKQw6ANGWAhjbNUHpKQk3VwWypOsfp6MN3Ll3tp-zOa-o_sWIC_g6pX7wry2wkGwAUzyVc3vEKPbKXSP4slT8MTItwswob-cJfEOAXwkjdwL-9rPi7IfKd_l8dz0mPIATZZjiWrwSafqhmt6WM-C3yoFGcqt8zkjN4wP4FFaGlvPEC61X7-ccTjZGeEHkZPlnRshmWQUryyWPsjwVaEYvNMye1xo_wgduxcyjDMt1TnSEyMyAtmwt1LWRontgtrAFhzYS8iT4cZgBLrmP-pzukNe97TElQLnsyae1Ko0_9qqumNCeBaZq4csZJYz70SegMW7YRGeDTtG1Vxqg5S6qs96xF3-rjk6koeXRYXnxOqB36WIKTf-pxqwLGUb0kWwtmDLnRy8tLAVwRKIHkStazH65MVwKDHMXEoQ0nXWtkZ3AGun2gshrEiGMezGP8aWfoINk1_QOjadSrZh7DcmlIiYCw0sabVZdFUHGVs-wCsDPqvjH2-6MzaMJ2JyuP1_anf0ccdKzpl4xsz8eK-AjMi9VC8vUokmu8qBdP1ei9pOUIzFXOM3gZEW4MEn2j1CKnaNuJz46tANN8mEx0pkuOKZCRuxcdKwLf99lFzJ3MRi6hdzXYJqDSJ3wi1d9nFL5gUJx9758dYbjQzgeo78IlXoUSAxtcpz0qtXI7GhUMr8prB61sRC3Ub8kH244vea9BIl-qcaAjDUClz_BxP1QH-UAUxsa-tiDRxAO6dTsgddigYsUh7TGA2pjLp5gnzz2YLq8fN5C8IaajX_Qk1S_FQqwhKq3q03ItX-BDezQNFo2f06tKVCI2LNl2bF4VGIq7bUCmfhfxlavJRlKrl_hXh2PU9TLgV8EWwA68lhDrhZdKTHHxqzytAUwCuM4MjWKawLQQ0QEOKPmirKPXjNDNdw4hSpTEWr26s9Q-WI-ju5b7ZU_vWNMNXnmQTP4uumEy1q9EsLZDsSUODjLkCVlV0td0e4ZNo5HWFOWYCQHzO6Btk7VkBPabsDm-Km_PsOmCpbjP9akuTLKnYUqjVjHGDDx9pO8pHElopP6y0pN2tAXrsekVe5PF6rvReLtb-tgfUiQB3mUqlOnW9ygJOdVHmPHwoBcRk6XgrL0QWf1kuNPGNHxS2SXAX2lO0eMG8tvjwTXL1cEscVPjUxyTnHTLRigE01i0VOiLsf7TxeV2rfPwUKeIlhwtDNgN83vHxORtF4Od9uVlVDDniWdKDoPSRskT4xpHcq0CbTcfaSk8oa8UE2PQfB5u9In4MZ7Moi2ize1TWa3fy2bkxVC4Efrw==",
  "id": "rs_00e9a09a8d48789e016ab42078bc2887d098ce1a5c596a6f28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.53,\"right_y\":0.115,\"right_z\":0.026},\"note\":\"The gripper closed nearly empty, and the yellow object stayed on the table; the nearby safe door swung when the gripper brushed it. I’m reopening and shifting right and forward for one better-aligned grasp attempt.\"}",
  "call_id": "call_4gDKlK4Msh16IynagTa8x5um",
  "id": "fc_00e9a09a8d48789e016ab4207cb20487d099eefbd221508750",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4gDKlK4Msh16IynagTa8x5um",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.2703, 2.1376, 1.3643, -0.1219, 0.1822, 0.0746, 0.9948]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0027 left_pitch=-0.0911 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5198 right_y=0.1145 right_z=0.0164 right_yaw=0.0548 right_pitch=-0.2961 right_roll=-0.0854 right_gripper=0.9948\nstate[joint_eff]: [-0.3077, -1.0188, 6.9265, 1.7753, -0.0708, -0.0513, -0.0122, -0.6359, -11.494, 8.6769, 1.5702, 0.0122, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b048b93ed3063a0678714a6ebf5a353375f43f413995b937baa4e2a591fb852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f1834d9687065688dd84d5da79b6f7d215e5ae54a49f3c3df5e8efee5f514d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be0e0f41792360e4203f83dce53bddc95fe9471a7553c994c014c7f363d9b5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4362, -0.0189, -0.0387, 0.9992, 0.3649, 2.0892, 1.2285, 0.0196, 0.2932, 0.1524, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0026 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4986 right_y=0.1396 right_z=0.0165 right_yaw=0.0161 right_pitch=-0.2167 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5111, 7.2137, 1.7314, -0.0562, -0.0415, -0.0122, -0.4855, -10.0444, 7.3915, 1.5897, 0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.3447, 2.1376, 1.335, -0.0711, 0.2306, 0.1364, 0.0277]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0763 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5118 right_y=0.1446 right_z=0.0147 right_yaw=0.0543 right_pitch=-0.2634 right_roll=-0.0757 right_gripper=0.0277\nstate[joint_eff]: [-0.1299, -1.2513, 6.9538, 1.7314, -0.0659, -0.0464, -0.0122, -0.4991, -12.0547, 5.9282, 1.536, 0.7595, -0.2027, 1.2772]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.2703, 2.1376, 1.3643, -0.1219, 0.1822, 0.0746, 0.9948]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0027 left_pitch=-0.0911 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5198 right_y=0.1145 right_z=0.0164 right_yaw=0.0548 right_pitch=-0.2961 right_roll=-0.0854 right_gripper=0.9948\nstate[joint_eff]: [-0.3077, -1.0188, 6.9265, 1.7753, -0.0708, -0.0513, -0.0122, -0.6359, -11.494, 8.6769, 1.5702, 0.0122, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b048b93ed3063a0678714a6ebf5a353375f43f413995b937baa4e2a591fb852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f1834d9687065688dd84d5da79b6f7d215e5ae54a49f3c3df5e8efee5f514d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be0e0f41792360e4203f83dce53bddc95fe9471a7553c994c014c7f363d9b5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCA1apQFWf8HNs888hJequdsRSML62PiEmifksGLCMZIjNbdoJTRERA66G6Yo5JSTCqHRoj1oToaVlU3PeTywQ1BFkIPJk5BFoTikK0yfAEM0jxg68ZCilAz3QCFh-ua5dh2W-1iTIhbAKC0aoG7OR1YKI5C-D6we5qzaW-2gdw44YOuQalmW3qoHl5nWeEn3VrmaUuUObGHx7QAwftsLrNax32LAkiWQJMmsYxn1OVoAkC5XcbPFtjVz-JDIZhRtGr7qCO0bFjaF2iUljTFpbrUFfpb1zrwLbKFB-s0HkhlmSuO_CNIZP102ffS6REarYpT1maSVjlgbuvJ9rvVH0XVYZZ1QcrIlTvsShnRq99_DkHCP0NfcaGRd9uc2jtREw9-pVPqjj8Eh4HYpk-gLmjHfquSTPWR4rYARVmzVPLpSHb18NwhXnV3QOVBlDvEZyzi5oeNzH5-mbBgh13Bn3YBc6OEIrBNL9eNjGT9O0CsNNm0AmVHNkZotVYbiK6syx_TxvLlXmP7AyGU13hxdNhgtP86dQcSzTnTn7TXj3VWWZUwz5VN6qkLnT_memz28JwI77I2gK4P6JMqsC4-D0Ec9gSyjyq2GWSZTQuhMAYdUoPXaU0st4jojvtB7QhjZjvbmUIch9am1SkAk8MEBZA84b6eoapEM2ED-18A1Fwwp1bR8Au1bco3EKwdmT968YPmFybIoF66hOUuXsEIN3szQj6kSGsyAJaLoMCK5QQGYyEwGujr9IpBHDEfgxLt9UAKIPwHxU_lmESZOCNfzg8jTM1V9QfFY8kkG_cwF-vgNblhK6O5FlhUE8HOszUY7HMfSCtLx5tE_GtwsqnJhsM0DRT3ztD1L6-lj5b17bH5TqD5q7zsNM0yD9mKTTSUfH32OHfIYVVQF5djUPHB-1dD4JKcDH_WnvuoHekrWsgtkb_mWDH2GF2n9xZZsMGMHQEIFUAgGip45MH6k-HdK43vcs734C9BjLUa2BD2EjjE6DgCMuZ5vIaJlfiROguWhjckaUAD5yJoZukLwRxmJ_wglhcDC-qVZiquqPCo-fVTr-vvLCN0plrgqjJJ5Avmv6y0As-2BZ5pkQ9_-J3cuTLluJrpNWH2r_3OGcdmtmiL2jmN3Q5lpL4hmrS2fQISnZ_JAc021F8TpkwPGRXN3iQ1fd77J4lxgy3IaLgiBDpbIWSRK6NMChKCt8L4S5poJbMGyPc4Is0KvZW-vzvPWj3R6mrJ-bqwuRloWkx8y-PlygcAimbpU7DXJg_h-_IknSPRYCZw98KfsXorxqFzdTOuMyyEVMBmjduO3rhrT72O5A8_3JCYpHnDM0nheAfRep2yVikWmY8_zKixMg_1JCXPxkt-Hq8WvwztB-yEO4-3sraLfQhDan7q2bQo6d7xZak5oVLvm8UplkbvgwvJ-PDwr_WXZScU-SbxQv_O7_vNgv00TU8Pvq88WUcq-9I9d9xljVhgGgAHH6XpkOPvFLWGY9bvR-ArC6qY_HUduqx9HaW-__fAvVeWjgfBBxtALYRsi_W5uawqLq4zRURkDxJiuoGC0wqOwzCoFLtkHJ6iNk=",
  "id": "rs_00e9a09a8d48789e016ab4207f719c87d080df02fe6e7aaa88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.115,\"right_z\":0.012},\"note\":\"The yellow object is now centered laterally between the open jaws, but its near end still appears a little ahead of the fingertips. I’m reaching a final short distance forward before closing.\"}",
  "call_id": "call_JJHsU59B46Gbo4vQuDzzmL7R",
  "id": "fc_00e9a09a8d48789e016ab4208048b087d0ba7ca8e513f56d83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JJHsU59B46Gbo4vQuDzzmL7R",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6064, -0.4797, -0.0189, -0.0387, 0.9992, 0.2623, 2.2105, 1.4868, -0.1658, 0.1669, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1581 left_yaw=0.0027 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5425 right_y=0.119 right_z=0.017 right_yaw=0.0687 right_pitch=-0.2936 right_roll=-0.082 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2239, 7.0359, 1.7363, -0.0415, -0.0073, -0.0122, -0.9094, -10.3043, 7.5419, 1.3358, 0.1001, 0.0855, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf522ea098c1c9287daf37c88c4b35fdb62e9797e5263806daeb51e4f47721f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b403ab26e636f18e34dcded5b0e707950c5bb5f29b50aef826e84be5e15d7de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793b47b7d7ee36977c6ae565162c5a1f4c075477e97ed5f065ca167df56b7b2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0383, 0.9992, 0.3416, 2.1323, 1.3319, -0.0521, 0.2676, 0.1299, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5162 right_y=0.1378 right_z=0.0206 right_yaw=0.0257 right_pitch=-0.2349 right_roll=-0.1013 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.9463, -0.0806, -0.0122, -0.0122, -0.6632, -10.3179, 8.0752, 1.7216, 0.2759, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.2703, 2.1376, 1.3643, -0.1219, 0.1822, 0.0746, 0.9948]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0027 left_pitch=-0.0911 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5198 right_y=0.1145 right_z=0.0164 right_yaw=0.0548 right_pitch=-0.2961 right_roll=-0.0854 right_gripper=0.9948\nstate[joint_eff]: [-0.3077, -1.0188, 6.9265, 1.7753, -0.0708, -0.0513, -0.0122, -0.6359, -11.494, 8.6769, 1.5702, 0.0122, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6064, -0.4797, -0.0189, -0.0387, 0.9992, 0.2623, 2.2105, 1.4868, -0.1658, 0.1669, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1581 left_yaw=0.0027 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5425 right_y=0.119 right_z=0.017 right_yaw=0.0687 right_pitch=-0.2936 right_roll=-0.082 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2239, 7.0359, 1.7363, -0.0415, -0.0073, -0.0122, -0.9094, -10.3043, 7.5419, 1.3358, 0.1001, 0.0855, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf522ea098c1c9287daf37c88c4b35fdb62e9797e5263806daeb51e4f47721f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b403ab26e636f18e34dcded5b0e707950c5bb5f29b50aef826e84be5e15d7de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793b47b7d7ee36977c6ae565162c5a1f4c075477e97ed5f065ca167df56b7b2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCD410594nXIQcvK4MMbPYoWSa0o2GENjTPTkJHFqODiBcDAmsGQ2ltHJ89XgTZoaV1RijC8AeVbK9u8jSfyIWgikzG_ff8nt5CaE4vCVTAUm82JVXXp2Ym4hDRghYTbJsPrEaPWVyXGwc-Eu0rVSC2wR_bQ9vJ0Fh5Q1F1KG7avV6BmWhr4jeYEqQfOzQokur7hRhL5wF9ZEpbe_vIEX9AuCbMruhlQL7CqX6tHH-3fHvkv1N4SA55PyS9Oa-p4sBXLwZEUJmzKtBpCegpCR8uDTZV9TlLC_ph_isBt72TRbTs0smPyjpIoS2pfSgHi3h3jQU_i6J_0qckSb4xNdeW6S6LMgv0dWK-unpzsMw26piLHR05d-u4LhL-LGbo-UcUaSt84vNcFxlIDNaFUYAEdQXxMApLDywRaOSkZjd1dQcTIHIX-1z5xbZjMwFPrkn5lcs4p670TH-d9pZWw0loxqtDKHsKPplpxJlyCdjy2sfNS5ILgrNuLImfPcO7nAxS9kdNcOvLqaTXIqTBOKzyJmS2uP4fI57Z6I8uMu7xtQEgYJOWka3D4BRYwFPXW_E3BHQESMIcIV9egWXiPuYf3zGg0c1joUtjFsOy-g43cffXSg4s0hswVx36MfIj_PdUuU8JDnwHL7onFeJHCykFEBjfQ2xXhvddsC6kYRIOrcoM5RmryaiG2o1QDukIeQTa1cS4kMnzf0DEYaiI-KQm4pJZs32ZOaqX-bgyIJZiC2MKD-tkUpEl5G07hcM0qqIhw5GgGfQLzO3irZ0MGTeKX9kA4hngs70z0JZxu4rCCYwpHhMcTdUVEmrO5ZvL0Wn47ou8zShOIJPihjsFYyJDsgKm0bG6Fw0SZX7AMdDjqLZWIgTEDsF4DtLaO7vD33yRYKb03HVCAhaHgbIa-D5loJEcYfzI7hGTH1bkxb5sO719RFPmvxloRCdqhX8kweYvWX7i3xnNAMPhWbT78bF1HjIrx4Y74JfOtTVK4n1dEZ527vVqvGTzjSPHuB25d_cHiINBQcx09jXKpSF_7jvzKXst_dYAxpMdr5OPJbzJtXIXpmFKSDYXyEjgknHWA5c3OgEKbM9xLvFAn-orZka7gsYRva5vvh2Bjz9AT-q6AecdeyRq4kZCmiMp0RacPsPq6S9Bh-_1hav2akqVAvVAC6ylFFboUJhSIEVKOC3mWSiYdzAqrDYlKZfx8a0uZuhzs2f1-dJVegY-ztXW1l5pBw==",
  "id": "rs_00e9a09a8d48789e016ab42082434087d0b0d561fc71fdbb79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object’s near end is now at the fingertips in the right wrist view. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_ygmgtn5R2OdZ0FEewj1uHRky",
  "id": "fc_00e9a09a8d48789e016ab420827d9087d08e12d11d7161adfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ygmgtn5R2OdZ0FEewj1uHRky",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.2642, 2.2234, 1.4986, -0.1631, 0.1596, 0.0601, 0.484]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5449 right_y=0.122 right_z=0.0147 right_yaw=0.0767 right_pitch=-0.2931 right_roll=-0.0757 right_gripper=0.484\nstate[joint_eff]: [-0.1983, -1.2376, 7.1316, 1.6239, -0.0513, -0.022, -0.0122, -0.2256, -13.4496, 5.4359, 1.3944, 0.0855, -0.0269, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84af4e43b7981dc046416bda3a626e0e4e73f8bdd62555eac68ec2c28cffb46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae314a4957743b00cf982c78a912f8b3522141fbc4ca564a2948e5889256af2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd15d019357014de3c1f558ae6ce239481600826cca4598e57c55af45aebfc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.458, -0.0189, -0.0387, 0.9992, 0.3447, 2.1376, 1.335, -0.0711, 0.2306, 0.1364, 0.0277]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0026 left_pitch=-0.0763 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5118 right_y=0.1446 right_z=0.0147 right_yaw=0.0543 right_pitch=-0.2634 right_roll=-0.0757 right_gripper=0.0277\nstate[joint_eff]: [-0.1299, -1.2513, 6.9538, 1.7314, -0.0659, -0.0464, -0.0122, -0.4991, -12.0547, 5.9282, 1.536, 0.7595, -0.2027, 1.2772]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6064, -0.4797, -0.0189, -0.0387, 0.9992, 0.2623, 2.2105, 1.4868, -0.1658, 0.1669, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1581 left_yaw=0.0027 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5425 right_y=0.119 right_z=0.017 right_yaw=0.0687 right_pitch=-0.2936 right_roll=-0.082 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2239, 7.0359, 1.7363, -0.0415, -0.0073, -0.0122, -0.9094, -10.3043, 7.5419, 1.3358, 0.1001, 0.0855, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.2642, 2.2234, 1.4986, -0.1631, 0.1596, 0.0601, 0.484]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5449 right_y=0.122 right_z=0.0147 right_yaw=0.0767 right_pitch=-0.2931 right_roll=-0.0757 right_gripper=0.484\nstate[joint_eff]: [-0.1983, -1.2376, 7.1316, 1.6239, -0.0513, -0.022, -0.0122, -0.2256, -13.4496, 5.4359, 1.3944, 0.0855, -0.0269, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84af4e43b7981dc046416bda3a626e0e4e73f8bdd62555eac68ec2c28cffb46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae314a4957743b00cf982c78a912f8b3522141fbc4ca564a2948e5889256af2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd15d019357014de3c1f558ae6ce239481600826cca4598e57c55af45aebfc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCGk6DCOfi09EOUeQU972JKH5Fq-sQw9tz939RVv9tRdp1IdQ9wQ5uEvyQGsLN7ds9tuwNKRtV1JF6OPGQeDwL4n6YUvZa2OQG918s2mTOLtyACoYhBb5NvvyNn9WFtuHL9kYZoRAfuvWs3GnmlWIU039SP_4WX1yDH6U2ZeuI4E7lA2m1d8A-jBPcU2FcAaxF8ES7LmPl2ScWHzBl9TEIIVTNF81TgZIIgTP1dRdZuQPVEb0VS3PDkO5HJn1kw5PoAsrbO4lU8uWdBCRZzGjG6gSvw1bp_NTBYOHk2QkLo_cVw2Slrl37v3WNEwv7lMwl96Gwzz0KfPCiand2eWYgUFhYpipRs2vycJx-JZMUq_Ge6M9R8FpX7oaWW6CrUDKtdbxnwAGRO7SPISHl4_rXqo1XWW23qMy8Gj06D9bBo73s1JD0nz_upKKHY9AVQ4454aWAFwZDxw9fSVNeCuZloXvAA9w-dvEJeNJ5VvIuM7E28hH_ohRSrr5s86a4aZ0ZN41skOWaWJ7-TkB9y1KZrSmDCkUwh-ZYBH0gYSpe1Y2HtD24ODKPO1PyN2Dy_yP4xKT-WKQtZziBWsX6YoZQ0sP3wzW6crqe6VgisWNjK5JICq-PLcK_nzoDklZbVHD7ZPmsk6UHNdNRvCatc2kwRfpY_f_eFlr_UhVtPCSUcz-mzd_UbC_0WDCK2w15YN1bQJyLDQDOtNlnmtjIDiV8orvR70I2QHCJV-yCVEDlyWACeMpk9ImqUbE-UiyIBvedMTkl1DjXLkOZuwwkf1GeFHdaCzZOjshN3LSFnXPGIuPFuX6FAifDv6Iqx526wYpcGFnLEq9tAfhSSHm3Woh64IYuxyOMTGcVa0dosH-sv97a_TiywJ_gCTD-q_1dadUqpIKzIfh3YOAKPMX6aqFwsgXKZ0mtoOOaZu0QFwFCS-CWjXRmQphZe7wQdD6GrzEeUWDLHRh0lYG_F5rA16DXmsI9IA1kK-Flb1h_r1qxAGsJV564EhlRFEalgSEMHghKT0SBTFUJrtXjTDr4Bz1c59x-x5-03OymBLc2VDrxOy18AS4gSdELPaC_0QpWsJ3emD8-rue2gJ9sqJXpIObwbPHanHgwqgxb8x4OUxfGWKbljlGOUhcI-Exyl2GU2wlXOjdYQmyVWoFt4SJINdvJdIrxO-4OV3t-4_9lxoWScDtlyOlqJR_KIVMofX_STcxQddT-6mNwpXbw4-zzz2xFX6CjjYSJkQKTRgziTanqpmZA=",
  "id": "rs_00e9a09a8d48789e016ab42084f7c087d08b4ddfa4dc22dcfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_x\":0.49},\"note\":\"The right gripper stopped around half closed on the yellow object, consistent with holding its width. I’m lifting and drawing it slightly back to confirm it moves with the jaws before carrying it into the safe.\"}",
  "call_id": "call_71WQ1yV1lYelzobKE9BdPkW3",
  "id": "fc_00e9a09a8d48789e016ab42085357487d0961b4835832b46e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_71WQ1yV1lYelzobKE9BdPkW3",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4984, -0.0189, -0.0387, 0.9992, 0.2962, 1.9728, 1.4307, -0.4648, 0.1997, 0.0597, 0.4839]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1232 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4818 right_y=0.1141 right_z=0.0745 right_yaw=0.065 right_pitch=-0.4028 right_roll=-0.1361 right_gripper=0.4839\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.8388, -0.0806, -0.0513, -0.0073, 0.1983, -15.1043, 7.747, 2.1319, -0.1929, 0.2808, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443bc78aa42b534e7e49fa91f4f0916380020eefc70db7a96dc1ad08b61336f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a18feae5d1f57049193f6b8f1c18fd4348dd1c666ce61e3b697153c10ce64f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3983d5896eba29ea5dd02976031fe4dadc216bfb6068bedc674ad6a0ff619c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 0.2703, 2.1376, 1.3643, -0.1219, 0.1822, 0.0746, 0.9948]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0027 left_pitch=-0.0911 left_roll=-0.0021 left_gripper=0.9992 right_x=0.5198 right_y=0.1145 right_z=0.0164 right_yaw=0.0548 right_pitch=-0.2961 right_roll=-0.0854 right_gripper=0.9948\nstate[joint_eff]: [-0.3077, -1.0188, 6.9265, 1.7753, -0.0708, -0.0513, -0.0122, -0.6359, -11.494, 8.6769, 1.5702, 0.0122, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.2642, 2.2234, 1.4986, -0.1631, 0.1596, 0.0601, 0.484]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5449 right_y=0.122 right_z=0.0147 right_yaw=0.0767 right_pitch=-0.2931 right_roll=-0.0757 right_gripper=0.484\nstate[joint_eff]: [-0.1983, -1.2376, 7.1316, 1.6239, -0.0513, -0.022, -0.0122, -0.2256, -13.4496, 5.4359, 1.3944, 0.0855, -0.0269, 0.9597]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4984, -0.0189, -0.0387, 0.9992, 0.2962, 1.9728, 1.4307, -0.4648, 0.1997, 0.0597, 0.4839]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1232 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4818 right_y=0.1141 right_z=0.0745 right_yaw=0.065 right_pitch=-0.4028 right_roll=-0.1361 right_gripper=0.4839\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.8388, -0.0806, -0.0513, -0.0073, 0.1983, -15.1043, 7.747, 2.1319, -0.1929, 0.2808, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443bc78aa42b534e7e49fa91f4f0916380020eefc70db7a96dc1ad08b61336f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a18feae5d1f57049193f6b8f1c18fd4348dd1c666ce61e3b697153c10ce64f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3983d5896eba29ea5dd02976031fe4dadc216bfb6068bedc674ad6a0ff619c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCMjUSUYcU0dZqovEXQSrqAcZXNoP2Ik3U4X4pzeFA9fXaCuKdTsTOu1WVQ3HUysRKxOw4fdNxPW4wlKjL5ZrHbGiFZ14Ub0hHlDQMvMTzObu3LdOsaV7wR3BWp2NE1fpw_mbHoaKUlWoSdItj_AOKnwLZ58DFbYtDKywYaz6NfdsAdqCNYBgMiOtPGKadgxK23Llilbvb4zBrz1jXtG9f5zK-PsW5jc2M_LBwR7BYVpdMrfWiBTLspxvW8mPzZJyPXUiszvqrG6iM-MiU71-oYpiVtRYKQ-2bIo6cEr5SBJKy5_8Y9yrauUI6YymbYGNuHlMEcUi7j4grZHnFOBR8bhQMLAW3Dv5HVlZMKs8bg_4wv-aFHU7lJA6jPuKE9_pwerqQ4Q8YQqjqiidRVTEXyA3zMRqcDQ8Sf224gBvyZecpU6X1S0CsLCgubeYE5dihSH04IlzC0Epi1iySarVSIK5toVwkCisJ4FtRsriLmI0DYSL0fArm5Y6SY69JTzcjB01wA9Q4ZbdMoNmgbiywLGwU8EhucHV3qZ51Ild8jZbyQud-tt1QdrbWStILwRNZnQuRRuHsOzzOG6CwBAlhk2SVoCYx8NMgqFDAKF_aiyufSg_sT9N_TSZqlutCYQRde8rmWF6yTCG9f4BToBOZKy8vmlepkiSbg6ybnom5ZJFZ1AvIXrLZjpz95rsHdz7VgfyJG3q8Ga5HsykqHO-HM1tUcImd-NpN5SdTIwXcaw5EctYD2iUWOzslGhRcTfHJ7Sb6i3sQRDrd3egl4Vl0mPXNZpKuC9cPbBRlTJibqFmbV95xO2DNVFR5nO3l6HKzo990TFd78QrN8uPvPVT8aF7OoYq2hiAU0LV--0dmF3iq4MUJjhOzVhbPqNKJ3omkj_jLYQM15sqMg4lAgHy-GJBAV49WwBh7GRu4tUFRvKZ9onVy7tyBmnMCwII7U0homSxDM1SjVAbiqgu8O9zHmgOLEMOsTmeAkQ3VBWOP7SyLi-w4u8rjzr3WYGFEKrGjcDNEwKYoxPX8bd2X1DCJDt7BXD0A8ZtffimqsNuND9CeRgYtSVW9B6W94SUWcfH3RwwVVGYM0W7SQxg9KIA6td1pzWsIrOlQOIJmb5VRvYl5DhnKFPawErG9tl9y7hj80FztiIaQ414HHktuw5g1rb0wAsrdsuqOYFtTOm3SSWfnuxSLupJxaIZ3ZFBUiAKmqA2v5WXHWf6MnMHNn-OyOy-Mhs3-43_s82Vo27Urj9ETWQjkX3VJzzoolZcGH4H2rMzd9JFPCENMeYVMHW-YgpWLc46wZuUDyxzAf25dpMJW1k675mA_QnJ-prXIrwHD96aNE9kJNqMrI3NR8A2l5AqJmpuRctPRO5Ds68kyAiX8HkyXJ-gpFofGbnxF_zQfNE3hUoSmKMmK6gSjuRqCRoPJlSPax0Ps6ibOZQ9w5uHu6zhy_UyX2B5BXqVzEGMMMObDVZ2WZkmFOhBQ-wnf333BPpAF6MXwHynldibUnRxRuTeWYOjmW4RuR530MmPMW3xxx6MDg0157Ze5jF2oz1fkprVfkNIvcfuCOBonKNIFjXjtgJlVv8mh66yagpjGuOHCqTPxBVd9VqtjlywKnacyE0M7K9KTeRlJJfr4jg6Wl3iCLaMvp-VAip9Swue-GULDBRV9RKGHCBPCOraR0VZNq9tK8UvyPeg_9slR8XoLT2KH9vE7rxtpr0MZtZGTiXQ0VGh3E5HrGpawmC6k_ddrHScR9d3wCllOl6vN50Lp7FKTs85MzkAejGaEbfQeQNgRTgiETAucAV5xdGXjVDaFQW4rlfiLgiQggA-gDv87yxjWhUo9Ic-CTpWaBQBX7_0mtvLnFlk3LoOQNTJhNlWJufZdiOKQUZE1DZqjEluCfN4wsvVKwPA66gQATySF3SKOeTLiF2KtQ_5zu0pC7yRLxWcBFJJOtRXtPjhiyZ2_GKzvDEFj-ZSMBOjU6X18Pk7JCsBCKrDy4ZLx3r1CZQfY1IhaoETahWPrPQTTpYrPD9VdTYJS2KvdvlvlPmXKtGh3J88O4UKBoNq2abhog985-BKOykGn81iGvlWXAldD9Tc4-rYP2jSXzhfeu7kYuwf4eRHNfWgLvHp6XDKA1lImKJSXNKeWoNm2giAqtQm-n-39M-s15iT3GYJrahP9ae_zAsSNzi0gyjzXoCWDC5X-CSP4_U692qcpTFMay-nXK6oOW9nPoyyWuUuZcb2wXjbCMmKG-KQ8xGRXJkmKBmxbdsH1nJOjLM7BMZuT3t6izSN3zXitc876btV04CqSrel8BSjLnma94sO4hLYqoCaOe1WC6ErgSQfbAF5OKNreFa5XV8wrlsziNcvqYCytSStcBQHykg_R6Hqfeo3MFoLC2tpWLl3DazJIt8qCGCYkvw-kdaWJgCBzKbXGDBnlEEKkVUpO6aesEngzGx0LdmREbIQ9NhZNMC4q8_pZZW8wVMSjSo45-ZWuJhudk1JyIXqZTW42kZuV46kU7KWtUexgwq0AgvJ1Vp5PjDSy2t9Kyp6IGU0Oh5-k6vI8qXnyywghM--ap8LrVE4ZKfFIQ18ymssGHwVvd3RPQxiyZl4C1SOKv0aLeJ9zTZbimP-CaXXlOOqEjg-pWaR4QmbqNHHG0EKHLFEWXAywkeUBrvfVgVZUCyylTjF0CR2_9RCnY9dmRVvsQKoa6MeYqYEiHRdAOXgxFrxmt8ZugzUoNJ_8To45yzgAYnchzfXbZtSJZusDs5SwAdMkOOjBOM4g1HxXa-CeLozIZzPNYxvZsYJrqQ_MNb0dJ-q3F3EcbaDZPn-i8teH1GILuX67x1QtDfybTh8D_BZ-IKn_QM31fWbu6U46352rMg1Zs0BX9IcM1p2bw3vYtfHsHn9fD8d6Jz4XCkgSz9MLJyUP5fduv7dWlT2oV519sPfb1Xv5YcysSmUKx_E-VQ0hjPSrj_00z6dtnGbWzbJWStm6e3GZzxlW8nslxfJFtDxBUKIMztq7NYh8a2Y20kGCyPoUtGYvaUG_XHUX48hDwD_J93gJpUJ4=",
  "id": "rs_00e9a09a8d48789e016ab4208853b087d09dc535adc87645c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.23},\"note\":\"The yellow object appears to have lifted with the gripper, but it is still close to the safe’s rim. I’m raising it higher before moving sideways into the open compartment.\"}",
  "call_id": "call_7qSNE0qSosl15485uFjRDcWt",
  "id": "fc_00e9a09a8d48789e016ab4208bccb087d09ea995584a1a9443",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7qSNE0qSosl15485uFjRDcWt",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.3149, 1.9057, 1.8164, -1.0744, 0.2451, 0.041, 0.4867]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4416 right_y=0.1025 right_z=0.1777 right_yaw=0.0334 right_pitch=-0.5462 right_roll=-0.2348 right_gripper=0.4867\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.2803, -14.5846, 10.1128, 1.8144, -0.2466, 0.3687, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2aa181e0545bf3d5618aa985edaa2a6390d8e27be695bd509746d0c71925b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57bfd18bb4e325e7eca3c23542efb783e406f769aee86b0da99df38205a97fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7528360e0a7d8f90e1a42849a55c0ccf505ed6c5766f6e2362d844b01e1d6dbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6064, -0.4797, -0.0189, -0.0387, 0.9992, 0.2623, 2.2105, 1.4868, -0.1658, 0.1669, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1581 left_yaw=0.0027 left_pitch=-0.0999 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5425 right_y=0.119 right_z=0.017 right_yaw=0.0687 right_pitch=-0.2936 right_roll=-0.082 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.2239, 7.0359, 1.7363, -0.0415, -0.0073, -0.0122, -0.9094, -10.3043, 7.5419, 1.3358, 0.1001, 0.0855, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4984, -0.0189, -0.0387, 0.9992, 0.2962, 1.9728, 1.4307, -0.4648, 0.1997, 0.0597, 0.4839]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1232 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4818 right_y=0.1141 right_z=0.0745 right_yaw=0.065 right_pitch=-0.4028 right_roll=-0.1361 right_gripper=0.4839\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.8388, -0.0806, -0.0513, -0.0073, 0.1983, -15.1043, 7.747, 2.1319, -0.1929, 0.2808, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.3149, 1.9057, 1.8164, -1.0744, 0.2451, 0.041, 0.4867]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4416 right_y=0.1025 right_z=0.1777 right_yaw=0.0334 right_pitch=-0.5462 right_roll=-0.2348 right_gripper=0.4867\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.2803, -14.5846, 10.1128, 1.8144, -0.2466, 0.3687, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2aa181e0545bf3d5618aa985edaa2a6390d8e27be695bd509746d0c71925b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57bfd18bb4e325e7eca3c23542efb783e406f769aee86b0da99df38205a97fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7528360e0a7d8f90e1a42849a55c0ccf505ed6c5766f6e2362d844b01e1d6dbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCQZ-iPGzGievlK6hGdmqnzbsTUG7LNxqTB1Ha6ScmBvBu7tjILXlam1W6JTR2gZPyUWDrKC2tkLon2noT75Ph0If_LEfTIoJ-wC8H1rpNqiLyTsVPdMxdUGCK2yxtxb4m7rzjEMY3JSjOGdAJ76OUZzDq4W9lqBiCt-MN13-6A-6EfUQsTtj_xp8xncC8CQmfTvd_4uOCKdZd5YklOlypLSwJO9HocdTY_2eo2Oh-He_Udbpr0LXWU5NfrYvgDO2DM8CooOGYlR46Ql0OXpeGiU44F-NrfFwkGJ6N1vOnGPDbtcs2DY6RZ93Ld8QG9ZmcuK4oXEbROo_GRrMYLe6-rNtC0MYfqTW62e9emNgty30PmiuiWVtZZJWRVG7rKvWJ64VrQPKnSkPgn5QMTaJcFaPGRoW9Gg6QOmEIGMlc7QVkYl54Ak1uW6z6L6o663md53P368bfIMhBsdTHbUoOMIS636mmsORGSK9h9CqoK0FJ94lnJ42n_tPy_4TvZUl_Ekirb79ZfsMRGvY9Vjqf1aqQsZl1aFQND8LAuG6ALAOtwsxh43fahCFLVnVF45G-AIFqkYCJPwH1yhw9zDcc8zSwmUWiOY7AXo24e7-oEfvWrCGZpdBjx1FqUwxu6oRWw1E_Tr-ypUAMCxDtzM-uVAB_NgXlTYOUkEEMxTrxwGFpdeXoYrjgWwx6KnYKn3gF4PWQhtQMZV9nmdsY-lVJTRlCwoqdCXr4ZyOxwpIvdlRQ9CUJ85SjH3zNmjSTigqJGDw-dlU4Ev3YFtrxEky4ko_NRAkzgcpTNTaeSRCvDIdFsVKTg491Ge9n8gSvhdiyz9xBm8hcAD0rOpTWmpChEyAclMzWZ-aRMStaq0e-YwM8_GaI8g7NejBr029ci8piIvPHHvfZ6K2vzZOqxHBksTz5tHms3T-qgmmwEL_ALs5szxKYA3CKrBXR0rUgaqZrUYVOYd_5JDakiWROIxVTd_IHbtObsFXSyy2uE9l8pR9ju6NiYVO0Cf6QPs4qLuvBC-97OiMMHeZvVO-MG5C4CsmfK18ByAX3P-FuQfi7PXmTHjBpGyDvm2H0A9GRZqgIpyCaV5IVoWTRvX54s4tCdmkbEtHsgL_ALk327TSKfsCNXhNnUAQHvVg4iOkD_ZWsxTIxa2qTLPuwWELdTaSylxsM8zUAuDo7aTjMQfr980mKZo7oq6IxaLqFh7pNbjVYmaryaebUDL5tJ7UP9p1AMELxOSM3xDRG2t81jxN5fc9YCP4YU1FXKZVqjoaf83N07KiC1tVzXhZjY0uEpSmutUcFicmOJGiQIUKbrGuDSo55hFDJOH1R6snx48_aJt5fjDdHK8oN9g_5Y77EanEvd3Awr7zveBS4KSiPozTSnnMJ5Go5aNKi27MvyhrEqxAp9txarfBRuUx26SLBPoi3AGwbeFakIwTOPuvfJoBlHeAD8I6yfjWqd4JqRRvh-RdGqx9luDfIEgJRTGnV3LWZk2ZvcLEa6mZ__3iA56j-E5mgrFrMUovD6qNqMeqNHnNVo14isnP1urBYFYnsrU54oZCLqf2ktvd0z0TlHZLvvOHAI8vnnp0YxOmA9nUscj8XkZjshqP_FFel_cjbKzGG1s2-ekCZ1DXtxq2zT7LE_MZFFVGcZYDFMODmloZZTWWYG",
  "id": "rs_00e9a09a8d48789e016ab4208e791087d089e443d3ee2e1389",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.402,\"right_y\":0.245,\"right_z\":0.235},\"note\":\"The yellow object remains fixed with the right gripper as it rises, and the safe compartment is open immediately to its left. I’m moving it over the compartment at a height that clears the rim.\"}",
  "call_id": "call_pYDTJWodNQY4dL6KPI2tfIbw",
  "id": "fc_00e9a09a8d48789e016ab4208f649087d09997a709fbaea22e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pYDTJWodNQY4dL6KPI2tfIbw",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.667, 2.2257, 2.458, -1.5883, 0.3786, 0.3218, 0.4856]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3958 right_y=0.2331 right_z=0.2075 right_yaw=0.0333 right_pitch=-0.6203 right_roll=-0.3376 right_gripper=0.4856\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.0205, -12.8752, 9.5248, 1.1697, 0.0562, 0.3346, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98816757d960e56555dc533dd169c43bffed099124a84f1a21bb136be18cce0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a28c9f83b3726c16ba5cdaa43156978733cf4d557ce4c02ad340799fa7d2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3b4d728884584d32113af6cbfe287bba1d88795dafaea54eda13c673fe5ed4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.4808, -0.0189, -0.0383, 0.9992, 0.2642, 2.2234, 1.4986, -0.1631, 0.1596, 0.0601, 0.484]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5449 right_y=0.122 right_z=0.0147 right_yaw=0.0767 right_pitch=-0.2931 right_roll=-0.0757 right_gripper=0.484\nstate[joint_eff]: [-0.1983, -1.2376, 7.1316, 1.6239, -0.0513, -0.022, -0.0122, -0.2256, -13.4496, 5.4359, 1.3944, 0.0855, -0.0269, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.3149, 1.9057, 1.8164, -1.0744, 0.2451, 0.041, 0.4867]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4416 right_y=0.1025 right_z=0.1777 right_yaw=0.0334 right_pitch=-0.5462 right_roll=-0.2348 right_gripper=0.4867\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.2803, -14.5846, 10.1128, 1.8144, -0.2466, 0.3687, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.667, 2.2257, 2.458, -1.5883, 0.3786, 0.3218, 0.4856]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3958 right_y=0.2331 right_z=0.2075 right_yaw=0.0333 right_pitch=-0.6203 right_roll=-0.3376 right_gripper=0.4856\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.0205, -12.8752, 9.5248, 1.1697, 0.0562, 0.3346, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98816757d960e56555dc533dd169c43bffed099124a84f1a21bb136be18cce0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a28c9f83b3726c16ba5cdaa43156978733cf4d557ce4c02ad340799fa7d2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3b4d728884584d32113af6cbfe287bba1d88795dafaea54eda13c673fe5ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCVFXjloLRi-7SEst-rDlAgQrp6T6WaYxlvb6Jqa5G3akkXVfMMHmmU5miDpEQ-F7WGkhauVI-VmM0ECaEugiq_3FCetZXecgWNn1zl0AU4pv7IAOOSsT-jaPIihV0xXk3CDUPUz_LRzhb3KvI8DqzwP__aUQa_TFm8tIWOHQd234GQ2gjsPIQCweIwLQjuH-Q8mvBW0S82GeAinY2mN7NUUc_G8BJ8Pul6S16IEjThBMUafSzbGxWYI2KIc7fnE0q0kikvhQqqPsrkjOTPrtZeXLLQ1VkrFAhFiH_6r3RYyr2nuD-LlKrhrdYr7OSh6TjGsFBw_zny1ga_a95qS1mYQ_wX35ndgM_O6_dYeX82DXiNrbVyTNwX-XbNuqytFn0nxncS_KRrpBorZy9HH2ZhaQ-X4gg9uw02Q09ufYrz98BN3c0UC-gsoNlTbSDFzfbmcQW9JyRs_7pDMpGs5yhIkF98x7CmaT1krzjELEgzoL5L3WBK9ol28E9I0c0r4pRrrUN-Vdx7LyTvV7mMhGfttR8Mkjx28ZnoHlwzx3uxo7DsKpNN5dk2elD0s2-VOj3ka298BqonTyprqorIdXouZFmaLeMBcPp7rKh_3Z1-E0ie9BYCFUOJRHAwSFTuKMq9tCcDS0FlHVbcyKxqEtH5VVifWrcOetqSxMmVZCFgHIIVLvbTbF5ITobYuvHUy4xG-xxmdCekvQhJVo8y8teivHWLHRC0Y9VJbHlNVoaigiv6cR1rS7rBoVPXo-HgW-29qgt3zMX2HEVuvpp0Zxb9zd4ygav1GX2FxaTy8wjHfPHqFIMM-zwmpBYqMzjzwJ4pz4DbMlz_1YJGnphtCsm7QCdfGvTMmbBip60t-4Y7lsPz0IjStf54hYtJyLNsz8wDULBwdZjHOUeUHfI4pzcXqOBNbACF56xi0zxNqeYACZlfA3rsdEmgoVLQTUVQGC9etLJkHysadcLboGfcDDlNsdQT5PqI1FhcChoeMHSvVHhgX-a4dM4vPiooz3ftF0i3zEz2s5EoLH3nD3DxEuJSXgJda5kfH9t3jk5iOm8Hi2qqkNIPQcVbXxmIYvJS5evXPvt6gJzqy-IGkAFGHhX0rmfP9XFWKHRZ3jg52Cjkjvl1vOkyK8GbPTqMGOzcjsRSEG6O2N72gGeUjOTUFwfY7bTURTOLR7CmvmbFFe-vsZnu8WUpCn0EDmlgkA0fiVJSzyCUZo7WTTtNTOq6sJdsajgRWd-Quvo4PGQHALfZGeJPQByd39rFW77VQvFn_nRadJGQfntiPndWRaO_f3q9GjbC5fLv8X2IdnCPgM65NUpRAkjLGrJbnam-pXGfQVxSY7MjLWvmljiM1YOj2cJKbMCQ-mc5RmTzlE8PkKE-Lm_2Frr4winEsDINE88qfE7UIMBM2YHd5_hYGcCRkZVsizLuHxThsLkb0-n1kFySTtpX2iyi429-39Dh4a3pPxlGrZWQyk4NzN-70rpljStvcdjG3uJpG1Vq9fLWUt71om5vdFMuOOd589wF-9hViqVaV3tDxV19Zc3Jqt-N1nwlwKggWkANPnQIePdWxOZhSstuf_1Crmqd8hvO-EK03jsHzSBAM7RgC1JUnpWYi0NXpaaTpkWbkAbeu3vKM0oQjNN1UgNBvqyrWX3MKSmCWhXv_PicTVA9uAOEKKJF93ENdBMAgjdWyhJUD6cnk8PX1jc-tiMIcgFYTppFY7kfBDVaC5dOYGcV9emTXpTq0MBnzMrdU2BxXuPs49nn_fTIiT9tZoKTghlzxKaguSKhVsffMiAtEU--Ei6e4sUV40Pw_C3C-YORo7KiO7WmmOEwY_RYNLgq_E9K3TBX7H6ZMlyyquocBENj1zr5Tgeov_2OWWzbwf9rEBqxPa7z4f8mfg0Gm0Aj-LBld_GidqiJL4Rw76G8JePTyJmh4C5R6QwpnpuUPei_TWMfhBc-1KF594fRaY11u1OU4gSepyn5Hb14QbKmKoITSxEfB_RYsEb_bTtYPNixNTHEO8VSbDR-2-KsqN-rqWKjTglspJ05g18iQzzaMFUggx28LaDndnuBopD_wJxJXspGnGyX9v8Ctzjc3M5_N6Sxk1nn3aW0XIKUhV7uQNj7pOW1pXCi3EJbmjZrbGEjqmy7i57ap75lgxw_-xk3BBiUA4KN9aZt2RFcITVstnMxneqbKD44Z8Vz1Ed36Fve_tDfW-yDoWj7gYHl-6UKb2Uh5eDsXFw4YfLfwezPbJ2zTHcd9YgFGDqL5OXIbZ1EsB69R9Rk4L2jxldn4NXDxlhWDl9doNy_H9I1Q7c_z1UD9R_uSoWAbskr1hRgqgejUOUqtjBW81ODHRSddaAnEPv241BeGEQjZfZ6npfX99QhZZvQhFZyw6NnXR1qifUtu4l_XgmUtk7vjT44o_AyM1PL5wWlzoosY8v7oa75yBmWuEAEeZioRf2xh1pJRdNkMmKKripojIyaf-MSJYX665esGVsPd_v3YfvR6b84RIN5Rg7ih0srSRanDLYY_Aa7I0NopcuwUfNeRQpge8SOUYMUTxFvhHpzEQ_PR4qkzQJkfA8Awn_1dbtTAmRuvElHNHrnPPhxy9EawygosVsHFhyg5lE21RBDHxFzp4GJS04wHneaeFR0xds20r5gXt7hmLWd-kRo2ecAcO-n3Zpppc0apMW-6ePfUBSW",
  "id": "rs_00e9a09a8d48789e016ab420922b1487d0be4676389b591d3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.215},\"note\":\"The gripper is above the safe, but the yellow object is still beside the compartment’s right rim in the wrist view. I’m shifting it left toward the middle of the red interior before lowering.\"}",
  "call_id": "call_RWRg1DHfLVgGT4nE2ZYtK8nK",
  "id": "fc_00e9a09a8d48789e016ab420953ee887d09346b6a93b4c3dc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RWRg1DHfLVgGT4nE2ZYtK8nK",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7635, 2.2898, 2.4474, -1.6367, 0.4149, 0.374, 0.4872]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.37 right_y=0.2606 right_z=0.1778 right_yaw=0.0097 right_pitch=-0.6813 right_roll=-0.4479 right_gripper=0.4872\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1436, -13.2855, 7.2, 1.116, 0.1587, 0.3541, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d9dce06f9856c9d933346cedeef7c05eb4c930c9ad16192a3f55bab99b6e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfcc1815e448ed1f2756533294ef2aeba84904188e297af0c4a5e4ab94bca7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088dea1d802ca1c983d28acc8f7f6c4b71a9a04225eeb9c7cb533fe8bee2d52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4984, -0.0189, -0.0387, 0.9992, 0.2962, 1.9728, 1.4307, -0.4648, 0.1997, 0.0597, 0.4839]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1232 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4818 right_y=0.1141 right_z=0.0745 right_yaw=0.065 right_pitch=-0.4028 right_roll=-0.1361 right_gripper=0.4839\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.8388, -0.0806, -0.0513, -0.0073, 0.1983, -15.1043, 7.747, 2.1319, -0.1929, 0.2808, 0.5397]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.667, 2.2257, 2.458, -1.5883, 0.3786, 0.3218, 0.4856]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3958 right_y=0.2331 right_z=0.2075 right_yaw=0.0333 right_pitch=-0.6203 right_roll=-0.3376 right_gripper=0.4856\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.0205, -12.8752, 9.5248, 1.1697, 0.0562, 0.3346, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7635, 2.2898, 2.4474, -1.6367, 0.4149, 0.374, 0.4872]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.37 right_y=0.2606 right_z=0.1778 right_yaw=0.0097 right_pitch=-0.6813 right_roll=-0.4479 right_gripper=0.4872\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1436, -13.2855, 7.2, 1.116, 0.1587, 0.3541, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d9dce06f9856c9d933346cedeef7c05eb4c930c9ad16192a3f55bab99b6e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfcc1815e448ed1f2756533294ef2aeba84904188e297af0c4a5e4ab94bca7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9088dea1d802ca1c983d28acc8f7f6c4b71a9a04225eeb9c7cb533fe8bee2d52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCcIX2fO-SPvrv-zURdJwv3CbrSplmC60y30nyudx7XPrwa4UX4zFhQEVHLSJ-84BnJ0Cm0ir1YVz728uyODSDAOLHe74w8M-tQSZJynnr84qAYIvLChMAoatyKK0IT7FuKpIh8IIZmZOln2eYmpuVEI62fBI3DNKF6gCLmem-lRjUQj6i2AW1cESgQTCiODshbHVomaBy44TVhp-zryzjMXDxTbxUHJaLkNcc2f1WzT4MA5_5Hk3yqL1yqsNrvsSk8E9jjXkRkruz8nnmkCEVDWb0pME7kfYQQfB1ChnWVKBacOCYS4jgl2ZCOAwphFtpGHQwIxLnscQbnPnq5VQPpiippjBZ6uLwn7AqjLqgiZRHEqbqQwlKl4cnYOJMiFrMnvargDjGc4Wlwi4ogYAPrNJXDpcwZPaHkPLjPbtV7NSHMMP6uOv_PgWBbexkcspplMLgwoG55RcvAGYQiPomJZ5Rt8VQF5AN5646tLFbJoTt_YJyhW2lh1O0PstgUp-ZQXQFtaVl5-oCIfEfbMzaeHvSbGRNZodMpLfzIjA3YmX0o3oFPUHW1gOHS8CT-Netu1t8_snb6vShQrbax6-WjAxKFNffDwC3KNJ2s-6eSmNwzligTGauzPBasvimcGGg9gmT1HzwVRgq2gLnvDsUPuSnOPJ_O9_VDGhs5AmXGIGSer1ElLWiz0wQLk5w-QR61pdO5ZD8_5sfnt4ydIGe5IUHyBOaRMVW_W8_wHgacsauymb2Kc8n7-_OFpxFB-11OTsjSIa4hliG3joUzdCDqKF6v5P2HIhdQzsjfPqG5HQ6DZcC0DjSJJRc7z3DMZCmKewmCOl-iARetEHKf-sqtg5l4Rg7V_BgkpAsxI5tuPm_mDGlz0P_OPdA0eB-VUzjKOnueTpbUZzJZ8KsV1odpSGmZ_FS_CcxiclLfX9sfATvbJFVLdkSHDf9qTO_qeC_lG2weOapFHkzRDmLh0Edq6RW1Ja_Q93k1l14fMBTWi0yz2XH25ZgjrxH5NbHesMDXx0FeRpatMx5JKMFQe9fp7HiK2AgxebtJG8XwTkMa0X3oYrVWRXtDJuBqYuwYT8A6OTdtuEKKFJ6Of7NuwE599lmGStpKhE2wXxomOGMS1UoXaB3lYDGjywhLi_EyD5NMIUUpzqHaSTnNdz0emI01Y76JDJAv4s2l6nxjIby9nDuV8wL8u1VUswp_xsofhV9PdupD_vYFJkJyU2g9kBYrGy3F2Ibd_YE2_QH0axJhREzhvZ7slvi1bdIZkPKQ4jF6yuMrqxEiKo36yJzFRcXiMs7j9EqIroCPt7-vApgCqvOS9rMThczlXDsxNTmzgmduzEqwDzZTFy_rOfib__c2T7neS0ZkPOtzA7SvI_dpFGTfRb9-lAMTiCVJHSbocQ8R3jSkC1govSHGRmVMsOfPWzPBzyfaY6SE_Z2kGFgqO2q98SHEDwSe2ivviQpDNkE6028CRdqzEw1fxrOtyajoAa8OyTUpA7GShnDqyvMVFnaLt2Rxqg7Gr27M6GGpRChwyrV4XAxvkUwHbYM8mslZDPgN9VLRUl3GaN9GDpi7p4beA6JDmJ6veCZ9YsQFbPaN5JVpKyCairnnQIqCOg7kes_lrbglbl57FfmFDNB1vkb7Ycj5ehNcp2msX5xblqy-dPOvE9JnGp1qrfry9RYouLCOpJ8pPTMOC5qs6X8Teoeh0naV_J9GaKsRoLUw7z74MWcnCuj7Dwgg4hbNU-J5XOluyxVjvBU-L-QbBedHiIh9dzVuONaMJ4CXPh_1TaosWAscMfgh4hFw4W7hZxNfqNROy2udNIVGfL1NIu6nScG9I6JE6CDPHWknAwwdD1GjihSHbz1jRZ3D0iQkGo3ddh4odZfSUJFBJxOSqDWUf0uDZHP1yfldOuOjWUxIK9347Nem7ZQl0D4J0KeMRQQUjzFFkCEVfhRN4AIomGUTu60qee7uJUDw905kwNLoKntF-aDsr4bgSnIm4sePUDLkJfBWqz-3YSGWGjJB6MtBYpi3m0WuwS3iZggSdt7gegKWYjdRrYkw_saNmShNf1J2pWSCyfLLsnud4anzk6y_XvOju-LOQvR1SUeYUXHVD4oFn9Xa1y7rPwt2hwJYPJTICp9J3aZ6iFt-ZOV6k4othu-1oxJhj8HvU6XbfSupd7ib8EdPrqvI2y0Sy-9V2_skvOOARyVNh6L6ZpNiNjTwki3WYoc9z0xxafVwp3N22pcYnAUeNxiUH6Dv4xlpYHNhWFiJzqFA0zIKdUTFITB_9Rg=",
  "id": "rs_00e9a09a8d48789e016ab42097fc0487d0b5c3b6558df838fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.26,\"right_z\":0.34},\"note\":\"The yellow object is pressing against the safe’s right wall rather than passing over it, and the arm stopped short of the requested position. I’m lifting it clear of the rim before trying to center it again.\"}",
  "call_id": "call_lfqeaIxKgx9ZeDAFV6IwVpeL",
  "id": "fc_00e9a09a8d48789e016ab4209a9ff887d088c064dd6af49e5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfqeaIxKgx9ZeDAFV6IwVpeL",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.77, 2.2929, 2.4474, -1.6371, 0.4149, 0.3862, 0.4895]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3684 right_y=0.263 right_z=0.1764 right_yaw=0.0065 right_pitch=-0.6809 right_roll=-0.4456 right_gripper=0.4895\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.3624, -13.9009, 7.2, 1.0525, 0.1294, 0.2857, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c27fe89d6bbb20573bfd3d2c7e628150b5d6ad7984045f116b686c54cb5e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab9455212accc82860ed99d3420d0bce2f7f7a89905f7c1c8a8e646a22b67d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd29b6a9c1bdf378b60798dd24d1400baca5c99b97231b66f939d0cd55655102",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.3149, 1.9057, 1.8164, -1.0744, 0.2451, 0.041, 0.4867]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4416 right_y=0.1025 right_z=0.1777 right_yaw=0.0334 right_pitch=-0.5462 right_roll=-0.2348 right_gripper=0.4867\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.2803, -14.5846, 10.1128, 1.8144, -0.2466, 0.3687, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7635, 2.2898, 2.4474, -1.6367, 0.4149, 0.374, 0.4872]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.37 right_y=0.2606 right_z=0.1778 right_yaw=0.0097 right_pitch=-0.6813 right_roll=-0.4479 right_gripper=0.4872\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1436, -13.2855, 7.2, 1.116, 0.1587, 0.3541, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.77, 2.2929, 2.4474, -1.6371, 0.4149, 0.3862, 0.4895]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3684 right_y=0.263 right_z=0.1764 right_yaw=0.0065 right_pitch=-0.6809 right_roll=-0.4456 right_gripper=0.4895\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.3624, -13.9009, 7.2, 1.0525, 0.1294, 0.2857, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c27fe89d6bbb20573bfd3d2c7e628150b5d6ad7984045f116b686c54cb5e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab9455212accc82860ed99d3420d0bce2f7f7a89905f7c1c8a8e646a22b67d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd29b6a9c1bdf378b60798dd24d1400baca5c99b97231b66f939d0cd55655102",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCgFRYY2awDkdx4qOdN8w3WKIBwAl_9-nSIebUxDI8D6Q9CZDHLWWqN3PssXpczSSe4yFRwF_pspa24sGVVTGwn__jVbH7GqZR9iYoReyOefo4yT-tLXoteOl4R-X_cw-I5UeO-FZvqAy3nzAog7xoCnSTzm4SRpW-EuPE-aV882QT_TXCMTGcyO0vXp1ewcXpKUx3ucfGsu1zNPHPtMqO_vCb9H-UeQbTP1KzEafpRoG5XJ07f88Vm4pUI54wGGhhl8LRPJbg9rQCIT_aVy2p099kfqq20e3GqRQI-LqJvl81AsXMzEt-GcecLVCaosm56Q9deMHnzU3f3Koc10cbqpH8BtpnAEGmd4UkTSV_rpmkzqYU2Zy1KevzwCWLG2UNsdwK2U2hgZWv2NhSIOQTAJJOgM8iGUdrsHL_xYSrqT-VANNhspAPnaw3EubIwqWkPwhoPOt-bDE78PDIBJzvKO4o1XBSduZqjT4HoL4gIvCuQ3lJBFb3MCF4vGKC4Wvq4MyfFC2fSpwCd37vmQHYSJ3Cld9F2W5KwBjI5YqWJ9NgQI5n9G81pOuLk3elSbXwxclnMetibtgE-wMCHwFPBm1gfOdDnEhgW3lmuvQK4im_VbrV9n8zf6_DH4TKKZcsK1_4ziAgtbYVVa5aINHubc6soO3TMQFatAysQbN8pbUfnNvK2HdZDhOPOoCLG2DJNDhuWfmBuVEuhZnrRgo_hAdcWUCTzNE-Xok7z3JPr6SC1ly5fKqDUJ1vetnnSBFqrdDCEhwNrRT0RE34mW0xgO8Hy9Sfmjvb6scRioYzid0IxkyqE0AWMSMT_wQiQFiZaQ-DsHMQrhXtV6SLoe7-PgyNmm1bNCOLNCqtoGEAfCrbKku-Y3k4W1RF9aNqOLAtQ8_ukZj0L3FCUCd2AR4PSY8opjek6JahTD6rgB4Yc0H7BTW955RODnItkmQW4fBlt60V661oYSqMc_0Nhu-CT6PiU5bwywglwcDUXYyCAS7bvZ2ToCHC3ixSj_EGkog8fKjdLkH0q0gr4-D17pT6_-ddaqJxkus8l3l6H6yTkPbOu3K_tMcEIxPtSA-Nuj1r4TG611jseUpEBoaGKem0gGXstbQER2LAkqp_7dhJOzicEI0F0xBLRUE8GzviLdKHWqvnuAQkF2-ggXPy5HUSQS67koMmFHONKUPH8HhEs5_nLrMcnvTkMw9bGHyLuzCRpweKhkPKWRPCwAyAKct5j4VX8CWixHC6QZeNUFCrDFfuliJFiHnK_kkocWX0SB1Ug2JH3b1RK6dwCMntiE2cDks0WHfhgkUA4rs105Qipwp6Rd0KV37w6I93ecR3e5tdo9-qKix_H8QnAogqCKqL-dsNfDK2wjyh1uBAbN4MsKMBcsopTGmdmZ7D3GQwXvrfEzQf0Wj2jikf9liRWK2WGI7sPrtD5Pyn8FHlTE8mw9YtoAEzdK7YiU7kIRlCl7N5sjZlfIG2VIw89vB1gvq7sbA8Ok-W4IFj2ku17UqnyvNSy7SYnYQm9dfEwmKb8MSGSfYK4cC-lt3Ex0jV3yxSkhz0Y1jGU5kS6btjFNez7IgTLDnQVuXLSiBfdipn1TPD_kvyFnc6kmQFcqAUDsiLJA3k-isDcXzKjjSa5ArSyv1pfuIi4UYnZ9bSHEPrZ2fxin97SpVlcStP9oY9GC1F5FUgQ1mrxTOYjj0lYrTnSqN7uWeaJqjzeg11t9fgN4oUEMlP8B16EaJ9qREB2VoA6jg==",
  "id": "rs_00e9a09a8d48789e016ab4209ec51c87d09a4e2d7b13047a9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.11,\"right_z\":0.26},\"note\":\"The right arm did not rise at all, indicating it is wedged against the safe’s wall. I’m withdrawing toward the open right-hand side while keeping the yellow object gripped.\"}",
  "call_id": "call_ccgcWUEsQTLQVECPCGnY90mL",
  "id": "fc_00e9a09a8d48789e016ab4209fb66c87d09e76467d2d0b3ae3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ccgcWUEsQTLQVECPCGnY90mL",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6205, 2.2051, 2.3455, -1.5982, 0.4534, 0.1905, 0.4904]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3979 right_y=0.1936 right_z=0.1911 right_yaw=-0.0355 right_pitch=-0.6881 right_roll=-0.5488 right_gripper=0.4904\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.294, -12.5744, 8.6906, 1.0183, 0.149, 0.1636, 0.3736]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a673d166379d8d84d30f2ec0aa00652800efc7b0627690b312f3ed0aa772d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac6ff6c5faf7e69682e372a1ba7ee7c278f49af8679c8c5949660a6d7c3b350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e60ec74319690d81ee66b19ae7366a2fee3c68c9621b02215282f53d117720",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.667, 2.2257, 2.458, -1.5883, 0.3786, 0.3218, 0.4856]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3958 right_y=0.2331 right_z=0.2075 right_yaw=0.0333 right_pitch=-0.6203 right_roll=-0.3376 right_gripper=0.4856\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.0205, -12.8752, 9.5248, 1.1697, 0.0562, 0.3346, 0.7302]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.77, 2.2929, 2.4474, -1.6371, 0.4149, 0.3862, 0.4895]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3684 right_y=0.263 right_z=0.1764 right_yaw=0.0065 right_pitch=-0.6809 right_roll=-0.4456 right_gripper=0.4895\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.3624, -13.9009, 7.2, 1.0525, 0.1294, 0.2857, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6205, 2.2051, 2.3455, -1.5982, 0.4534, 0.1905, 0.4904]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3979 right_y=0.1936 right_z=0.1911 right_yaw=-0.0355 right_pitch=-0.6881 right_roll=-0.5488 right_gripper=0.4904\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.294, -12.5744, 8.6906, 1.0183, 0.149, 0.1636, 0.3736]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e0a673d166379d8d84d30f2ec0aa00652800efc7b0627690b312f3ed0aa772d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac6ff6c5faf7e69682e372a1ba7ee7c278f49af8679c8c5949660a6d7c3b350",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6e60ec74319690d81ee66b19ae7366a2fee3c68c9621b02215282f53d117720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCosLcrTj_CvlszdGJ-hNbV9H7Y_7b9uyLyjQf37S399KDubpQgfPZh9Ou3fn-gqCbOIppj01C-7siY4ebh6ZvbQAQl11w3W4qDEXq989zl4hwZEkb3TZvqj6tKSWGX5rY8JBhWUPYUbDOvhP_TDiIOPIv29zDWcxpssOIh_Gr2eOzTPq5hr8BjNWkuZy7MPzmxWWf8qHr4IiWCHLk4DMy30a96gwjxvhI53-UY6ffT22_0AW2iuywd3Yk8crUGwiEDKxwnNsKaZXfoXy3d5UguAbiLmivgjKq5jxFy6bIv1gPTeAxXRsipqVZKfuKIMQoMVPjSofzkNHhhReBgiCA36CkAywiCde4a2zmDQ9sQjuhYk5H77wiOmXFWeUrr_wNfUvfHnExc-nXFopz7XRwfOHqp3uoJRQuNpp_NnpKNGugdmmD8OAIelsUj79RxK_v-mXCeuCwK_aywmxlVOBvMgAPadxK9R2UzD5LuoJ0PJECVHPGYSpCMIHrwHRr1moDtBaQE6-bctYFUtezy1ZEjxgxcSpMZLWc58bQKqmai93Pp2M09PfQ4pmVsY3dTasaRR6o11VYKWDRuoI6M73ffBQt4ZIjU7sEvui41iSQT0JP78RKrE70lKCsSjEzXpTqM-5fMaV9uBV8il7ja3JpexTwcEd96odNthFEqebnbMqWBQVKwLag6jn7RWnz36fx3mU_IhJnxPGxq01zODffD8BeKWPOjup0RZ7HXigznfGQPs38Vi3JepH_kPWiKNqCcGlAah5n50W015MI3M0i9f3wa4ezw2V01UsRJBOmxjKlZAf78ufyAeZHch8OXHwJbhDALGCVki_acLM6_94Lswmmo5M3HrWxh32g2qmMFGVbIcn2tTrP5JoTvTMvOR9UlpV8LpHvhqNrlvLdrwUJAqbQRX6Dspy_qURpKLDHGbsegCsYZRhYDroOrwkiDZWc6lohoC6kwzgHE5xMk3vFkr3qzXek41fGkVFIuOPJVs_y0Xobge4rfrn2iX_VI8Nx1fzxrtPKsKmvlQs2RWNZLvNl7WpLUngh7j0kXfWb-r_sv8zpsKxoLfmZ8KcdaxTuFCGcCMy_V7LT7vv9goNxWBjLXkDyGqycpmkI4cfnN74stsnqZ6-BP0yKac0KEJ7s6hWwz5If7U8nsIWwgS0eAqpAyYMHGWM_T7dfdLK8pnQuRdJHPhCFzumLEyyMANfMWxuEdG7WbOlWlI2iAF7k-MENLTMtbCkAsIgJp3TzGfWRngleIUe8K-x29seF0k5E-FUp15oe9afTB367bcWfEnb3lGZ3dbyYfHVG43uhdDWsrkUPd3LQzj4zgpIvDHmMuS2Qam1bN9rG-o-KC6b359gZc7Js247RuQNBD8_mMd5jS_zqgvDAKmAT7KjExLZ-t3K7sDfVsixshvlh0SkUD75gtHHq9oxR8ViAQ08KNUU7xNvB4K0L96F4XjonjPnA9zQBqEUNgOSGdfumAdQkKakriRcm6OAPQSmlOSSEthZIFlvlLmxZ0IpN-66PSimQ1YnZqtjsnIkORb9K5VlTz0NZRIwG3uNnN016cv5tPipCE1siXueCc63vPTeJNTmXzBMScrlahGWEgB5ZA0WwIHkfgwhgLz18V1Rt0c5t0K0LcTxpwRgCiX3j-wHYW41406S-N5yNjSXdFcRu053c4-ZMOx0t18USCf4NdEKiXFAY1bYMhBpcAAkL4oQCMOG_c-sZJECZpDSQsU9SkaqViLqLC1WUe9PDN7Yw_gpCj867LE3YUinEVpI1xKlsZ65Pc36wF5lbCCCI-hgcwrpGQR7lC046arJCTLohqhcO1k8J_5gyrcnfl-aly25zcCjyx3-qyly3Zb2oANU20oBJoFs8mPye9Ej8PIg2J9IcGAvcSlJA4hTydLha4iwrfsV_En-9cmMvXX9uUYLT2EOIP8N9VPCK6kxWtdRMO7qpnNdavAF7Xo931RtafzIf4NeeEQundsfLJ0798wMbMI3WI-nvPsO8iLDNYS0PdWZV6lN6DT3dYkddt86nTvfaRUSfvLSFILwyH9VJYjcJ6RKluWXOvFo2UbT67JAyvk0paGXF_ft0qIks_U8Yg_gW3BraStlQfhYOXbeG97CBbNVSWpLtfV0kwrgsbax8Vfe4TQ3jpSYyjFqPVHJXxip1rgvznOYQlgdeh92_gaU_GW-EUwfyCHmfbus9BQAOF5GESiQSylEA97UALVqODLlffXY_o7E19Rdmg-qYJLEbaNFWvuTCi9uwHpViE5ZkOF_JZMluShI2O5cYS2OErRGOJghXC-PZ595QP__uaihqqH8Ts1TSpD9GhBkwGGfHxw7vBbfceuyV-o_KaJWtXDPijxr3Rt7MCP7Ke9OCszohEttHkiys9gVCv3kDX7jOOrD3k7Lycm68LZghfe7C5hdXSnIhoAX3RWxrEOUHywAVGCGXrU1qeozPPL-0bBDvtc3k3_y_aBOGhpf1hxf9QF-iiVtx2He03vaWKFGr41EPpGP8wwEKo740xRQSNS7PE3aocJB_2v6RKHwW57nemrJXVsZ0fUBIK-E-tIzh6gV3eeIOlE6hzNvCle1QutdElgp20xuQXgEcAf72kWMcn0PfFIEMuvZ_XABa9TCPzvZrz57VC3--lvjwWt0ZTkfBLwYuRyC4vIXMVH2KsSOy1kTfqUt4IemGs-hl1HUYuyZsDkI2FsnaGbHac3_szSOuWW649bb085T33cdiCO9YzOmVePGaMDz4hMBJH9FeEmCIAaGJMRoZs5rov7ZJQ7hLrYY_e_qgz2mSvBoPY26uN2awKxF0RyYNF00GLUjv9gXUOHNzyvrbiDLgymSltuNYssy2G00yAf-W7UFR8WqkViXSMlpsqi5j9fQvHpSuwn_ueWJBZLixIw7_VVZ6pt83sXB5LD7xIXi5bwMIW_fj2n2RH8O8uapW6vkIFB1JWGix0Xdzotro8RlS5m5qRfBI9gu96KuHBAXIA9kbd91l3bT0kpVrnhxrFZnT_VWPpP58dDHuV3SaWtiJiZnsuwQAa-wpRQ21r5LI3mmsk7nVkp8ghvfiKcEyoghsDaiQ8QUlSVVWZdv9-PLtwAeXEJuZyiqZyD6ZX5DucasgXc9nIL2QfYdBYluVXn8UUrWDs8dEn4lXaF8Uuc7PSkeKPo7aNShzNgRk9MGwcI3pHhP2uCtaWv4zyg53eG1M9RnNbRkrb4US3VJA4BkOYlh4_nNas64RfQlkvsMqyixQI3L8vwoCx0PsLbftN30KzlrBj0zQyv6pUJnwGsC-VczztU79ER4Y-frQx2r13fZ20jukW_KrbFFZEkvJLhPuvui6FITwhXzdxwOpTHcfh8o177UC6xauRyC0WG9FHREnxbaT-CjEgpmTPyE3u61-WIZzrncqCDD61aEmfbDTl8Oxh6Cqe78FKXC2ndpZeduoNnbHDfCwdVwogCEgsVs7OHV_An4PYxr4TfLw-i83LnYgASWVxo5OSEe0NR6ad84u2ydDJe40ZK6LX6tCMKZObbR4G7E-IvDf5MuaNlVq3sAegIs7aaeFaZ2vM6KKurhCheXUTwTIbCf0Zu_8vh1Vnyzlrypw6at4-RpymLVimQD9CtxPNkoWAiDbQVOnkxCsA5RnuQ0yY6ex4b2SdS_9slnUMPa4slcLYQbeySqy6GgMLL7kMPnE8H3voaMuoYoTDipJWHftvZuZQV7d6wv2C3ZpP28xofRhSgoPE-GEggT3B21_5zdTRyWt72QS7-rQu-mXaUSwA7KNuFTl2tM73KiGr1qJp-8HLsfpDw4YLau_AkNNYdKDBWvI=",
  "id": "rs_00e9a09a8d48789e016ab420a3313487d09541a39ef02c24c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.1,\"right_z\":0.32,\"right_pitch\":0.2},\"note\":\"The arm has partly withdrawn, but the yellow object is still beside the safe wall rather than over its opening. I’m drawing back farther and raising the wrist to seek a clear approach from above.\"}",
  "call_id": "call_HFuQU1Tz61BaBIylabky7mb5",
  "id": "fc_00e9a09a8d48789e016ab420a80b5c87d09ab146b724994efb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HFuQU1Tz61BaBIylabky7mb5",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7521, 1.2289, 1.14, -0.7414, 0.9611, -0.0845, 0.4944]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.313 right_y=0.0994 right_z=0.2725 right_yaw=0.0231 right_pitch=-0.0034 right_roll=-0.7034 right_gripper=0.4944\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -7.0906, 9.0735, 2.7228, 0.7595, 0.3394, 0.4029]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d2e848f265d34cd11cc19c383fe6739268930651e79108bd164b5932b1303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b438110f7e8ca53660b980693a3741d03cd602739ca8e42310eadc54585cf66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eddb12e297d0d17d4d845e946aef2c7ed163a24fae58df5d245d77aae5899df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7635, 2.2898, 2.4474, -1.6367, 0.4149, 0.374, 0.4872]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.37 right_y=0.2606 right_z=0.1778 right_yaw=0.0097 right_pitch=-0.6813 right_roll=-0.4479 right_gripper=0.4872\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1436, -13.2855, 7.2, 1.116, 0.1587, 0.3541, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6205, 2.2051, 2.3455, -1.5982, 0.4534, 0.1905, 0.4904]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3979 right_y=0.1936 right_z=0.1911 right_yaw=-0.0355 right_pitch=-0.6881 right_roll=-0.5488 right_gripper=0.4904\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.294, -12.5744, 8.6906, 1.0183, 0.149, 0.1636, 0.3736]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7521, 1.2289, 1.14, -0.7414, 0.9611, -0.0845, 0.4944]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.313 right_y=0.0994 right_z=0.2725 right_yaw=0.0231 right_pitch=-0.0034 right_roll=-0.7034 right_gripper=0.4944\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -7.0906, 9.0735, 2.7228, 0.7595, 0.3394, 0.4029]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d2e848f265d34cd11cc19c383fe6739268930651e79108bd164b5932b1303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b438110f7e8ca53660b980693a3741d03cd602739ca8e42310eadc54585cf66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eddb12e297d0d17d4d845e946aef2c7ed163a24fae58df5d245d77aae5899df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCCwWFIN_3XQ0aBhbRtk-iDJ0YHxZIzsV0TLHSULa6DyBlUJ5LM364hyBiqV6jXaDxfk2_HPQwRrR4FcfGAG4wJKv-4MZaQx070RUVu4FgIGQCayF3gQhuVsooAGWzpj56riFHf9gsNCPcG7bqsA1hYMRA_nlOtB1-EwSBYgeSDa3f-GdCsDzMqWtedQsHFF3UaPmqeOZpQFCy-lqRP39U9n6P28l7tb5lemLOSzYL6rGQcSHJY2zSFvZOvtK641xAeYksHqqpzJQpElgR5bixacZ5nGLB8untvrzsN1DXxNVBK8RNnhNxyF5ax34L2Ct3hIbTwtISmO7N-yMa-9GSz-uo2LCgw4CZs3OklwuTj539drL7Sx-lSicObONhDV-PMs_170AiTMQ_bxxbWuinFzxHBy1Wta43CVzRBOgBQWL0vVC8rRnO3Dh2DgSroxynt24HF-E6-cIxhDY4axenLiqqj3JcseFe-a-JuxlIbelTIZqh8SrV4UnmgLVhD7kbW4yTmw61914sOwfpFzvQSmeP6zIWRPcgOIOQ9OtNO4GWefft42ndZe9X59x_vAbK8JaAnt54E1p3g7o3nJuxUePBNBqMCAHNaEzJIS28wcUShN_MEdL-P6aRcMVOZ8PLWgoOWMfVjo6i5k6DMI5zsn38EBnrPKa3uO_Ft-zYsJfU_Zg8Ak8I_-BZKMhl-pSeDHWJlRy8Fl6c1xMsOQ_Ayi-gtW2YGdLD-JhiiHtODDYhfggD2M0eHK6Ju0CuJqdLURSvopcZp65D1ubQyl5EJWHc5ASj0FVT7g4vJ4y2ackzb5VvmPL73zAjg5UHj0CNet7vzgKtshaGQmmimIdcoc08L7PilignWQRibCRXFcHC7iyDDZL3O3QRptGBpT3NYHxFFB3tdW28raVXlQdg3DgtMepmXUkO1vHZjO438VVBuTqu4L6LhWpeUXG0Dttq1buvYrApnAdNfXS6WcMsiWOzG8a6F-jZcOCNVTF3oaaZMC4V3Qs8LMf9LARGypIKsZlFPSi9noBNV1-NDdSVvsepWYxHNkNufW9BEQkOK2zNBXs2mHX2wW8rgKcsruc4ux1S1Um_fT3gXPs8cJPiLuNPX9DZJdkW1r1rr-hEkqN8jLB1Gd2lxEwlI0FijdfoOzaPm4LCa3AaTzZ2gSB1W6TQtX4u-1Gl7kPB3bbSXN26KIKofSYL-mOTQpXZu09pUnMQ59muIY8GU7nJnLt-48yGlHW5fNKRcnv7t42xs_-7-9ceZtgmpEaHgmLO5p7Pvo9O8GqLes6vDrN9-Z994dPdcv8Mjo9u_V5KhnjsykM6zR6fOlI3onIQOW2wrK9m5XcE1o22W_63txGyuYrWP5oZ6-5p_yBc6Go-2kVp0MowJikY237z6kqXIwPM8wjHvGz9-L9rAMpXVnt_DvNquCI2ufUXH-kGo4pK6Wnww4OYvew62g9TG8jFiJovbKwJ8R00rxLBWQ-2lIpXBDkBFCMlsobAxfukIg_J8sN48P8Kbfaw59TDUT8TdP7UCxkbojXiwNyLnWXowxFWl4ODuY60rhQv6nT_aFLduFpkCBg7zfrrHlaH29oZxTlvSv3ftVldoWau0vc_5T222FDqPldcp70IS877DQDMqe8ATqfuNPBdazsVSooXsTRUGJ-T-2h-5ImWlCapn_LTdtgbYG98UdPDrubefN5PUbFS71FyfR67Iu45rOgBCO__chBbGlYmUXuKaSksEEju-2j_d_jnoVtlgRRrma3LpqOyzVQ4vjGV5wQk0LhfAFD4BKODEm_eM-Yf7rqEts7RxaYFP2J1Vitv0iB_3Te5ZP6ZjTTWQJgwkutvsmowyA_gbCKBeaPTuHr_YDFsCprZ1OfvMyJd8Efwqpj9EMNCpV1kwZvBvn0XwSUy2YFd0O4ZgM0bq7IZhlOGKgtPSW4tTJ7Q-cOReKKfpaywDr3B6hoRAeAZ9QvbLA7Snobp43_zY9PMrdZEtIMtFplrM7n1U-EHSlQL_j3WvqQJRw-AeuM4_qfcT7TCSovhO5s3smmLqgowshA2h1sJUYysgSmODdpNzMtq7l81-Kv8l-m7oDhGRme-Ioxq5NzftBh-_MuoczA32sP9QaLWk69RmIALF6q9Lz5UpwS55ycCg42m0zu4I1F6_GcpnI_JPysRF1hV0q8M2gMaRpBzNTYTPL9V68n7iGMmN_VdOznP-NA8IhdQv8l_8GPSiuviU4aEK1AOJ57CiemAZBsA9SRSipfy6WtriKP42TorgUVLp35jP2Vp15ZCPdxhsE4bAS_VO8ViU_hZp2Og201cB99JNSqdj2F2aMww==",
  "id": "rs_00e9a09a8d48789e016ab420ad11c887d0b6b08131659471e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.22,\"right_z\":0.33,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The yellow object is lifted clear, and the safe has rotated on the table; its red interior is now left of the gripper. I’m translating over that interior while keeping the object high.\"}",
  "call_id": "call_nDFglzvS1cSGq0CzxBFUcw43",
  "id": "fc_00e9a09a8d48789e016ab420af328087d0b348b84fbfa80b0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nDFglzvS1cSGq0CzxBFUcw43",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9382, 1.4612, 1.5642, -1.14, 0.7315, 0.4763, 0.4981]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2881 right_y=0.1995 right_z=0.2859 right_yaw=0.0724 right_pitch=-0.1392 right_roll=-0.2689 right_gripper=0.4981\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4308, -6.7897, 10.988, 2.3761, 0.4518, 0.7399, 0.3687]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3c8bd54126763eb4b9bfd38017cb9b769b7ea637800ec756fe6d28d7c039cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef87b8047619908b109effcd0545302aee7a6890d731b4235badb73583781ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcaef8dac5abd745c6031a31976096097a7efc32c5649bc93657bc493c7a655",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.77, 2.2929, 2.4474, -1.6371, 0.4149, 0.3862, 0.4895]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3684 right_y=0.263 right_z=0.1764 right_yaw=0.0065 right_pitch=-0.6809 right_roll=-0.4456 right_gripper=0.4895\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.3624, -13.9009, 7.2, 1.0525, 0.1294, 0.2857, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7521, 1.2289, 1.14, -0.7414, 0.9611, -0.0845, 0.4944]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.313 right_y=0.0994 right_z=0.2725 right_yaw=0.0231 right_pitch=-0.0034 right_roll=-0.7034 right_gripper=0.4944\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -7.0906, 9.0735, 2.7228, 0.7595, 0.3394, 0.4029]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9382, 1.4612, 1.5642, -1.14, 0.7315, 0.4763, 0.4981]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2881 right_y=0.1995 right_z=0.2859 right_yaw=0.0724 right_pitch=-0.1392 right_roll=-0.2689 right_gripper=0.4981\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4308, -6.7897, 10.988, 2.3761, 0.4518, 0.7399, 0.3687]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3c8bd54126763eb4b9bfd38017cb9b769b7ea637800ec756fe6d28d7c039cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef87b8047619908b109effcd0545302aee7a6890d731b4235badb73583781ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcaef8dac5abd745c6031a31976096097a7efc32c5649bc93657bc493c7a655",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCC04LF4clgnAswdWYvztl-tLpWFS_UbCLMScpyXZvqzRNhmuLhmndC7AX9y3_cH_A7cuY2kb5T9-6iKdnJLJx7HOu9Z2Kv8o9fvFpj0goDHniUfrB8V_PcX6lhE4gVf2RpwN_St0-7fbjg3Zb3Sh5BRRKQPx_yx5tclZ_ITN66dAQ3hXX1j2gO9kpTIK13GPVw7bd0BwRczf5U1GBlqQlk-Ky8QSsn1QD5Ul_50WtvaaPZlHe6YnfcuqEU74rTmWuFhFUbcrRWBSRtQfafrio_7NhLj3NaOTQM6trAmVSyHnKSPIKZqtgIpTaMvP8S0Dcz7RCGswDNM_qFYu1xyCc4esczPQTEApkeSO0WPkpDa99On_9SXkn3PnAC1fVclFkGLbJB3PZ_LcljxqI3QR4U6uCHJVPESJYRTvewh5QIjIQkD_9--YqSht0WT98mDK9vmTeUmuGlqD-Lqny-pJTQcxzTyLZRXWsJIuaRKsoizmJkoS6vqZf4B4ldkQd_glCQ18cha_v4u9mFsZS6JbzbgaL3bNwJtI9MaObSoTLpzztExZIts1GOrQhhD5ow7CKADlFnti7qPuSiT8PYvPZRstuvhFhyJ6J0IFsY4chr8-b3672bVLdQTknhlM1kgl-PzJF05U9F3m0yYnN9e7OGpRd1DZUWkR6D5vPZEfr9ee-PRoOgZfn2xD50p4iOEKVWcR0fi_5otBbb-cgcxB2ghVAaWNPHEr1HMloET1yeALuU_z90kGRKCq8TmtcwUKalt3pK7xv5a-IkRncozlLLmxRZ_NSWYWOgkeccttjfLLsdj-RsSib5F0t4cfIATnQrY63Gh5O8dvr7dW8irNOzu-wk9nCW043elP-gSltc1m_Eb_KMik-AfczOyUeECxadLaLjTeSIIhsc1oepzDCsPKbDOM5BnwjWiSpexmUdBhn8shfk1qX-yurwq0OXzjuuAKITU7rH6QTA-XEXZgJVd-o4PPRyw_5EInBdInrtc0z16pr6Bq9B545FoiMPtjN16nE-Fx15NJDcb99ilCwDMScIGUN9-Q_Sv3KQkK6eHOcWQQzJwLFogqgUEYus4hZvzXSMduM83h3da-ILzS_w2Rm3BZh4LGiTBpWByrvlBs8gnkdtvv9sYQy3U2_07ShbXUivJFi0CvccL8ElYikDtKjRf7SESRVyNV00y2UqGgI1-E_4FIRwigQCpSSqMrRsV9JcizDWeVwct-4LyQkaY6_U5qbhs40eu2FYJt7yAmwj7vQhDCeUSWn851Bn-KEj1cIrpV3VTjqKi4sIzvr7kQMU6XGI0M8jLAZ6ystFh5pnrBgNildNaE9RIl6i_oom2Rwb1E9XuQotc6pXQw9aRJB5sgBv8GRltFT2Lkm0LFEByg_PpIU_kk8-q9u8iuKrKvuHOTgrbKvatY0rbcOY6fScyPlijP91Wsd8qJ5Hb_I-HyI_nfWXcW-n1ArUJ614VRg0B58h869C686_3tUEhjGqYJuMYOdOYo4rviLOMp_cQNbnjv6DR1vVbyZJM1dA4rZ-3DFY28oIlJxi8Oa-EuxGQhR3zMmydVVE6lLDGKoeR3YlN8ZSnEFi3A1JG9MJaPP_VlODfHk6dWU6Ww-HK9vFRBkV50-cp2z1zcLpduLpZdzTAaWhE4h_Sy1gmblioLvYmELtZ8YPTqawnpI5Bad0JpgYN5UGIoyEOjbZT_ME=",
  "id": "rs_00e9a09a8d48789e016ab420b2156c87d0a40bb907e9b39735",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.305,\"right_z\":0.36},\"note\":\"The red compartment is still to the left of the yellow object in the right wrist view. I’m shifting left another several centimeters at high clearance so the object crosses the wall before descent.\"}",
  "call_id": "call_RC3IOLpWN2vOZoD52KKEicuo",
  "id": "fc_00e9a09a8d48789e016ab420b3509087d0816739b9e17305fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RC3IOLpWN2vOZoD52KKEicuo",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.0077, 1.6646, 1.7859, -1.3911, 0.7372, 0.506, 0.5015]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2789 right_y=0.2261 right_z=0.2724 right_yaw=0.0847 right_pitch=-0.2756 right_roll=-0.4359 right_gripper=0.5015\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1162, -10.2496, 10.0308, 1.58, 0.6129, 0.5006, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94a3bb6fd7d12b8ed09fef8eb94d2145f78dd335934ba1a82b1487c9cff1794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4d2cec7c055d46373d4176d2d934d4c06c36b3417c2e6cedb1b0ef20a71c49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181d8c100b3acfd3ddbdf6be4274e11aa4b46d288d1d5c6df89afbeb3a45cb70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6205, 2.2051, 2.3455, -1.5982, 0.4534, 0.1905, 0.4904]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3979 right_y=0.1936 right_z=0.1911 right_yaw=-0.0355 right_pitch=-0.6881 right_roll=-0.5488 right_gripper=0.4904\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.294, -12.5744, 8.6906, 1.0183, 0.149, 0.1636, 0.3736]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9382, 1.4612, 1.5642, -1.14, 0.7315, 0.4763, 0.4981]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2881 right_y=0.1995 right_z=0.2859 right_yaw=0.0724 right_pitch=-0.1392 right_roll=-0.2689 right_gripper=0.4981\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4308, -6.7897, 10.988, 2.3761, 0.4518, 0.7399, 0.3687]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.0077, 1.6646, 1.7859, -1.3911, 0.7372, 0.506, 0.5015]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2789 right_y=0.2261 right_z=0.2724 right_yaw=0.0847 right_pitch=-0.2756 right_roll=-0.4359 right_gripper=0.5015\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1162, -10.2496, 10.0308, 1.58, 0.6129, 0.5006, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94a3bb6fd7d12b8ed09fef8eb94d2145f78dd335934ba1a82b1487c9cff1794",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4d2cec7c055d46373d4176d2d934d4c06c36b3417c2e6cedb1b0ef20a71c49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181d8c100b3acfd3ddbdf6be4274e11aa4b46d288d1d5c6df89afbeb3a45cb70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCC6aIk5b6-v4sVdxMo8o8KaaRAiI86dHrBu_HHm47oyWJVy2G-WDGCWR85xCc9de9RRRKbg4MrFvKNvy810crL61g8Tz2lqYB3-jr_n1fEkZnM4cSE0pDOAGsn-3c71XIl80yGd8tNl5gaWGsmEwbomn09Mbi6p28y5RH8NlgZwOexkjok2TDpvHiiWaEAUh9bzbTPP9er2lEIZJmP4YHrUkrf0v5t4JVeu8XmH2l_ZDZ8xJbg-Je9-lwgARI70x7qceFuMCBZ96eTc7xWcCFinWlgXRA-3ORR188xtZxHFda1VhFvw9Mza4ZOwfr1jpL9jJtTPPYwMSmU2Nju4XwBinfI_gx8lEawjmmpS6UUvPyE7Rp_tU3lE2pq_D8hMdbk-RIRixPAToh37pVFJNl-brsEhfkX7ZXNFFjgpoOoVg6OiugZgydJgJVX_qZf-lhDsuLWstxi0ZC9O2_O-dvatgjrnhJrpZsJ9gaVxbMKkluecvjq2sM1s3J81QK5Oc6lPrfF5UvVsQzEwQCVD8L0QB0yHmbbd2-i7czKSbI2UnwuqM9Qyuv0eouXvWhHUWular4vT1nKmgSJzOEnYAvMNPogHJkLGviizv12UmYPqiDdj-zFGpZlhKjyrHWPZFy6KWoHmtFJa-ycBi95ZIKUsFvV81jhfVU1zqOct-TofbLyQFFs2LS4b7-nTTJRh3ocijTYoQfY4HQe8Mik1LMCFNjUhf8orcASwJYy93oKSgpOyrLCiIuydvn2WpV7n6qgzJucLO7nGxM7sUABOkU11TifY0k5hyNDFTymbLHNTDnjAsrI01bJGKftdXW-ew21yAdzBvptnJMRelbYYJy_SU56BGFw9fEBGR9T2UWNr0Zx9j1UkD0237BtbCTA2f4AZzLX_2TWc3Fwymz9hFXj9d5vUXWhka9CuDYqyxw0muQAzRM2KkuvncV_et4WTvRXCJ_5DQosoggu7-GEDzqF9iyCZNota1zXDBcCOh8IuaifBYbXePJ3VZnEPue0klGwflEldLYqe9_DmOOEdBiN1bEnOLxcA7UkFJmgZ47-5f1aCJWWwrSLAoKmvr0L8JPonOSsAX1K1dMABN8pVHfoxUBZQ92IY73GfxlFNmoR3DVTdT_KXLPpcn2S2BGIo5uHkFP08fLt7ooVUge_elGppr32EXEplq7UOKA-jz0kt2P2siZx13qpuB0BaepD0_l9T84vaMW9-WS1itogaILr58emX-uB8OpoVc0e1EwS6EAb6o8_7zAgGcUHroTGpKGrzyk2vJ29BV6CGz-DuAv3HHBbVUvkbyNgl2ihiCj8pc156hdUlo-R-meuB5mGAR6kCT_dwoyCi1Rd7ok2nxCaFx02tU4AEBa1XEHgXrp-TEV6EBZxK6rZf1Xurao7j_qXSITC1lBvBpCvONdBeLI7WPJmBO6ZxmtuWGRbKaA_sulr6Dczck0f__DX8zmB3gWrt0vpoiXNIbdnVY7vhbsYHeRwJBHCuBKuW2DYTwdOJn_vwh6gS0t95PrLpo_RDKr1IpHAqcClftyj5ozhMnxtVdbZDkNtyAhoi9jCj3BBR1O4okwz40OiC8G-6ly6X8toWT3mm6v5_1I0ZHqgnhxWeH7dcpM7V_vqfNTKrbHB9f681ThoaixRSlpstYQ8TMTL2woPrnlNwngBUyIJk-gHC0Jyj61YOlQNU5owCUFaxQlGEvwQodV4dtKMlHnBXAexJGe1fNYglVxyyWu2IQqyqFwy462XsgXE5HYI21iUno6srnF1nqM0gorjWE32WXwk96X_vgPBaQqcNLnaz9hcD43FfbnBBMEf5qsfv-nBqynKlDq3KWcGJiqWQ3p-UlJrC7ao3t2nC4tYFUV2rm7M3qRaYEjDfUdhStp0GrEdmBu-ak_kG05MNQuvrIsvsUkO2kg1_cOmBz46VI37ueHu5TF5nWYG_uDS_3W5PZ13eF-LZWBuGcCDPcQM6VHh15FVLd5wQ_KB2Br7WHcwHzEeyg46RGAempVt2Fzctf7O7PI4yJUCp2hMb136gASYXtC4wwqUSAc1QcXtAQJGAm5hmKSXJUQ7dHBlIs0nN9RJ7YsTvAT1GH_BqB27dqZ091ErYyY9oFCchel3N0MmjGOs8kaX6kp_cQ__zOkLbmwUkr-WaLKodJzWrSXQ_NaXd6n1APWs3Fd43Z5qBNX4SA51colYLCDNAwQPI-zGtoMYGPODo7e5STHvrBPtSJ-4PtrVPqbMf-yYyuDmq5tTShbAapZcfzBpNoY_v373sWQWKs6E-G4CYEjCCL0fH4YfqFy6hIkS5LHA0KVD61I3CPMcD0z80afohla00bawHgIkrMxvSxyY2BsNE-x3G9_mkEl_KVFyyEPIDOGDDkUpprDDaIznBNs3rlWJmWTwyKftcc3zxLh8P_vsMCYfNAc0slmCobO7t4F8iCmyKratiACv7JZZIyDGJgplfaGpH91z_L2U47lHAGlHnPnn8MDhN1UxGgld8sIe-8oqfq-nA48A25IHxG4PP_Xhg-li3p713b4sVyOWxFLTdKgKfCurwie-M-bxBijHfvOgq6TncffVfjybIChEsjngoAsEA82OVcZQ7K3SEYuvOdWxepCHmecvDFXnlD1sEFK_QDcGCMCJqdPmsKDC3KK4taU7vJ4mD8MpkgWBqCUBjS8O7-8_I8v6-iLMSxT_V30RveGEIam883klhOJv_16qb0GdGroF7iJ4=",
  "id": "rs_00e9a09a8d48789e016ab420b671bc87d0926493121d37bd0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.19,\"right_y\":0.285,\"right_z\":0.3},\"note\":\"The high sideways move stopped against the safe again; its lid is in the path, while the compartment extends toward the near edge of the table. I’m bringing the yellow object toward the front of the compartment to approach around the lid.\"}",
  "call_id": "call_1Xs1wlVIf9OHkq8H7mGLDyru",
  "id": "fc_00e9a09a8d48789e016ab420b9275c87d0b210362aded2e06d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Xs1wlVIf9OHkq8H7mGLDyru",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2228, 1.7615, 1.8191, -1.5291, 0.7731, 0.6876, 0.5045]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2253 right_y=0.2698 right_z=0.2498 right_yaw=0.1422 right_pitch=-0.3097 right_roll=-0.5085 right_gripper=0.5045\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -2.1402, -10.7282, 7.5966, 0.5348, 0.9451, 0.4225, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030a4f871917014adc42ebcd2eb72f5f928e7013ba4c1e0fb07fcf518d0116e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba059e8d467fb50e1490ae0d5b389d697572b9a2f5fc1f5c8b8d9a170f1bab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae344074c63d15ce687adf282be9c620a7070d8d8d2b63b09bb42e18b26a93e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.7521, 1.2289, 1.14, -0.7414, 0.9611, -0.0845, 0.4944]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.313 right_y=0.0994 right_z=0.2725 right_yaw=0.0231 right_pitch=-0.0034 right_roll=-0.7034 right_gripper=0.4944\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -7.0906, 9.0735, 2.7228, 0.7595, 0.3394, 0.4029]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.0077, 1.6646, 1.7859, -1.3911, 0.7372, 0.506, 0.5015]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2789 right_y=0.2261 right_z=0.2724 right_yaw=0.0847 right_pitch=-0.2756 right_roll=-0.4359 right_gripper=0.5015\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1162, -10.2496, 10.0308, 1.58, 0.6129, 0.5006, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2228, 1.7615, 1.8191, -1.5291, 0.7731, 0.6876, 0.5045]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2253 right_y=0.2698 right_z=0.2498 right_yaw=0.1422 right_pitch=-0.3097 right_roll=-0.5085 right_gripper=0.5045\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -2.1402, -10.7282, 7.5966, 0.5348, 0.9451, 0.4225, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9030a4f871917014adc42ebcd2eb72f5f928e7013ba4c1e0fb07fcf518d0116e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba059e8d467fb50e1490ae0d5b389d697572b9a2f5fc1f5c8b8d9a170f1bab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae344074c63d15ce687adf282be9c620a7070d8d8d2b63b09bb42e18b26a93e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCC-XmG5q_t_9MvgfKw7WhvoEsL_sQhglFlYqUFgOacQ1jxMZRVCUJ05NWnVCR_8rLOLfVaOlzK3RkRxbr_dTnck2yoUN_bzk43LQJ-joTBdU2OoDeiG04hJx6gS3hnHiEnsFmBU7Ybbwf_fStJpDTUfmzRXBY-Z-QhWwMGkAF-zhcKHurykbIBPE37WtBCoC1qLCPOMH14WFUCz4d92kC28YW5GDgVhq21L1xK-H2CPkvY2ZZFEtcR15EXM6jxiTUj1PW49UmnEekzDcZ_20pKItdFqmxuyv0t9MBTlD-K2kXUyv_G4lsJpFWVLFJomJL27eWwKo8BV-BB9wJotQp09ZhB0OMGxdMOD0GbM_slqVTND_nPUA9lA9KmfOE2d-MOvRDnJZxuAe4nMLRgM7zxpHCHKwQz2dAwbCIQVJv93gxPFlcFBNny35zqpw19d6EqD4ggTkYNmhS33jnfEsJjGN_1T17I-i2Ophb0yWELg3z7-7hvxl6KOnkFZH-2-sRzssRwbjC9eIzPTGRsIjrQzw5wvefq8TT9MIFwdYK35GgpshcqezZRUUq0EWVFVPeJ_EiXaRvRYR5aW5wXI5AhpXbsPIbSKSVcAQYssexpVQ9tP6WrbxIca4aG7jYw73mVb-pMIipNlFWgftplgCcCRXMFEtRcceLtEVqhBeD2a4UHJ0AFc5BMJd2fNH7v6HdXDnsTFKr3wKVzQdyqFA59XfzAX9WA-5PpG6-fgt9mRMBNH8qDuymQBcTJKGCJbMSsz-n7FivCN_mpYwWswcO570zb9yro7O2-tSnsCaugPKQGBNpCy41Hz3bFS5m5ck1sArYagnnAjkPOKOptkMTDfYMAwanchy09jFT6QeMpEi3YYryndOpcQPYV71hDKsUQwQsPuX9UEztuVIblwLS47qORtYqM0gTfiEo_fSv61EoRuVyKlTntrCCuCL6wQGUKvunOORzqXJXpi2Sl-U0mhFGwRS1gPFbCAgwzVGGDNRpb_5ArMLZNRyhVauKl4t6ObkUE2MRujKB_Jeq8RD2VEJn7KmbTLIVHfYIUXaQBtbMWYRFfv9LZf5m0aTF2LJx44uQpDJYvUj4JMoswG5caq5tTIG-2VpSvrv73-2VecaNmhgnZhwGlgRg6f0iFecCvHw8AmyqVaCC9r4V530naYIN2aB_qHgGBgP9ADyYSYSIi8-vKjQYGmms61BoRZc9zBgNd7uCPMgMAHE80SS-4yE9uFbq1_hOvfO2edCz-tLSOrp1lO-nnbsXCXcacV6eHTxVQ1kESw6N00SAiRmYpgros6RgU9Zf0qxcToyWzPIO8oaj6zuFm7s5YF1mdGg68TEPgbKD9f12wi3XU24q4Jz0HZ5d5VYpJHJvEyVdjqRXxyg_BvMAiowwoquOTBojvODp8NEFQRWC6sU3RQbT4QUAdS5WlWbn1wCi7lK5sdMViHyHKuG0m9eWEnA45gKBXE9AG_ilUgM5wWtnB90zUrUJAC3K7o9wVnP6J4FEzQR1QwkK_fc0Cgg3i2bD3xFC1VEn1IhmcPJ_ahat6CO3AWbSUM8uKHhy6MV25mHlBNS1jcYZsVTpNW5eO7z9i0LhxkzGFb7pwytSF6Yzdg74tRVOuZTsp49sMFgBF67_9oqPC-WpXt0A1MME2Mf6kX10SLpHH3KmE6N7WNpZVPh830y7RzXi_WK8TKv6Zej0W6QztH2AHmIymYRokHt4kWJyWez2FXiwJVpS7bjsKgtiEpaJbaH8KzyAza9sjP_T7PCSyQ5kVHEwFblkNbQ5e0r8b03cJG1IEOqsVPjydOdAoJhu3gJWefH6q8vtp2WHBrR7dCIoRDX6_7iMoU843KwsfX3cn7AKMJBIuE7Pet66RhJG-pQVzU03Z4Uo73ml7LkOAKhcNlLDXkEFZWj5MSP_R9QEpHnCXUBurejfXqF2oKiopsIcw7YyUXzP0Jn2MBQZuPQ18oFLAZxjJZckJvVMQfBmjNsLy5HyUG34GEbHO3YGsuO_Aix2NA4EQlWCA0d0iYPuGpKFNruTRkBnHfE71Pn8UiU20JLDrViQK3uoNuD-KBRfayADTDws1C_NYqsiCvRHUraVNX6DonMYzEk8j_pxLVU8aANNtMJrzsr5GjSE8JlDeJxyR8FbkER_MNJ7SDYt_NQpJtH8KEnzQWNYCQfj-c3qyhWt8dXvAZcVkmuHrv6-3ZkmCP4tdjbA7t3wC2eBsmxElHaO0cS-ZGOxGzaQhPABodXGNCOTPIHAM8HDhQnAswhyXEkeOwwEuPqaQVAAHjSXkitgoLAa8qvnwEaZDD2rToSGP54NQQ9H3DBjYd2ik7Typ4MGJgP5gtoxGBubgF2KqZgjOV8D99ZlMcvTimnlEna3wMhkt0P8fL6Q==",
  "id": "rs_00e9a09a8d48789e016ab420bc45d087d0909cca2b67964954",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.32,\"right_z\":0.22},\"note\":\"The yellow object is now near the front corner of the safe, though its right wall still appears alongside it. I’m bringing it over the open red floor and lowering toward the compartment.\"}",
  "call_id": "call_DdrMaIVJsUn6e5sgkLfo9ASw",
  "id": "fc_00e9a09a8d48789e016ab420be309487d082ea4dd3274c3c7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DdrMaIVJsUn6e5sgkLfo9ASw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2419, 1.7992, 1.8259, -1.618, 0.7437, 0.68, 0.5067]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2128 right_y=0.2642 right_z=0.2358 right_yaw=0.132 right_pitch=-0.3929 right_roll=-0.6127 right_gripper=0.5067\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4855, -9.5385, 9.3197, 0.7155, 0.6276, 0.1734, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57595366961b5e3f836152bd45d7ce746c77c16c32916e0c63abdde15e4cc372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4ce9713a4ffd30889643a091dbb7f5fe4152ceef99fc9961cb5c702b46b66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3106663554f72429b9ce27eace5ddb516ca533b51faafdd86e75c4b0aead980",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9382, 1.4612, 1.5642, -1.14, 0.7315, 0.4763, 0.4981]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2881 right_y=0.1995 right_z=0.2859 right_yaw=0.0724 right_pitch=-0.1392 right_roll=-0.2689 right_gripper=0.4981\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4308, -6.7897, 10.988, 2.3761, 0.4518, 0.7399, 0.3687]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2228, 1.7615, 1.8191, -1.5291, 0.7731, 0.6876, 0.5045]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2253 right_y=0.2698 right_z=0.2498 right_yaw=0.1422 right_pitch=-0.3097 right_roll=-0.5085 right_gripper=0.5045\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -2.1402, -10.7282, 7.5966, 0.5348, 0.9451, 0.4225, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2419, 1.7992, 1.8259, -1.618, 0.7437, 0.68, 0.5067]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2128 right_y=0.2642 right_z=0.2358 right_yaw=0.132 right_pitch=-0.3929 right_roll=-0.6127 right_gripper=0.5067\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4855, -9.5385, 9.3197, 0.7155, 0.6276, 0.1734, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57595366961b5e3f836152bd45d7ce746c77c16c32916e0c63abdde15e4cc372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4ce9713a4ffd30889643a091dbb7f5fe4152ceef99fc9961cb5c702b46b66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3106663554f72429b9ce27eace5ddb516ca533b51faafdd86e75c4b0aead980",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDE04zJcAs4GvEPSHZrsSD3jaPqBFQRhnZhBeen_lk-wGfU5P6HC8BRDMoIQ4cBHkH1GAfTMTUgz4m67ocF752QA2Tm3ZYpWDJm0QCNpIie8ELFLi4tjl0ZtzkWaLbUQbx8mNZ73xXB9P15_uAozWJ-46liv81fZdRVZ0Nw0scDm6IEAnLd1g7sUfpTN2xLqqd2wvJmUVcTp1Q4DvDUT-VskLsyp2jdcPcGovxOnf6r5Yx2k4K5lppiGR3jE5PpqKRVzf-LnI7nuF94kyshn8SogydH6c7omKJ9MrDp9QPVWQmdR769_3qMVCWQAeu3ttLfDSCubHMCUHHedWfZ7w71yaam8LDrCU3iiijUN_6NHxIIg0i7L9j8jgMayYJIUJ8sAo09OgYJMsQRc70nh9MxUptMgHPYsFXo6TPATlm6gaZiz1QblRhCHi9i6_8FIztf5f90_wHyvYG8HgzxnAo9TvKTEDokGNe9GBSD4HQcP63LfLG7co8tUbz_2jQ9ereCXlucW3u87-Jo-LPnSb31UO57K_UY3hNiJZLv9bXigqHmKjAkbPzsPowURbGdwEFRqB0T_qqQJAxvq2aM79futP7FJPBRkTvT8gHWzz3gMbeGSnf1nQlKGmmjhYCKaNHyKisd5osQXn0NVfy0UuS7GO61PlmKdTqqq2_WcxBCRI2OTc67kT26jhA9LVCwiVeiYiSpN2v5K3Q1Tx_XF3Ks4hw3dwKenWiWlt-M7a5lQuq2mM8ymlkO4u-cBCmUvVFr6lOgLttW2C4SASc7Jdnjf7nmsFkqOi_CorqTD-kANbjq__PJUDpn1M8dBT5Ui1uGQdvrOEEjF8KjS9eB0SLqto2ls24r4ryJNWrDQQcy1MDhfkUxouBspnGPwvNmpXGrbWbAsr87kMx7IAkaalzs-Tc0PKQXFVKyZV9UeLrwaUfPSwdwy1VUJFUn6AKS875Ke8e9TaR8WkBW-JFr5mhj1wGYrgL5II2vPql7M5yIV38xIskqNvF9qpqRtQVss_mfiGAMy7vCYjZDaGvXUHA29fr9MQ2lPKRtzCQb8RgDPFBfZhqXbv4AV-7d8znROeLbmZSZsNNtvEIT1h8Ukv8dXMxcaRgFrnzmsvWpi_daKTRt0rYk_Wp43Jbzq7ntQQYqZ4ycf4Y67AbktynDYN3ryOQ5naZ88-nF28SGg2d4SQbF5ljv1lVffLXJOqGWp7R_gK3b6eOJdV0CXCTuaRoucfd-0_ugblmk8p9rgkEeeZb1gvmpsr48q5TFE015wFA7dfnYdVyWJk3w5l1JPVMfwMK4hdojsPkVzJeERpFj793_QzMvn-sKnn2VCcHQAvHxjfbP9aWHgTjSK_UkISfURJG_xza559R88ts9n_d5FpkgCq-1M2aGra8nC5BvNdco5f_G7XIuWH5k86nphcxeZf1-zGVcVXv2742McHB6eB1K6tg4D7rgdALPHAYZyA4r3g_15hMrjYNpMXB7KGjw-cXeZdSmAld-DgYWlU0_f903UUNq3Tuqhw6hT8KvwYIddb0yOJ_EvFgXmwe46WFXeYvxzkIgMSYc2IVyqvWICg_SfYWTbahbq_kLLvtGCRsn5-07KHJB2xHa_njv2qhg5IbmUEjEqc59_EnIVcHxihLwgZVp0QUWEppQKNeb72jXPZEnANqxkALxmc6lAE4JePZN-4PjvEYN3R2ZagzXtVk0u3bW6mFr1ahYUIseuT0Z0u0rf_6Wz7eVnB6Cv0Z0EHmOcBO4lBGrQvtJJnpFIWJmxRHg55gasYqW-r4fEIT0OuDa2V5MbXwNIsxPqTNt0JKjfrm6sl4ZTwXSMKccgj5nceNXQPk98cGlYkVYtCCvH_j_f1Pm648H_yA3bhjYZY8NYPJQKikfvkk6ZQaPlC-bW_UhQKqLgukcI7Ky5K-z8DnV26zj31C-FknSmTqx1zMKvmNz-Zyb1M5n_GGyDhowKQzaFDg7vkGj7oua68f7uqigD7hrLPOtIwEnPkpS5w9uMT2VCXAaTDun2U2eg-MOgllLZ6G3RNuPvyAivqevnj0m5VdfBVYurD5zSwQHI6RrtQ33QSdLwJyc3HAwHDtNCk5f9eYurT0hI1sHnzvDA7dhEfBC1qvPV-s9V0nWAI-pMQk9FJYyFAGjqhCqbcJCfWsOt4XOIq3acWQrcmguBXwGKBEHLF2b0pfmvs3C80cTabMZd8aoqzhXTY1UNnOSYwhxwElpBI1DUIsmKY-MZwF2owRzF0ckrdvrHdoGKLkbjokOcL0AgfqcS-rSTsJKctTnu5rRU7AJDFhLtUwJZK7Girq4XUnGk1cVE5j9JvH-HTD1IVFs-xC5AAR-oRwk4Tk33tE8iroA_i__1iQ2pmuCybx4yhW35JsFPtBetaayK-w5vWAVfbcqIvPA7c26uyRJi7fNBd1c3KqPvk2GyIY5Jf5NBU63lxWTaj-FORG7u_cjMG-78hUf6wa19kxkxQAWflFUwYnegpcklgNE5WVQvUPty1WPt_T9zCjDP3JXlv8Xe5yDVi-eZwzXFsuZeH_MnS_eSQQXG7kW5AURbx48VxBjwTa6QXduj7Zf0Kt4vss0nlNe82CThcGeTveSCk0206xSpbWZ--4GSKoOovdN_m12v32dolxojeC9a0lVNS9zm6sSXnbdPHgM7slgnwGP0Rc2VckFwESH3CUcC9c3M4A2SkwynZsc8_ezsprmBhp9nij34eUHa3WI3nrQHsbDT7hDqYJEw1Z--7vAHPAMIMclewou-oubuiDoG5MKvmGtUU8ROuhBY4uXAZNii7UVu6l8_mvhyxqzj3K7uUP5Q4oo5JgwxR0Rq9SoWQ_8AQW9RLqqsrOyxtgq8qNqHZNgg9ttazZbMWXrLJWXQbqjosCaIK-e3Pp9Xb6mYD5oaAo9-FB6ds9e1rTYvuF55lU2Oe18sInv-h7T7Dlpwm1iVO9QTEsD-2ZnTWCscCwovZ_FKquD_CFAqA3VMQWAxHFQylriXwybrzE5tgvhaboze5u-1oNDEg4t4e7SPCIEu2MFOLfQIwNZYQqs4KU9nQMmR2ppywI8PkhdeUvZHkZRUxbzFegyIHmGMI9Z2g==",
  "id": "rs_00e9a09a8d48789e016ab420c07ab087d09724894b5f12f8b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.12,\"right_y\":0.345,\"right_z\":0.2},\"note\":\"The yellow object remains outside the safe wall, but the open compartment is closer to the camera than the wall. I’m trying a near-side entry around its front corner rather than forcing the object across the rim.\"}",
  "call_id": "call_5H3jpDIZ2Hrh8RIV9aYWuQxb",
  "id": "fc_00e9a09a8d48789e016ab420c3dcec87d08866e7284ba2456a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5H3jpDIZ2Hrh8RIV9aYWuQxb",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.3212, 1.866, 1.8187, -1.6554, 0.7673, 0.7639, 0.5094]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1939 right_y=0.2789 right_z=0.2176 right_yaw=0.1273 right_pitch=-0.389 right_roll=-0.6782 right_gripper=0.5094\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 4.465, -2.8786, 3.3299, 1.5897, -0.3394, 0.1441, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ca126f4028a76ba96c34c738bf80bae923fda02cc0e48ac815ad736fa5e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cefeb7f51d2879f49c670bec7536ac2c243734898daf40bc74eaec3afbe0fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5c249ca6d3c597c008d83435bb1a3d7ae7bfcf4dede46462a5596d7279b88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.0077, 1.6646, 1.7859, -1.3911, 0.7372, 0.506, 0.5015]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2789 right_y=0.2261 right_z=0.2724 right_yaw=0.0847 right_pitch=-0.2756 right_roll=-0.4359 right_gripper=0.5015\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1162, -10.2496, 10.0308, 1.58, 0.6129, 0.5006, 0.3394]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2419, 1.7992, 1.8259, -1.618, 0.7437, 0.68, 0.5067]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2128 right_y=0.2642 right_z=0.2358 right_yaw=0.132 right_pitch=-0.3929 right_roll=-0.6127 right_gripper=0.5067\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4855, -9.5385, 9.3197, 0.7155, 0.6276, 0.1734, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.3212, 1.866, 1.8187, -1.6554, 0.7673, 0.7639, 0.5094]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1939 right_y=0.2789 right_z=0.2176 right_yaw=0.1273 right_pitch=-0.389 right_roll=-0.6782 right_gripper=0.5094\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 4.465, -2.8786, 3.3299, 1.5897, -0.3394, 0.1441, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ca126f4028a76ba96c34c738bf80bae923fda02cc0e48ac815ad736fa5e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cefeb7f51d2879f49c670bec7536ac2c243734898daf40bc74eaec3afbe0fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f5c249ca6d3c597c008d83435bb1a3d7ae7bfcf4dede46462a5596d7279b88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDLXU_NqG_qkAlnhGaISmF5P6-xZttXYujK2kTT-tsKWRd-M0O8NspsaAtHt7lAiwQuDu6BcS9ddqAZbRqUXqtgwrwpdNe8l91Iqxt2ijXcz5uN2iHqQjl92XByp9aCHyJg6EMtr9NzuX2PQOdFkEHPbawkj9FIhfWp0cyGprY7dqQlMv97gOPosx0uaxRb1zzGBmxWBuUXtzwJmvMfwYQ1-IqcEgvdKm_32oeo9CulxOB-yx8mEYHBPr4XDL5eOJT2BpTWz-nb1Qz36yyiF5zGGe0zEinOJg50AVMMYQmdYdBDB6jVjitXqEhxFYDGPZmhY26zCJRGhrZHu5-ASCgP95OTNEuYfKPFfbpGHG6ah2w81unWjik-Gds8htbHczqoVzKTJZ0waoJ3DCiltnDzMY9fpN_eOUQDNf59nuQjLNw4rl8BJQs4oyLzSHbRSBAwwhQqmH4fBEkLrhCSopI012IQesgt3iD9aZvvrfqtlYM7zgSztYROGkncwjGx9bV5lYIjm4TJ4KOkT0Gpz-kz5Pxrtim914tIitc2BBrPJo8UZrhHutGRJyUsrKP9TRUNWUKj-RWfI5eoy83rYfLRb3HjH__IRc2vvKNyF7FXUTqVcjTOgwod3LEcagSMH8PhHeAa70xBFqKm-s5r9pTcYC-lVCuIBqn_WEEae2lPH-K7F9rNZjn78bnJObKIrFt39kvkZCesLPjq4HrVbqoLnkm8TySeCEOQ2ThRHqX9xOyEqe_nLeQOXBvXvJLJTi1ibrJJIorTVNiTq2yKqFG4Ddsywjl7o1QG02cM-gIPPzwclH1NmtPJaVxOquCdxsM1V5DmX0BJJn1kHDv4VwBOVRmuRBbRG2fQgDszwbxyOn1wPWU9yKzbPju7W8QXnUytyVWnkTX1akRz0v1hQHUScyasoGm_s2HQ1aCMRCx6K4Gk15V9Ovpd3U2AOEzQ5i2NhfXFScQZ1ZQvexHlrawzXYkw2Ud17L9Sv6zcCISQvMdOtr9Y02FMakgf-CDsCgqvUAdRB5iLSUCXjwidk7IR9VJZbETSudmA8WUl5qC_qHBiH4P_VYnZhjLNsf0wjOISSUy9j7srBzvzaX0gbvMyAHSMYwcxpf1wD7zPOjzcgCQ3RcVvTIYEKz4GLBrsmrMvvfv-l6uFLTy6dnYZxMIVR4mk-tCnrUIir3262yOeOGfUZHrceh7nQvzIgsJxNiytrIYuvlVUlyU39gy-PPOrd6OSWdNLVvZ90ewOQC9wOFE5fV1rvsaN0jVAykcdLpy2MMPKDHfS2rROhzmYSRdcmk0KAPnZourufvbUuvVmaPZx5pl4ZaRlI1CPNeUCJDCU1dCTeoe1JDSUN3qvGRvKE9aS0NEv61EoVBc4J8agow5vtmkRkOv2CSVebVDSpNdso0JNzDGb1XAARX-BPHOJ_qk90e0oyFGR6V70Xd85HVxlu4Kbw0W83MHrGnr63fvefY1c5TPoHZFiuoP_WQuhVY5lB6iLmcRvx1bK9u6AP3rx-kUPQsEwxv5Oaj5RCgguX3oIwuDNTKWrZOY6xCyKk3CWSTqtLKTCfcRG3eGwT4FT297BpbOEXPnInEGDR2UWh1DzI59EnkH3iGbIn3EsLm2lzQfSxSRiKyoJDD4T_M88f20XDZV8bjaZh4tOXxW1S_1yJ3w3PUMnZyp0oS_kfPDy2bHMIooQaq2RKG70JsqboPS2FYng5WsCiAxzuaSCO0Qqy6YFA_9kNepVOVUsHkRJOSeSNb2OcnU7jrWGPZanShIEp9n30DrMlcGI5ccbsVcRvoQ5pka4kEucOBy1HnmntTgvnQby4QhXyfcCYoBtEQydGvKF0jjH3vUeD0CrXI4v09tlvmdwydHKZ_YzwJJFyKqVs8h4JY6eSleX7bCydhVsSPprg4iIlBCM_NR-Nef5CYhlIfujPumPWuzVfgiRw5r3Ypaaygd2vk0I5xphIZ8qK8tCQbEQHpNBku9VpmHuXf5Ypv6NNQpOWw_qp4CP6mi3hB2l-uBTespD3a8h81DqMOCErMXeudPcoFsanVdwUIpprTpN62Z3pIOT1qRfvRaWCOXGn38OsyusKygr5oqp77vQSck_Dg7jKkL6b6Vpt86erWvNuc51OCE9s7jh-OoRcRSQGoggGlNK0V8eDQVnFmpBoHTjw5jwhoc2G-axxVf3wT2Vpdrh8cu_KwIjF9YFjcxoRKlTkHbesHMgpGbT9a-Da_29oD-18avw89vQhkbEzAK2VLnTe2WIXlmBTsypLAUnz8yQCBLPKOFcYHQQYKcTvxe-PiJZ5R3OhYMkxC3GDxxVz3_LlfDMFQem4Cl63CIulnTuDH4gKpdCO2CTpx1NdS43RYuCpl8F4lH27ApljOf7D1LCFxkvWU23zs6VnHMzC46OQ5Z_Qem5HHdTQGSXMFeJBaEhJ1nzaSGDZ94FyUKArytCvGbMHNKeTnrtXjyMG0bZPXIWQwYORXJrnzqHkB_BZ-IcfjwYOvUpV1ltIOpD7BauY0dt4TJXFMc_JYyLnJlQ9eI_n9u_wlX7f6wqR1p2AQi0JxXK0ai_U4kMUgE36-1LCfWYe8emZeOW8bKgMtGYPGJYPj-oS3e7Byuhfrg7E6pKtVdN7nJaI1x3DqUeuMiTEjlO63JuWtEADnsGq_K2j3ZPfMH8OO8Epi-pwEZBa6a2kEFvvGATRcEouGhi6Jd1vi1EEVbHbwv8ol8pGQFyJnNK370Vwro0vSW0MVE1cPNPmMj9XETGaP3xHr9cSDvpdvHmfFmy8CN1xPM7tLx_ItXHTF2T9CQBvjqYaoN2lO7DHh5C4zik_T-y19DaDd4U8-fsGGkubj35ouiXcchP_8NoI1-a8ydXPpGFy99Y0dcb63DN9mbpuLBTAZi94h9ftxykZB44oSLGB3SdbjxBZfiZxqnhu7qk9RVpfF9EIwsY-vCRZw6Q2gIJ5RejJ-fEreRAwOYxG7Q7LzYUSUN5g09z9NGYHAR3VDFe111dThXGVALjMXQggwI3PNSxbdUvux16Q9MWcp5OYDSQprD-wrCaDwo5BtQSRv93JVT1-Z8oii9Hi5EsMDaPOAlbxGslGKOE1L7iY-p9Dvr3NjYaBIwaBOiq6itUumP7U48YbPXm3nu5kZFQTuaJcInwIBHxF8Vl_Gk0st0jjkJBa47LqAUjA8iiwBhP3UPSR6VPYHLQnxDvysDNY4kkHPmxCWO_Xn7Tu9UlTdE6U8qdJkgERFuywcE20BSFKPHqMYFiHpp8EyJfefQgrkDS00yr1exguUhERvgCP7WTb4K5G3AKU7YFF-YeKYIzU-s3hSC_RIkUVC7MMK5nblepx182gLtqZ3XHZOFl5UQGpMi1-wvLtYtF8cIGqPcDEuQLCSl4YOlAxF44GetxH00ev3AaVZvvSZJs5tc02H66OoUKMUX55U3ZVlL0QtOpjeyZQaACfomt2weU9p-4HUKZ8NJ_apWUT2eC37D18cbCwHdcyTEsTJHw3wIZI6hOj5emYCwbVs__EhNRMj2uMT5lhhvZTRxhqELesNtquVkVe7oRUcmqSUDWE6x4OHGhc-EDLBv54xfJO5hYLxS3I74jvtD20Rf0BVlwUA==",
  "id": "rs_00e9a09a8d48789e016ab420c6810487d09d2261066d5767bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.09,\"right_z\":0.32},\"note\":\"The arm is pressing into the safe instead of entering it, so I’m backing the yellow object away from the wall. I’ll approach the opening from in front rather than continue pushing on the safe.\"}",
  "call_id": "call_ks6NGDzCAPrWLtYmlqayyGrn",
  "id": "fc_00e9a09a8d48789e016ab420ca995c87d0a771d145a8ace5c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ks6NGDzCAPrWLtYmlqayyGrn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8761, 1.2221, 1.4509, -1.5745, 0.683, 0.1787, 0.5131]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2115 right_y=0.0853 right_z=0.2724 right_yaw=0.1225 right_pitch=-0.4597 right_roll=-0.6743 right_gripper=0.5131\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 1.0735, -3.9863, 8.7043, 1.0916, 0.1148, -0.0024, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0d24adc1c4b621354fb3c1a7a8f0987b7214e63ff95b7f1c75246cff2a132d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a48e6a67cf2e376af9fc0383e84fc7f8b5b6d6eae89ce186d717e7a04b8d1f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19992dc7197c9c3b4ee2a75f0c784f76261bd9bfb1613deb6e50070978402d31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2228, 1.7615, 1.8191, -1.5291, 0.7731, 0.6876, 0.5045]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2253 right_y=0.2698 right_z=0.2498 right_yaw=0.1422 right_pitch=-0.3097 right_roll=-0.5085 right_gripper=0.5045\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -2.1402, -10.7282, 7.5966, 0.5348, 0.9451, 0.4225, 0.3004]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.3212, 1.866, 1.8187, -1.6554, 0.7673, 0.7639, 0.5094]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1939 right_y=0.2789 right_z=0.2176 right_yaw=0.1273 right_pitch=-0.389 right_roll=-0.6782 right_gripper=0.5094\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 4.465, -2.8786, 3.3299, 1.5897, -0.3394, 0.1441, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8761, 1.2221, 1.4509, -1.5745, 0.683, 0.1787, 0.5131]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2115 right_y=0.0853 right_z=0.2724 right_yaw=0.1225 right_pitch=-0.4597 right_roll=-0.6743 right_gripper=0.5131\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 1.0735, -3.9863, 8.7043, 1.0916, 0.1148, -0.0024, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0d24adc1c4b621354fb3c1a7a8f0987b7214e63ff95b7f1c75246cff2a132d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a48e6a67cf2e376af9fc0383e84fc7f8b5b6d6eae89ce186d717e7a04b8d1f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19992dc7197c9c3b4ee2a75f0c784f76261bd9bfb1613deb6e50070978402d31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDR1V2yK1AEqkn4eneZ-kJvLjRXdyPE5Tcn9OEle5Sxxj6fSxihHQKbbo75yJRnLCjdEhz2fluDdyaf6DHhStqzX2IinW76_q_JmAWM_Oq23vcXUyWg88TL1LTAhmHYw0AY5KGpRhYgvD_xn4dnqdz5cVN_yTww61Cd5yXMzFLZuq45bSysAZbMwC-9VVEJAnZXf7-Phl_zACyG2CdWJvQfvoq_WRySUIhaOsrtyu2N7-mOCiTES-XlsKqwJlRXNdicrTh0vvH2RfXNIcem9Zr5CNQQQ10kxJJpPTzdb5fUkncJEEjZTlp_Tbdx0rEToZU35TRSiYam0VnlZsyKtBekLZj8D6NUnSK9FWieAQ6Evq8Ips0E3CQeEMa6j8pLCyuANQCIS16j4I_4IVvilhnHms_dWfgpHgVi-2nUNvVxvNWqsMcGIQo471GixwCpMB8M-YtMB6_kBOCJnrEd9aKGddPH-mxZ92_kSeCWbTgeRrgOGYQaOl3ewt-TnhIiNN5slcTTXAkppY8E8Dq4Pf8k8ylImrFmkZpk-gGGBUH2hQsp7xIWU70DfJkYqh0SAIghRgW2i9ykx1K44rqnDmjXNiwUoRNumUG_lIiLckxyWRD-KQXpSeZtluy_q90OMcbK-FG-jHV03ewLypqn49unLKdL59Y8Z9H8_EB4z4odI85qXxG74dBI5LQl0kH-TmQqgg9fBtEeZlGtdGe_L1rywR4ZmQMS1IbnEkPh8GFhYbZZCe6rmQ4wSkxC-w7JJHi1aqGmyIOLvYf6uXNzeIJACVbN8vkGzIP0Yc-MQ9FaymxnfqI7TgTe6EiDslvcVLqQlKvFY4S-HRfX2ivoTsw9D03USn0kE50BG_DbYRo-3ikbqaxpEynMp18ui_rhR-pucY75Xgj7r5b4i2N8UIngrEXNMYpPxq5AmVaahhg7q3SRRrbTTFMlLRjf6eOKnfBQ4f5-6gf8nXn0FEqovQh-ZR4GSVliwALp_26W3ZDz1Tg6XAzVsZ3Y3jazbh000jSQ6jE2Ea0z8Ax_WH6r8Dih4_5aZUDKqNkUKtbV9jkZnxTJI1qgcEuuufyV7EiQHVpZet5Q_CUR4VrWlumSL8hJ0_EPdHCSUszWd8yi_rGBq_plEVFOEiBnpWZYCBAVEA5yCaVTtlJNgE1YFP4tsLlYSIwi8iDE56scNM9cAA8i3Ij1Oh5whEvd7hKZs_W20i8n67tC0BEGxVySGWelBZwoShQsXTnl1KDag5OdIj9dqqIDjrR57-K87nRl3RpRzKOdcAhnmuzWjlr5VLIb4KpLWiEGmYnXV2DtfEhrGc1tNRkY4ir1caW_BI0sz0-mWk7LR64BpotPvfI6E7PjqneXTq6XRrWpz5rpxxzbtmM8RGIJ4kXPJrCA4EZY-2kuIlAsjvzQbB90MyB1vMN4bdA5_U9yPy6szFWyUr6KkJ9BHPZ9h3Mu1TgbNyrP80wI_pg3Cj4vuhYBI4yWj1KBNpdefJlWJGR0KIDvjyzJqB8xw13r-88_50hgu4SvGfhjWu2S70eCox_e_oZA8m6kWWe_kJRRBvBzBw_jXNF0yGmE4GuxT6X4o_5JyZdkT0og3NekriKjzpq6pMXfmY8rRiPM0Rg7glPKa51ioGtLxh8qzDoz0OtH7ihx08v19OYh1dQy3wEsVkN9H_QE8wwFI-jbywFDAmJ6y7tuLwUOAtkYQLqUUabYEWjN09GYkNvYJvI3kv8a3ZCfRGTFZlUAFToneBfvpnHcClGqHx9qw7RjJtCL5rh1cOBGagAiyoZPRZCZVSvzHlSa2r03aaPK73m6Kw_ZEqZa-_Rzx92R0WZGmkO-h4Y-ncK00f3crDQ1fZiSg-YvmTylD8OvgBJj1vvjJ7RCX8JUlgs9hcZR76Sr8DdelLAFtF21-0kX81SPPFpm-hbP_xC76PhBiFYJXnKXGycqxi4c1Lag6I9NNiSTM57WhjBahjTlkkNBeF_6WJ8MQgczkkC99DSptgpkYtjNpgOJow-X_B-HNyPNah5l9Cm3YKzCB5EcUlW1cwXEVEswfQXE-fCzQ1rFZ0KYIM4FCGIkpDr8enJs5a-ZJtJZBmls0qjpZO7YO9a8Vw8KPfpAhHHUrY4wl-MxZLOHNe0JFqJzibaUqmBzZl9YR0MESYo=",
  "id": "rs_00e9a09a8d48789e016ab420ceb11487d0936738519f96670a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.13,\"right_y\":0.21,\"right_z\":0.33},\"note\":\"The yellow object is clear of the safe’s side wall, and the open red compartment is now directly to the left and nearer the robot. I’m positioning above its front opening before lowering.\"}",
  "call_id": "call_YcET6GbYG46Fl1wrQOGZP66O",
  "id": "fc_00e9a09a8d48789e016ab420d11ff087d0aa899eee0a9320aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YcET6GbYG46Fl1wrQOGZP66O",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.1446, 1.5074, 1.4788, -1.6047, 0.688, 0.4473, 0.5147]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1967 right_y=0.1707 right_z=0.2225 right_yaw=0.1383 right_pitch=-0.5432 right_roll=-0.7679 right_gripper=0.5147\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1983, -6.4205, 9.6479, 0.4762, 0.5739, 0.3346, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a256aeb84a2e37cbfe40f294c469203052752c4a9f5de61388fd19b45b9ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1828800c815cd7f1a8f87404849a14b69b5dfc3a87fbd17cb92adeb8de688c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688efef1b5e59cff1baa1914a71d7f1b1305b1335f38ce86d0e140d88cc103d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.2419, 1.7992, 1.8259, -1.618, 0.7437, 0.68, 0.5067]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2128 right_y=0.2642 right_z=0.2358 right_yaw=0.132 right_pitch=-0.3929 right_roll=-0.6127 right_gripper=0.5067\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4855, -9.5385, 9.3197, 0.7155, 0.6276, 0.1734, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8761, 1.2221, 1.4509, -1.5745, 0.683, 0.1787, 0.5131]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2115 right_y=0.0853 right_z=0.2724 right_yaw=0.1225 right_pitch=-0.4597 right_roll=-0.6743 right_gripper=0.5131\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 1.0735, -3.9863, 8.7043, 1.0916, 0.1148, -0.0024, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.1446, 1.5074, 1.4788, -1.6047, 0.688, 0.4473, 0.5147]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1967 right_y=0.1707 right_z=0.2225 right_yaw=0.1383 right_pitch=-0.5432 right_roll=-0.7679 right_gripper=0.5147\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1983, -6.4205, 9.6479, 0.4762, 0.5739, 0.3346, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a256aeb84a2e37cbfe40f294c469203052752c4a9f5de61388fd19b45b9ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1828800c815cd7f1a8f87404849a14b69b5dfc3a87fbd17cb92adeb8de688c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688efef1b5e59cff1baa1914a71d7f1b1305b1335f38ce86d0e140d88cc103d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDYmjAE19eTj_9AHN1UuIMqoSLxmRsvX5tmDz9-y07SqZgYdoEkum0sNIMIZbMaOGCdGIT6FK1I0xyx29nWo6EeitHoKTNmV0FrVp36DpA_Jks7g3ZfGoPHYWnQ44nHnPdH6MthNtDIHTOOejV2r0gJsZ-D4BbfwqHTmhv3Nn3_O6Lcbpdjo1jSDnySpdrTgJdsjDQLGllppmcXFw96N454-qkhl-ieKpzcRD58NM8O-DbuhOijRqQfDISwshzwVE8B6Px8ku0Ypm4oIN3A5v6kmuk7Cw0usSiOFPm1DbECssGqLho5ETaowDitRuriTjRGsWgDWbmu38DxqZzcYp6o5rP--Embti8HkSEfDyBzGhz6k4xfTj1ndvmQBwM0OCGybd2y-AGD1frFuwZg_xGKD7YlRAQJEwkVuWG6q11igZLH8nqx8efirrm-leIPCwarEdb_SwooL45kZUvuPGZVAE1QALtRnPEM9BaszrQAaMYL7lyJ5I2G4-ScJov7ERbKF-o9dZ0f5obuHWDWj4ondE5gKzKyKo6JbhCC83zRC5FGN4qrH-bHqdqkOzF-FbX-pNRGdFu06r8QWRHNG3dXlVynjj7Mrj27T1P7zPcXDyJgNwdXiFiQlN6_R4fiRtE-0GlnioU8uFNtYy030CYCEavjLmymmnZZr05OPRQ8z-xuOyHfULeS7mlmcgsVxBXykMViiW--8tZifK6kzqrdaL4p7aVpuNgvkf9d5rKhjt1OcJRA8r1pXECbqewejBhNWaYJdkd1MSNi0v6hSVD15UZiek9o58UIyoBLWS-RWqNu9ncTrgxC7DcrvlyJGFHg2DysVDXLlnmvo3PHakNHOXOdWT4VU2PZWuwJb7oD0kxMiOVENEX3pm5xNje59iFk2paNA7O5MoDvCF8pMbQm0c5s1VIxgsLBwgFz_7uwYwL0f9gigJJyygdM3hWmQ0M9AkQkPXggqyQzegmi8eZdSkNn2jHXC-NE9gGwZbYaaI2E1-9ayVu49Kbvtc7_y4BpkAMOgRbHzrNOisav9edy80mrCgvDhgymr6osFuwgGylEJnUiM_wuRb4QN1Hi20haf4-UMNWqhOjpbBvhnGtC55v8lVIhymUiBkJn-Z3lwmPqn4O5oG0VXVWYzZKAYYVyo-IADnGqRYOLXTxqXhVYivlprK0KrYKnOd33Dt-LsZBRoIEohq5kiZrmdJCPaTpGTTodusf9hb781kqzrEjDBeFiQr230BYdrWcbjzhT2L6QIto10Lq6OBYnoSnB8Z3RRp2EyYlhouyCYgYaJ-tOcrKoMh-zxgB6l5zgSR8mmaWB7SoKMLt4B3p9fn2uFTmAyU34xY0UmeKfkuYhFsd5_vUKRPoB_q_LqrmQIaRAe4ZlBEM2XftyjXw4JKyUNUETRqvcojRKFq1eKsRwtKOreqM0EpYnnFF7aPN2c0KpTrliSqDygh3OkTZm_6GUrGViaf61SsVFQ5jB02pm3bUoWab75fcg14Ne4CNmhe0rpf86brWB3bpIM51hBZvji8M_FU4T_kYtvXrRO_TvGR-n1hAmZ4xyT2AFdyMk5wh9LJsQLnTtx5zcWwwBN7dUITSIuE27sej3mgxVAV__LcQ9t9jwnx79KhrlVR2TQVDQJbqLeV6TqLy8tihls5EYako-oZiAdib38JBvpwTmje2MxbZR_Yf_qSckFERMFSX8ZKF4xzrwUNbiTVzewPEgx4DiW-goGBq17kVjuiclocrnvzyecax01f_jPOthCBCdMMtJgE5L55DAWd88dQhNLZxOc0JCXw_HpOLjHlioXHdBAo-Si3ezbgMDojjf0HMdsliPMSI3fI42tK7Uwt-8-vmSe55yQJfB4avjJb1e5DY3AT3mWU2Tui_HoB3avqDli0oLi-7WIs7JQJWdEzJvO97G6GayxB4b7Ip8tMbINqy7SP6TDym7xY4CSSNpspfbXoaEifYB_xZel-68t1JsurWFYaouytCSAFKGuzKh_Znu-6t2jDPJtdU80AoR7ZTrEJdjzWgtvSp-zaHsH2Flmp-VjUKro2IkKl8aFA7X6X2-EIHbKgTm9vHtPRs5lWbUAR0isoc3aQQvMRY_wmHwSTKXQStHLS786ZN_lYcPpKyggXaYunP0JKjFcyuL4w_JhFTZUT9suZ2W8uuvXlo0W0KIasChNh-MzV6YeLATN6g4_1LGAHUFVIJaeMaIlXVQypcfSTPhV-3lzrXCS9znHzKlXmstkuxf0gh8S2azhAhknmjUQPGB_s9MarrzF9pd3-tq6f_2L4mQj_sQgTzOWbjg_c85rjvwC4XWOgu0udg5i4s3Dr_bBgGyLvJRK5j3CkkwWNGCxOF7pcGrgSeTyMPzx2JccUtsCoQw-gz31533AofE9OIJWFRvzWtTFs9B1p6RzbMw4_v9ChHKk9sjji6qvCo8UhW9uu5wMNG1dG-wcplJS4NkoL8pGa4VwjWvIWawbyram_mAfqVKatxh7ns1uSjFe2gDXIxIBiLoca9ONf2klQIxywXeKz4XW_FXrv3r59OwWfSD5X75cojhsJQdk22l037qX6bToD4QPhyM7s3_5kLPgEFupINmqQt7n0S13JL-xC9CozTNvqaISD5e7c5UrYDKP52VgVxDIXt8Ln7FKsHC0sx9sb1mcpaB7XZWS_miZjpEU7deKVHN2vrCfrvOIAxd5FUQcW2Yd-G9k_Sv53POGbaZJGV2-rIN3JI4HMyMHwAhf56-vwRsmpT0GYWAlijDHeEAKwiHNQySarG528_K2v6n8-Ac0kYHSNWyGc0iZfSxRd-ZzBUgqcba_r4d2J6qftCUy9ngrtJbW1j0ZrsW9SQGPAefASjqM3vbsTwfFjBasuVkxlXF3_rYFzzTlDcC-htoTDVBHz-GPc4uJ4q7eJ6K8lQ-LiuN-2dzjmDtgoQ3-YVkeNSKm5RWd8xGvHP32jHcDun5KwP42ToPQKgyK4EcUrqTtRlOUiObA03m5lAKl8usdKLCJMKWYjzYYNYxSMWT2hG2J_hV7nYUkhkcimeaeWmac4_MnDAMwpqfSSqG2TVaXv_xVnNizh6fhwBhjXD4Jj-6qCRhNHEJX3M0d28VSnb8csEHlqfuhYRLIefR7LKFAkYPHFT_o-Y1VERuelWirqUfEJ-Utw_K-AeStCbUq5LEH-wBcvdI885A7UsyHN5q2RlTafrQEUIk8BwOSi_Tx0LRQqqv5Efs6m6l_M5A9_W9L6P-aRlX6dqyiUkfddWd1zE8OQrSk6IWcPnkD3-0b1TJATl6DlPldyrNBuOk90OBi01vxnBzMZVRPNYNsFbenHg0LscsLPXnhytIyy-zvnx9hocmv7mWz6sFStAAgIG65VoFPpacWzWvDc7ghDzSBLRCV0xueAjLWKB7B3hQSGkOgl8pTnFEx9HtyBcx8QSYw4C_H3m9gQ_WxdDlVsdH81-qbc5XDSr0nup7w6RTNRadQhYehFQ45COXR0y0fIARCcZEjz-_5z0BLtxyDsxp76rfQSa27wA4bDxAeURuWZ5T1OLUlwG37cfUaOGNuoBEXuNp6kcthkTZw1OviBn_DJQbgRV_KV5qQgcw1C91YE6c-EiqxA==",
  "id": "rs_00e9a09a8d48789e016ab420d3c91087d0b281b2dff81409b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.07,\"right_z\":0.43,\"right_pitch\":0.4,\"right_roll\":0.4},\"note\":\"The yellow object is still on the wrong side of the safe’s silver rim, so lowering it now would miss. I’m withdrawing and raising it much higher to try to clear that rim from above.\"}",
  "call_id": "call_KljciE1RvVEmj4bxeibaysJr",
  "id": "fc_00e9a09a8d48789e016ab420d7ed9c87d09b433e4b2cc81278",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KljciE1RvVEmj4bxeibaysJr",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.4458, 0.6048, 1.2999, -0.9417, 0.2466, 0.371, 0.5158]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1857 right_y=0.0449 right_z=0.4064 right_yaw=0.0017 right_pitch=0.3114 right_roll=0.3381 right_gripper=0.5158\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 2.4274, 1.9214, 4.7385, 2.5079, -0.2515, -0.1441, 0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9b664045893ca46d85ed255fa93843c70af08d0ea9a6e2b098b105ce872698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8c4b2edd04ab006f7c7668807289bdb7c0b12e181c4e81f39a6e4df42a6a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4580abfd2642514856043e6734f0f87fe427e942d7809608e617a3bd56d2a0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.3212, 1.866, 1.8187, -1.6554, 0.7673, 0.7639, 0.5094]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1939 right_y=0.2789 right_z=0.2176 right_yaw=0.1273 right_pitch=-0.389 right_roll=-0.6782 right_gripper=0.5094\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 4.465, -2.8786, 3.3299, 1.5897, -0.3394, 0.1441, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.1446, 1.5074, 1.4788, -1.6047, 0.688, 0.4473, 0.5147]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1967 right_y=0.1707 right_z=0.2225 right_yaw=0.1383 right_pitch=-0.5432 right_roll=-0.7679 right_gripper=0.5147\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1983, -6.4205, 9.6479, 0.4762, 0.5739, 0.3346, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.4458, 0.6048, 1.2999, -0.9417, 0.2466, 0.371, 0.5158]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1857 right_y=0.0449 right_z=0.4064 right_yaw=0.0017 right_pitch=0.3114 right_roll=0.3381 right_gripper=0.5158\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 2.4274, 1.9214, 4.7385, 2.5079, -0.2515, -0.1441, 0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9b664045893ca46d85ed255fa93843c70af08d0ea9a6e2b098b105ce872698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8c4b2edd04ab006f7c7668807289bdb7c0b12e181c4e81f39a6e4df42a6a35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4580abfd2642514856043e6734f0f87fe427e942d7809608e617a3bd56d2a0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDhOP5jFdVUeYcz_RT34iBaCyuL5Ur9WRo-uBMwB4q2AU15b7_dKahtlJ_etJfvwcyUhMMUMa2G9heDKjyDxA7pDPkUX1DjSYeC7cg24YSQVnloBGjhwufn2hzAqIPbKoIX42SJWcm8wM1OpSRuq9R52xq0DJN7_PZfvoBa3x6blXZBimMJDGekRR06i6-IULsI1eOQwv0Is4PBRsPCu1s22GhuU3i1wqbmqDLepp1K3hYsJ_JwLzPdqBbnl1V9Lt9UbIfRGIkF1O97ZW328VQJK5pVVsBf_P8gB9Ej15ZqtOeNtjTMwfxy06OXM55NvOlkj6W1NesZCErBBTZkd3V1eid5woqzN7a47ImlsRmX_kQd3kNhfYEiGeoClNx5iL_dfL5TiU-84Ty9IpzKiV-QNu99ynpej3hx8fkeV5hngigAlD0m9GNI8jTuenf25pQ-5MBtHCq3XaniiWd4tKWpNKN5znRlm58FLa0frVc94_-DFZgvXlub8UE8J9p3pIxzu5TqTgmSgXjP2t_FK1pEyn599uC2qym53KUEQ73MoJzHFvLPX3-LuW4NUBw9QQoK9btwjAboL1Q7Qfyec7k6cgczvDCBEi3GsHiQbhoqgMjffKRmC5u_4Hgeb7T_gNy0lCGkWBfFCRVRNCNz1EADFrn4qNbDLubWPvDgRfIh99bgbfMBTYhwkW2X0prMa5O9Z1nzD-mjUhS-2qRivSev16Oa4D1oNajCPItP30F6r6EUgQrRZydOX7NoKFTThHKXHBf73IG_mJQNzR87oTxDJsx466T_-fOHa-JuXNAp0UON9KZh0PBwWTTvJ2FTn5ddj_vu9y-3dlTTbHCRPqi9YFvzXk9NjwphpJkbIrCPPMri6PP1lWOvV7uAXh5oDvmfY29H95gqj6dDvbcIpKO2OB43VpjtPMz9vamc2EP3XMFuf06P3Dc_5coWG869gwvsf7ZTys5aRoDXs1tQ8wbLf_ekAwjztefKv-ujIH69tDmFONrXUNUNJwLofv1ADxL5RFfMZUpOq2vf4L2BwXb-sPjM6KIJjJ1uMuE_Co-KRc3NUdFDV0k0Y2FoQ86ezylXPrZoqoMNQv-k89Ap3umWcRv9Xx7SO_EiI7Ay_bglEl1hx2v-ExPqxZVluxzmE_dRdC0l9wVc7GD_IckB-qOxtoAYWt3zEtCUgUkceXBucvwQeIiKQ0dJdOuN36gGVDJ_hYHUHdngNXmsoBxzPsI2uLqGmH0AmcDK5b57hUWWnfhSpbMDe1DKwNKjHzoqnW87D-gPXKcgvBscdWAqdcypejFkKDV4oiXysW5YtrdVvWR0gZVSUU4uOoNj_Bf1AjQzFVFITvdFPX8nWvjan73xVXRy5FnpXCVMufJp4y3vtpjKaKUIx35cB7yaSftH7aBJhSrpQqfpLpNMdreHaLY5o1WGcbMK2W5gfnLWaC6YKss4MqFIPcWyyQp3vmya_OM2H4xJI_YHkkQve6uZlbMYXc5CNN_v4Q9wB430CYdEEELxBhM9T76lmwW7WZrJT0RtguLOsdDAp8PXJ1Pafp1PGCzGxPcjpgOVrIhrsgxdcuhjyYwmEL1PlEUvdzbpmfRBZwtrjE4W_Y52G8bn0fAMC-e5DOVJu4IrqV1-g8Hu9mlFdwp7O-w_-gnkzBKulMxZ1XhbefeTdJ9srpghVGVLRjaBTxvI_jkcsNwsP9YxPQrOMqjM4x2Y5nX4i5w7dzVf4Wlin-RjYUP0ogXDO0AJ68wTwF8jaypPi2DY-KTL_OV9usP1NIiJyUSg79ssoll6MuLRUaOp1rnk0bGLWT8_TbivEWe805i0C-kxAkRIgIHXHrn72yejpFIjJIN68AkcRxFn6ycwtAze12JTiFi8r2-fmVKeTFueS-kPOWRHrc40AGn_GwOjHlial5br2Jb7y87KnaWjh0qJKPII3LGfuY9ftVs3ZSSD_xwUAhEisMzYUmKuNH6ZUZmv1yYEvPmqHWstw-wceGdMLJOCgc9F6s-KYWxDkUm1I0nT5HVGKInvp0_lsfFUgl2_feoAbfvE-6flzQC3vdKI4P4_AjwGbAv0b2t_ARis3McrFVEnXRbJ8kzFWj_yLBBzSAegzfL-4Z369FbvU1_MevKOTzhuc0PODb8LVCkJFK6v9lVKReB7iiG9tHKqi2Ksu2yrhiMoFMfGyrqxwbPoyJJN8ALvEeBzMUzyTYz_GQsq_FbL2y_PlLcJ_ViGdtf7uuS-mfleuhXpHREALP9jm-qoY-yM8EGrcYnPivDqcBpRDVgwM8uo7DCfrJw-aBDoZ4ZSuucfOqyjpX0sDjd_KGBpAduCh0OJczPymKYQqbia9mpIEqQUkHt2AJcmwOfGkSvgYAtLP_XM1cZiqpqzg646E5wbswtoyP8oYlCT079YQbNtO52hk6UZtO_YoKCPE2oDMEOW_xOJjuLPhOLxepnvQcNF9dZ2g8WPyPHqIo5l1o7QWoOJEglgebtgpdmLLC7Gbxh8hcwu5nr6nZjzz1OrtcDuM9PxYJSJNMiEMTzQ4zPUA7VE4mef74EsgI43zyDRzjIwnVAnPky1KoTLyThYHJx0gMNU8hQL4U8BsowOMk6IFEHtkDOlxvR0szHkssPtCKr0_Eoj0QlEJV_uGjuYuR0KLhPIKnuS4lUYiX0giwixYHFLzJSx0AiqWWoL3s7XLnYDmN1Z8HQD9MNNc27fNrWW9pGIzWYlFglBvenIE_8D-5pmBdfDyzMOhL6G_PeMrQB9jjbxTW7FxI-dvDPPigkb5O9pezr_4zgWAz4HQSLQJKGmCdfpYdCT1JAc4uODaIAzeN1KaS5pcZVlsW9ZT_F7WlhWbfuSHXgEmwvqLEjD2nPWNUO7nEiLZCU-sZmitT425WRGhayOPR7w6l_fBymshus4rl34xZgL7-Xhi3d8iSM=",
  "id": "rs_00e9a09a8d48789e016ab420dd113887d0940d1ce4dc0eef07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object has slipped free onto the tabletop at the far right, while the safe has shifted toward the near edge. I’m releasing anything caught in the right gripper and parking that arm so I can work on the other objects without moving the safe again.\"}",
  "call_id": "call_yvoFxsUoNIB6OvD5gPhpjuk3",
  "id": "fc_00e9a09a8d48789e016ab420e04a1887d0a672ada1db5122c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yvoFxsUoNIB6OvD5gPhpjuk3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.8089, 0.8246, -0.6674, -0.0456, -0.0055, 0.9976]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2781 right_y=0.0045 right_z=0.2174 right_yaw=0.0023 right_pitch=-0.0701 right_roll=0.0398 right_gripper=0.9976\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4581, -1.265, 7.3231, 2.2051, 0.0317, -0.1197, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d966701f88e25746c624a3b0f645c5a1be8d8d518d1fafb129d6bd800803968",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3c6bb0c889d5eb1046cd125eb9dbbf9687ccf48d50574944148614405dce17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fe7b8d1f8416808b04443e90121cdb4d0af57109fe414fc8659e535df4c580",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8761, 1.2221, 1.4509, -1.5745, 0.683, 0.1787, 0.5131]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2115 right_y=0.0853 right_z=0.2724 right_yaw=0.1225 right_pitch=-0.4597 right_roll=-0.6743 right_gripper=0.5131\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 1.0735, -3.9863, 8.7043, 1.0916, 0.1148, -0.0024, 0.359]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.4458, 0.6048, 1.2999, -0.9417, 0.2466, 0.371, 0.5158]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1857 right_y=0.0449 right_z=0.4064 right_yaw=0.0017 right_pitch=0.3114 right_roll=0.3381 right_gripper=0.5158\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 2.4274, 1.9214, 4.7385, 2.5079, -0.2515, -0.1441, 0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.8089, 0.8246, -0.6674, -0.0456, -0.0055, 0.9976]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2781 right_y=0.0045 right_z=0.2174 right_yaw=0.0023 right_pitch=-0.0701 right_roll=0.0398 right_gripper=0.9976\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4581, -1.265, 7.3231, 2.2051, 0.0317, -0.1197, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d966701f88e25746c624a3b0f645c5a1be8d8d518d1fafb129d6bd800803968",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3c6bb0c889d5eb1046cd125eb9dbbf9687ccf48d50574944148614405dce17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fe7b8d1f8416808b04443e90121cdb4d0af57109fe414fc8659e535df4c580",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDmdEWzDT0kO6kiitFCY2mTeu_Eq0XYKPHIVIeb9lLgzZzuJ37OuxIdVRYsFwAM9hVCrLeByjGrUk0Oc0wC2-Jd5hEmlhFjlBaSKNOt8k6qK6bQf8fOq14AzZTq1gPBC-U8hhVl0ziGXJlk1cryqMkkietiomvS0s55r3HONYbIn904s5tp6_QycV03AotKWEzvGP6b_vfT5yw1VLXOIE8oZ-M1UIbLva1_VwstVe6eM5lChuzuieGCWl4YgyRYnRSZ7OQUcnED2YI9lQarM__2D0d8zfMrbd5PsLacEBnKlDSV3Fvomu0m1SdDBNV-Ogd2TRk7ND87NuAP7cXJavLeIu56_2qj4nNwpW19QcJegWg8TFTnzYOITlecA8RCLTdDZSVB1xAyB5BTQxhFLzk6n4nvSoP5iJgTqpDh3AAx28CGxXaQz78SKap7KEkbBsCKLkNx_F2of17o7Z9Svj0hOq94WEeVjSAgExaTSOmz1tcRN0ItkEu4152OJkDZEzFzF-61aiKzlcUisV3EPYBRXRSb7zwNbg_VaCpieiFU931xBeCcKSHUMlp54qlId_hVhsHqp9Bmfw0jqvRMG3JkU-NqPGZ73wPuL1QvU_lnx2T8FAqCLUHTu0y5U5t094YFvPf7-nlXnapGsEpta618CvGfW3PTNUjH_dSbv66y1uQStIlVekOnm0X8B00eDryEYizwQQSUUpy9T-E7FggLeau-4DVggs8MsXovgoarxrjBVj4vNbL6KDISC5Dd32LVzZ9HVfQ7dQWxLKECplKUWcPhv4RE5nV_y1JtI7E1Zc2YAWevZIjey_cQFAHX-i3Ab6FHiT6-VP0lYHfvBMMNVMMqm-nEo8yBSi_ToXqvCsezDTwHfC2pgJwhTX81kPTO4s-M48dZqQ9ACQn6f_xP8zUnEG6kYV73z4pBopReMvBIRzktorwPSkkxsQXFsOB9VMFlJvwfajGP6e5ljNB45ZqfjJkZFZUBeD8I1EuNyRYN5TavvgTdfrcXT_NxYvYdVXvK-dGXSLm6mphaagbEMseWT35HbeMaWoAMLvU_A4b0emXxKUAl-tt1yEIUv7u_LpwnO6zF87gRqYwB6WIJ7scXNkEjOVq5C3ayTvVJPmYPo4NSCYYILNGDwMf9ULQqPnRcyjiqamE29SIX6SXXnE-_t8oBRnONh0_8VwIc5sZUgeiNwO4MGl7dH0-VEtQBmD7PqRNOUnJnydHdLtn-0nPzcFwAaadcvVO1x1p5ZqNva5QRGjecEubyocop5FbKHoixMnzrJuyvByGyuUpnXLhaefQ567cbOth2GPTme5mmT9Qpa1KHYIEljuhAhTht2g8WjTen3TZzPNtGAEUDGrr2otDd74S-VKBrTqHJI93Dwokurr-A8ljWUWkbLjC5ckO5YnbKuRyXAJdWjaXP0DJA0j6VwhSNGyIhbqwv86S-jS9KlNxc8-ArHvEa6-JrrJ4N2YkoYgsogOB7jjlMzsFC0Wti4azEwQkpOzbZYTVzoltde3Gzyd8N5sRzRd2_l-WOPfOjc70JeAMRKfbS20M9AcKBUGbff1PswN8fT2zrlBNKmZO-EhmGgV5YkBaJNAtHDFvJTO9WhsptbYp7vghvus0_uVMdrAnb6Q815v8ZnhDZe5gQpvTbz1xHe356bkhvOSJ4VnkB_4hHCPZHpN98NdMS5qWIeyS4GCBYuPWVAj18dYO03toZ2GRDxNvGtdAAveesVAKAET3Hhx0w1Vtz-wbHlc2mFKb2by0ZblCdwwk3j7PXm-4lL1AFcyL35PanbB33fZHGAJlYPse6VH1Qf-Ee7LvabuWmHsPQTmkxvcrMbyp2jsZ4J-mYYRcpFqIUYqm4gt2JQqw4C-Jwy3VnfnDN9bGriRvG-RWk6r3YLs0j8fgDMzN6G21FAxCZOBcm_6O7BlIrysBaGPG_91C4f6NTHaHXbIaqmFYkzS1Kax_kBcHbbataOUUFa7qjHOhgWtg2sl44CpcqojXB-XsYUT1Inzt3AhtcRuN163Ea0NA50S20jxWNB5ruxAdk_g0MwakOuTVlE6CygfkgPvepItrk_etrfxe-XyCusAiM-3ug94mp5dcpnmug_XJHG0K1zWBTMdBDnH-GluyCFAAVC_ZPFyjsUGoHVMScQ180Cgg-9OhjXzbC3mSP9Zu6Q19LgSjmZ4AG_nAerasUEyqvXmc-yxEtTDrjppBvbwvSUWI6R7UTezPOqyfOjwpL",
  "id": "rs_00e9a09a8d48789e016ab420e3541487d09400321020ebfd33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.245,\"left_z\":0.15},\"note\":\"The safe is now near the front of the table, and the white object remains free to its left. I’m moving the left gripper above the white object to grasp it without disturbing the safe.\"}",
  "call_id": "call_qQKYAJxTPDmlRHTPCEzgo1ed",
  "id": "fc_00e9a09a8d48789e016ab420e58d1887d0983d1da2e223f682",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qQKYAJxTPDmlRHTPCEzgo1ed",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.82, 0.8112, -0.6781, -0.0425, -0.0185, 0.9988]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2764 right_y=0.004 right_z=0.2067 right_yaw=0.007 right_pitch=-0.105 right_roll=0.0287 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.9077, 7.8291, 1.7998, -0.1197, 0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a22a2a60ade51836b11c4614e60df8398a84c2466ca459e4aacd03b985a05e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3c1a7ba23d7e6f439bf7cfe31c22cd6fe469af03d175b463d2fe9f894a8d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5259f819c1a090f12545ff27242e221a5838944ee45f2408d0fad44c67feac0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 1.1446, 1.5074, 1.4788, -1.6047, 0.688, 0.4473, 0.5147]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1967 right_y=0.1707 right_z=0.2225 right_yaw=0.1383 right_pitch=-0.5432 right_roll=-0.7679 right_gripper=0.5147\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1983, -6.4205, 9.6479, 0.4762, 0.5739, 0.3346, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.8089, 0.8246, -0.6674, -0.0456, -0.0055, 0.9976]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2781 right_y=0.0045 right_z=0.2174 right_yaw=0.0023 right_pitch=-0.0701 right_roll=0.0398 right_gripper=0.9976\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4581, -1.265, 7.3231, 2.2051, 0.0317, -0.1197, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.82, 0.8112, -0.6781, -0.0425, -0.0185, 0.9988]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2764 right_y=0.004 right_z=0.2067 right_yaw=0.007 right_pitch=-0.105 right_roll=0.0287 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.9077, 7.8291, 1.7998, -0.1197, 0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0a22a2a60ade51836b11c4614e60df8398a84c2466ca459e4aacd03b985a05e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c3c1a7ba23d7e6f439bf7cfe31c22cd6fe469af03d175b463d2fe9f894a8d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5259f819c1a090f12545ff27242e221a5838944ee45f2408d0fad44c67feac0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDs8Vq-yA682eeHvI70KMci3eh4_rw6euf8IEvptpYHk8Ie1osO5y9OvvjPatpQoXiBniVYwZHNg3qRlqRSM2X-q_O_fQyBfRrld5GqKDxy3RsEYL_ITR4_GXRkjzVXIcNF4Ltef-BaAs4d887GdicUW0v0HRp1EgupVyyzllfNKOuH4gBoHDiXhE93ZBLCJA8WWq4PW3FIhWfitthPDk1WhAyQ6Se_VM5nTmc4ifDY1ClW2-kGd_X3wZT74QY8xazFWhWcMxB6p29IaJm_eF4Fahi8F00jZInRy6nIPXmmk_t-7FDAHw_aNEfzHwCziEje4FCRWgjMaK7nvVrozwtr5e5qKD9gjqb1MmSPhyS3BPl1GygGOm9nyN3CBwHoPL9wa-keITzI_EA0DGe-BfjvxtH3cEMdZrBe4TKiH6hdFvgHzrCCZdTDqoAac80NrwhmkUbdUfJpCl-qH325LvVpTRmNh2Nl-S5g7czEk32x11Gl0IAtTUayAzOI5mRQvsZ7MlKVe5G2S8NcK8pB4ZxHSlQ8SOlLWqD4iO5yDZcYFdCDQfO_VgrHpClFhcGHb4--WAp4nK-sDfBXVZzuj4bLnn2tglyos34twdKpJxzNT_nNk4DXT_CskXlo0pUoFBBENzrm2XNgYmed2ExWpZDd0rxOcHUkHgA2SoRMTO2o_26rl4Z-hAUSlNzHLyCnLNatNnz3uS7bx6K8rBXOxgqwHwkdgk3CAFKFR2oq_g1GrGjEm6tcsTf8quh4c9ZFlq8NN4k0usU6ckYxn1gAQ944_j3JmfTsB27dLAG-IMVntgymfP-w8nBkQliPlwUvquH7kqqfrciMqVfu5DHVfXPu5dHScDDz73Ek-oazpdJinvPZJMjLlkFWGUYsBA8JLjykK7ZvtsVLcqW7X6rDq6RuZ14a_fA5GdAnLGnjYQBuMNcQ3BTB-f7gW0AWb_rreAXgHdGg72Q3aYv3jA9fp-oh5-1vlr6FLs16OWNHPrueZz0bVpwVVwWCIhHF_Iux3o4CJ6qtPDP4H0ItJzbyQgbibH2Dd4IB8tXb6CnX_2u7KS17J9qX_ZpOb3472Iqkj44dfaVoCcTpebb4irl0QbA6rFWpq3FV6hbcp45eorCu-UAE8e2XYoHTBf763szV-5K7NaQhbcZMNYOoYGxmzPkO0Ue5yDxmftpIbUpzzT9Sz2MGb21EtE7H6HY3qkbX8g31gYXNchcKUrNe9mXxATbwy6-K1HpoF7evNjnJiZvqm6tpLLzGoNh7FOEwgBIFcPxLg2BPGFkATQ7aFekAZP3MfgQiLj2PCZsf-4W18COGpyOwH-1tyyaljBwvv16Hcw_tVpSrDI84v6Yiztifwi0plZz2cWpaWidsjBKr4JBVSS9FpGpzZkWqLmfKo76_8GJ5-IRZ-NrQCTUERi4qBJrAGpioNRfmJnK9r67N77aBmeFWOiCO6EeJiDjCmrI09yiBXrMAJa4fJ3yX8HCG1yjWYStD0enGvKNcaIFU_MHm5LQFT_w50Htl29VAW25Y4RuLnkN8ANcf-ocWsy98TdROdutWaFsJSexOM7_BKHVdDux79vqo2G5EGyNc5qbLk-8cov45gtODvccd0EyDhprqma1KIjt-UnBD4nbdFRPHwvJLaglKlGsSVYKWbvbLBwyJeD5VuCdkbD9fRk_hq6azziMtNY5R3ch2-FEEzmmsSw-GueEllsj2mliz27D8KcZj6080ar3o6cLvxxq--U7rKycQiGzrKYL7cAM7vgHrGmhHpKd2t7Si-K7_iSoP6g8VaB7zqC0AnOwN_82OFJZW-s0CQPdCu_WEenRF6c2tYLvpO3exeoVSer4FC5HVHn_zqn26A_Czlid_waoeWewkO_r64aYMqavsKojucTw0zzc3pLie86lkPpORFqKGLK3JujT4iaJSJvALtPXqj0o76NlmOnS2ns-79Y78uJksq4YjR5b9uRwmwr4IB85LfHiKkcwI3hmuDsCqjEXXajHH9R47QFQseGueLHa51nb8CepInOBhpBF4U6QejDh6Nspu6H1pd0p8DHaAHoCyP4THvk8WINIh7nERGQUd0dLrMcLjtFkyEXTR-H8qWoFZVfq67ryIANDfYd3b-Qna9hqLP2AtOaZR75HQpzND0ZKJFYE=",
  "id": "rs_00e9a09a8d48789e016ab420e9b9a487d0b7a364f33cfcc8b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.05,\"left_z\":0.2},\"note\":\"The left arm did not move toward the white object at all. I’m testing a small unobstructed move to see whether that arm can still respond before planning the grasp.\"}",
  "call_id": "call_i6oepPEAQqGrGtneAkHbXk1b",
  "id": "fc_00e9a09a8d48789e016ab420eb2b2c87d0995ec0d5eae6ddd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i6oepPEAQqGrGtneAkHbXk1b",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.823, 0.8112, -0.6792, -0.0422, -0.0189, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2765 right_y=0.0039 right_z=0.2057 right_yaw=0.0069 right_pitch=-0.1092 right_roll=0.0283 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.388, 7.0496, 1.6093, -0.0708, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381ec2c23a9776d89436b6b59f18ced394dc4b64ba803c1e7ee2acc4132da125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e26f8caaa3fb90729fdfc76292c28d62b144bdd2ac307612bdb3d556b91a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c134b1b2b4503f90c9492939196e43e3fd93e23e15b2df6bac30ad39d042f37c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.4458, 0.6048, 1.2999, -0.9417, 0.2466, 0.371, 0.5158]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.1857 right_y=0.0449 right_z=0.4064 right_yaw=0.0017 right_pitch=0.3114 right_roll=0.3381 right_gripper=0.5158\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 2.4274, 1.9214, 4.7385, 2.5079, -0.2515, -0.1441, 0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.82, 0.8112, -0.6781, -0.0425, -0.0185, 0.9988]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2764 right_y=0.004 right_z=0.2067 right_yaw=0.007 right_pitch=-0.105 right_roll=0.0287 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.9077, 7.8291, 1.7998, -0.1197, 0.1001, 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]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.823, 0.8112, -0.6792, -0.0422, -0.0189, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2765 right_y=0.0039 right_z=0.2057 right_yaw=0.0069 right_pitch=-0.1092 right_roll=0.0283 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.388, 7.0496, 1.6093, -0.0708, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381ec2c23a9776d89436b6b59f18ced394dc4b64ba803c1e7ee2acc4132da125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e26f8caaa3fb90729fdfc76292c28d62b144bdd2ac307612bdb3d556b91a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c134b1b2b4503f90c9492939196e43e3fd93e23e15b2df6bac30ad39d042f37c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDv3vA0DxCuJ2OOJEV1IkoJPK67GvULfdUpYxOIguEl-olIog6_66tywdCcJgcpd896BBJ1FpXRAx-k11wEvEcw3YGg_pGttNal9JOGA8KVf-u2jH9_hSSBoz91TM_noCIiXqVPjeWlvxH1O3ywDNNYi-QfL7YGm339ETx_HMGRpfJBW26VLGglqjyepmI2sdpFpZP6odX_7VQDb8ikz32f2lPfFzXPquEH0EJNeWL5A6ynRzSpQr8dJb9SKTF0hWqjkuDH63xuOR-KuCA3s0DE0s8XIjf7mGWqO1Wj1Ibn0QfAW27bQXaChhfIHKKXX9FF8vBQC8vtMw8vTa5pXNaJFHOg58DIN0mWDSB1jb6mEpiWaa4gKU_f_m_UaFWW8U-rlhHxfEJeQKzjm4MvpLayyqLKiCWIhUId_UT62-fSl_CWQomB3H2feLSWyjTkRpp6QkYVWEiy54dlTOFe6zJmfmJJ54HL5OWU4s0f92Rqgs5_TEnNaXvf3-WPDm-iGkwBgbSDrTSxxvti4RNJLMndLhD_ZNlVuBekfHl5Msv5jq45ng6ZyRkDNtCf9DU_jR9M-K0ZHPBCrpT4QRV5p9Dl0B6vtxJM5eIambyzovPCFTFt8HMVeVqT2yTd4eQzgjyD-6GCutI14NKTVFZ8bST0DBOgS4i07CMJqkB0_yCJoouvSdlbboa_WV3dBZcLfd5tmJOjL2LlmAsjsf0QxBO5FKmloQ4n-Krz1UCyMCQObz_-ACPh6vW29GRhfU4o2dGqRofJ0obARnjcGpUyauILPAmApJFE747E5kdg-6i6A2jRnonj01XZH0bvddcp_OIhHtTtqsFEl3U_LqgoT18buDK0CpIbtHeAZ6SVYmQelJn3u2Sydr9IxQkMv57zfGZRMOXfQYa2II5tVCJPUIn3jsJzO_uQgJu0CVraSg-jLqnD9WhZcl0piYPjTbhEqSrSDp2a4dW7BGPx2OxGwtJdTBwS2uRwaPv-0z17BJ9j5tMWGl8wPuusVXmZ0IiQ8Dp2AT3bwbCuAZeoRgEosXMiRrJC52k7KOs_CPgRL4GKHEBRWojo61R7l0dj7A0RvQPx6G9npeDLeJIfbYuCxLvy98zehhu6rVJyo5EOJFKusRTJdArZMsZON_SJGUqoAPP03MGPzIPulkYWWTIc7jGugN6ICpWuUKSODKVMYDFWDeKlFN7qXQIiTpglMCuQE76Snw4k8_UAxRrgcdpZCeb2dJlWkyY5Up2qT6PwWD443QwRJoXEfOOohismmnHdn3QBgwHSmqYNatLwvqbnaI2kUChOjeWpjrA4rSPGRSrQVFvKHlYm0v3OkiSUAOAvX7MoN6LC0SVsuaomvFXmVJUToIlPqS2z0Jyt9Xvhnhi5i84UCt7UHEQ5PW5eLFLChTUQysyrIC7omTzmiHJzPXHAwo__XM9gvYdm8Ai0CysOI1cARf6HwYIXnY5IEwEyse0usmdxqfPZjsn9X85NDgh9OioIdvLBNFJdcEvmIVKPc6RzUdJt0ZdKJJZJ3lOYodYXXs8dp7l4ez_0ylzB6fn7vmRR481OKRWnv_2G0Ut9fAvSiTC9Nomlv9RdS7X0Yq40JoiEer7LPSiAwU4C2w6ZRmj52TiZ0hWDWHErBZTYXn_cPQh_EBZUzPR2g0GvsX7SlKlccHhlid_vPqfCXLZ_10tZ9q2AaeJBhVYmtEZ9r6zAjO36X6mFaJxOyp5InTa6hj7naljnry_-J31NT1beVURfgdJq-KNAbu5HkdHtr2GXUTvPipWExPgwf9UkuFR_CRxxqnCcK8ByqwbssD0b9uRhiIp8IoB95Pi0m1zyUONzPlLpKYuJWVvwE8mnJnCq_SyjYvwDLbnkWs7wrKSm4AqIk3MUohvSi0bc8xe5FNOZvNVuHBEtKO9bHjaIKjig1hZ4KL-GEy8SXCgF3y_sGfEN3275Sp0pyodWh7ypzyd6r2Ae33bNHgFr8MwOnrMO",
  "id": "rs_00e9a09a8d48789e016ab420eda15487d0b68549bf84e245e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.335,\"right_z\":0.19},\"note\":\"The left arm remains completely stationary even on a small test move, so I’ll use the right arm for the remaining objects. I’m bringing it above the white object from a safe height.\"}",
  "call_id": "call_uNWQnD8OcZ5n13gZLhJAxjTB",
  "id": "fc_00e9a09a8d48789e016ab420eed2ac87d0a6c44b2d11fcd71d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uNWQnD8OcZ5n13gZLhJAxjTB",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.894, 1.9575, 1.7073, -0.6861, 0.6037, 0.6338, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3883 right_y=0.3289 right_z=0.1805 right_yaw=0.0328 right_pitch=-0.1434 right_roll=-0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.253, -10.4274, 8.4308, 1.3504, 0.4274, 0.2564, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0943fef059757956265d88b99a232fef546db3e4145bb63c7859ad4b9b68a004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b921ed42c2c5644368d507f86b15ed5f62ac5c9ca644ffedf3065ae1ebf0ddd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038c731f26b3ab61b8ffd9b1f89ada0d6b5bbcc2e77ca47ad447c5e5dbfc7b70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.8089, 0.8246, -0.6674, -0.0456, -0.0055, 0.9976]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2781 right_y=0.0045 right_z=0.2174 right_yaw=0.0023 right_pitch=-0.0701 right_roll=0.0398 right_gripper=0.9976\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.4581, -1.265, 7.3231, 2.2051, 0.0317, -0.1197, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.823, 0.8112, -0.6792, -0.0422, -0.0189, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2765 right_y=0.0039 right_z=0.2057 right_yaw=0.0069 right_pitch=-0.1092 right_roll=0.0283 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.388, 7.0496, 1.6093, -0.0708, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.894, 1.9575, 1.7073, -0.6861, 0.6037, 0.6338, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3883 right_y=0.3289 right_z=0.1805 right_yaw=0.0328 right_pitch=-0.1434 right_roll=-0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.253, -10.4274, 8.4308, 1.3504, 0.4274, 0.2564, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0943fef059757956265d88b99a232fef546db3e4145bb63c7859ad4b9b68a004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b921ed42c2c5644368d507f86b15ed5f62ac5c9ca644ffedf3065ae1ebf0ddd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038c731f26b3ab61b8ffd9b1f89ada0d6b5bbcc2e77ca47ad447c5e5dbfc7b70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCD1gSlMWofa-ENdKo88Lcgfez04R1x9fOtf4r1AGfv6I10SgmjSuYu9_M1P2_Ii5trnEn8h4Sv1_KGX5if--OIk8bcQeDRKB8tq8ubnJmbc4p9Ju9P8m7sfqZ5_CdnYN7pxDBgOSEsXj1Lh2piEeAvJYc_qgF9mm5Enp-T_NHEeN2YoHe9eUQSmKVdahH1vkeEB6X9Q08_pY7Fyce4NOQZoku10OVg8cTRcQVPXUpdXx-GByXpVwsbJH0y2zUWi7O4Bzkjs-xOgfJ9v3ChKrDEy9PoH5pkmF3ZziOTYvOmAIUyt8U1tBMPOGIT0fE7G4IVPTQZGt7hE2CdNdjm87Af8T0daxsp2cjwVjnr86DLBA1EhMvLTcai-20idSLwKpjy0BSsLIOgRpD0DfhyDb8Sloqeyt7gDmspmX9fHL_lTIfYSeiT8YA44n7ZHvCEGNLgEOp1eIwSA5ANP0U3hM-uqzqgmTYKeUYW5KXjLj7jKGFj3JDMeWBjA0ha3WJN4SUGN_S_0KVG1PwCnXrA6kFJnLQ2_-fAsrTonN-z_H8oVzoBgdzlDz6sR0lxw6z-zlwlhAm7nfWrpCKBrQZpRF4cjqgxDGm-NdkEKTi3J25yz1xjRV7hXNIj8kQxEO-cwKJ8max6lhKg5vLUS9AEs6Vd5QIAYEVNyXnMlq8K9JKc1NUQNe1JdhxtgVnkyqSgWZm-A0mjmKMzLyE2ebSRD7xWuJXa5KKlGTquVZdHlUz-50B9tpaaYwhqB7XW3CfxU5u9hiKoBUihCMQzIdsDdzp6MQ59nAZSGGRekt5KmTT2CfYn_uBvM_Z04MZ5JuyQNRFSB9135JE6F8nHdKJ4tAyvFfR4qB7mnat0th5aHMPN2SSoego1BIyPymsGld4PWPagTLGDVbVNfBEd8eDWjNL2TPSmPOE8JFXCe8Bwjl4plVoTJSV0RUqxQdKvBHVMYBLJxctC1qSdR4x-wLPJOhr4EKSz4G1O6NqsNAPwI1PiCZnEMRfoD40FZeeM9wtCAqQvWJZi-Di0xUQU5sWy3ZMLBLyOrkfA3NbU2jy20wqqWeH7Qzfk3srxPAf_z1IyEXvywBRt4n6kD5XLypAnkTHkvMeu1j__wcb1jozY1T2nhhnso0E6ldzOOsdeWzUiw3-Mt1d4joMloUNHf6igYAHA4e2jTJewfHv-Mk5n5q5yj8_GMf7ekhSrOaY27ei2Mi7YYnt-z8a36fiilFgnuSLb7sGpL9p81EqhKitPs_qxkU9j64eAohlzmmy5Yz0En7TAsHcT_b-BPHqdeMxm_7RWqA0wFv_1OqNmxYLfMaSzS1UQ5N6KzTRzL75IzdwkwXBwXuzvZ7rCV-wTyyytNwzYZzkr8FyTKH_7-PQVjytict3RsrPn3S-vqoTjApu7HMUA33aX2hEZ5JcpIcCVCq0mHbIR4olpHXlLADe4zThuFnReFw1LUPRn11yQCs-SdnCd_dMAhVTtsnM8rLPt_kKMaQ6qm_i_kD6y69CrYPUcnu4XbQbcBBB__5y3tPqJ4HViBgHwQjysLh4hRPodGyV4y4OqJO85IpRXa3HU9jAwmVBLCnbSN2GC16cPbm8Ji1f2k7HrIyHgvMBTSc5Be76_ILnAsPqc8RooqTZyVyu2FO-ncEeAe0iVQ9SyxGubI714oWXlQQDzOve2DQTGtx4LOXNG56OoyciDJYMi6Jrj6QwqWbp7bbCvss-ZnSNcCX_jackIaFeIrnRmASM9cyGMU6pXGuZlPWWpi5xTfDjnLo-0YGe9h3k5QXNCes467pOGL5NZsXKy0SpoltSUsIPbtvyN33IYnsVR9S_bmRr8m4Mk_x7GF4-WHYfJBhs-zDKCaUAjv1CxVO58JBMPvWEV6c1wgUf0Y6FvI83_dy0e8I8qLPboSmwIvlyxTyKq02i8_mAYj8sAq_pvL7D8KdA6iZQ2zB8lNAQKzB3tzrGA_U3KW8Avt8EJQnBACa-BFEIgLqSZC07lAC-f1f0xPA3t_1IrZYOS8Xd5mpT1nt3EzPyQ_dhMjgR3k4hBv_ueB8BhFj8dOctTgCd8ZsgsUTk2BEH8ExVkZHEE3PSQWA_79JjCVNkDwbmHhkTMKgk_I1xt2wrQvTDfkF9AG3TwWp6uNIA==",
  "id": "rs_00e9a09a8d48789e016ab420f3364c87d0aaa670e2540e50c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.335,\"right_z\":0.055},\"note\":\"The white object is centered but low in the right wrist view while the gripper is high above it. I’m lowering and drawing back slightly to bring the jaws around its middle.\"}",
  "call_id": "call_HsTi5TKdNLz1XXgfJe7fzaZn",
  "id": "fc_00e9a09a8d48789e016ab420f4d6f487d0b2e3e482e7b100dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HsTi5TKdNLz1XXgfJe7fzaZn",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9417, 2.0323, 1.3319, -0.3176, 0.6136, 0.6708, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3595 right_y=0.3273 right_z=0.0539 right_yaw=0.0429 right_pitch=-0.1887 right_roll=-0.0436 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4171, -10.2496, 6.7487, 1.5067, 0.4664, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9481a1a8fb94c6f678cd7f7fd4403c9a65cf3c606c73c02771dda1d4f35488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255f06bbe43ae3b673c1913c202df5c30074934d8fc00650c575391e48ba7d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a5bbf76336eaad7e13c99189691ac19010c5af3dd4be0d8ea2aa823c04fe15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.82, 0.8112, -0.6781, -0.0425, -0.0185, 0.9988]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2764 right_y=0.004 right_z=0.2067 right_yaw=0.007 right_pitch=-0.105 right_roll=0.0287 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.9077, 7.8291, 1.7998, -0.1197, 0.1001, 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]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.894, 1.9575, 1.7073, -0.6861, 0.6037, 0.6338, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3883 right_y=0.3289 right_z=0.1805 right_yaw=0.0328 right_pitch=-0.1434 right_roll=-0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.253, -10.4274, 8.4308, 1.3504, 0.4274, 0.2564, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9417, 2.0323, 1.3319, -0.3176, 0.6136, 0.6708, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3595 right_y=0.3273 right_z=0.0539 right_yaw=0.0429 right_pitch=-0.1887 right_roll=-0.0436 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4171, -10.2496, 6.7487, 1.5067, 0.4664, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9481a1a8fb94c6f678cd7f7fd4403c9a65cf3c606c73c02771dda1d4f35488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255f06bbe43ae3b673c1913c202df5c30074934d8fc00650c575391e48ba7d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a5bbf76336eaad7e13c99189691ac19010c5af3dd4be0d8ea2aa823c04fe15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCD4yAdHQrLLWCYzafwS-mpnW1NAS_w482KlzreemoivlyPRp-n68pztQp879AbDU5XqlWyytbBDk4teCZMdh68bEFKNFplHXqy16NMeBtiK5710j35Al1qQFxVZdCIPEYuWGuLTDJD9imJbFH57FV2grhAlVaoxfxMfdcXf84iGpVaVRTwJcqFa2rlyJkAXSF6M0YaZZ2yfH9NOvNGhGJdqyuBZ57oMs760l0BBA-27AJO5Ep40u7VBpybZtWAbMURRnAfggVHO5mU5rLkralljD9qkc6EVR6qhTvlFrCiN-Fxzvq9x8psUwThF1kvrWJeRlCO5ZTy1Vker32SDTLOtTNXXjhzG6U-6E9XG33Vz0YDcg5mU4Hwdz-OQyzTb7ZY8SiB9-KhPO9QXrHXNgeivyigFAzLbg16ArD2AgMaiE70TkGMeXRk_GIRUwa7ojNWeMVRq7w-3-1BLFtB9doYU976ZFurXWL2RF2MXCrxjAmufjdUpb3JsNO4wztUh_0s_r9XteAhKP2nj2wt7x8EGH0Z0yfE796dsh_DpxjOI0y63kW8ioKenAG7sZoyHo9BB0bQLAP_ioFW8LYqvyWQotyoeaFqSsF43xQA69TOqB8Vcg2U-itwZOv0OLHiLjsZSbtGE81kf2DmxEY7vtg7gp5peQLbktn2NpAxbNAnYEJv7_zD-6dLdmxVda6Egi8OuyOUnqBsTHwzxBEJLGdhvlMmL_kwI7Co5D01JwznfiDJUVlOJ3FeepWatRWw1E0ReS9XFxNZkoMFOgS-T_wVYxHqTIhXfeplXnmM2aruKbC1Tb0iCRPM0NISTloPSsLTrtTOAVOEacozWa2HSOWL-OLzGy2An7gWlTSwg1eSWNcwVu04iymm8Cl8FGc7_J2LDPK_Ls9rOPpLQ5tLX5DufqaikeywEpb6SmLMHQuzpKhG5rZ6Du7ceKgLwO8Ntgl_U8YfrlyguIi7x2behYW-TaY8ld7UYY7ttUpo0XK1iB3Wsq2RD_NXL1oeM5vOFTfekFk7Kj4aWCC63L2XJwfpJCdFdU-a952aPCNO9vdXxUTemRN3R_hW6log7plVpG8CKypm5zZ1fnEzWLA8Q0NweDavA2aEf_V-Cn8iUfAaMiJJ6eNXa5np-PP1fnky94BzCoEvQ97xMkPpuVInK2LbP-97OiUwEBhyAyBWMjzDRGQnul7WwmNyyuco1rx9GigF5_gLBT_-VGTbjx68IReMU-hvw-1k-m3oFIj8ile18LFI58ozqBVoFVkwqRqPfObkEyl4vf_jlwQr_ZC-yebESt3rgcnyGYWFg1gWdPuXzFRaCkGZ7FliqItC1nuhzndpbi-eZCtTgwl48hnjLjhwtY6JSelgsX3klnoeqWdDTQaNcB4pZ_q3jhGg8Ifc5FkgZrAce2EhkjSCV35LZNdHVBLz_CmoePCqRWhw1ij3Vymk8Kb267z3ygWczfuHSPJY3K34y8QB_w_jJUzmVIS46eyg3QTYVVQ_UQpz6NvjtU1s-wBl7ys3dbKG9ZYFYtPTxa_42T1kcZI0X2fK1gGp4dA==",
  "id": "rs_00e9a09a8d48789e016ab420f79a9887d084ec9c03dcd3aa4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The white plush object is centered between the jaws at table height, with the brown object just to its right. I’m closing the right gripper on the white object.\"}",
  "call_id": "call_Kgq2yt7SLu1jw2JbJdWHFKkx",
  "id": "fc_00e9a09a8d48789e016ab420f84bbc87d09a994d4299705f78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kgq2yt7SLu1jw2JbJdWHFKkx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9413, 2.0472, 1.3163, -0.3218, 0.606, 0.6628, 0.0083]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3552 right_y=0.3229 right_z=0.0408 right_yaw=0.0461 right_pitch=-0.2157 right_roll=-0.0729 right_gripper=0.0083\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0342, -12.0821, 7.159, 1.1941, 0.2906, 0.0562, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7293a413d7b1f58aaec824f063830508c54afee6267a45bf4959a2df207a472c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0215e17236a52d7ef3e02764981b5e0d1f2a55298da4d781efdac31b0b6a3d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df85af16dd721fbbd80f20e430097b096c673d6354c0078e6ca983ade2dd0d08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, -0.0257, 0.823, 0.8112, -0.6792, -0.0422, -0.0189, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.2765 right_y=0.0039 right_z=0.2057 right_yaw=0.0069 right_pitch=-0.1092 right_roll=0.0283 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0205, -1.388, 7.0496, 1.6093, -0.0708, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9417, 2.0323, 1.3319, -0.3176, 0.6136, 0.6708, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3595 right_y=0.3273 right_z=0.0539 right_yaw=0.0429 right_pitch=-0.1887 right_roll=-0.0436 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4171, -10.2496, 6.7487, 1.5067, 0.4664, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9413, 2.0472, 1.3163, -0.3218, 0.606, 0.6628, 0.0083]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3552 right_y=0.3229 right_z=0.0408 right_yaw=0.0461 right_pitch=-0.2157 right_roll=-0.0729 right_gripper=0.0083\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0342, -12.0821, 7.159, 1.1941, 0.2906, 0.0562, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7293a413d7b1f58aaec824f063830508c54afee6267a45bf4959a2df207a472c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0215e17236a52d7ef3e02764981b5e0d1f2a55298da4d781efdac31b0b6a3d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df85af16dd721fbbd80f20e430097b096c673d6354c0078e6ca983ade2dd0d08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCD-rqU66m0aO0scEkz5IER_FAS_EXNtLb50Pnkg7wW8ZQg65nyr4rlJtKrEC5O3vgdzka9VcmTWvrtGHxmtjxirSizzJgSfK2k5xnzve1ZxjfasW1GM8morRFJY8HYrdpV2JvVcC41a0K4zoLpEyhGEn_t2MXQ6aawCOOINaYW1XqTUWCc7eMi3a0IjQxn4D1piDi-lW0TuxUUe6w8NCuUGJ0Z_FsWSzDn8riYd7lh6982EauBt-nsSzoyGoRFr3C0nYpOPNZ-AgUcDBLveSpx1e6A9EwRTN3xLcmzE2nAEIoGAR4_BWtuf6G3hyxy8MipNEffWpAZD9UOPFdCgthVbLnhqu6j1j9mPslTQuQQmb--D2ihyvNNun5R3eEKUim-ny-xLaHZK9_nEbz_q7JXG-5q9yBabN6dIUnlL7BgeNkm89YZmMFBe28paYfeFpdGwumxb_vo3gcS-DZpXEe-xYPghP-NthxKW1srV3GyE1TYNjkLIzqAutS0OfCwzQQKPuQ8L7N84Gzv6hgFx6KWXcTXwyH-tbEBtZNSTRM8Q7YHUs8jMY68b_JCRQGqugc3JMEaIX9ArRuhWhQWF4wr-1CktwSwdun0TTpIqBH50VFk2aG1O-FVToVOyophT2FcBnhikAFywxFMZQwqX9qdk8HsHpsTcvr4jN9c3u0PLcjGLjqWk8yeHse4WS-Ii5kzDYHZRvibwyi_x-i-CE0J36WSNTfZyQUs8mgk-2mdj5y4ei-TL4lGYQg27pD8LFfb8ChIcpliaKb6QC_UT69tUGgUjyIZUeBWOnIECZ7ZmnDZl5cAXKLdSmrJbLPHW8Ir07koUjU88cuwxjqt-h2MtEBAP4u-meEUeyUac--7cSLiKh_03g7Wl2mEEbtJk9MMVZrVKxuf2ccH3mXDhYjary_MjWGhD-49PDpj8tUQDLVpmWV2i5sHi21_MS23Z8I_kr-RT3HLSHhDt4ekK9zxSw5v0aAzhZWP45hxDuhm5QZ1EF1Oq4CGmRP2RC9Fljv2h8cMPovIh7s1UTJ7C5SjreLO9c63q6ZNRNActUOwxnBlV-V-oU5WnLyX-U4KMs8E14urKIVh3Eb_HuaYGXRkxt9dKEFEysfCCuzVIqtZpgJ8MyCL-sJbt_1QqdnkXaKBzH3BnD--maTRkDp-EMGimYbPYgBrKJ6KzEQcjExUNYmDavuZ0zoECfryvikSpvfkGl1DJoMjiwl_WrGU_fDt5WWpN7qvHeE7F8WWwJ-6RHiJSG-JCdPs6tZ9B76uXwyE0T9MUNlkhHRfKj2w_Tj3F7CFpa3IFuqKGf63hIMhTGQUAUW55qbd0EScf2-gxrmQtDLHdQ8T__XwLHUqV6-4c1G_b7nNQ5tLLJlRUcKfJw8ZDotmcnxsOMrH__fVejQLImBRt1GiZiuWOFd4xdB-YOGfV3sz19l-xHYCfF4WGImgFFpWKqJAQWKtKvWLqeAB5LW6fKCS-iRkyd2cA3Url7SbVYM1VqG-U22EDWevUPtwjG1_0X0OmjqQj5D2eBEbX6o9XZUyh5y2LiBExE3W3-kHyUh4kmC0biGWfQwQZU1qs7BqQMber-gsMGdpF56cO2Qz-LksGAGzR16DaHQIg5wisJcEik6_Hj19Q1xRjmyR91kupS_pI0lm7iqD4R5C5VWX7ff7eK0yYlRO_BOPZKXz5z-c6KGL6jrbNGgPhobH562ikKyi6jIWfGq6Jno9L1AxgeADvXEGxwQPIjZoDY44CUpwsYjldzn2eI9NHdsYm5nC36AlWpIk7O_MJOz9e9itGa2vccBhAAZeCI_0-51T6jhgyFxgrGizusP6a1cLeSRHwSPc2utirzfmVDy-VxJ88yjIV5Hg4ekslO6aoosZS5ZIMi6U8JyUZMmK1FPQWHexstMnz43KMI7Ef7p9borqEQ0XohAXEoDYZY_Oad7CvI9IoAiRRTZkYaXCLqznLBnIlxY08cBjNAm32JobF29Gu6O2iDUD-aJ3eNuVoV75rcZxJcsycnrGs4yMT3ODBWsZLUUbKkTNA3PDRy7ADy6yao816hPv30SfUe0jjFMigmaZzV6oZnC-UvOJylbBKUmWCtB3eBGv-sq9sy2VDdINi2SZ1Zz_ZMD2fzyfzXs5J8hnfLqZ_sPM6k62xamhkYDui6xquPhIdG8mpEDYguNstfJ9j5yCGEWqayeHZYSgSrmk9-kswGbKCR8gMWatY_GAqHaX0P8Mgs1w7zQOxStGDdgT90okI58SKrXgto7-ay8xsdSBVjIsIZrVbjUwkvfOMKEfTXjKAvT9F87DHdp2pQ8NiUYJ0fQsO6nY2jw==",
  "id": "rs_00e9a09a8d48789e016ab420fb227887d0b927523026168aed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.383,\"right_y\":0.325,\"right_z\":0.022},\"note\":\"The jaws closed completely empty even though the white plush fills the wrist view; it is still just ahead of the actual fingertip grasp point. I’m reopening and moving forward a few centimeters for a corrected grasp.\"}",
  "call_id": "call_gy8QHVJPtylnVJia2af55pTS",
  "id": "fc_00e9a09a8d48789e016ab420fd350887d0a3a0608af0e5f785",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gy8QHVJPtylnVJia2af55pTS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8951, 2.1235, 1.3357, -0.2947, 0.5777, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3703 right_y=0.3135 right_z=0.0129 right_yaw=0.0418 right_pitch=-0.2565 right_roll=-0.1174 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.5128, -10.1128, 8.8684, 1.4774, 0.2711, 0.022, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d9ed805cff1fece11354cb23b1a8b20341d4f8610baa6f3f9e57e87b6f4d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2b2dc46e096c733785732b5dddfbf578f472052afbef19269a4fccaecff976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75aadf83e2d7debbaec517dcec7044280b62e776f0c71f6d53ba0c7bc57f9705",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.894, 1.9575, 1.7073, -0.6861, 0.6037, 0.6338, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3883 right_y=0.3289 right_z=0.1805 right_yaw=0.0328 right_pitch=-0.1434 right_roll=-0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.253, -10.4274, 8.4308, 1.3504, 0.4274, 0.2564, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9413, 2.0472, 1.3163, -0.3218, 0.606, 0.6628, 0.0083]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3552 right_y=0.3229 right_z=0.0408 right_yaw=0.0461 right_pitch=-0.2157 right_roll=-0.0729 right_gripper=0.0083\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0342, -12.0821, 7.159, 1.1941, 0.2906, 0.0562, 0.6325]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8951, 2.1235, 1.3357, -0.2947, 0.5777, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3703 right_y=0.3135 right_z=0.0129 right_yaw=0.0418 right_pitch=-0.2565 right_roll=-0.1174 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.5128, -10.1128, 8.8684, 1.4774, 0.2711, 0.022, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d9ed805cff1fece11354cb23b1a8b20341d4f8610baa6f3f9e57e87b6f4d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2b2dc46e096c733785732b5dddfbf578f472052afbef19269a4fccaecff976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75aadf83e2d7debbaec517dcec7044280b62e776f0c71f6d53ba0c7bc57f9705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEBbOtceUNbvs0eb6pbRmpn7CbQLLwtIWfSZYN-neBALmeA9UgQHkom6qLwOyOgAoN5-7rVjW5nxRMK5imieWT7TlqcLolJI0t_ypwiTO3T7iAH9PNIdu2oUQjmtsFVDRvWYDGBwL2QObX8yecZJCRFPO7Clt0tZn8a11xvadKrLSAISxYlPwPqeVfkNIEN5dsItYqo6HnyhaC2YdospHU0MVVxA8rI4wSfc-BwCXlQZgUZDlSGGV2SwTO-FaXJVByTPHLldSgm6QEqvX1ftmHkHWIfuEAiIZW-NJxonj-Ydfr84e3iYCJ4_fYGEMzGQa_LBgQZQHHFcGU5M5BXzPyo356e6aAAR2tIbevQjf8NtjHfkviz23AzmqrbA76V3XNrhnNTQ9he-hau5WeijdHzpKlczOF2ijNRchDbsb6vDwJhH3oB4WIDmqLqZErSFkYS6MrfGY5pNE9girDz_0DTPQqi_eIo0bb5hUsDT2pneE3AAqo2qt1lpKJa_6I7XELSW0hEmOFCWuZ6_l95CTnKPQgpW6RdsmWyhWqa9QjpZf3lhnE98oog0LrNU9WFvPcfc0MPrJMSDzOxAyc68YokrCahTfRAlrGdvRpLiUfqOo5olIg0HenXIldsHoBTsqX12ItELNZAzluPPkjCDSb0ijoyUQQ_Zmuz1rr4xrNikZEYKY-nW35oM2w9d8WkCeFljc52sZLre6EzCO7NwGuCRE2HhUDUu7hbMDNioU6d1nxZWZ8cUzZQFtcYhYv1QMbJPtZv5zsdsVp336cf1n14grTbbdQKGCTfTGeiWTf4lh5_WPPvjYte7M4HCiyTCwLqduaEKrEclf9l0UJhuvbDPUZRvEfxSF_OWVUY0rJN8C4e6NjG7bAfLCMqx14oAHDpYlbT-DiK2yDujHJbKTgedLRylUiWBcJ-tARFr6CyqWoFZMJ8W2cnLdf45VL0DZK8iGAlvLsKqhJ9kPGtf4NFiR0vjki6vxPN8QUUTdHSIGNQxgN_N1ms5we8yfOmiKC2iz2uWKEarq9zYNkAbUYcCKS7AgVzuUcw3lHDqb89yYsKLRWANvHgJjJ1uttb6qDCcmG_IEr02u87ewmMd3GQBj9SHyFfl0PZhMG_pJU_td_g3FIvpzhZ0tI4GI-B6Qh-1XJxLONjOW9NzxUCJ4OTpQ8Xa8QN6vTi4_vGwuRQLRYTkkWXDm27NE3taKjeSJM0qJEE1vcAgT4CK8lAFh4qn0P78zrU_XYdUIDYJ34JCp5yCFxmsYvNdfIgrLO_UUEYZ-ibYGlm2Rv0c6hRzuWF8osRA8LyJtgHKBB_EeqOlZ6UhsfV81zZWugKXVJAp_tLrY25Tvx4JyFv3DtbvdYtLFkRv0Xk8Pz43MQ57YSc-4ITuaI92wsI-XHSp-6BZCDBh5II_4Ruw_8a58qBzXtKHpTH_DMqIoMqKV1s-_unqN0YAM_fKztMwZ2_3Zs6r4f4Ni55gFDR8JzqKbopdpRxHKKBkFaLJcxEVsHqkwICYJI=",
  "id": "rs_00e9a09a8d48789e016ab420fff9e487d0a9fbec660996710e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The white plush now sits deeper between the open fingertips after the forward adjustment. I’m closing once more to see whether the jaws can grip it.\"}",
  "call_id": "call_6aQeyQo1N4xj8K5StDIcwZ6y",
  "id": "fc_00e9a09a8d48789e016ab42100a84887d0899f4bd29b425890",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6aQeyQo1N4xj8K5StDIcwZ6y",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8955, 2.1265, 1.3361, -0.2966, 0.572, 0.6064, 0.0282]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3694 right_y=0.3139 right_z=0.011 right_yaw=0.0467 right_pitch=-0.2635 right_roll=-0.1199 right_gripper=0.0282\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -11.3709, 5.7094, 1.0574, 0.3199, 0.0611, 1.956]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8588453df46a85f302a39844f1783ba6ab078ece702a7f785d8b5228b8fbce94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0492f744445438d0a5dbe6bc79f47a60c2cd335071a6579583df6412c4bdd74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8686ecbec52ff61c6ac90a08513621f05666c5cf43b9df90fe1df268b1cd02c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9417, 2.0323, 1.3319, -0.3176, 0.6136, 0.6708, 0.9989]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3595 right_y=0.3273 right_z=0.0539 right_yaw=0.0429 right_pitch=-0.1887 right_roll=-0.0436 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.4171, -10.2496, 6.7487, 1.5067, 0.4664, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8951, 2.1235, 1.3357, -0.2947, 0.5777, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3703 right_y=0.3135 right_z=0.0129 right_yaw=0.0418 right_pitch=-0.2565 right_roll=-0.1174 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.5128, -10.1128, 8.8684, 1.4774, 0.2711, 0.022, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8955, 2.1265, 1.3361, -0.2966, 0.572, 0.6064, 0.0282]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3694 right_y=0.3139 right_z=0.011 right_yaw=0.0467 right_pitch=-0.2635 right_roll=-0.1199 right_gripper=0.0282\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -11.3709, 5.7094, 1.0574, 0.3199, 0.0611, 1.956]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8588453df46a85f302a39844f1783ba6ab078ece702a7f785d8b5228b8fbce94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0492f744445438d0a5dbe6bc79f47a60c2cd335071a6579583df6412c4bdd74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8686ecbec52ff61c6ac90a08513621f05666c5cf43b9df90fe1df268b1cd02c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEGI4eUJzuLd-SalVT4UB_qwGZUbevXclNQ_Z8AM2CDoWw0IMYqhT5LNbWEQ_60JWLB6x-0iKTPXGrqcRsescMwxrZDnN26xKj5hzKyPKHVzTfAVKr1Nc5-WcyWLWUvTldC1s90gkbu7UFNd5QUczvgyb8sFfDKuJ7ifFeyIYOBCZcuNd_xpmDZHnQKIXhdeYqBIa1bXd0yBKL9B6X1D6IOsann8i6hMpuHFVAefvUA-tx2ard4XuKepvTDdq7f4oHdTmx7XyF6naYCDU8pTgQJL9SI9kbu6-tp58Vv9_ZucAYvN5B4YoTEBTsMNE92ZGjkOFELnpbUH26Snw9X4zO3zSKuINuZLg8vS98GE9O8kM5RN-7enYfn0y9JIrLGZN-WGn4aEHiTNa-tsgngsnQWFP61bCEAz2mHwiHWD45t_SOL0TrZkhwR_iGB0b9Y1OTspNMcx5-b4BToVCeuBi_d4AJaA9WuaeFbhQBarGYxu0DJqoQ8zqQQFo4n0elfxCyR97k5gknf-rVICS8coIPdylCKV5f6x39JL3IV5pZJo-1XbiTbCIi4ZU4Ry2SWzfvLyNEc7rgFZQvXM26DBl_ETZPDlYxWAmuylIA6yPQ0-8STn7i-SXP0U228UuY29jZVf3tjrly35j19kAbOnmbIUjdx7-TkItGTFmpLBiHAYjrONeneZNejIqiWOYdxCUjfC6vkLwKKIgjmD_1-gBxn_ANPk_NBGyLhufWMXmbjdy7ctpuYwheLexdeNE-NhjVwLo6IX9K7KY7k7k5AUEKWnahWhi7qzqgOrrRLJbkEs1s9S-duKV-yFMicUrhckP-HozpLIXRo8dRHcE_sYc4d0SCR0F2SuUnahJvWfEBImFoRPozDjvzueOQosaXSkgZwVXMKg_k9iRRcynpOdy-rIYDsNIsH52x11ztBHvMccnAKBv0cHZcPsdZ7cx_E88sXY_O_890DU1WiGbx6x84l6gYiK73c7aGU8mRKmWQCXifBdb1RVIgaZKySh4HjMXFk3dgYQVkaiYgKZNKms4GL0xP9fHbLloWE9GT17-5d7UxSMQ09OWbgBwCizZZzORYGVZCAw2IPB1yXt3C1to7DVfxgEfdzH3mJLn688-GDVV4VRAhEX5OUYntYEyAtwSVcNEgbzp2sKGQ9XWG-9eR4_apDm20tawoI0mvlAQYMjO26k-uu8PgDYpP506Esj4mKlauCTe2lLWBNPxVtnCVsagWcHnHAnvH1lEL_3YOM0nCXqfFnb5EhD7iqq0B5kz3f-8y3Enk354m4ipU-DnOSdk4wpUIZpZ3orxnUYPxRP3lk6ucIfmz_hQxRCy1XSJkMrXeP_fq0_NZy8Ycp3f9R-rjU7GLwEWqiTonhbQAs3ekrGrBurbcOPmp_MWMoXwxfRCh8RT8nw7MivKOtbZn1mqAED9aYrvoN4lYUvRgrec4Z_6JPFI4L1oq50VBkGol2ATb4DjyzMKPz4OyKi2Yd9ZxXoS-EylfZQ5Blh2ySXEioW1rGfhOzEDQlNMGvbrXkf8X_4zs9ZkoouUmePo_4hnbw24i7t2kN7qDKV6-h5iEDwPPR3icXwMzfHi6pXkQvE1bWIzfFT8iJtqx9Lg9TmN2D_msUnw6jMKP6zcVl4BTWzVGdmyLtrQB96Iyk_PDsVTz2DhSY43w45kEzWfqufNmWMUHlDOHCrDxn_s4Cp15dTuVpZJ5xD0nKyg67vA4BNozhUhf9yZousP32mAhbt6IfGlmQkU5onvzbV9oj4Er6GtU-M41HxAZPwxWBkd-BsJjUJLWIlydKx4HlPhQMBg8bU31mOwhcbtNTUAVOAZ6XKjezererrxIRR1ZVi4MRj26S0KrKmj9mXRplt37B3zD34XEtPzR3ScdZ-BvgpY2mapV-LAHq9hOrTNVETv570g7wmvm50-WAD1WHRbFThyqvothWhPajJeH6QyUFgLm7UqHe1CQwVJrQOfti_rA1CkOf7BMgDq72DUqTk_QTCtJAnlzu6J9SjXJ8T-mVx4JyRS2OndUfrqf6cMzLN0J8ChgPjesjYJtcbVSq3i0kmcQzmwmCnUjmPXJWYGGqi1Cf9kj22EOqS_eNYHPU4_IWhGiz0WqdULTf0aLusaT0r8TvNHwp-mOIujcNuiDvGdaHuhLn5CQ3aTDmeAkrJeH15VVy5JR5Bb8-ZCxlpAhmVtvACRezNs9OBYwDDxskswOOJtvIP2E9411Dow76PGJlCepvnbLpaGZkqgkWmyLtgorropHT8M7goLDuKVR3D-vF335un1dh4qeP1evS8gmSwBwY70lg51SVnrj9Gz3FzczW1XyDevYpuzuPDj_YrEoiRyq27ifBJLSal6XH9Q3wZywq0tnZaqnhIdEXJXQIs8qoJ2hBv2tHZoeNZHeg4r9yMcY0SCFZAGFKjXcHaOR3u5nJ9wF3nRrRPYSFjrEVr913Z82SiDgSoBO9LR5WzQOSxy6KRFy_a5z8jCpswtpvj13kkL2DgpAjrRtZ_fls-YdaaPIItruZ4eBFjQjDWDdIIoDu6ul3J1zlVI0MSLL7J8s-a7lldjw3_g9G0FIA7akizW7PurH6AC2wtH6BM0VCEPr1cSnEx_D5Cux6YmVyFxSNZwAq_u_iRZDAvOtozb1zfJBsiZRi1V0PVdalfNCsgwevi_0JhC0JrwKqVVCUvQeYny73mjKQsg3HI0ZlotTAVrbDO045Sa6AQ8ExIWdlPnQNsJ0MoenycIWWmFoadt23ITtJBLmbqMEimWBtkVihKsHdSbmaNHEpUwvme4c=",
  "id": "rs_00e9a09a8d48789e016ab421034c4087d09a4a48a22dcd4c21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.396,\"right_y\":0.315,\"right_z\":0.045},\"note\":\"The second close was empty too; the overhead view shows the white plush still on the table, and the previous jaws were nearly at tabletop height. I’m aligning at the plush’s thicker mid-height rather than closing below it.\"}",
  "call_id": "call_jVfmzJXcUYkwvxyjzi6M6EDu",
  "id": "fc_00e9a09a8d48789e016ab42105e50087d09bec7ff5d75d0ea8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jVfmzJXcUYkwvxyjzi6M6EDu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8536, 2.1265, 1.4487, -0.4221, 0.5407, 0.5537, 0.9947]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3867 right_y=0.3105 right_z=0.0321 right_yaw=0.0516 right_pitch=-0.2965 right_roll=-0.146 right_gripper=0.9947\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.6222, -11.6581, 8.4991, 1.2527, 0.3101, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac101481217ade2622a83f0f8845a49338d0d98306a8d03708efd741983630eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a0346b0c23f557fb49625ef41f7457ff7326e34dcbda083df541c0d69d490f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b6606f4c688943b50a2a1d2ff61717cd1cedd5fc53e405ffbe7fef32d21d68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.9413, 2.0472, 1.3163, -0.3218, 0.606, 0.6628, 0.0083]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3552 right_y=0.3229 right_z=0.0408 right_yaw=0.0461 right_pitch=-0.2157 right_roll=-0.0729 right_gripper=0.0083\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0342, -12.0821, 7.159, 1.1941, 0.2906, 0.0562, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8955, 2.1265, 1.3361, -0.2966, 0.572, 0.6064, 0.0282]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3694 right_y=0.3139 right_z=0.011 right_yaw=0.0467 right_pitch=-0.2635 right_roll=-0.1199 right_gripper=0.0282\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -11.3709, 5.7094, 1.0574, 0.3199, 0.0611, 1.956]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8536, 2.1265, 1.4487, -0.4221, 0.5407, 0.5537, 0.9947]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3867 right_y=0.3105 right_z=0.0321 right_yaw=0.0516 right_pitch=-0.2965 right_roll=-0.146 right_gripper=0.9947\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.6222, -11.6581, 8.4991, 1.2527, 0.3101, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac101481217ade2622a83f0f8845a49338d0d98306a8d03708efd741983630eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a0346b0c23f557fb49625ef41f7457ff7326e34dcbda083df541c0d69d490f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b6606f4c688943b50a2a1d2ff61717cd1cedd5fc53e405ffbe7fef32d21d68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEJhcrst64uHOcDXPxmz2ypAYEKyWqVtZedws4qeHYYK64gWiwG_OjulWTJe8aTZQOSYDwNmAaWIHhhFVaSpgCwjt3EG2ZQuP2hz5HqfovUA3WZmJ83l_3uTa-U7Aa_-d0rbzfWAqD71x_U9x-_TJCbWxhsRMn9iAFGNq3kGQUQsT6CR_CDaF4EhsdeowFWOhF2vt4GXlFwDt4N2OtpRRYlufqUKGGRHT6y8ExJLbBjVL4cBINyGzBkDk6nHmZzXloWaVnGQ5Npoj3pK67_d3_07HDd47xFsh7UMPpSReBunZVhqpKaNiEeShiDx18SWHd-_sF76PIBShyhaDbwGvHbPB3IJfpAR4Xm3Y3ccJC3yjrOxzIvXvt7XMCYdUatcFqz9SPK_PU4SKvaE12r_w18zep5NrFS9L2--xsOepcmp6XYSsspDrMJAJxpjtw6jgL3B20KdH2B8o712ZXv3NcQ7qTfKXGZfaektmQOOlN8moPSURdnPQjHAwcXHHi_ATVTk2fXAnQzQ_ZzRQZWt6cf2inxrIi-CSkrL0F35u_GdSMjRIJpWp5OuXGlQrjwe4sfuqOFrVqU-oY2vzkYX4dDOd2IcnDAX8Yv0ZBMlZPk_bRacoDZmYBu4nZHNUicg_gBm-937uvUkfDvKTAOkaMWZXQMOUQrjxv7Bo_TjF7FoJI3KNAu3bMm0SjbxmrSPXOZVij6Y76RdSYJq2r9z-fwSKnJjmOhrMz4AxidSu8G1PwGp1c9z0-P6iXtrkXnmLtoUJ76XiCUOWgsVn7-eFoJbagQkKoML-hrg2q-yWjNtejlkSAlz4U5GqqlFw6kaEEYwNciRE74RXvb_0iCGdBv2tFnEzTXjgwncYXEwg34oGfDWqayHTxgfdbtmZyOFS0M9_3WIQXRV1OYos-MHVzjbcmNRbjm2-afEmIGMbEOCMof_IdBmBOElshYvlUQAMFiFOp7ROI6S0fAyMs0zCb7oUDhbJ4wxuNaSY7s4i0ItZPloiaqG_xDdshKUghM6ToNKf3x0_t3QwG06Gv8GEG8540XSTLN1CeF2tBNlryIbRGBqeam9rq2iCYiutmHA0625TLxusRBCqKh5XzQUPsWpLFt-tVKuMxIKhl1s0gcakTqcUpCzBNDAHvips9ls_1d5-Doro5AouC_M4jGdvEDn58GVHcfqO5nK_5_G8Bxf7dhgyU7FAcOZBUbR_MQl-3vHwuyDRuby6WnQtCxj0V6YmQZzOpPW4fd7HFqKitoJyr00W8yQOKFnFGDvfiqRCyy3RCrB0NDJ2jdfHdAgu3RWQ==",
  "id": "rs_00e9a09a8d48789e016ab42108d13c87d0b27b179ea95ffa43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The white plush is now centered at mid-height between the two visible jaws. I’m closing for a final, better-height grasp.\"}",
  "call_id": "call_vIqdc4V9PyczutPDWH7hsIps",
  "id": "fc_00e9a09a8d48789e016ab421091c8487d0892963cac7ade7f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vIqdc4V9PyczutPDWH7hsIps",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8513, 2.1265, 1.4521, -0.4355, 0.5343, 0.5495, 0.0085]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3858 right_y=0.3092 right_z=0.0313 right_yaw=0.0537 right_pitch=-0.3079 right_roll=-0.152 right_gripper=0.0085\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -11.5897, 5.9282, 1.2234, 0.3297, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cb23f4993410a410606b9bec1beae3417bfcc00b44fee030b820940f01dd77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cff62c92806075c0eb31b927723ccb786602ee7f54ca3676f43ec2ac6c1d934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70edd0ded768be8cdf7e623c9834a2f953f39994931f5e9b4ee1f606a2115d17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8951, 2.1235, 1.3357, -0.2947, 0.5777, 0.6098, 0.9948]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3703 right_y=0.3135 right_z=0.0129 right_yaw=0.0418 right_pitch=-0.2565 right_roll=-0.1174 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.5128, -10.1128, 8.8684, 1.4774, 0.2711, 0.022, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8536, 2.1265, 1.4487, -0.4221, 0.5407, 0.5537, 0.9947]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3867 right_y=0.3105 right_z=0.0321 right_yaw=0.0516 right_pitch=-0.2965 right_roll=-0.146 right_gripper=0.9947\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.6222, -11.6581, 8.4991, 1.2527, 0.3101, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8513, 2.1265, 1.4521, -0.4355, 0.5343, 0.5495, 0.0085]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3858 right_y=0.3092 right_z=0.0313 right_yaw=0.0537 right_pitch=-0.3079 right_roll=-0.152 right_gripper=0.0085\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -11.5897, 5.9282, 1.2234, 0.3297, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cb23f4993410a410606b9bec1beae3417bfcc00b44fee030b820940f01dd77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cff62c92806075c0eb31b927723ccb786602ee7f54ca3676f43ec2ac6c1d934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70edd0ded768be8cdf7e623c9834a2f953f39994931f5e9b4ee1f606a2115d17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEOLqLodWeEXNLs93jrBM74qWkp3nVUjdZ_1CYH52YnSPt-kr2YWh5wHCHpQT0XOPElnNMv-zuhwF8ixG6GsQBHk4EWpcB_nZRE012iDAzMb8Rt2P8A7vgFN7h4UBnCL86jt5KRp5CDjQCwjM1KcAO6ONb16KvzdWeSi7pVtLABu3hD_7CeWiJvb6szNepyL473ul4ULjm4jOwv5T53lbRVMaIyNa88cHEIWUplKQEWtzsyfzkBIUV47W1eSHCBysT30ZMZRbYaG1b5vvKFjJokoRLgUIp5lCGCtfV9I7-3nXikdKUXORzw34y-8nel66tCWUFJl-a-vdeaKmbZ0sn6iYNSwhiotUqtoIviwjUEa6AWmPtzLUtSe9a7EE-Prz4cLnSIzJhbG3ltSrtqfdbAV9gF2A3AtEZhmg31xsuK7MZQmE9SMrYxLrqAlJ0j_qKHKSoCPwB8WtAiMgW1IxV-bVx0V0KO6SNpmSj9cbbwmwtwaytOM949EskCIifHSCNre8Q8jbLnxnBjdXxsKRx2ggzMAxwI_9NqOGfRFwzxa-vmD7OtKnraLBSYTHBgzdSwtxWRHYQTj_Sg1eyu8YYIBs7J5ybjVyIrAgWUJiL9hC0F4Sm8m0FTfT-NsB4SFiGhe5fhn0arvCosRUPfk9D_RuUEYMs66YIE-rzjxlFVdJWQS75pjzgFYw94Sdg6F0xBzTp9gkwDTDgCDLLoVVNayJlHE1cGtb5DJbr-lklDNOeB6nYYawbNJLVr3Pnb1Ad5oxb-_pZgL-5alCuLs9aY5-bo2KuT5W4INzo7KMFHaYQIfSft5g8JJFArOtalgyV7atpUZh94JTL5BpZ5EOMswaVNd9rEANBXV6X9zOk8CUDJz6XvSf2nS0qjqeJVcm4hQhCPUw1JdILSQeUvS3vinbjCTrtPlfk9-9Cbvv78BHgcPVOfH7dku84gh2vcL5O3C-L8Fd2Nc1gX_a5VMh8BdGb7Uw1AW81JzHeBjBORRUD9wkTtwJKvzsCakSUk7eqitmlJnh0kG4v1MsTYVUQ21SDiaZdssWGGNVQ3Y4MrF2m5-X6mG8g6bDRc0aJuGwZvjGJByeLtlmHYn4J5kP9mdDGk2Yim5XcGYe1pbgviFFrW-529-hm39NwYxXPJjBFwv3jOZOrqZ93vbcpot-qFulq1EHJX1elkvDcwVwqS4fk1acKXBfEdp7GSoWV5dLyKX9HULNxU9bHKtgHWn1Yl6xFGOj_w-oNGesp9NUENL4ws3ZBZQ0KBCJr4GCQQS80urmQ9EIhxPB0tlvNPLxq9IXPF_UiDYG_TnlvpTdJzSC9OLVzOtt_eIYqdC4dLUagpHlmOqnrfSYZEmCLn2Ffg1nzzZyElk069mHReTlkfG09b2rclMAOGHWNDsu_eM3eAIV2fhhV2PnvisuHDHm0kaXt8qiOlfTq-SY99fgfI1Ws-wVsFEHifNvsxdg0ZE6Igy78MzWJ0zDR38PQliGNGebm_UX3VVB6-h__2WNqbPiDq0amhxKUgT0wcLV8iTT8bXk0nRIf-UmEUMav50OQPcII0Q_nbUhebtMFLt_l_irPrE2YonV6NWwpP8lw9zybl5FS1TrK_X5lB5isyvsvdHZXQaPYsHycPPTIZentqSmVDGBduSIfjU5v6MH6ykbFTdZSXK28AhA4e6bzDhkSSl8oBcq_uWpxmIuL4L9Lv8f42siMJJy1xGbFP3JxJAEdD8JMyJmefuiLNGYRE3c_MuqhBiJQFq_Yx52WJN3cIko3TBifBV3jnLOsqVCLzEJVNWWbGycAXBBmfWAg10KkwlTeSifEd9cFv83ctmRXRrZOrIbYqsRZznbQm1bE0xuBQWJuzi-CujVja_Qjo7zReZw==",
  "id": "rs_00e9a09a8d48789e016ab4210c16fc87d0b72e356b68221527",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.365,\"right_y\":0.2,\"right_z\":0.085},\"note\":\"The white plush slipped sideways as the jaws closed, so it was not secured. I’m moving to the brown plush beside it, which may be easier to grasp without pushing the safe.\"}",
  "call_id": "call_7bXTiBtRcbmykhR41NMIJdXD",
  "id": "fc_00e9a09a8d48789e016ab4210d773c87d0a89ec1d1dfdb0310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7bXTiBtRcbmykhR41NMIJdXD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6846, 1.7473, 1.0996, -0.4328, 0.4557, 0.3996, 0.9951]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3611 right_y=0.199 right_z=0.0703 right_yaw=0.0332 right_pitch=-0.3454 right_roll=-0.1739 right_gripper=0.9951\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1983, -9.853, 6.4615, 1.3797, 0.2418, -0.0659, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f23c1a4aca5adb2af218007f9c6c38aff0bec60046ed4dcffcb67283b56f8de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8aa9db92e4629819b5125ac222abb8663b17c751c3b3e352fe2067db42cdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f98b6e71b910001f0f81bb68853f2278d54a1e4f31089941e860aeb35ce141",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8955, 2.1265, 1.3361, -0.2966, 0.572, 0.6064, 0.0282]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3694 right_y=0.3139 right_z=0.011 right_yaw=0.0467 right_pitch=-0.2635 right_roll=-0.1199 right_gripper=0.0282\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -11.3709, 5.7094, 1.0574, 0.3199, 0.0611, 1.956]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8513, 2.1265, 1.4521, -0.4355, 0.5343, 0.5495, 0.0085]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3858 right_y=0.3092 right_z=0.0313 right_yaw=0.0537 right_pitch=-0.3079 right_roll=-0.152 right_gripper=0.0085\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -11.5897, 5.9282, 1.2234, 0.3297, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6846, 1.7473, 1.0996, -0.4328, 0.4557, 0.3996, 0.9951]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3611 right_y=0.199 right_z=0.0703 right_yaw=0.0332 right_pitch=-0.3454 right_roll=-0.1739 right_gripper=0.9951\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1983, -9.853, 6.4615, 1.3797, 0.2418, -0.0659, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f23c1a4aca5adb2af218007f9c6c38aff0bec60046ed4dcffcb67283b56f8de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8aa9db92e4629819b5125ac222abb8663b17c751c3b3e352fe2067db42cdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f98b6e71b910001f0f81bb68853f2278d54a1e4f31089941e860aeb35ce141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCET-UWLO5PTegUgtjdfl7HGIsFnQi-5uoa6K_a_3fLVsYWe6Yg0iAVeaRazH0oGKdivGxiray-F9DIPcvS-4sC3r4FfVFm25i27QV7YtV59aDmIknDuvowvDjPLlSK-yv0g34dPtyGHI9d3cZl10VDpEoRLQtRmLCdsPhdfF7HPaztvaWxl0WIF-cWdqUUJySLpsAq8WZOqh0uiXNyLRgifAP8iTINQLRlMMTCTQBGqnSxvv3c5YrFdCBubkN-Df_4-Dctp0N7So8ppMruT-2sEMJhtitCwzupXqrvobFvg5Tqp5_fWj-p9kOtPwGOGVoTd0ECZGOzhQ7ylazzZraksdfnQ_miFqwnR5bXafu3ymJBRmt3sMtOBLy1mXD9jlPlkRwfCjNciVsQQBSFtMyHfQdRP6vhZ7FK3s1p74huIZ8byY_isupD68XMjCTx02RoVQEz80sde2vGUaahWiuoV94S5IwedgIoNr8ZhRwe-AXvWnCxFt_hCjnl1AaazZbz01It0uQGmcdEUtBqeEygaxgtXgLFwQHMLAJ7ije1ceWSihfuX_NgiQjwpws8Rn-5d_EDwBBXdybvBIZ7H_4GPiNOWsLNp_tFcnadpX9V8MmWbhH7c-4wavKeWJ9NU1kVXHFbjg3w3PcRAlaaaVU_fmLfY3YpyASeX850CnIPMjJ9hD7KQ90pKmZEtkoyKI76YKfSUeqQPQwarue3IRKwcQV15uuvHnemE1Osu3JpIeu-Ojey75Ju9Os-xyL6JM6e8suXRH06qhBOfZEz173-N5pdAAXILRVsfeh6NWykjXrzRkdaPrPh7VeOdJVdcCFuLpLQ-sMSzliN8gsDuWqWKpxqg1pWiWnzB3sArqPerbBYR5zMa9CVOVwIbahV-zeQrZp-wTuNGDz3bi3WyNPJgXNUgTDlHDVobbzEdgE3wViToM3mTQdFggFdAKfO9ZTcYabpei-ZqkbyUEyJj7tWQClNFG8gS7erJ4GX93R8XTsB15b7toX-J3SnLaZYGxjrou4gPstEX96vbpto1Y9jiXBxQs3-7uZnTfUe6PeJiewYdzFVqy2vwpXLu5j9SntOylIdww9OmwgO0YtwcLpEZJ5PwWMXlO4y9MXJMpY0feJwu3eNdRBNE_bJ7z12aP6hAE1L5lmwGr6h2-DAsR4jwDQXaJNaJSk2X00CohEIuJmiBEuR-bq7r-bGTRmkM7cKKK8DwFGeYPzXoukRDXdXQSIPR9kizPIVRX-OX8s2N-HM-hdHXqw0p3hNxCxaJq2o55E9_KcMitn6m_MzFawNL8Ttca6twGOYNKFsIxZ-6z8EzeNDIqGxh81dGqITNDxt4qhAvQaVOaWMMtGTPCQTYuB2Q5UtqjeVOenB02uwgtPNe6rQ0J_R3IViGqdNf2mqSxDAmCgUL6o_GRiqbElVPzTbSdqy3qq7DbvJuG4MPuBZK7Lmb0sJ9vBtYPOfZysa80_CDW9nNsmEOzjjVG1GVVoD2MmyYdYWvI8mKuDcKFPE6pDSgw5VdmPpCLm6b6GxTHY-O3eL-vhi22c0Rz1mg1-uA5CPnIWIhRBTODd3kZNYJIOXeB9ONbOyIB7qFHYLd-2ae9M8fvrlRS0bzWsak5dEjJEG-a2HPPpYX8bZYIGeeUldoxN0VZHX59q68EFh89s0K-icLN4XyYIxilmlAMjuBHf7FvFyhVgOgJcRi0BZlKY3APXqxTf8yis4G9unAbav7Q8o_93erXdb9Z_8YcpsQ8Qb86769Dc_OO-6ESyxifk_XXq1guDCO6Eq8vWOVcYLEaaHRlU4zggX22ao50Xk3mKDVoVcR6T81PSyEsjaPAzIuqf5cd2FARJeuh_gqzKTSrq4EeLe0ZLlLedRmZC-VicGU3x6BtkVUA9xur8T-kEglrPg4-VfKBY7uJ5SkvT2xoy2-J-LHe9GqtCenONP3uRd-rpKFYvef9hFX-oPyviNp4NY7ukBNRkHBJ8312Gxn6GlB1zJ4I4Bc-chTvQ==",
  "id": "rs_00e9a09a8d48789e016ab42110ccd087d0ba4013e85edb7725",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.166,\"right_z\":0.05},\"note\":\"The brown plush is visible just to the right of the open jaws in the wrist camera. I’m shifting right and down a little to center the gripper on its body.\"}",
  "call_id": "call_qsIXf3qm9sIo63YzSR92K8Kp",
  "id": "fc_00e9a09a8d48789e016ab42112813087d093fe328cc9abec0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qsIXf3qm9sIo63YzSR92K8Kp",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7473, 1.0252, -0.3584, 0.4107, 0.3233, 0.9967]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3692 right_y=0.1657 right_z=0.0504 right_yaw=0.0142 right_pitch=-0.3757 right_roll=-0.1874 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0615, -7.3368, 6.5709, 1.58, 0.2076, -0.0659, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0a7083c2592b9d8c723468f1c20a197c252d36112a35e8182a8329f7e16433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798fae48c27dd922df75803f01a55241a68a082f03be48b898752f8d8c2b3188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ea9d394d8dbbbac7bd7577014c8cb2dc4329e99272d63132a5b28357d19415",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8536, 2.1265, 1.4487, -0.4221, 0.5407, 0.5537, 0.9947]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3867 right_y=0.3105 right_z=0.0321 right_yaw=0.0516 right_pitch=-0.2965 right_roll=-0.146 right_gripper=0.9947\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.6222, -11.6581, 8.4991, 1.2527, 0.3101, 0.0611, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6846, 1.7473, 1.0996, -0.4328, 0.4557, 0.3996, 0.9951]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3611 right_y=0.199 right_z=0.0703 right_yaw=0.0332 right_pitch=-0.3454 right_roll=-0.1739 right_gripper=0.9951\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1983, -9.853, 6.4615, 1.3797, 0.2418, -0.0659, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7473, 1.0252, -0.3584, 0.4107, 0.3233, 0.9967]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3692 right_y=0.1657 right_z=0.0504 right_yaw=0.0142 right_pitch=-0.3757 right_roll=-0.1874 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0615, -7.3368, 6.5709, 1.58, 0.2076, -0.0659, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0a7083c2592b9d8c723468f1c20a197c252d36112a35e8182a8329f7e16433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798fae48c27dd922df75803f01a55241a68a082f03be48b898752f8d8c2b3188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ea9d394d8dbbbac7bd7577014c8cb2dc4329e99272d63132a5b28357d19415",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEVOocWgumW5nUjiquRgiDEuu_v2e4kpPBC5J7ZN3cta2SbfWlEUEKh4sQ7ORNMjZ7Mx5lF97eYEjqem6i-2wnmCeo66pvR_g52n5ueoc3tiXV_fx1pAeOp8Vn0BjzwhNRyN0ZFdcaqkofG-Mt1hYYEhjalmOBRbhxIIyqFke0tdW6HwTpoMb72EJXxAyqCAmPdnKA_SzFVJV8FTn-mQq6i-AcYFdZ0A8Kyc61rB0173L1ICvNt6AtH3xTN7JJkGUEQwMgBLJVzNocjC-PqyChtmO3pIZYOM2l1zG1FOd98WEdznvqzBoyp1_hHjZNIneCKdt8tmKdh1Uh68IzaLN8elpCT--kADg0G0UjzKVoQcm_N66-MniaL3C-7Ya1w-sTtKMySjoh86SeUP5mF2VBefU2E1d9MnvafSaYnt9wNuoB0w7NQVRUksGS2CiveWik8QI6IMIpErQ4fIGkZigsyjAEdl9HHADVpe2N5dfY_bfetqaRc8TcogHK57SiJtG-NTWQzlc7yzB9UrkMdSD5Chw-js6Cs0x-KmPeeGpeajwiGXxY-cZ_gHmTyszhq8LZ_IgllzZR-DwzGyMeAT82UnonovoCt0uJrzahWs2c1UNBpBP9m3WAlcEUKAblhi6XSkUsmLaHcxjPbk_ZCMDjfCTALCz7npjUF4PZB0ITBpjpGN0pc8DiQV1ebLbzDNcdlMv-h5uMtAntH60iHDNW_L4KqS2_5El5fdca8tA8BSy_RrHOIlp-NuM4CF4zXrg-LKFevhBmqwlX2nylV5MWUESPSSdZYTFN24OoQnIGVQ8db-G1RVp8en03-F2IYGiER_l_9t5FGNv5jnP1BAvFwkFoLKqNxKkRXli0ujmFK_RBZ-I6cYSE8QLalqb2Jbla-7lRB8YbSIHNDMVncVpqEnFlGVezqdOdDH2txhYDeXEl0cno2guLWwE0Vvebcos52MXNruFe-z53rJcc3oI6ct6r0HevqYbOwMic-9PtbOJ3JEC3DCVCg3hoB-DoukjDa2_MYLGGj7fw_HQGkG716mW-YKezcgkZ-MnUD6PIggMr8vhtv9Zuk3VZR0-OxseanA5sO7kr9bO1aMrfuLb0bqPsoG9jML-dEb49bjxle39CLY3zGb3ebSMy93NHWvMnDrVGYaCKWN-EX8OnbKZMzgIMXSXMZMk6B9znM_3ZZ_5VlFqwU9LVEA_60MSVZCH1V-A2AfzEQU_olwUPrLnBnHCkqgcq7t-SGcxUJkjoLTgASpIEW9Hc9P-Slz1GexUezPlHpqvG32WUfhKs6SvIUTNR2-fYmkAsGzBQa4KhgPi98pWamtmEx1MFsDvuhqVZzcYGrZF4NKrc5Ic548o_kAA==",
  "id": "rs_00e9a09a8d48789e016ab42114e4a887d0af10dc2095e68784",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush body is now centered between the right gripper’s jaws at its mid-height. I’m closing and checking whether this grasp holds.\"}",
  "call_id": "call_QxJKKLh97ppPC5S0vo6HQ0Fb",
  "id": "fc_00e9a09a8d48789e016ab42115437087d0ab3322acf3960ecc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QxJKKLh97ppPC5S0vo6HQ0Fb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7599, 1.0096, -0.3683, 0.3954, 0.3168, 0.0082]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3615 right_y=0.1636 right_z=0.0386 right_yaw=0.0211 right_pitch=-0.4158 right_roll=-0.2013 right_gripper=0.0082\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -9.2376, 7.0496, 1.1355, 0.2857, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bb35ed61316ce9db29f71e698987712bde20ecf262ec7ee93c50e26d93e1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869252bbb40853fdfd8ba08c4ca7138b08ef9c18ce7909b5a4177cc8f080492f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333d82fbdfa34759b1346cc3de5bacf0e526c29e5180ceeb1cc92732ed0af065",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.8513, 2.1265, 1.4521, -0.4355, 0.5343, 0.5495, 0.0085]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3858 right_y=0.3092 right_z=0.0313 right_yaw=0.0537 right_pitch=-0.3079 right_roll=-0.152 right_gripper=0.0085\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, 0.1573, -11.5897, 5.9282, 1.2234, 0.3297, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7473, 1.0252, -0.3584, 0.4107, 0.3233, 0.9967]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3692 right_y=0.1657 right_z=0.0504 right_yaw=0.0142 right_pitch=-0.3757 right_roll=-0.1874 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0615, -7.3368, 6.5709, 1.58, 0.2076, -0.0659, 0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7599, 1.0096, -0.3683, 0.3954, 0.3168, 0.0082]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3615 right_y=0.1636 right_z=0.0386 right_yaw=0.0211 right_pitch=-0.4158 right_roll=-0.2013 right_gripper=0.0082\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -9.2376, 7.0496, 1.1355, 0.2857, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bb35ed61316ce9db29f71e698987712bde20ecf262ec7ee93c50e26d93e1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869252bbb40853fdfd8ba08c4ca7138b08ef9c18ce7909b5a4177cc8f080492f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333d82fbdfa34759b1346cc3de5bacf0e526c29e5180ceeb1cc92732ed0af065",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEcFLCr7RQuWyZlLSKpZ-OJrszQ5tUBulFPjI17sC_zSBGKnMGxYN4c9BiztFltsZ1Eemcpp3HvIBmdVGZxNzBUkMdfY4C-eLG6U5mtDHjQizfn6WikQUCJSbb3xmR_BOEK1srW1orFLWVx8IPfwWEKs1lNqd_QJ0_n2zPfU6C1IJVFClaKMLCwCs0eQqjYhN1Z1EMRCEyvOYXgxXChiwI4Ptw3bo80-AB88fifrNPTmmwVF0JFGLkHu6woFwbCjCkH3ebWfWzqpgLhKNMcNBu17yaGt1yRApteZYr3-QH_btLDDg5nXi0d8FKyloz0snf0Doqr9YLLHD08Z7DZEP0Dw8S7in29-mDolursDmCxoW1e-kfk5xHTrtR-v9nePUkaHtWxypJ48gT9LeCIJdRIcyyEm9jnTkcgHf3R4BDZ3qWy_ceyD16nQO_jF2ZQfu3Yo85uQLabUcHbptZ4tlVb5VmUb7l5eIl2BTJX0w2HtPosR05jgEW_dx1dW8J7PZHeVweGKLlE6nr1rDFTYbb2nAsJzZ18FCbX5_lL_SL1Wo9L1U1f8qt7tZbEHrxnTFAtqELSITfghU7RFSL6aElr-UumjEV65BBx7V7rIAF9lpCWXHvvzlbtCTi1_V4Vkhub41M_AnKnW1s1vvHuf8r_gbpv6ejq4Ondmb035S0cVVlWhZ31oUK18EK4tT4MfSr1CHrJ4QzmUcU_zf9b3Dal9jsgO7YnEtM0Ai_Fvb3iLp_i5Lop1rDpD3kFksHKRozfy4ydC9rvzVYod3eKPFFg3qQzrCBSBbXShLLSrLKAuhkgQT5Cvm4oF8F5fS4rmyr065Hatz5m84YWp2rBctWurYt2g-uAQSPSO4M-NCIlvxLB_wtkmcaHF26raTQsjMBvRIvhgTE9pLWB452TLXZcFOlh9BpATC3jvUgcTbqZJ-EgzKKzClY7rjb-k5X19wtWO264lr70Py98urHYR_qPdL0WaHQRNNAcLn3cT_IIIlJOcrhw4USLoEGgKXHzzo-8uuS1lQsS0aHswSpe9ZX1hzpCw4HtaWGlYAS7WTyoio4_llXHGHWnwTihACLNA3Aw35kxcLiXeirAhVMkuvuSmwbnemI_JTMaQDFClshI8BLcviEUREhX8fHsAoD9YTfolzWtIovBRf5nWu_NC5JOGgj4g4tY70ZGlWICr8r1VnQ3e9ilmkg4Wx2F64sWvMuUfUit7Hip_C9hadsXIHM0J71zAWasIs7qypUEUf22voimHuPdiyXbgHElhe_Aho1C38_Sj5lka25uQUfPlHp5kdMS151ChEhHsUoSySqeOeMmazWsRBt7H2f7MbdLD-oFdUApn_PsLvDwwt8N_mKZhbYw4XcIcNhlqj9d5U1-RgRcqqg9C-BfliKuJHZ78SMy5pk-yyxL-rux5Xmb19pfX6Ea73N9tKOcLBqIYUCtXrKA8IW8MQOrv14t5vWqq2Ra5Ny20e3cyQDfQYc-8Fu8vPXroNQAAA2JunO5AynJZWrX_6IyjNWm5EYOrofrJwdtUg1IG7ZW6D8UPchl2qU8OuKB3ymKaQS877UaNm226bvCfGPyFU6JqDL4sVjD-2udl4CGBV8EBwPWOJQCPLhoL4aRdZrek9tKh-EZ6qWRXwwaNXwXHgQZ93bGLIrS_CAwavKM2N2Qq_SG9VOofOhZEXOW6R6U9IvCPdFrh-nrFgf-9a7GVGQWDpQ02UopM-Ko1YAc3bOZsROMP0pJajtWUSDxO7xihdrY07_A11E0H_s2xe-eykom7qfeYty7bvgArsMO5TBiFE-sZdebvOwlwYEWWZp4lqU0Hr51ozG13M-RlCPaNI0s1dsYkJRer3Jf96TRSbVo14q6PX0Yh58xtWHB6LQRaeZM-iiYjb8nVfjc56PQ4-vWDX-hmoQx9WZ4CQknVmctIF24rjtHGCXOtqmvO7K0HJ8W1jygrABX1pf4c311jkVLg8N4or85fyemHV1DpXO54TonZh1aY3RokgH99a3fAGj8jn8Plv6QJguePtiFQ08eiXsnglHCHoGWsyXkbMs1zvOpGGirrlEg6az_IpQdz_Dt8RuBcaDR0i6xS8VizDzlVZo9A9VYEjExI1GH8mn8KibvXsfn3qiXwBWM2W9v8hMKh8jYQtiDKLcFuPcsrUxZWOQPJAE8piBNFFFKK_QD2_F4oiFfs5byKsCk_Kai8iVGiERaDPz2F0AosgjaoXYyjUqJMWiQxYFz3eSBgLYm_gzzfi91GFYXLbhLJv24f7HgcuxtR5iwvbVQobsOxcB9KuT_C3SIKyvIUr5HFWlQOMuNj4FttNHy06jc9vcb4vA-6_YmhE6HoBzuCxqJdOAdhQ5bIjsg1_b8v8DVXDnMRsJeZYLJhnDKYQyIbKIHNf9dN5m9Opjt7EnnJh04K29fmS-D3L6xF3QiBeR4VDSAHpfylXjeRoWUnENoe26qIN3TGVkju5FAwjFwojtXtVUs8xrP8sik2g4iC0HpdWyT-HgY0nDY76ldXg==",
  "id": "rs_00e9a09a8d48789e016ab42119538087d0a837507db92ee40e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.33,\"right_y\":0.135,\"right_z\":0.045},\"note\":\"The brown plush also slipped out of the jaws and remains on the tabletop; its body is closer to the robot than the previous fingertip position. I’m reopening and moving slightly back and right so the fingers straddle its torso rather than close in front of it.\"}",
  "call_id": "call_GKzyj4xJU64Jg6aQFE7QWZf8",
  "id": "fc_00e9a09a8d48789e016ab4211b610c87d08371392bd56734b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GKzyj4xJU64Jg6aQFE7QWZf8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.5671, 1.6184, 0.8574, -0.3798, 0.3832, 0.2943, 0.9949]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3278 right_y=0.1347 right_z=0.0377 right_yaw=0.0176 right_pitch=-0.443 right_roll=-0.2171 right_gripper=0.9949\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.2393, -8.3214, 5.6274, 1.199, 0.2076, -0.0464, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba71caff4ead56ba687461fb748fa8e5821f3ae75a158849a3bcac75d3b3a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9dd70231b534592d8b6d8e882452d73d529183dd5cf342b3a524e4050de6ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a86121ee45f4bde79c0ffba6d6e4d688427316ee81115f9de84252215445a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.6846, 1.7473, 1.0996, -0.4328, 0.4557, 0.3996, 0.9951]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3611 right_y=0.199 right_z=0.0703 right_yaw=0.0332 right_pitch=-0.3454 right_roll=-0.1739 right_gripper=0.9951\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1983, -9.853, 6.4615, 1.3797, 0.2418, -0.0659, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.588, 1.7599, 1.0096, -0.3683, 0.3954, 0.3168, 0.0082]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3615 right_y=0.1636 right_z=0.0386 right_yaw=0.0211 right_pitch=-0.4158 right_roll=-0.2013 right_gripper=0.0082\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.0479, -9.2376, 7.0496, 1.1355, 0.2857, 0.0269, 0.6422]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.5671, 1.6184, 0.8574, -0.3798, 0.3832, 0.2943, 0.9949]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3278 right_y=0.1347 right_z=0.0377 right_yaw=0.0176 right_pitch=-0.443 right_roll=-0.2171 right_gripper=0.9949\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.2393, -8.3214, 5.6274, 1.199, 0.2076, -0.0464, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba71caff4ead56ba687461fb748fa8e5821f3ae75a158849a3bcac75d3b3a53f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9dd70231b534592d8b6d8e882452d73d529183dd5cf342b3a524e4050de6ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 412):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a86121ee45f4bde79c0ffba6d6e4d688427316ee81115f9de84252215445a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEfUgNcVK1KVhbRSGHbvzp5UUJaJ6lXH-Y8ySN3QIe1HilD0fTeDTqZsE7oB6Z_8Q--PByIi10P5fShK1hS0tQ5W9wXLALsXac73W-DKKisE5gXuM96By7pa7NilIcjXhCQ87eANCQDlFk2J8qbkGgWRLRcDJ1b-FyX0-CJr49XWcFKREMwSNoTuh3J_uEJ8C8sF8WCklKXZxqeaVNSebvrJLC65JHjYxzVCNJ-7IfQ_7PA5VHwKabOz76V0cCtmGxIHzciq2aax5qVuejJm6G3xCtr7FQpaBhMQs25FJa3Mc7QvOnIvpte7wT5737QU1GGIGIwvhObQBBbcZROALQ-WtBng1ZoYh8JSWWC-8An581v-anN2g4fmoyCimTwzUeCXdHKYczA_yLYoZoRTXb6PORLmpQcX4vPb23p8vK5mpmCKyngZBpMYefOYdmz0Cu3fr1BjY5R6JKc1WZF5w45HGoQ5euBLdaqdKrc9zVyL68A6J0Z4KKMPN0_0pb8H7oQnlu_D3VPCypMqvJpG1jbwvY6sIgrX1qGpQM9vyyrxcAV9vfDb9FSNdJ0X_X52QKLGJQvD468m67ak5rQN0qBgT9hHbEPeaqN5DOHtqx0lYDdyJwBPaRXpgP6lf8XhH4nGSilxfT3NY9s8PEEy9r2hc-lHjZ_gFF9Nzr1GVyRBkGZ4atAMavNhdJqJxWhVu5XWnuGxlz9eCjyWtGsS6j0-tTtKhcRsC1nuhLwvTN18IHNIOCUQbuqfiLj3L4Nc5ItHdViVdXpiJihm1jh8xAiSRQNmflULxa5hSg0GVqqteZlwdGvqFocXvDjN7QUbUvEY1tepktEC3-xr21edQUg3XXZTAFoPKH3Bvp5PNuW06KaAoyr2LZMTkhF5-nDtPz6vUF3o6jKf-uKy2BJeAbqao3TKGF8q_AcCoERmlDNNq3sztNpBjgckYX-fXjtLexV2jLv8DrQkjlu2WrjCfeB7rXfSTPWWh2VZyIQgHB8zriwzIzsogUifU_DuwoIOQQQzOleEcwtzBwsGyUAGSEWoOAfsxeXW7tcI8-meUirXjkmLqAGqUVXGUqtMxCDSBXa3BPLbqb0z1Kr6TydIHrHG84plgqjUeWNSzTz0NAZgkIJ5qL3w5pRvVdgI6z-IHErtZ5R7I-FeLp9NywJ1N_L8oD8O_7xmDUEF5WLpvw-iiTs_Oe7--vTcDPsOS6QAv6XIb3jWle2Ld3QEb7by6NE803pEyWkoW7f2x_QybSjUuQbPYnocakqV4Urk7I6dQ1vTpFTq5V6bTp9kH1F5cax3mCNkEwbd1-wXqFnrzMNbLAAXv8Q1CxR0_V-_NZZP3QKW2dNV-vSz4jcIsJldxKdzsnjUdIMc_-SGj-hDP7yyl4=",
  "id": "rs_00e9a09a8d48789e016ab4211e873c87d0831d82984a28a85a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso now lies across the center of the open fingertips instead of below them. I’m closing at this revised position.\"}",
  "call_id": "call_8a6g55V0yMj3b54m9uYYPwDd",
  "id": "fc_00e9a09a8d48789e016ab4211ee23087d0b0c6aaa46f44c3e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8a6g55V0yMj3b54m9uYYPwDd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.4988, -0.0189, -0.0387, 0.9992, 0.5674, 1.6123, 0.852, -0.387, 0.3763, 0.2878, 0.0085]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1533 left_yaw=0.0027 left_pitch=-0.1236 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3248 right_y=0.1343 right_z=0.0369 right_yaw=0.0256 right_pitch=-0.4525 right_roll=-0.2187 right_gripper=0.0085\nstate[joint_eff]: [-0.2803, -1.5521, 6.9265, 1.8144, -0.0513, -0.0464, -0.0122, -0.1299, -6.3521, 6.147, 1.072, 0.2515, 0.0659, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c0928be7c4ec6971a55f0ad5c5803b8c525eb6b7ebe8b740f26cc80e16314c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49b7c789917ed92eeffaef0ed150f57d09b65c91e2c34b2d38ff66f93518b02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aabddfece7a7025983f5d6d14dcbb4c895693c0bca2800407205802e515ee5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}