adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6033, -0.3935, -0.0193, -0.0372, 0.9993, -0.0212, 0.7944, 0.6064, -0.3969, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.3043, 2.0537, -0.0708, 0.1783, -0.0904, -0.2667, -1.5111, 9.7983, 1.9267, -0.0464, 0.0757, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e8ee3538a69055a2e28943560754739c934bf5bb3e6f83986435ee9d6c1b9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8efca55adfee2ee629e0519ca757d8b9dbf268af98ee6752098a42242bde42f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac31e2cf31c12cc2001966c50807060a32d028e36fb8c218ae396689438ee851",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJIcaC8QNcCSBzyYNLhCblSa4YrL4i2u1crjjpLOR1pWKuVHkex9XXtvtalL1HjqgsvE3Hfytoy3O_4oTxwNzaCZaKoQ6Vlp0soQI1Ghb19y3x6ospmzNSR-YFlfdoxSX9R2cB-yuD0kyMTVaQUB29QrEs0a4Jk98PmaWLSwhTMrV2HUBByuRShPoalP7jssqJY0MnMId51qzAFkFbFicRLIcTW6fYoW0JkDACihdcyxSTRqn7GDsuy89om6SX_ZMf5dgl_7SlIy3Zl74DSRW30nlVjf6U94VuFLfkKt3xk5oSK-SgoH0FnW1r_mbCDEpCNF8km40_4oSzxG1kaJAJP3gcZnQy76dmjTjAiy-_EaHscIp2IPQCyE5z7HRKOFKTTDflXx5U9kFjfZymD9h2Wsq9pk42t34PDNhaCJM8mup9kn7PQQ3CfVzknbPOniRXtCvM8dw4AFHg2p_WONqOtYZv_c1-KJCyNgrLeAw3aMJhFhOYm6e2mQWU0i44l5Admdi-8dsLTUnlXusQKNz0YGQ1etGgj9N92oesG61Ij3fm1UP3MdCzIsoZwE6WU9u4mYpt-yvYHQmyl3IIZek-t-XZglc7E97LfOAFZQrtIGK9iGqCUkqlBdtBtow12MpRGBL52oTon2xLJVqiohBpxKA4oKYbjhEDWS4-R94Zm2YjrFs1CHUsji7Dslwc2nXHTT6lyscgszIOdZu02RMNBUtn4dzWDWzzfxS76W3schYRYcYmB-8ePUccGxBRH10MsjjFoN0gai-jqNkLAOHwsnfsBY0bB6fls7PN5cQ895repp-XdheIOX7T6KwwXY0C7KxQZRrIWh4dFPqm2nqoX5YUZZi0bYDbCwl_ydoAW_abtMHQeKXA-ZEsC6RXLFOlN7I5EEFsm-tvMQHKRQwtokn7PZWqB7dD9xup_2qniPxOh18QGD5devpCYWMjWHTrI9l_ZcUDc2laUwQSJ9LLhMFMqACEE_uVuI2c8yNaM64zK8s3vKAtRe6h_h5C5lUShEuA3DLppYymcT09enZdk_6fmGk7qq-SUIMpJKcnZdZzPUTGNy4j0eepqhxWdvLLJV_r_MFEI8cfx916JQV5ttGr8Ru5DPN8sUclyp6hcBvHkDXlhf5nQs3rHM2c3XLH_BjvnB6lO9gqD1g8ImkmvebGSrlG0NTzusfZjm3drwu76aPPNVwDBRW2XKjU2Os5knac71GnBbCJp_xniKCFREJBIc7IPoGkRxrJJ5WkTgK0MatuzlQC4pCHYwotuoqsbDe-P_1L9UwY7bWxBtLHF_biRGfG0_qJWbq8HYCJ6st-E9GTDlLUJZMrrfP0lQrXn5gpao-h0tBVkOH0nZ46tn2zQv2BFFWht3kGvEFMYq4eNBGQTJs3iNNymuP0DjGy4IBmqo_4fnMk5lw508L3bSGbjmat4F9Z0rVyRvuE1z4cf0uraiwzh_MybyQCySuz8KJ1muSV7b4gVhY2rfWRsCK97Nd0Qii4iWdCDH0SfhAg=",
  "id": "rs_07d98f7c3f1489bd016ab44246b92487d085c563d0bddd2b0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The open safe is central, with a yellow object to its right and two plush objects below/left. I’ll first bring the right gripper above the yellow object, keeping the left arm parked.\"}",
  "call_id": "call_s76dcMLLPx6c3dYCcx03zFfK",
  "id": "fc_07d98f7c3f1489bd016ab44247760087d0a7ed1ffe75dfb39d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s76dcMLLPx6c3dYCcx03zFfK",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.617, 1.6402, 1.0782, -0.1825, 0.4717, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0007 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4073 right_y=0.1949 right_z=0.1416 right_yaw=0.0383 right_pitch=-0.0637 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.7897, 1.8339, -0.0317, -0.0122, -0.0171, 0.1983, -8.0615, 8.759, 1.8437, 0.3004, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6561750a2a2904d627412c7f1fd01978aee27544d9116e0e096e088668b151",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a36ea407527c9e0bac0e1efefb87deb09b7b445096d1c1abe79aa9ca7703d10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144ab0978b07084d429eccbca018dd81dfae1af9793f8393c05345c17f6567c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6033, -0.3935, -0.0193, -0.0372, 0.9993, -0.0212, 0.7944, 0.6064, -0.3969, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.3043, 2.0537, -0.0708, 0.1783, -0.0904, -0.2667, -1.5111, 9.7983, 1.9267, -0.0464, 0.0757, -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, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.617, 1.6402, 1.0782, -0.1825, 0.4717, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0007 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4073 right_y=0.1949 right_z=0.1416 right_yaw=0.0383 right_pitch=-0.0637 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.7897, 1.8339, -0.0317, -0.0122, -0.0171, 0.1983, -8.0615, 8.759, 1.8437, 0.3004, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6561750a2a2904d627412c7f1fd01978aee27544d9116e0e096e088668b151",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a36ea407527c9e0bac0e1efefb87deb09b7b445096d1c1abe79aa9ca7703d10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144ab0978b07084d429eccbca018dd81dfae1af9793f8393c05345c17f6567c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJNl6C0AlOsad5tQSrxJUEVYMa8C8yKRmvkugqOVqg14qTjMPxdPZbuMCco37yV6RdIimszgjEtmm0ajJBVxUHm0wRs6bxi98rz5gpAtVOvilXOu6J7V_Nozm6ExDtqquYq7ovx8VBqaqn_VzrVXKVOlorKpcD1uSNEzpwQUGjQCC3Ujn11g_l78j4g3-5WTxxLkzLhocJ8ViEYKkkK6BZRN6NA7l5p5GoJranniRVyGDoHUxUxve-fdHgBH_CsUEkWYeW2d7Znwp1aRVMKZRXJnU72EYT9D75_ufSGXJ5dNrcuXplYiPoO7ZC6oASj3LtrkofBDdhJDdip8nQ-GK4jTEVT4hfDpi0nw5SHLIhzk-kix7ErNmxyaPkdUeL4LE55LfnlNxcL8hCJM-WRQc2UcrmOkv-K51owj3QFN02sCv1IRkk3RR-iJKAgNQ4-yc10GvmE847Cz_kOer3j14bdn1lpLFrJMWT6x9TarB2QO-s00ogfjWyzyB4ooMLgGvmJjfHvOtRdLzOm0htRrNaHCqGZIQ1ODU3ojxqH8uluIdN0ikQhsVB07wDzcTGVXuGyigS4-pEqUzqQQcO7k8Aacb-Q6KSCHvUVKt4J_Kcebs8MlbVsqtRjfWl0SOsgThrFniYpBm24NxAXE0CCOKWJGoq_8MXGWhWMwQCbgZR6yRZtA-HSs2rQUDbwqAN3Y3ONfZLzzj88xpGVYTDmyOtRF4b4Pko89DQaISA_No2majBVPs3DqRiXlrsSiQ8fJD2I1OO2VfdXbP3JaVtuvUx174Hz9iysoCsLAUT7narrdORrNJ3ebpsTZQk8lIBSiPdt3cD3SYCutIVLJdbnm3EQxP9Wh-ZAfUVcQBapR-orbn8X6xhRvafvDef3-IxOhXyJmz53lewNDERDhayseK5fZuxIZQEN614ii7W0yA7glN16RYQHTon5YXHeUJTspxKqtNp7QYLRWQ_nrkAlZTnDAd2BzogoavA4tM-Uaq_uno-AQDT0Pr8is0DttQ7z1qWpg6vN67UV4tNFrLKY1BecQ8bm9sEETNFDGmDUAD9YTE6r5ZkU_HIxF6ajk9qDTk4r5v1zLqHlCkiNi-lLpPJviILSsb0kctjv1jDOGdmAPhErEPyCZ0JjqTjUMR8QLvdW_MiWBEVjPZZxXlAEvH05I_gJvMaOLYXodZBBqh016AZJjWYg-F40USQv5azr52t6L1jQ9UH2BUAQ-OUBc4EhHHbKl_w9BZCdkoz4-jrkYsCfXovyDBkgjOgPfsTBQW3JlQloox3pArjwSQmtD9jTqalqm7xF9CDI5T-mbvHe03ERNCFTgOZ6FrA7IWek2g-tQVd8biUOkLaajF0biI6fI7rjTvnhm4vXqX_CTLDkrlbyriMw1-7gjTIXivA330I7joKcMzHPT03Jn2on4Wbo3yLP-BvziP7enXAsn2qJmURHAquRR5BQsOE-EsMsc4Yrxhuc9gOK3zGl_CJ0PMU4EsV1UCnSMcDhwLyM0rP7iqH6m7pW-2qdnUHnQfqi_N0272S2Pz3O_MHhZ5ME48SLqbgIBasXJshcamNC-rA2vlgDPEMC_jNHJ99zHRIs2yxSugKAHqwFMFN9s1FtYzW0TqOTYD5-RohoYnv_KAdTiBpxISnnkJnCH85hpu60HVGo6cCAHh8vPt1xvntllBldC7qHhOdIE0tPaP1gnTawLEnvIZZoTB8pVKRp2vQIsK_M5hZkcLh08d6aXzc7OLgtwb2eBhDFsKbl7j7biqyzmVIAQQ-RXJ-gfnrIPg2GSq4w5J3wCCGCEIQuADM4P023Hftc4nITUBkGYyb-yFjRS9b1vqfbAsbWYKwhNoKoPHVTzyDKPGMrhtyJSmhRDbSEtqCAozx2m-IRetNyQOqZSvo=",
  "id": "rs_07d98f7c3f1489bd016ab4424b2bcc87d0a0bbc7005144cc29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.2,\"right_z\":0.16},\"note\":\"The yellow object is centered on the right jaw column, but it still has clear wrist-camera space below it, indicating the fingertips are a few centimeters short. I’ll advance outward by 3 cm while staying high.\"}",
  "call_id": "call_Jmq3XJnnzPU2ghoPo09YIbfN",
  "id": "fc_07d98f7c3f1489bd016ab4424c95e487d09d5e39d3218cbcf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jmq3XJnnzPU2ghoPo09YIbfN",
  "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, 0.7979, 0.6064, -0.4091, -0.0189, -0.0387, 0.9992, 0.5835, 1.7176, 1.2018, -0.2569, 0.4484, 0.3061, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4288 right_y=0.1956 right_z=0.1446 right_yaw=0.0341 right_pitch=-0.0967 right_roll=-0.0632 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1419, 7.2, 1.7509, -0.0806, -0.0171, -0.0122, -0.1846, -8.5538, 8.759, 1.663, 0.0562, 0.0659, -0.0171]\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,$blob:db89383499105a60924d692619e21242b7006ad3da1e515e552c56b1c656a98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc334a49f0552f1625299e802890638feb967b5e5d56eee896be7a96711af41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f09981b1e35a5e68c3261517e455966d949b71fc14e96c1ecf927c4829a55c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.617, 1.6402, 1.0782, -0.1825, 0.4717, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0007 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4073 right_y=0.1949 right_z=0.1416 right_yaw=0.0383 right_pitch=-0.0637 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.7897, 1.8339, -0.0317, -0.0122, -0.0171, 0.1983, -8.0615, 8.759, 1.8437, 0.3004, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7979, 0.6064, -0.4091, -0.0189, -0.0387, 0.9992, 0.5835, 1.7176, 1.2018, -0.2569, 0.4484, 0.3061, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4288 right_y=0.1956 right_z=0.1446 right_yaw=0.0341 right_pitch=-0.0967 right_roll=-0.0632 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1419, 7.2, 1.7509, -0.0806, -0.0171, -0.0122, -0.1846, -8.5538, 8.759, 1.663, 0.0562, 0.0659, -0.0171]\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,$blob:db89383499105a60924d692619e21242b7006ad3da1e515e552c56b1c656a98c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc334a49f0552f1625299e802890638feb967b5e5d56eee896be7a96711af41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f09981b1e35a5e68c3261517e455966d949b71fc14e96c1ecf927c4829a55c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJQSyzVJcc4lydSyKF1JKbom1TT5L3Wa0PL0Dm9pwq_VLqEugQ9ABx7BtBHy8hvGMYxYuhOUbPrdup_Wx3d7VsON1l8l19EizjHjh5F-PExjc7d7Bh9pUFMl1DhBHmiqtjiMEIF4R3loNs_1AEBDn2UGVxm3ToU9ftX1t0e4Sax6LrQpso8OmRqZZ8cEB4FRKg8PDx_Vaz1rUnSit-zCIPJ-WuPXY-l05daQjj_lPqmFJiA47I8iiyn-etAM0qI6VZ9ZlOkIebOQyljaxO8NQakeFcj3WhBX41ZiGuoULc41OT7YbKOikONy4XO5IfuWNvmOBFQRNWH76V-4MyNwGq-7vFnBHR297HLZZeHqP252RYCe7FLuJsyAl7dMPUD9ShVRdyofRpMuYyc5Ev4piWyZO79A_Bpog4o3t8fNlDm0W4Ypoelo3AyU9vz9zDIbDzEz8lIXw7h6cNpKOrycGLM9tzuugCA9lW46b61Y-0Re9NVY59qeLM7ebpeKf7m4oSsIcX6Y82L4iDIji28QvJ7mDPhuiwF79Gk0D-mBjwxJ5X4WnhQLjxktq2JZPKkRuNaUJhFDNH98fgypFxFVu9-OrJ1vPeNwAVhAv8mDgBNAE0rTz9IIwAxqmzva2gqSCotOHtFlztoledjXEOuybGqnN1kYTtCy49Hpa_BMwP21Kwxv3i18TVOgqICCCYsPYQ6g0G84YhR0x-Vv3EMAJjJsigIjVGgD59pZTTeq8ZdxD3afGED458NwkWlQl4DHVN55RveUBHOvd_w2QjTo9sUUv02QkTqHF_7QTxhJg3HmOOScaBhEUhBgMg29P_tgIllLsJUIy6WKwvntk5eUbDOmPgq_hDyekZcU2PXAOmY2gQMwu_ne4zR8v-GmzdCSI2QCxa5c4pxyF5YxkQKJav64rGJYmX4TP2HKyZp8dNN1_t7rosLo0heHE84XseP3otY6nTZIRqaFpzy85fTwv5o5pLpbbBCGdz8KM_9Qhl3z2Ro1i3eb1dawG9_XbIl3VG1bVgIg3dfW7d0cu55iST13QrGBBhNTC6gQ9euDdW9fIlPEDML-3HtPg7zF4LpyJkoWnifpiy3fvEnwA97i5_X1viR5xPlkJytWXnnZgj8Lvd5ek2CNgMqOAcPZbJikrcqh_ZwXsbszgw149gZhshQ16GdUneafeVNBYk1LMK0_nFPZPBLio0-fYHg42U4OvJMuZXoBlDJTBD8TqQ44Kh8HBznYGRBrbTdNtwXh_X-pf_jIez369hgqeTfY7OfoX0T3JarcYLcdghtoWy78HII8eC5unGp0nCEAckJQgH4FREVnS9Ppns5OzO2_ivLROJL8UM30rXYGy1D38iS0fjH0tvJT4fvGmyyIxcSlLQgwGc977YY7moF2rWBUmXZGP3vmc2tohCXCIy-pHHb2wVPjlMZyv-JAezX0-KgRQs2BT9MetH0uj4w06HNz3K-cyJEbEs2le93Q0Cjg-oG4FitLj0dFCpGEgb2IKTenQMRnuToO0NyxlGVpVgOg8NLo3T24_bVMI2aKGcI8_PDRNuq9tC136CDvbkBNyRFTzru-WU9xvtqtUEIyAxV3w-cOuUKIhmdJtZ8k4C_G_BMUdWmZ66gMmggI3poDg3DXQr_SbYIiaRcegIsaC8UNKbKs0ECDqwr8en-AMIyhcNt7MAXok3b5l9MxbGQkSw_Z0zz3b1DAVbTjqtPv49wzZEPkJ3JXVuhcy9lgR9V9hLUEkLP0AXvDrikQ86I2owhTpjhOd97Pho4fdS8mGVECRb_4cK6AusBJxJu2H9r6GuJBkHsz3u1OQpjFKIj1BVpK1VlaunwVZLa6YwBdKfgZsD3SZtUgRWwhE5VHPe9ZnAQ76r286uWAZs7W_VttY98OPnytk4=",
  "id": "rs_07d98f7c3f1489bd016ab4424e9eb487d0a135cb9ba0a73c78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.16},\"note\":\"After the 3 cm advance the yellow object remains aligned laterally but is still visibly ahead of the fingertips in the wrist view. I’ll advance another 2 cm before descending.\"}",
  "call_id": "call_9T8Vo6EvxxQz4hpaHSOv2WUo",
  "id": "fc_07d98f7c3f1489bd016ab4424ff1cc87d08877bc9a8e76b4c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9T8Vo6EvxxQz4hpaHSOv2WUo",
  "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, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.5571, 1.7943, 1.3212, -0.3344, 0.4221, 0.2806, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0007 left_pitch=-0.0267 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4471 right_y=0.1975 right_z=0.1443 right_yaw=0.0403 right_pitch=-0.1371 right_roll=-0.0844 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.306, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.4581, -9.4154, 9.0735, 1.6093, 0.1929, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ee24329c406d30e6809db8e9b9dff6ea9770ae54e25e140b088d9a337e4d61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9c9fbdac6748e744298006da66cc95a61f515f8763b19f0d969c392c5b83d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f23b00cc0f6fbe9e6e92f87ef4d9829dab8cf3b727e1e9c135b7248c72af52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6033, -0.3935, -0.0193, -0.0372, 0.9993, -0.0212, 0.7944, 0.6064, -0.3969, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1772 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0009 right_z=0.1774 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3333, 10.3043, 2.0537, -0.0708, 0.1783, -0.0904, -0.2667, -1.5111, 9.7983, 1.9267, -0.0464, 0.0757, -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, 0.7979, 0.6064, -0.4091, -0.0189, -0.0387, 0.9992, 0.5835, 1.7176, 1.2018, -0.2569, 0.4484, 0.3061, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4288 right_y=0.1956 right_z=0.1446 right_yaw=0.0341 right_pitch=-0.0967 right_roll=-0.0632 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1419, 7.2, 1.7509, -0.0806, -0.0171, -0.0122, -0.1846, -8.5538, 8.759, 1.663, 0.0562, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.5571, 1.7943, 1.3212, -0.3344, 0.4221, 0.2806, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0007 left_pitch=-0.0267 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4471 right_y=0.1975 right_z=0.1443 right_yaw=0.0403 right_pitch=-0.1371 right_roll=-0.0844 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.306, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.4581, -9.4154, 9.0735, 1.6093, 0.1929, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ee24329c406d30e6809db8e9b9dff6ea9770ae54e25e140b088d9a337e4d61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9c9fbdac6748e744298006da66cc95a61f515f8763b19f0d969c392c5b83d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f23b00cc0f6fbe9e6e92f87ef4d9829dab8cf3b727e1e9c135b7248c72af52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJSFKnIR4UT-A_1JNirkNrl-Xxbi7LSpuqi5k_nJsoSD00daCQDy3UcOj6F01iHdcyDj02w0_bAA-Sku71c_HqjVCY6MmpS9obPmprFc31XMDDLygjIK4-J4CMpvsjYb758hxTsC4DLvtdLHo10OG5V_RRp4yX7frodY0_p4ZilsfdPtrneCvLwRvbXIpjlH6Jjo7ubact92-Kea3SVNfN4lp1m4-U2JH6Kg-W39NV95XwrHda8H2iU2WQidR5nUZrV1xuOXkk9yjNn-srBE59C8CUA6OPyjEtXx198poTWbj3vmjfpinsNjSlKpmDjoG3zWEzOdhbDUpXSJCGsw0xp2WNG9QlY6s7DtN3yH92DdoKXrCP9-clmxQsd6BeRSHXHJSf9t28LDPdWZYiubMyEM90GtI90Yq5v_1ae2kRGyZWSlsqlu4vNLi51DOWSWrkcMxjXD2v_Yex_btfFCop4i3rNH_nw8uer-ccwYWllRg6KO5TpcxaUj_mWGPKVhn1XGsyRuJkKNIF3X_OFCRtpbzcZfpIiK-AURT4PIbOQPLIp41NI_e6m_sNbIxXVA4dAPttcMtZh20XfPxqd1VTiglKHfLg_VQtTEloRreQPzNSPbPf9Vfh9tcKFfmxkDUb5aMgM-iHLGNMyW7NRFPDgCuUAW34mX_2T2SghtNWDg4annwVVvCkhklCCWNuqLG-eI-12ObD2oiFXMHjxlc5PvId1asJBh5XwvdxCeeeCR9D8lVsTS7DnTWbcxRvg6qsxPrv0kPaT1ZqKv9sLZQdxk_0EQiCS07Al7Mbb508XzobccyVrh9mTiJp6Z79NZU4VHK7Z1YaL_d1A76no-89xZ6KjoI40lNEo4tRjJhWWE_g3zH9dillXvm8EPSAeOXloKhYnwCpACKHu36YyJwECoJidKq_jFYZALHgnuTY27WKoZySObRdN4U-AEhlPoBDvV62DLstxmnUOQ30_3oO7svUBpQ61E6bhX78-u1hU7Uz6jhENAJy30fpTe06qBAIe1xXD-3laDK1d75sPyRttMNwCbbfZRjGndkFJl-1h62a-zf0OzCIYH85B-mH8Xo2QfT_8eXWXAd72IYj9n9ZIM2PMVqhIrcadfyNKAvmf7SHRHO-Sux8mShdU998xaDT87XZzXpilopk8vTY5zV-Kk5R5IAJhxhXvoqh4lfyjThyFx7d01mdRESjiqX3I3Sa6r4rwLfOILKjRvizCH9RFMtAyL3XQGNmlFZ2OIIETLiLBaiWtvc70JhOKZAmQpb1gXchBqlwvXF7tg4AVZ47OylqLW-C7YmO0BvOzp3voO7M=",
  "id": "rs_07d98f7c3f1489bd016ab44251bf5887d08276b9220e403da5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.025},\"note\":\"The yellow object is now directly on the jaw column and close enough radially for a grasp. I’ll descend to its mid-height near the tabletop while keeping the gripper open.\"}",
  "call_id": "call_dqqmIVrO3y99XHuYTmLwy4KD",
  "id": "fc_07d98f7c3f1489bd016ab44252195887d0bff846c78f97efac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dqqmIVrO3y99XHuYTmLwy4KD",
  "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, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.548, 2.0071, 1.1374, 0.0307, 0.4061, 0.2726, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0381 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4534 right_y=0.1992 right_z=0.03 right_yaw=0.0457 right_pitch=-0.1708 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8046, -0.0464, -0.0659, -0.0122, -0.4991, -8.8547, 4.8752, 1.2576, 0.1685, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d395fed065876dd367f14cfeadc1b99cfa57e8ed081477718fe16e02e2ecda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf794d4bc93e3d11a866d1b9350ffee84d090cd859b852cf3919307f6cf1ace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deee7ff73bb3b8bd39a56fff909e1c76a3ccfe5fe57dbb73d4eae72d7d573bac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4065, -0.0189, -0.0383, 0.9992, 0.617, 1.6402, 1.0782, -0.1825, 0.4717, 0.329, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0007 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9992 right_x=0.4073 right_y=0.1949 right_z=0.1416 right_yaw=0.0383 right_pitch=-0.0637 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.5111, 6.7897, 1.8339, -0.0317, -0.0122, -0.0171, 0.1983, -8.0615, 8.759, 1.8437, 0.3004, 0.2173, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.5571, 1.7943, 1.3212, -0.3344, 0.4221, 0.2806, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0007 left_pitch=-0.0267 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4471 right_y=0.1975 right_z=0.1443 right_yaw=0.0403 right_pitch=-0.1371 right_roll=-0.0844 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.306, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.4581, -9.4154, 9.0735, 1.6093, 0.1929, 0.0708, -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, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.548, 2.0071, 1.1374, 0.0307, 0.4061, 0.2726, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0381 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4534 right_y=0.1992 right_z=0.03 right_yaw=0.0457 right_pitch=-0.1708 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8046, -0.0464, -0.0659, -0.0122, -0.4991, -8.8547, 4.8752, 1.2576, 0.1685, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d395fed065876dd367f14cfeadc1b99cfa57e8ed081477718fe16e02e2ecda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf794d4bc93e3d11a866d1b9350ffee84d090cd859b852cf3919307f6cf1ace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deee7ff73bb3b8bd39a56fff909e1c76a3ccfe5fe57dbb73d4eae72d7d573bac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJWsERUaHxpvjnG-GFsmQvfI9nHvw0zREOuQtfpOmVP0ENsuwljUnFRyecQ7ZxuK_byiM6mwGBHCj7oA6l-lObJ_c6Sz_IQzZGTadDan_YfOzkF0dSYTyQt36rO-qysS6fxEBTfujoew72AXkSB8Ef3Q340VnSQYmNW6udnn3KLoDVXQcS3upZnxSVLQ8nbQryGuVUvJfuJEvDqHTn7esOzy-pBuMRLo8GkBSpqa4KGfQew6IWzgaV3f13cpUmJsSfIsae81z9PTSMYrPsH6bsLj69QRrSqB7Q5Dydv1cyB9EV3zAoUNm9pU7RTajKQbAwvRl3u2cOPQoHSqPXuDYDzH8nUjtM47O-pslhzujsjx-JnXZ8PihsFYqhI9lqQGb_aZjsf2Nk2w8mPn5UG0N92yNETqG8szLSeQYic7WMUKHQRJPxy_V4q_QB3B6U8jqhI1WN1QGwEWqTdGEdzK5U5InjROrsg2Hbg88iX086Ieuvwg65DAnwuKb8byW0sldp55MMbGiyu9nY8PhkKwdJkWUXHoJxWPMw8SpuNclRNYLirw77pSYZ52kF8AxIvgL4plKZcy0XuxACC0NKNWdxrv69MLABKlLPwYQRnxxtSaQzR7SQwqqYHtvY0RdNHK5iuxgATPgWlesMaP_UwOYrNZ882xg7qE50zH2qfFmEYh_fh0BM7wIS7bhGQol3Suk7ZT-ZmhqT12La7iFCiRgakVycljjaMKfRrVnb6-hWiuttniNLi8PQwBb-xhV7yk6QrrZRKK9nQXM1sxat1_8NzWenSqOILnVe_PKhHNdmWzrAsUqfNObcDk-Q15sdDLRAchWTybaFgeL2JC-nSSk_GsJ1VDEGEFD-PH9H3sRm3sYpl6zM__mnvB-O66m0s07a4wJEO1Cx5Qnn8Mz0Fij8ER2bh5jGkBkzjcdL2p9Vw98wta8tu9epYln_PKklPrPLRuo_fH-B1X22NWUfJmz62ImSRn8yn3a6YHlC6ud013uscZjPsi7xLyTTKCAkpEJ33PklmzbGD7WOcHC9zaTSCpMGouHv_BbCcPX4nRM9XhO9XNWFaKQxrSmMARFHd3eMScNsqVGUM8hcqSr3cDq8picB_8NNwsQY-GtLrt0AWLJKdozL9CvIlsP8t4TNb34y7Q8WY33PMeOIRCIS1zjSeaQ4GG7FxJIGIW9dJ6LhP924UDjJcOLEln2sHCEcmiUgwfVM2yxc5tI4i94yneEXMLVZk6B3g1OMs55rYe9vVE1j8GLmdfN9ZOwB3GvQ8wxK7Yswn00O_tXAGtGu4xdIq1gGyW58qocazpvyfXt5JJjK-2mJuxjqdVcX7_kVYZbCSpQm-cI7oBvKeFFzL4HST9GjGKnlIdnazz_kVxXUYvsWBPPb80lSHhL2Oeh8OiKzxKlFqMjUeW5OM-2gduCJXdFc-Nwlr73gAKeRe93ZAhevCW26cHCkLQcvUO6c8IAnGHoEkRSHFxPAOgy_H2rPuXWVexwUGztSGoLCkuWEAm7Hg_qwVqFTIT-ihNyBLjH30w6S8_yBgD1c90F8-0r9o-i_oYjhv-zz0afBGvQHoTqLDrQHiYAwC4hjXIi6l4gd9nJNMUDdZh6rtP5MTbtBBmSFZ6MHaDi6OJ9zxHd4yArwmu3y1NA_-b7QQJHDKx6898IcPdoSbxpsqP6zitNloQ3Z-JL-D85t_WjwF4tvozqTjIOWgQiKSgRATbWgbdoowZlPXE3NmGUooW8CFRwZ46YFMYfpU3STWM26To9hx1xEP1RI8p4uB1QHYjlX5kmLkV8oAwYxY_Kp2BO0vrbRdXI1GPI4hPFqYHgNVQErMYe4gEXRLcphHKwAXewqGwWkBr0weD1Nva_29cedM4RT_RmzsKtnwGVsIr8-Y3Kci0Ec=",
  "id": "rs_07d98f7c3f1489bd016ab4425493e087d08a75e26346f7ab10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.025},\"note\":\"At grasp height the yellow object appears about 2 cm to the right of the jaw centerline, so closing now could eject it sideways. I’ll shift the right gripper slightly right to center it.\"}",
  "call_id": "call_zmXRn1g1ZangtN3F1X1CFM1O",
  "id": "fc_07d98f7c3f1489bd016ab44255e38c87d0826691d3792dfbb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zmXRn1g1ZangtN3F1X1CFM1O",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6064, -0.4294, -0.0189, -0.0383, 0.9992, 0.5262, 2.0205, 1.1229, 0.0891, 0.379, 0.2573, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.169 left_yaw=0.0007 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4601 right_y=0.1958 right_z=0.0264 right_yaw=0.0561 right_pitch=-0.1538 right_roll=-0.0747 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.388, 7.0085, 1.6923, -0.0757, -0.0415, -0.0122, -1.4017, -11.5761, 4.6291, 1.4042, 0.3541, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fccd3de5425d5d15789d4f36cd79aaaec8725cb247f7050a59f19b16d331c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ab84c1bd48b5fdd7dc6fa5797d4998716a8aba8345c7264464b10cf8fb7997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05ff16cd6fc53ea21f6d89e4c9acca45840e8992c7c57b1ea5f903e5ba7af1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7979, 0.6064, -0.4091, -0.0189, -0.0387, 0.9992, 0.5835, 1.7176, 1.2018, -0.2569, 0.4484, 0.3061, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0014 left_z=0.174 left_yaw=0.0009 left_pitch=-0.0179 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4288 right_y=0.1956 right_z=0.1446 right_yaw=0.0341 right_pitch=-0.0967 right_roll=-0.0632 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1419, 7.2, 1.7509, -0.0806, -0.0171, -0.0122, -0.1846, -8.5538, 8.759, 1.663, 0.0562, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.548, 2.0071, 1.1374, 0.0307, 0.4061, 0.2726, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0381 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4534 right_y=0.1992 right_z=0.03 right_yaw=0.0457 right_pitch=-0.1708 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8046, -0.0464, -0.0659, -0.0122, -0.4991, -8.8547, 4.8752, 1.2576, 0.1685, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6064, -0.4294, -0.0189, -0.0383, 0.9992, 0.5262, 2.0205, 1.1229, 0.0891, 0.379, 0.2573, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.169 left_yaw=0.0007 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4601 right_y=0.1958 right_z=0.0264 right_yaw=0.0561 right_pitch=-0.1538 right_roll=-0.0747 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.388, 7.0085, 1.6923, -0.0757, -0.0415, -0.0122, -1.4017, -11.5761, 4.6291, 1.4042, 0.3541, -0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6fccd3de5425d5d15789d4f36cd79aaaec8725cb247f7050a59f19b16d331c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ab84c1bd48b5fdd7dc6fa5797d4998716a8aba8345c7264464b10cf8fb7997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05ff16cd6fc53ea21f6d89e4c9acca45840e8992c7c57b1ea5f903e5ba7af1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJaZhoeS-7T-6xtkqe2IpEBfiPh6vSydZiboAWfg0dznvIDHjqeh-XwPreyV1lJTZKLTGAUkSIUgfwDXL0nM_9Mz1L4dM5yeTyB6n0nycjIF7s1ba2Xq3xVFLrQ-V5JieetUaNDZBYo_EmAt6GW7DZz3MaCJcE1dUlemKPcG6yJJDYh6rhFIJ5sh7sndHQTBi7jbN3wDzi9bfWvD15we7cIBmWkGhq8pU7bZAfSNFcqVjUaJ4GiJrzTm2IYfoEpfxxpXGwFnuJwmy30Hh18tgwvZxEBQ94t44IeGnT475bh9VLJWRFSGJ_2ODC2VJIAHgnmjZn8TK_Nc-xI3VkP8H3aKYB4NiOkddzvPaahHT2XzhH_sfBOPAtf0_G8vnEHZ75OXVtLre3zPKBG554nNildTY1kbLIN8KrHiK-xelGf2MYP6zC5CLcMuWKJQOYfLwBiowddVwiXVhGibw5o0Cho_Hg1_QNWXbFXUMYk7qcfsaaRbhf0E6MoFkuwoo78650e5AjkXIZBXTl1LAz_KK2HIVDKHB93BXHwvxk6HyY9fC58A5MxInxP_cIBY91EAfh0LZW2tC-V3dgDm6hH_EB7NTT9UWsTXOxJq6ldAvCgP5lK7Iy4rH8uRGHoUZUYJ-lsqa6gRKMli9Hht827QYL6aIztOveCsT58-FcCAr_zJFt_yDi3cHzIz9gFv1rbH4a7XGvU4xI-9J9sHuaYS4bXsj-AmPwZZZT8PBff_g4FDnH1JW0AaaHFdkb0ouJGf8F7lrzsidwgp0TtjmMLN6HIS0AYeGNH_bl9pbn9sF0JKxgtPZ1yPiPR2Fke3zsiY43VXiKveonb9nZ-IptGKd1IxZ1CYwEwtp4dpErry4RKxZZQkYos-kydg9dFfbl1kn8CWKI2rMXxUbg-rRiiuZaTgxp8bgv01aUd7zkvBy-eU70cmy7iJ7QEzHHS6KNSG_QRJlROj5YVA72rrO4Id7ZsA-ZgI1aEzv02z4CfqpWwfX4qcuzqOHvg4bGsemAZf1suWJm0gswPezPl4U1HdQmMERguggIuYfOxXreJY5dq1ExEnP_LvdAzvMmoagIbn8v6MYF5iglDTpRqTIHJEVTPDAv-2iGqLAG1rqVc6Rra1vHhk4WnxNp3zahL0Q8cnhE6D6Q4raY3C8U9ScIa5LQmtLRrd83-wiykWvBujG928JGwsEnTP7lK1vSUBEzBFIiAq4Qcf-lI6998BCumhcYvDajg5FE-e_ZP7ggPXHgn3giO3VlZJm5uERqIj1DPr92gupmObMam91c0hls0dWQxY9H7Oh1fRdQj4Vse0h9DRfNC7Fzp35dwudeI_xHLhkMkGUY5Ec1xa3SA3_jiaKmlh-mwviTSHLlvbRemO76qmSFzXtsE03FsLZi_jXPPtH8vgtH_NzMzlbk_w2_6g3zIrbvc5sC7_bjyPh2gMkYgHfyVyJfHfX-kH66DLyaWgQ_PVTbTWK8YxhQdjk644qHtC6RCHBRz_BU05VkZ856mHFgj4HriYWuympmEqTwTNfv_qaYOzMf_UX8Zqji_5WGaTMKFZJwNNPq6zw6WEPBHxpOTyETw_i-g9x_IxUnt30pSfYZGqAmgoRbS-EsDm0tykmNybxCNQufI7mMcRz_YaFsfO5SbKo9XbH4zLACY7vLQojIwpWbB24r8Q8SnCHcq18q-6dqrNbrGXRk5NvPmpDJf_qDukVQOqY0hfhxtP_3aHB2i3fNC30uKbZUPzRu_kMrz9kg1rHD2ZIYWGuRBzEHzi2tiLa7EvM1ZY9G36OM-WfRqpH3VpW-DZnbreCK4o7WnTCbRlEtqBgFt8KOqN2-Y7yYNOqf3Jw0oNcyqcS0E_7GWwVoUfT9pxHqZ-cyLG9dvqDERj-Hg68aN7mmmYq9spGBMPwzZqVFULmzYrWITkXFKC5Y5iz9AeXTVuJicHvzrBY5mo_IiFUTn3TMcQlnuHe0klJorjDXsWH9avVvCXchw_C1t6n-iLmFNYMk5d7KqnZzceyLZkdIQAAANXzxj_NsFZQuwez2QWV85Oj0J6vv6yxcwfuiyhQSiPeWtmg==",
  "id": "rs_07d98f7c3f1489bd016ab44257cbb887d0a93d579b14299260",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.42},\"note\":\"The low, extended pose limited the lateral correction, but the yellow object now lies between the jaws with only a small offset. I’ll close to a moderate width rather than fully crushing the rounded object, reducing the chance it squirts sideways.\"}",
  "call_id": "call_tWtPbwQ7sYZHtJmxDwNCsgfm",
  "id": "fc_07d98f7c3f1489bd016ab44259b50887d08eb72b8c3b6ac8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tWtPbwQ7sYZHtJmxDwNCsgfm",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4355, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0849, 0.3622, 0.2546, 0.4253]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1977 right_z=0.0214 right_yaw=0.0725 right_pitch=-0.172 right_roll=-0.072 right_gripper=0.4253\nstate[joint_eff]: [-0.1026, -1.1282, 6.9812, 1.7851, -0.0611, -0.0708, -0.0122, -0.1573, -10.3863, 6.694, 1.5116, 0.3248, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06badb5931340ae462d987c22d34e4d842bbe224c434259014bcd4eef3bfadd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f11c55f4c0541f63384dfe1a4c5f37434871675033b7a9f11147f1b6c1effc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed3ed1b4d35847d3b164ef820c9a275b25df5b589a7c0819f2fa86afd88469b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4168, -0.0189, -0.0383, 0.9992, 0.5571, 1.7943, 1.3212, -0.3344, 0.4221, 0.2806, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1722 left_yaw=0.0007 left_pitch=-0.0267 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4471 right_y=0.1975 right_z=0.1443 right_yaw=0.0403 right_pitch=-0.1371 right_roll=-0.0844 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.306, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.4581, -9.4154, 9.0735, 1.6093, 0.1929, 0.0708, -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, 0.8013, 0.6064, -0.4294, -0.0189, -0.0383, 0.9992, 0.5262, 2.0205, 1.1229, 0.0891, 0.379, 0.2573, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.169 left_yaw=0.0007 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4601 right_y=0.1958 right_z=0.0264 right_yaw=0.0561 right_pitch=-0.1538 right_roll=-0.0747 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.388, 7.0085, 1.6923, -0.0757, -0.0415, -0.0122, -1.4017, -11.5761, 4.6291, 1.4042, 0.3541, -0.2466, -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, 0.8017, 0.6064, -0.4355, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0849, 0.3622, 0.2546, 0.4253]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1977 right_z=0.0214 right_yaw=0.0725 right_pitch=-0.172 right_roll=-0.072 right_gripper=0.4253\nstate[joint_eff]: [-0.1026, -1.1282, 6.9812, 1.7851, -0.0611, -0.0708, -0.0122, -0.1573, -10.3863, 6.694, 1.5116, 0.3248, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06badb5931340ae462d987c22d34e4d842bbe224c434259014bcd4eef3bfadd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f11c55f4c0541f63384dfe1a4c5f37434871675033b7a9f11147f1b6c1effc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed3ed1b4d35847d3b164ef820c9a275b25df5b589a7c0819f2fa86afd88469b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJfyAfb6jiQ0cfWV6kB_6NaW776PlJyEw4yHC0vsLSICFedAqxMxJl6p6sURgIfieqYm3bvk63_eq2MxNCNJgRT7Z-M5dU1npnYWIYc1beD8jNR8fbKcA2vlgSpUS73cmwmkmt6z6uEu2h_ONIPWQwRIeNcgS1-ej2deVjL2_pC0tTZcFpoWbQhd5HZX8nMaaWWsqIY_EEkiLdVY62MrANZ1Yit4dgPdLpCjK0e5uoUq5s4L73R08MaIfRtleKN9G-1h80wwQc9xVPLsUjMz72OE2c97CVAFqQzagFlADAcYqANRuf9d-oUp-HM95-bR3dO90EQT9fZiEROXdnQ0zNdbLdb9mYe7bGHVhwcKbK4dfwDT8Iw34X4z3aaQ9QJtbpEtk1ng6PWlYkkVy3w3qBh_UcOe_12HWtcEVZdbhGNTbHYUpyMnJmbBsOkzV1Rp_9l5N8-Aj8KBabuX0KtDpUsxnV2EKLADKuPNIMKg1RN_B-FubVagzgaj8RmyYdkSHKPh_vVxuR8hjR5ku0Z03gJDbd1vFySpmdMrDE6N6emaZo14qxtHYtMCNdDLzln-P4Q2Yy1ROM1uPiZz7ypzxs8mxzw9ioou1fbvnj_99Ag_R21B4ZvF2HaOqD0-YsdYbP4csuCoRpP23J9Ymx9q_ovnK664ILHkoFU3PQHLqE0QozsRVdMePvdjHdeuF3imT4f8WUwEC-xLwnf6co8dOVQ1-RuJw8UT2MkHAZ_moMOqd4WCcaINh0kiu6YsPB80uDatndnaYQEIUbiLOPDISfx7Mn6KAHLhxiws_8dHfzqd4LcWt2VxC9S2qM6YOMLAd2XZwQgfeENBysjeg9sq1digC3_-UaVZHYuzuxaWgslQxA3RP02qNdO7nCuh9ba5d98DBu8WWoPs0fFNVUItdDy7FVyLKXKyepW3ctWj83W3kGk31kjnpQqb_Q69A8iU3ovg5p1TGRYe94rntoMUB59XYTG2HSA_Ahkwrk8TazE_-ACZXinK5LpZwvy2jwAg6lq3fVHHCJYwdb9zRX3r6ejBkw-P8p22k2-mJeiYcfDCc_56bCaO9EV2j1EpKCyjbw-qt2nYBuIbxEN8fZDHXAY89AcRf4D-r8Dw86sPk7ri8IrDyyrS1OoIy6L52VQqCUN9mz9lXxaVmkFORTdU1aOybzQsrdtbPhGEqvJey-YlJKL5l-WZWqr7Y66KPtvvwG21a7F24ivpQFXn1epFG9vO7o386_HuTp2hyvgg5HFbVnmeXJIgSM-gRSW-ekwOC77lFaKtBJu--ON03qS54jnBgv8LquM50PJpFlV99ufAQ5Itdq3SOKAXi91amctHAv7Z2joMUUXn0YIublNBPUpvde4t2kCsPb2cDI41VQElDKJpgrTBbTE1U-6sbD9Vgc6Ej6Czpv4OGKIKdRy2w1g9SckjKfVD4--FgPNaVyqdAkts5ZsYMACD0aTAr-JXKOj3cBxNj6J79WRPhScdXD5rQukDZHiitHYlYyGR-TgXJ9kDJMvXvjLlKLvGVun55zHcztAgaWVx7Gj0xh1gUGsizY-qabC026U6nIcDU4ZEzuTEnKFx7H5YyB3POgjgZwgbtFVhzTJ3hB3bbT0uSojOW7dc2zMHAZyl-127gyKTmRNJ9UNWOt4xf6dFQLO8C7kmDMCl_8uDTNcBb1YR3LKNXbE0y379tZIXbO1N-5QR5rltKHqhpowFhzLUtmOtPcdU_AscalKsy0qzOKkLpu2F0cu9EYJFiUGpQQX4E976X_uj2lvXpZadfAIIfuEP-aIjiB7gO8GrUdUnZX6xIGzJmmM2lNHbMU2UcZXxEIW-ooNJlSqCflNfvPGfVVOtxTA-qmOvxjHTeuqy0Ff_D6hrPmlMUb_-G91REs1xnexjD5Njd6L6ApsZkLLooocUcudmy0OwzTUXrS4C1URn-HoKOvKTtgf1B8XOPaZl_PbKEL4XK41yn7tDeposnT4sjtQOsV6Xm1wh86zePf7G4eoxrbIiHqbm02bjdKUgyGjMOUz8VMbxJ_mjVbiefiinCHz0Bo02FxwwwxBm9Nz2EEX60sBc_eO3ReCI_bgT4YJRquw5K3JRBJrksiew4ndXWMjbpJHxxKPK1PUopWUWeEUkAXsyEQqrZFzMCaWWY4L5tjTBZiQm9g9KUTTM8z0j6BXK5OZTU1OmEnl7EyzcvrCbTp8L8d5i1uZzk6dC4rpdP5xT3RRl28Ui2XWjXcHi2G8JMbwblt_avL1CpLWuK4zdk9Vu2K8zXSPh8BFwcogUecLjvb6M_TvDlounNSgUxFXr7j19Z5urfZhtJAncfULnjrXk7U6SHXwGSYaadfJ986bJxkcWsfZYq-whHh-XiF8SUBPV9joFYubrLfJeAzQeecu_KQxDkQWgrc8IcZroPpgtUsI8LjX3C16WkPyBBQEMDkbAlQNTW0sv4BQTAa0PCxYcQ-gF5Pt_Z43rElRBJcKEf3lBQ02mFksdp8rHSkQW763cVVyahJ-7IC2hNassz8ZQo-oTP81DMXQhsee5-1Ltm_yjgI5u3O9mIqIOvmkMzUcxckPhLlEbPogpM-t1SqTdAeqzuTZNFKt7dip5uuc00SG6Yxl3LmCHc3G3w-EBPDydtb7w-54Qjvokf-9XPOF4LOFEQmUMRhM128Vf0Q=",
  "id": "rs_07d98f7c3f1489bd016ab4425c0b1887d084857c1e524a8dd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow object remains visible in the wrist camera after closing, so it is not in the grasp and was pushed slightly outward. I’ll reopen before repositioning farther forward for one careful retry.\"}",
  "call_id": "call_lz6HXdupXsKb5fUwiN0HjTDi",
  "id": "fc_07d98f7c3f1489bd016ab4425ea38087d0a91a073691f8cec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lz6HXdupXsKb5fUwiN0HjTDi",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.453, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0799, 0.3588, 0.2508, 0.995]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1642 left_yaw=0.0009 left_pitch=-0.0656 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4543 right_y=0.1979 right_z=0.0205 right_yaw=0.077 right_pitch=-0.1777 right_roll=-0.0747 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.8584, -0.0708, -0.0659, -0.0122, -0.0479, -10.4547, 5.9009, 1.4774, 0.1343, 0.0171, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f091478010ce6a81ea9d0b78b4f1952dd44c9cf64fc4ae8c917df10a02549df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f78687827128a904ead0db826c33959cb82331e240969488c2584f6ca5d4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c48e355b8e9e6a8153032212aa89cc16222c055cb9dc65cdf64575db791b6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.548, 2.0071, 1.1374, 0.0307, 0.4061, 0.2726, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0381 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4534 right_y=0.1992 right_z=0.03 right_yaw=0.0457 right_pitch=-0.1708 right_roll=-0.0956 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8046, -0.0464, -0.0659, -0.0122, -0.4991, -8.8547, 4.8752, 1.2576, 0.1685, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4355, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0849, 0.3622, 0.2546, 0.4253]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1977 right_z=0.0214 right_yaw=0.0725 right_pitch=-0.172 right_roll=-0.072 right_gripper=0.4253\nstate[joint_eff]: [-0.1026, -1.1282, 6.9812, 1.7851, -0.0611, -0.0708, -0.0122, -0.1573, -10.3863, 6.694, 1.5116, 0.3248, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.453, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0799, 0.3588, 0.2508, 0.995]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1642 left_yaw=0.0009 left_pitch=-0.0656 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4543 right_y=0.1979 right_z=0.0205 right_yaw=0.077 right_pitch=-0.1777 right_roll=-0.0747 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.8584, -0.0708, -0.0659, -0.0122, -0.0479, -10.4547, 5.9009, 1.4774, 0.1343, 0.0171, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f091478010ce6a81ea9d0b78b4f1952dd44c9cf64fc4ae8c917df10a02549df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f78687827128a904ead0db826c33959cb82331e240969488c2584f6ca5d4d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c48e355b8e9e6a8153032212aa89cc16222c055cb9dc65cdf64575db791b6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJi1QhuRAsB77WG6jHfxLPdwzWi5C0pnokVGuZvbu4LgKPLR_Pt3zJ-0ifTpr8hb3m3GQo-z9knFRXbOGAc38qcsKh59LePdVowtry2syTAp_TtgAg6PS9Cu3lDqWLOE-QPUd_swqBhAVlf8qKL7suxyZDCgJ0yR9AVgUBfbdFzOTACR9xIIHj0jXoiurJ0uaK-wulMYyw4RfDDhxyt1zsEd_DnV59MUt7-ln2hbrmAexexU_c6pxo1BLqCXPZI-r_8Kncr_JkSEQqP9AMNzdT2fE3OjtFGbZ1hKaj6OL9a9HF-DKgTr1EVOgNEk880sedUS_POz3c5e6F-pOJJ6FYc9PmUFGl3vz3QZpUidKuwABfq5-1Se-SDlGQb_s0IRUNht3VWSswPU1nMkQ3Qfa9YmM3uJ-LVi9lVTpZxGuQ-8W9QC0t2NTCl1yJV_yy3Kth7K6scwl6QlLjMYozmYAAKzCE-pvmi5Rs6Y9MvHzvjhOp7Lc-aUDRNLbG2bHk9MDgrLYNNL6dP-m8csnImj7M_a8MSBJrc_e01sbnm6LAwWqEiTgXLArcYnxz3VelfZO92o32ArNV7cVSzzmzh1uBagFBcjPW3pMOtgQCRKqUm-U-JZUGv9ksPSdBLMmmzMM7F7jWnKHrgfy5y3pGMqBw0ohAyOA0fTwozsodazdKH6xLMl4Xo68eOZwlUMwb5qF0ysE9eXXk4KLLYek8Kt6Y7kjXFbdO8uxyAd2F_g84R8m7zfkHqTm9kg_bA6CM9hRZkNfB2NNWR8HWbJUrgXB4_EQ1HHxZqkulo1Vzw1m7Wk0IshsgpynQGZVzXTEeCsEoPDTEqs4qZCct2nvIUl9RNZVO8qDuyUnkrAfc4sHdvAmidsEdrlwR5OTjIpjCZm86D4wsSARiRsmutz4adlzleLxbw8R8rzp6YUmQCjqNflCqx_pb8BlmAIGyDU0FwApR715zmZaf2ZfHgHobPpPo6Bp6uYCxrfzrn89s9GMmk2fub79sC4DZOMABz2GK9lYcR606WzMc6h4cVNgO3smL09B51xMdBKQHt3vaBj7VtIyMl4LSiaChTshadFe4QHx2SKBqESMClvuUqeHzbZ08giltUP7AS9gK_7C90j1oB-pMi-b-GBBbMaf2ciqGIcMQL1e3WgoWdfie2-0r2Kzg6gEP-Cce902g1QwaefE_MCBIS7RyhN9gcigwsVkqa83p0KBMhG2xOsD035fg65IJ3lu0sdwGBCxPBrJ4NO-DYZkAjTo2wXtkB6QWp_v1KRypCY_6pifKQtoLOR8z5VXAtd6xAiSwe73K-R6UuFPtY54YyknEA3z5f3K9NK7wd8IusMbS4vCUxFoSYJSAGWCmc2u1OC1MLSEesdDhIiHAT4Xj2oPWv6wQS9ckzvmPrvDxCRBXTqnIqXBQ0WidgwvyZGxKMYFSztYfoPPu0e9kUcaY2x3P16NbkQfHB670pBQs9",
  "id": "rs_07d98f7c3f1489bd016ab44261938c87d081186dce503ad2b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.1},\"note\":\"The yellow object is clearly several centimeters beyond the open fingertips after the failed close. I’ll lift enough to clear it and advance to the far table-contact reach for a better-aligned retry.\"}",
  "call_id": "call_GJNCnCygSBJ8bZ8AMTpqwr0r",
  "id": "fc_07d98f7c3f1489bd016ab4426217dc87d0b2a08690f4363ce2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GJNCnCygSBJ8bZ8AMTpqwr0r",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9992, 0.474, 1.9991, 1.3449, -0.2058, 0.3187, 0.2085, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.001 left_pitch=-0.0725 left_roll=-0.0 left_gripper=0.9992 right_x=0.4826 right_y=0.1894 right_z=0.0706 right_yaw=0.0753 right_pitch=-0.2215 right_roll=-0.0912 right_gripper=0.9967\nstate[joint_eff]: [-0.1436, -1.3333, 7.0632, 1.7265, -0.0562, -0.0562, -0.0122, -0.4855, -13.5863, 8.1436, 1.6777, 0.0904, -0.0708, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9584d80e9ce278dc4503f13e3597b6fb69b70f11a77b5cf3912ce262fd4fdfea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f493099277365491733c8480909fee49aa731ef627c4890b264fff780dea6be9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd207d381e4065c5b3da9699f7117b022c82a41925f5a126e92b83fe766cd87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6064, -0.4294, -0.0189, -0.0383, 0.9992, 0.5262, 2.0205, 1.1229, 0.0891, 0.379, 0.2573, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.169 left_yaw=0.0007 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9992 right_x=0.4601 right_y=0.1958 right_z=0.0264 right_yaw=0.0561 right_pitch=-0.1538 right_roll=-0.0747 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.388, 7.0085, 1.6923, -0.0757, -0.0415, -0.0122, -1.4017, -11.5761, 4.6291, 1.4042, 0.3541, -0.2466, -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, 0.8017, 0.6064, -0.453, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0799, 0.3588, 0.2508, 0.995]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1642 left_yaw=0.0009 left_pitch=-0.0656 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4543 right_y=0.1979 right_z=0.0205 right_yaw=0.077 right_pitch=-0.1777 right_roll=-0.0747 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.8584, -0.0708, -0.0659, -0.0122, -0.0479, -10.4547, 5.9009, 1.4774, 0.1343, 0.0171, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9992, 0.474, 1.9991, 1.3449, -0.2058, 0.3187, 0.2085, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.001 left_pitch=-0.0725 left_roll=-0.0 left_gripper=0.9992 right_x=0.4826 right_y=0.1894 right_z=0.0706 right_yaw=0.0753 right_pitch=-0.2215 right_roll=-0.0912 right_gripper=0.9967\nstate[joint_eff]: [-0.1436, -1.3333, 7.0632, 1.7265, -0.0562, -0.0562, -0.0122, -0.4855, -13.5863, 8.1436, 1.6777, 0.0904, -0.0708, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9584d80e9ce278dc4503f13e3597b6fb69b70f11a77b5cf3912ce262fd4fdfea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f493099277365491733c8480909fee49aa731ef627c4890b264fff780dea6be9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd207d381e4065c5b3da9699f7117b022c82a41925f5a126e92b83fe766cd87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJl7UqqN287tq4-8u8hO7WRQXff1XDcWAAWFhLkDNzibRuJG5lKrUd6AkZTR1bRraTxWFG-NwTkPFSLlOBVkle2OjViAH3G3raXs3izhEuRmFIM0JOWk76uAi65-J5y3smztxUUJS0J5C2y1Bu13UBDCaV9qTuJAaz9PixnQV9mpNgxKyZa3ic8voT0Heb-bC1_11Bz6FKLLy50TUXH2iSY0pthvGUxbCoZ51cDA_aHqhGIGm72skDnk_EnfZMdRY1XMIfiu0fgmJ_o-XHj5XNuB3NfVjuYu46kCXczYh_bs1FV7zhRFEeVi9AdtZUyZ6PTQNOLEFeD1J-29BAMnBUtrg0BIY4R3hC9sRNCaZ5UzWhorHAKg0dWM1zJWh042eeXoW39n4uO5wNaIgB3MDERbwBQflUIVCGKepjLmHUzGTB4yZsu2HSLx_r-Iylo41atyQdlr1fDxecu3UaQvUOeH5mPm39pMKkW93oPywlILSrVybzMNKUwoypQXU5YzPOpRo0amztJJIf2f_Q22YKwZxzucxfkgbTTkSNoNd2axg0SK1WWy-HpSnL6rCN6r-zw8KADcZFXZ_nxOR50tirGxO_lEuF-hkJu2MaksiyJ7JXJQnzCBhLcN3kw87XsMuy9GHFzEq8q70anE31WodI9d4ThV4H0Od2yd8F_hHyHBLWJvO95fkLMGzFE5KOW1ZR4o6E3JZHiKNyu08z27uZZne3IOjhHQ4dv8RYoBS9r7OwIcvD7hM1_zH5DOhWe_5qoCgpoBOkwLUpe2VqusmjtHG3csMJtFMPIJ8ogmgnZO09rug-4j5e9yeUygzdidbwHjvGUXySP7Q3zF0LRBS0f4wd46ZeJ5lcZcLI0argY1yn1ifYtm77STHFcJQcLDVqDrtvX30TUt6oBGtgUFOiN9tXFv_hO1twkz8QHCOAsyukgCc0oSF660jFnl1TngtKeNRm5mSmdNbFdQj8GPMrQv2fMO5OExI1XiUqUTNTUGpb3G_AUV_UjpQ2gVWPQ14tqb6oPeQESv35H0WgLTL-rrFazImIyxcureM5O1v0nWFcwOpgGjsafMCHp2NMtSd0Zeqa8wmWKREuMLxcCFjSMwflpwW6EsNVatbkj6ajMmDKlcJyiEHvJUWBqxpzw-lWamK4spAqR-qVWCqnnpB50oCQlVhhe1c4mM3T-Xbr5LEpf_-nsjqhYYYJTrvmmE-CS7Qgb_f5PrUfoOMn76AWXG99VVU4mIXBwuGjRS9C6fuxAqOciXV-4bxL71WhXAXHKWOWv4zbJBGRPju0pMbbPFbbWIrWtTfCIaJ8F5sl5gtoKNO9etB1ubGbppJdXu9wY",
  "id": "rs_07d98f7c3f1489bd016ab4426497e087d09c4d553185f2302f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.02},\"note\":\"At the advanced pose the yellow object is now close to the fingertips and centered between them. I’ll descend vertically to grasp height without changing the alignment.\"}",
  "call_id": "call_NFZa2sxb7ZtqhHochKTboKdj",
  "id": "fc_07d98f7c3f1489bd016ab44264f76487d091ee5c79d0bb2e1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NFZa2sxb7ZtqhHochKTboKdj",
  "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, 0.8032, 0.6067, -0.4622, -0.0189, -0.0383, 0.9992, 0.4698, 2.0968, 1.2968, -0.1135, 0.3153, 0.2081, 0.9968]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0759 left_roll=0.0003 left_gripper=0.9992 right_x=0.4795 right_y=0.186 right_z=0.0181 right_yaw=0.0689 right_pitch=-0.2717 right_roll=-0.1103 right_gripper=0.9968\nstate[joint_eff]: [0.0752, -1.2239, 7.241, 1.7118, -0.0611, -0.0317, -0.0122, -0.3897, -10.8786, 6.653, 1.4237, 0.0855, -0.2711, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8fdd901341b8d88a717fcf8435a9be943c4b06c2252d0a76090745ff4ce7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed4860783a3146f24abda3a1b385e43127a5634e4534944a5f83e84635d9d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9417c71c0b52111df31b997bd528a7266947f4ccab27b4970f3124788075280",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4355, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0849, 0.3622, 0.2546, 0.4253]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0009 left_pitch=-0.0481 left_roll=-0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1977 right_z=0.0214 right_yaw=0.0725 right_pitch=-0.172 right_roll=-0.072 right_gripper=0.4253\nstate[joint_eff]: [-0.1026, -1.1282, 6.9812, 1.7851, -0.0611, -0.0708, -0.0122, -0.1573, -10.3863, 6.694, 1.5116, 0.3248, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9992, 0.474, 1.9991, 1.3449, -0.2058, 0.3187, 0.2085, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.001 left_pitch=-0.0725 left_roll=-0.0 left_gripper=0.9992 right_x=0.4826 right_y=0.1894 right_z=0.0706 right_yaw=0.0753 right_pitch=-0.2215 right_roll=-0.0912 right_gripper=0.9967\nstate[joint_eff]: [-0.1436, -1.3333, 7.0632, 1.7265, -0.0562, -0.0562, -0.0122, -0.4855, -13.5863, 8.1436, 1.6777, 0.0904, -0.0708, 0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4622, -0.0189, -0.0383, 0.9992, 0.4698, 2.0968, 1.2968, -0.1135, 0.3153, 0.2081, 0.9968]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0759 left_roll=0.0003 left_gripper=0.9992 right_x=0.4795 right_y=0.186 right_z=0.0181 right_yaw=0.0689 right_pitch=-0.2717 right_roll=-0.1103 right_gripper=0.9968\nstate[joint_eff]: [0.0752, -1.2239, 7.241, 1.7118, -0.0611, -0.0317, -0.0122, -0.3897, -10.8786, 6.653, 1.4237, 0.0855, -0.2711, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8fdd901341b8d88a717fcf8435a9be943c4b06c2252d0a76090745ff4ce7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed4860783a3146f24abda3a1b385e43127a5634e4534944a5f83e84635d9d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9417c71c0b52111df31b997bd528a7266947f4ccab27b4970f3124788075280",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJp3A7sL04uimDKuyElVkJYvthS-U9QN4KDl8j6N4yYeUcw5-quiKWs1DZnBtkdpq5mYF0BdSqHkxcNn41F4jFOxrYIKdwHl3NvXMAO7lgdDw-VZmHcGt1ld4s8v266oI-MxilUh07MaTq4vCb3-1ntGRBbgqNS84bIF8a0v5fY7jCFYM3p-reR0KKo7iJw9zFIIDZskF-LYQpC6caX7SIRTa3mmGvIAjNRYIBgA10kbl7fyWsXqYSqjmBpoENVeOzPfy0IHC9RjXQS89XtarctV_GrsrHk1uoaZlid_Eh7tSPp-4oHwQDKudYNczMPx2hEHTDBvHRwBtaZ7Ml7MTp3xF1hAn_kBboJcDVeZQuSCH_PN2J7GDoZP6PBKfxRBCrOQNIwGplIJsvph4xcd440y94TtLImwEN56Zxg_8qYadAAB92ZM9VUUlidUg0ZLncD65dCh11vzUPuOvCv7zVIPde0oXB9_YEiIMwKdpu3Qp5UKV6rIr3hiOkljJ1MS7gvl3MwgtERY0Zs_uaR0-G4G6XqJV1NpdX58cpcqivr-URD1e9vhUyyBql1aDu8wyT-ydbyEbmIvvxqRytcLPdCvu7oNeXgdN2qQ4xJ30e26BI03evOC_ApBbFSfUMOjSgnwTY16vPrLSZpUN139NNP1il4V9soWvmXGX2KCiR4n8CTNkaXhPHa45pbgNX2Q_EpRAra2e5y15tz8d4NFienoxDnpEogvnNBpfxfa8h122X4zxWkE0W2xy3dzWqq-RWSu3ITtwgiu86FpSbH_QrLzwsHWPS-6i6jNGjtVQOudblY0r4ZnYm_5OI3VlHuRFhqx1VH5qqEaYGBXObB4QIOjMC8S8kuzNy6ehBStqXen87UlGIE2i2CBhj1WsZ3spVwIb-7vGsbrSQgr0Uj8QwAPgU0T7Me0r9m4fupSG76MyGCvOhL8bZ4YtPUvQ-LVY5Q92hgYKTmiKDKnRStVFfXgnHrlU2NNTimbNVrt66FXHjApalqiSKk2oEA---hR8iIZbMpTxC6vX26hNdBOfST5JipWhfzYdBQxBw8pi7OwWBuGzfB5jMj1AfxWVQvJPnkx5zYaCOkLPnUzkxMVb7bdU1SNcEtj4UYT5fSLfpachQEv_k56x4BtklPpvvgAGEg62gf6JD6TKGUsJb5ZI_nw4UP2Pq1cHFd10jfG1dEK-ajniftSNITAcywkof-iMlS57HcSuhSccI7idH58TbTv6lwSsMQAtnNpNGbZGPSSpFtiB603Rl52cnsIIWWuZxTrSusVNjEQFH5DfyFtzGkLoMu6VVWC1-Go4fdiACZpVnHlP-UxibBjZGgD-ld96wAns00C4ZEdBmJRMbD8FkZacZUFnJ8cWzPO4RVHdrBQpJF216y526jh4L1zAqSmDCpAhVVFTf_4nUArwLRKMYRXjJEv1UB3iXoDFhw5wU9iSGwMrWWn6SomEFlevHSnVhHMSNuduIfbzNiTGIYniOVHujeGsKuPy8FjZAvxl20yoUyc7yodfR9orsams9gwGkys9W7KvJUgZJTMkKtmLdycFrumruAb_RBLtrbcAoAXmKyB5GpuL6bSVECUbJnWQiIJXW90JU7MR_m9LHPCGtjmHCunh5j8EjJj1GhAv2ZLZ2bGAlb68bBuZd0fAT31KuWCPMfW9E0gQA_4XUxFQv036a-PadA-j7VkDlghS1pP50Uz_aLFF99uvlRsSao9IW5",
  "id": "rs_07d98f7c3f1489bd016ab442674fb487d08636966f70c5fa4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The yellow object now fills the gap between the fingertips at table height and is well centered. I’ll close firmly but not fully, so the rounded object is captured without excessive squeeze.\"}",
  "call_id": "call_xXxvKx6YiBNd0GdyV944rHEI",
  "id": "fc_07d98f7c3f1489bd016ab4426823a887d0becc7fce13ccb9c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xXxvKx6YiBNd0GdyV944rHEI",
  "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, 0.8032, 0.6064, -0.4732, -0.0189, -0.0387, 0.9992, 0.4763, 2.104, 1.2945, -0.0952, 0.2913, 0.202, 0.285]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1598 left_yaw=0.001 left_pitch=-0.0873 left_roll=0.0002 left_gripper=0.9992 right_x=0.4789 right_y=0.194 right_z=0.0154 right_yaw=0.0994 right_pitch=-0.2711 right_roll=-0.0928 right_gripper=0.285\nstate[joint_eff]: [-0.0752, -1.2513, 7.0085, 1.7363, -0.0513, -0.0464, -0.0073, -0.8547, -11.959, 6.2838, 1.16, 0.3394, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70a73c1f45b95814a0885d01db950bab9c64cea37eab1964a24148e38cd0679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db3bc7a5001a3e2cb951b6209b80e31649ff5bcca0467f225a7ef556306c437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732cd4521ba230d63dd8bcdc3ffc8e8620dcc97728b761f3758c92b79a1d236a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.453, -0.0189, -0.0387, 0.9992, 0.5289, 2.0197, 1.1122, 0.0799, 0.3588, 0.2508, 0.995]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.1642 left_yaw=0.0009 left_pitch=-0.0656 left_roll=-0.0002 left_gripper=0.9992 right_x=0.4543 right_y=0.1979 right_z=0.0205 right_yaw=0.077 right_pitch=-0.1777 right_roll=-0.0747 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.2103, 6.9812, 1.8584, -0.0708, -0.0659, -0.0122, -0.0479, -10.4547, 5.9009, 1.4774, 0.1343, 0.0171, -0.2466]\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, 0.6067, -0.4622, -0.0189, -0.0383, 0.9992, 0.4698, 2.0968, 1.2968, -0.1135, 0.3153, 0.2081, 0.9968]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0759 left_roll=0.0003 left_gripper=0.9992 right_x=0.4795 right_y=0.186 right_z=0.0181 right_yaw=0.0689 right_pitch=-0.2717 right_roll=-0.1103 right_gripper=0.9968\nstate[joint_eff]: [0.0752, -1.2239, 7.241, 1.7118, -0.0611, -0.0317, -0.0122, -0.3897, -10.8786, 6.653, 1.4237, 0.0855, -0.2711, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4732, -0.0189, -0.0387, 0.9992, 0.4763, 2.104, 1.2945, -0.0952, 0.2913, 0.202, 0.285]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1598 left_yaw=0.001 left_pitch=-0.0873 left_roll=0.0002 left_gripper=0.9992 right_x=0.4789 right_y=0.194 right_z=0.0154 right_yaw=0.0994 right_pitch=-0.2711 right_roll=-0.0928 right_gripper=0.285\nstate[joint_eff]: [-0.0752, -1.2513, 7.0085, 1.7363, -0.0513, -0.0464, -0.0073, -0.8547, -11.959, 6.2838, 1.16, 0.3394, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70a73c1f45b95814a0885d01db950bab9c64cea37eab1964a24148e38cd0679",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6db3bc7a5001a3e2cb951b6209b80e31649ff5bcca0467f225a7ef556306c437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732cd4521ba230d63dd8bcdc3ffc8e8620dcc97728b761f3758c92b79a1d236a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJtHWrREqWZTrc96ny_3G2intY7NWCgucENqsR8HOGIxN3QOZUTQ2TX8J7DezF4wkJw9vjDWpKlls4o1UFlolO56eIQbbenWhP9umPoKaGhhql5c1f5jnk62daP7roGpjfmjq_nxE7uaP5ymp62J7pPGe1IM--6A-LfR4fZ-z0dWOpLgf33iEbw7ejQ4oz2lpFOw1Two-hWC9RRN053G8p8ZtiJ9jdpvq6_NWF2SxGUFusofUnKMPHV5vNTIjPTyVKJGcnFKd5EM7IqcklU2psbeWhcBa9j-VDt3BT0OGcSHAQlTHPNXAwveU-NWWjUPGphNtZ3JaAt6QkvQ7gOaM1eEiWqXI2OCuDGvMGFHYAAxzJYcvWj_pytoUVP5P0lfN8fAf81TedisoRqicWxwmsz6IIc2RByhKVKsJq0wZ8IikOV5LjL5gFVfqwpIdNcdsejQxeXs9QohaAemcvg-Mx4h_W_KI_NfW3gdDj8lCJY7i_r1xlJBy2Sovy70ww1pzZtyJg7Pffxup65E3WbEM08p14B4mPN9EoWwFb3nFJPw_847n4vowP5fAsPJBRJnsGPfxy7Q280A76NwZJ2r7TuAsyyLTLuiWaphLGONCw2tpkkRgLkIoUWc1cIOfo3J4rP1R8_fXgoZtcpbxY5NWcCVWn9o8UJwcWIl3E_ryjTLE4vGsDG1IB9V_N7SY2bmpzCUSWzVbipIK3mqD4nKLp2Ub1WCpH7k0RTsdOPQSYNQhu8KoqVYSLo1MEeOGGadhBIHPs3B7DHI1skyLbtiPseCGJKAKjI9bGJYTyruCElZRfwxn13q9xP35jlLGMLMIaKY010aSgyolIY2dTa-wLvFOLioxrLAnbFdpiz13_zs7duO1jBDZVO40lk3kSMApuZdJPk59ZJKD2uyEdVQkYflHqGfyMNzfw7DJufZMqQ8M-qGSF5kCgkIyuuwv93f3MDXq3mktN66jvENfqC5xefIkzLbtGrbS7f6v8lqKIiSjTHC58KRI1FI9PN1uc67w4jJmmcTL9zkjhH3LDDwgQpT4fGoneQySrHSNy-ZWXjUwUxbLFahzxvM0zU21oel6EAz9vtYR2WeZTUFlvxOo2oLgRdYOLpX7cIbhAyxcCLyqZvzxnA8UfpR6QRSNOWbm9YZFWdPHr1QjkjgDcbXUi-KuwGDmPIvs7_5xxf62uoLGIJtgs1upadVuwd6EJDjvRBO43M17giJyAPzUi10Xg7SLMt7GkPl-wB2_jirFY_WC0Xzl5PW90ReOHGaAk-LPICUcijF_Y2zrQDRC3McoLymk1A_NJoV4qyU1mP8BeQZTqTjN_1fp4qj4dMrKpT-ImOM8NAz_quqwnoqTC_GO9LCCNYHwPstAfKrxB7JQ9M4gA_IkCIdzTsHOG8mqqSLBz2jqArLTXG-bcZIZtHfCA_RQz7ldKI02KU2qfZ4PrDVxl2tLUMZjeuOT6JVrPIXEUO5o64iyoWML7427eMx6Hpca2t9GT6sB4IpzV6xuZLG8KrFhpcQWBlMN5hcjGy0gUBJmL-B0uZUPQMnbyVAToy-b2zt144Kx2_4CL8HTrHEm6GZA2r0545GxVG34r0-yreCiSeWYuShdGbtKLag-BLZWsKSoH3LUmcwCztzJrWVvE_UK6-TSkZ8QIbJSaWRHcD",
  "id": "rs_07d98f7c3f1489bd016ab4426c15b887d0af9208d346c20de5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper has closed around the object’s apparent location, but the wrist view alone cannot confirm capture. I’ll lift 6 cm to test whether the yellow object rises with the jaws.\"}",
  "call_id": "call_QmrQgZyapgOro0TymIuyZl3c",
  "id": "fc_07d98f7c3f1489bd016ab4426ccecc87d0ad1066045edf6ef6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QmrQgZyapgOro0TymIuyZl3c",
  "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, 0.8032, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.4767, 2.0445, 1.3758, -0.2974, 0.2863, 0.1982, 0.2832]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1585 left_yaw=0.0013 left_pitch=-0.0942 left_roll=0.0006 left_gripper=0.9992 right_x=0.4709 right_y=0.191 right_z=0.0452 right_yaw=0.0991 right_pitch=-0.3299 right_roll=-0.1151 right_gripper=0.2832\nstate[joint_eff]: [-0.1436, -1.2376, 6.9265, 1.707, -0.0806, -0.0464, -0.0122, -0.3761, -14.188, 8.5949, 1.5507, 0.1783, 0.0024, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02415a9722be44127bdc5d845a2314e08ec46ddcaaee58f803694bfd36daeea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c768825cf3dde228d1b186f4c574619db30ba397c330e1822567401709c2b807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581f89ad4bcf624dcb1a5354430a13908c3b5c0766ef698121d102d7e05b8a59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9992, 0.474, 1.9991, 1.3449, -0.2058, 0.3187, 0.2085, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.001 left_pitch=-0.0725 left_roll=-0.0 left_gripper=0.9992 right_x=0.4826 right_y=0.1894 right_z=0.0706 right_yaw=0.0753 right_pitch=-0.2215 right_roll=-0.0912 right_gripper=0.9967\nstate[joint_eff]: [-0.1436, -1.3333, 7.0632, 1.7265, -0.0562, -0.0562, -0.0122, -0.4855, -13.5863, 8.1436, 1.6777, 0.0904, -0.0708, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4732, -0.0189, -0.0387, 0.9992, 0.4763, 2.104, 1.2945, -0.0952, 0.2913, 0.202, 0.285]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1598 left_yaw=0.001 left_pitch=-0.0873 left_roll=0.0002 left_gripper=0.9992 right_x=0.4789 right_y=0.194 right_z=0.0154 right_yaw=0.0994 right_pitch=-0.2711 right_roll=-0.0928 right_gripper=0.285\nstate[joint_eff]: [-0.0752, -1.2513, 7.0085, 1.7363, -0.0513, -0.0464, -0.0073, -0.8547, -11.959, 6.2838, 1.16, 0.3394, 0.0464, 0.1685]",
      "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, -0.4801, -0.0193, -0.0387, 0.9992, 0.4767, 2.0445, 1.3758, -0.2974, 0.2863, 0.1982, 0.2832]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1585 left_yaw=0.0013 left_pitch=-0.0942 left_roll=0.0006 left_gripper=0.9992 right_x=0.4709 right_y=0.191 right_z=0.0452 right_yaw=0.0991 right_pitch=-0.3299 right_roll=-0.1151 right_gripper=0.2832\nstate[joint_eff]: [-0.1436, -1.2376, 6.9265, 1.707, -0.0806, -0.0464, -0.0122, -0.3761, -14.188, 8.5949, 1.5507, 0.1783, 0.0024, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02415a9722be44127bdc5d845a2314e08ec46ddcaaee58f803694bfd36daeea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c768825cf3dde228d1b186f4c574619db30ba397c330e1822567401709c2b807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581f89ad4bcf624dcb1a5354430a13908c3b5c0766ef698121d102d7e05b8a59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJ1xweLQmFw9jkzacyH5FzaXc7Qz98uh7wsbhXuIvEPuAyT41D49y6mM0HcoULck5Dp_KcAvnwNLyHsjxPh6A-5A5wwF7U0wjBX2wwH5xXdPmsTFryAqc88kXzLyfx66ymKccLV74t7T2vKyrQ55-ZlblfDrqoKNfNT89UxnrBbbt92lgrw4eg-Sv8G87gZq95a-Gbxwsw7vkcYPzWXQ2_gK4giy4jRDHvmlKrkTvrzlLiNNlQYxbc6V63NeKiyHBr6GzQc9eWCaNmpCJKTGGJYRx0Fy8o5ktdGqzy8MZlPeZma8VCrc2JB3BDaLYUGKkUdUOuha6e5PEtWwKPZs1HmR4lOVvUQX7HBdfVNUW7bpPDcVMmedBl4pH3GHI9WY1qfbXYLdcRqqAJi4yrKL_qY6gjvKPkvQPrU-ADfdoU3TAoYIWg1xQmdQ6Rcuz29z8DxZjDzQc5lxi8010CXPaKUuhOQjT3e5oQbqzH0JPxncUnJe8xQmMlx2Dkvh7mStc5CNY17N7nzMAzTdMYj1d11nAKSMcYkHC9lwusu5N2n9sgJKjOFZYzW2LLcQ-j6slJr9xwUvoN8NsXqN4WvqYF5ulCEOvB0L1JlT9dfMXa5jibVM0XRaOX9ID8kKA-yHM13je8J9kRPEbYW9tuRBDfaOqq8iSdZrdYtGhOmR9-HrEP7XzVOdfssX0jG0jxreAQ2sENbsiGDRKr0rK5rykGy_LPZj7McXyvpK7Yu3vLlzOeMkh6R4RQpuvUFihkRgxp6IRlk2Oxc8ZRX-9vY3fTfYBDXZOoWKFiMjIl9vwmcHRdbAYYkhN4kyCXWjRt9LTfOgaSCLIAzru6wvW-vcLyc2ZlCFc-687TFRnQRc66JGrY2W7JgqxaRovOK7OnId0b65yTKhS3Fi_UNoQbNv60NPejzJxUajwMcYhDCSR1ElGMbzsspwrRvcQmNX2P8kuEuxxN1YVRC0Swf0ECIulMiNnqeu9CpWZKXRvIzFRXfIWzI5Urgg-hF6v3UfOHV5IfBSziqAk8ifDekRjNDoak351n_wu2ofC-XbEdstauOlioct497YBxCtLlXpwqAvCTW_giAraDYJuxsBPuJlfz05HwsXFN17GlUXKUxEcc4ComPAr2bkYRFCbeg18RtR9LyNeN1Kfdw-oDaj8Z1TS_m0VkNCeHKuTKUsEGiDJf0W-4P-bHt9UAJ31bDnpBpGjDeCLaKoym3lB4gp1oTecJpIWXgqNHNhMpv2jp8b8SYgVnS2NCmwICbuLrR4SFeufEmj0nnPr2vCJDYYk9fhZf-2BsH-NYBFUuj-XEPPKDrOIRA1ZgKuR_v0HgcpbNOOlsk1fPGumCN0YGUnFIQsftXmEbueYUsgCfKzppjwMN0F9jAEDVgXznOF0t6jYb5AIvUIt_rk44S3BiToldHTkIZ86gPQ4s5eFrW2xEbb4CJqP1rYGqXLjUZTa_SXgDrv9-ReTeBqj3tfyUIcXCVgRX43TqcZwxnZ0L0sDYFUdMcgX8yFyqINN2YvMpPvBwQ3qAjYWiFlVO-PKJI9D3rVLMEZvcekM8aR8aa9b2WutMC9RWOCjFTSTm1AtbMkaxHwlof3QRp25dTnH1tqDSxbeAr_kIWVnc28M-n-NHUSR4KS1o7TGsa0aYtUoumg9l1g-eGVrIwESItIX5Bcn5DVofk6oRk_mYtV5p-ixekmqxgBNZ0dvOfYgYGlxVDESAo1UBO1gwwgBU_Y1w3ykwQHFtGFxaXtsPqrm_zs4z0wIoYHPsUWSdUTvTIj3zGMFL-yqvD1aqfqKls43hbjKQxA057H4b4pmfsAAvfxQ_VPd4GiYs96PhYAsnJX-YlA0Bf8cJNuP_wDtB8dxOiofMEjw3-mtJT6GSXy9bu5CpbtcQYaAC1VWge5GYXF9iLulaD4bEjpRKMQE_XSWRFM0qzkq27mWsI8zuPknGbn6gQXSFIt4QLqagn-AJzJ-VnebSU75DbnZF3sY60y3ULq9GwAm4URSSVJPu6D4yueA49cZm6zxNnIrFCK07l_s15WLrg0pynnb9wStL9tehoLStkuTzw-Vv4ZHDhAZLbtJy76OV0P826nTdi3v3iOBHt-r6UZ3UBuLIK0Sc33pxcz0ahrIzY4kEZEFmB0OAJ0kxnr08WimWCdVPMcEbdgyGoYis5GNnmMpJ0DbBDouC2itWQ3KU63QZ873GAqGIIWbEobPJy4HKOdRObbWcvdjLmf5TNPPsrMBluHO5vNn1zQ4qkmAGtrqkZIxoJWSKBjIqVUD91nKDi4cI72QamWKA7-rL9J7gl5cNqJbON8hb6jloWNHM88bj2_1xR_ZTLmJGfvqCfMnrr_2CME-RmbZuNDcqLhoZj203rT3MnuFIN8pm14qWOHh0iyigbOiiz2-bqafbAetdkytNWuSiqIEe7YdKJQFbBgY4MDvhH0dODsZN-cv2VaQuQA8cih5cQecJXhuRAVXry9S51uEM4XnslUPBOdX3k85gwCiFxNlYzk0wCQbfu5IunYMUjCOHGsIBmlKh5qfH9HDNKIncKSwgTlVgUegBZ2aAPaL4peTyniKfrF6ui_HlNcQLxo47ONPj99kNj-O3ADyOOQxLkni-A6I7ZK45vixE4-FfR0FbuCIeDOmVuCoiH-9VVyxuqbsppjo0Nf-9BnvueABPFdT13t0G0kti60jjx2od-bbC6Udlm4VIpZHumFTR3kJ_93S6BaJ01HwY=",
  "id": "rs_07d98f7c3f1489bd016ab4427182a487d0845d4b55a280b890",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.12,\"right_x\":0.52},\"note\":\"The yellow object stayed on the table during the lift, confirming the grasp missed radially; it is farther forward than the fingertips at the current reach. I’ll reopen, raise, and extend farther while elevated so the next descent approaches from directly above.\"}",
  "call_id": "call_nWNsXDzXICvEXIxmPk1i6ZRF",
  "id": "fc_07d98f7c3f1489bd016ab44274c7d887d0b0363737b1ac76fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nWNsXDzXICvEXIxmPk1i6ZRF",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4965, -0.0189, -0.0387, 0.9992, 0.4355, 2.1204, 1.7721, -0.625, 0.2539, 0.1524, 0.9948]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1552 left_yaw=0.001 left_pitch=-0.1114 left_roll=0.0007 left_gripper=0.9992 right_x=0.5107 right_y=0.1926 right_z=0.1107 right_yaw=0.1108 right_pitch=-0.3488 right_roll=-0.1205 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.9128, 1.7753, -0.0904, -0.0659, -0.0122, -0.7726, -10.8513, 9.2786, 1.4237, 0.188, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a267d60c7febd3a2de25c8645060b40b51eec3444daf66b2614b04fa6f5fa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5efa05100ed18f6af5ad447525f00aa0cc47d6cb34e9225e222eca3a417c6db1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfffc6047b227f43ed279acb231f3ba9f4b535228a1daa3e63b7fc258cdb578",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4622, -0.0189, -0.0383, 0.9992, 0.4698, 2.0968, 1.2968, -0.1135, 0.3153, 0.2081, 0.9968]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0759 left_roll=0.0003 left_gripper=0.9992 right_x=0.4795 right_y=0.186 right_z=0.0181 right_yaw=0.0689 right_pitch=-0.2717 right_roll=-0.1103 right_gripper=0.9968\nstate[joint_eff]: [0.0752, -1.2239, 7.241, 1.7118, -0.0611, -0.0317, -0.0122, -0.3897, -10.8786, 6.653, 1.4237, 0.0855, -0.2711, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.4767, 2.0445, 1.3758, -0.2974, 0.2863, 0.1982, 0.2832]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1585 left_yaw=0.0013 left_pitch=-0.0942 left_roll=0.0006 left_gripper=0.9992 right_x=0.4709 right_y=0.191 right_z=0.0452 right_yaw=0.0991 right_pitch=-0.3299 right_roll=-0.1151 right_gripper=0.2832\nstate[joint_eff]: [-0.1436, -1.2376, 6.9265, 1.707, -0.0806, -0.0464, -0.0122, -0.3761, -14.188, 8.5949, 1.5507, 0.1783, 0.0024, -0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4965, -0.0189, -0.0387, 0.9992, 0.4355, 2.1204, 1.7721, -0.625, 0.2539, 0.1524, 0.9948]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1552 left_yaw=0.001 left_pitch=-0.1114 left_roll=0.0007 left_gripper=0.9992 right_x=0.5107 right_y=0.1926 right_z=0.1107 right_yaw=0.1108 right_pitch=-0.3488 right_roll=-0.1205 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.9128, 1.7753, -0.0904, -0.0659, -0.0122, -0.7726, -10.8513, 9.2786, 1.4237, 0.188, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a267d60c7febd3a2de25c8645060b40b51eec3444daf66b2614b04fa6f5fa13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5efa05100ed18f6af5ad447525f00aa0cc47d6cb34e9225e222eca3a417c6db1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfffc6047b227f43ed279acb231f3ba9f4b535228a1daa3e63b7fc258cdb578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJ6_vJNyQqxTuTEfn3xdAxOZywSMnlCzOaA7utnUzfWr-I6QjtmQBXptxbysv9B_O8Lser9HF1kgTEW72p9kQvvSJHk25x9m7tXIX8f7XxkbEEYmslAUbPikSh5fUqI0RV-LoaHTVa_MU3SDO3HMNyCMcP9iJP3Orn0xHuAoBo9zgtnvjU31_211enNTaTRC_qm5iv3R1Jcy80bQZx4yVsujaX9d1xYe2uqJHHQXh7oocE9_gK2LX4C-vtJQq2SDT2cDDlpKTcz_gJqq13TdyR7vVQS2np69VImQKhGENBtRGQuWZpOu6JTWyHMXYTcRyOg-N6KhInclEMAY9HZIvsjJNCQa_Skr1Ml8ENWUtDVbg-o3HaqmYOQsWbEbrm5dE6UNaDDmMC2Xq6SEFEHxPm6Sw5H2VZlcjsGHIxHRAoS9Io6a78pOFg8KxVTJNivrZh287k0NCQgm0UOhEfbQ9PxxRSCNAz1StGWG4MB0zHKOaVE6WS2kV1usbSZIHmgAGWj3k6Kt581UEbW608TzEctyafO025pXa1tZyj1vFlm7bojcPNwqGQWOAX64t3fdAs2Om2ZV9MS6CZ0fGqs7p548Av0JucGmliTScvIDvlruemhjEaYy9R7KcDrQ3y-ZYFhwQm4XiqX9H6JffLers_pkvoFJgcWb9gXfR0hUYxRmvPSm_RP50L4oKB3pMaF7oel6ncYzq2iWgakLyxUkNYcAd6dDC7Yz6l3l5GqWzqFV2q353D9UlTb96ACgSt1wJTrePQtBtWwg59VXTAj7C0AMY956tefNOnpVQ3QpRh5k-CzLjgxxWUyfSE50Ef91cJkG2K3PLoXk6CiObeRgPbQTueUcYdZvUEEU1bTt7HDMuXE7mVVWQnoSQgQZ5uiI2yYQ9xlGriFLiNV1wUbbeRwGg_AzO-vupl6wziLh4uDZjmq-n77KLeEkn3-2canT4CxVFXz0dwq6eFN-6vjSUt5kV3OSTksABAPvunCtgHVpxtsvhLReyOaz3FQSDS74v-6nOEd5_pllwwXJVLS44JR33o7KpQePUl45F1fzc2Q1xz8sN4DengPbFPK_-2eqwzmxbQ-8w6s_iDNpZ77iiWXvUiqTO0hzqfy5hVo_xhOj24d7jWc6PAm1YVIIF8Tt996do9dGeAxaKpxV3QJihKiumzHdBrEXVuJxy0YP3FGUzSLsrFmg1xOODkvqVM75rxYj3x9-6HWlcTde-UkLcEv0MEP67IDQIKwa_G89-v-tBJezzzsg611w_mhDjheMLl_QyH-aqBKOXYjwSOmVj3YnQLbppcW8TZPB4ef9RqbFswYOKadtUpGOJTPb14ZOzFChL7TmcV0kppJS9rlTviWfQ==",
  "id": "rs_07d98f7c3f1489bd016ab4427965ec87d0b1bd9287d6550455",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.19,\"right_z\":0.035},\"note\":\"With the extra extension, the yellow object now sits immediately between the projected fingertips and is centered laterally. I’ll descend to mid-height for the retry.\"}",
  "call_id": "call_O4UOXuQYTNKWdlHu3EpXLQ8l",
  "id": "fc_07d98f7c3f1489bd016ab44279d62487d088d5b3e89a63fd3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O4UOXuQYTNKWdlHu3EpXLQ8l",
  "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, 0.8085, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.4282, 2.2093, 1.6226, -0.4667, 0.2455, 0.1448, 0.9967]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1511 left_yaw=0.0011 left_pitch=-0.1316 left_roll=0.0011 left_gripper=0.9992 right_x=0.5021 right_y=0.1859 right_z=0.0286 right_yaw=0.1049 right_pitch=-0.4275 right_roll=-0.1454 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5385, 6.9128, 1.7363, -0.0611, -0.0415, -0.0122, -0.8, -11.8906, 7.0222, 1.619, 0.1001, -0.0855, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419a0a525914f84ba6cbd3becfbb683115607a89922835cf5c00a68fd215bb95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2fb4cc2e3983f2d8e43f2c9da1b4691a8ec7da1d245ac2915c6b5c67a498de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132bf74b8e1b7918706e50eb2d45adb6f670f62254d3aaa5ed00553f4e14d4ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4732, -0.0189, -0.0387, 0.9992, 0.4763, 2.104, 1.2945, -0.0952, 0.2913, 0.202, 0.285]\nstate[eef_state]: left_x=0.2822 left_y=0.0016 left_z=0.1598 left_yaw=0.001 left_pitch=-0.0873 left_roll=0.0002 left_gripper=0.9992 right_x=0.4789 right_y=0.194 right_z=0.0154 right_yaw=0.0994 right_pitch=-0.2711 right_roll=-0.0928 right_gripper=0.285\nstate[joint_eff]: [-0.0752, -1.2513, 7.0085, 1.7363, -0.0513, -0.0464, -0.0073, -0.8547, -11.959, 6.2838, 1.16, 0.3394, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4965, -0.0189, -0.0387, 0.9992, 0.4355, 2.1204, 1.7721, -0.625, 0.2539, 0.1524, 0.9948]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1552 left_yaw=0.001 left_pitch=-0.1114 left_roll=0.0007 left_gripper=0.9992 right_x=0.5107 right_y=0.1926 right_z=0.1107 right_yaw=0.1108 right_pitch=-0.3488 right_roll=-0.1205 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.9128, 1.7753, -0.0904, -0.0659, -0.0122, -0.7726, -10.8513, 9.2786, 1.4237, 0.188, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8085, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.4282, 2.2093, 1.6226, -0.4667, 0.2455, 0.1448, 0.9967]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1511 left_yaw=0.0011 left_pitch=-0.1316 left_roll=0.0011 left_gripper=0.9992 right_x=0.5021 right_y=0.1859 right_z=0.0286 right_yaw=0.1049 right_pitch=-0.4275 right_roll=-0.1454 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5385, 6.9128, 1.7363, -0.0611, -0.0415, -0.0122, -0.8, -11.8906, 7.0222, 1.619, 0.1001, -0.0855, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419a0a525914f84ba6cbd3becfbb683115607a89922835cf5c00a68fd215bb95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2fb4cc2e3983f2d8e43f2c9da1b4691a8ec7da1d245ac2915c6b5c67a498de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132bf74b8e1b7918706e50eb2d45adb6f670f62254d3aaa5ed00553f4e14d4ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEJ-TnEGiP32CMQwc1D8-A_3u0On0fcv2MKrjjdSX_1VYGweD6WMVXwq-U_Z99Wt_rvvpLwG7a-AQoek5mF0NwM6SMMIt-I1yMlX3ySYXHD5NTEMP9UKi1zrjywrAPUaPBUlGINBqLzCD056d3nNMnfzUtX02MmZh34A-idkZ0bgCmEABU8XoSnXH2c8-MotMJT8DzcdjHkFlKZxHl-21rb4ex49BuXuRdxV7AJvm1yDb3E8W71rJQUKKVg8QD-OTICO0UKpIO6K49PBVyR49PmSwQDMC0JhQT-GM3JpyFmNVvcTrSvTnfWdok_hrdl5znVKgqhnFwRZnMBBCRgwBmQhB6rwRoUh8PqmKTF93vfpytfStobybSmkMr1x4a-Pe3ysPg97FCRNA_t_OVpmcj5ZdXUl9eR6QX1HnM9bQu-ew-2mtWBkVn_lXY1P7m2OYyDtXswZqO8PmYY2kEgys2vaT0qtEGNBB7lOwR9N6XfNT6HBPBz1dxk8SihjjgNxdOjYUtvczHwUe5VTYUKrggq9Lvo7-w5G9qvRVoz32lnqntF9EFSxuZhnmWr5GNfqE4WAkj8cX3rfSYG4hkiwh7Sltc0XSJO9ZZOmZg8LRvr8V_lN-OPb0p7E4aO7PMk2j4Jwz1ZWaH0BaNcaXw75mz1yBzv3_29d8YWVmEYTg--52FNQKHk-GvuviL-Y45y_ZQGEqs-HPLmdh4nMx3nO0IFQe4xK3s78w3eQBSwCq1gAmRjNgV8Y4vDkwERy9sha0e0EzmF7Dt0mXWqC2PA6S_S1maOHpFMCC0CE1D04SOMkKiZ5aYwtaVpt3Zp2-Mbkz1XPSZ11JErGQ9AvAe0E-HzRGZsSza8c9UR1QBMeBwLOLybO6g-Au9Zn-u94Bns5HPq_n-bjJ9kRGrt7d-w_GBXfXZM4NAGv7BE7w4Qb3HvfZ12wygKVAjdgPFlx_K8kTqXfCJ4_R6V35yMtLnowSVTHBKQJaPTQmSJTcjuaQwUXhEOrf_-tKnP3cZYKWpxVnF1IvvjnS0wmuhrLroJXL-gtqiZ8DOasvi4LSgb390IHUmJzzUAAO1rSHYmiNnFpAESGeeCa5MO-LbcIJJw-5nCGX8W5QLNXuNmSFAhQiM9oTIbN6mDz5_1WHAN3iXcSrv-HoOt5qaKpSAbgj7QY2W7kiitvLEDMA6g0etODPox35GhjSa3kHG5JrgpwKL_mCOyocZdyPHvOyrUqTguCjTaQX5p9jxk4Ob-hWh8uKkvEVlikJmzomtW-r_j8nS5r4ihrSB3dyMYZScAE94lqa4j2qAOxRA199Bn4Lc32Xrq5Xq6c3rbC5D5ZQOklmg7uxjOqjqg0mft3fCG3vzPnrE_bEgxlbAtIFiVLbaCd310g34Q=",
  "id": "rs_07d98f7c3f1489bd016ab4427c54d887d0ae13888d05cae5fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The yellow object is now directly between the fingertips at grasp height, with no radial gap. I’ll close firmly around its middle.\"}",
  "call_id": "call_QvK3aHVm5RqfV61pGLMtwmHb",
  "id": "fc_07d98f7c3f1489bd016ab4427d718487d0b365867923dea3f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QvK3aHVm5RqfV61pGLMtwmHb",
  "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, 0.8082, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.4313, 2.2219, 1.6154, -0.4759, 0.2295, 0.1352, 0.3042]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1502 left_yaw=0.0011 left_pitch=-0.1369 left_roll=0.0012 left_gripper=0.9992 right_x=0.4959 right_y=0.1879 right_z=0.018 right_yaw=0.1235 right_pitch=-0.4602 right_roll=-0.146 right_gripper=0.3042\nstate[joint_eff]: [-0.0205, -0.9915, 6.8991, 1.6288, -0.0562, -0.0611, -0.0122, -0.1026, -13.5453, 6.7624, 1.2283, 0.2613, 0.1148, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f652c1c6d6d94f01a1744d6f7bb4aa013b7b9f3a5c95e3d5484f4e08b27edb69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84804b0d7549f78d0d46ebb5383e5fb722dbbaa882984cab50c81b6bb956c37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad57e360066b0210f2b7380abfc64a4a2a05c67de265b2159fc1361f9634945d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0193, -0.0387, 0.9992, 0.4767, 2.0445, 1.3758, -0.2974, 0.2863, 0.1982, 0.2832]\nstate[eef_state]: left_x=0.2812 left_y=0.0017 left_z=0.1585 left_yaw=0.0013 left_pitch=-0.0942 left_roll=0.0006 left_gripper=0.9992 right_x=0.4709 right_y=0.191 right_z=0.0452 right_yaw=0.0991 right_pitch=-0.3299 right_roll=-0.1151 right_gripper=0.2832\nstate[joint_eff]: [-0.1436, -1.2376, 6.9265, 1.707, -0.0806, -0.0464, -0.0122, -0.3761, -14.188, 8.5949, 1.5507, 0.1783, 0.0024, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8085, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.4282, 2.2093, 1.6226, -0.4667, 0.2455, 0.1448, 0.9967]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1511 left_yaw=0.0011 left_pitch=-0.1316 left_roll=0.0011 left_gripper=0.9992 right_x=0.5021 right_y=0.1859 right_z=0.0286 right_yaw=0.1049 right_pitch=-0.4275 right_roll=-0.1454 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5385, 6.9128, 1.7363, -0.0611, -0.0415, -0.0122, -0.8, -11.8906, 7.0222, 1.619, 0.1001, -0.0855, 0.1734]",
      "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, 0.8082, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.4313, 2.2219, 1.6154, -0.4759, 0.2295, 0.1352, 0.3042]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1502 left_yaw=0.0011 left_pitch=-0.1369 left_roll=0.0012 left_gripper=0.9992 right_x=0.4959 right_y=0.1879 right_z=0.018 right_yaw=0.1235 right_pitch=-0.4602 right_roll=-0.146 right_gripper=0.3042\nstate[joint_eff]: [-0.0205, -0.9915, 6.8991, 1.6288, -0.0562, -0.0611, -0.0122, -0.1026, -13.5453, 6.7624, 1.2283, 0.2613, 0.1148, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f652c1c6d6d94f01a1744d6f7bb4aa013b7b9f3a5c95e3d5484f4e08b27edb69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84804b0d7549f78d0d46ebb5383e5fb722dbbaa882984cab50c81b6bb956c37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad57e360066b0210f2b7380abfc64a4a2a05c67de265b2159fc1361f9634945d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07d98f7c3f1489bd016ab442804b7c87d084f77995736ba2a8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKHI81dZWoLiVW5d3Xz7fjXalrZqxd0UcGH9Y1w_7qCCs8Q8AmsZd6lmfwhCjaotAb7D2K1rAwLQStX_i9eyIUohyVObJUPpWumoZPkXWfPO2tslKC7v57cIXrpN5P4cheK2LnrF-JuJmQBLDvq9QerDWjt8ykf6ORRwF1cAEvvmQHr1Biz9QwoEHv6XA5zCS8ZV_H7lHr8VYIpBpB0EFLHkODTJQUtFSIjFC7fMODn9F0PjBz5RxarnbQpLhe1b6uDCT6FOUBbpvcEINqPweevGb8Dqj4LZol4Iu_X8xaLNP5SxNmf-r-kbmuKy_wVQzbjOJJregYoGdTfUFHgTQGNs-XwDWPtfox6XQeKB3x14Luqfptg-iidraDY1qibvEqfBY_pJxIe1GsIPOPB4xW4iV8928N9bsy4B1oYazTYP6eEQp0mSFdXfogNltvxYoiA5fcl-LkXEca8pThmAANjJVudOciNG165yjdllc1gPle4KcY2Clg6CCqz0CJ2LidORrgI0SwHhQAGHWuKfggHL9EEbox2wlWBIsF111_NgrHOZwzM6goxcWlBPWLRakma3wZwTR9v5uKBfPGndpd-XzzlrfxQAaFV2C3OUu5vFaPks1kweU15qJbhivljFJQQUIdLAEFVGL-q707F_2LiD4FlrhmHJ299B8v37x28VEL5zZ1AZGRf8K8-kc_HmsT7O-zeL_qkb62uVb8EZ4er-cYQvgU1RZVnHppIFjcuObU5QuopHEv6derDumCF1VCEt8PlSH1cy8EvZ3ql3J5MABWgjv5Y-UDqfsx5Aese3logTD0aNdmsngNCPZoQjgLe9kT_X0MhjE70bUaDus9RkH9FCx6Qs8bWdZSru-LHanSYNlyJzcN2jPM31vD4uZk_cvl9sJ-Y4GU984zQB0zAgtITUUQdSSg2nnynwQb0UfmdbZZqhZMoUnrJtj-Lw6FOeUr3LbG1VlhRfoA3fIfssotWsBDBQrsBYCOO3R0b9bNFol4luoX8M9aHELLlFZ-QEVBny4emTkEAQywezKLOIkADnuUwFQN44sFLKcHxyIWvtkoXeVD6HsIb7I6B674PRCzNEvdN6bUcPilSmIXWz9LbYV_YjQ8DM9d7oD84cEJEt2fqBiDAIg52T8q-r2l_SMoAAOIY9p2A2yFuchthVYC2mr-uyPveW-DRDSPHEJnrzUisJkXRWgBnkPBD7sDhGAHp_mHTetYww5TD-ynYfSxHvm0e1G6LkelyEM95y9179El8hcmfc8GbHWjlQX09bA9uoEcRkvMcfPHOtoO1NcFmXdc_SCkqsy4dBQw3TWyu0mLXbHAuAoaV4HEf6EcV",
  "id": "rs_07d98f7c3f1489bd016ab4428573a487d0bc83f9382a09ad30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.13,\"right_yaw\":1.57},\"note\":\"The lateral close again pushed the rounded object forward because the grasp point cannot reach its center at table height. I’ll reopen, lift, and rotate the jaws 90 degrees so their full opening spans forward/backward around the object, allowing the forward jaw to reach beyond it.\"}",
  "call_id": "call_v2qz2rrPE1qd0KKAE2bPk2iJ",
  "id": "fc_07d98f7c3f1489bd016ab442860fe487d0933a8993933908bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v2qz2rrPE1qd0KKAE2bPk2iJ",
  "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, 0.8127, 0.6064, -0.5358, -0.0189, -0.0387, 0.9992, 0.202, 2.4672, 2.4481, -1.198, -0.4339, -1.2259, 0.9959]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1456 left_yaw=0.0012 left_pitch=-0.1594 left_roll=0.0017 left_gripper=0.9992 right_x=0.5252 right_y=0.187 right_z=0.1162 right_yaw=1.348 right_pitch=-0.4537 right_roll=-0.2098 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.7998, -0.0806, -0.0366, -0.0122, -0.3897, -9.4427, 4.0137, -0.2076, -0.3346, -0.1734, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047fa6f130d4ac61d92771f3bba222c71e470751d59881119d9d92d1aa8e8da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917ca8c067ddafcbbb61392bab0b6ab12c41254917bd04bff77fd7006115c430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e18eb268a2ac3ea5b067fff039cdf73f6354456e7344011d7d31072145f62c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4965, -0.0189, -0.0387, 0.9992, 0.4355, 2.1204, 1.7721, -0.625, 0.2539, 0.1524, 0.9948]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1552 left_yaw=0.001 left_pitch=-0.1114 left_roll=0.0007 left_gripper=0.9992 right_x=0.5107 right_y=0.1926 right_z=0.1107 right_yaw=0.1108 right_pitch=-0.3488 right_roll=-0.1205 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.9128, 1.7753, -0.0904, -0.0659, -0.0122, -0.7726, -10.8513, 9.2786, 1.4237, 0.188, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.4313, 2.2219, 1.6154, -0.4759, 0.2295, 0.1352, 0.3042]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1502 left_yaw=0.0011 left_pitch=-0.1369 left_roll=0.0012 left_gripper=0.9992 right_x=0.4959 right_y=0.1879 right_z=0.018 right_yaw=0.1235 right_pitch=-0.4602 right_roll=-0.146 right_gripper=0.3042\nstate[joint_eff]: [-0.0205, -0.9915, 6.8991, 1.6288, -0.0562, -0.0611, -0.0122, -0.1026, -13.5453, 6.7624, 1.2283, 0.2613, 0.1148, 0.1734]\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, 0.8127, 0.6064, -0.5358, -0.0189, -0.0387, 0.9992, 0.202, 2.4672, 2.4481, -1.198, -0.4339, -1.2259, 0.9959]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1456 left_yaw=0.0012 left_pitch=-0.1594 left_roll=0.0017 left_gripper=0.9992 right_x=0.5252 right_y=0.187 right_z=0.1162 right_yaw=1.348 right_pitch=-0.4537 right_roll=-0.2098 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.7998, -0.0806, -0.0366, -0.0122, -0.3897, -9.4427, 4.0137, -0.2076, -0.3346, -0.1734, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047fa6f130d4ac61d92771f3bba222c71e470751d59881119d9d92d1aa8e8da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917ca8c067ddafcbbb61392bab0b6ab12c41254917bd04bff77fd7006115c430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e18eb268a2ac3ea5b067fff039cdf73f6354456e7344011d7d31072145f62c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKL0muGqgSCUIn4O1lZtcnnm64N1YPxVN8d350HTOFZ2n5ZbuKRDFRkIF8AIkIdBhY-g3asS67_Hs6Vsm56rcqThFLeiSBLM-qhZ1CgwUSpunLV6mAWWQz9W9C-sXHCkQcAPIagKThUTBFGJEGf7gmdDUZF_vfrPFawSmf6IsEupFeyYzSW_FWbyiDadvtDI13GArnf5GHfM8WFlrznSvNw5cEuBwBFjKE6VSGK2Y9yfY6MY6U056wDXomv4hFqfxhW8xMp0KN82RyNLqli94QsBYY4dJT9i56YwFCtLTupPFIC-7bgQx79vCoiPzUFv6YndntcyLhHCTcQ_S1Vt48Hh5FYzFtIVNJ4AYSgebEpKjj0BtlS_SJpBZDYayKsqck7DUWg-ygAJ-aRP9Aqa9QwOO9an4vn2St2BTmQDky4wLxjiWQ--iWCHqoBJMcoRlxG90KFEyk-cJ2ivuioXo_uv3AjqK4SnEgdxFNZkQq9Z41fsYL5FKy_-zxgaSKPur7Kz1MNxLfVgh9vF__VBLo4sWRLq1qQk9IQICJTxQcngzlcd6VaC376Sfh47Gxo8M-38NO3aUgmgbZiIdfwr3NlPXW-2cqkBXcmXKdBazRkkNnIKf_fshXWD-PfPw7WzUaHRCMG_W2Tv52U-OJ3s-GLgM_ICa1iCOYDhDtUeiprh1_eMeh3dpmXXj3Ek1T7x3VLIvN1e4QmRbSjU4alOnGfh1pmKXniX_XonqZfVfReZoMlZ_u3H4d1Ld-GF5k9G0BN42Dq0Nov3LcKBPF0frwMAXUOUzYxMxTxa8knk-8c7whjFNivz5jhdJbw1slstR9gEMLzTWn0JVOJd3pWrPR2nhkVbt3KeZxX6xUUiqwqBawW4o44wHM5sI_JbtMCenzMCYw7gMVpba2U7J-HfLQhG_BmUpnSZjx7PQjsbGTmwrIb8RJ6caZLREZ1u9KkMCUq4SXbIOPiS7mgI6MyXfehbL8jnvy6cYjObqStmDW8wEdj2ku9M2RrIl5-gKnY6MLWZGUpGX1_KLqRRzzIeSU2cxd_xHJSCaguKBCTCaguOubT2LZyGnWO7SZ1iWMGQ2viAtI6JPkRj1UFE5mu-LCO9fJObKkC0BeWDCo7kphNJ7yN479Y91uw-gpB1Fy89ZkxscUFJmJxn4Y7rmALyKnYhRcT2Fb0ejYDAONSmo1-VFM7uumZKgq1bNaLL7GVu1H_tpUihzbhtP6mUT5a7S6O0WqHtGfGdZ_NJM-KCP5Nxz7P5JtssISL8vzCJvWBF3f9UC3VoOuMyuPLjBspLDtYVHAQ9d2S1bUlbblnNIny8zqp129yVHu8K_8zXKYOmkpyTb6Kdb60UIL78S6RptXAafhyX9L3CgQGyAjA9HoXIg4JmfNsA7sgKySvGaP-j5dYW1TFewlIey6lI0HGzH6EySVzss6YxkOABQYQS7Xu30gPt3Z7Dt_uCivbAfrvmXogPw7oKxRY2b-UtsGeN_6cJmgqgkpBBlhoGTHH26PPWWQ=",
  "id": "rs_07d98f7c3f1489bd016ab442896ea087d08d218a90008ec03b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.19,\"right_z\":0.03,\"right_yaw\":1.57},\"note\":\"With the jaws rotated, the yellow object sits near the center of the open forward/backward span and the far fingertip can extend beyond it. I’ll descend vertically while holding this rotated orientation.\"}",
  "call_id": "call_vud2asQzPXGb1wvBgc6Pxhhc",
  "id": "fc_07d98f7c3f1489bd016ab4428a1ae487d0866359dab9e8ee60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vud2asQzPXGb1wvBgc6Pxhhc",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5449, -0.0189, -0.0387, 0.9992, 0.1951, 2.5324, 2.2997, -1.1065, -0.4992, -1.4277, 0.9973]\nstate[eef_state]: left_x=0.2712 left_y=0.0018 left_z=0.1438 left_yaw=0.0012 left_pitch=-0.1697 left_roll=0.0019 left_gripper=0.9992 right_x=0.513 right_y=0.1912 right_z=0.0459 right_yaw=1.5483 right_pitch=-0.4537 right_roll=-0.1737 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1829, 6.8991, 1.6679, -0.0269, -0.0708, -0.0122, -0.8137, -11.7675, 5.5726, 0.906, -0.149, -0.1929, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67d9b58bd917e17d9c39189242cba867c19ad5afef0e684ec6dd532094ff1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958785324123892c1821cde42e3e4ed519c46035813a68686d7f1b15fe1f1968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22779faad1730098bf122c698a9039d41ccfd5dba3cf19605762b4f21c11ed7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8085, 0.6064, -0.5121, -0.0189, -0.0387, 0.9992, 0.4282, 2.2093, 1.6226, -0.4667, 0.2455, 0.1448, 0.9967]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1511 left_yaw=0.0011 left_pitch=-0.1316 left_roll=0.0011 left_gripper=0.9992 right_x=0.5021 right_y=0.1859 right_z=0.0286 right_yaw=0.1049 right_pitch=-0.4275 right_roll=-0.1454 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5385, 6.9128, 1.7363, -0.0611, -0.0415, -0.0122, -0.8, -11.8906, 7.0222, 1.619, 0.1001, -0.0855, 0.1734]",
      "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, 0.8127, 0.6064, -0.5358, -0.0189, -0.0387, 0.9992, 0.202, 2.4672, 2.4481, -1.198, -0.4339, -1.2259, 0.9959]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1456 left_yaw=0.0012 left_pitch=-0.1594 left_roll=0.0017 left_gripper=0.9992 right_x=0.5252 right_y=0.187 right_z=0.1162 right_yaw=1.348 right_pitch=-0.4537 right_roll=-0.2098 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.7998, -0.0806, -0.0366, -0.0122, -0.3897, -9.4427, 4.0137, -0.2076, -0.3346, -0.1734, 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, 0.8143, 0.6067, -0.5449, -0.0189, -0.0387, 0.9992, 0.1951, 2.5324, 2.2997, -1.1065, -0.4992, -1.4277, 0.9973]\nstate[eef_state]: left_x=0.2712 left_y=0.0018 left_z=0.1438 left_yaw=0.0012 left_pitch=-0.1697 left_roll=0.0019 left_gripper=0.9992 right_x=0.513 right_y=0.1912 right_z=0.0459 right_yaw=1.5483 right_pitch=-0.4537 right_roll=-0.1737 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1829, 6.8991, 1.6679, -0.0269, -0.0708, -0.0122, -0.8137, -11.7675, 5.5726, 0.906, -0.149, -0.1929, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67d9b58bd917e17d9c39189242cba867c19ad5afef0e684ec6dd532094ff1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958785324123892c1821cde42e3e4ed519c46035813a68686d7f1b15fe1f1968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22779faad1730098bf122c698a9039d41ccfd5dba3cf19605762b4f21c11ed7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKOaFiSR9P7VE9ht37q9Byfbz_0GIgrEVd0q4QjDCGmJJb0xHTexTLf5-UD9fPrYjoaKuxZzb5nXJXjb6uQ_MXWeAkh_7APd6j3iY8KZlGzGbaGC9PLajsObiI5gjCR1cxo0PWuNgL-jZBlU5agboT_sPI2FPkttKOJ3mWGSjDJs7dTJCNr4LoFaHtSfMpAs4U157XVSBXlrkYxHobck4I3mIh4LQ_M1BgcGIaw8K33V7Nh5YmyLnJz_upr_A0Wa1tHqPpA0irrwAveZxdCpYXHuyo3fifFCUjLaLm9Lu6Au6x-NBMQkr_88zTQADK2Mf_LG_Lx1RGLcT3ipoVDYqbOvotQH11jNF9HxwJFO2wyz_iZT6ARB3Xf-oxWOD4RsxGbE47fYrFoCtM0cs_R6gUF6zydklxcKwl4yX5bWTBwO9JuWUUNqAi5BeRwpFGuJ0aSnfzsAQoXI_NkGhPsQ_Dms_he-jzCbRNquwQoUeGIy4iVmf3mXSGiTdlbM5B-O_kLelD83BQoiHqCgeluZ6ZD9o8s7o90tesP4qoLR3oTioTZfeYMFFkM5ApRZo9iAe_auBld__JxHlxzzB_WodY46dDXMzWqRcnrSZFh-UfgadlcEPIV_cuH4tj4_6yGQfTgB01Pmcz4ep0fSSbclNMFwWk4fF6JnkG4nUNQ0_dN6VcXtBN0eGHHw_ihmdEQmME6A2E6a-6aai2lHIp1f8TKSzwWIGfs0-TU2coeMPzbTQ0yBp_mnADejYz74A-4E7Ki9TVTt95EYZ6HJo936pLauIQy75lqMHvHq1HT6uMMDDyJSxegct0Y_Zh3AlcTTajhEZPuHxdAApIgTwKixO_gFPkNe7Plt-M9maPePvCKrYy4MSHY_PByT9OhVl5kuIz6QQ4C9gEMGbPeR_Ifb6kSnsyZIrl8dnFP2ryWWC5BdKcMX3RwQoLaRZAkTXeL3SxQ7b-inkEia5JJJYFcRGFb8sxwZhNdRYQJKMvHt8KfF3hWgwqKKRSmLUO8ZpxfCY-CKXGJikJlK6KJX-MnKwAg7HdPFvk_wqNGR8rY913SFVYwJyus-kZ0DfsP3GTNtQkytSuqJ9YIz2LVv1Dr4UnU1Xia-ojZv7019uPlEn43SAYd2ea2YqE-TvZhe393z_QC8X2nepGnwfDm-pXvCgtcvnLA2C094QThA1TCoC5Yn_Q7nHRwSu1VtU3G9gbdkyedeY1QVwTK7zwnTfD4Kx_EtbALXtSz3F-p2mrcOwlD_5js_IiOrltAWFyJLuyJPREm4T2HtdOdGQX5wb_Wsp6sv7umyXsGRF_f15lgfqxcldTicWTa1i0PAsQiefLkDkF-jYJ88wH8BLspMVUoXVWni3zHnikntFa3BmOdKcWvlNQ96WCZjlpJGiQUGpetCSuf1RENwMroiCuhZjTdaiMy8tHuvcx3TTJuXSIFv4p2NiPF_oGVAUVDrZ7UOOJoqyWXiOwiP1yWL7ni2xGoa3rKDP-yjXJNusjQbiiZKxm9A5eanZaBvCB6Za78ghlQqfdQorLxe2ZEsc9aJ_eZvKNX2t0ThZ_LTXheTqKo7dm0XdCtiR9wH_YvE3p1gPePkmRG",
  "id": "rs_07d98f7c3f1489bd016ab4428d136c87d0abd61082f8e24136",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The rotated jaws now straddle the yellow object at grasp height, with the object centered and the far jaw beyond its front edge. I’ll close fully and let the object’s thickness stop the gripper.\"}",
  "call_id": "call_3E8Ps5dlaIfCPxhv2FJC2IVJ",
  "id": "fc_07d98f7c3f1489bd016ab4428df87087d0a43cf02359a1c585",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3E8Ps5dlaIfCPxhv2FJC2IVJ",
  "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, 0.8143, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.1932, 2.5378, 2.2982, -1.0817, -0.5167, -1.43, 0.0078]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1407 left_yaw=0.0013 left_pitch=-0.1869 left_roll=0.0023 left_gripper=0.9992 right_x=0.5171 right_y=0.1937 right_z=0.0455 right_yaw=1.5454 right_pitch=-0.4334 right_roll=-0.1903 right_gripper=0.0078\nstate[joint_eff]: [-0.1709, -0.8957, 6.9675, 1.7753, -0.0708, -0.0513, -0.0122, 0.1299, -14.9128, 6.3932, 0.5055, -0.1441, -0.0171, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518ebab1cdb74611a7697fa4b3c5f5b842213784a45c2e06dee5c0f335c25e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f6fbb32948a4270537ea143c2a9575916aa8ea12c4eaa3f1af37c9e806927a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c210085d7b06bf415608b30482398c4cc25294c34f70d72be532c0f051a986",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5182, -0.0189, -0.0387, 0.9992, 0.4313, 2.2219, 1.6154, -0.4759, 0.2295, 0.1352, 0.3042]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1502 left_yaw=0.0011 left_pitch=-0.1369 left_roll=0.0012 left_gripper=0.9992 right_x=0.4959 right_y=0.1879 right_z=0.018 right_yaw=0.1235 right_pitch=-0.4602 right_roll=-0.146 right_gripper=0.3042\nstate[joint_eff]: [-0.0205, -0.9915, 6.8991, 1.6288, -0.0562, -0.0611, -0.0122, -0.1026, -13.5453, 6.7624, 1.2283, 0.2613, 0.1148, 0.1734]\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, 0.8143, 0.6067, -0.5449, -0.0189, -0.0387, 0.9992, 0.1951, 2.5324, 2.2997, -1.1065, -0.4992, -1.4277, 0.9973]\nstate[eef_state]: left_x=0.2712 left_y=0.0018 left_z=0.1438 left_yaw=0.0012 left_pitch=-0.1697 left_roll=0.0019 left_gripper=0.9992 right_x=0.513 right_y=0.1912 right_z=0.0459 right_yaw=1.5483 right_pitch=-0.4537 right_roll=-0.1737 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1829, 6.8991, 1.6679, -0.0269, -0.0708, -0.0122, -0.8137, -11.7675, 5.5726, 0.906, -0.149, -0.1929, 0.1245]\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, 0.8143, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.1932, 2.5378, 2.2982, -1.0817, -0.5167, -1.43, 0.0078]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1407 left_yaw=0.0013 left_pitch=-0.1869 left_roll=0.0023 left_gripper=0.9992 right_x=0.5171 right_y=0.1937 right_z=0.0455 right_yaw=1.5454 right_pitch=-0.4334 right_roll=-0.1903 right_gripper=0.0078\nstate[joint_eff]: [-0.1709, -0.8957, 6.9675, 1.7753, -0.0708, -0.0513, -0.0122, 0.1299, -14.9128, 6.3932, 0.5055, -0.1441, -0.0171, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518ebab1cdb74611a7697fa4b3c5f5b842213784a45c2e06dee5c0f335c25e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f6fbb32948a4270537ea143c2a9575916aa8ea12c4eaa3f1af37c9e806927a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c210085d7b06bf415608b30482398c4cc25294c34f70d72be532c0f051a986",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKT67h-lg2HHCQdApYNnxVsWhAF1IezgSUKrcUjFO7xl1tMKf1iY2758pj9uPPBtJzbw3sXsZ7dwbOHyodyWzN2dhGd7stsRcEVb02yXtcfeou7Huf-HYpx-Y7_6l385WuxDz_SvxmKaNaycB8HU6v6_W1fKVTr9dJMqQP4RRh4FEpvjOR7jG8_yueK9q2Ure18UbYEn_sn70CfOac9d30fuzie90MVhQEgxa0LWdiECH4uTK4qcwek6Nv_L2kUz0C3BuT_lW19ZrRA9iO62J-GHF5Jlh_BSLBN9LJbDgI2dSeTz9XmwKihBe-zbMtxDmA5XyN3Cf_gAx_egXVlpGAIn_Hgj14DAIYaC5calt8mrdrBskZhVIhmBsI47xAO1LWEj98eaMGEV1CKpEajvi5ZB_so-ctANnY1IiQ7Bw3cGvpV5rYfgkvXhCGmng1kdkK4wvg7b-a9NZM1Fp-XrCFcNnE_5U70TQmzR-0aUx2n00uwXLDXN-9koEw5YBZ58_-7Xgg6OOAmOd_Fd-XGfBzkbjba2QMd-SHZgwkju1yzKruf5ihvo7Nh9x5DVOx0IMWh_xXeEkxVVsqGhsV6Czzew-2g1CRyEOSjz6dw6Zsi4vQ_Gxd5lFLcsiK1Aal0qNvprAgjD0Jx7PTJEfX9cIVl8tCrLFXe4aLweDd-K7gMFyBrHuFVafpJ-oz-JxjijW2rtJy9sMq3G3TUn7Kh8icx2GpPFbkMVRYdi14X12Ysk2ueYWycXO8wvCT64GPnxvRBnOXu_rvUmnk1r7oL1XCbiHpZAmnjxsRyuzrblTBidpaFvaJMNsFMus_ARBFpGDvoUwYzwrKx3JQdL4Vy4V6Js1ixHAZmijXHWwwZr7cxEvwTwSMHFZS6mXP_m2xmxMX6J9qF7bZXy3mRAjFLYqziT3CD0ehWQYn-Dxlx03iJJLQpogE9xQYfsU08m-kuNXYphAJOqtIyq_YHzBXYoy7EBJJmJmUuO1IJRF0sGzK6t4vhfk6sr_3iZdgwnla2HujVmroqS9DV8dRKtU3zZv6IkUH8iZMyJax0sRntN9ZZnwUndGCtctG1Lih1dBNWwwvPqrN5yAdYik2yD9P2nhDQMcb4O03yYJl78NcmsVj8ZF1VFy3ISEzOYWW6ITfLpNmMQQCy83-uw-fBTKGcFtlSSe6NESQVlGxtw77YfWneM_YfzK0R4FTiCydL56lUA2GkQNw7k1_B31ZZsshOcUwTSgzkQ6LWyOxha-Hs7RnyJWYrbnCAtyYQ4ywTdNrJc-PyqjDaKHst-YYut0PZj_ytrchmNEIVKWCldsZHuv_Psrw_WirIVjqaIcH5jCaZzOW_FTBLQpJGeWwZXQLypcRwwgBmAFBtETJvnJ4NVyyW-H2tpAAy2L8asueQ1DiX8mUeVrNr_PFMrS2FSHoIGC17i5ProHKEK0hxabAncNamWZ37SBLJqqK7mNe8kNNOWJiEZDPaJG8fIA8-IhEq00O1-O0zN6eUB3XDzyaRnuVV_ACnpi0T55oBCc7LHt6GQi574ZIOs8FScmm3Xvm_GNj4qFoGdQFQ0wjAiVSCRWA0cXCXJ-i2YRsU4fX1plV2pfxApINojOzp8QnFh3MZbMlD9VuSLtBK5-nP3MGhV87JnMjvUJ8ZWniWPMEjqmBrBKC5pzr6hXlSiIIXsYCBx-etwJd9DJAUjWkmhTVltfexwP6SoiH8opIslgf5I-TUkamqIlmzmHqVXUrwgf9BNEbeAdZRJz22aHAI8ukfbk_nZ_qkmN1A-dovHwvtCt-78_-2ZaIlaMj0ti7uIEtflVBev20KGLRdSAQBkRbHu59Cy_y_HU23YQ4fYshApKR2gn9ly1AwSn4WAaLtJIIcYWVdyVOcmMbMpJP6NBLQ1Flh5hqruItFypCN0XAuzDrP9ZyArck2sTYYjEi1YdcRLxkU7dtyosOoDXpfQOgX-FMpc6BQhD9xBgxwutwH2zFHDtcbzjSAjzCd9IRVO8l3qdmt4t1AeTGpUmtEuOfe3ZuAMjyhqRBcno99VzhUHlIGYLCIGLOdZuj404apKr42NBFgCg==",
  "id": "rs_07d98f7c3f1489bd016ab44290caf887d08a419811e476bd6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper closed empty, but the yellow object disappeared from the wrist view at the safe’s rim and may have been pushed into the open safe. I’ll retract and park the right arm to inspect the safe and clear the workspace for the plush objects.\"}",
  "call_id": "call_QxJER87sXVJR3XzYSHXne7WB",
  "id": "fc_07d98f7c3f1489bd016ab44292316087d097481b381ecfd3f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QxJER87sXVJR3XzYSHXne7WB",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5842, -0.0189, -0.0383, 0.9992, 0.075, 1.211, 1.0599, -0.8654, 0.0849, -0.2142, 0.9963]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1357 left_yaw=0.0011 left_pitch=-0.2136 left_roll=0.0031 left_gripper=0.9992 right_x=0.3078 right_y=0.0117 right_z=0.1724 right_yaw=0.1158 right_pitch=-0.4435 right_roll=-0.197 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6068, 7.0769, 1.7509, -0.0611, -0.0464, -0.0122, -0.3897, -4.4923, 7.5966, 1.5214, 0.0562, 0.1197, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5d40819d74d693483eba244261fe47ff07475d20015aeffeee4b30c33c00b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3749bad5c553b0ac014ecddeba482ea02ce9af055872db270129308e30f228d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6f62e740f93139e21f84d5fe7725059cd9da2bcc18d3a533c8a264b46eb1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6064, -0.5358, -0.0189, -0.0387, 0.9992, 0.202, 2.4672, 2.4481, -1.198, -0.4339, -1.2259, 0.9959]\nstate[eef_state]: left_x=0.2726 left_y=0.0018 left_z=0.1456 left_yaw=0.0012 left_pitch=-0.1594 left_roll=0.0017 left_gripper=0.9992 right_x=0.5252 right_y=0.187 right_z=0.1162 right_yaw=1.348 right_pitch=-0.4537 right_roll=-0.2098 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.7998, -0.0806, -0.0366, -0.0122, -0.3897, -9.4427, 4.0137, -0.2076, -0.3346, -0.1734, 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, 0.8143, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.1932, 2.5378, 2.2982, -1.0817, -0.5167, -1.43, 0.0078]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1407 left_yaw=0.0013 left_pitch=-0.1869 left_roll=0.0023 left_gripper=0.9992 right_x=0.5171 right_y=0.1937 right_z=0.0455 right_yaw=1.5454 right_pitch=-0.4334 right_roll=-0.1903 right_gripper=0.0078\nstate[joint_eff]: [-0.1709, -0.8957, 6.9675, 1.7753, -0.0708, -0.0513, -0.0122, 0.1299, -14.9128, 6.3932, 0.5055, -0.1441, -0.0171, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5842, -0.0189, -0.0383, 0.9992, 0.075, 1.211, 1.0599, -0.8654, 0.0849, -0.2142, 0.9963]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1357 left_yaw=0.0011 left_pitch=-0.2136 left_roll=0.0031 left_gripper=0.9992 right_x=0.3078 right_y=0.0117 right_z=0.1724 right_yaw=0.1158 right_pitch=-0.4435 right_roll=-0.197 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6068, 7.0769, 1.7509, -0.0611, -0.0464, -0.0122, -0.3897, -4.4923, 7.5966, 1.5214, 0.0562, 0.1197, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5d40819d74d693483eba244261fe47ff07475d20015aeffeee4b30c33c00b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3749bad5c553b0ac014ecddeba482ea02ce9af055872db270129308e30f228d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca6f62e740f93139e21f84d5fe7725059cd9da2bcc18d3a533c8a264b46eb1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKYuZ_V__tXA_tIcweU0gFEKX0jgvr5zpXOlU_hV5WcLIBfTAxq_mS0eF72OVCHkJaJGbvelGyGj9VPGsR9hUUaHp-Ohlt2d7abIEhWMT67-qFVC7HpnPST2Mn_eMQiTwymXi7iS7YOH9ic7pWWM_Vnx1DlO0WMR1nVEUoJhzpZHctLRskHnVyf-WRNHW_ZqnvAS8w-VeMBf5RmDE6WQ_-Here9xlQNnNjtl71UcpuuFf2UXHQB8o7UcVuI4fcZzu50OrrVJsXTQoiMeLmp4VV0IMYHkoh1KP72Qy8b6aqGGIky0Dvdh0-GKYURIwcGBbFlcPEL_2Z3jxg4-_XuvNd3oxYM9QyK6KCLfmjXxcvHOjDv9fc2Y1ge_7EOlvkt5lELAXX4IQrZjR3t2Toz3QCcQk29FpiTtNuvaCG85i9tEfh8-c-60lny4iW83uTwG0FWttBVuryOCADp4VBfZoxI6i2qTbKD9_xpAFhAOS44g4nrLfkG9kl8aXPtz-1oUjW9MK2C4qBqegPpBvOV9sTRPZ8JJNiiHotTHxK5cMD8oWIPfcsw0ghOJnxMdyMV1goJ6iD-aGb1VK3Om2tl-pQj4evUo8dVlZy6cgeCCrLkHlvucldaoE4U_3iaRC6hY5iz1GlPvvCtXHBiwUZTo7zImRmuK9ZufnImQXM_fqKlnmFARI7mKaecatmcMk-derCSBtQ_NDjMpzCFNU9kbFhjcRkOV4d1Vdi6xHRI4vPD8lj_KWRpCRiphK-X8f2IGqIo8TwDJkrAskI7zTAankFtqfLmDVLeUuAmAIIbqSnl_YgjjhLqnsJMaLXuJdalBRol6Nv5XH6e_UKbZG6r1QwjnrRZJYT0eVKxpQO6HeNcWF5Gxowtpb8nRmrIHS6d0tEXgzLd9EeFiEXwDrRbIxdYRQIBFzc5422MWzPdT4xJ_uzRLVtmDWPgZoiHamgjAv4Z2_GjiKAEh_wmsRjd-8m_-zJynJ0q8DG1vr-DYZt1i2XFVEGXQcPH5UaSQHc8uTUCM9uW5R9q7v2H9u1edpmbTlSrpe-Ox_0HPd_tMQINOLfxm5YR6XYB8W8WgkuFoA1kYRvTKLjuKAXk2dBNy2gI5wZCbQnJR6PoL_f9rPZO2PQqhdzI_MJAiGf55Q3ynoUNGdMUMf6rZLK6Bk5QAb6OcShRgWHm0xrJKhvqpbWCc8FO5evdhx3t0B6TZ7mWDfPAA4azanhw09F6VNfHSlRqmg0-a8zs3PxZAlr1RqXVUCj-sQOMdBnTfvAbydLqX80BgCJ0RIcLvE5sGB3PrnuQf2NyNxVXayO6vv0L-UZL1QdvObQdTfPfblHh838Gso5U7z_ikauAhLiCQyyGDilWKT-lRMRvhZAKpXODzL0YaOmaCrFGiY0EvnzsvJ97kc-F5_Gq3U8tD8PSMghXm7lapAHTKKLY4lLfsYsWValpmC4w_WN1dXLAUd3irLsVRyIU-hnAQ3NBzwfcSUCqjhdK8Dtv-0G9TwgAEyb3iLsHvTLSQVqlnTnt_Dkffz0r43_wxdzHRB0i8rG9Vnc8n21hV8ODgoU-7ZPshZi_izlKDS7_FhIIOfl_gme5u7dDfHJWNw9Qatt0qEHwtMvm2fKfuc-KpX2J4kcCTkAFtSzEPG1zpQYGRPeTW92tPskpVpmTPp2uBO_qBpxFBux1jK4wO9YKq4p_iYk_9z7aC8_bRDc8_q8EZlmJ18KdqGpbgqllWIyNz0k3Fq26Be9QPB2_7YUlGGaiCNB9Z6ZtbHrsY-VGq1h0rH_mSLPIPpAUy5typmMKXIEvzM0kZIPf3Cmq3YQNrN2EUoX6V4G1K0SoTk94KQ2hHCsVkLgnxpjDPfDlQnjUvuT59dH_CZnWtzKrFhk2Le9gJsHDrtPxPMaj_iR89KCrv0ayJzKbEkK-7PQzy0iCVeVwJsU9PeIxub2OWlrvw8bdvS27Lq9eBILKDOlKaek4_hzjGc_BktVaBi1QeF2NzMebs7cYf5pNV0K0iw==",
  "id": "rs_07d98f7c3f1489bd016ab44295e5b887d0bb4cbf92510aac46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The yellow object is now resting on the safe’s right rim, while the white plush remains clear on the left. I’ll use the left arm to approach the white plush from above.\"}",
  "call_id": "call_ouT3lnVLbCAa5kI7gGiKul9i",
  "id": "fc_07d98f7c3f1489bd016ab44297454887d0af592365f468e390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ouT3lnVLbCAa5kI7gGiKul9i",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7284, 1.5253, 1.1202, -0.5915, -0.4683, -0.5945, 0.9993, 0.0723, 1.2148, 1.0595, -0.8997, 0.0895, -0.2104, 0.9973]\nstate[eef_state]: left_x=0.3394 left_y=-0.1911 left_z=0.1432 left_yaw=-0.0049 left_pitch=-0.2647 left_roll=0.0258 left_gripper=0.9993 right_x=0.3007 right_y=0.0096 right_z=0.167 right_yaw=0.1072 right_pitch=-0.4818 right_roll=-0.1976 right_gripper=0.9973\nstate[joint_eff]: [-0.5675, -6.8034, 9.2923, 1.4139, -0.4371, -0.0366, -0.0904, 0.0205, -4.2188, 6.5162, 1.4725, -0.0269, -0.0904, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218b8fbfe4c8300192888ac07e85941fdd537b1a7f3367690e56eb11651770a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2167fc6fb40a0ea1109977c61731b8e62f4f3c5bc1f53b97c31b4df7e6e6db6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e964c5c32631e4fea46ee3be8339ac6de605ff87e13c217af46fcd012914be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5449, -0.0189, -0.0387, 0.9992, 0.1951, 2.5324, 2.2997, -1.1065, -0.4992, -1.4277, 0.9973]\nstate[eef_state]: left_x=0.2712 left_y=0.0018 left_z=0.1438 left_yaw=0.0012 left_pitch=-0.1697 left_roll=0.0019 left_gripper=0.9992 right_x=0.513 right_y=0.1912 right_z=0.0459 right_yaw=1.5483 right_pitch=-0.4537 right_roll=-0.1737 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1829, 6.8991, 1.6679, -0.0269, -0.0708, -0.0122, -0.8137, -11.7675, 5.5726, 0.906, -0.149, -0.1929, 0.1245]\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, 0.8188, 0.6067, -0.5842, -0.0189, -0.0383, 0.9992, 0.075, 1.211, 1.0599, -0.8654, 0.0849, -0.2142, 0.9963]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1357 left_yaw=0.0011 left_pitch=-0.2136 left_roll=0.0031 left_gripper=0.9992 right_x=0.3078 right_y=0.0117 right_z=0.1724 right_yaw=0.1158 right_pitch=-0.4435 right_roll=-0.197 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6068, 7.0769, 1.7509, -0.0611, -0.0464, -0.0122, -0.3897, -4.4923, 7.5966, 1.5214, 0.0562, 0.1197, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7284, 1.5253, 1.1202, -0.5915, -0.4683, -0.5945, 0.9993, 0.0723, 1.2148, 1.0595, -0.8997, 0.0895, -0.2104, 0.9973]\nstate[eef_state]: left_x=0.3394 left_y=-0.1911 left_z=0.1432 left_yaw=-0.0049 left_pitch=-0.2647 left_roll=0.0258 left_gripper=0.9993 right_x=0.3007 right_y=0.0096 right_z=0.167 right_yaw=0.1072 right_pitch=-0.4818 right_roll=-0.1976 right_gripper=0.9973\nstate[joint_eff]: [-0.5675, -6.8034, 9.2923, 1.4139, -0.4371, -0.0366, -0.0904, 0.0205, -4.2188, 6.5162, 1.4725, -0.0269, -0.0904, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218b8fbfe4c8300192888ac07e85941fdd537b1a7f3367690e56eb11651770a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2167fc6fb40a0ea1109977c61731b8e62f4f3c5bc1f53b97c31b4df7e6e6db6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e964c5c32631e4fea46ee3be8339ac6de605ff87e13c217af46fcd012914be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKdOvmht1b2Es6odbaQwUtTmKdpE_KpKrkO3ejA5X2drdbhXji1yWKGjwRPZPtd6GWhkXkb5871mJKszKypIYmx3q6OYyagX5mL4hPJKBLM80PLq4Jas2YWfnxZVIo1S1UcFINh6UJjpWJ9dHTF96YepayDXdMLd8nDTF5s2xd0j2l5Y4WUpOKrFn6wNkTEKv6JaiQLuw5ZrfKEKj60RBOUR5e3bDRAkhAV2HCTCwx5tcgLv2Oms5iOfyY2lAvxzVZL73pSS5uiIvtd3CZoX9dU3s61wH-A1sqyXaoMVfxh_ilObXco7PN9QL4cxN-HZJ7DrMH3njJAAjOFLi1B4ckVnIWCdm71T_8WUGAlbBR7YYSArnS-lJzLGrAEGEcrAOcXIHukkor6hRzMf5FviAsW_OycyWEtsL3SKsUj7QNbqOAWgqHRiBV1SaOGEcmmUsxGiiL102X630z9BiGVfDy6S3Q2fXXlqnCSAUYbTy9HkEQnLMVFvpPb3JgfERz9Yt_DQsz2CFZBW6nXTx4tv51XZ2tKwkXAEl1q_ICUpzmStBfaAAWsqeaAYJ1_K5LdADugOZhv8O1YDWv1tZF4mwdA4k6uvQzrRjDeLtdC_1-ssePSvNY7WRyahEG59O61_3AgRDbrLWipYTZX4MS8_bfyvwxPV4E2vntL9f6NM550laXPx3NhsbHcHqVb4obi_-GANxtIR8c131UjPOfnk2nfkwIoqALX9w3batlQiyUXdNHOa89ADQsES4xc4_HIx56i0LYvTwK185bB8jDK97iuFXJ8OxaUWXFYarPjVMSXVNpMjOmZSDZ8ad3gmPuOb_PqnHYnql-fChHfS5d9N02kSPky2kmmRQqN9EwpoVl-31aK-vGyFAD51h9u1qx6psnrop9bw70NzxVaH9SyVd_1PhquB4CGZzf2FmSeVW97PvKnSwmuWpkKMQUxxY4nRXcKuWii10JPZ-0Q3VNoek5bNzgaA_pa_V37FNNZWtFiOl8evftbUheqyXF9YmqhmJxVI7hNiGfzWZ3LuJJWPf3xxSjIHwhYrMWRKYww1DED_vG_IOHmWjwrS351Reigc01GxCY7q8KF9sh8PH67tLTEhUbgyuJjTgS0IG81k70EvbdiFCyBVjZmqBm7RD6EyMl5qeym-WU0xWCYs7tTXH67YX_hBhnVyhomhNx2K0SFTkFxajbc7vwtb5M8vcDmrv0Iza7YpNYIfLFFHp5_C35k9nG2CsYi5xoeRMeqM4Qnh2EbkHePYlINAghaHl4CUhQyAaocj5EBA4uNY7mb7KdyzCzbayFIsql4o1swdhYRFIaiCneyaB1iVRTCsQebhIUvA6R6usuWSco0PTM1VTSeTuVYt1OdloAwhFRSl50VYE3mEaifcOUYIV3cWuF2R3CCtF13veNkLJ5aIe2s1rfpbzkjEAa8rtoHSGxRWg8eD0o8QXnD9WvDkyJ_7DUTGDHb2aOxx2QyS-MVovzZToVdwNdeC5uKz4eSzgD3bcbyzXH0cME9VfPgMYH1fAACagBD",
  "id": "rs_07d98f7c3f1489bd016ab4429c170087d0976b8499cd780fa3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.18,\"left_z\":0.16},\"note\":\"The white plush is close in the wrist view but sits slightly left of the jaw column with some radial gap. I’ll move about 2 cm forward and 1 cm left to center the fingertips over its body.\"}",
  "call_id": "call_1XBi88y9Euc1hmMNzkzv4US6",
  "id": "fc_07d98f7c3f1489bd016ab4429cb35887d08d6e07738f6b7916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1XBi88y9Euc1hmMNzkzv4US6",
  "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]: [-0.6491, 1.565, 1.1831, -0.6304, -0.4358, -0.5606, 0.9992, 0.0715, 1.2148, 1.0595, -0.9096, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3581 left_y=-0.1736 left_z=0.1453 left_yaw=0.0345 left_pitch=-0.2951 left_roll=0.0376 left_gripper=0.9992 right_x=0.2986 right_y=0.009 right_z=0.1658 right_yaw=0.1057 right_pitch=-0.4917 right_roll=-0.1978 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -6.8991, 9.1692, 1.3407, -0.1148, 0.2418, -0.0171, -0.0752, -3.6718, 6.5026, 1.2772, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbb93be3879e12b3c7c862c2dc29abb2d959b26c1180feea7325b3998c2347a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21a22b884340e959a312d40164b4c4b35486afd6aea292cc129afb73f4f0b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365bea9588bf4d96fcfc675cf412c5d95135e636375bb2325fb079ec4e210431",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 0.1932, 2.5378, 2.2982, -1.0817, -0.5167, -1.43, 0.0078]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1407 left_yaw=0.0013 left_pitch=-0.1869 left_roll=0.0023 left_gripper=0.9992 right_x=0.5171 right_y=0.1937 right_z=0.0455 right_yaw=1.5454 right_pitch=-0.4334 right_roll=-0.1903 right_gripper=0.0078\nstate[joint_eff]: [-0.1709, -0.8957, 6.9675, 1.7753, -0.0708, -0.0513, -0.0122, 0.1299, -14.9128, 6.3932, 0.5055, -0.1441, -0.0171, 0.6764]",
      "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]: [-0.7284, 1.5253, 1.1202, -0.5915, -0.4683, -0.5945, 0.9993, 0.0723, 1.2148, 1.0595, -0.8997, 0.0895, -0.2104, 0.9973]\nstate[eef_state]: left_x=0.3394 left_y=-0.1911 left_z=0.1432 left_yaw=-0.0049 left_pitch=-0.2647 left_roll=0.0258 left_gripper=0.9993 right_x=0.3007 right_y=0.0096 right_z=0.167 right_yaw=0.1072 right_pitch=-0.4818 right_roll=-0.1976 right_gripper=0.9973\nstate[joint_eff]: [-0.5675, -6.8034, 9.2923, 1.4139, -0.4371, -0.0366, -0.0904, 0.0205, -4.2188, 6.5162, 1.4725, -0.0269, -0.0904, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6491, 1.565, 1.1831, -0.6304, -0.4358, -0.5606, 0.9992, 0.0715, 1.2148, 1.0595, -0.9096, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3581 left_y=-0.1736 left_z=0.1453 left_yaw=0.0345 left_pitch=-0.2951 left_roll=0.0376 left_gripper=0.9992 right_x=0.2986 right_y=0.009 right_z=0.1658 right_yaw=0.1057 right_pitch=-0.4917 right_roll=-0.1978 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -6.8991, 9.1692, 1.3407, -0.1148, 0.2418, -0.0171, -0.0752, -3.6718, 6.5026, 1.2772, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbb93be3879e12b3c7c862c2dc29abb2d959b26c1180feea7325b3998c2347a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21a22b884340e959a312d40164b4c4b35486afd6aea292cc129afb73f4f0b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365bea9588bf4d96fcfc675cf412c5d95135e636375bb2325fb079ec4e210431",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKgPn2WJTUfV4O1RFw7fSazNby-t6BAiv5gtF410njjMFfZ6WRakf6ARDwnYTa85ElN6HM6mXPdZrLsZ1UFJxcNYQqZnKWf5OwoG8SSTBTnTOOMouEnDdw00rjB2bV6R_g_Z4TgBLUdri8yiUr4VpaUCqM4liKmNtAeRsByJ1u237cpmanKIKSNpaUIr2h7bobtK55vCOAKDfvO74lyPQ-zf8XUJaL63hRFs_IHsHENPbgvPla5WCS0bV8-pnEJ6kn_ypy9a2hDmk9gFDzMwK4zNuTmszFNPZUuH9QpAI5PAP7UzkhmlGcVBtQJxRHicQx60vtc07iKOtP2TEfiJHZEUfSzoVXH1QK4zKgOYMN_f5r6FwWqy-NJKVkWMlyEe7PKcO2LZokGw3A_k_W1is2vgjIrp55bbiQeOkDz2krCskZoelDDOkk88kVSXXE8Fus1OWOuRgOi3LBN6HcuXzujoaTvRa_dZ-ILxOIxqOQfhJMrqVS3nBVnQRXLuxsNfQRv9U-w_hG7ExUH7WBnEz02Hd1KkvvRtg9EMbY1Gjyde7QXHFODpDd1vvwPanUfl3bt-EXNhiUoowtMG0kH-XuAYRcvCTpw17rIx55gkoR7xAMZcoDirKIEM7vWkRgTM6QTBAJtcqKL8vx3tch6RkWrxCF2ugSn4I_gf-l4Iwo09ITM8BTII2TEPpzqwR2z2Potae3XcFPeqmYWIjdBJ7O-8uoJL4XtrXtZvuljA-h5mw5Q51K1Osq8DzH6Gu2AwxdKcrWZFhh8fjTynCv_Pe1IDN2M5cpDoRTVkwmCTFoUIVEd4hF4XKm2pBEpS-jK_OIyR_2WBZITdgUXEW0SoFFogKQRNyWaQ1oC-Y5Ra1rZDW8WjiTOGt3Rx0qD1KNtKp6GgMIb6WIAUOo3TrrqJOGlfc-Y5MfyJ6SdsXzWJ80DakvK33Ojdh8FQU00weWwOruVwscVFiZgZYcTyqE7Nw6rv1C_BqeJ0YFG1nN0noLjr8REFWeWEqWS4Y439DCYBDfoOeNdpa76abfAU7MSrWoOsLUqsmXLBM9YIcIRZJrGDE7dIYVSO8hrNO06rhiX6-e1AfyANUxNB33l5AwVdlSIIvbKPhNM9UqA0PvmqzKpzRKgim0qbUhaJHhZOBm-0lsjbfeAzZfjs2V1kmWGzvpRuHj466V7baKsj4qDAfrTR-_OGv9RdmRCNzBjjca3DlT60zgd4802cDBaMWhHWc-AnE0RBhZD9e7CJCbmZhcivpkpf3kWrCjj3lIdJiTV54uQqrDU474W39iY3B8yRFQGwPkrnPiLaEbotqr6lq_IbegcTyC2ZH2yvtWR54VmXvVu37wumbURpGwTVc2y3phwCYrWNSsnddfT4O5J5JvzSRQC9GyjbCcnkrtkhfbDmb9GHMWKXHUwXc8ATSh45nes4cUZ3TBEpdqG78xMgxi_-lJM6wJf0rKUO8aaw_ZYRniW2vjOeDwtXO0295ZRvq9NFkZCu6jxmowMxrmLY0Ov8EX5Ekb0TFuQlbOmQCPev_shoCHEPA4HW46nr8ivn7_kBBWCllkoYsTDRXDJ6ZOp8D5qFlwvjPmssY9XiuSucSEGs3r7Is0FUxYSBRLV706TtrMvvPT_mbu6WTgOFE-xWUs=",
  "id": "rs_07d98f7c3f1489bd016ab4429f66a887d0aae65067b194dd39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_z\":0.16},\"note\":\"The plush is now radially close but remains about 2 cm left of the jaw centerline. I’ll shift the gripper farther left while staying above it.\"}",
  "call_id": "call_Vk43YbVuzP10nJDL5rSjZEfa",
  "id": "fc_07d98f7c3f1489bd016ab442a03f2c87d0bb9076c6f9535491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vk43YbVuzP10nJDL5rSjZEfa",
  "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]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.5323, 0.9992, 0.0715, 1.2148, 1.0595, -0.9134, 0.0898, -0.2096, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0173 left_pitch=-0.307 left_roll=0.0428 left_gripper=0.9992 right_x=0.2978 right_y=0.009 right_z=0.1653 right_yaw=0.1059 right_pitch=-0.4954 right_roll=-0.197 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -7.2137, 9.1009, 1.3846, -0.2662, 0.1587, -0.0122, -0.1983, -3.7675, 6.5846, 1.1795, -0.0024, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f050ba7b9e53977000499e0de302bb294d2d9bca7fefc863970e0a12902a46f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e4357739c86504a901e0a07cb92f81d05387a5e01d587e4654d24b46dcc8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1637bfad55065dfe4ba0a9d76fc058d4324bb25f03fab42aed9f16cc1aea9d41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5842, -0.0189, -0.0383, 0.9992, 0.075, 1.211, 1.0599, -0.8654, 0.0849, -0.2142, 0.9963]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1357 left_yaw=0.0011 left_pitch=-0.2136 left_roll=0.0031 left_gripper=0.9992 right_x=0.3078 right_y=0.0117 right_z=0.1724 right_yaw=0.1158 right_pitch=-0.4435 right_roll=-0.197 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6068, 7.0769, 1.7509, -0.0611, -0.0464, -0.0122, -0.3897, -4.4923, 7.5966, 1.5214, 0.0562, 0.1197, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6491, 1.565, 1.1831, -0.6304, -0.4358, -0.5606, 0.9992, 0.0715, 1.2148, 1.0595, -0.9096, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3581 left_y=-0.1736 left_z=0.1453 left_yaw=0.0345 left_pitch=-0.2951 left_roll=0.0376 left_gripper=0.9992 right_x=0.2986 right_y=0.009 right_z=0.1658 right_yaw=0.1057 right_pitch=-0.4917 right_roll=-0.1978 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -6.8991, 9.1692, 1.3407, -0.1148, 0.2418, -0.0171, -0.0752, -3.6718, 6.5026, 1.2772, 0.0073, -0.0562, -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]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.5323, 0.9992, 0.0715, 1.2148, 1.0595, -0.9134, 0.0898, -0.2096, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0173 left_pitch=-0.307 left_roll=0.0428 left_gripper=0.9992 right_x=0.2978 right_y=0.009 right_z=0.1653 right_yaw=0.1059 right_pitch=-0.4954 right_roll=-0.197 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -7.2137, 9.1009, 1.3846, -0.2662, 0.1587, -0.0122, -0.1983, -3.7675, 6.5846, 1.1795, -0.0024, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f050ba7b9e53977000499e0de302bb294d2d9bca7fefc863970e0a12902a46f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e4357739c86504a901e0a07cb92f81d05387a5e01d587e4654d24b46dcc8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1637bfad55065dfe4ba0a9d76fc058d4324bb25f03fab42aed9f16cc1aea9d41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKj1_t7N-FYbz0bePdqu195UpHa2uq48_76EUY_W7LGnHovo_GkYFhYrqYF2kltWohTcQVrOvp4W6D03lfcmL1iQ-uxjy-u90uFdgJp-T7SbKFWR-b5dEYBzhIXXYZ_gAuSkuqu0QkNYW--wl7lq8ZnyuPbF7TdXaDOtuPhj5-4gqoWuvoOdi9ad_gwe-0ljm7qLK_zJlSthehuKqztP1PYIyUJk1-pcYOylJFVqjygP1pbe9Czg2YIi1Ta4n_2noe-nKk3PZPJZS4PfgVeqpQLX-nfIIX42XigyhkdkLZsHh2IgkTdqzD94JbZcw7nGrdcYDMdRJkHeK-zxjW6v6L_kGMn-6IE0QKJwCKnPFBy9wjGn3qEiONGIs94SteS3FNGGKiguJD11gUOxjlfMKiLUcsUst9bJXZPqB_yogUlvvQWMPqmCpoHQPwqxs4pyiCbMaddadP26kzv4GRJx6E5cdJ7Xnp373FyualOLkEvck9NVJCpL2xIjgLH4PqUYVPlWIntaEyXWXlPjollwmSNqze3oX6_LMyxWODNkuVVQgvjFIWJS7LjilaJisRghPd5iGYn_ZEaiIgABvGGP0NSxTtGOTb3Ke7QtNDPS9Ke9mSbLW_h3KWVadLCCydyR9nnexwu_56ohbB81hnLiTsx3ZWvXKW3eI-nVuCP-dpnHgVBYiid-xuJ6lpsSOKU2_0dY_b1EpJNaGdyvwdjt7XZQJPMT2GCn9qhpgVSGvQSG809fMjLibsKTfHIeeYXD3CTwfOnJhf3jTKE61XNm6OUOrwWUM454gj7qEpCtzvlfts4Hl9zxs93Atpu6CxYXSeGCwiqeAdZOYEqnbEXme1MrRDrVu7Q0eEYf9d8sO8Kprp-Urw-Bk2zbAAV9s5Z4SEhZjYfdVm3dP3GDCKVO0swpFPrpjg2si9ztdfwZqiMvU-b7bA5alB3nzEHsPriTZQNqqLNQheQNWMr-K3ybjanmARbb0mxaxsuebGTs4sAZawYyEW5sYBFjYQIzdJbXP760fDXKFGpfgZF1QP-1qe5dx0j4QUI1R0dKmkQFqxhGSk2mYCAju43j6rI4g6nV5G6_kQU5qoqO-CtLlc4WF0yrmB0lu5iRIr3WPj0-DuMro2ukiVuixTV7GFa7bMeI_YM4FEyuSnqVbUETji2GIJrx_wBxCzZn5MkaQ0YByRkcKLsIrIBlSQubkZ-hG8YSs7WdKX9qt_H6KQ7IsID_PMEHCTRZEaltB-bV1xia5TlFmlZho4Cwu4J2l7RlBTqBEDm3a4PI7myjJtmzc9cYTJs4qVM_JDowQhlP6A36zijS61R2WNX_kWX5p47wx0AWqBJeoX4-SZkXMbUkrJHUnBMUHtEkw3R29Pig83VzkbJxSn_7zp_hKBv_nhue6yv5vIjtJF44O1Gu_WivrdRCQlrODv1HqVhIyRPDeGc8KUO2t5MnB9YrMGmjHZlOWzWEMHgCHj1sd2zQjkx7sssoTb46k3lkseQrbhFRtjgm2q2Sok=",
  "id": "rs_07d98f7c3f1489bd016ab442a2388487d0be29bd3490d8efba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.03},\"note\":\"The arm’s high-pose IK did not produce the full lateral shift, but the soft plush still lies within the wide open jaws. I’ll descend to its body height, then close around the torso.\"}",
  "call_id": "call_PHrWFrnnNc5lfuVhrAVNzwxw",
  "id": "fc_07d98f7c3f1489bd016ab442a2f19887d0888bbd1bd155e845",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PHrWFrnnNc5lfuVhrAVNzwxw",
  "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]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.532, 0.9992, 0.0715, 1.2148, 1.0592, -0.9268, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0171 left_pitch=-0.307 left_roll=0.043 left_gripper=0.9992 right_x=0.2948 right_y=0.0088 right_z=0.1636 right_yaw=0.1064 right_pitch=-0.5092 right_roll=-0.1967 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -7.2137, 9.0872, 1.4188, -0.2808, 0.1929, -0.0122, -0.0615, -3.7265, 6.4889, 1.2283, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d62614f0a1ef507a9cc56267fd52304fe3e252d3800e8293d825cb8b387b2df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9046c03598f4d872ff244a873163ced736ac18113a3eb29e32c9f00f224f21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef061880c9475f2a1e4063358076d76c51f8332aba46730897e0183f5115742",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7284, 1.5253, 1.1202, -0.5915, -0.4683, -0.5945, 0.9993, 0.0723, 1.2148, 1.0595, -0.8997, 0.0895, -0.2104, 0.9973]\nstate[eef_state]: left_x=0.3394 left_y=-0.1911 left_z=0.1432 left_yaw=-0.0049 left_pitch=-0.2647 left_roll=0.0258 left_gripper=0.9993 right_x=0.3007 right_y=0.0096 right_z=0.167 right_yaw=0.1072 right_pitch=-0.4818 right_roll=-0.1976 right_gripper=0.9973\nstate[joint_eff]: [-0.5675, -6.8034, 9.2923, 1.4139, -0.4371, -0.0366, -0.0904, 0.0205, -4.2188, 6.5162, 1.4725, -0.0269, -0.0904, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.5323, 0.9992, 0.0715, 1.2148, 1.0595, -0.9134, 0.0898, -0.2096, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0173 left_pitch=-0.307 left_roll=0.0428 left_gripper=0.9992 right_x=0.2978 right_y=0.009 right_z=0.1653 right_yaw=0.1059 right_pitch=-0.4954 right_roll=-0.197 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -7.2137, 9.1009, 1.3846, -0.2662, 0.1587, -0.0122, -0.1983, -3.7675, 6.5846, 1.1795, -0.0024, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.532, 0.9992, 0.0715, 1.2148, 1.0592, -0.9268, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0171 left_pitch=-0.307 left_roll=0.043 left_gripper=0.9992 right_x=0.2948 right_y=0.0088 right_z=0.1636 right_yaw=0.1064 right_pitch=-0.5092 right_roll=-0.1967 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -7.2137, 9.0872, 1.4188, -0.2808, 0.1929, -0.0122, -0.0615, -3.7265, 6.4889, 1.2283, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d62614f0a1ef507a9cc56267fd52304fe3e252d3800e8293d825cb8b387b2df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9046c03598f4d872ff244a873163ced736ac18113a3eb29e32c9f00f224f21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef061880c9475f2a1e4063358076d76c51f8332aba46730897e0183f5115742",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKpDahgo0vsud3TeL6nyjEdPpNokYSAjx3YavQuQKv57aq0G_u__k5Kz1Q79aRLDSbhBFGteprRB8P2RnxwTQmB29rWZKv2BGPwO5IOwllDRsfh86MNKDyt-L33nCHdCmUaELsQWSJ6r6dF2ZskZybc_rAAsYJuDUbBSGd7fp4Tn6pbz9mBb2t8fOyIMOxtKzc2Hhj3pdmbcMow9pLsiw2fCTd7IBF_tyl97OIvbn0AnCU-BqxDc5Un-OVD9gHWkHBV4cXKniz1adg3ThIvjEAOaKEX6DW1jSa6rk1aVE35RVXYk0Id3NUjvWHNhFqyX3GEKPC--q_RYl0s0zfNMPoAH88j64B_GonffRyw4YaeZjmsopX4qfzfe9-uFDLKmUOQv36l0xWkQgO4N0Oqv3mG5tZctYkjp78D77vjmo6Ug0w57lwPLVRkQbvuCwYLGBGwRJXdEABKXTqtcUvyZ9ytimDXuU1OQWbs5NGQWoO-LYV2PUnyfdHdN1qbbXtu7jnMmMc5AJ1ibcFlleSSV4jvhG7yvcpVPCNuouKRL6aJDWIxmW28pqWtJxABCsFyoGu4z0zhrIhJRg79BejOhlP5LueXYLbIbABcJ2kXo7Qj_WW4XfH388n7HAt1dU3K3ubY-bwfrJltKgmgSAzk20__0_gjTbu2AZ-of39mqbnV4tOPHACHRdjmbHZm9jrXTtkL6I08cL9C1aXaQ8fUYIaKKrNDGDYoPVDjO_i7b7CUCQsEe4BE9Rk8746P4Psk4k9QcOaodfr5UHXNtAIFuXCU2Vqi-NR2i_l866loIfiC-YSbvp0qUIEDL9tz4afYaJYBYda1YhDwCiQb_IRxh8I_f95Lr_AVTwhGX9M1Qv73HNdRtXEpU5hyWPzFSocPr1vnlupkTqy0OHepLdyCqYCaqbqo4n8404h6RUdoiDFzPwqowdfDUc49L0JjV_gsg17P6L6DVTBah3hb5Kfdyg8Dgn2O-chpel3isGBwxCk17iBGYjzM3CK3Or5v4LF52tCoGBY8-vntbr1oGl2ER3qZAvt8qAwXtkl-5jitZe7wkeEboe88AisWf2nvFGggUb8zkBPh9HBw7kXr0EjMDFUL8J_VSVFapgbbX5ap9K6jPASJGl-BY94cxSgr76FgKEN-cYskPiHz26m3KI-O1GdiGDpZJ2sIzIMAH2GqTrVbr8Jcyd34LQ9PUV-L6t0hq6KoHfg8Knf41FUek7x7gmImmWKs5SHUZ7y6v9G7Ag4cIYCGin4dfmR1zp3wEryAKxW3EjmlgErpqkBHFKmBW1OFKNuAJtx9pk2UJH-8rRonhVgNL4s_h_vjpHCvYX4b_XNjnensW7yID6xO9RtWM2KsZJfM9ZXW6KnePHkRHlyfrovqSgjlDYEq1Ck7WxK9TV7CPZQgAWEBBCtxrp92K_CaJyiH_iio1jQ3nye_a31SLPhksIBOCENrK8sy-veBY8D__oRHU6w-ubtquJY5ARGZa9KUlwS244oqA0hqmUPczvF3ccnrOIy09nc28I_z8HkdmGQQieyvnQQ1XwJUlSZVxjIMoBzB_AgvKKItKQZLMM_tADhiLXdZ_6cCFkOnyy6uZ6m5WjoZGTsy28BAMQd6atGz9vG1oHN3svdGywsha9OShOByvlLdY0hweD8DnumKg8sxhmaYERpdD7Ug_o7zmXFrpOZxBWechs3LIcV1scHC6L2CYSNKcsRw3tlR-O1l2m6sO-K1_0D5t3IvZ0Bw4_TGa4n7gRq_U2hn_PV3oV3GnQSvVggrYHOYs3NwAqsQXQF5Z--XiTXOJahSgC1Sk5eiSu02m8vLSaS7WUhEKFyTWoZO96b_EAQElj0wFEjB_72ZlQBzgbbzy7xEe87TOyB6z8Q7p11ZVfh-uuU41QV5XAfxZCXM_BBvqamz8aneibat7zpyAdj0bOEbhFzuwA_CqanGURob-auwszD6M8L8QcPgMwgHkGPTt_L0iEZo0TfdT4HPI-AogyWbJqLz8bPRXIcWXGpIv2k195hs4s7L5s2j-yWKVQ8AKDFfMs531yJyQlIJsGIM_eGtxbuRsA==",
  "id": "rs_07d98f7c3f1489bd016ab442a6e9f487d090bb5609aa0423fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The full descent was held, likely because the straight path was too close to the safe rim. I’ll try a smaller descent first, keeping the current horizontal pose.\"}",
  "call_id": "call_KNT7OTU0FRRM6CVnYBnsWG0D",
  "id": "fc_07d98f7c3f1489bd016ab442a8afa487d0a7bdff2e45b7ab82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KNT7OTU0FRRM6CVnYBnsWG0D",
  "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]: [-0.6353, 1.6344, 1.0153, -0.4412, -0.4118, -0.5358, 0.9992, 0.0711, 1.2148, 1.0592, -0.9459, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3535 left_y=-0.1684 left_z=0.0799 left_yaw=0.0262 left_pitch=-0.3463 left_roll=0.0683 left_gripper=0.9992 right_x=0.2907 right_y=0.0084 right_z=0.1615 right_yaw=0.1064 right_pitch=-0.5283 right_roll=-0.1959 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -6.6667, 6.0923, 1.3016, -0.2808, 0.0073, -0.0122, -0.1436, -3.9316, 6.735, 1.3114, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cde914bcda23222fd107c591232aac8ebc5669e3f97005cb5c1d95965e0d15d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a4b34428f17c803b115cf14b2336e8d2db74a3c9a1be27fc00ece051875acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c64d538d1715148654d3c9ff03c198876fd0e940f93e45d7879b9bb5cc087a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6491, 1.565, 1.1831, -0.6304, -0.4358, -0.5606, 0.9992, 0.0715, 1.2148, 1.0595, -0.9096, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3581 left_y=-0.1736 left_z=0.1453 left_yaw=0.0345 left_pitch=-0.2951 left_roll=0.0376 left_gripper=0.9992 right_x=0.2986 right_y=0.009 right_z=0.1658 right_yaw=0.1057 right_pitch=-0.4917 right_roll=-0.1978 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -6.8991, 9.1692, 1.3407, -0.1148, 0.2418, -0.0171, -0.0752, -3.6718, 6.5026, 1.2772, 0.0073, -0.0562, -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]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.532, 0.9992, 0.0715, 1.2148, 1.0592, -0.9268, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0171 left_pitch=-0.307 left_roll=0.043 left_gripper=0.9992 right_x=0.2948 right_y=0.0088 right_z=0.1636 right_yaw=0.1064 right_pitch=-0.5092 right_roll=-0.1967 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -7.2137, 9.0872, 1.4188, -0.2808, 0.1929, -0.0122, -0.0615, -3.7265, 6.4889, 1.2283, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.6344, 1.0153, -0.4412, -0.4118, -0.5358, 0.9992, 0.0711, 1.2148, 1.0592, -0.9459, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3535 left_y=-0.1684 left_z=0.0799 left_yaw=0.0262 left_pitch=-0.3463 left_roll=0.0683 left_gripper=0.9992 right_x=0.2907 right_y=0.0084 right_z=0.1615 right_yaw=0.1064 right_pitch=-0.5283 right_roll=-0.1959 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -6.6667, 6.0923, 1.3016, -0.2808, 0.0073, -0.0122, -0.1436, -3.9316, 6.735, 1.3114, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cde914bcda23222fd107c591232aac8ebc5669e3f97005cb5c1d95965e0d15d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a4b34428f17c803b115cf14b2336e8d2db74a3c9a1be27fc00ece051875acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c64d538d1715148654d3c9ff03c198876fd0e940f93e45d7879b9bb5cc087a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKsaybT1ldZu4rsgvngjGDbHJMsNvd7vGn9IJOfBi7lKdVEERwm4D-16-rCXspuKD7ivs649_CP7O7TAGz_bzIzlfO5fHITjl1dlHXWN143VeU0JuonHPzpR5-YZr7bbW3X9opZcNXxhAKZMunaBsw6oLi5l0LSY_GP0-DI-Eji-kS3ftmeKSTxFsDxqm1urvw3pMiC8F6tWhj7Lrp_xGZ8l7Y9-E7rUKwYlcktWSlZjId2VhvN-TywUxexOBmhl4OnHzc5r-65oBi2VXTrBumNyIvUkrKnSlX_hfnlDlm5MV6pq1eY4x-fq9ddnJi8MWnwQQ9IQ_q-u8C2vGfLgKRgVHSOWSEFZPYacOckuyNPt5wP7fhQmVRiO0gQAURR1UZYjvO5CcyVHKZtYLUlc1d4pziPNvdiiGeU_GiAaJitNQEn9lzPud79y_UVoKOqt0QVq8J-Y6ESTv-8v-bDwlxZFSnayogpvtQL2-AtHkViLACX4I1--MQ9b5CtfKSJsV9Gvsbj_xTaFeaAIqCKA8hEdLyoP3Wp4HPTPx3SH5JIk4G8B21FFt-QxcRrEE1qG0mhrptfYHiSxveaCoj0l7sd_08zsP0UJP4XVR5GLrjIlidX_XRHzwHFuttWcEb-6_-xDi6IvPTdfFJ1X61QZuv8AbI3hrCIcQkq5KmYnZGrql20jAJyIY9utrGHiWO1N86gYFYQexCqYi5WPwjdp_Oi3DKK0TCGSvVvDWKZ_VsZmWl7_EJYRq-NhLbV56oNJ39LmZBwsfrZPysgdqFPS-4EfpPSj37f3qIogAh0RJtPBc00__VmwybbCaZnBi9ri6MjhY5TVuMFtz5IrfwVCnj2xT4KN97OeMqZQCqVku4uKfNCxn6Rs-PHzCaysVII0MlQuXrjY7BrkxNvmTj4_eI6w51q9b7AYxKuLqsb0N40nJ_iT7YB7WBwSTonob8hO8161LAoLB5CX3PES90bfBN8kGSEiTVmrIAX8cwTWc_adgz7MkPXtTU1udCXzc9uVVRYaTKgkYjCd4-Pu2yBmrbw3nepDMpWjCvFh1twukyXfAnx3MqHQxAaHKM4GCE01ZC1QUFen3JPpi72uPeGbxsx4o14DaFRtjy-pE71VCR2Z71O0dq9VgUCZ3x8Jw5glnBVpg_syorihrr_oPD1-WXISPLa1_vQy9wJDxo9ZS6dfdTYErwxss0NNOM6OxZSqzwxMeKQ9Df8A3vyOy19zchH58AmrlGCDsviGBgIoG62_KS2JeD5MJbRPxnRZ-Mj9ueU6C_II9GwfKHUB69gHEX_yDTVbjW4W4Omjq-T8K7s6FbJbU6vy_ZVs0K0LTvQoqhpsrUCTsa0IpChCG9ZbPE-HZ6Wvim84Xiq7FBdpPIDWeWcZOPpWQilznCJnoZxvtiPGLiV_eUUYLbswA8d1Lw2L-irDQsU0N_811so8_Xep80=",
  "id": "rs_07d98f7c3f1489bd016ab442ab455487d0aca7e94b5f9b1665",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.08},\"note\":\"The smaller descent succeeded; the plush is close but still left of center. At this lower, less awkward pose I’ll shift left again to center its torso between the fingertips.\"}",
  "call_id": "call_gar0OiJVyfh9Epij3LzQOLFV",
  "id": "fc_07d98f7c3f1489bd016ab442abdd1c87d0bd064e42efd823ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gar0OiJVyfh9Epij3LzQOLFV",
  "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]: [-0.635, 1.6382, 0.9989, -0.4, -0.4122, -0.5396, 0.9992, 0.0711, 1.2148, 1.0588, -0.9573, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3563 left_y=-0.1701 left_z=0.0776 left_yaw=0.0246 left_pitch=-0.3294 left_roll=0.0525 left_gripper=0.9992 right_x=0.2881 right_y=0.0082 right_z=0.1601 right_yaw=0.1066 right_pitch=-0.5401 right_roll=-0.1954 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -7.2821, 6.0786, 1.4286, -0.2564, 0.0415, -0.0122, -0.2393, -3.9043, 6.4068, 1.2234, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357cadec9bc22d35a4316e87e8f326363fe4618b9b70c73547c7073b38e4e77d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deec6c13e9807dbd787a77ea846952ff0058aa890f3cc417f96e904216e3d313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3420c35af809b57d6f7bbf3a453422d2ed8e8b025c37dd9ec0992dd0a2fd92cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.5323, 0.9992, 0.0715, 1.2148, 1.0595, -0.9134, 0.0898, -0.2096, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0173 left_pitch=-0.307 left_roll=0.0428 left_gripper=0.9992 right_x=0.2978 right_y=0.009 right_z=0.1653 right_yaw=0.1059 right_pitch=-0.4954 right_roll=-0.197 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -7.2137, 9.1009, 1.3846, -0.2662, 0.1587, -0.0122, -0.1983, -3.7675, 6.5846, 1.1795, -0.0024, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.6344, 1.0153, -0.4412, -0.4118, -0.5358, 0.9992, 0.0711, 1.2148, 1.0592, -0.9459, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3535 left_y=-0.1684 left_z=0.0799 left_yaw=0.0262 left_pitch=-0.3463 left_roll=0.0683 left_gripper=0.9992 right_x=0.2907 right_y=0.0084 right_z=0.1615 right_yaw=0.1064 right_pitch=-0.5283 right_roll=-0.1959 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -6.6667, 6.0923, 1.3016, -0.2808, 0.0073, -0.0122, -0.1436, -3.9316, 6.735, 1.3114, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4, -0.4122, -0.5396, 0.9992, 0.0711, 1.2148, 1.0588, -0.9573, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3563 left_y=-0.1701 left_z=0.0776 left_yaw=0.0246 left_pitch=-0.3294 left_roll=0.0525 left_gripper=0.9992 right_x=0.2881 right_y=0.0082 right_z=0.1601 right_yaw=0.1066 right_pitch=-0.5401 right_roll=-0.1954 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -7.2821, 6.0786, 1.4286, -0.2564, 0.0415, -0.0122, -0.2393, -3.9043, 6.4068, 1.2234, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357cadec9bc22d35a4316e87e8f326363fe4618b9b70c73547c7073b38e4e77d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deec6c13e9807dbd787a77ea846952ff0058aa890f3cc417f96e904216e3d313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3420c35af809b57d6f7bbf3a453422d2ed8e8b025c37dd9ec0992dd0a2fd92cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKxLmK0qZW1EvaqRwkk2evt9YFcz0ThpUhg2I8_bMFntDlUrFAaL_225kqTsQ3GeIy0008oUomThBlW9YHnHZ1teNf7SKxLRxAVblhCm5kSjgtb8USx8kmEW6WLFEfgvCFhRy59z6FsFiA2wDtF1udfXB8_F8Mi5roIiGaxhWXw36K7rRBcftEkyw5IWi3ShgEYKNm88-XlDUxkbApQBoUEfw8pehRuGhhWrhd1BwznoL3eBx6UamAaxkdPdjRhDlRNgCNwtjDizNpNh7LCbmgWW2FcEqMEGltuz4lx__dU4LLG4CpkwWUowUqMlL6DwpIp6o7D5dKprHujIlEeJyrelQD6aMM8PIjW-r74oWlpc-MF5e4PsVXi8ieVzuEztzKiONQigeJciaDd77SXjOCYAym2exXkRa5_ISpnMwBgmt3mb3yNL8c-QwBeK_ICgdtLZNiCA4THCiWpSO4yO-faGRo4geJfBHBokSpzw7hAvfDvA7B8NRF8TQwJSZfEJAnC92TMztInfPB8oBE4MdgchmwVO7FbAVlMmsQ37FvZNfr8a47Nom1V94Mriqadb2c3L0Brr0csXwcklRzoZfrRvD0DVHdw6XeWhCSZRfjgLjBeo8xyXm5rK3BjvPhZyYEobujJRGwdjpak2UAyoPZZF8MKhiR8tx6NObMYBWunrpWq7il88fHVP37mCflrrapD6h_73Fa9EwhVXn_9ehg3EMCXYK1qwGgFDqUjgJw4KX5zp30jN_lMwQN0c3XoKEAyc7SolkefebHHoEcLAClM5EBo7DKivZ5ohUDU-V0F8kXzPF-ZmqVAz48IRhvW9Hlq8IhKtiEZw30vYIJHdCG980GIMEVs55DCvxypCBilANyferOg-FWhYusEsm9LAZv2b1piI4OzIHyxJSsHia_OKa55htefuHQpNjaD4TsxZeszKXOn9wjgoQYisFSM4a76POnpaWoHBy3TCjskzqoEE_4VpCbql9evjoQMEBBDrFKhsKbcuEznua4aBY92Fkr_2NyI0iIA26fdCkr7EtrgU6aItUKqjDcM2DBcSxs7Es0FYaLogbuxXuVP51ZRBFWO-_rkJtcTYeRZY0Ss9hS8NHgYzArCfW62mwdF371Z3ZeJ0yRZTtqvWYwhixt8UUmcWgN7WxJFEOoIJhLtRT6v64H8tm9sRfxt_n7Q0ZpfG3XO6dp55NqB6oORY-H0WdpZg4-mOQgUMAmQgN_74VYnUyQPP4FneX8IrfIS4jbEO65jufFHf52owNqwNo5jAGinDZLc-5QSFMGzctAhIigxbimuwgMrdALQipJ1Dyag41b_s8052rZNpB1NpS3k7tnUE4sbI0oBQkYT4-gYRvKO3qhGMys-XqN4hBRTfVXQNKWGFc2EtNeHUylDAvmLdYBiX07xNdBa8GX0eT3s86A4c7aaY-kpAhtTV2gIvFzJXWhaEMXr493Pg8jEIcfmky08bf1mKCw88KfFu6D03_D_sQ6euPB6noSm_clOno3b9jVXQ0A0Ho4GbWZhJct2S0Tq6jG_9iyHW81r1Yo_KyOvpfsWHj-1gFBpMcov-om_Q2KLEbpPJsnmrAyRHpovN1eeEJzZROooaLN3S0-bLNj02Il_at-lf36Y8oUf0loRVmN9jlfi32IodGWpkqL4LJ-5dqbI6GbdqC_ZSIdF-Q-HBr83Op-DOsCrHnAjV-6EYkxPDnN00ykz-9rodWPfU-E9qC5jcRiV_VEeBM-pGLEiUiuFHlZZSIJtCr95DY1lSpiyATyUWJXBrwhZ5Ksmj8Z-pATQwvm3UFSEmlE7wmxR3U-Bo22gmQjbleySxwpCOVu1yUM63uFgR-p1gqMZgvPHkEUeBjU0fryVEMus7ktPOd3v9Tx_ktoRmdcNjRLnCvKhh2wWkqorOA_rvD4lvfWkTJoSz9aQRr8JUUuMmBJIOn4xwSsApWgG7cGDtwXczqhxwwnPQ1q8H7OjhqPGKus4cSwpwNUeFdE7OrDCpWoLn_XkjhHMiSLNllKHIFAATQVbf8tm227f5Nwov17bxiH8gsZ_JS00IndUvxX0IMfopCV_COqev5-cUNxTwaUo4iXaWdi26SkGtOdIWrCRB5n_Hzh1bnJPl4fpbOZ7LJeo72EPaoERiU0Qcu6z_0bNUq5qjEFWxYFUfpeGNS8xeIpWLUWgcgSXl8PKJ6PbMy-t8fA3vlL5QjWhv_7QHwikrnAQ0W5WMSRptho8oh3IfkG9",
  "id": "rs_07d98f7c3f1489bd016ab442ae3aac87d087de3610500ca9a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm cannot shift farther laterally in this pose, but the soft plush’s torso is still well inside the open jaw span. I’ll close fully so the compliant body can center itself between the fingers.\"}",
  "call_id": "call_s9YM3blG5JZkYjcUjztBi0IM",
  "id": "fc_07d98f7c3f1489bd016ab442b0556487d086c493062668d858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s9YM3blG5JZkYjcUjztBi0IM",
  "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]: [-0.635, 1.6382, 0.9989, -0.4046, -0.4118, -0.5438, 0.0106, 0.0715, 1.2148, 1.0588, -0.971, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3555 left_y=-0.1696 left_z=0.077 left_yaw=0.0277 left_pitch=-0.3331 left_roll=0.0525 left_gripper=0.0106 right_x=0.2851 right_y=0.0081 right_z=0.1586 right_yaw=0.1073 right_pitch=-0.5538 right_roll=-0.1949 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -7.5419, 6.147, 1.1893, -0.2125, 0.0073, 0.8669, -0.1162, -3.5897, 6.3658, 1.1941, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef2a42be3a167e66e8e723e9046b5557f38f9e416e77a6258e4eb63e58a7106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ad51ba0ebeb1230b9e0f8c1c548876a7146b71d06a5b6ee0ac875cda5bec45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded825d2cb867d01741bbd92508d02b147054a62bced58beeffa9f00a0a18c26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.5734, 1.1976, -0.6373, -0.4156, -0.532, 0.9992, 0.0715, 1.2148, 1.0592, -0.9268, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.361 left_y=-0.1731 left_z=0.1455 left_yaw=0.0171 left_pitch=-0.307 left_roll=0.043 left_gripper=0.9992 right_x=0.2948 right_y=0.0088 right_z=0.1636 right_yaw=0.1064 right_pitch=-0.5092 right_roll=-0.1967 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -7.2137, 9.0872, 1.4188, -0.2808, 0.1929, -0.0122, -0.0615, -3.7265, 6.4889, 1.2283, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4, -0.4122, -0.5396, 0.9992, 0.0711, 1.2148, 1.0588, -0.9573, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3563 left_y=-0.1701 left_z=0.0776 left_yaw=0.0246 left_pitch=-0.3294 left_roll=0.0525 left_gripper=0.9992 right_x=0.2881 right_y=0.0082 right_z=0.1601 right_yaw=0.1066 right_pitch=-0.5401 right_roll=-0.1954 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -7.2821, 6.0786, 1.4286, -0.2564, 0.0415, -0.0122, -0.2393, -3.9043, 6.4068, 1.2234, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4046, -0.4118, -0.5438, 0.0106, 0.0715, 1.2148, 1.0588, -0.971, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3555 left_y=-0.1696 left_z=0.077 left_yaw=0.0277 left_pitch=-0.3331 left_roll=0.0525 left_gripper=0.0106 right_x=0.2851 right_y=0.0081 right_z=0.1586 right_yaw=0.1073 right_pitch=-0.5538 right_roll=-0.1949 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -7.5419, 6.147, 1.1893, -0.2125, 0.0073, 0.8669, -0.1162, -3.5897, 6.3658, 1.1941, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef2a42be3a167e66e8e723e9046b5557f38f9e416e77a6258e4eb63e58a7106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ad51ba0ebeb1230b9e0f8c1c548876a7146b71d06a5b6ee0ac875cda5bec45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded825d2cb867d01741bbd92508d02b147054a62bced58beeffa9f00a0a18c26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK1PrWGigBoT12NwtW8o_FVsjsOGHOoJeYMy2lRzQUfQHLWaXkklOSfu2AbmzLiqWrlQEGEx3zZXoEBcAlWY_DMyM1GI6wFf4WeYseE_SL-l5YeFDHDsTJswJwo2jx5xhcvbt1R5Cxh1BXXvz679PrmH0pIbSa67lw9jzxW111lQmm6M6UYv2yu8xUJOepeLOYSY4BbDlKL9ipDDfEX2S-N4BKTWw-WcC5mN2gvSBLB3pvOtbFzDG5KXzmL9aPjMFyHtLGWC1H_sjhYPAchaweCcp-948li47BgkcPlcCvI2ss4VnoUsuoXL7OysaLSkIZ1UhlJn9ivIJNHiNixTizjFinJxfbOuFFGHwUHeZ5K07CHbox3Cc0vmmRRe1zLeOBXJxKy5pCH4S_qPMQ7QSDbm_Xrh-ETVJE2mXPUh3aid1OLUmg9ILFQNJn7G0IlTF73ZxvqFG2AuPnYPBpgLF1R4oJdEyJxnfWsKmqcfdONLr5wzxMlRELwVg_np2QPtw8ZHlv_A3KpJ3PmJLzpWey_gs-JS6chE628KNmbiVdXJRnHLTA0xqqQzbHHGuWSw1diPC7KSLDxqpFPDYbr8nwWFQ4Rn0jAK32RzY1BAvw0H-xcPIt41-RLZH2_rPnfY7IsVC50sP0Bv5qpUBBR3EFyG9y8HvnpnZRC_x3fJXL27KQRsC1ljXfHomS30r7bHvO8EwkPjDLwZBvvRy3QkB1RYAujcLvhP8cV48wpWQg6NNDduYsr1JvvradsjdkpmpTILKahZ1CQxkwvciyFoTTTNehK5wjInR4sQRgR0ZBstANRS4PeueuXEaQ6gTRHAMwFHtOSPgdNqdpxwncQZcBhKXHOESDKq3VEL5VMj8XhguPnjF147ewnQBHHnILo-EhjVPO2wZgYJlp1E4JEdDGafDD2xgLapfQnLFdwLlWx9GWFaPLocRh5PNptzxX515AXS4WnAqJK79yNqU_5VKV9HFhcuWhr9Pjo4B4mAY8Kx2SPh_ejk5oDOgqdMyGta7pfjFro-V_Nm_0BPhchvbzvtfE0LayzzbzbUYUbgcGZeJ3VSvjhl7uJmjHjMHNPxrrvQkqNES-_2Q_jWxMVmBn0judLAu7pwVGUWQkBUGJpVpCvT8cjR3xmKQtDiuw2qUn9dibBMzKEcpSlTV1cnlVukm1fSBDHz2aVAJR44NaMqGAl37V-wezY_X_hQm5hl3bUvtlaq_w0jgrwuzaJfK483CjsJPFY0lM7av5HEE_5LupjeV7cUVbP1Dfbher5PT5I0rSKuwC9X2YHeweOKP7Y7dVZI7BoPQEfZJ-IeWewXMOBfZDZ-w2IkFMcqX8D8QUVdXqC5A2uQpq5GaXaMGDc8Re499qJXDA06LzMFPx_r7V0eIyVX44ev2WmN9XT5ISdaYdCY2wCvpvvMKwVcjkxSrjCUyLrHyQ2yo8MBRnnXVm_INqs-b32LJJyy-PcrmEHfwkxkTLBlTzudx6uxz_vixDtJEf8gKvjxyt9PFGzIiaMPTg6h4I7SHoVdWCs-RQFqud8ywHtMbaL5gkNBoXL35BQ71XqTwpH_HaKtC81PruF3FNSVWzA6XOgjM4L36Px-ev0FMnIxy3uoJ8GKRHJgOSOrhq8idy4nRjXmRXBa1ay4BnQrydPTS89IZYwmVdQF3AKmEfxCPlHpFD9mMjH2NU8BEsD95H38XEDvkn61pfzpUoTgq3DZes_RfRtjCKon_7UMuJHtnZ_EWb1IsthHpkzF8Suyf5Eybag1wTEXL0=",
  "id": "rs_07d98f7c3f1489bd016ab442b33f4087d0b8fbc4d6f9358aa3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.41,\"left_z\":0.15},\"note\":\"The close was empty and the plush remained visible, so the miss was radial rather than lateral. I’ll reopen, lift, and advance 5 cm so the fingertips are above the plush before descending again.\"}",
  "call_id": "call_elPmGbqc6IxkOhi2O7cJ5gUM",
  "id": "fc_07d98f7c3f1489bd016ab442b4abec87d0b05afa598cd62c5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_elPmGbqc6IxkOhi2O7cJ5gUM",
  "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]: [-0.5476, 1.7248, 1.354, -0.6632, -0.3698, -0.4862, 0.995, 0.0715, 1.2148, 1.0588, -0.9714, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.1666 left_z=0.1384 left_yaw=0.0478 left_pitch=-0.3482 left_roll=0.0522 left_gripper=0.995 right_x=0.285 right_y=0.0081 right_z=0.1586 right_yaw=0.1069 right_pitch=-0.5542 right_roll=-0.1953 right_gripper=0.9974\nstate[joint_eff]: [0.4171, -7.9521, 9.1556, 1.1795, -0.2027, 0.1538, -0.0659, -0.0615, -3.8906, 6.3795, 1.0525, 0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7987f59e0888dc0b20bdb6983a876d09e2e727c8eca9db23620ec4428235a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ad800025122c0ddfbde836b53f9d6db61661b821e8b8f5406160700f23cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1df817ea8b4c896be7ba42c503cc4bb26c58f12b7bb4cda7abd7e7d69d7d32a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6353, 1.6344, 1.0153, -0.4412, -0.4118, -0.5358, 0.9992, 0.0711, 1.2148, 1.0592, -0.9459, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3535 left_y=-0.1684 left_z=0.0799 left_yaw=0.0262 left_pitch=-0.3463 left_roll=0.0683 left_gripper=0.9992 right_x=0.2907 right_y=0.0084 right_z=0.1615 right_yaw=0.1064 right_pitch=-0.5283 right_roll=-0.1959 right_gripper=0.9974\nstate[joint_eff]: [-0.1983, -6.6667, 6.0923, 1.3016, -0.2808, 0.0073, -0.0122, -0.1436, -3.9316, 6.735, 1.3114, -0.0122, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4046, -0.4118, -0.5438, 0.0106, 0.0715, 1.2148, 1.0588, -0.971, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3555 left_y=-0.1696 left_z=0.077 left_yaw=0.0277 left_pitch=-0.3331 left_roll=0.0525 left_gripper=0.0106 right_x=0.2851 right_y=0.0081 right_z=0.1586 right_yaw=0.1073 right_pitch=-0.5538 right_roll=-0.1949 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -7.5419, 6.147, 1.1893, -0.2125, 0.0073, 0.8669, -0.1162, -3.5897, 6.3658, 1.1941, -0.0171, -0.0562, -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]: [-0.5476, 1.7248, 1.354, -0.6632, -0.3698, -0.4862, 0.995, 0.0715, 1.2148, 1.0588, -0.9714, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.1666 left_z=0.1384 left_yaw=0.0478 left_pitch=-0.3482 left_roll=0.0522 left_gripper=0.995 right_x=0.285 right_y=0.0081 right_z=0.1586 right_yaw=0.1069 right_pitch=-0.5542 right_roll=-0.1953 right_gripper=0.9974\nstate[joint_eff]: [0.4171, -7.9521, 9.1556, 1.1795, -0.2027, 0.1538, -0.0659, -0.0615, -3.8906, 6.3795, 1.0525, 0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7987f59e0888dc0b20bdb6983a876d09e2e727c8eca9db23620ec4428235a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ad800025122c0ddfbde836b53f9d6db61661b821e8b8f5406160700f23cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1df817ea8b4c896be7ba42c503cc4bb26c58f12b7bb4cda7abd7e7d69d7d32a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK4fcyEO1Ha2KBxVJ7vzkz5pHsR8EdhVYhUSC9QvI0aUQSQhjBrmCmtOMjurRS98iSdxyJz60rI1fL9aTqYMN8juwJQl3lyyP9UQPnhCPPbaQhKNWUl8nw_R9C4py_RrCXDDzq9eUgoGOFVgTyWkp1vW2ZY9qAGUx09OayTR6raNJT7OIppTu6t7qyXOJnJkyRohenFTDwg1PJyR7jMCZC45i-56irJ4xYiOg9-utZImyQSgkGsH2GpIC2dHtMLjA_KVag_dNJEyRrzrIPH70wnIjjbNW94byDiMqRo1zBW_lW0TXcJcx2wllGMxHMbz4jvUfAm2w0qxmeIASQB5zHQmAAMbonWqEYhcI07dg_TJ_Ir84qlrliuCOrH-aT1hPqOudqY6SZo_tSAT3hdzeqXi64irJtThl414AcqIOhi8zKnf8Cx35fT9qspqsOxML4sUQCDnXBq3gqTcVADHPJmnJ41nwSG0btGS6XtqcMuiSkhVkL5ExQHqpgxpPGmqmjewCc2PdXNmb3KbOLxGb35UnAsb-pmw4BHTSufkAK8Y_Z3Plpg2_Ex29pwKWcrU3OLRP_6UwsU-GunHFcNVd1gQ4xzQvx1qWsH-gkPqo57tkB2eLaGxG25-1Bz6W3RHtG4n9RqkG17dQ_T3wegvLA8f0sthXlL_FF7IhBT8bdQrI-qFrpUfThpiaSuq0MPRSJs9bQaNcL24lyPxRPfwVGJdk75Kl10_R7GhtQVIN-RkX6RRhkWyFa3PJ8LDMZZ4wvdOVx4BTsJv2jv76GWKJZq42lPLQM7FONZSGCmji-gH4jmoWJykV2GcF0ipsrGdTy3iz0jgLJdFwbf5PWzyl_4hSTvD0mE1dmAi7AhwMRE5cJTJ5BThrS8bOafNJ4ffQKWuffRDSIVxruKkz4-1YTBnCXZ-h94pTxXTOC2VTMLvAl85KBSPH4SPn-YqZIcuSOAOfBdf-99DEVmBHqjUwfvxwKockx2ceslEpoBDpOlrOKAa_BTUm-6dLWFi-cnELvX568NEwc4dWg2dUkPJ5WKSyn992e3MuYZRnUTz3Ke6XaneMITpA_ezwbiXV-PonBMDnyceYkzIYcl1r2lPImp758Pl3_Bbp6LbnfkCkHxN2Wui2Pw2smVZVhgaAUTTpYiqVoyOSdITlIKUFS0iB3FSXlxht9p8eptelR06B7rH59X7kBPw26Gs2L9qj42rI3Xwgu-R9X9LbZAfuiX3RxFAOOEIZNryDMYizyf8qkYo1P8wCOmX5lvPWvQaISMAcM3gWSPzlO6I602I405gP_nbUL2EdJm7yFRti1PMdAP1W8=",
  "id": "rs_07d98f7c3f1489bd016ab442b7795c87d08f9d1e7a9900b741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_z\":0.04},\"note\":\"After the forward advance, the white plush is now immediately between the fingertips at the bottom of the wrist view. I’ll descend to its torso height without changing the radial alignment.\"}",
  "call_id": "call_65vkq13EStHHzbFviT2tSrAx",
  "id": "fc_07d98f7c3f1489bd016ab442b7bc2c87d0bf4d7a7394917077",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_65vkq13EStHHzbFviT2tSrAx",
  "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]: [-0.5426, 1.8465, 1.1263, -0.3607, -0.3698, -0.4797, 0.9963, 0.0715, 1.2156, 1.0588, -0.9909, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3997 left_y=-0.1623 left_z=0.0425 left_yaw=0.0591 left_pitch=-0.3873 left_roll=0.0845 left_gripper=0.9963 right_x=0.2807 right_y=0.0078 right_z=0.1563 right_yaw=0.1078 right_pitch=-0.5744 right_roll=-0.194 right_gripper=0.9974\nstate[joint_eff]: [0.294, -8.0889, 5.8872, 1.4432, -0.1832, 0.0073, 0.1245, -0.1983, -3.8085, 6.3521, 1.2137, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50866c6ba3b6c60557865b7361fdc21c3d104f2c9f1fc451ae328b616d3e32b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01550b0529ada7fe6e7ab1d0042451ec4b7888e686f8a624edd33126607296e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6253443870c7b8b3174f0702252a995b7407a9b68935700a11c8eae5dab80e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4, -0.4122, -0.5396, 0.9992, 0.0711, 1.2148, 1.0588, -0.9573, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3563 left_y=-0.1701 left_z=0.0776 left_yaw=0.0246 left_pitch=-0.3294 left_roll=0.0525 left_gripper=0.9992 right_x=0.2881 right_y=0.0082 right_z=0.1601 right_yaw=0.1066 right_pitch=-0.5401 right_roll=-0.1954 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -7.2821, 6.0786, 1.4286, -0.2564, 0.0415, -0.0122, -0.2393, -3.9043, 6.4068, 1.2234, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5476, 1.7248, 1.354, -0.6632, -0.3698, -0.4862, 0.995, 0.0715, 1.2148, 1.0588, -0.9714, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.1666 left_z=0.1384 left_yaw=0.0478 left_pitch=-0.3482 left_roll=0.0522 left_gripper=0.995 right_x=0.285 right_y=0.0081 right_z=0.1586 right_yaw=0.1069 right_pitch=-0.5542 right_roll=-0.1953 right_gripper=0.9974\nstate[joint_eff]: [0.4171, -7.9521, 9.1556, 1.1795, -0.2027, 0.1538, -0.0659, -0.0615, -3.8906, 6.3795, 1.0525, 0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.8465, 1.1263, -0.3607, -0.3698, -0.4797, 0.9963, 0.0715, 1.2156, 1.0588, -0.9909, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3997 left_y=-0.1623 left_z=0.0425 left_yaw=0.0591 left_pitch=-0.3873 left_roll=0.0845 left_gripper=0.9963 right_x=0.2807 right_y=0.0078 right_z=0.1563 right_yaw=0.1078 right_pitch=-0.5744 right_roll=-0.194 right_gripper=0.9974\nstate[joint_eff]: [0.294, -8.0889, 5.8872, 1.4432, -0.1832, 0.0073, 0.1245, -0.1983, -3.8085, 6.3521, 1.2137, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50866c6ba3b6c60557865b7361fdc21c3d104f2c9f1fc451ae328b616d3e32b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01550b0529ada7fe6e7ab1d0042451ec4b7888e686f8a624edd33126607296e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6253443870c7b8b3174f0702252a995b7407a9b68935700a11c8eae5dab80e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK8Q-fERawZPkaq86n21YwNJO4NgvAYjQYmG2pbH_cpYyGcl_t-MjNYxV9cTjIb9QQZ6V_Fl-gUmp3wU769ugJg2Al3uv8_E4Q_TQdOBOC3dYi5yBJ_IcFcY0YSDDzA42jiExG6Wq9pR_STmx9V0B2huMeDNVv6SJ-vouo1btMw_k-E53KNs54rOkLI0_T2pTHXYIZZzzs0ZVRtAHvK0DUVopCRnadzaSFAGAvpZqDcLXCs_VVWcg27yHJ0Q5JQBVFkDvQVpJNI38GFxPqlu9TJZuxpSG24018ey0BLsV6_Yuc-L-PitXdmmYLgRByD39mGLXyJZZ7EU7pRvJqOzdwFwVDeVZ4tae7ZOP2AWfryZ5Gl-8wpq12YbYlza3V3ZMLoL2gvB0VrjS4yuYRMcagfb5ZYxbsCllTviJ4CusxHiwDWH3sQARbQoo12rRgmwx_QiCPQc7-EBaNy4_JpvV3PQ0vHedScRKZZ_5eYuUQaN8N1pXTP8ZEzurH_aA9ZEy4BCCqwojO-1GXenQoICa8ClCaTy7g3D-V8wglgHlLGnT1zWhwXUht9vcBZGP-RLMt08ohsnHbHXET4GzPNlnbpPr4invef_LeaMymVXDpngbqNF2PHCLyFkZYAQgym-PkPxyMPaFIDKlF2iK__Ndoux75autDR3s5rqgoNMUQYbIOwX3uaW2dFj7xZJZxnpQoVg2kiJHMPEziBy4Gw0kTBQnzZ18SR_fdXh3sxYPBZw21SJQQVA0WaRX_FqrOxXnoJ5dueyYR3gL4sm7Gp3y6bDZjgpNaXjChfuLBCINOCD60im24oYLiwKZGKgq6pQ4_i-269eZpuDyJpSpMT2q-KfnRY-PXWTUM2TGWynkD2fjVkt4uB9TbZ_VvzNcMLp-JORy8J6AqBtr0QyHvHp_xJbo-z2FUswpNwaVrLK9dCNbcZ1R_K2vaBl60ixfDl3HitvbiPUDVyek-am7Z2hfe4XB82qPlbaH955OZyTUqKZKDpLdU-q-UYBqVDm8FAkIYmXcKPahL7K5jlL08u4M_RnckNdi15srvSz5JshoE1J1rhzimSs9yNAQx54-73hWqdNX5oS69wXe_58WtUIw3BAJxGaZY5D_aNWzItYQpeUgg_DYe2gxCd2aEkixI9B69TE6TZNmmO4vLqHTU1IhDueIOHdF5C9Z-ciZLpEXUZUW7tfaFcizE3guybdGNjkD8mqPNly_pAelYFIgY2orSoOxG0UgW62Hwg1NOQs3t_wjo=",
  "id": "rs_07d98f7c3f1489bd016ab442baeb1487d0b68100c14b74bc49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush’s torso is now directly under the grasp point at table height. I’ll close fully around the soft body and use the settled opening to confirm capture.\"}",
  "call_id": "call_IJMdzlSaoX3eEMI5zPj2NB8m",
  "id": "fc_07d98f7c3f1489bd016ab442bb494487d09b833094dad5a2c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IJMdzlSaoX3eEMI5zPj2NB8m",
  "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]: [-0.5426, 1.8664, 1.1168, -0.3679, -0.3634, -0.4831, 0.0097, 0.0715, 1.2156, 1.0588, -0.9981, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.394 left_y=-0.1601 left_z=0.0302 left_yaw=0.0651 left_pitch=-0.4205 left_roll=0.0999 left_gripper=0.0097 right_x=0.279 right_y=0.0077 right_z=0.1556 right_yaw=0.1079 right_pitch=-0.5816 right_roll=-0.1937 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.7966, 6.5573, 1.16, -0.2711, 0.0073, 0.8181, -0.0342, -3.8632, 6.4479, 1.0818, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4618e8fa641982df2562c4e6ede21eedf7895e6b83ce18a83694cc8cddbe63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dce4fa93ebf2260470bbf56c9d5320dc7cb0387019c07ffa85c5da88d92394",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405eecbaad4ec773e2ad111dcd1c120ac766830f733e08aa85ab3b98aac1857e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.635, 1.6382, 0.9989, -0.4046, -0.4118, -0.5438, 0.0106, 0.0715, 1.2148, 1.0588, -0.971, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3555 left_y=-0.1696 left_z=0.077 left_yaw=0.0277 left_pitch=-0.3331 left_roll=0.0525 left_gripper=0.0106 right_x=0.2851 right_y=0.0081 right_z=0.1586 right_yaw=0.1073 right_pitch=-0.5538 right_roll=-0.1949 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -7.5419, 6.147, 1.1893, -0.2125, 0.0073, 0.8669, -0.1162, -3.5897, 6.3658, 1.1941, -0.0171, -0.0562, -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]: [-0.5426, 1.8465, 1.1263, -0.3607, -0.3698, -0.4797, 0.9963, 0.0715, 1.2156, 1.0588, -0.9909, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3997 left_y=-0.1623 left_z=0.0425 left_yaw=0.0591 left_pitch=-0.3873 left_roll=0.0845 left_gripper=0.9963 right_x=0.2807 right_y=0.0078 right_z=0.1563 right_yaw=0.1078 right_pitch=-0.5744 right_roll=-0.194 right_gripper=0.9974\nstate[joint_eff]: [0.294, -8.0889, 5.8872, 1.4432, -0.1832, 0.0073, 0.1245, -0.1983, -3.8085, 6.3521, 1.2137, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.8664, 1.1168, -0.3679, -0.3634, -0.4831, 0.0097, 0.0715, 1.2156, 1.0588, -0.9981, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.394 left_y=-0.1601 left_z=0.0302 left_yaw=0.0651 left_pitch=-0.4205 left_roll=0.0999 left_gripper=0.0097 right_x=0.279 right_y=0.0077 right_z=0.1556 right_yaw=0.1079 right_pitch=-0.5816 right_roll=-0.1937 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.7966, 6.5573, 1.16, -0.2711, 0.0073, 0.8181, -0.0342, -3.8632, 6.4479, 1.0818, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4618e8fa641982df2562c4e6ede21eedf7895e6b83ce18a83694cc8cddbe63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51dce4fa93ebf2260470bbf56c9d5320dc7cb0387019c07ffa85c5da88d92394",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405eecbaad4ec773e2ad111dcd1c120ac766830f733e08aa85ab3b98aac1857e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELG2qhFqnIK5zVjGdij2u2_g5WDI5WRzVsefaqPm9G2JovMKlOACpLrKgsNVJRTzPcpiiRO4RYsd2W37wpq6DzGCE6QMKTLEVeyylCntDqSAMSuLQ8HoJ7Gpeir7KNkF2XCXsEmR5fk0iKTXRn44W-HUDNoO6Xdphg4n00dQuMP5JeAnmtOtIsHr-ALrdMHVoOcSZzgk0kTMSNp58acslEqhaPxxIOZN0cjOaGVjZNyBKaXAsyXV5XWNVhJF0TXmdcNSRc-D7p5aZwa0yGxkbBndEfl-uHhxmHvWiDXS-OSZhe1VWxNGz5HcJRlUuIl5RSj-3zdNSOxSWmdeaS1m8ceAxU88YKXJpVtypLecOGDufrLk-EDRvMgwZu3z8-hI9m6DYXa9RTW-Ot1sKCI2BvvOmTTGI3eKL8XnBUeSyZQEOXDuo0lgE2_keNldwKbnF6onTKOg6EVCXIW13IydMAgOVKm3dLaSmoOFDf40H8HWHf54wZQklL-Mvye22iDHyx_1IWu3pQ-B4s7UgJU8euAHCiJv9CmO-cjITUfBmt2KOEi_8DsiLLTT2c2u1LsEK9hWaGfDEnXJv-R4IchsFso5VDx6ku2Z9E7soTpEUeAqStail60TUzjii2OM3oPkoGLbjRaYmsrl0SvOiSkFLxnpXV-3xT25876vCCc2OEzxquusQlNmL2iZkc3fwQfLstcV5kfTpjTcBV9EcCM8DIDdgIafrE3nWKRjerAakQsh35LYmt7M5fQRD1I9Vezh-jaL4O1Zh6FSXzCD5siovtFi4ufpQJqaK1KrYfjXJyqe2urBuUmrGXd2cjwT5nRplT5QnlJ8i1MzmAV5JLNf08PDO_-GAqJ0EhpYoYkCeuBlT_QTvcOUPNPk_VIw-Cp_bjGLh6a_Xt1qsHlP5J8wOhUup5eAJ6YKqSe_CCfshnvq8hBng-jbYPSikhGiRNNANY6xQE1WstMF378b_RdTCsYTHx0J-zJrLccgzuvZbedZxITtdJpI-HeLlMjjJ6hssMVzp1HH8pD8LPPwM3W-vjhCPfPi8ilnV4vryzuKxoCcykGEZbKGfhn9iZKX3m2Q1KgLYRr49S_6tx6PQuhbyiSz-_jX5II3rA_nkNfV0oRrMVheCJegRMvV9Z_LYC-pPvEC4GKYkKjzWsB3RgAQZbe9ysyelVyPGveST2yHC8fHbF1V6krIREXYZ4TOQzCqbI6vGhMlsAWOjRShJ2A2vNAFREMxoN9_d_rbujC-xVpnbwi1z3gVDNM7XOL7TXWakaR8jrwnWIdUvdUsT0aiV-O4VCM776VnkpelZuixNm_THhAkoSmD1pSIfS3skmkMhlE6IRtCS7lLTViJ7ksygsToUjX9TMwaMf4i3hUfJBIdQ9IO0fZ75OtEvJ0_zRsJgCV3AImDSxIJF4mPX5Xxb7XVsCKTF3UcyqBFIEWciJXak_pRHLpWJCO3dkx2pO_3lapcpnjYzGfnvcqHrF9Vkj46adX1DAxeT0Km31_ga8Nf6CFAPWrQcp_tpIDqlSdftDIPV8P9nGUylnEwlG_Tg1t41MkqB2sP94kiv5DlvS71j85vv_AaeW5Wyqg9a6CHahQSkVoaVeLejuHb-zBE9fbuXlXg_Wxjk9kPxI_Oxt6hjUtI7MNlKrRW-oOGybeJFmG9dv1AEM7oRvCrBdtb-czShcZGevWL6HTeop_FcHSFgCHsyFdwY9R6cKGhR6TPt5VydmWkahkvNfvLDS_aISrYzKrNRRLh_YDbeHH6zgz0jXS_ocYXyNGvomMVa4lotLaf85ETLptPPWieqvdscBE9B9GglEEg8V9wr1ftGPfFF0oflK8WNT1fHBLlf87LxPs0_DuMF5ke7ncI2zdxrHFREGxofB4yICK0NCREVRSQHr9iSmo5Ik7IvJQZuW8cRFPKeKAHhY5bONOzo25Y45M6fxB4PdnlrUDx4wlid-FnVEQSr6G3J1pE00g0njfCE11KinSDaYMvpqSZFQFxKWvGsbNbxJKjkCcZMz512rw_pWI8Id6yEqgwdtVMBuYFyL6HiyjYExyAQm8bQZaX1p6RvkItpRlJW5Ag-p2L2puethZ4qd_ATm3nXac_oRovBAp2VzzaiDoLMooqlqsjio9R4MZjoWz_XrBua0GwL9gpGmn9BxNHIKxQo-zlluCf1wvJv6PLQsNeeprajqAzFgSix4V79j8eZZBKLRMay5iuwZ6IIeXdFKA67WTVjngjQUOTDFpKx8ICAUx8cK36nJYD0ise-XVXD5TbQ1V_ejZL1wV_Y7ydoMPkl8l3eFklZLtj_n3OMjp_PwQpommI-Zd5RfZ8Fog-W5hHqHOF0Rfzy0i2boszwI7RS-dBYrsbPGpKVXgrE8HSu_WKaY_L555ClcNDpiLtroOM8-68jFdNN_Sb-3NKSMYirbV6ZTnaMZzQF8coS5p2Xwsep6RI17qUepTQX3rLYSHLrfsR9gaZ677lH7ATrl4pMCS8z8cSuD2UX_aOxG8CLU4y3IO2zxAAsndL8q-HkUBQAOestjwKqPUYV7S6_fGKWvLDT42WjDnmi-YKkczdWQy0TNbmsj2y7N4rI-Be34F1X6e5OBzsBZZVlKEs9k1VODC47quTfCcvEKnMIpXZjNab1glmSjxwM7lPjl1aaYWLYdessvXccsJGFXFqedMSngfXx53vwufU_IOlB2TRFix4RdsYxBnJImiuQxov9UpsE7jlYA-fsUdSvyhBPHQy9lDvy80Bnc2p-bszJTpFQ8KZwdRzplCjxJzo_Pfr3p_UrjzO382jGO9KGYUqx-mDOhDryWE81omwdnFErUw8GzcwJjOpBFNzKKDBdgx7X2iuzWXP73mkFy0LFx3L9OI1rXdL7NJLOJS92Uz6bOuLvxrMbNLKIh9Hh8k7DVxqV14lB-AewD9MFHyve2vQxXsoyyzWyzHMLKX4AQ95Hplyn3i7jYjmBnlsD18pGpqENwdBCL8Lu1zG-UO6jbFk2AZKf2s3AsJXb0K_yQyhWxuY4Ur0ue0TAKCTsIWYbd-QIwNKvxeK-8DfhBZJnitKfYzPxbwjpP3AYJSkdAfjsam2bRSs7Nm-nFc09mnzI1Hrs4t8ECRu5NYADs4o_GpWkyjupOTM642dNvFraqNKT3FmIJ4AKuKXCPNIZOyLVPvXjFAM21sdymwRyROah7kFyD2aZaHBBCngPLTV3Ekqc-B21ZomYZbXD8xR2tWep1IQZasaV6ukPrl2doH_UV4jSR9b4Z45f0Wkbp9RRN3ShjtJS3ajiVslIuI6Q8z8PEiTZuPMyP98ake2OZW3pPltAqbsL7ZIeVLFYQqcEJ2aRL6gNWq60pxlbzBINUKLGJyP42kxi92mRWHRBFcqc1tP8RqguqgvQL4-BXVXsLWJtZTxWNXJr56BZCr-nS9165aOBlVddBi0ZlhnjDQ5eWV-hLxkBVvHgyW0Nryf_ejL1qNm5vwN2iFShZpYtJzW5nwjOoXW0ozrPVn91ADgcXwFP3of4483g9QS6_UWlEhAHfFY9BLtupSXJXWY4eMOacjMMOwG11Mjx2bKmByYf6ETqpEktnJ-fFu-2fDntoPLSsdyxdAz6IQuGew5fm2iWmuuVyqLIkl7dnhosp4BgBM3Bd9Z5hp7sj-XxFmkW8mIUtAeUwfJaDoNg_2blo5t0ZsWm1vkzDiLehWt-IHhMZtcijwOEJap8woeVpt9B484HI7qAG7bABgVSkgsaFa3EAc427hXf3pgCA4U-ilaSYaNeF6uTPPA9n_dt_BwmtI-obwRx4FbbHgP1lhAE1j90Z-MzImJtwDntgGmLLz3PpDXn4qFeH6bsJj4M4_e2EV_Lu1vtwEsW3-o5L7soWcIVBujSl6Newhr7fOWRkhjWmVQfYa8zuVV2bLtD2AnVcR4HiIM5yS22ZQFepTQ2Oup6aCFUYVnxeuzie8zKBS3aH_YF7A4owwgEaFkCRzOpIr25UIgm1wwaoUvl1xhzRp8elQZMaor25oxqJkuc1c-HqnF6xpG_oKVOIULLQAtLTR2n7YN_HDI5NpzZO3uFfApLeuqGQmAF2j2f2ah8rK3iTO79Ra50xYgIsHZ62NvdJO2o9KSY6k09XJPrFKjq24E0tygGrya-LeAt_D_-_VMnrF3H-O40VUWqetQZiBlbX1HdOSI1G0fQWbkfg4AIFSMxqAF9RKEdLlatJKAPUR06tJLAq-HYqnxt76gJyjoV3nfflk2Xax2q1nNBP_GA==",
  "id": "rs_07d98f7c3f1489bd016ab442becf2487d087f5e44ed90b549e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELGDUC_vA1uPtRWjiYRcoqImlP1seC8yHn-wr6aE2cP6M1UKPMMFJBwHNMbLbu2JPJxMFw8gx4gE-MCsEs1GdzVnjtit_Vj-1-fvbr4fwQJ5MmK2qAEnxuPRQ0-4gujMiDMH9XYmazXs61Q-5VAvWquWip2eaJXSPjq-N2z9zouLzb7ubF6YyDS-BzjeoD805wXu0oL0Skjk92iBOB_u4RyGi2Lq5wPkoTcLzUphwDL1XwvPuYw3E7mGru8FIlYW-VDTidDFdVu7Oquge9_lryI6Sttebiu8GXnDn0T95Ku_xvB-lj0sAYhaMPlRcDkJZEe7B6Wkni5QVyifGsiZsxY3Sbt_y8xiyzrn9rX3FWW2ncK3KFhkQz4r8qNO_NIjor1-u94xW4UXNA-lAkv0dVD1KCiRRRE7KXAOur__45VU_bDNH3yNiW2nCq6tjsrAr_ooFMTpcP4-wxXwZtftUfyJwYQ8g6rHjvMdjO6VZXtyMFg3WIJ7_EHJv92VDKLXHUU1EO6zIAzmxHWYkSR5h10Ba-gUqbnvkOSFboKZ4lqf05EHhU4jVEiGL4A_y8W470mkKyLAjFLDtg1Tv4jZJK2uv8CW0ZrEjX8B2lbHcbduFd3I7V3Uno7GQ_egOILMmCkwq-VnElfNj-hj7LIAy_YIyo4Bxa7_eQIjJFmKN7nDWfYk33AloXHBezFJkx-SI8dHsInbFPdO_Nqbdhvc0B7nZGddwFVbTw5yF4sW2jdejG8PTt0gpoexXXpLEF3XVK0i7S8DbNZS5T07K_ODLwv23efV0oShgqeDgHNUY5lpSW7PXtMrMfgBPqwIno_RfcaNzMXTjr13XPdCA_E3vakbsCjtEqNCpgKBYVw-fhkpGpwJ5z-8x-iptWFutTyGxlltkDXlLdoWX80cTV5vbP-VO48dRUfA2wyc53mNISMgUCmvL16WFvRSnhHdda8NBuaY5ztEQhGaFQbbKGhzLtZBoQ37s6LNPLZFEXjwJk9Ze0ZfcknARaEB9uJvcD89ef0hpqecIvB-OctSZ1m_iCDcTy1ADX9NxheBRVOTz6C-nuC5nI7--U0pEQLgMFOPpQ2rC-vbg_VxweaLY5O9y-My0h2cf8eXwdSUFO_ILQXc8LrcB0AFWUxMpLzIfWJ3sRS_TwnS9_mNlqMvsf9E2pho7NChvOfBLLTRnDXK7mCEk1Z63HFGCWp-v0zI-oOhMrtyFpJxDkVYTwEbtrGU3HeBO9njNK8Ab0g5YXWBTMI-KTM7wAbBzMkYsy39q9Fm1H3Q-NcT2ClXqW4vORr2PlZGdmMw6OR0bAbutjR-tlfdwah0vh5lNreslWiq3-7cuGAIMBqSBJBbTpdIJ1l3LGNQAJ3Bb9Lw8Us3qgb0B_8EIAiSAzk8F9rx9bamAZ57vVObbpC31Hgkm1furE_aseBNX-8cKgZDLVEjUwc0-967uLmGpQd5W4iwyio5lWY7LgL9IKer07cxd7y5WmC1kqDy-Bv8AS6eAaL4dV4NgsHqOo37ga9ILsPaep50Y-jb2M08v5kx9J5ODYdqYVyqVWjM_6is3CJh6qp99-Xfc7z_Fy32ai_IjhQ264m3bIp31JGylTPzGMBq-mbHllm9c-XigLRkb7NrPxl4_YeEM2SUxXDmwpwTx5GyYCnFqZI9909roX32sp49lvrdDZLcp_ENGD2fy8QBJTU5HJpPa6_Ba0JZbPzFxq3tSfbvwhH9jFQ-6VNPn99WvCpyMh01YS3IC5sO3bFgTqeZJuWrW2qmno=",
  "id": "rs_07d98f7c3f1489bd016ab442c3d75087d095e095a2c0e90796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.3,\"left_z\":0.04,\"left_gripper\":0.0},\"note\":\"The soft plush slipped sideways from two grasp attempts, so I’ll use the closed gripper as a low pusher instead. From its current position beside the plush, I’ll sweep diagonally forward and right toward the open safe cavity.\"}",
  "call_id": "call_lnDpaS4DJNJhIUn1aJ2VG2b4",
  "id": "fc_07d98f7c3f1489bd016ab442c518cc87d0b752e64543670878",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lnDpaS4DJNJhIUn1aJ2VG2b4",
  "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]: [-0.7368, 2.2848, 1.7885, -0.7464, -0.4355, -0.6903, 0.0082, 0.0715, 1.2156, 1.058, -1.0157, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4309 left_y=-0.2855 left_z=0.0298 left_yaw=0.0861 left_pitch=-0.4578 left_roll=0.1266 left_gripper=0.0082 right_x=0.2749 right_y=0.0073 right_z=0.1537 right_yaw=0.108 right_pitch=-0.5999 right_roll=-0.1933 right_gripper=0.9974\nstate[joint_eff]: [-0.8, -12.2051, 9.0051, 0.9353, -0.3932, 0.1392, 0.8425, -0.1162, -3.6308, 6.3795, 1.1453, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6b849f1188ccfea0bed879ae06b3d17cb2d72ff60813910eeb9b3f9525e2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5e3199dfbb32203538c6465623fd01e82a1f4699ddeb3d8737f682f5a26aea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42be0e6dd35e562d4beb4b716d973a6a75b807b23767f6036c5dda03bdbbd0ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5476, 1.7248, 1.354, -0.6632, -0.3698, -0.4862, 0.995, 0.0715, 1.2148, 1.0588, -0.9714, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.1666 left_z=0.1384 left_yaw=0.0478 left_pitch=-0.3482 left_roll=0.0522 left_gripper=0.995 right_x=0.285 right_y=0.0081 right_z=0.1586 right_yaw=0.1069 right_pitch=-0.5542 right_roll=-0.1953 right_gripper=0.9974\nstate[joint_eff]: [0.4171, -7.9521, 9.1556, 1.1795, -0.2027, 0.1538, -0.0659, -0.0615, -3.8906, 6.3795, 1.0525, 0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.8664, 1.1168, -0.3679, -0.3634, -0.4831, 0.0097, 0.0715, 1.2156, 1.0588, -0.9981, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.394 left_y=-0.1601 left_z=0.0302 left_yaw=0.0651 left_pitch=-0.4205 left_roll=0.0999 left_gripper=0.0097 right_x=0.279 right_y=0.0077 right_z=0.1556 right_yaw=0.1079 right_pitch=-0.5816 right_roll=-0.1937 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.7966, 6.5573, 1.16, -0.2711, 0.0073, 0.8181, -0.0342, -3.8632, 6.4479, 1.0818, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7368, 2.2848, 1.7885, -0.7464, -0.4355, -0.6903, 0.0082, 0.0715, 1.2156, 1.058, -1.0157, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4309 left_y=-0.2855 left_z=0.0298 left_yaw=0.0861 left_pitch=-0.4578 left_roll=0.1266 left_gripper=0.0082 right_x=0.2749 right_y=0.0073 right_z=0.1537 right_yaw=0.108 right_pitch=-0.5999 right_roll=-0.1933 right_gripper=0.9974\nstate[joint_eff]: [-0.8, -12.2051, 9.0051, 0.9353, -0.3932, 0.1392, 0.8425, -0.1162, -3.6308, 6.3795, 1.1453, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6b849f1188ccfea0bed879ae06b3d17cb2d72ff60813910eeb9b3f9525e2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5e3199dfbb32203538c6465623fd01e82a1f4699ddeb3d8737f682f5a26aea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42be0e6dd35e562d4beb4b716d973a6a75b807b23767f6036c5dda03bdbbd0ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELNOy3PIyFdJsX9WSMODi0jDkoXwb-zRqz_HQWfX8L1IftoOLO1C__ALAj55O5dc4Yi5utwtcQ-J2Nq2wIfSGtkA1ORfMrBqEpBslomE7gqPSX0Mti5mDP8AvLa64fKIO24gxrm54xflrm0xkeJwaprnlWFjTxq3dx_r3U5JfY4H5fKKVikFhnsDeUXTQ12JFMbP66ycnOtAkDUle7htZmNtp4z7duDaMGuuveqO9EiPff6BmskU_S4puO6DDnBiN6DNTMo9rA_E-r-bsc8PeQ8HVKwo6nqzOhRLeaKwHwlM9FxEdsxuNKyAPUq1ocvWnGwHFxY7OPtN0SGqoBbbcrbcre5ZUNS53YsZhxxFZUAp63hIIhZAp-PlAXwSTYPaI3DvEWgDWLWnJlpC5kDpC1GtAQUYBMt2rlmsbsjZKXqwn8O90b-Fo4fjNryWh8u2yVPTWM6bqHbfz0pTPWIZVUkEtN7bz7HZCgaae8HzVcFUfanTO0FTCO_kTUdmavXSqACglyPuAxCciPlTbJG8qtaFjQ5suwpzOpSFvNKISayAzn_oA4uzV-oLitLnfI9Qwe_8VZpeORxABN5Fjm1eg_ZxewqBlGpUFI_9oXNR7MygBabCAbjVqBF575DgPmXRsw6Qs25tnBrsj3xyR-RV09f_TxiCKqViGNOMgBSqKx0gfpijXsoWVqP-B1b93B6NUtWfnM23WLyJmrImh-LdPwSZPSu_fc77wQnO8tmzPUtmeiy1u7TWAg_V19qbu9Hf0UwQOqaGPF1hzszueA9oA2L0amZBPKNHVMjvvZq9W4EVjA9O_VD50k5xFHF4kT9ZPtDFAtaeXHEt2xTDEFt6aOhaffXj43KRZIBCit4t-o1h1HhA_lkPWGwqXyuVgydggnnSWQh8YPH8vX6LOoxo5q2Pgci4xaSOCcaHedAMd_pl3Bi-o9TvAs9dG7ZQYQw7HJH0sYg3j2SmmbWJf_uUhPvoH4gX0QshfeTA9nZYpM1dNWh4Hpbe5jaDwxdDd7diA3Apj0FB8XnmxdsX3qTackq5RCVSLS2cRsyNkA_KHb421l9ep_o75l-gZAT2Pfh_61VyT2J9eg1o9oAlAaqdHEJ9ffiv5KIHXjcWQ9g-P8rlC3AlmyFvNYzpVzXJNmpRUQqI_-gWqaXkk4QfpS7WhwBveLHS5V8Hu1QBmodVtDTS_yoYkoUgERHi0r16hPn9nX2TUiiBp5hzA3Ft3H6ekvICuENYtUfVYVTAwaAe6q6aTGbPag4pPcOQ4uMSUHXD9EMnIkOes8U3nnhGIes_kUpX-gLa1IlhytuL89zWlkRz5jVEFwrPL1uRv2MzrybwHM_TALjbgP8YQC4bPVcCRM4GXC2xUhRNbD_hBD25MPR34oLvUDAaOCDlOO0RRT1Lq2uAAMQ_b4tcLrj4YRMAz0LPtSjEy15MtEbctHRz6-1Vz0_XRhHEuLM9PYYEbpG1jgVG-CDjejsqIV7phvQI4qRvyGxG9jfaf5VK7kFCQVtK4DAs5h8LMdTGkuVW7P_Y815dygPNUSiHy_RBJz6h9DOTFdXP8ubuho0ESlksF50Om0mdD4r70Z3aaQHkXlKzIHFA23TuUdjg6aVDjqbHDX-_DtLdQpqPctvfy2VO1QzfXFjE6AQaewsHsVO7E85GW67Fw7WBh3DQylySZZdwiluSdQeoRMLtNnIX-D57CKVXbuyKXB0_uBHeNQYaP6jVNnwTKh2Qp0j6FmrWBpaL7CMSk4aPSf9HxaciSe5f86IMxc9Z8O5l-nDXYnzHeyiT4BQK2z5hNEq2U9zdg4Rr0weW559weJZXlFc6vr9iBuZTDk15qZwBvW5ordFdKAe1C-eC7wf0UcIpt_RoTBVjEDk_0Crednq7tvfhaEEteuD24CXWq-RdOVSzuahLQ9WCv_FjYuead1Rxu6h3BQAKqHN0KmHWjmGOra330hGo4E4bcpvjepCK92nHDfSN09HlFfULT6Kpw7muB5qrmd9kO2Oydiq7IgiM9nyGLOq3atd21IWT-yOS75rxT2oNYGJ02I7I4MFuOzfSFXy6aWGg2OttrzLhR7gaIn1udxawBKGw2wKs7p8-koRFjCSfvZgGMFJwLC8ztmuvt_wsjpMMpBECuR3zk0rZ1M-mXHbQqus1GGqhMEQXWIubg5Q8N_cUvOYPucsWLlop0ogS3fGKqiY0ROuJ8KlJ4KbitX0nQYG2Iy9fx6ffQm8qUBnCCq2Bc1g4Hw6ifv_98nOxjUz2P-gaEPDCWmcugfyli_HJg0ADYGa6G_vILCKJCu8uMUucCn1VbQ-MfJbIYTXxYA95-9ua7iURc1BJ9bOZ2BTxBcsHROicFo_SqPL6JjAwgkuB-duNX30cz9e_lMte3a-FI5nt--X7wW9Y0dfote2uckXMSvTeNgk4eYnwBz5K_kW-VbnVczyEtt7aLegdoE5uxKOBAEeIMIsfs6GvqFsyrpCDen14LEM-8dyezTVSEkRo5f0LvAdtexXqUhIdYGgHeJ79ORlPOimD-DvmzDIfney0hACeqlY3-YXZX1UcwqrGNlEcZ68Ue73b3Gvev1BAzVda5wN84C-55x-i0K7_5VnkUccEE5zMfOiT8ggoJY9C97C2u0Xji0XKDK-V250dQq_pI7AkV6cd4Sgt4hZK_EdHTHUwdX9unx-w-glCf2YJ57HqHFvxh7vOP2TzXZWS2k5my9TCxSi7VssTb4duTG0gfRVtkAx2tDWuC2IMH11whPxe4IkyTogw5dr4eStH4BRrfcFE3jD5_ARmZvj78zAMynAb62rqATnS1TH9OjWaL3_UjHR01QbO56AaMzcBVpu3F1YbR4O7AdUahX3lVgPfAvNsN4CDdvx_qe7PtgF3yxJfEsjPYCWbMyJwCATAnKhY_piDMJqJRj17qd9C0Dzdse81nI94FhqsbqRYYJ1vBqyLaoG0qt2ofTMwVXvhqAayWkFAYg0b_tgC0fw8oCTczhJyPbCNnLmbN-HvvRvG0jzjWEkypY4YUR0-jenFQBjY5uuujvw88Lnci552N4ocl0FDRzq1cLIE3K1HiePCmwL1iz7U9dMhN9CzH1NFvAYIco8V-zbxK_hJ4GyQ9gLS_e_093i7RcysVEntO-9GOuIMG4kyivLdQtK8_QyemBGkuuffQCJJ8hWCzRD0Y1izOtrxc8dc2dfrQI-K0-5dPE8CGILH1plgxvgWeP1_ELPzOGmZJ2xlMk6A-JCNfXkr5nTup11lOUjs0gAzGObGZf2",
  "id": "rs_07d98f7c3f1489bd016ab442c8e13887d0b906057823bc130a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.31,\"right_y\":0.29,\"right_z\":0.13,\"right_gripper\":0.0},\"note\":\"The white plush is no longer visible outside the safe after the sweep, indicating it was pushed into the cavity. I’ll park the left arm and bring the closed right gripper above the brown plush, which sits directly in front of the safe.\"}",
  "call_id": "call_OIlxK1rVNyYHVPuNr6bpfezJ",
  "id": "fc_07d98f7c3f1489bd016ab442cc80d487d0a548fe15157dd370",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OIlxK1rVNyYHVPuNr6bpfezJ",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.2007, 1.0756, -0.9409, -0.2008, -0.1577, 0.9977, 0.8814, 1.9343, 1.6878, -1.1397, 0.3264, 0.5484, 0.0071]\nstate[eef_state]: left_x=0.2952 left_y=-0.0022 left_z=0.1744 left_yaw=0.1248 left_pitch=-0.4558 left_roll=0.1196 left_gripper=0.9977 right_x=0.3014 right_y=0.2823 right_z=0.124 right_yaw=0.1296 right_pitch=-0.6403 right_roll=-0.2141 right_gripper=0.0071\nstate[joint_eff]: [0.0889, -4.5197, 7.2957, 1.2332, -0.0464, 0.1245, -0.0952, 0.1573, -9.4017, 8.0752, 0.652, 0.359, 0.2173, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5748557755ff3d65a2a492be153970b7cb6d99252e4da8165a5135aa9fc91bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88112fb2287936182b0f2feb967add338335205a682dab56a2c94096f04b73de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dc95a51e0e457acb0257413d14a8ddbe222c2a9749729d8b00761a31c1d95f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.8465, 1.1263, -0.3607, -0.3698, -0.4797, 0.9963, 0.0715, 1.2156, 1.0588, -0.9909, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.3997 left_y=-0.1623 left_z=0.0425 left_yaw=0.0591 left_pitch=-0.3873 left_roll=0.0845 left_gripper=0.9963 right_x=0.2807 right_y=0.0078 right_z=0.1563 right_yaw=0.1078 right_pitch=-0.5744 right_roll=-0.194 right_gripper=0.9974\nstate[joint_eff]: [0.294, -8.0889, 5.8872, 1.4432, -0.1832, 0.0073, 0.1245, -0.1983, -3.8085, 6.3521, 1.2137, 0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7368, 2.2848, 1.7885, -0.7464, -0.4355, -0.6903, 0.0082, 0.0715, 1.2156, 1.058, -1.0157, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4309 left_y=-0.2855 left_z=0.0298 left_yaw=0.0861 left_pitch=-0.4578 left_roll=0.1266 left_gripper=0.0082 right_x=0.2749 right_y=0.0073 right_z=0.1537 right_yaw=0.108 right_pitch=-0.5999 right_roll=-0.1933 right_gripper=0.9974\nstate[joint_eff]: [-0.8, -12.2051, 9.0051, 0.9353, -0.3932, 0.1392, 0.8425, -0.1162, -3.6308, 6.3795, 1.1453, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.2007, 1.0756, -0.9409, -0.2008, -0.1577, 0.9977, 0.8814, 1.9343, 1.6878, -1.1397, 0.3264, 0.5484, 0.0071]\nstate[eef_state]: left_x=0.2952 left_y=-0.0022 left_z=0.1744 left_yaw=0.1248 left_pitch=-0.4558 left_roll=0.1196 left_gripper=0.9977 right_x=0.3014 right_y=0.2823 right_z=0.124 right_yaw=0.1296 right_pitch=-0.6403 right_roll=-0.2141 right_gripper=0.0071\nstate[joint_eff]: [0.0889, -4.5197, 7.2957, 1.2332, -0.0464, 0.1245, -0.0952, 0.1573, -9.4017, 8.0752, 0.652, 0.359, 0.2173, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5748557755ff3d65a2a492be153970b7cb6d99252e4da8165a5135aa9fc91bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88112fb2287936182b0f2feb967add338335205a682dab56a2c94096f04b73de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73dc95a51e0e457acb0257413d14a8ddbe222c2a9749729d8b00761a31c1d95f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELT_Ctg5VRrT6G5zh_7HfEdx1XWq2o3GUO0L0UF00cnnfLLD3P1D74ACIkQoZimnh8wwyVx1Tnc5MIo_7Aiv19iOy6_XNxzsbYandXwfTIFCgK69kQp80072hiwkYaac1JG6ZzgBnTs4I01MmUyYg7qy-pXPPkusK2LadthwlKyQRcQUQeYqQYTOd6RTPpjsprVfY9CWkD3Tl4AHdkz-d8NnlDvkORS71FsaxWFXp6d79XH0ZwLZVjBBxwZEa1xui3fG33-41fO8zVaHp4k2PgoLYaHS93mR1N8bbNZwv59YxuUsW8IygpthaEqKxUPlscqjXaklg0GHUuHNFGRvB22W5o3a-pVMqthpyzrPQlma8Yh70u5DQYU1Nx5SuhzI8m1LGek2VpXj6Cy2u_xQIprlBF1X2r9aIZ3ixBD6-YyXOcfMPPp6EwAS7RptlxQCkgh8VVHZvNRxKp2wEQsvFeVW1ynuD7VnAfayVvAReqUcTj2ZvBXSUhr-ArBRL5vLJfOmNPpqBAuSdZFalNkwVFDkBW_gbFVFcOY-NxweK9N4GoxNfpOSEm98iaUqeSKASmp9xMa3klaSvLzXTpdQLfLOrQRci-7AvBA0JikFfFIvG8gzwG-i8wPs94wJAjfesL0aE99FHn2LBQGuzKy3Yw6xYJAoRI-buDM_UL6lXXjd65Gl_DEMzhk_skKa1kMER8P3e-VEB4mtU_rHhNe8F0H0McvZfRdccvfX_SwPTiksXCoQLXbhbE9WVndrL-62ntJTwzt2yCCAJidRp_bIrgV8rfiio5slBGydxevlAqqJSi8Ybh8dUg6qNqFReW3EP9wWPs37_XsV8SvlFFx8sF_MPTYS4W0z87mFJxgFSY9pC6HZUugvfQNgGaTegpWae5zwKlud6KcVej42SRtsmiHkHpWGDKb_easBn6Vr2Wt4P4oYDjcl2BJu8vqKgeeELhGid7tA3dn-OjHkMaXDG6_fb0SeP90UGJyG2-zeupNkOObdWy1Og5B6QQaUzkfwCkpn0ZIKNiUPO8Q4bUGKcSD_anOZWtnseek9_smUe-StUqN5HIQ8-GWo5OiEZotl3AXu40veVKSRsbu15vDIM4iDtZI1hRYfTVTIR8szCBQ20sYoxASva4WY-2gcLxal7CWamk3Xayh3N5xD8LfkmWA4pz2e4imW9xJKVZuJbSYy_J7l64kVxJmztzBviT_ch-IxJKugOGavL6iVd045lPV5J9Pw-AnTAUqf48hzue-6V6oM_98vjHbLdXbGKE9soAeEaKpZuaTAi0hp0iakksAxBtqo5PDEolhrsDkbM1iDJ8TUrroNmYlZ9yeHP2SGh8SjJEgzB_-M5xa3vGfA7kSApJSoIT_HCzskuhzRhQQ-V9HYs9pbaCLNAjRQ8G3ZkCu_A7BI7HRFM-w0s5d7oBGd10-FBBkX9l56ilJjRVXe6gNdbq1Xa_tKdLa0sK_XrinfuRlY-AynuTq9lOiftxZwz4BnptKMJpNFAC_bLKTn2axBQsUVUH6EKzTlnce6cr9L1HparO0bW9T5XMlZB1gsxSm7KOxgkWBSsrxjpLrU_o-KdUPQPIM6uA9tmgZH2nIvawe3sZZoOEsvJiy5MYj1Sqyj5jbri9nsqF5MgOCOEc=",
  "id": "rs_07d98f7c3f1489bd016ab442d21ef087d0b243800cb8fc5560",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.29,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The brown plush is directly ahead of the closed right gripper, with the open safe beyond it; the white plush was displaced left rather than loaded. I’ll lower the pusher behind the brown plush before sweeping it forward.\"}",
  "call_id": "call_UFwR4IWso6bhV7Yh3GVM2Cj5",
  "id": "fc_07d98f7c3f1489bd016ab442d30b8487d09b62f24a14414ced",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UFwR4IWso6bhV7Yh3GVM2Cj5",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.139, 1.2022, 1.0737, -0.9615, -0.1879, -0.1589, 0.9978, 0.889, 1.9858, 1.4506, -0.8661, 0.3416, 0.5503, 0.006]\nstate[eef_state]: left_x=0.2905 left_y=-0.0037 left_z=0.1705 left_yaw=0.1173 left_pitch=-0.4819 left_roll=0.1135 left_gripper=0.9978 right_x=0.3 right_y=0.2814 right_z=0.0473 right_yaw=0.1173 right_pitch=-0.6408 right_roll=-0.24 right_gripper=0.006\nstate[joint_eff]: [-0.1709, -3.9316, 6.5573, 1.3455, -0.3004, -0.0562, 0.0024, -0.0889, -8.9504, 5.9692, 0.7692, 0.3053, -0.0317, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ab469f6856acdc91e26e78329d11a82bcbafc001ea90519385c461327412a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e113587aee91c936f4f8877cd7fe4dab0abe65c4e64cc30ef818d1fb1d77590b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f15d9b417a7d8abe58535f64f5c90179ec7598e60d13dabe4750b1a0389dc5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.8664, 1.1168, -0.3679, -0.3634, -0.4831, 0.0097, 0.0715, 1.2156, 1.0588, -0.9981, 0.0898, -0.21, 0.9974]\nstate[eef_state]: left_x=0.394 left_y=-0.1601 left_z=0.0302 left_yaw=0.0651 left_pitch=-0.4205 left_roll=0.0999 left_gripper=0.0097 right_x=0.279 right_y=0.0077 right_z=0.1556 right_yaw=0.1079 right_pitch=-0.5816 right_roll=-0.1937 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.7966, 6.5573, 1.16, -0.2711, 0.0073, 0.8181, -0.0342, -3.8632, 6.4479, 1.0818, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.2007, 1.0756, -0.9409, -0.2008, -0.1577, 0.9977, 0.8814, 1.9343, 1.6878, -1.1397, 0.3264, 0.5484, 0.0071]\nstate[eef_state]: left_x=0.2952 left_y=-0.0022 left_z=0.1744 left_yaw=0.1248 left_pitch=-0.4558 left_roll=0.1196 left_gripper=0.9977 right_x=0.3014 right_y=0.2823 right_z=0.124 right_yaw=0.1296 right_pitch=-0.6403 right_roll=-0.2141 right_gripper=0.0071\nstate[joint_eff]: [0.0889, -4.5197, 7.2957, 1.2332, -0.0464, 0.1245, -0.0952, 0.1573, -9.4017, 8.0752, 0.652, 0.359, 0.2173, 0.6325]\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]: [-0.139, 1.2022, 1.0737, -0.9615, -0.1879, -0.1589, 0.9978, 0.889, 1.9858, 1.4506, -0.8661, 0.3416, 0.5503, 0.006]\nstate[eef_state]: left_x=0.2905 left_y=-0.0037 left_z=0.1705 left_yaw=0.1173 left_pitch=-0.4819 left_roll=0.1135 left_gripper=0.9978 right_x=0.3 right_y=0.2814 right_z=0.0473 right_yaw=0.1173 right_pitch=-0.6408 right_roll=-0.24 right_gripper=0.006\nstate[joint_eff]: [-0.1709, -3.9316, 6.5573, 1.3455, -0.3004, -0.0562, 0.0024, -0.0889, -8.9504, 5.9692, 0.7692, 0.3053, -0.0317, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ab469f6856acdc91e26e78329d11a82bcbafc001ea90519385c461327412a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e113587aee91c936f4f8877cd7fe4dab0abe65c4e64cc30ef818d1fb1d77590b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f15d9b417a7d8abe58535f64f5c90179ec7598e60d13dabe4750b1a0389dc5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELXL4VUk3X_VoFQj6vcPOJB3IpKvVp5MOr77Oikm9wmYs0nMSndV5jevCJ4fzqmjEiHPR1VeotpiBpu593xFV5hwJZ6vrE04S0lGNhA4i2oBaSws44sN-TEPYnnUFALuNcSkNB6hbxUOt9Uu6SmV73OzSfaPJtwyIokhUQpjCXVD0QxsrH0I934RcgU6_O5ndCECecMXPjTPNKMfv-FbNNO-9r2c92Zi0NVcKnG0nxmsU9JHYXQzWyt3cOPXie40Do5WjDQCetwN8KSZ_MGM77Vxm94xa0MB7SGL2dlQPyCEwT6jteWxQ8eNR64ZUOiLKl0PQ7uwMhX1cRezzOp5xD8Cpuh_leXJaZ9pzAfe4ahd9qKUH2110HAX_U69SAVpZgh3Ss-KU_RYmxc5YC40Lvryn1AQIM7kzZab0PuC4rbVx9EWzuhRc0JNF40ZbsAcBnQwbuyhYLgWqRB5iA5IPHt94JSXkhKRpj9xtFwN3d7rbfrFtFgqDwWekP5G4JqsF8GMpuH2oBsKXKk3ZA8epf6qWtW1ZlQ-iQoCSUTiysC-asqypjbo-fBC5SjihA2dCZ-nGz0rR3yTFzg_cELxDPZV_gJiMXVNqQvYH43kBuynqoyhOMf5cvJmL_V-u9QfMmv1vrC9x18vhW5k7OgcTEItKqnFSRoVcwZHJ8BpCqEzIqFzMTBlk-l_hI0D-qQDNfL3LaFkiYcJ5nTYQGaXEGwWG0zMRVX4ZlOaxBYp_Lx_tFDJRryh5eBUZip2y5tX3etKeb3aah0I1oUDlntFCTTNCWKC4anrj-zrj4exz_g8He2RZOnvokjyZx5-Iv0XMjFfNql0sf-r-0f-RL3NVKGZ49mlyQ-ZYYTTFhlenWYY1OmAmqCQrl0UvTN4khoil8FhLSOJusYTR_tOskU2W6mK7LZp94OZ51dDR_uFHiZw8Ffn9jOCR3bzlV6gCi-ukYIQj3dnYqriZwaaHLUuFPD6AcbFudPq5S_0285Am-TTguiZ_4JaabC1Ne0rW1_X4GcRZLR7K71PN35vN6j1xFU8zIIrDs-y0DFuhfiumPNpElLh8KjDqHt3q6vvCzGLw1elUA82EbSC-VjcvclveQ838kmQI5igxUDz-md2CWwWDlTwdF9lbt7joSjXvHUFkLc99U_jPlHO8Hj1WtAcfggMoJTI-Qy20X3zQCEUEQZyOV9JQ4VjSx8OQq8SDTxuxLXlRhUGvCtbu9fY0mCCeZg2FUZ7TSW6yPx6ew-hEUMkCdSNM_EkVULIFPf2LTyd7nQCn9ZjR9iz9ECUPHuV4sW7982AijFjfCHew3Y5Z30WfU=",
  "id": "rs_07d98f7c3f1489bd016ab442d6a2b087d0814bc8d419775614",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.33,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The closed right gripper is now low behind the brown plush, and the safe opening is directly forward with only a small leftward correction. I’ll sweep the plush into the cavity.\"}",
  "call_id": "call_bB1z1cWooFzqtnmcQOwLpb0i",
  "id": "fc_07d98f7c3f1489bd016ab442d6e99887d09bbc316ba3405ebd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bB1z1cWooFzqtnmcQOwLpb0i",
  "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]: [-0.1387, 1.2022, 1.0725, -0.9733, -0.1867, -0.1616, 0.9978, 0.7643, 2.4527, 2.1681, -1.0504, 0.3317, 0.411, 0.006]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.1687 left_yaw=0.12 left_pitch=-0.4945 left_roll=0.1147 left_gripper=0.9978 right_x=0.4207 right_y=0.3286 right_z=0.0382 right_yaw=0.1236 right_pitch=-0.6145 right_roll=-0.2395 right_gripper=0.006\nstate[joint_eff]: [-0.1162, -3.7949, 6.4615, 1.2186, -0.1245, -0.0024, -0.0122, -0.5402, -13.2034, 7.5556, 0.5006, 0.1587, 0.022, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41386430f3b09fc5371ae49bd2e46ad0d3be582fbeb59ab048a77f7ca5d8ce1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fb0f45fb5d0c58d9323db07c241ccf83b643412fc6ea154dfd0ae84d54ec80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5975f15eb6129c4be3e4792fe5ab7ab5dded514ec53f523bf7a5f2916d4e6369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7368, 2.2848, 1.7885, -0.7464, -0.4355, -0.6903, 0.0082, 0.0715, 1.2156, 1.058, -1.0157, 0.0902, -0.21, 0.9974]\nstate[eef_state]: left_x=0.4309 left_y=-0.2855 left_z=0.0298 left_yaw=0.0861 left_pitch=-0.4578 left_roll=0.1266 left_gripper=0.0082 right_x=0.2749 right_y=0.0073 right_z=0.1537 right_yaw=0.108 right_pitch=-0.5999 right_roll=-0.1933 right_gripper=0.9974\nstate[joint_eff]: [-0.8, -12.2051, 9.0051, 0.9353, -0.3932, 0.1392, 0.8425, -0.1162, -3.6308, 6.3795, 1.1453, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.139, 1.2022, 1.0737, -0.9615, -0.1879, -0.1589, 0.9978, 0.889, 1.9858, 1.4506, -0.8661, 0.3416, 0.5503, 0.006]\nstate[eef_state]: left_x=0.2905 left_y=-0.0037 left_z=0.1705 left_yaw=0.1173 left_pitch=-0.4819 left_roll=0.1135 left_gripper=0.9978 right_x=0.3 right_y=0.2814 right_z=0.0473 right_yaw=0.1173 right_pitch=-0.6408 right_roll=-0.24 right_gripper=0.006\nstate[joint_eff]: [-0.1709, -3.9316, 6.5573, 1.3455, -0.3004, -0.0562, 0.0024, -0.0889, -8.9504, 5.9692, 0.7692, 0.3053, -0.0317, 0.6081]",
      "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]: [-0.1387, 1.2022, 1.0725, -0.9733, -0.1867, -0.1616, 0.9978, 0.7643, 2.4527, 2.1681, -1.0504, 0.3317, 0.411, 0.006]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.1687 left_yaw=0.12 left_pitch=-0.4945 left_roll=0.1147 left_gripper=0.9978 right_x=0.4207 right_y=0.3286 right_z=0.0382 right_yaw=0.1236 right_pitch=-0.6145 right_roll=-0.2395 right_gripper=0.006\nstate[joint_eff]: [-0.1162, -3.7949, 6.4615, 1.2186, -0.1245, -0.0024, -0.0122, -0.5402, -13.2034, 7.5556, 0.5006, 0.1587, 0.022, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41386430f3b09fc5371ae49bd2e46ad0d3be582fbeb59ab048a77f7ca5d8ce1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fb0f45fb5d0c58d9323db07c241ccf83b643412fc6ea154dfd0ae84d54ec80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5975f15eb6129c4be3e4792fe5ab7ab5dded514ec53f523bf7a5f2916d4e6369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELfw3DXLgVdaZ10O0g_jrMov5XR5ktnCkk1keZbM6Pnm-te8ELgTUgTiTX-_ia5Ql_ACdLl3TJ_4yx1UonnS2v7cSM9KRqniA8pG2IfzCyRdJcD7y2i60Ksi6HzNMZ1Na2FKvTQsCMkscNS9MjAgFBlNrTCPiocXVDq7EhfkqI8Vgg_fceaDU1ff1BJrkMpaeiLuZgu2XGjMP6xv6UogLvLM3CEFZhs75tQIHbeDqrfv75oAehyO0GX4G8gQUCqlZJh_EpQDoCFycImQg94Eu75xGMlJ3adCPVm_gaqYvyGC_KDmAE876RaNBoLerrYxOSHGcOwRx1u7AHxbINGi7EEBRIQC5pimqfd25uxaLLKi_Kggs3FPuWboSNbCP4j_KyDIO_oZSeKeYimcOvKo_3Mv9A-w_339DSe4VDZe_ROYe1NBaUoQ4uz_hWU5A6itC8VF72goDApIKnLAFiNBSDRV2_qJhb5s7iQ_Zt33R4xFq3xxr5LJEs9G6flzEjzsLo9p6dnOHW41UO2JCsmBDOw19E5H_JhrbWHpL3aOit91U5uFg8qq1HkVVg2tDehxIWtQjpIqIREXCCGongzMYMbEif6zdHKpcj4sQSCs059GCv5gtpkuiezn3XrB5voE976tnIJPGl6wBlzdbnkcKlPJ8L01AvnUYO9cpPKVeVzj1v5IMhDDZaAReVSNd6poJzMs4OV2NWhlFWxi7uQ3gjdGmezsEGI_82ynp-ERuDQgOCzW3VERiLElqi6CiZA82XVsebJpE6vNBSYZiiEskErUtSScx5NbDHxPEXLhHcFBbrx-AIl2lhNwGG_lfOSmwTYNBqZsnfvo7Z7yO26KGnJHQMocWXC3VjgWa2fpdadniWFd_PxPZDsuS2nAubOxtTB1GR0-c9TF0QGf_m8uEqooUdcRq_E0H4El8yNSy7AWUKY0GZi-5wQvJAFx_qO5nO1G9UMCwJCJwq7rGfDWkQuUEsw4e35KJtTNrcw0PXR33XEPAJLRQ0lyhJI0AVp2S-3iu19Rs53Fn2iKEyrGsOINemjjX3DvcjLuL-9ElFTU0s9h5KTRw4hvFJ2_tg05SovBactrDGvvthYq65nNB2zDrSIqv3RvhM9nBWSLyltZhhKTusfAllGcO8-453K7LP_UkYBZ8s5VcLqg0t6fX8Q4m9DBCeUVfMYpaThNQxvQwkaV4wy3SZl51V2YCng3Zz4DSaYDb04TuZFfWwj3dwxn-G0mzwL-99lWMDnxgZRHSlXY0teLp7pTxTqRdSN0mAGs8k0-KAtC8gzGdkcFF-Nu4FLhHGqRFpui--vsagHGzBRYcACFTKzxONOB4NJiBlc5kDjAdoOV2dnBK7cuDzmZFgxb0GnAMmQjsz3TzqPB4D8dk-omLLCz5MV64LfVEu00w434VR0qKr2WiiZ5JoryQc4uVooOJdJeOw9DBjr37SWuL8DiVPOjpzktSaGZQxz_6kZ_XcYHt3hdYn7Eb836UmoFVVU16kp8ctsvlh5MpM6EG7BTN-Ltxkb9e4_XNYcewkac8skHJ8SC6ahi6bNp-N4ATTRd21yVj3HXUidyrEBc5IXJYtz-bOJagQ2T0_SVmc9eXUZUjUOrn_wJmP70MLTDlIN-jBUGljSbmKWpg8PWy7uv-sBzrLw-rbzv__MM5VaFDXYHahS30cPx2CKAQqvpp2xnjzYfmSBdz5UCoSEO0dfjGZv3ZjYt9Ej-05IZx5KM5zlry_CY6MOY-ozg4Kqtrjepcap_dyrAsyyfvaHEqTmtJAitdYNKnZCJ9-Uef7wr7WfLtC_EMpzPSha2UBEdRt15JvVTOWuWz4j8mjHn-KPiWpz4OZi0yk1GtbO1lx16qnhu8rz8kFCoVuO2v9-P8GnVwSaUlMOsOgBYdnZHn9h1ePmZyx_1ubyQEtDGJP3WK4KzRVZcCoP-ixv85gnqgX8xnAwZPEpiXqcQkoWfLjYdsff04rTWUlNnX79D9Kp-4hVvsd1utcUjk9MpME_3P7ZkUrAW633tsHHyJbwXKwH8dCguucFpHX8dI2yeZf_9o-PqJne2Bpjle8v3CsLxgauDIkHQwuSJ0uc8Nxf4hzOnVefp1FUe7UITmFGaR6gWN6IJwjbfzwZahJ17fMAO5Wnu9w16L2L6QD1PbmZ3-hc1Ed501uJjQv5liwWx37qnPn4DEmoruqs8lq44I9M5UL_5ObJXZ0ibphbTwb4gKTDrkW5_IB9hNP8AMrbeZyx-jci_MKJGVVR8OQnLBiLXeshjDBeVHeJDGliiqJNHQeIjbs_T7T-IzlFt_aV1fQ93p96AAE3jK-3sVBCAfAguDCpvTE_UAM0LpccYnMwRD2x68FSolqHjUvwWkjq-bbeKGK6CByE6kpKIWSjHutpbMIo7-HHMmr9IaOzoSIywuPzRpmtw8UyK_RcDga28Xacc512g6f9gTUp_zebnrsbFVajMD3zoV3vMdhtSYIqggWjK8yVxYFyDRwUio5c_Ddq9Z0tvol1_-_IqH6HqKvYXfBQVyHS9H0w8oPYlOYogK8HBf8z3DF-eewtfimsDAkJ00WpVDOY1qxYaHaBnhh63tz72gH5VYGkn7KynSP9uV3ApLlSJD_KKRIOZExXHB79ACSjPCmp9WkghFm7xKtsmUA7nsc3tD8GJDzQ1J-WBR_-IrfKz2lFIMzE5zlUPIdyPP-5UvbLGeNWNbvtsIySdDLMprvUGV3tMN7Sp9m1EkPLs-KIBC6laYwUlEcv3jrizMW9QMK1RVI6BBX-Aq8CeRmPliSTuU5bavMmhFgjvhvxlzBnJerjpPQtcoifcxLw-exgg7Z4x0e6BYTJ6HrVv8Wx3JCh01J0OBUlYK6o1PW2YSf5Hs7YgX8b2lD-KavQIwUjWFZfBOvtG8U7CjohNILel758zD-BGtOISly4rH2exQEGCna_ZX7lmfymu5NOSFjzObCmG-Zske9NrphvlmDsPTCuoHNqXtAuwhGnIsvlP7UufVuHsRNmPIIF3jK4d79cdTUb45mUw3vxEHlNlW4UCfPCfv7JaFddpH4=",
  "id": "rs_07d98f7c3f1489bd016ab442dab18887d08c33d8730ee84c7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.3,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The narrow closed pusher passed through the plush’s legs and did not move the body over the rim. I’ll retreat above it and open the jaws to make a broad horizontal pushing bar.\"}",
  "call_id": "call_InvawHOSmDV7ZcEwrMpv9mrY",
  "id": "fc_07d98f7c3f1489bd016ab442de628887d0b854b4218232851d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_InvawHOSmDV7ZcEwrMpv9mrY",
  "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]: [-0.1387, 1.2026, 1.0721, -0.981, -0.1867, -0.1619, 0.9978, 0.9642, 1.9789, 1.6642, -1.1038, 0.3664, 0.5896, 0.9949]\nstate[eef_state]: left_x=0.286 left_y=-0.0032 left_z=0.1677 left_yaw=0.1214 left_pitch=-0.5026 left_roll=0.117 left_gripper=0.9978 right_x=0.2838 right_y=0.3043 right_z=0.1034 right_yaw=0.1407 right_pitch=-0.63 right_roll=-0.2592 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -3.6034, 6.4342, 1.16, -0.1392, -0.0317, -0.0122, 0.253, -12.465, 6.3932, 0.7204, 0.3687, 0.1294, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ffd0f4072f4088d540d8b822263a72ce195acf6db21b12539824071c0a25f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33b10253390498717b09090949fa538ad6227ac032deb82265b2403200f3c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29034316db147bf824559b850898abcb41180ee2ae476db5ecee505756aa09c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.2007, 1.0756, -0.9409, -0.2008, -0.1577, 0.9977, 0.8814, 1.9343, 1.6878, -1.1397, 0.3264, 0.5484, 0.0071]\nstate[eef_state]: left_x=0.2952 left_y=-0.0022 left_z=0.1744 left_yaw=0.1248 left_pitch=-0.4558 left_roll=0.1196 left_gripper=0.9977 right_x=0.3014 right_y=0.2823 right_z=0.124 right_yaw=0.1296 right_pitch=-0.6403 right_roll=-0.2141 right_gripper=0.0071\nstate[joint_eff]: [0.0889, -4.5197, 7.2957, 1.2332, -0.0464, 0.1245, -0.0952, 0.1573, -9.4017, 8.0752, 0.652, 0.359, 0.2173, 0.6325]\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]: [-0.1387, 1.2022, 1.0725, -0.9733, -0.1867, -0.1616, 0.9978, 0.7643, 2.4527, 2.1681, -1.0504, 0.3317, 0.411, 0.006]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.1687 left_yaw=0.12 left_pitch=-0.4945 left_roll=0.1147 left_gripper=0.9978 right_x=0.4207 right_y=0.3286 right_z=0.0382 right_yaw=0.1236 right_pitch=-0.6145 right_roll=-0.2395 right_gripper=0.006\nstate[joint_eff]: [-0.1162, -3.7949, 6.4615, 1.2186, -0.1245, -0.0024, -0.0122, -0.5402, -13.2034, 7.5556, 0.5006, 0.1587, 0.022, 0.6032]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.981, -0.1867, -0.1619, 0.9978, 0.9642, 1.9789, 1.6642, -1.1038, 0.3664, 0.5896, 0.9949]\nstate[eef_state]: left_x=0.286 left_y=-0.0032 left_z=0.1677 left_yaw=0.1214 left_pitch=-0.5026 left_roll=0.117 left_gripper=0.9978 right_x=0.2838 right_y=0.3043 right_z=0.1034 right_yaw=0.1407 right_pitch=-0.63 right_roll=-0.2592 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -3.6034, 6.4342, 1.16, -0.1392, -0.0317, -0.0122, 0.253, -12.465, 6.3932, 0.7204, 0.3687, 0.1294, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ffd0f4072f4088d540d8b822263a72ce195acf6db21b12539824071c0a25f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33b10253390498717b09090949fa538ad6227ac032deb82265b2403200f3c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29034316db147bf824559b850898abcb41180ee2ae476db5ecee505756aa09c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELkbFvBBcI0tpG4krySHEnZa02kjjD5uGOrlssRf-gw88GUtuIGWA_F-I0BEm5SiELVbTmXg3fk2kl6y7EuBGjBka2oU0UAPgy_kZoBfnwEXJXoKulLcJgsOQssLjlt-GhRBy6DfTdJdBFEINgKZQh_DG3fO35MtWWDgfJ3bc5a07zjbkCEvEWJ-7zlTLpuq5uII2PjXPv2m17GZSxz5kRWEscm7Z0USgs1gw4K0js8LMkZEIkQrAvdpg-49QQ2YFy17PgGOKdSq2yqvMVP2fyAFnSysU04vqAaTYiZPRqYwT64LCUF3rDqFMxrv_M7bCU6jrCNHUjbdpdIf3pcI_mOVK-0aArHk1w5mcMGWJdGedKXePsMd4JBc1_a6DYH1_R2mR-o2qlvQE112Ayy-mH6TA_reKhkFvz4Tni9k-paCnRi9aaxN2WDF9hsm-ZbKnoWAA43IaCC1cU8rwojQffA3EJ8YScbA7D2fdYRK5yl30Gykh-L3dTNMqD-IgIW1QuYRGqyLxbh65lZbaaVRTrCviuXm3xigmE3SAOk-1TuP5cy5JfoCxqbYj-9Drzu433KBQ2rY0H4dOtwENa1-Qoj9ujI6phJsCWq6qppTwTwuGRCWkPSu5rFWkb54SgjSG2YeChe7H6743kSgnmRJ3umEDQuoYiRSIpOmPlZpy8fjTligxktya6aaqsIXl5iQAP5JkPRAWY-3xNqR25gbGZcune7PxsDrg0_VJTxdOvkZ0oyWqZpHlK5qIwCkKFnnzp4R58psnwNjp01Jf9jR5S4R2PPqj87d9J4e1_2_naKR7HfQVKxCGeC8714ZGNbjVBHDbxHavAQdTytrRBjeFZjK_TWT5EKbSiehkMeEYU8AlcIbFTtTMwdUNep4y5zaIuuLz7KVsYVC61hskgdtbSQe5lPXXNlUOH3ph7hYWgFLp25RFS4gXVo6krafv_QcTLA1gN9O2FPh8r6o-pZrvYobd4JznNrWhEHFM4hDxpj9RzNxSjWskQ6XP_N5f0yHYc9w_l0WOIwxopKuGm4XLa6TyJYL7vVAHImye3uHDthuYUADfwPVCJKN98sryy7oFUyKouZ4ydFsYKyTIwFK1Aw2jb29yE1OQQxoaoIXP_Qf32NIYANfQCz_b5MPR_7PsNgpO6l3L37Dy0LYx2dmyrLoIGW0wnEMK_Kb-2f3Gz0yTl7d7YtyJ86tgBe0BY9N-LLTPpZer1Byhr63OWyKeLeXKdprGgOsB013wkR6hsMklgJYfMd9phXuSPRMrPLn2y0kh7Fn_gS9N8A-r1z1-TjJX3IkYjF2kAeucxuHhMnnX_eeD6Mxcw16rPyc2X9zFGACRwmTUfFtHuSQKJd18MbV7Aa9quffV0Pi7081-1FRtcoz-KKI1X9so0HOkgXwN0UAQ3venZUWVB2qep-rjIvLpFmrWXYFmSLt4eNa8J2GKUx4tyL-j3eSyC7ah1HVyV3NePtuUF49ip3bPWi3wRPMcM0r4-OlEhJ1X5e5aIYilJynu8scvYqLNIi0Le0GsxHiEfm41mf1IB0-wjBN8F_uQ==",
  "id": "rs_07d98f7c3f1489bd016ab442e1dc1087d0901c606f963d4064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.3,\"right_z\":0.05},\"note\":\"The broad open jaws are now centered around the brown plush’s torso at the bottom of the wrist view. I’ll lower slightly so the fingers engage the body rather than passing over it.\"}",
  "call_id": "call_Ru1FxTZ0jlhv1ND7ZfgdWwnZ",
  "id": "fc_07d98f7c3f1489bd016ab442e2bd5c87d092fb0cdd0fac87bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ru1FxTZ0jlhv1ND7ZfgdWwnZ",
  "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]: [-0.1387, 1.2026, 1.0721, -0.9813, -0.1867, -0.1619, 0.9978, 0.9581, 1.9804, 1.4822, -0.9295, 0.3737, 0.5842, 0.9967]\nstate[eef_state]: left_x=0.2859 left_y=-0.0032 left_z=0.1676 left_yaw=0.1215 left_pitch=-0.5029 left_roll=0.1171 left_gripper=0.9978 right_x=0.2812 right_y=0.2941 right_z=0.0578 right_yaw=0.1285 right_pitch=-0.6317 right_roll=-0.276 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7402, 6.612, 1.0916, -0.1685, -0.0513, -0.0122, -0.5812, -8.3761, 5.2308, 0.5543, 0.2759, -0.0611, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70a5e84f68dbf6c2a72deb2879e0d6150b102ab1826b18d60778ae362a61452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034781890bc8af720f7f113433e0a0ecb174fcc3e46c125cc5649d32815ffad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eaaed8c13187ca08c48eafadd95180fb2547923979d10f660a819c90c6b574",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.139, 1.2022, 1.0737, -0.9615, -0.1879, -0.1589, 0.9978, 0.889, 1.9858, 1.4506, -0.8661, 0.3416, 0.5503, 0.006]\nstate[eef_state]: left_x=0.2905 left_y=-0.0037 left_z=0.1705 left_yaw=0.1173 left_pitch=-0.4819 left_roll=0.1135 left_gripper=0.9978 right_x=0.3 right_y=0.2814 right_z=0.0473 right_yaw=0.1173 right_pitch=-0.6408 right_roll=-0.24 right_gripper=0.006\nstate[joint_eff]: [-0.1709, -3.9316, 6.5573, 1.3455, -0.3004, -0.0562, 0.0024, -0.0889, -8.9504, 5.9692, 0.7692, 0.3053, -0.0317, 0.6081]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.981, -0.1867, -0.1619, 0.9978, 0.9642, 1.9789, 1.6642, -1.1038, 0.3664, 0.5896, 0.9949]\nstate[eef_state]: left_x=0.286 left_y=-0.0032 left_z=0.1677 left_yaw=0.1214 left_pitch=-0.5026 left_roll=0.117 left_gripper=0.9978 right_x=0.2838 right_y=0.3043 right_z=0.1034 right_yaw=0.1407 right_pitch=-0.63 right_roll=-0.2592 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -3.6034, 6.4342, 1.16, -0.1392, -0.0317, -0.0122, 0.253, -12.465, 6.3932, 0.7204, 0.3687, 0.1294, -0.2662]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.9813, -0.1867, -0.1619, 0.9978, 0.9581, 1.9804, 1.4822, -0.9295, 0.3737, 0.5842, 0.9967]\nstate[eef_state]: left_x=0.2859 left_y=-0.0032 left_z=0.1676 left_yaw=0.1215 left_pitch=-0.5029 left_roll=0.1171 left_gripper=0.9978 right_x=0.2812 right_y=0.2941 right_z=0.0578 right_yaw=0.1285 right_pitch=-0.6317 right_roll=-0.276 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7402, 6.612, 1.0916, -0.1685, -0.0513, -0.0122, -0.5812, -8.3761, 5.2308, 0.5543, 0.2759, -0.0611, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70a5e84f68dbf6c2a72deb2879e0d6150b102ab1826b18d60778ae362a61452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034781890bc8af720f7f113433e0a0ecb174fcc3e46c125cc5649d32815ffad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eaaed8c13187ca08c48eafadd95180fb2547923979d10f660a819c90c6b574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELnUZVsKD--mu38j2moRMJ227eH0heSldhahTKlPbdOgzAyQpDwejAb4iC7mCAy9eXHxDOWhv15DJgxBr88wxW1euNWyj3Bwat3D21EKbBTyfJ0uhbaXF5vFE52kSyDXMpsvmkGXe1qSw20xRQmcsPr1uL0IiQCDazM4g__Ax6moIJYB4qdaIoIIoG1l-Ly731W2cjGsrLlqOALyqQrClvwV6BV_eW5DoOJc7KJQ_79shJk96hEE--ex9c36g5SvXWXfIizMgFEBjXCJKRgnGjyuIA4u90CoXYDf5nxPdyfDfLk509IvEzxddQf6ftAda_q167Jk0rWDGbOuazkHulJG2kGTW3Yg3THrGfGcYmr90_PWwyDQrYSHMOFfYnrbeTYD1vk_5St7Afyv-Y-dvjhZjv1kVHnV6nhyOsfgFNchs9V01pLf35klNc6aY6r6eCuGdTKrblY0I59Qy9yLe39puwwlvWTg7g7r1Z6ZIfjYKNbnw3OUN6DJF4O9UFRIibAWKQQvss2Bhg64L52_2uOQGm-9lXNoTy7m0lOdgbuiCL2igVaLvwOxuH35WMpCHTOO2AGRNy4vIcuVPFpoKjcH0nBzelXUJCi8IBNL6ihmHi4TZomOs8lbR8fomTyM7B9JxgTovScvp8Bfj-q2ME117RxPnvwPMkedy8Zxphi8QLCQlHSWanebvvsYrGvRP3ZWGzP0bm7CpK2wxKNpYXlpt5TdDkm6a84rziMr3fjM9KpC9x0Q68faLjFCAWwrmzXDdOWDsVTNf46BxM2W2rHcDhv1eeiLJWCg3CtGnjjgk3Zost20aR7RPQJ1NJ80_39FBx7lD5qMIF5sIM_b1miIcZky1tysm6yvZLi-1QCT6htvirJAMxSfRJTF8vsiuKRo54gele6OeyaqNJrDQPQEpkaoOBeD9Zz2YyiHekG05qkhFUebJ3dF5ew9IYbHn14QtlXmteuK75ObKVdrZcJRg_wWkar4evfwR3_TJCZdl0tY7Ebc37sVWdeyiACj-o9VpOoTm1PvbY_iU6aKCIeijEcJ75FSqvHbSY_AKeMxjmWMru0v8uPruAxtJBkezPaL5ikjfNNnWAztP55yT4VUdIMXf2edbQ3HdRTf1SFjQQX3M_eX65qYF48bwPofCXZWKSRFlyTwr3lB4UFcml9L50hJICRw4L4dud0EYLgZTgF8ww-uscox217GXf4mqtnDz-nv6ZC9BcsFm6_AUy4fA==",
  "id": "rs_07d98f7c3f1489bd016ab442e62a8c87d0880ed51dedfa5b96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The brown plush’s torso now spans the jaw gap at grasp height and is centered. I’ll close around the soft body.\"}",
  "call_id": "call_VhjqVvw9uqvTThijM64cH1Ig",
  "id": "fc_07d98f7c3f1489bd016ab442e65c8887d08d90cd5227148878",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VhjqVvw9uqvTThijM64cH1Ig",
  "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]: [-0.1387, 1.2026, 1.0721, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9785, 1.4654, -0.8803, 0.3862, 0.5846, 0.0128]\nstate[eef_state]: left_x=0.2858 left_y=-0.0032 left_z=0.1676 left_yaw=0.1218 left_pitch=-0.5033 left_roll=0.117 left_gripper=0.9978 right_x=0.2837 right_y=0.3009 right_z=0.0565 right_yaw=0.1477 right_pitch=-0.5992 right_roll=-0.2553 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.0525, -0.1245, -0.0073, -0.0122, 0.0205, -11.3162, 4.9299, 0.4518, 0.3248, 0.0317, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afab19ceb01bc1976e5b3d4a052520edbe13ef4de9c8299e667673616e9030a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf3c86e0b5c87d29e7fa0a11e7211f1b1c610d9e614b44331c1a7c8d30ba7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400254fc4540d7afe4e43d609c29d74105eedb46dc1f07884bce602a727656b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1387, 1.2022, 1.0725, -0.9733, -0.1867, -0.1616, 0.9978, 0.7643, 2.4527, 2.1681, -1.0504, 0.3317, 0.411, 0.006]\nstate[eef_state]: left_x=0.2877 left_y=-0.0034 left_z=0.1687 left_yaw=0.12 left_pitch=-0.4945 left_roll=0.1147 left_gripper=0.9978 right_x=0.4207 right_y=0.3286 right_z=0.0382 right_yaw=0.1236 right_pitch=-0.6145 right_roll=-0.2395 right_gripper=0.006\nstate[joint_eff]: [-0.1162, -3.7949, 6.4615, 1.2186, -0.1245, -0.0024, -0.0122, -0.5402, -13.2034, 7.5556, 0.5006, 0.1587, 0.022, 0.6032]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.9813, -0.1867, -0.1619, 0.9978, 0.9581, 1.9804, 1.4822, -0.9295, 0.3737, 0.5842, 0.9967]\nstate[eef_state]: left_x=0.2859 left_y=-0.0032 left_z=0.1676 left_yaw=0.1215 left_pitch=-0.5029 left_roll=0.1171 left_gripper=0.9978 right_x=0.2812 right_y=0.2941 right_z=0.0578 right_yaw=0.1285 right_pitch=-0.6317 right_roll=-0.276 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7402, 6.612, 1.0916, -0.1685, -0.0513, -0.0122, -0.5812, -8.3761, 5.2308, 0.5543, 0.2759, -0.0611, 0.1685]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9785, 1.4654, -0.8803, 0.3862, 0.5846, 0.0128]\nstate[eef_state]: left_x=0.2858 left_y=-0.0032 left_z=0.1676 left_yaw=0.1218 left_pitch=-0.5033 left_roll=0.117 left_gripper=0.9978 right_x=0.2837 right_y=0.3009 right_z=0.0565 right_yaw=0.1477 right_pitch=-0.5992 right_roll=-0.2553 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.0525, -0.1245, -0.0073, -0.0122, 0.0205, -11.3162, 4.9299, 0.4518, 0.3248, 0.0317, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afab19ceb01bc1976e5b3d4a052520edbe13ef4de9c8299e667673616e9030a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf3c86e0b5c87d29e7fa0a11e7211f1b1c610d9e614b44331c1a7c8d30ba7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400254fc4540d7afe4e43d609c29d74105eedb46dc1f07884bce602a727656b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELsShVtnkAWS8YPzu9LpBD3Yb6TmypRogFsoqBbjd2_k9ebNd30ZzyxvC5CptutYE0FBlDbSlJ5hfJll-DHajaOjYu4zxAR0KFAtiL83xgyTZqZGFEWxih4mTNTo21klRAFvh_z0ZyDY0S0V3xH71s5cOAttaM-tRe2KpeYhjHbnnPWkzUtzpjeyFg59yB-1HD3U0O9tEdKiFfcTI0WvfqvGcqfPtLWbNZxA5TenzhuTGmgothOCv1dHN6O0gW9jUp6pQh3RQriH1H5-og1ckyq60oQoUst74QyKXnTTBkGRCzbIdsCETmRYba45SAZRGk2wJ9dGDAk7wu_c_TpKnKeEhbohs-jSyEG88PrCHovwVU3Dh0wc1kwUZ3dqsJ5lUqTZI5dJzsj6FU3tNLeEDIMgHb_TFSUQM1xr2_D-MGFGMTmQIhmo_4cq1fspDuSc02RBfd1j6CyVuR-I2-v_HR0HaRkHbftzdsFOAIjyVTxhsgWjJ8oyUa_OJXn8WC2BThR-PUdG5JJ_D8rkIa_5asKQV6nV8yz8uRX7sl0PQud54jK5_dIn_kZ5RgBGy_qkmxOVTVoReJioSr0v1LewYeDZ4BJgMYGNkbVuPaAKJKyCGpQ0bp27jhGFLMGLsgfYIjkX4aGrYChmKfKlvexWtBbeig8YNV-Tg-KftmlqaD7UBPgMyD-3ilZzuAZ202CPoXPmp1n_5EqyxSwAyqZb9GiXjDuIocrz3SoTZ7GT_8TcpumjW0rNiF-a-OJyYkr_wyRj28jgEXFGRwdHcGCWh9FKNXzfJ1tFLu-YmYoTY9RkInSJmc0i8D6kSjL17z3Rvy7VU2JIkHKycQgyeVixll-zFujOAjjjsEFo8Q4PJ9_hppXKOJ8Mn5f3BT9RiAspaOJP_dl4po5FsNlMhVibupnc2JkK6FfzL_YQt4Pgd56ufHTkFhr3xcIHDfNTnN9H1pJM0QymD17NWdRbJB0MoCxhR2Nq4LPNlL0MzoxgQTDCJJhtu5VpFcwKdQhowhcxBvVC53BI1IOrdJj8OdogtL49Po6SsRPahsYe5d91oD1WHRD7GFzYbmJu9WohWqXdngdxt-YQzmCJ2XXhwol_3oye5tOBrFMLUhwWqK0XWYsPnID-gHDViJE11EPongcp-wCyDIx1h48-HF3PajsdWnwrYFPz4e0onxYzA3XiyI9jTXAxXL0h-3nGlPBmATurgulVhiRGOGq-Jjs5sJMg5Xv9Ta2BzmB4S-Dn7txRYqJBxw9O4A-2_lmuoCWgJwYAmtYUVUWYW8WyokI-SoPoDM4QFkQU7LGy7oCEMQ3QhsZQB9z6ejbIYlO3nEF13d52vQPZM07-lDF3eI4wsqEtMigsNA65JW2b7Y1nwoQ3bsvcf3kzT3MxEtHs2K898ncWd9a7dHmhebtd9zJ7g0mDWYOfOzeQ41MZTgpfBDKKK3721J3r_nSnBg9-YfdiDS0awf1CVl_9SKxBKd2Hrppv7zhoVhJEAnWYF2LFz-OvC6rtjUnKT1ikpmtk9FOdXLDrHsAzI6YYQ7YGkdGvYowteY7G76dalZPu1lUyCuE4ZjNujvADYFAgMHZqNkIJucJ1QwPOu10HCTS174DxKfZAqts0OfJzeZ5bmeEYW_gk8bXV3DTlikwBJHvDUq-8Bxt7AHb3sL0zpSWjsxNkaaoe3wABZ1MgZ0_0dTsEE9g3YYBUNezHjcfP6BEHo8va--Z5-QUfLDI99AjXN5fra6CXaYUemXqlQ74Ju2VcrOoDHNSK3tA6xlNmsuuqZS6csB9Rhgrh3FdNuxp9Y8yVP81vT7ZrqiGDjCWFGOuDHpJys7V07DqRVPU-M-6Por1OaZJ7v6vmcw4dU5dxpw3GDzB3BwsuEcgf8aNPLbhdvFGbAJ5FJ3PHFK2ygAi6ZDLlw5H8Yi4E7eapA9yJq_HTaXoKFvVT4tV1cIMo_WglB84b_FE8VZG1phfjorJVQDxUQgRu-dj0pbDflBhJLejOovdP6Vx9AEIm7N6pXDAVi8OeZ_KPd_iZ4Etsd0xk8L0OpkSmh8MrKQm7IH5VvLSXYGsTmxsjLQ_2sShrRMAd6jN7dnkLwY=",
  "id": "rs_07d98f7c3f1489bd016ab442e9513c87d09ce64b8cfaab6411",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The plush compressed out of the closing jaws but is now directly in front of them and closer to the safe. I’ll reopen at the same low pose to form a broad bar for a continuous forward sweep.\"}",
  "call_id": "call_Pnv0PuJcVtLZldE70ixi59sZ",
  "id": "fc_07d98f7c3f1489bd016ab442eb2d1487d0b3d96b1408d28f3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pnv0PuJcVtLZldE70ixi59sZ",
  "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]: [-0.1387, 1.2026, 1.0718, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9789, 1.4647, -0.8806, 0.3809, 0.5781, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=-0.0031 left_z=0.1674 left_yaw=0.1218 left_pitch=-0.5036 left_roll=0.1171 left_gripper=0.9978 right_x=0.2828 right_y=0.3011 right_z=0.0558 right_yaw=0.1545 right_pitch=-0.605 right_roll=-0.2553 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -3.494, 6.4752, 1.0427, -0.1685, -0.0415, -0.0122, -0.1573, -10.1265, 5.9009, 0.5592, 0.2222, 0.022, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a885ce37c1b4fca609b9478da41f86c1462ab3912ab9907e9fbfe915b42d63e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8950c6afda2a31da442a1cac712cc8b74aa5d5e05fd326528f71d3feaca8538c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65569d98226356753ef7bc1c91347c07f965d22be56c524903b0d64a8d1d0ca4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1387, 1.2026, 1.0721, -0.981, -0.1867, -0.1619, 0.9978, 0.9642, 1.9789, 1.6642, -1.1038, 0.3664, 0.5896, 0.9949]\nstate[eef_state]: left_x=0.286 left_y=-0.0032 left_z=0.1677 left_yaw=0.1214 left_pitch=-0.5026 left_roll=0.117 left_gripper=0.9978 right_x=0.2838 right_y=0.3043 right_z=0.1034 right_yaw=0.1407 right_pitch=-0.63 right_roll=-0.2592 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -3.6034, 6.4342, 1.16, -0.1392, -0.0317, -0.0122, 0.253, -12.465, 6.3932, 0.7204, 0.3687, 0.1294, -0.2662]",
      "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]: [-0.1387, 1.2026, 1.0721, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9785, 1.4654, -0.8803, 0.3862, 0.5846, 0.0128]\nstate[eef_state]: left_x=0.2858 left_y=-0.0032 left_z=0.1676 left_yaw=0.1218 left_pitch=-0.5033 left_roll=0.117 left_gripper=0.9978 right_x=0.2837 right_y=0.3009 right_z=0.0565 right_yaw=0.1477 right_pitch=-0.5992 right_roll=-0.2553 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.0525, -0.1245, -0.0073, -0.0122, 0.0205, -11.3162, 4.9299, 0.4518, 0.3248, 0.0317, 0.9255]",
      "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]: [-0.1387, 1.2026, 1.0718, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9789, 1.4647, -0.8806, 0.3809, 0.5781, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=-0.0031 left_z=0.1674 left_yaw=0.1218 left_pitch=-0.5036 left_roll=0.1171 left_gripper=0.9978 right_x=0.2828 right_y=0.3011 right_z=0.0558 right_yaw=0.1545 right_pitch=-0.605 right_roll=-0.2553 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -3.494, 6.4752, 1.0427, -0.1685, -0.0415, -0.0122, -0.1573, -10.1265, 5.9009, 0.5592, 0.2222, 0.022, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a885ce37c1b4fca609b9478da41f86c1462ab3912ab9907e9fbfe915b42d63e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8950c6afda2a31da442a1cac712cc8b74aa5d5e05fd326528f71d3feaca8538c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65569d98226356753ef7bc1c91347c07f965d22be56c524903b0d64a8d1d0ca4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELwvc2cb0Kc7datUwiEYEZ7z-9SSbSc54mOh7qE1sCQ-McTcgaij4ofK_6nlWsIaUeif9Oi8lHuYpmoOLnLp1JADxne3yDfZ19J12gtg8CLXTpxXnocG2ARwRVt-ZfWNa96ztbXCf5CkYZ_7n8BNZSqwFtq_YkwYquG9qt0BQrjfTtd8WP1Iw6kiMOYLuXW0dFEls_OfAZ8XIPiNnw4OmMddjNOaDAsAzBv2jWbCWEctuIiewczkSPHSnBSNvYLKY_FlA5ggMmJoSkOORiLa41gQtEqKPKtncL9xNtXt_KIAvqiTweZ0EjDbQJyII3vR8QTJJjZIwp01W1vZyusk6Wy81KCWFrCZqAX2M8zn5cxwWgjBEzt4CZEBSwWbRQm8DVeI0Jmj1RKj1dMQgYbb-OUm0InDWSxumbbbuYqB8xQ0X35R5__KE9GRr55EPvMxyp3ZIkHBVxcMRhODosGpNTsmaEBKUnaayVPhmKAIMiJ24CYdNUTKxUDaC7mcK2irsanE5dFqpICraUQEWndvTVzXaDahzc2aiPMGA9tZzwNNz_h3grI8T97dMIk0ZH9cpASDsFgo2W8yRBKPGUkp7-fi_YyNv9vw3jjkQkF2x1o6twli1ZnMvCivocbhS58bEX1mp2I1AuK8zSzxkhwb2cvmkytr84n_vyXSCnzuUy0E-o22_d6imQUysxxx-URTahu4Cvgk0AAkDbub5c8DFHd7jYm1sCf8xQG4oVrZuIC0mHo6gsDbbenfsqaRHggs2w_2Ck8LOBKV1tE006EzTmzxs-GDVLSUz2vXNWstEYqjXu6yzb0JjOMhsaUGQMASfLgelJSVcX33XBrpVvH5EuRqZxk0BZ8LVSfLBApvPOnVBBNaL2npv5ytU-iiTCgE-oRlCP31HyR6Hna9ZFM-MU7nIiJSVOAC5k_hi3l4yx4PSMf6dtYijwTz-ltOUEBfcCll-S6AwrbVgHyknHZGrLayu7z_FZ_pn_NjCK4JplqKVATJBX10QOl70puf0hupUl9x-78SSEnhH_gv1wETV0NphswpAhQT1y3rR4Xn5l3QP0QfGwI_0y41TQki9aT70V_EW80Nb_MgzLBsaZDcEpMnSBI_3AY5rf3zHbej18F1i4f88QiuyOD_XAinlYkEXn3Hi1aFoD41m74PvOUgyPIm0-i6J_yfBGvcplDkxb72JAXQt74_e_fi3-SWb0JJpSd",
  "id": "rs_07d98f7c3f1489bd016ab442ef2b2887d0babed3e87467ea14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.33,\"right_z\":0.06,\"right_gripper\":1.0},\"note\":\"The open jaws are positioned behind the brown plush’s full torso, with the safe immediately ahead. I’ll make one continuous broad sweep over the low front rim into the cavity.\"}",
  "call_id": "call_RLdK7GCaKZX6lASK7o5OF02q",
  "id": "fc_07d98f7c3f1489bd016ab442ef4a2887d093dfd1dead4a80e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RLdK7GCaKZX6lASK7o5OF02q",
  "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]: [-0.1387, 1.2026, 1.0718, -0.9894, -0.1867, -0.1654, 0.9978, 0.7391, 2.5416, 2.41, -1.1786, 0.3256, 0.3389, 0.999]\nstate[eef_state]: left_x=0.2841 left_y=-0.0029 left_z=0.1666 left_yaw=0.1248 left_pitch=-0.5108 left_roll=0.1177 left_gripper=0.9978 right_x=0.4419 right_y=0.3312 right_z=0.0591 right_yaw=0.1604 right_pitch=-0.6071 right_roll=-0.2493 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -3.7265, 6.6256, 1.1209, -0.1197, -0.0317, -0.0122, -0.6632, -13.6821, 7.4188, 0.5788, 0.2369, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c685fa0c6e2784125adf0a1ea1018a86322691359cca457089d33c1e36d85d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5bccd1f106f721daed973aef1a4fcb8f127c0d8823e04a31ae4a02538bce3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee88f5c6a5747927318f9d2975afe1a7942beb1d0623c4fb3db610f7eef5dd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1387, 1.2026, 1.0721, -0.9813, -0.1867, -0.1619, 0.9978, 0.9581, 1.9804, 1.4822, -0.9295, 0.3737, 0.5842, 0.9967]\nstate[eef_state]: left_x=0.2859 left_y=-0.0032 left_z=0.1676 left_yaw=0.1215 left_pitch=-0.5029 left_roll=0.1171 left_gripper=0.9978 right_x=0.2812 right_y=0.2941 right_z=0.0578 right_yaw=0.1285 right_pitch=-0.6317 right_roll=-0.276 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7402, 6.612, 1.0916, -0.1685, -0.0513, -0.0122, -0.5812, -8.3761, 5.2308, 0.5543, 0.2759, -0.0611, 0.1685]",
      "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]: [-0.1387, 1.2026, 1.0718, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9789, 1.4647, -0.8806, 0.3809, 0.5781, 0.9945]\nstate[eef_state]: left_x=0.2858 left_y=-0.0031 left_z=0.1674 left_yaw=0.1218 left_pitch=-0.5036 left_roll=0.1171 left_gripper=0.9978 right_x=0.2828 right_y=0.3011 right_z=0.0558 right_yaw=0.1545 right_pitch=-0.605 right_roll=-0.2553 right_gripper=0.9945\nstate[joint_eff]: [-0.1573, -3.494, 6.4752, 1.0427, -0.1685, -0.0415, -0.0122, -0.1573, -10.1265, 5.9009, 0.5592, 0.2222, 0.022, -0.2125]\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]: [-0.1387, 1.2026, 1.0718, -0.9894, -0.1867, -0.1654, 0.9978, 0.7391, 2.5416, 2.41, -1.1786, 0.3256, 0.3389, 0.999]\nstate[eef_state]: left_x=0.2841 left_y=-0.0029 left_z=0.1666 left_yaw=0.1248 left_pitch=-0.5108 left_roll=0.1177 left_gripper=0.9978 right_x=0.4419 right_y=0.3312 right_z=0.0591 right_yaw=0.1604 right_pitch=-0.6071 right_roll=-0.2493 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -3.7265, 6.6256, 1.1209, -0.1197, -0.0317, -0.0122, -0.6632, -13.6821, 7.4188, 0.5788, 0.2369, -0.0952, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c685fa0c6e2784125adf0a1ea1018a86322691359cca457089d33c1e36d85d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5bccd1f106f721daed973aef1a4fcb8f127c0d8823e04a31ae4a02538bce3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee88f5c6a5747927318f9d2975afe1a7942beb1d0623c4fb3db610f7eef5dd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07d98f7c3f1489bd016ab442f449bc87d09253922c6923ff68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The brown plush caught on the front rim instead of entering. I’ll retreat to a point slightly forward of its estimated center and approach from above for a final centered grasp attempt.\"}",
  "call_id": "call_SgwYl1PSi8eFXtHVJ6na79IL",
  "id": "fc_07d98f7c3f1489bd016ab442f987dc87d08be49b57a2f3aa3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SgwYl1PSi8eFXtHVJ6na79IL",
  "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]: [-0.1387, 1.2045, 1.0718, -0.9955, -0.1867, -0.1658, 0.9978, 0.7929, 2.067, 1.8332, -1.1191, 0.3313, 0.3786, 0.999]\nstate[eef_state]: left_x=0.2829 left_y=-0.0027 left_z=0.1655 left_yaw=0.1263 left_pitch=-0.5185 left_roll=0.1199 left_gripper=0.9978 right_x=0.3535 right_y=0.2821 right_z=0.1144 right_yaw=0.1662 right_pitch=-0.6336 right_roll=-0.2667 right_gripper=0.999\nstate[joint_eff]: [0.1026, -3.5624, 6.3521, 1.1111, -0.1538, -0.0611, -0.0122, 0.7863, -12.8889, 6.5436, 0.9695, 0.2613, 0.2076, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4427c57984b904140df2acca4115f2a270ff81299158c05c3d88c561a0c08cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebf935c1aec4404c38f89b138c69b081d38c02fdfd37aec0819e16a14f6e732",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4892af84c4022d9efaf9a758ddc268caa9689bf4a4416562499f59754fd3adf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1387, 1.2026, 1.0721, -0.9817, -0.1867, -0.1623, 0.9978, 0.9676, 1.9785, 1.4654, -0.8803, 0.3862, 0.5846, 0.0128]\nstate[eef_state]: left_x=0.2858 left_y=-0.0032 left_z=0.1676 left_yaw=0.1218 left_pitch=-0.5033 left_roll=0.117 left_gripper=0.9978 right_x=0.2837 right_y=0.3009 right_z=0.0565 right_yaw=0.1477 right_pitch=-0.5992 right_roll=-0.2553 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.0525, -0.1245, -0.0073, -0.0122, 0.0205, -11.3162, 4.9299, 0.4518, 0.3248, 0.0317, 0.9255]",
      "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]: [-0.1387, 1.2026, 1.0718, -0.9894, -0.1867, -0.1654, 0.9978, 0.7391, 2.5416, 2.41, -1.1786, 0.3256, 0.3389, 0.999]\nstate[eef_state]: left_x=0.2841 left_y=-0.0029 left_z=0.1666 left_yaw=0.1248 left_pitch=-0.5108 left_roll=0.1177 left_gripper=0.9978 right_x=0.4419 right_y=0.3312 right_z=0.0591 right_yaw=0.1604 right_pitch=-0.6071 right_roll=-0.2493 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -3.7265, 6.6256, 1.1209, -0.1197, -0.0317, -0.0122, -0.6632, -13.6821, 7.4188, 0.5788, 0.2369, -0.0952, -0.1148]",
      "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]: [-0.1387, 1.2045, 1.0718, -0.9955, -0.1867, -0.1658, 0.9978, 0.7929, 2.067, 1.8332, -1.1191, 0.3313, 0.3786, 0.999]\nstate[eef_state]: left_x=0.2829 left_y=-0.0027 left_z=0.1655 left_yaw=0.1263 left_pitch=-0.5185 left_roll=0.1199 left_gripper=0.9978 right_x=0.3535 right_y=0.2821 right_z=0.1144 right_yaw=0.1662 right_pitch=-0.6336 right_roll=-0.2667 right_gripper=0.999\nstate[joint_eff]: [0.1026, -3.5624, 6.3521, 1.1111, -0.1538, -0.0611, -0.0122, 0.7863, -12.8889, 6.5436, 0.9695, 0.2613, 0.2076, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4427c57984b904140df2acca4115f2a270ff81299158c05c3d88c561a0c08cee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ebf935c1aec4404c38f89b138c69b081d38c02fdfd37aec0819e16a14f6e732",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4892af84c4022d9efaf9a758ddc268caa9689bf4a4416562499f59754fd3adf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEL-Z4gHySd4UwD52ADVnq82CeVr-7EdvrUvElUFjZW56jHDeC5_7fKBmvPq8QrSPbp0fS0zwfDI23z71WV1-FG8VHod8Ud4wmxUcPsCynZF1MqTe_belcExfo64FT54uqCOX4f_4LQy5YSxt4TVaIa46JfLds7NKYj9-9EIO7i_Ppc9wodYIZPv-rDigHdyzhEns6R-7jkWSV0v2-l5_yj3iEHZ4h3ATYP4esM8G-LmPdEqdiTRs0pNS9DSRivbQC8yLLOE8Tt0u9XPspqzHl4twitQWH-d67yWPEQ0hq6ACfJXLkuU7md1ayMPvPhQDsZRPBI8bKAVFxdvoaBjTNFhhWqOLFCyN9W9DN0P-a9WbomydjllFQpaB-vQs5ubGDNLWYIBfbIQFFLRsDTgleTQT9gBk6Jmi9B7OFuMILO-yNJp4MtSc8eOG9nXSMqDZF6YBx7YTE1Pgw3JWbELh04gCKcKc6JU5HUyR1e0-8hMxV-DCkV3LZUP7XpiuOL7mC4e3zZ0zK7lgWHV2UZWDK9zRKWNO0uCs89QxznmDK3yA7Dtk0WGKl6FCZNniIaGT2R15FWahnfv53xeaLwwmliYbgYHRk3sJ37k3hUBSYR_e0y7HzzJdaRzBx5I15cKyT8nLL_VuYGZAmV2e_EKsaTI5sGKXEntwWjM6s-fjCWSJDR71oXrfMRWlWjMuihz9HDOtPrKMs6bDY2KafbV9SXW9K7dgcZ6uU7JNaXM5Zj5gA77TdL_bjgfznU1DHhlcejZLwnqf33o0D75LbpSy8w_xXMhrYjhibAVl590reT-CsLRCAeEMmOTXSBDIktpca8QxhHNq0B8_YhuxY3AEiY06sN1TlE_ZSGMqZcm7irzbLJr83VM2tR9r-LMrifjOfZ5kHIoo99K0pqSRRxEdwtXAaWS8dw7RRjtmbekn_ZnYQzTXDnocPAcO4yZMuTJrwBVWmsbtIygDPTIkHh8WLUVbrgI5_QUqjbxWO3bGJY7zYUeVIxT1bhYM1jB_hB8K2PIoYJrfnnAkT7uPvaGF-Xc1eEPFIsBOkNGpQpfsXfJRCu2QXtpF0K2Ju1AUGTjXh2qvq4G8JddG7dOcduFpmKa2hGBpoXvwSkIGkl-eGdoaOucL7ZdwX6I0oJeXMN8xm1keW4FDY1uQ-qwTqdsQmmB0LHxIik7LbyczCzuFDl1e7ylkzLIuNWRohT3OGpvJxfJC0REBxpxlftbm_d_ffQn-2-4QXsH6r2wmFGAoQTleJZjuOp8lGsXUDUEd9N1EhnqKne3glsMr3lnkUdGURAD-iOBvNXIPO9iB84oU--NDHZHXBYWoT6DehNpnvXMF7XY4UXyw-uiJ6Sp2Xm7awv-YJv9Q9QKD8mK2yVHnZo5yhIOg8kZMZJfjZFUvDiJYhm-7NXXtwHZfctkZiISHt6vX8vLdAt-SBjdMeQzK7ojuuMYrkS-T1jAxLnbJtfjwash6nMpQgpAavgflBUjmBlbb7rFTDbpyL9pG5o8cXsyeWuUMRE7EPQgwmuCqb7nCkn398K9zPrAiw_T1-2H_JWvvQq2BQvLfYO03MCx9-ZZ1S2wFhQTnHIKnG-arBEQ7dZFE0vE2-L-PpG4dlHvYohdwRloc8bh50f1HCr-ZQVh9aQmu8n7rgnjCikms61yxjAZ6uLVrkTdusR4nRIKdGXtyCjKJQ26vS_exrltlcBvbsc=",
  "id": "rs_07d98f7c3f1489bd016ab442fcc7ec87d0b305d8ee31eed727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.28,\"right_z\":0.045},\"note\":\"The brown plush’s torso is now centered symmetrically between both fingertips, unlike the prior off-center attempts. I’ll descend to body height for the grasp.\"}",
  "call_id": "call_dbdWiEwl7i4LyyxjNN5OeJNW",
  "id": "fc_07d98f7c3f1489bd016ab442fd8da487d097cd59a0ab5ca4d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dbdWiEwl7i4LyyxjNN5OeJNW",
  "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]: [-0.1387, 1.2053, 1.0718, -0.9966, -0.1867, -0.1658, 0.9978, 0.7979, 2.0552, 1.549, -0.8867, 0.3405, 0.3847, 0.9989]\nstate[eef_state]: left_x=0.2827 left_y=-0.0027 left_z=0.1652 left_yaw=0.1266 left_pitch=-0.5204 left_roll=0.1205 left_gripper=0.9978 right_x=0.3385 right_y=0.2677 right_z=0.0466 right_yaw=0.1418 right_pitch=-0.6594 right_roll=-0.3031 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -3.8359, 6.3658, 1.0672, -0.1783, -0.0562, -0.0122, 0.4034, -9.7162, 6.6803, 0.8425, 0.2369, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d681d1c1e7c3a26f39297914a279cea10c760d8c28f90e8881a421c02e96afd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41396889735cf44c4d7e7058e85fd0d1182bb795ea3f8354e0bede876469ec43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227d1bdf7f46ed608929efa6e81d3aad37c51e6bb757421ff6ada7953ac3fdeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}