adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0219, 0.7933, 0.6079, -0.4026, -0.02, -0.0288, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1773 right_yaw=0.0006 right_pitch=0.0004 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.3179, 1.9902, -0.0611, 0.2027, -0.0904, -0.212, -1.4838, 9.6205, 2.0781, -0.0366, 0.1343, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36cd0891cbc63b114a16aba08f7651d156943e43ba32a05e89c5ce203a1b70ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820baa41b77c38ea1b598024f2b1f93d9b38c4285ccb22a660877ff67a49abca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ea218c343cb595e797039a5ee44706c921216528510ba2c360485cf20cbcae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9WdO1SNbaCspHulvi9KQtzAXinYzLqRk27USfdY5ZQxdFiTKkLhVuqW92gKymoN-J5PvlL0v_2_0OU-SxLmBFuWtLp9wTwDfsfTlRepVgoZNfLcxm2CPy6k3qB-bPRLyRZkMA0h6lj1ErbenAkxsCvOnhB31eYwnYxOafvYqnCUZjynSHgTvTKrTMBpDJwh88NvYzN597hlLd09cY3JKQ_0-sS3MD9Y64lkzH6D12GbZ1HxK-nkxxvUL5mpe_yy_K3psyQK4nK759N_aOZou2B3CvyMAQ_6cyReYGFxo249yC8x24JW51m9gaU4UnAYKozIoqkQ1k-r2auNYZv1Azy9Jx63IiZRIy5y6EOxpXdu6DeM6l6KVY069feGay4uRY2uPZTCBQJ9a8R_ATH-phJI1l9fFLRv7tRFvwqWW6q4mHBseFsSJK7QOOAr4EHM1O21z8p3zQGOkMFRmyp77PGUXT19JqzwtkPXnoIjYRnW0t6b3mW2owyIyED6-kKkyIVbYu8O1kazHeCXbIElqcJC9oRPVYORRcj0Ox2Nvn5XM6Cv0-U5C8X223JYnxuJxYiiduBqhwkCPO4axr2CtcJZsolmy-D9XmRL4tzElKly1oMx1QqQ4FrvaiViYuxlo-H6rz7-BouT1wEyVJydeZuAcDbGnOuZTVFZHpMARS2k3p8pbwGBxdxt_qXeGbx-QLnz9LWnkg9KpA9gOC52EWwJAE8tGGHfKmd87N17yS9SBYhJd27JeiTlyH73-RsDajg2IHOkQaPKGq_5SI-llO2aIzJhjz9Q5ZYagKvgNgcEUKPSMZA1iq-YuOgC-p7AIQzSMHpqlfLFmXOSh5yo9B5PbnYbyVe5Ra4vZzw6TUs6SqaLGxLoE8laka-S6qU7gJeV0LSLLw8Von7EBHi9zuWW2G5LGXvgDVJGHfyDPUnq-N5KARHAROeRFtG4Y-k3Hyzhefv8uY96a6z8Wxbw5aqF-nMri0lG_IkkaeIo2g9sbgHdyOLB-_9aCojmqr68f32AlVsWGU3G26PIBLvwYlWRZ-jjaw9RQzar99qjMS6FozQWtKlhlGxy2khg5FQkJr9fuYEnhRtBkAOOF14XdmQKnImxbBFVLPflv-cHW-L_f-LouoUxT2d0NQn3UDB8v9K-yJzzxjW_jecv6waN31KR7uHdT6NJ98mJSf1twwzsi02tT-_e1VoTjEyWBn0VhZoXzRuCR67Hql4JzUEAQPsuKv4-jnRbuDXHGnMONRrv03dGxBcKHK7mey5r87YjblBzmTAptLAorzigEt7yEktVaf6KW6_c0m77IBzHqd59ORY-w10DY-6jakL7g42DUXdzlttkpD_BCyRGnZHOSZswsGPYNqIeD7N9Pl9p_g2qKMIjvUvOVNZY2efstOHw8ROiIhVbVrrduP4I-O9mdi3i7Ov9pDrS0bal_wOXGQ6fP7SEKF3qv6o_27leJPT-O9clYtxAEMszuIytEgCtth2_4bvaI6EicJ356GLQCWf_f1i5PXdfgoYxLcDiIEzQgMP6CkjY64kvexF-FgiQzqCOh4NhDTuCLEMpaFDwsBYWYn5T1O2uR8Iokao3d90jijmHte4KITS00xJ2R_WSSaIya065vc3v-24lnYk9Q0S0XW7C7_IXYFYkpAgVD_5zGP28YLfjkJbYFLMPMUv28PUI4xtSGacm3OiuzOQyf7gg9jQzljExULonsa-nOc3Qus08duLgXHh7Aj__TRGeA_Uxw5koFw5Au7Xu8wv1yN1Bw2xZJoNum2w91j9UuZaYp_Msh4hMudpI-u5gI68SPpTw8ZzOlE2fJaOONGA3cp5oVeiDDwuzrfNl2tVYwau29VPyXQzoEp9tg9lMx1uiZJAscTaNTXVxmvr2qVCgccrEiHSl_swWqik2SRycB_is4rZTRoN-Yn-2tT9xDmrTGW3jCS69AYDZqacVsuYZe3dIovXzmkuuU7QmOzk8G7H5yx84BKnR0G1i_3A9LTvsdMKCYxp_SHvmq-cpy6TCjV3uhFm7W1Twkj89yA-cDOABSzWv5-Xb56Ut2dwC2oqgQ7CInHvPOUonfwPltkbO47glZv_C1t3_vmvoGDuaHJ5lTg9Ny-XN750uNLRnQIVwcH4KNQLbHNwKOY0jjyyGTv2z86Ii85aY1eYjYE1JNKuRrOSXSxO1qpsTRBX0-AKccqRsoUl46UlHXPxvWFztWMygOVJ2ALuCGmJkBiffJDG0XVHIoS1v1oKYh01XYDJ6sr4JjAsQnAZzoCzkgcA6XSzKcoP2pPNZWC2Qp_NFuTezyHAgTxiD3oufSzb7HuHKm8PXMHmZYqBx3IF1__XZSFKZONsfrLT7lKqj9_XHHrC6AgwKv2q3Ke6m1NV7qRtAPqFoagSE8Slpq0inBcN6qREcPvC5Iv_GGMLjHPJ8alpBUoQ40TjzbtALoK6kEuuCUpvM3ROJx_B1orFX0xDXf5DXSn7kMUkcufFYEr1VnOHNiuTVJQBtPWoHa3Zq_YQQQr51gisOBtEBI9QjR5kiYGpO_0JKtsVZuVlSKmdmKTLeWUX5LdHIKKDMK3fpLiEhLkrjk8uj5lJNyfsV2KQ6WcuPv9AXfyu4wXoylzco5wgtmiPP-gN_YZYQ5S8kjPz_WrMEmoseNBwItBCihwfY7nsvg_Xsoq0_5bI3xEuNRsd83rLUf6L263kW1xuhOnuL2hcAlXJ8vT9JkZ1EKlQF5sPqJafxEvM07MBCC10kzb4vNLYkZQ3K2BvQMWsOtKlVQ8MFNTS_OplwYOOUABar3j5iu8O_6l7w5USCd_Gb8jQQvmbad3zBdreYNNIEX8vNgESqt6bFaadb8QcpXoJB9qeAu275esU0IySy73Pve4tEzoT928bXICtbZuXnLNgpZ_PoAO2ip0HGhqu5549qUPAS0-_RS1KUpimneWqeLub_Ks0tfS2t6B_iSyjSVdI27BSaENdn7r4a3pq01_E9Ug2k5qVtReZOxwkUTcHYY7jDUG0",
  "id": "rs_0f06a08ad925028a016ab41f521f3487d09badbd639419f805",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.135},\"note\":\"The safe is open near the back center, with a white toy beside it and brown and yellow toys nearby. I’ll bring the left gripper above the white toy first, keeping clear of the safe’s door.\"}",
  "call_id": "call_vFn0E2lsYVsKu3Fmm4QRBJuQ",
  "id": "fc_0f06a08ad925028a016ab41f56011087d0a9b04b4a69eb5da6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vFn0E2lsYVsKu3Fmm4QRBJuQ",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.617, 1.5173, 0.8406, -0.078, -0.4877, -0.3939, 0.9992, -0.0219, 0.7982, 0.6067, -0.4332, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3756 left_y=-0.1606 left_z=0.1142 left_yaw=-0.0148 left_pitch=-0.0722 left_roll=0.0339 left_gripper=0.9992 right_x=0.288 right_y=0.0007 right_z=0.1692 right_yaw=-0.0012 right_pitch=-0.0362 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8718, 9.1419, 1.8877, -0.3834, 0.022, -0.022, -0.0889, -1.5521, 7.2, 1.9658, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b296389d82a1939016a4fc855ae21f68699aa6e8673617ded5e1c502a94f4323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fef031f9e09a1d157a45ebc9fac27c2c985c32eeebb9e27ae6b202373456ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c66d0167cf9b572ad2df17bb234ced0921590f6e07cc134886cf21546af02b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0219, 0.7933, 0.6079, -0.4026, -0.02, -0.0288, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1773 right_yaw=0.0006 right_pitch=0.0004 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.3179, 1.9902, -0.0611, 0.2027, -0.0904, -0.212, -1.4838, 9.6205, 2.0781, -0.0366, 0.1343, -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]: [-0.617, 1.5173, 0.8406, -0.078, -0.4877, -0.3939, 0.9992, -0.0219, 0.7982, 0.6067, -0.4332, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3756 left_y=-0.1606 left_z=0.1142 left_yaw=-0.0148 left_pitch=-0.0722 left_roll=0.0339 left_gripper=0.9992 right_x=0.288 right_y=0.0007 right_z=0.1692 right_yaw=-0.0012 right_pitch=-0.0362 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8718, 9.1419, 1.8877, -0.3834, 0.022, -0.022, -0.0889, -1.5521, 7.2, 1.9658, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b296389d82a1939016a4fc855ae21f68699aa6e8673617ded5e1c502a94f4323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fef031f9e09a1d157a45ebc9fac27c2c985c32eeebb9e27ae6b202373456ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c66d0167cf9b572ad2df17bb234ced0921590f6e07cc134886cf21546af02b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9ckbvQSjyFaAVoVRv7MLhdH8tn0lZpTxFRR8Tp6nne0acENXZ14Vb6cz3KdFl0RqXzskP-fZfUYqjEkwRGFR6isw_ZYz4ctN6Ve4kw099LVCnHHZM5HlSIlGQfuCqQtRrnXDop7gGgj0faQmrNhPqAPtfUfj11eka8Wp7oxrSWPa4PZKQXKBx-mGw_JFheRzz_ngomvbf497tYn9wIiv8tvEom4rKU9WF6rPbKpCPFOiDIsIDBkuqgqahDNVUZLu4wJ9lARAzgg06rjRHViD1v0QBqKfZRqzpCitmlcdNYWT52GqATGaYRF6_mBvVIQreEoct8W1paSWr7LLMaI4D7kL5P-FpPVBigjt3f7WKv5-7XRjelOW11PxJsWZrmfWucAezl2S6YLoppHzZeKAf9tVPXof7uaROok7AafPzjPdyvp8TS-i-yrujjBQFCEmARxINOOh1_SSMcEuigkbulmLHLKInjez_1QV7Fe67jybSwVdnK-_dmyQRjdphM1dgXBH_oVfbs1J3uCBiSQKJNjKBKz4duphIWg9ImXoJ1ApdMwKfkoaq0CXBYORFlkMFky0--MhIpn59OW7EFwUUZAdP0aEY4cserHbs4H4n0u2BJ_SlHpHQn1Q1LQzQyAOIZblice3qCoYxp0gFmeQO3-6Kk07_mfxt0gZHpfknSVRKx_9Ab4GFiMN2XpvWgxLUyKSItHB7_CrkKsB0_EUwbpB-9AgoXuAFT_91abtNQq5laUkKJl6cjs4Ak7ZKEHEmnJXRvW3dl0ho7d3HXsYb1eXwyuj_kZTGqGsRzKfCgEXpWT8SyQDrrzQm6Vv9v5ei2hTQEiImwnfARARNnPYf9582D-E7oMxFXsBmqPCqcPdQ74V--7KpbbcO6Py9_4LpQAuUsSDnBP1Hbskyq1XnMA9o_W-CPg99ffqwvInKSNt44qDNke6fZ_A4saB48gxuBcExTyxYJ_funG3Fj9pSxjCFvXdJ5c193nD84uoVIUyMFqpREypaE7C3cpJ9x1QKM_IMvP3cN_NT5KSz6hkNLA561KqXBKqIy3CPgcsoxbPU9ro6KkXmUGapD8atUWHR6Hk-MrdjvDAWZdBmQR2pFZNGVErocsxH_tONujHbP9jk4zqGumzy9Oq8zS7GzbbmmITr7qjKsDyZ9v2BDddHL7WwA3E2VARZNB-NjqtSqfUV_XzG6dGw8mNttyB3Q7JpCmOqpZEoW4m72NL6UmnlFOiBZqTzsnN7oF2J32YRDu0iz5XF0TuWcBwLrP5zjopMV0HX_QHK6QRDd3atgGuII8-zcXntDceBtza1r9-oQTriaqmKG7LyokHeJjrc8ueEoonbP_XzTAVLds-HO6tV3js1Nha15Ew9o6zDCL2dVHfA5ZZ9frltijsAkXxD9BUjQ4F37WssliKWSgJomnW8ixeioU8jDzh4vQxZeiogMj2p3242JK2yOO_IfsHt51-RKTS5K786aPoCtEGaIJXh0RY7Omxc3s9Da4Qh4Y9yohWSaGTYVu2aENdbVv6uPepRlUVUVoCugkKEYbTiZfNF64saEJlod3JEA5XBYE6ix8axKaNIR-JZBc9TQc_v27b8Rwdn8Hvo8a8sHD0RZWv5ZeECf41SruLQ0epVdVDSzxy502kvdGhgoortg7S-f_hRyyNkmAEEqgStSbb8XAKUImuh8BmrOOTg3vnQBfkgUw5Jzs14PzMzxRBkL7au4j_U3N-6hX2uECTUeofLxENkybP8VDv5URAVFnhcVutLf4yKEdpouRjywktTZyqFumoUIR-Q5vRRA56w-pAipJl4pnL_YxUfckT9SLfneI3O9P7EJf5AoVdUk5XJmLsdxUZL5__arVB7TZi58h7cPjXw7Xq7IXEjczprfoLQ_DWlwCVZyA8EtXsas_QA10kI6o748mhUs_6qFGPOKUfImHxFLwF10RhaRCQY4gjHaaU1oulU8UrCSw4_fGZgmKSQ0pzqG8dSMCIQKLHE6fESZNJY4e7NfJAGintGzwpBxsnDa0JDxQL4t8O6QD767HKYyCDvcLNAQGRBXew9LfqNrDHuLHjytDjkNjapRvvCU-84QGYsSJkCed7MpZ2jY067QZAFi6JT3azlb_zKWhUAUL86muHV-HYIska1Eb2TTAHl5SGrUV8e0mANm0Darp4pqC7dEyeP8XhprssMU2iIDLqBHQxgROVPE4WZzBXvki92fsP3pChHJQBkX4j1i_iFgtJQkxwgZBCxmi2Rkzw7Px91xL2eijSBO0Tt-SkODUhGsB7slxqfMIKAcofuB7sMsnLVoqg4I87oNG4yBVMi963bUayKNnbnr0ml5wWZQnWYcPa0OSQQoDifYjABUDDXDz8CA",
  "id": "rs_0f06a08ad925028a016ab41f59aa3c87d0bc100d33f14c755e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The white toy is directly under the left wrist camera, with its head near the gripper’s centerline. I’ll lower the open jaws toward its upper body for a grasp.\"}",
  "call_id": "call_0DMl4tzj3w752Lh42vX5QY42",
  "id": "fc_0f06a08ad925028a016ab41f5bdbb887d084fd587b97c3e077",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0DMl4tzj3w752Lh42vX5QY42",
  "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]: [-0.6365, 1.8069, 0.7612, 0.207, -0.5068, -0.4072, 0.9992, -0.0219, 0.8013, 0.6056, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3801 left_y=-0.1699 left_z=0.0199 left_yaw=-0.0075 left_pitch=-0.1324 left_roll=0.0834 left_gripper=0.9992 right_x=0.2848 right_y=0.0008 right_z=0.1636 right_yaw=-0.0013 right_pitch=-0.0622 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.8701, 5.1761, 1.746, -0.1978, -0.1148, -0.0122, -0.3624, -1.4701, 7.0632, 1.9072, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cac18f5a7fcd1a88cc10636616fd0eb0de573db9f8d338e600318a422d3fca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d475eb9c6e3047fcb95f7cd22e40661f0cb05cd50165e44d777cb56a7ce3c934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bbbc9138c5ce883d854d2ae6d75d6db1b5d28b098c1c1567a3def3b903056f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.617, 1.5173, 0.8406, -0.078, -0.4877, -0.3939, 0.9992, -0.0219, 0.7982, 0.6067, -0.4332, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3756 left_y=-0.1606 left_z=0.1142 left_yaw=-0.0148 left_pitch=-0.0722 left_roll=0.0339 left_gripper=0.9992 right_x=0.288 right_y=0.0007 right_z=0.1692 right_yaw=-0.0012 right_pitch=-0.0362 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8718, 9.1419, 1.8877, -0.3834, 0.022, -0.022, -0.0889, -1.5521, 7.2, 1.9658, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6365, 1.8069, 0.7612, 0.207, -0.5068, -0.4072, 0.9992, -0.0219, 0.8013, 0.6056, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3801 left_y=-0.1699 left_z=0.0199 left_yaw=-0.0075 left_pitch=-0.1324 left_roll=0.0834 left_gripper=0.9992 right_x=0.2848 right_y=0.0008 right_z=0.1636 right_yaw=-0.0013 right_pitch=-0.0622 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.8701, 5.1761, 1.746, -0.1978, -0.1148, -0.0122, -0.3624, -1.4701, 7.0632, 1.9072, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cac18f5a7fcd1a88cc10636616fd0eb0de573db9f8d338e600318a422d3fca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d475eb9c6e3047fcb95f7cd22e40661f0cb05cd50165e44d777cb56a7ce3c934",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bbbc9138c5ce883d854d2ae6d75d6db1b5d28b098c1c1567a3def3b903056f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9f0IxaQhfD-m77VjsETp4qSc6fewd1zBsI2Xi7JHDGTMlAVr7rD9-jEhLP1Ao5TgE_0yS3VazrUlLb-vmRrTn4_0ld5rwVTrgsRU9-6jXvYTI6drBfu0aEutgc9LmZcEyQesxD4-ZQcvKoPQDH3ju22FPR4EgmangNwI-KRQrTHkVG80uyR1MV53gdbrYcT0yX9v9K43DbXY91Bc0cVYh0dF-gdVlPQ0inWuCmIhdUMy3_mfdvCS0w5iD--mDw4_-h0SRVb8jL2vcp-qwniqCxpNraUSJQGHQf9yII2mNQD1V33seoPzPoK7SvZKGIC43ABSbEShMVKosUK0z1i9xFQfdICRcuGvBsf533HrFpv95ok9ZYUebMVbeDUDMLlXtT9k4VYliOn_D1I-NoDioLDofaWVGI9w_YAbFF0woXyg-aWaB4LOXAWmRB-HizQ4XZl39zNcVB0gctlu7srWwxpwOWnza7FSafMzTYhjK0jZMB6V9e8Tj8cTAgBdkSo3Z-loSD_lqnNdrAWganJ82cGZDyEo_P91af2Ec0GrZ1HKBCff9ziKClmIlx1rI9kbFezu8S6KbSWMVCyduqvnKhr5unb9ECrHFyb1HvdTkygbQ8Iu3kcjsXlY2c5yX4EzxHYQltP-n2wyZ4_NoQo35O17jhSM016okizAdAoa4RJZldjSBCKgI6uGppOANGyd0tTdmub8Id9JXMIULI6H46jkym-GzJkrLp2a6fftIZmbBdW7yMb0cJqCD5JkOzrqq44_EukFMtGZWFvKypF87FFvtpvWWqdbzolgQTbBpDS7gZ6fmo9tL2hRjP6UEu-tyJRRw5ik4krGyON4hKpHyQyzLPfTo8XyZK9eDEHU7UBRv6snK9NJAaBk-dAz3hX-R5b5RU6egTfQ-tMpLHiSjSHyD1tFkiXiU4RLcg5mpuOEq1fFtfomF9vExfm4de7ET6IXz9gOzrKgeoDI1vLs-7iFyfAEsOQiC53zPtebErFluMip21IejJeNNBbHJvmR96rw8ljDWhWx7uLhzln6eyhCxI6cfo71L0LYQe2eJZDX7nI_yjnGV6Elj62MA-Z4bO66XVppBEVWyOs0nGtcUTVFcPLYfK4WdBkCE3t-1ck6vxwZxkuMt2ZczTaCdGqJ_-ATdMEMDzAMnbcuko8GjQUIHdCUpJoqV7resksZx5XKLZRnpJmRc31GciZ5wwFAkvAXHsor8mmIh17v4gmc7FDEgOv4DoiMWInlvn-JTfDWAWjYY205_FkJPeqj5TO11t0QtaDEQM5Hw-LxMClq6Kko4E9AmMZBtZpV47qJTJUNb8JRpsY_O4kG_E35svWGbRIcKZgpWwJHPdtvlZ6dqfCmvB2U1_XSZyHsvvd8uXDs5KLrjTW4Ecz18TUCWxpEyv",
  "id": "rs_0f06a08ad925028a016ab41f5e122487d0836872055a6bba35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the white toy close to table height. I’ll close the left gripper and check whether it holds the toy.\"}",
  "call_id": "call_XCCTfmVSCdFBFvls7qEVDIAm",
  "id": "fc_0f06a08ad925028a016ab41f5e8bb887d0a4513c51531695e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XCCTfmVSCdFBFvls7qEVDIAm",
  "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]: [-0.6361, 1.8214, 0.757, 0.2127, -0.5179, -0.4137, 0.1292, -0.0219, 0.8024, 0.6056, -0.4778, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3791 left_y=-0.1668 left_z=0.0146 left_yaw=0.0057 left_pitch=-0.1376 left_roll=0.0929 left_gripper=0.1292 right_x=0.2814 right_y=0.0009 right_z=0.1588 right_yaw=-0.0013 right_pitch=-0.0862 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.2513, 5.3949, 1.3065, -0.1538, -0.0024, 0.8913, -0.1026, -1.3197, 6.9949, 1.8779, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d213dfd0c8af9b50f492451736d8065f54bcb61dc31ae714bd2cbf3897df041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86a7125be8367dd86ece50d89eb0d1c070b0d666c485840846c8a177a252a65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13b6ad2e90ad606f7f7b1334c165f979565c0e0e8dc411060762b8ad3f58d3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0219, 0.7933, 0.6079, -0.4026, -0.02, -0.0288, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0007 right_z=0.1773 right_yaw=0.0006 right_pitch=0.0004 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.3179, 1.9902, -0.0611, 0.2027, -0.0904, -0.212, -1.4838, 9.6205, 2.0781, -0.0366, 0.1343, -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]: [-0.6365, 1.8069, 0.7612, 0.207, -0.5068, -0.4072, 0.9992, -0.0219, 0.8013, 0.6056, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3801 left_y=-0.1699 left_z=0.0199 left_yaw=-0.0075 left_pitch=-0.1324 left_roll=0.0834 left_gripper=0.9992 right_x=0.2848 right_y=0.0008 right_z=0.1636 right_yaw=-0.0013 right_pitch=-0.0622 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.8701, 5.1761, 1.746, -0.1978, -0.1148, -0.0122, -0.3624, -1.4701, 7.0632, 1.9072, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8214, 0.757, 0.2127, -0.5179, -0.4137, 0.1292, -0.0219, 0.8024, 0.6056, -0.4778, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3791 left_y=-0.1668 left_z=0.0146 left_yaw=0.0057 left_pitch=-0.1376 left_roll=0.0929 left_gripper=0.1292 right_x=0.2814 right_y=0.0009 right_z=0.1588 right_yaw=-0.0013 right_pitch=-0.0862 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.2513, 5.3949, 1.3065, -0.1538, -0.0024, 0.8913, -0.1026, -1.3197, 6.9949, 1.8779, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d213dfd0c8af9b50f492451736d8065f54bcb61dc31ae714bd2cbf3897df041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86a7125be8367dd86ece50d89eb0d1c070b0d666c485840846c8a177a252a65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13b6ad2e90ad606f7f7b1334c165f979565c0e0e8dc411060762b8ad3f58d3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9igNlM6QHDR0T90HGLmAhXeJ-FfJWrhGlauW8Qn82F7enoDV7CV2owomqfjlApw61sDh14YwMU-qn3_84L4_liRlq515TaREqeL2jdDg56ta8iWd-ZkuNyJWqekcAa_yEB0dIc2ETkigMQVRYa04Ob2tBFhPO7SIQ-bjlKTi_B4VbrqyRz3-u02sBMmdokaKFTZNc4J930xrjvu4SBb3Zwt-ld4fsXgTHGivGKMU4SdR5BcR2YOc8y1if3pGUinVmxpqO9UqF4ELs9UqJeyeT1cRcGxrpD_ZciksivMib9ASJDV5QY6sShFd7lfeiRUu_vQv5ydxm5x1cSumQ6Y07ol9HtHxISz9Q-2LWoKcyD6fs7Z6IeHF9irMQjreFMTuumlh1JTPHTCS-ARfvwAgPbBBq9I_34_iDmTfWkBk8J9DGK9mHGBka9UCNBswyTZc42Khf-b2O5Ohk9QvJiz1WSYfUAh8Bg_Q-_pd0hjfexqukAsFtdwlvAmX-lUl6ungUTa3Oo3KWzT1gGwk3jmELwDbTgV_3oK978F-RQvWQMcmxiMcPvlndBy6dCI08wl6I9dnHcI0TTuPUXHAumqeNaszniOTOlaUpz7YgXHB-koxMoRE1Nd_r0gqD04e8P1lPHeKX_LNe9AGBIETm2D5NwbtMig4gUrptWCpWDszFQqGSgL16pO5Q23kyDIgKDCz7diK0kb7IOjVKyKxVmEuTWlTHSMo1pAihhNDqq372CS_clSYmTTCLMwURWwgch9LUAgpUh_uqc7aekWIdEV0bpEXc2uCoVovdsFOYXWPVrhZYCWUIwqsKfqhXjRr8zNO1j7zgLArzohBJ5Prb4ybgl4k2WLUtMo6cWxClueRjqUhL2vQoDe9mQ9yhhe_eJtpbwvo70nh76Wqz2tl633XQotEkRKrb1u6hEygMfgXJNWEf8Ws779cIIw1LrIviVvCgl4M7dT_96xRZ2ggeDSH9g2lp3VBqOOWggnZX05B-mN-LEIzjwxQlCp2uJkA3kcuN1K4mNhxNSPxuxKPRo5Mq6YRim5MVYkF7Y0JmUi7IZJlEksFcGI9pGCEBB4YzdaQkMkhUGwhcCbHoglQhXWT8rvd19p-JrweC7Yf4TRdz-AxwHOPmOTEcRrMrMdSmtH_YAlmCU238VBwiL_BYhUA_mNVbD5_vF-WrHx6tFV3M0YVD9fAVX4dd8CYsMe--fue9VARbTCpp8pxs_6JjxKVWeUZ8LSdguOoOBIgr3rkSR8karUGWerPtb3jZ93QUdq9LnrJXXpAxiQi_cG77sGq8TM7UeH2lLJHeXrn_o1bylxCXI3PAArRxjb3z002EXV5ijtnmPScwByakm2kmz3lmOFffchkRJvNrFyddL3jleszaJA5EJH3pUEVfeVIZRX3cCvxu80DtjBbtR6fV8PuodaFkGfPadbOrCHfRrAWJN2gKuvs6V7KzZCyEIzpqjwIG9t7JRaZL-ij3XipsD3RQXP5L2XDcvm9KibpGXwryhcMn_33HJMwAp0o0HxXv1uOnlcA6Iq9wNAZjI-GKNbT3r5ozfcYVG7kouEEMHDlPQzAGorHvmdUMrx3dydsk4GIwsetnZdWLuWIcul7WELulafEJmNSNqT5ZNWmQ_Yv7Cn8sCbow7BfCzctiGsxyZgK92sw9K7UKRngxOgdjUG0NPEzDQqHgthZDoHLbuqU8K7xjHAjbTii24iSRh1I8RQTXB",
  "id": "rs_0f06a08ad925028a016ab41f60e48487d0a85c6166320dd4ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The left gripper stopped partly open, which suggests it may have caught the white toy. I’ll lift it to confirm the toy comes off the table before carrying it to the safe.\"}",
  "call_id": "call_OKZMWiHN1MtD0yiQMyWLkupU",
  "id": "fc_0f06a08ad925028a016ab41f61d81887d0b07e0d89cd8d3e6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OKZMWiHN1MtD0yiQMyWLkupU",
  "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]: [-0.6361, 1.6104, 0.9272, -0.2054, -0.5171, -0.4252, 0.1301, -0.0219, 0.8036, 0.6056, -0.4999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1641 left_z=0.0942 left_yaw=0.0149 left_pitch=-0.1668 left_roll=0.1064 left_gripper=0.1301 right_x=0.278 right_y=0.001 right_z=0.1543 right_yaw=-0.0013 right_pitch=-0.1095 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.4701, 9.1692, 1.5897, -0.3101, 0.0904, 0.3736, -0.2256, -1.2923, 7.3231, 1.8681, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb27c0e0bb762b66b167600b306b3fdc0537aee085bf14999be51e4b822ade8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f09159065bdc311db02cc855a0516fa7767d1b1e94a3bef76d0944a23cdf8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:909b9bccc6e846007ed8c0d5238ffcba02f181e332897736cc3f9a4271aeb130",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.617, 1.5173, 0.8406, -0.078, -0.4877, -0.3939, 0.9992, -0.0219, 0.7982, 0.6067, -0.4332, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3756 left_y=-0.1606 left_z=0.1142 left_yaw=-0.0148 left_pitch=-0.0722 left_roll=0.0339 left_gripper=0.9992 right_x=0.288 right_y=0.0007 right_z=0.1692 right_yaw=-0.0012 right_pitch=-0.0362 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.8718, 9.1419, 1.8877, -0.3834, 0.022, -0.022, -0.0889, -1.5521, 7.2, 1.9658, -0.022, -0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8214, 0.757, 0.2127, -0.5179, -0.4137, 0.1292, -0.0219, 0.8024, 0.6056, -0.4778, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3791 left_y=-0.1668 left_z=0.0146 left_yaw=0.0057 left_pitch=-0.1376 left_roll=0.0929 left_gripper=0.1292 right_x=0.2814 right_y=0.0009 right_z=0.1588 right_yaw=-0.0013 right_pitch=-0.0862 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.2513, 5.3949, 1.3065, -0.1538, -0.0024, 0.8913, -0.1026, -1.3197, 6.9949, 1.8779, -0.0269, -0.0366, -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]: [-0.6361, 1.6104, 0.9272, -0.2054, -0.5171, -0.4252, 0.1301, -0.0219, 0.8036, 0.6056, -0.4999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1641 left_z=0.0942 left_yaw=0.0149 left_pitch=-0.1668 left_roll=0.1064 left_gripper=0.1301 right_x=0.278 right_y=0.001 right_z=0.1543 right_yaw=-0.0013 right_pitch=-0.1095 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.4701, 9.1692, 1.5897, -0.3101, 0.0904, 0.3736, -0.2256, -1.2923, 7.3231, 1.8681, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb27c0e0bb762b66b167600b306b3fdc0537aee085bf14999be51e4b822ade8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f09159065bdc311db02cc855a0516fa7767d1b1e94a3bef76d0944a23cdf8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:909b9bccc6e846007ed8c0d5238ffcba02f181e332897736cc3f9a4271aeb130",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9nXHAnMtPaTP2aBeGG9LSY5Ee-e38RfzIW9tOl0U_U6Pib15CEfHTKbOXfTtB5SP1f-Xzkwbt1tjYUs6yvcpK9Ilf0Iueefi47-Wyz9cxuyOKq7mrp-9q6qcaOMv6DhmUttgz5cZnXA_PbL0FFnvwG-YRGDjNTOTpsML48DHfsD06FxecqCI6rwQROHjP-TM5RGleaQSNfmfDUcm3vTAuSvvgLQrSsx8VT0qvZyKn6zWXu66RFabbg_rNHz_ZaE0RDSkmyxFLYApbYz-JNjD3H-4ju9RIPo4d9yZ-w7nohDK7Cd0uYlg6zzUC4tREHGmOUCPax6_vquito71iocioOaxn7-u0tGqwl3KCBU-3a3HiNBht90Y-IZFUsvAtoqWwhtI8SZz08uHnQ3AHGvkVA9HfyWQPSDthsxaftvT3KEiOxf0_-AbwGvbkdKLXXXRK8vXmWOM36QhnzZ3vwa9Mu45hwKBudzDOK86ELHXV2KYBM-cVf5aDLDnbzz7YEQRFJOBEM0e-m7J_YkoMWsMfLZ0u6vnpLizwGw0qeXXKwqjXmZonOy5xTVjg8vCQ_hu9sWR1VqbZ-Gq9XLCQM3SVy_PKvS4M0df94-O7DBdJwmFdDzfEmAnLp59GV0XjaozPtQSRQBB0UBJ5chVHXlcFSlQsLRMlz0H7M0XNMiXHFWbZOwfWa4SkB8xffU-zZyQRcVNA50MD2zGsmLkeEXsyLRZG9uAAag-XlFFqAqX2ZINMMT9JuyruVfPUHnXaAuNq5YMDDlQ38Ob2fHipp8eDBPVJ8qkLRo5vG0WX6M5zBJiQhO0ViPNM2IWPulMpUvvLS_MvpF7bW17JYbThZfQrWVB6E-CNcESxWqIL1ln2eB1MVsFrfoLxHYhLZnEm3yIvPHFkNgsSan_UFduFrKTKT4s4bWz5faGTCBL_b25X7gfDbEFs13ZF3u4Cv7mY_DQCqpGD-rNBP2Abql8J31hFXoGX9qdLYy7zjoSGzR4Z_lmex_SHekShh8dyfBQeQeuOakvOYcMa9wXpEJshbgnT5GmWu4gXuY6Icl7CcqBP6YLI1d89Lua33kBLGZRFYkd_qWrMUlk22lrhW8JiKwiZ-6YWWYsK1C9bjZESHPUXYqE-uoVGGilnYIwc3Sx49kuS9rZ9bnkw_OpivcN2iYvRRu9DKfg6iqfTHMhDFapJzgXDOcq2nKbDf3hfKMoMptMquR-Dev4AiCvN1yIlENFxf1A4xnc6OeVXap8l5HEi54JgYc6P1GPTj2CAnoAHL35qCTVnTZcHdOUp2O9UpCsQkFccJbKEBmSDK7Sk8VW1cyqeUCch-1pYzbTNAEPAe7Y9rrw1Cc95ZRHQfcgxMp8OIhaJvw6q2i-OjHCg3mGVQkwtQofcsI4pODMtq1wUaoY27rhzH4uPrNvJkyCHgydXQpfl_upwNL5-UzpkjGZsPWMIUdoFx8CjbCJ355mKHUvJR382hj8ea5X1hy75r1qzHZbegMO91ToKTFBoGb2PFJGxzu-FN1NrAMbLl3fAK2GLDkbCyVvy4XTASnn0gMqQ8itHcYJhNN_57lRBbcMCE8vYM585UCXDjjtQmAys2OXKaD7vSyxgB8v_hKp3u5ykROIhZS1aDyMO_m4pXKmcIVfB0aGZzhz8sLp-r1rGcUcWVFXkO_D80avTeSOOW1FYYs3NP2bKMDUZplyvbVzr_GbC9EZ68OsTFhw8wmsNDq1Qd5WBa7S10t8hgpHJZo4osbw7Kdeb05aqNv6wjKaMN6KdTLNGgEeX_H0hUQ4y4IhMP-idFgYUQcn298MgNAqimREtY996D-ba5m3cCqhy82DAk6XSvjGJRFt9uZBk1Ju226HA3s8EcIql0YtlnLdcyUo01JzMGMQQlVLQl4eII7fdd1hK2QvXa5m8Gr_0TQb5OTURZFG43H9U5IHJ042e6qCS66JM3Y4uY1E_iU-UxKbaIGMDmuzGdyWdzXCXib0DToAQdT2dct0aiZ4jFB2ik53rNtYskbN4n5GYAUR-qVfTzhTMEyYT-ZZG3MT6n4TwBKB8WhkvM_nAKnOamC2gYguM9fYK3jfHkfUyYMVLvmG5HnWJIoHu_x2u5JymypiFysJZ9MI0jwuEgdYRasCqANrXizX2W7Gtc78xIH79aOB5o8_Jtmnjb9sbcVl3PfmHLmskZnSxGjXRA2FGjRWFccWTwzvCrPBTapdHsGnLqpif4DWc0y6HWREiLm6QfN6Rxx7VDfxPBK-cg32oG3I3XBtaeigWPk_oI6QDMPZlJ7NK_iRbCuvEjVTtP0TKHj7cpb3cuBfhnE4j4PZaAxCZOvlH4GkOEpY_7LpvuHzgNKhoZUi81pimD5R0Fyu1Zy4_YeylmueOmRx-cMxkf8d4p0TtgPhn_nV_J0lLCQjD2nCyqrbfKNDLVVoSzQjTDDtFVpObyB3eGnWmYQ676aReyXpZd43z9CrbB4tZqkE5F243SPIHYWQWbEfMzvducbJ54u9835godD9EgFIX-kdChZ_tB2w2Mgfpqe3dPT43RkB8urvqQO9xfDb7ZCO96ev-m75coJKacL4UCBnMQhWj46BW9yaCS6KWW1dTwYPautl_B8225yHTS3IehyTPr-xJVcyXlyu0CX-Idx771oulbYsob8aObbreesQ8w6_Iqc50=",
  "id": "rs_0f06a08ad925028a016ab41f642bd087d0ab4cfe214997a5e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.22},\"note\":\"The white toy stayed with the left gripper when lifted, so the grasp is secure. I’ll carry it above the open red compartment, high enough to clear the rim.\"}",
  "call_id": "call_zHAklkond4gnrv2U3NjSpwVl",
  "id": "fc_0f06a08ad925028a016ab41f66f81487d0ae9b04cad8dd366d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zHAklkond4gnrv2U3NjSpwVl",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7021, 1.8648, 1.6905, -0.7513, -0.5404, -0.5007, 0.1332, -0.0219, 0.8082, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2388 left_z=0.2044 left_yaw=0.0115 left_pitch=-0.1797 left_roll=0.0884 left_gripper=0.1332 right_x=0.2743 right_y=0.001 right_z=0.1487 right_yaw=-0.0012 right_pitch=-0.1377 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.0171, 8.7863, 1.1111, -0.5201, 0.1343, 0.6422, -0.0889, -1.5111, 7.0906, 1.8144, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adc8fa1f8f9315babf092483f8c0d7d6ca65a3fdc7bf3e7f894be31fe17627f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa18b464785485a4bc4c2a82bab193d27e75af53c239bb5f07e33ea6a1def2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb336148c83720460f49cb23547d06152f5ccd7de27b0768d0988065c4fdbc80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6365, 1.8069, 0.7612, 0.207, -0.5068, -0.4072, 0.9992, -0.0219, 0.8013, 0.6056, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3801 left_y=-0.1699 left_z=0.0199 left_yaw=-0.0075 left_pitch=-0.1324 left_roll=0.0834 left_gripper=0.9992 right_x=0.2848 right_y=0.0008 right_z=0.1636 right_yaw=-0.0013 right_pitch=-0.0622 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -7.8701, 5.1761, 1.746, -0.1978, -0.1148, -0.0122, -0.3624, -1.4701, 7.0632, 1.9072, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.6104, 0.9272, -0.2054, -0.5171, -0.4252, 0.1301, -0.0219, 0.8036, 0.6056, -0.4999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1641 left_z=0.0942 left_yaw=0.0149 left_pitch=-0.1668 left_roll=0.1064 left_gripper=0.1301 right_x=0.278 right_y=0.001 right_z=0.1543 right_yaw=-0.0013 right_pitch=-0.1095 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.4701, 9.1692, 1.5897, -0.3101, 0.0904, 0.3736, -0.2256, -1.2923, 7.3231, 1.8681, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7021, 1.8648, 1.6905, -0.7513, -0.5404, -0.5007, 0.1332, -0.0219, 0.8082, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2388 left_z=0.2044 left_yaw=0.0115 left_pitch=-0.1797 left_roll=0.0884 left_gripper=0.1332 right_x=0.2743 right_y=0.001 right_z=0.1487 right_yaw=-0.0012 right_pitch=-0.1377 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.0171, 8.7863, 1.1111, -0.5201, 0.1343, 0.6422, -0.0889, -1.5111, 7.0906, 1.8144, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7adc8fa1f8f9315babf092483f8c0d7d6ca65a3fdc7bf3e7f894be31fe17627f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa18b464785485a4bc4c2a82bab193d27e75af53c239bb5f07e33ea6a1def2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb336148c83720460f49cb23547d06152f5ccd7de27b0768d0988065c4fdbc80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9vBroXTs18j7ZumpnSN97vE7MMB2Er1jPn4QVJ2bYY2b9pErlIH_Bo29QlKypquIfkaae2yfHBnAeiPAA7aOLl6J4G4FRov-ngwk45N_ib_YlMMMo5OLZatd9Ndk59h4RYO0D33AmHBzSOOozsdPQFB0GDL0f_r8tGugqnlbz1rm_upH4H2fnul4m__jk7kgXCNbYQCMqiG080g49kUil6tgG2kWRJNOeEDssCIZnKM1UhTbtsSt-tYM4MEwhmwQU_nY0p_EzkZz1MumGRjTt1QoiSsYd9-juKn2vqg-970P3HDzl4pniJ811jhqshUpLHldWlXBgYMNohCxoEDnZjjqyM-o8z6XNOnTFGV_2eV_WaPqNe1y1laBG-AtfTozyr1zsljm3HJjeNf5G8oHCCoeBcFMBuXzWwNGbKbljrm3C0U6PR108OTjhfuH7za0n3oLk15zoN_mBS1kk1dEqvDRY0NPaIWlqEQkkdPfk1ouWcYbmXatmEw1SF4fHnVSCs5mEgVx_Uf4vtiQ3CrbmQH4cOYO1ZHSAZceH6AhEb_LcxT7NUjpXHAUzlpFR6RAH-o16tk60bz75EUNPLXPvVl_GjzuvTEPc5T-PChdYDQPM2PoZZ8HFocUCuGW3mB83aK5OoCFDSJtmXcCTGiFiEngz2_w7aL5W3qqDhlOCOnDwnIgaAywEDbhisGt7Wn-Nv_L2D5cgRUNaXhBs2FysEgQ_EePw3367Qjh3v1rdjLnEuGylLVIeQSCYfrXpDFz8-KWI5GGSgJn4C1mDhx2og5Yvt1IXKQoxTdt1xK0dXPyp2ekZvMA4sRrhICvm-wdYcZX78wXyVilIIIyrI5DPVaLVBz3xV0dxzne7XJJjlA58QJe49cvlffeIU1UCRjiFOP-rE8S3rb3aYu-zEC4H3cPGc-ITUbczEgmEyn8qptj8nYIQv0iVO12LAvzyZHxNExJPXExgm7Tz7NQ1vCB-gLHj7JpsGyK_Fc8jzBfm6cCWifLMzY3tAlK8aVOsnUQ6hAm1NIiL4DWsRtmCBQjm6Lf0NpxU8R2Cd4RiE6kK4bRCHo3EKYEJTX8FoZLn3YeAJ1v3VVF415ZmV2nXUQJiz_Rf65Fk4p_IAsIOR8V2f2_--l-oTUyN10vZd3fq2jTnHvkt9DazmmnpiGxXijgn5IpGbol59ACZmsT9xFkbjOOFwYq83hNVXtjoxDOTRxq9BK8PU0_CJzw_0zR6y6ilRxS2GeMfCJ7sTH--x1nz6S_EZuvtp3kEmJrw5D5HjcacdOZJGZ9gbzRpzzGN3pNJ3y-SEuvzoxjJdkqJgdVssJevbvdKtXI7LD5o1O1fvQtI3yQxgxu9PRk0mv2PMR5Si8wkTmRVGIB4YBWzEK3DmyPccXNHSikxUnECLvHLraojYt0eadp-smYa2liVhc5D1aCuZWzbXAHYGl_uWtN_bqNWY6Yg39lR0JQobKaO9oAetfs9oAWVJ04Qib39aw64HrIoy5BdUoQR64mkMnhAduxgg0DERlT2zi_JkC3VvySITqvP0oqwJa1mOGmHpk8_zotWBPdCbrIH_TZlihtq5MsmwOPcYCnyqHj6TkVn07z37A4XU0hPtdyNq0p-bE-P6Vi1AYZJCIAKozDr8aHQ0vMXVWsCtya1AbSR6Ys1pWNKWiCPaqfwsKdKXPAyk47tEeNG53uXjy_R9ALHOIvaYIjzxODYFCt7HGURGBk7GsBuXIm25ywBFIP1NkEgw_EjzwC6Qk1CyovdRfJ4cJuBElr4tU7QL58DIBtRO6L6UAYlFb_ZJT0XhE5cG1-GCJWwp5WX7axs6xbZXtP-itMcF3WKvCxZCD9qS3_bxu6Aj7FFH_ZvGOjkjfU5iJ5xVyNUJaru87Pjv4ooZHVg5-lbbeO5ONRH8qbOxaboSmbWvPTJEmVQDEskzJviykIk1YEuvxfdRheRlzjIf-wnEH83VrilEh9F2zRoqJWtj6_r_fTb1GrTJ_PBy3FiVrZlWUguzLUHUve6X6OzvVXENDz9Xkft6alDZKbsT_j4b0iKRm8vZK2R5nSX01ICpfOMHSisxi-mdoN_tjMeDFEvjhQHMH1NNVz2X4kPtddshM_4HGLf0B_xlR5juhEQ9sB2Wslui41ex0t_GYx2Jk1TsgxuNka4gMITE75eoVFvQHRPP9TPJpo8v8uwY0NN1KGIoGs8gPNZXBnU36NGFvXMy2ANjMC3SXy_wVVbDDSJgI_tJSVgRnVUkTywJklpuUC0cX5Ln3TLvcPGI_SA5lFAXKoy_i6uRenlNUAIY9ETtGLLuhG6pUFbw9RRLtIUP2ZHPZEeb9bE4OAltRm95605XcgF9chCnZU5P2UVhkW-pKNEmFy0D1rcMghqA-2hDrqmTqGf-5wxhCt9D9taUOQcpPZ0uNr76hBn1X_RtjTDzPx2zdq9nEhEsdpwNm9DOmu14bSFo4J9S4nZ4E4Wn1g59jMGMl2HntOAqirBQV7QZ5Y-1aNSjbbXNOV1oDNgAHfKLdfNyT4MslgFx-1kABIWp-4ed63C7Vq_LQ82VAZSgd_eZyqR1nH79gVgNjbUjBs4UevIAmtj4nG61OuA-weKTsm1SmkUFYB7d6c-iJayNsz55K00vaS-ytCR8BD9KVOIe9qo4wEm3puugddq-PAxTJYi-pFKEfyQwJP9UoIyeXmUDMQg0PNNxeqyRTrQqxwbqCTEI6gSgAesXoW6geYuAZa6H9PZtoUhLQh0-nUBv_Cju9TZ3tqJk-ZM2LvOsdbpARgTnnZi2GMXXk7FbM6D31ao2462WyjKyl08wPX9RhuL11YfzJSaCPeCvjRiSwWMwrIMkrBZy2_iFEw_shXwiLixoOPQ=",
  "id": "rs_0f06a08ad925028a016ab41f6b3e3c87d0a32959bf5215b540",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.285,\"left_z\":0.19},\"note\":\"The white toy is over the safe’s left edge, while the open compartment is just to its right. I’ll shift the held toy toward the middle of the opening before lowering it.\"}",
  "call_id": "call_Qwf073ksM4Dbh7B2nSAPgYZo",
  "id": "fc_0f06a08ad925028a016ab41f6e70c087d0b60fdc6f2867d0c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qwf073ksM4Dbh7B2nSAPgYZo",
  "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]: [-0.7456, 2.0613, 1.8606, -0.8238, -0.5468, -0.5484, 0.1351, -0.0219, 0.8108, 0.6056, -0.5522, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4403 left_y=-0.2767 left_z=0.1662 left_yaw=0.0134 left_pitch=-0.2464 left_roll=0.1261 left_gripper=0.1351 right_x=0.2696 right_y=0.0011 right_z=0.1428 right_yaw=-0.0011 right_pitch=-0.169 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.0684, 10.3453, 1.2967, -0.5592, 0.0317, 0.5153, 0.0205, -1.4154, 6.8855, 1.9219, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24da98c22d452a163544b3ad3c400226759dc467d46b0d63b94869e659ef47e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbadea1969896da6969d0c5ca0829c68e859e5dfa3071b16be0555aa0c08a1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea9e530efcbfbd9eef5421ebf02fdc0a7b9104f129118506f8deb90327fa28c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.8214, 0.757, 0.2127, -0.5179, -0.4137, 0.1292, -0.0219, 0.8024, 0.6056, -0.4778, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3791 left_y=-0.1668 left_z=0.0146 left_yaw=0.0057 left_pitch=-0.1376 left_roll=0.0929 left_gripper=0.1292 right_x=0.2814 right_y=0.0009 right_z=0.1588 right_yaw=-0.0013 right_pitch=-0.0862 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.2513, 5.3949, 1.3065, -0.1538, -0.0024, 0.8913, -0.1026, -1.3197, 6.9949, 1.8779, -0.0269, -0.0366, -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]: [-0.7021, 1.8648, 1.6905, -0.7513, -0.5404, -0.5007, 0.1332, -0.0219, 0.8082, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2388 left_z=0.2044 left_yaw=0.0115 left_pitch=-0.1797 left_roll=0.0884 left_gripper=0.1332 right_x=0.2743 right_y=0.001 right_z=0.1487 right_yaw=-0.0012 right_pitch=-0.1377 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.0171, 8.7863, 1.1111, -0.5201, 0.1343, 0.6422, -0.0889, -1.5111, 7.0906, 1.8144, -0.0464, -0.0024, -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]: [-0.7456, 2.0613, 1.8606, -0.8238, -0.5468, -0.5484, 0.1351, -0.0219, 0.8108, 0.6056, -0.5522, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4403 left_y=-0.2767 left_z=0.1662 left_yaw=0.0134 left_pitch=-0.2464 left_roll=0.1261 left_gripper=0.1351 right_x=0.2696 right_y=0.0011 right_z=0.1428 right_yaw=-0.0011 right_pitch=-0.169 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.0684, 10.3453, 1.2967, -0.5592, 0.0317, 0.5153, 0.0205, -1.4154, 6.8855, 1.9219, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24da98c22d452a163544b3ad3c400226759dc467d46b0d63b94869e659ef47e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbadea1969896da6969d0c5ca0829c68e859e5dfa3071b16be0555aa0c08a1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea9e530efcbfbd9eef5421ebf02fdc0a7b9104f129118506f8deb90327fa28c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB9yHTn1PuRyP_yR-g0fSohWCbsuF4bADcbkHDAvsOVVPcyIV4lXpzjm0T1ducSNIUNMoO8caChb3pxsC97kYbCiAh7dH6Az_f1xtACJyojf4Ul88q9IGlOUb8HeuBkRf46Z2wA3NM3pr9rvoFVUlCxJs-RL6jcBcRZx4N17bjQ-DkNYFyKuN6q8BKJSdIPyTPxvT5JdNpV1usbI2Nxf68DNOfpIk-zURhti8PosPuVv6H90dYhWpy5MWGfJun9Kv7wgjby2jJSk7CmEpbdo5FVj07fArme8j4bVcuQvEDML25H27fi1D2Ce0b4SK0CNVsJ-edv-jvLLGiZGVBIGoKfaBSCmKndH2PwgSZqhSqN1CYidrqh04v5MFgkxb8ZSFEKTP4mESz6iU0K2vXm1SXFabZ6K12f8FG8eAqFU87kP3PPDJQrClB0eH-nZwVxFxZukjkLDqjDUF3jWjM8LciAoxiiEgp26jVnUjXn0oNIj2sMt00OSt-1g5CCsaJc88Go2AilanCqucY5OajZ_PZ1qCS2uw0955yDFiGWHPTPTCi_Q-9dKeRrjWPLDIK1l7NFE6QkA4FohjlihxB7TZAh2XbAyKf0PlYIlewyc6zkM37i_kZDmCOhex4r-QmixFH9T9qs2jSrT4LIhyD4WNSKO-BSykY_CjGis7ZPygoJh_Jl3RvJfUDuCklg8BzAG2HndW_6-b_duv1-wG58TfAg4NPpxHmLwwPSSKCy4yd6PHHzbIMqFEax_iEyzy5pcvMGN240AVjn_lUfTva-XJgIDzOd_Ts22sLBCm_X5blcG5XlqLJLSJlxTpFPNuvVp1kCOKNVR7A_huf-5hhrwetu0WADqeZMMaOYLoWpHMTxiXnJmxJooblOIKybOm7pG8SpywaiA-z1wj0KKPkvr54Y7yxHXtf3J3Auu_yYvv7teahZFJDmYtGhmkf_V-uezjUFHJq-rCxHJ4JYnOUXXoJDjpykr1s369CxQ9geUCGb_taH7i2kETBxOIpyqqd81j0V9xwnk0ZTLblWlFwHmqmtcFCLV3zs9Gj7BPKQat1BAUY8Le8HvtZXOHLRIEwSMGHdGxcgcf-Kp4a3gicR3zWvk-NcJ8Wro_rtl109KLf3QnLuSYdQeScBIZK8uU1sxNMAtpl0jLpj1JiV-PXjgTyQchJa7JdCZICH9d2REIQdAH0LuZEkedvV2yQpHtAduuPwDYWCjpVbT2oOWvfg1MfDPhvLj1-QICQ6papTK6BjroNNBUoeGicSJxYtJkmm25HI2vpvklUXX7_eDZdisDxWVIKUlnmY9ayP3QYDVWpHiOtxR142WivFgjYANw5lyZNnazA2HzDOFF1AFgMgwun2E_Y_1TPX81mz9caWxYenfMX4ydnv4Fq_cKxNCudvdjA6fbvKq-i7uCeqHci7l3pFuLnPcovktwoWSpy8SuUxjOoZ6GXNUow14V0Ck25ZbLBD1uhH2rm1FnGthpeu0uVsu-z07NXSK8k3uFnh0AEMb_1MfYm04vv3HwIvBjatAtJN43nBzspEFwM76XtDCH7MQJSBPkCibhgBsaevx6gc-kwLSGDpDbz5Tc74XsyU2LZHtKQ-9Pm-NC7ew-DsoOO331-0MSBab6njrzBxtgW8418R3l1cK5edQXG0Xvq0I1ttzpIb9IjfZ-JKLfuTsR6RW1CnB72n2j4f1wPmONS9YR6y-kJRRiPZmvGMoeLXHANh_",
  "id": "rs_0f06a08ad925028a016ab41f70e8f887d0997a3abccd614d77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The white toy now hangs over the open red compartment. I’ll lower it into the safe, stopping above the floor to check for contact.\"}",
  "call_id": "call_JWzDXWQVj3OLkWoo1hJxJwbC",
  "id": "fc_0f06a08ad925028a016ab41f72010c87d089b84cebb1e8bb5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JWzDXWQVj3OLkWoo1hJxJwbC",
  "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]: [-0.7513, 2.0689, 1.8839, -0.8276, -0.5472, -0.5625, 0.1388, -0.0219, 0.8116, 0.6056, -0.5724, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4415 left_y=-0.2817 left_z=0.1706 left_yaw=0.0138 left_pitch=-0.2367 left_roll=0.108 left_gripper=0.1388 right_x=0.2662 right_y=0.0012 right_z=0.139 right_yaw=-0.0013 right_pitch=-0.1899 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -12.0821, 9.1419, 1.4628, -0.5299, 0.1148, 0.3736, -0.0615, -1.1966, 7.0085, 1.707, -0.0269, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a79d0ecacae4ff6829d8d21d2f9496c0908720e0cbf124562b2c2c5f6c3514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63f88c15455225548ee71e176671ad01649fc15cbd74b2a27f24ef8888cb9c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e11533450a10507b00af0ccc29252b48dc02eb8b5685491dd7650aa7237ecb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6361, 1.6104, 0.9272, -0.2054, -0.5171, -0.4252, 0.1301, -0.0219, 0.8036, 0.6056, -0.4999, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3753 left_y=-0.1641 left_z=0.0942 left_yaw=0.0149 left_pitch=-0.1668 left_roll=0.1064 left_gripper=0.1301 right_x=0.278 right_y=0.001 right_z=0.1543 right_yaw=-0.0013 right_pitch=-0.1095 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -9.4701, 9.1692, 1.5897, -0.3101, 0.0904, 0.3736, -0.2256, -1.2923, 7.3231, 1.8681, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7456, 2.0613, 1.8606, -0.8238, -0.5468, -0.5484, 0.1351, -0.0219, 0.8108, 0.6056, -0.5522, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4403 left_y=-0.2767 left_z=0.1662 left_yaw=0.0134 left_pitch=-0.2464 left_roll=0.1261 left_gripper=0.1351 right_x=0.2696 right_y=0.0011 right_z=0.1428 right_yaw=-0.0011 right_pitch=-0.169 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.0684, 10.3453, 1.2967, -0.5592, 0.0317, 0.5153, 0.0205, -1.4154, 6.8855, 1.9219, -0.0513, -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]: [-0.7513, 2.0689, 1.8839, -0.8276, -0.5472, -0.5625, 0.1388, -0.0219, 0.8116, 0.6056, -0.5724, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4415 left_y=-0.2817 left_z=0.1706 left_yaw=0.0138 left_pitch=-0.2367 left_roll=0.108 left_gripper=0.1388 right_x=0.2662 right_y=0.0012 right_z=0.139 right_yaw=-0.0013 right_pitch=-0.1899 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -12.0821, 9.1419, 1.4628, -0.5299, 0.1148, 0.3736, -0.0615, -1.1966, 7.0085, 1.707, -0.0269, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a79d0ecacae4ff6829d8d21d2f9496c0908720e0cbf124562b2c2c5f6c3514",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63f88c15455225548ee71e176671ad01649fc15cbd74b2a27f24ef8888cb9c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e11533450a10507b00af0ccc29252b48dc02eb8b5685491dd7650aa7237ecb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB93quMYKpmjQphKNFr4rcU8kN1uRFb3W-x1mpHzcHB6mFBzDtU75Q2pUseup-OybbLgVGBvgOLKE0PZdU1d_-zUSTGsD174QumEfknXlEeyv6M88kQqubMNs8OzqTD-mfGgnUtVTDb1sxlZmVvihDsbVZc5qvazVJD5XbtAx5gAPBaDwdJpcgb62gZ-pvSWCnghhyX-eKlbSaq373ueAG-z8YDkusTbk7hq7YeI9zGiGi62AM_gEm5oZ0OdF-getX7IhgdSocRFdwGi_oPF-YspUQCexyYjxr8rkyjAMtG9_ZOOS_rEtFqorFFym-dx1M9-4myctdomW5xAhCRmcWK7Meu2hRHp77OUw_x_AhkRj_LGlOLkVeyS4FB1Y0bC85UPP4pA1WxVo-bgDzYhJK39RaaaylKVe5c8drwEcpOZxmzAsazo33YCJ_6ezH2AT-RY-ShuVRm2yfIBNjVUxhdo_-XcK7llnpadSJAI_et80dNiV6vjiXZhK0jYdrRbEjQB5RtpBpDoe4jeaq9guBKIjitzn4xyaH0lq0wzl8i8CcFqNF-SEC0wNVWgpf6SHJyoZ9_4-Lcp2QofVGdnTAB1mxJsHWujO24X1GxsnHsvSOew4Gaoo-yZOxDXcuaqiVliJRnQylgypkk7UCW45U9LHJMY5cERbufU8lViwRTVVWPTFMcW9LoAlVop1_qoEIwr4ilAI3MAkN6pgCijBZ3yO_vQvw_tgsqGGYUXf748SmP9upd_60IB6ukL__c-ULIZyhpCZ4Gb1SjY665LuCqx0or1zrA4PkHLieaZsRj8B31OfZgTPSIh63avOCzpFI4klNVqmymRQGQ4EY5iKeS3kjJ2t9vAzLt6fNNS9SftKcdbDmHntp97r7YVUnDQ81nv4IUDOtTy97-m-_fUphfQTvawjUdJjPlK42jrhWNEdW2o4x4lulMt3ANQNZpNMLh46Touw8WgX3NFst30izdT1UeDHf-1hQg_pIICJ_zHxJgRfIY14OzetaIjK2mdX8HsIV_7pqtT4RS6t59VoRn5PXHrXojnjfbqXLlLycDs6ZnOsaRYeNm7Ql0Ucl5AOQg59-KehB8IKeDs-4XZampiDJiiWQA-acw1CmoebVEFySyRb7n1UctZJYmPxRurwBniKCp-b5TnZAAhy_AP4jNzJHOR1ibfiFFxmEvEi2beVC3Z2OES-3FSsNRbgzj1tEXFZ_ac82zWcUN3iP0f0RnqrDO537ikNj4fW5MFdwjOdwI2oELJ9s0FlSBE9EfXFiTU3wBZRplTi1hz4vecFbUb-NwXBxUy-b8DwyZa7_xm2aIxMx5UQV125KJ_bEA8yafnl4jc5R9jTJGhQrgbyecjRvtCdxBu9uu7hPifZW3CRtlfVhUt14i5J2H1_SyP2YeFtq1cFcPhJr3rRMnDzLpLe21JSUKUvg9n5KnObgmk9iLxAr7eiUR-aOC8SudDzypCpVU5TqA5Y1RBAbVkXDiLGYQ5LEN9K6v1gRLuAzs112Qj2IFgCvxsf2n-3bQeUuxPF_rHTL8C0HfRlDJvJ6derlHPHSP2H4Ivu0IWxPb6R8LqG4BNmE1NgeNTB11O9nEBNVfuvT2a_YuReYoOUgRhhDa1MTubVjgXHE8ETH-Nbwzf2O8zUoAZuCxJLlCw34kJEkZAWJpnH7PslY2q09hODNQM9IQdXITrioUp7fKLK85w60Yp1L6RH_Izl1A5L8Fdbvb7XgnPOc_8DbS9B8NuA6QLeVIRP0EbO5r3XYGp-BK4yEJ67hSyda6G5Fj4ncruJzQzNTwrNXUc3GAb7rcbyPM8e_1bqK459TW2vWAa42x5FMInpcTMMjrWIOovjtdz6tSNVL3_Mxaut9tG-44S_5b9IFbd1TyhZY5v6uk1WlyjHL4RP1seVrPiOdFCj5rMlhYBg6WruwMv71vPY4hADVGLerKuQ5CJN2MXIh3SyRyeLiaTgWdXo6q0QDDXcQ2NEU3TFxP9CEEtXqMwG4xxP-cT_Y5oWNXx7WctrK5nkvt702pN3SvBwlvqy1b9HTMkHkkA-mlpdMbmn1yD78ahWUyZTd3-kaRqIBhV4nO01f-o3JhfsS_T44OkvBXHBvjTwPQTIEiqJMsIeNUGXjToaZM6sQaAvLjkoddFLLA1wfXKC0dlgFZ4c0ynM5zi9r6HhFVtT4tgRzzMDQA11G3PLxsNCYFS6UoYf-sVSLdmjv8cQzroQs34VHyo2RjctIzznsyV3kaugPJngw3aoTpP_nlG4K7NoDY0tLEB8tiFAyXDVoG0pENflG2z82rmSe7LQ0B-_4zY4MU5tulMKJ0exEq_z4fRgLsMOpN6U7Y45Owpnbz5v-4ZWYYyN_7687yQzpq2HkMJEe6jjg3moGK94BodTxHExMnqywqB5AMq003YfNf6p4YtamT-efL3wBcAC0ub6rDtKgJCUcURx9PQP_nGGxy97ViUL5kdtqFDKx9XTTxmGhmZPd_a8VeaPtKpZspeRAkSBnEmSmeFwgK2WzVlMa310tgKLiaU6qrci0e5hVqtimA2bjWbOvJWtmxdRIOXzM2oLtb7wXCGMcjPCqSVUicheADPsBYr885ql-fuUXTQPhXJnc6gY49maEuqC9-1tS2RgMa8IUaIoD2MU56XYDC5CGZCHaCTOAy83wu-7svNBx-f64YUPOayoZQMEmazG4-dsqdNqpaVIjEk0W89J6j9gC1STWm_1_Vfioc=",
  "id": "rs_0f06a08ad925028a016ab41f744f9487d08b24dfd387dfcef5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.34,\"left_z\":0.19},\"note\":\"The descent did not track—the held toy appears to be catching on the safe’s near edge. I’ll move it farther into the open area before trying to lower it again.\"}",
  "call_id": "call_sxtJPBwAk2b7qkFSntCCZtya",
  "id": "fc_0f06a08ad925028a016ab41f7722d087d0b32c05e031fdb6af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sxtJPBwAk2b7qkFSntCCZtya",
  "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]: [-0.807, 2.4256, 2.4123, -1.0946, -0.5583, -0.6193, 0.1425, -0.0219, 0.8135, 0.6056, -0.6067, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4596 left_y=-0.3395 left_z=0.1454 left_yaw=0.0158 left_pitch=-0.2926 left_roll=0.1462 left_gripper=0.1425 right_x=0.2602 right_y=0.0013 right_z=0.1327 right_yaw=-0.0012 right_pitch=-0.2262 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.4718, 9.0462, 0.5592, -0.5543, -0.0122, 0.3639, -0.0342, -1.2923, 6.9538, 1.9121, -0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585ac133a045c7ba672889baa5f4a3f3c4fde5f5f54615b9a8e35276a0d11873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8e2744f297291b50353a7357b76a5403a11465f7c2f7f9d6ff137b1c5c5b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcbc82a2df91c4bea0cbf7c2bc07aa8f08f64ccd8dbb2a9aea202c5b3090be4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7021, 1.8648, 1.6905, -0.7513, -0.5404, -0.5007, 0.1332, -0.0219, 0.8082, 0.6056, -0.5236, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4286 left_y=-0.2388 left_z=0.2044 left_yaw=0.0115 left_pitch=-0.1797 left_roll=0.0884 left_gripper=0.1332 right_x=0.2743 right_y=0.001 right_z=0.1487 right_yaw=-0.0012 right_pitch=-0.1377 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -10.0171, 8.7863, 1.1111, -0.5201, 0.1343, 0.6422, -0.0889, -1.5111, 7.0906, 1.8144, -0.0464, -0.0024, -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]: [-0.7513, 2.0689, 1.8839, -0.8276, -0.5472, -0.5625, 0.1388, -0.0219, 0.8116, 0.6056, -0.5724, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4415 left_y=-0.2817 left_z=0.1706 left_yaw=0.0138 left_pitch=-0.2367 left_roll=0.108 left_gripper=0.1388 right_x=0.2662 right_y=0.0012 right_z=0.139 right_yaw=-0.0013 right_pitch=-0.1899 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -12.0821, 9.1419, 1.4628, -0.5299, 0.1148, 0.3736, -0.0615, -1.1966, 7.0085, 1.707, -0.0269, -0.0317, -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]: [-0.807, 2.4256, 2.4123, -1.0946, -0.5583, -0.6193, 0.1425, -0.0219, 0.8135, 0.6056, -0.6067, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4596 left_y=-0.3395 left_z=0.1454 left_yaw=0.0158 left_pitch=-0.2926 left_roll=0.1462 left_gripper=0.1425 right_x=0.2602 right_y=0.0013 right_z=0.1327 right_yaw=-0.0012 right_pitch=-0.2262 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.4718, 9.0462, 0.5592, -0.5543, -0.0122, 0.3639, -0.0342, -1.2923, 6.9538, 1.9121, -0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585ac133a045c7ba672889baa5f4a3f3c4fde5f5f54615b9a8e35276a0d11873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8e2744f297291b50353a7357b76a5403a11465f7c2f7f9d6ff137b1c5c5b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcbc82a2df91c4bea0cbf7c2bc07aa8f08f64ccd8dbb2a9aea202c5b3090be4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB96REeRzcYH-Jn4neMlrbLHjTd4ysPgwzhXIjOyBURgCewAjpdC2i4JanPKWSBo-Nbh-qT_baBBtGIkTtVx912aFmfYugz9rvSBVDWAORtFJoIQO2qSYcttOipp6awCLtfz0fLKfb8ckEWy5ktJu-pI7raH7PGDlqu0odrXPIpCdqGJIxkPP1z5Vu9dfF-0yrtKENTcDwtu5pfQTOdYvIC3Gysw6fg59Fw56m7LZXuezdV-uTMSMSzL_BQGyWNluncbkw3xJWCv5cx14HjnqhfGWdV2f7wicKapmY3eNPpJmzvQbG9SWHA0dzlz9Gh0W5IMb4uzczkT9ZqtSKT7xWBfdYeDwI3I46pt4RhWgDA1azZY8QRdMRBk427f3-_CPkXPYpnKCy8tzZuepK2ePbz9mEK7uKi3hvGRu0tLHfI3g89cOeW2TYYganJiCSosZr9Sc8ipxA7AK7aLr0c35BE_Im8S_SeGyIJGar7tgQ7V9C2pORfLFPEv0ek3NMo5Q6wnrZrrIGI2tlvhQNvdZbMRfUN3o-5c6vWTNwRfNAkY5hDdUVLJrhxaMa5e-emt5YFhQjLnFjd9XuZ72uifmAytLdyiutGvWINE6UJARQWlxpxSIzcaXBPF99vrp8a6a2r7p751xjgArlTbkppL6SIz2M3FVIb-8Nug_p8P540AVqhfNH0oC18WOh7Skl5bqkrS6kQkNWIgLdnk79xKWUq45688yxsQjlkOE7y-MaUHHpJVxzDJZsKMQVnwGMNprWAFKKUzvjixcgyMw6astm52sMWz_HXaux9m3srLaoAR4ka5gUwCNGMKQblQGgV7MquypQLIqILkJzMOmMOqBW8hp84_KGJSx5IeidQAIGyX8VHkqripQNkvpfbeHMtOV47xsXoZv1Pp71-eR5bhOv_WBQfXwkNbV2BGNhGghaCzeeLrHYRM1UbtbfE6nkfV9-yxH36iEXj6UL-VVAgISokr_5PO6HXC1Fj9a_pr0ZMWvPT4_Lq4r4zkp535HwWkhBy21yeTx2YLSQRyoi3XPjthg9MJ3uZdtS49UxsSOmkcvvzzNvPS1KqQr1t1cB2jkbMIHHIgYV2EbVA51LELCNN2l6hHCmbLkf8h-_2Dka4-GiChrZcB22mT6-FzHKqW7uG56NI_1RvmOArSX3ivLuVXgKZX6AMp23jz0-Bu2js7Ptn5oTLSru9p0hsIhps2lBkfM6-suxR4uAndtmTVGhe5uTzq8MrtmJyg55hV2CcJm1IXZDDU9Z3eBttf8Vnbf_G1zDp_sPXlJijXiM9Ruqq7XhheVxJz8HJEzMXrx6S-n3K7H--zSXp36WilMaZZa5AuaZf88h8pq5WKMR7xOpCoYE5t2UzWeQi0jMh3YIuMrTwQ3P_NzIrrMtNgzWOrCb5ap5PxxmltP2-72gnyNi68Uhd3mxYRR4cWGkSGhfE20Zo=",
  "id": "rs_0f06a08ad925028a016ab41f793e4c87d096282588d13b5cbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The white toy is now positioned inside the opening rather than across its left rim. I’ll try lowering it toward the compartment floor again.\"}",
  "call_id": "call_eOBgp8Xv9RSY3hc6swt7Vj16",
  "id": "fc_0f06a08ad925028a016ab41f79aab487d0a31c05e4044149ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eOBgp8Xv9RSY3hc6swt7Vj16",
  "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]: [-0.8101, 2.4126, 2.0319, -0.8108, -0.5476, -0.6292, 0.1448, -0.0219, 0.8165, 0.6056, -0.6205, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.3313 left_z=0.0475 left_yaw=0.0325 left_pitch=-0.3551 left_roll=0.1979 left_gripper=0.1448 right_x=0.2577 right_y=0.0014 right_z=0.1296 right_yaw=-0.0008 right_pitch=-0.2429 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -14.4342, 6.106, 1.0769, -0.4322, 0.0513, 0.232, -0.0342, -1.388, 6.8034, 1.6093, -0.0464, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde794221a11bc7189eed2de097daae060f688dee878fc02de12a56512305126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863ebb03cae568fae21a3dd59a3446b81f8bdc4f732e8bcf5134f7cb459c42bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d149cc4dac6e46f306137d37a5b5e850bea5423d6b8a541c5332323847c64824",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7456, 2.0613, 1.8606, -0.8238, -0.5468, -0.5484, 0.1351, -0.0219, 0.8108, 0.6056, -0.5522, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4403 left_y=-0.2767 left_z=0.1662 left_yaw=0.0134 left_pitch=-0.2464 left_roll=0.1261 left_gripper=0.1351 right_x=0.2696 right_y=0.0011 right_z=0.1428 right_yaw=-0.0011 right_pitch=-0.169 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -12.0684, 10.3453, 1.2967, -0.5592, 0.0317, 0.5153, 0.0205, -1.4154, 6.8855, 1.9219, -0.0513, -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]: [-0.807, 2.4256, 2.4123, -1.0946, -0.5583, -0.6193, 0.1425, -0.0219, 0.8135, 0.6056, -0.6067, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4596 left_y=-0.3395 left_z=0.1454 left_yaw=0.0158 left_pitch=-0.2926 left_roll=0.1462 left_gripper=0.1425 right_x=0.2602 right_y=0.0013 right_z=0.1327 right_yaw=-0.0012 right_pitch=-0.2262 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.4718, 9.0462, 0.5592, -0.5543, -0.0122, 0.3639, -0.0342, -1.2923, 6.9538, 1.9121, -0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 2.4126, 2.0319, -0.8108, -0.5476, -0.6292, 0.1448, -0.0219, 0.8165, 0.6056, -0.6205, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.3313 left_z=0.0475 left_yaw=0.0325 left_pitch=-0.3551 left_roll=0.1979 left_gripper=0.1448 right_x=0.2577 right_y=0.0014 right_z=0.1296 right_yaw=-0.0008 right_pitch=-0.2429 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -14.4342, 6.106, 1.0769, -0.4322, 0.0513, 0.232, -0.0342, -1.388, 6.8034, 1.6093, -0.0464, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde794221a11bc7189eed2de097daae060f688dee878fc02de12a56512305126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863ebb03cae568fae21a3dd59a3446b81f8bdc4f732e8bcf5134f7cb459c42bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d149cc4dac6e46f306137d37a5b5e850bea5423d6b8a541c5332323847c64824",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB98ov_BgQvhRwgmdryoqZTH1fzflpPtJZqWgRgzMm5C_pAxudTvrpzDoMQGqDbioc9oN90JJZvTzDSLWWXAGluhi6CgQb4OG7ydPL4hYm8dNTUWkd_ggeIeVsubVIQivrT9z5rT8-qCbmR_o3YHjqIuiSViBBTsv0AZTrqs8oxgi0O1aU0PJtpFwh2YqGpsDjnZamxLjCCnUIjZBG0jdy4Nl04wukYi06HrslOwdWZJH_6LON78eiJ_MV6F5rdrGjiEgIC-mr7qG55n-R1Vos5Vq15p86j4_Lv_0UepEbjZwfbaC0bMJnUc6jq7hpEfzlUjop09a6u3DFZxmubqasxsfjOo8Bt0bqQxMAQBa0W4WNnLHpxw7ip45vdOmypokfJRHvAyYVHdDGkeLS-7YY6_p2lkBqVwiwg1t_O2qSsqMgjQGK1HL22q6Xw2yYd-hQTSe8xpGMAUA8ZZ484xmlf3GOomc2ZGAuyKdM3GbTskgRYTF6jVsmqrBkvEyF1zOeJ_WDGyQK5Fq40k7TEwcY9eAi90cv6e_14fG_54-rYypmsNKMiMrTe8JvJ0Cu5-Qr7sR7YMeoyuVns6TLTAGvRXm2GTaCSLFl_qkrMcJdmCcRbduaKCFC69dNhFxI1HLcJ44p2_dLwJzQG5ieF3VSn9JDkh0cyZe_LGVWZpP8QoScDgHw8_kB_flz_1NwfoMOODes_Ve_VNi1efNyVjWup_aU3yo8lBd6F-k2qFqeSYwi2g-nbL3KwU5Oeidp8h2B4FkD1fjBxLKtP_6N7ff8owbhOnQLfpL3TlPUMUJC6auigks9MebS6PGtaoduRYrxrxa1Wix6-6u_eRBsXrOa1PleoubtE2yxV_7cmYeRBAldGVueZV4G3S7B8vvNwWn1Qj6_PmUp21vhpe-xUJ0quTYhMJZNt9FYC8uZwMNmjlWlJ4BiD2MSLxfYwfD7jyoC9IKYJXz2HT60boHsw8uMfSg-iM7UjPOoIdByK4zDKVotYO_r1GxTzqD_vfV8A9wn9bdJXvMNSzZ0ZO5bPX8xohgREamHLM0NwVO-XOKqCXVZ3vXkBRDlRps7WnqXoE3-lFCKIugMbOO_Zl-59Edao9qnGUxvWMWqRsODrSSryhz9c2l_SUPRZQQfaU5BKJdkmIzqtQ1W67KJ0aKFG58oOvoZkxRFO-rZ_IXBzStE0JiPH9uq0KeRly4T0wghXLsCbngJQP8LEIYgKE25c0gp9pcr5-y3f5gkqy9iLyytBT74DWssjXyFmlmub8hNKy1o54",
  "id": "rs_0f06a08ad925028a016ab41f7bfa9487d09b740467d22ba9ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy has reached the red floor of the safe, with room around it. I’ll release it there.\"}",
  "call_id": "call_8PxN1E7ob3XEIwccurFnhT4K",
  "id": "fc_0f06a08ad925028a016ab41f7c138c87d0911304bc78871dc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8PxN1E7ob3XEIwccurFnhT4K",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.4126, 2.0167, -0.7963, -0.5808, -0.6418, 0.995, -0.0219, 0.8169, 0.6056, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.3233 left_z=0.0465 left_yaw=0.0666 left_pitch=-0.3309 left_roll=0.2119 left_gripper=0.995 right_x=0.255 right_y=0.0015 right_z=0.1271 right_yaw=-0.0007 right_pitch=-0.2582 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -13.9145, 7.5556, 0.823, 0.0122, 0.0611, -0.1392, -0.1162, -0.6359, 6.8991, 1.5751, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3c13f394e4ab382c30393cd44b7a70a9412e25fc92014b126b1bae2e5da6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86136f8ab4f77730b2af6a381c3089c71e1ffe8efb412cf54a0d3d6e8fa5c515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f994f9e1dcf5d35e75a95d3cfbdaa0894eedf22220b5d96ce46bd6e0fd06a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7513, 2.0689, 1.8839, -0.8276, -0.5472, -0.5625, 0.1388, -0.0219, 0.8116, 0.6056, -0.5724, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4415 left_y=-0.2817 left_z=0.1706 left_yaw=0.0138 left_pitch=-0.2367 left_roll=0.108 left_gripper=0.1388 right_x=0.2662 right_y=0.0012 right_z=0.139 right_yaw=-0.0013 right_pitch=-0.1899 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -12.0821, 9.1419, 1.4628, -0.5299, 0.1148, 0.3736, -0.0615, -1.1966, 7.0085, 1.707, -0.0269, -0.0317, -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]: [-0.8101, 2.4126, 2.0319, -0.8108, -0.5476, -0.6292, 0.1448, -0.0219, 0.8165, 0.6056, -0.6205, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.3313 left_z=0.0475 left_yaw=0.0325 left_pitch=-0.3551 left_roll=0.1979 left_gripper=0.1448 right_x=0.2577 right_y=0.0014 right_z=0.1296 right_yaw=-0.0008 right_pitch=-0.2429 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -14.4342, 6.106, 1.0769, -0.4322, 0.0513, 0.232, -0.0342, -1.388, 6.8034, 1.6093, -0.0464, -0.0708, -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]: [-0.8028, 2.4126, 2.0167, -0.7963, -0.5808, -0.6418, 0.995, -0.0219, 0.8169, 0.6056, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.3233 left_z=0.0465 left_yaw=0.0666 left_pitch=-0.3309 left_roll=0.2119 left_gripper=0.995 right_x=0.255 right_y=0.0015 right_z=0.1271 right_yaw=-0.0007 right_pitch=-0.2582 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -13.9145, 7.5556, 0.823, 0.0122, 0.0611, -0.1392, -0.1162, -0.6359, 6.8991, 1.5751, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3c13f394e4ab382c30393cd44b7a70a9412e25fc92014b126b1bae2e5da6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86136f8ab4f77730b2af6a381c3089c71e1ffe8efb412cf54a0d3d6e8fa5c515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f994f9e1dcf5d35e75a95d3cfbdaa0894eedf22220b5d96ce46bd6e0fd06a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-BfMok7X6JO7Aowy94q8_IuwdeA15GnzuWLNbmN4l3WdSA-9tEX7P4h69Q8elzqNB1mDT80Pkvsw4PZ5diL8InZE_YMeLcDy9i2eOFN-sZ4PChmqdw9OqlomKlT-NPhrF-jjRGzH5L9UqCew22yxEOKWqi91mXUqxNIdzpDl36RWIh_LqhQVReYw3iqVg_3cRwwcXPJZOvWkeL1nYyHlnMIV7aS3v2WpXLLWom_4OArwkzbmwY2lnTeeuE7932V40PffaNj4hH6bnI31koYRnU1L_PjWuSIDglMNIJWVKPjZ0I3P_z0ELjZWeZJsQLTajBxdTcWlDLYDyiP4P76BkjkUAquzWmgHwwWbEfEPVQI6fYrJo2YiZl10xWPfLVGGs0vRdU3380fVVnd5pds-r2Ij0brafUjEkBNm_Z7SkOEYgz0vivECfGE3EomdrwnvBLJTanDur9IXBEEWvWa9-XuekmeSo4hFfD4yghjiX_SIuVbCJAjYsYivsgD8JFWBFwmPkWQLqmwWslmnTmwD3PhrvR2_UkBxCio7EiZk1Uqfd11Gv4IO-ErE6vUx-2X3TQRo_BBE1VfA36miyKZaLVa_PxvRNATV8jwrdwbJ3UYZ5DKAKPCJ0HQfPjgMi4_mSslURFkDKSOddw7DMWwzExnGYMtN55UJg7gELYIyQNmk5n8Cxfrdb9cdken41cVUMErXTTe-jfINRRWNmlCAxc73MJaoFbJ6R8HUNHp36atNHLaXkPeli_QpYWz1WGmG64T_TUqOghOarNQhyTFtBQeI9mbmXFaMFos4IRxQSRpdEFSmFJGYQaSnTOL7i_EdWraYJ1TOM-WEpuDnL1xdOb09BFJ16ACZq1zC2RLlJKjjaJugS-tSSSZ-5VR-Us1g0KlJA5WICq4PQpvmHLi4y9r-3jGREkO17DCp2cA6nEOFpVgPuEWQEUCGRswmEfuG6rO67zJyV9JwbLIJ7tldPArsjKm3xtwDmpz2Vdt8pOSg1268mLbWBlJ1lLeGYjGcDP3pHFUMGWNqj-obgzIL-42sX0TN0xytTkDIdszgfG6Ry-8_UF3JzqLNURqFugLyByeeGTjQX5qo8wNPDQQPPacuifbzQYEamtRHZieRTgOX0KipvRFKDa0gWYcUJYJZ49weI5txhXTbpw9unyrjTJq4-3mQGCAOtW0S1TMqLLkKy0kRuT3n7GSRRu4wdUlTt5o6mnIuy90csRjuwgcgbHYqvAlnvMSR11piERccUAjcUESwaX5xY0mBSkPi7XnFKXxefCpBh6tfuSQDCzYYOtvctbOTOnVq7NnlnQh4HxtaDmsO3QVlHpLADevLPj5wptQ4Z4vhhCggz-BdFAREjC7rPXEUv832YoJYN9iGk5b5AfqAEm92xRa_YpvABmh7HofimEGnvTqwWggkrXX-LU8JoXckV4nikBI2o-q84JcPw80sL7K1d-Y723Ngv3nibl5XZAWteKamDqGU30dmd9NRCAiVIdWok50ti4eTaEriavy_6l0pb8zWxUdVPlyW4SARsC1dxQsXE6UyH8Wsi0NLSm37VQUh1nUMIwoRF5YOWV4uw4JkRwlFysm1QbJ4TXBaM6VFjEfdegAv9c4mGQKA-I34Ukzzi0cad0sxCikS8pxAI-kQdtUcBUVep6RrZ6L2r_mCA-6rXHJVJyEsLRC_lJpkpc9NDtm-MErk0nNhXm_sC9YSeA5U-e2yJFqDwnm61CvhCv2os5w7cn6wufGEIs4GOMKaOYC47ItZykf-ZCFjxMoJppuIEPsDD6h0Rp6K89QujbcoIEnzOqMBDq2tK0NmBM0BJQRjD9EMr6nocDIzI0iNcBSfdK11orIhZpK3-Ii85SAcXKar5PzfDq88Wqt7ZeC4D_0XuTSZR6MVTbWh7HAi0bX8ROUxpnxMvUS5OEns7Nif_66C6X7qAIu3kAkRz52sVX-Y2cdvSRv4CgaX-TyjAnLpuIJpkZrFCgnMsLvFtZUL-K4fgc1jgz5HCvkE47kZPhPApfDxWZK5Gf13JLS7-KVShMnqQCiAyOWIDHCpFHJu1WhJG1wPrh5Bib_TpsDL8Altj8cbU_IWePd_MNyacMLfTEJYBedSZjbeFMEHRzZsLls06vSCuVtL4OoH03D8WmrcDPxk4RG42JTeNsA1oVblmsWXVfQIaFXVmkHX2ioemJNLONEMpkIKDw4RmWHma63Zm76X5pH6GZJF_tFDUjtMSbvDDIoaBAois_FMtfMexuNaB1xd_0jw==",
  "id": "rs_0f06a08ad925028a016ab41f7e768487d0b04b8194a8404a8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.15},\"note\":\"The white toy has been released in the safe. I’ll park the left arm clear of the opening while moving the right arm above the brown toy.\"}",
  "call_id": "call_Pg4YnwDhQwB0sgMntaIwVyo8",
  "id": "fc_0f06a08ad925028a016ab41f8044e887d0b5ae1ddb64b68c39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pg4YnwDhQwB0sgMntaIwVyo8",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1913, 1.1007, 1.0317, -0.8742, -0.2993, -0.0959, 0.9963, 0.6891, 1.549, 1.1404, -0.6189, 0.411, 0.5194, 0.9996]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1971 left_yaw=0.1109 left_pitch=-0.3242 left_roll=0.2052 left_gripper=0.9963 right_x=0.3381 right_y=0.1917 right_z=0.1352 right_yaw=0.016 right_pitch=-0.3143 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -3.5624, 6.6803, 1.4676, -0.0757, 0.1392, 0.1148, 0.6632, -6.612, 8.6906, 1.4921, 0.3541, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260d46d7de536415ea9b845577e023be102f2cb71657920805af9d3c065c699a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742db8bfcd7d4818aeb091fd27e1b6149f1ad38e26b7f53df814ea17d2d64114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cc0c4b138a1f61ea8f48e0080c0796cad296afe090d2a3e5fb9329673a3029",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.807, 2.4256, 2.4123, -1.0946, -0.5583, -0.6193, 0.1425, -0.0219, 0.8135, 0.6056, -0.6067, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4596 left_y=-0.3395 left_z=0.1454 left_yaw=0.0158 left_pitch=-0.2926 left_roll=0.1462 left_gripper=0.1425 right_x=0.2602 right_y=0.0013 right_z=0.1327 right_yaw=-0.0012 right_pitch=-0.2262 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.4718, 9.0462, 0.5592, -0.5543, -0.0122, 0.3639, -0.0342, -1.2923, 6.9538, 1.9121, -0.0122, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.4126, 2.0167, -0.7963, -0.5808, -0.6418, 0.995, -0.0219, 0.8169, 0.6056, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.3233 left_z=0.0465 left_yaw=0.0666 left_pitch=-0.3309 left_roll=0.2119 left_gripper=0.995 right_x=0.255 right_y=0.0015 right_z=0.1271 right_yaw=-0.0007 right_pitch=-0.2582 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -13.9145, 7.5556, 0.823, 0.0122, 0.0611, -0.1392, -0.1162, -0.6359, 6.8991, 1.5751, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1913, 1.1007, 1.0317, -0.8742, -0.2993, -0.0959, 0.9963, 0.6891, 1.549, 1.1404, -0.6189, 0.411, 0.5194, 0.9996]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1971 left_yaw=0.1109 left_pitch=-0.3242 left_roll=0.2052 left_gripper=0.9963 right_x=0.3381 right_y=0.1917 right_z=0.1352 right_yaw=0.016 right_pitch=-0.3143 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -3.5624, 6.6803, 1.4676, -0.0757, 0.1392, 0.1148, 0.6632, -6.612, 8.6906, 1.4921, 0.3541, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260d46d7de536415ea9b845577e023be102f2cb71657920805af9d3c065c699a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742db8bfcd7d4818aeb091fd27e1b6149f1ad38e26b7f53df814ea17d2d64114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cc0c4b138a1f61ea8f48e0080c0796cad296afe090d2a3e5fb9329673a3029",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-KqwHXkJJcnWlrQIZ-jXvkTCZCnzh9nh-ICI3PWwBHI_9voEuvu3tYfVwhf8medo9NLbjGw4Ei0pw40Q9DzblwMyHPC-qNq2y0luDqEykWqbqBpZnicfbCYlMHTw5gZoKZwbqDHYmt2fGoH5ur5Y4d1J-CMuHYcE_tKPvJhD_P-zlFtaixgsc8PwBAdU-ZcuxgXsLFjVpRgtoR_6GiqQUTNea350Aq4LwkgNMe01ew5R5fqT50gI6ufg8gNtccE09jQBiwrIIULvZXJ5PH-HcifgVVs4KkC4C41rhm5qKfSAX9GM6YdUq3Dyb8nQMywg65evxBVC96Rm-sujqtXfw6IXZ5Bump3gHAQbcUpSRkJsktwzZLLErY7AivF5fhxfh0j01ywaJHH3k4hc1K2R4QvpLqQvGZho03z6dkZx5jFvXW0KzNJlvYxUPAPDlS1yRBPzsBEyS6VOdrAIe1geI9707ripMmV6TnlZnJ-GeAqOFNo2DA6sX86gQjBf6s0kQ2855JYS6r3L97VXuP3EfBtOIJt_sjyOvgeN6dVhtsfAb5zaqOn3UUH_1wCwxVgDIa8-5ssoAxehMYf0TKVkTYh0HfrrGX1BZSKSQiNRMwEblBkGhpqdVIH3OLigdgatnLJOSE5vjs1hFx-mJwgvLM2DX56qOpkqjoClRuN2awRrqXAjv8mU_csY6CPZ2hrd60xbZzjkOzav1XVMCoGzuxssUIXfRcPz4HjoSpap5Beu2FCe6vimJWuaj6kgXBCUdm8FbLnDmF0wdtx3uZMTxL3OnAXtMjHIByPsAg6nmu7a5jcyTUbw4BRI4ZD26d1mZjQkiZe1skD_iagiQYpFtw5D_SiBLNaEY0LAxyjvA6IJMU5A2a-rtftJ89KbWmHiEq81sFl5uYuvlVp5VpRJSA1_ljdgvbR7CjEtnCm-HFr6BJsP7-xUEVurkJQZQf3mZBeUwVUNxKRZ5-nsvlxnObDm9mFT2jXigxC6pUjNf2CTH_s6gblg_XM7J3ogStgolJNfBw6LEvxdyC9nAHKwVYuvpjFlBM1OsxDVkCvoFFf-rIDm6khl4fOHGSxdgAdrCcKKmSzGbxxz6AhlimBkULPKyejb4yAC03deUpJ6ZAohCAz7coRz0rp8O7jNL9R6TAdRTdYsSScS0sytQhdAjJNn34s2rDu_htyIQv3GFVd30wS-LrQT31Td4T7h38iCCYI39IfJClNwZ6A31MnoGZw6YRPH_xYchCVnM__fcjgRKVInq2eB7GHZmxLFGGhAFAPFftxVVmyAUzFXZFzc3nj2t93li-OpjTlh0O6vaAxsGvwQON9kgk5IfoQq66rEFyLX7bNZDSig1GefSmopjIZvbxPi3jOea_yIeIU9kxQ7vRtD1GeZySB22P07h1m8YubT0cV_rznKF0um_78W9ZJS0Qvpc3lRPBlywhyAhzsX9i0-jJGnLva6lH-pWAAN_mb_RhpfR4jveTMV6hlSoUeLoil-CzArPtFHpJBVPaDiuvKAHl5uQ7TRsVYYAIT-5R96ihnRuRn5ES-pphieLDjYrQEWYZuUdWopX4gaU0VWNHtQLYa_9Z4nfVYqPu8R0fJ01Bi33jyGd68MY5isfhv-m_D5AwsOqL3DrRT-9eNEl1Qv3EQsL_YRfcDgiK6dRjNNt8iU0REN-NmTOXwVM34Otsv50u-6D265tiUudGuhe31O3IEKwweE-ssrZMtx--dTaImcl0j8cTrrc4VCbsgOw4iLkGUEGAmO34tgpFCtPQWPvDCsXyEpgmm9SQivn3XCH1Yf6UGKP4iS9d2mjtBiGbXNPH-gwt6Eo3OsvC4pW_rEXsuJsQZwWRBU8uWlv3tZg-SmEXmXh75G5Fx1_XtNQlepAhCfIccybl7bxPD-hM150fFOwC3XW8Fd2wnv_jx-yWPN3mqRjvGD8Ol6bYYQXmy-d4QZQIYe9JkG8MVfZd7RpdOrFf9uYOePgdOhauqc5zUk3qGWfO3u16gmTAoLBIsdObu4sYJjMK758BoqOIUqnpVnwzCoLesHDPRcQoNBQMoLe2s6L8v-jJzXJraTVv6fBWFrzRKUsbGMji8JXsifElOSX8Qj6m1hW5uHm1pF5c4q1hrE-m-yeF1mFwxz9WpTnj8B8WnlNHKUhEp7v9WOVlZahEfwk0vTHK3T4sBef_vNQB9NIVFj1RT9Xsl3thJTp-Mn97DbqjFd6RFr2y06t7JgOU8Bvytv1aVfFZ5o5LKU3BSrhqFb8iMrvsQ4xt2LFnCAbxVzfFHGwPRDHSNw_5crVIBtWHg6YR2N8ezpPv8TzbNP-jfUzQYAe-iPsIsMtrqxa1AOTOUgR8QodK3OiAHj0GCYHNxxSe-ZdZNuV-z1iqwLZYuPs3P9vb4TojpmvoDuzW1olZoIEis6kY28eTC-ZEZr3mhhXdEIPdNQVn9jtiOlXE60KacSRaPmEVWy8dA9fLDWgwnIUwmafUGleuu8szu0wAPSV68cAYMIZpTQz6JpD_j3MQJh7AmFtIfruI7Tf3XyAfZ2BGHW912n1pVMVC1RqA9xx4PSxXnN9G0PmxoRn0xESno9ph3wIIHEmJWhPEP3qdGwhztO1O8TghdTiXU6-dfX7GMedf2AG8lA7qFBcH1QAQyVX2HjvyJJ-6jKzgRWiIeCaR0hAgxtkTqerTuYRXcYCjQsA2Fo1aRiJWlhPy9XwSSbh-7NI5vlFGJ8lattJNEAGnJg_HfByBRsOSIC3JtGLOrAFg-dnvLqJcEuGg9agMbsaclSCdXB-tf-TEV1eI0NKmi6vsI5oCRzV1oJrL2cpT8vhxL2tpqJujToIs4K71ZNJ6kv-IcyUX31U1OXU5Mj9DcaPjMLZnkeYEWrr3QCs9SYyGgEtcu7STvHXTZXb8hlIolmNH3OMu5jo2nr223q8h9Qs_JovVJI4Sy3QJSVvF5svi",
  "id": "rs_0f06a08ad925028a016ab41f859fc487d0b6f1b02ebb2bdcbe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The brown toy fills the right wrist view beneath the open jaws, just in front of the safe. I’ll lower the right gripper onto its body and move slightly forward to center the grasp.\"}",
  "call_id": "call_ewZ4XVP0btyFKjzOAO6mLCqt",
  "id": "fc_0f06a08ad925028a016ab41f899ad887d091859100f709c457",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ewZ4XVP0btyFKjzOAO6mLCqt",
  "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]: [-0.1894, 1.1042, 1.0317, -0.8955, -0.2852, -0.0944, 0.9964, 0.6926, 1.7432, 0.9661, -0.3107, 0.403, 0.5201, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=-0.0015 left_z=0.1926 left_yaw=0.1025 left_pitch=-0.3515 left_roll=0.2022 left_gripper=0.9964 right_x=0.3421 right_y=0.1985 right_z=0.0372 right_yaw=0.0115 right_pitch=-0.3657 right_roll=-0.0662 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -3.2889, 6.4889, 1.4872, -0.3101, -0.0611, 0.0024, -0.4991, -6.6256, 5.6684, 1.3211, 0.3492, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7972be9a6ad70940d6320c6097b322f0b463aa5950656ed72da7fb7853fc25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c53fcbf0108b67a691ea672de34425b0208d16fc1d91d3ebb487f7d23be9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:123ae3f28af3a63d507430008f4b3058bca94920e01afb7deba12dcc337c7cd1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 2.4126, 2.0319, -0.8108, -0.5476, -0.6292, 0.1448, -0.0219, 0.8165, 0.6056, -0.6205, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4473 left_y=-0.3313 left_z=0.0475 left_yaw=0.0325 left_pitch=-0.3551 left_roll=0.1979 left_gripper=0.1448 right_x=0.2577 right_y=0.0014 right_z=0.1296 right_yaw=-0.0008 right_pitch=-0.2429 right_roll=0.0078 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -14.4342, 6.106, 1.0769, -0.4322, 0.0513, 0.232, -0.0342, -1.388, 6.8034, 1.6093, -0.0464, -0.0708, -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]: [-0.1913, 1.1007, 1.0317, -0.8742, -0.2993, -0.0959, 0.9963, 0.6891, 1.549, 1.1404, -0.6189, 0.411, 0.5194, 0.9996]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1971 left_yaw=0.1109 left_pitch=-0.3242 left_roll=0.2052 left_gripper=0.9963 right_x=0.3381 right_y=0.1917 right_z=0.1352 right_yaw=0.016 right_pitch=-0.3143 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -3.5624, 6.6803, 1.4676, -0.0757, 0.1392, 0.1148, 0.6632, -6.612, 8.6906, 1.4921, 0.3541, 0.2125, -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]: [-0.1894, 1.1042, 1.0317, -0.8955, -0.2852, -0.0944, 0.9964, 0.6926, 1.7432, 0.9661, -0.3107, 0.403, 0.5201, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=-0.0015 left_z=0.1926 left_yaw=0.1025 left_pitch=-0.3515 left_roll=0.2022 left_gripper=0.9964 right_x=0.3421 right_y=0.1985 right_z=0.0372 right_yaw=0.0115 right_pitch=-0.3657 right_roll=-0.0662 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -3.2889, 6.4889, 1.4872, -0.3101, -0.0611, 0.0024, -0.4991, -6.6256, 5.6684, 1.3211, 0.3492, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7972be9a6ad70940d6320c6097b322f0b463aa5950656ed72da7fb7853fc25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c53fcbf0108b67a691ea672de34425b0208d16fc1d91d3ebb487f7d23be9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:123ae3f28af3a63d507430008f4b3058bca94920e01afb7deba12dcc337c7cd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-MiW8kwKcKv0mKGEkuSO-syvmGupU7VSfsHA9WGij5jcDybbCgyoBMtXp59PdKoswaRwsNwCePjNqFFyAlfS3Vmzhr8rGLmY5JcXwJm-02FnS5GZdkTCPPdYpk9FtyBo3bFya6L8qotlEWXAMgR7fqR5CE-QSeTU_wi0m2xP_HO4DkJ7tTzNmAX53WmuoYa3Bly_JpiSirqQ_IIaNi4z_3-7pEnE-sCLYATGohVWTb6jcVOQS6wxWNB19AsvZ19RDdaGsvxKofRCq8WSu092aVTETzw2M9W1oBDb_L5_IpHJbkDF1K-nmpgro2fOQfHouZDQTpvSCf8sJhoJKy1tvco7RtE00mWc9S-EA6vD9GfCGal8evlqM6K7ORw9y8ExBxmFti6ZXx-h3b3BWLwKlcD5RA5IXBT-caIZPAYORN5uQIG9fkB4u_kYADVU9Ii0TMX619qlII1aF5x8HfbapifvaYe0RYhVUaA_XXS9UF3YshUcaITtCSzEMBWO27U-izKJlBn8MHZWdwHlToKk1bqSKb0WVBo06O4pb_A6Y7q_RYlIFXzL-ygOkOT_HPYxmilSL5eqC6ueyzDz_8jWIMGgNGQPvnZrudq-mkXYkCrEUsfc8Itxu4MQGThNxo6K4Jk9Pd5aOjq2qw97vV5JWflxr1rbuQjD1xaci4FigprKlDgVO8mKVNw_1o9ejJI8RmNz01jJNPKgltpfQXWBVmFIMXu1rvPooAmzQV9YeMPPFzz_SjTqYzVyq6KACdk23oG0oCsfq__0rC15vfYhkDGCCn-SU2zJrBE7xMef1VPGDufczgIUYKZ8qx9QI2mmn3VCIf6Pipm93CtlCFwFzEWSsveXRkPrab3_F2fGt9a3WwgFQR1I8QlNBXi89mZyjjNqmZYfzH4alw2I0AsQTXpgpalO19JF_QhDKhOpMX17BsWuzw1-wqMMrJn45WRsoLLEH6IyghLmn1qMaFq0C0rJUVsvVmQCqm-itPl3bq2IpBGiK_835kdln2MMsCB_jOy-n77MkcyPj3t71xy5sB4eZedvJap0UV0LTuod9R9nZJtXg4ce1gBlCgpXjLMA9-y-n54L33kPeofjEQ7Li0LSRUvVVDEovL-hJfXg07V5b-vLVuVUgJJZyep9lPkS1BtjszTbv3f48LLMoWIbG3itCzQUMVbv2Q7M95TJuzd8h62D_w6lrF14jmJJTA0hoQZERHyOkxXB1knR5DzI_hdtnvmUYtMQ5VbKieAdRQvnpH7LvdCfTqBcJzUqwoORUdAZnnoccTakgjvW-sqJ1IQmb_MS2yvLmVJEBY1XixffMMQ_3_pehH3WSWj06tXt-bu2A6MbeyL63CxWRFNGVwmA==",
  "id": "rs_0f06a08ad925028a016ab41f8be6dc87d09d54d4fe573ba12b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are low around the brown toy’s middle, clear of the safe wall. I’ll close them to grip it.\"}",
  "call_id": "call_hXMVGFQzbb8iz6QxVfZFCSlm",
  "id": "fc_0f06a08ad925028a016ab41f8c39b087d0bd2e5e27847f57ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hXMVGFQzbb8iz6QxVfZFCSlm",
  "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]: [-0.1894, 1.1042, 1.0317, -0.8993, -0.2848, -0.0948, 0.9965, 0.6926, 1.7596, 0.9562, -0.3016, 0.4, 0.5137, 0.0164]\nstate[eef_state]: left_x=0.29 left_y=-0.0014 left_z=0.1921 left_yaw=0.1028 left_pitch=-0.3552 left_roll=0.2028 left_gripper=0.9965 right_x=0.3397 right_y=0.1971 right_z=0.0288 right_yaw=0.0134 right_pitch=-0.381 right_roll=-0.0795 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, -3.0564, 6.6256, 1.3309, -0.2173, -0.0366, -0.0122, -0.3487, -9.3607, 6.4615, 0.9597, 0.2125, 0.0317, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c218d05fec6809a644230bc0b6a61a7546557e584777a3b9d8111dac3918341f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057e18f0c5e4d6f0dfb7dbff906778189d16894c98dbf422fd09305b466bc4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95fdae0530f84682c33e5df55bee2744f35a1d8d4657ade91cef28c292a537ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.4126, 2.0167, -0.7963, -0.5808, -0.6418, 0.995, -0.0219, 0.8169, 0.6056, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4519 left_y=-0.3233 left_z=0.0465 left_yaw=0.0666 left_pitch=-0.3309 left_roll=0.2119 left_gripper=0.995 right_x=0.255 right_y=0.0015 right_z=0.1271 right_yaw=-0.0007 right_pitch=-0.2582 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -13.9145, 7.5556, 0.823, 0.0122, 0.0611, -0.1392, -0.1162, -0.6359, 6.8991, 1.5751, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.8955, -0.2852, -0.0944, 0.9964, 0.6926, 1.7432, 0.9661, -0.3107, 0.403, 0.5201, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=-0.0015 left_z=0.1926 left_yaw=0.1025 left_pitch=-0.3515 left_roll=0.2022 left_gripper=0.9964 right_x=0.3421 right_y=0.1985 right_z=0.0372 right_yaw=0.0115 right_pitch=-0.3657 right_roll=-0.0662 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -3.2889, 6.4889, 1.4872, -0.3101, -0.0611, 0.0024, -0.4991, -6.6256, 5.6684, 1.3211, 0.3492, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.8993, -0.2848, -0.0948, 0.9965, 0.6926, 1.7596, 0.9562, -0.3016, 0.4, 0.5137, 0.0164]\nstate[eef_state]: left_x=0.29 left_y=-0.0014 left_z=0.1921 left_yaw=0.1028 left_pitch=-0.3552 left_roll=0.2028 left_gripper=0.9965 right_x=0.3397 right_y=0.1971 right_z=0.0288 right_yaw=0.0134 right_pitch=-0.381 right_roll=-0.0795 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, -3.0564, 6.6256, 1.3309, -0.2173, -0.0366, -0.0122, -0.3487, -9.3607, 6.4615, 0.9597, 0.2125, 0.0317, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c218d05fec6809a644230bc0b6a61a7546557e584777a3b9d8111dac3918341f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057e18f0c5e4d6f0dfb7dbff906778189d16894c98dbf422fd09305b466bc4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95fdae0530f84682c33e5df55bee2744f35a1d8d4657ade91cef28c292a537ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-R8w8IpKifKoTuB5bbBbfDA6t64XJ27a7EiuTlwR6d1fAQchHa92oFj39bpimdOIB6yT1mirwsfXmgT9tVYfMsd7h-u2TC_bzn7SaykNC3Ov9yntr9-SHJWBRvj_wG-p12s2XdLglmvfKtO4tfjdt1Cz80J7lRABUctMplXg52ZX6ayL2lJff8u-ZbO8Hp4GrjgxhwQ95SsSl27tz1AjndH207jTrT1VEO9xCkZNDKyViL5dycFiiaybM-eWbM8JLnw-1ojZdcOasW1MNEyRZW5O5I5lM74hjJfyfwB4aNybwJKGz9DotRJzGAux2yFetESXGpdkT_TktqKArtso5OjY8LOwd7pVH8SuYyha3SbtTOLz4fpFTclisVxpN9zYybGVvQBjusKdj0Jv-XqfQwZ6n3WfhSLzNTr1GX1YH1lcz0TzL1IgVTpMdOOzd6amI66HfNf2naMjntIJ_9SBxCAhCA-PmtvyRtBAwE_1HfJ0xddT-DPdDkCMsmZXHolzyVXO8QLipq5Em9kqCTFGdFDzaQ1PadX6Kc4uIFDjIq38MGPJcGNg8bNV9JSU3pD_-tk03lKsZOqukl0_3NvBIKk8kB-5SzxTT6yd9gyG6vREN5VAftkyyQUleBwgW45UuJ8Wwi59iRvAlhG5Qcjc3K02pGxDLfN1OtzA_cyXNmu8liupWgaoZ2FnfL7nUjFuEzuLQAjC0V2YoYXfcIzRm18ygG-KRZkLDBmRqICPjWKfSCSOeXhr595BUNOTCVlo_HWP8cxeY7G7PjUlqTR6Atc61EZzi4P8UILzk1dl4-AVKag8D06TC3zoRNhIZVlEjzbkN7nLRiXDNuZveMnfs0vPgEAJBLcJm2G54KZBBPLpX72BXw6A0Tk4S3Zd2MfYN9rw3MVDh11FHWWcIdamSh0PKqiaxhvXWDWP9ozATq8nv4ztwSHpPiwHwdbJWipXtbXSJXLcTedrfXfc0lxbBiQLFW0w5Xx053qY-019qThNxAlANOCcL_eK-f6rFx9QYkaMtysysjDv1RBJIJEx9EjYcu-Xv8Wms2yY2VbFQlgkWXnANZL0v2kHTxTuu16qsab0foRVexf9VlPe-oP8VPxgaaM8pOi5-XQS-lXoUMzXOTyu3wBbdeWqcAdggUGfoYgCVGigo2AOpnsu3FZssVuMQymhEXm8miM7nK_WWz79DA7r8sVye4fkK31f6cMOYd-CWNXoTfy3XVo6mHwJCKaoQGiBXVmVJCI2VxbRxM6-Bx195R9NLv80HjxbMjRP6WZZwXwqLdWpLbmTj8ECqT_BL_jsM1JGh61jA8dFvRWv4Bl4OEKPtPNn2WmedhzkPCfRTfexf-_8KpGv_YFOMpBLkJDf3QftKDm2zX_XRkoKnQoY92H95JsTxE3CVewjzSgGgheJ0wb31_lc417E9v_SKjw7N1-RIJ-I_nyfCa7cIfuvDv9ZPo6W2zU8M1-1BmCZcqDt2AHkuup9xuSlfoVFKBeZ4LUfbfO8ZE5_evRWcMTqOV3_9jKaAxw_usqjNs3LzyTSD257ugBYkTRuZYpM7nOwAbDYTyv9BE4VwuM12ZULDoaWq2FdTbO1a2S3YnrFYuwstImx_0QR25OR1KYkcU40Me0q05a4HOE6qgqRra9vdKgLj_U6IrS3cP3SPdp6D6-TwpVIxPGepuOQTZJy03x0Lg_aMkHemSi4tLCe2amKWbfZin13KwuHH_eMTo-YPkNTIeDqG1b1QOtPA-cabn3cibev4FBnK58vwivxYv0q9S80qhr_y6rCJ65my4L1WZTKU8N5aZWO0Tg7p-SWWouoLwvwjj29ad_JF7o3e_ADLNsZZwO2e3SsdunTlnByoiTA622DyIoRt48wHSAvVbUyKgJ6GnFwHI_2p8gVKDIzTrPhKQTOl6IDMx-Xvd5XhRHSoc2U7hgKp5TTvyZ2wMVwkX1Nez3pdW_P1sQS6vakMaHSOoX3pVUk5zsbI7_lVKMOA0lzxmLSx79PO8O35PjapVsMcwvq28M9VIwbrAxSgJlXFBvNkfuX1SrkWx",
  "id": "rs_0f06a08ad925028a016ab41f8ea96c87d08ac91da1c0cf721a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.375,\"right_y\":0.22,\"right_z\":0.095},\"note\":\"The right gripper closed nearly all the way, so it missed the brown toy. I’ll reopen, raise it, and move a few centimeters forward over the toy’s body for another try.\"}",
  "call_id": "call_QNnS8UkeaJQmnlm69yvfQzmo",
  "id": "fc_0f06a08ad925028a016ab41f90099887d086ee199f42f03b90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QNnS8UkeaJQmnlm69yvfQzmo",
  "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]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6853, 1.7947, 1.2594, -0.59, 0.384, 0.4965, 0.9946]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3653 right_y=0.2178 right_z=0.0852 right_yaw=0.0229 right_pitch=-0.4065 right_roll=-0.0913 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.0701, 6.4889, 1.2723, -0.2027, -0.0611, -0.0122, -0.4581, -7.9658, 8.7453, 1.2479, 0.2564, -0.0171, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd8bbcb67288054ca67a21cc1706123faec10f49a299d75623aa4b87d621178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb6b72e80d17a309299d0916c9f4635eba2b66769451926d8aa55a1a2ad7893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae9e573ebb130ee4098dea3a189087db8c37b707cc8fd74504beacd7e65fa5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1913, 1.1007, 1.0317, -0.8742, -0.2993, -0.0959, 0.9963, 0.6891, 1.549, 1.1404, -0.6189, 0.411, 0.5194, 0.9996]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1971 left_yaw=0.1109 left_pitch=-0.3242 left_roll=0.2052 left_gripper=0.9963 right_x=0.3381 right_y=0.1917 right_z=0.1352 right_yaw=0.016 right_pitch=-0.3143 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -3.5624, 6.6803, 1.4676, -0.0757, 0.1392, 0.1148, 0.6632, -6.612, 8.6906, 1.4921, 0.3541, 0.2125, -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]: [-0.1894, 1.1042, 1.0317, -0.8993, -0.2848, -0.0948, 0.9965, 0.6926, 1.7596, 0.9562, -0.3016, 0.4, 0.5137, 0.0164]\nstate[eef_state]: left_x=0.29 left_y=-0.0014 left_z=0.1921 left_yaw=0.1028 left_pitch=-0.3552 left_roll=0.2028 left_gripper=0.9965 right_x=0.3397 right_y=0.1971 right_z=0.0288 right_yaw=0.0134 right_pitch=-0.381 right_roll=-0.0795 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, -3.0564, 6.6256, 1.3309, -0.2173, -0.0366, -0.0122, -0.3487, -9.3607, 6.4615, 0.9597, 0.2125, 0.0317, 0.6667]",
      "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]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6853, 1.7947, 1.2594, -0.59, 0.384, 0.4965, 0.9946]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3653 right_y=0.2178 right_z=0.0852 right_yaw=0.0229 right_pitch=-0.4065 right_roll=-0.0913 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.0701, 6.4889, 1.2723, -0.2027, -0.0611, -0.0122, -0.4581, -7.9658, 8.7453, 1.2479, 0.2564, -0.0171, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd8bbcb67288054ca67a21cc1706123faec10f49a299d75623aa4b87d621178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb6b72e80d17a309299d0916c9f4635eba2b66769451926d8aa55a1a2ad7893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae9e573ebb130ee4098dea3a189087db8c37b707cc8fd74504beacd7e65fa5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
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  "id": "rs_0f06a08ad925028a016ab41f92f5cc87d0a89321d7d362907b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.018},\"note\":\"The reopened jaws now straddle more of the brown toy’s torso in the wrist view. I’ll lower them close to the tabletop for a centered second grasp.\"}",
  "call_id": "call_hndlOG5FhH63SXuSCf2YvXeo",
  "id": "fc_0f06a08ad925028a016ab41f94c88c87d0906768f83c133a5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hndlOG5FhH63SXuSCf2YvXeo",
  "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]: [-0.1894, 1.1042, 1.0317, -0.9031, -0.2844, -0.0948, 0.9965, 0.6842, 1.8862, 1.1141, -0.4122, 0.3798, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3589 left_roll=0.2037 left_gripper=0.9965 right_x=0.3549 right_y=0.2096 right_z=0.0183 right_yaw=0.0073 right_pitch=-0.4552 right_roll=-0.1277 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -3.0564, 6.5162, 1.2772, -0.2076, -0.0659, -0.0122, -0.0342, -8.5675, 6.0923, 1.199, 0.2076, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2b6d93384fc342a8016e2b1dc47f9b7521206f1d7eb5de710e871bcbef8ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4405df91e1d39c5eff1910a8473a8f3703c96b046fde855544bbd03df5ea491a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729c81c4ef897312fa4f28a28e8e55de3ee1c48db9476a5c9962c02ad9cdb72c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.8955, -0.2852, -0.0944, 0.9964, 0.6926, 1.7432, 0.9661, -0.3107, 0.403, 0.5201, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=-0.0015 left_z=0.1926 left_yaw=0.1025 left_pitch=-0.3515 left_roll=0.2022 left_gripper=0.9964 right_x=0.3421 right_y=0.1985 right_z=0.0372 right_yaw=0.0115 right_pitch=-0.3657 right_roll=-0.0662 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -3.2889, 6.4889, 1.4872, -0.3101, -0.0611, 0.0024, -0.4991, -6.6256, 5.6684, 1.3211, 0.3492, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6853, 1.7947, 1.2594, -0.59, 0.384, 0.4965, 0.9946]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3653 right_y=0.2178 right_z=0.0852 right_yaw=0.0229 right_pitch=-0.4065 right_roll=-0.0913 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.0701, 6.4889, 1.2723, -0.2027, -0.0611, -0.0122, -0.4581, -7.9658, 8.7453, 1.2479, 0.2564, -0.0171, -0.1148]\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]: [-0.1894, 1.1042, 1.0317, -0.9031, -0.2844, -0.0948, 0.9965, 0.6842, 1.8862, 1.1141, -0.4122, 0.3798, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3589 left_roll=0.2037 left_gripper=0.9965 right_x=0.3549 right_y=0.2096 right_z=0.0183 right_yaw=0.0073 right_pitch=-0.4552 right_roll=-0.1277 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -3.0564, 6.5162, 1.2772, -0.2076, -0.0659, -0.0122, -0.0342, -8.5675, 6.0923, 1.199, 0.2076, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2b6d93384fc342a8016e2b1dc47f9b7521206f1d7eb5de710e871bcbef8ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4405df91e1d39c5eff1910a8473a8f3703c96b046fde855544bbd03df5ea491a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729c81c4ef897312fa4f28a28e8e55de3ee1c48db9476a5c9962c02ad9cdb72c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-X1K71wGtKNbAPxZMdg4sItKB013TGO43mvZWrHXfENIcB0iNV5HLKtRMh9JXOnFYbMdu7cXeDy0WNMv7KYzJczPAcQT8LHANawfDTgnbxHw8YxyabIbGTTfPnAD5TA1vgUsIvzoTj70SMrd6NSwFc-KwaOdn_l0IiKkj8pkNKIp0FjxJKIhJ3vfYi7XmI45E1wC7ks18Otei1Y6kCjcSQXj7j9ID-wzX-qH47nPOvyLeUmdgZZmBIKtbu9WkkM18nRDiIVao_ZDadH2elonftEOn5oeNRu6WlpFdvD5OMNcOkdijUIKV_AJhJTxtcdsvaVgPiE9wZXDUPPClokWVVDUWQjO8GkBNTw0R62pqn3Kn99tCKLJGVT8820Py7i-IUTg6DRGgA66BBtMnIfiiuKZIjjyPxlwkzFQZus9555SbxmRAAzeeitIs9kMpAqYMMfWd498U6r9MxrKnrVgFQ_kxZI9HFMnGjxta6VpIBcGraUV4AtJrgIXJZW_FYE0Obxvoj4x_4d-xHd0VhEbZTX4sm6J1-00mYgeVDMoSixVIWa6mAdrAJshv9OQ_UxEKUEoTzIyD87XeLz_Sd-r0bbBC8xrnt9VDFxFdDjGkfSSSudRF8sJ_jBF9gcjX4TWWv8qH5hzkhoST0z7-Oqtp5q7jHH60xW7k1ZYdqLtXYGSF2rBK3SncEQEOXvRPzCrq77iRCnvQ87S9eSr5asJIiOZoBp7vh6txzTxIH7AivlTmO8OvgM9QbCZeAvZ3Cv7ghjFdY6b7kL50XIZUZtJHqk3X2aHnzFjmfUM3Yll5sGubxYDCIJOoX3C7p9sMnd2E6EdOJ_gS0bAxjacAGM8SDxO0r7_jjpSVWeQ4-su95q4wE4qOB7XbSlUBDuZgg123ZGkbStsX-cvgkpvKEc0UayAHUN6rSNRTaOw5-N8Yl4IRYJEQWshPMbkuxaT0YVB6_2YvKxc0H-JO1qeI-V7tx3N7LhA5m-3kd9oc1wM0I0TF62h-vL5EBh-9kanXPC341wpTbm7m6mQU_wHL_tI0CnINuthqNsRu5JimUg_zbSwySpJzRYDr1cX_wgdtEfqBNOz2uuPEOktEK4RjIS68SPQhWnJgg-pJua7G1BEP-Ba5ZLMa_pnwVUVd7__-XNcJAn0aiWc0dTWjuB1Hkf40L01iXQakRXAtowVKyQqF6pmTWrvL9EjHu3d_46NOJyQHNYT7bZa5ss5POx-bnGyOABO1I_qpPMcwWpFb44OmnlOs=",
  "id": "rs_0f06a08ad925028a016ab41f96dba887d0bd1274f4540265bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are around the brown toy’s body at table height. I’ll close and check whether this grasp holds.\"}",
  "call_id": "call_cK4VbuVUSppn3cWtBLEDmWfW",
  "id": "fc_0f06a08ad925028a016ab41f97286487d0b8329d4f2c31cfc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cK4VbuVUSppn3cWtBLEDmWfW",
  "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]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6861, 1.8977, 1.1049, -0.4091, 0.3775, 0.4969, 0.0164]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3515 right_y=0.2083 right_z=0.0113 right_yaw=0.0058 right_pitch=-0.4703 right_roll=-0.1386 right_gripper=0.0164\nstate[joint_eff]: [-0.0889, -3.0564, 6.5026, 1.2772, -0.188, -0.0513, -0.0122, -0.4308, -10.1538, 6.2838, 0.9011, 0.1978, -0.0562, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a41462bc16253a600442e2ad7a5b3a2e3940d4d3cb78d91d966df258af8128",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf896653a7ee719190c3fbcb5c3cd5cb6f726c329b92a9966d935c96c80f28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07c8e53993ea724eb7c3823d716d2e408de323b6c9efe7ec5dc4de63ace0765",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.8993, -0.2848, -0.0948, 0.9965, 0.6926, 1.7596, 0.9562, -0.3016, 0.4, 0.5137, 0.0164]\nstate[eef_state]: left_x=0.29 left_y=-0.0014 left_z=0.1921 left_yaw=0.1028 left_pitch=-0.3552 left_roll=0.2028 left_gripper=0.9965 right_x=0.3397 right_y=0.1971 right_z=0.0288 right_yaw=0.0134 right_pitch=-0.381 right_roll=-0.0795 right_gripper=0.0164\nstate[joint_eff]: [-0.0752, -3.0564, 6.6256, 1.3309, -0.2173, -0.0366, -0.0122, -0.3487, -9.3607, 6.4615, 0.9597, 0.2125, 0.0317, 0.6667]",
      "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]: [-0.1894, 1.1042, 1.0317, -0.9031, -0.2844, -0.0948, 0.9965, 0.6842, 1.8862, 1.1141, -0.4122, 0.3798, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3589 left_roll=0.2037 left_gripper=0.9965 right_x=0.3549 right_y=0.2096 right_z=0.0183 right_yaw=0.0073 right_pitch=-0.4552 right_roll=-0.1277 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -3.0564, 6.5162, 1.2772, -0.2076, -0.0659, -0.0122, -0.0342, -8.5675, 6.0923, 1.199, 0.2076, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6861, 1.8977, 1.1049, -0.4091, 0.3775, 0.4969, 0.0164]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3515 right_y=0.2083 right_z=0.0113 right_yaw=0.0058 right_pitch=-0.4703 right_roll=-0.1386 right_gripper=0.0164\nstate[joint_eff]: [-0.0889, -3.0564, 6.5026, 1.2772, -0.188, -0.0513, -0.0122, -0.4308, -10.1538, 6.2838, 0.9011, 0.1978, -0.0562, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a41462bc16253a600442e2ad7a5b3a2e3940d4d3cb78d91d966df258af8128",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf896653a7ee719190c3fbcb5c3cd5cb6f726c329b92a9966d935c96c80f28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07c8e53993ea724eb7c3823d716d2e408de323b6c9efe7ec5dc4de63ace0765",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f06a08ad925028a016ab41f99ec7887d0afadc0a9d993bf54",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-fdkLpoLZWbWf3iNRvrBPP7DyTUo5-y9viD-RJ2v82KSoX7bMfcCc8cZQw-YPNVn0YKXrNSeMw8OY918C-ECIl8kT1HspAhc1VfNN2qiP78nWoquWg59G_7exWnTWyUAMAA1B0QoIj2K_l3XUBMrR1h8B7rinV6DLxDT1OcLEvQDU9pkLouCSRwdHaSfLFhMe2C5SuSYXg3rroauZASHDoqfcg1w2JSW7zyZ1t3KA18o_0xjF21qirbbbfODC5IAicapYX9gxPOELwab7YuERfzVcVUpzhOaNdQamx-SbzcUh-iCTxzwXYynF-PfLYYa1phZUCiH5hd6skquqByLWhMGpKlHwFRjVFVKIXOwcA-FJUbw4HEe-dFQnVxf-imnXcg8986RovIrEIUf97_YPFYhjqVvYFRydwuQB5cr_vfHk75FKWTyFcVQkwV1pSJFljko7UEKE07uFLXIwOsHz59w1hGUCJb9dKo9nf-pog8Ii5TaZsNIULekFXK9hO2O7tG_CPbd24sD-TfmiHIPUdAlQrVWZo0XKdEHzTaAGtxL7fNK4K_NiMxVhrJJ3zFUElqCxU9mHn13b_bUFy4tjvzBxIVhfbZ4hIt88zJW5bDzTIWBeIv5G8obauvEIw4Ofr3dAY7eZalKLr2UkGvpdLWSrX2z00rghIumykjI8TVn0ygNgwjq_-8Dz8AIsZnMyzp3NzSTXxnuS5erpEx89KarMlPAoJEUAFdAmlKVdDvQJ5kevu7xgssly2-1RUbkjAyLs146DHO4hPgL845enoBh7GX7H8xIju2RU3X9Ro7Wh38Uleil9BZcqiJ8BhFClODtzzTqUm-8OSVcVnMCNFfyuy6Jz33DngxxY-_o67rmuzyj0Ao2N3PlxPAAgykCO96iHfjYUlt8hMsFV85yaCsy2clgSLDObRwHnPoKNZ5e42pr-kTHx9I-Bt3MNSf-8xIUVWr3HX6N4DbGWN45c--0WPXDfO364wj0w27hvknnes7por7GG5Zj4rDn3HlLBRlr27slHRhe2T0shUv3K2oBPNlazhCrAb1KGlOl8-Wts_QDu0g8gcrm86AElF-U7gYWQHxsVFgAxIsZkxX0D6XZq7INI9PjgkHS24SJvzrCoDR_EqnoihTcR8RbMnjrbJH-I-EWAzha8A0AAgqy4fnfAFeJ6h-ZTjz529Ca5nSTF2QhLc2Por1wlkOwcXSbJGch4Jp_2_cYtQCW3DQi5MXLavTtome3WwmEuAp5gWN-qxQynH4WSDkb4_4YUENdtA",
  "id": "rs_0f06a08ad925028a016ab41f9e308087d0bb2bd5b3e49c9156",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.17,\"right_z\":0.085},\"note\":\"The second close was also empty, and the brown toy has shifted toward the near side of the table. I’ll reposition from the overhead view rather than repeat the same grasp, aiming for its newly exposed middle.\"}",
  "call_id": "call_3NHYZBVonX4aszWrs5QYTvMH",
  "id": "fc_0f06a08ad925028a016ab41f9e72a087d0bb1a718a52aa1375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3NHYZBVonX4aszWrs5QYTvMH",
  "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]: [-0.1894, 1.1046, 1.0317, -0.9058, -0.2844, -0.0952, 0.9965, 0.6792, 1.6077, 1.0428, -0.6445, 0.3698, 0.4816, 0.9945]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1911 left_yaw=0.1034 left_pitch=-0.3618 left_roll=0.2044 left_gripper=0.9965 right_x=0.3115 right_y=0.1741 right_z=0.0758 right_yaw=0.0115 right_pitch=-0.4819 right_roll=-0.1461 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.0701, 6.612, 1.3309, -0.2173, -0.0659, -0.0122, -0.7043, -8.335, 6.0923, 1.0574, 0.2711, -0.022, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741ed3f018c865f097082d0438567b68858c57237b685666557e2d8a71dd6c85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f642285d8989003305109190171f875b5b66caa566db21cbda3a277e3de01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94030fa517a6b630f7e6d802978172a8c65c85e4c51ae29780fc4d74128b5fcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6853, 1.7947, 1.2594, -0.59, 0.384, 0.4965, 0.9946]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3653 right_y=0.2178 right_z=0.0852 right_yaw=0.0229 right_pitch=-0.4065 right_roll=-0.0913 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.0701, 6.4889, 1.2723, -0.2027, -0.0611, -0.0122, -0.4581, -7.9658, 8.7453, 1.2479, 0.2564, -0.0171, -0.1148]\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]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6861, 1.8977, 1.1049, -0.4091, 0.3775, 0.4969, 0.0164]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3515 right_y=0.2083 right_z=0.0113 right_yaw=0.0058 right_pitch=-0.4703 right_roll=-0.1386 right_gripper=0.0164\nstate[joint_eff]: [-0.0889, -3.0564, 6.5026, 1.2772, -0.188, -0.0513, -0.0122, -0.4308, -10.1538, 6.2838, 0.9011, 0.1978, -0.0562, 0.5495]",
      "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]: [-0.1894, 1.1046, 1.0317, -0.9058, -0.2844, -0.0952, 0.9965, 0.6792, 1.6077, 1.0428, -0.6445, 0.3698, 0.4816, 0.9945]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1911 left_yaw=0.1034 left_pitch=-0.3618 left_roll=0.2044 left_gripper=0.9965 right_x=0.3115 right_y=0.1741 right_z=0.0758 right_yaw=0.0115 right_pitch=-0.4819 right_roll=-0.1461 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.0701, 6.612, 1.3309, -0.2173, -0.0659, -0.0122, -0.7043, -8.335, 6.0923, 1.0574, 0.2711, -0.022, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741ed3f018c865f097082d0438567b68858c57237b685666557e2d8a71dd6c85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f642285d8989003305109190171f875b5b66caa566db21cbda3a277e3de01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94030fa517a6b630f7e6d802978172a8c65c85e4c51ae29780fc4d74128b5fcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-kdSW2RPVm4_vfjr1XtMgJgxzJf0EvbMQkEcvI6ohGAB9rCcWewu0myCQH0P4fdPiDUtzlW-m_pZKCC9Ldj5HZWuvXVTca-UhvTyOTFsBBsSy3voqCQiQL884iv5loFWSmp1NueGedj8gxEZgzQRiHazya9d48ofoFfsuHFN00hlWFnLS1WNZO9TFx-Ut9Hh6oehnwe5EIkgzK8jgha8j-SNTBiADXN3WHzhLPdrR8_cInBzM9WauXwPFKKshZCfqzxtIdc-bJef9809CwR_Xe9Ug4BcRWPGhwI0ujBy_m67Bn9bTwsfQGcPH1ftYD4ld7ut932bMpKU6DSteT7VCgW86LArVAEnzCDClG_oqqOwWxH_anDHxtvdvCxLGza9Sj3p4OcEc74RTT2qhZxQsslfHLkijLnGCKaMGCTw1gSPyiyE5aVYC806bAfMwPghHaoD59ncel3zLj_aynzidStVhaevygoqt_f2fdRelGMMoPvviDXepApBCytMx1vh9P-EcJrYdDAYvTV1S_fR-rd4zY3lb0p5yzMLG6Ahqv2Q0VhAJVfLuS8Q5PL_0VkwYCJfw1j-Q8QHicS0cbd8gsYdyeOi74dedMySrzF5pd6Mgvf7Zu8xofnfK7WUqBaHYguxGjfx-2yHteDOmH8sfLv_hLjiLPZubeYeQtexH4pfHqRd1u8O96FizUl1ZNUVdekrNWsN6Hd6QWEEkI_Qrx6iPe2Lj0j3k3o9khevHJq9x5H1WJCs8zSJ81sf1PS7NxTYp51i2E00nLo8FIcuL-o2s7vBFk9_tx-ItbTAC79ENh4BPgKzuGcagzVjkyfthm6C29BZ2KCqbOOHn1v7DmkORRWxBuy1LCokQHu8Wz8QWCeHVA-4MZiPMctJ9sLfilunSfsH3oZdUhvrSMcKW0hGk2D89pcptvPNq8eorQXKAtRkxWsB84J6P_l5H8ChXKzrbiwfDzOIHHx1uxY83W_L6QdCwNJnxS-Pd3-pP4v2_pW-v0yigqtB3QXyKELokk0FASuSLT2JDEUSGHzWwq71745i15xIIJvD27bSVMW5I2AR9EuA9O_AQSv3hBw4gH92ia5PR2r0fK-AYw5rT6u3gIVPSBn482L_X37u2UknAgwTG4MBqRfzfNVQ-By4nmKC-bSMcMmgjCXDuZ3gdWPewhAfyt9DN_4i6jvurKYIrHgg8kB8EastlLe-Ej__aC9l_yhgckLFxfKTC_lhrTy0NXYRe0dhN24U3b5qWd00bIrTyRwYM-iAgXSrQ68JQUqEiQ-D92urdBZk31TZ9489_WZ9bpm0zJ2sET3UI34dpY-sKcKA38ov6TFu3An8_wqc-VV7vMy1fJ5UxKJQAUNdNMfVwn0fWQ0j61pxk_7raYBoTeKZPwRBgYrY-qcjp7hxCxvmeI1TdwsnNfRTB9uQX6jhenCV8TyidYoK9e753fDGrPipG6CDFB5etUg_rGoWBsfevZ5NAthxmH9ABPDHJSBsYaIKWohXjPAKsDlODKFdDVnhVnCeqUWgZqwAxgAocr29oKczP4oekwONMOofhLP-m7tNA2aOLye_bLoIoRrsdk6--nPAc8Eiy13BtL43EOH6htRNlLmWRLyKPngCGNwrJZf0pnUu9fq0faiVpxIiteBdhNTUA1uE8FViNCtA6Cj4kr0vVgqtQktfozNU267YEzRdu5njMJQvVItVla6PCoFq73Uk5VpGVKAfuC6Mg2B76gu2-QEg84wCU5bQWInqes9ym3nfbf7xDLmxTM_aZW0O-AwFXmkyBXx71bqk21auAyy1J3iQgQLMR8yINiQhcac8ncAhLWc_atSWE5uqaigSWugEwzhQN9CSzVVLSJHYmhKTT4fygI4ZwW_aiN7EMcsUofzIf0wEp2cNgEQ_0BmIQAjj9Canqt4OqH08Dj62QMqOVgSOLoLNp2UEx4SEbt4qSxcADRpqIkYT5ppT7BkNkLIOYikS1Kpz9fxoDT0vuN-nCx3yeDGxJcbSumWz939T7evRSUryl-I-jaKVAL0W9q4LkOa8mcUh2T1hwRr4qcXOaUBM6KWc7kTg8fFMwRg5o4QWatdP_0hZMHKbNQ-RRlySjisVuX6N-ar4yj0-Dkjnrstpo4-CqpJU9q-2vhltQDUwWklxu5w-Y=",
  "id": "rs_0f06a08ad925028a016ab41fa1900c87d0afe17557624a90a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.215,\"right_z\":0.032},\"note\":\"From above, the brown toy’s body is below and left of the right fingertips; the wrist view shows it close to the bottom edge. I’ll shift the open jaws back and left over its body, then lower them.\"}",
  "call_id": "call_xljzhmsthEbYqRwLsXWnfYQp",
  "id": "fc_0f06a08ad925028a016ab41fa33e7887d0aceb6f874b98ba39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xljzhmsthEbYqRwLsXWnfYQp",
  "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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0978, 0.9965, 0.8314, 1.7119, 0.9924, -0.5877, 0.4011, 0.5926, 0.9953]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.105 left_pitch=-0.3626 left_roll=0.203 left_gripper=0.9965 right_x=0.2784 right_y=0.2083 right_z=0.0325 right_yaw=0.0365 right_pitch=-0.5247 right_roll=-0.187 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -2.9197, 6.4889, 1.3065, -0.2076, -0.0122, -0.0122, -0.5265, -7.0359, 5.5179, 1.0134, 0.2173, 0.0757, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4b184713210fb6e2426a342949c52f27893cd0fa0b49d32ca7ddce1aa5a78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ccc4493fa4720e8ccf9f99f2ad21adad5db2bd28f22c7ae0547aed7a2e50b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5474b8b3cc93adb1be3d88276166a80f434ca7c60f952ef8390debb08459b6a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.9031, -0.2844, -0.0948, 0.9965, 0.6842, 1.8862, 1.1141, -0.4122, 0.3798, 0.4976, 0.9953]\nstate[eef_state]: left_x=0.2892 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3589 left_roll=0.2037 left_gripper=0.9965 right_x=0.3549 right_y=0.2096 right_z=0.0183 right_yaw=0.0073 right_pitch=-0.4552 right_roll=-0.1277 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -3.0564, 6.5162, 1.2772, -0.2076, -0.0659, -0.0122, -0.0342, -8.5675, 6.0923, 1.199, 0.2076, -0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1046, 1.0317, -0.9058, -0.2844, -0.0952, 0.9965, 0.6792, 1.6077, 1.0428, -0.6445, 0.3698, 0.4816, 0.9945]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1911 left_yaw=0.1034 left_pitch=-0.3618 left_roll=0.2044 left_gripper=0.9965 right_x=0.3115 right_y=0.1741 right_z=0.0758 right_yaw=0.0115 right_pitch=-0.4819 right_roll=-0.1461 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.0701, 6.612, 1.3309, -0.2173, -0.0659, -0.0122, -0.7043, -8.335, 6.0923, 1.0574, 0.2711, -0.022, -0.1783]\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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0978, 0.9965, 0.8314, 1.7119, 0.9924, -0.5877, 0.4011, 0.5926, 0.9953]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.105 left_pitch=-0.3626 left_roll=0.203 left_gripper=0.9965 right_x=0.2784 right_y=0.2083 right_z=0.0325 right_yaw=0.0365 right_pitch=-0.5247 right_roll=-0.187 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -2.9197, 6.4889, 1.3065, -0.2076, -0.0122, -0.0122, -0.5265, -7.0359, 5.5179, 1.0134, 0.2173, 0.0757, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4b184713210fb6e2426a342949c52f27893cd0fa0b49d32ca7ddce1aa5a78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ccc4493fa4720e8ccf9f99f2ad21adad5db2bd28f22c7ae0547aed7a2e50b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5474b8b3cc93adb1be3d88276166a80f434ca7c60f952ef8390debb08459b6a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-nqMW5zZ2EbcrKMQUrjWc12oJM36A46-1wfy8jcPfNJX4OMmolGFe8fphIP8pk2UxOOMVdVNSi-qm8b7ztor0J23OjIZjAJFLL6DgPdfz_b6My5d0yMDjzjtbG4hGsoIK7jB0Uq0ZraDBemLhjrVNPlDhDWPZIO0-qB6SV1ZCtp8VQHo_7GSmkGdG6XLMAsjGdCrALS4McOi11ZSWP9DR6I4Z0B6hMFUIdvm8pWaJzETBZL1GtR5hXwBgJKiHH3lruEWq9JCPoCwssBQ7Sld0GIhckj7meajcHIlifHFmPDq_I_ySIrvEaZahUaOpxJgkhFfizyjdJmTZL6SDP5YobTHZXfZqVRkwraSq2aaS6v15SGwlw9sr8MumUkRdmUyKAbsJRilE25sHTCaUj7w4v4cSiRZgL1Xnv_Gi8o37qckP8KCRxHSebgho3Lz88gZwM0tBXe1-QXXVHj0hoZOxlwnWhH-KlGlfmgO7JMPADe4af_FG-21RmdcfWcgTIgoGGve-Vo7EDWlvFn_iQAqnvH4T7i_rxPO8TXzDdKu1yFxN69CYO4zQYAEGUVpX4dwDXwihukBAYfdib6mlU67DjPvcr9Eabr4eIZ9Z8MSuuVZqhY4a1Fgvoig-gAMjJdCDfN8hD4fdTTaqWmWv6E4HCshtkkAbcAMOExNEsBgor9FuiwXtyB3rJ4rdsOYdvjjpMDTj-9y2vLaYnBYngulzV0lXtNOHAoVGJbq9qBxijg-uUKqoGRzb35j24Y16BgmjmxMC1M7fPUz8h9iDf4M87PPTgm2lfmt78I74k8uyRr4l5O4pNniX8wM3r-9MiXgMBW3w3dvRkZmkFn98rpbncylpIplchiDK7DOmxY2Odh1mCJfjkr5rt1UFvtjlxpxx1pAIiTz7rUPxwDIJfb8zI0O9xlyYSdde-7bbi--i786LTqrM0tRScNpVzQuOdQfv9Rw5HabvuvqSbHXBBzwy_vdT_tRe84nTt5e3ap6zkZOzNZDUyLYLBqZiqDgPXoelWfGheYW6Pcf40ygZj9eJowEfQx7mU7AlME5coX1Tdeh4jrEVoFsCKP5ryNGUoox_LSwyKCcJT4s2inDplhVkPoY4qvYLFO5iSPnCLv6GVR19-jC3WX9UcAlf170jYhI08yuQEXJs69ccFBtDS0DZAWj8X2hmD46Y2H6ltc0IxohPGrX_UT4GiL0yoY7ZS2p7mANena42JhZAkiETXKnH5bkzWp6CjtcfRLIVuOQBuQQcpJFuHoZdfgB3lIM7-4qiKxYs-qngHZ55sDH9kjOqDNA==",
  "id": "rs_0f06a08ad925028a016ab41fa62ba487d0b13730564bfd5ca8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy now fills the space between the right fingers, with its torso directly beneath them. I’ll close the jaws at this corrected position.\"}",
  "call_id": "call_MmhARlKA4cbwSaDpQmRwv1CS",
  "id": "fc_0f06a08ad925028a016ab41fa672b487d0aae92296b5cdcc5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MmhARlKA4cbwSaDpQmRwv1CS",
  "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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0982, 0.9965, 0.8337, 1.7168, 0.9928, -0.5877, 0.4004, 0.5846, 0.0095]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.1053 left_pitch=-0.3625 left_roll=0.2028 left_gripper=0.9965 right_x=0.2777 right_y=0.2088 right_z=0.031 right_yaw=0.0424 right_pitch=-0.5292 right_roll=-0.1943 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.8786, 6.5436, 1.2821, -0.2125, -0.0317, -0.0122, -0.2803, -7.9521, 5.5863, 0.7497, 0.2125, 0.1001, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a1cf80d8931ba779365cf3c3c3fffe755df221a4af022b4a5dbe8a416cc508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b4ce96c99c5fa325770e2e5d18835a0f00f449417a142c7637085fc29cd224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc020983d0f14e75a493b61debd14612884381d39e47486c1f0e932dde088252",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1042, 1.0317, -0.9028, -0.2844, -0.0948, 0.9965, 0.6861, 1.8977, 1.1049, -0.4091, 0.3775, 0.4969, 0.0164]\nstate[eef_state]: left_x=0.2893 left_y=-0.0013 left_z=0.1916 left_yaw=0.1028 left_pitch=-0.3586 left_roll=0.2035 left_gripper=0.9965 right_x=0.3515 right_y=0.2083 right_z=0.0113 right_yaw=0.0058 right_pitch=-0.4703 right_roll=-0.1386 right_gripper=0.0164\nstate[joint_eff]: [-0.0889, -3.0564, 6.5026, 1.2772, -0.188, -0.0513, -0.0122, -0.4308, -10.1538, 6.2838, 0.9011, 0.1978, -0.0562, 0.5495]",
      "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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0978, 0.9965, 0.8314, 1.7119, 0.9924, -0.5877, 0.4011, 0.5926, 0.9953]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.105 left_pitch=-0.3626 left_roll=0.203 left_gripper=0.9965 right_x=0.2784 right_y=0.2083 right_z=0.0325 right_yaw=0.0365 right_pitch=-0.5247 right_roll=-0.187 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -2.9197, 6.4889, 1.3065, -0.2076, -0.0122, -0.0122, -0.5265, -7.0359, 5.5179, 1.0134, 0.2173, 0.0757, 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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0982, 0.9965, 0.8337, 1.7168, 0.9928, -0.5877, 0.4004, 0.5846, 0.0095]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.1053 left_pitch=-0.3625 left_roll=0.2028 left_gripper=0.9965 right_x=0.2777 right_y=0.2088 right_z=0.031 right_yaw=0.0424 right_pitch=-0.5292 right_roll=-0.1943 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.8786, 6.5436, 1.2821, -0.2125, -0.0317, -0.0122, -0.2803, -7.9521, 5.5863, 0.7497, 0.2125, 0.1001, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a1cf80d8931ba779365cf3c3c3fffe755df221a4af022b4a5dbe8a416cc508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b4ce96c99c5fa325770e2e5d18835a0f00f449417a142c7637085fc29cd224",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc020983d0f14e75a493b61debd14612884381d39e47486c1f0e932dde088252",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-tT0hU5Bt0ZWbBwHU-gP-agnHiIGaXj5H4tk-Tvqtxw4xzEo2Al_yG7MjRXGJmDxMkXKLmB6AvGLxnIzpYW3CdF8lgcUKVSbUQdqAI9ZrZaDDNmLTmJUllAjupHNZisBBsXp-_nAL-5IJgtWBuosRucbOmu_iz6F9dxpZkUp0KMCBXGU_dc9d7ukRyVE3mNMSIqPZ2Os93tB6MbHxjxnVK8RxPw_bVcXLCDULg_Lg5pV0PG4OBEfiDOcsocqpVElFhwcCz9y6nye9BZ_GPHzevCba7n8thiBCvElX-g-J1eXwNvjnbOp80WA-YgV1Ir5YmkKDUCqkDtd3VW5mAoZs8eVECtjjB60TLRpEl8qBLvgbnu_FqGnGI15U7C5bCBZu6bup9oeJjeRaTq3ymFcCh8FYdGiuIiEL5PUnF--0D6m8vqP5EqA3ledkSf-U3XmS69FMb_VsDKhcB974b2hUDt6NymW6Eu_Lz7JxRd9aFgnAWIM-9NQ6nurF_cLelq2pfU0Zn-tTDTkM7QKgmXbv2io9mfGVhuvZi6REBSIOIoBFDohCOJplcbxb8ExoclrwJrEDbjWcZ-Q4nfpQTv97D5mbLH0JGqwTlYIvi9z4bVpMzt7252LpWe-GxchaTdq26dQ2E1UQuLbtlQXmSPIeb9ydQmX4S4qGjUlEzoe117TaT_CYn9uCIyY7Zhi93tHWEMBM3G3dQBCcFIUEOUGiJSjzQABnP4YVs1NkUDouOHGJR1-_eiZ6r5_ZhqaM6nW-1iv67Yem4X7vIIUcqXlPI5Ixc5a4NKmyTr9O9cvtipH0LPBeBY84Ag6amaYF-3uz1GmOInY5LpG7TfLLbvlZlWgL26dGOPz2R07iN2uYbHcbI-5uqoXdOPTmNIZHnH7eRFsYTkm173JUu2TU9z6y8vp_VHw92KdcWitS_DgIXQpcKA6g-j6BOLIIhn-zXbjQeZ0_uV2Ka_osTdb_6D5oo8wg_DFUGKXjV_R8LKATNR0Mg2Kc8A4maoTDicdoAtU5N93brNTpKf55uLEE8dtS_kBgNM7sHSmoIcxXdX0YxbKhMziBsqyBhx0RzuqpGSowhW81Upvv-DsbNeANZLc6UneWXZ_r-XHSlS5RWyq61ApMJrszX7FAOgl7M2H75RJB-tlLdLNJ9DbKM5UYEuOalx7wX1WQ0M4D1LkGVPvGe3MzYTljRxJeeFj7tXN0AS8LB_SPY61hqIGvFF8F-IQmzSw1gis12dWsDY-hwUnatcZGfQWKyCgPf5SiYKIIi0UexPggyAClVmFu2caIGRvck0b49SIJnzYN6kS2pvcBvlP2YSctbjbJRLFmcFJzwi4epvwmQXBOUvVy9rR5jEcz0dJSYeBSEOjnyp_vG3ITMtSXnrJvigh7HYLme_225EdJVIJyEPeGPwSls3lJrYNM1dlgNaVq5LZ5X_NTFkt-QdMMl5ZDunE1bhg2xpcdbCFE9mwwJQatAhO2RTLxpwdXF9GaKpCwRjrvinNsS2T9Cy9v2mSZHrU6X5nY8VZZqhK8Jn41ZdksBUJ3EJgUeEBcKGeCIZwSU8w0KBbN93BC6C5Ziu-Pr2nkKLMh7INAPWnjPK54W8WHZocYoM1BYMYiXS8PwzxYBCuvz-NcFF7a6O3hmf-HjMUFDSpws8RS2zQ_3KWLIMsJYJ8u1vEWVAlqK6DOYd0tQqFy9KEzbvn0u4wK2JyXK9I4mDMeGDcpwZWIjPgLpaMtCJjT78bUZgbRJ1XyBy3AUP4NDLMaCVFahKkeQ6K62sa36PV_vKnDky3NnmkW0aH4PYMt3x58RpiRFK2pJLqC8Iych8vQBrrVWzlW5tEnNvAOIOvdVYRHufeUXih2vB_Z8jl_oSYNGrVTtmLdagTtH2Aa58RULz6WmSgRtpqCkSocG3F6Kx7EiKrgtV7i-IrBDmkXdOVOAdiqaiY0V5y2ahwZL0zrkhKkNuUZXKI_YefCIcFuAZvWBPpcSlW0EbcbDhRbMaSxvu3RhuzGObdLD2Dp7OhkqZ08NHiYm1Of50kKWcbcfKTBS495SA9x80ADq3DRGi06suFfkZ6NFG-xGDimB7hSSJGJf8qy2-CRoRjF2jZARA-hFY2Ghv__P1FBceWGvOe-BTTgoSTpje0KUOSlfbYdcttN0J8-hEZTxHCiqxQldCB3L1pLBfmiM78SdGFbArWpjLS-qcGdOABRDKNVy6C-JExh7LeS8HDnmNO3V6IXr_rDtuT_aVSqAW8bFKKPwis23JuH2B7Cl_Comz9eDD7iQd-Bnji9J5pN0XQd_IXznAadB7PKQZIzcxl0DPfcCU3BypFmfvn5EunNcwmPVhgajuLOhFe9VvH3KAP18Mpr0Wu71JTVhDejuC_emopDw_LSJlAd3yhK2Ung79-S6oAzmzjcbzQLkQpILjgup8w0w4XETKQBbSdRLNqLqqw1X6g-1LrKck-hcVSmvrRt1k26MYq0kcyedFVh3d3-3rmlxU5NN2Yy93nU_B6Tc5pPSTKeYBEI3gyk5dXcIL2TqGqfxuVduRnTuOzd-YpT_cChSRlGqXlAyV5m5ezjUjLK87RMPmN4rB4RnWjwlRXhTifpe4hn09mGneWvO64GwXdvmPGpcHHNrsqJJ1E-SukmYjoM66aiPbsEcgNmF4kmTsHLTQ30-LG7-fsbG7QGmWe8zQX_YtTlTKmSe21meTUdaHYQvphOUTWYnfuQFyXBV7VU19DmaRbouxRVp6tMBkiuLwx54XGqZiBy7v6ySq_HFy6tIQx26veFkGiCWbKBDCvRKXQwGja5IhNKu4IlSohTdLzS8tfDrBiW6RyNEaV56QPyYdmkja4B48iSj_aK90W_xY2bhhkf6mDc9xlxdS2kaDMjGx2kOnBaFjGcuQuWkF2EcQmz3Bs3YX2OS3oNRIP9fooBNsaZr8j-W_8KOgjRMnlZowva1GSEwiDnAFrMF0RJZO1Kjl-gNf-9AP52WefD3VTRmidLfUkk6OiwGy7yb2Fdi-Kvhivn28n93e5GLPUW6K5zFlMpZlUhBfPBinWAprNZwDSSvSJca2YevwN2zYrjJnuqL",
  "id": "rs_0f06a08ad925028a016ab41fa92fb887d0ad5a52ff6adbede9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0.155,\"right_z\":0.09},\"note\":\"That close was empty too; the fluffy brown toy is beside the fingers rather than between their tips. I’ll approach its exposed right-hand side from a little higher, using the overhead view to avoid pushing it again.\"}",
  "call_id": "call_c9eKDW8ml3JjBDHkXVW6IFQ1",
  "id": "fc_0f06a08ad925028a016ab41fac5fb487d08926e6df8752ca2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c9eKDW8ml3JjBDHkXVW6IFQ1",
  "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]: [-0.1894, 1.1069, 1.0317, -0.9211, -0.2844, -0.0982, 0.9965, 0.6758, 1.5394, 0.9947, -0.7513, 0.3511, 0.4286, 0.9941]\nstate[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.1885 left_yaw=0.1071 left_pitch=-0.3782 left_roll=0.2079 left_gripper=0.9965 right_x=0.2825 right_y=0.1532 right_z=0.0733 right_yaw=0.0249 right_pitch=-0.5665 right_roll=-0.2185 right_gripper=0.9941\nstate[joint_eff]: [-0.0889, -3.1658, 6.5026, 1.4139, -0.1587, -0.0562, -0.0122, -0.4308, -7.8701, 8.759, 0.862, 0.1538, 0.105, 0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed5c09e10ebf7c10d0a5b5610d7aec7458709db3320e727b12076a78c4c520f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7066e3bb81475bb61c562aebc7c0a4f46d04671acb2100e18f1cc44d59299dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147790759b9e9de1206db3d74ef8b4a8128ab8fd9d7b4ccf8fca2fecf5500fa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1046, 1.0317, -0.9058, -0.2844, -0.0952, 0.9965, 0.6792, 1.6077, 1.0428, -0.6445, 0.3698, 0.4816, 0.9945]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1911 left_yaw=0.1034 left_pitch=-0.3618 left_roll=0.2044 left_gripper=0.9965 right_x=0.3115 right_y=0.1741 right_z=0.0758 right_yaw=0.0115 right_pitch=-0.4819 right_roll=-0.1461 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.0701, 6.612, 1.3309, -0.2173, -0.0659, -0.0122, -0.7043, -8.335, 6.0923, 1.0574, 0.2711, -0.022, -0.1783]\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]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0982, 0.9965, 0.8337, 1.7168, 0.9928, -0.5877, 0.4004, 0.5846, 0.0095]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.1053 left_pitch=-0.3625 left_roll=0.2028 left_gripper=0.9965 right_x=0.2777 right_y=0.2088 right_z=0.031 right_yaw=0.0424 right_pitch=-0.5292 right_roll=-0.1943 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.8786, 6.5436, 1.2821, -0.2125, -0.0317, -0.0122, -0.2803, -7.9521, 5.5863, 0.7497, 0.2125, 0.1001, 0.7204]",
      "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]: [-0.1894, 1.1069, 1.0317, -0.9211, -0.2844, -0.0982, 0.9965, 0.6758, 1.5394, 0.9947, -0.7513, 0.3511, 0.4286, 0.9941]\nstate[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.1885 left_yaw=0.1071 left_pitch=-0.3782 left_roll=0.2079 left_gripper=0.9965 right_x=0.2825 right_y=0.1532 right_z=0.0733 right_yaw=0.0249 right_pitch=-0.5665 right_roll=-0.2185 right_gripper=0.9941\nstate[joint_eff]: [-0.0889, -3.1658, 6.5026, 1.4139, -0.1587, -0.0562, -0.0122, -0.4308, -7.8701, 8.759, 0.862, 0.1538, 0.105, 0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed5c09e10ebf7c10d0a5b5610d7aec7458709db3320e727b12076a78c4c520f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7066e3bb81475bb61c562aebc7c0a4f46d04671acb2100e18f1cc44d59299dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147790759b9e9de1206db3d74ef8b4a8128ab8fd9d7b4ccf8fca2fecf5500fa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-xG_IxUoN7Vm3wZkenU0sO0jGXQWDOXbEiyfqVNTf-2PZvGzVeuk8AtUDm9UNrOzguxzUBcGB8qBnehWA9KMISuQ_zCZsHIfpoLtGkvAuLeYPe72s4c01gdF9Eq2STph5NRtKx2w1hjzyFMioDRsL8B1J_dLRruqjS1YZ7viA5ml1RdEI0kV7Nfg1bJmFD6_P6KYvSXHiKdsa9QoGCu2tjPqKe5b-uhWeSZutwU8i5QRxw0bjy6yTob0eYiwBJS2Aznp505jXVmz80DJ-2wfRyj9rNw8MNOSoxyT2h2BZR4iLX4setpp4oSIY81GMWJMURo7vaFCAn5gPQ2PIASoX5kfxq0B8iFyNByiQHDC6NQAzIvYLpG8XzfCDp6GmZulTWOw9BHVZbAR3Qj0h-Ez-iD8co27Ojrq4XoLkDVrjJwIvXFM46dPrRvilGcinmi9xBM2Tu0NEca8VfnQLEaF5_OTPaTtAbJE6CsDYbBkgw_60dqjh0EnhOAQjSEdhtixfA-GU8wlOIe5ZjEq2cqw2nAqH9NEz2azbviJnCdirjfoZvBfRjE7a6HJ47YD7MPYlslZmU5b9tEyxJ8QuY8wj61gdQL2T3nBTW5Q-H1i6D4UsSVwQXxnQrM6LJiFbjqTG7OFVLd1aPZg2xSw0Yi7zXq_IztD6RYDMCBDew2Do9dM8c93qpHzSu145XCYyY_KHKiE0VWqZX4R7u3kWxPHhXji6hEjpLiPO4p62dAj0MPcM_yO6lx0oWbVRHFqQhf1ddT_sux3gCwfLOs51LqLn0v62AgIODMuTCBc4b_q876o8yfBiTCFIikczsNvsiHcsB8_oQ-GgNQOTCnBeOA1Xa89p83rjb34y752HQOnAQJItnrr7ulFnyKp9SCkR3qy22JWeCqSq6K8brD8pJW8pXW6GDjYeIbwFR7lSVS_fMRH6wPJZoupk5IA0P04H8S2UcsnHsuBcPJVhhB8YvHYlmQVusJe1Xm8l4MXFR_9HzCf40RlOhfj_B78J2PlAL79aXKiQIK_Po0YHVhUJMNQKFtvYPhe6Orggk0lLYwtDlbt4tN_s4c0Hwi00stN2DZDmJoa0cf9MO6FfWvbjLC_7DqCEKqT9peVbgxbIhYQAvzhTYPNNW3OI791U_lionQTgCberyl-ZGTBHrHmr2u2_bNTwA2yYOHIXbp_teK3yGbDpvQwnbWAlrYz-jNCtXIxiuAhimFUqUPP-JlEEe-gK0yMEYb_SEBuvsLrwUuE8P07ZQDqEHU7yy0cO8lzUF_srR_tMn62138RdhvH3s28h_7-GO5LuonYO4koUxZ6BDBr_MKjBdfp88-5951eKSIGZ3Y4CVrhlhp4T8w5ezv_Tz89eY0A88dyLEAItOsCxbQJiZ9w4SPknhF1FiXENGVZsK9Gre4b4oEqCHT7RuShETTEy1hY0z0DbbV722DF70IXNkwwluKWB-ai2qRdvWvBSpn-z69gSNitp4qKvC_fkcyql7ZekTnfGXP0s7VtbtDzTwWsfX8Z0E3Tduzl2hUoF-nPOw_PjO5nfmPTcAuS8WTuHbx48USOjPlYLUkaux18dsoBiaCkCcQonhCdbud7vzL0I5_6jROIUjV1HsRQ27HG6zDDDg2ar4o4c_RzWB2OhjqPWQSVuAkmB6MppfLEzXpcHH5bkV5j6wHXS3vpPLzxtS5UUtcL7bBEKGGmn--KQFWiJPBOMDxV8-V669X6MmJ4vF6YwxQnGMcKtuxTZhFMlSgFVlxTfRbzQ5X3Pfw5KY9SA6hKIbJ_G9nnwkasgqFZASFMigk4q9x_XxhscKfBErmBEwu4iG9489Zc9kn2m_ZoANDDRZmhBJL8tOxIu7LZrekmUT7ql3QHXy4pd-sfbDo7lBKMzqQzZ2C7Mh_9R_WujjY1D_GLX5ZiDx4_7l",
  "id": "rs_0f06a08ad925028a016ab41faf42f087d0a68795ecfe251bb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.185,\"right_z\":0.015},\"note\":\"The brown toy is now clearly below and left of the right-hand fingertips in the overhead view. I’ll lower over its broad torso rather than its narrow paws.\"}",
  "call_id": "call_BR8hYjX3Bm3iXpju4RkNUO1v",
  "id": "fc_0f06a08ad925028a016ab41fb0e64c87d08d05e7bd3823eb33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BR8hYjX3Bm3iXpju4RkNUO1v",
  "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]: [-0.1894, 1.1069, 1.0317, -0.9241, -0.2844, -0.0982, 0.9965, 0.833, 1.6379, 0.8604, -0.6361, 0.3702, 0.5442, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=-0.0006 left_z=0.1881 left_yaw=0.1075 left_pitch=-0.3812 left_roll=0.2089 left_gripper=0.9965 right_x=0.2404 right_y=0.1747 right_z=0.0146 right_yaw=0.0402 right_pitch=-0.627 right_roll=-0.2755 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -3.0564, 6.4752, 1.2625, -0.2125, -0.0269, -0.0171, 0.1573, -6.4752, 6.1607, 0.8816, 0.3687, 0.0904, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5330d69d96c51d38256484a7452be5ed83c6e1bf8ce5dca43a2af1c394b4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef61a306a416fcdd473e4d4fd69fbb38199daf171b917e467e8ce5997c577f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98011ebbfc18902f234537dae48c323b0b386a85659d5dc46b21edebe0f0dd5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0978, 0.9965, 0.8314, 1.7119, 0.9924, -0.5877, 0.4011, 0.5926, 0.9953]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.105 left_pitch=-0.3626 left_roll=0.203 left_gripper=0.9965 right_x=0.2784 right_y=0.2083 right_z=0.0325 right_yaw=0.0365 right_pitch=-0.5247 right_roll=-0.187 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -2.9197, 6.4889, 1.3065, -0.2076, -0.0122, -0.0122, -0.5265, -7.0359, 5.5179, 1.0134, 0.2173, 0.0757, 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]: [-0.1894, 1.1069, 1.0317, -0.9211, -0.2844, -0.0982, 0.9965, 0.6758, 1.5394, 0.9947, -0.7513, 0.3511, 0.4286, 0.9941]\nstate[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.1885 left_yaw=0.1071 left_pitch=-0.3782 left_roll=0.2079 left_gripper=0.9965 right_x=0.2825 right_y=0.1532 right_z=0.0733 right_yaw=0.0249 right_pitch=-0.5665 right_roll=-0.2185 right_gripper=0.9941\nstate[joint_eff]: [-0.0889, -3.1658, 6.5026, 1.4139, -0.1587, -0.0562, -0.0122, -0.4308, -7.8701, 8.759, 0.862, 0.1538, 0.105, 0.1538]\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]: [-0.1894, 1.1069, 1.0317, -0.9241, -0.2844, -0.0982, 0.9965, 0.833, 1.6379, 0.8604, -0.6361, 0.3702, 0.5442, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=-0.0006 left_z=0.1881 left_yaw=0.1075 left_pitch=-0.3812 left_roll=0.2089 left_gripper=0.9965 right_x=0.2404 right_y=0.1747 right_z=0.0146 right_yaw=0.0402 right_pitch=-0.627 right_roll=-0.2755 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -3.0564, 6.4752, 1.2625, -0.2125, -0.0269, -0.0171, 0.1573, -6.4752, 6.1607, 0.8816, 0.3687, 0.0904, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5330d69d96c51d38256484a7452be5ed83c6e1bf8ce5dca43a2af1c394b4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef61a306a416fcdd473e4d4fd69fbb38199daf171b917e467e8ce5997c577f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98011ebbfc18902f234537dae48c323b0b386a85659d5dc46b21edebe0f0dd5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-0HekHK9qJ7mSDHopiC5xqdnb2non-X8ZXAvk5HC1arKrR4vnoQQVFLGbtCRxHYgqFGMkk2F673GdPwEaiNmRXNhlUWZ71Hs5rPWcDMIyLUsplhaB_Ov3MMysqcmTJizCJB43J5e_1RS2qQIqnrMQwZY0Y6UaTvDjnhgY4bCzbruQ3rE8Xz2so3gsgiX66oyUpUosK_0QUZbGJwQH7XlZTY-YSKeVDpK9aiCX0pnTVRfcHc0tA4EMMeanLCcSozdP461XlonzhjdmJN8H2S_1cPJjgA4SwtFEIOWcac-CQLMLlp4HU9ViDsahDCqcoj49Iu1km_J2FpZjgZG4PpQ1yCObxZIw9DM50qkesDXGmlFTjWQ596QGl0ADsfUbp9xxT14c8plfseKyaHrS8QYkJvRnesQpj3PJ1vVV1GoJ8eClX_WHRPP5XDbFvAPoRfgW3j_uNzEi_flcvwNYCYi1-U8rGLbRlfAuFibl5qTZkNP1wwlB6k4CvcMxBwZMbooq70rsoBklyzDUQQCFvr_lqbFhUATBp6Wf-znHDaMk-H2n8yAP111BoJ7wAZAEHTlhjBT1bk68-fmiGLr3CIeCfTJLJ0hdkQ3n4NGY05duxtso1JxYBMO4G-7eDarsXRyB2sYscJkEyOruZUHsaOWK7KAth5CHLJVX3Z9--orFHK93ucq_9OJL5w2MDQPWc07N6qWOhO3mRWlonbbXMu_BXteWUYJeJmluBVyWufzOocRb5ODjFdLMxFZKcm2sYQohkF4QFHWLaYoD0ykmV7Xih9amYdkxZSRCChv0itgtD_dRRuZiWyQChCcNzSXY6CjKIgN_sZqbaAAW7SeXZGYddTB4lvIj4-WPKa30YpVVt-a4PxCd8Ep2mDv2nHByBN34TsR9ouukSDbR3Qgx77PHfFXrTztsaTQfQ50cr-aWKaQH_7x7wMMtg7ObfCZ--NQI054wUGEx1clJ-wWtlNDRW8XBOvffpY8Ea_1GPjCU6hdds_asasOsdcE5zvDTeRqk4tchqY7jg4OzZC1RHZTJLS8_x2CPiEofSgyM_mvkk8_yfRsWeCuMfLK96wA-3Xc91k4ZbDHdOZuhOpPT0rZhudPzm4QzGlFwY4JOBhYxkMUyZL7xx5NlJ19kITOV6MIYdcnFzVSuHZb9DwUq85tEfzNN1Xp2JZ1w0gCxKi0xDt736htJPgS-FZ1cNemOFRN_mS1hbEBkZD3ayu9iyLTQmOiWsop1fh_yCQ2xbJ5XhuyDcTNV4pJCahqh8cn_8ivIQ4fqCT1-ppXLYjUFg9TsqpHA9yJbkcz_dIW5rpXilELE_ktnorthg8goEOn_hu_mo6VHjbKlIEtr6QmdkwPZ0UAvUd-otGX7zE-m3xLo3XKM=",
  "id": "rs_0f06a08ad925028a016ab41fb2dea087d09a33020e29a08673",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table level on either side of the brown toy’s thick torso. I’ll close once more at this new position and verify by the settled opening.\"}",
  "call_id": "call_5CPX1hDgOC5QF0GFw2Eyw2X8",
  "id": "fc_0f06a08ad925028a016ab41fb365bc87d0a6c62bf44760cd16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5CPX1hDgOC5QF0GFw2Eyw2X8",
  "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]: [-0.1894, 1.1069, 1.0317, -0.9249, -0.2844, -0.0982, 0.9965, 0.844, 1.6455, 0.8436, -0.6117, 0.374, 0.5503, 0.0094]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3819 left_roll=0.2091 left_gripper=0.9965 right_x=0.2381 right_y=0.176 right_z=0.0095 right_yaw=0.0447 right_pitch=-0.6234 right_roll=-0.276 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -2.947, 6.4615, 1.2137, -0.1832, -0.0464, -0.0122, 0.0205, -8.0479, 5.0393, 0.5983, 0.3834, 0.0317, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed56a2fb1d07ef6a671a35f9eb3b0e3cdf108e41003559cf18721edded03227f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6dd1450f832d3d8fed50005397326564aa4f1ea26175df8ed7dc7cd6ecf3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163c62de3a9f719c3744eb4d6ba6d4996e58f9c8d03b6609bd6ba09aff7b3703",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1053, 1.0317, -0.9062, -0.2844, -0.0982, 0.9965, 0.8337, 1.7168, 0.9928, -0.5877, 0.4004, 0.5846, 0.0095]\nstate[eef_state]: left_x=0.2887 left_y=-0.0012 left_z=0.1909 left_yaw=0.1053 left_pitch=-0.3625 left_roll=0.2028 left_gripper=0.9965 right_x=0.2777 right_y=0.2088 right_z=0.031 right_yaw=0.0424 right_pitch=-0.5292 right_roll=-0.1943 right_gripper=0.0095\nstate[joint_eff]: [-0.0752, -2.8786, 6.5436, 1.2821, -0.2125, -0.0317, -0.0122, -0.2803, -7.9521, 5.5863, 0.7497, 0.2125, 0.1001, 0.7204]",
      "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]: [-0.1894, 1.1069, 1.0317, -0.9241, -0.2844, -0.0982, 0.9965, 0.833, 1.6379, 0.8604, -0.6361, 0.3702, 0.5442, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=-0.0006 left_z=0.1881 left_yaw=0.1075 left_pitch=-0.3812 left_roll=0.2089 left_gripper=0.9965 right_x=0.2404 right_y=0.1747 right_z=0.0146 right_yaw=0.0402 right_pitch=-0.627 right_roll=-0.2755 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -3.0564, 6.4752, 1.2625, -0.2125, -0.0269, -0.0171, 0.1573, -6.4752, 6.1607, 0.8816, 0.3687, 0.0904, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9249, -0.2844, -0.0982, 0.9965, 0.844, 1.6455, 0.8436, -0.6117, 0.374, 0.5503, 0.0094]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3819 left_roll=0.2091 left_gripper=0.9965 right_x=0.2381 right_y=0.176 right_z=0.0095 right_yaw=0.0447 right_pitch=-0.6234 right_roll=-0.276 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -2.947, 6.4615, 1.2137, -0.1832, -0.0464, -0.0122, 0.0205, -8.0479, 5.0393, 0.5983, 0.3834, 0.0317, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed56a2fb1d07ef6a671a35f9eb3b0e3cdf108e41003559cf18721edded03227f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6dd1450f832d3d8fed50005397326564aa4f1ea26175df8ed7dc7cd6ecf3a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163c62de3a9f719c3744eb4d6ba6d4996e58f9c8d03b6609bd6ba09aff7b3703",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-6tQFyOuzcs1Fkjloh3YFs6riWY7_KidKd0JtkOToWcnJ6za-c866JiDLhZKOkfwtO_uaCTpHr0qFpSCp6t71ED-Eytq1kaqDQbknF2Lq_X1K8_1CPRreiseRL9VBmgve35zF4Zh-yuEzrvW-KfoQP5p-fuLICqnlcApwiuJtXRnD6rd7lO31lmITYSDCNfjZ0jjf7Urt3vT-1mar6BbhOOmxQeXuHHSwaZWYSLgqq4-tlHrGk5ZQnpLfQI_BwbirIAAIE5qFeq9CLAZnnOYrxFzh-GnOm7IVoMZYRk07wC7caNBzC4zl1hKUvLmxWsKbFVFUdN9CU6tnUp7-Lg6fy7TOUg9ZGWDFmepQHWupDinEsSreE1LEydKQi2gHMPdiI7Fs8U7quiTgy98Sqq8jioZXdPUCtM3egUyL0g-p8H9BmiC3qUuT1R8ur2LSBqichtzPIWukGQYOrY_Uzj-2U-Q8KtKZzMiFKdgWTuAMtUe5obtk9E-HU3geRD1LJtFdJHSQ454vXI3XhA7-WvYLaLk4PeZNUAZr2ridGFCIuKQ9BqeK7plb23azMwvYoaeFdmmEZgppkXqbvKFz8p1dZ6158N1QBt3sgP3bCP6yOdzhV06EFVyz7J-YislJWjhfd3-928hwbvXMDGHbaDWjxQY-khMJwtqwaFNLTLuMtF9OR5IabfFL1cCmLU4DQh1n0JPtEtq6-_ZWbVJ3oUW2cwBG3VAEi2HZPTUv-XikV8w6b7iDQjavRMpxH63cq8hdcwGDJevgJk7DBCA3D0g2-Zrzl6AozPeJbOq1n00Dn30XyQwIXFAEwljzhRVPmH_N7vogRBwsDgQYjezkYCcQoPRC96TC5u-LlQ17sc-A79pzoalO14FzVVtj1T0ZWvI80g4dI8jRib2jTtTOPVlz8ay2FMpnmDbLGnkmoEUDFNDdo0c5OeVWijT6thfUkZPFXht5urLURX-ysra1b3om5FvTaH4tKoAfeWSsMGp1ay9bHiADl0Z6SdaYOdneH6mupRDgSSxSHVWfiXvK7w9VVM_gz5gVLrrjv2A_ZIuFilHZZsEluGhSRxQnNdNpmgk5jGorLn0Y9iXVWu_YCdwQGF58f1n4QdIcSoqZW17_cjdV87Oef6P2Qiug6AOBlZxk6TYzGaNXx1-AYsf792iut2SAhePvOn3YBsgBgC_qFck7u7HSQftYDRjPmShn0Hb7ByuVOtvgCXE6pCc7xU8T6F97VSt2eNuoD0M-PP1BsyOi3al1u2SD0fk1g02U2dlSj24haKa7XaaXOMrmYXO0ImwKVzs2xEosbqh0cDMGri6-MfxTeDqa9KADvJ5KAkA2nYWrNEXD1OinZ2d0dsnAdRlnb6uUDckEo9mHUGBc2Q0yBLpf42wOXy8yUlUlW_0xJ1Wase3uC9IX7APryCY2TBEmNY5QjncsY7V0J3RWEdfInYDPcUsKlUt_k1TuL36as3zR4IElrxaR7Ll2NStpuJtZRQgIJVvlRlta2WabyKZuoR5S_J91UdcRdjpiI_mBUlzoFgeXbqFUv0AqIV4SJ3niRT9zFIFbuK2QoxfaPzUGPpTjDxhb3rqemwgvZQP20INzyXNCTLYzSMp56V6yUBD3LID01zK7g7AD24ucQ9nMBEOr7El6Ja-gzY9QjRkSbX2vJrOLeBj0z7Q1tGcvSvuj4voTSspV6VOXXTEd_LYRQ_MQ6y1nrz_uvYrjsRBPoBvTPsMee12mYTbI_FDSrbO3WmgIFNSFKfHNyDJ538hx63ZkNHZ78QsUlZROUvnqVXfB3HYb6_54mCU7iQNZ9uP1a2rp23BJ8SR9FTDSlKWr0qLM5oLV5w-0ufmjRFGf5p4BGMCfUjFYUq5yNmZ4PKFkB8k40nzgtgJ_uwclEhrl24oXM4WymMo7Ik47Frv9wFZUkgumqc7VuqughEBa7eeIpmKw-GHYQqJ_c83eeE-idgvT_mGpiE-hqKOy-ghDGabKcSR05ZRwdnfA6FbrrRSfTlZ-flJjV18XcMZMbeojjASRgY6jd2G3OaED2Hzw_nhNxUl-TgwdC1Q14zVf71b5JwWAFdcTrv65lNa5FVuBbxtFtcfIf8u7evjTkfiWRQM2iUL2afzjPcUHsE5acPbwiTSpwX6RgGcFyNzJtJQK55X0u8fiJL7vp2cK4EWnchcH4kDsyDWv6GOWbGqw6dk6dETUTyGC9WqDelPq9AWexLKjiJRB0fDIT6prAlQV842oSmKmphG0FewEAwW7aGFikbgCGtBm-_FFjF8i90WJ-rukdnnyPStjvuWpsma_-9uFLWZmvHp3BntAGUEVQGwA0UGz-9xGTJ8k3J087Vi65P0y0_1EZ-2fJosK5jlJzcjMFIaZpWvlHKzDMaHMyhAqUiVxLUgZiBeIz_HOefyXBCvIgKaVCnVYqgU3uuG-_z2vtiTNaSjHjJ0GEwvwYpMEqBjX_N5jsxxh-IRyIhmyPqcckVfruqGbvhiGrVcmH9DsYAeVDK16Lm_nfglbFvPC384O6m4Sajjl3t8dR868bTo0-WJuy0cmgSLZspBeKMNpBb20JvochyhzqewdrPwEsBNgtLBWZhzx3agvFrAfHfb2AwQBVm67zfDX8-_mjqdKslj8TAgUT29dLZjqkFaZgEFF5ZCeNLPE-vOz4M4txvWPh4EFptL6VAzDalU9KIAxQverV6c9UJwZOVNtjaOxDyVh6cuOrJdQD4hEdJ0r7WGt5ebzxZBZMt_qkfmKGmqIuj5EM-YL1EgJO8WlbUvPFCiLILoaPbdKp9NCRHVwL4jX6JZZJivaBvz8IYPs35XOKYZYtL6l_epfX1p2vRWHrFcJshSLFqHZez34jZPJxsm621aSMrs0XM6fib-AjP6T5UJiN9__8V_Lz01RV332RlzEmKQs2v5kXJgNutCTlP1Gyzql-kvJn3dheL82Y8pic7ageMLMcKw2p5qOYubf8anCErtyS4_leWaSW9-JYOscrMWPXF0XqlutIZp31ARkIc55WPBKENvSojZM41-tfpQyllHzTT94p4IjVM3_CUwN5s3vOMxtahs4miVqAS9oU7ydmk6qBeZ89fgrnNQ==",
  "id": "rs_0f06a08ad925028a016ab41fb649e087d08dc754e1fc8a81df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.085,\"right_x\":0.27,\"right_y\":0.175,\"right_yaw\":1.3},\"note\":\"The brown toy again remained outside the closed jaws. I’ll try a different approach: reopen above it and rotate the jaws so they close across its longer body rather than alongside it.\"}",
  "call_id": "call_km07dcWF3wwRpBMMcjRo8seH",
  "id": "fc_0f06a08ad925028a016ab41fb983c087d0a558a04834a5281d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_km07dcWF3wwRpBMMcjRo8seH",
  "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]: [-0.1894, 1.1069, 1.0317, -0.9253, -0.2844, -0.0982, 0.9965, 0.4751, 1.4261, 0.9035, -0.6521, -0.1024, -0.8272, 0.9947]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3823 left_roll=0.2092 left_gripper=0.9965 right_x=0.2737 right_y=0.1652 right_z=0.0763 right_yaw=1.1108 right_pitch=-0.6161 right_roll=-0.2672 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.9333, 6.4615, 1.2381, -0.1734, -0.0611, -0.0122, -0.1846, -4.7385, 7.5829, 0.8864, -0.2662, -0.2222, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d35b03d0a56d7b54c31404abe15a513f894e747ed52f0d092635ead589f6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6654d957411a330911353b9708772a93c4d0dc9db9b63f44d9568c1663a9ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e34a270afe834f56cc6e29851862678db877ef2060695d0331a6b42ec1dac4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9211, -0.2844, -0.0982, 0.9965, 0.6758, 1.5394, 0.9947, -0.7513, 0.3511, 0.4286, 0.9941]\nstate[eef_state]: left_x=0.2859 left_y=-0.0007 left_z=0.1885 left_yaw=0.1071 left_pitch=-0.3782 left_roll=0.2079 left_gripper=0.9965 right_x=0.2825 right_y=0.1532 right_z=0.0733 right_yaw=0.0249 right_pitch=-0.5665 right_roll=-0.2185 right_gripper=0.9941\nstate[joint_eff]: [-0.0889, -3.1658, 6.5026, 1.4139, -0.1587, -0.0562, -0.0122, -0.4308, -7.8701, 8.759, 0.862, 0.1538, 0.105, 0.1538]\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]: [-0.1894, 1.1069, 1.0317, -0.9249, -0.2844, -0.0982, 0.9965, 0.844, 1.6455, 0.8436, -0.6117, 0.374, 0.5503, 0.0094]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3819 left_roll=0.2091 left_gripper=0.9965 right_x=0.2381 right_y=0.176 right_z=0.0095 right_yaw=0.0447 right_pitch=-0.6234 right_roll=-0.276 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -2.947, 6.4615, 1.2137, -0.1832, -0.0464, -0.0122, 0.0205, -8.0479, 5.0393, 0.5983, 0.3834, 0.0317, 0.6862]",
      "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]: [-0.1894, 1.1069, 1.0317, -0.9253, -0.2844, -0.0982, 0.9965, 0.4751, 1.4261, 0.9035, -0.6521, -0.1024, -0.8272, 0.9947]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3823 left_roll=0.2092 left_gripper=0.9965 right_x=0.2737 right_y=0.1652 right_z=0.0763 right_yaw=1.1108 right_pitch=-0.6161 right_roll=-0.2672 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.9333, 6.4615, 1.2381, -0.1734, -0.0611, -0.0122, -0.1846, -4.7385, 7.5829, 0.8864, -0.2662, -0.2222, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d35b03d0a56d7b54c31404abe15a513f894e747ed52f0d092635ead589f6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6654d957411a330911353b9708772a93c4d0dc9db9b63f44d9568c1663a9ceb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e34a270afe834f56cc6e29851862678db877ef2060695d0331a6b42ec1dac4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-_s3kc_d2yjPzs5QBqscdB2lyKVLIWhcGz1JoaXg48OUAMTnRvXAsNKJdIPjjRyJ8M8ufrgFryKO4NbXJ4IgFwe8KOm2mkRoVNZpmVHcBXFSBsljTAjXvPjlhnxAr3Ls7ahgPk5yLl1oafgvie7B-8bf4wIIL1iHCO4gPPesx-yJdYG2NYbrNy0gTOg6iBK6ODs6qDUC6C1RQ5-oB_uVyRSap9jbXNm4uSQZp03hcSyvPHaHl1pRuIWyXlrwr3lXJFjniVrBY-8eEf9kp3fYOanIeOdNl_jPFnMnkRGgUzpr9khWhJFgkhjDTg3N3I7rVMI8TxMsikTCx_r_K-xKHmvkb7UZPMoTJpLARjTSLj5UGIUaqO0Y7oxVa46snrJiRNR6v-9Cy86iB4abECqlcF5nAvDPL6AH3mpYdJ8C4m8PcOL7n1LYXCyF9173OxN4hr8WyozyyXAGWogBxleYMu_ffgjK30b3us4F-9zfL48-soezIMYL3FFC8xIW3ODwrtyz0u-4h4-pndfY7k_oSa1uft6SPfrS51uB759LcFcPUBG8oqwn6w0YKxtIHrdZy-K5KDOxe03PS7x1mfaeTi16LejUqBxv7Afi16UO7Ee0SF5IkAWjl8H3KhTdHT8v2RgP4G8DFza93gMHMdFIlCPy6TH5GLKYiFzOmafjqamDd1o9vyrihDBEjHj673M_ZWZOgRNRvyT-Q8u8gOHIdNg3rMwXC-hh4Mx5NuCrdNevkykM5jIuVmyhrc_TpBb0jtpKUnaysm_sM3e91q9lxUK5bGGdfPa2ezwE_2Eu3mcPq7CBJIYePtcA5iDcz-YrbBh0-7GJUrYHgNztHscpb6wUVZiy6K6IH4DEX3hUNC8b3m-FcmeeNOgUIyPyDyAyJbc9SqGbYh6GvPHQDXZeA0Lze6v90lyCuPUs2SRuWbQGWQFTQA4LJOsS6mEirxE7ecqAtWXbwjquICTxM-MQ4CSZYV9GRY_BNTI1KEesgDPtHIg1od0aPm-Ji8BExpsCc975USuvzW31VQpTF_BEe_0D4p7xEIezshOPZqBfC-0QZOHflI70VOUopmEkuxc5MK4cwI91j3XMiJXpwJLjmqrEb6PAbVBqkXB3IRocKOSAxnh3qHugB1ZSbu7msxXevt3uRyI5X_iVNUwemzEcke9maFcVW2G2XN_FYsJzEsMJtDLh37aIVvgAs9lImVd5_jEbnLcYUXc2pHyHe7InNBTMYXcDPpzZri421IdlxMOeMVaHN1Xv1yxzBEe9LAhLcPneHotscX6Jn3M2f0BCaTuzGxTpSewV210IIgbSij09VHVXUDtzHr75gg6v6Mt3I5h63b034a_SaTOh6FVxcBHLb8X4RH-iCVyoMgsjtG7xtz1_E4fBjh38IZo5uiXnF5DhzdGehR6Knli9j1StLNm0--AlmolUi3Yz-z_Cbg6gSNhvYc9gI4k9h_VbjZsI26P3J4XOGPc0ko1PqECYf--a4BhjN2AQY9dev-brGzGoUIUOCctQBt76l_c5EYs5ug-z0_K5hgevcejRrLr3rgyp6lf4vIEKfIAwq2B5fJ-IT5xgWfxWIJk7xLiRPAM5mTFhLaszohFFZ2uaHUqzFtVQcaDV69e-8mS_y_lSDgeguyfefQcqu2H9dd9u-iq5MOU0mCqvFqFl73zjfoL83Ve0SC8EQ4QZQY-xxXXW4C_Cxi-24FXy1iHI3IV7neFbGDAJDHd0WSZSGWk1JBkVo1UYgusehgU46rmwIQQ7G-8-bOB8Y8Qnw-rj-6nnQzJVSZoyLKDNJ6wj0gKVDd_E54YSb6b1qnWSpZJjeWokdTMXu6dUtQ1VL8UIXgNQlyuiV0_xw3iKfEa5-v5AoFCbYItAJJkzFI3LAzsCElhqTnE2-Sdjq_U_CPqGrC40NgqAW9Gud-gBL70H5rsXyG5_OxYDzyRQ3B9lgm3GkdQ1uVpHmGWDeYY2rTYfSHJRmMGMDzkYAszxYER41U69R4_grj3Q==",
  "id": "rs_0f06a08ad925028a016ab41fbcecd887d0bd2106b929be2154",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.18,\"right_z\":0.045,\"right_yaw\":1.3},\"note\":\"With the jaws rotated, the brown toy is centered between the two finger columns in the wrist image. I’ll advance and lower slightly so the fingers meet its thick middle.\"}",
  "call_id": "call_UclGwLpdwsdBDTZOPaMEbqSw",
  "id": "fc_0f06a08ad925028a016ab41fbea90c87d085bae439258ae7d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UclGwLpdwsdBDTZOPaMEbqSw",
  "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]: [-0.1894, 1.1091, 1.0317, -0.9283, -0.2844, -0.0982, 0.9965, 0.4274, 1.6005, 0.9314, -0.5911, -0.1825, -1.0183, 0.9962]\nstate[eef_state]: left_x=0.2846 left_y=-0.0004 left_z=0.187 left_yaw=0.1082 left_pitch=-0.3874 left_roll=0.2109 left_gripper=0.9965 right_x=0.287 right_y=0.1699 right_z=0.039 right_yaw=1.3026 right_pitch=-0.6518 right_roll=-0.2094 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -3.0291, 6.6803, 1.2625, -0.1148, -0.0659, -0.0122, -0.335, -8.253, 8.0068, 0.8864, -0.3883, -0.149, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59486eee4d798fd76d8a07003d13b85c84d050f9eaeff85f8da903d485f4d3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3520eeef30d0e00bf76ad07a6bad2079df240af82536e43d412b4ebea15c077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1d8ce1af1c3001ed1d9dfdb0395cdb44c49f09d719d3fc0aabce733a15de7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9241, -0.2844, -0.0982, 0.9965, 0.833, 1.6379, 0.8604, -0.6361, 0.3702, 0.5442, 0.9953]\nstate[eef_state]: left_x=0.2853 left_y=-0.0006 left_z=0.1881 left_yaw=0.1075 left_pitch=-0.3812 left_roll=0.2089 left_gripper=0.9965 right_x=0.2404 right_y=0.1747 right_z=0.0146 right_yaw=0.0402 right_pitch=-0.627 right_roll=-0.2755 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -3.0564, 6.4752, 1.2625, -0.2125, -0.0269, -0.0171, 0.1573, -6.4752, 6.1607, 0.8816, 0.3687, 0.0904, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9253, -0.2844, -0.0982, 0.9965, 0.4751, 1.4261, 0.9035, -0.6521, -0.1024, -0.8272, 0.9947]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3823 left_roll=0.2092 left_gripper=0.9965 right_x=0.2737 right_y=0.1652 right_z=0.0763 right_yaw=1.1108 right_pitch=-0.6161 right_roll=-0.2672 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.9333, 6.4615, 1.2381, -0.1734, -0.0611, -0.0122, -0.1846, -4.7385, 7.5829, 0.8864, -0.2662, -0.2222, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1091, 1.0317, -0.9283, -0.2844, -0.0982, 0.9965, 0.4274, 1.6005, 0.9314, -0.5911, -0.1825, -1.0183, 0.9962]\nstate[eef_state]: left_x=0.2846 left_y=-0.0004 left_z=0.187 left_yaw=0.1082 left_pitch=-0.3874 left_roll=0.2109 left_gripper=0.9965 right_x=0.287 right_y=0.1699 right_z=0.039 right_yaw=1.3026 right_pitch=-0.6518 right_roll=-0.2094 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -3.0291, 6.6803, 1.2625, -0.1148, -0.0659, -0.0122, -0.335, -8.253, 8.0068, 0.8864, -0.3883, -0.149, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59486eee4d798fd76d8a07003d13b85c84d050f9eaeff85f8da903d485f4d3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3520eeef30d0e00bf76ad07a6bad2079df240af82536e43d412b4ebea15c077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1d8ce1af1c3001ed1d9dfdb0395cdb44c49f09d719d3fc0aabce733a15de7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_B-c2Zy5qRS-5vvjFcUd29uIjAORjwyp3xFNRjbaIwjTGZvpBpD6DMUQwH8lR1wWQewjbX3ptHehCqO0rdbhZxMmtTA7xeuemO9-w2B5TWc4-m7kZFx4-DXCqFVE6EAa-S1FLSygpBQGY6VNSpRFH7KYB6IUFQ2skVPbiiYUwtFsflMMWS1-5dCVnPyadlwuomyiflKLKH_skAL0hcwPcJD4MsDwcaxkpr28_fRuFe6vWuvnz97fb7GESDSKKKuO5_EsK8SpxKhKQSHNpK8a2Zt0Ex2dtzJRmGB10MnBVy7dIzzpT3Z1B1RZ5n2UEQgW42hggzbQ4v5Fbsgriz-If3oMyTsdISs218W9_2HtyF3SxSqMoodyzXSjTwEwwgDGDovp6kVHEKWi1BiXpXtdhGVOZxFEGDoBwQ9MjEBomEHI6OF6gQdiEHPhn0HTvNt1xJsjaJyi2J6ud8N9NwpTDblGdUSx_cHHD4p_yGbquZK1qSZpK_4-wuQANZU8PgwpqIqxagwxX38C0igdIn3DpBFxweYo6b4KV09v097Wiy4E4XnTYOCReFrsPlJxBZTJEYnTB0cYqWISoGebudSyPArqQ17wzditFhrd7Auwwu39UcTuJW4gWsAoZsyzxuCB--RmH-9IxAOMk3ieTIUOkjArWdRZMbCiUotp3bWeXK3OUnWtkMrXwZqvxQ8x9fdWN8I_xQQa6GkxhjTKMvxwzHbFe8fOWihyoZxbZ9b5TQoz-jpxUfx-XbEVSEMoyql_smwMLIpGlEqPg8ZQv8gNaGyTJZhMJsAzRU7aUGcqKvqdeDAUyiKLn3MaGL8oI0m-hHUAHjUEt_m69BOyeDrKmy0M0UK1Agl8wI_ozqcQwnvzVl8XqysYIUAqE1zpl-kn8MuuGJGknSQ4A5n24Mf2VcpM_H3S2uRLjqmTJXWKoyqrMlHrarWHqRhnxrMb-Guq7RnTFTakPmoW5NUc5c23SyqHSoCfVnrr_cAZdbwY-3gs8ESPhmcpV1_If3OuGYuvNDPB722q7ATWsho0DIKe44GMGRV468saFtp5qpHIvKWJAxzd9CEKDKiyZj1_p7n2CAev9pY7xIGHjRH367MCa1vBiJZwZjmWV8MY7YmWMf_iX7yTYIqCL8KcGzxt_w9mzd2617vEri0jZd5LXPStFmAlM1kOZ1xKSQ29pLo8fQEKzYpiq87SxrY7Tu2HzAHh0dOv54EZf6sr0ZieOsoKmMqQ==",
  "id": "rs_0f06a08ad925028a016ab41fc10a2c87d0ae2fc4a65ffea0a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rotated jaws are low alongside the brown toy’s torso rather than its paws. I’ll close them and look for a nonzero grasp opening.\"}",
  "call_id": "call_gNVRCWX2zyQSgb3wmP6Vm3iD",
  "id": "fc_0f06a08ad925028a016ab41fc1348c87d0afbd48efea10eb4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gNVRCWX2zyQSgb3wmP6Vm3iD",
  "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]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.4194, 1.6344, 0.9318, -0.5468, -0.1993, -1.0477, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2941 right_y=0.1734 right_z=0.0323 right_yaw=1.321 right_pitch=-0.6361 right_roll=-0.2197 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.947, 6.5162, 1.2088, -0.1783, -0.0708, -0.0122, 0.0615, -7.9932, 7.7744, 1.0525, -0.2125, -0.0366, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd12db1f321067f1a9513641a2c5e8e7a0b8d3cd3ff25c571bd11c00e8be723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e96728d3b4dc494cbced8da138a15c6055f220884eab2535ea74d1b5afb5152",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a862302bc6c832095a10f71b356c85fdc76b15868d985d575a033ab7ba500998",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9249, -0.2844, -0.0982, 0.9965, 0.844, 1.6455, 0.8436, -0.6117, 0.374, 0.5503, 0.0094]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3819 left_roll=0.2091 left_gripper=0.9965 right_x=0.2381 right_y=0.176 right_z=0.0095 right_yaw=0.0447 right_pitch=-0.6234 right_roll=-0.276 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -2.947, 6.4615, 1.2137, -0.1832, -0.0464, -0.0122, 0.0205, -8.0479, 5.0393, 0.5983, 0.3834, 0.0317, 0.6862]",
      "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]: [-0.1894, 1.1091, 1.0317, -0.9283, -0.2844, -0.0982, 0.9965, 0.4274, 1.6005, 0.9314, -0.5911, -0.1825, -1.0183, 0.9962]\nstate[eef_state]: left_x=0.2846 left_y=-0.0004 left_z=0.187 left_yaw=0.1082 left_pitch=-0.3874 left_roll=0.2109 left_gripper=0.9965 right_x=0.287 right_y=0.1699 right_z=0.039 right_yaw=1.3026 right_pitch=-0.6518 right_roll=-0.2094 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -3.0291, 6.6803, 1.2625, -0.1148, -0.0659, -0.0122, -0.335, -8.253, 8.0068, 0.8864, -0.3883, -0.149, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.4194, 1.6344, 0.9318, -0.5468, -0.1993, -1.0477, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2941 right_y=0.1734 right_z=0.0323 right_yaw=1.321 right_pitch=-0.6361 right_roll=-0.2197 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.947, 6.5162, 1.2088, -0.1783, -0.0708, -0.0122, 0.0615, -7.9932, 7.7744, 1.0525, -0.2125, -0.0366, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd12db1f321067f1a9513641a2c5e8e7a0b8d3cd3ff25c571bd11c00e8be723",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e96728d3b4dc494cbced8da138a15c6055f220884eab2535ea74d1b5afb5152",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a862302bc6c832095a10f71b356c85fdc76b15868d985d575a033ab7ba500998",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_GYkSKz7ACaYe4ylNgbKKY_eIU3kvlB-BV2ANaG6pLYUZSlqZxL6rSDGSn5qN_EPvl2vFQYd5at57b5Yccq9J-sTclKpoDuulYEiMG7dXFue_2a1aNQwS4pCdWPKOPuiZjMSZ7KV1j0bETvTDmHbnlLjuvWIQ-F2gn-aFZbsSKcJ1_xNw9T-yiXHEVYYo_51fCPN9u5YNx6XAvtu9Pg0bRPA769ymbIstozpDA1j-sMrA4gCF-pmBn1F3WHi9BZt9sZt52Pzl0MZw6LuemgRIMv8rZ-looF2a2evdH2Lfc4Z_q1D91MZeZX4UUnH0V10TsVTPMAdaCfis46NN6hGcXltz7SO1KF-x6Vyks2n_fhOzipjm2Sn7J8tWuL62kWNBYdl08U59jGAbE5QqNs1NyoXb4nJdGRfn4e_5_kXnfcBeX91nue737AT43DT-h5kIlBoqgDMd23Pj8R5bZqcu7JEpwUrrBk2rM8smiOvyaw2Vtfc4e-oVvKf1JVrQMDnhsgkChGtfbox48qh_mhoLEn5FsSrKoXxDG15Zm4yM9C0QQ_9m-n-z1yAf0EopuixNUp5Djlrsi6pc-deEUgTyhVY11fY-uBvH83IOvZE1d_Y0B92_iGndnvUuA4S_ddquKWsAHqLvzBztaZGX3Q5_RGkOaMaUZXO_mKzd31Woioku_SPxi5XQ-qbKzSpUSxcqr0OKAcc6zz15_sPKlUnhPjyV7zIYsP15HrJWXLT5JWA9v9oATc4YXmtF-zFvJ6nswCcsxUH2czauxGppv-9NkzmhhGb-T0OuxoQKL7HicvcS1eJ0IKN4pRWg4e6pf4NU_TPlTcOQ7tc6VsoJinkvkzJgRIZGjTvTkZdaynGRRoNWCG2bGNCk___BNhr3d_PJk2iLCCobAVxkFyvW-k8Rb4U1hnZ-qIOOQ-S04B6h7uYg6RzJ3UJtmgsE6Kkt3YVISlgJmCy4kL_JShX6PmfUvzCeBkl8_CDW2PS0nmFzxT4oAkWvi4UT9IyLTY6LF736Dbnbyuqu1Att0akrkWujBFWbIiGPVzLwwFAqhenT1o_d2BWFjp-ytSGLiEQjLufGLohBJZ_1akTXPwj0galO4roSTEGW5Xw2WZim-GH4X6rasZeOeo7uX4XRk_PTwwkowhmsxF14-S6bXdlB5tCrh14H8xzVQocAenk0J4MmJKekSBqPy2E4EARp6pma2DhGJfERJHBRkZ4AZ0ea2ICnueTClqMpoBtairaXnW7zX7SyX_wLRapvtBpa8upAkAa2nUgjihRev7GEWQ6mOv2SL-R0V0Q-5rQUDRoSpS85cU5Q18Y0HWxmI4UHpX4uwbCnN6NmYbLj2x-mpLWJi1RzjFvhbhT95gXJKvFAE9dV7sFKS1ohKcuYUmPQr7VEHmmBaHNY9vK3j8ZO971_I6ds1p3bkh2wFnD_SQuu01uSbOToeP-NGT5irI2BLociFbcFN0jMZgkqbS9UjU9Y3vhEWee2j90UiZO_f5jeu3CjVvVKIuvzzvyKLj1NsrnKZFi3S4ffidKauF_oOTMyqKcXfxap7538F0deZhe5Hm1MrHfkp7wRSgwFNlixK4FuW7I3aqWm0RrGxJaevaT_QyA3wjb8xb7wUoTGrkpL_P0AIEONHZoiWLYmUlm1IZI8eXCEJxfLrfAAWouwgn3cHoqvZLqUmG1kOBMx-tqVTIvX58DnfwqYT0c8B0rghCxCkmswLT8cl5_p1-HaOffZbfsGkLHEdrl37rux37TFNcDLrGhMWa8ruIkPfrnAjJ4lUDlz-c6L1O49NU5Sau_Fd8MNIInEvVXd0IuKKHgUhalYEAEGVVC_Ef2PDjElIVEyIS25Do0t4BJbe94wIcI4Y35dxBYHZwgq30XhXWKYf5EcAUk3BY6Mz48m-eLWa1vDMQbFC14ImhGfsgu-35SDk8zQOJWrOKvxP-7liLCo3sUXbAYgLP6dYLolCFCnBDb2Ag0wXEqXicyTDhhTDVuy58BVtuWQOMFSQag5y2oP2ZVwo92axMTZXWxLpSMjXU_qMACvT8LM16eayOVJRFHpq6qni4g1qZ2Galywnkxg1IoO1VKsURiCkemiW_Q69iYjzTw3gM-tlXD8pXzlZtaJgiYdA6YYUCER3v02-ds-uxGWPVK45NAxF_69NhfVp2GBHlyHK",
  "id": "rs_0f06a08ad925028a016ab41fc3a90c87d09cb8ce63a75b05e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.265,\"right_y\":0.24,\"right_z\":0.09,\"right_yaw\":1.3},\"note\":\"The rotated close was empty as well. The overhead view shows the brown toy consistently left of the right gripper, so I’ll move the open jaws farther left and approach it from above.\"}",
  "call_id": "call_EUl3WiWsHRq80JFcydPn2Jyf",
  "id": "fc_0f06a08ad925028a016ab41fc53b7087d08d2e7769d99858ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EUl3WiWsHRq80JFcydPn2Jyf",
  "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]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6521, 1.5871, 1.0557, -0.6849, -0.1406, -0.8276, 0.9946]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2617 right_y=0.2355 right_z=0.0739 right_yaw=1.3404 right_pitch=-0.6271 right_roll=-0.2015 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.0564, 6.4615, 1.2332, -0.2173, -0.0317, -0.0122, 0.212, -8.8137, 8.212, 0.823, -0.0855, 0.1001, -0.2076]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8bea2b396f074299ccb00a197d6b360a9f3a782827d17c15145c111fd8b53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5881f3dc70a7aa2a19c6b828f5161260618b8275cee80286a91881e53611297f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5103fe4d027745312ff96a81762600979713629c848a6fcbdcc6cecb598f1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1069, 1.0317, -0.9253, -0.2844, -0.0982, 0.9965, 0.4751, 1.4261, 0.9035, -0.6521, -0.1024, -0.8272, 0.9947]\nstate[eef_state]: left_x=0.2851 left_y=-0.0005 left_z=0.188 left_yaw=0.1076 left_pitch=-0.3823 left_roll=0.2092 left_gripper=0.9965 right_x=0.2737 right_y=0.1652 right_z=0.0763 right_yaw=1.1108 right_pitch=-0.6161 right_roll=-0.2672 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -2.9333, 6.4615, 1.2381, -0.1734, -0.0611, -0.0122, -0.1846, -4.7385, 7.5829, 0.8864, -0.2662, -0.2222, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.4194, 1.6344, 0.9318, -0.5468, -0.1993, -1.0477, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2941 right_y=0.1734 right_z=0.0323 right_yaw=1.321 right_pitch=-0.6361 right_roll=-0.2197 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.947, 6.5162, 1.2088, -0.1783, -0.0708, -0.0122, 0.0615, -7.9932, 7.7744, 1.0525, -0.2125, -0.0366, 0.7399]",
      "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]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6521, 1.5871, 1.0557, -0.6849, -0.1406, -0.8276, 0.9946]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2617 right_y=0.2355 right_z=0.0739 right_yaw=1.3404 right_pitch=-0.6271 right_roll=-0.2015 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.0564, 6.4615, 1.2332, -0.2173, -0.0317, -0.0122, 0.212, -8.8137, 8.212, 0.823, -0.0855, 0.1001, -0.2076]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8bea2b396f074299ccb00a197d6b360a9f3a782827d17c15145c111fd8b53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5881f3dc70a7aa2a19c6b828f5161260618b8275cee80286a91881e53611297f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5103fe4d027745312ff96a81762600979713629c848a6fcbdcc6cecb598f1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_KnTdf7_kyrptEQzfmiGU2Y2OnPFGIgdg56P3fyrXulCtDEbDXAZaojEUF4xzec4kFqKvKwY62UEEoqK0CPFfT5ODUn9KquvpTbFoo5smP8hOVcxwyXaGDpIcEWInV5CXOSlyeKBgACvNPRh23KZQu3JBtHv_RQmwGRYWIJeXJcAMqCmYpj5DWP1bs9RPjDYX55usrkbEPg2ljvY81phC9iWRV7sGFRIDlDN5f_2vVGDaq-HSvkMcIpjiztJ0yxVU8BhX4nTvq9VoneqWog5YU4DgWaq8aR56q5KAKUWv17fRV2Wmg2LBGEJ__Gz_pGfAx8JFAEoKvKH_DYJZTe7cPmi_LI0OJ-iI2ztDyvTPa6RbIh6R1xCVftRIs8rJHbVayBVnXjKGko460emYEJEo8-2GMZQJCPPSDqReGa6JgckoNSQ1ZGlvEq965unnCXnX4AlJyA8ida6bbUE3Hauq1VJJrwHpgRS_ExPqNkVIJAYiGQl-SLb25FzQMuMUuCzDxcla0YsukpvhlnwYLSVwkzJEsk-XJBTkaWIS6A8j2wzv7nJTSARlycIxifPEHRSiD0WhWvx2EL0U3dzvFhaw5QJ2q-QWYOYLXKE9BxinDCz4YrSnoCiDVZLvclDfSkciEQp9tHof0JHJIH1GgYK41YDocygJzzmQ1xeS4zlTjEPbaXOPxHf66CtfL0s75EqtdfwdqD38EE3U4DVeTVMKHmo-Q3op52Agr5VIMiRn4txGuaZ1SK6UA-nAl4Fi4aQ_kn4EyYhyBs-DGDvfV4hAPO-1xAKN_vICQVqIICWEFkRc2OWVbA0e0GDNucDb8r7QAEqpImaeSDvubDbuZi_z86cVlcWWKWycsWRyQL0rK1mYRoDE1ohBMGqJLcDz6ZTmXt8sQfO0xSWnpLwaZOw1gPeduwUE9zRJ7iZsusIiP__OioiAxufIH-xclQ4CTW6xfKjDtSVLk9czrxzAqU_z8AO3KSLxJaEZlxNyvsfBLoDhcquztwoHk5mP11Ns-klvlkxiUOl49u5IofMxKscO9D_gi5cuN2fFj1-tezwdnjZJxv_JQK45Cc_V9PIq1fSKa1xNbRfVpgzOqrQJPKwrs3-2I1w3turC__4UjJqBnuwoIEZ-nBNkcrzFihMeaDgnPuOCHR_-4VZN4j1q5N2UCEFxGkM6WSBEnMDM1gUjQ_QTUgDu5WcclJcigx90Wo-pa0T9U88lx6K1zoURH7TDB7pIEq5ZRCBzdgt6atgCOJFvmK9jT3hqDQPKyzobeCHc-g1uDmD1XV1RqOK-e-tTy6s4c-rWpGoDbp32x09mSO7RjrF6DeS-WvbchV7RMGqeCdqm4NlrEhzi4hlTcbp8x5lj_mXsKKdxhCinjbSSLz2fpj0WgG3NL2ikSPEBqo-WzL3B1mkndwi7a9RGatkpR7Kk8ftSjRCnaAI4BuA25E0oCB7BLvxSY6rUi6ya6th2QED2sTdOOd6P-rVWok-i_KsqCHX7rmpduU8Rv-CQU9-2aMpNCjJjbohmo14ZhzOXsE7sjGIH-arFncWr9uS-Ak23JjvtEUUGHYlHNm15lQVfuhrsC50RMAl6Y_axJEY2b1BI6eUtaJXneeYy7MQtGXNuHA06Ir8jn7LNGp0yvz5k8pnMtAZaB4zdfThvFi_yff61yxK5zaN6AE6moAXcNlxZeuPdVfzIHeQNKHBgS1vex0MvqiK4en7ZjMRbh9iGHWkcRm0UGrZMwGU8njIBn5mWlj1mKw2zGwLPpjYPbaHjnpGc4i7-p0ZQXDhrbmX7zR7fyRPDi48xiIetbAE_e3ep679WPsWRfW4mmT-wD6hE8td4AWZTPaPLQKpkRGIhqIy1-si_goNKxRsrWiKycqw==",
  "id": "rs_0f06a08ad925028a016ab41fc8dbc087d08b18b53d2b558715",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.043},\"note\":\"The brown toy’s face and torso are centered between the rotated, open jaws in the right wrist camera. I’ll lower without changing lateral position so the fingers reach its raised body.\"}",
  "call_id": "call_bMzTk0inuE9lORdxoLzNMx85",
  "id": "fc_0f06a08ad925028a016ab41fc9e40487d0bcdb63122d1077c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bMzTk0inuE9lORdxoLzNMx85",
  "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]: [-0.1894, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6518, 1.5864, 0.9958, -0.6067, -0.1455, -0.8139, 0.9965]\nstate[eef_state]: left_x=0.2847 left_y=-0.0005 left_z=0.1865 left_yaw=0.1085 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2608 right_y=0.2357 right_z=0.0616 right_yaw=1.3266 right_pitch=-0.6078 right_roll=-0.2057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0701, 6.4889, 1.2088, -0.1636, -0.0366, -0.0122, -0.4171, -5.0803, 5.6957, 1.0623, -0.1636, -0.105, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e973e85c8c9487eb920d0a73838f9a459dd3344018b575b45ddd7a68f339cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cad9b7ea77c0c5354379ba22cd1bc389584f15dbf014355ab6b2c897808a770",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ffd8359d993236c016d59dc1826bff6a8ad14ae08e6e3821f9c6bd5660f008",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1091, 1.0317, -0.9283, -0.2844, -0.0982, 0.9965, 0.4274, 1.6005, 0.9314, -0.5911, -0.1825, -1.0183, 0.9962]\nstate[eef_state]: left_x=0.2846 left_y=-0.0004 left_z=0.187 left_yaw=0.1082 left_pitch=-0.3874 left_roll=0.2109 left_gripper=0.9965 right_x=0.287 right_y=0.1699 right_z=0.039 right_yaw=1.3026 right_pitch=-0.6518 right_roll=-0.2094 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -3.0291, 6.6803, 1.2625, -0.1148, -0.0659, -0.0122, -0.335, -8.253, 8.0068, 0.8864, -0.3883, -0.149, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6521, 1.5871, 1.0557, -0.6849, -0.1406, -0.8276, 0.9946]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2617 right_y=0.2355 right_z=0.0739 right_yaw=1.3404 right_pitch=-0.6271 right_roll=-0.2015 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.0564, 6.4615, 1.2332, -0.2173, -0.0317, -0.0122, 0.212, -8.8137, 8.212, 0.823, -0.0855, 0.1001, -0.2076]\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]: [-0.1894, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6518, 1.5864, 0.9958, -0.6067, -0.1455, -0.8139, 0.9965]\nstate[eef_state]: left_x=0.2847 left_y=-0.0005 left_z=0.1865 left_yaw=0.1085 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2608 right_y=0.2357 right_z=0.0616 right_yaw=1.3266 right_pitch=-0.6078 right_roll=-0.2057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0701, 6.4889, 1.2088, -0.1636, -0.0366, -0.0122, -0.4171, -5.0803, 5.6957, 1.0623, -0.1636, -0.105, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e973e85c8c9487eb920d0a73838f9a459dd3344018b575b45ddd7a68f339cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cad9b7ea77c0c5354379ba22cd1bc389584f15dbf014355ab6b2c897808a770",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ffd8359d993236c016d59dc1826bff6a8ad14ae08e6e3821f9c6bd5660f008",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_MxOYmJt9QDxHJIKgIlfkPA-Qb0mSIW9sB7KjD2WC7DzEJ0LUvD_ZJ-arY06U7B7U01Vt_qlZNISQSsBOQje6OTQCYnJ3kPDS65xQkp-QpZ-A_rbdSd0DvqR98g7W56asPNppeO74pDRDhGAVI5DHLW51w74lHeJ--5TGzdLjZDXLu6vsJXDcJg57ssjPb8mIn09mAo8stsyj9c3wqtUZ0lH3xFLWugKl-owA-bzneUohQAXoKDZrni-VpJfUTM7HSvDnzo9ZLxtkopXwnoCNeQLrJQCYMBH7dx_1_Qq-N8LEAE6TZ4YllVsJJip3wIUCDRzJOLUoDH0ZD1gbuuSbtPcnRymB0XYKJGcLgFGw6J5FTUY66bDIxqLgEY8Ptz9PQSSxzgEPO3AYXoixXkZW2OugJuXZWMSVAMPMFWkQf_Q91vbH4bzA99I82_NiqT41D5Ajr3N0VxqozdOdZeB-7vQZS9qAqAPxtktu1x54AoDk3F4HsC2XhNjmSS2Mn8xHonNCQsOSFrotsH6oArdW6Lvb2AKflgzzdHEBSxyDQKk9X-mujI1qwfIDn8ptnocskfTivBtOJXRHFNXn_LUyy9jXhtzCoQWYLAGfjUEgI7hz1gh26UQ22IkwwWF11phDyikQzf14bcAf9Lc1fGbEeMEzctaAQaWk6may8L73a0rKIBwTQqYOoeLpaaPJYv3QFRpynJ1dmGt5LdofysEfTTofmQ9siONJl6M8hX8pcH2klEYrXMMA2QAFfO0qbuj3eCPjISBI9UVntwSw4_bHioMCuzwW05CdQ3eov4zMAaWWb1W9eKljC4jJuh0QwShPPdowK6llBX5-aFFn1mnQPT9qLf2ZcPWUDCFXZhmgnbwaohOb-tT1GHEd-vkCdRt0MWOXVapQ8ebX0hVexjblRx-eVYYM482qghxPVNPU39xN_8GLHRC-K7rBzEi8Kqu8zmyH1-VcleYY4UKlZ8T6u0fWy4OrD7_OAk30GZNsrhM-z08ogV01vIDezpvpVlM3XsZItF_p9-aqeKVAcinWEBK-ltPAcYLPzS84FQYKWDUI52XYiTVefIcFBvgYhObv7meBY_k87WulHKCop54aWLknPljnS17FFS6xTa42BxwY8wL0If5SXoa2rX8DW8alnFTh0m14xNNb_YXx-EKu9Kx0wg_G3AcIz4VuG-uYcn0Nj_QgvVieMupKz_8dxwpj-5oPUgMOQWFU4RRmAjZ5NhNPMytFVV5U0KkZyNXXGTcH7wcolFWsJXi1Yg-Zj9PDoun5bXp_cn5WF2KHYu94LcNjiVEv6mVhfS-gZYzRJiKJyHjtYTRbUH1Yytnz6Y536_oP_lJwdDLOSLYVC-7mOtWUK19f5cb1_mTjAFOKEtH3LiNlXUtD_AfBZXUFSg1jLcaU7dqJcsSMp81p3SBtJjGFxkHAUeGaSCqQ8Gka0-0-CpTHaVMeb6OxVKlomMEo4",
  "id": "rs_0f06a08ad925028a016ab41fcbe22087d0bda5cccf8f63916a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy’s torso lies between the open fingers at their current height. I’ll close here, above the tabletop, to avoid sliding underneath it.\"}",
  "call_id": "call_Shjl6zpCbqRpxKpUK4VCL7ly",
  "id": "fc_0f06a08ad925028a016ab41fcc603087d08392edb988c7ddf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Shjl6zpCbqRpxKpUK4VCL7ly",
  "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]: [-0.189, 1.111, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6468, 1.6009, 0.9688, -0.6083, -0.1501, -0.8185, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1864 left_yaw=0.1089 left_pitch=-0.3895 left_roll=0.2116 left_gripper=0.9965 right_x=0.2535 right_y=0.2291 right_z=0.0482 right_yaw=1.3484 right_pitch=-0.6389 right_roll=-0.1699 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.243, -0.1538, -0.0269, -0.0122, -0.0342, -8.2667, 7.8017, 1.0134, -0.105, 0.0269, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b481db8e2bd1aab4df318b6278746c1b46abfae30d5eb6bbc38c22b88f77db8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c8563b9431120db1d49a7f1bb4c9fdb05a5829c5ea541b7232ec20b3074413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1915fb326bdc16abccb0b3fe87f2001456d95f395cf4aed85a3982f4f5512a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.4194, 1.6344, 0.9318, -0.5468, -0.1993, -1.0477, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2941 right_y=0.1734 right_z=0.0323 right_yaw=1.321 right_pitch=-0.6361 right_roll=-0.2197 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -2.947, 6.5162, 1.2088, -0.1783, -0.0708, -0.0122, 0.0615, -7.9932, 7.7744, 1.0525, -0.2125, -0.0366, 0.7399]",
      "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]: [-0.1894, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6518, 1.5864, 0.9958, -0.6067, -0.1455, -0.8139, 0.9965]\nstate[eef_state]: left_x=0.2847 left_y=-0.0005 left_z=0.1865 left_yaw=0.1085 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2608 right_y=0.2357 right_z=0.0616 right_yaw=1.3266 right_pitch=-0.6078 right_roll=-0.2057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0701, 6.4889, 1.2088, -0.1636, -0.0366, -0.0122, -0.4171, -5.0803, 5.6957, 1.0623, -0.1636, -0.105, 0.1832]\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]: [-0.189, 1.111, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6468, 1.6009, 0.9688, -0.6083, -0.1501, -0.8185, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1864 left_yaw=0.1089 left_pitch=-0.3895 left_roll=0.2116 left_gripper=0.9965 right_x=0.2535 right_y=0.2291 right_z=0.0482 right_yaw=1.3484 right_pitch=-0.6389 right_roll=-0.1699 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.243, -0.1538, -0.0269, -0.0122, -0.0342, -8.2667, 7.8017, 1.0134, -0.105, 0.0269, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b481db8e2bd1aab4df318b6278746c1b46abfae30d5eb6bbc38c22b88f77db8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c8563b9431120db1d49a7f1bb4c9fdb05a5829c5ea541b7232ec20b3074413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1915fb326bdc16abccb0b3fe87f2001456d95f395cf4aed85a3982f4f5512a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_SsuxwrT0pF_AYL-xJWllT1uiwn2sW61I7UdquwIQewc_qiFFj49Q7PB80oNL_ERdWZdf6VFwOc2-XkwPzRtq01IJLXsX__gwgmkGjJfzYyrc8L7tLTkVxRgwxc06NOetGcb5Mz4SWRuMxZruxhF9MP4ymtSOt4jSO38d1lNhJkgSh5N6QLkIXfjgBq6qerT56C4_rsPmHDHbGa5oGlJaMX_SUT7B0MpctLcFzjUuShcsBLkWrqwlldHedxVxKVaK2puvd4iP2N9PdhaCSBU72LNHGMt77IZZY_mTa-UUHRpFtFsOcvMfhBDfvAoxUKnpBCuiOgk4VUgJCneHI3WmC6VYq4jhHhyCq7EODbxyyAE-wQ2HNnZm6YLH1PgyZORI8uu7Tat4duFk4gHqw1WQPMZltGc4kAS9Phy8m4-BT29Y-oOgNnAqFJgtcBASvS3j-B-i4BY-r_rFhwYnhX5WsSgNWnVNqQgTkARWvMiASigiDybovCcrrCv9Ra4FmdBq-IuPUaZ8rXkbnWSfvYgdDfN2glo_cLIdet-BJGsmRF1W0L9kWBFc2cFrj3LsyQVWSEGY2T9NA5a1VBjSz8KSk8zF7_bnskVpvwErTEAPrP1RObc0ACBGn2_9yVAQ0_9WtFkFZqrTeQP93u3jcXzqzjByxjIL_sUtWbZwEkbetcQwqaqju0pW5leN17SkU6hM-bYoxr0_vqqxXaAjru0PLjDeLpQ5q5I1iKnk0MbaNWHHouzsYyw9ppmc4oLg_WfbNOpdfTCyNyUl1KN9zMCg2GeLqBuecVqCY7yDdVc1oCyHf9bPiy5YXma4IL2ZlE7xlEjTu0Mos6RD74WKiZn8SksaWHCrhiE8fYJ0jrYkPfcsd4aNBbTTkaDDl_EjWNGiFEC_aXe0aztW7PfUUHlZfJk8QOGb1imSbu-otTBW8Ko_CMKUlBAeJj75wMxXELKy7r5tw4cma0fHTN70Ug4VXi27xuTmMp7R8HmEB28JAh8nIxyowFW-pGCGzGcZjU7KO4L7s6qBHpOcNctrUSHjaokJdnLWc4kX4p-qqtrvfJeeVJJ3Vi3O6zOWgNPRyTGhsskMB4S0YlsjnhbXPmqWbbmTb_poTxplQhnXJZALKerc3hdoeDULbqLJV5SBcer1NzDEYJGIsJTXWOoDfI4xE130GDY8cnPkLtHmN5IJoAFm30a1AGTN9p9cxyk4TJWIdpDtcOnrxLpu8-TzicSX5ObEComj5y-S1zICVXIzlCMD3V2nXRte732itn_e9Eog6BXOHuEIkPWiG6-THOroyYo-gsdAq2frQxpqxjqlqyCVuuO-gxa_S-xB5EbHNnJauJqriqFeQnaV3Ix9LBn3dFN-2Hdvrs1folVQZsNBANMIUxaHzcvY0dIEG8HB4XuUyL80u2RW9sN3kLGTUCJPnrsvZ2gCPjgYw_6jZOi-dvnlyvPvoZBbWnSzVwlEPCdXl2Bn-7bn6bJKwI7I0kO08vwD_VvyfThz3dw0HADfvK-zCYPfKUQYtL9_lBnprMQSoWYPBKTF7OaUSSsCCOMsCWYzLBBcty51JVojTiecGwC3kdLDfs56vLPXrOTL_ejJmzOlZcokMV33AqXFQ_IsWNLODxuuxexve30VM5yw69b3gtYRP0y5AVSClp6rf0ay-8jJdQi1w03_dVvtjgvhiRkFBfkYf7B71Y2nNOOn_sLeXp8BsLMvJAwJsTS8awGBd6vOEmKUUW_Ql_yKGSLLFsXmwrPyh8Llaw2hka-vAUOBrAjFIwmMJY7gNZ5iVEpjPiylkRS1P6X8o-fTkrRRBbWXwYgcsFTz2VwJrR8XmMl-LEXv1kBIz3bUZpH4Yo5JqiOtJ01uF9-hlFNR73b0oT5fZ7Bhesz7kq4Pu6TskCWK_8Xvf9HWOWp6tdRClItdSN9Nc2e9mna8ruDj2XGkRUijAUG5cqWiTBEXUfwhOmkbNCnatfdvY8JNurjspwejsUn-0n4RdMk2J6XmcheX9rLnCEngv0obdQMRA_GcQqmig_kh614vNb6nuHlo9V5EUwF7SdR262VoIl8Gon5XcYfGM5j70zmRsCJWdG7b8Eip0iLlBFLjT9OM9r6r0GFZJ7Q-WiQOaxbe4P1JsxmTvVR1vrxvtqzYFhcaI7B83USJXzuYHeRerPHbu6lIEApjr0UQ0su9JSZYyZ6Q0mcsBiHxnDyCK5DusA59CzJYf_Ly1RpRLLGGqBDRAjJQJWwDgGES1CgmJ9h6sjBpH7uQOzbBXRMwoCAVHhiTJq6tXRX2Y-zwAyUchDSfbF8YO729Bi6wuwsbaEcrGaaeGncQ5xbZ7w1xFb5fLGmC3dBInNN6fn6Zt3_D3Ar_a5fC0Wtk7tRptBalf2n5cDkJ2s2Cw_51XdEvfOeERQ9Yd-4npklGobx_ajwHUvybBLUZM7s45ZkVnqUvnzfwzjU_T7Eynpfja5BUwcEMMPvk24F85yeb6UNMbm5lyes4kG78y6NYv",
  "id": "rs_0f06a08ad925028a016ab41fceed2887d08bbdeff9adc042b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_yaw\":0,\"right_x\":0.445,\"right_y\":0.17,\"right_z\":0.15},\"note\":\"The brown toy still escapes the jaws, so I’ll switch to the clearly accessible yellow object before returning to it. I’ll raise and move the right gripper above the yellow object beside the safe.\"}",
  "call_id": "call_TLOMNOfdKUkPaIZbReSbblBR",
  "id": "fc_0f06a08ad925028a016ab41fd16ef887d0a2fcd290e327f161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1114, 1.0317, -0.9298, -0.2844, -0.0982, 0.9965, 0.4572, 2.0602, 1.9377, -1.1069, 0.2092, 0.1577, 0.9961]\nstate[eef_state]: left_x=0.2845 left_y=-0.0004 left_z=0.1862 left_yaw=0.1087 left_pitch=-0.391 left_roll=0.2121 left_gripper=0.9965 right_x=0.4416 right_y=0.1803 right_z=0.1459 right_yaw=0.1267 right_pitch=-0.6001 right_roll=-0.165 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -3.0701, 6.5026, 1.199, -0.1636, -0.0513, -0.0122, -0.5265, -10.5915, 7.5145, 0.4957, 0.2857, 0.1734, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f102ba4524c8085d92dc721f0ac589b9348de0dbace0841da69ab58acecf61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606800a355ddec819fab9b216dae649faa87030688cf516e752c9efac90757b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f80709fa32384ae514ee43f7abbc4890fdbcdef6361c35c8bdd8e9026ac70e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6521, 1.5871, 1.0557, -0.6849, -0.1406, -0.8276, 0.9946]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1865 left_yaw=0.1089 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2617 right_y=0.2355 right_z=0.0739 right_yaw=1.3404 right_pitch=-0.6271 right_roll=-0.2015 right_gripper=0.9946\nstate[joint_eff]: [-0.0889, -3.0564, 6.4615, 1.2332, -0.2173, -0.0317, -0.0122, 0.212, -8.8137, 8.212, 0.823, -0.0855, 0.1001, -0.2076]\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]: [-0.189, 1.111, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6468, 1.6009, 0.9688, -0.6083, -0.1501, -0.8185, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1864 left_yaw=0.1089 left_pitch=-0.3895 left_roll=0.2116 left_gripper=0.9965 right_x=0.2535 right_y=0.2291 right_z=0.0482 right_yaw=1.3484 right_pitch=-0.6389 right_roll=-0.1699 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.243, -0.1538, -0.0269, -0.0122, -0.0342, -8.2667, 7.8017, 1.0134, -0.105, 0.0269, 0.6862]",
      "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]: [-0.1894, 1.1114, 1.0317, -0.9298, -0.2844, -0.0982, 0.9965, 0.4572, 2.0602, 1.9377, -1.1069, 0.2092, 0.1577, 0.9961]\nstate[eef_state]: left_x=0.2845 left_y=-0.0004 left_z=0.1862 left_yaw=0.1087 left_pitch=-0.391 left_roll=0.2121 left_gripper=0.9965 right_x=0.4416 right_y=0.1803 right_z=0.1459 right_yaw=0.1267 right_pitch=-0.6001 right_roll=-0.165 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -3.0701, 6.5026, 1.199, -0.1636, -0.0513, -0.0122, -0.5265, -10.5915, 7.5145, 0.4957, 0.2857, 0.1734, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f102ba4524c8085d92dc721f0ac589b9348de0dbace0841da69ab58acecf61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606800a355ddec819fab9b216dae649faa87030688cf516e752c9efac90757b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f80709fa32384ae514ee43f7abbc4890fdbcdef6361c35c8bdd8e9026ac70e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_XmmHoKrh5cwSJZUkeriKZ-2W91coAHO0QYW0_UZtk4YXJynnoOhg4_6YK0r49OllsozzXcpqedFD63cSTZdZdkt1dP64fZ6e1Dw9E9gRBNoWbqmWenx7tpYWlP6TYkbfg9XMNwcIRQj92DnclAfiu_Bx9KN2tjGvB4nGN5d0ZAWJjXZVm_7f_i5H2iLsWBi7qwHO41e92I86i42oZA1Ulg2SUxJQm6UzJzGMOLew1ejrTCkDG0sN0cFiypp7zeusVCvUMLWuH98KMPeHX2njZKWyd0-zx5tDq3_9AUOD_gZlWAHRnqIU4cl5Lt4GrJCdaP2GzVQ98iOTejitCLf-W9BNl98qPZb32tnxGibzQhww081-S_OHjV5V-0Y-0ZGgQ2v0WeJpdBK8u-ANDeXKBF25bCsDBJBwVGAucFJPd0ugqIR3BmPIzHx6zgj26OOS0d-MTnOXiF23zMztR9bQfdJIgGt7XkaNzFtc5QzNcRvhn-kzy8rEaiq7MymFVrmng3X0-OG3kDsEivXsSjCr30oQptLbXQnsPRk2og_qBhgL9iwLcaO2ZOffPkb1_pEAwv2aHkTdxqZtXhPuizazg3TCN1O6aLkiPBp5Ih2btrHw6FgYltx5RqHMKvxtZ-fW9hA0xthpMg7to04glPgQl3UR21XxB-k7tmdUOv1FQxyt9-Z7_6kEok-upH4nTAkzKhz5ubUgHK2ISTTYa5CzUGtbCpRQKkvkroDPZO2PWSCGKpoBHg7UuiqpM282WxWQdOv0mINfBS781xB-RrYVmlhvhy6Pkar8xNPxgfouNXkbS6ILruF8NmgjoT9NDkN-132wFDLzKmjm5bH1KuRDPlyLWu_9gFqfnSwLSXI2IKkKiQ6YlMba3_CVGrUb-H2-U6MAjp9e2AE8y6cFJQo1LVDuW_HXN_zE4Yj_Jm6pWnxYdcXV33hGJyfAs3tOJm38nwdCppNld_H4T9HiSw59h1XdhhMRvmQvmwgVRBRIlOByZJZAdKU-RPGTbSfUYPGZNDYyhvoanXDYZp_Ws7pQNid-dL4RTfIJn-jI-xzeV3Z3o6isGkhelW_oTq8DFAyzJUPPRnh4GrLMzVXR-zLexkf7xs1RgztXJcEVQmrB1N_tPV8bQAU8lFqiCYdYDSTf6PC5ZP4Jd865gWmDvmKAj4pMnimA5Ubpj4pKA910UBJs8a-Hjb8qfaCHfVLYGJDsMFLfdOqWCeI9ntimtepopeWlcWoIxOuop7-oAR6wLg3cb2xD2uGAbiTzge9CqjQLekeacLb4qkgO2DLBqN1EwZVNDm9ZJJWfXj7nyOOUK3CiyH-84n9xEE9_W2s27CEEMA4lxQERGyoek3HFmOUy7Ep_aEcJBNVqUUj_2g57BqTHEd3lvioeX2RbE-MT11P5zwX2HY-iRz72K8BR-yqYos7PBervHKBO89n4w3U4Y39CtZ3ssDgQ1HmDmJxkk96mI2b5J5ttsBrVx5EzjXfAKNaNBETbsDRQmcifB1zjxvnO1RHDFpqX89rqdLRMfNlOnn4BYGPVXPPkx5iZBqlW6vRJEue_VIugnlENjVqFpLeN-j4TOPbavftpShhzGkk8E56YuT-hTXuA_iUFL1ZnoR5_YeFhSNFz_fGPYrB4IeetghlBgT5iTe6MCkOTm9qN9JvRxp-_6T51zrnZcsB-iKRFgxPmfA0y7pNg6fi71CpppPRDFQjRoCa0XtzFedHudu_zASHeHK-a8atrufSLLuA==",
  "id": "rs_0f06a08ad925028a016ab41fd50ea087d0a356096fa96ac0c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.18,\"right_z\":0.065},\"note\":\"The yellow object is on the right edge of the safe and centered in the right wrist view, but still ahead of the fingertips. I’ll advance and lower the open gripper to reach it without contacting the door.\"}",
  "call_id": "call_NeZDNfPWhESHUKBRxCsBabVb",
  "id": "fc_0f06a08ad925028a016ab41fd621a887d0bb7e59aead6533ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NeZDNfPWhESHUKBRxCsBabVb",
  "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]: [-0.189, 1.1126, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.424, 2.1944, 1.8561, -0.9417, 0.1974, 0.1265, 0.9973]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.186 left_yaw=0.1091 left_pitch=-0.3914 left_roll=0.2122 left_gripper=0.9965 right_x=0.4638 right_y=0.1753 right_z=0.0686 right_yaw=0.1145 right_pitch=-0.6548 right_roll=-0.1852 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -3.1932, 6.8855, 1.2234, -0.1832, -0.0708, -0.0122, -0.5675, -11.1932, 6.1607, 1.16, 0.0562, -0.0513, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f4f6f91a424aa6b2de6e868c25b123881ae4d06e6b5b3e6b6cf794024789db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4154097c74499e0fbbd4a541f16ad0504ef28d2d729c96014feb00ef09b05cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca440d1c164f05bfd31168bb981ea16e7007d89598e88e5c915800aad621a5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1107, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6518, 1.5864, 0.9958, -0.6067, -0.1455, -0.8139, 0.9965]\nstate[eef_state]: left_x=0.2847 left_y=-0.0005 left_z=0.1865 left_yaw=0.1085 left_pitch=-0.3892 left_roll=0.2115 left_gripper=0.9965 right_x=0.2608 right_y=0.2357 right_z=0.0616 right_yaw=1.3266 right_pitch=-0.6078 right_roll=-0.2057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -3.0701, 6.4889, 1.2088, -0.1636, -0.0366, -0.0122, -0.4171, -5.0803, 5.6957, 1.0623, -0.1636, -0.105, 0.1832]\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]: [-0.1894, 1.1114, 1.0317, -0.9298, -0.2844, -0.0982, 0.9965, 0.4572, 2.0602, 1.9377, -1.1069, 0.2092, 0.1577, 0.9961]\nstate[eef_state]: left_x=0.2845 left_y=-0.0004 left_z=0.1862 left_yaw=0.1087 left_pitch=-0.391 left_roll=0.2121 left_gripper=0.9965 right_x=0.4416 right_y=0.1803 right_z=0.1459 right_yaw=0.1267 right_pitch=-0.6001 right_roll=-0.165 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -3.0701, 6.5026, 1.199, -0.1636, -0.0513, -0.0122, -0.5265, -10.5915, 7.5145, 0.4957, 0.2857, 0.1734, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1126, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.424, 2.1944, 1.8561, -0.9417, 0.1974, 0.1265, 0.9973]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.186 left_yaw=0.1091 left_pitch=-0.3914 left_roll=0.2122 left_gripper=0.9965 right_x=0.4638 right_y=0.1753 right_z=0.0686 right_yaw=0.1145 right_pitch=-0.6548 right_roll=-0.1852 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -3.1932, 6.8855, 1.2234, -0.1832, -0.0708, -0.0122, -0.5675, -11.1932, 6.1607, 1.16, 0.0562, -0.0513, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f4f6f91a424aa6b2de6e868c25b123881ae4d06e6b5b3e6b6cf794024789db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4154097c74499e0fbbd4a541f16ad0504ef28d2d729c96014feb00ef09b05cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca440d1c164f05bfd31168bb981ea16e7007d89598e88e5c915800aad621a5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_aRmP0JBa5Y5nvQ0JZW8Z6VIM3_CFFyiSFW2XfZvVVreiMDcMsy55FJM4xS1wHYBQBGJOx6j2SIFnVpU3STVzR6yUrH-OdltkmMEHiC4Sv64DvpcUX35u2xtcv7bXzH3P373ru9cHy6uG8rK6X804TAfnIFNBW3xZ99SfQGVZInOIy55RWLmW3SKZGCqekgtiEnJ8vEd0uFzdz0ffDGGeO6ppcogvHe0k5emYnSxu9hb2FjbaB90tJ_vg_DUw8wXkjOXe7Mcw7ASkpMA6OyB2kkNDnzXGtMUL9WLcLI3TIHCuF0T6CV9aQngnmfY77joF2DojvgpijjHPIYh5QSEmVFJKRpBZjZ7CINSvmSIbHFz3wBdMiiPcfu3q7EI25DBWHc-ZVB9kz-l1KtFnU3fl_B-0o8oozPY0ZcKe35wo6VpBWe6cyQxxp1c4WeySZkN5oTvYBW7hqomv9Y4aKUZyPVZtJWD4oO8jCgN4765rn0nfpz2P8UewmHoKqUNLbS0FgxLj_1pfOvsEYChKNX4IBQkihqkt8czw9GkDOykuXg6zF_9gUDHCdTfqxFlsJMtJmiFg84Q2C7suj7vM8iH5XGe2QyWnX4BivL6F5UhCiKqjImEBUrIlSMCobt915oPj5ED5NejyKqtKtRe28xMYfnTZwhxqF60sDGukHqp-baTQR4tR1ZdTPl1lydU_FHBj4wrxoCGFPD8JwjYUeO_uo9rVHCRpQFw6QaIsLrJFnGWwmbJMv7drhDw-VFUN4NSL-AudELFl8TOy_T-FQ6a_319HFpbmeIIJvMlEVNIdhALDm_Z3ebC6gW3gT868ZPFqg1GGLD7Y_hBsg_G40dW1-YdJFBRz5ENAXj7qj2nw6GR7RGOkBGQpewji32exuMk_m964xbt9o4OZZxTv1HkyP7WSew482ecNbsRfNjehO56qSjkprQYzjD-0YhOt06OvqabKyaDK6hyS_fI24o-dWH6wfEyNYXhvK58CUjzGiNT1iAad-nRBoQDvru1bhne0-9-RJzFSl_7nn2ozESDkrkRHEbszQOYirPO_F6ZZILs-nZlfIk-b_8hu3LF1ObLlIL_LChbbIrYaX4NuNRgfzvNHwVnLma0Co3Rkk4oEoP_menXxnS0pjBdmLwHzys_LIiRbm0TGJ58KQmsQ5Q_WgcUzoU7yuEtX6himx2J-L8kvnUFBaIwNN_2X8fI6Io_KvGf5899tWO4Z79Pu-M4-F-KFIvtxdvMXYsRE-KVyimkaEfn2e0VlVys2aMgLjE78W3UjyKdJ-bzz_jZ6IKEwelTEmjJb4-_U2Hpoc5jW1GApyXMVN1HU8ldwIsgolAHnsPN7KXsZMruukD5KVkv9z_YXOc24zmoKWKbp2aKLQMt-CmvyKTbeNNChBvwpRynhs4DNNBftNaPowwLEvpNmAjF-sOW707OX64VgOi2n3DFir4Q87mlcoEjtDp9yNduKfH25CyD1e7_EB3ivvtw7F8Qniye2B1BiYLaDbIDB4_z9OvANT_-WH9Fcl1fCddDmHcLydVSDRjdy5qStcYk9a8A==",
  "id": "rs_0f06a08ad925028a016ab41fd8c28887d09ee354d1134a500d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.17,\"right_z\":0.018},\"note\":\"The yellow object is still just beyond the right fingertips and lies outside the red compartment. I’ll extend a little farther and lower the jaws to its table height.\"}",
  "call_id": "call_LOy92KDfYev6U70nyhqvzWci",
  "id": "fc_0f06a08ad925028a016ab41fd998d887d0b3b35edef67e740b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LOy92KDfYev6U70nyhqvzWci",
  "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]: [-0.189, 1.113, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.4095, 2.2433, 1.7664, -0.7609, 0.1894, 0.1005, 0.9974]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.1859 left_yaw=0.1092 left_pitch=-0.3917 left_roll=0.2124 left_gripper=0.9965 right_x=0.4789 right_y=0.1755 right_z=0.0293 right_yaw=0.1345 right_pitch=-0.619 right_roll=-0.172 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.0838, 6.4479, 1.1941, -0.2076, -0.0659, -0.0122, -1.0598, -10.5778, 6.3111, 0.862, 0.2271, -0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21e76ca4731b9e26dbd511c6d23de9b15c7b9ffbd8a4c162f9f48f979735b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d62f1d6c3897de8510864859d81bfb6c81b0729cfc88c7d2489c73a88d10ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc8bc4d8bd767428a0803b0a1712c82166702c6e861a210cf3e8146782cac16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.111, 1.0317, -0.9287, -0.2844, -0.0982, 0.9965, 0.6468, 1.6009, 0.9688, -0.6083, -0.1501, -0.8185, 0.009]\nstate[eef_state]: left_x=0.2847 left_y=-0.0003 left_z=0.1864 left_yaw=0.1089 left_pitch=-0.3895 left_roll=0.2116 left_gripper=0.9965 right_x=0.2535 right_y=0.2291 right_z=0.0482 right_yaw=1.3484 right_pitch=-0.6389 right_roll=-0.1699 right_gripper=0.009\nstate[joint_eff]: [-0.0342, -3.0974, 6.4615, 1.243, -0.1538, -0.0269, -0.0122, -0.0342, -8.2667, 7.8017, 1.0134, -0.105, 0.0269, 0.6862]",
      "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]: [-0.189, 1.1126, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.424, 2.1944, 1.8561, -0.9417, 0.1974, 0.1265, 0.9973]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.186 left_yaw=0.1091 left_pitch=-0.3914 left_roll=0.2122 left_gripper=0.9965 right_x=0.4638 right_y=0.1753 right_z=0.0686 right_yaw=0.1145 right_pitch=-0.6548 right_roll=-0.1852 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -3.1932, 6.8855, 1.2234, -0.1832, -0.0708, -0.0122, -0.5675, -11.1932, 6.1607, 1.16, 0.0562, -0.0513, 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]: [-0.189, 1.113, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.4095, 2.2433, 1.7664, -0.7609, 0.1894, 0.1005, 0.9974]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.1859 left_yaw=0.1092 left_pitch=-0.3917 left_roll=0.2124 left_gripper=0.9965 right_x=0.4789 right_y=0.1755 right_z=0.0293 right_yaw=0.1345 right_pitch=-0.619 right_roll=-0.172 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.0838, 6.4479, 1.1941, -0.2076, -0.0659, -0.0122, -1.0598, -10.5778, 6.3111, 0.862, 0.2271, -0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21e76ca4731b9e26dbd511c6d23de9b15c7b9ffbd8a4c162f9f48f979735b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d62f1d6c3897de8510864859d81bfb6c81b0729cfc88c7d2489c73a88d10ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc8bc4d8bd767428a0803b0a1712c82166702c6e861a210cf3e8146782cac16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_eA2ZzN1HKDIwezDICvhMYJA7aiPYanKH5m3313T1E_5iGUpqdeKEn6YhI_Hu2N0TgZyFBLMXIPb01l8CUJ8-yvty53sYHVlTx0FhOseROiFuaSvVMR9L_ffwtv7Ewf_3EyB5BqXJHmVtGNSMVTCV9njWFanUcs0-a6_G_-D9Yi4wDdtfhEiJVCTxL2ZXMHhG4csso41aY8aExwqpk78xv-WMtPWU74RdV1RBPlqZ0OeS0R-0M4zOACq6zu9Fn40PQekS5N7m_2aeCAZarhOKPcPX2m4IowKtksPVk_4syxrDHFNmtOrWyL3uYs6xQpWDtrKlWi4XYDKuhfBFfpKSsxKyqcZXbcBCb1RBtboYLBQUDnyGgzVpxAeppYAG006IldJcn-BqtJrHDiEPDFSJDma8aVIrct4PYKtTKX2tyH-1G45xfjMXgthpBXdfzlxhY8PeIB6676rhgsOUuiFl1vdzflb6XJQ8uq25p5l8cSTBQcsPMTIrU5vMfM0p_iT_ocR_PynAkepIUOWdH-7KqGBXivgTcThfwXsvJUDYM1pP-Q-6vtgYrQEVK6RR5hyyaJQdSNofuKj08gHpbpA_OY9cD9p2HHJTMY9wfyd7w4vRd7NfBKIiTjKEfvSdLVZWpXn0u-yqnnvI62-UFjOiYm7SchlfE0ejene4qTBZEvQ4y5Iwe5Nmq4DX6wLQZiqd9pWs5mXVu-kzekI7qa4q3yR4EZPTcQeV_i6MnVU69-a0NOnpc0sPBsWVoy3V9LcDNG6HfnEyHV5j5jygLQ3fbAsoJ4WjQeOvZX0lImenm2DDcJ9Jnr4TaN_dDIlcTJ8VGiwyTS8xMF3LEEWjbCBUNEZdO93GVCoRS_NWfs_Qx-fFmQVA05bPjrtWx_V2OdIhhn10URTnHHgdfw56wFXMUjevfn92YjkqcTw7r31L6wJI8Fhm9OOCoKA-S6Lqvz0X7iFuDdVyFVOKdgHcuxMz7qaM_NkU-5B3fkxF88oprvA4ar_ycdRzpbJf61wSrizWbBeVjIk2cqDP3eLl1KYJSHcfbFhBi93oLxFb0NiGJiUMREoLAx0O1a4FfJX2EcvPtx0qd79tYpAPRGzWcVQQODH66_jr43EIZJqEydEWznCa5L_lni8swqEhL5sOVC4VSMgBQoMv3O3ac8maAmdKkywVHhc5zXPSXeWGoQImard6aO3CXPdHF10O93FDH_YRtVENAs_MoiV061-LX1iOnauzaIdTNSijwSRpZ9sm8REVFarQSPzbrpczhK9yqkA6c75N9ltcNwMPAmTWkegENMrkTyzCDwlYzInRSl97Lc3Ew7w4pmhrpgN0LCcRZwluU3z7s78PoVCJtpbmKXLH96rVYogELR7qKan4JHp473jKq_l7JjPZayYWeKOlrw7ahjjny6kp9J2vAd0o7vMdIeAjSb9wuTnwZhhypI76glARQ5udXZ1q6ZFHKt0yNV9ZCObkfpIJNTuC3WuX7_sr9qBfZolmfvQ2lTjinwuQVjdHEOB1ovLBK3keqFHF082wpt2eFA33qzTeNnB6A2VEnVCMt3ttSAz0RsHz9dF24lb8ogJlit85lM5xvc0kuz_EomEepy7NP-3Lp_NOJPdQjbz-PJ7OHy04zG7FuJEzOqb8S84EruanrEjPT4ZXS5T_m8BlEsZgtXrCafumVSqY3HhOieuyG4Q7phdjaWVI3l1jpxj-YvS1sKLUO_dvPRvOGKT5OWxYPSllT_k2VuDo5Y-z1RaFFegMUDIsePLWc6S2egwgSE6LUuRrmL79wAnP6wqVATcIcaPagatF5RfMkCq12cZvJ4mem-pKdPqnRsZQYTuJd1y8MVXJsNdxUWQYIQSCJnhK0qC8DdOyfQg3fguK59ynFZv1BZs8tJE8IhlvS_BVkBufvxcS5BwOVGwitchY3aavgNRMCYkp-ztn8-thax_8nnPZd7KBcc7tpszbyF-MYkFcXn6jEyXwt8seONJTy2uyBUOsHbV1BTXRiZmddi9dr0PvRU4v5DLpVPgDp5rUica_s4dDgzBep7fs09kx90odHJGsSY5Q57pK5Au0OmliBxkyXMb6Kgyy02XkbGirAFtbqECQEJSQLER1v9uKQpZSROQORD2JPQuQNC_xPHiXPbJYIqJ_K2-6mRouyqizyuygeKFnoaVR9GaFWMS_fwNHofGakuPrYhOgQElKcNkOkVRpZuK5r4Ao9IObIHauwrc2bdAMkmJG7s9cWxCiEPad60l4zd-udaWH_AoNlFf5Lfob4_GSzY0tdmOfeIextyIld0F2DmJ5qg4yP2LZL9x0kDikuK5y5_r92GF-7pzM5NhOBsJBevvbbsbDkD_un_zKeEFb8pszo3ONt",
  "id": "rs_0f06a08ad925028a016ab41fdbbe4087d0b6e859fc59ff2e14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.17,\"right_z\":0.045,\"right_pitch\":0.4},\"note\":\"The yellow object remains ahead of the fingers, while the low right arm is near its straight-down reach limit. I’ll tip the tool forward and extend slightly so the fingertips can reach the object.\"}",
  "call_id": "call_ISYGqvewZPDkC9q6YQY31PKD",
  "id": "fc_0f06a08ad925028a016ab41fddec7487d0a320a71302fcd8dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ISYGqvewZPDkC9q6YQY31PKD",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.1894, 1.1164, 1.0317, -0.9325, -0.2844, -0.0982, 0.9965, 0.4328, 2.2547, 0.9802, 1.0405, 0.3706, -0.0902, 0.9974]\nstate[eef_state]: left_x=0.2843 left_y=-0.0004 left_z=0.1846 left_yaw=0.1096 left_pitch=-0.3983 left_roll=0.2146 left_gripper=0.9965 right_x=0.5195 right_y=0.1735 right_z=0.0456 right_yaw=0.1464 right_pitch=0.3632 right_roll=-0.1671 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -3.2889, 6.4479, 1.2967, -0.2027, -0.0122, -0.0073, -0.4718, -8.8, 4.0821, 1.8291, 0.1978, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244752b0418128f7ec5ca7370322c84954b6d995d91f9d9c319d7498caee724c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecacc3cf1678ce830e5b5a238486aff81c340ff992d09fb8f25007c064083cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59c7ef23bb7edb12eadda05fcb9145f00f70c4ec0ffc9f6deb2f7b3f4834950",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1114, 1.0317, -0.9298, -0.2844, -0.0982, 0.9965, 0.4572, 2.0602, 1.9377, -1.1069, 0.2092, 0.1577, 0.9961]\nstate[eef_state]: left_x=0.2845 left_y=-0.0004 left_z=0.1862 left_yaw=0.1087 left_pitch=-0.391 left_roll=0.2121 left_gripper=0.9965 right_x=0.4416 right_y=0.1803 right_z=0.1459 right_yaw=0.1267 right_pitch=-0.6001 right_roll=-0.165 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -3.0701, 6.5026, 1.199, -0.1636, -0.0513, -0.0122, -0.5265, -10.5915, 7.5145, 0.4957, 0.2857, 0.1734, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.113, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.4095, 2.2433, 1.7664, -0.7609, 0.1894, 0.1005, 0.9974]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.1859 left_yaw=0.1092 left_pitch=-0.3917 left_roll=0.2124 left_gripper=0.9965 right_x=0.4789 right_y=0.1755 right_z=0.0293 right_yaw=0.1345 right_pitch=-0.619 right_roll=-0.172 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.0838, 6.4479, 1.1941, -0.2076, -0.0659, -0.0122, -1.0598, -10.5778, 6.3111, 0.862, 0.2271, -0.0904, 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]: [-0.1894, 1.1164, 1.0317, -0.9325, -0.2844, -0.0982, 0.9965, 0.4328, 2.2547, 0.9802, 1.0405, 0.3706, -0.0902, 0.9974]\nstate[eef_state]: left_x=0.2843 left_y=-0.0004 left_z=0.1846 left_yaw=0.1096 left_pitch=-0.3983 left_roll=0.2146 left_gripper=0.9965 right_x=0.5195 right_y=0.1735 right_z=0.0456 right_yaw=0.1464 right_pitch=0.3632 right_roll=-0.1671 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -3.2889, 6.4479, 1.2967, -0.2027, -0.0122, -0.0073, -0.4718, -8.8, 4.0821, 1.8291, 0.1978, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244752b0418128f7ec5ca7370322c84954b6d995d91f9d9c319d7498caee724c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecacc3cf1678ce830e5b5a238486aff81c340ff992d09fb8f25007c064083cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59c7ef23bb7edb12eadda05fcb9145f00f70c4ec0ffc9f6deb2f7b3f4834950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_l4JPYx0JEngbNvJiusxAiU7icTE3jTIL2Cos_q_Fux1LoetjqCziSqOqnljI69QX7bFRE5pKJfLkNryb1XyX-_YFb1NRBpMSjGVCh8DV-jYwMS6Keq_2HZH7nemJKkyuT3COk7EeqTPSOltQkSDmWrpUfF4yVSDvDountHWvO99vqz9Ti5PYNz7psl0rxoalQAHmrcmIK-MRT-5yOatbd3wlmAS0hweM608NNltzT6eBCWM_QKo0I0r-uo3IVVD2C8m5mF2vmiRf_8h6g6ODeG1rxHZeJE743erHedtqj4zSrRgxGx_BfB2YzhrLejy3G38KPK-1k6PyYkd1ZVBoanM9RkETHj2nGtKPky1PyoWmCi8mRkwxDXnoHSWe2CNhRz9gb_UilJqQ8j6kYtTuo4TJE9fh5uS3bkPQOzi6D7chMpDWvHwPiR6KnvGxjyrqbE0vxu_RDexNG00dyAa2u4ikdOECz6XmKsGYHYfeCZE5_0pzB0W1zYZlyUpwquGbv6B3GFipQinp1j3aQs47NJxQNmKuFxDK7n8uVwLi0bgQaC_43CpfMuXX5KpSIW-BnwKTuxCj_BPzPq4pMBkXIUxGvahuZQP3FtfzqKOMLAfLhlRWd7at6fIz2PhAJodT5XDqXnUP6IswrBlZqqkf5xqCklxDzffjNswK3wVAmf9CsDbYO2aEke7umMZBPeLaMEc50YjkY-rsRLj749f5YaE9VFj_Gc57ZIpWgHiqxLI-0t7Jw-TYAPLmKnWouRSZx56TJus__BIn6MDAP3p8LWzuhOSoOR5YhRWohJuLP8VobKvBj0wdRpjBr1jXmVMqKud8jMfwc07gsKGzUxM7AVeHEhVN7WhQykUj7qhbDkMhl3hxq3e4h189Yyrh7BxXGsULeutiV2o2Uo_fpOTAKJZNscaXNjaaCZIZJcfIbVosb_KRU2Qb42bhXTfGdD8-slVi9bKrpC6kzG9BZAdASkKxnJFfa30S2Tl8y5UsAsbdHnUBtSwrOrRQyPKA7Nfasjj2Ss1uplJIVH7Rni0ESUF4mPnBAzzM855QHvf8R8YA4DQBS-OcnNa-pNDW-apvVEbMitSvHqBSAfWPKSKcZUNJp2euBD5Glt5yNzEJsY-bOmNSFfeP_iBSBidzsaEBuogzRme8noRWjNE7kanyjhxAVavEh9UOEjTLSHfdTuHW1cn8vORISyHt4vRJjHrEKs96jh0OHw2FOkG0zs6LQlfIGJ2jR79c3-LaYN8jP2WUJefXvLT-tVSdYVNjyIH1tIeVZysPvMaERycC5yShFzcM5zqiReEg9h6GLu4wFM4NOfoI07FbNmutY8URtxfm73HJ2pRr1oYiyxd4QVn8bvh9cgWr5VGUQ1-QcJBBajv05vmH1inovNBBDdtGatF5EWLEczSJmxU7WzaZhj_LTsR_fc1xW_i40XkGIFhkHPac=",
  "id": "rs_0f06a08ad925028a016ab41fe43db887d080897faba8138aec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The forward-tilted gripper now has the yellow object between its fingertips in the wrist view. I’ll lower a few centimeters to grasp its sides.\"}",
  "call_id": "call_9OED2P6qTFUcZmWd52ivHBX2",
  "id": "fc_0f06a08ad925028a016ab41fe4ca5487d0a2486eccc337815f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9OED2P6qTFUcZmWd52ivHBX2",
  "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]: [-0.1894, 1.1164, 1.0317, -0.9333, -0.2844, -0.0982, 0.9965, 0.4328, 2.2993, 0.9897, 1.1439, 0.3706, -0.0978, 0.9974]\nstate[eef_state]: left_x=0.2842 left_y=-0.0004 left_z=0.1845 left_yaw=0.1097 left_pitch=-0.399 left_roll=0.2148 left_gripper=0.9965 right_x=0.5235 right_y=0.1753 right_z=0.0493 right_yaw=0.1428 right_pitch=0.428 right_roll=-0.1542 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.1385, 6.6667, 1.1893, -0.2125, -0.0513, -0.0122, -0.294, -6.9812, 4.547, 0.9402, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fd1d216253ac79b74e203963695c7170197094627c68831e5ffc20378dccb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2f5c4e1451d0a389fe7b251d31dc7af78221aa86c873b16773a9b3fccaac93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3352c1488e23c25e6b7c417a819843fd78eb6d152922b0fc67b20977050aa69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1126, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.424, 2.1944, 1.8561, -0.9417, 0.1974, 0.1265, 0.9973]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.186 left_yaw=0.1091 left_pitch=-0.3914 left_roll=0.2122 left_gripper=0.9965 right_x=0.4638 right_y=0.1753 right_z=0.0686 right_yaw=0.1145 right_pitch=-0.6548 right_roll=-0.1852 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -3.1932, 6.8855, 1.2234, -0.1832, -0.0708, -0.0122, -0.5675, -11.1932, 6.1607, 1.16, 0.0562, -0.0513, 0.1148]",
      "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]: [-0.1894, 1.1164, 1.0317, -0.9325, -0.2844, -0.0982, 0.9965, 0.4328, 2.2547, 0.9802, 1.0405, 0.3706, -0.0902, 0.9974]\nstate[eef_state]: left_x=0.2843 left_y=-0.0004 left_z=0.1846 left_yaw=0.1096 left_pitch=-0.3983 left_roll=0.2146 left_gripper=0.9965 right_x=0.5195 right_y=0.1735 right_z=0.0456 right_yaw=0.1464 right_pitch=0.3632 right_roll=-0.1671 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -3.2889, 6.4479, 1.2967, -0.2027, -0.0122, -0.0073, -0.4718, -8.8, 4.0821, 1.8291, 0.1978, -0.0952, -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]: [-0.1894, 1.1164, 1.0317, -0.9333, -0.2844, -0.0982, 0.9965, 0.4328, 2.2993, 0.9897, 1.1439, 0.3706, -0.0978, 0.9974]\nstate[eef_state]: left_x=0.2842 left_y=-0.0004 left_z=0.1845 left_yaw=0.1097 left_pitch=-0.399 left_roll=0.2148 left_gripper=0.9965 right_x=0.5235 right_y=0.1753 right_z=0.0493 right_yaw=0.1428 right_pitch=0.428 right_roll=-0.1542 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.1385, 6.6667, 1.1893, -0.2125, -0.0513, -0.0122, -0.294, -6.9812, 4.547, 0.9402, 0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fd1d216253ac79b74e203963695c7170197094627c68831e5ffc20378dccb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2f5c4e1451d0a389fe7b251d31dc7af78221aa86c873b16773a9b3fccaac93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3352c1488e23c25e6b7c417a819843fd78eb6d152922b0fc67b20977050aa69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_napbFkiLeCTkeOMammmgPFyImXZV085j7tygUXSS_PkyZbsfKy5T66Y0CUMkqdA1WJdUABLUqgB402TM2dr6YieoiOeSdrP7Aw82Hyjw92GLV6648RczhRt1E6j9p9_YvXrJrBlN5o3_2oIeY9K2_TXMEFVnXa38Ex7AlmQgdwi4H_-3Wv8gF_opOwUJC2YYth_soPlRtBf233QfBA5o1mVcbVljfP_HQiUTbiXyOMIp-MXzDnLC-9EAmkYEHlIlAqhOAoj1glOg5pA1_r8Eo4hTleEZ-FN9LuqBrF_EK-TTlfqz4ERKtQ_8z1h8H1lmlwQKxgZhcZ68GnD1BkY6HGMeXzyu_yyq8kzWYwxP887BsWeum8FedR_M0syUyfcJ1oAuWnP8nw4Z8xpHAk6bzkyimyH8fbUZKsvbMMtLPPPGI8vyX1dt07oZeZsPNOWZ0HONjPYy4oRDN9DoEnSRmnheHGaEpdB7whGzOi3vHeqqwA-vKOlcfIdHO21WzMsdB7J1UEBmjjOQy6JV3gvhbuRl1akOa4bNFN8sX9q6tP7H_f92pmsojWhZ5I2BV3JJbUBwI49mztNARaNnBmKxwubDhbDEAigcsUZCpnRHtQplMD14JcNQGcB_r-xlMQtQNZMkI2MVMHbWTgO4agS4MQCXkyPU5Wx7Sg6wY_b1tcafis3Mr2VQ4UhnEbNjZSEqHEAySgFy1BgjeeBPvTq7t8uJ0xAgE87LjYdQhYYk2YugzsKjgO76S_WwN86hDW3-gPh_D958e-jZ9IqBxBbLxf47bDGpID8_1jW3iStFYGHxmB1B2pnHJAAm8jvuiBckokxBkHRmVnPMUawWlqw9MKc0RtfcdK7RQc7Ktc6IyjhHzaauOyNOEZCp_3EMzwZTEeMDv3IuiUkVTr_dsDJoFClmobfENI6UQMlTnIh3sish1otUU14YelF_76A8gOCrHhy8YD_pRs7MXd570l6Q5zHgkTVVSWa2OjCqAJ3jH49Uq7jCxvQEFSrAOxUYOokG72gd7tEPb85cRbiGmk6aJm3XkxVg_Eu2A0OvVf0r4HI1JEkzlIZdjK2LV0QUeyvIiK9Px7rsoaRwr57wtnJuRpe08NQKsE-9VTaPIlAAbk5ZvQKWH0RG0Mv0LDObElwj6H7wjDHLejNnwcUxQ90glAV2KGcqqNdP4tB6B9Slse8lSPgnMCUjva6ptKRb98siaRw4a0xFjLNFpQE7iTvCuy2cxuLGyQzO834TjboEDKe_ZW7t1CBBsAWEVoKEuBxh6_npUf4fPO9Uh5d1p6YKXYZzuXlW2TjghZIcwY3dytUUWncF075h-MA_YLNl7PeEY1tjzWSLH4DVRHl1H3U2l2L6zRwrbBLZS4NgygeGD2zouv2jwgLabCQjg2w2S4FxK",
  "id": "rs_0f06a08ad925028a016ab41fe6c13487d0b13af847c4e71c75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm has reached its low forward limit, but the yellow object is visibly between the open jaws. I’ll close the gripper and check for a held object.\"}",
  "call_id": "call_FOX41cy8cNJ3xbEWHlH2CsNi",
  "id": "fc_0f06a08ad925028a016ab41fe7208887d0ab4ea5011f9e454b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FOX41cy8cNJ3xbEWHlH2CsNi",
  "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]: [-0.189, 1.1175, 1.0317, -0.944, -0.2844, -0.0986, 0.9965, 0.4309, 2.3077, 0.9943, 1.1835, 0.3656, -0.1013, 0.0085]\nstate[eef_state]: left_x=0.2821 left_y=0.0002 left_z=0.1828 left_yaw=0.1118 left_pitch=-0.4103 left_roll=0.2184 left_gripper=0.9965 right_x=0.5257 right_y=0.1761 right_z=0.0557 right_yaw=0.1427 right_pitch=0.4619 right_roll=-0.1459 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.0017, 6.5436, 1.37, -0.1587, -0.0562, -0.0122, -0.0889, -11.8496, 3.959, 1.4383, 0.1197, 0.0317, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469ce3fba49a53c17f43aef0aaa87000cf225df81e920d13565b9531e927d107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5101bfa6daaea4d89470f44fa058a1d7666861b9293d89699b3553cc3b2b50a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b224063fb63f440ad0f60871ef5ac21694f74d0e040ff7493f0ae34e498a4507",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.113, 1.0317, -0.9291, -0.2844, -0.0982, 0.9965, 0.4095, 2.2433, 1.7664, -0.7609, 0.1894, 0.1005, 0.9974]\nstate[eef_state]: left_x=0.2847 left_y=-0.0004 left_z=0.1859 left_yaw=0.1092 left_pitch=-0.3917 left_roll=0.2124 left_gripper=0.9965 right_x=0.4789 right_y=0.1755 right_z=0.0293 right_yaw=0.1345 right_pitch=-0.619 right_roll=-0.172 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.0838, 6.4479, 1.1941, -0.2076, -0.0659, -0.0122, -1.0598, -10.5778, 6.3111, 0.862, 0.2271, -0.0904, 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]: [-0.1894, 1.1164, 1.0317, -0.9333, -0.2844, -0.0982, 0.9965, 0.4328, 2.2993, 0.9897, 1.1439, 0.3706, -0.0978, 0.9974]\nstate[eef_state]: left_x=0.2842 left_y=-0.0004 left_z=0.1845 left_yaw=0.1097 left_pitch=-0.399 left_roll=0.2148 left_gripper=0.9965 right_x=0.5235 right_y=0.1753 right_z=0.0493 right_yaw=0.1428 right_pitch=0.428 right_roll=-0.1542 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.1385, 6.6667, 1.1893, -0.2125, -0.0513, -0.0122, -0.294, -6.9812, 4.547, 0.9402, 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]: [-0.189, 1.1175, 1.0317, -0.944, -0.2844, -0.0986, 0.9965, 0.4309, 2.3077, 0.9943, 1.1835, 0.3656, -0.1013, 0.0085]\nstate[eef_state]: left_x=0.2821 left_y=0.0002 left_z=0.1828 left_yaw=0.1118 left_pitch=-0.4103 left_roll=0.2184 left_gripper=0.9965 right_x=0.5257 right_y=0.1761 right_z=0.0557 right_yaw=0.1427 right_pitch=0.4619 right_roll=-0.1459 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.0017, 6.5436, 1.37, -0.1587, -0.0562, -0.0122, -0.0889, -11.8496, 3.959, 1.4383, 0.1197, 0.0317, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469ce3fba49a53c17f43aef0aaa87000cf225df81e920d13565b9531e927d107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5101bfa6daaea4d89470f44fa058a1d7666861b9293d89699b3553cc3b2b50a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b224063fb63f440ad0f60871ef5ac21694f74d0e040ff7493f0ae34e498a4507",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f06a08ad925028a016ab41fe9e55c87d0806e1189476af212",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_wbjy-p8EJe0Lr3mXCslR8mig44MRwssxcFNXWhOqLe0BKpazJawb8MUlFNX_atyl69VpPz6sPXH_o0UJvUDsKBGYX90S1zRVJikGrkyPmt1kbbCX5Y7KGNhgShIql0bOjN3WkQQfupc9MUweZVKoiDOOXecnEI1iXMiYigMKVhKO38wJxb2XxkqdmCBHG9zPymc-FFoPLQzva74LynTCaIxXw2XiFuHxkMGRorH4iXIbJziEaWwCXh5jCMLgaXhbMp4AtlL2-HnYheS8pSWdKxGA-7XCYKtKNGGsZvOBmySewFaVsODDeVAUH2c4qQ-N9MllWHaYGsfyLNhIGh1hualVHliNnrKLnUY7_ylbUZYTimDrzd7pifkg6HQHKiCxKdXcCWg-rP8vFOcwlgI8onjfC_frbXF_9P6GT6wst3iLoq3xgy1uf8kLLQk5OFL-J0J3yY5cZa-JtE1EfJvnQSPJgCuQ6Ghenr8aLl49Qdg9oiWFtQ-TFwyBivNI1wYT2ETATsx9G2LIvO8rGCF74yIu9K2A5BDJoIyGcZv_Puli9P1GpHnI72n2wOTGSaCNFGsazPWFP22n6kvymnAibxrwRgiCjV9-9GjwY7tCaA4tcGiAx1eR_K3RrTskkkdyBuXcC95VYZJYcvJBYgIW5mR5VciOzb6ZWpDBckjtvh4nFLnn-DYCgNqJzGQsCwj08ZCX9m1QcwuZDlROejiZns8m7KwiGoHms4ZSiZIgGux_TlPnDqS_uvwYLVtnTqGKL-lk_ONA77l_wAvpVfac4cqoF_7BpIEwFdHOwsGyttJbhzT3_fTZUQHEpaJJIkH6GPL3JdvFt2tLDOGSeyEQTK2Sn3fBsA5CQ3dN7rkvQtK9JvlyhhDgt8jZN4kSpPm156fPkoxLOjKaHlauknCkUhFIeQDf91Is6eHKGc_pw6ZTHHaryOSO-8NzEzeWKC4PRvfJxHWqtlYSvyIcvPmJH7CApLx2PMHCk1GjriwAi4iUYbG6MJWMHnIsbqxSJMr5GrlTzh5ehRspsXtCht-5DaGrZs0u47ix0jURE1Blj3332OWKZXCTfFzhGoBpKbRlPpZ9-S8SvQfmmI0iQIUdMDNLuJeqzNTEd3ArI1ixWNOUFEEORJZnPCTOXtvGjw5m2HUOBwfvkAfjHI1AI6lPGHm6JIaTFtLKQII07OrDTytQpfEoioA0Z7uRSS-UnzgmfzmM8I_cEoFPLaB5XE1jJyDJVgZUvqxr5qeZL-s93xGrXKYaf-J-9XSeRG7LHaJ7tZXL2E61qR9eBjzOoetDvbEzuw_S1-1VY1ITRoM1dp6S8DrL01wmet2KJ98BK_EoZbCIJ1al3iBuKZGvh4Bk3KCetKDj3gzc-vCkfjVR56Uz6-TZVVMsouMu3t39atNp9AReVR-BeNtCSW2_Zglat7Pw0T5JI5wofyztBuGmGNy1xFdQPrF2HcVtj46DPpTa_lNSxkV5uM5t_LQtNiFEtY_isAPMwx-4y4oSfaPS4dhTml-8IP6MJEOp-eJmWVVvgRV6KT1FnLmBB1zqW5E8bQTBwUDWIZQSvdZm0Ks9CDHwV2vU0O5wts6BLKEUGqmqpDrG11AJtGJmy1m4FG7D49ACwL-_0saCMOb02zHeCEC34HiKngBvZzdBcOvwBiytUuzxlkLGE7lHUsUBVdN7tl-O_KMkPxD1DCO3ltNIgtFNI9rJglCItaowQbouScdUzetpijFqAnGKp3NqZswXZN4gh-JfG6OwqRiBNNas93yI_qJQEb_H6ogFOqBSLRC68qO2yFiXyDsFCQu414uH-hgp0N0IyXAzxIFRcD8UhpLYxWtfi5RCEcLMZsiJZGU04BDMVba-j5SNmH5PnVfKWZTotmFRV-hERbEe-NLG_ewkOMJP_kwHp8AyZMNQy6QGtJfpOencZwbMGR5KGrZFj2S7edObkAgOKAewRHfVfAFekHsnmYRm-bUZ3_-cm-0EViggQWa1Qc3m_MxZlBDuLux3Nk_fRHODPC8vTMpGYyAoB_AppKDXD-lXZi3ZzPBN2UrS58xgW1ftrjTl6KD2aYjJyP63LOtoHU2fVC0zu8J-a0OagYN1kq1PaCxPV9_puhadRHgdmULQLWe2Un2bjgru5c3AMejwXOaUFbzJbY0wkjccQOIGvR7cZT1i9K8wm",
  "id": "rs_0f06a08ad925028a016ab41fedb28887d0857b157fa756ab32",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.54,\"right_y\":0.175,\"right_z\":0.005,\"right_pitch\":0.58},\"note\":\"The yellow object remains on the table just ahead of the closed fingers; the grasp was too high. I’ll reopen and reach slightly farther forward and lower, with the tool tipped to extend the fingertips.\"}",
  "call_id": "call_QGwTOuQzfvjTNAji0j5qitft",
  "id": "fc_0f06a08ad925028a016ab41fefd72c87d0941166634704c2c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QGwTOuQzfvjTNAji0j5qitft",
  "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]: [-0.1894, 1.1175, 1.0317, -0.9504, -0.2844, -0.0982, 0.9965, 0.4232, 2.5351, 1.1355, 1.578, 0.342, -0.1326, 0.9946]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.182 left_yaw=0.1121 left_pitch=-0.4165 left_roll=0.2207 left_gripper=0.9965 right_x=0.5433 right_y=0.1837 right_z=0.0736 right_yaw=0.1173 right_pitch=0.7551 right_roll=-0.075 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -3.0974, 6.4342, 1.2527, -0.2027, -0.022, -0.0122, -1.0188, -6.0103, 3.1248, 0.5885, 0.105, -0.0757, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf3a24dbdd2341fb907a92245a181d107e2e6788e47111cfbaff1abd969ce9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb4bff16df6a5200e91f59efdfae6e9e91f6f0997f82eec6b9a5856c6b21ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f100dbfceaad418f516e511f526239f66bf1084ece5bcdb34fcff08097d25f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1164, 1.0317, -0.9325, -0.2844, -0.0982, 0.9965, 0.4328, 2.2547, 0.9802, 1.0405, 0.3706, -0.0902, 0.9974]\nstate[eef_state]: left_x=0.2843 left_y=-0.0004 left_z=0.1846 left_yaw=0.1096 left_pitch=-0.3983 left_roll=0.2146 left_gripper=0.9965 right_x=0.5195 right_y=0.1735 right_z=0.0456 right_yaw=0.1464 right_pitch=0.3632 right_roll=-0.1671 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -3.2889, 6.4479, 1.2967, -0.2027, -0.0122, -0.0073, -0.4718, -8.8, 4.0821, 1.8291, 0.1978, -0.0952, -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]: [-0.189, 1.1175, 1.0317, -0.944, -0.2844, -0.0986, 0.9965, 0.4309, 2.3077, 0.9943, 1.1835, 0.3656, -0.1013, 0.0085]\nstate[eef_state]: left_x=0.2821 left_y=0.0002 left_z=0.1828 left_yaw=0.1118 left_pitch=-0.4103 left_roll=0.2184 left_gripper=0.9965 right_x=0.5257 right_y=0.1761 right_z=0.0557 right_yaw=0.1427 right_pitch=0.4619 right_roll=-0.1459 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.0017, 6.5436, 1.37, -0.1587, -0.0562, -0.0122, -0.0889, -11.8496, 3.959, 1.4383, 0.1197, 0.0317, 0.6374]\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]: [-0.1894, 1.1175, 1.0317, -0.9504, -0.2844, -0.0982, 0.9965, 0.4232, 2.5351, 1.1355, 1.578, 0.342, -0.1326, 0.9946]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.182 left_yaw=0.1121 left_pitch=-0.4165 left_roll=0.2207 left_gripper=0.9965 right_x=0.5433 right_y=0.1837 right_z=0.0736 right_yaw=0.1173 right_pitch=0.7551 right_roll=-0.075 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -3.0974, 6.4342, 1.2527, -0.2027, -0.022, -0.0122, -1.0188, -6.0103, 3.1248, 0.5885, 0.105, -0.0757, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf3a24dbdd2341fb907a92245a181d107e2e6788e47111cfbaff1abd969ce9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb4bff16df6a5200e91f59efdfae6e9e91f6f0997f82eec6b9a5856c6b21ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f100dbfceaad418f516e511f526239f66bf1084ece5bcdb34fcff08097d25f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_0GdGnNGO7J78m60I-ur3s6Tf_2MdUJxXw3fnIUK9RBMjs4T2hy5VV6pWRoQNLPAppjxR31ckN8r7KQ9giK9YkLYDxti39iGEbKNxUGEuiQ_w3LtiYHH_0NAnmLMwdcI5ojNbLSGiszXXEl_PQ6yTwibGJzExyKSwOlt52bktn6KyLjannCG_TAB562kj3gF33GoG3UazgQ9XYpclmrFxUs4VzHihbQn2fk8I3Stb_MQhAeoJrgTQfiCVRuheaCWeGQQO80x26cYiYNysnbZaf6S2nCaDx0v4wBjuWCEuqVOYphCY0Ure0OjclFUaQrtB9RB4ZHkekhJIGD_9-jOUBrlg-1-JFaU58bpzT1lJexSlSi2kRJiD272ZwIVUS9MT4fzfX90Y55AqIs-is4nLocaWyKKgI77KM-8yhBocTNvzk2aIlphhXrEC3OUJRZ812UU1TfuH_4vFvjPtbBnn4-LlUaMq308ObDMBlzbTs6FKfUNnY7UOwmDwtHPOJ6j-I2KHTptvL32Ckw0UMZnj7KRNwhrBGrHugYV_MhRwYQc74LAgbWGsOStTD257qCnhti0H04YLBjJPzXx_Kg3tb5MpQZ4JS_ZHvzCJBuJM4SVa1DWG3PFG9gbe-GDjsAgslLRprWU0Rnsz6-2GEboWkHPJGbu1b4fGInkXrWkZiLT1_XwenCoWu140sucRMdeoWDrmG1H1pY17h4LxmHwN5CKny2WU1qIVcLyDh2NRhsHOUgQ5aEJgl6exvEYDTLnpmuvaeNEJvu-jN2Ha2sobvLpN-4WZ5PXA7bPm389oPLjwxqWaVaSroFDBAeoVXWv6rw6SL04iQuoORm9RhUY-EGluFJEou7zHYmws9ziAX2PcrEWSuWS7cH-QD_6l43vww0pCtucbHsSBcK5z4AtGoDxiyb8DRPAT6IGI1q188s18ETQDoto_v7wfekm4n0MNW8GMNDj_p0GSnvlVqfS71lnU7s3zwVdabub4P0RE3Y2WMcBtDBljYWRFiej9SqSdTpzm_JIFgOv33zQOkvLn-ftsliLH5ytQyDcl-XZ0YaL3AWxzAl_BBOYVQUAJdicc7P9VqnZmutKFlS0LwSwaodRhDQKKr7W4RUqb0z8xu86cSWXeWjppvxkwTRb-DJfe2iivgsZlYW6ZHm-X4IFW3ovzbVqlyLpXXg6CHYI4nWE-_aC5DMzefiARrcVtDU0QgBHT-Nhp8IHIBslGpFqkfu601yBIyqVDTANrYeIBhAQ_cVaSmlrB09J8K_j-Up_2Alm4sy6dWpyoFCrIlnMh26N7_brp_ZkVYatYUMAlj2rPXKgmSqk1Q36nKw3MkLlvo9O3i8tPHhcUkY-MtwPFskxq0Wj_QZi6GKrIoLCMLQb6icz19rnddov1wjlXOszaZhriaDl2C5Om_dtQlKBOP9JOqHM7GZ00lSqxZNAp5KEx83W5GNLVH2tCudS6oUwXwnCWghDxtpd0804NCz0EC7TfVteF7eelSsjWy2ROaCuo011ycHwWumQ3ZAX43thF29xuJc_a2yu7UAH1biGDyvZo4yYDv2bJsizrYlV2a5SOk8mD3ZKrH3E7os0BZIznBfxcwfsBVdMA3zSwUoXjd4Z4v1_AQ_sKd9OGcDe8S3GoqnNWT_75GJS3GOPD66jxmzWrVw6e6ZmoubOPB7wqVedlzL3ku0QcOVn-ZfQj_emkFdNgpJcbmfBDqKKy52cQ1EA2f36T7BTnnyEfmuJKgwpxmApsPpO-l3ektXU4BRmnOETm2niaJ9uYwPyFYdkFt4HEUNrcGoasFavWJ6E-bv-iZ2bVAxJH9VvTDpzIqUxTp7dIi-iqG2MubB7eZvPZbnL79iFYs15FHtzaztV8peI6k1hTBvlfdWBCKESCViawQGdiMYis-CZ_1M4dHb33uUfOHCkaVgrreN1pcNK7ztbkW_G6RHNsbrguL-S2a1Nu8BDYzOZ-6coPXC9M0Cekk",
  "id": "rs_0f06a08ad925028a016ab41ff2acd487d0bab74f93454a0e1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the longer reach, the yellow object now sits at the bottom of the right wrist view, between the finger columns. I’ll close here to test whether the jaws can catch it on the safe’s raised edge.\"}",
  "call_id": "call_QcgpkL6b6z0q5zxUwELzMA01",
  "id": "fc_0f06a08ad925028a016ab41ff407e887d08cc1a35e8540c689",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QcgpkL6b6z0q5zxUwELzMA01",
  "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]: [-0.1894, 1.1202, 1.0317, -0.9524, -0.2844, -0.0982, 0.9965, 0.4252, 2.4126, 1.084, 1.3235, 0.3401, -0.0933, 0.0085]\nstate[eef_state]: left_x=0.2806 left_y=0.0003 left_z=0.1811 left_yaw=0.1127 left_pitch=-0.4209 left_roll=0.2222 left_gripper=0.9965 right_x=0.5428 right_y=0.185 right_z=0.0635 right_yaw=0.1361 right_pitch=0.5815 right_roll=-0.0938 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -3.2068, 6.4342, 1.2137, -0.2173, -0.0659, -0.0122, -0.1983, -13.2991, 4.3009, 1.8828, 0.0757, 0.1148, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d742886300036d8e9aa948a468cb63c824db0fc86ed2f9c11aa8481c67325b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4131143b1175490f1aaedf32ecec836b1ceecf2a7571c3bd6cd2ca6c5808a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2691cb3597c19a19fd041241e06a5941c6a57716d1fc7fd2c832f3dcb8ecba06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1164, 1.0317, -0.9333, -0.2844, -0.0982, 0.9965, 0.4328, 2.2993, 0.9897, 1.1439, 0.3706, -0.0978, 0.9974]\nstate[eef_state]: left_x=0.2842 left_y=-0.0004 left_z=0.1845 left_yaw=0.1097 left_pitch=-0.399 left_roll=0.2148 left_gripper=0.9965 right_x=0.5235 right_y=0.1753 right_z=0.0493 right_yaw=0.1428 right_pitch=0.428 right_roll=-0.1542 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -3.1385, 6.6667, 1.1893, -0.2125, -0.0513, -0.0122, -0.294, -6.9812, 4.547, 0.9402, 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]: [-0.1894, 1.1175, 1.0317, -0.9504, -0.2844, -0.0982, 0.9965, 0.4232, 2.5351, 1.1355, 1.578, 0.342, -0.1326, 0.9946]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.182 left_yaw=0.1121 left_pitch=-0.4165 left_roll=0.2207 left_gripper=0.9965 right_x=0.5433 right_y=0.1837 right_z=0.0736 right_yaw=0.1173 right_pitch=0.7551 right_roll=-0.075 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -3.0974, 6.4342, 1.2527, -0.2027, -0.022, -0.0122, -1.0188, -6.0103, 3.1248, 0.5885, 0.105, -0.0757, -0.0708]\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]: [-0.1894, 1.1202, 1.0317, -0.9524, -0.2844, -0.0982, 0.9965, 0.4252, 2.4126, 1.084, 1.3235, 0.3401, -0.0933, 0.0085]\nstate[eef_state]: left_x=0.2806 left_y=0.0003 left_z=0.1811 left_yaw=0.1127 left_pitch=-0.4209 left_roll=0.2222 left_gripper=0.9965 right_x=0.5428 right_y=0.185 right_z=0.0635 right_yaw=0.1361 right_pitch=0.5815 right_roll=-0.0938 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -3.2068, 6.4342, 1.2137, -0.2173, -0.0659, -0.0122, -0.1983, -13.2991, 4.3009, 1.8828, 0.0757, 0.1148, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d742886300036d8e9aa948a468cb63c824db0fc86ed2f9c11aa8481c67325b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4131143b1175490f1aaedf32ecec836b1ceecf2a7571c3bd6cd2ca6c5808a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2691cb3597c19a19fd041241e06a5941c6a57716d1fc7fd2c832f3dcb8ecba06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_4zcAuAlshQ9S1HOsgE4CBBGvYeaQbox-5VHtjPZ7Dwf3LfEjcnqgx108mQnf6wSkblFJOkyiO9c30nDHMyjztxh3kfBWIsmlJkzgYGij2UeqJSDXfg21XTNQHFCrQUcYCWAx85UmyPVw2jybq_eJVKZ9xMq5PwlPpCI9JV7Rrn7yb6OzziM4tkrKH6NWfih7DoMUQcsJN1oO7dQNQvKEMRxlydb1JnVGKykMJN7NjG7sxmmyYquvg6sigY7hLWgtzdiWdxdwziDOH6gbMffpvn4XZkgU84A2zNYbKUPuFvSlozcUx85naDn4ZZBKdM0r6RzPGn1WlsuVRIOjeH3zF1wZsreIEgSNuGJAADvnfC_oXRODAC76wveMv34r2WXexO7uB28ZPk6JP26NuZlhXK8CLYK1MM3NjuIcr3cLqrT0DzMtO8zT7PErubnpkO2Nlswj_NaQNd5wI3xi1oTxhMQZU9pzhHpORYquBfQP9pro6pJENTaqQlFZIaVs4kltrem9cdUwrbGcLQkMqB0QNK_lBPDwy0qxicGeTomh5Bo9X1FRcacmPXnenMdSOyb7wgu_9NhygC29-O7jWXexhcrmEdNtTFNQDZue-5jxJq0qX2Qk9f2loKMd9JCep118kvq6Se_JTUIVJJgaQ5QCUvfaowzajXW1imQjChtBKpbClSjZMUIi0p3I66NvSgzYcgbYMUP9UcQ5Xg11xHdWyP0ib7fCm1-ZDEUqZq1KzmtmeVJXDTN-_LOutA8C5MEoAqNrw5ZegYsl_I4_vRsEMAJsvQ6WxBQglRFaHvL3y5C8xvE98YZasUiWFR-cGbCSAigZx3vX6LfxJMbNslMVNwesquu22nFHDYdWMNKCIEmDkWJSB3E3Yk0gpxMtOS4Cl0G-VuqTvJ1uyzY9W6P0zZ3C0e040sMaGAXvIgEG-pKuYrsW-vbsw8CAqF-RP2lrNynKbe39Q89PrMxItoxGbcI0WAZkQbBsXrpM1yf0egwhxHu0faKwGjFl4SikzFsw-awjDlwmNhy5V58VYGNmMUh2OiHtYBk3N05fJD7o5ocLONrk3Vuq5k3xoLeug5HwuK6H4bS28zQWkQaqOLOibXVVdmJEuY3HynMb_K6ToDkCWu_ZchddgStfVJ6_PxCvWp7C76pu_yd_BuYL_pht9X6D4Y9IrCO3IXlOaFFGf6BstAhGYqBmrtFk3xC4e-toJrMlxYpIANSUrOmXvgVc96D7dKJ3AjDfoetcKWWXkaUM7BO76TeQ3faO3mEoIDveyIxF07U8A7b5Bhdg8BRa93y4fROdJQBDDRoPozMIPBu9H79U5h4uJA-F2pdpe_-sam-W76HkBBPOE-4prFyLYiNpsmrBiJblbzwAjIK4OQzqLmlVQx8iggTG2rLtF35Mf1IUa6QGQVBauzLrRr4nKhaVuHSKt0fAevSYMRz7Wt8NfKxoeBFZROG5p9Mpvm_TReibvKZwcyy_D1KYpMuw4Zr6kyROzjc3k8FOBCWF_WVaTfdDAFR77M_UE0EWhkdb1mrEuclKaPexKY0hJgofVCMeAl2Gnkb1xgT8KjKYPAu4KJufJv4aKyn2dxifBgtK1K9WCphfgAm6TPH1slozWs2mT6ogct-0ZADYDiQcFUao=",
  "id": "rs_0f06a08ad925028a016ab41ff7543087d08537abbe6f85c6b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.22,\"right_x\":0.545,\"right_z\":0.07,\"right_pitch\":0.5},\"note\":\"The yellow object is visible just left of the closed fingertips, so that close was empty. I’ll reopen and shift the right gripper left by a few centimeters to center the object.\"}",
  "call_id": "call_MCwcHj5ENjyUy8RDjTGQRyLx",
  "id": "fc_0f06a08ad925028a016ab41ff821d887d0a13fae40fbe06457",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MCwcHj5ENjyUy8RDjTGQRyLx",
  "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]: [-0.189, 1.1221, 1.0317, -0.9516, -0.2844, -0.0982, 0.9965, 0.4908, 2.3878, 1.1431, 1.1275, 0.3958, -0.078, 0.9949]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1807 left_yaw=0.1132 left_pitch=-0.422 left_roll=0.2226 left_gripper=0.9965 right_x=0.5416 right_y=0.2162 right_z=0.0528 right_yaw=0.1582 right_pitch=0.4767 right_roll=-0.1197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -3.2889, 6.612, 1.199, -0.1734, -0.0366, -0.0122, 0.6496, -14.147, 6.653, 1.9463, 0.0317, 0.0952, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04702b605f972b781a5b84e014e92eacbe1354b13dd58cee2796dccfdf993a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ccce13247ed201a0147cad718c70c493132282b57d1e8af56ba6bd7c7895c07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d768b4ba2a2bdfe0108b8b1b185e7ea09d2c8bc9d9071faf1178b048c99f6240",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 1.1175, 1.0317, -0.944, -0.2844, -0.0986, 0.9965, 0.4309, 2.3077, 0.9943, 1.1835, 0.3656, -0.1013, 0.0085]\nstate[eef_state]: left_x=0.2821 left_y=0.0002 left_z=0.1828 left_yaw=0.1118 left_pitch=-0.4103 left_roll=0.2184 left_gripper=0.9965 right_x=0.5257 right_y=0.1761 right_z=0.0557 right_yaw=0.1427 right_pitch=0.4619 right_roll=-0.1459 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.0017, 6.5436, 1.37, -0.1587, -0.0562, -0.0122, -0.0889, -11.8496, 3.959, 1.4383, 0.1197, 0.0317, 0.6374]\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]: [-0.1894, 1.1202, 1.0317, -0.9524, -0.2844, -0.0982, 0.9965, 0.4252, 2.4126, 1.084, 1.3235, 0.3401, -0.0933, 0.0085]\nstate[eef_state]: left_x=0.2806 left_y=0.0003 left_z=0.1811 left_yaw=0.1127 left_pitch=-0.4209 left_roll=0.2222 left_gripper=0.9965 right_x=0.5428 right_y=0.185 right_z=0.0635 right_yaw=0.1361 right_pitch=0.5815 right_roll=-0.0938 right_gripper=0.0085\nstate[joint_eff]: [-0.0342, -3.2068, 6.4342, 1.2137, -0.2173, -0.0659, -0.0122, -0.1983, -13.2991, 4.3009, 1.8828, 0.0757, 0.1148, 0.6374]\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]: [-0.189, 1.1221, 1.0317, -0.9516, -0.2844, -0.0982, 0.9965, 0.4908, 2.3878, 1.1431, 1.1275, 0.3958, -0.078, 0.9949]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1807 left_yaw=0.1132 left_pitch=-0.422 left_roll=0.2226 left_gripper=0.9965 right_x=0.5416 right_y=0.2162 right_z=0.0528 right_yaw=0.1582 right_pitch=0.4767 right_roll=-0.1197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -3.2889, 6.612, 1.199, -0.1734, -0.0366, -0.0122, 0.6496, -14.147, 6.653, 1.9463, 0.0317, 0.0952, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04702b605f972b781a5b84e014e92eacbe1354b13dd58cee2796dccfdf993a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ccce13247ed201a0147cad718c70c493132282b57d1e8af56ba6bd7c7895c07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d768b4ba2a2bdfe0108b8b1b185e7ea09d2c8bc9d9071faf1178b048c99f6240",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_93bNjXThXY1dSbkW2WUZ5JGZZ5IAFugHntzP10JFd-TCYnul6xhZ6ZMwG1mHBqGLjsHzj9g7d0uzVi5JGpfmyDmc6MMnnQfSiE85NChdntdtQeb6nE6a-rPYS7WYCCeb5WlJ7uqgtwtoMIE9F2MLFhVSGa8GLGx_NEMz6b85BmHJIVygrzwLhDHqAqDhdGlQjQL8wEbhunsAtDEUOMYKiaQa7ghFBm4RzdWP2HtGQ0-VkWBbCruFHS3LmpOFDRGIwQhRR0iEzSy4eeovnw2jx2AdY3Si75EYD1JfNav5Ov39LhMUMmvMuUSo0cXhH8vMU-6flhpugaldBZs2IS05T5BaoyEtoaClsBXwyjA_qsdgpM_dgbZtgXI2risrBeyyRgofJ0wZvLGVuaZNV2g38DAaf4J0DUlxb0AtbabkNQCzYecD5jbl1sJpA9OrTMJv991izklwWVVAaLx1qb2l7vZgKXvIM20xAp2cJbuzhjkl4GFRML2p0YuP6AmmHnjl2tnQOhHZ-Myw09QqrH0nRU3nXczmZ4Rk4icYxdV4BVUfKCH4xlHJRievFDVN6nAU12aAt34MqJpLeU3L7U7R13i6u9X-XZUofr7ld0_Zv1fTc7raIkJ2mqQtpnjmUajpBZ3G6vwtO_cD3MQ8AIIYdmmsBez7AgI-ZMY3qXOm6DIogKNY6sdcwLcBf_WrbRSScFs033qKFGXgYRWD4P079tIoq-dzx1D8BzzkXIrdGL9IlbQkOI4AInoWjs8g7xfjwF04V5OZAXtBX5WLD7zZS7-Kf8irQPpmmrZCR3w3IzBlBLqdfQYhrXUkG4tVNt_Tul_HwMAxbbzgq0jdvwuhOQw1DPKwnV7tFGlrDXlFhTmiZu5GJKzTvxnHNQcFddvgycPd5Exg2wX3ROgDaXqI22XO8SWqm-pTuzWVOw-H5Y1nCZR47GTMMKubUO_g41Uf8kZv0DW1YIdMpyq10xm1vEnXAYqcgSZDdpLm82c1sq80vgIR4_mwldtA9TdJpkKxVRksfKZZoou9MGhuY782nK46xcnYKPf4ifNJn0BwQ_V5yFJQHBH2Zj-cJH-U2y4ahP-ieVuEeDCyXmhkzQuDEY5BkykDHyd7Ozyi4oU8a_WLBxTlvgUyNyYj-JqU_HIcbwszV7EVvVlGDVBQeh0eIIsQSdCUP4dRrly1-bBS3e6BorT0vHLkkql8EIaRqFqkz_4vKXhqv1XD9aHT7UmpyZDV6RrezeH1jx5wgN-23BS9QZ2CNKCkn4Qx3EzzbBop9sDf5SDEwUWkxtBrmHIws2c4GAVwHl-q9PbHF4fXlEHv0e5isbbzuPEZpRmbdjthXPqWXgRmgIUVCaNL0prB2BQbn9A2Zk9MZBbi5-YboG4CeqygoNuERqzfOt0Jx3k97GjlA7CdFy7aMf5-N8hlnM9iGktjs7fMXo0COf1r4J6s1N88i5yipKRNzwNnF5cAjc4OiP7kN2ykbxv-VmgXreer-PXDkY6CNyJ5ZXqCTMddvPjiKFGHPDiN8XV1g8TKoJh3_4O6C53-_e7vZBwp97wxQFppU5zGGxVz7BWImO-MbTjQaDyw7ljNh-JCDKzm6dGQwcP2-I5EtH1atU6nb43Npaw6_u1fU1vRAXfDQqOwiikR-czB_8qHWQDr4ZX_VfzJcE5ry9se7c2cHOsfnkp3pXFhAzoGCgKskUTdKup4Doie7SFOKU4_YtZMKu76v8dDxMcTUhTKMgaBE2mKg45AY_HnHgrzTZm2uabVOk5bsKifExKpo7HD6MSyMo9ldcXo8UDzcB2Xp_tQxA7QZtvyOJB8HkcXDuVRI4wNxU32BO__EsgXdR7U1dxv64zlqIbSN3GB_BkkpZutZSXP_jaF4RPCxpAFf4uD0MefqZILA-LBsAAabDbV4VLxCP1MxZXux9DWbpE6sBUv5KDcMOR9Ie7kiGfLZNUyLxn5G3IQk1zY9NJEloy4RJAqu-lQ_y-ovgPjc2228NiQf6DbhB3sMrNpTKMSVSutyKqjIS64=",
  "id": "rs_0f06a08ad925028a016ab41ffb0f6487d08892290ac87bfc52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now fills the open gap between the right fingers. I’ll close and check whether this corrected lateral alignment secures it.\"}",
  "call_id": "call_8VYdECzj9wSz5lLXURKL5LW6",
  "id": "fc_0f06a08ad925028a016ab41ffc8c4c87d0a0fd2235a1ebc564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8VYdECzj9wSz5lLXURKL5LW6",
  "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]: [-0.1894, 1.1221, 1.0317, -0.9516, -0.2844, -0.0982, 0.9965, 0.49, 2.3863, 1.1446, 1.1149, 0.395, -0.0864, 0.0085]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.1807 left_yaw=0.1128 left_pitch=-0.422 left_roll=0.2226 left_gripper=0.9965 right_x=0.5418 right_y=0.216 right_z=0.0513 right_yaw=0.1649 right_pitch=0.467 right_roll=-0.1324 right_gripper=0.0085\nstate[joint_eff]: [-0.0752, -3.1385, 6.4205, 1.1648, -0.2222, -0.0415, -0.0122, 0.0615, -11.8496, 4.588, 1.9609, 0.0464, 0.0757, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370dc206c02d91fbb87b59dd4a6a7c4181dd52e18bc9e609b2d52f142cddbd38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b93b580ca5fd28e5ab38819fefc71c65e2100a96423d1506ac00a664d2f651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cee5cbfda6070ee46973b683e110eccdcaa7bec3888c31f098fdcf19309b2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1175, 1.0317, -0.9504, -0.2844, -0.0982, 0.9965, 0.4232, 2.5351, 1.1355, 1.578, 0.342, -0.1326, 0.9946]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.182 left_yaw=0.1121 left_pitch=-0.4165 left_roll=0.2207 left_gripper=0.9965 right_x=0.5433 right_y=0.1837 right_z=0.0736 right_yaw=0.1173 right_pitch=0.7551 right_roll=-0.075 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -3.0974, 6.4342, 1.2527, -0.2027, -0.022, -0.0122, -1.0188, -6.0103, 3.1248, 0.5885, 0.105, -0.0757, -0.0708]\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]: [-0.189, 1.1221, 1.0317, -0.9516, -0.2844, -0.0982, 0.9965, 0.4908, 2.3878, 1.1431, 1.1275, 0.3958, -0.078, 0.9949]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1807 left_yaw=0.1132 left_pitch=-0.422 left_roll=0.2226 left_gripper=0.9965 right_x=0.5416 right_y=0.2162 right_z=0.0528 right_yaw=0.1582 right_pitch=0.4767 right_roll=-0.1197 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -3.2889, 6.612, 1.199, -0.1734, -0.0366, -0.0122, 0.6496, -14.147, 6.653, 1.9463, 0.0317, 0.0952, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1894, 1.1221, 1.0317, -0.9516, -0.2844, -0.0982, 0.9965, 0.49, 2.3863, 1.1446, 1.1149, 0.395, -0.0864, 0.0085]\nstate[eef_state]: left_x=0.2808 left_y=0.0003 left_z=0.1807 left_yaw=0.1128 left_pitch=-0.422 left_roll=0.2226 left_gripper=0.9965 right_x=0.5418 right_y=0.216 right_z=0.0513 right_yaw=0.1649 right_pitch=0.467 right_roll=-0.1324 right_gripper=0.0085\nstate[joint_eff]: [-0.0752, -3.1385, 6.4205, 1.1648, -0.2222, -0.0415, -0.0122, 0.0615, -11.8496, 4.588, 1.9609, 0.0464, 0.0757, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370dc206c02d91fbb87b59dd4a6a7c4181dd52e18bc9e609b2d52f142cddbd38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b93b580ca5fd28e5ab38819fefc71c65e2100a96423d1506ac00a664d2f651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17cee5cbfda6070ee46973b683e110eccdcaa7bec3888c31f098fdcf19309b2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAEfVHE1Wb638_sMbhYw9aPSU58oqotTsI1ozEqii54Aru1rIVbwTms_nXRoFXa5Yo1DoTHPYutiGfzRyOI7Xth1zHqxNtO_M3mdkBotGl1KC81bnyiE0Ier7iY3IxYGJeqas2FOg-_NbC4WbKyxRtZeVxwAXjbiEYiXUTyMB0YF0vvKVOnxl-_Hw9AwwKjwyiaxPEoEzv0IqhNO3HBZpuAkCzu9FcnWWWT6QY8BYqc4rUim3AZGBF4V743pMwBU_ICeVfWTtzraWTlvzKf4vxU0MjRDcvIsY5xRt0bDJj8EIBwfkSYjT50CYiMb9LAhuoowm2o27ERcQ4fGzlrkcmoSKvSvk9mHLy0N7S1X3Mhx00lRojWdolgnYRfV_Ptkf1Lex1tJoDYTdTRimjfeS_Ooh4sXHDB0g1RhIyrE9BHuO66NXq4EaCXr_cdTaihvQmXP3t-XU7UvAFYfcYRFFoE3eEwKNuDONp5fD-MXNFZCGt3wuSuTlVo-3llD73HXpYMm1B0Falg7e8kENIlfUfmvmnRLT5W18juvJv78VFgFk8nsjTM826tTiEyRxXQRHDqrh0GqZBeTK-wRbcW0nYyRDtLtZZ_4QLM1IIzKZp-D92WukzY45VPowrZjE7v3VeONP_ioWuqTUOvGWX269LfvZhHO9_PueIc4n3QSSS9ojpdFV49MrBDmftdp5AWA0I8n3ac5Qs4xqsd699sBwTEj7Gu-XN-iWy4gt0TZbSXBeNekk1pw9doG0E9RfjsrJUIYL5LDcyCzBh2exqsKdAYRPsCjvYcO8d8wTWcHigYTefXvZ2fOdn2BChMs5QYOxKxi0oen6y6Q4DALux1NH3ogC2dt3pGKRMtwDFjFyBDOs54SMQarBwIjbMpC8Gexq9H2sSHhICSODL3pW1xJ5F8is1pNVE7aU094fSpJ1Ebf_jW-kZCtrs_YqzzzXaTYfSvBPNbg0paGN2qBQR1HiN-Os3G5l1cFqrAQ3CdW8iW_D4dDPazak7V7ibm-qSDWJzC_Ck-rkMFxIUJvGsHeS_2jDX7A0EW1DMY_GccoTLKvB6ru6NQ6UUNyilun4AgvmsRWpA8EH7_4NtA9TtiIdmJm8g9UBWYIGEcO8Z0JZNpx1roTFsxyk47sbP6PxBwhwdIwUEbx109Z0nLCeUiMIDCjWm7CltUuezpn920ZDALpgvx6TfiRkSoWOG9u56jcPLivr-1hwnE7TokTTPWcPGPEWK7MGVEIpHbbL0T6uoYr6TOGhYLodKAW8Q-cyfNTzPYsUd9ROiBAMz_zf2fD2MZmL1m0pMM-_LLnyRFrTovAGwU8W4V-q75Hw48wfQun7iMD4kxC0OZgPR9ymD3CaRdRo953EnlYUmWCFM9cC5eFNw09Va2twoxEhcNFVv2qriN7ntJjxL38i_sMCSGh-SH8YbFyJKSrwmEbkbG7plD-LqHKl6d2A8WwXan_wNkHEbFiNam2smoOlVFcPwhZDEYHIIBYBLnXrAFV5f8yl-BB5R5x-tzg_ndjey-FJ3XVC1KOE8lizO22-eCZ_-5NtJVo0k2F043Ly5BQlQIaL9aTPQSsV8gxvfDU7VxVCdFw8wzlZlskdeLLBw6K0Rhk9lJZpqCtrL-0vqQsFpk7XY3xkFv5PjE7l-bMRQXany9FZMS2M-lYNhGtYyurvPHP3rbSQZWEm9PNB425OW0rPLm6Mi-FylcJ2NhyvCUw2nZ_dNT3CJBhwsBDXT0h3I1YdOYtf7sNBJX6JQ3gCcMT4OQwe3G2RHcq72HwiJQP3YV9CJRZnlq4zq_lfS4X0QdILwooyGZ_LJ5QSUplYx_bMVIA3qYwOENCWxEoHT2bPGRIjr4nB4967QCa5ALWisLg0aW61YHr2isXQWNpvjEzxQw1vN0_iMUOFAHH7FhEbgwdZn3wLMsx9Oc8WoyLCFAEADbzuPBXxtAhqqh7tafNgKiE2nlu9oF0bLq2afvSg_FU7HTkFRbYgMMfCs3uBl_lzkuzp5FKqJE0VuHsBS3MuK_ccZrVuC-DZs1tnzCVDYheD5q35M9WYHQz15MkHQioHaf54Sf7fdnrVVInRM5ykJJCpKjPSEfNf8vSo3gP4QSAvyktq4xjS_ksCFofMKBJXBzUftuYS6j-AeH3V686Pz3cYQFNUqpcF2047R44-EtPQtnqFBSMvnCoY5IsW5M3UoYcRH9oy1oSlRd9DX6xyr7cOIqqJGmaMcYaJqx4Vg1DF2nP2alBKboFgR-g3QY89abMjTgqtrStNK1uvfn_XXRTvg3F226iIGHDRKmNxfaBIS8AjyGMaC9x2tE-aXh02ECiSXUbO7l4U3SBqeTL0gP7RwYB-Avtg9oVOsQUqtTghWICrL0xhzCBtazA_ZVl1wDnU-qtjtl_ch-PXqD0lYuQOSXdNQmbnzw23llnk1aBO_jjzBrSFBRI-rXzp91Ww0NECki-ArssT04-rx7yoL7KKM5xe7IUCsxl3lPf-nKgUWioXN2BqsrvrdwSfJSN-jKzrway1BxRJoJr8c_0A_wW6rdWu-TOqUliaPyfJ-HH9xTqSGtkRtCXId6RTJyFFM8mP692wzDV-BbYN1fcah3dOr5CtTz_o5oUvPrTIz-Ox96F22u1ZO_xDgPaRl7x7YNoUulkPHZQ_R5cpsLnogr3RGi-2N3ck8oSHfY7jLvllTlNoHe7di_1gsBKWtwPGyfXpyRYkgOG_pkJFET2gzrUjvwHhb_ZtkKcNiJdx1Pgep2XOEOjFbKDs_xZ2jKHQEYJPJmox0JyIgfkxAb_u1ZkZiq9SfOyWsN1kT7oHjBck2d9v11r3sIAM5TRdPjiKG_F6kV8dkO8CoT1RWRlDY7K0-UGljxfLBSwZY4BsP71RvqfTPYNVp2_Z-K4wMhe-PbX8W-vqxoCKbSg7mqu3MoQXxPScdz9VWognCJVxsdTHdBTKRrefeoGAapldiZxWULZF_QABTWlYk7DU3Z52HiXKAINzuGTIRmAOJYp5DkCaN0cH1nGmtce8yHYehtETLkOXEIE3Oo2bEgJFALzXKIIEjVBNKdocprmv6jYVuL4CBhMlDf2o5rxP7k15T8_1fktEsrsv4hSwzfUhGiVV49EXktZeBQiUTd8pinSo5ICK7Y5w7UpCkmSe7ZhdqB2jXz2A==",
  "id": "rs_0f06a08ad925028a016ab42000062887d0aad8867484335721",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.49,\"left_y\":-0.2,\"left_z\":0.13},\"note\":\"The yellow object also remains ungrasped, and the brown toy is still outside; I cannot yet claim the contents are secured. I’ll clear the right arm and bring the left arm toward the open door to see whether I can at least close it without trapping an object.\"}",
  "call_id": "call_Z5jddOIa4JdjQ6zGC1TFc3Tx",
  "id": "fc_0f06a08ad925028a016ab42003ba9c87d0967b42310029ea2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z5jddOIa4JdjQ6zGC1TFc3Tx",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "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]: [-0.5297, 2.1971, 2.001, -0.9943, -0.4313, -0.4362, 0.9966, -0.1379, 0.5892, 0.1989, 0.3279, -0.1577, -0.157, 0.9976]\nstate[eef_state]: left_x=0.4812 left_y=-0.192 left_z=0.1231 left_yaw=0.1235 left_pitch=-0.4509 left_roll=0.2287 left_gripper=0.9966 right_x=0.2958 right_y=-0.0094 right_z=0.206 right_yaw=0.1026 right_pitch=0.5214 right_roll=-0.1505 right_gripper=0.9976\nstate[joint_eff]: [-0.9641, -12.0821, 8.1436, 0.8278, -0.3199, 0.0024, -0.0024, 0.3077, 1.0188, 9.347, 2.2686, -0.4127, -0.0659, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc44897794e7a80c4a16f8cf454a806e446233668064c95a7e17c1edf9f90653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d10603e40e848b5c14f593a35264df90e1aa0e4e611a2e7eba64c502ea5b63b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f0817b5f25268a386abbb45e73fa4df3735522fe1f9a74eab63909f1268092",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}