adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6037, -0.3904, -0.0196, -0.0338, 0.998, -0.0212, 0.7918, 0.6071, -0.3977, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2926 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.306, 10.3043, 1.9853, -0.0952, 0.188, -0.2173, -0.5812, -1.2513, 9.5658, 1.9658, -0.0171, -0.022, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda606e7edcf0952fd531e045db7445b952d22ba73e69f88a843c3c1957e4526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ca1747d8c918ad4b073bbcb93dc58bc1cd0e1cd1bc05655c7e06f6ef6b1896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc09f5cc48238e3e4746eb038eacaf6925bd17bcd8c8f4660c3c09466b24f2b",
      "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": [],
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  "id": "rs_0fca5b6a6851887c016ab41a2085d487d09c1ab34ace4e161b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.255,\"right_z\":0.15},\"note\":\"The safe is open in the middle, with a yellow object to its right and soft objects on the left and near the front. I’ll position the right gripper above the yellow object first.\"}",
  "call_id": "call_9cP6hXsplrzrb43J5WBJkYOr",
  "id": "fc_0fca5b6a6851887c016ab41a24338887d080ea7edbaee62ae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9cP6hXsplrzrb43J5WBJkYOr",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9976, 0.7937, 1.7031, 1.1275, -0.2146, 0.6083, 0.4831, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0037 left_gripper=0.9976 right_x=0.381 right_y=0.2486 right_z=0.138 right_yaw=0.0336 right_pitch=-0.0406 right_roll=-0.0332 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.6479, 6.7761, 1.8681, -0.0806, -0.0024, -0.0611, 0.4308, -7.788, 8.6632, 1.5165, 0.4762, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec736337f031721f342573e474df76f0036f9161f6317591274dc8959065dd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56054cb0f70db375bd2f087c021b2be01a7c8379d14245bf95533a22353f3f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f99babdb2045575b1b76c306854aca32937db22e3fc0b064fa0d0df39b07b77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6037, -0.3904, -0.0196, -0.0338, 0.998, -0.0212, 0.7918, 0.6071, -0.3977, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2926 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.306, 10.3043, 1.9853, -0.0952, 0.188, -0.2173, -0.5812, -1.2513, 9.5658, 1.9658, -0.0171, -0.022, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9976, 0.7937, 1.7031, 1.1275, -0.2146, 0.6083, 0.4831, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0037 left_gripper=0.9976 right_x=0.381 right_y=0.2486 right_z=0.138 right_yaw=0.0336 right_pitch=-0.0406 right_roll=-0.0332 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.6479, 6.7761, 1.8681, -0.0806, -0.0024, -0.0611, 0.4308, -7.788, 8.6632, 1.5165, 0.4762, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec736337f031721f342573e474df76f0036f9161f6317591274dc8959065dd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56054cb0f70db375bd2f087c021b2be01a7c8379d14245bf95533a22353f3f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f99babdb2045575b1b76c306854aca32937db22e3fc0b064fa0d0df39b07b77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBoqqb3c88kX6TGL9z-SUJ132Ng1D_b1Zw9jipd2vYi_et14f1cxN4wm98gBd76SnkueAwZr4BqoN-fpBmaB8mK4BX8nSghEwGhz5obctPQrmlTuVLS5SAoDfEhcy5hKk6ycWH1ZQzdUh7NYfOzhUNARYbAwCcsb1HQFXzLOLByJQSNEhKT1BSlKGWNjM2V7y7Q3O5Fyh331RbY_cQ9nIUsXmxLHlYmboA8MudWXNZ5VdR5K1a-y1ZzKZzT2SiklMoGIGzgkV59Vnijq6w2Gu2E-eF3d29S_QlFVyIJgeYrgB5dtPoPdds9Xw4YRhyJVF6e4uTRDseXzHTXTXbNEoJ0txb4Z5ewQC9tdd6tgT8RFpMe_Gmz1hP8-fryEQE7AOjj5y22gXuXX2WRKT1FbKhMd5SFGnW0v57Ur-YHZtZ7EIkbucJf9NMVFdjb9FgRAjhOvzMcfaVO_zYyKG_ftzkx0ej2AY_09r6Jjl716ZVBDBZGa_sqIMMgZFBEmv6ZdakF0RIPxgklpqBr4XYdjJxtUNnXkUidsn1S9scYiNOV1Gwc-7K22rg2S4j_g9jCf-Nm5SZuDl9CZEablkRke6K7jHPuc9i5-iM1Aix3AzyL-5Fg1uARnu8ZpTkD3tZOwRfztJI-0rQIsL930FiQtCe9YIaqQAoKNZwy1FrcdQWpaIDa9JmZv96NqWyBtH1Py7LiD9wbIGYZU0QhSsp3xswcNvP9Rs4Lm_cDA_vU7fimXBEuMJB0ge95purgNSzwwMc5SI4V06owGFS4hsXBv3mvD2UCPLsqlvEEVttCUFs0Q0Vn4iDTFoS4KZi1jCtAEbfu0B_bt2hf3RJE8l420lXZKKSs1JpQgNaSapYZviClXF0QENlibNFeGKGBFuWHUdFfN5ILgjd8LA-eaFab72xS4QynAVXoBqdNAGsDSZdrYEF_fAd7ByhEvPxDubNAZaaELHg_xy6i9dR_7OOXND6YH0EBE6HXWCDxYWfsaEUOHZerQ54vJS5k19Dyh1ju-jtRv_5BmShYL8KGqMmhyHcHjaFkJphLNtYM1K5TUfGneHafhd4PlqkiU_Npu2vY0eOXm1PdDmZ4AxTqcUzg5alILrMDASn-byFmt-mit5pGTlZZfeZCEJv5gc2DlnJE1FC2IjsLw_zI_8vCY0bQv7o-Jic50ECU7u5vk4cdMyL0Wi6OWitrU6WclHPDwy53OVXSbcrBIzyxARgrxDrYhIxDSOKwQDMgPl5Ro5MYifvh5_1TZK5ts3cTAJlppJk7tVdV1mmJkx4LPbaj6dEgNF5gb_rKgv2E2YPKEGnc7aMx1DY4FXRyMc_F9HqXyzmw-n4W4h9UP_DQK8e2Wgl1dBVb2FvwCqHeTaZw0nIhCuwg49AK4cV1whgHnxS8dIfWUspagibOb9OOWb9R5hH-3GoenuiLqt1dcEGNeyJxhLDttI7QT2eyKKyLRO4FW4CGnXE73W774g3ByEHdhMVJN_NGax6RzU6LbM0qdl1COqOSrREkqekGOpgB5_G5VCEMhKpn2i0PWtVk20WCMtGyKwz4W7TAs_U1v_ZIuzPqehHaabsf9uZAbszOgl-iAjElknQWWLlH4ki8BNKveGHRXI292kvkF158mkzu9SBbeZe6BGygRLd5j-W1k6oEWOyr5bPSBCtmBDOy3W4QAmyWW6aFqmIQbdErYa-uAigYUcgXAwsKdQgmCwGj0PbcN1Tm5cuRIsQZGykvdIaWFiEvhxnIaUkOkTpEtu45-x3X-31BHvhZMWEGy0gzMteSYYHb9faWKYxxm-1hQOj3fD6W5Fy_KiFfEQlmfOH3m_4fMsgeX7yYQp7gqYiVkMO5U0uPfk6AGGB57Xokb-05qRpghmHGDgd39SlmOtkP4MEU1npfGYKh9EdGjWVc44GgEAX4blFAgyebsGqAQ1v6O2zgCli03lPiTXD8TXRI96RQUqX-6-wqbGB6YQyNeikGbLR5Zd5GFGXykgWyB8yLFbPIBPFOvp4jPzAfGWYWsbipQ556tHItHNgguPQFnXZd0Mf_mRnRq2IGwMfK0a97pTRJjAMrRnIYaH6NTX0tPSom5JZl8wYN1Kj_oUiJF86u9aiIyvhhllqZTrtlEShXjUVnLjE6pseXf395DddjVF33QolnlEaUAXuSB7r8uVDozuUafiGCFP7WfLNFP1mt6fORdJR3qxpNlhnoy9gM_t9zIhHttJmBuSu-JCzJ6me8Iqa67mzmVTdyF9KIJ8oszdmUxL46E9NCfnKJDoq7rjS9C-tFOp_d3q3E7HNiplxGL7N1PwNRxFGpuqszKML18JY_K3MZNk0yF0UHwkdETdjMPtYRwmFxMh6iVAF95sqcfLTV4kAZ2",
  "id": "rs_0fca5b6a6851887c016ab41a28215087d086c0a9f57c401725",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.215,\"right_z\":0.095},\"note\":\"The yellow object is visible to the right of the right gripper’s jaw column and still short of the fingertips. I’ll move slightly forward and right, then lower toward its grasp height.\"}",
  "call_id": "call_Ls77FtfDpcr1QApZYKWUSzuE",
  "id": "fc_0fca5b6a6851887c016ab41a2a574c87d0b7355b523f461a37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ls77FtfDpcr1QApZYKWUSzuE",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4072, -0.0193, -0.0383, 0.9975, 0.6781, 1.7557, 1.0294, -0.0742, 0.54, 0.4164, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9975 right_x=0.402 right_y=0.2118 right_z=0.0947 right_yaw=0.0044 right_pitch=-0.0819 right_roll=-0.0567 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.0735, 7.0085, 1.707, -0.0708, -0.022, -0.0269, 0.6906, -8.1983, 7.1453, 1.9316, 0.1245, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36b48320eaee27f8414ad21adaf88ccd8778d794590af960b648ea0e0d106ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed6ba12a69013266d7d74f151802205b745952b062fdaa2a91e460bcc25e691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ac23fbf296a7914bd1a47daffa0c696890f3f857c4e5ed755e3834f9a9c5de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9976, 0.7937, 1.7031, 1.1275, -0.2146, 0.6083, 0.4831, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0037 left_gripper=0.9976 right_x=0.381 right_y=0.2486 right_z=0.138 right_yaw=0.0336 right_pitch=-0.0406 right_roll=-0.0332 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.6479, 6.7761, 1.8681, -0.0806, -0.0024, -0.0611, 0.4308, -7.788, 8.6632, 1.5165, 0.4762, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4072, -0.0193, -0.0383, 0.9975, 0.6781, 1.7557, 1.0294, -0.0742, 0.54, 0.4164, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9975 right_x=0.402 right_y=0.2118 right_z=0.0947 right_yaw=0.0044 right_pitch=-0.0819 right_roll=-0.0567 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.0735, 7.0085, 1.707, -0.0708, -0.022, -0.0269, 0.6906, -8.1983, 7.1453, 1.9316, 0.1245, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36b48320eaee27f8414ad21adaf88ccd8778d794590af960b648ea0e0d106ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed6ba12a69013266d7d74f151802205b745952b062fdaa2a91e460bcc25e691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ac23fbf296a7914bd1a47daffa0c696890f3f857c4e5ed755e3834f9a9c5de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBourMcR0X8ctuD7u_8bxK-ZebZSK5d83sv_W8jzGVFoslg1IilpsuQ60t8abSXPuFXHdCHIZe3gQKtjJi--PtBIYionu-pKyVWY_TALjmmOHM3Nx13fOht5tVyKqw4er533lCZVvRwh7c6jRSDXTdiPqff2RBoQLMoYMnohrh6BgNg4KSYfY9Au4YN0NWy-8RdngwgJ1wpUX94FoQcsE-4OO8ALejSuhnojQwMbPR9TwKoIEDWRNSVmvx80E5vejiTNnEAzKXezm-RWITqJSU9rIL_m_jaUAZmPxJAcxx0Bw6V9wAlU0CbD6tncIJiuTk0v1UZyzd4daHWe7YShPuc_dSlKU-PeY3Ovm88ed2vLV5NvJz-CfWaXXHz5FG2iELlVRQHh7gIQvvpWaDGOSrpFcjk1dBgrK01UP3GuEsG2ea6xH7lBhAC-1q_ECWDZbxvb3S1aU8tgZLlzbI_Cb4XACGENtpDRG0QqresdkIB0h_8zf8O3Nj8XA3XfiEl7fCo5u9hRXHkFXLc75rlXD4FUw1yIitZnniREBZJK4BMCsqeuDnBhJWJ0-fIPNnX0ZnfN7ePxzvey7vSXZqGsNDRC0N0E5weQkppzXL-NioVqVLjoCOyu8_3YJKnbjQ11yXhcfTyOxbaTbmwJp_fzcR7yKunaO-j3hozr_5nCJ_5r9gQXCxPuA1PeZWPHF9hXXTdfJFk2kgUvs2WS80i9y5KTVA97BGl9L6Bd905quYNB6ScluJZCbtg5rfAURrqIGvm7iF1LFu3LNOOqVDi9kEiyVb3akUym-q754xZnost7JUIc1Ob1dzBmoTHNZTJALt2ukYHcThSw7ijYbiVRchABzhGr-IyxeHakL4Favpp9rqhbdoW3kvcq_RICjOGJ2nYdHm2Kj7gRqqCd1o_JCUD6vzkw0PFei0SAn18ICyo8aGU0hvydoyAp_rj8rLpaWu5E6nUoOAl7r-jB8yQijSrDkBydRv_DaTZPYfGbqC9KxX6UilvKJEx-GbjUzwqfSq735DjRU2RX4SXcZFr4Y08wO7viGtFcADvxfneVdoCJHyw6MIrIjvLTYpa80W-JQ_9-CW9D3ssc6ok9CM1FB9M1QrdrAilqzKAAyKRlE7SdFjZN_xDm8CaccM4oTKddURl8kefbT1rUFYjcE6VZYUbPZQPzoQQvJbVZIbgwHob7K3YCl78QmcCdR7wdYKlN9Wfr-l3Swc7Y3znzGZ6NAVFUnp1faZgi83aDrwO07V5vtB6tEOhEk7obas0r_nu4DBBdh_78VOrxDQpHvrQrgttvadtvQv8pBUmVp-6OrVfgA7tF2r4VbTzHOo2mIJBnGtCdGcO3mMG3VeK7udwyhBYewzkoSzJU_fzsRMu1oC6ERiKaCtBhYem7PDx0LwqtvFUqtSm4PkoBCgkY09p2YSzOLYTWCrzuSYMlEVue7Gfng7P3SmDD_S-tg4ymrF3HBrZTPMIX2YSlq1gnk_f_d5BUXRw002VUwD7r28ICyW-rlzrQXHJ_xk9QbWhISDGOv_i_KRBXd1LIQRK_FKXLCA30z4ueRiALIKxjpSf9XQVthF9mIvPUzMJl39o4fwGsAvYrR1gFMXnBY8f0-5NBQJgoeQOj2EWZlHEyCHCKYyVQ-ox3HqBCdaQhGAqgg-cVucbyAMw09iLO6rFajjDBxIVeRe1gtVYYzpsW2AZt8FPEzZbYKgyIcp6jxgmUzQwLlZflwmj5nELKkYQpnMXfaFppAbBkgvL6p2z_qH8KIEdm4H4b7S5fCORk-LwnsK7yN8RXiooBTlBtpoTdXS6OYpAZffOP7AYrROi9G2riYlxb5IfhhMotCupKzqSL6MU6mp8r5J8WIxMMxSNBJWbWfckztxc1bZxGu_qLakOqMhgJCIiVkQVXdVGiJ7M652JMXzdpG9sH0GMB7_6wTP2AU2uRSaqhSMTfWqvFwwRZOmmFIgZEm7hKx8C4r95aWENI0X7sgmizUuqQBHl0BWH7zXgqBQ==",
  "id": "rs_0fca5b6a6851887c016ab41a2c256887d09ce60cc27947949f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.185,\"right_z\":0.035},\"note\":\"The yellow object now fills the lower part of the wrist view but remains slightly right of the jaw center. I’ll center the jaws over it and descend to a low grasp height.\"}",
  "call_id": "call_twS97fWBYymVP3pyQq8DtbKr",
  "id": "fc_0fca5b6a6851887c016ab41a2e0a9c87d0a784427231da2990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_twS97fWBYymVP3pyQq8DtbKr",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4099, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0128, 0.5041, 0.3779, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1741 left_yaw=0.0028 left_pitch=-0.0229 left_roll=-0.0039 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.033 right_pitch=-0.1037 right_roll=-0.0699 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.7363, -0.0611, -0.0317, -0.022, -0.3897, -8.9915, 5.8462, 1.5702, 0.3248, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e510f37f045ab1c39f3372899624f1f563cda87e54f35e65df12094a4a85d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5929d1935347ffc4ba5a22c4753be6151e153c583e465df7a8bada5a06f4f370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c595bf3d7655a2410b88ba2e1a17676b9e0c2bafc8ff244c1d6d9895fd971d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.791, 0.6037, -0.3904, -0.0196, -0.0338, 0.998, -0.0212, 0.7918, 0.6071, -0.3977, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0014 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2926 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.306, 10.3043, 1.9853, -0.0952, 0.188, -0.2173, -0.5812, -1.2513, 9.5658, 1.9658, -0.0171, -0.022, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4072, -0.0193, -0.0383, 0.9975, 0.6781, 1.7557, 1.0294, -0.0742, 0.54, 0.4164, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9975 right_x=0.402 right_y=0.2118 right_z=0.0947 right_yaw=0.0044 right_pitch=-0.0819 right_roll=-0.0567 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.0735, 7.0085, 1.707, -0.0708, -0.022, -0.0269, 0.6906, -8.1983, 7.1453, 1.9316, 0.1245, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4099, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0128, 0.5041, 0.3779, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1741 left_yaw=0.0028 left_pitch=-0.0229 left_roll=-0.0039 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.033 right_pitch=-0.1037 right_roll=-0.0699 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.7363, -0.0611, -0.0317, -0.022, -0.3897, -8.9915, 5.8462, 1.5702, 0.3248, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e510f37f045ab1c39f3372899624f1f563cda87e54f35e65df12094a4a85d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5929d1935347ffc4ba5a22c4753be6151e153c583e465df7a8bada5a06f4f370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c595bf3d7655a2410b88ba2e1a17676b9e0c2bafc8ff244c1d6d9895fd971d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBozB0UmiqOEUStN9cYF_mA1G5Qie4zB4kYKh0WflZpKo1VYNsjeiSnYSyCk-wfEsJNIQ3JRRPfgmf8ILlEruxUYngaNUcorZC9YYXYWPANoDnbUeqqyrW5Jlm-14KDko_VN6WzgnT49rpKcgjn1VfAkNb-ExmGsPSWkgy4VM44NKsyynJLP60VHSGtEnTt50lYtz3MO9fsqAFdS3AlbFCdttDeaQpCnYFaVrl3C-0SGPrMeFTSYnpQyap8DdB6AXWb-rJ0mcgWaoqFJVf6E4NhuSD-M4U9LkG6aEZpweLnwf2C4YqDSrrsAVeEwvU1qC89qlFxAm0WcXp310o60GBuCedikXRKhe22Tr8kxcXsrRkvmqaG7cSX8ly-rnIcZ99zgoFny9_PVcwBnTb86d9Npboug25F2V9eK3eT4R2560JgKAb3_uVBsH2aehk4MHGZ0oyiflglUrMhHjx6fot2U6Fe15Rdo_nIvDt4yx9oTf78-Euk91HqzIWMwzZQs9BpYKIppTt0BFQKAIZw5m7EOfBXCKqVHtNPHWLSAALtoM0O2pU71Qm6-K7bSH8wmWB-6fIXDSZ6iXrzHG-66646J2gtyIPYiAjDYs1cr6a5ufCE3SvoHhtH3G_Tsx14mLCEEWzgr-5i1gb2FRK0Abg1j6U779oG_EpZ3c5_-MjwELTKNHKclCuAPxXUathBK5qJ4gRxABcfYCde9XQYA1zyqftzBAz93PknwRmqy1lRX4iNPmCZi_MDxgBKWs66yi-fpkCtpdBBh6qHCtBUkabUMqKRasWtMjGl0n9QO79uYY4q3XEyzqa-4ZGKubfvKnsW0KPgLau7RZroUmDnSbdNLnXnskzxXIL_HOTb0vGpggYWZbGW7N07fiQTmL4nwZbgc8cLVwSXayLK7SrQ3QjQ_tFOIXRCBeSG5pNV1K8WUI07pVMOw3W7hrhukhrkX5r1abwrZH61C6YtGbyf1_mVIP6BarJIF4Tez7feWHIAQLJoowMtAOFoPmMhmR5G32Ex_SAKEIEggFCUzS-u8qWsTjbT_NC_vMRb1W1bRCvWtwM9QqMRlCvwiEwUOsY67slPYv-DfArIRHkWtl7-DIOit5IYWcxbGkK1qPl7ISh2c8m9i1kjzatSZzrCMpHQ8Wp8JNwmlltAFzk-hNkm_hFFkWdWCdrACVG78txakcdBMmZdU13lfliXTuy7VqLZ65E7jMvMfH5RywP45WofT49mdrraotEuhvGBIZ7yRgVVLUJsd4cU7rGqPxGO3i7gqVUsBpfVP_rJfXMUJqwITt3XKrQKd9AiseVDNmAb-nPdh63JUOABxdzaLaNliW05bk6Bcs6lScqTGjTMYAEYze-oRP2LQOImhusTxlgZmrZjcYxi_QWe_n-w7alqtZezAcqt3fA7V-PPgGlhK_DaBDiYY1VYirKNXAI1XITFtKZphV2D2j0cqiZ_DdjjOX55Oj2BXDzYPzP6BQMR9vvJ1jMo_tbViMSpRs3h7qmJBfk9th-tItn3DYJdDlgOd3X9HM9VHSiCbG_nQ7NBGcFMogrdpzVHSyKSsAFsgpu31H25grurMFty6-PrIb7EO3fFRIDBFDwXNdEI9gv-Mgy6jvbzpuF9YdXXa3vFQpavqZ84limGbSIF_JC6WK0D8hUdoRI2Lmr3QBnVbRmYceySjtK-73zTDVQ5zdx9sMqw76zN1ru1GPsEiijLCuDspXLxs2Kh5FDDEmD0rU4RMO4W2J_fQJf1R3XCAMJGcxX2D1O-3pfFjZr93OnmnFDBWfDk93NdO5PHPPUgy-MMhwYcadwc6v9Jhr3jEx94FI9XHeSOtRqBlQe01grmUATWWY43uDlElYe_kGfmGKQifglzLG5n1KUcG7Y0z76L7ij-3ydk19sXJOgam_AmJDjdnxUzJRR8W3Quhcd1VVruuim9qcjaylpeDUHaHBumh8wJQ-vYz0Kh7cU9UJ9y7c_9KlcQQmuJu77Uq5zgz59EtGUKmitNYNDc9hkx4mVcSTge4VdMpsHtlALY81VTSd6jgsOFBCHPlCP-UfIqnzPj9CeFFXne7jHmfab21iK7WSMD3cHe4qpA_bI-QS5kHJWTyI32EHeLBaGBfERyrn7bCAhV-e4FMZ__70A9ShbQwZfSHEoYT7oPUj-TYTaKrDY-SSF3tfJ2-1TKlLsE2kLd4eaBX93RbhUFmoL2KajDGj9rBo3GDYIOBFnUP2o9-wglBOOaV7IFNgga-JX4UcvhvYlFg12av0JujrYez2NhA6bL7GLJqbvRYWjK6MSUuhbhNJRQ8ByhR",
  "id": "rs_0fca5b6a6851887c016ab41a30818c87d08e8ca060b18b32c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.17,\"right_z\":0.15},\"note\":\"The right arm stopped short of the low target beside the safe’s rim, so I won’t force the descent. I’ll raise it and approach the yellow object from farther away from the safe wall.\"}",
  "call_id": "call_Vqo43QSsOLWuw7RTglTwqCRE",
  "id": "fc_0fca5b6a6851887c016ab41a3286a887d0b88eeee1ea52c6f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vqo43QSsOLWuw7RTglTwqCRE",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4274, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0132, 0.5041, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1706 left_yaw=0.0028 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.029 right_pitch=-0.1037 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 6.9949, 1.8632, -0.0562, -0.0611, -0.0122, -0.3077, -9.0872, 5.8325, 1.5702, 0.3248, 0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9f8d85463dc3a811ca1c47e18f88c70f67d8c5c77a57942a39bc30705952ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bec1ab8da6b37be6190d2a7fbc60d8c7674c0aaf65025f79f2c4885b10a80f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3e13623428355ed71a26e2c00caca1d212733073751eee581d348007c82262",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4057, -0.0193, -0.0383, 0.9976, 0.7937, 1.7031, 1.1275, -0.2146, 0.6083, 0.4831, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1753 left_yaw=0.0026 left_pitch=-0.0175 left_roll=-0.0037 left_gripper=0.9976 right_x=0.381 right_y=0.2486 right_z=0.138 right_yaw=0.0336 right_pitch=-0.0406 right_roll=-0.0332 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.6479, 6.7761, 1.8681, -0.0806, -0.0024, -0.0611, 0.4308, -7.788, 8.6632, 1.5165, 0.4762, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4099, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0128, 0.5041, 0.3779, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1741 left_yaw=0.0028 left_pitch=-0.0229 left_roll=-0.0039 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.033 right_pitch=-0.1037 right_roll=-0.0699 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.7363, -0.0611, -0.0317, -0.022, -0.3897, -8.9915, 5.8462, 1.5702, 0.3248, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4274, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0132, 0.5041, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1706 left_yaw=0.0028 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.029 right_pitch=-0.1037 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 6.9949, 1.8632, -0.0562, -0.0611, -0.0122, -0.3077, -9.0872, 5.8325, 1.5702, 0.3248, 0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9f8d85463dc3a811ca1c47e18f88c70f67d8c5c77a57942a39bc30705952ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bec1ab8da6b37be6190d2a7fbc60d8c7674c0aaf65025f79f2c4885b10a80f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3e13623428355ed71a26e2c00caca1d212733073751eee581d348007c82262",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo2MfU2Qx18z9IjmCGj2zWWa1vzMEXJfQaxZqqIth2g3M0vCriCOBaTqxqkQ3vHw7n0GHIkot_nofWfUclSnX_Rz6-yEtGL3_qYb3WH1JeYsiAQgZZuXfcLFjzyxTw9uXvEae5rFzAVWfqcszRVMbMMn2yN0GtjRYY1yRPG_5t__i-SOhvekpRWZhg6b5-z8N_7o_26BBtRfChnwl7sQlt0_yHSgSzBufJsgB3Z0yKzyAn7lltDkDUmHgQ7GULPlPOqcpr8OCQXaKNBncA6ZGAv6sjhObbvLgEXQU3jpwxxMPIpliQoRZR2prIdDn24saQcM3U5GuS7wCJ2PxZGrwk5Fm9GZ3Jvg8AMiZ2F9oIMQlZB3lNbnLe8YBN2V-3przemZhnXaIkJGprOgc7oCHbi3zfqpeLWm2Z2j01BepFta29EzeJHRp0d2ZXqEs21T4dzqXU2cnIrI9ECdMRI-VeMpi6lhGIkwoiQoHk7E6r7lo4lAc0MCKGbQcuM3wpdVUimt0QK2LIqYVQ_SgS3JH2o0zjOCGAUwIJ2mUCyTd1z7UOE79oZa8-Y0-eG8UTkEqDh29O7HqdaijncVPbZFhqpolYqxA6nXoACZOpU7hBtrG1bH9pFDMQTgY5rGbm_OxFb_aQtAFSE9TP53btK4uKLK1ZgzfDJPgEZmAB9WjiGSJPMQmN5Jt-aoQTtI4MtD8OjKcSC25n62_4bBcsR33Pp78cMUsW-FvO9dCUgt7PtKqAxkpHFeObcAqlR2MP4AlkuGDy2_QUSTvarY4nTVYq7Qh5297W5mTkJ11z2MlNGZKDFOILXadW4jJdtULXILfvH0m0579VErjtfloWRz88y1GaQcAQNoXaWyK4GQjD8V0hmOMPZYhStXc_6ARGPESefE4q8nJeSJPyHiv5tQijDYRnm2xDXXU6kpSAdoKXgGIy6IYWxXOgtgEeLhDWjihStosIs3sV7HFlfan21bmX0ahW1lrHTCovbHEyxHXeh_vsG1tz-THRHYg9klBfMIXKQkHuXCdig9x56PaNiA5X0ChHZKRlW0ciH2jlshwIkIpd0XuZ_EuqZNpULWq4ePmfzyf3T1GAGwtOW6-zEGAxFEHqHLrKJ8JnCmD-F_qul4yX3zglr5YjHThK9jxJdhFt_Wq0mAMx0ZEwgT7pFqJDo7Kriu2kM-INyY6pgEsbQ2ri4VfBmmrlUtaXkNd3qPSkf3xpnCLgrrFuoMmCCWTbc1xpJ5TTpIvkU22FLJBi0p1s8vTH7n2jU8ECC5YXZtmtQkj8mfjj2toAYCNok63I2OMAb28anb8IzyW5DgfGud4ONQxB0zHcg2f9lUij-X9h2fKZzZtWqDHzQQc_qxq9zUDeoOm_iRZO2HXOE7MyNLPiR7ZcdTcCwW0CzojXulKG8ocy1k3Ty7JLfoLk2dKI1Q2w_IbAxs2WJvEoONe-RMynTlVssK7lXFqf71ILshWantCpS6CmcaH4iTJhHivuoApTEEFpKhThfDz05qXcOSQzRehx5PRw76bcZTcA16XgjyzNCxoSYCYOU-_AzPaJ1NEvZkCDwhWUaDC6HcyqYLw9p1IvL2GzjBqVJBGhoHHbP",
  "id": "rs_0fca5b6a6851887c016ab41a34e80487d0847c97ce460ad001",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.05,\"right_z\":0.24},\"note\":\"The right arm did not respond to the small retreat and is still beside the safe. I’ll command a larger withdrawal to its own side and upward before attempting another approach.\"}",
  "call_id": "call_3EyOxOu6rgn1RMyj06ensRLZ",
  "id": "fc_0fca5b6a6851887c016ab41a35d67087d08b540322bc0a2064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3EyOxOu6rgn1RMyj06ensRLZ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4503, -0.0189, -0.0391, 0.9974, 0.2741, 1.0813, 0.9962, -0.6582, 0.2432, 0.1234, 0.9996]\nstate[eef_state]: left_x=0.2855 left_y=0.0015 left_z=0.1657 left_yaw=0.0027 left_pitch=-0.0645 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3215 right_y=0.0499 right_z=0.2207 right_yaw=-0.0007 right_pitch=-0.1361 right_roll=-0.0725 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -0.9094, 7.0085, 1.956, -0.0366, -0.0757, -0.0122, -0.1983, -3.8906, 9.3333, 1.873, 0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac70d61715c673e86591256e578cf43f10db11d4d12cd34186399988b4846b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921cc1f3569c31ef76b0ef41114dc41363d5a7fd1cd8b9acbc81e0f9f72d68ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df18553033f95fb9cba27c73e8bb2e7e8e30ecd31199e11ae195740effaf003",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4072, -0.0193, -0.0383, 0.9975, 0.6781, 1.7557, 1.0294, -0.0742, 0.54, 0.4164, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0202 left_roll=-0.0036 left_gripper=0.9975 right_x=0.402 right_y=0.2118 right_z=0.0947 right_yaw=0.0044 right_pitch=-0.0819 right_roll=-0.0567 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.0735, 7.0085, 1.707, -0.0708, -0.022, -0.0269, 0.6906, -8.1983, 7.1453, 1.9316, 0.1245, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4274, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0132, 0.5041, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1706 left_yaw=0.0028 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.029 right_pitch=-0.1037 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 6.9949, 1.8632, -0.0562, -0.0611, -0.0122, -0.3077, -9.0872, 5.8325, 1.5702, 0.3248, 0.0562, -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]: [-0.0189, 0.7986, 0.6067, -0.4503, -0.0189, -0.0391, 0.9974, 0.2741, 1.0813, 0.9962, -0.6582, 0.2432, 0.1234, 0.9996]\nstate[eef_state]: left_x=0.2855 left_y=0.0015 left_z=0.1657 left_yaw=0.0027 left_pitch=-0.0645 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3215 right_y=0.0499 right_z=0.2207 right_yaw=-0.0007 right_pitch=-0.1361 right_roll=-0.0725 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -0.9094, 7.0085, 1.956, -0.0366, -0.0757, -0.0122, -0.1983, -3.8906, 9.3333, 1.873, 0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac70d61715c673e86591256e578cf43f10db11d4d12cd34186399988b4846b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921cc1f3569c31ef76b0ef41114dc41363d5a7fd1cd8b9acbc81e0f9f72d68ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df18553033f95fb9cba27c73e8bb2e7e8e30ecd31199e11ae195740effaf003",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo-4VvTltIkNQbjWNl2qaIBjAyH6ToYTa0cpjEBC5i-JDkLbv6znKrQbraxk83CwaT2FoHNA34NTqI0uNxLPnmyUluEyybqwrXkqgqnPAnySWqlkYVAH6HLogXYeaBLWqGy5ZP1P26j3Uy2Mr859Xe4UZr_HZRzBBbIlD1dCsRFf1_L1XDr-2T208R-IQ4YZB3GyaJJ-rz3wszLKGE1gtl4Z6D77Wr_74HyBgfa915rpWpUhnlDqA0ut6SZhCyrHNixjC-jYK0XtgUydRbxootSJ-7vRqgnh9K7QMejeRoZl1GJYZin6oJT9t9otpAyFeR3P_l0A1ylesqMGdvnMo89dxRzRJlQrS0FI1LasvF6G2UTUegDsYebytvXvVSqW-uw91KJmpkDITUcB6ldrOH3DmNMYWJfRFUcgi4hS2CwWq1RWlKsak4lJcRuxJZDUqUaPNpmiVa0pIEw5uEu4MSlXvBs64waJP-eYML1BxTT54D7bhMMzKwP-QWR4kdhRgKQviEZM07dMs-Y5Equw5RIQCgNKtOfU-8yxnTmzv7_-uM-KrLpBzwoU4LYyoAPokkvDOMHQrFE3OIGYg2ZX4KCUHm-V2b9B30tzs97K6thui3dCBRQP825NfbzSbU-o87ZdEibMZk6fOyPxjwZhbEZ3colhLSg_KACtwJCTgwLYoJC66JRr6hev4pANZJRi5SadcWjIZAiQ-YIMjCKvS_LmEfV4fTj_ngPqdw76v-ihJo_ghr9ub7ofGgg62K_XrhTEC8CFFjv7GMT95FKtvY_r_eUlaDmobi8mJ14hhyKCvj8XUBdhpo4dGbh5x9_x4WB_oqyeG8NWEwTqmcxLOGFz_8zUpGyutYDNd8NttSIfzhE_niEr5Eau0hc_mvNTIzfIXrwSckeEx0JkzxlC21_yjZDt4KOlwg9PKfrTPOTcjOrNqEFU7QlPoe980Ub-3d_eoZWUV60439fxS_U3ia0QV_AuYFsssUd1mKfX7YjeTMc_ij6EZFWnOHvbDlZ5qAuMddV61lZVduuCzX9fA_0AKNo3hdR2OnofrjAs369pJw1od5kyuVr6lEBMegb-328VGx-4Vjtf0oCs-1IK_rJpemzZSMzUr-wonDRZl2MICTHwHNS_oLRq97ketiS6AWWj5Xu_qCW6DeMBZaHBvbEOJWBZEhpkJA7i8n6e0r_DoaKMzyYx5hEyoZy8tUV9nJy4rBc3LbPiTLiNUhczgEBkzxiW8gS7FJ6SjFkndkpxIzkd6VSzvGVKmoLSOjShJllKXkdmVjtZmTMw8ignY94hy31e9_MwT8eXRcFhWM9ZAD_cQNok-XHuNVOHJGhrQsZ_29wcdJNeidPaGQFh9MrIA_I48Q5EXCGHe4l8nvbo3Y6ej18NyCCgYSiVkv6Q-NQE847IenYANDv0aUQrbfLqXAfXRodjIlXYRGOd3kwcamGfRjqNjFxW5ugqd5GsQXj2U0IyPnSlWjm5ctqKLepx23o2piGim-kbpmWaHGAOO2-lXry4IA2mlDOpFH3wIDaTlNLf5dK37dv7Fl0nMZiNhsRX780PqpJDRfgrza-5GWcn8jhjqOT6CKF7vJjMYY4xV13DEoqMrgSQcX_KjC-VgnkqvZgdtmui4IWeOBVlU5dg--GQoX7y5i2GmUbo9BZ_YqqKOqIOdNbS7Dkr0jtGKzy9F66eixWAOINQ4sbtZyzA_-jRNjkQyGMMKHvc1U809f7IP5abrwrHwY0sCaTXIfG3M2nCeGN4_xKlgI9NhwxPxGK8i-R0p8JDN7eEFfzaLY_ftiGGxEJa-RDrIcon2COFl-K56XUl4l0eBDln0iPAnvBdcgyw8LDAc96zk6IBDKjxsvKWPOclEddUL6ecvaPMgbE1XOSLeYFb6OCWRuDpmc9Bki-NBlnWWoKlpITDdPePCHZWWoYt2OzWBlAecPil9CiB-kymIcWj4mLl3otOLJl9uNXN7yHhXD6LMxDbahaSzoxCZp_l6DQtvrf7w274AMk-wOgJ8tP14YeQfzlnPITiNxUPjfWZmPhjNPlq0wGSDAJvtH2EdyaczxYWNJlieYfMbAaYFCtAmpfGivRzHWxgLVB9zs-Gk_7pakKuDGo9iBZTHnQWGt6cLp7l9OOToaPCQk4pAnmzFS3K9way0KGOfYByzMeDRnH9BGA4gx3aXt0mmVadLbMF10Th--5dKQtu_ZmHMnIEEXOHvOJZU7m9DzfutyF49eiGRD5XeGdOdo56FqQnMjpnNNIECFI-v-SrMjUM3-iy2tEjlMtOliy6eWN3pEWEeV5gAhMpYl9oM550ZK4LRIg-Ym7wccLYfsjLDH9Vdbgm-NbecU1zSrC8yC0WaSuSeM3wRLkUgwCPF-rz_f0yZG_XpMJ5AZi-BgdrPTV2hkudUs7F03sti5YzVAV7ZAlJLGV5Z5wgmpWb3S-bNBeXXTpz9scKbQWD07BHHHSP3rG-ZJO942F4e94eL-TUwiMBhjjJHFvMW1nyl6n-MwHWbvxNVtwIha9AIRM8IziahlmGi88LPSbLzFGPIXOK8_Tja3Wf4_0v6EeMiIe3u0SOGNkDVirEUw14g6-XFpYMSaUuN2JU6W7BpLxupjgH-STFvY_8i9H1o2QlTOFzAJI6GR8lmPpMDV7i_pQKTLld_RWCsqsiQ60brU6v8wrEXeQMGo6-WXxcUySF-Abui4e_jYujIeJ5nIOMoN7buIXsKQios6oLgx9RKyj07CBF-Ti2GeLUW_yD2HzPqhSPkUwQhY9bsaPFhN_cQ-S2QRydJwWV6qdIAvAnpLlydR0QObt55GlphTqxZ5juVadkVEuBBgo2hp_ncSGKUatGRPN-oHm_-HJONY0KoI8WHunQ8Rj7z3f6rpDttjIli6PhT3EpxGm9cc4FAOfNTkWZmHNkG--eYA_2RplWwuWMx88nc3r1Eea6SltQ1g613rjzMmb5gHXOc96zKmpu7IbNU5nwlNTHrrMg_1kXrNbzhX4ToCEtJh7zx5HG6qgOmy5jKP75-cDvDSzEad8qsz-0di_cKpBD3dsW-fzTVyj4g6QyS1fVn39AGcy6rwHIlUwNLNTRI6IAIH1sa7BzDkAPalYpWYllOpEDSiGBq8H2eFteeLSdFnDsrYMRGL3AYddYi8_Yy41kOZo3K6wivnE0yaj5an0BY5FHYPkLNBrhk7JjROu5c48etEESexv-JfeVpuunvAts_cT30NEtxT7VIssdufOs5Q63Kdt9TSOczx5OgUbxR7e1AfPMFjA5G_2no8dAaFIL5PCYb2pGq42wLQmXJeB9NGgUKU3yxJ8JLdV-SeMH6q2vax9aMdabb9m2DKpwUkq77Gwox12zyj8OVthheT75-pZ6ZgI8bZbrmq92D8BlWOxSaf1nd4Exg0kSxXBXnQ1HxTpXBp1YTK-KOCNCwM_4L_zKI7eQUAJJj-P2bpmmTcucJGWPgFFYfo6AWlaJIB_gy1TyExuG71aVKc6CaK299qCVksDiczSKE_e6tIwP4A8QnHW4a_cLH99NSMoUVlNfhK5jRiyG4gydKoWAm-87baKHeUZtzYuhUq5g36ffetKU7Zk8omINYKHsu7A19GDXtSMjFxUGnfdgcNvbazDYMoUWsfhVAQSAmjDy7Z7jzx-gnqe",
  "id": "rs_0fca5b6a6851887c016ab41a39877087d0a5b15bafecb729dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"The right arm has cleared the safe. The small white toy sits left of the opening, so I’ll bring the left gripper above it while keeping the right arm out of the way.\"}",
  "call_id": "call_0jYaugaiugTedyMgJYUO2ymA",
  "id": "fc_0fca5b6a6851887c016ab41a3e196887d0bd749bdb79b0400b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0jYaugaiugTedyMgJYUO2ymA",
  "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]: [-0.6365, 1.3937, 0.8471, -0.2729, -0.4721, -0.4404, 0.9974, 0.2737, 1.0847, 0.9943, -0.7013, 0.2306, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=-0.152 left_z=0.1297 left_yaw=-0.017 left_pitch=-0.1315 left_roll=0.0253 left_gripper=0.9974 right_x=0.3144 right_y=0.0501 right_z=0.211 right_yaw=0.0173 right_pitch=-0.1859 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -5.6, 9.5111, 1.7021, -0.4713, 0.022, -0.0171, -0.3214, -3.2479, 6.8855, 1.9414, 0.1783, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d294aee25281f581581daf140983396b593eeac227e7016b9be1f9a7d43da9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5fe78a4446d0cb939b1c899d62360d6d9eaaf1ead080055ac8cab7c1b977ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567033ea1f4954609b14db2eb7cae0cf8ea45d8d7af2be9f3b2ec3acfade5f5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4099, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0128, 0.5041, 0.3779, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0015 left_z=0.1741 left_yaw=0.0028 left_pitch=-0.0229 left_roll=-0.0039 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.033 right_pitch=-0.1037 right_roll=-0.0699 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.1829, 7.0085, 1.7363, -0.0611, -0.0317, -0.022, -0.3897, -8.9915, 5.8462, 1.5702, 0.3248, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4503, -0.0189, -0.0391, 0.9974, 0.2741, 1.0813, 0.9962, -0.6582, 0.2432, 0.1234, 0.9996]\nstate[eef_state]: left_x=0.2855 left_y=0.0015 left_z=0.1657 left_yaw=0.0027 left_pitch=-0.0645 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3215 right_y=0.0499 right_z=0.2207 right_yaw=-0.0007 right_pitch=-0.1361 right_roll=-0.0725 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -0.9094, 7.0085, 1.956, -0.0366, -0.0757, -0.0122, -0.1983, -3.8906, 9.3333, 1.873, 0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6365, 1.3937, 0.8471, -0.2729, -0.4721, -0.4404, 0.9974, 0.2737, 1.0847, 0.9943, -0.7013, 0.2306, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=-0.152 left_z=0.1297 left_yaw=-0.017 left_pitch=-0.1315 left_roll=0.0253 left_gripper=0.9974 right_x=0.3144 right_y=0.0501 right_z=0.211 right_yaw=0.0173 right_pitch=-0.1859 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -5.6, 9.5111, 1.7021, -0.4713, 0.022, -0.0171, -0.3214, -3.2479, 6.8855, 1.9414, 0.1783, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d294aee25281f581581daf140983396b593eeac227e7016b9be1f9a7d43da9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5fe78a4446d0cb939b1c899d62360d6d9eaaf1ead080055ac8cab7c1b977ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567033ea1f4954609b14db2eb7cae0cf8ea45d8d7af2be9f3b2ec3acfade5f5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpDgFUTFrJ5mk4wCkAnQTk0CDrbn01Mj-KaYJ1MehJ-LBbeJWnbVcW7xR5r5o_ZEN2FxTbfnhG6-uRAsY8iwOfdT6dnjOb4BgDY9gFrfla9aD9KTxknCVuXVxHOD9hdSXlZE4EsoZs1cN9nYNeYiOQulaeu4aNGOEjqq8CF34HqKH9ENPE7vkLCoIKCTzAFSF8HNHw4JTKRhEIRxVhZpW77CXsGIGo-S1b1n4UVt4Ga7BIVVAmo6LeWKacwvRPn-OMZTAacsAhf4YwcJZFDuo98LsFq1uin-Q8CFYK9VKO3hqRTvq4lC3qRekzZSA7GbzHhR7d0MNSPDe-UhUN6JiglOqkOUQtkW_2z3zUoik-3OoDiwF-6cobcn2ZA0m9ryCtNY9oO9JmlLAJEEBJedtRXmrDCgi5F_XTYLWRGPozh45qPrd0aeneAjEQTZNxG6kJWfwBs4aZZ1PEQ8xQnexRF81uzzHy1I6gYX7b8yGYPmNAVTkRuuTrPYx5gIuXPAe7h-veTJGtWoud6rHU0RV0_8FGkN8m5Vqev-uFYVeMiZ7AquViNOvBKRvC3WnwkFec52365RBGYGAx4I2MWIcVtAW2XH8DA8Vp_wY0NmwHpGN4y2b5XbUg3k26HmlPNazz10QZcxpvbdzemg0o1h4duI4h-SFG9En5G7ARMpkuLsbptdvD9K6EUPKIQ0A2qRwogvFd5P6BlTgn9wp5QBWnxvjzp7cHuonZTHEk-X2gKT4qDJD9tmTqkiDsqLGgYXR1z5Z4eV67Vld94OuYxI171ACotR3g95bgr6gIxrN3tFNRof1e8h_9KqRN2NCyq9cZttVzUXlfrDWgAXU0k-f0LCiedm7r9rk-ooTTCU69sNYkMsAoSfRM1jixv0IAVuyfPxLPQaNhjEd4p61x9NqHI_Xi2YzHITDiXnHOFnI0CPmWUnV8ViJkIfV961Mp87oxfk9-6ZhbO-RMqrooZTE8nRuRzBUtiXAn0QbowEZvDwH--hH4BqmDwzW3SjYFBmdZzq1cE6S8YI5SJuctBs7TWwA7Eg53EQUtB0MXV-y3MdkdLdGouBdAImr2Yf4mY4dwUbzisfvFDBvDNFGNg-Ls5Mc22xw8x6jl1FQbAL3PlXxPztvU0bi7cW5x5ISnydiXsY0qi1oBQRqRDt-B5x1W8voLyc1riVs-T7X5n555LFftq_no64Tp8eVF1VSP2kSXxwttjgFUKYQuLnGLjhQRTdVIyfF6mt_uoClskmt-7bPMg6b56fC966WjqdIZnLHQJU0g88j3ec61JOivoLoEdyvCWz5kmlIHUdOsOi_1SAjel-6XoUeiKdInvr62pf_EuYkos_VLSFrCTw8IztTo7litA5Q15NRfdHlu6Rqh_FiZ-1cNozOp0bU1cT2ngRjcYLA5FT4nO6MCsmX77TZ_3UdwM0hL8OGyhYK11EzS3RyR1EHc-aeIVM4cKCa_C8QOvBFNrEDC-NIaQvfTJVTTZW4b7fhRdZoXG0gwmnSkbC8RppyZjSIF9RT_qL24ZMrEKSOHBDMZ1KPfUEVu0UblxlBebmQ56acbMZ-JGdqBgkGL6mmAUBt8dTjKF2M9u_-2n0fH6twGMNm0RIEN2TrHZOw6gV9WiEDkfSiFmLtD-I_hbGJjCFTEEmBiV9dL48RSVn8P2TTt1zDopF2lLfGlD8qytnui9KsTL2LDtzbbxB27z7FAeRd4Yd0tauyfAWwcymseztkXHfDxXaihQVMQTngKeDfpIiss530cd0GvLAaWyUTPeS863azBveohWeCCk-cS5BXCAaqiSEATGIATPngY5KS9ON7CfDVa7nqptFiwgHUqpykD0R8gSf6peQ41bfgDR_8mbOfuTdByjiey_5s1y-cHzD72dxQMT_C_Fp79eazDX2Hq2JXRdZTiWNkkJb__fSPCTRZLCvNYeNQ70qjNlAgBzGXRXl5NsZ-A83ghdilgVPym7QEWZ5828TO1FaNk0Y93PygY0H5ihaTp3WQwz81N3yH4EhitCdUxKH5t_JnP4ps3bVZr5j3-ODWJbG5Lbvxg9XD03G8TthVmIB07TJxZZMi3c0QRs_LcTR3Y=",
  "id": "rs_0fca5b6a6851887c016ab41a414f9887d088c22017f39f04cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.102,\"left_z\":0.075},\"note\":\"The white toy is left of the left gripper in the wrist view; the gripper is currently too close to the safe’s side. I’ll shift left toward the toy and lower partway.\"}",
  "call_id": "call_tFLnKz66ucNIgGO2huF44c9Y",
  "id": "fc_0fca5b6a6851887c016ab41a428fb087d0923fd5221ce70c24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tFLnKz66ucNIgGO2huF44c9Y",
  "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]: [-0.4416, 1.4651, 0.6716, -0.046, -0.3618, -0.3229, 0.9974, 0.2737, 1.0847, 0.9939, -0.7273, 0.2272, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3573 left_y=-0.0958 left_z=0.067 left_yaw=0.0287 left_pitch=-0.1936 left_roll=0.0531 left_gripper=0.9974 right_x=0.3099 right_y=0.0494 right_z=0.2063 right_yaw=0.0194 right_pitch=-0.2121 right_roll=-0.0954 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.4085, 6.0513, 1.873, -0.105, 0.0757, -0.0122, -0.0479, -3.1111, 6.7624, 1.7265, 0.1001, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902766a49a81ad65fa5f9ca5b3833a5645465f3b7c99acf4d40265c1d47fb3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc03f8f1ad8fb11e7b2a1691238fcd25f39d89de6996df5ca3a47eb45d919f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d031185e9985ccd134158c3af7ef973d46b53dec0fa04ef882fe835e3267cb68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4274, -0.0193, -0.0387, 0.9974, 0.659, 1.7863, 0.9924, -0.0132, 0.5041, 0.3851, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1706 left_yaw=0.0028 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4031 right_y=0.2088 right_z=0.0751 right_yaw=0.029 right_pitch=-0.1037 right_roll=-0.0645 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 6.9949, 1.8632, -0.0562, -0.0611, -0.0122, -0.3077, -9.0872, 5.8325, 1.5702, 0.3248, 0.0562, -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]: [-0.6365, 1.3937, 0.8471, -0.2729, -0.4721, -0.4404, 0.9974, 0.2737, 1.0847, 0.9943, -0.7013, 0.2306, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=-0.152 left_z=0.1297 left_yaw=-0.017 left_pitch=-0.1315 left_roll=0.0253 left_gripper=0.9974 right_x=0.3144 right_y=0.0501 right_z=0.211 right_yaw=0.0173 right_pitch=-0.1859 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -5.6, 9.5111, 1.7021, -0.4713, 0.022, -0.0171, -0.3214, -3.2479, 6.8855, 1.9414, 0.1783, 0.1343, -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]: [-0.4416, 1.4651, 0.6716, -0.046, -0.3618, -0.3229, 0.9974, 0.2737, 1.0847, 0.9939, -0.7273, 0.2272, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3573 left_y=-0.0958 left_z=0.067 left_yaw=0.0287 left_pitch=-0.1936 left_roll=0.0531 left_gripper=0.9974 right_x=0.3099 right_y=0.0494 right_z=0.2063 right_yaw=0.0194 right_pitch=-0.2121 right_roll=-0.0954 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.4085, 6.0513, 1.873, -0.105, 0.0757, -0.0122, -0.0479, -3.1111, 6.7624, 1.7265, 0.1001, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902766a49a81ad65fa5f9ca5b3833a5645465f3b7c99acf4d40265c1d47fb3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc03f8f1ad8fb11e7b2a1691238fcd25f39d89de6996df5ca3a47eb45d919f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d031185e9985ccd134158c3af7ef973d46b53dec0fa04ef882fe835e3267cb68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpJAOpNaDBAeTWvntoALdOwUviortUyrvhiqfuaQG7DrlwxTxnMJWApIz_JjXSK5oMvPsFJxxM_29GMf9D2p2dNvkjQMQt9idli0HNa83g6b50V3ABGcUoyNvBBAaWrRtTgx-uqYJMhqfEyn9CC_VFKJQXOENZg-Z4u70QQ9ub_fxaCZ1LYYQIIPw73CJWB_sz8vL3izQXhOR6oUjDleZoNj4dYMXvJuhvv3b5LVF7VZV69FYZHgGvrVrBZpCOEowshqNJw-QPpSPI9xiYaMpdFb87q3VBnlGhuJHk2_od6_zJ0pbVmDhtQBm4l8vq4_YOOaL3zUZYchisGDWcqfjuk9WarJuv3rnCcINYphfgKC9JK1R4upIBKJxASedNeazM_kKxnK3OGPfltIxdaJ_cGClBEmZrIUk_n_e8fyWOSOqN7BTaioyWwikJaN60ncTnKNxCmrv2lu3R7FzK4AX6TqY2yOiyCrbakIRqIyjCn03rcQp2k1ppBrxznhAlaJHKKzcpL0Wco2CjJaa6QOjcqYwtp48mCd66rr5PrsTJin9EsdgTeq-1l1neNNiWEFndZ803NcZ2qMvBmDCNgEC6Xu3IWvVNvzV5ZisVpefyE_XQ7ZCp2IIftRNhEQ9Hoadh2q-wbpUGOaSDdIBAaVMo-RJ_w2E6RVg67CCVLNg7VoVn-5ZDzoUQoZdbrgKmnKHE8_nNEo3a6W6bd9zP2-WhFVQnp7PpR7ffqydMYf0sIVg_RDbQxYLM5cH7ADgaE9CR4YQbT9Gz5itzvrpfRkMm0tEmi3IeLVJIQ_8PSzpSW-MQKC6rgAc7KV1qzpjw7opy4jJgWu52cblYo82c5R4rUNlD7TgZRqcnVSkNe9r2Ocd6S_OgxQEyRY_9Xth-qq5C8VaQTnc16UZhngq0_VFZWLJtqkMApOPa6pyRvQrZnztCiRCMaHBNXslFo03YpDFc14vu86cAX4KLo2hNHLrZcKwDbgstvUnOS2DwsPUgct4atVlFtDQo_wF7Iw3KM8EtwwC3LZFrhFZMKg80FpvQuPe4Awm8HAVlVm3TX6gPzdEWvMrwDSBxAdZ4vSNHDlqAeWlnLLExZfzem5kviKUm9saJyUluLsLunqOB3RQ7mKzIQ2lcTT4gYX6AzWFXE7AyasYMPu-M6y58eLvquEeTog2bsIMm6ChaGr5SKP-i8-xBllkfI8UKyS7mGsUlRAJC8KYjd8F7AEzHgM7FFHxVfClQS4XwahBN4zNGGNQIXEFs8xg1t1vw-VtEEyQZQyt5vuCoUHmMKegV4u_ZZ9kulztD8RM9sVw4DQh16H5qjH6WPZ8j1V08EGjrD4xRh2Wif3jUUxm2geltwMZU8fpZXhRtqGIpLIxXV46-HerRLEvKfhFmcCdrmvOAbzMUzHpG-3_6XV2qEOPhzvynnu39RnuY6E9WHYz_647cd11_zEScFSGguqVnaxgDXF0MesLvfN2eS-yFZNQO0TLh6_PZvaxb45WKJMKjW2L_A18Y55aviix7YSr6WL7gRg0Ji6Si7Jr1PMvBksJAlw0F0M9FfBAOQ5sWIwX1roKh_8aGlGDWrDOC5lV2Dw0S_NuSqRfcDdNrM0L_SdtiGz_-hwmOo0HdefOD9ODr9vF7vkuN0sHK0Iy2ULz7n4KDq4_mV5ueKX5ScUn4hJezagAnf0HbjMBlZk0KhYXiaH520aUlKs4h1mJ_BNvLsCYQDe1AksVdNCapJ5DKaYzImPw4WNu8PirdQl-JpXVDx6W8Em6BcV3DuAyFZq-_4JKs_SxszvCkewEFAgptbYyz4Z43OxkU2J8WYO5jnp7qKdOFkaoMX0Q8PlFVA2TapH6w2osIaRGcklXz2b9kEGH9bxP3xFucI6SVU2Y5b1W3Tn4ts8aKVUAjstFKuPxZZUfGNYm4FqcPXPH1r22FI5Jbm1FYlpi9mLDkZhF2Uj4_kDlYn-n5COHFReRZ9T5a7wTeVcNbtJ5g5g8BEoYTyU-jJawMl_fono58DK-LPSrZKKAw1HYz48TEKyIVfw6XAhy3idHY6FrCoFCXluBviiuHVeHuQrQ4Db2eJQUetAkWusIqkzrzOCL1FTqHhcLY7IoiFQcswS6878a-qVzZZHELRVYTkGCTmdu0p7RAeWCl0j43YqXPoYwy0_l6dKvseKQQEx88WSzkzUHVToGC_8ikGQRbWh1OeOQQfV9j3phxyme6iPbT0D5RDsoXqwipCKGUEe7hbH3w0Ebfp6hl51ssARlXR4b3VLaQF7gE2kWUml17OGEBn7hs=",
  "id": "rs_0fca5b6a6851887c016ab41a45ce9887d0b0170d718cd71a8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.05,\"left_z\":0.037},\"note\":\"The white toy is still a little left of the jaw column, but its body is now close to the fingertips. I’ll make a small centering adjustment and descend to its middle.\"}",
  "call_id": "call_s9ccYOWDwhlk3KpkUCtKFerU",
  "id": "fc_0fca5b6a6851887c016ab41a48e82487d083e1caf34798902d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s9ccYOWDwhlk3KpkUCtKFerU",
  "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]: [-0.2588, 1.5726, 0.6281, 0.0978, -0.2607, -0.2123, 0.9974, 0.2737, 1.0847, 0.9936, -0.746, 0.2268, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3724 left_y=-0.0478 left_z=0.0325 left_yaw=0.068 left_pitch=-0.2336 left_roll=0.0644 left_gripper=0.9974 right_x=0.3066 right_y=0.0486 right_z=0.2031 right_yaw=0.0187 right_pitch=-0.2306 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.9692, 5.4359, 1.8535, 0.0317, 0.1441, -0.0122, -0.212, -3.0974, 6.694, 1.6484, 0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fffcae8a5e22b9b41e97e82d309081e15f5f6634e85e2baf0bebac518e33c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a2238938fde0c5284ef223f8091f89792b5e54811cf18d3fb52998ab0eb0d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1135a9618ef9b116dd425b6c15f496f9dd8ad7afb6c9a2ead67db2d11a48f07b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4503, -0.0189, -0.0391, 0.9974, 0.2741, 1.0813, 0.9962, -0.6582, 0.2432, 0.1234, 0.9996]\nstate[eef_state]: left_x=0.2855 left_y=0.0015 left_z=0.1657 left_yaw=0.0027 left_pitch=-0.0645 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3215 right_y=0.0499 right_z=0.2207 right_yaw=-0.0007 right_pitch=-0.1361 right_roll=-0.0725 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -0.9094, 7.0085, 1.956, -0.0366, -0.0757, -0.0122, -0.1983, -3.8906, 9.3333, 1.873, 0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4416, 1.4651, 0.6716, -0.046, -0.3618, -0.3229, 0.9974, 0.2737, 1.0847, 0.9939, -0.7273, 0.2272, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3573 left_y=-0.0958 left_z=0.067 left_yaw=0.0287 left_pitch=-0.1936 left_roll=0.0531 left_gripper=0.9974 right_x=0.3099 right_y=0.0494 right_z=0.2063 right_yaw=0.0194 right_pitch=-0.2121 right_roll=-0.0954 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.4085, 6.0513, 1.873, -0.105, 0.0757, -0.0122, -0.0479, -3.1111, 6.7624, 1.7265, 0.1001, -0.0415, -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]: [-0.2588, 1.5726, 0.6281, 0.0978, -0.2607, -0.2123, 0.9974, 0.2737, 1.0847, 0.9936, -0.746, 0.2268, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3724 left_y=-0.0478 left_z=0.0325 left_yaw=0.068 left_pitch=-0.2336 left_roll=0.0644 left_gripper=0.9974 right_x=0.3066 right_y=0.0486 right_z=0.2031 right_yaw=0.0187 right_pitch=-0.2306 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.9692, 5.4359, 1.8535, 0.0317, 0.1441, -0.0122, -0.212, -3.0974, 6.694, 1.6484, 0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fffcae8a5e22b9b41e97e82d309081e15f5f6634e85e2baf0bebac518e33c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a2238938fde0c5284ef223f8091f89792b5e54811cf18d3fb52998ab0eb0d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1135a9618ef9b116dd425b6c15f496f9dd8ad7afb6c9a2ead67db2d11a48f07b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpNkLSYYIHrzwpgXmyAW_pBvxT2DxBRRUeQ0bfm8vk7YU7VfioRGk348FyI6Pukw5FTvx3a3go8W0k4tRCnNP3LAggYGynQ75L3PnE02OaJ1CpZ9DjCB2N4FKT3Mt1n_IEaAF2qnXPMxkWplrhl_MsfgFQywsEThaffFmja7Et7QEaSMuP69pOQHu2Ii2s5KrhpIALDqTLKEWDEu3MnSR0I0U6cBHpUXrN0yAvD3uxZ7-I_1U4lncZNwZrXOe8dUGrnKslRXIfaXqNM3lWe8xCFpwF0IJiKzrzP40q13eirSTF_eWA_8bY_cwK9CbYDbYc7d4M8Mt5Typa15XZ3zn5Alnln_Ea2pBqeROHHNjNxJRrXyJjbKhH4kqJMkZghlT_ZRhmBWmSUDWGBuqr1vr8ZlXcKcZzHMIXVTpj0Ydc0vG1Ww4mYEEA_Slv1vp2NT7WrvNvbJqtVO_U6P8do3o4png1jgkBQYgkLWPv3pmnq90BtNPZEzq8b-nDUoy0kOIF_wDOE72bbYYwYljgyr-CgA5Jb_QoHOf7dCe9p2v845cMuD3GLNqLZqGAhfIua9ElcRmwE9QYszsMiMX0LKfp1HBAfbHbWJoNH8yQi6_wPqtmR_UzYupTkTfHpP9DUcYQnvfOyBsqU431jDti8exAPokdJ7tJ9MDTaEcf2WRkeG6jehjdsJcJeUf1zmw4h3n4mbHqi2HSPKoF_DAij2ajt02VyrT9xQW5o0yo2rY004nonyNjrCFWEuKSFRdp1VqfrIVnFQl8YO7eJgbhGCCYCLoN88E_IbI8eCOH_gZWx9_2eq0dUTbqvbRFKOpiG2hV7RFxPDcY0GqoJr4YmWPgdGQPS2E2JRTuKCShqMHeuxoirrHe4XOGPyze9qUcJv6amXqZcb9SqK0iAcJl8hx5ezD-zfTw1uQUpPmCg9DAh2jyu5atPyENRyR1KeiYuntxHSqziPFZ7WuEipCxVHeXEPjkXX8LJmjX_wycqTAf-Zba46mh6xlINTjrDZ62LHyWkcwxcYHoPhCl4Mmebp2nt3HLrroWplnFwsJnpBnaZkXsahkMdEyjsPFO15-7dg6JA-H_n3QaGyGe0NWsNlN4KimgjPQN1SYIVz4N7ZSYxecANI_ICNSefzlEKFBAA1yWTwtYSU8lXgeRhapqJxYls77b9B5VnqVJMXxXlodvKPdtqOJMhIlaPJ09PgqEXOJt2Id3WiBsUrV3s3_3V0lo_0f91fetEdeVmVLSmCJkgZnhM8RuY0XKEZCpkudk8fmkRXQnWfLfPf-cFVoYXD-v4y-eNbArQD5OCsP2HPN9cuOAxbFz4z4D6A0QeFZKVzdZK89epjftEYbV-1-AQ56QBXOfgG_jR6oJOm-wyT039rmokrmZV-s8PrKsC5YKjSkUzpMQ9yt-jM86SVVKxPBsLuluFr5YSY_FvCFwIEUE9mDLSMhmj9EF6zxZUhCCKj-OXs6nM64uxrJtNMV-0vDn8ORUJm3yfil_34Os4UBUPPrB3mhlJ7n84WuGWWUpR3XXycVhGM2nRb6D0f_E8K5PO_g==",
  "id": "rs_0fca5b6a6851887c016ab41a4b7e1887d0ad48eec573cdcde5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s head and upper body now straddle the left jaw column at grasp height. I’ll close the gripper gently around it and check whether it holds.\"}",
  "call_id": "call_C0j7W9hOQAVo3CILYNSEjplQ",
  "id": "fc_0fca5b6a6851887c016ab41a4c3dd487d0bfe769a8bf6cbfaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C0j7W9hOQAVo3CILYNSEjplQ",
  "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]: [-0.2413, 1.5867, 0.6262, 0.1356, -0.2352, -0.1825, 0.0127, 0.2737, 1.0847, 0.9936, -0.7692, 0.226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.0469 left_z=0.0321 left_yaw=0.0461 left_pitch=-0.2197 left_roll=0.0603 left_gripper=0.0127 right_x=0.3025 right_y=0.0475 right_z=0.1994 right_yaw=0.0179 right_pitch=-0.2533 right_roll=-0.1056 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.6667, 5.4085, 1.7411, 0.0024, 0.0806, 0.5446, -0.1026, -3.0564, 6.9675, 1.6435, 0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2738299a0830f225d1145d0b7922729fa71677c23bd56437b88c23889e760356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fd784107eb56c30853d5b22ee5b43ef6b4b280937678a4fb7e3a1ba5e2ef75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7dfe829b618ee23f89a48f0b005fa0c7612e72f580f4fbd15ac40945e645662",
      "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]: [-0.6365, 1.3937, 0.8471, -0.2729, -0.4721, -0.4404, 0.9974, 0.2737, 1.0847, 0.9943, -0.7013, 0.2306, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.3468 left_y=-0.152 left_z=0.1297 left_yaw=-0.017 left_pitch=-0.1315 left_roll=0.0253 left_gripper=0.9974 right_x=0.3144 right_y=0.0501 right_z=0.211 right_yaw=0.0173 right_pitch=-0.1859 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -5.6, 9.5111, 1.7021, -0.4713, 0.022, -0.0171, -0.3214, -3.2479, 6.8855, 1.9414, 0.1783, 0.1343, -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]: [-0.2588, 1.5726, 0.6281, 0.0978, -0.2607, -0.2123, 0.9974, 0.2737, 1.0847, 0.9936, -0.746, 0.2268, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3724 left_y=-0.0478 left_z=0.0325 left_yaw=0.068 left_pitch=-0.2336 left_roll=0.0644 left_gripper=0.9974 right_x=0.3066 right_y=0.0486 right_z=0.2031 right_yaw=0.0187 right_pitch=-0.2306 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.9692, 5.4359, 1.8535, 0.0317, 0.1441, -0.0122, -0.212, -3.0974, 6.694, 1.6484, 0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2413, 1.5867, 0.6262, 0.1356, -0.2352, -0.1825, 0.0127, 0.2737, 1.0847, 0.9936, -0.7692, 0.226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.0469 left_z=0.0321 left_yaw=0.0461 left_pitch=-0.2197 left_roll=0.0603 left_gripper=0.0127 right_x=0.3025 right_y=0.0475 right_z=0.1994 right_yaw=0.0179 right_pitch=-0.2533 right_roll=-0.1056 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.6667, 5.4085, 1.7411, 0.0024, 0.0806, 0.5446, -0.1026, -3.0564, 6.9675, 1.6435, 0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2738299a0830f225d1145d0b7922729fa71677c23bd56437b88c23889e760356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fd784107eb56c30853d5b22ee5b43ef6b4b280937678a4fb7e3a1ba5e2ef75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7dfe829b618ee23f89a48f0b005fa0c7612e72f580f4fbd15ac40945e645662",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpS3NCg4zHmLRCz5fn87xT0tNNY_GI5mx3YEYmkhEnRg8B7eY2A8hN31gJOpz8AGwnoE9VtbOTliJSlUGVGUHgjqrm3U-vRq3gMc5KBPUciqEoA2_ptHmIw8WJtxKIYcN38lZdKS3SMbWsM3pdyleyi5whGXqVLdFn2k3IEDCAUGuJ8iTxBzxxBQTjEc7Jyk8v2C70w234c5yhzy4Auf_MkI_n5V6Fr7HIweZ_g10t73fmkCq0MG7saTOFsMqqExveVQZusHyQWmcawo8ijSSvP9mzjZVtDKwc_kT9UMvZAql_kCDGS5btMWtVe-FfZfqqUTZlkZreRifRHqjiJDovI74pljdDStq_Tq92kXyVntFjLTJp3VK4wpgY1fC2XenMZtlvXiCu4KJ1-NgLKbGYAb_0J4wVG0L6E4MSjc71o4asGD8-nRkVbKxJCa_VLTChWv4JPbTsxkdch14q_9QefE6TIN1z4oN-dX1jyXWGfADShYhFY1gUoZIwTT4IaoP9qFUJtKpCyT_htPA2_YxRXjSwwOaHUyOdnmc6nipM7i-GvojtX46beDZwlFh_Fe2BMA03bmRpH5bCynmSdcBBgtAWLcnPHieb7NpvUwof9LaA1r3reHmNHryhFN3-PZDbjry_5GaodRf7xysSfeuO28MlBwSnMOZAIGfDbU8LlcY5-NTTIHbz4Jo7vl0bWyTjbBuVLIxZeKB8nzr0lo4awu_xyLDTxN1ja6l5jiYdOxVnnZE-cyFFkTvWkQp8vwpOPJ0aOlz4OWvISagqBgHFPyph0qSaubvqq-xr4yRt0z7EQ-6piV9IuIx1gnm_T8KzRRh-ExxEA_JxIp1HWy0aQMspMJblzQTluV4GktVGjqoJ1WOVYbp9JlttKTrSTgVX2MozUwnv6cFyKUoj_l-xBgpq7cWVDy0s7bNMaQCUXJaNKKJkcCaHNJ8qfSSNwpFt43JgBwgXwzFUF7Ak_IrLU3N24Js3iQ7L1XOFnS7DRd74iITRAGhAwHXfj8q9zmB6q7vyIhYI409gO42qnUx7Jd9XzsgPVDdzAIldqtr7eqmK7FBnO8WGxfGtZFb93csWcLzjWjKEqqlaec3dfFa2r9Dq8ieF-MOEDr5xdYprOizm_C4R_2nX8tLw86KpX4X_hKrwkwI2TgNaTYYf5yylquz0TzNauhYR0w__R-QJp7TpK_8ZnSy9VK3jZcXlrckia8jB6Py4C8gtlrImH_0aFhL2ekJCtFigdpnhmReQL6Qv3HO5RbH4ipuhtP3kyc6cG2HpcDZBevBRChGwO0a7xvQhBxJQddR5thA0uQEVI-aPmLLfj_O6kyjUkGnE6lReqfrEeYg7sYjgSmqHB3E1zYnQJF_nTxryQcKHIaeKjAxkBeKvxxStNIWCsAdOCx9nxnKtr00OkTojsLBCJmnLnh_N9Lfk2lkG6lOE3FjKePKHq9nSo_DfZqdJOu2-hPayBTu6toMRZutwJxRJy180Bk_Gu55RftxogEUZp3OR2Dmx2t7TfkSLrUbTYhBl1BG-DEPGNRlY6tIcoPe9xA9v7fMFl5TqOiQPg95dwWT1KKemogugrsYx6lKgETqs59UClN4Q185htsuCcy9D5i3JLEz3P4roLYWZVa_aI6JUjSNf7xaOKjfM5cyF2qX993W4ur4Mq_I1Tx8jV_-G1htzaA0t24HMXpqtsnVnTrkM4AKF4wk7X2oyjTEU_bJsjwrlMV9KvS9kQVdZXzduBv6LqcWot_1NzpvBL2lelxvElFSzq732nXNTnJvWbj8xlgunARltT0dqiXd_38G4-SKsn6tdAEJ9y2Hbin-MNKzKhVl8=",
  "id": "rs_0fca5b6a6851887c016ab41a4f875087d0be9d7bb4d83539d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_y\":-0.045,\"left_z\":0.034},\"note\":\"The jaws closed almost completely, so the first white-toy grasp was empty. Its body remains ahead of the fingertips; I’ll reopen and move a few centimetres forward for one corrected attempt.\"}",
  "call_id": "call_vlBKgn9q3ltfaOeZkMg2la3v",
  "id": "fc_0fca5b6a6851887c016ab41a50ae6087d0b329f99dc30ef7ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vlBKgn9q3ltfaOeZkMg2la3v",
  "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]: [-0.2131, 1.6947, 0.7372, 0.1066, -0.2253, -0.1726, 0.9962, 0.2737, 1.0859, 0.9928, -0.7914, 0.2234, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.043 left_z=0.0261 left_yaw=0.0622 left_pitch=-0.247 left_roll=0.0675 left_gripper=0.9962 right_x=0.2985 right_y=0.0469 right_z=0.1952 right_yaw=0.0185 right_pitch=-0.277 right_roll=-0.1098 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -6.1333, 8.1436, 1.5409, -0.0073, 0.149, -0.1343, -0.1983, -3.1385, 6.7077, 1.6581, 0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c403f955bd526cc8550e5969bb0e19cd2c9cb32160938240fe0039322402551",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4357eeaf19929356eb346bfa783d3d5470f8aa02a561133160750e9ee60af965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8cdeedc02c17eb380501ebd8692681002bd5567e0356787d5942c1ef3730ca",
      "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]: [-0.4416, 1.4651, 0.6716, -0.046, -0.3618, -0.3229, 0.9974, 0.2737, 1.0847, 0.9939, -0.7273, 0.2272, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3573 left_y=-0.0958 left_z=0.067 left_yaw=0.0287 left_pitch=-0.1936 left_roll=0.0531 left_gripper=0.9974 right_x=0.3099 right_y=0.0494 right_z=0.2063 right_yaw=0.0194 right_pitch=-0.2121 right_roll=-0.0954 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.4085, 6.0513, 1.873, -0.105, 0.0757, -0.0122, -0.0479, -3.1111, 6.7624, 1.7265, 0.1001, -0.0415, -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]: [-0.2413, 1.5867, 0.6262, 0.1356, -0.2352, -0.1825, 0.0127, 0.2737, 1.0847, 0.9936, -0.7692, 0.226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.0469 left_z=0.0321 left_yaw=0.0461 left_pitch=-0.2197 left_roll=0.0603 left_gripper=0.0127 right_x=0.3025 right_y=0.0475 right_z=0.1994 right_yaw=0.0179 right_pitch=-0.2533 right_roll=-0.1056 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.6667, 5.4085, 1.7411, 0.0024, 0.0806, 0.5446, -0.1026, -3.0564, 6.9675, 1.6435, 0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2131, 1.6947, 0.7372, 0.1066, -0.2253, -0.1726, 0.9962, 0.2737, 1.0859, 0.9928, -0.7914, 0.2234, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.043 left_z=0.0261 left_yaw=0.0622 left_pitch=-0.247 left_roll=0.0675 left_gripper=0.9962 right_x=0.2985 right_y=0.0469 right_z=0.1952 right_yaw=0.0185 right_pitch=-0.277 right_roll=-0.1098 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -6.1333, 8.1436, 1.5409, -0.0073, 0.149, -0.1343, -0.1983, -3.1385, 6.7077, 1.6581, 0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c403f955bd526cc8550e5969bb0e19cd2c9cb32160938240fe0039322402551",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4357eeaf19929356eb346bfa783d3d5470f8aa02a561133160750e9ee60af965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8cdeedc02c17eb380501ebd8692681002bd5567e0356787d5942c1ef3730ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpXmGn3l9M0HFUAEjJYtcNwBS1kqU4mnet2qCFRxX_yPG0qiDNXu3Rnq7cFJMrVH__8zwEPuSbc3h32mVa2HwS3T6fXVpeDxaKKahSG1tvhlSuyEXpi1fNuNwk3H83CXSaT7SYPlYhoCdDFntL_Zkgc1XzkORR6p2hiGYrXFwUa9fgmBCSAnDbh1GPJIOnWDrCozikXLOOXeb1TIPtqM1IOTmO-sxmS4Z5M2J0ble-iWljECF496yolXWGMQ0GUCMcenzw9UKETScWHV4VayuwdgJi0Gebme6K8KzSyaLr16-Lr-m6Qg4mfvhwFfksIjN0Hps2BUDGM18icX1C_m_W6GR9vvOjo8kjHOlziVmO7haKFV7f6NYhpfv-Un1L_PKFnr8EiA9hZ0M-w0HTP6gZ0AXPscnaXOZhTvJjwcBM6K09dmGzVmJ37k28r7sYC1dJUK0l0Y_T9bQMmYLtzzz4VDo6r3o3Atwu8275U7en__XX-EImfqIRb6vO6c6yDIcMfcndA4GZ0PFarZxeorxn6u_mNEuQ_rTkG-GB9gwpsVGch-bZRz3RbX_6ex8N9DEX0eXPdRI_KG6QN8p5kyyXlLc02y86E2vThjV9EZxMeWsP-U8OvP4ldqlwMMK-9OO15J-87bnHfvEBhNa5zIY9tA2TCAQllq4I1uyZgHiWR82t2mvulzrO7hg3MgBdpeNydbaG9lSbUPtmSUj-_86VKcz_GkDfJTCEXV5xeMM289l2EFACT3MJZWtzb_efEZ6pK_4QEqLtp-jzug1U83MstEn0UXxqBTQwhcz0JY_XXA8WeEIz9JdTPgRK4b_stAS7zTYZG38qTUPa_smRE65MYv4wHHSHU3jM3rpoduxbR-wtDlKtpkVu1HEpoL8W-fpw6__ePEmxGdffXjbfFe-tRd2Ty5oCHhcYVUeQKPuD0m8lbUKlWejLk1IT9QlUbjxMEij2QfchB0WeP48VwHsQTU5owzN2zfYV_Pjm_KPb21UrRH2sBLP1lsYFluennwveCJsy5OsP4iJF7tDHIMbU9tjP3fMaMUbWdXlUGBJmLjKAVd7YnOqLtRlwKLicuqx9xaAvky8jsI1tHvclIaZvGoup6MsDr7a6VWzQkF-ZzxqzrpK0v5LaWyLEGSzFeOTZz1XTu6c95cv9gRMfMT9ezBmPKP3lbR7qw-ccb8ZqgCh0st_ewg_opMs81nS4nRUiDmLT0HebvigJkmdsqSd5f2WE2mOoiJPuoWZGVnHe0mP08qSFBRna3VaHZ4mdn_fD1KSdmBaX8ivWxgLWOp2hpg4bPN7QfzdrDH-vQsykiw6qKtTEpaiCXW9nJ6fdP8pJs7gNLf8hglc4nPZ-CIZPUjTJQ99eurgYzd1fybufK5X88QK_ZIWLm15f2rQGiZ5Iv9AhOkN2dPOHFfqgIEMtf4Xc6AVQG_lO62QmNd-El7qvrUlTW1Z0zcdJHO2XT5rMas6wXZ6oAPjYxwkJ7-t4Vu4vpj1eWpNd2aAisRxbKPxk7xNxoEgQaaHO9MCIIqIA4diTEfScWfo7ibKBplQYKONHNOWfAYzgGJEotNVeaCKsCMYnpiEbo0OBR59hVRASmTeiyVqCie6_uJ0k1CIeZgENmrjwzgjNOhQIuYr7ZvRww0I4NPk-w1c4kewGfhc8D4eBo_PPQfMBdBC3LWY2ahF8NEqmR38MX2wQqiQy4J66i8rNvOOy5qyJWs5yQXDLWTASMDzDIHGeb3smi67--970AJF_4kHQmALgTkOQQegrOoBg_NvOX15S2aEVIDr0f7STH9wZeOUjMcLMaAlF7PACzbCz3bQweO3OUO5HKmqMfiHvlgxBrHP0f36j3SMP1v2_EAfaUpNfk4Io-3xKevZNMc2AjlugwBMWTNzhzJwXO7sBt7U_q1i2k57XoAC2lxlfeOVio2pXVUIrBDs3_YHmitsKM04DH_Qr9vMWnxK6nJVohTpmcvFF0CJkAexYxEgLYH9keSM9kdt5X7cIEFZnfuhRBJSOQTzvtKEcdVpl7e74gLstH2oEs_10F4nXuj1Y5BuoYKg3M5gV9GRXoCbH598_iiBN7ks75R3bICJXGvWFp-W6HWTsWR0DfGZCv-3rkqKlZjUQAicsUi74VibfGFqBuizCH8Cvde_b912hvDVcp7ZpXA2DgPQeZcChHPWQnbTR12cioIes-ShvS-2qP5YbricVbsPniJblL6X2-ACbXJdGeUoeUzpDWwnfmcCJSH-en6hkk-zdwRAMeYOcHUJlgu6qx3gzyFRxAymMfQSQU4NI72nRmdPyIqlZViGvBnIec9zQpyvHXmLBi1e37HrIBpqCRQfsyRj-Ka7YxcOo6Uy7gLaNJCSedZK4blM2A0oucuhu7eRiAzGoj-k0ThzaSlHsN1p23azi7PzT6Fp9hrDFuwwuliuYzKw9T",
  "id": "rs_0fca5b6a6851887c016ab41a54a08887d0b7edbafa1db61bb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.431,\"left_y\":-0.06,\"left_z\":0.015},\"note\":\"The reopened jaws now sit beside the white toy’s body, with its neck just ahead and slightly right in the wrist image. I’ll make one small forward-and-right correction to bring the neck between the fingertips.\"}",
  "call_id": "call_wlU51LpF3WKDJjGTuBG6vAKT",
  "id": "fc_0fca5b6a6851887c016ab41a5703c087d0aab0bd75f650cf67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wlU51LpF3WKDJjGTuBG6vAKT",
  "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]: [-0.242, 1.8091, 0.8204, 0.112, -0.2321, -0.1993, 0.9961, 0.2737, 1.0882, 0.9924, -0.7982, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.0582 left_z=0.011 left_yaw=0.0559 left_pitch=-0.2694 left_roll=0.0617 left_gripper=0.9961 right_x=0.2974 right_y=0.0466 right_z=0.1933 right_yaw=0.0181 right_pitch=-0.2863 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.0342, 6.9265, 1.3651, -0.2759, 0.0366, -0.0269, -0.3624, -2.7009, 6.6393, 1.4823, 0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b6e824fe3f4d42728d6af7483312ed1dd6414b9518a802574e4c7770f8446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ed1b287f707e9240a1fcdc690a54ac39d4eca29fc32545aaca0192b6c6f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c206ca43bb6da1bdf6dab632fcdfdbf8d36662ab9e9d93364504308f067434e",
      "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]: [-0.2588, 1.5726, 0.6281, 0.0978, -0.2607, -0.2123, 0.9974, 0.2737, 1.0847, 0.9936, -0.746, 0.2268, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3724 left_y=-0.0478 left_z=0.0325 left_yaw=0.068 left_pitch=-0.2336 left_roll=0.0644 left_gripper=0.9974 right_x=0.3066 right_y=0.0486 right_z=0.2031 right_yaw=0.0187 right_pitch=-0.2306 right_roll=-0.1001 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -5.9692, 5.4359, 1.8535, 0.0317, 0.1441, -0.0122, -0.212, -3.0974, 6.694, 1.6484, 0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2131, 1.6947, 0.7372, 0.1066, -0.2253, -0.1726, 0.9962, 0.2737, 1.0859, 0.9928, -0.7914, 0.2234, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.043 left_z=0.0261 left_yaw=0.0622 left_pitch=-0.247 left_roll=0.0675 left_gripper=0.9962 right_x=0.2985 right_y=0.0469 right_z=0.1952 right_yaw=0.0185 right_pitch=-0.277 right_roll=-0.1098 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -6.1333, 8.1436, 1.5409, -0.0073, 0.149, -0.1343, -0.1983, -3.1385, 6.7077, 1.6581, 0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.242, 1.8091, 0.8204, 0.112, -0.2321, -0.1993, 0.9961, 0.2737, 1.0882, 0.9924, -0.7982, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.0582 left_z=0.011 left_yaw=0.0559 left_pitch=-0.2694 left_roll=0.0617 left_gripper=0.9961 right_x=0.2974 right_y=0.0466 right_z=0.1933 right_yaw=0.0181 right_pitch=-0.2863 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.0342, 6.9265, 1.3651, -0.2759, 0.0366, -0.0269, -0.3624, -2.7009, 6.6393, 1.4823, 0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b6e824fe3f4d42728d6af7483312ed1dd6414b9518a802574e4c7770f8446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ed1b287f707e9240a1fcdc690a54ac39d4eca29fc32545aaca0192b6c6f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c206ca43bb6da1bdf6dab632fcdfdbf8d36662ab9e9d93364504308f067434e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpdJG9AEnAmN_PvXkJtlqXujEpb76vF5YHgvKzy6bnjY5NHnFEZIULoywysF1nY2uekApKROlhYyDgUNt4qo9FnU6eo9YI-hzPfp5N2Eqj2_2xNTW7sv5PE5e752eVogHTq-XohDCewEAOfvaJaspDOYOV6Sx2M_UxoW6pctJrKbzAUjLGlEmFVj8n5s5iwtlEh1mc55smt5Jbv-6Me1wR7VsWIKic4QVbAelVj8BCjmon6h-knvMOhl0BwRFJYPUIhI0cSjny-qeKPshWA6qdjTOibVqDix0-CHB-UJQdua-JwLGSH0m24F_On93Dky-s3Xh9CoW4BVuYCPWy-5Va4WBEghkvr8Uo-QM2n2zjKRPLD1IXu1m9s5Lm83fm98Q7fGVEgpAb7dWK9f5OuqoybFWiIvCaH50vyr75HeTsWUyVaxcOjoxHOTK3CRbsipeuDcGVBnZFyQ5x1D9C664I6xWkaTX6tzsyL8eLq6FTs6n9aZ8XkwRBS-LWC1K-wKnR4clxEhcEvF-epUHmEiAFWRzZHu7RDH0QwTjx_f1x-jcXkF0f2gO8O9KgBaCxsgDfOQfovSymx8XklFdc5NJBCFKW-cyoRo4uCJuY_yjMTlXsnVG3AYpMlhVkxQP4KpwzQ6U0p0BPWHn7DySc241FVxbYgw5xfWjAz-wG0q0ZRLhZgDR6Ajedfp-pIB3lmq_1xsWaOrD4VFuQ2yjCR1EgfJg8Rcf30njOGEZl4Ot1VymO4xG7ofxzi8F4Mtd3M-yhRvWXeMXW0BSrBJwLk9JhGZjNpOLHYXoHco-cV63nlTTkcHZG9bFAW-7YGQXyS4mJGANj9xrfxhR-BNIDDA4M5wlx2P5Hjb8ev3mxX7gSvCkqlMyGpehx-rhJ8rbYng-9GSg_JU7S7R-IPH3AmHZt9wq0cqpmtl_IMXSX2Pe5AksmUviIb5bafDRnGEKBctoe8MJnhdHAZQDT_Tu9T6mC23Q1W-ofrF0_lLNy5Hyf8bAdo-9JAlNkNtKp42EElMkrfAyUW2Q05tjE5sUBUMbIKbHN5WoD6YREDZz4jYK2Lc92k9hzxrLpcIqf6kUCn3yj1qyRd_fFwc1LbfSo-GXCtWm8K-DDbX_KQgotv8nAcXGWfeaGsLLUuFSzIiiPHgXXRnwhZNermHQ1HIXdEtwNOePs1O5NR6knK79glXhgDNo_v-iV9y1PTgC0PgCpX9WcLPyR0qfAIYfb9msFECyUG6L3fqCutLKURC4ZWMbbD7OQByFJ-L-PiGsEeZbP6AprOZa0lhEiioDViDFbfRXrPyv2gMAx_neZel1piqm4xxSPfRbxx1RyyT1AOXhdLNek3Yk4SDJQ1n0TspvFnfdlKTemfeRLwSgxydWAZXpCeM1DOrKDAB-CC-bQruK3WAFNt0WxCNQT6zPHFsnJjOYK32x6iHybZRkXQI3_ZeogXExaeTojG8UN3lTrEOT1v4oUGznRGn0KfoZQhPKlffptQ4jvUuGqwc3yNCXvRhCG6clRQYSfda76C6RaCA1YkKey12kLtHAqXpBVjaj6vo6xa87BmDppVwgzCnPgjM8GaDSHb3VsDAaShjKIsLMYWfl5DmDx1E2s9-tpIb5jJVZY8BD366VzhicXKbmeGVvAheJ9vw5-V4oQ-XtHgzYQgaBR22rWC6Xc_HwXFRmba4DhG4dNdfS3iDLK_hFudH-Eocy1V_bpNWLJm9BvE-S0Cnp06W-HXU5hGh3wd6AO4ewmtxrmD8O9GPBJFJq6toSAGPp1Eqiz9pxY2DbomUAZ1o2oQdOgnniioBc4m5-JoRlkKieJ3sA9f1y71Wvlt5rlWnkHC-1ztfPDxb6NmWk0qIrS5mkupmLsqfRrR8_vHqR1kiK-_ZaZczWMwfo26nMfnszZWjHp-ZP5LobGILcoOSSEOvt46ATj1cr-9AUqpD3gEsRyPil_PYPhiGVhKAYtSjJzCF8ghPJwpJVrUBgkZmjL2Eo7Qf75w3xxlsOi2n2BjnEIG1xDi62Qj7G4nZOSDipy7qVLL8tYh7sGaPl6QZwekhROhbrHTVjsxuO7f4Nfm5AZGcwrRezvWdGDwps7eFmUtHt8v2wZ1lyQl9cekPNDy6jirbYwBmnEOPjOZZYvYH5eqqr_BLqlXDWGrhJu-NG2baGcNHOwMJuWhSjvNGpnMVP4v0OvjZ3tfVI7rnPXjxibJhkSibXt6E0wMKRZSUOiA3FkQnMiyaDH0807yaMKCM0YDAm_5N5Aqz6tBESd3S6rhbuWLPdzMgsWUZkBkg6QztKrJyA95LySzmhtg9g3cQsmdLJzcSbBPvx25YSbrduUy6X25K1zxXJi04d-7BAiAke1VD8cXoWR7vwSSbQA3kL8VBREoxps2qKUAl9VPYLNvdvJorbjIyYV1pXbG8zCXIlukhnhaMYU5oNEomO_O",
  "id": "rs_0fca5b6a6851887c016ab41a59b5e887d08cb652ec9a3fae6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.441,\"left_y\":-0.095,\"left_z\":0.025},\"note\":\"The toy has shifted as the open jaws advanced; its torso is now right of the jaw center. I’ll align with the torso from this angle before closing, rather than squeeze off-center.\"}",
  "call_id": "call_HTGXCmoqdvJkSs6xm0BaHURY",
  "id": "fc_0fca5b6a6851887c016ab41a5ca80487d098ed928e5a431a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HTGXCmoqdvJkSs6xm0BaHURY",
  "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]: [-0.3202, 1.8492, 0.9329, -0.0021, -0.2817, -0.2596, 0.996, 0.2737, 1.0885, 0.9924, -0.815, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.0869 left_z=0.0176 left_yaw=0.0574 left_pitch=-0.2933 left_roll=0.0731 left_gripper=0.996 right_x=0.2943 right_y=0.0459 right_z=0.1907 right_yaw=0.0171 right_pitch=-0.303 right_roll=-0.1163 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.6923, 7.8291, 1.6044, -0.105, 0.0464, -0.0171, -0.1709, -3.0564, 6.735, 1.5116, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ce690a73321a975c3af6d1accfeae09b750d892aecfc791fd4554754089f97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254808d8aa4799a72a20fe45bc110862f8e6c32f0f394872eb8eceb697dd0cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920774a6650645ee5ecaf3c1b72752979a6aa0a3b363cf45ae119ef74d68f5d3",
      "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]: [-0.2413, 1.5867, 0.6262, 0.1356, -0.2352, -0.1825, 0.0127, 0.2737, 1.0847, 0.9936, -0.7692, 0.226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.0469 left_z=0.0321 left_yaw=0.0461 left_pitch=-0.2197 left_roll=0.0603 left_gripper=0.0127 right_x=0.3025 right_y=0.0475 right_z=0.1994 right_yaw=0.0179 right_pitch=-0.2533 right_roll=-0.1056 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -6.6667, 5.4085, 1.7411, 0.0024, 0.0806, 0.5446, -0.1026, -3.0564, 6.9675, 1.6435, 0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.242, 1.8091, 0.8204, 0.112, -0.2321, -0.1993, 0.9961, 0.2737, 1.0882, 0.9924, -0.7982, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.0582 left_z=0.011 left_yaw=0.0559 left_pitch=-0.2694 left_roll=0.0617 left_gripper=0.9961 right_x=0.2974 right_y=0.0466 right_z=0.1933 right_yaw=0.0181 right_pitch=-0.2863 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.0342, 6.9265, 1.3651, -0.2759, 0.0366, -0.0269, -0.3624, -2.7009, 6.6393, 1.4823, 0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 1.8492, 0.9329, -0.0021, -0.2817, -0.2596, 0.996, 0.2737, 1.0885, 0.9924, -0.815, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.0869 left_z=0.0176 left_yaw=0.0574 left_pitch=-0.2933 left_roll=0.0731 left_gripper=0.996 right_x=0.2943 right_y=0.0459 right_z=0.1907 right_yaw=0.0171 right_pitch=-0.303 right_roll=-0.1163 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.6923, 7.8291, 1.6044, -0.105, 0.0464, -0.0171, -0.1709, -3.0564, 6.735, 1.5116, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ce690a73321a975c3af6d1accfeae09b750d892aecfc791fd4554754089f97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254808d8aa4799a72a20fe45bc110862f8e6c32f0f394872eb8eceb697dd0cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920774a6650645ee5ecaf3c1b72752979a6aa0a3b363cf45ae119ef74d68f5d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpgSyRRQMIEmdvJTHHkB-kQK-L3BGGlRF2dR7Wi26OvTPqhL0o_kYGoAGAPc0k8L0BiyckLeMogRV_b3UkuyqBE8sFCdEuE7-xYOXDzObk0mGlAZ6bCYdlEz9lUBoNKp2mGg5MzHos7q0JycOqYpBt_la6cv1buKyykv18DIzG6rSs-2as_C9GD4ZnuaIid-UQQs6TBBM2JCSSSAP83adJxGXJdpMXVKItu_452iK16oEGxINFMKTnoT15arWoHiyJVFWeVBs9xayJMql9rLLymkDynwk-B38GO9PyE1iXU93R-mDpT2zTthAntA9_yu4kmfgAP0P79qzsd1snf-iELQzX6uHa2HzRGkhh2nvsxCvv0QW8iG1an3Il7F-G2sAmyUks0NWnV5X-0OO9MVwqcjHHyOwC8bjz7pT8aAAcJgNJXvo97pKRqDVOKBlgBwrsV-ZP69NazoVz022CZ02VHTEn7IryAt3gqsY0P0IM_e9HbMMcg6A-RvNCJsOswxbNqL8bzdY65uQ5r8cnFaYoWhMT1YOTibhDj7ZA9Yhp-Mv26EMaWHBjoZDKeVFYvioXJVTuMIbLzwqcaJgFpe9upEMmTF8IWGSJ-cEPtceX7PbXfU2FD1gFWWn16P-TgyynW0vM_gIedvs8zgPT7B3CYIXVTm2cTpVeozXAbSt9nrCKkAI7uB6KdmlNaFx6202OIf43FiWPanD6WGm-e1tibARD_R8_o7YJi0taS6XhB5U2HLtva9c5S7jXpaL4E83MlGDw_JC1X6-8EuQ35gxLjgRrwiz3Cey0kcJyQk8xosQh5GbT-3_oongat-RlHk4CmrUP3yzxPKtEAnr97lhEbVPKScYYFRRagglWATEJIK0SUX1N3kfIx1dqdhPd1CvU1c8TYAHb-QpYEFvqEyDElIVOSmJExuPRMOgsSnPlTWsxZKTdtJ37r9yAvBHQeH4ya91y06bMrAxYe8OAycAUl0k2O19bAoPy11FfAAVTsQHgJ4M194rEQb2mc_q934EfG7Iv0om4FAMTGV_5CCirK_e8VCef9Y2FkgwSEHZtNonZXXd-AQkpM1AGBXTqHEKBqFnxTUML4D_RJYM80J0fRoy3xOPawZZanqez-1Uxy1H4Mkkl6VqKtyYC7JH_CzxaX9W547Y-bu2Co3Qj3N145bguS2rMFLkLTIoFL87dBYc55eZYBRO4ivyf_PDN41kBqrwyTWs1XGbqBES8PNBkX9nNIoC0Ymu1IYWhz5vDRUiGbs91MzJIzGH01W5V0C-4cIYc112mhWJB3wvx1D3_lsTbbMKmZywHetfFXwHPH-jYw6GgdH3YaGj92A8EBIWAoIuEzEKtZzUyMvttygGU5aHMWBPwh9t2syjg0V00rGnpArgWXmyLp9ASuWJNkWQ4wUTCEeeMMXoFzRlGmo8Oa0yzagVutc9g-G6WfQ0hjWCclHTWxpGoI15to4bME2BX0bJOcw0H7IzeepeGXfrS4S7St3Y4m7cJQvkR-neKAyZFTjX-uHzDQSWICDT6wFmw5",
  "id": "rs_0fca5b6a6851887c016ab41a5f199887d095d2663591748853",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s torso now overlaps the jaw path near the bottom of the left wrist view. I’ll close on this corrected alignment and use the gripper reading to check it.\"}",
  "call_id": "call_LmtWmORLnfba7DHeIsmvOcm7",
  "id": "fc_0fca5b6a6851887c016ab41a5fc44887d08aabf2714f5aa1b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LmtWmORLnfba7DHeIsmvOcm7",
  "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]: [-0.3325, 1.8637, 0.952, -0.0158, -0.2855, -0.2775, 0.1294, 0.2737, 1.0885, 0.9924, -0.8371, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4309 left_y=-0.0923 left_z=0.0162 left_yaw=0.0596 left_pitch=-0.2999 left_roll=0.0676 left_gripper=0.1294 right_x=0.2902 right_y=0.0447 right_z=0.1875 right_yaw=0.0153 right_pitch=-0.3244 right_roll=-0.1222 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.2393, 7.665, 1.4676, -0.2369, 0.0073, 0.9402, -0.3487, -2.8923, 6.5709, 1.5995, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c627d86252bdfe4f08545598df8e6e09b547654f2d7d4a5fd179d0e63c5c947",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c90387ccc82b70871c74a74cfa5d8e1fc94f991995c130e1553817180c632a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005bda192453522bb217bec53b8b58006634b1c7446b14e97460c5e977033cb4",
      "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]: [-0.2131, 1.6947, 0.7372, 0.1066, -0.2253, -0.1726, 0.9962, 0.2737, 1.0859, 0.9928, -0.7914, 0.2234, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4025 left_y=-0.043 left_z=0.0261 left_yaw=0.0622 left_pitch=-0.247 left_roll=0.0675 left_gripper=0.9962 right_x=0.2985 right_y=0.0469 right_z=0.1952 right_yaw=0.0185 right_pitch=-0.277 right_roll=-0.1098 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -6.1333, 8.1436, 1.5409, -0.0073, 0.149, -0.1343, -0.1983, -3.1385, 6.7077, 1.6581, 0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3202, 1.8492, 0.9329, -0.0021, -0.2817, -0.2596, 0.996, 0.2737, 1.0885, 0.9924, -0.815, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.0869 left_z=0.0176 left_yaw=0.0574 left_pitch=-0.2933 left_roll=0.0731 left_gripper=0.996 right_x=0.2943 right_y=0.0459 right_z=0.1907 right_yaw=0.0171 right_pitch=-0.303 right_roll=-0.1163 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.6923, 7.8291, 1.6044, -0.105, 0.0464, -0.0171, -0.1709, -3.0564, 6.735, 1.5116, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3325, 1.8637, 0.952, -0.0158, -0.2855, -0.2775, 0.1294, 0.2737, 1.0885, 0.9924, -0.8371, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4309 left_y=-0.0923 left_z=0.0162 left_yaw=0.0596 left_pitch=-0.2999 left_roll=0.0676 left_gripper=0.1294 right_x=0.2902 right_y=0.0447 right_z=0.1875 right_yaw=0.0153 right_pitch=-0.3244 right_roll=-0.1222 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.2393, 7.665, 1.4676, -0.2369, 0.0073, 0.9402, -0.3487, -2.8923, 6.5709, 1.5995, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c627d86252bdfe4f08545598df8e6e09b547654f2d7d4a5fd179d0e63c5c947",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c90387ccc82b70871c74a74cfa5d8e1fc94f991995c130e1553817180c632a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005bda192453522bb217bec53b8b58006634b1c7446b14e97460c5e977033cb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpj478WwY9eacMnNnNTPOU0ScCtf220lxhzT1zq8D4glovOJKZ45XuK2yLIg3q7UxNXSewb-fNIyLFmeTpl-hrSAfDp8LXKib3XDcBRKuOpvXQ7hZufn4_u2pgyHP22PMxl3DoHosJv5OF4ghBuaZrn7xAG3sASBqZYHOtesDIvIOVpQxMaZQsrvx-1Q6cqMeBQndJwUo1f8I5uEp67rTYehEoHKbFwK2TZQi5vb7pqX8WfMNtryCP5XW5E6gwEqYU2UHyYqVLQirSe8X9gN58DUIb-Z3YIZU2opqOlLl_DGPRlVjNCjPbRFnNpk_ArJcZ6WS8k46e_HtmSQnru3DPBpXH2iqOq1VrDkZQRk1VhBQq2qCftYXZCK-zTJxau3fSlWXqkrFlhnun2BiDusRGIK6oPYIeAhrAnapuu8wwztQ0Pp4igifdsdwgeZ3_GPufpSYZaVUoAYCyKeKmbG7B_RdNRvL_uswewC4RYM6OJ8K-Lv9exF9VP8JAr1ck-zJBOE9It8QvJ7AnFaMM_dID1ybQHkzhRxv0xO5giXjs_tJxDPZ_Gp6QyudJ16hFYxtlqH_8gh_Y50Q0zQg4eh5G8NVv_RwZsNEjyYjXzrAF7IRZ7JoZqWvfmRCER2SM2m04pYxxlWjePHpZSX6OeCdRC24YZJxJPWbkXjb2cXPw8epCKR5vRXquOyROf90Y7ZXrVcOI1iVqfZuRnK1dE1lbElq2pg9Qzl5JFHjZEgqidFRVkTKkUENJL1KFi0NSG65tCZ54FwRTA5W1FqEbkVmxnujWKgotPTvDaFTQt9PIDH-Q8dWehmCShoasNVXjA5tNW2UF8MHF2V3OSAGom51GQ-cvC_7LsQUcn_ASv0ROle1-o9mYFv3sLtpGlyRTOyTuJN2UwNcU7IrO4xQ0keGkVdlojdrjfamn63IbzcNQMtyBMxh9DJkeMUdAY6hW8mXD2y-dwWtTjK3TXx7iC9rykKpc4rOjzCgvUNnun2bnD4u0GU_UmKRoBKYMhhS-Kf4UvwdbMS0e1TfGKTl9WtpA5Hm5xoXeXTt_96Y0SabDRxmRfoqsNhs75J6fijfbXjSqMPxEe18OkgLu7kzTrAKgDVBxxu-bAvpQZYGY5q0QD4_pESL86OIScwZcjt97JdBszK7jyAWdLTVchKbIeMbxDisl_hb00RAyIq_wW0caxTkJ5O6JUaqPh2UFfVZfEiXcus2y19tQ6AEJEZw6AFjTXnJUL-0rLVT8uq86040TlFyMguPVX3bsJeYjxddCdBrms8Z-M_PLNzUVriofizBN5TQQRlovwJeqFdUpEGQw5ZZDko4VMEdpqW-oGAgLzECUb-LtPFMmqXswrBXpfeqyYkqDRqP_yFDqByLj9gtGa7QEduEBmROI3LGht47p1Yzy8LGx4ACDYptK0vbf8NA0N8g==",
  "id": "rs_0fca5b6a6851887c016ab41a62970887d0bd408f365db997d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_x\":0.405},\"note\":\"The left gripper stopped around 1.2 cm open, consistent with something soft between the jaws. I’ll lift clear of the table to confirm the white toy comes with it.\"}",
  "call_id": "call_slaAFs3Xm4uhNNIwpC44YkEk",
  "id": "fc_0fca5b6a6851887c016ab41a63271887d0857862a166bda375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_slaAFs3Xm4uhNNIwpC44YkEk",
  "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]: [-0.3557, 1.6058, 1.1812, -0.5575, -0.2859, -0.3054, 0.1315, 0.2737, 1.0885, 0.9924, -0.857, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.0928 left_z=0.1305 left_yaw=0.0599 left_pitch=-0.3488 left_roll=0.0723 left_gripper=0.1315 right_x=0.2864 right_y=0.0436 right_z=0.1847 right_yaw=0.0132 right_pitch=-0.3435 right_roll=-0.1279 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0308, 9.4154, 1.4432, -0.3346, 0.0024, 0.7057, -0.0615, -3.0017, 6.5573, 1.4774, 0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702fae5a934e354dda048f3589f4abb34ae2bf001cf831e6f9575a386ca5a94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd96c01c5d58763ff61faa5fe80f12803fa5fd211e4010459e80ae11a9e185c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859646955741d223c2483f6e4c43aa19417715cafd905b72885a3578a763e341",
      "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]: [-0.242, 1.8091, 0.8204, 0.112, -0.2321, -0.1993, 0.9961, 0.2737, 1.0882, 0.9924, -0.7982, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4202 left_y=-0.0582 left_z=0.011 left_yaw=0.0559 left_pitch=-0.2694 left_roll=0.0617 left_gripper=0.9961 right_x=0.2974 right_y=0.0466 right_z=0.1933 right_yaw=0.0181 right_pitch=-0.2863 right_roll=-0.112 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.0342, 6.9265, 1.3651, -0.2759, 0.0366, -0.0269, -0.3624, -2.7009, 6.6393, 1.4823, 0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3325, 1.8637, 0.952, -0.0158, -0.2855, -0.2775, 0.1294, 0.2737, 1.0885, 0.9924, -0.8371, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4309 left_y=-0.0923 left_z=0.0162 left_yaw=0.0596 left_pitch=-0.2999 left_roll=0.0676 left_gripper=0.1294 right_x=0.2902 right_y=0.0447 right_z=0.1875 right_yaw=0.0153 right_pitch=-0.3244 right_roll=-0.1222 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.2393, 7.665, 1.4676, -0.2369, 0.0073, 0.9402, -0.3487, -2.8923, 6.5709, 1.5995, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.6058, 1.1812, -0.5575, -0.2859, -0.3054, 0.1315, 0.2737, 1.0885, 0.9924, -0.857, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.0928 left_z=0.1305 left_yaw=0.0599 left_pitch=-0.3488 left_roll=0.0723 left_gripper=0.1315 right_x=0.2864 right_y=0.0436 right_z=0.1847 right_yaw=0.0132 right_pitch=-0.3435 right_roll=-0.1279 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0308, 9.4154, 1.4432, -0.3346, 0.0024, 0.7057, -0.0615, -3.0017, 6.5573, 1.4774, 0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702fae5a934e354dda048f3589f4abb34ae2bf001cf831e6f9575a386ca5a94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd96c01c5d58763ff61faa5fe80f12803fa5fd211e4010459e80ae11a9e185c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859646955741d223c2483f6e4c43aa19417715cafd905b72885a3578a763e341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBppe6YlEXfAbDR8GZ5ZgQHbtkrk8Wwsr6KyLa7IJ5xyka_meCcnfqRsk-OI3IadpJNabIHk8rpGb9ZRojzRaqJTAH70CDunV-YdJbQRO7-RuXDeOC2nZSgME6W_YWE3BFx90iPfkYdt6FVwUrx-6J1d6tnQC3F1uO4ZN4qc2eJrbHkt5gb8mVQphoeMJNibw8RrJMNlA3lOZJq2fr4Xq3LZNeojI3KvSThqdB62zKs5cCO3iATYLcJjCVb3Skv7PGmEMFNQqXfD47RsTqyLd3GvawJGmtqk6ros-baAkhbtB5G7aknsYwfUykSDxucAL4yqZ6OhKLkiKcNzXIiaJG3uyY-IsnmfT2J7aoinShLN1eOx84XoUgEE8BXmd5JrX_XEAC7RnrW3TNBOGpn6v1wtrnDcgi9TfylTrS7MMAgO7pR2TPOW8Ym4R2rmmMdVsy3cfWo3izmjoIdxBmJ-b7JAg518F0FiGRNcQ1hU4txnM3Ml4xg7NmDjNuqjOngKuSobvRtM3T-hA1Y7ZS0vvwR0fvV3zakSDJI3PLN6NZYlAWpzB4d2cBvkc5AMMSfMpA0MXwQ56jiIp6wmTONFTj0VrFzcch0Bc-qySuaPUEcbp8neGC9VjGYVqP7uyylS3k9OP4LPm2SB4sJUw7PtDDdDfipR8YvS_ILHTfLB5zsHx3W_pmdTSD-pORFWl9i1fS2OoPxO-NUk7XdVSaAGMvK6O8widsV0lYgOv4qFxdXCqD5y2-IZIDn3c-ljtsW9_IHZl8x1Do2JDaKSQFyZRU6rlCWZaTczQHLbPbrCR3AbbYN0-13lPGllrMmfaVkRl9dEVAfC77bwILPfZo9UkjgQMqMAw-0wOarCZVJ1QjpZc7YEZJmcdft13bNJF-EpPnbrZNnDSEobietlTQjQDY-9o0NRL6EnxDu-5I5LCkqEshEp-Hnt8tgBsTZScvNZ2NUlmMWJQq0PuWwCxoozWJq6UDlfMyeK1dFxdKer2BxrRRDfZZkDRr1P7OdtHOeKDNE6ObuM7hvtmzFyyupSFOH9yZsKoJTqSJ2CUoPbXFeasXBdjLW9v5e95F4DvgfnZ2aVG1rYiHCfw1fbbhfJED21lPdauz3is_xFNKkGnFrlxlgTfWIf_9Hn0cc_JLauiJRqSOiox-cKJvGEC6JHgxHNH4rYw3UiRiKU4_yHU7b37j_f1i8h1C_wclkmdiBhacCByK4LTCzOK2c_yJohg1SxPQcoUB2ylDQ_wUrSunFZklIjAtyKg4kSLK7VqUzUEClQhxCXLk8HNUoNOsf3D8BOivenyPplfRP2sEZkT4XJ4LWm4c2RVKKe9BN1h3dX6P0eBODLUynCLIdBAdBpjjsAtNyNtpWflNVEKDxYkhG_O6QRv7hOfJqz1zujscVdtl-cz23NCNVkhwqE-ZMS1jCo8v0doYfSJjOAtYtSJCdcp27waXXfrZwQH-PE5f37TIo-Xn06SBe0REj1f7QFcULLkk9BIQdfi7dd_h4bPVbuHXRuMi7Wc315jqq-kt4rbOWmDy8WgyUTUv_xZbaXnru99zUeZ1-VZYdRLotNw_O14N_AAvXfYw-11oDUcBB8Al8uqi98KmWsGVmMu6Jda7WW2NP5vieV463T0CeCNcPdAeYbH-VHheFkmSJMQDEP8PaJllBWupFM4wMz_fhcqhs-2bZI0uqysQUTgUGJTJdmtCBFLHenL_S9oTIZpl94lEcCacu76ek2rnhsdOkyoV25mXgWhIQrV8M7_U7rVmiUmWv7poFf1Iku0EnPu20sL83ngehMsyujQooC-VpL9l9am7yDKQ_cEppVEkj11AzLQ2YrQcTHECJ8pabBNaZXTvITx2x1lJ2u3Vx77vYqqBDUzovQDySkATA0tB27kziqeQJi7mZJTxpAscUWm67rz3JSsr1PlJIV3Fxie-k9JFUkb_gsAblY8cYLdqak7z8XjhvP5sI72LCflXLTlOoCCcUSTDXOk10Oh4IGN5rgivHGCZaO3Hy3sY52jLCnmCUy2rcPRyLUepwDnZoBMEqZT5YOvg0I3f7-7FlY7wby_kgmfNsZ-6bL6YPWAVPIyCsJarD_9xnf4l_hdQl7rULQ43lvItgnVFddMrYTJLeXRHlxzY7H9o29MvOVtYgFk5PXRJqO3DOH9tWfKCnK4H7c-K6njYUojYeof2tsJwiV-jAfwANgVkC0j-VtML0qXdogbSv1HvUhw6DLUqCFeAWkfQ4EY_OapIs2qgvTn8UW_AllWr7zBGg7q-WdW08FtSs1IbOj62A6ugWpabGKpIcL5sjmjQ62IJPEEtxLzMyX_SXnDizPhNPLwPrrbcd8-H6OeNe5cBLRXNSEV-nG3pxB1KG0JXUn48l6a9uG5clLe78OHUWhM-pksLZp38JouzggZD9pewk8o4CRZmG8CkwRBS4sEWhKCCH-NawU05vNqgipzkkb-JsiZvF1BKujPEj_BS_6r637OA2IKUaHT1-u2k_6",
  "id": "rs_0fca5b6a6851887c016ab41a65f67087d0941ef705db6c622a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.255,\"left_z\":0.22},\"note\":\"The white toy rose with the left gripper, confirming the grasp. I’ll carry it above the safe’s open red compartment, high enough to clear the rim.\"}",
  "call_id": "call_lRuiiWnMnmvzbmZPZ0rGEdiu",
  "id": "fc_0fca5b6a6851887c016ab41a69806087d0a431fe510663facb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lRuiiWnMnmvzbmZPZ0rGEdiu",
  "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]: [-0.7715, 1.9091, 1.8862, -1.1233, -0.4629, -0.6933, 0.1339, 0.2737, 1.0924, 0.9924, -0.8822, 0.2199, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.2531 left_z=0.2077 left_yaw=0.042 left_pitch=-0.3778 left_roll=0.0648 left_gripper=0.1339 right_x=0.2818 right_y=0.0428 right_z=0.1801 right_yaw=0.0133 right_pitch=-0.3722 right_roll=-0.1335 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.5658, 8.5128, 0.8425, -0.6227, 0.0513, 0.6618, -0.1162, -3.2889, 6.7077, 1.536, 0.1538, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b89370db7cf1caaa6c7547e06b6477d892aa9eda4c2aec25daac3c76f7e674c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ec4546ce87412b0202a63e7564c454cdf659159ac69f947570ab60726b418c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170b3907e3ea5a87998104703e7b8cd0445f714468d4dff19427c64a040d5c43",
      "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]: [-0.3202, 1.8492, 0.9329, -0.0021, -0.2817, -0.2596, 0.996, 0.2737, 1.0885, 0.9924, -0.815, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.0869 left_z=0.0176 left_yaw=0.0574 left_pitch=-0.2933 left_roll=0.0731 left_gripper=0.996 right_x=0.2943 right_y=0.0459 right_z=0.1907 right_yaw=0.0171 right_pitch=-0.303 right_roll=-0.1163 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -7.6923, 7.8291, 1.6044, -0.105, 0.0464, -0.0171, -0.1709, -3.0564, 6.735, 1.5116, 0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.6058, 1.1812, -0.5575, -0.2859, -0.3054, 0.1315, 0.2737, 1.0885, 0.9924, -0.857, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.0928 left_z=0.1305 left_yaw=0.0599 left_pitch=-0.3488 left_roll=0.0723 left_gripper=0.1315 right_x=0.2864 right_y=0.0436 right_z=0.1847 right_yaw=0.0132 right_pitch=-0.3435 right_roll=-0.1279 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0308, 9.4154, 1.4432, -0.3346, 0.0024, 0.7057, -0.0615, -3.0017, 6.5573, 1.4774, 0.0708, -0.0659, -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]: [-0.7715, 1.9091, 1.8862, -1.1233, -0.4629, -0.6933, 0.1339, 0.2737, 1.0924, 0.9924, -0.8822, 0.2199, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.2531 left_z=0.2077 left_yaw=0.042 left_pitch=-0.3778 left_roll=0.0648 left_gripper=0.1339 right_x=0.2818 right_y=0.0428 right_z=0.1801 right_yaw=0.0133 right_pitch=-0.3722 right_roll=-0.1335 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.5658, 8.5128, 0.8425, -0.6227, 0.0513, 0.6618, -0.1162, -3.2889, 6.7077, 1.536, 0.1538, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b89370db7cf1caaa6c7547e06b6477d892aa9eda4c2aec25daac3c76f7e674c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ec4546ce87412b0202a63e7564c454cdf659159ac69f947570ab60726b418c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170b3907e3ea5a87998104703e7b8cd0445f714468d4dff19427c64a040d5c43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpulxXVSmZTLVAvpQFoyANO-zSlaP54hIQh7N9hJ7xrd9oOICAoMmbCfnTo9gitgb2_tV3nTa9K9bNLWI4bh8RCrEM1R4OenpHmB3a3Zx11JLnasrpJ7EHxWdMZmtsh_AgSSQ8zmh2KlV5OsDOV-iHVNDGYq3g5YOTZ2nlSlhl1m6tCMFoEjLDjDoftmKnQ-TYU6fIs8Ic2g-ib6AVXPyOXjBv4guPUqy6rZvJDC3PEJ9DSShJc-_n8k3Fick5DInta49RjkG-lz0FEzzV-kaEu4aPxPdXA0eqqA7vI7cdXol9ME8dcONV31PuDcWgyt6OHn38fqqyGf_uemQ-oIL4qbG6iM4_3Kc_-apBfHGpoG-P-s4dJS_Gt8tlZGNYBAzZy42Hf2Y-ob66AQlgWyz7odZYEdYwM3CiN0jAX5pBzHuf487LUmgZb_uJxB60jhR9XuXq-FcFw1gAwL8A4wdlOjyvGk1UJshEYcXF2GKQpSZvSGI4JzldTV713SqwAwKX8rAGtzPvJDYslMrugGhL-zDj5_iBQQ-r41-b6Wu1T3_H6tt3jXuMyF4wox9uz-UHeFFP-afshcLsISNhzibsoASbp0PSnxZPBP7chgvLJuLHnvlzhza5m3Kmd2XuyfxUHyWLwTtN6GoPcNKZmlFBC23pBm903KGg96AkVTToCCsswjamON13UidS2JHmtvgagAU2AXVrAKflw9XJacs4CLk-15bD5e5Gcu6mwkBOBdnILD6lA-BquigoGYgNN1RqRgOIDfXCX9uguo-yjwS9ArCxQfEduo-TGYlUflrUaaYW6W4Zd1_FBB34WW_XCAZfexxdn6CSk-7aSrZy7fnF1cmTugd5OqhuRZxpym0KXPbL95H0XZSVL4swJuBOBAcIESi61kZyWSas5YPyFQsy0JZHTygZckoCXVKHuFtPEqQXBYc7IrnuuNf-kbZIqxySKvcf-dhL8amXTjb1lATI0hu65z9jWU5cIRgVLp1UbKahlDnEtY-yVriBjvD78IcXztGKFrIqRjuvzBhl0AghFf70s7cZffoJdoy5OkShWqqCJez6G6vh5HQtTeDu6HEPqdjT3QdQglCuDTiHn1tmaKFVNC_Db-TEN3jYU-GGO5CX8VTqoWksv6MOjCfmsfFT1xESm0VmNGDILW_xnvJuO8vpbaeGmNzmW971cADCxL1Kveyfi_kc2FHtPolkjxYsHGOgAmfaIDmA8NP2ca7oZhBcUMhx0R0g5hnZSk8vU5fHrfNzuUve7EjwmJwxlCB9liTUBqYKsEcidLSGZX8ethgwPNvyXXC0bxuQ8Kvk2W3Fqgi9f_3LGg_RpZWVnefodMrxyInRYSIVHnKQ9dhmvIdHPeRzoLHcmeuRFgfYJB7BYPuNOzkko_7-J00z8R5yIB4xsGagooyr7xoNkmaFgIzJUGu2aMOgbZRXDVLdxDO-Gm1JWjkgq9B4W9WCqQ6OyZGvxkfxIn1CzUnj1a51DpLw1gWnFdOFl7ezEF2gKIgh9g_0RwBvs5TToDAfzjHqwdf0ctluju9EHk1BuAHU8D46x4wxD_ikuBKGc9R7lf0_gDoKRSJI4l5SYJ5G062dPUeHeiA735i6PiNatItXOBhQXLzcDrejoOcws7hu2HCkh_cMwUujbAhp7jg65S13zdZre1LbqRX8q4TewwAn-tIOYDHoCFmU8VHwgWwISV49rwiwqldUCcyxVcYZxgDYjbKzryUrSvS1Wk0KtwsHYoFPWZaj9kZmFz6GXlv_SrC3-4dyW6gPFeTyHhDFn1CcZO-1yLKZrgPq5vJ086lJkJUunu3Xbah-xyxEGwR2C7fBmYdMMHex7ukn2g-xU-q5udCdvP8fnC0SGXRasSFPdrwkdAdq7W1LqCJgmGXJdUJcBm4yBLy7xjOXLncAabHGRul6_fvvqYao2tMuMAHyc-Q==",
  "id": "rs_0fca5b6a6851887c016ab41a6c9b3487d08d7a38f634b76200",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.26,\"left_z\":0.085},\"note\":\"The held white toy is over the red interior, though it hangs close to the right edge. I’ll lower it slowly into the safe and watch for contact before releasing.\"}",
  "call_id": "call_7IaskCcjyZ95ktV3qtDMHAod",
  "id": "fc_0fca5b6a6851887c016ab41a6e21f887d0b9b86b3e9d274c37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7IaskCcjyZ95ktV3qtDMHAod",
  "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]: [-0.7784, 1.9236, 1.4624, -0.7311, -0.4614, -0.7082, 0.1336, 0.2737, 1.0924, 0.9924, -0.9043, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3722 left_y=-0.2515 left_z=0.0925 left_yaw=0.057 left_pitch=-0.4095 left_roll=0.0914 left_gripper=0.1336 right_x=0.2774 right_y=0.0417 right_z=0.1771 right_yaw=0.0111 right_pitch=-0.3936 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7726, 6.106, 1.2234, -0.3443, 0.0366, 0.3443, -0.253, -2.9333, 6.5026, 1.4286, 0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2624ea2fe5dcfb63e2300c581aaf35805574e8fc8da6dfd58020e383c19f73e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55018b6a33361979b385adbf61bda515a9e6b7eb6629aec4f0c8446291ea422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b70e82c02faab1f95fde59ee5180e2ad4d3eab4170b778be7e48204c472b2b",
      "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]: [-0.3325, 1.8637, 0.952, -0.0158, -0.2855, -0.2775, 0.1294, 0.2737, 1.0885, 0.9924, -0.8371, 0.2226, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4309 left_y=-0.0923 left_z=0.0162 left_yaw=0.0596 left_pitch=-0.2999 left_roll=0.0676 left_gripper=0.1294 right_x=0.2902 right_y=0.0447 right_z=0.1875 right_yaw=0.0153 right_pitch=-0.3244 right_roll=-0.1222 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.2393, 7.665, 1.4676, -0.2369, 0.0073, 0.9402, -0.3487, -2.8923, 6.5709, 1.5995, 0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.9091, 1.8862, -1.1233, -0.4629, -0.6933, 0.1339, 0.2737, 1.0924, 0.9924, -0.8822, 0.2199, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.2531 left_z=0.2077 left_yaw=0.042 left_pitch=-0.3778 left_roll=0.0648 left_gripper=0.1339 right_x=0.2818 right_y=0.0428 right_z=0.1801 right_yaw=0.0133 right_pitch=-0.3722 right_roll=-0.1335 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.5658, 8.5128, 0.8425, -0.6227, 0.0513, 0.6618, -0.1162, -3.2889, 6.7077, 1.536, 0.1538, -0.0317, -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]: [-0.7784, 1.9236, 1.4624, -0.7311, -0.4614, -0.7082, 0.1336, 0.2737, 1.0924, 0.9924, -0.9043, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3722 left_y=-0.2515 left_z=0.0925 left_yaw=0.057 left_pitch=-0.4095 left_roll=0.0914 left_gripper=0.1336 right_x=0.2774 right_y=0.0417 right_z=0.1771 right_yaw=0.0111 right_pitch=-0.3936 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7726, 6.106, 1.2234, -0.3443, 0.0366, 0.3443, -0.253, -2.9333, 6.5026, 1.4286, 0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2624ea2fe5dcfb63e2300c581aaf35805574e8fc8da6dfd58020e383c19f73e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55018b6a33361979b385adbf61bda515a9e6b7eb6629aec4f0c8446291ea422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b70e82c02faab1f95fde59ee5180e2ad4d3eab4170b778be7e48204c472b2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpyLgFPbNgYuQ2XoU7q61ThXTculUuujurAhYVTC7DGhu2qD26lGzqg8I1ywIXDEUhlnRbtpZCw7YXOPWiozwg5Veak4SNN_HZh2oiwAWVn44Yssdzh0M2hYvKWHexStZfrd1lKvJ8jyjklXvSuE8300za7-y09hHjT8AujENZ4ifNTaGbyvwBldSGF30ac6AmPLWn79y-IqRLtFdfBWiYJBnaDFNGp0StuQIGkHR3xRpBsKkbQsSaPa4o_died_bpJC4GKTqk9MOPdt16UqjgjfFsO4j4Q1RL-Hm0EO0FaTq4L6KIpKO83p7R2PzSgfNWs7kr0heqETe8nWzyi43mpwWMi6ARTPpBzvtuzlpkOc95bql-yCyKRtN6aZbQv-HR45Lj7aGBTfVOkqdYIGmA8um51XI71zFmnmmpoZJm1OpFVquVzkt26S4Dn-Cid6PyKkhHh_nF3855jdr0Tr2oazHYrjXK9NyQM8fFL7HVBsqPtRyypv1YE3WEEwJA2dUS2nrr5M6lDZXvVfHm9z1JyW07dVvGEn4Ii1RbqqKxs-31QUgFIu9vogPEo6lQf9BYIkFTYBBy5rELob_R6DuSvPvG3FeKBcj65OSNXHFsC6NWBfpl8dLew6H3NC0kJgI-2l7T34ES_ZMeaAAv7Y3lFR7iDPiB5Mud92E3ZuJB4D16MGl06FaAHwzjMUeM6YClMk5SMVhHn5ut7iGMWioFpHIBERxtj-5msXxmXDQEYhqJj9dgT45-PpiG4pFbBb-FoknMWdDzMPMiDfTILfllzfskXuptM44BqTgzsyvc-4S08bAzxlObvTHTHqSNpdobqOHKUx4700ZLEmecX9NH9Hp34coMkcQVxifMlg6eT8MAUVtIp4W9tV1HbGsC-xOGzohCmxTC6j3YTpjD4FpInKqXW9W1DbrmEkIv_nvjVggpqM27D-qqjR19VjQ5MNPcYPdgkjQIuKTsRo4iGu9dOZE5NB2lLWIPPf84oR-DRbUgNelZbw94xrXnlZZp-mSU0CdVVixzwUmDlSysp549Q_tMubhm9kygA4MmaENpMEeLcWIoRahaW68bUNf5_SVMvYdJiJ2pOs_K7_C6gWdUfKzZLVhIZMsszZHImEPPou_LBD9p5fRxKmLqi1eCuc32EAAqlVHzZVYgTiD-86ZhNBwP8dvxfBQbxuwAZNzXJgLGRYz4wTREDJ20bvK0t6-vpiRVNfsonPjt--Veln9gwWU4BvSP_SmEnfaGLEuAM5w7UiHx-JlL2sEER9yi_CwDlcrhMSsJtrOrzxl_hMoSDnfgAsakSEnD_0ZUq8KmhzC49Idc8Z-XlrSJJEq9sSYsy5CsAsw__LVpHgT2ggxfxh_yyLSSscBz8dqV9biDFtgR-X_BMvj7Z0BIZXhP8i2ZAGsq2C5-_FGgH8Lsyv0vDf6RGgSGtsBF2hvlgQpJ_2DoG_g2kqJukCuTbgQEn6SAbFGiVXO1gNsK-MXcX_7ZWh00LdWY_Pct_JMvFesgu2wfQWpPSQTXI46YqxZqAs6wbhlPp-oEYhqtybFuxi_NPZc1Xw9V9Rr4d6rFN3Sbl2RAj6JePuCKFtd7Q8l73P-OCMcQDezRAwZzqTxU22loOT4gkv4f-TdrI1ZycqOpExL2PpWsqcmzTbsNPuOrR19Ji6bO0YNsPMyQYeCs0JSOhlEO7hIS7n_H2n6LSQzElkNkt1sOWOfpfP2aBDzgUAknoG89d34StpoS1vTuZG5FQttaZGuItB1aFYc_5AyomfK5iRnJZy7c14cHTDPhoI18CM1hBXPex3WOZaqSpA-qXbdE7tSTzKld7_3gOrA4jfLq1nnQLG5w5dqy1urrDClHxanFx_0BdAiffmu02HwjyjeK7c_xm6pneeR9_kRc_L3-ietarqjusbaIKiyNNl7tajiHffgY3MT-i9TzKJe6adgzl8VjKXUekLAzd6zeDbuKvw3avaBKdBqMUW5p2BGukdTZROorfTuri3vuw_wPXmg==",
  "id": "rs_0fca5b6a6851887c016ab41a70bae487d0a3730361bd4d6e2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The white toy is inside the safe opening and the arm has reached the lower position without a hard stop. I’ll lower a few more centimetres so the toy rests on the compartment floor.\"}",
  "call_id": "call_WEYgr0ysJLGdNEwsiedeAkGD",
  "id": "fc_0fca5b6a6851887c016ab41a72278487d0a62e6961723a2aaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WEYgr0ysJLGdNEwsiedeAkGD",
  "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]: [-0.7784, 1.9594, 1.3682, -0.6228, -0.4606, -0.7116, 0.1354, 0.2737, 1.0924, 0.9924, -0.9127, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3685 left_y=-0.2481 left_z=0.0558 left_yaw=0.0657 left_pitch=-0.4243 left_roll=0.1065 left_gripper=0.1354 right_x=0.2758 right_y=0.0412 right_z=0.1761 right_yaw=0.0101 right_pitch=-0.4017 right_roll=-0.1415 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.3744, 6.3658, 1.326, -0.2173, 0.022, 0.5739, -0.3624, -2.6598, 6.4889, 1.2869, 0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4c591d6ea1f6bc9d134930952648ed716196716ec34757ce6a8c04a3c536f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e15ab84a022b5af5fd5b342b1b348b6d325242624d118832dbe1039d1c48c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7d5ff4623107511daccd92fdd238f02cf86df14f77cf9a614a074bfe674707",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.6058, 1.1812, -0.5575, -0.2859, -0.3054, 0.1315, 0.2737, 1.0885, 0.9924, -0.857, 0.223, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.0928 left_z=0.1305 left_yaw=0.0599 left_pitch=-0.3488 left_roll=0.0723 left_gripper=0.1315 right_x=0.2864 right_y=0.0436 right_z=0.1847 right_yaw=0.0132 right_pitch=-0.3435 right_roll=-0.1279 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -10.0308, 9.4154, 1.4432, -0.3346, 0.0024, 0.7057, -0.0615, -3.0017, 6.5573, 1.4774, 0.0708, -0.0659, -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]: [-0.7784, 1.9236, 1.4624, -0.7311, -0.4614, -0.7082, 0.1336, 0.2737, 1.0924, 0.9924, -0.9043, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3722 left_y=-0.2515 left_z=0.0925 left_yaw=0.057 left_pitch=-0.4095 left_roll=0.0914 left_gripper=0.1336 right_x=0.2774 right_y=0.0417 right_z=0.1771 right_yaw=0.0111 right_pitch=-0.3936 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7726, 6.106, 1.2234, -0.3443, 0.0366, 0.3443, -0.253, -2.9333, 6.5026, 1.4286, 0.0904, -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]: [-0.7784, 1.9594, 1.3682, -0.6228, -0.4606, -0.7116, 0.1354, 0.2737, 1.0924, 0.9924, -0.9127, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3685 left_y=-0.2481 left_z=0.0558 left_yaw=0.0657 left_pitch=-0.4243 left_roll=0.1065 left_gripper=0.1354 right_x=0.2758 right_y=0.0412 right_z=0.1761 right_yaw=0.0101 right_pitch=-0.4017 right_roll=-0.1415 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.3744, 6.3658, 1.326, -0.2173, 0.022, 0.5739, -0.3624, -2.6598, 6.4889, 1.2869, 0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4c591d6ea1f6bc9d134930952648ed716196716ec34757ce6a8c04a3c536f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e15ab84a022b5af5fd5b342b1b348b6d325242624d118832dbe1039d1c48c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7d5ff4623107511daccd92fdd238f02cf86df14f77cf9a614a074bfe674707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy is low within the red compartment, with no sign of the arm pushing hard into the safe. I’ll release it there.\"}",
  "call_id": "call_S80Zd6DnJFajBq6TTLOOjbiC",
  "id": "fc_0fca5b6a6851887c016ab41a74174087d0b05744d6196fcda3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S80Zd6DnJFajBq6TTLOOjbiC",
  "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]: [-0.7784, 1.9686, 1.3544, -0.5865, -0.461, -0.7162, 0.9958, 0.2737, 1.0924, 0.9924, -0.9264, 0.2195, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3707 left_y=-0.2501 left_z=0.0505 left_yaw=0.0642 left_pitch=-0.4149 left_roll=0.0931 left_gripper=0.9958 right_x=0.273 right_y=0.0404 right_z=0.1743 right_yaw=0.0088 right_pitch=-0.415 right_roll=-0.1456 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.0855, 5.8735, 1.0379, -0.315, 0.0317, -0.149, -0.1573, -2.5778, 6.4752, 1.326, 0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77842f0847de0c1cbd92b0a4236b8e18f3e3707bd7bb22beae76f5cb8d16d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76506a6b1003063b23dd85936f5a5cbd31eca1cad3e2f2ea456b27b60158e28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3028ac88a3c558a29ee417cf59a25cf277b365df75387cb07d22ed6adf2fd23d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.9091, 1.8862, -1.1233, -0.4629, -0.6933, 0.1339, 0.2737, 1.0924, 0.9924, -0.8822, 0.2199, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3785 left_y=-0.2531 left_z=0.2077 left_yaw=0.042 left_pitch=-0.3778 left_roll=0.0648 left_gripper=0.1339 right_x=0.2818 right_y=0.0428 right_z=0.1801 right_yaw=0.0133 right_pitch=-0.3722 right_roll=-0.1335 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -9.5658, 8.5128, 0.8425, -0.6227, 0.0513, 0.6618, -0.1162, -3.2889, 6.7077, 1.536, 0.1538, -0.0317, -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]: [-0.7784, 1.9594, 1.3682, -0.6228, -0.4606, -0.7116, 0.1354, 0.2737, 1.0924, 0.9924, -0.9127, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3685 left_y=-0.2481 left_z=0.0558 left_yaw=0.0657 left_pitch=-0.4243 left_roll=0.1065 left_gripper=0.1354 right_x=0.2758 right_y=0.0412 right_z=0.1761 right_yaw=0.0101 right_pitch=-0.4017 right_roll=-0.1415 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.3744, 6.3658, 1.326, -0.2173, 0.022, 0.5739, -0.3624, -2.6598, 6.4889, 1.2869, 0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7784, 1.9686, 1.3544, -0.5865, -0.461, -0.7162, 0.9958, 0.2737, 1.0924, 0.9924, -0.9264, 0.2195, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3707 left_y=-0.2501 left_z=0.0505 left_yaw=0.0642 left_pitch=-0.4149 left_roll=0.0931 left_gripper=0.9958 right_x=0.273 right_y=0.0404 right_z=0.1743 right_yaw=0.0088 right_pitch=-0.415 right_roll=-0.1456 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.0855, 5.8735, 1.0379, -0.315, 0.0317, -0.149, -0.1573, -2.5778, 6.4752, 1.326, 0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77842f0847de0c1cbd92b0a4236b8e18f3e3707bd7bb22beae76f5cb8d16d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76506a6b1003063b23dd85936f5a5cbd31eca1cad3e2f2ea456b27b60158e28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3028ac88a3c558a29ee417cf59a25cf277b365df75387cb07d22ed6adf2fd23d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp5nrceNI_4_8tike3ru74MEfYzxaLrTse9q_FVmJnJAe0DZQYfVavEJJgAAL6yljIf-d3-seMafnR2UBLP05uLjF2IaKj71TFd9tPapB5uxCTr6bxtLMVjvi3VG5KrGV_56iIwC0fvMaNGj7owCboujzR_MleR7ER0URYQ3SMAwZWhQLtzlaY7mSM1H54rzRt8E-fimHiYE7na8TRKWdRT7Fd4bnxsmxdzQ34kI89IFpHmp5tlceiBQjO3EA0tHq-UvOqoy6Wm7W2Y9wUhvJYeTecUkkW_1MQvmIa2GtVDPwuF0j5IzcG_nH_0EK-sgO2QwTw6INBSktNHXwOQQwz9-G_acQNvj0RItnLID9dA_G8y2zc6gsuKcmoWsb5vsFK7amKzDLkFNH-1ZTdK5z0sHCPKC8DUYn148k1m57MraKrhUZfoE_TVGEWQ5jYflIkqsOYj4ARGRiacFGQRuOqlATMbN45JeDbykJ65GsR_yqWrHBCANrbpsr_vhXjt7w1og2joNGgjZ_B9xGi5BKYaiVU7y932mxs3WArs_dXm0rjFNooqraZZHfh8Q9Pj-TgCsJr3VY-Ub0ZRNdpiOSPYsyWgOXfq3BXSl3WCcAEHOyy9pMCNsfFn8h6-pVKRP9Uifnkgtz_JI2lL7SQ_fiPV_TYG9HtMnnUq-4VyJAnwKZ6dKtwAm0pW6a4or5KxDFPiR4g1MDCqQL79lq6Ds1M6MNIJ9w_f52Ob9odwVsucyl5Zmir2R7RGExk7dlFSwzoCATnc9b30CRu_fV-RNypLBV47IJjNNaFMFntEMQ8iCXVxemYW4_2gjeY4c3sKgIvDR_JKm1e-baLIj-2pFIUsdSlBAvKS6NRq8Zhe-Vw756syfcdHakOFASteOupX6qY3q7ftbM5uz-uDnxv4TO_Bz7Cv5EUVvVm5XWeTvE7H2J-s2aX5aC14pgppJirt0-YbidDVfS2ceX2xg-9w-uo0A7OCtIfwz9aIdEksXhEnWWnjN9B2wL_Ka7MfSuh0l07C05Ops5ZVBukZVywS7QekiREgRtQVhO_MlX6_XMNDvpZfhb4XiHpaggSKfoaMggzuxCMrrBVY0yyHDPuRU4M2xXoVB12kVkF8NyXS-xhIhABzcPEdZUkUum8EeytFN8vNC08TZB7OXf24Ald7dWNJAsK070qXSUH75mY66EgcR19owazYECT5O3FsHSKPz4rH9BBo8EUUY-P3dabjm0P9B_I9Xo0xinImDoYQ1vIInNaqlxTpEhpZa77_D4_3AJf1sslrDRpc3KGD_rOgdxvlhlxb2ECBqzN15otU9CCOXtQdU6WMGAS2z-BjwXBiMlX7faGy7B48fkaWfu8hNajiS8Dc_w9iAf6e8RS3BYOop2JxaHtb5kxCq4qJSJUxbn8ZnpnLqUC7QO31PmhF5r3H1p31Or1ZP7pUTanSUESvtVocgqSE_6V6EZ-kanYWggML",
  "id": "rs_0fca5b6a6851887c016ab41a77586887d0a8c72d205db919a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.035,\"left_z\":0.22},\"note\":\"The jaws are open and the white toy is resting in the compartment, though its front end may be near the lip. I’ll pull the left arm clear to check the placement and make room for the next object.\"}",
  "call_id": "call_VLIbHZjvgzyESStwJ0sNlyzH",
  "id": "fc_0fca5b6a6851887c016ab41a780e7487d0bc625b967b1c988b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VLIbHZjvgzyESStwJ0sNlyzH",
  "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]: [-0.3233, 1.1481, 1.1591, -1.0828, -0.2729, -0.3191, 0.9959, 0.2737, 1.0935, 0.9924, -0.9493, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2732 left_y=-0.0375 left_z=0.2047 left_yaw=0.1046 left_pitch=-0.4345 left_roll=0.0926 left_gripper=0.9959 right_x=0.2685 right_y=0.0391 right_z=0.1712 right_yaw=0.0057 right_pitch=-0.4382 right_roll=-0.1523 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.1231, 8.9094, 1.2381, -0.1832, 0.1832, 0.0073, -0.3214, -2.7282, 6.5436, 1.3895, 0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2360f2e4356c3ed41e91b9092d2ab5747f6e2e7411290d106b01d4356abd945c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff8521aeed0d88dea6f8411326b6ba6b8840f2c5d266779458035e03ad9a345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0fdd3fd1a6cae6b6b628b336f68aebae812cd43d2c8a6d2206e14c04620d4a",
      "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 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7784, 1.9236, 1.4624, -0.7311, -0.4614, -0.7082, 0.1336, 0.2737, 1.0924, 0.9924, -0.9043, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3722 left_y=-0.2515 left_z=0.0925 left_yaw=0.057 left_pitch=-0.4095 left_roll=0.0914 left_gripper=0.1336 right_x=0.2774 right_y=0.0417 right_z=0.1771 right_yaw=0.0111 right_pitch=-0.3936 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.7726, 6.106, 1.2234, -0.3443, 0.0366, 0.3443, -0.253, -2.9333, 6.5026, 1.4286, 0.0904, -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]: [-0.7784, 1.9686, 1.3544, -0.5865, -0.461, -0.7162, 0.9958, 0.2737, 1.0924, 0.9924, -0.9264, 0.2195, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3707 left_y=-0.2501 left_z=0.0505 left_yaw=0.0642 left_pitch=-0.4149 left_roll=0.0931 left_gripper=0.9958 right_x=0.273 right_y=0.0404 right_z=0.1743 right_yaw=0.0088 right_pitch=-0.415 right_roll=-0.1456 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.0855, 5.8735, 1.0379, -0.315, 0.0317, -0.149, -0.1573, -2.5778, 6.4752, 1.326, 0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.1481, 1.1591, -1.0828, -0.2729, -0.3191, 0.9959, 0.2737, 1.0935, 0.9924, -0.9493, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2732 left_y=-0.0375 left_z=0.2047 left_yaw=0.1046 left_pitch=-0.4345 left_roll=0.0926 left_gripper=0.9959 right_x=0.2685 right_y=0.0391 right_z=0.1712 right_yaw=0.0057 right_pitch=-0.4382 right_roll=-0.1523 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.1231, 8.9094, 1.2381, -0.1832, 0.1832, 0.0073, -0.3214, -2.7282, 6.5436, 1.3895, 0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2360f2e4356c3ed41e91b9092d2ab5747f6e2e7411290d106b01d4356abd945c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff8521aeed0d88dea6f8411326b6ba6b8840f2c5d266779458035e03ad9a345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0fdd3fd1a6cae6b6b628b336f68aebae812cd43d2c8a6d2206e14c04620d4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp-IBgLodLNBNp_f6R2UzYECNI52W9SMq6wkGw8rIW2SHbpt3x1RIrSFzAQjRtVRoOtJ2zgspr736hj4yvP2NG6EfF3L004l-iBDhdpoEVoOgOP-AJqJqAQHQjZuiYdFOMmhn5NsmQ82ZXG551xrhcDZH2B50RTmFFQW5QelNM80rAOuAOg_CbD4PQqLI9JjO7O-4gv4v0TrQjs-urnez-QZ6Ktg8m3td_aPbhzxgbJ9YDP9T8dCHldhqdRsXYoMsERliGbt4C3VQ23otdyIAp8VK7lvrTYbElAzUDny6aKAGEPL_xWHjJsbkgqSQRXdc3DLMeGe6dWfiUdW1APy_-i9YDlwuCdbFAMo9UhlRG3XUZU0F6k8Zj1oPw-jgTJRIyqg0oZ_tpEyaSugFCIqDyFrpQIvoFOHEWLpxP44xlaBJ9WXdKEZKBVF_M5nnWjjKhQxrjAA-xERGFtjxrmx0T00Xq3FgOpsTU3GbXobujSaPb1RuwCW5QnpNiwicQjlNIIyFEIWaBfw31lX6sxVTgMQGDQhxwgp3Pk__cI9FJrANlKLO-ho6Cg9OwByfoyeB9_Uz3Xxm6ltTOil9r-9iSBA4YtsNz33bsRnxpO1aC-tUWNiLZcUsAsVGgXURAFAEo5uVk_Q-x29liTwTtXg9N-xGRVRIssPNpuVFMTO1GiaHPeE4A4icJVLOTKyBgfkPEjSRlWI92Q41sMMlmdouQQXwI3Sc3a8tbE_IgPV8Va3HC5V_rMt_F_MDsV7sFDVlTgb23C0Mzr-IjxhgrqV3djhfSoRT-HjCqaQlUNYg_T95Ukpefik3LUxXG2yUj0VRfjRbDWTEwCmRTbildwkDY8ISEnojMbD0-aQ9Hymtkl3ltVxgFl0o6cUZlBn5Ty8cXzvzYTZS03_XvhTGLzmfOASHO9m4gmlWebYllaMLzuqTHy4x_iXQmhBSUafZX1g5Z9AMyq0c9hS3WkPqH5oIRtc8fnZI-TUUzz4wNGv6G7eDl5XCwSAdAfRf-XLf0B8yBh3tbqwoOHLbYes6RJ2B4_e2q5ZT6YBJ4eQayJjmXFPwas1boD3RpXQfiyOr4W_-MjNuO4F2DuSjy2tFC7ScAVexLbq-2rxpGGzXujYZxYzCzNFyHjwRBjRluZlKoxJ8iEgg07c45nNM-gg-jPwo7hvuGrL1v515LQbzULlJhsRSTvQqsxkFe59csLjnP-tm5Ifcolc9PT_6z_labm0SzNzengSTGgyaaMY78-5Gdjf7QcgIBC1JGL7r_9nbRVfDayTXHePoocRGOmre3xAmQi2AAH4iGgRrVpH2bouJDK3G162fcGV_Vgzpp6bBsDgUBP6WNuMeXUlSOj_RBPPnUrglHGoh--6JqfwlLzQEA66iqtnCocJQcghM60j6wZ2Ucma5dbYR5DNgcSyH7m43DT1pFTxs6Pd0drmk1hBsn8UtD0yESecjnEd1ZJkf81q1_KSDGvuHgyXR0wc4MX2_WKZ9IT1k8gGllQF0EKlYwrDCHi8oOD56IsvGy7caueUjXP66rZId4JTZsRj5RoC1WndzETzdS4rYbHIUKjydtFvpMmLeQlZFfBZ8pAzZ6pTD-Ri07gJBDpi87m_FEzfF3H9a2nZRbiBr2oMVr6q583LFhxhwMAFTcNmBmW-bBU7mrfYWzDA_MOhZ9OSKFNs32KNqMotALGi7Ay7JCbAO3qMo66DT1wrh0ZJncvT7MB-txoc5ypoJZ1bW2-52Ut5Lgkf-xbd0Unx-YpQTclD3HwbcYu9p5zHQa_1hzgLlnwpWKMDc-WrJOpZF6pdKzHX3rvygxwwQoYQYjcAleMNoYWfM_opl_J13o0j0tp2jw5k7BkA4iGQYojQEDCufPpwKYeuw3ZHX3xbmDo9dxudl0p5NbCjlS-koZBkWytFlublasraICetapt65MW2OklEvXkGizgNdGBHrNaSMqYQI2An3ueU4pSZmqYdIOV_U9t4NPEfSXazON2KkpRo_OoD6h2-9cQ1fdiUIW4NzYFTTKegu4=",
  "id": "rs_0fca5b6a6851887c016ab41a7c27cc87d0ae6b33f115eb87b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.155,\"right_z\":0.14},\"note\":\"The white toy remains inside the safe after the left arm withdrew. I’ll approach the yellow object from the right-hand side, leaving clearance from the safe wall.\"}",
  "call_id": "call_bDHzHfwlrudv5EEDJ8osTvPG",
  "id": "fc_0fca5b6a6851887c016ab41a7df7c487d08dec5700b6fd898a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bDHzHfwlrudv5EEDJ8osTvPG",
  "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]: [-0.3222, 1.1519, 1.1584, -1.1011, -0.2584, -0.3225, 0.996, 0.4961, 1.7149, 1.3724, -0.8242, 0.3027, 0.2783, 0.9996]\nstate[eef_state]: left_x=0.2692 left_y=-0.0385 left_z=0.2008 left_yaw=0.1 left_pitch=-0.4605 left_roll=0.0882 left_gripper=0.996 right_x=0.3774 right_y=0.1485 right_z=0.1281 right_yaw=0.0279 right_pitch=-0.5046 right_roll=-0.1802 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1111, 6.2974, 1.2576, -0.2515, -0.022, -0.0073, 0.0205, -8.6222, 8.0205, 1.0916, 0.3297, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e2b1e0beee7f8a7c338f143611159684c7f5ce01d28529ed1b849f8ff83b45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a7c035ba0f238967e1968054a9ce78c12da27a880032378e3ee57a89ecdfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07533884ca91259993513ce85597e07b42813fb0f6e27110e667e5fffc88fcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7784, 1.9594, 1.3682, -0.6228, -0.4606, -0.7116, 0.1354, 0.2737, 1.0924, 0.9924, -0.9127, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.3685 left_y=-0.2481 left_z=0.0558 left_yaw=0.0657 left_pitch=-0.4243 left_roll=0.1065 left_gripper=0.1354 right_x=0.2758 right_y=0.0412 right_z=0.1761 right_yaw=0.0101 right_pitch=-0.4017 right_roll=-0.1415 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.3744, 6.3658, 1.326, -0.2173, 0.022, 0.5739, -0.3624, -2.6598, 6.4889, 1.2869, 0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.1481, 1.1591, -1.0828, -0.2729, -0.3191, 0.9959, 0.2737, 1.0935, 0.9924, -0.9493, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2732 left_y=-0.0375 left_z=0.2047 left_yaw=0.1046 left_pitch=-0.4345 left_roll=0.0926 left_gripper=0.9959 right_x=0.2685 right_y=0.0391 right_z=0.1712 right_yaw=0.0057 right_pitch=-0.4382 right_roll=-0.1523 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.1231, 8.9094, 1.2381, -0.1832, 0.1832, 0.0073, -0.3214, -2.7282, 6.5436, 1.3895, 0.0415, -0.0122, -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]: [-0.3222, 1.1519, 1.1584, -1.1011, -0.2584, -0.3225, 0.996, 0.4961, 1.7149, 1.3724, -0.8242, 0.3027, 0.2783, 0.9996]\nstate[eef_state]: left_x=0.2692 left_y=-0.0385 left_z=0.2008 left_yaw=0.1 left_pitch=-0.4605 left_roll=0.0882 left_gripper=0.996 right_x=0.3774 right_y=0.1485 right_z=0.1281 right_yaw=0.0279 right_pitch=-0.5046 right_roll=-0.1802 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1111, 6.2974, 1.2576, -0.2515, -0.022, -0.0073, 0.0205, -8.6222, 8.0205, 1.0916, 0.3297, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e2b1e0beee7f8a7c338f143611159684c7f5ce01d28529ed1b849f8ff83b45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a7c035ba0f238967e1968054a9ce78c12da27a880032378e3ee57a89ecdfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07533884ca91259993513ce85597e07b42813fb0f6e27110e667e5fffc88fcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqEdxwTJLqcTazoZIBVqg0lmsfWAM9Bpfqe66118tym_s1cL-JzWxmyK99_K4vWu7WfxpLGbJR8aOWFwHUseYEou0JtVKCA2fWs79_p5__0r_qTT3aYiXUFxDlIu2pCiofkl1Iy1TPkP1wl8S8n2oPW-j0InEgCnpgVuq9kWRIdFFOHIE5ACv3uiUJ47aFFfRr_8cB8MIB61S3Ne9-7xX89gaBSqW1N22i1NS0zE1NCnWR20lWXWgGi99axR6WnV64nZFy6Y2QDqNyreOX23IkTXQrqArVg886r6CBm24gfFi0mt1ypwyA_Yl7sFcDFBPdBiebXKp_lKZsZ8ySsB2nOAVPvnaPL5UZfzRpKq7fYl-E45FXGToqQ_aU2mxmvcqdXfiNYB6PVm6dNoNUyPqX5MVaw7NDbjHm-zodQgm3Ih9Hze8gB-21eM1osQXQfOVmRlPswXnleTg7zKhtMsvCQR6uv6IkOwnwYTT2819I7_sjSkYXhw4J4HCt1bYsObXulyru6hP2tepot1-maeHJuFo8bRiIYBjP1fpRPpFOp4Hz9UEvDSpdFKbWYnqDKmf0WS9L8qHM7uWzGRY8qZID69LxfK8EaWx1cyPzwviwqaq3qmv2UFnLMJ8q7YY-ZejPjRgWEdkChuLdfuO2xOfWeng_NHRCzO9CEc7ZPES_s5odA_SvjH3G-Gkenx8Fln4uizs7ZsdilwTw2412OmuZJNoHQJw_KmMlc1t11xM4gEFHqZ_er5GBUq7445rNpsAHCTlgHVpAoLHClqf6xNyJqsr9pHWof8ssotpQkzyciXmzxqt4xm9VeMtl9f62SrPY1VW6AebddFLm6PWp0qyj75SAK2EOr4uNWD4UVbh4xYugMWe1vn6Q_jEH7cuBcT4C-7PGFz_ec3EzxldxKqpsh5Trkbr7IPNy9t193FHnzDo-EI8P36bvSm-e0ChFBx3vrTcG9BxN_7cxRa0-AbUH_lcpuj6r16jXxxxixmrB8hGMeMQif5-uZPrnvw6UCznwl8dhNGgMaFX-xy0alUm8Re-_2T23JDuw-bIXk5OXmeZL7U4qQ13HlMJo_rEHViHAyNZ8z0CNCFEXM_-FnpwyGygK2X_raDmp40dqNgNigwDaCnz6UdluIfV2sHXaCkpQdfy56oJ7fvxHpncEhgAe2VzZ16t_7sIHoaV3urYWbD7UWOwrEW59Ocu-UbkyLewGrOrxPQszUGgQk6_1R7iSimEusA6q59nYqdseabGcoeXuuSr3tVl5c1EkoKMPoc0HbC2hRaQDDf1o0VFaYjYzEDx7lLbc6g0bsrKW1cHlYGIavm1kN_mq_jmxREmF2lFNHrZUvwJuweyyM9Av-HpvlHIS6UOfrirYtwLXmSTkp_k_wWGtqIke4b2CxElbyU770S2tMS_yn2VsXxCl2NzomWsdnRBc_A22Blr8RmTYBEAzaY1PeQCRcJpi_dOfa9fQH6L5VZheLWDFyqlLR2DV_SmG1dMJIrwfCw7PjdZioyIfqyLDf97UBPcn0lY_7Jf19XdJJiKade3H9es925qfotApX8FSKkqpvtw7pNQnTv2yBJb8i58KgrWVXzOW2XL-ajXsObuaO5ZiRxHGo44qoX1F1kGX51Qc8-zmDEvf8H9CLbXAGFseXznAJ6f9jo3voKM_yaRrLDkO7Ij9bd9gvNzgqyQpXTmoEVkgIkaLfYWWbU5Tx-SdnLI62XDHGqdhgCGRYOpTN5piUZXhCQr3QNiqm5UWTU9fiTvqZMq7mbPMhUyPR9PIDK_DA0lHoYXNaThNfoJad_5PwGxh7HFtDhTT1jnU8giU7l_T33imfxzlRjr-WSzwTvssNY_iuigcpq9PqTkG2YJ5Pme4leVF7RmotZZ89kwQxPw_3vyghV9xHXDS49aQg7qpOAI7pCMAYTYaRqYGirHZnwEj0Jk15E5ZEUFAJYIUQ2_nPjViQkB82yBy83UMa7M7UXej7AA8mubmVMeVkekWKoemNozmor_oHE9zUcsraZXWHmykHze9Bz8zL5TsvOVX2gCQvm9P2z7m-eidUEHBB9dX43QO9RpjPqpq1BznNKeNDrsTg5BzOUcwTa3h0xge8_0ichYJ5tnjDDqG6qNyK-oxymRQzQ_-XEOknuHqPrfd7rAE_urGIDjzRZO2WV1vOh1orrgNxVsJMqOCdqWhbklkkReFI_lfwGekCqS_i8pEg2bkJQ6tWqSXFAbfLn7zok7UYNJZXXsooinUM8UqqSVEopDadpxLGdjk50RmdSE6Je5Bbvhf06Hi2r79nQ1BYKWKzJ00KS-0aysfH5RE2Dd4iWRwEEJ1494somkaXIkOxYk1MzieT0zCd2LuM73KmcwkrSQbpcpyPOlrm1t8UJVnRnWW7q5meDTrfXZbH8TwUp3GsNApcWtVXSIsA9EawHlI_jswZXTRpHr_xM7AkOFSe6aWBGh7YWGBdxE3Hbwva8K56uXg=",
  "id": "rs_0fca5b6a6851887c016ab41a80dbb087d0a7fbf342f90752fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.18,\"right_z\":0.115,\"right_yaw\":1.57},\"note\":\"The yellow object is ahead and left of the right gripper, very close to the safe’s outer wall. I’ll rotate the jaws to open front-to-back and align above it, avoiding a sideways squeeze into the safe.\"}",
  "call_id": "call_f361AHh2UJAKUqIdFqwRwqqQ",
  "id": "fc_0fca5b6a6851887c016ab41a84469087d08aee1f4a125c59e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f361AHh2UJAKUqIdFqwRwqqQ",
  "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]: [-0.3222, 1.1519, 1.1584, -1.108, -0.2581, -0.3225, 0.996, 0.2379, 1.9961, 1.6958, -0.9661, -0.3702, -1.1995, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=-0.0381 left_z=0.2001 left_yaw=0.1011 left_pitch=-0.4669 left_roll=0.091 left_gripper=0.996 right_x=0.4224 right_y=0.1719 right_z=0.1135 right_yaw=1.3652 right_pitch=-0.5304 right_roll=-0.1813 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.1521, 6.7077, 1.1453, -0.1587, 0.0024, -0.0171, -0.3624, -10.1265, 7.2821, 0.3639, -0.4615, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347370187ed15d7bca2da3e5e824fe14c50be01e3d622cdc1c574fbf6a60edd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf131c3973c65117dc50da0f848f8541d20597e4b036d12a9e20796a0f03889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecf489fcc224a129e723a403c53c51c371343fa74eda3b5bec4fca8148000b6",
      "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 73 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7784, 1.9686, 1.3544, -0.5865, -0.461, -0.7162, 0.9958, 0.2737, 1.0924, 0.9924, -0.9264, 0.2195, 0.104, 0.9996]\nstate[eef_state]: left_x=0.3707 left_y=-0.2501 left_z=0.0505 left_yaw=0.0642 left_pitch=-0.4149 left_roll=0.0931 left_gripper=0.9958 right_x=0.273 right_y=0.0404 right_z=0.1743 right_yaw=0.0088 right_pitch=-0.415 right_roll=-0.1456 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.0855, 5.8735, 1.0379, -0.315, 0.0317, -0.149, -0.1573, -2.5778, 6.4752, 1.326, 0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1519, 1.1584, -1.1011, -0.2584, -0.3225, 0.996, 0.4961, 1.7149, 1.3724, -0.8242, 0.3027, 0.2783, 0.9996]\nstate[eef_state]: left_x=0.2692 left_y=-0.0385 left_z=0.2008 left_yaw=0.1 left_pitch=-0.4605 left_roll=0.0882 left_gripper=0.996 right_x=0.3774 right_y=0.1485 right_z=0.1281 right_yaw=0.0279 right_pitch=-0.5046 right_roll=-0.1802 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1111, 6.2974, 1.2576, -0.2515, -0.022, -0.0073, 0.0205, -8.6222, 8.0205, 1.0916, 0.3297, 0.1538, -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]: [-0.3222, 1.1519, 1.1584, -1.108, -0.2581, -0.3225, 0.996, 0.2379, 1.9961, 1.6958, -0.9661, -0.3702, -1.1995, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=-0.0381 left_z=0.2001 left_yaw=0.1011 left_pitch=-0.4669 left_roll=0.091 left_gripper=0.996 right_x=0.4224 right_y=0.1719 right_z=0.1135 right_yaw=1.3652 right_pitch=-0.5304 right_roll=-0.1813 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.1521, 6.7077, 1.1453, -0.1587, 0.0024, -0.0171, -0.3624, -10.1265, 7.2821, 0.3639, -0.4615, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347370187ed15d7bca2da3e5e824fe14c50be01e3d622cdc1c574fbf6a60edd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf131c3973c65117dc50da0f848f8541d20597e4b036d12a9e20796a0f03889",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecf489fcc224a129e723a403c53c51c371343fa74eda3b5bec4fca8148000b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqKY8jGRzCPisMtl9ruT7RxwtJeCIEjfic-K2cb1RQnH1yVOCzSe52OgfjF7ScHt_xkAa0DczWz6w2rNXH60NiiPgd19FZlBGXCY56HDlK1dgXP9RdZIpJJ0_3qS2nXVsupctRbqHFORTZ0qtv3Jw2SiZD-MsTwhpww1Eu-Oal9Jt3v4H0Nsi7NMG0qGNbD2bD6A5kHDvySGQ8dQz-WnAecnZ4VCruOHhURi5opSEotEXsT6hdpG5xmp2vbhXI0GgOXdMS6mzuo0-aAVQ1rpAvBfaH_VK3DnIgTq5Z-U6H9GW1udtD6HnXWhUqdkGlLHLpbPJY8cb_kPbnllJuN7DT3IbW16v9AhiRkR9luhcW5ySpdwbhvQDajFjLuTel1LytFxSzPsKEsR5BbGXkFmZaLCJ0k5NWC9_BLvCb9eMitVwMcfrImZLIQrSFaiJEvPrWXHKE3UwsKKrLcMvYy4aCKsmuDxQdCcxS6zVPZxQclaNKTF1F_SeM1fgLP_j1hnIGUM2ct6jRv2zZlFY6AOazN1vYXLYO4qTtmoo81OQYXZYnR_ReuB2FuXTxx8fKPuKKaIU6MDDpPKkoBikTDZ1pJ_HFX2Ub_GBag_6AfFHiPKx4JSnI_Nt8g-_uvKsIZrP9lmMM33AMsQZ77u4PN3-8vSuoE_nLwKlQSQHe32djgoSLwiuoyOMmrzbm96n1NeAt4QO5qq60CNPrOO5CfxVH7eK_B5InvwM_n5j5JLfrui1pXGVD_GYuVhp1R6Oq4xz8SZlS8km1ZGnASmNwROA6Vqc89i9VcDBJx7HbdV9PnYUrVcOfLoA2UTP5w2vFL6Ckv8QUPhTvXBA1L6sOiGqGCesHMKIjC7qBaoghLvAsRX0vn0zLflQERv_qG140lYaDaP3Rvgip2CqIf-R-d5HDxypXLBJwsqlw8j-BF0gQZdhzXXz7tX1ahNHN_Vaf09aOoqF3Y-RLVPfhZDiucGnHVaccMIkTU33SXD2UWJvxakDKxITOJvB9HbEFKwyIa0NPxUoVLkevvoszcZ8cSoH2LPEYCeFhXk_NBujV6ohrNPNfiJFCno-tN8_aenSfsZ8wFE7zlRbC9e0eGtTcZnfayUHjxHF7sgFYAR3Yw5t6nhUeHtllC09LggyMc8H5FZ4dUcXpl4KSm3HU6KP5_jRao16oYtnG_eZXHeWIaUIa1VXdzzP5zAl4loLQzuMq-T1kCWocYL3Ibp5MQ5FRWp2B3-M4SaRqXbeNRfFpyQBOHPfdWYkwvWL-dDjxJxUMp-v_71Dd6Imd7YWmWAQNJb3gKr0jE9ZY2aX8A9oDtp2ndGkMrWE0qzjGBwgpquNNArr28rwfCqzvl4DCLuGwqqPw_YG5v2jENFEgts9fUTEBc0ub6jO2QcYNV0QJ8AAOC3gqptbGGoEXDf6cQ7usqIjH-yPvw-zb06Uuc_rMYZyZjIHW4_JqLf3-kfluOyIa5gRiTz4cezndGrX_cM8OvWjJT-CVNXpS3daAjIfdw0pwHxdGIU5Q9sS8XS-1DqrzFamPX6u1DvL7ISZCcPem_-QuNTpdGadaCUl5la25TfXEtTsHTLix0Ag2ZiH-w6p_GJhTNHq9wdCaBFVaglWv4bcSD6rwd69VuyQLDIv5Yqu2ZNytpkbyvySt-mJDO5z6PlsCrEL3a1JF9BcmD7Sd5NmDmPPDc4Daw7bXA3D97wDQW8KS5SjC93XMhnS5o-uO4HXOZXZHqKYbZGfR_Hq5ET9hkli6pthmURb20jVqlcTkEM8hqmCdzUdwN2w6Z4Ii7DaGilcmwOOFaC-sDqc7uj3O_i59-6SVP81Kh_iy4Y6k7_zwxvI57GR_de267-9soAN-y7okGE4fIjAEizarxfuHYbxVHY1qINWZIKO2HZXU3cuX2zzYEZmxFKUaulMf1_hXXP18f2TMrz26DhJBfaEWDjeIgqTb29JcB4ndIBsO0LTyHkmdNFQR_SkwMTWRJ3CBZJPbq_M37Vi85-KKissXnsU4_FSmsF-N1m8Am-wM804vRZAdEmq8lAKjBjjn6CIEsz2XuYSXVXNfdwbuiDoLn-RDXQvF310Xqdlxw4uMUJNeCgbgdsCbKvMa8HSbTpMi7JsDs_AMd0f33w3eOGSQTfjq4SQGuJvUkDfSv2fCN1ARu7dsn_SVT400VhpBmKZlhMDpQ8edBA3y7cxXRNMWlrHFv9jLo7oEUtSea4PpSSpGO43f4jh29jgZWLIor54jLSQW2qYVewfuDk2ALLTqVGv2QW1fXod_e9XdVwlNQCdOaDAJhUydcuQPambAXjfKU",
  "id": "rs_0fca5b6a6851887c016ab41a87547487d0b52765392a24656a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.2,\"right_z\":0.04,\"right_yaw\":1.57},\"note\":\"With the jaws turned front-to-back, the yellow object is visible below the safe wall and near the gripper’s approach line. I’ll move the fingertips over it and descend to its mid-height.\"}",
  "call_id": "call_dNY4D9mkFHdAuTZjZc7LZbXM",
  "id": "fc_0fca5b6a6851887c016ab41a89237087d08ac9aedd59ab68ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dNY4D9mkFHdAuTZjZc7LZbXM",
  "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3229, 0.996, 0.263, 2.2097, 1.7374, -0.9096, -0.4049, -1.3525, 0.9996]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.102 left_pitch=-0.4682 left_roll=0.0915 left_gripper=0.996 right_x=0.4313 right_y=0.1919 right_z=0.0378 right_yaw=1.5685 right_pitch=-0.5513 right_roll=-0.1188 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.2615, 6.3795, 1.0623, -0.1538, -0.0171, -0.0171, 0.294, -11.8496, 8.5812, 0.7106, -0.4274, -0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82602cf4fc523d59ade74c2c9c99b3b427933d72db663ecff1884224a86f618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eaab98d0a94888def3d1dccf25fc2651b6ac046bd93d66aed232a81cbde749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52f195e079b5da7bc798c684292a37f6cd15818346fc4a9b20e8db1785e1f2f",
      "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 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.1481, 1.1591, -1.0828, -0.2729, -0.3191, 0.9959, 0.2737, 1.0935, 0.9924, -0.9493, 0.2195, 0.1043, 0.9996]\nstate[eef_state]: left_x=0.2732 left_y=-0.0375 left_z=0.2047 left_yaw=0.1046 left_pitch=-0.4345 left_roll=0.0926 left_gripper=0.9959 right_x=0.2685 right_y=0.0391 right_z=0.1712 right_yaw=0.0057 right_pitch=-0.4382 right_roll=-0.1523 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.1231, 8.9094, 1.2381, -0.1832, 0.1832, 0.0073, -0.3214, -2.7282, 6.5436, 1.3895, 0.0415, -0.0122, -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]: [-0.3222, 1.1519, 1.1584, -1.108, -0.2581, -0.3225, 0.996, 0.2379, 1.9961, 1.6958, -0.9661, -0.3702, -1.1995, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=-0.0381 left_z=0.2001 left_yaw=0.1011 left_pitch=-0.4669 left_roll=0.091 left_gripper=0.996 right_x=0.4224 right_y=0.1719 right_z=0.1135 right_yaw=1.3652 right_pitch=-0.5304 right_roll=-0.1813 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.1521, 6.7077, 1.1453, -0.1587, 0.0024, -0.0171, -0.3624, -10.1265, 7.2821, 0.3639, -0.4615, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3229, 0.996, 0.263, 2.2097, 1.7374, -0.9096, -0.4049, -1.3525, 0.9996]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.102 left_pitch=-0.4682 left_roll=0.0915 left_gripper=0.996 right_x=0.4313 right_y=0.1919 right_z=0.0378 right_yaw=1.5685 right_pitch=-0.5513 right_roll=-0.1188 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.2615, 6.3795, 1.0623, -0.1538, -0.0171, -0.0171, 0.294, -11.8496, 8.5812, 0.7106, -0.4274, -0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82602cf4fc523d59ade74c2c9c99b3b427933d72db663ecff1884224a86f618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eaab98d0a94888def3d1dccf25fc2651b6ac046bd93d66aed232a81cbde749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52f195e079b5da7bc798c684292a37f6cd15818346fc4a9b20e8db1785e1f2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqOQZ3k99ZnaAFfL7z1q55I5yXxz9SA8bHKnCc6A3REiefhdechs_cw5wb-pNuGbHKYpp0Exjt6C-vDG-LDcs3er9ICRfgA7YmYkS1uGD-UYr4NYo-9L2a9Hqt6pE3-9jINy12BKgYcdRLQ3BlFYJwGQqq2yTtT68WnBro14BYwjaxHpaLo-yss57FSwD0RiCTMocWENCSbj0dMNpXkSLbVnJG6eVHDLzD9Be2muaEupPv0J-EVHBdlC35eQAu_vAYDKDL6v12DXRkF98WOMFGB2cXwUJyZyJkiN5FWpQ9WYY72tJu2dO_SuelCPmj3xFGtWaQd1Q7OTtLYGec40UEXEdsMI5cd39yUQvsEknjsdm0W60rLefCV2SDs4F74zLHWaJsuQ2Dxyf_4Nlo2KtzxQ2ttxlIj2NGuTR-529e7_EV2QPTZXdo6y7MQEbu_R382o_tGGTX8BGZ90giKTEm13Wc-uN2V6nbslgaSMkeW6tU2OjxZ-0rps2kaOJQjlxKzfR6ybIgnNyLn2U10_BPmuWPntNI6LWrXRSXlDhlNO-i_CvycRMu9H9zpxGUnw4XtKxX7ceUVjE3jd8pfEtlZ32p1XpxkPCAx-3Rcmsp7OGvCTX4VoOB7p3E42CbaTQNKWE91lwr3MqpgPBpY18PbpbPpiEa18bC4y0bkF1DATMQkt-AHSEhTCFZ2t80M4DF7JXVMGngUFIOEixrPODlI9BoraOHDRcvgo_kcF6wVxyVvoWvAQsr4bdQnTQjtATg-qrEwzfe-XKS6t6xCqhKoZD-5Yumih-eD9CnJpRJ20Qq0kv1pkIEAfunUEtkCSIVZlGm_CXue85FZ27ptvqLp65t1USoknB88tGdfZ8HG5WQGeAWxV9Wp70uwQL1k8RXUvAxKHrnZY0oXpW4WqiNhB9wGPOf4I0HetF6ZAa8PeGQ8hD-omMZ5XTERvSDL5z-2F3W7YdCX35uHwxV9oZDejc_73CFAoYfqE3WIQXUOXhQFqCT6PeGV1Qhn4U77S75ZWZZ7x6TxqYeWfUzbE8sYAEdhWqgepDkzwaXFRE9p3xGM13JKHolRAwts_Oq8LSZ_G39_fs4K4PQ36QXKIjIx6JZx0HLF--yGzP2nqqqhyHQVFu_WsX0eyYt3ovwv7VTrYGK5tSjVbPYHj7YFouHjYU4umTnjcIscnXgrj2fLn67AEhReuRQbB8ofS2eibCzMs3Zj7RFdO7iBFVuKwOAOg1vyTWWalbp4RKIEjqkfDBX2SEJUjcEEfnK0mKiZvNk3uKgEu65A6KajcVsksDyax9B2t5OxyYUxPB2XCoOnIRdWFMoXzN3GBgToKtlsGHh61SQAXbI52OyNT0Qz6uIcMkXqfXmOm0vjj2RrqlfT39oPN3wbmLrQRMOMXrTay1Z7Mieo5oBSymny-kJfFE2tUwfLqN9f1DOE2mTQjk-xiHKueSuLN55tNWrv3V9aLlx7Coa053bidnLov13A0qkA-6d9jOb_yhYjATdVX4qVdC94aFqQU0pr83_FnxNtHDmX0F-AIwLOTFZQ2mNA6OGpcm-VOsfZ8Nr8_os4-XS-0u58iKwBQc-374ssr7JIvM9HHpga2RjnhTrEGO-N7uRd5-tm-K-3zFT2EzY0s3jW0bOqte55ujUqDlG8KgbI7vqAV4IZyK9wetHaUSjJk2YBu2FkY68JB0y_g84PRa3VKRuu7dZ-AYPliZuDvT_gQjIjV3ozDrngH00VmWYirTuXzV4YUM-YPl-5iGUgNDDSUIVKhvlB8pFZmi56-uJMkAHzjx4oQSRledqxov3bOyuQEQZSSzPUUnBufCvB15QssYts14pwhpvjohV4JwPMj8AtqTfrZxKBQoyykOx1sWKcvR6vJuAOKJdthI9OdRUHYFmx7cB3Bq_Lbf1gE2WdMfvzuOWd7IJemSagYMAW5gjhJpNr48N-BpWqIDlfBSFMyUw=",
  "id": "rs_0fca5b6a6851887c016ab41a8bc2f087d09012cc2e32fe4fc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now overlaps the jaw opening at the bottom of the right wrist view. I’ll close the rotated gripper around it and check for a nonempty grasp.\"}",
  "call_id": "call_KNACiGRc9GgeC0FfNrnuokEj",
  "id": "fc_0fca5b6a6851887c016ab41a8d782487d0a0b32cbc0eb47826",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KNACiGRc9GgeC0FfNrnuokEj",
  "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.268, 2.2406, 1.7432, -0.8879, -0.4053, -1.3842, 0.0086]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4344 right_y=0.1952 right_z=0.0265 right_yaw=1.5959 right_pitch=-0.5539 right_roll=-0.1306 right_gripper=0.0086\nstate[joint_eff]: [0.0615, -2.906, 6.2291, 1.116, -0.1587, -0.0464, -0.0171, -0.1983, -12.9299, 8.1846, 0.7009, -0.3736, 0.0269, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc37f835291b57ac7b7a28b35c479a8be6af2fd077c1333a973bdfd9f12486a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39171724d0b5267f3eff8065bd7d8ca6ee4be06689080f19f1750a165663a374",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ded3abeb6ff3ddc526abf382adde0ab5ab3ec81858ebb89cf4817b87eb34b0d",
      "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 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1519, 1.1584, -1.1011, -0.2584, -0.3225, 0.996, 0.4961, 1.7149, 1.3724, -0.8242, 0.3027, 0.2783, 0.9996]\nstate[eef_state]: left_x=0.2692 left_y=-0.0385 left_z=0.2008 left_yaw=0.1 left_pitch=-0.4605 left_roll=0.0882 left_gripper=0.996 right_x=0.3774 right_y=0.1485 right_z=0.1281 right_yaw=0.0279 right_pitch=-0.5046 right_roll=-0.1802 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -3.1111, 6.2974, 1.2576, -0.2515, -0.022, -0.0073, 0.0205, -8.6222, 8.0205, 1.0916, 0.3297, 0.1538, -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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3229, 0.996, 0.263, 2.2097, 1.7374, -0.9096, -0.4049, -1.3525, 0.9996]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.102 left_pitch=-0.4682 left_roll=0.0915 left_gripper=0.996 right_x=0.4313 right_y=0.1919 right_z=0.0378 right_yaw=1.5685 right_pitch=-0.5513 right_roll=-0.1188 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.2615, 6.3795, 1.0623, -0.1538, -0.0171, -0.0171, 0.294, -11.8496, 8.5812, 0.7106, -0.4274, -0.1636, -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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.268, 2.2406, 1.7432, -0.8879, -0.4053, -1.3842, 0.0086]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4344 right_y=0.1952 right_z=0.0265 right_yaw=1.5959 right_pitch=-0.5539 right_roll=-0.1306 right_gripper=0.0086\nstate[joint_eff]: [0.0615, -2.906, 6.2291, 1.116, -0.1587, -0.0464, -0.0171, -0.1983, -12.9299, 8.1846, 0.7009, -0.3736, 0.0269, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc37f835291b57ac7b7a28b35c479a8be6af2fd077c1333a973bdfd9f12486a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39171724d0b5267f3eff8065bd7d8ca6ee4be06689080f19f1750a165663a374",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ded3abeb6ff3ddc526abf382adde0ab5ab3ec81858ebb89cf4817b87eb34b0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqRM6hHPxIYtUeO7GGLvoX4kFdiXGvY9-srRWpLS0h1x2fKfhgdoIK4-mS0T6aMC-pSOYGs4JsYpSUVL9qDUsg34bA72kSlosBPMgMtOudvOagYGbApXvKOPoe8xKFqVaTA6IhnaKudB4xPMQGLGizo-pdJ3Nm5247MRdTP5IUX8rM0wpQ-oKN175B6mYRNSE4vQYMoo_JRXedLvKX-iJ8DecVzyRlPVpZn2plXjctp6kaTr3JfwfGW_8E2pvJj5XZOV-RTjpnJfdDLGmSxrNUmkN4xoIn2DLNZgqUxVPWKkSvdyw2sBDdYHfm6bFv0Hdi8LD7m0DsAbbDfvzuNfXzXAU7A0r9IApjpomYYJDiwTPYYoeVx1trSSElKTdq8JjomPone60uC1tQyNNphzIzHPoFtiVW1IhVo07tzVnI1K6Aq0TaNMQxA7vdRwLQBxd8GaDBEhZ5-39kSjoRaG3cHoHMFTIPHL8_X0isgipIaOtaHACOgJTSa41DIDB4S9M3bZM3dZjKkgYN6-yelFXDPCGfrNJDvuNxtly1Htnh_EuLt_ttZb9IYRDuyCvMvceOlGyeJx5uukKR_8Oxty9T7GG8Q2OdiIdewSDqdSx0pdSYozv9DHTkegdRMrevfZJUBuH3fcWdWqOCq7V1NN1DEVXpLkAmIF248ItWBPC3gO-mrFM_z2iisne1UTQFQJ3YOtPQmpFliA1NIHsEYJqdy2IACtFKZ5y9v47BLxyrBJy3Y58VlMY6MN7x1y_HISxcSReBwOfmOfzYxs2n6-lg9EAxNNvtEzyJz5wLJcO_CzhpvwQOlv5uyAMzqN2kFaA3kLJbfAgU06sJUPq9gReEjyefxSUvNBmMRvRQw4TwqFWdd1CzxIW_Xu36_Wb8CNv2SpoNrnOK1-kVTKs5AMUzX61PI7fhVbyGqnYcSEAZ4tV6wR6UP150cFN9Us2t6vnypeW_BANJ11-PBtzvzGrOqj_NuERVzxDFn9WiqKk3xUuxpqQqXGoc1PvOLBIXsWoMS86PnZRhlEDuaZqlBFXW76GM3hVMIjxsDkQvTD0NQUXpei1VRYsW31qWLdNBCpZzPj72k2Px_v0uvncTYfTMOTRiHaaHPj9p83cSawnve-riVXdwRg8eImZ1g7JkLFAsjWdOBElbRIMEMecnlL-myTgfnhpMCcnD1nJ5DSlrSv27Zei6tdTg6t5Rtzz9qNZQ-k1b86KQQTLmyv8mhND2z2zM3bw6IaTfl60R1r_NE8Ig_3W7SHINSCJPayoE6wX9feMDN10czEVINx2jNFWWZnMWCJ7LBDTmiIoe9DOQPVUQ9QdNWWAy4VGaixdEuPX0Vn28CQ1ANHao6rkuApJCJL9GPO_HGCU4O9OYuztpbMOJJcYPIf9UCfsB4QDmTxd_OgNB6jQlGwjjNW8VAThYU280ITDhR1eDD0rk1cwkdD5fojlXXQShTiHKfwiJI7LZW",
  "id": "rs_0fca5b6a6851887c016ab41a90703487d0aa53202f7cc807cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.135,\"right_z\":0.18,\"right_gripper\":1,\"right_yaw\":1.57},\"note\":\"The yellow-object close was empty, and the toy is hidden by the right gripper. I’ll reopen and lift back to see where it moved before trying again.\"}",
  "call_id": "call_atz2Rtd7gFO8FjzcooOEXRhm",
  "id": "fc_0fca5b6a6851887c016ab41a90e03c87d080c9984c72320321",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_atz2Rtd7gFO8FjzcooOEXRhm",
  "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.9959, 0.1566, 1.9995, 1.8969, -1.3239, -0.4053, -1.47, 0.9946]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.9959 right_x=0.3964 right_y=0.1367 right_z=0.1569 right_yaw=1.5652 right_pitch=-0.568 right_roll=-0.1252 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -3.1795, 6.2427, 1.0916, -0.1978, -0.0415, -0.0122, -0.2256, -12.5744, 7.5829, 0.3932, -0.3541, -0.0611, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541155d18b29fd148acac3497a21542bb07d2bf0917521827fc84bd8206664a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:223a76aa4d3e8cff758c2cf8f22a9bf48c287a5dfc6ddd95036799363aa57559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d2ec5a9957254e161fbe34aaa4e633b511aed17a95777509d51742f556ffd3",
      "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 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1519, 1.1584, -1.108, -0.2581, -0.3225, 0.996, 0.2379, 1.9961, 1.6958, -0.9661, -0.3702, -1.1995, 0.9996]\nstate[eef_state]: left_x=0.2678 left_y=-0.0381 left_z=0.2001 left_yaw=0.1011 left_pitch=-0.4669 left_roll=0.091 left_gripper=0.996 right_x=0.4224 right_y=0.1719 right_z=0.1135 right_yaw=1.3652 right_pitch=-0.5304 right_roll=-0.1813 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.1521, 6.7077, 1.1453, -0.1587, 0.0024, -0.0171, -0.3624, -10.1265, 7.2821, 0.3639, -0.4615, -0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.268, 2.2406, 1.7432, -0.8879, -0.4053, -1.3842, 0.0086]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4344 right_y=0.1952 right_z=0.0265 right_yaw=1.5959 right_pitch=-0.5539 right_roll=-0.1306 right_gripper=0.0086\nstate[joint_eff]: [0.0615, -2.906, 6.2291, 1.116, -0.1587, -0.0464, -0.0171, -0.1983, -12.9299, 8.1846, 0.7009, -0.3736, 0.0269, 0.7497]",
      "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.9959, 0.1566, 1.9995, 1.8969, -1.3239, -0.4053, -1.47, 0.9946]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.9959 right_x=0.3964 right_y=0.1367 right_z=0.1569 right_yaw=1.5652 right_pitch=-0.568 right_roll=-0.1252 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -3.1795, 6.2427, 1.0916, -0.1978, -0.0415, -0.0122, -0.2256, -12.5744, 7.5829, 0.3932, -0.3541, -0.0611, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541155d18b29fd148acac3497a21542bb07d2bf0917521827fc84bd8206664a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:223a76aa4d3e8cff758c2cf8f22a9bf48c287a5dfc6ddd95036799363aa57559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d2ec5a9957254e161fbe34aaa4e633b511aed17a95777509d51742f556ffd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqt98DkwVVqMjO5ZlkywxXz00fadvpQCIlFsDbG0ij9aYCe9eSdWm9ulH9W5GNyYJFUpuQMqGEGrjcmZRAVOhm7BLUuB6rnyXuD0AxufWJ5zDRvVWwdizH0dD3milwMkf1p56ezidRYBIM_2vV4jFYbkDQ7cHQSIb7XAWgDaKNTKE8ZgS1K4dpT6dPm5YBn04HKzkihmw8j1gSb_FPOIzS53ib9HKdhQk6qa7sAnTHNxGLHIu0_Irk8X29CIU3ITt2KrVxylOCRkzsW_lbbpBRKeRBjUSn_gJVX3T9PBkRe66rpxnxDORqxdNrNUxr_aFXKt-um35fCIHpy8adKD2yHxsgh26klA2TdP0elWef3p90NrhEuwt0CaDUzM3cQLHmpTvbV_VCCSQndgwIslhgTiSuNrRKXVLstYS8R3Wgh6U3Nlr1mczF7qZOV0m0BTsCKGc6jlZKNWvDCwBDuDz-YfcpP1EELj14p6Qg8j4Vmi7O5fNiVkgqk_tZB7U1tMvYCc1oNqyf8eCIGU9rgVyo8MzzUYpvA4Z0C7khdOEufNjFz6yszlcNM9ZsDreJ_DU2IAh6-QuYM8SOOrOviOO79d8JUmincVb1Xi3gK-sse0scHXgZLgyfm0ELjvq5jRt5gO4SDAthhg1O_TStbEkL5uRcErQV4UW-p-w9PnUIaE2yqcfHOOvQhitL2tj4Vby64MZ2Cyt114oleQd5-84VeBUM0S3uiSyNoWZwW8QZEjpEwtu8LYRiRoH9vejxiu1V1FMKtsIIsZ4EdN6GNfMaxG_3q8jz14V0JI98NnwSv6EbNB0aItYOicpa-9zUgd0tvWUorRGDi0P477lRo3QGNGX4WIAqWijbxb2qs2kXL091lN-OKjyArSY0bM4seb2R0zlHD3n7SbH1kLbLLwgs4XknN2c67f8B7quHf_w_CgLsm-N5QYxFGE47llD_cpE1RUhSA7AQWZoVmH6YmiMVr55z9P37_7Iw_dc0WjVknKqRBJ_OlJXQ667tbjedvTQ4T7Bcz5ryNpe1_U0yF-F1DJvNnZ5rz0whSDp77Xwj1i0JES2mRzaPenBu5TQwrgzeX1Z9vcke61RmFRL2Z9St2F_7FE4gBvSQBZ2JzoYEq1IcXWCveKtPCa3Xs09Ih04h17T_XJl-slzv-9PI4yUoL3Cadn9cFBdYAo_RY2sFmkmUi7J5Ekouwrh7vkxpTw3I4q0xLi70xQgLWku40gO9fkeSgwrRRgo6Lp5j_s0ZU2CQkkFDydhHR-IA4Qf-o8-dYkb59hLhBM8IjYQonSFL7Cov95j333K-CO7cNWbaIMi_MMTHjLFyECwVqGLHcC9jXH2KRB-oDXsfmGL_yHbgaXoJY8iO-wl9Wc-AkUgxdMhXm2Se7jdcELzR3mRqBy6L2ZVDVyiBlBv_MQiKNPE12pZiN2zzqCR-Euxpx90NPIR7-5vqrwnjG1PMa7IaZsL1N7YSaGRWi4xF4FLjz88_CkxRCigJIaR61h4vR7hu4FO4VfndqgbRutA1MSi6RqANHrpOOtDxCx8PT3f9n9-rcnQZgBLbxy5v2alSbmYLCtlm35hSa1e21TRZqUECcutCNMFY4VjfK4EzbCM0fUkEmJNv1K7P-CjLeISJjG4bIQoL5rWLXI7lU3gmH5oMVknRFA743t9DGJQ9LWA2w6bCV8WMtkyuE5zUCu8N8QgKx4FvnSkfZOmubhCqDOReNHlIJ9__4-fpbR6WnD-U-fBMCPSIFt0Y3yrpNWnMsZCydYPv6PO2fq3x0E8oD9JShVwxGomC4gVnqeqhI7c-z19G018Tw0GGGxbCpV1SP8bXK7SRVSQiMe5BaIBn_ebE0EAUUBCRbWa0rNae3jL-zadG35pcs77_FZaoOUlGZJ8NzwIlLXfK5RzJKYJA1lJU36ZndBds35Ro3zgnv-yGKTdd4BuXtzpx7qsUVRagDdd9OZNjoQWQeCuFLtixJEELzY49mm3oJe4p2bvFWmQQPEf5qOdqh-RwacLh4eM1C-ffMIfBTrzlob0MHMSozGBurcWPnVFrfr4Ty2zrd_uHDOMXIODLsHFrlDk4lYpetgmbKUM3BCn6WSCGR3l3FnLTTgzvQTC1wZQXQAAYD99EayEX7V69TsupjPtp6EgoIbFJcQvnKYIhUEIwRpQweF4QXI2Ptt5dQp_bcDTaNpD1bKm6AoLDNpGS76zqBInGJtGbKDjPgwAjcBXRHa-gTBm571dQqBxga7Pq-0Gjme-9AseAFwzfUrBB8OcMvZmM8DTZqtxByQV2P57-6q2CBoqW10enWst7kYo5n8g0BBTegChU5sJ4QMHsBzQ0CJ7xlqfpjtWbNJGwxLTeJVp3prUCn-NBLkrAWIo-36dgk6yLRZS95wIIBlPRvADIwQPnhULzdTpgI-WN7w0xt6h-vEe_210lgbb9NExiAQ3okAS-_qQ8Y0olYnhtqirxBaKUTs5t5pWKZak1vcQG5PuqaZV6ilMfgDQlvo9m6bF6JJcXTDovuamwmHJlYrWZTD_7NW9pp9V46C02r_GxLtjtzvZj95HMynR4zSOw3Y4xT6S-R2ITLXKotNk0YLHVHQEl8ZTObfXAPTxXwosMsFh2V-MCOmLKKHxvrU58jGESF3yOmjMmnewEPj0xqIojDxZgY1tTdjDvf6xBoQ6rwyB8XB5nev1dQpUnbPiKNvY0GB3foj6JQ_jbiFr5blreOsTknBUWMZeadkWYK0ezAAzKZIySU7OGFsOqWasCY8-PFQdijVYzTn_7DQpaNwr85Wb5lznzhNIZf8arsMn9olIEYXIqzpcVFTqkpjS2nbPsuo-ABy6VGcuKYisRjL2tfC8ZQn2HsGlsjRULa218NZJ27qbRZGfVteFZefoYrBENiwwqlssK7mt-AFqAfTa3kAanViPu2bYW8iQ5pfm9noprJPx1jlCsYewpPr7Ps-stWZOna7ETsje9_Qwd4TOB3vvGj8YfK0TbcgPm8YFSKbilDQyQ5dGW9W7TE0MX6rQC7qd0ba13hrOdd7L0y27tmUVscY6kD54m4_vGch2UkPAmo3dBw9TRV-RPFbA2OlyHAT_57nVS_THSwIeWswH9xlpMHRFSR1htt3szPKp0itjPeM7UalsXLP0GB4TwdD-0XtWBNhoA2vbYhPqOd9QCAu1Sk7kDNvAumu4D9H4sV4pton2-ebx4m1-kYw7Dh5j7lhyuE0Tt9xlm3H7m-VhhMPy4vrbBi_sich1E46M4d-fvcndCqCZpNi5n3aOWALqqy0c7Cmx2u-hJ_dr4iTQLXZcy72A1O96JLJV5lf7hRUS_Ej16u4Hq7MhRPLrCl1ymgk5UE-U9uX-FTBQ6PMS55BZ0Avl7YToFS6qUNUeJrxGknuVv4j4U7NXCCjt7JVMlIPuZKDgbCdMLYwyEm3SVxzDxwQulHspwvG_uq1qcmbp--ux4xE11d444-8qm1-cByLPgkK328CfOl7Lj4noVhDOrgil8xSXpr52B8bLtdhIGVx5gQ1N4BJoEOlau65UlS7HrSLV3M7-QZ-9n28XxJk9dqRUl3YJ64m-aVWtjjFvV9yfFkg5CWpnuIvfn6RiHA2mlQEJsklw==",
  "id": "rs_0fca5b6a6851887c016ab41a953bf887d0ab75cf91a9a417cf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqtLyYpZ1nGmGzZkUzNOFaVYPD75BBqVyvTRqNfPyhoC6qe5AzXCnLvyQPJ6s7FpAW_S6I3j4dGMfim9ZXM8R_IzS0INdcNo6IWnnMF3uN_TRMIc1Kvpw6bMyqqf29eNl4xCZY45E30qGB9N5mjb3_R36ND6HkGIdn4c0K7-pT3UNG25V5TEyDc4ABO9v-aC5bXKFV9-R2HvzDTuz_MFHeMuUj1hb0nCEi9oHnbAU1qmFAJZEhGHfGhEvdBUgJT0C5S5B3P6irQ9ObgghHIY9UNVN_O40JI8frSC24SrQYaYaHVlkqfqh70ZtbBUvfKeBY9onbzro5eZWEv-uGW41KQf-_9SqFCILJBIK0qVj6et9f-_IF8TgpriaX39hpS0-fFPRgGn0P_fDEgi9F3Physo9tRp42e8_5MetsVu6PBwBsaeTPwLSzyCWkH8sLdxGTAH6BMUtqVlNLg9pJ0VK48BvDx8Sgzx01qv_dxeNnWqYKY448AsjrmintmBM7B167pjcb1s1_2z6fFtLCKPIxtehUFMXSlbFjkz6QZKGU39_ZBKdi-lVdCXfPV7T8fo-6n7y8iWiugjfOUpd8ZqzYKonjeHdWI-HzgJEeCsEVzkGYDljuK6AEwkTi1FGunTzQgc6eKJkP35Nmff6gqu0y2cBaZvHRPnHLSwV8UrUK7JTjifMTSliRHmsdntCkMVwAeLxODzil2cVxw6za4ZHuATgSvHHsXbO6rIocFhaBrOVUw75pZ9uT6gHrRIS0aqW3zupxEC32hJrbvF_iOOd5XemZnt6adV8UAORDmCu6aRZ1cA5X6dDMbTQZdydlngYSsc2cKbph-uSyKyNAFBUXVdaFx-xqqsyEyRaZg9z_ePui_T82VQGjV-X0JRzghsS5Ew_BYU2ENhD6cfTLfUy13PAkqmzK2GsG0a-Audg3mu0LBDnKp3CPixJFU84A2F-nOI6xoSLf9NRnmkMR6i4lTYs1UrRFWErQ3Li8-sCkHEs_q69Zkmnjr8NpIqjWDXfdH6h1CN3ifS4Nx_vl-f6UbLXM29FqzZ-z4zniksbgeb6KgrDxvE4p0qMn5AvrOjg5uZf5qiFtch4F-mHMApKH6HKTs9sc8Y0DA1iMmSL7JIJYA8iGBQYOSZYqhDwQBSL5gR-sKqkARNxlEkyAeYYdZssXrRH9qvgw4_eFVypSk5469WF_xUC85b1aEs7TiCSMOFYErDiMA6P1YvW32i14hx4wKcZtmZPA0e2yhvQ0xcY7PJuW7wAxdue9NH55kVZUFPLYYxQLmeHvXR9ZgIvWXnbC2Afcwy__MPv8ZHaCQ0ScGVY25lPEp5LaFltceBIHh7cCDHFR_iaErE-x-UPXKiNHmvuImrq5BUL1MWUvG0p75J0VUuoL3tmXoXOIR6-mCLQhXk7Ycy8vk82ptTV_gJbuhPLCcVyiZUaWWl6y7GjwZOmHJ9c6ahqkOYKbe8UxUO90MvSNKjTKq4snKSUxRtp_0eyyBDXDpnrMuGfj5NmXL0DllCLNoUMRxHqO1gLUx0F7vLETynClxiIlwRgrQDiqzr9ObaJNK9qmfaBhnezDDoBYB8p1U2mLXqoGGCn6shiH-l0DHwQM4RabanBu1NuHQjcwjllLvGI79clRr4uM=",
  "id": "rs_0fca5b6a6851887c016ab41aa50fb887d08d4c6ef1a008d2d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.16,\"right_z\":0.038,\"right_yaw\":1.57},\"note\":\"The yellow object is still on the table, now a little farther from the safe, and the jaws are open again. I’ll descend over its new position with the front-to-back jaw orientation.\"}",
  "call_id": "call_671wwqCqCflpNoZMGqssMLpb",
  "id": "fc_0fca5b6a6851887c016ab41aa8bff887d091e114116780dec4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_671wwqCqCflpNoZMGqssMLpb",
  "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.1982, 2.1109, 1.6329, -0.9615, -0.4004, -1.4361, 0.9953]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4085 right_y=0.1559 right_z=0.0484 right_yaw=1.5917 right_pitch=-0.5731 right_roll=-0.0945 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -3.1795, 6.2291, 1.0525, -0.1978, -0.0611, -0.0073, 0.6222, -9.894, 6.0376, 0.5397, -0.2906, 0.1099, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a273454ea85d90c10b4eab77f5b9d8a54569d4c726b6b273a8d26338e7c6779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5f22ecd2388c15ea153660673bb660693a0d80d353ac1ca403274dd5604607",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da91e9d6d86d8753fbb39c415d4273decaf36e9db36c7364215e04ea622ea710",
      "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 89 changed as sent

message 97 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3229, 0.996, 0.263, 2.2097, 1.7374, -0.9096, -0.4049, -1.3525, 0.9996]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.102 left_pitch=-0.4682 left_roll=0.0915 left_gripper=0.996 right_x=0.4313 right_y=0.1919 right_z=0.0378 right_yaw=1.5685 right_pitch=-0.5513 right_roll=-0.1188 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -3.2615, 6.3795, 1.0623, -0.1538, -0.0171, -0.0171, 0.294, -11.8496, 8.5812, 0.7106, -0.4274, -0.1636, -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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.9959, 0.1566, 1.9995, 1.8969, -1.3239, -0.4053, -1.47, 0.9946]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.9959 right_x=0.3964 right_y=0.1367 right_z=0.1569 right_yaw=1.5652 right_pitch=-0.568 right_roll=-0.1252 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -3.1795, 6.2427, 1.0916, -0.1978, -0.0415, -0.0122, -0.2256, -12.5744, 7.5829, 0.3932, -0.3541, -0.0611, -0.0855]\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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.1982, 2.1109, 1.6329, -0.9615, -0.4004, -1.4361, 0.9953]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4085 right_y=0.1559 right_z=0.0484 right_yaw=1.5917 right_pitch=-0.5731 right_roll=-0.0945 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -3.1795, 6.2291, 1.0525, -0.1978, -0.0611, -0.0073, 0.6222, -9.894, 6.0376, 0.5397, -0.2906, 0.1099, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a273454ea85d90c10b4eab77f5b9d8a54569d4c726b6b273a8d26338e7c6779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5f22ecd2388c15ea153660673bb660693a0d80d353ac1ca403274dd5604607",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da91e9d6d86d8753fbb39c415d4273decaf36e9db36c7364215e04ea622ea710",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqzHvk4Fhm957QI_u0KauJHIEHfVGATC8f3f5OUzI29gD34XcfFA-JnFxRITxsHCaeepgmD_AeV7zkWLwuM9rLQMYIb-lqUco50pBqi-65-xLeqizbrSD9AVmDxQRzr1mTPJv5d9Gfm_Hfpg3Bh8DxVs15XUhDgiMjz2jX1R-S7YeVLhR4hS1LQCe9FrBq3AW_iywucy0JnJbg7SV9AaCFf8DBQrzmgVIP5-dz3ks0INNkWwvuIT0NmrrBpVupvbPW-ym-jtojgS_z56EQS9ff5BFXA_brNZvcS917rPHyawRIZFC1KuAGyQh2_fnGF-MnAcn9PjleETnwDpAiMskbqKntfbLDnD0Si5TrAq_dKJfQPA5wiThi437p9MMmlIdH-qwJ9haxvMQpM5bL58UiIaZqHvJO3czEELV_nDd9aynWAfWAxHJkegP9CYvfk0HQe4a9B0fyle809iv5FmzBwIO2r0PKPFQuVuiCRGJtqyGSw9UP5TK6iDe4E57na9Rpq3vh4gxhiBp6bH1iAfqgeghp7jGxZ_6QEsH_cYOajjvF1J4llEE_yfqyogvNNc9eKeSjkOay6ze_hiWzp6TlypW5VWFdCaaQ41vs6YpB-Q_lndBgGL0mSMfmXsvYGtVS3icYsegBj_1favMbxIhN-sOH2_hW1Akwanjl9q0tAwrHRZrhkl-nxtw_aE8-fhvyBgYLE96ivXRGah6DwQ2i8K-V3Nl7hTVwajJtM8uAfGXQ9Rlfw48oGCUW7MPIh1mbifmb8uM4E1CHaL3hjGKp20wpYITBBUK3aXA8nDOSRj8p3prCTXM-epXd4hqvgUT3zS4xmwKy2UrPRPWunxdbdEZA0DuJj4DqdURUG15071E09_CUWR29kk5BevwsTzAECCbdYtBcAB2nB0YKVSgFEIUliQtinGeCtmWqDWwon5tAH724LY5h0Txr1lfoJp5Zn9QYl6yqlD8z5PaZBciJ6EzQzE5_7AzGrTUgVfHU6z-ogdPjYAUVEdVCJDbsS7oaGaBvg8c2UOvBxTSLT58Fe2zXTEeYuePanHro64xmrr-7_zXLDGrblCjbq91U-vmON03w-byw3sFdMMMut4TRezQYyiP1cjljhlw7KoPIQgI2xUKgs6Bjctgs5YmguSg-50dYJdWt9pmmDhnbxIO-j4tWwybBBfSXQil9nApmqXN4Euwvwb5VpGU7kNg0di368iy5ju5hntB_zKj75aanwGAMFZFNjxDgV-ZBn0k0l1N6lkHF90VGWQEZw4ZhOJpdpyRkA0BqdWPOhrqeKboGbLybcARphOYtVArJL8Hh51lP6SdF0MJj0aLhEbm_v_KObOyqq-_ss3bfqOI8Vbj3qzHSZRXYniSko1tz8GTRHVGHrypRUM45PEWzI-KA2L_AqVtQkzK6BOZP_GXd0zobLGfJ4abl8Mko2J0hsg3N3kaFChYMNwAXQwG-qs8UzBFyp5FxYABqQxeYlB81uy1z_MF-Wfj6hKqfpKqi_3h8fNpho7wtwXDjC8NwIJYl4AFu7p0VC2prmsHPgt5QzzAgV_Cjkxu6CZhCaf4vQEd_RWI3Rv9jO9tnTwXqW91-k7YUlger6dUwINSKC81DvDEwue7MI2qLNHTlwXFKwR9Mbi9FsrmRjlNRn7mNQbglWzMUeP4GlgNUFfIni4Q1AqZxXxUjFuG_2A6n7OKGRM4aBvXsDQwMkpFTayRW-Ln1jgWnkU4DYsL3b56DwjuJDm9ka1Ix7-KE8ldcY3-JUpoezkCF9soOagOaHMw8VJKGC6v78Mmz9xS7rY9iR1jRynXjnHjtzdFMmyZACstXOdMLbU1qbwkYbFR5irrU_io0D2SVq0662eR4nj0vABKuXmVMy4lDIlsY-qrsxJl9PsfX64bmmkkUA-xNqWbAaW77BiTUZf1YLjBnFv1xSFqubEumnlVLrqp-j0gtTYoGmT4BgpZ3JoXZdKg_2eFDENF0ushO52_DwoU3dPDpV_beCqUzf3BBV2FLF_KqAjKhmVayK6dwkUGe7soTiqIQw9Ov9mxg3JzYYae2sO-L_BXkGaX6SLTo9YJ8RLggw0RImKL1Hb0P-_A_-VFwXJti6pzwjhhhxW-UlzFtAXnbZ1fUqWENuTWUUxnZcQ3rsqcdkK9hxyLgoYUFy9m_1KqiUPNuCqsNA_yef5Ve8Ozv4NbyNSym15yDoZoQ3uyuRGqH22ElcUdfEYJqiotjMEPIyG1BYe5B0yHvW2FGpTGMolWz7095aweJTwfUmOBgV2w7qj_JLqHiON8mngLAHZqdECwD6wxlFYw4TbmWkL1NgEQLHmkufTYyPeHgI6s_5LiVvKv41czyUCYSdBYqlxWIZrLBVCcqmLechJpIn4qjW4XevF8T6V1gtt6NIAOdUW3jFwM3Wfi-PYmailQzU0bB4tlIXqUEDLY0-WAxG--IxlNlzEQNptC-xxzFTF6SOwOVOxY14xeB2eu6EAkhd9qHDAPgISJ0myveZlagT0VnI3zRu0SIRyfwIESyjswDn3R0RV5rJuo6iLCK-kiEU6RzlGyrEdpujJacVO7S5oz4SsW8Esb76LTR947YqL7Cb_LRDE_ZiCQQTL1f0ofaX8UpwKWXMsdGS8ZCxpEwv6NoUUK-iMfmmzQEPe0CaYMZYKl9uKQhmp_Cf3yk8BPOaAyM24fWpgU0bGp133zbhEj3BhSECdSIoIwBSLwUBjYIjHwPndEJVSa6N-oirRtN1vyb1E6mCDObeIBY3bIC4CA20YRZWXyjim0LBZlQUi8vOIXNogCU6vSVm2wytskpx6jR3MCHckWnHUE_dNBTJ0llp-x7BpygBWPtoBpk-BSnTxgOVlKEO2dER59_PHvvB2ttnFgEK52LSn-XwQtTT7w-v_BnYovfOco7q7XUcUpM-lCoOxNm2j2-S3DwPkCci0QtO72YVrNagmNbxDL9N1GzMifAjymX4wRLwWGNC_GUjY88Os-8FrkcBsb4JtgUJfEu90hU4TQrCwu2-7thvMXP7ST9dCOB2lX0BjZ-Jvp4ZWJoQwKZJCfE-n6Lx1cgbZ_f-JJ9mkaZ4",
  "id": "rs_0fca5b6a6851887c016ab41aaf352487d0b15296cb2ef3000f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.438,\"right_y\":0.158,\"right_z\":0.033},\"note\":\"The yellow object is at fingertip height but lies to the right side of the rotated jaw opening. With this wrist orientation, I’ll advance a few centimetres to center the object before closing.\"}",
  "call_id": "call_GVdWuqIECQyn5POFT3AmnKuo",
  "id": "fc_0fca5b6a6851887c016ab41ab28bb087d0ba31c9d0f7c0bc99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GVdWuqIECQyn5POFT3AmnKuo",
  "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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.1955, 2.212, 1.7466, -0.9653, -0.3969, -1.4406, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.9959 right_x=0.4335 right_y=0.1591 right_z=0.0367 right_yaw=1.5856 right_pitch=-0.5751 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.412, 6.5573, 1.072, -0.1343, -0.0513, -0.0171, -0.6085, -10.7009, 7.2, 0.3785, -0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b2f4839f9e15376d586e96c0b2a61957da2f93025a07d084200a987d17cf71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170bc45d4ec5b1831fcd085820f62801a95ad642274fb5024705b8e72a16a612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf694ec7d56066eed46575a08dc8d21108956b3f4d6cb7ad2e7fa71b6962cad",
      "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 93 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.268, 2.2406, 1.7432, -0.8879, -0.4053, -1.3842, 0.0086]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4344 right_y=0.1952 right_z=0.0265 right_yaw=1.5959 right_pitch=-0.5539 right_roll=-0.1306 right_gripper=0.0086\nstate[joint_eff]: [0.0615, -2.906, 6.2291, 1.116, -0.1587, -0.0464, -0.0171, -0.1983, -12.9299, 8.1846, 0.7009, -0.3736, 0.0269, 0.7497]",
      "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]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.1982, 2.1109, 1.6329, -0.9615, -0.4004, -1.4361, 0.9953]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4085 right_y=0.1559 right_z=0.0484 right_yaw=1.5917 right_pitch=-0.5731 right_roll=-0.0945 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -3.1795, 6.2291, 1.0525, -0.1978, -0.0611, -0.0073, 0.6222, -9.894, 6.0376, 0.5397, -0.2906, 0.1099, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.1955, 2.212, 1.7466, -0.9653, -0.3969, -1.4406, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.9959 right_x=0.4335 right_y=0.1591 right_z=0.0367 right_yaw=1.5856 right_pitch=-0.5751 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.412, 6.5573, 1.072, -0.1343, -0.0513, -0.0171, -0.6085, -10.7009, 7.2, 0.3785, -0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b2f4839f9e15376d586e96c0b2a61957da2f93025a07d084200a987d17cf71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170bc45d4ec5b1831fcd085820f62801a95ad642274fb5024705b8e72a16a612",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf694ec7d56066eed46575a08dc8d21108956b3f4d6cb7ad2e7fa71b6962cad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq2mc17tZ3cqAAUkEiIc5pI5IvxPb1hl9owM5Hx3yfbf3Jf7C6ZL2eseHqeMPvEFoSDDgVEIxqqQ92jaYM7REmJIPGDqDXuyXKAZ_1FxAxZGEJj1dXZZej9yD171hI5Q0c-6i9n3RKWk4PK-hdebHKNp4lpVZBNtw2dCrwTf99ZcXrFKv5zGDcHE60pw4lS4vD7XGhPe--R1r38gGaylJQCo8PNc9cvzYJ2RIBWgzQRjVByzTqPcU0Pu9gj2jilo2NF33BzzH4-DBvtPZeWy1c_645xbqoK3F_T9r_Y9RVJsU2sbZCKVC92LImAHdlYn7mtO07Vf_3plugCP7GpI9PFQgTMxJVBOWPo4SxUqAPCgoEgPa6yb0JGPzYWmH-gHViFIhQBFd1ADH6gTTO3ePfsMcd7Dwf2lIauPQ_dMdsg6jqIVpjDU8XlE2u9qCNHxn_st3HiSpPGDzzZFNY5SbKzuw7E_Kg8D-UrASpVWOr8cmJFs8cbdvLxaAbncTEH-bt9PpCoIb8BdlIIXdpitAlzQr41rRcVxGAnLyn-qeJBDQ_Qun4zZqq2LrLZHmgVOGhoiaxfwEFWYgXbiimddgnfXy3EImodRrcLawV958yFSnLlfxwE0qG_xwC0wJFOzWlCWQht1I38OP1ZjdsbMqcl5gLpRjZsnce-nvSNlaOsgE1S2xuaHCDU2tX4hxRU_c3PiH2FY7xTUoZllqvlZi5FAD38pWkl35OuKscH9ICpeyVyf2m83tdiw3C0Q9iyVOBnukHVmoWp13eaF1uZDS38ZV9jibYi2iVkbXlPfEdHvQyOFvARvHSwImI5Z5-m0XRqyEpjhvNNTacJBLHgl0KS1izj5cfiMtqcKATw877LzD7C42J9DClryAxxZ6Wh6NJyZOmsDofkU9H0rQ-dl43ARowV4SkPIgaimHyvFU4PM8YNnRi1QOU3UqBxQE60pl0cFJhFTnbXTXFkyiNpiyUn6jU47zjtIsJbUsUs1GgJw73kh0tmn8K4PVeFx55Dpz_v3Du3qILRkJcTmRz_oyFCuUTsFAD2CxTEotn3y4rsOIhbMphwKMt5wyq174INYBPEECzbkyK1KUOUMcb9TaaotEzAOosdaBuPYjdrfVpvj6Q7woXPWE6iaM26f-hEvQmfw85wlHVh4kdagZA6kK-sWRP1cPxwa9S5hfVuLVzKm2SpHfBmMwf_xXEg_lkStHgGvQiNZUFbZenD2tFQ6tBAqQ==",
  "id": "rs_0fca5b6a6851887c016ab41ab51ec887d08d16566707d0fba5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the rotated jaws at the bottom of the wrist view. I’ll close on it and verify the grasp reading.\"}",
  "call_id": "call_NlzK7HvD6XZh5oHQVjCyKuNu",
  "id": "fc_0fca5b6a6851887c016ab41ab54d8487d08702bb3faf5610fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NlzK7HvD6XZh5oHQVjCyKuNu",
  "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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.1951, 2.2364, 1.7485, -0.9695, -0.3969, -1.4403, 0.408]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1025 left_pitch=-0.4708 left_roll=0.0921 left_gripper=0.9959 right_x=0.4312 right_y=0.1585 right_z=0.0265 right_yaw=1.6021 right_pitch=-0.5797 right_roll=-0.0762 right_gripper=0.408\nstate[joint_eff]: [-0.0205, -3.2068, 6.2291, 1.0476, -0.2076, -0.0659, -0.0073, -0.2667, -14.188, 5.7504, 0.5495, -0.2466, -0.0024, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2bb6dca0e464128132774f57654e023e2b2caf255f05c2ece26d915dcd1660f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f2e2e7af28d8987ae8b58a06490dd4e5e2f95f20f905cdde40995815a95d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb4b999b636cb3d57f3633cd53e116ba74b1fece4ccd16fc4b8b0eaedcf1c5c",
      "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 97 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.9959, 0.1566, 1.9995, 1.8969, -1.3239, -0.4053, -1.47, 0.9946]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.9959 right_x=0.3964 right_y=0.1367 right_z=0.1569 right_yaw=1.5652 right_pitch=-0.568 right_roll=-0.1252 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -3.1795, 6.2427, 1.0916, -0.1978, -0.0415, -0.0122, -0.2256, -12.5744, 7.5829, 0.3932, -0.3541, -0.0611, -0.0855]\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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.1955, 2.212, 1.7466, -0.9653, -0.3969, -1.4406, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.9959 right_x=0.4335 right_y=0.1591 right_z=0.0367 right_yaw=1.5856 right_pitch=-0.5751 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.412, 6.5573, 1.072, -0.1343, -0.0513, -0.0171, -0.6085, -10.7009, 7.2, 0.3785, -0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.1951, 2.2364, 1.7485, -0.9695, -0.3969, -1.4403, 0.408]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1025 left_pitch=-0.4708 left_roll=0.0921 left_gripper=0.9959 right_x=0.4312 right_y=0.1585 right_z=0.0265 right_yaw=1.6021 right_pitch=-0.5797 right_roll=-0.0762 right_gripper=0.408\nstate[joint_eff]: [-0.0205, -3.2068, 6.2291, 1.0476, -0.2076, -0.0659, -0.0073, -0.2667, -14.188, 5.7504, 0.5495, -0.2466, -0.0024, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2bb6dca0e464128132774f57654e023e2b2caf255f05c2ece26d915dcd1660f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f2e2e7af28d8987ae8b58a06490dd4e5e2f95f20f905cdde40995815a95d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb4b999b636cb3d57f3633cd53e116ba74b1fece4ccd16fc4b8b0eaedcf1c5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq7qyp-dtXRrspur3WKF-6qzeGMHvMh9B4DEpY1f8b7qrKplyypv7VaaeTYA0HbkxE01bHB8u8qiOWC1QFoV23Flguh0eJEKB5UvmKOPgEz6oxoDnSPZa_ATGUxXvP_JgvKH7QvobDu2zjD1fbFkgZRlgiCgRrn_X8BS5rB2uclX2LL9lrUI2KYRpSWpkTH5VcTwck-Cg2i2ItNv5OjIMxXiLrGtlrPSIGg6xwNmciFrXdigDdXBPvuDz-WtQjog6aF0HK-35pHCbVIx68lrLesnDY6W29jqWcdtPXiHpipTuqsnhxZ5M1B2JyYQxwGE3A1jM17X2zu5m6qRzj1kl90rihEgaLGQW-0L2loytcmGjHpBurGHQjI8nPeAqBPlBY6r7sJ6ZxyUCXURMtkmCf56QQl_kRNywT5xqhXZUjvXdPFTefD4O7_5TPjpRAtwMLQl7DxbnvWdJvgZ5Pnk38jAJduv1qfqs_kSHBAAG09JcsD5ZVbyPUWLVaKukAqabreyK4RnqZs1QJYlIK8-2cJ5g7-mN6IBiE2qfzgFeV2r4RbbDGjOCLJUOHngIfK7pfZ3tOBbnuCdpkLlkdzltFQFgz5jcs-ijamdpFANxCsmKWNrendB0vdVimshLc0fN4acy7VgdO4znvxj4ModmE_U7rw2s7lJtgim2sbGSfccJepa3CaeMDpY2mNlLmUFYiXiSBc2Lz31u3MznvvX_pJ-zSwRUzmy_QRYBqy8nxs6RVcxiWc70vIJh_C9QRcd-V8VROjHjbFdl_cPxxs2uczIH8rWaFjcBA7FHLsbHrNJ_gCNRYqg7VGX6BP8-OBpI4trvsQRio5kahWABeraCvrax66UqJLj35othwDVwmTf-DCto0vzoWt98IF0j2Kotw19wuzmgLHolwj7bPDG5aWZ2-BDqMlUe-sDf_9E0_dlb3w07gO3LHQAwadBqsRg4oaZNz0TcqNKJd70GP7hnfmUVReq06_PJnBega29rJ5IyxNSoRzRJqFH9Sq--FzBwtzrbr9WAt9bia3UPOEgLeMtf2cfV1Fz-Rv1x-n0b2ILpQ-KDaLGOI7y5vsb9L8IMY2QRze9h1lBSOVcbCRD4bftPz2Ue4xrquUdd1oYzNRMTd-HfHpUeIAJHQGEdrdy1LViPZV7H735d7YWEy_U7WrUgky79R-0uRADE5K6MedGy8xub07Ve6EFtivEed0k8iucNZIW2N_5onb6m2ufok3SWZHd7QaGUnwF0lKKYkkaO2VP2ECZEfvnJBShc3tvWOL5UwpviyYWiV6KA6QNiy93v6gxqy87iToVOPJQNUxOioVNKVFBYw2fbjIlGty_V312aQ9Rj-R2KfKuJY8-DYt0e3YfAJH91VWmWP9ZYNQP8J8jTvVGZPt2ez6byUR6MAfL7mnDDkN89otVfh0bo9M4f44gMrry4WN07k-7avWtwY4z_Fn8I3eWUNxtKfGUfweL4_1_7LwiNq9FEMxp76rQrWrhbMZBhsSIRPTTpoK9CpA-_1yLJTc2FyM6QxzRXieI0ii_P7ehOv7y2PXBW6Lpd_6dXDt-ZV82yMfnsPfPOTw7B5yO-rAZwk-UvJN_rqEa2RHKKHfSyzQVCYBD2XtiSJS-E-pvxaMQx3yUEN0--CM7BKrGBeFJnLjECKzMG1z2CS_D3FekBFS5jn-dAFufxIahx3mSQ6nDvMm-cs7c7zxUzWDZCNKqqC820OuUXVbH7ypDr0gU0OXHJVfSSWj2eV_odRguzE6Ybbdv42Wmz-5uM36Xe32g0_eJOADoYNHpecrGRwo66ZCdpco6uVMBZDj1bVO5jF3gChY-Kppm-M1L6DoDuvtSb21cKiBHFlHmsaqTUsfnQdLIGG28jLT15Kdf4E9HwnNnyXDHKChtVOW7rK-yvoxCMrf82Gemq4XMio4QwsO4FwlWmsVrW2mTA==",
  "id": "rs_0fca5b6a6851887c016ab41ab85a3887d0bc59a311bf10a792",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":0.18},\"note\":\"The right gripper stopped about 3.9 cm open around the yellow object, indicating a solid grasp. I’ll lift it clear of the table and verify that it follows.\"}",
  "call_id": "call_0fDYA7LCzO9tkR960cCvk04J",
  "id": "fc_0fca5b6a6851887c016ab41aba441c87d0a7ea0af179de6c08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0fDYA7LCzO9tkR960cCvk04J",
  "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]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.1852, 2.2192, 2.2951, -1.494, -0.3855, -1.4593, 0.4097]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.4339 right_y=0.1525 right_z=0.1699 right_yaw=1.5764 right_pitch=-0.5852 right_roll=-0.1339 right_gripper=0.4097\nstate[joint_eff]: [-0.294, -3.2205, 6.2291, 1.0525, -0.1734, -0.0562, -0.0073, -0.5538, -11.5761, 6.8444, 0.4322, -0.3785, -0.0073, 0.4567]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996bc135057bda62765b8f3685464e80649df18b05ccd3090f5206ee2a6ed9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408094ece75b11a7bcedc02d5d492fb4ce292bbd42bb3bec31ba28ea998e09b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9f72f1c9f880fd7b9912592a1d1aefff24a7945e14fca6040332a31339632c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.153, 1.1584, -1.1084, -0.2581, -0.3233, 0.996, 0.1982, 2.1109, 1.6329, -0.9615, -0.4004, -1.4361, 0.9953]\nstate[eef_state]: left_x=0.2679 left_y=-0.038 left_z=0.1997 left_yaw=0.1022 left_pitch=-0.4682 left_roll=0.0913 left_gripper=0.996 right_x=0.4085 right_y=0.1559 right_z=0.0484 right_yaw=1.5917 right_pitch=-0.5731 right_roll=-0.0945 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -3.1795, 6.2291, 1.0525, -0.1978, -0.0611, -0.0073, 0.6222, -9.894, 6.0376, 0.5397, -0.2906, 0.1099, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.1951, 2.2364, 1.7485, -0.9695, -0.3969, -1.4403, 0.408]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1025 left_pitch=-0.4708 left_roll=0.0921 left_gripper=0.9959 right_x=0.4312 right_y=0.1585 right_z=0.0265 right_yaw=1.6021 right_pitch=-0.5797 right_roll=-0.0762 right_gripper=0.408\nstate[joint_eff]: [-0.0205, -3.2068, 6.2291, 1.0476, -0.2076, -0.0659, -0.0073, -0.2667, -14.188, 5.7504, 0.5495, -0.2466, -0.0024, 0.9353]",
      "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]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.1852, 2.2192, 2.2951, -1.494, -0.3855, -1.4593, 0.4097]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.4339 right_y=0.1525 right_z=0.1699 right_yaw=1.5764 right_pitch=-0.5852 right_roll=-0.1339 right_gripper=0.4097\nstate[joint_eff]: [-0.294, -3.2205, 6.2291, 1.0525, -0.1734, -0.0562, -0.0073, -0.5538, -11.5761, 6.8444, 0.4322, -0.3785, -0.0073, 0.4567]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996bc135057bda62765b8f3685464e80649df18b05ccd3090f5206ee2a6ed9a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408094ece75b11a7bcedc02d5d492fb4ce292bbd42bb3bec31ba28ea998e09b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9f72f1c9f880fd7b9912592a1d1aefff24a7945e14fca6040332a31339632c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq_j7PF7zAiQO5nx8TQx9grYiLsuM9B8YkaduueX_iJkbTCUA8_AdUM1wVIrPvACuzCQfN1dBaLS6GKfWtN7pKBoep9uJWqDEjNLedmi3THSC2GjHoW88eUYSYQRz7ll6TXr7ItbBLBkQbHpvbu8iB20Bs2kEYtibFPGR-bhyhThfQJG8SeYI3To83vCh2QkeDMz4HpVMKya8GC2zKN5tmU9I29BQnlXTnu9OuqR0mvYAKTDQITfoj4abOntGHYBIcWH-JEeWXajOEYbXSf0W96GT9O0ZnC0nU3TFTQQ41GIe1W7BA3ktLzpmFIOhrNqXuvj7emR6QbopHS4zlimVhYGtCcS1h2lJD3O8HnWHMKugavPNR3dKOKjiZdDxqyeW6Yr0YsDUKuYQoddcAcDWsddqzhX7JtnjVtlkxddkydZFzZT9yEgrG0otJnBzMByXSRWGa-5KFkxZBZBm-AMqDGFZLBvDltnUzXCMi0wR_jYayX69EHS_Of6BHEVj0kdh3_n_Wdsfjc8JBBP61DunoH0lL172IUbRJ-7mnA-gTxugZivnDOFKdyeDUSho_vaikfoMh66RBXCdknNlg3E9o0hyxknXO76_sSDYbxVmJmJtCco78Tum5zNCp7NJDDr9LzwtbPMAxv6yHmDe8Gru1qVpqSqW32l5CMP6qyhd8gDZPuQgFP4bdpCd0eiuy4kb0b7zavteNbH5ISoJ73oGjc7EGpDF4wXNUGfai-8DUrQZL-XRL3F8m5bRmfgvoT0TwjIUbEFyaT7BQGauINydVTVGMhsVEWknAlaVzB0u0y_fW07UIBktrxAxdDARuxPGhNiQqpTo25hjFtbu8-oLYqcIcwtvQgp_FR_vAs1TZU8ssMOOUK2i2eXQVRNSGDOnUYM9oHU9dXm9dJO0yk53OcrPQOrlCtLYpAa_hjMGiNcp98tL4WBYjbNN1yZjMCQlYL_Mi7DePt6mEqUqaG0OSM0W55c-MlJw0h1PMylL9-F1iM1SZlqagNAIj0M-Wv1qgKWgYD4mQq3e0kLhrWURBzrQKBajILX3dRGk1E3OSIxSWjqCeorSXAHvymF_byvO8oosSzlsM_86nY83OKkNFZ-ZWqesuHoF0LoECqQI2HJi-AbxI0O12mRwxAEhM6FC3MPJW6or3EYn3cQ4STZboftBHHRgQh25oKZI0vQl35wYIUKftdhpr6hAB8X2r_O6Uwyx71VvMz31zfrCl6e6v-OB-DkjXLsQJEsEer77MzFICw2wNzlytw_Brt3rTNB9qFLqtND1M19oOaly3Dkp7aEv6ikHc6xhY5FsxzB5bkhI73ik--WcAw-ztudEr696N-_mMjK9MpVRWEClOtrVWaADWqbm7TCNO2AEhwDQrWPezZoBRwcshG-YtgUVdgXRsoijsbKcAg3YZwgBg7Qg7YJGBIKLCcWi8kv93N5UIyAC_IUZTLVOGY9PGPA4ejF7tjh2w0bfIh7v_GnwSkIf67-Ru4Z89daeF2lP-ETCL6DOtCAGSMFMTx2rOetEP583ah9oJy8DyVVj8aUyYbGFt7t8dU0PsVL8dB51bjieRXBhjrMpsbEr9ad32UAyh0mzytS5tR5aYPz3dkyCJHiG7-_SC8kyIFf6zCam9SSmCABowMEwz25Yz9MvKVW28XAvXVcyywOuKfr3B1xXrYYT0XNg==",
  "id": "rs_0fca5b6a6851887c016ab41abdbc9487d0ba4e4e3958d8041d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.22},\"note\":\"The yellow object rose with the right gripper. I’ll carry it above the right half of the safe’s opening, keeping clear of the rim and the white toy already inside.\"}",
  "call_id": "call_yzsN5rpP4y6b412GU3SvFUVf",
  "id": "fc_0fca5b6a6851887c016ab41abe90a887d09feefed54ed2df6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yzsN5rpP4y6b412GU3SvFUVf",
  "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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6064, 2.3444, 2.6415, -1.5803, -0.2871, -1.0561, 0.4091]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.3713 right_y=0.3227 right_z=0.2005 right_yaw=1.6021 right_pitch=-0.5958 right_roll=-0.1392 right_gripper=0.4091\nstate[joint_eff]: [-0.0479, -3.1932, 6.2701, 1.072, -0.1685, -0.0611, -0.0171, 0.1846, -10.5778, 7.7607, 0.8327, -0.2173, 0.1148, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545efed6be93ef1979c1f9590699d1b86175989d98fd8eff88dee1510e10cba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276656b2ff22567859d6a508f8671e009bddbab27df8486627c42953e1b698e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471a5306d56394767f2956740bbf4f15cd77ddd7f70231e9e559e931a5915a8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.1955, 2.212, 1.7466, -0.9653, -0.3969, -1.4406, 0.9954]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.9959 right_x=0.4335 right_y=0.1591 right_z=0.0367 right_yaw=1.5856 right_pitch=-0.5751 right_roll=-0.1077 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.412, 6.5573, 1.072, -0.1343, -0.0513, -0.0171, -0.6085, -10.7009, 7.2, 0.3785, -0.2906, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.1852, 2.2192, 2.2951, -1.494, -0.3855, -1.4593, 0.4097]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.4339 right_y=0.1525 right_z=0.1699 right_yaw=1.5764 right_pitch=-0.5852 right_roll=-0.1339 right_gripper=0.4097\nstate[joint_eff]: [-0.294, -3.2205, 6.2291, 1.0525, -0.1734, -0.0562, -0.0073, -0.5538, -11.5761, 6.8444, 0.4322, -0.3785, -0.0073, 0.4567]\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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6064, 2.3444, 2.6415, -1.5803, -0.2871, -1.0561, 0.4091]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.3713 right_y=0.3227 right_z=0.2005 right_yaw=1.6021 right_pitch=-0.5958 right_roll=-0.1392 right_gripper=0.4091\nstate[joint_eff]: [-0.0479, -3.1932, 6.2701, 1.072, -0.1685, -0.0611, -0.0171, 0.1846, -10.5778, 7.7607, 0.8327, -0.2173, 0.1148, 0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545efed6be93ef1979c1f9590699d1b86175989d98fd8eff88dee1510e10cba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276656b2ff22567859d6a508f8671e009bddbab27df8486627c42953e1b698e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471a5306d56394767f2956740bbf4f15cd77ddd7f70231e9e559e931a5915a8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrJEj30yxziyWw3_k3j7cem7luIP4fpbZod4LwklkFB9BNeboQInthlpG6c1Plz_Tdp63WKAUNesiaXtEeuLFPK2iDHC1YLhe-sPC4nEgvRD04o7dgeSLSKztgzjxeqc7gPfh9kQ-uknK5UoNlnX4oIl0SuPxfj8tsAFSNQSC4GoyuANCA_RwLQc3MyZ8ezkpKLW3zzFufXtfk9SM5GoIldXNqx_sdembujgRF2qjmoonGI8Aat1JKp_4LAkCiz2uwbghVPYpfSs9Tg8WkemQGXiIKeWKgiqQvBxvMM01m7OhZ_bNwXc-xfGl69TOzSvrOcU_YH94oFCrN_eKlFMX0CADDMKtwWfirN7hzlUzKkYkcKHAOBDnKNA922NGvGjb6BBiQDFZkeW-KP7SCj5EmnagA7T-u9SA1BssMb8MS_L4yjbmbxkDF6CJSGPeOxp3OV75rzr8JDOKahksapjBLZapSecyuBMTGIOmGCCZbPLWgVtlOPi81GiHHLj7jpXm59eygOEFGZRhDxY6qX7sp3sBkauhMBMgIJnm_YK2wOFp2YrqMyCMNIwUCdCC5QsnstYVHgsKjEFEBJQYsPzJuXaNoH4_o6cdWz4J7wKign5cvGtN6Ph7CeCAzcNjqLdZ9I8-Wm9HXjOYNBqdPovfe-3HwKay-Cbv-tz5FW98sUW51kmS4QZUlibWZwLUZn9QKjkjGkbKlqoQkyqI1C36oJ_vyIQShWYMfCzqN9R9IiqQcBcUYU4ARtzbNHaiO2Brpt_nYrvxdZTlFNXQyB9JQ8P_1SC7823jsf9Ocn0MZnZygcFae5jTiwI3hZz9PBsl33jrXeHTQkX9mnFBd-uvqsPrAJkzuUxquCY1muprvtxOJ91XwPWg1x-m5bR2swYUIvoGWo0a_jg-eW-tJNt6KaynZl3i866BneHs0sJTYDVMGYfqQWyrRfTBnh1LkQs4JhCqk1PTS5HB0KgV4WYX-E7ug9Ugtp080iHyKBBfkPPvV-HE6Ksi2h0QAZBcN9_hSZKBMh9L2XMR47_OcjP5hw9_R60y2XSIjJO_3Se9dN7x914nOLFs7JWKHm6Q20dzoov6tIG39BnHu9pV7T3d0HghJgSRjvM7iZ3PHMHC_KXdqRtQIhv02NyikwuJ3D7p3oLkkdXyYdnOO9eWJGDb8PHTnlrS91iQDV3qJ9qb8Vyly7Bb6CcS2G6KgcK5FposcySqbK0_6omAkL6AAXIqPzYkUqoWMeQ3yoa5aiyNbQ-rrJGwrsak4taxmzwfE4vC6y9cEazUFligtgVZwJrbCTIYi_Dc-RpwvtU_LXPG7KxIow6CdbWeaKBNXLo5biZGyfBv8oGelOlM2sy3IFLNS9BBohAkv5gvb0PcR5pzjpuIMoAsLZMU6kuhZ-IMB6Krhdg-b6ODwt-SrNIDnsBpdeOwfXTgn8z46bqkPFlDl5h6ubJTjZZeU2c-J4IvdMCEd1c8jLG9DS9paCbVWusBcGtm8CofXa82iLqi0Y6wUiF026eJIJ1x0s6XsBKHaqAs38IXZOo9sunc4N_6LSXVz1TbE5nxWYlcTE_LxLBDfElodbY6TF6x7OYTuGjogU39UwiryylmcYuyezbe5p6r9V27hyMx26mrz42z5DtN_RvjaPZlU1Y0YlBIiO8CzVMZ0btWqn755s3YNxBYy9vlCB3r7TKOrxMNmRC0JXh3yudZDJsR2AD5UsdgG6AuFT78pUkIMoz8xGg3fef4iuQ4OCnPdtgpTKGyqhhQsqAx2ByalexYPF1qKpu52UIqjGGR7lD7-vMTNWRmHaNZnInldCaMQ3pOQnw8_cmDsx8KqYpZ6bRhmtCo32RAuLjfDJNL_rwfkVlsZu9DjeyD9L9brPvA==",
  "id": "rs_0fca5b6a6851887c016ab41ac3964c87d0884225604ec4fa7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.345,\"right_z\":0.065},\"note\":\"The yellow object is above open red floor beside the white toy. I’ll lower it into that free space, staying slightly to the right of the white toy.\"}",
  "call_id": "call_M8bEDLosN5x6ScNjMJCdV6Xr",
  "id": "fc_0fca5b6a6851887c016ab41ac7c46887d0a6d93bb4ecc23691",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M8bEDLosN5x6ScNjMJCdV6Xr",
  "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]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6239, 2.2719, 1.9884, -1.05, -0.2802, -1.0428, 0.4116]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.374 right_y=0.3338 right_z=0.0699 right_yaw=1.6362 right_pitch=-0.6276 right_roll=-0.0857 right_gripper=0.4116\nstate[joint_eff]: [-0.3624, -3.1932, 6.3385, 1.0476, -0.188, -0.0659, -0.0171, 0.6359, -11.5487, 6.3248, 0.9744, -0.2418, 0.0562, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719f1c79d65160a057263d682aa4bd53cc89ec7419b3b7de926c48f7b5cf099f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd66397723c6060148a9245e0fd6205352fc8fd533206b32684ce98908e907b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8ade390a1c51d15f20081ff21ffc56688b4606cee30c2763715ce81f5796e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.1951, 2.2364, 1.7485, -0.9695, -0.3969, -1.4403, 0.408]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1025 left_pitch=-0.4708 left_roll=0.0921 left_gripper=0.9959 right_x=0.4312 right_y=0.1585 right_z=0.0265 right_yaw=1.6021 right_pitch=-0.5797 right_roll=-0.0762 right_gripper=0.408\nstate[joint_eff]: [-0.0205, -3.2068, 6.2291, 1.0476, -0.2076, -0.0659, -0.0073, -0.2667, -14.188, 5.7504, 0.5495, -0.2466, -0.0024, 0.9353]",
      "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]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6064, 2.3444, 2.6415, -1.5803, -0.2871, -1.0561, 0.4091]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.3713 right_y=0.3227 right_z=0.2005 right_yaw=1.6021 right_pitch=-0.5958 right_roll=-0.1392 right_gripper=0.4091\nstate[joint_eff]: [-0.0479, -3.1932, 6.2701, 1.072, -0.1685, -0.0611, -0.0171, 0.1846, -10.5778, 7.7607, 0.8327, -0.2173, 0.1148, 0.3101]",
      "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]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6239, 2.2719, 1.9884, -1.05, -0.2802, -1.0428, 0.4116]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.374 right_y=0.3338 right_z=0.0699 right_yaw=1.6362 right_pitch=-0.6276 right_roll=-0.0857 right_gripper=0.4116\nstate[joint_eff]: [-0.3624, -3.1932, 6.3385, 1.0476, -0.188, -0.0659, -0.0171, 0.6359, -11.5487, 6.3248, 0.9744, -0.2418, 0.0562, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719f1c79d65160a057263d682aa4bd53cc89ec7419b3b7de926c48f7b5cf099f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd66397723c6060148a9245e0fd6205352fc8fd533206b32684ce98908e907b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8ade390a1c51d15f20081ff21ffc56688b4606cee30c2763715ce81f5796e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrOjWVRjnalJsQpYrNP23rU621LdUkrt863xQXA6p6EAlD2COQkudWpp2k98Nnvlyn_R8ZbXHa-zsZ2sc2mKY-dHRb7_3R4GeK2viOZwt95Sxaggx0y5f41Ng3H28fCqJEBWI73STQtNKZ__h3gc5xCPE--GtdQtbOAe7k7Mg8ux1v0AxsmPiD8a8vdAMq9mfmr8DjeQHwpHQEoIDLvf1FQwwLslxiKAZWqTwXDlNkhUNcW-05ON4AyOS-lnw6Zv5mj-0jnnTfA5dj4ecIz1sg56ln2n-dFtzyg5yfgxNu4A5ThNDZChmftITKZ_-cWnbrilSZbOwmmBiO5DdpaRjRssXRDFYk00sOaEj9c7BYiJdQYnRDd6is3Yifpz1PAQXyw4E9zALMMd2UmUqF3Z9ldX9MUK_y49CKLnz0UBFFp7qAUEnZUYaJDxQ1fJfIuidUhB2wH2I4qzJtCn4zHi9xAaeC_MuW8KikQZNAcm4ethlCEBkyxsNszVwvaH9ZB7cbNuVVO0_aZBvlvyTOVpJnfuuEMeSWf2iDTEAZX-xS65HAe6d1WSKa5fBu1uWcZ2ZS6hnHshkNbviKyxlEsTYx4COUheLPh8Gtu5kMCjRrdsPK4pCgTYoff92k4OqGPZjAS_eS6CQQ6n5bIHdfmTaz-u97324MCLa15mk_SsWifTepM1LsyBCOYgmMhftpXQuirmapphFT-HH_baqd3JEZtpdVQOA9HuS07L6Uq8IfyaaeqCdfdCEp631ILWvfzw1uFFx_R65qQ-pmqex6rO5A7Cm9MZ_WYLjedKoXFc-96jz7kCnt_ARoOArgf9Z0-U7UihVNKeS3C_w_R4TUwnGiXjEUktL4UVeS8U11yGjr8v0Y0Lof7VXUZ2FzM0V9fH3OzGCBz9YmYnGzVpFuUjGFY1s4PJ42y56rAZC1RqgWs3eU8yXSkkJevcE2Ho30253rsgrV3bbJBSaHSYEeiIyFMt-5B9cVDzBfyYmeFEhKSyAhSr_KAeuhgDJMJaMK3wRGw0B6qcgscTioskSnHb3MOeKO4gsfkMw2AtFtI51Qn33i0kDdMQCIgkAHjcT20_WnbAehHonio5eRE7Yi6TV3oxJJl0LJzA5wAlOQHk8cOhH6sc9gtYmhw0rw7dzYY-cELSYS9M-2agcaBPGgr1vF7aJFJkOdDYdkIRXYkbaypnKv2uTJK-RQdplXGQRWMcwwPaAOgluytH42ObxXUQZKzue9iAWIDQm64gdjQOLastRvC8fGq1oZiFWblGJhTEE1s2LvXGNpg4z4SnB8nca2f0zy_N_B1K42JAY4iKJf_KIhwYysJhzqWZo4b9uLJWAd46SyJYXoJMbVxErISB-REAJLEp3kygqB6SfaAE0zGuzhemwKpD-J9_1JQ3mIR5JrJmQ5FdAbWhZqZz2-Qpow6-J5xj5rLoxVfrL_83LR2CjvczhwfPSrF1i-C_ArVOy_k",
  "id": "rs_0fca5b6a6851887c016ab41acccc0887d0b91bc241714079f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object has been lowered into the safe alongside the white toy, and the gripper load rose as it settled. I’ll release it and withdraw to verify that it stays inside.\"}",
  "call_id": "call_8MvlfO3o8Sn1QZCZBGYx2FtD",
  "id": "fc_0fca5b6a6851887c016ab41acd52c887d0a46c2948d76c5a52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8MvlfO3o8Sn1QZCZBGYx2FtD",
  "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]: [-0.3218, 1.1564, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.6178, 2.2749, 1.9572, -1.0149, -0.2893, -1.047, 0.9944]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1989 left_yaw=0.1024 left_pitch=-0.4715 left_roll=0.0927 left_gripper=0.9959 right_x=0.3753 right_y=0.3329 right_z=0.0612 right_yaw=1.638 right_pitch=-0.6199 right_roll=-0.0825 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -3.2342, 6.4342, 1.0525, -0.1685, -0.0366, -0.0171, -0.4444, -14.0923, 5.9419, 0.6862, -0.3248, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3e07d6aeb3980fd83d70bda969f87ce8a90b6f645b20ddd5b84d9c0f05765c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687f00931be1690788b0c193cfd626eb6517479478ae1e1e6c8f64ba13997792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebe692f4e4f0a1f8b5b6e6388f05785a9cb94d691bd5e3d0b5aa77c7f006432",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.1852, 2.2192, 2.2951, -1.494, -0.3855, -1.4593, 0.4097]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.4339 right_y=0.1525 right_z=0.1699 right_yaw=1.5764 right_pitch=-0.5852 right_roll=-0.1339 right_gripper=0.4097\nstate[joint_eff]: [-0.294, -3.2205, 6.2291, 1.0525, -0.1734, -0.0562, -0.0073, -0.5538, -11.5761, 6.8444, 0.4322, -0.3785, -0.0073, 0.4567]\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]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6239, 2.2719, 1.9884, -1.05, -0.2802, -1.0428, 0.4116]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.374 right_y=0.3338 right_z=0.0699 right_yaw=1.6362 right_pitch=-0.6276 right_roll=-0.0857 right_gripper=0.4116\nstate[joint_eff]: [-0.3624, -3.1932, 6.3385, 1.0476, -0.188, -0.0659, -0.0171, 0.6359, -11.5487, 6.3248, 0.9744, -0.2418, 0.0562, 0.6227]\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]: [-0.3218, 1.1564, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.6178, 2.2749, 1.9572, -1.0149, -0.2893, -1.047, 0.9944]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1989 left_yaw=0.1024 left_pitch=-0.4715 left_roll=0.0927 left_gripper=0.9959 right_x=0.3753 right_y=0.3329 right_z=0.0612 right_yaw=1.638 right_pitch=-0.6199 right_roll=-0.0825 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -3.2342, 6.4342, 1.0525, -0.1685, -0.0366, -0.0171, -0.4444, -14.0923, 5.9419, 0.6862, -0.3248, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3e07d6aeb3980fd83d70bda969f87ce8a90b6f645b20ddd5b84d9c0f05765c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687f00931be1690788b0c193cfd626eb6517479478ae1e1e6c8f64ba13997792",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebe692f4e4f0a1f8b5b6e6388f05785a9cb94d691bd5e3d0b5aa77c7f006432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrRSdt9ezRNjBul5kiFMU7aFzWVtUjWHKqprG_kIXKjzi-XXbN9IpnQfciUzn2jk5jgTxLvKIVvNL-4SYaliIv_nC3kFG6M7Bdz1Wk-QReF7eQ1Cq-fEvRRlUL9ZufzHq2L14vmbjj2aNkV0D2oIAXWl9-nkmgzzU2udkKy6hqY-xja4x2jgD69-1YysXPuSREylLGx0y0-zfNxklwp6k_ftAiMERy0e9APsNPFvyMoX3oSkcoOpWk-Ru-y7wxACxWllnZSitIBs2SsXyzuT_HPSFe8JGNGpFNFh5pn-klaPSWm0lP3AuLVoEZLypN8s0tg4M4gbQWMuFiAAekW4UF8qlzP1tAg6T9cHwSt2n-XzD6efy3T7clp8hHSJSA3Uxa6HEaNn2rO6tZsI0ceykK1fjjE-Wr2mQ-oN4cyxNpQQymC9XIS5s_zyH48KOFdV_f0GqLv3o6PEh8CGcYlxZCMB8Bxb-SZS6UqSUJKu-QFVVHdt-o47JoajUDSNxEqpEdmL0WO02_vhh-ofxrPJQ9JmsIjYtEXVFdUlP6ElhDKsX9Z4TV9sapBC6i7rcxfc_GzVtbS8rOlAB2MzlbgSu1GFZdxILbaRyEPhlaCgDbBjFdzzyVBfCN-iNXbXv5vJwGXFz9j1SstcoxdbcIpRFP-grn0Ydjkmvw9xCE5ZhWLN9EBCMWR6rWwPMY4uC_zbYDUh7YF70ua6e0tSQBIG1hdwBzQQI8wDehTWIeyx64AJdis7kmX6q2QZIgJeOf7KhzCLvBzeRyKX62eUu9IqIwuCoo4oQbcU5gCFDL7XulMig7xiSCv50t0HJJk_pFlFpKnknz2ZuR6m27VcomTbWmp1o_fPUv2UhsTAK_hzU4Bt5TZfnM-fQnBK03Iq9XLbupRxcCcrsMkyNTY990KBL5JYoboQn18HvLN7wQIPkX9Km6PgkWpUPZHIVLdgp9NC0Qdgc7TnrK2g98OsIyzr6sYuEIBcWz4sXCzWe0lDNGVsErhTmS2-_Y4ZEowB2kZfosn-4uYF3dHHv4tIIrwljneYcFL6izAcOlq8c4X5NR5be68klBBiGxLI7MLyekKDKC1KniDvI4rRkVs73feQE4gavWBrcRDWiq5jGvKOfL6719_HGxk7hR7h2aGAmSSODSjY3ISz-fHHRCvf4-FBYmohPVjvkzMe-I5EITaJzmwBB__A_61rImRCSSnulr8qff5nGZ9awUCjTUjWXX_7aqUw6amvhPOhA4UByV8_MBn5voGqm_IfcCX7QbmQ3cUnvv6Fb9S4pEscyrC4hGezo9d3mN_wzSj6B_kb2UH5vALQCnBpfYTDzc0N2lseWFyaFaG",
  "id": "rs_0fca5b6a6851887c016ab41ad063ec87d0906baa01877c6161",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.045,\"right_z\":0.22,\"right_yaw\":0},\"note\":\"The right jaws are fully open; the yellow and white objects still appear within the compartment from the wrist view. I’ll withdraw the right arm so I can inspect both placements and reach the remaining brown object.\"}",
  "call_id": "call_e4qtJRo5odZCAiLemMzVzP3f",
  "id": "fc_0fca5b6a6851887c016ab41ad0b8d487d08b7f82ac31a17f45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e4qtJRo5odZCAiLemMzVzP3f",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.3222, 1.1568, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.2283, 1.3788, 1.3949, -1.2617, 0.0994, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2681 left_y=-0.0383 left_z=0.1988 left_yaw=0.1023 left_pitch=-0.4718 left_roll=0.0927 left_gripper=0.9959 right_x=0.2877 right_y=0.0525 right_z=0.2022 right_yaw=0.0748 right_pitch=-0.6545 right_roll=-0.0936 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -3.0974, 6.3932, 1.0525, -0.1538, -0.0611, -0.0073, -0.2803, -6.3248, 8.841, 1.1551, 0.188, 0.2076, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1116080bcf2af49f6952662c867ca001f49ee822f76170ee1053f0ef8bf301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a2273d44d12acfb7e50e498842f54b683740dc4151353e574617f92e28003e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794eacda59bb7f4fab5c6a6057ce28d0885912a8fbcb231790c3d940948699d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6064, 2.3444, 2.6415, -1.5803, -0.2871, -1.0561, 0.4091]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1991 left_yaw=0.1022 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.3713 right_y=0.3227 right_z=0.2005 right_yaw=1.6021 right_pitch=-0.5958 right_roll=-0.1392 right_gripper=0.4091\nstate[joint_eff]: [-0.0479, -3.1932, 6.2701, 1.072, -0.1685, -0.0611, -0.0171, 0.1846, -10.5778, 7.7607, 0.8327, -0.2173, 0.1148, 0.3101]",
      "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]: [-0.3218, 1.1564, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.6178, 2.2749, 1.9572, -1.0149, -0.2893, -1.047, 0.9944]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1989 left_yaw=0.1024 left_pitch=-0.4715 left_roll=0.0927 left_gripper=0.9959 right_x=0.3753 right_y=0.3329 right_z=0.0612 right_yaw=1.638 right_pitch=-0.6199 right_roll=-0.0825 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -3.2342, 6.4342, 1.0525, -0.1685, -0.0366, -0.0171, -0.4444, -14.0923, 5.9419, 0.6862, -0.3248, -0.0269, -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]: [-0.3222, 1.1568, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.2283, 1.3788, 1.3949, -1.2617, 0.0994, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2681 left_y=-0.0383 left_z=0.1988 left_yaw=0.1023 left_pitch=-0.4718 left_roll=0.0927 left_gripper=0.9959 right_x=0.2877 right_y=0.0525 right_z=0.2022 right_yaw=0.0748 right_pitch=-0.6545 right_roll=-0.0936 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -3.0974, 6.3932, 1.0525, -0.1538, -0.0611, -0.0073, -0.2803, -6.3248, 8.841, 1.1551, 0.188, 0.2076, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1116080bcf2af49f6952662c867ca001f49ee822f76170ee1053f0ef8bf301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a2273d44d12acfb7e50e498842f54b683740dc4151353e574617f92e28003e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794eacda59bb7f4fab5c6a6057ce28d0885912a8fbcb231790c3d940948699d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrZOdDozmCBizLllEU8-95bLxNnEhxNarHk57zIeOsEXFbbATKyRyfG98vKFqogON0lbu6ImSntXcBbklhbvGgRw6uYsSRM-I3XajRjDt3ZgTsp6CSN3A75a-ZDJkDh0CtJhlwDFt8HFvm97qZqCRyDhzxzYiodAOgQek22F_YTXgjVnTYS0tJV3PO82R10sLUk-lDTb2GXu-yP-a9Nf2sWvpgbdcc_o2Bpt4GnIjRC1Qronl6pUbxefdDx-tvbizVRn0Bba39L03esfY55BWqrrc1BHZca7PEPJMawhn82EOiOT5-bEmK4D5OtCc8UvF8JN-GJVbtTDKBs9VCDihaoXMl7j2eStnqPMGaOzoGb2ViOTi6h7z-MDsnHkD25Y8qkukO_B9fJuse5hKZnwYqR_O-ZpdVIyMr4ULBn2u4Qv2qpnejxisXYwvgp3WFg-09ZyoffMXAzczubJtyZItbqFmlsQHTsMF-ekcwfOgj35g6msJdsQGPe89o4H5ILKZeN1WZ0oqcwnM8eS5pI_998_N94EozHEpLjkLE32pcGX4B8YdimPSk7BpR8b3TF0lRRc_y5NOQFcOL3Uk13tGfa3ttP4n_zgFVyA0O2K7np1la28jNVQ_AEpLVEKlpXWabL8M494lwNbYoZvrAOpMOoq4IJJ6EFDLlr2QlB0sRB491FV2f2Gh45nB2kOm8lL-VNmSyoV_Pi7bJKwax_ysL9q13iCeTfYuSBSm3uP6id1fqTHpUxshKBUfLTXrHvjzvkF3pFpX36cLcJaE3cLTt6NbNwDmtfMr57T68mXIjEtgt_yUlq0-2Mu94-FdtRl-t2BpIVGcZkqXjrMJxpVO-UQpjA-Vvo3yL4IJhBpObmGrp5OiPyJ_Nc5h5vItdV35Y8_WUUD5GlB_6L8P_kJCZOYDwMevDaZsCsvDLMT7WjVQBnC2XcUOygHr9jnz78Hqu6OiTjVd8ZYZ_Ydjm_ZwmyjPjV2ciOX9y_oxtH7ZUaNms1_utnuaGSBPPhcQPD6h9PrR0jBqzpE9YjLbOoHgmbs34K59UkilX0TStnzlqHoKzYugY2_lPitKONZubXSOhn2BG4RD9nOfYnC8RFpKLtPO3aA2crldYTcrfnoKIECrzj6rxHOMdw5h5CCQLJQ6uszguK4tCegwM90-k9sZBoGR1nxH17U_MQ9AINCayCQna4YQS_lkduGLAWOkJvmHM4ZoZqNIsebZ4tPN3nve178WFGFbVRAcwJJr3RL3j1Hccs08Eup0eG1kqJ8atx51UWMPBEws8pM7vYC-Haj6nOTNAtqpv0U8n9-_NOKSbc05XC4nRa7TOPQCrcfR51BjmvcdokUIigWTFGb1M_HP4Xsm1G8UyusLvtebL5DlYIUAeWBtJCt_z7M4IoyyddVUphtQ6DmxkNEBjNFdBSGT0d7RSgttH40Lzienme7wwMQciV5FFyAI1sbvYWLUuoWde_Fp-uu0KQM0NDMLpdy_94uSJAc3eIbp6metjekq1WrVMZH2a1OTaJW2bz9qVIEyUGiORSwV7EiRtLrmcnYQa2e6iSdYCyHePRGVE2Vy8k3m1jNGd49EEz_q5Qwdg0Kq9ZFPhfAVSjdAFEAY-JRbzhsK14bS9WCpdyCNConadC_ru-sMmaH028SVTShhfkc6boXkGVfr5uaumJRidmc-HC-fZXEuVu29EAvyEbp0szzp-tXMbbOMyEBpHWhKJuMg0uVf-6SyBLTSid6pRtYjqdRPxdyOMm6L9Kgz5_nRfEIxG65nGxTmidJOoZUgkdJ5nbPmVL2ZJ2h5NCgi9Tjkt8lHjzpWQfyzoG-7TUzeoXBrmATLL8F6lVkdR2-VmPpmv52ypg2yxRyZc-VkBOAx1cGKVpBrb-BmZWJegIAVtJwSgBQrxjKSfr0BSHxyEdKX-mMcTredl30Vv9vcTA4P-MSXeqO-AQQCVjsOfLS4Y1vLBqg-bUb9wpgAd8lXKBaVh2M84Rm6YYYO2pGkKqXlXC6K6dJ1yiGSlhpERmNcOZW6QBnlbm-Ku-Z2CNdG3i6kMGQt8HFNa7EyAXj68X6YdSWp5YdqQV9Fbl_EarHj6LWKZKhikoWoxpE9RedYSP9b6LceL592aMZIanr6_VK195B1slh7y10wHSCdto4JiuPKQId4Obh6GSwLiPmaNZIyQw3_SGiXN6QlpMwWFC7bI_WC3DpT6sWQScYcQU1ml9LiWHo63o4mGh5kMv55vHtBoa-vBmGP_v6EDAgywH9YrgITlL8-Cl1_Nde0lkSFeOHW68GFECn3JEAdEboDdpiurw4DscmEv7Zz2PnfTU_wNLUUo2zCqHv6HDm7KzsmEBHb0MC5FXiKVXis1GyMeoVinUEvqcGcxOagw3LJ3TuBBvJMFv1AKsjvMfCvjq8k4xvyoPAouaBiVXZ7rlZ_2LFFKsFCVZ7b2jIWW5xJzHWebFzei-xs0iDFobHLXBbmexUTM=",
  "id": "rs_0fca5b6a6851887c016ab41ad5ddb087d099b8bc0ddaa4a104",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":-0.245,\"left_z\":0.14},\"note\":\"The white and yellow objects remain in the open safe. The last brown plush lies in front of it; I’ll position the left gripper over its torso.\"}",
  "call_id": "call_T3hv2zvYlStliY26YShjrQXb",
  "id": "fc_0fca5b6a6851887c016ab41ad84e5887d08d1a6358bc739d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T3hv2zvYlStliY26YShjrQXb",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-1.1187, 1.6028, 1.2865, -1.1488, -0.4847, -1.1275, 0.9959, 0.2344, 1.3434, 1.3346, -1.2396, 0.1089, 0.0605, 0.9954]\nstate[eef_state]: left_x=0.2099 left_y=-0.2356 left_z=0.1318 left_yaw=0.1004 left_pitch=-0.5071 left_roll=0.1274 left_gripper=0.9959 right_x=0.2796 right_y=0.0507 right_z=0.1942 right_yaw=0.0749 right_pitch=-0.6561 right_roll=-0.1079 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -6.653, 8.3624, 0.5006, -0.5788, -0.022, -0.0073, -0.3761, -5.6957, 6.2427, 1.2088, 0.0366, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca237a590962d2023645d236d9e1e0b9e1f70c90d9d18f58e8ad14e1c522314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5234600110a8ab9ffacc7fc40edaabc3cf1c23da93c3b378bce0ebdf4c2c05d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8061a2b782232cf9a669e92c5c08f37f1b6e9b5cd1063456ebad304c8f6cda6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1557, 1.1584, -1.1084, -0.2577, -0.3229, 0.996, 0.6239, 2.2719, 1.9884, -1.05, -0.2802, -1.0428, 0.4116]\nstate[eef_state]: left_x=0.2681 left_y=-0.0382 left_z=0.1991 left_yaw=0.1019 left_pitch=-0.4708 left_roll=0.0924 left_gripper=0.996 right_x=0.374 right_y=0.3338 right_z=0.0699 right_yaw=1.6362 right_pitch=-0.6276 right_roll=-0.0857 right_gripper=0.4116\nstate[joint_eff]: [-0.3624, -3.1932, 6.3385, 1.0476, -0.188, -0.0659, -0.0171, 0.6359, -11.5487, 6.3248, 0.9744, -0.2418, 0.0562, 0.6227]\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]: [-0.3222, 1.1568, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.2283, 1.3788, 1.3949, -1.2617, 0.0994, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2681 left_y=-0.0383 left_z=0.1988 left_yaw=0.1023 left_pitch=-0.4718 left_roll=0.0927 left_gripper=0.9959 right_x=0.2877 right_y=0.0525 right_z=0.2022 right_yaw=0.0748 right_pitch=-0.6545 right_roll=-0.0936 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -3.0974, 6.3932, 1.0525, -0.1538, -0.0611, -0.0073, -0.2803, -6.3248, 8.841, 1.1551, 0.188, 0.2076, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1187, 1.6028, 1.2865, -1.1488, -0.4847, -1.1275, 0.9959, 0.2344, 1.3434, 1.3346, -1.2396, 0.1089, 0.0605, 0.9954]\nstate[eef_state]: left_x=0.2099 left_y=-0.2356 left_z=0.1318 left_yaw=0.1004 left_pitch=-0.5071 left_roll=0.1274 left_gripper=0.9959 right_x=0.2796 right_y=0.0507 right_z=0.1942 right_yaw=0.0749 right_pitch=-0.6561 right_roll=-0.1079 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -6.653, 8.3624, 0.5006, -0.5788, -0.022, -0.0073, -0.3761, -5.6957, 6.2427, 1.2088, 0.0366, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca237a590962d2023645d236d9e1e0b9e1f70c90d9d18f58e8ad14e1c522314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5234600110a8ab9ffacc7fc40edaabc3cf1c23da93c3b378bce0ebdf4c2c05d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8061a2b782232cf9a669e92c5c08f37f1b6e9b5cd1063456ebad304c8f6cda6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrj1QRaY8-F6Y-39sfDYLMrs4-0Qd2aOPolArVpqcWx7LniUgkOV1RH8HtpeT-pZbRf9J8IXGqQN00cPctlUf6XkphzuPXzObta4Lz4C7g_i_GI086LQzCnMN4Nb5m8_CxEReqgFLpThx-zMZBJ0x7N5SESzRAJbYIhR0eHi6Ut18nXJUHY-ys5d0r2nePh_odc4TfSkbZwo8IuCDdassPjQpWn1Rb5FedCvSGtwEDuCRJEJTQnuGdj-_buHqIEDyvBG1ubDfloWfRRfEbFYi5CGsN0AcJ_v-QsE_Qcegpg72sUD7NkxHErmDTqO6A8v-Hz47mw6_ZyEQ59jzY9S8jB9k0PD0m6wdn5dF3wC7oaOT3Yy_0pdWD-hyHvnoyDlfljaAHnwty2khSVo-UMB_5HCFp1iAZDrIpA7ZUQo2N3BA8-MKPzrWBOLUA7NE3JDlxwB73NwkJr0P1p5KoNLNsbEbHnCJVZkvyqRNW2ZWG2es-A0cINiu0ZIc6pTs3k6Q27SzX3AkGBOauHd5oyrKFyckMuDnPCcxAG2s8DXTuJFQaf1WWWOSAH1qg7z3tf7xSqozog0xjYX0opR1BTJeSsjNC-6gNxWI7TxLhLxhTsL9WnxHAsw9vrFKRjcFquCSmFEHKi_0iuS0s4vaMVxlr9lA5DQ_cRaMOdA-NyDWU5CEM6iPEL7ksplJjke-tdnsDs_N0LuRQBcooAKUl9IRlVJAGqVwYjfJt1eFxTt-TSriUhTqlvhNIFBXNdQEnUkmn0CG50EXNaH49yo_AEFY8yhtgNBzaAhj-4uGYILZG7JKa9sEqg6xMDcE3TbK94SszcaN9e_nTcQSZ0DfYXpLxzwLgzIZUZz620mYevORLWYJlpQNnuUxyEYQIGWTx8ftPo-WQRAt8nBvcqLrMjqOfJGpyD3MljFnvGKb5bgt2KTDJnQWqtUe68mZZAAUBaBE37O3ZfR8OHIVxDb_XroPvresJ3B4UraW067dBErUTKRTA75Sto4mVqZnqaK_H38FndUt2lmdzfJIU_DLi_RIrB92XZxIZy9Ho_l48mZeSLihbQH6dWtkSckZFMV45YR9Q5oXb4Bsz0BgBKoCVGWuV8SbB7XeAmQFdnOSOx423R9I0_VFOceGtpW-GN5FKdpzXRlymKLypeUUsfEF1KdNVl35cEiF5oq0tGXNWFdzPHig5Mvdeky6J8GXXbShKoa7LbacdjeZPDS6pb2Z9rVHwpZ94x6eRO4pq7WfvDe-6xL3EQTOMOmLraCFi9ebUxDly7rK6NDI9RjSeQJgJKVg9II8HKPI8M6qLcfck5VIXEa9HjZ5dF1V8Wjb-A78ZRlcNMeLXUXkQDxzv9IyWmEgXxPtiC8_kQrzCd663SefRs6XNLUAKkU58L_S8vi5A5z7DigXgAbRaS1MK7MXw3_ItCQuqQykNh6VUCVbHxePk4sXOYb_q2V2hynXGuwUsnr4xOeRxAoQ_imw2wu6yZpUtpxYJL4VtVBF6IOTDt8TFF5KDtiVFvtrHK7j_bMnPp_m8exaNdVCQVX2Kv0REU7PmPLj-jVQi9UIboDnvHaHuIl9Obt9qlVUogTI_hYAl8Ygso0_XmvBeWEnxkXr5TJWq-RtZYG7TmuHowA0h6ozaJ9bFqReD5pFM2j_PNvQnx5OEgQW6m7CalC0h2hd28QTEV5WjjLmH1n2XiHQvfvDU68Z0WDSNQj84YqhNiuXKgPi8Ux5vo4TQK3kJUws5vjKYjXSYnPJo7vXj1d6fAbDxaUD8ghF--cHyTEdqP7kco3kITEU5B5IlWRhVysM6nth89EHuYGwhg-07OO6i4gHYR5crLBcL36_16FKNTjLrs_SK4iQOubzcHVRjQ11tGCAcvAsXwhN3NjJuZ2JGnbxVQV6aOObiU-Ehg42vTrdP4FnBhm5YTEjbVbP3Q5AHb1g9EamaL0JdCcxes0JcLNxKh4wWv79fG8V0hjWNlADk1FOlnyqZ_0uz685GpxVIEjCEvl68K9nQfwfuXpgj2hG68GRhm0cEvLJ6LY3EeUkvg0ONqlDC0DoBnvzcP_gdytduQd-znWfEk8vJpmkZTh-1H5W0IzRkP9rjKB2KNeJq4q1C0gU-RsCwJjQzv3QriliDZSloZuIl-DeGTs7ZW-ji3-IULsOaznEUzyFGLF9AhK625rJz1Hx7i4l1y-NuoUezGJpfHAM4vfS5z8trF9gxU9zZ4eURWv2yFdBi8HNwc7_WcON8yeMsvyrB9ui8fknkqsmrMEIdJvfWM1paGpoQ6VR4pZVwMkXnMj2XS5mR97zKwovwPmHnmPCQxDlKsG-UiU_wymboPLToly7zAjuH2oUzL08OYHD6zX3JmEuKoC8GLMisPkTFMcOxtTARqkoV6okS5V2xetl1l6c-jHc4iTkP_CEk0hW8dFn23-qV4swIzAglhg7yINKxKbMgsCJhvmRQVABTHmfgDLQ2t_BZeAW8=",
  "id": "rs_0fca5b6a6851887c016ab41adcb61887d085cc32c06eecc46e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.29,\"left_z\":0.052},\"note\":\"The brown plush fills the left wrist view, with its torso right of the jaws. I’ll shift toward the torso and lower to grasp it, staying in front of the safe’s rim.\"}",
  "call_id": "call_5HBrns8b2l6Kf6Ch4ty4kUlI",
  "id": "fc_0fca5b6a6851887c016ab41ae032e087d0a586bd4c858e6290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5HBrns8b2l6Kf6Ch4ty4kUlI",
  "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]: [-1.1244, 1.8641, 1.2819, -0.939, -0.4789, -1.1419, 0.9959, 0.2363, 1.3079, 1.2713, -1.2144, 0.1127, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2256 left_y=-0.2745 left_z=0.0538 left_yaw=0.1324 left_pitch=-0.5295 left_roll=0.1786 left_gripper=0.9959 right_x=0.2717 right_y=0.0487 right_z=0.1849 right_yaw=0.0731 right_pitch=-0.6582 right_roll=-0.1133 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -8.1983, 7.2957, 0.4322, -0.3443, 0.0659, -0.0073, 0.3897, -5.641, 6.612, 1.1795, 0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee625e03c84422cc11503075f153276aaf959643bcbe75a70091c9c14d224fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417db1bda9badb4bef6c69bd5b4cc2145f72d243be2b3643bff2a8fc44612917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a42e93e4379c9d44bbf0e57ec60160a043954fe549cb4a6248729e71f92f724",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1564, 1.1584, -1.1084, -0.2577, -0.3229, 0.9959, 0.6178, 2.2749, 1.9572, -1.0149, -0.2893, -1.047, 0.9944]\nstate[eef_state]: left_x=0.2681 left_y=-0.0381 left_z=0.1989 left_yaw=0.1024 left_pitch=-0.4715 left_roll=0.0927 left_gripper=0.9959 right_x=0.3753 right_y=0.3329 right_z=0.0612 right_yaw=1.638 right_pitch=-0.6199 right_roll=-0.0825 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -3.2342, 6.4342, 1.0525, -0.1685, -0.0366, -0.0171, -0.4444, -14.0923, 5.9419, 0.6862, -0.3248, -0.0269, -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]: [-1.1187, 1.6028, 1.2865, -1.1488, -0.4847, -1.1275, 0.9959, 0.2344, 1.3434, 1.3346, -1.2396, 0.1089, 0.0605, 0.9954]\nstate[eef_state]: left_x=0.2099 left_y=-0.2356 left_z=0.1318 left_yaw=0.1004 left_pitch=-0.5071 left_roll=0.1274 left_gripper=0.9959 right_x=0.2796 right_y=0.0507 right_z=0.1942 right_yaw=0.0749 right_pitch=-0.6561 right_roll=-0.1079 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -6.653, 8.3624, 0.5006, -0.5788, -0.022, -0.0073, -0.3761, -5.6957, 6.2427, 1.2088, 0.0366, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.8641, 1.2819, -0.939, -0.4789, -1.1419, 0.9959, 0.2363, 1.3079, 1.2713, -1.2144, 0.1127, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2256 left_y=-0.2745 left_z=0.0538 left_yaw=0.1324 left_pitch=-0.5295 left_roll=0.1786 left_gripper=0.9959 right_x=0.2717 right_y=0.0487 right_z=0.1849 right_yaw=0.0731 right_pitch=-0.6582 right_roll=-0.1133 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -8.1983, 7.2957, 0.4322, -0.3443, 0.0659, -0.0073, 0.3897, -5.641, 6.612, 1.1795, 0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee625e03c84422cc11503075f153276aaf959643bcbe75a70091c9c14d224fd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417db1bda9badb4bef6c69bd5b4cc2145f72d243be2b3643bff2a8fc44612917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a42e93e4379c9d44bbf0e57ec60160a043954fe549cb4a6248729e71f92f724",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrmCX--NjCyOWSKwwvQN-xbw53Vi7yXc-ZrIPhUgQhtR7MPqoFS6VSXhCJH_aoMqylONQcyRw21H5CVPksH3WwYVHk5Xp7idPLHS97iQfDcEMEpqdx76o9osHmHWGdRw2q2Y3QJDxwQemNXRvMKJJ0tRd04b6mObp5rY-hOJD2Q8zfTWqbdRVewLvX4UmBTZH1dnFpVU0OzjFFraHbwLlf4k8v6G-gpA3UbZ-SEF3rND8zocovz9-Y1jqDkAjT-zs9rDmYdtsrS2h1Y39QOm0fMUaCxYAMqkClTOpwKU67FK_AR1GZacV0UDIpOJzR3kJqdGf4lvjaVvlSnADM5krjaSPqMZ4dW-JcSoeIXa1ofAKkQ-Ngk4rf5NG_NpiRofgkjBVlKgnZYPjW9_w5ehEZXQDpNcZSzQrv1DhH9VuxeUxh9VJrfytTjl9wma8IpVlZehL9eRTqJ4FsR6SLiZzg_RK1-J1W_c2Z0gqjNSHnQniUATYyDcZCOgQH7U9awK54aFNehbC2fI99wuP5J9fr6KKYNYqdVekNDZr7wR0wHRimUtDLIUIXA7W_JIWZmyb3p-4dZAc-CngRN_T7CkaNCGgGehyAc5Spvz307C-mYdNXJAD_2mdByvYRI_nGXIeAcy0OPZdyqMajB8ofbBtAKIXKBVFmACwv1Z83HjfPchSTUPrQ6-Lyjpa2AaUww3jul_IkTMEuvOaMl4y-8Yc9_0PJPTLYCCgZwC9YCXr92wWOPbjMZ5ffawbWt0OMgbAhP6R-BFjwS_xmyUKdo2wKJOyAi6MCT4HSfQR9o7wq-WTL0IcfzUQus7_T5sSlVX5_IFtHFNxHKny3UJCQd_Za7agcj5kCAOHvRzemR221yhtc-9LcsSvPY0acC7-QRg4kqBWQB8BEDepsewExwy_a7u_M8AEkMtEQEM8nmhUNaOOaExgXeNIDuo-L9w03k2sRwSeFjGZtLry3ryMO1_SfcbtaXHwssjJ3A7FpEwuQFe5U91gZvAL1GQBRJr51ucKsrj7EwoZVzBWi_QroubXiZso3oFfQVHhrsRO9DejdV1rrpy8zPnPjPX7vMoTFWeZ_JpIFU5qu0B5FIiy5zon8UcF0Zr0BU2g4UnwguKLr7O6v_CK5TJ_TWNp6xbPl47ih73QJAdG3AcNULX_m5gxntzkRUYRRg4SM97jn1L0HZYuVTqbWz0GBg9QeiOEWK_e1QtddO4Fg0eoIy6grW6oDe8AcTquGjtofG_qV7yXHxvRQO7GfMVBKQb3lREkOoD8MecKKjtPS_emXsbbnk7st3zYGajPeHT-TqFPmMFepnlem32uv7lVYPgKLZwN6kgcO5Hx9tb4hNKpQf_C6AjffA3Vzi7DzHEkE-02meNVqHV7HosDI2GfngdfLBRbmQY48iYVsIFDcJchWC58It0z2GQ2Xy652vv_-_CyMyR-SSk_MTGn11VEJ831CAl2ND2FXxDm9GkNVBefxvmlphLYe96zK09rKwfbwijJTOovdrvWQllqhI-tp42yqMaLcTGfvbX6XX0jvjfDNrV-SFOT_U5IifQ5vEbpWjhgUDTEK2eXvqBmO26ow09iIVdNeIj9iGsMZbFg3caun_UI4Kc4VgwNZlT7JA3_wpwD5KkLJs2JPZuyGXdmSmnrZYLIm-Eq8A",
  "id": "rs_0fca5b6a6851887c016ab41ae554a487d0be494a06a6b48c5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"A narrow part of the brown plush now lies between the left fingertips, while its larger body is above them. I’ll close around that section and check whether the plush is held.\"}",
  "call_id": "call_vOuIZgFIDJscVQnX7xZX6Vfo",
  "id": "fc_0fca5b6a6851887c016ab41ae641bc87d0ae0710c5481fc791",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vOuIZgFIDJscVQnX7xZX6Vfo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.89, 1.2816, -0.931, -0.4759, -1.1419, 0.0104, 0.2413, 1.2694, 1.2068, -1.1877, 0.1162, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2252 left_y=-0.2748 left_z=0.0451 left_yaw=0.142 left_pitch=-0.538 left_roll=0.1978 left_gripper=0.0104 right_x=0.2635 right_y=0.0474 right_z=0.1758 right_yaw=0.0743 right_pitch=-0.6569 right_roll=-0.1171 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.1795, 5.6137, 0.2271, -0.2906, -0.0171, 0.7937, 0.1709, -4.9573, 6.7214, 1.2039, 0.0806, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae002b46e8fb21f1d2339f4217de3fc7f1210b061719bc9a75a0df88aed2624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a81972e6134c3458337bd1c9147d7328e55f374c16d178487462f52e996d109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93c00dc5f230b9630d4598e494e7c8ffac76b0224eedcbc545db14abfcd0b15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1568, 1.1584, -1.1084, -0.2577, -0.3233, 0.9959, 0.2283, 1.3788, 1.3949, -1.2617, 0.0994, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2681 left_y=-0.0383 left_z=0.1988 left_yaw=0.1023 left_pitch=-0.4718 left_roll=0.0927 left_gripper=0.9959 right_x=0.2877 right_y=0.0525 right_z=0.2022 right_yaw=0.0748 right_pitch=-0.6545 right_roll=-0.0936 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -3.0974, 6.3932, 1.0525, -0.1538, -0.0611, -0.0073, -0.2803, -6.3248, 8.841, 1.1551, 0.188, 0.2076, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.8641, 1.2819, -0.939, -0.4789, -1.1419, 0.9959, 0.2363, 1.3079, 1.2713, -1.2144, 0.1127, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2256 left_y=-0.2745 left_z=0.0538 left_yaw=0.1324 left_pitch=-0.5295 left_roll=0.1786 left_gripper=0.9959 right_x=0.2717 right_y=0.0487 right_z=0.1849 right_yaw=0.0731 right_pitch=-0.6582 right_roll=-0.1133 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -8.1983, 7.2957, 0.4322, -0.3443, 0.0659, -0.0073, 0.3897, -5.641, 6.612, 1.1795, 0.0855, -0.022, -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]: [-1.1244, 1.89, 1.2816, -0.931, -0.4759, -1.1419, 0.0104, 0.2413, 1.2694, 1.2068, -1.1877, 0.1162, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2252 left_y=-0.2748 left_z=0.0451 left_yaw=0.142 left_pitch=-0.538 left_roll=0.1978 left_gripper=0.0104 right_x=0.2635 right_y=0.0474 right_z=0.1758 right_yaw=0.0743 right_pitch=-0.6569 right_roll=-0.1171 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.1795, 5.6137, 0.2271, -0.2906, -0.0171, 0.7937, 0.1709, -4.9573, 6.7214, 1.2039, 0.0806, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae002b46e8fb21f1d2339f4217de3fc7f1210b061719bc9a75a0df88aed2624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a81972e6134c3458337bd1c9147d7328e55f374c16d178487462f52e996d109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93c00dc5f230b9630d4598e494e7c8ffac76b0224eedcbc545db14abfcd0b15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrrLjPh6fgD8YEGO3ZRnapT1BpH2j4JzJGhxjPMU7b2d8BHo42Qd0DfBYMz6ihYkWocxQrxEi2NjIGRsmNOSiVsk122dkxMMt-5Wvh7YS7e6aJcFSapS49LTqgZOMELpSwzHt1SVGiZg_WzhUoZuZ2QIPNKqCjXmxfNG0GUExZiPGVZf_U9ZZTuhlDIwFS2S8udcr1iqTGvSNsFe1xZfVEZi9IoU4glecgqO-uix5QGRxr-7akN-7M2a2k_a6xDaVxGWrz7iG6YuHlJz7vT7eIsmGMbmGSh3Qu0HL6s2bHfMCVjoljAPE_V3Jfoz78Fx1z__VtaSmzPW-pc1GCtJGnQ-DTx7UHgvGf8r7CKJQyZPubTX9eV-hS5DM9aCkHJFE2Ev0Zj-wkfNQo1wN4i7Z0KrTo-9t7nf3z89RBNdXRIQSwU3rl7uhuGrulXx-ATmLYzdHxQdonXi2rl2FfVS4SVWf2vS4usAlevQE-MnjnNxjoEzUTfyH46pPdPKqr89q-TVQuzDa5Cy2Z65PAyMKe9-dfa9Nb8nZEnjAumA8PrF7z3ysp3h2wtHV6_TW0yAWeJddtyOvX4nU97iY_knGz7FWJoVl6XpaTQmNCPqY8pNbg1P4UkryaaA-t63UvZExNo6Cl3-txlNH99Ynv0HsatHh76zrKszO5N1bli0LijkUI29W_I4DrnrwYG3JphTQTh2fA0V2pkn5-BXCgVLpBS7hvnXz2QxLpNkThsUjxKffrLcV8WBCvCFQyrI2MCK4qEaJuM6pGaYq9BboF__wQV8ZAn1ZRELkDWBsISltp512gCkiGMHIJAScOfwj_F0be4Cap2kpYlCG9X1a1WeYU2JZlqhQd9Rry8hesMSUdrOVMS7t007wLL6LtP0suItgz8f3niF4BiJhdvYuna73S5pIBeh1IjfzC8bpzbMRmLnpzAMcDI94km4Z7FdFItiGRu0_ei6BnUd_FP6-ZXpS0bwXQVx1h7RntvUm8_AoOK1X4AAi4SQ1Hp-Y7jq_kvk46TgWDpRZGyjnrcYg2GW64qBAZjP9bc_76vZLAeCRidUvZrY461hcNIb8q79apg4LFCzaZUWg_FzEKx1inkz0It32SD0_zXbZqtRvygRsNthWRWpUxNMzKTep1VSEfXgItNDsHukRUvXZgZSJ6Xt7mf83m_w7O3A8Anq70d9S7TOonWNUFvNcFo72XMugV5wluIUrNibesAF5OjQaZV3y70fiDgQRx_1KO2EF-I6J80FPz48bhCLZt_PJlscO2AuS0lgi8Pv0F0sFeayUku1gR2SpB3gxbmPRHvNJR937sJW4ak64BEu_V-aDUgEjoZVZx1G2Xx3Ei_o0YKStXSTjahnGLQlwNzLHjVwqBQpnwCzrCNvV_n-du8aerbJZJLX7JHS32qtuAI3ScbwFCGjOKRcNHaybPXajGx02eVqB6X7vb3lpzy9KtOxACUAKd0kPfsXvIC0uboRfE9cK2vqYoaRpTnRKp3zPXiUy-YMRTo5oO1WBLehCz4_89XODtzH64VZKSlOWo87rsE7FbeSDNSKpvMJIUoVlQqItxaCjk18N57zemGDc1vubTEXd0-K1dwNw4y6Jt-mO7mUFz1D-yaxAWBBq38U1PKRGdVkwpO87nmeALqZxnITEqpgK17bHgEcb4RXwlFBG7wH03173Qxnv5B8kIUCfqC11XaVbHk294=",
  "id": "rs_0fca5b6a6851887c016ab41ae91e9c87d0b9e84ad974e5b265",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.25,\"left_y\":-0.31,\"left_z\":0.03},\"note\":\"The first close was empty; the brown plush’s broad body stayed outside the jaws, and a narrower limb lies ahead and to the right. I’ll reopen and shift to that limb for a more suitable grasp.\"}",
  "call_id": "call_Lnmk2Izyjl925wJt5eeI9gbt",
  "id": "fc_0fca5b6a6851887c016ab41aea469487d0a92b38027fdf8640",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lnmk2Izyjl925wJt5eeI9gbt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.111, 2.0483, 1.4281, -0.9459, -0.4675, -1.1351, 0.9958, 0.2478, 1.232, 1.1492, -1.1645, 0.1165, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2416 left_y=-0.3004 left_z=0.0253 left_yaw=0.1649 left_pitch=-0.5547 left_roll=0.2283 left_gripper=0.9958 right_x=0.2556 right_y=0.0472 right_z=0.1679 right_yaw=0.0808 right_pitch=-0.6538 right_roll=-0.1169 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -9.5932, 8.1709, 0.4225, -0.315, 0.1197, -0.1392, -0.0752, -4.9436, 6.6256, 1.2527, 0.1441, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556bda3cce9d8020ccd607a9ade8a63c89fc765c82ef8dd9f1a463fa99dc83a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435d46d4aa1f75d987eaf17a727a489210a21a7bc8e77a701ac6a11a31785584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57765fcf658dc8cb80c1e33cc925f249377ab68cb711417277487cc2171f499c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1187, 1.6028, 1.2865, -1.1488, -0.4847, -1.1275, 0.9959, 0.2344, 1.3434, 1.3346, -1.2396, 0.1089, 0.0605, 0.9954]\nstate[eef_state]: left_x=0.2099 left_y=-0.2356 left_z=0.1318 left_yaw=0.1004 left_pitch=-0.5071 left_roll=0.1274 left_gripper=0.9959 right_x=0.2796 right_y=0.0507 right_z=0.1942 right_yaw=0.0749 right_pitch=-0.6561 right_roll=-0.1079 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -6.653, 8.3624, 0.5006, -0.5788, -0.022, -0.0073, -0.3761, -5.6957, 6.2427, 1.2088, 0.0366, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.89, 1.2816, -0.931, -0.4759, -1.1419, 0.0104, 0.2413, 1.2694, 1.2068, -1.1877, 0.1162, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2252 left_y=-0.2748 left_z=0.0451 left_yaw=0.142 left_pitch=-0.538 left_roll=0.1978 left_gripper=0.0104 right_x=0.2635 right_y=0.0474 right_z=0.1758 right_yaw=0.0743 right_pitch=-0.6569 right_roll=-0.1171 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.1795, 5.6137, 0.2271, -0.2906, -0.0171, 0.7937, 0.1709, -4.9573, 6.7214, 1.2039, 0.0806, 0.0024, -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]: [-1.111, 2.0483, 1.4281, -0.9459, -0.4675, -1.1351, 0.9958, 0.2478, 1.232, 1.1492, -1.1645, 0.1165, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2416 left_y=-0.3004 left_z=0.0253 left_yaw=0.1649 left_pitch=-0.5547 left_roll=0.2283 left_gripper=0.9958 right_x=0.2556 right_y=0.0472 right_z=0.1679 right_yaw=0.0808 right_pitch=-0.6538 right_roll=-0.1169 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -9.5932, 8.1709, 0.4225, -0.315, 0.1197, -0.1392, -0.0752, -4.9436, 6.6256, 1.2527, 0.1441, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556bda3cce9d8020ccd607a9ade8a63c89fc765c82ef8dd9f1a463fa99dc83a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:435d46d4aa1f75d987eaf17a727a489210a21a7bc8e77a701ac6a11a31785584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57765fcf658dc8cb80c1e33cc925f249377ab68cb711417277487cc2171f499c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrwCS2hPFyAItIwLcH-an5hDi6KvYsw_hN4erVEkAk0b8YfG60lDKhkrONP6jLtS5PjIUngiqrovI3E1ukk2mIkykW6ktyEK2hLldRdirCOZ-zq2LGiVD6iP_r3CT0NNzD_6GUzcZjJlGoTz4uiAsSD5yAInaQGoU2sWz5032BrMDfa-TX8M3ro1OZnjwLYy8-Zii6l0SvJY1tDyoW6SH8oyI1fXtiQnQpQzuY8UkQSkTZoQ_I9l3mXSNku8Aul5wB_wmukkQxP2aG8ZnzTTZc2pIulhXn1RbP7SxgaXuu8khH2myP-bj4VJLLVpHjvNSqZsHWioYu1icAJuKHRLhZcXev9Fcu6B5_gS0wl7xC21WI0WLkncSt8_KglAyt-0M2wB6mSPNbrv2_uCKsHGddnrlO9EGNJL_w2ree1HuNmaM2ltgnOFbbRkW7dh86VgKKNaHgD8P_m1l182c8PgxlZ3ccRrOCRIq-tcE9m1TIOdbRiifYYqZdG3f2MIG-qFU77z-PA-8ONQqJzHypmV2S9mapKgNjB4hlEZV1UktnhnhITc8nAbv1iCMV_XnBoKHogZlqLKFxH9-fiHqHFmXvZyooJ5xrC3l6laSjKzMKTHKJMxrSBREgj5yxqa1YUdK0mhHso258vJ0BjFtWTudC7vV590k7TfP1pjofblPIyZTS1JOMEIScvdj7Ukm7shWuigai6iy3i2lFg6yw2VFkwYVIwGwnIfm-g9A69o5JIJwuZDygkN7dk8YSuYajC89Ou3-IE4ZI6vDlke-9OXynHpn4u17KkFt9OL-z5LrrC_KYrFi0V-jhfSbksGYKuHYex8QtG_pLr00P4vYeccMBkoU279CnqA9sPui3VaKZh3sF-cOf0uKhlbM4rYld8USW6GjXRc4Na_a_hKWR7oWeh4GbuYbuuuGy_G1sPUrfwK2zNKoj-aPddoJEUHP5jStAMA6OI0oxmQCxjyquuFm0nYe-9D1oBtmAU3jRrbi05R8zeIGyQgp3dhycdTzQmnTIKqButDLEercTIvD4kBSEpb3Yaja8fye1G7ECnC7VyhAjSz899AFMkj5mYzqohgQ8X4Y5FTRzcBJVN6FXxt3Rj9j5T3nf5C2LGIFIw6zJTCkxsbp0fFdJitEwsGQ25LXO9Pzj_zHVQqGHIevAzMiIdmr2FltYfcPoLT7qJgYFVu37r0bf3cxGOJnZ7xHHAp5FSW2r4w6QTwDYm85p8nl5fgVM1FXR0Isml2x2V7zOdzTYxajIgoPIJxKu0s0zZHF0P8HL7w7UdzVbjT8zj91joTF--mvQdj-sUL-u2nALznD362Gigw8y9-WP8ok46ldiDn0YoKCX_t6EtUOKzdFTqNmD9LUUzUXKL9VTF8E9it8WLBvP29wNbicmtBUaeCIWBO0kSIYwbDkmgB5icVxj02KDPIMonLhMS_kLNVHMf64G0Pd5abgxu6w8QPUw_JLgsJca5ru7yGeV7jEETyGqIAywgfYlebXWyNjG29hWxzL0Y9Gb7vv2mO48Nc9HjkB9ts5ph-43ZjftaiDbCi0Kj_xvngx6vLchaTztN2TO96hjBzLO-DES2y6qCY44TgnI1Lkf-8gyd8cJhnKhOdLVkcw==",
  "id": "rs_0fca5b6a6851887c016ab41aeeb5cc87d0ae8d426c1dd4663f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The narrower section of the brown plush now crosses the center of the open left jaws near fingertip level. I’ll close and check whether this corrected grasp holds.\"}",
  "call_id": "call_ghvVSuaoa2i9OGgj1aa8mJgX",
  "id": "fc_0fca5b6a6851887c016ab41aef928087d0a5d245cff644bc5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ghvVSuaoa2i9OGgj1aa8mJgX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1122, 2.0533, 1.4315, -0.9466, -0.4644, -1.1381, 0.01, 0.2504, 1.195, 1.0939, -1.1412, 0.1169, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.241 left_y=-0.3014 left_z=0.0241 left_yaw=0.1665 left_pitch=-0.5579 left_roll=0.2282 left_gripper=0.01 right_x=0.2484 right_y=0.046 right_z=0.1603 right_yaw=0.0837 right_pitch=-0.6488 right_roll=-0.1163 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.6735, 5.2581, 0.2857, -0.3541, 0.0122, 0.8181, 0.3487, -4.3009, 6.653, 1.1648, 0.149, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4257cf60fcbc2a79381e8c10553e2ea9ff6faa825fbf099d49b49f115fb51cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916b78bf5cf92da3fabda5f7248a6be6c2411b883d52fc63cbe6f9c22b6715fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcb987fe4b58fb99b6a592554ba0e450394ecfc3292be7d665e0987ffbbb884",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.8641, 1.2819, -0.939, -0.4789, -1.1419, 0.9959, 0.2363, 1.3079, 1.2713, -1.2144, 0.1127, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.2256 left_y=-0.2745 left_z=0.0538 left_yaw=0.1324 left_pitch=-0.5295 left_roll=0.1786 left_gripper=0.9959 right_x=0.2717 right_y=0.0487 right_z=0.1849 right_yaw=0.0731 right_pitch=-0.6582 right_roll=-0.1133 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -8.1983, 7.2957, 0.4322, -0.3443, 0.0659, -0.0073, 0.3897, -5.641, 6.612, 1.1795, 0.0855, -0.022, -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]: [-1.111, 2.0483, 1.4281, -0.9459, -0.4675, -1.1351, 0.9958, 0.2478, 1.232, 1.1492, -1.1645, 0.1165, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2416 left_y=-0.3004 left_z=0.0253 left_yaw=0.1649 left_pitch=-0.5547 left_roll=0.2283 left_gripper=0.9958 right_x=0.2556 right_y=0.0472 right_z=0.1679 right_yaw=0.0808 right_pitch=-0.6538 right_roll=-0.1169 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -9.5932, 8.1709, 0.4225, -0.315, 0.1197, -0.1392, -0.0752, -4.9436, 6.6256, 1.2527, 0.1441, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1122, 2.0533, 1.4315, -0.9466, -0.4644, -1.1381, 0.01, 0.2504, 1.195, 1.0939, -1.1412, 0.1169, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.241 left_y=-0.3014 left_z=0.0241 left_yaw=0.1665 left_pitch=-0.5579 left_roll=0.2282 left_gripper=0.01 right_x=0.2484 right_y=0.046 right_z=0.1603 right_yaw=0.0837 right_pitch=-0.6488 right_roll=-0.1163 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.6735, 5.2581, 0.2857, -0.3541, 0.0122, 0.8181, 0.3487, -4.3009, 6.653, 1.1648, 0.149, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4257cf60fcbc2a79381e8c10553e2ea9ff6faa825fbf099d49b49f115fb51cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916b78bf5cf92da3fabda5f7248a6be6c2411b883d52fc63cbe6f9c22b6715fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcb987fe4b58fb99b6a592554ba0e450394ecfc3292be7d665e0987ffbbb884",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr5I6uq1cKf8fyeOGn0gKXdJZZspyvx7sOeuKByTTOgBwo4f-8cQJ8Jpf7j1OmoAiUsO1FKmC5A8nGioAPao9fojZXgYCHONu0ppYC9_UGPpDNiQbIiIQYZfZ4EH2hDEebmbf97I4dOQ0g8aMhrEVqEvMNQC9xUsM4bBRy-JhpurcUEbyAhmh2hAMe9KoF48oSbh2oqiVUhXhQoo9aDnSR0IpZydjQaxiloIT5WUELB71T6Oj0OIhVyYRWxGNJzj2eBogO4uAsST9fyh5A2ktPkFchF0bTKBpSj3HafJ-z-yl8rCkVGhCULrMR_8dvgtlmrJeiJ1qPEXCoUvKKvFYBYm4cL_5JVIc33mLF7yMRAnkPbveOPZxXzu0E_9Pfwevubh-OaKoWLlS2MCinpn1QSsUR3wRvWDLZVuv-o9lEZqaNfa0YoBSCxSNCmQXS-mDlgYFliR16vOxuMTEBQ17ndnZEjJ51br7PRn9Gwh6pJC64pZs-iD2-Kn7MKATwWUyW5HqcIRx8m5YxN0AxK13LC86MLMyCBBRuo_wABQDIe7MhSpuahvwhPRhm9DBALFg1SqHqoizVbl-bjU7g50DuQGz29GG1U2HlWRGdzc2Liuoo58eoWqiZvxmWwzazclE1cGBqm_f8w8qGrt1LHma3z6qLhyHKZpG3tjl1kZvHzuX4vok6pjZKx32hVx4weqHHzq2WVwQiErOVUGmynxK1Xble9-l3c3CsJ-o92fVcU1Ixi7nKkVCnmtl-jOwmEBGtlv5gSkaUznHJD1NqXGHXlx5Vt6vQFsA74-pVOLamd9N0PYpuEd0HqX78-1UEoP6lCujwJg6zsFjoCyiWoOVIbijEaHj007tzKw9DeJMySh6rFByljcLOBn6y0zGpzYf36c5ciOAUu8EL0nt9QvO7d79HFuogp8S8MDFOD-CBJ_yPKWN9F4LLrX37e3quWLwMgkzY_vywHgRp9iV11kxE1r2sP7G54h1teZ0m5GQl9AWP_QpHS1XXtNMi0ohoeQYXx8xL1xEjORfHCYvXrv0jmnsGLLM5D-NgdEXDGR45GPcBiMAssJwaa0qWzP8CUitvOHBrklCImw5uVAfExoLYXJsKdPWqGAf-ccYM_tmHRSnFG5KD_cJuk7gXcyaV4FF2qHDS165inLIjFI6VnphlMcM_ZiLHmBxQZ4URUABydOkBU3xa9beBUE7x5RSP39lYmoRhRKOfousTS9_2GonxTeIlHgoAOjy9HUdGATUI8YYgkrqhbGQBQ2H50fU_Uz-u7k1OLYewXQe_xAIssk9lTCRxH9qf8cKLELepwGE9ZW0b9yTc0hNK5Pf3jgYSAhrymzKDrtiA7fkAP7Qj7aq-10v8TnH9qg7W5En_XzTeJvFApFMRqHApe9xVkvR2_hNSmZrXYUBIcMNXPxrz0zwynq4DtzB4MGlNnqzNj9WQ48Wr0HwWqOCEJ6xq12g3tl3vW6jqBRmg6W17HMs8cuSIva3f_ZSoWVmGGJvdArEclJR8Z3BIJWIZZURAtbMxEvvisb1WyglUSHDTua576-6wUCpsJAEVFeoTLoGxXQx4FKtg0Sh1Qtla4K3BRS3gwl7PrnWY5gGom_YlTvdWYasLQbL8Sl_GDVBrJpU8h-Y8f5ainYK3EIUq6FeTN9PfXYDSDCsUDIGS4dIgRuyhiLhMXgezryYTHlcQGfno8vYj5bcq91--AoED3WdjQvQhhmYcSKdiFwdnMGeEXevFig5a9Nmd0TCYjud17hkhVt_qaaaYZTdhhz7Mv6P2PEztQ9psZVoXEUeUU2UJ7desUL1UgtP1c5LZgVuOHMeUIbERWZcwy6gYAvbAyq8cmKc5LxufMOs4vnXVdbsbN2OAe1H8VcLj-OqPUs8pYplQgQJyaIqBqJyeFvZ6vylrEagBtErDtWlWOKsLopNGhi8E9NtPUoXpnVFDQqmKqGQKqozqIIy4bLs-rGzIhV9Qm093tSLCz0BwMfNllY-xhwV1jB15kQzApztj6mXJRLn-xVfYNIOtIlYxr9asPovFk0KS-jtZgMqQ5CNXOkP9sGjS3S1QszPzESL7Y-1LWmTNr448guPCOYl4yL6cMI8whYkGap44QEAq8vnXtJmyfQDnV4RlbpF-Y5PqNmEy4emFcdH8xN3f7xk3N3XiJLDATIjhYN1-MQJ301R9ww_3lUlYdk84dqPU3hjjCyXM1MgqacxLJRT2oq097qnFcSmjSoSgTY3tkOF-Jx2zi4TjYNckO9FH2dYofKaUQ0qqbbrvafzN_b_0Flphawz9sDPcFpE5S-MtBlcmmaxnLVNboSfZREl9FJNI7a4LLK2P255pGg8WYF4LmzaV-RmI8cWA_Qh26f8sZyAN4H8FUdA7FNbDanHQuCElLgkvFGD8GmbmiP4nbuqVWUHbqG2btLWvsQTg-cMLbbYLnuiAKpbWGDh3k4RrUr_YZFvgmvTjUJMcHOLIH6i2tSp2tlU5qZxjUXLN2fMED92KxtIJLGP_hSzWQdtEWXaeWDtbl-MZ_paD0bEoRUFp7aw2s9mAGn1TDLjHtpdkrtkZz9QxX6qr0slWHi5xm10LJom-3taflkcq-wxm6vDUvDTQDbSLmTAHoBQO5Ms4x96b7NYydbmMXQitwq2aDNBsPeV9_rciYinI9ECBW3eTQAbkuW_4NXUHGcWvBM_vsBnE_mxnJfzpGF20wREZD8zcz-T_gJYW6Z5hXGGVzg4qRyWH-d1Hf0_34hPLwfI5L-umwthYAKn8GCfoNAiYjppWU5aPy8oLMtQvyo8ixd4iSsFN2Kmn7ov6_1Ai0xFBi2TI294IZbg_lnZDqKe3_69kahkdiyJ-FTMC37sdFVNFIgfQw1GcMhxO7CGiCJZHALfIdFjeBezdRBSNhRj5xoL7nR_nf1SVSyeRcgpSkU3MkuwdWfn980KqLk-fnSjna2lqKBFKAWiHOtKftcoASb5WBYmRcyEpd8IJzoUeDSh77NzIkJnbIHhFKafBhvZMJUc2Z7nI0ECFgrh2_hPqDDWkW6xubKqImYLZEGapj8C1sye7oiiprQzQ9sAifGiYCp14kW6nuB0X3r2HnFIAPU5gTMlNlcyFLjKJ2NFFADyVnj3vT-YgaAHNewEzPKf1bw3lyPxn3QeI-3xezAgBizitx1t50jGxMVPLJND0f1qCcyjuRvINMexMgiKINPGphP21kOQPDmsaqPgnn6i4huIc3ONgD26Pirjb9pYHu0I_YHvSo7A8spCij6zdrTXv9R54Fx4IDFe4H53E-wwvbm8deL0llVhSPlFGYeLaf7Ce8exI3y_850Qx-I5Nd3G0B09s1fmBUTsAjd2Llq0pvnvW2kw2JkbQovbP1Rz-h3sPetrzTyyj6thG4bvfq49gvNfF1Zplq_bbU0tfgtu1iikhVW-Sbsf4-8O57g3JCT0Lw2MpqOz09pc7PbbmtL_BvTDg_E0JjPoucm-D3p0_mRnixidBLvmoI_cBDFKo_5ek4FBSVYlwlIzTxuWAIPZur9DXVmXzJ5OVkI8HkjBtZiQWkLiL2YGJ1TLYy0DGg0Kko_3-TalAytsjpYmq9xpnicjkQ7az9FrIFxA4XJzQ0zDfoic4z74v1suQpYwB3qe-dkWcBNJFR78yLrGImhr0TqvR5D4PxcYJ1pE3YOc8tr4LL3fJXSyBWDRznTB7BNpQnUfI1RWxsVgOf7CEFMkVZwNmo7RIIjx4CyY6xGUHTtdEOQ5GQJtlXTVnlDMTZp3kNwTll4gPiNhAhjkKLrFK91bgA2d9FKxozdaYG1U9LCQ==",
  "id": "rs_0fca5b6a6851887c016ab41af2e03887d0a69a5e76a43b6905",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr57vM2HHx_17dfx8fe86lX00yjuohi0huKRjeMrOSuxWAEYUfcARwbQlGdMmduZ0NPY_4hVUpuYFKf55Mq3pfoyhkFOjjvyEZpI_TuVUryRync7OMHMA_WUpie3zC9B3KuDFZU-01Zv_ZeVQAoCSCoA7V4lAOCkg4BduxvSQJyAiv4Gxuxi8YsH_a271oZHJ4U94lJx6ZNLQRzZEUAZbTfa83YUDt-KowHgvt66uU7DF7om5Lv4KZb_2OZcKia5Xi1BlLqM2KnTp9t-_1yJSjciJrq5PsgwIFrPnNjjmFg9QgxUZ2Cr_M8CQltNQwdVHV_eWh0KXF2aQEta4W66Em_SbFMUTRLHevPA0jP-I6gJSVurKcpibsQvUbwwxCVxGKQ4wuUQ3TBmJvCqkPl0qGgRO8aQS8LH2-qvpeHX6hS3aHQ8CWYwQXOjJftg4NYbMGY5FkoEaS-1A3NTuLT9fNXY7iEkH1YTP0ruUyrQ3IXbnKyIhNZcZyKeihDl7Kd8NuVKlGTOpMvOIaTwsGC_C0M1-4QCxi2AkZ4zz5IhGzpIIuHkwW5v_NZovfMCLkkbEhLZciJ7lCkULAKiwAPkHOx_j3nAVfqb8spU16sNbBhvG4Um00lhW2eQfC23Sml4-eCzuXj5P5DQ2uTuFNFouVJccIXNKsJc2luLVZQt2JV0zqfYlVg-DWq6fW3hmNFoVOe43RcKpswMB3pcPKPAyTUlmFlM1s0gEnAiVsBX2Q_k76cKqfPgevVK9Ty0FgK-6krOmeubTq2ds41EdoTRm6kREPiaRPSgllc6swUo8ZPGvEyFjFS2UybC4MruXlUjGzVA86s6I3XcQRIrCLX8UYgYdzqUspz6GL4VE9PjaNEgdcJcnYfV2eJDHWR1PBM6iBAexQ51SNDphc8lseVNI93d0etuQqW68Fjcvl5IIpUO6UGibtbNAeAOdcsYOepvyEUBk_b-KibsBoSMh-rODu8-ZMQumfsYPH2BBwCcjniqZy6Y_V43rqUHMkt6Qsam4UDZc1jNwG4bYNybWBoJ6djgzSM-De4cKLv1HQmqKV5UtsFuyTFzTm-qOAOgKgo86Zxx1AMjP517mO2zydci2EoetZKFrmn85iSm-b6ehSZz472VCDOYnlJvV7GPEIioGqX2vG9EJn1ydItZCN8Tv5WqZjI-8Gd8YgoWZqRGtNMIb_fQgcYFtUSt7WuyGi1chH0Tlk896d8E5bsfNP4R7dqjWT1H46AiMa17tU-Cl1_E8kCyXGF1b7Qw3rRoZ0pCsnhxfDa_pkSGRC6qC9d2Xxb1sihg0rwx-c4f-aubk_FPTeo4ytZRvKj_lyi8MZtcXsfD43Cg9WjzjFTeq01oQk1Lg==",
  "id": "rs_0fca5b6a6851887c016ab41af7e46487d0a2e66e45b3f0d41d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.285,\"left_y\":-0.32,\"left_z\":0.065},\"note\":\"The second brown-plush close also came back empty, so the fingertips are passing beneath it. I’ll reopen and move forward at a higher grasp height to catch its raised torso.\"}",
  "call_id": "call_o0n6LgpFxmyKcV7vKJ4GT2L9",
  "id": "fc_0fca5b6a6851887c016ab41af836f487d0b06b331771e94112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o0n6LgpFxmyKcV7vKJ4GT2L9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0424, 2.1284, 1.6955, -1.1118, -0.4568, -1.0782, 0.9956, 0.2562, 1.1591, 1.0447, -1.1194, 0.1169, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2786 left_y=-0.3156 left_z=0.0593 left_yaw=0.183 left_pitch=-0.5654 left_roll=0.229 left_gripper=0.9956 right_x=0.242 right_y=0.0458 right_z=0.154 right_yaw=0.0904 right_pitch=-0.6406 right_roll=-0.1145 right_gripper=0.9954\nstate[joint_eff]: [0.2393, -9.6479, 8.7043, 0.2076, -0.3492, 0.1587, -0.1245, 0.0205, -3.9179, 6.653, 1.116, 0.1245, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b205be425ef1c1818f3b7317ad08ab60ffe041190a7475db96734f8890b88f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c994fa408bc5e68e98b08105f66abdc68668dfaf92696956d9561a9584d042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb48a2c4fecaf214319524b29f227a0dcac5ca9046695f03a1453980b12853c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 150 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1244, 1.89, 1.2816, -0.931, -0.4759, -1.1419, 0.0104, 0.2413, 1.2694, 1.2068, -1.1877, 0.1162, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2252 left_y=-0.2748 left_z=0.0451 left_yaw=0.142 left_pitch=-0.538 left_roll=0.1978 left_gripper=0.0104 right_x=0.2635 right_y=0.0474 right_z=0.1758 right_yaw=0.0743 right_pitch=-0.6569 right_roll=-0.1171 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.1795, 5.6137, 0.2271, -0.2906, -0.0171, 0.7937, 0.1709, -4.9573, 6.7214, 1.2039, 0.0806, 0.0024, -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]: [-1.1122, 2.0533, 1.4315, -0.9466, -0.4644, -1.1381, 0.01, 0.2504, 1.195, 1.0939, -1.1412, 0.1169, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.241 left_y=-0.3014 left_z=0.0241 left_yaw=0.1665 left_pitch=-0.5579 left_roll=0.2282 left_gripper=0.01 right_x=0.2484 right_y=0.046 right_z=0.1603 right_yaw=0.0837 right_pitch=-0.6488 right_roll=-0.1163 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.6735, 5.2581, 0.2857, -0.3541, 0.0122, 0.8181, 0.3487, -4.3009, 6.653, 1.1648, 0.149, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0424, 2.1284, 1.6955, -1.1118, -0.4568, -1.0782, 0.9956, 0.2562, 1.1591, 1.0447, -1.1194, 0.1169, 0.0601, 0.9954]\nstate[eef_state]: left_x=0.2786 left_y=-0.3156 left_z=0.0593 left_yaw=0.183 left_pitch=-0.5654 left_roll=0.229 left_gripper=0.9956 right_x=0.242 right_y=0.0458 right_z=0.154 right_yaw=0.0904 right_pitch=-0.6406 right_roll=-0.1145 right_gripper=0.9954\nstate[joint_eff]: [0.2393, -9.6479, 8.7043, 0.2076, -0.3492, 0.1587, -0.1245, 0.0205, -3.9179, 6.653, 1.116, 0.1245, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b205be425ef1c1818f3b7317ad08ab60ffe041190a7475db96734f8890b88f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c994fa408bc5e68e98b08105f66abdc68668dfaf92696956d9561a9584d042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb48a2c4fecaf214319524b29f227a0dcac5ca9046695f03a1453980b12853c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr8evHp-e87WlYnN138bBktxajwBV2-u2Qqy3unsVdJG0N8q8wWmY8r6S0RAQPvGF2gMOrY9lARWdu6NW_r_Isjfr4LE-XaEETjNYarM4nfe8qcc_EOpeDmd6Ruae3oKgNsObdRQi-I7JOeI2_4yAOMQ-AZ3CZSn_YPsrUp0aAVYxl4E0pXXaXfin7gjQhekHT5txkbu62PT9P5KpKNLVDfaFGglDn4KrhHSDWl51_1NL1hZ4gvfB1m6Wnytj4T8TgfQBNU1kQ8-jYlDVpu3tY2Nmpp36gWAfjaiTAuHnwpy98jIUELPBJhhKNN-5DQ0fga7BaGHzIthW1GPowGFzmWum5zu9C7nFi9X8PbtT6e0CyMCw0ZygS7RHyv8dKqI7FfQjUOb4CNHlSweB_5t6gCOeOft79J0bDkov0C3CitPsdr5j0OZuHJrATMZgJ1DnIytJ-eBA04xaypqJXxjkNjjsTbKiOQctP3j8CULC0WsUPJTYnEvmVbM9BkJGr5Obh_aJ6JPOI2DwxmWpXC99WiAtWEfatU4Sq8cLe3fXgOXW9zFi-d3y4pUzQdyapMj3Pp4O-dPEdbGK2pMMrHQOlVflq_UBLBaAEOjh_MHa7tNztdqfLjCUqs8PkaiBqus3xf72PBjKVB2VnPvGEBQQ4r5n5Kk2KwtoqafFnK3Kv1OGGSuDMRXPnbaSBLepu4Yu0IGIQ-tzWcEgukPbu7xqiQgVTwgQWXbEX3pfTsLqiZHnja29WrMJfta76_6C2QbKWrp6-pAhf8wU4Xls2K30MEU89bo-toT5erQjk05q01UHU4uLqHZd9ZAgjuz7hzoTKvJHyU78gi0xndWj_1nI-7hVnripV08p0oDXKUE7_B8e13LVLCXN36Ua0VA749tR2IfARdhnUgTXXJw-WxcJmiYwVg-aLV9zoGgN9iWO80G6a1d9R49lUDEuXP4Zq-UJIpYEEurf4G7ijBXzc7QGFzj2EetIKGG90-zQCnPQHuiddYAR818HOIVFaSSgtnhJreN1qe8pYbUJzGI4ImV3F2SKb27T8oNSPVpvj-EZNYhO6_TWCXIuibXswxW4ZW23W4rLGL9lnDgLL4Eif3PbD5pwgrgvrPEc1wFcR-4B8nSNaRuLmQ1livVjqHqdza2Sg_yei-ODrP4Yed8mvtV9vmAaToGKNnE4HqIyT1KoS44Zb3eSXpuG24Fgw870pC2BWy6phLmCnN-Ve39CgWHTiEnbOPNWeXw-DHKNeBJOlxWaBUz8KzSZAL0K0b4ylWmKfl4viSA5Ty_8gSxpO6VLgywjWrELdESCeS2Hv3Ti0B46f5QuiELvvuS6dpDnfuqJ-emILHuH5uwUe4xfn-u1DKKHp0qM5Ef2fnSDIEEDoTmSc=",
  "id": "rs_0fca5b6a6851887c016ab41afb6ac887d0afc9ed7cb7a1b079",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The raised torso of the brown plush now sits between the left jaws rather than below them. I’ll close on its body and check the gripper opening.\"}",
  "call_id": "call_3btni9npqjNtwfagYpJ7xuHD",
  "id": "fc_0fca5b6a6851887c016ab41afbd33087d08d69771cbf32d96d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3btni9npqjNtwfagYpJ7xuHD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0401, 2.1284, 1.7012, -1.1229, -0.4568, -1.0824, 0.0099, 0.2607, 1.1339, 1.0084, -1.1038, 0.1165, 0.0605, 0.9954]\nstate[eef_state]: left_x=0.2789 left_y=-0.3141 left_z=0.0607 left_yaw=0.1911 left_pitch=-0.5666 left_roll=0.2329 left_gripper=0.0099 right_x=0.2372 right_y=0.0458 right_z=0.1489 right_yaw=0.0957 right_pitch=-0.6361 right_roll=-0.113 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.2479, 5.2444, 0.4469, -0.3101, -0.0122, 0.8327, 0.0342, -3.9863, 6.2974, 1.1111, 0.1099, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a5c5b5284bdba96633e869111308af608ed355d60a5ee924d30016b97df990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:682c264f091ce690a53379925923e031d065e124f8dae039eb3c736e81d3ec7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73e03fd5db8f36f2907e150d6430d846e4f88380347f8da3734d6cce4fa92ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}