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]: [-0.0246, 0.7929, 0.6022, -0.4332, -0.0029, -0.0425, 0.9998, -0.0212, 0.7937, 0.6075, -0.3958, -0.0196, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.003 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 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]: [-0.0479, -1.388, 10.5231, 2.0928, -0.1343, 0.2271, -0.0415, -0.5812, -1.5248, 9.7162, 1.9121, -0.0464, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ab952a86b4b80027e68266220496753f4d4c54835bb555225a41492903f214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7633d2e1656c4a5512f126caad66f66b820833a7e5d964377aa7c58c2c5875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad7eaabed41ab940431abfaef45c04c7750afc73b16da53bdc5948361e60ed7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGBj5d7MMnwzH1XIDQwRFFv90oheY8EGytRlqkmq6TGcT4W_zTErybPnq2PhHV1OLq6YwAdYf4sR0sFrmVgasxq77RedltKOHzuRryiQBit-B7npqcnAFHqEFgircTOcZOtTm_x-zbUg3OA-wsdHkzqaxV2AYV0Qu2PfRghP5prd-1Q7qnKABtH9OCbiJvBLTkqRWYVvXL4ZcdGsszbPEhSDWn3MkVb9gmGIYipQvRGb2eP4q95zttfCUgxz08FrOmHXsCB7LFrqRiRwJvSB8N9SMF9DU_2pcRzIDH3MkfIq0rP4LCmjl4N1cEiazWdDZX1IFIHBVjFekfJVCEw9Y2e581niKzGqSez5RtTKhc3zVV9SoTzbHS3QZguYJ91jcScHletAWLuLO_WH8gH0Ynuiebu0fuxeFKtERdhK5Em-MMQHynVzlpXOa7MqC_tc_ROAqiDslgDBGUa_bduy3DZsQ4v9X5HhwMhmsma3bAyntb004Iuwh6-kpE6Sdodn3IbgByVEhznh5ZX4lwbl93F3SScJUEocZOLLUTkMMWSzP24uITor0cpw5zDPLEZN0FvJBeyNSrubaKMhBi0gbDYfxzAlNJ1jVuUG651fyYV0ivH50EbaKn9x5Ql1Cw0TnSXayX3HanX23DVSzG-EfKA6oSb9MczfiFiPCMBaWccdRnRYBUp1lpVOGbwOv7KnnQmvTrSwYN82qnoxH8rQGKApJSlFORUBQZhXvtvsHDpFEMW2umGFRXIASJpNMegkIMjz1X2dLP2o4tFOAc04qusIpB4t09jtK1JwJ7fUgoF1yl6HTnfYQhjVI0tlSE2he7f5bseHQnIVUYWIEkYGOpDg-xgSizeAD4Ss5vT076ykdkOX1pnns5yst1FR8hMWuzPcu8c-J3k1BYUSR56k1lzhhdLrrTZjm93GcSI85ilUGzKIFssJD7W8GOXCrqvKaEQppIEiL9ZUetEoFcduwX3eQdh1h9uXt6BqM8IKosP6y7cuXVL3-YADT179nw51VuhNcPrwz993AknMlQ7sgIVZMFr4mZgFczRoYWVbMwQigZyE7bEMQjux41UXcLjlU_msoRBfieonNoUhnXAwbjZKUjWhXM6s8WbRGtu9LM44uwXprjobvtQ2j4RcdLcV1oGZMuEstlcaZ27HKNCNRJ1qrW_66kV-MfsZoAfuw8nVxm0teh0mP1JRanu1v05GWlGih4tjG2g5NWaz1XaJIu7gRsIPbRRuo-32BTfgH1ejziV_T6gBkJTM36oHYr0h0EuOP0zLr3tj00L6iyh0ErmHbcuLzvU7lmdiTeJajhGaI5lUNnrs1O93g0rpbBplRT3iL1r8W2l3ZgP4YQO70ERDa70JUedEw6608XKde3OSp4VuPRRFK3XmmH-qDBb-Kf2RXeK1mPJbwJrW-cwgDN1rxNdw_9MKhGQV_GnPEkZ0Hnvl6MqyHiDXeUsEUPuvXvxUpp2rEeuOlKHzLdT6LUWedlF43D0LUiN_10kniE94EkQelOLslZpK0eSeyjBnwo8Hz4yrVRo14fX-xrNG8Lsv7cRR7nGqYQRlJYgB4mNqJmREFovJwXdtw0xmuCUF2FXBpugcQzvgVlroqThrIT5eOh91gI8dXsr580sKfCp_7gkEz3BxBhSGEGI4y_VeFn1nEFdFcGpD1CdQWhQkL5jEOwpd0IZf2J8GXytZ6fwrxqpiXWhgJKPbtoxA_Y1MT93zS_UoZpWvX_I3Hbv1QLiAvPm8G0SOmqCHbog5SXgcgdo1bNlHzUF5q3MRNmNwirgMW2D3dudtzvuyY4mHi5v85QRwEc6Rg493wwb67BBozcuVnHQ7KsLv4FRy-I9cmAj-eMclhyN7y3CDfYBTLfJvTFoocBcXmBvsG2GzXuWOhWog4jEe8-lv9h5S6ENIcWIFVU18tZwOtODgM9mE3WpcRbuAdfUFF2IcZSLubBgJWdk4Y-ExF4ADfAyNheZij8laKmJa_cx_Km3bSudOsGALnbjno_fTzy1rmbrF9923mAHSI-KfPHm68V7UZ4IMkETThcPwsKuH6hl_Sa18B-gDHSC4m9yeixE-2WsU9F9ziu2i9pNVP5wxLg_Pq4npwDKjvP5Gwib1sf5V7wihsoNk5y4X2ScQtXj_hX5dKVogJa1UsDmisnzt0VucLKN4osruaI6JAlbWEoOV39tSi5IGi8To4ALByuc8-2g1Y4MwUfoQ2xWi1AkoRgndLPMAlHsYGADe6p7gBp1Pyj23yGsAyVMNMKmyLWWsjSpXPppG-zzUoeCjbQIztS4T--zuXqA0xwBPSe-a27XJdKIbJ2Rcovmlyn8Yz5gosz9fnJcWjecjPxh0DCKA_PuPoAdq--sEmRBo4a4zPBllbYdcllgAAEFJHeo2uL_GkWega1BuSHRLhwG3zsOgRNUD47KK1yroz5vEku9uppwng7sdNUt6u9202K-JoOa9VcTnVLa1Uz0IZWT-SiQwG6frvWymtlj_lDlR4l3wy55u44A_85swYKQNszkbdX5NFghmEmVqMIQQH75MmiKCk4gMJG5U21wsdKWe0RRtqhSLne3peMe5bwIXx5zaO3f6Id_XnB8_d2XSIzTHjze__mtJQFYEwb1F3U_EngadFkA6WJamE33lrlOQ18VVThGjmUUcibuyvCAeIEdH1utDLJlP0xEoXDs3eLwF8x2AQjtBxGx_xdD8DhxeueKwfgT4NoPH6ajvukATVHaD71E4Kqim7ZPslJxIKb7eUPfv-RrAF-LlgcZym9PH823Wzi0fdoGzrNCdtXkOr21yFbaFTx6Z6ScK_l2gc-t5PKoSx2j3sK0nXIs3_vbIelomey9qTeTJ3dzVxTcBZ74Vbh10k6b3m8Qv91qCa77dEeRevUKaY4EZyqN9M7XnbiBFZ_LZgzG8E-Ny682hcHl-k2Q3RGaFswdMnsiCjzcz2G5HFJ-lmtM-NcdipcIT-jpXRdz4FXHbv9TY-J3hs7JbrSezAPYAymhRFwlpBBcPvTwsRKJ4KF8g4JCCPIM1YC8G2x-26hxmEe92-QkjLOxjHvuiA6VUB-nYRm7u7dE91KPAUzBEs73Pd-8yigtZlpGuPDbtcZpEH-p21kd2rbCtb-DI2S0uXG493V_Py73vOcziK7PYXyJskvYZ2Ujh6krECxcs_A5zJCJiqhZmLU-t0KMbJ5M2Bailich8fxlLBboXahHSs5Ofwvz695RWbFqCu0w2ggxoZjJb0uFogHsK_GvGElHuDB3AWGTMMcEbzpjzM_I3cGoiD_rehj4D8R0U80Z3Bd_ivQkHPhO1Rh7yr3gJLQuYMkNjjgumQ5nfi119teBP0beAQeGHQhInWLyixT12swMzPRNL4h25Hntj8QefLOfKAH_p25Wdsydo__s75dH353MRCbmhP-btmIr-77exSWDDnx_kr4=",
  "id": "rs_089368bc6c3a7e0b016ab4217bcb0c87d09ee40ae9c10bf87b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.15},\"note\":\"The safe is open near the back centre, with a white object on its left, a brown object in front, and a yellow object to its right. I’ll bring the left gripper above the white object first.\"}",
  "call_id": "call_RSh5BwpNgFla0Nvz4apgzTW4",
  "id": "fc_089368bc6c3a7e0b016ab42180888c87d0a5ac8dbc13747eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RSh5BwpNgFla0Nvz4apgzTW4",
  "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]: [-0.6823, 1.3735, 0.8192, -0.2573, -0.4942, -0.4606, 0.9997, -0.0212, 0.7986, 0.6079, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3372 left_y=-0.1614 left_z=0.1294 left_yaw=-0.0224 left_pitch=-0.0685 left_roll=0.0349 left_gripper=0.9997 right_x=0.2882 right_y=0.001 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0416 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -5.7368, 9.4291, 1.7411, -0.4615, -0.0562, -0.022, -0.0615, -1.6205, 7.0222, 2.0244, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ab51c349c8181a9e560c8de443708158bb520aea2c6e88102a35167286ef83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abef6aceb003c5601bd9ebe57af3185d022e97005f1efa1166898db3357ca835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90045452acb41ba13f98f6558f193b7e951db19083367e8187378a0b89d3192a",
      "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]: [-0.0246, 0.7929, 0.6022, -0.4332, -0.0029, -0.0425, 0.9998, -0.0212, 0.7937, 0.6075, -0.3958, -0.0196, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.003 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 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]: [-0.0479, -1.388, 10.5231, 2.0928, -0.1343, 0.2271, -0.0415, -0.5812, -1.5248, 9.7162, 1.9121, -0.0464, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6823, 1.3735, 0.8192, -0.2573, -0.4942, -0.4606, 0.9997, -0.0212, 0.7986, 0.6079, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3372 left_y=-0.1614 left_z=0.1294 left_yaw=-0.0224 left_pitch=-0.0685 left_roll=0.0349 left_gripper=0.9997 right_x=0.2882 right_y=0.001 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0416 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -5.7368, 9.4291, 1.7411, -0.4615, -0.0562, -0.022, -0.0615, -1.6205, 7.0222, 2.0244, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ab51c349c8181a9e560c8de443708158bb520aea2c6e88102a35167286ef83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abef6aceb003c5601bd9ebe57af3185d022e97005f1efa1166898db3357ca835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90045452acb41ba13f98f6558f193b7e951db19083367e8187378a0b89d3192a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGH3iqheOeGoQP_XudVfsipT83xw6Qsqy6W39pcq2eTcNKShIHPRYX6em7woTeiJ2xFBRkVC9MvOIyX0VwOmDX-CNxRTxvH-FIxVeOJUJB_wmLdMcXOWF78nuH5a_Zl-LMMeBJbSN75sKTgM4sGCGK_y6QdBQob_5exqYp2leI77sJNDQFZ9zUWOQjepyRoTfdtXQScMvCaUbCg6-wCax_ml2MJEIs42ZlkXXtCSamudqVkor_JP5yhn-d10vyHpzyICvJnl0kUDB_psF2EaonXcf1upErT2w06aAgDcHr1qD6CQo-8jH4fe9SQ6ym8ItGpq4M8QeWub_a7be84wQeJJtvyZ3UG2cCSEchv3DLkx47YMcbKJPmo2J5piWk7nUaz6pQi6ZcBzGMQxGTc63bMOFVWp8soopTtRDeqxdCvpmRtvdtxHifrZor9mlnS-OGZ8TeEYIwbuXC6Ux8tDJ6li2Sc_tSWpHwozGz8vo8qA2eXpjHXpxUY9Tfox3RKLBqx-tb49sP0a948M71OPkMa82CBTaMewG4xkQOR-hbzrN0hdn22feujEDEodDTmh0z4RcR5vyoYgjFFD1nxY3pVixrDll_-kBzODFL6ETLiEkN16Fx29YS9aGSQsg7meyS8VLmXB-dyawXLCUzFtJznOE4j0u5IpnogqpYm140ElhNH7vKDoCI3TfQIYucp7Ta9v4C7RTORMel2vGSG663QeVz7g3WwF6gjf8nNZbSZtonrbw4xVvkIWXsjmee8LxdUE_UXaUfeS6zifLpVs7oA-hqRGmB3N9zjnu_HkeeDGFIr9PLWtlNLh9A8hSob-47N-7z_rLoeMG_zZ1fOeCUsedjVkzhZ6FV2VuAybc5n2idoCdfXEcdm0YAJt49OonjrgXX5DLeYyusW5u8qZCu37ae5PS-Qa8K8g5PafpIHlguVPE3CZCEwP0_91KfdN3D0Er0OZXYahdQCEkOPSwRPJQjfZjNyoVU6T80J0d6H-avp0fhQ8UvxfzUP4-vk8OVQuk-m5UO7QRRDF3mNXU4Ns56PVaTEtPxhoivCOYuKJ4iipNYGxjxEz938Iwf3X-DuDFo6X_yoBU0VQ07Kn0lYWWB17Z9HYiVoFrkfpMcSG5PjpBK5ZTYXNLIU8TfRvubPUA7QsooFSxjVR-sSOi7-Xxe_aUD9gTkb47VyKByZvzTEucAk8G9D2quf6eusnnei_RAtmEHefMnQDgy6yzMPcOQ62QG5-qd49_-bXMsbEuxDSstlPBP6UfuOmA656BgNB_IdF303XHmRSmTAgPg_5O6kCfXl3OpirFMn_24Z4xSS12nWQWkPfv4zO870GXKhtRlgPHJsfDW1lrn8ZGDgk7IQo6J9zjN8jWZEzX3Y8n3iM56dohmxmAoHvho_VAqTpFSU4CfbBn0IKBaeRXQ1w2ocGIwK3kRFrhlHASgcSX9dNnWXXzzbTrxhPM49Zlfg13dFDNjp9FaNI-U81-4b2mLup-c1TluosJfNarzcespBh1OEZTMkdkXX5sLVuvDUL-uR8MGoHSVnnFYSFixrfzGKINQOoD_1EurK0T0y7RVydkIS5itLAFCEbj4jXKEmnK2jCLPnPkNl3vK5cGN54RE9cviIo-aLMtfHzVJulpDhoYibY1qQ6Zcl5QiMc5kBrpFdBoLkdhcJ3lDA9H8RHZITtj4nX1U5PDhyG3x3T7-rP3aLZJvntOvOhpR9v7fxbsnOMRNkPsJ_VkaoheoHRpECXx9RK0ltccoL48hciNuMBs8Mf19wwkeag002snrTR3yNapmUMc93OZFtir-SVaUO50_kVUahlldGRKDhYbhb8sKz03AOdYe5PMV18Wmlue-28fb8xud9QJMfVz1rMZSJdoX4uRM4zOvTRL9nmtvAhG4qNFoJRn8nHRidefQwlChZ5MELqQNf0vu0TpGE8I-3XxpxqoogB2RDvMGTYwTAQHk3NLKak859yOc-BX_tB-XpIGvvKjCArkk9AH4aMcW1RM5Inxo8jx76j3PqO410Ck0iU-FAyc-UqI9d88rgtB3VwZNaceMC5uIHZTTJzAf2ud1IHS86m4Bl1zHqvQNMX0HW5f843-gz4kXl2ZS9kiTVhLHIunIpuAq_z5RGYTFkQrxUKncIpxnvgIET2VQdLI4rEmdsQuiKU3xx1Ak3UoP10ExdES7B5YSO77Cmsh8vrYMDR0Tuc68WwY7oR5EqY4zeyqw4nxrSsAc-bBEPMMapAPtDC32bJjjNWVv10szKZlkGr-NfrRlpFTmcGYyQJJsgPzT_wh6Pui5RsTwmqR4M0H3hXtzzL5_FFruuZ3nK_TVHvdNiAAD_GRCbAodUzT027FKEO4emMH1IsZS9ChMoTnx-mPPVlWpwuUh3IeUQnYYFNUAguerHPestoe3HILOsUlmQXp57bvMPMxYpMDWl8nxgMAMO5di1q5EkLhybkMb70UZiUPJE-YwsWDk=",
  "id": "rs_089368bc6c3a7e0b016ab42183c4a487d0a8c095b91495057d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.165,\"left_z\":0.045},\"note\":\"The left gripper is just beyond the white object, which appears low in its wrist view beside the safe wall. I’ll come slightly back and lower the jaws around it.\"}",
  "call_id": "call_bsQkMjCIpDU7z9PqKEn6Sup6",
  "id": "fc_089368bc6c3a7e0b016ab421869f8887d0ae0f718dbfdc0e63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bsQkMjCIpDU7z9PqKEn6Sup6",
  "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]: [-0.7589, 1.4834, 0.564, 0.0101, -0.5285, -0.5144, 0.9997, -0.0212, 0.7986, 0.6075, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=-0.1599 left_z=0.041 left_yaw=-0.037 left_pitch=-0.1263 left_roll=0.077 left_gripper=0.9997 right_x=0.2849 right_y=0.0011 right_z=0.1651 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9709, 5.4632, 1.7021, -0.3785, -0.1245, -0.0171, -0.0479, -1.2376, 7.0085, 1.8877, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee578b23719d64a754e4bb4752e762f80f20212b0acc37f1f38a80180af9fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6e540d3da604bc23f16f320be27074025a2a75c3be81cf3ceec649cca471d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f3808dcf081c72e5d13bba83d4819f61e0396717e8a6cb4a7ce3feaf4d77b6",
      "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]: [-0.6823, 1.3735, 0.8192, -0.2573, -0.4942, -0.4606, 0.9997, -0.0212, 0.7986, 0.6079, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3372 left_y=-0.1614 left_z=0.1294 left_yaw=-0.0224 left_pitch=-0.0685 left_roll=0.0349 left_gripper=0.9997 right_x=0.2882 right_y=0.001 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0416 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -5.7368, 9.4291, 1.7411, -0.4615, -0.0562, -0.022, -0.0615, -1.6205, 7.0222, 2.0244, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7589, 1.4834, 0.564, 0.0101, -0.5285, -0.5144, 0.9997, -0.0212, 0.7986, 0.6075, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=-0.1599 left_z=0.041 left_yaw=-0.037 left_pitch=-0.1263 left_roll=0.077 left_gripper=0.9997 right_x=0.2849 right_y=0.0011 right_z=0.1651 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9709, 5.4632, 1.7021, -0.3785, -0.1245, -0.0171, -0.0479, -1.2376, 7.0085, 1.8877, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee578b23719d64a754e4bb4752e762f80f20212b0acc37f1f38a80180af9fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6e540d3da604bc23f16f320be27074025a2a75c3be81cf3ceec649cca471d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f3808dcf081c72e5d13bba83d4819f61e0396717e8a6cb4a7ce3feaf4d77b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGKSq1oA678zIf9e2sP8YLm3hvWBkmULQXwZMWX8FRZ4Yrd6psaiXqmwqb8yXoeJXmlSvj5ATLHI7VxfSK6dB-EXYMLt2T6V8axwit7fGYQ9ZkHWDrdp1wNUH6nbBsywOuCQlgyDvges8WqAmjAYdNp4YVYtgEjAONVWVeRBUSHBD5aoxnYDRiP35YfDEvFQ44DiddTwBujgCyfIVQGaeeo8m2NNIYbJH3SvvHTNTWUDLqvyI6csFqDPyNCr6hKhiCK5mp_YMOcpmJrPMNZoIzbIS_ny_Z3KoMXxLktRv_zw0bmuU4DQ1kuXyEVS1h6LvVXjE1IQzLpeUgwAmy194WbwFpWbJhlrFVsIzY3q4uGF_7xmwAOhLkAReukZhqjq8cZ0NI2rqnSQPt-IDlw6Q4PE7ETa587TQI1STKD9MlnFlnaTjqR9-8OhADALSjskUcLeV2TzVI9DrY65hPZuyt0HowZ9BMKtadXv18hZbw4ehyrgWNeTy4p1EgD482b7r48uuWZmrX1qhHhB9OgWhi7bHZ_ZZnckvVIIPhUMjuQtGkMSW8ukpR4GsQ766wovMPzQqfip1Mw83_87vrTLzIrbgbrjD4EVEoxYzPdW9F1DxkRrsw_sGWqyykEx8wfDy3nFNe25yrNWmpGUNGTmZchbUIsJCnKDvFPbCZPyMXcRXjqn9sPj7iU3xvfVPFrUjcrptneC_Kwk4vLLEvHvJxhnM-O0ptrA5sjJ-wMXlh7BD3wFWeqHVjTiz5fNLz2N1BDsEoJXuQzSA_eFdAEOZoXUvpbr91ErjmL2WOE-_xKTda6ZgQsJ5s6N6yBfFeYW_MD8rvE1YtvCCDh9EH0htzn4R86E2-OhzxKjp9Jez2uBsnY06lH2gC3b9pDFRtdu572aLLeQxhsu5b8VwnkZP0WNXRuIcXQ2jx5D23QvBtEOHr9rDkz-ZdvGBUBlMJ7SMRzD1sPNEa3hJyn5GKjHPYiq9QWVitnmYJK-aBVsleb7KW-5kU4DW5XPRNwRGUHEfHfbsHcVnjDMMNC1Jxa-d9nMuQHIzsQClIE6xny_vXgTTsuHHe7s1g42y0nuyfm2IAurNLOlVKJQhMMYdw-J1fijY9WZQhW-pzLiMR-k2VGFXXJYE1b0bokpJiskzgIKMURvRSR7K6dGs0V5nZZs0BZUv0ja2V0OmKU4ok6opgUvBj4Zsx1-KhMklvHLiW4rYwpYVLRtUVAR_9Lb5NwwN7jkpRjesUy5omKpha45IkMwm3X7Fn0FzIwDEH1yB9kS8HLnpE1nfB_UPdOoHlHEvGlxgz66B-Hz4Pk89gQ4QiKUmu16iS6kbnmTzASEg3zbWWQADcqYiq5LqjbOXjRTIsLB8tOdvSxCWng5SmyBjtnqBEj6Hettd6qGiQrc1IkFRcsksnnlKIWfPsuxI43L7l3HoiO0dp6bxExd3bj3_A2AIDiFBQK8TiQebcAZcBGIQyq881kQTsVgLqnJ9BIye13CDaOZzrWL11ojv0VEmLqX1mAZDSgpzR-Qr8ZWDmQZ4nTsYIdgF0_wQ4e0v-wyCEJlZjjqrgn1WsYUcW7UtNZPCv6j8IldxOFPK4L2rlokXD9",
  "id": "rs_089368bc6c3a7e0b016ab4218909f887d0852c51eff96990e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white object now fills the space between the open jaws in the left wrist camera, with the gripper low beside it. I’ll close the jaws and check whether they hold it.\"}",
  "call_id": "call_wcc32DRABKCaBjYEimOeqLbd",
  "id": "fc_089368bc6c3a7e0b016ab4218a235c87d092a0c09a6ccd0ab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wcc32DRABKCaBjYEimOeqLbd",
  "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]: [-0.7635, 1.4986, 0.5438, -0.001, -0.535, -0.5243, 0.0114, -0.0212, 0.8005, 0.6075, -0.4786, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2956 left_y=-0.1533 left_z=0.0288 left_yaw=-0.0269 left_pitch=-0.1572 left_roll=0.105 left_gripper=0.0114 right_x=0.2815 right_y=0.0012 right_z=0.16 right_yaw=-0.0 right_pitch=-0.0896 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.653, 6.9402, 1.3602, -0.2027, 0.0611, 0.9011, -0.1436, -1.3744, 6.9538, 1.8681, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1295804061b0fdcc37fdcd4238144201183696c3b1c4fe2aa7bf217202d3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df3e557c19f3a54d1356285766114e1a850c7467d2e7bf0a2c21df4d5e73fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e576b557175b6242621ea142d724a4fbe3e90db255510f4b112a0a91a0ae4412",
      "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]: [-0.0246, 0.7929, 0.6022, -0.4332, -0.0029, -0.0425, 0.9998, -0.0212, 0.7937, 0.6075, -0.3958, -0.0196, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.003 left_z=0.1686 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2931 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]: [-0.0479, -1.388, 10.5231, 2.0928, -0.1343, 0.2271, -0.0415, -0.5812, -1.5248, 9.7162, 1.9121, -0.0464, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7589, 1.4834, 0.564, 0.0101, -0.5285, -0.5144, 0.9997, -0.0212, 0.7986, 0.6075, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=-0.1599 left_z=0.041 left_yaw=-0.037 left_pitch=-0.1263 left_roll=0.077 left_gripper=0.9997 right_x=0.2849 right_y=0.0011 right_z=0.1651 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9709, 5.4632, 1.7021, -0.3785, -0.1245, -0.0171, -0.0479, -1.2376, 7.0085, 1.8877, -0.0366, -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]: [-0.7635, 1.4986, 0.5438, -0.001, -0.535, -0.5243, 0.0114, -0.0212, 0.8005, 0.6075, -0.4786, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2956 left_y=-0.1533 left_z=0.0288 left_yaw=-0.0269 left_pitch=-0.1572 left_roll=0.105 left_gripper=0.0114 right_x=0.2815 right_y=0.0012 right_z=0.16 right_yaw=-0.0 right_pitch=-0.0896 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.653, 6.9402, 1.3602, -0.2027, 0.0611, 0.9011, -0.1436, -1.3744, 6.9538, 1.8681, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1295804061b0fdcc37fdcd4238144201183696c3b1c4fe2aa7bf217202d3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df3e557c19f3a54d1356285766114e1a850c7467d2e7bf0a2c21df4d5e73fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e576b557175b6242621ea142d724a4fbe3e90db255510f4b112a0a91a0ae4412",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGP_8HBKrEtMYw--zZiLCqVRA5lni9wGHdh8LItg51HK-Y_yU2fVYQFovxl8RmuIg_YHGfaUgrsZJxojpgsY7knGtzGPxpYXFczE3apoQhJJu5sU0rnN7hZ5S9u5OclKv9yg0qSKq9XXdW0VSkQdkFO74cg1FnpzokMb9jKqA73L9fCql74-Yzyosw-DaeCl_E2dDm4jwTzFOvmhtk9_3JTAWAQyixc2-ErGcvya-xRqbaoDv2qN_nIsMReMwVjSyEQqT-mgEWT5_t4tSpZRunaHap0MJrHz3bkJ-lIOldQTUY0wdkdTYnaqUoU4kdyxMO_QQNnBnHSC-6sDAetyOLMj05ozR2rBovKApOuiJMjxM6cXlK4GkK3vgV4RTsWsxev17WS2pHFOhLOMrW1RxQ33KsqYwR4bv2wVi0La4UDIFnfqllD4-EKdZiDyNub29iSRaUHf93v-slrwAo9v2_KxnmuRSKQuMOzAaegnbwhEl1rRLzu_I4cwDrzKS52jBFdEKxNeGpE1TAPk_PAGlEV9RU_TOLA5SXTXSKDj1_qvrSVjL7K3UbjwRBAGYwivE2onpjSQhU8aaoFUf24M0BDzuC0CxTX30YOXdNJqoirFI47Pk__Vdz4s-xByIlBWHnbmIfY_875gIxkBHqXZNXLHZ3eCd_F3uSdv_YhEC3LufABHeOEXW2K-9WGnBeYzpOHM6CU6aaYLZLoMKe91WeyFVRUJlgBlJE5VdRPnPdp0BSFsOCig-YUjKGg37r7bvD98OTQGkePKhrdpKu4rTndbT0UQZUbiCFNQE1t6LdQ3Te6lwD8CSQzuhJO1tYx0Ml3zUp7LE2wjXQQrGWF8pCdkL7hsPWZl030nrhg1qIEJc6OvW3N2YKBrasFtkwn3Llkl1k8IJPVkXphKiag4zwd0rsCHpTH4KSUSJPO9CKMTFLd5vCerCgvOZBA4sFQdj21nO6eEtXc1LdQH3QM59ixjDu4t-Hkexds2quTEd1DzknrGd7i5UhuyNOFVi_3XfgOsGBMNkPgNANC0efvCXVyYLUvLaLdoENxXEg_f9lr7DiXhKWkUkh6YhkbL9LMGmk5JKwJWyo7q40vggX7uFADJlk9kotWhaPj4Jy_Ld5yVb1nk_NEtg2yOOF5gvjJrgT8OKT1FNxKfdXoc9JJxYStqok2e0ww7M33gLaF-HGeTrDZtGUT6Blfj2HJ9wP6_BzZMKu18HlrEFdOmbyyqf1ywXCStI9wFuXYnvFrV2c8M7pmgCtQYJTU3J4j6Yp2kAODB_ccZe33kLVZOemiJ81DqBCFLOXLS8cpw0IGYt4BkPmv2vEmJDaMMsPAuqNpdWe621zAEnqah2CNj1N7uCYw_2aPjNlybkepMnQXiXKiVCX3g0e2of2Zc-l7jRFAnnujETTN15HkupwiSJg94wPZXf2-IDex3cLhG90p0r_uVsu3yfiiBlnPLlnRzV5I7NkamRfYyQvnNmg1A1Xef5lSf4_2BSH2oJGeFXxQNW2A9DtGbb90-KO3J9WIZFvoSEESJAoKiCzGYHck7OAzrMEu5TSKeRZTFvfdHEauMqLXf_o3qm7rPEIXZYHVovdPLoKLZaz1v61vhFGUMR3X-tahYhyLeJborfk9ln1-t9M6AdIy5kKXBJugi5yOgkj9GIL7vRRZvRXh_gl_cS3BPryntAx7IyTCugS3I3vueuGPYZTAa_sDQfYT1WGplzOF-sYid--FOiuOOkEewv_xhb64bYpGgBmYoT5Y34eA-UmUHFAiUCHZqd97k_erR5E1FNLvu6RtBEK3Aw4Lv4Wd7JYJPxhXC1nzLJNekuIlnnM73ZjThrvJ8N7UyIDbWJW3B8P_DMwIVp1AbHyoK5DOKp3kEe1BzdCN8POjIhzHDgHqqQ0sWIxCUTxir9y0r8rHA21a5upsZ8yKVDNhXHEu6pkcfOFJzaGdT_VKYg6Y04SSPAU5OQVCoLCbBWi9u6BTIDnBFGCLVT0B77TW0uxnzh7paQmIdPTuM6vHFQPiGh-IFoE3lC4jiJnkSaJV4nmn2whi-ZvjPdK5P7BSUfZbbX5Uo5a4DnQhXuRVKb404TJBLcCwQxTusx0wN7c_1gj280CB8hzyRQFaBpOL9xacX67DOwY1bN9yaTzprMTrSWiV8p3c5iDTbhrvfTifnB-RJ1n309n1gtHv84fEphjWwa9Gdg==",
  "id": "rs_089368bc6c3a7e0b016ab4218cbc4487d086e7fe4f815f38e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.325,\"left_z\":0.037},\"note\":\"The jaws closed nearly fully, so the first attempt missed the white object; it remains just beyond the fingertips in the wrist view. I’ll reopen and move about three centimetres forward before retrying.\"}",
  "call_id": "call_4Wdr4jvScxEjPspK6tLnVNbV",
  "id": "fc_089368bc6c3a7e0b016ab4218ede6487d0996572748779ffdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Wdr4jvScxEjPspK6tLnVNbV",
  "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]: [-0.6888, 1.5497, 0.5995, -0.0082, -0.4976, -0.4725, 0.9957, -0.0212, 0.8005, 0.6075, -0.5003, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3147 left_y=-0.1452 left_z=0.0273 left_yaw=-0.008 left_pitch=-0.1817 left_roll=0.1202 left_gripper=0.9957 right_x=0.2781 right_y=0.0012 right_z=0.1559 right_yaw=0.0 right_pitch=-0.1114 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -5.0667, 8.3077, 1.4042, -0.1441, 0.149, -0.149, -0.1709, -1.2103, 6.9402, 1.8339, -0.0513, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ef63fcece0ed9415eb47e99273d77b89ed4d3341dcf5ad3347a237cf67e717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01450ffcd3f028f044d6f20b7717bc2b12718141d8338371c9901f8078c0dca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde7ed0c6531a79f886f438ff8d1bbffd20d1e99b3c861b70471e14f334c4431",
      "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]: [-0.6823, 1.3735, 0.8192, -0.2573, -0.4942, -0.4606, 0.9997, -0.0212, 0.7986, 0.6079, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3372 left_y=-0.1614 left_z=0.1294 left_yaw=-0.0224 left_pitch=-0.0685 left_roll=0.0349 left_gripper=0.9997 right_x=0.2882 right_y=0.001 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0416 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -5.7368, 9.4291, 1.7411, -0.4615, -0.0562, -0.022, -0.0615, -1.6205, 7.0222, 2.0244, -0.0415, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7635, 1.4986, 0.5438, -0.001, -0.535, -0.5243, 0.0114, -0.0212, 0.8005, 0.6075, -0.4786, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2956 left_y=-0.1533 left_z=0.0288 left_yaw=-0.0269 left_pitch=-0.1572 left_roll=0.105 left_gripper=0.0114 right_x=0.2815 right_y=0.0012 right_z=0.16 right_yaw=-0.0 right_pitch=-0.0896 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.653, 6.9402, 1.3602, -0.2027, 0.0611, 0.9011, -0.1436, -1.3744, 6.9538, 1.8681, -0.0317, -0.0659, -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]: [-0.6888, 1.5497, 0.5995, -0.0082, -0.4976, -0.4725, 0.9957, -0.0212, 0.8005, 0.6075, -0.5003, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3147 left_y=-0.1452 left_z=0.0273 left_yaw=-0.008 left_pitch=-0.1817 left_roll=0.1202 left_gripper=0.9957 right_x=0.2781 right_y=0.0012 right_z=0.1559 right_yaw=0.0 right_pitch=-0.1114 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -5.0667, 8.3077, 1.4042, -0.1441, 0.149, -0.149, -0.1709, -1.2103, 6.9402, 1.8339, -0.0513, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ef63fcece0ed9415eb47e99273d77b89ed4d3341dcf5ad3347a237cf67e717",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d01450ffcd3f028f044d6f20b7717bc2b12718141d8338371c9901f8078c0dca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde7ed0c6531a79f886f438ff8d1bbffd20d1e99b3c861b70471e14f334c4431",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGUEyQ98dy5riySrrO6EvUnxEvjt3m9l2Fz0aklooJED6Z5PzCuasGDC-D6RwV_eL2T47MSFMlMa6pyRXbQJPi_R7KVD66VHCO5eMlN1Pk3aEdbVKPRRWGEOcPPfwSPorYhcjwD_QLPwVEKvusy9R8LwUv4LXnLJzopKtopW1nVKO6K-VEbw-q0UAN1zcK8ruCxCkd9X-yBvH3Eg7M9O5kwFZNiEX5uFIMC2pcTE8qXLxuzG-vukoa07goOGc6xLI97M5kZOozb0ZKDRbFI5WyqjZ1ZywPOw-vxwmLXBtu7BDDB5mnbkseynEVw8XQ4n6w94dXO3VzMrwMV9EBLtoSLWsvR0wWSPEIOiFPkLAOVrk0bBzYItRaS9R9d-CYuc5oz1N_uO3Pa2qKgRXL3oz8_PUdxbs-o7qrkehn86Jtl-kKv48WR_-ZUiyD5lZtvi9FxoF4Rg_2cRkUmTRMhTgs0ZilI80IU2ps56YAMkeaDL_uX__nln_2quaGdqhQhOPVYvlTc1U57w8x8RLB-UzEiVn-JMBQCpc6o4xDIjR_2XeToh8tX70Q6UsMooMAWeEJoM-gOU3iDGaqmR83KnWvBjn4l_XZdNf9SUtRnRP9PPu2N4EAXk_vmOhntTelzURsZyMkFb1mOvTvlw9gbtTKhI5hOrqx-V21-RbcH2nfB4VEFFiXJUVDF3mUDmx9V5-q2B9QoPgVHsRYg0FlVhPfPa2foRp8KDdEBY_wqNLBwVNyN01BBmiYyJ_bQ4hhM9kAsjM15pPrC4mkORHgIqJuC-8RFyh-ShnyuItaSb_ovfv_0sN6Lzvccrj4kUyELScLsogCQaENzu202qMSwaKOGabm63EnqGZxex4c1wfEL6pJ3YlGlc4TU_au0rtOEECR_mpbcYJcGj3QAH6kHVeYxhc6Z3sqrB8iMta6zzMLYl1Llslwphe9VfaGxERVYylKx6dmVSpnDeIjcQb6rK7koqH2X3Ljl1GTB3dYjCyvGHavrITCvUJ0kwwfJ96QemmKdj6EolhKebXArtP_r9kc1sw8qRn9Z2wiaf6HCgKT8DHddUQXKv1bAIlsnYU5JN3qnxuUnLTMQXsW2dRxP5gJ4bsj20zESu6kzkU2TAaT4mtkgl41ZPS7FJYz73zLa2PEpF3M0nMYwbugxybSrK98NCos4uB2zfR6a452nVFaBe05wS5epZqlrka6MGthxM-1UphTUYjpNp_JVvoHlB6M7HU5WWkNOOFebCmw6MCt0V7e2_uea-h_yYglcq4pb_jjlVrkA-dt7G_U4dPN4i11MWx0331mAJ_YJqjqOdLS2PtYOPzb4udnXl7uH0h-3tT72rXLPpFuGjlhAvSJjCC6g-IyWKQ_1k9XJOAUsn5EEMvVLJacankrTk_Yig1N3RKC6I_LMo0qLm9k6IZ5rFprJ5PhvyaMRWXRsAzvCwJWzfgu4gkrM7Qq3crpA9rCLAz_idVNOU3_LPGNA-BlEQeusMH83ZkER3NbIhTWUKhA9SDt7kUfkhpeu62IZI2afc4adKhWdBIviFc8_PDpkxxrRMprkUNyeLPrw5qoFrRj5dbUuvp6guShCgKxctWgpH9MMdp36TFKllie9XNXxwCAXPbtFBKbdDQwxW6tAIr77sG0=",
  "id": "rs_089368bc6c3a7e0b016ab42192c37c87d09c3262a7ee7b5c3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush is now centred between the open jaws near their tips. I’ll make the second grasp attempt from this position.\"}",
  "call_id": "call_5dVteNTzN63BwbQyjBxBTIIi",
  "id": "fc_089368bc6c3a7e0b016ab42193c08087d0a5c0f339a86732c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5dVteNTzN63BwbQyjBxBTIIi",
  "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]: [-0.6865, 1.5524, 0.6025, -0.0078, -0.4931, -0.4759, 0.015, -0.0212, 0.8005, 0.6075, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3154 left_y=-0.1457 left_z=0.0271 left_yaw=-0.0069 left_pitch=-0.1832 left_roll=0.1143 left_gripper=0.015 right_x=0.2745 right_y=0.0012 right_z=0.1516 right_yaw=-0.0002 right_pitch=-0.1339 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.0513, 5.1077, 1.2772, -0.3346, 0.0073, 0.9206, -0.0615, -1.1692, 6.9128, 1.7998, -0.0366, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be861c5563e58c5f7c14097b4069b8ae8a55b6d41a97723f26c7d201836055b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03567814a551254727a5aa83eb25343f72c1ac2eaadbfcd54f81aa527acda983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e18b8be9fdfb38ce552d93c863813536aa2dd5473adcda9cec37bf6a6a745f",
      "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]: [-0.7589, 1.4834, 0.564, 0.0101, -0.5285, -0.5144, 0.9997, -0.0212, 0.7986, 0.6075, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3032 left_y=-0.1599 left_z=0.041 left_yaw=-0.037 left_pitch=-0.1263 left_roll=0.077 left_gripper=0.9997 right_x=0.2849 right_y=0.0011 right_z=0.1651 right_yaw=-0.0001 right_pitch=-0.0641 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9709, 5.4632, 1.7021, -0.3785, -0.1245, -0.0171, -0.0479, -1.2376, 7.0085, 1.8877, -0.0366, -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]: [-0.6888, 1.5497, 0.5995, -0.0082, -0.4976, -0.4725, 0.9957, -0.0212, 0.8005, 0.6075, -0.5003, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3147 left_y=-0.1452 left_z=0.0273 left_yaw=-0.008 left_pitch=-0.1817 left_roll=0.1202 left_gripper=0.9957 right_x=0.2781 right_y=0.0012 right_z=0.1559 right_yaw=0.0 right_pitch=-0.1114 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -5.0667, 8.3077, 1.4042, -0.1441, 0.149, -0.149, -0.1709, -1.2103, 6.9402, 1.8339, -0.0513, -0.0757, -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]: [-0.6865, 1.5524, 0.6025, -0.0078, -0.4931, -0.4759, 0.015, -0.0212, 0.8005, 0.6075, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3154 left_y=-0.1457 left_z=0.0271 left_yaw=-0.0069 left_pitch=-0.1832 left_roll=0.1143 left_gripper=0.015 right_x=0.2745 right_y=0.0012 right_z=0.1516 right_yaw=-0.0002 right_pitch=-0.1339 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.0513, 5.1077, 1.2772, -0.3346, 0.0073, 0.9206, -0.0615, -1.1692, 6.9128, 1.7998, -0.0366, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be861c5563e58c5f7c14097b4069b8ae8a55b6d41a97723f26c7d201836055b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03567814a551254727a5aa83eb25343f72c1ac2eaadbfcd54f81aa527acda983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e18b8be9fdfb38ce552d93c863813536aa2dd5473adcda9cec37bf6a6a745f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab42196608c87d0afff032d56711a9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.005,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.45,\"right_y\":0.2,\"right_z\":0.15},\"note\":\"The second close also read empty; the white plush is crowded against the safe’s side, so I’ll leave it for a different approach. I’ll clear the left arm and bring the right gripper above the yellow object.\"}",
  "call_id": "call_pr4OvrOR4pPjPvBBpxhb6Th9",
  "id": "fc_089368bc6c3a7e0b016ab4219a528c87d093cb59f180db111f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pr4OvrOR4pPjPvBBpxhb6Th9",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.131, 0.8852, 0.7273, -0.6846, -0.1638, -0.0681, 0.9972, 0.5495, 1.7748, 1.2938, -0.3595, 0.3798, 0.3565, 0.9996]\nstate[eef_state]: left_x=0.2689 left_y=-0.0028 left_z=0.1548 left_yaw=0.0425 left_pitch=-0.2062 left_roll=0.1102 left_gripper=0.9972 right_x=0.4371 right_y=0.1951 right_z=0.136 right_yaw=0.0281 right_pitch=-0.1826 right_roll=-0.027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -2.0171, 9.5111, 1.619, 0.0171, 0.1685, -0.0904, -0.0205, -9.1829, 8.4855, 1.5946, 0.3053, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfecb4bc0da71be1c2bf79546202222ad33d5a97e37906b13c420120a03cfed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486b0e5f5ebb1e4ac1ec95aa95362420735548d8dac80fb29560d1ade113cae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d26321e2caf42206e1facc163411c8d5e27e6b42da959dcb32d78880dc3284",
      "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]: [-0.7635, 1.4986, 0.5438, -0.001, -0.535, -0.5243, 0.0114, -0.0212, 0.8005, 0.6075, -0.4786, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2956 left_y=-0.1533 left_z=0.0288 left_yaw=-0.0269 left_pitch=-0.1572 left_roll=0.105 left_gripper=0.0114 right_x=0.2815 right_y=0.0012 right_z=0.16 right_yaw=-0.0 right_pitch=-0.0896 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.653, 6.9402, 1.3602, -0.2027, 0.0611, 0.9011, -0.1436, -1.3744, 6.9538, 1.8681, -0.0317, -0.0659, -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]: [-0.6865, 1.5524, 0.6025, -0.0078, -0.4931, -0.4759, 0.015, -0.0212, 0.8005, 0.6075, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3154 left_y=-0.1457 left_z=0.0271 left_yaw=-0.0069 left_pitch=-0.1832 left_roll=0.1143 left_gripper=0.015 right_x=0.2745 right_y=0.0012 right_z=0.1516 right_yaw=-0.0002 right_pitch=-0.1339 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.0513, 5.1077, 1.2772, -0.3346, 0.0073, 0.9206, -0.0615, -1.1692, 6.9128, 1.7998, -0.0366, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.131, 0.8852, 0.7273, -0.6846, -0.1638, -0.0681, 0.9972, 0.5495, 1.7748, 1.2938, -0.3595, 0.3798, 0.3565, 0.9996]\nstate[eef_state]: left_x=0.2689 left_y=-0.0028 left_z=0.1548 left_yaw=0.0425 left_pitch=-0.2062 left_roll=0.1102 left_gripper=0.9972 right_x=0.4371 right_y=0.1951 right_z=0.136 right_yaw=0.0281 right_pitch=-0.1826 right_roll=-0.027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -2.0171, 9.5111, 1.619, 0.0171, 0.1685, -0.0904, -0.0205, -9.1829, 8.4855, 1.5946, 0.3053, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfecb4bc0da71be1c2bf79546202222ad33d5a97e37906b13c420120a03cfed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486b0e5f5ebb1e4ac1ec95aa95362420735548d8dac80fb29560d1ade113cae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d26321e2caf42206e1facc163411c8d5e27e6b42da959dcb32d78880dc3284",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGhe9TaVdmJbJXPeSMIBzmi1Nh5XchELIRP5N7GkQFLSmpSJLf6qWGu9sTexJo_ws4sNyZwdj623rZpFjOtz0gL7e8ZaP7aNislVGS3Y26kL5fE-4peCVWfw4U1CFvr4vay1Tto1EbD6HGfT5aTl0xwao16IpnxyMUL7y036_ZTrNoVOehLUk54flQTLr6uMS0SrRu4O6XbvfX7g8SW66txxi7eSSjIj0_UIbmb3g-Dog0D_LPm2GbUlEU3BNmnEBdH6L_YmrfOhHYhc_SrY1W9VHIqrO4l7UyRagjNMK4M0BqdCRhvnR6aC3GI8C9Z6FrT6GG6hXbBFGE467CPPY8zKjwaO6fW-hz7tq76E1PnwlTPcAZ6rqLUjRquDDJxI7fmbQOCK7GHlcafNMw2D_m2eg6eMYqpVVVNAKIUUuqhSwk-CMeJcsSeR7O2vtZT71n3wAnKdDmkVaslA-eeVDaQZ4JBwGX188q3__9EZR2K3tgH-1qDJNvy2UYYLPFxyZKGPWnGvjyhXvc0HkXnKyzLSIwV6VkJO4sgdVgJDEl0JBhsAck_jc2BxMb67lsRSEkoNiNqm_zv82kdVSVZFbQ_gWD53nT_FzxAsa8yrP2Iy4xe_PrF7YHc8w6NeAd6k3CGqWcO7V7v7nb7n9KTuV-8i7pzZ9ZUTuohYif0wT3nOrsRreM2znlXfnUMY0ihB8w5fzWjVVk6iqrkPg3bILn9ksAUMZf11C3ZIWE1YXCR02SF9g7UGpjAY1PUWGPJsSP6142qTJYa5b6wvL7UBuGvtfb0cT9TOP_c95LEAyjQjwM21e3uxT2GJBrA1CCWx-jF4Vj5ayk0SYCjKEAmvMFTtd9K3D1MppayXt0fflFix1yf2NBczJQ8VblhDOjq6OxCwLDTZPoL-C0LkcvJxNt5PuXzLQyCRIl6mTaLv8anGLs29Q5-ymHg6jyNwM58fRQ0Q8cTeeQczduHSH6gYAl3EGtt7liEc-ZdV0mTxTl-OLXriVUcfJsB_qfP3f_GLC6hRsJnSEIQj6jW7IgsL6SDE3Msh-MeubG_-kanbUhdDES60cr0Aw_HisEqpkzgOsYO8OgYcTyUm46ak3LlVz1TePa6FR32gv-U1LQWolR8v6kCg-PWOHPeRqqhhM__LloCxpu5_bWNroXYfSLJ9SiMW2lD1ZYUwt3MH8LW4fZw5ayfXYVI41X9nDUymLNrltD5cGZvZDI6iHx4m45Sl-nnPytrrnIJxKvJHuuiPYhgHJdu2wni9ojUmXZIwtiY60lvIdFLXUhs9tCJykcN-R3WfWLRRb1NJy5vNbDvKpVdmGd6makEh95VciCWs6WJsWABQEKlqUJhWtvMaaw31g-tgSxiZXzUjYdwbu0KkYzdQVm30YzjuuMs4tmSXOoVqyXOfV3vS-jjn92a67NgZuRWUALp4mW_2qNKNzaqNBaPjVxqlKSRkA_qQ47_hJwWcFYnuYtU0_EIL1HTCRP7JxGQiHIXIScncxDNK7ByEOdwYZAD4WtSfNcnevJpExoUUy_yA_lmDPh1VIzuKvHNc9R4aYgl0z5aNrh0eqbSmev6Qg5OkjFcxQmsGgaoMtZArnYVhQiNMqQr-ljjRCMkUB0K6eQwlTARqkJJu5qENTfR7b9UKjxDHRmgnQDcrTu5OsIz__3ZFrznh0DsRXotwpgWF4Nvwwup8HzZGEjNGAS1tY8Vl7ekVtLSPg3RQaFrIabKyB10g5kS5lH9sZ_queIaJn80nOhyi_lrNJlKWly9wHGvVH4PbOQ4WQZYBavS4me35suhUO7w18ojMe1QigLOkooyL-J0xxqQ3KjbjTcXzx9j94Xwi63NvHqPDFjPpa4gewE8c170P_WHEWpevxzZ0vNoBGmjeJDTrqRbUO3cNO_oFm5mZvif-6HoJZlr1CLQIZyeIBbkYbygo5Eov9lxkCcMqODdGuPdHEMRtxre3bGdn5oNRQ3Ac2rv8F98hsEZEgZKf8s2vCRGx5hJvpsfbQKqsGFg_ujDsM2jUGp-6MIDsPSu49FvxcS7EyS-No8W3ktwMz45Uy7dotFhJsCq027b3LhJYepPEW62ujmXRxdA5iGE0vfzjb3ahvEdQgf7M1BcxQMSfNOQh3vaEAuOqFim_aJdusAsAYkj1Nh2E6ffSBQqNmFv1yeEdNKtrU5gUepek4J4Q5zA8lm2K2Wx3wDCyttNA2prDHWt6E0WibqtQTPT7s7M048_LK9kKo1VumnA-_jvnV5TC1dRbUucQw3itiipSAyawcKR_ipd4PdNmHzIa7UvhOeBkohguTzJtXWbrOKAk7haa7Ha61-apFdbZv-RQFB1_tjmxCLsforWmhLwTwqhsZuKQmKmJ0etu64NKU21xRPJ3rkhPXGHxPCkX4SzCDkgbolPD9rnFEE=",
  "id": "rs_089368bc6c3a7e0b016ab4219def0087d0aaa327fa5d58f7c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.457,\"right_y\":0.195,\"right_z\":0.048},\"note\":\"The yellow object is centred in the right wrist view, with the safe wall just to its left. I’ll move a little forward and lower the open jaws to its mid-height.\"}",
  "call_id": "call_lYkB8kY75HxaivueQKrUuwZg",
  "id": "fc_089368bc6c3a7e0b016ab421a0479887d0bbe8fad2fa2d8e4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lYkB8kY75HxaivueQKrUuwZg",
  "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]: [-0.1303, 0.8879, 0.7326, -0.7124, -0.1535, -0.065, 0.9977, 0.5243, 1.9461, 1.1671, -0.1303, 0.3592, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2647 left_y=-0.0038 left_z=0.1517 left_yaw=0.034 left_pitch=-0.2324 left_roll=0.1088 left_gripper=0.9977 right_x=0.443 right_y=0.1886 right_z=0.0426 right_yaw=0.0212 right_pitch=-0.2505 right_roll=-0.0593 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.7162, 6.4752, 1.6728, -0.1685, -0.1001, 0.0415, -0.335, -9.4564, 5.9829, 1.7167, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6db16baa2b2a0e665eb24102b4a1a5ccd67c99944d1f40fb10f3ff72a844212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36381924922831aeb0fe52e1af43632dab3840ee3e7d7947ffdb7ff7cf79c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ea118223a68b0d31de13a112761bfad6c6f422747ccfbfa8010b5e952e5457",
      "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]: [-0.6888, 1.5497, 0.5995, -0.0082, -0.4976, -0.4725, 0.9957, -0.0212, 0.8005, 0.6075, -0.5003, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3147 left_y=-0.1452 left_z=0.0273 left_yaw=-0.008 left_pitch=-0.1817 left_roll=0.1202 left_gripper=0.9957 right_x=0.2781 right_y=0.0012 right_z=0.1559 right_yaw=0.0 right_pitch=-0.1114 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -5.0667, 8.3077, 1.4042, -0.1441, 0.149, -0.149, -0.1709, -1.2103, 6.9402, 1.8339, -0.0513, -0.0757, -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]: [-0.131, 0.8852, 0.7273, -0.6846, -0.1638, -0.0681, 0.9972, 0.5495, 1.7748, 1.2938, -0.3595, 0.3798, 0.3565, 0.9996]\nstate[eef_state]: left_x=0.2689 left_y=-0.0028 left_z=0.1548 left_yaw=0.0425 left_pitch=-0.2062 left_roll=0.1102 left_gripper=0.9972 right_x=0.4371 right_y=0.1951 right_z=0.136 right_yaw=0.0281 right_pitch=-0.1826 right_roll=-0.027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -2.0171, 9.5111, 1.619, 0.0171, 0.1685, -0.0904, -0.0205, -9.1829, 8.4855, 1.5946, 0.3053, 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]: [-0.1303, 0.8879, 0.7326, -0.7124, -0.1535, -0.065, 0.9977, 0.5243, 1.9461, 1.1671, -0.1303, 0.3592, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2647 left_y=-0.0038 left_z=0.1517 left_yaw=0.034 left_pitch=-0.2324 left_roll=0.1088 left_gripper=0.9977 right_x=0.443 right_y=0.1886 right_z=0.0426 right_yaw=0.0212 right_pitch=-0.2505 right_roll=-0.0593 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.7162, 6.4752, 1.6728, -0.1685, -0.1001, 0.0415, -0.335, -9.4564, 5.9829, 1.7167, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6db16baa2b2a0e665eb24102b4a1a5ccd67c99944d1f40fb10f3ff72a844212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36381924922831aeb0fe52e1af43632dab3840ee3e7d7947ffdb7ff7cf79c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ea118223a68b0d31de13a112761bfad6c6f422747ccfbfa8010b5e952e5457",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGlVLJfbqx5PTeI4_SaD5LUxPD7nZXqeHPqPqmJZQCAB2OHUr3i3lGagJHl2WtDH2lMM87qIt7G37PGVxcFTqHIUgyNkQVClemCOmKjbBrmYd7TlEpx4ewv8W5ncvVQIYHXmOzLM1HIirgnH2Pe4FAYt0gG5g8WB2XuEAFjtunchpxvnWa8xHqtvc1z-JOS3KNu4Xh8FXJwszBNMhO8mxXl2BdhD0O3vryLdvHUYsTnr6altPw3piZLruQbvBfN4y9jBzoRW-qVZJakq4sGtvYNJDH9HxPQhytAPIxOetAqOkPjWLSLRabqK-B05rBPSsGR-Am3QSU-YLNz4iLf1mMEXg0BhaiXHIAMQrNgQ_3VQIcHxx7oV9UXtFt0dKobUIkHHAyjrPHK3xN3CS3PzQLib7pF-vAYejqvP8mjb0VM_P4gNfz3WHn7KSb7INkNy5h4ZkT1xC2gAr3YD0eJM9ZJu4dgggNwqWY-EHQ2ISTNmWR0N740D4ujjmTFIEpEmZKxfM3r9z3eguW5KjZyaIPVKhuyoWCbfdLfEOeDqnC-hW26bvf6JpjTanRs8fVu4UeJGGSPFKdcsFiAqHQ_rZLMdYizgwmUeiEgT1KgyphqijWmmhosfK1kp5YqUTY--9Soa5LAOHeCdRvO8dUy69NkU0DUWHwLP4DCDh4tMTjtaubGQzukQFalEnAqvGXKjH3I_ZV1YnDoWJIG5MpetuURzcfkEUyVRYZryeCAv1rPazw2UJlNmicW6gddHDZVS4bEaNKZdcFMhW4qwOXMKv2xLRhkiRpFc2S2WwRudhBYAc0wEeOzLUSo15gQPcElgJjNxlnSFze3H8SoTp4UeQMge-wC7RX1xbwiCkiwkYPmT5NMBhak2YBf9o8MmS9l1VpY5uYCyrVlrt9Iln9l9FML1YEod-0k6Rqv-bsWqdP-wQMiO626KZ3MqzaYZgaIgb_HCuAoEA-54BcP2QkwRyR-6LTapeWsr21nFUi-W5vVTtuXdjSnJwpMhTFVM9cYs44RfNhBZJv9qO7dkxkKMzFySbk5iDYCM548H6YBClfPtSjuQGjW56qMQLGR9uIV38ptyYPmrDzBWwagWL295sjFc4W4zPDr_fEZJyOHOypFtWUJdblotVclFOjiyUVI8JWXUhgQUlO5DpyoCG4n7SF95YE6jcJbGR_9Ixm8DOw5gJoi-gLrT3pkCUI9Rh6MGIniXPWOBQ0kR_Hd2uQktbB03wXHiNGa1K57ITjohWxcdGs5Vy45cibPfEcMui0rW3GIem8HruqLfEnbwmVK-6pvzwofUuAsaICl2WjX8Xvw03SHrk4Qs54ME_ufLzxc6ED4KY94BwnDoHZtDEisgyOh5eH1T33Ta6CFGXv9teAffbiYgUvr245RmX5IgBWRztKkqLzFRULxVhs57sNd1t4lMknQtFbnC4lk8nGoJEofj1Zq28ROtTLoLpftL3ZDbtq7bBMI1IJli4ev9gviZ11M3ezxTgy8D_0rPWLXd-55qn-FXif3khDiWXG9Hlv8_3EDZKS3IfrY3UFLH-U-XLNVYGXwTyIzWw9XJJx9bdnfGzUvN6xypCFiF7gZcZw4Kr4aaKehTmw8bO2GP-fVct0IGS_99Oa7pBBH1juQcA_Yi8lEEf32jP-bUKlet2ZPgjZA7i3EjoREtv0352ZPHgiaolRNLctO0SDLhKy-8JBDB8ny2jMsqE4BUw9AOHU3QDPa-ZOnX4FVfOkMQE1v4AyxB8y0CEtZtMhb1eWnQppIesbV8-re-fHF8v6jIdPzQnHZZIqhwrrxAfwoP7kJfdKj7E4ePF46wD65_JMetaHk6BYtJBFrQHhVOZnBUCGI3eZV3DXDtJGzu3pNKZ49kMDERnZOYzfjIFV_0iU-KDrXphqFrCKKbl36ms90NOicjHBJ9MUepXcRXo5X-1hj12VfOA==",
  "id": "rs_089368bc6c3a7e0b016ab421a3220887d0b3fcad5717ca8347",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_z\":0.05},\"note\":\"At grasp height the yellow object still appears fully ahead of the fingertips, rather than between them. I’ll advance the right gripper a few more centimetres without lowering it.\"}",
  "call_id": "call_rGSrVmJ9MuSHnVf567a7zSOx",
  "id": "fc_089368bc6c3a7e0b016ab421a4790c87d0b47d2886a8964f69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rGSrVmJ9MuSHnVf567a7zSOx",
  "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]: [-0.1303, 0.8902, 0.7326, -0.7204, -0.1535, -0.0677, 0.9977, 0.4763, 2.0411, 1.3254, -0.1905, 0.3283, 0.3027, 0.9996]\nstate[eef_state]: left_x=0.2633 left_y=-0.0036 left_z=0.1499 left_yaw=0.036 left_pitch=-0.2425 left_roll=0.1087 left_gripper=0.9977 right_x=0.478 right_y=0.1865 right_z=0.0452 right_yaw=0.0192 right_pitch=-0.2602 right_roll=-0.0612 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6479, 6.7214, 1.4628, -0.1148, -0.0122, -0.0073, -0.1162, -9.894, 8.253, 1.3162, 0.1294, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1662896b830e37cb981b5be3d8b2349a68e3032de9b6b906e4d639c6c89d91a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cddb802506fe8ad1cfcae3292353465272b39c0dc21b45b76407f978f9ecea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0234a60ed0b7835db80835baad0792d9f1add0c787c9c2f0eedcb244307dc5",
      "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]: [-0.6865, 1.5524, 0.6025, -0.0078, -0.4931, -0.4759, 0.015, -0.0212, 0.8005, 0.6075, -0.5228, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3154 left_y=-0.1457 left_z=0.0271 left_yaw=-0.0069 left_pitch=-0.1832 left_roll=0.1143 left_gripper=0.015 right_x=0.2745 right_y=0.0012 right_z=0.1516 right_yaw=-0.0002 right_pitch=-0.1339 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -6.0513, 5.1077, 1.2772, -0.3346, 0.0073, 0.9206, -0.0615, -1.1692, 6.9128, 1.7998, -0.0366, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8879, 0.7326, -0.7124, -0.1535, -0.065, 0.9977, 0.5243, 1.9461, 1.1671, -0.1303, 0.3592, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2647 left_y=-0.0038 left_z=0.1517 left_yaw=0.034 left_pitch=-0.2324 left_roll=0.1088 left_gripper=0.9977 right_x=0.443 right_y=0.1886 right_z=0.0426 right_yaw=0.0212 right_pitch=-0.2505 right_roll=-0.0593 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.7162, 6.4752, 1.6728, -0.1685, -0.1001, 0.0415, -0.335, -9.4564, 5.9829, 1.7167, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8902, 0.7326, -0.7204, -0.1535, -0.0677, 0.9977, 0.4763, 2.0411, 1.3254, -0.1905, 0.3283, 0.3027, 0.9996]\nstate[eef_state]: left_x=0.2633 left_y=-0.0036 left_z=0.1499 left_yaw=0.036 left_pitch=-0.2425 left_roll=0.1087 left_gripper=0.9977 right_x=0.478 right_y=0.1865 right_z=0.0452 right_yaw=0.0192 right_pitch=-0.2602 right_roll=-0.0612 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6479, 6.7214, 1.4628, -0.1148, -0.0122, -0.0073, -0.1162, -9.894, 8.253, 1.3162, 0.1294, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1662896b830e37cb981b5be3d8b2349a68e3032de9b6b906e4d639c6c89d91a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cddb802506fe8ad1cfcae3292353465272b39c0dc21b45b76407f978f9ecea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0234a60ed0b7835db80835baad0792d9f1add0c787c9c2f0eedcb244307dc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGoD2_C8naBIj1NFMoV02fYModLrVEoidjYXKV8orvonkQr4CGJs1ogadg8ie8dAMcFBD9x_l7_3394MqAG39oCpaaIaQbgPAof9YhTLXlHoqwDUPtvScLVgQiud5sAJDi0z_f2wjXh5aoMBxhTQNCy1Ohw7NEEmxS6NXhH6-FIBUDButPBruqH2KnN-IaBeZvnXFXvADJuUhyX74GMd2kWjy10ux0mfz6nZvze32n6f4N9a1upL2hKoODBLlcS6ZWPnbXExNqbEJEucniSrnyfXvXYOOyCKPdDAOwjz0m8danuyH6ADONS0yMagIscJc7P6i9DIInnd6JH4CZH9KGbCKuPmd4tOqAL8SmP5kmYaG3XpibrrxEW20M8bOjZlQLy_Z50K2qZ1r8hLPEtBTAWdL9YC7T7c2MPPCmggxg2SrjzPkC34adaqM9msgs4MRHTK5zr87VKTfmRXuoLWlybcWbVxWE41AXeJeYg34Trvd-wI89tgugtQOMm6wOaWIe400sPG3w9s7LUMB3zbfRduKH3uPKD6v9w56Q8Bn03UVGvNiy5W6Gh-CcFPmuIbYHDjuQePOBL537yL2I4HJamUZx8Ym7p5qqewDNVRIo9aYQXJ1oSpm0hMLOU2r4i-rUbenQnW_xjPR4K2htXWzU7RG97kEGRI-pbjFfKI8rdbGFCfisuKmA5i_BefhAyR0jk7gJJRH68CQ41kQyomL9CfTlKxxCmojIepXAqp3MmfrD9Sbc8rirQogM9Y-2R3c_a4WDD1lpOR3bhVhTdQzAuSo9zX_BVic7dI5MfeHw_HV0AzkRZ96bD8pNY7Ivez9XMaHn43GpAZUNi8XKftXqsDih_HLo3tnZYks90s2VyGB34p4sG1Adl0WWtbBrQtyZfDIk1bYIGho8vgqXhLS-QipoeRVUTs5kvbQzQ93SMtU_DhCZf6Xa56YTUyzjlITkgXbklQKTWE_VX3B-hKOH0pUeXAL-WaN9Qs_VHyXS7NrDz5EdGE2wqCzDt5ZOJwEQZ3ZHKwWAVngq8C4VLV1ioel5-4yjZSCOp7jwgFloTszI7OkouH6OhhYWq3b63y7Dt0YG3VOoKb-tUpGxU_BsfbKtmi58EPq9eIiEfZk2uxIq6agrv7aw8Dfumu6Ercgd_Hq9_jsLEoUm-T4jGUx1Gfo9snsxLsOINXgM4aFBDYF9sBBTEeJ-5vEetRF8V0dt9UDI_Hf5O6a3esMGi-knQYWqhnbzL-hR48S82dXAiWgyF3YDmF8ZKVShrdUwx9RhDo9_o-V0x70yGGP6TinIlAHHJJK3RbCYQlP7hdQ4fqsjeP9ioF-1M3ElB32bT873E-dBbdT0ldksCJCAS5ZDpRPSCgcWe9MR_BGjSqt0_6bAXMJVwfuWUyu-b8mI0_ZnUilQBneAWGXL3yz1AvwFYJwKv-YeSyjW-n0s78OZ7GUCefeIbE9XFauOOp1FNUADe2TdThgtfrquTgVfAF7iwPrNlqIjRGPqrB4DMp0qlpxYThY_AuSpXHR9CDd86CIGg6yZzNFYspkXMAwscBZvv1iKo_YmGADs6gMG5SnWoctY=",
  "id": "rs_089368bc6c3a7e0b016ab421a7596087d08ac42a52e2577edb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object has moved down into the space between the right jaws in the wrist view. I’ll close on it now and check the gripper opening.\"}",
  "call_id": "call_U6G2MlkbMpMPoJyNxfqE3OPJ",
  "id": "fc_089368bc6c3a7e0b016ab421a82cc487d0b23bc08b26b82a35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U6G2MlkbMpMPoJyNxfqE3OPJ",
  "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]: [-0.1303, 0.8951, 0.7326, -0.7414, -0.1532, -0.0677, 0.9977, 0.4717, 2.048, 1.3254, -0.2077, 0.3206, 0.2958, 0.0083]\nstate[eef_state]: left_x=0.2595 left_y=-0.0032 left_z=0.1455 left_yaw=0.0368 left_pitch=-0.2681 left_roll=0.1129 left_gripper=0.9977 right_x=0.4751 right_y=0.1839 right_z=0.039 right_yaw=0.0217 right_pitch=-0.2847 right_roll=-0.0711 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.7436, 6.694, 1.5946, -0.1148, -0.0513, -0.0122, 0.1299, -11.6718, 6.2564, 1.5409, 0.2222, 0.0366, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacc593957263c7b63812e49d586485655ab04e0ee9d182f07665808a67461dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64fcab20eca1badd6c96a371aea2a21d387b9955c97b520ccd1bc463fd8091bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109b3436a1341959719f018b3e2d3347f4ede6f18f583647bb3326d1e3f4b61",
      "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]: [-0.131, 0.8852, 0.7273, -0.6846, -0.1638, -0.0681, 0.9972, 0.5495, 1.7748, 1.2938, -0.3595, 0.3798, 0.3565, 0.9996]\nstate[eef_state]: left_x=0.2689 left_y=-0.0028 left_z=0.1548 left_yaw=0.0425 left_pitch=-0.2062 left_roll=0.1102 left_gripper=0.9972 right_x=0.4371 right_y=0.1951 right_z=0.136 right_yaw=0.0281 right_pitch=-0.1826 right_roll=-0.027 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -2.0171, 9.5111, 1.619, 0.0171, 0.1685, -0.0904, -0.0205, -9.1829, 8.4855, 1.5946, 0.3053, 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]: [-0.1303, 0.8902, 0.7326, -0.7204, -0.1535, -0.0677, 0.9977, 0.4763, 2.0411, 1.3254, -0.1905, 0.3283, 0.3027, 0.9996]\nstate[eef_state]: left_x=0.2633 left_y=-0.0036 left_z=0.1499 left_yaw=0.036 left_pitch=-0.2425 left_roll=0.1087 left_gripper=0.9977 right_x=0.478 right_y=0.1865 right_z=0.0452 right_yaw=0.0192 right_pitch=-0.2602 right_roll=-0.0612 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6479, 6.7214, 1.4628, -0.1148, -0.0122, -0.0073, -0.1162, -9.894, 8.253, 1.3162, 0.1294, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8951, 0.7326, -0.7414, -0.1532, -0.0677, 0.9977, 0.4717, 2.048, 1.3254, -0.2077, 0.3206, 0.2958, 0.0083]\nstate[eef_state]: left_x=0.2595 left_y=-0.0032 left_z=0.1455 left_yaw=0.0368 left_pitch=-0.2681 left_roll=0.1129 left_gripper=0.9977 right_x=0.4751 right_y=0.1839 right_z=0.039 right_yaw=0.0217 right_pitch=-0.2847 right_roll=-0.0711 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.7436, 6.694, 1.5946, -0.1148, -0.0513, -0.0122, 0.1299, -11.6718, 6.2564, 1.5409, 0.2222, 0.0366, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bacc593957263c7b63812e49d586485655ab04e0ee9d182f07665808a67461dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64fcab20eca1badd6c96a371aea2a21d387b9955c97b520ccd1bc463fd8091bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6109b3436a1341959719f018b3e2d3347f4ede6f18f583647bb3326d1e3f4b61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGsJN_0PNwYw0tXhV6r19NX_YC9VpPSnJKga9CnZ6vS8kN5IRLD9l5PVk1AS1jkhUxBIinvksBC-yg7oT_iRSJrNXJad7xVBBoskq0YcFabEvZsv-fsk4B1rQ3m5rB5e9Z9CHp4UZeYsHhakPPUCl_Cfep4StChVlpP8RV1-AgS3bYdtJWpr_KJ9y-lW58JKYmMQx6jVUrca_jX7k-S75H_C2S6esCvSCYojCn1VlnG2BoIazsicv_OUTlN0xms3LEsEY4Yi9e4sESQnbypDbRlCnfhp69dJ-byX0v0VkbWpyuokhfIXEeBlBsyPXl_5ZMtJziEu3TI82X4VubeKLbY5wilrn0PpGVVkJy6jGNSkQc6QhR1_JavKXp4LS5MdzrWH55JfXgnbz7Jm97azhMDxvJOGcqbeJlCAp0xYxoyTWqkYp-a0TG8gGRssJ9OeP9YL-J4rSSR1pvKjONAcqAXrK2E2-VkQ1ZU6U_03bdbX6c7NXoOYFzue_ceD7Ahn2vumcIwGMK0JPrMswVfJH6xq7qvGJhzsU7m6VLwLmxXXiZPsmKwBVrY7GO8D6W_d-XHcLfFJlGKz0ATnkZ0NsCZ1rGXBs4QcwCwNXzxfApMwbkmcyaeL2fpkvgCsDCtEAB4tZnAXt3t35OPms2SSb4w8hfxlJjcdb21rus3F1ODXyxlRqxzksjcMBqrPB_nht0Jjx8ywdxmXbAMfELfhTMUWpeopSnxWr3BQonzIdSJEnQhB36lic410o7PTI1nCeRl7pCILm_63fjy31Ev1SdC4djyMMrg445zVxeZJ0hgOu9BpWJ8XQabzCzj1a_jrFV6SfwbW34IkUyK7zV04eScMXCj7TWR2AQAJ3BIEXBT2tlfLraNa0FJbJET2O2gDIUd54WTDIeYyKd-kxkvsvvQw1yApbHQh7DG0nIVjqkehF02pZgfmnNQz1UocImtnVghGVglKC2dyV7Ekhjxbu4gvrwAGKD7YwlJVYCMzZHstGkEFx13eC0hHS6YpsijBkgSI6cMfO1wADWTg3YkGd1Fudk7GUlqBHmIu7JfVJ5-wPmvdmCAPN2r1tH-2nvrTIbHO6_oInw-42fdhbpwXQgiFH52ziUwXpJHyRftGliILCltPvUuuhoJTGRwmO-iVvJ4KBdml3ioHzwe6bRKI77n1NAw0rUnWVLyxzl3Bq1n3KTRVnayyWNPsSdeU9_m0J7CYzVwNHaHkbEjVQPFKJrueWI5E5ptIyoFHr4kBOKU6DYW60H9f9iTQ9r1qPemmNHqDPatH5Qg4c5HK7Dj_JUXJQyX5Nk9kDLQMocMkkWzCNd2oK_YFpL8pOydOyjKRaB6_Injpm4LObOKxMrLa8Dp2lCPFjV6FXehMepySuFSmzoPyvSC4ncLP4Cl3lKbHHhnxj5L9RUgwKb19xfcvArr1lzqVcsY0xg8YWjbWOZGMXv_aEnSiyq4DWvnubF8iES0-b7Z6L33YmcSbTGsQLY9wsKwVn3vn6qMG4367UBEmsmu0hGTBkyjx6tEvvRjpI1-ardiUOFtI5fRdE13-sJ5uhLO7NAEk6lVdhTkJ-lcPnuG0qmvUHzlom3Lf2nJVpIQlEFGLqIw0uTUVtXYGeYyJNjm5XUJZ8oYIuWUf-RPCsOTJb4RAuUJqE5sUknB5JrPy-tMVWWSITbej5RMOGJoOHUOEpawUK3ojoNUA4ZrMDOUKUhgD4n_zUBUjwUFolkZV0rKkvZ05fIr3newqiYJgW6M2S8baywsGO73BqVlfU4bQFz8Xn9WyCWZ2b3jJ9ec7SwiN2IPH66u2C7BNkZ6QAH3VB-Tnbn20PIhwAEXAUAmlWUJ1G-kRAZIpyYZS1o9dr3zdkb5gV_S16xGljvZPTpf57oRx1wzMXVe2DARyaC5RgRL6-Zx1DGXr9CDVDAvIy1a1LtjBl6a5IMZQIIqvVFA2yOl-i6t4V6sDAvtK9XQTG2AJQ8qQmFWzQ_oPjeQ3YMSP1Tb7UO63-DG9xBYZcDJPGcl_kALo9bQ9tr0Bt0NZMwdQXJEbjm1oljow2K1",
  "id": "rs_089368bc6c3a7e0b016ab421aaaf4487d099c18890a90bca90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.496,\"right_z\":0.075},\"note\":\"The right gripper closed almost completely, and the yellow object remains standing just beyond its closed tip. I’ll reopen, shift slightly farther forward, and raise the jaws to meet the object above its tapered base.\"}",
  "call_id": "call_sAetxnX7S8HBqClgpoPY09zG",
  "id": "fc_089368bc6c3a7e0b016ab421ac07f487d09f77952eeb9380f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sAetxnX7S8HBqClgpoPY09zG",
  "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]: [-0.1303, 0.8948, 0.7326, -0.7464, -0.1532, -0.0681, 0.9977, 0.4553, 2.048, 1.4628, -0.3721, 0.3016, 0.2687, 0.9948]\nstate[eef_state]: left_x=0.2586 left_y=-0.0031 left_z=0.1448 left_yaw=0.0372 left_pitch=-0.2726 left_roll=0.1134 left_gripper=0.9977 right_x=0.485 right_y=0.183 right_z=0.0661 right_yaw=0.0329 right_pitch=-0.3169 right_roll=-0.0865 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.4237, -0.1148, -0.0562, -0.0122, -0.6632, -10.5368, 9.2923, 1.4383, 0.149, 0.0366, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b60f6678d0a04452994b9926060b5d86f0d39a7d0b2b9cbefb776f11826623",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b474188c62bd6356c1c52e955d7cf460b696597fc0c11dd3943180209c3358b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcef2a78d7c1e9f4c724e68463d27b9ae6e00814f6a079b35e12bf3c9899567",
      "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]: [-0.1303, 0.8879, 0.7326, -0.7124, -0.1535, -0.065, 0.9977, 0.5243, 1.9461, 1.1671, -0.1303, 0.3592, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2647 left_y=-0.0038 left_z=0.1517 left_yaw=0.034 left_pitch=-0.2324 left_roll=0.1088 left_gripper=0.9977 right_x=0.443 right_y=0.1886 right_z=0.0426 right_yaw=0.0212 right_pitch=-0.2505 right_roll=-0.0593 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.7162, 6.4752, 1.6728, -0.1685, -0.1001, 0.0415, -0.335, -9.4564, 5.9829, 1.7167, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8951, 0.7326, -0.7414, -0.1532, -0.0677, 0.9977, 0.4717, 2.048, 1.3254, -0.2077, 0.3206, 0.2958, 0.0083]\nstate[eef_state]: left_x=0.2595 left_y=-0.0032 left_z=0.1455 left_yaw=0.0368 left_pitch=-0.2681 left_roll=0.1129 left_gripper=0.9977 right_x=0.4751 right_y=0.1839 right_z=0.039 right_yaw=0.0217 right_pitch=-0.2847 right_roll=-0.0711 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.7436, 6.694, 1.5946, -0.1148, -0.0513, -0.0122, 0.1299, -11.6718, 6.2564, 1.5409, 0.2222, 0.0366, 0.7057]",
      "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]: [-0.1303, 0.8948, 0.7326, -0.7464, -0.1532, -0.0681, 0.9977, 0.4553, 2.048, 1.4628, -0.3721, 0.3016, 0.2687, 0.9948]\nstate[eef_state]: left_x=0.2586 left_y=-0.0031 left_z=0.1448 left_yaw=0.0372 left_pitch=-0.2726 left_roll=0.1134 left_gripper=0.9977 right_x=0.485 right_y=0.183 right_z=0.0661 right_yaw=0.0329 right_pitch=-0.3169 right_roll=-0.0865 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.4237, -0.1148, -0.0562, -0.0122, -0.6632, -10.5368, 9.2923, 1.4383, 0.149, 0.0366, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b60f6678d0a04452994b9926060b5d86f0d39a7d0b2b9cbefb776f11826623",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b474188c62bd6356c1c52e955d7cf460b696597fc0c11dd3943180209c3358b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcef2a78d7c1e9f4c724e68463d27b9ae6e00814f6a079b35e12bf3c9899567",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGwUhKTvBORdVxlVQOV4Vk2jjahRreMBm-VRxWtjgQii8sa-Pvr5rlELx1vN1Yo61fglkS6wFmaYdCVjJ66sZ_cNCpD53VDoc5BJ9ciw3fbCJllfhpKYQBTFn2wAC5i6WKxLE_sxjTQ9yQWZFcZx04K4vCXDkeVA1n0nUHOq4EFMSFWsBDO-UQ6hPRV4JVeQPPGxxc_x0Ne2srGs8bDWNiDMbM8KZn9QTkd4uRBSEUD09LG-yazg2n0dnhg_NRF7vQU5WQ4hI320h-mfqII-R7wFJMIjEA_Wf0gFNKZ0_DHAil-GocppD156hfBU7QsJxZ3_jy4k88LwbB8bbi9LV8UKKOL3vY_Vr94CWpczRnCQhU94npnEkFF9EGYMLUwu__VClpbyuk9berKueGjekek1zgFf0y1mTw3lDVHsmN8nxwl13gnVGW4UvrQRwmuIFMMsyumyXX1vHJx-M8uMhiKqEYF1vP4z9RHcrUD2helAFuNyP1fbgOOduLsXJepDKJ9M6OLWd-Z3FElpnTIzGgogdmpX90nvqHsomAYJ55V71iRhCRSOeDbvP3QMh5zMe34YBtUuZ-iy1xD8808o7z4_rJ_-RrgbdLagw_Xaan1p4dbF7_ffMGlBlj7yZ7VEG9vX1VnIVQ1W3juTME0FCwLrUgU8by9MdEaQ_e9ToNwLau9BqJIvRsY9GRDtOfi05oTxuhHqgI6i70qMYL4ftKr3kUxTs0WBNEW4PlkZN9rHKBJlbJy_4UodfH_t4Y0C3bTQgNe6SbPU9iVUZT-01GXRlQD4Ps5tp3KE8tQtgpW9vFK5ky5w-g1clR2N8uSqMLoD8IzW4WtJ1NH_Re2HZuGmrhSzrE5l1FSaXOYssNToCUQmRQ7xvVNRnwtf-zsywnVjWz14aF3E3OtAK3PXfbsJ6q4KjymZeIRI5BmabhKHt99RGSy17yG9l2jcrQSD-AryFdB_kn8IWlW0qyuMqj3uoYn5g5zFjanNF0Pq8sYLJYXHeL9i5aqU7xgnqvai5bDHLT6Yv_ZtsuG9ULizjESLmHDGfPl7wh4dflNG9ebCxOi7n7vPVuGCi08pRvGJzspS_33dlIDgIvZVfS7xWy_Xvb-351Zn6ne08EOkryUoIjPkTiADyOQ8D6gZ2zh9yoal4h2jEXACwR-ZH0auoR2SCNTE9nB3B90yM7P-qO1ovx3i9W1KYnDURgH_CebJVK88N8aUst6ekDbp3ZIACOuAzsVqNuC3Xq5zmFEuYZcPZYdQKON3pu1K_FRTTFUHKlGWPFrw0WYftmfdeJGQIHCUFt5TAvuMCzhrPCqE-w74fOgyyR8q1gyHtBk6vEQYk5X0K95MiZXNdNvoJESzIrMecyekfv4b8-YoiERtjxVsY17P0ZWmXR853KY5oWzI0ZKMR3G_alcanJW7BZSi1A7Ya0idx2t9EQIMlFvBoo-8iTcbfVntAbdpiumwic2ENr0z1dGhGOLMGTFrW9-7AwgjAiXf2IFT_vdA0i0FoYSgEO_Ko9qUJGH1H7KBZCce0iZfa_1Ifuz-VLFeK2mcmSWCTunAM3KaPHw-Qb2G9oUTgol5e-sIm7IxYHdBB7PqTONL_GokqJM0yL55-ENg71LIpw5gfLLHWNlS56ndAbqkBKMp_jguW3OE95T9pWj59qrzD-6u4lvBoRNOf0Esl3Q0WBCi6DtijLtDi3SwWfzTThrHtokwbLHAar8TPMIOwI2KS63snfvQSAHB1lVPNpe7ZXFVtOoTdExgJTtwZSTlIHg9Rv44GGMwrUhji4HcJpS6EerR5jYh6nUOB_6Gs1ORF1zItbr6gxZViWX0TjMRI_DS75TMyK5pSPkMSAZkSZBptzmIcROX86z8shoR8qV4F176_m8heWMyuEsnkqIgsYOlNnSYMjF-cxpjKvbDrUlOtI1imEDWr8WESFSvEUYrOYHohxfhONJh40aPvwrRLax047R2-7_aCtUL87TDZn3vs_OKQB-jND1CsL2LYzpZEvgaKEXU-Z2CwnZI09YUASXG23V8VdLG8mKthUeMBu1WhBoDLjCsTeZOG3oMJpL-UIGBg2vZGiPJp8do0lv5g2MGuWZwit9X-ik0boEYGJW",
  "id": "rs_089368bc6c3a7e0b016ab421ae8b4887d0a8117f3cd321dd66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_z\":0.08},\"note\":\"With the jaws reopened and raised, the yellow object is still a little ahead of the grasp point. I’ll make one short forward adjustment to bring its broad middle between the jaws.\"}",
  "call_id": "call_tsyjMMs8xzDD7BlabaLmKvGk",
  "id": "fc_089368bc6c3a7e0b016ab421b0333487d0928c389ba2abda40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tsyjMMs8xzDD7BlabaLmKvGk",
  "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]: [-0.1303, 0.8974, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4377, 2.117, 1.6016, -0.4587, 0.2859, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1437 left_yaw=0.0375 left_pitch=-0.2786 left_roll=0.1145 left_gripper=0.9977 right_x=0.5037 right_y=0.1847 right_z=0.071 right_yaw=0.037 right_pitch=-0.3384 right_roll=-0.0935 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7436, 6.8855, 1.4188, -0.1099, -0.0269, -0.0122, -0.8274, -11.5897, 8.3214, 1.1893, 0.105, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7f3e4ab6b1e39e8939f37e59d5dfb86d85fec440eee9d804ea315a6d9fc3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61174b33702979b2a0041cb8609c3b331a382f8907f983ffdcdb4aeaa522d96f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecbda6462ec72507d79a6b663432bf6b8f33afbf84b4bf5e54557f4af928971b",
      "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]: [-0.1303, 0.8902, 0.7326, -0.7204, -0.1535, -0.0677, 0.9977, 0.4763, 2.0411, 1.3254, -0.1905, 0.3283, 0.3027, 0.9996]\nstate[eef_state]: left_x=0.2633 left_y=-0.0036 left_z=0.1499 left_yaw=0.036 left_pitch=-0.2425 left_roll=0.1087 left_gripper=0.9977 right_x=0.478 right_y=0.1865 right_z=0.0452 right_yaw=0.0192 right_pitch=-0.2602 right_roll=-0.0612 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6479, 6.7214, 1.4628, -0.1148, -0.0122, -0.0073, -0.1162, -9.894, 8.253, 1.3162, 0.1294, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8948, 0.7326, -0.7464, -0.1532, -0.0681, 0.9977, 0.4553, 2.048, 1.4628, -0.3721, 0.3016, 0.2687, 0.9948]\nstate[eef_state]: left_x=0.2586 left_y=-0.0031 left_z=0.1448 left_yaw=0.0372 left_pitch=-0.2726 left_roll=0.1134 left_gripper=0.9977 right_x=0.485 right_y=0.183 right_z=0.0661 right_yaw=0.0329 right_pitch=-0.3169 right_roll=-0.0865 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.4237, -0.1148, -0.0562, -0.0122, -0.6632, -10.5368, 9.2923, 1.4383, 0.149, 0.0366, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8974, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4377, 2.117, 1.6016, -0.4587, 0.2859, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1437 left_yaw=0.0375 left_pitch=-0.2786 left_roll=0.1145 left_gripper=0.9977 right_x=0.5037 right_y=0.1847 right_z=0.071 right_yaw=0.037 right_pitch=-0.3384 right_roll=-0.0935 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7436, 6.8855, 1.4188, -0.1099, -0.0269, -0.0122, -0.8274, -11.5897, 8.3214, 1.1893, 0.105, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7f3e4ab6b1e39e8939f37e59d5dfb86d85fec440eee9d804ea315a6d9fc3e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61174b33702979b2a0041cb8609c3b331a382f8907f983ffdcdb4aeaa522d96f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecbda6462ec72507d79a6b663432bf6b8f33afbf84b4bf5e54557f4af928971b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG0XQ-gSTwqx3TCazuif0vg9pePcEqaSF8mgvlNZaOWkB2Ta1FGk_OlggjJQ7QTmOQmWd7rLsl5nzHKGDFW65T7deFJg0jYEMrN4XOjxZbyvIHJfT09PjGRPfPhP7cda5MAWUi0N4ehHsJg6zr7HWQCmFqW2z6LKcmSWKSmVHwj2FJL91drsWm2gZPc2OIoTboTZYct2Vc70_h8DUpbJCZLOtR0Be0hwwaOXk8LeNVqIYNFOUtGFdPD7RAhVtvYBYCgw7tRzd_g-mS0Xm1v5WBIOTdtbsEgWXJPkHAUBocgWWziIjtwZuHRVqiqZTnpiSHOvNAns8r0Aitm6OamNIKF0a2kM4laE_uu-4dcmcDD-brBQIU0So7l7R3hAZ0AJD91tNLLPG5B3B6glnw9_hldIviJRcFpe9NhJAkZz7XAWhVg_SuXTupfS5qlM76EvGcfwDBJNbU2Cl-_qRom1uv9MUAEqO0yF_0JCHWPwCPbSELjPKbl8-1OAsyeENmcGJegqXJo0T15BgeExVdySCvwf5FOqFh-1T1z8pmfz6WdxyI24JCCdbbloSFh_1F1i57gRZQrRROg6nmfLW2G7US9HdjkciqYJdawFWS7t101-yRunVRnh-HzKhYkTUdKxnD4fxAW0ActmniVRWOAKe-8WpKIz9GunfN8S3ZBzIgow7tHqdqVdJvty7UmaJlOvX5tmI72oPYrehpLZAli0aAEdKR6UX9CMK41aV4Y4gDGExjvpjLehenYe8rYZQBoSzetdrT6Js_cOJ-AsA92FejX7O62LzHzSsjvl5F2zZLpde61xzD_ASrIdI2oKLZ47K9ik4mJRZasFj4xEW-L_bZNTfQnOLpvYsPZ6eHDrWx32Fr-nnoyZ9b8doFX7q7rypu4CfArejp6DnOpVIKqhWIhyDFR3NWgxDi9I4qsgmxfoeenYZ2IaesLZprXynuCD9agQ_eQYAJdls7qNQWQy0jFXFBoJTUL1Iq-dgcxr7x8hmX4qX_h-KMmaffGLtJY2YBlhh0ZDqXEWBXwgc2gnk3KBLD0iIwrbvCfqvzN8G7LSF57QiXXN1xBQc_LnLHO5tbLsAVl0Pg5W-TMIBzVbruOA0hp11Iv5QMIT85341ECwIAAD5uLUxdjE8c4Xklfl81DWuNuovK1VlwUGMmZCZ39aUieMuJK8mC_fJif8jELNrMR08u-9qiuXCuRP9vAzuqnY4tLdntJuwLh8EXBHe8OsaGcZvusVEg4RAb8WvnmVsxlKA5w0LV2U6AVt2Xw6q6EnSsEv8LY3gnnn70o3EzekMyFmf6MstsTCvLbr5iJOyf7Q-eKs3lJTB1VC_DUKs1swbmussHOwBhiUKjP-ZwYrYAuWG-ShIsIIzmSALne-KemoxD-jrSJStmcS6ygWihZQhJBOH-qwzreiIeq9C3gWpmuyAeOpVkgIAg4AhThpg1Rkiy0eHIvw-bQeOdl20ARfwtgLjYxEeZCxD3jMJctSbRn13rlfYErXOb0X-QH-tyB3mNLvOcgZs1s4YI0MhbasJdFwhz7ak5kN8OP1QxMsJBmMZGhKrAd3PG3CcED9yAxY_4G2nbHU7Qpm1FvRRZ_k7h_lTUWlTqIyJfplSO3grTmfH-cfSClt_zH3oChHP4dA3GQa_yVa-HjJfzb-57B_-E1mOyXpZeAXyTre_cXdpNMAuo382NA-N8god4V-5Q=",
  "id": "rs_089368bc6c3a7e0b016ab421b1fe5c87d08c456ef8d163ed21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_z\":0.095},\"note\":\"The yellow object still has visible space beneath it in the wrist camera, indicating the fingertips remain short of it. I’ll advance about two centimetres more while keeping the gripper above the tabletop.\"}",
  "call_id": "call_U8ACdxFFvdtTweOG6TCQD9iX",
  "id": "fc_089368bc6c3a7e0b016ab421b3091487d09838bb273493be0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U8ACdxFFvdtTweOG6TCQD9iX",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.421, 2.196, 1.7916, -0.5892, 0.268, 0.2283, 0.9968]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5238 right_y=0.1872 right_z=0.0835 right_yaw=0.0449 right_pitch=-0.3631 right_roll=-0.1002 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -1.7436, 6.8581, 1.3358, -0.0757, -0.0317, -0.0122, -1.1419, -12.0684, 8.5265, 1.2674, 0.1441, 0.0464, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c484b5e3f7a1b858d8913d453b400934ddf7ec3dedbde0a71a020eef24f75a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963e9800e1678938bbb116e3bd9828c22350d8b2d3e8845501d72b43aba05145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c65e28add9ede49a7f0997870c6861a0e1a3a3806f3dac8ee62f5a5dd0367f4",
      "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]: [-0.1303, 0.8951, 0.7326, -0.7414, -0.1532, -0.0677, 0.9977, 0.4717, 2.048, 1.3254, -0.2077, 0.3206, 0.2958, 0.0083]\nstate[eef_state]: left_x=0.2595 left_y=-0.0032 left_z=0.1455 left_yaw=0.0368 left_pitch=-0.2681 left_roll=0.1129 left_gripper=0.9977 right_x=0.4751 right_y=0.1839 right_z=0.039 right_yaw=0.0217 right_pitch=-0.2847 right_roll=-0.0711 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.7436, 6.694, 1.5946, -0.1148, -0.0513, -0.0122, 0.1299, -11.6718, 6.2564, 1.5409, 0.2222, 0.0366, 0.7057]",
      "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]: [-0.1303, 0.8974, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4377, 2.117, 1.6016, -0.4587, 0.2859, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1437 left_yaw=0.0375 left_pitch=-0.2786 left_roll=0.1145 left_gripper=0.9977 right_x=0.5037 right_y=0.1847 right_z=0.071 right_yaw=0.037 right_pitch=-0.3384 right_roll=-0.0935 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7436, 6.8855, 1.4188, -0.1099, -0.0269, -0.0122, -0.8274, -11.5897, 8.3214, 1.1893, 0.105, -0.0562, 0.1783]",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.421, 2.196, 1.7916, -0.5892, 0.268, 0.2283, 0.9968]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5238 right_y=0.1872 right_z=0.0835 right_yaw=0.0449 right_pitch=-0.3631 right_roll=-0.1002 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -1.7436, 6.8581, 1.3358, -0.0757, -0.0317, -0.0122, -1.1419, -12.0684, 8.5265, 1.2674, 0.1441, 0.0464, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c484b5e3f7a1b858d8913d453b400934ddf7ec3dedbde0a71a020eef24f75a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963e9800e1678938bbb116e3bd9828c22350d8b2d3e8845501d72b43aba05145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c65e28add9ede49a7f0997870c6861a0e1a3a3806f3dac8ee62f5a5dd0367f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCG3CP_1hbn4ZTODV3sIefRC3y-TJ38ezkAtQSR3qEKTOzop-ebA9T05lCDbQTsyi6H9UnExAgkpUZJFTPdxUVxfSDh5pIU-utMmJ7oWxd5u8nOgiu0TiYGVzW9a74s-bmmbYogzYpPii-qqrPkUzUt_krWC5oXMgzm89Q7PA0EajRtSmMwPRmxrOkxe1qTh5eyfnKiJF4XEzjXhLNXbXGHUTZ77ECBN_YDqtuU8U--U89R3QL9Zrgso5GvYeszgZD-qmICh2uP3vlKDmMDcebMDDlyb3jwrfWFW8Umyi2-O2X6ZqqcIInWIiu0uSbOaHqkZne75FMWuGx_wFV8Ahy0dpo_-HoGCWZ0x39y51v7qcEUhKs0HJYOnZ0X-Q-_NNIBJtGW72UxIfaYlPjxt31x8ytyTu1cneMypZS_WOEC80K8ofklVfHuyTziPiB9ItdlAVaIKHllCKkySlL_XN7Tr_HNA6nxcHCQsHTxw4DP4rxF-AcXhLZm-kixOlHQnJSVySq0gnh5OJtXEeZrc_c_uD8HzqK0k70OfiEHIk331uhCkrIP0k-xNyUnWi49x70jSL98gDQAhkqJPZesCynpL_zbGpNSLDCoLx3mt7uJagZ5BLayn6HKjyYNLBHWHSeqD4wJ-IPca71GL6DW-oyPD4DEw0aQajH9BNcKTyNfNcezjZinPSdIhCj7u1IrFCyU_wG46bHEnTFRoOHrEH-PHk8BmD8gqP-5XrVLaRxO28wZ4lgy49r7wGumTAtqdD4vg2oBqlHbtHypCXdKxKbEzHidpl-Cv44Ul1iUlNnbmMWh7yJInb1e-OKSyinJFmswWVNjrND4f_cIZVXEaDoOcuhN-EMKwK7nWA5UOUmhCkxrqPtqTzr7qX_n5ICG_ua6o4-YEjItOTdW-6gK0TxrlDH4h55iqKRmJG6FOCvo3eBKYt0D2DiUtDZ5qG0EWUL076Dm_8ZBvVqmyMboSTfNbMHoQru-nIiyXlPxrFQE61MJxxOeCmWUaRJK6Uopc7OAfhHI2LJmcM8TQFtK40jjBq5jueAnlvnVSKJNPMWQtm799UY_IGeNUr50ljyLsjvaNHBXXolV2CxuaZwvfZ1Vt-mH37j6DkSstwA5a9xePmquxU8Q59xKI4oqsIe68LyMGZxnR2ACLbSAhAYyOOkH-jrMp4cHFTxTY6wIetDhAr0VVv5F5_xbp99Xc6ctqiabhvVDzBndvv0-QLoE-aTT2dsSvwXmvADuXdFJtk-vIJoZuRLcKBoICFE8cIF3YBpdiPmg79NDFjIfijOqI8Q4XR87U2F7wR78NYLDsl9vmPTgDVQDzV3o_TsHgL9MmGOHIu97RanjMSE3gL5WC_lRp6Q==",
  "id": "rs_089368bc6c3a7e0b016ab421b6267487d0904b337ae2d7d229",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now reaches the bottom of the right wrist view and is aligned with the jaw column. I’ll close the gripper and use the settled opening to test the grasp.\"}",
  "call_id": "call_qfgVl4Gxne73rbSWBqSkncxE",
  "id": "fc_089368bc6c3a7e0b016ab421b67cd887d0be32084af4a868c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qfgVl4Gxne73rbSWBqSkncxE",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4194, 2.2032, 1.7882, -0.6159, 0.2676, 0.2245, 0.0082]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5181 right_y=0.1838 right_z=0.0749 right_yaw=0.0404 right_pitch=-0.3982 right_roll=-0.1171 right_gripper=0.0082\nstate[joint_eff]: [0.0068, -1.5248, 6.6667, 1.37, -0.1099, -0.0611, -0.0122, 0.0752, -13.2855, 6.9812, 1.4481, 0.1099, -0.0024, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a850af2699e9feb804fa17045762af9dcc03705796d14b4d40982467e4c54ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627e18075981d2d136acd47af51783330853e7c4c9372b4b12d8596e9c7feefb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15071d715848b5d3d7e96080bcc3b55d90915d19afdd033e303ad486b3bdb981",
      "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]: [-0.1303, 0.8948, 0.7326, -0.7464, -0.1532, -0.0681, 0.9977, 0.4553, 2.048, 1.4628, -0.3721, 0.3016, 0.2687, 0.9948]\nstate[eef_state]: left_x=0.2586 left_y=-0.0031 left_z=0.1448 left_yaw=0.0372 left_pitch=-0.2726 left_roll=0.1134 left_gripper=0.9977 right_x=0.485 right_y=0.183 right_z=0.0661 right_yaw=0.0329 right_pitch=-0.3169 right_roll=-0.0865 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.8171, 1.4237, -0.1148, -0.0562, -0.0122, -0.6632, -10.5368, 9.2923, 1.4383, 0.149, 0.0366, -0.232]\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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.421, 2.196, 1.7916, -0.5892, 0.268, 0.2283, 0.9968]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5238 right_y=0.1872 right_z=0.0835 right_yaw=0.0449 right_pitch=-0.3631 right_roll=-0.1002 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -1.7436, 6.8581, 1.3358, -0.0757, -0.0317, -0.0122, -1.1419, -12.0684, 8.5265, 1.2674, 0.1441, 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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4194, 2.2032, 1.7882, -0.6159, 0.2676, 0.2245, 0.0082]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5181 right_y=0.1838 right_z=0.0749 right_yaw=0.0404 right_pitch=-0.3982 right_roll=-0.1171 right_gripper=0.0082\nstate[joint_eff]: [0.0068, -1.5248, 6.6667, 1.37, -0.1099, -0.0611, -0.0122, 0.0752, -13.2855, 6.9812, 1.4481, 0.1099, -0.0024, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a850af2699e9feb804fa17045762af9dcc03705796d14b4d40982467e4c54ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627e18075981d2d136acd47af51783330853e7c4c9372b4b12d8596e9c7feefb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15071d715848b5d3d7e96080bcc3b55d90915d19afdd033e303ad486b3bdb981",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab421b9407887d09cc9a26324bef42c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.555,\"right_y\":0.19,\"right_z\":0.095},\"note\":\"That close was empty too; the yellow object stayed alongside the closed finger rather than being pinched. I’ll reopen and advance beyond its visible base so the jaws can straddle it instead of closing in front of it.\"}",
  "call_id": "call_JT0LsO23ad4syQnmPHmUMfXb",
  "id": "fc_089368bc6c3a7e0b016ab421bd0d1887d0bd1443e869c7cdbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JT0LsO23ad4syQnmPHmUMfXb",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.4042, 2.3447, 2.096, -0.8104, 0.2562, 0.1989, 0.9944]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5446 right_y=0.1882 right_z=0.0887 right_yaw=0.0457 right_pitch=-0.4298 right_roll=-0.1333 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.5795, 6.8444, 1.3358, -0.1197, -0.0659, -0.0122, -0.5812, -12.2325, 9.1556, 1.409, 0.1538, 0.1343, 0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac10c5a706474f2386bcc7e54381b7a8d156a4d2fe528a7febe4aeb7732097e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e92dd51be8a03258f8e2bf3e8400c7497d5534aece4164a61ae806d3f901a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b91be291b5a38749e46e86d0b2c7bbde47ee7c2f0b3b5d73693e23ed4dd9eb",
      "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]: [-0.1303, 0.8974, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4377, 2.117, 1.6016, -0.4587, 0.2859, 0.2497, 0.9966]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1437 left_yaw=0.0375 left_pitch=-0.2786 left_roll=0.1145 left_gripper=0.9977 right_x=0.5037 right_y=0.1847 right_z=0.071 right_yaw=0.037 right_pitch=-0.3384 right_roll=-0.0935 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7436, 6.8855, 1.4188, -0.1099, -0.0269, -0.0122, -0.8274, -11.5897, 8.3214, 1.1893, 0.105, -0.0562, 0.1783]",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4194, 2.2032, 1.7882, -0.6159, 0.2676, 0.2245, 0.0082]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5181 right_y=0.1838 right_z=0.0749 right_yaw=0.0404 right_pitch=-0.3982 right_roll=-0.1171 right_gripper=0.0082\nstate[joint_eff]: [0.0068, -1.5248, 6.6667, 1.37, -0.1099, -0.0611, -0.0122, 0.0752, -13.2855, 6.9812, 1.4481, 0.1099, -0.0024, 0.7253]",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.4042, 2.3447, 2.096, -0.8104, 0.2562, 0.1989, 0.9944]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5446 right_y=0.1882 right_z=0.0887 right_yaw=0.0457 right_pitch=-0.4298 right_roll=-0.1333 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.5795, 6.8444, 1.3358, -0.1197, -0.0659, -0.0122, -0.5812, -12.2325, 9.1556, 1.409, 0.1538, 0.1343, 0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac10c5a706474f2386bcc7e54381b7a8d156a4d2fe528a7febe4aeb7732097e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52e92dd51be8a03258f8e2bf3e8400c7497d5534aece4164a61ae806d3f901a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b91be291b5a38749e46e86d0b2c7bbde47ee7c2f0b3b5d73693e23ed4dd9eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHB_j7rx1PD2UaoWTIBHdx3sbvdp1XbfBHFEh6rmH235d3KGFoqaU0DlmcH3bST7Ey6h3LIU0fu6vA2zArzwbRseU47bR-0Y3hS9nPqD76J-AsDDYkp3sm8sXgdQxK0eFKQDyLNOWknXEtvhH1T0PxNyXBEunoxVldWJm_zFhC4-oF9UIahOPwgTPU7uEUsoHX-11HMVokY7hNOKSC5SSTdDJFQNbw8aZWqlxQNfT1nP3qngzQie2hpDIyWcmi746rj9YE5GIoxHj4dmf8o6MEZUFYisHfji56p0q4tYQFHLf3O1v6zwnjLUs7gAuMcAyYKrIddsL27u_lsyyucrNge3Gw-UGwYtjbAu8iDJc7tmGLZjBNHjULOYctfZZc-TKKDGb27iYfeO6laPp8rEFMVQi1reva3MvsQ9vGWf28SnLAMV6j3dqsIOOpiMHc1VVhUdBvMA3QcrB08Dj9yhwzD7QwKnkyc_HVWOoerX4nV6GQh7ORZvJJOAF0jVIdDDABZWvd52lf5dTxAZIzYzzl_80iCL0XiKvHZn7YvktYbfZ0n7st5azLuuLe5X43XRQcz1srlsLJ1U1-HvVik2O9n2OWwMa9DqFTRms4iEDdj-NBqpgsGUyj3Oz-ktWBPX6WeCnk1hVAvh3c1gg4lPHk2sfYEQC8Ksw1nds6o2dENF8yd4Fajf7ERojWrYsbgDGFC6DZzQMUqh0ePOzTmj5J-LI4Rcq-44pHIh9OTIst0zB6yGxn6vwBsxt5M9ZHlQG90HOXQPi_XLzMntFWkYI3HnoiKhff2Ynq_f6redYovzCsOXm72zSb3-8pQp6ZWNvf3MbDywE7eHYxOedOdLYmilt2kl35xnfLy0tMziIN8axKlRaOahlk9cPRTSFBpgCHwKaNjKf8m-r8EoeVKk9EBjmfQcbSrFbVIYsOgUXTk1Ast_3BnaQJsnKVIYwKixhdcBUUg3NiBrP3ZIm3tpPag3KPrIlIi4n-rxYmivNSjpUrP8e34KjxaD1zuC1nm9C6pRBvRh4XTpzHtXFcIL2rOQG2Ywrtr_7JYGK6WUForVCppmNzRSuRLwDwheBP8CLFgaM8utXdq7_ZTIW7_IKyUK5lJ02uOA__aTuHze3DgCRV3C6fn1L7mfVG-jaBJM_tmPyoeFm6mFG0Kfa6sTsVXJNFuO-EESYUT4YQA5U3L-rxRKjOdw6te2cUhdB5qmOM34nU22MvrunoysR8hEiiWNBYy1ay9vZYqw0eYMmi8D7nzKQOpf0aGEqLVJ1XMsvCD63uU_MCsrTSnLscsvgg_4QRgyF1t9mxrVSN-JyLm1OA9wtnq5yv4DcKftsPbosfXTaekHQYb18l0C-ZjJJhpurbmYAvBxrInXlVwZceLj9vQp5-b1nuXik_y5pjExieKg6j0_pEWABJgna13coOexinHGDpoz_7agHM1OTgO_aHjB_yoeCU31ldpy05X5AdL0XfxKiQRj82wrSAiZIln1eJdqhnJvCdF65h_sGv43u0=",
  "id": "rs_089368bc6c3a7e0b016ab421c000a087d096be1714b154426e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now extends out of the bottom of the wrist image between the open jaws, rather than sitting ahead of them. I’ll try closing at this deeper position.\"}",
  "call_id": "call_c1Q8AOvsOzxkSjYDK12sp7iq",
  "id": "fc_089368bc6c3a7e0b016ab421c0aef887d0ba5717977a7e6a2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c1Q8AOvsOzxkSjYDK12sp7iq",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4042, 2.3531, 2.0979, -0.836, 0.2493, 0.1905, 0.0084]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5394 right_y=0.1872 right_z=0.0815 right_yaw=0.0515 right_pitch=-0.4626 right_roll=-0.1443 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.4383, -0.1392, -0.0513, -0.0073, -0.335, -14.3932, 6.4615, 1.3797, 0.1734, 0.0904, 0.5397]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd7b08b54901aa24015820c72da4bae866b29f28c6b8ab19b12bf7b7d7d5d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa42e940779cdb31d1593dc6f55a47c94e8bfd6b8577ce58f2ff3dc9c48fa7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f46be9aa7528be0829e6d830a91997bf759298e734511323e8e79381fae4c1",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.421, 2.196, 1.7916, -0.5892, 0.268, 0.2283, 0.9968]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5238 right_y=0.1872 right_z=0.0835 right_yaw=0.0449 right_pitch=-0.3631 right_roll=-0.1002 right_gripper=0.9968\nstate[joint_eff]: [-0.2803, -1.7436, 6.8581, 1.3358, -0.0757, -0.0317, -0.0122, -1.1419, -12.0684, 8.5265, 1.2674, 0.1441, 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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.4042, 2.3447, 2.096, -0.8104, 0.2562, 0.1989, 0.9944]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5446 right_y=0.1882 right_z=0.0887 right_yaw=0.0457 right_pitch=-0.4298 right_roll=-0.1333 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.5795, 6.8444, 1.3358, -0.1197, -0.0659, -0.0122, -0.5812, -12.2325, 9.1556, 1.409, 0.1538, 0.1343, 0.0611]\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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4042, 2.3531, 2.0979, -0.836, 0.2493, 0.1905, 0.0084]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5394 right_y=0.1872 right_z=0.0815 right_yaw=0.0515 right_pitch=-0.4626 right_roll=-0.1443 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.4383, -0.1392, -0.0513, -0.0073, -0.335, -14.3932, 6.4615, 1.3797, 0.1734, 0.0904, 0.5397]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd7b08b54901aa24015820c72da4bae866b29f28c6b8ab19b12bf7b7d7d5d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa42e940779cdb31d1593dc6f55a47c94e8bfd6b8577ce58f2ff3dc9c48fa7cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f46be9aa7528be0829e6d830a91997bf759298e734511323e8e79381fae4c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHHxOIaM9jRvk36CU2qFVEa-YWzdDCC_r_eIyDr-H0HAmF1PBCe6U22y08x-P29wsR2FkdO3RDZPZJ-sLZ6zvzUMr1x6DiTpFYj2sdZSlI_FXoQpacR9lqeAxwT4tzdSpVAcVEnArzhnIByPJLl8GWtT7wlBSFOHtKaREFaCPUoDW4zbGA3NlyqxUs2Oga3sLx83ECoOkvePAt69fPc_vRg0j0LkpXBjfauqQeqzu8Nj-z0b796DpFvav_7M0NeXgDTRICi0SOz7LBesgJkkM1xg_-Nsa23H9tsUAIIYTMP6B7VBXf8aVRPlxIqTVYi8eDpG9D86U8cXjMEiAQLgkSg0mG53O9AoArNJzhPefTHKtfDskvO7yQUD-CEMP7ClVPTiqxEGQAsjCjrSbBaFln7bscWwr3VFrCaPvixdwBb6Z9nhVmccTgEZXp1VhjjYO2GnrthHqZr2rH3Ka5oXCiOO6QD7m7lEyQgez6sRz2Warn6EqQcz9OsDDUwxAZWU4Gx86DxV1F5E4-aHcoQfgagjxVWh8ohLz4olzvdeAb_FKCV9_wgAsCiVVQ4rjvOi_f8VHzyZ4SrPKLrKbX3ZQfYRbW5Deq71ANbS9EA57AeveK7qpg6i0aF4BUOCnxFyl8pyZuHTAM7pquP5g5NXBw3ORCxc8xPx4G7crlKHYS_0Q9xSqGSbeqLj7QQWtMkCKl7iLhvirmRoTVgM0YcN0qvZcZ2D8kHuSR_o8g0CeswNYE2B2vsgcEr6CutQxblCrOc6jm9vzjyhDs2iTI4KibBD0DL6U9u-WCOZbqK1-44KiL-xWjxVSHRF8re4F9opEnlkw9id0mt_AMaah9rAsuHkIfgFnh8n0TqJLG5aWR3qXAfXjUSixX7RoJGJdyYaP6SdPOCr2k5iOKj8xvu4OBI0PHzwRSzU05cNS0pLX8Y3Fpeti0rykmiuPfZdhJVZf7v9TyYLUBlxajnISH79ttFN_zTbjaIjxy68K2F0DarLTmJly1dgi9WSA-hOVWPLvLy7B9sYhA_EyaL7u1cfbNEku3gaae1lbVY2h-GdvGBGak9WR7ZcrM9k6bm-9xnYm-1mQsKncE0Ku9ReU7i1rnlW_qv0Lss_wHA23HCKTGo-Be68osIfbD1gzEO3nBiKmkoPL4cNiBzqMgc_RIC2XTlSRiAEYTxLZa5ycTbhc1AT3MG1OBicvQgdeSx7u-fVSU5Dnu_mZmgUwv9pXWrI7BHUyVMf8gm4rBXwRYOjhx4SM6GUKgu1u6kUCUT0eJVXc8blf9Ztl3JxUtFaDDzn5t1P1Tw2PsioSDgOh4fPxpDrI9twSSbgK7zbL1WEbAQAXpid4ineiiri_SXPcYmUN9vcA0JRYlO0YQ0Lk8XmPjhVwlYSd6GqGcXdL74n5BnzZv_8ZCBbdTxkmTLYfqtaxdOAjTmKwDdy8htoSEXu2F36KTatyz9ytYSudtIqlvyS1aGsithdjI69lDofz2B5LpaIUY5o6jkSUoYJkDyoTc3cyZEalGdkm1CkooE-bdIVvECU57Jckwjqf_MfF9LgE3hMDQ2BPXte8nebqxm30hP5DixD5a2uOeZSTj9gSTJfBbobHroWYw_8YTnshA3-TvRMAid_xYzIt_bDPwiqMaKNYpZqYm4AGF-q3rI5FeYGbbMItd3RCTHVd1exTx8rsIXonVOdWE0H3dqSzpvbYNxJG20q1TioD-NrbRmzjBcwz703wzIk6xKPiMCfUUhuTIIsKwtu8IZTQ5NUvLyYgm0YJYHS-ZxD8zOjijV7gycfwJXWWKSUiUNRkBR9m-w2CNu1whFqM0Rq-CWJIPiKifsl2lJcy2jjcLJMJX1Md05kifh3SObVNsFfGSH1Q8dWjVR5u35ZxPXY5ynW7-n1WD1xu83iLOzyJnHRPXQDN-sqcl-myZZPE5ImxrdnaEJ26weJ9wXMT1xMws7FoEiyciISRQImXGzV6XscSs6mOFMwZZOaaNSMejKQBE-R-4gd0kr7u9sFOGaIUi0qeUHlXP-ghD5JLLPY3PB0__HV-ytT6HMcLZcdJAh_6egCk7TrTTjMB9GB4zav6R1NQwOy-guhdumrRB6BTnSP8Zokm7k4lTnRPSSBZjwx6xgVX46FsISYkN5j4N49mw6WD7y91qF85SQaZYFLJ1RGRMPuaZR8vMFDWEDiLxe5xxDJxXLeAsrHgrbt_F3yv3-nYSALF3pGO2JeD_JC3gcKwS5lXRGma_4MYaj8Cxf_i75C-UoSFHzF4YQjNDZ2BR2Oi9w5YJp0m6uCMNHinIUQ8zS1Or9aios6fUk61t7htqIMbS7Sb-dFpGL6Fg5yNQxy8Fb64zmo1Mxp6otQmDMYCNw-22AdEpdwvdLik6AZbfxufsbqo2NORvWjd5g7-9PJfg2i1BQe4kbZX1epvc9JgdY9MEZ0E5PMwYM-7OL5s9eIhMcqOH2KouiCA-EG-HRYz-WjV5qhTKCT1CewIxHR3Yk-9grE0GuZ7SkEmbCnez8VNwMfn4pcBI4qo2CMVu1gGfDtckFROsUx03kWONC_Yb3jYjhqq46zpAuzFzfHdla7q-6cbrDJb2jl291E9UTUN9n6oy3SahWl9JeQk8xp2Re1TT_vYCXo24gX-p186ZeDlup3UTuAuj07Thv9rGxbEyXaaivEhzCNEDTudiXTPI6YinTJhIAoPhKgHVt3T3X52xLkltTZoiqkOzGL2lpREjtVRYmcWEkIELfdjr9lOHXQK_lyR3tk8Jb7x3dYQv3CKPvByh999KDpf2cqquTDytogKSbuIICIHPlJI0UkPUMLZtREF0U-FkTg3E52LOHzEbpCtMrvGQ17zLerehTDnG0gvTYZ6Q88YxxODqTEXDq_Pd8qJXTD08p6p6TOgaNrsYKF5BA8JTL3t9KCDc9GqI6W4dZvRUElbJcpljwl22BHCBurH4tftJ3Hd9kNUmGBM4j4zbylo8A5LdTS5pp_m4zGgM3t5aNeiG2lzJw89O9pkBDhegtgq4RejIbsVQh_Cu6a_guKiW9ciMN2VqLWeamBXWuAPTlJ9nbTl4vDkyuXUkjttgGC3sIjvEw-De0idgyn7hFWHniXfQIHT_L0jf3eAiLidfYkPb9UftHYJZQMoZeJIvC4ZXduT_6y5rXdtLMuOqnNuajY_vjxxoCTyQ8Y5iumdh0JM4o0IRSZYywPIT8baSTu1ku5al05OMG4QFEy8J7i502l2PxW3XE4kRfjs3ebk0=",
  "id": "rs_089368bc6c3a7e0b016ab421c38b7c87d09b5ff765002fdf3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.572,\"right_z\":0.103},\"note\":\"The gripper still closed empty, and the yellow object remains in front of the closed finger. I’ll make one more measured forward adjustment with the jaws open before changing strategy.\"}",
  "call_id": "call_XvKdZWdKF6OU82FDoR6fkcHT",
  "id": "fc_089368bc6c3a7e0b016ab421c7240887d080f06e1597b99f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XvKdZWdKF6OU82FDoR6fkcHT",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7506, -0.1532, -0.0681, 0.9977, 0.3836, 2.5633, 2.561, -1.0939, 0.2382, 0.1593, 0.9946]\nstate[eef_state]: left_x=0.2579 left_y=-0.003 left_z=0.1431 left_yaw=0.0376 left_pitch=-0.2812 left_roll=0.1149 left_gripper=0.9977 right_x=0.5676 right_y=0.188 right_z=0.1009 right_yaw=0.0588 right_pitch=-0.473 right_roll=-0.1533 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.3309, -0.1441, -0.0757, -0.0122, -0.6222, -13.5726, 8.253, 1.1062, 0.0659, 0.0415, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c4867e124e1240f67f393d99ab96a0e78e8d60eeb0979710c7edf791ef8152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abbe04dab02991a82ac9fe796ef8455e6cf1293f3bb18bd18985523df4f45f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d55da639faee2d8810e864e5fb81c0285596471de712b9f76fbc6e5b6479fc1",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4194, 2.2032, 1.7882, -0.6159, 0.2676, 0.2245, 0.0082]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5181 right_y=0.1838 right_z=0.0749 right_yaw=0.0404 right_pitch=-0.3982 right_roll=-0.1171 right_gripper=0.0082\nstate[joint_eff]: [0.0068, -1.5248, 6.6667, 1.37, -0.1099, -0.0611, -0.0122, 0.0752, -13.2855, 6.9812, 1.4481, 0.1099, -0.0024, 0.7253]",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4042, 2.3531, 2.0979, -0.836, 0.2493, 0.1905, 0.0084]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5394 right_y=0.1872 right_z=0.0815 right_yaw=0.0515 right_pitch=-0.4626 right_roll=-0.1443 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.4383, -0.1392, -0.0513, -0.0073, -0.335, -14.3932, 6.4615, 1.3797, 0.1734, 0.0904, 0.5397]\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]: [-0.1303, 0.8993, 0.7326, -0.7506, -0.1532, -0.0681, 0.9977, 0.3836, 2.5633, 2.561, -1.0939, 0.2382, 0.1593, 0.9946]\nstate[eef_state]: left_x=0.2579 left_y=-0.003 left_z=0.1431 left_yaw=0.0376 left_pitch=-0.2812 left_roll=0.1149 left_gripper=0.9977 right_x=0.5676 right_y=0.188 right_z=0.1009 right_yaw=0.0588 right_pitch=-0.473 right_roll=-0.1533 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.3309, -0.1441, -0.0757, -0.0122, -0.6222, -13.5726, 8.253, 1.1062, 0.0659, 0.0415, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c4867e124e1240f67f393d99ab96a0e78e8d60eeb0979710c7edf791ef8152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abbe04dab02991a82ac9fe796ef8455e6cf1293f3bb18bd18985523df4f45f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d55da639faee2d8810e864e5fb81c0285596471de712b9f76fbc6e5b6479fc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHQFH3VH_7EPKZrxXnahh_pyPEuqn3z9DoUMGCyf9tNvCStuJvQVg3NR_b0WVv2_JM84vPgn1d3S7sre5mqbS4W2HY_GJmcvZEzphX4mQusTWNTDWncoAHBb-JiTutGpXhv1NshDXfxytUSY_62oijhmerZsQBZIx8N-xQwt6oQZsClcTBXQx_vV3wHqllXOBijJtWXI2Bl-TlQw_VFJ6t23xBYTvAvrji9JP-2hFZ_-M0ipbki771luOBg9Re9QV0pxKqnW3By6Fjgi5XQwz-SDwXt3PPKXM_qWAIxyxtaBZKCV2U1q-MaQizHE3iGW7H39V0lyF_mk6QQALjD92_K8Y3ik0FzM4e8KuEwf0uRRv37guzXlbHx7bDgyanqTDQIMhbnI2fmamQ76vtaerflcs_jNvqDWCb6AoyrfkK24x1tAeuAakmucZvRPTFqH8Dmr8DU9Q0e-wWQPFZwgmhwP-tOop6DIcbDsYfB8vbvS24ymuHG5G7uvUKl57iPIvfDXAlDkX-OpFxh6XHDbZeeikjfhrHrhf4hSsBqEKxT4cEcwaCg26O-QfOk93eVFhcbtXQa6o0J-0EaVkjzhwWYFcDlbHvIvne1QDv342riQU52uOH4o3iWn4p1W60PXFgsjqah9rbH8Sj32AHpTD_k6Kw5Sq5tDzLLkMkx4xbBdZqmECqlFef5EEpK63C4oN_VDuHjsodR2BLIcupQ3CwO-M1YlNH9efU5nQS5y8bdK6yIMKqJlXlgbMdih1iAkh7oh_OdqSesLpTA6sfrri1uoktQpnkk9kdWlUHBayuVHworbi1VfnCBd9PQiK7igrRNQau6PKhYvn4oSDskOJ2F4-m-LdblIg1FrV4iHyDIJuDvEtTcZGO9-tB4YIhrltjjc4F66ckyhTj9evGlxER6rDO2hXA6OqnoiHNhj9Q7pUNWNP0ru51Qxs_N-t6DRsocn-2oTmT2Z7wob21XDP-h07vLCDT2YotO40MZV9-8akX_RbCRwH7DEEHhLW385Kv0ON3OSVcp2yMkskQ8Epj7tkWr3NxbXLiVBScgU5yTMwot1YF802xmwSQEz3WBJ6yOnqXEkvdix_0Wn3yNPnfL4GVU9nBV_aVwmtgrAbZCh5MMV9f6fgTmuD4Xfa8kesBcn6v50BwX5034IfOEXtarmmTHVSHB4E1X1CB7_V3_k9SurNY3Rc9a1VMMQMNN44zVszucvzplX4uOwh9_PdIk3i5JUnw0CMl3B2rkfG4uqEy_hjrTRU1BsaYTwZB6QKMvzAfVxTtPaFYZmGcfb-uU16FcXBmWEju4OXF25Utz8NOGzjAKaKhiie6Qk6mnHd1KJPmj8zcUMTjUVv53qfmyQfwOoAGVbucU16jUmletjrSWArgFQhgHD4RNuu-AuAHa2cHdvXBA3BlzAo_rByWjZCR837uQgBYlRD2daBiEoa9zRkOUzcBeqtnRPZugoPw3-OrWHGbURhCK0ke585tZviV1N-WVsnmPmA2etvDB6NPL8sn1iZjlx-EvSQ8GTLqgbkG_8jzWvI6eZeXGF1zlGwZ9p7lCGL57lLKtXkOySgI4zUaU_KfXGQpI4cjOdYThJNulvYLPZiIcaB1YRRuqDW30JHYq10_j6uK2P7i7HA1SWb9rIbPQg2miWDSzpwYLEOdIodUTXSbV1BPkBy7Xuzqj9cBxZbpo9PhRCmqwr75_o9_ef0G02ki_vfxEpFtsfakT_vOn9kFNqzxysoFs8aGxbeveYYA0183Qi0_pifbWvB-1HYTRFNig_nBFN-1Gn-Owu02Kt5rWLCB2yu5sTMrPF-jqLBSKW9FhWTLem8lzjm2RZInQmTqc7wzmHLOzeTGk5xmLOQ_0RYkdKbaelzKefRm3PjqvDH6TQVUVzJx7tKN0Xod0T137lmGB1zGlQSdYk3SneWZw6oqX-HV4F6h_-1cckgTFq67GBRHg-H7s99zlNcww8ngcfkg5chpfPuytc0FwCpiR5UtecN-bm75mJhq9k5IwHYIGpzxJAkvJhRl8DeflkILSrXZ2F8mjnCkrmxfWJvmu18dlKsEmiXhRmSdxd_VnWb27bVTsY9WEIOIVdN9CCTQVzPAM8Ez2Ljp-uCkG6vstzR_RX92cia6IDO2k3TVCqQ8jEyF0eqFYnUV4vJe26iMQkENu0m8NM7Agx2CZkrJSoQVgqywufu4YC4-bs71aSTsADLP3_4qDmxxYKXHVw0JeDJzfe6JbqEARPepYE1JoHOJjxDdcVUOvFE6FS82QByJxFzj7junQaFgDQuRQuHzC5M8XTge8qbdI_tPjZ4IzPg2c-dPq1U4PtzQiF6134rBoZFXNey7jEmXbAVSzdqSOSS18LKYdwl_hgWIlotkKXjTX2NU2njGs1EaqJI8o-d9CYn-rrGZwTeXZADwHIRnVkog7xULcTwcKW9czF0nLeUPjjzRiUQ2sELKE-fhoWPwCYH_x09VRpyURTKKEVFKVPsBTE-FiIeVuhn8OXWZ2sWsufchcUysHqzy2bnyx7cU_IcsSuvzW-9xEQZaSU4NKLPoBc--pScZI1ejSrqloYuMZBlMiwpVdyxJkRXHnDaKMpeb5ZHFyaV7tCxmBcA9hSVdS3kLG84MKfHh8ONYkhNBSfyPnuv7EB6ngVIBbaMTl9Q59vZxvTNOwrafzYvFiSARMQ-2SB8jWahw0pVHB3lLzl7VPLoFziy3aJqnQx2Z1aJ7garJYUuosdyNuZhCHotVUj42882v-i4yvvOwzXDL-YONcZdx1mmz7TTKUnXpfG1-urrFgIqTHLNCoWeqKK6MxxfUqs9sxZLcdj3KE-oAsR8ZFyc0KmyLCblvVI-RmcsuaTjwfs3_b0szeiPa5Vw2ua15rZOxKDf3P99Y7MiH1nvjCETd8_myr_9EBMwEHIND2eaNZ1MR4k3HidFzf6va0zmVp5UdTL_8HBWPKJA_BacROsxbz3mY6UVgZxtur6uHKYDPEzGSAyr7s3d7vQGQn5yusQ8PQLWQrRtvsgciyCHJRxgGw50aJXiv-ZvdoBGh6pjQoOkRYxRkJ_eFwjn3siwyxGiGSEH32RVZTYTDzjg6P7R7IIfwbl8mvpJ2vXfT-Y-xJIb3NgMr8UR04SFOLkjFzoDXUI9R9UZtTkEvAs7GA1kwj4EJP-AOt0EgSt0DedT5PylPVhHgxiZQg9w8HEg5IgWBa9SGGLaE1TwWsP_LTyx49DC1bbm5LkCSlz2FNtZ0VaiB5HCKdkHFujMMIJS_XQQ_mh0sBj4FmL6y8V001seP5yRVaxZOppwfTI9pjow6BW8fYHNJQbzEyD7_Vv3ag3isMrt0ZJGLTEYv4_cdpiOyUj60C-YnbtXcJH2ic2Gz0YONZsnUZJ-GbqRR_xw2e_TYTIhttdHqpcdZVU5qCdkFTOV6RM2evdMl9yQki8t311uEY0tB-upDEAZm2jH6Yk7LOvvCphTlSfrceo7X5sa7MqsIeIsZrFND4iH64CqO-k0u9lqrB2jJe9B64vBWK",
  "id": "rs_089368bc6c3a7e0b016ab421ca7cec87d081af6384031c58ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_x\":0.565},\"note\":\"The open jaws are now forward of the yellow object, but the grasp point may be above it. I’ll lower toward its middle and check whether this pose is reachable before closing again.\"}",
  "call_id": "call_SseNMyyTMMkfzbxZyZJu6a34",
  "id": "fc_089368bc6c3a7e0b016ab421cfe1dc87d0a715dcc6cd91b303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SseNMyyTMMkfzbxZyZJu6a34",
  "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]: [-0.1303, 0.8997, 0.7326, -0.7647, -0.1532, -0.0681, 0.9977, 0.3847, 2.5118, 2.2913, -0.9565, 0.2379, 0.1596, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=-0.0026 left_z=0.1409 left_yaw=0.0384 left_pitch=-0.2955 left_roll=0.1175 left_gripper=0.9977 right_x=0.5502 right_y=0.1818 right_z=0.0493 right_yaw=0.0453 right_pitch=-0.5495 right_roll=-0.1829 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4823, -0.149, -0.0464, -0.0122, -0.0889, -15.1179, 8.1436, 1.2918, 0.1197, -0.0513, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348b4f56dd477ba07714ea4bc3329c85d95474b54586070a24d71d6295d8a8aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb59f5d3bfe6424f577d3cc60d620b3651d779b0f864d7b03d51982a9c5bd49e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4200ce94c24a4c12b9ba8b4be0a4d528629233a585ed9e9850e828bf180e4fa",
      "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]: [-0.1303, 0.8993, 0.7326, -0.7502, -0.1532, -0.0681, 0.9977, 0.4042, 2.3447, 2.096, -0.8104, 0.2562, 0.1989, 0.9944]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2809 left_roll=0.1149 left_gripper=0.9977 right_x=0.5446 right_y=0.1882 right_z=0.0887 right_yaw=0.0457 right_pitch=-0.4298 right_roll=-0.1333 right_gripper=0.9944\nstate[joint_eff]: [-0.1709, -1.5795, 6.8444, 1.3358, -0.1197, -0.0659, -0.0122, -0.5812, -12.2325, 9.1556, 1.409, 0.1538, 0.1343, 0.0611]\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]: [-0.1303, 0.8993, 0.7326, -0.7506, -0.1532, -0.0681, 0.9977, 0.3836, 2.5633, 2.561, -1.0939, 0.2382, 0.1593, 0.9946]\nstate[eef_state]: left_x=0.2579 left_y=-0.003 left_z=0.1431 left_yaw=0.0376 left_pitch=-0.2812 left_roll=0.1149 left_gripper=0.9977 right_x=0.5676 right_y=0.188 right_z=0.1009 right_yaw=0.0588 right_pitch=-0.473 right_roll=-0.1533 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.3309, -0.1441, -0.0757, -0.0122, -0.6222, -13.5726, 8.253, 1.1062, 0.0659, 0.0415, -0.188]\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]: [-0.1303, 0.8997, 0.7326, -0.7647, -0.1532, -0.0681, 0.9977, 0.3847, 2.5118, 2.2913, -0.9565, 0.2379, 0.1596, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=-0.0026 left_z=0.1409 left_yaw=0.0384 left_pitch=-0.2955 left_roll=0.1175 left_gripper=0.9977 right_x=0.5502 right_y=0.1818 right_z=0.0493 right_yaw=0.0453 right_pitch=-0.5495 right_roll=-0.1829 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4823, -0.149, -0.0464, -0.0122, -0.0889, -15.1179, 8.1436, 1.2918, 0.1197, -0.0513, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348b4f56dd477ba07714ea4bc3329c85d95474b54586070a24d71d6295d8a8aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb59f5d3bfe6424f577d3cc60d620b3651d779b0f864d7b03d51982a9c5bd49e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4200ce94c24a4c12b9ba8b4be0a4d528629233a585ed9e9850e828bf180e4fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab421d2841887d084ec24c411c98c09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_y\":0.201},\"note\":\"The lower pose is reachable, and the yellow object now sits near the fingertips, slightly left of the jaw centre. I’ll correct that sideways offset while closing on it.\"}",
  "call_id": "call_3GaThRpfM2MKouNCBr1COiAB",
  "id": "fc_089368bc6c3a7e0b016ab421d3a1f487d0b7255c132bef9c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3GaThRpfM2MKouNCBr1COiAB",
  "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]: [-0.1303, 0.8993, 0.7326, -0.7689, -0.1532, -0.0677, 0.9977, 0.4133, 2.5546, 2.3642, -1.0203, 0.2428, 0.1833, 0.0082]\nstate[eef_state]: left_x=0.2543 left_y=-0.0025 left_z=0.1404 left_yaw=0.0383 left_pitch=-0.2993 left_roll=0.1184 left_gripper=0.9977 right_x=0.5438 right_y=0.1961 right_z=0.0449 right_yaw=0.0469 right_pitch=-0.5771 right_roll=-0.1901 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -1.5521, 6.9402, 1.3455, -0.1197, -0.0073, -0.0122, 0.6085, -13.0803, 9.7846, 0.9841, 0.1636, 0.0806, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98528a9a36394dea81f0367ff8c4e6f9d4ab6572ce1fb91a931863a1e13a9fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7557657efac7270944bb48dee3449941f7b54b80544d0968002bb5341a9a747f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef9598467cebb4e70b6f6ca0b556fe2625360dca09ba3bc6b99f13ab3f900a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8993, 0.7326, -0.7498, -0.1532, -0.0681, 0.9977, 0.4042, 2.3531, 2.0979, -0.836, 0.2493, 0.1905, 0.0084]\nstate[eef_state]: left_x=0.258 left_y=-0.003 left_z=0.1432 left_yaw=0.0376 left_pitch=-0.2805 left_roll=0.1148 left_gripper=0.9977 right_x=0.5394 right_y=0.1872 right_z=0.0815 right_yaw=0.0515 right_pitch=-0.4626 right_roll=-0.1443 right_gripper=0.0084\nstate[joint_eff]: [-0.0752, -1.4564, 6.8991, 1.4383, -0.1392, -0.0513, -0.0073, -0.335, -14.3932, 6.4615, 1.3797, 0.1734, 0.0904, 0.5397]\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]: [-0.1303, 0.8997, 0.7326, -0.7647, -0.1532, -0.0681, 0.9977, 0.3847, 2.5118, 2.2913, -0.9565, 0.2379, 0.1596, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=-0.0026 left_z=0.1409 left_yaw=0.0384 left_pitch=-0.2955 left_roll=0.1175 left_gripper=0.9977 right_x=0.5502 right_y=0.1818 right_z=0.0493 right_yaw=0.0453 right_pitch=-0.5495 right_roll=-0.1829 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4823, -0.149, -0.0464, -0.0122, -0.0889, -15.1179, 8.1436, 1.2918, 0.1197, -0.0513, 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]: [-0.1303, 0.8993, 0.7326, -0.7689, -0.1532, -0.0677, 0.9977, 0.4133, 2.5546, 2.3642, -1.0203, 0.2428, 0.1833, 0.0082]\nstate[eef_state]: left_x=0.2543 left_y=-0.0025 left_z=0.1404 left_yaw=0.0383 left_pitch=-0.2993 left_roll=0.1184 left_gripper=0.9977 right_x=0.5438 right_y=0.1961 right_z=0.0449 right_yaw=0.0469 right_pitch=-0.5771 right_roll=-0.1901 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -1.5521, 6.9402, 1.3455, -0.1197, -0.0073, -0.0122, 0.6085, -13.0803, 9.7846, 0.9841, 0.1636, 0.0806, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98528a9a36394dea81f0367ff8c4e6f9d4ab6572ce1fb91a931863a1e13a9fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7557657efac7270944bb48dee3449941f7b54b80544d0968002bb5341a9a747f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef9598467cebb4e70b6f6ca0b556fe2625360dca09ba3bc6b99f13ab3f900a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHeMxRau0TWoke0gaeeD6G3t4B5oMSquOdMJsqv_cOaHMSrlT-fFauWe5_8-aswYhezwFh3CId-NwTGtUUbSNfgRHo8aA2m8wx1e4rPe9CatOrpuTaojcJDcA-ughSuAQoQJxQckC8x1pss6tt6EG55Mc9OQ9JwUoeEDGndtorF-IQJSDB77HCzez_spt46-aLabCaJP-jqgsrsB58Z1LhrhYjumFyqgqFnnI9j1qgQItORFhp9EpyEbrOfN8jEFa4miz9pGj4XiDHA2_-lLTQMts9Ejn_MiXLO0QaWERqpiMy1Tiin6oQkcr-wTE0VHVNbyU7241POsRqzVh7F7TL2G_DYT9OqHPcPYUr8clvvXIGKNWyTWRSlsf6JpRjgo5FMwo5XjKprH4_4IpF4dreAWSG5ZWFbe9PKGnerEfUWpxSvIzRdOfgb1jqFECjRKBHxmzOE41694racVXDzMZDOdb4oT4qXaSviHqvUwFQt2jADsrQ5O4MqQppOIa33gFlUB43rcC6ki-0Hna2Mzs_x1-RtfZxBlWue2iPTTvntf-J8neGjehFJt6IpuMBSJGqI6ckiYO6ih-p4DM9dlXhu08ENwZvhqnOe5CIJiDIk6BqmLG_1zRhZaFlxKxNadFJDyaFMv-9XDA_9Ft10AZ7UQ1DUwcsItDWeTU9RQ2jV9qZ4VV8vdvo_VMMUY6lc9K4m890XTls1fmW926XtvHP83-54ygvDIPZCKVkEhOoUMgMMfKM5uq9acad-1T9jUM8Gooq5eqcnFT29XwmsHLb8VP8KQvn4cjDb8DDP8n9gV8_l8xg0_pntXCA14vZRYaKq8uzp00f87DHsCNVhwwCl4ZZ0vl8xOpUA7teAz8mv48fal6R3Qxb-xYlamJU0QCGmeVZplIRrJAnOiDtVmGOMAS5pV9Xrc7jVDWd9SHccbEf7Nqd15Vw6xhUX9sJLJbRX78CWc_qbSmYRVsGJTzEBbDVDfSHaqoQYI4SuqoM7KQmSBMITYDdbMT8oROy6dHhou_5GguC1fpfpbusp4iO3np75Ic6mlNgkHbJT5i9L_b2RMZVn60_eRwh2vMszGgu-ZTquCZT-fjlqGB9KpsSaV8EuqJQgR4vDP061gucJZDzzmR_VDCVgxCDq0g7gAJtFstDexhmFH5VX48kPlIDyaMtb8R1I95WtPvnCEw9uzHJNWx-q2FMmFbfSBnWImrALCE8iUFCjjnb-LQbHO9YergLPL3KIFQNKfcU5W1iyT2QEwTpcxbN71Lkjn48EkTezX02eEWRIT6x6bJu7leyHL4SwERIfPorKgQD9GwwIfkcuzZxAjb0EmJtmi4X-ttvlexGTwzbpPBp7H19vBO7NGwoPY7Z7-B7BAWyMv7sBuXWXjESVHhuYdi-Bwl3Isux4jU9hJp4DqcjbnkCuvauitSL7f7gHGVtXiKM8fNVT4lDOBnqGdWsLgn4GTVoO8csxBkU4uZLjVgXHBnU0skAMH0lF2BYaVuBRWZRD51on7tsAJll9U7ckrg4aCYPojBIDk2f4f6BhLk0YcRbzS43cg2Hj7BDOB49JYUJjyh3xpFyqlBCLFplYlZUlRjte8S33L_-TJ6-0AQnsAT8szsFfZyPdzvNeLaxscaZqT_GOm-5956BKHLQg1vtqjs5oOKHeciM646874UX9z5GTuVrEuc35aIGUJAkaTNlUBR4yQ_ZfyElBS3bgI-1Ks2zzHUwNAR_skEbcztye0YzM82sVTslVuLT_bT55aBys6bIct-c5ry3Cm7GQLfsk8H8LhXrDc15HAGKl9wIdLVWBXDBRz7pqrILv7-H54Pn4KQUxCxncg5D3oXx4Y0mk8vC7c3x__vFEhhdfVXXDOvKWiEqrdYfAsDC3abopu4yfLdC-NnbRyJdrf_p5AO2XV0vYzgkasFkYVa6Sa3YPZO9RyXZLpE5fIyOLxmWEI9oG8ND7rlmnp2uyDBIu8D_7F8gLEIDYHMZImrTIwyFKcBKEUgjA43nxaX3piaVO4wTss9iZFM8ft1cpWSmS-LLSXIwTO8XTaqc8hIkn7dUo0BomNFd9if_CV_YJzlXpMK-pnmCHRE1hoo03V1-2c8DtOsI72l4aNJ7tjQ8Bv2a_GqyYlUrMV67MRcuu9kAGHEOLBRkvZCfHSvw66hUwGmgqs2ewfWrXWy_2c4Qt-aS1YZCpfopQa6l5HcVJNu7-a669kNqYXGfIhaQcBbTIAC-j2u8xJc-r_uGYUZTRYpKpwMc2D3UXDCNBzeCvtLty2tZS4Gtj8kX1m8FzuYOMT4ZE2TLAEjQsVPB3uaptabP7NQ3DceWg2ne3XieOLE6kOnKzOb-uAGUr-w4GG7RwcJC-rYHtIQF-70mHIZtMkxEUoKXyqa97J2n16nXYXhwNocOQJvm-nuM3RZ7wS48XTqL4wNvZZIuS2oUHrgL6mhV0cEfexOm5OfbPasNgzt-etcY6m7eg84zV4qo2lP303MUnd1tA7agPIa8v-5DUJ1nmAFBTZSIGDGue_hkpy1Kepo9LQJXU1I6O_ryQFQTLJspiF_VkIpJ9hRt8ebOPdde5HSPTJDnkoKBGRF6FXdiz5rZ5d2e_JAVcoiakhDmibH3i_WdMoqpvxAgEIDcWu7Eh1TCWnDtzdh8el4m_nP38O9WtQ3O3l_PoaUL4icb_SoyC7KYDVHl-ETvxNvLvn9_HH1F1DK2_zfZBpF_SDvtA04Tt3fUgHsRT2MIxgkFzuORnxzMY5XpckEdjNTKGnRVthQVIjeuYvZ_DmE14pz4oIqyKg0A3t62OyekyixwK-zG3YvWAY-m-TX3syo4dKeta_CXgqFx73saXK3bZ2OcuCN8dsXZx7tG6jG0Q2P3f9MEDnrEqVBpJQvmYk4kqEGSqw_qcyJWrTouHq3qsKrh01LILIgmcguF8KAVEiaHNjr_Au9Zw2ZDyEmB__hDCFP7b1tLbkMmE61ZfhtmFIqi6LpOy7_Zs4cFTgZgYz1CS_XJ_oECJtw4JMBWeks2hGYEP5Z0i0dYt9WHfmIcRwXDsGfkxOJIhxPt9adqylthVvi7Bxtx1_2LdyaD32bUW5IxGYvmnJ3ArbM7JzVcL9mOHCaUt15qR_g2WGfN6-dwqQ3qN5tb_gQp9JHJMdDvY5zWQlKkMtSqo5rhtdhwJ6ZGd-fD8oU2ymiyBlzAnPoeQXpUtpHocWq292J8wEEgFl5AcAdaKTJgJljLIWlk2yJpTuze2EaRjUn4p1DMRz381CcyQWMc_7qhXBdyEJQFsWvj-fm243m_2_WAQpWdXuRdi2eJ5smguBJr_WMiXiKQQRq5MRh81UMvHpt8MgQaj62CbMpfBTtKWi7mVxhPlJ-PoSbvQHesAzsCP0-p3fidi_wL_ZtYFUdIdH89mjgjmwRXBRvTqR_045LK8nE42B_Fvy41qj8gpAIfRBYdgKO-6jVanQO1UphbAvnLZz59XgJOt9v92ZLW1i2-ITG2GZxqSuYMTkpPZSFaARkncbU_k7ulLlvvaS5BgigM1x7Qk-QMeagH8IN_KF20yJJK2JZ3Bqz534_UR41vy0mfYD1XFlDbAKlGqDwNfGqwG_MuiZ_J77IjsA37HhfcwAnxXOp4OyOOHAcj8D5QnwKwWsjPpF5ybocnO3PN3sEJfjUNo0gq-dvAlyHiRRQUAVYlayyV04EFCkb1twy9cenlw2IrthvTC12JEwOfDcDlZHb6FT1jTQJuvrslVGkS1D7bMAzYP_V7CX_UWZizyyfERHlX3Qscl-3XJgffgqltzyTM-AjmnukJZDtomi_5V56HYNM24idHHJb-pR7HvuXAJ23jfW8FNt7UrWLH8",
  "id": "rs_089368bc6c3a7e0b016ab421d7696887d0876db71427e97318",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHe39SLJTN9h2I2Ql4fptB7VAjmhVmQwdcxi8_kMSS07NjIBvkgKgTsWI33L6DA9HomB005O1_z7E2506UrPZc0PaZBLVAXbsSQjTGZ-kXRseefQDYtzApEt7Z6JNYKT4NlvqDpZCAVDMg5kCHrSIgPiugWLXlEsCqtQP_IMYT5TuBW6OGCPf7SNl0a5bEdlsPymPd5c2YY2pJrafBRQvV7SnAA2a6OpcRowybwEvDbkNYabYfhWbCIZw8_ayPT2CnmPfLVpxNjhZ171kWJ9hDTaC6mMd0TDyi4pXZJS4F3fUDzX32mjqAUOlC28CWB6Wt6PNFZYcKCVekUi7AJq2YGxrDEip75Mx3Z2a1l01fm4ZyKnfolpIQ4srLhIktT0FBoCW62Ih5XLsHsHNOxakDk8TikAAN1YPhKykGdZpLA0lvbvdY8vp7xBnZqWda8d7Wi6dmgIfpu--63aSmeDOK9BJUduaa7IAAsGyQ4mi-4EkVZEKAvG34jzv-OjNV2zFbBgCL_Uy7Me8obs4JNDW7S0h5a7Lx26vVtuoJUm1UNoFsNVOZMYrV4PM36mnfp8f9Y0ZzWzx4e-BlppIWX2Tzbupdi6zK-5AFsiydPFVsoj5xiiY3Grn9GfQc-Oh5r1g0j53Gti-HOJj31WPKLvI4xp1E-XrA6RIgySakDrbNf7b8cQi4B--g0grTqXrl49m47MZt-Lf5yOnfgQZOjQ5va-Aqm5SPiQq9CdhNNqnFzdjUPP0CMMVlovlr5mmhCB5AV3fzjv0FeY-O5ucjidjnAWYoL85ceWCiSbGNNW9o1RgNW9nsaMgcWEpl-iAojQ-jRGszaHXyCU4YSUScckiIHcCS3pu9t7Kzhy9nG-s8upWHJP37j9LpegplbIUVgB8-LFkOLvqAgnwPT8skEpC0XEH9r9nYDLTzzubLhezztDgXMZVb4Y4ngc7z1LnbBGFwI17LI_P54svBqjljVDcXXu_48rnKQXlNmZ9vtu8UuDP0-hs1ffRviK-YevduJ4wED6r3zm1KynSUYmz2lYRfAz_augL0bwiBxoMmCu8900O892quHLH82rFIp-A_RfVN_IopTHwJ7kvzc6ArAdNHu7aD-hD_fcEfwYC7Xz16gjs8MfRF_bTYYSYwVi15VPUHNjhakAJE_sY1gTGvMHCiPTn2Z1H_waxqQuaXg_F9KmshPBRQ0kjtE_KNQAZ713X3kIQRE4eNUvoVnrMO4aDHryWN2HTdZsP2vgOLGcjBw3PsdAUcOgSo6XAlhM4ixa00TADIGIGmkrHLMg5IaSnB7OyotNTpH4dT-MVWERJMEwQ2wU7CXNwRPQBqXE0tOXtekPNrPo65J0EnFUvBT_TtyZwnZf3r7Cbxe2ORG1Sa60fURd4uHWgyR0ymjz0zHekUFJuD8Qclv_1jQP5i8OpaW_36-8m47dM_ZXTLJpZ4kF1guFFzBGZK-P5UQS9RSFt6qumdX2BVSdZmq38pGHtcqtLEPT0bcUGsPqJnEupmvfaS1EKRLh4dJhfYALBA3p8nC6qaSnLWD6Io212M0uetgfpEspPEgxmKeK9J56jfroAWWXmr1QP8WXgFbkn2yskRh6bie3GLzrdJmLOn5gyYOGzSd7UClZUGIK3RZ4QLOQgG7lkZQK-zrVCKjf9P-ZnphW669aMv_21aYKvtoncOI6cS62JQpwXXzQjzaqXAcrq_l6oG6mZqB30eelz07_rYm_ILz3_eyA-sTrSLfWAnCp9i66Plk7izoDUQYkWqCgLDeCuht9McCTamCV6yqaa1Ocdue3OiPs3fXxt5hJIMq3FwzfKyVWxZeubC1Mte-RllOwJQep0xlWWTkDje1xYuA4mBRBznxfml-M2pP-5hXBTfVFCVjVwo4AC6TFXTUsI0CRw05iLx8UtBMoj3BfCMjqmK9dtcBcheZD4FMU-0GjJOr0T9wKo7POpuu0jT01J-IKXCnGsK4ZjcN401fvaV3zk1jpZrc_P_zg-Xz9BMVbA==",
  "id": "rs_089368bc6c3a7e0b016ab421dbfbb887d0ab3af29c7c4b0fbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.30,\"right_z\":0.15},\"note\":\"The yellow object still is not captured despite a centred close, so I’ll switch to the brown plush while the right arm is clear. Its narrower upper body may be easier to pinch than the yellow object.\"}",
  "call_id": "call_tmB97IEcUQNFwF9IP4mJsYWL",
  "id": "fc_089368bc6c3a7e0b016ab421ddc3a087d0904164214251b57d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tmB97IEcUQNFwF9IP4mJsYWL",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.9031, 0.7319, -0.775, -0.1532, -0.0681, 0.9977, 0.9009, 2.0415, 1.8454, -1.2007, 0.3656, 0.6373, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0024 left_z=0.1383 left_yaw=0.0391 left_pitch=-0.3098 left_roll=0.12 left_gripper=0.9977 right_x=0.3151 right_y=0.3018 right_z=0.1271 right_yaw=0.0658 right_pitch=-0.6143 right_roll=-0.2239 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7846, 6.6803, 1.4432, -0.149, -0.0366, -0.0122, 0.1709, -14.147, 7.7607, 0.7155, 0.3101, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1165b69ca6bd51989b96402461286bc1f04231fa041a30de78ea940f20081027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee985c5d5b383cf0ddd21536dee874b658027e5442518e52a3a9a36b89bd5c45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4897eabb3d526434fb155f1069b8f1c2133726c0727eb28518094fb78d3ae2db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8993, 0.7326, -0.7506, -0.1532, -0.0681, 0.9977, 0.3836, 2.5633, 2.561, -1.0939, 0.2382, 0.1593, 0.9946]\nstate[eef_state]: left_x=0.2579 left_y=-0.003 left_z=0.1431 left_yaw=0.0376 left_pitch=-0.2812 left_roll=0.1149 left_gripper=0.9977 right_x=0.5676 right_y=0.188 right_z=0.1009 right_yaw=0.0588 right_pitch=-0.473 right_roll=-0.1533 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5932, 6.735, 1.3309, -0.1441, -0.0757, -0.0122, -0.6222, -13.5726, 8.253, 1.1062, 0.0659, 0.0415, -0.188]\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]: [-0.1303, 0.8993, 0.7326, -0.7689, -0.1532, -0.0677, 0.9977, 0.4133, 2.5546, 2.3642, -1.0203, 0.2428, 0.1833, 0.0082]\nstate[eef_state]: left_x=0.2543 left_y=-0.0025 left_z=0.1404 left_yaw=0.0383 left_pitch=-0.2993 left_roll=0.1184 left_gripper=0.9977 right_x=0.5438 right_y=0.1961 right_z=0.0449 right_yaw=0.0469 right_pitch=-0.5771 right_roll=-0.1901 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -1.5521, 6.9402, 1.3455, -0.1197, -0.0073, -0.0122, 0.6085, -13.0803, 9.7846, 0.9841, 0.1636, 0.0806, 0.7204]\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]: [-0.1303, 0.9031, 0.7319, -0.775, -0.1532, -0.0681, 0.9977, 0.9009, 2.0415, 1.8454, -1.2007, 0.3656, 0.6373, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0024 left_z=0.1383 left_yaw=0.0391 left_pitch=-0.3098 left_roll=0.12 left_gripper=0.9977 right_x=0.3151 right_y=0.3018 right_z=0.1271 right_yaw=0.0658 right_pitch=-0.6143 right_roll=-0.2239 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7846, 6.6803, 1.4432, -0.149, -0.0366, -0.0122, 0.1709, -14.147, 7.7607, 0.7155, 0.3101, 0.1441, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1165b69ca6bd51989b96402461286bc1f04231fa041a30de78ea940f20081027",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee985c5d5b383cf0ddd21536dee874b658027e5442518e52a3a9a36b89bd5c45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4897eabb3d526434fb155f1069b8f1c2133726c0727eb28518094fb78d3ae2db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab421e173f087d0b296c13b270e5e46",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHmdNhFhtBPR1C2oUXvvcrc6QaT70u15slZtQ_u7Ndv3Ug7GPXGmw_XGLaYkKo1mgTJSv5N7piWs-dVmPPC0V-h8UH4JojxQaZOwWkT85Y8TnBVBlNpW_NOJSfmggdgTS23drfbiIAMTZKU1SHv4Q9_Jt9nHziv85MPJ_upeaSRAw9j6C4oLLKnAEnesWvIV3en7pjA1CefSxhB1FRlSwvT76HHBfwIxu43dP_yrrcLFMZ0BHp2SM0ehmyQi4cRB2mCel_j3KZh9UOMKtkcQAa4RG9yzgxoQHEecc895Xj6VIx4BLoFb-CwmPw6OxUj9BPaxaehdblSj6dLlvqHOtL8yrAqxZuzJ-6D63P30spCYAi9TV3nkrGxXjxlnU_nL77P1gIV6y2tcootIsE_vI-fl14n7L4Hfjq-y390AO_pjpZ4vJsMV_6CGUCJz5rSBQieZaLv5McxdC-McgOuOrRBmxYVT8v3s7niD274OuNh8MnXF3vyFooSI4wNVOYytDtvkfLhvrF9kmsEHDE8oYRhV5QRoXrTfu-yAOiyZjf4epBRgYUlHOZH1z1qD8c1l3xiGfAjepE7lWU-jQ8RZQFH43plFScVgF5w5e_wu3KAcYv7lw6JNqaZv_MSnpTjCEMJgF2E41HmWyipwpvBqs7hn7Xr6NgRmG91Pg7KQmGV9Bjj6zRDVj4QdrXlGfKhIu-BmqEOtYaGiVp9bu8nf_z0ajhDbHX-5GfwCXD9kVmg6XwtwUYJmcmZMzOZYnvHJCD_ghGumoEXCTDUMbwQQsfLPDEkKQlL_lnf6hqh7O10Ah-GS0G959ZvbKq1O4iNeE4q3urIf-8Ya5b5JY7zo1UqYjLAH-6WCGUi7Fu6atjdYYpI676RGthn4hDZnhJaFOJZYNeHgCtV9Sy3Au_kkaRLu-l9-tf0iVsrxxNcR5PLSjnGYvXp3g4zgdNTMNydAaboE78OQC84JXAfj-0zVD5jOEfwPK-0LyXepNVE0Jzf6IlofOsOD1qaplXf77K_RR8sQ6OxuajHnKu-XmYcMxug_FeYYL8ChdOVzlxf_h4KrzWhnWHP-AdfS08MrnoP7Sn5s7IGX95U7PO08MFDzMnAEmEdbhOJrOwsv39lcfgcbJ-ZY8Y21AbJZRdJmHWBAIF6vczWn9HivN8LljmbUE0lYtOMC7ab3LOi-_YpBuUuZIR96ga2p5bz6h-8KMY26rPK",
  "id": "rs_089368bc6c3a7e0b016ab421e5cdc087d09dc1b7641d55d448",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.292,\"right_y\":0.3,\"right_z\":0.048},\"note\":\"The brown plush lies directly below the right gripper, with its broad body at the bottom of the wrist view. I’ll lower near the body and draw back slightly from the safe’s front rim.\"}",
  "call_id": "call_jb9S6I8SdnR9kasVowqMztEF",
  "id": "fc_089368bc6c3a7e0b016ab421e5efe487d0af2cc72eb9d5abf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jb9S6I8SdnR9kasVowqMztEF",
  "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]: [-0.1303, 0.9039, 0.7319, -0.7872, -0.1532, -0.0681, 0.9977, 0.944, 2.0178, 1.5021, -0.9432, 0.3717, 0.6674, 0.9973]\nstate[eef_state]: left_x=0.2507 left_y=-0.002 left_z=0.1364 left_yaw=0.0398 left_pitch=-0.3226 left_roll=0.1223 left_gripper=0.9977 right_x=0.2854 right_y=0.2907 right_z=0.0484 right_yaw=0.0508 right_pitch=-0.6461 right_roll=-0.2738 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.4139, -0.149, -0.0659, -0.0122, 0.3897, -10.6051, 6.4889, 0.5055, 0.3248, 0.1832, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29aa060c55886b4dd838bea41fcba6f5441775264357d44d6bd9a57e51eb41b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f358bb32a647b85e2caa9591da4682fc29804a730ec4f4cc88a5e4e736fe233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2087955cfba9e443e5ff799ad0ad88ed2a1312b698971ae060b5b8f0275e93b",
      "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 79 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8997, 0.7326, -0.7647, -0.1532, -0.0681, 0.9977, 0.3847, 2.5118, 2.2913, -0.9565, 0.2379, 0.1596, 0.9953]\nstate[eef_state]: left_x=0.2552 left_y=-0.0026 left_z=0.1409 left_yaw=0.0384 left_pitch=-0.2955 left_roll=0.1175 left_gripper=0.9977 right_x=0.5502 right_y=0.1818 right_z=0.0493 right_yaw=0.0453 right_pitch=-0.5495 right_roll=-0.1829 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.1829, 6.8171, 1.4823, -0.149, -0.0464, -0.0122, -0.0889, -15.1179, 8.1436, 1.2918, 0.1197, -0.0513, 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]: [-0.1303, 0.9031, 0.7319, -0.775, -0.1532, -0.0681, 0.9977, 0.9009, 2.0415, 1.8454, -1.2007, 0.3656, 0.6373, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0024 left_z=0.1383 left_yaw=0.0391 left_pitch=-0.3098 left_roll=0.12 left_gripper=0.9977 right_x=0.3151 right_y=0.3018 right_z=0.1271 right_yaw=0.0658 right_pitch=-0.6143 right_roll=-0.2239 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7846, 6.6803, 1.4432, -0.149, -0.0366, -0.0122, 0.1709, -14.147, 7.7607, 0.7155, 0.3101, 0.1441, -0.0904]",
      "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]: [-0.1303, 0.9039, 0.7319, -0.7872, -0.1532, -0.0681, 0.9977, 0.944, 2.0178, 1.5021, -0.9432, 0.3717, 0.6674, 0.9973]\nstate[eef_state]: left_x=0.2507 left_y=-0.002 left_z=0.1364 left_yaw=0.0398 left_pitch=-0.3226 left_roll=0.1223 left_gripper=0.9977 right_x=0.2854 right_y=0.2907 right_z=0.0484 right_yaw=0.0508 right_pitch=-0.6461 right_roll=-0.2738 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.4139, -0.149, -0.0659, -0.0122, 0.3897, -10.6051, 6.4889, 0.5055, 0.3248, 0.1832, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29aa060c55886b4dd838bea41fcba6f5441775264357d44d6bd9a57e51eb41b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f358bb32a647b85e2caa9591da4682fc29804a730ec4f4cc88a5e4e736fe233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2087955cfba9e443e5ff799ad0ad88ed2a1312b698971ae060b5b8f0275e93b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCHqNZuerAQq7U_PXJTkUzSvyu_EQKEWIQF-cJCrvEEutuzFBJloNWZTnK1sH86DQJX3iKcJrZYp7eNGxlB9ktPcz3V0IxfRSyKFHShjhNAnZublaN7vxX850R6e8jjvVBP6Lv8gtmugBeBIa-EINRRysFus8YV4gWe1kzCj9aGzT3hDFWQ5IX1SRMVYVU4UNM4YC5ygRGWltDTGX9DltAPvL3Sva8wVyquieoQvo_KB4CHSkkTRjUcXvLm8x2ttkGUZKgHY3Y4j80gilAgYSEpRjQ6rFN6kESvWRgA1z984dhKNAA5Ly1u5vBLWjttaMzrrgx6rnMS5RwW7NuicgVABCgVceVoFww17SXKCwkRSd6MnjfDWccBjVoGm1c6XMGaE3tzLmI3tJTbkNC_b8LwFyVKHj_mqz0D1IFxoB8w7rMG3tAAf0Jk5T8yAjt7T9ySWwK4KZXsGqUPxdJ7neoDpo-2OrHqCW6DH4UKI7dGKSOhgE5rLjZScSO_fH7gpXXHuXWJkNylTxp0YqCc_d7zt67PdULlNDXsTfdFM6vKGGTuoFS9iXSOtE96wEUQwtzIwRmu14AB_bqYeAAuIn2Wx8gcMPkI2P33M1FOfCmTIRe3ct39DLVlKmIcIA5b2v2nCagKKhDMCZ3kdz8qLdB25h020uCi952yofXkA52x6E8nRUQj19i4wGpcl-BWjPobfW7JMiAPwrM4wfwsW7i5X94uj_yJa6ZoBolzeHtvRU62_wJD58uBNSQiNN6C25oIOjNe3JiAvW9d41tVRTdSHSRtV1h0cbiKZ8mpccjVkf3qpxzOMFpgFcA71YeDvl6juuHRAhQG07wfdD0gCRsFVKwJVW0MwGn-CP8j8WHwgu03261Zt6qtbuWKumwpLB5XK8rdfrIwi4xT0TkBIAMmyjgvlXptYZisOCaB0fbJPib7RGo8erl3g8OeScILLaxKW9z_vCtMOBYvjEA4n9LKu740Bdh8RrJWtFthNA-5Frf9OrnfXf2Fy8-EuAu_8RgG3tkASRHfWJSifQoYTD85Oxsaob5evWSt1UTp3al4GXR0g13QiPDmT42tdpqCAp0_pERB-60ClSQ4vFHPJ6P89GpeQOAzQsgNBJ2TTMNBzECqfqOZGEU29msARWGWLNlwsEJDLEkTONo51du3K8TGdAF2ptldD9mA_LM2NibAz1ZCPRkPfjTua7cByKtni8RjO7ZKDgi33sjdONVf7hUtMCyfBsZOnghQVOW_y_wjxYvJrMpnV07SC9Z38TeZ0aBCSLhgKpIk1-CUZtEizX2i5QfEUjJbLqV4jCu2BetGLPNL0V8fhtaQ1tNpdLHPy1U-ZMR6hBYU3dMHGPrX3RPdEPL_8SPzH_ZI1GN5eRL1w1i3bAPHhfGVPk4dvA3LGBM4EylZcCHlJvYrcaldtp3S3pNNq-6mQCPLADLw4x-dPWOdQS0w8sRoxonOFaNvTSTFc5SZbO8Y7wJHSZCYE9EhSYvujmo8GiPJYw5MBqcJwbgxhtHnFaI0J_TV16KcpokKCLiyj4mKiW58HkxNoSArtgjrLbNOi6Ez_r5TCnD3IB8c=",
  "id": "rs_089368bc6c3a7e0b016ab421e9063087d0b9c19273ef249718",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this height the brown plush fills the space between the right jaws, and the safe rim is above the fingers. I’ll close on the plush and check the opening before lifting.\"}",
  "call_id": "call_ePIhXZZ8zEBQVsq8KiAKU7ij",
  "id": "fc_089368bc6c3a7e0b016ab421e9d20887d0abfb3be3b16c70d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ePIhXZZ8zEBQVsq8KiAKU7ij",
  "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]: [-0.1303, 0.9043, 0.7319, -0.7937, -0.1532, -0.0677, 0.9977, 0.9546, 2.0174, 1.4628, -0.902, 0.3893, 0.6708, 0.0083]\nstate[eef_state]: left_x=0.2494 left_y=-0.0019 left_z=0.1354 left_yaw=0.04 left_pitch=-0.3294 left_roll=0.1238 left_gripper=0.9977 right_x=0.2831 right_y=0.29 right_z=0.0403 right_yaw=0.0505 right_pitch=-0.6305 right_roll=-0.2836 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.6205, 6.612, 1.3651, -0.1245, -0.0562, -0.0122, 0.3214, -11.959, 5.4906, 0.569, 0.3492, 0.0806, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5f7844e5635a1ada5e51499c2f93de948ff396ef07c3ab60e1083b0b13bf3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94dde2b2ab6fec3cc69aed366a3cc01ea91e92667efa19792e083c30981624f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b94cf9a077229707bad599714b0f6af96685abdbeab615504029e037054d41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.8993, 0.7326, -0.7689, -0.1532, -0.0677, 0.9977, 0.4133, 2.5546, 2.3642, -1.0203, 0.2428, 0.1833, 0.0082]\nstate[eef_state]: left_x=0.2543 left_y=-0.0025 left_z=0.1404 left_yaw=0.0383 left_pitch=-0.2993 left_roll=0.1184 left_gripper=0.9977 right_x=0.5438 right_y=0.1961 right_z=0.0449 right_yaw=0.0469 right_pitch=-0.5771 right_roll=-0.1901 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -1.5521, 6.9402, 1.3455, -0.1197, -0.0073, -0.0122, 0.6085, -13.0803, 9.7846, 0.9841, 0.1636, 0.0806, 0.7204]\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]: [-0.1303, 0.9039, 0.7319, -0.7872, -0.1532, -0.0681, 0.9977, 0.944, 2.0178, 1.5021, -0.9432, 0.3717, 0.6674, 0.9973]\nstate[eef_state]: left_x=0.2507 left_y=-0.002 left_z=0.1364 left_yaw=0.0398 left_pitch=-0.3226 left_roll=0.1223 left_gripper=0.9977 right_x=0.2854 right_y=0.2907 right_z=0.0484 right_yaw=0.0508 right_pitch=-0.6461 right_roll=-0.2738 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.4139, -0.149, -0.0659, -0.0122, 0.3897, -10.6051, 6.4889, 0.5055, 0.3248, 0.1832, 0.0757]\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]: [-0.1303, 0.9043, 0.7319, -0.7937, -0.1532, -0.0677, 0.9977, 0.9546, 2.0174, 1.4628, -0.902, 0.3893, 0.6708, 0.0083]\nstate[eef_state]: left_x=0.2494 left_y=-0.0019 left_z=0.1354 left_yaw=0.04 left_pitch=-0.3294 left_roll=0.1238 left_gripper=0.9977 right_x=0.2831 right_y=0.29 right_z=0.0403 right_yaw=0.0505 right_pitch=-0.6305 right_roll=-0.2836 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.6205, 6.612, 1.3651, -0.1245, -0.0562, -0.0122, 0.3214, -11.959, 5.4906, 0.569, 0.3492, 0.0806, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5f7844e5635a1ada5e51499c2f93de948ff396ef07c3ab60e1083b0b13bf3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94dde2b2ab6fec3cc69aed366a3cc01ea91e92667efa19792e083c30981624f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b94cf9a077229707bad599714b0f6af96685abdbeab615504029e037054d41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab421ec5e2887d0b436e0f0f5aa10cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.305,\"right_z\":0.035},\"note\":\"The brown plush slipped sideways during the close, leaving the gripper empty. I’ll use the closed fingertips to guide it forward toward the safe opening, watching for resistance at the rim.\"}",
  "call_id": "call_z2g7L6jrOEQ86SwdEV3WGJnO",
  "id": "fc_089368bc6c3a7e0b016ab421efa85087d0a35ce9df202c4e7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z2g7L6jrOEQ86SwdEV3WGJnO",
  "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]: [-0.1303, 0.9081, 0.7319, -0.7952, -0.1532, -0.0677, 0.9977, 0.7807, 2.3066, 1.9186, -0.9966, 0.3794, 0.4839, 0.0101]\nstate[eef_state]: left_x=0.2492 left_y=-0.0018 left_z=0.1344 left_yaw=0.0403 left_pitch=-0.3347 left_roll=0.1247 left_gripper=0.9977 right_x=0.3916 right_y=0.3008 right_z=0.0406 right_yaw=0.0424 right_pitch=-0.6175 right_roll=-0.2955 right_gripper=0.0101\nstate[joint_eff]: [-0.1299, -1.8256, 6.5983, 1.3016, -0.1001, -0.0317, -0.0122, -0.6769, -10.6051, 7.4188, 0.8132, 0.1685, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463184b2d5e629812ebf127e6e5f9c5645c89306f476bbd96b911cc6d25e8173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c964fadbce27ca1f577fc42c4181a895a1986dee2f8c9dfeacf567823c1699fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b10f43bd0a6a8ede8e8bd713d71b14965577c82b3dce6ed400af3c58ed1ff5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.9031, 0.7319, -0.775, -0.1532, -0.0681, 0.9977, 0.9009, 2.0415, 1.8454, -1.2007, 0.3656, 0.6373, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0024 left_z=0.1383 left_yaw=0.0391 left_pitch=-0.3098 left_roll=0.12 left_gripper=0.9977 right_x=0.3151 right_y=0.3018 right_z=0.1271 right_yaw=0.0658 right_pitch=-0.6143 right_roll=-0.2239 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.7846, 6.6803, 1.4432, -0.149, -0.0366, -0.0122, 0.1709, -14.147, 7.7607, 0.7155, 0.3101, 0.1441, -0.0904]",
      "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]: [-0.1303, 0.9043, 0.7319, -0.7937, -0.1532, -0.0677, 0.9977, 0.9546, 2.0174, 1.4628, -0.902, 0.3893, 0.6708, 0.0083]\nstate[eef_state]: left_x=0.2494 left_y=-0.0019 left_z=0.1354 left_yaw=0.04 left_pitch=-0.3294 left_roll=0.1238 left_gripper=0.9977 right_x=0.2831 right_y=0.29 right_z=0.0403 right_yaw=0.0505 right_pitch=-0.6305 right_roll=-0.2836 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.6205, 6.612, 1.3651, -0.1245, -0.0562, -0.0122, 0.3214, -11.959, 5.4906, 0.569, 0.3492, 0.0806, 0.7009]",
      "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]: [-0.1303, 0.9081, 0.7319, -0.7952, -0.1532, -0.0677, 0.9977, 0.7807, 2.3066, 1.9186, -0.9966, 0.3794, 0.4839, 0.0101]\nstate[eef_state]: left_x=0.2492 left_y=-0.0018 left_z=0.1344 left_yaw=0.0403 left_pitch=-0.3347 left_roll=0.1247 left_gripper=0.9977 right_x=0.3916 right_y=0.3008 right_z=0.0406 right_yaw=0.0424 right_pitch=-0.6175 right_roll=-0.2955 right_gripper=0.0101\nstate[joint_eff]: [-0.1299, -1.8256, 6.5983, 1.3016, -0.1001, -0.0317, -0.0122, -0.6769, -10.6051, 7.4188, 0.8132, 0.1685, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463184b2d5e629812ebf127e6e5f9c5645c89306f476bbd96b911cc6d25e8173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c964fadbce27ca1f577fc42c4181a895a1986dee2f8c9dfeacf567823c1699fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b10f43bd0a6a8ede8e8bd713d71b14965577c82b3dce6ed400af3c58ed1ff5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCH6Lu2RPg62q8HUi6pXbzp36P5IILFUyt9jgEyXVfF8q2Z4x0EN7V2FXlYQQMX7SF4f5ko0-My-pYg6HAmTx1ni7ugGyOEc7AIlEIX62epZfk33mS65J1ciwNMRurytVWx94c5GsW2RWHk5dxVqPhKJwHsUqp7G_v3cL5luG4tTL9N3BCJsPNWONe7mldXi1HgaMb39wDhzkiSl4nWwLZosfzV1ZxbKA9Bm8Rvrb0zCtgAvLIaW0SasaV_TqV4TqsbVbNVCcmtqohXEvSnH6l8yu-3Q0gdsg7DZsJ1F6YMmbFs0Xqclr7OlnN6flJRDW_oPkHGMnD1nsCgi05-JVcNuwiAkdKtlxRD1or_rzb3eq97v2jWrJ-fPGu81hs8u21zc5jp9uTCCzoN2-ynpNcVSDbguQeOzmrrNFzp5klunJu2bvUwcZfUhaiJG2ZVsw1gg8IgUTUIFarVlHSttuHPqpd-T6FNb1sh90gg_YcggY29SEcBtxElpAOmN8vIh2RET_bO6poCrNE48ha3whGRDtkPwWgDJ8Oo2x061FwkwS3N4l-L9t-d7UR0Nn22dYI12u43CG4sT35qFLuHZdDhzENoQmmrnaaMseAvRpofDYnjsej9S2IgKG5Ao-h5lMpIZPAzp8yvxKnwl4OS2c9l4TyyqlypKYYfxTukSGJBUg_-luNGWy7TUEZ_4BZkpVHDbSNQ0cKUMqaagQAdppJPfXe_37pX9-yt0ZjL655R98NY7XUMP9rPOMLHh2hYRtja0ztL-xVYnvJA4apN11RzQkONrNpWsl2VW0EZFoLyYhBe7rC5xkn1SXB5dC7eKZVZ1xsTOOnrQFuG9pOKyPdZxbA2ioE0bSTmy95pGLdU-sE_F70smKvJg0KB9lgOnFNP5Da2CZcXAQqLCJiYz4mEJREWOnH2wSysvBYZ71Op9FxW0RQel62R-CsrXen0JEleNy7nGfgzSgFgAuHoQVwFZMSDZeJvjuHcRoetEGshss7oCtoX9Fqa_EG7RkH1g0Qf6rMmFHXd9FA2-MwUZ4yNOhumvkWsNhIqqB5y0Xvtqt3yqIPH7XRLewmlLTt_SzpDtMdypW1RQIzy65vZUIEM6loa7aO-kHigsqQQuoHNSZ31tIEt96DO3R1xnYUMXloWXGUy4fS_ZNvgW5KiC570Rz44iqgiWQO84QTLROuRZOV_pGyGOgsuC_zoQ90kz8aAG5oTQD4zhNBW9hbENweX_vaceSM1-HLGEh9byBgyFjmItANmnjI1i180fqjrr92ofO4z1xlXUZL2SeeCdjpR5Z9dwE9QIH3plPqZpFLE1g-rP1L6o9BRTyeYTR9-Y4bllt0Uz2dgSt3nJhkmgueTt7liMLZerMu_-M8Z4mMVwdJEdtTzeue21Vcdb5IW5fD1NbiwB6wbwHi7t9nLcOlmE1c7EjuZMkqnLH2YsTiJ6Q7J1P-wV3BQt85b463tf85I8u6sCp-ze5coIMjy29deYA0RsN2Ho6OFgPol--b_kokHj-JZwSRf08jjVoXQ4EnfvTp58PcUATQQsLmu97H9v37NQh0FNti9LNuraiOE0V2HnzJJAfR6NnWVZsYfUHvMvmuEZJ4ilzhY67SV1eGRpss-IQy0uyTjHUb2gPC8czGmgyIkAa-9-seTuWPO_RFvEyoAcuWsxOnpzdu8_IUv_kNQDPm36cfyh8RYlZL6n9aJwnHHw0PGvr9YmTfoiCA21fBF3zpZVqKRlRaAgGaTViVfyVtPrup3X9OjYjDGSlIftYnU5zoFbRHnIwQlrHwEUiNZcLRoWdsNl3TXhfQhiFywwocWOM8reilcmUS5Hg9pX7ywZ7kk06K2Fww8WbmjPTAHiGY_Qo-JcG7E0UVLkJgyDpxVHZujK1fZAJljbx4qh_j0y78I-A03SM9JNXTcYZJvonoEmJKUX-ozY7GL4o6YzDN31cIxPTSrunlxOyWLsCOufHTJA3qXrEZCrAYGugXZswDoTDMZl3xB3g2-Wu3mOZevgXL5lSyAX8upgkwvXgTtbVB06EORqaLT0JZCPWHZGMleOVyK-s0E960dh8DbUp22cmgkVqlmiJEbGMhF_2buKEN9Hi5k7o-ddYn7pEwT4g31qeAhrLl1DQxYGAha2fX2c3QetxW6mG8pmAU8-irqRjzDEEMCu2exA-z13wULkZs3MbU2SlYGj6OO0kMFECg3_czE8r03xeXsLtxe5K9n_VBF20am_OKn9eieGK11iS1SSugBMFiXSPXC1g2ojwBGYVZzMHbXxqxMuwpBm3H2OG2SNfy7iEf_1NxV5EOEIIJWgP3PCyPiyOOX87CL4BaYYJQ84rARzI0A0X07OTTsiCv4E2LFU9kpzIqyxesZLxKO8RY8oqGPyFYYAOrh3DdXvQk1sCABOoAqDzaaa1XzF-p9TOuDznZiyoeJF6pE-fu_EucwhSNxCGh4mV1Lrb7HUoTFyUEwqHWt12cWCgz3tj9wG706jfV75hJuylO0A51ZeTtZxXqMRcGmN6p6mzjv9Y_msbsf_RBxLTcwqvNohy57iDylPkNm7X-7wMB8K5l_sj6yAQIl7gftkt8vzWXy6G76R84RrEpiEfhtHR2GCoU20hMcSLC2jKtm18-8xQ-hgnrxkf6RVnJ0ZYiXDNZtOGqzNcVaX_Fhbch1KW7xfiM4D4EeDMf3-hr2WxHxStwCaAlja-OtOdWAkDd3yzszUt-4TEoVnKJSrSIcsvbIjKkW_t9ESfm9I9qzsKALXnk68WUueHZC3-tay-PLBQRAnhmulb2ZG6uoNDvIceluXRzi7rhOcE7mrCLM7Z-jAn7FmJiW_Dyq7i3RWcc7lvddIuhd3YAHQlv9wtAGTaKgZb09_noP1VQrqjwp4x9qXuNhe03mhT0GtymXgl21rR1rXVuuLLySQdt37a3ujNk6pWSEWbaDp1usKXe_WrH4iVnLnQd23m0fGj5C4Y8kXTzPVicm7iAHCwf5KK0QykaDhER82fUYlYCqHUvM8LdR8ka6WNHfbe39-7N4GKQg8EweKx55maAK2_ZvVu7PirZfNqTS2D0pPxTNMaR7R7_fnnaJi04SBX2zmSyTpVfs6pfsR0W3yIayNwzGy_j8XP1WxDW2eShngZMDQIiQNKY03iG0QShZWYXYpW2ZtAChQ_1Wjnx4-FntWG7L0s-ynEXiDJuT76wbHBKUvknncAk4AsiLytYuyDVAfWYuxTGc6VtAlmEeLvVqgEamZthaQL9ebVyv1tEftI7BItm2aSQOnR0MeiqpdXPT3nQ34HQ0OAqUIcv1u6UJhPF0pVvISiZccxURS4LlfsWlzwqBFtVzaorJtcskwTfpCampQ8pApoN6h1ZKRZBwf2O7w81pRmHOiYBRiOypEO1RISy4vh5XQp-2j3zCBXD1ks_UoRZJUPf0dI3G0JnaMjKgbqXkDvXlDwEVE3r9lyIMs7Mx4Uvz_KIqFrEIgkVRl5bjaWw==",
  "id": "rs_089368bc6c3a7e0b016ab421f2e93487d08b5f68bbb382dfba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.11},\"note\":\"The forward motion did not carry the brown plush into the safe; the fingertips passed nearer the door than the plush. I’ll withdraw the right arm and try the white plush again from a higher, more forward left-arm approach.\"}",
  "call_id": "call_k2PfwyarF9QG1TX8gg8pzWqu",
  "id": "fc_089368bc6c3a7e0b016ab421f8862087d0af7f72e4450ca52d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k2PfwyarF9QG1TX8gg8pzWqu",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6422, 1.61, 1.1034, -0.6556, -0.3985, -0.5316, 0.9977, 0.1234, 1.2274, 1.1397, -1.1061, 0.2047, -0.1341, 0.9976]\nstate[eef_state]: left_x=0.3364 left_y=-0.1616 left_z=0.0958 left_yaw=0.044 left_pitch=-0.3908 left_roll=0.1461 left_gripper=0.9977 right_x=0.2717 right_y=0.0011 right_z=0.1731 right_yaw=0.001 right_pitch=-0.6107 right_roll=-0.2946 right_gripper=0.9976\nstate[joint_eff]: [-0.5128, -6.9949, 9.347, 1.1209, -0.4664, 0.0611, -0.0122, -0.1162, -4.5333, 7.0906, 1.0965, 0.0806, -0.2125, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d89602ecf54cb04ef01bbada30906a5964eb55b17892e8df332055ce1b98a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78e2b517de4a8761dbc8d34fb6135401e8fe161b077f83762d017cb5bd982c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36586a8a4d3a9518fdf663219d20ecbdcffd39ad34fb5f37abe6f6e7be6afa3b",
      "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 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.9039, 0.7319, -0.7872, -0.1532, -0.0681, 0.9977, 0.944, 2.0178, 1.5021, -0.9432, 0.3717, 0.6674, 0.9973]\nstate[eef_state]: left_x=0.2507 left_y=-0.002 left_z=0.1364 left_yaw=0.0398 left_pitch=-0.3226 left_roll=0.1223 left_gripper=0.9977 right_x=0.2854 right_y=0.2907 right_z=0.0484 right_yaw=0.0508 right_pitch=-0.6461 right_roll=-0.2738 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.4139, -0.149, -0.0659, -0.0122, 0.3897, -10.6051, 6.4889, 0.5055, 0.3248, 0.1832, 0.0757]\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]: [-0.1303, 0.9081, 0.7319, -0.7952, -0.1532, -0.0677, 0.9977, 0.7807, 2.3066, 1.9186, -0.9966, 0.3794, 0.4839, 0.0101]\nstate[eef_state]: left_x=0.2492 left_y=-0.0018 left_z=0.1344 left_yaw=0.0403 left_pitch=-0.3347 left_roll=0.1247 left_gripper=0.9977 right_x=0.3916 right_y=0.3008 right_z=0.0406 right_yaw=0.0424 right_pitch=-0.6175 right_roll=-0.2955 right_gripper=0.0101\nstate[joint_eff]: [-0.1299, -1.8256, 6.5983, 1.3016, -0.1001, -0.0317, -0.0122, -0.6769, -10.6051, 7.4188, 0.8132, 0.1685, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6422, 1.61, 1.1034, -0.6556, -0.3985, -0.5316, 0.9977, 0.1234, 1.2274, 1.1397, -1.1061, 0.2047, -0.1341, 0.9976]\nstate[eef_state]: left_x=0.3364 left_y=-0.1616 left_z=0.0958 left_yaw=0.044 left_pitch=-0.3908 left_roll=0.1461 left_gripper=0.9977 right_x=0.2717 right_y=0.0011 right_z=0.1731 right_yaw=0.001 right_pitch=-0.6107 right_roll=-0.2946 right_gripper=0.9976\nstate[joint_eff]: [-0.5128, -6.9949, 9.347, 1.1209, -0.4664, 0.0611, -0.0122, -0.1162, -4.5333, 7.0906, 1.0965, 0.0806, -0.2125, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d89602ecf54cb04ef01bbada30906a5964eb55b17892e8df332055ce1b98a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78e2b517de4a8761dbc8d34fb6135401e8fe161b077f83762d017cb5bd982c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36586a8a4d3a9518fdf663219d20ecbdcffd39ad34fb5f37abe6f6e7be6afa3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCICKPAmePQ7U2PyLpfX6pNeb6zCbdjcXbuNyxK8l-uW9CIO8qdhldSSjcnctX0y0JqtgGli9Wlw5zL7HLwnTj3414owt7qT3F1-dPToaKU6H7lNqnS_lFl5p5xR6lu3H4zJFWVjJNRPNC9HMUlROO3YG21FR48EUeClfOlpVj1s0GLywz4z12VIZBRa03dO0mjoMJaUMmCIO6ongEmVNpL4GdxFsv5MZ9WG7-hL8As5-bEkImxfjvejGXxZdF9bSteiknGgtvyRcK8Fw0ZNlzjBGf5I7KN9Jv4OeVFrkK_ZUxsgeiqdBSTLP8oBK9n_5nEz7Au7n4LNXMva2BYn2Xi0pI88JpZmryCILa8sMULq-NuOdn0v3vbR0JTxM8rqolUI6f4-2GptaS43SER0pEcGDasmcSrRHk2k-NbQseDCd5iXoscHN6fripNAwPcOOgCYc3cqFpzyHENfbexJPYST6ceRRJwuJnS9uYIE3vrRoU2pLdO4_RoTK8YHd_0-J7liwnA4djPPXtrSa4q58Eu9_Q8lATAhLpRCbcHGLElHeZ2qHF9dl0DroORYVNO29TFviP1uFFgkGC6deB0AIl4j8Qvti8Rf4N286DmnxoZ6BmzX7hcDsuw_VHcm7brRjjQh1Do5xbSZur80mNQIWHeTfLAlVGwqsdWflZ5hNxKCqCw_JH_rc0o09KiuQRgSsWbkcKWMOixGR3AGGy2qoCIXrstv22Dd4U01rMfaeQrdeNEnOuVfISJXQ2rrmaH1_iO58q7GOs1_nOEJ1ockcQgcqC_5Tl33sixWWRPuUnAxuI8e30CDvR4b9DOpy_gPrBvsoODIUorPFvlW3TlY5ZwJbcby7IkpmX-kWKpcgb-DWNVXf3vOz0OoWZmKgDYnzdD-rVjNxd3aQe1JKZaNW4EkF79kSRTcMmcLWpCpWpoMJW5GvDKQtsTEqWUXw1HGwThAgG0Nhk8AF379ICXLUVPKTNPKgj4YkNYHZTVHIquUEZVbZFB0soZO0dFuHgb5aBqd9_Ra_C7Md69ZbND0HvLLW-9wZ_rpQJNegx9y1tIOKRlPu8uiGworaHpb2odbI_K-_ow2xnt9S7x4Zln3U3QcxKel3a28tSkGB0WcKSlYD7_y7QDEb0lr5NRvr01yjC95XpOsIuKdcSxzsKNDE1f1FOeI_N1AFbRFOzmzherCHwQrg_-K8yE-TbkYFwHjUd02WEY8FJLLe5sasQt7YjJkGpea77SrukrbaWdr-RXK8bSubTCBp6asqV8WCp1KNBMkoMiTV6BFHlLlfJ8kta30CDD8z3CEwpxjNNTxsqnIiemgiO750430uOR6ueHiLWL54KChJOkidFKkCcz3CbF3rt4mBrV0F8orfHEdUR94yCUjq5I0BqGeLyzBgpGGBl7m3iJZi6QEQ7NMImFYvLATwlK_a2NB9ZTllIsCTaaYIFjwCjKbogAjDcxURJhpdvFnPATCoEKPYIgYw63sBc_pp-8z7PKuH5K6YrqS8GtMS54Kdkmw_zdAyeDUbJM_UHXfMiscKSTcAw6U6ehvtNEwSYI5ludmmJcykiX4-hnTdBprRuHfRYnSCVa0fAWwcOw7qxSEPJ7ErpwcSqFgyIVaDedH1ThqYUpJftYAZigXmQrujLHbo0HdVz8TSUtNRBHSF2gLgge5pI8PqiK_eClgnLbAtq2_Meiqr1tOUMI3xQUSfYEu0my2EBdS7yRYZY_uLdaKy0NEoUEHira0c9XyDVtgQ2EXN_PPfjBOg_IUXk5La1vTH1Sajrc78X4vBFQ1_JqSOFf8Chuug8LT6gM-VSa0-rzHJfdm-t_aN3O5iVBbr81nz1CiP-5DtGu2AzbaOyl7Y9dgSDLGfyr7nVXi4OVgRS-XDzAEpBy7U9woz5pxCs2Fg_O-o9sq0WQqNKMzf32pqKBJmbgENsch0ofpPb1ppI3xm9X9hdPpJ4y84fe8zR9-ofx3ADOrF2lwb5Ln3iyab5dQztc2wZvVQw_bEV6QyX8mYtXmGslDSyBm5sVtxQLbwXof16cF-ilBkstJJyGHalzRGDnMfsdBsv6I5BiBXQvxA3hEpvT6WmGvK6V9wB7A_gaJSikpPOMT0hbio-lWL7OM3mU2arzo8qL10jzX9yq1ijfpSjdRO24WQ-11TupdYg55kITpP5HEW647zgr1xu2bcmtJRAZ44DfIoawzFHIKiKkiphOtV0qclTtZJ5m4rDKYYIL-oOqcMRjR3HbpLlm-S02yrn3IZbau75Cr96-ilIs8o9sYDoN25VqUqj-J0Yo5A0FHg15CLU3NvjSu1VVF706NifvHxfWKUYkDjCnLf36A8lClxu-cM24ZACPQFzvbSQrBnlo36pFjlplCeUK5SPOd7I1d6gNX86yYA9EUnM_LGz-d8ItTrTwJ10tkfKokR792WNzvdoMJpTddQIcz5wWSD7v2Ck9WE5nOPXRHegDMTUaqQYAqr5qOFhVDsyNCd6Ibi2raPHoY7kSMignoaQisKUCQGkYwb_4XLD-bH2LeBZk50ktmUluGunLsLdcw_xhA2yNp-bEoAbXVe1dc_m7IcU9yNxDpxuF_Ath9FtaCkAGXboAM9aPgDBMhTIKTLtPH3rKVUE1_zQX4phH3FWYlgEWRLpvDsh33BrgGEi_v2LdMLpeRbZ3ol-2Ws0DSTBPwGyF7Ac6a3Va3J6AiIsu76YFidE4Lo9jIBxD1UM69SVwyApisbPK03faId8ZBhBJKNmtxCngu",
  "id": "rs_089368bc6c3a7e0b016ab421ff220887d099ecfc2172317b7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.17,\"left_z\":0.06},\"note\":\"The white plush is centred in the left wrist view, with its feet near the jaw tips. I’ll advance slightly while descending to bring the jaws around its torso rather than its feet.\"}",
  "call_id": "call_GYXlr6mxnkLZ5zLYbWFbQLF2",
  "id": "fc_089368bc6c3a7e0b016ab4220190d887d0b8bb85d16670cfad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GYXlr6mxnkLZ5zLYbWFbQLF2",
  "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]: [-0.6186, 1.7348, 1.1076, -0.5804, -0.3901, -0.527, 0.9977, 0.123, 1.2156, 1.1358, -1.1255, 0.1978, -0.1566, 0.9988]\nstate[eef_state]: left_x=0.3503 left_y=-0.1624 left_z=0.0592 left_yaw=0.0715 left_pitch=-0.4311 left_roll=0.1736 left_gripper=0.9977 right_x=0.2659 right_y=0.0015 right_z=0.1727 right_yaw=0.0212 right_pitch=-0.6264 right_roll=-0.2987 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.265, 6.7077, 1.1795, -0.2808, 0.2222, -0.0122, -0.0205, -3.4667, 5.8598, 1.3016, 0.188, 0.1636, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccb65b9d0c74182bb1e97280ec09013788cddabd28db63828ee5ef7ae7a150d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160e25ee629a338383b47387d7a1cfc71ce29d90587cd27f229101648c91c039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231b5464c5dffda4942b7dccd0dc370e11adc96467994da5a19d78d9c0d85788",
      "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 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.9043, 0.7319, -0.7937, -0.1532, -0.0677, 0.9977, 0.9546, 2.0174, 1.4628, -0.902, 0.3893, 0.6708, 0.0083]\nstate[eef_state]: left_x=0.2494 left_y=-0.0019 left_z=0.1354 left_yaw=0.04 left_pitch=-0.3294 left_roll=0.1238 left_gripper=0.9977 right_x=0.2831 right_y=0.29 right_z=0.0403 right_yaw=0.0505 right_pitch=-0.6305 right_roll=-0.2836 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.6205, 6.612, 1.3651, -0.1245, -0.0562, -0.0122, 0.3214, -11.959, 5.4906, 0.569, 0.3492, 0.0806, 0.7009]",
      "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]: [-0.6422, 1.61, 1.1034, -0.6556, -0.3985, -0.5316, 0.9977, 0.1234, 1.2274, 1.1397, -1.1061, 0.2047, -0.1341, 0.9976]\nstate[eef_state]: left_x=0.3364 left_y=-0.1616 left_z=0.0958 left_yaw=0.044 left_pitch=-0.3908 left_roll=0.1461 left_gripper=0.9977 right_x=0.2717 right_y=0.0011 right_z=0.1731 right_yaw=0.001 right_pitch=-0.6107 right_roll=-0.2946 right_gripper=0.9976\nstate[joint_eff]: [-0.5128, -6.9949, 9.347, 1.1209, -0.4664, 0.0611, -0.0122, -0.1162, -4.5333, 7.0906, 1.0965, 0.0806, -0.2125, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6186, 1.7348, 1.1076, -0.5804, -0.3901, -0.527, 0.9977, 0.123, 1.2156, 1.1358, -1.1255, 0.1978, -0.1566, 0.9988]\nstate[eef_state]: left_x=0.3503 left_y=-0.1624 left_z=0.0592 left_yaw=0.0715 left_pitch=-0.4311 left_roll=0.1736 left_gripper=0.9977 right_x=0.2659 right_y=0.0015 right_z=0.1727 right_yaw=0.0212 right_pitch=-0.6264 right_roll=-0.2987 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.265, 6.7077, 1.1795, -0.2808, 0.2222, -0.0122, -0.0205, -3.4667, 5.8598, 1.3016, 0.188, 0.1636, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ccb65b9d0c74182bb1e97280ec09013788cddabd28db63828ee5ef7ae7a150d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160e25ee629a338383b47387d7a1cfc71ce29d90587cd27f229101648c91c039",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231b5464c5dffda4942b7dccd0dc370e11adc96467994da5a19d78d9c0d85788",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIGhiDgAB4BgGi8dO62EP6fyj4qIIPdJ10z5qr0LHEKK1anaI-Vp25SA8qSbuws_yMCiHaFx2hPHkwAAUYDU8iQ8S7WM-uqIwPRHYVANwyacfUJO_ulEELyjUcrrlQ-TcUdzD_H-vBY6WWzmXqDfHhCCf6014TdNSXwMHRJ2L1u9n0b02RSaA1c71fCIeuBNys1632Ihmq5ATmwVFlm-8_N-GK8ptsNsTHQIEgJBBjWqtyS8Ci4nyDA5IW8FQEdtwA1gCHsNDXQrUjFiZYCXM4lK_dStuADxY4z4yk0BTiakDQJWOOOkYNUV2GIXRcLR-VUK90aPYaJwH90nkrSq3i8Ptfzoig0g9WLwFiP7Kp37w3BZm1rutzuSIe91tv3QW946N2EIfLSbJBadYGcx9yrgsvT-FUK3NAeK16jm1G7GRdhg4R3yI2XrAhNtZDLfi8kMgBSQ56m_oCIyAyVB0HBwOmbuuNCJL_33u5ni_ZXaXcPOTYN-vaCYEwZD78N2r9NIgZaEgiJ9tP2jrDuyqkw2NpyBIlTM4lyb7DVaPLcnJjDAo7qb6DV-CAG2Xonu5LrYaDXDt4CLAhU-enKvu2uecu9PoBWkfHyoldHwSejG77AHBihpojeowIPxrTiuNYq4yBioY4zikIPvSnLqacON7wLQCqGNcOixzRVzLSS5Azwaa9QtaT2cXXOZzcGP18T4sLZiFuiM5wJDkC2enngkmxGuhRPAjZgE2Gvjj_IXVyNYWiB-tzELT4v9kKOubJ7lmqSEC-whwA9p1ZYLo4r2WbmB3bUj9X9fB5FTcy2ByYrjZWIlGBBpWznuHnw5fARc2UDwnFfzFfu2DwdIpvoFGXjlJdy3jnxeCxQSE7z28lK3qGe_-dTrohQpr2jen1jR6zY_NT-q0R53ggRdXryjeTloKnbknph086Yvlr9UWF6ec399DaWk1L9YVfqOj25QSUSo91DdIQ-QcdywnKl6OZM0QyfSkdD4gwOlYUzpeKSYLVJ2mnnS4NicDaTAfvd6XrL33Wc_5pzRsVUzkMr_CtTUYGntREuTCIyX6rAbUNZnMyZM_zY_vb2lmt0TF7fE25skGGeJABUdNA0MwB5-bM6wdNS5ZC1FtSmxm8k7L2UG9shdawi0tBT7guu1DTDh0nlm8cmVK5aOYcDszCwI9MfCLEif3HI8UevavUokc1ynXW0_E2s1KCFpJ1U6Cax3B9N-1vaQXQJzcZRv1ZPUb-glOyqoQXjCC40a8Jin-hnao1pgLfhQJvZVEVuVcrR7Q0462Esue6ay5cRvDmucScdyrg8D5hHda-HaeApxrSeJ7OXJBoHefsT2sLwvODZAumdsl5ZcjVIXM2F844DrmwcHtzO3Vco8keZ9xYvAGmUcqYikF_6UAkcOmPc-98oJ0NsJYdan0NcJFk8NND1SSbZI0-wUGsXX-le7PsZGX4-jloCtc0K6ZuiBMeNjUambrygEbQZqKWIQbt-lHAYBZQ0daMHaGDQ4n2vxYTU7L3P-JasnVmJ_LY1p74J8YbcIN_k6lhJ7jk6FAs-7AMv2i5XlQFTdbTwsaiua9Wu3NhEHVP_RhjWsWHNsEWmH5-Xvk80EdL85ariMFApnI8gv_fz5QLIt0nmR1WU-JIR-Qz9vuv9qDKldW-hzCpSZOYaEdMTBfLVDLXwUIaiu8lfxSkr3BwowowYF7svVIOMz4_ksgs7ctjfEmTW0h82Dch7d3I3aAld2XZwIZnhBnEQoJgjqy6k3L57ufDhkJn4QLXSbEvYhvMLCFnFQmBmTIxnEWr9kUICuMddHui511Vjtkf7HvqkZfshJLg9pE5jWGccEzLfulIkwHghmsHqwES8aIPs_HuWPAHoLjPseXFIA7S_d0mL24WN7K5magmDZ_ZGjF69umwsHou0tmOypQ9mjxGem2t_DgWMq33xlWlp7u6hCCudTxZJNRQ9s2PtVUavohVnslFK6NkqsY6h3iuB8OiaUKFEEJpz5a87cC8zMXKUuKIGdXAm257Fc1AITv2HDKTADuScbk_rcZJEjQKw5n0I7DCjanCh07Y1Xf0M0IrhfofFMi771kr9CZJACqPPVwNfX5thf5P0LtfmmnI6",
  "id": "rs_089368bc6c3a7e0b016ab42203d4d087d0924a2b6a1774d32e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.135,\"left_z\":0.06},\"note\":\"The white plush is slightly left of the jaw centre, and its feet extend below the wrist image. I’ll shift the left gripper toward the plush and a little farther forward before closing.\"}",
  "call_id": "call_r1I23YADros3pPaiGHCTvm6E",
  "id": "fc_089368bc6c3a7e0b016ab42205adac87d0ab0eac67b3c1494f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r1I23YADros3pPaiGHCTvm6E",
  "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]: [-0.5816, 1.771, 1.1057, -0.5613, -0.379, -0.5018, 0.9977, 0.123, 1.2079, 1.1103, -1.1252, 0.1974, -0.1547, 0.9989]\nstate[eef_state]: left_x=0.3564 left_y=-0.1518 left_z=0.0464 left_yaw=0.0905 left_pitch=-0.4547 left_roll=0.1915 left_gripper=0.9977 right_x=0.2607 right_y=0.0009 right_z=0.1661 right_yaw=0.019 right_pitch=-0.6436 right_roll=-0.2997 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -11.0427, 6.2701, 0.7985, -0.2662, 0.1245, -0.0122, -0.0342, -4.8752, 6.2974, 1.1648, 0.0806, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f6be45feee5e44c9c87d45a469cfdd46feb8829a8303089c15ccbd4d2cb587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79d3b48ea940b2d8f606d15843afbf138f7ad15ed1f7a33000c71e69f85bc4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b577da7a26af63a36166d226bd3a3d17d822e0e220182e95e106fbc8394d0b8f",
      "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 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1303, 0.9081, 0.7319, -0.7952, -0.1532, -0.0677, 0.9977, 0.7807, 2.3066, 1.9186, -0.9966, 0.3794, 0.4839, 0.0101]\nstate[eef_state]: left_x=0.2492 left_y=-0.0018 left_z=0.1344 left_yaw=0.0403 left_pitch=-0.3347 left_roll=0.1247 left_gripper=0.9977 right_x=0.3916 right_y=0.3008 right_z=0.0406 right_yaw=0.0424 right_pitch=-0.6175 right_roll=-0.2955 right_gripper=0.0101\nstate[joint_eff]: [-0.1299, -1.8256, 6.5983, 1.3016, -0.1001, -0.0317, -0.0122, -0.6769, -10.6051, 7.4188, 0.8132, 0.1685, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6186, 1.7348, 1.1076, -0.5804, -0.3901, -0.527, 0.9977, 0.123, 1.2156, 1.1358, -1.1255, 0.1978, -0.1566, 0.9988]\nstate[eef_state]: left_x=0.3503 left_y=-0.1624 left_z=0.0592 left_yaw=0.0715 left_pitch=-0.4311 left_roll=0.1736 left_gripper=0.9977 right_x=0.2659 right_y=0.0015 right_z=0.1727 right_yaw=0.0212 right_pitch=-0.6264 right_roll=-0.2987 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.265, 6.7077, 1.1795, -0.2808, 0.2222, -0.0122, -0.0205, -3.4667, 5.8598, 1.3016, 0.188, 0.1636, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5816, 1.771, 1.1057, -0.5613, -0.379, -0.5018, 0.9977, 0.123, 1.2079, 1.1103, -1.1252, 0.1974, -0.1547, 0.9989]\nstate[eef_state]: left_x=0.3564 left_y=-0.1518 left_z=0.0464 left_yaw=0.0905 left_pitch=-0.4547 left_roll=0.1915 left_gripper=0.9977 right_x=0.2607 right_y=0.0009 right_z=0.1661 right_yaw=0.019 right_pitch=-0.6436 right_roll=-0.2997 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -11.0427, 6.2701, 0.7985, -0.2662, 0.1245, -0.0122, -0.0342, -4.8752, 6.2974, 1.1648, 0.0806, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f6be45feee5e44c9c87d45a469cfdd46feb8829a8303089c15ccbd4d2cb587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79d3b48ea940b2d8f606d15843afbf138f7ad15ed1f7a33000c71e69f85bc4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b577da7a26af63a36166d226bd3a3d17d822e0e220182e95e106fbc8394d0b8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIKaHRnptwJ_nuw0k8Lj_H3wkBNwhwQZWI3pPANv7dtCAm_hpIXAoNFViVqvLppQ2c-gwCXJopcgbecbiv3H4rP9IsXmW4vNHB3gg_vlvPbqPARjSVFNShE-JBF0G8rLwFwHJLlUBbOK1YU9t20-ONUrKCuBqbX1eJuURfgJMOYhM4eamyh2jwWjNAiqlqOzo46IU0-x4KizBh_Ju2OYHOfTx8ijXGVM30Ie9Hvl6F3Pou01dZ_81RqzomMburKM-wuJhGP-9qQW6dRP1e780l-DWbcTDEuwyMQzdOp-rZErl97PlWUIdFocOm1N5nv6X2rc9XOI-QNsysCerLg3n8QZ_45LheZutMJ-hN8OvgwWmv2XXTJS4WgnEO9OrGOgCIArQ7sbzSA-Fh2Sgc9Nl_v8z6LfNolrI-sy1AF53btqmaIe0tf_Bwmfwmn8uzmBB0C8GfT4w72gHWLaJ1JiLC1fPFRVl4suykcNxNvu_8_8ftTgoti_JXxjJu4r_MD0A489QGsyRKkxPer8hZRV64-OttvJaKPmY29olcS02VDlEGXO4I8KjKnRt75xpn1cdSxdIo5Yz_Ae_ArynFIcD1c9b206p1Sfwv3ZT0wMtyw5C-MI1wGNR-GVGh5bw5onO-oMoZM9D35HzlcaPxlUPOeYiAFBMYL9JhXgGvVXhobfOfSafy8Bpqks9LQLLQHRoOkSNy63MClA82Uq3ZueMfSQHpHsBBmkxOpDmcobRhNad8_rkzy-3wBC_R4ctq3ymovfvXGJHfMC-VfsfwYPYeejYvYx7I7SOnxZTZgiDyw0Z-mb34ZWkGR6ixULrbjFcqafonPDyOYyewJfJQCt4XoeXNaL13J4lfEcWJSJpXnAyv59Ny0AHFpuveXQMoxqbCl0C9aQs_O6JqS5yzsAPdvDW11Fgc09IR6G5tkXRyucQqIcpIo1MuwS2Po0jtk8o578LPGp77i_5cp5xBADjKXeFMXU7wlRZCBdyUb8bm83qasIVDgs5BfuB4i5JyRcMIxJXQFckzt0nB4sgy0MRZbvMrrA1bFY-OKzjyHKgZkMOewAQPkjJ2ipqpZwFtzGsURE_QnxNBQDRlA0uoZCuOUpgHyR3CWrlEeI5-6CmxA3dL3fV1rQ_AgLxk0QyMttbkzm3Nq_y4fifBW7XijXQBA4hwAxTu0KqBfNvsiSxwbb1CKY83Gbu6yZu3rVbiq70CygpryBhMwLXWtdG-2i0FSpVWLJV3xiEQT0yzj9rGDXVtwN7zSWEp1NFRhMxjGJB4kR0U95p5MWEZRZ7HpKH8BWeAhcd_CmtZtcXpbCCkDlXVcmlLpi_VtZSyg-Jf_KhR_KYO7SdrWC6zDFXDDD-3hAdIyAhcP_OMnOM0iSZ-J0dUYxztmHcfxCM5RTx2mSfM03a7kzIBTUily0NCUJISY2yfVg7jkYxcg-gI19IFu1Dv4C4jxxrMXYCEiHnvS4IGHK6olfXEHWQ_ebx-U2IYeSR1Da0Wi1-oDv7lbe62KX-0RPjd6_E8GcwQ7npBcpg--_KrDOz2zmRzw8vk2txTS-OIW2mKt5di5dJ4OBVMbeUac33eioFZJ_1WJS-qc63c4Fayg9bMo0AgV74fzC7JZEUeGh_S-Msu0IDk9U-bUFGrs73Gw9sruNzLNrr3JEdBsjTMDWehIMmokjU1w69ebDSEUxhF2RUSmWjaMGABqQamnAczExgo8CZhsivNezl5vJBLzbqfc-2NgIUxq4K45cLQB2ufkOLVakDId6ojtHjiHhh15h0k2nDxEdpPoXuJBBeQx7Wzi75YQLB3cPinLhSwqPPoL2YXJIIv5Lu3khB8QywwWbBu0teK7eCRoDS4tZGmjcMdcxDreBDNRhyJDts89cCvGatKmli4JEjyMxmcWvgPq6VKd6WOsKPBneGYoArAhSp7mgXcTVGRAdcxQygaxz1YAcgFlK6ts--67ddVkFurEeoj5P2UX7vBkU9FydaaZ04lAMWuO3XY7fbx-ll7sEEHCzkUhhgF5-tAbm3ViY8PpQOVDhEVi3oeQdZUS_WFUYuzKYDoa0M2mX9sm63BFQdNln1lqQBQ9AGN8D6xW9blFQ6tQE4G6OSGgtF5Cng0JwZf_Lysf-1y2mWpN8DNwqDAz3T_cFNPpP18vGR_sGFWRXgEUTQRm5jg05Vhe8almMDKemh4gVsHfwD9IQH5X2XpRW3v8YzBSdRnqYxwDIuSTbCMCywxts4Jmr-o4CcPfGIhu0pFKW1YjL2LgdQ==",
  "id": "rs_089368bc6c3a7e0b016ab42208135087d080b8ff5332106502",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.115,\"left_z\":0.075},\"note\":\"The white plush remains ahead and slightly left of the grasp point, while the gripper is close to the safe’s side. I’ll shift left, away from the safe, and advance at a slightly higher height to centre on its upper body.\"}",
  "call_id": "call_dTsE3hRiR4Vfc3yUj3oyoAZU",
  "id": "fc_089368bc6c3a7e0b016ab4220a29ac87d09e9018cb84af2957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dTsE3hRiR4Vfc3yUj3oyoAZU",
  "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]: [-0.5808, 1.771, 1.1057, -0.5762, -0.379, -0.5018, 0.9977, 0.123, 1.1809, 1.0664, -1.1088, 0.1974, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.3538 left_y=-0.1497 left_z=0.0452 left_yaw=0.0958 left_pitch=-0.4663 left_roll=0.2019 left_gripper=0.9977 right_x=0.2546 right_y=0.0002 right_z=0.1592 right_yaw=0.0208 right_pitch=-0.6444 right_roll=-0.3009 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.0154, 6.3521, 0.9402, -0.2271, 0.0806, -0.0122, 0.253, -4.3829, 6.4889, 1.1355, 0.1245, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e578c502d8ee1be1a1bd9868a33931184d01ab4fd378d29dfca515cdeb7d8a50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce7de85a107b524f27fa90ffecba418f71aede625ec0dadfc470dac88ef503f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70d86573527e1bfd4ed871f05df263975961c3a7743c12d86ba75d270035be7",
      "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 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6422, 1.61, 1.1034, -0.6556, -0.3985, -0.5316, 0.9977, 0.1234, 1.2274, 1.1397, -1.1061, 0.2047, -0.1341, 0.9976]\nstate[eef_state]: left_x=0.3364 left_y=-0.1616 left_z=0.0958 left_yaw=0.044 left_pitch=-0.3908 left_roll=0.1461 left_gripper=0.9977 right_x=0.2717 right_y=0.0011 right_z=0.1731 right_yaw=0.001 right_pitch=-0.6107 right_roll=-0.2946 right_gripper=0.9976\nstate[joint_eff]: [-0.5128, -6.9949, 9.347, 1.1209, -0.4664, 0.0611, -0.0122, -0.1162, -4.5333, 7.0906, 1.0965, 0.0806, -0.2125, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5816, 1.771, 1.1057, -0.5613, -0.379, -0.5018, 0.9977, 0.123, 1.2079, 1.1103, -1.1252, 0.1974, -0.1547, 0.9989]\nstate[eef_state]: left_x=0.3564 left_y=-0.1518 left_z=0.0464 left_yaw=0.0905 left_pitch=-0.4547 left_roll=0.1915 left_gripper=0.9977 right_x=0.2607 right_y=0.0009 right_z=0.1661 right_yaw=0.019 right_pitch=-0.6436 right_roll=-0.2997 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -11.0427, 6.2701, 0.7985, -0.2662, 0.1245, -0.0122, -0.0342, -4.8752, 6.2974, 1.1648, 0.0806, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5808, 1.771, 1.1057, -0.5762, -0.379, -0.5018, 0.9977, 0.123, 1.1809, 1.0664, -1.1088, 0.1974, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.3538 left_y=-0.1497 left_z=0.0452 left_yaw=0.0958 left_pitch=-0.4663 left_roll=0.2019 left_gripper=0.9977 right_x=0.2546 right_y=0.0002 right_z=0.1592 right_yaw=0.0208 right_pitch=-0.6444 right_roll=-0.3009 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.0154, 6.3521, 0.9402, -0.2271, 0.0806, -0.0122, 0.253, -4.3829, 6.4889, 1.1355, 0.1245, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e578c502d8ee1be1a1bd9868a33931184d01ab4fd378d29dfca515cdeb7d8a50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ce7de85a107b524f27fa90ffecba418f71aede625ec0dadfc470dac88ef503f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70d86573527e1bfd4ed871f05df263975961c3a7743c12d86ba75d270035be7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIQx0ZdqoZNIIfqR_tIUc4PFm4PnyX3TDYIHknAZJmN85fGGKXN7odxfmIw_exJVmgCgvtBCmi_CAlNlXA7LsXt8d6uBJWe8I71hc0a3aKiQ3JeEDYgZZgxz1F5r038HBoQew09EHU8L6dmPn39KDlQgHrw0l8poEjXaXFqxkzOR-o_CS0uT9lowCwQIZ1Q2haoyBksoLlDK25mHPnmZz8En6L3db4LJJmAhbvmdCoSXK5UroRjaqIweUlbkuRT0b1uPwpSSTfjqfhQV1Ypt7oxEFg8hly3pvXjWEqqYCakKNRA1qRftyLJJh_1ttxPAPUapfxec63sQ8S33zjNGd6E84VhafYKGJDcnvB2Tr9aawF3MDzcs0XhFxN57UoHyhrhWcTHUTochZv0KsLkm36d45ZtZNpnhlggFM4FMZW-BkkkuZaG-PDKPZJtwNdnt6Es5bDefoDwe4g5qC99rpNieZGtz_T9ZCfC6dJ2eJG26gf35hPfZO_O-P29jFFXBQW8Odw23XTY0mNWZaOeL9yqSn65BFMWKzfxk58PUgJ6n85Nv1BXaKSF_tAFCVA04IztXsZGhuAhA_zvEfdG5bSY71j5A3YIY3XhuqUhuMLVFPLD0AnCLpczi547FjpbxRMindTvn4HBoU1qW-XveEWcvgezeq9DIZWU8LQsCgWhJBO3XdMzsgMFndhdPrbGvpBnYoWMumyOqJIPvx6yX93cDfWE4Wpz_ikQjGgai0egcSpuGoOmHohQNNeQIb0kQ4hPnHggV9fGyOxGJONBy6NQS6A2yLlIHN44NnMlRxteA9nNv_-gYuqcr2TMzonxotVyyyMykm0NdK1bChC-cnYuRfLvbHxjA4CoUgFPLgf5Ng9ojIUwevd84hBH14QvPkr871lLo5p4DAvnwAAt7xDcJZK9I4kQUAqlTWdIVkIkXMfkW4ST6sFT6k8gBOjpyC7c6z2OF3nSCnfvkPA2647Qw1CcIt2K2lfNBgDQ46FueYBPA1jTDH_WNX-lIQWS9S-0O-9UErC7zWqIMWwC3NAwPRauJVIEOSvCb4h0cKPxx0xpTaeB8AZQi3jlWQZbJXUjGQ7klsxsyPr-d4DJVCcySfwxZ9QCwnUYi42O81O3ptjXZECS6NHuNEpFlmYUKtEDU2Dd1ydymm4soHGOUWbSwsxSBFDVU0QNKfknMUfFG8dBAlpjzRg64KpuaMyqXfLKw_pSIvDqTdB2hYtlwM8IHlAdgB0134nAj_ATqmI8sPfxSmE39YrW6vjpLZ-Pb5MTak4UKOXtsm5GcvH9MBirtCNq09d37YUiA6JOISuhM1KMfZlJ83v2E2YVSf26jKuOLwUyE7fB_Pti88vWx6vduH8YOommDohR1Ekilc1BpQtfpuAmLqM3enY9MJNNsqIWJ-lyYGrf3BHFg3PctdSa2KvopoK65tCw2pqx9kqCj-rx-EKyq2SHy30UfWmU8BONXQeeWnS97Nj_IKs9Z5u0bwOnnxmvH88uU4Wb3XHrZ4eLT3Mt_uCZH57b5G4ezhaIxr33krzeg0CoYsJcRvHf1bZ2LMjBmvuIKumdV7BjdN8Tcnk6amjK8HWWybC4S2bBkwbRr5L80FTvmazsAdj47TgmqQSVO8BgF2WHL31Jpq033qUWxfQ1rhp3u8C_IGpp6rX2YOUEwrQOpfQKlQN77GqOOjXXuf2ChrYH0Nnipk0OeH8-RQADg1X-ojSILeO18nY1OncUXOfnw-WScx5Dp_m63bGHbk0eqgnZTpxjpHxewwwfaQyjo41FRNR8fNBh6XdoQgDI_wGR2mlHIAz1kgan_C92Z8Ic9PnXowTnxtP2OMVsY8OEHY5vl2snJH7r7oKJnz5SyhIIy58crlCqKMDlA0rVr2xlLwclTlBOH_piKPPahNiMBn5z8Mj7DFgbohgMhBeY88jWUdDiqqD7rmnX2_cChfD1E-LIlmiwWSAF6xJFUB_He-XUhhfVFRQQI4gYxfTQHIh2tF3yi9fPkF60FCZtuLjel70GxYX4WB1HqBFiohOHcVLyyOUjv7h6d3C5uGBl0HORriQwxl_7FbozMHcfSD8eAmKTF-xpNO5hhzPUHAUk_qeQQ-w3wPUycjkQWQ6ubwUG6SQ_mYmVJnQTPX-g1JJm19BWZElfrSZNfz5zb3oFWjsJEj3glMOguTvvYqwIpW5qeVLeorzdc56OKsewabV0HNuXHBwW-6NqQ0_ZFYYNHbkrRIxIZCM5q4BLamXTM-oHn05sl8jT5FCYC0S6LOCFrRAUQKAjTfTWpzeN8j_FeSOWzIKYeTih3GC3nxEb7lRKKX5A-0pELs0bYRtyUxr5M8ygZ7_1ThhCL__Ex4Mk4QluOlIRVJWrv2N4AfHVVve10eZYE2mbF2iswM-3rY33u1LjbCTNCC5XVQ55DAWEaPAREGvwYdti1VXZSEhofHVwwTXijil6hcth1V2tqqOapufVuS0j2VAyCd6T2LNbDopa3holHaCoD6AwRTMZEcYqbctC2t7bXMHe2coKJmtl7MYP5tSd1hvtSsW9GLkt9UL4CiCf2mVJmmzQ1dggf-qQKThoxM1ZLvV6ENNTKAYDzyPfnxCyz9RptzfWx1M7gEvd2EvgACdwGFO-NDknhywA2Z0pp6ZbWN3bUeucnwQdIaF5lyOBE0yxuq_hY3EQ4nsPE5kh0mrURCo5zJOdR7sPxB_HpWBxuGurdKBs1SI3j9xzNRTThnZk15-kQ9SFc2x8fSkxF2qykeSYTeH8BMcDyNFFuOWOa1DsYgGgcRoDtdIwL6ITC9bDrVC9hJWtcohKSlLtLsxCJVLIesiOS47mwOUf6w_W6nO3m8Vf2JXez_JvKCgix0VEYkrbB6Ayrd9BmDrNOIz3r66MiLAnlMWd3UjVmK5qq5GhlExC-vwgCWxnBYqeBKS2LYfLPtSWP2ese5hCL_H1CYjnr7TSDdc3v_DYqvFp31WDP6YHo2xBTa36UiEHfV0q5NiD-Nj0Zul50QtxDhYPWGvPvL4Mb6tvp0HBl9c-WL6J2c18s5834LecGj7NjETeZMqeiP3lQ8B9u-G-DYDJRXrgTv_2x6nqfGVBqi_AsG1UcBwS3_LqaMZRrhtacEZf63J3rlIFhpCCV5Xsz6bH",
  "id": "rs_089368bc6c3a7e0b016ab4220c6bfc87d08abc8c8b57c6d08b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.285,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm stopped advancing near the safe, but the white plush’s head is now directly beside the left fingertips. I’ll test a close here while restoring the idle right arm to a clear home pose.\"}",
  "call_id": "call_mZ4dbPTfA8ZDFVCzYivl4smI",
  "id": "fc_089368bc6c3a7e0b016ab4221017b487d08f654477c8a0dac2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mZ4dbPTfA8ZDFVCzYivl4smI",
  "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]: [-0.5812, 1.771, 1.1057, -0.5831, -0.379, -0.503, 0.0099, -0.0471, 0.767, 0.6075, -0.5167, -0.0414, -0.0612, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.149 left_z=0.0447 left_yaw=0.0984 left_pitch=-0.4716 left_roll=0.2061 left_gripper=0.0099 right_x=0.274 right_y=-0.002 right_z=0.1614 right_yaw=0.0191 right_pitch=-0.0938 right_roll=-0.0223 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -8.4034, 6.0239, 0.989, -0.2515, -0.0269, 0.989, -0.3077, -1.4154, 7.5419, 2.2149, -0.1001, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83785be0da9056989f51e0a9a6d889665673053f0bbed9baa396ab6839d89d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec2b1cbf3864045103962f8ba26b64aa12f60a64965f384c04e5b8fe0de7005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912cb00646cf93c264bd41b1f1d578a6fd350f6501c746e8379ef9db77e47153",
      "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 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6186, 1.7348, 1.1076, -0.5804, -0.3901, -0.527, 0.9977, 0.123, 1.2156, 1.1358, -1.1255, 0.1978, -0.1566, 0.9988]\nstate[eef_state]: left_x=0.3503 left_y=-0.1624 left_z=0.0592 left_yaw=0.0715 left_pitch=-0.4311 left_roll=0.1736 left_gripper=0.9977 right_x=0.2659 right_y=0.0015 right_z=0.1727 right_yaw=0.0212 right_pitch=-0.6264 right_roll=-0.2987 right_gripper=0.9988\nstate[joint_eff]: [0.3897, -9.265, 6.7077, 1.1795, -0.2808, 0.2222, -0.0122, -0.0205, -3.4667, 5.8598, 1.3016, 0.188, 0.1636, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5808, 1.771, 1.1057, -0.5762, -0.379, -0.5018, 0.9977, 0.123, 1.1809, 1.0664, -1.1088, 0.1974, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.3538 left_y=-0.1497 left_z=0.0452 left_yaw=0.0958 left_pitch=-0.4663 left_roll=0.2019 left_gripper=0.9977 right_x=0.2546 right_y=0.0002 right_z=0.1592 right_yaw=0.0208 right_pitch=-0.6444 right_roll=-0.3009 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.0154, 6.3521, 0.9402, -0.2271, 0.0806, -0.0122, 0.253, -4.3829, 6.4889, 1.1355, 0.1245, -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]: [-0.5812, 1.771, 1.1057, -0.5831, -0.379, -0.503, 0.0099, -0.0471, 0.767, 0.6075, -0.5167, -0.0414, -0.0612, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.149 left_z=0.0447 left_yaw=0.0984 left_pitch=-0.4716 left_roll=0.2061 left_gripper=0.0099 right_x=0.274 right_y=-0.002 right_z=0.1614 right_yaw=0.0191 right_pitch=-0.0938 right_roll=-0.0223 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -8.4034, 6.0239, 0.989, -0.2515, -0.0269, 0.989, -0.3077, -1.4154, 7.5419, 2.2149, -0.1001, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83785be0da9056989f51e0a9a6d889665673053f0bbed9baa396ab6839d89d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec2b1cbf3864045103962f8ba26b64aa12f60a64965f384c04e5b8fe0de7005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912cb00646cf93c264bd41b1f1d578a6fd350f6501c746e8379ef9db77e47153",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIXgiRY6mmeZx7cTWv_1BXK5ehAzDRM6mPLtxUBfJRjYArv26w3AL7yy627GefOYGoL0E5MRLdHtebI3lXZtqMQH9op3tLcC4BXRoUunS3gO24LmMwwBZW3PpIkAsFL4AUEnNhRfAMgyPVS3PF589dWZRBPdf3jx10qrRUVhDsuDBSW_fzSacnAqc0V81v_6G2SX2eRZHsrdZ1oIodo7q-GXT4eFMEF_TkxwnW9yJzrJLkedmPv220DbgJ8F-GtWTC7uNvNM-LosgU_EJ2db3v3sHsAPxwQDMMWR96n4LAqAMxlnsNypDKUM6GGp5swjrICVuoDucPV6HtcXa0PWkVmrn6Oy-TfpnKCRs7D-WJla2QmYdj57IDNZd8Aa0f8Jpr7Cs_b-qt1EmZcjm63W0YAZCnuPvgCX1OkZ11NHxqPYR-kAYGd0fBrp41-lCZ-hxQWFqIZB-_eLlZFZ8HUuY2cGlcLoMJ7vpYsbi9ZoHvkcmfoRUVoBEztKTHIhlQUDhwsPlkHiEmEqMZAWTwEvU924Cnom2-smG2HemIHGSKw8wMMoutDwd1HibLSXUa233bu0tzMoU88DERAbF0B4wXpfPsl8AhrOOwOqzwSPqOL8HY1tqGLRT-ZK-cSz4dEtcvrhM2Az7opY6Bp4litOWBfEazuAgxw7YitkqUhP4WQ6CTct5va5RdQ1LnWUeulagKAo66szl7UJOS1sVEpGNBtDWOYWQuUxl4K4dx3sC_flNFAMTtS9vMqtcGAb3Fje4wUrSGDBu34cJ8Cjdm_xD0WnwN8nk1Wdb9qX06i9_XBPUuUw728Ad6O1kcCq5lk_brw4Ug4mS6_cID6jZFJd2mloYkyeN3J9pDqjjEbKrurJ52AxliW8tt6G8_AKDwHfpDa3lPrRqP5TvQyFXT5AAFhvKtZWCupW1wtvgjDpQfX_93Ron3L8TTbLaOSdrVUudwoZkkUq53Cj-mO4lZwE1aHcYOvFU6etjBVJjDary56BFXfEiV5xRwMAqAx8PscGHmQGuWEDDjEiy6NF4wr8Vf2ATZi1a_pSus6zcHrrjzGAVVmaaUCfSVctzfZGWYBf0mCFcMO-wAsQAIuQDsedUDxqfvrYOPC3sVrxbIntgnS0v3woOCj6fz51JNDBsRqbzTSikCNbkQJCWl-SVdwtE3kfwLT0_E1qr3XDUmtrtGiclc6tTZRj8XSEpVK3J7T72U839KqUMxus1ZsZjWR3qRpsaGJmUO5LGrsuVnIIAcdftrm1NvqFeeLHA2S58mH05WDcTApGj8eWN-MQtHIJn7SHpEwkTFOvCLbVxEcWbtWgFYDwk1ZIpcufMS-S70Lln-UraLoabpyrNc-LVUFPqm88Fk74fmPEaTMpXNIQQlBkw2U4j9YFxSn7Com1cyftPlYH-iVYbncGfusAAmsXR5coPU0NnOafb5Y2jeCed81vXFCEllE-OiWPwMkvNugnb0cOMYbH8CeCTIgz0iyfA23SHTSTw5a2u9EUEt-7-NGkbxS-cgztu3WeDdPd58_pIWh_xT-9e95M3IaXxJG8IuE1--UIN0nF2NvdTSxWOSldHsc4x8h5dSlcfvIEbywtSqou6-6iMLFDIQJTCeVdKI2M8Tts8JyySa_ccdsGqZ7wCvlAmarSA9JQtx59mfqCg3cYJQOiSwVz8c7SHhT8oGrMrNYKANgst2n9igpp-eKsAtAefteT-oOp4hLLSRdzegws-XBrK8HA0yCO1s1ebopOeJCr6Zkib368d_ETxqZc0M4lCO-iptu0YhLR3PaMh4yHMNoQUle4InN-0rVT8Y_cxQVgURG1iCwqbtEDZkpWTSX45zBZ0699zdEnZ3-fShHWMozvqo3YI9vEY4U8ZMJysm8BfGMC1Y3CDuJj3LzDiepP-_8Xm_XOM5eAkthtsor-xHHvXzxNBuY3YvwW5g3inmsQW04phrpUv_1tygy4tmKZkZ18cJShkwu57Tf3rt_y9MfQHqzMdZG-k6JnDuaYYDIT6wVMnQXAnigJ8dnXhaMx_ESro5d0ryLkoFAovinYIyZPpV9eLZF0cVaGeViVc05yq5xXDwTeqCuOOtyfsmH8M0S2voGhDzMws9JA3-Be3uZVYGrSxDaiiOSXDxa1tnBTUeGP_5gj23VswuWlNw=",
  "id": "rs_089368bc6c3a7e0b016ab42214790c87d0b184bfaad2c208d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.275,\"left_y\":-0.1,\"left_z\":0.16},\"note\":\"That close was empty: the white plush sits left of the closed finger, and the arm is not tracking deeper commands beside the safe. I’ll back away and rise before approaching its left side at a clearer angle.\"}",
  "call_id": "call_dy8bHTJkwXv13p3QsLUJvYc0",
  "id": "fc_089368bc6c3a7e0b016ab42216622c87d09685df4c49081cb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dy8bHTJkwXv13p3QsLUJvYc0",
  "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]: [-0.5823, 1.3697, 1.1122, -1.0027, -0.3744, -0.5114, 0.9948, -0.0471, 0.7704, 0.5999, -0.5419, -0.0566, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.2806 left_y=-0.1031 left_z=0.1432 left_yaw=0.1034 left_pitch=-0.4826 left_roll=0.2064 left_gripper=0.9948 right_x=0.2691 right_y=0.0009 right_z=0.1525 right_yaw=0.0316 right_pitch=-0.1292 right_roll=-0.009 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.065, 9.0051, 0.906, -0.3248, -0.0073, 0.0415, -0.1573, -1.0462, 7.5009, 1.8681, 0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de609cbbf64914592bf7e29e1d3e32d7f0c345e11eb5ce71b9c0a726057ccf14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b898e12d482433b673f20d18e96f24629e2b344780e2de7e584dc82382133e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee09d4c11dd1ea0bbab856b50010b3af7b85b61cd8447473078585734299c797",
      "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 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5816, 1.771, 1.1057, -0.5613, -0.379, -0.5018, 0.9977, 0.123, 1.2079, 1.1103, -1.1252, 0.1974, -0.1547, 0.9989]\nstate[eef_state]: left_x=0.3564 left_y=-0.1518 left_z=0.0464 left_yaw=0.0905 left_pitch=-0.4547 left_roll=0.1915 left_gripper=0.9977 right_x=0.2607 right_y=0.0009 right_z=0.1661 right_yaw=0.019 right_pitch=-0.6436 right_roll=-0.2997 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -11.0427, 6.2701, 0.7985, -0.2662, 0.1245, -0.0122, -0.0342, -4.8752, 6.2974, 1.1648, 0.0806, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5812, 1.771, 1.1057, -0.5831, -0.379, -0.503, 0.0099, -0.0471, 0.767, 0.6075, -0.5167, -0.0414, -0.0612, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.149 left_z=0.0447 left_yaw=0.0984 left_pitch=-0.4716 left_roll=0.2061 left_gripper=0.0099 right_x=0.274 right_y=-0.002 right_z=0.1614 right_yaw=0.0191 right_pitch=-0.0938 right_roll=-0.0223 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -8.4034, 6.0239, 0.989, -0.2515, -0.0269, 0.989, -0.3077, -1.4154, 7.5419, 2.2149, -0.1001, 0.1636, -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]: [-0.5823, 1.3697, 1.1122, -1.0027, -0.3744, -0.5114, 0.9948, -0.0471, 0.7704, 0.5999, -0.5419, -0.0566, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.2806 left_y=-0.1031 left_z=0.1432 left_yaw=0.1034 left_pitch=-0.4826 left_roll=0.2064 left_gripper=0.9948 right_x=0.2691 right_y=0.0009 right_z=0.1525 right_yaw=0.0316 right_pitch=-0.1292 right_roll=-0.009 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.065, 9.0051, 0.906, -0.3248, -0.0073, 0.0415, -0.1573, -1.0462, 7.5009, 1.8681, 0.0659, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de609cbbf64914592bf7e29e1d3e32d7f0c345e11eb5ce71b9c0a726057ccf14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b898e12d482433b673f20d18e96f24629e2b344780e2de7e584dc82382133e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee09d4c11dd1ea0bbab856b50010b3af7b85b61cd8447473078585734299c797",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIe7fjll-L3L1nZnyjZuviw-U84E08mt_A6wU5LT7Kz32BWmIZk2uNMjSFHp9Jzm8DNwHuBUm9kZ_PpTwyG7mJlKluGNdSGQqOOqJLWGyPiYC7xIYzT7afRLMrsZn0jMxeazw2uFFq0Gg3z2jUcY1V9Q-GMx6krSsLwGDK2ZUfX50vOfHCGTC-E9eJa1wKpx8Th2jGcq5xzHedQ4U-8gOrR5Jdy-fav_R97bVRlghgorHTXkusryxhZuJEnu-hIlV9PshIbyAT77TaWlNhfurq1T9EGyXBx_Y9VoXwVEEaDhlt0Nbn_qAtceRHAxxtkM0Z6DHfenNo9EbItQ3wN_8tnnTZrkvBd3tpuw--HiwOfoLupMdNPHMc1Vd2cFq7mutCOLcI7zezDoqNyYie9V4XyiuOYRZ6eHPVxL3hpvQ_j0lJoG3oG7py1VlNBAW7AyKtDXRlR-eFnNolT-2EVtw0sJ5YYLyZM-myCCoK2ohRB7fHlU6Pk6V6buze_cBLvasRCOzqe8NacKZeXxbMl8Wr_sjn4SI1GlHLyHfED3jiHucf2ffmVFz28VgaWNsKKCJRKx-yuycA3b8v0zTNJMJWrkIoQj4OdE8RAbZC6nXQTT446HGuaydm8Q0Ttl-KWmUPY2e-cCESJBMCFg8Y334zZ64L50brIdqqkzkKx6o8F6ez8mn7PH7qh4uomDxcC-POWJnVArg35gjXIbGmKV0c613aiDQWoXY91-3ECNoiQNWVEP0le3e7IJM1GgkxClNh24CZ8ZFKZDVgubFi3EnSou8ZaiHmBz5-e-7yT6L8wNP3HqeNuVr23CuZWE8ge06FVsL0q8llHzYX4IUEAr9QBE76tWl9J_FEwTcstIZQYMROGMOqmGCg5mJfogjntWDZ-BWX4Hqtaxj9ln16QCtcDK8mI_Pl7jLlcNj9Lf9NvXm6rsB_MVvKy-TPnK7GTF9oAXNfkrN-ueoBfB3HhlQVs9-tLNS8pe1ALn7dVcp35G3Bc0j7KZnuEQ9ZS3tFWj1fbrpS6d7m-0Z3kTqB_1i7Us1qaiMtj4wiOoharQmEEhArlg1-1HSUB5c7u6wA3wlOf7XjMBx_StNDk1hj9UqIvtZ6S8YA9q_GDE-8ZuyXgoAXbPO3LLMf4Ag0cvW7TFCtsnDXHF9-ikQOj9Zhx6-W6hcxjyHKGfRKGMxRiPhMm1yG0_HiaO_EHqhiTSh7V2Yt7gbvvK2NG4V9Sj9TKLtC-iqOVJwp-W-oW3EtYyfgqBGDne2PXqHES6-9L45HBdMtYeX8it7SgUPVNNAvjD6liI2QNV6_3YFgUv6CNjWqA9uJa16J-dhWYFejpdICkvLCm4fQfl_GREPeDUuvgx-sHRTwxnYq85lPPTsmhFFYhlbWvC70aLr_vsFfDHOiWDQ4OhPglT8-8QHn_83eUN2PwdDZPNatwhNur2D2imJ94DuybTlx915b0qVh60YaV5BJuLbhSgK3W9nKZcDTWSh7rriLQXQ5j7mpCQ9B8dOpHDUYZdrMHmgaXsRZft0ohkMc9VmzH1XiAb10GkG7NmcS2LteN2BKqItiHlbLB9BB2T9k7bVfueIYtVpXtp6N5gvqzR1A5fHQQbVDcYYtp9VH8vKxkSFYZ7dBRV43pp-vamFGtXb4TB12nJq5zRnSc9QBh6_-zujP-LYhcmliR-cihlK82Q1RzvyXt6soXCVYtasENbNYk4QZ94cYAFKkN8vhuX7YLTgVXkAYKmUeeH0t43gUH3Qr5oZxLV43YusYZztdE1h4TjXvq5xH2AA6jUnCPrH4pyJWDyDrn_P69-nzRodF2brMl014vjJuk2A0MqQEQwaT8Wiu1apNOi8-Uo6-oZNin5Z_C-fjXElCVYiY2AhPjOHWdXKtcnHxylU054b1vgpw5-QQD9BnBgEJ7BM9DD4TVUM970IhCJ2nqZQHN3_7ar7gjJjF4qM8SWSFMkRgdzuLv0DoRpOIyXX6Du_3yEOn1X2CqMbVDLLmt_RPht0H31it-jXEDU9bUB4ruwDn-jLruw3WwGM-_HrgA2rIRoPUXWlyHfNgcUOtqs4fTl4UAeahNH1l_mMWGLTn7gcI6N5Rp_MxOvn3jJW-Aj8uyzQuawSKZCMGQxZRqofgoUbRL_aMM8U8pphIpgwNCe0qjmHXscnr5gTenqa4aRuwuKLXxKySMz-BkIyah6l5DfxLvEQ63efPgz6OO2Tn3fbOtp7-whjBPgt8XOKG_ul1zLxWrxS4XIK431lNbbGsDC-BspiaT2ND1gUCyl41xEuypX3Jd32IYNqD1acIwb0Ane-fcMXI5LMQMbX2fDEKAeDp51XnmZGuiGYNl29LNzaTJN8A1VMXmQiP707ceQnoRbNjHKCKbSpC3IRu6c2-a4f5LbvpH7PLjksDtRx2sIFneHxUx5LebECu1X4HA7wjQ1eXGXdIXaJEvq8XpJjc2eCUbvv4ziL8e69T5BfzOH7yDux1j2JTOgU4Ci2Bi5uF-y-Xg0IDWwZyL1Vnh1c1xZy0fbPXwQRRdkmKIdkJ-krw=",
  "id": "rs_089368bc6c3a7e0b016ab4221a40b487d086346fac4938cd28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.125,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0},\"note\":\"From the clear side, the white plush is fully visible to the right of the wrist view with plenty of space below it. I’ll approach forward and slightly right while straightening the tool, then reassess before descending.\"}",
  "call_id": "call_eXxeL9NXmtEhIHy22GXXLbLP",
  "id": "fc_089368bc6c3a7e0b016ab4221d10d087d093a33e6a94e5374f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eXxeL9NXmtEhIHy22GXXLbLP",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5953, 1.3426, 0.7547, -0.2409, -0.5156, -0.498, 0.9962, -0.0471, 0.7704, 0.5999, -0.5674, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1205 left_z=0.1184 left_yaw=0.1026 left_pitch=-0.072 left_roll=0.0291 left_gripper=0.9962 right_x=0.2649 right_y=0.0013 right_z=0.1478 right_yaw=0.0327 right_pitch=-0.1546 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -4.8068, 6.5162, 1.7021, -0.4713, 0.1392, 0.1343, -0.1573, -0.9504, 6.9949, 1.8584, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fdf3551bcb47439dd30de20b1030f3826d7337b9586f03d0a883d5e29728947",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9c4fbca6c1ad7175f0f75fcd5d05439914a1199bdd26bd662180374c47cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d983bfe078082f7609d0554eb4f668d046633be8b5e8de848681c8746d21aeb",
      "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 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5808, 1.771, 1.1057, -0.5762, -0.379, -0.5018, 0.9977, 0.123, 1.1809, 1.0664, -1.1088, 0.1974, -0.1574, 0.9989]\nstate[eef_state]: left_x=0.3538 left_y=-0.1497 left_z=0.0452 left_yaw=0.0958 left_pitch=-0.4663 left_roll=0.2019 left_gripper=0.9977 right_x=0.2546 right_y=0.0002 right_z=0.1592 right_yaw=0.0208 right_pitch=-0.6444 right_roll=-0.3009 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -11.0154, 6.3521, 0.9402, -0.2271, 0.0806, -0.0122, 0.253, -4.3829, 6.4889, 1.1355, 0.1245, -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]: [-0.5823, 1.3697, 1.1122, -1.0027, -0.3744, -0.5114, 0.9948, -0.0471, 0.7704, 0.5999, -0.5419, -0.0566, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.2806 left_y=-0.1031 left_z=0.1432 left_yaw=0.1034 left_pitch=-0.4826 left_roll=0.2064 left_gripper=0.9948 right_x=0.2691 right_y=0.0009 right_z=0.1525 right_yaw=0.0316 right_pitch=-0.1292 right_roll=-0.009 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.065, 9.0051, 0.906, -0.3248, -0.0073, 0.0415, -0.1573, -1.0462, 7.5009, 1.8681, 0.0659, -0.0757, -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]: [-0.5953, 1.3426, 0.7547, -0.2409, -0.5156, -0.498, 0.9962, -0.0471, 0.7704, 0.5999, -0.5674, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1205 left_z=0.1184 left_yaw=0.1026 left_pitch=-0.072 left_roll=0.0291 left_gripper=0.9962 right_x=0.2649 right_y=0.0013 right_z=0.1478 right_yaw=0.0327 right_pitch=-0.1546 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -4.8068, 6.5162, 1.7021, -0.4713, 0.1392, 0.1343, -0.1573, -0.9504, 6.9949, 1.8584, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fdf3551bcb47439dd30de20b1030f3826d7337b9586f03d0a883d5e29728947",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9c4fbca6c1ad7175f0f75fcd5d05439914a1199bdd26bd662180374c47cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d983bfe078082f7609d0554eb4f668d046633be8b5e8de848681c8746d21aeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIjKAbpH2w4TWoKpLNAK_AYJ-makmobNSTXJc1MNqKpeP2Ci7L-RrQ1tCEMVgcNUBDcoNYDwQmP-ruWQW2qzdXIYbRuQmPVlqXtu6wdStGP0GFjM6JWq5iT6DHGPYqrC7ZywH1PVQJ_erQyTzSwCjt-GIm_6UZfEjP5tfUboaoNHZr16z-as8aY1koEPy8h5OcWynbJQoHFHD2z60QX3vSo3b4zW5GoHzC-3KfhXcjzDr_QCe-qzuT3fQgr5o-t0fMxsewe-xHXHI0OoFSWgRNchjMmpncu6P0eo158a1u-OLyOFpsX-JL-xdjo0c5-GROixjIbxhyiLkKkUVyKfnp36FX7pKbhUSN7PtE_iNvTmN5Rv11t1_6GzNeQg1tEhJzLCad8hzJFg-5VZhMDyubo62Tac66VvOaBuMA4HPnrVpisT0eqRvZBuBbqVMNFHGWHxDCZ4iHpkfI_Bjfd1DqT244Na-nzN-jyoV_pbh0Qs4hHxKM4s2xG4G0GaWQATXaUcYdmYYc0Z8RwfCpj3Bcq1bXZVJ3tQ3ifXANgnhPStBp2IhDkY0ig-yhZJhk-sAilRTyp9gcyLjxfWnV03x6GFltYfGic_83cYnAp9QX71wRyiIVHIOEIBe1mDtnH1Hs0v-RdFOMUmYZqVEGIAIQ1TaNnKvZez0CseTo8It55MYqPMC-5h4lnIYODNb-zrxIpQyo_keun0Id1KbXdbjE12GieJFxe7GD1Aj7IOT381jcYZgBx4F1YPxZinQNqDUF9t-3oscYG7D1dHYKu1BcHY3AaRnScs14vNiUzOhdcuHjaPGLYXw_vKAOsRtYNK0uFJY0QyAOSnOFtXke4WpRnqcdSFMePkRGSZwohtv4q0HSDnquKFuEcPR8eSRm8OWQ6Pkiyu2oOgMSwvst6OEepnxRL_vQEhnPA4DWQqKDbBpCp6MStRzj7hDeq0lR7QZkFvy04TRdiSsrznzz-w24ZsKckINYZzMwqY_RdNsswmkxUwn3jOVjPpBsYb2Am9eySikd_3jeb98N1HvVrKeyr20QN-QkodCRDsjDDsadtHWSqk5MB91xivtieQ3J4vpZqRXHKC9WWwkLjhacWTKz4aH0ZFyPohKD7bNV0ea_mjaBVjAHQI3Pb6qreiHldtnxyRBmy6MHjvK10ACWou5zGm9mTo-A4no74yQCEAWk032zbvjULK8PmliovkOnGcxF4MRJeith1Hw8mi-sPOx6QIz9ZcqQBxEQI0MduD0gWz85vPhPWturj0BfxGSeIuvahWmG012GYd1MUJNH66emPXCOw9Asv8Z-2z6Jvu5J01oqtuFOPDBZIi1VRwQuXGaYfSFX7wnA4Tk8XhMf0DYmVyGvoZ8PttIcFxpnMfNwm_bFFAL6jl5Gv9H-OVgdxl0SyK7RHfe4RLtko7NP60zMEnoJciezTWPDFvGmxnFbYox5XjjIMsUnIGNIbwg7fk5vUf5bJmK9KC6YCl5wxHuV1Wo-t_g5IOpgONhnBBAUJe7nSQoExbWC2-ghLMwCwfdty1EK1yPUwi9B29r3BWTqokTGT38gKcEl1PxzZzZaU-PnGAi-HwcQDowukAySzjWQe3YYuqD4nLDcJFUavs47EjMQGuoTjzgyE32KplUvFwQZYyh1_pGj0eFjM73ICtz6y3bCxANuTn1V4VCY9F6XA6Q==",
  "id": "rs_089368bc6c3a7e0b016ab42221bf0487d080c7f6b11d5f3465",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.12,\"left_z\":0.055},\"note\":\"With the tool nearly upright, the white plush is centred on the left jaw column and its lower body extends out of the image. I’ll lower in place to pinch around its torso.\"}",
  "call_id": "call_n7OK1CWWUjomx5iskSWapkFI",
  "id": "fc_089368bc6c3a7e0b016ab42222e56887d0bdc3612ec9d9af13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n7OK1CWWUjomx5iskSWapkFI",
  "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]: [-0.5865, 1.4914, 0.6106, -0.0143, -0.5098, -0.495, 0.9964, -0.0471, 0.7712, 0.5999, -0.5903, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3342 left_y=-0.1143 left_z=0.0495 left_yaw=0.1098 left_pitch=-0.1257 left_roll=0.0709 left_gripper=0.9964 right_x=0.2611 right_y=0.0015 right_z=0.1434 right_yaw=0.033 right_pitch=-0.1782 right_roll=-0.004 right_gripper=0.9989\nstate[joint_eff]: [0.294, -5.4769, 5.7778, 1.6679, -0.2076, 0.0513, 0.0073, -0.0752, -0.7316, 6.9949, 1.7949, -0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0f201f674c5267248abf5177d852332f08014d66c26cec0976ed5892605cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfea671304077d6a371a010b778dd92f6921421c078690bb20e467dd157f68e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ee1788330f528953c3baddab82890ff827250b02b35ed8d943356fe5a47250",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5812, 1.771, 1.1057, -0.5831, -0.379, -0.503, 0.0099, -0.0471, 0.767, 0.6075, -0.5167, -0.0414, -0.0612, 0.9989]\nstate[eef_state]: left_x=0.3525 left_y=-0.149 left_z=0.0447 left_yaw=0.0984 left_pitch=-0.4716 left_roll=0.2061 left_gripper=0.0099 right_x=0.274 right_y=-0.002 right_z=0.1614 right_yaw=0.0191 right_pitch=-0.0938 right_roll=-0.0223 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -8.4034, 6.0239, 0.989, -0.2515, -0.0269, 0.989, -0.3077, -1.4154, 7.5419, 2.2149, -0.1001, 0.1636, -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]: [-0.5953, 1.3426, 0.7547, -0.2409, -0.5156, -0.498, 0.9962, -0.0471, 0.7704, 0.5999, -0.5674, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1205 left_z=0.1184 left_yaw=0.1026 left_pitch=-0.072 left_roll=0.0291 left_gripper=0.9962 right_x=0.2649 right_y=0.0013 right_z=0.1478 right_yaw=0.0327 right_pitch=-0.1546 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -4.8068, 6.5162, 1.7021, -0.4713, 0.1392, 0.1343, -0.1573, -0.9504, 6.9949, 1.8584, -0.0708, -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]: [-0.5865, 1.4914, 0.6106, -0.0143, -0.5098, -0.495, 0.9964, -0.0471, 0.7712, 0.5999, -0.5903, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3342 left_y=-0.1143 left_z=0.0495 left_yaw=0.1098 left_pitch=-0.1257 left_roll=0.0709 left_gripper=0.9964 right_x=0.2611 right_y=0.0015 right_z=0.1434 right_yaw=0.033 right_pitch=-0.1782 right_roll=-0.004 right_gripper=0.9989\nstate[joint_eff]: [0.294, -5.4769, 5.7778, 1.6679, -0.2076, 0.0513, 0.0073, -0.0752, -0.7316, 6.9949, 1.7949, -0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0f201f674c5267248abf5177d852332f08014d66c26cec0976ed5892605cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfea671304077d6a371a010b778dd92f6921421c078690bb20e467dd157f68e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ee1788330f528953c3baddab82890ff827250b02b35ed8d943356fe5a47250",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCInUZ0Kyo7wWe6mUfcdI9kDr1qKBD2p1Xhe6X6ScZLUTxCALg_-T9vnH33w_70GPbFXQ025oThfYLsnWMeAksyH80GhgiP-em6-012vc5Fg820G0zj84Ucd-_nNcUCUcmDj5BTC3YnWnEYITtAZVHSGax4hv3Y-CZ2XOsy85HP3IeABT_jwL6DsGnbDEbm83RRh2OMJD7xH4OszrBuUCgxbX3YIveMUQhydCOxG-1CGIRAsiSzEIpB6S-SEgHAMk5w_l1lA4OMK1rbPR7G3sDpgd44X0UNSxsf9qXLvt59pHXsugdtAKIqfcHuzaO8BirlqAHFd4FlRpdmTrh2YjULnig187o-AYshPLN8gTQSeAWBa286qyYy_69N_1f9aXkGLOrTOXCYIvWHc_aDRydNLr9F-3583qJPlXuyBkWPuuxFAD0LHKGn3r5RJNyAT4qFL7Ck7DjhmlvohZrwwlpVKnECj8IzCFobLPNpVFYFvYjmGV7-3aKErCh-uKRRO--ov8gM5lJQsdHSfdBmLUD2iHoUr14_O3g0TPvuCsCW_402KskSB1WfD8pdsT2OVfLIzW4rWnd69VtuDMa_ZhCfPVfanAGQXCMgc80mBt-hhzMZkcfqSCEc8WSyBj7b_d_jWgKIoIC4UA1A8dd2iOq_am8vaasUArVlfLDhXEz-1WK92I4_vXDHwNtxY-Dm77kK1hzGlmXiP9i_WdXkMEure9YUTqpy21R83Vuperq0sAEcwrCQ3wv1yuifKxd_hrvgsGzMnje_J5iq0TpH0sgVU8hd_xmb9e5wMEjNJcYPfHerni6MwUY30bg1d_eJe95ZApRr-P5LSf0cOOZIwl6RwIjMk7h4ifr2FY2v1ZKN0qNnFc1FXLNdKUy2EYuIa0llzkVEUu--3n06zOy_5dGm_9UE7AYnAGJ4fP7G99TZY87Iz5Cwp-D01od0VmotfgRsZkf_fGdZ0SP555WDHV3WFwhPlneigTTU2aeqXuEYoWk4inwP0__XSFuV6i4teLlwms3dkeMAArikL5uJTBSV-wm74DOP_DKTMCeA9gbwitfiU59YRJhRwnBvQTRW9p6Put-AmyYuPo4r3Xnbfe23gXxJ-5ykpPdxWx8kW1b61d7zTTb_-x_G04pQscZEq3aaD9wdnigHqThLWb3Jh0QBlkgkDoUsOXLkfnw9xMYIZkVGF7Gx685SQpcmbRu2YmogY5Il-mdlRJDnbjDHYLWm_qm1J9T3kzebvE9uwv5szZsIQB0ZS82hF6Y-yEIq--TY-vCNXgjiyub7o_A2RD0f4PA4_kbEZ3mx-WZ5uBJdFS3dMBvy4l8FRLyJX8azqsdsj_qNI0Q1bkivKfmhxzxjJ50BJDNgXGcxPgYY80979DcmAb8Urz91_jXTr1W5teIDAKmUDXwZNaHfIywI6U2b7WJ6M0zAUVC_-KNDhcjWoG7uxbVNIsm3GP3ghtydqAuiL2aw3r2rlx4JLhK0x4LIJCjsZOeBFE0S4l2CrEG_lUWKbQBUaf9En3A7kIUyVYRi_XJIns-oAErsUvG1DFGyYEtOu1VTBl94otv3M62Ub95mVgAb42gGHLKtfrTQMfiC-",
  "id": "rs_089368bc6c3a7e0b016ab42225531887d082bcaeb73ec24bd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s torso now sits between the left jaws at grasp height, although the safe’s side is close behind it. I’ll close carefully and read the remaining opening.\"}",
  "call_id": "call_lwFfKS7hxJSvZH5aQXbzGfzy",
  "id": "fc_089368bc6c3a7e0b016ab42226fabc87d0a2ed897238fbd5ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lwFfKS7hxJSvZH5aQXbzGfzy",
  "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]: [-0.5865, 1.5112, 0.6006, 0.0525, -0.5098, -0.495, 0.0107, -0.0471, 0.7723, 0.5999, -0.6128, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.1182 left_z=0.0493 left_yaw=0.1071 left_pitch=-0.0973 left_roll=0.047 left_gripper=0.0107 right_x=0.2573 right_y=0.0017 right_z=0.1392 right_yaw=0.0336 right_pitch=-0.2018 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.212, -6.0923, 5.6, 1.6825, -0.1978, 0.0513, 0.9451, -0.0615, -0.8957, 6.8991, 1.7363, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac4f0984977fe5c1e00a1d1f5824156a8fc12c8c43b9ea7b8cf55424d9c20d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f646b68b2378780a46e8238267d60d69043669919cf93e8762eb4ef8c65d65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80736a4eb49387093684b85e2c8fd45458c51bd2777cb51f4ad8c5a73f80ec1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 1.3697, 1.1122, -1.0027, -0.3744, -0.5114, 0.9948, -0.0471, 0.7704, 0.5999, -0.5419, -0.0566, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.2806 left_y=-0.1031 left_z=0.1432 left_yaw=0.1034 left_pitch=-0.4826 left_roll=0.2064 left_gripper=0.9948 right_x=0.2691 right_y=0.0009 right_z=0.1525 right_yaw=0.0316 right_pitch=-0.1292 right_roll=-0.009 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, -6.065, 9.0051, 0.906, -0.3248, -0.0073, 0.0415, -0.1573, -1.0462, 7.5009, 1.8681, 0.0659, -0.0757, -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]: [-0.5865, 1.4914, 0.6106, -0.0143, -0.5098, -0.495, 0.9964, -0.0471, 0.7712, 0.5999, -0.5903, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3342 left_y=-0.1143 left_z=0.0495 left_yaw=0.1098 left_pitch=-0.1257 left_roll=0.0709 left_gripper=0.9964 right_x=0.2611 right_y=0.0015 right_z=0.1434 right_yaw=0.033 right_pitch=-0.1782 right_roll=-0.004 right_gripper=0.9989\nstate[joint_eff]: [0.294, -5.4769, 5.7778, 1.6679, -0.2076, 0.0513, 0.0073, -0.0752, -0.7316, 6.9949, 1.7949, -0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5865, 1.5112, 0.6006, 0.0525, -0.5098, -0.495, 0.0107, -0.0471, 0.7723, 0.5999, -0.6128, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.1182 left_z=0.0493 left_yaw=0.1071 left_pitch=-0.0973 left_roll=0.047 left_gripper=0.0107 right_x=0.2573 right_y=0.0017 right_z=0.1392 right_yaw=0.0336 right_pitch=-0.2018 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.212, -6.0923, 5.6, 1.6825, -0.1978, 0.0513, 0.9451, -0.0615, -0.8957, 6.8991, 1.7363, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac4f0984977fe5c1e00a1d1f5824156a8fc12c8c43b9ea7b8cf55424d9c20d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f646b68b2378780a46e8238267d60d69043669919cf93e8762eb4ef8c65d65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f80736a4eb49387093684b85e2c8fd45458c51bd2777cb51f4ad8c5a73f80ec1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIuf7dPs-ljU3KokeRz4461PVMyWAp1atxeHiEVfbAnJa--_yGYvL89fJxnQKSJ3utnJxP0KD8vuwAxrPw9-ERF-5tXwU8tM4ESyLGH1B88ygosXtM3-2P0vn5-l4xws7f8bCFoGgBoPvPFmuHOdD10dzApfSXluSmJwjCvgAxLkm8rneojmyVFkMjLWWaKgHqUQ7gNJ7R_APe5_4f1-bYorvsRBTg0mTtQntcwof4MbKpisWlPUENebxVZfAH6b0xh-t_ar9F6pJ8n6SB9MopmrdrjwaRUJzdR3cfpZ96eKYALucES_jRZLXpE2fhou_7tMqBnK5EHhx_HVynmU3WdcpunW_JKya73pQjfFzxxJurpnzLroK0_E9Z7zy4MWd9HfAXcYEJKpZRAATDBM8zcgwKq1U1PpF9MBTpO4Tv8GBVaho5R44SeonEb-n7Acp6PTmORjnsZs38cHrkd9qZ3edk1rYhLF4ZWbYLImdpcW-QjKCICMSk9iAbhlHCxpyKX_FIGCdRfYabEFKaVCFc1PfgfW-6Dr80lZq-3sNiH_V7vbwCdozCRmIBsmTmhQlQD5H498WVB4aWFVlkoYUH3y_YAJ-qzrWEe_JWH2SCsgBPSosYvruXiq3ru-JGo-mGKWKEIlB7w0-CUIldN66VgOgKVQUjub6Yo3vMq2lm2hpsnxbWsOmKl8jWhiwdDNgDVfaLZ8eUANIVXnVlSzlN5RhClzVa_MuCpOxJdXlT5YOTbJyUzQiBv0ZCivCHl3llwXeoUpxmj9HomtdhgAFOA9moeN3KyLnMy2KZQgqeYtBbHFWvyRc6oGVx9o9hm1I4xNifPaZ-tgqDAnLjJV47X92v_US78xd8jCgR5sDUb3XoD2YwvdECA1fUFOl9tP7OZSZyv54H_M5IvA1aa-0HjgeVAMskm8SFQKM3uHji4VIShQsz47GC-dXJMR2pQeyPmFbgr8QBcMhOL5NHwvR7TJ0oMSAbnqfmg-WBS_lr8sP_BUwGMmP8UFws590AoiVREzoZGMvO-yjCYvEvzCtl5k1DG9zBcfvD1XFkbs2_KAfb1J4ES_myI2-evapfVQJA6zMf10IwLbKtLR1-bjZlwKX0p0d9wr9C5QThPv30Iefc4WS9nzVR-XA1_d3lWwkX5mDz6CaSoYIkoLtXUMVizpwlwuJrmAJEJGkHDAC33qnzfcX1pKv7wWQQ0P_MZsB0c1lONRxt-pG8d2q5xF293bfHdI9i9mXKJJ_ZxFacP-h88vJp_0t5ZZQqcqcE1xUKXeyPPF5BGPSnnkCbHAbpWrwEGe8Y_DpBV6h7w5TOD85tbDJzNZO1JXU5J32sQg_yvIHbC_PHj2psknr3PAVbBgRTK_BZOsJCCXWc5rbzUFmDOAYFK7UClHOqSXFXPPwHLWY_-QfMxWCcb7uOzt__2JDbBfUhXGfCy9ar9NQDvfhaUz3fBGhsYQDptqObSxTf6SRZlvpPbgLP64mVOxfQj3zzatJL_h71qM0u-cnprHAPpG9Msc0PHY_QM7s62k6_lIXpPLtnfyEJbSvgw9NV4sMtzGsI_k_3NB7Sui9qXdlLVjSWT-7gLaRh-MM7wud82sQlOOqRhOBUUMKeKyfx7DzMxLLRGPGKeKJY2saxkG8kGWCxHVq8xJKh6weCc3sL-9T8z8RunY5IcDSymDFLA8ZR2WuziWQLV-XOAFtHVlzvJP9UN2i5uUZw8ocS7Q0dIKZI9YsPdu1F1Z4_c0hfVn_oF4g0Nt_DjiMlHfSI0awHfr1gYK-lXVb2b9V8zzIbnttdqm9869zijoE8o-V6mMdZIHr0eB1GknUqBgotSh3CossRS5S5UyPeP2sRoGuy0TXK22vXuBiTOjtYncE6AF9H6yj9FTSNqeVWM4RabVC-zlMh0LbKT4o333Hbj1qxhtLRsqbDtv8YBrY4XT1Y9MoUDWjYpUzEb128tF71XZCHS50tBc7zdNLh9Mn4Df2uVKmpX-jA2B1RZTE2xAC6yTyB0liEqVZPY3H9I1jhsQMgbqH5zBhxazAhqFpWVlGKkScAsNdkW-PLDIO_mx5xWYeJk05YCB1t_oSpQUHhEPKevz0417yKwDdN2jVCyAMbHCar06TTKXTCWBjA3LX3NUtFTCZKx7z3S62NtejngswhTsnWgHnInDPC6U_ERq5kAKMnB_w3CycB9ZuIXEN5Z-dzTFMTUJfHFQh8IYdrIp7VNi1cllVPnm9noM6EfVAz8qkLa1VolceV50L0K3vQB2sfeyqBY-fUkb2UmAEvSfPVLUor7jo8lQQbw8DYK2zUDb411kB2igjeFykbsdS9bkaExllhQNfZMcJgT74HKfKAb_FeaK_jqLDIYtE9Qv5oTHtDEKL4Ha2WqUqERjom-Km7jwObVFCI2zMEbAeOuSTvI7uERm_woI8FxJo75B6tEDnnd04QPxv1BE7vvhqrvgIaPDrggIso8dJi6BsWtcyNjAySydPjRYsx-2uC_Cfh4K3VkYTpopGFeDkJJW1CCLNvBTusyQA-avfnb3m_WWUpT-EDUn-CmZrz-bAFQP1qk_G5FCnNGKnHEe3ESrS0luI12NH-kBaR3F5u3RuXYI32g4R9NpACqnA_vdyk0bWZ1sVqGsNmIcM-x7iOGcjQVyolFYOT_bFFGvsxHsK5Aw8TpgLS3_Rt6m0mXMPyloViPEghCQKDnWEgUJJpqzW2eeh5EAVaDgVzmwdyjHu2sShJMc9dsFNlerXpew5mnF_9uiTya_8fVtvN7veN6-OZV1HpbbUPS07YVSWGpBIsM3gWEdYwByJgsdvUy80s0x797NNd1bnq7heksyLUGZrmsnznJ8Os2F9WRDyDvDb0vaRBC8wDBXIz1ZIG7efoM5B-Qx7i2oEOXbfnky5jEguEi3nhhWqc5Qmik3ly0SAAq70gvNtNv9UlSDyhE0D4lktwULony2YoEj9VuF8IHgEdJwcCQXMk43h-2QRrEdSF7Ey7lOn3msJfw7D_cWEdU1xbPk7ZENNToXmGbooBvLWrbc4aL3LvrNqLQtsIJ8BrIEiyyUwS57NIqL-h_iFaykw6UFsfPzzKFR7BVyuR2W5AE9Nq80kxXWBZQ7sn5xwrkV3EreNLasOwL3In2cMWRf_IxnQrsezXyJqCZoHaXkeeeAOYOcVAXY3ZbudV518UjAuY7lNhNIRPsUuFQSXNFR5aL9L7K5A0VtElyq35Du3_vckV55xZcDOrlELZ3EBFmHqLvnBdbYTw6y6ZtAiWmL51rqjlQLWScWSBNcKXfiXU_NAxcF01KY_nQ_XD5O8ApqVVlAmpW5rTu9MkILvvvNHThfu6a-CQdb-mfs8g-RD1O1thRFh-ZLqVCeh7paHmAfCRpCAShtSECurMYKPLRb3XH",
  "id": "rs_089368bc6c3a7e0b016ab42229940487d0a4614cec344fb858",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.383,\"left_y\":-0.115,\"left_z\":0.068},\"note\":\"The gripper again closed empty; in the wrist view its closed tip sits just short of the plush’s head. I’ll reopen and advance several centimetres at the now-correct sideways alignment.\"}",
  "call_id": "call_zuuaVP04EptgvNakEn5Vika5",
  "id": "fc_089368bc6c3a7e0b016ab4222d2aac87d0a23d9e107f50a128",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zuuaVP04EptgvNakEn5Vika5",
  "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]: [-0.4995, 1.5883, 0.7296, -0.0048, -0.4606, -0.44, 0.9953, -0.0471, 0.7723, 0.5999, -0.635, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3716 left_y=-0.1092 left_z=0.0563 left_yaw=0.1268 left_pitch=-0.1252 left_roll=0.0617 left_gripper=0.9953 right_x=0.2534 right_y=0.0019 right_z=0.1354 right_yaw=0.0339 right_pitch=-0.2238 right_roll=-0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -5.8872, 8.6222, 1.4579, -0.1392, 0.1294, -0.1441, -0.0752, -0.8274, 6.8308, 1.6874, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a24b6c0f6a012a2c009575c3abbe55e4207beb180b8bd73678629460b979f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c138523a14eb5d479412cf4122a194b768c7ffee3053464e74e6ac70a507c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe60a9b78ea27cb74cd27727bf811d0d8a32c0e716a6ecffa11b9fb313ba51b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5953, 1.3426, 0.7547, -0.2409, -0.5156, -0.498, 0.9962, -0.0471, 0.7704, 0.5999, -0.5674, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1205 left_z=0.1184 left_yaw=0.1026 left_pitch=-0.072 left_roll=0.0291 left_gripper=0.9962 right_x=0.2649 right_y=0.0013 right_z=0.1478 right_yaw=0.0327 right_pitch=-0.1546 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -4.8068, 6.5162, 1.7021, -0.4713, 0.1392, 0.1343, -0.1573, -0.9504, 6.9949, 1.8584, -0.0708, -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]: [-0.5865, 1.5112, 0.6006, 0.0525, -0.5098, -0.495, 0.0107, -0.0471, 0.7723, 0.5999, -0.6128, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.1182 left_z=0.0493 left_yaw=0.1071 left_pitch=-0.0973 left_roll=0.047 left_gripper=0.0107 right_x=0.2573 right_y=0.0017 right_z=0.1392 right_yaw=0.0336 right_pitch=-0.2018 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.212, -6.0923, 5.6, 1.6825, -0.1978, 0.0513, 0.9451, -0.0615, -0.8957, 6.8991, 1.7363, -0.0952, -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]: [-0.4995, 1.5883, 0.7296, -0.0048, -0.4606, -0.44, 0.9953, -0.0471, 0.7723, 0.5999, -0.635, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3716 left_y=-0.1092 left_z=0.0563 left_yaw=0.1268 left_pitch=-0.1252 left_roll=0.0617 left_gripper=0.9953 right_x=0.2534 right_y=0.0019 right_z=0.1354 right_yaw=0.0339 right_pitch=-0.2238 right_roll=-0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -5.8872, 8.6222, 1.4579, -0.1392, 0.1294, -0.1441, -0.0752, -0.8274, 6.8308, 1.6874, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a24b6c0f6a012a2c009575c3abbe55e4207beb180b8bd73678629460b979f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c138523a14eb5d479412cf4122a194b768c7ffee3053464e74e6ac70a507c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe60a9b78ea27cb74cd27727bf811d0d8a32c0e716a6ecffa11b9fb313ba51b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIxYhzobBgenRRqY6hTLaalOYEoKKlGHQIO1rXFNHUQ5VH0X3i2OueiUa_HPVYAdZf7GWgrqkI4ga0Mkz70J7Zve4oVu7i6h8xB6DEIOYYI-CNL_ZMbwdFEn3AkY7PfwupL3bHJHLX20C389LQ2xgdIeJMyxv_01JsWLQiediLaLT2Z5rI7oG_50R0Hu6733w-cYr7LuPw08W75cE4XG183mYlNsF3mdMHM0xIh3GIn2Mc4WyuqzSsRWYi_MxUYXVKu1NM0QvJlBZFDu0Kda3GqjQtjnfTSf8CMFZ1xJQZz0-w2dE88UWSO2Js_qYkeJ33v-Ecry9WXajeP7Vg1iVJSl74YdQsqHVc4Kw2wRw2jBt-DztgI022eIT6WflDxU_WJf0QOsY4iRoMzw988k8iYWLXxEbrVWzwT3ZmHC4HcKsiEyDuH2okkCg6jCPHeBphzhp1lWSzGbrTR_IuU0T3Li6Oe9I9gXMbTRVzU1xZizxmLTU7N0pRHTixbv6XC5j81EtJgsqxTs9ZXiseVmY0iBJgt7R3PnlOBy-gEahSStkYiFZJk_KP2U7NP6sBa26kSgnK-5vXJ1sj-KkHOyvYO41XIKnzqoovnFcdPLRpzR1ryIL599BzQdUDwrg8pdJ-ZlHTeUwAbKIC8LnCVwDk_EywW-MxtfFfVsbzZlM6Awh5BTA1wHKGLs9zK0bmwH4P3iQ4-wIHfOcruekqvjZKqgNqpYGhyQBwpzRtzv5e6LxEtafvq-8VeeNhL0QP3m0vKlLVvM1FqoR0IStXKaqRJ3Pgr5FB0jdQ_QL_7fdox7ukXvlVc2fSpOAP1KptiK5jHLEOVHtRcurK_7fYvxkTg3FdP1FkiUoy0Hfb3C-QKnAfcDkfSV6HtfcFjdfJQLcHHFyEm-LfJwkM_jfP0-DpeX8l0DdNX2PFpudHHbsF7y90Qr04fkiZXYdcPJ0ykH-DcFAuB4tV-HBFumETkUrWDm5pvb_z6qa_9fkxn-Li-hBavUKUete0tWmr4u8rCa9NWj-AfUw1V341_igmgK5iu-Z_vUUru2sl4FvpiHdiW1ACNHUIlHTOzEiKUyBRsA1EIcLahAbMw8ocoRj99YWOvzh90atbznhsGjzwPKz6tD_ptj11ap2jTKOpc02uD4_aC7uh75RZrGZutYYx78Q1Yl_Q9zodnLjJ86apMyD6bih8tCjWDlBZQGZwOO0m-f_smz-tHNlEEaz0xhX8XuP3WlCrMgoKdANnQTjJGun454276mWOto9ggUEOnVeU5LZdT4FJTVpoy60QREa4miKy2oboFdwVehfEu0uRblDlSvQM=",
  "id": "rs_089368bc6c3a7e0b016ab42230259887d09d9a4d6c8cae8468",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The advance has brought the white plush’s head down between the open jaw tips, centred beneath them. I’ll close here to see whether this deeper approach finally catches it.\"}",
  "call_id": "call_G6uqMrA9xwlF4O40KXQElehO",
  "id": "fc_089368bc6c3a7e0b016ab42230745487d0842441254d4d6bae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G6uqMrA9xwlF4O40KXQElehO",
  "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]: [-0.4969, 1.5887, 0.733, -0.0139, -0.4606, -0.4496, 0.0109, -0.0471, 0.7723, 0.5999, -0.6575, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3714 left_y=-0.108 left_z=0.056 left_yaw=0.1356 left_pitch=-0.1299 left_roll=0.0582 left_gripper=0.0109 right_x=0.2493 right_y=0.0021 right_z=0.1316 right_yaw=0.0342 right_pitch=-0.2463 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.5162, 5.6, 1.4969, -0.2173, 0.0708, 0.9597, -0.1162, -0.8684, 6.7897, 1.7265, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1b9e515a851b0102c5dbb616d94d39fe5c9e8f1453f2ea1f7b8f4b78caa79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75edf3b3877f00d89ab828593108d5ca0cbccb329284ff11f9a4329acc75f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7a7484d0c6214958e239558940a12c37a509d6b4032b0634956f17329d2a3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5865, 1.4914, 0.6106, -0.0143, -0.5098, -0.495, 0.9964, -0.0471, 0.7712, 0.5999, -0.5903, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3342 left_y=-0.1143 left_z=0.0495 left_yaw=0.1098 left_pitch=-0.1257 left_roll=0.0709 left_gripper=0.9964 right_x=0.2611 right_y=0.0015 right_z=0.1434 right_yaw=0.033 right_pitch=-0.1782 right_roll=-0.004 right_gripper=0.9989\nstate[joint_eff]: [0.294, -5.4769, 5.7778, 1.6679, -0.2076, 0.0513, 0.0073, -0.0752, -0.7316, 6.9949, 1.7949, -0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4995, 1.5883, 0.7296, -0.0048, -0.4606, -0.44, 0.9953, -0.0471, 0.7723, 0.5999, -0.635, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3716 left_y=-0.1092 left_z=0.0563 left_yaw=0.1268 left_pitch=-0.1252 left_roll=0.0617 left_gripper=0.9953 right_x=0.2534 right_y=0.0019 right_z=0.1354 right_yaw=0.0339 right_pitch=-0.2238 right_roll=-0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -5.8872, 8.6222, 1.4579, -0.1392, 0.1294, -0.1441, -0.0752, -0.8274, 6.8308, 1.6874, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4969, 1.5887, 0.733, -0.0139, -0.4606, -0.4496, 0.0109, -0.0471, 0.7723, 0.5999, -0.6575, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3714 left_y=-0.108 left_z=0.056 left_yaw=0.1356 left_pitch=-0.1299 left_roll=0.0582 left_gripper=0.0109 right_x=0.2493 right_y=0.0021 right_z=0.1316 right_yaw=0.0342 right_pitch=-0.2463 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.5162, 5.6, 1.4969, -0.2173, 0.0708, 0.9597, -0.1162, -0.8684, 6.7897, 1.7265, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1b9e515a851b0102c5dbb616d94d39fe5c9e8f1453f2ea1f7b8f4b78caa79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75edf3b3877f00d89ab828593108d5ca0cbccb329284ff11f9a4329acc75f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7a7484d0c6214958e239558940a12c37a509d6b4032b0634956f17329d2a3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab422337eec87d0adebd9f3c9652497",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.002,\"left_x\":0.371,\"left_y\":-0.115},\"note\":\"The plush shifted to the right of the closed finger and the grasp was empty again. I’ll reopen and lower to table level at the same forward position to test whether the jaws have been passing above it.\"}",
  "call_id": "call_TdCK7VU05ZSVhmjTKLN5JOeS",
  "id": "fc_089368bc6c3a7e0b016ab42236dbd887d099c3f0eded613885",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TdCK7VU05ZSVhmjTKLN5JOeS",
  "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]: [-0.5167, 1.7603, 0.6621, 0.1909, -0.4686, -0.4709, 0.9951, -0.0471, 0.7723, 0.5999, -0.6762, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3672 left_y=-0.1127 left_z=0.0012 left_yaw=0.1374 left_pitch=-0.156 left_roll=0.0706 left_gripper=0.9951 right_x=0.2459 right_y=0.0022 right_z=0.1285 right_yaw=0.0346 right_pitch=-0.2649 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -6.4479, 4.7795, 1.4481, -0.2857, 0.0708, -0.1099, -0.0342, -0.6769, 6.7624, 1.6044, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ae564edac8b536674533dd80e7034f3808c18d48ba1430cdf0a41cba71bff9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6bee5d1295e2fcfc972f44dc65c068f071056d0197337cb9f105f625e3fb17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419cbfa6168ed182fac297c58ae7157a57d0d4a57619c7b562635bad9fbb8f84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5865, 1.5112, 0.6006, 0.0525, -0.5098, -0.495, 0.0107, -0.0471, 0.7723, 0.5999, -0.6128, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.34 left_y=-0.1182 left_z=0.0493 left_yaw=0.1071 left_pitch=-0.0973 left_roll=0.047 left_gripper=0.0107 right_x=0.2573 right_y=0.0017 right_z=0.1392 right_yaw=0.0336 right_pitch=-0.2018 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [0.212, -6.0923, 5.6, 1.6825, -0.1978, 0.0513, 0.9451, -0.0615, -0.8957, 6.8991, 1.7363, -0.0952, -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]: [-0.4969, 1.5887, 0.733, -0.0139, -0.4606, -0.4496, 0.0109, -0.0471, 0.7723, 0.5999, -0.6575, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3714 left_y=-0.108 left_z=0.056 left_yaw=0.1356 left_pitch=-0.1299 left_roll=0.0582 left_gripper=0.0109 right_x=0.2493 right_y=0.0021 right_z=0.1316 right_yaw=0.0342 right_pitch=-0.2463 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.5162, 5.6, 1.4969, -0.2173, 0.0708, 0.9597, -0.1162, -0.8684, 6.7897, 1.7265, -0.0562, -0.0366, -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]: [-0.5167, 1.7603, 0.6621, 0.1909, -0.4686, -0.4709, 0.9951, -0.0471, 0.7723, 0.5999, -0.6762, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3672 left_y=-0.1127 left_z=0.0012 left_yaw=0.1374 left_pitch=-0.156 left_roll=0.0706 left_gripper=0.9951 right_x=0.2459 right_y=0.0022 right_z=0.1285 right_yaw=0.0346 right_pitch=-0.2649 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -6.4479, 4.7795, 1.4481, -0.2857, 0.0708, -0.1099, -0.0342, -0.6769, 6.7624, 1.6044, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ae564edac8b536674533dd80e7034f3808c18d48ba1430cdf0a41cba71bff9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6bee5d1295e2fcfc972f44dc65c068f071056d0197337cb9f105f625e3fb17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419cbfa6168ed182fac297c58ae7157a57d0d4a57619c7b562635bad9fbb8f84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCI7ZXlBu_j_EG7MD79e9N2n5G_zSktLEeW9GtnOjKwyUa4LzyBiLkw0bYeANBC0jnaZgSjbDkkg_GkNZG5jjbPT6VEp6siohBzMHBUAVhvlQdmzzJ4VFI9zdXdFcdM7FY3p9_KnHmMdCmXjvicURxiPlbBKrfcj81eBxnQinW5sP289gCnhPnvoWDz5QdxLA5DElPo9nQ6ZrurNn3BIQdzw99maHJAWvSwsoFXuHL6xyKmvR_q_9lS-FXdcpDHbDeOkSAFwKJxaGVdBJ1eQPo4uSZvgMGbknIt5C9Q6ZwQGOSTKWweFs2WbdInwdeWQ4D__KC9vRxVjaNJjpO63k5rHadKCvqXS-unnTxOenRusgYQdsi_fipD4pTl4YQpni3Ma5vCWZhHAzJk1M1gx0QvyHyulZRVB0BsjeYwrbftE53Ia0CnxysQ1ZkwSkbney3Mhi2Mzqri8Nz6OLI3QJkPeWWovglvC5WlWEcK-X5gqCuKpC3I4DqT7VkGdOJ-mYOtIjOD6G25txaiq3IiysWpxX4jAmzoPHGc-SegezhS3ZDRoXE-tKcjsvIqKCHFq0QsV02kXhBdMIbESFm9ZR3ZlJZ7BW-1oh1Gq2fdwCkPhDl0r0k2aCS09dQ8qReJwb1tr2L3Oeg8JidvNxkpOKr9H90hIAaSSt-Qrnl-2Oec53V554FaoVjZ_wTMo1gW1I-MlXNwjUnpExe1BSAWPW3AtO_NolvdatYXNcO8LQlSmOiO39Gmmy7Bsa4uqTmTS-xOnslQS__6mQQ8_7x96icQDv9mxvvvFC_mB6mzHNL1ArZv_u3izOaUEvbi0iQTF3f3YnlWG_Dug8HBxF4fv6okTJqaCbkXuJbRkFq_eg-AVxZ6EutJFxWIBUKk9XD_KqLve99_TmvwNTlEQu9_bo3P-5Ug3Bbl3ULgGQS49qIPd-TRwA4osv2FZo7QsHf2q4zLqyKta9hEd5A7b69L4Z9ArCHF7OkEOgGuRSu_Om8-66TlQb-g22Yq2N6_uMTFJb8anRItZgvgF-D7kxSg88AYfOnHCSZszWET3C7S88uaLFPvW-UlMhDNav-ELY6AVuAp7E-WvURe347U2XrHjAAXAeoy1IoKFTZJ6jEGRxsJOfReP2q7HhuuwZD2U2Sv7Y0a_2ih-GtV6y7AXQjRzLJHBUwA7t-nn9i1R3t-9RfJ2QYGUloglEd9Mcpfy0XBVNIHxPnrYj7O_UVsk4nlgSxkB3JOnYwFLdtqNsvwBVn7qH90mjf0woeCv4vlfrW4kJF_ApODpkSPQnqHzfEHx2wIaaqQpVB1gWM1ZKj6M9nWS0YMlcOVCP8MNQw9D3orvOqtiBCy28TumhfBykL4DfbRQaIrBvn7K9tyXovWgWkBQ8tDEdYbmx-itVo7poMnkm8lBTG_YiBCx4mjFoudtKUdvb6mNX4utmAKJLy8afPAV3Oprh2o7ysYcfzn1Xn2N8wZGPUB_4Gn8UK7oPtmybwT0YCjvjolm9vjWoKimDDc6YlObuoEd4Zwyr-3wEQaEGGcsz5xvJKfPzSEbqVOf2smhKQ6Fx9cF6PlHAT3-ST7ouFUfkBkeTHVNpsHK3681OCvEY5hd2DZ7unTKCE_oE7g-VbYnZLMty9XS0FnWSAZx-B_npzSVY-8ChA9MF-s4bR5aODR2KHuXmUBuhu9Mwj5mzqSoMCu4C1Hwgkfxs6m2IW86j2EGsP_qMY5-dCAEkuvb",
  "id": "rs_089368bc6c3a7e0b016ab4223a392487d093c627d14e123093",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At table level, the white plush fills the jaw opening instead of sitting below it. I’ll close once more at this lower height and check whether the gripper retains any thickness.\"}",
  "call_id": "call_vWjsRTG4HR0SVXM5ZRftKqsL",
  "id": "fc_089368bc6c3a7e0b016ab4223b199c87d0bb8e9e1405ad2a89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vWjsRTG4HR0SVXM5ZRftKqsL",
  "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]: [-0.5167, 1.7596, 0.659, 0.2096, -0.4831, -0.4767, 0.2115, -0.0471, 0.7723, 0.5999, -0.6842, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3696 left_y=-0.1115 left_z=0.0041 left_yaw=0.1496 left_pitch=-0.1359 left_roll=0.0654 left_gripper=0.2115 right_x=0.2444 right_y=0.0023 right_z=0.1272 right_yaw=0.0347 right_pitch=-0.2729 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -7.0085, 5.1077, 1.1404, -0.1197, 0.0269, 0.9695, -0.0479, -0.8547, 6.9538, 1.5116, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a27188ad71d2a226ce31f917ae0de7ef5af9d136d4acb94d437136f5924f3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d548154f79d89cc525763a337bd736dd7b78e571587fb12e00e3c4f81f94c289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65d5685521df34c0d0ed8bd63cd930755a44dc3c42cda2b1b8f1c44394f550f",
      "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 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4995, 1.5883, 0.7296, -0.0048, -0.4606, -0.44, 0.9953, -0.0471, 0.7723, 0.5999, -0.635, -0.0578, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3716 left_y=-0.1092 left_z=0.0563 left_yaw=0.1268 left_pitch=-0.1252 left_roll=0.0617 left_gripper=0.9953 right_x=0.2534 right_y=0.0019 right_z=0.1354 right_yaw=0.0339 right_pitch=-0.2238 right_roll=-0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -5.8872, 8.6222, 1.4579, -0.1392, 0.1294, -0.1441, -0.0752, -0.8274, 6.8308, 1.6874, -0.0269, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.7603, 0.6621, 0.1909, -0.4686, -0.4709, 0.9951, -0.0471, 0.7723, 0.5999, -0.6762, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3672 left_y=-0.1127 left_z=0.0012 left_yaw=0.1374 left_pitch=-0.156 left_roll=0.0706 left_gripper=0.9951 right_x=0.2459 right_y=0.0022 right_z=0.1285 right_yaw=0.0346 right_pitch=-0.2649 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -6.4479, 4.7795, 1.4481, -0.2857, 0.0708, -0.1099, -0.0342, -0.6769, 6.7624, 1.6044, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.7596, 0.659, 0.2096, -0.4831, -0.4767, 0.2115, -0.0471, 0.7723, 0.5999, -0.6842, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3696 left_y=-0.1115 left_z=0.0041 left_yaw=0.1496 left_pitch=-0.1359 left_roll=0.0654 left_gripper=0.2115 right_x=0.2444 right_y=0.0023 right_z=0.1272 right_yaw=0.0347 right_pitch=-0.2729 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -7.0085, 5.1077, 1.1404, -0.1197, 0.0269, 0.9695, -0.0479, -0.8547, 6.9538, 1.5116, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a27188ad71d2a226ce31f917ae0de7ef5af9d136d4acb94d437136f5924f3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d548154f79d89cc525763a337bd736dd7b78e571587fb12e00e3c4f81f94c289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65d5685521df34c0d0ed8bd63cd930755a44dc3c42cda2b1b8f1c44394f550f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCI_pYtmNfME-xB174n61Ct-AfPBeRZUWraZAJZmTXX8eAYZQTcLkDP6nRv1JCe4XYipuh_8H00hBRPKfdw7BPzbX7wuKDGZ2f6k9TfiYa6AcpqEMQ-pNw9QGp7OgUAjBZ7UosCNKSHb7ElC21Z65-7Ger9I9cxqfxu8iNlKiqm5yw6vUau7HbLX8yhJzmY4csWTcpgcqZv1LeciFJ_y_qDkA-eRHX3dwDoesdifddmIf7AxVQo-2WS4Aqtx_qojeKHJgRNvM0v2Xyc_RTWCqgX5ns-VFnFzu-SEKd5G0b8U5Rb2rzI-eUZJD3_d-SZjn7RrmeXP-2pBU5kCLzV6GGa69kuoo3PYDXIjuwVZCqzpBRvManjhJ2h8hZYSZep4jNYvf9pzyUhlBxVMUkpUunXQJzTZNi5Wo131JYOWhKa77JqKzHrRBpV7tsXcAXGSBhdK3OPL4y9OxvmsSoBHry4LePMt2gplNoGwG7a1S_wf5sEJwZVFzYcKXoIpKEwn7L-uCTDTqHQmjE1NSG16gUAuhTzE3KStN8gnWR1gklwOu1J6pf9C8iwEPYboeoTY6oMyneZ9nAZNmGxr0ZpbuQIZwQbX7HF0BJz-Ly9xFyMspCBNjvDTWBNH3PnrlXVsZ0nHS2D1hATU1HL878nKUTNV3qw6O5oGqPLmIFrgO89WZlX0QC3HOXlB7j1uJUgIxqPKCmDFNwXmkRN_afBIWTrx1Ri8Muv0a1w6y4j9JH5ZXBo4Wn09DJE3TKE1B76sjzPzIE8EQ9mfnpFX6xRUHvF_eG-2d8h5Mw34P0uhyyAyh4w9Vv9R7VHe93qm3aPd68Ky3Dq0lRI-UWDhAJ8S0NoTV-lYSZf1ibQIDcrFg5W08oZA393--BCVTDKnEUuedCNKOIEbV_7movvXGfBFAfWv3I43iYMzICXbtDBoVg3QQ_u38RGPINsE1-rOn02C3e_JznlLWniV7AOD7hLI-koob53EfmKdWUQ-VyjVnsa2eXHaN7XD-U7KEp6KFLEedJbr24e9Z1ZDiu6G2hgVRd87Bj3lr2ZgMiCyOX3nWzlfmrEFwjSn4Alk9gSkE5YEs1THM_P69tWDUjIer0DaeOE8O-vnYGVcE1pwN8R-SDTiydLE-UbZRCIdlnsct2TDUWVaZjrJxjlAFUmbZGUKzIG9OWLoNMWhdG9T94BQjgHKC-Z9oDQcKURXcFS9uizZpHs6PVpfWSj2ObNQ6oRSVxAwYY-T6uhr1POQwaFWb_0tRQk5Zz_adMznNlsVLS49fNEZ",
  "id": "rs_089368bc6c3a7e0b016ab4223e78bc87d0b8af6e6b2013cbce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The left gripper stopped with about two centimetres of opening, unlike the earlier empty closes. I’ll lift the plush clear of the table and check whether it moves with the jaws.\"}",
  "call_id": "call_TQfJUe5Fv1rZiHbg6XdevyFe",
  "id": "fc_089368bc6c3a7e0b016ab4223edec087d082e9d5c7b6998b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TQfJUe5Fv1rZiHbg6XdevyFe",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.4673, 0.9985, -0.4557, -0.4828, -0.4847, 0.2151, -0.0471, 0.7723, 0.5999, -0.7021, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3682 left_y=-0.1108 left_z=0.1367 left_yaw=0.1572 left_pitch=-0.1622 left_roll=0.0804 left_gripper=0.2151 right_x=0.241 right_y=0.0024 right_z=0.1244 right_yaw=0.0352 right_pitch=-0.2908 right_roll=0.0054 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.5128, 9.1556, 1.5214, -0.2027, 0.0366, 0.823, -0.1709, -0.8137, 6.9265, 1.6288, -0.0611, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd03b40a76288dcabd7820cdc85cd6031699a64fc59744218f36e5fc2bee50be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd722cf7d14346ffd5dd1d3d4fe0d42b3c5e78d838e4d886237504aedfbec9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6c19bb36c1002167dcd500317dbe86701f7cc9daed28f0f81ca6501af38c75",
      "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 136 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4969, 1.5887, 0.733, -0.0139, -0.4606, -0.4496, 0.0109, -0.0471, 0.7723, 0.5999, -0.6575, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3714 left_y=-0.108 left_z=0.056 left_yaw=0.1356 left_pitch=-0.1299 left_roll=0.0582 left_gripper=0.0109 right_x=0.2493 right_y=0.0021 right_z=0.1316 right_yaw=0.0342 right_pitch=-0.2463 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -6.5162, 5.6, 1.4969, -0.2173, 0.0708, 0.9597, -0.1162, -0.8684, 6.7897, 1.7265, -0.0562, -0.0366, -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]: [-0.5167, 1.7596, 0.659, 0.2096, -0.4831, -0.4767, 0.2115, -0.0471, 0.7723, 0.5999, -0.6842, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3696 left_y=-0.1115 left_z=0.0041 left_yaw=0.1496 left_pitch=-0.1359 left_roll=0.0654 left_gripper=0.2115 right_x=0.2444 right_y=0.0023 right_z=0.1272 right_yaw=0.0347 right_pitch=-0.2729 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -7.0085, 5.1077, 1.1404, -0.1197, 0.0269, 0.9695, -0.0479, -0.8547, 6.9538, 1.5116, -0.0415, -0.0562, -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]: [-0.5167, 1.4673, 0.9985, -0.4557, -0.4828, -0.4847, 0.2151, -0.0471, 0.7723, 0.5999, -0.7021, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3682 left_y=-0.1108 left_z=0.1367 left_yaw=0.1572 left_pitch=-0.1622 left_roll=0.0804 left_gripper=0.2151 right_x=0.241 right_y=0.0024 right_z=0.1244 right_yaw=0.0352 right_pitch=-0.2908 right_roll=0.0054 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.5128, 9.1556, 1.5214, -0.2027, 0.0366, 0.823, -0.1709, -0.8137, 6.9265, 1.6288, -0.0611, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd03b40a76288dcabd7820cdc85cd6031699a64fc59744218f36e5fc2bee50be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd722cf7d14346ffd5dd1d3d4fe0d42b3c5e78d838e4d886237504aedfbec9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6c19bb36c1002167dcd500317dbe86701f7cc9daed28f0f81ca6501af38c75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJIqSbzvaWfqV-7BZYnJkUTchtJUVrix1GarWxM0axRW3rvtqG4NkCIN_-HCyqS9dkz7Y06DD1JkPaXT3gopbzqVGXtM00F0lvqTE-43kfh68KpiUZIBv92XcbbqOWH3PF9xpgfEe8XvUcvjrD_pG81joiQ5wkHJknXIuMYbY4te0bGeF-DcFbX1QdbN5QhZyiVdc0rHcoUxuP9FhTbKjKhfpsZKYFK4pASjyNJM50rtlsT8wyBYXRONnJnI70nZR5LLajz6TqkNVw1AFZnXqOfmoqcqOi5Bkiv0IhHW5TXLvxO--PBoeBgGdBwSEGuLCp8mZs2aEZR1f_kHDJ_07jnu32323oSYCikH6-j7a9FNMT2Miv7CJg-BBqc_tAzKsVQSk9ZZfavQf9nMwCtPlmiB34sSkbeyrABHGL6UV2p_8T9XoV9bgwj-OLIVYgmjD0bQ8rtIxzj5IGf9SmyEY9RcnbOz-q7VG2k3kyqDEdnOFyJ6wGB4DXHqvgAvuh42j4Z1Q0pi8PZbgXtM48AfYepjehLHfq7jyBY55eBpRx9-g9gtqjYe5hWHq5rz8ZGCXpOuUv1_WhngdR7dBDWHPwvJBG_Ycvk8LXctURf2jY3sTRPwS3M0YKSbhaPcz4dXPNY2gG0C4Qks2DHjAkMJomSZSyfZMM7vJ9XzQCgPA24rEc4ntDx4yaC9mbid7rUJm4rldciR2ELaeVOtkELLQh2dWPQPPgkTPuEK7XQFYcNED9d1Pl4dcwA5Dwzv5asjXjtTQZwBik19mFN_rYIPCcF6MF9Zbyq31R8Ug1eVKbK7uFwW183vmLDAuIvQQo2glXLYncAuXKGlnT1lCnaCazi02Jmmwi37SfcBIQ2vpYINihuReZ3MVzgGTsyz6UBq7Z223ROo_3UwhHtRPvpqNUenbsvKcPf1ZgLsIDZ9kn_ZFZNrSzwXD-mLnbVVe4LxazIt2nExZO-Bl-HuZzE5IR2PrxrM2t0aAHt-A7ZFlQTnL7h6Hh1TE2e1w1RdURNqc69QKjAd4ohMCgJSs74Feq1bFFLSQgClj9S_b9bsTQyUvoz3X3j_ryWyFKc30QNZfotpUpzrzI3SXYuWt24FAMG32HSgUMvJx78z8KZShfQlxh5sCXeAj6jRAO4pMhha6eJWS6lo-bpgBrx1sRdAxasU-6hLwg264NIe-gC732a1TlRxtDZfNXC2kSyB6DKqOzqeEAVdf7gXLorTIgbMxms_WfuRxHxmrzxTRUOCcxgJDNRCa3VYY1wgPgfTcHpvWPxntCFq5lphYNhal0GA6LS0-7W1RQcWtGgFdjKJrNakeCy5wMobiadSqCgbOs9Kmb3rhZs2JdPjpobfqgwc4t83olDQ8eanpOwl5fgVNO_R9P61o8n1XrZ6vP4c7xGHPzPsaW5JH2u15h-zlhVg7J9X4SfT3bVyzfuacjtzatn6SjubSU7BOFRk3VRmXN3llrAC5gVnYIPSyxJb0E40am_kLMrt4hhKXvCmjBXVQpVABHURXQRz6tUBc1DUrhavNIMrbeePesXq3ZgRMAnHngNm7gt8i7HslFNIuZIRksxgVvVzAkGfrguX8WWdheh1rvnEw2hV99lHoi_Mv_388_h-sgfKSvndhOEAhxWU-RzwpIox1HpddDLdYTIRsIGi2en4F812lW4rPj7D32v1gyaelNrrF0MFJ4yzKu7bxJ8l3b-dxVaVk6qmbxS34XsYxaNJqmuwMlxYkPqT6CCSNaxXw50BUuPNiLkpYASaN_2YxZyiqAx_4ANQ-_UoFcSWQ14VycBoYaQ1qQHB-SsBAmp3H1rQQXN3NKTELD-iN89MdBPB_wtd325halZhHf1Fyf_yDyVdpcXJ-NbtB7w0zQLOaNGyw6xNYZqosMkE_S1zseSvlhctmjioJzN9L-HWWeaF25kBG74eThWqJoc3ApgWz7oXpBZsSY-5FVerv8BmqZydz2Mja4D3N8zoEPTDwgqxZ1gL-ecmEB4AB9DhgkGD10NMZ5_PltD431A8JFzF46e9FG71UZEOxI_q6TpWx712n5GQVzq9dTHTe0uv7r8KcvC-Su1pj50Qsj3JgnYQ01QwDBzaKb519EEcxluSjp-q3xKg8ItQjgIdQ9O1AcjsWkvHwN6oIkxpngMFwAA6ejhUjmQ_W_TOG4YDfwCE4KZ9APkXRVrFJob0KyrFWW2hqcprdDo_tkz5ogH_Ww6PXzeNPSoVctvMPCacKMjl6ckp-5R1wLVrEHRXotm9kQxVdUpkbapOC2X57965XM9ic9dezPYiIWNTEN6v-Zuluy3ntlGLv2shzaKt_A34lOr4P631TU3pbSboLWDIy4VYLY3zcLh8hH3O1Dg59l_cgDNFoAq-tiG7EuEjug4dzbI7TdtFk45Ger1f3aWbluwZsqd-alP8M7NdoxKCDEW03XUp2nb06BNWXrf2lOyZa88ZbzJJQ_EheRYVklB7rx5BwtiHa9-clAecPP8XeCUldi3rP4Jpbsy1Le1HrppzbM2C7snu8x9it58CBIrBsMNPubMqQXMsy_I8QTnigu-OAN91Z9Cuk7FeDRVqDbD6BEeFOPhnbzRoOflMq2cEk-Bvd-cBNKUgXQ2wlWgqGepzJ9_A069lwaIdfU_h025NOGpbEV5usnIxyRuAnW-4glEXtv0FahfK6lMKtkXRmbBw-a-9i5dkQLx50ogCqHq6ZOeWuuOhJZXKVlfu5xNE6lszMY773qjyG9-lfupjaU15LOKcoiZiQmt5YlynwEg476sMfiBrVTYcRECMt1BGa5FgDzww9FghW79wRygpIDfD8ebMr71GOoePrkDvx9FMkGgy6PNAvwkjp8isqBaIOVv39bYQPExGy_PfyEqT_vXpTtJFhjEEUeqobE14x260jSieFJwCSUIb9su4s3GMqGakHuGrcM27t0EeJzuMVhXPjU9Ia9WispZUHF1gyudG2Ld4P_0fai5PcQ1rC-UHm3ceY9-UjCCWtL211k3Nf6nWcysaNDATtj0P1CzHaH2zAzT50QX8xFm63QKVoYcUYxn7BS-IC5yN5tFfq-vG7GWezu9DCOnYR4w33fVeto4tAaliel71PAd8txXY53HyZl2AiXhrGa7JtKD0gRSmVmugNPu24-1qXGXWBetwVkx8NScg4ac8SMaJ-vVgCFLAl9jvqPztVRk_XDsl5yDb9slfbS6p0ASki6WtA_cTgjd3k4i4wO_LPzRBdi7-_8aJZqajoz585p756gO8PDLQmnWxXnGR8IzlbIR6YSW6lvIvyWfzbV0zsYPiFpmD03ZlA2E-sYk8_C9-hxnm72FdsjDGrohs5VU4joZsYTgehBUXdfExQ30Or8TFBlsmmq9GQz_B8gNU64Dpz_AvGGwJ5U27NjlNqJNVw0BOSEma_0xCTz4AL_xD-IVe7u9Mg5XLW-gvrbdDiTBs37ykn1QHPqHL1a64ayiUT2kLSub2RlvNwro3MAiskJleNy7xwjbb_AVbztGjY6MCFRaSSkTjZOjz-xtdjvhwFyYooaUP-HFXrepdC_m9dCVMkigi6RmGjsjzNmRzgVfBpa_BWt-59pbmRjWhUmebZFNJcEz1wfrkdcl9PuDif5g3Aev2ma5f9K_qFtBufRSFFmvK5HYLvU_b3xgYfHXJep3wHYbdycuNLIcahjwoGJHUfjT9-xDaRuAZNiaVqlpBl0KX3lJRGzFWk2ICE2WREscxa_pMV6yQsDlxs7y1HAB11nYL-ZhBErOams=",
  "id": "rs_089368bc6c3a7e0b016ab42242793887d0a0c2b95b4a931ac3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.29,\"left_z\":0.19,\"right_x\":0.285,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The white plush moved away from its original spot as the left gripper lifted, and the gripper still holds a two-centimetre opening. I’ll carry it above the red safe compartment while parking the right arm clear.\"}",
  "call_id": "call_WlkfcHlXI7uc7LRq7HMWy2fQ",
  "id": "fc_089368bc6c3a7e0b016ab42247310c87d0a7fd6baa88579757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WlkfcHlXI7uc7LRq7HMWy2fQ",
  "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]: [-0.8482, 2.0178, 1.8534, -0.9596, -0.6312, -0.8238, 0.218, -0.0471, 0.7589, 0.5999, -0.5056, -0.0685, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3967 left_y=-0.2869 left_z=0.1775 left_yaw=0.1474 left_pitch=-0.1923 left_roll=0.0778 left_gripper=0.218 right_x=0.2743 right_y=0.0028 right_z=0.1623 right_yaw=0.0409 right_pitch=-0.0811 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -10.7145, 8.7316, 0.8083, -0.5592, 0.0904, 0.5592, -0.2803, -1.2239, 7.3368, 2.1905, -0.0757, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4d800d0859c00b98fb021187d8b15367cd802c2cd57b4f7c77ea551fbd024d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb67288eb1f167ee1efadd0cf599fb833cda54a4fcfd5af1d133a5e7129a50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a06716eeb53b6845d5d4f250843786628499063b41a0c37671fcd042e9315b",
      "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 140 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.7603, 0.6621, 0.1909, -0.4686, -0.4709, 0.9951, -0.0471, 0.7723, 0.5999, -0.6762, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3672 left_y=-0.1127 left_z=0.0012 left_yaw=0.1374 left_pitch=-0.156 left_roll=0.0706 left_gripper=0.9951 right_x=0.2459 right_y=0.0022 right_z=0.1285 right_yaw=0.0346 right_pitch=-0.2649 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -6.4479, 4.7795, 1.4481, -0.2857, 0.0708, -0.1099, -0.0342, -0.6769, 6.7624, 1.6044, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.4673, 0.9985, -0.4557, -0.4828, -0.4847, 0.2151, -0.0471, 0.7723, 0.5999, -0.7021, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3682 left_y=-0.1108 left_z=0.1367 left_yaw=0.1572 left_pitch=-0.1622 left_roll=0.0804 left_gripper=0.2151 right_x=0.241 right_y=0.0024 right_z=0.1244 right_yaw=0.0352 right_pitch=-0.2908 right_roll=0.0054 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -8.5128, 9.1556, 1.5214, -0.2027, 0.0366, 0.823, -0.1709, -0.8137, 6.9265, 1.6288, -0.0611, -0.0171, -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]: [-0.8482, 2.0178, 1.8534, -0.9596, -0.6312, -0.8238, 0.218, -0.0471, 0.7589, 0.5999, -0.5056, -0.0685, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3967 left_y=-0.2869 left_z=0.1775 left_yaw=0.1474 left_pitch=-0.1923 left_roll=0.0778 left_gripper=0.218 right_x=0.2743 right_y=0.0028 right_z=0.1623 right_yaw=0.0409 right_pitch=-0.0811 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -10.7145, 8.7316, 0.8083, -0.5592, 0.0904, 0.5592, -0.2803, -1.2239, 7.3368, 2.1905, -0.0757, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4d800d0859c00b98fb021187d8b15367cd802c2cd57b4f7c77ea551fbd024d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb67288eb1f167ee1efadd0cf599fb833cda54a4fcfd5af1d133a5e7129a50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a06716eeb53b6845d5d4f250843786628499063b41a0c37671fcd042e9315b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJOuIzTsXlhWz-udCeil9Pgt7nmmYnY8dlOrwkZEM-FtnRhPRoq31oZZmADPEeAyibw4JO8a9H_yiu_zDovjyV8cLBRAdIwUCaHimnwxy4hzwQMY_JE6IPAQ_3An3NzXGyMZNJPwpx5JzyWwwf1w96Xpkq0IwrEojxTZ6VdDvTbEZt7cyqKBLzaj4YGJo3vLpyWiWd0-ejZ0qvBIK-WT2DrdK91WJZKFUBAGUiNlRj0EVCslVs5Kv0JMX2oYPtqOHnGik1tsjBaG8cM6qX6t2NarHJhEXVl5kk7s3bHAwlL6LZD9_VKgeOo4hCO7qOl-uh8RpeNxNCpKxcdBa8kHg_YNyB2ntGDO7vmKInM6mRZIZ4p6qDuwKzEOvIdc-wnCPbjYe7-_PBOp2IkIzgvWZmkP8bZ_2-0QzyTX4zlVHsXxcHaWSmPZvUsx8175a636wJ4cqu07Ar1iU8DLx-IGVjQYU0nCKKXoBK6E9O8z51nw2I6XnZqvgz0CWrAmmx3ZC3JdBRQrxHUaoTgHxZA7OHlbDsUmEe_Hyx95bNN_4tvNKBhP0FZFCzAC-VZtA4uhRfJ4X-DoWjpKdrzntwxNaJlz3d3492M-PXn6dnYeT1lX3flcxCgzTpNUikPqd0te--XHUnyqnICXRhagjZDD0jw3nshkbe64zrpYIkn9ETZVLrFsXUXn8ubGsbYKoRhg1ml0A2OnY_oh_rg-yHgQpFtX3CbG8KoS4wZIy96nWtMoT4LTNoYOyO90phxl5iR9ZKG_Qw-X-BA0-5F0jdcYG_kVQGD74xmNTB-iQVK79lyTg-sGSvYcLIOGxO1EslwiazPWl01jxtYQ4qDqGXxqTqM4zBGZ_5xybIGUwjUTEHd2aHbhlwcCTWo04D6246YcZZwcdP5FgIaw4-6YPgL8ysgOTk3-6OsuPHIV5-eVnlfKDmm-RxEt9jbP2xXRY-dt2HLsXLQq8xetspQ-je2sr0CE6n0L1_E7XsQ3iQJDuEJe-C_KkO6-omsWY5m74Z1chF5Obs2ijuzX5PWrN-kJXpdqEoIh6dr4GpoNrFKArDq5TTzOcHDbSzbjPJwqZmpnxxAN2Z9zV2iLpePqLOxSwb12zSDz_IbH5JZ1bLB1KRakw6SIRj1szO31ZBU_YS9Fy8NBrcAywc3lULw9-0XKVzuIcHwmOn-HJh3WKSpAdKxN-_Bso6LHvo29mPzM4KOu6nmVY--UStiw6eW9N1bHemTPai7uUAh-meHzi5jDt8Z7TW76x71mVz51jRl8EaAkWm4gMYZ-eM9TsJmaeQw_0CykUAeNfyOISPueRMUFoVyPdRIaOeQFQwmQFrZveWPRhU4svhjLxuQXpZIidbqoxdRa7TxPg6dl5ce-u4IuLK9SfU5ba1eMNxfD0z39JANo6WtXZoeE_sHCYx4LgM4guHKSDPgxR2xZXfies_1oGyQOAC1DVOgOtXER4HQBFo8BZEuKWvGvA0rWzqqda3i9-K8ycUoOrLYXq7cK9vOPVN4I1ubMJvaueL3ll0-GEtVhh7Si1thN38DsplEzxUoBuNF4S1fAO6wFy44PQZyrjzIqgj515YPpwC1sHryLHdV9bkAFCyQn-mQqfe-qu4q4PctuQ19ubOK-GNabKV-avACBcLR3TQyiqShCQ0I2Vo4qwPzMqqKGWqyUxPcgvHt0hF0ov3_lZlInlwhLSFfsW_7HVeecSaqsAMsa0C8zPPwVumUImRcaa5y2DVn_dZz7UcVVA-aMeaHeQZAu7GmTH39pmst1CS66bX4OvgrorQcgksD2E5l0BlKfVbExQM2CsKW4TnxB5YjZpYXkicZclknLIyuhO8MK7y1JyTQPj366yNApkj01MOJs8FGQBddLtPiRlNbODMzwqxX_QJG0P3N-t-9nRZian6KkdAtqDuoeQLpBQVdp6_6qqQjGIcVUhZJMWBzWkwVB94nO5ityAfcBMQSzFVBln54N7frg_FEhxoWIer9bOG_CyQuU82Z2NSl2o93oB-tgpdFV4PsPuihDTE-EDFCtYqySJWDu2JqFkchZe3NsXtF3qAOMd-J38vFQG9lC4yDNc8-J6IJbG4hpKByyPgNLJkNe_b_kKxV9jg4sllxR9i_hBZeKGKQlfDTFBLm4esOOlzhkVqcx9awDND4bgkS4AiI1kL8btZhodrwAbOOCr-ebdki5_xSRVuRJbC9J3zyVfUgVr1e431gOgTUFRH1hUWgrtGiFTdybqsONvm9ItuYtR82xaFB1feKVpB7v8oMoXvfJ-5lcdehVb7rGfqH8lFVj6Ob1aCJ1PsxvJYAuSLLwJkxzYACYFE1dRpRDLQYuaN_H5dZm_ytc9LNf7kdKjrE7tvngs9Bzz7w",
  "id": "rs_089368bc6c3a7e0b016ab4224b933087d081592f365e30e6b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The white plush is travelling with the gripper and is now over the safe’s red interior. I’ll lower it toward the compartment floor before releasing it.\"}",
  "call_id": "call_m3kw6niEZ3P7xpzGlOMj8gLs",
  "id": "fc_089368bc6c3a7e0b016ab4224d709c87d090aa840b6993b9ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m3kw6niEZ3P7xpzGlOMj8gLs",
  "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]: [-0.8551, 2.1067, 1.4479, -0.4988, -0.6331, -0.8249, 0.2177, -0.0471, 0.7628, 0.5995, -0.5076, -0.0689, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3903 left_y=-0.2841 left_z=0.042 left_yaw=0.1479 left_pitch=-0.209 left_roll=0.1067 left_gripper=0.2177 right_x=0.2741 right_y=0.0028 right_z=0.1608 right_yaw=0.0415 right_pitch=-0.0871 right_roll=-0.0047 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -10.2906, 5.6821, 1.0085, -0.0122, -0.0415, 0.7399, -0.0479, -1.2786, 6.9402, 1.6874, -0.1001, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbdd3438f7da942bbf5d39890b95a9b3c4d764d994f74e4a0a75e2c53d5c2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f9ff2f50c87751e70776e35db13d5d2a7bb9b11a0820086ef4721691837f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dc0b5558d4e5ac387ac00ae214734f2f25f33e837752aa27558d84d0d4e0f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5167, 1.7596, 0.659, 0.2096, -0.4831, -0.4767, 0.2115, -0.0471, 0.7723, 0.5999, -0.6842, -0.0578, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3696 left_y=-0.1115 left_z=0.0041 left_yaw=0.1496 left_pitch=-0.1359 left_roll=0.0654 left_gripper=0.2115 right_x=0.2444 right_y=0.0023 right_z=0.1272 right_yaw=0.0347 right_pitch=-0.2729 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -7.0085, 5.1077, 1.1404, -0.1197, 0.0269, 0.9695, -0.0479, -0.8547, 6.9538, 1.5116, -0.0415, -0.0562, -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]: [-0.8482, 2.0178, 1.8534, -0.9596, -0.6312, -0.8238, 0.218, -0.0471, 0.7589, 0.5999, -0.5056, -0.0685, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3967 left_y=-0.2869 left_z=0.1775 left_yaw=0.1474 left_pitch=-0.1923 left_roll=0.0778 left_gripper=0.218 right_x=0.2743 right_y=0.0028 right_z=0.1623 right_yaw=0.0409 right_pitch=-0.0811 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -10.7145, 8.7316, 0.8083, -0.5592, 0.0904, 0.5592, -0.2803, -1.2239, 7.3368, 2.1905, -0.0757, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8551, 2.1067, 1.4479, -0.4988, -0.6331, -0.8249, 0.2177, -0.0471, 0.7628, 0.5995, -0.5076, -0.0689, -0.0601, 0.9989]\nstate[eef_state]: left_x=0.3903 left_y=-0.2841 left_z=0.042 left_yaw=0.1479 left_pitch=-0.209 left_roll=0.1067 left_gripper=0.2177 right_x=0.2741 right_y=0.0028 right_z=0.1608 right_yaw=0.0415 right_pitch=-0.0871 right_roll=-0.0047 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -10.2906, 5.6821, 1.0085, -0.0122, -0.0415, 0.7399, -0.0479, -1.2786, 6.9402, 1.6874, -0.1001, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbdd3438f7da942bbf5d39890b95a9b3c4d764d994f74e4a0a75e2c53d5c2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f9ff2f50c87751e70776e35db13d5d2a7bb9b11a0820086ef4721691837f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32dc0b5558d4e5ac387ac00ae214734f2f25f33e837752aa27558d84d0d4e0f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_089368bc6c3a7e0b016ab422501ad087d0900d0996cba3ece7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is resting against the red interior near the safe’s front edge, and the gripper has descended to roughly four centimetres above the table. I’ll release it here, then verify its position after withdrawing.\"}",
  "call_id": "call_RTcGOradB0UwTWbvEtUmxACU",
  "id": "fc_089368bc6c3a7e0b016ab42252805887d09154d40038337cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RTcGOradB0UwTWbvEtUmxACU",
  "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]: [-0.8505, 2.1098, 1.4399, -0.5022, -0.6327, -0.828, 0.9951, -0.0471, 0.7631, 0.5995, -0.5217, -0.0685, -0.0597, 0.9989]\nstate[eef_state]: left_x=0.3894 left_y=-0.2799 left_z=0.0378 left_yaw=0.1568 left_pitch=-0.2169 left_roll=0.117 left_gripper=0.9951 right_x=0.272 right_y=0.0029 right_z=0.158 right_yaw=0.0411 right_pitch=-0.1016 right_roll=-0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -11.6308, 6.7077, 0.989, -0.3541, -0.0269, -0.0073, -0.212, -0.9641, 6.8991, 1.7802, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b3ab6186e3f82a04b075de7961e9d9890856e4031a7308f009ca4781b81a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903b6f32a6fe722aefe8fe64a40d2a1ec0efbb2430a1b4ef7a499250d15ba1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ef064674c64ba67f67f2bc7b9952b323110c273bef3950ca84e8f1f8160b8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}