adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.2769, 1.9951, -0.0708, 0.2173, -0.0904, -0.4718, -1.4701, 9.6889, 1.917, -0.0513, -0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0a597e90ee2a21aeed456bdd9ed376f2cafeda54a4221475e3a251e5030767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:255356d6f9445943feeb8eac99537ce52cd51fb4c012b9e381262170c23be7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6aca377430abea5ab49b50aaeba44f9c7c652bd4057db4c2ad2ca41c772ef6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEGvm8VCeqAmPy4IPyhoj0-oals983S6HbS4c4lHvPX9rkI2IyHwWqPxek4PisQDOJ1yv5FavhhcKn_G5A7KkWexNdVS0o8aI4wpgCk5QGMx7jU65Gq24nnSOZz34wq7lLg94p0J2QA3POR_fdU_k3dNqSESOe2jTBIPo1iWtd89w3vlseuZAhi31G25MwDRdCgNYDLvcg8PugLINDK33WvWJ2XHX_SMpkR-fuSMk0zVG7kOgg4hEg9KVV-ap7a3arCWcWDQCrsKNkjbeTBJpkSRSBw6D8U8FBG_e9d2V8SvCedx74iV8Gwl_OM5b1dYX4yo3YSB8MAaToKIczXgScwc_7ohHB9EbgwNIN7U7TVVtfgBZtF82ODSWbQZaC2306gvccF1vqu9wW1e4CdsRJwVp4y0rpeAPXUW1aYL2WxHgvKY8AGarzGcidQC1DV38qpL6uFmEIXRXQ7l56yZXUYlvc_vScK2jYWoECPPUQE1fXjBDbGyztEmxE2yidc5A0b0MMFMoViD091US1BbBP4QadBIHaJbleJtEDbaJtURTLWPBR1LSJGXtR2tGiYRS-ah6M3pHBrXA7YlzgDmnK_glSembnd3CfyFCaulx5_3yt1KbpZIQm848idMA-04Uyv1Yx-2otE45kJp6_GarroQlHguRACCrKv2WuE0Gzc--wHT3uw5cXbBpCTW4wdQFjNHzW20Eka5pCmuqX3kUe7aiHay4z1LERuHMdxis4OgAMsn3MtasQDNtMHVGfUMOdFYT6B3HO1UrXg73sb0pIytuV3N3GGYR7swA4xqIJORyBc8bfKRtsApxO4wnwJuIY96PM438209aUskmBx_LQTfUIGyKiSS9-qCcC39q-gHaTP8N1OJXEt1rEpqejVG0RGPiaVGcrxmio4MPk9kDBN3OJ5xx7aI5dmxUrJLdMByjY6-aFzypLWKz9Thb7mYkr3PJrl4z61jMNvzIapjOz0kVk8t2AipgzQ3IFhXX366c6YIbWgb52dOlQh4DIJ8-Uhh8LZKRuWndKqhYeBs1uCCotDxTAok07GLz8Tfb-ZxZOA7mxO8IejdyksgSxEHK12ki4FNDf0gQPigt4tShMq2X0QVK-9bDsYS588NRvXizO4YrrLRTnRYQn-lbTTYYF3Xgb02MEXaHYIZsBtTKzPjCsKnmG5HYvMsoSilGqxcaCGQ6cHQMm65IP_G59FMk411_hhchYfjrNQ98eOzVGysa2O_DM_kYo0NzpfrJmJxVBkOcEUB7QukNg8o78F4XS6f2qjC7zjdizElReY9ETjH5Vhijq1dTAqtaoM6ng7fM9_EZo404PUONj0bo63LgdX3cE7zCECLoRkOdTNBBUlZPwjkuLUjMjGK_gPVLPdDiDgW0LI8z5c2Of8POJGVwsFNnp02M3zMz-Tz0ZHZONfUyfn7vLQTUhfs2DkrECQKExOyGIZzzIaOXHA9mhWb15fRODk6BHt4UUCuZySHWvFNnZ_ncHzadrL96ZIbyUcZs0VWLZNKrOauGOWm0fTTdeIOJPS7h315YyTSJmCrch6rTVuGQ8rx7ksrBTp9jml6fH5MgsoWiu-pCm2qzCw5CY_lnaQoaWf97YGK4uOU-2okOfZTUL1LbDftSRu43xn4U1z9nDqFWR0kD3j4sfZhEIixjaPP8pVZdDPM4jKtiGzhWxklg-E6HImVqJM222keWNsdAkduxiiQn04OEzqKgxAk7Re9iKYJQzVV84_iY3EFxZuIHSZHVOY0laAU0yga-EsJb0kp8ioi3JRhDpDuZbAX-srbOX3SOGKdaesHXGTjGfi67BFTIzswNPqccSa6ZzuREMUhEQKv3V9_-CT9a5Wvh0ES49di_oHESA-IqFOuV6F90gGsaWRx9CuKvsOYGyEuqMySYUUZQQcWFCyS_hlhvi-hSQ-nuUsTav2MyTkqN3FHvDKGmY8Lz_brWaovHDsENwA-X48WuHJW5T-EGD9pDG09AQunoO1EYjt54-vJIfMATd021Vu8-smqQokBuqWpWykHz8pYQ1UGSgMkZHpWEwdQLWInGNyvEKv0_kn9Jxa5XsKS3Gc4nwF9zeOJ7TvKL2Ty01xQR_IR8K7_DDkbk7JRLwo47wxjsazgpwd1t1YuxD485J-WTS9Ka7-jBZm2dh8Ttzt-HSuVA1sN7XP5S70pVdTiAtUIuau-bXJxutBWQpAjbIczJLgnBhgZMQwhVWTwv0r352ezsrLoFUgkI-oMFadcI2nsKCDdauxf-GLnBsW_T0BtyRtQwwns8CiuNZN5aZs__lL_IM8lLykyD_D0G9RTw9O97T9S2FHEZ_ZCsNWOYhJBuG1FXdRFq5EusURGr4-UNeDbh9Kqa4JIwOWRv3IHvvTUtqyXwr04WuPeYcBHbrQVAHH_cx8viOtJ-UXkgxwYCIiz7QeXVqHXR7L2qMfaBHSjzf96TZmvfqANUU358ccU3YiGYdbvPMCpq5pZBtrJ3D1Wo8WIODklftAn5C2TyhaUcJZFeHRnGTl9Tc7Ezg29bei4KpqxP1z54JmBoOdfZjBb7OACmTacu7G3Q-GgL0ktZWxId6xZlQHCPwHak9JuEXoXQCkCzEqCOROk290_pnJ9dtYkmPt4x0znPaK1UhNfD-nAQGJHvF4GJb2BV1cFOU-Mme8rpjnh2VhjHff1fYd0B--xmVaHFLHiLlyMLgHSPbH4QpLtWknd8lTyaksJZKWUYysHBhK80ijMsZoDFKNa3aaLhpPwEA58bU0XBMpnCTtvmL-2vbmqxH_0PJfFvZrpZ8vG66MkhYIoGVB2-aneFgRnZsgei6iKkwEJaM10d9VhUqDUHuUBnVuD5Ankp3MknEI6Vfmez_QQDIHKHCT3EHttFaoVHjPJSoR0eyBuHQm0lywfJq7yIkYxe1y94SxHcIeuTih2pnMHp84QX9rYkuD6RuexLyPHF5vc8Gy4a1N_929t8uG4_pLcK5A9cKw0RAxGSDXfYoMAst5bJVlrucRtGL1Ot7ipymAP25OYp9GXXI0kt0Hu0MVRW8MnRAn69E2NHOqkqmH858mzoy4_llrkugo36JrJU9st8NZdUgV2EkyLS9ihxU2XWWrxQNGaCdH9dugfZVHO_SSZ0Hjm1EVCcSKBqHeMPtEg587hnmvmZ64kCbyAXDGG2W5iPi5oOtA2UNBTVv178N_zrJp9XbmXpydKAxD5X_7U9rA6WwSKf3mwWxT27fUuVXdKf5L_dli-2X9fiA0nn3eStkzCBirG1N4lRj6SbwbiYZjfZxVPDinOwusk9USzjP9xJi8CrtZ6Ciq-oojYQoWpnXgPZjQwvhtQhr8lyK5eXtWtfNrPtFnoSTlOsQGoEHn7v84NzgBUMiTpR-wr3GPMkX7F8aoakPclpUYlbj1ZG-nEUhazmb1M_L_uUEB-6LYPxUdhqMzrT2Vg3ajs5zVaF2YIXfZbv5tOd0b2nNgJgpyOWxwdRmQRmH_-r_J0nv38jUMz5lS2qhX6XaDu9gZTu58BdOSHJDcY4zYoePYn8CxZyfgx2L9zUNax_MX_PIO9eQT8ZFMbVL8KNp9dX0XxRLF2oprzZ26BAGRll5XxZf4gndEqhw3XRl0WXo5CufUJx83mjgO13i2CsDD1Xz_p33eX4myGR4kWloS1rO_Pa-oee1sOL_a_XbIMgjtFLVH4TXlop33CJukYztAhRC7uE6xOp-9hWHurwBusT7M9DafHGBWOKh0i_lfBBo6iW6BJNL0poO6ZASkUB0bMZg1rp-0D2mjN2rmAf4G78L4wRCHQlOKkWkUDWbGMjVPO-JqM9955-_RJXaM3iGi2gbP9Yft202BEJ8KivgCW-yX7gacr8qO4VCBWgtvBWklV96ipgN5hdchDGoGELktMsBRPkRlZRT6mYamUq4FMc7jRgyunFnMpaLMNXAeibdsgxHJbpvPx47B4YVIPQ1XcrHW8i_gmRHLgegjYEl_XvvETZ-9nBoWh6khRA==",
  "id": "rs_0b98d5001d78c62a016ab440fb04d487d0a7e191eae11b9d95",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEGHvDKtGMB13aRxQL7lbDjKTLiye4Qy6whRZTAxaQj3XcumIdivAwe1SD0eRQOyMSGXrBGU-zAFHx-CuZ43BS07kNzma2VsN4STIY_RwdXYD28I8P2YbYGa9fFSVVq7IKyw_d086HxOmPIt6G9R7RP_gFAoQkUQfbRAbwuvbsrlluTQ3gSo_8GBs936imy15WaXDwiq8zkI2AIY3tH37L3vgqXndGqXBsnMZyqD6EURBUy0DMtyEGRbVoqgRTCVyWnGEzpYby-ayurms6_EPN9ZTA1TVaCpOos9cW-lPs6URTp4cG30glLxFtbfiiGeethvUFsWPYN4VqMdrRm2wTKEcktFIhxSKBuq2VG0tOztbd7xSAH36efXWmrD_rvH-8tjX1YXeLO-pdiyGB0b9MV6ivq09DMeSnJMb-DoNR7Ebm7p_7w66ezJCXLd7tJJ2sQOk6gfZm9V7f8XE_WJGCaOFp5Yv4uPB3MXC87mdimu_BEGVXfQBmyPgrZKVnLnOVnkcLD0nysnYzAXM0XPrda75VaGJPwpyGsj1k3F8fsMeWEH6nNh53WaFvpD9QvCR-ogyFfO35h-YgB41VLs9yd0mkI_iZSS-WyNTgrOwlbanbp3N22pzmlfrsHZnox3L250VOvxcH58HNVVrBJ33rIr8zaDLay4NAJs65cMMxTaIeYYZds0AGoEJgOxem1VLySLQQkRyyrchse4qDjeyDWfPMCbRBaecGm8lAiK3zuQCfHr6q-GNnaAK9R8CELlfx_5s2StZGq55bCMZTdvAyMk-S9TrKu666xgN8nz37rRK-V9sCaUzsy3XoWSFfpKmencmCHk95olG14aEg7p3VWPwVuNKpgM1DdE8t5CI3jAxHlRll3CpdHtIIVldVpPvOFgdbSTqlCjEJawenrqblLtuapmFhyGLZG_ij61roSy9nqmIT5bIUtFFVRsFPdSAadcJjHjS9ct_tlFwWCGv1eKRo6CXiSENbkajkNu3VzTJ0IsLFo6jPMV6nC8mV23XbgU_RHP5enb_pCXI2MlPDI1jg3qHBRH6lf6U5YwrmB7mzDMqAv4yM4-YHGspXG7YpVzMlP_uEpc8PaMy42gFEfRtzil-X9E3zGmOUiuSkVzJzPlOIGVRbTdnYPjrPXcQk7ErcHTsTFTV7GyppJON4HWtiSK59aHled_BcuZCRBcxVSyTMjI5aNwOsSP0FtL2Qwm7ZWdNDfIZ0yHJ4t1nq2zqBiInkNRRcB2mx3s77Td-_jpN2TzzgSWe8OIyZ03RBruZtRCsHucTEoFteZLy1mBbt7_aMNzTOELSneN4SeKGErmlX7_5-kKIhA2OgmsZsspBJf9o22wd7JH3lgy-We-ayv2QauSzTM1d74RaMoUIb2VDDYTkB-pTVxMH7axJUcg2673HlSIu5akun79CW8adymHJSqu8AWjX0w5LFLKIvZl2uYNJxepkFjoObQcsawjX8sTmuR7liZg0UKo43PlxWcM2YSuZAQAYn6jToRH5TyKfcd4blgo8IyT2mRfxbaibzl9pTW1SX5hUk8BMwfMRr_Epuu8SN9tuh-YEy4v0oIsVtl22lncVEMshga2cIZkWcm2wVBsF4_kL9NsWIN7x-dslVLPxDRIpcAiy1ySHQba6Zo_i9ouygV_hK-hoU-xeBv1itR9yeg-cBrBHM5ThhGzZGQ9y0ijfu5ZRL7uhRWPC8jBvfXogjp-RynedzV44Z1en4npIY3Wn31Jv4h9qKaxjTpSaabxAAl2KelEuckiw9eLBTwuw2uYDQsTemvEQ-RLD_J0042lqoW-rrb-qUCZriW8fim2Pe9Ri8diHokjKBoz0phkT1D4tnHFul1q33tt6uzuqEwgVSs5qkW7JKgDNWONarKOK077yW2FLPI2sVxn6ognLtgGyzH5JoMXBU9J1KOZZS4rG1FPz0isrfbhB8Ijh-f8X-R-azNyDagGtvUiTJKFyOxQuj2OmEnLBHPh9wLqsdSNhoIWG5RpA4K6hOWKuomUXXrptzPl4YuMMzoHBiYbcVCe6IwGrpNFT_xE5VsK2HZI93kkK4a1Z2yLCQJEzkelTUQe31DqQ2zIqh92bJwUOSlPxQihTQiIkz7mm_osPzePVzc-RCWK7II7POtDmMLoTBAd5k-z0Ww2LXhChcoScze_mCWX4LfRilyE92V82QndWIfTuCJj48-4Z-apokj-DCwErYOz0-2xzA4ho7d-nQGKR8cyt9njj6myBhzZlqlg94NFDh40gixgUbZS87uXh2hmTizQa_xdVPFNLKMuviWATJj2XqzbxOT76CGyF28ImzgH6n6AibPp2pfeg3Em8z1FFtGhVX0DSqFbgNe9DgzBdbFpFgATtGuSfLxd0JnWO-kgI0UdG7aamGcyLySswgnZl3nQv4rOYWz_UGA_-zyAuaOenndo2CinH8X-aaJidmumUsd9F6t8t5XjhqleGz5dCQY-Pz5p_7wAb1eVSqfau9u39NPd274N80GCskJhZyly4pYrTebownnodGTIPaafUzgogG4VLKhEogRzMzAu88vt7qrDMAAqSPJYJkpL4m6KxQy-PoMOR1m1X1b91P4AIm6tGipXp2SoXtnbNosBPkB7m04UNEfoIHAjYTgmrB2Rqj8JC4aZwEvc-Gpmqv72mPCgcEdMkTwkuN0PUHGjqkp5OXEUkx79sioHaTEe5W5IVJEsGiaBALjN8Vvmi4EhCgJi9LBcQnQbpFiq8sQXREajv4eSqGn4ivn5CiXZ2s5Elqi3kzG_c7mp8erCJJBE2X2LlHgH9biidiXNdm7YRpNfUzPwEkFvWZ91I8VhOIP2tASMAswn1XVXMzeudUqsFfMti0pQ0EVgkN_sz1bqQtAOdc0fk57T4XrDbysG0Mmmqy_GVUQ-zGFJsd0LTaHlnT-Jxm8OeRUlXXBBVpyGidXl2Sp5zZMjX8fZOB3tN0mQ7ZFD83kaENi_Fx5Q2pJyjr1zxHO74SPEIycYOJEFRoYjQrws-B65ON7tFSXGcUU5_kEGUd7WV94XtRkpNFu69MtNBx2AF14mYjZkHGZBXG89adPT0q_f8vaKhAvWXTugqF349hRpOrJ1-X_nHm8w3q1zUtu--jNP5KtlXKnh2NhrdPT7Ges6sm9dnvBZcFZ5m-zxu2flDWuiHYEeQrTq6YFVBhze7tJNEUv69HsROwDL9mh9jS8wQH7DlYGYQH1izJk4Q==",
  "id": "rs_0b98d5001d78c62a016ab44100755c87d0bcfb81560d36c8cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The open red safe is centered, with a white plush in front-left, a brown plush in front-right, and a yellow ball behind-right. I’ll bring the left gripper above the white plush first, keeping the right arm parked.\"}",
  "call_id": "call_WL1fI8e2MSUSqiFiKbJoq7BE",
  "id": "fc_0b98d5001d78c62a016ab441057b5487d083f2f3b9e6cf4b98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WL1fI8e2MSUSqiFiKbJoq7BE",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8066, 1.5452, 0.9485, -0.2256, -0.6273, -0.5472, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3506 left_y=-0.2107 left_z=0.1319 left_yaw=-0.0138 left_pitch=-0.054 left_roll=0.0297 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0001 right_pitch=-0.0416 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.1726, 9.0735, 1.5897, -0.6081, 0.0708, -0.0855, -0.0889, -1.7162, 6.9402, 2.0586, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a3c478ba8f52dc311bb2c531e9bc455f9dab63a20eda494c34503cbdc5ec45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089d2dca6e2f0949141ce6589bc6cbd49b87c6aadb42fd1de0485ac81694528a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb50f1bfd1b2e69ab47b93b79a345f2d696c36f0704858c70ba54e4fe77377cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.2769, 1.9951, -0.0708, 0.2173, -0.0904, -0.4718, -1.4701, 9.6889, 1.917, -0.0513, -0.0317, -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]: [-0.8066, 1.5452, 0.9485, -0.2256, -0.6273, -0.5472, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3506 left_y=-0.2107 left_z=0.1319 left_yaw=-0.0138 left_pitch=-0.054 left_roll=0.0297 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0001 right_pitch=-0.0416 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.1726, 9.0735, 1.5897, -0.6081, 0.0708, -0.0855, -0.0889, -1.7162, 6.9402, 2.0586, -0.0562, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a3c478ba8f52dc311bb2c531e9bc455f9dab63a20eda494c34503cbdc5ec45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:089d2dca6e2f0949141ce6589bc6cbd49b87c6aadb42fd1de0485ac81694528a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb50f1bfd1b2e69ab47b93b79a345f2d696c36f0704858c70ba54e4fe77377cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEELZyfrQQP-L727Cet_F80Nk5AZDWmG6JuSMBBZe3KBT8wFCJ_KkYEWuicRwP4wldzbTIIYKbYIGJMwLM7DCUeKUxYmJIcpkKrn2ip2SVOnr62A7Y5r4sL3GLTSWdnPDRTns879dHKP2nQcM4iWLXqtvJCn5pmbsdGlw_AkcxWPNukBOcnw2_uY83FWczJRv-xdOglGhvDsd5XvOh2g8GwIYvr-T1eIZcB8dw_KSeB6Vj_hOJnDIY-gmG1LTAu1nlkn91vhYOF-iaz_qeXa8bmSAoWGTtyGUEoBROIMa7Csu6F-hLTg_Vt31C7p4PGA22wx1L2cE18YjMLCd--26L0twJn3Y6GPoAiyfdufW_1URgqZDyQSD4rAe6ccrm4Bs3yqghtL5CxI_1bxkNnU6kpqkh9eaVIzf3DmaTAcC5YswB6FibqTJ2OZWDYMs1y7_scYZ_HTGTnsUtlhmB2t_U3YPxtkbodMYWoxLgkOQq1vuVVyR1gn-qds2eaR6mkvBXTySeShyDz23Hcgu0cbedWprHxxC_WriHAnzlkl3D_SB7O63ldAn7RWSdQGJlXTcCn6tKGlz7eIdmD7nh8HdAXZTW_mCrDYYy72uiVdeCIUeLPmXLFH-iE-J5VL-S3t-PF7XfpXNBLK2pdqVWjeG1v9-UHyFqTAtrlQdRL4XdyhIDNpgI7MbCEppaWRczQTKPs6k_yWM0Q4rIVMiDpl-ryW4xNDrz7oZTO6c3Jh-P5D4IwWNFTYwQ2kaoBCXQCIFv7dCq43F23YEaYXPAfUcpV_2SisIzuUn9duYv1pu47gGteeIn8LrsDZtgHwJbzYDB4DqZOV1yzkGtu0XwvvTTURD7WBYNwI2nc_3LsN1vth-1_dFD0mUarK-CAqv00S_h3khi3ro0XZhLWkJSf0jy3IKXODr16OrWPaws3oHnaTVlQcRe9JteQQeEv5WzTd3CQAiZHrqN74V03niZMsMQLEVQjzZzJ69sh3zaJJKHh0hT9FTDbBHVyj7Vu8yXEyKfcx46uQh2W_-43sNH3Lf58xFsR8iQ_xMt7Dgykl8WqpGT3Lm_bhTWExPPC--VThRt_9dKh141eIsJ9JNUoDVSQaKaT_3XPd5Y40KkauYJkddSQ81oFpV39fhZAnSZBvDjfk9HzatEwGCv6DCQJSdz2oubPxrgJtJtkMsyAjJMGUEwHFgbZpiLwVm561X7vDCgSwMk1KAZGhudkx2YGO6a6PzdFoiMTofWe83AYBCWv3pwm_iFmrL_fTT45V5wNfqzd9VouGVExB_UjxlhEjZWprSelRsivqPE3Fl31f-8HyKJlkMWPa_u0XpIDzZPdzwavqz-i4if0S-HNAXr_DcHp0FSXHB8LbgQNSyfuXTkfNlPW8bWjKE_IgwylG5Fp0o_qwsTNzlS4tzTE2i6Q55v5lDZenRY7GdWl4zHy6WjRoxw9ubxU4OqlyaoB_ltxB16pT4T5Jdmsu-J-8436QDphBbDQWq47_66wXd0vh93W-wOl6qrekXU-_zzzMEdxUQl2WR6akPQqbi31ZC9lqRd9MwWtLaPyg25PD-wKl8o6bBh2QuJ9_BWHjTECrQ5etW4Uk9luJHWhAHkas_gFkVXPM6UPGdZJcEN9FoCm8FVD6VKNg20Vr3H3XcGfT_YcI0B2o7Q8a5RoOe2bdqpRjukqhXAfAzgYp9vjpoMZTQQOISjs44o45fFslzYTH6g9ymYGyWXteAbwRz0S_dFYJcMMGkS-p4iB1v3UXM3ZsY-rY6HZmJftrUI4j5xzTnL-Q-riY4aZuWX3H7UaMjYN24f-lQ9imRmrHbEtcifoV-EUv0GvRVDcH-vaH0mO5YWufuX0pDxwY2Hk3RlpXb8ptq2sZ_7GshdszOrsWXtgdPiZJg2VpGO1_1K10ybtfRJt40nG55WtLaQEQzXPB1jQDWLL3nBRWTAW1SQKcUNzASY-Mh8YUMSDbqBN-KHj6DDfxRNiW5H1eF_tKOFH96KowQaRc_mWTqcN86qFKfC-HazwXQ80dmE5YfO1JLeSaFFcnCPo0N2rK1ku-kDJ4jcpOUEwp83PDFO0UL3yhQOx8ymITSVcL25StGWy7fHYlDbvg0KM_kkNwc3zt6Ims2KSIJ25_NReea4JKApsrbs0IaNewLqQ=",
  "id": "rs_0b98d5001d78c62a016ab44109369087d0bd903197ece5acbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.13},\"note\":\"The first hover landed over the safe’s near-left rim; the white plush is just below and left of the fingertips in both views. I’ll shift the grasp point about 3 cm toward the base and 3 cm left to center over the plush.\"}",
  "call_id": "call_iaV5yjwtvfHyezysqcgCBxyc",
  "id": "fc_0b98d5001d78c62a016ab4410ac7b887d096192a7380111f99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iaV5yjwtvfHyezysqcgCBxyc",
  "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]: [-0.812, 1.4174, 0.8101, -0.2413, -0.6331, -0.5552, 0.9992, -0.0212, 0.8017, 0.6056, -0.448, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3231 left_y=-0.1837 left_z=0.123 left_yaw=-0.0095 left_pitch=-0.0691 left_roll=0.0451 left_gripper=0.9992 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0614 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.0103, 7.241, 1.8339, -0.2808, 0.0073, -0.0171, -0.1709, -1.4017, 7.1316, 1.8877, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863ae51d8015f332f82bbdbed43286dce4a699cdddb0af58d3a52b9b4ae0335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c7aca57624832883cb205faa13f2b1ee8c1d7e782cf05cf2ebb7499b05ed5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9c33f2cd1f41db8b68f57990a2b71d6a9db3861263079af6e3969fbea5f861",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8066, 1.5452, 0.9485, -0.2256, -0.6273, -0.5472, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3506 left_y=-0.2107 left_z=0.1319 left_yaw=-0.0138 left_pitch=-0.054 left_roll=0.0297 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0001 right_pitch=-0.0416 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.1726, 9.0735, 1.5897, -0.6081, 0.0708, -0.0855, -0.0889, -1.7162, 6.9402, 2.0586, -0.0562, -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]: [-0.812, 1.4174, 0.8101, -0.2413, -0.6331, -0.5552, 0.9992, -0.0212, 0.8017, 0.6056, -0.448, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3231 left_y=-0.1837 left_z=0.123 left_yaw=-0.0095 left_pitch=-0.0691 left_roll=0.0451 left_gripper=0.9992 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0614 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.0103, 7.241, 1.8339, -0.2808, 0.0073, -0.0171, -0.1709, -1.4017, 7.1316, 1.8877, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863ae51d8015f332f82bbdbed43286dce4a699cdddb0af58d3a52b9b4ae0335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62c7aca57624832883cb205faa13f2b1ee8c1d7e782cf05cf2ebb7499b05ed5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9c33f2cd1f41db8b68f57990a2b71d6a9db3861263079af6e3969fbea5f861",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEOlQFN3X5kOCunG2Wdn56BaxXswTS_mjKaMd5noOlzkVxQyDdrTAnkocmOTRxwtT_VxPzdVFNfqmlvba_wJDIy7xpaGnYUwyO1IL5RtVQZS4G9WXMYcrkqgD6KYznVc6vwjuxTK0SPTMHNfTfMNSAuHXWwUeu3VLZiFuXe8IMTflGgftwwrBS8YkoO2ECGyZsy4BnFXBj6dy1hush1ZY8mhfhn2joJWnMHdiWMwu50Gu48cxwKQrdZDZv831KOMAQHiSO-_p9O2aP1EGSW75tWbgPC2DggkxwO9PcTR8Kpu1qRbqAbVaTNpIeTBU2Vaya0mbz9MFTxoBqYZqosU8_yyezQAmAku68AtFMxibRRK85T5H5T2lurP3gzMfCmYzVO3_YawjsPH7-q7FfL-ui89Z345x7HV53VxxQxFB3X5HlC9_zIo2QxkTjDF7YrvQJC3B48VItMxua7BMWpwKWb8F4zaAEJHCNIRBNBiK6VK_0_7XerRpIw_xtWnyiOUKG2J28R9JAY4Ua5yqowf6z8y_jYRCLWPZqzb4kBU_ON8DRuxX4VOl9wVGfVhuyzZivxegN2Kz2MdlB1Sg_h6vot1AIvrbEVKKUUB2UFX4vI7Lnomv3eCjEDBgbIZDIKy0J16EtrYQeZBd4s_UZ2OYsldsg37Ktp4MPt508u2epTZ6Jbwh_3X0pygfHpjGr2zNL8sh3KNC7Kc60y97THMMXQHJn8bv5vAyo8ESC1XtWYJtkOqO0cKiXdcdF9lZjOKaem6xk7oXFtLC5y9TL4rrgxwBEKtazEgflVjP7_jyOP-GPtijRu1kdw08S4WT2r8c04TR90CppgN29QEJFky-p_hup5yDL9goSTuvZuFOO-lhox4L3cK59kSNWNIj-P4iJwBkoeISbIIndGHmAH8fdJ1w55Ho2w2NZ-NtCb1f1QNCiw-ejPc2jmOyNPrPOqmue3X936bs_sFSeeMP6vKJzBFLdbRGRguYGwiCWwoJ2v5fsGQnKzZBcyb6uGFJYWD_kTj3AaOdPKrME1G87hsc5psqfArJuRwt1P6e0wFZdxr57yrgKz72fgbu6IBkfVH0CtYGiEEkcImmqhdj9YLbABdsSnb8uSz40zUuBcGUPZBirvsncpvJKKVlTO-x5YZzxOiMMHCucJFqQIicjnPUKwb-O8bh7HE39rhteaerhqMvLF_P19xMRAFMvc6qaGJk3nJ5wV4R3KzXQcmqrOeYEsX8iPQjkvk5FRnxfKUwe_icVOXYblYMoBHyw-dsNxEqJv2E8jNybkj1N4uTIsKopwZlQ_TmYiqb0pbzOKc3y2cM0_xmETt8BhKo_uk_kjFW5lNp8S7lDi0gJ9G1zfCYYwJLSZ_n-FKwXhmwre3F9WRl6h9Ckfsw5SSi2Kw_6KIYu2wzUQzsh43vGkheAXbDrYImfsVLDU2iSkANSYx1NtbG_5YD3wi--4GSZ_JcdLyxRjH6SXHacHXNm9WeX7VTo4LpEtFxk7ACfksCkR2chutHd6YJrH8Vnh5ySHSp_KBMj1xhgqOHZlfLm3Qt6x8uCfgtCg9frEMC3fPhQ0YV-38UME-DEwkpfty1wIhwYaQZXm4XKuYIvmQWWbmoc656x5RkmkZbywKqRtSPoPq4ZFqgNHCg5Ma0fjb7YtIhMpYqEiuNcKADzf4GNd7YvMf1jonw==",
  "id": "rs_0b98d5001d78c62a016ab4410d107487d081bc1940013fb4df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The white plush is now directly under the open jaws, visible as fur around the lower-left edge while the gripper body occludes its center. I’ll descend to a low grasp height before closing.\"}",
  "call_id": "call_pWp1xnOkFEaIVQAG7B0Q9qiQ",
  "id": "fc_0b98d5001d78c62a016ab4410e169887d08f95dca539ad4a0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pWp1xnOkFEaIVQAG7B0Q9qiQ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8112, 1.6444, 0.6136, 0.186, -0.6525, -0.5671, 0.9992, -0.0212, 0.8043, 0.6056, -0.4603, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3259 left_y=-0.1822 left_z=0.0388 left_yaw=0.0111 left_pitch=-0.0556 left_roll=0.0429 left_gripper=0.9992 right_x=0.2842 right_y=0.0011 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0763 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -4.8479, 3.6991, 0.6422, -0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 6.9675, 1.79, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:215778020856fda5ef396ba60a8bd1aa03d5b6426336f240b2c3c74dd3123e81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88f58231a3253e86efbf2ecf300debf5ac41e202121a259622a0146eee487d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9588c31dd8618a53b6b64920778c3bc0840f698f3c8be2afc2540545dfb3b137",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3927, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6067, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1775 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.2769, 1.9951, -0.0708, 0.2173, -0.0904, -0.4718, -1.4701, 9.6889, 1.917, -0.0513, -0.0317, -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]: [-0.812, 1.4174, 0.8101, -0.2413, -0.6331, -0.5552, 0.9992, -0.0212, 0.8017, 0.6056, -0.448, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3231 left_y=-0.1837 left_z=0.123 left_yaw=-0.0095 left_pitch=-0.0691 left_roll=0.0451 left_gripper=0.9992 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0614 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.0103, 7.241, 1.8339, -0.2808, 0.0073, -0.0171, -0.1709, -1.4017, 7.1316, 1.8877, -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]: [-0.8112, 1.6444, 0.6136, 0.186, -0.6525, -0.5671, 0.9992, -0.0212, 0.8043, 0.6056, -0.4603, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3259 left_y=-0.1822 left_z=0.0388 left_yaw=0.0111 left_pitch=-0.0556 left_roll=0.0429 left_gripper=0.9992 right_x=0.2842 right_y=0.0011 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0763 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -4.8479, 3.6991, 0.6422, -0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 6.9675, 1.79, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:215778020856fda5ef396ba60a8bd1aa03d5b6426336f240b2c3c74dd3123e81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88f58231a3253e86efbf2ecf300debf5ac41e202121a259622a0146eee487d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9588c31dd8618a53b6b64920778c3bc0840f698f3c8be2afc2540545dfb3b137",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEESDdH2F12qqnd98VdnBXZ_YGP_SupPOLgfwbTkGoBe4M5tblUMhfHvWEfAWrCyW9N0Bv3yw0YO0JcYWwvCaeGd4JVFRwubpXXCeAv1OHh-wzHw7zWXTi6vt8pn0UCvJMATy8ftHlW0hKou8XE6RBvGJpCxxbk_n46Fjo0toS73yiPxPKaVMR3KkZwgshcA66G3gm_ifZmIkrbqT03a7IBcR3fvuiFWl9DcT1wGNoBYkKYKA4hixgvhZ43V5jpHC_yLeMr6R3CK7BL4WSNrKkKHnGYnQOnUUbuEJvee4SCWedqVqUhnfWf3htqytHSxl4SL_4N7n-cmP1rEl3GgVMX4FMNq_lRggydtmroXosTKAWtc8F46BJxOGu0dbVAom32aPdU0vu7s4FhnFh0cZq6dbLg5yvqdjBtXUGvYlWx-Hu4DGDHA9_RBBlvNH11CMFJMVL5mHk8bwC4qbLolHFjKrtagGM7UKTHh02bNqbteWfwUTShKLzB1VxxtWOIqebVKRuTqyYpk1sm4nGoKdaWd6SNnMadbVniFc2AhBMW1GaK26twICnseKhaYmYDhIGpLEhqWxJG_LJKe-O9sVX5Y-n5iXKb-FV6Gvjt8JUpSQYtWNxLDUxU3ZfxGZRhWShD8KgkgaSFnr9EcPHsB2DEExQtlfNJbEDpIRwSlSq7gY8PwV7osLPJ53ixy_TewfIv3Z1QnUNN5AOxHBjYsrSEtUliULVC9fLvASEV1bhzoqK4hzwBQVmWRPNNqjFz_0S0ede4Q0THqehlofBTOQeflv2QaLy3U3yFqsXUBR6pf1BhukseWMKqdVrzp2c0HvrmMiBn0CLDm7a87-vpK_FMihye6nbZJbWa65HuYjlB60bDQSe_KjlEq9JGuNYabKb-z5_ZXLMgFLWOZHBwRX0ZcQT8Eww7aoeKsD4twFL-2_iFPKbpt72hopWtGo0FM9_W2pPQR59gHGfKnFSE9rB7E-o1TYJ-QYZbbKBiIXc1d4laamNAuKIQTzVmsVgCpIwC3a9IH9TxeTIN-yMRx9e5jUoqEROrlmFRWW6QqYOs_hXUyYYVFuAAzuzIdogGl8WVLM-y4_IY6YSunja2vM6mm8z5hvsWPcIb9OAZjrsf5RqmFEg6wm2uCQ5rD6XNRqj7LWbSh2QD_-tyuxnQmHRPz-EmPxO0cm86ORDYePOVHS65XfM953QIlg4Av1kH2ZlIIZ-uukOPsTs1kx2cG8eZtgxxVEf5kCJklfN47GaERi826kp2av7KV-KxTuupZ4ZjtLYo2eEewWF6b1BRGqCjgHfnYV1RUdPZlW0gPCyGctRHyYdclpae__nK3ApjbU1-vctjefvcIPDgdve2UOvSl4BMhMGSxdQ11Jk3_0pN8kR_wGrjhQkTcpB8kIU7GRNPc",
  "id": "rs_0b98d5001d78c62a016ab44110a43087d08dea5568526e4142",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at about 3.9 cm with the plush filling the space between the fingers, indicating contact at its height. I’ll close the left gripper to secure it.\"}",
  "call_id": "call_bKxD4RitXan4g7M5fb2BfQ6L",
  "id": "fc_0b98d5001d78c62a016ab4411169e887d08c4683207b77f3a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bKxD4RitXan4g7M5fb2BfQ6L",
  "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]: [-0.8101, 1.6493, 0.6044, 0.2047, -0.6819, -0.5777, 0.0099, -0.0212, 0.8043, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3273 left_y=-0.1771 left_z=0.0392 left_yaw=0.0382 left_pitch=-0.036 left_roll=0.0456 left_gripper=0.0099 right_x=0.2802 right_y=0.0011 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.1018 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.9265, 6.4205, 1.1893, -0.0122, 0.1343, 0.8181, -0.0752, -1.2239, 7.0085, 1.8779, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3e4de4d38aec3012ebff9b9afe2326b601b960f881d6642f255e38e48c84f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8324262d0945630cebbc753b4cf5b5ae8c154e58a66a9bf564349559f3b46721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73a4b34213171ee41e852593030b888fab6c0b5d0545c5f9fde1d0d0de9c7e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8066, 1.5452, 0.9485, -0.2256, -0.6273, -0.5472, 0.9993, -0.0212, 0.7994, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3506 left_y=-0.2107 left_z=0.1319 left_yaw=-0.0138 left_pitch=-0.054 left_roll=0.0297 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.1694 right_yaw=0.0001 right_pitch=-0.0416 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -7.1726, 9.0735, 1.5897, -0.6081, 0.0708, -0.0855, -0.0889, -1.7162, 6.9402, 2.0586, -0.0562, -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]: [-0.8112, 1.6444, 0.6136, 0.186, -0.6525, -0.5671, 0.9992, -0.0212, 0.8043, 0.6056, -0.4603, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3259 left_y=-0.1822 left_z=0.0388 left_yaw=0.0111 left_pitch=-0.0556 left_roll=0.0429 left_gripper=0.9992 right_x=0.2842 right_y=0.0011 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0763 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -4.8479, 3.6991, 0.6422, -0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 6.9675, 1.79, -0.0562, -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]: [-0.8101, 1.6493, 0.6044, 0.2047, -0.6819, -0.5777, 0.0099, -0.0212, 0.8043, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3273 left_y=-0.1771 left_z=0.0392 left_yaw=0.0382 left_pitch=-0.036 left_roll=0.0456 left_gripper=0.0099 right_x=0.2802 right_y=0.0011 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.1018 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.9265, 6.4205, 1.1893, -0.0122, 0.1343, 0.8181, -0.0752, -1.2239, 7.0085, 1.8779, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3e4de4d38aec3012ebff9b9afe2326b601b960f881d6642f255e38e48c84f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8324262d0945630cebbc753b4cf5b5ae8c154e58a66a9bf564349559f3b46721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73a4b34213171ee41e852593030b888fab6c0b5d0545c5f9fde1d0d0de9c7e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEW8ooA5m5xkLxg4WBMpVRMO09rgMXr-hbDI-A8_ICl9LYcfYC4Nu6H5IpoK-Ye3o64TckiHBWVXefWRXC4T2vYHu-oZX2PA3I7us5SXhsCw8WxKQhs0O8IdTLByjG3YmsTN1pvQqwbRyx3maNQwfEu-vylnI9-qGm5g4rE5YCDyqbBonJi_dCO2m4WrvPX9X72LJX_R3TleIrmWtV0a6YmqcQ9NlsOuzjLxwonwdevigJcHJnUpqLfHf8QHn1h3l-wJ1pw1FITpLgLoxyv1bQfbPX46qkRtBodtQ7i7WT2F3duwACEMoy_8HDRvPb_xVk-t-JK-9qKpvrhSzMqgeXJT1rDsGPDhbhn6Uo4p_xxAYRUUx7wTKBy6g-SvPToGyria1MQzRxS0y4NPWPOl3uCHNfQ21L-bSk9nFRsb3P5U3F93o0auoQg5iuSrwOteH945AzlH5zu-po4Tbl_ILsj0R7TyLyHBjeIyemWnPtc1FqJHGBziDJfSeCKUeyf3LSd4MLarzeSUWNRU-IQNzQ-wi0RaUqnZayzk4R0q4UDUKju_3kswDODJCk0RgobuQts1ijc5YqpL_GNHGGCyg4GK2UQ9qCdElU4PN1KbQJwr4dwROaKxA6RuiN8lI9H7M1ko9cIdydcyZanBL1tmg-2pqezToPu08TZp1kF-RgUIJS4t10wbvmZcx40BF5N-0aDUlhYeqaNeqyEYOVD00aTbIDB-R72GqimrqjmtbY1o54loJ5cgWG_XMiB9WLcIg6BJLSmE2ET3RQbEeYjqZGXc0u32ecEF5YeALVjYhCXBOPai1dh9fLjqeyQGU9KCv9KAP00UZctHs9K7B2xtuAqHqq6uAWKK0sp7mahj9_8mv6wPRX-WuuATeGvUmhKAigbs9FzXZDeH4wlHhfqKwYcuNZWBiso-dNMZujMu449bIloj2g6UccifuNhsbUvlSKiP8Qe_esBjbWXkm52lDisZ3bOrg4Kmuk7ULNuAZ3pXPI63Pcg0DUh7TAKpyQ-UJbCGO_UH86dUQhTOJRcAt37kopa1DSCYsgSpzCA88sNHOMYUMZ-I3EP1hgvSQvA17rPuw6UcnIIABU3kIKpmanA5Yfiol_MLFrYgAnvm4TKfLX-i2AP5r_OTNQllDakVfmq_YOLGQhNtjJX20ghn61mphXB1inK8DVa8_3CDaaWCk3b0PPEyGYTfnaDP1oNyo44_ua96fhUfrV26fiD37V-Ed6-UhRCYuCe2hY-sngvWKo4JNL7uOBjW-Y5JYrxUQnTUIdyeko77lcY1PQJ0lJAHYxihc1Yh8P53JnvSQRYtu-F4DtOMnRKI0jhhsLsP9gMdOFvIEDWCUDw1ObSrjWqRbJhAUrCX9tpMgL48mBvIo_S7N5NDX8FJZWuWgcShfTNiEpvWifZ-nnOCneHzXD8qfkpy2mTBSTXygeqT1CP_EC8T-nbChSyvWzMtYF9TwG4MG2NSGloaJOinwqyyPfHWQgIaWxeWc7seH3d1KSxt2b37uTJnu7NFXGpaWKz_lbBKR_GHEVzJteoyBWUonJjys-FSBQn24IhXT7dGcPyyhqVDXC3DLv6tjwdIpgWkSbeNISKSMYJcLpI1d2ibnwfI1_7RlTu6dxt2bitXgHmvExjaFc6KNmFQKvufOGzt_V6UAdzrc9t-clkOJAHUXjicTVbv2Mvu853Wl7rtkIyZNsvqBvB-watzaAdQKbQiMcakBN8G4iiVTVFjNyLO32TiIB8QZpw8Jg430OFuHVZubg_sdx-KfGvVHpr_ei4-Sn1bGriPTMh3a8SMWvXE7VfxW-A0E8VM5SI2qJfcCl1xJHOaLCC8UpOU6LmlfNKNj551ADgXxYNrAMZbtCrY5Pz2w==",
  "id": "rs_0b98d5001d78c62a016ab44114042887d0b3ffdd31f938fc42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.14,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.01, so it closed empty; the white plush remains clearly to the left and slightly nearer the base. I’ll reopen, lift, and recenter about 4 cm left and 2 cm back for one corrected attempt.\"}",
  "call_id": "call_u1rcOWY0JI58Rz5Tmty0lmuM",
  "id": "fc_0b98d5001d78c62a016ab441159ff487d0b0785bc01d8e652c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u1rcOWY0JI58Rz5Tmty0lmuM",
  "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]: [-0.7715, 1.2949, 0.5953, -0.1261, -0.6563, -0.5526, 0.9949, -0.0212, 0.8082, 0.6037, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1409 left_z=0.0999 left_yaw=0.0448 left_pitch=-0.0409 left_roll=0.0426 left_gripper=0.9949 right_x=0.2777 right_y=0.0012 right_z=0.1521 right_yaw=-0.0001 right_pitch=-0.1224 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.1897, 7.9658, 1.4188, -0.2613, 0.1343, 0.1001, -0.1026, -1.0325, 7.0769, 1.746, -0.0122, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daf8935527f802f3e5eb82d849801af76c3b1245143c7e78fd00dbbb037743b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfcb9b4d2eb8085577c95c9a462d4a1c03d3d81e3a28c2ea91c3f53ad94b817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839af15a9c87283c109d96aff6e097611b377d77e1c2691dd9f3516026dfdb51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.812, 1.4174, 0.8101, -0.2413, -0.6331, -0.5552, 0.9992, -0.0212, 0.8017, 0.6056, -0.448, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3231 left_y=-0.1837 left_z=0.123 left_yaw=-0.0095 left_pitch=-0.0691 left_roll=0.0451 left_gripper=0.9992 right_x=0.2859 right_y=0.0011 right_z=0.1648 right_yaw=0.0001 right_pitch=-0.0614 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -6.0103, 7.241, 1.8339, -0.2808, 0.0073, -0.0171, -0.1709, -1.4017, 7.1316, 1.8877, -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]: [-0.8101, 1.6493, 0.6044, 0.2047, -0.6819, -0.5777, 0.0099, -0.0212, 0.8043, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3273 left_y=-0.1771 left_z=0.0392 left_yaw=0.0382 left_pitch=-0.036 left_roll=0.0456 left_gripper=0.0099 right_x=0.2802 right_y=0.0011 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.1018 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.9265, 6.4205, 1.1893, -0.0122, 0.1343, 0.8181, -0.0752, -1.2239, 7.0085, 1.8779, -0.0171, -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]: [-0.7715, 1.2949, 0.5953, -0.1261, -0.6563, -0.5526, 0.9949, -0.0212, 0.8082, 0.6037, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1409 left_z=0.0999 left_yaw=0.0448 left_pitch=-0.0409 left_roll=0.0426 left_gripper=0.9949 right_x=0.2777 right_y=0.0012 right_z=0.1521 right_yaw=-0.0001 right_pitch=-0.1224 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.1897, 7.9658, 1.4188, -0.2613, 0.1343, 0.1001, -0.1026, -1.0325, 7.0769, 1.746, -0.0122, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5daf8935527f802f3e5eb82d849801af76c3b1245143c7e78fd00dbbb037743b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfcb9b4d2eb8085577c95c9a462d4a1c03d3d81e3a28c2ea91c3f53ad94b817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839af15a9c87283c109d96aff6e097611b377d77e1c2691dd9f3516026dfdb51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEbSE3jdRc-BY_f5JtDPyMUBS6wUK5XdRIh6K-pzyPd3yTGOACckJwDN1sNrtpzCKnP8aAsVVhbGLvqH2THlNBjZ6LSe6O5wmd9PszNCHpgtcpsuJdAhiZf_J5n8YVgswHl90ZCYea9x07p4szew6hKRdsYGKmqGHJGCgb9axfolTkV65aBfqTrZCwM4MDxRUiDQnwek4OywGMn4t9GUFyzh85dO96qDq7BB7FEHpVlQGM6M9nsGFqfSsIv9l_CaWBQ2LvsiEcL4EKi6RG738lEhibUkMVU2cKTvsDLRvRdKfCKyBJs4_h8GVmEUHZP6I3cfnOildS3E3Y3bZgNrTYjGpitVYR5Dao9tlAaF6hRjJp896vHQ9EHTcMqo9MF0MI2Gw73Pz_rC3JMGpCYMyTMXHdFQndA1ybfwg1uy5T6-o831e-e3JvOlADqasn36MAhcXsFJCgB4g-np2w7A7n5q64ilcsw7Ty84mf7pDUPR-GahWP7vKHNhurwNTvjw0kP85POQtLBMys04urtCkB-EmVyuTKUcyOnmTSYEaBbVj_NUcfbiSc6eL56rIr3cUgl5cGnH8NxSZiMw-irS_2RRW2uBiH6hNh5ikSieYU-5ztZMqXvKsK3DOw7ZL78c78SrsVR8v_tDPw6TJExBOfa9nKUwYtpSGbBpEN_it9qDOWKTJksiSKHL6Vf3kJjpJTgLXgSv9x75qod2neW37Ju7eLTSYcOplWFoPPUOo-jjoGjf_iAmlFSmpc6G7tp-aWvvuPcNvJRNKR3zeD9dFsjEhrREDIygrmaw2Zs7yN465IFYrD0x3NFKMAfcpk40KBZUpzmRN6YOMvZY4jf4XnCRQtuS5k59GhNeO9I12jc2yyyDKHd_2aBsE6XSQ3MnhCgMEl_hbvkowUwXf833Yp476-NgadyDE7szvXwS7sij7XsJE7bzMVfMWkmAqG25hCCfBjIKc3VFvfPohwZEsRZcRwvY2-FhFwV3mY4Kxikxz3uvBfbfk7odIS28t82PangE5Sw60FA1bqWz--i5FcV0ykf_ugirHdmiCDgb-IiQfRtIyC4mJC_x68mc_g5mPEAeYRSxi0_V0FU32MKmlWDw07OZNK1iKJlTJLrVl3kHpQm0SEVp9sM7aR2mHiwOjsNrbWi4nvgQr2rcXkksSHconiw2-UakCKiJqOGv599HTsQ2EyK7m1NsNUdiFxFrJahtF8t1LFY9tZ03AUP3OSgzdEkwXY_u3fzM5gQok-CGLEk-veFMiS8DkvJUsxpeEP1-bsS6RzdKrlVSq08mWnURqqEoPxTaU7l2RC0vPxHsHHIMN3B-KJ6NtPtB1wtsE6MkX6Sta4IsHwcpjo1dLuMZ7mfg4wofYMR3KdtIY6Ygm9dI43R0b_FUmbix62I9ghRTrvHEOpBEsDLPHSbYhFR8hlPq9AEW4NBlCvJdml59QEhAeK8AZcyVv1FCSZ1f9AQip5wG5cYi1FNQNY0rNkCe8Mt_kBAHKN5nU-eMaD43_ZmejuvYAJ-lc616fIUp7AwVfnVyWk9X0vZWh1rswO0P6kpM61-gBHlC5OdJFrD5v8L2xGn7-oOPs_rPViezyMf526mWB6kEUhF0tKwe5cxRfJ3kJgad6e_vgior6zm8TijwqefE4v9D3xrXjmc6k-1dw5QIrB748sGpEwxy0-ZSV3WgdVlpnIihNAEOQzyPmjQl8iKAF8k8Y3GTxwUFwI5jfDtP_oGWGaczrpUrWBwTYa_mcTii0PD2D4HkHtXatIKe7KwAA-aFU2aYYr7phCS9XQrW1TF_VNnl0-p-J_CpXCcal4C92Qu4AkB_MTCsrLpBaT2rJL41SBql5GHSZpIvvfMnDip2-RAox-2sKl_9B2jXEKCUfQ1lqaKxiQfy2Vk6USZ-D8l0q6cliH59tQaU-01wYchOJZQnHkICMJ1U-5DBAJJMt7tcPUrXaklpzkUl3Lay4bao48ZJtsP0duvTra8H3zKD5AcCAB9Idbl_BLLZBwG6lLYfyqsP2K8GadIxs0maZQibt8UO1Qz0oEQV6NDNNTWf-uhKfe_xQTqoLeuA3_GYFSOA3A1pVna_xA4ncEK-lk31wbybhdumV9FWMDWNxjp0l77obXJW2KClk8X1V0DNLtjG80JEum_QxZsC-k-NkrfwYByMl_Gofm0a4OT5x8Z9ddh-nskf6xrikZQDJ-23W-YICRedOvL2sX-oWAgj4q0spEyIBkzF8zUHk06j8ABo6-CV_OgCjdpoCtVMQ4YxlHcm8mFnck3eGW_O7GNo3yBe2aW9yJm-vy1",
  "id": "rs_0b98d5001d78c62a016ab44118b88087d0820bc9bc806d9eb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The corrected hover centers the white plush on the jaw column and it now reaches the bottom edge of the wrist view, consistent with being under the fingertips. I’ll descend for the retry without changing the lateral alignment.\"}",
  "call_id": "call_KwNX0nfXAqu3mD0cGccX2qHP",
  "id": "fc_0b98d5001d78c62a016ab4411a891c87d09e8ca185df60cb1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KwNX0nfXAqu3mD0cGccX2qHP",
  "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]: [-0.7715, 1.5383, 0.4335, 0.178, -0.6506, -0.5549, 0.9963, -0.0212, 0.8116, 0.6025, -0.5224, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.131 left_z=0.0156 left_yaw=0.0478 left_pitch=-0.1132 left_roll=0.1117 left_gripper=0.9963 right_x=0.2742 right_y=0.0013 right_z=0.1467 right_yaw=-0.0002 right_pitch=-0.1487 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -5.8598, 4.6154, 1.6435, -0.3492, -0.022, 0.1294, -0.0342, -1.5248, 6.9949, 1.7949, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b303864b1493d80549384120f5623e9f0cdf64da459d6746e6a7dd747e21c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f521407251a27890397e1bab4e789d5c240bf06d5bc87d900d69ac376e0d79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c7b16dda79cc401f25ec4c0263be7b0e8ea3162bd9edc3e773f80edd431acc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8112, 1.6444, 0.6136, 0.186, -0.6525, -0.5671, 0.9992, -0.0212, 0.8043, 0.6056, -0.4603, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3259 left_y=-0.1822 left_z=0.0388 left_yaw=0.0111 left_pitch=-0.0556 left_roll=0.0429 left_gripper=0.9992 right_x=0.2842 right_y=0.0011 right_z=0.1617 right_yaw=0.0002 right_pitch=-0.0763 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -4.8479, 3.6991, 0.6422, -0.0269, 0.2027, -0.0122, -0.0889, -1.4564, 6.9675, 1.79, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2949, 0.5953, -0.1261, -0.6563, -0.5526, 0.9949, -0.0212, 0.8082, 0.6037, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1409 left_z=0.0999 left_yaw=0.0448 left_pitch=-0.0409 left_roll=0.0426 left_gripper=0.9949 right_x=0.2777 right_y=0.0012 right_z=0.1521 right_yaw=-0.0001 right_pitch=-0.1224 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.1897, 7.9658, 1.4188, -0.2613, 0.1343, 0.1001, -0.1026, -1.0325, 7.0769, 1.746, -0.0122, -0.0366, -0.0073]\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]: [-0.7715, 1.5383, 0.4335, 0.178, -0.6506, -0.5549, 0.9963, -0.0212, 0.8116, 0.6025, -0.5224, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.131 left_z=0.0156 left_yaw=0.0478 left_pitch=-0.1132 left_roll=0.1117 left_gripper=0.9963 right_x=0.2742 right_y=0.0013 right_z=0.1467 right_yaw=-0.0002 right_pitch=-0.1487 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -5.8598, 4.6154, 1.6435, -0.3492, -0.022, 0.1294, -0.0342, -1.5248, 6.9949, 1.7949, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b303864b1493d80549384120f5623e9f0cdf64da459d6746e6a7dd747e21c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f521407251a27890397e1bab4e789d5c240bf06d5bc87d900d69ac376e0d79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c7b16dda79cc401f25ec4c0263be7b0e8ea3162bd9edc3e773f80edd431acc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEegtTYwtgjhRmrC0unxBg6EfERoX9nM6ssv-F8heQurtaNFlpcO1OM_wv00PN1j9zhbPWaf2gggHsvVh8jH266Fgb1SY5qk8FfFc0ThQXjnCM_yp9KCHP6_v0Hvm9Lkk_CYyk38ZSlZlM-3STwRFUDwznW-3MpxTJ7D9_vCqCL0PV3ypvzGxFukKj1vD_eOGEVNc4227s67SxejgB3Lg40jnnH1gWmEq2KX4IR5N-azo3uosVC2pXoooh_1nYyYkX7bjxDF5KTpNbSPX6F5Gt625o7h4_nfdsjyt6JUpjwjJKC8glp0ylYVNPS0nYpk77TUYFsRAs2md8OyoMPtYiowy9AHBe39MnhI0K-VYuHxfBc6XB0WN8K6DJxS9YuMb7NsBZpF3F1MXp9_xQItKyXfdJgllBMVzlcdhh28rpqVPFkv6uNiwZQF7_1fpAmoiEq2syiyXDITWAYF6--wLpI_icq8m3YZuxeGMRakp3rZ8yipgj4dOurUqIp6IJv7H62IHk0TunFALjlkCJyziEwMHWKBc1fibwFzzH2LOcMrW7m8v9Pkko2hj_WdBa6OyATbVWdxVp_43yPCv5CoNkDPKhsTT_CAmcHsHSZyOkF82SlGekKW78ebMQfOxq1xGcIL1uBbRMTE90T_Rb-3vWUodJjX5hI5d_W9hGK1G5RvL7V0tNqLXsXfFUwgShKOG9slF_USd9DkbHzFZOrWFAxiAF73RHcgqAImacM9ktJ0ET9Vjo3ay_TY_W7BUajehY3_DYHmOpg3_iElvFTT4795cF9cKNJGiOKfyvIEIFB-KU6mQbHNZxWejW8dvxNOaksjmUqygXzI_jOTDCx7wIGO4SrS1F4n6ScCiWadxEBlwmNzwq6VD5l9voFb4sItP7dwypitjgmAHSaJgHaaVl_-vZAKtufnefeH6tpHzcGbTor_XqYBaTdV9KzpEC6tprhgkg8Sx4pUkH64MpCBeLyL08d8b7xGISKKEfqE_O4-3uOCtzAHbLDxSp5UMdEY_KUksn6e2_qFnjtqzV4w6i098WottWYLwZ5bngb07YpdzRqbcniEHV_SvZVeA-IfuMdZVCQlwlFdnrJZMU0Mu7Rbck-L7qY2iO_zjLVinDg6uaq5NCSbABFc2YUKG7IseP29d6a9UcghmsMa7Z_Mn9lk6sgcD0I6W47__6jhev4SYz6UVUKxYDYgi6skkOLn7AV6B2ZI-LkLe5toch1ry8p8zmn96pYSXYW21B8Sed5PYtemG5UgsQkmjtO6XreentJGXnRrHUX_L02OnZ_5rT_oDb5W-sr1UzOoLSN9DSzBFUiwsAzFHgH4VK6dSYtT2COug0cecG5nNrjXXpz3WsbUYMnJQ5vfAL5KzEBlw8VEueZewWBSK7GpTq-ztI4yDyX",
  "id": "rs_0b98d5001d78c62a016ab4411cda5c87d09725e29b0cfba634",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low pose the plush is centered between the two finger silhouettes and the end effector has reached table height. I’ll close for the corrected grasp.\"}",
  "call_id": "call_mNlSU6a2wMYq0A5A7fgtatWu",
  "id": "fc_0b98d5001d78c62a016ab4411d6bd487d09e362e0064317b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mNlSU6a2wMYq0A5A7fgtatWu",
  "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]: [-0.7715, 1.5475, 0.4255, 0.1947, -0.6598, -0.5579, 0.1303, -0.0212, 0.812, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.129 left_z=0.0137 left_yaw=0.0556 left_pitch=-0.1079 left_roll=0.1147 left_gripper=0.1303 right_x=0.2701 right_y=0.0013 right_z=0.142 right_yaw=0.0001 right_pitch=-0.1735 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9282, 5.3402, 1.1306, -0.2271, -0.0171, 0.9011, -0.0205, -1.2239, 7.0085, 1.7705, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf612c83810bf2ff72bbbb17dd1ba75a9efe78e51e0991aa7d887a0b8ebda1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cce05c1bf28da30dfa4a0fa1bd52b1675cb7c700d8260aadf5ef61f2f9274b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f623d7d1fc908e37fc393ebe3fa95c028194a2f9ceec86a7c07deca335d7dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8101, 1.6493, 0.6044, 0.2047, -0.6819, -0.5777, 0.0099, -0.0212, 0.8043, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3273 left_y=-0.1771 left_z=0.0392 left_yaw=0.0382 left_pitch=-0.036 left_roll=0.0456 left_gripper=0.0099 right_x=0.2802 right_y=0.0011 right_z=0.1568 right_yaw=-0.0001 right_pitch=-0.1018 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -6.9265, 6.4205, 1.1893, -0.0122, 0.1343, 0.8181, -0.0752, -1.2239, 7.0085, 1.8779, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.5383, 0.4335, 0.178, -0.6506, -0.5549, 0.9963, -0.0212, 0.8116, 0.6025, -0.5224, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.131 left_z=0.0156 left_yaw=0.0478 left_pitch=-0.1132 left_roll=0.1117 left_gripper=0.9963 right_x=0.2742 right_y=0.0013 right_z=0.1467 right_yaw=-0.0002 right_pitch=-0.1487 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -5.8598, 4.6154, 1.6435, -0.3492, -0.022, 0.1294, -0.0342, -1.5248, 6.9949, 1.7949, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.5475, 0.4255, 0.1947, -0.6598, -0.5579, 0.1303, -0.0212, 0.812, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.129 left_z=0.0137 left_yaw=0.0556 left_pitch=-0.1079 left_roll=0.1147 left_gripper=0.1303 right_x=0.2701 right_y=0.0013 right_z=0.142 right_yaw=0.0001 right_pitch=-0.1735 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9282, 5.3402, 1.1306, -0.2271, -0.0171, 0.9011, -0.0205, -1.2239, 7.0085, 1.7705, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf612c83810bf2ff72bbbb17dd1ba75a9efe78e51e0991aa7d887a0b8ebda1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cce05c1bf28da30dfa4a0fa1bd52b1675cb7c700d8260aadf5ef61f2f9274b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f623d7d1fc908e37fc393ebe3fa95c028194a2f9ceec86a7c07deca335d7dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEhET_Xr1t7L1GiL24DPcncUOh9M1ETZNqkh74JErE9KC1FBMaQbIehHg_Bdm9bDSSHW7tL3l-7M1-UFl5fTa70X7KcIVcnrV-UwtQyA-2WgwEDZ_Pn2_KxE7nmqpxfBgNH1638PtzcKh5dFlLR3wwelYd7O1vJ0t1W_9kveFrWjskUEa11N94iTxfms_sTQzPwmyWiHOdsCiwjaxKndD2iAcODYLEzbXjnVrIxlA-68jkh572EF_hZhg266hjlAWBk4EIXVXaZwQg8qLMoQe5r-Kv2rthMNUTh35CM9VArge-GYuebeMHEIfih8bZc0nWmnskY6wmtHORHTYgIXNsjTqmUsu4DhVnWwxWMON4mlUWC_KSt4vBL06atxzxbpa8aoeTAVCNQjFAN4XmCyadHb2FFpmMaqdVRa2PBE7wxSs7UQQUIwil4Hr6z0fPzk4ANN6XPy-qY2q6s_sSkXdKnrTZzKpjM47IwStS31NsHQxRvYchP5BpyPEgkWGLoFACHfKBfr1GcXy9laGeq9W70Ws1pgTxPBgUP-T-UL5eO9Efiv1zIH6ASAe76Ui0j2SICO5AQn_bbnBCQOYD4ia5qPAr3yPdr-VxGJRBVHE-AYMkvsuG7X4TzkULMu1_ZTT7ellQI5greD6DLcSf67ILE_Ux-5f5StNS_8aIbCUMhAxySkGJTIzjwnYaX5_9Z05pkvzQeK8AlU8xo_SrfYyqdrVAL53PEefnvYNUKhvVp8ltpbrZPR4M2HAdCdUPT_QufyRWiaKDsOfkL9hSElQ0uQ0PDVhFqH8FEzD10eyhdcftWmiSIDHFhfj-Lcyr1KnuYi4S6gD-Kmle8qA7RYcmr7crTJrELwS3Tyod3cERquLc0mkirnPha5sAaPw2U_1-hYrr5wJNf9t60SmniPosk7vfCo4dL4Hsl1KiUR5_AO5wnoKlFVxm0BJZ4cnEva0j55c0ha5Ur9H0tt7T6D5lWjJudyLOn4Xfy4FuikOxNMZwcQAkL1CFWsJKjzj83uWcFalGJD58KcoLZ-WrChl6Ks6XKD6HjJRSD32DxTHjYrTmtEr02dusSSFS6gPcYIPl3hBB76myMIljdqCCbp789QtbpZHNFM1wqQIqqizzYUHm-qqyE1I9Q_h1h_-e0NuFJGTNwilRVbAXfChh0Ke1r3ZUJA6o8GmCUBfNCSu57epsUOGB4i-VKXWxvq7sQrVo98PX6dQEOW6fdUJS9f_tHCojPA7aid-vTstWHxhsKtm5Lj6jfyC-85wt351k1Uc4V",
  "id": "rs_0b98d5001d78c62a016ab44120553087d0a67a29155a3688e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The closed gripper settled at 0.13 rather than the empty value, indicating the plush is secured between the jaws. I’ll lift it well clear of the table and verify it moves with the arm.\"}",
  "call_id": "call_RrO4l9Le2wbcejjErK70QH8C",
  "id": "fc_0b98d5001d78c62a016ab44120897087d0a14e4876cadffdc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RrO4l9Le2wbcejjErK70QH8C",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2358, 0.7197, -0.4232, -0.651, -0.5629, 0.1308, -0.0212, 0.8165, 0.6018, -0.5758, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=-0.13 left_z=0.1227 left_yaw=0.0536 left_pitch=-0.121 left_roll=0.1151 left_gripper=0.1308 right_x=0.2651 right_y=0.0014 right_z=0.1356 right_yaw=0.0003 right_pitch=-0.2079 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2034, 8.7453, 1.2967, -0.4127, 0.0415, 0.8034, -0.0752, -1.306, 6.8444, 1.7998, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5900b711003ee345cfc153c579437b2b0d52d8e2f3c9d0ea60e64a296c2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f826c80ee73e51b09da1bdf4e7ca443d4083bb6ca5a02842c0175aa72bdbe78a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede3b077780870fc4add6388733d618e14d1ad3da086a7f0ff861481fbb1967d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2949, 0.5953, -0.1261, -0.6563, -0.5526, 0.9949, -0.0212, 0.8082, 0.6037, -0.5007, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1409 left_z=0.0999 left_yaw=0.0448 left_pitch=-0.0409 left_roll=0.0426 left_gripper=0.9949 right_x=0.2777 right_y=0.0012 right_z=0.1521 right_yaw=-0.0001 right_pitch=-0.1224 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -5.1897, 7.9658, 1.4188, -0.2613, 0.1343, 0.1001, -0.1026, -1.0325, 7.0769, 1.746, -0.0122, -0.0366, -0.0073]\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]: [-0.7715, 1.5475, 0.4255, 0.1947, -0.6598, -0.5579, 0.1303, -0.0212, 0.812, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.129 left_z=0.0137 left_yaw=0.0556 left_pitch=-0.1079 left_roll=0.1147 left_gripper=0.1303 right_x=0.2701 right_y=0.0013 right_z=0.142 right_yaw=0.0001 right_pitch=-0.1735 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9282, 5.3402, 1.1306, -0.2271, -0.0171, 0.9011, -0.0205, -1.2239, 7.0085, 1.7705, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2358, 0.7197, -0.4232, -0.651, -0.5629, 0.1308, -0.0212, 0.8165, 0.6018, -0.5758, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=-0.13 left_z=0.1227 left_yaw=0.0536 left_pitch=-0.121 left_roll=0.1151 left_gripper=0.1308 right_x=0.2651 right_y=0.0014 right_z=0.1356 right_yaw=0.0003 right_pitch=-0.2079 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2034, 8.7453, 1.2967, -0.4127, 0.0415, 0.8034, -0.0752, -1.306, 6.8444, 1.7998, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5900b711003ee345cfc153c579437b2b0d52d8e2f3c9d0ea60e64a296c2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f826c80ee73e51b09da1bdf4e7ca443d4083bb6ca5a02842c0175aa72bdbe78a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede3b077780870fc4add6388733d618e14d1ad3da086a7f0ff861481fbb1967d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEltURF4gHdXBKXgxWCxW6zqJC2uyc7v27aXc4m3ODfP3-CBWY9JI_kJGvGk-Rhrxqbk5n6O5-YJLgyNOyDDXb-7uk1ieAmBk4Et5GyiyZTMVR1zc8I0H-4GFau8JOK9J82FqyPOxmV1TSFE3aUlsLdAd7W0i_xeVy639uMT4TVYWzKbBtjpPUz16wGJJ_Z4ESu8GtwNYsAg2BVF1ZusX9qJLWMo5l-ci7G2njfGEt2-6xMRQyV2CaOdftJSf1rXEuT4WdsB1EVL_xqWENIjBf-e1rmZgoCXUOR-j4z87lIzbH5VX1MryrnFWaoYgP3C6e-m1490VZ1b1VqyrbuVv0lmL27jbXOsD4jJS8iRNjsU5afgTOaksdkbeX-SJFfIB6DY1c_W2ERMBnhVpYUCm4_py03LvydFnIjjUXG3hYvB61YAhx3Nc5OsLE_WwfljFVuQD2g7qY-NiGfMxD4V4Em1pyFze91Ga3xhBh_gOnzbg4ntxG9pUQ36LVEKXc5-KZMr0A_OwdtGraeOc8eveN5qiOxRlbuLU03hUB8gjd1lYp2B17l1gdO8D732J-sPjo_7HQwsf81vWfdhbf4cDYSGHN8hAUYqZzrjdAW6WYS8qnA5BKS1jS0WO88QQfYgBV0a3SKJxCXiP1ny9_9DuA3TsTVP8K9HHlQx6waFF5ajdqyG1aPqsRkoa-673sx9VhTxW2DYJAH0lt-kVTmpXsOafmjhzCqCnwWSNmk6D2r5v-6oTQORm5ls4vCiU3BKclsWMmoQCR9THZ5noz-JlDCAR--BXdYOa8Iy35TgdkRTauoBIw0KSJkaic-K9nTha2iArcCMBC3gG7-OFJedidGrhx2M3TlF1BvcAUA3pU4irVLu6QljlMpQJFYII_9HNvrK7Sc8H5dZRFtOH8j_U49miXLTARO_Q_JGpcEJYwah3-c_ZhwRCQvWZR1l1nW078UKfriyFD2ufiYl2dDev3aCXlfMO8NB3WfhPGjK9Xo826p7qCI7jDYFkxhqme-NxEYKvae4M7Mx_9iXE2yI3lutMXWBdzCJo8o1bwIMDf4Vo_8_QpvISL5OXNpQVex6a0o4t6erU2YJBQ_VfMkWfQ3seoRNEnijaykKT3yp3P6SUf_CUecCdYHh_WTTOcMCFc0Aas920c-fBjviQXgBrejx-DbsbJ5n6rQWYQhSVHqYXEWNb5E0iwNVIloPmyCnPx-6J6Fk42Gly4D2ZtHx085cHFmS6lQGeaUFQqawitOhsfRskZr4HogVva11wm5STICOV22ERRSTIFSsNiQulXr-p_hjoDDsE7Ffsg3xgFdyAMkSaGYXCxtbu1rEvdqwaFFIbSCLXP85PMqzjjITdJfZNIb7Jo-OFk3GiNN1be9qUHy3CHNtbFR-YVfKvEc61ghEbc7tDqp9MvFD9WhYg5pkWezG0bU3enw_g1jFdLQGSJu7PseW8E_hDB-Bt1BAxiCYlF73QdqKdy5_wVembaDM-38iacn2L7FWb-jHhpGlGGnVUiP4JIDJ7YM2uowHuSlkLsDnWT5kfdzhD2bNpKhKF0abgf9KYvm8FZoNSgWOOlQJK9dcwiMZLBmVxW6E1KeLaYc1ra1VHdFK_-QPzu-P3tBU3AQEDMmxRBk3kwnqId6UnIJurde7j0SiUSSt0UDa_EUT9BlWDC3woLVXwweQvx4bu55HakGP36fdEpGiNOrZkwyi3l7Qqatux5wQotqrxSaYX21bOrRoOY26iX0rqWJKY0tshNOMbay-blLkOsCN13fBDrOboMKUjAKzCmdPhOa-qnxKbeYPjtdL8eRDTmu0ZeTHs9zPREjPGTfIQMNzu9yFLB8XE5_rnOp_MaV6fHtdWFIhAfCQC74LooSp5l5scfFMss93OlmfMje6MqzKpEhB4uMr-EwmgBlAeYS",
  "id": "rs_0b98d5001d78c62a016ab4412358cc87d0a5440220f3451d87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.17},\"note\":\"The white plush lifted with the gripper and is absent from its original table spot. I’ll carry it above the center of the open red safe, with extra height to clear the rim.\"}",
  "call_id": "call_UJCZOT1q6GQkKnqF08vNHuP8",
  "id": "fc_0b98d5001d78c62a016ab44124cd4887d0891daec6b802068e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UJCZOT1q6GQkKnqF08vNHuP8",
  "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]: [-0.7315, 1.8599, 1.4784, -0.5652, -0.6224, -0.5476, 0.1342, -0.0212, 0.8219, 0.6014, -0.6125, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.2345 left_z=0.1563 left_yaw=0.067 left_pitch=-0.1438 left_roll=0.1159 left_gripper=0.1342 right_x=0.2585 right_y=0.0016 right_z=0.1279 right_yaw=0.0005 right_pitch=-0.2502 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -10.5094, 8.3897, 1.072, -0.3004, 0.1978, 0.6422, -0.1299, -1.4838, 6.8171, 1.7802, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f3a15df90c952902b23e238abc587e06803656010e12794299bb6b4af91c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd54eea85c4eabd667f0afb93c9734ec341ce68fcdd41fde930603a045428b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2c26bd265cae423cd30d4341f48c5fa6c7f35c5072f593f49b7cb358a753ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.5383, 0.4335, 0.178, -0.6506, -0.5549, 0.9963, -0.0212, 0.8116, 0.6025, -0.5224, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=-0.131 left_z=0.0156 left_yaw=0.0478 left_pitch=-0.1132 left_roll=0.1117 left_gripper=0.9963 right_x=0.2742 right_y=0.0013 right_z=0.1467 right_yaw=-0.0002 right_pitch=-0.1487 right_roll=0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -5.8598, 4.6154, 1.6435, -0.3492, -0.022, 0.1294, -0.0342, -1.5248, 6.9949, 1.7949, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2358, 0.7197, -0.4232, -0.651, -0.5629, 0.1308, -0.0212, 0.8165, 0.6018, -0.5758, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=-0.13 left_z=0.1227 left_yaw=0.0536 left_pitch=-0.121 left_roll=0.1151 left_gripper=0.1308 right_x=0.2651 right_y=0.0014 right_z=0.1356 right_yaw=0.0003 right_pitch=-0.2079 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2034, 8.7453, 1.2967, -0.4127, 0.0415, 0.8034, -0.0752, -1.306, 6.8444, 1.7998, -0.0415, -0.0513, -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]: [-0.7315, 1.8599, 1.4784, -0.5652, -0.6224, -0.5476, 0.1342, -0.0212, 0.8219, 0.6014, -0.6125, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.2345 left_z=0.1563 left_yaw=0.067 left_pitch=-0.1438 left_roll=0.1159 left_gripper=0.1342 right_x=0.2585 right_y=0.0016 right_z=0.1279 right_yaw=0.0005 right_pitch=-0.2502 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -10.5094, 8.3897, 1.072, -0.3004, 0.1978, 0.6422, -0.1299, -1.4838, 6.8171, 1.7802, -0.0562, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f3a15df90c952902b23e238abc587e06803656010e12794299bb6b4af91c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd54eea85c4eabd667f0afb93c9734ec341ce68fcdd41fde930603a045428b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2c26bd265cae423cd30d4341f48c5fa6c7f35c5072f593f49b7cb358a753ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEr06tS1LZZkUiRlmfZXPMTf9ZlkLj-RWgfR38adwNri6Sp8vuebyjngM77HF-OEPYwVrU4S9pTH9fp-ALz7Dhna5VQAm77Uzo0EUPIP80zEkcL2m6j1lClpHeDUYIUTuwCw7OeGnuPkuxBj6nfJoMBH_tItj-8aVJOeunwRFv1frI2dav9ZR2m-zsZBWEEJoUSjEdeFYJxXF6xLdd0DBzIIdnomOV0JCpJmNAN5x04Dod0qF8KaXTb8dewRFxKcCt0wg4yCTt9gu58aFyetGgSa2jcwWk10tmVcPaI8uubXOasvG51oN87QTd3MWh5ytVPujhYXKc9x9hUIWADHU_eZiPfLdHdkds7P2bIeiTiLo4cFP8nsIq0J7uKYPtEf0n8a_a9RmucO8svN-rbSA0JqseE6WqIiYsB565j1fNzZyXWR5FM5rnbIS-YKYMjnbpdqEMQM1tXY8zkE9eFkEACyVTTJbj2aoWUQQe3vbDdz5GMNYSj6EeLLpJxCYCw8yyioglapBFGeQ28LTDKsJd9ECBabB9MuvarblztnbzVmi14SKj3DZtcFgqgHP1iozLGLAsJdesb9MdWiGVlRS_q7bz0xBvwz9lp7ef-XHm6SrlrrSPyXS2TsyxTorpyQfywO94Sm3I_G2FqIrhbd7a14XsNHSc-g4XRYz82Fd0eLfMkQURPAiQ64r-jg0sC8lpFub8Rnnwva21hFJbn4bdRAXKEcPDB_8QBfQoYJRTwGsmPF-cdQdzYQoAaYw0Zi_O3eMG2QNkD65TXx4ivCW8uKWcFgRNUFSVyUIH5HmQwHOAvESEUffWHzW-UfAwM0AtNGl-UXcpsFtNcgpFeYpunk7I6VS4GI1RPpxMTprDFaGuU3UfF9aW2O4W08bRxVxnKbSGb4ZadJaeCrV2UrvYiFnfS-YcWN3AfdHHVSkY1FNVIubzegcxVkWXMmgpqu97kVOlXtIZNRRKjHejWM_w-mig78UNDVnriHyJUxmX1zRuWYLhoohB5WOgohrObCHCs97tYbxbxo9rA3XVCmvymJcqfamkSnRcvFTU1WV2nAUPTJIUPFY9vYMcMRLfXVr2AxmCHyS7AGf9qc_YITL8yQzCPN7OBbt5p_w1VUIKpA39NYKNrnrzHVatZvfO-V77kjd6eVtxIiABKx0kEyDWVtGYWBEagdKpVeH72gNTXOE92aRfLIGWuAwFqLTMpjsbT-bdF9DF___WIQJuA_b6fwj_Pvc3PSG0YvCgoO_DKiRZ5Yc89wjWKYLLXs4iWabLnKqnzE2BUHo1f3XmGcQnQwej3Egrxam_r_0n8tqbHw4d4MvHFgtU8VS-gh4u2YTOWPvA50w8qqefPldYYPeO6lttvbn1jkDsn8TeGZ75SWCAHvTmIXzmfs2GNNqpLXd2pe0UcKX33zZBVvzvTMNSJN6-gqbPZu11cEIkVj1B8RuwRffgAXTTH6UBm01LkjZdmTCNJ27mtiK9q5yJ5-CbQnCMxo1hl275uv84xsIEogxnC8v4MUFdOGOC63iZ9H5ILl5OhjZWjj4KICmUJZwfIS_mJ-uHcZnUNaDwm2pwAJs3_STLwQ9IOR4h-AsNFacT48gJ3EklfDavut_zt2TTikPrDIPIJm7u4e_87Z1tD_WtVskMHyWe-Ll6aV2nvsxviTmdnLJFhNSPEni9GK9JLgAfVBT-E4ATC7_z81VXgYP9m0J0fbM3orAiPD_3HeMEtV5iU18uuNJspMQT-Po7sUufNrsvwkSUxl-6VPZrzJ01vJdxpKwOCevHRwVyYvK6X_c-2V94PnL_akDJfJtotBKkw_YrRA7LRf8usTQUYf3Rz1Kn5OMZhyBWLexBUtXWxfDK_k2YxMu6FKLKv8ipkz6eg_LkXWTsCH7ML0ZiLPWXF2wd_LISIcLoSfnUthwVs96potgRxZiZqkQnHF0fVpLMWm-aYjbOmA4xk1iBgC6gspa7XvMIJuoxznro5OpfSThuOiP4IKoeLFQTXDQ7LDnx41M6tUSXgUmTQRO76WplC0e9fSqxsg28EhDcNtkR_-zqVPahZkqiDBclOk7tgjtzMj0ssVJb9eXEuUqY4lW01HiFyrDxe8qxwCDfAK6cazq7njnIGi0c5NbVibeozWlJ1gFP3nGVKFt79_hREBShDqbdCXZCULrKmQjQbgGgjKHf0ziVqkkxT52-5rjbo64jUErINY7ouDj9vmwxlgpO_4yBZqCLJAnDRw1WC6o40g8d1BMVeNT3PcBm_Yknx7-7IQYZp1ApJT3ytO99O3aYf41D5Dgvr2bNFnTMnETxmAX7cDtIauckqDX9fiGqcoA==",
  "id": "rs_0b98d5001d78c62a016ab44127df0c87d0ade27620a609b88c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The held plush is centered over the safe’s red interior and the jaws are above the rim. I’ll lower it into the cavity until it rests on the bottom.\"}",
  "call_id": "call_20masIgOOn30ubEd6K35lxJp",
  "id": "fc_0b98d5001d78c62a016ab4412a3dd887d0a0e89b73b1afe3c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_20masIgOOn30ubEd6K35lxJp",
  "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]: [-0.7315, 2.009, 1.2018, -0.1947, -0.6174, -0.5404, 0.1347, -0.0212, 0.823, 0.6014, -0.6331, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.2286 left_z=0.0353 left_yaw=0.0663 left_pitch=-0.1859 left_roll=0.1586 left_gripper=0.1347 right_x=0.2548 right_y=0.0017 right_z=0.1243 right_yaw=0.0007 right_pitch=-0.2719 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0581, 5.8051, 1.4628, -0.3443, -0.0952, 0.6325, -0.1026, -1.265, 6.9812, 1.6386, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76df6fa9892e87e6dd21ae5b80404abbb38189186e63a9ade90086bb63249b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c93b7f1f9f29f7c6fa6bbe4fdda95ff3fcc57c777513a10919d546f6445f789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f326b419ec083c005507d36c4e68f929a9e5c7a04844884420bd8d1a3f8c4032",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.5475, 0.4255, 0.1947, -0.6598, -0.5579, 0.1303, -0.0212, 0.812, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=-0.129 left_z=0.0137 left_yaw=0.0556 left_pitch=-0.1079 left_roll=0.1147 left_gripper=0.1303 right_x=0.2701 right_y=0.0013 right_z=0.142 right_yaw=0.0001 right_pitch=-0.1735 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9282, 5.3402, 1.1306, -0.2271, -0.0171, 0.9011, -0.0205, -1.2239, 7.0085, 1.7705, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7315, 1.8599, 1.4784, -0.5652, -0.6224, -0.5476, 0.1342, -0.0212, 0.8219, 0.6014, -0.6125, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.2345 left_z=0.1563 left_yaw=0.067 left_pitch=-0.1438 left_roll=0.1159 left_gripper=0.1342 right_x=0.2585 right_y=0.0016 right_z=0.1279 right_yaw=0.0005 right_pitch=-0.2502 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -10.5094, 8.3897, 1.072, -0.3004, 0.1978, 0.6422, -0.1299, -1.4838, 6.8171, 1.7802, -0.0562, -0.022, -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]: [-0.7315, 2.009, 1.2018, -0.1947, -0.6174, -0.5404, 0.1347, -0.0212, 0.823, 0.6014, -0.6331, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.2286 left_z=0.0353 left_yaw=0.0663 left_pitch=-0.1859 left_roll=0.1586 left_gripper=0.1347 right_x=0.2548 right_y=0.0017 right_z=0.1243 right_yaw=0.0007 right_pitch=-0.2719 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0581, 5.8051, 1.4628, -0.3443, -0.0952, 0.6325, -0.1026, -1.265, 6.9812, 1.6386, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76df6fa9892e87e6dd21ae5b80404abbb38189186e63a9ade90086bb63249b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c93b7f1f9f29f7c6fa6bbe4fdda95ff3fcc57c777513a10919d546f6445f789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f326b419ec083c005507d36c4e68f929a9e5c7a04844884420bd8d1a3f8c4032",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEtIr1QCIjsemPKRZ6hOpdlL0uRI6s6h3bBzuklo3ZiErOeYRIoiYkoZmVBSy8qEfO3vupPpMpkrlJn8sufrbExR26mGwP0hfr0v8d-sVrV0FT-HtDDnn9Rjs_SVZ1GzRVGBfsmMXpzZ70466GjPNyCcwxj2cApbd9aZEeX3BvsYfUs7ApMnnlu274myvFAKwTHeJYSOgwhO5IdbClnnnzNJBeFD6RCZ9bMOF_82oqmXAQ-XERwjQ8LN1_tkCvayw_AyiwSFAkeGCQzShDP5un8BljFEK9BbXaWMlpl2NXbbAf11Tn3QyNSPjsANA3qh7CJIL0V8aJrn0c9eNzWn7rebVEIaJK7mxHaxvY9XPlpIlTziBwA-B7fx_q2pr8-x68ZCAvM2LtaD8RG3sdoZZCDZZKQx7ur_ejH1RrW6HGg0Q-0zMX-HC02JZX_9oxRNiW9_dtujjIBjQPmNjwz2qQlRuwhxWo2xpFxw1XKsC1vTngPEapNcLRr4E2KoYnrTtucGxubk98JPDcES7SVhltt3RLlqGqDdeST7tmsIMUCGXegUFBKkuvpsSmr0C21FU6wkkxN28mbbLW5CiJRtD0rbSGt0iDpV6gfV28pJJGA9lfR6n5Ru1qLjjt-_acFDOTkYZzCKVwoklX6gxa3Fac4usGRvkJs-ByVe-eqJX-IfLj2bjwFEwdCy3bsqMhJHf8_cmJrifs2py-L81pZ-r_PMsW_b1Z6eWxEG1Ujn2t37WTSiM-XO7VA5amXLA46yJb7TmDIrzXYbq0HLK26FFAar-lfFs-6u3sfg5_ZhcJjMpdqZ1ou-pX89JILg9J6MhKhhLxRaWprwHGtNMFBYQ1Ehyg2MU4Cs0wMr_6j79z4W1Bzkmgnwh7PK-QlqsJr942CF3y-K5U-5yXhM2vaq3ilJskhUjkB13UR-JKRf1XVtmMZ6s2Y9IOFEYazEHQMbJekP4Ylcr7Z8krp7zatHQFqppTAjuZ1bfiCOIaKLZ4Z64YpG5JKB5IuuTOwQQDd5_fn0mTMsorhPVI5pfK4CONY6hvvoxrc8rl7XFQJZbCzNVFFDaSLiKQ8JhyHwyJwRmSzyKg7TkwWs1JtVeWZcN0nNmxCjsVj0ZIYh7g15Z_7MEGuzKul0ICJkzfB7u_KqT6erTUvwxIxbXsShHERlVTsThAr-MAuT8TVBEThspzFwECIhoG7mFU8MAO2D4YaWrIE3JXXfFxFBTiQuBIxPOjlrnkZiT-keUD1FhJV-DqBtKk=",
  "id": "rs_0b98d5001d78c62a016ab4412d0d9087d0a474adb1e01b8b41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is now down inside the red cavity with the fingers below the rim. I’ll open the gripper to release it into the safe.\"}",
  "call_id": "call_SfuAZY9VYktLZ1JsrJWj2s2m",
  "id": "fc_0b98d5001d78c62a016ab4412d45c087d09a094f350d10423c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SfuAZY9VYktLZ1JsrJWj2s2m",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.0197, 1.1919, -0.1791, -0.6247, -0.5571, 0.995, -0.0212, 0.823, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2263 left_z=0.0298 left_yaw=0.0821 left_pitch=-0.1835 left_roll=0.1542 left_gripper=0.995 right_x=0.2502 right_y=0.0018 right_z=0.1204 right_yaw=0.0007 right_pitch=-0.296 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.3162, 6.4752, 1.0379, -0.1734, 0.1587, -0.0317, -0.1709, -0.9641, 6.7487, 1.6288, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbb776b4aa2cb89d3593150be6e710db2d958e650e1e70cdd1d52903efc7095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671772de118c96e6b3a5e68b1c1a96fc2e6027f3529f3679b24c46e67dccdc60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037956fdee25fef368eafab7a5a04385094a739bf6ac8f1455ab9930fa69a61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7715, 1.2358, 0.7197, -0.4232, -0.651, -0.5629, 0.1308, -0.0212, 0.8165, 0.6018, -0.5758, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=-0.13 left_z=0.1227 left_yaw=0.0536 left_pitch=-0.121 left_roll=0.1151 left_gripper=0.1308 right_x=0.2651 right_y=0.0014 right_z=0.1356 right_yaw=0.0003 right_pitch=-0.2079 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -5.2034, 8.7453, 1.2967, -0.4127, 0.0415, 0.8034, -0.0752, -1.306, 6.8444, 1.7998, -0.0415, -0.0513, -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]: [-0.7315, 2.009, 1.2018, -0.1947, -0.6174, -0.5404, 0.1347, -0.0212, 0.823, 0.6014, -0.6331, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.2286 left_z=0.0353 left_yaw=0.0663 left_pitch=-0.1859 left_roll=0.1586 left_gripper=0.1347 right_x=0.2548 right_y=0.0017 right_z=0.1243 right_yaw=0.0007 right_pitch=-0.2719 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0581, 5.8051, 1.4628, -0.3443, -0.0952, 0.6325, -0.1026, -1.265, 6.9812, 1.6386, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.0197, 1.1919, -0.1791, -0.6247, -0.5571, 0.995, -0.0212, 0.823, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2263 left_z=0.0298 left_yaw=0.0821 left_pitch=-0.1835 left_roll=0.1542 left_gripper=0.995 right_x=0.2502 right_y=0.0018 right_z=0.1204 right_yaw=0.0007 right_pitch=-0.296 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.3162, 6.4752, 1.0379, -0.1734, 0.1587, -0.0317, -0.1709, -0.9641, 6.7487, 1.6288, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbb776b4aa2cb89d3593150be6e710db2d958e650e1e70cdd1d52903efc7095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671772de118c96e6b3a5e68b1c1a96fc2e6027f3529f3679b24c46e67dccdc60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037956fdee25fef368eafab7a5a04385094a739bf6ac8f1455ab9930fa69a61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEEynPzHBhcEbUWR6Gy3jKH3RERoAMczptJK_oXcP3Bl56oZU9cwJ7JryqOHsJ1WMvkoWRUfJcccb8XOVqpWNkBkkAIW6DNeXnwen97-uZ7e9x7leCs2XqGh1Ft_bBqdjjr8kY3kZP46IGQX9U01mBmOZG4x-yIkAOzt_9-d4vXibbnEmleRzkObLV1RvF4hVu6CUoPaTT-lFQXEFSy32gX-O9gca5AL5OrjMEH5MRKvkGKvdP5IWw2uhTjMsp6ptOqmGPQ7dxFYuf3iTOpeH8UQN6BVo4J_ClWpUMgEEhcdHm1bBaCIy8KlQQsWoGYVjz8Ki-0aVsq8Vei1pU-0X8uj91ws6qF5v99CWRr5M55xE1B4jRUy6wjULMZFvewrTIGsfZqerUDil35u9CnfJhd-27g0hvlWs9wvXXKxXIOyZ6GorSt-eRTPlxjqZ5Hdg9CzzgrwB6aJW-KvewobxkCUNOwJBEY2Za2WXTQYkBuY9pX6ewEnjwuf-a4iwOsWeWc3PfrHKR3DS60-zvi11Gk2ZUAAVq5KZNFN1euHFMkU4-XLsrqntdRx1-8CV_UZkFX4RqM3kI35t6SvI8QwobphCYWEJIe4P8M-t1GncRG8kdAIikvNlWOAsrR0myB7vRiAWHJJKAvWiL-HMISDfNxPY-wScG2RayhtqTBwC8-ODEo9YkSC9ecEPLPUqRk9tUqaEJzf3W_XJSnyA1zEEQCXdSVdmuYr6qWV3eIVWClHWBio6vQVgyWig_Ox5_NDLdJW8_tqIudD5sJIgB-zX0iM0XFGnXPiJKkthUM-sq1bvHgpZWFN4kcp2TUzEeAL3iKfiAg1OswSRvzZGd3fDzR4ASecXCdCgqgL8qtMCJmYd5glgpESYOurnbl9VfOz3yYmckYbUmjCl09bAFfCv2awkRC3Urzc0cvcBU_xhh69hZJQcwRNxQ8pH4O8h0IrRHKrI7lsMIJUUsb0wS33x205lIYJNkXq47Ey3aXMUzVmSBFVOoD4ZFWmxJhYVsik3kEXqmsffLOUXvmBXsmrP45qFSA_A5frXDaAgPUvvztLJJrzUbTNhQAYOMyyvhoCI3WmPrgzH9KZm6VxQ6sQqS7_dgQlu_aJXtA9qOqpu5yudBGt-Wd3WKgPAcqd9oCWoWJAQ7mDzJIjQBZY621712SI1L1i44POKHQ_rhCzbdKFAieru4QxnQq8-hHXNyqnMl9gQyBDWdN41zcWfTihrtKd0xybd3AjOFmHV54Il7l0c-MmxP_IlNkIpjKA1z4URPU32O68ZFzcUN9UElrkDNJ6cHyLblp3kiaC4zGbvuQ9GVQqb8QkSJx7ccIuxsGg8w1mKASE84WDjLvubBS_tRMYXZFe9ECTWUj7o53UQ2M-m2cbFaTqqbWKUvy4YpEGqf5AsAtw-62haW7UpJozRMbqLnLe8FSfJteced-LpZ4hOqTa5mSJK9gQRs9WhgSAN37PCwV73dSm8WB0orkPNjpAB3r252wi6MDwQ5JTIieIdhe4fihS_28KfzB99G9SQNyZVWVr_YrJVGrZPzxHF8wcftmTAZdS5UEtJCiASSjMHL_E775KRkCbTv9BC1ZWCCOBHFv-41ScycxAcB2gqkEyg5J8CAUjDeDz-dpzAn6L6qnbrkcBDzI5fUdj5m6JI_7QP2_C6tvkTXgglmVXemYUmQ==",
  "id": "rs_0b98d5001d78c62a016ab441309b4487d09f48346a54a97e0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The white plush has been released inside the safe and remains there. I’ll park the left arm to clear the workspace and overhead view before handling the brown plush with the right arm.\"}",
  "call_id": "call_QLTXiQozPVk5KbSfKmyqx6az",
  "id": "fc_0b98d5001d78c62a016ab4413169b487d0b9aed32685bc95cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QLTXiQozPVk5KbSfKmyqx6az",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.1944, 0.9798, 0.7845, -0.6102, -0.3145, -0.1303, 0.9984, -0.0212, 0.8288, 0.601, -0.6765, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.171 left_yaw=0.1286 left_pitch=-0.1831 left_roll=0.1483 left_gripper=0.9984 right_x=0.2465 right_y=0.0019 right_z=0.116 right_yaw=0.001 right_pitch=-0.3215 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.5368, 8.7863, 1.6288, -0.0708, 0.1783, -0.1734, -0.0342, -1.3197, 6.7487, 1.5604, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7ba366d578689cf99682374e6e1199c671319684017415ae47827134c4aaf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1795b00b40c6288295f1a3e66f4e5fd05a8ee37d753e52c921a5d2d065d24acb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af33079281fa55a9b7ea5d79834ab4c223f8718f7c62e63eee7aaf9881480ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7315, 1.8599, 1.4784, -0.5652, -0.6224, -0.5476, 0.1342, -0.0212, 0.8219, 0.6014, -0.6125, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.2345 left_z=0.1563 left_yaw=0.067 left_pitch=-0.1438 left_roll=0.1159 left_gripper=0.1342 right_x=0.2585 right_y=0.0016 right_z=0.1279 right_yaw=0.0005 right_pitch=-0.2502 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -10.5094, 8.3897, 1.072, -0.3004, 0.1978, 0.6422, -0.1299, -1.4838, 6.8171, 1.7802, -0.0562, -0.022, -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]: [-0.7303, 2.0197, 1.1919, -0.1791, -0.6247, -0.5571, 0.995, -0.0212, 0.823, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2263 left_z=0.0298 left_yaw=0.0821 left_pitch=-0.1835 left_roll=0.1542 left_gripper=0.995 right_x=0.2502 right_y=0.0018 right_z=0.1204 right_yaw=0.0007 right_pitch=-0.296 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.3162, 6.4752, 1.0379, -0.1734, 0.1587, -0.0317, -0.1709, -0.9641, 6.7487, 1.6288, -0.0317, -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]: [-0.1944, 0.9798, 0.7845, -0.6102, -0.3145, -0.1303, 0.9984, -0.0212, 0.8288, 0.601, -0.6765, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.171 left_yaw=0.1286 left_pitch=-0.1831 left_roll=0.1483 left_gripper=0.9984 right_x=0.2465 right_y=0.0019 right_z=0.116 right_yaw=0.001 right_pitch=-0.3215 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.5368, 8.7863, 1.6288, -0.0708, 0.1783, -0.1734, -0.0342, -1.3197, 6.7487, 1.5604, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7ba366d578689cf99682374e6e1199c671319684017415ae47827134c4aaf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1795b00b40c6288295f1a3e66f4e5fd05a8ee37d753e52c921a5d2d065d24acb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af33079281fa55a9b7ea5d79834ab4c223f8718f7c62e63eee7aaf9881480ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEE5XwSNrxVdtz3AFb__jjBt19t9szEhvk1WPToGKbg3Lf5QS_lF2PjjMbVIEOMw9rhVw78kJzkO0kfzCkL8IvxK8BsNlY4PEMS5E-0xOXJScx3E7p4Q2x1KFgtek1PCRVl-VYw5u4be3wN1jNHgO_cscBrdyhabY60CHETcAbngWZJHiRKhb4Ax3AlbdoiewRPn1lKFMgxNHKgWaV6hP4Oy4Se9jEQylXClfyWzxh7MvsuY7oRgvvgOGRuxV3EY5lwJLz_7Ff99GA_n4FwOz78VQ-efUa7suHo57ww76O6mul_IjX49orGi07O67F-Lmuv21-IcELGRO_BaRr01u-_qWPlVcBCIccXy__A1teJQdv45qztngKsKylTjZ0GDeTdjcQpS-EOtA2H65sSLLeHzXXuup7KRiqCI8dhadJYlkR2u5uGDFwf3JTtC48MyBjd2KV7uXvbsTrw6fbAfeJ3sQNdieM-9DDV1sd2T98gSV39CdrhdCRRfAf5NGgrWslxyDTdVX6xGsWdTje23Jh-xXSUEiVl2fRiAkQk5Qh4koqcuv9aN9d8cT34Ef9YHn8iSlvg6LgXi5ZroXiIIkRq2ovh6l76j4zX8-LhjMeVqt3kcXD8aEvA5EHFgwdJkZkpWrgSI6t-FG_Qtvj9yDLM9ZkaKHtwLhd39ZlW-aUkPwDbIJL-0c2FGRgbUr4KC8LrBzrYC543BJVfbC0aotu_PvMCiTncdjne7z7n9HvYUqhHQPlJd1_d8saBFBgCdGFLbwwtK1tNJmBsfQ7Ctn4x_tECgTZtYqnr9XbGkzolbpPHVtAdUgRWXqaFMT09J71joO902IZnF4FTSxcQ-6CHDcSg9DCZ4OpF48K7mPBwHw8N7acTSCck3O2FPY3Tupr-3BOEzpzU7lJDedTY6aVzvUe6rXcw2V4OxaZVjufrm2zGmhMbaTbSFIIDJEPXyci47CvQzfOl0WUPvYCUiNDJlFGX2SrL6Kb8VxkftG4_5iZ61WzUBH6lCeNRrESkqVfTCSmIYWDzo5JWhZtsvOJlCBu3lgFlPN1i85mWeOiQo9u6nxEabWq9k8-EfPjw2EbuNqd_Ypu-ff0_JncEaOymfmiyTwdYvmdMISeGOx2hjbEeTIlP8ZFz-j3azF22fBgsB_xaQOHm_MGTthpADEtafjSLjray1FmUU15-aKng4XgzK9HOcr3DVQmL_dbVw4N_lj-U5h_vsNptSSAxeniSD2L1vgOl957B4DEwT6AFzD7kOsMoHwyC_GSvClLkBFtCQenJePAL7duK1ORt8ZVTk21zgOhzLJy2J9TKPG_mZkUiw2mTqhU0VcNfF8nBmQ-pSbtacOeLNEttnihnGA8IKQObBLU4SmjdZy95aTJuB-fVH1GlLvWY5o9CsvvWLqdMkgtTgbatSp_vccH3Lm2QGk5cRyuXnBZq7VAMY83CsnIKeLtbOyxOwGyITvvPvJhFXEL3pn_eaQ6CySO-fkTv2Qj5LE2n84KsI1rdzSrmWAPsqorqfgbqulTYt64au7UzRhQrWutF2QZoMM4hJ65tp6ISyZhoTVGeHViqidusQWsZbML_mLqtXd2VqJdrILEhiltKYl3dXwPiwoJiYIYTmMdVKksDO3D8yAFRJmOaJ6AeW7U7M4VbOQPdkO8y87wSMP6R27jw79H39T-y82RgcT4EjgDbAEj6RJaMEGgw50jcKpbOfM5tNm8Ilm9jFDWQ5EqWCouBbwO6PJSbtMHEWx3UDN5UxeuG2wTr3X89B8Az11Fa1JYwWMFj8OGuwTuq1BmPmp6-L6dgrbKCFI5FmKym_IC0U-yNnk3jB5Q2olmVW7MB6ihJ7642NYh1bDfo2Jb5GejRikJHlbHdpWlAAfR2WtBvlz77OfWUXhtRJ_WYeNgFrONAjTS9RgSomvTBelIfR62pMqxd2vtNlrSoJyPcTfUr2qghy7kKY6BOkTVIiNismAPs-ZhBnfk7Fggh9OkSPDm4sGz8x-PjgZRtKwLudrzN3otlZngIiL1fzyAbs8eMLK16kKBBfvMGQyBB-JBh01wCNtsqzdKdqlUUlH_OTOD2fKTfVlKV4nwrsERJCOF0YEDqD_CeWVpjKkor9RkSiEyS3b8holFKU_G3qOo9YwzImMylriG5rIfRdm8TUWN8bgX9w2JtV3ipfwWUrg19Gl5mtVPrkeOENxWVB94tyZMhDd2uEzLSMTU3T48H0y7WPIqnW1maPU3EOdlf1UvQhs9zm80j6WjEdrdHFQR6Z83XmkMj6eYeGNTsrLlFvhwsmKoKPq1cvr0Ca5RaRlTPqrKrat61WUisu89PgHnSKWZw_OdwvARPI7sdoanabQktbmjHnPPZrX8s8D1Svkh_N2uLDy-GZz3sWLVJCiZdvoK2SvPv_a8K66vwF9eRZu8FhiJnxh2O_vdtFzwAjag82J9MyPCEMxuAueDxx8yZ61XRo8gMRyK5yfSAEAUFjEVmXQQaEEU5UUCMNvX1W2OVimLPesR1W4hWpFfiBfdaSnpfaDqCpl2P11_5AYGa1NZ-GGlgXmYkKW89EYbtcafS3jDLKtBT3EOC_S_4R3rMO5klwg-Z6NsJcA5J5iTEKMKKlyKdQ86GAtHw4OQuI1u8Y2av4cwJ-CVtAmXqlYH0NAZ56FCJn624UGa4QGyWrF2p3aWVX2DBziNTQPBelXZQes0quHDaoZe4BmvszkK_HewIjI5ekW4ZGZLQQn9M=",
  "id": "rs_0b98d5001d78c62a016ab44135413487d082a6efbe82082e9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.28,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the white plush is visibly inside the safe; the brown teddy lies just in front-right of it and the yellow ball is behind the safe. I’ll position the right gripper above the teddy’s torso.\"}",
  "call_id": "call_THMUJiuLHbIr3FZF5sTN45YQ",
  "id": "fc_0b98d5001d78c62a016ab44138305087d0895339f44f431a94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_THMUJiuLHbIr3FZF5sTN45YQ",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6331, -0.3042, -0.1352, 0.9982, 0.8856, 1.7538, 1.4105, -0.7979, 0.4648, 0.7383, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.166 left_yaw=0.1237 left_pitch=-0.2096 left_roll=0.1458 left_gripper=0.9982 right_x=0.3204 right_y=0.2726 right_z=0.1385 right_yaw=0.027 right_pitch=-0.3663 right_roll=-0.0238 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.5368, 6.8308, 1.6484, -0.2369, -0.0171, -0.0366, 0.4444, -8.3077, 8.4308, 1.1306, 0.486, 0.2369, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66de4b0b0072d701008e69c478911ab4149abe85bcdf017a84fd0d36d519c85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9905b0fc8a4824399d09ee0dea2d5f5e97ebf7c65bdda622764c49a236dce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209d16bf001bbf35845612ad8aff7c8fb020f6da18eadcf99797787eb38cbd46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7315, 2.009, 1.2018, -0.1947, -0.6174, -0.5404, 0.1347, -0.0212, 0.823, 0.6014, -0.6331, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4131 left_y=-0.2286 left_z=0.0353 left_yaw=0.0663 left_pitch=-0.1859 left_roll=0.1586 left_gripper=0.1347 right_x=0.2548 right_y=0.0017 right_z=0.1243 right_yaw=0.0007 right_pitch=-0.2719 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -10.0581, 5.8051, 1.4628, -0.3443, -0.0952, 0.6325, -0.1026, -1.265, 6.9812, 1.6386, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1944, 0.9798, 0.7845, -0.6102, -0.3145, -0.1303, 0.9984, -0.0212, 0.8288, 0.601, -0.6765, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.171 left_yaw=0.1286 left_pitch=-0.1831 left_roll=0.1483 left_gripper=0.9984 right_x=0.2465 right_y=0.0019 right_z=0.116 right_yaw=0.001 right_pitch=-0.3215 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.5368, 8.7863, 1.6288, -0.0708, 0.1783, -0.1734, -0.0342, -1.3197, 6.7487, 1.5604, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6331, -0.3042, -0.1352, 0.9982, 0.8856, 1.7538, 1.4105, -0.7979, 0.4648, 0.7383, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.166 left_yaw=0.1237 left_pitch=-0.2096 left_roll=0.1458 left_gripper=0.9982 right_x=0.3204 right_y=0.2726 right_z=0.1385 right_yaw=0.027 right_pitch=-0.3663 right_roll=-0.0238 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.5368, 6.8308, 1.6484, -0.2369, -0.0171, -0.0366, 0.4444, -8.3077, 8.4308, 1.1306, 0.486, 0.2369, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66de4b0b0072d701008e69c478911ab4149abe85bcdf017a84fd0d36d519c85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9905b0fc8a4824399d09ee0dea2d5f5e97ebf7c65bdda622764c49a236dce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209d16bf001bbf35845612ad8aff7c8fb020f6da18eadcf99797787eb38cbd46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEE-Rpbcu2OtkYdym4wVr2gToq8aGWPx-ymiRHv99mE0H_cOzkCY_eGFfiglEPXRFCtiHGLQNQMY7yLuTskc9adbVIj3LW4oYJKjaFryAIaIdrOevnV9omqFYXcNRYjOJSIj4cS7ydR7NiiUKlmUKItOE_mvsnct0gW7MBvYpI1ZZNjxB1DLFF2qWNSd1dFAtjCuMTqj_AmVD1kdlnHnHuA-YfAo2_YiSH4vvBhAVKNfbwKNhCdEeJ0cpu2gdQTXxofDcgrbVIP54jIQ3s55yB4G2HBXet9Vz-5fEQK4CgfC-UB1XZ6oYeApBra-1-L_u53dq4z-yWWJMUpaYqm1B2mz7Uopuv8AmbtYlFFSnMeaRYHfp6SjmXtXgM0ZYZogohX3ECXSnpj-dYAiQ8dPKy-PW0Cs6o5IU5iEhelhPDTcoPTKx7ibABfljHvgI15pqBb26NsgoHzzW3xgLw3NQWMQgzLj2TB79vzEUYBEpL66knEVWDsJrNJQ4iO43tAZls-ZG8mmWQurSuYgu0vLNRkTAS2wtTf2fjqIdjVRso7Npsem3tsK3p-A3dRBnFv7qI8j2tk-gbi7b8iCNYSJiPCQDdPJtjsnlMYXDrFzMwLxHh28M3OijBBgWffeBMLVETUkm1WBUknwbW3ZzjvJj1boAfLIShk-6NHGSL9Wo4c7nRXoA7Wt8c7H5JeghP8IvoBfr1o8mxMFFyLsbEL_gXT3RmZj3IU713SRkAe6zZ5qebUHaWvvWZBXTtAUp6QWdXoyouOSKtGl9yn-qLCW5cPDrpyTNxT-6jqyoGA_vMRMLMax6sE_9CxDZsU5u5O0kzW-_vs9alzY9pl2I3SBsxLvgHtKq2CqJrcHJqiZWcfd1DXfVFTsZYeCUByiLbgISc1S8U_C5J_f4MP3jZbwugIrNHq77F-VbABTcaPBsSSwEhBHsOMClBriW30V1tIGi7ZJjJ8Uk74pwb3rhQ6tnADGhrvxYGY23jXP4UykgrPJjC8hu4RuBbz79w037KN6Mg8JgrR33wKB1O3YacIDy-jQ_Qm6r1vxBmqL_n3e5F1t6toilBlrHlOdl1SF3UfINuQSuvGbXeorFERqbTNsXVHtvF0d-j0IBa2i3-HIvKuc80H67MnOSNrkrRfXM6wAISdnb1QJKAt0OQznrX6bTM4wfKE9c0ryRHuQCcbl-u_JE7dE49b1RKCmVumdUjt3L3zEWFi6kMXNR0txUMS_WtqZ2L1hn6zgZyY6-C1U1WrbsK-mQXJ_N1GaG_tPCGzSfNrlAls46zXf3g3I1DE-c87bGCQIbkntkMtueW_cNx7wAGKq0n0V3qTMAzE_IXOAiCI20wRQbHp-Cj8C-83PkPNsGXpk-vkKDze5rTfLn_T49_Zy787gsxjqdMMd0D_D3jC8ZLG3OUheB_EZ8L30K1nny0RLbWP_U6OnLcs76O51znLaQpc1-kGWdN4LEVbskQ9UFgV15CaK9Pto8asiqp-jBTEj3_ySFfawvuYt_iYWaYyVTU3F9MihhujshrsNDkEhbLPyEJfB-izBnp7DPopZAA==",
  "id": "rs_0b98d5001d78c62a016ab4413d1b8887d081570a2175e96d35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right hover is centered on the teddy’s torso; it fills the jaw column and extends to the bottom of the wrist view. I’ll descend to a low grasp height.\"}",
  "call_id": "call_Bx8awmVrZvvPqFNaS5GrYTS0",
  "id": "fc_0b98d5001d78c62a016ab4413de93c87d0b9457e2e6de6c716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bx8awmVrZvvPqFNaS5GrYTS0",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3035, -0.1356, 0.998, 0.8883, 1.8458, 1.1381, -0.482, 0.4568, 0.741, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1653 left_yaw=0.1236 left_pitch=-0.2138 left_roll=0.1463 left_gripper=0.998 right_x=0.3111 right_y=0.2649 right_z=0.0404 right_yaw=0.0183 right_pitch=-0.4033 right_roll=-0.0568 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -2.2222, 6.7897, 1.4579, -0.149, -0.0269, -0.0366, -0.1983, -6.8991, 5.7641, 1.1404, 0.3346, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58970ebd0fcd0bdfce41342c18aab2891d599e524886a06d1ecb2d4cb0aca786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f379a79dadc1343a11b9532abeb3feeb59a5cbd6721c3ed1177adf0ed1a81e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49256c75725a44b9c778c5c148ac40e81c0a3276b8edf133b10188943bd5b1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.0197, 1.1919, -0.1791, -0.6247, -0.5571, 0.995, -0.0212, 0.823, 0.6014, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2263 left_z=0.0298 left_yaw=0.0821 left_pitch=-0.1835 left_roll=0.1542 left_gripper=0.995 right_x=0.2502 right_y=0.0018 right_z=0.1204 right_yaw=0.0007 right_pitch=-0.296 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -11.3162, 6.4752, 1.0379, -0.1734, 0.1587, -0.0317, -0.1709, -0.9641, 6.7487, 1.6288, -0.0317, -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]: [-0.1951, 0.9825, 0.7841, -0.6331, -0.3042, -0.1352, 0.9982, 0.8856, 1.7538, 1.4105, -0.7979, 0.4648, 0.7383, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.166 left_yaw=0.1237 left_pitch=-0.2096 left_roll=0.1458 left_gripper=0.9982 right_x=0.3204 right_y=0.2726 right_z=0.1385 right_yaw=0.027 right_pitch=-0.3663 right_roll=-0.0238 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.5368, 6.8308, 1.6484, -0.2369, -0.0171, -0.0366, 0.4444, -8.3077, 8.4308, 1.1306, 0.486, 0.2369, -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]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3035, -0.1356, 0.998, 0.8883, 1.8458, 1.1381, -0.482, 0.4568, 0.741, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1653 left_yaw=0.1236 left_pitch=-0.2138 left_roll=0.1463 left_gripper=0.998 right_x=0.3111 right_y=0.2649 right_z=0.0404 right_yaw=0.0183 right_pitch=-0.4033 right_roll=-0.0568 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -2.2222, 6.7897, 1.4579, -0.149, -0.0269, -0.0366, -0.1983, -6.8991, 5.7641, 1.1404, 0.3346, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58970ebd0fcd0bdfce41342c18aab2891d599e524886a06d1ecb2d4cb0aca786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f379a79dadc1343a11b9532abeb3feeb59a5cbd6721c3ed1177adf0ed1a81e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49256c75725a44b9c778c5c148ac40e81c0a3276b8edf133b10188943bd5b1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFBcx35lEV7Rvf3vBYlfdH80Pd8t6oXdlAOtFdk8bVEgksZc6w_LhpDsjQTyY3Cg3SUNXXguk2DmJmZ1Uty9EUqbeGUi1gKI3pH4SbtvPUCVw7xUdmarRviuCnJv7u4hlVika__HmItSN5el-oBpj8J-2FVff1vA_5MSgPVRcONay1CoJacv8zeecbgmDoewdF4yx7rWCQqFa3xwPP9TlKDDPcfpEA__f90tALrr1GyiBZpHv1vX6Fw0Wfd2k8xwqYeqePG9HWgnGVDL4f3aws3PrM1zRLj7yoWWg87gpMEp6LCFo_9G5enoRYUh4ciDWFxyYcs2Ovz_0jiYS02zQigg-1fPRlsYrRYjrikN2iBiPFjU4IxND7kX38DlFgjmQ2w-St_ODhH-MCyblJeZWfbniEi1VUusj2_CPatlij_dI-wgmItYiZzLCgyj36Ogt96NNic_5lqN0LrHhQMwvLa_K8nQrOutDnWNTzjTwyDgDdbp9P7ek-561EaIN2zpbBnFn1DAD1gOOKmn_OzV-nI2l_d0CV1VC-oLaag3o1lIt-jZGanvVckj2hG9Ne1on3LSpdWrpmFdE4EAS6tqaVLn7fksFpXXFsWLd40vsnp7E2BEUKHlPBlMS6ifIpEEJydlFro2gFzcUsqaaHsS1px9_FUGiqH2PNwxefFxscSg1avgp5RYJS-l4FL8IGNwxBn9bfUiRLGmyUohHt2ecRm9fflSMtb3Ds3i6MGTypjM-IfAKwRCNDmcdPyZywXAswX8VsHpDxTStTNuEkFXml9mWYqjp9f7mGieRXtcGFTarw8pJ2XrVSy3AAtUbe0naiUIwSet3ZjNBV_NC7zRtA10JEuVm5dfuT8EgV7lM4kBofmXEPj8napMUa3aAp58kS_YqNmvJMZ1fsNqD_pRfXYxRejlKJOE30nKHFXV_kPeR-lyac6Mnl0XDYetYuAvq2aOSKXSbQRpadXmFZI4mSdtr2-HWDrZ4MWSWa01dH-nElf20ZXdrKk2W-qA5Q3YeDVLoO5uVph92ivXqESbpzKUCrVGYvEeP1upl3Xgxa13ejopgdKExED08PqR67A6zSoL-1s0cMaPYHwG4UxtLmjl13ziJ08kUIqc2iIavjPMQvttQsb3fe167KifKKcYiqOVjwQpsfKuV-JpMuIHt83B4PpkviKVnZOO49mtL7nQVvBeUnS18A2-XwltfQOmFhomAZ9g7jKBqCAgIzFD1GC1g==",
  "id": "rs_0b98d5001d78c62a016ab4414093e087d08f4ea43af0354cfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy’s torso is now between the finger silhouettes at about 4 cm height. I’ll close the right gripper around it.\"}",
  "call_id": "call_8wj8uQmFRVDTXbBpTxzoACpq",
  "id": "fc_0b98d5001d78c62a016ab44140b1f887d0a9c961a65ad712ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8wj8uQmFRVDTXbBpTxzoACpq",
  "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]: [-0.1951, 0.9825, 0.7841, -0.6376, -0.3038, -0.1356, 0.9979, 0.8883, 1.8664, 1.1236, -0.477, 0.4522, 0.7341, 0.0212]\nstate[eef_state]: left_x=0.2911 left_y=0.0 left_z=0.1652 left_yaw=0.1239 left_pitch=-0.214 left_roll=0.1467 left_gripper=0.9979 right_x=0.3073 right_y=0.2613 right_z=0.0282 right_yaw=0.0151 right_pitch=-0.4262 right_roll=-0.083 right_gripper=0.0212\nstate[joint_eff]: [-0.2393, -2.3453, 6.7761, 1.4188, -0.1832, -0.0611, -0.022, -0.1436, -10.7419, 6.8171, 0.8669, 0.2222, 0.022, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32cbdc1d8c09f39b973c422195086d4b47dac07d571abc5fe166b46a6dcca25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2132cda758a6d09a41fd9391e3a590aee77b58e570b95168305e61d95d2ae6de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31477066c63abd7202e6422d7576ecbf2082d15abd4ccd4a16e30ade64dfb1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1944, 0.9798, 0.7845, -0.6102, -0.3145, -0.1303, 0.9984, -0.0212, 0.8288, 0.601, -0.6765, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.171 left_yaw=0.1286 left_pitch=-0.1831 left_roll=0.1483 left_gripper=0.9984 right_x=0.2465 right_y=0.0019 right_z=0.116 right_yaw=0.001 right_pitch=-0.3215 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.5368, 8.7863, 1.6288, -0.0708, 0.1783, -0.1734, -0.0342, -1.3197, 6.7487, 1.5604, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3035, -0.1356, 0.998, 0.8883, 1.8458, 1.1381, -0.482, 0.4568, 0.741, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1653 left_yaw=0.1236 left_pitch=-0.2138 left_roll=0.1463 left_gripper=0.998 right_x=0.3111 right_y=0.2649 right_z=0.0404 right_yaw=0.0183 right_pitch=-0.4033 right_roll=-0.0568 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -2.2222, 6.7897, 1.4579, -0.149, -0.0269, -0.0366, -0.1983, -6.8991, 5.7641, 1.1404, 0.3346, -0.0659, -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]: [-0.1951, 0.9825, 0.7841, -0.6376, -0.3038, -0.1356, 0.9979, 0.8883, 1.8664, 1.1236, -0.477, 0.4522, 0.7341, 0.0212]\nstate[eef_state]: left_x=0.2911 left_y=0.0 left_z=0.1652 left_yaw=0.1239 left_pitch=-0.214 left_roll=0.1467 left_gripper=0.9979 right_x=0.3073 right_y=0.2613 right_z=0.0282 right_yaw=0.0151 right_pitch=-0.4262 right_roll=-0.083 right_gripper=0.0212\nstate[joint_eff]: [-0.2393, -2.3453, 6.7761, 1.4188, -0.1832, -0.0611, -0.022, -0.1436, -10.7419, 6.8171, 0.8669, 0.2222, 0.022, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32cbdc1d8c09f39b973c422195086d4b47dac07d571abc5fe166b46a6dcca25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2132cda758a6d09a41fd9391e3a590aee77b58e570b95168305e61d95d2ae6de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31477066c63abd7202e6422d7576ecbf2082d15abd4ccd4a16e30ade64dfb1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFG30Anh3wCSs4c-SHJLXf4-io__UiTQONdmMGi0lVzDR2pg7cDwTuy87xxf0Sn5MA0pdXkN3rzsyyllHPKPmkz_plECR-T_5oXA7STVCinSJeB_TGJhKpbVKX85rB53IuFD-03hbuyXcojQC0RNH8or93kbGI3Q1aZl3kNyf4Ehqtdkfs8eM1EGgTtRtFJ9wfRhgIdisr1eCj9-dPQp3810mexlcdm4m-1C5cfDwxtGsEk5Ywnhmz70IzijvVE5vvNwAKJMkLYT42Nvbxf5RQExZRroURyEGLaLkuOryWl8gILmAkfVCw0cR1JrIjoCJpB24YQb4mr2_tiBNq9mLITnM-RambJx-thv8Wb7ilg-v1PYW1_JWXuZypzS_SFka9r10NlIX_SBcdH4B5M9v-nmf64dyKYYif3W_pkonWT7VaJcYIJ_Q9c5xlykPuzfKjv-NAfvvXvb1iXxGEJnhfPuvpyQR1vtY5KQ_GIVVUZ7lEvmrXGcxCfaQ83U1M4OBGJ1OejWINoP5-rEhlXqg2VPsch9ZCMS_DPdCvd0TvrtujHvll00bx_ryFGmJy8tEE2paCtHw4FPSZIXHkqWPkVA-K93ax0ORkm9c32UQmS7ye4WgoiSLwLinao1Den3UGkOWsVWymqhRFzc0VolhufRKtsvyO_OdF3BzPovNm0VZChzdKKc65LBm-CHiB27SuX3jqWTGnUw9IokOvQwN35LrUr8OVVDtt00faHwv_ZTGAHGtuGuQLFRmk14kPxiyCW2AWOKT_75x5xgeqVMz2atTFm8EjVEwhOAdDrtMgHsMZqZJYxQ5aayfxrcw0m2vqV65SIBi7dQqx2iGfvCb7wISQvf0yGdG2zxEBFCfjflBppFEgX-9e7lrYtLu1ZnsUKM-W35igAV4YLwHn8rPcoc8wr9lOJwrny00AUNwIWSpTVEeo3S5wNYOI_Q2-iExg-p7fCQlXx3xjNlVxrhdPEAo5LrDFDOsWmf8sgVpPYK1R779tztFlFtHxR9xNPON2UVBrgQ_JamDhsu3CnNfLdC33Eo-hunrrFyf7Yws0-QowrQjOYbLneN67aiyEBZvjtdIfKod_3SNBTI_AbSHcziBVg_6lqtmQKkzenlE9LYSyQtQOsFfbn-9rl3KNqGBdL-rebLsTPkuQUaSmYXXZdkOMLGYj4W6wu5lmTCb9VQEaduXEYaZDtQsosr_7AetFyOb1jYg8iyMugKO_KX4rQE3GPeJog2Uq6fxtkMNbuP-SC8pzIXTs4lDlN7xLR7O_f_7cz2VpyH-AbONXgMoS-emZ8s4KMuESPtuVOOkNV2XlphjB4THRw2eZFz1Gl9YPyY9tjKqPZVomoWb03Y45cUBXQMxOnhzR4vOHDicoLy11wpL86haX2LyxtXKAZfRebaFsNr4nMo22IZG1u_c4wFbGIz0j24f3Uo4oDhwDxietLfmwa3sbzqidKrDnHQ6O_73VsBNvk0kMRpW8FviD-P3FAdkM0bJSN3e6M3rJUp1BDwLx4DyPQctW9lgyE67u4u13Q6bYnOmsKid9vIVzgVY3WG1Y8rCMlkOeS9a59BqnhUYZE7YGI_rJ8ep23LbXB8-sKo_kYYoSXVhyq1qTCUZ2NC-SdhNUgG49PKlVf4wnO1a53oarwi-EhGPMIi9ClxqTpFL_lYYdUv5u4GDsF0_iLa-mnWmkTfrw1GY06b9axAUhDrPpvqyCwqEyu_4_Nvm2GAAoQqEVZGB0m1k-5lrlF-Fd0eX7Ef2pHI9ZmIUKZvKo6uzmzxxd37hgcSnn-4nisnDBPOn6zFAuX0AXVP-OUMi1JwlpcK-NcsulHJSe-3e7SbJaxDgt5scNB7FTHhZ6JmhRQlD65051OKIEQjvhmpMltMfXsm0nW6PWHL4D78ncPdeXc-RZfw-idavU1QcK7fj2FjKKiJMVUR-SCFtkKhZahgWR1-j3UNpV0IM2bPh_qPBg85B_7MwSePW2XrUBR0AEi2nEAEt42aCXzlXVMJos51Pch2oJCu91V8lxXqxehqOou0FrNqPxiVRiBMhR-rLUEpx8LfVYyCUkVCc5C9xCVdli5Q3a0EF_v4kZ5xH81TTiSCNDVJIsR_PW3",
  "id": "rs_0b98d5001d78c62a016ab4414393a487d0bab17ea3de18c130",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.21,\"right_z\":0.12,\"right_gripper\":1.0},\"note\":\"The right gripper settled at 0.02 and the teddy remains visible beside it, so this grasp was empty; the body is about 5 cm to the gripper’s right and slightly farther forward. I’ll reopen, lift, and recenter over the torso for one corrected attempt.\"}",
  "call_id": "call_kIX5E8kHoM56bmMpkxWOxsS0",
  "id": "fc_0b98d5001d78c62a016ab4414539c087d0a1218a99446823c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kIX5E8kHoM56bmMpkxWOxsS0",
  "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]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3038, -0.1356, 0.9979, 0.7189, 1.7142, 1.2411, -0.7311, 0.384, 0.5709, 0.995]\nstate[eef_state]: left_x=0.2911 left_y=-0.0 left_z=0.1653 left_yaw=0.1239 left_pitch=-0.2137 left_roll=0.1466 left_gripper=0.9979 right_x=0.3324 right_y=0.2077 right_z=0.0969 right_yaw=-0.0042 right_pitch=-0.4697 right_roll=-0.1145 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.1538, 6.7761, 1.4188, -0.1978, -0.0464, -0.0122, -0.1846, -9.8803, 9.0188, 1.0183, 0.2222, -0.1197, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a350acb650590ff8baf01967ebb31710316f04fafa38f04a73e85e18f3b788a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e774fc3e9e1a4aa54047cd87eb0142c610e8f87d7112240698e9485f7959cad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1b1d80d4c60588c308ee263093ea308273f31447b5b39b7ea77c8bb39f91ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6331, -0.3042, -0.1352, 0.9982, 0.8856, 1.7538, 1.4105, -0.7979, 0.4648, 0.7383, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=-0.0001 left_z=0.166 left_yaw=0.1237 left_pitch=-0.2096 left_roll=0.1458 left_gripper=0.9982 right_x=0.3204 right_y=0.2726 right_z=0.1385 right_yaw=0.027 right_pitch=-0.3663 right_roll=-0.0238 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -2.5368, 6.8308, 1.6484, -0.2369, -0.0171, -0.0366, 0.4444, -8.3077, 8.4308, 1.1306, 0.486, 0.2369, -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]: [-0.1951, 0.9825, 0.7841, -0.6376, -0.3038, -0.1356, 0.9979, 0.8883, 1.8664, 1.1236, -0.477, 0.4522, 0.7341, 0.0212]\nstate[eef_state]: left_x=0.2911 left_y=0.0 left_z=0.1652 left_yaw=0.1239 left_pitch=-0.214 left_roll=0.1467 left_gripper=0.9979 right_x=0.3073 right_y=0.2613 right_z=0.0282 right_yaw=0.0151 right_pitch=-0.4262 right_roll=-0.083 right_gripper=0.0212\nstate[joint_eff]: [-0.2393, -2.3453, 6.7761, 1.4188, -0.1832, -0.0611, -0.022, -0.1436, -10.7419, 6.8171, 0.8669, 0.2222, 0.022, 0.8181]\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]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3038, -0.1356, 0.9979, 0.7189, 1.7142, 1.2411, -0.7311, 0.384, 0.5709, 0.995]\nstate[eef_state]: left_x=0.2911 left_y=-0.0 left_z=0.1653 left_yaw=0.1239 left_pitch=-0.2137 left_roll=0.1466 left_gripper=0.9979 right_x=0.3324 right_y=0.2077 right_z=0.0969 right_yaw=-0.0042 right_pitch=-0.4697 right_roll=-0.1145 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.1538, 6.7761, 1.4188, -0.1978, -0.0464, -0.0122, -0.1846, -9.8803, 9.0188, 1.0183, 0.2222, -0.1197, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a350acb650590ff8baf01967ebb31710316f04fafa38f04a73e85e18f3b788a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e774fc3e9e1a4aa54047cd87eb0142c610e8f87d7112240698e9485f7959cad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1b1d80d4c60588c308ee263093ea308273f31447b5b39b7ea77c8bb39f91ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFL5WJiScEIg5Vqxpt3qe-V7mTkuTqgQyOPJqSvt1FtRiaveivKXPthXDvVASDW9134F3Q3WyS4YZi-BCGypZbuXLx36epuJPKTwM4iL5oasxjscdbjATKVJCpfmsjtntMGXAzrdUwgF6hFTZ0LXhSC6Zlb4EnGc-0Vkm1Zfy1Lt2pPndy-hEgO3vGybiLjxH8nKv8HKFr7Ic2eSHo-3KH1ltt8zjk-zabUm4b8ia6SQPoYWqo5ynCoW2Xai_0cXl8kEWN2h_0qcQX9lgM-QNXmtdlNYHAy7s3yfX3AX5TJ5k8PvQHoyd9FcBjVXPp6kAbUCOWis00-Si4PmLwnBMRWnOS5tOjA5hF13ecvwknhymUsjWMVJZZxGhiESE2jr-cDxdsIstIfRKMAulwJKhJ_f65WvEiQRK1hDY4Wn0BuFtJqcZ0ThRWjSXjDOHMS7P1-s8cESoajprnE0xUjBt7-R6ynafpTW9FwclaBkMHeq8ei8vVfXzLs8sar8NCRoBFULLKkMfnAZp1EZkw95SS86tkDe_X5LPtReWmomKe3oeTX4PUvmOEzxX5VNOiEC7MWONfZl1xzXg6szDA4SAwmPqHUjsp6xy5MxRId-uqHoviywMn-ZdIk4a9qqGI5g2X8DaUq-x9KytJIfCF_Pi4OWNvuz_ehYPSWYL1L7u0vQvJ1fy7-6JmL17GevbFH4OukHqEjbxwLafXZ2TJ6tOEN_uH6eURg7NqqgunU3gX8X-OBlhS_HzAhmyUS1Aya8UFy9LUEMqIvLFUJ4H6amYnRWbWp49CAv7wzXnjC_5g04SKpHhgBmnDknnpWIrwJhIRaJGEqi8i7pnQxP0uOp1wA7FELVHdr3Sdx2niQX4tDU44UFjcaVEsuR9VbvEF-K5s54_KQs3XB5azGikE7ZyWWg58Tx1Q6QZtf3q8RoeRhGBeh1_1jwFxlbAiQNuB_cnNRmjJemzTNR5uhqBjWz0RPYmmS0WoOt5gxqbSUlZ4e8rs-jX_Plivw7zp0M1blaem9Wi_V-LCjI9nGxHZFKDv3LDnnIwac95my1VrxR361UyYyeqaU6oZ-HtVJSzjbDVQ05GwdRE157npk1alXL6ygtidC2-4413HLBFc96J4mo3a5gsJ9j45l22RVIy37cZ-oXgtPlS6Pju6PyywbbhC_UyMQKnWVLcHPhSVEft43xK8vdFOK7TwbttpJlRPrK8sFdWwf_h0BXLfTL7N-9SHpB-45xDdXkumY1TPq7S9H7vkSCyOqQmIgrzwDetGHv-cckIA-ZM17eflhIzDdk0MmuVETc_TFi04kbKQASav6loYXfIq7dDQrPXum70m6I92sr3Jiud25Vd30R9u5ExKcExBoGAkSEguJ3xLtIPp3wNFbSimO2P4vrvBv5PR_JSpjSZIyT8aVnruXLGgpDbimwJN9hmoxcZKvLBONk3mIv6akgBcJjGfLd0UnKpJqrql80XklBdXlY1RNQoIUsGdR30otPVmIfmB1TSzaS3i0-FE-vX4QXwFueEZ8nO2Gpxm8wHyuX_BdBYmG6_QO0583ZFe1aDQAkBoanV7Vb-6epEcbDzqdwgx_OnrWl9imBluiWs7xwi_Ea2yucq4KiI1t4kQx7lV14_Qe6ksnYiJAh1mCr6g2oc-jB43hv-hHpDx3XzbdxDX-IPqegxkJxtrRd6UTE9zA_BzAPt4NtrCZ4QprRUpw25aPD3DYlLD2PX_KiSvnL5qTJ3SuY0L3Bxulw8BAGg6cPW_MBZFJJ_1QLIQ=",
  "id": "rs_0b98d5001d78c62a016ab44149bbf487d0ae1fe1fd16f4f4dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The corrected hover puts the teddy’s central torso squarely on the jaw column, with fur extending between both fingertips. I’ll descend vertically for the retry.\"}",
  "call_id": "call_hQKSVbfoCHCBo9EEYBI1HgC8",
  "id": "fc_0b98d5001d78c62a016ab4414b173c87d0b4288f0243a7d3ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hQKSVbfoCHCBo9EEYBI1HgC8",
  "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]: [-0.1959, 0.9867, 0.7837, -0.6559, -0.3035, -0.136, 0.9979, 0.7139, 1.7897, 1.0828, -0.5816, 0.3767, 0.5579, 0.9967]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1611 left_yaw=0.1247 left_pitch=-0.2358 left_roll=0.1536 left_gripper=0.9979 right_x=0.3182 right_y=0.1944 right_z=0.0313 right_yaw=-0.0271 right_pitch=-0.5381 right_roll=-0.1799 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -2.6598, 6.7897, 1.5751, -0.2173, -0.022, -0.0171, 0.253, -8.6496, 6.9538, 1.2625, 0.232, 0.0952, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1f523066ae9f90bac4bc0f567ada5480ce48b9244b1683fbe9a42b979512e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66771592487cbace9a681409d5eee975980edb527e0775c30636ef6475f5d42b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4815377887afc9985d24ef68d6da2030a01d3ebfe177013e96aa4d17e36c00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3035, -0.1356, 0.998, 0.8883, 1.8458, 1.1381, -0.482, 0.4568, 0.741, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1653 left_yaw=0.1236 left_pitch=-0.2138 left_roll=0.1463 left_gripper=0.998 right_x=0.3111 right_y=0.2649 right_z=0.0404 right_yaw=0.0183 right_pitch=-0.4033 right_roll=-0.0568 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -2.2222, 6.7897, 1.4579, -0.149, -0.0269, -0.0366, -0.1983, -6.8991, 5.7641, 1.1404, 0.3346, -0.0659, -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]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3038, -0.1356, 0.9979, 0.7189, 1.7142, 1.2411, -0.7311, 0.384, 0.5709, 0.995]\nstate[eef_state]: left_x=0.2911 left_y=-0.0 left_z=0.1653 left_yaw=0.1239 left_pitch=-0.2137 left_roll=0.1466 left_gripper=0.9979 right_x=0.3324 right_y=0.2077 right_z=0.0969 right_yaw=-0.0042 right_pitch=-0.4697 right_roll=-0.1145 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.1538, 6.7761, 1.4188, -0.1978, -0.0464, -0.0122, -0.1846, -9.8803, 9.0188, 1.0183, 0.2222, -0.1197, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9867, 0.7837, -0.6559, -0.3035, -0.136, 0.9979, 0.7139, 1.7897, 1.0828, -0.5816, 0.3767, 0.5579, 0.9967]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1611 left_yaw=0.1247 left_pitch=-0.2358 left_roll=0.1536 left_gripper=0.9979 right_x=0.3182 right_y=0.1944 right_z=0.0313 right_yaw=-0.0271 right_pitch=-0.5381 right_roll=-0.1799 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -2.6598, 6.7897, 1.5751, -0.2173, -0.022, -0.0171, 0.253, -8.6496, 6.9538, 1.2625, 0.232, 0.0952, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1f523066ae9f90bac4bc0f567ada5480ce48b9244b1683fbe9a42b979512e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66771592487cbace9a681409d5eee975980edb527e0775c30636ef6475f5d42b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4815377887afc9985d24ef68d6da2030a01d3ebfe177013e96aa4d17e36c00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFOj6QCK-9pjWGXggXDPidFUDaZZSt6nmArvEaMbBet9cYvS_-OvkJKHqpV2uxxjlrMhXNLiafx7batV4h6By7up8s54-_qD20bWxDlb-dZnOv1g1KP6inSFUuE9HThj8GIlT6Tc4OidkbfmhCmVARZNQ1IG3o2J2LfiKa0O1sJxpZStDabdSCR-tPqNhDNT8-uPYPALbO0UdGMEyZaNRKZV7RrpFPSolnrlYAI3B_oEZXXapcUsNoUc2WcqGHilHEFUniU_Wimq88eVYqWH4kQAL_oiktJtF2XH4-nAXlAU2c5D0Zf84ZkgLmjp44Rx8kgjdRccDGVplJjznpqei0hq-MwOF1gG54CnNnbXDgTpuwDNqdr_x2hzN5KSvH7nA-pmUn6HI63PGKDS1acLZ1hKOsRyc0Fq1K35x7OzkiwoKPha21sDmUTXDPX6kXPWYPXSvKfphHcgr0DaO-2iJgx8xELSk-LX2SuVI8bhChZHJJsm2ouwQVJme7qBlx3_D0CZICqkdTO3a-3AjiPy7AaDYDYmcWJhULcAZhO4mAIIAXKUTynHdclN7WXQyxSrIYizUmAS9Kxt18bJC7awb1RXjO88fS-rLyKcJP5jkG_0VeUUE0VnoPvGrx6qKx28pod6gpBVdaHri42Y3nGkGIA7nKJ45nL8p7bB38cS-FpoujaOqSCzHUldgIEiaoXlHJMvH9ItbXtSG3fAzXHmnhdgnlTLwxi6L5ujYa7C8AUp4WbiAlRWLaoJsljop1CCHrZA_rcrG8nNKghApbB17lY_llpbc-Ry5MRpix7k2e_15rcFyN-kozbUyOOYSqf5PKgg3LUNbjiXRG6kaUqkc99SJzsOhFQjNL-DJ-UEW-XFYxp3WaRjU0WS6IPx4_T8n_IsDDDG0K7bS_b4K-eyW24W9vI928EDLk8WoldGMP-6YDn3H16h-rko1lWVXv4g7KgPABCbabmXBnXesELeNw5-_S-zOYidV0wNe5rhivbLSyG_x7SHFIU1uKhDiz4jjbj72KbG7dYvTCkGtgb-S3loNPV_Ky10oAe4T8XHsuEg3D069yj6rVrlK-OPEqqcfJlaGOzfv6QeUVIaUyOpAprJxmZcK-Uet9RwTvckt90UFD-BGXixVJOINWvMgRb8j8t2jpCV30mlNBTuflVglfyqhp9IUHZEYE_KYoT4K4tWDx1uIWaiM79JyfdrO_sUfdXjzW-EgggoAE8WqM7bMdZHAGJx9c-gXAlOk4X0xwGmiaIvM_eP-ef3XXPgGFXZXhj",
  "id": "rs_0b98d5001d78c62a016ab4414dff9c87d082dc593bb2afb85c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the teddy’s torso fills the gap symmetrically between the fingers. I’ll close the gripper for the corrected grasp.\"}",
  "call_id": "call_hg4qeS099HsisRVcxQkx8LW6",
  "id": "fc_0b98d5001d78c62a016ab4414e289c87d09adf50eb210b0e54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hg4qeS099HsisRVcxQkx8LW6",
  "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]: [-0.1959, 0.9874, 0.7837, -0.6643, -0.3035, -0.136, 0.9979, 0.7158, 1.803, 1.0702, -0.5865, 0.3729, 0.5529, 0.0108]\nstate[eef_state]: left_x=0.2865 left_y=0.0006 left_z=0.1596 left_yaw=0.1254 left_pitch=-0.2445 left_roll=0.1565 left_gripper=0.9979 right_x=0.3125 right_y=0.1912 right_z=0.0226 right_yaw=-0.0322 right_pitch=-0.5638 right_roll=-0.2038 right_gripper=0.0108\nstate[joint_eff]: [-0.2256, -2.2632, 6.735, 1.4969, -0.1734, -0.0562, -0.0122, -0.294, -9.4564, 6.5846, 0.823, 0.2369, 0.0171, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4620f87e6e5f1912cda5a0a147129bb1b81e2695c098b0508be40784b4c2fe4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f361010f2bb5d22a7df6092131034eb5ebb7ecc52aaa0417862672a478dae3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1dd8f62b73b7f7555bdde1d7507d63c00405d3e9a7a7826cabaf2a6bc94b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6376, -0.3038, -0.1356, 0.9979, 0.8883, 1.8664, 1.1236, -0.477, 0.4522, 0.7341, 0.0212]\nstate[eef_state]: left_x=0.2911 left_y=0.0 left_z=0.1652 left_yaw=0.1239 left_pitch=-0.214 left_roll=0.1467 left_gripper=0.9979 right_x=0.3073 right_y=0.2613 right_z=0.0282 right_yaw=0.0151 right_pitch=-0.4262 right_roll=-0.083 right_gripper=0.0212\nstate[joint_eff]: [-0.2393, -2.3453, 6.7761, 1.4188, -0.1832, -0.0611, -0.022, -0.1436, -10.7419, 6.8171, 0.8669, 0.2222, 0.022, 0.8181]\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]: [-0.1959, 0.9867, 0.7837, -0.6559, -0.3035, -0.136, 0.9979, 0.7139, 1.7897, 1.0828, -0.5816, 0.3767, 0.5579, 0.9967]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1611 left_yaw=0.1247 left_pitch=-0.2358 left_roll=0.1536 left_gripper=0.9979 right_x=0.3182 right_y=0.1944 right_z=0.0313 right_yaw=-0.0271 right_pitch=-0.5381 right_roll=-0.1799 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -2.6598, 6.7897, 1.5751, -0.2173, -0.022, -0.0171, 0.253, -8.6496, 6.9538, 1.2625, 0.232, 0.0952, 0.1685]\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]: [-0.1959, 0.9874, 0.7837, -0.6643, -0.3035, -0.136, 0.9979, 0.7158, 1.803, 1.0702, -0.5865, 0.3729, 0.5529, 0.0108]\nstate[eef_state]: left_x=0.2865 left_y=0.0006 left_z=0.1596 left_yaw=0.1254 left_pitch=-0.2445 left_roll=0.1565 left_gripper=0.9979 right_x=0.3125 right_y=0.1912 right_z=0.0226 right_yaw=-0.0322 right_pitch=-0.5638 right_roll=-0.2038 right_gripper=0.0108\nstate[joint_eff]: [-0.2256, -2.2632, 6.735, 1.4969, -0.1734, -0.0562, -0.0122, -0.294, -9.4564, 6.5846, 0.823, 0.2369, 0.0171, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4620f87e6e5f1912cda5a0a147129bb1b81e2695c098b0508be40784b4c2fe4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f361010f2bb5d22a7df6092131034eb5ebb7ecc52aaa0417862672a478dae3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1dd8f62b73b7f7555bdde1d7507d63c00405d3e9a7a7826cabaf2a6bc94b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFW6LEILaRaqAirpIZkARs4pZr-P38TfP7B_eKtFGPkSyfv2SrNjwJAkY1y2-gmMUPedaLnIjRz1X2fcFrnDr2S75zk2lVkrfxAvAngIEi5Pt-xXoLVKeveOQ8zJV8D6UxoHZvxHXkvTJYeD_Qp9Vl0vSIbK5ToWCj6yG85v8j5S71_kjP1pUVQdLXzhrEEyXJZEfoAExLlEMcTKQs3UXek9eWaHxghG2zkh6aWHjHIK9SDI8MKSanq2kNREwtsA4wNS8_lWWAMJv1NGLAS70NpfifuNytQgwXL7sN1Vo5kntw5OGm_0kpTmpi-PT28LvDRWhp1rNPCbI_zr2A7j2pxs8NF_9obLDEAgkUrMcZwzAUKkDjaPoF9o_LVjBzMn_yUq2U1mkOby25gPAC1a3ncf7zE2eI-Bd7GYYWkKSYmezdGcidOCjtTGJYBVM9J7vxaopPRaVqiYtdJqE4ix1vlvnmjIlnfgKf5KvjdUgWwrqGNYYKt7rzfSUiepfzONeaMUtOo4X_iO4gYBwnG4mFhhmgCT1RFPdgL84KwpyiDF2mKhfbVtLfouHzkD-3yyTWpq74rLj_M8d0jctGrGZjywFd6tNf82XQOJhKQEqr_SoMKwNifL9INFsuhPKOrNgu7WbnUpbuiOWgIFjrp4DQ6Vm407GsD7RKK77YN1EC-UhowztAp9Bf0eGbml4pz3MGLIz9nPAWZfQPzF_f_nZwSMMsaaZPbobXrRSNgtHXEhNxQOsMk6A9H-eat7V_BT9WSrRs2tTzbtA4651QXnITMZTjYVB10uz3npY5-XOJ_Gaw5LAySMCn_9bcW3wu7Y55JFVRAEYDDVwJA_XUojdOCGkVhh-4s0Uc9GRN696eM6zw7ILXc0WTS5zdWAuZPmYPPEiIx01mCwfz6dw3qFUHAXoLcX6AttrS6BzQQbiURWIG3OrGzHuwwY-6FzGjStS9LmAu-YgqcWcfHBQ3QTruaWfl3W0Y1zJFqzuq9heMnjS5szzgkw-uwLDmKmFEyyvex4sPbj0Cg30MAn-ZvfVQrwuJzwGceDwnRgzqRT9a7eR-9koSb20-u7elVD5uQfwxTvzTEuesJL6_WuzONnYJzI5K6OXbKS_szjj-P-V1f9SVZIsyxBGqxl3UFqji-OzfTdMkqs_1H408lAF6WpyB99EGCaWQ6Zd77q_-wkgztl0dnsaMadpg64MLVjc_vGLY6np-TPnCLGLxdXxWupbjeSbBsL6nlw4-OT2ojIHj0oRa4bpAuKIWx2X2WHVbAH1swdG8rnSdT4vmshRIZTLqEATpiVdY_piF8sxdGb05jAo5PkCehZfm9VtYqRivxTU82MJdxSDT9SeaHuL09OtXHAfwpLKL8NtdWAt3ez9ehT88HEdPOQZXmQQ-re69ugPlYiHHRciCh7UD1vTrQNtbD45kQYNciTg6700xAtCQ8wnplkFFyEF9BW_XZLL1ayt6ZT9wzRKpQH0T_h5-rV_T0z_9T5lKMXqXtRXYHF6rW5lZ2S7TSgvUtEjtkKFCVBbtuaL7f8jc0NqauLrjUYvwDz171u98KfWkACwFoD0irB81UnV5jQh1EhCtSmdryzDUGQKGJBxzNZxyCRQ33yZtVV0zX0QX7mqb8plUSSYnvVDX7sVK1hFUM5SEjcFFRXBx3cZezqfMG9y4CuuQmhgmL5esMnupsKvCjHvexguNfcfue6cea0GPb39DewkBzJwH2BAXO3SxjTehDfkqZEvWsJJi9PPzDb5Mcqr51j171bPmAzrbtzHL2X-jLHpCUII_l9zHYsWxhPI6yyDZ4VfsfZY5wRB3BNSYvrRxspdBUPkdw_ClgETyG4w65aKjh2lRUylR3DIBLIaQxcaD-U0VXm1MGQEvX9bA5qnkC961AvRg3R2TT0yCfuVM_DMpPi4srKtHdNsf6ePi6nhNTCMUedv9UOgb2YWa6GIeeXJq-kOEWXEuvFYNeWxg9QrbudOs3WwTXXiZMdrFVAPwjM-OweR1cE31wxIS-NMj2PL9oxSR74dzlf0AMrSfzmw9hyqAbbctBBacfNpXYYldXUVtKsN8lnX8QTD_R19LVJHUozrglwOY5MI2OuFDoq5ghS-TaPqdQwEGCdTjBHlydA-ybvVTA6MyqujNCy867iONmEywCgWPRttauRUhjX24QDf1Fwcga303uIA41ld2BreK9-TA40EaagiK4_wOgf2O28JpUW3NXf1CD__nU3iRvg2zrd8QxomntWAsiXDolgBVCn2FjFuEm0AxMTsvty8cbRn2wMspvAFW6wM0BzntumaPz8IcqkZL40I_dNoR4lbl-rhJpV1rHiUOUHaqTZ8bqM5qMJST4Q49k3mY7jsKeuBJR-88PzlJ4Q-rlB9_glwFc-WQ3Xu3-RT9kiG63jOON3plk9_r8G93xIDm19mHikh00l6VLOEudXtlAfJUZBRzDkwdU0_lYu6x0QtudTZ9kQwtdP8ErvThL0gWzfAtOv8_Ho6SMbykFXyZzObd-KNZ2THUyu0icfL7b8jKQ81Pl63xffa4Q_NuvxbWptclpVDt-zEj6JbN0p4WMaJE4R3lhhAZPJXZdf7jd17GoRAycVhjBoNzKyqWmIczfVH1irSnkNifFeVdnsRy14scBPB0ynJsbnmaHt2Mb-NF5Y2OJgTyN4INLtg8tCyA15u8bC3LMl41JwTlEfleaMQFGouV77unWyzMYvF8UFGNIluGMcaS17TPl6KelrLFwI15V95J9FvXBdUs_ocR8C-mWd4NtjKFlsgAayIrf43lXRUbW9FaH1gv9ECx4BgK-m610e1e_N87hRb_yJ6D7U0etsdRnlI9IfZfCCFepKPxeAmH2gQ0ktLKIsRHW00133qVB_9VLDHd5iu0PRpxKBm71yzvKzkmlVX0cFHx6Fff0xPD88E2nxyAYmNgI4Yk7d_8_OjXupjZipEhwC28S9AWDJ-peB1XM1JH34Mie65Xuk5xkksiZqL5TjD60c6nH0lG4T0kaxIUqRLHLjHIllSJ9MyHuYZ_5CgfAoGo-i_GgopbX9B_8m-KtnQzrpiiS6giolTwKlv2jl6_ZpDKe4RbM8Gz2hdPiMQt2iZ1dNxa0R-uKQSNpQbWNoo5sPDiMvMSzzohZJ0Fx0MsR0CcbQvMJTsIG0q2aSJ5HkTImwHLBj3x-5-3WNY5rR-KxJCj8x4gIqRy8h1u8QXNrb5XG7d_ZdhZPAXVnuqBExzF0xSA8miLyv_VapJLjknZ1oRI5br_0mxizlOMRTdvtSEpt-TT0aOFL-aLJe5PjPzbnLaMQLjwrIIoseyWox_h1aTuszypnMWmE21HERzaBC94EapczlI4zW5V1dow_iq41SOGd9Ivz0sjXmblIyFbK38fV23yaLJKHK2aJw8g5eaPjQEr_CgJ-H7Yiuav9A4frBr7Uxavye8acjHupfaf5LX4-yFtbesvJ",
  "id": "rs_0b98d5001d78c62a016ab441521b4887d0a5156a689e1662f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The retry also settled empty and the teddy did not lift, so I won’t repeat the same alignment. I’ll park the right arm to re-expose the teddy and switch to the left arm from the opposite side.\"}",
  "call_id": "call_uDNytkJWCJ0uSBmVNHugaTIT",
  "id": "fc_0b98d5001d78c62a016ab4415634c487d0a492779ca6246785",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uDNytkJWCJ0uSBmVNHugaTIT",
  "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]: [-0.1959, 0.9874, 0.7837, -0.6765, -0.3038, -0.1356, 0.9979, 0.1005, 1.2972, 1.1507, -1.0462, 0.1806, -0.0128, 0.9961]\nstate[eef_state]: left_x=0.2844 left_y=0.0011 left_z=0.1577 left_yaw=0.1265 left_pitch=-0.256 left_roll=0.1611 left_gripper=0.9979 right_x=0.2911 right_y=0.0011 right_z=0.1633 right_yaw=-0.0757 right_pitch=-0.5958 right_roll=-0.2108 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.2222, 6.8581, 1.5458, -0.1685, -0.0171, -0.0122, -0.1436, -6.0376, 8.5265, 1.033, -0.0317, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a021dc183306693cea20158f8639fccd363a83bfc6d9239e98c8b366cf4b325a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca589d9a8cd2337f6db3a364b54dc4cb60f30aeb78fb5a17aaf5502586b91c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f353b00510d3def8caab0d3316086cbd2dba98a2f691b78369e46ed891b8dc97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 0.9825, 0.7841, -0.6373, -0.3038, -0.1356, 0.9979, 0.7189, 1.7142, 1.2411, -0.7311, 0.384, 0.5709, 0.995]\nstate[eef_state]: left_x=0.2911 left_y=-0.0 left_z=0.1653 left_yaw=0.1239 left_pitch=-0.2137 left_roll=0.1466 left_gripper=0.9979 right_x=0.3324 right_y=0.2077 right_z=0.0969 right_yaw=-0.0042 right_pitch=-0.4697 right_roll=-0.1145 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -2.1538, 6.7761, 1.4188, -0.1978, -0.0464, -0.0122, -0.1846, -9.8803, 9.0188, 1.0183, 0.2222, -0.1197, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9874, 0.7837, -0.6643, -0.3035, -0.136, 0.9979, 0.7158, 1.803, 1.0702, -0.5865, 0.3729, 0.5529, 0.0108]\nstate[eef_state]: left_x=0.2865 left_y=0.0006 left_z=0.1596 left_yaw=0.1254 left_pitch=-0.2445 left_roll=0.1565 left_gripper=0.9979 right_x=0.3125 right_y=0.1912 right_z=0.0226 right_yaw=-0.0322 right_pitch=-0.5638 right_roll=-0.2038 right_gripper=0.0108\nstate[joint_eff]: [-0.2256, -2.2632, 6.735, 1.4969, -0.1734, -0.0562, -0.0122, -0.294, -9.4564, 6.5846, 0.823, 0.2369, 0.0171, 0.9646]\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]: [-0.1959, 0.9874, 0.7837, -0.6765, -0.3038, -0.1356, 0.9979, 0.1005, 1.2972, 1.1507, -1.0462, 0.1806, -0.0128, 0.9961]\nstate[eef_state]: left_x=0.2844 left_y=0.0011 left_z=0.1577 left_yaw=0.1265 left_pitch=-0.256 left_roll=0.1611 left_gripper=0.9979 right_x=0.2911 right_y=0.0011 right_z=0.1633 right_yaw=-0.0757 right_pitch=-0.5958 right_roll=-0.2108 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.2222, 6.8581, 1.5458, -0.1685, -0.0171, -0.0122, -0.1436, -6.0376, 8.5265, 1.033, -0.0317, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a021dc183306693cea20158f8639fccd363a83bfc6d9239e98c8b366cf4b325a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca589d9a8cd2337f6db3a364b54dc4cb60f30aeb78fb5a17aaf5502586b91c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f353b00510d3def8caab0d3316086cbd2dba98a2f691b78369e46ed891b8dc97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFfQXzs4vynPowawCKeGzLDLu743OuVpk0y5Fq3ASuwCxYpo6PORjYdHHGX4Oai-ejYxi3RItrlHer32wUCof9OR4Gu_bxaFpCgJiInlD61bZOD6MIbrkGXKiN7UD_wjdwALtalbgTh_D9-G8TA_pEYsOXDUeR9N7QIIdqWiIgCzn630uNixzHaziLsPdlMg2vKGqHp6KDRwn0qGWSW2ov0ZIqxaGOl_J778wCrnXJ6DlbQjoVa1upGlOcx8K__oOeuZuNAKUlHoin7zTvUwwQWh616QRfF7C2iBpiwy8LpyGE3gecXNpaH8_tWchT_eLPK_fJWG85tQryAu2ce8zWulc0m4K04q9dmp0WuO7M8koZFiB6Gl8iJezyBKhZiE5S69jPKYFpd_wsX7E70nl29jJIE3eu9glxFBbXLY1tqHk5FaS58lIc4Gl8sY0B6bfIY_MPDjEOh8eH8sYsoCsGyoihyWd4Dj9r7RlZP2mk9fi1lR4s4cIhINrkEstMpaqOf9YbP_wwdGoCoW6mcOPws5E1Zgn0DviglBXQfUXHLrTVuT0GzP2At9dhFKHKcRhvMitjy-rr4LeAWSgsIdL7XwBPG0eqf9BM7V-udRhwcyknlDx7ZSVzSr1dBiIQCpOj4ySpj__laZiB4jEyvP88DN63QbikAWSs0c34E7DCpChqM6zxfckq2H5vgshD3_D3VuEs7Q_0587WjdbiINb1ZxJvB-O5ss6dd_H144AgMUXVgDyRwMgEVN43v8u07Le8y5lI_xMzPXyBEKYBY0m70L8VSs2DvJVH-7GpDkRVF_cqWXsDjfsybcCaFxW4vqjOyV6AeSxwTJzP7x086OnDHp6w10ib0bl9JDj6RUI3I1OKxW9f5VUV4rD3aBMytTqHmj9LbSmWfAcSRZ-GpBFHE_JbFXLj048WBGEhXEnWeZBMyBUNC5gZAbQRquTPXXaqa1wqLoHHIRxhaIijQ9lz4gAE6-EYOeVhfwdOzG3XfATHG-XR6jAsusMBKXEBxmvpDU_jZLlF9LBNfWiWp-FZrY1hnZyFhs7913MlbRMRKDHJurXd9oL3Ix2zc1u4Kfb3PyELSYxKxhWo1VCbLjaiXMIbthRQEgIrGINgAzMzia_3DmZE4gszGnSsf1PqT1blhiEY95kn52bvwXX0EGzaWELzemtgcBM0sX8-scIs7PYusCNvG8Z5_XKb6zvhiCqOI-KNcUKcwccdG4fIrjrlaA4XIXec38jYMaSHgXU8hq1_C14wdDWkZIz-8YAENQiH6cnEfekmelMDqLRfTtzlP4HuegT93u3hGAHEIiy_5lNC2wp3ZUSkX0BdwlVt7Z5i6gmv8WXeMLrKNiUGQVdTxB-tiiIP7drMxrj59RWPIrtopLrB1N-lxSjDl-4P4Eel-cZhnoNry9gmMiQiQzexwVTjif94OnyGfzqQrdh_xC3n1MND65BHfgN5TdUgUiJz5lG3mThxeCSGA_ZSFgymNXFQstzAzYmSLcnioFfgBBE33QIOqi-2VK8LOZKth30P2ZxNjdaVpfRf7li_6U4VjZfjHgeAwL2MgRZgWyRRZsmXIP48HuHFa3myx9krfURgG4wolaVne7su3SuM9o-TUuIOV3HZ-CF1DV345bXctKMfDfr4R6sUt6oC452g3NcFCF-Bs4hrFr94PhvhZWAjQHTSkXqnirFrGWxr74Mfkg-OKQ0aSb2UaLac2BNTaGS-aGHIBiKFlYq1-LHJoDXcqjwpDvSs8fJBQ4cuy79SnG9Inr8j5R3iXoZ1gUgaEatEtvb2ZY01B3vk8T5oRNcIi-ktp1EYfSxYDeU2VR6mvCOstf4yQoOpY9JAgXh5r0gr0GZ8-CzJaiVqFmpNx_hHpX0Fzy7fRLNpKAy-zeblSaxX5vJDBBG66H__JfFvSysxje9Y5wm5w8FfxzWMqP65IKILZ8GYsDM5Iz2c6U7W0ZC6QlbbfWeh-ZL13nSRGld25s2TyJAJWGSv0gLh4kHtGQfVoL0tkVxqNvXrQMGCDWu2b1TG2erGLAoAbXlvEUk6xGhdDSHw5TRzlbromnxozyK0MJw4f38i4SiLSGT6dfRm6CRFbSwduwRTp6QyjSdduqOqWfEumjk_GyqtlXF6CnctuXN_ocW2Mz_kmPpmUjLN_2SlvXsVbYoAV5HYHZVTnTAfQh1p84JuDeMMS4p3vt5_-wyTO_ogXlUaxvMu7--Riv8skZ3hpfri7Duq6wAZod0dA0L0ozRKMIUGZSvLV-2JUCUsMkl6yNmWCjRUjG1JUE8X6c5hSfXENbEDktt3WKe3uwxVzMRUP9zTh0eH7g9F03KAvyoYMvUkIsWrwM2-wmyd4nELvzeuAGq7nlSrPi-jckpzl9vHPks8cVB7RroeAcTzVuzP7nFhWpDUHuHdHQoYeEN5rMNox8WdyXILGTpHqNr7spnwvzk6tH2lDU4UZ478Ldulr-4SN9VQlTsQ2C7apfkyPVVudyzr-kMpAnOpjUAHj65VXP_mQ-nPqmTookWhnk6ly3BUlB20JjUImlEQ6MqvaWQ95Hp0ZG8m-uvsuKWRfz19H_OIlFWDep1muAUQZ1aZRZC7fww1L-3yosDJX6vB0xZ_C2JPZNDqE5nsTwE9u5P1GHefPuMgYNLLpMMXunnmyl2cLaTrqn2lML1oXDQZg9LVqhPRIuZhTwQXOH-unrAjWzMXHlkEkXV1V9GhdCVJ_ZEJqWFBZEfAypfadzvfn3_iJCdTjSRe8ZBan-z-O5RSINo7rWjXYf-v5FlbqZo7An-0l0rZicn3yfYfATZp5W9fhwl4yH11YfvVZN8lIL7ybocXBy76kGaoj9MOUZ6HDdkYxQTR-9SM_CPS-zZmpwF3LSo7C6FNJiCQrXLVHtTNkQqD5w40D-6zFKVXyEO5Sz8tnh2KtK3mx_GovCzFXy_4cRfFy3el5sp2CUWaZSbe1P5blvmFeGyMsiYvVUWqLS_E5B_ZF7JShM9swGQbAy9fTKV6-ur2rZFadmzHpSMnvpp7GK2oa-s5Mm0Sv5fJmUv7E4a5I12wkmzLmFWLpoqNvEJE3rWTDlg62No8MybSL7FdbrdAl51iEL9qZOFIdyOFcY5lKCKY=",
  "id": "rs_0b98d5001d78c62a016ab44159c0f087d08fb104c17295f538",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.38,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"With the right arm clear, the teddy’s torso is visible at the front-right of the safe, near the left arm’s cross-over limit. I’ll approach it from the left, aiming at the dense center of the torso rather than the limbs.\"}",
  "call_id": "call_XyDsvlGZe0MIFTDsLHB3EObE",
  "id": "fc_0b98d5001d78c62a016ab4415e26ec87d09ca4c466501fc1a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XyDsvlGZe0MIFTDsLHB3EObE",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 2.2845, 2.1773, -1.28, -0.7017, -1.0985, 0.9985, 0.1009, 1.2961, 1.1526, -1.0752, 0.1677, -0.0257, 0.9973]\nstate[eef_state]: left_x=0.3187 left_y=-0.3778 left_z=0.1436 left_yaw=0.1229 left_pitch=-0.277 left_roll=0.1446 left_gripper=0.9985 right_x=0.2848 right_y=0.0028 right_z=0.1613 right_yaw=-0.0568 right_pitch=-0.6248 right_roll=-0.2074 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -12.1641, 7.8974, 0.1978, -0.6374, 0.0513, -0.1734, -0.1026, -4.3282, 6.2838, 1.1893, 0.1978, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d47d732bf9d6f6d60e9f33c467ca030464b0376c5e14943b9b2b6cb341f9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078baf90bc471db38ae7fa684ba81e2f4bd83b39dbe8983425f38123d2e8c404",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ac605a439555d76e3ed87e490b9b045f83b3f58a9f4711be74dfcc1fa51320",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9867, 0.7837, -0.6559, -0.3035, -0.136, 0.9979, 0.7139, 1.7897, 1.0828, -0.5816, 0.3767, 0.5579, 0.9967]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1611 left_yaw=0.1247 left_pitch=-0.2358 left_roll=0.1536 left_gripper=0.9979 right_x=0.3182 right_y=0.1944 right_z=0.0313 right_yaw=-0.0271 right_pitch=-0.5381 right_roll=-0.1799 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -2.6598, 6.7897, 1.5751, -0.2173, -0.022, -0.0171, 0.253, -8.6496, 6.9538, 1.2625, 0.232, 0.0952, 0.1685]\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]: [-0.1959, 0.9874, 0.7837, -0.6765, -0.3038, -0.1356, 0.9979, 0.1005, 1.2972, 1.1507, -1.0462, 0.1806, -0.0128, 0.9961]\nstate[eef_state]: left_x=0.2844 left_y=0.0011 left_z=0.1577 left_yaw=0.1265 left_pitch=-0.256 left_roll=0.1611 left_gripper=0.9979 right_x=0.2911 right_y=0.0011 right_z=0.1633 right_yaw=-0.0757 right_pitch=-0.5958 right_roll=-0.2108 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.2222, 6.8581, 1.5458, -0.1685, -0.0171, -0.0122, -0.1436, -6.0376, 8.5265, 1.033, -0.0317, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 2.2845, 2.1773, -1.28, -0.7017, -1.0985, 0.9985, 0.1009, 1.2961, 1.1526, -1.0752, 0.1677, -0.0257, 0.9973]\nstate[eef_state]: left_x=0.3187 left_y=-0.3778 left_z=0.1436 left_yaw=0.1229 left_pitch=-0.277 left_roll=0.1446 left_gripper=0.9985 right_x=0.2848 right_y=0.0028 right_z=0.1613 right_yaw=-0.0568 right_pitch=-0.6248 right_roll=-0.2074 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -12.1641, 7.8974, 0.1978, -0.6374, 0.0513, -0.1734, -0.1026, -4.3282, 6.2838, 1.1893, 0.1978, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d47d732bf9d6f6d60e9f33c467ca030464b0376c5e14943b9b2b6cb341f9f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078baf90bc471db38ae7fa684ba81e2f4bd83b39dbe8983425f38123d2e8c404",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ac605a439555d76e3ed87e490b9b045f83b3f58a9f4711be74dfcc1fa51320",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFmph5kT3XpAM56Bdj1t9k3_QS8RgnLJEmA5iL7YRl1zf4T-ERKB0Z7MQaQBAtlp3MPz5_lXb3zFxsnczuk_z1aGgMtU2dWaaMQENp6OCTzQye4OcmOtYAW7pdlh96Nx4Rg-kaQvPahc-qi5nNACD7V89d7mblcscE8VjyAY2ljWVxP1lz5kVcyHHX_NtfFihR9HtuO9_PPJI3jcxN16Ktlu6EfzFsNvPPBJTOAPe1Rg5Gp560wyuv7HoejcuTgFGyM9ndXQgvp9C__UleME31nXioXIy709PtWARv-eYNF2pnn4GtftjNpfgKzCfD0xcDcEZF37BStMcziy1mVGSri8RKJlG1qM-GjNuTlbcvApGKYmFsyMxyDVxKxSZWmJPgssmkCU-_5vNaB_6kEO0efjnu0PamCSDHof_UEOX5XJlTZNnFDnBVdpdg27sN8IldKfhMZXsLz2KMLZ_vc33ESFCh913N0t3fY75EDPL9RfkdhJ7CtaqIzIQ9AovCT5BuIDN9MKPCiwl3kXD0YabV7LCAXyqvctqNSkIKUrLusvZG232K7xeK-n2bLmjDSXZl2x70HTHmJWRUkEfBiPlrxFkN5KFjBQHQlftexSyzmrQGAxyJrOVG_eT-UgtByTTZ-ADDYkOFeq8330NjPxfjuAueqqkwXjujvySYNTbR3jbetniUmFg2gwXMAVsi8KWLCwBtAzR3rhAsG7sczUbuGRoVQcmoBMUMSvOHcRW_vafjPRkEewmePr9qsy9TWzqzgKEzOS1yKMFR6SL-53iujm69NOzXtbRpgPjvg0HbziW_1thr5ZeqGKG1i3x9nSL-PDAzHSdkbd2H_h7QHODdV8If1E_NKp5WjLCrlsq9ZFmOF0s0x1xZWUphqOVcBStWRa4LClE2EtyPDPD0YT7qVpIgTgtoySftFCjZF9JUsMpJNvcq-Th29bWfwGov9gQESfFCS85-WX_pTp5VjoOPPvZGZ8NI1A4XNgAKGAahy0CRoAfnYc26tDVbTDXFBhl37wR87FKCBCm5Lh25rGU1drmhzjAg1Avi3Z94psbFkLBU8d_UfEkkPbXGOaNCxVN6WKzyZyAaQgY4BqeEtoCCZldolJqUpU7jjKBHPnO2oHNaTXS5vJEcftlkUTwF7YWZsgQWTy7vMGnQXXVwqroOGteMwjOTrYNtT_g-CCam4Iu-5YYo2DqDxQEXu-s8wAc2E0CJSUaYwqjRVLyaoDbp_QdbJbrhvqAHEnZ6PpaItOmiLWEG7GdtPtDo3ffrVLMIr9Ixum81sB1XzuS6dpYjbLzGL3GkfN0HKlRbEbyGJ7Dafb5fkdonX8HAR5tTATePKRVAGNCHV9GDzESnZxF4Kepqet97ZwmrI7rpCky0tFVYP0vNEnIWLNwjb5wt6FvLGYU14Rs7fH49AkPomr2HN6glcpiH_kmjMmlTvTRiJI9gU0vf5QB8GZQ2ZmJX-4pPtGFAJdoC7hk9iIxXEUsDgROQIee0PZrsp7Qa4_E6avOdw1t4MMxFtRVLQOcXiA4scJ8N_wNaNzVuFRC1UnoyNw422U67XEm0TvawX9RMwHAdW6BpfdCwV7VgC2fA3SpJCnEnQAGn2dx5ZX90OJsRbdVLlTlTkmr5xUrYD6eRcB3hvvPnNGZbR2njid_cBHdQ81hK-cy66b9UPt0nRtaiO14jmzLBEiwph-Fjf7c4M8nyLuoiVn94ocRNedr72W-_K5vW-izuQr9Abgw0_jW3AQOHX7-w1rMYjCwkq_W4gJCuMGXdjTb-23gMqsfhL7L7QxhUJBNuLW3oHV_9M-t3p6AURXBxguJir1gxbFHMWg4NQOKVTDtnAZWR8uaIAOPKYJ8IlbaFDNVafYbb4HgtA9eJFzC0TtFcBx1ChBv07mvbm8ttFLNL1Oc__lL5l9FlDW6Pae85uxns9Qg0mtAS-G6ORSx0VZ7YZPlsCVox7ZVxdGZfpJD2RE6bD515nNnSECS9w3yL8fIuq_HoKtCGmqyjJ4QLxk6zFgfJdhBznwoet731iA3i_QZsRC1tYGDIZjOq4FxaiiCEgcHo6SbjeeWCFnqMk3sivKAZlQyWhOyrPE5We2liwAoFJ4BkZfrr_GgZQJLzwDdPEMuSnu_o5NZInz2yaXW8eyK4dmpWUfqUcUJ1hDHWgKJKRnIyHZPSz",
  "id": "rs_0b98d5001d78c62a016ab44163cab087d08cc34af155503576",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_z\":0.12},\"note\":\"The left-side approach aligns laterally, but the teddy’s dense torso sits a few centimetres nearer the base than the current grasp point. I’ll shift back about 3 cm while maintaining a safe hover.\"}",
  "call_id": "call_T2H3B6DjxMeLeqjZH95ILgSv",
  "id": "fc_0b98d5001d78c62a016ab44165b9b887d08ad375d134f5edb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T2H3B6DjxMeLeqjZH95ILgSv",
  "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]: [-1.1503, 2.2642, 2.019, -1.2381, -0.7036, -1.1427, 0.9982, 0.1017, 1.2922, 1.1294, -1.0718, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=-0.3706 left_z=0.1099 left_yaw=0.1355 left_pitch=-0.3003 left_roll=0.2108 left_gripper=0.9982 right_x=0.2806 right_y=0.0027 right_z=0.1549 right_yaw=-0.0573 right_pitch=-0.6408 right_roll=-0.2103 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -15.1179, 6.7897, 0.6325, -0.5153, -0.1343, -0.0366, 0.0205, -5.7778, 6.4615, 1.0623, 0.0952, 0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068652f63e8460aeefbd2f317fdafdb306eb3b2a6ed4158143eac51675bfeda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205acfb539584ec2c33bb68df435f1774e559c14f3f483e3a1d619ef2152975f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abd83e5669fbd6503da275b25bd68a31a44a9e9b752e47e1e779ec0c129b291",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9874, 0.7837, -0.6643, -0.3035, -0.136, 0.9979, 0.7158, 1.803, 1.0702, -0.5865, 0.3729, 0.5529, 0.0108]\nstate[eef_state]: left_x=0.2865 left_y=0.0006 left_z=0.1596 left_yaw=0.1254 left_pitch=-0.2445 left_roll=0.1565 left_gripper=0.9979 right_x=0.3125 right_y=0.1912 right_z=0.0226 right_yaw=-0.0322 right_pitch=-0.5638 right_roll=-0.2038 right_gripper=0.0108\nstate[joint_eff]: [-0.2256, -2.2632, 6.735, 1.4969, -0.1734, -0.0562, -0.0122, -0.294, -9.4564, 6.5846, 0.823, 0.2369, 0.0171, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 2.2845, 2.1773, -1.28, -0.7017, -1.0985, 0.9985, 0.1009, 1.2961, 1.1526, -1.0752, 0.1677, -0.0257, 0.9973]\nstate[eef_state]: left_x=0.3187 left_y=-0.3778 left_z=0.1436 left_yaw=0.1229 left_pitch=-0.277 left_roll=0.1446 left_gripper=0.9985 right_x=0.2848 right_y=0.0028 right_z=0.1613 right_yaw=-0.0568 right_pitch=-0.6248 right_roll=-0.2074 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -12.1641, 7.8974, 0.1978, -0.6374, 0.0513, -0.1734, -0.1026, -4.3282, 6.2838, 1.1893, 0.1978, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1503, 2.2642, 2.019, -1.2381, -0.7036, -1.1427, 0.9982, 0.1017, 1.2922, 1.1294, -1.0718, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=-0.3706 left_z=0.1099 left_yaw=0.1355 left_pitch=-0.3003 left_roll=0.2108 left_gripper=0.9982 right_x=0.2806 right_y=0.0027 right_z=0.1549 right_yaw=-0.0573 right_pitch=-0.6408 right_roll=-0.2103 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -15.1179, 6.7897, 0.6325, -0.5153, -0.1343, -0.0366, 0.0205, -5.7778, 6.4615, 1.0623, 0.0952, 0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068652f63e8460aeefbd2f317fdafdb306eb3b2a6ed4158143eac51675bfeda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205acfb539584ec2c33bb68df435f1774e559c14f3f483e3a1d619ef2152975f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abd83e5669fbd6503da275b25bd68a31a44a9e9b752e47e1e779ec0c129b291",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFp5cgxN4PEFXAzJodMklknk5D9hvGcDh9AHbruburXUGZIDFnN4tLU0UQZG0TD8dpCwMiyzq81S2d7oJi6t8S5drUcu1fWBi21D_31Oak-tXTKZzs6IaDR0SpwNK9TeN4gBbOjJXzX6gVGiwgPkOUD4vKTCXcpbyDLndPUQN_SC-H6AB8zjzDlNMUMbDA5ihRE7NlfOaB40mIzHCyJDcAkPXCzqWXOCQpqwAdq7zqQUJpdjkYtBiYpDL42LW6znLvTC4CDUiW9oBKsUD4x2sBnuOUyxswRmZvvZareri9vpVxy6VuHvz0RL9DtZtMlcc2iBz37MyISRpFljp_N4HkgH9ugNGWOO3e-cgt4tgNrha47a7wuCTQlmoSxpbLrnjriKfaSj6SUz-RIWqRPUk_KEC9Fn-SDhDua3sLjd4gOaC1lmndcwJhXPmU_8YYL5Wkev9sClInBvUg78dxp-FiPd3BfPOHAiHncIdqn1zfzZVBQV3KiLSCHxKHeH6X_fHWF0eQ9SdXNHwtNOWJU8zqLTIESslosOTmR-2UnkNLENa6qN8hNDmIpG0EcesksM3t6k3Zg_e_ulwbdNTDaCYwwwHDhRknpcF4aMXXV8CU_vK7PcJHMhjNopo4j2c4J-tZ9h5bGiJjsr0NgfV-1JKTooWzcW71qh1s7Fzrg1Uvi7fR0hWEJsbRqoCFJBhbRPqcXtcIb6gDQLdObAM2hAZQLa3cGeuNT93Li6PsY64kMhdRuT3WfT6vSOOzT-ioXztSRLvL62fpnyz1U1Xz0Ke5FeZ0lHlHoLZlMsvn1nCe07qVU5HxiDGEq3WQgIHU2e0hKGtnGxbfeTht2Nm6Iv7zXnSCzb4hx61py-KMGKReuIBkSCpylxzz3ol0qGm5wjYsfzJmDb98kwdeiS8-VzUQwKDgz0xBglMWsFKSIhBys5xtkZjNE4GGnyexewbFH9DJtuaIokathkv4U0MHhDXHSPi6OAoQUanhAWUsYwrlYs0y2aTPkq9NzeL14d2nD2UnApHBxhsy0Qx0fx-JlQJUVrjBFgJcehssJ6Tce79QilQb1UjAHYg2dtTZ1Syk9WXGp91aUZldXlXDbf0gFZZhEA75YF-Yl1suWXg_59otcJ6b9N365-kRxt3q7f86vO8IBGfMq6uiKAq8VrxSw89EzxAYMv7R9bW2Lts1D-1QLvI59dP1_WibHk7_3Vj3tsxOEZwcq5WCSiDB6y_AsGeQxu56kV_NZ_9Lql7i5vYNUd8Jn9fue-J7AX_ZFaLQ2y0yw",
  "id": "rs_0b98d5001d78c62a016ab44168624087d084140952d9dbb2e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"After the radial correction, the teddy’s torso is centered and spans the open jaw gap rather than sitting beyond it. I’ll descend to grasp height.\"}",
  "call_id": "call_KRSRim8c4kzJNY4DaMWjQmcl",
  "id": "fc_0b98d5001d78c62a016ab441689f3487d08a66b03d320e538f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KRSRim8c4kzJNY4DaMWjQmcl",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.2864, 1.8053, -1.0058, -0.6998, -1.1519, 0.998, 0.1017, 1.2716, 1.0897, -1.0573, 0.1677, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.368 left_z=0.0468 left_yaw=0.1398 left_pitch=-0.3038 left_roll=0.207 left_gripper=0.998 right_x=0.2746 right_y=0.002 right_z=0.1481 right_yaw=-0.058 right_pitch=-0.6453 right_roll=-0.2118 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -10.1402, 5.3265, 0.4078, -0.4469, 0.0611, -0.0464, 0.3077, -5.4632, 6.2291, 1.1306, 0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23501536ea1da257048034b5d39e51244940717f7b4d5bb722d73ddaf5d3a453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67be147dab8d8a0553e0a63830c9bdbaf7beae57e58497cee256dc8511243e58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68837871daa603e34105e57c2e61532decd9034ceb888fad1a4c501a57525fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 0.9874, 0.7837, -0.6765, -0.3038, -0.1356, 0.9979, 0.1005, 1.2972, 1.1507, -1.0462, 0.1806, -0.0128, 0.9961]\nstate[eef_state]: left_x=0.2844 left_y=0.0011 left_z=0.1577 left_yaw=0.1265 left_pitch=-0.256 left_roll=0.1611 left_gripper=0.9979 right_x=0.2911 right_y=0.0011 right_z=0.1633 right_yaw=-0.0757 right_pitch=-0.5958 right_roll=-0.2108 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.2222, 6.8581, 1.5458, -0.1685, -0.0171, -0.0122, -0.1436, -6.0376, 8.5265, 1.033, -0.0317, -0.0366, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1503, 2.2642, 2.019, -1.2381, -0.7036, -1.1427, 0.9982, 0.1017, 1.2922, 1.1294, -1.0718, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=-0.3706 left_z=0.1099 left_yaw=0.1355 left_pitch=-0.3003 left_roll=0.2108 left_gripper=0.9982 right_x=0.2806 right_y=0.0027 right_z=0.1549 right_yaw=-0.0573 right_pitch=-0.6408 right_roll=-0.2103 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -15.1179, 6.7897, 0.6325, -0.5153, -0.1343, -0.0366, 0.0205, -5.7778, 6.4615, 1.0623, 0.0952, 0.0024, -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]: [-1.1515, 2.2864, 1.8053, -1.0058, -0.6998, -1.1519, 0.998, 0.1017, 1.2716, 1.0897, -1.0573, 0.1677, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.368 left_z=0.0468 left_yaw=0.1398 left_pitch=-0.3038 left_roll=0.207 left_gripper=0.998 right_x=0.2746 right_y=0.002 right_z=0.1481 right_yaw=-0.058 right_pitch=-0.6453 right_roll=-0.2118 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -10.1402, 5.3265, 0.4078, -0.4469, 0.0611, -0.0464, 0.3077, -5.4632, 6.2291, 1.1306, 0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23501536ea1da257048034b5d39e51244940717f7b4d5bb722d73ddaf5d3a453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67be147dab8d8a0553e0a63830c9bdbaf7beae57e58497cee256dc8511243e58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68837871daa603e34105e57c2e61532decd9034ceb888fad1a4c501a57525fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFsfivwvw3QQfruceEiaGzLDQ5I8d8sFx7kEX6kvyyePO_WxtCLSLvrjlA2AIEimP8P5NUt0WsjCjFuJmg0I_TGIEd3SwslDcOmGurdMKJP8eSAOpjHMPXQDtQvH1gXzCJEDKDO1jOIYdKf4WvIejcrrzDS2NmQgfrUUcoOJj3X_-C_5VkVUQPfz06BqxlS-ZOuF5mqpApp-sckORW-uoA1t7MmtOCwqaZsr8fnqKHDxAjaTHdQ6TKhBpXlLwTGYcPqxCpyGlCDkBwoQctcLMFECdsH33LnmqAMlXn__8VHB2EqUpdbIZ1m3YZS_ekM8jhKYBZrggrK_Yj8UvS-bmpfoWbZROkuzELKYyeAAS8m6lMT1CV31ToVn0teV_L_wT6p2aNi4yEAIrpUV_kf9B_4tZP83x_-8V55VAFhSdIzTj-cptTxexOasz1SCLuQkFTTEAcz-0h7vR3l6eQtuT_rX4uoM0FI2IAed0h-WifKZSeEEc4wHgjLcX4bjV18Dzr60QMhPWFR-rYULmUldOPdVW0injrohZYG3Gwvnt3VwOgiyd-OGp9O9-UEgeiDSGw0PNx24N63hnqew-YdfAYcSH-rIRaecqfR2quAhlfDAetb05D1zpuRGeAHW5VXxD2HHBQzcIRPXASYpzg5r4zPFFiiowPFazBfYqFuWrHnUABCQdfhvBIELQbjUmLpNqaRXco-jd7vtq0qV17EJRgi4_yC8UjtS4xb7aMt6T8Yaj55Gsst4Qkh0qn20DCO3LJXpruCyc4eayPoz2y3xQjofhQ4xvfsCiUxJJFCwW-XNU1d_qv2H41xWOdzLjl39m9-VubIkstXpDeZODBPv4UO_pwP5q9VvjUmc3un_NdMlyrZncaDt0ObRxQbm_0Cj_cjQ3_B14Wm7bZh61hmgXqVWVfu4Pm3DCLeZE7Yu_X2TZ_f8BdaedQjSQ_UEo-DNW3p8iuXaV2SOBLf1xLukYJnIvYL-2zYyD2uNKN9TXdoKraDpnGfYz32r1sp9fmB0p4zMCP883FjFnzhKZIT50FUECF_gOGJdS8o7ESXsX0DxD0-rbLCLJRX0MFMI3r6jsNvlkpzdQsG5R6IInsC0FwE1rpPmCv9JthvFtN1ZQFDbZ20KRA7qBeTT_9eKsDZhKdx_mAxMDZCp0cP_XBkUeWJASBXFhrU1XRju_cogsWL3D0Fp9i026yQqrafa5_mtKUgzJzkvv363bopnG2SQpCImNilxjQV54lS5uUqcQtym6hCE1WwrDi4n5oSoBZ9z0CNShQskQ3Fc0kgHpvOk-h_Pg==",
  "id": "rs_0b98d5001d78c62a016ab4416b921887d0ab328329b8a34ef6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at the teddy’s height and its torso fills the space between both fingers. I’ll close the left gripper around the body.\"}",
  "call_id": "call_VFi0E6sdMX6QaZpRxMCBAcVW",
  "id": "fc_0b98d5001d78c62a016ab4416bd2b887d08ccee51bb81a3b8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VFi0E6sdMX6QaZpRxMCBAcVW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.3062, 1.7935, -1.0023, -0.7002, -1.1568, 0.0099, 0.1036, 1.2461, 1.0439, -1.037, 0.1677, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.291 left_y=-0.3644 left_z=0.0352 left_yaw=0.1513 left_pitch=-0.3105 left_roll=0.2323 left_gripper=0.0099 right_x=0.2685 right_y=0.0019 right_z=0.141 right_yaw=-0.0563 right_pitch=-0.6452 right_roll=-0.2116 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1744, 6.735, 0.3687, -0.3932, 0.0366, 0.8132, 0.2256, -5.2034, 6.4752, 1.1013, 0.1441, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba77239948fec784c22a100eaebd4c10135896f78b334d7a908314669613a81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fba71db4cb63099962b9f17815bfacc415e293247ff825b4af13c2177608ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35f977927a64ccaa68aff2b9f74ffe7e0d0912a929453e1724a7240bf9b173b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 2.2845, 2.1773, -1.28, -0.7017, -1.0985, 0.9985, 0.1009, 1.2961, 1.1526, -1.0752, 0.1677, -0.0257, 0.9973]\nstate[eef_state]: left_x=0.3187 left_y=-0.3778 left_z=0.1436 left_yaw=0.1229 left_pitch=-0.277 left_roll=0.1446 left_gripper=0.9985 right_x=0.2848 right_y=0.0028 right_z=0.1613 right_yaw=-0.0568 right_pitch=-0.6248 right_roll=-0.2074 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -12.1641, 7.8974, 0.1978, -0.6374, 0.0513, -0.1734, -0.1026, -4.3282, 6.2838, 1.1893, 0.1978, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.2864, 1.8053, -1.0058, -0.6998, -1.1519, 0.998, 0.1017, 1.2716, 1.0897, -1.0573, 0.1677, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.368 left_z=0.0468 left_yaw=0.1398 left_pitch=-0.3038 left_roll=0.207 left_gripper=0.998 right_x=0.2746 right_y=0.002 right_z=0.1481 right_yaw=-0.058 right_pitch=-0.6453 right_roll=-0.2118 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -10.1402, 5.3265, 0.4078, -0.4469, 0.0611, -0.0464, 0.3077, -5.4632, 6.2291, 1.1306, 0.105, -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]: [-1.1515, 2.3062, 1.7935, -1.0023, -0.7002, -1.1568, 0.0099, 0.1036, 1.2461, 1.0439, -1.037, 0.1677, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.291 left_y=-0.3644 left_z=0.0352 left_yaw=0.1513 left_pitch=-0.3105 left_roll=0.2323 left_gripper=0.0099 right_x=0.2685 right_y=0.0019 right_z=0.141 right_yaw=-0.0563 right_pitch=-0.6452 right_roll=-0.2116 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1744, 6.735, 0.3687, -0.3932, 0.0366, 0.8132, 0.2256, -5.2034, 6.4752, 1.1013, 0.1441, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba77239948fec784c22a100eaebd4c10135896f78b334d7a908314669613a81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fba71db4cb63099962b9f17815bfacc415e293247ff825b4af13c2177608ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35f977927a64ccaa68aff2b9f74ffe7e0d0912a929453e1724a7240bf9b173b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF3wsRgxDYolxjJXiMYFxs8u8rlASKXHhpCw8hxtRPyWMeWZ-8PTavYlrJMvK7qAMeB_tHqMO1_ouJfp7YZVTGYOS6HjTpjtYsAFISLCBOGlsom4wJRn5HMmx_07tcdOHP2XvIpYQFsQYM79uxNDIjEqeRCUxD9CtQbve0r7eQjwbN5heD8Jjrfeas6eyvKWRbP-JF8D5J2PcJ_u2T2EJNgb2seiOtLIBQDgL7UFtV-D9U1SH0cx0I7rdO6MH5qlHPTvyavNLQQxlNk2c1YNP2IpJQJa3saPQ99DAeBruxyGz0_WYRqvgs85uK7nu9eLIXy3caAm9-c7LwKiLp38kvJATQdBg6Oqb0_okWWugUNDv3sMmCyv5kZCMtrrL6RgsHPzjQP3Vuf1OyC-VH2M-lZgqK_4qgD83V_WJ5kTscPoaQdewXd8U1dHcZ-zTUcp1aWtOlVZbeag1hSUb8TbWB-Q0TNIii0BQC_X2eN4otE4YYYiQXfql8EdpjufmtTW1vKn-xnzdjtRMtqbpFX5CM99NNIoMb_12lXX2N2dFV2oeUF7P3AzCz5lfxb8F-B5shLigtBvniFk8DqWs3aJQLfId37v-R2uAxlixlTYhBpQu1uKgFAgYapXYzeKykYHNeEOCXm8OcybnSyvFx57rKNBWFfqTt9ad1bP-B3W_z4hcfVN1mrza_XF32Pp6tCZM8hUdSOx-AYXVWTJQk9AUYrM0Pd5jBkT40LiuG_gLcesRSDZyeOdWN1VyZMyARCbkLxWxftuDueSvZmNSEudK8EyMdpPwA8vHLcHGiyT5Pg6R0VSo0yXLw2n78KnClhe7SdCNmLLrM9QrT4mcMIXmEnVMG5TNw-opF0z7w8iqV5Uxq-nv5MHj-mfK4yoe8BUfjqAAeD8p2eY4DSrhQAP1NNWgiwgIpzd1oAp6pLhS-au6J5ux1TH1GgQtRk4d6EdErNSexFEEFqE4oM-ALPzLy9b8Ux-yYja51o-ePLpPrlqqg5V_9eWKLeZsoDyxnO-RS4DIEIdtMOdkyVPJx39Mp4x2p1kUBr4fRHi6A9mdYwaOz53xUBftbQbyWMSFRkcCFjPSixYMigq2IDQ6eJQ8IKWcinGKmKZGVNlbx1eo9HYv1WqQpqhtLk24vp1N91jmfd_K5-tJcMeFO1Ythg1g08QI4PIukM4zZ7pB08fYarudXWj7Gpr455qzSIhf0bAUT_j1ZnfttVlvI-nfIZFKA8oDKAdR294hz2M1v5Suwm6hfSQ8_8rBs-Mho0EzWSsijL7qwBb_1ED2Zwua3097bE94ZmQVkf06QkExRWMzU-OwEsEHvZcplrrRzi-rhntLyIPbTexmZ_P3iFZWnK2QzlbYR2jYFRSvPCMwOoi7IBOIPfBFZTiDNpXUDXsdprs8zE0kyOqIMEB7VxrduXIumBqB8IpCeMtl-wA5WYdpVnAVvTrARqF0z73wscWR_lA9OKOjajVo-FCmxLlVjfVc3U2vHG7OKUsq8VZLUNpFMZ1d8Fb78a1Ia2P4vrOhF6ceTBKsOnx4PxDwdGw_AiFx0QGlPUuxWS9iC4RTjUenMQtbTQHCEGuF6rx27kQRCYe2hF8VlQi9-OIfcF4gFyg_gwu6Hdwp27DzO4zyI0Dy1PAq7O6OXGoLN53iCNBsscCnBCkD38KDSIrJg36IHoms_fHAnFZTR5h9j6H95hxXPGiTC9lOIUHvki_bEcDMmf9eCjn2SdaP7JPZhR8gL2Z5VDrJGyh--iXwlp5n5_VrsIqVOXK6qOsxZGg0zvxyPV-5YvEMXH9ZMR2l6Ve946sytfFVr4gfWDovLsmeY4wWg9tQtQ6vSUGOWjZs6oOeBj1BjfBDqMj7Qo-d6DJIg-GMyBNra4-szsRCz_nYQdD7Q0b19dcarNZzFq-yV5cpQ06FYo_e-rl34Q4_OlFG2Fr96kGyMO-pTzqNhDSZrswG6Lj8p7sHfoXt0lZtzFeeEv3PCHuUOLRAO4d9Ss8zN1F7pFc-uNGp4HYji9HLSgjV-CpFtXfmQNk4O0iFXhNHvpu_OIu89gFT3a8GvqJP_q9OP9E5RjmRrcw4Xx3h9UPa1ZW497SDAuq79iMOB7xGQC5K8D4a_A_u2pgB32RBeMhV1cgCrItY0TKKguc-PDY0TWs2H3AZja6Nz6kkaFfnalr70-Y0nBDavlGf0N9-2ZdSYBPriqrziT7bnLLj2WJ5qquW6HbUT5YKvA3fWnn8-UEUfmaoRd4AGAfE_xAAiZtGeOiVkAvAOTpYYByWLbYGGegbzFN5HAfcD3vJcwX7OBv6PnKP5U34Hn_raGUIkk6zi7ocUjIuaTIF_amdpxBLdueaRIn0Tt593DJAaQFimGY5wcbIl-CivuMp-T3NTpgsnxp0WFaV2RJAZKqEC-Obzv-FYLsqV2UAVu3lr4g7vXVlpcagEmEzqOhHxvyaTF9WZXoPxgGPBSEfOF1LL4BhRCZR5fywUMY7ZlhdBgssLQyM9i8uU_URnLdoY-3J_rl16XFoG4X4lmt45wet5M7fpL2sjeWlJ4TM81bX0XjmhijjsNjBezV7nnFbisE6bAOW-vCXcjTCLObu95B0SEnHZeWjpW-igzR_cxw-6q0tSD0qep2LpjSG7VhFCGFTjO-xKAYYxeL3ecXxAWDQI22bnN7NnQalnktgvi6MrXnAwOYB5RdLZCZBM_0WFLGkRuG2zWw4d93qK9iUrj3lsxMZMVcvSulKBdg5EQxYMCSJF8cVIXsbGBv5aY0jlI97VIutPBVXr_6MJymPT6Yj_h5hRFN44jNXTywVmGjoRdZZORfw4ZCkU2SLW4O4YXvW2h027Vfd2xEZYkPcIF1wmNoJdEBpnpciiYTg5MAqVCHm1y1kI3xWXBQuSUJTcVQcTssAEyfETO8WhsgbaQ6LJwHLkQwANW_E2m_Zi3nHBBmHYhOVM2ouNqT6mOZXw-PAQpVb2dMTBfIDqXLpkBGWe0QreVwNzgMk_dFkrE4JQxAngbeNSiTrBXb0ccyPQc_Iebxfn8df11wyLAGMm23uwSl99WTv61XoYX_oJpIG4RlMLHwduQ10gGb8PwN7LDf4nVTKOXj0TnFtbC8DkVUwr0owj2fFPKq-fkPAIG2aHsjvqs1q-gEzZfRcD2OuId98HtulD2177XJHrmkyiUejOq0nMdbdqa8Nd5ayfeoUW9-F1m1a8miUlczCnDt_VDnNsY5G2BnKaENxRrBTNqPRsSdWHKjxNs9uQIamHAAsjXpGYSehfaZAT_L3lLFM506ZwL4GACbD3LwxRRP8hqjO4qs8VuzF0F1NZkZQ_L72fdzxpLEXW_cjY9Ye0Ikuo3BIH_q_2DceDqOTm_FX1RYvYbkacRAC-L3-zHoA9xAhcYqzxNMod-t3zF-SJbekfUwYvnEBFsl8731BSvxqL6VdDLeOtbEl2Toqjrf108nERV_4oKkPcKDiHojsptqvvJpj5DIGLIL8Vex3ce62m5aAAps20LyyCIvNx9gPGXnaaUi5N8hF-GAStup1d-cbc19fgAD9t0tNV33v5h9lDFdgDQ6up8av29pyRaNz9oY3crOQ8FUWx6Cv2rB2X3CLLd1632xBBFQT05Gq4i3ne5qyJDqf6kKt7BR7AYoPcPqfytBVDcVQAQPnBZBOjRQbjhiYQQiDh5yoQxdlSgodf41dVIhf6EPBfI0-MP2Q8atWKj10j7wu3N9Uoi3lW-vYwEBZQC91nSfOdPLuUz0TLZ0sJPvy_PkC83Kbh0n7L4Budc1vwUF8dLoVkcJNGxuysZ_dKBCkmyVOVGUWpnRgM9NQGapYYTbPvyCD87r7E4r8dsD7CS7tjQc71S51Yrm9zmKH5P-xoEEoR5irNMd8uRPmGNkb64QvpOwMI62Ip_khG0OQnORggK7YCTHYJphn_wMLLfdx05hBWmF9CdB6hUeVhWAuAarn02qoUF9Km57v4KQfmREOo76Zj1pcSIraBGpMSyNeS9gU26Lw6-rX3WhzQfKq2STwJTktwFIDQjVJOp4yOFyYR8mxd2KNiehXKGeohCvQ7tV8vNKhrvxwWLnLAS-Ca9l50aVaXwo34FJoA5pHbI_6iEGfg2HYwPiHgKhZMMyIOVJLfvSUPJ38BEnjBl3LA_mvNlDZLnOqXOSCTmg6vlXrQV1K5WCXuWMfjqohrC7JYWVdr4Bnnn_MK1DjJYAsxsMbmb9KvhjAM7bbNBKxgC6aU3Y_VbHcJp8iIu_43a0TGhScZ6O2MMgv_n0s0nbKxdbuNGbh_wFTrk8OOoAzlRlgcp0I_fwbeL6gM_KCMEU1pm1MGEpw9qteLD1WcyG4A-oY_mydLcCN_1OcE_u5YMwJL_r20hzxdGJ7s2JQIxVFCxSUnxlR5LSe5MK0aihpft1Qc=",
  "id": "rs_0b98d5001d78c62a016ab4416e7fa887d0999cb5790e1a4fda",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF3qY4utUlg4aYYgoQyIgZqcFA7pZBincdTBqUdHFrODVPxiTezqwVCrHiIR0JUNW-YmZYKxQ8AUHbQHxfPaF9GsV9KiDidGwhBnPbJZs3qOcn14QRD8A1xIZaFluKkSm4MTOr-5GgJn8FqgMeMpTcEEq3I-P94E_ihlKeaxDbCAjeHCQ1RmgAsBs8KznH_oapVTCn1gx626RuGdDxXI9XO5E3Wwd4OylKYD9hI1IGdGd1poIcEjBDbvYxWRwy_Lu1wgz1zkhFLF7wDpmzKojnbXaiBo3wAcNZ_fZdlmKlt9X5cMlMbVmbqfEoM088EnQDGN92iCCECDpsBDpzxsIkE6YN6gYc8PhxCpblZClbpmObuEfRDE3gLFPLTlPHDDMWdmyzPKZeB3IWPyYOTVdDRQxModE7PGifa8371qcp2SWNM9HbDToCtCgPPDJkM081_6LwJdC9TXwxFjFgxonKBQN8jBkyWgauxhEG8Y1Tia-V8uk9JGq-zGCg1TbrX6LM2fxrWosGk6igOcDCJTPCC4dvBYQr43Blbg6F8Krqhf7HJzdmXFxUKjpQsOg7s9pFm6PkEDCE-K9XRU2ZvbrzV_V69zd_zOwo0SFcJQBCSV00hlFhOo6iWBmOROelXOqNHnCXHXKvV7is9hzyM0PtAD5Eg3qlTdg304qgkYFgPihL4TwXW0o2J27RvS9TgCquuOpe4tTY39D-J0G14xRmqjHUtE7CNH_Dr2URIq7JRtZW8QVxi0cYOEcGYvmLKm4keDLyLsc1iX_wlFwkU9QENX_MhibmATA9M2kF7_8nr8HVbM22vJTUgavmyjlfRrIVo4I_WTjvT9J06fLXjkI1LwhKFWqyH_bJlxCnjBqC_UBR7yv0AJ-W3ptX7-E4Ak3YlW6T4uLDH3Een-ZJXp0YxkOswQAbJdC-xawFNh7HqFymrEtzVCqVUmqToSdu5Lzilzf2__yAZU7Qxl4U3S9Qv9YXfo-N03LjuSZcKtJ1rAu2gQaCiWjMkzezCcMWKvkXi6owtYLZl4Zi-WwAXigufOt-mJl9ytA04wieoMzFbUH_2bMu_yiDClOQ3Zja8Rrp7IqBUPQUaql8IY1bLAH-TUoUPZVqN2Bph0UFVJ2F-WBw8ZK4OW5P69Fh28RSwrmyvHrghqdkH0_nESWOGGppLf46vCt3PbkaCBN3aJmLCeYDcGyY3_THz3_a6H0fYdyvuVLKlcciIGRzu68dmm_1DVca8-afdpE6r_eaIsIRLA1sARoERFX9osBXIdb6YkIkMh7ZXRMmh5Xhbdi8SFjliqr7L47mhWaQIAx-YjD-AL54tzPqa-kv50h3DmnSJnSJUpAr7B8ZGkw2vSrqT630pi27FuojjuAhAzc-0mQZbcfefaUqbXdBQvqbqYNXEw2Jc96d0E1cAtVXi8WmB_-WRSE7RQ44nhNb4OahXPDGVF9iQ6yIrTG7PVg4I1-0I5kez9bTxw08a1s26rnGKuu09EM8UHZoMqSj0nSkd_hxeczgN5kfqc_xW1xTfud4yDMymJ7nazHfxGfTzLGyn4cl7AU5PB2Og4yu0DYh2-n8t7aQaiP5rHJpS4Yyz2iLh4fKp_GpwFrJme7R_dyX5vhImG-5Xlclm0d0-bkeLOgrzEbfRdXABrq35oArfbkql7Q2vELksc3IxMrwOXXpOm9jEzy3iscoy0NxCrpvehd0TEYrjFKNeqs8JQqJbJW_otc8OSQZ95qoeelvVW7Iy3dwAJQIlonJtYDomnIqnHkDrSH4TBu06Q4VbLNNfCoyKSRiuu4LKSzUPaN_nnQFZdd7MVR91SyLL6ToDXLs3FBWgeW6Igen1ZrIU9E5Zg7gmxN8iBzM7wpph2nWcQuzwDqbuYBxEleys4pC4t1lyXQFoI2FN11Vd5e0HfUcR_B45Y9jr0x_RGUZsF2Wc2sydE8Fx6vduvA4cclqtgOaA8I_WioiJMlG0NeMW68kfUy3TTlQvCS9K5tLNydpLiJeWIZ4ZObv58MdfbcbXFb2Xjzn7vC7vqasm5jR9SF3pJ9m8Qg18Tg3_O9RPsYaaLKkUIG3ux8ncHq62O0-6IOUeFifLAFyYSEHqlYNtNvHRFmSYKvh9d_qjPTGc6QMGRPHQ6QPO76VgWNM48VgGvuRxcJd3yMZvFHdWsE9xS-aAq2YQrpRFktHio1a319TfzC99us0vnRtwtv0_KcsQZRMxb5bXsp1PGP0Mh4zZXyEqQXiE8oNGKhoa-gd0cIuOcPqPR17mg6B_IBgcPLa0BAHUHOw3NuCHmxS_Ris6UDKRkbZU80K9quvfoObsn4oLmHAQvQIIVNeZTSMOCL3n74N6wT-uKgdtgytF1tZ9hXX8ERK17HAqplsvwNBQvW9GNxYZgDmQZsOBCU1R4m7vFPyZu4qbWPXoE5mT8nerM3nYihEzEqpKXq1gJOg8rfi3xJ7iNMjBFStr4krV-z3dZXy2Sahu0uziZSx9-BNDTmMIUBIJ-NgM8jOnAFD9KNXkryEie2ok_zKdrtDuyIkPDXMos_e465YHf5AzoAEQ-qxz9rHyD1LPf96lJExF63iHBmZhxm_lbh3O3nbpx06Wh6kLd4qnN8Zt60kQxmRVDhVV9DqhQKDvMTahIUmmqFccEiwnBUV_OfGnJVKyZkO3bvSSy8TXentv5N0SEyVKNuZI0qvuV7y6JCn5sgkqxmM_lq-PDP_Umz_vumWOFqN6TKgaEmPfZM9_428osOU7r8Dy43rQZ55YcS0GcwdP370BYDp1jldR4MUhLBwcfgtU75ohnx87Z8eTJjWyNsrSUXX3CcB5GOgJ3dS3bUuAOWMzhmJduJL9hkX1u68M_DwqS2GELztsHsq4j4I2QDsIqiTCLXEl212RMJVSKxcStbHgGDs2KMgkOZqVc5yIGJgN0FseZ_KjOY8VjOpjbelXR4pPX7rNC8pRoipZrzdrVV5Fvga3Oa5j3IqLSGl2LZQEHj5cwNzZPgFqUlS4HG018-BqaPCxHVvT_qFn-DVgKqQeJtKMcxXYPHVZCCSTr4HMPFQc45en93pPUHMa5gDJUMNMULQA-vJBO8aBjrwb4yIKphdplvHX2Q==",
  "id": "rs_0b98d5001d78c62a016ab441739dd887d088b7bed637959107",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.395,\"left_z\":0.06,\"left_gripper\":0.0},\"note\":\"The teddy again slipped outside the closed jaws, so a pinch grasp is unreliable on its loose limbs. Because it is thick and directly in front of the safe, I’ll reposition the closed gripper just behind its lower-right side to push it into the cavity instead.\"}",
  "call_id": "call_6XRED6i3Uakw3FrjOkwgOhcg",
  "id": "fc_0b98d5001d78c62a016ab44176a36887d088bf2155a52d91d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6XRED6i3Uakw3FrjOkwgOhcg",
  "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]: [-1.2675, 2.3535, 1.9503, -1.1805, -0.6926, -1.2861, 0.0086, 0.1055, 1.2205, 0.9997, -1.0138, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2461 left_y=-0.3968 left_z=0.0524 left_yaw=0.1291 left_pitch=-0.3168 left_roll=0.2154 left_gripper=0.0086 right_x=0.2633 right_y=0.0019 right_z=0.1344 right_yaw=-0.0532 right_pitch=-0.6408 right_roll=-0.2104 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -11.9043, 7.9111, -0.0269, -0.5348, 0.0659, 0.8864, 0.2667, -4.8342, 6.4342, 1.1551, 0.1245, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457bc234969c877e9c58fe9adf1be8da7109514258c4a40cf97cc16282f61088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3eaa69237cf776e8ec648520e92b6157af70ab9ce0d32d185057fed7e3dd537",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4f17603dad54c64cc366011ec88e9cfb6fe82ff741f5b06b8ea8b0c96955e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 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]: [-1.1503, 2.2642, 2.019, -1.2381, -0.7036, -1.1427, 0.9982, 0.1017, 1.2922, 1.1294, -1.0718, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=-0.3706 left_z=0.1099 left_yaw=0.1355 left_pitch=-0.3003 left_roll=0.2108 left_gripper=0.9982 right_x=0.2806 right_y=0.0027 right_z=0.1549 right_yaw=-0.0573 right_pitch=-0.6408 right_roll=-0.2103 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -15.1179, 6.7897, 0.6325, -0.5153, -0.1343, -0.0366, 0.0205, -5.7778, 6.4615, 1.0623, 0.0952, 0.0024, -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]: [-1.1515, 2.3062, 1.7935, -1.0023, -0.7002, -1.1568, 0.0099, 0.1036, 1.2461, 1.0439, -1.037, 0.1677, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.291 left_y=-0.3644 left_z=0.0352 left_yaw=0.1513 left_pitch=-0.3105 left_roll=0.2323 left_gripper=0.0099 right_x=0.2685 right_y=0.0019 right_z=0.141 right_yaw=-0.0563 right_pitch=-0.6452 right_roll=-0.2116 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1744, 6.735, 0.3687, -0.3932, 0.0366, 0.8132, 0.2256, -5.2034, 6.4752, 1.1013, 0.1441, -0.0171, -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]: [-1.2675, 2.3535, 1.9503, -1.1805, -0.6926, -1.2861, 0.0086, 0.1055, 1.2205, 0.9997, -1.0138, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2461 left_y=-0.3968 left_z=0.0524 left_yaw=0.1291 left_pitch=-0.3168 left_roll=0.2154 left_gripper=0.0086 right_x=0.2633 right_y=0.0019 right_z=0.1344 right_yaw=-0.0532 right_pitch=-0.6408 right_roll=-0.2104 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -11.9043, 7.9111, -0.0269, -0.5348, 0.0659, 0.8864, 0.2667, -4.8342, 6.4342, 1.1551, 0.1245, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457bc234969c877e9c58fe9adf1be8da7109514258c4a40cf97cc16282f61088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3eaa69237cf776e8ec648520e92b6157af70ab9ce0d32d185057fed7e3dd537",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4f17603dad54c64cc366011ec88e9cfb6fe82ff741f5b06b8ea8b0c96955e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF64bEDZPJRTxC5r_6D1iBZXZx2Rapya9NMfihqfg-JCDeu3Ic6gp-5OVr_jeuqeCn60Wz2Kh-VEEQNCM4sUI8SNfmrKn6T3FMO-u8_P-pGdmbIrF_wigShu2ZiWjkobLB47z5TKCYfJJhaXY3F1cLpAofBWDS83zKh2KlBKQiKjzcxDra0I_L8Tick7WoXbozo_fxy5vDNiKX6qCQ0P43NNXsaBuxK8xJ__JSFi9RixzJ1-qNWJS_qF0uI99CCJ-PvS_8xnItHmJEzOqD2GZo_HBu9VQta4VtS3kq9bOTqoLWdrXb9aZ-P3HL4pSToVzuaIDCaXRSZgFIw78dIU8WSBMx0MBwNSzyBkz5OL8CJo6SLwo4Gol9AInY0_EstfI0tTYh_sCXACGcackmYziiWJ-dm28cnI0XvcJz4iim0yjyC9axrtjbsGULAtpBC0S5a1SpjIGFz2ocq6UGBbU0fqjdLQG9Bd-rXtchEntHpTpyIIdsseTMVM8LTdfAEC_5Z2ZvpUOXLf2jsl3BiG9YCxb-YUigkv_I-qxLW6EgC7qXfdfogn0FPUHLs8gk2iJdsfCSlSKPiZ1klBbw3-aA2UZm-0vU5M9wQlq37WeWCthUtw9BDs0QI1RirZuTEM5g4pgLZ1Cv1jLWlHZz2GObre-id_eO8Ca3qW5blajbXabkSnEZEk-LzXlMaeQen-B8x8FsSxJM2NGi7ReSjw9_49YxvA6dqRNp9d2YQvPAObVaGtL9o0kaJOBJxF_quuiI5Pmzb7TQLK042B9eIq5bIcCJU6voSzNkGeevmx_SgNlHkd8ICKTwN-oAGJsiqZPec0yumoM0OmNoL1zo33qGNlOg3bOIsFrlIPx_KeIIuh7rPJUGO6YPFHMduOPrR2t7dMpLVeptEIHDspzEL7icA5xkYVV5vqAxWiLj4alU1z57Vqkwn-iYyy6sreIWUz2BO142rM7Lm7wq45z6e0krRZsmvfLXuzvTopwjbhS09RT6Ujihc1laUh7CLSkccgN9CA4ef5lWNxeg5wWFWTVKfzG60Z9u1ktxyAXlPlbw8qeVOkHMYQknnub9jSAP3VvnO8YMpNHMcLhCQB3w3s3IYyMTfrNdF9b6Pm9dhReHEH7dCt60ntiddtXaPCMOKzCBdH2CYr5zslTWeAquaFlFozhtOXy2khnVVWu37rh1z5uvKJ6YOuht6IFJBktixXs6e8EcFFgkikBx61AsRtDEumnHFbVCCgAbjEE8GaV7OeN4GRzrNR-1uGoMkjQtGuzG90LByhV-jIGdX8JhviBYwa2RWHElb9Spk5fogjQxznJLhNR3XPoki-iFMO5L7P-U4cJdM2afak3vblInBwu38jOyAH5mii54pqVHBS-C_iwQzPvJ-j4_0NHD0G9Wpz86sOVrboi896-sgKKG3rknXSosCKwIotSR8BnFakfr30ls=",
  "id": "rs_0b98d5001d78c62a016ab441793a4c87d08b69ee69736b81d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.25,\"left_z\":0.055,\"left_gripper\":0.0},\"note\":\"The closed gripper is now behind the teddy, with the safe opening diagonally ahead-left and the teddy between them. I’ll make one steady low push into the open cavity, aiming for the free right side beside the white plush.\"}",
  "call_id": "call_IuSG0MmFyTN3oSdrsznt2S70",
  "id": "fc_0b98d5001d78c62a016ab44179b50c87d0b669802876281a5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IuSG0MmFyTN3oSdrsznt2S70",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8047, 2.1113, 1.4921, -0.6758, -0.6003, -0.7506, 0.0086, 0.1055, 1.1965, 0.9592, -0.9955, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3857 left_y=-0.2518 left_z=0.0375 left_yaw=0.1659 left_pitch=-0.3617 left_roll=0.2398 left_gripper=0.0086 right_x=0.2579 right_y=0.0013 right_z=0.1282 right_yaw=-0.0532 right_pitch=-0.6389 right_roll=-0.2099 right_gripper=0.9974\nstate[joint_eff]: [0.5265, -14.0786, 5.4632, 0.9109, -0.4567, 0.1978, 0.8767, 0.3487, -4.5197, 6.7487, 1.1404, 0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdb7c042930b1442880bdda568eb6a0f441ed77105aff9d444f27441cb51c32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0393a31b33d84748e3da231db5782efa8a72b8ba09e2ed45a70f20aa8ece7786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246d4392f5a4dfd7812ef9d545b43919b86ed1554d13584bf5a6a02796c57cdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 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]: [-1.1515, 2.2864, 1.8053, -1.0058, -0.6998, -1.1519, 0.998, 0.1017, 1.2716, 1.0897, -1.0573, 0.1677, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.368 left_z=0.0468 left_yaw=0.1398 left_pitch=-0.3038 left_roll=0.207 left_gripper=0.998 right_x=0.2746 right_y=0.002 right_z=0.1481 right_yaw=-0.058 right_pitch=-0.6453 right_roll=-0.2118 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -10.1402, 5.3265, 0.4078, -0.4469, 0.0611, -0.0464, 0.3077, -5.4632, 6.2291, 1.1306, 0.105, -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]: [-1.2675, 2.3535, 1.9503, -1.1805, -0.6926, -1.2861, 0.0086, 0.1055, 1.2205, 0.9997, -1.0138, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2461 left_y=-0.3968 left_z=0.0524 left_yaw=0.1291 left_pitch=-0.3168 left_roll=0.2154 left_gripper=0.0086 right_x=0.2633 right_y=0.0019 right_z=0.1344 right_yaw=-0.0532 right_pitch=-0.6408 right_roll=-0.2104 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -11.9043, 7.9111, -0.0269, -0.5348, 0.0659, 0.8864, 0.2667, -4.8342, 6.4342, 1.1551, 0.1245, -0.0269, -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]: [-0.8047, 2.1113, 1.4921, -0.6758, -0.6003, -0.7506, 0.0086, 0.1055, 1.1965, 0.9592, -0.9955, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3857 left_y=-0.2518 left_z=0.0375 left_yaw=0.1659 left_pitch=-0.3617 left_roll=0.2398 left_gripper=0.0086 right_x=0.2579 right_y=0.0013 right_z=0.1282 right_yaw=-0.0532 right_pitch=-0.6389 right_roll=-0.2099 right_gripper=0.9974\nstate[joint_eff]: [0.5265, -14.0786, 5.4632, 0.9109, -0.4567, 0.1978, 0.8767, 0.3487, -4.5197, 6.7487, 1.1404, 0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdb7c042930b1442880bdda568eb6a0f441ed77105aff9d444f27441cb51c32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0393a31b33d84748e3da231db5782efa8a72b8ba09e2ed45a70f20aa8ece7786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246d4392f5a4dfd7812ef9d545b43919b86ed1554d13584bf5a6a02796c57cdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGC3fBRuRdRVQlyXIsJiQLIURL8O11Od2Sz9Hsk1vWlpCheI_PpxoRotOLo4dt6CFsIydQANnph88jpRc72p2AicVUjqR0DPSzh7X3CXXc_S-Jq3Eilz_GAR9u0tIm14aaytWXRJ3F7guZCNy688jduAXLGeazWG8N2WJycG3f_QBh4qs4sL9X1WkRZSjyxA34kIb3EFHdUJwhNvck0vw081dPJDEMhlra2TD3B8e2SyVmz0ttu6LdYoBcoxENC_AF6T2HjHu-Hz4Pd5g1ASQIrs0NGBVRFfOmv8spPpdJWDC46tsvq7qYB15weNyDIVm3g1tntiUvbdRCIfeW9wV58Xib6PB291G7LNCXWrOqNwh3i2-mDul_Hn2YbE3wcMACkIq8-C40psGpGBJuzdonyUo2YMAsQHNuUWcvNSJ-kL-rzDKyc9frV991KnFpHubYYsBC4sNGJm9DwqzBQX79vOC1DpALYfje2NduRfJJCwb87iO5LusqFsa-X8SpOIzUQq7sZMahP93pmV8yEmuGkMD0KPPvQ6SEhARdf3gpH-HC5-ArPfeqIprDkyOapfoXwIfEuUMkBpRolY-mVoaPUi8xk4DocQlIflTu-PSU20UjPTzitbeCddaqSkMAI3yV-gWT3RHXm4XuGS_cC0Of2FmoPxPK9gpRRf8pdOMe7vsLSIpg0FlzFvQmXbKmggZ-OmXeRDmtfep9hTzn2dEl8Yk2nOPfo1LV5kDyqYONWh9TeN15RVL61FZCoO4P4KEwMAiEpmd4Wk5eG4IBqCUjvDAjtxUZzIsKrtDiW1S5_ixJItlpiunWkJ4yeZtf3GiqyS4u-eji5n3N1l5HSKXsj4xtM97KH0tXObTrUiTxPlmPp95eHhAS1CwKIIUnV7PzoQQdxQqpIbCvmdLGGheA91j_4MNYHOb0JAWhRp6XqTdDY8pxrMfTzolAFtACKyr16CTLLL1rTrqGNJyzVZNlw1bnrQkT9ZEMPtZd1lHrqWU70BGAOZm474bbfahFy5pZpzsZcLgNGMCrqicgZlYb3IehgIvl7Cu2O2h5ZPfNaln5Qdp0SEEou6EvTYPTSIlGshntGuMnk_F-XoWGlsXrtz40cR2yKBija6QkJWpwqHCZ_D2zp5bkdi8lSFjhyNXBhBhg4NR3LwoWoA2euf4kokhN9AxyAdwK16yu254CsGVI5l5rbIIragGSjs-foev1TSwfblap7CrtR7Hwe7jixPApuFaFuRuVO1c0tzRN7_hEZbSvZZwdZC2WsMkAe8-UCT--_xolnZJnrFxNJfBkaYKxDKWidFTsO6X7hciCQ9uzLDlDwUD3nZ_wO5EhfHvG9xv3u6QPS3QQ9wTtNq4tep-evwwS90b-G541MgYVH94FE64MWrCJj8TmurW_PD9kCegQdt0b08jg122dIszTf5DWsSkImPakqspSjDVZO-PgGImlH-OUBmC4nLmGk0WgDagO5yKALdEhKYeVH9_Dlyaz0G91KfOAYBYWiChyNfxMALybvtFAYPMgn-DCtIjl7xjkO5QoU8yV-7XQkaOvjCXlKVQ9bVHN8OEXWZuPDw8UuR8TYFlNwWWwAiF6jo3hO_-yg0ckfnvj1AH9CP15A8OLcZJF6FEzZhLUgnztOk7NffEdiFNBVtauwPbEGA0iXF8iaglHVpCD1roRZIdL8SLbx19bQ_hdZtY2LoOgOzevcNirPxzrS97NPILRVJqe23G2mi1s4RZeE8hzt-fmu4_VorzvtztwhSVN12KMR4bMpZ892kgTQcDjWmqV0R79owgYkWIlFq62dGsSVDemmLeCirErhviQnPr-6Nd1q2YcNJf0gvnklHs9KjIpm-9Rpl8v53g3a4ju47oEOqru0k2cmBb8BeFJo9CBiKGhkhvcugUCuzz5N9RmTlSI97b5UVxMYaxMVrQ6BVJtZ5viFS1W4RkacFBfg0pxU-4Fx1-Wzhl9lVgM6yQfH7TWaXJV8uYRQoDmDwHep_DCV7cfROPg-qcvT-sjPREoestuQVVA2vGUjOcSPtCvw-e8GfUMk64A8bLpYJkGHC4NuQqt-wHWMj7TZWDu-9wls38rRI2AOtzrZuFECja5IIw29nN6RS2p0bToyfxqMWDb7kcdCN5vxuwOScojj2F_bvaSpAXc=",
  "id": "rs_0b98d5001d78c62a016ab4417dcdb087d084e835aa2d1f8f84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.2,\"left_z\":0.07,\"left_gripper\":0.0},\"note\":\"The push brought the teddy to the near rim, visible pressed against the safe edge, but it has not crossed into the red interior yet. I’ll continue the same diagonal push slightly higher and farther inward so the plush rides over the rim.\"}",
  "call_id": "call_AHx3otEvl8y0EQSPEoU9IDyc",
  "id": "fc_0b98d5001d78c62a016ab44180eb5c87d0acac9b7126ec1f45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AHx3otEvl8y0EQSPEoU9IDyc",
  "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]: [-0.6281, 2.1113, 1.5612, -0.6964, -0.5289, -0.5957, 0.0086, 0.1055, 1.1725, 0.9234, -0.9806, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4323 left_y=-0.1993 left_z=0.0506 left_yaw=0.2001 left_pitch=-0.4061 left_roll=0.2492 left_gripper=0.0086 right_x=0.2528 right_y=0.0008 right_z=0.123 right_yaw=-0.0526 right_pitch=-0.6359 right_roll=-0.2095 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -11.7949, 9.388, 0.9744, -0.4371, 0.2271, 0.8718, 0.1846, -4.3009, 6.4342, 1.1062, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4180248ad8b8f435e6792ea71175482dd5a2364cdd40f01cdbd91f2f6e62832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08c4cd11b8a2499df98f372339c2fa4475dc0339b689705bdded91e36f1e117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd5a049a5029ff6fdc022090e26bff9c955f57b79bb76be74bfe44b9219a9e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 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]: [-1.1515, 2.3062, 1.7935, -1.0023, -0.7002, -1.1568, 0.0099, 0.1036, 1.2461, 1.0439, -1.037, 0.1677, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.291 left_y=-0.3644 left_z=0.0352 left_yaw=0.1513 left_pitch=-0.3105 left_roll=0.2323 left_gripper=0.0099 right_x=0.2685 right_y=0.0019 right_z=0.141 right_yaw=-0.0563 right_pitch=-0.6452 right_roll=-0.2116 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1744, 6.735, 0.3687, -0.3932, 0.0366, 0.8132, 0.2256, -5.2034, 6.4752, 1.1013, 0.1441, -0.0171, -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]: [-0.8047, 2.1113, 1.4921, -0.6758, -0.6003, -0.7506, 0.0086, 0.1055, 1.1965, 0.9592, -0.9955, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3857 left_y=-0.2518 left_z=0.0375 left_yaw=0.1659 left_pitch=-0.3617 left_roll=0.2398 left_gripper=0.0086 right_x=0.2579 right_y=0.0013 right_z=0.1282 right_yaw=-0.0532 right_pitch=-0.6389 right_roll=-0.2099 right_gripper=0.9974\nstate[joint_eff]: [0.5265, -14.0786, 5.4632, 0.9109, -0.4567, 0.1978, 0.8767, 0.3487, -4.5197, 6.7487, 1.1404, 0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6281, 2.1113, 1.5612, -0.6964, -0.5289, -0.5957, 0.0086, 0.1055, 1.1725, 0.9234, -0.9806, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4323 left_y=-0.1993 left_z=0.0506 left_yaw=0.2001 left_pitch=-0.4061 left_roll=0.2492 left_gripper=0.0086 right_x=0.2528 right_y=0.0008 right_z=0.123 right_yaw=-0.0526 right_pitch=-0.6359 right_roll=-0.2095 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -11.7949, 9.388, 0.9744, -0.4371, 0.2271, 0.8718, 0.1846, -4.3009, 6.4342, 1.1062, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4180248ad8b8f435e6792ea71175482dd5a2364cdd40f01cdbd91f2f6e62832",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08c4cd11b8a2499df98f372339c2fa4475dc0339b689705bdded91e36f1e117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd5a049a5029ff6fdc022090e26bff9c955f57b79bb76be74bfe44b9219a9e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGJJhJFXj22FKzr47hI61H42cT7Cm3GjRW6MrjALjFZRTRLzkKGW0EV0E4o-bL-ZaK07z_c89yUpXiFJJpgLRbKWV89Y8-jF40jwmOuJE8gxE9g5eoC22bWKE6B_5OxDApWbqaRszhmxRgv3UCZpBhezDVEeab86OxZ6JNTP963Y8ajc67prE8PIYE-pddcD8H4XZWWPWRfXz1M-69J2KC8lTaNPVpgJufsJhXDF5yGtGHKVC5prBa9besSHVts_P4MKfJg7jxH9aApXmEeWkyw4FAPyjLKKjhtB5EDu75a6Fc_ukazp9Okd8T0BZ55xUhbU6_Q4uTryp5JcOmmltvtTkd1DTPgP56v-k9b2d6kd4caoZyoInoUbOjVC0Zt_TWspdtYsuBw6FYw7_h0LAJUCpvAWqOIwr3EBVl7mfe7GV7zuJzf448fhOpqo4w_lUDsai8s0xTKCyTbsOGBRdWehKNXGSKaoDJjxXR_fr3g6Ci4oTaBS5-iWaEj_XvZivtJfwVz15kuWWLpwzeE_InxnbxmcmyRGi6oQOok5fmIIxgW2mdkYUEtloE38pLxDpCo9FBnpJMOmhaiRGre5uTBTE8L_MQCsZSqDHhrU8Yqocubn2u1MaoDcDXH_Vv8QoRm7AESe1-Z9hdYR5Jm-GMNzbxqtD_FJN9fNSCtGy7wNgj9Fz35GYRi4GVyt2NGjn2opBqjgEzxPxbYO7o83QKtqdKkNLmz9A2qTQdlvmC_h9xBVwv8FsCW1SE1wvPmOCrB8ZnggzC4IPMOnxaiwn3SvGBapeN_V0hkRRD9WGhsPQmNEaY4Ww4S8vDJoD64n78BoeR1lAvM6LdnhnTYjlTk3fywNLjE7RpNLz-RV89IyibGYAAtsrsRwD_Qd4wGtC6UAwjvZMys030jm_S2140godGFIqGolg8ZZfVTrtG4qZSIcSkvqo_l91lK3Z6c4hMa7VAkuyr6Utu7dF9mpRv4wedn-5HJSCHAc74xNnpA_OJqq0d5OrmGa-zwaaxHwXC__w8wKhl6A55uc7Jxwx_yp00tfoIVKhjztJwtmtv4ouPvA2vprNWPKZqrzLUzngNoRbPjWZADo3UGOHEFXnZV5uSPcT7oO7Ekpwuu5h3G1JkYo4QP2w4wYVGKQOOivx7jcbi8qPC0mMd2RVRH33zqGj7abPkXGq0FJ56VS8Ydg2BkaJBxQs8o9SMSfutai-rXTFCGbXdwV5Yv9nt206qfGOO1uTo6F1K-LQpGQjgTSAKdmWjQFWpAdyKmF3yUmAHcQnNEnMYlkehaGSsqmfwgFxPmKasDQNZmOjbXS44xvXXBZSop0W9cSm8xjIgPMqr-Qq-VdH-eCaOYevuqMgmwy0PbEByRH-Jpe4on11IoKoOMjHtk8j3NC4vN6R8vG0HpRE_mmq49FagH--YXqU2aNNY7xZGAW2tYaxy5ZVCm7cERPfGJ768-iuBoZzVbJ7t96zuGmWJl1Za3zs76EjVoKl26HOiMRxnKC7UPYUCGkQUIomXQ2VEJ5J3Nw0IQP2jb2aERkKHtSneXmCBWcHFMNRb0VpYC3aA6ce96idCtzNFHDqDkWCXai-wD7LGXUTxEk7hlOWYkTwD4NQaRguW7fKrknnFZ229dfeU59zMMkMXmXdWMeM7-0vdq1OVEheh5OTWfINyQAx9skeYbs5Qx8fcZTcDNP7DLwOFhoKTbyYegqrxIG3Wl1XSDit57-CgyHB7HtxpZWJRoONk9IADiqRl62N7XGC8S0zDAbf2qOoM1EFj8Trvoy1SmxTC96v-aOmMO4hDlcg_v13X6s-6flGIudyuuHuo75AEDGqpZYJU5zNPwWdWDV0l3dnfXXjDFcKG13VmYwAKaOxIyOCf3hog8tqagEi0j1S0QNiJUYUr5q3AJZnQCH5B88cKqBQtKSErD_cjWbxdtT85O1xmF7haA0smY-5tc2j_0CeETeSgw15fSU-wGcW9WDgjN9Mhhm2owg7zcf3xO3QfOwypBN467Xxm2XPWFknroDDTFjhUa3BOeYI7xS32Y43beaTaBDt5-hTwlh_jAQA2diM0Uo_oGd1etXscydfd1R5D3YE76V0ntQNHAHx9YxqufGuAsoeOJDRVnX0LzOXxmV_nG_2VDlTT-umgQBtAs7iniJMgNP5cz7eA8TUnjzHMm3M8t8vmm8JU7ldXL3jpVzPBUzkIvTdVpo8vn4qvkdkgShsuSdG7g-1j9S1Z682jxg4LVs8hmd2ESqzrcRHzlkC-VHw4JDGn5RCmEnyr0ACWEKvz8mQyWQ83kRr-pJzjP3ooC_jPalzAUJyY4oJ83ibxCD785uCiIJkUtedxV0fq383NorV5pMkOOPz-padaoC5GYu7jXmCxkFpRTjEySCwh3WzY3OWSSXMqJPcKeNaFbiqFrMDj9fl7XHcmNIf2_NvQ9T6n7J0fehgMQS45vhqiSYiEexTcYsWVoI94ssbsMzDaDsoYUs36LhAJ-P5gZbEqfQ_T2KN0X4cNdmh4HJ_Vh-A2Zv-TIoBB9HauSTO8o4ETZMylrnPgFT_9O1eOZLQ23GF33oshN_80URFctLuFLZ-RBmA9Yz2tODh9rYPqHjwF0vTDYO-pVtvPwKkszDT4UaVDBPXOLA9df9aXb7XcM81RM5NBOgwS9FiHARZgTx5wSLP-aYLcsycaBUqjgixRNj1Zx29SGUc161XR7-_C7zVPVMTdf_7rYxQNKi_IBh2kNwN8idYsWayFKvBBuQr04wvKEtAXYgco6ZbPTLTfWZpe6GjXM2Ap5dNOI3hwiO7FxE9b5ZHEYL3Lbkv38scCpNVdC6Z1VWjWCgrnJIoxu9hfJXOXtR4owdxbuXuUZAjIVTa5xo4b7HhJWex7ueTci04hf5OoY27UQgxfs46S-jmMOasIdLac56z8RjAvV_jv0ugFScCNJZR4mCUQJKlvK7B3twEcwn3oDgi-zeLHjlaX2lIpZiqYJM8xYlfQfrmZQcIQHmCZBC1QeNs-MDpl14PdD9Uj3UhlYVVMTfJ3rdsAS_-XfE-7o783NLptzFgTXwfEVtRluLWyTvBohwjVinDS19cDn52yFsN32dXo7UFB3Hqm6gO7-5qYDpdv3-9cLI_tjMRWPO9xQGMkmB_WPYesjfGxnf10gJjHJSeh_uDRmtW9rfpYry8jHeUfV4VEV2eZnGuWChgILnx69IeIi7d5sLQZY4db_cArTu_wvCSfqHCi-TIBqc0rNyycbR87wsEur2RaNMovCzDv9pomi20q26UC174p5PPkRIJj2pHn1X6xEW6YJRX8Kr7T5zAEF0BXbtO8gNlf-aaoTFcpr0wA76iQRThUqx3NlaIbxBWkn_7xnatMCNzpcj4t7W3w=",
  "id": "rs_0b98d5001d78c62a016ab441848af087d08e00d5985569905c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.395,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The narrow closed gripper slipped past the teddy while only nudging it upward; the plush remains outside the rim. I’ll reset behind it with the jaws open, using the wider finger span as a rake for a broader second push.\"}",
  "call_id": "call_DA4rjASkzURQPybxe9xUodRO",
  "id": "fc_0b98d5001d78c62a016ab44188d50c87d0b2cfbc4cd3700643",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DA4rjASkzURQPybxe9xUodRO",
  "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]: [-1.158, 2.4271, 2.1345, -1.2823, -0.5953, -1.2133, 0.9972, 0.1009, 1.15, 0.8894, -0.9646, 0.1963, -0.0269, 0.9974]\nstate[eef_state]: left_x=0.2827 left_y=-0.3896 left_z=0.0556 left_yaw=0.1868 left_pitch=-0.4195 left_roll=0.2313 left_gripper=0.9972 right_x=0.2486 right_y=-0.0059 right_z=0.119 right_yaw=-0.0858 right_pitch=-0.6268 right_roll=-0.242 right_gripper=0.9974\nstate[joint_eff]: [-2.7419, -11.6855, 7.6923, 0.3101, -0.5543, 0.0073, -0.0366, 0.8821, -4.041, 6.4615, 1.1453, -0.4371, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebff52a31bbf0a42d3a6815c27a76b050cde581ef3d12f7e71c990904823f5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028fd5257f76a02257394cbbfd41a0a9ca44a4f63d39599340d0b374f16c576d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc2a95c9c94f15af96dbce2f299baf9a3e652bcbdc613925ae393e3583e6c2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2675, 2.3535, 1.9503, -1.1805, -0.6926, -1.2861, 0.0086, 0.1055, 1.2205, 0.9997, -1.0138, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.2461 left_y=-0.3968 left_z=0.0524 left_yaw=0.1291 left_pitch=-0.3168 left_roll=0.2154 left_gripper=0.0086 right_x=0.2633 right_y=0.0019 right_z=0.1344 right_yaw=-0.0532 right_pitch=-0.6408 right_roll=-0.2104 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -11.9043, 7.9111, -0.0269, -0.5348, 0.0659, 0.8864, 0.2667, -4.8342, 6.4342, 1.1551, 0.1245, -0.0269, -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]: [-0.6281, 2.1113, 1.5612, -0.6964, -0.5289, -0.5957, 0.0086, 0.1055, 1.1725, 0.9234, -0.9806, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4323 left_y=-0.1993 left_z=0.0506 left_yaw=0.2001 left_pitch=-0.4061 left_roll=0.2492 left_gripper=0.0086 right_x=0.2528 right_y=0.0008 right_z=0.123 right_yaw=-0.0526 right_pitch=-0.6359 right_roll=-0.2095 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -11.7949, 9.388, 0.9744, -0.4371, 0.2271, 0.8718, 0.1846, -4.3009, 6.4342, 1.1062, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.158, 2.4271, 2.1345, -1.2823, -0.5953, -1.2133, 0.9972, 0.1009, 1.15, 0.8894, -0.9646, 0.1963, -0.0269, 0.9974]\nstate[eef_state]: left_x=0.2827 left_y=-0.3896 left_z=0.0556 left_yaw=0.1868 left_pitch=-0.4195 left_roll=0.2313 left_gripper=0.9972 right_x=0.2486 right_y=-0.0059 right_z=0.119 right_yaw=-0.0858 right_pitch=-0.6268 right_roll=-0.242 right_gripper=0.9974\nstate[joint_eff]: [-2.7419, -11.6855, 7.6923, 0.3101, -0.5543, 0.0073, -0.0366, 0.8821, -4.041, 6.4615, 1.1453, -0.4371, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebff52a31bbf0a42d3a6815c27a76b050cde581ef3d12f7e71c990904823f5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028fd5257f76a02257394cbbfd41a0a9ca44a4f63d39599340d0b374f16c576d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc2a95c9c94f15af96dbce2f299baf9a3e652bcbdc613925ae393e3583e6c2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGQQsenQelpvJL8atnyv2z0uaWPfFg-bOITIGoH0XaT1xgulvPKywDDdrnqZVGFE-tsN1vZXfT1SBvN67JYOrxQhw7OyC8Mlaf4HMEOHNA64s8gBw4SRxYRmI8NrVOTR6y-ImINjZOj_qtm6jds3Hj9-o9Fqh1Bd0WF3eXqEGTI_YNdjX5PZP2fsI8BTm8tG0lOsbNVc1g6sKqGTB1W2O5Fe2PmgXpNa-rgYsRSQ4LUrVgXX0Le8DgwDDMkStXfZJp3qHnrzqKvzbmdzw5d4bcPqL11OGsGZK8W9PlkacxugJa_UJSnP2-f4dH9TYEnUye-mvxdGR-WI4jZAGs42hzukYe0KHDwJJqRm90eecPTtfboSaHiFx9LoC0SN67Tka9cr18nnmPUeS8w61vVlpvfuYTqn5pUrWuoMHS8wlkU8bU-VH4DQJeVxpJB3uRMiZUtCEUOfpMYxhhyss7u5aM87L9eeVd5gn0J6FFOgYvUPMSjGS6Bd7C9RyOaDM-M-5ACz2LykcQcEifXc_caZ6UKYBrZzUgLcg0r3gE4N1ocmFVR1f2BapEJkNEyEJ0lugPZKPmWx8yO_9hZ43d7ERcYlQ5GCjZccs9N3TxnSYCp2N_OHXcALV2ep7UWLaM-X9qr6kCA7CdEOkmHeOhJOovpye4Wk3gQV2W2j-rK4BewjGEvR6M7kggJ6GtgGeFar5rrqt5kmktzCA6EW1clmIqtaiNvV8fB6_WfY2eZydjfMie42hahr8Cokk_FpFgEMXYwCjCACFrivUifUZQnY3EXBRoeV57X8wCkwpTva154jmHyrlyyt_BLInprXMC8kRRkQbo6UMLcDkz6EufuN5Rkx1ozWo2skBPezqQa37txJWsNpv0sk0H8YGc3JuxUu8CNFssq5dsbfi85owz-ytNRyYkEBfDB79fHcejmp2l1SFpaGSHyXQE1YuVE885m7BpyYpSGNJQvElceuUXKJr_PmBni1VBixpYL-Qweeorp5k3CZjlzz6oWDVbvPNLU8v5IEhWl650HUAubE7FbE9CFR74UVyqu-A7HieCQnNzB-zYUEfEes9vYFXh6-l96QUu7cDowRa7ZKPd1oR3qZ0akihT0plcYuC1v8dlQGJQamG_0_pAvD4QT3oqh-dUhoo-1ctRmMRb0_6WbhhR67ymLwenenMQBv9DAwBkgE5ibLdTFN2HJB5qb3nIjsmQJ4q6Pzzuyjw6bttQpxon89ZMIhdSDFTKvaXzfde1JcDAh-1257atF3MloIpEHG7K4UxQU7yAbuqEJSUYt9UqrtNVvLVUIoHaTxDEainjqPjEYJFuRUqKRAt7fz77cTsErYP5PpM58l7VwbtctaHB-HXwl7fHqe6Ugn2y6Jsy_AhpJ6s0Lig83UIf27SbkVx9vJhzu03dXqZp6mVsvAE8NTBy8W5GrpgsECSr9EHKs9Av-Oq5RJ3N8kqn84mE9DPDYmVjv-YFrSyDmiSuGaqdwAm6Il6ykoS8oPUC7WnbUZr9cKqrVtxunraNJOHQI1O4x5f7j-KGoK1a8k7ITZb0SuXTxrs-S6PHxqGYIrHOqWM0YC9xjNgexvHZh-fcPVU3a8nEH6htjOzuSXlbbUgGQcMDUVDtc253OGPQsOZ7GNxpyHt6PkseMG9sgKzj1dfnuXYBJQvwx9T_9F2ZdRV7doCc_isk-7PWD2vGaY62N3-toWmPeWZ1epTmx6_tm8TrRsO1AYZHPjbqaoNsjOZ5dXWReSqthLKg7y59W1iX6AZYNiLJ8KITbfIHeOR7RLbMchgejTsFodUbxNtDq8Lyj4z6_bd2fDlydW9L7O-j3kIhFr9o3xoL4ihuXZP41DAOD_TZ75IQK9jCAbjT8BW48cqMJpIo9mqShbszeqPWOSc40qxTJggaElczNLJnrSCYLWOd9f3O-vK1H-kpTdKCt6bBxtiIFr0veJc24M3zL8CULfEVWJ8tt3x1pK3kb_hO6R5HI8KEODi058z9pzdSuYp6w81gV7EMtWBJi4EsVHZ884eQWKTsojnnBjMC4VLNzsCKRrVK-L0olbAfI9aaQRJT_TJ7lWEeGTL0jobJu0yQFnAyYHqQMXng3DRU1TwIoFZhW6raq2QLRQ2oYrqHtBjdQqZsUKnZkNXzD5T23CWIyaQ685wrhfl3_CFmHg3QBnwaBShHq-uxGnpwgQfPy4tzARe2ePZQIswpbqGMFF-Vex9zsjXmDtLJ0Fh2wfK1R3PdQuR9XInxEuLIsAt53igmssqA0vMg0d_iSZzhdWYcqv7NnYUNYEYKShHDLOhBKdjhffVMTofg2JeXFIlh_rkYM3Pohl8Jk9sZtlmAOuFry3DE=",
  "id": "rs_0b98d5001d78c62a016ab4418d433c87d08e350fe8bf3eebdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.2,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The reset exposes the teddy directly between the wide-open jaws and the safe opening; it has already shifted closer to the rim. I’ll sweep the broad open gripper diagonally through the teddy toward the center of the red interior.\"}",
  "call_id": "call_ciguCglHbNYoNlHK0w9BopPP",
  "id": "fc_0b98d5001d78c62a016ab4418fa45c87d0b9cdd052b14a4a3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ciguCglHbNYoNlHK0w9BopPP",
  "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]: [-0.6018, 2.2269, 1.6966, -0.7792, -0.4896, -0.6121, 0.9984, 0.1055, 1.1366, 0.8642, -0.9546, 0.1905, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4456 left_y=-0.2009 left_z=0.0309 left_yaw=0.2347 left_pitch=-0.4739 left_roll=0.2631 left_gripper=0.9984 right_x=0.2448 right_y=-0.0041 right_z=0.1142 right_yaw=-0.0762 right_pitch=-0.6295 right_roll=-0.2355 right_gripper=0.9974\nstate[joint_eff]: [0.3214, -15.706, 6.3111, 1.0085, -0.5201, 0.1685, -0.1734, -0.1709, -4.0274, 6.4205, 1.0818, 0.2125, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6432ee2da01b279ced51b214965ffc6e75ff59b526b3357b613ceda0f8c04381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab9d926e32ef54b339cef20880f061928a7b913c93852131523a0198c18e363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6674cb0162f2f121bffdae57bd322df030e14c529a0830e2e47de061fce436b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8047, 2.1113, 1.4921, -0.6758, -0.6003, -0.7506, 0.0086, 0.1055, 1.1965, 0.9592, -0.9955, 0.1673, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3857 left_y=-0.2518 left_z=0.0375 left_yaw=0.1659 left_pitch=-0.3617 left_roll=0.2398 left_gripper=0.0086 right_x=0.2579 right_y=0.0013 right_z=0.1282 right_yaw=-0.0532 right_pitch=-0.6389 right_roll=-0.2099 right_gripper=0.9974\nstate[joint_eff]: [0.5265, -14.0786, 5.4632, 0.9109, -0.4567, 0.1978, 0.8767, 0.3487, -4.5197, 6.7487, 1.1404, 0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.158, 2.4271, 2.1345, -1.2823, -0.5953, -1.2133, 0.9972, 0.1009, 1.15, 0.8894, -0.9646, 0.1963, -0.0269, 0.9974]\nstate[eef_state]: left_x=0.2827 left_y=-0.3896 left_z=0.0556 left_yaw=0.1868 left_pitch=-0.4195 left_roll=0.2313 left_gripper=0.9972 right_x=0.2486 right_y=-0.0059 right_z=0.119 right_yaw=-0.0858 right_pitch=-0.6268 right_roll=-0.242 right_gripper=0.9974\nstate[joint_eff]: [-2.7419, -11.6855, 7.6923, 0.3101, -0.5543, 0.0073, -0.0366, 0.8821, -4.041, 6.4615, 1.1453, -0.4371, -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]: [-0.6018, 2.2269, 1.6966, -0.7792, -0.4896, -0.6121, 0.9984, 0.1055, 1.1366, 0.8642, -0.9546, 0.1905, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4456 left_y=-0.2009 left_z=0.0309 left_yaw=0.2347 left_pitch=-0.4739 left_roll=0.2631 left_gripper=0.9984 right_x=0.2448 right_y=-0.0041 right_z=0.1142 right_yaw=-0.0762 right_pitch=-0.6295 right_roll=-0.2355 right_gripper=0.9974\nstate[joint_eff]: [0.3214, -15.706, 6.3111, 1.0085, -0.5201, 0.1685, -0.1734, -0.1709, -4.0274, 6.4205, 1.0818, 0.2125, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6432ee2da01b279ced51b214965ffc6e75ff59b526b3357b613ceda0f8c04381",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab9d926e32ef54b339cef20880f061928a7b913c93852131523a0198c18e363",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6674cb0162f2f121bffdae57bd322df030e14c529a0830e2e47de061fce436b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGVIho2i4RHb2cLFoB94YUpy1GIXV54bZUuP5Le_-KwUymq6k9H8Z86VxY_1GfWXU5z5MbEq0eUTXkSJNnNy-6lW0zv5PHHZ8jp5afXb6-gKAYOb5zDXghi34pgyODVlm9JHDQvfZM6MuZk2JlBPSwLg6NOhrZFGZb8Mtzyzg741YlocVMB7U_tY6wsMyvJvhDNkh9rkCWJiinXV5pdWnOOoHSE84IlazvjmklEvX698BkM64Jtll1tgD71TlTSQeeVJtgCLGPuBcZ_JksqJEctyMiOO4yLyyc0NIi-6pJdlm7xm5rgXT_akdOyLp4XZ20Dj8mC_-Zoto4mA8-iSDynhuSovbrHAvTZ9c8yGWimfyOm9inamwl--mpei5tWQEhcJVWEXeq8QBIzzRcrzPh7QOFq8GdMsowZhBu3hQm1f_ixNI6feiTE2QaEMGOVzBjXlh6Ax1molbPpuQYhu4_aUH7_3kLbS_e9jdCE4cReN-UDxkz0pepCg2gWPyp3VMIuljezDPiWLEW57O8XGv6fhb6TWAw5tM5yecqfxbbR8v5icsFiWVLkCxKuNlpxTxaS5lL7I8j7slWSbXXaHVA_mY6oYXGjC-wzxBnx-6M1p1cogK9ovd4oK39jJH4U9fCMoEu9mtNibEVcIHa5JVdyqak0Ht7tSnSsagVWM-8sloRn3POs29FO9nwM4Uz0xhNhWWaoLE5DyeYufpujl2X26J3b-FVPNh1TDtVx8qTYQc5soHx5TpAgJeikgP1g7Hvnm73XZBGJnqshWzO7mch35DcPJeKbMKJrsT6aDS0dWPTFdKT67Bay9a0Lio2-aTKoDbphcNlXUsVJvzdzOrWUMZDqX32z7TZbEcTS1fN9Fpc0w2xx9iuTGWjOhSr5I02ODJonpl90fQKXy2HoKIPA9mwlpPttKXsZLeQe_t6RfmkFtXDhdmGPrb66LVtJCaRGOBiULc6lhAONx2x2niy07bsoZWkQlBa3dtjXlxmjyoLs_FszZjVVBzPg-9IqS9uCmFTBWAFNYg3g-gXWur4CJdF-sWLG1P3jwxI9peKwultHg0j3eCq5IFsxt7KhdCvxLFEXt7VVhgFYi77_1iwTLjMaPj4qELJMYmjiCy-ZRbqZoQTJ-pp2tNieyWSke8IXzuhDpe6m8rfO6qTULdud29dTpFXnLcXEMhtimOtt2Wuvuf7Q6oCjFPnsESDo2CaJQmbqPPUweWnI3wS0h1CBKJpnJiRUsdXyF4gEvJHWfPQiyXKirSkeX4M5rQSv0IwBaZ5hCkwqXBwu-riNgK5NA0cWH2DR7ug0JqLRq3jJYywExLZZAOGPlMtBWEKWMCxkRAnkIhq-YEmnFaBqaomy1_GT7p6ox8CINa19YxxeS9lObHPky5sHDWS1bSXUS4iAKlsDqbv0Ft__ZQv8mV16229w-MKRpFwQZgmfrQrxNBWCyMQoe2LnK7c_cgNvqaVtuBFS-vMOCiqQdpcYlISSi32gvh-lx1evyylnpzBHjiZjo_92qf6l2I8pAd6HF1Sw1XO0IQmPLwqOCeAfVbnb46AD6zUyXl7ybtSo8-iaF6WfsrxUow_cWCGGYCzbkeemgeNlGXJdAcUx5RcrpegoscJzEqFKOHpf0mMRbIJwrfcGSj_bKzvc_fs9fkOzCBJ2KqsOfjs0g_eAqHdxOR5FrB_sXJzfmu6v6utcLa-ZRAPYdqOAGflfx-HOlc0KGz_CllJhuQxSBUyJpXSWEs9HVwKcXbVnl89bwSk_dA76RP1WGSgCmNFxxRGxLcO7yoxPR2-khtINEuFjQxJGQ8Ailo9bXLEcWGJCxBV_I-sYm2FceyvS4j3mMMOYP8GPceos6G_oFdW_S9UxEP25t2fa2eUNnpujAljVuAquQ-ICTzEgBw_86Si3kLjC7in6ZC82eglHoyBg9PGFJeAJEodf33TgqCD-U4c0ZMEAI8vTFgTdi3zZ-GJBxVO9XJETIGfPoJRRYYt451MpnbsGBmQuQQPb77bkea5gmdYMuaSDpiUJDWRzjY8mpxIFqu9G0jEzL4FITlybIEh6cfpBZk7RDe57_T87r0VGcUZIe6lfNOo=",
  "id": "rs_0b98d5001d78c62a016ab441934bd887d09ee0b50bdcc31f3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The broad sweep has pinned the teddy against the front rim, and its head now fills the gap between the open fingers instead of lying beyond them. I’ll close here to capture the plush at the rim so I can lift it over.\"}",
  "call_id": "call_uMo1ekholekYtZ4CuMlHf50l",
  "id": "fc_0b98d5001d78c62a016ab44194f04087d08e722384533fca29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uMo1ekholekYtZ4CuMlHf50l",
  "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]: [-0.6025, 2.2269, 1.6966, -0.7757, -0.4824, -0.617, 0.0129, 0.1055, 1.1213, 0.8383, -0.9436, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4455 left_y=-0.2027 left_z=0.0305 left_yaw=0.2312 left_pitch=-0.4761 left_roll=0.2521 left_gripper=0.0129 right_x=0.2412 right_y=-0.0044 right_z=0.1099 right_yaw=-0.0755 right_pitch=-0.6293 right_roll=-0.2352 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -12.1504, 5.9556, 0.696, -0.3297, 0.0415, 1.0623, 0.2393, -3.959, 6.3111, 1.1111, 0.1392, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d5d26914d8050246e8ff8a64ef7d3984abbe331f7f06a8acec29efb00b3063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d182ddb9e18cc7776d8afee00c7e63f939058565fc43bc6e8ad75e9395fb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af5a1763886d9e8b060a098f66e10fcff7fde9034a05ee7012a51fb5f9f9a5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6281, 2.1113, 1.5612, -0.6964, -0.5289, -0.5957, 0.0086, 0.1055, 1.1725, 0.9234, -0.9806, 0.1673, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4323 left_y=-0.1993 left_z=0.0506 left_yaw=0.2001 left_pitch=-0.4061 left_roll=0.2492 left_gripper=0.0086 right_x=0.2528 right_y=0.0008 right_z=0.123 right_yaw=-0.0526 right_pitch=-0.6359 right_roll=-0.2095 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -11.7949, 9.388, 0.9744, -0.4371, 0.2271, 0.8718, 0.1846, -4.3009, 6.4342, 1.1062, 0.0904, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6018, 2.2269, 1.6966, -0.7792, -0.4896, -0.6121, 0.9984, 0.1055, 1.1366, 0.8642, -0.9546, 0.1905, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4456 left_y=-0.2009 left_z=0.0309 left_yaw=0.2347 left_pitch=-0.4739 left_roll=0.2631 left_gripper=0.9984 right_x=0.2448 right_y=-0.0041 right_z=0.1142 right_yaw=-0.0762 right_pitch=-0.6295 right_roll=-0.2355 right_gripper=0.9974\nstate[joint_eff]: [0.3214, -15.706, 6.3111, 1.0085, -0.5201, 0.1685, -0.1734, -0.1709, -4.0274, 6.4205, 1.0818, 0.2125, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6025, 2.2269, 1.6966, -0.7757, -0.4824, -0.617, 0.0129, 0.1055, 1.1213, 0.8383, -0.9436, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4455 left_y=-0.2027 left_z=0.0305 left_yaw=0.2312 left_pitch=-0.4761 left_roll=0.2521 left_gripper=0.0129 right_x=0.2412 right_y=-0.0044 right_z=0.1099 right_yaw=-0.0755 right_pitch=-0.6293 right_roll=-0.2352 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -12.1504, 5.9556, 0.696, -0.3297, 0.0415, 1.0623, 0.2393, -3.959, 6.3111, 1.1111, 0.1392, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d5d26914d8050246e8ff8a64ef7d3984abbe331f7f06a8acec29efb00b3063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d182ddb9e18cc7776d8afee00c7e63f939058565fc43bc6e8ad75e9395fb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af5a1763886d9e8b060a098f66e10fcff7fde9034a05ee7012a51fb5f9f9a5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGfCoNUeuWAbfc85YGJcMBB04Yo54DM22S1PR7GWYz698QNCAkBtOjpN9ds2efAh3PhSew3AbteF7aQvLfxuUFWfqjTRgLAH3viVULrrV35nUbDV4pgHpHOkkmnodafHWdQ01iPFmxRYXy2jBrQIrrLl88eybN42usaKs1OlnGeucTkf3-tRmpL1WANBI1VAShFBnpBRSkzNR2cyvK2vqTwtCf18pm7cv7XC_oVgfJuBvEexLB0hYxIcO8T4RuL8pyJfPy0qBwAFafB8ED1W860SjqV-t9Fb9O7p0EJR-Oc6QQf2qKrSTuNLS4t0zO2stLKTAfpLxUJqB_iVRJn4plcilvHlKbIFQZYFiaWe-W1_nRp2Bv-gpf6KEDiikqPpGZCG_nt31ihUwgpSrm7H90E7htKGHJkMMZPKNLxvPIzhQRdmiEcLlEFWbAXZMtTq3uYOnctsNIUnVNIST9wteKLaDIqGmC0iJnpW72PW9T_EH3Two2eQ2O8x4mcCMtNPBI2yXclCLvlPOPdKwvhS6D1UEH52Ciz3npapZC1egvbpbmhwS6yG8bpi6M_mhAq-WcOwrevgManULn2K-3Zkk0fYCpg_4N74zN357_G8nSBWMoR1d35_WSzv9GmGFwXaXEOYQN5qJwKE2YyFbsa_lyhLLDMnrw_hpOsMmSC64QePGwFNKO5uiwnZKo2bxl3zViaMoPPcz1U6yDTqebpy2Np0RgKQ8hz8j1gKFHv91rVX3iPym4djk4ewTmGTG67BsCtvv6BIxFJQKvWbXzPwtdjV453wMocxikY3Wa18i5Nf0rZJhCeTRLBzJJWPt8Udxzbq12rrLOmI_es6RIJEcS81qYNsamy4Z2ydfvZ0v09fJtH67pIpC0zPS4tfRYT7Fs8id-EPYdf3TekDUQ5NYJDgTC3Z2_9kbhXFoeKowJoU-kjdnqMpdOyZg5q8n0y2nSc3WGAzF-UnylTXgTaUJ949cqBpXOkl1eVGwMIUJ9yqKCF3ncq2P7N9GV9HPjcvn8Vm8gdp4nuED7cgqJ6nrFKj4ACxIaArLa_GXGwdgbasjNHYr84B0-hweuFba7GI3_8gLnG4ZTYO5JhOVtmp5oiNzPJXEW8WuS1_0VdXG0nvbdayf1vSSco2QGyUwZwRPCUn43gJvmmuYBfs6MIWXlw21CHJLFewsZa0feoNN8wk-MLILGbhVGizryWGCwwVUSnONgLR_LPx5gfM77rNIT_9gFdlfqXSjdRdaBR2HvWu_J7CaiaBhPQNkvGe9rNiuKq09oyF_f6QdaJEbAyBLpqB5dnIPxr44Xo4KvbSv42e0Ys7DAJb2HyFnkOrh2uTq_iBrZZChFKbyQnXRawjAeGVP7kA2HQeiIpY6Q7xnvm3kxioOyN98GOpdm_45ydg6W6kGu-nYPtPJXtL9RIdQfVk0uuhk4EpJIgu_rQeHVQVXlAfOqGNYxb-k1HnPS42U-a2vQ4HuNnP0NYi42cH2obUkqMchfVC7pxHcChdqCKl-eAM2S8Z1mWwgludk0FE9-bs3LMGTU19q9BFfnJEiLVIy5GtutcUgfKwByOB1azbR_tyJSc-qJqYEoR2KezwClfAE1oYxQdSBeM0nB30gNRSRPeY0u8mS01duo7ylqbCfbulsmynIy3PiDZEeHJkdTLbJ4M725AHRDLlo7F8xA0GScizWM-Kb6oIwSXmr76LK8sKuNMEYDyCsqAsLZsuiXxKMOPEH4TmSa0BA6ZvvKolzih-KTwgCrvKKZAtslkzvlfeiP7vK3rQAA6Zazl7JrlQuxhdR8vxFQwfEp-tmhEKSQSe7yw0icZwncCdVcJ8XzVaopurRD0pfK3XmbFAIdi1TAYuJ7klLVl2VIYtrJKPZGtpdpHS3r0I3KYoyqfD6t5TZEnR9iD-NxzlUJVFmigfWJwifK6H6BMRAeqCny9YnVLuf95QAQN6OSdpN-Z6H2nI08yStJ4Uwr-P42gAKrBhGD0rQBkYtxDe3rtCj0a2-cci-p1hBqVQGHcSMoRSKmmNBkyzHhJv9B5ELTpB-6lk6R8z-d910Uy9Mg_XNqdVhKSPKtf3zkSjdS4oU6gZJYNam1QSozXpmxrwdYTVWTyG8lXzYOcPSlnCq5eBWxaYqvziIiH3yefH6BSae6CctcIqvyPMkAAMLVhVnY33QzqQ_8oi6jVl_9Qr1gwQG7ghwcjpZR54MEFIZapF4INrJrfHW9rtc0EbJjnkRLvrzBJjAnHrmyYasMX8bH-fcFo9KA0fNsNRfYQDtz490_KuDs1UydqUt9jkhutRpmjCkemMzStZpFaZDrsB_GmdzPoKAPpyxbZCQPI9zInA4Nn__h8Gyx2H0C-tK6zyNViW5o0l3Esa5yZJTInh47gpz7-vTb_C3_vy7PCbeUTUtQWShwbv5bSGYdyt2FVrSR-o_Bk4X0Ox2vjZGQfCRRe4xhpPMIM1INQoYJhCSVd3vFiU-HVAX4KzDwRydwbWIyKfpU2JFBR6A19WbHzNzwQUDzPLfEigW7-yzZhBHBLV8bsiDxb4gJuXK2toj8moRvCK_b-K0GQoRLcKy2bn85wDy4BWQ_tlKeqjbaT4h7qAzywJyBIxLRF5HxMErsg9QhFJ70Qt9IU-JxDNku99tJbXOw2LrrymNWIS99LEa5sT39OeCLv7b8YUvmfydMERmahiaKPPx7iuvY4CT0nujA821YP3ZCo7Xud7pq51EYLl8KUQ-uGxv8RWZgptaaXtsL9gr9uSP7RwQuxi3VzuVQGrTRp4PbAHrn2oJ42oJnyFHHUw6ytJXTHRLZSyFD03PuHwgYMfSV68uDMs-9qKMDQ4DJAKwzW5QFsAOYvp-Svy9D6eDGxUNHkJx16cBgAJOt-LzD3PSgKcwfZp6Eim2XqksUb0n2Tw-E8y_HZ1BBdNoOzyTVMRevMnjuyJs5opaw9lskZNOmyFwBkNI7yE4i5sG0Uo7Nr6CYrJ0QQyUgAq3ojcpKUbkbqhvocm7e5gG6cJ9KirZjInPM7FrhAYtz4kv7GibZ2yxMMymrhkPDTQ5OG5tj_hE3CVAP99MVClpAhxqkXKD9so97JQORc9Y9DGBvylOyek0fQuCuSBZluabCE5WPepWqO1ppk2n6dZbVpgU9RAR9s4r01KVlSKUSEvEoEkysldB0cNq8VxMq4fN3EIH_typZWkY51t0CkL50uBRV59uBdqnZnx-lgxTzyo2gO2fr_1JU5L-amDmP6gfQrHDFzTIYGE-vh1Lutjseh-lBGLhjwHjxlXtIssK3A-GpHx3TOsB28BsRw8X68mn89qu8udKhpvn67VdGcoyB2ruqu-UZ0ZxnYNIgV0KIcrnogBOSauetxTKmLKX2eFgZnxzsZywVK8lDr65y_Ul2aGhrhIWUu_OKGCBJR8nZZAMAe8-iTy2UL0dug2jNu63W1uqeyxIE4Z64HCnelc0yG8b1BoQdHwxagqoDLt7RbmQJoxnZc-SotnZCG0B7GLS6aU4vMtStdNLdXIBA5NrSD6kXhske5OhW8IiY1IZ2FgfOEq4WvBV0f_gPRC_RsV4lUdq8JFcvb8zUloelQPixGyItkr6_fxlxp1r08tOq-rQhr02zK16wOeDeO6QIPVKcDHpZ3qcTA4raqDOa5E0SZzDsJbWN-MM4UHDsLTBOt_iGV-XDqiiRoUa_HZ5DnEkqZgZS8akBWUu1BR9_rhVIUIupxa6MgXwpMf1aDnNusPjGyxbrCy7_Gpk-ZB8JdxGkCB7VpZGrT5neyb3z5Ni38tKWdppBZgMACmNIT7AA96wpukIdhhNGbZzhOSAstnse4kkG1AqF03wopEp6r3UDt7IrWnNHYVurn9Px2mZ90h7KsyNPyIZix55K1pboyiouHU-0DsSS-ws3JmG7vcBSnLlTsipNoDvngxqpQ0-FwO9-dLhb4Jk7f0WtI-QNV4BzVcZcXahEDtAeRCN5xKvaDSss8EaP7h433QDfOfSe0ND-bK_0NIqIRF6-kAHhqxenhTz2myZuKZ3QEvxF7G02HdexPLelY5QNxPz1fchMw3IvzQ0jkBsrmrIFyu2PyhqoW7Gk8GguSxH9LmyRvyTUAp_1L4X4EKSj_lcRImpakTYvKcVlzjCfqc8APhwqo5a49DQzNPm-bfXIMovOkuK7wa1EnfbPF3cinp5DajMSWT9gGvPPsx3rrU72iB1nQJNmcRfQV63-U0BHZBVGnntdA0axN",
  "id": "rs_0b98d5001d78c62a016ab44198098887d080ffc05edaef141b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGfMCIvR54FCrVvoAe7EUz-Dbnc9KNemRUDTzT_969-PCSfzzht_j7XyflfzgiW6m2xs6a_jgvtNKDVFUcdvoCk3iGwEHPE2Sgk54mixO7Wx5vzhybZI7OD8Iy5luTFRXObyRe1CGVcBRSSEgkkrLLk4RZ23utHVLacJQTTikulqI3M5j0tvsjwh7nAUISEmQtt0Y1TY6qtkBfQzVDRhvIXnofPIQMEc1Np1FCX989i4PpeuQQOtMxRuSgut4D9mdDU1PkoO5BdHqMko5YHWeTqkR_x1hd2JTaKJu2eihoCPFLjkxxsyIdgeiEoo5MRpG5V75oRONhMao4nPpxnMlNYIYU2yKcbNPhe1JGJJyYxJ5_FKYpZbZyMTweWCpIGcaypFG-K7G068-lDbAsYJZkMrsMNkF_p70p0goxHlhjCSTsmLkNCa5jv1rRtmQwpynaBaAOx7_Ym1NyWCwuuFqLTPHdPPkg1zn1p0XDK4B0dFCu2qb2PtTHFxA-Q8DVR_fc7ilBmz7OZZrMKRwjRWRWWTjrFu6Ha7fxElz506WHctNEVest-e_MNdWeCXITranfizMtr6tDzQJlyrsXWsdiFu_5qpIflMmgaYbvXipZqWUNIFeXO7_e41RIMzNo7FxKl5biHKfrJtIHDIcHLxJLm4iy8PR2sqJK3q-vnlIh5Cv_JO8E8YpiLo4Onu1_RJ-XwCSyLBtgJwBJQ0__jN6w7E2H6urzdWwrt5JQnCzh_H_vdQmDmbQe3ouJwCkbPgLkOhWG1OKPVhFGuJ8x7dl1ybSejXkffgQlLyW7QDaJy9mgtdQla53YWPyNOkpYPsR5wfZM2sA-y9Vr-MK3PhKuDedKf2zhpG5blw-yYPFZHVQLpQlHdRCg-vOfP95uB9jfACmJKC0HD9nZztGLEbgu4VoBXEH7E_O0XAmZLDqoSo8dMk46CpwjFMmWTTmlP2HE5935ilh602_iwQu52bQGjT0u8kt85j8KXOfLw_RHfA1zLm6OL0eQ2sQ9krKOiFz5OSkmlGwyzVgrZ4yiU-ibwY4oTYGuTX5pXYqy8iTFRFXsB8-5cxTjCyDRzxFmkZdfozB-8BPkOSkFQjQ7DyDepmxBu39ATsRwNDS2tNEN4OuQcjFDG0kmUdWScb5khoY6_PXuoUqvBgoFheSYY3Q2IMDjDwfMn8nljarPYZJJb527mxRqv1cMvqBsGYtQ4nEEFgsdvtovcFE9lnTxroDCFHlcjGt8Tl6VgftR7nb5a8vcvQFS0oifqQyH9LlpPXN7hhYZNBptyQpgmoVb5goeVbonfDvLZRfOYkA6Psm19_TnRo1EOtjqHnIUSR97e5_5b-5pVmwx_9rOSPH5A_2R8-pddsFpqFKkOjatZ7Np_5uTXtiJYZixU57fET34pf6EM3dhdiKYaevJYgD_tVWFQfg==",
  "id": "rs_0b98d5001d78c62a016ab4419e224887d094a462b3f01f088f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.29,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The pinch still closed empty; the teddy is now directly below the safe’s front lip. I’ll reset straight behind it with a wide, slightly higher pusher so the next motion drives it forward over the lip instead of diagonally along it.\"}",
  "call_id": "call_wgQ818rzE5gAOqAsJHPdoNqp",
  "id": "fc_0b98d5001d78c62a016ab4419ea93c87d0919410c897407fe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wgQ818rzE5gAOqAsJHPdoNqp",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9829, 2.1258, 1.6203, -1.0374, -0.5205, -1.0134, 0.9961, 0.1055, 1.103, 0.8127, -0.936, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3027 left_y=-0.2893 left_z=0.0472 left_yaw=0.216 left_pitch=-0.5105 left_roll=0.2863 left_gripper=0.9961 right_x=0.2369 right_y=-0.0049 right_z=0.1059 right_yaw=-0.0755 right_pitch=-0.6289 right_roll=-0.2351 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1197, 7.9521, 0.2027, -0.5055, -0.1197, -0.0562, 0.335, -3.5761, 6.5026, 1.1306, 0.1636, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992fe68942a8e3d26a2159dc579cc7a14e57fd4640dd168789e4b07b8556a0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441ecbc3c7c3f45f7030b7c7b90a7971bdf6520b166eb1e121ca97d0e508e68f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1898cfa5fa3e397b72d336026314c190aa9c0613dfb4735a11de8b2492de27cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.158, 2.4271, 2.1345, -1.2823, -0.5953, -1.2133, 0.9972, 0.1009, 1.15, 0.8894, -0.9646, 0.1963, -0.0269, 0.9974]\nstate[eef_state]: left_x=0.2827 left_y=-0.3896 left_z=0.0556 left_yaw=0.1868 left_pitch=-0.4195 left_roll=0.2313 left_gripper=0.9972 right_x=0.2486 right_y=-0.0059 right_z=0.119 right_yaw=-0.0858 right_pitch=-0.6268 right_roll=-0.242 right_gripper=0.9974\nstate[joint_eff]: [-2.7419, -11.6855, 7.6923, 0.3101, -0.5543, 0.0073, -0.0366, 0.8821, -4.041, 6.4615, 1.1453, -0.4371, -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]: [-0.6025, 2.2269, 1.6966, -0.7757, -0.4824, -0.617, 0.0129, 0.1055, 1.1213, 0.8383, -0.9436, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4455 left_y=-0.2027 left_z=0.0305 left_yaw=0.2312 left_pitch=-0.4761 left_roll=0.2521 left_gripper=0.0129 right_x=0.2412 right_y=-0.0044 right_z=0.1099 right_yaw=-0.0755 right_pitch=-0.6293 right_roll=-0.2352 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -12.1504, 5.9556, 0.696, -0.3297, 0.0415, 1.0623, 0.2393, -3.959, 6.3111, 1.1111, 0.1392, -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]: [-0.9829, 2.1258, 1.6203, -1.0374, -0.5205, -1.0134, 0.9961, 0.1055, 1.103, 0.8127, -0.936, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3027 left_y=-0.2893 left_z=0.0472 left_yaw=0.216 left_pitch=-0.5105 left_roll=0.2863 left_gripper=0.9961 right_x=0.2369 right_y=-0.0049 right_z=0.1059 right_yaw=-0.0755 right_pitch=-0.6289 right_roll=-0.2351 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1197, 7.9521, 0.2027, -0.5055, -0.1197, -0.0562, 0.335, -3.5761, 6.5026, 1.1306, 0.1636, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992fe68942a8e3d26a2159dc579cc7a14e57fd4640dd168789e4b07b8556a0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441ecbc3c7c3f45f7030b7c7b90a7971bdf6520b166eb1e121ca97d0e508e68f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1898cfa5fa3e397b72d336026314c190aa9c0613dfb4735a11de8b2492de27cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGj2i4YlMqaDk0UA2VZ-RTNUFR_2YHaiX3E87Al26IqD_eDSzHB2jz3rM15c3r0QSLdwSyvV5AYvdK_USTJZgSFnv_ES-C4_b1CFnrgnGUFrGVahduVVrFt29PyHatZ_GN3rue1UDbZykK8QeTKUoE2kepCfoszw0bagz9XNwC5AqR5h4z6pM_K0-7OrD-2N0mv-6ba-lmvfSWtB99m19rfT_2Lv8lEGtJo8PAJCRtED1bqKWn6O4nX-fNQ7gmiXEF7d8HO3FPIdSndnJ4w68cbG2Kl_JwGgCynV2bkdsvWDgcw3Tks4XHG8xwUz56EXGMaRR4Oq2-pinFhE0aYtDbFCbt3omLdzdCRAXjb-kf--1MzoBvffI4tQZoZBBWTh3QfyESDzJZOjMmDd3sItEVMkKb2fs_yX_WY4P1XbfVoRLuPlgf3PO6UoBqz9AnZm4EL_PWoJbWc1JuCdS-5rSQMOtGkkmmhekPHlljXs5cLCY97rHpPtr6cy54GZbYbiDAfxwWn7J-K6BG-ucDAVGUiOJdzzDXykZUKL--LK4azzqM18xogE1WEE4jXSxzJ6PwdtgwoGxjkz6eaOFvXBzxHbTMK-ccXBCobf41iWAz_7QVUUR1V7eY9UBZ_FBK2IWVyptfy7W__EA3Ji33W0lNTW4FW7e2YNYrCOmwD0HWi7du0xd-I1o-gf3Kvl4oXW5cRMHvIzkDVF5sR6U8zXvVBoeLT2HxovhPuOHfwIHltmZYxhkli0eWWe9DHhey8O18QAltL9ankEQ7Z8icAZQpvZqCsdPxWMdlGFZQNu5oq729NxP6tGezdTQ8VrsVn01kMFO2kHPfKbQ1gIjYnw7ZY3EvpfdalLtriqQfMTu7xzCW8ebeav7tSWAI10wk2TEC8Knv4hopVSOcFbr2HHcnPRRx27nyp7HBWbwlrXA8rUXl6xq_kXO7HxWU9m2KFjPqxpeSUSbzGe0K0Gm8IkGwwChCPlzgSJdiS4UryrBfkbtrt6YqW2KG39VY2UqBC-V6xO36W9N4cjq6URDasNABzAZbHI61Ai-yjZX6FrgWRqRPbM79LT1aD7sEM3_JQO1QdqofHQLUb2QKo0-_jzKzk5pXjBMwX7f9NJidcQbWZOpJ8DxEBf3aiB2yCj2ipW8C72Rqt2VZdDzWrS99QHqZOUxtoH5xulVOmEcDKqt6caWv_a7HtZrh6Km3x2jSLiC6gAgBVJE7zOO5oVVACLGhe6iYih7pXZMAMAwunmAwbSUJSGax3U1c8QzRUSfE1FMD92UmS29A2X90F6Va47eruZGeZUD_lhZfCd6bNIG_Nsu6k4IzCAYNcKeUnyWCXYcIO6KvBzehRrcngwE8-MPmmEK6d9SJiEMORwQuWF0wu93ntSzGLZ6x1N-WeVMbYNKB7Va4cvUsGgG4Z5cjZcfc6K7tVWyNw8KzTlZjOTmoPHU4=",
  "id": "rs_0b98d5001d78c62a016ab441a1d4ec87d0a5c9dc65cf6f15c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.29,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The overhead view now clearly shows the teddy centered between the wide jaws, with the safe opening directly ahead in a straight line. I’ll push forward without any lateral shift to carry it over the front lip.\"}",
  "call_id": "call_cT9I0ZMcgQS0VuQlEyqxSHsX",
  "id": "fc_0b98d5001d78c62a016ab441a259f487d09371be51686ae6a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cT9I0ZMcgQS0VuQlEyqxSHsX",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7322, 2.6045, 2.5324, -1.3178, -0.4858, -0.762, 0.9984, 0.1055, 1.0828, 0.7906, -0.9253, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4562 left_y=-0.2944 left_z=0.0668 left_yaw=0.2259 left_pitch=-0.5058 left_roll=0.2489 left_gripper=0.9984 right_x=0.2342 right_y=-0.0052 right_z=0.1037 right_yaw=-0.0743 right_pitch=-0.6203 right_roll=-0.2332 right_gripper=0.9974\nstate[joint_eff]: [0.253, -13.9419, 7.4325, 0.0659, -0.398, 0.2271, -0.1783, 0.1846, -3.0154, 6.3248, 1.0037, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cd461220f28e279e00f4480be3e6383562d385913e9a454080717e0d4de61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0389b40944bc6b65550b545e4afb7378d126ccaf6035c480afc3909018a2c9e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af77852fc57b49e684b1af16c81d12269f1008309b7391605ac5e85c67dc70b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6018, 2.2269, 1.6966, -0.7792, -0.4896, -0.6121, 0.9984, 0.1055, 1.1366, 0.8642, -0.9546, 0.1905, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4456 left_y=-0.2009 left_z=0.0309 left_yaw=0.2347 left_pitch=-0.4739 left_roll=0.2631 left_gripper=0.9984 right_x=0.2448 right_y=-0.0041 right_z=0.1142 right_yaw=-0.0762 right_pitch=-0.6295 right_roll=-0.2355 right_gripper=0.9974\nstate[joint_eff]: [0.3214, -15.706, 6.3111, 1.0085, -0.5201, 0.1685, -0.1734, -0.1709, -4.0274, 6.4205, 1.0818, 0.2125, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9829, 2.1258, 1.6203, -1.0374, -0.5205, -1.0134, 0.9961, 0.1055, 1.103, 0.8127, -0.936, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3027 left_y=-0.2893 left_z=0.0472 left_yaw=0.216 left_pitch=-0.5105 left_roll=0.2863 left_gripper=0.9961 right_x=0.2369 right_y=-0.0049 right_z=0.1059 right_yaw=-0.0755 right_pitch=-0.6289 right_roll=-0.2351 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1197, 7.9521, 0.2027, -0.5055, -0.1197, -0.0562, 0.335, -3.5761, 6.5026, 1.1306, 0.1636, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7322, 2.6045, 2.5324, -1.3178, -0.4858, -0.762, 0.9984, 0.1055, 1.0828, 0.7906, -0.9253, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4562 left_y=-0.2944 left_z=0.0668 left_yaw=0.2259 left_pitch=-0.5058 left_roll=0.2489 left_gripper=0.9984 right_x=0.2342 right_y=-0.0052 right_z=0.1037 right_yaw=-0.0743 right_pitch=-0.6203 right_roll=-0.2332 right_gripper=0.9974\nstate[joint_eff]: [0.253, -13.9419, 7.4325, 0.0659, -0.398, 0.2271, -0.1783, 0.1846, -3.0154, 6.3248, 1.0037, 0.1441, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cd461220f28e279e00f4480be3e6383562d385913e9a454080717e0d4de61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0389b40944bc6b65550b545e4afb7378d126ccaf6035c480afc3909018a2c9e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af77852fc57b49e684b1af16c81d12269f1008309b7391605ac5e85c67dc70b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGncceY3UvOdtuZKUr04IOs4a_a6O7fLixEQ6ZtUtNgF4dVPzKt5EM7R31MTDdHodl9RE_p6xfr-B0Fs6UZt4tkAT38bNzMIrK_N9Rlh1Q-Ce2aoOcsSNIVpyNHW5vDSvc9NmcuGWaKPYdn-IRhh8ApGRCi1ZMeaXBCpXjVzgSXUyaUUr5tczYMS3tu1mOTMBaZFunkKpA5t8GJ_NgV06kuoi4dcozlNPstZugLRfdZCOAQ1XHsY87WrcgoAZMNnIhLCIpRCEesDzzMm_QhMkGTHMteNS0h0QmBuC7tRfhlfmBMJo_SAX-W2YXwLq0d_OZ3smM0xpgJaVhXR8O0e0AHqLuDQ1LArKCzqiWDttJUvC4xsZF4wM0d9nBj3i4v9GB1Yxjzz1UaksNQMXaObWkqSaCWcxrCPpjZB7KK9OPIPqFcWRj18gWwKPosMtZmlq_8Imv0NNvVplZsIgG-j7XJiJEYbRP5VgtNrhkhZEZqq61FRr_RMc2xtGNqViX5nZusil1iat2lZhQTu7pnsRUg59LdRRUHa_Sg_4o_ucgZCMRZgf1vJJNyPBNJmQMAf3ZtZK-0UgA1Ct7TXQ8oJgFFGS0ZFA4j2f_5E_HJZOYMDbXz8-k0xwrL5Dqpxw6Ro_Kx8yvV3RFojZ_qEQwvgHKN_UBhsecsTFxAZe6UdLlLpzz1M3lxeZb_wKAErU7uSFSNqDNjbmwDB7XK2dsnQGNCq0dL9S_q_sEDjzjdPRcXc31tlBWlAl1FKnJc6UexXDyFAwReM3X1TNnJw0b4b-CCv2qCQ3FK4tGS2DD0DDuMEZsDdCYtTjJZsXl4GScADbQwDmRO8zP6qVX6ktkffyAynyMn_co3V1g1eX32NuKdlygxG0CeQvz2WwlOV0XhdI24hLz3meKyGVbQnpEBJrLTJTvXifIerkgZTYOeFK938dD60BH6i7e4DdVr8cgf2ApL0GfJR4d2TllDljB1lcDxCoFiP-vcRTY4omna05HYhJjn8PDRVVF6t0mO3ddbclP6rx-GWjdrWvvyUpK9QhkWJx56kcqEN8rKRAb9N32-x6eT6kWC8PFNsvvs-Vm1uOmTWL_cJGYk9jeRYSfMoaIPWgZoHtPKfcK9fmVC0gIn1Xzl9rk7xrEOTbxG8y6Ry29btiq40rsDbxmu6bE2jSJTLlfDtnar1h8Xga2YsTt4qjX4mGxvrNNk1xrl327LxyxSbuYKlZ603iZlPrXqYVKJ5-qXTcmbHTXvK2UeAly3oerYuX6dxBlCzKmOGYfRwEv8G7qsOrQoSZZCo38h_u-A54ynz-yUaVt4oA0lnozLmIBFugsasp6PySZFW1fUEi9R-ZK2L1RKQ7y07cU7ERNTUM7MD6BIOeNTmjM9XoC00DiteqU1DJ1tFLbOSHIYPB05HMBby5BIXxXf2WR8N5flXCwNO8VCFq86CIcoSfUzbQIBmWXYURysirrz5IAqBShbRfxCRtX-DyWosgcdUyk5z-UNN-eZO59qUh-rcbHw_gfttBALs4EUZuJnmd5GImrkIEIXF54TvUYsOamPoRRwRN1UqdRNejuwoKTSjdVG3iucUVX78MXfOsN8pQZpfN737UIZkf4ToB-k2u8m4qIukdmXOdrndpcnK5EDgmRQjAt7FUZjPhKct2InUxOqSyARETjlJ8Mu2Vx6Hyeip_7QfgugyjUa0KSUn4Pmy9rfRY0HK4RpeNGfEJUtxZvYBPeXM9ho00BviTwF_gsCHdwR1g==",
  "id": "rs_0b98d5001d78c62a016ab441a580c887d08dd4a38ff191b4c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.29,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The straight push has moved most of the teddy up to and under the front edge; a small portion remains visible outside. I’ll continue a few centimetres farther and slightly upward to pack it fully into the cavity.\"}",
  "call_id": "call_dBqqaUCK9BHLaVIeqGf4Qx97",
  "id": "fc_0b98d5001d78c62a016ab441a6ccf887d0bac4bf910cbfe2a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dBqqaUCK9BHLaVIeqGf4Qx97",
  "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]: [-0.6842, 2.7033, 2.7235, -1.3994, -0.4725, -0.7208, 0.9985, 0.1055, 1.0771, 0.7773, -0.9215, 0.1902, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4761 left_y=-0.28 left_z=0.0659 left_yaw=0.2372 left_pitch=-0.5159 left_roll=0.2523 left_gripper=0.9985 right_x=0.2319 right_y=-0.0054 right_z=0.1008 right_yaw=-0.0751 right_pitch=-0.624 right_roll=-0.2338 right_gripper=0.9974\nstate[joint_eff]: [0.5812, -15.6513, 5.9829, 0.7399, -0.3346, 0.1929, -0.1734, 0.1573, -3.6581, 5.9966, 0.9988, 0.1294, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfa2d4c581c720cdb010ef1e4e437bfe7fe00f29f43552694b8ea313bf451eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aee54f4edb1a7b26448f99c018e3cbc71edb841ca13546272d2ec2f0166d87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8575248fb23529378f5683ea5968dde81442a809c749095f208591009437731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6025, 2.2269, 1.6966, -0.7757, -0.4824, -0.617, 0.0129, 0.1055, 1.1213, 0.8383, -0.9436, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4455 left_y=-0.2027 left_z=0.0305 left_yaw=0.2312 left_pitch=-0.4761 left_roll=0.2521 left_gripper=0.0129 right_x=0.2412 right_y=-0.0044 right_z=0.1099 right_yaw=-0.0755 right_pitch=-0.6293 right_roll=-0.2352 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -12.1504, 5.9556, 0.696, -0.3297, 0.0415, 1.0623, 0.2393, -3.959, 6.3111, 1.1111, 0.1392, -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]: [-0.7322, 2.6045, 2.5324, -1.3178, -0.4858, -0.762, 0.9984, 0.1055, 1.0828, 0.7906, -0.9253, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4562 left_y=-0.2944 left_z=0.0668 left_yaw=0.2259 left_pitch=-0.5058 left_roll=0.2489 left_gripper=0.9984 right_x=0.2342 right_y=-0.0052 right_z=0.1037 right_yaw=-0.0743 right_pitch=-0.6203 right_roll=-0.2332 right_gripper=0.9974\nstate[joint_eff]: [0.253, -13.9419, 7.4325, 0.0659, -0.398, 0.2271, -0.1783, 0.1846, -3.0154, 6.3248, 1.0037, 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]: [-0.6842, 2.7033, 2.7235, -1.3994, -0.4725, -0.7208, 0.9985, 0.1055, 1.0771, 0.7773, -0.9215, 0.1902, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4761 left_y=-0.28 left_z=0.0659 left_yaw=0.2372 left_pitch=-0.5159 left_roll=0.2523 left_gripper=0.9985 right_x=0.2319 right_y=-0.0054 right_z=0.1008 right_yaw=-0.0751 right_pitch=-0.624 right_roll=-0.2338 right_gripper=0.9974\nstate[joint_eff]: [0.5812, -15.6513, 5.9829, 0.7399, -0.3346, 0.1929, -0.1734, 0.1573, -3.6581, 5.9966, 0.9988, 0.1294, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfa2d4c581c720cdb010ef1e4e437bfe7fe00f29f43552694b8ea313bf451eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aee54f4edb1a7b26448f99c018e3cbc71edb841ca13546272d2ec2f0166d87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8575248fb23529378f5683ea5968dde81442a809c749095f208591009437731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGvdhopNSnoef1Ft5vRQWzR_IthTekL59_07c7Ey4WnJClLc7Akod-AHh88CaT_mncON_3TdvrGAIRgD5P-8ROLGqp931RxAkIBCuhPiDl350921qgovM-oEVoUtfhlrS4j-6mkcgkFaJCNaQto6uxYbdgxlBa_171CdcU0VWHnCldL1FFqP1SGdRnAHN4qwqAlT6ZJpFgNpMdqSkd6Zw3Nqf3b4dwGocG8a32CphlnLLWh8iUtvETAGllvOxT8jb3oDwUsd5tjGG-zQM8zTcpfquKBOnI08pPEFVHCQ68LAl91rry7cJx8qmZ3D0mmGS_ZTlw_lrw0KEfATSo4xm2d7YZGmkIHio9xGFJTx_NVFggZ2BbkDOdf-hG1f02OXQWSMt_FlmTdwNIL0gja1TFuxCzOzMYlXVzslfJpNeWOoIr4ku85crTQinV4Td1skKH6JsC9WKafAV8qN1iur0Pt4TrC5DRlhVRDv37NAV47f-g87SBsXUVNpVZ-19EiiEccH09-eENSImWtsWBG4uyWZJeGsf_cbom4AMAg3sG08hcvJwYbQGyo7ghYmbFTZgFEK-P8FINAmeB5s5cY1LlMNAw20aCljPOnFE1yLGkvTdSqBNuiTOOPbl90TCTPZq13UCCwfAzQCxfEC6lFW4uhP3Ir8pB--dsPCtDm9J9o3RcarEu02jQlShHFYnocF2aw6iAf2njbFBMmdqFshUDE3KJrXy12EzG_ggCtEDOWtTM1AVR2SYy2lUZRyAPAJTwQ4LTqrgRApZq39WoF9AxOrGImQomC3j26EWcmPPpaE9WKixBOJ34AluqNlr5UQUf9RKQ4bh9tVlo9TO4sgVKg9FSJiDIf6i2SrMmIOltKuWo1RMs_w9xkPydk-QY0stC_fwkN0cHCe2gpNSe-eZSbpOi9PEW3jLjKAIOz1PSMM95ITU6UOzflzhIucfxNjVGPqAkeRjRVvhGxuHifaay7h79ci7axt8uHZi1aTKRE_t9gGyxL4eMy5B_kF8Y0VaBCYltlj9J18t-d6Fd4bGxJdE4zNd_gCnTl7xohKKdL70v9z8J5DDU7XrU6u39HDn5uKnRCp90nOijfWFZq2jfz-qkDLvfCg784pg4fiD0Ai8WefI5EzeY725nxh30o1SsCS9YhNczI4exbrrzKpLBxG4DI0SWB9qnTj9PYgZTT4D7sBVO3PgjH1msht_3gYDHq8G3INjctyI-k9jnmHBMMUAGv_Snx7pPIf2eTyPlm9pP2SaLdm_AJNbx449JC5H5iq9MByqiLQzvhYvL-QZSdSmA0Fwq9Wc5GimHj1b3-CTcPMzpwSi48sO2ep4kE8h7ejGT15mA9NXNdx5Xq7JeBSy11D82gxk6k-FU-zwj3KRFYkdL6_94E5jFrBDBxfbS_RdxweVPN5IEmDUvqTyJGYg1w1X_R-pEvw3b3GTIBYzPjyYEfssYNASu96kMJ_V_EjUBoPNHokJFbHivC4zHKaqGD734vDrdoD2eFPEph13BwrwHFS-VcH7Zyd5EMwcXy5iNjAfwvbkSRNm7i7_SmnRdTK79W82224NjG-t0dCxeLu1Ey5h0Hpi6phX0z7bq5bOFnQZ6INL9oKhscpbZgG_trQwLIH_cSA28ZHiBkdDyxI66FSGiWad-1_MB3husNYSySvXlqCQyoVO_Pi7H0xb9GTI-k8jw_3yN7Y6ZK62s8VA8Vadx7QnLj7UzrJDekmG0OtcZhOfLgyGrm75N-EJA1E1yT8iZvYw5sg3b8kcQl7j62Oax89t4qRkrECOp3cfDREhRwJT4odfKh1ymQodYZVaQyKj9nEW5LHKjtta6phpY0FzeiwLkZVkmSaOpF7rvkgc9XmYzdv4BwIOkSF52Zf-DfRFfkprsCB3vFjggPp75C5xhV7FZQsb7rBhtu1uYAWdgeUL3zjh4SFwCZg5DmLT8_UvrvGrzUFGe0maiV4YRgoND5aNU3JUmtZ8a01KHkoFh3WKw0soTAjVqsJNfG3BmknuL4Hl1dD5gVesgs8lc8SFW1mOxePwu74fTo0SADs0ofDdEnj4LKUP4G8lSRytg8_QB1qpPu8F7kuGOCPSld9ZEZkfGlFRRwhD6Rz-toVkXAeBpRiOPxUcT1Gl8e-z8QeLAjlNyJl0McOjhjy2sZnR35tqSsMVd43Wh3nJ7PKm_t5iCAnhT4VgyzV0aRhZgy7rvpOCb529HRKMLyzr3ljZQGNKpAshhVkVT8jzYiVWQriHYIv64PZrAeI4AVxkikZjHDZiJHE7-NX6TL2lquHBjK9CKrRwEorX1IutqQqwI9q_HfN0_9nMlmGV9XU5VRe-gNCGIa2AC4IVVAEXFy1lxK9WNi5ZLcBCkSP1Siz2Cp_pAiAcRa-1QoRgF6vT3FHNgUgnBdEu2ag3XSdhiYCwqsaD2bLLpG_HjXV64ZZ7DqcIAjrFqGfBN7KZQa0t9ZzYcdCWzx1uecPwlpDQVkKaFJB1ExZwVSl2QuzqC6aeDKZxnlw8p35bG0Q22V4p965_TQhHa_ABAqwhCgfRPRSlgHJ8R-lbZUiFf4yNdAlcavwmomA6MDAcPU_0jVdLCEtXVvclAUtA3sUJX1YtGBzIFhfOXY39MVI8tUATW7gbprtNQHytHIBFeGmPrm0bGmPGmovx9Y_m_92Bb4p7UItpT6Cj0Q88rK0sMWX-KGRq5Up5W6RvzfPxKM2YmAGmfPWXRxzVKlXiYu3vzY0MpEnlmFqwICzkhSjVW_hEusW6X_wsBkli3jvFQlqi4obkOA1vaX8_EWfyHNEQ3tMuQdbmfxrPrnF2x1ZfaRP0pvK73Q-Y4ik8j1fci2nodmhw3d9WsshzoP1rMPwfx4X7vDxNYHZrZISGeIVqxnlGmXLpF2j6tm8krDZN9C9jWzGfz8y3YP1A3225Zk5HCCwdMUdXylGQJPiQoNvD9CemiC0Z8F_6QyYlPvL1ka7Fwl_IGpttyWN8lI1o-eeLCVhBv_9e6YlbzOeOT5yNLHUPpS944pciMmiXIzgmlIXs414wJiUvW133PBB5NJt64YqzntYZ_6yNJmkoiIXZ6jK5-6W9rm6QIhU1OkBFdfrfKpZtURIiaQqsKu-qkt8pA2WbAXQ3LEWscXOP3EYddPuqg8e0Np13fNNHGrArmQN7PMTCRYMjOV9q5Y17wOQpgFvvpu9jypNftI2T2u55JnXYXAGPcgHvfVWYPJkXCzbFqT7J_lfm2oPeyV8UbvQ5c=",
  "id": "rs_0b98d5001d78c62a016ab441a9bd1487d08c6491a7b5bf46ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.26,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The suitcase’s raised front wall is stopping the teddy, and the gripper has passed over it rather than lifting it. The teddy is now clearly centered just below the lip, so I’ll reposition directly above its head/torso at the new measured location for a lift.\"}",
  "call_id": "call_1zxdfTfkK7tFcEyKguuA5HJu",
  "id": "fc_0b98d5001d78c62a016ab441adf74487d09535dbd85dcb42f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1zxdfTfkK7tFcEyKguuA5HJu",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7181, 2.6225, 2.5698, -1.3277, -0.4873, -0.7887, 0.9985, 0.1055, 1.0645, 0.7586, -0.9169, 0.1898, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4632 left_y=-0.2901 left_z=0.0681 left_yaw=0.2527 left_pitch=-0.4956 left_roll=0.2264 left_gripper=0.9985 right_x=0.2285 right_y=-0.0057 right_z=0.0975 right_yaw=-0.0746 right_pitch=-0.6256 right_roll=-0.2339 right_gripper=0.9974\nstate[joint_eff]: [-8.4581, -21.5453, 7.7744, 1.5263, -0.2955, 0.0464, -0.1734, 0.1436, -3.1111, 6.5026, 1.0965, 0.149, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08707c513e569a8dbec3a5c102d70fef2b3bb8604a2610e9f820a0ea17938a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a33ecccba44e0e5c480d9d9d0055266dd0dd9a00efa8c78aef923824d5c729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76db8418d97b959beea6dcafbe1ab49f33ea30a92984380c725cb6d93c60bd0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9829, 2.1258, 1.6203, -1.0374, -0.5205, -1.0134, 0.9961, 0.1055, 1.103, 0.8127, -0.936, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3027 left_y=-0.2893 left_z=0.0472 left_yaw=0.216 left_pitch=-0.5105 left_roll=0.2863 left_gripper=0.9961 right_x=0.2369 right_y=-0.0049 right_z=0.1059 right_yaw=-0.0755 right_pitch=-0.6289 right_roll=-0.2351 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -14.1197, 7.9521, 0.2027, -0.5055, -0.1197, -0.0562, 0.335, -3.5761, 6.5026, 1.1306, 0.1636, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6842, 2.7033, 2.7235, -1.3994, -0.4725, -0.7208, 0.9985, 0.1055, 1.0771, 0.7773, -0.9215, 0.1902, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4761 left_y=-0.28 left_z=0.0659 left_yaw=0.2372 left_pitch=-0.5159 left_roll=0.2523 left_gripper=0.9985 right_x=0.2319 right_y=-0.0054 right_z=0.1008 right_yaw=-0.0751 right_pitch=-0.624 right_roll=-0.2338 right_gripper=0.9974\nstate[joint_eff]: [0.5812, -15.6513, 5.9829, 0.7399, -0.3346, 0.1929, -0.1734, 0.1573, -3.6581, 5.9966, 0.9988, 0.1294, -0.0269, -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]: [-0.7181, 2.6225, 2.5698, -1.3277, -0.4873, -0.7887, 0.9985, 0.1055, 1.0645, 0.7586, -0.9169, 0.1898, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4632 left_y=-0.2901 left_z=0.0681 left_yaw=0.2527 left_pitch=-0.4956 left_roll=0.2264 left_gripper=0.9985 right_x=0.2285 right_y=-0.0057 right_z=0.0975 right_yaw=-0.0746 right_pitch=-0.6256 right_roll=-0.2339 right_gripper=0.9974\nstate[joint_eff]: [-8.4581, -21.5453, 7.7744, 1.5263, -0.2955, 0.0464, -0.1734, 0.1436, -3.1111, 6.5026, 1.0965, 0.149, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08707c513e569a8dbec3a5c102d70fef2b3bb8604a2610e9f820a0ea17938a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a33ecccba44e0e5c480d9d9d0055266dd0dd9a00efa8c78aef923824d5c729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76db8418d97b959beea6dcafbe1ab49f33ea30a92984380c725cb6d93c60bd0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGzYlPlyGpAUjrQbwNwgPOnIAkCfJKrr-3zr2gfjso-bv2S0Fr6KYfTpzj20RI20gdWcku07kSGmPx-XFn0Onr0_C5ZRg-IMoDmSBrEE6SBsZ-9ZpeDdOJoqBc0901FgUsMBc6QkCbvUMYESJQ6NWWoSamfRp5m8W_w9WR35kTRGGcMjRCTzS5-fUsa_6Fy8R_yVItfcoI2eC3rZAy6tOVTjWIAqn_yAJQyxH2TksWcQfqMEPW3Hpbe5CN0cQxuy6SKgdvULv2MDeTD1ozvqWqsGIqK8ngzF4s1osxgYj1FIKuLH_AljDcRWGxE3v1_6_348BUO3hDhbEI0JD1d09V5NEVtfDOL7RDChZDVBv4n4f8GltO7LU9LWb4i57MU3i9t2BN-V85icmdhAKB7S36yrVo7X7BtGJ0MOt9VkCnNci54DjXnXparYsu62nIUsKAQChVRVGFrN9ut90D5YzfquY1slFYygylHiAJZU_8mXXqviEEkApVBA7mVY2Fog48_ImGahlSeaiYqity7qavQZzMuPivvL0v4XPsbQvdq2Zpo3dI3BXSL_areV_ngs_u1jHVb4xIvK5UKdf9z8rMN86bzbEtTp3XcO5F9jsGvSVFx91fxZ6Q4KKClDzRaYZibjy6YTPyBvJNHlJPy8afoaIOELvHQpokdEVAecVPn3_gA95ucpaiq8yqfEj6Ia2uAy-HfGXpMLLfhkq03Gg5d-oCG6Lj9DaqpLqFG-EuvADxHaWxfksoTpJ1izYOeOzf4efLfCFeQDIdqCU4IlD-4pjLDmmYT-eVD-zEan6ryCZhOkNLaHRCVoge6uxR2wKvRZKSD8IH0Cqvo5bOG-RByVqmyNbCvP04uWPUME9pRtKtTl8zG0ydWGV70lL8wwoNeaGVYhLMS2M3TR53B4nrXKc8Ubzfyi9yKQ-UOLYc3HeVLB6g9Bk3UKqZfwQjFyMe7_gXkq8uYS_yC9Ycoe4w3YpH4gymS3kzzTvJTyolx-1CImS8_h3Fd3d-lR8ERDpEY2m5vecT_vRD3AfHm0CHithbIqZs-VHth27numur392uKS-QBFsm_NzzNNPugztyrQnDTDGVIucKvvWq0hdZS9OV2lr1dFeuRjD2vsZDYyHdQHvKSCYSpPqGihJLg_MAE7oUSKe7KNlpSXQDTj3Kik1kimiD6RcPCn7M5uMPoDKXDnfTSyi_LkIxodecOVCqfIB7BCmXIJdmKr42-jQn-Bwv74_bMpsk7LUg8c-GTUvveHPyZ9Qp25p8nx5EEoQnDTQUAc_42M29igs3eoF7iWSsT7moy6TR6ExefLg1TJQN8dSt41l4oyL9eRbI8qdHPOBM6ixk8ikycY9Q5bFFL631FFSACMakfL6de9u6FG9hV85HrERQqcYomcLuvqURtlnS0A-Qt4gFOg9LCnVA-eR3H9zXOBJkWZq7PYc6jY4Ol1fN7XUglAX_3uHJ4nIgSaNpyb5dR8Dc8n6owDJTknXviBbS1BUR-I8JIpHOME0aoxQRhwnWo1EBofKJL5X4TqJO2ldjhdJbGEhCEFC6N7B4djZzIa6XcUMQppTkkgIYsKqqIcUVJOZ1cz8RIsmfxsfrZiKCTMqldirJvZ0l1OVWvmkYpxRpikoVEwaPlrRPqRaG59-vG5vUU7oRYIC__LhyzPDVhbsIODkyIut9NyE4tMOoZTQigcPwJFgQ9hzab28B2Bi8HjR4VbewSrOS8vy1org5bGP8VCV5OZ2RQog5HgR6sd_uWcUb8iAK3ROA=",
  "id": "rs_0b98d5001d78c62a016ab441b1bca487d0b657d49c18207529",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.2,\"left_gripper\":1.0},\"note\":\"The arm did not follow the retreat target and remains caught against the raised rim at long reach. I’ll first lift vertically and reduce reach to free the gripper before continuing.\"}",
  "call_id": "call_Ke9KEWxdwwgG0QKFxo6DMYHE",
  "id": "fc_0b98d5001d78c62a016ab441b2f5d087d089161fb147ef0b61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ke9KEWxdwwgG0QKFxo6DMYHE",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7612, 2.3638, 2.4725, -1.5475, -0.4824, -0.8413, 0.9985, 0.1055, 1.0489, 0.7345, -0.9096, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.2656 left_z=0.159 left_yaw=0.2669 left_pitch=-0.5243 left_roll=0.2513 left_gripper=0.9985 right_x=0.2245 right_y=-0.0061 right_z=0.0933 right_yaw=-0.075 right_pitch=-0.6267 right_roll=-0.234 right_gripper=0.9974\nstate[joint_eff]: [0.1436, -16.9778, 5.5453, 0.735, -0.3834, 0.105, -0.1734, 0.1983, -2.8239, 6.5436, 1.0623, 0.1441, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709458142598b5f56e9a2caccab500eec55b0540debef5c0417b8c3fa2d6eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6627d9ec8c2f0fe48da3a9b0aab0d0d805e693bc47ee9af2ae5508ba56fd00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edab429227fea267a7d60551e3eee105aecbdd8646345f1b6cf5a8a9ecd164f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7322, 2.6045, 2.5324, -1.3178, -0.4858, -0.762, 0.9984, 0.1055, 1.0828, 0.7906, -0.9253, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4562 left_y=-0.2944 left_z=0.0668 left_yaw=0.2259 left_pitch=-0.5058 left_roll=0.2489 left_gripper=0.9984 right_x=0.2342 right_y=-0.0052 right_z=0.1037 right_yaw=-0.0743 right_pitch=-0.6203 right_roll=-0.2332 right_gripper=0.9974\nstate[joint_eff]: [0.253, -13.9419, 7.4325, 0.0659, -0.398, 0.2271, -0.1783, 0.1846, -3.0154, 6.3248, 1.0037, 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]: [-0.7181, 2.6225, 2.5698, -1.3277, -0.4873, -0.7887, 0.9985, 0.1055, 1.0645, 0.7586, -0.9169, 0.1898, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4632 left_y=-0.2901 left_z=0.0681 left_yaw=0.2527 left_pitch=-0.4956 left_roll=0.2264 left_gripper=0.9985 right_x=0.2285 right_y=-0.0057 right_z=0.0975 right_yaw=-0.0746 right_pitch=-0.6256 right_roll=-0.2339 right_gripper=0.9974\nstate[joint_eff]: [-8.4581, -21.5453, 7.7744, 1.5263, -0.2955, 0.0464, -0.1734, 0.1436, -3.1111, 6.5026, 1.0965, 0.149, -0.0269, -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]: [-0.7612, 2.3638, 2.4725, -1.5475, -0.4824, -0.8413, 0.9985, 0.1055, 1.0489, 0.7345, -0.9096, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.2656 left_z=0.159 left_yaw=0.2669 left_pitch=-0.5243 left_roll=0.2513 left_gripper=0.9985 right_x=0.2245 right_y=-0.0061 right_z=0.0933 right_yaw=-0.075 right_pitch=-0.6267 right_roll=-0.234 right_gripper=0.9974\nstate[joint_eff]: [0.1436, -16.9778, 5.5453, 0.735, -0.3834, 0.105, -0.1734, 0.1983, -2.8239, 6.5436, 1.0623, 0.1441, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709458142598b5f56e9a2caccab500eec55b0540debef5c0417b8c3fa2d6eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6627d9ec8c2f0fe48da3a9b0aab0d0d805e693bc47ee9af2ae5508ba56fd00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edab429227fea267a7d60551e3eee105aecbdd8646345f1b6cf5a8a9ecd164f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEG-JMfV39Lc73eEBAk9aUJ7iKlJ2qpdeffQU_eM6jJgcv3prkfyTzY7Cp99wZDv9ACYbBSTYPksKyE_sCG09m3Pti2tVMhhgnFOuPgJe74u8MtiwTg1iYwYZLbmA1O6ZJVoGHpENmhHh0ZdkVkw3BW9sCCSlhJmwSGKCJmesOTbYybGGlFQ2iZyLCbuY5SM1z1knYPKSgM5flR4IqIMX8Mw9c6obmENDKTCARTp1HoqpiuY_JQpEdmRaSNa_LmuVbFoqMrahLcxlyiwbQcLCTHe8Tg33tWpjXNuBfiryFmcgYcNE5w9RZ4iVub8DHx2oPPsXteISk5-3MN025tmAvwDFMmqTFUmex5ZNtjZYoDDkgJbfRznkQ4lAJrr_1H_A3ctW_0ljfagsvkRiA-ApjJpoQKwc58iAchMGTMPNcTvr85m-IzsW8l8lo7zEbicFvVK4rHjcFH6bEMXu1mLeI1WauiyShq9JnI3P0mbhUwirv89hrjJqwsUiO0pfBgfX0bGOpwV-fhd8SBHpohFb-ppBGqqprWrLD2AjattCqYwcUn96JHgy7j_jQn-Kpz-Sff2wZGmWin1HB58H_n-aL7iMKvtuAOtDGd8J1-cP3ElKga3VBZ5vmXAUsqi9unevJwSA7qULhKrFA1qmD_K2Lt3YNG_XNnLzgl1td5fA0hgPlql4mZ70Lchtw_fJDfPyqVWoLuZ3y0U4V4xvRFyngRcAO79JDhMKIIQQ6pKhogDdzu3aKgehZ93kTzoAV1ROV7Ys9c72aFATyN2JKKN_c3OPjKn_b_lQlu6ukPZclv2zZgRFdqEYjEcE4Dtf11h6RGBNnYwlG0EuJbi8ukId0QP9-oBsctRKiNV_r8o10OASDZqAx2nStq-fQTnQNLv5EpgiWgQNXvxU9LZKA9Op0qGjl15GDNFlgjV6vKoTrPPMcSA6BkLvoyhPhgsMhAX2X3XtmrwuQmgofgAi0LSKF6Ka5ODMAg9fAZlYlBO_vO7xgndaMJLMhPfilSi9_rgJFWVtQLGvqJnhoYMLUoaGnu3K46_QW7w1eV5UqGitEJmYGHyi7FM8LFp-XVaB-spsKFPUXnlYutaXCrznhbaihwIu3-XaXtISyZoySIdC5hcQUz0J-fdOgU2dF02mlvW-SWuDwe7dmdpoUcwpxspVQgQDtcgqkoOSKFIzRFED3DO4WPmf_0scdItGpBeLK4qEEhZiHZ-tze5Y4gyJCrzi3U3EqMaEW5e4h4YMH5EUbKj0sxUt42mOGMo2CLaUSaYEMeXOigioo3VdSnR-c6yoLW4Nmy18YdncaRYBoJmWdZqn5nNoWXU7I91BOHeOgf085DEbFvIJO3FYBeMXzVJLgRqK2ehXpz4gpCWpatNbvxTCZCO65Znw9YPGnmm8Np_u5-Ba0MDMTwQPrvuom64GVeI8XZb-E6z-204SnGu6DW-oGP8f3zaWJj4RCyQoo20Um0KXArAN8r0BnWR3d8wsrI6cmVSV_HLk7C7qumMOcBqGj855Uwpd5b4HTMsQYYVvh4aFD8Yg8cwTMYV3nv5piIhw7KTQ0UaTR-g-Cnq7pFPxO12hMAEC6CDLQrCU157OMjL5Hd3BhS97VOolguNygXhEDSDGt-7ps56hEdsufaxgnELD9c1uOPYEHWcY5OQHhEzySKxEl-c5BLJLPhbtYZ9swl_-eSphhQTE7DrQfOtZbE=",
  "id": "rs_0b98d5001d78c62a016ab441bc385887d09a304ad4e5990080",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.26,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The arm is free, and the wrist view now clearly centers the teddy below the jaws while the safe remains behind it. I’ll move about 6 cm toward the base to put the fingertip grasp point over the teddy rather than beyond it.\"}",
  "call_id": "call_Hri5lJUVgaRuioHYbUMi4QEW",
  "id": "fc_0b98d5001d78c62a016ab441bd410087d0954bfa0df77c69da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hri5lJUVgaRuioHYbUMi4QEW",
  "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]: [-0.8555, 2.162, 1.8675, -1.3163, -0.482, -0.9222, 0.9985, 0.1055, 1.0294, 0.7136, -0.8989, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3333 left_y=-0.2532 left_z=0.0913 left_yaw=0.3181 left_pitch=-0.5886 left_roll=0.3905 left_gripper=0.9985 right_x=0.2222 right_y=-0.0064 right_z=0.091 right_yaw=-0.074 right_pitch=-0.6176 right_roll=-0.2326 right_gripper=0.9974\nstate[joint_eff]: [0.212, -17.4564, 6.9265, 0.7888, -0.4176, -0.0171, -0.1734, 0.3077, -2.2906, 6.2154, 1.0916, 0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15366b172747d261905716caf96a75ac0bccceaf956a7aec3db84ac79b1205f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580bf2502dddf292419267197c299ec1616de43b2fd85b7640d280078342eedb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af083112840473a5dc84f14c4c4ab6eabfb69b0d6b55ca190b4b6b5962df0fcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6842, 2.7033, 2.7235, -1.3994, -0.4725, -0.7208, 0.9985, 0.1055, 1.0771, 0.7773, -0.9215, 0.1902, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4761 left_y=-0.28 left_z=0.0659 left_yaw=0.2372 left_pitch=-0.5159 left_roll=0.2523 left_gripper=0.9985 right_x=0.2319 right_y=-0.0054 right_z=0.1008 right_yaw=-0.0751 right_pitch=-0.624 right_roll=-0.2338 right_gripper=0.9974\nstate[joint_eff]: [0.5812, -15.6513, 5.9829, 0.7399, -0.3346, 0.1929, -0.1734, 0.1573, -3.6581, 5.9966, 0.9988, 0.1294, -0.0269, -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]: [-0.7612, 2.3638, 2.4725, -1.5475, -0.4824, -0.8413, 0.9985, 0.1055, 1.0489, 0.7345, -0.9096, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.2656 left_z=0.159 left_yaw=0.2669 left_pitch=-0.5243 left_roll=0.2513 left_gripper=0.9985 right_x=0.2245 right_y=-0.0061 right_z=0.0933 right_yaw=-0.075 right_pitch=-0.6267 right_roll=-0.234 right_gripper=0.9974\nstate[joint_eff]: [0.1436, -16.9778, 5.5453, 0.735, -0.3834, 0.105, -0.1734, 0.1983, -2.8239, 6.5436, 1.0623, 0.1441, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 2.162, 1.8675, -1.3163, -0.482, -0.9222, 0.9985, 0.1055, 1.0294, 0.7136, -0.8989, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3333 left_y=-0.2532 left_z=0.0913 left_yaw=0.3181 left_pitch=-0.5886 left_roll=0.3905 left_gripper=0.9985 right_x=0.2222 right_y=-0.0064 right_z=0.091 right_yaw=-0.074 right_pitch=-0.6176 right_roll=-0.2326 right_gripper=0.9974\nstate[joint_eff]: [0.212, -17.4564, 6.9265, 0.7888, -0.4176, -0.0171, -0.1734, 0.3077, -2.2906, 6.2154, 1.0916, 0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15366b172747d261905716caf96a75ac0bccceaf956a7aec3db84ac79b1205f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580bf2502dddf292419267197c299ec1616de43b2fd85b7640d280078342eedb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af083112840473a5dc84f14c4c4ab6eabfb69b0d6b55ca190b4b6b5962df0fcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHCzNWQNDlHxM67TYALYwKwDztBS7_n7DSUvJenEp6U0FkOqFnYglA48P-obamGe5sg3TkQs2uGDsKfPXLJAzYt-8x06Edin-8r8aGEs36-5ce9gzz7cildA7J5Z7hfK8eOgrNFLAFuz5dtSP7bp4QPRBEYRGvflPhI5xrn0Rb4QpL8GXidtIsaEMbw4RhzItvYirc--WfvtUymyhlEOzYlhxxp1TYZCbkXl8Y4uleYaepre_hCa8k8y9_8F0nMLKuhJ1ahXwMTI5Kv9CvPqV15_Rl045wZmKJ7CaqG3q3NK98q4LHteGzEG0YSo0P2syvocDdhpLnPQPrt_KqaK8xH-CszHobW1qw7z-sinOdTWdSWN6DUT8RaAzY3uxg3IHvMQxD73-72Yjbi9Cb3L8OAVF6bg_LiPmo2IFlDIlGWzVc2bFYeqseXLCvbGZNF7PbbJmVGFL3kw8YWsyUASXLXxlpOjeC1RasQwD4g-kcCTptLA-mGtCtQIWhNVhOdfoMKxjy6g-ou98tIlWxCTizIZmSRTIsq6s1ZbYIX-GopAG2BOrDkgPqN6gONWmipWUt76LeNcjzG4GG-D_-gMlm_cRNXCw8Wiq_zGEfxl7bReYnE8lJGBxRtMd0kS7PlpTxLU9hLFUHJUQOZS0cVYQ0igDQ7s87PaDZdhOQ6cT64RCxmB_T8mEFOSDTx0p1zc-0ydC8C0LFPkl9hKxDOrldPUQJPtIJD5l3EOzIybtdcQzBTvt-95BpyBVYdlwnRB5mIewNNdSxAdxuwdPdBNAXTIhWDD2Q2W5-5-NnFdz56mmpBFx4rDyPRjV1k3tx3lmV7icMfvOAVYVqj1BPEI8fDKvqT6UVu3kbdGucyZb-euqUxGafs5RBruL7vs5YyY6Bzt-d8UpUcpKkZJxNmk5RpWyxj-07VJAVOZIKkjq78nwMr7h1oI08uNEAHyMQIIBdqmpTifeshO43DTkgVt2VtR9BVknHFkIKEX3r-VTDuhckBtchmDlKlh-LCmh526Pd5RBq_1VCXUSyEah_3_t3MkrOzpsfSMTZHIREPNF_vekU9eGPD_4UiVt90ftun41FeThjolCsqoYCfmHr-yFPJjY1TmCaJ_x7ky0KKmuXwwjzMpPGKEmmAXxzbfDJhb-XBrHVqVeXHT2_TnuCqhTSfGo1baQAmNjSRgAKAytIlgKncLkNBD7Kgrru5nfp01ltb0yKwKrphWMDtbQHxXCGT1AcdsJJXdC0QisAyw8mxungILZ2587hQlAnwiyLdoWm5NBCFuh3HqS3o7btuBdcEen3MObvejqH4kRTOW7Ay6DWFd7H9DNzbQjxSAlDNQ2w4C8_gpGj0nriQbGBJCQ_Bs80firZUY_mkR67hCT5fVOVCebqZJ92WEABmsGhuqbVeMoEuAS7RP2WgvrjJs5E5171Q-oxKYE7mlGu1ls3hl7SSPlQUf7AG-2uDdo0YbxbR2RL9fciI_WWkyiIMTzmLPUqwUKrLRHQeIN-x08jbcFvJn_81iIIRKMZ6GyRM2ARMHnNtIjiD5BhZEqY2lCjgDVr1FFEj96TGMq3Lmrmk2_Z0PS3ihuhgLxsABsapAZ0TsRvVASdKHMZoIaEesuIJsOaTkTAadn5GZiqTN59CQt7VkAaq8w2sy9KiklhF5Wwm-eliJ6RwmscjCgMWcLVcNz0Ci3kei6p8u5v5pdS_8UG4QiyA0Zrsb8BLHmSwUwtx0MP19LQhZdYVxWk0pxKBpzFlZUfCeVOBMS3P72JruEY4-vNmoW0eOVFqPORMwl1wMINVo1OHHbo6jDMlpZIJ5clVfsTLU-oPt4zrCv76ZzamG_RpO8dIYbDAKmsiLGGmqfaCrwXKSvHwO5X9pAU5li1xAid6g0XBu9P8XqgYTmHbE4CtKyl0cJARThyc4WePgRmmR7flN7Ajv6ECZZxktg==",
  "id": "rs_0b98d5001d78c62a016ab441bfeeb087d0a8b653a2b9f61e24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The radial move exposed the alignment error: the teddy is now visibly left of the jaw column in both views. I’ll shift the gripper about 8 cm left and slightly back to center over its body.\"}",
  "call_id": "call_VpT0ge1VY8iOvgt1FgajL9Jb",
  "id": "fc_0b98d5001d78c62a016ab441c1a3b887d0a3aef7157bcf5119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VpT0ge1VY8iOvgt1FgajL9Jb",
  "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]: [-0.8577, 2.1113, 1.8462, -1.2785, -0.4824, -0.9524, 0.9985, 0.1055, 1.0225, 0.7006, -0.8989, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3355 left_y=-0.2572 left_z=0.1058 left_yaw=0.2946 left_pitch=-0.5559 left_roll=0.3022 left_gripper=0.9985 right_x=0.2191 right_y=-0.0067 right_z=0.088 right_yaw=-0.0746 right_pitch=-0.6237 right_roll=-0.2333 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -13.559, 6.0923, 0.4762, -0.3834, -0.0122, -0.1734, 0.1846, -3.0427, 6.1744, 1.033, 0.1001, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a521e85c726ba9a3c28c8befde359a8618272b3dfc00e9a40f29d5833396bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a9698e8c7b7a84edbfb61c41542dc151940f33b586407fb9d8219d5ac76fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bedb57a731fbb155d9a4ef329c9a20b3341f2145f6602fcc1dd6425fcfc1578",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7181, 2.6225, 2.5698, -1.3277, -0.4873, -0.7887, 0.9985, 0.1055, 1.0645, 0.7586, -0.9169, 0.1898, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.4632 left_y=-0.2901 left_z=0.0681 left_yaw=0.2527 left_pitch=-0.4956 left_roll=0.2264 left_gripper=0.9985 right_x=0.2285 right_y=-0.0057 right_z=0.0975 right_yaw=-0.0746 right_pitch=-0.6256 right_roll=-0.2339 right_gripper=0.9974\nstate[joint_eff]: [-8.4581, -21.5453, 7.7744, 1.5263, -0.2955, 0.0464, -0.1734, 0.1436, -3.1111, 6.5026, 1.0965, 0.149, -0.0269, -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]: [-0.8555, 2.162, 1.8675, -1.3163, -0.482, -0.9222, 0.9985, 0.1055, 1.0294, 0.7136, -0.8989, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3333 left_y=-0.2532 left_z=0.0913 left_yaw=0.3181 left_pitch=-0.5886 left_roll=0.3905 left_gripper=0.9985 right_x=0.2222 right_y=-0.0064 right_z=0.091 right_yaw=-0.074 right_pitch=-0.6176 right_roll=-0.2326 right_gripper=0.9974\nstate[joint_eff]: [0.212, -17.4564, 6.9265, 0.7888, -0.4176, -0.0171, -0.1734, 0.3077, -2.2906, 6.2154, 1.0916, 0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8577, 2.1113, 1.8462, -1.2785, -0.4824, -0.9524, 0.9985, 0.1055, 1.0225, 0.7006, -0.8989, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3355 left_y=-0.2572 left_z=0.1058 left_yaw=0.2946 left_pitch=-0.5559 left_roll=0.3022 left_gripper=0.9985 right_x=0.2191 right_y=-0.0067 right_z=0.088 right_yaw=-0.0746 right_pitch=-0.6237 right_roll=-0.2333 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -13.559, 6.0923, 0.4762, -0.3834, -0.0122, -0.1734, 0.1846, -3.0427, 6.1744, 1.033, 0.1001, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a521e85c726ba9a3c28c8befde359a8618272b3dfc00e9a40f29d5833396bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a9698e8c7b7a84edbfb61c41542dc151940f33b586407fb9d8219d5ac76fb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bedb57a731fbb155d9a4ef329c9a20b3341f2145f6602fcc1dd6425fcfc1578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHGctzk0BUQr7bHkEmwP8Rl1rmZdTuYhYzvowdnP_OCsCBtvhXb8gjH7Q6x9mnL9OvR3j4mQTpFFfCyzx-y3RpnrSCChjJMrJuu2CeW-jyNVnLCSi7wf4Kb1g1hHjn2f6Z5NDgpUWpTobXqXKT35AEftdx7AfyAJsF93L0sOFlw1vG6HdPeqVOBxSS6Og3HASmzsnziLxPIxEDIkJtKnsf7Xqf-yAFwFjiy9ZJNzF-Jcj7EUUeKrJGEaPlDu_E_PPuQLBWFaQD7oPgjFjFIm7urVaZyWiA8G5dpZ-rEfiy8nNDj_-9YquYTraP9tpbV91hdmXwRHjtCWmzypWwxLL8pNRFlnzYM0Yey1BYC_N7Lz8gZsG2i0fVJPaoSQtY4PbROHii4rwMK8USskLrcYVjDiErrOnxt6YAgn3yJ5Oy44ha2RN2XDMT0XFhavubZDv-WYqsShNbJmuW6qrYpAzzyOfQpzuoV2kO5AMCTsEsp9OAIvrZYiWQJrC6npvK6sqiJ541FdhIM7nRPVqU0sG83jS2HGkGEq6LJA5ob-o8q4Dq_wLAH5VsQqUZF_1ALO1R4UYgmkl16VNB0-K6_YE9y96XEP3GZpqdkbLSHQ8l4d023mIGRvBMLtzYSr7UVsLcQeWJABikympIhf5VohBnkbXRO3NJACvv50bfB3nFS8IggAu_BD8LBU5mtICTbguXtclrhDu6QBAI_QOjIpvhiecneNoD-kNH3H2iMelRj2BzypsBybixgwSIfOg06Srt7UUV0tstbBeDbVtXwkgXOTXMMHwmyBTDncnFB1dxxFf4KzJ07BUJfwKK6MOdS_3yLPygpbSECQLzzY_SoVIE7gQ-ZtdI1elxX0af0wzeQPziLdJCrKhTo7qhHmxtJfcTso_L1z3Lz3R0VK2QZXs0N6kKgy_fIjTK5GKiqQVf03irG7gWOVxA-2eWEHzLy1wmv7xi6-RUv6hktdGTWEJ9LwJ5eQENnQabRS0qF6EPWaf0d2_ngsxnwBuSw642w7tYvBsVTdd-TiJGJVrGDtV5-aYGJ85LcqDEkpcPGlmRu4---VSO_1SSsCjDdSuCzkQhBVHf8TteX11EP9qjOW4YfwpBMzjI1wF3dtOnWhKSr7nXS_l2c0-8Wi4KpjobbxXYzt2XWDANs0b5bhY4VYdocUPURr5YmGi3st6z59GIG__t8zORsIU5Xv7_J39G24j4T_O01pEIvRg-rSZNCC4jf95rYfvy7TyhzILTXQQFGzzdMwQ3MCOJ-e2KX4QSFXGaSqCU0hiGK14saPqTKVTovvcdJ_QrSA_Mzi1D7xV6OAa7vYszU-Fx5OK_Jb87vFsZYg-vJ8MSFllbL4Bs-_6UpLsViVKTAVHIbkHzJryttUoTf28R8bCJc52QZe6I16RFjDor5gtcBN6t1KiPYO9WMC6tKzNll7AqaEKkm2e81Oo0VMLlI0W6pnrSna7OLmZ0NP3KPS5NFFF6RDaJ-xnyGWwqriXDiHflGF84iYuAN3YR2nYYQ7zkZvsxCdsocpdeYIxz4TwSQ-TGjC5NCPwOrO3WbRypJWBzE3HhGLI4JQYYDbMp2vK2Uqy3l62i8vbOJWGKWaFnh348QhvYHAeYH9kvy1xODdcHnFD8qb8ryoN13TctBjeHji3JtfDuc7kfkD4tXMkW3TJNlni-J7kmzYC-2-JDo38iLj71OaDtJTPs6SNJ5cPPh7ryZEsHDOTPatycnzyx18Xzw8eh7Efrl5RKS6Kmd6n-9YUe97NKp1paY09_QzH2_M4oA5G6aMJDblLpaIHq8rRK4XjQlO3b5kdlLqgSoF64eegJn3M3TBBMNsvrsYWGOgAaEjCCDQyyh",
  "id": "rs_0b98d5001d78c62a016ab441c4ad5087d092b564c85ec4898a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.2,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The lateral command did not track because the low, tilted arm is kinematically stuck; the readback stayed near the old pose. I’ll lift and explicitly level the wrist while moving to the corrected lateral coordinate.\"}",
  "call_id": "call_h5bYIkDhxCJheqvVMTLuYp6T",
  "id": "fc_0b98d5001d78c62a016ab441c5dc6c87d0ae2f59ae04cb5566",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h5bYIkDhxCJheqvVMTLuYp6T",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8612, 1.2427, 0.9379, -0.5648, -0.6781, -0.6334, 0.9985, 0.1055, 1.005, 0.6819, -0.8955, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2957 left_y=-0.1687 left_z=0.1871 left_yaw=0.0161 left_pitch=-0.0561 left_roll=0.0209 left_gripper=0.9985 right_x=0.2157 right_y=-0.0071 right_z=0.0855 right_yaw=-0.0744 right_pitch=-0.6214 right_roll=-0.2328 right_gripper=0.9974\nstate[joint_eff]: [0.4444, -4.8342, 6.9265, 1.6923, -0.4322, 0.1197, -0.1685, 0.1436, -2.1128, 6.2838, 1.0672, 0.1538, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38052a159cc10b6f96966140798752ebc6544f0c9a608e39f8e7723759fbda8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9687f4823f7e416559b245121a1ade963045d25811ef6539dff2cea15bdeb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aecce93d6dc1baeb4b4211ac8819124338c920ea1eb229c997aad4719b9e43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7612, 2.3638, 2.4725, -1.5475, -0.4824, -0.8413, 0.9985, 0.1055, 1.0489, 0.7345, -0.9096, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.4028 left_y=-0.2656 left_z=0.159 left_yaw=0.2669 left_pitch=-0.5243 left_roll=0.2513 left_gripper=0.9985 right_x=0.2245 right_y=-0.0061 right_z=0.0933 right_yaw=-0.075 right_pitch=-0.6267 right_roll=-0.234 right_gripper=0.9974\nstate[joint_eff]: [0.1436, -16.9778, 5.5453, 0.735, -0.3834, 0.105, -0.1734, 0.1983, -2.8239, 6.5436, 1.0623, 0.1441, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8577, 2.1113, 1.8462, -1.2785, -0.4824, -0.9524, 0.9985, 0.1055, 1.0225, 0.7006, -0.8989, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.3355 left_y=-0.2572 left_z=0.1058 left_yaw=0.2946 left_pitch=-0.5559 left_roll=0.3022 left_gripper=0.9985 right_x=0.2191 right_y=-0.0067 right_z=0.088 right_yaw=-0.0746 right_pitch=-0.6237 right_roll=-0.2333 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -13.559, 6.0923, 0.4762, -0.3834, -0.0122, -0.1734, 0.1846, -3.0427, 6.1744, 1.033, 0.1001, 0.0122, -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]: [-0.8612, 1.2427, 0.9379, -0.5648, -0.6781, -0.6334, 0.9985, 0.1055, 1.005, 0.6819, -0.8955, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2957 left_y=-0.1687 left_z=0.1871 left_yaw=0.0161 left_pitch=-0.0561 left_roll=0.0209 left_gripper=0.9985 right_x=0.2157 right_y=-0.0071 right_z=0.0855 right_yaw=-0.0744 right_pitch=-0.6214 right_roll=-0.2328 right_gripper=0.9974\nstate[joint_eff]: [0.4444, -4.8342, 6.9265, 1.6923, -0.4322, 0.1197, -0.1685, 0.1436, -2.1128, 6.2838, 1.0672, 0.1538, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38052a159cc10b6f96966140798752ebc6544f0c9a608e39f8e7723759fbda8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9687f4823f7e416559b245121a1ade963045d25811ef6539dff2cea15bdeb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8aecce93d6dc1baeb4b4211ac8819124338c920ea1eb229c997aad4719b9e43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHNL7yWzRQ2dD_oWLbbyqRv_9_-3ynSgDtm_RkSQIcTAK5Dj9xGbV4bbwAZ8Zd0t7ZADI3CQM-pZOdQ9aIUqm5sQO86XEyj6EyZuGMDTw1TH1cKyp5B3RdzKgFJPClHBp499_XIbdCak3HynA9dmjLEBT8cKYZvoKlNaPyNIJOg47E4d-wNUPLz6nrw_-D9bjLOVfdFjZq_Xv9HuSkafd-hVrALkRbPW6otU1dQvP9v7762-u-UcEyNA6Swd5KNRp0TL-1UgEyGq0h_tXBhRpzfuUutJk0AyhROtk4rwGuokQy_S8sEd38k3agWRCeZisVW7_gMOZ4kBMtiE7p2iQnUJNaKhptjJ2n2ANMdfmL1Y_f4ljmhhoY8QXhGYFcMGwmBc5YWWf3hFsw5zATYFhClPU78M6Z0fKb9pwRy8Z4unaRYZAmZubjp4sVaQbCHMKyOLLUTTE4psI1MH4dxpzOiFOJV4Pid2r52Axnsi5igJ9B-5fOiRj_fCf0EzLwlvQClzPx2NYAnUVWaRkic1cUoxtMOVU9Ddd8napWPJwv4LL8tSuUKexJSKlReHX3cjpXktYloSa6ogmH2DJWUECrkZRvlH69t3Fd4XK7UajbjZTSTeZxLvI8Nx6yAjP_1RC2EjEP7nAmgO9sLqrJAGZDv274CZ60gNdc1idc27OUoMZ2VaH6Ny2dmq-Oyimx8CZ2fE7zhZOaGe5rpbCpjFxARx3pY3M8HLQQ_Oeeaj4ukC2cQTCcenIf2D1re2QHdnWFO3XBk31uLAjmbe5582No2M1NkGuy9ALt44gAo2KZf9JbqXqfTkkuCOUyGA8iruJaZhBXYl9JIoHCNDdQpnEkefaPjA8i_Vg9d0v3jZlCBhCjqOfO9n-ile7CvDXQjpHMP0pDHpht-G-jzQ6XAAsFZqCpxn8t-bvA30PZUr_LkFDEZnG6yAlKwKeRzJj2SxOc1tDmwfkuK7wVY204VB86a__9Br9Wt6WHozVB3jBnf-5rX0lYROqmEKMkJiA2_v_W-saVhXQ-S07YUXcAzcAQx98YEG9YKCF_ftPKnsuTbVK2EnJ3x1-JEMz3TyBMaAN9pT1an-wHiaQd0H-feQd24g0a_BHZr_577uJL2-iUw8sVJuAKbGY1uL5dhVtaMcJb3qMDToP0EnX1PJwvWvbC3Wl7mfBmIkQT1zv2CxH5-MfgGEt203cn41gNSRK3uL6S-POLRVUa1eRaD4MNPQzY0XQGNIEfe51eahty0n3WUNhgxuJ_FEOL3IO6UP18TI59R5sTwFuM0kgMrdIaN4wYGJdjz65J3ZCelKF_Xw1YNRPYPJGQe752oIyJ4_7-KvJXqs9EV1yexyF1fD4gca-6pWrnWyatVxpD_5RsNYW-O2ZM7FP1HyjcD93P2L7jCO_CnE4N6TlTZ3gSxgDjZRelvajE0mt_MahCU8q2PKP-N_O_AkigqAWs5a3bgt2K6uIZpz29YCQEdhy4f9qIlgrRILBBYtYsqLTrEcngkkTRpudgPrlMWR9jwFTI401aEOuc4rkp2TxFTkAXthAVZILdLxqVrm9sv1YmBjZHA0ff3XN7vNMuFnwN74388WM0L5Dkla_1XQKgY5gK_JvuIRQKzmZvUhJOYf_X7ngdBkFTfQf8JApYhxzhJuCGTEyiOJYAlTp1OzlcBtdNML4UdVPCGfbmz_6OUJPzs1AVV3TmzuS3EaNXcaKZnv8uU9jDdU-zcEaYD6iRgvvr-I3iGg1aMjJFBCXTO00e0TjxrhiOJ37mmUp3Iufy13YHPK-kXnsv6V6s-niq0OQzUyo6ZuvKqtdAC5vfDBB0ZshpGM8E5kOWnhiMRvDPRObYz2mJzdmx9sOhnK103ZuidtU9pKVhF2MMYV2w7yEtNJnwimK8ovV5d9DTTR-IcAKUhSPInYZppwQ9pngvXbKtfUJZEYtzVoH9PKhJURdt_7VxhG-3F9UF9mRrHskrzhBXxydiHa9GyO1p81Sd84G7WROL3brgqfVSbAAX0hH8WIUNJDvm-85HtnJ1BQmAP_jfZ2i5uoovm-QdHx3cJ0wiuassWBmrwqURV00jj4NtT81qLTqskWjRifi33aLnGvxOvn5jr8pcQdKhKznY9kY3nTL8kJk82Cnf_DS9qRsGdtsqBUPEscoO5veaxFb785K0g0QKytbPqFT6LDplwAyZJdpf7m_R_GFd_OPRlciKKR5xUKubLfI1xqA3z15r4lhTzj1cekdt3KDovNo5BSj53No4QUXvl7EFJjTMfwnVOX4ZL7IuqP4U2qvjrTenMq8ZP4Iaf5Q9kFX_aNvDxUTG19AE61NsLe8au_b1Pjg8V0eMCAz7y20KyD2NmiiHl0JnxnsdZrEB1NDvbGc3ainM3hmnN3r-D13xUCrQue_g41Us0AOpKy0SEMHxTt5IWfsf6SOY1I84Rm8ZN912lZgx3eHxZZ-z_sUeHOp1XOZ62hv5pwbJzaLHbBWL4v-CdQOStUn7UZVVsbXeO1MWGsE0G8vRMWTtRAd_i1VT2xAd4uTqTkbx9IeWdU6SWI5ZOZVllYgbeRGJLBiQvF_d0C_0RP_tsTV1qeoHbhLr2fex1drEauRdBGYxew2nLXWtT_i6JhBcWIzv7THVO5b1rZ7hZ4jvNA0Y09guNKlSxNr7OkiTEJXj_ru7WvR1KM2WS_l9riMQmLnt0",
  "id": "rs_0b98d5001d78c62a016ab441ca2bac87d0b9b53b36f6a0ff55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_yaw\":0.0},\"note\":\"With the wrist level, the teddy is finally centered under the jaw column in both overhead and wrist views. I’ll descend vertically without changing this alignment.\"}",
  "call_id": "call_wWzGTWOWgHJxT3kZNxsbP5rb",
  "id": "fc_0b98d5001d78c62a016ab441cc9d7c87d0885ee888bb1ee72d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wWzGTWOWgHJxT3kZNxsbP5rb",
  "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]: [-0.8635, 1.528, 0.4484, 0.1829, -0.68, -0.6083, 0.9982, 0.1055, 0.9901, 0.6662, -0.8959, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2864 left_y=-0.1586 left_z=0.0261 left_yaw=0.0026 left_pitch=-0.0731 left_roll=0.0628 left_gripper=0.9982 right_x=0.2122 right_y=-0.0074 right_z=0.0831 right_yaw=-0.0745 right_pitch=-0.6225 right_roll=-0.2331 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -5.7094, 4.8752, 1.6386, -0.4811, 0.0611, -0.0317, 0.212, -2.3453, 6.2427, 1.0476, 0.0952, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4130e8d9fbc2538c12efb642348aea18d7e5a351d10178fb1358d19af9e03a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05084b0d46cc51913a9a2da413ceb5eafc5278396399adf9239c1e21f90f0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b69c9920613d73afeaca221e6a0168c48ebb10ac6fb9367bdceea76815374e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 2.162, 1.8675, -1.3163, -0.482, -0.9222, 0.9985, 0.1055, 1.0294, 0.7136, -0.8989, 0.1902, -0.0265, 0.9974]\nstate[eef_state]: left_x=0.3333 left_y=-0.2532 left_z=0.0913 left_yaw=0.3181 left_pitch=-0.5886 left_roll=0.3905 left_gripper=0.9985 right_x=0.2222 right_y=-0.0064 right_z=0.091 right_yaw=-0.074 right_pitch=-0.6176 right_roll=-0.2326 right_gripper=0.9974\nstate[joint_eff]: [0.212, -17.4564, 6.9265, 0.7888, -0.4176, -0.0171, -0.1734, 0.3077, -2.2906, 6.2154, 1.0916, 0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8612, 1.2427, 0.9379, -0.5648, -0.6781, -0.6334, 0.9985, 0.1055, 1.005, 0.6819, -0.8955, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2957 left_y=-0.1687 left_z=0.1871 left_yaw=0.0161 left_pitch=-0.0561 left_roll=0.0209 left_gripper=0.9985 right_x=0.2157 right_y=-0.0071 right_z=0.0855 right_yaw=-0.0744 right_pitch=-0.6214 right_roll=-0.2328 right_gripper=0.9974\nstate[joint_eff]: [0.4444, -4.8342, 6.9265, 1.6923, -0.4322, 0.1197, -0.1685, 0.1436, -2.1128, 6.2838, 1.0672, 0.1538, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8635, 1.528, 0.4484, 0.1829, -0.68, -0.6083, 0.9982, 0.1055, 0.9901, 0.6662, -0.8959, 0.1898, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2864 left_y=-0.1586 left_z=0.0261 left_yaw=0.0026 left_pitch=-0.0731 left_roll=0.0628 left_gripper=0.9982 right_x=0.2122 right_y=-0.0074 right_z=0.0831 right_yaw=-0.0745 right_pitch=-0.6225 right_roll=-0.2331 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -5.7094, 4.8752, 1.6386, -0.4811, 0.0611, -0.0317, 0.212, -2.3453, 6.2427, 1.0476, 0.0952, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4130e8d9fbc2538c12efb642348aea18d7e5a351d10178fb1358d19af9e03a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05084b0d46cc51913a9a2da413ceb5eafc5278396399adf9239c1e21f90f0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b69c9920613d73afeaca221e6a0168c48ebb10ac6fb9367bdceea76815374e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHRCxn3khk0rCgG4tGM2-SzQQVg-32XG4_-VZLNK-Zoi3yctkUZ81jnk3zQURdGpcQY8JGajEPI1gtZNuDUZJHnxVKFQANv3Lb9Cwz6um8TiKuj4YBWBJOY_oQpwzkjIN74W3M5eCA7hUX5cyM2dSun_6-_N_HZqk6sotKpGxAXgOagle_QzVHE5buX0Bwe2lP62eUMtbuWP1Wbn6Vou3beC91AmXxSSC-8C5Q4LGxt7uik6X1EsJuH7IDb0xb0onQbBnXBhHMpOltZu5F3AKgr1WcfPk2ARnXmPghHTJejmjjz4IluSZYwaDo_PQ8VJRQDvVLrbCwWA_XyBnncz45CtjGPGnRCGeTe487p5eXWjykqSB7dYdn2YDp3rqHnsrBK0aGvjX5JVkhCVcsK0qDPTfk4GCawZS6EuYgmIYduwdccYEJlZljWK1z0kchLUoAST8Z8qXo3JzPXPNESVM-yD7A9l_2LdyVcdh79Do0SohFmMdVaDHq8_bJs76BqBNyxJJFCfTtzPBKeUHMh1qvZqNtlUTdwnK70WH1obd9m_vTQI3vhegUIviAuIPQNL18dmELu-SNoMbUdmUlPlX5e9q2Id6rqT_gdi6DK3kKDDR5UEsHa4ookkSoj5VktsK4WzjtDOeM6iw4h3JoqiE4XrzAP6MTfeTQdR_U4idojQaXxVykq3HXbhqQqeUqdseuJ5-VoaBSkecMYhYEcXLsr4S_N9ve2W-OryNlNB1t1MVC5a4EtVaxhY7QYc6ySWFk86s_lxoC750G-evPn5tvj_GKh23cPj2swkvvB9iORg3cqPt2U57DHco44C5k00QaKx0ZTMZqxFCVeWYyHwJ2q9HGfFZa1vhMBKOzEuBxV2hMy4-YhkcU_F2L3r_of4jM_mWyevX96akjFxfnkT0hiEUFx4C0upgRQR_3trH4EehJKYuIKT42N3lTsYJIp7vB85-iH16nzm4Dp9sECYwHGZQ5J4f3uap_2FTTkcmQB1VpEUd4Ku262HOzJVXqWfzKIw9Nwfhvm5pQzJTGMkCm5VxIhHMdjQacvMlspgL44aky43cYYZoA-wJRG_KVykhNlAGIHpx3ByMMVyKMlrkYQXZy8GUpCP7NQ6BW7BRYPdQe2nctjDfOlRAG4ChKpnPDZWXztQu6ZX7KqPxnTUVQyaPVymN-GnjvUtJR_u_TZ17dQ2Ox6SI-UCnAYkqP5ux1VvTJw1VPB74dFAfBXFdPeng==",
  "id": "rs_0b98d5001d78c62a016ab441d0800c87d094843fa4ed99b25d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the teddy now fills the entire space between the fingers, with the gripper centered on its torso. I’ll close for the grasp.\"}",
  "call_id": "call_TFYqvqKlUjO1nOiiXsXg78rB",
  "id": "fc_0b98d5001d78c62a016ab441d0a8ac87d09668490f2adee9a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TFYqvqKlUjO1nOiiXsXg78rB",
  "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]: [-0.8635, 1.5463, 0.4328, 0.178, -0.6849, -0.6128, 0.0102, 0.1055, 0.9741, 0.6495, -0.8921, 0.1902, -0.0261, 0.9974]\nstate[eef_state]: left_x=0.2815 left_y=-0.1518 left_z=0.0162 left_yaw=0.0108 left_pitch=-0.0949 left_roll=0.0915 left_gripper=0.0102 right_x=0.2093 right_y=-0.0078 right_z=0.0808 right_yaw=-0.0745 right_pitch=-0.6195 right_roll=-0.2328 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -6.694, 6.147, 1.326, -0.2564, 0.0317, 0.7595, 0.253, -2.3863, 6.4205, 1.0037, 0.1343, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079d3fbd8f84d38ee78f0a1be6b2c2a041363f6bbe2ad9a251482988a53e52ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e793760a2db85d1ec47a1bac9ac0d290ad87bfcae340b9c5a09b7cb70b27f41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5300ad38b3f5062bee8ffd5438011ac3df5e4facff4f01ec9f242efb6ac454",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}