adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "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"
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{
  "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, 0.7929, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.0181, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0006 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4427, 10.2906, 1.9512, -0.0366, 0.1929, -0.0904, -0.4444, -1.4974, 9.7162, 1.9121, -0.0513, -0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ce679bde91b301ba045ec32b410fc4705a304d74f299f68059e46cdf622760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a6ee0afa1187705860bc001e21edff5e23007dfd602f566eb9f446c79256e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb855726da9a66beb8ae2ec165ff6016d00685daad72a83083c5819ce0e27e50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0d6963c230ebc325016ab43f946f2487d084afedeb19444fd7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-eeo6TqSdpOEJWfonnBf7PiDPmJlRnLgwV4PhKG9j_7qN6SjmMndEIwM3SDH---JNmQcuokdPiLOQ-pr5-WcKNkx6dPSNSwEV0uG2OG1O-Gn7xu7AVHQvA-O07JU3XdO3cSR9lgCRXJscgfLVwZguCdeNYw25LRNGbZ_7WmFQPDZk0HmXyKlF-B2JXa8XalEGkFOvMB6cWlq3-5gdbirolnDBYI6_0hTsPk_2rKWRJmv0iWLtVzyDBbXpAZLW96QeaIT90nYxYsu9LrE5VrXA0WXm3LXKAg4hIlxmyRVlF-r0ENyB6poOY8VUhN13Ko7y9UnIUh6F2j1wfrcAF6xjzWYD2UM9Pg-ZZICGvM8V2Ne0dRVeqKfqdbOjTu_gIVVeWrtR_v76nwToN9-gcBXLwJ8h0fPBlmX9iRpReLYWYzvxLE5xQNHT4fgVbO7szQEgmhI1ZDYjmi16-2EOhvgnFB7QzOsQkK0pu2b2HTeXyrPPnvrwVJbtts5iY898YVacpdGnApRqNTxqm_BHqn6EX7HaJC6fewVqnQQxBbz1v0Z2YTAoRdu_FI4hUyBBN14RmJaqScUlJ4UqMQuWCG-PG4HIbqsi85R885xk2wIW1I2idiKm1viyU2nEI7v_phxYB1QnZQZJ_dMRYTU-6UEqY9qzm8NVU88Z0F8tGEi0d8CjwnV5qfawGr-kSfeCsPp2ypmYQ8yezMAEMzi7_ykuy8Qg3OlktzwzaVqen9jwqrbCZkke_fAFwi7DvLftyGS2JZ_xdVCy5lYNdnz-_R7atU-eHLixeLQZS9f5b0g3JwPe7Fo1P0LEYfbZyQ50TPemKp5EAYNfGReVYAUc-yvqO1HpgWPq_bK_6DqM22oarGuPQ-GIOGKkuBhklil-5Gm4VsRTiIfnGjr3w_xZryfhfz3vIQwrHNXV5ABo4X3uTMbwDS3h2fdHqEkvD2UL-cxMqhhVXWY4yXYznXCAx0ngTJVOHIyGAjEcRjXgY3Ek3V7lIpzdSAETKcxkLIVJLe3O8pydL7-MJs35S_nN9O4Sgf57aUigkD-umf72b7hU2YPxWake1UHw4KFFPVnqLVvfT9xSRzXw1VfrMZzgxxZGP6PU12cJDWyXWuQRG3G-x25T2ntx9iCwTZ4mVVqp-GgooxaSHE4DKZwQGdgK8fCexhUmKkl2F__1Sbdz_wz3fpUz-uwzh3Pn2c-NTUZ-vRV-oiVKBjWqqL-LPDT6cxrbxR9iNJnuVIy4wb4Rzn2fzPtSOZppvMdM0GsknGHImpaN8lQube9SPoOtXqZYhODhecT9z-XqWcnYX19TIyjd4R7nlFKFH2f-UrfHrzE62h3PU8aZ1wvet5epLtAtBz5KOLIuPCtET_NVVJju7taEGUqmxDpu01yiEW5UabIi-lrpWv4CNMb0gdvLf39znIg6ZONZEIo7_MWEDuGtWeJoPbnArLb_sQPpZ3gJ-JLS8bWoVvQm2aM9vM8MfoDF5ErEVi3di6JIVQPcZ45do2KZA5BAut41a3_w-DotUsqWMVLlYkP69Oz3gr5z8JnFSYeVx7SkFKll6qYNx2-oboLRxBrGdMlHz3pTI_4zt-yqTwsaSG4BdjYiEHDFiI9NAXHIOxiTUuEz37L3mc4qUEejSIYuvsamDD9FCXKkBVG1yvN2E09F9DWeOzZG6YwhW7tMmKjF0Gei4zQ0VlzJkb0RzPVbFLaY58pfvf06o8VWv-VhK7fYgt3BagW37gcGmorRTznz66XUUShIbERfPoVr1qsfpK1isLt2ljC2XG1EUEB6OsesYeaSYdn4J76n51uXomHp5lSvkdp0xNNzccvkgWkNSA3PdVQcINAYuqcC9OQXiIRdygTLtYX_eJ3k3Mw4_El2hIUo_IjwYNRghwuJXf35VF1hTqCWh0bc7X7cOik4yTyO7_D9pq4uDcN1A1lZRTN6krs_Ts0k_Rgl7hq8KjKMhW2-YRFQ9v4aAGlCeTtvWuvLBv9EyC1HM6u-bEeGBR211RbuP2cDNOBnFkzCfpIUfXSku9paE3LVvpCRHAbtAMw0weE7TP_MRIU2JEnd0-dCh1QsMU8VxyBlfN6UPVcxzrIGr-18oVPdEnk13tz8YI73tlF7PUakxPdCG8uoaJynk9Ja_YUPiugTxLpz_XE0GFfTU8hTNEtkpLYDs8A09M9N-6aI779UpsPgMOgxOSaCkBVpUeWNby8JqDq7tKpi-3JCIu90A0tXQRIkFJcs9kJDb7QQyxVFsBtB-xD_HbEP4a7AleTG1kJn5xmUX4s1tUBGSBUxkk0uIDymmDmNe66rYSkUJxzfRQeP7VD8Jjbh3FLpwQivnI28LwUx5FYTfROJtAwQA48Em7JI24zWDoDbrAnByrPNSdzYruQ3vM6jauOmHDXwb5ThMYDTnMu6VsKQFkpgGHE3m04BhUst0-uQc_tWHSaeQgaoA88ReV0Tl0JONt2s0Y4bQjdp6Xj8a2FAHva8bSc-uK1KRt8-4XGQm5kbCtfrgl2nwXCwUMGrEtO5UzlZ_9diOmTr2ZuNBu-od05NsCO30jJBW1STBIfAqzjaZusWMEalc1AzsEHQKRl2-tyy79bZzyizEkmrullemhrTAauWxXElptRTYM1AsDX13DfNDMLsYPLHqlcZ2FZrfmS6kf4UOTe2lCPa4XBJZQdY13je_qxDf4It0bj__5jaYagw6coZ7lYwuI97rVh2I5u9nfaiNoL1F1qU_PY3dPNMM3PlaUhB4URvm0r_ftDBiGrSasTZGpW5K53i2EKffA5vLgg8doHNih8BROqWRgpX4HNVauARl6z5HWYgqAEsd74gkP2mss9jusoMc4VwmwoOyF5r2nNaVBZDAXQqnn28SP21NAmS7V-51IQ5m4fwUf778cF0DHk-HXAugjy0WkgGwBBQicphw-sxXRdkRyH_uf81l4_S-PZWxXMZu4xta1CFHv11mOcsxE9WzvdJNcjpS__l_k19UWaOj96fv4y0SdSWx2F-TpMfx",
  "id": "rs_0d6963c230ebc325016ab43f9a103c87d0ac5c7bb9bc313498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The open safe is near the center, with a yellow ball to its right and two plush objects in front. I’ll first bring the right gripper above the isolated yellow ball while keeping it open.\"}",
  "call_id": "call_3TtJJW2exU6B7GAJ0HtzlWe6",
  "id": "fc_0d6963c230ebc325016ab43f9d9bb087d0875d5850e02ea4fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3TtJJW2exU6B7GAJ0HtzlWe6",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.7353, 1.4826, 0.8902, -0.1982, 0.5636, 0.4305, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0024 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3486 right_y=0.1929 right_z=0.1321 right_yaw=0.0381 right_pitch=-0.0628 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6889, 6.8034, 1.8584, -0.0513, 0.0171, -0.0171, 0.3077, -6.5573, 8.8, 1.8388, 0.4274, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52eaabcfd43d6f4ed546016033a53de1d68c499e07c5928e38f65b5b34689ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecaa58018c145c22cf80e88fec1dec4d83fd26ec33432bf8b4a4bbda006be86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b657523883d661be874189a55ce83aa7e7a1ff5908a66180e6a2c33ce03f2192",
      "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, 0.7929, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.0181, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0006 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4427, 10.2906, 1.9512, -0.0366, 0.1929, -0.0904, -0.4444, -1.4974, 9.7162, 1.9121, -0.0513, -0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.7353, 1.4826, 0.8902, -0.1982, 0.5636, 0.4305, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0024 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3486 right_y=0.1929 right_z=0.1321 right_yaw=0.0381 right_pitch=-0.0628 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6889, 6.8034, 1.8584, -0.0513, 0.0171, -0.0171, 0.3077, -6.5573, 8.8, 1.8388, 0.4274, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52eaabcfd43d6f4ed546016033a53de1d68c499e07c5928e38f65b5b34689ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecaa58018c145c22cf80e88fec1dec4d83fd26ec33432bf8b4a4bbda006be86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b657523883d661be874189a55ce83aa7e7a1ff5908a66180e6a2c33ce03f2192",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-jgVmmNFXOgFFhQG4cb-kUJe1wVsUfZclbs0UwcANPszbJ-SexIBfkDE9l_BVDeALrjjPwi2ivHcKPLqqVxJ2iEx4WhY8101ZhHuYbJja4wZ9luk2YYaqstQh4UtSD7mtE5bZqrQQt49SYN2Zi5_wSOqOycp_jY8RRIBIQNfCStqz6TXk0tCfqCwkh8uCfanY6QaRXwGNj6b2-qgWkSyD1ewm6TXmx39tGofWWv-UUltHCm1jshtttgR7P3ZgNGY3xeZu5WP1TiPC934AR8Ps63zK0LWfLfKH3KPSPDCDS_vzOfuHPC4NhBTyn6yQZkTqH4ysMAJphaqjeIPcrH1XT_CRNfkoPJVHb8GQlU4vvWxa3TK05tN8zEW3L54qiTyAG_3z6TfoEeiPfgk1wPTbYDl1glhnX4yBsbDWy-gnHwrduYBrZH03B8C8uIGGjl_0H4qJzxVk3OGQiXjmAzQ3W9mY594Ml6Z9W5xIM2MqNz4bUj5BLUzlq3HAp__BFWW8_5zU5nP41xuUVVy3DRpzwibC3GH0LtLoCOjx7WwhqdxwIxfI-i01FdKBudMSfHwqNRz_jrA6QhnG6UTb_Pt5tT3gwAgiU1KhbwmajQ-PwG6_V34vALm4q1_OUu-A6aGKJIhXs6OpxVmzxEw7z88EJpFxoaUjJy1RQlQ0APofGH2Qje5CZEjnbJza6AgKbTCq_KDuDQ69Kv2_f3I6usFc2_HuzN6IgmbUeyuSv0pfPbcB1f-sGl9ozFYZqcb-GjT0rJ7pkA2tEe95isXtThCaVrQA8DNxYXqnbNwBo-rdHHrcS0ZUdfo1Z9sY7xnbFteVfeBUSAY0OujsIFSBzwOWfYeov4LgvLdJGcCB4P7w20XCz6itIvOA35mmCH_Br4j-ryc8J3jxD5E_TacYCfFIGY6pD12KQtN-T3pNrYVTTazSJdhQYrn0EKBxD1L-BpSYkXbyT3y2dq1ygDRQhSbrUB2I5rhT7-SPIRbYzOmQgU7towXUwEmWez22aGCcW6a5OYiEZlwlOiDSCotcgYljNJomzx5BWpC49ESZqUVY1c18smBAGYnZ5WHdtVQK6xQZX1uGtbwcZPDSAqVs-aD2D7xkK9AbDVITZstIEXKkdXml7a6NmMlxJMSeefCZEVEUGPPVqp9AsdtJnl2lDBmVqwLThg4JhSlYIAindRZTfLplHPzBlTRHyEtmkkyG4mxLUp8ZFhKkJdd6dpxg2dPfoFVOFJkfnXZPRoUbHHe41jjkE38s1zoZob3Fb6y0OJVXJw0mw3ZDgvbr4iWsfd6qjjbE9XdRTz5lYDFRrGzy6JMax-uxzkir6kpMgSauw5Nv4EbLYVYDKyOnYkrFYWwkpfn7XhXWCEOUMIDuchIXZ05wgKqwRNOPJ-RuLOYXwK23U_XgHPaXT517duFP-3EIu_y8EI1zRZj_h8JnxeTpbbjN1etiRdTl4WuHuw5EdDugqjLj_J9xUJ-PvnaSUN0UGHGjcFMMSwW4Cb-tgI4jmilRGTefSIuHgIv_5MzoMrOUkIijkIcMugjiGjuRS_3qoBSz8zbicqzpulx4lNtGFE6NgEZoYts7c8cbsB_e66iIAlzfC6O_99JtlOdZAuHjfFHubEVjgKTY2I14hnnHpw8SijxWVLoAwWjHibTQvGnehl3YaPFDcrWUGW9GpWilYiFfZCt3HsqXS5Dn_WaFgaBk=",
  "id": "rs_0d6963c230ebc325016ab43fa1673487d098d3f6d63a9f3f12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.165,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The yellow ball is now clear in the right wrist view, slightly to the gripper’s right and still a few centimeters short of the fingertips. I’ll shift rightward and slightly farther forward to center the jaws over it before descending.\"}",
  "call_id": "call_3sYUxnNDwpzTwbkcPFphQimi",
  "id": "fc_0d6963c230ebc325016ab43fa2985087d0b2ab479ff2db9b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3sYUxnNDwpzTwbkcPFphQimi",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4068, -0.0193, -0.0383, 0.9992, 0.6174, 1.5002, 0.8768, -0.1825, 0.5007, 0.3645, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.366 right_y=0.1603 right_z=0.1188 right_yaw=0.0027 right_pitch=-0.1047 right_roll=-0.0769 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.7118, -0.0708, -0.0415, -0.0122, 0.6632, -7.2, 6.8581, 2.0977, 0.1441, -0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72934f6b919ea4aaf8989d0c4f7015ae09ba03eced49146417b59d41f0bf215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b30981fd853d2c9e383ada9c52c7a1e98cd958e05385509148c2b6364043f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab72a2aefe84c26344aa79468a055c528045a68290879d026f8ea3735823346f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.7353, 1.4826, 0.8902, -0.1982, 0.5636, 0.4305, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0024 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3486 right_y=0.1929 right_z=0.1321 right_yaw=0.0381 right_pitch=-0.0628 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6889, 6.8034, 1.8584, -0.0513, 0.0171, -0.0171, 0.3077, -6.5573, 8.8, 1.8388, 0.4274, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4068, -0.0193, -0.0383, 0.9992, 0.6174, 1.5002, 0.8768, -0.1825, 0.5007, 0.3645, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.366 right_y=0.1603 right_z=0.1188 right_yaw=0.0027 right_pitch=-0.1047 right_roll=-0.0769 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.7118, -0.0708, -0.0415, -0.0122, 0.6632, -7.2, 6.8581, 2.0977, 0.1441, -0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72934f6b919ea4aaf8989d0c4f7015ae09ba03eced49146417b59d41f0bf215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b30981fd853d2c9e383ada9c52c7a1e98cd958e05385509148c2b6364043f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab72a2aefe84c26344aa79468a055c528045a68290879d026f8ea3735823346f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-mUD5Vdm86EiqkqGJWsQEXLfIfgxQCpJsRIQKqXRGQRn7c2fnth-1cs1z1BkmUwzXRHu7P2hAbR-FUaHK-6vGROfGHUVoFzHjcMRf9duLzBMZ5PybGy_M_ezfemEIqwGhomY2g5biaZK11fNFJy8M6-Kyscus2rDwqraTCRqwgHdYThJkk45UbBySNPllVUdqZa1lT7uQFGpSmAXJWFHOpteYUCFLLwE44plfbWIwYgMtPUQXlT889U16ao7XnSI-vj7jrD-9l6wnx1Wfa7jK0kTfD8ijd8Ip40__ZOJeugB5OIdbvUD_TgwTI02tbSXN-wTMv56eT9T60cbtKCF6-HOnwuW3QBxB604FLdrWFWVGiHQmU8HP95ROY_J1ASoFYklbrYAVlfYcyMERP2tsqN6erEn3ARAGGu1dq_iIlnTaujnjl-xXjPawJv9d2BidPrs_i7_lpDgAsEEcxoBIw184b9uIpXg5Q9jMK9zxGHFOPdn6rIdAuCI6-xZniFYf0w53pvYeBchDgi4nVmXuOA92HLzuFiokYB5Sglf0tb3ZjsrQC6VgmVdMmdNemRip3R9k57Yyp8Tlxq7rUTkQ4ElnjwfifAczwMmUCbRhI37RfRR-WxMqE_3T-qNN5tdUwc2ebun7iaThGz6alWm1CkrY4hPQU7h5fq5ZixDaQiVOPamwjcgtnuoM1sv45t3j97lT9qJBB0JgrMUyoGrhxr6KWIR2Gj9wjub7dWyGers3_WT-yEod20Tvhi0ZdolbmF3WuvSKkwEjt5Dq31Q8vQPMmmABr0JUTJ8ExXJAwC9P5EhDRAbwkGKOF3d4Jb0EJIAZwLshIAO4wTGJcymNFAwl6lZL3IFsKUEj4n6EvGOS-MDMt1sYyfVhi4F6SGUBWlmdKrrFwuQW8_lneSErDBB0E1sZ2R5mf-PNk2xD8nCnWZw1DrdsNkjQIQRsJl1IFgiMt13EIbjqCfKH-yicAG2tC96lRHZ3WFlgZLbL_AVxECmqYvIM9JhNDN0AjIZKMlwJANfj1BuHa5f4mNLvpk3cVZ42VaE8FpZ1k9n4M_LnniwFlqA7JSQ-7uSPJB4AOvPqrtXAVs5iTdcOJqG8m_8z2nCYG2fUGgMt0KUZkGcUS-ZCZX9Sw7ID4rmTFbRZKrJ1tq2pRMgN6fvReE3jbRMOase5PJRKdZ6VFKiCbpZJv211SrPdXJzKzCL9tnMi3hfLNUXiS2dlxqXR5yCepI-FuUL6a6aTgcy8WvQKn_iQWYiqi9yTfxi6YR5tP5nm3WkHaMKFY01LUimte5GORoAan2jHlo3tyo-gfdE5fZNv9WHxkav75Am8ak_yYrhdwQiBEJ9F0CZgl8nTRYNDr5RUVaOdWe8cin2a5LXbbAZYYLOyDpHIa6DHAr_AClE36U8R-Z0NZN8n2BH1MnSFCo99ozsxvgiavLX0aQDbD5282m9O_BNCSZ7kwB-w6cua9ztbraqoFxEmDLgH0xbAUDXWo7CBI4ib9hq3G3gzTKHFudAMHbu-WWMd3enEUy5V8mZ9RASqkhVja_2hruKuOBU5ufqWC1hFdHC_12Iizl1ZP8V2PtSil9s47jpHMDh7S-J4foF7ZUz991bR1QRsqS8KM2cjUQFIu_DQqS90_s0k_I9mRpwuFx_3eSaIs94kRE8-ZiFSqFKyYNHbU2k_gyuVKwWuwKvyl53xSPmOuwatYL3LPlGCCkmcu5y5wJkaT",
  "id": "rs_0d6963c230ebc325016ab43fa4cae887d0a2d3024a9a45388d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.153,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The ball is nearly centered laterally, but it remains well above the fingertip convergence area in the wrist view. I’ll advance another two centimeters with a small lateral correction so the grasp point, not just the camera, is over the ball.\"}",
  "call_id": "call_wM0RiUNMObb785RO58SJipRf",
  "id": "fc_0d6963c230ebc325016ab43fa5fc5087d08c9dc455eb011be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wM0RiUNMObb785RO58SJipRf",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.5934, 1.5135, 0.8787, -0.1825, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1735 left_yaw=0.0024 left_pitch=-0.0233 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3687 right_y=0.1578 right_z=0.1124 right_yaw=0.0279 right_pitch=-0.1312 right_roll=-0.0901 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 6.9812, 1.7656, -0.0757, -0.0464, -0.0122, -0.1709, -5.8325, 8.7453, 1.6728, 0.3101, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a34b7e378ffcbd7bda58aac8209ca88dc78954c6063580e06bd38170fa279358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233c2f6b467802c524193b2b44aa1cc7d5844bbb564ab6fa407b311e981edf31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2550af987a93178f0a463f2ae2cb16251a3c106031582f164afa0c86eff51cd9",
      "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, 0.7929, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.0181, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0006 right_z=0.1781 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.4427, 10.2906, 1.9512, -0.0366, 0.1929, -0.0904, -0.4444, -1.4974, 9.7162, 1.9121, -0.0513, -0.0464, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4068, -0.0193, -0.0383, 0.9992, 0.6174, 1.5002, 0.8768, -0.1825, 0.5007, 0.3645, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.366 right_y=0.1603 right_z=0.1188 right_yaw=0.0027 right_pitch=-0.1047 right_roll=-0.0769 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.7118, -0.0708, -0.0415, -0.0122, 0.6632, -7.2, 6.8581, 2.0977, 0.1441, -0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.5934, 1.5135, 0.8787, -0.1825, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1735 left_yaw=0.0024 left_pitch=-0.0233 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3687 right_y=0.1578 right_z=0.1124 right_yaw=0.0279 right_pitch=-0.1312 right_roll=-0.0901 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 6.9812, 1.7656, -0.0757, -0.0464, -0.0122, -0.1709, -5.8325, 8.7453, 1.6728, 0.3101, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a34b7e378ffcbd7bda58aac8209ca88dc78954c6063580e06bd38170fa279358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233c2f6b467802c524193b2b44aa1cc7d5844bbb564ab6fa407b311e981edf31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2550af987a93178f0a463f2ae2cb16251a3c106031582f164afa0c86eff51cd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-rx7XYCaEh9GWur1hXq_e4liVyQfj6xipJPKtgSKtsQhwS7KoZQKejtu13Rpx3BmS2rGpmMpMWNKJoHJMdMJ8z2lScmjihdia51j9htfaeSwJ0YTDb4Nnkf-3giF4bz2cCe75v2E3wM1t5FJDkyyZ-1lKh2jopKwWpqCoEpEPdfnlZJ9b9f_sBY9PkSjLXNcx2V4I3aSUrYMHF-YGZ_yxr6kPR37D7e2TG85ymonlyXu3GdmapcLb6QY9DGhVV-5lNKXP_dCqlkakOIjKx-V_iSqM4sZAxdik9GPBBO2I9URzT8ws63frzS4GQJFK0Khmgfk2Q1Yt89TTo8EJxEcZP9D_ZFU5SCco02ZBtIMxjZpnlniBVOEJOZrTs_lExjAps2S331GSfmd7j50ZuAGeph5vl33uJbCtbPzrgW1rNYqA0nQIw9GEFpyIYarbwC-Dkoq3QWPdRTRs1ZTR1zg0vcOLIMFhZyo_Z3i17D1-J0s4bl2Mrd6yCQW_BPL-ruGUyN_Iu_bBYnp8GbD_RVTzFEfYA0Buw2YwAOqFt5tELY2SGYImY68LKmO2ceQQr6kXIXuIAdRmrNmdyn3Z3QBWD-HCbmQVnyllwsAJ7ySFqbwihKPErvqXZN3-0__l602LOl4JniNgRdUv4TRQU6TeTE0RMsUh9t_n8Spcni7emhb0KFb1H7rlqxbQgQmoDjxn0DkZSGdFgTdt3XkxslCIUjy148C0SDuPQHz78k8xU941uYsmOSNN6BQWFAWSu4LqYSNgCROOrhCJSVt6mpSVZ38vDAVriABfo9gMAGpH2WS0KTWi45titM8DwZO5xlPDS8I7AGrPPUB4KgB719i_nFbd8tWZyrriR7qHVkBoqHbt9G4yKRyw0MvIwDmMsz6BSqNV65SiLirQcoT1xvRU4WFeBmwgVmYhXza1_WrN3AwAN3ZrXfeppY81yIfmOk_kXqQfKiDsqxjV043D54Nz6wRz_djLoTE-191mnfRN1eN57K0scaS2EcptxvnNFS44dr5vYgixxyRSylHQ4aZoL0Yqo4eYrx7dcu4CcfTunaF459O2nK2quFiAxS2TMOxMicX1SX-q-DlmJ8yDnbCVzGQvfKL9hA9D1L7SvNGZ0HywzfcED32JJ8ditOiBE5Sk_-MGBts3TOeiQ-rDX-g2VeCQoi1LVNgDuHcxBgst2qHA_FhzQgnY4mtnhTuUlaIyJwObU03vgK1q3wmh0emgdm2h1LRhveb2RqOeqGAn-5ErpcwR23fjf9fJ3hN6c17ohwNlOLjzJbdlsNMi6s_th_RWxvS2iXTKjIz6MGp2sO40xT8cnbf1dKbRkkJS5MzG3xzWpTuEbpok1iTzMypF5jfyfLD6z_Oxvp4i8mxOGIvRE_uJn5CIJOIu-9BL2e-raUr3eTLOLbYw5CtoFT3hQqXc4CJoyegLsXMb4cg3xDbCfsu_B6gCgiplMJa7v2ySx6WqmibGh3CFivxXC0R59Z0xBRdQDMUMiU0WOT7ErYoYte0dnedgl-byaA4BnXR_-H7QumazulKaeu6cPagL2OARWXAlCCobWdf-RjCThF4wjarbhx0brEvcc4jy3CHuqr2wHB_bfWhOOZlfJuQWJSDHdNO_ndEHzL-AkS7g0kEV-DmTbc2I6nbJQJIp_TYbjHBM3Pf7x33lVMbbyRWu3hGtJauZjd3MopvGO89FNJpB8o5dFsu466tLBoMF4rS0749_5bCFfi0pw4YcGzKH_81yz52tpreuYAhZ_rz5RLoYi-tKkA1Q9xUmWX5PXKlgD0GRLh4FOAA10phaAimJGPhAz-LMqU4hnhhMfAScNuk4RozwGRt0mWLXKw4aWr3sgeXZ3yIjnvHd7_ZZx0YK8Os1hEZEQ7knRSk62o-COXTMtB8se_PfCQ4dCYck0IspMefpPVxAQsS71S_ow_KXXhRPLuN-VUgy6YsWzbyPyCox67688SlWW0Bjt9DwawNmBUUaU_k_p4PhfWrRNp3KgumnPieIFckqAIc4n-Aj3-OtPdjBHyaypGIU5sd1jd07XCPPh1xtkQ0z3Awccyuu8b6fNTXf1I7t6DD2Ns6FPGoNhtbCT-nmO3lVtyLEBSrae7ml2fFvh8LZol4sJ42pmgujykol8Zdj3iXJ-9uQsznWu5LegIS-fciom25sLhr39rQJOznjQ0bITyMybf2XrB5Zmg12EU2jHB7dsDZOG7DCKabTIQZHygJeW9m2GVK10m8yJ2_WUIPvGDCQi_k9L6w==",
  "id": "rs_0d6963c230ebc325016ab43fa8029887d0b3f431fbe7439673",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.155,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The ball is centered on the jaw column and now close to the fingertip row; the last high-level forward command was reach-limited. I’ll descend to the ball’s mid-height while asking for only a modest outward correction.\"}",
  "call_id": "call_01T3mJUoK9T7vsGel6M1rz1c",
  "id": "fc_0d6963c230ebc325016ab43faa6b0487d087c8b17e35daa6f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_01T3mJUoK9T7vsGel6M1rz1c",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.5934, 1.515, 0.8787, -0.2043, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0397 left_roll=-0.003 left_gripper=0.9992 right_x=0.3656 right_y=0.1558 right_z=0.1084 right_yaw=0.0261 right_pitch=-0.1509 right_roll=-0.1027 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 7.3641, 1.8291, -0.0806, -0.0659, -0.0122, -0.3897, -6.3385, 8.7179, 1.6093, 0.3053, 0.1636, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d1eb328525d77166e79ab7533c4f1532fd7ed8d6fbd93e0089e5c43edffe54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7c4103d2be9426daae6535f2eb60d242d441c4b98b42725969d22c567783d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02f5d5e4ab165754a71a587d449b423921eadf0e79e82653968b56306f79668",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.7353, 1.4826, 0.8902, -0.1982, 0.5636, 0.4305, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1748 left_yaw=0.0024 left_pitch=-0.0172 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3486 right_y=0.1929 right_z=0.1321 right_yaw=0.0381 right_pitch=-0.0628 right_roll=-0.0513 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.6889, 6.8034, 1.8584, -0.0513, 0.0171, -0.0171, 0.3077, -6.5573, 8.8, 1.8388, 0.4274, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.5934, 1.5135, 0.8787, -0.1825, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1735 left_yaw=0.0024 left_pitch=-0.0233 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3687 right_y=0.1578 right_z=0.1124 right_yaw=0.0279 right_pitch=-0.1312 right_roll=-0.0901 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 6.9812, 1.7656, -0.0757, -0.0464, -0.0122, -0.1709, -5.8325, 8.7453, 1.6728, 0.3101, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.5934, 1.515, 0.8787, -0.2043, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0397 left_roll=-0.003 left_gripper=0.9992 right_x=0.3656 right_y=0.1558 right_z=0.1084 right_yaw=0.0261 right_pitch=-0.1509 right_roll=-0.1027 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 7.3641, 1.8291, -0.0806, -0.0659, -0.0122, -0.3897, -6.3385, 8.7179, 1.6093, 0.3053, 0.1636, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d1eb328525d77166e79ab7533c4f1532fd7ed8d6fbd93e0089e5c43edffe54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7c4103d2be9426daae6535f2eb60d242d441c4b98b42725969d22c567783d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02f5d5e4ab165754a71a587d449b423921eadf0e79e82653968b56306f79668",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-vWYbXY49bgm-E4Hv-fdeOToDC9LTz2gf7SnUiYeA1UCnpMkWYwvizA67yempLx8gu4oLZUH-gG7FdqeCKa6OeT5ApvaMLKumjeA1zdT3OTqxlCrpMUqLnP_plLclHP8iq_g4wPOlNkxV7wczfLU_y1i1oWA4ujAW3bV3gOrZ4lwoY-n1d8ZkLmdY-Dlx49ezA2HSjZ__WMZXjLaV5w-MoeiWUzKMx9OfKzKHJ5Z4Id6YwoyjFfmxQc4w6XNCJQKbxjJ0gImy4W8S0_AkjHDYBiFQJ9dZE0tdw3kJEKVNi3nyQppnO2_Vz6jY5usRLNLO2UBKkaSCMHMxYYAlvl-lYmmaMXArqdrLj8fLrbsbMru2pC0RlRqOpddPPbgJBUw-2SLCz6Hduj5Si4BikVaAIdg_gLPqI8X-mmJtvHHgues5XLHdFxcJnBMUYum7xlmvXmdfhBI0Kow0-q1WxX0TIGWwo1amDyklRqXpYC1uoIJhtX_eRW4k1Q97kHkKqSsxGmbs7ZdYANcYqZ2OIVSP9_p5W26u1feArg1YfqxrdZ606bu5_KggBIX4TBKkEF-9KaMeSGK09TFo0OLSTsZtnVfdPp99bZYcEocss4YT5QkBLkxG9qQRuaRdKstOoGoFzbi7hfCnJxQcCFp0KKu7p65Q1Thp7Nf8JLwcgGQFq6OeZpM7GWaSy6Uali6ZQtHLFQVao1Drbi4lmJB-afMlSS4Qk1i17ct17oJjPbZWVGkSZVRZSJxKdimzZhqZVdetEvDhqs3Y2wrvbZ5LTjCSVyyp9gaXUmq6avFZ-Ousp82dJpyo-eXuqYqOlB8nOGi0_u-S6CUTYdbj69eU_opwGSUwYqig9atSZyPebUA59ENxLeAcQozhdvFbv41lPShv_t3mRavW0Sglc_-4wC7bVpEp-85iP-FfdU0aoRlSAy9L7ULcAwaLzXn0EuGX_ZeCGMZXYE1jkkh0klXAwdigiXlJPOvI5_mxchlcu6lJmWwbvwk3VuMpsZC1J8gFLavP5GgSDU6b4j7509JO4gTgJn1LBt4L0jpGUvSDn0-hFPxY6O5z5ctUsRvjsh_M9rXNIIiVBgU_DYI54AryLa2tyIqcpWyEyyA6XN0u7mW2X9uJieCk9Ep7Um7FiOF7bea2mVJ__gmJExQ2UHPc1i19fBL4ZiLzMKHbJBYlyCwoR4rgEByyTCLHoJtwJK9_a5vD6yc5C3nQbC2UeTD6ld26MamEfXQe6LaAehC_px_Cx_PxDheAsJn9JYvf6scRZbg6U9m9lPLofo57sbiMbA-7GGXIDvocD492_d3uwLRBQhWLirOlIOjHCs47QplkQw6X7vn75SpO3qLGlyaKUPQJK3YLFK6Hrkzkj3fhJ0wtRhM8cJsOiafT_8h1WRlAEdUZWY2RN-9NDaLQ76zTlNtaA650l75Ug6by9G6hcQ78cZRf94Zt_q8p9Y_NX_WqngOS1L2xquC6BDQCnU3K97N9TB_oS4RYDGfI6OhRDvaGMUkdsT0oHHZJos8ymed1D0OEGUZcaaiMGy8hlKEot0tPF4Ij5KdkASu4ra1cRm75zhSlG2BhRVu9oe0bpc0RPpBXg5ebMvuP3G5nhHmj56l-ShNhmSvcbiWAgLh1gbyW0llox9uJNVitYzMXavL2foL5fuwHYw4v0ncsrLS4E7BiNU_11ypUnHNItmfFpHpRDhj1TFPwl3Y6Mz7ED4TORahaYDNe2ka5jxpfPDUVmYFPBD72WtuBCWY2PIQcFXGCqxXpeYIIFPEVzOZPC2S7DZvU25xyuO54SqURCYAfoeTzdf2toitaF66kd7oJ1x5GMSi9LY1CignOaoxIxlqC5Qz-21PIW_UVrk78whMz-JsMwGe-urHslpNAhSG0UQUKqLiJXt579xrUnMydaObNeLEvuphG3dW5rsS-kwGNjlXhgsrqQKJJL2ra9BMI4SOtX12CxYmuxFjINo0lUuqre8bQukI3SV_G1X49oj_rC5TsJJzbg0FzdWui_8zcr0dDe1w4yMgZfijkynjOZ_PlbABYAVA80qtTdHUvC7e_k4xKTyD1ZKu-GkbYy8dxE6WX4Z5Dm5i3-gRArrWazHb2j1AIlBHbYQ8-rFFoaut06wfuJYYfIqDQWtgIiH64OOecjOHYgJR4foIGQmZIEQuPvRegJ5ou_yaXFz1lQ90stTHcZAPmdrO1unXIWNvwwuAaBapqbq4HC0LMiCa1ElNTNriuGm6bjkzsHKooMHyI17Fo3TUNA1jriEaq_I7ksyAY0X3jZSvOK7qQ0vDLnSdEWoeU11rJXKvN4Xrc2veDxFv4dla-Pb4fjSlGSO206WiDfgNywAnnBR299QjPjqny8VORQcmk1D_jTFZuBzZ8Vhah9tKdnYEcAKsSzzRh6XQCx1r4o3T5j_13s6wDamnPvUoUUyIuOOYN2wA_hY8CqLMYeVfBfjPi4_HWCSC-UZlgeCUhzk5xIzCp8IofqPabiEygr-pznAguDz2t1cDRyNnvHSA==",
  "id": "rs_0d6963c230ebc325016ab43facb86887d0bef7676df2f05085",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.155,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The right arm did not track the descent, indicating an awkward reach configuration rather than contact. I’ll reset it by moving slightly inward and upward, as this rig unfolds more reliably from that posture, then return to the ball.\"}",
  "call_id": "call_W1YYeRVfH7dV8O05GWzlSB1s",
  "id": "fc_0d6963c230ebc325016ab43faf205c87d096f7d3e8666a8d7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W1YYeRVfH7dV8O05GWzlSB1s",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.693, 1.3281, 1.0462, -0.5495, 0.4969, 0.3786, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0515 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3288 right_y=0.1683 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.1266 right_roll=-0.0786 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8242, -0.0171, -0.0659, -0.0122, -0.1846, -5.135, 7.0632, 1.2479, 0.2271, 0.1636, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66931abc05d823af143b0f20d1694174691d3632065d55f31eac481e2aa1c934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e818b1f8909223dba1e3f5bbf6a301e1a93ab52222c15f9791163bbc64ee428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54170cf58d6ee8f4bdee1acc2b8e930447b8c36fe706bd0218a0b28310eae80a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4068, -0.0193, -0.0383, 0.9992, 0.6174, 1.5002, 0.8768, -0.1825, 0.5007, 0.3645, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0191 left_roll=-0.0031 left_gripper=0.9992 right_x=0.366 right_y=0.1603 right_z=0.1188 right_yaw=0.0027 right_pitch=-0.1047 right_roll=-0.0769 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2376, 7.2, 1.7118, -0.0708, -0.0415, -0.0122, 0.6632, -7.2, 6.8581, 2.0977, 0.1441, -0.0806, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.5934, 1.515, 0.8787, -0.2043, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0397 left_roll=-0.003 left_gripper=0.9992 right_x=0.3656 right_y=0.1558 right_z=0.1084 right_yaw=0.0261 right_pitch=-0.1509 right_roll=-0.1027 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 7.3641, 1.8291, -0.0806, -0.0659, -0.0122, -0.3897, -6.3385, 8.7179, 1.6093, 0.3053, 0.1636, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.693, 1.3281, 1.0462, -0.5495, 0.4969, 0.3786, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0515 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3288 right_y=0.1683 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.1266 right_roll=-0.0786 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8242, -0.0171, -0.0659, -0.0122, -0.1846, -5.135, 7.0632, 1.2479, 0.2271, 0.1636, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66931abc05d823af143b0f20d1694174691d3632065d55f31eac481e2aa1c934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e818b1f8909223dba1e3f5bbf6a301e1a93ab52222c15f9791163bbc64ee428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54170cf58d6ee8f4bdee1acc2b8e930447b8c36fe706bd0218a0b28310eae80a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-0NDKid4f_TppBfCPyCN0WjfN_u001us7GChFYx1t2leHnINpqS-Cfpf5gB-qACWmvbaPyJD_X9-4AxkQqlo57vuTTPdPyNylC8LJEYcekmSe8V7nhyWiQ4rSd9PLrNFxEXD1o8jfPvKtZXgb5jo5iuNNwXvdp2LCh0U6eD3s86GBSuWSptQjzM8JrdKu5uHbUtxOTb2PDFkFi1UpaY6NuUKYDjWIlU9KcoZfZzae7nWUEEiWelQYHun8gd3DP7GB5rlkfLTBhhDcOtpVv_RmaHP8amEGy_6yGDGsKIUccIkQnaUxzLD8xIwJIvc1f_VTZCaYGf3OnRzH8IYzcL3GqKdtU1_6ajzznRtSReKii6M-OrK28Oupkj8Q_mmPqrWq4ZiebnQBq8A6kZ8pSsTcjqePzXxY3jrhiAq-r0yAtwWY4QkmoSY9txZCek6mr71KamO_e9i3bd1tCEHUwHtGsChmrRsSROhz_pM1hD3DNrY39SUfkfq3rdhn_vsalmRILhfthmIvk7dZtA4t0j87Ac3HPv4wNhf_ZBUfOEqhfdcegYs2uPpaCphIHWazek7l76I0E2jn9550Rcrxb30CKIoqlzgGw7vXgUapdqic2ZBfXuixPmYn2G6meHvnHu8KYEfsZirfsHpGz3TcI_zkppd-OUbJvSWuhQsHE2-4QJt_SBuBNky5ZeLkln8ZGlFAPHyMUPRIujXsO36ojbbDhlCN1gcB7dQvf9FQElOtlu5fJ49M3NAQBHO-W5Rdr_eU6q4JiXX-qDTlOVDn4UMacSLv1-KZHAlWbeB6_-jyJrnk1zkOEvGmsUlCfvYO9ZQGzJnjHPJa1F_0HtyBGNFh4VygqARHIgsoLaNH8Zfy4jtf8JVECbR4Q7V6UwoPv0qhmaoLE_OFmx_YhSzcbrPQMVjQvZ1TFrK1Ok-I06NER4fbG9B-R1cvGnQMbxXkSHkYi1QgIu_qSRt-UwrJBpPlmz7GPfnIcD6bAb1dSJZUVXVcs-T8GYzN1j5zUOs4-Rozi08B2RvZbiwDYA_WTjAZ1Z1ab4BdDKP2HQzhZ7fwe5A21tDFtmWhV5bmwHheNuJnbmA9CAENmHD8toVf6ayvS6JBGo0asUhJjKOLdkgQYXZrLwsVROxJedFODYho8YR7-iHZk88beeTEOp5ZNVOEGR1jDEbyq4GFDUCkTiwCGI8DX06RgHkqjjdncjt8U-BcgB8LOwsKi59Bykp4WrhSI_90LxZkmdbehZyZryEYpu7cVt4GDC7XA32jEYWwHMPLEQxBpYMs_Rvc4ovpUO0U-Jj2QMqzwjTLHA4OmVG7hNyQo2p1E1cZ5ITCqdMNux8vSBtltMPAKo_kvYoS_ACkO8EoY9VxLDF4cXMxeRmTDcgFwZjarGmKgtw4DqmLnXOyr3RweRlUoh8X9RL_VPzO7WXBjky5a1MZHeUTeFYNUIeowBHnCYautq1HPEiVl2NRyF20Li0JXU9zgTuUISotFcY8Bf0X8IxiKfvFnY9vkrzrK9jfStU4xWCAgn3FctwycFVHGmUHzyPMQALGks1bynHpuf_F7hENejLBuofDNu31ZCAyqt07ImfZWdvCQZIffusUJpXOMJhVLMnZnsxyqMChuL5XKLsfYe_75BcwaropU19AJXefnLBFV2iBpvqf7wfx0BqLBxjVsnrsd6vM6JtjaVZU9PhR4HPe27vSZjRTySgMWV650CniN74BXULTuOnN6tPI_zkf4xYv3ejpce8lVbPn7v0M9FM3Mwrv9_IK4om8Nb7sHIs0L6vqoBPU98xmkkazlLUDyJNGGZBgLG1g5Dwd9BksRbS9NcZ__9v4YKS8qxIecimiPvpRsn45duanVPCRw-6AZ5I8K8fvva8IuD355V913QEoscpUk6vIWtM9H9mkAoQWyKbqmg4zcdnkeySGHKh9GeDyj4UtMjz_qjkJQMyMqmwnkFfnBBCu2vyGceK5kT_94DUxIikOR0V1yq1YocxRTsoqZUBo79OQn8gaMhu7ETnyyiBM4Hk-F-WQQOrGM2d91os-0GDOQ",
  "id": "rs_0d6963c230ebc325016ab43fb19ed087d0a37ef4e5f1a0b115",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.155,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The reset succeeded and the ball is again visible ahead of the right gripper. I’ll re-approach from this better posture, explicitly restoring the downward-tool orientation to avoid the tilt drift seen during the stalled attempt.\"}",
  "call_id": "call_fDBBYvsojZaJUgyTgCWIYVYO",
  "id": "fc_0d6963c230ebc325016ab43fb334f487d08704819336d32fd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4515, -0.0189, -0.0383, 0.9992, 0.5644, 1.5093, 0.8104, -0.139, 0.4603, 0.3386, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3635 right_y=0.1415 right_z=0.0942 right_yaw=-0.0076 right_pitch=-0.149 right_roll=-0.09 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.3197, 7.0222, 1.7998, -0.022, -0.0171, -0.0122, -0.4855, -6.4068, 6.8991, 1.8584, 0.2564, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a7e5dca8c84b38ad87dbe2a94f704d5abe00553d4ac1db71666536dde5de8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70902190a37cd1718fb08ebd1d9f49dc7949b303d12b5d21a00e75dbf70393a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6096fef392312705906790d4e93f0c09166531df1da9b22688b86a56fb1ac766",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4114, -0.0189, -0.0383, 0.9992, 0.5934, 1.5135, 0.8787, -0.1825, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1735 left_yaw=0.0024 left_pitch=-0.0233 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3687 right_y=0.1578 right_z=0.1124 right_yaw=0.0279 right_pitch=-0.1312 right_roll=-0.0901 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2376, 6.9812, 1.7656, -0.0757, -0.0464, -0.0122, -0.1709, -5.8325, 8.7453, 1.6728, 0.3101, 0.1245, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.693, 1.3281, 1.0462, -0.5495, 0.4969, 0.3786, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0515 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3288 right_y=0.1683 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.1266 right_roll=-0.0786 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8242, -0.0171, -0.0659, -0.0122, -0.1846, -5.135, 7.0632, 1.2479, 0.2271, 0.1636, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4515, -0.0189, -0.0383, 0.9992, 0.5644, 1.5093, 0.8104, -0.139, 0.4603, 0.3386, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3635 right_y=0.1415 right_z=0.0942 right_yaw=-0.0076 right_pitch=-0.149 right_roll=-0.09 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.3197, 7.0222, 1.7998, -0.022, -0.0171, -0.0122, -0.4855, -6.4068, 6.8991, 1.8584, 0.2564, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a7e5dca8c84b38ad87dbe2a94f704d5abe00553d4ac1db71666536dde5de8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70902190a37cd1718fb08ebd1d9f49dc7949b303d12b5d21a00e75dbf70393a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6096fef392312705906790d4e93f0c09166531df1da9b22688b86a56fb1ac766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD-6-lXWLhWMFLBmwtK5bTg3tE2Jno3s7SA2jpVxZleaZYc5tdoe633C6fRQQ9Zb855A6H3ozUE8jtLHQ9QIFWOsVWr4L_Vm78CznNvhh7KaRr-TYf9hHtm9KdvlIahZJltEjymlEV4c_XZOufK564TAoG0F3WiZo4hzG0Rr3ZRbCsu1SHfOd7kawN0PCHBhNcugZzEyqd18Tamjdtn5BhrGheBE7Ui66KBcmcMOaWagJJQrAsUUmmIub7pPqsGCe41E3qSyWQpAqx54E8xN4PohMrt2P85xy-ukX2OJPZZnaUKRCbIVG9IXc7v8mqoniwiFS9aqrpYYvTdOU697hxxg9F06wMGMbO4Z_lpeCOfFlyprDeMd9-HUoUIa6cF5WSZsk-aA2qW8iLlOMV8wGghmyjaq2WPBf4dDk_8D-USOj9Mo6hKdbin8z-pl7Cy5SpnT6usPWdv3IOWgtGH_DDaG2VAgYXsceNk1_FOnvypj0ZUmA3p0zW31lUcmrxiWaLNkZ8UV0x5cQF4qhau2KFM3NmIBFDJlZfYWAnYDfTvUuWiMsga_x5DDx4NZ9XH2AeYuAb2BcD2dlGHOMduVtDfkWRQ7md1SkgQEbtekbbP-cw-YWaetq_YjnKwVx1AwYwqLvkRTrbChN7xMEZmZvUdh_jNV2LvEiHFo0JexBxLjKeOu35Ligqu_NfOg1NyRYfZMfekztMtnMfogJr8of0Tc4z9TwKJsLH-fhzcSILICixSU6A3sptQahV5R3_lwxROXXnafYB7CGE0vSspyiO1bOk8lHmRxv5Lk0veMQqL72fn11tIMNl46GeqSgrTGRq09dGFR8B5pOAQbKyi0zfn4RGu8pEhS_hzvQeevVIuQTpJqtyC49KnWgneRPta2A_Upv71e3n4LWVMHsM7bgTOZxIamj4kOXc87n-XWjJDLAcY2MKJTYVICSTSboDhkCzSBbDZaychV9ZrxVpnblTZIe7YWnkKNuUhalyKBEdE-dvx_CZjEbzKQxGlYjSoIt0Wzy2JoHYNO8QTlDmAkkcgbMEzvEgJX98BrqgFlVveguLouspEULlGrUTa4rjljlbX9lkY3vLi1LdzGN2Q0sZtNUtc9VBVJCFc9qhYzE8tHLcp7BRyXFVQQyRVa5rZGEBtMJwIDLmxJPxq08eYLPe7p9LEu-pRlHpva5ssJfyFjyPCwVmMllbqpDOBQnPzK_jU4NHs_w0JRIvcIURxd8mcFADy9S_gQ_5SlxXuZH32vr5PJI46iT5Epu9xcvVBqQyWwN1ZMxzbzl3MSnOClUJn9W4_UpBTTbMGQGng-VuwRcL8mzwoHp8LGnVI1xBZswSfnRFxVndm1saIiEvinCV8KcZQe3ETgcldtoCPfoqPJijabozQ2zGsKqpPCBrMNT-1vfnbzMkh0PybItGeFJGP_vrQcEGILBUVWv5P2l9M-OMkkVX0g_sGcF08qxVJekwLc-BVjvS59T7uIstlmtSln9PnpzfXhreuWGrB_CLa0peTVfZtuQp9RD6m395pZGR5uxrSWIeKSbYzgY1x8ujNDxCT-TZu_wcpUflv7UDDcfoQ49R3WmlENnVDJ7iS_v68L8pvU2thSYc2pOkB-3O0Qlh-WAaUI9V-aWLQduR_UzHlRQ4OKkPrg0f88A2bIV8hwuY3GLp8urMiuHBDJRzeCLPt9DFVD8ttOE3FrVxR6Nyzb32c255QRMey7Pt9V30HjVRwZ5aXAbU4GhLkJIwmUqq-qHMJzHEqJ0OnGrY6BDMtL7g9TrfxMayq0EGqJZtNnEOnBeVAmWun83TgtmmJySPwJ4uuLAQaC0AJbzHip29fsyS3arS4swMZr0KP-qEeK-WPlsL4SLKX8Tatq0Wqyj7NFUWqoykqG7YAF9UobZ_NTwWmdn9BORGL5vYmdeJ_GmyHdN3DEytPmvIot9BRV65wje2aTi2cCO-d4rMNBGNAR2CuO4KqMYJhXGt0AGKTwjJ-xchfvnn_L2ZvWWehJwxK_SOB948jxrHrBYke7id56tbNAthtvyUzeIt2aIcjmHgkAN5LyWdJ58DLMvdvhoNss2Ixeh9fnDRTU_1eBJr6InByIkkfm2n5zhppXOdQPycnE3KFbE-2a3Jk4EJtdl15u7XPtHIIAuIKjEkVJYa8xBqCtufhvL1ANWGVZBo2VRnh3wv4DGZ6ehfz4Fa7P7cLEiWpShBp-s7SnvCW7vw6izkhJ8eN9jneIWmiY9WYC_M1d5nW8Gqz-TLUruq6YLQ==",
  "id": "rs_0d6963c230ebc325016ab43fb6684c87d0bcf0a71665085caf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.145,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball is centered laterally and hidden by the working gripper in the overhead view, but the wrist view still shows it a few centimeters short of the fingertips. I’ll combine a small outward advance with a descent to the ball’s center height from the improved arm configuration.\"}",
  "call_id": "call_QcA3QqSHRYr5N5x22mQXYRUs",
  "id": "fc_0d6963c230ebc325016ab43fb9007087d0ba40ee674315b135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QcA3QqSHRYr5N5x22mQXYRUs",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8093, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5125, 1.7607, 0.654, 0.3069, 0.424, 0.3058, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0808 left_roll=-0.0018 left_gripper=0.9992 right_x=0.3775 right_y=0.1331 right_z=0.0134 right_yaw=-0.0105 right_pitch=-0.1317 right_roll=-0.072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.5932, 7.2, 1.707, -0.0855, -0.0269, -0.0122, -0.3897, -7.5282, 5.641, 1.9609, 0.2125, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3ecff779614f46eb24b446a3947e2bbf91ac4635b1bb4a951cc13b97ca33bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b11fe49461b93083fbf6d15a57f4de294200c89961dcaecf969ff7b1ff4e85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cb599c444b26457bb3bdd0e400d183b165a18a75d36f74264e8abcbfed5656",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.9992, 0.5934, 1.515, 0.8787, -0.2043, 0.4629, 0.326, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0397 left_roll=-0.003 left_gripper=0.9992 right_x=0.3656 right_y=0.1558 right_z=0.1084 right_yaw=0.0261 right_pitch=-0.1509 right_roll=-0.1027 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 7.3641, 1.8291, -0.0806, -0.0659, -0.0122, -0.3897, -6.3385, 8.7179, 1.6093, 0.3053, 0.1636, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4515, -0.0189, -0.0383, 0.9992, 0.5644, 1.5093, 0.8104, -0.139, 0.4603, 0.3386, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3635 right_y=0.1415 right_z=0.0942 right_yaw=-0.0076 right_pitch=-0.149 right_roll=-0.09 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.3197, 7.0222, 1.7998, -0.022, -0.0171, -0.0122, -0.4855, -6.4068, 6.8991, 1.8584, 0.2564, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8093, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5125, 1.7607, 0.654, 0.3069, 0.424, 0.3058, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0808 left_roll=-0.0018 left_gripper=0.9992 right_x=0.3775 right_y=0.1331 right_z=0.0134 right_yaw=-0.0105 right_pitch=-0.1317 right_roll=-0.072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.5932, 7.2, 1.707, -0.0855, -0.0269, -0.0122, -0.3897, -7.5282, 5.641, 1.9609, 0.2125, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3ecff779614f46eb24b446a3947e2bbf91ac4635b1bb4a951cc13b97ca33bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b11fe49461b93083fbf6d15a57f4de294200c89961dcaecf969ff7b1ff4e85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cb599c444b26457bb3bdd0e400d183b165a18a75d36f74264e8abcbfed5656",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD--qZnucyoNPuwiLEgjyRFnAOB1gemh0eAEmq_t8H3Inreuau0WlDNWaS2URCugXYkq5imwQTCGndoD46YAbhOeHx99vFAgUJJc-aZCQ2Hlm_kjqnoEPbIzo05-ZRsXnP-_l2QrE3Vxgap9e1gs98YcLhBBrwWi9M_C0w7t3JdBGlww1fuz27GfIgvB3N7PTb68C9dAekTT836K8A0tyZsmVT_xRIQB0Pdj7GI2cFS57P2qDN4iakfeSnCQcwu3VehnyDx0u6H4OnfQ62SJBw7GIzXw3xO8sHTq_IHsR_FjfoV3d2t93g2hVSun3PIMq7HNvDuBThAyREodIh3dGvBdmrbZnN_bhAwjzg82zbAPCChg1hm3aeIesLOV9Ivkj5UAMv1mmzESb4X7HtYXb2qjgOUD_vZGly0xvP1CS_18E9L4cAvwX73qLQvNEc7Q0923z5tYZBcqc6w1c6XZ2FnYcSkEMhCF6uSonP5riEMDETbrTKDBQVZmGprnAdYKiSh5FMgwmnsRJub_3jfR4bo6cttK7XkB1_TPuEbyY_Qsv1cuav_yzgwEE938zXY735Y3RqX0sovs9nSgUm0isBhr3ukmYfYWVrDlTu0z9CChKSb14Jz9GrpgKFBuuf09VaFjQ1vpLHSqVMpv1hyZsCa00_SzLiF_6dkuwovYctiYG0vZlunOQsiXDI_z96XgrkGaxmWt2w4Q7_4_M-Laz-9HyVS5jd72WQNGL62tmvFaR6nq1S50UfcSpcR8j_e2weNCQSwpix_t5vWGsR_WGqUEgjcHp0d3rr5Wy-6jx2hm1l-pw3R4deAC1Y1blP3qz5K2b-VRThMdgg3dvuvlDeLFIhcXY2lEsPk6jUt6dQiL6o0zWsyaGdDqm9z-u29XagYtTQw4X0GDtxuGKpC5sTg_weoC3ROBbIxKtl5noeUvK4UMy5_G7SqZOulkpwOzIx55WbArC-cyrNXxSxMQUHY5YcCArxhRVyKa1q9cGH5_aaYEyaYUS34gWbdNdJXklchSaavCv9UNErAQRTRhGiB-5wDAZhedAqKXsSGAyE1ycvZZWHUREXiM05MPUmwcYInweloqST354w16MPAgVqJQlBjm6P0ldN_XqxYf1eceD15avV7oZLdm8a4SgTpMC_dwwq1rPlpnUNhNub89ANZtsxcjJc58vdwXv3aAuqT_q-ZGbxTp2uV_KFPmztKyZZoVAM5DmPcJFqVSDGBy-j9D1wYfmbou4cQOmGBA4JPTr5yc-dkliP0FkVYVamigdk-ga0FFW8fcierceIIla3INawC4xoOZO9gZbxSe8Eh2zMJAA5ho8bPtAugFWeUGaGgxwKMjVcxBHKcSZHHf_M0aXKvJ90u7Oxf1y1iyhin7vJsKMISwfP-GyY0rnVHfLwUxvXv8GghUamA6SlLBEtw_Th3YBn7gUfb11n8ruAMy3sPTQHv9oWmdqJLSlf6F6SVO4sQ_HvXhwJSchhsKaFdDVARCKuXVhO9h2MGy48kZg0FD-cclKYFPFKP51rgyhTblTqz4qBoVaPsWUF83-udWaa0CJtP4PsyUHIQb0HeSOH06E2ebIHTSdi5RAFyygmJiZEucC0suuawsUdtWEmnyf1dlJjDX3mUzuqdQWG8oA4v2SUM91cMwpGhhaLofbkxvvFEOjRJmCA-jmPVgOOLm591i1aTZ2K4C16p7fKI9cBdEOSt25CVxOzICKVj0nOFDCbVgOksKT1LvUrh4agpvgF-z-JLWSb3Osr4RTtwbqvIEqluyzQ4AOD6LDJhPM5XjawbR8sqz3KC6hpjqxCLrIAQnpAaspgBbDXnDKaRTC3rEj_8rYsfNSVSjVbUkIg4BPCjMh70xRBU30xjgiHKxkIFcok7sA5VDMqN8uGMzbEYQujVQ-i_fMElGSLpA0Z3o",
  "id": "rs_0d6963c230ebc325016ab43fbb6c7c87d0a11252ce7ebeded3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.133,\"right_z\":0.015,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"At table height the ball remains directly ahead of the jaw column, and the overhead view confirms it is just beyond the fingertips rather than between them. I’ll advance about three centimeters at the same low height to surround it.\"}",
  "call_id": "call_52dIgSivl7X8aIaWQl0gyvFP",
  "id": "fc_0d6963c230ebc325016ab43fbd22a487d0ac483bb78236f252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_52dIgSivl7X8aIaWQl0gyvFP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0383, 0.9992, 0.5095, 1.7889, 0.6483, 0.4446, 0.4065, 0.2951, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0024 left_pitch=-0.0816 left_roll=-0.002 left_gripper=0.9992 right_x=0.3922 right_y=0.1432 right_z=0.0233 right_yaw=0.0107 right_pitch=-0.0472 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.6337, -0.0464, -0.0317, -0.0122, -0.0889, -7.7333, 5.5043, 1.9512, 0.2222, -0.0073, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acd33a43c525146375f9b266f2d949222e621415902d376891981ffab250229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad069502a524c2ac653f0ea8e979aaffb80d5de1df37affb0087b516b1b58bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb382b446539c9d1a36f0301130438deae17a0a8f925e5192866ee6550a5f80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.693, 1.3281, 1.0462, -0.5495, 0.4969, 0.3786, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0515 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3288 right_y=0.1683 right_z=0.1914 right_yaw=0.0716 right_pitch=-0.1266 right_roll=-0.0786 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8242, -0.0171, -0.0659, -0.0122, -0.1846, -5.135, 7.0632, 1.2479, 0.2271, 0.1636, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8093, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5125, 1.7607, 0.654, 0.3069, 0.424, 0.3058, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0808 left_roll=-0.0018 left_gripper=0.9992 right_x=0.3775 right_y=0.1331 right_z=0.0134 right_yaw=-0.0105 right_pitch=-0.1317 right_roll=-0.072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.5932, 7.2, 1.707, -0.0855, -0.0269, -0.0122, -0.3897, -7.5282, 5.641, 1.9609, 0.2125, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0383, 0.9992, 0.5095, 1.7889, 0.6483, 0.4446, 0.4065, 0.2951, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0024 left_pitch=-0.0816 left_roll=-0.002 left_gripper=0.9992 right_x=0.3922 right_y=0.1432 right_z=0.0233 right_yaw=0.0107 right_pitch=-0.0472 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.6337, -0.0464, -0.0317, -0.0122, -0.0889, -7.7333, 5.5043, 1.9512, 0.2222, -0.0073, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4acd33a43c525146375f9b266f2d949222e621415902d376891981ffab250229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad069502a524c2ac653f0ea8e979aaffb80d5de1df37affb0087b516b1b58bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb382b446539c9d1a36f0301130438deae17a0a8f925e5192866ee6550a5f80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_CqdcLBNbrEkxIY-007NwRkfj015kscTSNqCoGWHGz5erQJtPbc1216M9sNzSCDGooeHxb99pbjvNmnNGGVs6mSgUDYgZgg9_MF60SixlLdigsbVh394M343ncuwNziJIjQsiHAs-k-cJRzBPZ4VyhijQe4u2fpNyeimmDQk34ciyktAtoiJVYxHB_QVddKmwkPLSYiK4e0jSUUCPDlyb74RYhGdja38dConWh32UUEuvrnJBIEw6V5JJU5_gQtXeu9JwUNokx6Q494_e2PVf2akcSs6t8XZ4Si2ZSrjdRiLaMk0o3ju_hSmvmWBrruEk7Ea7hpzLkUB2Ydt_BVG82jZfYXp3Xl7OPBgGDIcN81OJdQfNqn_XTOQ-uhvfehLbnvQbf6Qrja2tuMmLng4kxUZ9v_W6QI8rCTofbRdHdX9ZDH2azPOWjlut-gut-buZVzrr4I_Fp2WdetlpdAXm_jP9-MMzH63HUemA_3wmV1SIIusRPlTxZj7XN2erSx6yGGQxd8p1-h-caYLlPR0W4f866aU_tS1UEx5dhpocKJi8fU1-Q__sQJtp9K1ssl2JMGrvBchiX267ik7IIXne7Tv8736xXQQY3dJ5GSMH-LRDNX0Ni2PshxDG3P9aJIgd_5BS52SgoHIZ2StVjs6lmqr9xrExxVnPz1rMzg_YjezI97USnEXyhFBrtdT_WKj6I8IYuxkfnwQXjJ0oEZWg5SNWgQ6EOU0cd4maPBh8yJCDEFOv-jGwh0DZh0cLBPedknb1XBOO2sZ9SLcZL4nMQGTPiaHiNJdP5K_QrteCmpMOIH9-z-7vVnqOjD7pY0YN6ga1rCB6S3WDYlyhKCmWSX3IHaSjOo96teCbK-5eqOWRTDvqr2_l-I8bjgeNwguORC65pDmsI_5_7vMldqDz9eLZrR4qEQ-qE0Y-vObkOyyP3aydxngY35Aaueo1l5h99PVcqfQ9Kdk1ThqwrNvt0a1xPdG8ehyRCKLRyuYShQnqAIuj8oqLBDcZVZOlSNzIusGTPAkjRZMeZdDCcLN686_l-PPLKZ-tLqcB507PQcSBSPwYF1ZYUb32oiDV7GGRmU6cFiHR2CxZeBRHPxjLNeEMNNV6-JPyeOIW_6ui1SO7IfX3QDEuq6l5-kMQuTD_MpGrJ2WHo1yoHiY9k_wbi7N0xtPbBW-QbRxHF0Is_8TmB4P5fTjj6ETvS4WW2NzOLXiRlr0edImeC1LB_Es5tAhOlUklFQL_PFaZx1w4q2KkfUPNT4MJF2QlYEQu-VtIoINdiks1p8sIBqPQHCxwzHQZElernOiqjb1KQ6l9uPrgNCUi_3rmltA0_xzb3M9-r_WkXQCVRWkTOPJoPe8t_vn7irkGXHmqWp1W4XWfgubDCY2ihE4gKQ4pPE8jOkvyoEke6XtgA4hY-Vpvw63xHiPUHu8Yp-FjzWd-DZeOpItdvUHcBaalBRW0LotWs5K3rz_lRyWeeQU4U32yOmJTWxSwl5ba3kcj5jv69OMMVhcrbysOPzjAEz3cSfDUuxPJhPkcsTIdOYjfepnmp4smQgObRqdxqpTy2C10l8CPLoW5PNpIy1zzxQWX17x5owY7BdqfrV-Ks6KywCZFIBlGonyIpg_imUAsQZ4vSw2p6ff20K_UorxwWXlBZRzMGNdNdk1kBMcLHCL3d-gXcZMHho25M1aq4Eo5H5cJMV66E5LfkxXXhVmC5LjmBj1mvvrMFun1_-Gp21BnQ9sZMb_19kkt8nAgwObI4YDATCD-DgAY5JX6y3pfe-aT3Jru9qP7m-omBYs3YfzfMvj2-QZaiqC51T5qZ58PPYD6e8aR7XxvNLC47mbY1t2-uN46ufGGtJVE-o6WsvrOs7lnZqq6KHR5ggngAqN1g7gBKXEcVaniqhp3DDbqgfIncyyeDN0lpIAuXmQcl6ZXV5Th70HeHxXhD1cBdBpVB_wI7ANvOSQYE8zHfMyB3XF0PKMpn3bVXuqWRVxI7LpwCCiGLIeH6CLOkaysdTLNqu0FDV5ra6kchmeEmz9TyjFafdKGoGby2GR9asn6ObPPDzaXpGsSafKUK38-DqJkw760_iOoMD9aLeFslBqWiuFD2qlvNhfC9ZR4_fLBSyXnOWwAcIfKL_jdh3kWG_2a-clbaXIxOmnVHQfdJJao3VSdeRvpWT2g0bLjpOJVuNqyZ7mZ8RKcXa2kE2Q7iw-PxizftzPOUY7bg231DNUUf7i_4NepY3LgNd33cykbLKMuZf1SoO6nGEQRJrywvWPfUG4m7YsufizlQ2eGog5xrHUjAWJj__muSVAO3fqnWNryFwlTK75mJnMg0ok1W3O3fGy43Fu-hC9KyIjbPKxWSIYAcuj_sQCMT77aolaHUFBI2cdp1LChVyg==",
  "id": "rs_0d6963c230ebc325016ab43fbfb26c87d0b620d4af950b26e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.153,\"right_z\":0.02,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball is now very close and still slightly left of the jaw column; the overhead view shows only a small remaining forward offset. I’ll make one final two-centimeter advance and lateral centering adjustment before closing.\"}",
  "call_id": "call_UsCXQSpqIFNgFH4i2xfiIz1r",
  "id": "fc_0d6963c230ebc325016ab43fc2226087d08fe4d916a34a1333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UsCXQSpqIFNgFH4i2xfiIz1r",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.5091, 1.7889, 0.6483, 0.445, 0.4065, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9992 right_x=0.3923 right_y=0.1431 right_z=0.0233 right_yaw=0.0105 right_pitch=-0.0469 right_roll=-0.0192 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7656, -0.0708, -0.0611, -0.0122, -0.3077, -7.5692, 5.5179, 2.0147, 0.2857, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f670fc3d0a088e05a125c7a7ede8b468964cb45f9d614d1661fc79d12cfbc7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fdfc38ea356e848fa4b942ba7e0cb8188949bd790dca120b4cbc3dcc9b4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0565de429e9e2f515a9a03080e95593fabfbc1edcffba280e30bae977a3163",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4515, -0.0189, -0.0383, 0.9992, 0.5644, 1.5093, 0.8104, -0.139, 0.4603, 0.3386, 0.9996]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1637 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3635 right_y=0.1415 right_z=0.0942 right_yaw=-0.0076 right_pitch=-0.149 right_roll=-0.09 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.3197, 7.0222, 1.7998, -0.022, -0.0171, -0.0122, -0.4855, -6.4068, 6.8991, 1.8584, 0.2564, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0383, 0.9992, 0.5095, 1.7889, 0.6483, 0.4446, 0.4065, 0.2951, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0024 left_pitch=-0.0816 left_roll=-0.002 left_gripper=0.9992 right_x=0.3922 right_y=0.1432 right_z=0.0233 right_yaw=0.0107 right_pitch=-0.0472 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.6337, -0.0464, -0.0317, -0.0122, -0.0889, -7.7333, 5.5043, 1.9512, 0.2222, -0.0073, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.5091, 1.7889, 0.6483, 0.445, 0.4065, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9992 right_x=0.3923 right_y=0.1431 right_z=0.0233 right_yaw=0.0105 right_pitch=-0.0469 right_roll=-0.0192 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7656, -0.0708, -0.0611, -0.0122, -0.3077, -7.5692, 5.5179, 2.0147, 0.2857, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f670fc3d0a088e05a125c7a7ede8b468964cb45f9d614d1661fc79d12cfbc7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fdfc38ea356e848fa4b942ba7e0cb8188949bd790dca120b4cbc3dcc9b4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0565de429e9e2f515a9a03080e95593fabfbc1edcffba280e30bae977a3163",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_HKGcqibifWT8nl-q2Qhun9wWZK1IvNZS9oGT6NwKiCV6v3B8xrN5fMBFgEFwK7pW-ZJKtJjHwNtqGNx2wyaw7Hpb31d-H72wIfSyqSGGBtFa2ZaCW676xGXNXj8LGhPlv-xMnowE6JH0dYK5zohby8zwCiZAULvYvWoOY69h6VoBGV2FzFdYJppt4tNdMUVK-12ONNZsT-XWhnGpw8G_lLs67MMx8OdYBviNuPX9vgPOM0vMP7HdU6-_qJIFTsMttBH4_TLjof4n6nODd52_3SGH26antTsv-gIl5N0AHQf0zoV9Fsd4oBe2oGUQ9uJuDNR_xWGivwDZ5BJvo6__jotABbuXoa7zkNQPIzPXcqpZN3QoVPvuUTYWFAr0pgOpvppCf-SlczWLR7JJOOnSUUG8sW_Q97UbCcy0_xTNNoyfLW6PdYxs2q_-aNUNiA06VFLH2axURhebaRZEUuORQqxTGWLkNgp0ylGpFkls5BvdFLBtFpy0OWY9eNoU2_6u3SvQ96KBEQbvRFrD3mIi8Kqvhfa0r4R33317EOnA4PTCeLr5RsRG-HuDIbbcWBBRnv6lc50mSYBA-ioI8drYkrVCtDK4Q6sokqEJmzs71cEaTli0YCFnHpL8805rKP-x1sGtxM2BOXNTZ5Ltc39_Kf6YircoHj8TKxweu3-QqJMcbdxxSYMCgGnlv5rQlC2cblSByq6iXSJIlOZC6xc3LmSRZ1Lrr7kbIhmjgNOVnBsFc0jzcVlYbEOHuui_9xcv8-w5YrRcRVX2f42AynEZBH5_UgmqDtTwgjP7AY8jmdt3KsnOosnzwSxIcFPoDOM1yW2oWWykbVslwoQNxF1jFSC_pt5U4LRpEE84nBoXO6CNYNU2dg6S6aZP4R0rKlgxN4vXiAWJA2oXDwtaPtBM_bo8e2iCnqTvjOO4z3D7mgeUti-m6IuaM93i5qQgexBsCcfM4ZwXBMelT-m1Q_BaC-8iyVKcA2Sa5WyU1DLa5VYcji_Ael22D0xwCYyiTLvSwYLwks5zZzGGpucQpYLD7Ikb6QAEfTIDREfXtuITMgupBcoB-ufabq4SvOzxg5R8_70iuHyAubd0nD75-6VIa2TWs5-Y1_nXw4GWWfgNZB6IvyMk51rnmP9Vzbk4VfiBTrCCrvpw1iaGkV5X0rjDqdRt9dEG6vjZ4C0SmkgERU_BFgbrwOsK-cdKGuGLhhbFySDCfy1YlnwNqYvChMtU9pAo5p8jNNJ_wmUbxMiSmfgSODJZxTB32kMw2szhrc1Jy4bbuIna8ioSxQVzkTTCExlhNCqZhnzGCrTB5oZKs7DcQLKOWURe8wTR3gZGOT8khUg7iT9az9iZM1CUBKGdJ1i-pohbKp8uPIhX6P7GUokGvbo0i-BSzwaUNy-4v6vOn49eJguijeUrj1hINMrwLrb-pgzShuLaAe4pk65zUvJwBZ1M8swg_hS4P3ClLUfoW9VIRULiQKYmIuRkuVDiC45p9GpjKoZTUNIzTfuWKARM0yytXtipo2FyR-tp8cVrAvxKc2GVnPR5V9T6GQljGgPvkeIcn114nd2OwmeqFN70fE51Pmz01ZcAn0MteKgy5pvsnbIQ6fuSrTHE2W6dfng8TNrM48BwC1i28Ni0Y3sJoxXucuZRq4wmPuBc_Bbrs2kYDRLgULK2cum_1K6l7obPhBshv5vw831y_5tdQWfRH4_LmEIAoScuxC_3s0tdqZq6NEOE-4pYApDM19cwHNYiWN6BT1O2KhU7U0r-SpdNAk2Peyc81EEkAU7Xto5wccKTewZBF3ZCDzOHVNa22bQ==",
  "id": "rs_0d6963c230ebc325016ab43fc4355c87d0af58a3eb7b55a41e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.153,\"right_z\":0.045,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The last advance did not track, likely because the fingertips were skimming the tabletop rather than because of the ball. I’ll lift two centimeters and retry the short centering advance at the ball’s mid-height.\"}",
  "call_id": "call_apCM51ACTzfIBepK31kZjQgC",
  "id": "fc_0d6963c230ebc325016ab43fc5708487d0a545c7ee6ffde274",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_apCM51ACTzfIBepK31kZjQgC",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4767, -0.0189, -0.0383, 0.9992, 0.5091, 1.7889, 0.6483, 0.4446, 0.4068, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.0995 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3923 right_y=0.143 right_z=0.0233 right_yaw=0.0102 right_pitch=-0.0471 right_roll=-0.0196 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 6.9675, 1.7118, -0.0562, -0.0269, -0.0122, -0.1573, -7.9658, 5.5863, 1.9805, 0.3004, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de331bc701d4355e85c17e7a5dc674ab2bdd9a7f6d7e19185e6c5e34f835571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40adeb4b6b331e688b6f4d134f53d0a6ccdd31b92cc87552ae13533623da9b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ae0bb4140c409a33001311e5c5770f7da577b165c8caed6c19e3932cdf8ba2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8093, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5125, 1.7607, 0.654, 0.3069, 0.424, 0.3058, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0808 left_roll=-0.0018 left_gripper=0.9992 right_x=0.3775 right_y=0.1331 right_z=0.0134 right_yaw=-0.0105 right_pitch=-0.1317 right_roll=-0.072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.5932, 7.2, 1.707, -0.0855, -0.0269, -0.0122, -0.3897, -7.5282, 5.641, 1.9609, 0.2125, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.5091, 1.7889, 0.6483, 0.445, 0.4065, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9992 right_x=0.3923 right_y=0.1431 right_z=0.0233 right_yaw=0.0105 right_pitch=-0.0469 right_roll=-0.0192 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7656, -0.0708, -0.0611, -0.0122, -0.3077, -7.5692, 5.5179, 2.0147, 0.2857, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4767, -0.0189, -0.0383, 0.9992, 0.5091, 1.7889, 0.6483, 0.4446, 0.4068, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.0995 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3923 right_y=0.143 right_z=0.0233 right_yaw=0.0102 right_pitch=-0.0471 right_roll=-0.0196 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 6.9675, 1.7118, -0.0562, -0.0269, -0.0122, -0.1573, -7.9658, 5.5863, 1.9805, 0.3004, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de331bc701d4355e85c17e7a5dc674ab2bdd9a7f6d7e19185e6c5e34f835571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40adeb4b6b331e688b6f4d134f53d0a6ccdd31b92cc87552ae13533623da9b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ae0bb4140c409a33001311e5c5770f7da577b165c8caed6c19e3932cdf8ba2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_L2JNsR6AZBH9BMwSESdpv79gBHT0sOKaqdP3s9zxATka_Ohl1H0ozD8l0vs-RjLiqqF4S5ap5tkm-qJjV9T-ZxA5sxeILR61JV6AMHmKSeyKsu5rJ_6JIYTAPV0fqVsgRMqF2IZCKvZqOf-pPYaAb8AYZLs8WPbqj-y6jNUXwZAWAdETct7k_JiDpO_RSYfa5LNwYCV3D0hbwwu1a-c7UhFwAIlzuFCqW3mgWVJ3epK5gEz7yfAI0mQaG2t7rE7Q0kdsXQpbI13y5yDyktwFhcNb6K8_98tmEbivUvb1AqC-t5_tQgFKLXA39NhLDv-2QgIAfnD0JXv5VM9ZmctnSmxyn_eb7a_qbMGH7VVVk1BYCjWMi9hBLpASPSmDuw6VXqSlpQi2rHToNvk-yL-KIxqJcezQ155GXqPAJ3wqjVE1qbX4IajyLugCPFS8VxUw_prQsWn7z_SEpI-kloDcjldEs6huth2lh_4SLTHeOj9GqSQgKE5_Alwfn_lRit0SLx2FgB96eQFSEykNiGkcdYWExr-c62XC58_pTDAJyzyxnRY6DM0Bc_DFOY1Lkf3DKtB7fuYLt-NZalNeSOpnB65ztltDF7zi9L92wJAzBIPqntxfD35J5u1wdW6X2UQ2k26yzA8bn5_U5CKuHGFPa8EIWig8fQ1a_m_d3QtBycDvKvSxYJWfKqjF1HOQPfs7pKAlqEVDbKgiod5XnxL7Qi4CrYNngObOxT_OHWK-Q6Yw4Vm7B6BV43sFDSZm3gjknq8zYRV3rpvwF0PKMT-E-NSrp5GJHKiWUVP5Duz_84Oq-LQHRIiKwhNTC6go7mQbyCEBRPWnWHjFdZqlgjkjZQUIsErxmDLqR78k0VGakHevDMZb_-nmHb9IYCdiaFCqJDcyA2JAZn8XF1kNUwpnYlPgED2-pMM80FY9fzMe2I0ZdEU__NFeIdwV8RjKHYrGdAptmfpD9L67UNLMrRVHOWHpzsA6_gUklK8iMplfvdvcZxZn5iiZYMp7PUxArdpxQb9UIaT2CoEX5x5CVkr9-3gRa8_HQTt3mfw_o4O7HlCnSNy4VrN_sSYaWdVzhCjnxjGS11JfEoSjk-Ai17p_3XaBgM1dPrVxWeSdPNxe9pUEZ_rUfCc0Cd3wKIt2ErHE04IlDaKuz2Tx4hI2bFDP6qWrmxSCvSgN7eMk4sIlAJvf1F6wGoVdvRf3ZHQhvG3pMTCs580F9kJW-8U6_bU8m2yG_jjPp3UcBpCHA36bzqJ3zezADJtzhlaranKWFGWo46DiLnPxEPHFBqeEBiV6WQqBsFFFxQYHn6XvXuDK7jT1YJs9fytYIEx3tQMEUoGC-79sTCfRD46o24C2kSMbeLSaJyZKXj3m0bgWg22dJPnJgux9Qls4sKzQUZGzCkXbROFqURcEimTgQCPpJ06_JG4o7_UXJbeZJuyEEbNf34Kgm-44i4k3kCTBdLLfHNRBufqaqF_PuwRAfwDjMx5YwOCv3j6fDfe7PBYmqAaD_N2luds8hl0RrQenumu6bThIRXUoCML5q6Ukn7JwclWsMkgGU-VnbRn-18UW3VoI9EDk=",
  "id": "rs_0d6963c230ebc325016ab43fc8e07c87d0a584b5c9f913b0de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.15,\"right_z\":0.2,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The arm is mechanically stalled in this low, extended configuration, so repeating the target will not help. I’ll retreat upward and inward again to change the elbow posture, then approach the same centered ball from above.\"}",
  "call_id": "call_xAzUN01kGt1Kdv3exmWb6BGa",
  "id": "fc_0d6963c230ebc325016ab43fc9fad887d0bfc0dca0260e2bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xAzUN01kGt1Kdv3exmWb6BGa",
  "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]: [-0.0189, 0.8135, 0.6067, -0.495, -0.0189, -0.0387, 0.9992, 0.6922, 1.2217, 0.8562, -0.3561, 0.5358, 0.4042, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1532 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3222 right_y=0.1546 right_z=0.1821 right_yaw=0.0322 right_pitch=-0.0215 right_roll=-0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9402, 1.8339, -0.0464, -0.0513, -0.0122, 0.212, -5.4632, 9.2103, 1.6728, 0.315, 0.1783, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbdbd0b5bffcb7b35c70b415e19da0e6e4bb1b05c39f9c2f1100f793c817c225",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577f274ee62c93133b0ad83fa29c7cd3df5f6c972c2eac78484b7fb09f0061de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bb702ae25797f760161550648176e0a3681d55d167b20e0bbbdc0fde8c54d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0383, 0.9992, 0.5095, 1.7889, 0.6483, 0.4446, 0.4065, 0.2951, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0024 left_pitch=-0.0816 left_roll=-0.002 left_gripper=0.9992 right_x=0.3922 right_y=0.1432 right_z=0.0233 right_yaw=0.0107 right_pitch=-0.0472 right_roll=-0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.6337, -0.0464, -0.0317, -0.0122, -0.0889, -7.7333, 5.5043, 1.9512, 0.2222, -0.0073, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4767, -0.0189, -0.0383, 0.9992, 0.5091, 1.7889, 0.6483, 0.4446, 0.4068, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.0995 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3923 right_y=0.143 right_z=0.0233 right_yaw=0.0102 right_pitch=-0.0471 right_roll=-0.0196 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 6.9675, 1.7118, -0.0562, -0.0269, -0.0122, -0.1573, -7.9658, 5.5863, 1.9805, 0.3004, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.495, -0.0189, -0.0387, 0.9992, 0.6922, 1.2217, 0.8562, -0.3561, 0.5358, 0.4042, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1532 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3222 right_y=0.1546 right_z=0.1821 right_yaw=0.0322 right_pitch=-0.0215 right_roll=-0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9402, 1.8339, -0.0464, -0.0513, -0.0122, 0.212, -5.4632, 9.2103, 1.6728, 0.315, 0.1783, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbdbd0b5bffcb7b35c70b415e19da0e6e4bb1b05c39f9c2f1100f793c817c225",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:577f274ee62c93133b0ad83fa29c7cd3df5f6c972c2eac78484b7fb09f0061de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bb702ae25797f760161550648176e0a3681d55d167b20e0bbbdc0fde8c54d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_QdKLZdsdVWY_xwbiFGh1hvBd75E2RhF35a9mD65o6uqDy8eJS-Xrm-zKuzts4Sl55xY_K__fuk2qQ4UtDOCTOcZY6nvP-tzo6VmneV5Vxl_EEOthhqhWpzpMZvCl3aBZIl4GKL2ZceMnhNmzMWyipHHsuqWwFFdndO-UaIwkyNw9u6hjEP_GkVsqaawNJ905kXd7QjUeH9RzSIi6pDJTwuZ_WW96Txlcq6TeJtbXz0ktALwHNIDHVsHdsQvfsZXL3BecoA8WMTDjtMbVyvcEyLBUlKJiUmyyKTXqL7UAOBACkk8D0BuB5D6dmclUep9TlrQfWQvncLuSP2LMZbnqydMRPUhzsuiYy8uHxa5icyKKOOh5g_8M5fdbu6LBqx7t7F2AGBokeIfFLg5FJMV3UcIfetIT0W7zsOX10X8U2tQ7DDteyOokJPXsVwbeL4Q519mTRhU7QueTJPLktCUDmHAee6ALAC5fd2uiUhoWOUv6krKeckE4vtvv_n-kUSGbdeNUAECJUZ_pe0CR1qQS17xY2WvnpUqXqgFL0xnt-_XnOnJbPoF2DgWXRscXZUHlhgMFpnKPNFCCandBm3UKAQzq4U3tNCoAinfQGr2gpCFObDRO17ewHFTUFZf-XSXMF10-cv6lqYhNR8syuBd4i-NwK6tihWE6grU5qcCHS-gEzZTs839_VEQXP3N3rskVLUJ0r06MlqYwbDzaFFbHJa6re5kf6RdMukuuZv-8M1vYp7d9f4wKUftegWP8IsenTc-ToawW2JfWEOvM8-i21kuBAAJcPs2cbFvNkKVf2s8T30-ieqq6voab-JU6wmdFPAk7lxnsZU9vOT3_jmafL46Ok0FD0IAoxsSztj7jsgEE-k8whM_VQm16Q7MctqjG25bde8hdwP8w2aZQgddfeuMjPAbDCzpPGruTeiQxl2XBelz-nA7xG1bs-2gAchrETAg6tpyZgkvoHcLQTTvTi2U1LAp4-xP4aJkB4Ro6dItIctuU8_bd9CU7dHqEB3vWkLDuKwWnZDBjYwsKSmkfwMzhUY1DUVG6v1jrxPyHj-4ggF5Do1hLZV9xKGCL_WoMpLhFGh5eVJH7m3k_aCCyNY4jJVTpupCeXAPX_xYH7-E_Z2KofCrb8_pQWUumHF8_ZqADy0kIOVfIUttiZsfbv4Gqi0Ki8xmvl-BBGpju4n8_woKcfA7SMu19fdqaDc_ZSr7mEAs2RYW2RvyeOcgm1P1jdmRi9LXIPOAtcriGuz__B57N4o7nOwK_0xHa0L4wNKwmoZ0LpfDUilDGWOiZMibTnKveYqmQzraojozZrDywaqGYVU-VcUHG28n1X9bgxCAirOXBeKFVdkmmTZkVZWn_oUKJH-M2Pav9buehNerBazuJiMlrcuEmo6mRXG4tei4D6Dmx-65We8YBGFSNvjAl5aGOUefhd3aEqEvGHoys1UY0xG-boCROazYszLixuftU_whbhcpmBjdK_2AxR0CaKGMY0n5j44mNS0ytey64ugFsGlFXmDS_QPmxolQe0YSl_CGcwrXv-vt4qlZZRaVLVM9M2DPhGWemxFfI6JJgR2YDg_EJuIiFvARNen6GWy0q3K9bYDll6vr1kMWVMz1DOJ-64riiPWbB07lJfg57q3otFQyPNOISb7aYrQmD8ogNvd7m2cXtbEe_QzVfxJGcFUMN2m697nqL2m1XLYMG1riHuClbxnQHD0unTpHyWg08OSLq0bZ0UiYkCwXpslvY_kzcYdeu56NWWIoGeVlIAkJPeduDvzRGAHhUyWs5873l7sYlSrU1i6I2u13l216qajvrc9ZcuOFP6VrI4e5Q7V7iSQ9s6NqTAnc4eBa2LRwfViqYxhU29LYmCbC_IV5HfCtrHq75d5t0EqRH8H9xkF9d2ENnOFIJV9z6IkGyt04FsH_m-iCC_iGhHeFLYkNUVI-Icl_PKmsvHJUOOBqv5QxSTMkKqqyLzKSP6Gy-Z86AO41vLc1tIyVregvISSv9TXIExanBNrsiNQC4up6KPjiVZcGRDNdNFSmKAZlpvEPJwPhjSxHsFmIisEq2h1Wljb7O7UPjxidYyv9cysbZMUj-CZi-ZuKPOlGIW57O9fJrCFTfuxEz2NFcsPLrXiwVf3_AAz2dRj__cPlySwtgHlBOgU-VaGowTxfF3h_bEt-RZMaxboYg1Ij6ZNJbm9GNZnDnuq-oTC4Gacwr0ai0nIWJfO0EGmWgUV1ysP02dD2znLXLVj1GRVcdSbsN_D0pQSQtXV_FCGiuU6rzmMtoX4wSkriO2ocQQb8C37PrkxD4zuXhMB7rT9fyCGWVqOr2h9L5bbSapHuo3ZuxGIQU=",
  "id": "rs_0d6963c230ebc325016ab43fcd407c87d0b72fec8b09be0ebe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.15,\"right_z\":0.18,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right arm has reset successfully, and the ball lies straight ahead at about the same lateral coordinate. I’ll extend partway while staying high, creating an intermediate posture before the final downward approach.\"}",
  "call_id": "call_05fuDpu6vfJuMw4mx7kTiv8i",
  "id": "fc_0d6963c230ebc325016ab43fcf808c87d0845c6dcd4dfa5f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_05fuDpu6vfJuMw4mx7kTiv8i",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.511, -0.0189, -0.0383, 0.9992, 0.5716, 1.3872, 0.9012, -0.2993, 0.4683, 0.3416, 0.9996]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.149 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3587 right_y=0.1402 right_z=0.1493 right_yaw=-0.0045 right_pitch=-0.1015 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.7314, -0.0122, -0.0415, -0.0122, -0.5265, -5.6137, 9.7709, 1.9414, 0.1929, 0.0611, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f2eda90ff1b81d49a17ee89eb35801df0e67428b6eb2303d165ad3b097f961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50d90797e762f67bf0ba7dd4d48037ac2e68ce7e7c0ba3339271e916c6b9971",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d729832637726ba9be6146b2b8e7b4df0172fdfc92cf52842c8faac6235d44c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.5091, 1.7889, 0.6483, 0.445, 0.4065, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0027 left_pitch=-0.0957 left_roll=-0.002 left_gripper=0.9992 right_x=0.3923 right_y=0.1431 right_z=0.0233 right_yaw=0.0105 right_pitch=-0.0469 right_roll=-0.0192 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.265, 6.9675, 1.7656, -0.0708, -0.0611, -0.0122, -0.3077, -7.5692, 5.5179, 2.0147, 0.2857, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.495, -0.0189, -0.0387, 0.9992, 0.6922, 1.2217, 0.8562, -0.3561, 0.5358, 0.4042, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1532 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3222 right_y=0.1546 right_z=0.1821 right_yaw=0.0322 right_pitch=-0.0215 right_roll=-0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9402, 1.8339, -0.0464, -0.0513, -0.0122, 0.212, -5.4632, 9.2103, 1.6728, 0.315, 0.1783, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.511, -0.0189, -0.0383, 0.9992, 0.5716, 1.3872, 0.9012, -0.2993, 0.4683, 0.3416, 0.9996]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.149 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3587 right_y=0.1402 right_z=0.1493 right_yaw=-0.0045 right_pitch=-0.1015 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.7314, -0.0122, -0.0415, -0.0122, -0.5265, -5.6137, 9.7709, 1.9414, 0.1929, 0.0611, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4f2eda90ff1b81d49a17ee89eb35801df0e67428b6eb2303d165ad3b097f961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50d90797e762f67bf0ba7dd4d48037ac2e68ce7e7c0ba3339271e916c6b9971",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d729832637726ba9be6146b2b8e7b4df0172fdfc92cf52842c8faac6235d44c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_UCwbu8rBivJXWKX2VZJ8DisU_dTf80JLddAubBkZAOnbRnO0wJdg6H8mt65wtpMDPWv3nLrsXu5jtngT9zxoHtxrITCy_HDQfxSbNY7m8hjmokMfgtERKDbF13hShEfoxXp0A1TlcgbOkZ682VHuAdarBeuH7ydBV2jqvCFtLRk7V8sgOe4rhacvCwtgtdbC1Oar0taF4C3_9AfVyq6OkEfp1oav7DvU0xbUCW7ycaIYoGKrSk_keF9qWlWm023KLM3FvaPkLs6WIrvkhHpbEpNuOLgmQtqrtAWi5lamC4IiM4R6tHQkHIDuV_aWna3YQ_AbrWIYabfpj9JNT801FQQlPd1enIIZ9aw6Bul0RrZ0gXdsu419-8uzXzu9RzcH-n6Wzre2VnsCbaeEv40uIBd2CRRWWBNlDKk12YW8Uw5E2NiuTHkzmo-A4TjtleJzKOjq4EBymvTiU5dVUv-KvzPnyZggdp81ennlgSl5jYwh3gVH1K7GTTDoIXI8k3CHr-ZYhZdU_K7mrxbKeHp9Y0SbGqCbNaGPsolIX4rD70Rq9Ob1P6O32Fa0xsD5-njge_K4YM8kPWvJjBztZozwTdfO26635oVibzHrqpDO5sLsoT0wdNcezET97179xd8uLrH5wrgoHUZ3Nzv-vZn-ZDllRimqdd1pHKtGR2XFqGJ7EtA_37PHHv80LHEqo11YCrdWw-gAmdjEIaet01YUvHzdmGp6gLjI_hFg3Phqifa3Uip6b6UErBFEog6vV00rpDecNRmVgHjyuYjD_TgUu66z01WjzPQuIMLrMfegBYoPUXrJFk95RkjvQmp7KNXoWrUHEsR7uLXOSlCl4Hv6xcKlNouAd1JmZDwITaKnsQTWljLfYYhorXt8Zv54vaV8yfppl4FAyHobt9v3I_MsKwkvwLTDjx33_342xSDC_LrfWJsybiKOc9zGRhoL2O5yh8awjskOzN1biC26P9h1V2AtuXiLXw7VCnFchUyC4PPUf778RJo1m-cGfikW1NLpJMUlCdrzCR2usOkZAqRxdsre31zoB3vjv-Vqm9GXfKpu_QGwopQTeVXB1Tf3-PxF5VTAwQwIYIUg5oTTW_mD6e6-qDf1StS2V2mQG9nKg44ihCuPOCEyenynRDuzgv0o6vjbGXmiBbU9gRiCbj2_sY2tI313zVc0ySdfqw8chn_6qzEDRPanMu-f8Uvf9N1KQhz-eEX8HntJfFEA_OHDGEmcgVxEEKp95Qk4DDjObi98N9elcjz0LBN8wy6n6QUiK",
  "id": "rs_0d6963c230ebc325016ab43fd24b9487d09a510f73f018abe1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.15,\"right_z\":0.13,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The intermediate extension tracked well enough and kept the ball centered. I’ll now extend to the ball’s radial position while lowering only slightly, preserving this workable elbow configuration.\"}",
  "call_id": "call_JJo9NvxbgEKOKUYkHd6PHm3A",
  "id": "fc_0d6963c230ebc325016ab43fd296a487d0b3a0d5fc2eddd9ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JJo9NvxbgEKOKUYkHd6PHm3A",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.5613, 1.4002, 0.9226, -0.2508, 0.4515, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1474 left_yaw=0.0026 left_pitch=-0.1506 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3704 right_y=0.1461 right_z=0.1605 right_yaw=0.0078 right_pitch=-0.06 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3607, 7.0085, 1.6337, -0.0317, -0.0269, -0.0122, -0.3761, -6.1744, 8.8957, 1.9512, 0.2125, -0.0464, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e484c69687f471a3fbef7ff96b368e8ff0e1f9c0e2378a2815e14e91258f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1dddc55baf2e2f92c58670a73908ed7eedbd9d0734e7c4075914ffea5b24feb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39403ab0b67064048f2b4bd278717ae849bde41d3ae5063662339704a7d27a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4767, -0.0189, -0.0383, 0.9992, 0.5091, 1.7889, 0.6483, 0.4446, 0.4068, 0.2947, 0.9996]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.1577 left_yaw=0.0025 left_pitch=-0.0995 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3923 right_y=0.143 right_z=0.0233 right_yaw=0.0102 right_pitch=-0.0471 right_roll=-0.0196 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2376, 6.9675, 1.7118, -0.0562, -0.0269, -0.0122, -0.1573, -7.9658, 5.5863, 1.9805, 0.3004, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.511, -0.0189, -0.0383, 0.9992, 0.5716, 1.3872, 0.9012, -0.2993, 0.4683, 0.3416, 0.9996]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.149 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3587 right_y=0.1402 right_z=0.1493 right_yaw=-0.0045 right_pitch=-0.1015 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.7314, -0.0122, -0.0415, -0.0122, -0.5265, -5.6137, 9.7709, 1.9414, 0.1929, 0.0611, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.5613, 1.4002, 0.9226, -0.2508, 0.4515, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1474 left_yaw=0.0026 left_pitch=-0.1506 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3704 right_y=0.1461 right_z=0.1605 right_yaw=0.0078 right_pitch=-0.06 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3607, 7.0085, 1.6337, -0.0317, -0.0269, -0.0122, -0.3761, -6.1744, 8.8957, 1.9512, 0.2125, -0.0464, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e484c69687f471a3fbef7ff96b368e8ff0e1f9c0e2378a2815e14e91258f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1dddc55baf2e2f92c58670a73908ed7eedbd9d0734e7c4075914ffea5b24feb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e39403ab0b67064048f2b4bd278717ae849bde41d3ae5063662339704a7d27a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_Z5nHEVMwu7C-l00pFBS-XvjY-Tbxj1Qfz8HU_NJjpR6xofJ0DXEqWrd6po7j3ZcfmcWtlqwSioVcXnaKZuv_tYYVPEyw1PokY-nLO8jqb6Rq-gEOO1MmACSMkeceWxTp6GAfJnBGqduwOCyE_iXIAo2tM18LVdgylCweQr0imKUx4F-UlenSWZoDxB7RQ5DF4G-8vaGz_w9-dWXUHs_acWV6QQfY8Z-fRCZm-QAcKtkY8vX8COOLYLh0Xpiss86g4SRwptIbLiWt4TdqJlMh-M6nK87lZM9ixPKgNCelHiKjV3n_sgT8vA0J1GzEAb-p157cUsR9eawwijhbs5hET_yZdm19ErNC02FU2ugjOeCQogvcVjEC-J6CdLWL9zG8ZmlalbjbhvpjMc84dj6pDfF5KUG-8ngKbGwjDm9o7VAKFPBrCukHDlSUv4rEivq-y9k1d5AlSR6FZ0TuLranrtD1u0ShOyIQnPSIXOsq3vw1kHWgWWbJO8x9YCUcdaiOdaqiXI942aIVsUqLnNsTz_7uwelrMJvpE2D7br5oXnHxvmAVut0av00TZpvvaR_P481YCQfsJV8Bd9bFcRcnZmL6w_edgxTVMcxXG6RxDxykzpfIOF97stWlQLOfl3k09aJfvM2q88iVbQs1oBf4v4Uhh8tesl6hbttlXIaXibTzZxVzfdPy7wQlM_aF8MlL20TRApcz6M-7qSmeJzY4B7FVsBjJWVoB7OXXrGfzqpCm_aLjN6HljyV2H4cc1sE1P6ltOq_J8C46VKmLI4raA6K6P-_zRroEypAxEPyT57P4bgSjR22t9RCVdAzRJiXuZc7DZeJa2CE_vCzO1-mTxA2v5b71GuOk-BuJXFNOwenR2gPm1qjBqbahqitL75Dpbfqu7Ow3PM5vXA4YZVD6CzSFjuGVvs_WXV5Bbztv2PtrD6lMYxSEEvVU2tc_SeoiuRaVyxOD5Yi1TBNEwnKuPMoTvY0LO1p5OCxrO1VMrPhS6lEQzALOReWxuhtOMpRat5RSoUhys4XhqUws785lejM9pj-_h9MTZDtIeyy8t1mT4MFp6Q9eH2gO6qWoxO6EmIqycVF8G84FTPDnIlj57l3FjUDDDyumJmeHVUkGHSEG6UnW4otKAYITTFrj4E4yP6lZ00uA-yLXro9xI09zKFI7-N81E6HB82EctPRTU74GKlJlUsXxnpqkiyVcyrpNGpKD2agjanoUwYENLTYfad-Dkg2h_R8XWsgaYrS6ExOUsATk_GTc87yhDIGMGVo9dLpJJz61i9Uj3MVrazxpZHvvTdVDdPv7R5kamMLOFTh2rJmKxVxNvhvhnYZJtbLyj_0oIsMQbdB9cg09HT9rl-gzlFEFfd26CePav2ayz4jIMa1BVULWlxT7nz2iz9O1eXsMv7k5t47sLMSbS7Y6ku2cDNMOskS7dCIimmLYyamzpsQkobw86_SiONt7wGKnanUtKANUgjhg6Pyj9C6z_aeqHNmHKNUk773QdNWd5AsSBHMX0I5n3cBgSSl53Yc5zBN_f4SXPKgFwebtIxeYKy4bWjs-4h87pUc5hsRRvc4NtPXX_lZNk2_IHD2EYas7Q_gTw_eBx--XD8xzeuxDLLX_o9zbV_575JRRw52szKK1fGjcdxqbhAeG9W736zqevze0oQeCJ0PSCWCZypKMeS-bShwhtQ6wTpqFPlpq9WvZrxZrSc20TNZTl2uBOWqbNCBS7lCbnsIq-NCI9VtRv_OmL49_KGlwUfI0sZPcS6IadF-MoJYb8b0p88MUe8ICm",
  "id": "rs_0d6963c230ebc325016ab43fd6f06487d0a3e6d6ebdc834a51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The arm is extending but lagging well behind each short command rather than hard-stalling; the ball remains centered and unobstructed. I’ll request a farther, lower waypoint so the controller has enough travel time to bring the grasp point above the ball.\"}",
  "call_id": "call_Ym2pWESFgVQipdEyEbXf6rox",
  "id": "fc_0d6963c230ebc325016ab43fd8050c87d0bc5ee30a81ae7f37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ym2pWESFgVQipdEyEbXf6rox",
  "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]: [-0.0193, 0.8185, 0.6067, -0.5285, -0.0189, -0.0383, 0.9992, 0.5053, 1.4902, 0.9768, -0.1909, 0.4049, 0.2928, 0.9996]\nstate[eef_state]: left_x=0.274 left_y=0.0016 left_z=0.1457 left_yaw=0.0023 left_pitch=-0.1602 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3985 right_y=0.145 right_z=0.1567 right_yaw=0.0088 right_pitch=-0.0551 right_roll=-0.024 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -0.7043, 6.8991, 1.8095, -0.0171, -0.022, -0.0122, -1.7299, -3.3846, 7.4325, 1.6581, 0.5006, 0.022, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6825858c3fa38c49b88079c9f7bc6780fb1b646abb4a9ca122bcc96429985a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f93ffe06acf6518e21f2174a6e6aa43ba94dfa30d1d20e4c6efbc2fc5fce33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e49a7e9e324cad06d170f2c72a5ce43b9d099c19740ec918bec869db81e39a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.495, -0.0189, -0.0387, 0.9992, 0.6922, 1.2217, 0.8562, -0.3561, 0.5358, 0.4042, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1532 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3222 right_y=0.1546 right_z=0.1821 right_yaw=0.0322 right_pitch=-0.0215 right_roll=-0.0144 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.1145, 6.9402, 1.8339, -0.0464, -0.0513, -0.0122, 0.212, -5.4632, 9.2103, 1.6728, 0.315, 0.1783, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.5613, 1.4002, 0.9226, -0.2508, 0.4515, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1474 left_yaw=0.0026 left_pitch=-0.1506 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3704 right_y=0.1461 right_z=0.1605 right_yaw=0.0078 right_pitch=-0.06 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3607, 7.0085, 1.6337, -0.0317, -0.0269, -0.0122, -0.3761, -6.1744, 8.8957, 1.9512, 0.2125, -0.0464, -0.0513]\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]: [-0.0193, 0.8185, 0.6067, -0.5285, -0.0189, -0.0383, 0.9992, 0.5053, 1.4902, 0.9768, -0.1909, 0.4049, 0.2928, 0.9996]\nstate[eef_state]: left_x=0.274 left_y=0.0016 left_z=0.1457 left_yaw=0.0023 left_pitch=-0.1602 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3985 right_y=0.145 right_z=0.1567 right_yaw=0.0088 right_pitch=-0.0551 right_roll=-0.024 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -0.7043, 6.8991, 1.8095, -0.0171, -0.022, -0.0122, -1.7299, -3.3846, 7.4325, 1.6581, 0.5006, 0.022, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6825858c3fa38c49b88079c9f7bc6780fb1b646abb4a9ca122bcc96429985a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f93ffe06acf6518e21f2174a6e6aa43ba94dfa30d1d20e4c6efbc2fc5fce33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e49a7e9e324cad06d170f2c72a5ce43b9d099c19740ec918bec869db81e39a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_d2X9FFPVpqVAvcWebHXpmoNkcDBl8IQYPDBktV9zBPpw9FpdFRjs4qxJw49NtkGVk5ks19z4P_gFLf1fmiI0vm_1n3FEr_5dSqDIQu0b83VpVYOsP7p-A4rC2rUwMQmCAQvFp5pgjz-ccTU06ly4xZhxgG_dL4a2uqYAA1A--HC1YLmLLbfgDsSxUGVrEd9How0dHA8XKluQQJnkEfstxyI3V8AQ1PkNRxnTHnnknUZWHTd8b7SX739Luyhh131bXVhkhsuuL6l1Dm_9ghB3fNzkvaRj9aXdDMHrVau_fqmVV5YBf_Fgpec4-r6ptXCdp9xIaPhYwjYHACvZBj-vXOx7z-PWneFq5yEQqFW89W7KcoPVQ8K-KYp3EajxxhR7FsfpJVWp1IApj4cM8bpNYNubNEDlrVM_wl_cYejWIlsvF3BpA-BpVPsus62JwHv8zAhBxrLPY828qI_skpFAfwVOwr-6Y-fzcyvSdGx51NeCL-r6LL8weI6Hs4ydEAcKqBChljwfPtNjOLgRcCoLgp5Naq7UN8Vau-Fp4eI_QNMRfTmSX2OI4mB-Adp8sqmAwxTJksdMIMKRzrrzi1FmyGkzGDwy_cdk8vj4NgpXrvnNu3QzlmWrkE_PDe40e3dHeUoXvdT2h_sDIzi2isJgNwQKieeJS6ZyNtklISdQZbogPszWb4jpeFEgI-jbl7PmKS5_V793uQisXjOXTsfRWZGGjCBhiuTpKiode95OzE6t4LcdR_sCMF2FUWyJPE7ecxgUz2HBK_QbxyzZXwGW4XFq5q0sPTFWLsrz4wywvvZWxs9qHqMOXOPTt0NfHq-alXj-hFzASeho6ZXpoX7_vmTH_RZTOBCCrlzK9M19xZnhqK094y2LBsezPkz66l--npkIB3Em3nFdd1OvP7aGZm4M91ozJUMQjHBdL158nn0XtErtrT_8ZdTb-5taozkwJih1Eep-muSKS15fkOTBoR9fR2D6onTQMogJvdhNT0WNCRa4D6CByiMDBL0ubSNnNblC3a8MpGWAf8bC-RuNC5LUBnGGXLHLtWNI_eDV-5kwmRrVvNaTzdBz8xohF4JblUO98KlFyrrY4oBiLbcOrl5Hzr1ZnFA8IYvnyzKRxEUwrBfIfI27HWTgBWW9Gi679pVEOF4rjBKIORSsZmsw9csEqQJddq6DJdkh5_XnbiLP4OfGUUraKMuW9QSQ7FXMdjffpfeKSnB37sPjJkf4PBM3E7_QEYMYnVrlpyKPcEzt95VeUoPApqyhfeB6QAh02KbciMunmYCovySh7vxU1Ey7457Tc_joBh3nXmb9OBM4eXYzSjyETGUK_Qf3f2E1GBp4GfT9JqyS2tKEPEsETgcywSiKqJ08PwHvxDY-qNBYmDBvmFu2sum3PtuEelbQeUF5TwTLEiNkVN39aCl0tiAESSfL-pLTNtXqyR4_MsK3Gyq4KfdNRipLF1F58LF3XX-ilxpdmb0mqndc0eBcLHtT1vlrugTKFzMWro2KPccYHvKfSWR6qB9dEWxTDT2vixWJ885C9s__gFSiJDBQlTMPxYWYbGOnjZPvSTRfnRqM8PUErKIO1YGrq4leP9-cnV2JWcgpOtzM6AQ4vKZcj6RTWV-tHu36Vn6T2IxmFMdyexXZvRhnqR1FNQTIisTrhGRxIX9-5LMxYQO8naHFGMYNvuTuimFghxwSSVRo-tEVyJhOdSo-QTybckWr7PCTVhdYQSIWMDowtstZFp2X6Qeac46ysPBMjWGyEhI-l_lQHjs4O67bR8Y4pwY-dCJki",
  "id": "rs_0d6963c230ebc325016ab43fdaf39887d0ae198e122d7e3036",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.11,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The grasp point is now close radially; the wrist view shows the ball near the fingertip row but about three centimeters left of the jaw column. I’ll shift the right arm leftward while advancing slightly, keeping enough height to avoid the table.\"}",
  "call_id": "call_6uFqO5blVIUrdWi6s30YtnbO",
  "id": "fc_0d6963c230ebc325016ab43fdc5eb087d0a32e3492474b42a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6uFqO5blVIUrdWi6s30YtnbO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6067, -0.5385, -0.0189, -0.0383, 0.9992, 0.5507, 1.7187, 0.9932, 0.0166, 0.4114, 0.2962, 0.9996]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1428 left_yaw=0.0027 left_pitch=-0.1743 left_roll=0.0 left_gripper=0.9992 right_x=0.4256 right_y=0.1826 right_z=0.1045 right_yaw=0.047 right_pitch=-0.0571 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.6581, -0.0562, -0.022, -0.0122, -0.7043, -8.3077, 7.8427, 1.7802, 0.3834, 0.1734, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e15f912dd46bcd34219d1bf922d648caedc89b51c23d6f255b5aa3dafbf3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df9d636e238fd9ae280b0e65fc9dfa64b69389878eb66fc218b95814295474a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c346d4130520464bcdc8e0e65285aa3622f9e196064f5429dea9c5642fc770",
      "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]: [-0.0189, 0.8181, 0.6067, -0.511, -0.0189, -0.0383, 0.9992, 0.5716, 1.3872, 0.9012, -0.2993, 0.4683, 0.3416, 0.9996]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.149 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3587 right_y=0.1402 right_z=0.1493 right_yaw=-0.0045 right_pitch=-0.1015 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.0735, 6.9128, 1.7314, -0.0122, -0.0415, -0.0122, -0.5265, -5.6137, 9.7709, 1.9414, 0.1929, 0.0611, -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]: [-0.0193, 0.8185, 0.6067, -0.5285, -0.0189, -0.0383, 0.9992, 0.5053, 1.4902, 0.9768, -0.1909, 0.4049, 0.2928, 0.9996]\nstate[eef_state]: left_x=0.274 left_y=0.0016 left_z=0.1457 left_yaw=0.0023 left_pitch=-0.1602 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3985 right_y=0.145 right_z=0.1567 right_yaw=0.0088 right_pitch=-0.0551 right_roll=-0.024 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -0.7043, 6.8991, 1.8095, -0.0171, -0.022, -0.0122, -1.7299, -3.3846, 7.4325, 1.6581, 0.5006, 0.022, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6067, -0.5385, -0.0189, -0.0383, 0.9992, 0.5507, 1.7187, 0.9932, 0.0166, 0.4114, 0.2962, 0.9996]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1428 left_yaw=0.0027 left_pitch=-0.1743 left_roll=0.0 left_gripper=0.9992 right_x=0.4256 right_y=0.1826 right_z=0.1045 right_yaw=0.047 right_pitch=-0.0571 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.6581, -0.0562, -0.022, -0.0122, -0.7043, -8.3077, 7.8427, 1.7802, 0.3834, 0.1734, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e15f912dd46bcd34219d1bf922d648caedc89b51c23d6f255b5aa3dafbf3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df9d636e238fd9ae280b0e65fc9dfa64b69389878eb66fc218b95814295474a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7c346d4130520464bcdc8e0e65285aa3622f9e196064f5429dea9c5642fc770",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_gmOqs97Nhn7shaLsNywyCFUXpEB1s3oKxzOz2Y1Cs4_DLYjxNpwg69iCjdB97K7jIt1OQXviorkNuBjZfwuplLCTUOI3hlCpIqNuFxeBjIjVlQfCRcvZ-qaTZg_KJhZ-ukGM7Zj740QkpKQMPpcg6EWRIb0faeOmH32L7LlENTTE1rdpclvr0uicYrLzIa1kOf4up3fl1rdi1VPUAxmVzenvp-dMg7GU7bf4fYQDdSiMnLw318jf6ihZeN7Zj54NtQldDm1xxz41gXyulBQnNxd4CVwF-UMEcJ_UKItOU5rs7_vkoto_UcL42Lj6Tnh8hCMadlKfU-aeNUBmjz5Qy6MWAiAi0-M9uUjdo1ZMzg3x82NkDToQwdeCL8fSHC-ohFjowYdSG5OAaETi4jLcXofhcN7oU-UqU0FbZcxtFIypLGwV2bMXEDBmmUtcfpzg1jj9azuJr05-V-ITsI-efLfF5BKoUvB19NDY1uc4GkIJQfuXJCk1E_9u8BwA0zuOScBI2gcHJyOoh1dpCZ8So6ZbwGr0W2vzusFYnBLKd_StRK26X_pM3hNrYWps12BG6ZKQyONQSSoFoFDgxwEPNzR1f1NL54ryE_Ti4vSV8SMPh-izvTW9_LBTMW0Zg7D65A_tYvX2j94YC-roYu88-gSS2AzvB1ZnmqCwBzrnEBoP9KyujlpgRG1TSdqYJMHY6_nNxQCFyds7_HvyuKGrgTG_1z_UXRBAMiU0gfAnLRAFRTk6Wai4-EXtrI59FP0I-Hci5_lgevuY_0t832Uf9oX9mWip6LggfRX2XlrLyuRaoGk64o3yC0tM0t_-50kJG9Ope9uXA6tsF9mw4sS0FXKLnUAa0fwOuY2qCqORbSDd-q30JqIo8_37gtT8FKU-WBzBhRX8CghMQ_OWgdXqAKfiwLCoaxpgOBTBJpOcaItRe6w2Co0kQ_NNpxTMxBc_PEv6KnNQY7l1_dJDdGQmxM6ZGCkLEoOE-pamatjVh6O3YQJWpg-9ZR6Y02xqE6iAxEle5Dbrm9H5CtPoclCvUInKm7_Io3oKmEHfoHCWTiliUNTh3U0WUXKLKnCsOcsInm3h4TMmaNAjcsO7oRzg0kOHw2p5hJyWzZFBsP8T3MIE9In-sPreagF9WZMHmGiT7--ZZv3XNyetTtVdcRpsHRi6fAwbVhPn5A6mh39btN3O4VKbzEreMcRGQmWOzQkGxD54PZpym7eXfN7mxBVHJ_zn5lqTinCQstsDWL0TU6ipBW6xWCPXuYk8ptCjayN41niFH6mrJb7BEuDiFkJ3MPJafZgnLxQ2KSN08XCeGC3doDFLgqtwI6grcOdeO5lMV4AROdFmkEMky3p__saYHD_JDkeAuAvtSMm63oybLmXDUEMvgWK92dfDGLQW0lpewRJYlsS7oXoY1FGOYYRgEo74mOdf1j_3FlH7q62CYBGx0TSJn6-rPok5qHgbzFT2zVFNHSjP693sA8ZMIUlwx61Sq5umOQuqQuE0oT2OE4v-LZMJo0iWRPxxmU9a6Zzrxqi5T9iZW_gg1lw6cakcZUg_RdiCQ-42E2QhMFb7_YCE=",
  "id": "rs_0d6963c230ebc325016ab43fdebff487d095b0237e85b7f327",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball is now centered exactly between the open jaws at the fingertip row. I’ll descend vertically to its mid-height without changing the good horizontal alignment.\"}",
  "call_id": "call_Qgw9nqmPWjjVGH9667BWKHlr",
  "id": "fc_0d6963c230ebc325016ab43fdfb23087d0affb3c5ac320a343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qgw9nqmPWjjVGH9667BWKHlr",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.5419, 1.7599, 0.9928, 0.0433, 0.4294, 0.2996, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1423 left_yaw=0.0027 left_pitch=-0.177 left_roll=0.0001 left_gripper=0.9992 right_x=0.4307 right_y=0.1776 right_z=0.0918 right_yaw=0.0218 right_pitch=-0.0642 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.306, 6.8991, 1.5849, -0.0513, -0.0317, -0.0122, -0.335, -9.4838, 7.2, 2.0049, 0.2613, 0.1343, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17852eef53610e0dc659b53880e0229d97a40cddd95f701a392db1d6f88bb34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa68bd82e72ae77e6bc5d142cfae389c13e94ea299c54c98d95821c001fe480e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1795b858a473008e5049816a2f476ccbb9ec630b97ea3cdcb442e223d3f079",
      "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]: [-0.0189, 0.8188, 0.6067, -0.5186, -0.0189, -0.0383, 0.9992, 0.5613, 1.4002, 0.9226, -0.2508, 0.4515, 0.3286, 0.9996]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1474 left_yaw=0.0026 left_pitch=-0.1506 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3704 right_y=0.1461 right_z=0.1605 right_yaw=0.0078 right_pitch=-0.06 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3607, 7.0085, 1.6337, -0.0317, -0.0269, -0.0122, -0.3761, -6.1744, 8.8957, 1.9512, 0.2125, -0.0464, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6067, -0.5385, -0.0189, -0.0383, 0.9992, 0.5507, 1.7187, 0.9932, 0.0166, 0.4114, 0.2962, 0.9996]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1428 left_yaw=0.0027 left_pitch=-0.1743 left_roll=0.0 left_gripper=0.9992 right_x=0.4256 right_y=0.1826 right_z=0.1045 right_yaw=0.047 right_pitch=-0.0571 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.6581, -0.0562, -0.022, -0.0122, -0.7043, -8.3077, 7.8427, 1.7802, 0.3834, 0.1734, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.5419, 1.7599, 0.9928, 0.0433, 0.4294, 0.2996, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1423 left_yaw=0.0027 left_pitch=-0.177 left_roll=0.0001 left_gripper=0.9992 right_x=0.4307 right_y=0.1776 right_z=0.0918 right_yaw=0.0218 right_pitch=-0.0642 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.306, 6.8991, 1.5849, -0.0513, -0.0317, -0.0122, -0.335, -9.4838, 7.2, 2.0049, 0.2613, 0.1343, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17852eef53610e0dc659b53880e0229d97a40cddd95f701a392db1d6f88bb34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa68bd82e72ae77e6bc5d142cfae389c13e94ea299c54c98d95821c001fe480e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1795b858a473008e5049816a2f476ccbb9ec630b97ea3cdcb442e223d3f079",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_kFTQ9k65mPpT2HKsdJCeQiEsPZJRydE45GNvWke-ePhpAZxL60gH9GvgXTCy2qIg50-dKx25C4cvgVJyMIkzLNc_zaurp8H4hiL6IjFW6A6lvILjrTlBPgmwVWv3SISDUUiofJ8tvek3DpbTOcXpkfUxEQCwipRrAgy9AzqVspS1duDofChWx0e2AS6xLh9KkCyLfRgV8I38-gRVEKfmTPP0u5Cufg0_f0M11o8d297PBZmaz0gWcoLpci4YpfixUHOSIj4_1oGT0ICr35iHRFU0UxpRqfdvI3dSdZDLXKlh0iGbjko2M3PZLKBiKGMzUG_-_cc8wE0UA4x-pZohc1DySBjQFSBZ5XkwsD6Ta5p0ZYMLKiZlPOUA2gmcCGbAXbxh_fYC-lFHeE8l2mhiFHH8rC04JxuIMHtQ1HNE_t9y7SndgAmEnw-FOJyP7F5uskXXIXYlC46R8L2yoJyN-S4jE-RdT23HymREODUAeStWZTCRooxVkP4th94MAncRyJyCZu1OUsKWwsoKYE2zZLRyTFxA0vwRsE73SAstQHZ7BNTt9Y6E_4nxHtZBwqpf-ZbcRiMp1dCv8bwIvsYG5pVSKcYqRO0ggPIfU1yEuECgpJcxLMVpKYofXN0y-8mHPuj8XLvP9pyQ9dXKOttx0OIjsRFzgbPtbyNhDCIXCOZo5RuaG14qjAxlqUjLt2XGCDFHDTCQX8AIQLk5tpJD2tE7eQGrTNDZ15sbDHCAKdLDXjS2zmHn43iOQUEM9yc884KAW8_Dj6w9hQ6EhoJGgI_pmMGPlO26egFqRf_YDTXCdIpW1vUdN_SXIkmEtT4mXcycXQad3o-f36lrCcraHuFCM5_sXB1fgGIi6Diuzr35na7HmeNbsnjwkQTvlO9DYXi7c5HEcxu25GnwXT02nRM0lEHcNSOp7NjRGdaaOdxRYnbzEZnmPvmeXIJG5jLR_yTXVildrOWZeMnTwhc23tQRcyX0eO_ctlG1SNz0GngIzo6QGsgeltQSNNCfiW6iEL1Yf4nBRZ0Mfy41wVsJ2Lp5Q5ivkt8XpX4YCaKwA7iNRxFOgRpEt3yxeXiEZK00oWn-h5jPYrWmMMDlhJQQxiTxhjj15nU31sh_m_b3NwiRnqIo-feHD3c7D1BKkCk39tbhPG60JKpUgYCb4T8JzGZ0nuGtqkVm5ih7MqfJRz9btUCdwFIL7-wPsY6G2XijaAhe6zrj7_PGkvIRnD1TPRrdUuAVp51aITnNFehGZZka-0k2A4DHuYgrbguy6XXLqp-3H75KQn54U5Rf5sZg1WcnhwF7_PIqN6xtV-6ILP0FEBxfAqosSsletxOO0gBbMoDz9CJ4yq2iTg5PdHmP989dx3l1SLORsMhHKKqsRF9iQIxFBWzuA-Wbc9wUSV55tW42_KrZ8KEUEuDEj9q8_X9vtPaTC1Wlvqj2eSUSOeWb24V90cl7knli9mDG9-Se4cSzO26QDZUeGbCR5Lic7FYJmk26uMx_zOaBj-FO1rH6XKx3MfvgHIbXd5ipruvXtZnqkpBrI9klWlWffrMYzNQ==",
  "id": "rs_0d6963c230ebc325016ab43fe21e2087d091de809e0e9c700f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":-0.01,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The descent is tracking slowly and the ball has moved down to the open-jaw region, but the readback is still about six centimeters above its center. I’ll continue the same straight descent, using the table-floor target to give the controller enough time to reach grasp height.\"}",
  "call_id": "call_3wciGicaeVUPKR9uBPZCci4b",
  "id": "fc_0d6963c230ebc325016ab43fe3289c87d0a8edd7109b2953f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3wciGicaeVUPKR9uBPZCci4b",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.5507, 1.8263, 0.9123, 0.2111, 0.4419, 0.3084, 0.9996]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.1934 left_roll=0.0004 left_gripper=0.9992 right_x=0.429 right_y=0.179 right_z=0.0617 right_yaw=0.0164 right_pitch=-0.0417 right_roll=-0.0315 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3744, 6.8718, 1.7021, -0.0513, -0.0415, -0.0122, 0.4444, -2.5094, 1.935, 0.4225, 0.2515, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f9624ce74ba1a40991291a4b7d9264118405017fdac5ff635f7cda4f455f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094bb524fc797959e0526ba71774234f0ee2e2854e684b5dd01fe6c0f62db096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b90310bd1e794b88bb9f2b1620e10b659910add0cbe0541d40b495e9f57014f",
      "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]: [-0.0193, 0.8185, 0.6067, -0.5285, -0.0189, -0.0383, 0.9992, 0.5053, 1.4902, 0.9768, -0.1909, 0.4049, 0.2928, 0.9996]\nstate[eef_state]: left_x=0.274 left_y=0.0016 left_z=0.1457 left_yaw=0.0023 left_pitch=-0.1602 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3985 right_y=0.145 right_z=0.1567 right_yaw=0.0088 right_pitch=-0.0551 right_roll=-0.024 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -0.7043, 6.8991, 1.8095, -0.0171, -0.022, -0.0122, -1.7299, -3.3846, 7.4325, 1.6581, 0.5006, 0.022, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.5419, 1.7599, 0.9928, 0.0433, 0.4294, 0.2996, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1423 left_yaw=0.0027 left_pitch=-0.177 left_roll=0.0001 left_gripper=0.9992 right_x=0.4307 right_y=0.1776 right_z=0.0918 right_yaw=0.0218 right_pitch=-0.0642 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.306, 6.8991, 1.5849, -0.0513, -0.0317, -0.0122, -0.335, -9.4838, 7.2, 2.0049, 0.2613, 0.1343, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.5507, 1.8263, 0.9123, 0.2111, 0.4419, 0.3084, 0.9996]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.1934 left_roll=0.0004 left_gripper=0.9992 right_x=0.429 right_y=0.179 right_z=0.0617 right_yaw=0.0164 right_pitch=-0.0417 right_roll=-0.0315 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3744, 6.8718, 1.7021, -0.0513, -0.0415, -0.0122, 0.4444, -2.5094, 1.935, 0.4225, 0.2515, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f9624ce74ba1a40991291a4b7d9264118405017fdac5ff635f7cda4f455f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094bb524fc797959e0526ba71774234f0ee2e2854e684b5dd01fe6c0f62db096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b90310bd1e794b88bb9f2b1620e10b659910add0cbe0541d40b495e9f57014f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_pzPfVTAA5Q995tg_WW7rcGC9LvuLuTUDauP8yvbMG17cvPV_-sgZ6mzvrf2ArnEEcHr954hGmNcnS_HS_OJhGBRZbo7rkEVLOgBk1KTo-Sb8tkGqUaotyBRdbTiTjWn0ql4zCY1eg_I46u2txC-XHSVwEo84rhv99wjF1n0v_yPbPnKXVu5alryHEvWAa9FupGb68WxD2R67XZPIfU_Taxx_76gaBHZSbyiqGln7WETHYuJSNk5cHGfVkfYn6nJVQG2UvwM4DtYInkt7ds2TyfvJ7ggZzXcXh6znoPzDLBwdFU2vYfZi7wQNcfLJe861ZgabvuzptvfxkzGxIAXwXg-kclNrR3dtTa6QCBzmpUG7G8FGnABSPFhaVFGjoBHYpQ94_V4Shu8BypAdWYCQ5Elz6hCxxRQF5fN--K1I19maQ15UH4n7tYzjFnDtCovAw006gCCipdkD61ne6O9JbMk2eM1YZIKQahyJpzJVX92A357ZU56j4VvFv5Hb2JJQrsK-hE33bSoCtmSvefAWwiUOviYk7nARdTWxAKs2NEPWKkAomhIIBYFcdOZzUIhT36TixaTBa6h1ies2jg1jWszcXENf4sz9ahjidRsRZr20qBG3oKbsDYCuFOfUVITIXX9d4vHnBABUX8tNk0m-iwhZ2suELJRMnKEnRCUYLipdsfWKa4KcN36SjbAuPsLq_wwCYId-ND4GDcg3v4AOpYnwYwSk6q_Vapv_d70ZoiCZEzne3FlAGeWLZb4StGhnHdkhDcD6r1OxOYUyCx1-Inb11OVi2QhUY0q_wtOmu6ppQpQWmFOYL8ejaMapYIucrzK0qQco08x2mWfHn8ELg5z8eqAlmLVwA2G-u0Onjm4JHSCrW7C52jETOh0R60ChpfVsdAJ22sn62E5Do3ZTsZ7IIN_5I9i4SS5wBtAYf0VZR_WtKVZXde5dhf4Cb1Tv91W9RzGc6RKprr8RA9LZcK0cBx43wnyiULmtWIAWGwybtU7qs2-DiMRUJ7vHFvYKFdY0Bu35jJjT3JwJu3Ugj1XTuW4BKhMwwxA8pAKwFjOi2oYgY2J5iFi-4WZFm2c8tTTx2slcKtdps8sKq64Ndo4dV333rC-CFT12kqfQFk8jkAFXIpDpkfN3DbYl3lczvbAe0735XLO1zFS2lte-nEe8M1IrZW7erZNsXAt_7YmHWEwNdUNM8DBN8yoYZhr4NRyyPcEBTtsO_qLO56UaRG2z71MlN0uja6m0k45Hwmm19hzWu6mw3AQkfHQiFK2FHo-N_dGiHMOHU7fPbbpqL-sLTemY5ht66QNzlf_0KaL6zhpIJxB9jiG4QHTd7jf-M2judcih7d7EoWy_3SfN8FIuEoqjXRTQz-irtmVftBFHqAjZgjCW3csxGXXHAjBWaCEk6yOCSC1ZfTnyl2-R7AZd9JHzb7-Slbx-nuKYto1CQX-AMKE7VBRyumpNPIhZ_xuLdIOQDAGBq0iJ_KLkEig==",
  "id": "rs_0d6963c230ebc325016ab43fe6f63087d0b4c05365ee958b06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":-0.02,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball remains centered during descent, and the gripper has reached roughly six centimeters above the table but is still above the ball’s midline. I’ll continue to the safe floor limit so the jaws settle around the widest part of the ball.\"}",
  "call_id": "call_3X1tHo1Spi4AGeZDUcM3ivBP",
  "id": "fc_0d6963c230ebc325016ab43fe7862087d0b55911f1efb5fcc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3X1tHo1Spi4AGeZDUcM3ivBP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.564, -0.0189, -0.0383, 0.9992, 0.5518, 2.0415, 0.8433, 0.643, 0.4484, 0.3477, 0.9995]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1369 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0007 left_gripper=0.9992 right_x=0.4468 right_y=0.1893 right_z=0.0203 right_yaw=-0.011 right_pitch=0.0858 right_roll=0.0755 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.5932, 7.0496, 1.6142, -0.0464, -0.0464, -0.0122, 0.5128, -5.9419, 2.7282, 0.4518, 0.1734, -0.3492, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10f36498f3b0e5f3db3e28d1ea690ca1e72020bf249bff60adbdfe8523c5177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f743b65f964e60f4322c3e2c34391a198dc501a8c0bc9895b106a34f0bcc1801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f98595d2d6df93436def50c216a98b0c17c67bf411e0466df383867abc8edae",
      "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]: [-0.0189, 0.8227, 0.6067, -0.5385, -0.0189, -0.0383, 0.9992, 0.5507, 1.7187, 0.9932, 0.0166, 0.4114, 0.2962, 0.9996]\nstate[eef_state]: left_x=0.2725 left_y=0.0018 left_z=0.1428 left_yaw=0.0027 left_pitch=-0.1743 left_roll=0.0 left_gripper=0.9992 right_x=0.4256 right_y=0.1826 right_z=0.1045 right_yaw=0.047 right_pitch=-0.0571 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.5795, 6.9402, 1.6581, -0.0562, -0.022, -0.0122, -0.7043, -8.3077, 7.8427, 1.7802, 0.3834, 0.1734, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.5507, 1.8263, 0.9123, 0.2111, 0.4419, 0.3084, 0.9996]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.1934 left_roll=0.0004 left_gripper=0.9992 right_x=0.429 right_y=0.179 right_z=0.0617 right_yaw=0.0164 right_pitch=-0.0417 right_roll=-0.0315 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3744, 6.8718, 1.7021, -0.0513, -0.0415, -0.0122, 0.4444, -2.5094, 1.935, 0.4225, 0.2515, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.564, -0.0189, -0.0383, 0.9992, 0.5518, 2.0415, 0.8433, 0.643, 0.4484, 0.3477, 0.9995]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1369 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0007 left_gripper=0.9992 right_x=0.4468 right_y=0.1893 right_z=0.0203 right_yaw=-0.011 right_pitch=0.0858 right_roll=0.0755 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.5932, 7.0496, 1.6142, -0.0464, -0.0464, -0.0122, 0.5128, -5.9419, 2.7282, 0.4518, 0.1734, -0.3492, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10f36498f3b0e5f3db3e28d1ea690ca1e72020bf249bff60adbdfe8523c5177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f743b65f964e60f4322c3e2c34391a198dc501a8c0bc9895b106a34f0bcc1801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f98595d2d6df93436def50c216a98b0c17c67bf411e0466df383867abc8edae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_v4X2aognRUx7sgN8Dki9U-xR2dWFhz1wQT7JPksbsgF-Qca-d-G9haMftZiw1xTVqvawiXD-6vQ2PvIVeZnSce-XWpOCqrrWVAeYgnc4v7VJxV6zHxfq8yKPJZBtZ1eWdReeKI5XPZW_BsHv9lC20bncLUCZCB8gFP10GtXjsKjlwtpSxqliRajY57e_KCZu5WTVCC-1fD9_67MXz6KLKo9i_GxD9xOpEtLK2aXqs5mKHz8mEdo6ZTVh_gTSNqOPZO4PYS_MaCm-fG9PBIkVvl0aPh0gF15eFlAqO6HJKv_d1ksdpHahdsNGadGwf_4MVyI1Kux_bRKykdw6vQqZxjE-l0GOs5ESvZwQlaaq-DeafI7TjQuC-7k_qW7aqyd15deIDAyy9rEYtIFAiTXdOkKSAc9wWZsJXNbhKS5KAXrFW_Qwnzc4HVJmJeNC4lB7knTpz_eCknEfZk3S6RNQQe_CuiOWu8HxjDpmNTOtNY5vzo2AcNVg5xIvff2y5c2Mpx-TPZsYzxOZQYucO2XpaE6fmjPexybbSIvln21n-l6IKcyzamu3nKCebI5yvuZ2YJQvtu63KCACy8ciAaQ9pEn7KofQXHAg_OF_VTNjRIXZ29EY5BL-dZYSiR7uiyF5uEoQR5rJjHHBYXmrzhga9X-a46g3eL-byWXzhTNFxmcXmR7-I26YTFu_uAbg0Dbri_efOqgHEILU6lAzktRTcxCZiaOoNyiVOZr6FkP7lD1tR81HUTLSDqBad8uBfRiYEKNTWhN6_m3T_AlYHdytln57KgsJNJYjqTnojNPpqeNLRou2GyjyJHjCJoJB-Z3DVgUP05RVSsh5mVg7Xyx6xT2V0WG09dGW5Qifv_Yt-zS7hBF0rqP6fRUMqmj3hikcUnh6U9pqxvQoPigKJ6FbbshnGWCesxfCQY2_GOUICryLlYdrA8gc7GRtUAY1pwuZ-uRzyNBLQghvdGQ63iKnh31XlvQ1eDtrwVjpubZbUzdHl_fLc6H_Jy0NQQ239noeWacA76excCMw4KoSJqLd1BsUe87sL9zl1AC93yytlQz2L7fsO19E55U82aeyJM3GSV-NMXzIrepfh_97mMyxXKvO5r-0Rx4ZwFWxCKHee007SH63HvZrWyMX97TmrVakSsGOqAJEgG-SOJhL0eHguSJ8ny1Jru9Hfl48hriL_x90iz7OxDgLw63VuGCz0OgiwULzQhklGx_915awA6XKFgMcnKAPpbP9v3HS3uJxkEYNSvwtVpXoAgV_R8I7ofFOB00OBwjDZw-ICjfrprkil0H7OCKIN8XTM2AJ02E0SCzsz25Z-OirGb02j3hBaB5c_8ffBskYu4sFt-7F8Kd1JFv4bJbyZOwBFEV6AW5S5H8hqqs2lEJB2Q0STnmI-9lx8jiecblhXCWwsOaIWv1uIHvylffcEOVfRutPT8FGDqWiNI-wJZi7qySo6TJHQ91RKVfMTHIu77Fc85GxavPTtrt0IhvTqVY9Ou4Yw6eVv2NsmmG-2O818TBJvwGdTFL6RQXEEyid-RzwFEV623l6FdvWZ3b7Jdb5bBUEHbEoNm8RB9f8PFx3a9aT8amZifOsdqGPSjkTStfojU0ILfX141BEfdQoF7nT3kQMZxU-sk18hGZIklgXjc0HYMfdJ-31NlgmGMYRuGdsX3BzD4ISQoerJvmJTGqMcg-Vn40d3IfizrPRi3UCNE4ID6qgrQj46I_T2GVg1Grrff-SLD46ICjRq9xjrcv_K8GCX0tNiXLEJOvLSMHCGBoXX-d9tnrZL81_1q22MWgzT1nCAGo2Qi1E048GBlcMDzS-x5csvcI1K2kniOoIL7HLza2NiWsfBiVRA19BtYcTWlnhpD2W1VevQYtufALUMViROgf7E4Qgyhr6CycfrocfllMsMiVV2v_XBPJ6A7iXsxc8O6IhG5jL06LPWDtGNtIlehA9v8jsEXqQava9jUHn2Dgdbxw_S4d0nrwMIc2iB8Tx7oRrsLvl0_OPamr5UutO2SxKvyIHQVD9MZgKBm7oZZqhLCv069BpdTD9Hqg9cpW4uV3s-9zilKilT4cFbu3_5H4exan3znkMG2BwL_vKLoIKVPfwwq48hamQJgUBbxnFsGv4EF8GUWK0EaVP0BvcA1l6djGPV40EYpFfZsCC56usG_5PiiVKznPOJYIkvd3jqdII-9_EjShe9ELQAH4FSF8WGzYfh9XQPRp_pKPz2N-_vPPBxSrfv-c-jew1MEeinDxvx_EaId1XxVcoqjNF7tJGbYYo=",
  "id": "rs_0d6963c230ebc325016ab43febcc1c87d094f9fa4e056b9fa3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The jaws are now at table height around the ball’s widest section; it is slightly right of center but clearly between both fingers. I’ll close only to about a 3.3 cm gap, enough to hold the soft round object without squeezing it sideways.\"}",
  "call_id": "call_GxKNJlLmYS3UvxlmNsq6FmeL",
  "id": "fc_0d6963c230ebc325016ab43fee070887d08a42015473c6bc84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GxKNJlLmYS3UvxlmNsq6FmeL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5781, -0.0189, -0.0383, 0.9992, 0.5503, 2.0792, 0.8295, 0.7052, 0.4599, 0.3637, 0.567]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2208 left_roll=0.0011 left_gripper=0.9992 right_x=0.4468 right_y=0.1863 right_z=0.0109 right_yaw=-0.0312 right_pitch=0.0973 right_roll=0.0904 right_gripper=0.567\nstate[joint_eff]: [-0.1162, -1.4017, 6.8581, 1.619, -0.0562, -0.0317, -0.0122, 0.4855, -7.665, 3.1385, 0.9548, 0.022, -0.3199, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9799ac582b3c29fd3a3073a55a335d754135499a1bca5ad64082548ee6b96c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625cbc3cbe45054b873ec93445a44e816f712cd2c59759b2bfc6f16510fedafa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b1bebd263db52e2434a002efe8c68dd14055ad6e559c8653970cd534b83463",
      "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]: [-0.0189, 0.823, 0.6067, -0.5407, -0.0189, -0.0383, 0.9992, 0.5419, 1.7599, 0.9928, 0.0433, 0.4294, 0.2996, 0.9996]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1423 left_yaw=0.0027 left_pitch=-0.177 left_roll=0.0001 left_gripper=0.9992 right_x=0.4307 right_y=0.1776 right_z=0.0918 right_yaw=0.0218 right_pitch=-0.0642 right_roll=-0.042 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.306, 6.8991, 1.5849, -0.0513, -0.0317, -0.0122, -0.335, -9.4838, 7.2, 2.0049, 0.2613, 0.1343, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.564, -0.0189, -0.0383, 0.9992, 0.5518, 2.0415, 0.8433, 0.643, 0.4484, 0.3477, 0.9995]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1369 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0007 left_gripper=0.9992 right_x=0.4468 right_y=0.1893 right_z=0.0203 right_yaw=-0.011 right_pitch=0.0858 right_roll=0.0755 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.5932, 7.0496, 1.6142, -0.0464, -0.0464, -0.0122, 0.5128, -5.9419, 2.7282, 0.4518, 0.1734, -0.3492, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5781, -0.0189, -0.0383, 0.9992, 0.5503, 2.0792, 0.8295, 0.7052, 0.4599, 0.3637, 0.567]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2208 left_roll=0.0011 left_gripper=0.9992 right_x=0.4468 right_y=0.1863 right_z=0.0109 right_yaw=-0.0312 right_pitch=0.0973 right_roll=0.0904 right_gripper=0.567\nstate[joint_eff]: [-0.1162, -1.4017, 6.8581, 1.619, -0.0562, -0.0317, -0.0122, 0.4855, -7.665, 3.1385, 0.9548, 0.022, -0.3199, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9799ac582b3c29fd3a3073a55a335d754135499a1bca5ad64082548ee6b96c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625cbc3cbe45054b873ec93445a44e816f712cd2c59759b2bfc6f16510fedafa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b1bebd263db52e2434a002efe8c68dd14055ad6e559c8653970cd534b83463",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_yUL7jDdoYVufZxrTw9wLVLnafe3apKUyAmTdPwTEIB58BV1Dxt70_2faF8Ghrnco6Qr0Ptt9YDcv71Yqphp-DaR2cLZJ2-jqexmni7ESjWpYIEu1d0jJxeVUcwDxPDMp6R5YiTNzwdN_le6Do0qGMjacbshV1VhiVG17t9Mk_mXcg1kIbD6ZahtZZcLPuhhlUOIpZnJHn1jJNt6jzTnHNj-ZBHXQe0jaTIU0DhuKHG56KjCSGA96he6L7sXy19wPzwPj5GOeJIcRpK2etzid3_25-MspNzPz5R9Q_ggEqec-mYk5dBqSBq9x8oW1AGtwn5qqf_AHyeZAWE8mceeI7_R1DougymR_dTTlDswfRfP5prk89RlzeHIaDvfOQQH_1gQ08JCAs1rWXt3uhItxmY_Pr3B46FM7yhUeyl5SRGzGqHYZrGOwYCH1ZT7bXiccpOtnCBr2ffNsMFtZuU2I-xTiVnpXrqgoeXu1VpREmqD2SSrzoImfTTkU5KdiZY5R-xUQiuTuLmpY3xmbJG0OeumX9Slxn-BYu25tnCvZenGwhWqHsNCxv8uLNxBUf-esnEGvVUuW45bnBGEknVyyup5QlZOZ8CmhnA7hu2u-4O0NL8euSaML5dXxvHfY1zriLEPo3xcE6IPZ_eyS4FdscegAAQEGSDf8oIjBGZBAKjKSpi8Q59n2seBd61tybsqygIUn16vpy_yqQiFlzlBFbqoVe2rmkCWoxnBIZb5nhSiuaXx3hmeMUKhZu67bPZlH8ddSqtpTDx_xp9OTeFON0U2g3OZoe_upUOJsOPuTWtkOgiG5G0PsK2REgprbxwiUOFxRdPo1iHahB5Aqumzff-q7qDDqRUuAdAaH1VLOSygTZgFCznXW4fziI9v5GqcIPJ1tpJnoa3siupP3nfO21g1LD8W-DOvZL8D1Z7k1u19AkaG2c8mTfeRXTvxTg84BzpCHaHDuSt-pVlM54THh-62khODraPNpTgfA0AGQoqnMa3JSGlqn2IybOLXjJAKFl0MeW8wSm6oPlAf2LspFLqymAMzFsFe8ymcHgZGoL_h8L_quChGL7mq_pqAwV6U3UiUNmEKkf178nswc3NaMPYkNU-UBsK65PkG_H5ofYRg3munlOx6bJihfawoTWkTnr0NWeFWRaln95VkamMQ5VElj0xDIYYxiaVKRkDua5K3eUzRgEt7ubNPfa8cjYHw00ofYSHAqb303Eey4i4R7LGImQVPwILeRmGEw9DZ40rcB3S6yrt4pk1vXH1r_87Yv_ymDVu6PSDCrEa2j1EpsylFtFRaWhcFJmuGfyAKzz7Nq0oFPVTZVrbp0u8DyPbYTDwUcaMsAgSD1Wb7R9syVBy-7_jHctP9gC7c4WRLZdWHEkmhOrbfcdfbxamJVSN1zYvfmIiLfTFs34KYtJ6RPLDg1m9kZNifwR0gD-WjulJn1WHX9NJedbH5LuFV7vhLTgPIhhJzM8LOdFrbEzFwd1Gw==",
  "id": "rs_0d6963c230ebc325016ab43ff14d7487d0b20757f082a58131",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.185,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.35},\"note\":\"The gripper settled at 0.567 instead of closing to 0.35, confirming a roughly 5.4 cm object is held. I’ll lift the ball well clear of the table and verify that it moves with the gripper.\"}",
  "call_id": "call_PANjnZapp96TSBvTYkNxyIQI",
  "id": "fc_0d6963c230ebc325016ab43ff1d31c87d0b08d77ee7e9ccb19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PANjnZapp96TSBvTYkNxyIQI",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.5858, -0.0189, -0.0383, 0.9992, 0.5484, 1.7771, 1.0264, 0.1299, 0.453, 0.3214, 0.5296]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1324 left_yaw=0.0029 left_pitch=-0.2304 left_roll=0.0013 left_gripper=0.9992 right_x=0.4485 right_y=0.1876 right_z=0.1141 right_yaw=-0.0016 right_pitch=0.0321 right_roll=0.0158 right_gripper=0.5296\nstate[joint_eff]: [-0.1162, -1.4291, 6.8581, 1.5214, -0.0806, -0.0366, -0.0122, -0.1846, -10.4137, 8.5265, 2.0684, 0.0855, 0.1538, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f23623e3125473b7c89b91192acee62524ac66516f05b68e53f557af01159b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90c124c577a653a95c5d5686f457b88bf09728bdf18b936fec34e9ccb0c46dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea725e170b9d584d02699e5a378a6e3d54c27822287e3f5fe153fa0695c42e4",
      "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]: [-0.0189, 0.8246, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.5507, 1.8263, 0.9123, 0.2111, 0.4419, 0.3084, 0.9996]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.1934 left_roll=0.0004 left_gripper=0.9992 right_x=0.429 right_y=0.179 right_z=0.0617 right_yaw=0.0164 right_pitch=-0.0417 right_roll=-0.0315 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3744, 6.8718, 1.7021, -0.0513, -0.0415, -0.0122, 0.4444, -2.5094, 1.935, 0.4225, 0.2515, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8295, 0.6067, -0.5781, -0.0189, -0.0383, 0.9992, 0.5503, 2.0792, 0.8295, 0.7052, 0.4599, 0.3637, 0.567]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2208 left_roll=0.0011 left_gripper=0.9992 right_x=0.4468 right_y=0.1863 right_z=0.0109 right_yaw=-0.0312 right_pitch=0.0973 right_roll=0.0904 right_gripper=0.567\nstate[joint_eff]: [-0.1162, -1.4017, 6.8581, 1.619, -0.0562, -0.0317, -0.0122, 0.4855, -7.665, 3.1385, 0.9548, 0.022, -0.3199, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.5858, -0.0189, -0.0383, 0.9992, 0.5484, 1.7771, 1.0264, 0.1299, 0.453, 0.3214, 0.5296]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1324 left_yaw=0.0029 left_pitch=-0.2304 left_roll=0.0013 left_gripper=0.9992 right_x=0.4485 right_y=0.1876 right_z=0.1141 right_yaw=-0.0016 right_pitch=0.0321 right_roll=0.0158 right_gripper=0.5296\nstate[joint_eff]: [-0.1162, -1.4291, 6.8581, 1.5214, -0.0806, -0.0366, -0.0122, -0.1846, -10.4137, 8.5265, 2.0684, 0.0855, 0.1538, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f23623e3125473b7c89b91192acee62524ac66516f05b68e53f557af01159b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90c124c577a653a95c5d5686f457b88bf09728bdf18b936fec34e9ccb0c46dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea725e170b9d584d02699e5a378a6e3d54c27822287e3f5fe153fa0695c42e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_3HqyjGgfGSYeVDmWamdNZUXWGxVHE0CQ0tcPpmUcvWYp6CjNaeLddWfPyp9bWUXREsILZJWbVIVWCRuJPoPEN2vJBVzJbgdGH3eeKSrRx-Tbb6zsvHyrdP1ID-AHlhJ-MpFiiQ64L-zikqr_xRyprjEMaXVa7OlgOxQ_8qsIqOjlJwTlUj9QR3D7uLIxmkKZAkMjgE1NX7xjt7Sszwv3kX0pIqs0tRP3lW8z6UyAdtIH3As_oIEoLcCTXhDeZzQRoM8ql7Zx6CTUNTPaf6WzTUyQWghUpawcROiiYbz0Loq1MNN1i9w0yvNGR33b63hhwIUU8_T74HC6o6Dsd_q8Kkn8uDuOkyEY9ivpZsTV8n5K_fwyP5EZiHhEoDBFKuosJ7f8Wbnfa4WXt8CRBK6GMbsy2gjvdKzDS5Y30qSOR2gFogdk8RF07tTMbhC9DdjDaTBceBjP1Rtlw3TUcVdI44JHCQueNgWJGoAIc0WCmhrotIWuXW4uxWhWjXlLG5JYlhtGRgOjth3FNWBXsIqaZynKYWT2Q57n6jg0YLJpQoAImN6zMA1hQbGyPGTEu8vaCk0qVr9ZEiVd7ZUSD4DcYnMYijD3aJiMHskj7ykVdrdzEUc-KOAN95gNpCTJb4Pk1fXevrbitMdcbS8dlPBxfHxQcZHJSVNg1BlSO6h9cZRFsypzNARvTRgT42nb9luupwYdcFQ6BZkwUDqcM8KWgx4K8LXJBe8THN0XEl2P3OKMIrEHOQQFolI004jP7ij4muJuHccR2T-Gf4M6lVmQnRLrcObTQw32PBEt-KECSniD5lA_yl_7Mhz73IIUdcyi9sq4mpIQyQHPDUNQ5yz80I2-e6N_BR_gqSFfkEMtITnd5pE9zU-WXxPnfenJowH2GI5Bx900fEnqsGPXzLHOlweAK9NUjt6xTgZn5qdz4oitn8sFAkiTD72HnTwcITEm3O8T7ufGkBmJu3R1HR9ffmtnyUO2hKBtvVhdBGItZoHdVpTno1pN8mlgFzhmiyl6wP9KUNBs0ZEiYn-n5qZrE0YHZwc8DPc8AKNlaNHhbIk7AM8atubrKEMeG3c20i-fQuaNQVRBzqit8X3F0mqTLaSXMRz49SiOM1xu6XLDzjLkzBF5CrK8mg79DQ3qxbnt0LGQ8AKbBs3af65Q111gpHN1F3BIX_pOnFvxtGkhsSMWyle7jBDUdD81q-XhfnWFnwMGt6i6FW-MHeg8LrrZGOPgeb6dlGntBXzNLa_IiN284ebkgU2JaSOpq8t2YXDZPmXK3Bkr654U3XF1OpOU8WeBIKPhTKQmjaViMdrJCdp6PNXtpWmdibLo2mBx9dRuV0F2j8d4E25NxGJzDZQSo7YZ70-BbBnXKkPEViQDkB-R5X7hxnhE4QmJlmOnvE5XtIejQTDKl1m5yeB8E0AK7fSoqyzTDq_ALwGnOx02w58gHbgyXRtrOpjXtE4D-ZPRXTUU_OiokuX0-aubjxrzxgca2JDA371MdSTvtGSRE0avozHv9ZtoU_G_xV_eeCDsu9iB2xX8HJP8GJDgEiYLLqPqU4aur4SUi82UfWJ256eyO2gAYQwmPiArkko5EI19gx24bL72rQDDPJiXstwA3Jku0_uBM-vsR4wY5cjNbRb-X4wjXG2xiCXU4I8WhxHTZum6CWY48YPxeJNLSedsi_3Xl1mwprkaKnSmJFUtr3Z1cwkCdMfShz3r8eydrW3hD5O08TCqRktGoyS22rOBOtlZ4WNDyZpuykWwP6ceyqDAPvbNJj10zmOkfmP-UWfKL3HBLZE9hHjsK3vcWYgn5XSfLQ4vH6dNle09BsRvBGTh9C7OoxazVVMlaodqNFnXzqQJCVP_gTixeyS1-Od2scA9RJRXgVsHoKhODbSrP3Ug=",
  "id": "rs_0d6963c230ebc325016ab43ff5151c87d08aad6d635c28d318",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.33,\"right_z\":0.2,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.35},\"note\":\"The ball lifted with the right gripper and is no longer at its original tabletop location. I’ll carry it high over the center of the red safe interior, moving leftward away from the other objects.\"}",
  "call_id": "call_whEy8NFgVBp8bVbLeRWuKdSA",
  "id": "fc_0d6963c230ebc325016ab43ff6d65887d093a0b1fdffef865b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_whEy8NFgVBp8bVbLeRWuKdSA",
  "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]: [-0.0189, 0.8322, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 0.8989, 1.9461, 1.5909, -0.5831, 0.6842, 0.5346, 0.5033]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.131 left_yaw=0.003 left_pitch=-0.238 left_roll=0.0014 left_gripper=0.9992 right_x=0.3894 right_y=0.316 right_z=0.1619 right_yaw=0.0521 right_pitch=-0.0992 right_roll=-0.1382 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5556, -0.0513, -0.022, -0.0122, 0.3487, -11.6034, 9.8803, 2.3077, 0.4713, 0.6032, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ff3daf6e703998f7a0c775db11e5663cb5e4d5c2fd0cdf42ca00749bb4a9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e80cd47c56b3891a6012127fa98a35c9bcd99d99d53400e9ee6f5914650ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d9cc41759bab54d1abf383882a48e8f0ee2e504475f75a1736183aa4472d4a",
      "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]: [-0.0189, 0.8284, 0.6067, -0.564, -0.0189, -0.0383, 0.9992, 0.5518, 2.0415, 0.8433, 0.643, 0.4484, 0.3477, 0.9995]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1369 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0007 left_gripper=0.9992 right_x=0.4468 right_y=0.1893 right_z=0.0203 right_yaw=-0.011 right_pitch=0.0858 right_roll=0.0755 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.5932, 7.0496, 1.6142, -0.0464, -0.0464, -0.0122, 0.5128, -5.9419, 2.7282, 0.4518, 0.1734, -0.3492, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.5858, -0.0189, -0.0383, 0.9992, 0.5484, 1.7771, 1.0264, 0.1299, 0.453, 0.3214, 0.5296]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1324 left_yaw=0.0029 left_pitch=-0.2304 left_roll=0.0013 left_gripper=0.9992 right_x=0.4485 right_y=0.1876 right_z=0.1141 right_yaw=-0.0016 right_pitch=0.0321 right_roll=0.0158 right_gripper=0.5296\nstate[joint_eff]: [-0.1162, -1.4291, 6.8581, 1.5214, -0.0806, -0.0366, -0.0122, -0.1846, -10.4137, 8.5265, 2.0684, 0.0855, 0.1538, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 0.8989, 1.9461, 1.5909, -0.5831, 0.6842, 0.5346, 0.5033]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.131 left_yaw=0.003 left_pitch=-0.238 left_roll=0.0014 left_gripper=0.9992 right_x=0.3894 right_y=0.316 right_z=0.1619 right_yaw=0.0521 right_pitch=-0.0992 right_roll=-0.1382 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5556, -0.0513, -0.022, -0.0122, 0.3487, -11.6034, 9.8803, 2.3077, 0.4713, 0.6032, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ff3daf6e703998f7a0c775db11e5663cb5e4d5c2fd0cdf42ca00749bb4a9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e80cd47c56b3891a6012127fa98a35c9bcd99d99d53400e9ee6f5914650ebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d9cc41759bab54d1abf383882a48e8f0ee2e504475f75a1736183aa4472d4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD_94Pjlzxo-dV1Rq65MzPG6-XeTGqxks15z-OtUNBl7QkN9JDnG1cNciZ45wPWYoI35krgQ7a7fNYzYo1ZvJ7dcpflQXSFaSLt2V_R1AFkHhoixa43lns6aUuzGnjQXl-W0720R_Vksa1sEcNot_qoO1b_K5e9qlF8H4kpwihZtBduTx7F3BQUpjwwyAZoDPd8esuCAePmvQAkJowrd4J3NFurgd5QmttJfgaPEtF3Q7fSlOhBbjFn5JCaXMTM6OScr1Z9dP5bIuJDVY_Go9qMZJRrDwvW0ia0mtnaxIFDoasiNb5kGMt4V9LyF-gL0d2uD-Hl5ufrsui57By5We6U0OM3IsaKVW-thY0xFH1zeOPsDsqXDSkMAsQ1vsZTDo6mruCrDsLfRNUOBq_NzJtIZcoh7zn287kBxTVH9IvxgprfPIv4JLPVao345Wz4eizYH2cXd1giNOAMoT07KypY9qQczbOXjkiLTy2hAyWxwKMb_EXKNlsM4sGMTg2JpWs1OcV1RqpppmLDLCYbgtf8-KhVuZJNFbBz7WtzJoQDiTWEpOHnh8xxWqGV462A5Vim6xQq25EeFUU2zGriaVlPHZO-1yONm1U6gwMiXiRREfo1-VEji_YmW-C2HXHjQtIBsG-SVYvTmhNiXv6eEvV8I4TbdUm464oywAZtsaHjAFNe-c2eir2sOcKAk55avh0StZbFE2xwsO4pKAdW08XkXT3AlrKnYVntdAaOAGkzfbh6ORLXB4AtOc36lw3VvI7b4WtugWYmqJZdSShvuf5tHB1tYNySre8sznimpSffMEOn7frz9IafCcggBBy3tgX7l5BAjgt0XugpA8zxhEdptgnMDXnhmHuycGoxRxlHwCHiux1LHgXjY_uAEF_uN33iO8ITTzmbMEOk3FNak0K80CG1ZvwwFGQEhL5VnEG3VzicqJ2UeTcztSuVPMilq-SYfXSLGYZaXKXSEK648MhbrX4FJrnk94fYQ8ZeZTRTdwJOL8q-OL0Icd0DpW8CQTawd6NhtryuzS_m82TJX0E7RPWUVF5FtdOV14Hz8U5tKfEhdMpOJQtQ69pWJBvopu2aidLPz-YtcX0G_YZkDS8gXT9lddt5IN6ASzcFkw1BRQf1JIGq5l4hBzINXNX47hGK3RzvrfYW8ufjyakH4ew3F5quRJnNxmglFc5mHLsgdI97e0XyL7djYpbNeXH7LjY2wIjBWbC7G7O0XkkAV_YT15Y7g-cHfkD0ekNIZaznZzF9ZnPHj_SWa2d0-mt7xzdWcox0qLwscWd8XiV-hIcQzq_8P8v-l2uWM6pZ5j-DfculnbCE2z2FKm6YM-XZ3laNSiQ1G6vsd3QybQJIWRgxuGS2GvRUsexLFsAGrlDmrrpdmOLv5Skk0pfDF05i0JXaujJrx4zHoHQCvOCAKPa9FS9pROsb3eKAHHlSpjnrKEepQpggZvuXBPALnfl6gkMCh_r2BH5XER8jI79kUFDY8mF1cuaBr8z40lNScXPtrzTk1poDrj1aJbfniN-_zi-504gIFjM-0uCRPNm1bS5CkaRIdoJ7p82NMSZIXts8-Ly5wm1QvoAIsw1Ija9PDQWGRt2StVwFuhzZ-NJ9glm86CpkxF2wrA9yC1PGgP4razqiM2VuobnxcEbknCSXLKVNZKiP9YvL7M8R2vFb8ZdpCoFQZiunS4TBDH09cQqSRpkY5rTBYLQeEVMtGC_MHj-q6FLS2dxXil3lWq9Iwkplq5ZRPVmVGJgmwB5btS0lFm_bSRH7fk22B_s3tJYS9ykffFB94AXTbK7fZd5MsKN_VZqVFfPaYy3mN5Amb8mSvhOcmOn7_kc1xbsxD4EvopQoMRFFZPP6h4jZTCuXWB8BFFg7Rm6iQ8RPGX-19mSi8cBGgupAtsTsuH08IwWW2HYMTMjgTiO90r1scZTdtmLRfTQ8f-iZ778PQBJ4fMWH6Pf2CkU1epDCR-MYn3ADf4UcCS7f4MH0gpY1-W4x53lh08upZlcaBcAkQEOL2QRzU-Gweed0PvJNA7gBFNhCs1k55g3IbJuFXEvZFhqP34QWvr_0th1gzdV35NSAPNIAzE1AE7ONnopWLwnrulPfnPvQ2ettNjmV-EmYKNI6M92oayqhE5g8fHULQ0549v-15GDhAxXb1p_JdfGu8DRHE0gAX5h1mdWm7Ext_jx5L1I35beP42MAcd3Luxib0lrTZQxrUystjlvg82L1iV--31YiOSCqe43Yeb1Z2c-Ql_0hcCshBhGEUtlQ0bStL4kzkg2BhhD0QR2eFBwrEuFSMcp7BdrAg5HLdORzCSGD8bCLEIPm6kfen8zkjL1J4Da_h9tfz3_FHaFyqiQUP1-VbvfvT79_dJ7QPnEUjRePUxIp1xtkyaKGIgt-c1k5WW9a2gtY8r66oj2MNO84iqnGmC1T7CYL2JJBHw-Kf38Zw5Wy5enz3JsrUAqSBc32S7-xoei6NmEEZznQ0P6tz7ZERxFDYxt1gWF_PI8NvlW--MZqsiD7OR62i7xyvFTwg95sH2Sewor4vL4ek8W9JP0BHxVRoUrIMFtVKuHl2NnEgoeoMhh5Om-AvrIyq8-Bk_Nz5CVI=",
  "id": "rs_0d6963c230ebc325016ab43ffa349087d0963991cd2ea1bb6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.178,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0,\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The yellow ball slipped during transport and is visible on the tabletop just beyond the safe, so it was not deposited. I’ll park and reopen the right gripper while restoring the drifting left arm, then handle the two larger plush objects before retrying the ball with a firmer close.\"}",
  "call_id": "call_LWgM8N8rpTLCjqZcCK1Hc93A",
  "id": "fc_0d6963c230ebc325016ab43ffc692c87d08e5c6df4cb3d72b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LWgM8N8rpTLCjqZcCK1Hc93A",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.0257, 0.8021, 0.6067, -0.4446, -0.0227, -0.0463, 0.9993, 0.0029, 0.8101, 0.6102, -0.3958, 0.0532, 0.028, 0.999]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1659 left_yaw=0.0031 left_pitch=-0.0598 left_roll=-0.0066 left_gripper=0.9993 right_x=0.2942 right_y=-0.005 right_z=0.1753 right_yaw=-0.0578 right_pitch=-0.0121 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 6.7761, 2.1123, -0.0708, 0.0464, -0.0904, -0.1573, -1.5932, 6.8991, 1.7167, -0.105, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d77bbfbcdcd0ce2cd526561533dcf1b5eb8e91a01d92f016a3c68ae9642bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded0b19ba1a967851d6689680b6420f8784709a074c33f5f5f39cea624455731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c9467e9b288c9f7baa824f696c36bb3fd6f5d7286b06f4d8a361e08597b8bc",
      "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]: [-0.0189, 0.8295, 0.6067, -0.5781, -0.0189, -0.0383, 0.9992, 0.5503, 2.0792, 0.8295, 0.7052, 0.4599, 0.3637, 0.567]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1341 left_yaw=0.0029 left_pitch=-0.2208 left_roll=0.0011 left_gripper=0.9992 right_x=0.4468 right_y=0.1863 right_z=0.0109 right_yaw=-0.0312 right_pitch=0.0973 right_roll=0.0904 right_gripper=0.567\nstate[joint_eff]: [-0.1162, -1.4017, 6.8581, 1.619, -0.0562, -0.0317, -0.0122, 0.4855, -7.665, 3.1385, 0.9548, 0.022, -0.3199, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 0.8989, 1.9461, 1.5909, -0.5831, 0.6842, 0.5346, 0.5033]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.131 left_yaw=0.003 left_pitch=-0.238 left_roll=0.0014 left_gripper=0.9992 right_x=0.3894 right_y=0.316 right_z=0.1619 right_yaw=0.0521 right_pitch=-0.0992 right_roll=-0.1382 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5556, -0.0513, -0.022, -0.0122, 0.3487, -11.6034, 9.8803, 2.3077, 0.4713, 0.6032, 1.0281]\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]: [-0.0257, 0.8021, 0.6067, -0.4446, -0.0227, -0.0463, 0.9993, 0.0029, 0.8101, 0.6102, -0.3958, 0.0532, 0.028, 0.999]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1659 left_yaw=0.0031 left_pitch=-0.0598 left_roll=-0.0066 left_gripper=0.9993 right_x=0.2942 right_y=-0.005 right_z=0.1753 right_yaw=-0.0578 right_pitch=-0.0121 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 6.7761, 2.1123, -0.0708, 0.0464, -0.0904, -0.1573, -1.5932, 6.8991, 1.7167, -0.105, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d77bbfbcdcd0ce2cd526561533dcf1b5eb8e91a01d92f016a3c68ae9642bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded0b19ba1a967851d6689680b6420f8784709a074c33f5f5f39cea624455731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c9467e9b288c9f7baa824f696c36bb3fd6f5d7286b06f4d8a361e08597b8bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_0d6963c230ebc325016ab440018ab087d08368b0b096fe9368",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.0,\"left_z\":0.1,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The white plush is centered in the left wrist view and sits just ahead of the open fingertips. I’ll move the left gripper slightly forward and down above its body, leaving the right arm parked.\"}",
  "call_id": "call_De8FpO8fjeIqMpOceB5ylfyO",
  "id": "fc_0d6963c230ebc325016ab440061a8087d0861ff95669152d02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_De8FpO8fjeIqMpOceB5ylfyO",
  "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]: [-0.0257, 0.9508, 0.358, -0.1112, -0.0223, -0.0479, 0.9993, 0.0029, 0.8154, 0.6071, -0.4133, 0.0414, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.0802 left_yaw=0.0038 left_pitch=-0.1239 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2917 right_y=-0.0029 right_z=0.1688 right_yaw=-0.0385 right_pitch=-0.0385 right_roll=-0.0149 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -2.441, 6.7624, 2.0049, -0.0513, 0.0611, -0.0855, -0.1983, -1.7436, 7.2684, 1.8388, 0.1148, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3984ef86e787758a0f2942f1dd0f98ba7cc9ea712eb778d8dd897e10e27ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb2e6089d88811b1b206b60d4901401bc6ee46618a8c2b8663512d14afb5caa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c050a17b214d42a08bf8de55a0432cec6cbc16b35a2b4f199b55a67392171f9",
      "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]: [-0.0189, 0.8314, 0.6067, -0.5858, -0.0189, -0.0383, 0.9992, 0.5484, 1.7771, 1.0264, 0.1299, 0.453, 0.3214, 0.5296]\nstate[eef_state]: left_x=0.2645 left_y=0.0019 left_z=0.1324 left_yaw=0.0029 left_pitch=-0.2304 left_roll=0.0013 left_gripper=0.9992 right_x=0.4485 right_y=0.1876 right_z=0.1141 right_yaw=-0.0016 right_pitch=0.0321 right_roll=0.0158 right_gripper=0.5296\nstate[joint_eff]: [-0.1162, -1.4291, 6.8581, 1.5214, -0.0806, -0.0366, -0.0122, -0.1846, -10.4137, 8.5265, 2.0684, 0.0855, 0.1538, 0.6325]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6067, -0.4446, -0.0227, -0.0463, 0.9993, 0.0029, 0.8101, 0.6102, -0.3958, 0.0532, 0.028, 0.999]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1659 left_yaw=0.0031 left_pitch=-0.0598 left_roll=-0.0066 left_gripper=0.9993 right_x=0.2942 right_y=-0.005 right_z=0.1753 right_yaw=-0.0578 right_pitch=-0.0121 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 6.7761, 2.1123, -0.0708, 0.0464, -0.0904, -0.1573, -1.5932, 6.8991, 1.7167, -0.105, -0.0415, -0.0024]\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]: [-0.0257, 0.9508, 0.358, -0.1112, -0.0223, -0.0479, 0.9993, 0.0029, 0.8154, 0.6071, -0.4133, 0.0414, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.0802 left_yaw=0.0038 left_pitch=-0.1239 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2917 right_y=-0.0029 right_z=0.1688 right_yaw=-0.0385 right_pitch=-0.0385 right_roll=-0.0149 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -2.441, 6.7624, 2.0049, -0.0513, 0.0611, -0.0855, -0.1983, -1.7436, 7.2684, 1.8388, 0.1148, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3984ef86e787758a0f2942f1dd0f98ba7cc9ea712eb778d8dd897e10e27ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb2e6089d88811b1b206b60d4901401bc6ee46618a8c2b8663512d14afb5caa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c050a17b214d42a08bf8de55a0432cec6cbc16b35a2b4f199b55a67392171f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAK-ltqB1rWrtg_6BQWuSGg93MpJVDqX5hIRXelgtxSouaDSoaRu4E0GAKdR_SSZt-o30GIKwaT-LmpTVeFMcIY5xinpfLoucbrBlSN3pv1oafHmR00W4pHGPac79bN9jOtMXiKaUxSuxZJSOcWv9lGcHhCRA1TioDL-rLd9Swv4b_U_X8mDWxk9SCu8qYGTjHJQQ-TEIidBKRun2eqtSOvn2rHLAiUOCEC-ma3H9s_luTLwdioqu-teHJ1Y64antRO8S-Y1JP7QIzK5Kc-MgIPTcgszRd7ggEW4H4yiXE6ZMkL67T4JOsBqgZLDwf5rJfztMh4zUIRD3gWfZKxaYDnbneMC8Dqr5Dlf23ACBPjRLPSUb4PFzyeVbnsQQP47rHmhkapFxhf-Ku5s8i0TLBGWzxXDgzLzJAW8ShuNdzGMDTsCkD40pj84iOXNLDpjd2GbIZsB--CaI0PeIzEl47xaUnbMxSghP7ghE2kTC108MrW1wkPFME0o4EYD3WW2CU8VKBwbfDynAlytZEO0DA5gA9LCYxY-cRVTgglvxqFVd3s_svb-_QzZ0ev0_RnQJbguww0rFjs8ZsrYuBRW-4lSsEDXBfi2T1SgYyfljKij7lz0gLANLkywF-Lv_H1HooAHvKhu36nx7W6xpC15swzdNb6FB5Rx4fj-q7fy889FtqHigqJkLd1NLHv4UJJewpU8f-KH4SAOr1IoY7cbg3w1aKFUXDb2DzO54Z69dRT2cUuHhc7dhCiw80CcjKUYfHkNxipXwj9bZrzTguV9j0C-udRFnIGS_DZcMyEnyVEVf7HBRv7nZq2aT_IRPoQ7xsSI9hI6PBUdL-Q06-9_3VDg3i5C9_gcdISJp6fWaFfsspkFSmD6KwvLkYt_XS2aIRRFMv6WhId4VFKaqUcwfF07Mu3KGkopiCKtSN4CjH4S-uHuLuBVFvfYEOcqjWJmuRKNew2lA_Yi6W4R1q6G1BdeTWLecY9fv7tDudp_T4IBUG6wmmniU4nl_ds0cKJcAY6UQdpO9VllRQQ7KiEXLSpnhgxGFBPg8qYnXij-ow0ttIdGS31QCMgLiLwG-MJPdHUnp9PPnyihQZDH111kg0YiegbgjyZ_TT856aMvDkTYML04_iLbe4j01qASEFnllUcRx12vWUbESequj848hwWA9yjuQCXo7S7qeR56-lysSbmztF0QF95ekDWPdcP5ts5nAI81AsuKL4yMi4_z3-mXZmaDuSmM-vfRr98vti9pgtONM4PsjujGRG11iYBsnNvlVrbqVkys7-Ijb8hnivWRk6QafgnheNxuJzEzTVKklaXjCGu8rQsnva03D48ewvB3dpe813FvNxX2Wjm4We5kJXE-J6r8wxq1N3Th8Ttmh9sdV5NGnLG7LkvDMxvCKG-kSp5RbwLxDihqd-4daIfGROQpJkw6x2fmTMV3LXxejZVMKAX6daglicmeSl86TcT7ALAJpjQebgHWxw7Dq1BgA==",
  "id": "rs_0d6963c230ebc325016ab44008a73487d0b8139619bcfebb3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.0,\"left_z\":0.02,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The white plush now fills the lower center of the left wrist image, indicating the jaws are directly over it. I’ll descend to body height with a small forward correction so both fingers straddle it.\"}",
  "call_id": "call_4XytEQ5lgmHZ81dD2qHZqcBi",
  "id": "fc_0d6963c230ebc325016ab440096fb087d0b0d3df1ff0b1685f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4XytEQ5lgmHZ81dD2qHZqcBi",
  "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]: [-0.0257, 1.4006, 0.1799, 0.5106, -0.0135, -0.0517, 0.9993, 0.0029, 0.8177, 0.6067, -0.4335, 0.0406, 0.0074, 0.999]\nstate[eef_state]: left_x=0.3029 left_y=-0.0018 left_z=0.0019 left_yaw=-0.0015 left_pitch=-0.1301 left_roll=-0.0147 left_gripper=0.9993 right_x=0.2888 right_y=-0.0028 right_z=0.164 right_yaw=-0.036 right_pitch=-0.0614 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.7111, 3.1248, 1.7411, -0.1441, 0.188, -0.0904, -0.1436, -1.388, 7.0085, 1.8584, -0.0024, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e224a40867903ec75729e6c3e614253b21fec3aa82876ca892260ef1f17682b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f829cc1e307a609ecb73ae8e4ed13c4b210c9659ef922f706a473a2d200f78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f85aa5460899e142f0966b8fb3343bed1d2212891291116312679570852e847",
      "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 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.5926, -0.0189, -0.0383, 0.9992, 0.8989, 1.9461, 1.5909, -0.5831, 0.6842, 0.5346, 0.5033]\nstate[eef_state]: left_x=0.2633 left_y=0.002 left_z=0.131 left_yaw=0.003 left_pitch=-0.238 left_roll=0.0014 left_gripper=0.9992 right_x=0.3894 right_y=0.316 right_z=0.1619 right_yaw=0.0521 right_pitch=-0.0992 right_roll=-0.1382 right_gripper=0.5033\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5556, -0.0513, -0.022, -0.0122, 0.3487, -11.6034, 9.8803, 2.3077, 0.4713, 0.6032, 1.0281]\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]: [-0.0257, 0.9508, 0.358, -0.1112, -0.0223, -0.0479, 0.9993, 0.0029, 0.8154, 0.6071, -0.4133, 0.0414, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.0802 left_yaw=0.0038 left_pitch=-0.1239 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2917 right_y=-0.0029 right_z=0.1688 right_yaw=-0.0385 right_pitch=-0.0385 right_roll=-0.0149 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -2.441, 6.7624, 2.0049, -0.0513, 0.0611, -0.0855, -0.1983, -1.7436, 7.2684, 1.8388, 0.1148, 0.0952, -0.022]",
      "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]: [-0.0257, 1.4006, 0.1799, 0.5106, -0.0135, -0.0517, 0.9993, 0.0029, 0.8177, 0.6067, -0.4335, 0.0406, 0.0074, 0.999]\nstate[eef_state]: left_x=0.3029 left_y=-0.0018 left_z=0.0019 left_yaw=-0.0015 left_pitch=-0.1301 left_roll=-0.0147 left_gripper=0.9993 right_x=0.2888 right_y=-0.0028 right_z=0.164 right_yaw=-0.036 right_pitch=-0.0614 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.7111, 3.1248, 1.7411, -0.1441, 0.188, -0.0904, -0.1436, -1.388, 7.0085, 1.8584, -0.0024, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e224a40867903ec75729e6c3e614253b21fec3aa82876ca892260ef1f17682b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f829cc1e307a609ecb73ae8e4ed13c4b210c9659ef922f706a473a2d200f78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f85aa5460899e142f0966b8fb3343bed1d2212891291116312679570852e847",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEANTarPRPmQPQqolXVsMJMnGMU2w-xmdFiovWOv0zQCXwtMYJFpJVbWSQOuiemw26TyvI2hUrqcH07LebuQdL0QH4O9HaEqJFqbTBBDZmjIXnL11jfjZRnTYTybDN3n32_WrlbXwBrdKjHFYawuah9Y72zRM5WW_SWpm1EgwKqph1szRYMFk1VmEXuN72MRG1hv6QKmIh9eqNCPDxC5NQOz7NPPWSina9_3WLoZI5FlCtPE_7j7gL7uaHUgSuvzDAugMH5L9jRzPTUImsgh8vGm9uE7KUO1lYn9eagSbruABY__ARPmfFF6v_OorJEBV9Dbjq-KbPVyFACCy4avfYE_FjFskcFc_KZyIMUe_-kelyE7SB8DS5y3KfmGC1r8b2_Xqfv6XHAVlcxJjFAXcEKFNOMMTw9MJqFTS9-u7FSbWR4vX5p6B8e9pnzGXyaAcdzj7Plw7umfSOwyjgyITxNgzeGMjmgQ9YhN6GfS__PbCjYoEw1jsfY6eeymkeyam4lHT2Z05FWvRM5uFAhNW-71FCvoEr-_mtCeT4hQX_r9U5Ds8A7nyVnLP29WCGxQ2WuJWsABp-zK_-umED5DH5X8snCmIsDTHm4e_pYD_vn6yuAYrwpD5-qt7IPDemYckA-qaeyhfYEWHMEXnuJ_qnkG9x5keGjl6VvtCthNWda1pTXTjPFHXZNgw8kQxxQCo5zmNCyllmOBdFKSyWHzXICXskrezYC1Vi7JDZtL3Ezu3ryAFJNOFkTDfArO0gzV-WRmVqq2ntv4IFtDFCHROE2hHhxNd0KMRX6qX0vbmxjfdtnHGSJogcIiXbhBEpf8XlanCnKpPfQ5xm0jiU-DRdpgKHaT0TK4XwfnCiK11vlI2uttH-ovchx3ZdZiydy-GhFIZN7mads3_TE4ODUxZ-Zf4-wC1RjVyTdkvk6mua1e08BmDuVSpXvEKWWWBRoDiX56XlLskFo_ErrHSlkEiXU2skfF7R_jKIFGyJiyCjKS0biOows4dd4FCjlxjnuExhJJoJM1t56YvKWMTFMvZ6IgFQO8otcvJ-0yJaYYN2nfv_1Hkbof-sNPvDUTveQVdEIzRM7pmP_CXT-VANu0hyAhrTF3eb6oZNCUApZ2vr277KHoCCMix_kQQUbLpA1iJ92ZpEmeB_gRxs42K5SyLf6B5MTlRUDZSLICzSK7Uqtj_dTSHiZZ-087DFcB7sG5M2VklEQwQFoRvHB7VaF0vxDb6OxIj2ougom5jwXz7KHWX0N5Jfz1Vb8dz5sY0cPDhtCmAjOCjOyDpSgnuh0zACP5YA8eB2sRHcpCtn9BZFipgL5Bvi5lHfDCiwfsgX4zZaAUDGjfiC4n9ynxOWuGkarnZw==",
  "id": "rs_0d6963c230ebc325016ab4400c816487d0aa1131164998351f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left gripper is at table level with the white plush centered between the fingers. I’ll close fully; the plush is soft and broad, so a nonzero settled opening will confirm the grasp.\"}",
  "call_id": "call_xrfgnNcj8G7t4Mx95UGHxUIB",
  "id": "fc_0d6963c230ebc325016ab4400ccecc87d0b9d953f260ca6721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xrfgnNcj8G7t4Mx95UGHxUIB",
  "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]: [-0.0257, 1.4002, 0.1711, 0.5461, -0.0177, -0.0608, 0.2066, 0.0029, 0.8192, 0.6037, -0.44, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3053 left_y=-0.0011 left_z=0.0059 left_yaw=0.007 left_pitch=-0.1031 left_roll=-0.0198 left_gripper=0.2066 right_x=0.2875 right_y=-0.0028 right_z=0.1609 right_yaw=-0.0358 right_pitch=-0.0724 right_roll=-0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -3.5897, 5.4222, 1.2723, 0.0171, 0.0562, 0.8669, -0.1162, -1.3197, 7.2137, 1.7705, -0.0317, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0283e49376d2e93a2541aced532bc9efa8cd7d96b641882d6fc708e117f05f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe6c696531a5a0efde7a8d25553462048d5b98339e86ffff596eaccac3c558e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8521e02b717061cd10200015b4efba0d355de9c95bf0038c81e4b8ed8ae5c337",
      "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 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8021, 0.6067, -0.4446, -0.0227, -0.0463, 0.9993, 0.0029, 0.8101, 0.6102, -0.3958, 0.0532, 0.028, 0.999]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1659 left_yaw=0.0031 left_pitch=-0.0598 left_roll=-0.0066 left_gripper=0.9993 right_x=0.2942 right_y=-0.005 right_z=0.1753 right_yaw=-0.0578 right_pitch=-0.0121 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [-0.5675, -1.5111, 6.7761, 2.1123, -0.0708, 0.0464, -0.0904, -0.1573, -1.5932, 6.8991, 1.7167, -0.105, -0.0415, -0.0024]\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]: [-0.0257, 1.4006, 0.1799, 0.5106, -0.0135, -0.0517, 0.9993, 0.0029, 0.8177, 0.6067, -0.4335, 0.0406, 0.0074, 0.999]\nstate[eef_state]: left_x=0.3029 left_y=-0.0018 left_z=0.0019 left_yaw=-0.0015 left_pitch=-0.1301 left_roll=-0.0147 left_gripper=0.9993 right_x=0.2888 right_y=-0.0028 right_z=0.164 right_yaw=-0.036 right_pitch=-0.0614 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.7111, 3.1248, 1.7411, -0.1441, 0.188, -0.0904, -0.1436, -1.388, 7.0085, 1.8584, -0.0024, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 1.4002, 0.1711, 0.5461, -0.0177, -0.0608, 0.2066, 0.0029, 0.8192, 0.6037, -0.44, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3053 left_y=-0.0011 left_z=0.0059 left_yaw=0.007 left_pitch=-0.1031 left_roll=-0.0198 left_gripper=0.2066 right_x=0.2875 right_y=-0.0028 right_z=0.1609 right_yaw=-0.0358 right_pitch=-0.0724 right_roll=-0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -3.5897, 5.4222, 1.2723, 0.0171, 0.0562, 0.8669, -0.1162, -1.3197, 7.2137, 1.7705, -0.0317, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0283e49376d2e93a2541aced532bc9efa8cd7d96b641882d6fc708e117f05f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe6c696531a5a0efde7a8d25553462048d5b98339e86ffff596eaccac3c558e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8521e02b717061cd10200015b4efba0d355de9c95bf0038c81e4b8ed8ae5c337",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEASXuM4sE9fbXXTwfdo4gug9o6qPdtrLM4hkA-zwrUe_4OoKBmgJwBrCUa0G4HER1e7jn3sqpVPG6__LjNk48XpcJYhZ9RYq2840y-jfJYK6x_MFRsQrP0ilvOYCzHzvFraFs03BIzK1L3IKPZW5_lfMLnazDSXGpgo_WEyoCg8He5WhNaceOiFbP0xHGKDiOPChdq54e6yIUXZi3rEu5pYKpUXrFxBcn7Mf2ZlznAYlMNyYimR9dol_TJNJBQv9ECPGTu5XYS1MNXqC6osNnlezZRBXShUK2dzimZita6VvOiskykLTyx3kPkHSozPMTiV8FoLYb37v4uweCyiDIgBmJ8vYTu7Ki_T1Q1i2IMZw5ZE5SnG0icfXvhyE0cTHvXHKL58DYOtx-1UI3zxdO9RKTfQWeuK-wB_63yPqlH_j2g4AuXWqqAgyohhs4MnQpN_M7hs6iOt412JvhwBL-wg_dOgOstklyW8FZ8t6qAvG12Nt6I8lX2EBmd-MGp0Rrr07EqqNv-cQsHFD7LjmrGC5fNIPUoaOm6qM7TckAB-wEu-wOuBiS6lq8avkEkZwNoHX8oHpldZ4HIuXAEmiKH6dJiQnWduA5nuy3kkkFImx_PGcCGis2UmtwF92rzSGv2vfnsQFJoyvsuBxIKmN-1191NQS0Ru1TIlXtzfePdHBMxTiq2f0ItqJpJ0YevHTv5RvZMTvPDbbFhFx2CXBSyW7c6aOCj12rYc3D9Qiqz31bBrT9VseCha0PjPlEZ_ZNi0ZfPeWUi_5gAQVvy2eCw6NUCgiFD3qhPhNTr4PBY8_JXOut5G06kU17HmYmDwhb51GqCK2LB79uOJmgkD_ebJKSIE0cF2W4-7zLvmVCcrZDSzBydAUqXXZSYkr7zKpjg1KslRH4npNb25FxyFE-Emj1NMeBPYXOAmqEJa0eS1QKEqnaiS0HVwApUKgD1_uAt2hk1qpz3TutGBXDrdeBvawX17a0jN-M8oWEZhwfxTvT8afBzw_89LL2_8mc5GxrXq_8WR7_H3SjTnBcztpRWLeQkuNQvaPMMaqDtdMR3ASjTMV0I45jjRkG1a1gWcwPDs3uyB4CEM-aG127JUAAuPxInZ2YxM50SZy42JQpUEKmkvSkWxv2C-2c7vmF9jdILO-EjY-3jUT72rBzYLyOQSjPHQnfHZFiW9A5Qmd3Z0bAK6oPaCfEm0IGOL7KfA3kLnH3vi5-L51F_DlD7xb6mA4w7E8kkxj9sYWntZJ9hLZS6gXz8kE9NIyPJPxqT6774T1lixD4JEFaohDQR1LKH87ZN0P2j8sm105Oowr9EXRFyYNwG7MGaJAXoWApYuQx9n8KIH632DdO1cW1mnYWzpT1ZKe78mdGuDLmA1kdOkFZSm_RK6RAH35dUlqvlU2tj0TzZd7T_N39aA03dneef9l2oOQrRUmTVOEynXJ0OVNwhGvkypkqyxm9ZtgTtZu6KSxGrrLDBpdHgZ5h3YAgP9n_Qnoy2YLfqvWwtu_-iR63X4j-_MXifIPM-GZL7d-mRyOT1dcnkPSlrex_lipU0StQU3are8BgJ__O8cJcTukSETDOdoQfXk30h6T40GkAe49SFWcsJyxKJ80igcyab6DZ1cQ2gIXvZLKd6Jxh0NrCS-4qpLT2TNylETeMCWuxQ9gN6tq0H3twSG-38gGWly_IeTRS7FhheqVLWhxbUGfXVwEDn25P5r3NWhM9otBAP49mSbCsoXoYZYH-8FVkVxATG5hZtCHwFlbZmUmoHrSy2iZjDGaWVFqWnR2YMxoFdsW5wXU37AUTS5__GsaCQtbvmzfmPtsovb2dLq-NMqBggfX63dJrUllrifvPPyMPe_alIyYbzeBSNeC07AF2bk7aH9NL8S7inxmbjDu862kB4QMw_fCmzm9KZjQU0XyvWcWhG0_O9Iu--dT700b2p-5s-EwIf_4wV_gc1w34-SxzPNh-zpwkizZlqtohR2gdiqCs1gl3oZzRiBY6j20wjPC7bruoL_UNenhpOB_Z7qfvCJfFs6uSrzx-gSyf0j2GpYlbAF0txgTO9HywQJQ82WDmo8WRqmwPfjBOssT1bGqkEzCFKsDxssyWVGO2da2kjpbbFTM2dJbfvaKOMWBEP1TA==",
  "id": "rs_0d6963c230ebc325016ab4400f97f087d09306c16a92e3c2bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":0.0,\"left_z\":0.14,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The left gripper settled at 0.207, confirming it is holding part of the white plush. I’ll lift it clear before moving across to the safe.\"}",
  "call_id": "call_XMnbY8DRvh0bnesukIpcMYtz",
  "id": "fc_0d6963c230ebc325016ab4401191d887d0954a9b5931d975ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XMnbY8DRvh0bnesukIpcMYtz",
  "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]: [-0.0257, 0.8852, 0.4278, -0.1459, -0.0223, -0.0601, 0.1726, 0.0029, 0.8227, 0.6014, -0.4549, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3025 left_y=-0.0003 left_z=0.1222 left_yaw=0.0103 left_pitch=-0.0233 left_roll=-0.0192 left_gripper=0.1726 right_x=0.2851 right_y=-0.0028 right_z=0.1561 right_yaw=-0.0359 right_pitch=-0.093 right_roll=-0.0197 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.359, 9.7026, 1.7998, -0.0513, 0.1392, 1.0281, -0.0068, -1.6615, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\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,$blob:c2e9e1b83058b7b48db655a84037716c792283d99c5d32ea332e2b2ffe4f586d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31752ff6e2ac30c11983ba8db6548231505cb459f590480c143a9e12209cbb73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c63c8d6499f08390c363cd448743da79941c86eec1dcb05fbc65d14984c5eff",
      "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 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.9508, 0.358, -0.1112, -0.0223, -0.0479, 0.9993, 0.0029, 0.8154, 0.6071, -0.4133, 0.0414, 0.0109, 0.999]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.0802 left_yaw=0.0038 left_pitch=-0.1239 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2917 right_y=-0.0029 right_z=0.1688 right_yaw=-0.0385 right_pitch=-0.0385 right_roll=-0.0149 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -2.441, 6.7624, 2.0049, -0.0513, 0.0611, -0.0855, -0.1983, -1.7436, 7.2684, 1.8388, 0.1148, 0.0952, -0.022]",
      "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]: [-0.0257, 1.4002, 0.1711, 0.5461, -0.0177, -0.0608, 0.2066, 0.0029, 0.8192, 0.6037, -0.44, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3053 left_y=-0.0011 left_z=0.0059 left_yaw=0.007 left_pitch=-0.1031 left_roll=-0.0198 left_gripper=0.2066 right_x=0.2875 right_y=-0.0028 right_z=0.1609 right_yaw=-0.0358 right_pitch=-0.0724 right_roll=-0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -3.5897, 5.4222, 1.2723, 0.0171, 0.0562, 0.8669, -0.1162, -1.3197, 7.2137, 1.7705, -0.0317, -0.0366, -0.0171]\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]: [-0.0257, 0.8852, 0.4278, -0.1459, -0.0223, -0.0601, 0.1726, 0.0029, 0.8227, 0.6014, -0.4549, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3025 left_y=-0.0003 left_z=0.1222 left_yaw=0.0103 left_pitch=-0.0233 left_roll=-0.0192 left_gripper=0.1726 right_x=0.2851 right_y=-0.0028 right_z=0.1561 right_yaw=-0.0359 right_pitch=-0.093 right_roll=-0.0197 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.359, 9.7026, 1.7998, -0.0513, 0.1392, 1.0281, -0.0068, -1.6615, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\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,$blob:c2e9e1b83058b7b48db655a84037716c792283d99c5d32ea332e2b2ffe4f586d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31752ff6e2ac30c11983ba8db6548231505cb459f590480c143a9e12209cbb73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c63c8d6499f08390c363cd448743da79941c86eec1dcb05fbc65d14984c5eff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAX73kYXq9_2eQi2jf0HyOdk8E08vEGWFBeLMADTpbzRRSI3XDWYRv9sKD78R26m7qI35niZzLZUhsDGTKIF2IHI0lTZuvoIvscJRsDaBkHHz-YMS52I5yN9D-O1M1sJIIMJG8zYfscpc4rLEWZAY6jbS_zdS0XeLvQNzfmUvlECgU_2BGjytyvcm1e5Pm78IqZ_rBhBivl3xZr9Zvv_f6HToWYQkemYFrKCJXCwKX9F3UFRUOjTfNQveMHYwDtm9afIzhcVerMTefOyb2DmobrEShO168cte_GoXIS2SQeVtbbN3d_rpaYUM6ETOmz2SarEhsP5NcxPUejV2yesFOVdMmck6Rmb1fqTC2yE6uBx-ehjZ9CrTKamfuVV4SuEJQ0ANjLDKDsgrW5kQxT13cfZEIHxcqSEEGErJGBhqklYeS1t8YvzxRICx4PYj5XoRNMjt2U6VXEV2KmQ4QDHsK7aCmbR8dNdRsbGWimXqEgPgZlrrEoRNm3LidIp4HmRviszAAOuIk7XWemYUZ8f2_MrZP2y73AEUVg0U9BvYmfwNWTUZr5iHl3pt7RN9O4REVFlQOX_efLegPMdD7NKgfWHJNmHVHktOdtaCzoki7RcqA9fmaVBr7-75iRwnvI1fCk20R3Hv5OAFVMuxEupC5DQLO683lEkqvS09u1Viv0gdsOFnbAkIH4hJTxQ4YK-Ffu5FFPO3IRoz3pUZS67gFHrmObMjBP3KWMEKmbXPolO8q214U1kWc_53Pe3zuX6xTAEtxiLqyy04rvvREFUNtDNlpQXSjyYjrJBLEgnxdy8a3bOhyLB5p9JFNnOZeLOnZvfFncVfF87277wvbQWbFZFCQcYuTBu4ooldySVp2_2UVUCShkECnhgsrtM-J3DGm6kS6jJ54o04LqU6XqUaZhtiQcren22s1VvO-zmcAO54JUEAdZGX3LnKrI96Oie4FO0-seFKd_afhhaAS1gAbEeBcUL6s7sjrsrHFcUepuFPugetePqqcgTIEQJfT_GU2gIaEp-QZWeyuN4QQjRQKgWCfaYe06UKYQ7oOzxF9wWs2sVi-t76o1mUxnQJHYr3rQ3itDLyH06HR80GYH_hKjl5UJaSW0B5r2azXLf6p3fgBJNNs8RXpYieO8DSgOgPwhr7iwPR1IA7V5f3qTUFtUo5FcLTVLw3vayFxipekUK_Rimp5aGXe_dIoajHpo4tV48PUj0eVjsmmAXgB3HSxquPOptTKH1C3fURMHV50nhGJGAwDPx-0rcoXE8AMHwoMR",
  "id": "rs_0d6963c230ebc325016ab44015798087d09581563a3b1cb59c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.2,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The white plush lifted successfully and its original spot is empty. I’ll carry it high to the center of the red lower compartment, approaching from the unobstructed left side.\"}",
  "call_id": "call_QW9yjPSEeAFxcao63GWyPmpY",
  "id": "fc_0d6963c230ebc325016ab44015ba1487d09a5f4a26f251bdd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QW9yjPSEeAFxcao63GWyPmpY",
  "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]: [-0.6434, 1.4773, 1.0603, -0.3225, -0.5064, -0.4179, 0.1681, 0.0029, 0.8284, 0.601, -0.4782, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1743 left_z=0.1793 left_yaw=-0.0142 left_pitch=-0.0505 left_roll=0.0161 left_gripper=0.1681 right_x=0.2816 right_y=-0.0028 right_z=0.15 right_yaw=-0.0358 right_pitch=-0.1224 right_roll=-0.0211 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.6667, 9.5111, 1.58, -0.3492, 0.0024, 1.0281, -0.1846, -1.8393, 6.9675, 1.8144, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa4b5bad466bae94b8b51e25dd43d40622a6c5326bbce8a4ccfbbe93b328112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dc4e3f22c81d88700bfb028e16bd110fdbae2c4e25151273bed7c540a04d48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37e6601c462a0a1a0c6c65311c06c154d26f64af3a22804fd46a7bfb87681d6",
      "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 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 1.4006, 0.1799, 0.5106, -0.0135, -0.0517, 0.9993, 0.0029, 0.8177, 0.6067, -0.4335, 0.0406, 0.0074, 0.999]\nstate[eef_state]: left_x=0.3029 left_y=-0.0018 left_z=0.0019 left_yaw=-0.0015 left_pitch=-0.1301 left_roll=-0.0147 left_gripper=0.9993 right_x=0.2888 right_y=-0.0028 right_z=0.164 right_yaw=-0.036 right_pitch=-0.0614 right_roll=-0.0182 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.7111, 3.1248, 1.7411, -0.1441, 0.188, -0.0904, -0.1436, -1.388, 7.0085, 1.8584, -0.0024, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8852, 0.4278, -0.1459, -0.0223, -0.0601, 0.1726, 0.0029, 0.8227, 0.6014, -0.4549, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3025 left_y=-0.0003 left_z=0.1222 left_yaw=0.0103 left_pitch=-0.0233 left_roll=-0.0192 left_gripper=0.1726 right_x=0.2851 right_y=-0.0028 right_z=0.1561 right_yaw=-0.0359 right_pitch=-0.093 right_roll=-0.0197 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.359, 9.7026, 1.7998, -0.0513, 0.1392, 1.0281, -0.0068, -1.6615, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6434, 1.4773, 1.0603, -0.3225, -0.5064, -0.4179, 0.1681, 0.0029, 0.8284, 0.601, -0.4782, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1743 left_z=0.1793 left_yaw=-0.0142 left_pitch=-0.0505 left_roll=0.0161 left_gripper=0.1681 right_x=0.2816 right_y=-0.0028 right_z=0.15 right_yaw=-0.0358 right_pitch=-0.1224 right_roll=-0.0211 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.6667, 9.5111, 1.58, -0.3492, 0.0024, 1.0281, -0.1846, -1.8393, 6.9675, 1.8144, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa4b5bad466bae94b8b51e25dd43d40622a6c5326bbce8a4ccfbbe93b328112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dc4e3f22c81d88700bfb028e16bd110fdbae2c4e25151273bed7c540a04d48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37e6601c462a0a1a0c6c65311c06c154d26f64af3a22804fd46a7bfb87681d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d6963c230ebc325016ab4401a838c87d0859352d2ab67caa9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.24,\"left_z\":0.16,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The overhead view shows I am over the upright lid, while the lower compartment is closer to the bases and slightly to the right, already containing the brown plush. I’ll shift the held white plush over that lower tray before lowering it.\"}",
  "call_id": "call_8P9r1Krn3Ow2FkdyIZCqOBzz",
  "id": "fc_0d6963c230ebc325016ab4401e13a087d0bf6b68cebefb3e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8P9r1Krn3Ow2FkdyIZCqOBzz",
  "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]: [-1.0264, 1.4754, 0.9802, -0.4129, -0.7555, -0.72, 0.164, 0.0029, 0.8307, 0.601, -0.4995, 0.0402, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2937 left_y=-0.2444 left_z=0.1547 left_yaw=-0.0502 left_pitch=-0.0315 left_roll=0.0182 left_gripper=0.164 right_x=0.2782 right_y=-0.0027 right_z=0.1454 right_yaw=-0.0356 right_pitch=-0.146 right_roll=-0.0218 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.6667, 6.3795, 1.2918, -0.5397, -0.0513, 1.033, -0.1299, -1.0325, 6.9128, 1.8046, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f37f3b28d50e9e13ba8daa7feb9f9c112838eb6d356c49ba23428351fb237a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa11cf0feb74c5f380cba9e42c04a0a0df5aee3a4f609ea262a51b7b4d6ec88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bac43d21691fbec1dc0273f2c39c87731267bb5418d4e01ec63817df8649d0",
      "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 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 1.4002, 0.1711, 0.5461, -0.0177, -0.0608, 0.2066, 0.0029, 0.8192, 0.6037, -0.44, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3053 left_y=-0.0011 left_z=0.0059 left_yaw=0.007 left_pitch=-0.1031 left_roll=-0.0198 left_gripper=0.2066 right_x=0.2875 right_y=-0.0028 right_z=0.1609 right_yaw=-0.0358 right_pitch=-0.0724 right_roll=-0.0189 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -3.5897, 5.4222, 1.2723, 0.0171, 0.0562, 0.8669, -0.1162, -1.3197, 7.2137, 1.7705, -0.0317, -0.0366, -0.0171]\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]: [-0.6434, 1.4773, 1.0603, -0.3225, -0.5064, -0.4179, 0.1681, 0.0029, 0.8284, 0.601, -0.4782, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1743 left_z=0.1793 left_yaw=-0.0142 left_pitch=-0.0505 left_roll=0.0161 left_gripper=0.1681 right_x=0.2816 right_y=-0.0028 right_z=0.15 right_yaw=-0.0358 right_pitch=-0.1224 right_roll=-0.0211 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.6667, 9.5111, 1.58, -0.3492, 0.0024, 1.0281, -0.1846, -1.8393, 6.9675, 1.8144, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0264, 1.4754, 0.9802, -0.4129, -0.7555, -0.72, 0.164, 0.0029, 0.8307, 0.601, -0.4995, 0.0402, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2937 left_y=-0.2444 left_z=0.1547 left_yaw=-0.0502 left_pitch=-0.0315 left_roll=0.0182 left_gripper=0.164 right_x=0.2782 right_y=-0.0027 right_z=0.1454 right_yaw=-0.0356 right_pitch=-0.146 right_roll=-0.0218 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.6667, 6.3795, 1.2918, -0.5397, -0.0513, 1.033, -0.1299, -1.0325, 6.9128, 1.8046, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f37f3b28d50e9e13ba8daa7feb9f9c112838eb6d356c49ba23428351fb237a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa11cf0feb74c5f380cba9e42c04a0a0df5aee3a4f609ea262a51b7b4d6ec88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bac43d21691fbec1dc0273f2c39c87731267bb5418d4e01ec63817df8649d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAko_v0VTEAvymPpHY-jItgUYgGie6V6HAv1N4-39NJGs27x9MXKWuxSGVAHyhVq55oJelLMk_WNxbQmN0B9T41DnpusjdroQj-Ce7orGQ-8IGVqHuXQxXIFXG0CdcQ6Gx235skgiwRIXW0fbP-8MicdQ3FdccAqS25zEVNzXkVITxa6elzG_Xgv4K8rulOV6TqziYPwdMehnEkZ_caTyCkHKpm-uhahNCuh_YuVHU0jhv_MPEjEXKE-ex2J2AlhAlkvU8GEuZD1UIcPDZwSB8KxseNpCjJHlp_JNle3UbYLSWjlg6HdrnQyCokJ4EysiwyTXCIq78ui4Y_3DqgjMVOJ4ma6kwVQGWxgJRwUDJ_0tQmqT-tj1BWmOMXkjBzXo9Y0LmZGMC5CEAtpdFfY3XhdyIUCmVCvccWBKRjp0M81AuTZdGGBUo-bvi1UopSN02LQ13tTwcNiWw85J21LPNqcpKugSeK7WTXlSL-F978TbRjiQWlCSLeI61OrJYhk9-0RkgLR6D85GBRmJkkeoxvhJBrGmNQm8zGd39vIEuEZBgn7pR_xQn_6l-MHWDGvhMhVV0aGoDt8DMwXi_jSC9D8Rhkpi2VjzuNJh5cfSPqJTotFKMTt2mrqPE2dpsMCvjUNCwrduzCmnasCIkueYxT5G_SERGtDE6USKdQtVUJzt3nffIUKGsevEMLmhsqWnCcBXewHQWOrGlYsJDr0MSa9eb4flN-3ohKntxssWKIQnP93Y0DNx_pe5E3j7x4L6VBBk6f3vatdwsg1o3O83hXDcKUsPeeBb7IyvWvZ0Onp8jfSyeu8QYMFAi5Lfz0i37Zucb-NqxQuGncMfmbAu7OCYbPEttOw2LzuJvAlw1oZopGVH0_mhFg2kOdgMJ4EgSuM_DGsBXueQREJOQkAofOpdSljGFLVJEJYP2GOaRtdUl0scUoiDChJfzF9ryol7vKO-Kwwpn7lZzIAO3R-mTIy1dozCne5Zg0aA1w7KcU4Ka8dYIvA1pJyZ86Fv2XkXh39QdmN6-IfV3-dc0Zc8n3I0w9u-k9kNiYvzWHvOCeIUy4jgVXH7I9Vp0ibj_FEppkd615St_LHWaEF3mAcaHlkRXly0ztURC6fjT7PwoG4t9w_kcxhu0BcRiDzzop_cpEoDGfvhWPAH5Upb3dmyQidxyFrHwTft60oqz43hrM10wJL6hxm0i3NjqE0eTBplT7RdeRVBMjUzdLRU4sxQW5b1WZoazGsHcw998qABiyJoeXLQba8iXrG8lRChJGyayoI6a0n1Jmi-E18sIUKsyHnaHBrlofOahxPKh95NGWAbTBWRHF01XVU2MRVuNs53vpVOmm7YweyUA_REgW1xMgKcNhywt5WsTVOdY88r_--3tMDClQrqNii0M8bppdhQmxTBGSN8s9AGaLjvD27ArUprggWSU6o2s5-nput0VCwZfPwCIOjxbyw5jnq_p40n83GGBMlKFaGd43xUE1zWCT_xG1tvAK4a7GGBIonG32mx1mAIV9pQCRi9PYbL4Rf_FCe0KbxEAR0jYY13YxWOjQNZgeuTr8Uf6D8BflcCQnfIGxkXiwYr8kQ9FYWN1S2MnMYTMpiZgj1oB_5aF59iTiLYVBI_zz-8g5Lm1JwwLv7dfKu5CTgzCR7zREAgV1GgLEcBkMYOxMZ1X8qs6LM23xnLK5ZaImoyFNEU3gmZ_qMQrre1XBwqhXNh9fZjdj6szjPMXJCw4RoiCuxLR23uNuBn6GY18Ke8EtxoAdHid14xY5nJ8syU2QHskCcTYVESR4ifrBchNsVZ_ZExBVQderZ6d--sot3WMG5_4d0ID7nyn3BFOsbHntF8Sk-IIehEpQ-P-WXlsALWsszG6Lk1-UJTg2tVder_P-IHwX8U7WpT8Ja2Ey7a9qUdzq-fUVtlzCA904WATOPaSTIvGnwtGC8zEDNNx-o36TGqj3QIufYM3Ak-iG2yYV8De4_QRHiDOnmn7ZjsFPE3CbyoVJFKXV0g==",
  "id": "rs_0d6963c230ebc325016ab44021738087d09caa84ae49ed8e74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.24,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The white plush is now centered over the empty red lower tray, with the brown plush still just outside its right edge. I’ll lower the white plush inside until it rests below the tray rim.\"}",
  "call_id": "call_uarxXwG67DvFYmW3kDjj6gc6",
  "id": "fc_0d6963c230ebc325016ab44023262087d0a2374f4179fc4c4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uarxXwG67DvFYmW3kDjj6gc6",
  "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]: [-1.0428, 1.6001, 0.7742, -0.0937, -0.8101, -0.7792, 0.1632, 0.0029, 0.8307, 0.6006, -0.5167, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=-0.2397 left_z=0.084 left_yaw=-0.0003 left_pitch=-0.0005 left_roll=0.0019 left_gripper=0.1632 right_x=0.2753 right_y=-0.0028 right_z=0.1421 right_yaw=-0.036 right_pitch=-0.1636 right_roll=-0.0227 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -4.6838, 4.2188, 1.0037, -0.2662, -0.0513, 0.9499, -0.0479, -1.347, 6.9402, 1.79, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaea0857e75f1108090ce64bea5180e6a19bc58e642558d74b67ade742d475ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3d4d0d22ac58ec902fe00195c1648fbce15dd3d19e6bbcfa22e256cb857d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7475ede39477bffe80da02e379c9a49dd86d924c700c7e456aeee62ce74527",
      "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 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8852, 0.4278, -0.1459, -0.0223, -0.0601, 0.1726, 0.0029, 0.8227, 0.6014, -0.4549, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.3025 left_y=-0.0003 left_z=0.1222 left_yaw=0.0103 left_pitch=-0.0233 left_roll=-0.0192 left_gripper=0.1726 right_x=0.2851 right_y=-0.0028 right_z=0.1561 right_yaw=-0.0359 right_pitch=-0.093 right_roll=-0.0197 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.359, 9.7026, 1.7998, -0.0513, 0.1392, 1.0281, -0.0068, -1.6615, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0264, 1.4754, 0.9802, -0.4129, -0.7555, -0.72, 0.164, 0.0029, 0.8307, 0.601, -0.4995, 0.0402, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2937 left_y=-0.2444 left_z=0.1547 left_yaw=-0.0502 left_pitch=-0.0315 left_roll=0.0182 left_gripper=0.164 right_x=0.2782 right_y=-0.0027 right_z=0.1454 right_yaw=-0.0356 right_pitch=-0.146 right_roll=-0.0218 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.6667, 6.3795, 1.2918, -0.5397, -0.0513, 1.033, -0.1299, -1.0325, 6.9128, 1.8046, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0428, 1.6001, 0.7742, -0.0937, -0.8101, -0.7792, 0.1632, 0.0029, 0.8307, 0.6006, -0.5167, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=-0.2397 left_z=0.084 left_yaw=-0.0003 left_pitch=-0.0005 left_roll=0.0019 left_gripper=0.1632 right_x=0.2753 right_y=-0.0028 right_z=0.1421 right_yaw=-0.036 right_pitch=-0.1636 right_roll=-0.0227 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -4.6838, 4.2188, 1.0037, -0.2662, -0.0513, 0.9499, -0.0479, -1.347, 6.9402, 1.79, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaea0857e75f1108090ce64bea5180e6a19bc58e642558d74b67ade742d475ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3d4d0d22ac58ec902fe00195c1648fbce15dd3d19e6bbcfa22e256cb857d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7475ede39477bffe80da02e379c9a49dd86d924c700c7e456aeee62ce74527",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAnrZxVVjosEim8qY8DLeWCXuNHrhvzMWoW_n3s3hTa6ALieTnob0YeCoYpBTREfTvG6TGbO3x0BC8nWojcAX16B-bw9_XHvnKZAHfRrEhSIbYNVadQZgMwaM7Aw-j78DGudvsAUFyohXSVnPWxSvGnstHQkWbOlX4RWjUOFoPjle0Z99e6ghSJVuGoiQREo_jPy9odI2SHYdZxpY8BqybHPnFXEzFahZaS2ai8NqgeizdmdKthd4M3Cdn4PRzUXdOfm4gXbggqCbfWlihCZ-Xz7eGNunRwK1qZrghp4Hz7HowTYZ_jCv5fpU7GRT7WBdVr5BUbJWIcub6wDmFRONHWmYahWQbTOJjXDRxd6PEgesaaVEJQjE7CuyE1jsCf5icDhBGLnEvXfINw9S33YhYVG7pFOtJVrXa_8L84y0EC1jeQXB566gUH1BeEnJP85v1LRq3oDqWuSvIGBbBjzofEHl96W0iOzi9_lIciqZvMf-VsLzriLmPID2ygp06sDywShNqXBi6ANJU-NYA-MHeN2uoGakqcbLgeB1OxoYOzGuBqa2yuxNG3UmtfdI453u6aM5yuJ7Nd9GmmJYyBx6Ba9kUYU0fLgYPL5WcQMaSsuyrBr0OKeK_RsZFP1X7YZ7XLVXQ0oke5zc7uRCSuEWBPyEuZ0FGkV-tVF9AtDgqCp2IhrC1GyU15k6xxzdhyMx8OZRWgMcYqvwjoep0FM0s5Uxq5plO4jSGQtFlNQc3UwXWESQMvOSdHu2iOgbOIsux3U6xxhLdNk6bx2fvxUniargYavrY4LnUknMo8i48DX0V7ERrN5a9S8jSr6aX4GietXJiElC_yvupccKvMZ8yFQI73rAPUCp2nC3oT-MRrfnrPdXYIq_7pKHqGUvMDiprfoWxj8PqqpJhD2UofaWYXgv_vOsrRaGJauEJo2MKsMmVjwPi-1GqIWGWiIf1SWHhm65FirbRI3RupEnUCAOK8HnKXpCp_jy5LVtaw_Jw-HV-PcSdGntUEsQEhGmPtUrwkCNDcF-1p9NW-xou1W2b2IdtF5VBIEd9-JaxNIUHTLDJ_Bs_8ueCeZlebaZj_Ff7oH0WE5GKs3sMBbUg3FsM0pP2IDCNZQLOtTmVmLi2xM6o15ljoMkIkEC_HuNQ0J-JHrGU9YfXTG06zqojah63mvHlnW1P07J4nhT5WBEtvFI0LDfClfA-WEwLvtjfX9jjOiZppb4HZsB8hXAfcW4j4YA==",
  "id": "rs_0d6963c230ebc325016ab440267c3487d09c385bfaa1e5a4d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The white plush is down inside the red lower compartment, centered well away from the rim. I’ll release it in place.\"}",
  "call_id": "call_H7DmkUNjsYc1W4i2SJCyxkmA",
  "id": "fc_0d6963c230ebc325016ab44026a61087d08c95acc52a76632c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H7DmkUNjsYc1W4i2SJCyxkmA",
  "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]: [-1.0401, 1.6039, 0.7673, -0.0757, -0.8276, -0.7902, 0.8949, 0.0029, 0.8352, 0.6006, -0.5449, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2942 left_y=-0.2372 left_z=0.0844 left_yaw=0.0191 left_pitch=0.0152 left_roll=-0.0067 left_gripper=0.8949 right_x=0.2706 right_y=-0.0028 right_z=0.136 right_yaw=-0.0365 right_pitch=-0.1963 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.0769, 6.2974, 1.1258, -0.2173, 0.0464, -0.0415, -0.0752, -1.5795, 6.8444, 1.8144, -0.0464, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3b5fc8627478e02e10e4f88d286a959e213aff035bee25d6602c6bec90bf3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a84892e03cb6ab6ece700a65947b5e3451087bdbac26e6821705a56e5553bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22c16d9a8fb7dfabc669e029b35bbec87a05cdab6815683b26b9719655ac968",
      "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 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6434, 1.4773, 1.0603, -0.3225, -0.5064, -0.4179, 0.1681, 0.0029, 0.8284, 0.601, -0.4782, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.3813 left_y=-0.1743 left_z=0.1793 left_yaw=-0.0142 left_pitch=-0.0505 left_roll=0.0161 left_gripper=0.1681 right_x=0.2816 right_y=-0.0028 right_z=0.15 right_yaw=-0.0358 right_pitch=-0.1224 right_roll=-0.0211 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -6.6667, 9.5111, 1.58, -0.3492, 0.0024, 1.0281, -0.1846, -1.8393, 6.9675, 1.8144, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0428, 1.6001, 0.7742, -0.0937, -0.8101, -0.7792, 0.1632, 0.0029, 0.8307, 0.6006, -0.5167, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=-0.2397 left_z=0.084 left_yaw=-0.0003 left_pitch=-0.0005 left_roll=0.0019 left_gripper=0.1632 right_x=0.2753 right_y=-0.0028 right_z=0.1421 right_yaw=-0.036 right_pitch=-0.1636 right_roll=-0.0227 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -4.6838, 4.2188, 1.0037, -0.2662, -0.0513, 0.9499, -0.0479, -1.347, 6.9402, 1.79, -0.0073, -0.0366, -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]: [-1.0401, 1.6039, 0.7673, -0.0757, -0.8276, -0.7902, 0.8949, 0.0029, 0.8352, 0.6006, -0.5449, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2942 left_y=-0.2372 left_z=0.0844 left_yaw=0.0191 left_pitch=0.0152 left_roll=-0.0067 left_gripper=0.8949 right_x=0.2706 right_y=-0.0028 right_z=0.136 right_yaw=-0.0365 right_pitch=-0.1963 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.0769, 6.2974, 1.1258, -0.2173, 0.0464, -0.0415, -0.0752, -1.5795, 6.8444, 1.8144, -0.0464, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3b5fc8627478e02e10e4f88d286a959e213aff035bee25d6602c6bec90bf3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a84892e03cb6ab6ece700a65947b5e3451087bdbac26e6821705a56e5553bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22c16d9a8fb7dfabc669e029b35bbec87a05cdab6815683b26b9719655ac968",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEArEUxKC5f0LWQf8xGTgTQ-mvQtIN8Kzs59yHBM12GK8nZ3jvRB6bdklYQoLarLH7E-B0Zcf68v8kIhg-TjUDNmXRefOSVhbEtkE4vXSzPCv6c6hEOu7ka9dlXZvfb-KxNWBdCpRyBxhF6pX_5FcdmfuoIuZQ1vNg3r4Y9LYIAPLwjhHiZMKUTSL3tkX1mqprCOYZw32uV9sA-FP9M_UJG7UCSrMaqZ1Ci45-JulUbnD1jMSoK1uaQlYCP0RGiyjz9j-mQvNVfDAOHk4MC5VnZcTUD7QynXFG6A12TOt9dhUuRQR-kiAyw7wSkE25mFHBiisdLlpgTL_UMCBF6qCCrH5x4gqZS-mb5M60oy2zG9vwaZZRHrh89ECQE09hCffDDm3aF08GqV0Z5DTYWHq8XmdoAN_rW7CUSSEASqUiAK9DCPuPvkxIhMipCVlWzi8EY-DOd7zLKCrJgZ4-E77QhVxOq7tHp_W__PZb1e5c85lVds-fs_z4MKQfBY58jLGPz4ABlbPmbi6bfEMTNL-KTvqT7duGO7WUYqRkYHbCcwCx3JXe-vHn-hzcVXIDQJdDPwVv02FcIRR7oNLkyxJeVA8ZqLhosfV_YXg6BtQZqRBl-o75bmz5lzYt47EsBbQz4PnrM8_wCRHnjFvmNZ2M_Ah8f6epKTnQFxaCpkUv8oA4w7jnZ2_2ZMuocl-Lbv37xNNTRtYUwEiSXUlc2JeOU_PyuKjcWgRTOpiosm_vKFb9VcWzSh0XJZ3oWBuEH45EW-2-i3sYjhlmU5AUW7kcrRrJY3xWwojt7XW1ZDx3O93WesczvkSYE8HdIzSd5pdAK-u0leHybaeaxsRg4ALa7CRM33ZyRATvHqhEvSEiKDcV-LncPLR-elosIAsnNnPSycPFn7J52FqEnUmeSoMQpyhT41EcTYrb0wKK8Vtova4IX-MwFStp5lB-OHZzgLdANIWqTwf86jcKYH7_GxGfdXX9vlGgR-DPaNtyaBCCMTtb6IQvKlrweNnyXiHP7iTqo4DMIlaG7MwHSBAXgOEspm_2tcJdpFWP5FJBxovAwllYoAEgWKUPQ1S-o1Z1lXKIuV6L5JIaCCBqd4CF69MjPom45h9Y2VUMYq-sswDLGsROfAhFJvgSHiV71JmY6FlYdnjBVMdcjVCWFKgfvJ7xa0VjwwBCm8RJgulHcPhN5TwdOgim0AfFkZP5RvJKGpBLTee8JMTNs2zi6oB3hAaYtq7w_JBmkzRG20UXLsCzBM-77SLAfk4XJ4R9IrftkNFURCFDKDV2scYPwxAp0QgLxfVYeRdEGgqcx1M9oy4j5TvfWXcx88V03tuyPQBnr0vhInmiLggT2V5lua8MrPwqc2R4S5ij0oFg_DoghDu0dDh9JW8-G1CcmwtM9Zj4F2lrCwxE6S8bykFx6hj_35wDfsHdZfIACsKUu6ZBvIZDKJ5rTZwMxw3GEqSHFPHDjmUpViPgnUwsNuEWulun84Rl9UDuSWzUZGJ2hvpSU_LOvdPXT1Qri3Q4M1wZV4ddJI7JNNR12gUTLLApSGkv3vhu628PyJiIa9MTGawaBJfSY99LtO9n9kjuPBICB8GhIR4vK84Uu7zxHZj0suHhwc2RalQtPBYL1nJUKAC_kPW-QMptBwSuBDPu1J-QaD2BYlGRR63gPhp1LSPgOp6AXCG0DubCGYeMyQoWdihhNpuoP9e7RpjNcgpvZVZ5hAxFA6E3if7y2qxewTOES6G_FTpdHU1C7vtSrTPeEwH3DLxBGt5pcT4c6BiY8D8oLlUTlEttGVcstn90WZC6aJApPA_t4gSNTbYLoNCwJOPQG-GP1iug-ORONLVtrY1l2H0jSh8Rzk9PxePIPSn62s6HxO_tWJjuadESzB8LS7xcPZEaq6wp-A613o_HGIFDtrsEgoSzEPfwvTgDD2rTBYVx37mhvSC5GGoNQhZRrg0FJ1tfr-GkP6Qc9W8C7o9hNK87GwFcuBW1i_wDghkvq8cQRATyR3w0sRnKo-Osx2LhmTcKr3YkaJEdsXlDey6pJRqRI8HEmGm9XlUUOfknDzcuNFOIL1bVeN587XIvL97h-oWTlXTEO9kjxSNsCqUAc21APJ2YBu",
  "id": "rs_0d6963c230ebc325016ab4402955cc87d0ac50b95f868cafb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.34,\"left_z\":0.14,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The white plush has been released and is visible inside the tray. The brown plush remains immediately to the tray’s right, so I’ll lift and shift the open left gripper over it.\"}",
  "call_id": "call_FvGIduTaH5RbvUd56ILZ2Pki",
  "id": "fc_0d6963c230ebc325016ab4402b1e5487d0a6f7ae7ef2e63c49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FvGIduTaH5RbvUd56ILZ2Pki",
  "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]: [-1.2518, 1.8114, 1.2686, -0.5762, -0.8967, -1.0584, 0.9982, 0.0029, 0.8352, 0.6006, -0.5682, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2606 left_y=-0.3377 left_z=0.1311 left_yaw=-0.0084 left_pitch=-0.0165 left_roll=-0.0181 left_gripper=0.9982 right_x=0.2665 right_y=-0.0028 right_z=0.1319 right_yaw=-0.0365 right_pitch=-0.2196 right_roll=-0.025 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -8.6632, 7.9658, 0.8181, -0.696, 0.0366, -0.1832, -0.1436, -1.3333, 6.9402, 1.7118, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d6baf763133bde71f3d6edd95d9b8c94a124c774f59723d8027f0c5a1f08ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf85d25f1ce9e6ceb1464d2a4c76bfc6a118fd94576cd3fbda27337cf599b122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4755547c5fa5f4ac9d6dfae2f29ee5a49b6bb0ce1dc2a55ac4172b409aff8ce1",
      "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 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0264, 1.4754, 0.9802, -0.4129, -0.7555, -0.72, 0.164, 0.0029, 0.8307, 0.601, -0.4995, 0.0402, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2937 left_y=-0.2444 left_z=0.1547 left_yaw=-0.0502 left_pitch=-0.0315 left_roll=0.0182 left_gripper=0.164 right_x=0.2782 right_y=-0.0027 right_z=0.1454 right_yaw=-0.0356 right_pitch=-0.146 right_roll=-0.0218 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -6.6667, 6.3795, 1.2918, -0.5397, -0.0513, 1.033, -0.1299, -1.0325, 6.9128, 1.8046, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0401, 1.6039, 0.7673, -0.0757, -0.8276, -0.7902, 0.8949, 0.0029, 0.8352, 0.6006, -0.5449, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2942 left_y=-0.2372 left_z=0.0844 left_yaw=0.0191 left_pitch=0.0152 left_roll=-0.0067 left_gripper=0.8949 right_x=0.2706 right_y=-0.0028 right_z=0.136 right_yaw=-0.0365 right_pitch=-0.1963 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.0769, 6.2974, 1.1258, -0.2173, 0.0464, -0.0415, -0.0752, -1.5795, 6.8444, 1.8144, -0.0464, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-1.2518, 1.8114, 1.2686, -0.5762, -0.8967, -1.0584, 0.9982, 0.0029, 0.8352, 0.6006, -0.5682, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2606 left_y=-0.3377 left_z=0.1311 left_yaw=-0.0084 left_pitch=-0.0165 left_roll=-0.0181 left_gripper=0.9982 right_x=0.2665 right_y=-0.0028 right_z=0.1319 right_yaw=-0.0365 right_pitch=-0.2196 right_roll=-0.025 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -8.6632, 7.9658, 0.8181, -0.696, 0.0366, -0.1832, -0.1436, -1.3333, 6.9402, 1.7118, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d6baf763133bde71f3d6edd95d9b8c94a124c774f59723d8027f0c5a1f08ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf85d25f1ce9e6ceb1464d2a4c76bfc6a118fd94576cd3fbda27337cf599b122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4755547c5fa5f4ac9d6dfae2f29ee5a49b6bb0ce1dc2a55ac4172b409aff8ce1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAvtF6ImgLbpxqXHdiT7zQmg15vOqAaXyJSVfBTQz8H1Kek6rNJfVkoNlIdwlMCI6cz5SB1xmH7R-hBz661SrAh_b1glnR3Ecql5RQkeC00-jStHiE72XeSF5z0Xi0QZ8PqHHpkXu9_X2MaqRWz8EN06rY0_fjw0i79QxHm0TEqr0dDEH7vorJVtPGhDNcrIWpuoSb5otiB-EG4IG1QtE45Qc_AEoe0ebdJC3j_R9mfKlkePgwXbTFCMuXw7iB7wxCMPWt4ptQDbDJfnMBC4WgA0plMlH_o_xaZMoC2qW7uHOWHQDihD36m2QUFsGsUZ2GHJNm9YLjf1Lg53YyJOAHRgVUNeWvaXBCFYWK0iPxwLaj-ZgGsPDT3FdZ7mtYKezSf0pBmmYGsa79xHfNIXyhCCZkPwAdaXKROCgn5WzPXFnqphbCnm6LkHtJCiDaWbYhmRBWtCOtcPcqTTASGyRHgqarK3iducd_kyNaoNMpk0BKLVFqKq9uXU37sD_AHqtcAofWydBDQyLaIIu-Y0ckNQnLyUFqKD_2CCOgECt-lzeiP2YbCfr-1yvs0tsFMv0G8V9dqxdsf2Mo8PlGQdPighpykoTGcYEGTr0FvJZdpIP-mp3HWCTf7xNORVplvKFnje1o2TCLuk1z1QLBQJf_3jdkrZRlifN9-ArXJ4jW2U6vCBARFB7KtLbGqcrwZFuZb6d7hT4_HKnr9_3MFsqiFpVB1fsRXXgtsfc6A0svJWyma_KQMLzpPFvejEPDE77P-2ZOXN3O2D26UN4hrcUmclFG4XUGrDxICHKx9r30yKKQ05h9NLTLNI5cuM4V9BVVw2q0oFR_NprdP_hxLlPXZGqphR3Vzmc-wfLqOPTfoq0lphTQGFuTXfUJhGQWesMDGZyewGBkqIkHtLoC_2K3FgkYnGKGLe6ABmeakryE2HIE_t4IHKNwEVgfgtc_tQ9wEPq1GX4lqg0v910Gt5J6iaMybiX42vhb8pA3Xlw67PvEmN9J9s9NlfAlWf3M5K7SfydQKLxTxZeiD9YB9mZd43HMNZLsnAxMV1LKHfO5a07_T05kR0nnYbLAPTtR91HX1O9BWDLVUTnV99nuHZFdb_TrO6uRz1qfs18ch8Voqi4EWXKGe1DBNEptClWj6GxNyKSP8BJOL_BvePy8HJ3xxpZS8Q53DGsS0TAX81hID5PDv3ZiVNIumpqmTA2lENy0TGdjhne6-nT3TDwlSSjiHQRWZgwmK-jHlzDFRsqw4wPGA_TEGvzsNDhcH4nF-6EXqeDIHFRjFx5xT7149jVGmE9owZVPTM2PLDs_cKAbCMc7sq5dMuig3VkWUM4r7rpY3gRzp91KTsfcGX7Fy-azLNBlTe7NGBtjuX3Qy2NStyR8=",
  "id": "rs_0d6963c230ebc325016ab4402e59d087d0b6dd8e6f7e76619c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.34,\"left_z\":0.025,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The brown plush is centered between the left jaws at the fingertip row, directly beside the tray. I’ll descend vertically to grasp its body near table level.\"}",
  "call_id": "call_EHQI5X2Tz0jGaGOgsAuCpXMV",
  "id": "fc_0d6963c230ebc325016ab4402eb3a087d082b6efcfd16c4fb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EHQI5X2Tz0jGaGOgsAuCpXMV",
  "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]: [-1.2541, 1.9858, 1.1152, -0.2657, -0.9646, -1.0313, 0.9984, 0.0029, 0.8352, 0.6006, -0.5919, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2666 left_y=-0.3357 left_z=0.0502 left_yaw=0.0032 left_pitch=0.0361 left_roll=0.0403 left_gripper=0.9984 right_x=0.2622 right_y=-0.0028 right_z=0.1279 right_yaw=-0.0369 right_pitch=-0.2432 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.5299, 3.7675, 1.1844, 0.359, -0.3297, -0.1734, -0.0342, -0.9778, 6.9949, 1.6923, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46e206eae9aa79d3eeae9d74fcd7cb5b81e14a80ec5302601933cf5eb67baf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c8ee8e69ec4c937b91e12dcdd134b63990c2d7436eff75115838ea7ca8ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66230921ed8309893daabf14ff30c744220a69ffc0a31caf21bf00d31050bf18",
      "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 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0428, 1.6001, 0.7742, -0.0937, -0.8101, -0.7792, 0.1632, 0.0029, 0.8307, 0.6006, -0.5167, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=-0.2397 left_z=0.084 left_yaw=-0.0003 left_pitch=-0.0005 left_roll=0.0019 left_gripper=0.1632 right_x=0.2753 right_y=-0.0028 right_z=0.1421 right_yaw=-0.036 right_pitch=-0.1636 right_roll=-0.0227 right_gripper=0.9989\nstate[joint_eff]: [-0.8137, -4.6838, 4.2188, 1.0037, -0.2662, -0.0513, 0.9499, -0.0479, -1.347, 6.9402, 1.79, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2518, 1.8114, 1.2686, -0.5762, -0.8967, -1.0584, 0.9982, 0.0029, 0.8352, 0.6006, -0.5682, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2606 left_y=-0.3377 left_z=0.1311 left_yaw=-0.0084 left_pitch=-0.0165 left_roll=-0.0181 left_gripper=0.9982 right_x=0.2665 right_y=-0.0028 right_z=0.1319 right_yaw=-0.0365 right_pitch=-0.2196 right_roll=-0.025 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -8.6632, 7.9658, 0.8181, -0.696, 0.0366, -0.1832, -0.1436, -1.3333, 6.9402, 1.7118, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2541, 1.9858, 1.1152, -0.2657, -0.9646, -1.0313, 0.9984, 0.0029, 0.8352, 0.6006, -0.5919, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2666 left_y=-0.3357 left_z=0.0502 left_yaw=0.0032 left_pitch=0.0361 left_roll=0.0403 left_gripper=0.9984 right_x=0.2622 right_y=-0.0028 right_z=0.1279 right_yaw=-0.0369 right_pitch=-0.2432 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.5299, 3.7675, 1.1844, 0.359, -0.3297, -0.1734, -0.0342, -0.9778, 6.9949, 1.6923, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46e206eae9aa79d3eeae9d74fcd7cb5b81e14a80ec5302601933cf5eb67baf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8c8ee8e69ec4c937b91e12dcdd134b63990c2d7436eff75115838ea7ca8ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66230921ed8309893daabf14ff30c744220a69ffc0a31caf21bf00d31050bf18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAz7bzGT0Om9RPL9r4wNAiLYV0r0sVGPKs4RmkcUOnxFSawecB4giqMyguyyPxFj_sUUJ3ebmA5lB9FIPOfcWjtie96sp4-_wy642g-l-YzRsNMkvgt1I5i4RUMqvbo6JvwUES05GoeDOgNiKbXso6eccu-fWqc_Y4AMYTGuSfmLKzttyi-gSKX7xL2eI0bLLAT4ZJpp7zqwZFQ8zVybUMCKPSNnfuZayjJVBZsjWe3YhcE4BquacrtEcVlu1bN9avBXHJ3HYdFvZkEiyEfhMBkjNUJQ5rkQyaJnEy_dt367pCEuB4-xi7tX6ik3OlVr6h7oFON4oSd8czefI6d2_CxaAVgr_gFlLANgAXZe7XusdUpjk-KIO-3njxAuzNgn-g0gitbAj5zX2hyQ0lkhJGm5VBhyusaAmPUdStvbWPwru8RJkiPtHDf5V08OoyGJDnwME2oZmCJdiyNgdfgzLIBNlhvF9oBS7AOY_kM1Zg5ZCd4ogku2q4E7_XXwx_9Z-SYuUOQLAEPgGRXGYnt_CF9QVK0ZIHuyh2bLXI8NsEoGTF1xm1hYF0A6AD5MuomCutUS-wblr8p7AIhgNwCDx67HY6GKifIeaKoB1wR_SDOFwr2RkcnqhU77FNcRcSZLl7H_pabc_Ei_Z1NLkghvizijmjxjlu27_Cf0WSYyM9QZnAQMyd3JWIqh3K5-HA_DCvdYEbj28qZyObomVhi1mDwk2BCiU6y_MYxgVghyZS6O8pAAOmLYC7sPThRBnu4KWzFBgdKMf9Qe1cFXpDVUW9nL4xzbq21N0cNxHxAgnKNRfJHN0TPIjKuxO66CeJUJv7FJzB-7iCDNxd0MR8YJYXFObj-FVoZY7OWHAoOusAh4uMrLRwpSDf0yBk-U0PYSBIScMXmPXvg6zf84tGMMemLLyV7ibD-1KVT5-R5kVs7eLxWmQdi3VtmWFjlrlQK3LTQbGVB446mehO8TA50PWRqdjkR9OOOeQM9PJCADfAV-REB6MXFSSvfQ_WsFvxT_351wAllAboVzM7yXJ-L2PpOPhSXyCXoqxrWmhyTofc5l-j7XuSkR1gobB5zt_8Qm7Z_i37LgIptaP725cE9PYJb5etmza3DxI-YwR1gbtMVaXdLJh4n7_aCLZeHjrQV53qJkVW0OM3CeKWHcZQfB7FksPX2rqvCVM4Ptm-U84cl1lt0DioIzbxIZa6Q9kG0a0f-qez7E061S1lluZhrCO2t2yNE8wLzIesS1Fj5M8oyX689SJ7ThSXxpllR2r8yQP5h4QOzSwLJkJSmxTEKomHdlQ==",
  "id": "rs_0d6963c230ebc325016ab44031c4ac87d0860e33bb8d43c23b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left gripper has descended to the brown plush’s body and both fingers flank its fur. I’ll close fully to secure the soft object.\"}",
  "call_id": "call_UMRkPKi14xW2xAVV9uevkTTo",
  "id": "fc_0d6963c230ebc325016ab44032079087d09687cef04a289a9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UMRkPKi14xW2xAVV9uevkTTo",
  "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]: [-1.2552, 1.9854, 1.1156, -0.2386, -1.0271, -1.0306, 0.0102, 0.0029, 0.8364, 0.6006, -0.6128, 0.041, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=-0.3343 left_z=0.0607 left_yaw=0.0295 left_pitch=0.0982 left_roll=0.031 left_gripper=0.0102 right_x=0.2584 right_y=-0.0029 right_z=0.1242 right_yaw=-0.0372 right_pitch=-0.2653 right_roll=-0.0271 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -9.7846, 5.3265, 0.652, 0.1148, -0.0317, 0.8132, -0.212, -0.8, 6.8171, 1.6777, 0.0073, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79537012dd30bd7753669548d5ac5ffeadb052dec4a888874951d9f8a27aeda3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f480b92bd6498395f5edcfbfe56d6696d2027b05b36fbe5fa13e93f359870a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4056eacd65fdbe1c7e97ebc15a87f94487e285388501760cae91428c4a20ef",
      "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 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0401, 1.6039, 0.7673, -0.0757, -0.8276, -0.7902, 0.8949, 0.0029, 0.8352, 0.6006, -0.5449, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2942 left_y=-0.2372 left_z=0.0844 left_yaw=0.0191 left_pitch=0.0152 left_roll=-0.0067 left_gripper=0.8949 right_x=0.2706 right_y=-0.0028 right_z=0.136 right_yaw=-0.0365 right_pitch=-0.1963 right_roll=-0.0238 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -7.0769, 6.2974, 1.1258, -0.2173, 0.0464, -0.0415, -0.0752, -1.5795, 6.8444, 1.8144, -0.0464, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-1.2541, 1.9858, 1.1152, -0.2657, -0.9646, -1.0313, 0.9984, 0.0029, 0.8352, 0.6006, -0.5919, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2666 left_y=-0.3357 left_z=0.0502 left_yaw=0.0032 left_pitch=0.0361 left_roll=0.0403 left_gripper=0.9984 right_x=0.2622 right_y=-0.0028 right_z=0.1279 right_yaw=-0.0369 right_pitch=-0.2432 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.5299, 3.7675, 1.1844, 0.359, -0.3297, -0.1734, -0.0342, -0.9778, 6.9949, 1.6923, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2552, 1.9854, 1.1156, -0.2386, -1.0271, -1.0306, 0.0102, 0.0029, 0.8364, 0.6006, -0.6128, 0.041, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=-0.3343 left_z=0.0607 left_yaw=0.0295 left_pitch=0.0982 left_roll=0.031 left_gripper=0.0102 right_x=0.2584 right_y=-0.0029 right_z=0.1242 right_yaw=-0.0372 right_pitch=-0.2653 right_roll=-0.0271 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -9.7846, 5.3265, 0.652, 0.1148, -0.0317, 0.8132, -0.212, -0.8, 6.8171, 1.6777, 0.0073, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79537012dd30bd7753669548d5ac5ffeadb052dec4a888874951d9f8a27aeda3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f480b92bd6498395f5edcfbfe56d6696d2027b05b36fbe5fa13e93f359870a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4056eacd65fdbe1c7e97ebc15a87f94487e285388501760cae91428c4a20ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEA5IEZz4uAARy4ToodWoBjV_iCpxxOCZzTNKfJhXBXTFtfhNYvEG-ZS-t3JZR3f8hSuwuvgOj0x1OhVmvdXOxlK2GRkGUjVIwxtuSWpiADmAedDcbzgBatTLmmYIS_Roe3ZUlg2Kafjgq_h0jrHgsbIfb8etmTH5HJB27KDfxrlje6ETvtikHkR2sMMkwPZaCBvgtRZNLkLoiyftNzcxMChIC2ngRzAYBmWh-G2CKehAnfftgKXXJClAD8bTSm2Un31YATIRSf2OOmoHM-qgQd7jWNumLEzYW5q82hijAFSNnndTcqVu8rtK_gZGJw3hNB7GO85GAd06QM7F8FixuO3vfHwt9rxqjMZS5HnMLCrwiizTVrpX13oK1yRDFkDOPrLxzZfT10tpyaBDmqPrwNq1hHrgljZLNTZv8MUaD9pAwgjoBo3Ma38AXFKqUVvq8f15UW4tqFJRI3vibdRs_UuIzihdL0m5z2CdptWmjL6Yvy9IHCOVcx77HY-i_Qj0uBA4Ey7fJBbAAAK9xBf0AeFKYH_ECi49Fgd-RvVg3YyYqEONSiu1TdY-pJ6MhoAIDD5-HDMEL3BE5SBX8dEbL8ldW6sUFYtGcLXOXCQUIp-y6-XV6mzFZNBH3_iZToXy97IqVfiTQm1H8sUv08_h75oan2jpy-14LPtaJMtmGXEyjeH5c1LGSnrBK1RoZ-8gPKRh2irJcPMoM2Rw5yRjAF2ULbFx-bBrNlGWgtldNzzBdlo_BqUgCF3GcK_ZqLU88dMXJoPJgBoAZOxQ-JSryFo26-XdwPeCV9BO9ZBZpRWg_eUmy1xn7EXvP-XTHC_gjVjjNCiNizInRcoz47kn99lIF4bZLjMn5myjHhGt0hVCfikzKGc5DvdIUvKiJQCWqBrUJWo0Hg3FP8DSXwad1TizA1RRdDVV54DVtiH5I43Hzo6DW4sN4WwpBvoWcCCTaqfJyFEj5oXOI-4gwcKRJfw5iQq8uzUwWrzE-rTdCX-mGuss7CESuNHnil48oE6-J-Z1hgHCfxlRA0ozzc6zUv2xBaIGLmAl-Fc11_gXt4hOpE7mG_kh_jE-lYpQfqUTY2LCdAXH_LBfiAGYqOShlqIJbthsPgFVCnYmjPG1Pkadxa3x5fnPDM8rhqxEYnBZ9bWTsJigWbMH7agQoO4bi0QvOyxec1CzZ7_TH1QXb6dB5gTGyHLxog4aWxBCJOIGPBy-yvLXRSqvV3Rgjottt98T_eGNP_wT-J-pPZsEZcEBBHC0tmRsoUXrBHLHowK7sf8SdtT9W98Dfdo90qKM2UMBNucfQ0kJGj4NupEePSdpMpPkEzXnwbodGN5mkvIfweTjbI2ij4ugKO01dZ0Cm5Nj3oTngwrMwCnt3XCnKZAKMp4-GlVkwBrU93aMJZkJbChzt6vopI3RQ0uWwvWQ_1ZmwYQLtpWD2Dmr8iYok8zD8CKNspTWCWhqSbXWfSue3U0Lo1Da4ThZbxgXep1mHOQ6owagNTZf-Dd6U1zzAvZoF-3JCdzW98Rh_QGsALOLdH5h-B63fGrmuiMyRDu8OE6HPr-qqpQk0hdcLiZijVvjril86uVywd_06bRSKgrgiU0-r-aouH90-PTV8rbzi1M7eISxwLdf_qXh6CGiZM4vA7_eamBqCXayExv3vghfmLWQ8wVxHySjNCGaUzKrDu2kIsbGNfDPZhI1jEAmnB7ii5X6SnnPJXW9s4xjClpL3PBYw9KzEYa-fk72DxmLl9jyhn7YPlR5XNJZ1r3_LPDPfmO1bjIOe2Vitc3H4ZLkhcy",
  "id": "rs_0d6963c230ebc325016ab44035dd0887d0ab6ad7b6708aa289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.395,\"left_z\":0.06,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The gripper closed empty at 0.01; the brown plush is visibly to the right of both jaws. I’ll reopen and shift to the left arm’s right-side workspace limit to center over its body for one corrected attempt.\"}",
  "call_id": "call_7Wd1lNp9veJ2YizHXuLm3YIp",
  "id": "fc_0d6963c230ebc325016ab44037e1a487d08cf78a6f184ded0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7Wd1lNp9veJ2YizHXuLm3YIp",
  "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]: [-1.2591, 2.1197, 1.3949, -0.4301, -0.9733, -1.0863, 0.9952, 0.0029, 0.8379, 0.6006, -0.635, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2802 left_y=-0.3818 left_z=0.0648 left_yaw=0.0312 left_pitch=0.0393 left_roll=0.0134 left_gripper=0.9952 right_x=0.2543 right_y=-0.0029 right_z=0.1203 right_yaw=-0.0372 right_pitch=-0.289 right_roll=-0.0278 right_gripper=0.999\nstate[joint_eff]: [-1.0598, -9.9214, 7.8017, 0.9255, -0.0513, 0.0513, -0.0171, -0.1983, -1.2239, 6.7624, 1.6532, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9afda8b675bf49f020b1df4435d4fef65dde69636700a51d21822c4ab4b834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6329e264eef41d441ee49294328558c37d5fa0bd0a8679e791429878f81777a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b00effd277d1c9af481d98c27001fafdaf048cdde9ce4c9cec4ae67480b2ac",
      "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 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2518, 1.8114, 1.2686, -0.5762, -0.8967, -1.0584, 0.9982, 0.0029, 0.8352, 0.6006, -0.5682, 0.0406, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2606 left_y=-0.3377 left_z=0.1311 left_yaw=-0.0084 left_pitch=-0.0165 left_roll=-0.0181 left_gripper=0.9982 right_x=0.2665 right_y=-0.0028 right_z=0.1319 right_yaw=-0.0365 right_pitch=-0.2196 right_roll=-0.025 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -8.6632, 7.9658, 0.8181, -0.696, 0.0366, -0.1832, -0.1436, -1.3333, 6.9402, 1.7118, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2552, 1.9854, 1.1156, -0.2386, -1.0271, -1.0306, 0.0102, 0.0029, 0.8364, 0.6006, -0.6128, 0.041, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=-0.3343 left_z=0.0607 left_yaw=0.0295 left_pitch=0.0982 left_roll=0.031 left_gripper=0.0102 right_x=0.2584 right_y=-0.0029 right_z=0.1242 right_yaw=-0.0372 right_pitch=-0.2653 right_roll=-0.0271 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -9.7846, 5.3265, 0.652, 0.1148, -0.0317, 0.8132, -0.212, -0.8, 6.8171, 1.6777, 0.0073, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2591, 2.1197, 1.3949, -0.4301, -0.9733, -1.0863, 0.9952, 0.0029, 0.8379, 0.6006, -0.635, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2802 left_y=-0.3818 left_z=0.0648 left_yaw=0.0312 left_pitch=0.0393 left_roll=0.0134 left_gripper=0.9952 right_x=0.2543 right_y=-0.0029 right_z=0.1203 right_yaw=-0.0372 right_pitch=-0.289 right_roll=-0.0278 right_gripper=0.999\nstate[joint_eff]: [-1.0598, -9.9214, 7.8017, 0.9255, -0.0513, 0.0513, -0.0171, -0.1983, -1.2239, 6.7624, 1.6532, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9afda8b675bf49f020b1df4435d4fef65dde69636700a51d21822c4ab4b834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6329e264eef41d441ee49294328558c37d5fa0bd0a8679e791429878f81777a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b00effd277d1c9af481d98c27001fafdaf048cdde9ce4c9cec4ae67480b2ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEA8yzOqLyjy8OAHwF02DcNm0TJu5dNpvgNqGyxu5TY053IbWtfmhO5nlCvG3Pumd443qpDBTsE6f9H3QIydxC9xvDrWuoOB44bOYS5-axEPwdktridFq8_zDXGt2HT3-mdZXhvRSHDLzGOoFBNTRd-PMMCwwCIMg6-YGDhiCFRNh5JSmxNwNibHmFxiy1AWOtw8XgICPAuolDWJGKbWqX1S4D9di41bSy1_IKvG33xPctZdHJdJOPfu8gynp6qkNUSxDiN8C1gFoVDan6Zj0SRvpbSpvmvg9ABQ_gI66IzfOGLM5CQQ8kowMk_ehmfTuanbqKswZQ6Zr0u9N8TIKVDRxWyUs0X0sN9TaCu12f8tVp3H3dzkZIKX2SqOy3MB-Z0N9hDCaFf-h2azuOhN-7ZIuCBwN58bou7_KyEJW9_6QzR-03dEGnHNfVQJYzHhyahPT9rJhvPXjKWSC6bXfYL-OODiKZhQkI5BXnB08FLuOqhJoVsLm788650LvRNBrqUJIVCJqSMNmoOGa9CIUDY8dQ3oNgn3UOoxxHmCi9GM-zAnL8ByBYQqSymBFzNonDqxPXcSCr_H5w3o_oMJNbnFTNNr12S7BEoNOVNVFVuzEiPPz-0o3DX-LEUMGyzHYHSDGG7o66LuRMy4urQ70sa3VZUAFoOKu9590JOIFQGITlhVbW0TNVlZ0I3Xadf-oFKBOcms0BRox26iDCqxJY9cQxTDdgYXLn-ioR67DDfT7kU3Ow6qoYZNKo_WYuARQCNKMxMLzqCeOasODB1N3IECHY_mflDLntgZH3SEB4D6My5-HL9eH5dng1vMX7JinqgxZYzVV_GLMmhGDbEQE8gxkuAxIioDKt9j-q6lI9Fjz91GMFaDIHd95rl_xIH0mKdvsiBUyiRrHtVMvuu8FyNmgdFKF_kN6wfPZhOdq6sdUPo1CafI22YhHHq-3n2YuxPjgF358kfaVqaC6Q1jw_8aIC06YDhrdvnKyO67BT3v-z1CjQNLl8re46rXfrJRRZ61n00tFE-JJOzzEWTd91arv6XCjx13ncwKsxHFuCU60cgE-qbxIZU_09jHe2zBhK6CtSk3bj6KdX-5JRfyoLNy8CO97-SZAabdSY4gon2q-9AaKxTkCAKvUyLrZ3_mIp40mJB4HALsP4l5BFSZ44e5gYLH_iQR_Mw-0zXMnB16SUCI8RVVmeF0Cpf36n8yfzKtG08bF86-JLMYr4YceXYfgOL0xewHqb2avpRQGvQdm9SENJdx5u5VtMGEUxD05fdi0i1nsg9ESr_OlCjXvW5tMA==",
  "id": "rs_0d6963c230ebc325016ab4403b4c1487d0b9a4c9516356ddd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected shift places the brown plush’s torso squarely between the open jaws in the wrist view. I’ll close now while maintaining this alignment.\"}",
  "call_id": "call_XLOR6CuMiRCs8X8yOpRCx2D0",
  "id": "fc_0d6963c230ebc325016ab4403b8e3087d0ad8d620557864462",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XLOR6CuMiRCs8X8yOpRCx2D0",
  "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]: [-1.2617, 2.1235, 1.3991, -0.4423, -0.9691, -1.0901, 0.01, 0.0029, 0.8379, 0.6006, -0.6571, 0.041, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=-0.382 left_z=0.063 left_yaw=0.0286 left_pitch=0.0323 left_roll=0.0204 left_gripper=0.01 right_x=0.25 right_y=-0.0029 right_z=0.1168 right_yaw=-0.0378 right_pitch=-0.3111 right_roll=-0.0291 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -11.6034, 5.3812, 1.0427, -0.5153, 0.0269, 0.823, -0.1709, -1.265, 6.7487, 1.619, -0.0073, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97aa968799bf319d1e6647175f96ee0c9d00d35d1be4e3a5d95af2942010eac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc07b9ad6bf04478731e4f7691a41382de49127765d02977798c697b672e9c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b4296ad7fc38e9e45b52152dc2fae6e5dda7c554e5a45e77e059df10a4faf3",
      "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 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2541, 1.9858, 1.1152, -0.2657, -0.9646, -1.0313, 0.9984, 0.0029, 0.8352, 0.6006, -0.5919, 0.0406, 0.0071, 0.999]\nstate[eef_state]: left_x=0.2666 left_y=-0.3357 left_z=0.0502 left_yaw=0.0032 left_pitch=0.0361 left_roll=0.0403 left_gripper=0.9984 right_x=0.2622 right_y=-0.0028 right_z=0.1279 right_yaw=-0.0369 right_pitch=-0.2432 right_roll=-0.0257 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.5299, 3.7675, 1.1844, 0.359, -0.3297, -0.1734, -0.0342, -0.9778, 6.9949, 1.6923, 0.0073, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2591, 2.1197, 1.3949, -0.4301, -0.9733, -1.0863, 0.9952, 0.0029, 0.8379, 0.6006, -0.635, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2802 left_y=-0.3818 left_z=0.0648 left_yaw=0.0312 left_pitch=0.0393 left_roll=0.0134 left_gripper=0.9952 right_x=0.2543 right_y=-0.0029 right_z=0.1203 right_yaw=-0.0372 right_pitch=-0.289 right_roll=-0.0278 right_gripper=0.999\nstate[joint_eff]: [-1.0598, -9.9214, 7.8017, 0.9255, -0.0513, 0.0513, -0.0171, -0.1983, -1.2239, 6.7624, 1.6532, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-1.2617, 2.1235, 1.3991, -0.4423, -0.9691, -1.0901, 0.01, 0.0029, 0.8379, 0.6006, -0.6571, 0.041, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=-0.382 left_z=0.063 left_yaw=0.0286 left_pitch=0.0323 left_roll=0.0204 left_gripper=0.01 right_x=0.25 right_y=-0.0029 right_z=0.1168 right_yaw=-0.0378 right_pitch=-0.3111 right_roll=-0.0291 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -11.6034, 5.3812, 1.0427, -0.5153, 0.0269, 0.823, -0.1709, -1.265, 6.7487, 1.619, -0.0073, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97aa968799bf319d1e6647175f96ee0c9d00d35d1be4e3a5d95af2942010eac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc07b9ad6bf04478731e4f7691a41382de49127765d02977798c697b672e9c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b4296ad7fc38e9e45b52152dc2fae6e5dda7c554e5a45e77e059df10a4faf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBH_EfKi0uvBaUgvh1HIJArCVVjFveRBX_KdfsHa5Zgw3KIMtp8v7n7fxAoavFHPA2t9ybWeAZ2XEZ-_So7x20qF8WxGw75MErN-jORoUdsE4q2IYck4poGPaXf1_YVfCuuDsqKA2jTqIyCcv6rMj8nMdNEKURWatJ9pnQg0FudE7bxt-1KewNXhJQtVIz1GFvO6a9BvC5u8xve9W6a4Y6InEDMBIWwi8bkVGYIIsKhHFUzAdBvGgcEsxQilUJhjNG1K1YvxW_f2xKWa3lMOgDz__79hd1Cw9dyLbeIUQp89GK7zCnui3E8g1DYZSj9OzJ-VOp_EbaQwf4Q4vunqq72r7dxabb1x6wnBQWDlyxRKZPwqqjTqDtQ9YOit4MRAqsMIwIL1TjwBWIdrifBEj1bKKfJq9Pw1Zo-M5DSVVD_rGBUuC7Xp6krCMmHMmbcXKuRpZ-OWrEw_P8ijUOMAWeuU6BsEFQ69o6bltw3PdmHN3mKcAklVNVCg8L1BKXVJajUxjIXcBaiK0u312S5_wFQeJKEXauAwBUVpg3mQ66-4EuGif-CMtAciRllnFEFU-edH2Is1DFZh4g3HpxXR902zrj9uKHTr_PKnyKpSfgPa5Mki9IvuURwlpQUD24Fzxsd-GmBdQCF8ZuHnlmHnbmUwMI7Nr8XweXhRI7G4T_RHyzGk9Yz0TAROk9dDravOb3WnVHtsRLdZ6X01DUxr5U5gM7-Elv0WulWJqEdyeQVCQ8Y4ePO9hHAObgjKDT7PBu66R0jHf8u8PQYwlV5vAVrCm48TGRLPlNDfMy7dNI1pUbA0wIWoPiA9ObrZejEAIROuGfrp72QP2VxB6PwscYToTj2azVpGjOZa1ZGn8Tfwv_CsGd4gqIGCJnF0jDHjgebNrCbEq6p-ZKdoR_piLPkslRtiY4VlsTk9jUdIqWsJArC3Y04biuXluUuw_5YB0pmP0p2G-yvPdsMRXeb5WS46pZOWiBdm1OibCpkW48zK3xxn6yWosKgrcQ3grzxXnIkbOJZXB55JrGqsEN7cHa5NbSTsDefQ4MxzgmL7tqwYepWR8KPkqQaAmgHRAIxmlXuz8F9y0rp39KzVD7i1L3W8Km737tDL5OtY7xnYCjqTex6NMmyl888ais4Z1YHz7QfoDfGK4x_OboXko2DLzF2AwGK1HOu5GCXyHdAyKTkQShj3DcBBBBkfCsx_5Y-pAzo27Ezoo4H3iIrbjzN5oCru45gxbaJbyslrEEByIE-icPWIliz6_EO8rhyWhfOq2sBmfqg65M0kTQ4HR-rjQFfGiEcVdoBSMKpKGT5RDFu3vpoHM8GCsR22jTId3IciaCLTs6xxfSiqIlYiXI4IVdoI52Km2aQOo0P5T9k3S7ceBuZ6Wj05sXC6p7-i-p1kwvdCnDqtLOJkqolM7p0geewaIZtE8ZV4zCZYcV9FFg6zZW0ZuSxUivzjUun3kN6Hlj0Mnz7OH-5bBUXTZV43_G2KQo4WFK-6wn90XmKX_qvdYWlT0qk_c0cUL_CDra1YhhhYuu9Wsw4SzKUTuMvlPIGhPaSWUln-Ymv5yoPDA43fYA0FVJpXEcq3zosxrguYgaX-HJ0peTQQt2PAgQSTq7273WvndOh5M6rS7R82GBrpYpyh083VTjKCm6EJ1iz064OW0pLQjVXfniGCXhH-ziZFfPYMsNPjY3iirHa9ElBnESMkDGWNX_wiJwqpeDwGAMfVtMOuI3DyjWTkCZESt99GxWz86kHVZOgFkDNJiNl4ua6w7cd0d7shwJaiTGRRGnpG3oOqU_h_p5IPUmsVkd0R9AEptxxC9LU4XVp9Uzlnado7C9onxOmUXf8-xU_gAi8rmcp_B8K3IxnauWpjzaOlMMRFnFkJfeY_y3xNEEum_QPVD1hiaNHOzjtzttKOlx-mResZjh-iqa6JsyBrbBjnnI9Q3R-P9LIZBQvAvZ6k7jydA7hgFbfvVTMmx9bdclZunXo75eTGQutHtC6my4mp2_bOf8i3Nrpc2xp1sjJqjHVPuuwNs1z7WmwQA9oNo8Z-c2sTx8NEKd-YZjyrdtzqzVNuXob9EgZP2kOycnoXLhZOj97Rss6pA_f5MqGgS_Gejstx_55kDEJNVfhUqaAbRL4O4TY4WoGESqymnrynZAdwMohLvHkxZ8QAmlXkQovUJIwHEH_DAvNsoeh84Azl1jrRh0cjsQvlp1Taz2ps2gLQY3VtXs27H1yPxLffx7C0UuFXFxVpphVXpOZ1AY-3VnUnOYsjxGAo8p-lOtb5OF2QmCauM2MFKMvK88-zUy4qyHjKgTLpOfSY29H2DE3ILyLBvTF5BaRy2beW0QRK7IWu8ds5DM86hewf0IBg3FMM2yzalskzOTMPErhc8nwIC0h-qCS1hNr0b6j2kYuRgUhrM37zVZeAJ41KaKcoY97ep7WoMrH_dhdwIyIn18HvtzxgZNxSiUovQAmHz06V2T7kwST0uS4iKcTgQWMIpHEnxHJMCyuncahjEm6FdUUJkARRlsFhY5hd0BN-4XrTFv_oGF3oM3Bua-QXz-GWrrLWNndGnbMsAS9MS4CyjCNG_v4JElRreS70JjL6UGMsq5CkviMNVp5FEtNrAeOqZpra_1xCbx4DiuceU8eURoc2l3Yhzyz81IGDqjhBm67Ic9Er6Vqbre4bICmhtGC0tL9pt-Y6QFWFlyVbIwOBBJKsxvG4Val7aKwajdYCns5rBwMbNg7UOhsEqUHhtT7Brov_Q9LH_EjRFfBzetn88EvFz3pQ1KTyZp7m2aQZHKoh_OQhNdzpfZyFv7dVoyzuKcQ-fXCb15jKCVUVVefxTpIrg-8PTJFNkeh2dsnEjl_Jdkca1LqKQ_EZe8rl7WXIQttjMO92IrALL0Gz4EWWlBwbxGtQxG4cZ0i8Rn4wHUOI8L5Jd6KkQ84Jsog38adQ4WB2UoBR9IAn7oJ1PDzIWf9PrBW5gtcJradFlLx6HxTiG5KRiehB0W2lv-SUpHnkAZsOO4ta1yaFmrrhAbUnHL0qbOSQxKtz3jdTXbKY3ORd8R7K8gkpIrdnclozV1-BFpWruguOnmI7HAtzSC50l21T-a0fbujlIhkiIYkJfyNGJbcTXrtLUjZaIjZFyVYj8REZ8oEyLryyNXhISnwYyWo_WB4Vl4MlU3m0vzxwQM5vREptRvieBpJ31t1Ao6TDMxBuHB29Dmj8nx5swM36O8Qs1TL3vvgC2YkLF5LCF0peZgoTNa-ooIpgbM46Y6NbmQKXg-Uj9Hz2NR18GkPeQi43rgX5KlBrVCKDNs5VLudYKSO9u6M4mkRilOI85nHyeC9LBjFCA0pbbU9guHmH4NBgIUVb6u7cT7mdZIne9g5MHffF0UWVC_cn2_4ohvegKLkPDfYw0xmqB3CgHetEseDV5kxJJHVooA-M6t64qajMhw2nqYIGQDoj3YrRfdKvTd1ud1m6uQ3FHb1EuuPdQzNRnQRlkNJYPxVei6RxnwMxlpFV6KfQYJ-sLdUJ6NB76Dj0E_VE-_ih-odT9VqV3MeY-ZDprUGmhjTihRMsadOkh6YcOSEIqb0yGy5W_CN7mgAHuA2ogjKeWwOxlb9b8IcY-tvZXISkADNX1YiK_P4NmcV2v50ImzaVzUnLbn6IDZ1AKh0URBqHJAlXsB00YcV3v_4H2NCextsWVx0yKVK-11oFZ-4gvBJy-XNcdNm19t-luV5-H6lBMM45Ve5nJWplljQ8AQFOXTItgTuj1-dS7EWYvkrCdOEhcaljWPhs-iwabZ1C23HeT9oad4lV162GFfkMnE0hZOjV5KiCbWxFp2TaF4yRtKpiOFyu2AeOOzamOmJX_dnqBsdt0-CNh5Ykh0MhE92ExwYfpPA9uPzSmAMbPUm63OjAUZcYllXinabzRiB7xTLk_s8k37U768GBsGX2RvUUwe53F9z-VZq9NyO_hD-7FRREfzHi6ze1rDNuj1NsRWpSVB8Mgt1Cv5CN1pBJRacLCCSnNTxm6dUXG8xpWvkuNhdG6bM-AIAhB-k7dNnKUhgCzztnIlth3oosKc968FFJ_2cJ-c7cMeTbiA=",
  "id": "rs_0d6963c230ebc325016ab4404008b087d0a3b9f8ebf73aee3d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBHPObmWVOrKAMsdNIKoLjOZmlz1ZF_Iy04oezPk7NjTTUM5u0jD--A2IvynDy2nLE5Wh6_fPC4BP_lDVc14eoozWXe_rxnQEtaTb7Vd41ry0nKSA3TY0YoXVuDxeWaV9L70FK7fFHYH2KZaF6SvAFvc7VLv6gBYC1koTYF_IgNmBLFgn-rPlNfe2CoA-K_i7CC26HhYTE_wH8XcSkh2MlEW99ogbKAF6IA0XyCFLgPTkDYgoKFGIFX2d_YdFUY2Rd7RDxclwaWOUc0vEKT3R65-lRbYfbpqPTbjC2Y4YWYUJkBYrYlLovtWxXCNqzP2DrQNLcpOgRBKSUFu8sYZaMnloRy0STa61glfqRD_2WNT5NRd4XSKpYt5TDNdYPozkQSoLxIrDlsaT0zo8omXsjbbLofvOGQoJoh6Kydx2R1K1xG4r_uDQxSzyAlBdK2nByz0CmObDw_QZFLKbvW9C5AJQUFeOxFgEf_fy4OBVVDwVYu21VZgoynDQw5BmQJioISMfDqNYfKXopEvtKpFhBs-OqrWjVt-s3AVbhiz21eE6jRUP9l06LfHrY-xkcsxANocYhYLNryKzh1aqjA4uoZgaKxffc-MTLwwY1B-4xpNqKB-01fGxfb3apLdI889eEuAt3tZ-VjMmVnSWEpdMb1IXr2e41OixIDsRYpPDExV_2YKGcditITEht3jBvsjlbX08O2S276Xi-tJ3W1Chi80q-wH-MHfDpIQ3l_-qr6lD8SYX46V6xbM4b0LG4yCTX6K9cZGoS7c7LTS32tyfmhhznOpmv4-Le_sdiFAfXXDz6ZyiGjRHyr3-r-7XlUVnR7uHZRga7V5eLB517JqXcVmp9h36pcKweo6SifVj8hEDyUtRNEyLx0jjqbBKpA1F3y2dEuRVTRqTn3NRUhVNaTVD8_tOsrlQYsGl2UsT5WfkgOdyqsma0UYAg-7_dtanKiEHSZ8LswnQHREz6AzKGN02WwOuWM8bgkgCxLgBN2hSdEXzHJno2HC14xqtw0IuXRl_Tv8Kpk6GxZ82rk-FeoiWzG86wxi8xuxDIk02My-9Qto6nKIILTbfAG0zxJK3hGtcWJsu0N-4nFpn09qNL1QGeiqP99VnNlM77jWFiBIywdj-GC7-s9XWpYsGgH0eOPjsngdTVnT6PR8sLlfZ1Xz_CZu6V-NZgb3kSCbF1P53Jb3KwD7bhn1aAa3KSFmRUKkvU35Oh96emyi7YZNhtGuD7f4sbKI4-_AaraB_H6i8CLSlElXxdEnU6qQOi9XNDZtqDbMpKO9S0qj8QJ9kbzz3hb21Hsi9ExNtStF32DcpsTy61LwmWGYQUxMA5lfXTlFRe4iJcIKwrJSn-5QB43g71Oh0yWAzynDS9YuF0mFzI-YHwCmKxlk-ZgZtlEs9MnzuIEMhegpO2d_LTgwNju1B0OJ0fDm1ELwuIXiGwPnTI=",
  "id": "rs_0d6963c230ebc325016ab4404598c487d0b76f26ad2ea23a04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.28,\"right_y\":0.27,\"right_z\":0.07,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The second left-arm close was also empty because the brown plush lies beyond that arm’s outer lateral limit. I’ll park the left arm and bring the right gripper over the brown plush from its unobstructed right side.\"}",
  "call_id": "call_MkmmR7bThgMOWzqpRevrDb4S",
  "id": "fc_0d6963c230ebc325016ab4404609c887d0b73251f6d9af9973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MkmmR7bThgMOWzqpRevrDb4S",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0578, 0.8013, 0.5636, -0.3962, -0.1089, -0.1017, 0.9978, 1.0954, 1.6955, 0.8082, -0.1429, 0.8085, 0.8021, 0.999]\nstate[eef_state]: left_x=0.2875 left_y=0.0062 left_z=0.1569 left_yaw=0.0735 left_pitch=-0.0496 left_roll=-0.0005 left_gripper=0.9978 right_x=0.2719 right_y=0.2569 right_z=0.0573 right_yaw=0.0224 right_pitch=-0.0523 right_roll=-0.061 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.4154, 10.4684, 1.9463, 0.105, 0.1587, -0.1099, 0.4718, -6.735, 7.8564, 1.4286, 0.6374, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d97c28638e9c4bf1682f549d02f8deb10531203739085bd2eaa8f89c1574df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bcd448d0d6338947228a3a43331bc2c6450f618733cd51ffa8545a16110e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e34b20054a77e4ec1e0329a926cd9a672484472dad2390366985c05df9b44a",
      "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 135 changed as sent

message 143 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2552, 1.9854, 1.1156, -0.2386, -1.0271, -1.0306, 0.0102, 0.0029, 0.8364, 0.6006, -0.6128, 0.041, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2719 left_y=-0.3343 left_z=0.0607 left_yaw=0.0295 left_pitch=0.0982 left_roll=0.031 left_gripper=0.0102 right_x=0.2584 right_y=-0.0029 right_z=0.1242 right_yaw=-0.0372 right_pitch=-0.2653 right_roll=-0.0271 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -9.7846, 5.3265, 0.652, 0.1148, -0.0317, 0.8132, -0.212, -0.8, 6.8171, 1.6777, 0.0073, -0.0317, -0.0171]\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]: [-1.2617, 2.1235, 1.3991, -0.4423, -0.9691, -1.0901, 0.01, 0.0029, 0.8379, 0.6006, -0.6571, 0.041, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=-0.382 left_z=0.063 left_yaw=0.0286 left_pitch=0.0323 left_roll=0.0204 left_gripper=0.01 right_x=0.25 right_y=-0.0029 right_z=0.1168 right_yaw=-0.0378 right_pitch=-0.3111 right_roll=-0.0291 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -11.6034, 5.3812, 1.0427, -0.5153, 0.0269, 0.823, -0.1709, -1.265, 6.7487, 1.619, -0.0073, -0.0562, -0.0171]\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]: [-0.0578, 0.8013, 0.5636, -0.3962, -0.1089, -0.1017, 0.9978, 1.0954, 1.6955, 0.8082, -0.1429, 0.8085, 0.8021, 0.999]\nstate[eef_state]: left_x=0.2875 left_y=0.0062 left_z=0.1569 left_yaw=0.0735 left_pitch=-0.0496 left_roll=-0.0005 left_gripper=0.9978 right_x=0.2719 right_y=0.2569 right_z=0.0573 right_yaw=0.0224 right_pitch=-0.0523 right_roll=-0.061 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.4154, 10.4684, 1.9463, 0.105, 0.1587, -0.1099, 0.4718, -6.735, 7.8564, 1.4286, 0.6374, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d97c28638e9c4bf1682f549d02f8deb10531203739085bd2eaa8f89c1574df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bcd448d0d6338947228a3a43331bc2c6450f618733cd51ffa8545a16110e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e34b20054a77e4ec1e0329a926cd9a672484472dad2390366985c05df9b44a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBN-o7KQoWK9BchSS3YpcfrR3iz9lBaS2GfeYNNK6etltT0EXyR3NzMjQfgHejlOc5n2kOW8m0bbOPUljryvnkWJ4sIhMdK-BE575-zPiB24sckBwMdsu4oGTkz0JD2OadP7ROxwqD_bCPU7U6Et4eaV0OPPKO5ios0nEtJlJeumreiRFyMRL8YasHculFe_zXUY2oX7GzDeB8dYkSnOynIpOSrrNcbSOMdBvbPIA3ipqzH9Sj2pUixSaoeyJpyldMhELZBLjIKAnPhfiWp4yP0Hoo8bXF_JXdGvIpj5a6c1x_iDfq2KU_O_tyuJZCgfcn1_dcg_QqyWE30wXzSGCai3IPO8c88JAHhB6_P2vnv0OgiYXNhCwNbCmpWkC5Yf1QCoRLcbMbTMXsPcbZrScPNzJnD6JGkma-J1rWRFsTvjhjOOozcqL6K5axkkT1hjS1TZ9C1cekrZY-rc7ejBaYXAdDFikGxwCxuPRs95qg2UW7L6XbgvbuCc15ykp4OZ3bP0dbihxQp6MWRBWM_0N7lGizrkzDkfmTMF7lXMX21XH3ArUi0yelprYDS91Iaxy-TIbBNNS_Mc9bAVsu6WfcJWPbBr1-Bwxzam9S1o4ybaUpuM1cc345KBjWjMZNltik_HgTaWWP0rqa7YYeYnWYsV0oxUTAYY6Aa478b-7_ejh4WLC1k7XTQdSX-DBsEVequz1BUjxBo2n3dgOCEAVLxLpVG7Y1P1kmH3B5iHeBa-ajqW3B3RUhrcd_Nxvs8SVFqboBTNNL9qOXotLlalH8L7RTHWXVoJUaQ6G5kYRafzaK4Z7tExc6qx43JQzCycOrNpnAnKLIFov6T2YPA1u5rHEerfDc1IQd1wu3OhNC-QVTIs7jC7QboUnlQjOcsex35n4oYVhsw7o2VTvh7CIGlfU_iRSUWOGxBX6AhE3Sv5yC0-6xY8-fCKwFGVihWTjlsosehMCCrLyJzzYCH_aDWVad8xier2In29CQ9vCxKnX3aIk-jRW54XUGdQIZKPU_XMQ-6AyQ8YZJMFZSOEYXb2Iigiv3fbaDg3CvB8H6WHOCx4tUeuM8ZCDEMbgCO2yKzvXo0uZzaAZPPLUBcHAjJuA7kNuVUAMgWZl6ZUyaBwMJLrJjhTRlETs0o6R1ybN-PwnpTLdCKaghSpkLeAJn8Tiduq14OrK0RO9ahnH_7pktgN49vaEUcNFvew6mJ5_skotrvpNZKfQH_v2ptkgNJQYAlEzKM8fEhduBuwGTPPT88PotCH-v8aAUIkZ5T5HFO",
  "id": "rs_0d6963c230ebc325016ab4404c3fd487d086c8927d8faa9895",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist view now shows the brown plush centered between both fingers at body height. I’ll close firmly on its torso.\"}",
  "call_id": "call_ufL8Ab00FTHWOGSY6L6Scyjy",
  "id": "fc_0d6963c230ebc325016ab4404c7c3c87d0838574f818a680f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ufL8Ab00FTHWOGSY6L6Scyjy",
  "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]: [-0.0582, 0.8036, 0.569, -0.4061, -0.1017, -0.1059, 0.9978, 1.0985, 1.7096, 0.8112, -0.1471, 0.7959, 0.7975, 0.0083]\nstate[eef_state]: left_x=0.2869 left_y=0.0048 left_z=0.1567 left_yaw=0.0695 left_pitch=-0.0569 left_roll=-0.0073 left_gripper=0.9978 right_x=0.2699 right_y=0.2587 right_z=0.0518 right_yaw=0.0339 right_pitch=-0.0693 right_roll=-0.0728 right_gripper=0.0083\nstate[joint_eff]: [0.0342, -1.4564, 6.7897, 1.7558, -0.1538, -0.0269, -0.0073, -0.4034, -8.3214, 5.2444, 1.1209, 0.4567, 0.0464, 0.4567]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a749f625ab1e2ce92ba4c2df7744340dd4ddbf8f16d997c52e16e1b89d0b988c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981793681e4679652ed3541b0147544f5c165a06ae44071c730be54d1f8f7a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fafc1fd9e8f8ba67ebfb38c6c6957b8aebdb8bc2218491b3a66238e45226f9",
      "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 139 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2591, 2.1197, 1.3949, -0.4301, -0.9733, -1.0863, 0.9952, 0.0029, 0.8379, 0.6006, -0.635, 0.0406, 0.0067, 0.999]\nstate[eef_state]: left_x=0.2802 left_y=-0.3818 left_z=0.0648 left_yaw=0.0312 left_pitch=0.0393 left_roll=0.0134 left_gripper=0.9952 right_x=0.2543 right_y=-0.0029 right_z=0.1203 right_yaw=-0.0372 right_pitch=-0.289 right_roll=-0.0278 right_gripper=0.999\nstate[joint_eff]: [-1.0598, -9.9214, 7.8017, 0.9255, -0.0513, 0.0513, -0.0171, -0.1983, -1.2239, 6.7624, 1.6532, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0578, 0.8013, 0.5636, -0.3962, -0.1089, -0.1017, 0.9978, 1.0954, 1.6955, 0.8082, -0.1429, 0.8085, 0.8021, 0.999]\nstate[eef_state]: left_x=0.2875 left_y=0.0062 left_z=0.1569 left_yaw=0.0735 left_pitch=-0.0496 left_roll=-0.0005 left_gripper=0.9978 right_x=0.2719 right_y=0.2569 right_z=0.0573 right_yaw=0.0224 right_pitch=-0.0523 right_roll=-0.061 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.4154, 10.4684, 1.9463, 0.105, 0.1587, -0.1099, 0.4718, -6.735, 7.8564, 1.4286, 0.6374, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8036, 0.569, -0.4061, -0.1017, -0.1059, 0.9978, 1.0985, 1.7096, 0.8112, -0.1471, 0.7959, 0.7975, 0.0083]\nstate[eef_state]: left_x=0.2869 left_y=0.0048 left_z=0.1567 left_yaw=0.0695 left_pitch=-0.0569 left_roll=-0.0073 left_gripper=0.9978 right_x=0.2699 right_y=0.2587 right_z=0.0518 right_yaw=0.0339 right_pitch=-0.0693 right_roll=-0.0728 right_gripper=0.0083\nstate[joint_eff]: [0.0342, -1.4564, 6.7897, 1.7558, -0.1538, -0.0269, -0.0073, -0.4034, -8.3214, 5.2444, 1.1209, 0.4567, 0.0464, 0.4567]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a749f625ab1e2ce92ba4c2df7744340dd4ddbf8f16d997c52e16e1b89d0b988c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981793681e4679652ed3541b0147544f5c165a06ae44071c730be54d1f8f7a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fafc1fd9e8f8ba67ebfb38c6c6957b8aebdb8bc2218491b3a66238e45226f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBSaJbTuqYWWJnobAK0Yi_l6hry7Z58AkSozQIRC-HbuCEkvYCkegM3fjuvXFzZS3xVtKhGPczZbTaURs_GhV0hObhZ-oQa_Cp6_Ni8r_iwd29T9ZrIOFwRXBgqRjJcF7V-sC3C98zsPkGFJMjhz40SYKZhVBp_n0Vv325g0FKMWgT20zyHLBgzzS9K1dvJRY43RXm4klpqqitRGbSfedf6cpwZQAzdpmlhf-roi87VCTRe4DrTOl32jwfPb-_m_ZdP4DlgDPbx-wFmWPR9sc9dcEZbBdkHluAHj8VBrBXhxPVkYSt_9lQAplfnGYhj_O-KDzbYla5nxk4NBn5fm9LaPvfXiEk9_RJT8O1fEnexyQccj4OpcApbfj67-UBMKDho1ebBkpIuf32GJoDCqHKo52l0iM4whsWsmU4D8Mr3OS_nXPEA-giIUIdp_cCu0posbepPoHq4tS1XDTKIB3a0Xq-I5VOjiB3w9IzKqHBkc-1kiF5GixwH09Rbu2I9iTXE3Yeo8udYgm4FREVPVMi5zve70UI_hgrPMbCwppe4C-uQTL5Rz_QAbFkdAFBkH-FMLM9jG_NcN3VlbN9tY7H6V4c9Y3DsltBPaEqC-TLGd9JFeuq8_BHOFUEibR1uxAWRcdA3-btUmmBwd-EBtC7HeGUQmw04A0Q97j-tUK2iKth3YsytXwOsjj12tvQ915Gde81SJHNhHOeY84twXoe4jpbhjVZxoN6mO_rL6c1s9W5AbVzv9Rzb0PrbGUXQr8gdQlvsqHCi7XOfwHby0l2uzUJxtTcgrDfDEUIEC7QrPXjE4S192rpj3NxRidLi8L3pNwf4LUcP360sD0XXDkjpm6me2BTDbZL_cLWUNXqCmp-re0LWwMfY1Dc_BwsG0mFo3n_5SwgEDlc7rhkgGscmT3CkVIhO0Mg-bsh0nExIn8v_F30Nq0s4x3u8u0kZSjJAwgiy1zXC0tP4RqHPe_ZCT52tSERorPzJvWYlAwQLZEumGbKRfyH4eWebB3DFRmicgOh8wt8I3h703lkc3gjVEv6LYvO9cPb7U90YHyYTHA_bFX9p8d2oGtfDSstgLw4923Gj75W0F5yXwqGo6cPODWo7KF84cDnn1uPgWGTjp5AByoi4wtBOCICl0RuFUjUNnS8lqWymwmd0RM3S93Hmk2xHl8WpGGnKa-48Sp_N-a1FHAyDjpwA26Hcr5rsNvNBwhMksjuJhs_Jjsfx8uDx1AtLd5-gnCuqhgbWEUBg4ASHPGVAXgLIQSl-xu8qdqxjIfW6ErsPhZDeC3Qk4rNZYU3S0Ow00Q0YZlQEFnwdHZ6hK_70Rz0Uko2-FCNaCNe_6N894Dyal6VcSSZ2sn1qpqoFb4kxKvA2StR6Xn8oGRchbRP9mwpHbvhLzwVhztXCBO1N0gNLzPLAWyhG_3h_-K0XkftrYHV_VrEZ3y4t0O66dzTlcT9UZNnZcU0hZhRYitSPW9Ez_DSrIHgcH3fjCY6vBU6htORuwFPfC1Y4HBSssb8133SwRIZnUklYa3PkCWBIpDU743qYx4rCnVtQoej04qdBr9rWDa7i2nk6kw9pl3z9ixDz6Su9U52OCUCc7jwzXsAjjKx6xih-93GgkZWTbK8i2ljxxBd-vYX5tNgqwZV9n48ZRDcWBVI35o_rHzatW6pD8UMOckg4hbOeTV8LBB3o4ACYrZ9DCW29wkWMz6HKgx6oii3gbF6t1N3kSaChRTrDh2skDschaUNviF59tvx4SGx0RSNg4ngADl56dDLGet3lKYl2GZDU8qdrVp0EAHL0cDwtw0dzq4yIj4iINCqlgQMBoYL8PYF9uo7D-Mi2W88cxT3hS7lYii5FXN9HyZNWOnEq8j24QqwFWuK7GUFtx8-p6e2vqkzqRV4EBDphi9BIBojV8u3jG-fO439v_a5H2ea4fxK9T1QNeQyRVVb7wAYS61VmBHDVgnMB2PJKtiaKTM2D0Omtef6IUJ6IgXsLG1tnfxI-FkOIsTNwsLWdMHMnKEspa9DV5y-TWLAP_WVYl6GRmRE-5S6n-e_JGsQt5NA27cDUttecgw==",
  "id": "rs_0d6963c230ebc325016ab4404f833487d08efcf862027de8c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.14,\"right_z\":0.045,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The right gripper also closed empty because the plush flattened under the fingers. Rather than spend another grasp attempt, I’ll move the closed gripper around to the plush’s right side at table height, positioning it to push the plush directly into the adjacent tray.\"}",
  "call_id": "call_9tPmS3r3Wgz3J6dpkzJlaNak",
  "id": "fc_0d6963c230ebc325016ab44051338087d0abf067ffff3b602e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9tPmS3r3Wgz3J6dpkzJlaNak",
  "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]: [-0.0582, 0.804, 0.569, -0.4232, -0.1017, -0.1093, 0.9978, 0.8452, 1.3483, 0.3214, 0.181, 0.683, 0.5816, 0.0062]\nstate[eef_state]: left_x=0.2844 left_y=0.005 left_z=0.1532 left_yaw=0.0715 left_pitch=-0.0743 left_roll=-0.0078 left_gripper=0.9978 right_x=0.2647 right_y=0.1358 right_z=0.036 right_yaw=-0.022 right_pitch=-0.0372 right_roll=-0.0302 right_gripper=0.0062\nstate[joint_eff]: [-0.0615, -0.7316, 6.9675, 1.8681, -0.1099, -0.0317, -0.0122, -0.1709, -3.9043, 5.8325, 1.7411, 0.2369, -0.1148, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c64ba2c5e2ad65cc25c85201d1f660fc3759affcc5e469d39f46522ceb1224ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271dc710f5327c1f2c0136df2364b9ff0089bcd44223d607daca12116c2e075f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701af8d27f6fa6623f03385b75e7f337fae20a763bd734acb84dda520282b358",
      "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 143 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2617, 2.1235, 1.3991, -0.4423, -0.9691, -1.0901, 0.01, 0.0029, 0.8379, 0.6006, -0.6571, 0.041, 0.0067, 0.9989]\nstate[eef_state]: left_x=0.2786 left_y=-0.382 left_z=0.063 left_yaw=0.0286 left_pitch=0.0323 left_roll=0.0204 left_gripper=0.01 right_x=0.25 right_y=-0.0029 right_z=0.1168 right_yaw=-0.0378 right_pitch=-0.3111 right_roll=-0.0291 right_gripper=0.9989\nstate[joint_eff]: [0.0615, -11.6034, 5.3812, 1.0427, -0.5153, 0.0269, 0.823, -0.1709, -1.265, 6.7487, 1.619, -0.0073, -0.0562, -0.0171]\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]: [-0.0582, 0.8036, 0.569, -0.4061, -0.1017, -0.1059, 0.9978, 1.0985, 1.7096, 0.8112, -0.1471, 0.7959, 0.7975, 0.0083]\nstate[eef_state]: left_x=0.2869 left_y=0.0048 left_z=0.1567 left_yaw=0.0695 left_pitch=-0.0569 left_roll=-0.0073 left_gripper=0.9978 right_x=0.2699 right_y=0.2587 right_z=0.0518 right_yaw=0.0339 right_pitch=-0.0693 right_roll=-0.0728 right_gripper=0.0083\nstate[joint_eff]: [0.0342, -1.4564, 6.7897, 1.7558, -0.1538, -0.0269, -0.0073, -0.4034, -8.3214, 5.2444, 1.1209, 0.4567, 0.0464, 0.4567]\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]: [-0.0582, 0.804, 0.569, -0.4232, -0.1017, -0.1093, 0.9978, 0.8452, 1.3483, 0.3214, 0.181, 0.683, 0.5816, 0.0062]\nstate[eef_state]: left_x=0.2844 left_y=0.005 left_z=0.1532 left_yaw=0.0715 left_pitch=-0.0743 left_roll=-0.0078 left_gripper=0.9978 right_x=0.2647 right_y=0.1358 right_z=0.036 right_yaw=-0.022 right_pitch=-0.0372 right_roll=-0.0302 right_gripper=0.0062\nstate[joint_eff]: [-0.0615, -0.7316, 6.9675, 1.8681, -0.1099, -0.0317, -0.0122, -0.1709, -3.9043, 5.8325, 1.7411, 0.2369, -0.1148, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c64ba2c5e2ad65cc25c85201d1f660fc3759affcc5e469d39f46522ceb1224ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271dc710f5327c1f2c0136df2364b9ff0089bcd44223d607daca12116c2e075f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701af8d27f6fa6623f03385b75e7f337fae20a763bd734acb84dda520282b358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBWWfS6ZsJeV3lXxkL73DHycu7d74Yre4_BtXnZS7UNmBoW5siYxydDnqYfoJQYSpihDPPzWcQMfat9VATFNRHUgjLZkhZ_Unpzp77MPoRUx5WHtxoUsh0UhHTL2NdWuyDC2QuGXOxtjcpzymNyGY0LvGp5IDfeC6h2gLkgjT9TN-tsBWbjCG9J0pBdCbKpwsKVOmnHP0X43j8JymGHhMtLDChLhV1R4KIC1W-kAZyN7j65uG9YZVwpQWfaGwLXfBiE034DZz-rfl9LMpUcxogQtLySmj15Pa20Hv2QrZRVVE1_q7jybBIB4lx2sZhUs8qGYHZSYUV2RpvG76hrHwFV72O7SVQ8Tqy3NUKPJQDA9CgTJ547kUCc-jAmhgxa8aIneRFOY5A4hOri4HWae1CmxIXGNGon1cB3nMR8unKNTygPdnI4e9X5hEJCjPK9eEdu6uQFQHA13kha3eAwz2Fj_rKYlGf26UV8kK8qL6S5Guko1ogVfG1J_nFfrBH2VFDDWresPxa6C9vbEfec3k0_OCiakXPfW2jWeMMH3hNU7mDeV0ZRc6b94XCpEv8_pLXQAb78HBDBic7-ESP9pnqB3ZKszSrUFXwYhNjnsW3qC_PrGCq-3t0goZydxwQPoQE2xN7BYOdhmTK7GMuO1z6nnS5kZqBltOg9bQChHmayzz2VDB-JHDTPbAZ2IRspdmJ8_cCtR6XGbnMjSxomJ95Pe8Nf8vBWD49w2f6Lc2PoowMLxEoMOX_h9XNTqNIMCmN7pT_ynr7gVOGxe2wZ65U9wOHqvaUF6fMMlpTeQnpj94g1RHAY2y5G6lQFWrFwxdQ5nemXY68xzgGdlrpqSBD0PyLd1-SHIDBXBx4ELVDkkZ54dm4-eZOO8f4bfzcI9-60eGjq-8w6ZHxtdY6xFQTKnhJcQA-HTn2CSAmF98mEC00TZhEqhBpVu4E19ZPiP-iTrw7DA3KOn9ToZdPMKte_e9PWiK2hvJPU0DMt9xjB4ZdwKkoBJH_RFagANTt2m27Eq_7tN_D4qBKiSlSBNbC-YOPk6qSJg4jJ5AWwY77OrvNf3i9QQE3wFd_PnJtLpd1Bhha3UVy_zRUnEF1rAd-OOpYJwkc875EvSQqkFSHC_p-2wKo8O027MeAng5VsXp3nJLurkN_pOEXe9YM7bkVRJVwogiszIUHXvtvra4kVunn5MKcVY_WPwinXUw-wJ7X2TSj2rWGyKWj-_FsdIXt0lyuAlH_hf57bwJ7OG0s9Bbi1w_X2JejJiMBJLttqFNep1z4xc0XWi_qjgofjej-cs79nHNUBHajld_p1d2r8f50rwPK2WEliDrmBODuxPL_EnwTa4c27akjxp1PUp-8n-adxcBA5yy9kDpKjhfhKHG8=",
  "id": "rs_0d6963c230ebc325016ab440556bf487d098cd5b44b926a573",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.34,\"right_z\":0.045,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The closed right gripper is now on the brown plush’s right side, with the open tray immediately to its left. I’ll sweep leftward at table height to push the plush fully into the compartment.\"}",
  "call_id": "call_lGye7cW2339KfuX99usE3flv",
  "id": "fc_0d6963c230ebc325016ab44055edb087d086c146fa73c3f9a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lGye7cW2339KfuX99usE3flv",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8093, 0.569, -0.4355, -0.1017, -0.1127, 0.9978, 1.2068, 1.9636, 1.0698, -0.2092, 0.8825, 0.9474, 0.0062]\nstate[eef_state]: left_x=0.2828 left_y=0.0051 left_z=0.1494 left_yaw=0.0736 left_pitch=-0.0917 left_roll=-0.0082 left_gripper=0.9978 right_x=0.2678 right_y=0.3297 right_z=0.0399 right_yaw=0.0146 right_pitch=-0.0206 right_roll=-0.036 right_gripper=0.0062\nstate[joint_eff]: [-0.212, -1.6889, 7.2684, 1.7363, -0.0708, 0.0122, -0.0073, 0.4991, -8.5949, 7.0632, 1.0379, 0.5299, 0.1343, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c05ff30304eb00e763f792ab00b7292cb317e0c87afde583d744300172ca23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:291bb88d04f3dc3badb18f31008411d727591d7b35d2abf47004ccb9c3f5b09e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805d06df9e06955d2c07b0ec8604cce8d6cb706d719669cb2760a9bff3800e0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}