adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0242, 0.9997, -0.0212, 0.7929, 0.6056, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2927 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.388, 10.3316, 2.0, -0.0806, 0.0513, -0.0464, -0.4171, -1.3744, 9.8393, 1.917, -0.0171, -0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0709ded931f7b19f937975f9d3bba7cd47d3438cc7942e5e144f688b21bfdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba677d8e6eca57ff4782277a2a5ba57e45e5049b8f9276e69edaa3cbdc1395e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85e43f5685667708d4f4fac49a09a387e4fdee50ac1948ff77c67db7e51ef19",
      "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_0c7ea13f64aada8c016ab4451ea70c87d0b873078931c7135c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEUnMRlxgVbmWam8LtX1AIWqfHl1u2RaEf4VIEmJcoptvDPwgN-v6HEFEh-pOhCUk93YZ3A6X1eluu0mYtxHGHabd008zoT3Syk7UVgvSMvT72lYZnH1KBETCoEeSi1P6JYtbByN0h0fKt8LrS-colx2-I5BgdV-Q9tLgQM75exfsXh7LpuPc1ZGzALf3lyBEV-KsFzB07IgQamyYKdKpyJYBrsOrSrN-Do7eV7PEFfe0nazeiO9ZQQ07omDGl0IHC9AlddzHNHQXvwUn3fcmOqJRDJnHwAf7LOvxpEnxrHGuni7FWIjoVevgYKDj_ZcPUQPidjs6-H20MKLsufni7vWP6NzAcxs3R8k1DVQ0-RrJlZxqhR5uKWl9bGsZyvb4MTggP1r1AlH9mZJzvf80kpZlimgUuKFNRFAF7y3B83IinBVe37MHzdYlnbsA0JanUwSasYGpF4s9XV9ooc714UPu9vUdTPtKuu55nA6m9ve4N4WLe6Nop5LNlkPpuqjpC2mt4ZkP8JB6aXqY4bgNskCahEi209PRdB556nnQPgZgzKikQN8MG7v4lhtwR__c744QUo6yNAcF6_Mo1W7MsyEl9B-yumnYZf9U5wy4WDTEH9VJcPcf7NmNoiwVewEmVt475GIgpxeNP-rnPGeXAmyY3Y9NJwZzF3_S6P04GI9Dt2YK2P4G_OLEymX5wB-9gxQAHQvt1akR3QAGjAFGqsJBOu5lYAY-ZqsEUPUVFWID4b5Ns5sUKuveneBXH2QG4AYhOLu7u8uLH5o16RZHtK9TgQoObbiJ0nPXNaGlwRHGJ40Je4TimXAngbgiFaqsGeXnV6qIe53a8VeCwEyEgw1gh5N6UqGCnh4A7EfHG4MsyJ5UrsYgfsItzRMhbrSB3B0cQuR-spzBDssIHsi5iLE0jy1YnPbkJM_--aQ2BLcAzM2j_xC5027Q7A5nvmJoH5MeSOg9N5wY1IGqyw4YGBsTKTGk8Moa13WPrh6ttCaLpD1h4T8-w9M9J4e4yI41qnpTcdCfjqFhoi4JZ3Ih5qR-rJ5KfJuBAzepfFuNTb41SpdRHXG_4qVhTfTW1-JfWcJjSoVYgokQywMOJ17fOs2DyeB_VcMWr3-JUm3PTIATNOOFYpZ1kR-nGMLC-k_ocOy1e-nKTI7FKLKPCfWcuJXYcqboZ7ja5vdjVpxuAbdwrx7ZnrVuAbfDlMOA4QR49BUN8JCA0K50HPHys0n2reITIg-fThG0g-danEWuJGNjkBccTVcYgmOvhwpiW9dJBH0lwZj1lM5hTMFlJZnQUU_baiCHAvh7Uh1mhftAVjEwe0EQFxT4Trh4g_0DPD8KG3yJR5KC_6EP7DArDqYmUz1UPd3IP8pyZ7k4ZV-HSS2aDZOYXdAvpV9A0poUL3Dr-0b8jzqwfiRcov_itxgzTIP7NZQQ1VoDl0vFCAdzCqcBZ_4CoP-pRm3WLFT796VK_Zobkx_WM9J-XxNO5njwfTikddZZ1E9N-zJYEDwoSAn-Zu7hByy1hTEzB9M4wBws0C1_FbtUJdstMty5rZqoUROa39PUYBKiQ7iaU2zl3dJZOjnYIeDS0L3FMJX8YuvaY5c0t-xjsMG90AFjW7tbk4h3BSt9wOUw5sBNaQQC1dlPNVs5CFmDSBtS45fjn3qszkPj0_8LI4BRDW3IhEREYx8vsujLb87siO8h1PdBjbR-Kx9qwec7bhIV8GFD9AeBfj5y9TJtnNLWUVKCgQr8tjTZk6i8zohWzSvoGmqVmBvt4rBuUvLbnC3Gc3UwujgCL-QSoph_ZroWnXz8SozC9l0yiGbU2WJZjyR-FVi4K1-BfGNjGAHCKeXvyQROaXj9vg5u1K7zazMFsTkQo-pCLERjxGn8oMv1FGjLt1dHPehvr6OKX9lhypGEI4cZnJF6zOBxjFV0odAZ2BYM8O38xEYFCCZlePDwQ5WvPVMzGQlai6UtmpXXTj00hlzCxroUtiBEtRqH5MSxbYadXPz2NwCbX3RNNNtlE4it3uxmBj-Eeu3IFyzGStjBg66AVBXrIng-xXFMPCn7TFTn-Fuh6NITOIgjhFYA0YS5osHSlP2mWGptVA2AobhZrX564rdnltVELdon5T6D_yYdDxekOd_U_vM47R25MyASh6uqZOaRpxTJCfkfFAWh6bPNYKmIfUy",
  "id": "rs_0c7ea13f64aada8c016ab44524571487d0a88e3c3727895a18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.1,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The open red safe is near the center-left, with a yellow cylinder to its right and white and brown plush objects below it. I’ll first bring the right gripper above the yellow cylinder, staying high and open so I can refine alignment from the wrist view.\"}",
  "call_id": "call_haJ7eYxig3WmyJFOWKMNb6W9",
  "id": "fc_0c7ea13f64aada8c016ab44526751087d0b73689ebe56e7ce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_haJ7eYxig3WmyJFOWKMNb6W9",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.0307, 0.9996, 0.3225, 1.4857, 0.9043, -0.1143, 0.2432, 0.1555, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0036 left_pitch=-0.0171 left_roll=-0.005 left_gripper=0.9996 right_x=0.4114 right_y=0.0964 right_z=0.136 right_yaw=0.0326 right_pitch=-0.0883 right_roll=-0.0337 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.5521, 6.9812, 1.8388, -0.0757, 0.0415, -0.022, 0.294, -6.9812, 8.8274, 2.0098, 0.188, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624ed8e4dd917489b1c4105dccd1aeefeb967f6d979459a5e2d0f78ed5416afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba6e3e385d9c48ef7f3fae70bf5a5193ad70b19a6e06be143bbd7ca87600011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988d5267aaf53f5f88358f0b6ea16e9ee7da15b3586e230b6cccb84f4f30c6af",
      "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]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0242, 0.9997, -0.0212, 0.7929, 0.6056, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2927 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.388, 10.3316, 2.0, -0.0806, 0.0513, -0.0464, -0.4171, -1.3744, 9.8393, 1.917, -0.0171, -0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.0307, 0.9996, 0.3225, 1.4857, 0.9043, -0.1143, 0.2432, 0.1555, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0036 left_pitch=-0.0171 left_roll=-0.005 left_gripper=0.9996 right_x=0.4114 right_y=0.0964 right_z=0.136 right_yaw=0.0326 right_pitch=-0.0883 right_roll=-0.0337 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.5521, 6.9812, 1.8388, -0.0757, 0.0415, -0.022, 0.294, -6.9812, 8.8274, 2.0098, 0.188, 0.232, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624ed8e4dd917489b1c4105dccd1aeefeb967f6d979459a5e2d0f78ed5416afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba6e3e385d9c48ef7f3fae70bf5a5193ad70b19a6e06be143bbd7ca87600011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988d5267aaf53f5f88358f0b6ea16e9ee7da15b3586e230b6cccb84f4f30c6af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEUs9VeHIoP2-JFMm-sKkD7AeExAuxVMLNV10xfcR2hxZPCYy0Rmyen8QqM12sE5VmwdNEUtKp4iDeS-P0nzXPqBvvlBbtcm2MNaOXPShgSuxf1Ekt10HuKiy0U6zrf_XSNArQdgKUe0SaEXkve5l59zLgnkKHu80faW4ewBTnGOLO4PAFN723jhztVmFNnBv-d2LFMtm8DS6-tAhv50b7fRh6e3ybsPsRfRjyDerDzvFd8SyKRL28YlUcmRZhONDc-q1NI5DTihrpl61PketmPFVXVD88cYWhRUsJVAPUZ8SceVgLsXKE_BAzK8HJ6nr_ayinavbswujRpBPibr78ny_eTwE4VyNvhnkzeUTwotMemKjIEE0WMUZJNYcxVxoM84J5xrBr3B_85l4abFNmyhX2KYibnlLAyNigC0f5LpCYumBwfdStMUFz2jkLQfrReBhBFH3u-aM7bX4BzpKq4Fd38Ux47dhjo5iNcrY12lC2PtKHPBvpp-HYnghyqZDZ6zW5Eu3sr_87GL364hxYQphH0_S4aEtT6UNVg0Kc8V1h-XJx4VyB9WrhNOyXsPxwOostadjbbcLWpycJg249ABMiaMOrWQmRn8Ely93_HGXzzsfy8VegyersniMOTw1JpC_3T8CFay9QMhKeb4jzyj-7z1t-EMW0mLf1goYrSRMJQIKdhuh778YG2fKGIArqhuV7QUVvAoP0xY6f3vqyy497pvKbx3seizVpn_Nes893vWXFuDC_dDQybngW_JkQpNwWS0WYdDqq91gfkJko9Dowq9O90Kmd1R0vTsIsCwSCI_UMqsHUdgHeM-1ZiX26r9qv_wGHmSzFOdwpbERJFJVEu4vyPYXo-LqBF7lwaWJ_4gIaLW0dogGzn_0fieZNQ8MWxzexfyU5d3SNNEU0bCPM9KW4pp4J77JesxjysL7QZngdEK6L0W1zEpXq4OM2tdnAgb-aS0IVFeLLSNVpKkOrN5ZjqXpEoSglZRSrN8csvHP2Kq5KoPBD1FmIX4c5z39BDgAeDT8QJzrjrobbwRU1JxeZ6pNqeWOsk5kHOHYn9BUbprhW6wW4BbUeZ_0btbVD4BIOrU4oG_r0riTyFCXhPe5AkN78uB7O07JuwxIJ3AMjOUjDfyY53zxwAnwo5szrvIS1HKkGGSql0f73Hu6nX0CrdtKGS1Mv-v_elyxyPzZva_87WDE3ktRK3neXT6bUIT1FTOFY2WUl4KuRjl9JU7HWZwNYpBDTGcqbwhkdxmco_LGXTy1YcCbDopF1I7go0fo8y33JQLBLQu53WOdRa9_eYlaU1KBvRFX27hgk3EezYrYiY3_I3LWynWiTG6_avSfgd2kAqP7iGWTB9yE-h0XQr16s_SW0cLmrYmUYHhnv0UtbaHPAOzGtsD76TYKd8NWrw6lJ2j1lUrFTNJJU__HbuoY5N684Q-JcbdOWT6Iyh18-aPkPwXNPRO_YcLdee6W2N_Gmhr3PiBx7-5Sd5KanIQQnKcw6vtxfvObLn31wauaL6Tt7mIr81Pfqk9-DHCJ_tXk6OyBlxyvgLMGorCvL5zWqeoPGJjq6As2WtbYs4nhbPjVY4HMjhbYy3GCg3E8sStiBruaIqPwhqjUwyadPtbNia2ZzMWVXAj5Vmodvl-uAedSU09fScQ7QKY--1Ep5IXpLC7cw7B6g6JyDCNfiORVqu6cWcdWExoMIPbUi3TX7L_b_nmRehvjyyX7WARRKeiDqCX0HT5ixfnOnKBIhtZhOKBcNGujsD9eQxpUb5F654f3-HxDOFf36xE2b23vaYmJv0kDGb_doJwXn7TwvofkrbfPF5L0Q-qVJkvlK1X0nlMa5Yj23nauZOBorFLwsAwsZUrrcKkKLY9F-wEYrczcDV0usRebJJB1XRbQ5X3Wzu1jAJd4nc_iYWMHM1tt4RzWz7bPf_nMCnzheRwYh57EqLpZl7rkzPNcnDlH3jWkf_KGTtUXqStTrphxjAht_Tm4PE_iQvEdPRRrqWrHKQICijtJ6u_CgLAM5N0MFu13uEf5SSo08WDY8Hhagl_ltEExrmv9sICZk7FX31SXs6IGo11J_sQh9Jhi5hJgxG06FD_hfcx9MsOoZf7wnvcsOfrZRr3CUFRecM7PNzxzGNUovCRD4FXSXO7-Ca0j3xi4LTQFV6HQ4HliHnGVVOkP3JYY9hAKJo1FGI1-HEBVetuvjRlOgAtrnGxn7XcSyonGGQGjg48cdNumLQGQ3cX5MoLJJDUwcSZVjYq7BtkbU80chx3wt5qSCSgZUoqdNNaO-SqZvZdy-RKavkr",
  "id": "rs_0c7ea13f64aada8c016ab44529736887d08162d5dc4dfc1c0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.18},\"note\":\"The yellow cylinder is now clear in the right wrist camera but remains left of the jaw column and somewhat short of the fingertips. I’ll shift the gripper left toward it and advance a few centimetres while maintaining clearance.\"}",
  "call_id": "call_gmTojlJjCACBZmI4PymY0bi8",
  "id": "fc_0c7ea13f64aada8c016ab4452bf01c87d094e1b7b85f271722",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gmTojlJjCACBZmI4PymY0bi8",
  "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, 0.7982, 0.6064, -0.4156, -0.0189, -0.0315, 0.9996, 0.4896, 1.7298, 1.3148, -0.3477, 0.3447, 0.2409, 0.9995]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1726 left_yaw=0.0037 left_pitch=-0.0286 left_roll=-0.0056 left_gripper=0.9996 right_x=0.451 right_y=0.1768 right_z=0.1656 right_yaw=0.0673 right_pitch=-0.1256 right_roll=-0.0547 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4017, 7.0222, 1.7949, -0.0464, -0.0415, -0.0122, 0.1573, -8.6906, 8.759, 1.5458, 0.2857, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6555b9e8cae4408aa68a2b259a9b01853528afd8c115e1ae31ceba7b3b882c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb133ac25236651c721cf6c22a9922057bc0be54805b02d7802f2fcc5139107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1146364b4cdc3d0e2b90ab0ab398f0e1a7b8e4003e42e318a8f57533461973c2",
      "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, 0.7963, 0.6064, -0.4061, -0.0193, -0.0307, 0.9996, 0.3225, 1.4857, 0.9043, -0.1143, 0.2432, 0.1555, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0036 left_pitch=-0.0171 left_roll=-0.005 left_gripper=0.9996 right_x=0.4114 right_y=0.0964 right_z=0.136 right_yaw=0.0326 right_pitch=-0.0883 right_roll=-0.0337 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.5521, 6.9812, 1.8388, -0.0757, 0.0415, -0.022, 0.294, -6.9812, 8.8274, 2.0098, 0.188, 0.232, -0.0611]",
      "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, 0.6064, -0.4156, -0.0189, -0.0315, 0.9996, 0.4896, 1.7298, 1.3148, -0.3477, 0.3447, 0.2409, 0.9995]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1726 left_yaw=0.0037 left_pitch=-0.0286 left_roll=-0.0056 left_gripper=0.9996 right_x=0.451 right_y=0.1768 right_z=0.1656 right_yaw=0.0673 right_pitch=-0.1256 right_roll=-0.0547 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4017, 7.0222, 1.7949, -0.0464, -0.0415, -0.0122, 0.1573, -8.6906, 8.759, 1.5458, 0.2857, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6555b9e8cae4408aa68a2b259a9b01853528afd8c115e1ae31ceba7b3b882c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb133ac25236651c721cf6c22a9922057bc0be54805b02d7802f2fcc5139107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1146364b4cdc3d0e2b90ab0ab398f0e1a7b8e4003e42e318a8f57533461973c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEUw8MfBWAZ1VZQXK3OUF3kplbqBZXodi2mkjUi47x996fliW05KBF4dWicWI9s3qpFtZOVYHd4YwwOjOokruJGDknvG-AVwCnoQYfHOVhyQssoKQuvCAcFioO8mPQD78n1ZVqA6kY9vlJn0pGHRaeBNEcTlSrCheC4sItsTTNhnwN2V37ptFHs91pU_dK-vPvfVjIond3WQ3tTSb0xsyRwWVcZaaDbELBesf-vJNwlENA6YJHdT5U0eqWxnPo-Q0LADG8bG6OWPGeYZ_RPBusOrgeIx3S6szxYQ2Sf3qV8VCKrKjYBIt_vRdYqAfJQy6PW4HYY97hN5DNa4ysdvoLWCQumtDyGAtRy8qk4J_spxzna6V6larYCQvm9dqGm9eP0gvO74JbKD4vwqC2URGBvGJeA4dXdt99apmGB510inovVemcNiiimLeS0RbQhjWJjmxEl3X-jc0-9ZMSa5hsNd2SPei0Z7gN4xhdOYeH1q0TLhTLZ-TgiZmLaQLz_uBZFfCXgzgZH9OKGtnaX8hqePDMyBck_fFJ0zCQCqMhy5RU-WGvnVb2vuzxrJugqe5xc1z9W4sQ6mgjh9fVGYqkjSGK1juLgy1F5_UB5btMDRiuO4R5-A-6KhgxmxNKXE5F_bK0tn5slm7EGti-xGje9Q14n_AyirvOlBLRPFM3Y4gP1E6uexyr90AKGf_FMJsrZ-9TGcGPy1z9XdPHHRhrsotrx9NkuwickmKCJh6vATcIk5CbjePibjTGxBBAx1G5CT7tyam9UznVpvQV-r3NIx-e0Tmm1_-MZZu6BB57buRUVbD5yQ5TY02KniDjZSE5oBj4_WLJR57w69e4LRBoyb18WmsHCgOLRbfbwTsEXo9vWkOHOAmkQjstQiDr2lnMtpDn3QXv62OK_xP-V9m89yl8AhE05RE3GYmNNoe94t34mAfot_olrGoyaPXsn28u-c8ekCM0CtaQmjrR_wNBTgePiulIR4sjG25bA27abLNpEpb3DADHDSTpxcEB7nl-sQaqVxOaP8J8M5lVxo-MTsVnnEVNIDqMxp58qeU9V0FDw17eXpnjD2bzBp2Emi02GmCje3Pif-u2SAtcA-Sj7eXlgRmi27U_Ad3aZmAfW9vMnU51ixDnov3Lhu196iX3jOXZOUkQruAhjiBbx83auQStei5q9MBPZZG4JCziECJu8tBwu7ATjbseiA00DlmuAt1IqyEMxVRMHtCaFlFF1SDW9jrNPvmRxlSIGxbW6zBnieUqok7zI7LISfKkYV4wwvzZ_x-O9-zp_NfAhgQx1MoCRvllxsu-8cerQq-4W15lB2lan7j3PybwjPUFNb14cmmp5OeMRF7Ovv17t2jIuSoB_PjX5XB6Mymi42dll4mWTIXO-eSISssg4U0bUc8qLE2KmRB7Nk6XNGkenVMpHuRb4L6ZWzm7TxyR-GUPRYEGAM2gRh3Lc6q7wM_okroyWJHeChb8snZvj2LVVTaVzcgqfoZ1UPExvjLQmIYgKPBwfbdzK_Qe1KEkwWBcTI5rR4U1tJ6xaVIFr0fOikbr0JIp-oWmwEC3T6efJuGTPyNiWNSQnhvmXQdTNJgdp_O7RS-By-qg-fE3dSNEijpmZoEt8Kw18XdC6sxmc3FY77962OkjysEjW5BwbFD2l6FejcdA94IoZDXC8-2Bfzn1Go0pRN7Orl1glULHvmW_kOAto=",
  "id": "rs_0c7ea13f64aada8c016ab4452e945487d0ba6e2015aa939aef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.17},\"note\":\"The yellow cylinder is now centered precisely on the jaw column, but there is still visible floor between it and the fingertips. I’ll advance about 3 cm without changing lateral alignment before descending.\"}",
  "call_id": "call_x4tleBXSUveARqiug1Segktz",
  "id": "fc_0c7ea13f64aada8c016ab4452f9a8487d0b3fcc3aa545fd1a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x4tleBXSUveARqiug1Segktz",
  "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, 0.8005, 0.6064, -0.4282, -0.0193, -0.0319, 0.9996, 0.4625, 1.8027, 1.3979, -0.3965, 0.3283, 0.2256, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0435 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4665 right_y=0.173 right_z=0.1573 right_yaw=0.0596 right_pitch=-0.1661 right_roll=-0.0711 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -1.2923, 7.2, 1.8046, -0.0415, -0.0708, -0.0122, -0.212, -9.2239, 9.5248, 1.6874, 0.0757, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ac7606c9145e7ce27eb1ecff99d45b1e2cc8db2d7f268c592f072d6021ffa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4c88461375873474d3ce7de5f41d09ae3c67c21cdaa67e1c2f305fb40a642a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0444ba624b5e3bc885ed07a196d2aaf7b535b8d776771869a3d249cf47e6cdb",
      "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]: [-0.0189, 0.7918, 0.6037, -0.3908, -0.0193, -0.0242, 0.9997, -0.0212, 0.7929, 0.6056, -0.3962, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2927 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.388, 10.3316, 2.0, -0.0806, 0.0513, -0.0464, -0.4171, -1.3744, 9.8393, 1.917, -0.0171, -0.0708, -0.0611]",
      "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, 0.7982, 0.6064, -0.4156, -0.0189, -0.0315, 0.9996, 0.4896, 1.7298, 1.3148, -0.3477, 0.3447, 0.2409, 0.9995]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1726 left_yaw=0.0037 left_pitch=-0.0286 left_roll=-0.0056 left_gripper=0.9996 right_x=0.451 right_y=0.1768 right_z=0.1656 right_yaw=0.0673 right_pitch=-0.1256 right_roll=-0.0547 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4017, 7.0222, 1.7949, -0.0464, -0.0415, -0.0122, 0.1573, -8.6906, 8.759, 1.5458, 0.2857, 0.1734, -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]: [-0.0189, 0.8005, 0.6064, -0.4282, -0.0193, -0.0319, 0.9996, 0.4625, 1.8027, 1.3979, -0.3965, 0.3283, 0.2256, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0435 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4665 right_y=0.173 right_z=0.1573 right_yaw=0.0596 right_pitch=-0.1661 right_roll=-0.0711 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -1.2923, 7.2, 1.8046, -0.0415, -0.0708, -0.0122, -0.212, -9.2239, 9.5248, 1.6874, 0.0757, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ac7606c9145e7ce27eb1ecff99d45b1e2cc8db2d7f268c592f072d6021ffa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4c88461375873474d3ce7de5f41d09ae3c67c21cdaa67e1c2f305fb40a642a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0444ba624b5e3bc885ed07a196d2aaf7b535b8d776771869a3d249cf47e6cdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEU0sZ9lCryrh-gSuzhs8IEqAuKo8WPX7PqIvrlml0lG7Qu7INuUAa4mzF-FUNQ1vy7WwcWuJO-F7MTNjwYDJ8fDXTE-8nF6OZrzJsdTmchmY_37E22WJNMckf_Lfli7nENLMYasvzlOimZrIbSB-X6ZL6aKs7w9SmXPCVI9w1NZlUQRCSKwq_BsoIWhoQO82JoTQYx6IAstWjuHTGWqn0iabXGArN5g7HVBA3s27VWSOKpiitfDKH8mEWnoWCjuvk1ef5N9TZ92U88IpS72QF3HEn_3vkslpAXo0iQiwTvoERDd8hpH1vKnh7QjsAW3gD_PX1noSACoaSg7XyR5MHQbDVKCk_mQPrMXF1K4qdxjeDa7Gl6WXtRFy_yGtTJr-iVePBbP5O4vMwyD3ld8yDRc2olbVIOsfSS1l3fdfo6ZFi7fkm_4uBTwhTOmUEjfyck29mDEmulIW9oKyDB1mMfQfisPC521zN5JYKFOp32BmFLgm-lIfNdFWx1mIKTcH5IuAnd8ljJe2Ha5UEmSDre2WxuCiGzHpT1UE3eiQj3elMcQapM579kn8Q9hcemXV0V-A-gVa8NipIZv5W6A_JlHieoibCIMnEpn8GXvEe-HfCEalKU2H0inX6fbMF1DkkR-D4USOELyKojkWpm6YJDW5jLK9no5Bdi9RfXXZcCa8p0J_IU_7MF6cP-T6-Zqxyz1qruylKs3we46r-t5QPtMV1-z4sOtXtN1vEsUWXR0jsoBGuJA5TARz2Uo3M6h4PWj2lu3Uh87ZslN0bVchMmQHMkc_2zUvVnKxS7NG8MdHwQiW1gcDYZ1dAwWRRps7c1CXibtyXOOn6S6Nc9BLXt5XJ-670cv6A93cFW8uGeSre85IhuDu_xuydY4gEILq8jvoJ_58LGyXJjcGiIgJnHf8pwCwCcLr9KB_ZdbmNBRd_qmedU_exczljzjSTA7yZzCH_4mZFzFAortnlEfj9wph__g3HKTG63WbM2nrWoZcc3vUXmM6mOUoMf4JBcVHcozBDJ4A9NiwBISWk4IW3urF2nHlVPj4oA1sQg7sD9P8USeXdjzbOVyddvAKSyv0Rsj4x461fyf472hhtN7Yjau2f6Weh41RANBuC9WXMWQO1LrFjfge4Ch2vYbxkKDsvO4VLz0m4tBWRJD-B8RZOxALw_KVo-GdccOw5hVjoYLpbLGjT9ANl49mHnupOd7sh6fdAmctGcMH6jJLnp5x4mMOrTIZ5iZ_Dkqzdv4hVJl7kpGIRnesf9_c_zI9kcorbt0fqwo56cRwZe8RHAGZR3wrwu6mqUNFo-te10EcxDCPw60eDhI2BWn_Nhf8on2KO2j3Iv2mVNoc2-2B9FAgL60nY4yZCfSYAhgirRfuOT5jiYWylDSoxUhyuhuu93fXZzqPXLQH9hcX5Q2KcxhOT0r9e6lpANM8dAPaOkJb3WaDb0DK1myUuJCNL4MTZTg3yZmHTsFgAO27bcJWmZxRqhZpqpy2JzaEQ5bKOEYga6KlRJ-oYoPuFqluSM2iqtzpdyy6_j315LEy_Kq8Eu6VaHNDaKAs2hFsffuqJURRz9TWUjC2UsBDNYyVGnVmckEPCybkoiiV2EZhcklyIBudu-j-2jjEjIaRp9L6hZ2MRiduLiENuuEAjzsdluCcA7XLBwkkbetWUFsOKJyNf1nMtje8U34e3QCY7qGwo4NVD7w3Xw3tmIMMPKhISN8cQ3miT1KxgIEgbdyklLZ7i7ObwG6FJum8-7HWt63w4Juzw1_fviMHz_PmIdWuPw4VY6sOhRs-QijfiUnNvZSMpJSD-y1Y4j1xrwhGZ1s_NnOpF_lQJDS3CYPhQXb-s2qYbbPSr0-NRQn9lFfaw9GdJRkNQtskM9XsyVDPY8YKEFOCXEq_PzCSfjdRY7CBWi3DwTycHh26SNylOf6fQLvy8-83rJqeP0S2f4g_mFzAfh2f332dP2sHLScyfGT8T2hcf3bnNwmancEHUBiNKsomRBPe-Mkmk2i-Q7KpR5yVr9eb5r2LbnAo6KgNH3cyZOqvi1-9jD7dBRuIIoqI0MCBX3CDjb7NZv26lPfRS7JzQS-95zCBqTxBGVizgqShLivTJE8auhi9SaMuJsB2bjylmDKY6xhhylkgwAnrNYN6dsY9BNlknp4jU1CoIq-bVnPicsW7Cq2FOmj2vzpy5-d7IwRvmIulY6URp3yUwnGBx1X-1ehrtWhvs-PyNHwnIyJ0yCLfuqBKGeQNMOZrL702dqAAIH4VU1r5r-OnlRgX9qNh6Xs_IqAjhBl7Ajv1eDdr6LtCqoMZssZmZnICr--6DXGPl0tMN3m5SRSTNnJB9ONLeGHhL6jGTaaR54mEVC7Xk-RUHFNRf_QGnwnVmHQNYuKm8oZpkII7B9E6ZOFYsmjUK_qNTQt70lH1f1X1ocuozqTHYATlNmMQiMYggSyVB9eJkV6OEtV5e5eTdu-SPPOfCRVCEk_VcyHk35TWnYgbK0FMhq9gvkzUc70JrVWeaORypS-wFL2jSS6o-TfpzqFuGBa0bZzRY3jkIw7VzpHKZFiFAqG1UJnbyN8wmGPSyLXVPa46SjUttpTIvMnJzL3EoLavji80fnsHzKGg41TqbbVJNFFNyLTQwuGW8iL7MaJq8KBtXHK7mbyjh2XgD0xNX4eGdH4Bjy2kG_tY-4WrOhKJPji",
  "id": "rs_0c7ea13f64aada8c016ab44532632487d08261030e4cbc3361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.035},\"note\":\"The cylinder remains centered after the advance and is now close to the gripper’s pickup line. I’ll descend near its mid-height at the furthest safe table-contact reach, preserving the lateral alignment.\"}",
  "call_id": "call_TDpjelsNJRlbIdIsxciZUi8x",
  "id": "fc_0c7ea13f64aada8c016ab445341e3c87d0a724854b67789e21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TDpjelsNJRlbIdIsxciZUi8x",
  "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, 0.8024, 0.6064, -0.4355, -0.0193, -0.0319, 0.9996, 0.4522, 1.8217, 1.412, -0.4095, 0.3172, 0.2131, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1675 left_yaw=0.0042 left_pitch=-0.0526 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4693 right_y=0.1707 right_z=0.1515 right_yaw=0.064 right_pitch=-0.1862 right_roll=-0.0799 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4017, 7.1726, 1.7607, -0.0806, -0.0464, -0.0073, 0.1436, -9.7573, 9.265, 1.7753, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741b440d84b710e1d4a9c886b8afd5a07a12c345472c130a71469f129ca54d63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77706b315c2701b684b3126d22a1583bc45ab32f4fbefad28ebdba73c6b778d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b062dd05b1afb44280c071e3ceadffe1528be67372ae06a3f1d1662620a97ad",
      "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, 0.7963, 0.6064, -0.4061, -0.0193, -0.0307, 0.9996, 0.3225, 1.4857, 0.9043, -0.1143, 0.2432, 0.1555, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0036 left_pitch=-0.0171 left_roll=-0.005 left_gripper=0.9996 right_x=0.4114 right_y=0.0964 right_z=0.136 right_yaw=0.0326 right_pitch=-0.0883 right_roll=-0.0337 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.5521, 6.9812, 1.8388, -0.0757, 0.0415, -0.022, 0.294, -6.9812, 8.8274, 2.0098, 0.188, 0.232, -0.0611]",
      "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, 0.8005, 0.6064, -0.4282, -0.0193, -0.0319, 0.9996, 0.4625, 1.8027, 1.3979, -0.3965, 0.3283, 0.2256, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0435 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4665 right_y=0.173 right_z=0.1573 right_yaw=0.0596 right_pitch=-0.1661 right_roll=-0.0711 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -1.2923, 7.2, 1.8046, -0.0415, -0.0708, -0.0122, -0.212, -9.2239, 9.5248, 1.6874, 0.0757, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4355, -0.0193, -0.0319, 0.9996, 0.4522, 1.8217, 1.412, -0.4095, 0.3172, 0.2131, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1675 left_yaw=0.0042 left_pitch=-0.0526 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4693 right_y=0.1707 right_z=0.1515 right_yaw=0.064 right_pitch=-0.1862 right_roll=-0.0799 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4017, 7.1726, 1.7607, -0.0806, -0.0464, -0.0073, 0.1436, -9.7573, 9.265, 1.7753, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741b440d84b710e1d4a9c886b8afd5a07a12c345472c130a71469f129ca54d63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77706b315c2701b684b3126d22a1583bc45ab32f4fbefad28ebdba73c6b778d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b062dd05b1afb44280c071e3ceadffe1528be67372ae06a3f1d1662620a97ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEU54A1kBPE2JHkAWg96Lj3oK3SRqDFezDHumbFkoaebqrP9lDI2Wp6Aket02xTzVCq52dqJqexke99C_FXg3PtCyQkYFXksEKSEnhBkngaOIVeem7ryBibVWdY1TjwwyjsE6wXnap-4kyBLC1pZqUDKC7OHSkF7GF45GQKZHZFQWW0R3ogGNe6hJY40IFY74jjj2boCDflluFk4JdqFyIiGg2OhZEHUkOkzOmMZMywxX2tQ1SPTAIkZfQSZSZmjtWEJyk2JI9D-BAznA7oqfIrEiYvlmkD4df8A35WO6RV7B6Gw5ntcHUxScdc6F7BLtbxb2420tSVZDd0hfT53O5gJKr1Tjl3H3MGtq49LG3Ximf2APYNdirw8cPL0CkV2Y0k2rvZODIAwgl82r-muEeREnJr8iVpzYcXBIrnvPiiedPsplRcApTmcCsMeZsoaq14QzOJ31gZZYJZWsmIIWOaGGiz08ZKun2TKyO069yW4qe4ujZ63iVB_4obVmy_AkXwgiMbGfO93Am-aRMlm4XBUd-oyC2IUET-VRVaBKxCiws-meZMZqI2CAOLYeIzEDIbVZUq3O8l4D1mCtmjzkrXxdirfpv3eWXgy9UD27T2mxxUbmdvCcOgre0U2zsfHWXrUoiDTDwbeDsnZTlk-jVNGc57AnUto_o_61jH2bC5S7hS_vSOSro6XPZiUEnaz-94HeKw2LRD3vcGQ1BPlpYQJgH531dWzwOIdyMFT-TZFL1lsFqkyf48s9auDKrXw4w2jb-GaQnS3rvQEce_SiKcgZT99yqjJKWg5I_ihj3jFu4cUDpCkc_bSeGlNiCdoIpgn1xJrUAhST0SjuoP6W3-lvNsgTcaIgqnmvop1-NxnXf6KHWTgf9BbzoVjvoEwgYCEwGk64zlGRbG5hNGT7pAyGLhSiMJDbPwHDbPZJ6WncGMXTeTFGrPzDgPcBTp6YYe3HyxSn-Y-0sAQBRYt5YnzRgMzryhrlEpgGxC6Tg7wbMlfYB9jUSPtz0FgnbwgXjjZVUjp3UoaAw5yscsfpJUBp1GHm8dsVt2NzCzNomhYYSO0ND9y25A9mgUfCsuAwtEhe7Ud2tkLF9-9DvImD9V2R9dVsTmjf8yHZTHlpHbT1544La9eZCyYpMdwM29Mvz74e8gQC5WYAT5Ftrp7eW5d-OJWLPOdwxMpFP96bfo2pUPwCB6ofp8kJILBFrlvy98UzdIXzY1fqsH3vyQi2liYxV2HXINAYFOejHhOA5Jf00bHamxXlF8nva2arRnViuRQU0Ja3lUt6xs1pdNor_ZaHsj0jeTO9c7xuF5XaiJCD65h8GbYj94xwyUqGbX9EP--nmTaUfOt1gOFbtmW6lqb-q1s1cuFHnSkjd4-65siucho575jcZNVTBu3Al5zi23tLTW1IAZ6xoHJvLuwG4uPydKYmo-4HR8X-ITKqJThvmNHY5qYoA05eapjdydzxtiXzCb-g3bR0XXjlHI0A5Gt9OC_UiXmlHRCp49hFozhYgBtBUWNOz2yjYrNzwHQ3vZOQ1ArLG9JwvW5WTm1SX03inDW9V44dtkWXKWTN-WQ4aeA1gRy3DSqBtVxB1tpBEeOUczT0qo9-rF2FA7iBT8sBox2yKrP3Jm1tT-QzCywUQJed1CUZsDMFav2HhlkK-mS_s4Qs9s2oZ0wzbCXQtYjQunm9of-GbG-nZOnYAKwKFouPXJ1ecBRpc2-61PAOXEbRswpzCflSQ626VtZ0JfsOHcov50D5WTfpn3zGaVVI9IjyicWiHSHpLiHJM9OwXa3XpxeYBjxq2c9ZEWZE5BDAd4UzXfFLVqH2AbnkOc7Lm_Vqp3dV6AiF_WtcqDCV8URQQ_cPzFt_QKYrziQyvI0Gs1gL8JHfz0SnSnnplGRNKOXrMcjhQuhXKeNx8aG1AXp",
  "id": "rs_0c7ea13f64aada8c016ab44536a96887d0b9d5db8cfb3dfc4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.04,\"right_pitch\":0.4},\"note\":\"The arm did not descend because this extended pose is at its kinematic limit; the cylinder itself has not moved. I’ll tip the tool forward, which this rig requires for low reaches near 49 cm, and retry the descent.\"}",
  "call_id": "call_xmaaiGLatWApt2Qyz4QTLt8O",
  "id": "fc_0c7ea13f64aada8c016ab4453822c087d08c1ead2b6be366c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xmaaiGLatWApt2Qyz4QTLt8O",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4519, -0.0193, -0.0319, 0.9996, 0.4957, 2.2147, 0.8909, 1.1103, 0.4534, 0.0444, 0.9995]\nstate[eef_state]: left_x=0.2855 left_y=0.0016 left_z=0.164 left_yaw=0.0042 left_pitch=-0.0698 left_roll=-0.0048 left_gripper=0.9996 right_x=0.493 right_y=0.1827 right_z=0.052 right_yaw=0.062 right_pitch=0.3911 right_roll=-0.0527 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.2923, 6.9538, 1.7998, -0.0855, -0.0171, -0.0122, 0.212, -8.253, 3.9726, 1.917, 0.1538, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804cb8daafe48c8ab8989447ec8e6e391ec236d16427b59695b79db75168848a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f8d588c20549250c5bdbe8ead342c7c23046f2c33527a3b6d43e43250679c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57845635e85cee7912c9be0e68ab0dfd943d7035b00629732437b90ba96bf625",
      "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, 0.7982, 0.6064, -0.4156, -0.0189, -0.0315, 0.9996, 0.4896, 1.7298, 1.3148, -0.3477, 0.3447, 0.2409, 0.9995]\nstate[eef_state]: left_x=0.2905 left_y=0.0014 left_z=0.1726 left_yaw=0.0037 left_pitch=-0.0286 left_roll=-0.0056 left_gripper=0.9996 right_x=0.451 right_y=0.1768 right_z=0.1656 right_yaw=0.0673 right_pitch=-0.1256 right_roll=-0.0547 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4017, 7.0222, 1.7949, -0.0464, -0.0415, -0.0122, 0.1573, -8.6906, 8.759, 1.5458, 0.2857, 0.1734, -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]: [-0.0189, 0.8024, 0.6064, -0.4355, -0.0193, -0.0319, 0.9996, 0.4522, 1.8217, 1.412, -0.4095, 0.3172, 0.2131, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1675 left_yaw=0.0042 left_pitch=-0.0526 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4693 right_y=0.1707 right_z=0.1515 right_yaw=0.064 right_pitch=-0.1862 right_roll=-0.0799 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4017, 7.1726, 1.7607, -0.0806, -0.0464, -0.0073, 0.1436, -9.7573, 9.265, 1.7753, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4519, -0.0193, -0.0319, 0.9996, 0.4957, 2.2147, 0.8909, 1.1103, 0.4534, 0.0444, 0.9995]\nstate[eef_state]: left_x=0.2855 left_y=0.0016 left_z=0.164 left_yaw=0.0042 left_pitch=-0.0698 left_roll=-0.0048 left_gripper=0.9996 right_x=0.493 right_y=0.1827 right_z=0.052 right_yaw=0.062 right_pitch=0.3911 right_roll=-0.0527 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.2923, 6.9538, 1.7998, -0.0855, -0.0171, -0.0122, 0.212, -8.253, 3.9726, 1.917, 0.1538, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804cb8daafe48c8ab8989447ec8e6e391ec236d16427b59695b79db75168848a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f8d588c20549250c5bdbe8ead342c7c23046f2c33527a3b6d43e43250679c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57845635e85cee7912c9be0e68ab0dfd943d7035b00629732437b90ba96bf625",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEU-KGsBf0i16MfDGNg59WmLbeeMAm1Qp70Vt0JQ95j8tETCt7c6fhaE45ids9-14p1QuiwbM5qROhlGSe1jZHd2dsv4FGtnybKXQQB2AKVxUGyBWwxqsz3HgzZqKw6BUY0OdKxoJXNidvOU2UV8Y_nXy1URoWf7mhumGjXNpP-5nA-4M9eTJBPXOKlgt5-_CDIGepI5mxHyxSw8mho5IPf-WVkl9TdRn7hxzpbwuBUZ-2arzUwnWC8UPKU_tgFWETkrSCX-7w6hhqmgouLE5UEGPRm6AMccr3WaUJ3BgYNxvjlzNNmPzXUZpxoG1W1s80UTjn1YgBffV8VAKxRQjGoubXnJyL90kOrmbI0TXNV5pJSMg1bUtr1-BvkQGcaFoSYrEtvoLlkNj_0xZmn2d06oKxAUkBeNNNbwDgYh7WFrmHil89nY0aGg-e09FXLDH5Fi-4d2gmxga9LdqBG2_bS8SCTw7TuyyuzKzd1ICydamrERndZ2uDjevELyUj8nk_TnP4az-uC1Mz1EvAhTn3NWgbrzOgR1XMPKDwzshvVPOKMjhhMC2RaQPG7zzo_INys7rN1r74y-pZmfjiBhFOERKc8YYZpP3xtRNFufUGsz3hZjXG_oxFVEKoEmiBt-lAAk0amA5dqW2zpE84UtzJvX1H2y2XvOtcMy-GEX491hiUB8XZ6nL64I1SuSG1PQ0foeftkm0O0LjFnhpjdxv0DL5Y7Pjy8d99iYAOrtPCKR9L6Khpyf2uqogf8vscCSpjartBNPPjUpw9xBSX92c9YYA4iP4PHlsrH2gosIbeIZqetQMs2Jb7VbfQTZnQKX-ZV_5QPbGCU6Xmdk65MnBP8T5Sx-HJGzRgAeRzcNmsQsXZFRCkvjJ5he79tiuUjJKY6Lc84qzfTv33McixQ8MxsrIKDSiwUJC6FTtU5pAeGQpoxpDwufr1GhnJDBa3Xxkvl58fvGf3XqCcto8oQ-IOgeJyp8T8t5cmytmAfwwo_heSD6onlqTmM6EFatiZZsjL30ESCmkCEio5Gs6aVUrGDFXL-Q364yZ-5JO50SS-tG-s1fgi-FiAg6b8f3q6KHTzowWy4TxlAVA6OY7mlM7X9QXBDdpbSXiibs1JCMrWvK-RFWxWxFfRufsgZ2a4oqaeXRBVs9BhbMECCg7MdvWbJg1K3fbfQ8u__cgVX9vDGqEM6Xx7QhNOsCR8ADGVFT69pxtzzcOlJjeO3z6GQkLLkOJYOFEX89iphIojag5oYfi1gLKuXKXBXZs1jZ980Hkbisi0Phcot4efKf_aQt3jCzCzhhB2cckDlVAa4WFHcTLbhrVZhNFy6oNTOOEcmAhydrS8SInb31fhjM0uon4DS5Oi1LFZ3HtP44YUaUPKj94o8MLX84vLUnKATeaa_G9Ae82FZpVL3AQd0gaPFvrXzPoq82dY9KPWFIGnxUP6mClVtCc_V9b7Df_rMXJXJtbSTN0QkTdck6Ud6JQnqKmBKBkm6-1iyRaSWVeMsWfBzuu2y2bNCoZxVqK4K458rHBsURKPGKsI_OQWo5mWkLgldegFLW2Nn3aPGL8GBQx0M_SLPbizrJgqVvw8SY35rJftQC96O8gHCfuHRmdtOlJFz0etVA02U_3S2U-JlDYu1xnVNQ4-Vru_T9tsH0CVd8RFYX",
  "id": "rs_0c7ea13f64aada8c016ab4453c0d5087d0afcfe406a30c1f86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"With the forward pitch, the gripper reached the cylinder and it is now large and centered between the open jaws. I’ll lower another 3 cm to put the fingers around its body before closing.\"}",
  "call_id": "call_lO6vSMm9xi7slIZac3fzhDNg",
  "id": "fc_0c7ea13f64aada8c016ab4453d164087d0ac542b1fccaeb979",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lO6vSMm9xi7slIZac3fzhDNg",
  "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, 0.8032, 0.6064, -0.4583, -0.0189, -0.0322, 0.9996, 0.4965, 2.291, 0.8948, 1.2083, 0.4519, 0.0433, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0041 left_pitch=-0.0763 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4931 right_y=0.1835 right_z=0.0371 right_yaw=0.0602 right_pitch=0.4141 right_roll=-0.0419 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.2239, 7.1316, 1.7656, -0.0366, -0.0659, -0.0073, -0.3761, -7.7197, 4.8752, 1.2723, 0.0513, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5a434fc9fcb6b3f810749c9c435c6b12f50606bb0ac19951718d9b16994ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e6e57399d3d84a54279a257711e899991b71a35a0f5ad71c42622302986006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a0b8301f15827e078d125066333935af7d2db1445004cb2dbbc043e23686fd",
      "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, 0.8005, 0.6064, -0.4282, -0.0193, -0.0319, 0.9996, 0.4625, 1.8027, 1.3979, -0.3965, 0.3283, 0.2256, 0.9995]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0435 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4665 right_y=0.173 right_z=0.1573 right_yaw=0.0596 right_pitch=-0.1661 right_roll=-0.0711 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -1.2923, 7.2, 1.8046, -0.0415, -0.0708, -0.0122, -0.212, -9.2239, 9.5248, 1.6874, 0.0757, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4519, -0.0193, -0.0319, 0.9996, 0.4957, 2.2147, 0.8909, 1.1103, 0.4534, 0.0444, 0.9995]\nstate[eef_state]: left_x=0.2855 left_y=0.0016 left_z=0.164 left_yaw=0.0042 left_pitch=-0.0698 left_roll=-0.0048 left_gripper=0.9996 right_x=0.493 right_y=0.1827 right_z=0.052 right_yaw=0.062 right_pitch=0.3911 right_roll=-0.0527 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.2923, 6.9538, 1.7998, -0.0855, -0.0171, -0.0122, 0.212, -8.253, 3.9726, 1.917, 0.1538, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0322, 0.9996, 0.4965, 2.291, 0.8948, 1.2083, 0.4519, 0.0433, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0041 left_pitch=-0.0763 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4931 right_y=0.1835 right_z=0.0371 right_yaw=0.0602 right_pitch=0.4141 right_roll=-0.0419 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.2239, 7.1316, 1.7656, -0.0366, -0.0659, -0.0073, -0.3761, -7.7197, 4.8752, 1.2723, 0.0513, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5a434fc9fcb6b3f810749c9c435c6b12f50606bb0ac19951718d9b16994ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e6e57399d3d84a54279a257711e899991b71a35a0f5ad71c42622302986006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a0b8301f15827e078d125066333935af7d2db1445004cb2dbbc043e23686fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVAc3xNjcO7MKGosOLs56mbtP3AROPsA98ZEVREL4b8LiUeFh37jphYEeNSFWwiJGemd7-cMMO5kWPaO9ZwaQrDnAlLgwF40kfglz3IGEpPprw7Efabm1_YcJf0Lls8CfKK2kYq6E7Eb98-CLtLVwVNwJK1sJhszerO967qrK6DHq0gBvbUlVHHo2q1amTKiwr45BgKFID_YDOKUhZGYTFkbyatmNnbkzFv2ur973PmfUEb_yt4ww8iBdMrTPFBDl89QHLiE8B17w2z1rso-mTVUMVPqbst37Q6vzJ406iuAsSCUAUFaRhJ0qX5o4L5KzbvrI6s0OssHNYygpDH7StYnEBA-yrM47aXGpdgkce3j4U_osDvv6eAlFaCEaWcQ7g_bxVLXwPGzFJIRQsjv74nwaBIw8wlEJ2OXovZsjxvY2ud1xgCPN8BQb3FACuPdxuukhtFx1le9Rcpj20c-E4lXIWrmg71h_DgBx4CfIpUC5EGiabK6wHW5IWfQKbDeTazNht0q-67GlaUWPDtxmmvI8rcirzwOcnAz4naDiHAnkN-MmucUm4Z6xNrmeMF-ltwFCWGJmCzqyWofdpNHuGvg_io6VI5R8AhfHLbfxw7RAQlcqV5uQGENYSQgBE0A1pUK_2fdhcjIc_mZwgLZTCmIOaGMclvUqhjP82NEYc4t55IMp-LYgOXuWGgKA8AmsjSDpHjov1-MJPbiqjnbDOlGsvO9-gblGy7DcxO2cVIJS5rGwGXjCeKh3g5KUtPhvfg8LJTC-iG3Y-GdfryydeV483geHJNNl5DoXiypXUMOuQj7f8sySOvkH0z_8SC4TpmInswWANKCxQre6kb-XmlzBS6Q0xMpEbIBqEB6pLSImSRS0N46i4FJRIikknk8hWqiJ56o-kJpaOOGriXTz_QjkDXvCw-79Tsbem8TX-EVONC76IPHmuxMf7ejXMfPu_pjQrrENVEqwDCgGjVbueSufT-d3DPPn4KLcUZHMeZQ_HTF--dPAJQ9ix8VtdaN4XhL4KRlFGWrHy6ZySzpmn3G0WnqVxxNDCiQTb1iNQ9OejQDaqzCn4wTQCEnOyOWbZmOAVZzCr8qRpJ52WxgL2ZhRGQn1GZqPi_KHKLhQjMma85CgdoB_kQxNOSPUdqbPan5t3avp-YMrFYl8jZPhgNh4Q422BHIcS6LwXUm_N2bsS2Gdn9GW44bXyhR44QfR4_aaTW58Sh_DKyOdSlFLBc7plhYpYUz2n0ol0-9dad6grecvkV35x5M0zCdkUYVTN16P88gb6-ecFr3w3lPz9dfc7WoS5tH9ZERs6j4aJ2bps=",
  "id": "rs_0c7ea13f64aada8c016ab4453f958c87d08bc65c29d0af39b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The fingers are now down around the centered yellow object with no lateral offset visible. I’ll close the right gripper fully and use the settled opening to confirm whether it is held.\"}",
  "call_id": "call_c17eGAC9rsMIDwpRxVW0Dwwr",
  "id": "fc_0c7ea13f64aada8c016ab4453fe91c87d0991c72e4284bb9ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c17eGAC9rsMIDwpRxVW0Dwwr",
  "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]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0322, 0.9996, 0.5003, 2.3081, 0.9058, 1.2659, 0.4309, 0.0635, 0.5195]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0042 left_pitch=-0.0908 left_roll=-0.0048 left_gripper=0.9996 right_x=0.4956 right_y=0.1909 right_z=0.0449 right_yaw=0.0608 right_pitch=0.4595 right_roll=0.0076 right_gripper=0.5195\nstate[joint_eff]: [-0.0205, -1.0872, 6.9402, 1.8046, -0.0611, -0.0611, -0.0122, -0.6906, -8.6222, 3.8632, 1.3504, 0.2466, -0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d610d9571c1201e3307bf1c25d322740850213eb035509cf8fa4e8fe95811ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8138026fd264beb26e35bc4afda9138d464266c935847da41c0753f57c0df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9b7bb2d648e7271344360dfd8cf6306f5e17482bac063d4f2bf391a1c91164",
      "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, 0.8024, 0.6064, -0.4355, -0.0193, -0.0319, 0.9996, 0.4522, 1.8217, 1.412, -0.4095, 0.3172, 0.2131, 0.9995]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1675 left_yaw=0.0042 left_pitch=-0.0526 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4693 right_y=0.1707 right_z=0.1515 right_yaw=0.064 right_pitch=-0.1862 right_roll=-0.0799 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4017, 7.1726, 1.7607, -0.0806, -0.0464, -0.0073, 0.1436, -9.7573, 9.265, 1.7753, 0.0952, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0322, 0.9996, 0.4965, 2.291, 0.8948, 1.2083, 0.4519, 0.0433, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0041 left_pitch=-0.0763 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4931 right_y=0.1835 right_z=0.0371 right_yaw=0.0602 right_pitch=0.4141 right_roll=-0.0419 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.2239, 7.1316, 1.7656, -0.0366, -0.0659, -0.0073, -0.3761, -7.7197, 4.8752, 1.2723, 0.0513, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0322, 0.9996, 0.5003, 2.3081, 0.9058, 1.2659, 0.4309, 0.0635, 0.5195]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0042 left_pitch=-0.0908 left_roll=-0.0048 left_gripper=0.9996 right_x=0.4956 right_y=0.1909 right_z=0.0449 right_yaw=0.0608 right_pitch=0.4595 right_roll=0.0076 right_gripper=0.5195\nstate[joint_eff]: [-0.0205, -1.0872, 6.9402, 1.8046, -0.0611, -0.0611, -0.0122, -0.6906, -8.6222, 3.8632, 1.3504, 0.2466, -0.232, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d610d9571c1201e3307bf1c25d322740850213eb035509cf8fa4e8fe95811ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8138026fd264beb26e35bc4afda9138d464266c935847da41c0753f57c0df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9b7bb2d648e7271344360dfd8cf6306f5e17482bac063d4f2bf391a1c91164",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVEp4sovdwbXQ7kv_VJnGhGzExqxM-q5me4YkJISW8anmtCWXIApJGWEEQbi6GkHBv65bywfb8Fuj8mIfNZ__FuyqbOoyYBq1Xi1ds-2UBItImFvFw5C5BAdT6xg6E-edYFLJtERq0X5dk1Phb0U5rvz8GIvPsXFPyrMEzwmxSuuWycQZEZYygZBPQ14AkOdBBnKxQKn_X21dL9X60aKknbnvP9-YbuT2IpffnPjZVz3tXqpIrUHpDXhc-yBm1hjGDgYTGIoxDLDJDVJudbMX-CRYNLEZEejHR5Yiw0-d1lmR5iBO4HHCLgIA9uxwryUIEBzFdf3SjD1WsgqPh3QH4j14NOIEQ3dRblGjnlUUQP8D4weYv9FfuuzAYI-Xo46ts5Z_RPO1Ry5VWS6KVhYKndKgSaNTxjgPhHMX2aAVJ2CPaMKmIh1KDlTPVprVLaVveML4RnH8V-Xy6jOxmQuJvpyGqN2usQmMEz5fw-86iF0Rxbs0hAWXqGMcFaJxIoatpeQ6RhXuP5gHlijK33h0zW2_c4eU2r9anhMpsdSNgvIJfKdDD-Nu0li1BDCGuXUO1G4LXyGDFctVLUth71kuTiAOpeFFqAVXPozWreVHeoC6Yxx2NuRCl4jVVMScFMmSSlX2GHyr0y_TJxEwgyaqKZRiYfpSFcUnYYxdYL5Ps79KS9zETORPFvQyZrQJzclfGZqsgGfqWwkM5hBfwK3CHc57i1lt8enh7YDO_w2CIX0LMuxr0-v1RfV15Tb7FvjmCDMBDtFr6EK-O7V7xw43l3gASylGX0wbdjJz9USxty4N2hHqHrH7-nlvIjPglhCHlvDKy350EpJ-yPd9RinPzfrB6hHKDpwRQh48UzNYaST3vAO9MnyWC7ti43TksW7p1b87ZPHEfCZT5WX3p5Agqm-d7UknY0FTT9Bb66yVN-enUH6uv_UeXtG2I9egUezptH_FyXfRUFhFwQGU3bda7_kTNMOpW1dp6PjpfI8LrUtz-d9kElsXxnADQvWcx2MMFVaUXakRJ3je8zDikCgsPM1HoZCKCZt_rmeh2iY2DRvzxnhVGKYqFXXoGrj1zPUc0YlIjLihzWiwXw-4Wzrhv2ILu75E7AZuIoYYgViIFqyKhV9dD1XTLr4OyCXPhK1vakSN1P45h65ll63EY1eQoVAoslwbR7ZzLc8MnTIH_dTXTGB2y5p2bRvCIQqdI0iQ_bzqeeapfx5u4itIxWBnJqW-74ADC5Sc81vZmhYc3U-ZUEzVVOQ3DyXIeU1QY5R4JfLUhfjJlBodeR9wkO88S1T3LRdeIalB9USf7syjRytZV1zc_wQ5uq3GvwI-Uj6xFEtIx2Of04tj0UrSTbEOvrDaetr1T-Wgv5Dnu87lR2ovnKjHfPrys3uNIhMkr4XybJinyDBRH5zDuuqJZ_Jb4ap6svmvQnNcMXpUKUxu5pmA-1PuwI6ikw6KE-BPI0jaZEfrEGtxqTHvv-GijXEHPom2NF53ih5_1JJcjeMn90yM6n8G-qyVgk8LxbozaKeMX0n4oP2afNb8a6odUXX949-XYyvoaA3bBTH3lrAVBTiZB4UQKB5vqLfP_LET4-y1LkZ3aGUQEDd3lEpaysZuv11eChmwV-v6qMWnK7n6no1g2uJJwTcDaAEiJXJnmUR-mMVo51-71MlJp_MsI3fMzWNJMPSyWXb0DLeTxKQDNMyTr3Y8zoV1nWIeNDyOJvPu85bXY16QN-Ho6hyFIyzS47-9ii5tqVwfoSDjDYFX5oi0N35aYnjuY6_QyE0H6P_7Ju26fOazeL6BboUODB9qv1jzo_scC6xdciiI1d9RWCUj1LHBNEnE66B7qrxfNVQGsD4xXBLqOhrpc8yUvV2J9-vHUA9UkPvN1WCikFMb34rg--p48tiOp4YrrGKQjt88Ou-nGl8errOnQAnOmEw3dzPa1KyFJF-6FLG2xKmcil5Gaboywvgvk5nfIB7BlUkO10kaoebw_kYjQlB7TyQRdfwkqwgaYIwKGV_hbPexx7Rjjah2a4zmmTRX-wUUefU_cy53DMf1yCiI7sO1M5XIEWfKodyQ0T8SGCPOWsfAlNrpU2c7CwGSOVRG-1VujBDVFYTlOZ76xGnfIv7lk0pwWza1-IaVLMqrGdnkH_8UMEILljMLZtxgcJKepIg_UTZHaLT_nRctlLwvZkYXnK_2Ga9o7jNPYBAEcneMK7Cgu3fvmozA11t6CD6ofUZXFegNGBaVABCiQTs88heSF51hGcnA==",
  "id": "rs_0c7ea13f64aada8c016ab44542995c87d09defc0a68c941b64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The right gripper settled at about 0.52 open, confirming a firm grasp on the roughly 5 cm-wide yellow object. I’ll lift it well clear of the table before moving toward the safe.\"}",
  "call_id": "call_8yDvOgMfrxC3ImP8dOsigHk2",
  "id": "fc_0c7ea13f64aada8c016ab44544361c87d0a53a6fbc30d5494a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8yDvOgMfrxC3ImP8dOsigHk2",
  "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]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0322, 0.9996, 0.5003, 1.9423, 0.918, 0.6823, 0.4263, 0.0303, 0.5225]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9996 right_x=0.4827 right_y=0.1847 right_z=0.1026 right_yaw=0.1161 right_pitch=0.2695 right_roll=-0.114 right_gripper=0.5225\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.6972, -0.0659, -0.0611, -0.0122, -0.3624, -13.9009, 9.9897, 3.641, 0.0855, 0.3932, 0.3004]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5c8112c6638bdc83e8bf4cf334fe1b9c1622fb571b3f700392a3582d840416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059777145b2449ccc908ac60ad592badf333bd56786b4098cac6cc42cf6221db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a2955502935017bc9c7fecbb1ca5ea7dfb6979187bd05f35d7fd0c15d04da8",
      "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, 0.8032, 0.6064, -0.4519, -0.0193, -0.0319, 0.9996, 0.4957, 2.2147, 0.8909, 1.1103, 0.4534, 0.0444, 0.9995]\nstate[eef_state]: left_x=0.2855 left_y=0.0016 left_z=0.164 left_yaw=0.0042 left_pitch=-0.0698 left_roll=-0.0048 left_gripper=0.9996 right_x=0.493 right_y=0.1827 right_z=0.052 right_yaw=0.062 right_pitch=0.3911 right_roll=-0.0527 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.2923, 6.9538, 1.7998, -0.0855, -0.0171, -0.0122, 0.212, -8.253, 3.9726, 1.917, 0.1538, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8032, 0.6064, -0.4728, -0.0189, -0.0322, 0.9996, 0.5003, 2.3081, 0.9058, 1.2659, 0.4309, 0.0635, 0.5195]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0042 left_pitch=-0.0908 left_roll=-0.0048 left_gripper=0.9996 right_x=0.4956 right_y=0.1909 right_z=0.0449 right_yaw=0.0608 right_pitch=0.4595 right_roll=0.0076 right_gripper=0.5195\nstate[joint_eff]: [-0.0205, -1.0872, 6.9402, 1.8046, -0.0611, -0.0611, -0.0122, -0.6906, -8.6222, 3.8632, 1.3504, 0.2466, -0.232, 1.0281]",
      "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, 0.8032, 0.6064, -0.4801, -0.0189, -0.0322, 0.9996, 0.5003, 1.9423, 0.918, 0.6823, 0.4263, 0.0303, 0.5225]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9996 right_x=0.4827 right_y=0.1847 right_z=0.1026 right_yaw=0.1161 right_pitch=0.2695 right_roll=-0.114 right_gripper=0.5225\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.6972, -0.0659, -0.0611, -0.0122, -0.3624, -13.9009, 9.9897, 3.641, 0.0855, 0.3932, 0.3004]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5c8112c6638bdc83e8bf4cf334fe1b9c1622fb571b3f700392a3582d840416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059777145b2449ccc908ac60ad592badf333bd56786b4098cac6cc42cf6221db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a2955502935017bc9c7fecbb1ca5ea7dfb6979187bd05f35d7fd0c15d04da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVIDomf7DZPdxXyp-e5EBBHEG4MlzNE0WELG2zDJ5KbQcLmM-jT3Q3mYa7Jre0MlmyzOpl1imFhWV2_CfvZAP09M4U3MgxbvTPZvd1aPCB4ufmDly3fZMtq2BaVj00QMKtjS89mV9mtrGqEAOdbingSOZqLBWm1y3D2oXaewy9k6U9-yqVLgLDYFaG_cZjc9m3jNpD2AOpGxXLLvxmU-9zrTp7By5_6YNZfPbMaqCN72jBzjLCaQO5drRcuKpOcr0y5dS-5Ln3sogD-304GyLogvidz2qlP6-8OJH8SF67jkbPxo3yk-ZR0dk8S0RvSZxIOm3IE6O0ucDH1OGDEFGrYrw6GC-fKRXBsv3sNaPCpAtBtoRe208eIXO5qJ0Fy9p_MKNhOG_TIYh9jkkNK6wLFTSE3FCyr9S75iWU9RqDZI0bj--nwTeWndzI3zCGZrIYR2ILduypArWdKcfgu9X60W5n3LyRZy_ZJQEW3fKO6S5W9waThWxJSShoMMJHBidPxyh4SH5ziqazwH_1zSIhtAHUAN5CY3ujre_6rPEo-T9LNDxhwyS0zbkverwCCnBqEoy8YlvJbMGqT8Pkf6RPZV7Ga_qtsCJgeFUF46LU1tcw0PJrZuiTDTbiiASLMB_XI5P_Kpsqv9by4jy6DDTzF3rvc5Aspr-jggyOYsGgqsefOmr2a1szEotHmJr4cZ1IpvRIw7F2c2IuQhlsK7RpwqObOW2H73wKQSfrxjBO96F5D80Sd8dwJc3XyCV_sCX1VbqRDo1TUIBs7Wi1XnvIzpOwQYN1UfPx4D6TMGrpdaMio2M_Z4Tx9nlVuHHciHjIzvUDVQb9_weLnk2mg5Y3y0epud7mY1-XDxmeY96ng4st91Mr_UgJGh3SbPH21W3QQfL1qRNYbCW0n4wzeDvdvvybB-DE-qAG5_oHTSeqIhBub3I2n5oJKI5nqSgffkXOnsXiJBOZrMWzoQe7lBNfnIRTBB0d7iK1qafztBDmph2m7BqFSDbTQrLSuaolkTk7i2h7XI7QMT9GFIa2yNfWYodYZY3oYqdvtjH6ai0sMt8W8ULE3KUeQ3ikF_pQKvGJ-9iF5vDE3OuhnnrHMmDYqVfDaPu2k5xDNZhfnaiVm7FqHTBrwZOPO873TB5xfuIgMOEV5KneDqZe4C-1VMuZtLG5GOuRCRdRh3HRXoDxdud6JurxTLOa-kOSqtysAdif99Sai63yLDIx65sDq_oedA95DdQn8mg0HfpgH7OLnIBOkEwu2cYOcXQFqNlYS-bEyVNPYZ9aCJmJFj408K9Vq8WTk3eetG317lwnhmCelxBpFX2BuuT9-W018MydcyTyh",
  "id": "rs_0c7ea13f64aada8c016ab44546d7dc87d0974f83d4366d91de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.32,\"right_z\":0.22,\"right_pitch\":0.0},\"note\":\"The yellow object lifted with the gripper, confirming the pickup, though the extended arm could only reach about 10 cm height. I’ll retract to the safe’s center while commanding extra height to clear its rim.\"}",
  "call_id": "call_4q0UcX3sXRoPr2Vve8nQ35bI",
  "id": "fc_0c7ea13f64aada8c016ab4454722d487d0a8d7cf878cac72fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4q0UcX3sXRoPr2Vve8nQ35bI",
  "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, 0.8078, 0.6064, -0.4988, -0.0189, -0.0353, 0.9996, 0.8738, 1.8835, 1.5673, -0.5392, 0.6483, 0.3092, 0.5293]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0059 left_pitch=-0.1213 left_roll=-0.0065 left_gripper=0.9996 right_x=0.3943 right_y=0.3104 right_z=0.185 right_yaw=0.1786 right_pitch=-0.0815 right_roll=-0.2376 right_gripper=0.5293\nstate[joint_eff]: [0.0068, -1.6068, 6.9128, 1.8095, -0.0562, -0.0415, -0.0122, 0.212, -10.7556, 10.441, 2.3565, 0.4957, 0.7204, 0.525]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940525f55f677487651418792807f2a18a5c7cb126915e758eee737270b13a6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c92f38ce8d1925d8925167576e6f2494c2efa43bf7375b77949a507718e470f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bcfebb3d426ca3e016442d647623362552a9f8e183a96a59d80f7abbc1081b",
      "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, 0.8032, 0.6064, -0.4583, -0.0189, -0.0322, 0.9996, 0.4965, 2.291, 0.8948, 1.2083, 0.4519, 0.0433, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0041 left_pitch=-0.0763 left_roll=-0.0052 left_gripper=0.9996 right_x=0.4931 right_y=0.1835 right_z=0.0371 right_yaw=0.0602 right_pitch=0.4141 right_roll=-0.0419 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.2239, 7.1316, 1.7656, -0.0366, -0.0659, -0.0073, -0.3761, -7.7197, 4.8752, 1.2723, 0.0513, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0322, 0.9996, 0.5003, 1.9423, 0.918, 0.6823, 0.4263, 0.0303, 0.5225]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9996 right_x=0.4827 right_y=0.1847 right_z=0.1026 right_yaw=0.1161 right_pitch=0.2695 right_roll=-0.114 right_gripper=0.5225\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.6972, -0.0659, -0.0611, -0.0122, -0.3624, -13.9009, 9.9897, 3.641, 0.0855, 0.3932, 0.3004]\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, 0.8078, 0.6064, -0.4988, -0.0189, -0.0353, 0.9996, 0.8738, 1.8835, 1.5673, -0.5392, 0.6483, 0.3092, 0.5293]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0059 left_pitch=-0.1213 left_roll=-0.0065 left_gripper=0.9996 right_x=0.3943 right_y=0.3104 right_z=0.185 right_yaw=0.1786 right_pitch=-0.0815 right_roll=-0.2376 right_gripper=0.5293\nstate[joint_eff]: [0.0068, -1.6068, 6.9128, 1.8095, -0.0562, -0.0415, -0.0122, 0.212, -10.7556, 10.441, 2.3565, 0.4957, 0.7204, 0.525]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940525f55f677487651418792807f2a18a5c7cb126915e758eee737270b13a6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c92f38ce8d1925d8925167576e6f2494c2efa43bf7375b77949a507718e470f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bcfebb3d426ca3e016442d647623362552a9f8e183a96a59d80f7abbc1081b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVQyU2AcIEBJXx-VjmygOh0AsMbNLTAc0v8Hw25Pe5E-joYnnEVbXcP-3m64r4j8NTs4EASW74hoX6_v35WxvcMl8T8q0siyumMK7vYvyZ3VCMKAcOVFjB3b0bcfpEhsq8GwmYY7Gj15tcfzIVuFQyVF09j495848W9Y0MiFfpiOkGpby14HUf5R34w8uhHXnIwhjnJPB6GnuU6QQ4GHTeTw3WEF2Dp4gi7722ZmmGuTiyuz_QCjrmylh5Pzgv2CJIuvcbZpCsX_p2UyNWMfFMCC2Movb6WtzYXe6ZHk8D57ZUMFFe5nEipO7MdYIyAFmrkdxjf7BGIER719IfzXT99B_R70TkqSXFxqoo04Xz8MBrxw_ak9yYL3oznKnt-B3uDmGa2aIDHxOy_oTpYdCPL2ma1wcB9FRZJaCGvwuauDtriYv4QKx3c3cUXDG4esZQCiSfc6b8fR7L_it3mkoEakmBK6O9kHd6EaNJB2Fqot_7ug6hxr_1Fi4YkgornrrRPQsAHTdF8ho066TGtJytNrgiTaHXHDUfOSTvVy1KLNogW8FfzWLlLuM2DGmuMIwiGe9qQmt4dCJ4OLpYfswRzSg2qTIyWM7Iys2gB2v2Lhz1TX1yDaGDFb-uXSjIQ4ZSufHLfE2FQ_DxVNAruqZmcQReDaYP0XIJTFdBxCxN1FF1L_gMHI4E4fZ3fIDO5ZJsbyGq-jzeQY2y0JxZ8btSY6GhnA3an_k-OF6XUM4c4zQsP7rL9LcsC4gaBAyau_tlswxGqTlROainOFjLjLYNg0p6f8fbKE11e1kkV4hpYOPfW5896D9AB5H4pu-uXoy7Q820i2QbGqlSKr3MxHZmj3-abCMxBynitIZJakb6GfYrJHDEv1HDjLZ4ZYTnS1mZxvlwVbZUI2HnOjax0fBGCIQtgSMWN65MufIn49l_C_h99wA09GiVPyZdOMbOTBpgAafPt1FNHJHpnvQfLxGYy6HWU-OmcXcJw9vP2AKLgGdJp1sE1TH7sq4X4FRDimd41XRgjNc_Iy_VSKV00gWhhjeW55ZyQ5b8ebFfTyVCZsJ87MItAsxDBw91MG0WK6DpD1a1BLOWIIDHdY7nl9w8fwOFN8zPQc74KlaRhCikDex6_Tpo0qa1-MlzuSsME6UfJewaXJiCI0GOQ7xK1gJxYApFInyHVklRLAcOwwDLg-hGxHL7l8dh7xMYpGNY7i2ptdtRzT1ID9Vo-n5wX5P6XC-JyGlIJUEtIHvLrQSZs7EYrITzX6rPgMvEtxGwWZbL_rndeba3gRQu0mUQ7cVSB3M71_yOPYCER4yTgarGv5eva3XWeYkKYzQmwDAwmgNAdndt_NKBywlPCiisaW4H7gfUzIqeXFoCsDivUaxU9wsjbsve-pUwUejNHh_QBgHNcOUxTg6qxYg0fKoT5oQS8enm_QDwyK5Svw8BOPSzy2wIoH6pgfIy1YI1xTW57xujHbXOt_W0Fv3bAuTeDW0f7JljIFY53XDj5JYvSzaU0QfFmuPUvNp2qiYrbN6j0KHSsJZI8gFVN0yoQ4Eao8yFFi8YD_6ohjX6KqT5mgZrALCSd2LWMA1sxgEqkrhxaPCsX-b-hZPGuS6t3ZKslkkpuGJSEHqIXcmXjYYYgl4dyyM5DFJKoPnV1nxWKvC6NtOexmVNhgopUaFzTRyEo4PwiL4EhTyf_iJ6aWgI6Y3bOw0q1Y2iFrhFL0lWVjEeL3FjFzoGGrZywn9NR98fMocebHUq1HfIDgaAI1GMg6H1dl0x75MM9jt4NIkU2QHmJoSvO97q4s_yOp4XAsBqKLhHm1BNqWQkf6s9zoCAToDj6fhkozd5XSYWxz3wHKXS3FG4tbibwCIDUnUjGeEB80y61R-BOvUQwqgC2OxNUfbQyDbtstuPZlVwMTHTkynrrRjGSmI9I6e9MnyuhaZHJlw_kRg-8av8eckSHoE2UaSMqohCoIseuhehPjD2tyl1di6-n4kB0CznBG6e6vT8FVVnLcpt3OOy2H63zjwdMofEYdXAPaBEhFsw9wc_Yi0O59-z586p7wMb_fsa3FDAsG8lrkf452BM3hgroe8D0U-PI5Yfym2VHoPKoQygpXyULgxBeCWg_slMp7LAoEG9qg0a5vxMFonD6ZZZxiAC2hxCCBVBByBem5RKQgvGd8RLws3of8k3dN6LnQu4n4G34EYhbK47XfoyhbSw6nGdgdaH6tHxePBQbCuD8XPxv3R_QsxZZtkqst-nZOMkMkmuG6I3s6_7ctDOsdtwwOPNeQOBuSl7iPVMkv_ea1JhatwEcLgNGTXSaGdgwhMY5FY6reO3S6jsJwyrk9Ba3J0miQYrJrcRiHyRiMKmHP5DU8IqbsX0fYmcBW00qv48jdXO119jEy8sV5_jwkDcHO1BalDf-znbn7WJzheH7JFOU0byUwYySF4bF-1O83jkQNhKL3cU4eIN7AUjuysqnyf-MCEqNHUvjixnlDZvxiOzyCh5-fOMfxykAo6PAa9PhZqsEtcGuBD99XVBcUyKmKUiQgVffvoNPU6lU2s43Kev08bRz4c26mGNDsQvTrCt_0yyTyvqQWv46PfU6i6tw1_tnjJEXtD-sQcuzp7dbq3un4yXKUDlY1a87POLjaJUFEBco-VsacmdFRj3_CnN670uGX4a4cqoOLIsZPwN6meF9YpMwUQYfd7ZPxRiUGBvKlifFfwmnzy3Ff094du07nXPQZxkKL0eKTb9NigdmWnly5D1D5Tx0h4AFFU2D4EjHlYevIIPjYgwG-Qqp2cGBEeE18XoBxszbEPXMn81dsHXQnzExAexuGX5kNQxe7oSEPMZEvxgP3SVfLSq5hfN_km_D3TWjzY3yH8b0kGN38dG2XRcrcFY-YGLuIukjhXd2z5cSSmtNW3Dt1O3LdAG97vvAFjMjtEIhYYEgSNOHUzzjZorH20Q2SXGNXzdzE9mtHeDWUEjZGpl6c-43rQIzyTkzXv4h9QDNstNoMExP2ZHYy5B5vOWY4zRbh3CWQVwVOWPLITMiE94rPVVVR_Foyzxpj6lzp-R2iU_Byu7RvN34kyxUfIyp0uij9D1qWlYpkCWNwA0-eFhXH7zg2bTv093L3OhnmGlx0rfO3Ij84Xig6OTd2RiLWaQJetG1cw-fO8Y0zMxeFRU1fIv6QFs1SKnHm4DXjoooTeupCmer6jzUF1WicWm11BwCnKszJH196KZp8uTdNQymq3ijMzEeaPt28eS3SfAhNbQMXvgcLqARuSTSs-czL54Z8iKR52N8Io-V4kai4cEF6fVf5IohDRMEjwH9dzIJ5cExrxjrXJHgFP5KrW8rmrZS2b3jWWoDohMCIjjoULwoYRtQPKnaVHf1hAI8rGS6Xaw14Km0NhGJkg9Zh7idplcsP2Scci9fOagS8Jw58kMX40CJqE83JXbSOGxSnzKThiHJCcNs2Bq34O1xkDfhfZHzrU_SYMn1Y5hoVY_Q6SW3ztEpUznzXeCyD4xe0fUqxTfA-hQQdaLqIRxoXRE94C5lkAvK0RS5EcaM2OkQFlxlxjGeh0zdplUn15Pdefh2JYJPifQvw8HvQ5WVr4WbNJo8u8aOcKpPHnGBoKg1uLdfdablieEredT9awV4lWZkwNiwucFS51d5GG8FtzzNhDWpnJLDRlxQloAdquU0jbIFksttPc-LrP17w_BRjF7L9p03QCk7FKLdIsoWuUuBSSkKHZnHZUVDRb98dBhwVWJvcguE-ck1fw7i2J7P2RwItpKzZrm38KIPyTGsaZ6CUZrusN571xjlVK7EyO9yMORi9uqP8WU_rqc0aQPCqBZODCdd231JoA6vsOH8_ez8_4xu0V4cSKpG1dP1mYRf59-s0wIevrbhGLbY88mJvQE4kpvTVrDmqd6Mogk70-mUfPpmFSBDNjaRszavnaZxgQVR5EbI3L53BFQYIQcDrIM2QlUr1DKqTSx6Gi-xU86UTujmGZj-maa3MvNakJX5uiM-l5EsEOuFQdhg1j9LSknK54W06dTHJoSMj2HhFv7oiliQ-QhinHLiS-20eTn-uA==",
  "id": "rs_0c7ea13f64aada8c016ab4454ad87887d091f4cbbd8a0d7a08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow object is still visible on the table in both the overhead and right wrist views, so the apparent grasp was only jaw contact and it slipped immediately. I’ll open and park the right arm, then handle the easier plush objects with the left arm before retrying the rounded yellow one.\"}",
  "call_id": "call_pWHyIsH94YBqO61wmoQU3wV3",
  "id": "fc_0c7ea13f64aada8c016ab4454f2f8c87d0abf55b50ac3da788",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pWHyIsH94YBqO61wmoQU3wV3",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5175, -0.0193, -0.0353, 0.9996, -0.0257, 0.7818, 0.5953, -0.3935, 0.0128, -0.2749, 0.9988]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1498 left_yaw=0.0063 left_pitch=-0.1419 left_roll=-0.0057 left_gripper=0.9996 right_x=0.291 right_y=-0.0062 right_z=0.1765 right_yaw=0.1125 right_pitch=-0.0147 right_roll=-0.2358 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.8242, -0.0317, -0.0122, -0.0073, -0.0752, -1.4701, 7.1043, 1.8535, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49cfc4cff1829b541bc55135bf555d1f5564a0303888f5b7684ffb92a111b91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b78c0cfdcbb7b1fa7d58f935ae514f9bd467310d2de4d966b813466f8415957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0b6dd7b39b381ca8c96865973af8b0e3a274237fb6d39337057bd9a36aea7b",
      "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, 0.8032, 0.6064, -0.4728, -0.0189, -0.0322, 0.9996, 0.5003, 2.3081, 0.9058, 1.2659, 0.4309, 0.0635, 0.5195]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0042 left_pitch=-0.0908 left_roll=-0.0048 left_gripper=0.9996 right_x=0.4956 right_y=0.1909 right_z=0.0449 right_yaw=0.0608 right_pitch=0.4595 right_roll=0.0076 right_gripper=0.5195\nstate[joint_eff]: [-0.0205, -1.0872, 6.9402, 1.8046, -0.0611, -0.0611, -0.0122, -0.6906, -8.6222, 3.8632, 1.3504, 0.2466, -0.232, 1.0281]",
      "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, 0.8078, 0.6064, -0.4988, -0.0189, -0.0353, 0.9996, 0.8738, 1.8835, 1.5673, -0.5392, 0.6483, 0.3092, 0.5293]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0059 left_pitch=-0.1213 left_roll=-0.0065 left_gripper=0.9996 right_x=0.3943 right_y=0.3104 right_z=0.185 right_yaw=0.1786 right_pitch=-0.0815 right_roll=-0.2376 right_gripper=0.5293\nstate[joint_eff]: [0.0068, -1.6068, 6.9128, 1.8095, -0.0562, -0.0415, -0.0122, 0.212, -10.7556, 10.441, 2.3565, 0.4957, 0.7204, 0.525]\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, 0.8097, 0.6064, -0.5175, -0.0193, -0.0353, 0.9996, -0.0257, 0.7818, 0.5953, -0.3935, 0.0128, -0.2749, 0.9988]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1498 left_yaw=0.0063 left_pitch=-0.1419 left_roll=-0.0057 left_gripper=0.9996 right_x=0.291 right_y=-0.0062 right_z=0.1765 right_yaw=0.1125 right_pitch=-0.0147 right_roll=-0.2358 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.8242, -0.0317, -0.0122, -0.0073, -0.0752, -1.4701, 7.1043, 1.8535, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49cfc4cff1829b541bc55135bf555d1f5564a0303888f5b7684ffb92a111b91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b78c0cfdcbb7b1fa7d58f935ae514f9bd467310d2de4d966b813466f8415957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0b6dd7b39b381ca8c96865973af8b0e3a274237fb6d39337057bd9a36aea7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVYlfqpqRt1vWEmN49J7cTfzaxtxBIZHiLTOEdOOtVKk7TT6Jx9IMeZC-ET1pUh5kXVbGIMmS5kT3xAvt70NakqrL5Fqaeks6wuUWACUJpvfWV2-eBElL4tX12qwldLc_FEtTB1xjEfdP6M5mB-OiAw--3M_VSdW_bhHnjpiwRrI5CmmO5b6uasOFV-tb9jJRkjOOTeI7K37-7g0tXyFsS3jg-duLNQ_LVY3uVQG-G4DpYO2xOxauE2KwfZ46wpA5VALeeHKmzocbCs0REUA9rPoEFg55vi1BadeRlOYx8UZwAQ0qFlbnkeTh_yLfcBE5AuMbrx8Yk3d5Ho6dK32b0u1SkwoLpTVS_ODcRkA0o1HHaXzUGP7M9yUaxn2DI4ZP1vA1IkW0A0d1hVmEcBG7ZxXu7twr2jmWSo9tCLeSW26WVy09VtLVwOva_FfL-5KyIbup5YFECWa0rTCuYvgVgbKE7JlNXdJIOA7feWQ5CZFkJXT2uBaztAfNzux4Wj16jaIPuulLiKeoC1uF7TnBoGk7RSwjPOc2QesyYjZeFo5WqG948k8vEtpyGk1dF5pXmkIS6zZbmOtJZk5-k3ClZmIAuXZEP3V0ok2WSdNBKLjk3Chg2Buno5ZLV3B3XyIJXhTz5SJktrH-OZ2KYBPXmK55x5WemSdImd2WKen8kb1wTRThWWNTIsr915e2k9kHjxpIxmmz5XsacHC58--MOPLKrFs6B_fMeaPhuNpPKCHnl6Yq1VDi1lXj2YmN6DGh1P_f8_7WQlBXnugKsIjOvXFCxLqyJt-Gr-r0ULv3aM964xhFbb3e4YQ2wvZUCJ1O4Bb1oARcfBSnF0Aasarg837OX_PWq6COG3l41CL-GnVfJBxw1AiQALntpG_fFZgvPE492t7tBNhkMkCY4sC-I_sJSsKvXGD5OFf5KOV7kfT5DfWcQimpsNg1OxkL_AcHcWd0_rzm01mfEqdUgSdlpm4KdqaAQOvb7QGj4dpTuvUEKGgu5Xd3B5h26R7AbJpIDEs2E1pqo4KAdFmLen5iSBJvNCABuvVoQncdh_rqhoDxkCQXYTwSFvXA2SsFkG7H4Sa17NpyXtLT3HuANkmdUqY3wLFHPFC8pjk_TRH84yxFjdN0fOwIwV_dh2AJbks2xHAozyal8NxJ098n8ANInBO05OKDo34uvfuyWEfM4C4_p-LJe3bCZ7qgj9yZe4f--NWGFfBbkn3z8f-7RRH_JjR0MVjRfv6-vhmS6mvMN82NKDR0jkAyJ5ctctmlm1yX7ENRoFTDWntve1dGv3c_Dp1ZmvFm87tnOIT3ooIkoxuFPWSZSdeMyEDPGlXZQaz29z52dqznbK-iEfR6-AbhwcP9yhgUC76F2aznJPY5CNMNH0-ELDk0WnPLaJq03g-hAJIl-YlguKrvtqAQUU57heG07wblTDQr_NUlVhRRdFcZ768x2Gnk0baObrfEnRXTy6KhydjE1gB3aQeCOxVxquEkELaqAwFrg-bKwl_oWtzK3bbyXPQtGY_Ot7cid8a473RM8EOuflg3SZqNBM5wN3qFSwxEnSkuyJFZMyjx24gyA7_QdmZaNd_3hD27FPrleDiGm3oCi4YFRdHOIcfXwen6px6dtqm6Y8gsqqManl6yb5mYFu3Ypd0H6mDBob2BKtr9V-gUR2dOM4jooJ8ZOfCnKTh3xAYF72T7pUxH0jY-qnijeiMNKJWxMleuqfPwiDAy4L927Y8Y-KpMfZBK05fbdO1x-Gyhksr903GhyYduIHFF1hkxm56S-8Sfzv0p0zAVVRlOLSA3lJwEH5KODWLKzLE8F-6OF091YL7AkkZNg4U4e1ve7-ihQASKVcdQgIZgNRTq5x_FoFqJv2Pipa5NyPZvl_vvwDhPyQ4PIwyKFyUb8uF_mKGOlCnpxjv7wck27PgpVjtgD8Tzx4SnjsJ2OQSJK47t1dN2zsmSi8foUIyFjGp5JJwW4AHbxBW_JQIc7ODm0jGTcncSJ7ITPDLoo3EkknfTclAa_Mt1M8K3gEZAetIHF5wtnYWTQ3diEwM54c98Vj2ChYueYZd_e5_HraVFDZXAd1u2CD1EGxDvUScAvFi3xKXl4crEJkCZ1ifU40R1TBI8x0WhlzvlkqY-5WHzpfrVp3A2HVJpn-0_YohgBDDo6_Q0GidrvPk_14lF-x24or44xZbenUZ1IDIU8wY8y_-pbz3dZvqxR8fbnYJ3V32TPCm8DKWAF_VF8jiwF96bUMa9JsDzGBR6vQySqVqu-G0NYqK-t8z4e5K3zEO4gd3yHIPxcb55OuKUuBvucaOj2xdtj85t91XX8W50QyCNSLb84NRxLweGb4KJRpLLn8xHaE0znUjUaioZ3_thKkrCEfHcJY6YS1JHBjO69CA23D6bkSu2cCsqO6uTDkR_FKtj2HMotwIG_R5suols1GE2GU0ruNpKKaE1fo2cEKAPAQjiihS6swOJOQ80eiw82wKWkdNqBjSWY0jSqG_iaL2h1H0L9j2lllny6WJ2mK6I6soNR7NU8pRNWj3-vqftb3NGzCBxWLiPBLLEv96RfKKSV61rRqIbDQKTnNfpgOYp7zkbst-BfFnAe99V1lOschXOeFgyGjGCr0wehlCQBYEt-hVg5EKtAIRElZRH5GWiC1qL2qdAIulL_pPsDOTWmlJ1oUC803LRp0cAT7arp6jgtaFZFz9_U1XCm_LY1-kEZqKtFsuaqV4rQQCv5ormNmfCznmPqbEGCPUWj7FnX1Dghzvkl8kJmYvZvQQCqni0D3PudT6zfN1d9tqlE=",
  "id": "rs_0c7ea13f64aada8c016ab44554505c87d0a05170da74e1a561",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.06},\"note\":\"The white plush is centered in the left wrist view and already close to the fingertips at the parked pose. I’ll advance only a few centimetres and descend to about the middle of its body for a secure side grasp.\"}",
  "call_id": "call_l814xC67F3RKmcl7Rl55l7C3",
  "id": "fc_0c7ea13f64aada8c016ab445574e9887d0b2abbc0ae808de67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l814xC67F3RKmcl7Rl55l7C3",
  "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]: [-0.0242, 1.0485, 0.3481, -0.1238, -0.0223, -0.0391, 0.9996, -0.0265, 0.7849, 0.5941, -0.4103, 0.0044, -0.2951, 0.9988]\nstate[eef_state]: left_x=0.282 left_y=0.0007 left_z=0.0478 left_yaw=0.0063 left_pitch=-0.2451 left_roll=-0.0034 left_gripper=0.9996 right_x=0.2888 right_y=-0.0048 right_z=0.1717 right_yaw=0.1297 right_pitch=-0.0374 right_roll=-0.2447 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -2.865, 6.1607, 1.8584, -0.0806, -0.0513, -0.0122, -0.1846, -1.2239, 7.1453, 1.9072, 0.0513, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ef2e8f22aa4e61c9f0df4d1a634f0c35493b854596879c40e97f7b4393ce65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40250c7307b53d97b05a89a3270f10b811726ccd242ba92491b81f8faec4d4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80097fd0469774da8dd72fac4d54d3c844f20b9852b1e35d6783e4a9a9efa984",
      "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, 0.8032, 0.6064, -0.4801, -0.0189, -0.0322, 0.9996, 0.5003, 1.9423, 0.918, 0.6823, 0.4263, 0.0303, 0.5225]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9996 right_x=0.4827 right_y=0.1847 right_z=0.1026 right_yaw=0.1161 right_pitch=0.2695 right_roll=-0.114 right_gripper=0.5225\nstate[joint_eff]: [-0.1983, -1.0462, 7.0496, 1.6972, -0.0659, -0.0611, -0.0122, -0.3624, -13.9009, 9.9897, 3.641, 0.0855, 0.3932, 0.3004]\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, 0.8097, 0.6064, -0.5175, -0.0193, -0.0353, 0.9996, -0.0257, 0.7818, 0.5953, -0.3935, 0.0128, -0.2749, 0.9988]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1498 left_yaw=0.0063 left_pitch=-0.1419 left_roll=-0.0057 left_gripper=0.9996 right_x=0.291 right_y=-0.0062 right_z=0.1765 right_yaw=0.1125 right_pitch=-0.0147 right_roll=-0.2358 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.8242, -0.0317, -0.0122, -0.0073, -0.0752, -1.4701, 7.1043, 1.8535, -0.1441, -0.0562, -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]: [-0.0242, 1.0485, 0.3481, -0.1238, -0.0223, -0.0391, 0.9996, -0.0265, 0.7849, 0.5941, -0.4103, 0.0044, -0.2951, 0.9988]\nstate[eef_state]: left_x=0.282 left_y=0.0007 left_z=0.0478 left_yaw=0.0063 left_pitch=-0.2451 left_roll=-0.0034 left_gripper=0.9996 right_x=0.2888 right_y=-0.0048 right_z=0.1717 right_yaw=0.1297 right_pitch=-0.0374 right_roll=-0.2447 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -2.865, 6.1607, 1.8584, -0.0806, -0.0513, -0.0122, -0.1846, -1.2239, 7.1453, 1.9072, 0.0513, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ef2e8f22aa4e61c9f0df4d1a634f0c35493b854596879c40e97f7b4393ce65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40250c7307b53d97b05a89a3270f10b811726ccd242ba92491b81f8faec4d4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80097fd0469774da8dd72fac4d54d3c844f20b9852b1e35d6783e4a9a9efa984",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVbRLFm3twqfyqh46sdHTjo8bZ5r25zhrUjoa5Op53XzY7KUHxJpfm0YjN2o0_XtFyoJhFnaUxey4piXgoce5FPztTibOxI10dMu8JeXZCg3wzkXtXmz8_YI0RWEIPK4RxOHiE12jA8SIuRmuS1uhbKcgith-U27zJYXsVyW0oWctGzZCl60o92pypmK7WbubnYJ86Pcgifauhs6OxqySBHA8NGMW8wLDlkwZ18UcelhuEJU7eXwuJIVctbtbgf8yeeT6vhPDmoXukjiWfRfc72VsEU6MtmEds0TFuCQg3qXXRQkK_bHLACqTwQb0pHucY3gz7MSk54zTa4VBibowTvpKrND0UiZOZ2iSsHauu34f26hOUH25-KwiVQDFeedmMSQ4J-BmO1T3JSOJg6wW_8NGG8l-Sza6jhXE9S-FbE3boGu2UUdvuEbnPLFjmEsibGaonkyPKWz8n3XrmsAdNrBbREidgcwDYoCaDbSdeF4KBUXbJC9wBk3OzikJQsbhnGlv-Nq3w0Ax60Cau7Jtfj-JZd4-wmyXtez3n9RVS2LZl69pZFJO_hrVfN2CdPA0hMZZBZQNvf0x6zLKUwKWFIWNIZZnyEe0KdSE26q3PqUAS7m0JR-C3bLWNesX1O4eanjgv7lI-LcB32ddo5JvfVwYgkXXVsfmo1tiPMY3L5lBjMCAEbY-qyVeaWkEmZbZ_ylbsC_JdEJDSTXVPjBUPHYy2Nk2cqsNFvL4yZHngkvsMoMlEjNrKAHuxFK2aFegeyC04gYh3pzvWKUc9owqd3csPGX0FRaR3xY1aoAYUwl9dT-okaNpeASzCNh-a2ipc_VM0nepdAwmAnXtQzmCwLwgLgpX1U5cWMSKou5MLqorGpgKkpm8GDAfx89TwYXMdzPXQFGSxKGPMf7APyOpBYDbmEivUFOo75oEewovBMntQwQQJR6y5pGrMup4krNv7rYELHQn3JxEvTtB_CI8wZc12vexWXgUgc4_qAT72DefFJLaAf21w5mL4R-CmqcuyElHr-F_i97pfmSOtt4AMgcdz2fF17-0Qc1XvBza18-dnWf93OsSu4WsoyCA4vhRcX-wZ-kE-vPWpLw20RdqNeknKT5d1WQSTi8NmfvMnH8hG2XjaJaungFRZFz7LoJ9F86GW75nBCNDyhXp9h4a9kdSZdw1zvQVQGrZ2uJ9u5Q2VYx9LBr0-DrvQCxNOib6sXBc3sQj_zxhXc5ujToXLiisMbzgv5aBn-tDEsx_kindLQJ19eqH-xhieVADxHzuOmzyltySjb0eaMuDnt2uzOPZWT2io7mmBTqmRpl7GiSy_XPVHzJIf8OEAmIhTFFekxBf9w7wCoAJsZ6lLFpTSCPg==",
  "id": "rs_0c7ea13f64aada8c016ab4455a287087d0be402110d3e545ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush now fills the lower wrist view between the open fingers, with its body at finger height. I’ll close around its soft torso and verify a nonzero settled opening.\"}",
  "call_id": "call_wy0WYpQGwmoetyFJXTpA8GSD",
  "id": "fc_0c7ea13f64aada8c016ab4455abe3c87d0b43a05e1aa8cc2f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wy0WYpQGwmoetyFJXTpA8GSD",
  "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]: [-0.0254, 1.058, 0.3279, -0.1177, -0.0219, -0.046, 0.0113, -0.0265, 0.7853, 0.5941, -0.4324, 0.0063, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.0385 left_yaw=0.0089 left_pitch=-0.2688 left_roll=-0.0076 left_gripper=0.0113 right_x=0.2856 right_y=-0.0051 right_z=0.1671 right_yaw=0.1248 right_pitch=-0.059 right_roll=-0.2371 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -3.1795, 7.9658, 1.3895, -0.0806, 0.0562, 0.7985, -0.0342, -1.1692, 6.9812, 1.8974, -0.0904, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b923c072aaabec7c0587bade32d59101ef538f846b0eaab1cacd1c106169f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfc97753369b5e9b2f112485ff7cc8b46b77b3ed0352ed2afeac28b52985d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a0c81a8d4ba0fcb304697a3512f4f79484dfc996520fe43ab183ec3fc6b81a",
      "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, 0.8078, 0.6064, -0.4988, -0.0189, -0.0353, 0.9996, 0.8738, 1.8835, 1.5673, -0.5392, 0.6483, 0.3092, 0.5293]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0059 left_pitch=-0.1213 left_roll=-0.0065 left_gripper=0.9996 right_x=0.3943 right_y=0.3104 right_z=0.185 right_yaw=0.1786 right_pitch=-0.0815 right_roll=-0.2376 right_gripper=0.5293\nstate[joint_eff]: [0.0068, -1.6068, 6.9128, 1.8095, -0.0562, -0.0415, -0.0122, 0.212, -10.7556, 10.441, 2.3565, 0.4957, 0.7204, 0.525]\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]: [-0.0242, 1.0485, 0.3481, -0.1238, -0.0223, -0.0391, 0.9996, -0.0265, 0.7849, 0.5941, -0.4103, 0.0044, -0.2951, 0.9988]\nstate[eef_state]: left_x=0.282 left_y=0.0007 left_z=0.0478 left_yaw=0.0063 left_pitch=-0.2451 left_roll=-0.0034 left_gripper=0.9996 right_x=0.2888 right_y=-0.0048 right_z=0.1717 right_yaw=0.1297 right_pitch=-0.0374 right_roll=-0.2447 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -2.865, 6.1607, 1.8584, -0.0806, -0.0513, -0.0122, -0.1846, -1.2239, 7.1453, 1.9072, 0.0513, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 1.058, 0.3279, -0.1177, -0.0219, -0.046, 0.0113, -0.0265, 0.7853, 0.5941, -0.4324, 0.0063, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.0385 left_yaw=0.0089 left_pitch=-0.2688 left_roll=-0.0076 left_gripper=0.0113 right_x=0.2856 right_y=-0.0051 right_z=0.1671 right_yaw=0.1248 right_pitch=-0.059 right_roll=-0.2371 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -3.1795, 7.9658, 1.3895, -0.0806, 0.0562, 0.7985, -0.0342, -1.1692, 6.9812, 1.8974, -0.0904, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b923c072aaabec7c0587bade32d59101ef538f846b0eaab1cacd1c106169f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfc97753369b5e9b2f112485ff7cc8b46b77b3ed0352ed2afeac28b52985d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a0c81a8d4ba0fcb304697a3512f4f79484dfc996520fe43ab183ec3fc6b81a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVfIhUFmThCt7k0PsbCmVU0vouVd73EJTtMwVB7pvQxoqb6h7kGdiZuYSQEVr08tx-qnuMVgcBZbmQbcRChlMknHpmAiy3hGGGgCjyNuDD-rQu5AN4K61XoNtWcwQCA1uEpdVy4j3RqrAbPL522Fmdy_yBVIXbglPBX4T4TWMT_9Ht5fLns1jpGBMpMAqpRvswPajlevNoIWpF2sDPRcM4wh8ndCpGnuJ14VLOR0xdwYhVIP16dp0gj69Zeg3uuhjD55V-GCUYy2y8vrpuxVYVMSysHdOWzvcCxLlSCT3RuD--8BHuylPn9GXwmFHkzty-EPIks4OJT_EAkyTXTqbh_da90gOFQWHCBMhzBg-Ymlrm-gLSYdrDHix3nyF6G-40iAsLg-X9rItbhXA8Wou2g4gFRIHllWoP-NrMOX0LeNqgPwJabYwj7iTvAJaB6wmTEmpO23juCM5Yqy97kDLje_XNZvlb2brd39kT2m7_Fq2kgybfyt5POB-aWyZd1C_LoJyKNCySfTPqbUXMOcYTckGWo2zJ7eGJWMUMZBSNCD6_HtK_6dLFR6Y7l-5FreUn-z3Y73f-q2Ml6X5lSm2UezyBKnGKGUSLLtDBSuCsbf5O5Y2bOhwJTGf7zf6Ce_zPh7veEx_xFNjytiPE6LB7-ZMlrEHkPau_DpXoy2ne_H2UKV3_m4moFB9J_Q5e819ZR5ClNiGZn7fH3ntzhZiw9tFEGobelrnJKvPrqJSOWbAh93ZB-2F2SlAbmwZ89ATsqJzSpL5vxiVowia4yxg0E4jYl8DjPje16EAnvAUkaMXgzKBFwjt7eP_NAMSZN3pLdQekqdhCYyjxrvg9gFGDnRU-01hQ59Lq3JrMadhvz975LQZFMHeV-484e24jzCQa_Tl8bZ7dtwNY0F5dOSjxaZX7kT40slKCM4FECZd4dKdtgiKZP_INuLgBRH2CHO1cgFOFJF5m0PMH8uy4ZdGnBvatZU19PhDS0v4g9wo1hXaZlxpfFrCWgUKaqBC7-CgOHuG5OiHdOL2OeWG1FrNW8j9vxQrbm6N8F0WPAFboIKr8ttwlDRkT_Y67-GdZt3U6TqVATzSbMUfRvsFV6_xVZVfehbJlClrKddTqMFyOY-8ny3oZq_RT28XXlnAoXRR8sOKvTxKsnxyCvaOAm2WPEKGp8s3D0OjD0cvzbt4mHZOfcjsrg3LEjx7ofeSKUmhuLjUz9iPiOdb64Fk4TvJ-rEP_n4o2fsMgh5v4fyV53yBvo1sdBhdeVAEF2EsB7_wyOJ_jyVMmdqpEF8b50GwR_wrvgzS-NLnS5jIpTTMbTFgNFo3NR5_ixHc7Zt43VmJ3F1eDceMZOEZ5DaickqDI5frK47M5fHJja4kt2DR9PVk9XD-eBJSvdBHwn8x8c75d-IgBzSbBfkdWVqan7G-Gl0HGcG7SMhhkgjYEPWqov02_2Q9_yyEgQMzpbqJUnfWtZqSZFXMiClXaR3UuhzC7oFAt5mGtAHYWHC_vzqQPLGBWNRmdSEevT5pgPqeeze9AVLst0FsgrQb6ZFPAhL45Bk4bp0vlF1loPXplTgAQEWeONA8MU6p2SvUCxm18DDeitntGw-7dAS6duQlObbPXSix3QbG8SA8psYUM3G4Ebdul8GxiKMho98LWYzDwWQ55iL9k0dpPgNqyw8dRaSMCLoOUozfAUi5EXISXxebmYx3tJPiCN59AQ8PxDERUp7HhA34oQD0uqgMwmJ32gPNwvx_EXWxo1PaWv4WuHutBLBQ4TeOz2o4WttCIFWeu0Yzaj1vqz2Me0DolFe72mLynEtw==",
  "id": "rs_0c7ea13f64aada8c016ab4455db23c87d0b4e8c566d129fc1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The left gripper closed empty at 0.01; the plush remains centered but was still just beyond the fingertips. I’ll reopen and advance about 4 cm while staying at mid-body height for one corrected attempt.\"}",
  "call_id": "call_2SNBOxdf9mHLPJ7oHQKNTAlQ",
  "id": "fc_0c7ea13f64aada8c016ab4455ef96487d0aaac1c69929accfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2SNBOxdf9mHLPJ7oHQKNTAlQ",
  "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]: [-0.0246, 1.2312, 0.4782, -0.1471, -0.0219, -0.0544, 0.9953, -0.0265, 0.7891, 0.5941, -0.4519, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.0 left_z=0.044 left_yaw=0.015 left_pitch=-0.321 left_roll=-0.0113 left_gripper=0.9953 right_x=0.283 right_y=-0.0051 right_z=0.1622 right_yaw=0.1247 right_pitch=-0.082 right_roll=-0.2338 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -3.4667, 8.7179, 1.5946, 0.0073, 0.0659, -0.1197, -0.1162, -1.4701, 6.9675, 1.8388, -0.0269, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012a633b2b903d9454a0943de10040f6fe95296a36c356e3b615eb05b6b53558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb2cdf171dfa34bde6dfe2ce0e172613b5ae570e83025a7cf4c4ecd014abbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7024a6880e93b0371374bcfca343831cec47c79e616ff7b57ef0022b3d7187",
      "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, 0.6064, -0.5175, -0.0193, -0.0353, 0.9996, -0.0257, 0.7818, 0.5953, -0.3935, 0.0128, -0.2749, 0.9988]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1498 left_yaw=0.0063 left_pitch=-0.1419 left_roll=-0.0057 left_gripper=0.9996 right_x=0.291 right_y=-0.0062 right_z=0.1765 right_yaw=0.1125 right_pitch=-0.0147 right_roll=-0.2358 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.2513, 6.8855, 1.8242, -0.0317, -0.0122, -0.0073, -0.0752, -1.4701, 7.1043, 1.8535, -0.1441, -0.0562, -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]: [-0.0254, 1.058, 0.3279, -0.1177, -0.0219, -0.046, 0.0113, -0.0265, 0.7853, 0.5941, -0.4324, 0.0063, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.0385 left_yaw=0.0089 left_pitch=-0.2688 left_roll=-0.0076 left_gripper=0.0113 right_x=0.2856 right_y=-0.0051 right_z=0.1671 right_yaw=0.1248 right_pitch=-0.059 right_roll=-0.2371 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -3.1795, 7.9658, 1.3895, -0.0806, 0.0562, 0.7985, -0.0342, -1.1692, 6.9812, 1.8974, -0.0904, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 1.2312, 0.4782, -0.1471, -0.0219, -0.0544, 0.9953, -0.0265, 0.7891, 0.5941, -0.4519, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.0 left_z=0.044 left_yaw=0.015 left_pitch=-0.321 left_roll=-0.0113 left_gripper=0.9953 right_x=0.283 right_y=-0.0051 right_z=0.1622 right_yaw=0.1247 right_pitch=-0.082 right_roll=-0.2338 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -3.4667, 8.7179, 1.5946, 0.0073, 0.0659, -0.1197, -0.1162, -1.4701, 6.9675, 1.8388, -0.0269, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012a633b2b903d9454a0943de10040f6fe95296a36c356e3b615eb05b6b53558",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb2cdf171dfa34bde6dfe2ce0e172613b5ae570e83025a7cf4c4ecd014abbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7024a6880e93b0371374bcfca343831cec47c79e616ff7b57ef0022b3d7187",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVjGqq8FjgG488VQjptSqDb65LRDmfY-4dF8D8nYLiVFjUMXn6Vu3kno40SiK_OBCPQ4I14Uza-Qro4ibZ1I4U7WVX1Cqyu04oEWPF7WE4bK9DFYoQC3fiCQkYSo2rW4-1T5Qg5pZ-1AwNonx1OVGE2-gIdbTZ1rB37ZjKx4MWhlCwJnzESIgIoyeAHcUn_ogRnaQ6v2mDs8kjsmx0Jh8D2wsZwtdFbKZKtEoHXXiGamHu7oFxij00vzUyL3GTtgtqx_jkqgMyOauKiELS-NJZiTUMlIGTox5GYmkVbHy8f_N3_V8-3hKZESI0aXiXldeqhx9oQhJNUjNx85xcqq1XboqLmqLKCUVhAbA3fx8aPiPt509vLLLQznOFiPjaaFH2UuokxnpLmde4UNEjb8QJVOBTaEeiKhIf_4yK36k3C_Luhk7jQszYiw4YU6ssqjZbp-qkl0hBSTBs8nH-2ok9wxDMbenregGYTKE8GqJmAWCWHdMpDlDZXvZRkcVjb5JAvP-mDGJBd90xoD_AzZvE1ognH_CGrWKxrUf0zDp09w3WkGdYncpCSbLCURm6OrJOvgmr5qEi9VZsoGTi5_ZEZHi7LdcJNM81eY8qKNnAiRa1RKc0C0JgMAe8KeOWjJhfAqK0hQyTuGkqrhiNYr4OFOnTua1ABUeVEWtKSrrRIxosRAZ69dewji9G4eL7Z7zx1pvFnXFmvS3CIIA75GrED9rRUAZdqV0SU1Vasi0uyUcLZ8ZuqwtNF7QLsZGZiI81vzHsBpiP5ZBPIpoq3coPm90m7889mU5e6k7TvdThRofmCnuQycpTORvawrUtNBse14W5vF2dII7I4q6NwqyywFBc4rAYoqTnbRlTxwFpEcPLGr5K2w1SSNmpMInWCD42sjgwy_ri2eg5--vnUwKb20gnTf4oWsN6GBVEyi2prN41BiW_7afoCSWfPa4w-6DPO_L5rvfjOffBDfYMpPhozIgzwoBafM_yTpcwZRUqjz3NSdlu0xs2F4oDM6d-eQ6McpbQrIJNyXIehZoP5Rz1A4DQ9N15-QFdXV2sXuRW63dKjNM-m9CftYhRFXeLf0HSbtb56bfkSkKXtxtqCIWHeeqOY4_uWH_ZEWisUdOqHkkCiowI6Fx9hzjZZqYn2z8uS5JEboPCwVPNhrVUSbVTYEA0jFJDJcZUOUXI27iJu0TYbr_oUBisWFZrXguRW7Wtw7CfwXpSR7BRTLWeHKuHlHHBHtuzOSuGkGHjmn8K_kNo=",
  "id": "rs_0c7ea13f64aada8c016ab44562702887d0a13618567c93a053",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the outward correction, the plush’s torso is visibly between the two open finger tips rather than merely ahead of them. I’ll close again at this corrected depth.\"}",
  "call_id": "call_TJuNgqh3gIyKzvXzO27q83vo",
  "id": "fc_0c7ea13f64aada8c016ab445629a2887d0978ff1a70ee3c09b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TJuNgqh3gIyKzvXzO27q83vo",
  "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]: [-0.0246, 1.2343, 0.4824, -0.1619, -0.0223, -0.0608, 0.0102, -0.0265, 0.7895, 0.5941, -0.4553, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=0.0001 left_z=0.0425 left_yaw=0.0193 left_pitch=-0.3347 left_roll=-0.0146 left_gripper=0.0102 right_x=0.2825 right_y=-0.005 right_z=0.1615 right_yaw=0.1249 right_pitch=-0.0857 right_roll=-0.2327 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.0137, 5.7368, 1.536, -0.0562, 0.0317, 0.9304, -0.1299, -1.1282, 6.9675, 1.6728, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bab0f4ed98cdff8c88ccd88cff228a8bb959f74299affb6f41452b5f742d856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe3d73d8c644ea18707b4dc5b48fb270708ac594c1286d601243d1643e707d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a089404eb1d1ddf41e9cf895822a0b983a392f3e9152ee1ff23d45d5cbacdd",
      "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]: [-0.0242, 1.0485, 0.3481, -0.1238, -0.0223, -0.0391, 0.9996, -0.0265, 0.7849, 0.5941, -0.4103, 0.0044, -0.2951, 0.9988]\nstate[eef_state]: left_x=0.282 left_y=0.0007 left_z=0.0478 left_yaw=0.0063 left_pitch=-0.2451 left_roll=-0.0034 left_gripper=0.9996 right_x=0.2888 right_y=-0.0048 right_z=0.1717 right_yaw=0.1297 right_pitch=-0.0374 right_roll=-0.2447 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -2.865, 6.1607, 1.8584, -0.0806, -0.0513, -0.0122, -0.1846, -1.2239, 7.1453, 1.9072, 0.0513, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 1.2312, 0.4782, -0.1471, -0.0219, -0.0544, 0.9953, -0.0265, 0.7891, 0.5941, -0.4519, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.0 left_z=0.044 left_yaw=0.015 left_pitch=-0.321 left_roll=-0.0113 left_gripper=0.9953 right_x=0.283 right_y=-0.0051 right_z=0.1622 right_yaw=0.1247 right_pitch=-0.082 right_roll=-0.2338 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -3.4667, 8.7179, 1.5946, 0.0073, 0.0659, -0.1197, -0.1162, -1.4701, 6.9675, 1.8388, -0.0269, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 1.2343, 0.4824, -0.1619, -0.0223, -0.0608, 0.0102, -0.0265, 0.7895, 0.5941, -0.4553, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=0.0001 left_z=0.0425 left_yaw=0.0193 left_pitch=-0.3347 left_roll=-0.0146 left_gripper=0.0102 right_x=0.2825 right_y=-0.005 right_z=0.1615 right_yaw=0.1249 right_pitch=-0.0857 right_roll=-0.2327 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.0137, 5.7368, 1.536, -0.0562, 0.0317, 0.9304, -0.1299, -1.1282, 6.9675, 1.6728, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bab0f4ed98cdff8c88ccd88cff228a8bb959f74299affb6f41452b5f742d856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe3d73d8c644ea18707b4dc5b48fb270708ac594c1286d601243d1643e707d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a089404eb1d1ddf41e9cf895822a0b983a392f3e9152ee1ff23d45d5cbacdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVpNlSiAON5x9QYmed2nanEisYL_2MSU7LuJ00CV-tjkW3Cg4V2gKSdh3d8Eg8IyFEd253GY37RisgM2mhzf4ut9--y7nsLGGTYeGUWbSjYImBe92PZqLxB-UXWfncj41DMbg1FDSF5nAT3EljfJsNFUDgbl1Ou7ZyE0Fv_QkmjUjTVRk172d7wQ1QwpQxaorCn5SwON6CbBf4akst1YbVAsPPauUiAC__FDn4W_G688kUnvfA1KokYUFo_rnxkVfE9iqgFiDe1B4pWtQZISQdLxbhIXY4WxXkktr_lNpiLllYn0WaP9YVuy2tYBbirmL9ZhMrJLvOrRlO1YdfW4ermohnzUtx_f_I9MsSu4rpJLDPovQsPk_3gTuiU_Nj85hsRMjkXHrH5a1zcYn4ehnQdm11LhWcpYw1m4c8Wgfg8FnUl78yUZDsi8j8AUpxwYohH32RJ2_Wg0FlN0YuKie3-Gx2DkUhIDJyh_wX2MMT_CHCbkUF64AgnInxcGmPDVG_4DS5mxJODhPwf50lEFLHJQ3W3iWzvIJ6haQFJq1QXwdJDJ1J4CPf3MnYF7hSESPFGdbfk7MUgIeO7rF4DeVWNxaVqv8yNkzrVB6qRyQ1fS1g7qqSxet0P2Bv7s5Mp6IrBJgmhta4x4_ETNLk_xRlUE6hRSyw1y6mSvBwb1xNhOxbcSWjsWHkUsUXSDpwq3b-33laIwaLOppBMaIj0Jd8bVAG_Fj7gsARvRNgyqXCA-cmRiBtiQ3UXKTt3NZdhWU5UAk4cp2At0QwJDJ2yvns1TZqxMluj_3yF4S6XPS8opTQzQw-YywK4li1gMYnidCMMhFBj45Zlq9-eU3WqHagGWhnMDnF1oh_Rb1GS_YevEtM-9RzGdCM1_E7XuPAonBfr1vjfpQZRdpiyOTd0pI3yDdjQEF3aZSJQbTFrVs6hyshthQ5n3kB0twvlUIgmOaCmPivaojcuYzrNEBp29O9UJwrBVdcb4NMFtUOWSvPjLPBfNewRYQX4opj7SYhj0aHjWxRTZF7u7GEskURx-i3FU3bkRD-vcz9s87YxvhxsNZCuS425yGpMorgCkaxWeIckqfam9h_Qtact7eFv3yTDkzU954qF7ZeSj4xyJ9ynfIBkiKtRR47giosr1rrHTKtmnHb9tqQmSAno3mGRwcQC3Z24WlxI3OQzeIUfn3D5gacrgBEWoWNhepXgCZLTM8vt8wMAYCHXKBamZJcFuNdHJ4opDmPVtnKB6abQ0p74iHV0J6alfxQbL048s1q0Db8gfdkQUbly8Emra_Rb6Uq1QmZD4fRHsG7XpVTF_X1ToHVQJdZG_KWG2ou_L9hkN2IcNZzKfTToagSU3KgT8rMnQztkaQM9mTIgs-EaSbwH0wWOFY-ESYfbnS2jnnX1GVIV2WFsSD0G57-_bsrGP_w-5B478axEufxiy0lDMgMDtCs5S1bGLqhEz8kgwWAMHz3vq1A14jojAIzyGMiIbtDEqQ_-ID7OaN_gyFwP_NclwIqYbkBuEjOkvZS0cwdWHhNMwFLE7K1gHD-h6hEHsIF4qfDjzaM_3DwCIXcS-9zEkyjfU7sitw4Sa8LN5L-iCuTPSMX3BLdLwKeqQCuYZ9dhXIULGyQ4HeJA5AGpCRWFmcqCHBez11CD8ovj7MCJJdSLFlX0LHpDHZg571ZlIe7m2wIvWcJ12mTS96ShGr6y_ykKHZkoMOhwcXXD73aqp5atsBnkxGB0Y97Dfl99IpuVivHuGwGFiKPf8RVprlm3ISMIRTGTd0Meshk-F_w5qPLdqjluH-2H09LUR00ERbkRvHu5is1AEEDdEnqW11h3jIxRXRkBXsy-AMejOi6_OKfuy2jUHSs6rxNiNkfxgB-72AQrAb8bZLMdqWhgY4GYf0yc3ZekAjoxr5eGJEUtMdgCiohHAboaP4oYdV8iZIU3zOt7nUac0mPrDCYrAx-xWvz2yzSsP22jMpXQ16UkS0xIjjSq4LUUq2fOdu23uxDSqZ9IAFwBz6uY9EIO6xS8ORT1i9OdmOI4PlGPyaO2hzluR3-LMzP1biDbrIeqUMOF16_FIMQtRM7xiaT4jBKCvmqYiGh1tmk-YMzOOAZBIhJk7qurTmAh2SOIHgxb7te4I8ft7w8J4MhaMTipIUEd38EV21r_Mep8LJlJ1W0tmaxRRg62gtfQW30Zy_vyP1yo2ld8qi4XA3vMxa9nkGjGVn35hvjYbHnXSx-FSbHQgvH9Gq07hFRowG0-5_c8ScKsF-2iGrC8Ad1bLrmboIj8Cdw4LVAOOuwlvvT4USoCDvY6TpZtdDB8t1uPyJWofs8c-a89DZAzV_gW7i9QOoVVmbg2Umf9uLQueVwL5H9nAUDa4Bfo9XLRlFxtbB2WG-9st442qmexLqLyMuWjDy5NqH0inXJo5mGKyWqunVFW1Y_OneBvxmrNfdm_tYWGf1igwF28SNT9irVenxsMYoofrBEK5QTT0La7N6SmJfeeBl8mKVsY97VuCy_U2jGRq7hWoeFuP4oCqr-Qz6cGEFuykJSrsX6FpdGxtT81iQlSDXe73h0k-sVDy6kvVPu0qrjqw7DKgcPq6QENy3iL0uGn7bUQ4nTlSB_ZZuIGTIRqX8PBn281VnO_tbnfetp09abRPg==",
  "id": "rs_0c7ea13f64aada8c016ab445662d5087d0b0a48c882b8234b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.025,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The second close also ejected the plush, and the wrist view shows its centre about 2 cm to the right of the jaw centreline. I’ll reopen, shift the gripper right, and advance slightly so the next squeeze is symmetric around the torso.\"}",
  "call_id": "call_3VaXCP46XVou1far90xeHZTo",
  "id": "fc_0c7ea13f64aada8c016ab4456890f087d0a14abbe6d158ddb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3VaXCP46XVou1far90xeHZTo",
  "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]: [-0.1223, 1.3518, 0.5846, -0.2066, -0.083, -0.1467, 0.995, -0.0265, 0.7948, 0.5941, -0.4778, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.0208 left_z=0.0394 left_yaw=0.0282 left_pitch=-0.3899 left_roll=-0.0101 left_gripper=0.995 right_x=0.2793 right_y=-0.005 right_z=0.1557 right_yaw=0.125 right_pitch=-0.1133 right_roll=-0.2287 right_gripper=0.9988\nstate[joint_eff]: [-0.7316, -4.2462, 9.1556, 1.5263, -0.1245, 0.0806, 0.0415, -0.0342, -1.6068, 7.1043, 1.8437, -0.0073, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e96b8bf966ca4b19ead6d104be38ee47120fcaa5efc5ff7664820acdc48ab7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9fbe10ff62c289d42b98e54edead0667851a3f44c02ff0e8590b8e87af3cac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbb9e1e9d519490e9953cdff1a6c1b50ba24bd958cd51de7876c9e0d23e73d1",
      "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]: [-0.0254, 1.058, 0.3279, -0.1177, -0.0219, -0.046, 0.0113, -0.0265, 0.7853, 0.5941, -0.4324, 0.0063, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.0385 left_yaw=0.0089 left_pitch=-0.2688 left_roll=-0.0076 left_gripper=0.0113 right_x=0.2856 right_y=-0.0051 right_z=0.1671 right_yaw=0.1248 right_pitch=-0.059 right_roll=-0.2371 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -3.1795, 7.9658, 1.3895, -0.0806, 0.0562, 0.7985, -0.0342, -1.1692, 6.9812, 1.8974, -0.0904, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0246, 1.2343, 0.4824, -0.1619, -0.0223, -0.0608, 0.0102, -0.0265, 0.7895, 0.5941, -0.4553, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=0.0001 left_z=0.0425 left_yaw=0.0193 left_pitch=-0.3347 left_roll=-0.0146 left_gripper=0.0102 right_x=0.2825 right_y=-0.005 right_z=0.1615 right_yaw=0.1249 right_pitch=-0.0857 right_roll=-0.2327 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.0137, 5.7368, 1.536, -0.0562, 0.0317, 0.9304, -0.1299, -1.1282, 6.9675, 1.6728, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1223, 1.3518, 0.5846, -0.2066, -0.083, -0.1467, 0.995, -0.0265, 0.7948, 0.5941, -0.4778, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.0208 left_z=0.0394 left_yaw=0.0282 left_pitch=-0.3899 left_roll=-0.0101 left_gripper=0.995 right_x=0.2793 right_y=-0.005 right_z=0.1557 right_yaw=0.125 right_pitch=-0.1133 right_roll=-0.2287 right_gripper=0.9988\nstate[joint_eff]: [-0.7316, -4.2462, 9.1556, 1.5263, -0.1245, 0.0806, 0.0415, -0.0342, -1.6068, 7.1043, 1.8437, -0.0073, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e96b8bf966ca4b19ead6d104be38ee47120fcaa5efc5ff7664820acdc48ab7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9fbe10ff62c289d42b98e54edead0667851a3f44c02ff0e8590b8e87af3cac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbb9e1e9d519490e9953cdff1a6c1b50ba24bd958cd51de7876c9e0d23e73d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVsBJEWojy3A6ZrdKBmVXR04hTlZEDQ38dwlz_0CM_2x35ddIR5dsS8IGms8v0P7VLj1LD8X_g1Qdv15782QYHzYSfeZcvvOgEDZ2C4mJh5acTQ7FX_skVwL4Ah_r0DWA8bFc_pLl_pmoY2GiIkV4zYBo4YsvjUwB3iZCX1187VFnZRooqP3lpqy6oFWsWVUPX-KQAlau_HARJ7Al0WpasAoS3wMBSzvyAaUpDIuJTFUVDHcculBen0WWZ2ZfeulDU6PNHn1aOORX4kOkwqA-lOBawy2Krnq7ONnDYVNmxcr1KwjUCcj_FM6FUfaQejWT2Q6NQjnV3LNggONnHi6_9-rPqQzmYXnaR336cs4r4JdhQhUhz7sRvp9aF62xl1mJ5v7zzjYOiBgz67zMDIXq7gjtTlGjAkNRmezQjye4VP0NnozZznrt9Gz-lJzU0PmKCpjtTyDug_uCz0dvA6z4iBu7tthtzV_YA_jlvOXDlbBa9JvsnW4kvYYl3mQiME2fOS9hOMynNoHBbU4P_Yl6ZcdOMOx44_9RJAekz7yA6knYmKqWsI2L_KXb_ROVYQX-C7HsxP_e3OI0x_C60L-i-tdWKu3q64OkLns8ODR96gLT1nJFbRXUQEtpB6B868nngGgbrNS1afbA4vgq4eRAyn2ctM6EPhPitR2d7tutk84ZvdqFrR_YfMf3Nr6W1Isbg--xJufUt1Yro1iChoqdzHrjfWYszaI4IpiATpPiBbFlMtTz7PqALJYUFMOWeiiyp9lV3vUr4-LGvSGPYTJ4W8pC5idCQQlsYVVT3CLkanHo82DGBXXm-yhDyoK7T4H1W3QTF3ykrdtDnzUQhGIwkrkCZawjfQGPWwpBTVGt4BHIMbVftbnKWkVfUUXP5HX_YuCMRCgSGAWmhwh8UBRzy436WIu1H6yRxKBo9sl2on8OBL9icUdWA62wDIamCioIGloZma6bHEVaYxc189nFI1GiktdLI5LqNa4RrEsLzSYwiX9-eZ9_RAyA5zNZ90m7UJKZpeWbNVJCTrfu1bMRp7G_2WuaAJ4vs2UHOddobZJmmos9xbeX3Hs99noiJo13NIvkQ6goNTpZaxI5U8t105JihH_kYYRsFOyTRZ_dOFUIiC12dOcw3PR2RLUoyIDT6RUGGFXhS_RYZ4R-7jh-pudQqifecH658FzEBaHCt8RJYbANGgBL4a01yG7gHI1Yd3FtfPAYhj56N9vfRNbByWAmi0tInmRpXQ8V6fDgPVahNA0VeXZqgk2iKaG4uj0BEl",
  "id": "rs_0c7ea13f64aada8c016ab4456b652c87d0a13f5e44198c23cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The lateral correction worked: the plush’s face and torso are now centered exactly between the two finger tips. I’ll close once more with the object symmetrically bracketed.\"}",
  "call_id": "call_nWbLOvUdXVOi9QZxz6ldN1CD",
  "id": "fc_0c7ea13f64aada8c016ab4456b938c87d0904d3fd418fcc6c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nWbLOvUdXVOi9QZxz6ldN1CD",
  "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]: [-0.1238, 1.3575, 0.5888, -0.2176, -0.0826, -0.152, 0.0108, -0.0265, 0.7948, 0.5941, -0.4995, 0.0063, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3176 left_y=-0.0212 left_z=0.0377 left_yaw=0.0303 left_pitch=-0.4024 left_roll=-0.0116 left_gripper=0.0108 right_x=0.2759 right_y=-0.0048 right_z=0.1516 right_yaw=0.1257 right_pitch=-0.1347 right_roll=-0.2252 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -5.1761, 5.5863, 1.3993, -0.0611, 0.0122, 0.9402, -0.1299, -1.1692, 6.9265, 1.8681, -0.0757, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba27642b0fb2192a88655a2a50509eaeed32fcd79f31fb12d36112b3bf36044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9627753a4c5d0ee16b182be8ea965c5025b547b5d2d54cca6417e9f5627339e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc3c993910b31131f21e8f2795b85385f6176ffae488b4e5db9ad0e8d73b01a",
      "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]: [-0.0246, 1.2312, 0.4782, -0.1471, -0.0219, -0.0544, 0.9953, -0.0265, 0.7891, 0.5941, -0.4519, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.0 left_z=0.044 left_yaw=0.015 left_pitch=-0.321 left_roll=-0.0113 left_gripper=0.9953 right_x=0.283 right_y=-0.0051 right_z=0.1622 right_yaw=0.1247 right_pitch=-0.082 right_roll=-0.2338 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -3.4667, 8.7179, 1.5946, 0.0073, 0.0659, -0.1197, -0.1162, -1.4701, 6.9675, 1.8388, -0.0269, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1223, 1.3518, 0.5846, -0.2066, -0.083, -0.1467, 0.995, -0.0265, 0.7948, 0.5941, -0.4778, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.0208 left_z=0.0394 left_yaw=0.0282 left_pitch=-0.3899 left_roll=-0.0101 left_gripper=0.995 right_x=0.2793 right_y=-0.005 right_z=0.1557 right_yaw=0.125 right_pitch=-0.1133 right_roll=-0.2287 right_gripper=0.9988\nstate[joint_eff]: [-0.7316, -4.2462, 9.1556, 1.5263, -0.1245, 0.0806, 0.0415, -0.0342, -1.6068, 7.1043, 1.8437, -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]: [-0.1238, 1.3575, 0.5888, -0.2176, -0.0826, -0.152, 0.0108, -0.0265, 0.7948, 0.5941, -0.4995, 0.0063, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3176 left_y=-0.0212 left_z=0.0377 left_yaw=0.0303 left_pitch=-0.4024 left_roll=-0.0116 left_gripper=0.0108 right_x=0.2759 right_y=-0.0048 right_z=0.1516 right_yaw=0.1257 right_pitch=-0.1347 right_roll=-0.2252 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -5.1761, 5.5863, 1.3993, -0.0611, 0.0122, 0.9402, -0.1299, -1.1692, 6.9265, 1.8681, -0.0757, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba27642b0fb2192a88655a2a50509eaeed32fcd79f31fb12d36112b3bf36044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9627753a4c5d0ee16b182be8ea965c5025b547b5d2d54cca6417e9f5627339e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc3c993910b31131f21e8f2795b85385f6176ffae488b4e5db9ad0e8d73b01a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEVymnzYFqZ_vk3AaoT1Ao6-22QPGVyCX7L1C5bmwLnp9A4N7nQQ-_rk5Rmu6xsOUrZupzFUwUTQT2NKKOF-joJRDPTPkDIZ_D4rNIaNdriKmmdN_CWZ2zPEX1dMf46zr_mpVmTjiBoDpFPPtNT93FH5b78QRdAnBq9ZE69aznbs3VkaTYxiFdk7LXPh4eMpDKY7blf4uGJkAbZDNOG5yDYxDlIwt54pwIozBR6z9acbdlmMAzwah02WNHT7ShXdEahmdIzTl4VRa9PDJcFVBu0zS08o4ve1QkK5hJc3IEHcMe35F3jcyC1bExIEiV3UcmiL623zCIrK-cvU-QfbyWI9TPN0CBzepmHI_PSCKmR7ica6-j6DbXxuuN9k_tUlRX4G8Guijbz_0iihK71vVbXhK7C96_yrPm1bALXl21QPnPjn-AFBWMa6ZCz2VoIEc7-XDSQWoOEl23m9QLwiyQ57B5ZM9mQcdo7UWywNIzi6SqbzcUp3IVdcolZ5WRQf_9EqkzhqqQzpHz2BYReYbhrIcr2Ov5VTZglFZWHKO93hK-nkAIgvjTVdrsmuTikdR8m3356w4QA2W_sUD68yoFk32Tmu2CQGCx79t2wvE5N9fl7pWii_o3OxwKDkYtIsxbgrD4uoUFesfyYoM4n8LLOzEe_8qhHF8n1bqVjBxql7_cGMas7cUEzBwf0_tSjLbBgNf7n-HczDW3tCLx4DdCvhbJvUHlkGYBMmIzJZlJoPHdJLpv6QPN5JPhjTeuvBWecHwzmBy1qbd9UBK8reVmXKjoMsX7_B1vI1nLrsoOixu6RsEukvOUHYVm27sXVq7NHhfvq4rN6G0qSHpQWyLpuQh6hm5CsvVgTuWmpIW3sFyu8GYo9QecAbMxZizKyVGvUCHpPEqHxXWjJ7j88KKyJFj4wk_XGWWvlmznqO6xK3d2X0T9EDYmhEHYWMMIbNWqttOM2nTXS10Yrl2NkXMN7oF3l4cTYExUSRJ5vxVz65BTnHFhpYKlqup8WwLn13LZQuEKTxAI_V4lresXBBsk8iKPKZOTohXOWhdRZzkqyF99csV-LS8zExljflbeN1bd6N21gW2MFoPqrx6iljzxE_dNdv56Evt-ov_nA6eZ4hex9_4ABdETau33hn2FYWQ7Ai2FCGti2RiBkbcTOmDmYq5edS-h8ac1Ux4yeOytNgyFxkwpSu2ampI-zRR42h-lJZhNfwAzTbvUrtOmCVWgzTbXgFQ0u3VlZBMuFVo3kAtUVJU_3EfRV_hMFyaXjj088kiGI9DSpLr4W2kUvJRz0An3ATiritynD093chw00iWsHfdDsDQNL4Ns8xDwq12S_bVyvn48pdlF2fHT_mh0AgyrAFSGGvbEqiliV-0XoDRsHrb8JMjIB4sQB58NKG1O0Ur9IyLOJnACIvkBNtiXwCbWnxRUrNohafB0gnzrZC-BfMB-kE0DkSJnklmr6_8bt9B9P0M-XH1p1xBn5IbhRcg1drLzjNDzV12buvuBvggDsKIKNgPaSJU9i58to1Yd6WnFikMNpfKxy4Z0RO0pQrGzBTf5MsAsJNc0rCpHzNXQd4voJznL1nimuxgwcqjPHkJCGxrofS2D70yEfveXH2_RAhNcxiYgEI31OQtYESy7I-03P7QSUY6jNgTDbwrM9pMngAV-ffWf3ZtgJ70N875SQ9LqCBHgtntSt9zmJw9WTuUkFvIPK5pNzukf2Rgg6YRUgVMKr9vt4dBI9vPQ9876yNQF74J1gB82Ivdg0YlX5oBSudA1XEevxf9K6VmyMX9zlu3OFHMsdcIJIiTMPtlH5I-1Dcb9glAxPDZLR-TCmCW3HlevACHmZo6DQwxVxTeMM5xI87BySPLczscaOcQQdw2dr3A_UjUt_dtjhHYRKbJQFdV-5KGyEJttMZ6psJ93t_0cYd2RJUg1KeFu6ue6GxoScqnSzz0vOUzTF4iIP7HB8RsP1mt63dwbmLHVRfJ__JKC1eYZXkd21V779gWexC84Z0JRrx8eoLId1qXGDOLcPa1c8oUzph49JEg3_aZfSKc-giTU-yDMHgKCsAVDg8PySGOmQi5tTTEa4SjkhLk_3HSmHXt4fj9rBEzwgSTGRR0yxL6I99sOx2bwNTE8RGdGHxAgn-7tXVItSHTD8Z21z_w3WPB1g0ZtTbb6t-WlvSB0SJLNR5tN-lTscDjUsiloTZMMnHmOxpDAyogE8aIFr0sOOqJhzLmxZZP5ovtrx2iOmTwq0XoUPA6HrVOh7MMLZKGWtDoFUGH6OcipdSJn27XjZ42cXCFriglhP5VLEfjpz8SkgFR4OjXMpj1XzcCAa7nA-QroJP55inW2OWeoymriZy2vOMnroT7MmIsYawzZqoQt6NbCm8sbkMbL9ftjwswMzq39xG8kk_jOX9jkuQaUmi8VhL-AnUBh2kxcDegJw7TzaZioa0hCxdKPZs-KDpGoDLdIQrOTySdc4qp3ngsIZrYEg5NA8jbsYu-mtfFOP6ne9HheUF8AxNPM7x3gClU3Y_4NDB_yfd5w4SjVugxTAiWbgUYZCCOsCDEQudjL19UvRnMwjL1L6DmuHkKFmxeb83HPr7S5cNID0QKeBW2QF4EMk7xuJBEfs1p5_8FOuplqEXOWpG2jXPPOZA_UPqy6NcI9X1EPj9fKgg-23U-Xp4H48CDQX6WPmWzyY53pNqwmAk9ZVUJNFufChhwrZxFrwZ2ErXKcy0wz6x7PyAW0ijw1BSKN_EZlNCWB0hNA6mF6z9yr4DSr1148-Og8992HpWbNjpML5-3ww=",
  "id": "rs_0c7ea13f64aada8c016ab4456e457c87d0b201d4251b81a611",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The overhead view clarifies that the white face and brown mass are one long plush animal; squeezing the rounded head simply pushes it away. I’ll reopen, rise slightly, and shift right onto the wider brown torso, which should provide a stable grasp.\"}",
  "call_id": "call_b1B7A7p1vpvdPrBQxoLYP4ax",
  "id": "fc_0c7ea13f64aada8c016ab4457117d487d0b8f13dab2b4c28bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b1B7A7p1vpvdPrBQxoLYP4ax",
  "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]: [-0.5098, 1.383, 0.8532, -0.5323, -0.2615, -0.469, 0.9953, -0.0265, 0.7979, 0.5941, -0.5236, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1179 left_z=0.0892 left_yaw=0.0021 left_pitch=-0.4255 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2721 right_y=-0.0048 right_z=0.1463 right_yaw=0.126 right_pitch=-0.1616 right_roll=-0.2213 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -4.8615, 8.7316, 1.1697, -0.4811, -0.0024, -0.1392, -0.1983, -0.8821, 6.8855, 1.8535, -0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5557511952ab37be9fbfd125003ba531de9a173841317258bb95b208adbd9e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef88d4204fb5272d9c01edb38ba1f8f7d2315f327c6a32dcccc08ee01fd0f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8532155acd07727db92bbf92dc9de3e4559c5706313e81ed0a528f16272a3a34",
      "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]: [-0.0246, 1.2343, 0.4824, -0.1619, -0.0223, -0.0608, 0.0102, -0.0265, 0.7895, 0.5941, -0.4553, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=0.0001 left_z=0.0425 left_yaw=0.0193 left_pitch=-0.3347 left_roll=-0.0146 left_gripper=0.0102 right_x=0.2825 right_y=-0.005 right_z=0.1615 right_yaw=0.1249 right_pitch=-0.0857 right_roll=-0.2327 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.0137, 5.7368, 1.536, -0.0562, 0.0317, 0.9304, -0.1299, -1.1282, 6.9675, 1.6728, -0.0757, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 1.3575, 0.5888, -0.2176, -0.0826, -0.152, 0.0108, -0.0265, 0.7948, 0.5941, -0.4995, 0.0063, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3176 left_y=-0.0212 left_z=0.0377 left_yaw=0.0303 left_pitch=-0.4024 left_roll=-0.0116 left_gripper=0.0108 right_x=0.2759 right_y=-0.0048 right_z=0.1516 right_yaw=0.1257 right_pitch=-0.1347 right_roll=-0.2252 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -5.1761, 5.5863, 1.3993, -0.0611, 0.0122, 0.9402, -0.1299, -1.1692, 6.9265, 1.8681, -0.0757, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5098, 1.383, 0.8532, -0.5323, -0.2615, -0.469, 0.9953, -0.0265, 0.7979, 0.5941, -0.5236, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1179 left_z=0.0892 left_yaw=0.0021 left_pitch=-0.4255 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2721 right_y=-0.0048 right_z=0.1463 right_yaw=0.126 right_pitch=-0.1616 right_roll=-0.2213 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -4.8615, 8.7316, 1.1697, -0.4811, -0.0024, -0.1392, -0.1983, -0.8821, 6.8855, 1.8535, -0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5557511952ab37be9fbfd125003ba531de9a173841317258bb95b208adbd9e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef88d4204fb5272d9c01edb38ba1f8f7d2315f327c6a32dcccc08ee01fd0f06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8532155acd07727db92bbf92dc9de3e4559c5706313e81ed0a528f16272a3a34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEV2WVEb8tBV--XPpcizCjJOWS_S3czUBT4L6P48fz9o3MbnzG2D2snEMHpmpNYwwVCoy1xxfHzCP9xVxBXO13z6KUAG3Sje1VRLG8xn1u4XBLWg4d17mQZ7mqqY96CrakA_W0EK-sJKTcnSqUN0m6o8Sq2FMkLnQcufLmwjdJILKnYYkkn1qedoQUYDZ-PX5xUnpOY_HDTRBHCfgZ6qDsbQBsCKVKj7V1HJOx9Kng-FgAK2IdV_dv8Q3q6DNfjik9DD-0blPFBgiJFHlWjNp0xVGQC_SzJHBkB3lRH8qJXzPC_yEiAd3gG2DTSscqq2NSLe1XGD_C1WYGOaPXRfSPIzmZ0BO_ix1rOi68qzTcjik-H3wryllwgSQfsfqqsIbJ_aZVZk0EkCo2DaRhEg5M8EPWaP1hQI1BTfYuHBh-dkGipF7daL1PDXsDGCjiZ1WZ_4W2I4vBhjA60U8bJMeKgyu1nocx7qPsKsH0_49iMKAK-iih04H3f1f2be1luH8Q8fEgKrqn1kofJLTo99KPiYfEuWQHHy3FM4fp6Rr0KUvkzhFZ4X4_5c57M2QSmYMvf4JiO3A_On7I4EjzGjuFgPrzZc1libAiIbBu4k35hkpcdZ1j0KHKKaJLBzRNqHhHbEWanlENNH0aAaiCRqnSHkzgQZfZ-f2iAYBiklMbSegNm6FxNHrjuKN4sCxO-JsHTFmroY8zMow_2KBtkbFacCj_IEkkTfvuPpBdHhF5lLKbXPrD4L9XKt7--gQJ5MoLezhSTNetGxEcbjHh5w44GqD5JIbPrBgC5vlJwNPH6SuD6fMAhImHHy54y-w_-WTlFhcK7xaGIKaRCn2CcPudRhIANk-Y34KdQby5XK4-gyKQx8botHpVrhFoMv7u4TVGq_VVlfXLt9c5rMrW5INvov5v9YtuAOFu1xe2JjmOPDF2Ab8IbD78bOe6Tnk9FybEI1bzYaa9k4h3BBOXBwd5GklND6ifI9dBEPzl6ExPvlFE7KrGhVv9rDhfHRWSyz0ayvshNJlJKCtDIw62nQE0NF-Glq79hr233I-vUua4mq-vuqaG2XRZbGUlH656HcRSFIcS59A6Ozsb9ojBuD8VO_pklY7OrAH9PPjHkg1ZbmcLnCiZseqmtStOx1TBsSi-p1y6Gqcw1YvlFRy5F7FADnxWitpXVgJ59kg-lDAofzpAkIPcT_TXpe1GP4nsGKAm31zY8UXTZkcN41gBqAIXF3HdFyJXy_DMfTJ37Ok5C92uyocs0iXlSFsQV8gqkDIXy08cDOK5gZgTnOFG5mriUIrNV-UKGG6I6eAYbReFDSHXN3Z0Bxp4bThi8shb7ogq6zhN8TeDRR86f_QankQSv9aTjVwpnIpvZ9Yc7XhofG1OPBg7vVFHsFpiN6zIHNzIZ3Q6VrTeL57oAffUpP2Uxpme87EcYxIz3flxqSq8XK6XjxvwKUgddUAhHFoGD3DliENYryBJHwoAQDCgmpCddHdVTc0FutOOJhVfZ1yMM_BDHZHQrPHI7bHRu42gYbqtaFpn_sQrfImRoWGF9V5p9JpgKRz6Bsz6zdDPJ5ItBQQ-lEnp1Tg44NG7S1FfR0KezfEbVVj7wK4OLsWdZIDALViyfl6wxi8dT05sLmqqTadEs7IFiwNgjPXqda98b4q8Htsep2P75c-76OcBX5c8fa-5ZTXSsdUhkabl7xFuvbHwEl5gZ2SzheFLd13NCgmho5MGPIJQP3NLJsCRqxO5Q4rsn4OYO3M0t3C01NUAK2tK8Vraeb412cXAw0-tEgsoMmUT9vqLJVtjOiQDFcbCfOP_YwMPVVc-qdjKCQVF2oxNQiEiZ8UCuJLQjrV0eMSVvUdG6BNHUGnAwkGiAKYK4imLZH5a9_4RNRZ4yM6zLPVWIoA1LNWtxn3B-FYBIqp2xSrjjrRvmFMlrt9_w1yNzLMvdwR4ZxVBQA_ZNDDpALnu3EG5pQ_3C9qXwzNaLt-V737s_bNBAkTp0-z6-NFUT_mQ==",
  "id": "rs_0c7ea13f64aada8c016ab445743b2c87d082946083f62de099",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.23,\"left_z\":0.13},\"note\":\"The first rightward shift only brought the gripper over the safe’s front edge; the brown torso is still about 10 cm farther right in the overhead view. I’ll continue laterally at clearance height until the gripper is above the torso.\"}",
  "call_id": "call_I3v5gnD02GieB8VZV5zjhvip",
  "id": "fc_0c7ea13f64aada8c016ab445762b2087d09e8348879d488537",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I3v5gnD02GieB8VZV5zjhvip",
  "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]: [-0.8097, 1.6245, 1.2228, -0.7746, -0.3767, -0.7509, 0.9963, -0.0265, 0.8005, 0.5941, -0.5533, 0.0067, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.307 left_y=-0.2229 left_z=0.1189 left_yaw=-0.005 left_pitch=-0.4535 left_roll=-0.0109 left_gripper=0.9963 right_x=0.2672 right_y=-0.0047 right_z=0.1402 right_yaw=0.1269 right_pitch=-0.1936 right_roll=-0.2162 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -6.9265, 8.6906, 0.9451, -0.4274, 0.0562, 0.0904, -0.0889, -1.347, 7.0496, 1.8242, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bffae687cdfb68a1a6bc701baac9677422a8d7660384a6dc0e8f469beeac3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3bdaeef354adb26b423e55e5c3d5980afc99b0253bb211fa01fb078820fe421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c199a97f7a0b3dfd12f1faf31b94cb79b1ef0329b2a9aaadfedebb806d7ffea1",
      "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]: [-0.1223, 1.3518, 0.5846, -0.2066, -0.083, -0.1467, 0.995, -0.0265, 0.7948, 0.5941, -0.4778, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3189 left_y=-0.0208 left_z=0.0394 left_yaw=0.0282 left_pitch=-0.3899 left_roll=-0.0101 left_gripper=0.995 right_x=0.2793 right_y=-0.005 right_z=0.1557 right_yaw=0.125 right_pitch=-0.1133 right_roll=-0.2287 right_gripper=0.9988\nstate[joint_eff]: [-0.7316, -4.2462, 9.1556, 1.5263, -0.1245, 0.0806, 0.0415, -0.0342, -1.6068, 7.1043, 1.8437, -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]: [-0.5098, 1.383, 0.8532, -0.5323, -0.2615, -0.469, 0.9953, -0.0265, 0.7979, 0.5941, -0.5236, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1179 left_z=0.0892 left_yaw=0.0021 left_pitch=-0.4255 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2721 right_y=-0.0048 right_z=0.1463 right_yaw=0.126 right_pitch=-0.1616 right_roll=-0.2213 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -4.8615, 8.7316, 1.1697, -0.4811, -0.0024, -0.1392, -0.1983, -0.8821, 6.8855, 1.8535, -0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8097, 1.6245, 1.2228, -0.7746, -0.3767, -0.7509, 0.9963, -0.0265, 0.8005, 0.5941, -0.5533, 0.0067, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.307 left_y=-0.2229 left_z=0.1189 left_yaw=-0.005 left_pitch=-0.4535 left_roll=-0.0109 left_gripper=0.9963 right_x=0.2672 right_y=-0.0047 right_z=0.1402 right_yaw=0.1269 right_pitch=-0.1936 right_roll=-0.2162 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -6.9265, 8.6906, 0.9451, -0.4274, 0.0562, 0.0904, -0.0889, -1.347, 7.0496, 1.8242, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bffae687cdfb68a1a6bc701baac9677422a8d7660384a6dc0e8f469beeac3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3bdaeef354adb26b423e55e5c3d5980afc99b0253bb211fa01fb078820fe421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c199a97f7a0b3dfd12f1faf31b94cb79b1ef0329b2a9aaadfedebb806d7ffea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEV7KZ1bN-DuOviteh4N8Pl1Pw4zqtOsLPhrfAt0AAe0bEJSUHGllIZDPcEgspYCNHTYABqIiObCTF6p7-ErRgnBKasSUbp5ctMe14t10Zle9UrpaGCyaoc4C4muZCRN67Pmkd0qmkCFiCOZNbuCwx2Z-Kj_7mDOTHrhZnXhPzLQ3hn3jEW7zCMR0cgv1beILZhbSUHwCB1gUU7IwWM_lybpi8BE67i6-wpvvILQZQl4yhwwCze6YMl-MkgfxYBccRAiNFR-8TWkyqounO2ABEyPtEtyJkDumDM-dSoNyBWuduH1lCyI5YefhQb3ipGrDO0GtNP1jw7O-cIk3tC6Aa6TiVvjk56K5j4B88ChnAZYVl1ZXsAOtJRRsGjvuIbNSZooNB9q04NdjC2Hfn6mCqzKsooflR-lxPkwq6vv7n4gqS8zzTxAd_hYjg1k9K5NluZzP3_ddevVQ5roErmMWbb570j0lI7PcwBumSI3-fGSbgFYm8Mp2T6OSWgXQY2Gs4b26Ca8dnvaXq-W-i2HOrdxjIzJQAGi4Us2glltQ_9uIemxPDk9QlKhX_uC1-bRRQfxmTKhZHu-ZIlk_edzDHZN0-X7ac_P1aSWjZlb2Drl9BSgn9_XTsMsIbLxMnCtdNAvAf-H-V_dh1btWp4V6zo4MEa1q4bcBHwdH7vBhFF2ZjSEuxXoxfyqer4Ei4o02HnVrv-7-JAA2_YxLGx2VGfEovTMk9_hJvOC309VhuNZiMO_mpdSXSFDsRe6XsGJHseBO6XKhjb--HDUYmsmb35FRAqQMSs_O50mkJY5-xQLfdHa1tvO8c__gweipqVL26bRZogiq4fGL3GcLYzljvYVOa2ddxvDaS-AnK_ZbjOtMuwxq1lpaUhDEKcHdATLAJam1AKRLiv7-7tiPi9NbUCh2AACawctNEV_zHb4iDcbg22lbH3CEH0K4N7Wck-kG8Yp52L-9WbN-QcVLD8WoS150ELHTQpjEGpSPwcvXenCdbu_TfLyD0LJliRg-4HNkYaa3tRpRLGJo2W-pEUPyEX9ZlTMVQV8ctybJtvr5yHqqZgbn7XZTEKDmwWdeOYeikyB-SdkB3N1nXhwLjqq0YBoHF1PFmu-9spUh4NHX_2aFTV6Z0VHCGH5qxSgdzBtfAvKxfKR-uVLG38koEs7oM_rGoa3RtZaGVTiDNae8V7neb1EGCV4HT4xdrTfv21ZhBG5HUqXtFETwk3d4Vm2iysq_ze2P3_ylIUP-1W0ESkratF6X_MhTBEpww1xZirluNDe2Vey3p_DINwHTetAGrVgzvkPfJMK6iEKdzCXojlvMHE28_AAmVG0AAa-OcVv0W6WTaZx8YoCmUK3PSOorHGVPel489IuUsY5-UdT16IdHJ10bosI_bf1AqdPsKWQNKxq8iAc_-Xl3SY6TETfx0IUKfAJZQ1av4i-12NGIbqLHP5BRtFw1mQFaJK9AVEVO1X1g1YdHxt8ETp_k5f82lcxugr5oaHIth35NSogOemioFDV168U8aSqfsrvnLNkTLQb3DEuu0rv8TuXPrQrzr2Vg_6nr1VsEV0PMpbTPBlvVBAitfcqRW8jvvwPBxxcGKvlnEweEebTDjR8peXaM0kr26HGp71Se3mppXsrIxD76jL3xHGTkeK3lSV2R8AEvE4SRaFLwTgU5gFJkmegC1U7tmTeV_iNc_Or5-ygl7h3qfLbIEa4oZVfdGEKSORZAJ_myXzlIJ2uzyDlF0drBNZBL26kLRxnVdoKyfLIGPRtj7cIA-uYwLvOoMVwx3jclR4wkYGufwlk0Nmbzfak43AHgL_i3aa8tEOCKXi1PolL-I3xN2wxsPXIDh4rKOETEhG1lVRwriyoSR9FpxZwAVWMJ2MTeyZO4K0tJAelk_w09tnTVU-p02PSRuQcDykN5P3tZVpCuAqUHIG8wIWKz10i0OVuw1I_T0tA6GqOY2uVzsmUTOZhmwAdCyoGB642uYiOfNUikoXqprxKEgrzggmeVA==",
  "id": "rs_0c7ea13f64aada8c016ab44578de3087d0b84eec5622fc7c0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.3,\"left_z\":0.13},\"note\":\"The gripper is now over the safe interior, while the plush torso remains lower-right in the overhead image. I’ll shift another 7–8 cm right and slightly back toward the base to line up above its body.\"}",
  "call_id": "call_nnDJEZGsDdO1oV0CkWNmdlzk",
  "id": "fc_0c7ea13f64aada8c016ab4457a9dfc87d0ad7d1e220aa00d39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nnDJEZGsDdO1oV0CkWNmdlzk",
  "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]: [-1.0237, 1.7733, 1.4181, -0.9287, -0.4305, -0.9634, 0.9964, -0.0261, 0.8005, 0.5941, -0.5766, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.2683 left_y=-0.2919 left_z=0.1206 left_yaw=-0.0121 left_pitch=-0.4797 left_roll=-0.0002 left_gripper=0.9964 right_x=0.2632 right_y=-0.0045 right_z=0.1361 right_yaw=0.128 right_pitch=-0.2166 right_roll=-0.2126 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.7744, 8.8547, 0.6276, -0.4322, 0.0122, 0.0024, 0.0068, -1.1009, 6.8581, 1.7411, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b06382d9940c612e5321a3f9afefc7d950925f0a39ebeff240a49e24e53e116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9ef90256f15d6964441ded125eaa2f55d67bd8e78bba48a611169da138c63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739a53fc038c9ba47d841564f3ffac71f491684f752ce8e3320ada4695ca4538",
      "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]: [-0.1238, 1.3575, 0.5888, -0.2176, -0.0826, -0.152, 0.0108, -0.0265, 0.7948, 0.5941, -0.4995, 0.0063, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3176 left_y=-0.0212 left_z=0.0377 left_yaw=0.0303 left_pitch=-0.4024 left_roll=-0.0116 left_gripper=0.0108 right_x=0.2759 right_y=-0.0048 right_z=0.1516 right_yaw=0.1257 right_pitch=-0.1347 right_roll=-0.2252 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -5.1761, 5.5863, 1.3993, -0.0611, 0.0122, 0.9402, -0.1299, -1.1692, 6.9265, 1.8681, -0.0757, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8097, 1.6245, 1.2228, -0.7746, -0.3767, -0.7509, 0.9963, -0.0265, 0.8005, 0.5941, -0.5533, 0.0067, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.307 left_y=-0.2229 left_z=0.1189 left_yaw=-0.005 left_pitch=-0.4535 left_roll=-0.0109 left_gripper=0.9963 right_x=0.2672 right_y=-0.0047 right_z=0.1402 right_yaw=0.1269 right_pitch=-0.1936 right_roll=-0.2162 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -6.9265, 8.6906, 0.9451, -0.4274, 0.0562, 0.0904, -0.0889, -1.347, 7.0496, 1.8242, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0237, 1.7733, 1.4181, -0.9287, -0.4305, -0.9634, 0.9964, -0.0261, 0.8005, 0.5941, -0.5766, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.2683 left_y=-0.2919 left_z=0.1206 left_yaw=-0.0121 left_pitch=-0.4797 left_roll=-0.0002 left_gripper=0.9964 right_x=0.2632 right_y=-0.0045 right_z=0.1361 right_yaw=0.128 right_pitch=-0.2166 right_roll=-0.2126 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.7744, 8.8547, 0.6276, -0.4322, 0.0122, 0.0024, 0.0068, -1.1009, 6.8581, 1.7411, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b06382d9940c612e5321a3f9afefc7d950925f0a39ebeff240a49e24e53e116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9ef90256f15d6964441ded125eaa2f55d67bd8e78bba48a611169da138c63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739a53fc038c9ba47d841564f3ffac71f491684f752ce8e3320ada4695ca4538",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEV_N0rxOOgxjgXyLEURicWL5r0DJfZkhZtNSnEU_QSWL9opBjQsvVqqoNmFOM6i6jyBOtcscr-5Ew-6R6RvVybbQ91xgyT_FAK1dA-q-H0cRJW8FBQ3D52uVvalz56uve9JFBnb2rrz3jX3WY5KXXVwHyJKWTpY2VAEWWdQMlF9dkw9lcGS6rGOyb1_X0RqEdYUMUi4gBdHF_-S8SURskdaTeFTRwlJSuAj1MPi0d5mBTrwkBJgmgBQTgSsUZkLZLiiIHCJW5aTtxhzn3QVhGfjLyEZDmKjhvSfnm2ozF9CItGqvbB7ctCWewqBnOJza3XRrIo6WCksfnX6JPXhqR6wXAhouFXCWGPFEmKD4RY3Ap6AMJNlHDK7D5xF2HRInvpKKNKp05yv9EEWLb94y-bFJSnWyS0U7w198OXNCZI2ggzDfJK_OAE67jpk9TNJmxmlVa2VM4tmlJso6gPX77Nt9DlDEojyff3BzfbfWG-PdsC_RPNOOvhYxwmQBuEzBw4iLZv1JIpexJX5imVnBZyphn9N58TYJzTfLfwLuSJyPKAQ8JSfhOGZhHju0NeZGQ3a1U6zYjhVIiW2yBMcZoxGX1ITt5MNIWmnYPH05dGq0RTOWZAx4hfc4rgml5OpxY2Apl8OuOVPacRDHzXMooUBJNqwNjRxro6TAwYZAl4btbB35TV3lB_iTAc95rZ4Tv1iYyMhDYEzQk1ECvVOtB_athph_bms7l63-I1O5GEZzABqJw7hElVmbCE4uVd_l41n8393b3MWc2jeOyTLTr9C4nhHNVrT4bLooK8rk-3K_PHuXeVa-Qox3nhYE-X6zbky_BpQcQJQ-e83Cajk16n-HH9JRgTw_jSbiIxnJS8t3lMshpNx5HS-M4KNHgXFkhSjJA9vLG1fTCi4uCX8ch_bIruJZRTNqwIgeH_45EBT8m8_vqJ37Qncr8j9AhTbH9v7axT2vi_rfTGn9J802HEkmT6HJMi4XhM2ZWu_2Q6WCidJIIM_OgdrCGapuQDzHEHWNyASm9ifHlQW-ReV0hncEKf4c-lLz-tBBzkK0bjVs4_SDz0pMjHcqqRIJuS9MUNnLUiob0ZMsFqTvamDU9CFg5fNvqf4-SjgCNyiL-8MkGEe3fvI5Pwap4Xma_XoPrdGLX3J-XEusiYKfiCSp_owGxAdCUjPs3JA8rGVrc3pJ9KeeIkVSMh0T_XFCdqD0AuEIGZjnwgZ_PQupiMcYfn5sV0N_k24M_dxtIpuXA3ys8McemTRa6nne_lHayJ3IiVlv7tpxVz87bSdxrPt2KpQ2gM_A-udYQHPMgLTEXpUwm5sNVd1glQkzV0RRiucRARzxoVH08rR9SnPM8fDsYjOEL4JeNIep2Py8ko-FL7G1LZMvHoZ65FXnN3GKmIVBbHvLIG40PQjtPcVUa2lwMAuS5VS02iybf0-tAGj49A4DB9V3sNs0uzNSz_iec9nI1VtPOVww64esRVTbeV1zlFtqjRx6XaeOYAcIdbiSdO7MkDwpEc9M1iLbMhlRem016NAbFwg7m9EsTy3UxFsGaPIn0G_fIjVW7E6zKLN0AIbxIFl-ngRH3C28j_gLYNiuKKaTtPIjQMi0zNZX4xQGem-JVaNRbZEHbspBZJGTwtaSS0fVOT0qTKX1k6gy0PBdkF99u-opbM8N5OS5BsUeQuSRzeAt6IDUFKkH2-9PSgg8fGRXDF8szT-4242nRZYAXj6GTwnMm0AHB1BAybjG3pPJtqi77at-nMWUPh6ek7OkNJrITtU3hMTtBXSmMUB3U2q",
  "id": "rs_0c7ea13f64aada8c016ab4457d3ed087d0b93c60388ec205e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.37,\"left_z\":0.14},\"note\":\"The torso is now visible in the left wrist camera but sits high and far to the right of the jaw column. I’ll shift right close to the cross-table limit and advance 4 cm, keeping enough height to avoid the safe rim.\"}",
  "call_id": "call_vAOeHTyZvyWh6oKMq67SeIc7",
  "id": "fc_0c7ea13f64aada8c016ab4457e628087d0b9c8e64a51320af1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vAOeHTyZvyWh6oKMq67SeIc7",
  "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]: [-1.0328, 2.1105, 1.94, -1.1309, -0.4313, -0.9901, 0.9969, -0.0265, 0.8024, 0.5941, -0.6125, 0.0067, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3066 left_y=-0.3627 left_z=0.1339 left_yaw=0.0036 left_pitch=-0.4881 left_roll=0.0025 left_gripper=0.9969 right_x=0.2569 right_y=-0.0044 right_z=0.1295 right_yaw=0.1292 right_pitch=-0.2539 right_roll=-0.2069 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.9607, 7.8974, 0.4811, -0.3248, 0.0952, 0.0366, -0.1026, -1.2239, 6.8308, 1.8046, -0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1c7b223580f71114c85bb9313a0b4740b1c26ce57453406ae91fe1cb4aec2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2199b17c8c33edbf347ec9c0935380849c49c4d1873c020be988fa0992602882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2c847d78ee7fa72fc8921ce049ce3e919720bc778d9094b086425dbbb3bf86",
      "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]: [-0.5098, 1.383, 0.8532, -0.5323, -0.2615, -0.469, 0.9953, -0.0265, 0.7979, 0.5941, -0.5236, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1179 left_z=0.0892 left_yaw=0.0021 left_pitch=-0.4255 left_roll=-0.0155 left_gripper=0.9953 right_x=0.2721 right_y=-0.0048 right_z=0.1463 right_yaw=0.126 right_pitch=-0.1616 right_roll=-0.2213 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -4.8615, 8.7316, 1.1697, -0.4811, -0.0024, -0.1392, -0.1983, -0.8821, 6.8855, 1.8535, -0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0237, 1.7733, 1.4181, -0.9287, -0.4305, -0.9634, 0.9964, -0.0261, 0.8005, 0.5941, -0.5766, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.2683 left_y=-0.2919 left_z=0.1206 left_yaw=-0.0121 left_pitch=-0.4797 left_roll=-0.0002 left_gripper=0.9964 right_x=0.2632 right_y=-0.0045 right_z=0.1361 right_yaw=0.128 right_pitch=-0.2166 right_roll=-0.2126 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.7744, 8.8547, 0.6276, -0.4322, 0.0122, 0.0024, 0.0068, -1.1009, 6.8581, 1.7411, -0.0366, -0.0366, -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]: [-1.0328, 2.1105, 1.94, -1.1309, -0.4313, -0.9901, 0.9969, -0.0265, 0.8024, 0.5941, -0.6125, 0.0067, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3066 left_y=-0.3627 left_z=0.1339 left_yaw=0.0036 left_pitch=-0.4881 left_roll=0.0025 left_gripper=0.9969 right_x=0.2569 right_y=-0.0044 right_z=0.1295 right_yaw=0.1292 right_pitch=-0.2539 right_roll=-0.2069 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.9607, 7.8974, 0.4811, -0.3248, 0.0952, 0.0366, -0.1026, -1.2239, 6.8308, 1.8046, -0.022, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1c7b223580f71114c85bb9313a0b4740b1c26ce57453406ae91fe1cb4aec2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2199b17c8c33edbf347ec9c0935380849c49c4d1873c020be988fa0992602882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2c847d78ee7fa72fc8921ce049ce3e919720bc778d9094b086425dbbb3bf86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWCWoi3uQ20PSiQCTmmGB9ejl19ZynD5VWMR_elkrDjAlpvfuZIm_uU67pC50a2NCMGxpKLJpJ47x9Ne_B_vBTjqvlTj2RFdYfWCsKqaSIpCSLpwPE0TR8vkNdawdYl5yTh5amIStbY4bpsTPemQpAQsdkM6sw9StkZf1cR8chXbYIMnhJ6xsSsMyTgghaHUS0hq_AdHs8A_ui-yo9LFcZRBAz_nLp0OFXaAC8TGzS4YxbB1h5CjtN2jWEGJgKhDJK_OhKikycYB_Zj46BIlEKouonoOVv2pcU_tGl-442PZXBdBVhB8nHxNf_lF4NDUX4vCLum1XDHibi99ljJPBClOTd9fbfjBkFFLxHLZhCW9JsARhdyTtwkC7PELmJ_bP4ofgNdMYj3dYVzUMMGIuGS4cVNFWtrvljIWUzzkViFxMkHGB1gAwhXUtjxZbZCrAKBHXqQxLa6q-iuqtITcke7nFUfx2_RxLWFfDI_Q_-kS-Rp2yDICNWrfjIumN36LsqAbzPZ_HOQa4wd9LP4ygYIahRpxmaKmzhyAOhbONwBKLQhCD2v4zdKGm4bG_tdst5FWTnAOt0V4GuO_7AOdmep4MCsusJ2OqgT2qk2jDZ3eRCtfiliengX3G1Ige6NXuFY1McJFZZrg5zRGTFNI_qjAfPnItvXrWhNXN8nU59tewEghGKb0TFJu86hqjbSfeZqVUoqzHWe-uQV_egwFxLFme7xegnC0j3uJl5lDVL0BisROnnnib5PvUVpDkeUr1pIdl2CSXKr5L8VS9SD62GIiIomXY5KhbNqNLvJnW1VSHgHlE7KJyvySlYyc4VdyMcEiiH73Gu02ONyEiJzMBXan24U43a-41EkCdc__xGBNPdhF6AuzhJkN6V45vVSMYJbdRv21mlg2CAcsmswERNHJwCt9qxVCSm888EjwRVeh1mBM1BUOz7Lco2yMPI3e8-VnnSanS5w2e1ihBM11z8SWIoWRwLiw_Joc63lZ5WEeni_ZSUORFYyUqFeeRxwlc4vtoe9WYaJ1fuIwGtRV_aq96abFJb__VXJFUPLnqwSloPfLUlYbEq4oYP3lqPDYDFp7lEKmqr7Wm6hy6Q29T4pIZEEYLwKn_JcDmnIeYNLiuvBo8VGHCMegHZx0I4-Unn-UyOm1-9X5-aoh0JkFvvYYLdsnEuUePlnvZhYQECVLnJNGwN15riFR2DvW0_gzCsXAT2vlHFAqdvPXS89XZx1RP6zCJDWfRWduAvMs7w1iLDeE8OMpBrVhJTLg8Ee3F_VRTd6c19VkVqJAF1pt6P0_ObGuc12EKQcwKLyk33r4Ntw4q4mlonJ-r9_uQedhrt5E4qsG8_oheFGoCM2h2k4RWAasbL9F9kyChh2d8K3GAUwyY0_1WIJU9_gSc5e6l1a4J1AlfeE5-4X7rTg6AoBtr446bzXvBpHPpEaddqutPlRttp267yo2aP8tfQLhpHRq6u46xYjwbtrWg_koSEQ2Qcw7WVzAvudhBjfO4upBVB6Kzki3sRrBnojnbrMv96x7qe3CiRHsJvlpBPHSwhlnBfeBPI7XFQ5jFxfux9J_GVAxy2zDAH0hBJi_eJ9LULsiKsE_Vd7dehrfx_n_Jzo0NLT7bIuml7Jyg3o9xQliAg=",
  "id": "rs_0c7ea13f64aada8c016ab44581157c87d086894dfbd02bcbbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.39,\"left_z\":0.055},\"note\":\"The plush torso now fills the space between the open jaws, though its centre is still slightly right of the jaw column. I’ll make the remaining small rightward correction and descend to torso height before closing.\"}",
  "call_id": "call_0BB6SwSOnaIS8zeXpKn32cwi",
  "id": "fc_0c7ea13f64aada8c016ab44581fe5087d090a53103e4fd7ed5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0BB6SwSOnaIS8zeXpKn32cwi",
  "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]: [-1.0588, 2.2204, 1.8347, -0.9596, -0.4347, -1.0126, 0.9969, -0.0265, 0.8024, 0.5941, -0.6327, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3035 left_y=-0.3808 left_z=0.0614 left_yaw=0.0141 left_pitch=-0.5065 left_roll=0.0356 left_gripper=0.9969 right_x=0.2532 right_y=-0.0043 right_z=0.1261 right_yaw=0.1301 right_pitch=-0.2739 right_roll=-0.2036 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.5077, 5.9692, 0.8864, -0.2906, -0.1294, -0.0024, -0.1299, -1.0462, 6.7761, 1.6874, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e75683088bf5858c824fdc2a9bf168150dc79abe564a15c9ad9b998bf7afd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc4f8652807cff3af940533b4758000560613c4a4debe08425f557fb5d93ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3265d55d74960ab2a5bafdbe18bbb75092d3afbcb0363f1fbcc00ec762341100",
      "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]: [-0.8097, 1.6245, 1.2228, -0.7746, -0.3767, -0.7509, 0.9963, -0.0265, 0.8005, 0.5941, -0.5533, 0.0067, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.307 left_y=-0.2229 left_z=0.1189 left_yaw=-0.005 left_pitch=-0.4535 left_roll=-0.0109 left_gripper=0.9963 right_x=0.2672 right_y=-0.0047 right_z=0.1402 right_yaw=0.1269 right_pitch=-0.1936 right_roll=-0.2162 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -6.9265, 8.6906, 0.9451, -0.4274, 0.0562, 0.0904, -0.0889, -1.347, 7.0496, 1.8242, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0328, 2.1105, 1.94, -1.1309, -0.4313, -0.9901, 0.9969, -0.0265, 0.8024, 0.5941, -0.6125, 0.0067, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3066 left_y=-0.3627 left_z=0.1339 left_yaw=0.0036 left_pitch=-0.4881 left_roll=0.0025 left_gripper=0.9969 right_x=0.2569 right_y=-0.0044 right_z=0.1295 right_yaw=0.1292 right_pitch=-0.2539 right_roll=-0.2069 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.9607, 7.8974, 0.4811, -0.3248, 0.0952, 0.0366, -0.1026, -1.2239, 6.8308, 1.8046, -0.022, -0.0415, -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]: [-1.0588, 2.2204, 1.8347, -0.9596, -0.4347, -1.0126, 0.9969, -0.0265, 0.8024, 0.5941, -0.6327, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3035 left_y=-0.3808 left_z=0.0614 left_yaw=0.0141 left_pitch=-0.5065 left_roll=0.0356 left_gripper=0.9969 right_x=0.2532 right_y=-0.0043 right_z=0.1261 right_yaw=0.1301 right_pitch=-0.2739 right_roll=-0.2036 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.5077, 5.9692, 0.8864, -0.2906, -0.1294, -0.0024, -0.1299, -1.0462, 6.7761, 1.6874, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e75683088bf5858c824fdc2a9bf168150dc79abe564a15c9ad9b998bf7afd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc4f8652807cff3af940533b4758000560613c4a4debe08425f557fb5d93ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3265d55d74960ab2a5bafdbe18bbb75092d3afbcb0363f1fbcc00ec762341100",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWFBGkAN_hho-pIZL5xWiL9mllqCyKfB05O9Pz3PBH7ayWBWvxNeP8FEXEfMIiahxxMQQ5JlZjAfz3GDUmiOUrfDyZtk5xuu5RTfgu2-MIsu7EqEK_7OJGLUnolaWFWi5xuNk9-YFJK9aLQjg1uB87qw-bNBKHM4KWS4XtCiJyD4K-b-_lbbZgQNztOEKGGInBc-gVk0LdkoVuhe9nX_o5r1lhwS3CkcOvTUVn2zUM30kedPf_-vFmjKSbvCdsb7T_rDXGWpSzjnZQv-E2WK6H3W1Tgto3n8OSA2r2hvyLtKDjlI-oSkwG86ZVBcgwJa0UEUgcMWLNSvM6NZ4-XDW4dOWm5HUbOkP7-CHJqfn3L34zPSdiMLNk_qbafJV6vZSgxWBYyB2nL4gQTTmbBSht7TZGnL-l6iUwUQxpuQWVe0MY8QI7Bc9N82Cko9CRoqPm_9pF9CShG2i2ZdLDpy1LPLEiVMaJZuu_azd085C_95_SwU9sqN3bSPl13DohYnCZL2hTz5PSaJLCaWQiA6hASrasyX_6bscWkK9AerfudPzJmXJP-Cu-CESH3sbOvpOlPNqa3cR3legJNVhWgAJmIuuDL0G8EplUt8FZ6O9C8GMhf6eUDbA0KhuQOvCigXHBOFW-48i4lc-2WSrrDLPMg8CKFsjuTr-BSnseA6cEXmzwRuCFdE4KRLjJLm9lKVXpy6N-D2321wFutd51ydPRIpZ3E61pifNlLLW5PF505FZ3EYO71qgYJ4jR2WXPJYhi4zt9x5sXNPw2ycB0gR_H-7_Ch72K07xg36qftijAbiDxbh036vMRz6FxUotXp_46kQ-p8ar05GrZBnwz71XJE5AMxE28MUk84Ra6YkxOaot0OSvwVSjlSa-uUxrJ7MW2cy0ByBlPV9XDJTYXfOSsZW3U_Cp1UHfqKPkwiuSGJLC7IqTrN73zClYHBkAQLfcK0KFtfHwz9HGYBFntnVqfGeuWCRkboYUgHKXxn_057qhz-eGGazc33XzpC_VS3Ch155gTpk6Ay2_KX_6IU_dvTvXnY1-VUcowLTmonzSCw30qUcyOD2ibCJHTGHZF5X_TIPfpP1J_WpUnAHQLH0YoYjC6gNft7lODwaO3cvoiMc7DXttxn02F7VBaExXYF51BMF2o0ER1pSzqmu-3TZjr5vyrwMBxbXD18ICjVDAM960nZvP9aKFgdX2JaPHE2wvIxRtwE4_MppknRxLHC0EhlkTa6c6gdG9VHRQFeErYmcUvScYgpjD9lwjTo98Nh6Efd",
  "id": "rs_0c7ea13f64aada8c016ab445845a4487d093be45c6dd254a75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lower pose, the thick brown torso is squarely bracketed by both fingers rather than the rounded head. I’ll close around the torso and check for a substantial retained opening.\"}",
  "call_id": "call_7WBAET0UJk8W9YZKBFviNfUW",
  "id": "fc_0c7ea13f64aada8c016ab4458495b887d0866b5e82470f71fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7WBAET0UJk8W9YZKBFviNfUW",
  "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]: [-1.0592, 2.2375, 1.8267, -0.9741, -0.4156, -1.0306, 0.0441, -0.0265, 0.8051, 0.5896, -0.6575, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.2976 left_y=-0.3771 left_z=0.0491 left_yaw=0.0363 left_pitch=-0.5411 left_roll=0.0567 left_gripper=0.0441 right_x=0.2477 right_y=-0.0041 right_z=0.1196 right_yaw=0.1317 right_pitch=-0.3055 right_roll=-0.1978 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.8188, 6.7624, 0.4078, -0.6618, 0.1148, 1.6142, -0.0342, -1.265, 7.1316, 1.6484, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2ee3689a5b58dc98b92d7c1f26117c161b44f8265b3de2321cd13d467a189b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3741d55a8203ddb75e02b95e8a575c440171dbc242ebd4e967a203eead6504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961c6198571a91eb87eb1eb3df4d830758c31364186cb6933eff0f542c00053b",
      "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]: [-1.0237, 1.7733, 1.4181, -0.9287, -0.4305, -0.9634, 0.9964, -0.0261, 0.8005, 0.5941, -0.5766, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.2683 left_y=-0.2919 left_z=0.1206 left_yaw=-0.0121 left_pitch=-0.4797 left_roll=-0.0002 left_gripper=0.9964 right_x=0.2632 right_y=-0.0045 right_z=0.1361 right_yaw=0.128 right_pitch=-0.2166 right_roll=-0.2126 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.7744, 8.8547, 0.6276, -0.4322, 0.0122, 0.0024, 0.0068, -1.1009, 6.8581, 1.7411, -0.0366, -0.0366, -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]: [-1.0588, 2.2204, 1.8347, -0.9596, -0.4347, -1.0126, 0.9969, -0.0265, 0.8024, 0.5941, -0.6327, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3035 left_y=-0.3808 left_z=0.0614 left_yaw=0.0141 left_pitch=-0.5065 left_roll=0.0356 left_gripper=0.9969 right_x=0.2532 right_y=-0.0043 right_z=0.1261 right_yaw=0.1301 right_pitch=-0.2739 right_roll=-0.2036 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.5077, 5.9692, 0.8864, -0.2906, -0.1294, -0.0024, -0.1299, -1.0462, 6.7761, 1.6874, -0.0562, -0.0513, -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]: [-1.0592, 2.2375, 1.8267, -0.9741, -0.4156, -1.0306, 0.0441, -0.0265, 0.8051, 0.5896, -0.6575, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.2976 left_y=-0.3771 left_z=0.0491 left_yaw=0.0363 left_pitch=-0.5411 left_roll=0.0567 left_gripper=0.0441 right_x=0.2477 right_y=-0.0041 right_z=0.1196 right_yaw=0.1317 right_pitch=-0.3055 right_roll=-0.1978 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.8188, 6.7624, 0.4078, -0.6618, 0.1148, 1.6142, -0.0342, -1.265, 7.1316, 1.6484, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2ee3689a5b58dc98b92d7c1f26117c161b44f8265b3de2321cd13d467a189b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3741d55a8203ddb75e02b95e8a575c440171dbc242ebd4e967a203eead6504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961c6198571a91eb87eb1eb3df4d830758c31364186cb6933eff0f542c00053b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWLU2uRIiMuQdQnKoeZ6QRWthkbry9GSwSgWy64mYo91OXe1EOVkBLKrCvJtTNSs7N1CbQaNZTWpH0wcxdnqCpwYxxj5SUoiZ1PoRjRjw1cjFvfNRajfuYMJHe94y5W10lZU06UHE4a4V1v93nRUVhFaSHjlaF2O2jbO3bn8OrMJAGCVqM2T8y1e7GNKGl1ZuRdVXU2HW2JhnjasPuMYmtKpNvyRHNNjzOpPUx5Io4EOHJ_aqUY1V11d81sQ0vwaaFaTYsE0FtfmXu4MG_BrfGXsLHYIYRqRHuAb6Nz4mld_7FBMpZW6UVMbB6n-3Qu4osAARoGK2fBPiP1Epsueih79kUCfA0AxzLHe1cnmHViAuZkROckvV6uPx1wX1rUoHLZcrLO3zfkbeS4wAQm-7MZNVnrrKKWsy6dFMiFCQirheQ2CPzZrmfNf8nAIhhYjCh-OHT4tt6hQMenTydkm4X29obWQvqtd_5sAO6SeeQ8lI-ewrut6RqpX9kaG8-b_a-e08HH1e3qNe6unVONvbXvX7-qVpncq57g7kUhUR7qri_bcQUH80zC1hwymldzapv8E8T0JQ4tzx13Pk0cToEMNuBitG3X6l34G0q5esbnehrObMPEUJoP70dY0eyOpZ60OfzaxPNRSNe80KvOQH4NMEeQdh4KfB0Ry1cnIZaGVjCJTXspt5PFx3YY920-OKxdf9-jAUJ4hWOexQ26wtvTujvKy4HuGD-wbKnH-m-kxbJ05BpdhFmVOe5lTOFFV88xu3rawaBXFWJ4IeChINauTWYqf2pA0VLjolmEDgGVdgG03M6NZrkQab7VdsmwGkMpkOOQV0Epw26HZlb7fIFhi6jXvjUhO6QG-gZDYVl_wm76TQjbnMkkPIXH87EL8xbzgJZZdSFrbdBT-iMIOsq2vrDI7_U21Xx3tDnP-Ct7Yih81RYLeOisMBjUagRwXJTisVUh7VrAiBpnGS1UmNf2A2LjdxdxcV_1xdjgD0CjDDylj6Fi6tP1HqIbNVWVDNdTsT0ScJYoAZxKbpYE9Xk92m9ZmgUDVkax7ou6Tl4i9LGAAxgjuZSXYVJy81kue7Tl7_bJzD6nKxS4aMd7WvRjvF_fl-wRZoIytGmPgqNGO2zBoeBoseRFtpJZvqR2vrzMMLEM22pkqHKhsdNhwgxRES3Ly9wLClEQGFf6qqkFp_1IUNrBO24yYSDZUASn6Wv2AWi4_nTQeEk0Oe01XOBTgSUeVDYsMUIg4boEMop_Spxxna-fjTQpQIPigMfC_9kOxXlKeVYQLAeGoGPQumFtUbabfJLlXeCxWv8Q1L9Y50mYZKvFDLM3VQ1SYmv4oRoJxpcmhDuXKRj0-PGJUlogj63XqOSvsnfY4tEt4vssbW3L3q5HmsFSaJe62HbUk9smgiODfoC4ySLHwAPT9q1v6z2q3sjVUn1gFf9RC9w7woIvFDitAtcNWMnJnHEDZKuZuVSczDdxDYZRVdVP9_tLS_j66xvyt0yPhn5x80CLsH3T-Lrsgens4Wu7hmix6UTvKFykJgLAMOZqZ1j82juZvhzLcjS8GknmhQoCvsZiGxKyFLBWRT1o0oNxrhyg2CO7AkuHojYuhdAWv2L-Y5ts4kccQm1fRHikvPJKx5BVsprRp6grPJaKUtsIellPk_QeqX83O4XwZdqmNYEPS0GJosI7eQAqW1zcBypKVpr3uHB61YpMmIU0au1JTJU3s5fBrFOVsds3INPPpOtsyEx-svPcYHl7lAFwmUhDuw7xZFZCpjd3RXf8DLV3NrZYvuhro1EidJ-maVNdxZLwN3Xjj9iE-yGBi_jWx5tx-dMuT3S8KmJHl-hRkb-rD4aZEFd-ENsK8_22VTk86Bs8sByQuIRyuduP2a-n-Nj-8E_n0ln1nuMC7HcjnrvwYj9-fDH-DQAAsrqdBY5MrnJ8-IllP8SSbQrIricqCjcv1PbffYLZi7ebv3LoCU3s2cOMO39bHoP0C4c-Xw8qC2CdFU3WRBtWxRUw37d1PH3YDhQ7osuxcud9tTvhBefjlWc4uotcVa1ICdcVyt210tx9oBAYygWL2IF5Hn33rOPuYu_oOHOvRbtLbcJv3VXEUAQaISrUVkcKZv-Ye_EZICXziaATjaTS1WHop-AoggtCTXcj4KlNNcYbaPMUxsyCRIJODAD6x3GwEPH2mU086AaZEZm_DIKfhl9AI-eCUTgOD0TC0GVZG94Jc91da20ITVv_1_LENKJV1Ova-ZFagMmjcXqxFtoT9usjNY2-1SX_CCsKIyc6rx5bD2YhnZyU84b82xt42JCOC3npp54fYg1KmUAo4qFFHxtFVIVVfbmXGnFLl88eul1JAEp8gGleeA_CAjfbOjBb5PrcnHwuNh3MqTRp6y6osc6zo7-zI8bFM-BcF9mLIrX51uKnVYA9TSqj6dBGUY9FhRzQTtT-gxgqgFnQdVyS0CuAkkVLtPc_g-gUh5CS_MagNIi1H5uIywEFVpUctGnnmTaakjcX3CbK1cSlWYmTJuWt0Io2GLPMUBDp3S_B2TV8Kp49m4ttncplaGZv19CYEhs4vx8MntWaNOPA76lS3f1dtHSkz0Uhy675VWBmbw2JHnuhNjRTZYcrcyeG-njs9W-I8AJ7T6yV63AqCHiZu9EOVDsmx-LqUNcn4g1Nv2b37ijoIDC2Y6floIBo4eI4AXS1SOGtZfLTQDZI62sclZL0l75uv7MerTP3k8__dzWumbVkd9r1VzhHsVZOA9jx7f2J8U6StQ5u3MOp2sM1qGMpMLrF7erm1hTcSaXnumiHqDJT-fuM3zdWj8I-yZ4TnqOil40Yculq8abzOxd8XuHbRfMsRKJLPoCPRbKgy_4xhpOWCRVz-ms53WvCD5JcDslWyt6XbTmslnyil2XATDA1ITBimxerT3GperToWF6tmMxtiKhb6wjnUA43aS5j50pbmhwLWyJeyCRqw4_DCqXupK2KuzG95ysgWXBx5gcz1_1DmJooSTsJNLKzr2gFRoakaljTre1oGTpCWqIFpRPuiNLwmeDkIbTp7TUSJE1AE3PQVux8qf--XG5BVhoR7kl4IqBA8k0WXjX-Il4yXDm64ZPbhYKFECrJ4ZamLfOSpnAYmQmfQXPXvG9c",
  "id": "rs_0c7ea13f64aada8c016ab4458753d087d09f964a8c4c987abd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.4,\"left_z\":0.065,\"left_gripper\":1.0},\"note\":\"The torso slipped forward during the full squeeze; 0.044 is only marginally above an empty close and it remains visible in the wrist camera. I’ll reopen, move slightly forward/right to recenter it, then use a gentler partial close so the rounded plush is not squeezed out.\"}",
  "call_id": "call_YxyJmyjYAbcLuD5aE4XwDR71",
  "id": "fc_0c7ea13f64aada8c016ab4458a497487d08e7b3d696488a377",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YxyJmyjYAbcLuD5aE4XwDR71",
  "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]: [-1.0283, 2.3836, 2.1273, -1.1313, -0.4057, -1.0153, 0.995, -0.0265, 0.8074, 0.5888, -0.6762, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3241 left_y=-0.3956 left_z=0.0611 left_yaw=0.0544 left_pitch=-0.5515 left_roll=0.0619 left_gripper=0.995 right_x=0.244 right_y=-0.0041 right_z=0.1159 right_yaw=0.1325 right_pitch=-0.327 right_roll=-0.1945 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -12.2462, 8.1846, 0.5934, -0.3101, 0.1245, -0.0611, -0.1162, -0.9094, 6.9265, 1.5507, -0.0122, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957d7b86a97307e537177beda77d15aa168c5b748a173ad3cb70d3b67893eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2232ab237bcda9887999390e94b0d8476091c91662e2bbf57c925dd56a958073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b940fbec94de003afaccab59d0b881cf20bf4e3e358b867289b15d5015e45f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0328, 2.1105, 1.94, -1.1309, -0.4313, -0.9901, 0.9969, -0.0265, 0.8024, 0.5941, -0.6125, 0.0067, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3066 left_y=-0.3627 left_z=0.1339 left_yaw=0.0036 left_pitch=-0.4881 left_roll=0.0025 left_gripper=0.9969 right_x=0.2569 right_y=-0.0044 right_z=0.1295 right_yaw=0.1292 right_pitch=-0.2539 right_roll=-0.2069 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.9607, 7.8974, 0.4811, -0.3248, 0.0952, 0.0366, -0.1026, -1.2239, 6.8308, 1.8046, -0.022, -0.0415, -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]: [-1.0592, 2.2375, 1.8267, -0.9741, -0.4156, -1.0306, 0.0441, -0.0265, 0.8051, 0.5896, -0.6575, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.2976 left_y=-0.3771 left_z=0.0491 left_yaw=0.0363 left_pitch=-0.5411 left_roll=0.0567 left_gripper=0.0441 right_x=0.2477 right_y=-0.0041 right_z=0.1196 right_yaw=0.1317 right_pitch=-0.3055 right_roll=-0.1978 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.8188, 6.7624, 0.4078, -0.6618, 0.1148, 1.6142, -0.0342, -1.265, 7.1316, 1.6484, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0283, 2.3836, 2.1273, -1.1313, -0.4057, -1.0153, 0.995, -0.0265, 0.8074, 0.5888, -0.6762, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3241 left_y=-0.3956 left_z=0.0611 left_yaw=0.0544 left_pitch=-0.5515 left_roll=0.0619 left_gripper=0.995 right_x=0.244 right_y=-0.0041 right_z=0.1159 right_yaw=0.1325 right_pitch=-0.327 right_roll=-0.1945 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -12.2462, 8.1846, 0.5934, -0.3101, 0.1245, -0.0611, -0.1162, -0.9094, 6.9265, 1.5507, -0.0122, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957d7b86a97307e537177beda77d15aa168c5b748a173ad3cb70d3b67893eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2232ab237bcda9887999390e94b0d8476091c91662e2bbf57c925dd56a958073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b940fbec94de003afaccab59d0b881cf20bf4e3e358b867289b15d5015e45f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWO-ARm7FP8tm2vdkL7keM6UTzS46jx9gn5aI_hODh-o86BkqwJl3LWn_tHGJb0AGkSeR5Nu5nF3KLO8ToAM5cHKhBOUXhGVcSGPxujH6FXH6K20DuLGqWSf47d-Igc86qY3sfiplttaLJ-MCnbgLY_PqOLdHH-zkPTrAyV-jTOayMoU2scdsg9UjgEcrfA5pqqbWVgrD-mpt6G7AcUDS3aTtF1Q3a4kEzqEccnz59ZqAGRYt7UK3d6tWB9f5BMzgEjH1nUlD72CKVd7JYInGSPj7gHL9g5msy_0h0PcAflRYOKGXVE7s2loplrmUlI-u5Y_YcbDEjf0xsk5EYADFMar8pRUQkZsqY8DDV-2CQ0-wDdKnXe0wuJpVzB-YOHs5t0_dxxhumPfVTzOZkYZ06yrGEJxKW2OfSkOLnZ18LKmYDkQQyDFKZwxUfnP4gx4PVSOY_RaoPuBOUpVLvIYy0c1iOJfdIgRjJSNbkKB3MkApZFChx1cHCza3jfedRJ3F2-8LprQ3YhEgGRErN1f7j10nX0G1a-dunmg-CxQmYsFjDCmxZ7dm34eqJK74VUdACiyaOfduO434n_v1B3u0My8lTEe0aayEBSP1Q-cHw5U-t0U3v8KXEKO4pR2QIapjq0Tg_OLnNFpbzNS_uvdaOWuLsJ_xh2OeAK_ZAGgRDMo063L7oI_j8HXbAOHyaiJoVLlYo-IgC8nWHwuh8xPpf2TcclQPRTujQtGpHboCfn3VJBMqOm7czJFKVBgPCVgaeMsrCS4oy5i41kFS916tYn7jCKMI7o5NP8GpklLxpLrm6szC2iEDJcRSYta9W0E8DaPQ_JupFIe1WeIZA5lfHVUdE5PKECRkgxQfOdYB5cZVAvy1LFo79K1sJ5GXybxEn52_AzwICa8kp_k_NyV2CO-foLFFKZsYVf4bOlHNHPtiU4pJqWjPShlT7zUbFmQnoR5-guQOvpg7BdsXNdtwq9R_g3HRXVQ3nk8uKoZxphq-FzZpwY9V-EbXapYBCc3YWHbxru_wzTAEhSFuFydxvocNExAN2v7DXSaL-HqzqNh36_0MSgEVCUa62-iMQEtp6EZK-PrClqIRQXmdt7lr2CBu2IVq_7K-aXHeTSbnFBYovY_3qwMDAEq_M0MUFy3U6ytD8Hp-FdSgM7s0yl8inl0EVcGaqo5p90FO2d03FMnld-6s__F1He87iNevLvPdoQ7xYUk6zDpq_5O-mEXvAZaDMGBhhj54YEclx9hWGrNBMVrtVzt-R9tyPF5c9t7MVU9zZdOoHL46pl0xAsJr-2VQ12HYRWOwKcFkGYt3I3yiU9xpe4EgiTGXIpBDT69mt6rbwgQ38o35lZY1-86ZF_sGchbLmLHFKj49V6Wp9xM_OgnWO5yl5d2GAKu-oBlI-c386Y6IMjDhjnU-RZxTzRzajeEU0JBbfgQzFesDs04e0=",
  "id": "rs_0c7ea13f64aada8c016ab4458d2cec87d0906847f8f9835ca8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"The corrected pose places the plush torso centrally between the open jaws with both sides equally engaged. I’ll close only to about a 5.2 cm gap, enough to hold the torso without forcing it forward.\"}",
  "call_id": "call_zj6CGGQGLw2uHxByu98T2qhD",
  "id": "fc_0c7ea13f64aada8c016ab4458dd15887d0856e8466c0a51079",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zj6CGGQGLw2uHxByu98T2qhD",
  "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]: [-1.0271, 2.3898, 2.1323, -1.1416, -0.4049, -1.0191, 0.5548, -0.0265, 0.8101, 0.5888, -0.68, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3237 left_y=-0.394 left_z=0.0591 left_yaw=0.0639 left_pitch=-0.5573 left_roll=0.0715 left_gripper=0.5548 right_x=0.2433 right_y=-0.004 right_z=0.1147 right_yaw=0.1332 right_pitch=-0.3334 right_roll=-0.1931 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.9556, 5.6684, 0.696, -0.3053, 0.0024, 0.2125, 0.0479, -0.8137, 6.9128, 1.4237, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961064cf2876c2f4bb5d63619331777aa4dc0b7f5319f23556389b94592327b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf75e4fb067a5e5db74557ae4bbffbc17ae4ee184491e566a8e5d5c3176da1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0fcf86e8aa86160121169033e8a71759c82d22f9571bd3f60c40bb83bf6e1a",
      "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]: [-1.0588, 2.2204, 1.8347, -0.9596, -0.4347, -1.0126, 0.9969, -0.0265, 0.8024, 0.5941, -0.6327, 0.0067, -0.2886, 0.9988]\nstate[eef_state]: left_x=0.3035 left_y=-0.3808 left_z=0.0614 left_yaw=0.0141 left_pitch=-0.5065 left_roll=0.0356 left_gripper=0.9969 right_x=0.2532 right_y=-0.0043 right_z=0.1261 right_yaw=0.1301 right_pitch=-0.2739 right_roll=-0.2036 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.5077, 5.9692, 0.8864, -0.2906, -0.1294, -0.0024, -0.1299, -1.0462, 6.7761, 1.6874, -0.0562, -0.0513, -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]: [-1.0283, 2.3836, 2.1273, -1.1313, -0.4057, -1.0153, 0.995, -0.0265, 0.8074, 0.5888, -0.6762, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3241 left_y=-0.3956 left_z=0.0611 left_yaw=0.0544 left_pitch=-0.5515 left_roll=0.0619 left_gripper=0.995 right_x=0.244 right_y=-0.0041 right_z=0.1159 right_yaw=0.1325 right_pitch=-0.327 right_roll=-0.1945 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -12.2462, 8.1846, 0.5934, -0.3101, 0.1245, -0.0611, -0.1162, -0.9094, 6.9265, 1.5507, -0.0122, -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]: [-1.0271, 2.3898, 2.1323, -1.1416, -0.4049, -1.0191, 0.5548, -0.0265, 0.8101, 0.5888, -0.68, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3237 left_y=-0.394 left_z=0.0591 left_yaw=0.0639 left_pitch=-0.5573 left_roll=0.0715 left_gripper=0.5548 right_x=0.2433 right_y=-0.004 right_z=0.1147 right_yaw=0.1332 right_pitch=-0.3334 right_roll=-0.1931 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.9556, 5.6684, 0.696, -0.3053, 0.0024, 0.2125, 0.0479, -0.8137, 6.9128, 1.4237, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961064cf2876c2f4bb5d63619331777aa4dc0b7f5319f23556389b94592327b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf75e4fb067a5e5db74557ae4bbffbc17ae4ee184491e566a8e5d5c3176da1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0fcf86e8aa86160121169033e8a71759c82d22f9571bd3f60c40bb83bf6e1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWSH8SEk7CiGkBi3O6J2Gz5IpHCZt7uYzVQsC_OXE9mgVWlJj-1I3yGE1nWoKsz0CidO-HheiZbvYX0cnvSum1C3wb3uBo9Z3w0Mbs9yNdd6M6QUlgIb7tHIksBSlIB2oALVxjGugF9zlSfqtSVqNr_l-9U3k1G4MT2M5EcVEw0OmHCIWYJJStIsE3mdnf1FlG2VUlWvIDB7vXMsad9m1LPnERtxX1Zk_Llnh4Pdte_vaixdPg3ghlOEgBhVxVuCyQL8EHPL1tJaeBBEg30AL8cFfeI_y8ALxysjMEmxfOpGFG4mvY6tIZdGurJz7YNiodw9B4teMkdCa-wrAcJ3TdGyjCFCK1POpZ3lTfcih8WOZniAoW9p4any_csdD-lD5qqy3qGz9__iLxZtaNNiwOfJ4gvnKnJIh0hBnaSxj_R5pv-_wBfLEXZLrp9mYn7cGufjz89JelKA6pZZi7XRza9UKWA0AjY34SoxIAG2zgm9yHA2QC1yTC0Be4edlUq2dVI2nXFt5QdYIEQxaxTKTwxkFx2vCsWDW1u1EQQRbcDlezE193Bcqfw9A0_DoTEH03G8m95Z69B4WMwBElOgjq67-k9crJcZGnMAIShKGnB04WR635GUXJiMXBOH1CVRKhyjIeg09kd7Lr22e_mG_7tv6zQZWkeeb6WB01nYLBcKCtZ03_tV1646xqYEVI0cHauXVsTWbch_QoRQo3QHg20u9jQmHHwgyqZAeqtLeuIZQIzK5mUqPd_hg1AgQu6rzEc-pIt1zcKWMXVnLkkupYSLgf2CCNADbhwVhtBrrlDqZbJcuV0tqRFXqEpwb4LTHVH_NYs84xQa3_PAxjixuBykEO7h9JrRZf3D09sOWjJti5qbDg_iCyRS3ZqtfTrioAUZVb-K_emia44P8FUlEw1o5_b5TTikwhn_uDKWlrCsSOq-3TNmqF9Bs6lzim18ly4qPcTIqCSJsV-9vmoaUjn3aKrkhF5N9HmGW--5XjIwOj4sP04a5U_YTRJ3VgITgfvGenKuJ81vwbOmOTfkIEMxbu9gOQBhQxt6eh4GVEslgWlIRy3VrFTXXN_8F8HcWPIEyeboRRrK48rnhBortIO805wqpCE1-YEmIvZiwZPf5ZjAiy21vP89gQ94KGhU6rOL_XbhPaYdOhTFEKTnuWsXc_teNWcBgTBHcPDL-3043KkKc7W2eCbxUmXjeHxsDELoTbMEC445MNR6_K6ipJc8oqgue6c8p9Kg8EqvG8Z_BtgKroWBIBS-oeBGSqMGE1vpczNX55CaXcJI7Qnh6QFcSiSIYuyTyDm556_1vubhzfakGE1AHyWooDjZ02qGIqGDQWMHMkLi2lgh_6QYPAxuZfg90dKM8jnK5SAoxl36wlsEjkbnqW2fZvsOILkOzCmgTTGSaevR70ZuHHXhmLyUzfiS_dhtJfyv9rAfiVmNLbuhtZp3cyeOdsrxVA1PicOtS9th11pBitpK86UTazDXKRElAh24Q1cG-U10_betuMBnVenwFvNKU4W7FmxIJeAuk0QcCMj1a48MiQVokluGPeAPIg8K8FRqZFnfAce_tW1SjNlhqQ3Ef_8FHTS-cv48fAjvbsIm9SXW6PQsGhMCwDR17HBq87oVrFRm0Ol5cHigTySaY_lWHmxMZPbPch8xMf-1vWIQ8HMldlBojxczvhNONt9abmJ2QFBw_ybOqQvn_P1xX07fttBWzynYWbr0MxbXttlWI6sJ6tRIZo4oNI8GfCkDjaULkk_vXKh4Ew=",
  "id": "rs_0c7ea13f64aada8c016ab4459053c887d0904346c817d1c6a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"At a 5.2 cm gap the torso has not shifted, but it is still visible beyond the fingers and the jaws appear just wider than its compressed waist. I’ll tighten modestly to about 3.8 cm rather than using a full squeeze.\"}",
  "call_id": "call_IT4Q27yascToUoH5JFhk4o3Y",
  "id": "fc_0c7ea13f64aada8c016ab44591597c87d0b305a76b322e54fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IT4Q27yascToUoH5JFhk4o3Y",
  "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]: [-1.0267, 2.3898, 2.1319, -1.1416, -0.4049, -1.0206, 0.4062, -0.0265, 0.8101, 0.5888, -0.6804, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3238 left_y=-0.3938 left_z=0.059 left_yaw=0.0655 left_pitch=-0.5575 left_roll=0.0711 left_gripper=0.4062 right_x=0.2432 right_y=-0.004 right_z=0.1146 right_yaw=0.1329 right_pitch=-0.3338 right_roll=-0.1934 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -13.2991, 6.0239, 0.6716, -0.2906, -0.0464, 0.0562, -0.0342, -1.0188, 6.735, 1.4042, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7930fe742c87c4a9df14def7f20367910b0a6f865a284046217c429e7d2fccf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4f184425a12afcc1d3870eb05532fb77657d9eab5cf092b616c2843c1d80b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be75f9e4d96fb655c5819b6774c3c269504be6db27d61f210fab2a7880916c77",
      "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]: [-1.0592, 2.2375, 1.8267, -0.9741, -0.4156, -1.0306, 0.0441, -0.0265, 0.8051, 0.5896, -0.6575, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.2976 left_y=-0.3771 left_z=0.0491 left_yaw=0.0363 left_pitch=-0.5411 left_roll=0.0567 left_gripper=0.0441 right_x=0.2477 right_y=-0.0041 right_z=0.1196 right_yaw=0.1317 right_pitch=-0.3055 right_roll=-0.1978 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.8188, 6.7624, 0.4078, -0.6618, 0.1148, 1.6142, -0.0342, -1.265, 7.1316, 1.6484, -0.0317, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0271, 2.3898, 2.1323, -1.1416, -0.4049, -1.0191, 0.5548, -0.0265, 0.8101, 0.5888, -0.68, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3237 left_y=-0.394 left_z=0.0591 left_yaw=0.0639 left_pitch=-0.5573 left_roll=0.0715 left_gripper=0.5548 right_x=0.2433 right_y=-0.004 right_z=0.1147 right_yaw=0.1332 right_pitch=-0.3334 right_roll=-0.1931 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.9556, 5.6684, 0.696, -0.3053, 0.0024, 0.2125, 0.0479, -0.8137, 6.9128, 1.4237, -0.0513, -0.0513, -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]: [-1.0267, 2.3898, 2.1319, -1.1416, -0.4049, -1.0206, 0.4062, -0.0265, 0.8101, 0.5888, -0.6804, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3238 left_y=-0.3938 left_z=0.059 left_yaw=0.0655 left_pitch=-0.5575 left_roll=0.0711 left_gripper=0.4062 right_x=0.2432 right_y=-0.004 right_z=0.1146 right_yaw=0.1329 right_pitch=-0.3338 right_roll=-0.1934 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -13.2991, 6.0239, 0.6716, -0.2906, -0.0464, 0.0562, -0.0342, -1.0188, 6.735, 1.4042, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7930fe742c87c4a9df14def7f20367910b0a6f865a284046217c429e7d2fccf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4f184425a12afcc1d3870eb05532fb77657d9eab5cf092b616c2843c1d80b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be75f9e4d96fb655c5819b6774c3c269504be6db27d61f210fab2a7880916c77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWV69psqAQ_HxEq7FEvz3LF2SYnY_jE7FYJlwm4DAjKkKnDzshlS4DyTn8pfAGfFR-asTGw52A6oG08b064LKOtxeSSAoeYwPzrwAvo5NIFI1udo-0p4GvXHHPBilcBNWpNF1RQClJUJ9HWNILeoDUk6YPeoRKV0fBvDEgQUUPULSPJrKNJSSamzU3ZP2n7npwK3AqLmA58X2GvwjAZFKhgyAYgtNHKKXZRpAum1zi-OQX0CJh2T7QFaysGRgyQjAHwxTHzgESfCpTQTibLoFVB5XUFaNDPlPH6PZDWnYYo7r1jpEbbQzKzhUnUMZs_B1lLKedI6ndevG5OrscEpsnxYXnsNsIGGKKSYafkFg3THbIHVA3UpCHdIyNFHKicA2l5Bvl24HtQ0I8xn1hgUo_0Upn_F8NCrSq_uqfP8E5pvkFMM5AbxPraXTSFJGqihWG5vmlWAyUv6oMLt9z9bQ5dhspMmzCqoE7fQy8jaeQMA-Mz1yW-O1LV52wScV7oY8ELkCfGICyV9EUnpT0jaZQAFnDwWh0ep_u70ooNUhN1zpfYPdGKn64NJn65eja7fHy8f4W0-gIHZnjegvbbsFRhhqJAYtU-VGXC8Ds9cRqZ_djmNBoq3fUm5-lcXkZNbcbOhZJBvhS94C4QrJDMIxZS8P1O2VMDHqDIE1HPHyknmhNZC4YVyaV4DGXAD95rttqjmPw4D7kB8ZTGz21P10tqolNGyKhF4rSiY-R8yKscHyab_1SAGxbbzjYcc1jfX34VANZ_PzqyHVReW1GkI3YSc484Jm9nu-A4mfcFAk8kai0RJukPNLNOS6fxBgpYjg-Ncdp4pMrX8sQGTGHYZNKR2o7QE1SmBi8UtA9Xmfp4_aglFTJ5w35PVpK9NNvZo1L1EudC6pydSRycdOUffggA0pSSlURbMNSS2FvyVOVk5Iwll2uDxFTg6QR7oiILizcz2Pz_LuaqTpFz7w-UxG1SfywS2XhdMLT-r-V-qN8RBq7Tkj60J4Oohb2DSpvoQEz2waZC4JvZFP5JqmJ385iBy9-3c_uJtNlkXO1gYwCALHimtPRqERWjCGG3owlvrrY9M8noZFxzY2pJ64W2ves8YDQOU4SLEagVncb-hzNWihKADbMtHsFWoymXET7HRID9cJ6HeZ__N0EwTdKevGXzOilaDXi0SwDD1fVTvxS3S1_nDHh6QzowJXqlRf2GjirXATT3Zx55OhCn-ALIbhckUbmoRjldWAkRDgaomrEVZf-yrnHj9NIyxKTGfZunOVjafSr2KlfGIF9-v4z3dcjqAcbME_W2wJ7dfGK8LsIB0BcWMwVQhmXuwOWfZJTwPpbv",
  "id": "rs_0c7ea13f64aada8c016ab44594194487d0bc03957c597c9ce0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The partial close reached 0.41 without ejecting the plush, so I’ll test the grasp by lifting about 7 cm. The overhead view will show whether the body rises with the gripper.\"}",
  "call_id": "call_oTkrojtxZhz36N4GgG8NfRtW",
  "id": "fc_0c7ea13f64aada8c016ab44594727c87d084cde10284a242e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oTkrojtxZhz36N4GgG8NfRtW",
  "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]: [-1.0267, 2.447, 2.4996, -1.409, -0.3939, -1.0336, 0.4063, -0.0265, 0.8101, 0.5888, -0.7002, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.327 left_y=-0.4027 left_z=0.1261 left_yaw=0.0451 left_pitch=-0.5465 left_roll=0.0139 left_gripper=0.4063 right_x=0.2394 right_y=-0.0039 right_z=0.1116 right_yaw=0.1343 right_pitch=-0.3533 right_roll=-0.1897 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -11.8906, 7.3231, 0.3883, -0.3639, 0.0904, -0.0024, -0.0342, -1.0188, 6.7214, 1.5556, -0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967da78dbb50280fa0432543fee20cbcff074031e6a610626f421bc97cb6ace5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9195ffa2289b8c6c272cdf54423b7fbc7425825c8cd4073bc0ece591755abdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2231881ab0cbd20095410688cc2610f5f4922d362110b614ed7530db854fcd",
      "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]: [-1.0283, 2.3836, 2.1273, -1.1313, -0.4057, -1.0153, 0.995, -0.0265, 0.8074, 0.5888, -0.6762, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3241 left_y=-0.3956 left_z=0.0611 left_yaw=0.0544 left_pitch=-0.5515 left_roll=0.0619 left_gripper=0.995 right_x=0.244 right_y=-0.0041 right_z=0.1159 right_yaw=0.1325 right_pitch=-0.327 right_roll=-0.1945 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -12.2462, 8.1846, 0.5934, -0.3101, 0.1245, -0.0611, -0.1162, -0.9094, 6.9265, 1.5507, -0.0122, -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]: [-1.0267, 2.3898, 2.1319, -1.1416, -0.4049, -1.0206, 0.4062, -0.0265, 0.8101, 0.5888, -0.6804, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3238 left_y=-0.3938 left_z=0.059 left_yaw=0.0655 left_pitch=-0.5575 left_roll=0.0711 left_gripper=0.4062 right_x=0.2432 right_y=-0.004 right_z=0.1146 right_yaw=0.1329 right_pitch=-0.3338 right_roll=-0.1934 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -13.2991, 6.0239, 0.6716, -0.2906, -0.0464, 0.0562, -0.0342, -1.0188, 6.735, 1.4042, -0.0171, -0.0171, -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]: [-1.0267, 2.447, 2.4996, -1.409, -0.3939, -1.0336, 0.4063, -0.0265, 0.8101, 0.5888, -0.7002, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.327 left_y=-0.4027 left_z=0.1261 left_yaw=0.0451 left_pitch=-0.5465 left_roll=0.0139 left_gripper=0.4063 right_x=0.2394 right_y=-0.0039 right_z=0.1116 right_yaw=0.1343 right_pitch=-0.3533 right_roll=-0.1897 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -11.8906, 7.3231, 0.3883, -0.3639, 0.0904, -0.0024, -0.0342, -1.0188, 6.7214, 1.5556, -0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967da78dbb50280fa0432543fee20cbcff074031e6a610626f421bc97cb6ace5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9195ffa2289b8c6c272cdf54423b7fbc7425825c8cd4073bc0ece591755abdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2231881ab0cbd20095410688cc2610f5f4922d362110b614ed7530db854fcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWaQUc3hIPKxpGz2FGZHrAXyUEvFcql_op4RtXtgGYWjMzu0kyxRyiqCRPjqEIDrH8RPdd69xj8G-kF2brRzZWP76x7ufCitLP98KShTvfDGW5ynGvj_D-dwcw2SyaKFdTIbq1NVRbOD9PQfItDT_Wd56kbWNUcX8sJye5o8S5T_Tb5yzV9wL9M2gHhf_YvtpKIj7zHul_OIZcTATJ1QpBqMSJnZdQn7vLGHsxZ7GHIctQ8bDZZ9PcefW_6Q_0dpKT_qyrCBV_YFGeUF84Jc6uoBqFv5o4qPM_5hEwVqXN_sSwbNmoOoVFoAiVbEuEVdWHoZvQeG8aYxm3NSsYOkkBo2UVhDE25IyuZqafLY9V9yR6V6cP9Qcov3akl7bEmu9PyS7qU9vxcYVoQUBnBGYVSl8ll4nWRO2fztLRZ5hZxf-3xV2mlhnJRQINzLktCDBHJBDbA7f5weog306CUpSrcr6cFPSZxmPUM4QnBITQST_MU8deDJukKL2CJA13XYHvZCUT4AtEgOpXZEiszhNvldZF5XWfXmsMX7wIjUtHf47Ao8v7Z6DMzAWyIgUkYKZojpak2Ks7LXXPvcFtFSXVAdrh19g-6E691n4uWjGGSezRRL7kDYYXWPB2OGh6jjkXUSJYSatckoZBO0cCB_pVHI05GVwm7Kjynu3mdyZgZxdeZdAt59Edl6v3N7Nl5UnuGA-2_HeqAYakYLDvLarkXqY-YtPBhQLZgNVd0PVPuzEB4rDHL4NRSL2skrIQkaCli9V_MT-OFXBGUGuAVR3AxgaeMGOorxkGtKK8oA1tEHqN10Tu4uKIUPc5FLNW4RGyaClHgVIi_8Y7ZbWbPCE7G1DnPmHONeQY7Y11RLzdEp7pwCCaHCoabXOpO31XCob8UYaFaP0THN_bUKqH-5PWu5LmcMbTE0woJKWMlZodaf2gwiGXJGkT2i4Ci_5r3Apcm40-SUjYRF5Wu8FEZnwh_2uj6yAI5htUSlZhrdQDLZh8H3sANsOdC86jDbEEkQdHmuA7URBW8avhu1F06hRGskAchgWqiylxejGRVF4RGZiVfyWuHQSZn5qPoYqQQA48BsP8hrUAIcVrX7c5jBn5IHRjkqS2O90WqWZQXxUCBSHC1vjOFwIK2y8iZFG5lMDXuk6OG6WdUcw7fruStBy2dR6HfWZp3XGQeYBNaf1CLo2IlfLUxeIcu2Y0rcyyj5Bz0fA8EwhT35m073nGmLHPt7jYZF8ySGmNEcv3RFyO2ge-Pp5G4eGfRV2Mkt7r7PrgtVCC9Gtn_NOLKVylGkrmGImMNgMiVMKW2CF133xMOMLtawEE6FVDiSxWbp9gjqHZZFpifGJsDEL5nsuekAfgBv1-vvFo4AQUA4kChz9zanrjcfzF2Y7IXStnEWcfb0rnCf5-HlVAtWxrqrtqV4FlOpwrN91PKWLlKOoTmhX4ZYiEoIqnNKpngdHsNzQn5EBxXRU0dIfyQQpwrReHCmbn0O0sw-STliGgKscN3SeGeWNcL3IjLS_N3a274cPkyKxcJ8lsg4Tv_RuMs93qZR123j9t1V3xaEHiWFo4iEy7OsmwEM4NkaB6rzLMD0AkibvMsf0nBjnA5yw0XoaVA-ypT2ahx8PvvTaIfL5AEt8TrsYdwF58k4dBSkRtkITWvAjuRhBdIpHo-06-_0YGE8n3NHcx_U_dTY_HdKZtCrvOMONxSo06qR6t__1-yihUDsvOq4gA6DvOrZI2Lya62AvAaAvx2eej-1mNRigfVhw-7vELr1lTvdMv8RS5lsjweixU7yWe8vDz5i3FTO2sRvawmU5BnKNFC2LZQvmVCdv6pPWKqxgc491bB-8fjsMFRWPsmXjC6CKfjNfREsxVbN8hLSsZropksmyM2XF7IQHErwOxAMoivqFLS3x2bH8d0imPk403M62smKNLbUnYC2qwlEHVajJedZrEtGtJ3s0tL0gPtvyxAhrLyrARBjcjS-XQ9b0GdQzQoi5tx_LIRfQ8n4tnedKoeNry_LGQIQIu2suum9vT9oBT_pz1dr7JD7HThcsFs7PW4c9ixtY8uFmtLJOQWaR2hdUuOkuQtbpXgbslb_Ksk5czhPR11Ebxmc5vxsvOZCEYgzUFyq51VpgY6Ckbd3eY7jpAh7Onxoi97T6c-LZK7g9nPgw3L4P0CSIQFrcEsfjpvNkDxpZm4-OXUmCeQfWTrvA-92sagAjrpFueDWXVwutHdg21rAV-EwvW6de9vT6_BuXwkChFLon_XhBySEKxLu0LlZdFvOi_Qrg0hEBxTG-lz8BBDMqTyPr_LUq2NrWHDsK-iDP0zR-f8MRHKNUsNER-IS_pwhEnaxT0=",
  "id": "rs_0c7ea13f64aada8c016ab445978cf087d0962225f10496fc3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The lift test shows the torso remained on the table, so the 0.41 close was still too wide. A narrow pink limb/ear is centered on the jaw column; I’ll reopen, advance slightly, and descend to grasp that thinner appendage instead.\"}",
  "call_id": "call_5xMrjoLy3EsyxFFbWHscU7FI",
  "id": "fc_0c7ea13f64aada8c016ab44599b0d487d0a582e7fdcc24a44a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5xMrjoLy3EsyxFFbWHscU7FI",
  "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]: [-0.9871, 2.4245, 2.1704, -1.1347, -0.3786, -1.0069, 0.9951, -0.0265, 0.8135, 0.5888, -0.7189, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.3905 left_z=0.0518 left_yaw=0.0778 left_pitch=-0.5758 left_roll=0.0522 left_gripper=0.9951 right_x=0.2357 right_y=-0.0038 right_z=0.1081 right_yaw=0.1353 right_pitch=-0.3752 right_roll=-0.1862 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -12.5607, 5.8598, 0.779, -0.2808, 0.1245, -0.1343, -0.1983, -1.2513, 6.7487, 1.5458, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293450776ed62895b4e2c06637e41a01eb9489b84fa245d83764da4af0b40c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bcf787eea34b66a9cd0d250f575f2bf86abb0300ac7e5da24cd9fa7f39e1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b82e6d8a457f568952cc266698d3a2f410a8e1b43f25b981f2f41402cc90b8f",
      "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]: [-1.0271, 2.3898, 2.1323, -1.1416, -0.4049, -1.0191, 0.5548, -0.0265, 0.8101, 0.5888, -0.68, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3237 left_y=-0.394 left_z=0.0591 left_yaw=0.0639 left_pitch=-0.5573 left_roll=0.0715 left_gripper=0.5548 right_x=0.2433 right_y=-0.004 right_z=0.1147 right_yaw=0.1332 right_pitch=-0.3334 right_roll=-0.1931 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -13.9556, 5.6684, 0.696, -0.3053, 0.0024, 0.2125, 0.0479, -0.8137, 6.9128, 1.4237, -0.0513, -0.0513, -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]: [-1.0267, 2.447, 2.4996, -1.409, -0.3939, -1.0336, 0.4063, -0.0265, 0.8101, 0.5888, -0.7002, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.327 left_y=-0.4027 left_z=0.1261 left_yaw=0.0451 left_pitch=-0.5465 left_roll=0.0139 left_gripper=0.4063 right_x=0.2394 right_y=-0.0039 right_z=0.1116 right_yaw=0.1343 right_pitch=-0.3533 right_roll=-0.1897 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -11.8906, 7.3231, 0.3883, -0.3639, 0.0904, -0.0024, -0.0342, -1.0188, 6.7214, 1.5556, -0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 2.4245, 2.1704, -1.1347, -0.3786, -1.0069, 0.9951, -0.0265, 0.8135, 0.5888, -0.7189, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.3905 left_z=0.0518 left_yaw=0.0778 left_pitch=-0.5758 left_roll=0.0522 left_gripper=0.9951 right_x=0.2357 right_y=-0.0038 right_z=0.1081 right_yaw=0.1353 right_pitch=-0.3752 right_roll=-0.1862 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -12.5607, 5.8598, 0.779, -0.2808, 0.1245, -0.1343, -0.1983, -1.2513, 6.7487, 1.5458, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293450776ed62895b4e2c06637e41a01eb9489b84fa245d83764da4af0b40c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03bcf787eea34b66a9cd0d250f575f2bf86abb0300ac7e5da24cd9fa7f39e1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b82e6d8a457f568952cc266698d3a2f410a8e1b43f25b981f2f41402cc90b8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWdrLEL71ifRYnZ7Kf7Dl5MYkahnhq4jL_xOkbYQlYzg6URiaBZYYS1c6ZxaTzVfvh5t8vP3PhC8K485g_HHrtOnmQwosGk8p-B9G4wcuG0MeRBZZqhrHO3IQVDvJSZumq3W4ZpX6TMwemynvAbLcI7OzG5JaCF-LuUIdSkFa-6OxSpSLs5J855p7xzxCRuF2P3gnbgq68vtP06ZHdLuCMiu1QSmB3tMivFW3LOhBNNRKHGYdyd6n-BW59AHvwg05CLbAgWLjRxAqDiAtFoKFpcjqjDhu1rEYlV43k1TJXkkrnV1D-CHcoqAR3UxJjO-SeNTt5sxsaV0BphP3iLLVST2N1FPqVYOjae_L7YECUQe3lc8hEmCnQ1q11SKxHtyJxAydCGOJu2FI-aIKOzbiMNWME3u0wGckDxdlY6kweKPri1l2wejMCNtHcuk8xNCqKcL-EBksRcxklqm2Y-qvE8P__02dpshJpYBGhaVZrIji07TgRc84a9xplYfv9fWsdjGaUaTNW_pHWm98Bg7WCVzQoM1LByjAla5mvanQOPbsryE8PPbkdnokncUlyMxUqFQh7SozX4kuP8BX2vzNhxayBM2UZWlNKxgW0NN1XYlLTeEtwSajc6g1WCCnb_9-zaodbO2v9KkuBfWZjNV7DKb87NWDzSWK6fgTCP9KzlKEaIoLkUWdKqSXEiS-56lTUIqV227is4ARlhWxyXHemDMXnZE92xqntRdDDwDGjl-vUYA4ceYF9jM9QyiZ1-jjKDJ0JRy8c7AqsIw_CNqWQohqLowYz_WusHEL2LKFinKvNd5P-2cLbMS3bl5ioqVL4MGijQjqoW_2pvNz1wk2nsATE6j2AVdDcGCb4CH7QMtXLRGFSTgu90Fw9GkPwhDIQuti9LFHqpIqp5WpLnej8hMSWXtUso0CmKewa5C54Vutzp7A0ItkGcnEhuTGt4NMTL_uFeoAETEwFTNepuRVGdEvy23pckL4-1C65n7lEBG6szJ8yRX7rA-UF7yM4AgvVm8VXcEgGUuPGFmTvGHxZWmle6BSawzs6MnPIHI1TrLh1roi7JtnA5XJJID8s3rCCCTkwOSazjwC11NhDSV4aH_6C6o1tzwNMFLbZil7DJ9fN03uIXFtYV_sxUUfZWZmHxNE0bS3U4mphu2ITH8oGRB_uyMDL15BAcgR7R8dSjTVDqAmh4FZx9cUpxYlPJClBhFh8S-9WmPM7wQL5vlzWBOtnAK3oXgkrnfHuRuXbspVgIkAduNDNWeejFg38ZOYkbmFJC25xhCd3Mofr6jD6zEox4K-YGU9QuLneooCN2avY=",
  "id": "rs_0c7ea13f64aada8c016ab4459c3b3887d08a073c20102997a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The thin pink appendage is now centered between the fingertips at table height. I’ll close fully on it; unlike the rounded torso, this narrow feature should not be able to roll out sideways.\"}",
  "call_id": "call_Z2GCsOimRqjcKb4Zy0mEQR9v",
  "id": "fc_0c7ea13f64aada8c016ab4459c9c6487d0b059ea27ca83d4ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z2GCsOimRqjcKb4Zy0mEQR9v",
  "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]: [-0.9874, 2.4287, 2.1601, -1.132, -0.3729, -1.0115, 0.044, -0.0265, 0.8146, 0.5888, -0.7284, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3384 left_y=-0.3894 left_z=0.0465 left_yaw=0.0845 left_pitch=-0.5862 left_roll=0.0591 left_gripper=0.044 right_x=0.2337 right_y=-0.0038 right_z=0.1065 right_yaw=0.136 right_pitch=-0.3857 right_roll=-0.1844 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -14.0786, 7.2821, 0.5543, -0.3394, 0.3346, 1.6288, -0.1299, -0.7726, 6.6803, 1.4579, -0.0366, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8379ea94dc023caf0e686d99b38c1ec270c3e951606cac2732ad7dd57409bec7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f99d8284db44139d6f8b395740977e1ecfa854569ef9e0415b2fd5f260c53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929a0ff3e1ecc153c7c2956c8b4d7ad189ec9b38b728990be92495c535b8017d",
      "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]: [-1.0267, 2.3898, 2.1319, -1.1416, -0.4049, -1.0206, 0.4062, -0.0265, 0.8101, 0.5888, -0.6804, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3238 left_y=-0.3938 left_z=0.059 left_yaw=0.0655 left_pitch=-0.5575 left_roll=0.0711 left_gripper=0.4062 right_x=0.2432 right_y=-0.004 right_z=0.1146 right_yaw=0.1329 right_pitch=-0.3338 right_roll=-0.1934 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -13.2991, 6.0239, 0.6716, -0.2906, -0.0464, 0.0562, -0.0342, -1.0188, 6.735, 1.4042, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9871, 2.4245, 2.1704, -1.1347, -0.3786, -1.0069, 0.9951, -0.0265, 0.8135, 0.5888, -0.7189, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.3905 left_z=0.0518 left_yaw=0.0778 left_pitch=-0.5758 left_roll=0.0522 left_gripper=0.9951 right_x=0.2357 right_y=-0.0038 right_z=0.1081 right_yaw=0.1353 right_pitch=-0.3752 right_roll=-0.1862 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -12.5607, 5.8598, 0.779, -0.2808, 0.1245, -0.1343, -0.1983, -1.2513, 6.7487, 1.5458, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.4287, 2.1601, -1.132, -0.3729, -1.0115, 0.044, -0.0265, 0.8146, 0.5888, -0.7284, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3384 left_y=-0.3894 left_z=0.0465 left_yaw=0.0845 left_pitch=-0.5862 left_roll=0.0591 left_gripper=0.044 right_x=0.2337 right_y=-0.0038 right_z=0.1065 right_yaw=0.136 right_pitch=-0.3857 right_roll=-0.1844 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -14.0786, 7.2821, 0.5543, -0.3394, 0.3346, 1.6288, -0.1299, -0.7726, 6.6803, 1.4579, -0.0366, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8379ea94dc023caf0e686d99b38c1ec270c3e951606cac2732ad7dd57409bec7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f99d8284db44139d6f8b395740977e1ecfa854569ef9e0415b2fd5f260c53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929a0ff3e1ecc153c7c2956c8b4d7ad189ec9b38b728990be92495c535b8017d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWkeGNDEA3Lh7UXl6oyDZ_0GkAeOPD6aH0QIGhGIHYuKiex3PI3T6iTJTuUZXKP0hlfZg-TN-0YusC6RQv493K8CkzbPAYRIdmjeg64Nb-ayAIM9-Wca4OgNjJvA1rONhBmb-bkyXtaGgwbC8zhMw9XxkhitIMpQtP4M2odTPeZcJrdQPU0CdAj7qRmwDTv1Bg93nXReRONz7cP3j9VUbNtjzDZvNCMQpdrV9JsARLYgYKZrdt8RITYYKTfXQeN32Q3NdpwrNZd26BY5g73p8fzGuazH0bwxNYB1C4SI97xb_-n2wmk2nQ9OedcRuszc14miT1QUEaOoG6IH3oRteLnXLZSvQBsg7GlbP7HXDhXniXGSSqiQkyDl7aB3DWXE9MX32lxn_oqtUoKsnODEOLHyhFQWt-Dw1VhI3SJcua6ksgC-EC3AOI53bm8BSn2FGiuS1P6x1kIHRTQ8r0Fhoha9uNH8Ju5BF938gVN1wwdYSQq89mCu6G2hTRAfrREb5NhknBUxQ8ZdgWGqSMSzniWzOmS8miEVFQLVUVrqHKXArnMZKFUg89MGBc6MvLSEshxxX4EBrUzs45zlxHNS_7mJtytXXAypa1ZSByRKFQPsgelzPPrZlwk6FjSNrK68uRlpOhqvWjm9BeshkpMRy-4gGjTynHvxY3hpc6CTvrj9Po5j-bxCjgYchmaqC5V6sxDIoeko48Z3bUBbt0B_50hbbTHV7DlyOQiyLwSElmZA0OCeiK6nmvv2gyPeTiweb-ZN_6fbjSO2UxjafQ2g-1dK1_mKyKid4eFUkj07ozJUUUDkK8W9ndPNbrmC0y57i7xFy9Zl45frO5MCRjLI9dmrSnBxiHmzWm-KHe6Y6Zku-XO6bxS25c2-4KcR7nRiLdm7e6sVr-oN1v6VwTYdqPmsiOXSh7R0j7NyGu8zj7fZ1wC3qTExe-qJhmEgk-LMyNCL98lfHT5r6VxjG9AUhpKvZEznepUTBoblR5LFOuAVo-LCKWQPM1o3JbLZeGFZ-6735iqaPD-sATIE6EwlpFrQ7rnnPwzpbie8eSxmlUaOnDUJwyLO4k8Kb3aMdqhxVyAgqjp9mTUXeU7x72ORm_TCg1mZ59hAb-xQzauHF-SgoAQGRmgGHvvtD_LIrcl3DDHM2-Z9Si-Pe-dkXwd0dHXB2DJz0e0UDhgH1gfvGEvZYFyp4Na7PxyVwN5K5huhmi78sT3ORzUpfS7PI9XwDh5KtnYwRRgvO0aHzLmFsE9qMfCsBtKrStwC7Wn6qNEp1ra2bOBLDfl8MkYig3h6IHnu5nIYOpGodml5Tl5e9vzUgoYV7WUT7vzoPXwnOdH_slcmTJA3cjEhziC9Yf00Wpmzf7bZMtRn_gStzeqw6VFkG7vf4J9aTnetFTFvNtf5pS-G2clw178qxhp0Ia9nUL0IB5fq2wnsVWuwKj9ggSuDmXwr5_2cMXcFLd0qoXEe7i15jxT4Oedt0toHdnGwKhUsw==",
  "id": "rs_0c7ea13f64aada8c016ab445a331cc87d093d768ccf93f45d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The close stopped at 0.044, consistent with a thin compressed appendage rather than the plush torso. I’ll lift straight up to verify whether the animal follows before attempting transport.\"}",
  "call_id": "call_lL3MEsQjU3LEVLzJEI8wlrrd",
  "id": "fc_0c7ea13f64aada8c016ab445a3f2f487d08bc660a7bd132fb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lL3MEsQjU3LEVLzJEI8wlrrd",
  "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]: [-0.9874, 2.5591, 2.6678, -1.4837, -0.3035, -1.0378, 0.0472, -0.0265, 0.8165, 0.5884, -0.741, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=-0.4061 left_z=0.1095 left_yaw=0.0503 left_pitch=-0.6327 left_roll=-0.021 left_gripper=0.0472 right_x=0.2311 right_y=-0.0037 right_z=0.1042 right_yaw=0.137 right_pitch=-0.4004 right_roll=-0.1817 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -17.0051, 7.9658, 0.1343, -0.862, 0.1538, 1.0232, -0.212, -0.841, 6.6803, 1.4237, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428034f8dd0832e1e1845d99c7b2f595c3f809b0fe7bbd77b265fa111e9fdc8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d89f000f68f1ee81ccaa414d02fc031cbd46f06e807e3a46036dd4dc270d2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39af01de8bd1ef4bc1aa840c8d6d8b18e086eff9057272c4dc0e04b0d00617a7",
      "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]: [-1.0267, 2.447, 2.4996, -1.409, -0.3939, -1.0336, 0.4063, -0.0265, 0.8101, 0.5888, -0.7002, 0.0063, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.327 left_y=-0.4027 left_z=0.1261 left_yaw=0.0451 left_pitch=-0.5465 left_roll=0.0139 left_gripper=0.4063 right_x=0.2394 right_y=-0.0039 right_z=0.1116 right_yaw=0.1343 right_pitch=-0.3533 right_roll=-0.1897 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -11.8906, 7.3231, 0.3883, -0.3639, 0.0904, -0.0024, -0.0342, -1.0188, 6.7214, 1.5556, -0.0562, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.4287, 2.1601, -1.132, -0.3729, -1.0115, 0.044, -0.0265, 0.8146, 0.5888, -0.7284, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3384 left_y=-0.3894 left_z=0.0465 left_yaw=0.0845 left_pitch=-0.5862 left_roll=0.0591 left_gripper=0.044 right_x=0.2337 right_y=-0.0038 right_z=0.1065 right_yaw=0.136 right_pitch=-0.3857 right_roll=-0.1844 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -14.0786, 7.2821, 0.5543, -0.3394, 0.3346, 1.6288, -0.1299, -0.7726, 6.6803, 1.4579, -0.0366, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.5591, 2.6678, -1.4837, -0.3035, -1.0378, 0.0472, -0.0265, 0.8165, 0.5884, -0.741, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=-0.4061 left_z=0.1095 left_yaw=0.0503 left_pitch=-0.6327 left_roll=-0.021 left_gripper=0.0472 right_x=0.2311 right_y=-0.0037 right_z=0.1042 right_yaw=0.137 right_pitch=-0.4004 right_roll=-0.1817 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -17.0051, 7.9658, 0.1343, -0.862, 0.1538, 1.0232, -0.212, -0.841, 6.6803, 1.4237, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428034f8dd0832e1e1845d99c7b2f595c3f809b0fe7bbd77b265fa111e9fdc8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d89f000f68f1ee81ccaa414d02fc031cbd46f06e807e3a46036dd4dc270d2bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39af01de8bd1ef4bc1aa840c8d6d8b18e086eff9057272c4dc0e04b0d00617a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWqBrRvfk_aqztZ9-IV7R9PqqwVdXa5BueALfZF7CRFT4Gjnw2FrHu3lnBvOru3g3fkGr5FZeg5iNAD2Z-9zDEz_ffmcUgP-gYJYuZWdJV-7j3KPSuuUiwqxoU5owoiWgRskB79hstd2gV8uFBUrEP22GDZS5ztpHIQrBgtAgDUGVKoU5HyoAoYxLJzHi11XdHUUyo1JJr-lLtSo2ic-jTermfnK-0qQzOK9C0V6SuKL73AsGestxmX9AHcGoAb5WdHoV1miXUZZ5_38T8Ex86MFEIm8aHI8sq1ZcQQrhLnu9fFIHnw3xiNWRkyWELBt60jtjz_DfQG5P0rZ3ug7KPotT1RZV5AKVX2cePegIW4w2QxjvZaRzbPgb0rKFJ1s9oFQnSuVUEMkD-lU7EO6Dk0Pu85sDLdfm0v5S8XTQghbHJWHD52HV_Uj8DpzfH0i3oVXfbgvZtWr_knk79Laj9bI0wcnXxXjlzdghm6Bo3fVoLXTOTWSRxnhNpivZhqNtgtM7nWZi-7gkTq8Ygf2I4WfHhuPbK0Ucn9nIYyNWAIzujPLB8iZ21GocQgJTBuP1gLNXVj30WjeK9X3BWva8obdeepczSR9T-8ybZblFWc0YJL8zowejAcRe9mL5UeUQPw9x3OOXltpXnJPw6u7X5ytHXLxwt5nM99fLq1eAGsYoqmPgvXI7jtON1raPEhTPARdAH2nLEFlIAJRUtZgnpBLNMNN6RfmOa3cfEEOrrMhRgz-WnEvegVEWToT97QOk2XdRr9RXm7n0lO4vOZwv4YVt-tBV0pAYR2CVVutpBFZvCWQxeNSmhwI3I88CW81cTcOE0CjAImgaZfDpy1ks44PiWlgYEdLqoMK4ACNyTWV6hX0JrXexO2IZs1fWSFdftyBc4pGPbm6jb4jFUTWB8n1G6EEXIEYOetbtpcAnyrJzY82jgW_pNbQvyUPJOWa1PXFzlJdiqJBz1iIp1q2Vw7Fr4roy_io1kqxfn0NH17tqgYSOUS_MVAm2IFHgEqCadcUZiDyo5fIHDXKnOnfz2Qt4KmqtEvgc6viGiGl4BDSnZo5v7ZpjhRN_-71-zz92kVvTBgIHR5QwTaEtTjTiMvYSJvuwP_KjUa6U7197A4_HdXoYTEUZSahnv8I2bFobn2Gs3DE3o6yaHWzl6Lzk9YHOaBSL5YU33kn01l_kvR-GChdKX-Q6lYG8GDFBo3fxSgDXjpKjdQqotXC9EDFr6GtztoKHLlcxzS_z6_Woe0LKzC7FOe_wO0nR-hip6fcibeZOv9v1lkSsXetwQ9kdsCO8V1FGI5_dOjKlstWFkrCGu6FzdsgGFPHB9yglyZQkxyWAiZRoPBAJmwXEBbqjJHoa8DdomzzcyLxykcVXA79sTfCkcMCuSg4a1ST4GrXwuDSAqo6FPUVXRgOuiOQ_k0UX5ZEduV-9pkgWEkoq7JbBRmR5HK2Ug0nK55_dtCqYXR7tPp37bPv4aGix83qD5ullv8s0Y_hbKa6BN3h0viMUMvUttEDlyjvG0OBDyYAhZ754i3P_BAMy_EAW9kz-ut1Bw7E--7KMBT8rOdcR9NtrtajLas0E9udPF5_wbFnQUoBFYq7s2ba4UQqrlZ3aOxIoUrQGtc2t5sewZ0qh3fAW389EnHLGGPDlJlu88V-X9GiyUjyf1jugUoHft49zbi2v_p-jZpHdcoehROLDPAtZWg3nT8zNd-Fytp6MEwhnwwi3mPsi9VHYgYLd2-vux4LpB3BNq7bRrXUVH6W7Iq7uqfkC-Fhu_q0JZLBGTU6H45dPstApYxmJhTyKfwhyCRLWixWhVXiToLllMapHbWij9bBdEuX2UEWioq7WbuLic01MKqPyFOsBe3Xgy_yxAmOXByVEDhwD6aEEGkAAp_ckXpKGe_Uw8IAYWub5cauNP8L0cm3G0l1efgq9oLGGGJuMiVYwqCXEU6dTwQlLdA4-yG67K5dRinYyHYqP-tPGesMH-ELMZRAVFiUZBn-8hVqxLcbloHSvejzd3fUttO-u-ujX4C8l3GXJi39PG0POMkMSGf07gOKjljTn1mYZnbQVINTgehyFNVyquSh6rLhtYqBm-RJHigCp55Y6wivUlwS3kuvRw40Q0VQ6dRuFahe5X8qFPUetRVYuIR2fboLbK64tCmdu2WT2prR8a06u5YwbPRiNHtWY1Khggg1IDUoTCCZaJaYmoD2nUa603Qc-Ng9L94riXNg0BZ1TjN9cE919lohc1Ine7ovzUCOCUg8PP6ec2R-SDftX-K_uCwMWJMAekNWtF0e5hULwo0DT_YA0O2UNK3fV_LeAasxd3fYFvPlAIQXGnTOQITNq4XC2rLLv-UAGD6khUzXApV2P6M_J168ham81SSxN3eVzn_z_EV354mBaQyXkUJuDwf5LcG43ZBIXWtv4yL68qBp6MQ_RP9gyqB3xvtP3VPdMTVztUprImEtXGwL0Q0uYKhUzLT9D9fKK98hYCj6n8yBLflaFft2GYBiwUDNVAbqZZXbs1iEoWMLNyywq8qI7wIwN-2xL-txDQif_lOT_QhGX40uRo9rf-6Tv3z2fd1sSEIKxLVq3kMoIzIFuWIxCOyKHfz6r6IGXTqTeY7kjq_vCRjG-8xPrVhOVDCH3Z-iEYYMuLSTo8fEoeuR9AmvB5ECYadnu1dFCrcp1kOeAJgjef_l1UPKM_SiQyzJ3qUJm1EvFLEMZo0GyUcit4ZDivaWa-MjEbqpGf5182FUvQ4aaytOAREhI6TIqVOFuDqGeDUFYOASCgcWUAF0M9H2YMERYHA8fOrfeu6pSL3nfWKsJer79fYOENAblqKWZiYjTR6vkHac6e5cs88fk2zMQzTzpODDHt2H70iA3BpG8AkY5wdd9xaIbGAynK-ilc59bfzp99ifK7UPYSlXt7kyWFxWz-hJ7tQ_J0HNZegEwPId5uUnY9pttmr_koxeZDzG1iTh8_p_k3AMyRcTcwwSJUrCVG9nsWlt7ZLo-ukW1MhLBh0uAnkeulUtVq1thqP8zi54DmSyg6rNSrXekaiiI8puXgscQGLYeDUph2fWLrcsCMN0j0a-YOV-B3ysOaRrlPX1pfXLX9sADJhhD4sS1AMH-M=",
  "id": "rs_0c7ea13f64aada8c016ab445a6742c87d087017e8a6fd08284",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The animal stayed on the table, so the appendage also escaped. Since the brown plush is immediately in front of the open safe, I’ll use the closed fingers as a low paddle behind it and push it into the safe instead of continuing unstable grasps.\"}",
  "call_id": "call_ae51VJYC8fzSR1rdTz8KpM3s",
  "id": "fc_0c7ea13f64aada8c016ab445aa504087d09fc101f2391eacb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ae51VJYC8fzSR1rdTz8KpM3s",
  "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]: [-0.9939, 2.405, 2.112, -1.0988, -0.3466, -1.0527, 0.0519, -0.0265, 0.8185, 0.5884, -0.7475, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3311 left_y=-0.3923 left_z=0.0437 left_yaw=0.087 left_pitch=-0.6039 left_roll=0.0157 left_gripper=0.0519 right_x=0.2297 right_y=-0.0037 right_z=0.1029 right_yaw=0.1376 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9988\nstate[joint_eff]: [0.5265, -12.3009, 4.1504, 0.8376, -0.0122, 0.1636, 1.0232, 0.0205, -0.9368, 6.8308, 1.3504, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45b10902fc4660fe96b674bfe9f6adef622158802fc10a71ab5dbbed0372d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cc5e41139d00132903482429414a04d4a3361b042d6251072d481a23fa795d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bdc9766287ed62fecbe38b71d6c4e6c03a3cf8ac4a2a8028fc94bd3bd1b6a3",
      "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]: [-0.9871, 2.4245, 2.1704, -1.1347, -0.3786, -1.0069, 0.9951, -0.0265, 0.8135, 0.5888, -0.7189, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.3905 left_z=0.0518 left_yaw=0.0778 left_pitch=-0.5758 left_roll=0.0522 left_gripper=0.9951 right_x=0.2357 right_y=-0.0038 right_z=0.1081 right_yaw=0.1353 right_pitch=-0.3752 right_roll=-0.1862 right_gripper=0.9988\nstate[joint_eff]: [0.4444, -12.5607, 5.8598, 0.779, -0.2808, 0.1245, -0.1343, -0.1983, -1.2513, 6.7487, 1.5458, -0.022, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.5591, 2.6678, -1.4837, -0.3035, -1.0378, 0.0472, -0.0265, 0.8165, 0.5884, -0.741, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=-0.4061 left_z=0.1095 left_yaw=0.0503 left_pitch=-0.6327 left_roll=-0.021 left_gripper=0.0472 right_x=0.2311 right_y=-0.0037 right_z=0.1042 right_yaw=0.137 right_pitch=-0.4004 right_roll=-0.1817 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -17.0051, 7.9658, 0.1343, -0.862, 0.1538, 1.0232, -0.212, -0.841, 6.6803, 1.4237, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.405, 2.112, -1.0988, -0.3466, -1.0527, 0.0519, -0.0265, 0.8185, 0.5884, -0.7475, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3311 left_y=-0.3923 left_z=0.0437 left_yaw=0.087 left_pitch=-0.6039 left_roll=0.0157 left_gripper=0.0519 right_x=0.2297 right_y=-0.0037 right_z=0.1029 right_yaw=0.1376 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9988\nstate[joint_eff]: [0.5265, -12.3009, 4.1504, 0.8376, -0.0122, 0.1636, 1.0232, 0.0205, -0.9368, 6.8308, 1.3504, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45b10902fc4660fe96b674bfe9f6adef622158802fc10a71ab5dbbed0372d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cc5e41139d00132903482429414a04d4a3361b042d6251072d481a23fa795d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bdc9766287ed62fecbe38b71d6c4e6c03a3cf8ac4a2a8028fc94bd3bd1b6a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEWtbeutZ0Mt0-3X9q1uZSHHTSZm7REeA27Rm4Ivb5x1OGGukI-wNB-T1c0jVJqM4mo9jCaHH5N5Stx5QUAQMzfHDAOa3tkabKhvWzU2sesON4RwnU2U1UgfEacLummDKTI-FRBW6nM0m01SmQEcfbiY7EPXrEYf9fWnLkpbtVM-ZajNc_-K8bJTm7DjSN9Sz5ZFl-IwVHr2_-Ve0VNRQBaftcw6BxLUndzJVy9xeHL96JaXRjnGPW0oPtGP4ZP10vjulzUo79LNSu8NAA6E3vsIX9wGoiq6AFkJrx1s1bJ0oci-z1owjB6xuKS3aJQWJ6D_y3uIFwJ3qImOwTmudQrhXp-d-G2BHDaLvFArwKzL_fV-Znw1_HoKeip8Xl0kVyXa3XZP1VqHAJmWXhnLodrXrGGAi4UbJT2TZoBL45GX86vI58vRHpi1QPYZyk93YB-qPwji3UQmNSoEp315iHtSTTawFDaBOvMI36z67jjOE_DL5cMG5kyqy6eqBVfqTavMnja0Pb-Z6Fmj0wC7totEwWJc_1gUzUGZCgIc4Q__awdAvh2nY9ND-9RLq-BEdSkp13R0SBtGgs837jiGCv_UXB6yYFy2ECJLcXs8boou_Wke4xwqSII7sQ8XVNWi2br9vrwdi2tbJg4EpjknnThpXsG4cZO0cOjX0AptPZ12zLcX_dagdq4Hy1T7fImYbp41ebSTw-a4KRjIfpXx9hKLX9tOI03vK4gFfLUhHZewCqpQUo5os81pF_fEEVZiHphmXx5zXwLOJK8dDi_gsAGPQMJeOvJxYdfoj3HHumf5S2DGBbhcLvui3cLC93HdaIQqok2SMFiO8Bu49iI5YPVr-uVCXsFJYaTnoQhkWgrcg65OBUOdUfn6J7_GeYMIiYybLvn_jfhvT6mejG1he4HJH7RkGfQL3soue1esNmVVRR4tIIE6uZRBXQdztsOysneN3K4QWLGjW_OaDDkWb-NVX3a7WnxX0Ke62s_-yRlsS_F2s5Lhfb6BM-BOVWnNEBZj6kZDe_zZ31_L9-5iMdQ5LEuNzAt4dxQtH3ChdfiqaVlSj6vweKV9TkDGy9cj81nbVp2nmva2J0cy3EM24yKlUBmvT2Hl4mxh4orj0WZROGggAXcehcy9GP7m6a3IEIS599SZlZSRtNRfxkOy6lS28xV6F6RIIIszqqDLMWMGUz9DrRWpasQqoWNLzXF8iIOORCmBQD6-RS08WmtyVTZ-PE_B7csih32_85yIFDkop1p-nYQtIZtiYO2rYR1D0X4a-c3Zcm5IopRqwThUrB-kHQ==",
  "id": "rs_0c7ea13f64aada8c016ab445acb7b087d0b997687c7bb88421",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.25,\"left_z\":0.04},\"note\":\"The closed fingers are now low against the rear-right side of the brown plush, with the safe open ahead-left. I’ll make one controlled diagonal push toward the center of the safe interior.\"}",
  "call_id": "call_HttXmzMuVYYZr132N4xF41yZ",
  "id": "fc_0c7ea13f64aada8c016ab445ad0da087d087e85abdab1b015f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HttXmzMuVYYZr132N4xF41yZ",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6628, 2.1933, 1.7332, -0.7929, -0.2806, -0.7372, 0.0527, -0.0265, 0.8204, 0.5884, -0.7551, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.2632 left_z=0.0438 left_yaw=0.094 left_pitch=-0.5713 left_roll=-0.0152 left_gripper=0.0527 right_x=0.2282 right_y=-0.0036 right_z=0.1014 right_yaw=0.1383 right_pitch=-0.4181 right_roll=-0.1785 right_gripper=0.9988\nstate[joint_eff]: [0.759, -12.8342, 4.7248, 0.6618, -0.0269, 0.1392, 1.033, -0.0068, -1.1556, 6.612, 1.326, -0.0415, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45439ae707b3a7a0ce70f6889ee8d5afb66aa5a1d023ee66967fe459f99ef6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab6956e72d7279ede827d307998998994b97441dfd1573f95d4cba4ca30b8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5a7fb88562cdef6d482971ea02054d9bc6eec0aaf01f1e711fb4a18311442b",
      "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]: [-0.9874, 2.4287, 2.1601, -1.132, -0.3729, -1.0115, 0.044, -0.0265, 0.8146, 0.5888, -0.7284, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3384 left_y=-0.3894 left_z=0.0465 left_yaw=0.0845 left_pitch=-0.5862 left_roll=0.0591 left_gripper=0.044 right_x=0.2337 right_y=-0.0038 right_z=0.1065 right_yaw=0.136 right_pitch=-0.3857 right_roll=-0.1844 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -14.0786, 7.2821, 0.5543, -0.3394, 0.3346, 1.6288, -0.1299, -0.7726, 6.6803, 1.4579, -0.0366, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.405, 2.112, -1.0988, -0.3466, -1.0527, 0.0519, -0.0265, 0.8185, 0.5884, -0.7475, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3311 left_y=-0.3923 left_z=0.0437 left_yaw=0.087 left_pitch=-0.6039 left_roll=0.0157 left_gripper=0.0519 right_x=0.2297 right_y=-0.0037 right_z=0.1029 right_yaw=0.1376 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9988\nstate[joint_eff]: [0.5265, -12.3009, 4.1504, 0.8376, -0.0122, 0.1636, 1.0232, 0.0205, -0.9368, 6.8308, 1.3504, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6628, 2.1933, 1.7332, -0.7929, -0.2806, -0.7372, 0.0527, -0.0265, 0.8204, 0.5884, -0.7551, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.2632 left_z=0.0438 left_yaw=0.094 left_pitch=-0.5713 left_roll=-0.0152 left_gripper=0.0527 right_x=0.2282 right_y=-0.0036 right_z=0.1014 right_yaw=0.1383 right_pitch=-0.4181 right_roll=-0.1785 right_gripper=0.9988\nstate[joint_eff]: [0.759, -12.8342, 4.7248, 0.6618, -0.0269, 0.1392, 1.033, -0.0068, -1.1556, 6.612, 1.326, -0.0415, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45439ae707b3a7a0ce70f6889ee8d5afb66aa5a1d023ee66967fe459f99ef6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab6956e72d7279ede827d307998998994b97441dfd1573f95d4cba4ca30b8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5a7fb88562cdef6d482971ea02054d9bc6eec0aaf01f1e711fb4a18311442b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEW0gU3EaWi6BQlUf5h-NhmuG7dSTcwbyIEnSpH3DY9ca7X86OfW1k29tSd5UhDGa0YJi4H4YE3QV5XGgxUnkhc6r_AshX-5OuB_RLV6R7RfO8zlFcZiGi4awbEjE7O-vAAVkzZj90m_tAhdPIoXmyuhGFA_q4_1ifINaiGAmnDjo95Of7ANA6RjehXWqSbCCcPxxjquzYXnZxkXncro3q4Mhut7YD4K4Z395NlXpmYwCSDzT9jC7dY2uZOMNzJ4zhfujfflJJa3SZaIpFdhUgqoBWd6GcOtN1Y9rsHyIbagmRXasoc80Z8Z080L6GC4VeuOYrkdtNdl8l-5lJ8xA3J0XFXux6chyPmoTZMeMx11KW5VVO8hm7spTyFKgc1zC9m2wmNcr-XnTNU-4gxDFWFsiLL5ef34__ORmp5cZcNata8vJL3AnhN3s-489_AsYGxRNfB2xgRVYggWpOHQ2UKJgXhyu8I9wOVsXE5AITDOerleD9cu_00hmbS1o4xBV1aHkOC4DcUnNYOqwg-6bS48orlCPMRyXni5RJU7horrwNLbVPj-jQHcoEMEzG_ydm8NrJaqPGJ8QE_69_EuQGb1-47Mvv1xF9bUEDnZactA05hCgEfx2KtFTiJb5bbi9KRTVbo4dPQTUbx9EsXztvwZjzTfJ1DWWyhfUkgnZW38ctJjlktaaO0C5ym6C89RCszHwk-kmZb1Qxp_Y2GDOH2xa2maesK5Nif8dv0yD0T4sGOwpqkmMOTYWCo__6qmtiaHGzVn9u14Z9R3fAf6j3OGGXXz_gwAWFgG8EuPAUoV6A2djt8gwonaH23tnigJfeu9nMRWBIy6Dmy-NYO1JL0cuItRRzExqQG5VViAKqQufuoGUN1Q1Ly_cKY-GBOK2ME2Mi0tZ2vwkvzt6YLgHamIj7n_d41M-6STLeW07ZDoA_dwGHKUlFLLWRN6_t3xpOnWi9xDvDbWeuR1nkeS5QPygH2igD28ENpgdmdAkScSNjoZ-E1h7XRjDgZy6HOvXIkMdTtqiRu_2gorPGDwcVOsyy86SzsPekLBfMjcBxsd1JXSVVgpqPEbL26ir0GTfqru0LpUL12AY06H1GLdwgZRJR-Cxs1K88DUY2HaFyE799t0qs8b34RyAHDpFQUCrPhsRN1_rbCROOhAu_3GHLrJ0I8BibucXLcH4SK-_Rhrv5soJQAQT87pWkBun22MIM0nedkgvN0d-TyhypaIvSsPQEakGeemgvEOBdAV1-pE02cj8c6lIfrExfvUyVn1A22skBWUkQuigzCf6ULDRuXGw3UOV72Usub1aThrKtMXP7A9WmIkeiSyPp9taSaRPDVLG8FSWPY4RhMiqXdQ1MFXg-j6LAV-aKJ5kJVzQXamw6hQZZlECVL3kYhDcD7aNGdIL-OHgY7McVoksE-BeykuSbPjP7_6cCIh4Q60iprjMPgYGUfr7Rz5sD8keJjtclHjZoAN0U7w8MVgcX5EeN_ODuiZ9BPCrdWpr7nxzVvQ20iofLiZ07jIyltihSSap6h3h5Llnw_9XaN27cuNAIft_DQTA5Zo8IlBqBHliRxw4Yqj1V7-muZT4-h1UdF9PQbBpGT5vTrbKDUzzuGwqJMd4Z0zzWE66Xt9qf7Z7dMhv_7qK1pOH1ZgqmPovH7-HTEvzV3XqBXRbGB6OIq7JTDdL5U6me7vg3ImO3k2ztoV5rlg6Qmzfx5a4ASkVl7Vn_cpFVgl7lpQNTrr4yvIZdzHGTDa7QHD-7EEi-I2WCmmsYe7iFyGVeWMyV8ZcrWgfmgaZ5fHZmsox4HuGCEhHR6qpQX2H81s-Mu0o-KFxJWCJk3EBdWWxN7ddM3oCacZukJ3aeQ_HpZyrO0ot1fvSUQquODIa3OqWzNregdxqpPcAZwbSsLg7oNd5OGdKahKzGSpFSP17MpE7dFOWFZlIdytVvjxOImfyJ2km0rpGERs8v7lAed4jPvrCaPtpdOWvngV1LMgcAnytedecZSvg3YbSW63yAgapU4ovMOz9d0dixK0u_K10ZmIxlKbggKrQrSECqjA0cPQrsuLqJl-aHnoIi6wYu_J3ixEBdyXyWH7Wn2PoKbvUF2KD8JCUnW6UL5eAl9Bm9Eb5tdZn_L8JBLWbPdg4XOdsQgq4Klm7E49SLIPpEIO0siEeqMqDEp4NvuHqm7t4ZoD9KwFVqaDso-46E8dpFNeR_YxksAIXrpUsohSQJYpqvOUIzCForUAFHwO9nFmQFlxSSCaeF2BSs2H4x7wiH5JWJVy51JgAk4JM0dy9eRtxiYKIZDQz6UErcUciG-jnt5MDx3ilE6WWdhoByV38L5aJ_nwd4NNBTyvXTSSka0fX_M86pE38FSoJ4V9r7-O9ElqQohlDKFKA8F6-pkmlK1l7vBTbmrRp22rrTcJMvt7DbXcKMBlzLI6AMkhTXRDif8GkT-GEkkLdW4dlAuUJgUyD_EreKNKZmkfknNSgCRJ-rfzYuPwIjqieq8j5fca3FOomXh1vtkW7T6Fo8JFhoZS2p3kquRF1gUzxaCgexvZRZlRXauGaB0RCuHR8q5QWO_IG18A06K3NOL7ES7ckuEGwEwOLVEGyVcSk6wyd2cs2cZudLbnxulgtJn5e5PwzmFQgSkGqLazvYpHt4hogpBixhvOglqK3VZU3PBeDqzDaMnSnqb6yjoTsKCx",
  "id": "rs_0c7ea13f64aada8c016ab445b028e087d0b08bf0ec0c8a8916",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.49,\"right_y\":0.11,\"right_z\":0.06,\"right_pitch\":0.4,\"right_gripper\":0.0},\"note\":\"The low push slid over the plush and only rotated it, so I’ll park the left arm. The yellow object is directly to the right of the safe; I’ll place the closed right fingers on its outer side for a short inward push.\"}",
  "call_id": "call_kUk90CYrXjIIbwh4RNaqvTSZ",
  "id": "fc_0c7ea13f64aada8c016ab445b32b8c87d095e325e33b9e38f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kUk90CYrXjIIbwh4RNaqvTSZ",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-0.0593, 1.29, 1.1793, -1.0569, -0.0704, -0.2047, 0.9978, 0.3019, 2.1189, 0.7139, 1.1194, 0.2363, -0.1234, 0.0071]\nstate[eef_state]: left_x=0.294 left_y=-0.0014 left_z=0.1719 left_yaw=0.1329 left_pitch=-0.583 left_roll=-0.0169 left_gripper=0.9978 right_x=0.4785 right_y=0.1095 right_z=0.0377 right_yaw=0.165 right_pitch=0.296 right_roll=-0.1926 right_gripper=0.0071\nstate[joint_eff]: [-0.0479, -5.3402, 7.4735, 1.1111, 0.0904, 0.1245, -0.1441, 0.1983, -9.1282, 5.0803, 2.4054, 0.2857, 0.0513, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9fc053ea6719a3c3a8978c54c278341ef4fe177c09ac341ec7d134b5a4cdb90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cd7de8de49f134039b4151d284bf3cf334fb08054e542c48cd05da5d6acdfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5eb69d392dd16fa257e99e64dc2b037f10d2693ad6afe69527a66aca1fdfe1",
      "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]: [-0.9874, 2.5591, 2.6678, -1.4837, -0.3035, -1.0378, 0.0472, -0.0265, 0.8165, 0.5884, -0.741, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=-0.4061 left_z=0.1095 left_yaw=0.0503 left_pitch=-0.6327 left_roll=-0.021 left_gripper=0.0472 right_x=0.2311 right_y=-0.0037 right_z=0.1042 right_yaw=0.137 right_pitch=-0.4004 right_roll=-0.1817 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -17.0051, 7.9658, 0.1343, -0.862, 0.1538, 1.0232, -0.212, -0.841, 6.6803, 1.4237, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6628, 2.1933, 1.7332, -0.7929, -0.2806, -0.7372, 0.0527, -0.0265, 0.8204, 0.5884, -0.7551, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.2632 left_z=0.0438 left_yaw=0.094 left_pitch=-0.5713 left_roll=-0.0152 left_gripper=0.0527 right_x=0.2282 right_y=-0.0036 right_z=0.1014 right_yaw=0.1383 right_pitch=-0.4181 right_roll=-0.1785 right_gripper=0.9988\nstate[joint_eff]: [0.759, -12.8342, 4.7248, 0.6618, -0.0269, 0.1392, 1.033, -0.0068, -1.1556, 6.612, 1.326, -0.0415, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0593, 1.29, 1.1793, -1.0569, -0.0704, -0.2047, 0.9978, 0.3019, 2.1189, 0.7139, 1.1194, 0.2363, -0.1234, 0.0071]\nstate[eef_state]: left_x=0.294 left_y=-0.0014 left_z=0.1719 left_yaw=0.1329 left_pitch=-0.583 left_roll=-0.0169 left_gripper=0.9978 right_x=0.4785 right_y=0.1095 right_z=0.0377 right_yaw=0.165 right_pitch=0.296 right_roll=-0.1926 right_gripper=0.0071\nstate[joint_eff]: [-0.0479, -5.3402, 7.4735, 1.1111, 0.0904, 0.1245, -0.1441, 0.1983, -9.1282, 5.0803, 2.4054, 0.2857, 0.0513, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9fc053ea6719a3c3a8978c54c278341ef4fe177c09ac341ec7d134b5a4cdb90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cd7de8de49f134039b4151d284bf3cf334fb08054e542c48cd05da5d6acdfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5eb69d392dd16fa257e99e64dc2b037f10d2693ad6afe69527a66aca1fdfe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEW54uG8kWXFmkT-WA3K95O3H7qkq--EmNChoI7rrBwcIw2-sDPrBCUgwTUQ5PXj0GRrMBva15Joa2aw3cIpYnb9N663oonVtpqKGDd1PRI72AmuwSVYL8RFYoaCUTlB1HUE9jjc0a7aCjc85U0bP_FZTBfFjjaB4ZOh9skV923UHjECSpMSmsgAw8v7l1bDhVIGHDZXPcjM0hpz7f6sC3BQFxzj0W_Pd89YX1ZJBeHPQFMh5IoDkvpESx58o_4O9A1gVrOI0IbW_09hJzYlXEvP5mYapKD4G7t2n2HJsN0j_UPrrs3FAgIllnS67zKixJI35Dl4f9SSKbRJtspI3RJwzTiAoEQvq_1NtZ7C5VOgXmzOheybf3oVop6ymAUzRSlDcFBNRbsvj1R3e-s14y8fCq7QrTuS576cs5sANEy1_uvzEiyargG6PtY5c6rgelGVVwKjKP59X4dSZdud6EV37afbRd-CL934zYBnvSCYFo82vvP6ULdPMs79MwrqRfHemQkrpwXJPoEk96Onsd-Xq2ZtzXyskJvWKgm4V_Fg5WpCI4KhaeQZAkozioGfhwRCoe2UbiAJ6WWlbL_LTfWUyEDagb1s1ty8Z4Ic5_zncw-DwsUmbov0p0dsGR4McegUDXW99T62Ced6J-anWCHONb7Ua0QxdsHO89amo0m7PaPAhBi71mUw-K9D3Np4rN3VBRn3fX4ovZXdsUKd-oX2kWuwviDKJQkyj6vDN-cjSCHey-4f6OX__YhNheb98vRabGWpPuWUo-mZ2o86Tcjxxu1d0W5OGj-4hKZgAGiu5NZg4imWEJSjnGHJi068piiy9mN1yW-nYdD7GyXqJwyAV1eT38Cx72Wbsa9vQehKdCpLZuMnRuhjyldQgR6kWxgJLS0Rilewp8UhVeaSDD2Emmu2yW2SyKZu6AQnbWjCRCFZAbU_h1ctpSULSy7LIWiCRSHq0nasYswwXd4R6Okd8TfLoO1IBANvKXcwmGXwbCyk9BQ9TLj36nRLq40iQ9Jg0I6ynZYj_HpI9ivkXfXoidq88MXRM1mE0gwP81lLKh19aZxsBOOsDzq_0f44mNUMHRFuw5xHFdFzhKYsGHuEvlZGGgovFt7YCD1tQ_L4U1j60N2In2snK4bR_L448R-1NFLtdeqKh4EB2260GYu8qvnA4IMkL1iArKRz-Su6aXDYk1L-ONbgZ6s12O9tmopGSohjNi3y0uy5Sbjwby0bFcJCkSugOQLvt2cMZlVv1CRleKEKpZW0FWqJBH_r7tVWQ5uiGhNZsG2zpb8fznm9OPftz7ocFhx_uEYpMV0NDsYcwbNpkOKJWYjBOTLQfjTpZBa9wV8ZYON3bIgGclOIDZ5ND3q194qbv-QcLTZgR-RqeaZKPHuxMvf-pCAc1RxZK9I7GJBFkyyXkVNWjAWSxLHjlLRu-bRf0eL3LnQKglKK4xevMwDr7wbuuNETJz-vgy0YudcOuNVvMhgyCLdRIUozrh6uM1FuXnWtbz3p2-LH6Jwkyf3oeArDa27z56wTCPedmiitHomg7JMaGSuTUSLntle6ziBdVcCSpM2ZZRpZBsc9VLTkMZvF0uJFeTI8",
  "id": "rs_0c7ea13f64aada8c016ab445b841b087d08ce08edcce0f319c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.3,\"right_z\":0.04},\"note\":\"The closed right fingers are now low just outside the yellow object, which appears left of the jaw column; the open safe is diagonally left and slightly back. I’ll push the object directly into the safe interior with a low inward sweep.\"}",
  "call_id": "call_Hak2Dr9O2zNPZ7RVH46WlX2E",
  "id": "fc_0c7ea13f64aada8c016ab445b8f98087d08ddeaede6d5f8145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hak2Dr9O2zNPZ7RVH46WlX2E",
  "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]: [-0.0582, 1.2919, 1.1786, -1.0775, -0.0639, -0.2066, 0.9977, 0.8791, 2.1658, 0.9051, 0.8501, 0.7448, 0.07, 0.0091]\nstate[eef_state]: left_x=0.2892 left_y=-0.002 left_z=0.1691 left_yaw=0.1319 left_pitch=-0.607 left_roll=-0.0195 left_gripper=0.9977 right_x=0.3978 right_y=0.2982 right_z=0.036 right_yaw=0.2133 right_pitch=0.2729 right_roll=-0.2149 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -4.465, 6.3385, 1.1404, -0.1148, -0.022, -0.0171, 0.1573, -9.3197, 5.9692, 2.0733, 0.3248, 0.1001, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1885edb924f155eaf55a5b825886e529c996f5265fe57b16a0e9a1029878e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8df4e12da5a83cd88eae7967fdae968d2bbf448891d6bf954c13f2b48323763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9d8db5e97b7bf571728369738bade87ef93be5fa2fdca416e766396776fe56",
      "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]: [-0.9939, 2.405, 2.112, -1.0988, -0.3466, -1.0527, 0.0519, -0.0265, 0.8185, 0.5884, -0.7475, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.3311 left_y=-0.3923 left_z=0.0437 left_yaw=0.087 left_pitch=-0.6039 left_roll=0.0157 left_gripper=0.0519 right_x=0.2297 right_y=-0.0037 right_z=0.1029 right_yaw=0.1376 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9988\nstate[joint_eff]: [0.5265, -12.3009, 4.1504, 0.8376, -0.0122, 0.1636, 1.0232, 0.0205, -0.9368, 6.8308, 1.3504, -0.0611, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0593, 1.29, 1.1793, -1.0569, -0.0704, -0.2047, 0.9978, 0.3019, 2.1189, 0.7139, 1.1194, 0.2363, -0.1234, 0.0071]\nstate[eef_state]: left_x=0.294 left_y=-0.0014 left_z=0.1719 left_yaw=0.1329 left_pitch=-0.583 left_roll=-0.0169 left_gripper=0.9978 right_x=0.4785 right_y=0.1095 right_z=0.0377 right_yaw=0.165 right_pitch=0.296 right_roll=-0.1926 right_gripper=0.0071\nstate[joint_eff]: [-0.0479, -5.3402, 7.4735, 1.1111, 0.0904, 0.1245, -0.1441, 0.1983, -9.1282, 5.0803, 2.4054, 0.2857, 0.0513, 0.696]",
      "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, 1.2919, 1.1786, -1.0775, -0.0639, -0.2066, 0.9977, 0.8791, 2.1658, 0.9051, 0.8501, 0.7448, 0.07, 0.0091]\nstate[eef_state]: left_x=0.2892 left_y=-0.002 left_z=0.1691 left_yaw=0.1319 left_pitch=-0.607 left_roll=-0.0195 left_gripper=0.9977 right_x=0.3978 right_y=0.2982 right_z=0.036 right_yaw=0.2133 right_pitch=0.2729 right_roll=-0.2149 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -4.465, 6.3385, 1.1404, -0.1148, -0.022, -0.0171, 0.1573, -9.3197, 5.9692, 2.0733, 0.3248, 0.1001, 0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1885edb924f155eaf55a5b825886e529c996f5265fe57b16a0e9a1029878e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8df4e12da5a83cd88eae7967fdae968d2bbf448891d6bf954c13f2b48323763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9d8db5e97b7bf571728369738bade87ef93be5fa2fdca416e766396776fe56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXBVXpk4bRQedt_K6ojv1scAoBOwQrg7dYns6O_ugSwj4CtI1E7K2MbqQJnWGKwHszZZYHCwoJfGPWNN17S48QEbEHU8_01pxYozYccQmPeWRX574jBkYC8ZommCS8Tm4CHvA-RfjvO6eLcZSMdXhLifyr3tYTfMqgdm9OLEBADaaVSoOz1JP8xMcGpATTSZvl2JU2erjHr_nnYpYuN-d1y295-gJ-dCxAFOMyh7D9nsIdsV4YW0PB9P6_fEtFOjVpDG6_bwzpamherx9XTlgRkLKz2EuAWg8HYQXJo--336Vu5DU3Fz5azfxZG3t4VNel7sAzl3tA657jbuM8yOyuyCX-eRrdWm0J0p9nOS28BZAUiTmKuaP8HLoGNQFVAQ4LmJcvNnnbVlBAAb8YWzeBzGLG_E30LW2gDDMQFtkf0PL8Av068_C8_aVJvj7NS_xvSMEdiHxbshs_RHTMLcYKuxARLZvzM3eV64KGBRvXdEMv3Bbo1CN05h9EVLzIXY_dZEv5gqBPN08qwGZftLYUiyPr6pYJ_f1VPlwCAgNHL2oBBeMUmY9unBTCjqqRjpFsQyL0ewea4zgcE9wTLiEjTYnpVAmTzRrvBIxw0JaCIg5tmIEK4lHsncBWROwlpsMxm6_A6ZleqIOYsGnhh77e-Cse1LTwCGtIJs9fFDOVFYKgUV2Uj8_9VGcxfHjmJ4FLY33owY4VugdGAikIlk88AH552FQ9Td4WQi_8-TXWT5Sok1N1GtZHuB3YwsD6WnR3mzAC-Mrtmfcy6g7YMoVzzfc4jdTQwClkItBauQ18uq-Y0Lf81ghxpb7-Qdk8VpDBPUhrX7jtZFeSCrmruu1zJsT5f2tcuTyPXibdFN-go85jmvk__811Gb9szk5fckSS7n6a4SjbPiwIgC1ItPDY_d08wE2WKZ89opxSQri5J8z-6SS0VNnBHfHG7R2syVWaLs7WHCx-MjDtlH6OEgSC4S0PRbWSdeMtWjj1i7E5OC1lXporF-kmBH_Wt6RowlT8ypCHzmYR5Nu_5rhG7UCEFFPPrCg6b-OT7AjZSBcED3m8KT52gs6D96z7YiRldHJO6wZssydKncqRs_1JFcYTu49cGEoSHf98A2287APEL9U0uxHBqT8-JxQCnvJ0Mnklvvh1xUN8EJqDosBH8RATghSj3WH-NyfREco13Si1oETOTQyhAR1vIMwdZa66nZ2yM1H3WCG3HYShmmXxspoWbcbxwg-5ZUJm7g_ysdqAzFDMv3k0ukPLwjq4yQEcFilWsvaIujrqvhmAJSXGcilqGe__s4SBIVLBb6tG73I3nX_GZgvaFOhGkjavt67AENOagzURi0oEMkyeL-HkNegG2QIcfoOwyP15lCK8LjFz-2WaQB_BlvNpbsLUdi5XnsRrKhHfZ2HkEmu17sbhEhud5FVs37laKjzbuAq6wSNPMSt_o3Il2Usw0jXT50upeLVKQdC3xfafFbb3Fjd7k5huDm9IDwdaONJkGqXdSOi4glY5AWAcJ_lLobgkcJK35TLCW81s_Dejf2ky0HHQoG31TWEc_KgRLgOZhpul8arShjgEKY41GGjcIN4v3rl-Skek_SLsp9MdoaDKKM0qDkvVyhfjpOd0rSKGf5YCPc-SSZtxrbZdGAA9u8FEBK-vm65oymSTxrfyYYlzc7HdhZAr9hYdqphwet1NDnSO0Ia10a6f1yehCJZvf-1XyWswVrJ1Y30a35JZbpdPfuUY325h017IomPobtnW7UnrUD-DG5bAieo7KYvFS8YVxolFqENeuec1wcEsbgo3u5rDz3AZz_Jw_M7e5lSM6bv-RiD-n8hO7sQ5pUKFZlBnWm-1S7oQGMEZdqpfQ8NpOPWWZiZCGGlSd_ZR2lM0o0GOcoFNs9HOjFQvZ5Z0kyLNCaPIEHtMAcu_dACgg5dtzKC_VaGiM3aJp40017jskb5mJWgpTsN0zHbDK_vvW7IwZN_2A862_hbpb9CnRGJaxmwgfEJEGgLCBc3_cx_ZonUw32PccQM-HlF3AqrCDg0Fa7PqluUNCT3f5YHdypNvh8-4MUy9ho6bxAvrQtSuhycWA9Q22VnetQbAzy4aF-iM1ETI3uGCSEnXHuMzdnCpShMWVNZqJtkLNYCkCWZr2d2_lC4GjBWkS0fmp1E5Ae1_K0mQsSq-RHncJ0eieIJg6TAiqmgD1MqckUfeFbTtj5icET68pH8MoO8bYLJ5MFgsoQnhwFq45sPlBIFD5C1D31fh25cKGCKYLLsFRB56VJv93VnTuz2lFHL5QsTFxIfIhOEx7uxVFxXoJgUiJnXeINWrk6emFpK2Y6btqwBDwvprUC73CQ2WKP67R9kQNVL9CzNu_AKj8wbqKXLlrPWeKv9TK93sHTYifrNW4DOxgQFBdwB_WXs08euQx0wrZwIkDpbDbvnfFYaN1MoAlCnL2xAgmoR6yVbfzDABvxLY-ATDrIKJn5n0-OekH-3MVcuZUsc9Oyt9vPMcUfI4JM8W_VqNhyqoo6S31GpBFF9B69mldxkRlNW-obDRCykGu2WVs6y1CE2PSgjRZ18_Xob8JkCeWew7MWKKPLaUz68VtLseRQfz0NzNn48V_j_BRTVzPw8gApSSvMf9AjNbJFVrNCZQI_AzuO7y5LZVDWveSBouFn4a5ANhfmWwfisDNhW-IqqgEpYMGOJ3YWENs94iasnTK3roCS_UCmqzvYnpYaDADIb9kzmfhngCPdCm9pDf-wt3KHdnmyyKNMmKNJEXRm7NGv3FsQOHw2YIBlv3l7_Qoy3u0sYdyLubZeCp290NmUmtFyJgf7Txh5Tbuvhjq_VmLJsWTaLKD0xJgy7E2kTOJi_JoX7AIc8jTW5fXQs-_XO9iXj72A_VVhqNixBNfLfx4eK8xj7ZYntquj-C4ttWaOXE9NZNlWTxReq0HuHCa8TU52o-0qLiGLlbBCz7YsUZrWU87RSPAQ-BTufGPw7QS-Z1WqR9YkFrwloplSF6BJKd9TZCwfb2QpQg2FpP7RXrX7WdYIQIbGh4KB59RSnziZ2qDzJ2ZROrlEDtxXIrWcw3W-aGolSdYa-6H76rDTtf_ejnnvm5qY5gbubyUj8_GYo9iXJACTvuMNlHu77y2H7vZY_IoPyZiXHoUighAWxtm2vf8k7KLqh2MZeLLtlkOLn6v0SUFQMOXd6zZMM94vfLgYSeVdh7OXlerBIZaGgHu4_xa4TK7UcP5z7AxD2wro6_8zJc4beaYxv6wwne1OOa5TzrwdKwYW4v8pZ15vdDNWIPbX8AxSXSqziWmBBmnDx3R6OAil2hz1ly5kvW2vU22tSj1VU5-ruVRWWg5ws9bM8yutHlMgP6cmAknG4l4OBONxAp5Z4H60bGTdKr_GdWTOdeFFHiW8ch7APPWuXidRwaM4qnnOooGCC8FFnlda7-uC9s=",
  "id": "rs_0c7ea13f64aada8c016ab445bc914887d09822c9fbf5b15617",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"right_pitch\":0.0,\"left_x\":0.31,\"left_y\":0.0,\"left_z\":-0.01,\"left_gripper\":1.0},\"note\":\"The yellow object was still beyond the low right fingers, and the sweep contacted the brown plush instead. I’ll park the right arm and retry the small white plush, which is centered in the left wrist view, this time descending to table level so the jaws cannot pass over its flat body.\"}",
  "call_id": "call_HzVPZDo8clhme4dpehjUIAwz",
  "id": "fc_0c7ea13f64aada8c016ab445c0798c87d0baba4145203c90a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HzVPZDo8clhme4dpehjUIAwz",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.0509, 1.5326, 0.6807, -0.305, -0.0189, -0.2111, 0.9983, -0.0799, 0.7864, 0.5613, -0.3641, -0.0719, -0.3042, 0.9976]\nstate[eef_state]: left_x=0.3155 left_y=-0.0092 left_z=0.0052 left_yaw=0.0933 left_pitch=-0.5806 left_roll=-0.0779 left_gripper=0.9983 right_x=0.291 right_y=-0.007 right_z=0.166 right_yaw=0.1455 right_pitch=-0.0188 right_roll=-0.2125 right_gripper=0.9976\nstate[joint_eff]: [0.0752, -3.0154, 3.6855, 0.8327, -0.6374, 0.1197, -0.188, 0.4581, -1.6205, 9.3744, 1.9512, -0.2173, -0.0952, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed21b8cf98a2d8f094b36f85f689dd27c06d5b2f5b2003f93bb8783e74a79967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f630b6d7654c5aaf4639e39638a8505c1fb4ac45073c6b2a6f8c52f8d8875f4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0c51fb8d1fc98a1b0ffd9d1fdc5437b3964ca6452b856fbf9267dc8e64d43d",
      "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]: [-0.6628, 2.1933, 1.7332, -0.7929, -0.2806, -0.7372, 0.0527, -0.0265, 0.8204, 0.5884, -0.7551, 0.0067, -0.2882, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.2632 left_z=0.0438 left_yaw=0.094 left_pitch=-0.5713 left_roll=-0.0152 left_gripper=0.0527 right_x=0.2282 right_y=-0.0036 right_z=0.1014 right_yaw=0.1383 right_pitch=-0.4181 right_roll=-0.1785 right_gripper=0.9988\nstate[joint_eff]: [0.759, -12.8342, 4.7248, 0.6618, -0.0269, 0.1392, 1.033, -0.0068, -1.1556, 6.612, 1.326, -0.0415, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 1.2919, 1.1786, -1.0775, -0.0639, -0.2066, 0.9977, 0.8791, 2.1658, 0.9051, 0.8501, 0.7448, 0.07, 0.0091]\nstate[eef_state]: left_x=0.2892 left_y=-0.002 left_z=0.1691 left_yaw=0.1319 left_pitch=-0.607 left_roll=-0.0195 left_gripper=0.9977 right_x=0.3978 right_y=0.2982 right_z=0.036 right_yaw=0.2133 right_pitch=0.2729 right_roll=-0.2149 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -4.465, 6.3385, 1.1404, -0.1148, -0.022, -0.0171, 0.1573, -9.3197, 5.9692, 2.0733, 0.3248, 0.1001, 0.188]\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]: [-0.0509, 1.5326, 0.6807, -0.305, -0.0189, -0.2111, 0.9983, -0.0799, 0.7864, 0.5613, -0.3641, -0.0719, -0.3042, 0.9976]\nstate[eef_state]: left_x=0.3155 left_y=-0.0092 left_z=0.0052 left_yaw=0.0933 left_pitch=-0.5806 left_roll=-0.0779 left_gripper=0.9983 right_x=0.291 right_y=-0.007 right_z=0.166 right_yaw=0.1455 right_pitch=-0.0188 right_roll=-0.2125 right_gripper=0.9976\nstate[joint_eff]: [0.0752, -3.0154, 3.6855, 0.8327, -0.6374, 0.1197, -0.188, 0.4581, -1.6205, 9.3744, 1.9512, -0.2173, -0.0952, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed21b8cf98a2d8f094b36f85f689dd27c06d5b2f5b2003f93bb8783e74a79967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f630b6d7654c5aaf4639e39638a8505c1fb4ac45073c6b2a6f8c52f8d8875f4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0c51fb8d1fc98a1b0ffd9d1fdc5437b3964ca6452b856fbf9267dc8e64d43d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXHIErlueN-GDPECl6LtAsi2rV2LFzyJCh6EYOK-cWqwSq4yngDjK7_6piD36O0Q2DY-ScOpb2PDwBN8CIQsSuun8UW8P3WVAFMh4xLqMu9quoTruoB7qJk2vJNG-lk36qvaAblUAhL9uEax3J7WAlIZsKKm9xBwnuA5adHHaZSoQ0bMsjd4QQ493CHa-GXzihyG3avnNTdz5OPT6T9R4mNSTd0ZkjAuHniyTCS7ceM4bbI8AYNwbww9FOcwKZ9FxRiD5fCcoIKDvJWQvEVRa-Onirnr_sc89Pp3LHQI1lMCaCmzN2smufZk6_47r0zzQjujz4mvN03nya7_5l7VyW1wNM8Mx69iDb9ej6RoZ2UQnw8M3TFx92GcoTP_ex-RlhFfhCEoGP_MWtwizDZIEFFlNO7j067YN72eJQYoLDsLYL4XpeHOGHv3baoqIPqMqAB-IAAGhkxHBW9A4jsWpkw_0piiseA_CiFc9qi4S4_POQlKckmXHyqmGg8YTM6FZZmMlV6TzDCMqz4MYtsY7A3X1o-PFCj0TaeVNfwBoLHXkDttS0DhzA0yj2wx13_G7MZ9j9bU4o9tyUEeN-mQ3QhtBbxn8QDy9RjqL87KmFRK8Pexy9VHxDreJ-3yK6PoUU7J9YhFNYZV0cOXt2xzfgrr-XFflshHC2ThQaAc23Ppo0KFjkvIrCo09e5T_AOz-0HP9uKt--GzWPFkREDNsRlqbVVwjlHyEI5OljNEhZEimXt1HK5Qyqt26yFaqguF_dUWUGcu3RQl2cyyGh25jaxxpnZEKPRbedN-GxKJpjr1xzeJfZ1_tWtXRlfYyc_DUQDC0x4LZYoTuwGsWiikn3D6B-xFREonOdgR9eskSXf7aIbrZBQxd9eC131zPW9iX_XNkHdT5Tj-pUyFEHmsJEbbqfZWGy4gyyzMlAY3jINIGRBLjFzlvBw6PYUfI3p8h9w-vUS_Kyfh4gyynX9oojurgyX3nPzfH3aOxIvD4CooO_hq5Eakb44dUgdaZfm4PZ0rIWMG3_jYN0d1guDxP0nb_gf5J2zSv-mq4RNuIvxv_gRWscdOS5L0eecQwP0fMtYEsxe9AenYFZLszqtaIfxcncJtTO_ALkxo74dJ_ZlHz_xx01N2d-k2UVLBX51BlaTn_C54JnDTPrnCzT64eS4k5BvHhEhoeb4CohkUxktGzpLgAC_uEnk03F6iD3WKUXg5q4ok1uBs597fLFpfXfxpYdBA0wkRwUycxO1wuty44eYKwaLQC-CwomCqFRSPInVAJIuOBVq3pddhsCmp4zl2uiUUcNCNNxNugZTyP3edtel0OA33lHEySs9_sj_jDvYUsHMDPcMQWUqC0sDeVkWAOkXUEoYOp25U4BOPbznzyBBNBLtRTlP2aaKsSA_5HR6KlmJbEKkJJ3_QwaN-_DuCJRfcju6jSBInDEuav4g_IcV4N3EcrkDhBF5QfRdB0p4IfR-cOiYFOrvsg7zvi1dUMuOSm8mqGR0s4WUgFpu_htQaUmSyAqDUWuo2mZnjmmgqaPtT4yHFEGpnjmLNdZICuW_cEFzbhpV7blsFhiTaLDHHIusHcMUcoGdeWRirugDWzhdn6zrHY0uRVCzJ0z8KcwHdFrOZtnDz3OKxbqSuVXF9EKdQA7GoCl7qdYMPREZCiWQNGzlADdpdqHl_4flEI5O0Py_l-kG6FDBosp29_QiaUsN7cfXM5edGcWYrZ7uMZoOxGvsXONMYoP1KX8qrgneZjBVZzCtfJ8S6hI4SNbzLQ-ullf1Fb_WHz2kMRBlUyrJCeVyBM7_r0VrGYKv_vDHqc27z7yXg267OFYgikyrXL6g3ORb24WybZEN19Sq6LNmWqV-nOpwp0EhthILKRQXuvi00HDdownqdHCpSg-KirMkPE6YhVL4bTFeJkAYUMU9-Z15Fu2-ObbPLhmSvsVdFlPcwugLvZfkVjgDjx0aSCJxDxVfsKUcrgAANmrfapsyR2l-g20rTkylVLZl52tKPmXRT2tAXbIbdq8HV5ZbxhlYKiA-ORcFesJTYI_922jWihgWLumKhqyF1gEUusfc1hKeYrPEUibCOGoJnSABFkSQgi7WTXluzjGeMd23eYmJgKVhfRv2-SG1YzXnGQ==",
  "id": "rs_0c7ea13f64aada8c016ab445c50cc887d0a9f5f8502646719d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.035,\"left_z\":-0.01},\"note\":\"At table height the white plush is now visible at the bottom of the left wrist view, slightly to the right and partly beside the safe’s front edge. I’ll shift the jaw column a few centimetres right while maintaining table contact.\"}",
  "call_id": "call_etT4IGksS7epmwwXyHJfGhc5",
  "id": "fc_0c7ea13f64aada8c016ab445c6adf887d0aadffd5cc13445ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_etT4IGksS7epmwwXyHJfGhc5",
  "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]: [-0.1432, 1.57, 0.6716, -0.2497, -0.0612, -0.2745, 0.998, -0.0803, 0.791, 0.5663, -0.4244, -0.0937, -0.3248, 0.9987]\nstate[eef_state]: left_x=0.3191 left_y=-0.0315 left_z=-0.0029 left_yaw=0.0829 left_pitch=-0.5671 left_roll=-0.0652 left_gripper=0.998 right_x=0.2833 right_y=-0.0026 right_z=0.1551 right_yaw=0.1752 right_pitch=-0.0763 right_roll=-0.2026 right_gripper=0.9987\nstate[joint_eff]: [0.3897, -4.5607, 4.4376, 1.0525, 0.398, -0.1099, -0.0562, -0.0205, -1.0051, 6.5573, 2.337, 0.0269, 0.1392, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19d2a70ec89509c00656203f34254b85409bc519a2561364253401f5419e834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d07753ad73225182d685f0476edc6f9ce251be635872be2e301525420ea01bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67593a4b5648a6539778d067cb01602b241e277570094e88342cb10f4bfd1109",
      "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]: [-0.0593, 1.29, 1.1793, -1.0569, -0.0704, -0.2047, 0.9978, 0.3019, 2.1189, 0.7139, 1.1194, 0.2363, -0.1234, 0.0071]\nstate[eef_state]: left_x=0.294 left_y=-0.0014 left_z=0.1719 left_yaw=0.1329 left_pitch=-0.583 left_roll=-0.0169 left_gripper=0.9978 right_x=0.4785 right_y=0.1095 right_z=0.0377 right_yaw=0.165 right_pitch=0.296 right_roll=-0.1926 right_gripper=0.0071\nstate[joint_eff]: [-0.0479, -5.3402, 7.4735, 1.1111, 0.0904, 0.1245, -0.1441, 0.1983, -9.1282, 5.0803, 2.4054, 0.2857, 0.0513, 0.696]",
      "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]: [-0.0509, 1.5326, 0.6807, -0.305, -0.0189, -0.2111, 0.9983, -0.0799, 0.7864, 0.5613, -0.3641, -0.0719, -0.3042, 0.9976]\nstate[eef_state]: left_x=0.3155 left_y=-0.0092 left_z=0.0052 left_yaw=0.0933 left_pitch=-0.5806 left_roll=-0.0779 left_gripper=0.9983 right_x=0.291 right_y=-0.007 right_z=0.166 right_yaw=0.1455 right_pitch=-0.0188 right_roll=-0.2125 right_gripper=0.9976\nstate[joint_eff]: [0.0752, -3.0154, 3.6855, 0.8327, -0.6374, 0.1197, -0.188, 0.4581, -1.6205, 9.3744, 1.9512, -0.2173, -0.0952, -0.1636]",
      "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]: [-0.1432, 1.57, 0.6716, -0.2497, -0.0612, -0.2745, 0.998, -0.0803, 0.791, 0.5663, -0.4244, -0.0937, -0.3248, 0.9987]\nstate[eef_state]: left_x=0.3191 left_y=-0.0315 left_z=-0.0029 left_yaw=0.0829 left_pitch=-0.5671 left_roll=-0.0652 left_gripper=0.998 right_x=0.2833 right_y=-0.0026 right_z=0.1551 right_yaw=0.1752 right_pitch=-0.0763 right_roll=-0.2026 right_gripper=0.9987\nstate[joint_eff]: [0.3897, -4.5607, 4.4376, 1.0525, 0.398, -0.1099, -0.0562, -0.0205, -1.0051, 6.5573, 2.337, 0.0269, 0.1392, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19d2a70ec89509c00656203f34254b85409bc519a2561364253401f5419e834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d07753ad73225182d685f0476edc6f9ce251be635872be2e301525420ea01bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67593a4b5648a6539778d067cb01602b241e277570094e88342cb10f4bfd1109",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXKkSIeYtFk0cgU10kKwQGlSCVKhIAKDC2aBtVlc7P5dBbeWoMd0oWvsahh0462wUbW2FMoLJNa8MRrDcpys3eCHl9lpmM0lXuZ4XpS6nmIJ_7_YxQc8XCrNeOOjMX5PyvLGwMvRQPNxDNdDXH2VCQWT9FMRejEgbULV0E2OJpVEdjaxWfG7nDUwGvAEkeyR8Wwhfo1IvRT3xxGE6kCGa4sZoY5SzA46EzOrdfTqMnauPVvVxLRtaoww_lSAnbdQMY2BxvjD-dbI98TJRtvXbUauambhVK9u8bYkHz2x8RSyhZlIetvVL6F5mT5yk8oR1ZpoEx-8gngvS5gPbDMdMGZb4HdxcGOGoox9p27MRVw-_cfXF2C1ah8h325G5qckoRUV6IYFDcYwTn9NYkLSxZ924F-yg4C3tbmN-Uc882OoJeRHW34zASxysYDxqiU_62w3PypD22yFfATwp6pAkYaDVlCzACM5Ba6ZZombpHTjwtNQqrtZoaTSpTwhaJ80YTKykbS_1cNuduXDStGGsAulcP1IBMDkPaKMIuNnF4T4hdH5r2riXFTRBngv-aGJTgRhfHJeSPWmSZve4ofsl4R99LSaj_0XpOzEFzwBRFtt1PI9fujSV6WJi1iRE6oXzaPKikDsoMmQ0pjmMSXoRRIBIdsF-vDkZvdcRNk9iAGmhhbor1rCmSvMHdOvCL5HSnjFd8nEprKfF1MQBH0IkPakgSHVua-PSfrhuRiA8khcwLdhSVr6bn6uAZm1Y6VDETE3HjD7Tiuh8m4DexpLmRRMwMimr8VILilf0DK4BCqEc7FcHTgT9jDqLZ2tMnhDYNolSqi8jK-n7RhvFKy7nbFZ5zQXdLlz9RpA42LfmUeX9P7p9tdfydY3I5e1cVmqsgIFpsFL9Py8czN7kHnve6Zy107JOQ1IGOUS8ScNAQUlWdp6kwlsB3t8Rms0TsItuSGh5uY_UnzQTdFm-_OTAWoeA2ruz5sp0nUoJUwwg5Odu04FqPfUg2KVUDc-cfwnyoq68aUwONNIkBr2xxsYMM1rW21duawEh6wCpjgXrKAeVwCkw1OnzNw9VINT4shDDA62ocQFZZ-iFkri6Tz691qhIvpb2NkpZY5oQBeokQwh-nNUB1_S4IWqAJZxUgub0ADEOZ484b-y8PcsGe4FPUuuxbeHnO3fc1FD_CgTR3YWSwgqSivioVJ2Ukt1QLee1hD3G0og5Vo1wAQ_2_7dVcNLKTL2Rd2nUx2roSU09Qd9Yz70v7RDAxnOqGezbuz70ufTVP8ZFZzMEHRHtxI_LfztQ==",
  "id": "rs_0c7ea13f64aada8c016ab445c8ffa087d09e74c7879435b773",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the small lateral shift, the white plush disappeared beneath the fingertip line beside the safe, indicating it is now directly between the table-level jaws. I’ll close and check whether the opening remains above the empty threshold.\"}",
  "call_id": "call_RMyzN5nfJTcqHeR1kxRTln7S",
  "id": "fc_0c7ea13f64aada8c016ab445c9374487d0b34bba89e3c08eb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RMyzN5nfJTcqHeR1kxRTln7S",
  "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]: [-0.1566, 1.5738, 0.6716, -0.239, -0.0681, -0.3126, 0.2029, -0.0799, 0.791, 0.5663, -0.44, -0.091, -0.3256, 0.9988]\nstate[eef_state]: left_x=0.3208 left_y=-0.0348 left_z=-0.0029 left_yaw=0.0998 left_pitch=-0.5603 left_roll=-0.0787 left_gripper=0.2029 right_x=0.281 right_y=-0.0028 right_z=0.152 right_yaw=0.1741 right_pitch=-0.092 right_roll=-0.2008 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -5.0803, 4.2462, 1.0916, -0.0317, 0.0269, 0.7448, -0.0615, -0.9915, 7.0769, 1.8242, -0.1197, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3287c8730a4ae2b9fc0b901a0ff91a04d102ba0e730860acf2ec6a0d17f22188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cd3135a2171b1da525bff3bee0466ca74b8ed04d7ce870e7150991e975c4cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7031509d15b361836053e30ba5c18a28f7371f5f8fd4990f031e9e4909819829",
      "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 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 1.2919, 1.1786, -1.0775, -0.0639, -0.2066, 0.9977, 0.8791, 2.1658, 0.9051, 0.8501, 0.7448, 0.07, 0.0091]\nstate[eef_state]: left_x=0.2892 left_y=-0.002 left_z=0.1691 left_yaw=0.1319 left_pitch=-0.607 left_roll=-0.0195 left_gripper=0.9977 right_x=0.3978 right_y=0.2982 right_z=0.036 right_yaw=0.2133 right_pitch=0.2729 right_roll=-0.2149 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -4.465, 6.3385, 1.1404, -0.1148, -0.022, -0.0171, 0.1573, -9.3197, 5.9692, 2.0733, 0.3248, 0.1001, 0.188]\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]: [-0.1432, 1.57, 0.6716, -0.2497, -0.0612, -0.2745, 0.998, -0.0803, 0.791, 0.5663, -0.4244, -0.0937, -0.3248, 0.9987]\nstate[eef_state]: left_x=0.3191 left_y=-0.0315 left_z=-0.0029 left_yaw=0.0829 left_pitch=-0.5671 left_roll=-0.0652 left_gripper=0.998 right_x=0.2833 right_y=-0.0026 right_z=0.1551 right_yaw=0.1752 right_pitch=-0.0763 right_roll=-0.2026 right_gripper=0.9987\nstate[joint_eff]: [0.3897, -4.5607, 4.4376, 1.0525, 0.398, -0.1099, -0.0562, -0.0205, -1.0051, 6.5573, 2.337, 0.0269, 0.1392, 0.105]",
      "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]: [-0.1566, 1.5738, 0.6716, -0.239, -0.0681, -0.3126, 0.2029, -0.0799, 0.791, 0.5663, -0.44, -0.091, -0.3256, 0.9988]\nstate[eef_state]: left_x=0.3208 left_y=-0.0348 left_z=-0.0029 left_yaw=0.0998 left_pitch=-0.5603 left_roll=-0.0787 left_gripper=0.2029 right_x=0.281 right_y=-0.0028 right_z=0.152 right_yaw=0.1741 right_pitch=-0.092 right_roll=-0.2008 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -5.0803, 4.2462, 1.0916, -0.0317, 0.0269, 0.7448, -0.0615, -0.9915, 7.0769, 1.8242, -0.1197, -0.0415, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3287c8730a4ae2b9fc0b901a0ff91a04d102ba0e730860acf2ec6a0d17f22188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2cd3135a2171b1da525bff3bee0466ca74b8ed04d7ce870e7150991e975c4cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7031509d15b361836053e30ba5c18a28f7371f5f8fd4990f031e9e4909819829",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXOdS5qv2tuAMy5l81c0YuTtp2vwaxoHzUn6pyYi8hQBFTc32rxeHMY4BTMGDEGJQmqf5o092SlaNnK_r4ZX5Sp5JvVtP2smqa3eT0_KfwUQ5LaxawxdMXVsN7VdA1MtYRg0hLDs6Tw-JrWfsfFfTVHCPI-4C_Pshvr1icX6eMO8mDaxU10-cA8gh43qnGeY_xGLvKUXFvnVBLuLf9pPnlfsOyl1tPWZiRY22dtYjMIUVKwJ2YPToePHJPcWSf-73ZKuJFQwExLFBIuO6aGoBkY_L4uhOb0geyS_iftAfmdTnfUQwGvMEN2hbykYzbs_B3zatfHFAmXBg4Vdly83UvAPcSGuL4ydsvjiriqS-mpQVSh3hHv8N8w_s2ROq-qwGmdKVBKkVyh6yT12AIYQmugx5FRhcthA8f02y20PtPOnxdlk7xJh8bFt9dw08YmsF55O_aJ8Fr_KppRthzR1yb-yWNNb3VsSPISpYr8qbUEB9wJXB8Xs6_ymgI4Faj21RPJjwzY6pWy-_giM8nVpVLB5VdudyfSk9xtGqGfMpb8EZ9yFV2eDYLnyCTFp9s0mjcUfz2_WD3UhDOpntq7Xo-NxfahANI_JWXziHkA8uc_W0-Di1pJF4aT_X7O37bYXLz4TOSQDjMoNAMDeiPvnoXFdeI3YJwTqXuSrXM6yD7aqcpRiQTqTOkzAYUzBDQZ0YcFYNpdw20vb64tOwbBriHhiXzCD1durzc37mQY7V0Yi3YVJOonF1-3KfzhiBL_SK5MOvSzNth2strpvpSgDYY8DuD3rGj03bScNgGQRIX0fy6UHKHnL7wk008n6eBBS9vx-u7GGIzanRjd-WBHV40MCLl4WOVEkEPWYZ0sILfz7FrL5IjLV88_xyiaik-0OsW7ko3d9cZz763bh9hBgMKP-iquvmxuTk-D66SBpV3jG59OfQdQNDWwI0GpuGVvTcltVJhZIalWpccKOuKhZGR34aFVMzIGU3zjqLRgbRp44Nowa83T3kuVDpaVQsDhGYLAxPA9N08Z2pDR1LYGMir5wtIboZ7DN4VuuHMTZEmwXCMIStk99krZJ2z8bvuQ8SQCWrp2juPMzLG5Cty6uURxdhx3rs_v6bsnzuAt8Kc1logGBjCwRX1BrAXzEqOxq_RKTmgX2TiI9wbgUvyTM-VDfkQBOO0TcFiHT5XQTMw-Eh2n4n3c1cAZQmfiie2Z5qtdmAx5BgPJVuBRcaPBkPVXle7YQsGH_hjqAtGyvZic6mpe_IIeSA4YiLu8ZAhHI_SmwXyBAQ1Ab_dfx2MNgh5i126gy0XPGCsHxMFcTGoWdoFmc52oCG_qOcspoR7sgtk3Su7gws7Vtos8PgzcHCn3_wcjxHHVU6V0DxyxPwHA2MrkBqYNKADMlVW2gLqtPOfuXE_kiw-IAGIdrlrrhp4CfhSIeqVOslFHqKzZRK3kFBhHp-yQDNFn3kzaGpG4-Sypo7LLoflf0QqecygONNFm3QcTTseVPlwYY1csulxojyvYWnqgPVwKy69n5knLbMscPEK03tpMPvzep59dc6lpfAb6vOFfgA9NIyxHLbfuRG8ZruZiDa9hlP262xjNp8FxM_JD3DqKLLBoG-9Ptz8A0bQhdO7dOr2fvZWwb66FT38zmTKU73o51whSvKlToN5RPb_v7cHFD3dwS-ucR9LCPUql_VCi00BRPMNOjJmeXN5NRdzGyDK8Fqq_OYXl45xPwBHVHvCt-XNn4a2UPfqZDRzGruZf6IGWMiu3fZwStiCatk3CLeuc-G0wc-q3f1jNPdLLeiI6mO9QES8yHoNeJfQqMkOlsUrGR9HvBfgErBY=",
  "id": "rs_0c7ea13f64aada8c016ab445cc5fc087d0a51c1a4c42956bff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.18},\"note\":\"The gripper settled at 0.20, confirming a secure grasp on the small white plush. I’ll lift it and move directly above the center of the open red safe.\"}",
  "call_id": "call_Ei3gLJAQHcbWeoPtBbHV3SQg",
  "id": "fc_0c7ea13f64aada8c016ab445cdc10887d0af36aba7c44e2871",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ei3gLJAQHcbWeoPtBbHV3SQg",
  "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]: [-0.4335, 1.7927, 1.644, -1.0153, -0.1616, -0.569, 0.2059, -0.0799, 0.7937, 0.5663, -0.4557, -0.0906, -0.326, 0.9988]\nstate[eef_state]: left_x=0.4 left_y=-0.1499 left_z=0.1682 left_yaw=0.0811 left_pitch=-0.5611 left_roll=-0.1018 left_gripper=0.2059 right_x=0.2787 right_y=-0.0027 right_z=0.1483 right_yaw=0.1745 right_pitch=-0.1098 right_roll=-0.1967 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -8.8547, 8.1299, 0.7057, -0.2515, 0.022, 0.2955, -0.1299, -0.9504, 7.0496, 1.7607, -0.0855, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32252bb87f5a9cffc125766c19e9c9e4f5e32789bc1a8e29e9777716feffcba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5714ee3d8a366019fff374eb65cb13b0f399f9f1d4a32952aada2edd94332277",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49638d3161efa9cd7677a48e3d9c4bbff61ed22616cb512f6bce78fab338b905",
      "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 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0509, 1.5326, 0.6807, -0.305, -0.0189, -0.2111, 0.9983, -0.0799, 0.7864, 0.5613, -0.3641, -0.0719, -0.3042, 0.9976]\nstate[eef_state]: left_x=0.3155 left_y=-0.0092 left_z=0.0052 left_yaw=0.0933 left_pitch=-0.5806 left_roll=-0.0779 left_gripper=0.9983 right_x=0.291 right_y=-0.007 right_z=0.166 right_yaw=0.1455 right_pitch=-0.0188 right_roll=-0.2125 right_gripper=0.9976\nstate[joint_eff]: [0.0752, -3.0154, 3.6855, 0.8327, -0.6374, 0.1197, -0.188, 0.4581, -1.6205, 9.3744, 1.9512, -0.2173, -0.0952, -0.1636]",
      "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]: [-0.1566, 1.5738, 0.6716, -0.239, -0.0681, -0.3126, 0.2029, -0.0799, 0.791, 0.5663, -0.44, -0.091, -0.3256, 0.9988]\nstate[eef_state]: left_x=0.3208 left_y=-0.0348 left_z=-0.0029 left_yaw=0.0998 left_pitch=-0.5603 left_roll=-0.0787 left_gripper=0.2029 right_x=0.281 right_y=-0.0028 right_z=0.152 right_yaw=0.1741 right_pitch=-0.092 right_roll=-0.2008 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -5.0803, 4.2462, 1.0916, -0.0317, 0.0269, 0.7448, -0.0615, -0.9915, 7.0769, 1.8242, -0.1197, -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]: [-0.4335, 1.7927, 1.644, -1.0153, -0.1616, -0.569, 0.2059, -0.0799, 0.7937, 0.5663, -0.4557, -0.0906, -0.326, 0.9988]\nstate[eef_state]: left_x=0.4 left_y=-0.1499 left_z=0.1682 left_yaw=0.0811 left_pitch=-0.5611 left_roll=-0.1018 left_gripper=0.2059 right_x=0.2787 right_y=-0.0027 right_z=0.1483 right_yaw=0.1745 right_pitch=-0.1098 right_roll=-0.1967 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -8.8547, 8.1299, 0.7057, -0.2515, 0.022, 0.2955, -0.1299, -0.9504, 7.0496, 1.7607, -0.0855, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32252bb87f5a9cffc125766c19e9c9e4f5e32789bc1a8e29e9777716feffcba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5714ee3d8a366019fff374eb65cb13b0f399f9f1d4a32952aada2edd94332277",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49638d3161efa9cd7677a48e3d9c4bbff61ed22616cb512f6bce78fab338b905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXSFvKYGmQM8rHD7tTY4qKp2LhMEPsHSbRK0kgZAtuin38YMKe9rQPRFTCkqCNfkrY14RiKFrKtYPkPDr5jlQLsqCNYgio10wXUaB5FP69oAPZYh5Pj8_e8ycUePZo7I_4IS9BCBl2ZuUdhqs24qxRZIkLpudsdiwSoNWgjjtlQOJsol3HbeHHqOJFSqI_Vp2jZuFBPnJ6jIFXWNRiWZGjisLc1L9g2cZg8Pyzk5_kfW7G-f86KzlhDWbRANRdawnvJDyH6LkrbXXfKCkaZfqfAJ9VR9rS5-Y8T9WssDcvCMhsYiYI1SQdC76UL5o_KwAK2OP29yMsLoJzwpRY-ZjdmKcCCqCI9la1th6J7GkkRo6wMD9oIsqDXPpE3-qFyHD9GXYA2y-5DemiJXp3oufmM94dGz786Mzz7AZfsz2LmqTNHlSby2R1hAJhFkAA4vJygLy6CQfhkWzRZBBtvyCgOwgwPCPYITppgqOYKfG09d65W28pZEMILujHUnAQqw94NojBqD_nV56GQAWC_B_pMLFh08lzoIfSOOPp1rko90vhx7eRQ2TI0dLk0vqHs8tYnS85njsDTFhivbw9BOuTucoQdZwOvUTcqAsiH8lvf4JVxH-RGxiqiauCL5VKjsEBRUingSjdGoRBB6tvBRihHmvuLOU8dPv91W2kvtVBYQB9YGWB0JuOwCcxXk_2RTadRKm4e4Vd38HLkQ2-fnyCSRRksd9NCd07WjFtRU6Nw9ODRIkIsktjBbIH60COA246eeL4h78dzIfjM5NLKCCd6tQc0oaFsBCR9C-1hM88OPB-3CGcIBnINVLbshGvyIbqitogFzbDQn7ovHcOmI26OdmcJHQXAWegTrFhCdNikpSGuJCW-iBq2N_A2-4tTpI3LgKAIGKJ-rei-uXG7iGFxeh9gz0NhhE8T-eg6gSdxuGwKNViszZOPlh2UhcuQGa-92nCjOo_BMszJk8-HKUMFnfgTCbKjfYuBGfTsT01o0qBUWtuTFSjE_mnoK1nRp8ge-Ay-_4F0u74mXApzg11ERs5LTiTxYs66X3Cg9NAOjYbGQ5T3LemVKNwOA-QEm6jit3YERgJcN6FzTIlP38bIY1KGsJDdN4l5BbZ5fMMErrJ0LXBWgolx0OZM00CrMoEVyqe-09xDvRAKp6J8_LoXJip4-6YqwGQ8L40alZbMcx3jCXcEVIhpehbQsKOvuOV9IW8p2aj_FhuuFSxAzUh8KlDRbMv904ci3bCOvK9GSPKdHZoeskdXj0lOLgounUwlu8fz2AScUjGbVl8D5mftZyHRKq4c_RBpt_248MQVViZjrMYJaKQ-SFDE7fV0zjdoKTTPCOCpUVtf30ya9ZzA9Pij_2m_neKTFCGBeTZDIfv1DfVmiwRVKksXxKJrhbSYDh2xum-m6gejRrSTpdPXLT9DchHY6koBNAIsZUAL1WqKxw0kBACZeXwbGQGxW63eQXAMlFgy4zMtKxRsqC_FCei22uXdzQTwbN8XK3jYhT6BEkN3j_r-8Xv1sUWPR9dZ9xAU_ZBEzxXQHpYoM23w3fH7p5kjftOf_buFW75johw=",
  "id": "rs_0c7ea13f64aada8c016ab445d1365c87d082d5f78e7995fab6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The white plush is visibly carried between the jaws over the center of the safe’s red interior. I’ll lower it inside, stopping just above the safe floor before releasing.\"}",
  "call_id": "call_WmdDES9S0HePet2SM9wCOnpL",
  "id": "fc_0c7ea13f64aada8c016ab445d23e8087d0a085b9a7b2b77eca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WmdDES9S0HePet2SM9wCOnpL",
  "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]: [-0.4374, 1.8404, 1.2591, -0.6342, -0.1616, -0.5777, 0.2079, -0.0799, 0.7967, 0.5663, -0.4805, -0.0906, -0.3256, 0.9988]\nstate[eef_state]: left_x=0.3876 left_y=-0.1459 left_z=0.053 left_yaw=0.1001 left_pitch=-0.606 left_roll=-0.075 left_gripper=0.2079 right_x=0.2749 right_y=-0.0024 right_z=0.1429 right_yaw=0.1751 right_pitch=-0.1367 right_roll=-0.1893 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.335, 6.3385, 1.1746, -0.0806, 0.0415, 0.1929, -0.0752, -0.9368, 6.9949, 1.9121, -0.1099, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd1db02a884ae4893555c2040e19d1bc108cca26a44a5f9f5483dff60ac5d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52015f1f96ffbf07da86fc752613c344d4ec9890dbe61741778adb6ee0883865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a7bacc97411af6fa1129c8e7ca88a809d2676d4df653002eae65b8dfd9fa3d",
      "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 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.57, 0.6716, -0.2497, -0.0612, -0.2745, 0.998, -0.0803, 0.791, 0.5663, -0.4244, -0.0937, -0.3248, 0.9987]\nstate[eef_state]: left_x=0.3191 left_y=-0.0315 left_z=-0.0029 left_yaw=0.0829 left_pitch=-0.5671 left_roll=-0.0652 left_gripper=0.998 right_x=0.2833 right_y=-0.0026 right_z=0.1551 right_yaw=0.1752 right_pitch=-0.0763 right_roll=-0.2026 right_gripper=0.9987\nstate[joint_eff]: [0.3897, -4.5607, 4.4376, 1.0525, 0.398, -0.1099, -0.0562, -0.0205, -1.0051, 6.5573, 2.337, 0.0269, 0.1392, 0.105]",
      "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]: [-0.4335, 1.7927, 1.644, -1.0153, -0.1616, -0.569, 0.2059, -0.0799, 0.7937, 0.5663, -0.4557, -0.0906, -0.326, 0.9988]\nstate[eef_state]: left_x=0.4 left_y=-0.1499 left_z=0.1682 left_yaw=0.0811 left_pitch=-0.5611 left_roll=-0.1018 left_gripper=0.2059 right_x=0.2787 right_y=-0.0027 right_z=0.1483 right_yaw=0.1745 right_pitch=-0.1098 right_roll=-0.1967 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -8.8547, 8.1299, 0.7057, -0.2515, 0.022, 0.2955, -0.1299, -0.9504, 7.0496, 1.7607, -0.0855, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4374, 1.8404, 1.2591, -0.6342, -0.1616, -0.5777, 0.2079, -0.0799, 0.7967, 0.5663, -0.4805, -0.0906, -0.3256, 0.9988]\nstate[eef_state]: left_x=0.3876 left_y=-0.1459 left_z=0.053 left_yaw=0.1001 left_pitch=-0.606 left_roll=-0.075 left_gripper=0.2079 right_x=0.2749 right_y=-0.0024 right_z=0.1429 right_yaw=0.1751 right_pitch=-0.1367 right_roll=-0.1893 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -8.335, 6.3385, 1.1746, -0.0806, 0.0415, 0.1929, -0.0752, -0.9368, 6.9949, 1.9121, -0.1099, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd1db02a884ae4893555c2040e19d1bc108cca26a44a5f9f5483dff60ac5d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52015f1f96ffbf07da86fc752613c344d4ec9890dbe61741778adb6ee0883865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a7bacc97411af6fa1129c8e7ca88a809d2676d4df653002eae65b8dfd9fa3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXWT5T4U-KFYC46mSphXwX-4ixgSiEDcrEcQdKhAIJNMgj2IP5U-FFYO2JiD1OK3JyKDEnsFjIKA9JCRzRDZ9zCBNyLjUxtqcXHsMCme5XwqRW0Pj5mpPmihFD_B6mKpX1EOQ07OPOobHDlv8RhUA31IANufLvnN9gyaieu_CydtdHsWa_L7oGTGuSB7r8_XzI4lKDqFML6RhvzfeqflL__E_pbEd3SoDTFMBXfx0fgygL-Oc_F4PBq7cHUHgaT8nyatgSWQ7tEizqRp5iHmu_dQ9X_sVJz1kuSmKJ_gX8csMshOco2H_dW8SGDI-ehcKUdQ1cK8O3Km3p9yrZLb2xcQBQk1S3dxSQqfuJFDgbwiHPFn7T6a1U50AU5_eAw_c6H7x8oLErB547480NxUg-JrD1_tFEfmiJFSTlLqJEBTLMXxPtcffRHB62WXQ9jzqIABeIWGpONdhkRUJjjhvbuPDAKhoVsD1HBZ3hUySANEfPCtASWcBE1zF3zWqSja1pKRIFwPW_P3mk00SgHzXyn_-jXpWslgVW6Yi5QPMq7qJ5OvBH_ji6nKMwK_CKWnnykY0fceWP1c3N8qakH8jVfwy3FZozghYEcndI0xOGZgmV60-NFj_7SH_ZWFEL75iYaFu-2PG5o2oeRCBPgAjFIj4Ik2ggPQafN501xgfrR-1bEqvAgqV_fVHH_Rm72MkADOrSYC7cRWdWOuWJ-NXJtUa9b1RXQcaI73udH6YvnZjPEde3Mt0DyQCgCd1uay93ZmwOHMLl2LLyizpx_eJyy2Sj4ncZQmH1sZNHkwHU2ZuJbfRWzyXtpMs7ZI-wBYDoHWmpi6RPi69w11QP-mP-n3EFJX8KHa3JJaLL0FHRTO0jbs7eZZPyo3Kyh5ZnglJiMVarb7GhqTeSXwm3HjYDh4k-XmNlltSgwQ-pLeyDVyoSvbo7qUvUMxFSfa99PDQnKwSAHpYCoT3miV9cCLJQvlM8UlpsPOFGshw7QHgagdn60yN-zfFtImuGSNvxfDx-iR2XSt2cV8crmOy9pnHsVAkBcnXUjSZ51hS8wPSTiVKY74au6cealNkYYOfxEKSRjEjY8_mj0gHxLtZxYP1ahQXOUDci9rp6SMXUQpissNI-OM915GXCRsOGeXtoFuYTKxYYnJVWT2NTEx_nt3vyTsIA7CElCQPGhgmZVviI8qnI=",
  "id": "rs_0c7ea13f64aada8c016ab445d56ebc87d0b35c37516243abd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The held white plush is down inside the red safe and below the rim. I’ll open the gripper to release it onto the safe floor.\"}",
  "call_id": "call_HSUJXiT5UuZqtekWdotTJkQz",
  "id": "fc_0c7ea13f64aada8c016ab445d5871c87d0b3b74554764dde77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HSUJXiT5UuZqtekWdotTJkQz",
  "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]: [-0.4381, 1.8553, 1.2434, -0.6327, -0.1619, -0.585, 0.995, -0.0799, 0.7967, 0.5663, -0.4999, -0.0906, -0.326, 0.9988]\nstate[eef_state]: left_x=0.3825 left_y=-0.1438 left_z=0.0424 left_yaw=0.1152 left_pitch=-0.6309 left_roll=-0.0594 left_gripper=0.995 right_x=0.2717 right_y=-0.0021 right_z=0.1393 right_yaw=0.1761 right_pitch=-0.1556 right_roll=-0.1847 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -10.4821, 6.8718, 0.9206, -0.188, 0.022, -0.0757, -0.0342, -1.1556, 6.9128, 1.79, -0.0806, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab865148cc06df26fedc6f92396f37818f08c730b9978bf803f073487741362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed464783d0ec40a26eb7248d3e10d361373b551ea48f0e8ad0da2005cd8bc9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71b345bb4f1b7e4a44385d39501bfc776bf6087716c742663ab07bd4186e73e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}