adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.0257, 0.9996, -0.0208, 0.7921, 0.6003, -0.3828, -0.017, -0.0204, 0.997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0005 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -1.4701, 10.1402, 1.8095, -0.0659, 0.1197, -0.0611, -0.5128, -1.3197, 10.3316, 1.9658, -0.1001, 0.0513, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0695ad50ff1b89368e7793bb725fdaac8bb8f406553a33464924ee7eed00f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae3ccd41bcae032d49e0b0315f58b9683866252ae260ef5f46b7cabaad73f84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7281972e1e4740651b9a26f8b9b284a696ef548c2c09fc8b9baca27a9c8164",
      "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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{
  "content": [],
  "encrypted_content": "gAAAAABqtFP3Gg9HLajap4_Mp_6fMxd7TQ0wMo21yy7-KWuP7SpEe7-Mr84MZ-waYlOtd7TD_o6z2fc2vdcsrIrFZqeaL6ULEbWG0D5Lq_fKHdvb7vND5QhB0yIHWW-i-CrN5bMoYD5CugyGg-jqtiCEKyxNWWNZd__GS3SvlowLbc3-m8wlReySh8KTT788eK2eV2dxa01-HlYgx-QUnj_WSQn0v7pbSks9W5T7EMTh0EarKA_bNmBhn5wxt2QDxda7FF250pR_du4BZCHYnWp242rik1NVKVQBzm1wEvml7CK26NFsIUCnFRjsdCjC5caYkeh34nEYYujTE2vlXnSSgNv-CYYPdiWDpMreATa8UYdwY2nrpcsLpRg-hW7kamaRLDtsbJ9jnPuFHb-OtwXIRWyU1uAeQ3Rt6p9tr4mj7eeUuWcM7xENZFfo5_Tw-kWFIJpNeVxrK3nR33CmNT3ajCcTPr5RaN35yGT6XWEJtivYZmEwhQbWvR7qOzT_qJ30SO7253-BSjGPVzsyr9WUpP-hV4vVeIuFULK2setj-VAHR-hY83uWqOi7viYUmnRJElQrjKspKDr5EQNT-Pb-jaT46r-zDZV1jxlpWHInHKG-HkKxlkdjd4B0tLDCQO9PYCJ6CDgFI0t03PS4SZtAuAqLbv71txqAq7LTm853yyJJxJBg9LahbgnvfX5RmfofkABDD1UYdCAgu4OgTbFsRZzp8eZQrDM65bLk6bpU3iT5YSFqhlQT_fZhaLCKx19eC9ABjCKZJhDPN4nofEEBwP_XBNA4p6grl_DFFquqzbzuDjv3nCSSrXUM4VW7UOAEfUF11IPrbYQBDHu6RszJHrErbLu4cDrE2SDyMQux16rY7nnRl_bXyTq79bOzV2tUBdwagrUXPKmZY88IqoYlPrEcKQ11CimuFppQ5whSNvZI8-qLYSeB3LE6Qjw2hOJk-Wz23QoV1b75ngBRMYlPBX2fM2wcVL8ZK9y3EJPk0nvYBX1lK8GAPb7Nc818u9uDbr1HZSCqDn4r6E_Zuwzp_d4zZ-x2O3K9CXvcP1BaamKJoZLGE6BSFiEVpxvUAIGcmKvO4Q6WlF5tuMplbFfPt77-wRthsjBAlA5sRBgoKn7um8ShajY8FxSJ-2lijtthaxWlhgItpEZgPq8eS-aaeoP_kLM9gfx0H-5B9Rlxrvq5y76fUKQiTBzcZ_ZJPU_qUn-5Lyzy8agoFF1eEg7c69lJCKAj8Du1cP9VrPpzP5k_bLVlFJO9BWdGiMRSOdCyFMjtxAUljvQB7eJ1lc0A5CZqaid16VDlqSMAm7UaWZ7T03Z5TnIi-Cbu972mJtbV5DYLijSyoFHLhJOz5dRisJxg6O_y3mmWgqhdPafAoThtqX-CiEm1gWYIYdiapCsO9fo3CWpLUdAPRapt7_KyykDWuJR2HjrsHgxQor_3MwlpSEWvFfgmJaDwzjVzKwAfclLfoYsbp9ue08alat6i-idPE0OFJtpzRBCLWfn82ntzlXPY7jqs4KA5kUO7qH_II33rE2Gb2WNNdeyeMy3HnYUisRyEhAGpwdZ93TVTxxV9JpM_FPADph4F5gl_WRtlrzImeek2HhxgSWko9mhNqSHtTMK59rg565bAQwf-rW2Z16nBWYMoEymkkbJSHRoeVX7dMgBxWp507B8fL9Gap6eKplv9DtdnLbIi0FKQ9f4bxDCuFbfGHkJz-SqqgOVqYE2xRqcrDu8KmR3jPAUMj7VL6jfH3U5eU6Ky4lWawQ99UWyHVh3HXRk5u26EVWy_vj_vh0O-TLoN7FFwxDVjtlwn57-PvJB7nDiGkEwbOvDKVfTckoXV1oAyUgcWRPBxvbCE0bJLUCWBunmJGhwRwIgnoqgYlqpHlvivaU2Db6-7MJZ5TKzRfF_uM4nw4KjJ_8bpJbbCoemnL0JyIC-eMtDpTsNb7C6IUFgynXxMMNYZYnNTR9-0_LtCj_refPFZ8wcOb3bFSau9toacOF9lQwRvRF2RmRFFA733SprmcMWFxvOxn-Di5K5Gp6v8pRagCLsUIQejt_2he0iZ2D-aVHp8DzayNdlEwS4lLb7FvMugHNj0bhmq7Go8V6AJgcoZEiiL0Uvpa_DTE_PV_7ql6d1Va05zg9WUeTp8j6daxtjrdxsBVbBOuzpihcyb0u531zQ9TuzuYh0VAKcB5O45ZYFeJb_iSQD9IxL1D20BCjYDm-UhOBOzzkHVi1w4qrgXdM-_EpABKmFmL5Ej7-NQwE6HK2HUgnsAXJOJeDCFb9k91YfItQyXjVgcOHTL53nlLTk2MjTtz_-f6VGoYmcE9Uzp-QKKTJfJLlQqMSjB5jblEJGgoStgkGyqqg8BgdMsqTpgEGCYR7naj3hRFJe_xtZETDZ8-5vjzfoecUai9DBxwA4qLzoDbxEOQk7c1TnTkyNQjkdJJ5XScXaaE_es-MukbJvPpBp0vcGxD5_Teaq0vaAs1Xr2FKxXaFqudSB6Wkn151ILykmpRNs60Xh0T19-TbndSvrEs7zvowaOR20xSFaxDiAG09Kg5d5fMYnbLjceT1SQEu58wG1dZxqPdyZ0_m8vUdAlYnFzQ2TxzK_a2amkNhFUWdUwhBy__HvQ3b0mIHF-6BAqy2XX5veJdOOyd9On5Gi6qih1ciFObBToUtLcQZIUmDEPfH_r7PznIk4tZC0-Jk3lIn3CfYRHLkrxcwWDwXFj5Vz3GJj-E8-UV4ouUnIYX3Hy_RW4m4NRUEFjuA30C--c50jWHJF0aVkB73QC3rFEIT1OjO1vF9kAhD7Tm10q0g1X99SFvZxIjX6sX0hbajaYwFycKHI5RiFJOxZU9w==",
  "id": "rs_07f1926e658af0d6016ab453f342c087d0996517b066392011",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three upright bowls are spaced across the far half of the table; I will use the left arm for the left bowl and keep the right arm parked. I’m moving above the estimated center of the left bowl so the wrist view can confirm alignment before descending.\"}",
  "call_id": "call_CVVBfgRFMsj1tepgvuGFpasB",
  "id": "fc_07f1926e658af0d6016ab453f6c2e487d08cfec291613aa773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CVVBfgRFMsj1tepgvuGFpasB",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6777, 1.5978, 0.9852, -0.136, -0.543, -0.4259, 0.9996, -0.0219, 0.7967, 0.6003, -0.3931, -0.0166, -0.0204, 0.997]\nstate[eef_state]: left_x=0.39 left_y=-0.1921 left_z=0.1336 left_yaw=-0.0137 left_pitch=-0.0503 left_roll=0.0263 left_gripper=0.9996 right_x=0.2927 right_y=0.0001 right_z=0.1748 right_yaw=-0.0015 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.997\nstate[joint_eff]: [-0.4444, -7.5282, 8.8, 1.6142, -0.3932, 0.022, -0.0562, -0.2256, -1.4427, 7.8291, 1.7265, -0.0952, -0.0415, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52a4f3927ba984df044beac40d43f794b2877617c7a63d7d1c49fff10a11313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a35aa9f202cba78bf09048bb5e7b216319d88e126dd29606df33455e7aa1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804935987ecd7340c8c64e56103e5c95baac67747210b63164c66d828bcac7bf",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.0257, 0.9996, -0.0208, 0.7921, 0.6003, -0.3828, -0.017, -0.0204, 0.997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0005 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -1.4701, 10.1402, 1.8095, -0.0659, 0.1197, -0.0611, -0.5128, -1.3197, 10.3316, 1.9658, -0.1001, 0.0513, -0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6777, 1.5978, 0.9852, -0.136, -0.543, -0.4259, 0.9996, -0.0219, 0.7967, 0.6003, -0.3931, -0.0166, -0.0204, 0.997]\nstate[eef_state]: left_x=0.39 left_y=-0.1921 left_z=0.1336 left_yaw=-0.0137 left_pitch=-0.0503 left_roll=0.0263 left_gripper=0.9996 right_x=0.2927 right_y=0.0001 right_z=0.1748 right_yaw=-0.0015 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.997\nstate[joint_eff]: [-0.4444, -7.5282, 8.8, 1.6142, -0.3932, 0.022, -0.0562, -0.2256, -1.4427, 7.8291, 1.7265, -0.0952, -0.0415, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52a4f3927ba984df044beac40d43f794b2877617c7a63d7d1c49fff10a11313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a35aa9f202cba78bf09048bb5e7b216319d88e126dd29606df33455e7aa1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804935987ecd7340c8c64e56103e5c95baac67747210b63164c66d828bcac7bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFP_BfPXURppxEAg9osfZUB37pyWrjU30NascFu1rZWreRlM_-aBVwD6EFInsEDL1nBgaMgfzCDW49sBXNFBb4AfGhniO-hNLcaVB-kMWeS7CHJSkp6G7S8ZHrNlOZMrM4039dW_EvMpi4T8z1u5D9ZVyQRlWvi9rt9c5LKLg-tjHt_eNZdWXMQ5KpUNVrEWudrFMPEG18Ko3YHx1T7bjzbbJxKdhxkweL8r2DoTzjnAQ950ZVHEO2AnjLmgTyaxtK4t-qMVN_Z1ooO0yVaUD4q8thudREDrISbzVuZuO7FER3Dg3Y4tl7S709ZD3e-G6wTD_PaFbd5Xu-cg2_Wgm_xlN-A2RIkO_WmSg2q2Gvvew41xK4VsoTpa-d0qx_K9evAnBOqOHoTlujj0TgVjPxudsfEJFXto4zYOBAJ3PQYl9NIK6okWFIjzi2B2TJ3iMGGG0tdiJYldY7e-IBzJgBu2mgdOE2JS4J7fl_nzy1p64u0K0wavBY9QI68ALPbeKMLF59e7JPuDvlCXpGxhUsYjj8rz7EfkfgZXICbaGZRXIHZJgOAyf54Nq6VYMCZFiuYCI8AHLX4ClXvkezSZbPBCvvfBmnR3I6ac40AqKgQaBLkflhtv7M5biVKbyJMdRDSV0IsgvnVCt4YUhi0ujatjSHGVpnDcEpr2NAnYOesow2YsM4RjTXk0z9yAF0JMyNKYY0NA1x0p5HqEXqkgheu0MyaZ5oljdIcZ1Jh_jUkWRssW4rkJBiaZ-Et93Axc2f5tBXdgz4sjqQDmYPcrfrDSVL2fPNJdkGRmHYw0zlTP_5gXw0hN6wjPXc6LV3IvDqpU5DoocL103BoLzzTmqdAfGWSy-jFj2aZb5HLX_H9BjX_U_ukftYQKxpMfKxpWxlObd-ZA4VNMJ0dKSErIZ3NMTPdguMvICRFOeuOQQb_34DMhI4Psx78zw6OgKWFknvfNRA4XjJ7x-O5lMbELg8I6FUr2YPQpdphTLdhsE1K_dSG8m6aItaUzB6eck1IQJXRbs_t1PWUJZWqC6cLNYcJFubvfmRTFFUNY9EBKDifaDRV-ppScVA8geB4tAAZh8PpnexlCOkoNcQIRhta6meTUOsCytvMUNBPPgOTbDW8OWDo9uss9kzF7aJUjdrLMJN2bM82-8yFK05S_UisNtOkUYKRIfvSyZnd1hSq9NqpnjAfBm3-Hw87EeqTE0EJ-LwzrO1Gu4RednBDEHKD9XsCf0W6PMGqIF-imQ3Q5w4uzbVJqNQxNEUCrPb3j6mgV-oOBWGpDxj7Hqmd9aK7u_SLQLNQB6tsdML_v-qky-tB_Iy0Pa12NMTzMnC9SRx_nIFWUBsg_OR1Hv3y5R6pKsqoExhLgHdaehhlBqnxA9i0G7LRzggUXC1RftU8CE_2QCPXUkgN1dU8gRl7yYLjOvEc8xSWtm784UBWUbYOAuHSvBU5w56oCGOje3IghCAETarJ3Et2RTpdnpmFTx5imVpzWPmvo-F7Q_slBWH0X6-6YPPasbCXdCQC58BHo-4GB_l4ypmL30Grh1WjYNRcN9dLAvoWudOs6JDzk_HR2IAIs_LMVWcpSo_l5tQRTf_eacFcigfW9Zd460k5pijdIKwRLptLw4_rY2wpHvTwuOXIqdGoXsemTyl8fWTHX37A2Qs8lA5odKqMVfzHDSxlztusVdM9PCq2RHaiU7LCdmy4V1wNwqrW4nXMQSo82eKiu_CV77G1cNXw9wrxaxq-oBpr2cWaSXi4eKZmrMaJDjsPbjGxk9Soq88iFhKcyD-3e5MDe21QNbsk6YGE6H7jNBvXIdMwnBURs3LyqfyCY9xq32xLduMrOnELSpWYt8OwURqj9vUx6LsZRKnkIY-NXJW-s6bNTitUbe1AiooeTl2wJJ4fBWUBf3eY3MOceJpMzbRy3dIcXsvQ4qRZQ8a9EK3djEPto-G1LGCzOp448etE1VA6SkOBlaEspcH0S3bUUQV0TTP1J3bGPRWPyDL0fvffKEGRQ_3VMBc4wnovBzZ4qtUUw0LkKhG2nBcTLJubeQ_vCk2wRS9x40p0WbKC_vjyw_4oAESPhWUrYw6Fe2xvc7Glfg1NmIrPJK8bw-zSl6_RTO_UqbGXbCgu9S6p1Q2EJKcmopcy_a7QzqgWxheY8GhMklZEdwjWAxFSGR2GorV_8klgUaaUQY7or771t_IkMRaVBGqtSU3Uz4HxkQ8v5-l2iNJlckRM40ucEMfH5A5QFYnmck80E1raU6XG8LNtSMRKrS-TewOwuuDEfycvkY_jUeENJvRIdirTcukpm4SlDnnvLmWwXrmaSN1dpisEg9c1Y0JllPpLKEqPBTcVzgJSBGqPWTCc8RL2-UNUDl0z-wJt9kE3cfm4WFXPCcFuH5QyTwS3hfs1XqPdjTwfKicBdBNq8ZkgQhGDyPn1VZlHSP5rYLnVyI4iJg9ffNKWtw_n5QF5lv-ey7klwiksIMh-l2HdZzH74-_ZWwlZXinC8LBNiBuRBqhmDS-3h-3281F5ThS2mEfwce_hxzuwNVJyq7YBMSZd0UoAAgtHye_rRRGcJrq0jsoqddwdekWsHRmqVgznA7Cow5LRveLGCfJ3ur-rIneiL-cnVQP4j_uGj2_hzQWaKBXVJXgtXttH-aOEnoJkTIGh8K3KhbYhIPylj_pG6254Y6hBiGyza8ZUDmFrjBBxTBqpponPU4Y62RvoyS7-HKWvycor-HcHtlMpZ7YsKHjCJvrALDunrllDuEYKky-x3O7mA-CDF7vYtCubf63bxjAHKLgIn3ePCTHAPhT74vHVx2nkSog-zG28Gh6FTZQqEQGwu9yS9qryRALD4zcpsmD59KuTCtIok5pFyEX6i6sqEO_PAyidlTHPRCVUbvo0r4UVM67ZO3Ep-S68iMxeFpFMiJk_qUQbpEES0zPxzp7TfvbXk1TvKqPMNHn9Ll3tA7fLh5EfOIQTOqQ==",
  "id": "rs_07f1926e658af0d6016ab453faba4c87d0ad8a10b70ed69507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.16},\"note\":\"The left wrist view shows the cyan bowl well to the left of the jaw column while the purple bowl is to the right, so the grasp point is between them. I’m shifting the left arm about 6 cm toward the cyan bowl and staying high.\"}",
  "call_id": "call_kXiL7mW0fCjbsVTzhf2dLOQa",
  "id": "fc_07f1926e658af0d6016ab453fe117487d088579dfdd3ced4ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kXiL7mW0fCjbsVTzhf2dLOQa",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 1.4536, 0.9279, -0.1768, -0.4404, -0.3328, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3925 left_y=-0.1325 left_z=0.1548 left_yaw=0.0154 left_pitch=-0.0523 left_roll=0.0196 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [0.2803, -7.6923, 6.2564, 1.707, -0.022, 0.149, -0.0171, 0.0205, -0.8137, 7.0496, 1.7216, -0.0366, -0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3a92a8d81e7113a518940366eba8a7052dbadcb1c69fc52db2fb5a4cd81961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e755adf6849112559c6322cb66d0b2b3f3accd01ff7a9998ec464aa0757b261b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6c4d31bac5af793e3ecfb459cb69a7e48a05e08dcc737c3de9afc78e63a93b",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6777, 1.5978, 0.9852, -0.136, -0.543, -0.4259, 0.9996, -0.0219, 0.7967, 0.6003, -0.3931, -0.0166, -0.0204, 0.997]\nstate[eef_state]: left_x=0.39 left_y=-0.1921 left_z=0.1336 left_yaw=-0.0137 left_pitch=-0.0503 left_roll=0.0263 left_gripper=0.9996 right_x=0.2927 right_y=0.0001 right_z=0.1748 right_yaw=-0.0015 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.997\nstate[joint_eff]: [-0.4444, -7.5282, 8.8, 1.6142, -0.3932, 0.022, -0.0562, -0.2256, -1.4427, 7.8291, 1.7265, -0.0952, -0.0415, -0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 1.4536, 0.9279, -0.1768, -0.4404, -0.3328, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3925 left_y=-0.1325 left_z=0.1548 left_yaw=0.0154 left_pitch=-0.0523 left_roll=0.0196 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [0.2803, -7.6923, 6.2564, 1.707, -0.022, 0.149, -0.0171, 0.0205, -0.8137, 7.0496, 1.7216, -0.0366, -0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3a92a8d81e7113a518940366eba8a7052dbadcb1c69fc52db2fb5a4cd81961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e755adf6849112559c6322cb66d0b2b3f3accd01ff7a9998ec464aa0757b261b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6c4d31bac5af793e3ecfb459cb69a7e48a05e08dcc737c3de9afc78e63a93b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQD4MHfmfyDgK_3Jn8_yZ7QXp-5Hhg4vED21es3xMkr42Y0JvC3kel5z_95us3Up1t4R5gx-JbxM0Tvbsbmvn7wNMacDQ7y9WqnstVtLvIH_-NR9j-NqVUD0mzkdfGbq-woUwFT95sXwSxBAIRMB6m2orYKZVkyGHr9cJ-Kz3jkcAxeVX0FqnQRv6xlVfWf4MzTKfSjq8NB-dnVhdzmZngxYpHF91Xu1Qxk6bp_X-jeh8vP4LJx6n_ZqUCpkowUiY87fFEsGMyaJXei-HsXDQfDOQj04PYKyUjhW7WWkRvsKOdbZ2q5gUKRRKhZs30wwV71AWruWC0p-Scr-ZX_UUuixmI5InZ5uGQa7zYtGoURJPM4b_ciQpknzwGy7GW9OQ6B10yAhesg5eit6N6laY13WjT-5kr2gbUvwzpnDjJXP_Jrx7mWx3NNXZFLb0EV9kLgmnB4hnpkBBs2tGK3rsWQxtdYh1JL8eZZ3krmjriL-1KZ3wPFPSzzRlXaKIh7JKsEgEXRaw1wLX-pOCrDl1EcD5H9MJXdKHAvuGiTiPlf-5fFolUVzuJB3j0ITlSg92b82YMYwoP6QKetYk5JdINa22Ey-hg1_3stviwhnZcTzxVeEAWRZTbx7BEjS__Rsb7wTIkqufO3S7whW7Ktzpdwy63cG6crgwM8MjV85q8EjNZKlH5wCj1C-JzcI0YdsW8LwAtPjxtjV7JN9y2dH3FmJQD2uIKwgsKjb03zshar1nX396w-m4P9AqRITIibhF0ketqKe7Ifm5cAuOSCLwiw5SDIPKaBhjM1cZCIcHz4Y1rN-S_zqUlTWRzDU57mB8eTfvkpL8PwyEo6GpHKz_UTj386o95oYyo4cLo3Z79o4_Z1oEfANg7Z0p7OOs4aibseJI2dzDrQMu69UpS7r6y5WHW65HvxnnpzwrOzHKAqy3zVP17DJKOM0eRRM18k7d7LWF3bL_hy2issLnfni71s72H-GJWkbYf1h6WruL17EYz-aAVtUxXf5t24Duxb4Row6ToqR_Nz2ymnebrFrs__POkObjCAoNGCyaAhx2RZtNornsyeo9x2Tp-e23aRXzf3ugjwdACuM-6Qon0UcCUxacvsWnnSQ8oTg2H4xooc7pnpPYsYjR9CrUTekw0xrsrHxuMZyNecOG06vIGmDtJmXw-6aTjHRvUw98xr-vzNSBCJLewPTvvfiJR0vu1EN4gCcyg_ZjtTkaCrb4RsxMWoZeulj8jqDMOQTDUDWkADPpAcKOPc8ltjifL2LZmBD87oHJmDMlN32JFbj5TFEZzg7IK2szpPW0lLx1ZEODUbzArze7CrWsSKfDzY3JbNQ99y3XNb8aZxOXLPbQUGox_s-Px66bj082FyyVilxZnKAYme6DqpCLqiPlb5dBqMCxqMDW71Q0HiocnaC3B5P8L8l0gYp5YDqEsyvuOfil5JuX0cCmJPIOmtuEHKb8IYmqlLI3niULZyyM-SsEkd3eeseXd3-mi8apcAnFLFrink9I8AL5cYDDX4FIj269a5DQNPHxm3_csYDS8B7wD36qc-eRUablWs3oEbVWDWZXVLrInMfXbzPiog8GW2njo3FpIShvGfD5cjvn-BVB_AuY5V2uN7_2kEkcESKKjzNKSsIsUwffGYql26oZkeep7ydSWXNRleQ13EYcd_2SduFODVoU3PDfxLiiSgmpg60E776QEqyrh_XqybsrXkcvMFyH0ZB71NwsqO2BflszHMFSbocJxJayhmLbINIaNG0RE3d7Y9YbHn1uYegua5Z3_eW11HBpTSxhGU23pAfgSw9VPcjTBODam0bl3w8cKpSSNNbmOKxRs9ogpSiM6yjPcKBO-4K8eYvG9QAsE9ykZB176rsRwpCh9RkMYFkOy0T99ZoHRo_F3rg0mqC_DwAZKIEsSvb3TMWE_GvcTGgkQHcsD10VlhHC9FhSCVIJ2PxtDUOQlf6dUXsAgWyTn4A8erIdKPQxjvvwYslJdep4uzfImOo2juUPcZSBsXPTinKWZHPdTdviE40k7IL8e_C_cNR1H0kmqXpbk2gMVYRoi7mT2Ga4xMpp9I-gZT4kSYatq2Yc6Vjwn_lD6F2zkzNrqxhsSGJ3rcon9tkbWdvAZ6q0V0UkhWtQ4nhClUJH7c6sGBuOX79zLlVytnUWx162-8hCRIGHCRswXq9owPuBDM-N3yQwIodyw34Zv328IdWFixndxafx6sOblp-k76dv4LEI7VbEtSXJhHWoCSktFZ_NjyC9veTBtwxAWwnxbTcL2OFk5f-Gx4CLAAx2NFLZnnyNz8Htwp550AqIWLIWcz1vKrLmGRykNyBySGsDbafq7ZeizwxV7Oh1jqU3HMLca1JYJo",
  "id": "rs_07f1926e658af0d6016ab45400868887d0960fa49e1163ef65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The cyan bowl is now centered on the jaw column, and its center sits near the expected fingertip row for the vertical tool. I’m descending to about 2.5 cm above the table so the jaws engage the tapered lower walls rather than the rim.\"}",
  "call_id": "call_C32tk8GUklrhOc2IEVhs2PqR",
  "id": "fc_07f1926e658af0d6016ab45402e82487d0940d93eeac8a4191",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C32tk8GUklrhOc2IEVhs2PqR",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7405, 0.6617, 0.3752, -0.4484, -0.3355, 0.9994, -0.0219, 0.7986, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3945 left_y=-0.1318 left_z=0.0364 left_yaw=0.0239 left_pitch=-0.0505 left_roll=0.0225 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1743 right_yaw=0.0002 right_pitch=-0.0168 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -5.8735, 3.5897, 0.6911, 0.105, 0.0269, -0.0269, -0.1436, -1.2923, 7.3504, 1.7021, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067167a05beeda47449a185077afbece7fbbf95373bcf9e33179ef65086735c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f020db53d96131c5098fcce3a8a6593dbaf4292b79a4953a59c54d76c13e17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa332d0cb77de28986b6366a2e32bdacd58332703d87fdefb482721503fd02a",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.3817, -0.0227, -0.0257, 0.9996, -0.0208, 0.7921, 0.6003, -0.3828, -0.017, -0.0204, 0.997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0005 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -1.4701, 10.1402, 1.8095, -0.0659, 0.1197, -0.0611, -0.5128, -1.3197, 10.3316, 1.9658, -0.1001, 0.0513, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 1.4536, 0.9279, -0.1768, -0.4404, -0.3328, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3925 left_y=-0.1325 left_z=0.1548 left_yaw=0.0154 left_pitch=-0.0523 left_roll=0.0196 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [0.2803, -7.6923, 6.2564, 1.707, -0.022, 0.149, -0.0171, 0.0205, -0.8137, 7.0496, 1.7216, -0.0366, -0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7405, 0.6617, 0.3752, -0.4484, -0.3355, 0.9994, -0.0219, 0.7986, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3945 left_y=-0.1318 left_z=0.0364 left_yaw=0.0239 left_pitch=-0.0505 left_roll=0.0225 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1743 right_yaw=0.0002 right_pitch=-0.0168 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -5.8735, 3.5897, 0.6911, 0.105, 0.0269, -0.0269, -0.1436, -1.2923, 7.3504, 1.7021, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067167a05beeda47449a185077afbece7fbbf95373bcf9e33179ef65086735c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f020db53d96131c5098fcce3a8a6593dbaf4292b79a4953a59c54d76c13e17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa332d0cb77de28986b6366a2e32bdacd58332703d87fdefb482721503fd02a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQGtNoauU3FETyuVnUxVCUEBQ4dpJtMzUnyS2cz-Pv3g587H-gXUTTewfNxWp7sFE8l9OGd0Uh2ZtzNOif67FNHj5DHx8VBApBe1HzRh-qr-KXOA6tqQCtq7x1lok12DR8ixd3T5XfekAeEZaQHQKwcHINuF1k313r6t_bE9jFGCE1F5Kz5m6mgyNLIGtKo2UQp9XJzpi8QSOl5uRP4xATqq5iydN5fvQQgezVF2CQ2tDwkbyHgo-EdkQKZQSdncGdcKWg5oLbYeFOrXCGi4YUlqcNj0Jhnku8m4n1oIoYHmnyuYf1dSkCsKRw6L326W1LG_V5XOCVUZcQ2CBkRIpDP6PmRwF1J_9-GRjXMFoOMBa5xFQepbjXl5EwHSFv5YUzgh2NBPHZ8KtCWGUvTtHUgPsHfW4veOWRHl5PAD4IRnTv6o_lDIUCd3wx0ybWWi0z--HDaRozVYKkxdYzy66e6PfYBP6iWHf_yGWbg3QeSgU-87MN8D6Z5_RvemnkYWO1rn09A3x4_VvKta9B0jQ8D77shSfC5uNwXJvOImCixILa2Bl_O2Ivcj4CrJekO1KnAzdC72ww9H6ah61CI5BK_jndIbTVr4Z83Nizr3X9dzTdGFTnoIpsrcY6Od12bqcxbMfPTEuO3SXtPKL0yXdCV2fqwcaZdAG5vV5i150iqrX7HXrxWifuVp6ShTcQ-_iih5b9HBpTbr_Y8oBEozNtG4UdnPzOxR9qoaLDRPcJdHVyHPPuoLJ80qub_sAiH5gJBBj_orqxVaW0PSOMj6XSapUBpJf90-Qr6J0yejqYr9xZxbSAsFWuK_lJCuDuaBjOvF2B52eF0ylHzIvNOmqZIE-YYkMVicKOsVxS6eqb1oXSkOIih0eHYhZVaaLuJ1di72T9O3j7yOw3rKnPzrwFPlnY110aY8R8gDce0awdb2y99yMy0HQ8JLzGs7dGDgOTE9-_dLLhcu6W3IS51jWkbH6lVqLN2qkR4545S-tMo3fx6G9ZSuHl0ungIVgqlGgKfmnxjRNutAC5jVMY1eFx2bl7GmY41-BNx_kxEg559kFtyJCrx6oCBBoKGg-uTmZz4YIPnj6WYKtgVtr_kc60mB6KAv18BIyet5DVP4H4fAXGrOQ8JwDmr4vLQjgV7vFWq5UgNeyrQx0Lr1ZIRP5zYyXmJA_JlKAGcVdNIXL_roKH63fBSZ8mpl9KkWq6XWBqWVvFjgjUZrsHu6954DpIKzyAVYXaeyNbpFz81FGc1wJHp6Z0l05PCJMXTaXqzzWN-T_6VjRqYTCQGBaQDvtBO791Ng8YB_zYclz2cDgMT0CI=",
  "id": "rs_07f1926e658af0d6016ab4540541a487d09faddf11fc71accd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At low height the cyan bowl remains centered between the visible jaws, with both lower sidewalls symmetrically placed. I’m closing the gripper to capture the bowl around its tapered base.\"}",
  "call_id": "call_SV4hlSN0tLyzarsXFmp7brkS",
  "id": "fc_07f1926e658af0d6016ab45405af1887d0bbc4e3084d8ddd48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SV4hlSN0tLyzarsXFmp7brkS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7523, 0.6533, 0.3767, -0.4458, -0.3374, 0.009, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3913 left_y=-0.1304 left_z=0.0291 left_yaw=0.0234 left_pitch=-0.0674 left_roll=0.0291 left_gripper=0.009 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0005 right_pitch=-0.0172 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -7.9658, 5.7368, 1.5116, -0.1538, -0.0073, 0.6764, -0.0342, -1.1282, 7.0359, 1.7314, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf1c671515fc8aa1984ec7a39f3c828ed9579706a9e8142040e6a450c760bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b56cd057c775a3290b1ce845125a8085e3d4bee89151b49a4c86aaa9601bc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221b4fc9f6624365fb5801cda91ff20bc7f6d0d520a76e8b081a35ff2bb48678",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6777, 1.5978, 0.9852, -0.136, -0.543, -0.4259, 0.9996, -0.0219, 0.7967, 0.6003, -0.3931, -0.0166, -0.0204, 0.997]\nstate[eef_state]: left_x=0.39 left_y=-0.1921 left_z=0.1336 left_yaw=-0.0137 left_pitch=-0.0503 left_roll=0.0263 left_gripper=0.9996 right_x=0.2927 right_y=0.0001 right_z=0.1748 right_yaw=-0.0015 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.997\nstate[joint_eff]: [-0.4444, -7.5282, 8.8, 1.6142, -0.3932, 0.022, -0.0562, -0.2256, -1.4427, 7.8291, 1.7265, -0.0952, -0.0415, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7405, 0.6617, 0.3752, -0.4484, -0.3355, 0.9994, -0.0219, 0.7986, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3945 left_y=-0.1318 left_z=0.0364 left_yaw=0.0239 left_pitch=-0.0505 left_roll=0.0225 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1743 right_yaw=0.0002 right_pitch=-0.0168 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -5.8735, 3.5897, 0.6911, 0.105, 0.0269, -0.0269, -0.1436, -1.2923, 7.3504, 1.7021, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7523, 0.6533, 0.3767, -0.4458, -0.3374, 0.009, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3913 left_y=-0.1304 left_z=0.0291 left_yaw=0.0234 left_pitch=-0.0674 left_roll=0.0291 left_gripper=0.009 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0005 right_pitch=-0.0172 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -7.9658, 5.7368, 1.5116, -0.1538, -0.0073, 0.6764, -0.0342, -1.1282, 7.0359, 1.7314, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf1c671515fc8aa1984ec7a39f3c828ed9579706a9e8142040e6a450c760bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b56cd057c775a3290b1ce845125a8085e3d4bee89151b49a4c86aaa9601bc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221b4fc9f6624365fb5801cda91ff20bc7f6d0d520a76e8b081a35ff2bb48678",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07f1926e658af0d6016ab45408334487d090fefc28a0a45e53",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQOACc6rqfsdI6PvpzRVDIsX6UIOmRJCCL4aNEPr-kOftoPVQpui0hb8liJAXRltw-tpLqufOFkyqfqdqh-icJ8h3e4BQZUXXXCuFyVVCYbmLjH2Ih2k0R4J3NR-tn2SbLsjPpVqKEt8NQMcR4ecEdVEeFqkojSp7TxdmhRFzIz4KEqiLFruU6ms4pE4K7vkSfHbRDuIJYKKI2sNHGEVgYplHqcIS34kh2ffvNPYOC6ycwCKCEuc--HWQdk3BN57dIOQ-qqN0XEY1Ne2d5UgIvc0ZaB5HcGJ_6WMDdYFmsyXBR7ezaSb-vdNUpY6ETRJ1UnSl2rR66-LC6alUNSoLSqlZqkK33fwYp8wA9U2UmVBV5-Y-ZKGX9_abVZatqhC7ABd-uLreoG37JUN9qO3LYCBw3uhYd4xp9wqRnFMSDFhFRp9bRTYOAmCpdmQo3mMliBWo_c46nyl0pyEDmW2PfTOK6dhI80juPp55fYkHq7CmQQGvvu7fVCEBmjFTm0oqAO1Kw17drjoadJ2WMQgaqSJcrYnok1usTqQB5_1ZYHsvbAgsE2e13Y5E-jwKLVG8hUHAhZYC99oJnKsVBKZYrHnDbmkCXT0L9oshHFc2ID-6xuQ4B0eLhFH7AlhvueDF1ekMmDxwrmfPnIOHb1VmQOr2sTuH9USVqAZy79OKsHl9tXH8w9bP0IesVMmJRiIa0zQA2hZBd8slth9qZs5P79uac2dS9z8u0A-fZnVT0HpZ-cWqm-IVFaeEbqKSwkT0Hj7La1Mrfc4oqK60nX5S9P6FKqBebSYOj0iznUODqoRrV9s_Dit6ZSOBmIZQCA-anl5ylqI1RGj3XdW6ksbwwYa0gcF2FAFIee40-ZJ3edazGjMFjW4yQDMaOWYzvvzyg3PxuJmcT3iPsiERd3Ri6urZUSPb3bfbvIkRFCaLJePbYgQd7o45zrpY0qWY3ABz6Oyvz-pAciO_JpGm_oEqTvqLbD_vwyDBxu8Qu1gIY6tusIMem-8n9PnvG4kKCHrIDBB-_jca564YVn0pfv4Re-8eEuWFM5W2RxOXw8OMkHAHgmNowsnGU7rtbVl0PLcPOUIfI14XKfWGaqLLvMCCAboRLUxH7NKD70tMi1Gvkp-0IUoAQ5ax1RsG2BQiR4du_gMUl7XmGLIQoieOPvcaFG1m2EL1tx6yFe10uJpslwIz6R6Y_c-dZFTzL3QshovUYuOOXMhZC-zdnKnb-_PbVY0A==",
  "id": "rs_07f1926e658af0d6016ab4540d047c87d0807fc50ff11707f9",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The settled gripper reading is 0.009, confirming the jaws closed empty inside the bowl. I’m reopening and lifting; the next attempt will straddle one rim with one jaw inside and one outside instead of centering in the cavity.\"}",
  "call_id": "call_MkxtI1QauvHksnVV3vkXWlNb",
  "id": "fc_07f1926e658af0d6016ab4540d320887d08ba3a8044d0a7ee8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MkxtI1QauvHksnVV3vkXWlNb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.5326, 0.8005, -0.0181, -0.4435, -0.3416, 0.9947, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3873 left_y=-0.1286 left_z=0.1003 left_yaw=0.0251 left_pitch=-0.092 left_roll=0.0388 left_gripper=0.9947 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -7.9248, 9.265, 1.6386, -0.2466, -0.0171, -0.1001, -0.0342, -1.2513, 7.0359, 1.7216, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84b1c537cf31d647c16dd47301310ee5fe84d510562d74fca2aa40154649b11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f2c9ff16cd0f0485ef426d60c6ba932a2e4cf6106f2f44512c665f79df388f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e666a64e1cfca76b02a4ab3e0d0b5eb341f05ecff8a7db88b9a7a3093159ccf",
      "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 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 1.4536, 0.9279, -0.1768, -0.4404, -0.3328, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3925 left_y=-0.1325 left_z=0.1548 left_yaw=0.0154 left_pitch=-0.0523 left_roll=0.0196 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [0.2803, -7.6923, 6.2564, 1.707, -0.022, 0.149, -0.0171, 0.0205, -0.8137, 7.0496, 1.7216, -0.0366, -0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7523, 0.6533, 0.3767, -0.4458, -0.3374, 0.009, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3913 left_y=-0.1304 left_z=0.0291 left_yaw=0.0234 left_pitch=-0.0674 left_roll=0.0291 left_gripper=0.009 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0005 right_pitch=-0.0172 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -7.9658, 5.7368, 1.5116, -0.1538, -0.0073, 0.6764, -0.0342, -1.1282, 7.0359, 1.7314, -0.0366, -0.0708, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.5326, 0.8005, -0.0181, -0.4435, -0.3416, 0.9947, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3873 left_y=-0.1286 left_z=0.1003 left_yaw=0.0251 left_pitch=-0.092 left_roll=0.0388 left_gripper=0.9947 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -7.9248, 9.265, 1.6386, -0.2466, -0.0171, -0.1001, -0.0342, -1.2513, 7.0359, 1.7216, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84b1c537cf31d647c16dd47301310ee5fe84d510562d74fca2aa40154649b11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f2c9ff16cd0f0485ef426d60c6ba932a2e4cf6106f2f44512c665f79df388f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e666a64e1cfca76b02a4ab3e0d0b5eb341f05ecff8a7db88b9a7a3093159ccf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQRTCKffHcXZo0w7X7WD9MrqB1hHb3BFVWOK2TDIZfyGqrDoYt8-2PFimfYtyUNa4Mu2j-N9t24eJtV9Q5-2_YgXiSFPZFYifQnpnbG_OAtjWGqOPBJQSdZKwjX8gJxyWH5rB0qrlvi-nKSArdV7o_NUqBL_9t7UzVXWlyu-OQfx6w3ckRa2w_T7NKIjXawoKrEnkVacrpa0oTpsMEoGVqSfNS2YU_knbDbY1PhajCKCCkb89ri0g-n7wchmS267j6kZgorSjxANnfoWmvWH-s0No-6M81NdpppOEFnoPToTFCOtSdyN_u3cMBSnMXtMvWnSjEktZOuErgz4KAfcaueE2IVoQBOelCks96aFJmQ3OGRYSChsKJQijTrBNqNba0kN9UW75Z0aQCIs-Hw_2pn3532YuztVQu4DMTbsGOJkk1BeUpB6ozat3ifIDdCn9nWKCiazxTlsPVNu9h6xJbeMWvdEoUZklYyafJoJhe8HyN3VojG5cznTz62rQdVUsYamKAxZ22UuBB_sVisaIAdHVZ4PUoVoL6fWfW6UBcIMKfHGVtfZRnJA_-c1yHILrR_3OcMfbDWEwAU-8U8idyfA0BfKsNo1pl2bDtmmtvWfn8MB4gkVkJ4yf-f7cgyRZ56N_RZvRuhiOPyfRXluOBSF8JVkK3GuVeqjpEOEkzKb1Zo_K0MbHaByVDJSKi7GMtum3lImYTN5JblJMqYZLZzDofiXNnYtlR9BoE0VFAA_BOSivtyX8Vu23eQZghXpmlY8hTFGZ9Q135fcyCqNZwfLdZqJsaanZ7gc5DtZaogBaccwNyytsZYSLe3GUJrhVmLsUWEMb4_Nfg9SczhCbbRWz8nv4jkBZZGIDKa1HWjZfGgrInzqyNHYD_n6n4jvVt0MOMq6SUJ2Ae_o-7nlY7LF7nRptt-QTEdwNlVfR4N5nOXFROkWWuVb9WTZYF0jjD4A6wCI0YsuazVaS7VonpwJxEqGYP46SyFKVacCh5fYpGJFvqMPblSpvoz4QBrMFwnr77j7xHwWPLHyVFWB_JLTIu5-WShnwt5fHyil_vZDpm7-tyCZP5DucOc1RislhoIVqHK_VVP_9QyRhB53E3yDAPdbw54G7KQ9JahvzjdSxgSrQvitRl1XneyYuJlSSrZJvguOA9XXGTOBbm3PaJcn0WeAgY55uyQNvgsSUXHWVVpefdVbLWvopNToz2LI60hJLWWkBS4WDxF8gIHpzLe-UgI7vGVy3GmYDErY4FAwBCUlbtQsJyKO-ZJMW8rdOCZnUvgOE5y4lsaImVJLidljMdUDFFu_9rQfFy9N6IdJWj6_hVN5D_B45m9XXdAOIpNruOWI674Sp4ymucgzS1Zi3binSFBAJNfS_QJp7gQxWAWP2W7aYGSXig4flNTsvBCjmY8dIuSi32p2wtWffhr_PkQsm32pzgrK8eeMAJeuk0=",
  "id": "rs_07f1926e658af0d6016ab454103cf887d0903eb8c4e539768d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.1},\"note\":\"With the gripper reopened, the cyan bowl is again centered between the jaws. I’m offsetting the grasp point about 3 cm toward the bowl’s left rim so that the two jaws approach from opposite sides of that rim.\"}",
  "call_id": "call_La2QknlJq1QystI1B4yFCBNa",
  "id": "fc_07f1926e658af0d6016ab454109fa087d0950fa306968dfe81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_La2QknlJq1QystI1B4yFCBNa",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4389, 1.5112, 0.7567, -0.0143, -0.3988, -0.3065, 0.9957, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3849 left_y=-0.1009 left_z=0.0897 left_yaw=0.0491 left_pitch=-0.1245 left_roll=0.0486 left_gripper=0.9957 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.5265, 6.5983, 1.7851, -0.0513, 0.1099, 0.0855, 0.0752, -1.1966, 7.0359, 1.7753, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc75b1fae41e9e85821902066fe63bc25f099f95fbd567fe5dbb37aabc46026b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a29d6a7da28d1d0f2d99740febd041a3fd915bd396fc84f5a82b5902886114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923ad90558ecd5d1c3920ee68a1e8d4a1c0b9b7abb4e3e5a848a17390e0be38d",
      "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 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7405, 0.6617, 0.3752, -0.4484, -0.3355, 0.9994, -0.0219, 0.7986, 0.6003, -0.3931, -0.0166, -0.0235, 0.9967]\nstate[eef_state]: left_x=0.3945 left_y=-0.1318 left_z=0.0364 left_yaw=0.0239 left_pitch=-0.0505 left_roll=0.0225 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1743 right_yaw=0.0002 right_pitch=-0.0168 right_roll=-0.0024 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -5.8735, 3.5897, 0.6911, 0.105, 0.0269, -0.0269, -0.1436, -1.2923, 7.3504, 1.7021, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.5326, 0.8005, -0.0181, -0.4435, -0.3416, 0.9947, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3873 left_y=-0.1286 left_z=0.1003 left_yaw=0.0251 left_pitch=-0.092 left_roll=0.0388 left_gripper=0.9947 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -7.9248, 9.265, 1.6386, -0.2466, -0.0171, -0.1001, -0.0342, -1.2513, 7.0359, 1.7216, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4389, 1.5112, 0.7567, -0.0143, -0.3988, -0.3065, 0.9957, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3849 left_y=-0.1009 left_z=0.0897 left_yaw=0.0491 left_pitch=-0.1245 left_roll=0.0486 left_gripper=0.9957 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.5265, 6.5983, 1.7851, -0.0513, 0.1099, 0.0855, 0.0752, -1.1966, 7.0359, 1.7753, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc75b1fae41e9e85821902066fe63bc25f099f95fbd567fe5dbb37aabc46026b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a29d6a7da28d1d0f2d99740febd041a3fd915bd396fc84f5a82b5902886114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923ad90558ecd5d1c3920ee68a1e8d4a1c0b9b7abb4e3e5a848a17390e0be38d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07f1926e658af0d6016ab45412f39487d08c1d49f620e5badc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQZBYBP8yvyxyDpfXvmZCs-a4J3Tleg-0NJGeYVdfXZjwAEJvVAPmx473o_NqSvR18J8XcUC3YxAdM11Xt4hiEBoi_DM-wf_zpBU44dR8q32yJxzOXqqARe_CE4fqr9RcrLEfC6wElYT9_yjrVhSuPWNJTbqfDmlPNNvebLgWJ3DV9K4hX0V96n-3_YGXb_60u8WDLhO3QPOex4AUNsnyZwrKzbfk_RJGHqHk2S8P9xzLKbWYrJYfhuwAI-VxoCzjbvKVEhnjsa8_nz4lHUZl23VW9BlSX8zDxfximvNZSyPFCLlfmpn3hSYTqCoBWotXhn9uH3aB68qTB00rNU7HkSD_S05V2b1y9ArQeB5RsL9W5eyxCc_wpj7_9ScQAsKhbv10D-YW2vpRmL9Bp5hnYdeFrjZ5h-mQaB2ThZQdrFhs9voz_-J0ltT-UECWXIpl06yExKvxZtWLgOljkOq8O4GJffd-DJBEqSq7EO2dXipoZ5p2eMSRRoSzbTuo_EgPwjaN8EHbgb7a-pbg3PYMcpkeTBrI15NuITjj-Lq-Ct5AD_LOtU8XbQp8wp5pQcUQnkydqGTIUat-9Tar0AaB5zRq73Q8LqlyEpJdOFghOQuIpGnl-sXaQ0HBDUtiJBDw5P6Iopk5TojF0uVDxT7cMnUpVXiSbtWb-XL8kUZsyedAZF6mSQ45REPBcluN5lLrIv9LiY2w5yzOQAmOEi1MvMbetO6aaeDyY_l1UQSgh9chv-8nu7KiZx3pIeYq9qBbF7VoppCplUUgyET8YKRwWsEhVY7iB7RbU6_eA7B9vWdxGuZdQ0fPEadZzS2cGcZCozEz0A5Z7SnF9re7P50OaOt2nZ759CX9OV9BMvU8pInybq1ou7q8v7wW7eVxQj3ER5Gvskq5aqPNJZsCJxDlaib5IvznE02XJQjpddn11DUrhE12G9FvvKWWAuAJlLXcdvNy1KdGMo8p1bvJ8gAoApoJvYrHyOr7KIaETK_YAXGnS1qPwjTpYlgg2i7QTGXWQ6Ba9JtJz86hiPj4Qozq00dBiofzInOZFY_YNoMtvnHzy0Ae04WkJ8DiaMBPdKUc_3ukblFmje_GEaxsNBcUDW29-PRLP68EPxL3cWrW_J0aMR_QHeIrKlwFMEB9AWjHDNF_Z0p57p9EXC5pFZy93dshKnWEXTY-1I3WM-mY-UtrbF1wC6c4Jluo1GX3YobJf24ewpHZ9e_1MnGgSNjqHBpo_3V8s-vHE_FMwgmWIlNG_FIZZBSXPzK9hbuAObtPMkc3MvPvt5H6VK7hr05fXlyS0gGx0rmgSxc-WUK4desZUvd83lcOdA17QPM_5LuwCsavwnK9EZgk8dTnrVQV47nIPW23PcP7TcP4LhiIgBNZjX0Ct-ejDsN8QEv5Gw6CxHu8fyP6h08_xMqEYysn20_ylqIs8CQToxCExCKNMrIE-fh6OdEoH0AO9I22uWZ3-bUakWrBmbv9FfwiaoebbflbdbEhAsHlvpoSbUusXnNGh6rY7l23Xnki3iZ14fymGRqSiQbgZf4vV15PpdOjdEFg==",
  "id": "rs_07f1926e658af0d6016ab45418676887d09d71a0f1825e81a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The lateral shift now places the bowl center about 3 cm to the right of the jaw column, which should put the left jaw outside the near rim and the right jaw inside it. I’m descending to the same low grasp height before closing.\"}",
  "call_id": "call_Rxpz80JhD17kryDg5QV2apG7",
  "id": "fc_07f1926e658af0d6016ab4541908c087d0952ee16e580b2f38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rxpz80JhD17kryDg5QV2apG7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5032, 0.7475, -0.0113, -0.3889, -0.2878, 0.9957, -0.0219, 0.8024, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3845 left_y=-0.0955 left_z=0.0891 left_yaw=0.0473 left_pitch=-0.1266 left_roll=0.056 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0214 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.9111, 6.3248, 1.746, -0.0611, 0.1099, -0.0024, -0.0752, -1.5932, 7.1863, 1.7411, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63101c6207d95d51bc922dcac69faf14c81f5893966a898b6524e07676c4f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b227872bcfdaf8fdc66c21eed06ae46e6caf430a552d75a776a24d3c0925e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87462f82db1173ae39cb8e58acebdd0de69374ac352ccfa8ac29922f0f000cee",
      "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 28 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.7523, 0.6533, 0.3767, -0.4458, -0.3374, 0.009, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3913 left_y=-0.1304 left_z=0.0291 left_yaw=0.0234 left_pitch=-0.0674 left_roll=0.0291 left_gripper=0.009 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0005 right_pitch=-0.0172 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -7.9658, 5.7368, 1.5116, -0.1538, -0.0073, 0.6764, -0.0342, -1.1282, 7.0359, 1.7314, -0.0366, -0.0708, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4389, 1.5112, 0.7567, -0.0143, -0.3988, -0.3065, 0.9957, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3849 left_y=-0.1009 left_z=0.0897 left_yaw=0.0491 left_pitch=-0.1245 left_roll=0.0486 left_gripper=0.9957 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.5265, 6.5983, 1.7851, -0.0513, 0.1099, 0.0855, 0.0752, -1.1966, 7.0359, 1.7753, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5032, 0.7475, -0.0113, -0.3889, -0.2878, 0.9957, -0.0219, 0.8024, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3845 left_y=-0.0955 left_z=0.0891 left_yaw=0.0473 left_pitch=-0.1266 left_roll=0.056 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0214 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.9111, 6.3248, 1.746, -0.0611, 0.1099, -0.0024, -0.0752, -1.5932, 7.1863, 1.7411, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63101c6207d95d51bc922dcac69faf14c81f5893966a898b6524e07676c4f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b227872bcfdaf8fdc66c21eed06ae46e6caf430a552d75a776a24d3c0925e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87462f82db1173ae39cb8e58acebdd0de69374ac352ccfa8ac29922f0f000cee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQewXlFbn35mGZn-h7NBMZFVqi7YgRMPhhKXaa2wOLgtOaWjzvtUSN1bRYV_2lhs3eV1u3p2-R1gM_9gHGPzTGSwpp3sblBGdZI75Yi8k5NWPF9LU5-VjMh8JjgpweDBw0k5jaQynFvG6Ygm1VXsbHKRqaNL4YmWh2_B4Z-oisC4_UleN38ZQkX99v1EW7J745uLxEPpLyO9G_zsEjjMbKZnRoaiqHcqE_GoCFXBoSKR3FMU7J9IMR7dIujp7iC_DA-OGDtYrq_maRAANSTOkmmUGZNBNxybhictsECSj6gAKsNlSqgWwzgZhZ_R2sTer1OyGyfyR-Hn4uBz6oFYfMqjmeHBmxvUXxKSKaNg3h3B2eJMPO8-VrwzYirALcbOi506ab_zm_W4P3dURFncq1k7Mc7YjMM3OeatmyFFaOSJ9F5l1LFB86b5P0rFCkRXWMEuk3LBIeqsb9Psz07iYfTH74pOBgF-7p6Aww8InPuKliTBFJegcey2CPNYWFsG6TecBM7Y_7AInR3Y9vAIwNvCpq0WpMDIegsIEEG0KPzt1NaZo4kDvDFQKqZapejiUwsQxERpzfebK2Pb2Tnuao2fe_SC3n_7i8SPgbcxL99yHVByNAKawaJRoET2FqJPDt0D0KDxj8RPv0fon7psQLPtGTR5ttivCEtjHKdejeaugyB7Ff5syKJfjofWolkD6gfnOyw0So9W2YGS-X7ySHklZtWxG7ebXiiOOcDbTKSQbg8DpMyi09UvXIMpXH1QoPybfYV6InWe6bzNI6-a-XUyPHuiZgXd0shSlIEh9ghbRg5E5CcAPuAqrkiwDiYIGwJuKZDOmlkzjQoXLvZZ9EyYyfpokxXNapiuoVRta4_6q0B45TTceOqiaV4o_4HecoGk8dTuq-XuBRV4ItNpawP8r4n7cyk-PKIF5TZZbLzAlhWZuEjzcO4OCImbQRGhpbxIQ_kS6s7tXAd-NgK0E98MVbQAaR0YAb3MZwH3riLsnEtI7VsKoeWlJGeEW3EcOgLtzKtLpe_xA2q4tBsnztVcDQaRI7jJHX5d3nYsIu1gvqm20UZ_1Fbkt8IWaE51ZnxFG4HKqccxCTdnfnocczOQ_cPz3E2YffTND022R8NWyi49KcpXw7hSXreDC0ps9jFi70UXYNAlfmGmxqPtTK-HOumh19utRWV0lxHNOlyjIqE6qzxJWw1fgKXi1saGE5U6HlY4NH3ad9M2hIUA4WMY3hmKeJOhrxKVeeLrelKbZiS25jlllLShtjlpXx2b0rTct0m5WGEqP--044_wgK_cTU_uALkJlhZSafPsgfzaMW1OiL_E93O7ktjRYzoZwBd040KB84Y3WOzl5m4a-6nJMkSZJw4d4bh861feaLB5Fl3MfBfBfCS1WsaDm0JgqAvAI8UAk5XWha6kwW1srbbFrqN9NeA1e_ZYw_fGIXCOiEaeOtePWkWXdoQfVxa7sQKTsRoL211B3ZWmGGXbC_fn7zOkQd4mgS6iQ_VC4C4PZk09YHW-6M7QhClKMgaXp8TyliUHWajnI2mU9rIRKRJ2g0MBUptyt6nmelQLrYqjrjADosh1335WqmHmyY9Ca9yoSaX8-LO0clrhHst9Z1SL--eXToDw86snUsnYbPQ4cDHJJP4Dn5e9doFl1_2Dgf-gcm6XJtiyFoov68BkvIfvX33Yw2nGqFYY7VwZHG38h2o0mG54rQQ98SRQC-foI9fYD-kOQtso47Qq1FSa3oDUfL8hKJGU5JcDhLG9o9F6qSTqKrDER9CFa-QePGPL9aBWaRR6kckPA354YxUl9yjAQ==",
  "id": "rs_07f1926e658af0d6016ab4541c4c6087d0bc6cc73c511b133b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈0.089 rather than reaching the low target, indicating a fingertip has contacted the raised rim at the intended offset. I’m closing here to clamp that rim between the inner and outer jaw.\"}",
  "call_id": "call_iA9FH5L2sjuTNrhUmufSnhHt",
  "id": "fc_07f1926e658af0d6016ab4541d6f7c87d08cd8300a465f4430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iA9FH5L2sjuTNrhUmufSnhHt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5036, 0.7475, -0.0193, -0.3897, -0.2882, 0.0083, -0.0219, 0.8028, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3833 left_y=-0.0948 left_z=0.0877 left_yaw=0.0486 left_pitch=-0.1338 left_roll=0.06 left_gripper=0.0083 right_x=0.293 right_y=0.0001 right_z=0.1729 right_yaw=0.0004 right_pitch=-0.0217 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -6.1197, 6.2017, 1.5897, -0.1294, -0.0024, 0.6276, -0.1026, -1.2923, 7.0359, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f415c465c5649e9edda099bcbd060b7b7289fae206eb7f8e991e8fcb570548bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8784b2a552bf05795c6d2abacdf7faa478d8acebffd80f2637434dc4f38416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542f5585041cf9b670b06734557338e7e8be4811238637b2310969cb81d5a867",
      "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 24 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.5326, 0.8005, -0.0181, -0.4435, -0.3416, 0.9947, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3873 left_y=-0.1286 left_z=0.1003 left_yaw=0.0251 left_pitch=-0.092 left_roll=0.0388 left_gripper=0.9947 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -7.9248, 9.265, 1.6386, -0.2466, -0.0171, -0.1001, -0.0342, -1.2513, 7.0359, 1.7216, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5032, 0.7475, -0.0113, -0.3889, -0.2878, 0.9957, -0.0219, 0.8024, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3845 left_y=-0.0955 left_z=0.0891 left_yaw=0.0473 left_pitch=-0.1266 left_roll=0.056 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0214 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.9111, 6.3248, 1.746, -0.0611, 0.1099, -0.0024, -0.0752, -1.5932, 7.1863, 1.7411, -0.0366, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5036, 0.7475, -0.0193, -0.3897, -0.2882, 0.0083, -0.0219, 0.8028, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3833 left_y=-0.0948 left_z=0.0877 left_yaw=0.0486 left_pitch=-0.1338 left_roll=0.06 left_gripper=0.0083 right_x=0.293 right_y=0.0001 right_z=0.1729 right_yaw=0.0004 right_pitch=-0.0217 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -6.1197, 6.2017, 1.5897, -0.1294, -0.0024, 0.6276, -0.1026, -1.2923, 7.0359, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f415c465c5649e9edda099bcbd060b7b7289fae206eb7f8e991e8fcb570548bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b8784b2a552bf05795c6d2abacdf7faa478d8acebffd80f2637434dc4f38416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542f5585041cf9b670b06734557338e7e8be4811238637b2310969cb81d5a867",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQkQaKVWgL3ZkO7bgsWDckG6Ood2Cz2_egxyUkmvIRbPIPygxXejNj2_cJOGCxDfgNUmqG5SZw0Atd8Mtdt4_hWFhlY4JMeVOYG9xclMnfT_Csw6yJFB6pJGsMnpRhmZinEJ8nkBpxr0JXyaoig8SwRu0JBc2j167r27hTHV7CSBoehrY8nK-jlkgk2kJ5gkSdV4N_Z0kwPpozq4X5v2udp4-caYDMxelr4hNa2AtoycACrV3pd4Eeu-IjaILY37pOx71u_7a67xIc_cf2whmvHra4724rbMivviOft7pUgjxGhoNmhCtJ6BVd8ZY5-l3ny-q1qyzWgeDKQZpYpZLz5BHRFc_gR-QlizMj2Pq7TbT_mPRTLB3F0ZUf1AoMIoYuNjBMArql2KbnHPRd7k8EaErLJ9V4mD5zUaHxAHw4qt0dY0MI6Bw-kLnGVXJIZZeAHa093_VVlWNa7MQ_SlhH24LpJn4j5qWtmva6kyaFbGwf1oWpdd0l9qMcprC5SR5xrwodmCQsTO9r4jDY_zqkVHDzXEBY-eksTcVd3ZGbBW9GfNKawrV7WviQCiOQHUzMbK3SN0ZqxmDk6cmYZSARlmgwJ84p3BPLGLJqfLCbL5ZO2HwZf3x-Jo_t-cRhdzWrNUaYz_gfM6Xf7douYbkyCJq2MPlVj3EnmVCR9nsiOXLuNi-isjX2UfOHvj9KNZwNqJJDVA2wjQiUeNJMCM6Yc3y8P7qS7_OJyRc_sqPE4hZ3rfp6Z7HeKyxkOZzJZXRHGuOfSabPvVPSTkM4QPDFLVxET3fRtmpXY3ox6VtUZU6IRuKkrjS0ilUhLZbayGOv4iRNQl8eX0RTdp85BcDpan4Cxj8zMHY39Ca6Z4fpr25MNcJPo3WJ4u2k8P5ExD7sjafBj0N0N3jk4QrJ0fFPylpY4bVoKjNO7pqgXVdlhLtbz1uSXPkeXKH9fEOqa4DzUgEIN-BPV_FH-oWEro6g3alINbquxD7FRqF6FiCJbTsUY8I8SmYM1424_JIzmiI947bThGzevSHtZQUWaPPzBHiXe3P3EyuPPfY6jvwLkHljFwh0rtXSRHrTviMKZyjbiycrGNxWEyLR-5oK5vn9atpCdRcas3EGkQ9jh0bZ_4_nHm4STJynwiLgdZFJPddPB9k1UB-7CaZX1FGUOcIjBPUYDHqUe6ysktEQd2PImsKuLkmP_cn4S89JAaVsjW4PbF_iTKXeaIH4M64xEdBXfUZzS2VrczOn678TISgyBVLvq9rqYEckJ1lV1gsOtkwIXrlYgN9XSToDNOUw70kSKIvjHzaFECnMs6APCQmAUz-tNCi0vYQolFfFu-C-qrR4Bs58rtvCFIwzDRtNAva3jKVK1VIz9gg-CihO0YQsdQTsQ2W9G0n3i6-uQzz4kK8PY1IjLRvcJqysrI4ywY3uUswRFjZMDFyzhhUkCdSGwbW3O0qdgobgGyBmAf3oLe12vL5T5SYeEecW_coH5IGmm9nHkowz7Q_XYWZ4i1jMRN08z2V6ZPvvo6fnHf1YgWbDrZ5Qlfj3S4v6F64AU1EDk1UPh09fBgs1towxJFg2J57nKQmKR6yAHVYQ47l9Z9RpaxWQ_IXdvUjrVoeeSN_jzZF2UiGL6hFsCDGl9lX6pHPVTaSvcIQ7LE2zWv_yWe4ELKlhu8b3bx82XbDN51dcK18_G6CmrgtDTB5rM30dK_LoRpAI9UjR7xQu5fNkastYHi2V4WnrAVvxhz2kpkifGSUerEJFHCF28PEJVf1mQRZML2vpxo4aZt59kRFIiy3eKJhWhriPAEQUg_pmtNXMoaBBWinRp_Peb9Lpjb8WmX-N9QEH6JmwRX4LW-72p-L1Gr6yfKEpBZj0RUDjN6a5aCrQJ8RubAPKRt-eQUL0cF2vu3DPlVHHNSGhScIXIPLfZ1C_WqhTjeF2T7jHbkEaB5KP_8uPjAMrhpNyi7DxQenuUoY313UnBiHOsB7zhemI77dUt1aiOwgsCF4NYoJ9H610M0rsfCr99SWIvPX6SoO9rYdKVXRuWQgq8EeaEzlwsuAzCm0gBkgT3EdxXwa3NuBVXOWz58kcYVLMRw7pcB5fBJeRJ4pf_jWk3JFuQmYlczTm6ViQ0UikYIJwT11ycpoG6f6LSa3GG_d9DqWOuChnl8K4mx9yVeO9896GfgUqdD9usQCB0kIws40d50IQ8m0nbQ9nYmqRmVCF-AM0OTfUaOwq4qYwSEmyOrKh_45UwSQciCeg1_85BYBzMIHQV4UvB_exBWOUpIL6lMESCayE_CPsbC0WFneJcmIx6qBv0WzI49AN4xwCe3rPV8uaTuGRNMpJqvk1vvYRQ2pF49E6VzvZoGLWhgzZ1AUyBqihkX_BruJETS9Gpm5WMCcMa5Bw6h8ctBDdZGJOitQlwSvI4rGrWYhOk_kh9a_60TAVOK-SRJrlpxohQ_flxZvRdvNrVCfHbxp_t5TCT3qLX1iIml91hS8vLNeBP31wqlJd-MECG7N7XYksf_-FkjenlenvsSH67c3OaoCGIXesO9Op863PqgXq3F5zcmGMVHwj2yKTd7t6AM5H1zwgqiOsnhDIdVXotOoAZC58q7apVdBpBw7tqrEoY9HQgz2wVS2YSNEgeSQ4sq4TouMT94AzHMmdaB3vAHWRKq_IQNMwyYj16HaYjvv0uuJV73-7lyU9pxovr4IcZ0Q8tVk7J-FcoYba9cva22cw9JWk6BVDE-3SRJRBYRzGD161UTtU-g8-bpqOHKcPZeQjyjFHzxSDBPb7xY-bO4EgqGptVzMiiatABvT-n7yF1LKPceo_jrneF3iSqlLciXliYNn6pAmueyo5xpRrxUCIvUMf06c3oN018v4T2MN-RbvmFwXHCe7W9LxCxkW00MxxE3VBiGnYYLZTnACynOfOWEr4LtV6qd0bPLgqaIdo9MzGhjQckwaLdUGYhn4M7mL6nGOiFfPK4eLRTiwsr7GJHeQ2EekTVYW-FLNjkgoCkecEJCi-jNx5Idte0U4R1XbVMy2B7iHXhLPpURTz0B8d4ZTqbdTFrA2FoMHRXcJM8vp0kDb3WTL8JS9dmYB7l6V76kdtlyfRIYw==",
  "id": "rs_07f1926e658af0d6016ab45420218c87d09bd281839477b679",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The gripper again settled at 0.008, so the first offset still left the closing midpoint inside the bowl and both jaws converged without trapping the rim. I’m reopening and lifting, then I’ll move the closing midpoint farther outward until it lies directly on the rim.\"}",
  "call_id": "call_4YUe3gtDHI43AY84BP8XAccz",
  "id": "fc_07f1926e658af0d6016ab45423a09887d096433a2a47d1396c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4YUe3gtDHI43AY84BP8XAccz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.4395, 0.8577, -0.2379, -0.3897, -0.2962, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3779 left_y=-0.0924 left_z=0.1187 left_yaw=0.0562 left_pitch=-0.1728 left_roll=0.0744 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -7.8154, 9.6889, 1.4872, -0.1978, 0.0562, -0.0757, -0.2256, -1.4154, 7.0632, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a310405fb71b76a8a602aff0e97fcd54b1bdb495684c861d371e8d8aee578790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803c67cba69f263c03f88189dc69cabd19f7dc7200de9ced52d3fd263f4f29ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64869fdb5a08112a2cec0508a6ad18d44328e9d9c5a27feda5dae250ce9bf8b",
      "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 28 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4389, 1.5112, 0.7567, -0.0143, -0.3988, -0.3065, 0.9957, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3849 left_y=-0.1009 left_z=0.0897 left_yaw=0.0491 left_pitch=-0.1245 left_roll=0.0486 left_gripper=0.9957 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.0027 right_gripper=0.9967\nstate[joint_eff]: [-0.253, -8.5265, 6.5983, 1.7851, -0.0513, 0.1099, 0.0855, 0.0752, -1.1966, 7.0359, 1.7753, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5036, 0.7475, -0.0193, -0.3897, -0.2882, 0.0083, -0.0219, 0.8028, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3833 left_y=-0.0948 left_z=0.0877 left_yaw=0.0486 left_pitch=-0.1338 left_roll=0.06 left_gripper=0.0083 right_x=0.293 right_y=0.0001 right_z=0.1729 right_yaw=0.0004 right_pitch=-0.0217 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -6.1197, 6.2017, 1.5897, -0.1294, -0.0024, 0.6276, -0.1026, -1.2923, 7.0359, 1.7216, -0.0513, -0.0659, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.4395, 0.8577, -0.2379, -0.3897, -0.2962, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3779 left_y=-0.0924 left_z=0.1187 left_yaw=0.0562 left_pitch=-0.1728 left_roll=0.0744 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -7.8154, 9.6889, 1.4872, -0.1978, 0.0562, -0.0757, -0.2256, -1.4154, 7.0632, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a310405fb71b76a8a602aff0e97fcd54b1bdb495684c861d371e8d8aee578790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803c67cba69f263c03f88189dc69cabd19f7dc7200de9ced52d3fd263f4f29ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64869fdb5a08112a2cec0508a6ad18d44328e9d9c5a27feda5dae250ce9bf8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQnwsnPZ29qWsImv8PLt6CSxaVGUh3RmQc0tahTtbbe-VmPkrd8j7NR91zaX9VcsIniN0wdItklf_BBhpWktE4lHOUazakjKlJ_l3epsUijpJZ1MO5I8v0DIq9pOrZRjS89TpBj3sGoXAZLKm0X_OprV8S6NFItDLTkjV1aJSSlXzO4y04Eze6MBf88FfBJUKTg0ofcg-uahdMYfi2Ryq6qC86mw3cx6xMsO58wtj2WHSHQ_LuEpNXwWyT56TBgUOXG9WWFcXoVZLbXf7pXj5dlXu2fQwzXwhzT1uIovGY3E7rTUit6ARQiEg_f2uSjaQcTyrGLUShQmsJnb90CvjJVVxBAUykRBeP1ZSW5SDCE8j3z0kFZj0Z1wF0AXavaKtoF0MPLXgPQWHaF7rBkqFCXS3bfPzUeBhlji8WjKU873l3_VtjU0rTw1TfQLtcRwTLKX-vK4LuGGRe4sYfA5ptq6qDAXUzDX60s5f_t-I7xSxeZsJbfZfG7vZgCxYgGEDrmMtcu0SEFpA53aG7ncnIFGbNF9Hn5C9wj9kmMplqJQqEaaM4yQG8ZU_GWmk24wjS9DjGGWuHPGTExZKffuczgOpZJtn627DLpIEU_ESt19umimPyb3Zc4iuPd29Hz4Km2IhnaEAUZ5Ii_YBZviNTGODJPTXyJ-0iELn40nGoECyjCZkjLnLqMXfCT8sFlFiAwsrpfOIqpyqmDkRGe3OOkvS9cH718ej6KMHSEycVS7jwCD-khfXMNq-5S77anvcU2EYTseYyquhj0qMSOTudmcL6ovAlhwvnzT3OYb2T1Qzo-eivn4C0Z7iNxuG3bQzWjLU0ZQk0s99I95hmMaDU1PN5vwo_LDYniiHfHsUkbRzg3msZwDWG41WA4S6XixSEPQauBLNrD5-LXAOgUgLhJnJS9sBNFDTrORLRh_sfKF5sMCG13cRWPdZJUWZZWdN09dWovkv_0aaUuzpHHkd9eJ2v7nllzedWAzSZatJsIihe7JBpitPr6zB2oeOf1L5WRCHrPiLhsOyfKhsULxf3zMdz2ct__NyOxULHfKyn4UlTghBYUuFKxySclQKzrQBUEPoltIC9EyCP-6lpAzPNjomgjaxkE4e5xmDNIbcXtTAbKGs55Lr6v6pByLcpDvcHy4_FAiJhOWKDjZqRjmk_pUc5MYCvWkcZpwfeZSRICSXrPiFU6WEYWr6-i3fyqkk_J8Y2FUsLWfdEcjYFFYi5k7qb9uSLO4wVDz_FmIgLzViD8h5IEUwtef7NttatOyuRLt6huQr4LHBUTu_z16CxBSvBng_DehuVQz5JrqC4vi5s70kXrm8yT9YOPWKTkTohhzcxRahgsUca6pnWbareunS7mmHpcPofSJvJMSBgnMbC2RCwYSg3TJmwGOc5y9WBX8qyzrjXVFyuZQCazGApd-xSSFkbTYx9DU3-fJP7jlnVAnSDdGoBrXKk6O8CJeDx1x6C-trSyd10F5RMxNUFCGNjasQSjWy8f_ZJAUMU58xbAciTdlVKbRTXuBQ608V95",
  "id": "rs_07f1926e658af0d6016ab454265a3887d0b27bd9fd3ff7829c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.07},\"note\":\"From the lifted wrist view, the cyan bowl’s left rim is still roughly 15–20 pixels left of the jaw midpoint. I’m shifting another 2 cm outward so that the midpoint of closure falls directly on the rim.\"}",
  "call_id": "call_fiFEp9uuUpp01vSQDv2WhLX4",
  "id": "fc_07f1926e658af0d6016ab454272f2c87d0bd3e1030ec213476",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fiFEp9uuUpp01vSQDv2WhLX4",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3801, 1.4281, 0.8413, -0.2409, -0.3614, -0.2726, 0.9957, -0.0219, 0.8043, 0.5999, -0.3939, -0.0166, -0.0242, 0.9967]\nstate[eef_state]: left_x=0.3764 left_y=-0.0793 left_z=0.1145 left_yaw=0.0636 left_pitch=-0.1903 left_roll=0.0767 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=0.0006 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [0.7316, -7.5692, 6.1333, 1.707, -0.0073, 0.1343, 0.0708, -0.2667, -1.306, 7.1179, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e5b885822bd03cc9698618cd63494c15ef7dcc24364ea3b2292d4f796dccfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087d0cdac8de70b332d2ed6ebdcf276d169a74565c820e3bad411d1270511620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdacf4b866339298488b2070c3c639e82efe02357499acdcc0c20c7af3e3c83",
      "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 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5032, 0.7475, -0.0113, -0.3889, -0.2878, 0.9957, -0.0219, 0.8024, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3845 left_y=-0.0955 left_z=0.0891 left_yaw=0.0473 left_pitch=-0.1266 left_roll=0.056 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0214 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -7.9111, 6.3248, 1.746, -0.0611, 0.1099, -0.0024, -0.0752, -1.5932, 7.1863, 1.7411, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.4395, 0.8577, -0.2379, -0.3897, -0.2962, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3779 left_y=-0.0924 left_z=0.1187 left_yaw=0.0562 left_pitch=-0.1728 left_roll=0.0744 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -7.8154, 9.6889, 1.4872, -0.1978, 0.0562, -0.0757, -0.2256, -1.4154, 7.0632, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3801, 1.4281, 0.8413, -0.2409, -0.3614, -0.2726, 0.9957, -0.0219, 0.8043, 0.5999, -0.3939, -0.0166, -0.0242, 0.9967]\nstate[eef_state]: left_x=0.3764 left_y=-0.0793 left_z=0.1145 left_yaw=0.0636 left_pitch=-0.1903 left_roll=0.0767 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=0.0006 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [0.7316, -7.5692, 6.1333, 1.707, -0.0073, 0.1343, 0.0708, -0.2667, -1.306, 7.1179, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e5b885822bd03cc9698618cd63494c15ef7dcc24364ea3b2292d4f796dccfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087d0cdac8de70b332d2ed6ebdcf276d169a74565c820e3bad411d1270511620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdacf4b866339298488b2070c3c639e82efe02357499acdcc0c20c7af3e3c83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQrNqK5DiKIa-9pjR1FF5EX_Q3jbGz0IJsyHI1l1xSOG7284NsfKNVt5BJcIx8LBl6JfwZXZQCz-XhJK3EpVchjwEWiw0L04CCmcCa-kpSfaCKW5lR7o965bZuZ7VKziIxD_jmt_8CTJ3nLNBAOb6SwgcMYnwS77mXYePFKFk5x6gEQyeJbJM5npb7PPgNwe9uO8d_f2LCbkEvNpF8q3xEalBidUmga3J5QHYE9k3OPuiCoV-q6iLdIdck99SQAl3FQNMKYE6px6IChWqiwjoJpEF5kOiL2uLI4soopf9TPxo0wLYiYtPG08jo8VrVj1FMnsTWX7akbBY3QUrbCBs7NQ3AxrzB5W850T2PR6t1wtCg0wtLpuXFtP8HuEWyIApB9oCGnOCGSp3EkHiLQ4S1gI9mQuZIRrYcXDf_HhyOI439kbJ3u-UrnrnF8kk1K0B5olZ3yvi8Kjpf3DJon2zWykW3RISCurBTjJQT4Ur4W-5GBBdd20ghZL_VpGuALMUrparfO82zoU89LTR4fItWo66OTQVvWk1jVOgUmM1bjvsdrLyuNiLyLFty0wKKTdW9dpBrNJ0qIlDy-V-IkAllCHe8ITmz4NqSuU9XJ4TD8LR5f4UQuOGPw7TYEuuitoAIxp_knprxyyrKbpLKUsDm-UfWIHjyTfKWCkomCtNKMb1SVPL30PstsBKNnjNvovRJgEA3RQfkQPVNuvnxEZgAXCXV6mywRx7gs5m3witBHuDjYNp2RsMHIsSYsZIj_yUpgRlQ-f8PErg5NlF7xJJjOlFV0yoySWnznzAKQV8wdn_5uq8aK2WFfh1UJT9KWbmZiSeEU-NU60s8l0DPtMtSzssajW8HijupS76FjwXu6_u9Hei1TzZq6YWTKL1knnpyn6W9FOsZObgBtJZwApYqLoREwjmgSFy7bOa1l6eY1Afz0dNzoBOkm9lfiv3AgTHT9jngd52gVwwaI3KrgGOR6h8hKa51BhQjlvDurETM9FTr6lTa0czsUZ8aa0XSXtdF8Mbt4ixHdL2KNVk4KqOw2I8XXPqwyySXs__1TT9Fvrx5KFX0D3edDagFWfuLkzaoHSy8p7K0vPP6oXzsfVkPzYsGgJr1wYt4WZv5ZDYZ0b9RyCefiY10oFXNyfM6qPsZwP9dwlTTwruWIvcLKlURz6R1p32ukQbqHeP1pIGeYnq8SATFduQbGVbm1AndSS0xJ-iOTgGYhRL3ILe34xFW4bZEKgrZWossZ0J8U6VY4KKpaIuvarFCkW9iZbHQkNca_dnV5Kgep-boUaq2vEAu6aK9jQwRKYv_-qdxRJV3ROunUqXmVhcloFljVvOqsG3enz9lDL39JJma-4Pqgx5kjMEp2bzLCaPTPLB-hI_jua_A=",
  "id": "rs_07f1926e658af0d6016ab45429dc9887d099be1c632fe15daa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The rim now runs through the jaw midpoint in the wrist view, with one open finger on each side of it. I’m descending until the fingers reach below the lip so the rim can be pinched securely.\"}",
  "call_id": "call_qVyNruJvOF49Bs3pK2CBXINS",
  "id": "fc_07f1926e658af0d6016ab4542a510487d09e55607ed884411f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qVyNruJvOF49Bs3pK2CBXINS",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2432, -0.3397, -0.2508, 0.9958, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3745 left_y=-0.0679 left_z=0.1082 left_yaw=0.0711 left_pitch=-0.2113 left_roll=0.0838 left_gripper=0.9958 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0225 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.5282, 6.2974, 1.6825, -0.1685, 0.0757, -0.0073, -0.335, -1.1556, 7.3094, 1.746, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f5b800db640b7dbdc51b32a586a2d005f2a7472a8e93cbb76e0cafce5b793d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a50adde58800de916456228472c18baab813ff0c11de934ce4b43b3a15ee51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47efca0967b1d90cf9eb4797e0c93fa66c94bfc89997ae21f20f25aca1818978",
      "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 37 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.5036, 0.7475, -0.0193, -0.3897, -0.2882, 0.0083, -0.0219, 0.8028, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3833 left_y=-0.0948 left_z=0.0877 left_yaw=0.0486 left_pitch=-0.1338 left_roll=0.06 left_gripper=0.0083 right_x=0.293 right_y=0.0001 right_z=0.1729 right_yaw=0.0004 right_pitch=-0.0217 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -6.1197, 6.2017, 1.5897, -0.1294, -0.0024, 0.6276, -0.1026, -1.2923, 7.0359, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3801, 1.4281, 0.8413, -0.2409, -0.3614, -0.2726, 0.9957, -0.0219, 0.8043, 0.5999, -0.3939, -0.0166, -0.0242, 0.9967]\nstate[eef_state]: left_x=0.3764 left_y=-0.0793 left_z=0.1145 left_yaw=0.0636 left_pitch=-0.1903 left_roll=0.0767 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=0.0006 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [0.7316, -7.5692, 6.1333, 1.707, -0.0073, 0.1343, 0.0708, -0.2667, -1.306, 7.1179, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2432, -0.3397, -0.2508, 0.9958, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3745 left_y=-0.0679 left_z=0.1082 left_yaw=0.0711 left_pitch=-0.2113 left_roll=0.0838 left_gripper=0.9958 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0225 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.5282, 6.2974, 1.6825, -0.1685, 0.0757, -0.0073, -0.335, -1.1556, 7.3094, 1.746, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f5b800db640b7dbdc51b32a586a2d005f2a7472a8e93cbb76e0cafce5b793d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a50adde58800de916456228472c18baab813ff0c11de934ce4b43b3a15ee51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47efca0967b1d90cf9eb4797e0c93fa66c94bfc89997ae21f20f25aca1818978",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQtcXsnQd68HYZNjVDnCRKldikgxni9cpc3V3J66wcoiBt4Tg_39MyznCdoo_Bv5wqO4rheCRI-Cg6W8LV1FLBrIrRO31eXwTnu_Rky8wOwXXHkf4yHnvhH1203YHlk-wNIDaCeCso3WcuMtDe3WxP51xJsv2hEu3cSsEX7Kq6ggnorEu_7I7TXSbOUI540-LShNtQJ-77byIeYIuNeq52zHLBCE38wexrERy7tshOY8XldypJnjLj4okZeKIkAkxr3xSRF9Qn7kLDf4mOV-_1gq-hcrKO0tn9msHhCuCN5DHE6QRyf_R06TkXCQewGIEVKgk0FnGgLZ4j9MQjfvTD41_0hOibajOEY3fiiqZVCP03NP2uGOzLaK9D_fAXvnCkelpLXXR91Ge1fSPNknoZROoRzJhSWUQRC_hT4LSbn-ko36ZZDkeDvNOtgLouUc9BSYvA7Sl-qS_SZvBsFrJi9wuGhQYoV8jF3hlrbRhMVmR2AnoF1ZHjQZZx5NTDEXf6cnSuhz42LbDOXKCXLtEkMa7ltGD2L51DKjSHzaqtfeFX7u77XARvIr26gWx1h018TNqoPkzdVpnBIT1o0mQlxfsoNIMF8DrC7Ct1p3QxAngSgtdRw_M2U71pA56if3WGNqCqb2fzul_6cLgrCkdcVZ-DzJCNKm9l8r6uMLLt8gCTmpA86HyKfvLUxvD95ZjeN5CcPH51xYWmjZjuNPQWD7JAOOdUuYfHplBdNI2gugmRDR743A5sXfcS8yg2DZKWFEko8iBHbTffNuSRm6AlaNgWzdURrh2d_2RA9vAVwFHS6uC8CdX-uSU9K0wpFaGWZkfstLxmBvAoLSs7-BVeMmYISJno_Z3Uo8x90H7zW1F870FqG36h0Lxv5iss5uLxRUNIxkUXitOmXsUOAB3l7ZhlE-EtAeTourR06tOLrE4EIt7Xg6EE9grwa_ZMUbL4j0-Md7C1SmqgXfvyrzfdhhXaFNUBodP-UejekNvOtT5mNLYZh3I5xys6-LgsN7WRsMBPrJbeFZIXjgVjUo8aDuDmzbqMl_4r0vqqzboJOSnmiOiYyq7987bQ35qEvGpAjh2NUJUPrkEdFOrCC_96AZdcptB3W-oEZTBFbuAycImGVcWYlFOGbzgMyxyWoe8pMCGvfSqcc1a0g5rxwi3_W1u-OAqQttHk_zsCPqkBOWWho-Z3D2hifuBTRnpLz1-1bGfQnQ6vPMLsqEQTgyWsY1SFDag7I5O7Dvq6eLlBsf6HZSdNsFTJfTB1TZ-pCqAJ9PRoLo_i00Kk_4kgX8G9GSENdbviecPlq0Jh2KAYPALsfx2BoYYlJaHrHGl4B7thZAOWI4WXRBaX4F0Rzz6PwgU_WxD-E2sR3C0iAcoCX_vn0SvW51Vo93YET74oPD6krjEAaaT49bNvKKLRNAvCNtw==",
  "id": "rs_07f1926e658af0d6016ab4542c845887d0a24474aab61a7241",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z≈0.108 as the fingers met the lip, and the lip is aligned with the closure midpoint rather than the bowl interior. I’m closing now to pinch the rim.\"}",
  "call_id": "call_C7BUQLSt0YOYevr7MyO4nGRV",
  "id": "fc_07f1926e658af0d6016ab4542cf4f487d0b79abddb3b560efb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C7BUQLSt0YOYevr7MyO4nGRV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2512, -0.3367, -0.252, 0.0084, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3731 left_y=-0.068 left_z=0.1068 left_yaw=0.07 left_pitch=-0.2195 left_roll=0.0842 left_gripper=0.0084 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -5.5179, 6.5436, 1.4823, -0.1929, -0.0122, 0.6276, -0.0889, -1.1145, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa5cb907c1c0c9da29711f66a304d316fc825f590e4d9c35330ea95afe5a8f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638c42ea9ca67da58d0ea35bea8a3cdc39a24ff1bd1ff40b6ae71afa487cb2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c350f9f9b709f220b453fad75d91e009642935d6bc408496a0d1bda1a50f9cbd",
      "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 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.4395, 0.8577, -0.2379, -0.3897, -0.2962, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0238, 0.9967]\nstate[eef_state]: left_x=0.3779 left_y=-0.0924 left_z=0.1187 left_yaw=0.0562 left_pitch=-0.1728 left_roll=0.0744 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0026 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -7.8154, 9.6889, 1.4872, -0.1978, 0.0562, -0.0757, -0.2256, -1.4154, 7.0632, 1.707, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2432, -0.3397, -0.2508, 0.9958, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3745 left_y=-0.0679 left_z=0.1082 left_yaw=0.0711 left_pitch=-0.2113 left_roll=0.0838 left_gripper=0.9958 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0225 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.5282, 6.2974, 1.6825, -0.1685, 0.0757, -0.0073, -0.335, -1.1556, 7.3094, 1.746, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2512, -0.3367, -0.252, 0.0084, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3731 left_y=-0.068 left_z=0.1068 left_yaw=0.07 left_pitch=-0.2195 left_roll=0.0842 left_gripper=0.0084 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -5.5179, 6.5436, 1.4823, -0.1929, -0.0122, 0.6276, -0.0889, -1.1145, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faa5cb907c1c0c9da29711f66a304d316fc825f590e4d9c35330ea95afe5a8f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:638c42ea9ca67da58d0ea35bea8a3cdc39a24ff1bd1ff40b6ae71afa487cb2aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c350f9f9b709f220b453fad75d91e009642935d6bc408496a0d1bda1a50f9cbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQzUthpYUpS5skDhiG44YTft_amdBqrAAmidPn1XY79NFJOdYPOTYTHDPTWdhXDNwRkgm72TaHdGKMLAhuSlkUAF6lmazH_4JYul8zp-9355l73vYfxEW7OZGCKagnhSovM9UZXIHlPGM-qNuiw2XfY4lrEqu7tjD176lxczZ4sSsBm6VqqWcaxKCcQxFqRYdW0TwqA2cfXRCEOEEexn99vW6mkZiyAC4ZLPSJr9c6t1O9K8FmvFuVzWCkfunvY6HF0qMDAlOX-jSUA4Ug2EKw_0GCBhkXJX9vEAL5Ll3dzEkJniVTyo1ponJYeEGV-CBLLnPGhLSg3pSa_9Fofyws-JmtNI33nEhaoVSufZCen8kY7-3woWGtfkkF9uYe-TR_DDVc1pZRwBqj2QWM3ksknFSy9mEbVaBEF_t02Du8FsJ47SutnzrKxJ-GKXb763zEFfKxmwHDZVGP4Jk0T4ozyZfNjjitv_YIsz4S9guiUlWrud7UhrPVB0FL8-STyH8rIRcUSNXTFikalBugy-IC9qKvd-8d7FW6moG3KlGWesfDi3nBAgl9IVBdzS7ec7UMsPMa0gXrsiORzJWuKioHvByXon0Yl8ZMU6sDhkfw40DbyOvHwilqmSIer3_Pljd-6YbbyEr9ofhu_m99YAUpc676wiw7TqO6jTjhD_OivVxoqyLugJjvBAblwwDcibxVlkVXFWcrwU8BjUe9XumSpALOJtoN6A7H17-I8rCzTi2pqzHqNVFPabRDyxv7iy1j4Yi3QFVj203B_fhnTj9lC6MX6Q5gBLVfwzmW-MUMsGj8x53BPoCzICfWyRZiUMSYnvD8cwmdm3Q96gXbm48HeW8t_vNoARTx2kZeYz94aZ2Dv10axOmP7mO_HNTqlKMo0Jn3yTZt0t7uOOGh1UIBrQohjV8rnJQlOxSw9LnwOR5FuMu7GEI9DwEWUVj_YY9ucSpBwBHIsAMsPlTm7BZTYNnceA62dWB2gKg8RvyoEI8LfifQRRuGnUJfj83ENUl_jrJ1LSW0coqfOuL7iwlUZakoh9CpDciUFaPzL2cg6BziECtMNjRJRh62eppasFKTFMyW_81z2qYxltQXmzDanF-0kShGE7JDG0D_fizVPLsZRA3q_J1PTXRqRwRk7NbSQuCtLoU3ut6Ho_Wl0PHC7yfyKqwLUfAEqoXRyHbwVdzrAcUw7vZ8yRRnOGunmACfbI9yDRAofqy7eSIAhCrzadun4m0BnRtfTffA2NbZ_6iPngo4c3Gaj1VM_HPiIKwLUyL-N6FxoXtFe3GudwGaYcXe8jCd97seTeOS-xTHi3_eFZq0v7jfjCqj37JNHcIz_U2rn2dD5UWOH_1uPkG99QHcSRYAFUIT5ObDDa76eCQw9J6-9DsTjgUBXgocBrIUNIJTJeG_16HmZDmmzWRG1xzSQqDcfYoqNUEaT2x5dizRxb9NotxaDUcC658r4JAgh3We0AlSU-I-fR_JzXHoPYs3LiFctjjpAoPmY0Axgpq_fkI6rIUVBdwvlBrQcedSGAAQqsM3VL-Jhi35Z6aWvZNaJAJ1ZD-SnxmeFmwnc8LaIrsNkk_LbqBQ3Om-diCJwGFB7aHA6OfmGzSdmYH7cnzcJxPBWleyOommjTMlQ9NNIwFGHPHIuCSH9wcueBjnkNVgTHU0QvSFPpMPdx5fiwd177Yst0ij7mBY9X6V_9i-a9YNbWDXvEhLG5-w-Mct-rWTeYP_Az4B1uMuna-FHuOJKyq4P0DDBQX04_SUCbDvw8HLLbRY1pmOQpPWJnjGJnFTGin_IgeuXoq677pjQqCxw6PP-C2-fGJ5UcW7WBFgJ4P20J6XvlN3z7ViDbDxC1JZbd8Orci3jfCj0ZqK-g7jdvNITqBziHF9PkyNjnUso2_YU0HwzpqaTYC1HVHk6XORqkL2_w94l1U352_QRlSUswBwZdHp-m7P3xgZ5D1M4WjO_p--1oEinJD7oI83tRFm0XkOx0savXhC4nYY1sa6k0HOzCzPVT8lhLDPrMFIinjF2WGx9ZFIxWEUHVLu-oqx5cg21QivftXXzWuMYqYPqp_PxlxQCaTXaGsyW3FfE2B2rk6TDEDIh2WFb7AwSogjcwYl5MhQr-E02-sV0iNwKzOUn7p2RMRSTszfQhCJGXRQiQ5ZILm4P2ve1XRjMYZh9dw2h1BWfyrjSD3duuqkMRnIgSPVnCXelWLnH2C_uKtAbqh4PB_TSOqc-ID82Ws-RMPW5LL7JAdxHNP5iaRy-yhgJ9W2mB-6CM_TCATWPEg4Kz-il1MAXT9hmNF63J2k1RIwLEbg2vN7AuwoJCX7SFkQlR-CXSrDRkSmDID-f6H8nLw7FbKM6U4UpcpaCb6B2MrYHCVJHsbYEYsfFmovin42VEIJJxVU-ucdTfdRNyGGC4KbCYgzvZA8O585fPaC4atATD2Pcibcfzg2z51aEOgqLt4yxfQlpRaHZMJuSdHkY-x9BtUecFKxnGA9WOsm6hs5o9381eISFkVoMqbRAHS4uGtsAqo2iFX5v-WVXMc_kEnF-f5KTvtq9QxSyNFt6gL5g7xAIwvVyBuVVWEihjpPyKLp9u6InBKKgE0E=",
  "id": "rs_07f1926e658af0d6016ab4542fc8ac87d0a36132e323ca5d58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The jaws again reached 0.008, so they closed above the lip without trapping it; the wide-open inner finger was what blocked the descent. I’m reopening and lifting, then I’ll narrow the jaws before descending so one finger can enter the bowl while the other stays outside.\"}",
  "call_id": "call_xyTCJVhFcCWKYVKVhwZKjCkC",
  "id": "fc_07f1926e658af0d6016ab45432423487d0aee2254db11e4f2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.4021, 0.9291, -0.4244, -0.3359, -0.2584, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3681 left_y=-0.0663 left_z=0.129 left_yaw=0.0777 left_pitch=-0.2626 left_roll=0.0988 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.6103, 9.5795, 1.3895, -0.2027, 0.0366, -0.0659, -0.0889, -1.306, 6.9949, 1.7118, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257ec8303d62aa5debdb7ec20cd9991c5ef383bea4b1cab698aff5ddf2449d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2990b632bc7482348428cfeb8e964e5c5d500b44b02a64a5ff71ea1d554bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b954909cb024cca5d3bb7ef018048d4b965f7d1166672abcd6e66b0dc7e59f81",
      "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 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3801, 1.4281, 0.8413, -0.2409, -0.3614, -0.2726, 0.9957, -0.0219, 0.8043, 0.5999, -0.3939, -0.0166, -0.0242, 0.9967]\nstate[eef_state]: left_x=0.3764 left_y=-0.0793 left_z=0.1145 left_yaw=0.0636 left_pitch=-0.1903 left_roll=0.0767 left_gripper=0.9957 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=0.0006 right_pitch=-0.0237 right_roll=-0.0029 right_gripper=0.9967\nstate[joint_eff]: [0.7316, -7.5692, 6.1333, 1.707, -0.0073, 0.1343, 0.0708, -0.2667, -1.306, 7.1179, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2512, -0.3367, -0.252, 0.0084, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3731 left_y=-0.068 left_z=0.1068 left_yaw=0.07 left_pitch=-0.2195 left_roll=0.0842 left_gripper=0.0084 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -5.5179, 6.5436, 1.4823, -0.1929, -0.0122, 0.6276, -0.0889, -1.1145, 7.0496, 1.7363, -0.0464, -0.0611, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.4021, 0.9291, -0.4244, -0.3359, -0.2584, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3681 left_y=-0.0663 left_z=0.129 left_yaw=0.0777 left_pitch=-0.2626 left_roll=0.0988 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.6103, 9.5795, 1.3895, -0.2027, 0.0366, -0.0659, -0.0889, -1.306, 6.9949, 1.7118, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257ec8303d62aa5debdb7ec20cd9991c5ef383bea4b1cab698aff5ddf2449d32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2990b632bc7482348428cfeb8e964e5c5d500b44b02a64a5ff71ea1d554bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b954909cb024cca5d3bb7ef018048d4b965f7d1166672abcd6e66b0dc7e59f81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ3mmK_9pv-8zBTOQO539dQgs9AeWjppZrSmzb6_so4dh0FAkQa9a6AJc8r8OiRnkspUSlQxmw9Psguh7dL-2Tr37d3aS7IWMTi8qQJHGXsfZ07Xfp-YnT4gU_WDddqM_UmS1wM7VwKHloBk2zu4eA9i1cIK9YUYjP1jv3EbTlynhX_lo29qLa9oP1sSLV44KZ9B_oSLJuujdG3trkWseXW4jCKTY2umccPKFXDeIy4ekzNXYn9-9UHOb90v5C6t8HoDpyo0R3fHUrvJ0K0zgiPr0ot-Bdm6FYXMjVxCKIstmzg3W1MUEM632qxKWPavpYAkcu-7-i583RXTJM4zYpR6JWxb1W5q_6nIReXRt4AeS3eY6uCdQjXVk8Bo9w3TcBZ4iOLlK-j1Dh_kka8ymcr_QCe5yf-IqngLi_hnwrn04DV5mD9G3Ngal91gYnfFK3apcX9tVulm6zC3qp4M9wv_evrj5dVKyl-gTfxsqIpt7dXSIkUal-qpSknGO47NcCaSd1pHiusiipPs93O_-gBC0ECUub6R4uhRl4eQPkqumhJNfqj3Wrka4hY10WgpWMyl5GOu9hLii4gKBeCHMbqLOs7D7GD7fnNHG-eSPFKLjaNEeY0a2DRikjfP_e57Drom62NE_y6jGXK3m6RQxTfXmsDT_jFk3Tt-zS_euMZmtTCabPrMLNWemPmNvwdi7CSh0HqHBrD6GCOocnrS1Iung2ovWQ7GrlWS7qs0XfzcauPWmHf-1sr0vc208L_-YYVbOtG1_mcugo2ax6Jv1yLPkRcJCIl1lC4usuitUF7DDopKTs1wXnZyJKqFYAbukFnoNgkGnkZjRZhWr3KvMY1zBGxe9NNJ2JUpxRGFRBnIf6vy0ah8kVC8e0_d1z0jzD_uYO392Uh1HYpLpc6ZVX1MGVEVTTxA9spey57RSBs5JkySuKF1xloXb08McnKEE8pnBY9W2PfMN6zqgC7tenPpovRWU1YY-or68fHEl0JQw3jzxBe28XMr2MyXkwd93Ws7-EqaiCbU-tReD18pw4fNoc5X4kP6H5k9-CfZuT_d8l2DupKcud3AdlOfeTnmK_GMjL58M_IDJyD6o2I7b1cO6xDvg94YCSvwWH8zgV4kY7KWcNig70DmbFd5g4SqJM0wkYjlxCQK0R4SLzHTBY_H2eIxO75FrcuZZ4gNigQJjDq7W6hj1ngOM1tgySHrq3tg6F1JOYOEiKxc632sxSx24ohPhWNxki_313hXxDEpEm2g0J-ehgXu-MDDeOqvMbK111gCaKnY5G07Uw9DvmCYRPg_ZXsI4rLJCHw4yGkw38wCuk0_DPrP03d6pb8x21cXnKsV1nFFLvVpPxhIrZzQNYuErWBNz0FQcAn-U7OR3Gf0sfyCnMlhC1LkYDgcS-nRykQLEo0aFkjt5zyseJ9s1BZAXLAxDzNs_XQWWpXWX9qu_ALkzzgmuUo1pOnKTnxfOqsFs6iRUcimipHZRG1qqrfd4VfG6vE1BKZDey6P6DtIZE7koDykZVXm-fgCReq5sfP67n5P2UwxAycg8fplUBbLwSii3ZZmYbKr0NaW2G5z7sywyZQkwzCuBwEFOHK1tQZVLkk4lyI9Y20LRBKYdpmxdVD7JDOqJjkdcQZ732RdgNT0XnYXLleNAY8ThHC1QGDKYkj8UffaXLOAT6p43_bFMjn-bXStIeYaGXpao9RZ7gIB8MKaq_U7O_fZt5P_lth1chrt97stglwjPHBVg==",
  "id": "rs_07f1926e658af0d6016ab45435337487d0b121a96f7d7f0db5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.075,\"left_gripper\":0.5},\"note\":\"Above the bowl, the left rim is only about a centimetre to the right of the jaw midpoint. I’m making a small centering correction and narrowing the jaw gap to roughly 4.8 cm so the fingers can descend on opposite sides of the rim.\"}",
  "call_id": "call_bNRvTN013aNB7aZdqFOtzFLP",
  "id": "fc_07f1926e658af0d6016ab45436310887d080778a3e6e0b5e15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bNRvTN013aNB7aZdqFOtzFLP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.4029, 0.9329, -0.4408, -0.3408, -0.2806, 0.505, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3642 left_y=-0.0749 left_z=0.1281 left_yaw=0.0678 left_pitch=-0.2718 left_roll=0.0929 left_gripper=0.505 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0233 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.7658, 7.2957, 1.4481, -0.3492, -0.0562, -0.022, -0.0205, -1.1829, 7.0085, 1.746, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c627147dc941108100f4f43f1710b1d3fc473f52270fe34799a197bce4969c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2269684d5c046f701b1223256619855e3c53dc0f91a749ad466623f53aa1f032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a247c930eb1bebc893d2671e7ae653896211c66904416cdbf8f1c6ec3a240f26",
      "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 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2432, -0.3397, -0.2508, 0.9958, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3745 left_y=-0.0679 left_z=0.1082 left_yaw=0.0711 left_pitch=-0.2113 left_roll=0.0838 left_gripper=0.9958 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0225 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.5282, 6.2974, 1.6825, -0.1685, 0.0757, -0.0073, -0.335, -1.1556, 7.3094, 1.746, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.4021, 0.9291, -0.4244, -0.3359, -0.2584, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3681 left_y=-0.0663 left_z=0.129 left_yaw=0.0777 left_pitch=-0.2626 left_roll=0.0988 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.6103, 9.5795, 1.3895, -0.2027, 0.0366, -0.0659, -0.0889, -1.306, 6.9949, 1.7118, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.4029, 0.9329, -0.4408, -0.3408, -0.2806, 0.505, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3642 left_y=-0.0749 left_z=0.1281 left_yaw=0.0678 left_pitch=-0.2718 left_roll=0.0929 left_gripper=0.505 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0233 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.7658, 7.2957, 1.4481, -0.3492, -0.0562, -0.022, -0.0205, -1.1829, 7.0085, 1.746, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c627147dc941108100f4f43f1710b1d3fc473f52270fe34799a197bce4969c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2269684d5c046f701b1223256619855e3c53dc0f91a749ad466623f53aa1f032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a247c930eb1bebc893d2671e7ae653896211c66904416cdbf8f1c6ec3a240f26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ6wEBnifKUuEXt8VA7Mo7oQs1NSBwaw6iEnUj_qJWwUZ8YklR_go0UJouFg7TSYLd5J5EQofbOUp_onR1g3MCm0WbHtoc72kKIJ5vrm5-m56YskVJj9vhfu6CE8Id4obQhpm8VQ0blBxXkGZhAq1pbJMsFYberYW6m4c2Ke_mukg7I2Kayy8pCh-z9J_ceB9qewiIrcusxC2zjG96qqCDLJoZxc66Ik6Ogk3FQfUY6jDI2YiclT_Vp4fT8Bx3kUHNBoOYVOfdckm9WHobh0Y8lm4CK_II8ywmUpewi5Ma9cBehc9QMcAXGraLE9xduWTdD5LUoHPDAeToemJiprW6VsarYya5CkmkbR_9Te4Ojhnu4dnxC70hXqayo1jh_gGk80Yjxb1eJgQ7uQmpWfk0u-T-41QRSlu6HmnoHX6N8kn7MSzRna3JT1KZ4PWm1Pap91s55UAXg6JefG8A60p70g5VVmSUpO_Dg7Lx9W15Wjur44dH2DSVxw54rRhsiStUmO88xHBQU_QLFvvJ8RyLV-p9cCPr4OV90oJRtKMU3Y86PzPkbMDMTzC8BzLPEf9q2B7vbqyHTlcJ0tmmfz7SjvDnt0aTRl_xoii0nQCTMHj9MTyL3VwTOmKLe6wXVjgkphmzz2JSXXKC9XVTp-N8b6Pbr4rAQb8BhJc4uLCBqMT81lzDeK83JJ9oENnjW5jWdquYlZ9KlOCB1i6CEpmtdbuSsDWAjijymG1xVyLZNGU1dYPMsfvX1OvMeYZtRu9__xSiVrG2CQ3s1Zpjkkruzr2NPp8doE8Lkff5Nvz3R13MAgrsm2Qpf8ipSBVVD4GNwJhqUIzh46oHViPJ-dm3eSg6jWhXIdEKseB5wNtbTLIfRVg18S8TQMsyBBt5F-34gCbMEVLAu4n41A_zMa9-KsD1WJLCXPxKV3328D87f_wLSS-JxWacr1xu8-idQplE4plpd9oAx9Ib-DY8cP5XK6wzySWVBEpaJcvQFu2bWWGpr9YVAUOazjpjuWJ0jYhdVz3rDO7t7omhh76GZj308M7KQfhNLuiyBN0N55Ax7ZvPww7vyTrJ9ca8R-AzkC1fQAOFZoRNkmtKclss2L8A-9djXcvlkiUfkccN0nm5m2-pCYPkCeqNfEVloCjhmPv9p_RT_3H9B3XbJLRa3RPpjWOXjWED5RECFW00jVjHdhW9NwYXD33RItSsyF3NVQzzA32FXTa5eosoBvX6jk3ROy5IGm-BKkdfI4UhMkUWtyN2nHCsv3K6tsXN1YJEcTKGzcQtj7Ufjh13DFFInqgFKT_C5TuG4A72qXWBRySr5oEmYUPI16a5a3USKxKI5EyTcAKWWI8gyFirRBF4oxb5SiQMjURrRNUF6KyVoUBUa3lQY-m8Sv_UGBSHk15IUDrrKAra4kxmHyS-pLD-7eLEJaAE0sATs_r1XaDLjy1p_WDs=",
  "id": "rs_07f1926e658af0d6016ab45438c15487d09854b7548feb1105",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"With the half-open gripper, the wrist view now clearly shows the left finger outside the cyan bowl and the right finger inside its cavity. I’m descending below the lip while preserving that straddling configuration.\"}",
  "call_id": "call_x77nGHJyBy1vHXSGKMZgaMwp",
  "id": "fc_07f1926e658af0d6016ab45439443487d0a0fac81aee828600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x77nGHJyBy1vHXSGKMZgaMwp",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5459, 0.7074, -0.1349, -0.337, -0.2806, 0.5045, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3533 left_y=-0.0715 left_z=0.0382 left_yaw=0.0726 left_pitch=-0.3297 left_roll=0.118 left_gripper=0.5045 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -5.8325, 5.6137, 1.4774, -0.2271, -0.0269, -0.0611, -0.1026, -1.3197, 7.1179, 1.7265, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbecbf1cd6a91f09ea179bf9b6233e788cc2f2200688b8d3a71560adeea4415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4706ac7b92e8aab053cc1c4247def14fb5a2ce8206a624eaa7359ab88f8a7ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f34ef98881038dd87479e6afd429692d6a69d886d8c513be2da2d5817279dc",
      "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 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.425, 0.8261, -0.2512, -0.3367, -0.252, 0.0084, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3731 left_y=-0.068 left_z=0.1068 left_yaw=0.07 left_pitch=-0.2195 left_roll=0.0842 left_gripper=0.0084 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1983, -5.5179, 6.5436, 1.4823, -0.1929, -0.0122, 0.6276, -0.0889, -1.1145, 7.0496, 1.7363, -0.0464, -0.0611, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.4029, 0.9329, -0.4408, -0.3408, -0.2806, 0.505, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3642 left_y=-0.0749 left_z=0.1281 left_yaw=0.0678 left_pitch=-0.2718 left_roll=0.0929 left_gripper=0.505 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0233 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.7658, 7.2957, 1.4481, -0.3492, -0.0562, -0.022, -0.0205, -1.1829, 7.0085, 1.746, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5459, 0.7074, -0.1349, -0.337, -0.2806, 0.5045, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3533 left_y=-0.0715 left_z=0.0382 left_yaw=0.0726 left_pitch=-0.3297 left_roll=0.118 left_gripper=0.5045 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -5.8325, 5.6137, 1.4774, -0.2271, -0.0269, -0.0611, -0.1026, -1.3197, 7.1179, 1.7265, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbecbf1cd6a91f09ea179bf9b6233e788cc2f2200688b8d3a71560adeea4415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4706ac7b92e8aab053cc1c4247def14fb5a2ce8206a624eaa7359ab88f8a7ba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f34ef98881038dd87479e6afd429692d6a69d886d8c513be2da2d5817279dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ8zFpJQB0SE0Ewy6SiZx196fqGb8F8mmukWclFJj6fo1b3ZWdGW29Vysojg2_agUClhnBkaOsTBzFdt9FympX1TVPodpBsy9RTnE0Z60pD9rpezexQ25zlUxwzUHBuwXJ6AIRLC1ohXYzsGo8S52iUfOZkm1wgNU72XxL6Ax8f1fKcWROFgCwqbQdrjSNdulKQK1Z-2CbrQyK1Nu-AxOZ3iKWCylnakPSmbh2p0_nOS2UzR7pKrE4EqfnHqfKZ-l_8rfi5j1Y0_hg89iuV8m7xiECr4PFzBhfpXQN22IdXYpdGka9FQUARXfhsZxdfgUOKlfrGxhd-acFhOI4Jf0j88QqNIoUsLj1EZ9rKMViesbx9VVE17P2SNmU4N4lUgbqkV0k6j8F0iWTJVtP0azuDNU99igmbxmEHsf2SBZcjk2_qHB1kWOw4WqtSm4LEJnHf4YVSF3BwXK89-v6lnRRCG0kj6IWfEO3OhwNC1VRCMVD_9c6Tbcr3wr4u9njMTOiQgaMdWq3Mn_FRXY6rXhNn-iL9qoOO1hfsISJ9J-yycLS7LRZHSOmpNRCaiHgQXxmo2Qt_h4inGzbC5x1nxz2w7OgzUY5gACODnyu2Y_IIahRiK7Sxg4CkM7P0a5YRffZm4t8Kw1Yk1NRKWyOtrmHzHNhLk87i3SjDe_Hw-F315_KUBENkeF5FD86F5RskNMie2EcMAesTlHESBcJ1OieCCE_ft9RGa0INvrejR6CI5jAdSyzGyF1kExWI0bHTMS3d1eQ6-jSY7wW0ryRCCDnow_Y2OlydEJDY1DB2NvpF9twhD3gvXvSiUEHpdqE2aoBdTp1n-qXr1LlnEn111B1lMcP98mVZImg4AS1PhalwhduLbygZk0QqL8XG_iDRWhMFkNAEXtBqq8K6otW_tgR_jmTd4TjjghOY4Hr-u5Jriu8GrTzFeXCTzwhF7dp9pbmN42oae1qauz1kCwC3HoYjlwyXRqoOU29MXXmFi1hMZqs-sbO6bvNbxpAPNU-AfRqEM-xwBDRfzQDhTj3iyZsSBDmuIr4SLyrDAwDpCEMEL2i1uHDFgqyQR5zV133BSnKI-9PLIKkhTjkR5Hv4Znq42Nif8oDAGOHTaMW0lu0lmQ6Gc5XHOGQmBDBbXmy5DLP6kKvd7N72cSvd03O4X3Y6XoIhghWAPaWyqLMlbuugwCfknrJVTPTdvETlj7WkE6DwuilvFPMOnjrlCxprJxDEz0JhRIEvoO6zcYxC3EDT1zHToYu1-zNgobHcLlL1yAnV3nZat5LLKJBGxfz5QV18dmgN_0PWMFF3oObGFhXM6Wc=",
  "id": "rs_07f1926e658af0d6016ab4543bc16487d096c1cc1dec44e639",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm reached z≈0.038, and the two fingers remain visibly on opposite sides of the cyan bowl’s left wall. I’m closing fully now to pinch that wall.\"}",
  "call_id": "call_gG4kbroV8eqwW9OvLQgfjQxQ",
  "id": "fc_07f1926e658af0d6016ab4543bf53c87d09c4af452f5f341ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gG4kbroV8eqwW9OvLQgfjQxQ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5429, 0.7002, -0.0986, -0.3241, -0.3038, 0.0374, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3574 left_y=-0.0754 left_z=0.0411 left_yaw=0.0706 left_pitch=-0.3039 left_roll=0.078 left_gripper=0.0374 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -4.9573, 6.147, 0.6667, -0.3394, 0.2759, 1.1062, -0.1162, -1.2376, 7.0359, 1.7314, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c93ad22ffb0cb007276f025a985e84bd962247b23851c8abb683971da4ab9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026669f6d77be4b8958d326d49a2174301a51d748f01a24c5bd4378d16ad2b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ad2c4d47f0abe25305e348cdd8e01820cabe70078a77077d7f03d1aeee3a5f",
      "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 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.4021, 0.9291, -0.4244, -0.3359, -0.2584, 0.9949, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3681 left_y=-0.0663 left_z=0.129 left_yaw=0.0777 left_pitch=-0.2626 left_roll=0.0988 left_gripper=0.9949 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -7.6103, 9.5795, 1.3895, -0.2027, 0.0366, -0.0659, -0.0889, -1.306, 6.9949, 1.7118, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5459, 0.7074, -0.1349, -0.337, -0.2806, 0.5045, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3533 left_y=-0.0715 left_z=0.0382 left_yaw=0.0726 left_pitch=-0.3297 left_roll=0.118 left_gripper=0.5045 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -5.8325, 5.6137, 1.4774, -0.2271, -0.0269, -0.0611, -0.1026, -1.3197, 7.1179, 1.7265, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5429, 0.7002, -0.0986, -0.3241, -0.3038, 0.0374, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3574 left_y=-0.0754 left_z=0.0411 left_yaw=0.0706 left_pitch=-0.3039 left_roll=0.078 left_gripper=0.0374 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -4.9573, 6.147, 0.6667, -0.3394, 0.2759, 1.1062, -0.1162, -1.2376, 7.0359, 1.7314, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c93ad22ffb0cb007276f025a985e84bd962247b23851c8abb683971da4ab9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026669f6d77be4b8958d326d49a2174301a51d748f01a24c5bd4378d16ad2b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ad2c4d47f0abe25305e348cdd8e01820cabe70078a77077d7f03d1aeee3a5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ_UaHbYHYuTcD8aHVqt-Yj-G5H9Jz9tEuIm85S0Bouf4B-KcCdC78zKyo7NCcTrkEmryEDvS3fTlUTQlkd7KJvMWb8XjUZCFmYpsrwPAobM3B8dV0NgqMuhMGXLndu_c8Q3Qup9K6F3EJ1w-XwpnCtTGRniqOO9dsea7LGblCiZNem0LD1Mg_PEaFqmfj-fy-v4pP605z6nhH9r3WcQ-WiqMlkaUTLRdUXADeD9o6kpFJzH0ctnMH5Nl-W9Vfs1Nud-BZ6XNOgBkLZcfNEaoEOH8Bi9DtpUAinrj6l46aslnx2yNMlOg3d8Vxk_FKUM-FOUZB5I0jI-5MqupOVaCxrLj4tE9fTtWBcWQ3Cpmho_fH2bs7HR_OpQaN-WhUm0U3WER7IqCnXLCTAcQpeIKmJzBbcCj4J75X8-JQOIsLapGQgDGIeB7tPipnS3gy5nA4b4NFVqci0nkzCtSGKjlOY2NR9vH1OlVyJ_9rsuMMp-YxZuyM-HfanpruYgsBUK1mhVdbxstZwp6vuXwVZBc6xHZFh0OYF6ePac64E1SYUZkQeBNm1KAmMc34MN1RGtP5jDkwYFTIwZBninjcdK1prfn20EjkcpSKLhWCX7h0xcU_QMt_jsfYmpAZMxPFBHKBegJ3_Yx2bF7vQfFuzWR1qb_lLBC1duN7RVmKCdhIdujEhi50_riI7wnCK6SxcZdbrHUUtQruFJASCxUGqRH5YBQU4NlIZi9tmcb337wTUle2zVxX5K1Qp4aOIDGvnfU0RP2m1yTXY8bYc7vAF_eZrE5uB11JMYwUpWCai5zAuZM6sSCokIonqnlxCDrwZBi2cL0UCy-5C4ZDkLjfllQNvOVSKrlZdaBP69pDO79sLRUMSmi_vlnGHr2H_hsxGcmBF4JAGII1-w97SJtOUxR1oslN0WpKHsXoYjOT0SFdXh3LJtMwoEL882JABjKOKTFsui2XTG_BZr3GCBjU9hLsxUiB_vcs2pYYTWDGB-w0Ne5lICUCDQiLhUS7PWbXXJwv6CnTq1SVrLOuxPa64J2DD0kjRamjHzluhpxVOyg6l-1NYc8_I00PGUCvtLrmc4ihXyAedm9YK3jGoSXXLwIy-WoB2fKIYum0Q6zvxieuKDzV-Dyh_NLa1ekeT4jA8qt7EZIyhGA6WDqcJFjC-Dhe1M515UmmXYfSIbmzU5noVPFr9E2CKuz7FOwpbrGXlFnMHWt7iuPntbHlkCvW-t3UWE9xuAy8OwfvaBYVGjDsDEjMaS_YpTPs9YCyu0NA8jWhulUdjgGCcWNJiMV_8tpzibvP9Pgh0K7cAoqGNbRz1-UVKz0ACbOpuwj6oVbNKdErMKyxgHPbXqzCC_gD7F5G5lh7H8gjl3LHtj_g85O2lwgRgEXtqtWY4pzvII9i4QaKHe6FTeE-_vZTFa0oOHVJxoLFI8iNrgdiP6K-u8APwb095NdWDaR8pCml8bLuFuMWrVSiroLbJmPK3PG20NjjDweu2dcC6wqKBTnFndXaJoLPYgMNhWJA3xRdHG6qyVO-TgC8Hyi5YJ1yeLBAjOAcNNcCDUy2Dh7vNe8Npng9SYjCAFG8dju6NA76X133lVpKgwFGePxB_gCclC6DKcy3MCIZ90mfivhnmsX-yc0DIbjk=",
  "id": "rs_07f1926e658af0d6016ab4543e288487d09dd850ae50a19faf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The gripper stopped at 0.037, a very thin capture, but the wrist view shows the jaws contacting opposite sides of the bowl wall. I’m lifting 13 cm to verify in the overhead view whether the cyan bowl moves with the arm.\"}",
  "call_id": "call_qsWa76394dsMz7Cx8F2ZFeIx",
  "id": "fc_07f1926e658af0d6016ab4543ed03c87d0ac0d2f0a0cb1df17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qsWa76394dsMz7Cx8F2ZFeIx",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.4025, 1.0477, -0.6125, -0.3218, -0.3115, 0.0406, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3581 left_y=-0.0762 left_z=0.1479 left_yaw=0.0764 left_pitch=-0.3277 left_roll=0.0829 left_gripper=0.0406 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0027 right_pitch=-0.0229 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -7.7333, 9.1145, 1.3358, -0.2027, 0.0464, 0.6374, 0.1026, -1.1419, 7.0359, 1.746, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946b885faf28d1636bdd81f5b8dc41c56322e153d7ba62c10a12c7843a040e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4580691e5445624d1eb0c08a1ef6ba5e1764833461e237d3ca3dfd913358ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23511060b6f883e0d1f6270fbd7ba998d3533a96bd28ed0c4ec22bc56438d49a",
      "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 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.4029, 0.9329, -0.4408, -0.3408, -0.2806, 0.505, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0269, 0.9967]\nstate[eef_state]: left_x=0.3642 left_y=-0.0749 left_z=0.1281 left_yaw=0.0678 left_pitch=-0.2718 left_roll=0.0929 left_gripper=0.505 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0233 right_roll=-0.0051 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.7658, 7.2957, 1.4481, -0.3492, -0.0562, -0.022, -0.0205, -1.1829, 7.0085, 1.746, -0.0562, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5429, 0.7002, -0.0986, -0.3241, -0.3038, 0.0374, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3574 left_y=-0.0754 left_z=0.0411 left_yaw=0.0706 left_pitch=-0.3039 left_roll=0.078 left_gripper=0.0374 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -4.9573, 6.147, 0.6667, -0.3394, 0.2759, 1.1062, -0.1162, -1.2376, 7.0359, 1.7314, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.4025, 1.0477, -0.6125, -0.3218, -0.3115, 0.0406, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3581 left_y=-0.0762 left_z=0.1479 left_yaw=0.0764 left_pitch=-0.3277 left_roll=0.0829 left_gripper=0.0406 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0027 right_pitch=-0.0229 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -7.7333, 9.1145, 1.3358, -0.2027, 0.0464, 0.6374, 0.1026, -1.1419, 7.0359, 1.746, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946b885faf28d1636bdd81f5b8dc41c56322e153d7ba62c10a12c7843a040e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4580691e5445624d1eb0c08a1ef6ba5e1764833461e237d3ca3dfd913358ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23511060b6f883e0d1f6270fbd7ba998d3533a96bd28ed0c4ec22bc56438d49a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "id": "rs_07f1926e658af0d6016ab45442088887d0b4a35aa40b030c21",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRINBpdX3GOPpm53wwPrDIXno_CRMBCaNTZ45ViJUJvsP0KyoTKPjPof8EjbFQTEx7dVA9B9Z_gQ7th4C80ddCVFAUJAI25crRRGYdp63Pd3ryCdrikQndUpbV-YHzp-NQofKyXtq8vI-HF22riYR4bondqU5yA2AoCMZJgiDHFol_10k9VFmtWZSB6byQbwq9KuvXHy0J2-gpfiPQevcI73ix6rsr1KHEjd6o-ZPzmqZ9DAgNVMk26fduPz5EULq-OZQsS_9zNwbVNY6nJW2NgW2_bS80D8FMqKYzxRdgWXdGPesCql41mwPSxkKHe8NgoZkoIpaKphWwIk7qyWndUD8rur__q_096KcAOlZzv7HhUu0gHj0f-MzEToa7hPd_7joCkJSMNfaWx_ByudWO2c3N9RLgfixjp-8YgTAsGNv8NXTtAQ3DRa1BU0dbCNj5EBeSG5lWDCG3unfX3eCldzJhtjZA_bDal8px-kjalCWLk018w9yTnaP_qoUj6nkmXbYw6KDGC9Xe-HlYRlb69wWpRe4GlsIejqg5W870KQdD1Qp8vNM6XrgdimOAW6HZG2r0zrhnunDujkOXOyHzor4E7jiYL4hybTpIII7YMT6-9X-bxt0e3ZV4-JarfD_ywVorKjJs1F8nqo7OcVRCXsaMOWSM7Enylon1cfrWqQHeDcZzJcGmvV8RSlRR2-5L9P5aurkjXWLScoj4OPhxk6wOgjIzX2Rk9ngNX9j1G_YVDDmBHHrpf-4KIiRA9V2vuhbpfBbwiNBjpF1r1z-zbIvG-lBwqh5SGugPlpYD0DmA2Mi3TOTbV3htEn-S21LID352raF88ugXNsY_O9AOC0UY-aCTLe2FqfQDxsP6NdeAmh_C-A9zwvXK9ERlP7dhGJ9ItjqT9WH3i9RnrBW8TAONlDdRaTMNH178NvlDqalepZ59Zf8Ghs6Dwd0WGMkE8Xh7OW_WHjZpdpbEG4OWpuUuleH4rKxJiH3CTUJ_bheQB6q5W2ijNGSCHl5Frx80ku1YotmzbBaN7kT_VpcAT9GSoBZNQ5vswTPAV821JWB6GQ0rsQobkYzOxgI4dWUDvhGZP7Mqjwp_QX_9bCW_5ihMZdfQhTlwUj1igavApw08q2Bk4DhBatAeTbeHigWJYbOo0kuG1gfmjwBEyazLLLtBbTXhoLxB1P3yG36WI4wP4zdY7JhYfGLpn0wCWGMb8LqRYqa8ovRcKTojoUyShUS1_mNAHtzHZw_omqZxXK49nZDcCZif1pa6DnkSXb9zd-gSjekjy0Oq6NiYaK9qwB11y1Jow_CoGKFN5DW5uY5t_zFm6O_5J09hbtYD3_UajDpuH3MCZXbjMugW3Gt-5fFa49s12noUFp5UoRTg9mciugWKZUElgGcQPoG6FKfHJ",
  "id": "rs_07f1926e658af0d6016ab45447045487d0a3498125b9f6ebcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.195,\"left_z\":0.22},\"note\":\"The cyan bowl remained aligned with the jaws during the lift and its table position is now empty beneath the arm, so the rim grasp is holding. I’m carrying it high toward the purple middle bowl, compensating for the off-center rim grasp so the bowl centers align.\"}",
  "call_id": "call_vWiQEnRBpRNgdbZegakXEVEM",
  "id": "fc_07f1926e658af0d6016ab45447908c87d0b4fa7699280ec87d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.63, 1.7817, 1.6936, -0.9874, -0.4362, -0.5438, 0.043, -0.0219, 0.8089, 0.5999, -0.3943, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3967 left_y=-0.1925 left_z=0.206 left_yaw=0.0624 left_pitch=-0.3544 left_roll=0.0815 left_gripper=0.043 right_x=0.2932 right_y=0.0001 right_z=0.1711 right_yaw=0.0023 right_pitch=-0.0286 right_roll=-0.0053 right_gripper=0.9967\nstate[joint_eff]: [-0.4444, -8.9231, 8.9368, 0.8816, -0.3346, -0.0366, 0.5592, -0.1573, -1.6205, 7.241, 1.7363, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2586272037f3925144dcf55fc9994946269659770d98d084dab85c2e1651c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0982849af9553d6df0fc61a406b4f5938080eb577de95c5ba7a40b5e49048563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47be2f04584a70785b733d404540e0cf0e68c64f2868686b98c67460796f7db6",
      "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 65 changed as sent

message 73 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5459, 0.7074, -0.1349, -0.337, -0.2806, 0.5045, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3533 left_y=-0.0715 left_z=0.0382 left_yaw=0.0726 left_pitch=-0.3297 left_roll=0.118 left_gripper=0.5045 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.002 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -5.8325, 5.6137, 1.4774, -0.2271, -0.0269, -0.0611, -0.1026, -1.3197, 7.1179, 1.7265, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.4025, 1.0477, -0.6125, -0.3218, -0.3115, 0.0406, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3581 left_y=-0.0762 left_z=0.1479 left_yaw=0.0764 left_pitch=-0.3277 left_roll=0.0829 left_gripper=0.0406 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0027 right_pitch=-0.0229 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -7.7333, 9.1145, 1.3358, -0.2027, 0.0464, 0.6374, 0.1026, -1.1419, 7.0359, 1.746, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.63, 1.7817, 1.6936, -0.9874, -0.4362, -0.5438, 0.043, -0.0219, 0.8089, 0.5999, -0.3943, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3967 left_y=-0.1925 left_z=0.206 left_yaw=0.0624 left_pitch=-0.3544 left_roll=0.0815 left_gripper=0.043 right_x=0.2932 right_y=0.0001 right_z=0.1711 right_yaw=0.0023 right_pitch=-0.0286 right_roll=-0.0053 right_gripper=0.9967\nstate[joint_eff]: [-0.4444, -8.9231, 8.9368, 0.8816, -0.3346, -0.0366, 0.5592, -0.1573, -1.6205, 7.241, 1.7363, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2586272037f3925144dcf55fc9994946269659770d98d084dab85c2e1651c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0982849af9553d6df0fc61a406b4f5938080eb577de95c5ba7a40b5e49048563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47be2f04584a70785b733d404540e0cf0e68c64f2868686b98c67460796f7db6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFROTYbq_fEg4eue2SWbtkjOHnwRXvnrS5N13hfA3_sgm3bX2iZmtuDAhYWerJzInvGZKkUTMylqngumkJ0R4VOvYJZfUmNf3WiGkT4xTslJ3sEzSeY3xQLo5eUDoOiRTgxdb0nas2xoMKwimg5rYD_ShhnG9yOfXOdo8GimUoHDRtSUr9OyjRNxIbZjq7bX83FGBPoLVXtEWxoNkSXFBxzPPcO4Q-un8YYAlAcIZ-WajSFdy_1Tdi1u9zfe--tP3ki12f41uRz6BOd27RQvJGswVKBYvLTkiIYR_nxfCfLxsoCR69ZnsyYK8a0n0kaQSfpbZoQQd43A5ztX7imxDcldVWCBgGZeNQ2lfDZ1s7Z-SQgyRmatVXCjgWAEWbRMZjdfFb04VKwjBCBjtBEV2-2Jv_Kz2tOeCxvbi_ldIgqAfbf-4NC_MvV2cOPc2dNQdQb2lugNaMUljAtTH_fAZzLz_xxXbTHX_6w0fTZozf84iBQG69bVCqzRyd2rYFShmUzJNvU64_eX4ilOR3h3j_2cHRtc5984W2mdCdggBx2WORPpCSDxJztZgRWr5t6JaoWDrCSSKfUvJfISVSgv-8d_I8dZWS1tL-FZyzGBCvAjgC1dbyBPtSf2npyuBcfkBrgQehVngx0Lyw0HoIl2WrUxR0yP2j4bvyx8_cbnuL2V03VCoEDEbPwPIx0-hJ568vBMtlN1RBIX9nlsULstepD85x-MRgfDLD1QPBvOR7SvRCxbk4hvhyleLF0uAxXJ3VBUUV-PAtqIZMWp7kiQ38zQynUbXNa6vnbrCwr1CMh-8LiuUgekDtktbLWmC_x7Ux0PJRHK8RC0npSegLbWTMSky978HQi7ZgKOXB_I1FSrPLXA4bJIR_BGN46frB_VIgaoscMycfEqAy0Yu4M-5hLV2lcy3dWB42LnbtcN66aMYPdFiZ_hVVmFAhIVUg9kpWx9QekfAYEw9jSTfLeAwzTuiBM6vKe6KJlagaFYVaQ4XYjejDk8mj_nJZXfgdlqx-WvU3n3JqcfDfwkg2jLfownKCQSOoXWsTf6wcapYuvFHaXofMsJOx18Ta4ZgcNdm4aztauXTEFB8W-jO3Ce2lRu0kFM72yS5Sr5QxF1DOIkIRPOPCWP9mW5dzv2KFCTLljF9B9mNBDR313t00kUz8Uw95sMjSL9SvoZBujaeaVaokU4_3ExzaOsvHDCkOwQv8825TTTQvDBDpbXuvppUcHOqiHdOCOvT_CCy5qOy1TvhhwgPhcbek-vzftOY0g3unyXXq2VNQHF6BDbcZQ87aTh77_yZIXAr8vFzHqgn7U1VbSYcBEmYQ1FYwRg67nDAjW4svMxwbuV0LWcV2IfOnGmrJCPnQA6qqtT02LP_Z2fitGrBgzdMqnJSE-OYzc3t02UqtDF18HzELlWdpNFDDjf7qwuYW-J64dUhcCUaozALGEmNegFRNCic2QmPOcPr93KVaShg2KZOwT0GA5vrc_2MllfE8kAQXimVMuqaGZ2YNB6R1VAy63Fs5fS2OJJ5C-IF5v_rOZ6QtRdSzdpxiVXgQkXfYsFF3vxQ6kNNw7V9XENHPCalXU-Q46Dq9UhJKaJGMrQEsKrCB6xQvr_AsMUVi6Zpbnxit2hwqW3MLH9AjdWLauainVEfVYt3Dh0tPbRRTjl1SOLjgyJAQxA9Lyy8l2MppEuHMoLTb568mls_66gklNSqw0Uk-B5-zuhkAuvNuIQveeT4pPMsYsK6_Qg-rLKLZA18XD5bCZ8EiVGATtDJD4REHOE1oEinV_dUxDNmG5IJZa1yZ3FZUDnBesnsk3mJI3i0RivN8rDoG1LG4bKyDcMiQhEL3DebpS6Ai0UrTBfeDIwJaGBT60FmK-DCl7KygliS9_V3H8Hh2CyH4peQ5Iu3GQiBKgpuhW0XhUAP2JUpENLy1YrhAanGjuWzzZ3zwqeBvsGxbvx9NfbXwqlUPlMCD887MCBiQOQ2mv7kLlyK1MGopkJszhb-wzf5FO43qvg4dM90C3EF7SnxkkqMROvwZQRpMpzatrkt89lrSmfrOgewWv5q0sBVG57i93TfKyTn-wAoT1_SeqIe-oojiY-GYpz3cZBwUvtH3bM-batym9z4OYSAxS_FBmKWsZI6HPZ7FkBSCcny7zhhiX2ZWG62m9_GOFZDSpp8KTEZDzSoRwRus0etQl-EixbHOsvTtXC170g9butAxgSKhWEzh8jqgRpFeIeyO1PgUKXBf5C-uFYhaL54VdvImpWxpWSDJG7LXQtAuryY98Tw7usV_vb87ktV6l_XAKD09D2RmR3cpcXMBvguJcEyqb8jQFxKFrN_d_W9Xyzir1buYhp9pu-ioAW-067_3csy_li_h8ZAeSSviQWRnHAKibssoSGX1Qqgn44JkbJeOUBDeg_m6yRz-ltDQrtTdpphyw5PUMn6P1DnflCmMjV7Ik2ejzRY4Pm8TnZRdcz2v8PGQfvELg33NwwTqC5_ToeLzJYRUAGR1Yx7sdCROFreANcE3P7Gcls3xdD3hoRzP6DTCfqLOwbd0mghonSjWsnCnHx6Fz54yxw6zLBQ2ex1Vz_EbJNtkTx0aFH0QDRVVLzOkg=",
  "id": "rs_07f1926e658af0d6016ab4544b0d0087d081a5471dd2fe0461",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.225},\"note\":\"The overhead view clearly shows the lifted cyan bowl just left of the purple bowl’s center. I’m shifting about 3 cm to the right in the table view while maintaining carrying height.\"}",
  "call_id": "call_rxT16lfMbaTJIjL4uU8Td5HF",
  "id": "fc_07f1926e658af0d6016ab4544dae1887d08adcffd15093c51a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rxT16lfMbaTJIjL4uU8Td5HF",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.8534, 1.7668, -1.0367, -0.4477, -0.593, 0.0453, -0.0219, 0.8101, 0.5999, -0.3954, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3933 left_y=-0.2172 left_z=0.1975 left_yaw=0.0573 left_pitch=-0.3811 left_roll=0.0922 left_gripper=0.0453 right_x=0.2932 right_y=0.0001 right_z=0.1705 right_yaw=0.0023 right_pitch=-0.0309 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.3077, -9.4017, 9.6479, 0.9499, -0.5006, -0.0904, 0.442, -0.0479, -1.4017, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2839b732667e77dfe4214c02698c785507bb566c6588fe776761329a8195ddae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e552cb3f3a6d2e09d73f14d98f881e52a87ff4380c4faaab4cb8210bfc5253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aff23593a4962d0ecb095ccf45f9422adcd4cae0ec3b6566c3bf6eaece5979",
      "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 69 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.5429, 0.7002, -0.0986, -0.3241, -0.3038, 0.0374, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3574 left_y=-0.0754 left_z=0.0411 left_yaw=0.0706 left_pitch=-0.3039 left_roll=0.078 left_gripper=0.0374 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0023 right_pitch=-0.0233 right_roll=-0.0056 right_gripper=0.9967\nstate[joint_eff]: [-0.212, -4.9573, 6.147, 0.6667, -0.3394, 0.2759, 1.1062, -0.1162, -1.2376, 7.0359, 1.7314, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.63, 1.7817, 1.6936, -0.9874, -0.4362, -0.5438, 0.043, -0.0219, 0.8089, 0.5999, -0.3943, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3967 left_y=-0.1925 left_z=0.206 left_yaw=0.0624 left_pitch=-0.3544 left_roll=0.0815 left_gripper=0.043 right_x=0.2932 right_y=0.0001 right_z=0.1711 right_yaw=0.0023 right_pitch=-0.0286 right_roll=-0.0053 right_gripper=0.9967\nstate[joint_eff]: [-0.4444, -8.9231, 8.9368, 0.8816, -0.3346, -0.0366, 0.5592, -0.1573, -1.6205, 7.241, 1.7363, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.8534, 1.7668, -1.0367, -0.4477, -0.593, 0.0453, -0.0219, 0.8101, 0.5999, -0.3954, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3933 left_y=-0.2172 left_z=0.1975 left_yaw=0.0573 left_pitch=-0.3811 left_roll=0.0922 left_gripper=0.0453 right_x=0.2932 right_y=0.0001 right_z=0.1705 right_yaw=0.0023 right_pitch=-0.0309 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.3077, -9.4017, 9.6479, 0.9499, -0.5006, -0.0904, 0.442, -0.0479, -1.4017, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2839b732667e77dfe4214c02698c785507bb566c6588fe776761329a8195ddae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e552cb3f3a6d2e09d73f14d98f881e52a87ff4380c4faaab4cb8210bfc5253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08aff23593a4962d0ecb095ccf45f9422adcd4cae0ec3b6566c3bf6eaece5979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRRDjC1vw4X5HQ92KMeKfG-sUDD_ocjb3NHznBN73G5kctCmp8-3-Z3NUoSQu0peINTMvrxylJC9Q1QIigNwoXy2ajeK9xJDJwe1HDU7r5-VX9b3NH05X3tWrIMUUSkwxe9xYHs2eplSgd3swQnELBrPXLe4BmFa9bXyf4emEsK5facKuiEANtIiSS8FvOeVA9PWnCi1a7V-n4fGc8NgpbG-OL6m3t1Nt8jkfieUA6XcREA24eDInW9ioE2vKrjN1vSsLbCq0M6Jp_IDctIKFjv-53v56h2cLGbvuXc2Fpoc1BE64i157erF0iQcNmu7uoDaYjWZm0ZpOlt4lEUG-rXxCkkmHbiXjFh70WDEmmkMZ4_c9q8lzCdX2yV3w-KDL_knHaPfP2oIxOy61JTRTRjgcd1Ze7NUq7MuTaM5d9lWc9JtYAX20K0QuOPA1bfEUx_SP7ViDx3Y3Tu2P-fGd5CirlWoH5bhGGYJsxSCZTMBjVkEIJycXUXynZkNAb8t3eu8ZEo4LuMKGANArmZ1E3BrSngAMYy-omZXgHzDELJVbsVlJztosQdor9M2pLnL-k9Kxvq2i2uM6cJnK5a7HIUkwJo0WvlOnq4IuubORC1pmVa4tAE9WHU-cUjoz7Adc5ZbEHzxRXGBFPR2KMwQ7HsP2IruHpMRYLPXuTy7u8Q4fC05SIq8jlTX531VZWashejj70R-HV6f9lOIezjsk8rlwl4NtCtORQbnk_yHZ8YtnXP8d7iJwA0O655Xqcmj6Ox1rZEAD-gOOHXeDGQnbTP1VMu_J-nuINPHn2ebrbStAuvpd42TYStG3y2P5FTWU91vFEzOwoBV1-UKjDEHgmIG46EL1BypNhUePoFEbzIHQ4Ik9vccR6XdjtVHRb2JtVhL8baPV7ElO9SS-_Kd_tJenrUHpHMHRCQIN23jqHLkJdrH2fk1KZNShtuRAxuHZJWDlExLAU-T-8bkA1-lh_NfZNS4K526dX7W5226a4op_OOrXDKuEhUfHRxDevOKQBlwjd7NIKoHeNOfcZx2zHf6nZQ_1l4SwtCB6GBqfmb2DKnALO7gmh7UQkDJzub6HSzga3He0CEOzs4y8wmTwNeslmSaMeItVahNEL5zwv_WhclAwTSjWvvqPJqDMXNmZmIJebTBLGZFDGiCIfnud6RjJiWZab2wORcYseJhA0vUiudYEFFZYxv-zGdfLb-q9d8DPi4yL-meeiiKgc4y1WcZawMrpxnfim-ZGW0wdfizQeiypaUriq6MsTU8VDjeJlh7cRm_aDkX3XgP3WcxAY1_BahMsPrgr23oi342dOvZy_JBxLNV_IYNDvLmqW85pwtcTwkuMmbcGPnExI0cb5_X0xiZexLpDhUT0EzaNYkUT0=",
  "id": "rs_07f1926e658af0d6016ab454500f1487d0b1560a9643945e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"After the lateral correction, the lifted cyan bowl is centered over the purple bowl in the overhead view. I’m lowering it into the purple bowl and will use the descent shortfall/contact to detect when it is seated.\"}",
  "call_id": "call_Gw6JfJsY49oCAZipSCvNiA3i",
  "id": "fc_07f1926e658af0d6016ab45450958087d08755ac5ce194a5e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gw6JfJsY49oCAZipSCvNiA3i",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.8824, 1.7767, -1.0435, -0.4477, -0.6109, 0.0478, -0.0219, 0.8101, 0.5999, -0.3973, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3916 left_y=-0.2253 left_z=0.188 left_yaw=0.0586 left_pitch=-0.399 left_roll=0.1002 left_gripper=0.0478 right_x=0.2929 right_y=0.0001 right_z=0.1701 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -10.5641, 9.0598, 0.9451, -0.486, -0.0611, 0.2564, -0.3487, -1.3333, 6.9949, 1.7167, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3421737de57ad06413de7f6c6f18aedb65e2d5e4b0eb5945b15658f4108aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210b8b6192f7ddf48f25d7656570bbfb75012c3639bcbfc6d17c9639f9bafecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9289fd088c288d3b7c24aedf5a777d8114256ff0c97455f2f3816cf68679fdd2",
      "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 73 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3729, 1.4025, 1.0477, -0.6125, -0.3218, -0.3115, 0.0406, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3581 left_y=-0.0762 left_z=0.1479 left_yaw=0.0764 left_pitch=-0.3277 left_roll=0.0829 left_gripper=0.0406 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0027 right_pitch=-0.0229 right_roll=-0.0054 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -7.7333, 9.1145, 1.3358, -0.2027, 0.0464, 0.6374, 0.1026, -1.1419, 7.0359, 1.746, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.8534, 1.7668, -1.0367, -0.4477, -0.593, 0.0453, -0.0219, 0.8101, 0.5999, -0.3954, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3933 left_y=-0.2172 left_z=0.1975 left_yaw=0.0573 left_pitch=-0.3811 left_roll=0.0922 left_gripper=0.0453 right_x=0.2932 right_y=0.0001 right_z=0.1705 right_yaw=0.0023 right_pitch=-0.0309 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.3077, -9.4017, 9.6479, 0.9499, -0.5006, -0.0904, 0.442, -0.0479, -1.4017, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.8824, 1.7767, -1.0435, -0.4477, -0.6109, 0.0478, -0.0219, 0.8101, 0.5999, -0.3973, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3916 left_y=-0.2253 left_z=0.188 left_yaw=0.0586 left_pitch=-0.399 left_roll=0.1002 left_gripper=0.0478 right_x=0.2929 right_y=0.0001 right_z=0.1701 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -10.5641, 9.0598, 0.9451, -0.486, -0.0611, 0.2564, -0.3487, -1.3333, 6.9949, 1.7167, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3421737de57ad06413de7f6c6f18aedb65e2d5e4b0eb5945b15658f4108aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210b8b6192f7ddf48f25d7656570bbfb75012c3639bcbfc6d17c9639f9bafecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9289fd088c288d3b7c24aedf5a777d8114256ff0c97455f2f3816cf68679fdd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRUMFsd4J-Y8vr53zy7kzHWxeRsViDjGgQFEZB594pzV1ZFeRR7lxK9ikHXBGIq8QCaQr7VIltLi9pkXc2PO05WkUGAaHQAhpX1hO6oTWry6K_Q0pCmIgiv4hCrkkT3IgKLwCxD5Ga8VDFCkf6UlheU0wBGDrZt_97CaqdvnuQE82Vxbfs3zUJiRfqfo2ZNqsLTYB6YMsbAN5NgEhwh27pMoq6F_EQXhCl5ftNXL6dhLFZrSLfFcOb3H2_WyWTiPecsP-fYhz4OioWFxPEXBqJsF8sOcrxkJnchgNbeM-wsCnOdMw6E6j39wzR8NUR0-_szyuNnKPlfj18EBbU_I1oiHmphCPGyrSqJ4aCBdXQQD6y0HZIcTwySWUlcW56uJoC-kvGKMX_EtUux3n2BaWkO8Xf0XLcaiTXIt-h3utAUplGhTVKPJAA7NI9HZasFDM-i4iisMi0fFY0Ur2JGBPU6EsJC4GhHfQDK4JpoaH9Cwb1anslDvl8sbXtgzWERqkDT98A36213qEjSwU-xkHWQZG9xDwdJhTCI_y8P8ghddq6-6JAEKntqraMQyaYtwQvp8ZhuSVogbfcanev05wBINMM421XtAIH4MI1rc1FCURVaUhDDDRqc9qJZ5aC1HJWlgNVHV0xDsUtfGyYybbdH8I_JYd5Glvl1ujokFfDbOzNz-MLsK4mTYTPa1kZP8_AD-pV4cbzigAhWh5gH5vaO_DV_nhhyalagtwJCdtFJGvNQcDTw7snvdz6eD2S17z1f7o1GoVwDPLlrUhUb3dNr8WGHbaY21lp0xI3hPES83l-OK-F5xaK8v5ZvBmii4gBm-VeOP4J6VbvvRdQsxbpvA7M7GqbuSYE2eBqkh6xXZo8J3fSXPPOQsHPD1FfG08cYbFlSpdDcdo9TUN0tJeHQXTEjyXIHLFj6h6gt3X8mCnPZdafqGlFeNB0XAr2PFKTArSZrl5ZtcnRzusBSvRavDWtA4I0U6vU5VJ_YlJqiS1bg6GxnY8BDXiVKDqL5ulcBHoqPZ9PWnN9xkwVh8p4-Zm5F2Dcs_PRx80SzDhc7XfjnYcYHs_or8TBJavfbzFcZ-J3y0ssKhlaO-Udb6-NfNvT6GoK2WpEZOo_Y4ODg3XeC_4gcUGmBiVEbgfE8x4-43iCk7zofJUMNg-fIWJ4uvxSzyywq_Idmy7nkBBqKDo0CeDAcHlowDkdmI9K5Ti4J8CQmvdonpx9yYadt4I9Uuhz4MTo84q2odn4JsmlkkgugoBRAo57NXBn4IpsZSw1zKBh8nZtSsdm0DgqsD2dwXl5znBROvZD21BnKC0qTmSXVlZVhur6mlmFM3DiWf1aSQsWKCUhSL7poDPqgd5lEuX725GmHd0ZXhflygs69xqGPL_8Ox1KeEC0uyROdQFS39v5bruLyHDKcJ6BhRiA27ESaSGnN1vnxffPqIIWudR-ogsdOmVO_vyv-5ddY2Q-5gmm_FngbgSEkob1NaGlPUarSVEvamShA5WjCNoEyP5zDkQDZEPH9luXaLMwzWGHANOUd8YSRVSOABCx4induuXUjKlqZEl0g24lWVSEbqWarE82Pc9ZvfiTA3Fms-fzoneccCvuNGBn33cGnWWalIov7jru2l2NQ01I3CqJ4kqM=",
  "id": "rs_07f1926e658af0d6016ab4545347cc87d0b8d7db152692f5e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped almost immediately at z≈0.188, a 10 cm shortfall, showing the carried bowl has contacted and seated against the purple bowl. I’m opening the gripper to release the cyan bowl into the stack.\"}",
  "call_id": "call_xFQa9C3ZpO8Dywk4quKZyin5",
  "id": "fc_07f1926e658af0d6016ab45454543c87d0a40911b14b14b0a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFQa9C3ZpO8Dywk4quKZyin5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8824, 1.7748, -1.0435, -0.4435, -0.6197, 0.995, -0.0219, 0.8135, 0.5995, -0.4122, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.391 left_y=-0.2259 left_z=0.1871 left_yaw=0.061 left_pitch=-0.4025 left_roll=0.0932 left_gripper=0.995 right_x=0.2909 right_y=0.0001 right_z=0.166 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [-0.3624, -9.7846, 6.4479, 0.9744, -0.3297, 0.0562, -0.0855, -0.1436, -1.6479, 7.0496, 1.8437, -0.022, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7ff6f994e51b1705867966ca81c34640cb93283d1f1cf564db393b0e71b26d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d3c5a04641785c47ca0c4ab4255725cb2fa49812b9616227b01685ca6675d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a28fd2a339e23f192ad019ecfe94a112ac33767a1215c7836e77408bf9a2f2",
      "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 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.63, 1.7817, 1.6936, -0.9874, -0.4362, -0.5438, 0.043, -0.0219, 0.8089, 0.5999, -0.3943, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3967 left_y=-0.1925 left_z=0.206 left_yaw=0.0624 left_pitch=-0.3544 left_roll=0.0815 left_gripper=0.043 right_x=0.2932 right_y=0.0001 right_z=0.1711 right_yaw=0.0023 right_pitch=-0.0286 right_roll=-0.0053 right_gripper=0.9967\nstate[joint_eff]: [-0.4444, -8.9231, 8.9368, 0.8816, -0.3346, -0.0366, 0.5592, -0.1573, -1.6205, 7.241, 1.7363, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.8824, 1.7767, -1.0435, -0.4477, -0.6109, 0.0478, -0.0219, 0.8101, 0.5999, -0.3973, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3916 left_y=-0.2253 left_z=0.188 left_yaw=0.0586 left_pitch=-0.399 left_roll=0.1002 left_gripper=0.0478 right_x=0.2929 right_y=0.0001 right_z=0.1701 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -10.5641, 9.0598, 0.9451, -0.486, -0.0611, 0.2564, -0.3487, -1.3333, 6.9949, 1.7167, -0.0562, -0.0611, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8824, 1.7748, -1.0435, -0.4435, -0.6197, 0.995, -0.0219, 0.8135, 0.5995, -0.4122, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.391 left_y=-0.2259 left_z=0.1871 left_yaw=0.061 left_pitch=-0.4025 left_roll=0.0932 left_gripper=0.995 right_x=0.2909 right_y=0.0001 right_z=0.166 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [-0.3624, -9.7846, 6.4479, 0.9744, -0.3297, 0.0562, -0.0855, -0.1436, -1.6479, 7.0496, 1.8437, -0.022, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7ff6f994e51b1705867966ca81c34640cb93283d1f1cf564db393b0e71b26d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d3c5a04641785c47ca0c4ab4255725cb2fa49812b9616227b01685ca6675d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a28fd2a339e23f192ad019ecfe94a112ac33767a1215c7836e77408bf9a2f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRZCCBlTm_tbNQgC9uVS6lFwAH184DZHy0gsgYFFCjn_b2ofG5tUKJFTFJaenzcfdNwS_zQSb3rKhNV_OwZ69LfCvW9uM38ctn8dhVS6iha9Nfzvq3neI8tio1eX0tX0qiNJMPnsOm0lcIaKqIRW6J6C_7fwhxuYe7dhlG8XiZeU2B3TuGvW9kNU624mmVyro-otx_uJjwaRi89Z2OJDk1H1IOLzuzK3YyaFeO18V8HuL_uCPdhmMa2eoztEEPHnWXZYTzRszeuESa2EgQHQsOi0iKR-2JhOUeiK385pYYsZFK8cSYpiI6Sy985_XxfCY5w5aDbcECoWQn5_erXVKiMFadSM3DFHQHlW0DvDt2I3W_ZB3T1tN4t9bCbfhMahVQORhJe0IeEWO4j8Vqp_iWqE3G1MfNrsILEMhz5vG27RkzuD5pKAGOsfIQtwsyTWwRR65HHQu23hUwh0y-0YkZnEtu55LSdXULwgOTfCn4Iujd-EL6DxYfONBBciJgHMoFc19x2E045es0w2CO2NmDG7xBpFd4RuxliW8bTZFIqGOtKChl8bh90w--H5jg_6tuAY0XGiepB_qBDFUHzaB7MQTSz2XvlTfTf6XpZTb8QoVPEMKPEjtphTkWnRfWS4-3zlziXKGx0Va1gNZ40pDTpHaxSANhZBeBXGlPRouX4VmFgNuVNt-u-vRHnqgv8DVIMYWVqkhho1zsp6nkQLB1EJHN-_4nqg-Nm-l_wIYJCtFMUW2rlU6sD-uKtGJr2sUZaZU5XK1NLeDyTiRe_Y1WujUnWr4n-EEhCMA1qkBQrcP9aoRG0RiJp9pWeO6A2B2KD-n1j9P62iXEzC6XGe6eljLi_Fp80TSBYxYktYy0xQgtZuhY-_PDJVBnrz5s8rlxq1zFoCypy0hoqSjyi8VnSLh75pJc8abLBxZHUjK7GM7uiFNrVu4EYn91_VgKKqYA4jnTYmh6Pc1wFrOAratq1Lo5zuH6qicoO9NhXTIBbDZlpBCnUzBjkOYKVm4ogMJcBBBa6sPJh7HYLqWObofk3IUjpqhPvEhTWp3S_LEg9NZDmrpfHhMB3NqkJyslQyFKRmOmOtD_nESW5whv6uRONwZ5TyffRRg4kmWwSSyNO29zK966OYciJ6UioHx7Yrz0TZqZu6lnLKYbcQ8zJHHoVSKnKAvdbcbqWMfFvOp2JgH_BR07Phl0qN_uS_1TJ-WT-gCMd4WFYFXERxuHGBsuLAr5tyoY_OMfh9EMYerrcdVIfJCAv0F99uQPbDojkBrn33-1hbm4xx-Ai1UuIByedV13S7LlaQbBTFnyBCAFZgaJRcGW_lj2JzBMRrS5WVjH69qRXdChi3mtdgiYSDQU7rswGnL2hqTJcl7hWDhnOc-LrD5PgfX0c1GCighi0gG0aUv33j8K_3_qUSl16O11rmbRP47LvvuKZvaOjyOO7AlF6h4xIaIbBcrRMjROvhM_xMUrs23JRJ6UeUipKebgBYumDPtmQWeTXe3ErBgP1_5wfj34yx8E71gjcF_WEDpldIqN2jwe-CV_L_WkOFRM6VmdiBmgTxTMR5E05DTnTueyM-9Guqz8BU9B1DA_D05Ot2jgFX6mNnRbtmKIhG5kTQFfJwbBJ2b_o97Ou3IY2WmoIYfGo7jsQdtrv3Kgp-M9TvWjXEJg5-ORtAFNQO2KMpgjFVZeRbYYqF5Dezg47VFY1RzoBwGsgNfrD_qdE1PRB5nAFjNDicSe-sXiWrB56xHHaJsARqKDw24ILh-7B8WFLpfumSAtOwCCEQdAoA47kLxbyxjuFjxRF4OGR-zQ7Vur3MEJuUdEH9QHT4TK3iSyIKVFsqxkp_LJ1rW3lzjQCBa1v-2KcllRQI8WXBv3HCapvNFMywWlzmWZp8O9WOwV3QIVBID9BFdlwS66XrYqnZpkoAfZCSNy2Diz2YzspBTgc5K8aJwlGgjFX4PkaMXmD13im3oS4isp9APadrds7WcbQjyI-7xed9eo6f3GUpE_EUpQH6Y_vyVf3DJ91cyqGn-SXd3reaY6FxvMZTpFrVz1WaokGnGrI6H9qlcINbtadsd4BPv2ScEZ94WE_06BpIpmUbEj7qgkCKYhdnzwhi_4ukqeB-5K7gsefj1LeueKKO1dtsl_PIzsB9MdrwDZLZESGHJ2Bxmr-jTGHs2DAQEK-_VD0FWYJLu51BQe52SrQVEsoUhT42p8jeWhkzyKJ3Eysy2ieKumfh_oehzNmpkX_Du5V12gxMjVeJyR59kAs4WcGo4wzZFiN_1toL1R3Jr-e7-A6QrFFjkfZwCbxpx_jZa8dpAm8yf_Ocnl-C_TC1ZxCf8PG97YxRxv5PAeCkITj4sM-1r5tWl7Ob_PwC0ysQ1rod3SWX_u4lhK-DA==",
  "id": "rs_07f1926e658af0d6016ab45456c2c887d091fecafb3f4b9063",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"After release, the cyan bowl remains over and visually hides the purple bowl, confirming a two-bowl nested stack. I’m retracting the left arm to its home position to clear the workspace before using the right arm for the remaining pink bowl.\"}",
  "call_id": "call_AdYiJDFuLPiLEt8uCLGxXzSO",
  "id": "fc_07f1926e658af0d6016ab45458befc87d09197f3691db8412c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AdYiJDFuLPiLEt8uCLGxXzSO",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1204, 1.1534, 1.0279, -0.8848, -0.1776, -0.1295, 0.9988, -0.0216, 0.8173, 0.5953, -0.4156, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.2953 left_y=-0.0007 left_z=0.1757 left_yaw=0.1051 left_pitch=-0.4182 left_roll=0.0907 left_gripper=0.9988 right_x=0.29 right_y=0.0002 right_z=0.1624 right_yaw=0.0024 right_pitch=-0.0629 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [0.2393, -4.2188, 6.6803, 1.3455, -0.0513, 0.0757, -0.1343, -0.0479, -1.3744, 7.3641, 1.6874, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbaf6cdf57d74e3c589af48e94a1a1857ead2e894ff93a4d5a6e795bf6f81072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b080edd6649831b21130b277f4410de5ff73a3c14f97fc91e058e4907915f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0a6abd95a4f22de0dd31bece53e2c275077458e05413ccb7d888e5d563b065",
      "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 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6838, 1.8534, 1.7668, -1.0367, -0.4477, -0.593, 0.0453, -0.0219, 0.8101, 0.5999, -0.3954, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3933 left_y=-0.2172 left_z=0.1975 left_yaw=0.0573 left_pitch=-0.3811 left_roll=0.0922 left_gripper=0.0453 right_x=0.2932 right_y=0.0001 right_z=0.1705 right_yaw=0.0023 right_pitch=-0.0309 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.3077, -9.4017, 9.6479, 0.9499, -0.5006, -0.0904, 0.442, -0.0479, -1.4017, 7.0222, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8824, 1.7748, -1.0435, -0.4435, -0.6197, 0.995, -0.0219, 0.8135, 0.5995, -0.4122, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.391 left_y=-0.2259 left_z=0.1871 left_yaw=0.061 left_pitch=-0.4025 left_roll=0.0932 left_gripper=0.995 right_x=0.2909 right_y=0.0001 right_z=0.166 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [-0.3624, -9.7846, 6.4479, 0.9744, -0.3297, 0.0562, -0.0855, -0.1436, -1.6479, 7.0496, 1.8437, -0.022, -0.0415, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1204, 1.1534, 1.0279, -0.8848, -0.1776, -0.1295, 0.9988, -0.0216, 0.8173, 0.5953, -0.4156, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.2953 left_y=-0.0007 left_z=0.1757 left_yaw=0.1051 left_pitch=-0.4182 left_roll=0.0907 left_gripper=0.9988 right_x=0.29 right_y=0.0002 right_z=0.1624 right_yaw=0.0024 right_pitch=-0.0629 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [0.2393, -4.2188, 6.6803, 1.3455, -0.0513, 0.0757, -0.1343, -0.0479, -1.3744, 7.3641, 1.6874, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbaf6cdf57d74e3c589af48e94a1a1857ead2e894ff93a4d5a6e795bf6f81072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b080edd6649831b21130b277f4410de5ff73a3c14f97fc91e058e4907915f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0a6abd95a4f22de0dd31bece53e2c275077458e05413ccb7d888e5d563b065",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRdyClnE145MoSZFvxLWd2r6AWkT4rcCdFpWG6huAzC3XXGYOL3AOv7yCOt26gRcUCaNoFOU6CfZMjXRc61zQ1Jk67AST-hJr8akTkmu3ttVN2Uj9jNkFi4k-Lh_QWY3h3XckXu2JJ1qbmJfhO37FA9J44uoDFZk-duXlVwbG-x3szQ5-p16mK7dObBmdqCe8UyhqQ80GwGnoNsAYg_dIQ1HPPkbA5Fuxd8zxdFJczlrqqnade5tr2d__uTIOZV6e7I271Bt12TplbzvYfqmAnmDx2KJgEveli_gxFC7pueoJrnXrccJiG7xkOnLlwzW9qAd-1T59IkLo0_0ji0ZsvcwcGY_YC1arF9irQyPaVIEc6oqAz-XXOgbB0YxrrsHfpgSQ8wVCuWex0spLNCGj9_eiXyeIG-__GT9BWPsSDyTgSy-veZ9wAq2zOdBQsL3l5aZ2EozZAOd3U3Txq_jq1NlqRlpSdVmPYoZgLhqxq42STIb84ehd_H3YM3oF-5tmgD3w0cvtn6iLr-PhuhaBg5pAI9Awrj4ENHNfrklG_7ieXbdi2b4B0HF7Fhd9xpSJjGXPsklUfTW64bkHNzMY8uxCemjuI9gzfZKPdhxhiGmte0XQoKdnYVmwEQ37pQzVYlQ8JeSrx7cXJcrw2plR60xIarzZSOhZuAk_uY25EuHDYMlBvaz-L_m1SGzTALcFgEqYV_KVWhOpGSVvirfbkKcyTmO1oN4o4iUhTu5U7CxBha_ZxtSNjtNXZaBTygtr84RDO2dthKXyxkh-CP1NS6z04KHQQAG_WQuQTAliz_7EoMleXCmNHplij5OYrCOCSjjAM6J1nm130Vc59Tu-m6LbDaw--orxCVr2Y_8gN6c5klbL3iI_bOIfjep1FSBlhVsfLpWoMgqHLb0kG3S-478ax3GVXjc9GunNx1OAVdAC1PPpuaxtE6ZxMhSez7JPa08V7xKD0R2ZAbIRIfRqJcKOaKBZT2L0jxaAb1E3uMcSzNfZPGalrCMzuRm9nSg3dTNzWRDgWQ0WWmKWnYGYfv106CGG2G-cUth7sygW0J3cfVV27wcL9GvgZwSI7fdOOXo6oedjdg-ekYdZchp6vTgAwZv_KAldwsHNSb1InKmmZqItY8F-klbdF9hprI-9ZFunM-aoctNSE4Kl2-WxFVKlS6Wrx_8UcT1_3PN_JyDGJ_ex4pKXNH6gnz7Ut9hJKJbHhDL615ZuO0eBw55yWAenIpo8BWxIMh_rxNbjvVD-A=",
  "id": "rs_07f1926e658af0d6016ab4545cc56887d0b36aed145ccda8ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The left arm is parked and the two-bowl stack is unobstructed at center-left; the remaining pink bowl is to its right. I’m moving the right arm above the pink bowl using its wrist view and the known base-frame spacing.\"}",
  "call_id": "call_tJgATDypnapY5V7EiiridW1m",
  "id": "fc_07f1926e658af0d6016ab4545cf49087d0bc43db03fd08b080",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tJgATDypnapY5V7EiiridW1m",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8867, -0.1658, -0.128, 0.9988, 0.6434, 1.6127, 1.0431, -0.2375, 0.4686, 0.3729, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=-0.0027 left_z=0.1726 left_yaw=0.0941 left_pitch=-0.4301 left_roll=0.0833 left_gripper=0.9988 right_x=0.3876 right_y=0.1954 right_z=0.1299 right_yaw=0.0441 right_pitch=-0.1263 right_roll=-0.0449 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -3.7949, 6.9265, 1.1941, -0.2369, -0.0513, -0.0171, 0.1846, -8.212, 8.9915, 1.5946, 0.5788, 0.2662, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718ad62478dcee3e2cf6c9be1c5ca01d14f76d924b7c5190584ea8fa2123c38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3310df7f29dd4bce6385d07b8c63b13078968351c1e0994d63a0795e21bd9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd8993682b3882a34bc1d5bcc673c4c1348a3eccd54f1ac7d40b3743349a4d7",
      "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 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.8824, 1.7767, -1.0435, -0.4477, -0.6109, 0.0478, -0.0219, 0.8101, 0.5999, -0.3973, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.3916 left_y=-0.2253 left_z=0.188 left_yaw=0.0586 left_pitch=-0.399 left_roll=0.1002 left_gripper=0.0478 right_x=0.2929 right_y=0.0001 right_z=0.1701 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0052 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -10.5641, 9.0598, 0.9451, -0.486, -0.0611, 0.2564, -0.3487, -1.3333, 6.9949, 1.7167, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1204, 1.1534, 1.0279, -0.8848, -0.1776, -0.1295, 0.9988, -0.0216, 0.8173, 0.5953, -0.4156, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.2953 left_y=-0.0007 left_z=0.1757 left_yaw=0.1051 left_pitch=-0.4182 left_roll=0.0907 left_gripper=0.9988 right_x=0.29 right_y=0.0002 right_z=0.1624 right_yaw=0.0024 right_pitch=-0.0629 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [0.2393, -4.2188, 6.6803, 1.3455, -0.0513, 0.0757, -0.1343, -0.0479, -1.3744, 7.3641, 1.6874, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8867, -0.1658, -0.128, 0.9988, 0.6434, 1.6127, 1.0431, -0.2375, 0.4686, 0.3729, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=-0.0027 left_z=0.1726 left_yaw=0.0941 left_pitch=-0.4301 left_roll=0.0833 left_gripper=0.9988 right_x=0.3876 right_y=0.1954 right_z=0.1299 right_yaw=0.0441 right_pitch=-0.1263 right_roll=-0.0449 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -3.7949, 6.9265, 1.1941, -0.2369, -0.0513, -0.0171, 0.1846, -8.212, 8.9915, 1.5946, 0.5788, 0.2662, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718ad62478dcee3e2cf6c9be1c5ca01d14f76d924b7c5190584ea8fa2123c38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3310df7f29dd4bce6385d07b8c63b13078968351c1e0994d63a0795e21bd9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd8993682b3882a34bc1d5bcc673c4c1348a3eccd54f1ac7d40b3743349a4d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRi2-_M6bSsYPbWBmIBHrzR7O_kb6zQKFOisOk6iZ0bkxn0kVY4mTtbm4WRxofWvLN7F6C19JAnqJQHsy4ADyWP-MA8HYDq2OzvXyM_eDiO7GvvS0IZjJPxeBiDWpkWqzyZ5hNNB-7ErphuuChT3Bk1wwH7IYkcbmmV0YSBkmk3G11ipfZmTMXKlNXHxETtY1FyqmPxfgDexYg5QVrNswfU6Zjm4aLxFJfjZj7sfdchjJKYyPB3_67gxh2WC3t84ciMbzHLXgnwufOOI_E_aqhIhJRVwrSV93qNP7m9MCYdyigAL7mUZMFqsuIyECpX-_aGz1eHJwcaqNQ_PfB4jG5EroPL-P4DbaVuTOrEDfHmQ3yqm40EXkQUIzO7YG01ITTcqVtmMbiOy3fvLLWoHWqRX0Z8i7iTsYW1kg23pEdtFiFy5E3f6WGzMEnNWj7EJPYwhEQcQVVAemhltyurtZsD5OKtbILFN6ML_tiPTQ_lX3NHSYWFE499I9APnPhc6AkaOL2REXx3Wzyb1WFjuqhITEh2ZToyHkqDYXErI5x2ay7ksNuOtk3CnI-291-dlI-xE5djexUvbsNF5LDyEnxaBZe1pOgvjdqUNyz0PcAZ9AcqqvSrkyHotHP_L_dTP_WR6-r73r1Gz0nZRN9xObOUGJwFhL-Rq91GZS0Ddap0tHLjoDJMOAyUTb5JZs8gstKgSiDDrSbbazsemqxgvASp9yzAyOYIBnULHfuwhGCjsMRH5BxKAeQrLMLHy6FONczta6sPgkI3mAcxWYM7kT4rXqrG5NkXl8H4qPpWehQf7cksXxreGudpOTTe4TodLrf1tWHOBgxPPUfSzLPnm3CkXVIwU48BGNqLnWstnhBR6Xt43VM6gcDL1IGkHYAs2x6Al-QwvXIO1yxab_4ooWH6VwKSspBcNYHB7zUh9eUDHW1j9pRbawBLZDRHYJ7SrMGNGfP-rTzRKt6Ya9qtKPRKf0WimVMUlJme1LRIGRLHFzu7NecUwCTjh1T1T_Qr3CtL4L3dk37FN7qUlDvpH7BD2e5BDok-U62SXPl4MOT9HC9HDvPh5E6W2ynaVlhN_wb9OGLOlyqRatmflEgsCKFy_J3w2k7vwnxNp7xxkFnOb3mwH0uWYiVsHHf3EiXB-6AyYeztx6Tb_PoebXZFOq900aGgj8lTtyC_FjfC7pHYpsRkTuEJC8Gc7c8QDpuMXxaI1iY7BCc0PVfEyIcpscw90XJqoBeoe8Vhxdvco7y9jtj_ALaxfR-XnL1G1ijwiEIOAKS43QyqV3zpGBmaqU34U25gpMvtRvPb2yFcOk1bnynHh9AasJhPO4kkjIY7p6hCw7B0eYuCCAMhXrN6lqJgLoxNoDZjvWDUpa_P08AjDmnq2elkR72t0fAJBk1A3Q2e119fQX4Eztqn-Avq_qeh6TtqJpenP0QnvnC09wSgJiaEV1htFvMuI9T1l1URlQ79GWUCkcWqT31lCxgWqDcrd8rjVNSqkI0B8E8ygf9JWC_ZxfXIviUgrre0fyZmE9uvRu8WOpM4j0_JNEMcnVNJ3pZ8pbtQZ3sIao6cTTio8hPtJx1U309l5btI7Q5L2EfVuhebbmyiuKiydft5kishWggYKCnRsOcOeYrW8Lnwcm0IZ2sYOJ2l7e_jDck2CloKW8PBjni_TVvEgaOXpkfLaQ==",
  "id": "rs_07f1926e658af0d6016ab45460c42c87d0b1b11d68a6edd50a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.16},\"note\":\"The right wrist view shows the pink bowl about 30 pixels to the right of the jaw column, while its radial position is already near the fingertip row. I’m shifting roughly 3.5 cm rightward in the arm frame and staying high.\"}",
  "call_id": "call_FuoXPvxvijPePcG42CNurdSC",
  "id": "fc_07f1926e658af0d6016ab45461cb7087d0aaa56370f8bd9261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FuoXPvxvijPePcG42CNurdSC",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.128, 0.9988, 0.5636, 1.5459, 1.0431, -0.3138, 0.4225, 0.3225, 0.9967]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0937 left_pitch=-0.4298 left_roll=0.0828 left_gripper=0.9988 right_x=0.3879 right_y=0.1637 right_z=0.1421 right_yaw=0.027 right_pitch=-0.1538 right_roll=-0.06 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, -3.494, 6.5299, 1.2479, -0.1538, -0.0708, -0.0122, 0.0752, -8.5128, 7.159, 1.6923, 0.1783, 0.149, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ce309fba383158b584e0f29b5e37a25264f6a3b0e84992eaf90f877c872964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eedd47c35cca75348303c9e56b9d2e51e44b363eaaaad017f0adf9e96843c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c895bde7ffed59a16055073e3e8ca73db44c242acb4b1863680c382cdde4151",
      "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 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8824, 1.7748, -1.0435, -0.4435, -0.6197, 0.995, -0.0219, 0.8135, 0.5995, -0.4122, -0.0166, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.391 left_y=-0.2259 left_z=0.1871 left_yaw=0.061 left_pitch=-0.4025 left_roll=0.0932 left_gripper=0.995 right_x=0.2909 right_y=0.0001 right_z=0.166 right_yaw=0.0023 right_pitch=-0.0515 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [-0.3624, -9.7846, 6.4479, 0.9744, -0.3297, 0.0562, -0.0855, -0.1436, -1.6479, 7.0496, 1.8437, -0.022, -0.0415, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8867, -0.1658, -0.128, 0.9988, 0.6434, 1.6127, 1.0431, -0.2375, 0.4686, 0.3729, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=-0.0027 left_z=0.1726 left_yaw=0.0941 left_pitch=-0.4301 left_roll=0.0833 left_gripper=0.9988 right_x=0.3876 right_y=0.1954 right_z=0.1299 right_yaw=0.0441 right_pitch=-0.1263 right_roll=-0.0449 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -3.7949, 6.9265, 1.1941, -0.2369, -0.0513, -0.0171, 0.1846, -8.212, 8.9915, 1.5946, 0.5788, 0.2662, -0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.128, 0.9988, 0.5636, 1.5459, 1.0431, -0.3138, 0.4225, 0.3225, 0.9967]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0937 left_pitch=-0.4298 left_roll=0.0828 left_gripper=0.9988 right_x=0.3879 right_y=0.1637 right_z=0.1421 right_yaw=0.027 right_pitch=-0.1538 right_roll=-0.06 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, -3.494, 6.5299, 1.2479, -0.1538, -0.0708, -0.0122, 0.0752, -8.5128, 7.159, 1.6923, 0.1783, 0.149, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ce309fba383158b584e0f29b5e37a25264f6a3b0e84992eaf90f877c872964",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eedd47c35cca75348303c9e56b9d2e51e44b363eaaaad017f0adf9e96843c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c895bde7ffed59a16055073e3e8ca73db44c242acb4b1863680c382cdde4151",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRnDm-omy-3PrSDGLCIqFKsilNTzBcqfv0AaV800ybl_FjRTlMycwSBPKZZYrZ0QJnl6GFeWPaM9bo6QisbAjx0HTHoN8PvfRJI4hbntXW4dVW4wmnVM0WWlBukZFKI3z5z7d5-0Zu3i6cqoZqh_X020QuFGqpMfJDLoytVHk4LtlN_yFX-TwzCqR1945tNbvIoqfJIWp3IEC_RNBvVQRbqk-AwgGdwLpBuEPc_e4hjac069s126KkdTNl3tO-K4xmNoFIFMpNqbcqkZlY-PqOzRRJ8nWaSzX57cmHuXo71ft2kSQgZRU0ZpXVgd1VzZrXfXBiKmOTnzf6uJJgqIiLa7wrb9KbjYA-AjXkY69gpUhzAofF4nuK4NMlqx7W82ZOPP8pZ9Ykju1YZg7ROoH7YyAf6RJoMRapJDx7xQF8taMNJ2qR9h3N5ou_8iS7gErmF_FGnmAQlAJX13JOfzMAeAtg1e9GyiaW2VwSEnGD9fXNMmIKl0Vei7QZSrI1jEQx7-6yfPXNmcOqiopCsRomHaP6h3afK5855szMcCD_rLdsDPnCeSZqkVE-kEZ43Ja0TJscVxbt5at5XbIlPNJh0QUteOYQb2L4S5Rtc1ypqNRgB4SsoWQf1c6Aby2k59GNWKU79GV5VqW6MoOflk1TWXopeRpc-0AxCV2mGN8UmJIa7XIY4ptuEFfK-4Jn8z0sgzq7hxhBVydCQptP1SXhHqGcv2WbVvC_-y1-NqXmGEU3ZCwej5U2RiJo1sDIucG23I9UtX1F1KK4um1HjRP9xhIFQn8hR_UVfTm7M3BcrwNLb6PsRbAq2WId039mb8cRO8YeOel-vA6tpY2JI_hpVMTx3KTcRMiTnV9SgrqdverPFw7oMc61MJG_iUFbuUiOF3Lnk_-45JqN4gRzZb7_uj4R4wWm3wxQc_MgnTXt9D_beeZ2fALmzdgS5hNXA1-Dy32nG86vEugD8suBBDug6bXVdpzlvZpzeAD6EsoOBkkbtx2JXCMEyUKaHGhrqQwD11kawIMNV2_0qMQXVpUUSu4l6-yV7jigswE_2eJf7dTRBZCt3ruvEbOs6gl62jXJEk5NTD2K3ylxFu65iwIS6FI_gqd2UsvS41JHRuZFaqr-kXRI_FgX5K1s73GUCbnWVI256GHG1uathq4ONGEgkmGWGW5vUqXd2DXnUldKF_FoaayCdavxJNQOH78GwhgJj6e6aDsISpykpjPQiujAe-VYBEl4384q0dWxPcOuJTBZkUG26jay8Oik7oOjqxS5e6Do3_7G5RC_0eWUUQGuWRO8VdfayzOuWUka327u5bsG5Uj9JAsWix0xigwkJMcsNO0jw1V51HdhpLRKgsnsV7XfYmQMF7oIP6p9r6x-kpA6KKgBlLx1vkvBbfJ4Oqs-rhMpL3lDlAPXQi8PetRieW73CVk1_eeNLxbRj73un0gAoGTNUOnA-iKJvlp8XKQQSXzWtgkPv0AjbnT5Hj3S752bxsh3zGotK1MyKYF7fwh_b8mlT4liI5sO2T2xDp_ebwkd8Qz-xJVTXwWkVGJ2DhlnHWtQTjitOdB-P-wVBspbbn-roUjYkbHtl4blZuaaLl9C-_M_PiLaz5emBWbk-VfzeiC6OCJOz8nW0Dg0EAxosPPu8lVArbz6dQRj4ww6NAnpLheUd1x1uWyfKQEEyLHek00oo87CgbtLs-5rE724yXzNpbUijrNcPhnS-kXzacaWAB-XsVKxb5A7mEOBfdHshdGTkXqWoHYJSgsm16IV88AItmh6mJVzoMmyELNoskVC-rlZh6bXxfwPj0I382q6zNRvcHhzdRM4t_5bBo7HntckFgLGvsXrQqvHVj3LI16lOAuQ_eQz-Wgn0fJ6ZPUSfIUiXrKq5fslh2ZI_Bn2Ud2SLjLOJzwyDvPDmm1oJPoJBB1LSaKYR_9BqgonSdDfzq4chn1o5BMSn1t5CaFE2E9KhOgffbBv9Hh2LvULzJvp2n3NVoIHa-jhK58pLXwct6I9gE7pznA1COa33NQZW6Mf6Tis47NNg8DhYr7650GNwnV_6RnbWztuHCdDrmuH5sbrzVlJLra36wlaXRWDHVN_6nvF92B_-a-pbqEnYK2VFt-TcVmp-b8r7YHanQ7tyZ4osFa4t6h_h3Czgbt_PuC0tfBXPNO4dr_EOZiKym3HnY_72cetqoAl8bYsIZ5nrDYvWk38oX_TEkboK5wF6Nsw8Le8uvXGsZGcJZCpPxZxuvHJdy50lUUIVY1Z6FPAx6smOuJSSfjtVn9xfIVywi04NQKQAcBL0IWXSqubK0nYQgZrzZYbhIA6FsDMBjA==",
  "id": "rs_07f1926e658af0d6016ab454648e3c87d0a6cd85bfe135b7e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.225,\"right_gripper\":0.5},\"note\":\"The pink bowl is now centered on the jaw column. Using the successful rim-grasp method, I’m offsetting the arm toward the bowl’s left rim and narrowing the gripper to half-open so one finger can descend inside and the other outside.\"}",
  "call_id": "call_ry1oobav5PtQN4jRIpNGqxpE",
  "id": "fc_07f1926e658af0d6016ab45466b9cc87d0a375d2e99536b76a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ry1oobav5PtQN4jRIpNGqxpE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.8867, -0.165, -0.128, 0.9988, 0.7059, 1.6825, 1.1664, -0.395, 0.4866, 0.4103, 0.5044]\nstate[eef_state]: left_x=0.2944 left_y=-0.0029 left_z=0.1724 left_yaw=0.0934 left_pitch=-0.4306 left_roll=0.0827 left_gripper=0.9988 right_x=0.3791 right_y=0.2193 right_z=0.127 right_yaw=0.0624 right_pitch=-0.2017 right_roll=-0.0895 right_gripper=0.5044\nstate[joint_eff]: [-0.1983, -3.2752, 6.5436, 1.2674, -0.0855, -0.0562, -0.0122, 0.1846, -7.1863, 9.388, 1.3602, 0.4225, 0.2711, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee379b3735a874c419bf944b3940f6b1e363244875183f98480b88cebbf3ccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e38941d555aac8645f556d273d4aff4e9833acef6aa02940fa0d267448da7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537c460ecf600ced6a3a53364fa8d1dc8b60589f6ff161f3e0391445285936df",
      "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 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1204, 1.1534, 1.0279, -0.8848, -0.1776, -0.1295, 0.9988, -0.0216, 0.8173, 0.5953, -0.4156, -0.0162, -0.0273, 0.9967]\nstate[eef_state]: left_x=0.2953 left_y=-0.0007 left_z=0.1757 left_yaw=0.1051 left_pitch=-0.4182 left_roll=0.0907 left_gripper=0.9988 right_x=0.29 right_y=0.0002 right_z=0.1624 right_yaw=0.0024 right_pitch=-0.0629 right_roll=-0.0047 right_gripper=0.9967\nstate[joint_eff]: [0.2393, -4.2188, 6.6803, 1.3455, -0.0513, 0.0757, -0.1343, -0.0479, -1.3744, 7.3641, 1.6874, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.128, 0.9988, 0.5636, 1.5459, 1.0431, -0.3138, 0.4225, 0.3225, 0.9967]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0937 left_pitch=-0.4298 left_roll=0.0828 left_gripper=0.9988 right_x=0.3879 right_y=0.1637 right_z=0.1421 right_yaw=0.027 right_pitch=-0.1538 right_roll=-0.06 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, -3.494, 6.5299, 1.2479, -0.1538, -0.0708, -0.0122, 0.0752, -8.5128, 7.159, 1.6923, 0.1783, 0.149, -0.0415]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.8867, -0.165, -0.128, 0.9988, 0.7059, 1.6825, 1.1664, -0.395, 0.4866, 0.4103, 0.5044]\nstate[eef_state]: left_x=0.2944 left_y=-0.0029 left_z=0.1724 left_yaw=0.0934 left_pitch=-0.4306 left_roll=0.0827 left_gripper=0.9988 right_x=0.3791 right_y=0.2193 right_z=0.127 right_yaw=0.0624 right_pitch=-0.2017 right_roll=-0.0895 right_gripper=0.5044\nstate[joint_eff]: [-0.1983, -3.2752, 6.5436, 1.2674, -0.0855, -0.0562, -0.0122, 0.1846, -7.1863, 9.388, 1.3602, 0.4225, 0.2711, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee379b3735a874c419bf944b3940f6b1e363244875183f98480b88cebbf3ccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e38941d555aac8645f556d273d4aff4e9833acef6aa02940fa0d267448da7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537c460ecf600ced6a3a53364fa8d1dc8b60589f6ff161f3e0391445285936df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRrcakoQXw0CoI4dkqb1DkopsCVqfiOG4cPsHrMBqP3CR1zaL976BUrvDf52cJ-JSYGmQiPsjkS7KoWU83SgD3u5Alri5bhHOMiVuPwf3kOEalXfyhPmqTT-_DHVaYeSoRr61HrLlWxQO4eCqJc5d18Ws_JJGvKpHVvY0TLV-p4b2sfsQEm-U7p98qwvv_VCbu4axo3lAoN_g3csnumwo9hvea3XWqL4iJjoYUqhW_mt6Lo9uVYU3vW2nvTcb4OVMb73KSD2rWTvRI6N7zvpvek7niZlJQAaDHlgV_RQNvMq8zi1799KdlkclFz57k2r52Zp2reutNp5KkVV8PaAO0vpPCNkMpoAtMeA1hEq1FORVGVZ67RMiZUYfQwDGwMj3WXw2bmKGPsGRonACfQ5ySO_aCrWlnsDJXOZG9694zGKMX1E-Q3XWP3S2953P4xxk7KCpXshGZGI5wi4Ng3-zHtD6kJARaRee70_TiaHpzji5O7cbCyf3FnjxijC2l8hi0tVMSiWHulBkZ7ye8ucHb6nwQBnUKUbcKGUz127srKeEQMlarCOWEqvbVNBOuW4oaHvAfNnmBCAHCPS25v3eaB-diOSg6gNdY9Gll5KOjTBeffoQlYh5Fvi1Ji7w4TVZy_K4lIBEenwMNlDpiLHDXgeWSCKzHiFz57eCLB76UcfJMuvEfSTeoBybVHTLV44vqG3_feCieaD8e8HOv8QPvQkvrWNhRbYjpGIZEtyzKvqhKeBTGQKdz2QP6JqaQ731EM-R0SwMuoswH28J8_n3Gx8CN6dTDzDxgJV-t7YriP2_mPRPr3B4fasDoLgAxtelFOKrCQ8xIdbG9L5dzLSvIa6mk-VwEvSUk8l3sr4KPOYZa9-8zZ3M-Z1bcPr2B2mZdWsPwInIYMJRKUZgIWZgTg_5BD5xDwXXp7JLoWAB6S6dkMxVOGHXuIjoQn2nqLgG2i6NKF7cP8PpXyTd7tCkOXu4GbEmR6nAUk2tYz8g8Bo_kW1H-2HSmryKOtfOlDLmr1SnAYk_nCH4X-74piP-zDSu_3EWcxP3YEwn7siohwukJwksz9lHPyMk_ZZ4XppKpIBcKkpEQD2QJ752z9UwJq7RR4lelGLHSx_7Q9q2s3EVpc6Ujqu44wT-bcHP5CC8QwvKR8WqZO8_bDt82Pqd9kMqs2pnRBw6arepj6f6gRH_Moh3cNa3UUGJ9mmFW3pvEy3TbXDd0B3F0BMGlHUVrt0rLh8vPe1EZpR1jCGx-lGPl8CGanEdZGPnoRlEog6ud0at7_tX5Kwr38tyZK17NqGLX2oVpl8BtDEmIkhNli_1SAK272QWDHZu-qU8zl49scCxIe9YeZ9WZvkbTt2BJ1nwuuQuxaPSejjgL5S3-FIN4PMwiuEek1Cn1sxbsLsR8wTrlzh-wrj92tjauyd-zPfuVFe7Rig7D-JX4kLR1cAxl5g0QHMN6X44_4VgItIyV-6fHg9hHQCU2yv9KRAgRzjw==",
  "id": "rs_07f1926e658af0d6016ab454698f9887d08aebfebd4e71084b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The offset puts the pink bowl’s left rim on the jaw midpoint; at half-open, one jaw is visibly inside the bowl and the other lies outside. I’m descending below the lip while maintaining the narrowed gap.\"}",
  "call_id": "call_rC19tjFXdFqkG6ffQ2MvabrZ",
  "id": "fc_07f1926e658af0d6016ab4546abc2887d0b399710d8ff3e207",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rC19tjFXdFqkG6ffQ2MvabrZ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.1276, 0.9988, 0.7067, 1.8172, 0.9718, -0.128, 0.482, 0.4107, 0.5031]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3697 right_y=0.2127 right_z=0.0373 right_yaw=0.0577 right_pitch=-0.2536 right_roll=-0.1247 right_gripper=0.5031\nstate[joint_eff]: [-0.253, -3.5077, 6.5299, 1.2332, -0.1587, -0.0366, -0.0122, -0.1162, -8.1846, 5.9556, 1.3797, 0.2027, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34ffa9978690f2fb668106dc1001ebd774b2a8dce27a436c937b12cef312dda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf56e48b872da80a3bdc917cac779710457a85af0b6049c8b5e3eda1c39e496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58355e51751f51e7ff29e870ef60b80420f75db1f540dab0707d7b56879b4a9",
      "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 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8867, -0.1658, -0.128, 0.9988, 0.6434, 1.6127, 1.0431, -0.2375, 0.4686, 0.3729, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=-0.0027 left_z=0.1726 left_yaw=0.0941 left_pitch=-0.4301 left_roll=0.0833 left_gripper=0.9988 right_x=0.3876 right_y=0.1954 right_z=0.1299 right_yaw=0.0441 right_pitch=-0.1263 right_roll=-0.0449 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -3.7949, 6.9265, 1.1941, -0.2369, -0.0513, -0.0171, 0.1846, -8.212, 8.9915, 1.5946, 0.5788, 0.2662, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.8867, -0.165, -0.128, 0.9988, 0.7059, 1.6825, 1.1664, -0.395, 0.4866, 0.4103, 0.5044]\nstate[eef_state]: left_x=0.2944 left_y=-0.0029 left_z=0.1724 left_yaw=0.0934 left_pitch=-0.4306 left_roll=0.0827 left_gripper=0.9988 right_x=0.3791 right_y=0.2193 right_z=0.127 right_yaw=0.0624 right_pitch=-0.2017 right_roll=-0.0895 right_gripper=0.5044\nstate[joint_eff]: [-0.1983, -3.2752, 6.5436, 1.2674, -0.0855, -0.0562, -0.0122, 0.1846, -7.1863, 9.388, 1.3602, 0.4225, 0.2711, 0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.1276, 0.9988, 0.7067, 1.8172, 0.9718, -0.128, 0.482, 0.4107, 0.5031]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3697 right_y=0.2127 right_z=0.0373 right_yaw=0.0577 right_pitch=-0.2536 right_roll=-0.1247 right_gripper=0.5031\nstate[joint_eff]: [-0.253, -3.5077, 6.5299, 1.2332, -0.1587, -0.0366, -0.0122, -0.1162, -8.1846, 5.9556, 1.3797, 0.2027, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34ffa9978690f2fb668106dc1001ebd774b2a8dce27a436c937b12cef312dda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf56e48b872da80a3bdc917cac779710457a85af0b6049c8b5e3eda1c39e496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58355e51751f51e7ff29e870ef60b80420f75db1f540dab0707d7b56879b4a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRubYAX2tDH4V_R7yKNRou0uDgGpG0WJZGnUfW0Q2X77hkvcG5by_cNDxNG3w-FOn6iESyDnOP5mr4pXFjfT2qv4uYejVKvqL2SUFamVrp3NxgZAfOFvw7ca1iZbEDbBwRPgdiHh4M7FH-ynsB2yLoS95jX0ReZ3PuJ4WSVu4xn5I9HaEn1N_Qux5xYdU10F5UZoCX8TyGLL8LFji6n4nqYyxwpKQcvWHo1jwbotjs6zx64MxKIsZtppnQvj8MPeQie2QAvmj7LmSkIPlUXQ7Y0egZcNlhLzRqjnwkMFpA3DjoGHn3iuzNAwMOwS7atjl7VWupd5B7CeB8nD_jauJeyMCY73WSX0it_nnyQtNa0MAcFHKph5pm4Y1uFd1MJgK-qbFFeoehK4RftwR43AFqbueXHpsCO49ul2CztltXitGX-oOlf4SL_3O11VlgIMW22MHfGh8Nyw64CPsJqsIUoLlfqJakdnWxuf4fDaeF9l2vgatA2-iAHw7CdgZIqw0wBikiNOMR_gaXlbfuIuO3YbFr3yWULoKpLnKa1VMtaFxzaClVMm3tPVTkz46_k2CA8630aV2y6qqUjvNd0HyrOTC3WD3pU0gxDFtR_xPJdVRE5xEkbAm5k6qUpJ_b2BZf5Bf-vYZHlgPdUVHJr3O2odUL6ICsQ_sPBDJv430JH-IZQWIsTEjZki2lvd6dkW1u1aWBfyytGS295VbiUf8WxfkgMeWkHR21edIsbqW1v6g2GFyZY5oPWsv02ANiMv-Hv9Ea-XsYsGXwKeQ2sSwKUTg-eNBXJJhGT9JB_fFO_Ttq105WZynWzuTEmgv2wZOYPkZd21_YWut9Pq3iwmAN35xxqjbW71Ovcvb-_5eCF37aQ-e6_BBJ-y1K7Rt-O25ev55-0JZKZwdAuzoXT3IqS04n-Wpyu7XN_Ph-C29zDxg4A4nGqRCZ1EKEWelkZ-J3USUTbD2Tl65ScTKoaCZQ_bbhBrUpIDhyfkRJr99Wl-lyErR4OKYLZtKpVKml4YuUbN1RI8tSBEhofAR3zIW4kVIwqmzZY-tsWPw8Airdjm3xQMvfp2eMXkoSS7ogJapLhIPOGhqhyxdO_g19c_Hhp4HFbDUpJpJNxCQRISqLY9m_kh03cX5YW9yM5ehkJtoR53krLZ1mhZTpRetQchTuV-VAAn0Peh23a-1n8_fDRthFmCnOHhLx5ikc_AmfmpWl0nilLmxQw0epGiXx3fNs8wORdDa0xTP-4tiRm6KvKOVtNVLkpzEDXMBUTtFvl_dD8Iy1P7FrzUqkfs8fzjpn_lT35Jrv9DHTc01AgHFzT2ZzPgsoSEwm6E3SR5dt4Hxjr",
  "id": "rs_07f1926e658af0d6016ab4546d084887d085aa877470b075d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right arm reached z≈0.037, and the wrist view still shows one finger outside and one inside the pink bowl’s left wall. I’m closing to pinch the wall.\"}",
  "call_id": "call_mgwkje6viBUg8OewiMgebUi8",
  "id": "fc_07f1926e658af0d6016ab4546d4b8087d0950d66a3ca03a4f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mgwkje6viBUg8OewiMgebUi8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.886, -0.1654, -0.1276, 0.9988, 0.7067, 1.829, 0.9646, -0.1291, 0.4858, 0.3988, 0.0341]\nstate[eef_state]: left_x=0.2946 left_y=-0.0028 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3673 right_y=0.2098 right_z=0.0303 right_yaw=0.0582 right_pitch=-0.2687 right_roll=-0.1481 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -3.5077, 6.5436, 1.2234, -0.1392, -0.0122, -0.0122, -0.3487, -9.6205, 6.2017, 1.2283, 0.149, 0.1685, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57286a03a63d232c0846a36d4540af9fcb90c166ff8142afc6eaa87b8ab36e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba81cd217bcb9cb80d6e5ab4a2cf4d6d0f63fcc96c089f8f773b2d0bdbb058e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3976dce7951da593e446bc62d177f44b52fc0b4d71c85781b6bdfdcde1f2e1e",
      "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 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.128, 0.9988, 0.5636, 1.5459, 1.0431, -0.3138, 0.4225, 0.3225, 0.9967]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0937 left_pitch=-0.4298 left_roll=0.0828 left_gripper=0.9988 right_x=0.3879 right_y=0.1637 right_z=0.1421 right_yaw=0.027 right_pitch=-0.1538 right_roll=-0.06 right_gripper=0.9967\nstate[joint_eff]: [-0.0479, -3.494, 6.5299, 1.2479, -0.1538, -0.0708, -0.0122, 0.0752, -8.5128, 7.159, 1.6923, 0.1783, 0.149, -0.0415]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.1276, 0.9988, 0.7067, 1.8172, 0.9718, -0.128, 0.482, 0.4107, 0.5031]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3697 right_y=0.2127 right_z=0.0373 right_yaw=0.0577 right_pitch=-0.2536 right_roll=-0.1247 right_gripper=0.5031\nstate[joint_eff]: [-0.253, -3.5077, 6.5299, 1.2332, -0.1587, -0.0366, -0.0122, -0.1162, -8.1846, 5.9556, 1.3797, 0.2027, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.886, -0.1654, -0.1276, 0.9988, 0.7067, 1.829, 0.9646, -0.1291, 0.4858, 0.3988, 0.0341]\nstate[eef_state]: left_x=0.2946 left_y=-0.0028 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3673 right_y=0.2098 right_z=0.0303 right_yaw=0.0582 right_pitch=-0.2687 right_roll=-0.1481 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -3.5077, 6.5436, 1.2234, -0.1392, -0.0122, -0.0122, -0.3487, -9.6205, 6.2017, 1.2283, 0.149, 0.1685, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57286a03a63d232c0846a36d4540af9fcb90c166ff8142afc6eaa87b8ab36e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba81cd217bcb9cb80d6e5ab4a2cf4d6d0f63fcc96c089f8f773b2d0bdbb058e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3976dce7951da593e446bc62d177f44b52fc0b4d71c85781b6bdfdcde1f2e1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFRwGrqOQTP66NOQQIEKdhTNBNeTS6Y01V9mvu7nEeLx1-ThVsnM0u06eCCuIdeN-hR2BR2QMba8zD71py3QhmoQntGQ-fJQgmaG9pYeBeB8BO_PySFMI8AMKsR9yZ29AMsAk95MbGXHy9tSDYJ1I8BvjaaokqC-nuZ4eRE_ZUAfqLtCZPYUzq_gL9mdsWn-l7Gr9kmRS7_ilGuEVO1su59MnE_cTHFPqD2lW1iDu8_FUE9BN36tZYpm5OH2W35W8nXe8uS6VoQ4EiTXGndl-V_mcEmXpvxTc08KhKBuSGTeQ-T2Kv27MLGb3S0layJlEZWgwq0Y5s64pZ9GtR97BS-INg7t3hhTfCzF5uGWj-kV2wTofu_m7XrT9B_qtJ9tbp5zhnKPUb1JpZD5vFbNLAOkooCwaQUPmLUpLmb4eFjBv6FeqVOK5efrEcK9kO3JQq_4hBzvD0VWF9zlEkAcbQrTMWaohy0uLwIlO7vIoPgqeKcH794LBU8_sY3fXl6_QppuYRSWX6FxpwtgUiNOZNPat4hdt08fjgrsRyEWK5NrnAz1PGLgfenS5WVkw6WtFVzT9CK19AefiLKmaQIRfgw5bWcrxJQURiFNzeaC8or51qNBYi2lXj1WezKsWljWs39mc-NIh3gge1xoOX23uriaw84Aae6crSfLfokxzBOptFHqAG-hDwSCbRwpKQDxisVVnTFLeryn8rurbR94a4R-WpmP1lgLAS9puJVfgaQg6AMcpkZnAQdctBiQkUI6f55F9U_uPElDZvWWonkPiL7QkyQBuulXftuvEt_VEGLtf3xF9OmZ9LA4gHTf_NO_PSHiaB7HZVCJVMjGo9V7tNPGOoot6hz799VOlUl_v0UufZXb5i-ZiWKI00lECOX2VwmbChgNVadFDEheYZjxyirYdge1HAj400XJ2c2aCfr-PGTOeOunLv2pheMRvcsLZtyRGSalhEKXvVgFT9w9Zq7O9Xd6kB68JvsoN9gAOgJbpWaINxYvpJApYYMMrKhV8z4BDtxJXbWG2LYkH3A5Hyds6HkXHhC-CJeQVX3GiG7iY7khSgjdHzrOAxMoiYFvTW6kWKTtgzjCWR6VT7raO4bWqlIjSAicfSWZRbPJFtXU9gi_SBBakWUUjPyH99zHRxZEVxCHsbe22zsz4MRCgRkXO2WwEa8itb8ncIZTNZZ677wa9NRtZV5KSXaLnhUdcjG43dg9RAGC55UFSoGF6D06GXMkK1EelTBTgj7otK1ZCe5IiwY2CD7VwrSHtTVJDTPS",
  "id": "rs_07f1926e658af0d6016ab4546fa4d087d0aeb4106661f729bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper stopped at 0.034 with both jaws visibly meeting the bowl wall, consistent with the same thin rim capture used successfully on the cyan bowl. I’m lifting to verify that the pink bowl rises with the arm.\"}",
  "call_id": "call_XCIXuFjqHDD7za5rG4GNavC3",
  "id": "fc_07f1926e658af0d6016ab4546fd5e487d083a6d50091c2b35d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XCIXuFjqHDD7za5rG4GNavC3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1595, 1.0237, -0.8864, -0.1654, -0.128, 0.9988, 0.7067, 1.6886, 1.2945, -0.6514, 0.4675, 0.392, 0.0343]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1719 left_yaw=0.0939 left_pitch=-0.4321 left_roll=0.0834 left_gripper=0.9988 right_x=0.3646 right_y=0.2113 right_z=0.1386 right_yaw=0.066 right_pitch=-0.3201 right_roll=-0.1723 right_gripper=0.0343\nstate[joint_eff]: [-0.212, -3.6444, 6.5983, 1.2381, -0.1441, -0.0269, -0.0122, -0.3897, -11.3299, 9.265, 1.3553, 0.3443, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3ce2b35209a0776b2bc4d18c1cc44e7dadc48d8bc4428108ecad5e32d2105f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed11bf45f3eb36023addf68ef7eeb48afbb7408558bbaae69f820813ca8a34b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b266c221288c1606d8fb9ebd7b73efd3d816dad2859a6ab308ceafc5ff42c459",
      "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 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.8867, -0.165, -0.128, 0.9988, 0.7059, 1.6825, 1.1664, -0.395, 0.4866, 0.4103, 0.5044]\nstate[eef_state]: left_x=0.2944 left_y=-0.0029 left_z=0.1724 left_yaw=0.0934 left_pitch=-0.4306 left_roll=0.0827 left_gripper=0.9988 right_x=0.3791 right_y=0.2193 right_z=0.127 right_yaw=0.0624 right_pitch=-0.2017 right_roll=-0.0895 right_gripper=0.5044\nstate[joint_eff]: [-0.1983, -3.2752, 6.5436, 1.2674, -0.0855, -0.0562, -0.0122, 0.1846, -7.1863, 9.388, 1.3602, 0.4225, 0.2711, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.886, -0.1654, -0.1276, 0.9988, 0.7067, 1.829, 0.9646, -0.1291, 0.4858, 0.3988, 0.0341]\nstate[eef_state]: left_x=0.2946 left_y=-0.0028 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3673 right_y=0.2098 right_z=0.0303 right_yaw=0.0582 right_pitch=-0.2687 right_roll=-0.1481 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -3.5077, 6.5436, 1.2234, -0.1392, -0.0122, -0.0122, -0.3487, -9.6205, 6.2017, 1.2283, 0.149, 0.1685, 0.9988]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1595, 1.0237, -0.8864, -0.1654, -0.128, 0.9988, 0.7067, 1.6886, 1.2945, -0.6514, 0.4675, 0.392, 0.0343]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1719 left_yaw=0.0939 left_pitch=-0.4321 left_roll=0.0834 left_gripper=0.9988 right_x=0.3646 right_y=0.2113 right_z=0.1386 right_yaw=0.066 right_pitch=-0.3201 right_roll=-0.1723 right_gripper=0.0343\nstate[joint_eff]: [-0.212, -3.6444, 6.5983, 1.2381, -0.1441, -0.0269, -0.0122, -0.3897, -11.3299, 9.265, 1.3553, 0.3443, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3ce2b35209a0776b2bc4d18c1cc44e7dadc48d8bc4428108ecad5e32d2105f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed11bf45f3eb36023addf68ef7eeb48afbb7408558bbaae69f820813ca8a34b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b266c221288c1606d8fb9ebd7b73efd3d816dad2859a6ab308ceafc5ff42c459",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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

{
  "content": [],
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  "id": "rs_07f1926e658af0d6016ab454789cac87d0aef694b6d9a18c46",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFR-tjF2iDhczittsdFne7FXvJ6N9B5PfHA0WFXVCdx6QSx_6vHa9lZlMjNKhP4pM0mOUiJiu0M5MarNj5wR61jPuxaRxKsZt9D5OL6x3qyl5KnRqlpF9TZg3CwQ6OWZSSzgZnTC6JxW_l11wOKYr5Ckb0uf-e6HRlSur7BbcULeafvf1a_DJaTFxkBDnSsN9JCEqoeWu6igWdeNsYTQa-fGSIgiXDG12STHLJFsgfRGykP2fPm008qem5ERoUQn2nIiMArm9uCfVDXtDEg3zVFjPJwzQ8UHuSnd3DXEUVdW1hmsKyryExXkkn71hTb7kUKKB9Ms6O6cAzU_PWOVjCgm6qrLP0bug_eZqi_NOUDXe8Zf9DZQPt-_Ep_ir4u9SflMdNfTNwUwasX39_cVxkmFHyrnpIdIK7gQS-xqBFlzHOLinEhFruX5rMGFnF41cKIje94K-Z16XYN3gOhLvfAeE2drksUhonqMZq4VQPwCRYO2ALhbAzWmGCfcGt64ruJjiOK2QN4w_MjeerOXDnQaY14usXCKVrrtxdrBLBVNEIYOqAinUcC81pKdSp8qip56jIpjDPlJT8gIYhRHWCipB6vA3L8tBIGpPeyTSEcC1VGZPJewTZAc0iA13a-FrqFbKRQtamgwjZJipDpQLRQpUBUFUFgwz8KD35NH3O_pba7bAhsZiFijcxXlAW_kZyX6K9V1UyLhWURPkji5Epf2_rQQUx8yktIls2YIfTqX3ZY0Dblzrdb5UN625boAAPeDm1U6HC7IGE8Fs9Py8u15uwMZF5yubfS-tVg1PkX0DSzlk4oaEuebUk1SZCMNIxWGbbKy_RKINwDiC-fzt0Rrga_yIB2wZ9z7Mvw-CScXuZMfERQCDlmDq6UTIq514h6Z4hpDvEKZPZp8HJpxXUln5tD5d4ACY0A4YC9mAgWzPBtc1FhZfWcNJEwevLY14g_4uQAU9GqwCmfeqCGgOBGLxvZ37ut1Nq7SzMRintvATG50zsEMPhw0YJshWn-1NjraSpiYEiipRVHNBL5Tou3yamp6F1X-s0nS9sGQedoGOqPHJG03-ryV6uDHspEk7UhqjZVyT__nvRDONfY6XYTYPnsclt1W6rZJ-MoUODD3IQsB9LrjI-ZNOXPP1emKa1U1yGojjz_ONAHRSwo2clA6JJPkXuArjhiSeRsZHdW-nwYOazI1AZelj4TsMPnNbl9jF9lmwt848kiWdF6ReiiPfBJg2uBJexcUh66q5gHUxPsJrU3mZzjmFT22sLQJ_-EESDvU_ZfgtYyLH5nYESXIfmFHI9Zx72zpNoeFsqvUVvg=",
  "id": "rs_07f1926e658af0d6016ab4547d7b3c87d0b742bf39074f7b49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.39,\"right_z\":0.22},\"note\":\"The pink bowl stayed attached through the lift and the high wrist effort confirms a loaded rim grasp. I’m carrying it toward the central two-bowl stack at high clearance, using nearly the right arm’s +y limit because the stack lies close to that side of its workspace.\"}",
  "call_id": "call_QeCArURVjdENsiudoHhhXAzD",
  "id": "fc_07f1926e658af0d6016ab4547dc41c87d0811fc81acae86303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QeCArURVjdENsiudoHhhXAzD",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1641, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.9306, 2.5679, 2.7537, -1.4696, 0.5385, 0.5953, 0.0357]\nstate[eef_state]: left_x=0.2947 left_y=-0.0029 left_z=0.1705 left_yaw=0.0942 left_pitch=-0.4369 left_roll=0.0848 left_gripper=0.9988 right_x=0.3888 right_y=0.3764 right_z=0.147 right_yaw=0.062 right_pitch=-0.4255 right_roll=-0.2706 right_gripper=0.0357\nstate[joint_eff]: [-0.0205, -3.9179, 6.6393, 1.1844, -0.1587, -0.0269, -0.0122, 0.2667, -21.7778, 7.2684, 1.0623, 0.5543, 0.1538, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f404a58b3d1a5430c383255172794e804a344c032f3a033c1707208b206dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc48776ed6f31952c66106d1cc077c1778bb175ecdcc37eb5cb0468ac39ae77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483dc71dbc33fecb54141a56f46b4e537495fab1579bb9cbc45f418903daeb3f",
      "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 110 changed as sent

message 118 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1576, 1.0241, -0.8864, -0.1654, -0.1276, 0.9988, 0.7067, 1.8172, 0.9718, -0.128, 0.482, 0.4107, 0.5031]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1726 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3697 right_y=0.2127 right_z=0.0373 right_yaw=0.0577 right_pitch=-0.2536 right_roll=-0.1247 right_gripper=0.5031\nstate[joint_eff]: [-0.253, -3.5077, 6.5299, 1.2332, -0.1587, -0.0366, -0.0122, -0.1162, -8.1846, 5.9556, 1.3797, 0.2027, -0.0366, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1595, 1.0237, -0.8864, -0.1654, -0.128, 0.9988, 0.7067, 1.6886, 1.2945, -0.6514, 0.4675, 0.392, 0.0343]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1719 left_yaw=0.0939 left_pitch=-0.4321 left_roll=0.0834 left_gripper=0.9988 right_x=0.3646 right_y=0.2113 right_z=0.1386 right_yaw=0.066 right_pitch=-0.3201 right_roll=-0.1723 right_gripper=0.0343\nstate[joint_eff]: [-0.212, -3.6444, 6.5983, 1.2381, -0.1441, -0.0269, -0.0122, -0.3897, -11.3299, 9.265, 1.3553, 0.3443, 0.0806, 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1641, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.9306, 2.5679, 2.7537, -1.4696, 0.5385, 0.5953, 0.0357]\nstate[eef_state]: left_x=0.2947 left_y=-0.0029 left_z=0.1705 left_yaw=0.0942 left_pitch=-0.4369 left_roll=0.0848 left_gripper=0.9988 right_x=0.3888 right_y=0.3764 right_z=0.147 right_yaw=0.062 right_pitch=-0.4255 right_roll=-0.2706 right_gripper=0.0357\nstate[joint_eff]: [-0.0205, -3.9179, 6.6393, 1.1844, -0.1587, -0.0269, -0.0122, 0.2667, -21.7778, 7.2684, 1.0623, 0.5543, 0.1538, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f404a58b3d1a5430c383255172794e804a344c032f3a033c1707208b206dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc48776ed6f31952c66106d1cc077c1778bb175ecdcc37eb5cb0468ac39ae77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483dc71dbc33fecb54141a56f46b4e537495fab1579bb9cbc45f418903daeb3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSHAMbPh_9Fac0zbmEHEN68cZinCZzHPns-HN9uZ9ehCHmxWNP31HvuF1Qtg_VFc2329RAZQBoDBgV9cbFBgLSyxsuXf8Grv0ppHUltSBgBEn5JU_qbNxfd2r-9q3RmZura3DEXAcnXaA8qsrBKjIZUS75Y4CUH-KNxg4IoS7JwKqarvgtDL2KER3FvIw9O56bxOSzkw2MQF64eiwj9Mcr-R3gF5xl4KxLCz4QA_qOVBZ1TXN3OM01eNl-u-3JfdGO6wCrizRwYhSKOAFk-daYS8gvPk0ILC6pfO2WboNfMgTmbhDxHiUkcIS0CKJmCCj6KlVDm8-XFmnPnNR3yJ6OMKtUSm5HAYaoXzQ5A-CEVS0MyAdT50tLGkPLo99ph-30wDbm0ikVhVC_qv-OnFGugbhVc7W_OIMh1eDBm1VLfM8hgEHVPFnlZWqEPDVkjZbntEPgecKYgIRtOoUixi6rPHVIw0VRm2_GBl8dyY0AAvMNPSsyPJDB5zPhd6wWBCrCpEkR7iumnqoPDDUzIYS_AnBSsALfYVnA_0u4WsByNxSL3HCxv9-M-fEWlLtE4sKJa07lLPKI28B8T_UFZr3qQHvKeMyvytgvDlv94VM9XXSF6MFT-EBqKwPpGrrRGJRIqFSDq-jMcEsdTfOZlK38wLRR7HizpVADuq3XAsLGhVK4dNPdbgfcHRi8Ts9b40pZNvtTq588QZth6px90KRUa79QNOqaxqwgz3I0p-cUFkNz9KmTND1Pmhp5QKMCEDauX7IaKeH7nii7sQn7U5Q5vkcJrR2P4J33R0EZaQNd0KNWnFxuf9P-JiBCZZ5pbmicMxgR_5pgLhMi3nZ0srchnUi3Guq4cGmE1qDYAC4McpPKUew0_aEb7AprphI4c45ekhVukKyDnn_H0QQWGXwGKeWH1s01MRyOxUdtuRfZ_nbdCLPrdaiWlTnzKUSMngB3h3SOJ6iyGrabVCp8liaIpExgxmC1D1R6zvfl_4_xngshlXCM4-ypqYr52Pay3G6TjF7Jg3_CadQTqK_SyA36wXOtdU2Wgtsi9cUPB5xZGHUzJTje-FCqpIzGmJob_mqT5Me2nYWyu-h_YMwTCakX0zn0cTh9beQSVYrSqV2U6wGH_Rc6Odl8nvrUuYHkl5X8mCZ52iZfDAHBYl3rYYkrMYBTh8-mU4KJyC-jXkVgGixeSnMPr4hrtca9U9xFvnG16iUmsUxOxksr-FZKs8KEgVIIzJ69fG6Z8bAwxHWuuhunvN8X3UuM-BuOXQZNkccPGtVmLH1bSBvy03HToKOUc420M5vryrfVFPBIHnfF5BEOtEQwq2lbZKYyi6TUVvVlUqamu_NiFXkG2rJaoYjajKjixIczMhiTGWt9QINHOGXkrjIQf22G7nmNiTpvAu4SGvq1b7UWEq0wcPrxw_kVnZJm2CjJzf7gdezQe4Oknxp1byaH7qPzv5TF8SiwfNn6BRIeO8AYLW8ph6RmATjxcf9TdhHjVBCtXnX6nCRaTF8BJZyklDmRZcCQ9AS2eZczuCwRuZmf6x5kwjN_RT2Oi0LCW62f6EL_wO_ppx5TQaxkvWAN4StoxfClz2VUujFdU8hmqQRp0XOv4n005nfIi36Bn_tes_Uw0HJ2y6zmdRsAssCVJH6zkPcwgKw8r0ewUhvxQPMKUA7qHzGCjN1k7kTrjGYmuVdtq_GHwCC22iVTVKTRQHOni_us8oTppz36hTL-1g8kv8KpXv0IILnWZfgZae0Mwj8CBFm4QTztScCiKS0OIgKNcFJUYWE9tq0zG6umaNNy5BQfCUfW2U7c5Oafd2hDO7iVyrBfFJFuJ9l-_NfOAVZqT5MlL9Lvwmi0FUvQkNfVgwcKIoS28GqZp3PtpNeClzRu4sCwpkEepI1yv04HVj7Y3XU9CVrC1k3nXc38bV9VUystnAbs2BJI7joz3m837qkJnuDmiGC7vkUwA-4glLi-ttPuwkk4_usrvq16h9kjkuEjFxtrmpBbxT05_uSXQ148qD7UfdWlNAUBmeZ3hinQ_1wfLbqKPUL4edsNfqXHLggvOvW6nOMpVQ7gB5WROQ3V5AaKeZoVrWhv26XvdyQrV2bZFEMfYdjfA7EO5XF5BBYqfwbCOmAp4REbgVwbqo-_OeXzTJm2eLWB80WrNaM0ZRjNiKNGpn8yFvXG1ksm5rtQAUXKfL2H0CYMKvEsgGLRC7nu7DUIkvuIvXsrEGz6sIvB-MnHhU-mytmekeH6T58_-GeY_IJOykn0ZC6WSVqpVPqKoUlufrC6w0u4MJ_W1DppGIp5lyRuUUsG0HxAOV4ZbjCWeMSdQzwNTMzkZX6ZJ5qrDeRhA_KCu5LRadQBeHkJzJ6YGaaLsdTv7kBIq5B_O8V5iMuzyPuTWx5mkVzsAe9gLrAX6MZtoF-LvLTV6VVcdcaAGHMrYAvPWilo3gW-kgwSPuh5mLnPie5ANqcadPo39ca43D6Vb12V1EMxDqhoNz-bX6VTPDFSW0T7Oesl0TWJFWEKlfPkaAQlseB-8hEk8zVBkcW-ZEqUEnMNv_OjfS3XfjD9Vv1tQ-M1A44Y_dHk2m6fEwITwl8Ecy-01i2CEwcR7uxKZX3o-T_igCjVrePEWE5nBZz32sOl27EUax3do-G1DJd5hLBsFuvHcL_FREgBdVyqOiQcvxR4uYk71wHHvRh3_b_xeRSGSqUajO7w6F_xF9I0Kqn8bD7ZoI8FV4dvbcgdldsLtEFh5zr-zhWrDseWh_6_f2qkgvFWo1iUmSU-lNizp-Qq_DANY1684rqG20Ueo8_9tkPpmsVJo8z15EdpDPAFwNF4JMkyMDyyqkvfwtzXpKOlGzUlJ3nsMoII5zDkXe6iQSF-sAea3KlnXCovtsNuVbequ7zWiTtD6Y4VxzQ-s1S0ue0gGqFcTu-2Y8wUqOYLb2R5p2mwU0JFJmg1wTavQPJm78h_OsRCn5daLbMdPaq7W3eBu5QZlJ_7pNGk04tU31L1fY0SMNuQjL6SlJGEFDQBJ1IZMi2C7cwrjo2uomfUakc7N8lw04NOiUzTIQXUdLEXwmFlmGgP0g3tIAWVBHVYkR3OqazVHQMbDSB254QyPp_B6oAQbKzaA0NRTWtNQ9QkzT8O8rdPoGWgZ65_tRVWxhwoj-fslZcpPWxD8drHAS1xafh1udmJkY7i6-XpB8lZA9OIxU2S4Q77VP1z-0uplV_mTQxcm6zDuGbqkVEQDDXlOOymKk_tkOkgh2Mr12EX8s5S7LtPtGQBt5-cTZKIZXbkb6NYwU3YS9O8YMcRronVbve7YyMUMDbf7SuFey_pziEfDD6Gf2ZK61bPFYSNRAp8UZdj2ld-7p4SLeRQhX2NX5QDKUBSvE72WvKl_qYCOPO1VVC_bkNut1My5YAo4z48mps4sg1iyxpAzOHnNI-9uwbC1mOkQ0Q7KB8dzTZyGIV7-AetxeZOqqJAHeFC2_uKqJZsMl6_d4A==",
  "id": "rs_07f1926e658af0d6016ab454813c8887d08dc3bace95067350",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.4,\"right_z\":0.22,\"right_yaw\":0.8},\"note\":\"At the right arm’s near-boundary pose, the held pink bowl is still about 14 pixels to the right of the stack center. I’m rotating the rim grasp about 45° while moving slightly inward; this swings the bowl center toward +y without exceeding the y limit, and the x correction compensates for the rotation arc.\"}",
  "call_id": "call_786DIGXtiILFXbv6QMcZh2a1",
  "id": "fc_07f1926e658af0d6016ab454860da487d09ee0835ecd386049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_786DIGXtiILFXbv6QMcZh2a1",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0237, -0.886, -0.1654, -0.128, 0.9988, 0.9146, 2.2295, 2.2864, -1.1954, 0.2886, 0.0193, 0.0394]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1704 left_yaw=0.0945 left_pitch=-0.4373 left_roll=0.0846 left_gripper=0.9988 right_x=0.3561 right_y=0.3859 right_z=0.1773 right_yaw=0.6179 right_pitch=-0.5227 right_roll=-0.2879 right_gripper=0.0394\nstate[joint_eff]: [-0.0479, -3.453, 6.612, 1.2527, -0.1197, -0.0415, -0.0122, -0.7726, -15.9248, 7.6786, 1.2527, 0.1343, 0.1245, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1170b8336b0a3b8716e891884d5a2e544ea88dda3217c0f86a1a23a650f999e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72193d2172ba84059a8126ce872e751bfaaa9765a69644b79e66ae2cc5c18494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44961d0a58bbd09aeb684feb8924ba0a4e5d7327eb3e763876a653a654892b22",
      "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 114 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.158, 1.0241, -0.886, -0.1654, -0.1276, 0.9988, 0.7067, 1.829, 0.9646, -0.1291, 0.4858, 0.3988, 0.0341]\nstate[eef_state]: left_x=0.2946 left_y=-0.0028 left_z=0.1725 left_yaw=0.0935 left_pitch=-0.4298 left_roll=0.0831 left_gripper=0.9988 right_x=0.3673 right_y=0.2098 right_z=0.0303 right_yaw=0.0582 right_pitch=-0.2687 right_roll=-0.1481 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -3.5077, 6.5436, 1.2234, -0.1392, -0.0122, -0.0122, -0.3487, -9.6205, 6.2017, 1.2283, 0.149, 0.1685, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1641, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.9306, 2.5679, 2.7537, -1.4696, 0.5385, 0.5953, 0.0357]\nstate[eef_state]: left_x=0.2947 left_y=-0.0029 left_z=0.1705 left_yaw=0.0942 left_pitch=-0.4369 left_roll=0.0848 left_gripper=0.9988 right_x=0.3888 right_y=0.3764 right_z=0.147 right_yaw=0.062 right_pitch=-0.4255 right_roll=-0.2706 right_gripper=0.0357\nstate[joint_eff]: [-0.0205, -3.9179, 6.6393, 1.1844, -0.1587, -0.0269, -0.0122, 0.2667, -21.7778, 7.2684, 1.0623, 0.5543, 0.1538, 1.0183]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0237, -0.886, -0.1654, -0.128, 0.9988, 0.9146, 2.2295, 2.2864, -1.1954, 0.2886, 0.0193, 0.0394]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1704 left_yaw=0.0945 left_pitch=-0.4373 left_roll=0.0846 left_gripper=0.9988 right_x=0.3561 right_y=0.3859 right_z=0.1773 right_yaw=0.6179 right_pitch=-0.5227 right_roll=-0.2879 right_gripper=0.0394\nstate[joint_eff]: [-0.0479, -3.453, 6.612, 1.2527, -0.1197, -0.0415, -0.0122, -0.7726, -15.9248, 7.6786, 1.2527, 0.1343, 0.1245, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1170b8336b0a3b8716e891884d5a2e544ea88dda3217c0f86a1a23a650f999e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72193d2172ba84059a8126ce872e751bfaaa9765a69644b79e66ae2cc5c18494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44961d0a58bbd09aeb684feb8924ba0a4e5d7327eb3e763876a653a654892b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSLRjYi09ZzCxNnP8hafVB1pkGa5NaAspvHC9Grm2wa10Kc0lA9HYVOKM2BYr1pWsXBtpynNHRkzjEymQA3w2ZDrbjEpZdJKMpCZL5A5sQDwQg84XFhSkaY2sXh4DMNuuMxlv1_aEO9eFBDFo6b2glLsz_hDiCqQBVQZ9BvfwU8GFAWnL6hF14hRpUWVM7WZOyMrNPxrXoFAgHg2LaIYXbqGKaU0Up7b1CtxWmCmFgur2GWlb0pa_6vRjigGWauWL1WvMtZxUGe3e5vrisIxkbz9o-31T6kEyOoRqsxd91rwDg1BPhvyL9QogohTu9DMWJ2-316waayFIBhSEzKWrFHK2FC46Drj6xix3FDPyw5p1kVkkVmqJmIF3QkjYnEnvQz-gp8zpJJvntFjBUD8iQzZ-IMAJ-dE17YPNGKY2ZU3HV0sbg3sBRdDkz77W44sKXY5voVfsIqr2v508SB2-YrV7hU3aiEmnsVPZzsfghzpaKirXMJR23xBQl4K62Do51CkT2aiPPHu1oVbSWz3M6-Dn-PkWMCIojmTxYtugab2ykEZ-5Jlbh4Bb3QyLllfZSZgoImRfMcAyHa-Tonukfrnj6g4VxyLrYbrQD92OG9CqilA3Nc9vfQrsk0LnwX9_u5w5gt0Ve50z4XxjTohKIA-ZBlJ6DDp4Bwgu9NFXXA1w0-A73142UO6bBGZAb9U5s_NQzRNr4SD7NFEEophI9Uzbt7cJCEMicXNzBRZL4vSjh25kkeaxgkPMoSQzZLW5kO6EJNm_v-iTEQX2XqVWSJdI8TNg16xRJsvpRpbYUBt-XWyqna1TEzmgDQX53ibeEirJfAhTvENRKNWES5moE5GM_qIY2fH9i45iWUYzhWwvK7-UJ-GVRmvoJJ6dEXg4PS76r0jrIOshiwlp2BhORXwYj_fvZkU2o82pYjiLzw6WA_BF9sjr-gK14fPyAfxLnD-G9H5Hrcab1BWk4YIb5P05n3cse85Z7b80f4YRVSxuDHNrJu5XIYUi57ZdyPPE9-h1NBzurR3rwWlbEY0np6f3xe3GXothfcUzwvptWKooETJ_HPAOBr2-fMmRlxYuGcXeo8bMQBO2LsOqtdhjFivSdvXEb4tFcDncM17ukhkx6vH1iZ-PlSYpiIkRpImzKdSpsmoAN3rtXgBIeR42IznGpexKOhX2qqkyBhwwhVme94sIlvpGleZjGKCbREZkxlNYCnVZd2M4e8wIhrjAB3_txYs2PfIpSR4zlgFSy0SG7rHdsUdvOYDJfOGUBVWP-6YJW8r-lksOl2MS9j287Rddpb8i1TjTnl6Q5zP29DGXOt_rFi6W8jOAXq6LRoJEBBAftfg6fcFZX8YnBir5onqPDjq0CbgEyuGlir4RWNtlokQ_O04qJrsbfYDEkW8gz0Fx7z7MBzrwbHRXbXl60X71Ng3GZUcgN6OBJVXgihKad72BGw9vhpxHNFR19v-ZFrDbcWF7on0MJduHT-MCFm_tFRvR_bwP0CMlhgZwhqVVbiCoMwEgssZpAEnLkTNsBvfpxG9vVGusgK-yqxgw5_-HVVjoqBow-ysD1IEriLBiNqa-y6XhOL9za_ne3xmAxNsVSnlk9ghlhzGiYiEN6RNM4kwaI_80EB0Sd5U63rRoEpsDUr6zuB1WLeyLLFJD2zvEYXmjNZfE16ttDHhzY423rIm8EXP8tZ-_nXvsW5sqbiUXpjeESrYCYwsyHl2tE9ORol_PvCsPrktpRHP5HDuXAtYAwXZdWd1ysaauFplvIQSEintjz5QVYnwPP4sP0PFRlsw2NCa36mvgWqzrx0izFsV8awvC6PsSaVL0kgF8G2ht7UZJilmJtyYcvWbPYtpierJ-7luCJKiDjEnUO638ykDcZ9_tHSkuC1ossavGfBKDdO0eRgft6D_YK3XLAhoIPsGhYMEyzZtOzOH9P0RuV8yP1ThKrANKpTapyx3Pj7nnWTu2w7NvCofLiHSc5mB3of5bTlNxSaDHfX4w0DWBDltqMhYNdBbZMHzJH_T3jT1XfgYjxYOGaRGB_k0jAtYzOFFwx6ON7Fx-_VMv3IIDxlCjxF_zwH0g-JgSmCofeLLH6UbmqeezEpmgAqNvhTcYMYzEPBz9Mzr8PIOAKzR0c0iv770GC-TsiY6m_sS4E=",
  "id": "rs_07f1926e658af0d6016ab45488f6c087d0b8be0699628f4545",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.4,\"right_z\":0.22,\"right_yaw\":1.3},\"note\":\"The partial rotation moved the pink bowl closer to the stack, and the right wrist view now shows the white stack just behind it, but the pink center remains about 10 pixels right. I’m continuing the controlled swing while moving inward to compensate for the bowl’s arc.\"}",
  "call_id": "call_37BhCnfeOD0I64TretsjgxXP",
  "id": "fc_07f1926e658af0d6016ab4548ac5a887d082052eed7e27de05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_37BhCnfeOD0I64TretsjgxXP",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.886, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1191, 0.2077, -0.131, 0.04]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1703 left_yaw=0.0945 left_pitch=-0.4376 left_roll=0.0847 left_gripper=0.9988 right_x=0.3449 right_y=0.3883 right_z=0.1721 right_yaw=0.7812 right_pitch=-0.5431 right_roll=-0.2803 right_gripper=0.04\nstate[joint_eff]: [-0.0889, -3.4667, 6.5709, 1.243, -0.1197, -0.0659, -0.0122, -0.1573, -13.8051, 6.9128, 1.3553, 0.2564, 0.0806, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f887086e2b07ad18cbc04e2f8fcb2625b6f52a1046cf23ebf2b76094bf58a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee42d7227b89a32664628c81c118a629c15d29e026287b3ccca1cefed1df36d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6525e901c0054ade393c1fe332e0dfd47f642edb174a311972f1c552474e939",
      "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 118 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1595, 1.0237, -0.8864, -0.1654, -0.128, 0.9988, 0.7067, 1.6886, 1.2945, -0.6514, 0.4675, 0.392, 0.0343]\nstate[eef_state]: left_x=0.2945 left_y=-0.0028 left_z=0.1719 left_yaw=0.0939 left_pitch=-0.4321 left_roll=0.0834 left_gripper=0.9988 right_x=0.3646 right_y=0.2113 right_z=0.1386 right_yaw=0.066 right_pitch=-0.3201 right_roll=-0.1723 right_gripper=0.0343\nstate[joint_eff]: [-0.212, -3.6444, 6.5983, 1.2381, -0.1441, -0.0269, -0.0122, -0.3897, -11.3299, 9.265, 1.3553, 0.3443, 0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0237, -0.886, -0.1654, -0.128, 0.9988, 0.9146, 2.2295, 2.2864, -1.1954, 0.2886, 0.0193, 0.0394]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1704 left_yaw=0.0945 left_pitch=-0.4373 left_roll=0.0846 left_gripper=0.9988 right_x=0.3561 right_y=0.3859 right_z=0.1773 right_yaw=0.6179 right_pitch=-0.5227 right_roll=-0.2879 right_gripper=0.0394\nstate[joint_eff]: [-0.0479, -3.453, 6.612, 1.2527, -0.1197, -0.0415, -0.0122, -0.7726, -15.9248, 7.6786, 1.2527, 0.1343, 0.1245, 0.6618]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.886, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1191, 0.2077, -0.131, 0.04]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1703 left_yaw=0.0945 left_pitch=-0.4376 left_roll=0.0847 left_gripper=0.9988 right_x=0.3449 right_y=0.3883 right_z=0.1721 right_yaw=0.7812 right_pitch=-0.5431 right_roll=-0.2803 right_gripper=0.04\nstate[joint_eff]: [-0.0889, -3.4667, 6.5709, 1.243, -0.1197, -0.0659, -0.0122, -0.1573, -13.8051, 6.9128, 1.3553, 0.2564, 0.0806, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f887086e2b07ad18cbc04e2f8fcb2625b6f52a1046cf23ebf2b76094bf58a31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee42d7227b89a32664628c81c118a629c15d29e026287b3ccca1cefed1df36d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6525e901c0054ade393c1fe332e0dfd47f642edb174a311972f1c552474e939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSUFk-2jMu9ES4rhx-x9hbrDF2tDTdKDtL7rlqwx1vGnKPkS3HjF3Q6ImihAJuCXOOj6-Cx2H2qMbhiuuueQYk4kLSxpUwGuEKIwommicDRxrZTcfledge8sMxmX15cPVJnd5kNZtMI6oUAZVr6hYxuDE1h871L02QdvzYpC5u-Yk5KAwkuIWvY0IjmPmjxKC7lDkprVGntMC4WVqQ8T4ll1FnDcyWIc9Ql5IpLrvYMQDizQvCuxqc9uMSlnHKyapW7a4piwOY4WTOBYNI_YzYpDoDOIuCUO5zTSMYR6J1H5DU9mZxooZKDKZjRmjyHY3Hyl5HrY_3GJ6fQM8ujZYOa1n9KQk-7PhISI4_3TnCvvH9mLcTUb69Io_V3raBrGq6TdgR_UI9a7uGFuSe5Z1twBbyAd0g6-Am_p6sNgG79lfFHLB_kPvGeZ9Hbn_lvIfKqhBLhVgJ2zLXjmYi-Q2yYR1W5AgvKWHQc73HRVTJxQsF2azXbrf9mtX524bAhVW6QAyeGyAEnDw1-FO74n4r6Q1QQ5E4do-oQ5NzTz3S18xDjzW5qNVwLkvGUNFgWt2OsQMRMyiJL5aRnz5nHSlFhG_Pg2SEfZevCY27kt3iFdxrjUSUl__KkMx76R2IN-IhniXAtoYVGKQvoqPok7Oz1G3bD0xwqEmX0Yb0aORjz5D4RrxxGJrz9RrlRRzKUezs2AeqDIxBL4ulUgs2LVapgbv2xWyVAooI-EbJFmppmRyhmxwWgKySxa8EKMlaSbFtesOzDLgjJalKPv2ClHXjbZzV_WLADV8B55ybOrvPtg5K8jYQR6gdXsXqBm4aog531skwUw4W-ybKAROKkPWOZHUGviAiMlDmeRK0RItdahQdh1b7FKtAE01TqQGKdjNucwaNLEBH0DUc65azv-o0XJdIbylYMgOX-09k03OhfL5fGJiTF8p1CMWSGxa09pv5Pt-zg8j5iHx9uqZ6uY68yDnHG1DSXO_rtnttMypEkQgP2J0514vXbR9U3EfBtbOeybq9vOfNph1sSU8n-yOJ5skBJSwttssmkYuYQIXZEcoWFCwvHgN3KQmi6RnryKk9nQ6WvDqgVYQ-Acc3LZ-hrUoFEXtDnQq-APiukdrWjtoUb9wGutokEoBMCHMuY43kY3yBGoPT6sBS3kOFrnGDq-W1xOOqiaqli4V8cK3mAsC9LyhhbiZ6vEjY4e4Txg6Q9tBJbYKmxGeKBK4jpwGdq5-rRAVivcN8o5UEIBeRmXhfYnRO_25agO9Sxd7DzROEJcq887mE9e5UNothwp0o5xNVqI43-q728a5KEt-hwf_6rbHe7ZP7AEiAoJFP1NQnGXawwyjZoA9RT8_r3fSWX8bqHP9QgVNqOiFuKCp4HCXG-ABWrOPBOaVY3ErSmP_huTGVYPE2C0cp8NmLfvbod0J2TU9QwTrHiCZnW71zaZScbgXL0Cy1hQVItg0jZRXWIfeX7ThxR9Z0tQDywke9kHKoq9nmARfVy5yKl9hiicFXVOBFCDLNu_rYUGou0-ZWLZz5lR5D7M9eedQfnDQQzY5sv9Zq7abJ5Xq7le4Ersxzukk9qe83J5QXtKYx88yH7bGh2oMRhdRorjI0SPlOowfc087vSJfoNzW7oKAHPRUxabvaVcTHEam7JGWKqqjbAenmJFYnHQzkPpXZl0gsG7kUqFTsN4VldG_HGAbFCuZe3txggt55QdnczBxhcpoAqfYU71jO8mfPpaHD_IhKF8hP4phBCtwU-WmWJNngUXaKhkDbbaezL4LKVNbFJ3_J1doql9GxawzAcD9rxJK6HfIdMC_-ZjEDVKB0NUpPdcWZNoyxl1B-tsImaiUqK3NpP7rkgCx02FgbaawLBNjdRUBueMOY7S_9L1oXMq2227eLwQ2UuRM0dEFQG-XT7ru6BZ1z7VL8_N4eWYVZVLmTVjXoCHbGCT_sgpuVfr84o5cJ4e1MZZw0BD-c3cKQRr6uuuS5ku7g9fy5d-FWrK7tiOQqPhdDV7_i71z2gGHOSih-9dfb90AThecTf2-Y19OqnQ5kjyO8YDa7yb-0p_btr6agVSWvvpBosRAheth3HxsS7Vb0oayX2GQpVqj-QxFp9uKYtqBBys5wVn_C5MMoNyeQ8KzbOyYICbVymfUtOg4FRrtdbOpVGKYB4SuUvSFauwM4SGHICBDEhOVxtIodRpxAVY-LbZVsRP85HfagWDm7Fng5gXJd3w2zRg2iHHXkIyZ83iKpswTTCyc5nWRvBafqAuKUPLG9hBW-zlv7YkAcmv0IcwyzIl8KNiFMrsacw2fdvLS--olzDGTsu7DzCfrMnC6uRMC1Pjb3UqIJvIhxsPnnBKPNuJCOB8KW1cAW70QmEht-IMrMd5Gszhs8meWHzFTgoe7_Z76Bb3AoDCSlarvj0i6gI6aECPqksLoIyqJ9tvz0xMI8olfL5wW4uqITXcVKgnDcRCEnnV-41RqvXuDWaxMGUGnK4EsAdB7st0AbrQCMkfkzclZrZqBJqHJ3okwz7Qthra49MVXKk9IsssjbY8x14dGXGV4dBjTC8ktvS-DBpOyPhnhS93YVV05dyDaasQWheAwMETxh4m3kdmnyqZuVHFl9GzTdJOXIznCuKTqjjeHV_bO1KXqhdQqxDjah21vjoK1B1qaD4TMLuG2YTDUbFxpr5zT7E_mIbfyTM2XIElGrRBFDN5XoVT55362QmWcOeMYYu8jQ-gDiD03DH-u7p8KBunygIlF1h0zDMVwF6BacnpHmAp-B2yCQMnXP4nf9Era8dZKQQdQZcfIEExui04hyQFjXga64sLosQ2yjUI1qwtFx5Z8_AUDRDR7gv-ANzhKp1ap3XrrG92BHIG9LCvFB1362kQuW43D-4j-GivANzBBJEFY6GjRPQBzJkRcZ74cAkEVWuQJPopUVzjRWOiDkrVc5O3Rwfr6BF4xVjzGzUePe-RxpvjorzhFYXymIzn6WWZtVy5L6iO6ZQS2Bf-hdA6uHRLFFTwVxl0fNKbvmBiJzhs3Gp0amE4ZwFWBitzD_KdBWDZiqu93ssj1jZ_ozfsjun92-qUu_4eOufUPdRGTbIS_3eqQ6adSCDaLOuHnGRup3cVgHMJmeV9uFNxBMt9dd0WYnB-K7WNGUN64o3GcFQh-YCWr4TJAfN2RUMdA8L1A5SSddKvBFF0yoD17MMt2NzFVo4KTw2VdfnYbB3CqDxFzFvQSGGEG6Xmg634RZGlAYQW26K40d5XCjRrlgKwr_WRKy0HZ198wBEL7JOAVHuVfuAyETxoqxJ0g1UBrOOuo33FXITMrJX-5UEoiGLVDnEEX65Yc54YeXHVmb8Zqv2-TRAuAzVmeBT5akjhYvn34Z_TYGfpQy6jbMq32HL4I7RMSWC5iWEBSItBeZ0lcmZNA3CJ2wv9eoPVf_3aAvHRGFlVE0b7rWg7MerJlsmgFpVYbTCNri-DPDONOjiZ51zjST6X6DqRYOhmRvlN1kcmbP7NJ2gDKJWe7IBYy2HSEcGwPZPsQnnTMgJjU89uIfXhg7ZYwhIoII3xJhcjcGWiSabh1AS-5VW8mrFXZSkN5prPyUpqkIrU_8dZ-3zhcOl8Rg9BkuYqDm4pO_hHdn5meVOBTNCdm0SBfduBU5KbofyQ4QytNGV-v8WUhoSNwBIjPmb01T2EHIdYoDsknppJLGWezChdHA27b68sFxyV1Ts1otkEZtjLMHvVdOnMKE5Nmo59f9r157VXZoeaDsqq-FkIAI4DLoQB-6GTknW15PcRhf-wV4J_Ysj7qtpJ2bZYl1I52uBtSi_wlgrvUpp4Ei8gpE=",
  "id": "rs_07f1926e658af0d6016ab4548dfdb887d0a5c56cf4001253bd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSUcYmO8_G8LbkrwBzfITKUy00Tatq5UEEuRI9DBFQYIsOzVbD9ZY9Wy3yzq1AfW1grLNRtRxTth2M7Rvh2POzAqLMc3QLy-UkoXkED29IIj21T7daS_CxlbFJrz_R4Bb56IW1d8rg7WLKNownANvONrtZpoJGNZ4cWbZnaK4-ECqo6Xw-VhSECxfoS-wMdx_HV2mXpVUrmveFWN4UW4I8uX9xu8rnLxoLE0DYwwXYQ99lrzwqC-VF8fGsmFuEsdmnMoN2-lcGtuhARh9SFGAYYbBaLjrvC452imCBDBlKBEUsDwY2VXeeKxKW5iuBrZbcq1SKJsFg-fXWipQHi239-Hvj_sjbPXsOBBJwojJ33KNStFTkZObJOxZYrWHswnN-sK37snH3bN_YmJ0cZNGPdAIeTf0V5FrAeq6epEfTGmG6tbLTLtLVwBYqJGv0xD_ZDMJAQGjN141HKTIOlPIURwwQaLGBVg5g7Pw1yJwgxcOZbDM5Nk5QPyGlCwv46W4sLm0igfJDX277rhWv2rsmDgf-WO6tGxc4v0bwKTwE4DW-ZEpoWpESGlc2WcNp_1klqxRHORlFF6FttSONh7BXW-U3m1v9HQG_iAg4Q2kCZGbc3Q31qLEFe4YbLa8RMPrdU5FPR1SZXHerzDQD7G8nYoJpSs9pnZuq8HKBqTmFOQptIEj1FSirHf0q-Cv0TaBFQZ_7h_-f-FGohT1P6QyNg-9-fSgado86jArz4bsZ_mGUqmzsYmvpMTY3mXlMitYwA9WLSIb33S3f0e54z3zJLbHQTNGL-arfh0O2pHRwy7_OiKQgE3AoDgfycnI3vvJjvcMNnXSK4h76o31dkoengTQOQ9jq1LhWHHj2Ly9UaTFAHy6nIzLYz0mm4QMNjgmDF_RMD3JvbOLbuDyerCd5pE9sciC5Ts6Mszgc_irrdEfR4glrSSBS4IlQ_mqhPqwClH4AOyf3lUv7T9fRHjNk5YJ2ZFjj3VFP-w8gkDytvyx30jXvO7n2uPTFmjZOMG1_9gRlDt_MmnU9sPdxHejcq6QjuRig6f144CGlFmV-BabRklRONItpEifdGfJnl61Uz9J3R9YiO89r58Jqgyo5prExX-KmH6qHZRH9akQf_obaGGAhMuWtBZyNWkzt3WOOMlwixFTY2Si5_SHfiKFLZ-2UWrxG5p-TD3l0EyrOF_QNFKhx4X9OHL8G-2jww_XWG491uBhmZQa_BiIWXALi99tLF9qgFNb2EnB8lpa_AAqc=",
  "id": "rs_07f1926e658af0d6016ab45492f22887d0827c0faaf7b11338",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.4,\"right_z\":0.2,\"right_yaw\":1.3},\"note\":\"The arm tracked only to yaw≈0.78 in the boundary pose, though the bowl moved closer and remains secure. I’m reducing radial reach and the height target to give the IK more room to complete the rotation while keeping the bowl clear of the stack.\"}",
  "call_id": "call_ErRZedsAKki0J023ct4bHkoc",
  "id": "fc_07f1926e658af0d6016ab45493219087d0ab657ac559ec4fd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ErRZedsAKki0J023ct4bHkoc",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1198, 0.2081, -0.131, 0.0399]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.3449 right_y=0.3881 right_z=0.1721 right_yaw=0.7808 right_pitch=-0.5438 right_roll=-0.2808 right_gripper=0.0399\nstate[joint_eff]: [-0.0615, -3.5624, 6.5299, 1.2332, -0.1343, -0.0611, -0.0122, -0.2256, -13.8051, 7.1043, 1.2967, 0.2759, 0.1001, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6d9fec61d7944b4b2919ce5f9c6c3917a780ad978149cf87e78b46bcb1265c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877e5ad512d23b818b7ac8861ad26e41cfe11c6d99405fc25fd327321f0b0b33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b075c77136445bef047ed6e295bc147a9f2ac7afb864cfcebe3357a878dec07",
      "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 124 changed as sent

message 132 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1641, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.9306, 2.5679, 2.7537, -1.4696, 0.5385, 0.5953, 0.0357]\nstate[eef_state]: left_x=0.2947 left_y=-0.0029 left_z=0.1705 left_yaw=0.0942 left_pitch=-0.4369 left_roll=0.0848 left_gripper=0.9988 right_x=0.3888 right_y=0.3764 right_z=0.147 right_yaw=0.062 right_pitch=-0.4255 right_roll=-0.2706 right_gripper=0.0357\nstate[joint_eff]: [-0.0205, -3.9179, 6.6393, 1.1844, -0.1587, -0.0269, -0.0122, 0.2667, -21.7778, 7.2684, 1.0623, 0.5543, 0.1538, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.886, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1191, 0.2077, -0.131, 0.04]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1703 left_yaw=0.0945 left_pitch=-0.4376 left_roll=0.0847 left_gripper=0.9988 right_x=0.3449 right_y=0.3883 right_z=0.1721 right_yaw=0.7812 right_pitch=-0.5431 right_roll=-0.2803 right_gripper=0.04\nstate[joint_eff]: [-0.0889, -3.4667, 6.5709, 1.243, -0.1197, -0.0659, -0.0122, -0.1573, -13.8051, 6.9128, 1.3553, 0.2564, 0.0806, 0.7888]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1198, 0.2081, -0.131, 0.0399]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.3449 right_y=0.3881 right_z=0.1721 right_yaw=0.7808 right_pitch=-0.5438 right_roll=-0.2808 right_gripper=0.0399\nstate[joint_eff]: [-0.0615, -3.5624, 6.5299, 1.2332, -0.1343, -0.0611, -0.0122, -0.2256, -13.8051, 7.1043, 1.2967, 0.2759, 0.1001, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6d9fec61d7944b4b2919ce5f9c6c3917a780ad978149cf87e78b46bcb1265c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877e5ad512d23b818b7ac8861ad26e41cfe11c6d99405fc25fd327321f0b0b33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b075c77136445bef047ed6e295bc147a9f2ac7afb864cfcebe3357a878dec07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSaoj1-6Un1XCgIXdGco9v0CoyOqTQupDQTnPcZ6SD4dmYQOduZg73CziLdUcYbViYr4bhQPQUtkyV1Tp1EhpHDuT49WMuGMasXJFn4lGDHz74ScUROPaaKoZquxIzjEzKSzXSO-y32zBE1vjzSI0qE1PZ5m26H8dob9Cf_Sx7chmhecvOiZfofvB4BTpPjh277uuy59GTTYfpfOOHOtRVoTsM6Qf_IU6bH-NpVGERWh-zZTGbLkbPrSh7vV_9VbvDhTT0KTboQOzdAxkiTwQQ0slc2hMPstQlwq6PM_F_Wt5TiBgyq6YjClXwU_YowoUIjMjJHtLrTNkWlCaXAZ2xWCYc6SYN_QiMSUdlaePMQmilAYcaRU9p6_GmRE0D3PGHKWbkxOWARvd_cu89pnWZOt_B410HyMpIiJA6QJnHMmIf_SvfMP78AUYg0r5l8rzcd6Z0tRINSCGiedsMci3ChvQyuayZsxbnMk8CxThUOjxOW3B3QPErKH6CJFdZPHr0x7SswBsKitVidfbgLYX2WzSxvhmSWDBpE6kYP4Mkm75WjYA3-y3I2F_qqnTqxhGqLbrQ8K8Qy91GybNQsFtGBvs3yM6Ubd5h9dVRJq56-D8226XHXuGuApgfYrEfhvUyc49REyLSA1Gi5gtwQvphYK8CWNd4ijnEm4CVBfwUGu2zm2M54HJUcZsYXe6yhbXNf_wBBNCvoCDZ21PUUDbiwF-5iB6Fpm2lQZAZf0ByoqZvK13-TyrYr_ClEF5-_wmDP9iEQ-g3lzUHofAtpQlFde2kkAkFLdHHswxcQv36cDKGOSNZHS3IqssaKdkTiP6aJbuzdFNm7yGtzzHrNTT4UT88KvZVeTFpQs9s2DQ2xhTJRwSdiDwjDHd1HbN59iFdVi0Ixc4mVBY6UnaZggl9SNVxc_5w826T9lfAQBWzvmrSUQj0NT5ecs9S_SRbBICrsrRk-RTlUDt2SFtL1KqEH25duVR1o7A_xecZso__khmyrN48EuFZwf2Z-1ZQFrMfbJH2QamzPS46gU0GZ8IUKRqE8S2BoT8KcU6saHFN3Sbfx4EQg8NDboX3UuwfaGqyfeNGwAg8xUMNNP7g76rS8zkTSN9RF8D_BvdGmiwk9RglI7inZwgUh-zayFy9FzDiCxEwwhMH_wnDi7JcbiIsQmoisncy_f1eE0usHnmc7jzEgy_gUfSpSEplbJeA-U1h2dU2zeXknhgOMwwOHVyI8iu0i-HTI60vWvTkmxTxJgeGocW9fw1F7nCCBHpvCa6qki0U6rpyJm0X1tjMrOL9J7m8fG3t31KUF--XD0L21ohLV13RDMz5aZisZcfG6EczT8YrhytZfkMdfwLn6-eos0EI07p-Qp9LfY6VMYkadg0XX3r_esm-xqZi0QdSXynQt6_GTZiOMIO1E1CJUCdAmYKlBemqGmDjwGfa8WBnYcI_271VWQ3kq6Ffj00N-jdhcj1yCRUKs_CrFPflSx8MdksR_4pkybGuVjda_efKPcTUU5qK2AHnSdCepOfwfxuJwYr56IhoevMieh_A6kGCt5rgjibZH35szwdTTh2f1FjcgevzQVvM4aumPJY8GR-edUKD81mwOx9c1GtlaTOFTAHIaU4v8x7dJ7IDwOGigJrwPz9Fhex_5k2TXU2jXjOlyjDf89mbjXdMXgKwnaV_xQjOhnaMaBc4XwkCxKQALpUBRTbO2lXZXog50lNnwmT2L4WgdkdrJGMHkw6jbNAGthjTkZnL8d63vBfDQfGc3uWdRp7x8LNqeUHhXpswaN1ABUinb5M-niuM49HTObJNP7yTv9xF_plA_fZ1j9VZEybmszYHyd7WDrAbsLvm4PuCOJx9UWe-HWkgkryFmoxsC3n9dqa3NxCI8OivMXFCM0cm4r4jo5Lw9Sy2Pnbc9yz2vvo1LZv7TsiB13aBZgdf724QLS-5ZEu9ItIAVUmb-yrLaut0g3kbUXU5iq67jEyQaeCWSePNTs0q9QpNDGvG8ROuy_sWCa48EJvzh31_dkojmY5sySLp3SU_7KDq1gUaR-UzVGvTmmSICEQrtNCyRKMZVmbD988NG1pe9cLSUCC64N_IoBA2J7qXpwbG6r3A6xa_hXHPi1VsvGfewDkZPrXjXRgi-8q5y85uJ-LuuP0k_UJl06BKBMGKrorxgBwod9mnWbXL03oBJVTGkwDhfH5001E-dmbyijJ8pINzEkey_mbtS8bjx3nNnf05Sif9uhsVmN2T7XBzYA2K-mdrlLxh-cqsJRq3oznB76l47cwDRGroUrcqN01Fj7il51ssWriDyhyRz9XsYaPj392siDTCqLFPA2l1Dq2ApMxjUNJTXdcJUD8u1PMZp4AStCZgFWaWY4XHkR6yaqHzUntw-yoU9PdwvVmCHXGPKL2hqI9022OQdF2nzOGrH164Us-udPpcIWlnGVK_QLdHEHOP44wBtyYcoLqB33byKfLdZ0Uksb6C2Psk1_zWcRzbEwjh0a_URMaq_1xFEWJs50gEWT3gRjXvoQC7OyS4D0cTqxeLSQ3QF9VY1Q7TBBo72BEMXUJwLd1hNMfpDyyfBA5IVhsP_87y_ez0vxi9-hG1QBBklcGHf85LGacRivxehYviR3x7RS93z0yvKTlW_pDepN0HFlmajkOVKu7_yk3CvBZZCo2Ew3zqsVtuEGU3_YlcFpgjjomQFlWLl153aXJORlwHyQjdrnfZ54xQrFQl_3hDEsiO5nrCr-83JJjpLsmmOo6dLZNmW7i-ypc1k2ap2aM9FU2QGVi8LY_J50Pr3A-1_0f2cC3BA8HIpJuK5grOkvN-nmwDO3qBCb2YvSAmK0CdrnDLD9ssp7IdW4J34_zJ50OuRQz4rxn7r9Wq3K1_MDDNAET1Twt1jGvt5P2fYpk8kATGcwPdzE2xhJstJtc9KIk5MqVGqsJxZ7DmJQIn5tcz2Vp0voETiI922jv3t9JgEkGbUM_BPvUoysTnjVDbFRZMnXVRinfWn-Cuy9H56I1k8bxAXV5-0xplTu02YTmagwk-qCCBs5lqgSMzJZgCR04HZUVbJaHTevEbsMvk6",
  "id": "rs_07f1926e658af0d6016ab45496315c87d08bd43358e265a89f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.32,\"right_z\":0.28,\"right_yaw\":0.78},\"note\":\"The last command produced no motion, and the right wrist view shows the pink bowl already touching the white stack from the side; contact is blocking further alignment. I’m lifting and backing away from the stack to regain free-space motion before re-approaching at the rotated orientation.\"}",
  "call_id": "call_8cqjswxn69pAhSUwli4VmLpC",
  "id": "fc_07f1926e658af0d6016ab45499873087d09ba9843872bf57dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8cqjswxn69pAhSUwli4VmLpC",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8097, 2.1529, 2.5542, -1.4883, 0.1734, -0.2111, 0.0432]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.351 right_y=0.3295 right_z=0.2675 right_yaw=0.7669 right_pitch=-0.5248 right_roll=-0.284 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -3.4256, 6.7487, 1.2234, -0.0904, -0.0366, -0.0122, 0.0889, -11.3709, 6.7487, 1.2527, -0.022, 0.0122, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f06b46a5713f5a5df2ef46524538d871fedaf6677facba54b297e06b480e5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d209f4ab1f21eb6d694e52b3f403a95f3e06e151b64de944653c85d48c1b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cb3fe06e48ab227498301d2d23a76dbbc1de2c7a6db58467ff5e6f1ed75aea",
      "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 128 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0237, -0.886, -0.1654, -0.128, 0.9988, 0.9146, 2.2295, 2.2864, -1.1954, 0.2886, 0.0193, 0.0394]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1704 left_yaw=0.0945 left_pitch=-0.4373 left_roll=0.0846 left_gripper=0.9988 right_x=0.3561 right_y=0.3859 right_z=0.1773 right_yaw=0.6179 right_pitch=-0.5227 right_roll=-0.2879 right_gripper=0.0394\nstate[joint_eff]: [-0.0479, -3.453, 6.612, 1.2527, -0.1197, -0.0415, -0.0122, -0.7726, -15.9248, 7.6786, 1.2527, 0.1343, 0.1245, 0.6618]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1198, 0.2081, -0.131, 0.0399]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.3449 right_y=0.3881 right_z=0.1721 right_yaw=0.7808 right_pitch=-0.5438 right_roll=-0.2808 right_gripper=0.0399\nstate[joint_eff]: [-0.0615, -3.5624, 6.5299, 1.2332, -0.1343, -0.0611, -0.0122, -0.2256, -13.8051, 7.1043, 1.2967, 0.2759, 0.1001, 0.398]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8097, 2.1529, 2.5542, -1.4883, 0.1734, -0.2111, 0.0432]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.351 right_y=0.3295 right_z=0.2675 right_yaw=0.7669 right_pitch=-0.5248 right_roll=-0.284 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -3.4256, 6.7487, 1.2234, -0.0904, -0.0366, -0.0122, 0.0889, -11.3709, 6.7487, 1.2527, -0.022, 0.0122, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f06b46a5713f5a5df2ef46524538d871fedaf6677facba54b297e06b480e5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d209f4ab1f21eb6d694e52b3f403a95f3e06e151b64de944653c85d48c1b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cb3fe06e48ab227498301d2d23a76dbbc1de2c7a6db58467ff5e6f1ed75aea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSg0hLWsGfs0zDCZb9mqXYtIzcEeQY17wNOUQxV9ZSNokZ3fjMmgrqbXY3_4tRnmMrynwwyWMXAbazOTslNhQ5vlZ2hvuUAdutfglmDLhrF5SApBmJX5QantkSjm_Grt6GaRX5D_bCjnvhwI2CYb4ImtZNuSS0ZEgHZnMbOBylFw8FQiTWcP2nfgtRnP5SzvlOZDfORpyevDTnSOWCOpg9T7lBjQnaqygZsSENwV2MGncjqOgRsvSldzKA_x5dzZSXxNUDjYklodKYPX0ObUKt39S5NQpKQ9_OLLXJ9ZLHeO7fD3foD8KOiI9FBKuE-TBx5WVgq5eAQjlDVtGqUHKPOWJ75TVlOxZUG4-cLYV8LE1TvfiNkJrGr4i-H1cANmAL-wEFQbDzRvXVCHe64EuJdj7xHDHmapwVNtZFfgbYRm5ocvmjfUN2Zl8DJEJcQ01LXVpdOGYfa7QzhIkcs0roa-QfNB_dJDcPua0eHN_QOxuujBJrdTZC4rqEeNe6mgvAvLSCTxe6Gpwrqaln5_vNetccy9aGZE3vm48vnWXM5NVHOhyYgUymslmdI0iBKZtXZjapX8CZILrIHVoWxmvVwVkhCjOjPd9Pn4KADGiynlHb6ylMRFyfXc5g4JCe-2VST-4Ku2zZ1IPCBc_abv7wAZKz3sxrcDvYIZrg4G9vmYJEjP2RthHtlxxpZoTlxbFIhUlpmrwxtOQmCQyDtR-eKs5_2lVRP4lYaGBp9IJQ_6vgo81qCx4L3QM7IojsdrIF7d3Z2DKpWGgATAbtAyzgWVCj-HHZc_FjWlTsEwReML4uLmnWX1qy8V3dsOZtimdB52ObryB_dRjD7eaJB-QK_YQfyKN1F303oLbcLmJj99ORRhnKL9ytu5X9b4OYXF2U7r11ABuEbwVz_J2zOauLWmF1yFX4cSC1kxJ7XzIDw7ZadQ4kQQa9ThF66T2hNca_30tSwe-eFQWREoKhlOULIE2xAgMHHDVqN9gy2J-iFtpE0uFWxwsho6a8aks1ceFWKuw1Z0wXd2NtaCOMS_VAUUDP6d6VF3V0EOScaofzUQ771CipMzejA2dSGaYN3FCK79frY_6mYUzoPiz6z_Fb_tCHaCFbsBu3p6oqTL3gO3pQdGGJc-22aiiH5sUErfFMXOP3z61az9K9QSKfVRJau43JTrT9QwPZZBWbI_phadte3QuFfTcb_3kXRpqU1NQKPRlH5fBZr4oaSOJzeJFCQI2jCwsaWxDYs8sl8SMl6r3bavcp6vL1BYUXrdBFpBZEXOj8r6u5MY1bv3lMlJLWkSPQc9-3zk4sotp2VRel7CHCnHRRjwBeI56zn5B31wzrE0z3XfOUhmwa0MqLsudYu-8ef9JZgOS5116SeuBS01YoNTjPFVg4fGNQXzQeEtD14oqWPtDpTOlQ2B1MjY7cp-txf-mo5fM144beS1kUMou89KyHBZR7mPSYGLcVGJdaBkdrLIvn2n0W2zXpx5X3qNhWMQyI8qVW43fanR6KwZPfErAe5Z2g1dlZf6IGsOpYgZIc5ZFsmacg2RxiiAixSuks93BQgYAQBgv9yWxE27SPzN-XpUxDmNUiciJMx7S22BMprz_oHk1Mn9c21szWS-_fPD4rtRbO0Q575vHRE04ROWw5uIWaBKfydUMStOzOJEMcnm0GVbwp7CRUedgfIq5I5clzAEJ7Zo0c1E7iI9Q5zBdKaBslqUOvyCoH5PdQeyJkuq1wGjjgEsWMp-ljo1botFMhJTBLXguGOgjvNjXCGoZLNwQHSCzpXGUvy38j-q45sdGHvHSnuLAp0zipAb1KEmFvThUkr1Th6EDNQuHegwpOpvhqwJgfg89BkWQpkWOZ3vZIr7OfKQ0fjoRx4eoeR4MnlMif6hzVl-gvvXJhhJq6p17CyHXDzaWnMKaxkwGGMQtLQECMgQ5PcBmFdv9GR-BLQWYXYOt-FBrYfPEdRI-K0DQdv5d5S3LQsMm11AJO8M2Zt0sCd4FqRcNiS54X4vTcTJYe252mPbirZ1_BHhV-Io5joQgsr1uiy8AI_ftJWaAesD2wbHQkDlPMU0yfVIoy_KxjotInum9eG7NPEr7tcmnyHNhKAhyxjfPmVN0kwnixbPrGqhKXKhnJaFMU8cATloaNBgn87PoaL_Ko=",
  "id": "rs_07f1926e658af0d6016ab4549d550087d0b37a69c556b17089",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.33,\"right_z\":0.28,\"right_yaw\":1.3},\"note\":\"Backing away worked: the pink bowl is clearly suspended and separated from the white stack, so the prior stall was contact. In free space I’m now completing the planned yaw rotation while keeping high clearance.\"}",
  "call_id": "call_pUQXPlgnd6BlYfX1jaEG3H2I",
  "id": "fc_07f1926e658af0d6016ab4549f7cec87d0b1a9916f220920b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pUQXPlgnd6BlYfX1jaEG3H2I",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.7559, 2.0777, 2.3913, -1.4754, -0.0193, -0.5797, 0.0447]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3305 right_y=0.3211 right_z=0.2492 right_yaw=1.1474 right_pitch=-0.6224 right_roll=-0.2481 right_gripper=0.0447\nstate[joint_eff]: [-0.0068, -3.3983, 6.5026, 1.1795, -0.1392, -0.0171, -0.0122, -0.335, -14.7897, 6.2974, 1.2527, -0.2808, -0.0855, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84390715a35f17accdb79d7260ae439867ae266975ea0aa93a09dcac89abf25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798d29b8ba4d8725b5f7b11013eba34a337f9c37d8cde541d359ccf75a49b1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71e0a09aaa4aab0b930f4a0ee9d26fa82d344422d738b3ea6912bc0f9a44d9",
      "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 132 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.886, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1191, 0.2077, -0.131, 0.04]\nstate[eef_state]: left_x=0.2949 left_y=-0.0029 left_z=0.1703 left_yaw=0.0945 left_pitch=-0.4376 left_roll=0.0847 left_gripper=0.9988 right_x=0.3449 right_y=0.3883 right_z=0.1721 right_yaw=0.7812 right_pitch=-0.5431 right_roll=-0.2803 right_gripper=0.04\nstate[joint_eff]: [-0.0889, -3.4667, 6.5709, 1.243, -0.1197, -0.0659, -0.0122, -0.1573, -13.8051, 6.9128, 1.3553, 0.2564, 0.0806, 0.7888]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8097, 2.1529, 2.5542, -1.4883, 0.1734, -0.2111, 0.0432]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.351 right_y=0.3295 right_z=0.2675 right_yaw=0.7669 right_pitch=-0.5248 right_roll=-0.284 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -3.4256, 6.7487, 1.2234, -0.0904, -0.0366, -0.0122, 0.0889, -11.3709, 6.7487, 1.2527, -0.022, 0.0122, 0.6471]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.7559, 2.0777, 2.3913, -1.4754, -0.0193, -0.5797, 0.0447]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3305 right_y=0.3211 right_z=0.2492 right_yaw=1.1474 right_pitch=-0.6224 right_roll=-0.2481 right_gripper=0.0447\nstate[joint_eff]: [-0.0068, -3.3983, 6.5026, 1.1795, -0.1392, -0.0171, -0.0122, -0.335, -14.7897, 6.2974, 1.2527, -0.2808, -0.0855, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84390715a35f17accdb79d7260ae439867ae266975ea0aa93a09dcac89abf25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798d29b8ba4d8725b5f7b11013eba34a337f9c37d8cde541d359ccf75a49b1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71e0a09aaa4aab0b930f4a0ee9d26fa82d344422d738b3ea6912bc0f9a44d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSlL6OLHRITdIWUaaOFIbeR-16ZIVHMpS3eeDDe-fZFOm52nATotSsVL2BdMkta6VvdcU1y4lFYgBuAtvdjxvkE0qa4R-GQLHqFwrRzozi6brEDhjGkXq1aCnG1gvxDlR8ukBEx1RIsZbok8MUPDHutX8tpGX0JCCljsSIJ0pcOcyPyRHuQhjB2yEJgyzbkaw87D9O6-j0Bthd5j0pc8yDHVaCqrP1y-Ld7ZSoLykXvoRsPL8M5mIVBN68CNcxkmxvbaoS42C0hQXH5b-OFccf7WhiT-EVBzV6Kp8SBTJqqfYRJb-t6KCikkLPJgEGTCVC9eCJHpm_JgPHZ1_3d-84tPk2KXP9RlBAIyLiVRFVxDqeJ11kXrKIIXX07Z3vQoV8oAz22YUYMsf3eHUMJS62gMf2uZvWMd88BkUqjGHhD9oeQW1k7Emuz_ikVw6mOo4p7PeuV0YeZqX6NXkRkKrW--Cr1rYb8JrtY2ZeVD34jxrWcDFZ6P1khC5fNrQ6Uz5xOGbZcwKYLknZO3Snp9cevxZf0g_JWS3zlkbdMgD3krfAPMpn6v-SzytnsmY7I5LJ2y0TNwrdInepk0J_XWst6QtOilqz3Oh_WzRW3WCMJohCx2fB4nYxiFX7pHlw_6AOBKVrx9UgvT-JbfvAxou3yPw95IJquwoMz_Zzsx-ATjJszk7yI4PrwyPHaSIa-VSPauLnDGrA6smf5pQLZ4FliDdQlNFWtB6UuI6usu02aBi-MzV63VNrxqcs9yZfMnz5eF0VikhlV_KTz9OlB_1Ekkpen79Nu82Z3C4RgnidCFhWsBwShonCSbTREEtlTN5Tfnb59i7fwx7GZPHApCn3BEuhJedVuNRO4_6kyN9wUSh2FbYZjkNvjvoucWc0iec8TMBGm1UXgI-O3upNADHt_Ya1XPoleH2F2mNrsNx8mulGI2CVVZFbApURofkeywh9HXkw9x_BJIhO-LmptGutJZ3e5aCS1dnelpZiiuRSPi5Seot25FZqE6GTOBA-WgPyMtoKLh4nAEaS3ybsfhLkmyDKuWre0eCcV1MlPm8mbc8BZ-KTfPXh2mtKsBTz1GXe56XjpKHwhw4OTOoyi4WpPIZj6edU9DJUqbpTq90EXKLr0rBo9owdc-Hf__23xoZxNVwDkMB_D1c1BZssCyTqV39v0_ragTJtHS9Y9shHw1EfodARsXRQLJVuZPyAMKoWtb7AsGACMIZZHrzcVa2Qz90kF_xOacgcaSK5i2YqjB4MAl3yXPIvn4mXVk-hGujLgEtejmaGk7Vjjtjv0BI33ZGcfsQPDpOyr7vYnuYpNlGCMGOShkAaaZf9Kw6x2skWtzD2lnfVj4yPUgQfHs8cA7QD667Pa-coEg2dOHB7iB4EDgoGtywrbQGLgPdXid_a80egM_MSCsEsE2Q1KFaqQPP3G8_MRQOliro3WjHSB8LIN4EEA_gLCioFhxuUSPWAm6scFiuszANa4oXZO6tz-6K9o6Xn4hgQYFhgZzbe9V9VTQiEozW_4UWtYol0jSpI8MKuQkVvcJsu97vucnWS_8jAUWaY48q23IkbpbQmHGKCoeMO7f2nrvko3C4LSWh7UHzTP3pO7uAVYBFSEXmXl82uGv_2ggsGvcTmZXhvYjTueXznFggeNVVZ1B459wesLbhln05aNEpKkqmYmHaedwLInKHo5n3KHOVeSa0l3VAgQwmlJswy-EMmzOLzNZsLbGtfPBlIs33TmZ3jLcrlNfgoxp24B0JKWtwcSU_br9O4eN1sCE1tJvfhWuWQhK6fsXDGoWXGZR00fdLq83BVkrUyxIMYnH7irVk5ZcKWfCDEgvgZiHdq4Jqiy1H3-Ipto1Ew7FFLcXhhBr68bvvlJ3o1ULp9_rHGNwoZxpbph_vkH1o4Qoke_sp_NuxqybgB4Er0VIGSdWqbDbgBqRR6l-eHk6kpKLIHCJ2J0jsO8u7rdRCpIreoAUHTaXzbqVMJZrxUTENsmTUk-K6FWCWnJ7ytFH6n7fTDwR94mxEtx0iUsKTwTWZiQquJpwwAbfVKjSM7R_B2729q0DjdOGVyKqEy_axIG8QYYaXMHPsJFesFB5oXgm74qctV4R0TcIalsaZ97cCemEmMc6r49-axJvpOSUdJR8zsc-BZNMCH1pyvSRJxfESSn2nt7Z62tFkCFQ1Ljje-HOgueSqv31R2rm6_sjna28D73NwBgxJF4rm8bSuoUQD_uOQPVx5k_ILQZgv5yb9t34HcMKQWM3Sn7T5wPZN6pHN_4YSiFO7qR_0n25xxDVTgkmC-frie1kmfDkx4FUzwF9UzB0DX4hD8sUFZ3HiSeb9r3KCQJ_ES8FUqBTUgwS7E9J7r3eOoUKYx0XIqhoiNycBGuoCtMPfnUAvscJ_khdE08jYNyfZDEjCTOQ02b2Vna3VpWDqOna7dN",
  "id": "rs_07f1926e658af0d6016ab454a2041887d0b430e4ac65c8932f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.395,\"right_z\":0.28,\"right_yaw\":1.15},\"note\":\"The free-space rotation reached yaw≈1.15 and reduced the projected center offset substantially. Based on the rotated rim offset, I’m now approaching the stack with the gripper near y=0.395 and x=0.35 so the bowl center—not the grasp point—lands over the stack.\"}",
  "call_id": "call_hYsEBTDUfKUHrCbWSlC0Fhje",
  "id": "fc_07f1926e658af0d6016ab454a49e6887d08ff0f34fae8f11f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hYsEBTDUfKUHrCbWSlC0Fhje",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.8356, 2.2761, 2.7068, -1.5829, -0.0051, -0.5293, 0.0469]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3246 right_y=0.3657 right_z=0.2445 right_yaw=1.1779 right_pitch=-0.6115 right_roll=-0.2436 right_gripper=0.0469\nstate[joint_eff]: [-0.2667, -3.5624, 6.5436, 1.2137, -0.1392, -0.0611, -0.0122, 0.3077, -9.5248, 7.3368, 1.1746, 0.0806, 0.2125, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395f0017df8aca609bdcbe8a551d0b3982813e6989eeea38ffc488e9976736e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b92841223ae7b45ee48de09327ffd4773d6d9e1ee3ffdf75cd08178b656c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1dd5813673c8de9c886200dfeb22d75d603e3986db05be54bb402d4077f0f06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.9077, 2.1635, 2.1624, -1.1198, 0.2081, -0.131, 0.0399]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.3449 right_y=0.3881 right_z=0.1721 right_yaw=0.7808 right_pitch=-0.5438 right_roll=-0.2808 right_gripper=0.0399\nstate[joint_eff]: [-0.0615, -3.5624, 6.5299, 1.2332, -0.1343, -0.0611, -0.0122, -0.2256, -13.8051, 7.1043, 1.2967, 0.2759, 0.1001, 0.398]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.7559, 2.0777, 2.3913, -1.4754, -0.0193, -0.5797, 0.0447]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3305 right_y=0.3211 right_z=0.2492 right_yaw=1.1474 right_pitch=-0.6224 right_roll=-0.2481 right_gripper=0.0447\nstate[joint_eff]: [-0.0068, -3.3983, 6.5026, 1.1795, -0.1392, -0.0171, -0.0122, -0.335, -14.7897, 6.2974, 1.2527, -0.2808, -0.0855, 0.4908]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.8356, 2.2761, 2.7068, -1.5829, -0.0051, -0.5293, 0.0469]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3246 right_y=0.3657 right_z=0.2445 right_yaw=1.1779 right_pitch=-0.6115 right_roll=-0.2436 right_gripper=0.0469\nstate[joint_eff]: [-0.2667, -3.5624, 6.5436, 1.2137, -0.1392, -0.0611, -0.0122, 0.3077, -9.5248, 7.3368, 1.1746, 0.0806, 0.2125, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395f0017df8aca609bdcbe8a551d0b3982813e6989eeea38ffc488e9976736e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b92841223ae7b45ee48de09327ffd4773d6d9e1ee3ffdf75cd08178b656c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1dd5813673c8de9c886200dfeb22d75d603e3986db05be54bb402d4077f0f06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFSrxpb5254AODHyhhpHhjVVnx69Ad4BUXJknBJ6Syi4IycXWYVM0AMo0qe1w2f8Xsfx_Hh2OtcFw5J65lflfYd8oBqJAZABaAxmLd-Hjb0UB5j_LP0-Uo02K-F-uOx2JYgvIewlnZ6tfv2_Krg4BjCAiEuR--Leg6jIZUx82JXDxYyxdE-YwFSAuS1h-5lzA4vHL52BaP2zHFAko50Rjv9C5rBxlFSeMXGf-Lc7j7G3u5qErMET0jRPPFY9sIiqxuVn38c0lzbR6P3re3j0ODYk2c01mofQQR1bJiIMuL0xnHmQjb4S0H949YETUHKV6Xwz2_7OeHromq5yMHUSblYiMSjEQHv95d_GnNgGKG-d02gyZU0FKpydG8G7moTZH_DQMMzVXbQjrdKFht4f4XnnF0-D2hr07coI41STQYup_1Ez595hpoIaWYSErONAjGC9FZi2wKtLS0aHB2P-xrZqjuD5YjfYYzVV8BGsgve72p4V9oA9GzFavTpZLloI65wK371aZlmh-bQcKu50RJVnDMfppZNrHFjcst0FWiFrq-hN-dupU51lyB3LUM_tz-_RvQ9I1wWrrfrZP3u8V0ksp5JEIUtnv9hHDSNzFfoT8ndN1ucNW73b2TBhcspMlpJ6ykj8ulK70BtApV5QBG2oB57AlXe0-mxTqPg2QgH7EpENV54QICfk4stJTna4Z1PbTTUa20Q1-kUsJO2oXfujV31INuVLKzEGv22NjuhuEdK5JgOerPz8g6MrXv2ry9PVTJnImvcqUKW2Fzk_4TFP73Dv-JYUYZAb382w8KWlUOa8LBxgbW5VoHGyGfCO9crH8HbGYNVth-wtZ_8yculE_zCLRGBU0xeGokdd_Fmyk4Onz_V0eaKpwsk8aUr166PW8mmd1XGLrffn53oZbtfHUXO7hwx16DPaet8GKNRQ5znMGqXy0c6MDx7gCpJXFZqQVqK9vSG57k2QouYgfK6qI4rHN5ES89V5vnc9ZRINLMhEQIz0kWbZZiq0zoMepwIqs5M6VoIPg0Ec7KTyj94kYvfk_pwBSHbZ_shW1zoXaBX8a4yc5QLGJ0c946PsR2hSt6LAbik7PoP51lhh-rrmRb_U5Yg943qYS9CeV1Ea0k4-wmvUSNRyJwQIFxXiT9A6feSNs8XBDBZHpDtyrDxSqhjypGpzqRdTBfuIlkwQ43JoWZPI1JvyiyDsD1XwcQvhQACW3w-57I4es-F0GqhmeDLThKkZqJcxCDPDlIJkPFja2sOMZti1FhbIy6gp3Vu7A4je0tMVb_x-OKJDmZA5OdA3KQoWHE_x-AApCpKl0AtAfjUjAkSLowYu_sTT8Nk2fYDlj6e03YFs71wnCj9c_3BBXJxyvuar2iqU-J3--9GhOGOgdDXUXhHivml1Jw2dzJZHM6bvNmqUdfdKqeSNwUOad-qtztSbhqgmqb6_OVaXa3a-bDqupbytrGjw3fGAg0RB4NWq3zGnDL829RNUm1-QY-flikFcuM-zziM87tX4JUh7j4WpPA2exNQugWf8_L9g2vdhNWj-tCsmio-QvM3Qoye7ccNxEvZ1l4CAtiWpQztIcPQk4UCTpMj7qhH4wB-Ae6exCxFqgwaDszEif25K8jKfcKZJcDzLdN9WqDYuhcUU8IAuvK0pW4tyCIkbtMjDBhaVzL7dHEEh5S3t7G2DRzkGF_xII7L_WVB2t7nQlszYhavdA-igXfhytuKqBfyphKw_OMEcqsycV5odqnmeZzZC41LIX7GT7ltHeH-AiCOiBFEfI2F4y1oI0jqrGPv6CKisjDpHj4tc3XCkLQzEN-qEh7y-2Z53Of4CSV-iHJ3vSqyxl8VWfWKAbia0_VeJfnWSeoXTHUIUnR_88ZyROXiaaP5B9no6HO-A7EDjtn3phDJ6Yg7NbdsXPWUJtmG0ODLBOMqude5Y1VFS1_LBB36QteX1CtHJb4FBSz6uNWFTPiVZjdidAjb5mmWFHfpIV8A4qqT6oXNanw5Q3gvhBQ5sVCAZYErsdnHsSQJVNnui-_Q_7lGLfaaoiHhh",
  "id": "rs_07f1926e658af0d6016ab454a8aeb087d0b98a3a1423f9ef4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.4,\"right_z\":0.24,\"right_yaw\":1.15},\"note\":\"The arm stopped short at y≈0.366 and x≈0.325, leaving the pink bowl still slightly right of the white stack while remaining well above it. I’m lowering the free-space target slightly and increasing x so the IK can reach the final y boundary and center the bowl.\"}",
  "call_id": "call_XOJllNAKXpzqklwYT2dp8w66",
  "id": "fc_07f1926e658af0d6016ab454aaa5cc87d0b0a96913a59e06bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XOJllNAKXpzqklwYT2dp8w66",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8028, 2.4367, 2.8391, -1.5921, -0.0078, -0.535, 0.0495]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.354 right_y=0.3737 right_z=0.2054 right_yaw=1.1609 right_pitch=-0.6465 right_roll=-0.2275 right_gripper=0.0495\nstate[joint_eff]: [-0.2393, -3.5624, 6.5299, 1.199, -0.1197, -0.0611, -0.0122, -0.2667, -12.6838, 8.1709, 1.2479, -0.1001, -0.0024, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47800f4f9b6bb33dc58ae563c11dfecc9b5f262f95295e312d62063d6a24ed22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33edc231b492fb974aa621f0fa833292fbf8b0bd36e8cca8c542313aca1769ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c18756021c9cc424bb7239d9a679ef5a374773417be64e34719f876acd783d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8097, 2.1529, 2.5542, -1.4883, 0.1734, -0.2111, 0.0432]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.351 right_y=0.3295 right_z=0.2675 right_yaw=0.7669 right_pitch=-0.5248 right_roll=-0.284 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -3.4256, 6.7487, 1.2234, -0.0904, -0.0366, -0.0122, 0.0889, -11.3709, 6.7487, 1.2527, -0.022, 0.0122, 0.6471]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.8356, 2.2761, 2.7068, -1.5829, -0.0051, -0.5293, 0.0469]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3246 right_y=0.3657 right_z=0.2445 right_yaw=1.1779 right_pitch=-0.6115 right_roll=-0.2436 right_gripper=0.0469\nstate[joint_eff]: [-0.2667, -3.5624, 6.5436, 1.2137, -0.1392, -0.0611, -0.0122, 0.3077, -9.5248, 7.3368, 1.1746, 0.0806, 0.2125, 0.5788]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8028, 2.4367, 2.8391, -1.5921, -0.0078, -0.535, 0.0495]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.354 right_y=0.3737 right_z=0.2054 right_yaw=1.1609 right_pitch=-0.6465 right_roll=-0.2275 right_gripper=0.0495\nstate[joint_eff]: [-0.2393, -3.5624, 6.5299, 1.199, -0.1197, -0.0611, -0.0122, -0.2667, -12.6838, 8.1709, 1.2479, -0.1001, -0.0024, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47800f4f9b6bb33dc58ae563c11dfecc9b5f262f95295e312d62063d6a24ed22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33edc231b492fb974aa621f0fa833292fbf8b0bd36e8cca8c542313aca1769ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c18756021c9cc424bb7239d9a679ef5a374773417be64e34719f876acd783d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07f1926e658af0d6016ab454ad3c3487d0b6a1b91dbb4110e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"Using the measured rim offset and actual pose, the pink bowl center is now estimated within about 2 cm of the white stack center; the overhead view also shows near overlap beneath the arm. I’m lowering slowly to test for seating, expecting contact before the commanded height.\"}",
  "call_id": "call_Y71IUGWwyF3iPOGsMS84yEjs",
  "id": "fc_07f1926e658af0d6016ab454af96bc87d0aa693942b96dd019",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y71IUGWwyF3iPOGsMS84yEjs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.8867, -0.1654, -0.128, 0.9988, 0.8028, 2.4538, 2.8559, -1.5929, -0.0082, -0.5423, 0.0523]\nstate[eef_state]: left_x=0.295 left_y=-0.0029 left_z=0.1686 left_yaw=0.0952 left_pitch=-0.444 left_roll=0.0862 left_gripper=0.9988 right_x=0.3558 right_y=0.3757 right_z=0.2017 right_yaw=1.1664 right_pitch=-0.6483 right_roll=-0.2298 right_gripper=0.0523\nstate[joint_eff]: [-0.0205, -3.9316, 6.6256, 1.1648, -0.149, -0.0366, -0.0122, -0.3624, -13.6547, 7.3368, 1.16, -0.0904, 0.0269, 0.2759]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95530c18a52475f5bb7f5a552f27ed5469d82a4502eb4eb09a7e692406f0e190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1908d0885f7c389343c3f2f62575454a3e84de19533250bce55c54d6fd431ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b3a271c871673e12b837fe1a31a454772bd7136cad7b24b437a0521640b534f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.7559, 2.0777, 2.3913, -1.4754, -0.0193, -0.5797, 0.0447]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3305 right_y=0.3211 right_z=0.2492 right_yaw=1.1474 right_pitch=-0.6224 right_roll=-0.2481 right_gripper=0.0447\nstate[joint_eff]: [-0.0068, -3.3983, 6.5026, 1.1795, -0.1392, -0.0171, -0.0122, -0.335, -14.7897, 6.2974, 1.2527, -0.2808, -0.0855, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.8028, 2.4367, 2.8391, -1.5921, -0.0078, -0.535, 0.0495]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0945 left_pitch=-0.438 left_roll=0.0848 left_gripper=0.9988 right_x=0.354 right_y=0.3737 right_z=0.2054 right_yaw=1.1609 right_pitch=-0.6465 right_roll=-0.2275 right_gripper=0.0495\nstate[joint_eff]: [-0.2393, -3.5624, 6.5299, 1.199, -0.1197, -0.0611, -0.0122, -0.2667, -12.6838, 8.1709, 1.2479, -0.1001, -0.0024, 0.2711]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.8867, -0.1654, -0.128, 0.9988, 0.8028, 2.4538, 2.8559, -1.5929, -0.0082, -0.5423, 0.0523]\nstate[eef_state]: left_x=0.295 left_y=-0.0029 left_z=0.1686 left_yaw=0.0952 left_pitch=-0.444 left_roll=0.0862 left_gripper=0.9988 right_x=0.3558 right_y=0.3757 right_z=0.2017 right_yaw=1.1664 right_pitch=-0.6483 right_roll=-0.2298 right_gripper=0.0523\nstate[joint_eff]: [-0.0205, -3.9316, 6.6256, 1.1648, -0.149, -0.0366, -0.0122, -0.3624, -13.6547, 7.3368, 1.16, -0.0904, 0.0269, 0.2759]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95530c18a52475f5bb7f5a552f27ed5469d82a4502eb4eb09a7e692406f0e190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1908d0885f7c389343c3f2f62575454a3e84de19533250bce55c54d6fd431ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b3a271c871673e12b837fe1a31a454772bd7136cad7b24b437a0521640b534f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFS3U7MKLwnukIfcWdJXjuQjkPkmGF_D_dqLkQJUenDG9maRpxMcgWU2dp5M38Yi8t0P5k6Xca1tQ5P9B8dwG_fGi5J2MK-OvfNwfol0VirjOVM2-7Yi3QG2Dkpz9FLGIBDzdrBTY4WW08fLS6fDbQVfz7WBOD6l3g719vRaB2wFx86SxP7WeHkqKvpIydsYjdR__qnGKrSSsch09Ibhck3ErGfNpOEkQbA4sygw5SrSrqfnwEtWbUV6LJm9-Ya9sCO4V_F5U3k7FIYGYu16AUrEpL1Y3pz6a8sGJke_BnsXNB0VtaNb1Q4k3SwmNUrwFGGTCVgOlrr1rJGHG1-xx4EvXbRBJRUHtAFqATtrwQjRPFAlOrPeGk1gpafoFv2rXwMwjW4PjuIrFoZoh2R531WavrbahHAgIEd5CxzlKelEMJ9F3pY81v8FAWAx8ZqTLMXdkq6ZD1NlHJVvwe-Q_kwF-3taNZopO7Cf32Q6TE_YC4bcUM_rCmuhwxqfXjwZG5F8B3IHQM0b8TfTIh8uhk7aZ0mM-BicHI6UzBa2eh5OxjbBC6VEXgDJ6KJOKO34JjM5D24VELlkTtPEqB_s2inuXhoEIByh3A2jCgOA6XHITdMMqpXm216sbBCW2ybzER989ooo_0XDHonniOVApocIWvvu9QSIOBwpXCSzOr28oJrDDCesNytfjyh_sIyEwKZxCk5IVOWEE3_YJ1Yk8YV9iExnMec9PwsJPTwteXC0ZOLOSoHh4QrF1OCk279t8T9Fzdlq8KKrIdUSc0uUTPsRo7SbPTxna5ZQIR3Re1963tHw09kD6uL-5krCBfaU-hPhcZvv03VYCW1mO7ky1oaaQyeHO05f4kdj8wkNuDbSLUHXqMLVockMQ2R2UHJ38k46kbbfWA_Gz45Y4C9DN3mZPnIfKpEILMTQ_uCMI7Lm2-ILUl7u4F7BtnWp8d8H2K1l6dTqMhn-g9IAf2BgxfptD_LHJJEf3r05DUdS8jEuYFTWe1NEwQqGdGejAyQmtU_kFrOzeI833C72fxRDvj9cK7KIy81CgJPcDcAQIZ0LXIBnslinFYhTqWkU7pluWAKjor_NIyuy9iX5XsLh3-0zZzH3yTvWQD8SL7QHHxSJoAMo5BjWNlaviil0yqGAvrgfCBA_sPZtas_H4Wt5rXK7h_QZhNCxIdBsINPpKy-OKZSjpPJT7gIVih8UdGVgdWe1mlI-VQJ167rJHv2LQSudMFqQaMScEYF_l70sp4vidJYZQIVqUszHt_F4YAyNGlQn1BkxGhgj1sltBkTZ2ZlvVhqeabtxYG94myCTfjNLx5kNbvZuPOlhJn8k3DGd-cDCZxjfih5kpyqPsCdqcI0YZE7D305nt_CF4609O-96ro0g28Bk8ZP0CpYWDNuWdVX0txiShtT_XWsD7P6ZMmBa-Xy41RIdQj0_tvqPkB4DMUhKYLz7nhcB7V4seDrT5EHtcHkJ5EJn1HfinAR7HJ8tzdlqJy_HdcfsD3XeoKxScOrObqs88TTyRtI7RMrSOBVJO6RF0k8NJAKxpVKp1L8eDlyNQkdVswHevMFwZEFJV7Rx5zLxDB0qKKdgxh3uEMZ7XEipYT9IWQqCV8oIMayAdLCILBsNST2etUXS6_Ok45QdnEhMifUDpGQe_yxY2hefPZtvfrdRjvfeJG81pYCREcmAbgH2ojaM_i12WamxX8V2eMTfMwI67nbkIT5-8J3z9vxtGR3QIfVVYzw8A-KUsODAokjKhgQo9-w405KVQD2pj8c3Je5UNbN5eykiqGTELmC5mMPGoi45zbtRElr0r1yCMQq8mEgglC8_yKgK_Sn7VIHnoHdppaXSIugal-iiwtlOQ7DbRcUfDokEVgd1mmqWItuvxVNnzzBc9_vupPTfu59mGYi60r3LfR5O3H8X-BCba4dwV4WJUVsHaSPOD1Wu-u5Chz2OPIZY2kA8lgErU-GofX_NPdEqO4TL_nCIQsswSoAFrOzb0TjV6urLYph53d8T4pyu0VU-zcMgd-WNVBk5ubdbLW2WwZxZVweYq6f6lInynlz7W72jS_gIPRiwZ2mSgJk2KKPbiiKA7jDjvb_pXvoXSAqe4SWGQf2NFsNkpzrZJENnmR8U7y5AS2s5ikYQThjj2_54TfKVrbEyEMk5_gD1mjdn4HmDUXHeLcgeMnU1NKBCCGkJALhsESjXcCCHI5t8SBgUb8dP7vC4Jf7zKYvQUr1M20YDDvTGoMTQfwAldD7BXIrfsggNuAz1M8_61u_F8R-0P-V3nzSgBJIO18QTR_YPxQE7z1bbFV0FtBKgIeiR66xVASdw4PAzlOJZOEk-ehhxZy3fOrUOgRzMhpS4jCQib4i7SyJD9ViF2W1r4bZK5peX-5HOHLw5JHyqBmzctkvMaalBkBFyMTi3GDJ6cNN_pXHfjvjov7-1pH9UCasyEogBeKPsAKMarn7tuLcRuXa9J0gtdM1eFnLCWHTEJ4vmeF0Kb8JN_a5E28IL7HrGYSNL1-OihFsqiFLpjdcMuLvg4EaYBGkf0Whvp-9JModE6hMN-39-Oablag7nTUzgrmHHYeNxbCPigKONBbAUOrgj8u1x4MJ4Q-Tix9NSiHpdibLbrUYIoUjrpkZl93w2HJjC0R3QThS8Ae02TcAwK26LfZd8QBKt8T2QoToMJZiLc5zNUm6hd_mqPCiD3vOKH2rZrVkGL2tVCycYhXFCCbhLYVdnSw73xVt-w-7MCuYngaCrf5qxo9xb_lkZsglqX193wI27v9gECOpotCgMk03rmE9fQ9qU_3nxwwEgybZPeVHS4ad9aY1NPtrMD2jsDZevJp1fd6j6MGEvT9fzYebctYcistaHAWBRwK50awEoV1IPF329fCwGoRZNPOfTrNEQhE7QFc6E2BuPavLTaV4wetTVyUumoogkXmDgS43kzn-k23unXUCeEyhskgUEaK1AHNzXBMwR3Vsm7uyRNrEw5Z4-4vwRnzA7ROhTVmCcSCi5TE2VpLL013QxBaVtSoO3VCWljc_nBLlvOA1ofmM6UFGJ3e4TIZalQbyHYtMfUnjkwrVTVo9iW3B18KJ5rj_K6IVXGooLqPoFPx0apvOww13qv2nD3E8PEMMKDDWQaLBINDZtDIOBG0iA5QGR9M867u-PRUzj47wiG1O5U4w7lrHw3z8=",
  "id": "rs_07f1926e658af0d6016ab454b26bb487d0914acf4c7832856f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.32,\"right_z\":0.28,\"right_yaw\":1.17},\"note\":\"The descent stopped immediately because the bowls touched rim-to-rim, and the wrist view shows the pink bowl still contacting the right side of the white stack rather than nesting. I’m lifting and backing away again; then I’ll rotate the offset to a full 90° so the bowl center can reach farther toward +y.\"}",
  "call_id": "call_QbQk5PhUcNLfZf8Cm3fupJpy",
  "id": "fc_07f1926e658af0d6016ab454b6882087d09b1f0a922786074f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QbQk5PhUcNLfZf8Cm3fupJpy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.7742, 2.3722, 2.7125, -1.5757, -0.0372, -0.5793, 0.0542]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1687 left_yaw=0.0951 left_pitch=-0.4436 left_roll=0.0862 left_gripper=0.9988 right_x=0.3516 right_y=0.358 right_z=0.2013 right_yaw=1.2062 right_pitch=-0.6832 right_roll=-0.1915 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -3.453, 6.5162, 1.2186, -0.1148, -0.0366, -0.0122, -3.5897, -19.5214, 7.5282, 1.4921, -0.0757, -0.0317, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eba598b388eeb0afea2c851a8635d62436d1116b3fee98d26c8c5b98bb251d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7493fc0413410ce5e48d71d4142eef0036e1d1c6f363e62e05647ef0f79fa29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d892059b460f95586b4422e28ccf8617d47ac39ab305b5cc9bbcf0370d71c45",
      "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 149 changed as sent

message 157 changed as sent

message 161 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1652, 1.0233, -0.8864, -0.1654, -0.1276, 0.9988, 0.8356, 2.2761, 2.7068, -1.5829, -0.0051, -0.5293, 0.0469]\nstate[eef_state]: left_x=0.2948 left_y=-0.0029 left_z=0.1702 left_yaw=0.0943 left_pitch=-0.438 left_roll=0.085 left_gripper=0.9988 right_x=0.3246 right_y=0.3657 right_z=0.2445 right_yaw=1.1779 right_pitch=-0.6115 right_roll=-0.2436 right_gripper=0.0469\nstate[joint_eff]: [-0.2667, -3.5624, 6.5436, 1.2137, -0.1392, -0.0611, -0.0122, 0.3077, -9.5248, 7.3368, 1.1746, 0.0806, 0.2125, 0.5788]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.8867, -0.1654, -0.128, 0.9988, 0.8028, 2.4538, 2.8559, -1.5929, -0.0082, -0.5423, 0.0523]\nstate[eef_state]: left_x=0.295 left_y=-0.0029 left_z=0.1686 left_yaw=0.0952 left_pitch=-0.444 left_roll=0.0862 left_gripper=0.9988 right_x=0.3558 right_y=0.3757 right_z=0.2017 right_yaw=1.1664 right_pitch=-0.6483 right_roll=-0.2298 right_gripper=0.0523\nstate[joint_eff]: [-0.0205, -3.9316, 6.6256, 1.1648, -0.149, -0.0366, -0.0122, -0.3624, -13.6547, 7.3368, 1.16, -0.0904, 0.0269, 0.2759]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.8864, -0.1654, -0.128, 0.9988, 0.7742, 2.3722, 2.7125, -1.5757, -0.0372, -0.5793, 0.0542]\nstate[eef_state]: left_x=0.2951 left_y=-0.0029 left_z=0.1687 left_yaw=0.0951 left_pitch=-0.4436 left_roll=0.0862 left_gripper=0.9988 right_x=0.3516 right_y=0.358 right_z=0.2013 right_yaw=1.2062 right_pitch=-0.6832 right_roll=-0.1915 right_gripper=0.0542\nstate[joint_eff]: [-0.1299, -3.453, 6.5162, 1.2186, -0.1148, -0.0366, -0.0122, -3.5897, -19.5214, 7.5282, 1.4921, -0.0757, -0.0317, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5eba598b388eeb0afea2c851a8635d62436d1116b3fee98d26c8c5b98bb251d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7493fc0413410ce5e48d71d4142eef0036e1d1c6f363e62e05647ef0f79fa29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d892059b460f95586b4422e28ccf8617d47ac39ab305b5cc9bbcf0370d71c45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFS7lLjKEpFiaWGt_6m-_UMqi-LWXS0C-bQ8t6q9x8jMJKpb8fp7i5ikVhGHSLS6ByARjVcYGV0BPJshV0sH61TcQ1rpwuZ9r3tX5zYy2WdM25gwZD01eOIYCnFnzR_4gCwgsM2B0bW9YgPX4eK_5Wc8Ta5Kv6ygP67ylbGwrwFSMYwk1ISwg-BR8RRKFMu-9q1u1vBGUHVcNvittNRjwM5iZAmHgJ1ADqUHeLCFCmhwR1GAsi5sYo06zDAv-IAKL2yH_oQwe4GS8-RmPDmpEYZCKNSe9gOciBgYRNqsSW-VucMEKQhI_XuTRLxznxprHzDeIkqK3AIaNRY_9lh6fFeu5CyaGDnDLTNrxLgyEGjXaPDlIBndUz73t7fAURoboT-yc2uoZXkEkD-wgHFt83333ssaJ0oK5EApRjUzCt8Fm_FTcEChYPzA_Wb2SD88lDPAyFeHIa1iWojo28fakZo_hmlkXsSh5fQeA3Yy4mqtMxLiZipzpt2kiTG-jfZgnfhh41Bk41RcV8oFKE2eAOAW6AaPCBHxGCdARMTN3-IjJ6gC2QGozJX51EXAHEi3Ct_LuiCaI1REsdXWescy8KMEigiqn5skAh003BeE6jy1xl13Gfj1iEatoltqHF7C10eF6T0HtzEQVVsK78BUgBB4hbrKsNSV_7YLiJmJPpeJ_Fkn1rqQUSlnM96ldfISr--JuDWKtWAG7i1I4-iTFHfUmwV6IQWDieJGIv1d4BsBLarQbL3kVrh6NKnouszLxyZzQq8RY3BeWoD0leO9cGtyIthSTnhuuIP_77u3iGxVkV7nQKWgPRfRydKN5X4uvgNHB-uFRo9c4Ng_YfcFXbPnQykfsIuFqhAPp4W4pa8igaRpWA9ODx4CxyNYgdBMZVgrXQl4VEtGPAnalO-LECUhVu5s6ajVbquRxahxP-muWDL-t1xP6C6RjoA8yr1oDTZ8w8h1NRLSlIkmmn81jRTOogFUnN0lnLGAp1OxTTbNaj6yo5px5nG_HSKs5FnQU_r5wmiQl0jUwbaKyDCbJ_5_7gLZEsduCHb6y1Mgk3UizE7e-hBIGpQxIA2uLBHf8Ui50Ti41VktJURbgvY3VWTA44dKO6uTakFEVxiiuna1mL5LAPiUei6a15aapv0wQ29-FQr4_k7gifEbR5t__Qom4hawUV9hTYNGwNNCDlge2FBi9_SkeDuyRc5HF5DCblF34R7Ru210i-T06N7OtE037ifFDCkHQvGJDl4f28cb3BeX40hXafGSRkuUJJeM21cj8Vv8kw1hgVg38TZGQcuZNA7Day5XCNcm8NG_ja4RU4QM4bJ1mN1N8UwLzCNC0-XYyEEel-wvtPzXs9g-dxmNDeLKdyP_djwv4IhUFZly0UuabRQuy07LgBWRCyHNzdl4cKy9YaAaZGjvqBNkBqulPrs7QRSS7WV6iAqR9YKFk_ezIdNvV_bViYaXlfIRwtKLzCY9glK3zm69wmhX_cQN6oEG5gtvgHimV8-mHQdt9OFLJ6pExy0Z1MClDqK9qEW2R4MCijhCQY0PgBlLMXXaEyF4tLR12WWJ7Vc5SJUcgUde7XhPuIpfLU5bNXYS_Yo6cSvNl-n0Z6SaaP2thwDosV6PjLoNPQ42FKBhSVwSyq4=",
  "id": "rs_07f1926e658af0d6016ab454b9505887d098049d6f75fbfa49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.38},\"note\":\"The combined retreat remained blocked at essentially the contact pose, with high shoulder effort showing the bowls are still wedged rim-to-rim. I’m commanding a pure vertical lift first to disengage them before any lateral motion.\"}",
  "call_id": "call_GfijCltMal6Xl6Vo2WU0i53O",
  "id": "fc_07f1926e658af0d6016ab454ba37a887d09140213c6e0e10f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GfijCltMal6Xl6Vo2WU0i53O",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1207, 1.1709, 1.0233, -0.886, -0.1654, -0.128, 0.9988, 0.7639, 2.1181, 2.5206, -1.5887, -0.0681, -0.59, 0.0565]\nstate[eef_state]: left_x=0.2952 left_y=-0.0029 left_z=0.1687 left_yaw=0.0951 left_pitch=-0.4432 left_roll=0.0861 left_gripper=0.9988 right_x=0.3154 right_y=0.3237 right_z=0.2604 right_yaw=1.2178 right_pitch=-0.6274 right_roll=-0.1898 right_gripper=0.0565\nstate[joint_eff]: [-0.1983, -3.6034, 6.5573, 1.2625, -0.1294, -0.0513, -0.0122, 0.0479, -13.9556, 5.4906, 1.2088, -0.1148, 0.1783, 0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be130e3adfb80a4a268b804925064069ec7a8db146fa6f3082fe2b2a6c7f27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e9c412fc6411517fc44a7defe18e8ee209f44dc4496f4794a8e78407684c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270890919cc23747e58ef41cd3670154dd782f878afe68f3eb262c60ff4f807c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}