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"
}

{
  "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]: [-0.02, 0.7959, 0.6041, -0.382, -0.0193, -0.0326, 0.9996, -0.0181, 0.7929, 0.6014, -0.3801, -0.0147, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0008 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.7299, 10.0718, 1.8486, -0.0171, 0.1636, -0.0562, -0.8137, -1.4564, 10.3316, 1.8974, -0.1001, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523ec0ec8978c501a45ef69fe27b3605b745192168a9524462cf4b4e6e402c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911177186141345393891de16baf0d3ecbad57925146a642031b0e20b5d7747e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f94ade9e65ce902e797c8e68638b09a09dd655fc9434f798613c43bcb2e3c21",
      "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": "gAAAAABqtEqcBuNbPfO4jHMOvBs0AwewNoN84mgzsIWrUfdkBO-67HeQ0i5mc8tzq0ghR7MWQmxV5yKmidivK_2vC-9EZH5JT7GTigWP-1_82tawZ4iII-zh1XnFDrzIfHzMzkZa6pEUhBlYm69OkIb2XrcEdd-bjL3_Ey9Dk_F32VjosMeiVg7e560YYdZYEZmgI2QJgCZjzmsfWa3dBySnHYzgXW-WZ504mysTh_9Pt27Dp2S69-BFQneI4CmLtYDX3dGvUiFde8BxqopEgQtWQVIhV5B-f8HVUM0zCRgoGOD9rjYYTmx2URPzdRbwaAM8wueZjbxrRe88zakZRQC0LxZ783ZNZmMkioA_opwYhmDinZiGGY7syQ9BfIRraXPhb0K8QdXVk8cKXDi9Hva7Jo2vjK6f04eH3MbR90CwDms-OWYamkzIz0K1urT1znfH1jpEWpr3jsAmSqUzKxGgbnlde00IX2b5n0bfH-x417MvImko76F5DjDTu8zoT2kVaTCrhEl_urpyz1b-lmXXqrYYe8yl6BNPXp9GHqw7vOsjxfJPUBaWL0QVkMV3w8BWJY_ZRelB8gMOxCfLLiAyEg0ypjwJEqCSGKY9iyCRgYev_idlPAzMU47GS9FUOD6DSwdl2iM5GX9WwTwcJZ5KONd6pH_eT70kZx0zDpU9qmUMxaP9JVno3y4wOPFDmdIs0NJ1G3mN1cD955O8TnLu29wkbtm5rYlQLnbxRorKkfMkpjE2uwyesZuiH86gzJkS9KA6wCYFBsUiJ66_c5g-BThvwYKNrgf7cCt4YtpPUnpjAkIpkHgWZGQxWrSBalvbYYNBcO-_iUSvXfv_CE9YpkDQVCMuBPlZTYG42yM6eP61xxjwsyy0FszYPoX9Le-XqSRQGBXbGDCV2o6UTN47OuLaD2pWKerszhlVAKJPzs2a5r1B_id5WaxQVmeYLbrB8paLgcSXsX1gj4i0p3p8nZd0QDj2ukfnSWaa5cg-BV731seBtq7UcDykoiHRSdoLt5wMIm7L7RSp8UYjnigIkQAyinbj_08p7HTImebx5eHmp8_v9lC7Ds-OZ-JHNILukOfDjg4HcCbIwAqJc_Z5EWQhme_fgY5EXi0gUtebJjvvNJxzPFauRC95AEfb7LLWb7LEX_DCLzVyQLxYa5hfvEVI0Hb5NlgT-cTEjkY80PQbwAs1x3sAL8ITcQ-hBRCR7gmiyjJG_hb-MTNtmSwDpT1MeQ9c8q9MPzp2lOYuO-MZiNKAAu0ipFnP8ffBaKsxcL-BI-jaX82loomMN9l0I2FCV13umWaDD__DbAVAtYmiURsHNy1YkcSgOwi3riXaI3jxCSOeVBLqK8AQM_sIX4I0ZK_ZqIdSALsDvYO7qa9-r7IQTw8wsWqJVUa4mzvvVR6ysOrxB7bnGzPGF0iQ04EZQ8BWGemutNzSbV3FBfV7obOksXTtWIMPGnDY9L4Yn1c6lDMKxD7rOsW9OR5gsQ8BLQT7A-lUmSYXXaIBmiPhZvNT0RfEMZ9v47wHQbhFyYeoUERgjXH56cHSKQYU8G3GOJQtIhP6V_9Jw5b3qq5m1xzM2iq9FSVmcGo8e5MUVzUYtzoYcQcSr3hlXyh5PzKQhAriP6A5NtjFORI_HbGG3DxMnia0fNu0uE7ovImhHK-kmwEBwqzvddMGpXEQvcmNFwouXhZuWy-XYWV0TMVb1lH2hfe2CReybImMYNHBqx3-PsPmybWwcDkLJt4tfWUrmFweggIiQbmkPKYsbagfildGWlBnN1cJha8XpKyVG3loQyN0HrVGygrjjSFXtYHC6U5qL9oAzSuHdd3GVB459gxqSccqn0KDEws5jS1jGuKRHXIEekaxT5YcZTYu_XtsM3kUzxplFlj0fQw275Z_EtWpZD4vt1owVA3zpZwrEPInsuiABkYbRhZ3jxoz6XFWhggrIINZ_Nwn82Ec6qkVa5eALDuXiZIN6Xcu5BLFZ1dzfclSi3WJUT74L8NcwSyW23IUEKDFkopjgMw4E5h2AGm3q2hZsHibrKzdryMrDjq2ooZ3r1F5aeW0DCvj8nhbLbgefMNyY2aTsV3W_FdfAuGcZTLwbucT1ZJNpe2QlK-XbEzhU0PuvddPYqBjZoDjHmKwRbNAIFIQzd9rGYd9w0BPtVj6K0V0Dbj-oKjcSiAkHr9rKEfa0S2O_f67YEVJutei66g0FFPn1ihHgRhC2s86aS4XS0fmVbYW4Tep3PYShWzuoaiN3REPsXC6TVktTVsy4AA06WhB_Da05bKhSsMpPwoXU7_5obALC7FfZdspwZOzcyTJyE5QicsSBI5OPS1VyMEAOPacjQigGlQeSSKb438YPKyNmrA-u4c3IPxAVACslddGE19qXgjBeQAe5udbZsfFp-tlcXRjAU0lre-yCYEIh4qQsZMpOQ1e-6ARa8h9fulXvXBhx-vsRU-uOSh71pGFe_eRO4cwVvQpEHfRfKVc2uvm4trlEur7ROn9Bryz79b5Fwog2oPVf24UHgC5bGC7ZJerA0HZAQCHIcXwLbnjkAwk7JH7M7nMOw9qpVoLoGWFckhp8XjwMPxlFU_P3NrlSbcpICnYLU2yp_KRwIVVth6-oDePBv2YMCAvGtLihvrd1qw4md3zO6Qgb7nqd-0X-J6Bm6PZs58cKZWDMXAFNm3hhw0pZNxjAmO7zYdij6Oj1qHYGzW5Niz-RB2PLbG5nM2fFj2Y-iWxTMovYfa3KcYlsE2cq7jre0dxH6UDpGKc7Fhqxu1V8grvNFWBw7fmXzZzIE-fnA4SDxJF5TszEVcgkwiqTJIMmg4yaHFlSLeXqu2pmEtcVUF1wXx6ZnebzkJdSjTLfsas4_V_Bf-4BHfMCMIuW8J6E1_uFfHP7pk48b_RpAHWZeIsFubZE9-O9tD8MLdgUGbq6QL9wEUo_UxsDTIcgBpgA-5jd4WF9CbdOKfNFjSrNNKPju5OneUQNNOg0N1Gf5c6sWZPxd9f415Z3OLwQ7HfQ4Sm_eQh3C65D2Nd0fLRQ-yTR4MzeMoyMyVgecZ2E51-llPtSYmaXGh4xliQ-oXLIetgBKwEqSD7ldESnKL_FQO7bwoiCk1-ZIDidZH1vGtUi2YZlTiN_Zu-KtDvy5BMlPR5X8Ha0v9nLDpf-JKvfQ2q-UKZZjdV7LxXnyN_0BlVCd70vHk0UvNDCmhNK5LVr1rWcaiyeiNrHkZcDcxyhlr4LGQfxDb9Cu3SDurusFyxd0ZrI9Na6DDXLAidVMcuNy8Wn70ctVIOp5_XODacnJCec9yazyVO-LRd_EjMtwWlaBkLInWMDUSnpnrUAmxT1OKymhlbJ1PIu6pEqdArJ0X1Yy2mr6w1faPDM3YId66vjojE7as=",
  "id": "rs_0f95f99d2e8614a1016ab44a970b5487d08c2f58ecb9957fd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three upright bowls are arranged left, centre, and right; the centre bowl is the best common stacking location. I’m moving the left gripper above the left bowl while keeping the right arm parked.\"}",
  "call_id": "call_ssqBiKEy021eR1mGo7r53Rp9",
  "id": "fc_0f95f99d2e8614a1016ab44a9b583487d0938700f58aec99b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ssqBiKEy021eR1mGo7r53Rp9",
  "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]: [-0.6254, 1.5352, 0.9588, -0.1516, -0.498, -0.3939, 0.9996, -0.02, 0.7967, 0.6018, -0.3927, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3896 left_y=-0.1728 left_z=0.1429 left_yaw=-0.0145 left_pitch=-0.0508 left_roll=0.0233 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1756 right_yaw=-0.002 right_pitch=-0.016 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -7.1316, 9.1145, 1.7167, -0.3932, -0.0611, -0.0562, 0.1436, -1.6615, 7.3778, 1.7656, 0.0024, -0.0415, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e17c504f8baffe3a648f9cf4bb32dd4e1788cc071823022b45c3dc3ca563339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc077cc7e9711730e896acb290b4d2eb8c435448f86b21068f0ecb407aab003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2135f4f0e2ab517efa9207e69e6f89c46dd5ececc0b58daeecc070307f63b15e",
      "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]: [-0.02, 0.7959, 0.6041, -0.382, -0.0193, -0.0326, 0.9996, -0.0181, 0.7929, 0.6014, -0.3801, -0.0147, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0008 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.7299, 10.0718, 1.8486, -0.0171, 0.1636, -0.0562, -0.8137, -1.4564, 10.3316, 1.8974, -0.1001, 0.1685, -0.0952]",
      "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]: [-0.6254, 1.5352, 0.9588, -0.1516, -0.498, -0.3939, 0.9996, -0.02, 0.7967, 0.6018, -0.3927, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3896 left_y=-0.1728 left_z=0.1429 left_yaw=-0.0145 left_pitch=-0.0508 left_roll=0.0233 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1756 right_yaw=-0.002 right_pitch=-0.016 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -7.1316, 9.1145, 1.7167, -0.3932, -0.0611, -0.0562, 0.1436, -1.6615, 7.3778, 1.7656, 0.0024, -0.0415, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e17c504f8baffe3a648f9cf4bb32dd4e1788cc071823022b45c3dc3ca563339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc077cc7e9711730e896acb290b4d2eb8c435448f86b21068f0ecb407aab003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2135f4f0e2ab517efa9207e69e6f89c46dd5ececc0b58daeecc070307f63b15e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqjzM7zjRB0CgebsehMexxi_4AgNePGMiSR2WLZypsKi6JggC2En5g-l8MYVecF5DHUN5fQN62alF3s6M_ItfoOL5RPVJQb5ABEdJ5VeqUNhA6p9F7BI4-q-hEqnloRlxAbrYUCyBm7Nyx5qzS1gnoHoQb9-3jvdEi1Lr9y1Yw_vnVu2ecFmbbJyeR7ZExBxAyOshOkTp_vO8kE_YZJ1hK_Pn7wJjpzrLce0F3rwwgsVmZO3LhdeByjJwnlwDqsgYiEJpB18B7n_Xi_d9f80jmxom5tlUcr0O2i8iMbZaJpBYtth1d3CxIQQotBSzPdUPPa2b-3wskK670VaGG5e-7m6YqUIkaEGb0vsBsvSwrcFsZEo7c7zI4NdtJtJzugS2Y0c8fFMjt_v9KWD9YGHlrH02bz7N-g6uXd_CovVkd0WmWxOSr18d4l5fGwecz4-tlJH9azIWWbrv6ybz4EbfICyt4RRKQ0A6sS7nqU2QHwouzZU8d2SallWOR-fgdPZ2WBxHSJRPu2i_Ca0sn9tTNwTGQTgaPmhhYJGk8C3DIvLIjfR9kSVkBZHzqE98cuacqKmZxh_Vz63JpKdRc2idvpOqdPUjsW8Ie-DpywUObOw5nbYyXc3Tpd6acnGG_Wlh0d0AEeM2au-S2sVU0niGN9Z8OvGPJxykMZbMusHC77OnKVd6rCwD8YTA1TnJAM4AVUI9WPaOLrVc03d8H9Wq5nQFLAhTmjgcV0bu7G8ENcxymlafW1IT4cO6eMXqjgO47fC4ExvZQppLiwbQlQSfylvu4pH4ppfaG39wh6rqYY91-kLWGFu2qe3UzAdCAif88dAIQFTF3NSWvCqsbpBXJgrjCrdZ77FDH07wf9uJd-wF4ZuHgkmC3swYDPZXCNPzbhtMfeqbqyzsfkEv6H9pghKqfGG1SsM5kqQgdiSd1hVKfwEMFpZzUCbaoXzB0DhpVEJXBS8s5NHlF0mIFyJcXLyo6hUmnunbn8JAC_L2md8LrnJtdMAIMaFLhQynry5TNGIwRsLpC93jJYG6vU2aqG-8gdkKnbevwcaANmpmZQzCyHw17ey6snOCcJWK83TrLfILTHoWFmjCsFpRUNlQF1jdlmPetvTcW2mSx-CTdy2rL8-Z8BLwD0zVz2T0whXY7x5ci_BuS0hS6z8ihq05eozUYG5UL6UPgac6W4PZuKIyL4suM0DyLP5Fe5fw28otSk7c-x38P0vxmKEeM4t4HnW1xp-EXhUKGqPOq4gEu8qGdkMt9Qhv3w2nLuSZuJy-fF5v6oa315DNy-7hWlqBrNIj18hPw4nsB9AJ8hZ1diX3p27cZ5UtpiGZ6is4XtN7mDuXzMfn34N4h4lOqdCXJsyc1QaifgTqeR75ewpfCMDxan4l8jZJvKew4fGfIIpgNCavKEowtK1pZGs8ICWikIhC2GuNsISIJEaC1UGbcVY7a1FofLWQyL4vSk2FcEYkn5bXs-JW28xxnsEs3OvGmc1f7uhi-rvqvzl4XZGuEZcqQHyVBl54I6Q3LoYoN7IsAimoKG42pQvmDiCD9AdcSA5Fyndx9xsIYYNcc4YcKr7oUSOpzX54bcbD2phnnMiHGFIFLopt8tgp3tQoSelYiJ6LoezpS55itxOcjVV13PtGETe9CDPAYF415HoiPQ04ahO7qqw11F-0pqegr-H6sHgrT01iACscT4ltRcu4PSn1b8pzJxccLQHh0Vp78OPVx1e3pKKD0wgY9vzKlPBy6zwDhE9dxdk3vBAVu4-2p3zhTVrXsbxz87tc_vHJwRTANLY71-e4Tb7PzOza0vjKX4H6EKGoCs3LT9QgBsHcfW-LBxVUM7RXcwWAMPcFUX_wiHNVxPj2Upe4BvUmAErhoGr9ryOFdnEDxeGv7571ZnWnpg1iLZ7cgXxuiX60_qiKeL3zRMhNs3TeW9Cb4aEzs4e80dgic0zLglgWnsX28m5jNayxWjGyd-WJdW-bxYxKVR6cEM0rrf4yXLlQOlh0xcsZxtna43jjOC3331bbtCM9Y9nQ9aN1kkxF45JoMuh5kAsTh1cckAHPKr5mNUWxRaGRnXtIcCjmgWjTnSgbxxTvi02Y6gIaSXY2iJrB3X44kDuJH9kZjDtDzE_uEX2P8L3toAnu5J86Allze6DD6Q7QGE41rRU6nvWP50O2s3fbJw-x7L71HTt6-qIjEx_pEez6N1FgZYtGd8-kWHdmK2Yz1Jd4Ds-uVKM7OIG_HCswFBXpm4RUSNluloGahMq0ibf9uzpEj3nOsfcF63bvPomMqyYcFS-qTmqL3xdinhZBMTbu98iFWMyILTXZlt2Kg1x9Z6dd9nfEAum9J76ANgYEvqLZQoYN27znpvMZOWF4sDZVY8pf0l-oUgDjQT4QN0gIN0458iLiQasu9gqKrao7ooMTKIwYEUNnpEoSoZM8VaJJ7iVwlm6_IXs9S3B8RuWRAZCZWy0PnANSmRdB2isaOSeHsueT_pyiCVd7H1nBJlQCR8WM0UXqNt4QxTR_GiwSajF027CFGV-cSlKf9G8ZYI65Aqj2pb5NHz5hyMPPP3-Y40h47IphnGFZfK1EI7Ed4Wyx97zWAjL4G5kqY9pmE=",
  "id": "rs_0f95f99d2e8614a1016ab44a9f10a887d0be04d6347df515a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12},\"note\":\"The left wrist view shows the left bowl about 5 cm to the gripper’s left, while its near rim is close to the fingertip row. I’m correcting only sideways to centre the bowl between the jaws before changing height.\"}",
  "call_id": "call_72edid371gwRaWQty7IEfQdX",
  "id": "fc_0f95f99d2e8614a1016ab44aa1f91887d0879d01367b9fe1fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_72edid371gwRaWQty7IEfQdX",
  "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]: [-0.4816, 1.4555, 0.8566, -0.1284, -0.4114, -0.3172, 0.9995, -0.02, 0.7979, 0.601, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1191 left_z=0.1316 left_yaw=0.0197 left_pitch=-0.082 left_roll=0.0355 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0179 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.6786, 6.6803, 1.7753, -0.0611, 0.1245, -0.0171, -0.1709, -1.0735, 7.0906, 1.7558, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c7d252f12c758d6f06e805ebf115c0b3ad43140ea7d4bf78fe110d002569ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cc206e7ccb72aa79366bebc038f705bd7fcc46e59491b2c081fe7009593065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9422e967924e815e76066301ff8b5d1534bc1ba72a11ee4dfe55bdc1743b00da",
      "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]: [-0.6254, 1.5352, 0.9588, -0.1516, -0.498, -0.3939, 0.9996, -0.02, 0.7967, 0.6018, -0.3927, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3896 left_y=-0.1728 left_z=0.1429 left_yaw=-0.0145 left_pitch=-0.0508 left_roll=0.0233 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1756 right_yaw=-0.002 right_pitch=-0.016 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -7.1316, 9.1145, 1.7167, -0.3932, -0.0611, -0.0562, 0.1436, -1.6615, 7.3778, 1.7656, 0.0024, -0.0415, -0.0952]",
      "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]: [-0.4816, 1.4555, 0.8566, -0.1284, -0.4114, -0.3172, 0.9995, -0.02, 0.7979, 0.601, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1191 left_z=0.1316 left_yaw=0.0197 left_pitch=-0.082 left_roll=0.0355 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0179 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.6786, 6.6803, 1.7753, -0.0611, 0.1245, -0.0171, -0.1709, -1.0735, 7.0906, 1.7558, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c7d252f12c758d6f06e805ebf115c0b3ad43140ea7d4bf78fe110d002569ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cc206e7ccb72aa79366bebc038f705bd7fcc46e59491b2c081fe7009593065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9422e967924e815e76066301ff8b5d1534bc1ba72a11ee4dfe55bdc1743b00da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f95f99d2e8614a1016ab44aa48be887d0b3b244e599de1398",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.1,\"left_z\":0.1},\"note\":\"The left bowl is nearly on the jaw column, with its rim already near the fingertip row; only about 2 cm of lateral correction remains. I’m centring it and making a partial descent so the next view can confirm rim alignment before grasping.\"}",
  "call_id": "call_kiFZo7JV90F85KGPAJpXaAj4",
  "id": "fc_0f95f99d2e8614a1016ab44aa9384c87d0a7fd819f73f9c611",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kiFZo7JV90F85KGPAJpXaAj4",
  "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]: [-0.4305, 1.4704, 0.7521, -0.0288, -0.3801, -0.2943, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0997 left_z=0.0997 left_yaw=0.0342 left_pitch=-0.1099 left_roll=0.0441 left_gripper=0.9995 right_x=0.2928 right_y=0.0006 right_z=0.1745 right_yaw=-0.0021 right_pitch=-0.0191 right_roll=0.0034 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -5.9009, 7.0906, 2.1026, -0.0317, 0.1392, -0.0073, -0.1162, -1.265, 7.1043, 1.7411, -0.022, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae21daba10afcbd6bdd01d6f8c0a7d1a90d65e685834490a3748d083e53db9e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378b09047a7865c2721713b0df3dc09ee6dd380656835b7dfd3ffadf7334293a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd57cef3c665e6b2a656779709a6038a100aff62132bd04b24d6d6c33daaad8",
      "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]: [-0.02, 0.7959, 0.6041, -0.382, -0.0193, -0.0326, 0.9996, -0.0181, 0.7929, 0.6014, -0.3801, -0.0147, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0011 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0008 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5538, -1.7299, 10.0718, 1.8486, -0.0171, 0.1636, -0.0562, -0.8137, -1.4564, 10.3316, 1.8974, -0.1001, 0.1685, -0.0952]",
      "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]: [-0.4816, 1.4555, 0.8566, -0.1284, -0.4114, -0.3172, 0.9995, -0.02, 0.7979, 0.601, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1191 left_z=0.1316 left_yaw=0.0197 left_pitch=-0.082 left_roll=0.0355 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0179 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.6786, 6.6803, 1.7753, -0.0611, 0.1245, -0.0171, -0.1709, -1.0735, 7.0906, 1.7558, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.4704, 0.7521, -0.0288, -0.3801, -0.2943, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0997 left_z=0.0997 left_yaw=0.0342 left_pitch=-0.1099 left_roll=0.0441 left_gripper=0.9995 right_x=0.2928 right_y=0.0006 right_z=0.1745 right_yaw=-0.0021 right_pitch=-0.0191 right_roll=0.0034 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -5.9009, 7.0906, 2.1026, -0.0317, 0.1392, -0.0073, -0.1162, -1.265, 7.1043, 1.7411, -0.022, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae21daba10afcbd6bdd01d6f8c0a7d1a90d65e685834490a3748d083e53db9e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378b09047a7865c2721713b0df3dc09ee6dd380656835b7dfd3ffadf7334293a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd57cef3c665e6b2a656779709a6038a100aff62132bd04b24d6d6c33daaad8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEqvm4aR7utQUMZsBGF58uLEzFCdsmpoOGfV-uZvJzZIXKTCceXcZOVxDIEKeUHh4x9sOKQ4kKEu09MSh94m49Q3P28SpITHN03grQ8lAfMA4gzamLMXwnYNwTX_ns3OMaqO44Oef0LiHctQZLh0HlgBFRWKzieZTSaVwvM1HhxJh54K-QJRXvPfFpffR6rWjtraK-X0qRLGM26pOTFjd3yf9XxkSPUzaSFgza6mSMyH98eIbEiblIX5jQzRGg5U_mmr5SCjWfqTUNgVAmr9zVjpmx4JUPfUgHXdljsipN15sasnSy52Hjv2WOkoZhdPt592GwcIcsm7c-8WVFaBDIrt--e6aLQpHIvP76l2vk7BpEr_qaAkNr2rBS_iXezs9AUovohgTN1wnnarLONPTJCNkXvzBO_tD3dPM57zDOWAHgh8XGcu7mlrpkrqZmG1PYEj3UtgLnEYOIs9WXhM8y0uJgCpShWUPIsHMiJOHHcdB7lYSD69j0Vy1AkC7dNq8DhsG-yP3T28yATnXW-GnZK9hkpgtP-jJzj2nsS0n6FG1pfrv-b5bxVuM6-E7gQ2XFh17aQAmoKXmZi4ElxWkyerAEb_2xA7CnTIzE3Wp6iwFvQponQbAquKfcGQ-nV5pju-LTW3f0CLh3MoCCgexYv8UpViY_8R-l7ftthIlFyBgEJrb4kCMyNGBChcjGkwlxlolaMMY8w1ugqdxvekMO6h1Fs9oZu1kvSNywbloIKak-ffcy1ERePSpGvActYVgvvN-gp3WcFH_P1r4zJUZpAVGfu3AxJlI77R46QBrGQLXMatoPr1jnDIiP5kWBhs4Dm7AHas9NBszrxzODYALu_cUor_81L-u1iW_uSBqOPRipROMKe-jma1NavIyurDE7LLJMAZTcC3VIqy6-5YovLxX0GJRiWK_WiqR2vdUMGRAFLINXlIE2lhvBp3qG41xFvZ2YDX84F_92kAyLkIPr0dKysj-_oKND2tGRTQ0q9S_HDtli5ldiczILFYpmXNFqi0us6KOkwnCjU_BpSK9JZ8VFuH0WwFDbJGMSeGpjDe_X_xMTIRVILyoTXgP9BHbZk2kPhP4TQnzXV4tpv07Ns12rWVopwlqKIWyCPjh72d6rSIP6qZugdbwidtX2BlPYpUEi68Piq65Uw2076H0ar1CyYffXnml4pN_kyHQSTho6ACALLOYiENr57tTcFOMHiSiUHth8rc6clMCzpDXbofkfmsvhOB7_VfBP72l0kkkWJvukB4ycNVNHixkSzCNv_u0W-AMhRMB0tIIg0LPU_zVigCC2n6ngIoTjLsNP_Mu671A9wcenqqkSjxItQGscanGLKTWI03lLJgy_3zER6aCvh6ST69AlVyycYOS4G4jSeSXgm2yhTU6-8SBzsggsg7fKs3RjMSVk2cV4j1RJpgafef_nhjZv1urcGLxuS_CLIMUAoa62FSuU6CnR9ngyS9oHgFz1OiWPBlUKlAXygDII2lsy9jlRoozp6vYYQJkEE60EVPaAYHo6AikO6URC80zr6YXjgl7v_ztqjGO1i12vPCx-IdSyoTVDswLLCo7pJ0FD9EDVUU9AjhhSlPqnxiuUguQcatCCiaraui6eOrt4ufwjck3TCa4IyZL4B_2oTPVYIXpYxxGKUm3Gdz-tyF6OBR0-A76o1eqnSIzutpOOIChU3YcBuWKVP-Phbaxp8CYTYf4RYfcZasCT5DW0geFXCoMQ_4VqYQ5ckLKZmywtdeaIvOP17B2xxy7vDhz1pWcxRRGbT6FE-fLiHaBasWylEpwbv-JsuoP_DRKIg6YB3Q9sn5KK7tr8rxFCgxKdfFG8uiauNPd3U-QjWh-j1HZWJqajHGu0pOlINFeQU3985zCgoRiEiOFMfwC8xDgcOrP0aNKHs0NosYb4_dr6Eewl8olv3TM0MY8Cqkqw_IXS-b1vScB_POwBKxcWaKPOmmpEc2P_3xuStRjHpUQ5OhJp42C_d0FyigrEDOx3noYEABFQsPtaNs5ODpgnWmr2X7QCKNy8Jqa2ap2ydMxI8LrQnzJRnwFHjljGZXoYNSWsra6HryNsFkmbGeb-j5ZzTmatDYlivlbKFnmfZFhfryR8N8WcSI0bDWLu5dKgvw9Jpir8MPe10Y-o_Gsid_-dcp4jvEpdaQ0_FdRWxpG-oxM81pWfcrWArWj8PA2Jip3EpU6ph4VoEWpkpSwZUMd_k0-ttODH3bZxvGbNT9wTRavTV8Pa2noH9nXR5eFNshcrUQ2LU6R6vLVdXCyUpAVZ5OeO2Jk3VJkelGuv3sdeGStB3oDHs2wlUr6gHU2Op1JptO3CozCr5A7O3AoQBGwTvQ31Slb8zKv8uLJ_010L6XYKfuCowdtgH4C7L9Z5EfAAxX07XJ2cGiEXCAPemrnjc_gmMNwa2l1iT_xO54SpKS-KXq-j8U3zeGa_xb85iZCX_wnVWxEMassxt6HAoN3y8=",
  "id": "rs_0f95f99d2e8614a1016ab44aab8da487d0895d45ad5aaa3dcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The left bowl is now centred precisely between the open jaws, and the overhead view shows the wrist over it. I’m descending to the bowl’s upper sidewall height before closing, avoiding a blind plunge to the tabletop.\"}",
  "call_id": "call_D5poOniYOHhAktCIdKVhvJSl",
  "id": "fc_0f95f99d2e8614a1016ab44aadf0b087d0bc1bcab771a37a09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D5poOniYOHhAktCIdKVhvJSl",
  "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]: [-0.4179, 1.4834, 0.7273, 0.0082, -0.3664, -0.2874, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0966 left_z=0.0909 left_yaw=0.0321 left_pitch=-0.1149 left_roll=0.0413 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1745 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 6.9265, 1.8046, -0.149, 0.1245, -0.0122, -0.0889, -1.1145, 7.241, 1.7607, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65334ed418ef385adac643a9576ca6e7b8ab06e2ca6b7cf0e87c3d14dfc88d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fccd4ff1a91132cb36cce27eef81f30af0e1a31040dd735008eacece45b789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6caeae3420b3eec10cd02dd79d5edcf596e03ff0cac8f5277a955b9ccbe9e3c",
      "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]: [-0.6254, 1.5352, 0.9588, -0.1516, -0.498, -0.3939, 0.9996, -0.02, 0.7967, 0.6018, -0.3927, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3896 left_y=-0.1728 left_z=0.1429 left_yaw=-0.0145 left_pitch=-0.0508 left_roll=0.0233 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1756 right_yaw=-0.002 right_pitch=-0.016 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -7.1316, 9.1145, 1.7167, -0.3932, -0.0611, -0.0562, 0.1436, -1.6615, 7.3778, 1.7656, 0.0024, -0.0415, -0.0952]",
      "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]: [-0.4305, 1.4704, 0.7521, -0.0288, -0.3801, -0.2943, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0997 left_z=0.0997 left_yaw=0.0342 left_pitch=-0.1099 left_roll=0.0441 left_gripper=0.9995 right_x=0.2928 right_y=0.0006 right_z=0.1745 right_yaw=-0.0021 right_pitch=-0.0191 right_roll=0.0034 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -5.9009, 7.0906, 2.1026, -0.0317, 0.1392, -0.0073, -0.1162, -1.265, 7.1043, 1.7411, -0.022, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4834, 0.7273, 0.0082, -0.3664, -0.2874, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0966 left_z=0.0909 left_yaw=0.0321 left_pitch=-0.1149 left_roll=0.0413 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1745 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 6.9265, 1.8046, -0.149, 0.1245, -0.0122, -0.0889, -1.1145, 7.241, 1.7607, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65334ed418ef385adac643a9576ca6e7b8ab06e2ca6b7cf0e87c3d14dfc88d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fccd4ff1a91132cb36cce27eef81f30af0e1a31040dd735008eacece45b789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6caeae3420b3eec10cd02dd79d5edcf596e03ff0cac8f5277a955b9ccbe9e3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEq08iVeJn1d9V_O0ryjzs3XgwoYLUvKj6yH3jBf82knSqlZILKdlQ1p16-u9ZATOwYcin5x9cbAofqvu-Ci8dW6QtEmjqRPbO471_QtuJPLnKzLRrlIkWBU5ra2wkHKc4pGCV_XtFan8iyv_Jk9K-OIlnbHoahJ9jaT4Mx0obqm_8GFdZmr7ljDiy5XX0vrKhJ1PcFoJALX5Ppr4LlvKz2RxZ9q6NWD6n_yEIiZE_ONE1pJfGhY908BnNjNw9zslmhUlgzyn_z6XMKYKlrWKjHgIUgGFrTUa8Pu90sDYkEewIiRLl1kX08FEbou5hFtJ0XxwLA0dSnnt-ocW_xrxJksitAf06GfLV7FF5RzWJMrMKDgzbQLm4CD6yi1fnsFRipOh6r_iOOzUWYz7D9DRkwNTwdNU_AorvcLwZw3CLAR8ZjhxHOmijVN7-PJO_MscNBAkJWBOrhTLYikgQf1caeThfan5xax0jR-ZK9LFgilEdWpnSKbcGR7hwSWkpOfShHln8hjUGzXG3Tx8HZUsP59veFVBPHYvxXXICupCznAYdnAKFdx4UjVhmkj_Lv27PSAvjPs4MYn8lonzhzkt7Vz97-AT3VGFdXNrE6T7s3nw_0ERUPUBzQ2s7T0f69RxKikyzszq2nPqiQOAjvYNEkIdM2KRdPQI_eLGuM-42vtHfdVM3Jp1jNg9rH4fv0_hc01iPQtKD0BxhXbthrnfX2uTSsVKkg0Z8185AbAix3ibBNj3LIj5-GB5mxHEZnObk1VhQbLavqtDYae7H7vEli07v_SYdg9rl9oDfgR2xjJs8UMTBkbJ-Q68Qm4dLYWYa8sICkpO87Y-mcp1FYDg2c_8a69nNmLb-C3KxK4mC5mRQw_aeqAqoNs04DbkYfadW5WF9TCBJIq_vQkRuF8EBea7d0C-z0g1bumf46cmjOy-2NZ4-r5w6Wi-fbPbeF-X_WEdgZ_tKfd8rzsKdYjf_0DYAPWL_3qPRRfR8sQbF9nVlki6ZFHMWKeW0LQmzuC5b5ol-NdR1fZBAS4fAyRZ4qqGcW0frkOSGHayjbizU9I5kzDeE6dF5iPxzTFXv8cr7tCK80MzqFTZqLvRDWANNIU8DaeHza7EMyjafKXk7LBtvmKFRzpLMFIg1LHZKdXT7wP5cvd8GMC8vNo-mAniXconkMJCJmJnnKfYUBNfpmivMwLxc__HUkBucLIbMXemPzcPsUiw1q64zWMV7rJNSCWg6NFjo93W-TUzIDpeZhAl1WU4AkcJRlILbkeCrS7OeCsJhktgJ_dfOZzEAn9LinRiJMWJ62k6tJf_mtiQ1h4QA4JreGnuN-h9VBLzP8cq7NyqUb8Av7t7ED6gcpRupSPtFUoC6mIAp19aayYboER-nnH9rHYc5dOQRkfzmDX-SrpPpWHKoQ4XUZHKOAWA_gP5POP96aXxAL4xYqlORd_K4aLWfn_O9fQeYTi1OnLeiYJsGB5_4bpSLCBUwMfa3V6zLQVAJgXrO3PSJHR95KC3i_nPsr_3pk8yBHb3C7LWlHTLmGoCVI29T2RE4SQjwN10uUiKI3xiqodKeMt9p4PPjLZZK8BrJnKP0U1z4PHWmuuu0caJMeyWW5Hf55VaII-YXbvfnAM4rD8B0vcvjouDqnB03tThgZvod7BsHHFDyFauamZMgGwF-A1oXdNh-HNGJcuYcduMCk1I6liT0HD7pO5j1JtWctcXdWIiwl-Wu1NPt_V2hDZOSDzCuIAyLrTjaQxYFKkVdLgLIQrkgthuwTkFG52VDPc9cTUqy2qo1mk9X5sSmPIuyj_zw_jqL_tpKAUjZiTja67CdIrN_CWES0ebyY2TgvFAsze7TerhMOjT0GgUxi1Bu1nTv-UJlEHnWx8aCVxV_z1bcwg-0kxbPGR-YD0Sj1BLkQwHlnqQqeVVNQUQe5RihJ0nVent6XrtvzzhX8T27gD4XQygv0TvZ9AyPbPkVNP7S3AfClLFWOaGOLh-sgDgBx-sSmIojaT71W66PkEUzG-fD3AyrAnu_rrzsjZ-pAZE39zoCSv1ffyPJgoULxLBEyLpFQvKKc_W-BpuAFv7RqSq9MxWqISxMMyE0-Kib2moWazW1G1btfP_rjKsht6zjxN5LmCAbnMvCjhgyzYPlhP03CG0nNMuRpgxl9ttTdELRO0CAR5W8guGyI87OH9hQgIGZs1194AzwUBXx-XnRAHJx8znVhI69odgRZsS_wFmM8E4k7gbljOi3OW9UyFfI3uhn8tYfrN6dZBWTs7gd-tSsxsstcZRqL12K9xO_qXamao6X-m_Xi21YrEpm-TP0tk3rGXztAAvQzvTDQJd7iSXVYCIO1uGaQPZPSjOIkJJf3j0nlK9xosb87b0BpK3FcCqS7wxHdXDtQf9H-YREkliyOuxZf_011yLhwCv6McIcYPfInL6kfX_-iiCM8eCTjWLRjeW7D4Pes5fSwIKxaDg9Aa0e2LmMcSDhSfqP2MxSMT0D5jY5j4O9qyXxnxF0DhKsbPuhzQ19rPSaZPuwsHElK7KmJyJR18PP87XrSU0zOF4k2Ra4TK1SB--GEOny-KwAe-mdOw5QTrrHo1ah_dErnUtfEVuMfEUxHg7UWHFAs1iNmNzWOGWYGYFPNM0rfgDdI5c865QcXoATdsZY4xrPNJrROIp5Ltu6ocAWxihN-O0aLeMC7Ivdjl-tmGDr5BQ8OSrfk8E9EsuTiLHmhuq3_ubZWJlIZQdMuGgtiQ9zqZvB2SisFS4sFa1b8MUDTeHCHWPB5G5tsCH1ILdxqyysPtXeMq9lt7CosD0bIdbkbTxwd2iyJjksAAi1PgfnIVMiTgh1uH9ms0FlEToF5Z-gT5y6b8Lsjd-X59T2MW1TN7SKCtJW615E0Z6aVgCsaPl8q_bGLc_Q==",
  "id": "rs_0f95f99d2e8614a1016ab44ab0609c87d0807d1e9101d3e282",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped about 4 cm above its target while centred on the bowl, indicating the open fingers have reached the tall rim rather than free-space sag. I’m closing now around the centred outer rim and will use the settled opening plus a lift to verify the grasp.\"}",
  "call_id": "call_77Qr0K5qnfPK5io01Pm3nCvs",
  "id": "fc_0f95f99d2e8614a1016ab44ab38de487d0a1a386b278964298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_77Qr0K5qnfPK5io01Pm3nCvs",
  "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]: [-0.4179, 1.4834, 0.7273, 0.0044, -0.3664, -0.2886, 0.009, -0.02, 0.7986, 0.5999, -0.3935, -0.0162, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3819 left_y=-0.0964 left_z=0.0902 left_yaw=0.0329 left_pitch=-0.1183 left_roll=0.0421 left_gripper=0.009 right_x=0.2927 right_y=0.0006 right_z=0.174 right_yaw=-0.0023 right_pitch=-0.0206 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.0923, 6.5983, 1.5116, -0.1245, 0.022, 0.696, -0.1436, -1.306, 7.1726, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee56926bbdb7e98db5c1303c4614c6ee340c85d3c6549ca26b41b7f9f0b5015e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d717617b75c53c2370d967380bb41012ad2789931a41f624775c9d93eacb5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6bc2c7dd206237a81cf23a6d6adb9ebaeffbb8a3dbcae0b66c3188953af261",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4816, 1.4555, 0.8566, -0.1284, -0.4114, -0.3172, 0.9995, -0.02, 0.7979, 0.601, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3882 left_y=-0.1191 left_z=0.1316 left_yaw=0.0197 left_pitch=-0.082 left_roll=0.0355 left_gripper=0.9995 right_x=0.2929 right_y=0.0007 right_z=0.1749 right_yaw=-0.002 right_pitch=-0.0179 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.6786, 6.6803, 1.7753, -0.0611, 0.1245, -0.0171, -0.1709, -1.0735, 7.0906, 1.7558, -0.0269, -0.0464, -0.0171]",
      "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]: [-0.4179, 1.4834, 0.7273, 0.0082, -0.3664, -0.2874, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0966 left_z=0.0909 left_yaw=0.0321 left_pitch=-0.1149 left_roll=0.0413 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1745 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 6.9265, 1.8046, -0.149, 0.1245, -0.0122, -0.0889, -1.1145, 7.241, 1.7607, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4834, 0.7273, 0.0044, -0.3664, -0.2886, 0.009, -0.02, 0.7986, 0.5999, -0.3935, -0.0162, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3819 left_y=-0.0964 left_z=0.0902 left_yaw=0.0329 left_pitch=-0.1183 left_roll=0.0421 left_gripper=0.009 right_x=0.2927 right_y=0.0006 right_z=0.174 right_yaw=-0.0023 right_pitch=-0.0206 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.0923, 6.5983, 1.5116, -0.1245, 0.022, 0.696, -0.1436, -1.306, 7.1726, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee56926bbdb7e98db5c1303c4614c6ee340c85d3c6549ca26b41b7f9f0b5015e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d717617b75c53c2370d967380bb41012ad2789931a41f624775c9d93eacb5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6bc2c7dd206237a81cf23a6d6adb9ebaeffbb8a3dbcae0b66c3188953af261",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f95f99d2e8614a1016ab44ab6953487d099fbebcf641bab52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_y\":-0.145,\"left_gripper\":1.0},\"note\":\"The gripper fully closed to 0.009, so it was empty—the fingers had entered the bowl rather than gripping it. I’m reopening, lifting, and shifting about one bowl radius to place the jaw centre over a single rim, so one finger can sit inside and one outside for a rim pinch.\"}",
  "call_id": "call_K24BhZh3NwNI85UscVIIdzuq",
  "id": "fc_0f95f99d2e8614a1016ab44abbd77887d088bc3f4fc8199843",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K24BhZh3NwNI85UscVIIdzuq",
  "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]: [-0.5636, 1.4841, 0.923, -0.2508, -0.4545, -0.4023, 0.9946, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3764 left_y=-0.1419 left_z=0.1295 left_yaw=0.0227 left_pitch=-0.137 left_roll=0.039 left_gripper=0.9946 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0202 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -5.1487, 9.2103, 1.5849, -0.3101, 0.1197, -0.0757, -0.1436, -1.2513, 7.0496, 1.7363, -0.0513, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974bb00832f527ee573f7a2f39e00c3b324e3dc3108c21cbf425d61965163b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872bd2f37c8c85f047cfb79f893af5a2a133306cca26ed53395fdc36b4e7dd64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c489fcd353beb5c1955de1963eac1d11caddae32abeec1c0175e708b6a1af97e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.4704, 0.7521, -0.0288, -0.3801, -0.2943, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3827 left_y=-0.0997 left_z=0.0997 left_yaw=0.0342 left_pitch=-0.1099 left_roll=0.0441 left_gripper=0.9995 right_x=0.2928 right_y=0.0006 right_z=0.1745 right_yaw=-0.0021 right_pitch=-0.0191 right_roll=0.0034 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -5.9009, 7.0906, 2.1026, -0.0317, 0.1392, -0.0073, -0.1162, -1.265, 7.1043, 1.7411, -0.022, -0.0611, -0.0073]",
      "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]: [-0.4179, 1.4834, 0.7273, 0.0044, -0.3664, -0.2886, 0.009, -0.02, 0.7986, 0.5999, -0.3935, -0.0162, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3819 left_y=-0.0964 left_z=0.0902 left_yaw=0.0329 left_pitch=-0.1183 left_roll=0.0421 left_gripper=0.009 right_x=0.2927 right_y=0.0006 right_z=0.174 right_yaw=-0.0023 right_pitch=-0.0206 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.0923, 6.5983, 1.5116, -0.1245, 0.022, 0.696, -0.1436, -1.306, 7.1726, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.4841, 0.923, -0.2508, -0.4545, -0.4023, 0.9946, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3764 left_y=-0.1419 left_z=0.1295 left_yaw=0.0227 left_pitch=-0.137 left_roll=0.039 left_gripper=0.9946 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0202 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -5.1487, 9.2103, 1.5849, -0.3101, 0.1197, -0.0757, -0.1436, -1.2513, 7.0496, 1.7363, -0.0513, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974bb00832f527ee573f7a2f39e00c3b324e3dc3108c21cbf425d61965163b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872bd2f37c8c85f047cfb79f893af5a2a133306cca26ed53395fdc36b4e7dd64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c489fcd353beb5c1955de1963eac1d11caddae32abeec1c0175e708b6a1af97e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErAGMbi6WFei0oYohaZP0mHOXwGw9OuXmCnwGxsQ17FjuCitWJYZLuSL5nIb7CFgtYv7AuURKaP72Y3JVm8zM8ypF7FCb5ZismalOWqvXMlTKIbsvDk3O9OWgNM1ySL-HM6mQ_W4Bkm3fcVAf_uM5gse0INUZjtrvnvPeGYTMrwCwdBN503FkF6UTysJZDqChdwQhs9X72GkFpXu58nWhxJ7HYVHG3NDCfwJQzCPvs8VBZ91foW55nCrX-oNIgAsFLKpKmcQ3s8LuSuWTeEbW3eqKXszCAK6IANAPDKrjR9GjOPfRPkxOUzi1H8VUGxFT1gBoifuJGs6n5TP47FjLVNQBMe_EuDPfXGa8bqnBrDZ3x8c_C61n6GfYR-tvzk36Jz8akFs7tMGEkr2f2DQX8uNMiJCnSplVOfcDrxoCn2V9BnSfLcJXBCS0wg0ShjogKvlw_7gN01Ekia6wSBmVt-exmZIxXyOrY2g2Ye3iTLnvGoU6zMB6tvOmQhMLO8Pq2YVlO_4O0AN38-XsGcObVwFC3lM7elvVZ6INP6MYfeaGRDvvciFzlkZ3Dg3CStYj6LVAt1GzX9UqkS2JdHige8eiRzg_3uvL-j-x28VIw42zRoSVA0UcPtOrt53DqfKrL0xBPysil4iNHwg8tyrsYfGCvlOd10gW5ly3N2eloHuHkPbWbLugC1lKyo32XAcs6tXI5-HJg1wgP1pIqtQqYUc_kKqqdomyugxPTwMHQcUUEtEhg41P7YhOhg_m8eXTbj-DldGidxcYrwli7_cRcPdBSB8QEbxpSlrEiMmC1_DLv6p7EQZRrqF32XVQsqYIx4MWEoOczSrzrIO5uSfIuY15EaiTj3V_mrR6gex_YTtQ0S1VoGZpeBCvYmrugBIl3dIiNiNFp2B0fJYy69cbSvz7F99BVFPCSv7DJYFq1vJ_UWghKMtD59CvbduqgsDFloFN4-dedeNUomfnUS7mngfVlvdqVmlxN-vZR80s3xExsn2jVs7LAZC-QHJgrGb2_ebs6txIAU-7PEvW1U-a8ka5HRxZQCpXUv1eE4BWIeW0DgPm7UAb4E7iIhAQfrRF0yVyNPX82l4rd9Ko42lFoODpWiyeO9wwwio0l1Nhmw-HT1ECKv0rZufSYFgf9GhfKEAPJLlhiAgughBGhCC3JkxCAhntF029HIN9O49d-df9oYkIwQ4cHsF6M3Zq3ovaInpFlQGsVFYie5NUx4X3PHwuunTeg_gn9Asm7rOBtJYfmTcIor6Qzl2o7HPKWV4yrPoQsroClgxaci7GbW017w50wkpHt950N5_-deONsClM9xNdgkwHmbeWrt8l_5XBCwDSCF7osoq0GU3hH5mZzfFtdYZy8Em12kBF8CyIUGqEfBRlIJJYKbXRrzXdvUnktTHnQwiRnJhTQBzAq-9FrbBZgtPsSmvmqM6B_D9VyMYt_FEUZJQ6Eg-lmEzi6M0djPcyPlEYkMYTrfI9kJN1otRAoB-FzngKNE4ZpkRDvrti_veZuQg24vm4lG4_KvGnjUhfgxdoubNf2j_B6VygAZzcaCGSi9eEiNWM-XN5e1LpFbQ_kJja7FCHLpbZBGK8D8uDjXpkxwsC2Vc9-62slK7RZKtGcJrkFuUQCzfGcNFdZiC9pLuynRzF2LHAfAZskQjzBC5LAbIHv-rDbcXZzO9IfwD5VL2InB0wIuYuKvKYUOOG_1jdvL6jeed1w90ok59VgoqPd7MuL1RRkvCaypZWxap6EYXZ46MghPO4BUV_huZ4Gnra5gKWyz5y8kxBB2fY3w2yUaWQlTQbt2VMDiFkCFm587YVFcY62M_CP2Vy34V3uMSabs0MMBadNBbbvM_c-G5KbNyBt3KWXEjOR_UFyIJQULDhdzooh0Ss_11Mc=",
  "id": "rs_0f95f99d2e8614a1016ab44abeb76487d0adb975d064a2c8d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The shifted wrist view now puts the bowl’s right-hand rim on the jaw column, with one open finger on each side of that rim. I’m descending toward the rim while preserving this offset, expecting contact near the previous 9 cm height.\"}",
  "call_id": "call_DwGhp021aIby3HMYEHw1xits",
  "id": "fc_0f95f99d2e8614a1016ab44ac00df487d0a10d7fbe6cbe77e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DwGhp021aIby3HMYEHw1xits",
  "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]: [-0.5686, 1.5871, 0.7776, -0.0818, -0.458, -0.4091, 0.9956, -0.02, 0.7986, 0.5999, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.0624 left_yaw=0.0318 left_pitch=-0.2011 left_roll=0.0811 left_gripper=0.9956 right_x=0.2928 right_y=0.0007 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0198 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.159, 6.4752, 1.956, -0.1685, 0.0317, 0.0855, -0.1573, -0.7863, 7.1179, 1.7021, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb7b361c238bcfde4ca56e50d12e6802f93a50c8d305d6c01d1bdbbbd06948e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956783ca0773ef3b47ff10f269c4d27671441b7f1347f9d6c145c3bec4f7c8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98bd3ccf53621407cdbe1ce88ce085806615a8e2548cb64df2dfaefa39ea67f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4834, 0.7273, 0.0082, -0.3664, -0.2874, 0.9995, -0.02, 0.7979, 0.6003, -0.3931, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3824 left_y=-0.0966 left_z=0.0909 left_yaw=0.0321 left_pitch=-0.1149 left_roll=0.0413 left_gripper=0.9995 right_x=0.2928 right_y=0.0007 right_z=0.1745 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.4068, 6.9265, 1.8046, -0.149, 0.1245, -0.0122, -0.0889, -1.1145, 7.241, 1.7607, -0.0464, -0.0611, -0.0171]",
      "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]: [-0.5636, 1.4841, 0.923, -0.2508, -0.4545, -0.4023, 0.9946, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3764 left_y=-0.1419 left_z=0.1295 left_yaw=0.0227 left_pitch=-0.137 left_roll=0.039 left_gripper=0.9946 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0202 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -5.1487, 9.2103, 1.5849, -0.3101, 0.1197, -0.0757, -0.1436, -1.2513, 7.0496, 1.7363, -0.0513, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.5871, 0.7776, -0.0818, -0.458, -0.4091, 0.9956, -0.02, 0.7986, 0.5999, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.0624 left_yaw=0.0318 left_pitch=-0.2011 left_roll=0.0811 left_gripper=0.9956 right_x=0.2928 right_y=0.0007 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0198 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.159, 6.4752, 1.956, -0.1685, 0.0317, 0.0855, -0.1573, -0.7863, 7.1179, 1.7021, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb7b361c238bcfde4ca56e50d12e6802f93a50c8d305d6c01d1bdbbbd06948e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956783ca0773ef3b47ff10f269c4d27671441b7f1347f9d6c145c3bec4f7c8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98bd3ccf53621407cdbe1ce88ce085806615a8e2548cb64df2dfaefa39ea67f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErEQ5V-iDc4fVjgc86n2mh_hqXBW345ymJ2-NUkxAuCR8k53TxPaOiBYa9yhXv8arCL03GJLNH-9nXYoxgguKJcoihUbWPoS6W2TKKpbeRc4MLfR1J5G2bzh2z1_29iY1RgeODMUb4ZfPzcFrYELOXPosjdvjcGrHJIuorGiC5UBFcpev3RivfFT6mkUjTKIGyV-yVPu_9fdxfs5iwBbCXQzY1O6YxHgwF_OJ0bSNhuJbl8TqiPaBpfy-9s3OWE3MMZPfs5_KQGdpcm-Ed5rs4GnZbrpGfpqluQbJkpdfTq65ebHBwJ1VMB3vm47njiJZTkO01dae7eSHLmJodatsIJI8vQpTZ4D7Rls3i-CJFlixXu_E1HqDytCR1KNLCdkyJnHkmbDuHevZchIIJ2lcZwNLgobYJzsOo3dD1r5P6E_rZBXjPrImPKs8wsyR4Z8pQz1mDq_ebHBgiS0HdTNla_L0pSzpItIyAo03_cc2LQZYfEKZ1I5VN6UU8i5Fi5d9WBCfvcicj6WCOzqmHLWlM90kWrJhkKCqGjnqL42UC-atAUG9uQsfe-dBIYYtdQwQLnAgKwNFN7UdW1gMBIBeiFJi3Ca9ZnAi5tf_ufkhzRd2W07yj4FsGatnYlk3_zsJ6s9lqhBQiHbSIP_9_vUW_TVW6-iWbatSOtH0f-EgfTuC6c-kGqzlKMm6J4OGsQAuuE9U1L020Pb0tVFVkLFaz8wjheiJhxHEjPPzB37IRxbAmoN2xP7bNsnVxtwUuFjtsDoBURMSTwo-svo00De51h_AgxLhWi9GrWv3q_fqVFbpsiywfyNOVXzxa59ft1azHTrTmA_W56Zh8i730gFBsRwm3EVq-FCZ1ETYvd7NEXeHSjCcDrLz1TM0oPB__bG8CM2YB2HXQvpqWT5TH2JtJQ7DQlXVnQlYDsdJfX34Bgu6y3u4R3XbUN98DRQp9eehhh-3Gfsy1VGysow6L4q_K3cgyQpXGoS_sGywwbdtLr9LUOtbBSIJrQVS2gVrycD0lLecWDHKQHfz2GS4Ybyo1aUz5TtgyJOQMp2e3aOW_EeaIjOyZRfi6bb4CUMMKYQBPNuJAXFRr-heiJoMYPAfD8yRkTuVxB4sgeMLKFKf_E247gKRWnUmZ0s2bV3HssmcG7bY9W_LzfgxjdoRF8Jj4PL2kUQmctU36iXjUuOQ5Xf4icKXT5QW7MVffEeyuvezvWVJTau27rAinc_fVMh3TM1U0-GVlxtACZ0iO-y88s7kLZzQa6ezkROczjL0U0IeIGnAkfh3--cBsriCa17LNPK5WI_ykoWuNWdlAd9znc6fKcvmH9UJnGn-3k-J1nTkoAgax1VBT6pVwte8Ho8lgF2ufyQClnzLX3O3_vp6AMr-l_T34IrXjpHJ93gBSH0he3eK3UQ_R3eoVITaiZB2fhCGaXTVhiv6gVgMs7vgpc7ihrcDF5BKW9WuhHZ3gny_HyHw1oLQHq32aiGTR8ZsrZc6-er6aua2JeSr7qXe4BmSSutLxYbqWjfIlAacQ1UChRbA7WA6IhXrgifvmL_JQbvw==",
  "id": "rs_0f95f99d2e8614a1016ab44ac25ff887d09415e73ef757374a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 6.2 cm height the enlarged wrist view shows the near sidewall filling the frame while the right rim remains between the two jaws. I’m closing on that single rim now; a small nonzero settled opening should indicate the rim thickness is captured.\"}",
  "call_id": "call_1d34YUS983RtoLCwDvE8GT4k",
  "id": "fc_0f95f99d2e8614a1016ab44ac32d6487d0be77923f9e59425a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1d34YUS983RtoLCwDvE8GT4k",
  "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]: [-0.5686, 1.6054, 0.7628, -0.0868, -0.4545, -0.4122, 0.0089, -0.02, 0.7986, 0.598, -0.3939, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3587 left_y=-0.1329 left_z=0.0497 left_yaw=0.0356 left_pitch=-0.234 left_roll=0.0987 left_gripper=0.0089 right_x=0.2924 right_y=0.0007 right_z=0.1731 right_yaw=-0.0019 right_pitch=-0.0229 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.1026, 7.1726, 1.3553, -0.2076, -0.0122, 0.6716, -0.1573, -1.0462, 7.3504, 1.7265, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed910144ed1fc25d27f35f090872bf1588860f98802c633eee90af9d56b8867",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d92b78258e9c2481250fcff614d3fff8d020e308a1f33a2dae27b8fe9d40042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7601ea75e9f3f4a0e30835d8b8b3de2597ba041b31c65ac21b130cfa97fa92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4834, 0.7273, 0.0044, -0.3664, -0.2886, 0.009, -0.02, 0.7986, 0.5999, -0.3935, -0.0162, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3819 left_y=-0.0964 left_z=0.0902 left_yaw=0.0329 left_pitch=-0.1183 left_roll=0.0421 left_gripper=0.009 right_x=0.2927 right_y=0.0006 right_z=0.174 right_yaw=-0.0023 right_pitch=-0.0206 right_roll=0.0038 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -6.0923, 6.5983, 1.5116, -0.1245, 0.022, 0.696, -0.1436, -1.306, 7.1726, 1.6825, -0.0171, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.5871, 0.7776, -0.0818, -0.458, -0.4091, 0.9956, -0.02, 0.7986, 0.5999, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.0624 left_yaw=0.0318 left_pitch=-0.2011 left_roll=0.0811 left_gripper=0.9956 right_x=0.2928 right_y=0.0007 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0198 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.159, 6.4752, 1.956, -0.1685, 0.0317, 0.0855, -0.1573, -0.7863, 7.1179, 1.7021, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6054, 0.7628, -0.0868, -0.4545, -0.4122, 0.0089, -0.02, 0.7986, 0.598, -0.3939, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3587 left_y=-0.1329 left_z=0.0497 left_yaw=0.0356 left_pitch=-0.234 left_roll=0.0987 left_gripper=0.0089 right_x=0.2924 right_y=0.0007 right_z=0.1731 right_yaw=-0.0019 right_pitch=-0.0229 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.1026, 7.1726, 1.3553, -0.2076, -0.0122, 0.6716, -0.1573, -1.0462, 7.3504, 1.7265, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ed910144ed1fc25d27f35f090872bf1588860f98802c633eee90af9d56b8867",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d92b78258e9c2481250fcff614d3fff8d020e308a1f33a2dae27b8fe9d40042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7601ea75e9f3f4a0e30835d8b8b3de2597ba041b31c65ac21b130cfa97fa92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErK-iBCg5HAcKVlGVsnbbB2k7TqqYxIN9VIguJQaeNEClm9jvcMxIbpzvlUNeJJky9Y8Ovr5gZ0S_NiFvNeA9CyOhNzZAPnwl7fHKV5lG_EH1AuPwX8ZD-qMBYodvPcGjtyV6Z8dGhmR1YDjmxo8Mrp8zHpzxlieLaiC5car3Wzl-5MGJ8GHIa4BmFlJAxtORske6tIEl7N9algLk1gaZRqI4WFhnsTMnelH0dZF-X1IzqD5w3yb-ujG7GR-nSZlMeZvmE5QL9XW6skvO21n369j2g-rcRmuYGBdz-1loaEIbPiS-QVMiFuuBrT6ckItwP_2T_I3ohX9h-xI5TKG-TiCrtS-0oJxH2m_droOfsVX9r_3L5-Ip4sqjxGD5tn_0Q7TuTQX8zCew8pBv2fgXMp70cPq1qLeUAv0IZIdnTu4ODQYiufaItEFR8_Ab2pnI2S657aVtRb4eWkeVRq4U7FyGn8-hDUAKX0YAFX1DaX3YZSI-GOYuzw2gG8hDpkBQQzsyiN4q18yuaYzM-sVdfTWWHapzGo1gZraoecG-bbvDXwgwmF35yJKVo16a8M2OlSNThR-6q_pyYRsScuj6iGmrPtXUSrIVw6lIaSdAXjD8pdTo3ssAcYtBi4vq9Jw7fn2JenJ3OCy7S_OWqbwlubyYDJydcG0UhG4BECj4xZKKhDjAT6dVtfg9fvbtcfw0BKYAwjq6uFSZZPgrxBiWhyCbmFOTL1RUnvXcvDuMdHOG8P-3QReubVBCak_8K46BQcpjPiK1llwVD7K3jyIteP9w5N9U4P1z6oV_ANOP1sYuDOP_USjL-eEIA2wnJzI1cBRNYETMc_mhflAZBgXZ04UogKssVRiL4GqOIOUD3uVi7poQjC_Y14sQb9KUc2jYcWHiVrDefLjSvIlCWko-XCuuRTrBEDLxzANrtcrB4sSmd1k0ktX3AMBi86ANB44EtKIOFvyNemBHJOhQHEvxVV0J3amExaMJ43yvmhin7SHuq7PAFPHNnvmjMMLs3fKsqapiFgW2okbHVc6y5EmmCMSGRSoabiHF4trb1TGf4jxJwR4PUGvZJSXMb5pPgfWJ0XyjXTsJHqR0VB_iFF_X1V1qimefoGmcNQt6x0yb_1zJ9NDAJX2JncWgKCE4XnXMEiiNbfH8DCsG3pZ9Rf-MdjoNiYPzXTWDxeUotFumDBoAeNtC_1DLPM5gR5S7OOXm9NWTow3H0IYDXksL5MtEWl7tz3FRkDN8CmUpErSeUQi5gM45BteX9e4Zv97O_erS-MiAUU20veVP7dfjL4nTRN_EC9lowKa9sojqsov5oRCyzJ9JRAzKS-H-VvrQ8bHXFJaES17XPUA6Bl2fcAx0HZqyHrG0ot14-ccAEvY7LYTo9DESsiBuWAHTSoB_hrW0rMq3eESOmvJGrWMO072xYQmMV0ohjWkRvyO_0b2_h-hS7KY0GwMV8Ki1mudL2M57wPGeAEwy5fLNhWu0Ip2anp-cY0upZqA4BPhuTGF5eCPiJrU7Q6ShcfzlYalbZATO0DXWILfE4sLirdxHYo0_enlrWGIkipLbIisMqZaq2Zr8yMhLIV3gC9eDlFE8tx8_7L1-CaEcD3eoKbbEO5vwtXQElapt65Kcs5ewEY72YPe6UWxlgdYpED7SeGc1ec32wazqiIo4FFlzgmIULOpoaRjWoHSoXfEFJV0GiNEt4vI78SDEHBnzAE132ghV2vssFae6YUvNCYXmxLG1ObhKZhwBIgc7Sj6SJhCo_7FuF0T-dDeL57RbZdh6Tz8oMeQ4bDW4Rr8IqBR1Z3AMqaloVE73izEe3iUExTUQ5XQGODRzxIVp4fsDucCx2OYydwzpjGY9ccW52n7KbwI7dB1W6pwqwuFp25b17K97C0BoShnhigxMGE7B86wAoLd4O667Hx3GHie90fDvs3OOZlDvfofkUEDFqLm09yJmjCLkQiYLx8_7vw6EN_mjxUxgLGMR3kjMr59kQzuFCT0M1FUDb8ZJDVmX9gzYkh6Az85Rn42VU2mOdVrtvNV74Fh4vRjCXie2hs0mBC70nDzs9nIOHdFU7Ld5XkgYyH75WNkXw6jQCm5-AdKyG92VRXhoEIaRIoaaAa1wM1zUocbD3dCPIr5BU08noIr6GxpDMoJ2eJBKTQ-fQRNix2Y6sNvEOgZJD1zOaK2s4WGlDFlUXepYlDZvc05LIcIF2T_4v7oe9Ix7f2uYSqBURkYmwTlyVRuUCbPZyjx3NdGS61pCKZCEzqGHgASATOjo2KuKQK_jTjiEtkWjcktH_5ii_SUbjlfUvu7SA0fQAh2UJ2apUgCSfh2NZMHZLR66wFlTDlHjfAmbKnbzUNUoL3zuyCU4SsVgpApyGcWSLiwJ2-pReS0WBpxqUtZM4qZ33gJUR68-hmobCM3PH4NzI4hTn2DRGfTiTSG6IaITEf-pFRI1cYJndrvuTTFjsBJYiKuAGnahuo0ObaWvbTJaSWSLOpsasK0Fszo0bifor-c8ZQmQrvTVAJWBLCp9hmzIP5aiZixXZx-cZSl9_IKy75l8xYvIdRTooy",
  "id": "rs_0f95f99d2e8614a1016ab44ac6844087d0ab44ca0e17eb9af8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_y\":-0.165,\"left_gripper\":1.0},\"note\":\"The second close also reached 0.009, and the close-up shows why: the selected rim remained about 2 cm to the right of the jaw centre. I’m reopening, lifting, and shifting a further 2 cm right so the rim—not the bowl interior—lies exactly at the grasp point.\"}",
  "call_id": "call_ccakXSgFmeeDFhpXnzn6dBE9",
  "id": "fc_0f95f99d2e8614a1016ab44ac8e1cc87d08bdfdcc5caa3705b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ccakXSgFmeeDFhpXnzn6dBE9",
  "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]: [-0.6529, 1.5799, 0.9882, -0.4118, -0.485, -0.4984, 0.9948, -0.02, 0.7986, 0.5957, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3547 left_y=-0.1631 left_z=0.0984 left_yaw=0.0335 left_pitch=-0.273 left_roll=0.1051 left_gripper=0.9948 right_x=0.2918 right_y=0.0007 right_z=0.1715 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -9.0598, 8.6906, 1.2283, -0.398, 0.1099, -0.0952, -0.3077, -1.2376, 7.3641, 1.746, -0.0611, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d317f75c1a4a7658762b2fa658dfe84822477ec7a1a98924542a7bd3598ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b16c12e43cf4982ce8db7e8cbfbfdad51adc268f0961b84125d827c3dba8300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c176c04f9003fb06bda48d6816d51e30b1ebf09cd346224b47b106448e4d84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.4841, 0.923, -0.2508, -0.4545, -0.4023, 0.9946, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3764 left_y=-0.1419 left_z=0.1295 left_yaw=0.0227 left_pitch=-0.137 left_roll=0.039 left_gripper=0.9946 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0202 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -5.1487, 9.2103, 1.5849, -0.3101, 0.1197, -0.0757, -0.1436, -1.2513, 7.0496, 1.7363, -0.0513, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6054, 0.7628, -0.0868, -0.4545, -0.4122, 0.0089, -0.02, 0.7986, 0.598, -0.3939, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3587 left_y=-0.1329 left_z=0.0497 left_yaw=0.0356 left_pitch=-0.234 left_roll=0.0987 left_gripper=0.0089 right_x=0.2924 right_y=0.0007 right_z=0.1731 right_yaw=-0.0019 right_pitch=-0.0229 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.1026, 7.1726, 1.3553, -0.2076, -0.0122, 0.6716, -0.1573, -1.0462, 7.3504, 1.7265, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 1.5799, 0.9882, -0.4118, -0.485, -0.4984, 0.9948, -0.02, 0.7986, 0.5957, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3547 left_y=-0.1631 left_z=0.0984 left_yaw=0.0335 left_pitch=-0.273 left_roll=0.1051 left_gripper=0.9948 right_x=0.2918 right_y=0.0007 right_z=0.1715 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -9.0598, 8.6906, 1.2283, -0.398, 0.1099, -0.0952, -0.3077, -1.2376, 7.3641, 1.746, -0.0611, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d317f75c1a4a7658762b2fa658dfe84822477ec7a1a98924542a7bd3598ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b16c12e43cf4982ce8db7e8cbfbfdad51adc268f0961b84125d827c3dba8300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c176c04f9003fb06bda48d6816d51e30b1ebf09cd346224b47b106448e4d84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErQMI8jPo7fZmm0EfWOiIRruJsMF-yLl6oCRwJVXvMKeZf8ntmDH5wMA9VPnDUwgqG-B6LwD8FxPr9mHmQPCTFbr4nzSDTJyllqA7G39-dRPZY-97-j5ZalIUKPokpO9U6Q2UefWmMo6cmw0bPnvp65VQbeLAdrQRMlwvl3tIIVMjacBTG2eLyefpfUsFUOwJL8SId4wkwAH36GD6idDljfsbKTJJzKnnTzyZh_Kbij3L5w3ZP3nA1dBfcJBty1mx7IMtDOCJpH2ROXsWZJe4rB5qeRGoGs9Vildb6UTyXKEHwMvyI7ypvnKcBP-AN35eA5GwYu14krzywKRppSPoS3Oq9lVvuWSwo9qDmMOpsTNgqR5VzPyeyToCwede1doGrSwYOZFdMIBrh7foOj0RZkgJ7KiOxM5WbAQaV7F4xllwtpFy168x7hVv77Sf15T4rEWjiog_qQ1GFK_GOZ0onvinsCn1N_C9J16Q1sNCSn-uu-2GbhtQZkDkWTwmRyHFx8n_cZobs0-LWbxoHJUFXuRMoPPWEePzqqeROLe9QvGVbBy36uTOYLKZ1d4RY6ybkSmqAj_Vmx31KvtAT_DRajuZjgsdn6q18ZT3uHrqT3hHkuZGJxzUoRPtDmeXYIZVySWWLoGXqpMRDN-CvhzhK3PxkRx94nc5r67cpXuVKTcoEycP3gBg3H_WbqS_Da07z5CjGXRp2is-yVPTLaT_xNM47BqkPMKVlGrcovtkgzoqqhuxPojUMsfv7HqnHhNOmG-MqWrth3fbJv81W8uE6X55Stl29uxgXkAurL3H8O6l_YEywhX5JDgRhx2uUU9mR1a4RVLWDKes2i8DnKr5h9ckDQultU9v1bfVWL0HMrFeupH_qWUmMbZ4_unSpkNjIUjDeBauGNoU6YEekBu_MaGQbBaEbAfo4VOAHuoZMgbenYNvjEgrMgjqq5fBB8CFsyu1gnBvXL__--ZDvvzwo9b1QuywdxLVEdiwtP8iuq8O-BUZL0gm8uygMI2uWTZfot4Yxan9d3SeTyZsMPAghyLFBGGYjc861zmjVtE1eChGNJEvX2Ei7XF5yD-nMzPU5XOTeQoMpDIPmZO56tjMEPubSn7GRdgGEf8aNXXZ5lxYXs230RKwl8rI2H3tUIZL_XeCUN0t0VvIxofwdsKqz2fYvH4Mr-E1MLWJ-Vb6_GIxN1A1ocmYP4bFaifn_Key-7q3PAFhs4WgmvcXeRzKibPkUmv1OgHy8H7cTVpyMFs4xtItN-dAhZIPkdNR9w-Zc-s4X4JCvZzBU-WNaqYF9Y2NnpNFeTSt7XxF9ng2Qf5Cpk7XMviHEJEAz0V3oQK81Dx7tBZd8vPJKsSYVCqb4wU9WHe5GZJzYDPZ3RnqLOyiwxolXGXqjI6KLJTdiy_ZNXKb5UODJZ7CI9eI23m1E5MXKGCA73-skmU0yG4GBZHlpIgyvxkczQC79payh1GSliCxEdPlyR-RL-LRuedrNPO0bP4Y_PoRqJGcBkIRRg-j_LoAuyTLPyPV3CqU6-8Pcd0gNT92TluuVZanSFyO_tAB5siAGXipZ1Mca9cQRH-Wp5Eq8CrVuPJB6i-EnB4cxy8ctED3wFLlKYnejnK81UjaZp2JdRnzm_h_P-f5oASQRdQXETvDYOBP7WhGcGbQpuCNqAY7fLEhyOh_8tnmYZDraYvBFevHrMrbdo6FjnAeoFvdS6vBRf9Ega8_e89zZzCUklx2p339cLxqhso1yJBu5jxTLduU5q0VUW05vpLRSq8r-q0LXmKbP9EQFkSdGKux-1br49MXidUK58MXqRdReWQOSPe6rAsC0ATVAinnmYG4qNWvgtRzzmt5DEvEbWTRahlLZOfWqhCxDwujcCYg4ISJib2wiD5yUY4RTVfTXEIvwB5HkU9UyfG7LeixaGXDfOSnPcH4lj3-p-iD4ku9gYsknnU-iw3bYpyJZxAl4489vluXoR5NJc6wRwgpMB3Gdygf0_4KHH3HbrX1riaZaoH1EYstVKbqEIc7RfkNe8rdJJparcr18s6CC9S4XQU16ibjNLH2WfiCV6hUcRWkjyqg_eU5QOyhzcHUf-brEpPHxoRDgcpxnVCn1aGQRiCHR4_axSvWhjYRwwTmg_tK-dqP0oZN7RBOuymbfUIAhx2gWGbli96I4kO2CTSJeaCvnNOSdnh3ozSly6SSJmZphkowwKgWyY3suI-SXX6DoeK4r7dKYLhCvk64XQpc8Ut5Sk35z9CVHyi_MdT3FIb5Qo-ftQsLI5VScQETXs_jkFiQbFmoZ40yf4DitVWtBH6Fmct6anagmU9AACmM8itoqMZiX85sz9gX1FA-IIR9wdRGXbIxINXg_-lAtNhnLDlh3mGLO0loS-1-gJXz_npqKDIKwS1VJN3E14uuhmyBCkfbuA1RSw8EQtyqnNKgSbifx_zZ5aDjYxTb40Lr8shA==",
  "id": "rs_0f95f99d2e8614a1016ab44acc97a887d094c32e7bc5c55f61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_y\":-0.165},\"note\":\"The reopened view now has the white bowl’s right rim exactly on the jaw column, with the purple bowl safely beyond the other finger. I’m descending at this corrected lateral position to pinch that rim.\"}",
  "call_id": "call_tc9uGXTcNFx1Vlcw4twSDJ9D",
  "id": "fc_0f95f99d2e8614a1016ab44acf28b887d0b273bb31e39d7d40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tc9uGXTcNFx1Vlcw4twSDJ9D",
  "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]: [-0.6548, 1.6436, 0.9016, -0.2996, -0.4892, -0.4988, 0.9957, -0.02, 0.7986, 0.5953, -0.3969, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3497 left_y=-0.1593 left_z=0.059 left_yaw=0.042 left_pitch=-0.3001 left_roll=0.1331 left_gripper=0.9957 right_x=0.2917 right_y=0.0007 right_z=0.1712 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.7744, 6.6393, 1.4676, -0.2906, -0.0952, 0.0806, -0.1299, -1.2376, 7.159, 1.746, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4e0499deaa077e8d5991bc0d5ce41ffb948303f5e91cc485d88bcf6dd4a0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326f4b54edd791846c350e9a8d700308167eb179e0781c73de18efca31620c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cb0ff138da6771e4848b10f6dc7cbacc4c6fbf9db63fac0b1317a07720fe6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.5871, 0.7776, -0.0818, -0.458, -0.4091, 0.9956, -0.02, 0.7986, 0.5999, -0.3927, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.0624 left_yaw=0.0318 left_pitch=-0.2011 left_roll=0.0811 left_gripper=0.9956 right_x=0.2928 right_y=0.0007 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0198 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [0.0205, -7.159, 6.4752, 1.956, -0.1685, 0.0317, 0.0855, -0.1573, -0.7863, 7.1179, 1.7021, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.6529, 1.5799, 0.9882, -0.4118, -0.485, -0.4984, 0.9948, -0.02, 0.7986, 0.5957, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3547 left_y=-0.1631 left_z=0.0984 left_yaw=0.0335 left_pitch=-0.273 left_roll=0.1051 left_gripper=0.9948 right_x=0.2918 right_y=0.0007 right_z=0.1715 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -9.0598, 8.6906, 1.2283, -0.398, 0.1099, -0.0952, -0.3077, -1.2376, 7.3641, 1.746, -0.0611, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.6436, 0.9016, -0.2996, -0.4892, -0.4988, 0.9957, -0.02, 0.7986, 0.5953, -0.3969, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3497 left_y=-0.1593 left_z=0.059 left_yaw=0.042 left_pitch=-0.3001 left_roll=0.1331 left_gripper=0.9957 right_x=0.2917 right_y=0.0007 right_z=0.1712 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.7744, 6.6393, 1.4676, -0.2906, -0.0952, 0.0806, -0.1299, -1.2376, 7.159, 1.746, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4e0499deaa077e8d5991bc0d5ce41ffb948303f5e91cc485d88bcf6dd4a0e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326f4b54edd791846c350e9a8d700308167eb179e0781c73de18efca31620c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cb0ff138da6771e4848b10f6dc7cbacc4c6fbf9db63fac0b1317a07720fe6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErTu4d-gQM5bxia7u5gzzbDRdcrZMYnkPIRBWWAwB0IVsG-qTR1-Ou9i-ad1U_tHBqIinN7w44D56deRDK5k_OOf-m2WyN0cfT2AldxH9kjWjUuSQNHoiDw0ltwJZ_TImt_2Kz6vWX9jwuu-qRwzqKTt4nAsQzQO_5Edbnbq814LQGWVpKuiWEl6yD4BF6rBvGSBJiQ-52HoznWffJLCtLjB4wxYfl-7yFyFiQv9sicNhszA4x26GzvN9yKqRdZNFKGw9nXKpOjh7_CLsjZSH3Gomb1U1T_MjmGFzmyZkl8jGP-QNl8t6a3lzpNB0xpOM1kOjSzhDGZr_HuRUbZGwGKABGHwdt1B1n3GP3kdBGz1h_pdOUwxWDxvyenzQwoVF0N0YvYfIv6Umos-uoRc9y4tNAKzFcSstMfE_qx9xXpTsMV2gjPwYCIqKICLc-6PF3_cxVngOINLk0w9mvOy8Bk91uHVcBzroPNepJR2KAm4c7j-TmyqtjNpeZrXD8zcPaiu9BERl7iB4_WhxaKEI5dNz3QW5E2S5sJsVBakkk4Oct5UNKVaV5zcvS63tOkDW7S4b-L7ygBLyKwsuBIIiQDdnhlrF-DMnIPXOk1X-I2kUbBvF57bl6QFQJ_h5gYf9kaOSCllKeM9aBmoPZg7aHnnILFQKZ0UEWkK13ynGyW5zOw9zjaw9XVjZes0BSuFk4lxbUvd2Kq9KW0dRpi2iV4BUXFKE-4JlBXni8Jg7VkW0jU-qIJK4fFdvn0Wm6OESCAPInn3RKpr-jYWpsiibtONV1HzzlTH6lbbwXTY5Nn1BrkbVhjWxAw5f8kiqtUSYOg1q13XF12UGeTtO1NZSzOj2dRhIB4hNeoSHOHx5jiVUOlzoQzmFZysBq0o0drWVe-KIHDgedpeECkNcU16IfbMROu17cB8pE07ehtFTyyHmXgZtStwpfbkfaHXWPKDUAGeFNGTOpYyFeFDjI77objWY57D2CvCsd9HzGS0uOAyVnsKWiPIzDWiT9SgDuj7joMqKj_zGHoRA5xiGEaL0JVse5se8A3nsia4txwq2cM6wG9-jkqAVFHhNtWbu6R08fRiusCQB8zh1uoDKq38V2J3UC7FnWHwyFybbXINYN7iectDVHEycKxWnqz-rYOGBu3nYTTS6E-9O15Ze9gQWEPEBXlruQtbdRz_dIr0UyGJcvryV2rCckRgH9pYnYzNSfVv9F-aBuJ6Z967M1HtCcueBAdzM1VhbG8Pt1-oCDZNA3XRjPLSJSJSAZsUYpNBKoJfNJt1OPD2dJamQQuuHpmx6gHmK_oMhWAUuhqIfXIh86Tztl0KljqAzbSN0EVXW98",
  "id": "rs_0f95f99d2e8614a1016ab44ad1fe0087d0a6d173fd99c8f636",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 5.9 cm height the white bowl’s right rim remains aligned with the grasp point, now clearly separating the inside-facing and outside-facing jaws. I’m closing for the rim pinch and will lift only if the opening settles above the empty threshold.\"}",
  "call_id": "call_4LaehOh4XsjO8rbfgfqR2FBe",
  "id": "fc_0f95f99d2e8614a1016ab44ad2766487d09ea9269b095f9dab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4LaehOh4XsjO8rbfgfqR2FBe",
  "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]: [-0.6548, 1.668, 0.8768, -0.3027, -0.4885, -0.4988, 0.009, -0.02, 0.7986, 0.5953, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1532 left_z=0.042 left_yaw=0.0527 left_pitch=-0.3404 left_roll=0.1681 left_gripper=0.009 right_x=0.2917 right_y=0.0007 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2923, 7.6786, 1.1209, -0.2369, -0.0366, 0.6764, -0.2393, -1.2786, 7.0222, 1.707, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7b021a371d3cb9d953a52d6bb378bc1eb7e06293df88a4720563e1aeba8bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0629a0522af708597c8809673f21995a1c602a7bb31a36368192dcb0c0cd4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f9fbee062e14b07f15246e38c482564c746d395ff3af4873a092b10b6ce0ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6054, 0.7628, -0.0868, -0.4545, -0.4122, 0.0089, -0.02, 0.7986, 0.598, -0.3939, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3587 left_y=-0.1329 left_z=0.0497 left_yaw=0.0356 left_pitch=-0.234 left_roll=0.0987 left_gripper=0.0089 right_x=0.2924 right_y=0.0007 right_z=0.1731 right_yaw=-0.0019 right_pitch=-0.0229 right_roll=0.004 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -8.1026, 7.1726, 1.3553, -0.2076, -0.0122, 0.6716, -0.1573, -1.0462, 7.3504, 1.7265, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.6436, 0.9016, -0.2996, -0.4892, -0.4988, 0.9957, -0.02, 0.7986, 0.5953, -0.3969, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3497 left_y=-0.1593 left_z=0.059 left_yaw=0.042 left_pitch=-0.3001 left_roll=0.1331 left_gripper=0.9957 right_x=0.2917 right_y=0.0007 right_z=0.1712 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.7744, 6.6393, 1.4676, -0.2906, -0.0952, 0.0806, -0.1299, -1.2376, 7.159, 1.746, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.668, 0.8768, -0.3027, -0.4885, -0.4988, 0.009, -0.02, 0.7986, 0.5953, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1532 left_z=0.042 left_yaw=0.0527 left_pitch=-0.3404 left_roll=0.1681 left_gripper=0.009 right_x=0.2917 right_y=0.0007 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2923, 7.6786, 1.1209, -0.2369, -0.0366, 0.6764, -0.2393, -1.2786, 7.0222, 1.707, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7b021a371d3cb9d953a52d6bb378bc1eb7e06293df88a4720563e1aeba8bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0629a0522af708597c8809673f21995a1c602a7bb31a36368192dcb0c0cd4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f9fbee062e14b07f15246e38c482564c746d395ff3af4873a092b10b6ce0ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErez_tYycZWob92bOJ0tJRL5i3om8gGN5KRcOOnEK18UP44B66YtJh70V2X2aNdV_o7k2XhAJQ_5L1XlcA6KsNrW4F0nhSZqVmyTO7bH_TSZ4rPhx51x6w319Za5edcS8mIqSOFN87tbVUUOhwTpCI7pvzaHnOytrwpwgNhavLmCs76WtPD1F0_EXF5Cnb_rkxTwElsMaLJ4M2YeVtI42HZt_913Jy4z3zmffJuj6bE6hASVkvzpproMwVpArpmNmKZCfnU-tD07y9sL7v1LXuG8WzAxHs6KofzSntYzUr9NVGvjUNuisyQvJo_0NpTGPzn_8HWUTL33GqX7ry-CHaMWed2gl-yj33HpPPcYBc011LnjpEPq7TO8WaxQtQcVBeQ2fyHPjkqd32bi1rTHeik69qplIqXZmfNlDGZn9g3a-kq34mrP5v5xLGYxsIC-p9EaV0Ejc9K9jBt61l74qIhzT_u6wTrPGiurh3ecDJWG0rZZ2RDApRPV93bMqE7lBqkpvXgbBAN_uJ8ststqUhktGoO68TATzR4hJESpwmC3XqwsWtVwltfoyDPmuWdJfY-1Zsg0JmAsOrPbbAoR_CbqOJGcTzsr6IQCTgcfuyHaB7pd6sigRCbQurfQRocrQPvmGULDNyNzn3CjetbqvqIcwBtA_ETqQZ-t1OyZWpaYDO65DTXh1OdMNHAtxBqTKKA692UFlugv0UvoOxtlc7IKfXFtP7M7a7pQZmvP-ddYThbgMwyuy-YaOzuvpnhQfsGKdPuco5Rz9wkiuYpfWnOCD4HGvI-AUTSvaiMbChzbwX4JEMzMgnHWJ0qwtyWXRyezDiIeHfXb713aw3AWvtIzLYM5RSX82y5RJ4ntPdJkD6YIaivPztQbDXS0F8bJnnm5zwMTpLNu3z6vvU-GG7QMOghTBMUZMUbN-g3kR4EUfk0FgFj1n7FDQqoZVEHaB_Z6yE2n6MKNtSvqM4crwBihPHqDzJuKtB6RJbjBw2tGP_oGxTBNlbGqG94-7rktgpoa-0Kezc_rNRIkjF6ObW4pxdvSfk328pvUdxXxBXQrtV8gJlf9UL1vAnood5Bbnz0iVgc4vXNlO9XDAKeM6T9_HgH7E-Q0FEld5-DP_rzNoVc1wFBPlMLzrcdLQuaATFtZ7lrquWKVSfkUtb8EQV9iZWr6GSc3Abs0yyDU9Xz5tzadyqqoBSkCd3b-rh1Lfao2AonLIvOTMrgJbtC8yZRF2VA3uXaKyaESDgBsgu1K-jUhZu2oZwpyxL_l9RFgsh4YrxFVy91eUwv7XeSxHaD4dEYiQY1lJ83mg9fsEdyJ7-YiS17ss3NmBuKS98nglMNMSLY3lKnxkYEYsLtAnUWj9B2fedLAtWpYyGyUl_pChqnzZ6vcmO3Ad37tpUzjbhaFx7wC2_5tIIcwFVwzEyPj17pkwfd36kzu14_C0jCdawlqW-vgcBBHbqyqG74fv6t2z1dYO48ZvObDI4SMTp7NABZZPOWjSrA52OlxBGwMAhr15Fc71jK4gLwyaC343pscGyZC7W-avphWdhnLAnovYK11zv3eix-ahNp0NpEshZaFWNQxwn-TbH_nKwIs-Enlbduezy_WPBoLK8_1Tqe-KZxErQ7U_SJPDKwzG170lWKhFwaD5S2f_nbRMH4z2bv3v3aHbVdvHfH5mRWhFjpkYYyt4RaqdpYlbq9yaDeiOA9v2TZXDK3tzUsuSjAqyri6BeKU1OO9v7q6fixLmrP4sFl2KoCHmDjunFb375lCHbRaoq_03dqWLDYCaXGOQPE0LlAdx1joiSVrTCNPOZIDpTOElS5YzfDxoZGsa6qQpSxopWUYnBkw6l-cwQyVaEDnxw8ps33mlYflkIjWFdiKQl6U_2yMyCJQVAkzf6Ix-IMeddqyGGoo8uYBNky2r5gTUTrZJVZU-87ddugGcZd3660M3dWxhDoHUGuxV08QgF7Yn5pX48znedrJwJP_FGNa-azjachepPjFa55o17vHZFK5blFpLVDjIexubX8v2WvbSkUS1jdlAIqb6Ie_ATXXJ2aTTaZ9t-XiM1yrcpZExhk4fgNoGDdiYUuNRY6NLUSlH_tIpJlPXYyq4aGDPSj8ke2AUh-8Q2R8hxivS3FaH5FIINeLD8m9551AIKctgKTve6laI2xk8_7IHySQXERP0UEpLSHzyLnZZ7LznDpticK5PahZeJJs6ir7W-el9BSlMczzCR1ofxm1UId06wieValkfKUOn1qCPEEVoY47aQ9YfR4UPiDJ9CDHLGG17NPBDv90EX1VY1Ue4XyoawopgvjFNi3IvrhQhpIKE6fWYZW8L5QIC2Hem0FeG_OHrCcPws7rKeoMzdpBZJesRJC78belHHQeTEv079vSlEzj42HVMYfOg5KWCSyoyBWi8Gvlbpp0xUOlamiC5QmMdMGi4LLvBZIw6AMcAhE29k0nmjtUc2dpO6f4-bGuheymdHCqgQ47nVc132Ssf0DYS8Gh3TMWsuak2PD-uKhfIYNpX1l6iAs-eheIwh4IVvBRl-dzZfEvor5zj05VqWhdhmXIN6yWeW83WwD3hqAddXTBW4Bp41ceHwgWRXEkwOhmte8odMp2EL7uylOhnRXhjsgaWs9Mmrf3eJotYxW1OBEOAbICgdz3ufVxMYLkXPPkyUmqRRn6yx8IRPd8UfMEflTurjLb-zkGvyaxNxRLY63d5gp5bQwh-9anLaRefgdnbZcfFbBIdP0r2jyOF0VfUtvUozYIkIxS8kl7ueP3Fi92t9nWuF_hfPKhkCg0x_r8xJO5boAwe_GTxBMWSEZDpEPMHbNUbUStU950RIIxCgNmoFkmQVANyYIYeTXiqTL8EBc7Uev2ylblVbhotXGqC8uW80neFeYUakpgKpfNPaHxZY18zfQkXSq6ElFrQnoFhlMo21KxJjAllquo6eec0zkgaG-nBMeQX-VijiMxojop5nYGZg2zyNDHo168oedddWIbLZicrXWuHuOsjtZ3UrYrzD6B2iWINad_X8TVJCmMEe_Jl_XWgtYTCv8NFFstcJqdisOf9kPIi3gHt2JojLzMO5ki9LCqQSF41Mbr6Yb-acTifOiGglHOijp7El7fkhkECPtmjWWKOLhlpYurl5R-JgHD6ofVRwUu1jeBVEU3-Oj02LTJU7R83EfPrxJ_kFnKmeakno3UvUCLQMvWstWfmxg2szLCsguuFYvIyOk0KeAeQVSBF7t14KKO_dQj_iDOCxABREu6AsyElkF0WDMJfp7o-JjFQqivrDJlpC_Y77MydJXSRaDSEWiL64LGn4yy3ZnzYh8X8U1iKl1lzN4MTh6uVoS-NZcL-5meOWvwf-VZdbUpHoe6bqNEg9i8GP0CSz-pBxMGH-g7Lf1Bwbr0fKzm2k2tvzxf0MCampJAqBo5YbZgHh4daBsoT6Xc9B-3vjdFW8GQOHMrfzp9Uvi2Ft6f0dIWykG0OpH83vvFYF0B9djI1YGPH6itJTmaVZ3bZR4ANafGyKA5hdOu7O_LfAdLDn2tLBMmbgBTTnIX1eRtXJCasGJC4S_AaaJIK97mEu4nSHIhnIe_aQ8MUr7idsLNoXNN2Ochxn5SPLGYHBxzru42bplrIgUP8JRf1FkuS18z3PGTlOo9s9coZ16jBbQEe3DOcWAnxyriRA9ysRj2WPaNrwcWPiAEbx9y_3W_l8JhErUiTRZvV5VNOq7_4clkqpz8BoaN-XN_rC6VqG1QbEdEyw9f5Sf1UKUDP6RCp2miEoqbpdRj_7dHMBFnW8I_GS_j9VL90G-peI4TJWCHC2WtIG7t_QnTBxNY2T4Nm6RkSBdiJu4qQhz5svZ4ZiCJFaA9JiA8mx80n4d66i410hAuTSwaS-a_yMW9nthhaTEg7UKodsOSV6_wBPK-Y5H2UyGzLbp5h6yR0Dg9znJKPSbsWxVGcKECbIiVHI8GsMXqSW3lb-jWJ5SN6QnRqlyODvEC5QhSQijNijtHs2Qq9lptqDMDIEPEZM98X7BbXfT2saSliJC_KyGXoFdHoZrSDifIyfqdrNd_4jT_nC65WiYWythHqw05zkhA2RlDmimFRnPkSDa97CZXJIAWuTgY_6ROW_HVMzGmKqbRA==",
  "id": "rs_0f95f99d2e8614a1016ab44ad59f4087d0b7ecf4953180104d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEre6HJevt4jEy8vP3TM2KjUjcHn07L8WvWbmlAhEHeFyR--1vBWXDD9pWaXL0y4Idw7gNMRlFDuUqAHJoMwVix3Rc-DJxuYDLX8whWvSzWRkgECyA0BvFVRFzaBUqMyEV9Zdp2CLZTAHMDEd3vl16HlUepFBsbTyyKRv_JzJTKg4_aNcLvvejnMJXaku2jyet3eWq6wbXesr6Oq7BeTdmXGwzcmxn91IlyaxFeySyoCnuWy4461rSENqjCkesV8C8Z7CFjvvxzutn1K2-3emRIqP83CkzCMsgoxdhnWECzLP66rH0xVsTpJYXLIzql1LUntp7lrGbFMUniesXfWGzWryLo9uhiYBBQccXUKQHeClUkKEbpnWPwvvHaIl76p0IYuyxqxBMgro5SMWiVB0PQ-m8h-j6AfNvqT4wCYCQDuQ-tYunoQ_D73gFpnKIQbVysUOOTSDO9Jol6OXwRGDJZ4pdD6CklFVZbKCppg5CqXiojtPrM0ACV0X1sppweetDwYa5btJ52u1tBNUqdZc_ntevdFsQKMsPz1q6aQiTTz2DlYeu4IXMUbrxjV9TvLmXK69ld0duqUBIXQ6wTkTU8QknN1B6o1h3BZL6yTLxKw9bK_MTmWg9s3ge7dnyDSuUyxMBfuV3XRpJ3715O6UgxuX7iaZafE-BT_PSUgoJ_ejKowOJC_XH3bbIvXhgaUvaxkx-GA7gRtHSKmT7LshPH47oI_pgBJAMWlIA698ZnE5_FAwwet2XItAr6mTkQYYxs_P15W599Dpwk76r85J7c3l2ZlGqazTM_b1IqicUwcWFaVnYJnWUFCtxLb00ikXJWj2PKpjHtGz7ZopuDrsdtn3FJn46XKRIIt55c5JeJMhy6OlRwdHmdbkFoQvwl0pG3kPvr1NQzFgWPKAkAijThvSE-ab-znFFi-oKfU0neahM5_EhLbTW4kccd9nh17wpS0ljvw7AvmfDqSoHl73vlgqC7sMKgWYLwTSBjyighOVufMA4V4Wgngua5-BTNjL97UFdoj_yD8WYz2VrYvLfXS1eeOx6ykK5p0C6SzC4vP88YkT0kbl-RS6wSqDw8d1330WrV-yAl394DyZxW4ZNnk4_baCg6E_o1OWU3VCTuZb32Zu_inpKmGsfhQfmsIPywDbo4Ps8H9vHKk_hvNmiI3QjFtWJEDkiZj7fGKLtiCIgyowi2iimnH6AHow5zmS-mxbvyCgp2WNFBsO2SvKdQv7bbf6SVjtEd4JSV2djJEvdre0TKcyxlVXEeKQSCmtyK-JuASoP_IPwejKmUHUu0yRGSAyap-UjYU5onWHPIEPvhTyycbwEJA87qrL5I_xfuvlJsspCqQLnJjaRJsoyv8rp5TNHdCmEPmVhZp3Kl1ntuIgPfINAaTOaoyEceQolTpg6rDHRP9_ArRVPPR7TcKk0ObP5OjNXTDv960h4Y8AvIvNfELbNWKLCbJ9Qpv1VIvH69cqh0cO2MOd--8ezCCJiLjCC8FGRRbhOM5sVRGNS9Af7FRCWM1Oo_wcs8I9ChdibPswdLmjz8FH6W0t-1Ix969Bh7nvYRv4tQNNOEC_IILyu1T5tm4uw1Q4Ld9vPdGjFWJx6U_SSzcHXStkfk3DpZPYemqJvbt-hDfTkFhTGRceQNm3y6rE2DRbHTGBwT95cax-NMdQaUxRU75rTkB44Gn0EQT4z276i2LwULe4ONGYdh3VY8GgU625U-2Km_g9a6vMojFgs6YX6p6Yg2PaFinDGBRZBYNpmnaBy4RvG8LrGGdL0b15aRNvQoZ5ckUWNvICKU7JPL5t9Wiep9FxKsxyNViRpvTztDRWNCAowntH5oJiZ85RmsUKfUSEFUTTTKMB8M5KkcAI07NyEjb7-p04uEnknPT-gFmjaXDCWVDkrJjpwMzczYhvqeq7mW6lilpy8Top-TlLHIOJlAb6RMUTV01e3hQyWb-p8Uvnk4q9Sz2oWgJ-0S80jY6ohQ0SUm6iNnh7MrWpEHpvhSPQkWA6KFMYwWXbGIVAEvU7M5DR0pDjCbwkpkzrQfkikop5f_wSBq0c7bdaD3Mz0b47j4E72Nl9ZIuxHtKcaeAp4Yi_3gLzOkHUAzBAKZDRgj2brY9iCvVz0rrUVwXHqNqBWmNA9p_Ycriz-3Y3ELmIAfi1l2ymCbpoOmHzSFmiMl47Or1TGfvSEO-IO9zIRcJYMnjPeH-d-SNfh_Mm2_V9ksuidTEMoUyfnQfH8dXl3oO9Xep3d6JrLNDZZAxTUhCA4VMLZNm4CH9pimtmvCP6Efr2rwolqEolKbMNtKrc_6JQ0OrKJaAUM5amEvzS-xOeoccCkY3iCNj-7letOjcYR-ohxN1yTxNeWiv_8N2Q7zG9NS4HnOYjYcWJnJkqCeiWt_-S1O8dcbOJ2aY58cz4xbeaof7j-Qy_SBRNE7ocveSAHkRxDAEXQjJETdB0U3eKPlZzaSa2U7wPzAVkFr-ho_aebzrALuJ_O41RMMigORgEnv_RqXu_-0y2EAYZ93HJykYhobGg7FfTtOgPP0nH27ZGE8HDDe1KeZq3Qdmb7PpUY558mql2OKgcMWMWQq00KcXOSEEJK8KBCown_FobLArtfjeqV2MtO1eNP2DWidWH9mu-NHKXuQPA6UgZrNNQrBHC6HMTCNIXC84p5b3_YgJ_ifQemWfuipGXKQ2IivfP9M1-pcH3hivReKfuSVLTrf68ktiND15OHxciCF6vnM=",
  "id": "rs_0f95f99d2e8614a1016ab44adad15487d0849086262c064167",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The close again reads 0.009, but this bowl has a very thin plastic rim that can be comparable to the empty-gripper threshold, and the rim remained at the closed jaw tip. I’m making the decisive 5 cm lift test now; the overhead view will show whether the bowl follows.\"}",
  "call_id": "call_e2N6c1UM61NmiUXLjchADQ2Y",
  "id": "fc_0f95f99d2e8614a1016ab44add3d7487d0831b8c53915db016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e2N6c1UM61NmiUXLjchADQ2Y",
  "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]: [-0.6548, 1.5761, 1.0504, -0.5732, -0.4881, -0.4992, 0.0112, -0.02, 0.7986, 0.5945, -0.4118, -0.0166, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3431 left_y=-0.1545 left_z=0.1037 left_yaw=0.0538 left_pitch=-0.3444 left_roll=0.171 left_gripper=0.0112 right_x=0.2895 right_y=0.0007 right_z=0.1679 right_yaw=-0.0021 right_pitch=-0.0442 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.6496, 8.294, 0.9988, -0.315, -0.0366, 0.2222, -0.0752, -1.2376, 7.0906, 1.8339, -0.0366, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d7fa7b151ea120a30ecccb3d43a63cfc1e84c3bd590dac2ee06ec2b7043829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e217f13f65fce0626d7640413de6924f03d28b4d9b81035d5e0d329b9a12ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60b438a3cc4dce14bf5e0119fe38f7b5cc615e67984be208e826dff5897005e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 1.5799, 0.9882, -0.4118, -0.485, -0.4984, 0.9948, -0.02, 0.7986, 0.5957, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3547 left_y=-0.1631 left_z=0.0984 left_yaw=0.0335 left_pitch=-0.273 left_roll=0.1051 left_gripper=0.9948 right_x=0.2918 right_y=0.0007 right_z=0.1715 right_yaw=-0.0019 right_pitch=-0.0278 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.5812, -9.0598, 8.6906, 1.2283, -0.398, 0.1099, -0.0952, -0.3077, -1.2376, 7.3641, 1.746, -0.0611, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.668, 0.8768, -0.3027, -0.4885, -0.4988, 0.009, -0.02, 0.7986, 0.5953, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1532 left_z=0.042 left_yaw=0.0527 left_pitch=-0.3404 left_roll=0.1681 left_gripper=0.009 right_x=0.2917 right_y=0.0007 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2923, 7.6786, 1.1209, -0.2369, -0.0366, 0.6764, -0.2393, -1.2786, 7.0222, 1.707, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.5761, 1.0504, -0.5732, -0.4881, -0.4992, 0.0112, -0.02, 0.7986, 0.5945, -0.4118, -0.0166, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3431 left_y=-0.1545 left_z=0.1037 left_yaw=0.0538 left_pitch=-0.3444 left_roll=0.171 left_gripper=0.0112 right_x=0.2895 right_y=0.0007 right_z=0.1679 right_yaw=-0.0021 right_pitch=-0.0442 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.6496, 8.294, 0.9988, -0.315, -0.0366, 0.2222, -0.0752, -1.2376, 7.0906, 1.8339, -0.0366, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d7fa7b151ea120a30ecccb3d43a63cfc1e84c3bd590dac2ee06ec2b7043829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e217f13f65fce0626d7640413de6924f03d28b4d9b81035d5e0d329b9a12ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60b438a3cc4dce14bf5e0119fe38f7b5cc615e67984be208e826dff5897005e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f95f99d2e8614a1016ab44ae08ccc87d08fda2907d4521a23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.12,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The lift confirmed the bowl stayed on the table. The close-up reveals the missed dimension: during descent the arm drifted 4 cm inward, leaving the rim above the fingertip row even though lateral alignment looked correct; I’m reopening and explicitly restoring the outward position and neutral tool attitude.\"}",
  "call_id": "call_Fd5l2ZfhZA0EsDa1iHhgjpDT",
  "id": "fc_0f95f99d2e8614a1016ab44ae5474487d08f4163b0b7354bc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fd5l2ZfhZA0EsDa1iHhgjpDT",
  "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]: [-0.6186, 1.5639, 0.8326, -0.0364, -0.4992, -0.4133, 0.9957, -0.02, 0.8005, 0.5945, -0.4171, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3792 left_y=-0.1617 left_z=0.1008 left_yaw=0.0054 left_pitch=-0.0824 left_roll=0.0313 left_gripper=0.9957 right_x=0.2888 right_y=0.0007 right_z=0.1663 right_yaw=-0.0023 right_pitch=-0.0515 right_roll=0.0043 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.9385, 6.4615, 1.6972, -0.3346, 0.1392, -0.1197, -0.0615, -1.4291, 7.0085, 1.8291, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da976a36a12fe876813f6cfdf765862562f53adc1cef04022c45ba10b37fe72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdee7b3dc579d2bc7d899374421cb4b9a2ee85142cf64cbc8f1b1c8700ac149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5a353093c6288ca4f333c9a469eb36d1efed05cdc02ca7ae077612213befa5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.6436, 0.9016, -0.2996, -0.4892, -0.4988, 0.9957, -0.02, 0.7986, 0.5953, -0.3969, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3497 left_y=-0.1593 left_z=0.059 left_yaw=0.042 left_pitch=-0.3001 left_roll=0.1331 left_gripper=0.9957 right_x=0.2917 right_y=0.0007 right_z=0.1712 right_yaw=-0.0022 right_pitch=-0.0286 right_roll=0.0044 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -7.7744, 6.6393, 1.4676, -0.2906, -0.0952, 0.0806, -0.1299, -1.2376, 7.159, 1.746, -0.0513, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.5761, 1.0504, -0.5732, -0.4881, -0.4992, 0.0112, -0.02, 0.7986, 0.5945, -0.4118, -0.0166, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3431 left_y=-0.1545 left_z=0.1037 left_yaw=0.0538 left_pitch=-0.3444 left_roll=0.171 left_gripper=0.0112 right_x=0.2895 right_y=0.0007 right_z=0.1679 right_yaw=-0.0021 right_pitch=-0.0442 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.6496, 8.294, 0.9988, -0.315, -0.0366, 0.2222, -0.0752, -1.2376, 7.0906, 1.8339, -0.0366, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6186, 1.5639, 0.8326, -0.0364, -0.4992, -0.4133, 0.9957, -0.02, 0.8005, 0.5945, -0.4171, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3792 left_y=-0.1617 left_z=0.1008 left_yaw=0.0054 left_pitch=-0.0824 left_roll=0.0313 left_gripper=0.9957 right_x=0.2888 right_y=0.0007 right_z=0.1663 right_yaw=-0.0023 right_pitch=-0.0515 right_roll=0.0043 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.9385, 6.4615, 1.6972, -0.3346, 0.1392, -0.1197, -0.0615, -1.4291, 7.0085, 1.8291, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da976a36a12fe876813f6cfdf765862562f53adc1cef04022c45ba10b37fe72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdee7b3dc579d2bc7d899374421cb4b9a2ee85142cf64cbc8f1b1c8700ac149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5a353093c6288ca4f333c9a469eb36d1efed05cdc02ca7ae077612213befa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErqBnVvQb-hAvvSv7iLjenxlADRNzuaS79sLv-KiZEftDvne1u8tLOLXrbadLqfjZta_hKgvFtzsRTRANEZ01I0ywJV3mspfqLIftiC7MzzIVoO09zmgrbOxHTgTA3Z-UQ5-ZHEfwmEZeLslMOZTBiTOGseE-kwysKrwASRciJtWGV_aspD7V9_bXcnNQ9koJRly8pAhHBFKtoLnIaXY3bf6uU_4NVUZ5Wc4n_U0jER3IDZZVputr2gAIUJ-v8TQ6gHycOY_ByCBf8d0DuTnvQd0XkCVAcKzkNyvLp3btbcvPUJsqmV4pJAxJuRNt0RgkUuoF2j1cVMGd_Q04t2DU5ktOYAFGdFnup2eQTfCnNqWszrVft6GJeC7qnW5bogIC2AlKbJ_9p64rJEy4nd7VHjkEMrplt84w3ApzRjs27w_un7svAzZYtKqX2ZDiTzrdXy3o7D1OKthpFWU3ZuBSoj-Q2ujfUbcn-ZHbDQ7IYna9NtRT1dJ23WAHQ-4JhDQlz18rOiGrboz34Z7AxFk7eqXlpwu9q14gj2cniHVFWPg3BrHs-ycDtD32ep0TdqxjqZRhreLy8bD1MeWM6Sc1dq_gFanuq-briE8LM2P5nACxel6p70CSrC_pLvRBPJ9_emGHeZUMvWutiA4MINqBCVHbg_n0httfqgsLJH-9yTpn1mLqpRU2MBimNIBpHYD01XF-6oJcbSSDv85Q3qJNAgjKM5zWNtL8FmwzpNmjVPLfeuzgivzEXKx0vgGhamIiA2sfKZAX_aiunxitB2Sanly7UMy604g5j87VdTvbz8vvZKWhI2FycCpBSle4HsZNKQh4nvjo0xJJgy8DaridjR8HNswgafYXm8vZCZVH1mU_SgS4baWljog7qnYGVMU-0qVBfALeZsqYDA-wF6oIs2wWpVPoCxw7ny8rpwl9E0RRURG7oCGf0miMeGIufls8guo1lRhL2HJEFpRFMtT3rCgH6NYP6CWbyg88LjH7X6Al6QCo__oHQB0Xk8XFPNSnvboAS0oRTgXYgrt1o1dGosLpMIxNYu2rtWFWzR0O6RX4s3HoYSJIQKrcUVoOFTH1SlDbgUruQY2J7p9pxNjVPIFPpkDhoJ9V1v9pp7V0VTKM5JKzfAAFgZe7OXMpX6OvF8iJKUq-ie1OmwcvOqonEReFCW0Mg2ZXeE07kA62AoUdtx-EZOGYnBJ_W5drOYr0JHtf8Mt_F3A8vrcg0EwaeEA8rdv7W_F7UjdSvCIcYQBWbhVoNS-Cvc9quHHt-s0_i-sXNXc8Mp_cXXJzGhbXpC8YqAmoyKV7PhHfXYDKHJYmwLGTYSHqy6IR7e3RkYDG1vXpxKaWGKoeeXhsWbDiS9PmbzzWbz-2DiTD0otEXpIYmEIZXxIo9gRjFjVoTGw05oZsW6_W3lEnwNWQRmwGVtTRIKrFRE2I0eaArMrAHKCJzpm0ip02JK3eCdsDzcbBrfzuHwCI6lcxieFiYyxhCws5boagtvVrCgQ_f_xxNmbs0T4wQ_s0Mw95wNeI-EzU-AkhRp3gwR7uyjJy8AqIXqgPD5PSAe6M-VJTtP1hxVabxOtv-HsgXP8fYB2-HvvyRbfTRrXSS5PPlhlQFDIUfsS2z2yPiokAYHXvMCwISsrCztXKN8bHYPoOski9GXrYDXtzxhfWMmd1K8Fc5l6B3bSj11VBOhCLntwEe3jdLBhYEsBitIlueJaT5mW7IyMOQYBdKm0JUAxRdzmIEq0SXyjw==",
  "id": "rs_0f95f99d2e8614a1016ab44ae8cd0087d09555016397925e16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.065,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"With the outward coordinate restored, the selected white rim is now on the jaw column and extends down to the fingertip region instead of ending above it. I’m descending while explicitly holding x, y, and neutral orientation so the controller cannot drift off the rim again.\"}",
  "call_id": "call_PDmqtxkN0uDyWQSWkbaSljBO",
  "id": "fc_0f95f99d2e8614a1016ab44ae9e15087d0a78263906d30747d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PDmqtxkN0uDyWQSWkbaSljBO",
  "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]: [-0.614, 1.6665, 0.728, 0.1997, -0.4992, -0.4076, 0.9971, -0.02, 0.8013, 0.5945, -0.4187, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1613 left_z=0.0612 left_yaw=0.0056 left_pitch=-0.0589 left_roll=0.019 left_gripper=0.9971 right_x=0.2886 right_y=0.0007 right_z=0.1658 right_yaw=-0.0019 right_pitch=-0.0538 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -7.6239, 6.4342, 1.9023, -0.2711, 0.188, 0.1294, -0.0889, -1.306, 7.0632, 1.6777, -0.0464, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d385fefc8859dd6e75ef39a6a18f97a7864cb0ac141204c301fac1cc9c5c7b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d87f72f3bc9d862e29d69d471510f8683ca6394bf891265a70f247b82ad4389",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b5b91188c75a30b1a554c8c68fedf7434bb6b505ab45321d50d98035bbe827",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.668, 0.8768, -0.3027, -0.4885, -0.4988, 0.009, -0.02, 0.7986, 0.5953, -0.3965, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3416 left_y=-0.1532 left_z=0.042 left_yaw=0.0527 left_pitch=-0.3404 left_roll=0.1681 left_gripper=0.009 right_x=0.2917 right_y=0.0007 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0282 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -9.2923, 7.6786, 1.1209, -0.2369, -0.0366, 0.6764, -0.2393, -1.2786, 7.0222, 1.707, -0.0366, -0.022, -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]: [-0.6186, 1.5639, 0.8326, -0.0364, -0.4992, -0.4133, 0.9957, -0.02, 0.8005, 0.5945, -0.4171, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3792 left_y=-0.1617 left_z=0.1008 left_yaw=0.0054 left_pitch=-0.0824 left_roll=0.0313 left_gripper=0.9957 right_x=0.2888 right_y=0.0007 right_z=0.1663 right_yaw=-0.0023 right_pitch=-0.0515 right_roll=0.0043 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.9385, 6.4615, 1.6972, -0.3346, 0.1392, -0.1197, -0.0615, -1.4291, 7.0085, 1.8291, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.6665, 0.728, 0.1997, -0.4992, -0.4076, 0.9971, -0.02, 0.8013, 0.5945, -0.4187, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1613 left_z=0.0612 left_yaw=0.0056 left_pitch=-0.0589 left_roll=0.019 left_gripper=0.9971 right_x=0.2886 right_y=0.0007 right_z=0.1658 right_yaw=-0.0019 right_pitch=-0.0538 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -7.6239, 6.4342, 1.9023, -0.2711, 0.188, 0.1294, -0.0889, -1.306, 7.0632, 1.6777, -0.0464, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d385fefc8859dd6e75ef39a6a18f97a7864cb0ac141204c301fac1cc9c5c7b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d87f72f3bc9d862e29d69d471510f8683ca6394bf891265a70f247b82ad4389",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b5b91188c75a30b1a554c8c68fedf7434bb6b505ab45321d50d98035bbe827",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErt3Ot6qRosptr9B0WEkwuExJ83G6TU683padM8tYEklyZSJvoUpLqZmXq7PZ4BUhBlzs_Mt6XjS3fWElu3nhR8IFxB1N8CefZkPK4jpby0-naeyRpDqtHl4w9WOh7ACCf7GUnctdYaJqgW0Lq0t0c5P1aYBFM-bjr5pcjwrIYG-M4AKb7y_o7huYhHc_IPiBcsXNiyhzw0DpiLR4olhkDQ1cCkVoUWYkL2YYC8h7nVu5gHiym0jsbhYDYsnzYZcvGOemdprPhj-lu4jNThax0y5QAIfNoA2wTxZvuIttb6XE_HsMXFWZh3jrOSTKHIF9ASAt0Fog9SyqpSReApSidnU4ugUznWzuUX0HBcWWWdKnBE5CCRL4Y-VCPZJTWGlhT0mhF4tc3GnBVwxiRnZWZ8a1ubMVcJF20xSJjNd7Qkt0SSdFdMYbKZ8V6zOXPQ0omlUoUEP7mK-HjGkJRXABxOyYFkjV0v2bTnueM9EEpRITNzmSHsIUTlGTNz5q9-aog6EbIkZb10xKMsXgLxHSofhyha-MLWnsIJDJ-6--OtYOh2NP0gDKiFIicHxIRldOpskCdM2P5_krwbm1wWAtTw-0qeXEwvVRfTpdCAKNenVZ-0WTczcvTyir19xzsM2-ADX_ZxjAR_zxjiDUiakACgJ8DdPmfuv3bzL9Z8KekjxyeBkkTBodmDnGUOZUMnNCA_EYnxlkIjL-3Ley6nO8JvXiiqjRAU3BCAQcx5F0fMjFVYcApzgK-sw1_21OHyrzLrcwDI9bo9jNrfZaGzYRyalQFIQNWgz29LqwgwdNmMBesQkUwpiJrtjdbIq-H3b95MDOjYcGUpyLm1x_fk6rjZXdb6WiabyApp1qDIqphOCwNAZ0A00LKcN9tYBQmjdnYy0ypdf3L1kyXtNoqall21a2aX1Bh8BIkB85Ie3ZnDaNWEk5ZhowyhJNEqO6S74E7YZhsbg_GFp6kLO8fO0FHv6a_dgZ69MF1yt4Se3tO37ug7inLRaW04FebzGghrFcHtVnfKneupAq55mTW_I_4F1PoQOXRZ0G3zZzGXHw__TVZID8MW2S3QHbeNfKJDnL_99nmOFFE-zFWXZ91RVKHmR6wlkKxrv1GLd0iRLhzMglP2SAdaYEmSv6UWGl9lPNtfmEPPRe75sJIxGDC2k-eFTl4AZx-ClefK4cNCR4khJEXNy_smyRxlyHtd9ZA906lxf6yYOndYEgiOc1ZTWl-tcp2SXBNmAJRUcrhZmcCzUkK5HEOFEOYzbj5iaTyHmAOXIVUyPlDcexHEznvbo1GXpGFQXtaPLc8xPUq9-94LLiqhZA1TSS7C8dsqtbSC7rSt",
  "id": "rs_0f95f99d2e8614a1016ab44aec206c87d0bc551693e73a0e8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.065,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The low view still shows the white rim crossing the jaw centre at the fingertip row, and the arm held its outward position this time. I’m closing while continuing to command the full pose, preventing the inward/downward drift that caused the previous misses.\"}",
  "call_id": "call_Dq2apfJhwIJsPL2qkX85FZBx",
  "id": "fc_0f95f99d2e8614a1016ab44aec686487d0abe2aab71f37737a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dq2apfJhwIJsPL2qkX85FZBx",
  "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]: [-0.614, 1.7016, 0.6991, 0.2958, -0.4995, -0.3893, 0.0089, -0.02, 0.8043, 0.5945, -0.4221, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1631 left_z=0.0535 left_yaw=-0.0049 left_pitch=-0.0328 left_roll=0.0156 left_gripper=0.0089 right_x=0.2883 right_y=0.0007 right_z=0.1643 right_yaw=-0.0019 right_pitch=-0.0602 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.212, 6.3795, 1.6679, -0.232, -0.0317, 0.6618, -0.0205, -1.5111, 6.9949, 1.6874, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edce2bfd04c2a779c30c9e0cc9542849aaa12dd5b61f433fdd303866ca9ff49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b86961195a45102fe951dc991b5a5cad63fa5afa354436069f0f6ad3813ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc98180d814a216a3288bef6f043f626da8fb55107d1c4a5d861eeab243f1d2f",
      "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 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.5761, 1.0504, -0.5732, -0.4881, -0.4992, 0.0112, -0.02, 0.7986, 0.5945, -0.4118, -0.0166, -0.0296, 0.9992]\nstate[eef_state]: left_x=0.3431 left_y=-0.1545 left_z=0.1037 left_yaw=0.0538 left_pitch=-0.3444 left_roll=0.171 left_gripper=0.0112 right_x=0.2895 right_y=0.0007 right_z=0.1679 right_yaw=-0.0021 right_pitch=-0.0442 right_roll=0.0047 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.6496, 8.294, 0.9988, -0.315, -0.0366, 0.2222, -0.0752, -1.2376, 7.0906, 1.8339, -0.0366, 0.0171, -0.0073]",
      "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]: [-0.614, 1.6665, 0.728, 0.1997, -0.4992, -0.4076, 0.9971, -0.02, 0.8013, 0.5945, -0.4187, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1613 left_z=0.0612 left_yaw=0.0056 left_pitch=-0.0589 left_roll=0.019 left_gripper=0.9971 right_x=0.2886 right_y=0.0007 right_z=0.1658 right_yaw=-0.0019 right_pitch=-0.0538 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -7.6239, 6.4342, 1.9023, -0.2711, 0.188, 0.1294, -0.0889, -1.306, 7.0632, 1.6777, -0.0464, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.7016, 0.6991, 0.2958, -0.4995, -0.3893, 0.0089, -0.02, 0.8043, 0.5945, -0.4221, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1631 left_z=0.0535 left_yaw=-0.0049 left_pitch=-0.0328 left_roll=0.0156 left_gripper=0.0089 right_x=0.2883 right_y=0.0007 right_z=0.1643 right_yaw=-0.0019 right_pitch=-0.0602 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.212, 6.3795, 1.6679, -0.232, -0.0317, 0.6618, -0.0205, -1.5111, 6.9949, 1.6874, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edce2bfd04c2a779c30c9e0cc9542849aaa12dd5b61f433fdd303866ca9ff49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b86961195a45102fe951dc991b5a5cad63fa5afa354436069f0f6ad3813ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc98180d814a216a3288bef6f043f626da8fb55107d1c4a5d861eeab243f1d2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr48Xu8zuxo0onrGyigyq9bCQ7-0PilBtN17NCPTmVUNEzsHTGuna8CSvRMhmJ6OGsSVz_3scCvJI4nwgE_RNcWhNqKqeNQBChARRSJMyeL8Gs1WMoEB9Pge8sE1YR3vxiT2ieDFaLNqbGiFwfeHmcPXivjsBaZtnCwzRylS_VvLVQXx6CUQq5k0uepsMw3MwvdodWzeuUb1oPtuC8U2yM7f5gZ65BIe7_oQazSkdCF06B0I6Kz9OLebtLCl_kFuqzgerxDNfOH9xHcQ4w9nHB46NlfUQXsu0k8adfTjD_SUr_JDyZNiYFJMtIXVQm_L-43J93KCK9NktERhfdodaQYChWB4hxtsVvrQLBvihSKtSpFe4MrnZHiw13RkLcSZ0HLitrqAAj1qy0ZoD2xsSCpaehsFAD5wVhLCheOghvsotelEUl8EKuq4PwCHxrthKCAggqW_WKdEDK_GNETK_Rh_iOHrPcfzk9zDI9Fd-sgVeKr3ZIcn5vWWpTotr-HOSuLNgWVprtkUxAKyO_StufKbt63Ky1fvDLFuCkMOzrASCdYguH-ZSTectCKtHr8y20X7OzJEcm88IJIEnAbi55txtrhxNlUg-3Tq1Yj-ri2ZPjoXBSGa3MpBXrKs5dugFBjgu7Skmj44EtCzTtrxMnUTW2FHqLGuZ_VL4qpcJdheI-5rnhzQ_r0q2wiypHx3a_hmQjFOvtPXVxnLZo3fSz362VtLac391FdBWuV0NxkXxlZ4sAaie6l27Dl-EXW7gqK0pMtAa-pzJE2_oM5wsaXQskdLBRvKiQ-C-lNwEtOiNTu0flH7lCzpFVdEHMpdds4ESWeDHnvr3ifShkW8y-X8K1au4gR6e6f02dSvXGxq4EtSuQNN7sWjcX7hzilwCFWWx1afxReYNraWtVhXX2aeSp5dhxrOXMCtTVxl5PtZERJ5vhUmeiRsznUwqCfqPGl3bhvutjkSg-qHQWRJOLEKhxmM2bvFToeIgJ0QQJKnQLZDSGaFJJK8ffL6IsAAIlkaNrvOxasQu1BYrSgJrwol-QS2WNKspXoTSGT0ZAvTlm4fpRvf2omkmHkVCXgZjqAEOAPW0lU_oVjRjCV8WJUWX9skSD5G_gIhRV7AxRIrF2HciJ3V8WAGRSbD5VHoFN_XgrpyYbPZFFp0KzzuhdxzDljkxlNhg6eWsA1I7fXIo3QU3FumvIp0E-xUKQt2xo0kDI14iUP0Urz4nhpcCI6ZT0pz9zor_J8cYCcNzXPr_lA_rDxFXCW2cR9MHO4UL3-ooVWYuzqncCFx_ZhvbY5OnF5LkYjdavZceSRrqlLaVt3AGGtUXcUHJYcDorqbHZ8ewp5-Z3fUhn6wkHC2i8qUXMNL72-1y3Dv0gQhD-X98MbyG8BLFgCWUob8cVenLrLcBQYHSEKYxCf9kNzZey3JnTIINXdhOPdeb2sVa8MImYcwBekFC3hx-p5H9V9t5foJCiGRUi5rUT1lOK8iFRC5qp-Sng0ZtRwXixbYvr8GPL-FPQ0Lt2LJpm_iu3YHceiCGighusL9ZwaC2zjfYFRx2pdNWHSwyd35TMt7KmJb5mcXLJa0JI-gIJ_zuZOddXu7wVzCWqwPcSnGApVkwChCp0GB5LkyP8BQrr-yBpTh4CQmkZQZ-guzywi56OwYjF22f3vBVgnvuvS6U7HAmz8sxnwWOUpy3TugyMTWGFanTOqaaOzybs__JVPUbYA3MmgP00sopG2ypVS29mA9NOAfiN1ohIgv8KNr4ZpM_2gqEnaoBHkkZW9wxms1ua0daQmbt6C0a11px7_mWV2YyiRRLLVS5ntzGoycc9Ukrnzts3LdfmD5sGXC6DFjK7Fg44bpnGNqreG1aAjnKfllfo3nn30c8MCk5N-AVwCDLnCgTtcqooThWoYkVSUNVTbP8t4Ju8eyiRpONXJlRlAijAiC9aBplifWzuJa9cWov7AAbhy-1ypHT0LkQdSsZgp-0C5aQX5iSbMsuzOCzkNNZ-eZGq2RPFKdsYmj3Sv6sbmspTu9VUNt3K8kFDJUptWD5DhVfbUttfo-ipTP-imDoTlqSq6DxueAYKD2IR5BpD7OwRq3ioPOvdEf3zOCtqHoxbm4GAq8V58d6bqlAMWIS8LSYvUJu0Z2GNeu2WzyjEZyZNrlQqXnVIm0zXbcRtVgVg8kvkTh0ERzJdGXSGgOzVs6HI9dElXpQ0l3dOO1vRbatzbYafm5MyS_ixQa28c0MNFhIgJslHyRemVjZl_sVVzZyxmzKUzLaFXLeTXCfAEQj-iotJQJwcnFcTPCYE9DwYEIYMoCOWYj3tKBm8782JjWTVh1BjNPXExlm2n8zWi0b1n3szLxpt6ljwqYbWYEVZIb2W1WliT4nPbsIuyxT6vwH0ZtQ-QM6LrFxYPJ5YTRVIwljCC0OYq8_FxWxYbB47d4_9rgi-Gv_mRMsduraqVAPpnpkmDoOup7bVKajy2_54BOYkR-RlC1k44utkVM7eVB9eJTuY3RFpsN39Xld5pvYdbNu8P7CrCzZ8I97v-J4HYsFKSnzv7GcE_jL_ApmeRSW1G5zQbqgW1P3eGUhGVeex0p3HcE8iwj6n-ZxGZNyWlBl-dZFfHoFqUSN3KJM5oxFA0vjWm0N-ap6WhxYY5b_tkCY3JxnUam72oVN4UMQnr3S7Y_dTiBGmdeTCxs5iZRAtKRMw6RTgjMhzs145TdMVk4jSoiiUiwQPRK5vA37rpk8B__ifOlP4ktZzDl4NPI9iMMuYZDZ4_Lrq1oZC88zZviOEyeIeTly4wpdk-sDar33J6o9Gi7uNkDf7akqry4FwEpYjaLsSOZlir4EupWHYaxPn3UbUKZZ2fRZTcP5z0zhsIaAqVMFXiqXFrMVgN4JOX2oVEfDPUkhUsGqy8x9nNEXGIYoCqlEuLH69USGpUwKJYhC89FIiKimK6WAHmf7SG5-mzD-Qr3pfMC6b_rqMK1yG88n0jtZ3-ognr7ugMfXjrO6kFiVZB5B-wYXObNlQvE1dbHYiOaHDI9leqHyw9HOVpzuHO918p6JOoQP0Q73mvWwh_O4XI4vFqt-tsaUye7mq7nsOLjzUkFtApl1ZHSi0lyMeTIZJ8KAdbWe4SfrZTmyaKxcuaVsQwaNmPRTAHF2UXGwmeNbqn8n3G1jjOOI7fu9cegrSGgxl6UBXJUYNqw0dEGGnngZRgXQC_WoBLXn09sq_6TsbRL4eOStgcDQHBXtPGl3gWPNj5b5-hxwJr_hDma_2Shb9wW-DdiU2j_AuObTzAdmMp8JYDknvk2V23CgqmAkotHgFKo8bgCMbXX-TuS8xNzwSCHkrTUh1njiJhYDuhMQAvIziSKNSqpXCgehYVuvlPhVVIkbrELozPSoTGZzmQwycHt2H-US3Dvhxf9lAliupMoFXD-vgfMQayjjBSvEaiLas8oFY30Mry4QSDgyAUxnGaGHDkT4wQh4AGHGlMBzHauuQH3tNC7MdBpYvm9Lmve5HHtKRhUy0hjAvx_NGQpUXFELE-4UMQaQE9K0St2it1ks4SD7vUJHtba9tRVnxFVVLHADLE6hzvUvwmpeTQo4BPjQ2MJrbN_0sPcpkDLehh5bmqDkXa4i25wn1hjbSF6ROK-PE0gcSKlCjwGlK6RTMYrOL797MCZBaqf-6ST9ar1byoHCjjrgGgMvpG7LplfhULYPrNIQw9_c-y5lPl7UFhqTIWk-2BEMUrrrpvBtyAJmLbV8noZxwIsb7GQdY1U0LTgTKuEOYGF4Cq7-UVMk0SrvySrOgjjzM277XYiEIjhTMp_aJxBl_6zQ2TPcW4zsULYyRsJtn26erYNtiwMgM9mwU0DXUbxMkiv0PYZ102QMnXSg9b_6AocdB5OUfpzdjoZjqXCc6onkagF_MHkj-2ylZDq-Xs9v1A10PRih8MBAUdinBBtpy5Z8RZXfSLg26g_S6RqzmHit7gb6COJMdLEpxUnw9fcnwcJed28LRg9dzaVs5gjta71cWmIurPpJJWkRjEzqZUzUkNleEaLVx_-U-h6Fgiw-_U8_H6m_7lHb7H0t-Hc0X4NCVxzKdxPcGFWCzwptx2PmB8NLV8ra0cijdJRLCZEJUVW6ARUhY7siSdSaST-aykLfo20PlrU449lN8n3aZkTk-oIzhBSPTScXOdLM90_e8WN9O4i9thhPWoCrIhCk0bn2pWZpi05hEVQszEqU04xaV3YKI9GQyPmAycshv4xhc0wHW5k6bUuM9GEGk9zePcx8o8DmAHYQ1TloiBreqk7pj4axIri34a10m7H_4umkrUfuR_TNT_VwROWep2NGpP85HN_71wK1KUDuDIDI1Gp5u3n8lxbUPKjcM5gF9D2PpFWiWXejZLEbSZDreBdl1kXeO_sKI8dG6kQVdadDg1Hk1N6BFHXezmcMkoIZ4ls3NwaE3ZkOfrgBLznRoEnNXKc8CirvPLJJjligQ=",
  "id": "rs_0f95f99d2e8614a1016ab44aefb81487d0846cd74591a17aaa",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr4gsqwlpdU-btKVp7C1KzmB9KvYah-rQsyzjqvSHNY42HCJO3rIHghkUQ-QUm9sC6bv8v7nyT49DNwHeItz0P7Ohpr4GNl0GXTWDwSZz1LXd-JEk1MAgUN246ArZEqmwSDOWjTtjZ2degfoxWaIGNDU65usQ0QIf3X8GOpOsFbl1FOjXuTqoMiYNbh3MLvh5pMfZNHWRkTfKiO6gcmII11-XMHHpSDT20xYMRozV9WyVKQvrB7bvxShPd3GQX8SuxBmyL5jnN3odm9UVuSAAkn-w5CaMKk7AI7XdW7Y8dn-P3S4NfugLACzCxiE_LwB61L3mmU1a4k7VqkUhjRlmajP6n7Vgkks59ijoANGBhKnnPA0nI9jX559kk0rAa3GppfnSfySinQJL5n3nuVt3GpD61xoJrEOnX8-SG485s9JuVRzJqOFTjz3ptV_94nkrQPfa-6Nt5TR1F3Tw8Gjo5gn3ZqIwW7kxu-G_NWsFmQALTuIKpmUzU5ocGRTV-qLbjH1vrYneyLQ60M6BeOMorDcYopbKeCK4WSKhHzFo5E2Xg_5qeWYbh20zeTN5WhUaTMVp9DYR1X5n3NxT4uU5r9c8wVUeEGiH4wwj4CyJjS3mO_6EmnO4iMVq4-ouHOKhiwqc5FZY_14-Y1Z8Bph6NaOQhMp0VP-vc2W-Rff02HaEGO4IwGDJSY0fza1WtNZLi_903PCP2dQASJNr18BFLRmwAZ8dna5z7acaB6rZ-Kvob1gMsdimlKL3qRJdYB7FmuK91gXagQURmBKJUz1Mkg6-nAQ6fGUaqlHaMD5GIzcB8R6jlYZhNeQkUlC7Zi6aimOAYI4n9LB1VbfoGX5DXpg59Oh6a_ISWp9tOuGZ70soKqsbp_5x9wxHJm0anu3v863eTjrol4cvLEaoUceLVaYut3zLY5NB7J-WKdtJEYhBTyA_f8H90sZ2uJGGt4yPf_I9VshTJyVO8dX27WlvP72gySSr58cO0N7BQAFggOg0eey8b4aXyL53uFgr7MaoNm3YcsmJpmGhzBdc4NUj7qc9qisonyCcLA-mrTovSDBeRm_EPs9sv4qdeNY6Gk5RwgbeU3KeRGE_RSf5CdI1qNPc4E5mpLMStircgAR6vXvXQpf5DOoQvxBcigOutbSVMZuevfTkjjIdgk3qh8TgrpN_GHEaRbyAVDRm8bcjCrAH9c1IfuYccZO4cTr4j2SsAiAGBUaUS6CBkjPOe8WCvxWhrZK88y4zM-JScTLPwTrjU00RCaqcAe052tWaVBqii2ZSk9US91FWWF2N2d0Lj185isnJwzCsOjaidM2evTw3ZPgMufW1n1unTJc5E2A-PvxyTufvMy8vS4OagMBoiRx7-hw0QzWilBmPoqQWozzvQMlbd7Ch2KOsjK7vdT8m8HbX5vWarvCSLzwxG9Hon7bkzJYGgHFDhXApbhkqLRtvitU9t_YGn1PvFN4ZXnql1ShZ-ndkI7uRNja1hEeGGr0wkKEhL0RfgiD2QNml8GxNIi8G6DEc_Vy1t-1OY-bhHiJJYlj8EKBt_MrSEBb-sLec9ph-mTcZ2jxFcVaWixk-QYezZfljXPjv42XrGKvXjjmvJICIKYSmWZcTofkm0Zc5KeCKK6xN-zGQ8d20yRDtGcvE9bcqVNRzk96UbRh9XQABvAJVEtbYqe3mZTCR78p9xDoD0ZGpkZRRn4zYWiWuwoBb4JWrwG5G4O2WIBSIHWlo4LOnDjrYslBZ5PtqXB1GwWNJFgcPVH-1vRwc77Q1GopHO9zYMeV9-kCmSl20MLxth8MD-9rwiza-eGfX8LOUDsjkFHjJFs6Xc_J1C5XkiP68e0W5b-RIgSJmFEJWXEWo_vOz3e1dLGq5oNnqDTNrfm_qptQn78RvBFmtEYVovZcr00AL0xH805s4UVrimRdM_FRjxHjg7WFiFXZ6GdKRPkUOH4_lkhIp4LoAstnV0lqylGKVmslLnHEuJByCEsqxCFBkFZCM6xIca4sJBmtDxqmxAgSrfyfTN2mFOPmgAaMXr9RDT8O6nIapEIiDUQGflZHTbRPQKKTZvw5Al-HzbCiG7PVcg0Hg0_FLFPiY_BLst4WrHIjWbFHjmwk2VcOodoQJ66H47Yx2Gip3mV2kjEd_hgZLAyGhM9ZIxXP5seADtu0cCiPn58FnXisfyWPOAfWxs6NTMbzWx4TMFkbumMjmYJRHUCt7TW_AlpCugqhMKDUNsFE8oiduY9uTshOKHubdbrfp0d1C2B1Wm2l-L3h9Aj_clNv01cbJKCeczyhlaEeBtQXLWRqZ3oSq7Ve2bsZD_lYT6UrD_4NxrBlHMJUE-LJU2jSILT6ERDy6c=",
  "id": "rs_0f95f99d2e8614a1016ab44af4e81487d095c42079bf405a48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.15,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The thin-rim reading is still numerically near empty, but this time the camera shows the closed fingertips meeting exactly on the rim rather than beside it. I’m performing a lift while holding the corrected full pose; this will conclusively distinguish a thin-rim grasp from an empty close.\"}",
  "call_id": "call_8swKIh09eicj6bX2FtcnAbCF",
  "id": "fc_0f95f99d2e8614a1016ab44af6fd0887d0a78979d93890f61a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8swKIh09eicj6bX2FtcnAbCF",
  "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]: [-0.614, 1.5272, 0.8654, -0.0288, -0.4969, -0.3927, 0.0066, -0.02, 0.8043, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3877 left_y=-0.1659 left_z=0.1291 left_yaw=-0.0053 left_pitch=-0.0206 left_roll=0.0022 left_gripper=0.0066 right_x=0.2882 right_y=0.0007 right_z=0.1642 right_yaw=-0.0022 right_pitch=-0.0606 right_roll=0.0045 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.3077, 9.3744, 1.4676, -0.3297, 0.0317, 0.6716, -0.0205, -1.2923, 6.9949, 1.6874, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416016184080e7de4d8ffe941412a61f5a9052f7f207e3a5700dea4b1b1c38b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a214f8ac4fb154a46c1b75740c76edba19ba8eaf0767c08b0de4a1aa3fa36d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694d65fdd26d447bffc8dabddc6d065b65415913d5f154356e86fc9e7f6c0674",
      "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 56 changed as sent

message 64 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6186, 1.5639, 0.8326, -0.0364, -0.4992, -0.4133, 0.9957, -0.02, 0.8005, 0.5945, -0.4171, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3792 left_y=-0.1617 left_z=0.1008 left_yaw=0.0054 left_pitch=-0.0824 left_roll=0.0313 left_gripper=0.9957 right_x=0.2888 right_y=0.0007 right_z=0.1663 right_yaw=-0.0023 right_pitch=-0.0515 right_roll=0.0043 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -7.9385, 6.4615, 1.6972, -0.3346, 0.1392, -0.1197, -0.0615, -1.4291, 7.0085, 1.8291, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.614, 1.7016, 0.6991, 0.2958, -0.4995, -0.3893, 0.0089, -0.02, 0.8043, 0.5945, -0.4221, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1631 left_z=0.0535 left_yaw=-0.0049 left_pitch=-0.0328 left_roll=0.0156 left_gripper=0.0089 right_x=0.2883 right_y=0.0007 right_z=0.1643 right_yaw=-0.0019 right_pitch=-0.0602 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.212, 6.3795, 1.6679, -0.232, -0.0317, 0.6618, -0.0205, -1.5111, 6.9949, 1.6874, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.5272, 0.8654, -0.0288, -0.4969, -0.3927, 0.0066, -0.02, 0.8043, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3877 left_y=-0.1659 left_z=0.1291 left_yaw=-0.0053 left_pitch=-0.0206 left_roll=0.0022 left_gripper=0.0066 right_x=0.2882 right_y=0.0007 right_z=0.1642 right_yaw=-0.0022 right_pitch=-0.0606 right_roll=0.0045 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.3077, 9.3744, 1.4676, -0.3297, 0.0317, 0.6716, -0.0205, -1.2923, 6.9949, 1.6874, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416016184080e7de4d8ffe941412a61f5a9052f7f207e3a5700dea4b1b1c38b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a214f8ac4fb154a46c1b75740c76edba19ba8eaf0767c08b0de4a1aa3fa36d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694d65fdd26d447bffc8dabddc6d065b65415913d5f154356e86fc9e7f6c0674",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr-dUDCkCXHLfrACicZljiOMGHJ8TU-_oFhQMwHnNhObMjrzDefJ-uYNBMY2hEEl6907FPlEj3iK9j_DRz93dYg_QCl8I82BvBbsxz-XG3yd-DAxqCLGmRhkfVlam7TiwwNfkLtFIOpabgWtD7E_0GOaFmCuRXJnbH0BkS1bKJ2azyzkFkk4GRZG4XPkVMkFqAfcM4KbqpVHcznFE4o8NSZqnA-gU5QJrI-XFeLT85jRqlZ5Ip4LJgGf2kkpsMDLqtN_jPJYT0FI9CSMoSRRS6PIuePeIboq9yH0ZuT2klWMoaHWuz9IfrydVJ87h1O3LhaGTuYcouLLTuJJFMtxs1eM37SgdduJg2FwIyIbj6WI4GE1waV8n-SRBrWlI9euWyRqRoJ1-JfrIaTevTlbr4uClP3kWM4hQrefJCc3MHG4MMHE4NQTKSIgHnQbtSd915h9MXGGArgyvQlxcuH4KS4FiD-yMtXvkxDt95hhIvlaAs3pSHqSQtx-B6viQ9mhxgkWuT_BUv9pji3eHJVt_pxHZRSnQQetuBhqJvrZKn6DCCQzezM-PrasvRExDhcoaYlhwNxc2nWwmr_YkH89M7gW4bIkou1m2LVxDLOZOAIBqmmuJtvUj1QrRIBv3duaciOzIry1ebQeQBSiMtxaEuoBi3JONC8oKToCIB7fT2pn16dpaoMZD2V5vKMSDk-YOu7l13Sb5KDLRM_MZzesEe68rUAYUNkiHGNBq2hfQjThwVebI_8SAAb_Qmu_aQZ6SwrWZl_Di1mGvYEuAyIsN9MB--FtrFqI_nMWaiGQZ-aAJXr9TONEZgH2wD6khO-98g1sp9ZTLyPx03xRsvnBmc8b6aNIcchklELNTcxaabVE_kWnVaHLfCE8HPaR-fK8TW2tCa3URYjozQ8KKEgxmvMBzjOJDgsrBPS5jjGz3Iui5McXkU7-8NGIFZtmEaQM2M_TH3T6XxkxPoPAdN_Ds-NFDAI1B60Gnen35BrA72Bp7rqPQpLEKLC7TqjNwI2uEU04HqypUDqGLzvxxYgovNnJGmsRxaWPpgeW-8vT3O1DrGV31WACOXLpHZBo1N1C3GL2PFQQtsaHeRAQniGz5XJi2XVWR_mbl3CdyAzM-S159uJ9d7hi2DVBEwZajFyXb--Xpxmyfceu8e8HYrh1wdstNKmHpknBkXvgwdh1RHmA74nUn-vpG7l_jT7eFEZSda3Y7w_jx2kaarMK6nPFSGnVqvbWmmEe6K9faf037fOkDz9gODinyLZ3iccsxGGTQYH3MvUz4W_Qt3GsToMXycx91caE8SPyD3W6Ew2IIcKl1SDSt-OvbxFVnGPemqRK_cNsu5uTY8JOXG037Zy8izszWHHRjxLbQKFtk7CynyxyVrJaVnSvu3Njp-r85-E9-BMHUwGgkQEdciMAzu-UcJdPdK63PFYLJ-jVdRpD1TxTrNvW9YC-xJmVY7EZqxsOkIFzboKpU04cl-3ttJFjaPqPdzkyp4M_KQVjsaCYCf89MwuoPhjfjw6C6M3alw9xOS-tWkR5ploEINBRmL2w_N63T5exukIEsgKVwpE8A33B601LN-LsLXXNDx7gmL6dT49Yi5oZaDuu5PuK5kraMPswUtNlw4zlDExNrWTFvDgtg_-Vx9HaO5cHe3KRkZMY5t2LKbilyVudYJxEYg-nojZblTP9Yha1Avmr3U9g8mAWIYwzTsg1yNxYH6x6d8884DXjka6FlK7DuILQMH7u08FdeLkrSrXA_k-unxGXxk9Qj6KIch5K3joUa8BHpAfYolRDY2KoC6c-cCvHxTnydu6K6_0i4H8yGMtG_XACv7KaxW97yBQSCGs9eXanVnHec6943HToJaSTWzr0aBqBnHV27bxngQUysFNKGTiMyfBHkJR-ANikurha6OGAnj2DKyKMwtW1ZBQwDOTNhO5ODjkvtcnLyjLw8mm3h_9BhWCHEG64mz16baP2fP_dhVqUfJ063Ct_CNdhyDN-n7KgJy4WoKg5TLRrNB6OJEmAz1t6DQdrSINDE_xeoBLDI1eiVG6FiWy8ylmHhIFJCTyG3QS4kAZsAlehl2Nd-I9IfS507uRyVCEL5y5sFEyYt-FzBv7HN1FVTXZMwQV4JzBf3b1QtSCcyaX6WqDHk9zp9rqcNFPOql9jKa2WabFgrAuuzDrPUKAjrYJ9fbAEq64C7SWq7jmFtleKCUU0P0Rty2uT299wI-LSMUOJq7rEkx6jyYs72JyM40_ZBKIjx6QGw4zc9xKiBPy0T6UIBIMDoPBDI-KgpP9aMhpfJPxlqf2QxGpoL0I5crFKeVxPRrPeqJkro8PtXvGy3vTP9V8l-YpePHoFBTieLnbz3RceKbCIAjxcZ3kZlFHNGanuV6wKhcx1_wMSTEoSCkkzO0PVEwhvu_nXR4asCD6lxS0nxaGZgxislQUX1uXNRUADstgvphYbAqbymOsOCyOHWBVl_8YvwivCHdAKvbTFK8uweSE3-Sn9avWBXGHH4flADOON5hSmxkhk66w7x7Q-SGHY9ICgCaZChEC4FdtNWoKVhVVCcmjyxLhRFNbqgdOMbb4xtoReJAJKKJCIPFCuvREIVLLnU4wUo8hg3Uc8Vre1YpPKDwmp-F_OgDRRq1Ig9PCR3uP7uv4JbjyCDUT4MBTRZhPaXQaqgi02iMJmlLqJrIsyUCGWex8ccox6sgOl04vNP1K8SJeoWaVe-QUQMLMjjkxsC7K3DhNVuzewweadL_BiBTurJnitrZ3ZvK8shjU143mxPKLt2yFtEcEgtgy8vO9Uj0WpLYKWIor8316dkdh7AP_5auMYMD307us8ilW6QScjRpa8NY02nRLoYb6g5kRcI78vPYHneDl0-aO0hvppH1qUnOuKT00pWzY0bvLMaVUMgcR5jndk1jFPBgKRRr6q21w-P0r2yy-dYvRawbX9_lcoyimf1Jd5MFQ7Luyg-28EJzjOtQW8kmvBNm8QHzDYjV492J-0AXjg3Z_dsr_0rzSRhmHVWjU7ttCYFQikaUCQnNuq_Nnvuf_28xH0TF_BdF00U2wwLFViN54nt0-DWCM-Srrtdr0Gg4pg3_8829JTNXC0vpVTrL4nSt4uRzFKiOO7NXNsfCbS7j3WBy1LJratyKk1266MpDqAp7G3ZjLgVp4cOLepn_TJNnGpwYUde60bxG9doh0_kcWBmONGE12QmXnZ5E0AR07AKFNGLbQWiyXXZx6RcgfUsNOyh5mCicbqBpYIdL1TiIB-BYECGkqzOw84wm3xuOb7kQr0ZJ2AkmDaRyRx8qoWlU5v7uQgfQDv7QSlf_XCDS6g_flIS-R",
  "id": "rs_0f95f99d2e8614a1016ab44afa4c0887d09e4f3a14af7e0ffb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.2,\"left_gripper\":1.0},\"note\":\"The bowl again stayed down, so horizontal rim pinching is ejecting the smooth tapered wall. I’m switching to a vertical/diagonal pinch: lifting clear, reopening, and rolling the jaws so they can clamp the rim from above and below instead of squeezing it sideways.\"}",
  "call_id": "call_CKL2DhEUYm6LmBgBncBcESYR",
  "id": "fc_0f95f99d2e8614a1016ab44afda89c87d0a4b9abedd601da09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CKL2DhEUYm6LmBgBncBcESYR",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8165, 1.7653, 1.0809, -0.1741, -1.2175, 0.3546, 0.9963, -0.02, 0.8055, 0.5945, -0.4229, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1643 left_z=0.1635 left_yaw=-0.0147 left_pitch=-0.0335 left_roll=1.1209 left_gripper=0.9963 right_x=0.2882 right_y=0.0007 right_z=0.1638 right_yaw=-0.0021 right_pitch=-0.0622 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.8154, 6.735, 1.3065, -0.6618, 0.2418, -0.0122, -0.3624, -1.3744, 7.0085, 1.6532, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f93e8cc60558e510538bb7a05043998a044b6a82ee28b9816d170deefd532f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f63a462849977d1e5249e38a2a773abd9f1f79dd472c10c2b3d9c59f7512265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bb9bafe35205b07093ab828146398674552dfbe139478c66c22c21f5fc077a",
      "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 60 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]: [-0.614, 1.6665, 0.728, 0.1997, -0.4992, -0.4076, 0.9971, -0.02, 0.8013, 0.5945, -0.4187, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3818 left_y=-0.1613 left_z=0.0612 left_yaw=0.0056 left_pitch=-0.0589 left_roll=0.019 left_gripper=0.9971 right_x=0.2886 right_y=0.0007 right_z=0.1658 right_yaw=-0.0019 right_pitch=-0.0538 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -7.6239, 6.4342, 1.9023, -0.2711, 0.188, 0.1294, -0.0889, -1.306, 7.0632, 1.6777, -0.0464, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.5272, 0.8654, -0.0288, -0.4969, -0.3927, 0.0066, -0.02, 0.8043, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3877 left_y=-0.1659 left_z=0.1291 left_yaw=-0.0053 left_pitch=-0.0206 left_roll=0.0022 left_gripper=0.0066 right_x=0.2882 right_y=0.0007 right_z=0.1642 right_yaw=-0.0022 right_pitch=-0.0606 right_roll=0.0045 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.3077, 9.3744, 1.4676, -0.3297, 0.0317, 0.6716, -0.0205, -1.2923, 6.9949, 1.6874, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8165, 1.7653, 1.0809, -0.1741, -1.2175, 0.3546, 0.9963, -0.02, 0.8055, 0.5945, -0.4229, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1643 left_z=0.1635 left_yaw=-0.0147 left_pitch=-0.0335 left_roll=1.1209 left_gripper=0.9963 right_x=0.2882 right_y=0.0007 right_z=0.1638 right_yaw=-0.0021 right_pitch=-0.0622 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.8154, 6.735, 1.3065, -0.6618, 0.2418, -0.0122, -0.3624, -1.3744, 7.0085, 1.6532, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f93e8cc60558e510538bb7a05043998a044b6a82ee28b9816d170deefd532f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f63a462849977d1e5249e38a2a773abd9f1f79dd472c10c2b3d9c59f7512265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bb9bafe35205b07093ab828146398674552dfbe139478c66c22c21f5fc077a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsDJrNfvQKWt2aBm2QbLzcc8OVhwbK4yt9inC5iQzfkJOuMiXMc4bOsbJYroOrxJXS97QXN2Kp7AjVInXYOphoHYLvwbbbyeZkJ7ksCFTDvSxEc7CiRjX2aE8AHBD4rBXNK0bYa7QWwRcE_DnwOpT7qxFoMAqM3UAu35M6mokgD0pXUxdKVz99D3Ym9r_L0ayM6Nu4onocit6up1KV62SeoWMcdS4-fKCOo6Dc4VTFgN_aW1iQKsz-UsO4xgq8b30rNUC3GJUDC3zXTG3apvYWp20b1Jda9asNGs0cIFOUPS495aMqsR_xvmT-iPqZtVXdUnKpR-_LT7My2C4sZe-QXVYL7ggRvg_tg5FbziEcyP4S5n2qX0Ck_SvBLtcSvn5IjtkEnH9GmW43HDVurryXMTPN9Z7-XVtrs9K57YYrQueG5bIcKj47rRHZ1bn5Q3lUl-mePi5hVCIXVh6r7c3LRqHp1nq108l09ripNUpXtefro_VmwfIO0GLd1bVcrFhJwAEDlNAeP2lo_L2PiqGGNzdtFr5oU99ovd_hmaqBEBuFLMHQYVGdHMVidiY7JQEIro00fAX84CceYUnWxzvP9fmOu-pjjsUwmvy6Fs6EZb2a4-kUoa9_oEe1aGAHrWFDfOkO1eaN4LksZk4ri2v9bc4Qma3qLu_q1-Q29LYhWMXGWU_cPLJ-nWVz8rxu9AwzehaOW2aqedKDvXy4OLAHrD5bJFQKhKJC6e07kbzZtXVeylPQ8NkeG93r56VyucTdPYWWhu91iM_1Oab9R0ge2rVayFnmGxgVzbT3k3NY9IO2lcJ3aU9HygPAkvFOimYYitAhO8obC-43jb-FCBGK94OvXP3j0HKRtPgRJZyaFoH9dVyMEouWFMLUPZw5AHojvmQ_nosMilyHgRb3wXEqhW4NT2nJmGdNlShtn4VboEatEkLpEjtbi3wTjSZ51GBHgfiaVJEacpOs9pXFhhBmn9794UqFGyEF89GuX0rsQT3e7oD1F6fa3FEzxKU-IJvoE8ba_epfKYqKplCd5588J7DY-yEVlqvSW0jH1J8li1EZA5E5USPc1gkCTPTrxO-sMbbSoTbhE8V7yoJWIbCXLdCY_YRVehEG9yY-1HLFkAyJVuZ1QxKs59svkghd5IoHhf792BzTawJ9lXIi35qLuiFUYC8pHNeKxVLK2Z5FCwusR14cUY9HQVdQvl3lsFsdSn0sVR29n4Ios50tKrnC32afjP1CopzUJ1dqIv9KUO3_SQ-1DiuK1YzrNTpPyv4iQzeKW9j0Whd7EEWHem84HfCn79jAr4HUAaRgW0MHpLn0GIu1PttU8Ex3PP_YkKRupJ5n1-81fNFyypFClZNWmlvbhGb85389rxd2EUTAwuAGRY2_o2djbkAmHwI6jByZaMrk2aSyH9_fFB_58M_sRUpk5r7rn-ZNu9ruboCeiG3fdWwyF3oVHJn-CPAybwlS7M4PGiFvXx5vc70OECIbTpAtMYq6iOHWHM7kkWr-AqxJcXWoJkRXXBqESqI0XR8JHEDFQiiyewVMy8KJm41-3yDmh-RgH7weYAzSOCbtOVzG8gNmR_t10-mTQqM2BcatH0M5zLlQZb97LPGzfS02ztq4HqnB9Y8gSK5JfPYlWvH4e5KdFHhG9mn3lRacbg-bAVvI-ENdiKFfjdrNgxanVfPI8tl6KiOjfXzIfHC5z-NPk3QxN3CrapbBebe2R45J6yMN0fzu0h4O5tMffcA_YHtrWRQgIwgir__Rf4Ftg8RS21kR076P2LKFO7nZ3Lwyy",
  "id": "rs_0f95f99d2e8614a1016ab44b016d0887d096db89b85234642f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.08,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":1.0},\"note\":\"The arm is clear and the jaws are now steeply rolled over the chosen rim; at full roll the open lower jaw will still remain about 3 cm above the table when the grasp point is at 8 cm. I’m completing the vertical orientation and descending to bracket the rim from below and above.\"}",
  "call_id": "call_yltewD7RGXwYdzCFxYyIabsP",
  "id": "fc_0f95f99d2e8614a1016ab44b027a2487d0a1faaa8cdd27e4fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yltewD7RGXwYdzCFxYyIabsP",
  "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]: [-0.8352, 2.1788, 0.8597, 0.7387, -1.4303, 1.0985, 0.9987, -0.02, 0.8093, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1541 left_z=0.0545 left_yaw=0.0436 left_pitch=-0.1345 left_roll=1.6331 left_gripper=0.9987 right_x=0.2885 right_y=0.0007 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0656 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -4.5333, 2.3453, -0.0611, 0.8767, 0.3541, -0.1538, -0.1162, -1.5248, 6.9949, 1.7167, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634c2ebaec15a2cec1e53894733d822f3189e091730774b90d375bcce8c75bd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b147407e6a823da30d25ee7f97462f6c3d9904833926d846910076202f2ce3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250a542b33c19b9d3f5728b61dc15ce342c8f84656e68fc1d13829a930062ef4",
      "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 64 changed as sent

message 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.7016, 0.6991, 0.2958, -0.4995, -0.3893, 0.0089, -0.02, 0.8043, 0.5945, -0.4221, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3844 left_y=-0.1631 left_z=0.0535 left_yaw=-0.0049 left_pitch=-0.0328 left_roll=0.0156 left_gripper=0.0089 right_x=0.2883 right_y=0.0007 right_z=0.1643 right_yaw=-0.0019 right_pitch=-0.0602 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.212, 6.3795, 1.6679, -0.232, -0.0317, 0.6618, -0.0205, -1.5111, 6.9949, 1.6874, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.8165, 1.7653, 1.0809, -0.1741, -1.2175, 0.3546, 0.9963, -0.02, 0.8055, 0.5945, -0.4229, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1643 left_z=0.1635 left_yaw=-0.0147 left_pitch=-0.0335 left_roll=1.1209 left_gripper=0.9963 right_x=0.2882 right_y=0.0007 right_z=0.1638 right_yaw=-0.0021 right_pitch=-0.0622 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.8154, 6.735, 1.3065, -0.6618, 0.2418, -0.0122, -0.3624, -1.3744, 7.0085, 1.6532, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8352, 2.1788, 0.8597, 0.7387, -1.4303, 1.0985, 0.9987, -0.02, 0.8093, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1541 left_z=0.0545 left_yaw=0.0436 left_pitch=-0.1345 left_roll=1.6331 left_gripper=0.9987 right_x=0.2885 right_y=0.0007 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0656 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -4.5333, 2.3453, -0.0611, 0.8767, 0.3541, -0.1538, -0.1162, -1.5248, 6.9949, 1.7167, -0.0171, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634c2ebaec15a2cec1e53894733d822f3189e091730774b90d375bcce8c75bd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b147407e6a823da30d25ee7f97462f6c3d9904833926d846910076202f2ce3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250a542b33c19b9d3f5728b61dc15ce342c8f84656e68fc1d13829a930062ef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsKsJM2enY1Dolv6O8PugjM38o6r7RDLtyD8CJkUcybIkubOZ0cZYgiE949wGhekwpVFBHUxMupV6gtASp2KAoZv0-V-K0LBSoIm-8rq2RAD9Yvau7BkTqBOeJh5JCuDMRFoP0DzD37lYHci-6i0Peg1_fcIqW3sl04nP4okCwc6lpxOdWDR8MiQ4JeGlOIqwYw5Jbu5Eeu7YCF_cl5WLPziKSoL6mtKSC2k4Pmt0JD3TQYl25BWn4c5YkrUwLYyKamb7qPs0y_GGlbs8pjSikx0Tp1hSjhBlQsSb3OipEEdG2gk1m85sADUQfsybscvcB_axBLhMLI6sV8z6Tlso0_FILjKWZZ3SC0MgLKveiaYW1GDNBCP7-Py_fg3OhHCM2evhaDl7LSk8bbLsli_-qsJjzr2P06Pz8C9vJ4_wBcHH8LonSjc6djA7XbxvFzF0U9AHHkqjBvlcgMg0Ny0FcomvGGV3Ow_oWel6P_-dPWRr7jsz3BiX6_D5xdULJVC0jWXxATsuF8DsxLtmE6iuGCm5-ittr5ti-aDHHf0hI3v3v0cNG7NrX2HiQcOSUDaVsc2ALv_x8sQ9VDIIyUH3IY5DHTLtbHf6MjG8yKZbS9dpZBcTCD_739QQqrj3CJyj_ARE79ls7EjUacL82VXWv8-VVhKROTwdNP45T8sy3p-fYBISWN21OsB_SYPC8N6jGKctJ949eKmss4-kp8MiIxbKiampsJ_2z1VB6MfAmLW5v2OULIDIdAO2ROOUmH07-VahcRRgrSgECvzh3M_k4LxXQsJQ2l_6EtwFX-83iygDJ0fzccue4iBVouk-8KI1ISxgRauIPBUb-yi4SGYCDXafy39Oyvnqwcjrfsk6F8ubgw47BBo3aI0H5jBlnoJv3nv05AR_kZbUqpeMib7KqJxtVyyzzFWAAwa66Ir4L6fJDzaUzrv2m12I6Bfk0EKbjd6v_h3urQACn4og3NKlc94LMw86RsYGef3D9skUTYgfms7tY9HBZcbDBAkc4qXvu-8jE4hhLyQ5JxRMfvuhxnoKZLWYxjuAZoX-myrtSJxUR0waht819OF8lFozoGzA-Qo9jx4MLuYjR9bqnUXZxdpeaL5yrQ-yKcJfKMEZIV7UY9q96Jqli46xoo-03LESRu-0V65oNlzLORVBbWz_J5kHv0P_7-8onOFwHRx-Asyd17bhtBvvJOODzIqfO3Gkty22uVclLjXSUzAHft5Dkhu9W7x9fBewOGcRxb6LgBKUdizXZ6F3on_AWljfO9N8QoDz-oKuXfjqs3i4NSKO_neVV-pKnOX3N_XkADCWg08njn4-wI-lP7nRxPyeoNz_BoWpbx0s33DOaeUvVisGRO78Ldkm5cHQ9ursr-yKNQyryZ6hrIZ5LSEF93L-PY6grxZ_Vonp9ZCrtQpxwLYBALDQuxAxXNMMoqfL5IVp1bClUOWWC2hlfdpwX-Ts8MDbwqWULHA3inMCOauvVImA7fBYzP7bhkqyGmHbs9FASV8AQV1-08nnKFaszJeqRkOGl5o7oMfqEgy0SvZvDXLeOXN4Yj2jcllSpSTC8lJRY0KJTlgUtvy1FMLRxvrtaQQI5kUwtxqTw9ef3tKTEpmrWKKaJ2SP6qk4EKBR9S1immWzqwxyL50XYDEw7ClOTKjd6EduFFgPlqaTNHgjc3R4HA1QZK73mxCAF0mz_3m_C3JFoNSPWcagKE7QqFF1vQ0XOlT8pSnTSFAdpXhWTfS3pEbW9_KytEuDyQTs6I9khf334wVsdJcdQVeuvjg1IJi53-W1bZFxl1iKZHYrxRr8NK_qcZi3HgAjwEjNmKhz4yjtUsRiTdid8gADbM4xrWWR479GFEIU9v03IxHJtct1IFs2gWjNwwxGHKNXWixNZohFa9nPnGQsc1oHpq_01Bl2Z8tG4xEamcoDwIXtUG9HoDcP9NcCXM4DEnxHoXv1wPPLR0_6dWl-8NvXpiMxUNSyncFNVeRoj1MoydNBrOO3sPnCBKs7Dl4UShZfJEIL00aleJ6TR1ULDx2WSpydbrZPVElkRkq-3TF9zFOJ6NZ3nEyiOJ_jV2PBLhZ-frWvGNJ126LJiORTWsnBCh1dYc7V9fu24iOpF8VI4ovtd_nJ0MFgrqsfBYAmr8_w_J3ZS7bQgN3Ze4UdB2dVsU_WfossdXbql2vj-f6eB75IlnKRzYj1elmUYiTaZUDzQC4HRG4WdqJBE9KqsrHYWGppSLIsbNQLb_0nzQlIC4wapaxWc4Z5UVU2_UafainR1VAZgsPnfrPmZDjpacfQLIyr4F7Nkqj-T_eb3DkRLu63FotYh9V1PvYZ5_KL8b_0eIV7TN0wmzmtJdiiqyJJYLODG0ySjmpgXDFpa41UX8FUEGoNd1_ycHujuNU_6agvnK7D-JzGHXSThNImoWO-gs6gjU16Eur91nMUNALNSWfwXSEMDXWHQNn4Y48N8wv1q5RNH9hVGt7e9LiSw7p8I-UU0UoV9tKDHOu2FeYyid-ze3LrE1vhHWxVyfk-Dy3eXCzWIwnDJGpI0NGsc5lgpeCPMmxmAteZPxJ2y7GK2zq1y4MUNHfVwbnbqEvFeSZkNDUnsoywF_aLDnZQiDj3JhDWCa-lbgWUOUwLsg263j643QOG36-r8ggHgbqqO-t3m3ps-pz42o9BjQ76FZnn8aKqtyX2OdwtJiCXssoJFKR-Un-mog4kOKTyEfcJ4D32dGLj_OWdLoCRBkxzZIjnl_lsVZ2mXGN0nuHFdhH8RVE9HYIAG4U8Rj5GgYtvR9OgGcWvDNdu3FYFPz32HPApxcy6wKG6qGACFBhkruXJn8KaeUM9XtN8bpeBW1mD--xv8PgmhQxoPymdDb7srqePfVAqzfE1OyNyBtV_FXgtstG9S743VyTZ3M8Pt-6aY_pkpaC_RU7MmlkQWZx2B5dzhu7s2Q9GB0gDCWrQfLH0kBwXR77fZdo0d8wztG3A1yBpf-eWETN5KXYlesEtTXV8d9-VN04pupN-Qsvb7qsQk1ElnWV7NR3EkI7LMq9nmkzRvnAy3z1jJ6_bG0YhHPzqbbJee80qTdTzKu7lWQ_7756JE5gJo9UHV_iLO3GGJ9OPe0xqr2Wly0yWqAOlqcY0FV9GNYH_HC7zicBrQIy6Ni9GVGUtO8JK5d51OhZXqa-pXeX8ruB6wvKvzWi-htkv-7cRM-lNUibJ2bjbYmpxjzGmkxKBGqy63uEyHvFavpaYrBRDmWqE6BKT95UkVknRZZbKLvV-pnDIueWB4_ETZxEuEIyqYLPoNGi5nHR2PZtTUZuBiIuSy3KRusG2bW2TRWUzHwvdKZleccKTrxyUu7JEcstuEd1q4pZCAI0CB5wSxhhPBPVTw4aYUMH9N8C8MGmPxryRwa",
  "id": "rs_0f95f99d2e8614a1016ab44b05660c87d0bdff3efd7f17aa64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":1.0},\"note\":\"The vertical-jaw descent encountered the crowded gap between the white and purple bowls, and the neighbouring bowl fills the wrist view. I’m lifting and moving to the white bowl’s outer left rim, where the same vertical pinch has clear space and cannot be deflected by the middle bowl.\"}",
  "call_id": "call_56VFiED4mPBAgTwbEFFYaFh1",
  "id": "fc_0f95f99d2e8614a1016ab44b092cbc87d0a6b1b3c3abb88010",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56VFiED4mPBAgTwbEFFYaFh1",
  "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]: [-0.5232, 1.702, 0.5442, 1.1198, -1.1351, 1.5227, 0.9989, -0.02, 0.8116, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3873 left_y=-0.0344 left_z=0.1682 left_yaw=0.0383 left_pitch=-0.0199 left_roll=1.5675 left_gripper=0.9989 right_x=0.2885 right_y=0.0007 right_z=0.1622 right_yaw=-0.0019 right_pitch=-0.0683 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.2274, 4.6564, 1.6093, 0.0904, 0.1978, -0.1294, -0.1299, -1.2786, 7.0359, 1.6825, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faabf38391be34e22849caad73778302bec7d63fbd41bc11695fb9054e1df669",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3a613c72e4f223b68cbb5af28f2ca434b48bc5acea3b5fa964ce8f266567ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342d7890f6a447e65feed48e9b9f9898ed7853a2cb639d674c57fb8d2204d355",
      "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 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.5272, 0.8654, -0.0288, -0.4969, -0.3927, 0.0066, -0.02, 0.8043, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3877 left_y=-0.1659 left_z=0.1291 left_yaw=-0.0053 left_pitch=-0.0206 left_roll=0.0022 left_gripper=0.0066 right_x=0.2882 right_y=0.0007 right_z=0.1642 right_yaw=-0.0022 right_pitch=-0.0606 right_roll=0.0045 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -8.3077, 9.3744, 1.4676, -0.3297, 0.0317, 0.6716, -0.0205, -1.2923, 6.9949, 1.6874, -0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8352, 2.1788, 0.8597, 0.7387, -1.4303, 1.0985, 0.9987, -0.02, 0.8093, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1541 left_z=0.0545 left_yaw=0.0436 left_pitch=-0.1345 left_roll=1.6331 left_gripper=0.9987 right_x=0.2885 right_y=0.0007 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0656 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -4.5333, 2.3453, -0.0611, 0.8767, 0.3541, -0.1538, -0.1162, -1.5248, 6.9949, 1.7167, -0.0171, -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]: [-0.5232, 1.702, 0.5442, 1.1198, -1.1351, 1.5227, 0.9989, -0.02, 0.8116, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3873 left_y=-0.0344 left_z=0.1682 left_yaw=0.0383 left_pitch=-0.0199 left_roll=1.5675 left_gripper=0.9989 right_x=0.2885 right_y=0.0007 right_z=0.1622 right_yaw=-0.0019 right_pitch=-0.0683 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.2274, 4.6564, 1.6093, 0.0904, 0.1978, -0.1294, -0.1299, -1.2786, 7.0359, 1.6825, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faabf38391be34e22849caad73778302bec7d63fbd41bc11695fb9054e1df669",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3a613c72e4f223b68cbb5af28f2ca434b48bc5acea3b5fa964ce8f266567ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342d7890f6a447e65feed48e9b9f9898ed7853a2cb639d674c57fb8d2204d355",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsPbIvdDa4rXAJJEJkCd7ne0tbUf4VZt4kQb0RzeuXCZ0j8ng5zDenjIVLp5DF1GXi-DuhkMOAZ0HRsLigfVQ1CiJ_WLNIUSiZVirMsZI3pbThfOwT2QfbtAhDDDZzhn0GU_8aQIqdrL1aQEgpNlC47MXdVUZ64NYwMvYWC1exSyDUTRKvV5wXqcGfHNHjCLp-2XmotVIRvnjEAT9mntAf2kJx8dPVT8qw0dRSq6aBOlt5jqSNdPHsfi8-2vsZj0HFGjVs6wtSA5H0y5uJeoxaajPGx-cX3rXjbNBYSGdhz5EpHJFgiTydgEI8SKMBWM2GNNBTjKY05Ko22DNoQgorMIv8Sd_k9dCAXFtOLsJ-hvGSGppSi0wR1wXvkYfrG9fZHYCyUhTGBalstnzkVXGsHHfyWIxtGIYXhmK4-HWo0fkwWnAI7ezLeb31-47_OMvvKmNdoVRmTfvdPVIgdXMTH2v09UByA8Qtj8BSxniKlEdd0dKHZjJWcpdWcgetu0ylGWgSZ7maJdW-fzCRAEigucG0wH6rlUY6M6uptfWS--JQHbqdFmEdmbrIWhlGi2QgPObhf-vWg3OM-bLkF-OH4s3V2QnDbzOzdP-aL5dsgNX8Gh-anijveHYivceU3JyXz61MvIzNEB8Vx4blGqMXsHjj29AKz7OK9_ZDjH2EOWfvHUoVXCbQMHFqjMA53LefX0UPOhj_nFjaUAtxR-xi0QYvsJZk2CB3P5kgQ2UICKbLGI_xoCxN7hUAtw0yZjpYXieVzb7uFt9XJOeM7aFntbGbT9eT8zGx80vyFKcOS4SjZiqiWZdqfb3EBVJ2R44M4OJ843PgQYWyYKAiFsFsspD91_pALVTEcXPYaFkdWuuWETpNPRBtWilU-uY62n2wtULW85wCeOo0vspj6DP6S0-6kPzb1ZIExujKt28EvJTOuVIF7ya-G-LzebX7Fbsd_Q4guzH26ZI7GL-oBoywAEyaFPxbnbnm18vkCptCt5E5ibhh0PHWb3UDUfWHb446V_ELveEEhMYJgYTd9Z9q135nfClyetXvXPWR32GW69GTcWwp3SVk9lw6QSCui84CI_jTbwwtk8MFEXuvCwpgkYMxBkJnNlWJOIlrR3b5cb88YmXg3x-qk0mWLEXVGR4Fd_HPHCLT6OAimCTXJEs2EogPkdZ4Ii0g6CSyGr4WwlcEkJoiDU6FRJOW5SZLPAodEn7BEmYRvWNoy_wab1IAv9V813a_apZHXEpID_c9X062opbWxy3Uht1SAr2OM3JAfL3WeRZl1g_8o8BO-HMwq4KcHposQwYNQXPD3Jd4-fCS4eYAj7j6oFORcsjl5tGCPOywkP-xQ71hKVVcX2TXp0t5n5ulaTsU6yYCjxfWCqrddbRDmOjbzIYrXb9es3Kg1xVWDksOL6bMoMxQVVSeiX48HeZ5V7CQYy_XCQOeAzSztMuN8UDfjkM34gTFC2afy_s1rfOqyg_R_ZmM_h5wPbMP6k2gslAoyo82Z61IqXkrk8faNzd4IOVMQmhtUK8xYBRwfn-ZtT9YlDOIFTS4L-yDSxt-GFzzE69FxJsdRNVfeGDGEJ1dquI0IKO74gpIj44vDMeAv1HYg8Hz78lt_8rCByFe_3yQCN79RF391EBJPyJ-NP9jgMnoy87Fn38euIH8G3NZhukwUkxBySofqH-48jEp1bp_yZlsSJZwKUiLxTJGJVsQEFwpTOQcY1xrD4NR4LYH_aGa5TJ0vas7lp84qlVmArdqA6C1cB0nz0dFRwKShSs7yp_D6GPJlULjzP9SUpaqywG4UCrVkffiV1mOBXqbLXimYiuLzJWZeeLNjTqoHW3trhwlIPFkctByPXycUCQzslwyrNHyTvPLzSbTZpduYDWM_QFSRAJ5ERkZNehoaoq5PIlBp1qJzj1asde-nK1gm30eX5_jjVRZpyB2_dV1QrlS8pc-9H5bGRnFjSClgIJ7Vx_ZxdIhHh0h-ElDbECttlN3BAVg40vQcjuJGGBT0j8AeO51KO1baOGm1YHvtp76R7xBbfwAHGKnHzEcfLNX7EL3QWnx8Xg5UkaomCuzpzqxMGHBAoxDZcdmF_GoKszpFV9GAbHnrybD_",
  "id": "rs_0f95f99d2e8614a1016ab44b0d0a8887d095a3bae7d89ca2fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.09,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":1.0},\"note\":\"The gripper is now above the white bowl’s unobstructed outer rim, with both other bowls clearly separated in the overhead view. I’m descending to a conservative 9 cm grasp-point height while keeping the jaws vertical and fully open.\"}",
  "call_id": "call_xlYEgoIc7KSs89MXCJEtBPal",
  "id": "fc_0f95f99d2e8614a1016ab44b0efb5c87d0a1757d99506bd68c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xlYEgoIc7KSs89MXCJEtBPal",
  "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]: [-0.5152, 2.0651, 0.4942, 1.4834, -1.0954, 1.5478, 0.9989, -0.02, 0.8154, 0.5945, -0.4229, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3888 left_y=-0.0355 left_z=0.0865 left_yaw=0.0081 left_pitch=-0.0773 left_roll=1.6122 left_gripper=0.9989 right_x=0.2887 right_y=0.0007 right_z=0.1611 right_yaw=-0.0022 right_pitch=-0.0721 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -7.8017, 4.0547, 1.9707, -0.0806, -0.0611, -0.1294, -0.1709, -1.6889, 7.0632, 1.6581, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad53b4c20a635677f8a347ecf7595720d117cd79463eed18f68e6c39590528e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598751551b2831fcba4d2fa851ed4d9801b61c36e4e0d0c1575045141fbf29c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5271cb8c07b48b5512571819a7bf72b70a875c41fd791bd7ba413e5d9fc55c1c",
      "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 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8165, 1.7653, 1.0809, -0.1741, -1.2175, 0.3546, 0.9963, -0.02, 0.8055, 0.5945, -0.4229, -0.0166, -0.0296, 0.9991]\nstate[eef_state]: left_x=0.3867 left_y=-0.1643 left_z=0.1635 left_yaw=-0.0147 left_pitch=-0.0335 left_roll=1.1209 left_gripper=0.9963 right_x=0.2882 right_y=0.0007 right_z=0.1638 right_yaw=-0.0021 right_pitch=-0.0622 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [-0.5402, -7.8154, 6.735, 1.3065, -0.6618, 0.2418, -0.0122, -0.3624, -1.3744, 7.0085, 1.6532, -0.0611, -0.0073, -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]: [-0.5232, 1.702, 0.5442, 1.1198, -1.1351, 1.5227, 0.9989, -0.02, 0.8116, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3873 left_y=-0.0344 left_z=0.1682 left_yaw=0.0383 left_pitch=-0.0199 left_roll=1.5675 left_gripper=0.9989 right_x=0.2885 right_y=0.0007 right_z=0.1622 right_yaw=-0.0019 right_pitch=-0.0683 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.2274, 4.6564, 1.6093, 0.0904, 0.1978, -0.1294, -0.1299, -1.2786, 7.0359, 1.6825, -0.0269, -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]: [-0.5152, 2.0651, 0.4942, 1.4834, -1.0954, 1.5478, 0.9989, -0.02, 0.8154, 0.5945, -0.4229, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3888 left_y=-0.0355 left_z=0.0865 left_yaw=0.0081 left_pitch=-0.0773 left_roll=1.6122 left_gripper=0.9989 right_x=0.2887 right_y=0.0007 right_z=0.1611 right_yaw=-0.0022 right_pitch=-0.0721 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -7.8017, 4.0547, 1.9707, -0.0806, -0.0611, -0.1294, -0.1709, -1.6889, 7.0632, 1.6581, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad53b4c20a635677f8a347ecf7595720d117cd79463eed18f68e6c39590528e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598751551b2831fcba4d2fa851ed4d9801b61c36e4e0d0c1575045141fbf29c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5271cb8c07b48b5512571819a7bf72b70a875c41fd791bd7ba413e5d9fc55c1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsVZJmQVGSWSg0MuAvoeMeIDuJFAgaJNq1o_DeD4LXgl09MB13T9pnz5bGMA3xWTIwuJv2PigOeoRbsDzxK4erooYTfuOQgysCWyVlArLf-4ezdpjed_fLeshvDo-Xnd0mu5SFCyLnDQU4KUPUCn3n1KAxoc4_u452g506jvNsTxYhm_NHo0veks3Ns-5ORn-dCKZ2bvaHP7JBz_1IKvtgaRrwEhCBvDzfDKg-oVqaSGGgEXstIdB-niz9gV7e96Adj_3fTaFRo5kLja3nlEYZd5QM1mALUGKIeU6Y1OZWeTFpNNiLFPwZLscs-W2aYG5rCbs7Yce0M_Th0tdqd3KsnSS4eNSsCv_pt5Ln86KyPtQUk0PZJB7DNKSweMpaSn0sNuiQtw4xUs4vX0HK4BTl0qaj0kcIEmu13CPNHV7Pyi4kpgURgC5wJUJiYMiGiiE0XtdGUEUGRmqCkc6srPgWoqY4xsH9ajNgB4oT4hHNRTefr_AVte7CMsnohy75X53zcjy4HZ0M9F1j6-wf0iZ-pQYRRPXW4iv7sSpZlc4tonMY5Ss-fo0ozZPqPNqE5GfUzG79OvyaIvFsKJ6CCBZ-LNkcyZf_tiwOmcilIqMgFz-HS9daX8nhhH4sOYhLiHI1HvKc9KxFb-GcOvfD-WDbpFYADjsYp5UPzJBz53C6kMAidej0iCZ9Irvk8c_2PvMxQZfSqQ7DVl4_8HfBBLG0wMexM4cG7WWTgtEZ5mQX7MurN6_vQqtay6SKanRptRG8fxvAXlvOIlYyY-jmNfyQpzD2kW5NvmejHKORcO3iIsCk40XgmuuWRa4_s-W7OY59kXEXTpxkCvHiR903pXaYbsU-FLgXdHJt6O4UFeBjrdZjbNxfjLr9n7JrjucD5nT1ZRE9lSq29aTEDZPGRWQbL_Ik5JNqrEt1BYyWzgPdHirt9IgbvXMfAOpGY1t0fuQtZLiBKIXtM9-Pgh_6fJeshD19dctOwkpLDV8MJIZvSfh59jErgDLpNEG5hGzxwmb-qBhMfL_LqxtFzaB_KjioZhd5OlNbVzbyIR4_1Isrsg13FeljKxb74VkjzvpJXiU6rJi_5vLFNSRqgp-nIK-l-eXqkOUyV-tAfWqpOkVaMu5_lyXqv1VEwjxeu15h_Xjfm9wshT3KYP803x_XcQLdkJMleuipcJ-6beVavW8f7agKU6NOW4sx_kqAmM4Yfjsv89Zzh9lt_chNyVhkfgiWNCv6Ii-OOiJxk-5_7JStEYfBhpsocgwi1oRqBG38v8oGr_sb8ceWAktr5sHFbAQF_gC42n7j_2Zy8vi7y4iQdZ122XR_AQsaaTn_mpaY06M0GJcVXpSBH6KjwiPOy9W1Z6wUALZN3jHbxN6pSw_2lc7o1gipaiKWZvjbjjkH9WF2QAHv7bkCW6GQyfeGNRQeZtWlt5j_NWF0U0fSm1maRd46j_jl7Q7t7VgoFe6jWbp1ZwcMo5zD56qmLb7rjI7vEC63XfULXc6akBCDC7gnup04GzhD7EraPkLvnfO7289uvweMwHUt3WzVDHBzMgGOZQRCxM6a_5P3zlykQ5PnRUXI57gZu8zh67uI2jgMEJsswGEwV_pa2bBiuw-Fici_vmtgJIp_JuAjho2Ayb44xCk8k22rtepR22ec5IXqsuAu8Z4_kqywEs4eWFwsvFf7Cgo8_XjYdwxrXzJIO43EaGz4szvOhmKnghHPSImUsxupUCgPuxu1oHKPxiK5YkTzVU-pWyjFkN53LBSaCfsKmNkUD9wstozrGLj91GwLUI4zNFrXTl8ZGHXieJ1SbOvyVJXUtsudvHFs3PgdT4DftP4i73Kuy7jOlw4o47uY6YxVjnJLuWjUCe2MNcsAiUd8ZjosQbj3zJRit8EglL6ZC4LDwdtloj8ImDH9yT3BPe5PsxDW43uiozEqM-LVkyeGMx57f1jDXdoGGIrKL4GaRbaajkTG0pHsyay0iUpCuCnfHcYwuyKe3s-lS2aRE8YJAS9YtnkBt6cPt-tGyVtwqmuc6Av8OhxNzvv5QgmOt9IAa-yLNdSQDXbh8NI26T8GJfG1n95ZC8KDuY0IZe8oxiPxao7o-9NhipUGqLDDB-GQHICHJ93aPIG01vFWvC6G8hf8EWNOPiQyErPL073OH83mThqRBbAPMdpjj7K39Kn9rWBZA7ep9PNg-wn09eoObOzSrVp6ZFdvQHMnBwRsKn29DLO8AfG7wL9vLJMV7u8EAI6BMkyeg0oJXFmRixSugxDj36ebRdQMBy6CslzaA6otbgpkouAupVXZYfPWklli0h-6bsLO7x9NKpIZtIHy7rLEw3fO6RtDCPwrZfl01Iltmt-hrSesJGGdhd5pjEdB8sn49yyaB6DRXiHCU9UZ2da-E3sv8OP_W5G9ylVN1Sr4P_Q2c0ONhfrUWoCBTEVXz3xPWcd3CC4vaIdtFuIbsG0VeyAR1CELFX3WLbbaturCCxyrJ_V9KYmwyBOjhvWY5PYLLXTupPkni_LnikKPfav0Dwq5wlzDvGjr19PnsBYaJ_FN3dVkNW46OQNmEUKDvNfR0wGxiBVIspRWVyQeroO0SB_hEkE94UKova_qFTFkjnu7xyMdjFvAmZK6-pffUhL2lNSphq5wlDoK1iYaFC5OoJPAJX6uh7BQpmQfGHqtvzBkCxg6Y2nk5kz1Ca6XwDGvxi2HINxYhzfAGCzAWUg==",
  "id": "rs_0f95f99d2e8614a1016ab44b11b4d887d09816b266331552ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":1.0},\"note\":\"The outer white rim now appears directly between the rolled jaws; with the 9.5 cm vertical opening, the lower jaw is below the rim and the upper jaw above it. I’m lowering the grasp-point centre to about the rim height so the jaws converge symmetrically onto its underside and top.\"}",
  "call_id": "call_V1u9GwZFeTSMg90PwQZMmNWU",
  "id": "fc_0f95f99d2e8614a1016ab44b1481d887d0b69b6c45c7979d85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V1u9GwZFeTSMg90PwQZMmNWU",
  "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]: [-0.5152, 2.1254, 0.5133, 1.5497, -1.0931, 1.5372, 0.9989, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3925 left_y=-0.0378 left_z=0.08 left_yaw=0.0048 left_pitch=-0.0497 left_roll=1.5905 left_gripper=0.9989 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.6103, 4.2051, 1.7656, -0.0171, -0.1441, -0.1294, -0.1983, -1.5248, 7.0085, 1.6386, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec68d68f5d9ca7738922810cf30b4a7123f32b12d98e88c45cbb2d5549825720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece9199aece65708fb156afe96a873cade0ee30bb31cf9cb2ec152a589664639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69cf98a8448e74ff81dbd23c9af4723b9de716ae5d7a9a5852625ff363798473",
      "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 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8352, 2.1788, 0.8597, 0.7387, -1.4303, 1.0985, 0.9987, -0.02, 0.8093, 0.5945, -0.4225, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3802 left_y=-0.1541 left_z=0.0545 left_yaw=0.0436 left_pitch=-0.1345 left_roll=1.6331 left_gripper=0.9987 right_x=0.2885 right_y=0.0007 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0656 right_roll=0.0046 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -4.5333, 2.3453, -0.0611, 0.8767, 0.3541, -0.1538, -0.1162, -1.5248, 6.9949, 1.7167, -0.0171, -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]: [-0.5152, 2.0651, 0.4942, 1.4834, -1.0954, 1.5478, 0.9989, -0.02, 0.8154, 0.5945, -0.4229, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3888 left_y=-0.0355 left_z=0.0865 left_yaw=0.0081 left_pitch=-0.0773 left_roll=1.6122 left_gripper=0.9989 right_x=0.2887 right_y=0.0007 right_z=0.1611 right_yaw=-0.0022 right_pitch=-0.0721 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -7.8017, 4.0547, 1.9707, -0.0806, -0.0611, -0.1294, -0.1709, -1.6889, 7.0632, 1.6581, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.1254, 0.5133, 1.5497, -1.0931, 1.5372, 0.9989, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3925 left_y=-0.0378 left_z=0.08 left_yaw=0.0048 left_pitch=-0.0497 left_roll=1.5905 left_gripper=0.9989 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.6103, 4.2051, 1.7656, -0.0171, -0.1441, -0.1294, -0.1983, -1.5248, 7.0085, 1.6386, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec68d68f5d9ca7738922810cf30b4a7123f32b12d98e88c45cbb2d5549825720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece9199aece65708fb156afe96a873cade0ee30bb31cf9cb2ec152a589664639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69cf98a8448e74ff81dbd23c9af4723b9de716ae5d7a9a5852625ff363798473",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsZaEW2JU0aLkC9gzywaiMYH5p9bgU8SzFZXWdsBeYlrxiu6QCla0-yn0SE4bB2bldlNx2kEsy8pGnm-F5BmV_pPanpbzfNa92FWTufOdnvEd4xRU21Td6M58hfPIkUUXb5fQTvOxKehGNn4cp3H0i03plO1-aHf9_P40N-xhwjj8EzEoTw56T8LLrj6jg9aweuDXq1xSsRkU4DLrDPXOZ2o31T-jeIqqb_QagGGwdE0Lan6sd9SX_mXhOidMzHVum_Zx95CiOsd_S397KbINoututmtaPOtvmg2jjuq26g4IK8PjceisJSyyQ_WchnPP87h9eE6QES05Vxx3aQajP_Hnv8NTX3ZuYvr_EjBVhdS4Eu4kQ09gbf9cYBFgu0zXwRXZ6jUVCEXakpj9HchVW3uqDfFowXYcNYOt4zuRrZvkEb7NkvwLVAXhtxTZRPU-NY5BVw08A6l16CKHzz7HQ-QpLqMPFs_0G2uya6X4qWbH4ErZgoqWJzIAQENkg75k7WKiy4t0pxeWqT-rng9l-hBq62hVYa1sMKM6biZcpY94DlyeF1S3zTxi9_eBb8os6QlxBXLcT0GD-Z8209ZBG-pIf_kAG9eKAkeq8z83CJ-0Q8SdbLsjYXGbGpJ1LcHVWsCxJEGV6Toy807UuvLFdRJ4mYHXzUXv5Vmwz1JyJEjSCI82UvjWZrdnbBu-HsxX9jFiHrpKiS1JRGlizG1zkwWWZHBsBY7XgGmekicFnxFIZtgH-GHSVpvcj5gxSqbqwCMUqOW5LbLQRfhKqb18nzvMPbB4k-zhGallIQnp3GJi1IebG8ow4qaNFFwlO9VtE07Wc6ixGcdKZoRJ7tpUc28UPQIsylg6vql44N0YjLTa5s3ZLYcuyEveIx4AwrPfi9OZrbB96are22ngp9t7Y5wozt9HHHWrqiNUPseLQieelRdfvXgOI9y9ozqL-cs7YEJK8wZfYcfAopN2bQKvzHOHlnzW71mzpoMoT7QbUq09rxQgiSj4KezNPhl6iCNgQjTF0G1liebxvr_0VAAVsrSUyj4TIYjp79pf8VSesnC5mZKqbVRsMw7hXLATc_AyHHe2o872bYcwOPYShhXAApgLVJqCrZj93Yn-GReWpke2_XLrBvwPl4muFP5s-bqrW5kfw3-KajXu9Zd6RQi4Dc-QujRIhWt0dTmNLq7hEm-d8S5v-BzwUB6Da8VW45xbPaWURC0JGodVmT7RkWiaLTncICPORANJ8K3iQ9-goIkj0kYfgUVZ8cBZpauYIdVn0088142J5PkgpVJDKfAe2Q4i-esrMr-gazVO3h5HmpuuA=",
  "id": "rs_0f95f99d2e8614a1016ab44b17164887d095ed8747cdf2702d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":0.0},\"note\":\"The white rim remains bracketed between the upper and lower jaws at the outer edge, with no neighbouring bowl nearby. I’m closing vertically now while holding the full pose; unlike the horizontal attempts, this should trap the lip rather than squeeze it sideways.\"}",
  "call_id": "call_4kSsUpVjSf2yAdGVgeaE7vTa",
  "id": "fc_0f95f99d2e8614a1016ab44b17622c87d082216aa47e680f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4kSsUpVjSf2yAdGVgeaE7vTa",
  "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]: [-0.5152, 2.1288, 0.5266, 1.552, -1.0931, 1.5291, 0.0092, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3953 left_y=-0.0394 left_z=0.0819 left_yaw=0.0045 left_pitch=-0.0348 left_roll=1.5777 left_gripper=0.0092 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.8838, 3.4256, 1.7509, -0.022, -0.0757, 0.6081, -0.1162, -1.1692, 7.0359, 1.6435, -0.0757, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a3a70a0dbe4bbd35cc941318703b6b7f2c138f628dbf1f9bfaaac078a821e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d975f1b0753674db4b5da9794807951cb97b94aa2674fef9e0093a68f7e4d07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7ce5c3536fd41394f798b771fee361287371b5421b94d30e538bcad779f9e5",
      "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 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5232, 1.702, 0.5442, 1.1198, -1.1351, 1.5227, 0.9989, -0.02, 0.8116, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3873 left_y=-0.0344 left_z=0.1682 left_yaw=0.0383 left_pitch=-0.0199 left_roll=1.5675 left_gripper=0.9989 right_x=0.2885 right_y=0.0007 right_z=0.1622 right_yaw=-0.0019 right_pitch=-0.0683 right_roll=0.0048 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.2274, 4.6564, 1.6093, 0.0904, 0.1978, -0.1294, -0.1299, -1.2786, 7.0359, 1.6825, -0.0269, -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]: [-0.5152, 2.1254, 0.5133, 1.5497, -1.0931, 1.5372, 0.9989, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3925 left_y=-0.0378 left_z=0.08 left_yaw=0.0048 left_pitch=-0.0497 left_roll=1.5905 left_gripper=0.9989 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.6103, 4.2051, 1.7656, -0.0171, -0.1441, -0.1294, -0.1983, -1.5248, 7.0085, 1.6386, -0.022, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.1288, 0.5266, 1.552, -1.0931, 1.5291, 0.0092, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3953 left_y=-0.0394 left_z=0.0819 left_yaw=0.0045 left_pitch=-0.0348 left_roll=1.5777 left_gripper=0.0092 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.8838, 3.4256, 1.7509, -0.022, -0.0757, 0.6081, -0.1162, -1.1692, 7.0359, 1.6435, -0.0757, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a3a70a0dbe4bbd35cc941318703b6b7f2c138f628dbf1f9bfaaac078a821e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d975f1b0753674db4b5da9794807951cb97b94aa2674fef9e0093a68f7e4d07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7ce5c3536fd41394f798b771fee361287371b5421b94d30e538bcad779f9e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsf94U5K8yVOkc3dFMP_-xEIjsGRj65lTIJlzaMRjP32omxirErXzMf4IIOHRzXiIj3NE08EIGoJNy94u2IWszDKwpLiLX26UKC_0QyanT8NX4NMakF0X1TnmmzhvSwxbu_YS4SR4zl6Q_spolcSf6bM0_h3BmCHmUvgn1OcscA_aZLoKHB3UJ8cx6IPaEv97xO-ALzPeW6g2wehvzUH79ibHcnFkzUAfWlBt-vscwiEOrtY1VIcIiCbNYjkrkWHiHabf4TIGRF3UqnqrP-Mpl0NdCdcSErLDxUp2Wk6-cv1mG2onPsW3HtK9HIGybjnMMF7sf579a_3HJWMrrUP6YZvAHsXKSgEPMBOJzSrFnF1ot2mTRL_fvx2EZn4clyOv7K30UnwoC4hIpG_pmrih7DKpFVJAE8Bf1p5PQiVz9u1Z9PNTFoA988IlI6Jgt5Ttx4I3GSgu59IUoV8aQDG4E6M3xszvEovF3u8UKPLDDAGQvttSkOmjnizmXDXMNE9_4Yhn1IrcvzO2pst4QwI2CwbT11UPhicsdraxOngIaCjEV4RJNtdp_18tkQ7065oEuxTABsxSPp4amLXkGZxs2o5dRKtBOfoMwG3p7A_YNYu8BuICGsG0jMzBs6L3lMfoL3nmUQCzVxjPzX7FTIwRe19Vqoh0umOBxwawS5X5R14aTp2-kMdyo6r5rF7QMaHc7b0i0aX4lKKxvbThyo5DO8X_KUouGUwNXG86of4K-Kz5ILnn8nIJlsZNw2WP1QRFToZBrkAoq5dDsC-na_2bdhBuCVPYtd_oQpMR08ZmrxMH_fCAm_mQos7h5GJK2vUxalwNBY_5J2elwq8ZFB0D3IghuEskdadot5ITdWrxm4yEzScjQUCdlBZgE9-DCSlphwSsDRy2NIYDOvdK4q2qYJNVXTa4YaP1atrcsyZ27fWTsc2J1jvVhj1bfHoSZ08YLvtU5zUfPHIdIh7VrX-iDSd8KB5CJwHk2JpZTsccTQkywXFVQat01fJFG67rUOq3lEY2pfCww-BoQRxLYbL7agXYO7RzwIFdqheT9jERUpI7_VT9807-13h7199zAKP963OLR2VRzVnV_4YwCsKAXckD7-lXydkL8xErNcxkLv3gfAl85lCkib0QBmcwDvpJFUIXrLpDsZNzWT5TgSkzdk4C8YGp1xx4kn7J-OE-ZyVcMTQpzUBI2CuCsJ1LYHz9B_ahYKOC0SHDDVnbxxjEIP4k_MHRRA6ShSIMrNKfeVClt5rgwmoraFUXgS7QsuSbvdJXkJQtYkb7K3IkyVC4o_Hml3OLZq9vMdSgd2yl2g2Y2A9P4LrcIRrsIHP99-xxhZYerOm7RRVmGpaSCBk4JoI3v2t56IPMhKzj5CUHXTLG_Qz0y_kSFP04YoMDgcizpg3c0-pyPiqzmXsfc9RN12k4BnY58InVwwwzZHwteZnyvM6OHYdRVT-essgXdlpe_Mw6zsk_88L8wSDCTIqmxHByWS8SCPGBd3R-oM0xUn5QnYEpwjE4v-fJ_ntpHTsiABYkImXjdq96LyanjSK6sTBXQWcNZtgnbBBYHBRJhayjRh23k6tfP1yBDsGoHENG_6FITEOq4U3Dq8FDT9IL8ODw39QfBJg65T0hSGZDS4pJUQYt46_TU5JbSRmAiuMLgQh0xGJNyOcJHPMZCy7GxxBhTvJZSIyxZTsgar_MX1d0ZA2s5zG-WFvvFhAP-iebpZTqoqVcpadH_6VQxt9EaBjV-f4T7-A0jIhIQmiMAFZe7bvVfUIQHgiAZxcg-Mgs7OEpAGCyytQCZQwqUpefGHDUXQctTnRwJPhnxKWRy5BPYx3mOMAuYhcYecJYTa-dkWJSGhPUbtM2pheaj7lUi1XkVlF7ai35F7S1f4HPZBYMForaFXPZDcjiKnJL-vdG4FJZS1H0rArUNsZAn2OVDQpAbu8_aG9AyM5gu7_p9h9xvs947Acwdns81PPwHeOBxaeOIgxB8GJa3qcsN2BznerzYxLqjgB7V7O4dWS2Zg1vBAXscMLfelaVu1UdL21PO6T8xQfodKC_qkVTjImTTKqxzxrkoZGx1VzSl6oAgtZzMpM9F3Rg5z9BH_5ajlqNXN2zfKLR-gbm_PJttA_WXgq8iUldyvVADIlRR6RT0U4eVtJ5jsipALrDyfvbNxyEF_iK7ltwGNlleQUiNTvM76kIO-IkF0s6s2JYNZvE-CT7dOst7nV3E2mKkITcWCDbkv3oNdnDxTqNnn86jNmD2tX5N5QTbsCumjkNqYjRZjZMc=",
  "id": "rs_0f95f99d2e8614a1016ab44b1b7d4c87d0bb71e312f243cb2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.16,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":1.57,\"left_gripper\":0.0},\"note\":\"The closed opening is again thin-rim-sized, but the bowl’s side shifted as the vertical jaws met, suggesting the lip may now be trapped. I’m lifting straight up at the same rolled pose to verify whether the white bowl follows.\"}",
  "call_id": "call_O6Sc1omfzmM3aoJxAv6ZXXQA",
  "id": "fc_0f95f99d2e8614a1016ab44b1d3b8887d08248bf35832e6928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O6Sc1omfzmM3aoJxAv6ZXXQA",
  "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]: [-0.5152, 1.7912, 0.5045, 1.2987, -1.0931, 1.5303, 0.0067, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3885 left_y=-0.0356 left_z=0.1534 left_yaw=0.0042 left_pitch=0.0186 left_roll=1.5477 left_gripper=0.0067 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.0019 right_pitch=-0.0751 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.6923, 4.9026, 1.453, 0.0855, 0.2222, 0.6764, -0.0889, -1.1556, 7.0496, 1.6435, -0.0611, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ad8c013a6a0dd9061484b7427bbcb8b1a4a548a5aaad5bec99381920c8f995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca93333dc03a9ef5aed118d49eebed5caddff16856a14295e23e85f50055f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92839597e555f52b41f920c5eb88cbd5b11d3288c439dda773ba6f41bd3a0efc",
      "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 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.0651, 0.4942, 1.4834, -1.0954, 1.5478, 0.9989, -0.02, 0.8154, 0.5945, -0.4229, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3888 left_y=-0.0355 left_z=0.0865 left_yaw=0.0081 left_pitch=-0.0773 left_roll=1.6122 left_gripper=0.9989 right_x=0.2887 right_y=0.0007 right_z=0.1611 right_yaw=-0.0022 right_pitch=-0.0721 right_roll=0.0047 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -7.8017, 4.0547, 1.9707, -0.0806, -0.0611, -0.1294, -0.1709, -1.6889, 7.0632, 1.6581, -0.0415, -0.0171, -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]: [-0.5152, 2.1288, 0.5266, 1.552, -1.0931, 1.5291, 0.0092, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3953 left_y=-0.0394 left_z=0.0819 left_yaw=0.0045 left_pitch=-0.0348 left_roll=1.5777 left_gripper=0.0092 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.8838, 3.4256, 1.7509, -0.022, -0.0757, 0.6081, -0.1162, -1.1692, 7.0359, 1.6435, -0.0757, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 1.7912, 0.5045, 1.2987, -1.0931, 1.5303, 0.0067, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3885 left_y=-0.0356 left_z=0.1534 left_yaw=0.0042 left_pitch=0.0186 left_roll=1.5477 left_gripper=0.0067 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.0019 right_pitch=-0.0751 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.6923, 4.9026, 1.453, 0.0855, 0.2222, 0.6764, -0.0889, -1.1556, 7.0496, 1.6435, -0.0611, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ad8c013a6a0dd9061484b7427bbcb8b1a4a548a5aaad5bec99381920c8f995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca93333dc03a9ef5aed118d49eebed5caddff16856a14295e23e85f50055f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92839597e555f52b41f920c5eb88cbd5b11d3288c439dda773ba6f41bd3a0efc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f95f99d2e8614a1016ab44b218e5487d0af00b16d1a2e6a00",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsq0vIRDBrDKRmTbu1_dLaM-7ozJ-kbeV0tIGbPsjn9EXD1pw-epae6zBqlVHisi_ysbn1Sr-ZviUMwYWIweqZ74nLn-mor8F9VR1pf5EBDFqJGoUROVSGMqbj1ZEVRo0p1DYUaFxboFeqgGVFijHGNcR7M3xwvWpatyi7_xICcjCiNogpbPRKFdUNklvcTyyRY36hf3-UWppnanLgstoh0CP7VaVOchglw97BlXfyL3i94ibdqwlc-Y7EhK7o75-PPG6Exv0unhV1Qwj8H0fGoph-y-JDL7ULxuKZKHfPi_bKj7SLIkD6paxwO6VNRfzVOnz8uZVG4tnMd-Bb-bGWJ7mewMlqHwr72CQh4fjWps84yCJNkK6hdWM-qCzRB6_pDYy4s4SaNqTnDG5JEV9Pn9WHC_zKGAolSDyCLzAUApzZqhhLCIXnfiJEGiJVDvi7yU5jFa83G44OlBp_cogoJ62n3TCFs_PlM-H_1lAobxL-SLF1c5wZfGeGfndErWKuV7Ywk0XFOaoTvwyJUtqUB88StmBPb8UymazU_L9w0r1IH1ThSARFRKl98jrEGR6sCQ6zv1fyDqNqn9ir_bjsnXXitFD3CQfOKUUgWaTXxKvE6Rt_o2irpnXerxpdOpUQDheSfTpuwfBRClXSmCq3AJ5O33JNFgSlDho0ch6iyKC7QA7SMxnXGvMzFyNjSWRd_lv4zXIYu9xSOuZTVEhFpBWNMXzXrdJ_S36J0V1_Z_Ilal9E67Tg4Yy_uG2ITNDIY-fNMwIOH-bianAgwmtXtyCioQwGMmU2wdp10dVj6M16kpttit5ueO9TftyEbaJ1HK8Gso0EOksLSE58mFr9fLOw7acikaicEmaBUjmv8tUbvTG3ymBGK-1wL_4sxWXgv9bzy5sHKDDygDdS18QhRvMpc3k9a0TSSX6ItH4_JvQ3c7hMaQGhenhjcVIz3f6JLR4gm31yCzpsMzW_JS80OdrlIkLpxzGMjMA2zOrxibQWRcJiop2KaOeBP9tGwuX2jUHvzNj-_DWxCCUammlkLbU54-dl-KcYpFrJdCE85kaZq-FjQ4eSkDxQ2Bd3Ww8axwV5YmhSJgYtif2Cq1YMqet6XBm6DOmVyrqgW3I1SMSOhi-oTOK1fg0_E49QVCNx5wU1bt2sZr7imBIRAvqzhYA6TUTI_AsBQKKq5Ioq6lDwCZj29_GQ-_943i3a-HSOT1bc6__Z6t_hx3W3EuKVyIDgtGAt425G-nxhK1LyEe_3NbCBwR7q7w0bW0ymRmQCTRPITObGKO6TFiGkJfAVP2ZHsd3J6tuEPWHqfm8IPhGPh5hkKINaToBGm2KpPD6KEx3hYNwKvX_jxDyDH1wICD7-OidayuD1fodgacIIU1exS99cvIGQhP53DPf8NH4CkthYtB6vQ6lRj-ryssL7CjKumS96lj9VRXhpsYIeRF52_-bKi4__-f8lkeURGs71Q9UfgWXmNoAODVud30aZ40O2_c6xmJe9Nxpv18w6ZF0as9bLZdusTiHfS-cOPMB7GjLPdsxhrPOg15CuauICA9qJrhy_SvVOUTzfs9pEzGTERx8e_CWTH9tOMACzT-TbvaAxS2YiUDcSd-xQ7zhB2SvtyX4RbaLcLvRF7bzVcz-TZcHvfVjt36Z934PPChbTlqAgQOrd964hoCZMS_ZHtKMH-iKgJE5hlqDsqcmckU0JwvwzRoKHmHP_rf7B_Af4ptI3s7DVzUV9zUUjZ3Ugh1jgjWWZw_OWJQ7XX9VUS1jmtauvekJBHzxIUTHAK2LUAZLxArQzVIk8z7RQ376tGsfTl-7wwXyCqqS03Ugrwhb5PKvRzhP-Rb0znsLjfFTcZJbAsEcNw8zITGLohff_-fZVrIoKxwBrwSJEA29LH2g0QTqwlFFq_sKKZXAzJa3tMT0Bw6Ne9EC8OwsPQxsTWRW6I1AR3530bKC9LYrI2c2LTXOlxK-Tf7toCZTp3o9Q9NOqvRKg51e2POYfXXSgWcAbiBnlhYHmZR32HSL2b9R5Pd5ZwG3H9vecD2xn311VTSC7imJbTRUpv9awNvJHjZ1SYhZYEvPE15YaV1EZSpFBWM0ZMEjV6uAiraIJXVzz57RkMYl4pp7RxHnrnQpQdGNEuAVG6hVvJtvVMyjvBVAi0rybbLoVTX6-guUzEFTEWKwlRrYoSkZv5XYAb9ybWlp2bzrYP8obuTcGwyklmEC0bm2sWvuWYGN-gP6LXh9n-75wrOqJWvSLItiRPd3x7Vuj714NVdSpInbJ3CauIw73kVB_zAjURl3TreHkZB9es0JsOi08xte6ao_tVgmn35od_RBB5BF6TZh_kBSLD4G9Kvj6cJokckWj05Lcc8FvRe4q8t_TgMxsNETmjxCgJbjuaF3u5BrrhodZ7pn8zg8SEMvsJpnbTiqOajla1nMEoVdgixwkCxSaRC_oyddh2a-G7FBsAghBTWST0k0zWR1y2c6etzt3_VOzn76okFGbYq6IZeJxoH4Rpg8zl7L6dqyMTzeylAsAIpi10nWc4rXyqDkIudqEztx-bo-9KoeisdvAqPVzgqJTAKBESGxgTtO_vE5i9pqeM3LQkJ2s0Pnun6eZMCRAxRFA9LYpQfqwa",
  "id": "rs_0f95f99d2e8614a1016ab44b27084c87d0860fdb857c4f3b57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.17,\"left_yaw\":1.57,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The vertical lift test failed, so the outer-edge estimate was not precise enough for a top/bottom pinch. I’m switching to the isolated near rim: yawing the jaws 90° makes them close radially across that rim, and positioning toward the base avoids interference from the adjacent bowl.\"}",
  "call_id": "call_cxbqrFH7cRlyEinngN60WOj4",
  "id": "fc_0f95f99d2e8614a1016ab44b2995a887d0aa3372d73a5b26b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cxbqrFH7cRlyEinngN60WOj4",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3908, 2.1395, 1.6852, -1.549, -0.8894, -2.0052, 0.9968, -0.02, 0.823, 0.5945, -0.4377, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3609 left_y=0.0036 left_z=0.1165 left_yaw=1.4386 left_pitch=-0.0386 left_roll=0.1 left_gripper=0.9968 right_x=0.2868 right_y=0.0008 right_z=0.1562 right_yaw=-0.0019 right_pitch=-0.0946 right_roll=0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -11.3299, 6.2291, -0.6813, -0.5592, -0.0122, -0.0904, 0.0615, -1.7573, 6.9812, 1.7656, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b889f0c6b676d99a08df98d03625cdac8cf8466768a4027eefb88179d52ba170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd7c6b60f8583417d4d879a9de3ffe805d73a018708f5b625e7cd8f80ee708a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3497e724524b300d5b2895b7866b53bd698c92fddf368df0122943a624e4398",
      "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 89 changed as sent

message 97 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.1254, 0.5133, 1.5497, -1.0931, 1.5372, 0.9989, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3925 left_y=-0.0378 left_z=0.08 left_yaw=0.0048 left_pitch=-0.0497 left_roll=1.5905 left_gripper=0.9989 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.6103, 4.2051, 1.7656, -0.0171, -0.1441, -0.1294, -0.1983, -1.5248, 7.0085, 1.6386, -0.022, -0.0513, -0.0073]",
      "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]: [-0.5152, 1.7912, 0.5045, 1.2987, -1.0931, 1.5303, 0.0067, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3885 left_y=-0.0356 left_z=0.1534 left_yaw=0.0042 left_pitch=0.0186 left_roll=1.5477 left_gripper=0.0067 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.0019 right_pitch=-0.0751 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.6923, 4.9026, 1.453, 0.0855, 0.2222, 0.6764, -0.0889, -1.1556, 7.0496, 1.6435, -0.0611, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3908, 2.1395, 1.6852, -1.549, -0.8894, -2.0052, 0.9968, -0.02, 0.823, 0.5945, -0.4377, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3609 left_y=0.0036 left_z=0.1165 left_yaw=1.4386 left_pitch=-0.0386 left_roll=0.1 left_gripper=0.9968 right_x=0.2868 right_y=0.0008 right_z=0.1562 right_yaw=-0.0019 right_pitch=-0.0946 right_roll=0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -11.3299, 6.2291, -0.6813, -0.5592, -0.0122, -0.0904, 0.0615, -1.7573, 6.9812, 1.7656, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b889f0c6b676d99a08df98d03625cdac8cf8466768a4027eefb88179d52ba170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd7c6b60f8583417d4d879a9de3ffe805d73a018708f5b625e7cd8f80ee708a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3497e724524b300d5b2895b7866b53bd698c92fddf368df0122943a624e4398",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsx20aWg4YqkgZ12U8lElcnC9ADugqHqykEMHEzMaQV3L95oh9UAu5QQA7vPiZM5Oow0gagreD8DhlL9aY5jrj1lEfxq0jmyPQfPcbmqvfx6f-K1_fbKYxYUzA-gZPK4q_ZiERMKAhsfV61Ucq_xkTfmWr_rGv41IcS8E4mm8g-0lsFR0e6HNteK_DQfd8_87v-1VNwLQhyaJ3YTEWx9O4LbwI0pUIFIZcE6iTh4G7O7-u7R1X2khtVDayAWwLqLsmgK-BTfjP4rxdo5elAaQKqXWyl_eij9glKk4P-SPiTIcxN2brLdoER2i-JZDqoHC0CgUaguaeL0Bl5HEYhVFpH1YYU0HYb9hZZzqkjSlJ4LPgLCzaud2rk5kPHZjHhJctbdwrBva2VJ662bVL-_wbsFhZ9gu3Eo7l5jE_9OiVnmbpiwlNqti0MqqKVvDBb3pPEAyqNkIY3PnHqhwlmOEDqh15_LGRXGhjekrnGLl7HSE8sDhY86Fud4aHo-4HEexl9RKiE4t1jpkIhBLecpwZyXpHBQxt5U0nvP_TgSrC5Hn8bL0LwuXs4KdvNHL1KrfATweBV58O5tuxx_0ZYHGS32Z-QIyy_bAOfS-VSRwFDPnlA-zhJd1Ro4alDQMIWc09zGBZVc3JwQ2m2ZJfdGvEsUIjBo6nFTCQLDEbr93wZqK0H4DICsQTQM9e7aJT-sSFTbXp7HOL2sPaAuidjwMZ_T9p5tGtGnCjr9BwHinM3-ZBrl40ZO7Ne1KTyBUnRqVJEwliUkQ-v12bREPBy47e2kSeh3k0Tkr2__nyGjr5SjIFkzehfkJZB0jzCPfbmeFfIuV6pqkI3ZvVeOJYkrElwS_sE9s7YcSBgAdrzciULRmYqJxXpEZyF8UsdAodB5ROrAkHQL-dU8PPmtD9CRR16luqmlMIAkaXSWESnEw2Flwsqu-pwefvZy3qF0xQsh0liM2bGD6LgEbfMCVIZCcZOn_D3wMEAEA1iQ4nOoWNogV8DxufAoPM9h3AHbjg_TQE_0zP3T8OjMDscCdmFSezHRV5WpCmqRqAjWnKNAick4xGuSegtArBgozne7VRm0wEnZmiR0-4Rh80OzbtnppQYlCXhGHloaL3sSl1QNdHvLinncPNGmQwRsRCoyeQgRfMGZPwkqN5yirRB2zbfQQ8vMsR4m02TNQ80AdsqTmY3R4tJQVZ-xD2lQMPDZ6x5Qe9cOuRf4jyLplm2SsYQwfYH3RN1pIvPEyvLCFIfDHoufp60mYHiMydF-D1692DFBHlImDMSOsg7CD_pVK4kPH4zFwg5VcaRBkRjIENPMCQHRyppDipHnQSwLa8fB9l6Hp8aU4JqJEiMSRNPuC4qpCiHGisNr-gp4KeJetHKEq5yJ0-85EVxjk4tAdIgQo8DoC2jJOU2K9gkluXUoq6nr7a9tSTcACwwaKVxUNV4cnMNSP5nznBNBpyNjEhnpLj6cxdMDD_8qFT7RR-AZLpTbMSUW5SwQZqrG46DKR-L1Oydc51IJeVHofNvNsp46sbsvXviT_fPpJ4zsowLiVY2573yqYMGy-oGmMNQEqeJebtkMsV0KwfLOmNPFwiP5GZaPnpJHndEULTN2zlgPbEyUKJ_8Vbp5Urd6uP0X2GljaNSeTbRUGfi4j5FEa3jzMAylRaGNiwqm5__8mY_DwpML0cshPuStxXV8RJweG1qjE50StbFrvmCDdR6dAJVE92Y8QnnLA1VWRYU1MnKRLTzIV3c-EPfBKXdohsFQTss6ewF6RufT04PVuI2-vjvttY7Iuydc4wvKZHrSVRLCsRQjfqyE5NHO5U0f0d4k4NiGkbfe9ajvn9opUAR6DebB5CkMCr3vbBj6Tp5_g15NWy_1bVNEDFErbaDtsjvdiJhMB3UjwyTuobFsz9nePlc79QGWr8yAl6RJPhDy1EPocZ-uFu-VE1TcUs4THRmHFJ5oJILJ9NHFBjFQDYDuoOYFCFMmgOx_6CAv7kLENuUi8qvDn5TQw==",
  "id": "rs_0f95f99d2e8614a1016ab44b2ea3c887d0b446ffcd4b94ffb4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.18,\"left_yaw\":0.8,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The full 90° yaw was kinematically awkward: the readback missed sideways by 10 cm and sagged 5 cm, so it is not yet over the intended rim. I’m backing off to a moderate yaw and re-commanding the high approach position before attempting any descent.\"}",
  "call_id": "call_lLnrh6UwmFpyivRFootWJ24F",
  "id": "fc_0f95f99d2e8614a1016ab44b309ac487d0857861ed89ea8611",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lLnrh6UwmFpyivRFootWJ24F",
  "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]: [-0.5236, 2.1601, 1.6958, -1.5566, -0.8612, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3561 left_y=-0.0467 left_z=0.109 left_yaw=1.3497 left_pitch=-0.0554 left_roll=0.0777 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1545 right_yaw=-0.0019 right_pitch=-0.103 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.0581, 4.5607, -0.652, -0.486, -0.2662, -0.1343, -0.1846, -1.4838, 6.9812, 1.6923, -0.0415, -0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5649df901097165c385156688aaa121cd632b85a5c7ad617d4f91f9255075a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f577602f21a79eb4d79058f6f5b0cb32206821af1869fb8af29c9acc8a22bec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86eb9ccf286bf8de6ec7f50c3135a6aea7ab9bfcd0e45d48556961b3e302a3d",
      "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 93 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]: [-0.5152, 2.1288, 0.5266, 1.552, -1.0931, 1.5291, 0.0092, -0.02, 0.8173, 0.5945, -0.4229, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.3953 left_y=-0.0394 left_z=0.0819 left_yaw=0.0045 left_pitch=-0.0348 left_roll=1.5777 left_gripper=0.0092 right_x=0.2888 right_y=0.0007 right_z=0.1606 right_yaw=-0.0019 right_pitch=-0.074 right_roll=0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.212, -7.8838, 3.4256, 1.7509, -0.022, -0.0757, 0.6081, -0.1162, -1.1692, 7.0359, 1.6435, -0.0757, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3908, 2.1395, 1.6852, -1.549, -0.8894, -2.0052, 0.9968, -0.02, 0.823, 0.5945, -0.4377, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3609 left_y=0.0036 left_z=0.1165 left_yaw=1.4386 left_pitch=-0.0386 left_roll=0.1 left_gripper=0.9968 right_x=0.2868 right_y=0.0008 right_z=0.1562 right_yaw=-0.0019 right_pitch=-0.0946 right_roll=0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -11.3299, 6.2291, -0.6813, -0.5592, -0.0122, -0.0904, 0.0615, -1.7573, 6.9812, 1.7656, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5236, 2.1601, 1.6958, -1.5566, -0.8612, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3561 left_y=-0.0467 left_z=0.109 left_yaw=1.3497 left_pitch=-0.0554 left_roll=0.0777 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1545 right_yaw=-0.0019 right_pitch=-0.103 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.0581, 4.5607, -0.652, -0.486, -0.2662, -0.1343, -0.1846, -1.4838, 6.9812, 1.6923, -0.0415, -0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5649df901097165c385156688aaa121cd632b85a5c7ad617d4f91f9255075a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f577602f21a79eb4d79058f6f5b0cb32206821af1869fb8af29c9acc8a22bec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86eb9ccf286bf8de6ec7f50c3135a6aea7ab9bfcd0e45d48556961b3e302a3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs58FnttVeyzESSce_pUftKDcwKtExxGx2Q5vjpyDvpRFvtCiq80P-EEqCX-brXevFpq-id93CE5Pzas3mLSaXW_SzG_xxuBogJk1i6OlT6-4cFv6S90LlwOgR2yZJ8ZkPCjaW9bTCFyRhynnwU0VDEEMbwLS69Gc5fTAepA0iM6bnxqiV0u_Tc6d1D9pmi1w50Dfp5mV3l77QwG-dDcUlaxfMmjPK4Yczhj7m20UM2VpGWQ926HWhyixzZarlhUeC0vWgSmkJ7pHNzNoiw5Awn3mXqjNhaKR5zKITi0va0X7DwIvDEg0LwJJS9RJlKhOKEFFbE0nD_pNDNtrijDfHnXIzz-4GbVW2R1o0LT086S18SjEhOKuJwvjgkBo2sFwTvCuMQ1SXGBus5r2qfvZmltLlt4eQ9__u2qZPKX50uC0mPZaK_uAoZPQ9LBa1FqnWJs4f_Eny_SzEMqxx8SGtrmTZeBsiIsRRppFAboFBSvXfkYFrQ2f0vdS1oK38RNgKmsBoGcrSSSbrkLehLBvfR0_QySPgj8UegqgU5xcH78ivPDZ4IVPzoKxkipNp8jlevJZJMh3F2WlkZXz2K3ufDLtEDVQBLwsufdPoEqVRVuFTyGKiKfglI9SuOHWAFmT9RpUFcIX2l9-lc8L02U_UKpm27ZvA8HG93EV-U5qDq2WbG_vsBy3IR2h4pbxWNepfZNPI3AMx1AksAA40SQCocZc1qZ1utdJiIawZG9BCV8oWzW92QvjgI6bFRTP7WY_0c0MsjWecbWxYKquD6rm-JMyiAUfhtQ-PxipxFGbE2SAEXYsJXSCkLT7bhCDB_MLhRqHnotcBpYKSQq-XGVVsDm_j2DUJX0mPfzXTXJMkx9_hpqzOnjcwPhaj9zoUbZG60Q13m-53o_p9Wae0Tg9l6DoueZPV4GSrQ1OnKshIr8vPml0n4aSYiqHk-dXOeeF51fcJfXpg1GxVHb4VztBg3z7CbXv_E6rfrllriw6_rmtjGOy--bA05b_aHYlXaKxe6tO5MjdZYf5cDziVo_uNZt-9XCFohDBgD2kVQFUZmhOZh-a5BS4qWne6XldbW8zWnRfPyPlzpmM_DIfwNA_2y5QoA95imtvuwFbzBIs_xQmGEQaClcESY5drt6Rc2NB9TD6rDGrPHtl5G1vkMWvUV5ZALGRqPMYsPZUBGvA8_FxAn0-LjHd8Uc51Y6SgekXteZwve0eaWw_yX6vshOTqVrl3bUT9THr3BdfrzkRZBceeJ9dfxKEvmf2Vy18KjZb15fRRDq045mrFzjORKJ7oM3nWwIrm5FwUQfza3xJtNlrB8WH0NXgN34yiehvePmyrVXzKEcxDagS-kL3o7yqTakfsLK37xxm7-eWYTmfIrVSMENmucZjTy6ZSR1iZWoS_rfepqJMPq7IDAzVK6Zs4Ep_dc_VTz6npCFJ7gnCfOEXM2pAxYk3Kr2yiXSxgt6GSLXISkdSy8fdNSQWJ9SZ1sSlBpuU_pb7eBelR-4EDpyoX9hEalWwlrHIOFCRfVky9QvKiD_GNymIQt32EA79kGa-g8KGT6pjnZHw9FdscgQ9sXgxHhU8hwnmDpKnwucxUL_vRhhfltXLXBCscY1M9cb6Gj1gy83pyAS7JWwQ83yp_KCFChy4ZDy5U2s1mNROCvRDF1AkPTjtGTSioIkdhPjmpkaBlLx-tXI76krTGbBz_T4S806dkxP4SDP8SxjXvlZx7i1l7NzgFgqjsgwhttkN1uYUA4bRaRPYD6XafaBQMRKftNjKCbQ5Vw9362Od3OIXtx3ySS0i8arp4AKJpMyC1Ma7nokBFRK6BBOGHxmOtnNRsGtSzo2-gq7-Sd0oHeN_VZXfgdhpxM3zj5oCt_KnYA6moljutX__yTC65Xvtq6zTJX_U5SYDT5kIJ58uyH3koaEOJztrctCbfzJ5viEw5jbgl7spzt8Wm_7WITUxJeO-NuVqpZF3lT9aNSxyCbCJsIxqdfMhFou8J_ZwVOWnypTBXb_ne_3pTQBWAgmIq52etxbScNo-JyvfVG3IxwaAHP-Eczi78Fy2WGTaev4QH6wLMZ5l4sF8_RJJzppeq6_rF-HVEIRj55AFsft40ewfa7v05H6lxnZNlUR3ha7SW5t02w47sn9nogPzQ8-CHb_67n-xec0NA_qeOnS8zVuNJBZIf8d_d_ui49BEJc-Uey7mKzaLETlqdo22Fo_qp7N_ZOMwYR-dAdYw0UAKRzIhvQ1KoeQDNE0YNu1huapi19FuWWH1u8nE67MqZZX4QZs8uC1isi2wIRmXdaDpZzBxlxP05JlImwZV8OPGieaCmCcvC_tcabebV152OgxAsHTGngnxTq4o_kKoaUGRF_27hxqbh0XIJgjzLh-TrFPY7qcf-u6VbeZgfneDwMbHRVbzKyNbv-KeaE3EsRZbszVYYnZPoSZOe2kJ6BCnVEzzY2FTNd5nYmm72U0EAjQgDUeuMqPMa1edqdXgRZTrT5phwYxJ7epOKy9hNoda9a2hgo9FSYF2etrCmK5Pp7ponBlLWv3qVlP5y14Ohxj7C865vFKhuYoJBGl78qer7AMLqbdJZpjooyVcH6kTdxynHwnobv48eY62E8BZaxr0LZBZshiIoBRsCWBG32UBtGFwDV0ku8SpTlIBHSXFOJfLB4F4V4KV3gYFvmzCKI9FCPuQidjraKNXS4sK-Y6KknCnzeLQwc1p1IIZmP9b_Y0OBL24Vhdne0yTSB-3iTNnZhSuQiVkgTRKzEkKU-ZNgR6sUXnbg7YFJOqWRe9ryr5Kb8bHCkfWrq0FiHbdjt1fYOHAk1uiTvY3RTHoJlArVQ4EX6pnOnxb-fPZuoX8YzykJYNzcW2hf_pc498b0jeAmIygGcNvQPN40p8565gfY3KfazVsxFqe26aP6mujGbtGHEFDXaXTDDLBeLdMFK0wnVwns0EL6SiX8rH2DCMthabBO4dwkNwebw4CK_lp7nqHu-2-Wp1MHsKkSYEBzHEnTYh4bGQV8bbwOHtsSpHKEQjUKDPkbgBZRbnTillPBw3c_UITMZervWG-sHVtlRFzJ8RkE2UDUsle4LEwmsN75YM2VIHgt7yYnuWoRmeZpW6IggHBzPFPmhNlYfa6UaAZQ4YPW-LK1i2URN_LFQFTvWbUwaRpd6gORIUyXEV-tfTIMBDilx530WQqHB9zaWsb3DWZIwsVAtaNV11tb4wfvbFRDQKai34wOB8a8GDx-2gaxxbRjA4yA-vbNmFBEY--KyXoWgaPBfmrbQ_dtKi8nDe7S0dv2S4L-6Z-ohfgT1hxm3vheR2T97Mk-hbIzoIFJXai46IwUUcToRL7xhP_NZQLyqT9EB3SyiE2iXC70tV6XZtiFH0dl-RMidLHdh4gdi2J5ITsLA8z_y1UIK86gIMHgic-qtuAxEoJ4HX255mbcN7D4EMo6w2STAJpfoLQ5RSFGzV0v-qp2IK1nA-t9yww==",
  "id": "rs_0f95f99d2e8614a1016ab44b33e38c87d0b931ef75c390e197",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.055,\"left_z\":0.08,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"At the achievable yaw, the white bowl’s near edge is about 2–3 cm to the right of the jaw column in the wrist view. I’m advancing mostly outward along the rotated closure axis and descending to rim height, using the actual achievable yaw rather than forcing 90°.\"}",
  "call_id": "call_ZpWzbtWSpHawET3R8QmefBVz",
  "id": "fc_0f95f99d2e8614a1016ab44b3899bc87d08dfba182d1cef8c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZpWzbtWSpHawET3R8QmefBVz",
  "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]: [-0.5179, 2.2086, 1.7416, -1.5414, -0.8875, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.37 left_y=-0.049 left_z=0.1032 left_yaw=1.3433 left_pitch=-0.0363 left_roll=0.0586 left_gripper=0.9988 right_x=0.2857 right_y=0.0008 right_z=0.1544 right_yaw=-0.0019 right_pitch=-0.1033 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -8.5128, 5.1487, -0.7448, -0.4469, -0.398, -0.1343, -0.2393, -1.3197, 7.1453, 1.663, -0.0562, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7706dccfc168e449a61ac430a4b1af54cb63f3dcf957d49247bb37935d48777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b0a68d782d7c2637acac356f8d86d0d3cb9b37fffc55bc148dc53e01134f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aede5cd9433c9e09de4667c7b17b2ebe879bf67aa37a58955172d3d824d207f9",
      "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 97 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]: [-0.5152, 1.7912, 0.5045, 1.2987, -1.0931, 1.5303, 0.0067, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3885 left_y=-0.0356 left_z=0.1534 left_yaw=0.0042 left_pitch=0.0186 left_roll=1.5477 left_gripper=0.0067 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.0019 right_pitch=-0.0751 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -7.6923, 4.9026, 1.453, 0.0855, 0.2222, 0.6764, -0.0889, -1.1556, 7.0496, 1.6435, -0.0611, -0.0366, -0.0171]",
      "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]: [-0.5236, 2.1601, 1.6958, -1.5566, -0.8612, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3561 left_y=-0.0467 left_z=0.109 left_yaw=1.3497 left_pitch=-0.0554 left_roll=0.0777 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1545 right_yaw=-0.0019 right_pitch=-0.103 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.0581, 4.5607, -0.652, -0.486, -0.2662, -0.1343, -0.1846, -1.4838, 6.9812, 1.6923, -0.0415, -0.0659, -0.0073]\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]: [-0.5179, 2.2086, 1.7416, -1.5414, -0.8875, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.37 left_y=-0.049 left_z=0.1032 left_yaw=1.3433 left_pitch=-0.0363 left_roll=0.0586 left_gripper=0.9988 right_x=0.2857 right_y=0.0008 right_z=0.1544 right_yaw=-0.0019 right_pitch=-0.1033 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -8.5128, 5.1487, -0.7448, -0.4469, -0.398, -0.1343, -0.2393, -1.3197, 7.1453, 1.663, -0.0562, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7706dccfc168e449a61ac430a4b1af54cb63f3dcf957d49247bb37935d48777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b0a68d782d7c2637acac356f8d86d0d3cb9b37fffc55bc148dc53e01134f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aede5cd9433c9e09de4667c7b17b2ebe879bf67aa37a58955172d3d824d207f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs_4KWAmhRCe-iPvEg8VhUQOl-BH8MMdGejOBrleWAJLQJuQKrUrJ3GjBanZac4lfiqr0BPYwpdCZGVbjzx6YB_JC16h14AXX9YBTF5SSbFCfDNrMk4E81Zyi72y0ETOD5aVsZnqgm-OIuwiKFv-bDPRaFdSHq8e4NKrQjuKR_DQZ9HprZIAJEzSv0F-CqrVpgUI3JpTZDev7zVOodEZRtQsG8OohBu1Jw95BLjyVjVd88S6G6NoKPVTyLv2yqsntvjs-kx3doTgw-bfjvoSncipRFJ3n-wcW1yAvugep0Nyq65oF3_1upY4KOezstBN0vVfMRzhMt7KCRwKMDuZZ34cNxGMKk3pYNcDRCStH325TrXUr0HjZMy25-tHleZu_WFnlrj9g31pdZz6t49s0TfNxeKRFClNBAseDGOazbD3CODB-3XWy0H6wLkwIUK99EbnaZt_6Eh0iOrcwR9bFVWV8ziWI6fxuZVlUI-4U7KbiRUxT6WL1LCmpybQYAcpLFMdSUSO8-Su-SGEFSQFBO0aA6TsMdwkry0wknQbP0fr-MMumYrPjmv_SmNFzLKbnXCcFNlo227bj2jNMOPfIzi5YtsygS6k6pisqIVx8fV_gP3-L9JLKcG-Hm2ZNkLOd2cg3PWgTYey61lyQFNmiehArxFohPJltP3dBs7qzTYo5JbhFETadzcW9nMCWjT2vf-gG0rzjcM4H9KbECu5yUa3lz5t0r4nAYXp6or__9vItuL75K9vrvoL77Kf7Wtd8WCCWot4z-NIz0QktTMCaSZMbJ0ozgWWMH0uAwhpQSJuR7XLTWaE0K7QrZjx7WA7wLBB74PDEjJ-NGBnyRDgWKpM4mTejclpO-48qI4kCOFBnhlGD5QUacXuJSMUDLVEgpwuVaKzdXvaFkSgfOQNERM2x7psYRDz5U_MSLWVosBmwvi84hF5uO_BuU_FIb6GBxP9mWpCm95Re26_A85kClkp_JmgHP-eG0nYNntz_ylPrjHubZU0uk7uEhP-HRm572Vqhd2EbX-GuZIpWWfda0fAU5qt96KCv8khM0FirNVBY8NKSc0RD_E-LicIPiHraPYoTHWNsVABOzlt3EJPlL3bv1UWfIMrK-FZ9aVKBPExI2td6zSfQskzPPGY6MuCrS6dc_IZRAqzMrPzPMiJ-Zjd0KLD_mv9JWsiR-kIot3inzirQztP19lNW2V_KgtPoI91BoRH8A6meKRpe5H8MIRQjmi72YfJF0SWOwJLDfo0EirThM1kf5hW_6qJ5YFyKtuTWaw8d8f9ZKfjK6kkWhjqbOjICmfSMG17PQHLg3s2DGcZhtBi3x5ajuSOupevw0ZmwjfvyD8IythwVT_3xJ87ehssdEUNLnwKYrfBE1t0hPRUTdo2aawqop7NaWadUzeaXkpyMJzX8L0cOja037WMRIrWgFkrHPhQBAq5uD7kb0pvY-78umY6wf4TKLrDdRl43BX3Ej6lkoMll5W1e4zw6hgPB_10CrMnyv8fCn-BT8TKjhAlkr5sdM5DOjts5nFqLHsXfzCmVQ-2U45uv2SQEczbPZ8W-uYAj0_KMHn21PO9HdSCtZ89ALshyc8TRRLwf9JFVBBHL--SrqIVLX5M4W41GeU-KR_3TbNoVy6UPNG3IQghCzBiF_u6JxahybzteoiXqdLf-hWknP1sRsnN0dGnMJMBjmGmCcsx6igvXZmRzMeRhB9kmFariJg2coh8vUG1HvedZhRtqF_WAbryvdJp5NnEyZ2HZAcpqOd48rcmbwEEFrNx0snSYxoJteEdV1o0hiZqwLkzkLcN3J80LDzKclN_NiH7_w4TRgVongvy3ejcWy4SYY2MvKEL1C3mtakzq4wFAcOWPYArpPzrnBExwQkZgC_ZBTZQAr7XWgEzNe-8W6h8K07xQ_pJGoQwZ7veC8DrHhbpOVNSeR-4O-qlEOTyfp0guL81jwIsPwm18jNDUcSyHYoz0eWy7mIbx-DGWRgU9R-sWa6iz9h5sWANDlxo_DF1q8hZleIfYk=",
  "id": "rs_0f95f99d2e8614a1016ab44b3b633087d0a07cfdf96b99e154",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.08,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The near rim is now only about 2 cm right of the jaw centre, and the descent has stopped at 10 cm, consistent with one open finger meeting the bowl. I’m making one final small advance along the rotated jaw axis to place that wall between the fingers before closing.\"}",
  "call_id": "call_wzntWTMNIZO6VXhnl54hFAxv",
  "id": "fc_0f95f99d2e8614a1016ab44b3d787087d0ae55ed32239297c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzntWTMNIZO6VXhnl54hFAxv",
  "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]: [-0.5079, 2.3161, 1.8431, -1.494, -0.9165, -2.0621, 0.9988, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3981 left_y=-0.0571 left_z=0.0843 left_yaw=1.3401 left_pitch=-0.0224 left_roll=0.0117 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -9.5248, 5.7778, -0.5397, -0.6227, -0.2759, -0.1343, -0.0889, -1.6068, 7.0906, 1.6825, -0.0757, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ec76674db630968785720917d405cf90ab6d4ebd94bbc3127c0add6624926e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae9923aede2a89b2a7ba768f9d8f9ab9862a193d37e7d487b6bd0b391f3ddca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f7d05c9251692b43bb6811ba815b576f09b57fdae5633e949584689994a51c",
      "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]: [-0.3908, 2.1395, 1.6852, -1.549, -0.8894, -2.0052, 0.9968, -0.02, 0.823, 0.5945, -0.4377, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3609 left_y=0.0036 left_z=0.1165 left_yaw=1.4386 left_pitch=-0.0386 left_roll=0.1 left_gripper=0.9968 right_x=0.2868 right_y=0.0008 right_z=0.1562 right_yaw=-0.0019 right_pitch=-0.0946 right_roll=0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -11.3299, 6.2291, -0.6813, -0.5592, -0.0122, -0.0904, 0.0615, -1.7573, 6.9812, 1.7656, -0.0464, -0.0464, -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]: [-0.5179, 2.2086, 1.7416, -1.5414, -0.8875, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.37 left_y=-0.049 left_z=0.1032 left_yaw=1.3433 left_pitch=-0.0363 left_roll=0.0586 left_gripper=0.9988 right_x=0.2857 right_y=0.0008 right_z=0.1544 right_yaw=-0.0019 right_pitch=-0.1033 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -8.5128, 5.1487, -0.7448, -0.4469, -0.398, -0.1343, -0.2393, -1.3197, 7.1453, 1.663, -0.0562, -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]: [-0.5079, 2.3161, 1.8431, -1.494, -0.9165, -2.0621, 0.9988, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3981 left_y=-0.0571 left_z=0.0843 left_yaw=1.3401 left_pitch=-0.0224 left_roll=0.0117 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -9.5248, 5.7778, -0.5397, -0.6227, -0.2759, -0.1343, -0.0889, -1.6068, 7.0906, 1.6825, -0.0757, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ec76674db630968785720917d405cf90ab6d4ebd94bbc3127c0add6624926e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae9923aede2a89b2a7ba768f9d8f9ab9862a193d37e7d487b6bd0b391f3ddca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f7d05c9251692b43bb6811ba815b576f09b57fdae5633e949584689994a51c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtDGdQQxmM3fGsqSHkPvva7t2PW6nVvoUCXO5N05SUqbdavYxSI2Jvw4PYGClf0jkcjAQu5gGPfVt8qPji0FNGbi5DFGQMY9GTMT8fMlQE6V3tTkxrV6XaSFB3HtErZuqpsV2v7XH6OQ5Q-JjYxXHfizvVcbXWLGiGXl_UPfmF4XwaJaGFhNMkVnDnwT6H_iTad9yiS3H4I4eybP6bKO0kFOFMdfE9Q4BnTK1tYb5nNDdHt5YGFV8FpfR0jRubh1qLFflateNQCdiRtd9XcFL878PCRWm-ES5JXfeeO4orDrkaJT32KA1V5ZTDnOS69M288yT1miouwJqHA9jhJWsulPIl_hXa9xYt8AKhwxt1ewuxlRJc3jntnUFh2EZeFFBDLqJYhZ-GhXQKkMo8B40jUQNLL-dT384Ljow3vsmcxXpR3BI4_KrTwjA455pq1H1QqQhqf8XkPbGDK1_W-hNBMkQ0kB444bI4L-qF5rT8X_MStGmfzR5urdOgIgw8QqUWyYx5kH-Em_Dc2oLGRlwJ944qW3OxWN_6pwQb8I4FL7gEtLbQeDsrKc_9iz_xRWwgr2QbPgC-WYgU6g7FFVcWzQv20rCQjkNZ7R-mTcYqn_EFIq4iIwYxiU6S8-TxZbJKbwT4j6rJaGnOf3nCg428zJKcQdoZ1qtvt1Qf7jFUWnkmJM0w1uaYctzE59ueNvgtZ6XkE2Y_G9rl_AJccUCuSMqVvPaNHGg8_gcX-2ybhJE9NqR5AwkiJM6tRnMmUeF8o_vNb1YGzjGe1R-UYBCzqpqyDe4K77kB6HfxYHSOtxN5oAND7Tt5KRwyzzpDkCeZv3Le-bRDUaUq3mbroN5yHST01Zwi0CAkPKm4E9CFUD3XpGaAGGSGf3qOv3iJ6Vv35HZYedg1jTF9I3sWNPQ0B_jiBztQTzHw_zKGMSMStGhFFF83Tp2-s2aRpBIO3xxQIilEjnkRK3r-ju_dMIQGdEEkuU1esoY_Z-PC0Qp70mlHvm3l_bktG7cXethYT0mwZ3oOlhBOnH8dFcx4kP1_BCp1yffuF-4A3EXFu024U6XpYfrrPCLaAdArG2qkw8Hwc7JKh76CvjmQ10n395lMUmkI0VZcT_tguGWyi3yfagi9f-IiXFSr3w0Y63l5M4bHJgAwAedeb3LV9HyTAtVurQaksx3khRt2tVa2zltBdzBRS9mM-vU4vKI9vez73r7m3jK2sUyGTjY5QnEHLGY8OB_feONQjsHgOCJVHMtT2pM0PvzZhg4z0tDFuDDASa3PYJyznDXySAl2FNCo-HDphQT9zd80HFLt59Mpx7i2QYKZOFtQfqFFIxo3J_HlW8XyxGD0tCWOYgBOgVrL1lAI2jVM3lQl7LaWKL5A9cxJz4PwCJx0z-HdqyIgkIR3pIw-YJLN3MZAg-lPcFE8IumIngtR2SmwEP2IROsCho6pLaQs_xftoP3ZbN_4567GP_UV9tV9bLRGjkssZ2k5GDH4GZ-zKWW4Zs31dtd5xN2Leb_tvcZ7a-0F-iuR334ocD9U9i1S5s6_CvYwcMwGDjyHtn0u7cMuxeFxmTQfqji225n5to-WHBm8k3yvKRU_T2b1j_hHlc_jb7MEaczZGySYT1GIcxyZBzJLxHRCRAjdCy56ARJVVZCC9E-T7EXBDijr34VeTYnIgi1WikTw-x9kQ9tUQD-iy_avfRSCYAXNX7NBN6UaxeSOv5tImgS5YFukRP_D6dFCiACPEgHVmmBIFS45MEsbGP4gChLzXafetsmCablF0XQ3SnW_YHbh0qmbd1LwFWYHcmAx87GZjzRmmw4kMq4xY_u75tgH8c7kJ2Uyd2GEb8aM0vM7R8g-TQ_b-YC1A2uKXwVE9DbJplRhjgpSYRl5fYkemlbEUZcAh59K672h3RV5Gh6NWCRAIj6WEgzDkjzFftIl1jJfliUZSj0wTg7D-F3aaKfbJ3hbKIKzq555LHJZKN8glUyTyBc7Au1llkptilbUE9yhQ4uHWf7l8c8BZ00XKuLovFgASV2r-rW8gc9rqmKkV5wXKGEZgcJc8xGbpE502upivkZcDyiSMnpqEUz9XcWf02vJ6s4ML21J3mvSKMMJmVBZJz4HW-oesgsXtsdZ728O9OcjtRLZ4Rtw5mhafb9aTa04axT6BnWGB3jMcGQrNipnUhZ-Yq_JvYAJEKO6btySHuJhmuFY0zzcILmmJ34gGSVkY9JwWxigI1x1e8YbGSmMakxIzq7txISG-jLVAUt2LhYgntZFZhk2x3WZNjSeF5XfY3VKbinMdljojHVxvh24d808f",
  "id": "rs_0f95f99d2e8614a1016ab44b409f8087d0a21480ff21a8b074",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.08,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The advance reached the intended rim height and the near wall now lies between the open fingers, with one finger visibly over the bowl interior and the other outside. I’m closing at this radial orientation so the two jaws oppose across the wall instead of pushing tangentially.\"}",
  "call_id": "call_whJmJSTjbNCChAamJJmIHHfe",
  "id": "fc_0f95f99d2e8614a1016ab44b42493487d08395081e99b00dd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_whJmJSTjbNCChAamJJmIHHfe",
  "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]: [-0.503, 2.3455, 1.8606, -1.4879, -0.9169, -2.0621, 0.0089, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4019 left_y=-0.057 left_z=0.0765 left_yaw=1.345 left_pitch=-0.0205 left_roll=0.0171 left_gripper=0.0089 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -11.5761, 6.0786, -0.5348, -0.6471, -0.2369, 0.6667, -0.1162, -1.1556, 7.0222, 1.6972, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a666c202166c14add3aff0d9f7a8861009307a1828937dacf0e423a183afea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8d523aea5f5b9c1786ad430b691fc15b25f1de83b7fa0e9624f51d4cff444c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d29ff0471fdd493f2c0957329ac9fb181d04288ae73cdffc71b2464c30ed45c",
      "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]: [-0.5236, 2.1601, 1.6958, -1.5566, -0.8612, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3561 left_y=-0.0467 left_z=0.109 left_yaw=1.3497 left_pitch=-0.0554 left_roll=0.0777 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1545 right_yaw=-0.0019 right_pitch=-0.103 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -10.0581, 4.5607, -0.652, -0.486, -0.2662, -0.1343, -0.1846, -1.4838, 6.9812, 1.6923, -0.0415, -0.0659, -0.0073]\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]: [-0.5079, 2.3161, 1.8431, -1.494, -0.9165, -2.0621, 0.9988, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3981 left_y=-0.0571 left_z=0.0843 left_yaw=1.3401 left_pitch=-0.0224 left_roll=0.0117 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -9.5248, 5.7778, -0.5397, -0.6227, -0.2759, -0.1343, -0.0889, -1.6068, 7.0906, 1.6825, -0.0757, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.503, 2.3455, 1.8606, -1.4879, -0.9169, -2.0621, 0.0089, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4019 left_y=-0.057 left_z=0.0765 left_yaw=1.345 left_pitch=-0.0205 left_roll=0.0171 left_gripper=0.0089 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -11.5761, 6.0786, -0.5348, -0.6471, -0.2369, 0.6667, -0.1162, -1.1556, 7.0222, 1.6972, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a666c202166c14add3aff0d9f7a8861009307a1828937dacf0e423a183afea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8d523aea5f5b9c1786ad430b691fc15b25f1de83b7fa0e9624f51d4cff444c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d29ff0471fdd493f2c0957329ac9fb181d04288ae73cdffc71b2464c30ed45c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtGRkZ2wS2pZI-0WI4mpygeuRJ6JNFbu5eZEbp_7sWrliJQ4ETMjJ8K33sp8eWlAvTKHbsrmQEqPjhR6rI6UZOJOZxii1C-Y3SZqsqTdv5x8lhInpcEtKV0mIXBhO3i5Yu2HfKgIIsTAgeoEM0gFTiUvzUfe_x1mRNnRX9Kk34868hov-GzWy2QMDbxC9-fgxrw9elIA5XXN3tfSo7ASFw-ZQi-3KpGzK18ccJu5qI3cMkdJQfD5NN0s-74AYX1rkeyet1O1eTNNyLGJhH4CVcaa5OBi9NSkjDmJTJd_KjFQ_pt8W25dkA_uXKZvq9lOHem_X8pA_rLeKQ4J9w0IVWZrq9w9Eq_48uZgL2Rt6NlWvuVeFA2Wg7mnS3XgVqwwto881S6DIfvgS-dMQc780hyPIL2Rj5yonfSZisHrFNDJCYB0w_q7FfH9DZNbesV_pDOdWghKjaHMbt2hl7TT2WRp_ztMAJNSxOYEy-cneal-U58E1nwlKL7HpbHjgp1bdVimNZaXlJcwwQzeF8fYbdHLQAeVXOoLrBrnggYGWvjyQwO7mIpZSJhgv-m5pD9HJRURPwCJddv_Sx4Lc6unUpA-AVNkoDHt17cjHie9eexaqsPkdnj-IznQJlpRDnlmomTa8C68964nmSMZnPOAC2eSap5hAZO6wf8vevA3UsjljRxX59tHNoFKWdtjlUpT2Gm68ldqRiPR-FRJoe9GI2o6IiyuTwd9weC9Yce_ZjIL0MjrQ8L50guE3f2xrTagZhMHRseDdNvsg_ttIgJA4ve4XmrZM3A7GW4ARBwR72lWQqIMe-TR0Anlef_7-BOsHj0IV2ZqC0Sm0pcTlRbts41Ly7STtwMEhiJdDFiv37wC3dF9MxS1wOS5fAbCfdNlgZhPytmEH6OxuV3Oqisq1Zkhn1vQCud0F2h5MjWFsJSxIUKztjOKxLBYOVUuLQoUQIDHe9J_4HAscZ0WQOm7FzS38_5yU9fe5GJULTRq6skGj8olousizc1OylN_tf_9AiQWDVPPo31irwgMHcWQ4Oklubg2gl3KVV3n_rTBvGxzPKD-gzzwGuvIVY7kFLdFN8oIPSBVe7eo9wxkRffMAH82IwwImqMLplwlv3_GgKDd2BnItDSdxK6HrfhWxS3hwNyu6mxcHoRSQH_ejYVilmfA5vPqDa4Aa99xKPgzJ7WU_4SVNLCu5JSkfncZ0PNcAbYltY0EGotZFem1Tyz72Mb2eXkt1QqOZ25n_YcS2CpGXSvlftDmeQH4MIDmBHuAGDn5vAhljCRazxod8GdrZVLaA==",
  "id": "rs_0f95f99d2e8614a1016ab44b45260087d0bc83bbcd43daacbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.16,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The closed fingertip now meets the near wall exactly in the wrist view, unlike the earlier side-rim attempts. I’m lifting straight up at the same radial yaw to test this grasp and, if successful, begin transport toward the centre bowl.\"}",
  "call_id": "call_c9IJTtjAoX88tJjZJSmkom8E",
  "id": "fc_0f95f99d2e8614a1016ab44b458b7887d092650799930ed37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c9IJTtjAoX88tJjZJSmkom8E",
  "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]: [-0.4614, 2.2585, 1.8858, -1.5425, -0.9211, -2.0274, 0.0067, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4023 left_y=-0.0389 left_z=0.1164 left_yaw=1.3647 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.0067 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -14.3932, 4.8205, -0.6032, -0.8327, 0.188, 0.6813, -0.0615, -1.3607, 6.9812, 1.6581, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63593ba3a2d71b55e6572aceb8007830b7ea6923989c498d566625e67af50b9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50879d577695156c1e52b601e2947992fb874bba9e0dccc41e59c66d5fe30caa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb40a230af79d8e34a7fcad6c6a308727e2fd9e082be014871631f7b2651551",
      "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 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5179, 2.2086, 1.7416, -1.5414, -0.8875, -2.0621, 0.9988, -0.02, 0.8242, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.37 left_y=-0.049 left_z=0.1032 left_yaw=1.3433 left_pitch=-0.0363 left_roll=0.0586 left_gripper=0.9988 right_x=0.2857 right_y=0.0008 right_z=0.1544 right_yaw=-0.0019 right_pitch=-0.1033 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -8.5128, 5.1487, -0.7448, -0.4469, -0.398, -0.1343, -0.2393, -1.3197, 7.1453, 1.663, -0.0562, -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]: [-0.503, 2.3455, 1.8606, -1.4879, -0.9169, -2.0621, 0.0089, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4019 left_y=-0.057 left_z=0.0765 left_yaw=1.345 left_pitch=-0.0205 left_roll=0.0171 left_gripper=0.0089 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -11.5761, 6.0786, -0.5348, -0.6471, -0.2369, 0.6667, -0.1162, -1.1556, 7.0222, 1.6972, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4614, 2.2585, 1.8858, -1.5425, -0.9211, -2.0274, 0.0067, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4023 left_y=-0.0389 left_z=0.1164 left_yaw=1.3647 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.0067 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -14.3932, 4.8205, -0.6032, -0.8327, 0.188, 0.6813, -0.0615, -1.3607, 6.9812, 1.6581, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63593ba3a2d71b55e6572aceb8007830b7ea6923989c498d566625e67af50b9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50879d577695156c1e52b601e2947992fb874bba9e0dccc41e59c66d5fe30caa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb40a230af79d8e34a7fcad6c6a308727e2fd9e082be014871631f7b2651551",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtTOmKLPjcbV6ST6SxYtvk2E7PJENfQ1ACiyG0JWmu6KHS9GKmuDaGPXz-z8ogfaEogNCmuBBzUs8__j3ZnVNAezgpr8pcsk3bBVzfdBHFH44MvOliEVs1zTo44IwmUP_0rQXUbT1NLkgB_Wf_D2Y21kew3xrDerC90EV6H_OXQY4M-zz4ajBcD8hn6WT-lmWETT7nmgWo5eFMTnStz2vObxlRSwoCF0RDf5zfNsgjwfNokNOOVHAu8h2tbzmBGzL3QQIzhSfHHfnw5EGilfYtTNe3eGuyqZ6ykYb8zsgXkc_N2yOFMLsfzZ0qAz-F-dnJNM_cmIwlNiXwDkKy1U5gingnDh4tVsCa6YaNrmFtMbLA2ZpYkHOMKHT3fWdpDSJEQLNvI62rzv7ktaOKbZ1UpnNwas7dXSwAxtsnjamno91pWLbudKU02uyhATgNqI3aTthRBlvQFUKda-qW0RlTbkToVVBpBpJTo7j2wLl2mssLcnw23-jlDBpWCO3bCzqk8W7zCG3V3VxVk0p6hm_3CZ2S1qJgDcZeORvHN7MXHNlyiXdIg2Rj1OkUtLS6ZdcLsrUQ2g6uIcy2FRQqVp8vcjFnH12EwW1R53hZ69KCdUrhRLcYWKKwmS-FGeKcmNbpatOGrC56OTKakWumCUwm_b4CSriogaYYnPa6vZZiV-8k8zLd5hAT9DC-y3RbHNOu6As6nnVn8COuHcGgnszNnWDj83edpD5ODhkE6ktzuf5xBXq6tFJb9Aw55UPJ8bIqebCD4AlpQX0ZGbyqtpqXFEzCn-gcIKiqkkuakzIASm4KchP6B2Avb-d7PgHzDkzZuO2XvY64Ll2nY48GG84mSyefgAaQikvWP_7XsYnXT7ZVyi9yMmR1ZdFQaP819oj6K0MnwpWFP8iN-otXiUD7U62hxdr7IDrwpu0CLtIgibEcxMHJiTXKw4Q3x2dxxT0UJERnKsFpO5jLUSJ-qCeoE7jaG-7GT39PZQtdXnVLFm3IfASxkF4PeEutY6A1jfrahkVjasy4DcHn3e7mfQPB6OuV8nL2J7XGf6qxl12_fKt7FK8Tuko9TBBh368MpHBSw1PMI3vEnsmlDPeV4dJ8WmZKLBrS-cvGJrka6TC_1rXkhrup32BYmtNb0FNDURH4Tj11qOwRlLLisdlg7Viu9hESpn-GhS0JQx4uIvu8SCHT5PAep8lPAtTofTC_soItgEmLL1u2YjQgDMLF-88TPECPa5umZ1IZRJQd8d6PG3w6rbOZ841vFelHm9VWT2THn-5SgU_6BgHwpyPOpskNcBAuOCs7_QyOzX7j-xfodUYeCKVe1DcBGLuh6daiYj5L5hr5n_YOBzRim5_fvGRB7UDpPTrJnpPznYhlEfyy2TTZKy7kiMPEYbpLFBM_ylsn1gdsM3FrV-S9jzlRar3e-APH9tyhQp3_CYUH8hV0E3FN4wHrxdOWJgD2I7sDjWrgaz92LJAWTZSR9zMpnINS3TICNPAuifEhcQEkm1vLfIX20xnfmWbOQLVn1m6CUHhU3848xuj4-ycIAQvu0Rr0xZEWI_cvjvvGcrvYv-KsAgWJLOT0JH1psBrOejHEcwMH5HTFG8KxY8ncuvI-1nB6XhX5OfzqY5x5GzMEoKlGhfvsaOxaIhIo_EIoaStZaf4EY-UeObZUGECaLZ3-xYZCXUTndm96welOmza-TTnuG9vyKW7GBpYkXbcZCvRvGOR-7ypiuiGJ21Aj-IAPNAYdX76iNtRBYYTjig_EaKDCZxJ73Tqj0ilMmOtVvMct9BvNbCUNCYakhlfreLMaM7lwPRmFjNHA6045-tJ9YGDZ1JTJyARpDZd57IxUkSgHoRaYNh9S1jTw2Eucp8ozSL-v_PPvdWnTiMKdk0aKd9n5fjeZTbmAAm8DF5cqJNtTy1Nu515kPPzdbbcm9IwX9URsinGPDlc2km9LqJSM3r8tZEGWx1kOz8M9__u5UnsSmPFEStGF0S3tUWQ7XqdUoXvEoBCibtrYp4Jd16A__XZUtiFiFs-aPaLMLwKuBXJTOWcbHQe2KobuekDsR216cRuqGIrQQSIZ4_cqu0rr_MTGDCAlWN2sPxw4OS-snG_ekzgYwRiZnJ9MRweTIJTEAP7eUdW-9G1dOhoenPcLbaGZRGgKI5AiKpHBrsgsJog4erNoQFwxkoemGvpGEEwJIYh3Z2J-LQGg4cjE9d_MSmq5-sJU-dhnsd7tRqscPT3ecCHC-4LoaifBUnY74yKQeQXgYneegHSiqEuoHz0wFxE_9L4ClAEOP_WZVQQiT7bFn6nun4O1fHRoEkE4mqioQtlXRRb98vX2MhUEGEED-433LydYL95MAMNGmlrXbm7n332YEN3tPGnKTj_yJ6ZM26WRW4Ovhsg17Wic5hxKu_yex9J6s8LYX8ckJQQIuKdtRJ4cjP-Rp6nIpdvDAh1IwWytGyC6mIfCijJ82RszssyiaC0YUEBFwSNNxwR5lYZbzoi_8_snRWeoviUyvQAVjiL8oAILIL7rbFXIfIFlgWpgoe4poaPouI7DJuxbQLuEXRKlj2AXkEmtiaM6AWlONAmG4Kr-E5IIQcT1Erjni10jeURmpZCNfQt1nojooa153MXlJvxuT5ARmMznYZJ-ngBYJgUVAW8VrNGDF7YT1DahKxr9zShSiap68JAzpV-zKBM1WcLAl7pLNRC1z0SG20XfBPGPTOexE8tL0pEOiHiA5du6RUkLC-5TwuXe0MlShPkD1DfmkmlNej9qRGg_kztQ1CJ1L0sNsPXvUgWNTAYNIleWjs13hzGWmy_v0Pq9JAzH1YPC9Jq6StkWSfYBCFQz88XloEPOI8f39-S-dBEqq327LJgdkQ1Wbe6fN-YdHaenzdrjVXwZjsHYLdNYW4EoKlHuRsaoT8hfvRmwHpWn6gICk5WAymsA_PzjbvZRjmG9VTq_qC2xAUkhufNG7a_9sU54-vEsGbMTi4BcsuSHhfChOnWMFVvK-0_ZYspKON3rq9RUUA_HPFCCYikaPX_ZEiH8J4jmR9Lxr2QGdWj6ynJk14V8Q9z3D4zD-zlfJ4qYq-Hr4ycXJyiJKBubQIlL3lDqnLRCT62kSnprELBh5bpuE5P68YfKe5A-ODXegotJPnnjMcNPP_fqBSX617nXEtlEsowljYc9qgxrro6kOk8SndBUlt_gyfNyceBp2OEYLp8aOkNj4cPg6QVXebT-fkevVhluUIIe0GJMgSV48jRbGIa31iQpJ55wdJrDfvTRtCpmu3fYwF-UPTMeer1YNX1SMRX4hnZZpVfOpJ4c_XmdnVM2evxM8tQn7XXobr-UlosCMoX0AwixohJFkKCGppiH1MAPDCvQ_oUNUwTvVaTVFIezKbQgcD04rdNx-lpKUKRcAtk0KVk87YkpFh8oZPoLZayCpRahb8tt_HSiG49SUT52_cxSBtY2rHvhW7YiEmwe8GOjQKWyDXLarxfMxiKB2ZpbygjbAur5-7WlSjFZ1COeiQWl5zs8QvK2ox29gfwFPlhsJQrabQaXlYMXJ9CvS3mlRiI2YRl6lgoV1KD525OFCD1YGhar5vws5G_yMsrU5EZ8l0IrFzOvq67MsQtxcJsvxd9iryaefKUcz9DPA0nCnIlFcZN7Ai--lPTealGW87Xh79Jm88pSCKD8SweKmhbQ_CVBLOo9l_IK4Cp2zM8Z_eXgrZkkfnefAH3kq-Os2KVYACIljBhj00fSYEsS3tY5Vjf6eEsT798PfU77PFn2aplm9MTmp0MRJ3m60n4vf9QZ73sAUaKJevyNqRygtzeWLlFHTCLcNfZR_-9n-szgtRK8tK_uuFh9-bxQQn0KJeRQHJoBwmOw0_iW2NWtIUesccUVG1PHiQhi3P4QZtXOKW9t41HcLeAGlE4Qt5Bjh_hdIUFvbCTElMnn4fRM_orGhXKNJ459meX5GnT_8FWqwBsUdsDxphPGP2hWzVYNDbcR_ckpGmSmj1pmSVvvQxOmho8eakhlaUIqpvQvsNVGudFFVecYQNr4lze1tjidXx8IhDLuUSXKvBcXbEYgeZIUOp4CslWyARKaaNDKU0ZSJO89CJrxYtBInftPUSODrXYKgPUoOw6Hddpgj5Dg1n6zIfq8-O-e5bWzK7EWULmZ41LdMQK4zvrAJ_0dvLDo6v5IpMZinFeFklCwX50ykXxfCO40_hU8FvNKwYnFp_LJHEOKY8qXN0-LSOBMQ",
  "id": "rs_0f95f99d2e8614a1016ab44b48b98487d08d0ebc74f09a8319",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtTqObZhUaOPJK-WOuz06u6OltTpcJsoE6FmwcZvogtcF23VTMnzB8GfASlg7b-OdOYbIZHN1D-pgeti4n4ZlhQdXduEDhQUhrcnFz47zvZqzl7hz6qpDpHeWDiaD4Rhx-0f2nxuE-0gk3MYPnAlD7GUGIkFzZTSdycQS9PWFtoYtK_TlUW_AXIAAaHauhcw0CGaVhguMng9SVk_rYDLvzPYWXa9BIiqn8-Wg3UnUw5vV7tEmFmv_YH1rAQv3aWtHEcnFooksu-S5NCVA0VgVKKvLzJRDt3yQw1GOcLf0KHZDinaB2Q7Z3J343KUBoqGZPfq9ZPRqMKAHbtgmzwNj_El0DaJHnnmqc-XhJDTxP12VN4BX_5ZkN7nvkxAVvQ_OMjB2s5zW0u0VMFiWWoyLHJGqxUBi4uUaAWN4xijOWj6KbZSrcHP-C0RK0FYYbq5bGG-Gno7lw_SQmAcc5zodT7-_S4Q0SoOmUltyPpBXJoWE82IOLRzLeCMsaOS1zlNsXLLUSZJswZROiBeD8G3vXyL5A85qO-DJa0K7ql9UCxJ5kLsdppSNW71pH1VRXFfFejl0nR08WDtpRsApLztHnC-8qNrLHUcehMHkYNhv40VLHRkvsnIaRf_x8IiUoexbx4NWAM-s30XdGWno4akeXjDDJmufdu9t_aZbbcLuNSK2zcNu_nYpGONlPY-I-HKggwmp8NrCtWHNIKLTKXhSiLIc6SoVWVDwYepZ_A9LgT9M-InRNroX12mk2NsDxsPz4l6yjHCBThlnvJU2eTeE37Kw0dJV5GrcBqceyjpRogi-YJBrpo9SKTgqTPnLgei0FdA-DaDW114G_ho4aN-esVHOR8sz320IH9o-pgoUlqnewrBLoYZFl4LHL3jOqmbqVPjhsk5xi_8WkXEzeK77WnVaZZFFqFIbzm7400qr3IFLflhWJK2cP6Tu4h3ZAbD0m3x3wVwq_N5R7ycYJM7AxvmGgm0ffojn0yPWch23rFBTQ_kHYy4LAJl18jwrr6UARg_7fOBs8WjjoxIiA_sHKAjLy0wGZ8JkTd7LSZuNJeISac1Rp3e66iy7hjC11U26OoWAzejlfjBkCyo5ZozM4YEOIvt03nfTRczlawbybkyMxi_geYctEmVrh_F-rIPGCVVDL5DEzLLC2GmoWL5zyWzBgNNHHws1Istkzy1-VBUnUNOC5RAPXz4of03bgw-ATtNXX1CxKyWnJa5zvVLJvRZC-lcGjgj-W_cSPzi6DojgnBkGpTB4jilFYcPsKgHTHKp2d2S2nlMXnnh4hvVA1WEtI9WCB-Lkg632rUy2iSStmDliuw2cWVRwzqP0T8QHcLu3Nn5EECxjjN2a5qIpEB2kjJHIuxJodFre40d1OqB3PpofVZbLFrmsTMupSyAE9v7j9cTgNMF2AF8FreNdb8oQ3pg-Rkmy0hovc3bD6whhLAXtOiI9BOtf8wTeqCQwm3U4vOQToAXRmFJO8x95t9FRZNiF_QUdd63CwvVHMD_4GtknHoXSNM-IBARI-V82WPvupfG1cvCa7-mf44uf4NMez8YKLG66eLQa2dE74wB5vhKzxxRx9YsYYJjVilXjKD5wlxPXErhej3U5PetKs7-5jwDZryt6VX8ndk6nig0-iNN2kTxYmNla5LNEgvRX19efCoRCYxhUD-eUCNGYjCtpdAc7QjtxUAFFv31xXJKUdTHxnQw09czfiZOGibn9ylyKcVz90OgaZfPyH9dgvkSaBOTLvj2WR0R18z1SqnZGGOgMVOtwsIIIuyKyZgvozGlA6fPMUsweV19nohsFabuCH5SI4xXIYik5Qrc9Ydv4X-kdxScrrm4gdYxPYLOIxzcpDYIRJduipHkzGzYOhohmm2AujxwKFwonC1VQTgdX5b0qDFsZBCrvfUUJboD6EcGDWzbWQST9uZ5SMWV8Gyp0LYrCixAMl7KhZmXRokjx_jEO4Inex74OO2j_ES3LbQIqESgZp5MBakS9UJnZcOd43SxP1M7RGigkcLCaazcwY-yi2vZpu5HvePE-qgjB5JNEpGrhDf5ikJLxB0wplAs6gOXOlaBCH7PYg-QuFYOa9Kv5iqQTQCOc0F3ZhQeP-HC0Qh0ZkVCcMFAfHfhEgNlkUwEjHZcBEflQuEewhO5h-YB1HadE0ysd0JGN9w8NHfSQ0glsR2bm3KYJLPU72eY5lEnUj0-_f6v9sVqdqVD0FrLXLKQj-PCN4u23G2NzolRxBOqNGr9kzpi_7omhxHIeFbs28jx6b5yuNWI-zXyRXnPj3giV57-Kd3v6L4CgLpsPInO1P2yfDL4Zmz1WFATVNH6v-g4kI7iUBh_IwF8F-4pN_4WMizfUD1Z_O--BS8lxqXzvqICbygltt1HGXYtTmig0zkcS7X3L1PIZsH2wWUE8L_otE2i8wa5TEZBR7FCk71Qk8UqKaZUe-2MfDQu8x1HZzrA92w9BmQoQECgIHtoILE01UrP4-gPGCpGGEvd4FrL2llUiOOXsr6drVtzTq45pRx_CtCUhNAEUsHzvcF3Od0SAfJpdPMyKsmBRRIhNQ8uk7xj7lkTqqCHsc0HexuJ4wilLMtP4T7tms9cuyjJZf0NPuMTqpC_v2oB9iZ6BOKh6hTOdfOEc7dk-LxrAKRvwmXS08DRgEtlWmfL6grPALsnpFmYuxgTcCWqLOLyyh0T_YOb_aJbKHUpkJCc481dw2CFZHm-96ui3nczmAcErIBEVjA_kXnuaXjgqrGaGLZ7DlTk0sWr8c__UJgVG1JMEpg9eImWBJk6rsG8sunQWVDNmk5BIHYYeQLx2OOzrI7GCR_BUVhurLpH5p4KWZ1U-KFbZdWDLv_XF2x9-9b3u4O8N4222JfP2xF8lnoqyacTnYV-L7wz_1Kr1QkfQBM8BeYN2CQ4qF7XcyARa55wMkimd63QeJ0JVa_AHK5Uqn3M-ikn8_EXYlyYu4_8q-TO842VrI-2O5rYmznyLzOh2MoDoBgmZo2zZPhdq6SKOZecD49t5Ni8_tw1u0N22etHF2TziJmNmVG0sH3RkrzjMYUMmLEsQWoRr6vv8xA4K0MZ4Zy5lYSc9AFjMQvIW0ZYFcv7bqI1l8o8D_PdBc4hI2mcOlUZzUN0lfdZjwAgdUG3ZYZ3dJ2k_9WaLhiSR7HSb-_6EUAO3rKsfFfqHYM5kLVH-RiLoo2raCFfZGUKdZz1U2ZqeKfTFHW_M9niGPIdYhw0Vg6-c_Nt1iNFCYVpHZWzLgkGBbyYyxIz03PyYqJDxDF5mggZM_dIVMOfel7T2TmiktbunXiJiBQ_uNfS1AU-3DZ3MUAHQDjX_QGH327iqXctq1zHk9cLDCu5Q==",
  "id": "rs_0f95f99d2e8614a1016ab44b4dab1887d0bd553f3be37885fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.05,\"left_z\":0.045,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The rim-pinching lift failed, but the bowl is narrower inside than the gripper’s 9.5 cm stroke, enabling an internal expansion grasp. I’m inserting the closed jaws into the bowl centre at low height; next I can open them against the inner walls and lift by friction.\"}",
  "call_id": "call_SpOSSfkLoFPe3XPFdWfx939g",
  "id": "fc_0f95f99d2e8614a1016ab44b5249cc87d0aacca421c5bb555d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SpOSSfkLoFPe3XPFdWfx939g",
  "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]: [-0.4503, 2.5301, 2.0407, -1.4654, -0.939, -2.0075, 0.0065, -0.02, 0.8303, 0.5945, -0.4458, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4372 left_y=-0.0491 left_z=0.0399 left_yaw=1.3593 left_pitch=-0.0063 left_roll=0.0399 left_gripper=0.0065 right_x=0.2859 right_y=0.0008 right_z=0.1527 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -13.9692, 7.6923, -0.7057, -0.6764, 0.1197, 0.6667, -0.1299, -1.6752, 7.0632, 1.6386, -0.0464, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5c83f03a9b1ee53857aaf35e0a0d829df0925926cb0c4ad942d0071426918e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0adc7dfc5c797a569acce8d81e65bf01e75fb92c0e4a37ffad35ea25d431be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27634bc6ec0b06d5e34305d5dabbb6458982514aa68f05ef7062a5cc82d1e304",
      "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 122 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5079, 2.3161, 1.8431, -1.494, -0.9165, -2.0621, 0.9988, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3981 left_y=-0.0571 left_z=0.0843 left_yaw=1.3401 left_pitch=-0.0224 left_roll=0.0117 left_gripper=0.9988 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -9.5248, 5.7778, -0.5397, -0.6227, -0.2759, -0.1343, -0.0889, -1.6068, 7.0906, 1.6825, -0.0757, -0.0366, -0.0171]",
      "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]: [-0.4614, 2.2585, 1.8858, -1.5425, -0.9211, -2.0274, 0.0067, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4023 left_y=-0.0389 left_z=0.1164 left_yaw=1.3647 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.0067 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -14.3932, 4.8205, -0.6032, -0.8327, 0.188, 0.6813, -0.0615, -1.3607, 6.9812, 1.6581, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4503, 2.5301, 2.0407, -1.4654, -0.939, -2.0075, 0.0065, -0.02, 0.8303, 0.5945, -0.4458, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4372 left_y=-0.0491 left_z=0.0399 left_yaw=1.3593 left_pitch=-0.0063 left_roll=0.0399 left_gripper=0.0065 right_x=0.2859 right_y=0.0008 right_z=0.1527 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -13.9692, 7.6923, -0.7057, -0.6764, 0.1197, 0.6667, -0.1299, -1.6752, 7.0632, 1.6386, -0.0464, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5c83f03a9b1ee53857aaf35e0a0d829df0925926cb0c4ad942d0071426918e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0adc7dfc5c797a569acce8d81e65bf01e75fb92c0e4a37ffad35ea25d431be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27634bc6ec0b06d5e34305d5dabbb6458982514aa68f05ef7062a5cc82d1e304",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtWrT4Az6_1L3YM2AKsYSFz5XqAJXj4YUQ0HNRp5ewn_wZAjszLaOfg3-3SJw8NKJPtcjUr47Ttpo8c4tuugyR5DQV8i0hVTiCyOKM1i4S54sA0ERkzhnIe4IqkYDtI4fozfrvle3cPFHpo7h685EHkt56lCuUFe4BsET2eboRESGcgUrBDWiSR8-xiugS01empPEOL59uyMZQwr7ghM7LK-NgNyxeodyNqediH8M6DICIkOQmXuSDDp0tAdOjG_vccSCpCtj9R980hPI-b-T7CHEZamq8E2ILAC3UNgf8jAWxGw36asNmzD-CziQySULMoZpIal25hHAfkLCJQ5OGu5fpY5JyGbPzC4rfPNg9HgXHtLfCrmXfTg08drwwKtDcML56FYZubm1NzouISbFGc4U0mGn5pUeKXjcm32lQ82uJ1WiRvqF9Nx8f98aaAwLimxK6BX3Srzc1rOVo_-wybSe3twCeUnu3-NonQ-GAuy9KuDPCOAnQP95zvJuatV4MDIWC91uDWznqz0MRMHmhTICzA3bZWBufXngKRByXXyyi2lcmZnDpWmlgsFsvQzBA34fi_iY2kW_XTG-Fs-LciSq2ae59b6wUUGv5AMmzWawQRg_Fn82NyRHwu8WdXX5kUkxhrMJc30EvP36B4H0lxfIRtcAau1QRNH7vL_nTWYOaKTKbHrejcsPy5YBB4HxN2AsZfQJUW3KvVqU3RCW5r0Ml-sNgJz_aVOkbdBJwNzG2THUHDZbKMpxBTUwhCNPWc_K5Z0rl5JytFqtXitaTayL8nFdIxe3g8Ray8GYcl32sCt2rdK5Uh7UTuy7XUEvUPyEjGoWZxs6oN4C_75NmDb4nWfLdd3xewgBplbz31Zw15mmP28B4ByIwsmcKihT9UipDgSlS2fTv8k5-Iz1jOTbaQ7ID37MYZss4ue2CIItjJ8FN-TWHU-HIKwpdNNDpfzU3MmLprN9PxvxbxhS0q0BAcT9YxJq6IObHJwHPkKeYnW6BGX1iMW2SQP9OYofo4ihAFMjnUeUpMcLsx7JSMYICG__f7tCCRHv76_FCYBJmUiIf6IUTFeuGt2OSxhkFDq3ANOuSgRhTHEp6f5NZjM1TVWl7UqFe5GysY8ty00qvtYI5ANp588YWa5WgaImRgzIgCGV6pgpTdivaa2rQ_1a8LHuKqxSH_VfqqRepK_Vej6KmLE-Lk7EJqpdv6eZvnHIfqZfTQZalNBHZf-r62E4Wb07CnHlF1ci0Elp_Yg14Syf5ynRqe6LvGaertvjO1O27O3goBteNYczoyizYDoFKXPfRU9nZZPUii2ivckg2IO64WBvjDvrXhukHCH-bnwlysUoSQ41XLE8qaVAxoYA==",
  "id": "rs_0f95f99d2e8614a1016ab44b5539dc87d0a95e945ca94a2483",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.05,\"left_z\":0.045,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The closed fingertip is now visibly centred inside the white bowl near its bottom. I’m opening the jaws outward against the inner sidewalls to create an expansion grasp; a stopped opening below full stroke will confirm wall contact.\"}",
  "call_id": "call_NoqcGZlBfVdNLLcPBtM3dOJX",
  "id": "fc_0f95f99d2e8614a1016ab44b557f3c87d0ba1d7f24632101b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NoqcGZlBfVdNLLcPBtM3dOJX",
  "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]: [-0.4503, 2.5507, 2.0712, -1.4506, -0.9539, -2.0014, 0.995, -0.02, 0.831, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4455 left_y=-0.0514 left_z=0.0383 left_yaw=1.3505 left_pitch=0.0013 left_roll=0.0177 left_gripper=0.995 right_x=0.286 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -14.1744, 6.2427, -0.3443, -0.4322, 0.0904, -0.1148, -0.3624, -0.9368, 6.9675, 1.6532, -0.0317, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff98acb8a6caea4982cc23a7402df2912200b7ed075203d2dded419f5fad6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b81a2665c3b01a55c9e32b10fbc6ecd771cb5c0edee97f71c0afc609c790d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd1290d02313d9efe832eb1f42f3ebf097f8414c65eb93d465210dc5351758ee",
      "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 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.503, 2.3455, 1.8606, -1.4879, -0.9169, -2.0621, 0.0089, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4019 left_y=-0.057 left_z=0.0765 left_yaw=1.345 left_pitch=-0.0205 left_roll=0.0171 left_gripper=0.0089 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -11.5761, 6.0786, -0.5348, -0.6471, -0.2369, 0.6667, -0.1162, -1.1556, 7.0222, 1.6972, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4503, 2.5301, 2.0407, -1.4654, -0.939, -2.0075, 0.0065, -0.02, 0.8303, 0.5945, -0.4458, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4372 left_y=-0.0491 left_z=0.0399 left_yaw=1.3593 left_pitch=-0.0063 left_roll=0.0399 left_gripper=0.0065 right_x=0.2859 right_y=0.0008 right_z=0.1527 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -13.9692, 7.6923, -0.7057, -0.6764, 0.1197, 0.6667, -0.1299, -1.6752, 7.0632, 1.6386, -0.0464, -0.0415, -0.0171]\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]: [-0.4503, 2.5507, 2.0712, -1.4506, -0.9539, -2.0014, 0.995, -0.02, 0.831, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4455 left_y=-0.0514 left_z=0.0383 left_yaw=1.3505 left_pitch=0.0013 left_roll=0.0177 left_gripper=0.995 right_x=0.286 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -14.1744, 6.2427, -0.3443, -0.4322, 0.0904, -0.1148, -0.3624, -0.9368, 6.9675, 1.6532, -0.0317, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff98acb8a6caea4982cc23a7402df2912200b7ed075203d2dded419f5fad6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b81a2665c3b01a55c9e32b10fbc6ecd771cb5c0edee97f71c0afc609c790d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd1290d02313d9efe832eb1f42f3ebf097f8414c65eb93d465210dc5351758ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtbz5RoqbrMjDTQX1ey10yUQq-GBn-AYLNogZk3GnRMZybXfqtk3MgL6uPtn0HRgsFmzeWtVcH3BnYlGpeLbrG2_ZrV013Nw79wHMDMPk84Kf3d8Sv5pryp2XWnrwD_6WoLRAnh4_sfRRu8C2E4mpzLO6A3ySG4DUMBrptWPIgVOl7Gah08LMRPDoLEAVRGDqsqh9Kerpn52aSkX0lDXDyUb5UQwFJ4fTUOWyo7HO4iZTLRexlAtYvg7KJmaV2sUEW2UyL-IqHJI2rvNXa-fvwSRkBlH4CE-T4tqQn9VlTAsDugptdiKgCqRGxkLCIdW106JJ7PVtHCilCXNrwbhILN2ZsdgloCQpJMTpbNA1GR6Khs7ydgiVyfQB1QRfZ8ErjynV4nhucW9IGS5mmIYclXbPQosOZ5uTn2r8FP02ROwbEXqFuvFqgTkdAymrjxeMnEut0DQS4E7KYx3r165aIWHwFhZQyfneva9tsJ42X8foMvHKv1zONgSvSQI6_MmB9-n8UMSr12hr8uwYYJcQY1upPa4N-DJVg1AAy8ZV8MFZxHLgYRc2lsnDSmM8I4jbK1FGUbF8Zli43Y8iW8uqkxbgjIZG2Ara_03ZQyVwg0WEd1y-sl-zkxE2_oeNp2eaNvj6od9kPNlaemTvYQxrbRb3ElWvVjzUVf5fi7R0h11QS5zXawDGk7Xf0E7GYnVDEg5JoLDuj2Ms6b0AQcQgvlShPV4djkbmeSiJmesVlUpLOiRbQYNV_iLAe8MgbwfAnNuk2yOQ_MmnJeeTEVVoGvDRLUJbtiigUkt74xghjlqDTCcejJ4OIJW8dSa8x2vMallcQKFQehMg1yOfy9vTSG2uviBDJhKkJu3HQFhyUm54SlAxt8_z6g5GyLheZHG7wed-K9FR5qSJdfJWuXRlK3WBnkfS83lUP8ZQQBxc0bEefeQ77xr01HYFCzjQ8uoOoYl8LTq5_Fu-SI7VBH3idc89y5E1JrxypDs1TRv8VDHnN0yIYABPhqb95OaR5GaeUDlW32vFCPX7vFbNekVG8I1kH0e_HsCX1ZainPSS0uG439tDTwj9uQLBOK_fbHG10R2yf1AKOHXFqNfnnYqjk7vay0DWQNxV21EnTX8SIZf_Ehwd_7D7BLrN2OGiOBmSMmBzEQR7ZAg-8lRNhPfjQhwLqvOh3VqGV6FI-Ei3HtwZgqJdCOY0C67pCeIemmPK2j3lsxkGb1K7lQNCST0hIwwDv35urlKl5vU8B2fIJLqCbLBzfHRzODsddvohu8b7EXfQB6aByNdzbLPYSAOev4210ZbPb8RD4drJYLV5TLqWMg0LqhwSSW-63Eppt2JLBC0iwv209buknt33w-e180OLIahIXprUy_N_InTzYUKrZLD8udJZwzKvCaLvx2RU2qq6JcEQDv1edonxt6NPo-q_yqLNgYOuN9bIoICnJW2xsfYs1ibXNbVvFd9YLEEv6ubKRxEZK6-MwS-zp51SQDw2ccP_4boT6Gcdn6ylkmwS_6TGNlysv9ncnAMkobgPPqi-SjOZw4jnE_xC33EKtW5j0tKOR_mTNXnUCsMqqtd9EfaPU-S5Zci_HajpaVPYSVkhKmpPAdjvq5F3lJdjKOpTSmAPA4u6pJyr26HpjGmJw-VPfUD0yfOTd7bekFatAIDPekSJtu9GQLGs_NYL39pMc2JINynlnkamW4hJ1JX1rqD4u1KuIDn__E9a1p_3KL-zP9GEYbShYFSHQKX1S_qK5RrbHXBAz0edaqiSyMSvX9AoZ_oGPz0c1uSWnzAcJI5-qxkROeHuu_7Gmf93_HRXqakoayeU93_w5_6rRKunH_WiH6YuvOSVo59ybSrmhmezzd81EUfASA9HOUxe5hABCaRpJXxy5JwF6yrKbEO-qyzYNRT2GHaaosiCib6ZYA80HczggzxGpfMWlWAMC0WQ==",
  "id": "rs_0f95f99d2e8614a1016ab44b58ff7487d0a06fc6f20eac76f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.05,\"left_z\":0.01,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The jaws reached full opening, so the bowl is wider than 9.5 cm at this height. Because it tapers sharply, I’m closing and lowering the centred jaws near the narrower bottom, where an internal expansion grasp can contact both walls.\"}",
  "call_id": "call_XSrrFAqQbo7hD6CA0ewO3Gv3",
  "id": "fc_0f95f99d2e8614a1016ab44b5b397487d0aaa9966cc22d6575",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XSrrFAqQbo7hD6CA0ewO3Gv3",
  "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]: [-0.4496, 2.5702, 2.0418, -1.3563, -0.9501, -1.9984, 0.0088, -0.02, 0.8307, 0.5945, -0.4458, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4515 left_y=-0.0543 left_z=0.019 left_yaw=1.3506 left_pitch=-0.0125 left_roll=-0.0231 left_gripper=0.0088 right_x=0.2859 right_y=0.0007 right_z=0.1526 right_yaw=-0.0022 right_pitch=-0.1102 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -11.8359, 4.465, -0.2808, -0.5446, 0.0171, 0.6569, -0.0889, -1.3744, 7.0085, 1.663, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585f0071c1df7ceb89a13816189cdc5f88857a2e9440df57b7beb29f07347a27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a1b20bf641065b55e0604b7152ad876e59e6da2ba5ef33e7daf2c6c0a01d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f54616e6168aa3ce041ae784845f32bdf808159973e2ee3d4851745c9e0c638",
      "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 122 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4614, 2.2585, 1.8858, -1.5425, -0.9211, -2.0274, 0.0067, -0.02, 0.8268, 0.5945, -0.4454, -0.0166, -0.0299, 0.9992]\nstate[eef_state]: left_x=0.4023 left_y=-0.0389 left_z=0.1164 left_yaw=1.3647 left_pitch=-0.032 left_roll=-0.0109 left_gripper=0.0067 right_x=0.2858 right_y=0.0008 right_z=0.1537 right_yaw=-0.0019 right_pitch=-0.106 right_roll=0.0055 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -14.3932, 4.8205, -0.6032, -0.8327, 0.188, 0.6813, -0.0615, -1.3607, 6.9812, 1.6581, -0.0269, -0.022, -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]: [-0.4503, 2.5507, 2.0712, -1.4506, -0.9539, -2.0014, 0.995, -0.02, 0.831, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4455 left_y=-0.0514 left_z=0.0383 left_yaw=1.3505 left_pitch=0.0013 left_roll=0.0177 left_gripper=0.995 right_x=0.286 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -14.1744, 6.2427, -0.3443, -0.4322, 0.0904, -0.1148, -0.3624, -0.9368, 6.9675, 1.6532, -0.0317, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 2.5702, 2.0418, -1.3563, -0.9501, -1.9984, 0.0088, -0.02, 0.8307, 0.5945, -0.4458, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4515 left_y=-0.0543 left_z=0.019 left_yaw=1.3506 left_pitch=-0.0125 left_roll=-0.0231 left_gripper=0.0088 right_x=0.2859 right_y=0.0007 right_z=0.1526 right_yaw=-0.0022 right_pitch=-0.1102 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -11.8359, 4.465, -0.2808, -0.5446, 0.0171, 0.6569, -0.0889, -1.3744, 7.0085, 1.663, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585f0071c1df7ceb89a13816189cdc5f88857a2e9440df57b7beb29f07347a27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a1b20bf641065b55e0604b7152ad876e59e6da2ba5ef33e7daf2c6c0a01d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f54616e6168aa3ce041ae784845f32bdf808159973e2ee3d4851745c9e0c638",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtg7bRXOkvwrlG-VyZ-fHAgY2Zdib--0TREGLKmmNqqgSwhLrEYDlktb2nEF5RyXU3i_e9cRX428UGIgg4_SA3pk8T20Ko6zYWC8AK6fQmzKlrw3NEJ6WeQte1fadml_nZSXkZZAT_J4ddvpJqcn72ROS4U7sPnE_FRlcfJSPlS_hNCVH9PjSA3XnI9BG6GPXgmFIEy7l34GyRscmUkifm6LGFhSBDn8KFBtwejtJO8KafORFAK98o3uBz9b4SXbwSVzaks8yk7rpeUP6ya2H_QyOOTY9E-4pbHr_ObTIL4ZHuhOMYIGLn2EHsQQ2QdP631swrOGLwvZKv6xhSV2t7otd-INrre9x1DfjI-KyFA46wLNmUmCMY7yqGY8wfMrqH4dH14OBOrZZE8AJi_mfXtZXEeCKFHObhA9slUmlcoXTUkmE6jdb3ZJBF5nxPNVHRJuPh1Er8ErBkehTeXk7L9OE81GrSunp-mXCS_-atDe6HIroOdtbNRY_cR6wOolnucOQqb3Zxw6re-0tUo7zdhJLK_BTTjXZpdJn1BpIyX8vzSAdfWfsn-qMxMJkqlzXw1jmR059ZUeX5Q9Zq10lyxNkAJr_m3CAvwLTx3C1JsdkuMNwgj_rmtcKTDym7KnxBkfVb091z5jl96vNKTSSRznxCa2tqpEu-b_pUh-B5Oi-PxvbXvLpEfkq0L2KtBD4nowKTf5qYf9Fhahdp74m-_JQ_vPH5dfSAGIjrc6MmXf1tEhCw-xD3jzElklyUa8psatYLbDrM3JJzkMi8RxUpKCqj4hHiBZgqouN-BDmGEFvIO7gZ4UbYZ_GOKWq2QwpNzRVC1ZsIpwrXMEUN2I8LXHLe7QyCdA9wZ-OGoshBCcj8YJHAjqxmXINPhNPtDnJ_G_v6j3NHQndDe-x7EVzvb7liaThcGTCsBYsSQYv34LsQwbdR1Yu4a9CGMN4RpLdEGHPtlFTMaIhFalSFveETq-XkHULGF_m6yh4cr_yusUCat90_KpWtJEpXXJqCmvaN2PqYFdu8_hMfnZOXm0M18nOKw4UpwufgaRI7Y5en3wCYYyYNHbLHkDdK9lHWYAuVJlhTlMAk4mTi23IdDRb8xFm6-jQ23zcu8jlTBg-yeFtrTPMw5uddWSyVeQVfbTY76QJf-mOTtOyVho8ONc4tgFI5--LobktcRl411q43nuJ0mCajkmwJPSEdwaYrCAWt01GLE8y3TC8cKNg4W3TccDumA77YvPJ5GFF_hSUY6wuZpZl5QElCTxoohU3S6sS_x",
  "id": "rs_0f95f99d2e8614a1016ab44b5e723887d08ea97d8cfb7534d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.05,\"left_z\":0.01,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The closed jaws are now centred just above the bowl’s bottom, where the tapered interior is visibly much narrower. I’m expanding here; if the opening stops below full stroke, I will lift the bowl and place it into the centre bowl.\"}",
  "call_id": "call_PqTtujQB4kMVqzXobwlbANTN",
  "id": "fc_0f95f99d2e8614a1016ab44b5e980087d08064142a7445ab52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PqTtujQB4kMVqzXobwlbANTN",
  "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]: [-0.4507, 2.5713, 2.0407, -1.3827, -1.0321, -1.9987, 0.9921, -0.02, 0.831, 0.5945, -0.4461, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4543 left_y=-0.0474 left_z=0.0312 left_yaw=1.3229 left_pitch=0.0695 left_roll=-0.0122 left_gripper=0.9921 right_x=0.2859 right_y=0.0008 right_z=0.1524 right_yaw=-0.0018 right_pitch=-0.111 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -11.9043, 4.6701, 0.0708, 0.2711, 0.0952, -0.232, -0.0342, -0.8821, 6.9675, 1.6337, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff18f868f08196443150e775c5bc274c16e3adfec0d0279a3957149dabb33275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69677d361b9118bfe92b54c3087bcd79855680fa47694cfb10d6b5514b8b8abd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db416e98e876c6d878ba13a416829af694431aa90c8663090b7f617bf63ebf69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4503, 2.5301, 2.0407, -1.4654, -0.939, -2.0075, 0.0065, -0.02, 0.8303, 0.5945, -0.4458, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4372 left_y=-0.0491 left_z=0.0399 left_yaw=1.3593 left_pitch=-0.0063 left_roll=0.0399 left_gripper=0.0065 right_x=0.2859 right_y=0.0008 right_z=0.1527 right_yaw=-0.0018 right_pitch=-0.1098 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -13.9692, 7.6923, -0.7057, -0.6764, 0.1197, 0.6667, -0.1299, -1.6752, 7.0632, 1.6386, -0.0464, -0.0415, -0.0171]\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]: [-0.4496, 2.5702, 2.0418, -1.3563, -0.9501, -1.9984, 0.0088, -0.02, 0.8307, 0.5945, -0.4458, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4515 left_y=-0.0543 left_z=0.019 left_yaw=1.3506 left_pitch=-0.0125 left_roll=-0.0231 left_gripper=0.0088 right_x=0.2859 right_y=0.0007 right_z=0.1526 right_yaw=-0.0022 right_pitch=-0.1102 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -11.8359, 4.465, -0.2808, -0.5446, 0.0171, 0.6569, -0.0889, -1.3744, 7.0085, 1.663, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4507, 2.5713, 2.0407, -1.3827, -1.0321, -1.9987, 0.9921, -0.02, 0.831, 0.5945, -0.4461, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4543 left_y=-0.0474 left_z=0.0312 left_yaw=1.3229 left_pitch=0.0695 left_roll=-0.0122 left_gripper=0.9921 right_x=0.2859 right_y=0.0008 right_z=0.1524 right_yaw=-0.0018 right_pitch=-0.111 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -11.9043, 4.6701, 0.0708, 0.2711, 0.0952, -0.232, -0.0342, -0.8821, 6.9675, 1.6337, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff18f868f08196443150e775c5bc274c16e3adfec0d0279a3957149dabb33275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69677d361b9118bfe92b54c3087bcd79855680fa47694cfb10d6b5514b8b8abd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db416e98e876c6d878ba13a416829af694431aa90c8663090b7f617bf63ebf69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEts1b2jzsNPnOvwBm0LnytOx3kGxL-bmoHXkITh0ZMasWvUQoHJ04MFV_NaWt7_l6VyU-eFRqNyDvr3wHr4WM_-CMfXrxbJdU8rJ0YrXVRsi7E6WY9o_hO0NlwRXyKqEG2TUS1neG5ZU5c76W1W41QyrpOloGR0HMs7zPM7BDJ5rJRilDl4bZ7N62nuW-isqreK_HSdxihJMhwunzCfIDFM5CwQONnXffRis7WMSHbdLcYOycswUwdZTO1hehB6wfm4DYMdfA3AdeZHZKFijvdwCSaqkDHbcma-eCcqPBmCJFQmzoD_0avquIZMbhPVaEWn46DYcUE17Qbg2u2ilmwiG5hIihjgUmIw9X_NEEZ5wHEvSVrq4Nz3sCGzF-6ww9DRw5hQPNEe9jWTtZ3bD8YyihcAuSJUdr4ENEGi_C0imrwKWlWLKmsV_pv26oImPHaAkgaG1gRO2MD8yj71V9gMn-qI8QQZQjVM7-WZogl8hgWB2b2Jxw3JaNy2cGgphBIWpk9dNrb8kXmlrNdvuB0aIqb4V7dmbM25j0SNFN_8D7S95xbxsCTqwUUdKcyhARr2qgVeuQYETzI9nXg19kzK-msGtOyWKCvB2yoISiMmnMQDo0J1gouxkD-dM83gTO987y-7N8_meoRAV8LC0yiOKN8jSpX8GAHh7lyfeEfj9gTK9nGi8ADYGIUqkhX1bKBNgpR4-2HNzMIKVUP-yvTrCZpmlOPQCnDyz45X-vv_CEKpaayeQv-bX3bvodXLOZcqjV6kLpBd5CFwSEDhnxX08gu5c9foTCkb7lrjLtc6AazoL5MID9RoGXwWz4AZl43BzUAtbFcnqCrJ7dX9zXsD5_-LJL78lOaOwaHCEQR6uZ5oFlF5zzx_SxreEeOmt2r-Q2iCPozxInqT5U4XfOwu1wB1NurVlGXcIuRVqigr56OpmqS9SCVD2-H3uDSKMgh853nz_RJ48LRqJKAz2GmIKZmS0vo8FoWiwlZ9C8EFGcOI4f5hJLuWNsYh4YngsqHHagKkFusK9Xi1ph_qMVG-qmNo6qydGSPyuUc_UwwmhVxMgrpOkkx8LqMI11JCa4AzyhNKeWQivyaYJhLdf9JCPyRvoWnhD8714CEZ9PSW5qrX7k7QKDrc03_ikvUPZ79hE5rIgrErRVqUc2TEPJB8sVszG3zPuVi4MAiGo1PY8k9ZNwHQjSMm4vzrSUzIpK2bB-NXg8gMxj2WpRJ2-BmHH_dVbbZHhXHrPxyR-wdP9o51VsDiFMvH9TvlMXGvhxwv83M6S_fPIaInHPnompGUWaPkq69GPeCRluR-HgYkScGP5fvTAJ8sDwdnfg19_3vvh3-plpNMHLgVw99G7GxbXAr65OOC3KcoavIrlhSfpWm2b1WDeqII_cPLad2xvJn3bQ8i8Oy48v2BiKKrv090_pTtuxZvy5HvAtOK_fpHQrcI09qwbtIiGbIY389aBmSwKwLU_JiPNh153pkOPtFhAG6Uii2iL0b_JoMfVo8u73qh_hzi515eVzd6iLKlE7IMTgg9M2tgvNAESJN75hqxhNuCUhbr1JYebRkVxa3FwZ4u61bpRh-183ivfGPWVvO64NUqgglM8dGJT2RGkWv4TLwKnIJdkKT-hx6HI5sjKulbDi-Z0YOuAFMsRbqp69pnamFZM8JefMir9doCugUKKAxGJ_B9TFY-c-DB6c9GLQ_q-n_Wi4DKXENR9zsNwlEYmiSqicFXVl9l-NfMq7YFwX2xRvDtst7E9MBpn0a6lqrro7PSY1y164tSx5wroLUYcP-ae-wHRQjDdgfI66r0Zu5wAX47pVRuRMa1Qv1l7fp6SbJD3J8zRITIj1T8_GRnD8gQY8TyzTcCLnJSKZgZCS-LNp1jYVix-2fvZEAeOb_CTHa9WnpPEOQOYzk3cql2lGlABGCBpVDB6GCt5Xke0Ns3rqCX5uaxj83Xt-X0gOst8Gl2eXlPBjENBFmvFXRj9XjXMYwjHNZAoGtqdYH1lBZl-T15hctvzGDEF-PuaQI5IZOVQ898Xmj-lcedStidT2hBeNJ_6bgJ1Er2PgEzUxLHQdwqI8pTm66E2Nz5GdGcR8u5gAXE6W3Uo--XSMvqwFkbc75iFCOVY6r7yzvWFsltI9_mZbQd53D9VW5ce96HhIyZx8AaHw1z_zsj1AJDqqSRG3-Xdj6Ofa1UFbjWBKnJ9erEht8c-F9tSOd92TjeMABPzSc-oHgqwFxDEB8NEsevROL0YzjtKwffZDO2c0k91tlZgZgtB0BCsyu4W72LdhjpttAwt6jg72UR8CBUYXcX6qUneg1EzUyrPnaiozVjRM5y6FIv-wt4QXD2HhU2NbvtXnnL_Jm2t0IlMtQLil0WavCxdgvaw9dFIOBQIrz9kWEn_kdUxoPHp0bAVyQwL3UxuIDb0Mu7VCo7SfMmEvoaoi7oCwrhIfDm-cwB78qMmteWOdLIsYqQtGGIfIF88GEM-w2oLkcq9QOiVBUYDYDQVTUGCss29u_WGlfIHnuTUJT_64kiIYsNZwXXYGWwbngcfrFYnaI3nYZtVZ52Y2gVizMpAMJXDXZbdRDg-u1ahCG0TyzMsekXwZnEtBVhkrDyui637vlNofIBjlRG-PNdHyXS7HnbypjZZVxkMeID2qEeyC9U45ThQHyHx_5k_R9f7syvmrcI4YDUXwQ6wtRrfhA7OHhBFmsukH6yNzF_OhknRdcyn52Sp70-dh_FaMpUElT74ukBbIqSTRvAxZBJfpgwXwJN22_cAYHntxIPBUpBhflhqpoCIzA-kCJ9YN8J1001mIH1jN3EIodQRAF5TSgx3sqUo7d8dvhKxDoAPyztpCdTbVHdOgBqYAD2VpgWBqaAMYcZDRR6cLznfgZsQBYWgXQZiyd1bbb4kKSL4lNBQSuVR8EfppHew_tJg5GyKLS1frsAyVpdYBtDxDux1Z2MuN_Ixqo8oGrGlkDXEfxkYbkEGzxefV9n9q_d6XZZxXdeXog61rKKYMpgzS5Qy9d-qv9T72OphVtF4a_wx_IrKXURgT4WUJpKi2MzcSwu6CRYMIPfI2ccg_drVLK4jVqY7ytaZKWHusyXbGVv9EQTZDF160x9wq7UFYRwnxu_0-_yl_zq5X6dpPJ3CM0mYoq9LrQtepIlZyINBm86qNJc9Rxa7Rs3F5ixkuXDX_chLVVkaX4h4xhgIH1WYDgL9zjyX4eu1vGaI3vOqQm1VWgLwzPjYs_Sq-w0_lHe3_bh4zdgmwuDYilSi8Zf-e72MPT2fN0hEFq9w1jBIj24kpQ7EXqeFLN87LEsHHr_ZNuKQowsR5ZZZir8cRPtELvVqM2mlxSM7iWkKqfekloqPkKOskey2CoU-LvknqX9Ep822CjOIgXR9FTdk64TDzkgt7AMA4LALS3DK2JSXZkeCJgkc82Fp9HEk0fh_wcD9dAwUl-HB2d73Qn9p0AulM-ix4Ffypa5NdW3989ovRuqWjTzP0x_zJIJklrAJxidOsWaKbCjTplrJcpYRnzsMMfGIqjgLUW9L5xF_fjdu1m8xQ8wqiL801rx9f_P7f5O1Ay6wPLCWagD0ddU1gjrnx8jdKG7tjABjW3f9wjknlKyqPMfr1uScVXAgaxQ1lKgrqbI9wskDXSsugm29A0bDvO3gNzDEcShJRREPM9m1HeAsjRiVHl0lT_BZ0kQiV8YTnV3pmSWZZGXP7RnUnbm2sLDCUrClDS4v_PZlAmO3X93f80NbOlSTqiEwOixw3zP8duT9Mf9No3lHPfhH-bLQLRkGOlyH97oHrK7G2v4GelzN2GSD0lxDUgYj0e8exuR2H8OjkhbdIORuKmQojefUMdINKJu1_r861SHudn75fGb7Y9ZdYS1XTqFnd27rlS8Mg13P1HTSDqoOD7jEyqixG61vvlMLKJ3xvu5fgxG3XrY1KYzynKx51sDPJPOXKbQjnBYNquURzP_QsWpf7-rZ_2UNxnmpQRRf7sET9fj3w==",
  "id": "rs_0f95f99d2e8614a1016ab44b62c7ac87d088ea35cd85f24926",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEts-t5XaQsrg1I5KRHusmDfvuxfVA2RYYUmd5MOmaqutmE-7Qaj4w8KTt_WYJdkaLcWCrtXcVq5ryk-pOML-jvnJYbCFYAv2GFCEcPAhdCuik1-CfY1cQ2BMXMNNmSfPTskd-klSKKJMuxsF-2ctFkx2EAJGW9i6riKPV9P8NY0BW40rJA_8U51lqPaMR_xnPfJ8Xono23lsVeC44taHdh_qhXIEB07lRnrnc6KWIrwcPYU1cYD_AOEGU2z9gBRtBnszNZ6-SOVTkfEzkxI-aD4JHvldN0Oadyd2ExqMBk__VidQEcsyj4WQsZ_DC0CeB1VIsQJ2gsMvE_8HQFKwkVXk6VkmuoMxSxeKiDCtcQ5Mosymf4WDZo1XUeJ36whHmkRjpaFVxPO9BWNQ9FA5UpaF776SV4w-0ggb8DifwjjoLXOUAyaNaX2H5YRZ8j68trsMS3qxbf30hJj_6YvyPwme05AWRpWVzqd1ysRHx-ztM4Czlha-Ls0dbmGRXVueEKiAC-4QQYDfVsDjAy95kgwdzV8CVaMpsSHO_EEtUUXFtGZWgKGOTr1O1AZn5CXjf_qvae68ZKbo86TFOKc4ZhVj4soCHCU05a9F8N2z0BxTeWptHCSIo3aao1KojNPezIpJtMusAJ2EnjZkkXh42ZC5hSUBj6sKrcVfULTSKagU-_DiPBe8P0AcOI2r1TZT0hwwagQcki8Jmw0O5XDBMjutTmzMfCuDiAQREEYNUNLBp3pmXzrh1hi725r3m7wETyxFLymBHjV8m7Ckicig5hU_7zD0Y1xuaOGVF6hHgwM4pIToiPJA8a2tivWf4QMqVFmDHP6yuNT1yKTQ2G-txlzir-3LXGHY4QJVRu2T8e27EBSc7ufbJM1YatZLsWuqw-o5ZCJf5oKNqORVPOEr4c3B9cn8mJ_oMhYWvNS_9phy-ewvewknjsZ-caA-WH9XSjgldHoCDqwBhq2FOZ6AP_XItIlOXIkyYCmyM53zZC1ItDgEgyYhfjSfold09XKEd2Lyu5fkMN2XA06DhQwJJLQk4EVjTTjZpnqC7mvpgWEZ25kna5B_o5lG8dZs7IG5icK2v--yjckA1e4WUSZbOrdJmD08bxxic59ZukCUYeepL0ZgJvPi98q6okGL-AIx_14C6TDv9NVjTF-hPL3fqj_1m3qZFRNzainu2Oes3P4QNwLaCEISR2Jn-TV4gTb8yqOfqoKUVcZxF1UMIX59E5WpLiYiS_22rJH9Spkq671iNF6G5evtDPoLb34XFHOzfIY8hYIngl5iCgK27riaUhSs_1lv_qGR2NlqcBKBCkE9sU5NBSfOUekQR6YZAmQToik-lCRLviGNm5IKfd94Ic-ngHkmn5LXX2zM47p9BrQTro6mB8tnFmRtTm6KNroRO_9xlgRqqnbNMzftEwtg0FvuRfJX7Xht6HBlnzgG_AuE0Zim89hmLEVC8PSFGxsANuHzmh3boqKMRJpG1PlpqmQap8r2ujqUSewyDT4pBIjr5CMfZSYaMDDPXm5A3pZT379loVAGzKwug5c9Zn2r8DkjgMIsqvdBvaZU3GJWk3UF99d8ff5C2hw72_gVffNS_8hhl8qm2-31fPR45XlAOjOt0EmeXF5x9O7mzRkf4WeekeG1qagyPaICt9LgH_bZRTdZtJPbHItLDdSOfj6wtSvGoHW26qVJrXe95rBte-qFIVs07yEa1cWQjArWcmgzJ0Rv8G8pSIQrdeC-mWKda8x50R3PHanijz_x65wblMOfO1O-QWpNQgA3MYM3HRdkyKH0o7hiitCguaRv0cArFSxU5FTQ088356zZhGyBqxqlxLS1IdZymhNNI1pr5vK_PIWPqPokw0Jgg1-o7aP4sHO_PMzvEk1mj2iT555CIsBTdUlJVAjR9vNwATuAb32iRO8pnI7rLBZYOZgvGmxh4bDDGOH2fKBrQnXjvVf-BvB-q7ldYKYMF_FCrziSbjiKZ3lIRTvsnGXBgNpTSYa2IJmj8XeK-UQr8eOkL9brnN6692y7DinsaVbfGigXlutYc8g30pp45E_D2Ldq1DNAwEGZlEHtWx8NRozSu7cFjyRPRfO-1e5wlX4FYR64qe7QMCkHXAXXmMoLnW9GfRMuH4KZ9t7UFpRNI037qFwhZ8E9GnnQcgUDvgCf0_yTGkBDZSdvSvrJLD9le7Mw4vgBm0Nqv-K-KciuMvH7nCurglLGHK8v_xPlKeyohwik8CkLDDMF9CyF3DlXIZwbmSHmf9PMqEwXRgTevp-y3iovGlUGxy64K7j0Yg3edQw9s0ZK4Yxsoj6A_TwV79yPd8uPLuc74jLWpX8RSFM0JsL0KtKlJdUMMZ53qxqlqF0DgfnIXwDLHFSNBOvv6tIKW1DEUdXia7b-W_hCnYjMTw9iMMLOPR34dpVeo8ccrm7UJUoQ4oGaGxYABZnpqDiDYmK5yuDJTaIEOomKQBO9mgDac9ytAA=",
  "id": "rs_0f95f99d2e8614a1016ab44b676e4c87d0b5dcaf62f5582ae5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.055,\"left_z\":0.15,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.3,\"left_gripper\":1.0},\"note\":\"Even at the tapered bottom the jaws opened fully, confirming the bowl’s interior exceeds the gripper stroke. I’m returning to the near rim with a slight 17° roll, which offsets one jaw below the lip and the other above it so the smooth rim cannot eject sideways during closure.\"}",
  "call_id": "call_IcV9BtWEObF7qJeoI79WJqhe",
  "id": "fc_0f95f99d2e8614a1016ab44b6ac05c87d0a1a8fd727a085267",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IcV9BtWEObF7qJeoI79WJqhe",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3897, 2.3138, 1.8141, -1.5543, -0.9405, -1.8671, 0.9989, -0.02, 0.8318, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3896 left_y=-0.0019 left_z=0.0878 left_yaw=1.3441 left_pitch=0.0034 left_roll=0.2548 left_gripper=0.9989 right_x=0.2861 right_y=0.0008 right_z=0.1525 right_yaw=-0.0018 right_pitch=-0.1106 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -14.2154, 5.135, -0.5446, -0.5299, 0.1001, -0.1245, -0.1299, -0.9778, 7.1726, 1.7021, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2d864db996c99fee5d25454b72ea848b78c178a7c2023e3eae019ff5cd656c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa386daa75306e18538889366fcc1ffd6a3b64c41e873c93dcf1174fcba5fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a5cfdfa4f6f2169c3e085890fd6e455bada770e4e91462043da29d0f3d4832",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4503, 2.5507, 2.0712, -1.4506, -0.9539, -2.0014, 0.995, -0.02, 0.831, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4455 left_y=-0.0514 left_z=0.0383 left_yaw=1.3505 left_pitch=0.0013 left_roll=0.0177 left_gripper=0.995 right_x=0.286 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -14.1744, 6.2427, -0.3443, -0.4322, 0.0904, -0.1148, -0.3624, -0.9368, 6.9675, 1.6532, -0.0317, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4507, 2.5713, 2.0407, -1.3827, -1.0321, -1.9987, 0.9921, -0.02, 0.831, 0.5945, -0.4461, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4543 left_y=-0.0474 left_z=0.0312 left_yaw=1.3229 left_pitch=0.0695 left_roll=-0.0122 left_gripper=0.9921 right_x=0.2859 right_y=0.0008 right_z=0.1524 right_yaw=-0.0018 right_pitch=-0.111 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -11.9043, 4.6701, 0.0708, 0.2711, 0.0952, -0.232, -0.0342, -0.8821, 6.9675, 1.6337, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3897, 2.3138, 1.8141, -1.5543, -0.9405, -1.8671, 0.9989, -0.02, 0.8318, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3896 left_y=-0.0019 left_z=0.0878 left_yaw=1.3441 left_pitch=0.0034 left_roll=0.2548 left_gripper=0.9989 right_x=0.2861 right_y=0.0008 right_z=0.1525 right_yaw=-0.0018 right_pitch=-0.1106 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -14.2154, 5.135, -0.5446, -0.5299, 0.1001, -0.1245, -0.1299, -0.9778, 7.1726, 1.7021, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2d864db996c99fee5d25454b72ea848b78c178a7c2023e3eae019ff5cd656c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa386daa75306e18538889366fcc1ffd6a3b64c41e873c93dcf1174fcba5fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a5cfdfa4f6f2169c3e085890fd6e455bada770e4e91462043da29d0f3d4832",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtwnPYahUiUIkM7HPFGM4wnSf30AZpAd6m3xmoFLnfe98zHDnkMn8kTe-GFJJmFMXKqdx_5ZVBFK-IJ84vY53LI3SRazFZKSrBArahHt0uHESND6zlf5hVli6_S3haGRIyYRC_oiHMP11EbYSQLzLR-DQcDz23ppQCKci1GaLryMLz_QQu6TWohQ79k-YLBNirbKcJABV7C_mYKRjWGh2VHLXB2dUynKu_42sUkVEP8Bz1zTRw1DQRNdOr42WfMZM1btRtOp9919F0ZYPC5ROYRncR2R5vaYkHBpxVrbIDoY67z6WjgbNiYgKdM8aTl1GcC2OMZJIhxU4FcV3nqcRxRi3I7uduJWsnjn_MlXs0qp6Lw3bdb82q4i6sWAKQdnTSmCIEBaksNTkZM2x8-OTgIr30XUr0ltWrhFY4uUeiLXVy88_n2MoXKKPkzDOVE7KA6HuJ3e9-b208zitzKPU6NO-S4vcnM5tpJXrEAgaygHOHhG8pmKMuVZNvtCIphXDfZ6lqVlPAJ0SXcke8_mOAWnwpjU9RpATCeFSkCqxU_0Lol_ekL5kI_79slh73hTauWxsHidyNVVuFug348ECDCBizV9r4ZR5FTdL6w2-qw0GURL93zBPk_r-U3JOEJJ7-77V3Gt-4JRmA-FMswmvUUoiTVEKK2c7uVew5Q3UZN6koM0hOYAmrJ5Jn8vVAhQToFnhnPFWYedX9y0bl8RTf5cz1nBJpE2xGjc_S8ii7yAUsfBWsODpkFGvCj9dlSP1RBK1nnYa4vuOmwZTt0alADqCAD1L5jVgw3Xe1vBj2pynSFG09gxvWNzthZ9BJbiNclkyPC9L7UVAnsCIiXTBdRdecXSyNdCRD0LSlTwdtCMaHeXzjHyQVYD3xTWaVzCVxEcMine5t8Niq-dgsM2Q8lqpMN9TGHuCxlxG-_yT6GD-KxofWhu4kTUTEyqf-4uEkSPDQ2tdOK0idg4G7Nj1XMjnW4Nus3xN6nwtTz8jU2xblsX2iy6pD4qlfZrxFVC9Sii2QLgQYQk2-23PyUO8Zvv6U7rLxLi5WIiVYHRHVcur0R6UDNnQqpa42Q0FfWZhvmzqR-Dgdw7wp633yeM5fssw15fOJMJ7_2joReDFSvC7Abcu1jWQyzSsSD49qwVtQ2Ka7hNrDTMyuQcWvKjOiSO8A5MV8Dvlzd06b3-7p0A8uPcNMH6ekOIOkG1dLWcjoU6t5fGD2o-tUhx21qJBaRq1vxdQ23M9bCtg_Q1jUCmtLAopVU_eclY_Hxxh2Ddo8frQMS4pgbXXjIDRgnhMSjO7iuCBKJQ5BBFEtovtI8vcl_psEU4HXQWnMFo0qiHlM1TTwVmn4edCi8XViB0IXjM-gkt_6ktOA3EQADR7l15rMJotrit57z0AvRsCSKa0ZbsvlSjwKuaxtc0-HZER3VybESq2St6oDFQdUB6rotGe052uNV-rYZZAU_BwrcyQxwniz03uBt4bFWkVnFYDIcmxEDZvFbJcmQOwIt8pnoDpKSgSTX0N-bTwNjJ03TqZgKsvVkQTuJOp-zj5c0hFWhJpoMYrsLWIx56ZNoUHeeHzJ3Rztwp8EbU0MK6HZXuaATD-bTEzjwc-UOomg_edEL1OE5Z78CY90PvfIlFGSMmQ2wRr_TgS9i6c88OPaOOyWMUoOwk2dvIb_vJdBw0aBdnv4HQk-MpCJqWbeo4UTK_MVbtr7Ko1tLfo5WEqUVMSLj",
  "id": "rs_0f95f99d2e8614a1016ab44b6eafcc87d0a77ccda4f7661ff9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.0,\"left_z\":0.085,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.3,\"left_gripper\":0.0},\"note\":\"The rolled approach now places the near white rim almost exactly on the jaw centre, with the bowl filling the right side of the wrist view. I’m closing at this diagonal angle so one fingertip catches beneath the rim while the other bears on top.\"}",
  "call_id": "call_0yQ0uu6J2UtpVSaqCRcJYnAM",
  "id": "fc_0f95f99d2e8614a1016ab44b6fd32487d0b9b3837e46e4706b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0yQ0uu6J2UtpVSaqCRcJYnAM",
  "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]: [-0.3653, 2.3657, 1.874, -1.5566, -0.9348, -1.8309, 0.009, -0.02, 0.8314, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=0.0032 left_z=0.079 left_yaw=1.3522 left_pitch=-0.0078 left_roll=0.2803 left_gripper=0.009 right_x=0.2861 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.759, -10.9197, 6.9812, -0.6764, -0.525, 0.0757, 0.6813, -0.253, -1.3607, 6.9949, 1.6777, -0.022, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50df7b3dbc8f54ab181456e5b451d8e71331933c52896b3bdf6db41f7d7ec8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46862332b4213319e7ca982d0e65914cd9b23baaefd2ccfe6f18c300b7f54f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01587aa728f9fa7e1e30191595e17b3f55ebbb7cde71aafb3d0a3289ddc7fb84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 2.5702, 2.0418, -1.3563, -0.9501, -1.9984, 0.0088, -0.02, 0.8307, 0.5945, -0.4458, -0.0162, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4515 left_y=-0.0543 left_z=0.019 left_yaw=1.3506 left_pitch=-0.0125 left_roll=-0.0231 left_gripper=0.0088 right_x=0.2859 right_y=0.0007 right_z=0.1526 right_yaw=-0.0022 right_pitch=-0.1102 right_roll=0.0054 right_gripper=0.9991\nstate[joint_eff]: [0.3487, -11.8359, 4.465, -0.2808, -0.5446, 0.0171, 0.6569, -0.0889, -1.3744, 7.0085, 1.663, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3897, 2.3138, 1.8141, -1.5543, -0.9405, -1.8671, 0.9989, -0.02, 0.8318, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3896 left_y=-0.0019 left_z=0.0878 left_yaw=1.3441 left_pitch=0.0034 left_roll=0.2548 left_gripper=0.9989 right_x=0.2861 right_y=0.0008 right_z=0.1525 right_yaw=-0.0018 right_pitch=-0.1106 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -14.2154, 5.135, -0.5446, -0.5299, 0.1001, -0.1245, -0.1299, -0.9778, 7.1726, 1.7021, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3653, 2.3657, 1.874, -1.5566, -0.9348, -1.8309, 0.009, -0.02, 0.8314, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=0.0032 left_z=0.079 left_yaw=1.3522 left_pitch=-0.0078 left_roll=0.2803 left_gripper=0.009 right_x=0.2861 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.759, -10.9197, 6.9812, -0.6764, -0.525, 0.0757, 0.6813, -0.253, -1.3607, 6.9949, 1.6777, -0.022, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50df7b3dbc8f54ab181456e5b451d8e71331933c52896b3bdf6db41f7d7ec8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46862332b4213319e7ca982d0e65914cd9b23baaefd2ccfe6f18c300b7f54f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01587aa728f9fa7e1e30191595e17b3f55ebbb7cde71aafb3d0a3289ddc7fb84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt0Yf0NpK9N4dkIxjIo0XW-CVZSP7wZ29Tv_z3Pp0GbmOmiSNn5oDBqGOeRYtHRx9DVFj9bOOlx7h9VRI8vJDKyayCpzrwpsv6h4g3Mj_-DuwyRLM8YRJuWijVSmhT8AhT3kxV3uk6FvQK4FxCl3blYx640R27uXKCE3DXfjcW7bE_seqYddi7ArU33fcei9gNEyqjRzSuoYp4H8Sjq6ZUuH1d-Im4Ccm6CTAUb5gqT1oFz0YL6_hBE_4spc6E1S66NYWB17ehrwMIaJILxiRp3T5uT91CUP-pIZHtSoGEuNaQ_5NJDkcFRTZY09l2ybg-AirwCzjCy8ndNk1JYhrjdTiq_e_qqNv6EMzF-gGK6a3NIl4UCqZZfJRdICk1Q6SjK8zrkc2lzZvg5npr2cs_8AQg20n006GfeDM-tFFzpoyar62aRk59QCowZRdCyJYwGBi0l-H7T505PJrG5uKajToKzczbCCDsl_pVoV7b5urErxTpRFan16lsyxHSQpwrKy89ZCKAeLFBTv6994Yb-M1ii-XbjT8lGCa27u1bZ9d0ZEiYNgvPWirL_irUppis37BwC17WGshQAiR326A30B0UsmsL7MI8R2d-k5fch8bXCBMkT8PDKJeJ_BfhCdPfBigwwzNj2WzsIrqtFNxt2xZtHxV7y-YEEcjoyUbWPWCoi4QnXV7-g4C3KF1_NtXoZEeeDOIpbOgVyNlT3Y13gDOK9ojcAoMvD9oZvsnoZ_PcREvGG2_RZJRYnobldMuwZSgwuLtLNaK8nG3vwGcoyQtxJNhXCk7CS_Lf5dGiGVkL_-2jJxG_90TAcY8HWi4CIrRjhz429rN0WQyRJFou7PPTTd2rE24KD_BPFBsEqVJvHrR0S6HyOd3iFDVCn5E-cMM1CngUjI5-MAaMIR0i7gbQSLJJnJVkYmGOxYCEDs8zsmn27zHDnDN_2McgJLyeoNwCRqE78B0m4Ne0RNN1_O0PPt1ZqSk_1Ie735vu3lQk02uSBKKTym3rsUfS2olyvM11AFfcyshjs84kOxt8T5bbfLdCJeENL-s6bscLon4DAfHtCed6HZ_N1gn8xG3MDyk2k46uT_a6KvUMALtPvOh8FAO1-esT9qRw9GeCTpY_XH3HGvZg_M1hVzhDJeS4tBTegqBHCR2I3IvPN_jD3YSusWlN0J0rKySkEmTkJ6cjirSDSCuehq3hwn_BXSJ1ueM8cCuKzMkmbShIM1cCCgFhVYUl1yvr3Uvlfd-Si-15ywmjVmm0DaW_rpfCoQrWIV8dO-2BzY4fbR3NGBfUZ2Q==",
  "id": "rs_0f95f99d2e8614a1016ab44b73021087d0b4808876a8a6ba5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.0,\"left_z\":0.16,\"left_yaw\":1.35,\"left_pitch\":0.0,\"left_roll\":0.3,\"left_gripper\":0.0},\"note\":\"The closed diagonal fingertips now meet exactly at the white bowl’s near edge, with the lower jaw visibly tucked under the lip. I’m lifting in the same orientation to verify this trapped-rim grasp.\"}",
  "call_id": "call_TTxtvDmWHASQWCWlp1PJCSHz",
  "id": "fc_0f95f99d2e8614a1016ab44b73549887d0a20ef5dba05cc0ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TTxtvDmWHASQWCWlp1PJCSHz",
  "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]: [-0.305, 2.2566, 1.84, -1.5574, -0.9424, -1.7454, 0.0066, -0.02, 0.8314, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.394 left_y=0.0295 left_z=0.1124 left_yaw=1.3635 left_pitch=-0.023 left_roll=0.2767 left_gripper=0.0066 right_x=0.286 right_y=0.0008 right_z=0.1525 right_yaw=-0.0018 right_pitch=-0.1106 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -13.7368, 4.506, -0.5397, -0.7839, 0.188, 0.6716, -0.335, -1.4154, 7.0496, 1.6679, -0.0513, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40535b55eb15dc1a87ef3e8b33fe26dcf4da11b73384237c79ebe2d3a01c442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197dad987ccc813fa1f512d20e71278bc2faa0ed4e432f7893908f24fb3e7a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebbb66f62c6b5208e6370fe7bc8eb2772125828bb37066ff83a0ce6cf89d77f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4507, 2.5713, 2.0407, -1.3827, -1.0321, -1.9987, 0.9921, -0.02, 0.831, 0.5945, -0.4461, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.4543 left_y=-0.0474 left_z=0.0312 left_yaw=1.3229 left_pitch=0.0695 left_roll=-0.0122 left_gripper=0.9921 right_x=0.2859 right_y=0.0008 right_z=0.1524 right_yaw=-0.0018 right_pitch=-0.111 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.4308, -11.9043, 4.6701, 0.0708, 0.2711, 0.0952, -0.232, -0.0342, -0.8821, 6.9675, 1.6337, -0.0757, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3653, 2.3657, 1.874, -1.5566, -0.9348, -1.8309, 0.009, -0.02, 0.8314, 0.5945, -0.445, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=0.0032 left_z=0.079 left_yaw=1.3522 left_pitch=-0.0078 left_roll=0.2803 left_gripper=0.009 right_x=0.2861 right_y=0.0008 right_z=0.1526 right_yaw=-0.0018 right_pitch=-0.1102 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.759, -10.9197, 6.9812, -0.6764, -0.525, 0.0757, 0.6813, -0.253, -1.3607, 6.9949, 1.6777, -0.022, -0.0757, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 2.2566, 1.84, -1.5574, -0.9424, -1.7454, 0.0066, -0.02, 0.8314, 0.5945, -0.4454, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.394 left_y=0.0295 left_z=0.1124 left_yaw=1.3635 left_pitch=-0.023 left_roll=0.2767 left_gripper=0.0066 right_x=0.286 right_y=0.0008 right_z=0.1525 right_yaw=-0.0018 right_pitch=-0.1106 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -13.7368, 4.506, -0.5397, -0.7839, 0.188, 0.6716, -0.335, -1.4154, 7.0496, 1.6679, -0.0513, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40535b55eb15dc1a87ef3e8b33fe26dcf4da11b73384237c79ebe2d3a01c442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197dad987ccc813fa1f512d20e71278bc2faa0ed4e432f7893908f24fb3e7a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebbb66f62c6b5208e6370fe7bc8eb2772125828bb37066ff83a0ce6cf89d77f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f95f99d2e8614a1016ab44b76093887d0ae97178d8f7e28ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.3,\"left_z\":0.18,\"left_yaw\":0.3,\"left_pitch\":0.0,\"left_roll\":0.3,\"left_gripper\":0.0},\"note\":\"The left bowl is hidden under the lifted gripper in the overhead view, so I’m cautiously transporting toward the visible centre bowl while unwinding the awkward yaw. This lateral move will also reveal whether the white bowl is actually following the jaws.\"}",
  "call_id": "call_6BZNLPayT8wHSSeduiykOXfc",
  "id": "fc_0f95f99d2e8614a1016ab44b794e6487d08b590a791d9206be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6BZNLPayT8wHSSeduiykOXfc",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9478, 2.2692, 2.1212, -1.2724, -0.9955, -1.0752, 0.0062, -0.02, 0.8314, 0.5945, -0.4458, -0.0166, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.395 left_y=-0.2896 left_z=0.1732 left_yaw=0.3428 left_pitch=-0.0208 left_roll=0.2826 left_gripper=0.0062 right_x=0.286 right_y=0.0008 right_z=0.1524 right_yaw=-0.0018 right_pitch=-0.111 right_roll=0.0056 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -11.0154, 8.8957, 0.4127, -0.6862, 0.2222, 0.6227, -0.2256, -1.4427, 6.9675, 1.6825, -0.0562, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a4ea44ab15398dd8ff28a21b546fc500f5a54c21959093f33453cf75ec68da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ae393145ee4ae661dbfcdc40f8fcdb723ccbf57811a9c5bc78904c4e38996f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7327dcf206660ac2d32c15587d5f43c45faceadaf788967233449a1fa8552499",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}