adhoc

model

gpt-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]: [-0.0196, 0.7948, 0.6052, -0.3771, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6014, -0.3847, -0.0158, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.2938 right_y=0.0011 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0011 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6205, 10.0308, 1.8193, -0.0317, 0.3004, -0.0611, -0.8137, -1.4017, 10.3316, 2.0244, -0.0904, 0.2613, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f004c537b192cd757ce296075cdc928e90c4dba694d2aea66f23ebc884802dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e811f29791538a7fea128cec6574c792e41a9c3535ca66ac37b103799455575",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1adeaa3454bebaacb7da0ecd0fcd26949362d0e9977e58141911b2a6aed3f6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_09e2bb0bbce223a7016ab41f9c873887d0bb415c906663b86e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-jKWKPDnTJsiGQ47yuLaliNABJo3VzIv9iur5iYjXDfR8EsMcaPO8d6pDws_7fbuIZjq5edDXKY6XE7Hf_GZe2o5b93ljA8SE3UU9_WagdWMQgfhdT8INRVBhKLFV4OUyryiVbtVsUtj8RFxFD-xAG0GP_Dz3EO3FMuBjB2nGBUVuf7CwuHKNidfO80iPl7ZiJOdvRmsBQIT8d5ModR07AXWD0lrLmIqGpsa9t1Da0FERXjx3ePnkyYWZ7jkTRcnAKqkbXsx_ZEZ-6_gE7bzvIIQ1nYx3tDNxhIAG_FQSqvt24e0oAVfEAV_URsWVNwvaO_1UqnRaKszbWKveUb8O9AS4VMvX8SZ90xzhI6pA5mNfY7AcCWIEc5QsEFVosOlpRtR-D6bhqH_u_bgpWBQe-wXROB6A-vxiL-654zaiFGsADylsD3ERNsLWo4Kf75CoaT8UqV3311TrCzYB3PBmpOxc6FacemB8XbOY-zoqnSyz4k5FA0fZ0P2kjv9iF4fuhdlm6ZMp3v4TKlLwOQVfRpcsd6-XMzFyFi60Zc3VYCgkC1qqWLO9PSIqle-8bZHXRxjrSrhlfH4QJvWYfZbENXpOSsuU1yV_aGwOs9gz0B9xYPczzFQMmhSZgfQs2usiqVTQJUUNK5ugFfCqVzzFqYLXmRGvNg9M8t3SI-BiE8uXjcxSTqyx8jPX1d3mgGXHSCxICDfESLnOAe3CpZjmh-X_HS6TH7iEzFnqkgcXa3bF0sv9NGywYs-rKYOEg8_DGUH5Sd81sNRxonMYlnC9sGOBJKl8ApZ3C5X3VRDdYLtGhyStc7BkEWTyVvrDjtz0lqM9YD7BSa4EkL-celzVBx-Mq6_uDH5JavTRcPPn521EZj3pWKQaqiLfksk-xpIydPF-hblOUGicLkCqNI-_-BjBJQYhC3682ZC-bLRdWCKVZQvIzT6NGIla9khmUA-b4cPDUD6HpC_L06lzd8p1-K-1XuTtY-dZNWgzQbpuwpXScHktDi1TIVO7Aw8G9AgwAe2EzGT8zYL5yLuumgLIIMHovjGh3gZ2WOjb5w7g5Lc_MOPe298pmm-QI-j4pQba3jnpUmTBmBAvlcRobrV2yHrYhMwXAaqC3sAu0Y52QhtQ0RrrS6XWCFn7UGakcPyL_flniOVWPYtPzZeuT8BVSoXQIdsTgZLKv8G5QaIDAYSqcwFtWOlnwd0-LsfSY77yMSKim7th3602G8Si6Hdpvv5JJCAT_CK4VLasD8_-QeRwbqlRWjo6Z1Mrtrb7bFotaApOutxLadDIUKKdXQJygiMKkk7-ESuOZJZi01qkbaTycECxqksld_6ffwPwvLyn04Bntt3Xt-K_Z3hSYWUBa2FakJko23jN1f5lk18ChNhzjMbNLQN_ImjizPNkga-SvdUMWxgScyEfy-WpbD-KemJYGSh0doLAS2hrnbC7gMWJwOOiVxkdb_jePQZnBysP59DLM_-j_V3ZOpiZX12vjmEujguv2O6Mbgl80KqNsRS3i2HeE7Roh9YpGuzHQzKFcRGqMH881pDDPIcw33-30REXA7csLBS7S7Gr16GC0pmxFEpGnf0eoqbRsd0CnEWqbVIgh8OkNxdxh-lXD8wraJkNMqfxu-Mez07Up3i3AdFTctcnulCjirNQl_TPxwG0y_D4beTLep9uCOhFAtWnrZqo3OeWFCPTAX8jA1oDdiMTH72YKGbbyVIu2dgzONGpU30FB4FRlN_lTReIa4T_N1P1MNKk16l20Yc9J2yiGkLTOJ6naDhTxt1_bk__Nb7Z6l4168MK4QpGjtDSyIj9hVRCqSAgK--074RqCBu363uH28s40iHG-wa3V8BGjLg3vKSsuF49PxS7mPld-F7QSdD8lsnOXNJizWqC1y1a8VFTzBAxd2NiCE82wiADUdN9gxveKPk49spyvsJ15jV5T-tLd1Yg0qqnyh4mLzS4pRvu5m-4v1F2nwxNxx_f8zDeWLSo4EuDGyxFf2qTD5IPqIe6TB3B0u3fXRZ3annjrFl29OYYYUqi0Sa_wBJzmbF1O",
  "id": "rs_09e2bb0bbce223a7016ab41fa0ee1087d09ce0f939443765f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.145,\"left_z\":0.125},\"note\":\"Three bowls sit side by side, with the left bowl nearest the left gripper. I’m moving that open gripper above the left bowl to line up a rim grasp.\"}",
  "call_id": "call_MojneBaqcry0yAetWYArzZvu",
  "id": "fc_09e2bb0bbce223a7016ab41fa29a7487d09c151ad7c6a73aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MojneBaqcry0yAetWYArzZvu",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6563, 1.3132, 0.6243, -0.065, -0.519, -0.4099, 0.9995, -0.02, 0.7967, 0.5999, -0.3927, -0.0151, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3274 left_y=-0.137 left_z=0.105 left_yaw=-0.0269 left_pitch=-0.0709 left_roll=0.0421 left_gripper=0.9995 right_x=0.2927 right_y=0.0004 right_z=0.1747 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -4.8479, 9.0598, 1.6679, -0.3346, -0.1001, -0.0171, -0.0752, -1.4564, 7.2957, 1.7558, -0.0562, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dbe533f86639fed8e069bc2d9f7df21e0fc35ba3c614ef0cc3348d09097ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e315eb09742c6e45ce0ce2b6d695a366a6c4d8d87558a67d064c65dd8ad18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28aeb1aa3e5e3ae2499052ce5912081d90bcde21eedd0322eeb5329b417c4791",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.3771, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6014, -0.3847, -0.0158, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.2938 right_y=0.0011 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0011 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6205, 10.0308, 1.8193, -0.0317, 0.3004, -0.0611, -0.8137, -1.4017, 10.3316, 2.0244, -0.0904, 0.2613, -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]: [-0.6563, 1.3132, 0.6243, -0.065, -0.519, -0.4099, 0.9995, -0.02, 0.7967, 0.5999, -0.3927, -0.0151, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3274 left_y=-0.137 left_z=0.105 left_yaw=-0.0269 left_pitch=-0.0709 left_roll=0.0421 left_gripper=0.9995 right_x=0.2927 right_y=0.0004 right_z=0.1747 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -4.8479, 9.0598, 1.6679, -0.3346, -0.1001, -0.0171, -0.0752, -1.4564, 7.2957, 1.7558, -0.0562, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dbe533f86639fed8e069bc2d9f7df21e0fc35ba3c614ef0cc3348d09097ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e315eb09742c6e45ce0ce2b6d695a366a6c4d8d87558a67d064c65dd8ad18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28aeb1aa3e5e3ae2499052ce5912081d90bcde21eedd0322eeb5329b417c4791",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-q4nqlWjV5m0xYXHFWL_38Upr2a3WpOXpeaK5DfL2sYgodd48vkLmvZiDhTmqPs1k0HUD4nem76abqMLdq7w5q2wAGPyM5ToJhlVWGdl6gKtzNqyr4YayoJyUH-Xh9_HpUlI2_aWLcMTkGTYrHf8au8AD-wAITfrFSb2zfgVQ94gCdt0jI_3oAD8HNQWQEY3sCLQwCAyQsLwmsgDFnbmbQa957RJlmgNOV7vHNC09GXp2-vPS7ss5C5suTIW6GhL0Z0XQazkBCR6NVFFnS-8E9NEWyIhrd4haHVO4ethMUr0s0LfDtxOezr0eTAdI2ZFdlnqnoTUB1CRujFyovxacy8x5RX1E7wKHLr6z15PrULH7I50QxwIlSx6K-jSvD3V6eUoxjc423c86HAZc26dCVxDV7j4zR39GEaPiM6un_Hbe5vKZWvGzW-nqEiqKl3apY0a_FdRrl48owJbKAnoKgLGHsI9OZPSk7kY-djoC-7MVq4nKut8uBlfkezGEMmBsQ2U3ig0X0nAKAfCjG2jIKgDFFEBIqwGVB9jP3zZ4nJ7u7kbMapIu7krYOeJD5Hz1jJshXrhCbvbPEhGUI4RKdZAZ_9PKs6AXi5zf0y2yGvGeHjPj4wJr3yXWvH77xsSjXitxz4g4DiPPqr5xXCIDp01HJqdCiCOrpD-hFfkyvnDKu9PTRnFKsVzPNf9SzwgdzeGTvcYbUCpap1Y6WzVfmUEyx0ao2pU_k6cmn698pouRlwj5hzDWAD9fHcHl-z_GxfcREHpOIXkd-p6TtQdCSBY1mDkI9LTkySieNM_gpFDAawALKcVOQezV318xxpU_tj3Qs9hf-EWz_D-kpDAGSWwmkYyOk-1UvaXqUhYfQwFIUK66712xTUhpNz3ncsmlqmxVP-PaOj-MxcK3anXtdq1ftUqFWPMV5GReRFrQB65nYaZZGTa5se1d0VK0Sz_BkrHVNZPgPxcdEAcm0JhmoEn8o359pv-p3YDquNINHybJvpyal3uAco32L1SPB2sA0108LfX6C2kCht4g1_g0Qh1hixEmokSlrc0Ls8jaGZgyDRXS2trni08db12JuARZhFF4Q3RQoMGQPZo054Kg2NH3P2-L3DAQTOU4EMo8r0Y36mVrm8HOCRg-wGbRnUquxHKGM5TC36egrpQIAoG8Nw_jUvUxexOnDE6JNOsi-pR4AJWzj4iHDlrZeuiNJQ7lYZMxXIlOs1htUVKKs0y97qEWGF9Pl9JNkOJJs-aJfW8oC4c74ws99XCoN_jSGGSLHg05BVPwXRLmuDk1Hnnzlqvy-xAdAJc8mNtT9LNzV-74YxTtezSu4Jzp58fdHMUBjYiW5-g10GAa3KOXF6Fjlho6BpSXTXBXoSwgCnmwyptAoDiR7gLXwySPcslzl8Zun_ahDxO8X3ZWHWoREthKhirDn7uOjkcWu6Fk_5DGO1ScwG20eYdH-lZlMrpPKAycQA5_SQI2ZGISxQMGiRSOlwuWjx0GPhEHJKFESC-RjCRiMOzXeYo7uv3kmIFqBv3g6aus4C0AUjztnOGkHREZ9TmUj3B9bvI1dxKDmM-ELKZA3HttuIHuWQb0Bsd--TqVMt1WiZ4rBImgBPxH6M9jKk9umiMQgqwVZ2ohQmsb9lcg1QR1QRJxiKy0BxvFNjrWOeKw3pQL_LdfyY8dtMp74-dB8d4gy87nmKR8fKuvtcPu8v0a6gSM1Uw9CJz5Qmq5adfa_jYk_9VbcfM2Y8DaCocUuSsFwz78w_0cTSiT12eJYuPt1N8hChZAhilGm8ab_97QEO4Ln_P5Bx4flsmtAnaxAMBqCc06FAvKSNf_Hfl5TdzzcjpUZZHHpZx51rAFPRFdZ0kbH78n7JAw0RmLfguATiGnCQ5ezJc-EC34y0poJwgYPOmcJT18C2rwPX7HplKRSMILMQRUBfrY7sIh85sZu_jaYic5mdEu3P1YtBqxeCkTLbo-5Ux2IyUHZpZ-whK8CZ5ly_ajFHVApt--63TK_hbjXnrVuSXbvZCMMinUnB6BK0-jq9jzqisTCfLM-XkSuppRriUcRRy1fW-qLWZu2XRo3_bd62BUeJONELFAejoHI9J1aZhfO2fB6MuNj9agiYWV8lAOqFD7TFkLtyFRsPpEfzvC4OxZ5vkuqqoDvODtUcw80ocEGpslaKm1CXoMSlWMTHFOyFpRPSV3tAXhMMzV5gLc8AIqd58vd7RscOgJxda9QA2fwbbuKoDN_6cbqrEa_cfrovcYPHwrLKzAJ-fcyqFZ1nOM4qvJ70tEsR5W1T3IFvc8Y42pCKY4J9wZ_jag25pe_374xtSpeNgS1HJ1ZItOdWxFoP5ajkn0F-zCgbRW2K7eKW9ONqjnTwqJhgWy3B-tF23C0f2UeOmRl5aPL5Du0qKerfmlCCwjStbOFfAruazjWcsWoVZ8_UY2XPJFBaAL_rbVtmWqIggPx_zSZYMZ9UDYu---cKqrleuLLtc1mdsSN1v7-ZlE-q3q6dyTaun17mdWgUGoys8sVDEF8HxRMRdilBC8A7Ez2Nh1Rx1_3DbUtGj9s0I5siIBNnw12OykTIbSHmAAAfHD73KVkLRyPPVZ6XG-VYvzDTAsS1gWqIdSN-awW19ULX1N5cRob79lA2GKCuwpq5KuETgs1BZnb8ohK7_VVRtlVqU5Bp27KLErm2LJKmdQ05IRSdZ7xh3pYaADUgkVCMfkVxafNpcNxA0HCoIrW5HXcQohoEhQ7Ukekfl76_jYXW7RSVdWYt_3L7wg2TxgPpB77W8rg7auUL210yyvPTq9v3Wvdcmo2-jQdIZyMm-NpfAcDQ-uRK71ERaiZyZ3RJ5tRGBhB4b55PwEQJmYOW4iYLI4HLI8ERWmmZ2DMPRM6q_IsLb7GtWD_ZvHwHwpZs3d1kiF7XZQ9nNRoD_Ks-nZPOvAXFQsykFbUkcqvtO1LQf4SW6KNWjEUfb0xsXQvGW13dEGGcF6Szjy4S7ul8oY8MsPrz1SDnDBXLAidjU2T3Dicy4WXscSDItX2CsN1csnAoxvDewSyLSqyD5tnI77Qs2G_ZZzCj57nKaYZi0GHeREEQQYLKmN8uPWLicN6CQ==",
  "id": "rs_09e2bb0bbce223a7016ab41fa6607887d08eef692cbe30f3f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.085,\"left_z\":0.11},\"note\":\"The left bowl is now close to the gripper, but it appears left of the jaw center in the wrist view. I’m shifting the gripper slightly toward the left base’s side and forward to center it over the bowl.\"}",
  "call_id": "call_ToakzD5D9eAoQwQKwxhy5OTL",
  "id": "fc_09e2bb0bbce223a7016ab41faa396887d0bb77c0acf557a7ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ToakzD5D9eAoQwQKwxhy5OTL",
  "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]: [-0.4366, 1.2663, 0.59, -0.0391, -0.3859, -0.2909, 0.9995, -0.02, 0.7971, 0.5999, -0.3931, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3432 left_y=-0.0828 left_z=0.1041 left_yaw=0.0223 left_pitch=-0.0875 left_roll=0.0409 left_gripper=0.9995 right_x=0.2927 right_y=0.0005 right_z=0.1745 right_yaw=0.0025 right_pitch=-0.0153 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.7094, 6.2427, 1.8388, -0.0317, 0.0952, -0.0122, -0.1436, -1.0325, 7.0085, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264c9685d59b0eb001942c9d80e1cb5d0dfee92b631f29d15b0391b6c914d834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0878b49de5bb8d13862d8ee43bad481177a21edcb67cdee8401d31e7055915",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0788a0bc8d291ce3d99fe5f1eb195b4aff5ae1876466b156101e4718b3c271f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.6563, 1.3132, 0.6243, -0.065, -0.519, -0.4099, 0.9995, -0.02, 0.7967, 0.5999, -0.3927, -0.0151, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3274 left_y=-0.137 left_z=0.105 left_yaw=-0.0269 left_pitch=-0.0709 left_roll=0.0421 left_gripper=0.9995 right_x=0.2927 right_y=0.0004 right_z=0.1747 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -4.8479, 9.0598, 1.6679, -0.3346, -0.1001, -0.0171, -0.0752, -1.4564, 7.2957, 1.7558, -0.0562, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4366, 1.2663, 0.59, -0.0391, -0.3859, -0.2909, 0.9995, -0.02, 0.7971, 0.5999, -0.3931, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3432 left_y=-0.0828 left_z=0.1041 left_yaw=0.0223 left_pitch=-0.0875 left_roll=0.0409 left_gripper=0.9995 right_x=0.2927 right_y=0.0005 right_z=0.1745 right_yaw=0.0025 right_pitch=-0.0153 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.7094, 6.2427, 1.8388, -0.0317, 0.0952, -0.0122, -0.1436, -1.0325, 7.0085, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264c9685d59b0eb001942c9d80e1cb5d0dfee92b631f29d15b0391b6c914d834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0878b49de5bb8d13862d8ee43bad481177a21edcb67cdee8401d31e7055915",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0788a0bc8d291ce3d99fe5f1eb195b4aff5ae1876466b156101e4718b3c271f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-v8eNU6IP94ADiPHJVmTiRv4arVL2htd2YzqGiYuF4CEQZvfweJxcGMIHoolALqXPzwudeLmu9yJXp75qyJwya1lUOwYSp-7BY08-uZIv7hOTxcbfrUC-T3ah-q4LsBBevkzzpXtbU0hcPXSIA-vpb4yiLMzUuPCUG6OgmdHeiWOiaCvdE0-PsNdD748YKQsHWTukmYqAES_4NO-xdChCvIHh0ehreWTaVz4g0dR0K18ky3hQsevL1yhHSPUd2QZRlwtW2JanSOhkTyWCH7vv0Efn8VDAh-_KglKYxw6BLfPDIuMFW_EqOKP0mjVz4-KgkV_Cl0qOW_Zi1F-Am1zHzYb0QGHkT2ZYy-_il9vEsbBKaJv9L45QkG_xVEuGSn0jK2QBTKKrjLVAGVbB6BdYYfvpCy5l2VEnu6sV8TfPc3556inLYWwvE_cQR7PblGMOgBuJ-uQ5oGQApi1JndCcQR3kfwdCx1RZGxvo3wfLQpCJwsmqW1DgRaCNoKLCo1C6TiS4S5TBBgZBjIYar6fQVD-9zHzzCH5RTtCm-xETSOZ4s3DD_JaIvqu9wai1b5VSEtmw0TfbIjCcBqMZZUxbBsyJJ_p27Y7o628b4ExSo6Z41rTlTKPDnzpaVr3N-M2P4wrPy71kgHqkSbsZTkOMEn5UPJ8KY8EBQ64zko_ie5n_3Ptq1A3ZDhfbOJElCbodEMVFfqquPcrF2OnKVlKAdP8pLzSVoRZY7Dpx_gmyQsqvYdA8uxU7YMxFDJZI6huIueJqn9YlZnuP4hl2TTJfRmQXX1R1Cs4rDCnGqaSAJu98k9olrzKhf9g4b54EEVEndrvvl-BF4jPoM0vsNkSKzg0JyYBSmJZ_-zuehofTYNVjcdz2FKl6d7FswMiLJRROvZsklY-DLl4CmdwfCzbB8MUvWB5tA_ryhJq5pNFsa1xVhpuqaFizNIJ92pVWCG_6-owhRNIiEyaj16lFZVOj1QIi_lAplbO_wbfeIiqdmLi3nVDv3oD6GjpRcyFAlXw2pka7IQq0yHtQ7l1TZfn9rVVl_DvBvSexOXLLXUZQPhlBw55UY7qTlCnJDKAlC5jGz0Sh0SV0O7-10QgPr1tOgzjkU45AIuDTglWlJ_Bco5d1RZbnIt899t3eCwe9tZRzIGUGJsv1cEDwsBOTEe5upPA6C6dvetxRlfUnPVdLUn45ygrzdWLXvH-UB-I4BX_gNc1kcAb76mBjtwPjRuHxOJq4iaFdD4A4r4nhbje7D7NWvNbOy-1XtqnCWmkOb4M8REEtCLhexIYX6bCJj4uAdluaj4EgOa9_CuPo3hVyYmJpL1oMQUtYwecOdYiewGblPZ0yLcKK-GAO79kBO3eiUOxCxSXXEXyDhOmod9zgxDatQM4Fmo3yDdtlLqyC9K_H1bfqrvwpHvDRLXzAINDLJQFOteCW4L4xPVH9MrKDoKAfQ3nf0jMCrWjHqnSWEuHSldXtwaQ0bf0xxCw3nupK3cvB73dt3ONKCUFCCMKI6KMfAvIXXMHxsLwIpW6kd2ql_4k766kCPpMDgr0Gc3S0y1L34QnSBL6f9w_zQxqNpiSUdviKSValgEhURdqxjzLOYwQylKmDOtJizcxTySBo2QOogCUpbpa1h2hphJ34_hYzXxixZyErktp_znR1DQDBCn_8d81kJBypF-YSS_UkkyyPPfL_TGQrPczzFgZjRwQMZc0gxJKc_LwPPJ9JcSK3PKLn2ANafp-nsW6UbLxC2bh4KZuxPX1mqYgI_ysxk2W77Q-MDTlu_9nZPIqvAm5urMYsInvGDrsqELwbjS3SD5wRTMjuQgNzi4ARvH99vxfCjIGvrvgEtbf9ub42ZPxiQ9lRywoPGRtvBPFAmEWMOnsb_mM_bmh_5kItGwauUz6st95tzoYOQ8szhv994N-y004n7av3318_KRwaAxXSfCRyO9gJl5BwNLYrgo7yXVZ3kTeyzMhrAlueGe0-p1eynsVMNNGu2ahEoYKeMTVOpuQDjvjr0vPIP7ru6kXU3FTHe0gVN_1a6xcVbjmd8lcboI7404DJDZ944eOtrcoOLtNeIxAX9wyNbapEFQCDU7aA=",
  "id": "rs_09e2bb0bbce223a7016ab41fac84a087d089ba3f746a076c86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.045,\"left_z\":0.075},\"note\":\"The bowl’s opening is still a little left of the jaw column in the wrist image, although the overhead view shows us nearly above it. I’m making a smaller sideways correction and lowering toward the bowl’s side.\"}",
  "call_id": "call_k5SdNhI1jN0M1WEpsAnloGEW",
  "id": "fc_09e2bb0bbce223a7016ab41fae7b4487d0b17078cdf303c0b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k5SdNhI1jN0M1WEpsAnloGEW",
  "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]: [-0.2802, 1.3045, 0.4892, 0.0811, -0.2901, -0.2127, 0.9995, -0.0196, 0.7971, 0.5999, -0.3935, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.042 left_z=0.0693 left_yaw=0.0592 left_pitch=-0.1318 left_roll=0.0507 left_gripper=0.9995 right_x=0.2926 right_y=0.0006 right_z=0.1744 right_yaw=0.0028 right_pitch=-0.0156 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.7812, 6.4068, 1.9121, -0.0659, 0.0757, -0.0122, -0.0889, -1.2376, 7.0359, 1.7167, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b145d3f333df6abff6418f7848f8bd421b2aa4651625bab43d5e5edc3fc049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5126494cd0a0d7f481adf241d74a8e12aa11a5d7fdb1ce91c0d8d92392e368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2998bb5fd8d5cfd32f5865448107922d93c0daebdd9165f86f93bf78b3215a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.3771, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6014, -0.3847, -0.0158, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.2938 right_y=0.0011 right_z=0.1781 right_yaw=0.0001 right_pitch=-0.0011 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -1.6205, 10.0308, 1.8193, -0.0317, 0.3004, -0.0611, -0.8137, -1.4017, 10.3316, 2.0244, -0.0904, 0.2613, -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]: [-0.4366, 1.2663, 0.59, -0.0391, -0.3859, -0.2909, 0.9995, -0.02, 0.7971, 0.5999, -0.3931, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3432 left_y=-0.0828 left_z=0.1041 left_yaw=0.0223 left_pitch=-0.0875 left_roll=0.0409 left_gripper=0.9995 right_x=0.2927 right_y=0.0005 right_z=0.1745 right_yaw=0.0025 right_pitch=-0.0153 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.7094, 6.2427, 1.8388, -0.0317, 0.0952, -0.0122, -0.1436, -1.0325, 7.0085, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2802, 1.3045, 0.4892, 0.0811, -0.2901, -0.2127, 0.9995, -0.0196, 0.7971, 0.5999, -0.3935, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.042 left_z=0.0693 left_yaw=0.0592 left_pitch=-0.1318 left_roll=0.0507 left_gripper=0.9995 right_x=0.2926 right_y=0.0006 right_z=0.1744 right_yaw=0.0028 right_pitch=-0.0156 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.7812, 6.4068, 1.9121, -0.0659, 0.0757, -0.0122, -0.0889, -1.2376, 7.0359, 1.7167, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b145d3f333df6abff6418f7848f8bd421b2aa4651625bab43d5e5edc3fc049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5126494cd0a0d7f481adf241d74a8e12aa11a5d7fdb1ce91c0d8d92392e368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2998bb5fd8d5cfd32f5865448107922d93c0daebdd9165f86f93bf78b3215a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-z0M5OaI0uqIdaOSTgL00ShqPmDUI8uKlM-pfgW_a1jttLAxeQH-mM5n7BMLhiHGqhDOsMLePIfshm1I7lBmDnXqlHEeE4W-I9JMRMDJ-CRB81hhpN2nG4QlRrohXNZwkhXdRqrWI-cUPTMey0b20VhfcxIN4dolCcfa5MZsrcStHSW-iNRWB9mqxBphtprm2ks-DkoYiFBagZI4cdv5DIfRtfuhhkniw1aPxt78q27nyPtNqMdmW917qr3OTFNEy5WeCZPt3yQpd-XlP6791GQkKnCExHVBWdTsNJVKSFV0uP7_Od8FARagJk7iQRRAQwaSSeiBT7klqdYjiTbhwayo40WMZk8MhEOHY31ChN0ogBX5hhZ4EbS6X4hdzFINFc4yl0REAyCKhg2cVdRv0zodbhB3_jZdShNzzTw1UH9uMcuhGUKkBaaHn3sJdxBIG0WY2fThFL_zRJFjkzDWGBa4P2GFGuJafff7tFuIVblsy4CRv-4D38B46Zhs0Wp_Bkdkpe7mS9Az3p-2yGrnY3rtPQauTlbEPUOUqpgwamqxfchmKCyF3mz4VIpCutJMFGHu9z46KYW-4OrbAce1Xo1WW5YyrKDwhM0ofSKAl0EtSOZwV--ahI8YszrfjO0A5nszdzf_X_MV0kb8URuPtQEDlFsxMtotY1vv6bsR9VQydQJ1O_zL7M5SNxp0qgUBRurFWA2HoGK9JurPp7NviBxUk7neYErpAh0F-p7-goRDvTAMERAyAxqkZcILYx4WE8hqWJWZSUWCkQ2hiyDNNvMYsstrjmsXAJgUFXTC_qU8e_V0sDYDyUiHe2LCsQW3NXMZYruMotGxzznYPKCDDIRZ3dFFvLRS3jJAGKVb6YIf84mcXfkpXGUiumvX1PIZSC6SeLhzl-ne6lkU9_82cZxfr9mls0q5epWKomcpl2eUcTnTEHwPbQRuD0y6Yzs3o-GeDuQEJgFxm8rB95y7hHjjNLgp8R2efC41rGvZq7judNJZGO3posgmFIKSl6Pu_QPQ59A8mN-R7S60KGjvq3zQa-Lob7HsOFmm296yopneBSTQ6qApE9nqK6iAgDk2S7LgHp-9mboqhgGPiZNfbCTG-MSHZPVOb7psl8Zz9vo6SOUugmvifX647EsUi2txAHX8V6DjaP8576c8yyWzm8ECgOx6Izs2DMEREOym2nGSd3xmv6SGi42C1ceZ4I9DtUcbomGiSua5OM7Xh-IMM7iBGflsG2ZH_MQ6Lu1E1lRJJ_ge-r_ihEv9TGDJNxREiRcojFqtmh1KkGmklkmBj0WP1o5nK1AQZIbcJgsnCH3VLcsmYEbxKuuFAOWLBlzFxlZrCrq-xovVEOHwY_7KbynfYacfXkwAnRpYGn4g1_ZRoh_JLPAjkBU8odlFICtvisuEbzyjQu1yyfQlh4Ry5-r3kGuRBpAK_CFSU7_MheIylcy5oF_Q5Rg3glF1-2LD0MEF0Ms-jz1rI8mfkoLNoBD3koYAUcxF_kHLiGKqKX3WoA21ot55X7t1cdZjk6221QuCeOjlJzd2KeefBjRWCNniDPD93ljumhH2WJOC2qym1807mxW2P4XXBhYkFAjhM2aoWPfE4gU-gCmq608BduZn90hms1jZPK0ORsktrLnSJl8GyXGDvrEjg3qFE2_HkKhGwGiKJM3P1KFdMMWeRuJQQ2mlsHuq8FfhmuH0gfJhRaRCARnhVrtmK1BUcFFMzWF5MZqaHp25LfuNxP633tTM4AJpRLnKaOuLgeSVgIdtlDaqVmtCdzrNreyNMFWAerwaOgCP-egE8-SB0K0J_z-b8sD-a-JOF9obmRGhnKIQBJh0Q5mLYKRSKb9pqq82sJJuBW0PKBtVp9AVPCdkHGMw7pYe3mEqJeKq5cLPy4t29YX_2DY7zfQHuQmZhAAoA0MplfUYTS6WrDbrVqIFZIauGKQfZW8gMOR9X7miWv_gcYSE1X65W9m5RnI1yaLuMlq9GCLO5SOUoGYBNbWsPYhA2N7hoVzZhMdyOCIFYHvNp0_-MmAN4305yt8S-u0V0Yu6Pd01R7NeqBDjL1yZmW_YhLBED0NB8TqPoQAvZCwxrbLXAMLinnbYyeyw87OQ0f",
  "id": "rs_09e2bb0bbce223a7016ab41fb1152c87d0b9a346545fd09786",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The left bowl is now centered between the open jaws in the wrist view. I’m lowering the grasp point to the bowl’s tapered side, where the jaws can close below the rim.\"}",
  "call_id": "call_Kvd0oxcx1UsW40Al76vhJ0OW",
  "id": "fc_09e2bb0bbce223a7016ab41fb2bcd887d0a50e5945a65cb897",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kvd0oxcx1UsW40Al76vhJ0OW",
  "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]: [-0.2638, 1.3151, 0.4801, 0.1257, -0.2611, -0.1978, 0.9995, -0.02, 0.7971, 0.5999, -0.3969, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3458 left_y=-0.0424 left_z=0.0694 left_yaw=0.0425 left_pitch=-0.1148 left_roll=0.0361 left_gripper=0.9995 right_x=0.2922 right_y=0.0004 right_z=0.1737 right_yaw=0.0023 right_pitch=-0.0191 right_roll=-0.0068 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -4.5744, 6.0376, 1.8926, -0.0513, 0.2125, -0.0122, -0.0205, -1.2376, 7.0222, 1.7802, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2fe5f6c8adafaa5afe5f87e7f5251e6ad49b0a088c889e7ec06c4deec7a94c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a8b0fed869f146a859c2164424921bf438662fe6fcf7b7cc2dd6a9d24aec90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d57ce9d6e9e1010eb9cae37a9dae40c8a8d91b1e176018795c3b4b41d156b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.6563, 1.3132, 0.6243, -0.065, -0.519, -0.4099, 0.9995, -0.02, 0.7967, 0.5999, -0.3927, -0.0151, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3274 left_y=-0.137 left_z=0.105 left_yaw=-0.0269 left_pitch=-0.0709 left_roll=0.0421 left_gripper=0.9995 right_x=0.2927 right_y=0.0004 right_z=0.1747 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -4.8479, 9.0598, 1.6679, -0.3346, -0.1001, -0.0171, -0.0752, -1.4564, 7.2957, 1.7558, -0.0562, 0.0269, -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]: [-0.2802, 1.3045, 0.4892, 0.0811, -0.2901, -0.2127, 0.9995, -0.0196, 0.7971, 0.5999, -0.3935, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.042 left_z=0.0693 left_yaw=0.0592 left_pitch=-0.1318 left_roll=0.0507 left_gripper=0.9995 right_x=0.2926 right_y=0.0006 right_z=0.1744 right_yaw=0.0028 right_pitch=-0.0156 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.7812, 6.4068, 1.9121, -0.0659, 0.0757, -0.0122, -0.0889, -1.2376, 7.0359, 1.7167, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.3151, 0.4801, 0.1257, -0.2611, -0.1978, 0.9995, -0.02, 0.7971, 0.5999, -0.3969, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3458 left_y=-0.0424 left_z=0.0694 left_yaw=0.0425 left_pitch=-0.1148 left_roll=0.0361 left_gripper=0.9995 right_x=0.2922 right_y=0.0004 right_z=0.1737 right_yaw=0.0023 right_pitch=-0.0191 right_roll=-0.0068 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -4.5744, 6.0376, 1.8926, -0.0513, 0.2125, -0.0122, -0.0205, -1.2376, 7.0222, 1.7802, -0.0415, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2fe5f6c8adafaa5afe5f87e7f5251e6ad49b0a088c889e7ec06c4deec7a94c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a8b0fed869f146a859c2164424921bf438662fe6fcf7b7cc2dd6a9d24aec90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d57ce9d6e9e1010eb9cae37a9dae40c8a8d91b1e176018795c3b4b41d156b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB-3yYrKUERt2q3XYZnUB9bsQ4lbuQCbOxpuA_gLztalGXNNtrcn9TnpFFVpJTwp2oYqFLmwY4s_LDBMtwQRAnQKdo8rXrRZHYCDQz_0dUyOG95YXwKuarEj647Eo5_fBjkIyrUAp8ondfZIqc3gwSlzE-T63jpNOjsFq8v2QIeHMgebRyZIPNTOJ47PWaiiwIXYN0OHOjq-kP_pH1mSM6rjECD1SLFkczwWMGYWQ2AlqgizpqR9tj1-6QobJcWpdu36xEumfasyl8yRTfc7YfqIwqEMtQmRM4l-fsYLcBepMC-7Yh1eegXVWI7uPBIsctWcx6LdkHSmvUNJsODJ4SQjRfWQumzYbwLO0tR8J8te6NLFtOTUcTLyNxLM0nlx_meIQJ_WggxE5sHG_qjTX12JKyPyc8XGyrnZcnrsga1FdtDcZMF-CCXthIuXMExvBrcq9b7dxUOUtlUwoxwaCBFa-13gpr_Zp6_ILx4vVd7XDcNJ6V9tnTRJdziNcDpxiZsQn7KP0E98jgRoxCla59_rNPV6uWV5vphWFOZaToFAaV9UvUkKFwoIYtu8TjZpXXiTVcIiTa03bZlloZBd6YbFHsTV6QraUj3lmmghZrUEwhVesVis2JqAckGRKDJubt7CEyyCuNKscO3t9rmsdGI30hmaCL5ILN3zhR_FFP1oRnwLnfv7KnZ_RnMXcuDTqjKn3TC5tM-Rki56UIkaxHMp00b_e4U_VuyUDq0zF5-C3S_wTRnaAE0mHt6hai3skzgCajaLlv1XgeXGDYtnrynvkQA_8uAHUS1ssFNIj8YzdYfznwAjxy2ChXi4g1ynCvkrttFtAEwrW6qdiw784Rlw8dPPGr64R8PsalBYs_44YSWSBrhgvbg83ryueJZVHgWMCFQL8gc9EjiQTxA2zfXLk3fkZui_GzBFfHsCCgjCZsT1jFDcXPKRTVArdtrZRnenDxuVeIRKKBdvO0_LPyurFonrSgjaEhWRbIjkj9aQH4VSffIpvetft3-jnkdLeoYQKLrw8PIGZW5XfqYPJhuidEu4lg8EzUVKA3WJx5wagKQN1tjAHAejYF7gxLejIQWw6NzrBIcR7wqBMuIOkSzbBD-wtmRIg29nP66UDhonP3D2Lo2GjulHI_EikPlhtsSkSK4Pruh2UUugxiLehCjgPsgpWf9XNKY3JmGYpyWg_cmyhDvnHX2P8gI0OFdl069pJcxhEDwJUJ78fTmSEIG-Ew2wi4RACqwGv-83iI1FQ80jmb0lAIBZu5DCKfK9NME4bXxqmexEjmdz2FTGdhj4K84xS8nygpFb9OJaCxgbWwzgmHQjYHfaK780KYkvrLX9Id31pqgHdcQcOIjjtfDEnWiZJ_KpJQQJbXMSWpJsO_fvsxGU_lcDS1el1W7i7oHbAih4D6WHkLJWNm6AsHu0GQDp54FlHcnggNWea4QfWj9kUsdFlQN-TGKcgzK9gFo4GpIwGbKbxs-2fKUQmVwIUueRFUjFSItkL_J9znaPuUmhAP4l3iku_dQMEWtig4oCHoWdZ_sUgSoxIszCCjs54OCC6P1utXjqX4f3UZsN76abgs5BcL9qsDEGFJHQRvDoPRMXgyrJd3WLURQkEBLdLWy0vlc7qG3OqjvXbCu36r1buqEWIG0BZZPw99t-LfD1kCjJKDO4zpj2cAXCBlojtEroDKrE6j0h4XSRYULFMXz_yCCls5mmoBGarjyga90k__yB_fBOtxuVOgCddgr96zlEWuQbSP95SKZDHw98pgsiVhbz75shf06rkwZVdQFKWHP1XvPBMSb-NvzPb-_fRcUB6ChFamSdkzYOhgXioRPoZDIfeDcsp2UEKKHLZx7Ec5tUrb3cpKye2grlbFXuu3aFO0ug2jj1aHxtaWHzS0GlhfHqymOSJzbxpOSm3zQR52pW5UXyxYchx5oe7BP3pZcCX3wX5JwIek0IyCOEhU5p2qv8A5SS7cf4L0TAq863uLP34_QbEXh0KQXeQo_wQW1JkElE7sK5STzgUdbSmaW_pylQQ90FFYwSIQk9vhmX",
  "id": "rs_09e2bb0bbce223a7016ab41fb4ac4887d09dbd0addbee68324",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The downward command stopped near 7 cm, suggesting the jaws or bowl are already in contact. Rather than push harder, I’m closing at this height and will check whether the bowl is actually held.\"}",
  "call_id": "call_IgorqKCXSzvvQJipP2PaTkH7",
  "id": "fc_09e2bb0bbce223a7016ab41fb65eb887d0b3aeeec533168480",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IgorqKCXSzvvQJipP2PaTkH7",
  "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]: [-0.2638, 1.3151, 0.4801, 0.1295, -0.2615, -0.1947, 0.0087, -0.02, 0.7979, 0.5972, -0.4007, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.0425 left_z=0.0701 left_yaw=0.0411 left_pitch=-0.1112 left_roll=0.0375 left_gripper=0.0087 right_x=0.2913 right_y=0.0004 right_z=0.1715 right_yaw=0.0023 right_pitch=-0.0263 right_roll=-0.0067 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -4.4103, 6.0513, 1.6093, -0.1538, -0.0171, 0.6471, -0.0615, -1.3197, 7.241, 1.7802, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a7cd9c0c69dff9f6bbb8315ecfada993e75fa5b290eda5402d23607a8c76b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08dc7f3121db4a83e187049c03810d27bbd8a050fc4449e22af58d33f7353e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5298560276274e4e5812421b0843b60f0bd17e2e55f5e5470b59bf820fc21a68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.4366, 1.2663, 0.59, -0.0391, -0.3859, -0.2909, 0.9995, -0.02, 0.7971, 0.5999, -0.3931, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3432 left_y=-0.0828 left_z=0.1041 left_yaw=0.0223 left_pitch=-0.0875 left_roll=0.0409 left_gripper=0.9995 right_x=0.2927 right_y=0.0005 right_z=0.1745 right_yaw=0.0025 right_pitch=-0.0153 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.7094, 6.2427, 1.8388, -0.0317, 0.0952, -0.0122, -0.1436, -1.0325, 7.0085, 1.7363, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.3151, 0.4801, 0.1257, -0.2611, -0.1978, 0.9995, -0.02, 0.7971, 0.5999, -0.3969, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3458 left_y=-0.0424 left_z=0.0694 left_yaw=0.0425 left_pitch=-0.1148 left_roll=0.0361 left_gripper=0.9995 right_x=0.2922 right_y=0.0004 right_z=0.1737 right_yaw=0.0023 right_pitch=-0.0191 right_roll=-0.0068 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -4.5744, 6.0376, 1.8926, -0.0513, 0.2125, -0.0122, -0.0205, -1.2376, 7.0222, 1.7802, -0.0415, -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]: [-0.2638, 1.3151, 0.4801, 0.1295, -0.2615, -0.1947, 0.0087, -0.02, 0.7979, 0.5972, -0.4007, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.0425 left_z=0.0701 left_yaw=0.0411 left_pitch=-0.1112 left_roll=0.0375 left_gripper=0.0087 right_x=0.2913 right_y=0.0004 right_z=0.1715 right_yaw=0.0023 right_pitch=-0.0263 right_roll=-0.0067 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -4.4103, 6.0513, 1.6093, -0.1538, -0.0171, 0.6471, -0.0615, -1.3197, 7.241, 1.7802, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a7cd9c0c69dff9f6bbb8315ecfada993e75fa5b290eda5402d23607a8c76b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08dc7f3121db4a83e187049c03810d27bbd8a050fc4449e22af58d33f7353e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5298560276274e4e5812421b0843b60f0bd17e2e55f5e5470b59bf820fc21a68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09e2bb0bbce223a7016ab41fb92a6c87d0a46517872be76c7a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_BzUV9HWjQFLM3W7PoSgLUhH7ZS96RA3dVvv6f6qp-WwnwDjVYtjhCgN34-EVD29OP_sodNIozQll8csb7Gw-485atsoA3-bc2R3fkg6uSFuhhc9Lx824gCLLczYBww5ZzdHIu8jRCPi-CNBCKA-KBAGsTJN4jSwq7M4iKCabqKCknjegieeQQbbRFrzhLRn2YHGzOitUkgf6OXeQVZ5A8pVZQUiWitOE3QdRm5gU8WMZ6nHHEnSpt2d7mo07RTX7VhqbS0yJsrmtyh7ah48Asb-zIWarfG4g8KYtdRBw2EqtEMM0B7OGc5jP_heNj5HFOZ47MpxOplfeyc8nCY21zt37JG50HrmSn3OlXYVYwydcbjAhVFzvyGznfReumuqtSAuZDnfW2i5zeZ7PzYvctqfVpHtNqI4HD9ILtCtBzncV9COHLpEineOyFtDzNMUaI14256EoNLHVP3b5Q7QpI_q3bLEmDcsMxY9NHYkanKSTCS7r8tIq01ccyHf5zEeF51xncT1RJa6sFO5JD0qQy-chXiY_hCBzqEOauUvsqLEpdxe_-Sb5_-XF0LxrUtLyta7I3nfTgvMW0mTOZZPchKtzBc0d5RLTFnY0ExaGPGIc3AId2H8AK6ktFfjRfrRgAhMyXdKWcjUYRmAlQUOeJfOOPhA5xICVKXUlukyG8lmwAUZIEXJnew84HhnNAD2YkZZpjedOuVWdgfjHGFAQ9k3FDro_9CUe5Po3tZerTX2YKEs1fMvwcKaGLpWQSHzyf_Ca6ALK9B65fZAv8zX4hkqZLtwHHT7QxmTrCbMX95KqconVKBy-JV--Rov-t2O1FysBRDqTtLlQ3Gw6saAsaRfVJkGP53mWaOzqgVoIKKY7Py3kE6RsaxW8drRhQu8hvEOeop_npAGLLaUeXSqI8w14kn6jCit19H38un-ZPuLQUx4ijKiPqvIY4dr9sasjzDIRf9-WKRk34TZbtSg8prQi3_K5LRGEx1aivL6f0s5wOFkUP9OMwx6TV27FZE3SBHUl0eRFSrDux5yMcPQcaC8j116KEi7x5VYDZXY-Ibq_-d2ZArtXhFL0TFfx4PoHfZ5Xid2fg4QZHsTBcrp4vlDG6TpN2O8ugTOCGxUW0fSdBrQJmTQEyJZru8geLUCEjA0s1k8DkYo94coz6ghqGFdEJ60AiOMECvaTpB5AMaLUrHImVfx3LGcSlqL0icw7alrWK3Clrzsv7R5PMOOGYJUPcqsz5wb3W-T1TuHSW061se7aDM3FeqDLCTuMJE92qRj7Dfwujx3GVyODXLDmAdOGDes4yfpDFYRNNEQ1zs83M3-OebITaMtTqRoneer8NPVhEKW0kxtzPTH3Ihq14O3yR4xcQGIEjoVy7WqHwNMLaGLIc8jStfqMDSklfQral-EiZtV9r1Vlrpw2h2pV6pI-d1CWeWln-XPShI5ekrpxIws2AHzrV0GuRT1aaJrIX5uO1gN9c8ezwbuhp--DpCcpde9MrpocL9dzRLJyjR17DpPmQW_QGttvMlmRuwERzAUgzplxI-J0X46zhQpl_YnrjKzuhtLolOQyIA-lSkvC335hEOP13DAPTFiqwG1I1eJifEncNqP9pX3aeQ2nNUbfDE1ErmrPMIPaGSoPttbzY2iG6_mIPjty11oQ01ZiYZCvLriTHY4RNwwlbVOEq7a8CG034kuDTah2UEeN2_Qptsd2yijO5d0NGp40SO2bH-x_awGbKfI5zQZa4ffG-OCZDAXleyiUFGELMXSi1T8JeVq-SoT-px_Iad_COG7nH43KfBbHXUwNNNYyTHiP_gOsd_B7k_ThBlUdztIChk73BOnS6Ib3e203IaQzDjRP7K1AzRj7Yin_SHM-SKpAwo1lhR9qSoHpllFrGVLSumNC0WsbA9ps9fY9549mKIhZnjKyzaX0hFer8tDYoOlOYYP3Ig9i2qWH2Oc1GL_AkxJoaUnbasjYhzzL2sH17_-tmuYCNYNQ0_AO5GmeFMPQzDw_ep9g3IWzfaqk2GJ-ONTDsnEig995xL4nMvan6zLIZ5UvvQaAw6IsUuhP5j26ZjrFcL3J4I_rWRM5FVYKVL8hVMGfW9fEoHgdRyKfSGdLU82wKkGhD993OkcVA80tAGA==",
  "id": "rs_09e2bb0bbce223a7016ab41fbdebe087d0af97d2de1f3dd569",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_z\":0.095},\"note\":\"The gripper closed almost completely, so it missed the bowl despite being visually centered. I’m reopening and backing away to approach lower from the near side instead of pressing down through the bowl opening.\"}",
  "call_id": "call_fM5dteBtyflgNKPd8vi3JukN",
  "id": "fc_09e2bb0bbce223a7016ab41fc09edc87d0a0d413780d78259d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fM5dteBtyflgNKPd8vi3JukN",
  "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]: [-0.3496, 0.9783, 0.4194, -0.1402, -0.3145, -0.2531, 0.9947, -0.02, 0.8001, 0.5953, -0.4149, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=-0.0461 left_z=0.0989 left_yaw=0.0303 left_pitch=-0.0923 left_roll=0.0217 left_gripper=0.9947 right_x=0.2892 right_y=0.0005 right_z=0.1672 right_yaw=0.0024 right_pitch=-0.0446 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -2.2359, 6.1607, 1.6728, -0.2759, 0.0171, -0.0464, -0.3487, -0.9504, 7.1726, 1.8193, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e01549bcec3a4916979fafc224948a023680397daec71f280af15f3df72d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d677c5182535462506db3d08f7a57735b6978a13c0a0eb6633b18ec19f4da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9c9fc107b121cf0d2c6678bcac8cf45bf827cc3cbbba30093ebce925e6807c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2802, 1.3045, 0.4892, 0.0811, -0.2901, -0.2127, 0.9995, -0.0196, 0.7971, 0.5999, -0.3935, -0.0154, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3417 left_y=-0.042 left_z=0.0693 left_yaw=0.0592 left_pitch=-0.1318 left_roll=0.0507 left_gripper=0.9995 right_x=0.2926 right_y=0.0006 right_z=0.1744 right_yaw=0.0028 right_pitch=-0.0156 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.7812, 6.4068, 1.9121, -0.0659, 0.0757, -0.0122, -0.0889, -1.2376, 7.0359, 1.7167, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.3151, 0.4801, 0.1295, -0.2615, -0.1947, 0.0087, -0.02, 0.7979, 0.5972, -0.4007, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.0425 left_z=0.0701 left_yaw=0.0411 left_pitch=-0.1112 left_roll=0.0375 left_gripper=0.0087 right_x=0.2913 right_y=0.0004 right_z=0.1715 right_yaw=0.0023 right_pitch=-0.0263 right_roll=-0.0067 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -4.4103, 6.0513, 1.6093, -0.1538, -0.0171, 0.6471, -0.0615, -1.3197, 7.241, 1.7802, -0.0464, -0.0464, -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]: [-0.3496, 0.9783, 0.4194, -0.1402, -0.3145, -0.2531, 0.9947, -0.02, 0.8001, 0.5953, -0.4149, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=-0.0461 left_z=0.0989 left_yaw=0.0303 left_pitch=-0.0923 left_roll=0.0217 left_gripper=0.9947 right_x=0.2892 right_y=0.0005 right_z=0.1672 right_yaw=0.0024 right_pitch=-0.0446 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -2.2359, 6.1607, 1.6728, -0.2759, 0.0171, -0.0464, -0.3487, -0.9504, 7.1726, 1.8193, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e01549bcec3a4916979fafc224948a023680397daec71f280af15f3df72d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d677c5182535462506db3d08f7a57735b6978a13c0a0eb6633b18ec19f4da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9c9fc107b121cf0d2c6678bcac8cf45bf827cc3cbbba30093ebce925e6807c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_HTpxXCAZ2g_kiM3FKgKJdzHZnTIAOAi09HC-KphbpVa4L1MhnMnqSYoefZ1fkhfQ48nUzKKaL8Tw5d_CKK7kGxu28PKJdiWBPYtF-d387q7mEVtcyC6RE3LntLTAn-yMAjFQv-OIysS8Qr7DiFUrYohfONLQsCFyLNTXqYZLvxeCc-UusQgTS-OqIudf_fGett5psGGFszOeILv5Kq-PpUgQW9CCsBnIquiHIVoEVKKImfoim2ys2Dz-J3OCIIZagQ5JWbb4jpBtnozxuSS1Qp7vf2RscaRNZ53Ngj0rpddDfcVjxlmDDKhAPZkGpQywCJP63KGXEy3c2-oFcrbKxf0np7iiFPDRb_ZUkxODXB3xM3o3TqadKszbiBcdSOI0FyfE1rhsL8Sjkj7wZ_UbJCWGpOnlGtUbcRErJ8jD3q0oywhjyIdrk9m-yAtwQMJVAM6Wdv1sNNxj20mpkIcwnd6FxmEmWQLmY7uEYn7rHM2oIovqDBGJEyP_L5CT5T24PLhb06Xc6GNBxJ5JYUmQWBTnu9m-j6hq1ylgbckFt6N7yPPZ5XrAjZlIbCDHTPnWH8FsM9AK20D8vXT_gLITIdu9O69J1M60fyS_ds_3RgcfTEf0VPGz9s6WDiASVWyfP3YHwWx0XKY4_UcXYiPwWgykP0nNf6ns91fEHF4ttqhE4Q3IPIlQg8QPjRqZhcaJ7KOOQ393qqk_p6fx3UxAo0b7LTp8k6nn0kFOsq1TWuYpnG_NfpaDXnGYfusLuFoA3kL7d7HpydTMscLzfg2GnOOGLWsgPwmw7kQcPJnWxapBhB7HbQGDqa1tGQaayBdvKoDrOkpS48vbFwAcG8n7WUsi0gJdcDQsSfOds7Q7pMX8ncsatglPZz4gphjUQHCNzK-9_vpO9xeTtVOzTIrPrYxj2kx3J9_rrqxKlpdtlcKIUisBQHxH2B2ozXhrBKU_Uda3QcP5QTgkLzJu0Gx7pXFNSv9_Al1OEVKabnX3n7lGGjEjfGLVYWaxTCHE2NhWxx_OnDdyaF-uIg5niqO0KiwjH6MCd13WmQSezHcq7f5bzf_Ta6bk13KOLk1ibZqoYEhmVLXNvWuZvw5B_CC8HdJAi6iftxmV8Cu4AlgKHWsGtS2KuWhHOlQRrO0mNqSS6P_9Jb5yPXa65bBflrNOqeT1RmDbRgHkGeVu9FiQgnNftBeDTl65F2XaqPlh0Aq4SeajMy8jxr9EbC_lCGDLODvDXzwIRp-N0bMdDArrh2fQvbKZT7-4orGktMDUmWsbZBk7qLEetz6OMudRF2UcKIRXQR_XlLul1q98xtWTO8tqGabhzw_kVEHhVJvUGU8Rolk1iRhrLn4Pqd4BLkAR1SkaOpHPTqmAGWMB7FzkLfnPGJgDtnxhWJYUTIlOPyPwNyXAzwg9QxnfzdX5ePgD8hcq4KkF1QxD7pRjZHeraN4z4REu4ThZZNXUWIZIaZJ5OpXrU6CL4x9BBoHo7by1ppCO6adpCFYFPUiCSABezK8PNu0D92NerYopAYGG_pfpv7yCCd48JL96XjfFMy9i4vhWEOT-8m_jF2QIuaAIrK4Z_8gpAW9vvBXoI15HRXicmxWIBtyBvhklX4u6tZ6z1PXPL5qM58MbmdlBP1DUoR4copCfRhaJjDBhi4gfFxJJz4M7K12UmGPTrAQJH6kaqSHAtGLs3Uxoi95mu2xTtv0Rs8Jpq68KeSWz4NkrSEfo016MlUQFZgMPaF_wMlvDqMlRHp8HcPME3ez2NUISa9qM_go-Gnqvqz8wtyPjTZq3BoGxdFCFOzIccvdBUFNbzllgj-7CX4RQ1Pbakz1Bz3LTfGOC9OMA6_OM-uWqKEJD3RXcn0yi3uhL68iKwQwyQxM95zOyZJPsW3ZPOW7K1VEWVdmiTkcdZEZTFnb_UQ3WbN4ub7sHXkUatSK2f9YdiULKZ3wiPnX5pNrGFLxF9D53MYSvHy2VYi3XkdkinMA4mIa1ZDGaLxoTFyHdIR5nWpYXUpIrs4YCp8cwT-JioXPx3xqMD6jer2EsnYCCAYTiQsnwQTWMBEViEKlb0u6O3-xGAHvKbtu8PAXP5xoOThXthq_O1WcI1zbJKb1srkRvYqyoMWvDKLGBlrpdGGnL4QpFwy2awKCKj0tb5EXVgqRUCRWP02InPGNIIgsabfQYwFS5IjKI-Trx6_8St16zqChLwTP1N6_MaThcoUX-XTcmEn1W7mIn0_mbkGBKX2Yb2ml85WpjeSYmEB7Zy-ZYNjh-V0ZUqU9uLKmsg042VSvaDyIWE_VqO-o3XhzrCjfNR8xswkOF9vBvYyUT4GlFQdwwlLXcXVRW_01O4UOkRT-B79vniJEGsMBI0ODKEBJA49LYL3wT723t6KxpPVRRreZFXnRwkD-h74bwvo5LoIwk=",
  "id": "rs_09e2bb0bbce223a7016ab41fc3642887d0af85744816be905c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_z\":0.025},\"note\":\"From the backed-off view, the bowl is ahead of the fingertips and the open jaws are clear. I’m moving a little farther toward the base while lowering to table-level grasp height, then I can approach its outside wall.\"}",
  "call_id": "call_Skrns6zwfVoDXSkZIZ7m4kZf",
  "id": "fc_09e2bb0bbce223a7016ab41fc6225c87d089c5f1945b69bbf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Skrns6zwfVoDXSkZIZ7m4kZf",
  "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]: [-0.4213, 1.0515, 0.131, 0.1051, -0.3534, -0.2901, 0.9957, -0.02, 0.8024, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2517 left_y=-0.0419 left_z=0.011 left_yaw=0.0169 left_pitch=-0.1874 left_roll=0.0648 left_gripper=0.9957 right_x=0.2891 right_y=0.0005 right_z=0.1661 right_yaw=0.0027 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -2.1402, 6.4889, 1.9219, -0.3053, -0.1978, 0.0855, -0.1983, -1.2923, 7.159, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09b8083e4f4f110a4396db167c191b565669ea22eae4e854e61eec82c381452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e0bb26867039cc5aaf2f57c55be0f25a0ebf09b0eb1298ec03d433ff2917e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2850eebe370b9c5931305b9d98c99808df45bcb348d257b5eb2a3e74a45701",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.3151, 0.4801, 0.1257, -0.2611, -0.1978, 0.9995, -0.02, 0.7971, 0.5999, -0.3969, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3458 left_y=-0.0424 left_z=0.0694 left_yaw=0.0425 left_pitch=-0.1148 left_roll=0.0361 left_gripper=0.9995 right_x=0.2922 right_y=0.0004 right_z=0.1737 right_yaw=0.0023 right_pitch=-0.0191 right_roll=-0.0068 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -4.5744, 6.0376, 1.8926, -0.0513, 0.2125, -0.0122, -0.0205, -1.2376, 7.0222, 1.7802, -0.0415, -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]: [-0.3496, 0.9783, 0.4194, -0.1402, -0.3145, -0.2531, 0.9947, -0.02, 0.8001, 0.5953, -0.4149, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=-0.0461 left_z=0.0989 left_yaw=0.0303 left_pitch=-0.0923 left_roll=0.0217 left_gripper=0.9947 right_x=0.2892 right_y=0.0005 right_z=0.1672 right_yaw=0.0024 right_pitch=-0.0446 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -2.2359, 6.1607, 1.6728, -0.2759, 0.0171, -0.0464, -0.3487, -0.9504, 7.1726, 1.8193, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4213, 1.0515, 0.131, 0.1051, -0.3534, -0.2901, 0.9957, -0.02, 0.8024, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2517 left_y=-0.0419 left_z=0.011 left_yaw=0.0169 left_pitch=-0.1874 left_roll=0.0648 left_gripper=0.9957 right_x=0.2891 right_y=0.0005 right_z=0.1661 right_yaw=0.0027 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -2.1402, 6.4889, 1.9219, -0.3053, -0.1978, 0.0855, -0.1983, -1.2923, 7.159, 1.7118, -0.0366, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09b8083e4f4f110a4396db167c191b565669ea22eae4e854e61eec82c381452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e0bb26867039cc5aaf2f57c55be0f25a0ebf09b0eb1298ec03d433ff2917e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2850eebe370b9c5931305b9d98c99808df45bcb348d257b5eb2a3e74a45701",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_LeQBw_4nHHvGIPmqEvA_Wls4583zvFDwPyoWFAWvTIkyrBcsotqyqm0u0N-XpzoS9KEXQ5zflnoJhXNhFVYEEHKFu_LfNwkeBt6dTlitSDc8aN2tCGQY1JeR2uu5Tb5rnhICLsDhVyPG2F44ArgCi2nymGZk3_G0gXROnkH_740irJXDAnXh5zLDSK_-PONBsopbIqtkx8ZsbftjqjNgqedHkcd6oISlQnouPwOiIfhCOv68TKirb0FLHm1iFFXWvhNbwYx59tDs0GnygrHqXW6i3rQ37hfi0nVxM3vJGRpf_Ekg-YOvYOhgK4Iddfz6JgHcvF49kp4hYsXIrNQu3yI70ie1XyuobjuqVgy_b1kmQ09uJZx7HKHDxd-dL4_hvyE1p55xEilpGjc_h6qcpai8EXW77UX9rvBfkBA_7C8Rv2J2xKkIrjZ7TVzVy7c7V2wrUb5YuS1VyIImh6a2c-Ftl5qK0m-6WX6Qw0Ihw-6g-Plr_VEHbXlOFqI70UMcgVMzg_L5EyWTN5qZiQgVEXUMPUOL7FCJiDofAhB_rAePzHHFFcB-fKYqQsvMrVugjjdGtCAfICbEF-EeKB-Faig-yg5vk6FMEGtKAK_hGCI9xq_aaf5gGOmb1wN-YQfCnab_9DOiipqksq2OOR4duanVuVTMLrfm9rtZK7-YDtjyUo033ZcfuErhg1n9D1T66FN9Puxe8tCJyCEXEgLzAyTOgizoaKrDvJlY544JbeC8FEenKZWkzk5PWd-umQjR31T2CZxtW89MRG3Nt8ridOeKD5kk4nPpxvoKQlUcjoHTqF2vChShRQnoLvuOmADW0K56vlB6-o6Is6DmcHHvTdztihPJP1pqvmRvg1xf4Chv9jXU0COs5jKHp-C0p4LBLTMIbW-WCCDA3LAcOUGVqkl26mjBeeeefauBGiuCENrrHmvwNYZBGhQvF_4eA6AIFfPOoQ7VWyxrH9G8z2jnNevTsvTVheego65_vHS63VGbBz0RTbJYVSW9ht33YP2-8WHMx8XRHy6W-t_JVmy5fH8piSeOhf_YLKKnmCiHqZI77jHEUSEcN-k3GSZUbmATNSHrJP7aCtUjyyw4pNLvrD7wdPJQBMu97CQcKgMTHokZ_lhRuMTV-tYXGQXbuFiApma9pfxcn2MdK-RUm5msJ0BSqDcO8gYSnhFqeErpUENAKaH5PVaYh7lijZiJ-vK7RTR0I1zuelGaCu4n5VKfZNHj8bh7Ef4rdaFGZ3EIAV3vtk0nBYFeLqhr3XewRR6PvaH-B9-RyBZhLH23cH2cLv5RZaYHL1XG7W4UdyLtxWo9s0oBoHa15KuHwWDN_QNrxdHTK0rt4h-R0m0f-K8XMtl02zET1RQRheopJr6mXUrR_nfcJhq22daMoBv2Xjb8E5XzokyhWOYpNs7UgDu3oGoLBLmUG5hl4pqNCByNGkNACZ_2dPktGKXLicdMc6qVL7ID8i0TbgZHKTJ_A3pXTIgxY3KvembbIQODKq8-IYBxF3YbauF7g8bYWyhTcicQLcN3dt9VkVJ9-xBoFa3dUnqi945KmpmpozNG-f-Vu3NJAitZ1oQ7oQ35ptEaF2GMaqPSzJ8roWo3y81W2umWUOK58zW5JxYrN0MHvMYa06mNnskmUDAFrtKu50Mf3u5d45E9WoFwAStbHH1-yP77qvvGW6p6rIAYUqrXYUmooLcsxyKoJT6oMX9g9QmKhnQgfXT-sVTw3AQwhthMncx-rs-4kPEoFR3l6VSJ_ccnNwgrTrMDQVsaT4WIKcwjw9wjw2lmJBj5OFZKA3d2qxE1HotRelqgjfB9kCk2rcuK1iLHtdDIaLQo4vQFmg5p-NVmMrWWoxCUFhOBfPpKGYQGsL2jYz9CcNGUxrjgxqeHHNgaOvcDk8Akf6mYBDVIOSt_IKvU-WALAG7NP0F4P73O9rXf0Sz3AV1YbxHiHfsLGFb7s3_xZMc_T1VaAzv7w6FvVWK4XlFKut6aREMVIrp7OfArNUkBA280B_ve6j7fRc4cKIc5s9G7FOO29QdEiC1E0",
  "id": "rs_09e2bb0bbce223a7016ab41fc88e9087d0b0225f2f718dce89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_z\":0.04},\"note\":\"The fingertips are now low, with the bowl clearly ahead of them in the wrist image. I’m advancing under the rim with the jaws open to straddle the bowl’s outside wall.\"}",
  "call_id": "call_bRNWyGMbSmuFUzEf9MrNfIGY",
  "id": "fc_09e2bb0bbce223a7016ab41fca667487d0884ef2cbe7d4cb3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bRNWyGMbSmuFUzEf9MrNfIGY",
  "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]: [-0.4286, 1.0676, 0.1101, 0.2005, -0.3683, -0.3042, 0.9957, -0.0196, 0.8032, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2586 left_y=-0.0443 left_z=0.0163 left_yaw=0.0253 left_pitch=-0.1297 left_roll=0.0382 left_gripper=0.9957 right_x=0.2892 right_y=0.0006 right_z=0.1659 right_yaw=0.0031 right_pitch=-0.0492 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.2085, 6.1333, 1.7705, -0.2759, -0.0659, -0.0024, -0.0342, -0.8821, 7.0085, 1.6825, -0.0757, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e76b1d9ce99a6f30d0aaafe23cad618d367b7905dfdaa1684ff1053a0d92b93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e8472b674e98096f59271107e7bff8d6db3a5136d710c28b804748d477346f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9fd6bac1dbed5f89f03b23bb115c9a33a090da58c3178930f10c0b1317239f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.3151, 0.4801, 0.1295, -0.2615, -0.1947, 0.0087, -0.02, 0.7979, 0.5972, -0.4007, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3464 left_y=-0.0425 left_z=0.0701 left_yaw=0.0411 left_pitch=-0.1112 left_roll=0.0375 left_gripper=0.0087 right_x=0.2913 right_y=0.0004 right_z=0.1715 right_yaw=0.0023 right_pitch=-0.0263 right_roll=-0.0067 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -4.4103, 6.0513, 1.6093, -0.1538, -0.0171, 0.6471, -0.0615, -1.3197, 7.241, 1.7802, -0.0464, -0.0464, -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]: [-0.4213, 1.0515, 0.131, 0.1051, -0.3534, -0.2901, 0.9957, -0.02, 0.8024, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2517 left_y=-0.0419 left_z=0.011 left_yaw=0.0169 left_pitch=-0.1874 left_roll=0.0648 left_gripper=0.9957 right_x=0.2891 right_y=0.0005 right_z=0.1661 right_yaw=0.0027 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -2.1402, 6.4889, 1.9219, -0.3053, -0.1978, 0.0855, -0.1983, -1.2923, 7.159, 1.7118, -0.0366, -0.0757, -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]: [-0.4286, 1.0676, 0.1101, 0.2005, -0.3683, -0.3042, 0.9957, -0.0196, 0.8032, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2586 left_y=-0.0443 left_z=0.0163 left_yaw=0.0253 left_pitch=-0.1297 left_roll=0.0382 left_gripper=0.9957 right_x=0.2892 right_y=0.0006 right_z=0.1659 right_yaw=0.0031 right_pitch=-0.0492 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.2085, 6.1333, 1.7705, -0.2759, -0.0659, -0.0024, -0.0342, -0.8821, 7.0085, 1.6825, -0.0757, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e76b1d9ce99a6f30d0aaafe23cad618d367b7905dfdaa1684ff1053a0d92b93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e8472b674e98096f59271107e7bff8d6db3a5136d710c28b804748d477346f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9fd6bac1dbed5f89f03b23bb115c9a33a090da58c3178930f10c0b1317239f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_P4nlyIngOyhegoU72qBGlqzK3knsKh75sYLbVIS0xPFxyHp0LDS1oDoIwD424mHVymtfiK4PxSGi5p0f2XIf1xI8ZHaj-a3AXC1YGqhzco7yeu8upDpbtXw_-0Ic9aPyeHdz-I_5Z0DbdUmqIJKw4PNT7_RsTCYBDJ3mDzDLiVAqgfRxv4-XQ0erkOpI36ZOHnsmVFqD4R9payxMymV3J-iSGNaXcbmBJLUjYtQRtbnPqA7eahiitnwWNL3n5r0b92vbO8ohWPwmJQdlij10bgl8C3pUjG_4dQMJ0jSLA9COrUldgn1AkV2ETDTg4RZTptP1kOjXVxrFm2KnpU-Nem-XpY40GZSUS7vSPlAl-Hp9qHNyJ41cahrWMqptJfzEIOo9KTrUtBiFl_A6gtO2VDldHmM8SecrBedtrkgPPHfMbRLBUrTvS2JNxatCSF3glaGJGdCchAyeH6EwFSwJS069hA4kHM8TiOEEyRN9Y5uWga8L-SWHQqopcS7IjvdKN4wifAD0jgedMhxkjMMjkrAq5HUsjeJdc7PkP6lLTN6Caicax1QOSWV3-YGrYTqKLYwpHYsgELyH2ColJIlb1_c6dX1UzNL0ivj_Ml4cTKlwkzeIiRA0XQDb4QcdXZjGCYLjLKbCHlrNTqkJkr2-3zjB4q57Q4bvA2QeXyrGaDcBbIdnwss_ViucKsPkfz8k0NCQUeVHQvgP6qPjWsa88Pv4Gj4mg_S2V8BfexHW71xKrF0RzYhPuhcUabiYQj9BElVgmyXCs35XDmg2f18-wQutABGYbQdewxFc2PgJQVIAvQ6Nv7UNWm0X7p4Y5WbIiD7L3i0y6fwxzVyWtv9Ni-22_RK1GTDAcm3rve-UHnvFKR0NaIq7mvNKsGO1ltm2Fx24hQ_EFmGuKmyIUnblc3v9iu4KH3l8m6D2M_BRKO4rYYBE0jAs2fSZfR6A51wy58q_FVpDsKaDhBH9loU-lkRiz8TsbJ9Yz0o81egWtV63_RSHuYtsVmjL_h1zhr-346iIf2deX5eGjea5wr-YPf-T-7wyqybgN8DrA7M1mvMqUwippKFCS7If1r93aeQF7_hg3BackARZEP-S-Bw3daC6PccXJJ6tGESSIdOZR8ZWkNMY8eoooqtah322rlVOIIetBkPp5FYCkzM63U_DPzv0q-kFJL--zaz_AYznfbuR74GD6I_1fQ7ATkBpMYDTqjoBt4SYVkxmFUhfWxxab0zdqDsXPgGD08XfCm5QS76WBAh06YPhv73OdmmyE0RRufCl7H5xiP8xeEAI9fxDLPHl0O5Ad8ovyw6cBJFBrbArWbmaLly_sYHxvrTd-qKTfXEIYTQIgwOxbXh-Seu-FwgGGnx8xFoaF0pKfeFU3reIlqvW-_jl6uLYpvISFgv308XX8bylqrQj8CmXGkRPyz1QtQbGo827_pxSJGZZEj2v9TIah99oNSuiPc3mGIHjjriXBp0X6z6jLynHTXY6u1AJ-otpM6RTOfP4aex2GzmEFDLqIdZa1JNn3VFvJCkjAeCD5pbU5HCJLII1yXWkjOQ2hePH0dAHtefxUNNJXbsklmYzHfctXuQ8O-EAnye-c0HwCQh3UJmuwIk0-0CYsh69hgBqZY5YnM5FVu0XszvpkVHQHRzJy19lPLs20srn4uAx-DT3UZYWy7v5F58QiCA4Fvf-roINReWFrNPtwy5lYvHHdO0cKQtboSESdgnwmMNIhm9YsLQOji6ZFsLubS-9KsCPJYggr6AxU_cViVWYmEtWEWuVHrIvnPUvpj1m3X5ciaei9Yvy7H3mPejkTFpvnM1mQoJKyPJiVHAfwzw0UdpVJiiTCNKyOTOiuwgEXVQhfyq2-YTtyHSvQmLahmqzEXRdv-qynsRucckMoD2Wy1MzE-ubwW1fdNn86SbkPU7_EKBx6htDqhtYjpoq1RlcR1KPXVUOhlLoflHrWBgJ4s_p-TTAG63PxV7icmlI9hUArSuaQuC6hcKlLYdsdv5tgzTx2A1zurAZilKfDqNMGvV5XdMh-qvDaQi8CFxRXhjPMznIY0aCuoiyKtiYzDNAhC_LLm9t4UD0CKmIk7SwJV6i9fPt8QspLE3byWzSDhdIX6OW3kdvg-ZjzbYxPT9KL47jAH3HrnCRz4lNka-QLWergziXU68Nv-nkhN8hKarQPtWw8oUw35k3mNgxTtp-hQfCoGjKvgPkS5dbylD2x_Q7gsG-BDKFOBA_edfg2",
  "id": "rs_09e2bb0bbce223a7016ab41fccb68c87d09c8901681158fe37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.075},\"note\":\"The low, forward slide barely advanced, so the jaws appear to be catching on the tabletop or at a low-reach limit. I’m lifting a few centimetres before approaching the bowl again.\"}",
  "call_id": "call_BibQGRo23RkK0nHCKe4pXM9P",
  "id": "fc_09e2bb0bbce223a7016ab41fcedc3087d0964ea90aa92a7ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BibQGRo23RkK0nHCKe4pXM9P",
  "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]: [-0.4286, 1.066, 0.1101, 0.2008, -0.3679, -0.3042, 0.9957, -0.02, 0.8043, 0.5945, -0.4221, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=-0.0444 left_z=0.0167 left_yaw=0.0249 left_pitch=-0.1281 left_roll=0.0371 left_gripper=0.9957 right_x=0.2883 right_y=0.0005 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.0568 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.9761, 6.1197, 1.7998, -0.2369, -0.0855, -0.0073, -0.1983, -1.1692, 7.0085, 1.7998, -0.0366, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8aea0b85d92224e53927fd7c17a541e7f76e58189c2b53b8d339e34369128a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a604a72b6a8df0b702fc9e4d7fad830a65a3febf17efe97be348de203b7e6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcd1b3d78e4ec7402b237db9ad4eb981acdfbb947ba98870d8b9daa2ddc6a2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3496, 0.9783, 0.4194, -0.1402, -0.3145, -0.2531, 0.9947, -0.02, 0.8001, 0.5953, -0.4149, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=-0.0461 left_z=0.0989 left_yaw=0.0303 left_pitch=-0.0923 left_roll=0.0217 left_gripper=0.9947 right_x=0.2892 right_y=0.0005 right_z=0.1672 right_yaw=0.0024 right_pitch=-0.0446 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -2.2359, 6.1607, 1.6728, -0.2759, 0.0171, -0.0464, -0.3487, -0.9504, 7.1726, 1.8193, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.0676, 0.1101, 0.2005, -0.3683, -0.3042, 0.9957, -0.0196, 0.8032, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2586 left_y=-0.0443 left_z=0.0163 left_yaw=0.0253 left_pitch=-0.1297 left_roll=0.0382 left_gripper=0.9957 right_x=0.2892 right_y=0.0006 right_z=0.1659 right_yaw=0.0031 right_pitch=-0.0492 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.2085, 6.1333, 1.7705, -0.2759, -0.0659, -0.0024, -0.0342, -0.8821, 7.0085, 1.6825, -0.0757, -0.0464, -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]: [-0.4286, 1.066, 0.1101, 0.2008, -0.3679, -0.3042, 0.9957, -0.02, 0.8043, 0.5945, -0.4221, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=-0.0444 left_z=0.0167 left_yaw=0.0249 left_pitch=-0.1281 left_roll=0.0371 left_gripper=0.9957 right_x=0.2883 right_y=0.0005 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.0568 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.9761, 6.1197, 1.7998, -0.2369, -0.0855, -0.0073, -0.1983, -1.1692, 7.0085, 1.7998, -0.0366, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8aea0b85d92224e53927fd7c17a541e7f76e58189c2b53b8d339e34369128a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a604a72b6a8df0b702fc9e4d7fad830a65a3febf17efe97be348de203b7e6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcd1b3d78e4ec7402b237db9ad4eb981acdfbb947ba98870d8b9daa2ddc6a2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_SkjEBFx8fk0un8jMNg5L74Fj3prdxmexBPrn5x0Fpuu2Amgs58V_qj5y0QGaU7bmEHlg_qbz8Aqks2Z0qRiFYSMakGx8yWHNhsDG4L42bkOrawv4BFuKKI6LGObsTrSPcZtMDtsZX0IiROUp7Y4tCDoDPklJBTR5rPE_m5-xIqocRSdfv2umLAhc9OOm-wnaCAg0vUqeoL4kPBSvkjKsRSiOtE0kBQpKOp8gfh8Zt3V9iwLsmSL9PeRtdzhC_aJzbkDusmmNL33sIos0GblZqpM1S9tqjKuD7x7BzioTHnERU1bDTUCjSu3TeyjzJv_i_NgmqrxVoi9WVnHZImrIKFII5Xzz7hVmkyh1vOcmxfZHI7eB--HTU1NPyiEZjJb2A1fER3UzIdDt3X-LUama5vQubtirOHcMYJZe6JnP2UrBnjDxy4s05f-rkGz6f-MFKz731RfsWNcH8NyOfEqwZnPn_KUR1FwkKZhFWw8q034AVCxxukJSyn48sYKVP9ukwyRtusCln0bSUb-zOJCDSUKRBypXtvUEIpExFdaUR7djBcRJwppjyqRmf087X7gAUUGZbHL2ejugghLG402a_zTU66JXPgLZUd0LDHye935pPO43xYFIEIaCNKlbrHpzfgVT2JQkV8JFcNFtUjTJ1zyWvBKlzGdJbeQiKSNMkG1b8RvP6msDx-EtZoLEtAbjPC4FqEBeIlSC58P53W_pHGNjpLtKex6P7eRXrWHfl4yERr3WN9TusdsABehKjGwmKUHRQvuXHSmW8KgVy4-zAI4dumscgZpNy_VpowWvHn7k3P9Pw4Dyj7QDAqUn1sVHL3PY8iHcOWbKmToMPTReep-L_dlgfs99d6XtHlWdeWgnRT3Yj2XpbLZfmtds8qePVIMbVdy_1YhtgKejXe_MPdZ36WcbESEMDihBLdvLpM2RSjqBSEsjnxMYB9cUXPgr76sl7U4_qBHVkRDK0-bNU9t__Pwf4A3LhTGKtvTGjWWwqS39WOTeWYO3tGw_0HanPVAtQyypz_dd7SF8HG1XGn8gNBsT-4-EZcIVrFruBUlzhjP1TUxzzMSxtqRCQs81Ifow0yo8-qY32z2jKYC29hOFEfGOUvWA5nPErvDsiNNsauqp5Uu-2J3F5PiANEdTDm5nuBATnvp1yY0bW6DPqwCeasuvKvdZtL5DL8StRJ0T0UMNBp9bZ2g905CLpAjOJ6gaYTatIYckpeXzQ53m6-KNelEdFZ5RfT6UVFN7HRSg=",
  "id": "rs_09e2bb0bbce223a7016ab41fd1549487d0939917029a370d8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.20,\"left_z\":0.16},\"note\":\"The arm did not rise from this near-table pose, so it is likely stalled in a folded or contact-limited configuration. I’m backing it toward its base and raising it to free the joints before retrying.\"}",
  "call_id": "call_mrJETyl0AwjO3sZepveQlNeY",
  "id": "fc_09e2bb0bbce223a7016ab41fd1a8e487d09ff2c8d0deaabee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mrJETyl0AwjO3sZepveQlNeY",
  "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]: [-0.7094, 0.5625, 0.5732, -0.8196, -0.5297, -0.5072, 0.9958, -0.0196, 0.8101, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2082 left_y=-0.0564 left_z=0.1545 left_yaw=-0.0164 left_pitch=-0.1079 left_roll=0.0045 left_gripper=0.9958 right_x=0.2885 right_y=0.0006 right_z=0.1626 right_yaw=0.0028 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, 0.5402, 8.2803, 1.1844, -0.4029, -0.0317, -0.0073, -0.0889, -1.388, 7.0222, 1.6972, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdf0370a03963a091da99013912d6cd23a9b24fc5b1936c8e0d422bb87cb7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09f43e06b7ec9b31b5a7702d83a79a8bf6c46b0f99d969876fbb952d02a8787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6b32d9ee97ee360c66eaf1008a247eee088e92618e75dc8759c0fdd9a78c5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4213, 1.0515, 0.131, 0.1051, -0.3534, -0.2901, 0.9957, -0.02, 0.8024, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2517 left_y=-0.0419 left_z=0.011 left_yaw=0.0169 left_pitch=-0.1874 left_roll=0.0648 left_gripper=0.9957 right_x=0.2891 right_y=0.0005 right_z=0.1661 right_yaw=0.0027 right_pitch=-0.0484 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -2.1402, 6.4889, 1.9219, -0.3053, -0.1978, 0.0855, -0.1983, -1.2923, 7.159, 1.7118, -0.0366, -0.0757, -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]: [-0.4286, 1.066, 0.1101, 0.2008, -0.3679, -0.3042, 0.9957, -0.02, 0.8043, 0.5945, -0.4221, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=-0.0444 left_z=0.0167 left_yaw=0.0249 left_pitch=-0.1281 left_roll=0.0371 left_gripper=0.9957 right_x=0.2883 right_y=0.0005 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.0568 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.9761, 6.1197, 1.7998, -0.2369, -0.0855, -0.0073, -0.1983, -1.1692, 7.0085, 1.7998, -0.0366, -0.022, -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]: [-0.7094, 0.5625, 0.5732, -0.8196, -0.5297, -0.5072, 0.9958, -0.0196, 0.8101, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2082 left_y=-0.0564 left_z=0.1545 left_yaw=-0.0164 left_pitch=-0.1079 left_roll=0.0045 left_gripper=0.9958 right_x=0.2885 right_y=0.0006 right_z=0.1626 right_yaw=0.0028 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, 0.5402, 8.2803, 1.1844, -0.4029, -0.0317, -0.0073, -0.0889, -1.388, 7.0222, 1.6972, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdf0370a03963a091da99013912d6cd23a9b24fc5b1936c8e0d422bb87cb7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09f43e06b7ec9b31b5a7702d83a79a8bf6c46b0f99d969876fbb952d02a8787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6b32d9ee97ee360c66eaf1008a247eee088e92618e75dc8759c0fdd9a78c5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_XyXja6bsJ05cAJDItXdhGVO1jmEJ3gCU9Ol1_rfLoJNF4deO_SWQ_ahba96ibI4CWtMdT1b84blc0vK2TuO11ZJclPdrkCdvbimNLwIOw0nop3XK-QZDcgwTzYeiWYefie1OBKghIj8XKhLy8xApPdKvDZyWCWuEJefd3FpLiQL2FGqfI0ICDLsBJ8T5B8WzXFfaVfQmG38Fun4tV6TjOIVHniAAJXdRu6yoCQXA84MoMEkk2n9YMJ9LPX1A8Rqmlv0Crgl6xlcOoIGPYfrkJ8uPC0t8HYg2dQ8HBMglQ7uR8NtBtHKGbOpbsaPm_oMemqrGqbnsmlL53eWMp0d0o0HyKGumuDAAla9bDNN170VoFYlKTHffX9skOTks48LdEzdjUL5YqJeWprEp5-DJ67iBRpj3TSR5YTwpLccNmoJy7GCMYZectHe7nqxIQSffEhdOxTwGDkkzptAbG2EHe6QF9p7kCb3cQe3euagttA7ZC-ZfXRebNxUA3sQyg__mDurrYk0lB_Zvcd90r6swt8_QhY8iqV2T14wTZzaeSVne6E5T95mx3I4WKMvWVSy4YL3a2YrmP56PKfuN9ImHlBbFMCbDiY8RVLrggu4Un4IgktnxZjcEKf_IJog6CJ0n3sZx1CUDPAunZa-86yIpoDDc525e2FrZWc7ldq7Vv9O8KK9k3t-FxmJESUfteMwgSIVVirrZxgc1DJjw7x7rrpwPymjDUm2fsiL_c8YplYHBDAOjRmjiBTDKFFurx0W-PKlGlbjcbgy8sPMkvDZGRs8kfOWNBQm0_9Vfo8DbqY2Y7bt18ewffiN2mHmOshCwc54q9kiqNHey2aNq0EdPbtzm8VJybRrGMg9MEXorBDojCgmZ5tqdU7FGgeLth0qV6NWdLx_xkNP6ZcX1zAAbIjpR6AFblPU7_dqfv4LsHg7e8TJLKoZJiA8BNgKv-KKaPKtK4p-6ebP3vUX0wV5X7t-u-HSnPCOdZJTPMdc0V--zDL-6tzM8Qft-wTRLfgSIinlJQaOUA1XjemwvMyn72srDhiFIqR99krBHb-rd6VmnOzg-DGXhkdCa4lVTUAmPrAFEbdyUC2RpF_aLSGro85bcXeQMKtw9MMHJGkhNw2xT4VaMm9Gf9CuAtsl2QxH2-2bqHEVeeqbMYDBUspl_uHo4euJiZBQSZ7HmWlmizSkfBopM3ZT3CO6KgurJWopmAy30xP1T_482agQKI9iObfmIGsShtid8AblR9XAcQ9zbzYvJ9T43nXCImYZLaOs3evoqCjNMkidsA3N5CwREHddhqq0HQQee6vFY1ADP9NAc-VwZ0Iz0TMDY8VeVAiKjdoDxMEP7susY2xLUrCJqXThZnsWyRPcfbnLTNprpC8Zfkw-jVn7sj6iOSW4Ql_Euti7ZRIPayYc6kJbkcQuHQi96j6twptiKS9YGDnaNeFCVfjXdIvbtQwyWHU1fMAyGAg8y4XSX8tVGy_fLTt9aCCggNn-cxefJMapQ-S2OrOSRWBrm2SDQdzF03fqm9zsDaN-XxedDAyJCxdonfdMJu1zkZVymYb54I64ohFcOAMFOqdyJCCbqfeZxRXGy-BIeMRCoNjtzlkSFo_eP_NpSZgG_e8q6OIvlBDUuRfRxb60Or1qobI2dLJP5slato2bx-r-EXpZtP0Z5jloOMhwbOGp_BUsdNBL7Zk7n5gZ_1FhyFZ7aqZRH2N4bHHdHzG2-8osuqwSvN-PwH2RJ1t_OWA9DKCGx6bVdgcsu21ZWO3DEx8H9rNuX1I3JMm4vr47cI0UtCbCSV-hJn2tkmqYP-I5hGdT6lJEffQV1BXXPMNFcyt4KcRt7BKesjoRQZPL7YPITiG1vkKEwgEh8USZSaeHUHp-Y9LOHL_5YvZbCcOOg0AQejGB1LN0-cRxYcZ_Xqmu5dD1rD6VKfunbdpEOJR0cbbjdY7SPU3tM2M1u8iRqtxN3shZTc0olvyB2oZZwxX6q_Uck0qdPIXErXAUXYbWftdEc4lsP5sbC6FXbrgIfqgwWQEAeG-RBXQW_QwMnwsnWYU-q3qxGfRJuAP2j59sL4EuGhgQqwOZRsDGTCKHU3nndllHW4zb54mwoKh3OHPwU0WpvWeDkCpe6LKxAya_wX9tWYDyocBGUp7MXArFZIH81XAin_CEKL-vj4p0bvD2RHHchmy9zzlt2iHbxgegNy7IxIf3Vb9PegHs8WFUXDURf8PVzqUYNi98NQMmepN2Lj3Ch27vrfZOa2Sw5kEgrOaFcFnvBYdfOI3MlbW9H8-yVDDGrV205ZZoXWJ1rc1ITEnOKst4M9iXAToLhe1fP3r1bVEs_0WpbcYDgTRY76Oy0GuH5PBwS2C_SWDSndG28RsEZ0g8XYhse17Atz_jrSFimItNyLkaw-3P_66oRIpAqHAoyNEmZRUd3entkf8aw_c-UKQtYmnB5G9Com2HI0HdKodB4sG-AbHsQq4wh5Ck2aFXtJC6060dg9KFQckJ9NlOCk1iS2VChnpUWdhoVTlX16TUF7gsl2EHUxL8AgThnHRAD9IyZ9y9a8_RLXXmOgxi7EVD6MeUL7ye7g1oJx89y8zHQLL2S2J0BGsqTgVx9gDU6RPBKZyP005rJKypmM-1pNmvwjeYAiV14ttZcOxD5kuWm6dlu3dGQnXhM1UbQYCaMwNx7EH6L4q5MogQJ14HCJRF3WffbX4yM8UdyxzsbD0LG1Xa-5FcWTaC4=",
  "id": "rs_09e2bb0bbce223a7016ab41fd4542c87d0a44266fe8a9fc567",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.045,\"left_z\":0.105},\"note\":\"The arm is free again, and the left bowl remains in place. I’m returning above its near edge at a safer height so I can lower without putting the gripper directly into the bowl.\"}",
  "call_id": "call_uCCAZMiTHD84Y54TT5zKGTn1",
  "id": "fc_09e2bb0bbce223a7016ab41fd739c887d098c3eb213fcee9bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uCCAZMiTHD84Y54TT5zKGTn1",
  "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]: [-0.2829, 1.008, 0.4706, -0.2539, -0.2405, -0.2306, 0.9958, -0.02, 0.8158, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2915 left_y=-0.0372 left_z=0.0896 left_yaw=0.028 left_pitch=-0.1965 left_roll=0.0228 left_gripper=0.9958 right_x=0.2887 right_y=0.0005 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0694 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -3.1521, 6.8444, 1.7558, -0.1294, 0.1294, -0.0171, -0.1846, -1.5795, 7.0222, 1.663, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8649da46df786d44fc5e617cb90595d19d1e33227984573869da62ed15150af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe48372614dd33c30099fd38e1e70c5582ab84ee3f7795bbbb9f85314e7bc299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1c0ab8df69b0df80d2b4528b3e74588f9b01ed30381122beb1c8688505c9ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.0676, 0.1101, 0.2005, -0.3683, -0.3042, 0.9957, -0.0196, 0.8032, 0.5945, -0.4156, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2586 left_y=-0.0443 left_z=0.0163 left_yaw=0.0253 left_pitch=-0.1297 left_roll=0.0382 left_gripper=0.9957 right_x=0.2892 right_y=0.0006 right_z=0.1659 right_yaw=0.0031 right_pitch=-0.0492 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.2085, 6.1333, 1.7705, -0.2759, -0.0659, -0.0024, -0.0342, -0.8821, 7.0085, 1.6825, -0.0757, -0.0464, -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]: [-0.7094, 0.5625, 0.5732, -0.8196, -0.5297, -0.5072, 0.9958, -0.0196, 0.8101, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2082 left_y=-0.0564 left_z=0.1545 left_yaw=-0.0164 left_pitch=-0.1079 left_roll=0.0045 left_gripper=0.9958 right_x=0.2885 right_y=0.0006 right_z=0.1626 right_yaw=0.0028 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, 0.5402, 8.2803, 1.1844, -0.4029, -0.0317, -0.0073, -0.0889, -1.388, 7.0222, 1.6972, -0.022, -0.0317, -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]: [-0.2829, 1.008, 0.4706, -0.2539, -0.2405, -0.2306, 0.9958, -0.02, 0.8158, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2915 left_y=-0.0372 left_z=0.0896 left_yaw=0.028 left_pitch=-0.1965 left_roll=0.0228 left_gripper=0.9958 right_x=0.2887 right_y=0.0005 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0694 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -3.1521, 6.8444, 1.7558, -0.1294, 0.1294, -0.0171, -0.1846, -1.5795, 7.0222, 1.663, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8649da46df786d44fc5e617cb90595d19d1e33227984573869da62ed15150af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe48372614dd33c30099fd38e1e70c5582ab84ee3f7795bbbb9f85314e7bc299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1c0ab8df69b0df80d2b4528b3e74588f9b01ed30381122beb1c8688505c9ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_cUYqM24UOfl2uSPWajE3lZ5wnl_7lmh4iCRodM-C-_u9gMVSkvG8tLZS0G84E8A4hAoyNzPOaRdKbHO87v8g4l_tGU9d0w2KvQirz83aLKvnATTdjbje2kg02_XVT80_43SZlCf1YgsPrgNnWV_beIFn1y0cSlZoMzusku-rDUoA2XUFWasHtv2KdnNaTaH2L1You2hj0bHXAlxEUeoUF0gOHRzakoqQKieXeCTF4htTUzii10elAK-K2NUUqEGGQGbo6SBUMqsZTCwqe3sHnuglyX09uRElj91xxSMbQQ0lEvMc0DCaKrcqL_44NikvNKw2bAw03zXHsn75gSm5gE-uzLQRMiq_V8EPawZcH59QTyue2RUfDwBbwIeq7hjnpCeEeKTwCtohmZiSBEw_l8wiaZG8y5do7SFdUHx-ze176ZIlr0S3bijWeRLKoK9cG8SSwc36Kg4xz1fDXvdMvNT724vHt9OIQ4DOq9ka7TnS14DXa5ix9HVNfKvMhUZXcRTMRU6HZhOucmJOm5vDiz_7U_Bgt4Gl8e6uR6eN7hI_F6vfYnCklRYO3UWpSYvr6y2EEaLoUokrrfzctDOPDJNlrsAC0GLBH6syZMVWCPiVruseVoDcwaroh5D-Az6lzzk_ei2YnpSafQgQXOkgKI6t33wG9x-B5W2W3DOVduFnqyg8xpUadEM_znDhoc-QSbT7ZnRpSwxEJzo_oqboI2iCtxOeCZC0zKAJJfK8bKHmZQAj7VJwG5Vd0xMcllpI_fbFz2nolcWDg1IEiJqnR8o2uaYA_m3xM3ZDbu_MfXIwf8S2-dVfHZF43CfrKn5jPMzmyCpyn5zjr8wUqTViFpuAx5ITPnvMk_RsgczaNZgSeaO2-WqM8_6W4VjPXTzdfTiCxBf8C9WA7s9bCAblcqRZmEJM1e0vwT3Eg62G91pcXGo1Ir904rmnwPnw7649kOyYhOfwycB7MoTqdtYgTVRI07PjsIYUYIa8d-1b5QHIOA_Lh5FQ7cfkXlwkFYury5riAjC6UAB-p1yn9JVAOAA8QzZFcAF7FLeIpsFfOxD8sYOwSj1AxonVQ3fIz9Cv4gKPFVEkeWi3S9fFJuwiQSFEsutBXYJi1GA8set0QSBJG6v8LVZbXRgPQwBUrdtejyiZUeGmvPG1F69udlgbO-ck00XQYdELdWXNamZ4oz-DnZGsW-9irNOvgr4j-oV-WGciO9iMFX01PpelM0oflGRiS0JeLq1hzhoxLWqjX3O_lsT13Hpa9NcqhzIG-lcYkFJsfpdaD0T8D6_92xBOh1wj-il86m6WHFeZPXhsSiywNYIB19BVi0LvjHTujv9Iafpu11iBue76m5F6oYoshGXGfOi9B1XQ0_EavwU4MUp1MVo0wVBbgaVNqF-txeq32o9sVSsIFAhhJ9TIF0VOPXv9_4Rj1yUx6tNjvC2AQRULQLNUBOkqQVNBf9hjas1pM-pLBHMjNbLNgiVvqIp8HyyqNKzizgtcIh8UeHQMJ5mhZdMcZPxbcHV1s7laH4hEUYRUA3KvNmKAn-1YE-L5i24uAPSHK7Y1QqeaNewfBdkIlov0mk_Kn6cc9xeGmLx_AXmryoYwY5FwQo_STnAK58pJcWAeck_O5MbSNBrsb9dzz17fn9edg4hlWDmpXvu4DPsmvCgr0UYxo_O07MryM4A==",
  "id": "rs_09e2bb0bbce223a7016ab41fdadb4887d0817d3cbad6f07ad1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_z\":0.035},\"note\":\"At the near edge, the bowl is visible between the jaw tips without being centered under the gripper body. I’m lowering here to reach the outside wall below the lip.\"}",
  "call_id": "call_XTpy1ZBD0JQGPUwfBnEjzmrx",
  "id": "fc_09e2bb0bbce223a7016ab41fdc0ad487d09a25da498c17e28a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XTpy1ZBD0JQGPUwfBnEjzmrx",
  "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]: [-0.2901, 1.1194, 0.2905, -0.0441, -0.2367, -0.2321, 0.9957, -0.02, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2716 left_y=-0.0341 left_z=0.0243 left_yaw=0.0244 left_pitch=-0.275 left_roll=0.0448 left_gripper=0.9957 right_x=0.2888 right_y=0.0005 right_z=0.1608 right_yaw=0.0024 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -3.1658, 7.2547, 1.9023, -0.2857, -0.0952, -0.0171, -0.1299, -1.4017, 7.0769, 1.6825, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0076e3a99cc0168acb22c297b884e1e6ea5dd663f2e4f78761816b378af4e37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145388017252088aa81d93d946295ec08d2bfe9fb1b478f6597f9ca7ecec6d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df785a6c3eb2b296cd07e5466722255ecb514c4a0ae3ae2e7b713537a65dd8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.066, 0.1101, 0.2008, -0.3679, -0.3042, 0.9957, -0.02, 0.8043, 0.5945, -0.4221, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2587 left_y=-0.0444 left_z=0.0167 left_yaw=0.0249 left_pitch=-0.1281 left_roll=0.0371 left_gripper=0.9957 right_x=0.2883 right_y=0.0005 right_z=0.1643 right_yaw=0.0024 right_pitch=-0.0568 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.212, -1.9761, 6.1197, 1.7998, -0.2369, -0.0855, -0.0073, -0.1983, -1.1692, 7.0085, 1.7998, -0.0366, -0.022, -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]: [-0.2829, 1.008, 0.4706, -0.2539, -0.2405, -0.2306, 0.9958, -0.02, 0.8158, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2915 left_y=-0.0372 left_z=0.0896 left_yaw=0.028 left_pitch=-0.1965 left_roll=0.0228 left_gripper=0.9958 right_x=0.2887 right_y=0.0005 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0694 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -3.1521, 6.8444, 1.7558, -0.1294, 0.1294, -0.0171, -0.1846, -1.5795, 7.0222, 1.663, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1194, 0.2905, -0.0441, -0.2367, -0.2321, 0.9957, -0.02, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2716 left_y=-0.0341 left_z=0.0243 left_yaw=0.0244 left_pitch=-0.275 left_roll=0.0448 left_gripper=0.9957 right_x=0.2888 right_y=0.0005 right_z=0.1608 right_yaw=0.0024 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -3.1658, 7.2547, 1.9023, -0.2857, -0.0952, -0.0171, -0.1299, -1.4017, 7.0769, 1.6825, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0076e3a99cc0168acb22c297b884e1e6ea5dd663f2e4f78761816b378af4e37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145388017252088aa81d93d946295ec08d2bfe9fb1b478f6597f9ca7ecec6d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df785a6c3eb2b296cd07e5466722255ecb514c4a0ae3ae2e7b713537a65dd8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_f1K_Pm51fJ4h0dE1IEugcy5lEoDXja41XMtPFxUX_fsCoH6Jksn_1JQJF2gSag8S9ahbtNmgul1Tfy5Gs9NnplTcroQ5-pph14E7fIdbnCPWSqkeJACHGjHr5nxd9Eq37ZpUH7OETqHEH4XVj-gWYOrUb-M6Ev4NBBV5_5RgXitF04P-B_JC4sTImnfEb34hY89SgI6-iTslYuyMLXEb-MLBvv2Tx0vWpWokaUnx9u8udQhk1V_arYwU5hOQjjmB7q-3J7_4OlROp1I1QvUttlzowURbQTjUgmpfsgMQfdRR9uHMy7Bl2u-_4_MOKgnf8Pl6DSro20ZpjILV_4qGBdVI4dtSbTa7IeoeJhUn0rA1P4R-36o0ALVcO9grJxV57snhDpLa2fVjKcdTfol52AKHRI4HjMuVc9r3Eh-nc3cu78PVdsFMweStbGPZv0kBFwDiaXpPEg176SBZ-JauPBeaYRnI9BpE64ipL_Ep9ovY1TcEMeSWwXMxK92dSbPravY6tzPffHasucZsmrT7ElBfnLRq0Iv9WcaDZq12SvDhVg7Gw1VnDzZHq4u05nkOIEWltWv3HHgXcngj4UP9_H_axtAOO1RyWXh7Cudf4T1CMtoNoTCAEN4n5_9wVdHTD2NgRQXr-YHsF3JZJoI6JCtHjWE_rnhnaWl_B3BTqn26NNJCBgenykrqCmYPZP899x_hF4v9PBWj-L7uh8CTknaKXuqrS5DvfrE-wL__vocF7f02FL4KjJDSZGxnkKGUA6HaaZ1y0dIg4V0z_K54sPPYGqV4Omy7-WwelmGS6-upuH_-o853Z8wg6tyw-xyjAbEmadNQtiasJQXFAA_sPn4ITyUZOFHf9Ce2lIMEH9WjyBnsQw6k78SJZjb2lj_b_53SIrDj5kbZm4YIWptYHim4j4jlwICiwr1RTorUTTiJMbGoexN4_ZoSp752TAwYTlxar0BbWHMRxfySchLZvQ_F5px1-mKhlGIRzZNcHPtSaU8Uqr2sEekXXGmG6DTQfHtXhHC54WY1bcJvD70Okz8aq2BPx8vAXTftvrUXl_k8AECgzS2vP3rIK-gKiPDa10Zt7sOOokR58fy7qhzTslllQ-9uHGE5HBGIvw-sBcx7CuSV08pL9Yt2425Xzmy57nQz4PmXlLHLTBDeMO2HizqI2WU-ONS2gLyFGZ-j1wwT8k72LIiEtblg66fZhblGQezZefurSmjBNPT4LUl_zv1IrIsdinKJPFiXSDs0LNLSipW2ZKb3zboKf9_utPi-v47r0mMOiZZwF5ADIWx_mPIg_Q5m57LJTnGRu722NelIgjZ76HRPfQCHnScaT0dwkJHCogcQatk8li0QS-AO6mofKAkv3ZbS3NNY5Ql44bZH_aotl3wvusTiVbkhrAoVsMSUddZe4ACK8_RjOobOQ8yUB6cQibeRZvhimnxOh_CohYOtQ-NQeg6W41em7S-ejBFd3khfMfontbAtuZyrrJlMyfjuGRgCYP3G4b_dgaOAAC4npWA7_h6tflAI6s701g-Xr9sMGHfVmdHqHHPAMlwDSgxC9UZWJTuuPIm_ps1f9O6AHQeUHJln3D3RhiyRC4TbPOgCFCuHohyToxc9KGCCLtoBmMmXKSrsOzoi2ZbVYacZkDouMe6OGxAYHjkcq",
  "id": "rs_09e2bb0bbce223a7016ab41fddfe8887d0be18cc461cbc6a44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.308,\"left_z\":0.055},\"note\":\"The gripper reached about 2.4 cm above the table, just below the bowl’s lip. I’m sliding only a few centimetres forward, slightly raising the target to avoid scraping, to put the bowl between the jaws.\"}",
  "call_id": "call_JF3ghTlyG49vft8NUe7wOswS",
  "id": "fc_09e2bb0bbce223a7016ab41fdef65487d098694c7421f21eac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JF3ghTlyG49vft8NUe7wOswS",
  "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]: [-0.2901, 1.1351, 0.2726, 0.028, -0.2398, -0.2356, 0.9958, -0.0196, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2774 left_y=-0.0353 left_z=0.0254 left_yaw=0.0258 left_pitch=-0.2376 left_roll=0.0323 left_gripper=0.9958 right_x=0.2888 right_y=0.0006 right_z=0.1608 right_yaw=0.0028 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -3.2342, 6.5709, 1.7509, -0.2466, -0.0757, -0.0073, -0.1299, -1.0872, 7.0496, 1.6874, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d300ebd0acae40f71526177eb18265012f65be69bb750437f41b7d02899baf89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a65726204eb457a710b5b09b9e224d40512ae6ff492e58e72a8f61371c40aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f505f5ab13af81eb2e6694d3db056de750fac53902ca76f85acc88b7661d41c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 44 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]: [-0.7094, 0.5625, 0.5732, -0.8196, -0.5297, -0.5072, 0.9958, -0.0196, 0.8101, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2082 left_y=-0.0564 left_z=0.1545 left_yaw=-0.0164 left_pitch=-0.1079 left_roll=0.0045 left_gripper=0.9958 right_x=0.2885 right_y=0.0006 right_z=0.1626 right_yaw=0.0028 right_pitch=-0.0633 right_roll=-0.0058 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, 0.5402, 8.2803, 1.1844, -0.4029, -0.0317, -0.0073, -0.0889, -1.388, 7.0222, 1.6972, -0.022, -0.0317, -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]: [-0.2901, 1.1194, 0.2905, -0.0441, -0.2367, -0.2321, 0.9957, -0.02, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2716 left_y=-0.0341 left_z=0.0243 left_yaw=0.0244 left_pitch=-0.275 left_roll=0.0448 left_gripper=0.9957 right_x=0.2888 right_y=0.0005 right_z=0.1608 right_yaw=0.0024 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -3.1658, 7.2547, 1.9023, -0.2857, -0.0952, -0.0171, -0.1299, -1.4017, 7.0769, 1.6825, -0.022, -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]: [-0.2901, 1.1351, 0.2726, 0.028, -0.2398, -0.2356, 0.9958, -0.0196, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2774 left_y=-0.0353 left_z=0.0254 left_yaw=0.0258 left_pitch=-0.2376 left_roll=0.0323 left_gripper=0.9958 right_x=0.2888 right_y=0.0006 right_z=0.1608 right_yaw=0.0028 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -3.2342, 6.5709, 1.7509, -0.2466, -0.0757, -0.0073, -0.1299, -1.0872, 7.0496, 1.6874, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d300ebd0acae40f71526177eb18265012f65be69bb750437f41b7d02899baf89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a65726204eb457a710b5b09b9e224d40512ae6ff492e58e72a8f61371c40aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f505f5ab13af81eb2e6694d3db056de750fac53902ca76f85acc88b7661d41c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09e2bb0bbce223a7016ab41fe0d09087d08b8d4ed1fe12ee58",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_n_AL8ZX1M3ULoSydWwBnfWnwCRlxX8yxIQ2KM1Rh4rj36-k2sEy66Fbi5TEb-u31VrkpUDPEBe5ETHwuM45uj63TqFsPtpl93s8NhOidI2dYiRKokrdj7UxbQaYKbzB6zGEbliHgKXXwhMRtdgKLba8wBY0OgM2Kgh8pptRMfYTl8y6g9n-xks595gsmIqeg64AYczpycatPxX35osajnpQgqJ9w7mpoJOnOXzdermAZPSICjMG1xOF23H4YFFD15DeXiJ3IBoY3kIuwkWkWPKAyXY7I94YXpTi4m80EApgjndKaC2kl3yhx0HMT6EnSXSDjlguPns4KaVjWXp2uyQK-9UcZEKGmR0qYHgZ6sw3v7u6PPYKVeVjQn5BVy_2QM7btTNpN6OJ0sPar_yhen_ogSe62G9XOv9skVz5OEKwg3hTa75CjYM0qaD2XFvFAVagD-g8h3YlkDqFcwh5bFGC9ujc2jKGzoXRpEzp8CG1vepcyi2i5dQ-1ZKPNF7MtvKtQ5iWBOIpm0iY4XTKrttGhlgRKJY5hgB4vUFyEXr5TvCh0v3_rGWqxBCvHmkUMpHYFM3w6YL62MmGmLTBkXuOvV6fryTvZSMFiLpb0lxK3i7pXPMmtL5RFy_9duKwWGCFKXQ4NGjnqKRtHR5N67m_LoQqihVGO64MDs7Kbrfo8Y9PPuLKWUTMub26CH8UWhuFcQPOuN7_tiDMco508YOO0ldULUwrlgoPsdVujfe-mCbF_E-2mkU7S4YTf35YEON3E1oTKwaqdKeKgBGpLhvNy80sdBIZ3Qm_Dl2NVByC-GWXnt73CUNn0cetP58oXSXIRGti4bTlWuUIx_gFueWpqYc2mgCpn9mR1ukes0OSzq5zhq_IyIR4Ps4mMy17jz9VdgqmrZeECvfrBH1zpFQl4kjZiIaOQBBCYkdbkvps5nRDYO_N6-c5texMzzEUr7WbMPFrgxYKU_bAIcDcm5btlLUIsztR4EkmkXmwsbU9uJiUYcHve1UioOYbp6eKFQ68-B6ooGZdEIccH5Yy1KOliV_Rjmv1Ri6kijoz9KzPe6vaBWZ1tbQq-RIIoXpsyyfOujO8jnWNR8BezUpt858M6pSWO9vvWYB07t526ku-qUh4UIrvj9SZpkc1WNY2jLYidQ7Z4mXJCP18IbHMQrVAoG-hqqviG38XZpidGAR72ETFEd1b_XSK7VY8HQ_0cXcSVrd2MVaARMgHsUwb1cJzApN5AjMoNWvlzGrDZej0ioRxaCw7lk2DaXN0qfU90llQQmXkFNHPAfUTBOqKUNh3vZnwow2FB8NE65YAcnhwpkZXF3FUeib9n6JdLYLbJ-VsN1NxdyEfCZQbuE_S1QTkg9gisH4ufpKcoBzjubn3MkRh0LG9-gTfl5LgGTX3LQ4tjAN2rXUG6Z8OWnhRHfzMd4ncn5Oq0IvkTefbA8zwUVf-f2P5UuVTQE6HOOrboZFkCHN2YuemG_1SO4yD_Z0ckVJGwdJ2lEu6u1rSpkb5CuBFnVuDL2V9HVuRvaoHyaLTNxUj39CoM8huvqk_EpAT_VQyfznS1sQu2axLXM2l2l-1_fKqJApDqvQAmBVQO9dRchEddNjT_uCPFUxlU24luABIzymu5NxbtaQrsH2z_ZAuSX7_hQtSqfQEElUB3SeZWEF6SgkyWsCMntseKd_WzjnuJb5IZPRiulxLAXO4al3pYRWjpRXnv2uV-pes9Y3TlCwMGWq2x6EDUPYTZ5wh31rJApqNcnjDcYl46iQ6_ZDQ1ewUA2zWzmDNAa3kKRylkV-xMStI5fbQw502gIgVGiYeH5Ry00T2NgqByDa1En3r9FD5TkH3yp0a2XHBapYiTnZ5B3_wOQ0BUemqo38IoCAy1rP6txzCIZQOqrhUyIQMkBtjPD-eaf_mvF8aABBmJ-boi8xhMcjmJQ-nhKGr3TvjOmqq3Op0R5kvM-jTKGN-JJ-0DACe_UfJmyl8Fmg38A6v-c4Bp9v5zPUnGltw==",
  "id": "rs_09e2bb0bbce223a7016ab41fe541f487d08dae35ac49e6d315",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.08,\"left_z\":0.13},\"note\":\"The short low slide stalled again, and the bowl is offset to the right in the wrist view. I’m lifting clear and shifting laterally toward its center before trying a higher approach.\"}",
  "call_id": "call_ii1SRphtFvm4V99XpKCrapJU",
  "id": "fc_09e2bb0bbce223a7016ab41fe6940887d0925925c204b55d95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ii1SRphtFvm4V99XpKCrapJU",
  "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]: [-0.2901, 1.1351, 0.2726, 0.0319, -0.2398, -0.2356, 0.9958, -0.02, 0.8173, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.278 left_y=-0.0355 left_z=0.026 left_yaw=0.0255 left_pitch=-0.234 left_roll=0.0311 left_gripper=0.9958 right_x=0.2888 right_y=0.0005 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0706 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -3.2205, 6.9675, 1.6777, -0.2271, -0.0855, -0.0171, -0.212, -1.4017, 7.0085, 1.6874, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b2b904cf3dbb54a60f4bd934decdf2d21ca27593762864f2e026bed3cd431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058fa0060a14ac0f25d0aae28bdad2aa870aa044456dc2da29f37d960d37ef4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9129444dfece08f8f2a2d450770ccedaeffee8b41e4477c196c4ca48da0f19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2829, 1.008, 0.4706, -0.2539, -0.2405, -0.2306, 0.9958, -0.02, 0.8158, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2915 left_y=-0.0372 left_z=0.0896 left_yaw=0.028 left_pitch=-0.1965 left_roll=0.0228 left_gripper=0.9958 right_x=0.2887 right_y=0.0005 right_z=0.161 right_yaw=0.0024 right_pitch=-0.0694 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -3.1521, 6.8444, 1.7558, -0.1294, 0.1294, -0.0171, -0.1846, -1.5795, 7.0222, 1.663, -0.0562, -0.0317, -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]: [-0.2901, 1.1351, 0.2726, 0.028, -0.2398, -0.2356, 0.9958, -0.0196, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2774 left_y=-0.0353 left_z=0.0254 left_yaw=0.0258 left_pitch=-0.2376 left_roll=0.0323 left_gripper=0.9958 right_x=0.2888 right_y=0.0006 right_z=0.1608 right_yaw=0.0028 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -3.2342, 6.5709, 1.7509, -0.2466, -0.0757, -0.0073, -0.1299, -1.0872, 7.0496, 1.6874, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1351, 0.2726, 0.0319, -0.2398, -0.2356, 0.9958, -0.02, 0.8173, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.278 left_y=-0.0355 left_z=0.026 left_yaw=0.0255 left_pitch=-0.234 left_roll=0.0311 left_gripper=0.9958 right_x=0.2888 right_y=0.0005 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0706 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -3.2205, 6.9675, 1.6777, -0.2271, -0.0855, -0.0171, -0.212, -1.4017, 7.0085, 1.6874, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b2b904cf3dbb54a60f4bd934decdf2d21ca27593762864f2e026bed3cd431a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058fa0060a14ac0f25d0aae28bdad2aa870aa044456dc2da29f37d960d37ef4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9129444dfece08f8f2a2d450770ccedaeffee8b41e4477c196c4ca48da0f19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_pE78p2SfdleiFXDRNxmAllZCLWPIlgpGVyaaNsFZ_ijYpJV2Sc3xwuUzraZ4OkmqiadcLk2NJJ8znkcWsfHjeCV_cn3Hikfx78XlwmrCAO65i-8beXhH33nTwFZdHa7vJhKJCvmE2UgRv2NFjnqeDthSe20qJrUtB6tKm1dRRg7j2GmRLTdGxuJ7E6nVdEj18TbkToqdOPf0Qob5OoI9ET4GKAPkpbsMZlwjtWjDXM7EW9yXLjNbvJ1_ytbNKFRtUhdks0QjcHCnugquI1Hv74OQZIoxooJ4eIDx0pUstBOAp_wRuRUN3mrlwy89Mmsq5RLrLfo8b58e_8c35gHgCKWyycVb4bxyAHECLIY9ECUqNZM_fwmtmX-xfApKhQbyJZXFNlw-isUUn-NxLBM4T87yvHn5wZqz-YZAxDukuYJQW53h1G_KajyOxxkZVhvNHDAkIPA7dUf3zws16OzaeCn4hWPxzhA85-uOSrOoWuwnA1rFBbQcSb_P3rVikp7sxIocAIn--ZnNlZyAtUQNgrOFZLhaGzFg8j24QnBz__v3HVFHNYgqtPMw8IAyBber0ZU-8H2vASDZuDGUc5lxArVnS1CcmqLNi6Cq0aSIpkzEQ0vr6maQNUO0iHAXpjHimkoPMrPHCFaDzvt7_0co6e3tAusOq-_Fa82N-PVEU_ORW9SegDgWgNvLiaPzgkwhSdKOcH_92C_Fq6DQppjeoAZBo6bLNg7sdEj6D8brI5_i8CeER3aIvtoANnpr_WKebnEqYQuqaaXn_VB2cWe3rIOqMvGHxEFpT61gPyI5JVAWOFiZD4QCRZxf8KK7BubafL3-4J8kvXnIiAsblFZg8l-2bLMyxmZgY_mYeswdkEhJ2W54SKMdqSboJYr6lwa9tCyYifjGDQgF3MgfXwVCPLgPRUrzrgpQVMuIH2u0KRUt-Rg9CqXqgCZZU0FKFF6T50y3bOwc29UurevXF47EjdP87LvzxVeyvkM4F6HrKBaSrFQJjEb9OWgO0qcVXlL9fvyjEI5QRY84BPgCtOVyDbL9Njig79AYqS48DOyKjHuGZPiHcXjS4RK6pFexzKJuMrTLfThw7iDt4GcKVXBHoV3iJvRnD_SzaPbvYdg-Y_oqWyfFARFDzARorFDJkHoX2n4APxCvM-M30EkCNORVgvOWcREpZg2Soy5lPGxTTDknYKrxggwNt9-XdweMzT3w2VgN96LkwIOLvL2N_2rVcIzudkDJaNUzglYBixU4JRjtQibASg5O0t29PxpDLZI5EGwpYD06nNugFBU1p5Scb10QdkUgck5LlOGrLu8TggoJQFAjNJ0lrKtEFwrLWnDJyTcRQ0LXGIHfb-sZ1YpYdbg==",
  "id": "rs_09e2bb0bbce223a7016ab41fe8e50087d0afd6e10df3bd4ec3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.20,\"left_z\":0.17},\"note\":\"That combined move also failed to lift; the gripper is still mechanically hung up near the bowl. I’m retreating toward the base first, which freed it on the earlier attempt.\"}",
  "call_id": "call_rxxEu7UISBdJQcCvWpDc877h",
  "id": "fc_09e2bb0bbce223a7016ab41fe9403c87d0ad5a93fadb00b388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rxxEu7UISBdJQcCvWpDc877h",
  "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]: [-0.5304, 0.6384, 0.6819, -0.9005, -0.3687, -0.408, 0.9958, -0.0196, 0.8204, 0.5945, -0.4232, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.21 left_y=-0.0452 left_z=0.1625 left_yaw=-0.0115 left_pitch=-0.2161 left_roll=0.008 left_gripper=0.9958 right_x=0.2889 right_y=0.0006 right_z=0.1597 right_yaw=0.0031 right_pitch=-0.074 right_roll=-0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.3214, 8.3624, 1.3651, -0.3443, 0.0611, -0.0122, -0.0479, -1.5932, 7.0222, 1.6435, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8d6e3ee107e4204cabc383c0425642ce9375cfb8666cdfe31bba4c30d908bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcffa0058a21f06338138d6359b589c568dde1128740c45d637aa6fcbdf007c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c31cdb63845bdbe9902a6f349243cecd15cda8bb387d4864118749e4f20b17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1194, 0.2905, -0.0441, -0.2367, -0.2321, 0.9957, -0.02, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2716 left_y=-0.0341 left_z=0.0243 left_yaw=0.0244 left_pitch=-0.275 left_roll=0.0448 left_gripper=0.9957 right_x=0.2888 right_y=0.0005 right_z=0.1608 right_yaw=0.0024 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -3.1658, 7.2547, 1.9023, -0.2857, -0.0952, -0.0171, -0.1299, -1.4017, 7.0769, 1.6825, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1351, 0.2726, 0.0319, -0.2398, -0.2356, 0.9958, -0.02, 0.8173, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.278 left_y=-0.0355 left_z=0.026 left_yaw=0.0255 left_pitch=-0.234 left_roll=0.0311 left_gripper=0.9958 right_x=0.2888 right_y=0.0005 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0706 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -3.2205, 6.9675, 1.6777, -0.2271, -0.0855, -0.0171, -0.212, -1.4017, 7.0085, 1.6874, -0.0562, -0.0659, -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]: [-0.5304, 0.6384, 0.6819, -0.9005, -0.3687, -0.408, 0.9958, -0.0196, 0.8204, 0.5945, -0.4232, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.21 left_y=-0.0452 left_z=0.1625 left_yaw=-0.0115 left_pitch=-0.2161 left_roll=0.008 left_gripper=0.9958 right_x=0.2889 right_y=0.0006 right_z=0.1597 right_yaw=0.0031 right_pitch=-0.074 right_roll=-0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.3214, 8.3624, 1.3651, -0.3443, 0.0611, -0.0122, -0.0479, -1.5932, 7.0222, 1.6435, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8d6e3ee107e4204cabc383c0425642ce9375cfb8666cdfe31bba4c30d908bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcffa0058a21f06338138d6359b589c568dde1128740c45d637aa6fcbdf007c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c31cdb63845bdbe9902a6f349243cecd15cda8bb387d4864118749e4f20b17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_u4NycoNXz7dUp8-56fajE3MRBnJEV3UeRBC4xrON4IYnQmOUNE2om8Sof7BnHHEo8jRWKfTA7CA3bv-jBWKE9oiFBGdrGtwCcJqkFAw1Ip1-p0xL4VJIKE8VIwTBxWjV-wieO3iosbrjqZHxt5E3Ak6eyhsZYt6sgZwtcxirQNqF4efLHi5y6R143EFtmcXcpJBIhV2oLscCCweqc8q9ZK8F6RjhiQ0M6Tn5WMenh4nz8xvcLtA_1p6M3YaRZ9V3WX9IWIfY8jT1fAA0CIjwb9Ax4-1xP1LmLbgBOLFSiiWv4nDDMZMYZUVUbKk-ejdNn8wj46e2nHuRglAmjuMi0Jf6Udv3iq0eriCc5CS7n6w0K8NfDMpHPiIDzvM3cC7adydk0piQpGbETh0vwalVZ2E84DfOfl0EZHDTJxigPT9TgJ_Jskf70Hog3GvE3Bq2TeBjKVVx3V1YLkGDNH2UZ8lAT4mTt1CdSxfwCML_KPZPY0Hp5ROwpY9vnlEWnrDBJFMNgwBoAdPBP0B-yGWpjFbmoNS3h7EmlFBtHkZIbVJZZN_RQ5uxCxACIAWL2mgvc-ZC1n_TrPAzjDn5TnqengEn9Aa-cKg8xAQ35In8yXW5LYig5LP2S2iVpTONpvASGWdY-4SBRCI18REUTuZGcVjgjJvJ9OK89Vmm5a2FGUdYso6lYQ8cLV0PHQLjOa78M8z8VFsPDYdquKQPtyT2NBXIgyWZEUFUk2HynCYmvxZL3FYNYrLSsv_k4X444GzOwie7s70Ow5vxzpgbaYw56HcqlyVH_An1U3bfvcBTwa5FVDd_lc9B7P0pvx-TiqGkqpqThNalHPaTkxmAAzy_15buYXBdGe1G3F86pUbw_4F0GGwLHqgXY9D_Y4u0xMGTcQPAGsmbL7FC22fpNWa9aLSUvJbH_JFL9iI4sfuaVhN8NcW4tNk8gyJg0RoW-G8KxIITw0Ula9l3IP4GdVk_TxWIDbwk1GssQDkjI1XlvGglVv_VWELzXFQuYJ3bR7AZgfLW5MqqY3p0SZL3K6sp2BnUYaxbaMxuTw2Nbnm8L9t8OgTmlxAG6rgoykMknyQhcfVFzvqxyMxkR3R15Qzarar2E5PUCkQ3UOa7SGMZfqijlfKee27q2K-QOCxeC0RtyqrKTA0dYFw8kI8nZ_Y6CZELq1PULwIQ17a6BaRW_QS2WL-5yKy3RBJxqTRBtqFGv-FqcgPd23Q8qdcwST8lTDplG3WZZYXe-wpiY5S4nnrFfHF31ETBIN7r6kzXqnnma0bTbqX0G1fd4SiGvH9sRlr9H80vnem8sENeR_8QbVnjJyNuUfCYu-J7sIWrxNWbrfexYzoLp5MC-kihvvi0prO1bmFAF0XfiGPN8HXUce3LHIQsJ8CwwFknl9NR_5XNzldo11M5M-do3AmXy_eFKoxcpH9FaVcZpyYEqvMuGpoyiiyQMxtHQ3i9BE_W0QJRVEDanuoHaye-l_3AaWClhkNbQ04DEq_77jsK35q8OGAAjnzQdxy1Ejt6JI4_c9a_UURXwVEcP8KY7_DURa-QCHJg_fJs58ez-N51cIap60JW3PSgf8c1uM_rBve2IbB1hOhHWEaTKe7r8WdGDtRLC7efddNIGJjO_EMZzmEiNSsuwf9iwdHYPs-bBRZcR4c68kPzBdnUyo03M5xH_FaIEtwKgp9pDqULqdJcVK50hxCOqDJANtpi_DdgKcw6HkUlnZsiJ8ove2CAxniZ2kfAjBhkb_x6XWEH2Hd0ZBRvscTJVU1ZyclE0BZl69KRNDoS0z4h3RCf5PdKDPHJIrHZR7o4XMLYsUgFJHjiCdIVXT3W0S6KN8ZRfp8J8BaegAuvLG52FmLqu8bVcLDR9LIH3ePCVXd7oaKjzF45KLm52HwCLgojcUUcE0yIl6ixTI2YxqARv8YyTZ2s0CfdkYL-jElYqdfeD2iCPxTIKyohlWgRD5B1QzbWfOwrEPPNkOG3lz10QFdhVFmY2c2dRs_Jfzfe3jp0AhYHjHGrBFyVN5D6pN09xqU-P96CpZwGBEl7n-8PVNIzbfU3MSmHUnNdepy3YF1-egvS6Oop21vnlbC7-0dvpXMwxSdbdExFTxI8r",
  "id": "rs_09e2bb0bbce223a7016ab41febcc0487d0b2a1ca14124a3954",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.08,\"left_z\":0.13},\"note\":\"The gripper is free again; the left bowl has not moved. I’m approaching from above with its center better aligned, keeping enough height to avoid hooking the near lip.\"}",
  "call_id": "call_HrTqV4rLRtJTs3cZcGZWDLXR",
  "id": "fc_09e2bb0bbce223a7016ab41fedb4f487d0a0ef488172d6d7c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HrTqV4rLRtJTs3cZcGZWDLXR",
  "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]: [-0.4774, 1.0222, 0.6487, -0.5594, -0.3367, -0.382, 0.9958, -0.02, 0.823, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2713 left_y=-0.0706 left_z=0.1136 left_yaw=0.0109 left_pitch=-0.2951 left_roll=0.0415 left_gripper=0.9958 right_x=0.289 right_y=0.0005 right_z=0.159 right_yaw=0.0024 right_pitch=-0.0767 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -3.0701, 8.2667, 1.5067, -0.1294, 0.1294, -0.0171, -0.1709, -1.5385, 7.0906, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1e1f7033313ce8c3cbc858457673b939e9f422c00c11d77544c9a1ece8e53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561662b12948adf3430b0dea58f04000d91d1be4f6344202523028ced5f1d3da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8de84df1fb8521fc78af93e21f3ef9cdf1c786fa01c56b6d6cff976e38be57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1351, 0.2726, 0.028, -0.2398, -0.2356, 0.9958, -0.0196, 0.8165, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2774 left_y=-0.0353 left_z=0.0254 left_yaw=0.0258 left_pitch=-0.2376 left_roll=0.0323 left_gripper=0.9958 right_x=0.2888 right_y=0.0006 right_z=0.1608 right_yaw=0.0028 right_pitch=-0.0698 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -3.2342, 6.5709, 1.7509, -0.2466, -0.0757, -0.0073, -0.1299, -1.0872, 7.0496, 1.6874, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5304, 0.6384, 0.6819, -0.9005, -0.3687, -0.408, 0.9958, -0.0196, 0.8204, 0.5945, -0.4232, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.21 left_y=-0.0452 left_z=0.1625 left_yaw=-0.0115 left_pitch=-0.2161 left_roll=0.008 left_gripper=0.9958 right_x=0.2889 right_y=0.0006 right_z=0.1597 right_yaw=0.0031 right_pitch=-0.074 right_roll=-0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.3214, 8.3624, 1.3651, -0.3443, 0.0611, -0.0122, -0.0479, -1.5932, 7.0222, 1.6435, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.0222, 0.6487, -0.5594, -0.3367, -0.382, 0.9958, -0.02, 0.823, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2713 left_y=-0.0706 left_z=0.1136 left_yaw=0.0109 left_pitch=-0.2951 left_roll=0.0415 left_gripper=0.9958 right_x=0.289 right_y=0.0005 right_z=0.159 right_yaw=0.0024 right_pitch=-0.0767 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -3.0701, 8.2667, 1.5067, -0.1294, 0.1294, -0.0171, -0.1709, -1.5385, 7.0906, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1e1f7033313ce8c3cbc858457673b939e9f422c00c11d77544c9a1ece8e53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561662b12948adf3430b0dea58f04000d91d1be4f6344202523028ced5f1d3da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8de84df1fb8521fc78af93e21f3ef9cdf1c786fa01c56b6d6cff976e38be57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_0TbHAbwr1rIsGB9C4UKYCeO3rO5jKFijoN782r-YQ7AUcgaG9Dtg8DhQ8Qhgmstk6G_j4_PwZk-0Oy3d-24z8ydCNWDygsGfA-NgQfQBshgb2KzbVjrmg1sQg3CDNxb0w37gx_VerCwB2F1umbEoP64yVn9zUup3AL832-DCPaggg1AkZLhbmQ4iSx10d4nxZsU3NMyyOAuiPaCkxhlD6WJkgj6zZo5fJVOdo1LV5e0w3fUBMu9fbqTilmgMRCCQnaCT0i7TSIRTT-dtAvEWi5mU7Us0o4u-7kIDhY5rDUVg_zVsyt-Fov3RsmyQizR2uQy8tzpCAU9wInCAc5BKFe9EwqOZRSCmx6RpF19QeWFMdUrJSRoI9uBFRyNjlWaI-YmZAmt7xURp1maLeNziTm-qWbdmNOwkJscSepU2vYcO9T16cTO3D949KVOBOKsOU0yBkqdy3Sb82aoEQj9CqcWRxmfbcIWd9oKDIUt8dy2AIlU0_vePVwM6h3pB1jfJrZASKrfbzLo1Nyc2BgwJ2qC_y6UmO5FS53zmrGOujpesfb2ChnslU-wQVLQHEalN8I5DZ211YLt2ih0qHqaO_9IBcp7581i0bvZQXY6LyRFgF_dnMQGYwc4amcHCzmiWzOysxW36nsjrErEu1lM0dRCdyFmTUvE8_Y6zh_8Jutv12CYls0fabaQTj6WX5tXXF_NtT4Ytc8h54vyDiEywjvBwwrmkiZdESCsRcBmv2r1HPPOTZzUScMI2T-slPu7qhKhOMJgt0LXrvcOzYTLZuNDJCQtigwnNUUPAYE1SGBorM9d2dc2sRwGouuhRr9YFYt3Bc-kQccOTvcoxYKKbmanQIB5WLOM9ogDjk67NmTxSV_fTY6eKcxRY5Fiudccnv2S10rtPu1TIwQotsWRew6TAQvAINgwY1BmdQNI8V-genC2_Y_SG2VZsKCSdJAVCxu71PomnXfECmiEpGLCGrmprkAKi4JS0izCoXgwNK0xsbIyEEwCFE1vjCHMz5gVD9jQXaPy1XxPzjFA1LO2KVBbR_f1DBciBeMFbkNrzc4Al17lJPd5NV42whiZbgympIkxCJwEiDFZrO62o9AGdWEoIKHHiJOQGvA5a2nipf29HFR6RAD7g9V_fJj-_RyxI-FRP5_BwEO4rj8u1jMBr8TLXWdhlYkF5F2sMshAQqT3O78miMhO4TudIDsiYXXpu4SOD6T3aiVTDpEdADaAqALdKVXJ6yDV1KhuGOHHuSVk8Cvku05h9q-p5JQwM4pKQK2U2eJjiblJ3H5HTGgd9LeJktVhY4mh5q_1Dmb2iWaIpc7Fzm9wLvKnUl31u4aSgyfAewTatKIK3rh7ejzJAj2J7TAAlj0hyS99X_bJqJ3SveQXc472RF3RrBGCcASj5TGVaxUA0KASelRNvmlcAIlsM_YjSWpLYwIEw8lRIi3pGLEaJutM1oWqbjKzLACLhbgCemdimGzLpkSg1Qe4ufB19_LIQc8jAcdNrbejNKUiLHrUR3pRgNbXQ5uYByX8dO0KHBabQB9r3iWMW_jrcz5ksKE5OzybCOPbyk0NERD_VTQYlXxq-_p6CvLFzbw_fQX4Bq0Zf-so66abOIKGXWfAzBYaMuqnjL6MeFJ2lo1CYjVPrk7vFUZVoGfGpGUSyRWOBRFgvS8uqoBfAk6UmdCQs1z6Q3VuM6JqjlJRmb08i28Xg02zII9HBwFqeq4C4N04iMc0zECmisdYgKcLapQyBw7t_S0dGaIXbDp8TcUhj0ZYOFR1GUrj1JmcPdX9MtXsbSKqW0urPMRud2FO5Kk0-cSU6KxTZq6At3QRMG5bh7W_6nq7_DrUaC19vLOCGGR6N1xZyPl_dAWKdL3LjtY-YaLTnjJaoUrZ7zNxLfd2frGM7skbe8OWy9qAB-NuxoXZSCeTTcrg9fBdquJQlHZ3oHky5qwUT-No3BNIyjigA44g4VWMJ7WHD09qD5JfYXNB6cyXP5-BMqYcXDm_JX4OX8vvNSJqcR2Ne6qxWXB1REGi1yxmSY51IAfT7nnSLDNIMbhyi-NsZp_iaIeMi23KUjklrSFbYVcIiTHHYjF24dKEoXtuK0LYYnfLAJgsrQRGjbN1hYoQvQMgLfO1kLPXNyPntTT-IuuTeDXs3NLItaB9QpdiZ3i-jliJxqGQfg-qz-AGsIzOVRc6tNRdPZd263omG13Bbn9f28SiTMO2leqrMt07_aby9337z74KqiMNDg3j7Ciru7ZAEbffOAvnQh_tmKk0Zjjr50J_CXYQORNVKWglIBfvdaHNBgL9ALj7E962e8Yj_qhZZ1XZ36YbF8Ie_Ni3LFEzU-w5XAZ5r4i_iTjk94cgFmbi-9SvLK_a4BfpPR7msLaSa5Vsp8Kk4J5PYxmg1uGSQdh63sGhPWrL-eQ_YQ7ApBeHW48NjakbkUHCqMxZIeUVLUXO9uS3r2voGaXsgNgINGMpv8tkug25dIryr8yErl4ZDTrcjGjpXuFltHLYPJD0kI8NlEYNxiuozt4n_Pp0Dbv0qT8om6AVyzlelmierHyajF_dWVGvUKcI7vO2Bbdh-fe9JEhUmYxsOW-LhdkDpHSTMpBFB_Zg-ktay-SMRZTZfhpynK7nBaRYNhsPwHQBTRfx5OheziIOIlNCgi2ODohtmVkTDpBtIDBSwG7PRjXNciPmvAH8JgXRVqL8fqmxN204rPuEGV-6UJUdciC9VGlOifqyBEaN9_cMIFfnQF5Faogg75CpZ0aYj3tJIYlW_6vAy5ILpWvwIb2QWNoAztuhXMQkuvyaVGgyLZtHno4aXw_fYOXedEMWb26ncO7I_USt7kNEYNxt43sBy35fiHvz850hpD9Zt7WURa1eW1-eP0bWCG",
  "id": "rs_09e2bb0bbce223a7016ab41ff03d6487d0a42a9d36fb5384bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.12,\"left_pitch\":0.3},\"note\":\"The wrist view now puts the left bowl on the jaw centerline, but its near edge is still ahead of the fingertips. I’m advancing about 4 cm while keeping the gripper up and tipping the tool forward to make room for a rim grasp.\"}",
  "call_id": "call_oP8BQSl8JcOpOTf90aSZn6Q7",
  "id": "fc_09e2bb0bbce223a7016ab41ff38fd087d0b52397332c81bcd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oP8BQSl8JcOpOTf90aSZn6Q7",
  "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]: [-0.5041, 1.1336, 0.1974, 0.5182, -0.5037, -0.173, 0.9957, -0.02, 0.8249, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3121 left_y=-0.0707 left_z=0.0984 left_yaw=-0.004 left_pitch=0.2016 left_roll=0.0634 left_gripper=0.9957 right_x=0.2892 right_y=0.0005 right_z=0.1586 right_yaw=0.0024 right_pitch=-0.0782 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.335, -2.8376, 6.0786, 2.0488, -0.2955, 0.149, -0.0122, -0.1573, -1.5111, 7.0085, 1.6532, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3509a1f5d88c3acb8fdc820d73659e4088a752c8d88bc4923b6a55fa5f6eac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855b193a680e517dcbbaa971e1eb001aaa0724897ac1314358a8658571c3c485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c735f2f1a008c6e3dd934b95340fce077ebb416c0a05f0b39292c06eac09ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2901, 1.1351, 0.2726, 0.0319, -0.2398, -0.2356, 0.9958, -0.02, 0.8173, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.278 left_y=-0.0355 left_z=0.026 left_yaw=0.0255 left_pitch=-0.234 left_roll=0.0311 left_gripper=0.9958 right_x=0.2888 right_y=0.0005 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0706 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -3.2205, 6.9675, 1.6777, -0.2271, -0.0855, -0.0171, -0.212, -1.4017, 7.0085, 1.6874, -0.0562, -0.0659, -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]: [-0.4774, 1.0222, 0.6487, -0.5594, -0.3367, -0.382, 0.9958, -0.02, 0.823, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2713 left_y=-0.0706 left_z=0.1136 left_yaw=0.0109 left_pitch=-0.2951 left_roll=0.0415 left_gripper=0.9958 right_x=0.289 right_y=0.0005 right_z=0.159 right_yaw=0.0024 right_pitch=-0.0767 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -3.0701, 8.2667, 1.5067, -0.1294, 0.1294, -0.0171, -0.1709, -1.5385, 7.0906, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5041, 1.1336, 0.1974, 0.5182, -0.5037, -0.173, 0.9957, -0.02, 0.8249, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3121 left_y=-0.0707 left_z=0.0984 left_yaw=-0.004 left_pitch=0.2016 left_roll=0.0634 left_gripper=0.9957 right_x=0.2892 right_y=0.0005 right_z=0.1586 right_yaw=0.0024 right_pitch=-0.0782 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.335, -2.8376, 6.0786, 2.0488, -0.2955, 0.149, -0.0122, -0.1573, -1.5111, 7.0085, 1.6532, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3509a1f5d88c3acb8fdc820d73659e4088a752c8d88bc4923b6a55fa5f6eac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855b193a680e517dcbbaa971e1eb001aaa0724897ac1314358a8658571c3c485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c735f2f1a008c6e3dd934b95340fce077ebb416c0a05f0b39292c06eac09ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_5a9UEKnUXokoBYST_qvTyUtKBY4sqIExIQxaawXJbijHRksbA991BEtV7ZNLFh6JpG19IgVuYIGmS_6I-l7IWiqeILqdic3wPn5lPswvA7o6Aal9qZf_ZMSwaCRH9RrgeV43HS4sIZcs5-dGYPtlyMfuv4ctRG9BigikdKTn4yDNMr47_iLJ0sjhwj1F5NC0E-1WPCLUw_XP4M5Ps7Yh3F-yS7Z9hYMRQKtfGlvZvbnrgbaFPwGg5AstbIjD_N8BgYhjZ6DkNMkde41TJkiv4971_sghcfgXCWP5_QmPFnjUISbyv6-e-fQ_BuO9VEJYOLdYLlZA8j_k1hyGadl9Vtcesw1M7LDfjbl7R9niGR93SDURs_QQxBosINVdJa6LAhIU8Ui9rKKdAbKFkOgv4wi2fDSrdU5MXkzHjchGlZwIdEoCHLmyPEgxb3E0FbCTT6w3Jok4HjXp4jOckkIWxm8E3WG01USN0JqI6zIQfgWLvSvxbzMI5oE9hexyMrAAFoFV5LUOPlvobdssG4U0AjsoAlD6vEkn3G0O_ncerIJcrTF4ovBH2j5SZEPodN8XBxm2Tk6S0bPztPs6Qni-RlscW3xfNbN-HW-oP8HbiqfmQrkiQqq2NZys_VDnWB2joaI6KgoltjN2Z7iWtFyu6WbwhQyfFEOteEzDOYhp4QZc2HiN3DryCRUtHdL5idkVwrcaOOdn9rZl96LoW8WnhyEH_aPnxXyDUFbrJNXZe4iFUJAS0CKTvAyWYdPKw5cW-UhheHPAUNkLhyyJmq2D3zDD_PWOXJmrQ6S8mN_i4dtKaYfvIm72ePtq4h31udOzYP4F7bU0EUZzGBmukmFGKintdu8El732HTUPUUvYkxCEQvwVyEO3QUeWc4mtCUq94jBIPXPqH3H4wvIUqCABb0lZ-nOMv-kSthsLuBIT4MQQWr95SXMI-iB1AxMG2pnx1iF8PiWb9mdArXJOZJu810z4ik249AliZqgX5S7JmbcQV_sofW7_BhjusMuPK0b_cJ4j3-GOXp8RsIuixN8zt7dCUI-RRXlarIBiMLQn2Tzpp0rE1JK8BNiFgUPfNt3M_Ma00Mqx5ZsEgUBjtqLKvZWtGd4NUQKnw3eXFBOsq9uqDUTVWEHB09XP1ofrSKOr3EpdyKqmRUjN5EAhS5ET2ZUaaWcOrvtO701RTimhWgjhTC84RZ18Ri2Cf4IyjJSqDFEwJARLmZZNZF_RNoUxBXtv-EhNKpupzz6-WU0RWxft-yjjBkoi7TNXiZXVWlmHCewMSGcRilWcWOi-NC_2wQ3p-eBy7zjf4f-DU4jenoFZ4ew8XFZgX_SaIZjypKH_yugi4iwbwPPgVpyWH-hzNETjReAbQj1phNOqQ7YVIzRdZVIqbgduuwt7FIzlP4RhuHjRS1re5UMpiyd-R5bJRE4IYbCLwamOlqCVi_BAFCnY7uoczKmiFGGApj-arnyYb1bfqPHqVDK6DlhEsAhku3ba5vQzEMTxFmbKIKuw6sCBYbeYh27Bt5KJMxkh2o7Bu9jpXhw4VKp4pE0W8bNJo0DVkJ84AY2rMmVPiJLK6Ad6AR7V18QzGs2yisESXFJokuWg6_wMVp8QNXOeqq3GDRvhp0e4a2XlcR3wmjajCyXOZt_j2_ap2PaqZ_jtlgWONMj9nXm30GyCkNNBm8472zw==",
  "id": "rs_09e2bb0bbce223a7016ab41ff775b087d09c6c83abbbbf4bed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_pitch\":0.3},\"note\":\"With the tool tipped forward, the bowl remains centered and now sits between the open finger tips. I’m lowering toward the rim while keeping that orientation.\"}",
  "call_id": "call_rWykA62EKUpeQTcuz2DJnSAq",
  "id": "fc_09e2bb0bbce223a7016ab41ff8687487d0bc2649b1700acb09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rWykA62EKUpeQTcuz2DJnSAq",
  "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]: [-0.5175, 1.6653, 0.0536, 1.0531, -0.5274, -0.1444, 0.9958, -0.02, 0.8288, 0.5945, -0.4255, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2924 left_y=-0.06 left_z=0.0097 left_yaw=-0.0228 left_pitch=0.0812 left_roll=0.1673 left_gripper=0.9958 right_x=0.2889 right_y=0.0005 right_z=0.157 right_yaw=0.0027 right_pitch=-0.0847 right_roll=-0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -6.5983, 2.9607, 2.6642, -0.3297, 0.1001, -0.0073, -0.1162, -1.5795, 6.9812, 1.7118, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caff2681704323ca0a7010786e4e340454bda36bbc275275902e39140883be5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4ab229e8ec0fccccbf2803c6d057d887837fb0e1a923f9f2f9b7e0fde73994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85646e76fc7b4af80e23d86def0146cf275fad94d8949ab11f5d6e959de2f635",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 65 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]: [-0.5304, 0.6384, 0.6819, -0.9005, -0.3687, -0.408, 0.9958, -0.0196, 0.8204, 0.5945, -0.4232, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.21 left_y=-0.0452 left_z=0.1625 left_yaw=-0.0115 left_pitch=-0.2161 left_roll=0.008 left_gripper=0.9958 right_x=0.2889 right_y=0.0006 right_z=0.1597 right_yaw=0.0031 right_pitch=-0.074 right_roll=-0.0054 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -0.3214, 8.3624, 1.3651, -0.3443, 0.0611, -0.0122, -0.0479, -1.5932, 7.0222, 1.6435, -0.0464, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5041, 1.1336, 0.1974, 0.5182, -0.5037, -0.173, 0.9957, -0.02, 0.8249, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3121 left_y=-0.0707 left_z=0.0984 left_yaw=-0.004 left_pitch=0.2016 left_roll=0.0634 left_gripper=0.9957 right_x=0.2892 right_y=0.0005 right_z=0.1586 right_yaw=0.0024 right_pitch=-0.0782 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.335, -2.8376, 6.0786, 2.0488, -0.2955, 0.149, -0.0122, -0.1573, -1.5111, 7.0085, 1.6532, -0.0562, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5175, 1.6653, 0.0536, 1.0531, -0.5274, -0.1444, 0.9958, -0.02, 0.8288, 0.5945, -0.4255, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2924 left_y=-0.06 left_z=0.0097 left_yaw=-0.0228 left_pitch=0.0812 left_roll=0.1673 left_gripper=0.9958 right_x=0.2889 right_y=0.0005 right_z=0.157 right_yaw=0.0027 right_pitch=-0.0847 right_roll=-0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -6.5983, 2.9607, 2.6642, -0.3297, 0.1001, -0.0073, -0.1162, -1.5795, 6.9812, 1.7118, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caff2681704323ca0a7010786e4e340454bda36bbc275275902e39140883be5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4ab229e8ec0fccccbf2803c6d057d887837fb0e1a923f9f2f9b7e0fde73994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85646e76fc7b4af80e23d86def0146cf275fad94d8949ab11f5d6e959de2f635",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB_8DLr2YmZT5Z0GjriSgO4EXHTYAnaE820p0YuYf-Ka-Zc5CAKDGLTrPGSYP_u1uijNsVKbRqpPjkiHXp6-MxXY0uT7CHAdgzT-PqRaJr99QmwR9fLjIcPwDxgRZ-P-FQ_iF2e212OYy6fvmpLsYBZ28ovNUfrIVksTMJ4C7ESwfgYuKoz__mgEPbwCYLWjdZbo41FK0_vVOiFFOL99_zYN2nQ9GR-RXlMPZyY4SFNe60jlUlZxJDQoHbyoT-rqp7Su8N_Y2Xy-ma1-bxDS24E8NguwxyCXd8xmpWNkweanJCtanfxC2ybZtWJJ7FZvPEMmCE0roQcczdQu3JMWPj7LxF05XLKdIrmsZubagCuPPVdxWmC6x3lxivnqGt3Gznu_9lPqGO_e8TmjcC6EHqNYOGOqJxDENyFSO3rSDO7Sy0N0dqasQ-GorG5_qjUpYnyWx78DMi90DW93-_4xJWlZPrW8kjQLUE828C6ltViEO3fkWWmdx1QNbREl6z-B5czASUPJv7DICxPCl8R0PG1SkATju4HwEkCIhderyUnkmD_5Icr072-3JZhBwSd4s2VOpSclSagVod7KKtCgcdYbGminFDv13fVkmc7I3kDVbgbhjYorB_l1FmjRgSzDk6xbixAUtbVNCQfSFu9uqU12d-oumgHraMj3B2yZooNP46f6cgYctakiDFPPP8NhU2uL9IqY4l_b66v3fFcRMe29Pijg4vfhIOa_F1USBlC6OEr-pbg80K0mANFOu5GUp0fNRX8uuTSyBD0863MXfdYNSzc2wc3kz9TCHGA8eBokhIcibgQNN8tcO_x6cvaiIN-ks5dT2d63dntpQrN_-UQO7-aMs10CLg0qQRCnlY7h9FD5U1X5zLRrFPyXYvb2OVBHaM55OtcRuOUolIz5F1iH2HHHisneP5bXJkOtmljNvCARHASClB7f4T3qJpT1bLJpQXVisQiKQ2lgZDlsfsQW1X9alx5KMED1W2d-arCY1GJ25LawLXwYgEtpPurnwFTSRoZxXKP8M-DU8hFhCaHj9QGhQD_cvZC_6oxBztCk_Au8mmMKQVwzx0LEhbKjRBJN7rhzxq85abjkn6HcZBgO1RBwE4RdHhZho9yczRiqMn-jHjWjaZW4wMyJuLXXSK1xrnH8ZMRX-UrYDS9lrC0EtYeoL6zFKavVttwy_Do-DKCzo2Rzem9QmXYS6LxEqR7vZ8mbwxbI8LjWUr5c7-hNMeaVBgEmOPML3Rso9p2fC63M7unAPA3QcJpSKmnEWjVXm5NEiisPv-ZzSJ5fPduW05FO8SemiIfcgA64ULHBqRGEw20zv7HKkTMNTcMvsAVvqAM8p9a9fUKJUQgaRY1NNlkqsrMiHne4aosgXosH2VJqCc36P7eiPqFhEzMzhw-8HV_tYRhuo9_kEtoyXEvnu9MolE4oDRePdgzsck6yQ7LZ6jon_ka0CPA4Yw2u-QDUFi_65sidaz1oCe9WslHJnfwoJBwtjqPAS4gZmctPter9SuL7vQrTEUz8IURZzvJ4QwnVf0P_EFSeoWqHUV2qfiqeId0ws9d8ylk0kKjcxfRuqLrf79nbnH2Chi9pE1I5nDAlYdWO-KHffkorWRYHhheL_8Gdx8ICIlO38JbX7XtsEb5g545rD9fkg1DQy3EDysqjdMpS57xof0OtOY9aqSp2qxVys7ncp5I2uTAMPEZIHcBK5BhJoDOIBCVlKW0ZcsdTPBg-gYRSnSkyAxeUPl2mJybgHNn9QxmLwkPzsoJ7An4FWPpl5QLQHpPdZswz",
  "id": "rs_09e2bb0bbce223a7016ab41ffabb1c87d080eaa43af835a0e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent tipped the left bowl up against the gripper rather than lowering cleanly; its side now fills the wrist image. I’m closing gently at this point to see whether the jaws can capture the raised rim.\"}",
  "call_id": "call_8PWtNDzCaQVqBfR6SkjYVgxf",
  "id": "fc_09e2bb0bbce223a7016ab41ffb9f0c87d096bdc8c56cf4fa0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8PWtNDzCaQVqBfR6SkjYVgxf",
  "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]: [-0.5209, 1.6627, 0.0532, 1.0569, -0.5304, -0.1455, 0.009, -0.02, 0.8307, 0.5945, -0.4374, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0608 left_z=0.0112 left_yaw=-0.0229 left_pitch=0.0875 left_roll=0.1648 left_gripper=0.009 right_x=0.2872 right_y=0.0005 right_z=0.1542 right_yaw=0.0024 right_pitch=-0.0984 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -3.8906, 2.6598, 1.6874, -0.1294, 0.0024, 0.6129, -0.0479, -1.4427, 7.2, 1.7607, -0.0513, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c18d0fe6426b5ff1582de99d00bbab95b16d0bfe51a7263830255aa3e81c308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484afd72863c06d9b17533e15bc8f3a76dfaae184af4e684afa762d03c92c5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b946bdda47274ece7ab706bc6afc0a499d151cdfce9ebc6515cb778a3b9f17e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.4774, 1.0222, 0.6487, -0.5594, -0.3367, -0.382, 0.9958, -0.02, 0.823, 0.5945, -0.4232, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2713 left_y=-0.0706 left_z=0.1136 left_yaw=0.0109 left_pitch=-0.2951 left_roll=0.0415 left_gripper=0.9958 right_x=0.289 right_y=0.0005 right_z=0.159 right_yaw=0.0024 right_pitch=-0.0767 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.3214, -3.0701, 8.2667, 1.5067, -0.1294, 0.1294, -0.0171, -0.1709, -1.5385, 7.0906, 1.6386, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5175, 1.6653, 0.0536, 1.0531, -0.5274, -0.1444, 0.9958, -0.02, 0.8288, 0.5945, -0.4255, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2924 left_y=-0.06 left_z=0.0097 left_yaw=-0.0228 left_pitch=0.0812 left_roll=0.1673 left_gripper=0.9958 right_x=0.2889 right_y=0.0005 right_z=0.157 right_yaw=0.0027 right_pitch=-0.0847 right_roll=-0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -6.5983, 2.9607, 2.6642, -0.3297, 0.1001, -0.0073, -0.1162, -1.5795, 6.9812, 1.7118, -0.0757, -0.0757, -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]: [-0.5209, 1.6627, 0.0532, 1.0569, -0.5304, -0.1455, 0.009, -0.02, 0.8307, 0.5945, -0.4374, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0608 left_z=0.0112 left_yaw=-0.0229 left_pitch=0.0875 left_roll=0.1648 left_gripper=0.009 right_x=0.2872 right_y=0.0005 right_z=0.1542 right_yaw=0.0024 right_pitch=-0.0984 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -3.8906, 2.6598, 1.6874, -0.1294, 0.0024, 0.6129, -0.0479, -1.4427, 7.2, 1.7607, -0.0513, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c18d0fe6426b5ff1582de99d00bbab95b16d0bfe51a7263830255aa3e81c308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484afd72863c06d9b17533e15bc8f3a76dfaae184af4e684afa762d03c92c5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b946bdda47274ece7ab706bc6afc0a499d151cdfce9ebc6515cb778a3b9f17e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCACZsMB9iWlFEr9921FJMhWOe6ovbFUTO8DnZHqnb3f8kKzXT9hdeGJunFVAon9lK1aYkdCWvCG3vmGsJ5MSYaf1BLz4yY6cuMS9tdq4LCj5I4CFa280kg2HHiXALtu_937h_D6iGsWBmMWetPLEG3c0qJjc5zCDhfvz7dLsSoct-aYVKLgpllpH7f9eKsIvOEBW8smlpqDghaOdZG8O5m4d3m_iAkLe49wM1xb0mmjhLB6qvo1SK5NEKWJzEx70IusLH88uXiWKS7-caivo0v9-GmVa-Wxfc2uJuEardyFnri8ryO1hADXQr1X8PC6gQ_6VQ-2dAh-JuDO9Uz8w_LePMcnVS3tJqImtGs1KD0lJMKwIPnAnqr4UuNtpqb3iXKiFpfiSAu3S77Mw_TgYMW6YkSXUQ2S_dcUrLqjhW1Dyk-rcMQ9CbHszciULEnZJjgJJ8dvAJsCrxhOgBGtW4w8vrqf05Me2PA0TL3-FY-dALHS7mWc8UJKMqIourmE4XPGubi5GsCkUAQbzQzaBQ8rGJk2GmJsGVAgbUBzuWErhkSRZUeQVdYEynOKPvyxdNNph7hYsGenRmQtgHVmN6SgDArxKrJ9jvAEjxqyvslmMtknXmDj7enhqzXcWszy-kMsn7zNkQ977Nd8jBnX_xG75ovWy9BVM4vTjvHWlMtBemQNobcyOuYPuoR_K9kaEenzfFbrhOLo-oOJrmM0U4v3t1GjQ0sQ0Mi4fHPrArXXoJGTqsFdfZq_JSd3RinNGFhxzSsCRiDdfrquH94-tSWdLsQwDUQKv93fXj9p8xFfi9BEdDoKrz54hZgfPmHoweqI9Darhzb0nJ5l3n0TQwahTgnGilkvtkz2_1dT5K6iX_XL4nWgOV5nTEpFEpEh9jcX2eo6FkOFBrv41WuUMiHeAtttOeiWZAii7dOCFDqWOyczV7Z5ABnd1Myw-gzFIusx4D_Na-vQkqw1FaSL86KCsOexDLq8O35tv7LObTec_FCMCAXNSD6d1yp7efwNBna3rTCRO-r_j6q3l7OYqsLKJmJHGSN4TRZDnvLlGdA4okjAEoN81iU8QjSt064iL-_809QbcyUrhMSaGmMBVWDViJ-zpX8P8J0wXZk-fVHWKl9b_3NFzgm3g2Owc3jLPsy6DgMFewZj7yB6QpOmbu2hQq3oAkH0VkfHIDBxtJ4sVIbbepFx9NtRPF2e82p6W0rAdSVisArDMTCTJdHXNG1vKUxxWkAq1M_yR-bIwB1qRfJnvbhUyXbd9wDPScbzV1LDr7p78mt9XheFDNSWR0I3kJjnbpV20SiNUT--r5emK58mbdFHyS_amIb99qXZ-Jefnq9n3sUPGWUzvMYPUx86FYylMU39zdxaMe_ZT6lHg8m4952GjLs-NpKNaJnVzwuU4FSrYBx32LdI1lSo0TqwLoJ96agtpqkAC6mzxB8pyrAMpkuiMLqXnFDKOmLT9sZdQWVRDKhUl8uhN90AYsE9X2DHdgq024tsZzUoosC5PUa0Tg0d8Z_mhuDV0mynY4xFvJ_OniySUiGc6KGve5i1_EQyMNmmMrJC37sNb7btfcUonrJFpJR51MRnShdgddFte9Vr0gqOTNPjDbcg_Ju0C77VuaAuu19bEKU9VulebTudI2uSvEt3vntpR314x4eiEZrHktqdpBhkAHUKMvgHlUzGWvBcnvN8LVFErzRd__zjd-qtsLSR_lEUitU0bXmOgWp05JeRYq8OeOsbD2yLVeI8FNCvqAJDKQGGmazEl3P7NkaO4I4mPz0yF7QuQG4xOYFQMo5K7-fyQflyVXzAAyvWQ-CaZOxN_pqRKGrGhr15CqAUwqQgzlglXs3D4UPobzPCIj1MnaEmM34JYn135ffAL_GcAbOjV0o4ZaHarS4LZ5_FzLS4QswafJZtPrAPRfS7mhk3CGsVdiabnF18gDzKxdE9H8NK5rZA7398Sd9fXgO3WHsr0uV3oSpcgTfZltEWykbntBbkDg6YQeynEriKa8IgQncsD9RcdHWAY5Z3OuorrvLanjiuhleyLiPhwdPzVs81ue92sp7lmIBI4DngVt8VZzp_q5TxVvV3uj_g3WlywuLD8s6tBQn8PBSlAtUbGDgVdb2ifvK-L9PTTG7zENBttuWpWXCGR2LWe66eXt9aDVoGGQoLSCR2MCNALYdONq6bBclNVgrGb4LGqp-9ZGm-buvWRpoXtO2kSiZyA50-goyYq5I8oqfla23jbQJH7it2VXRi3O0RuMkSbPNNh4LZXl3CPFd-4kR8U_UDsAwej7zypslI6OF2RnIrJlNqJ8wdajWhZpLtR7VQWg==",
  "id": "rs_09e2bb0bbce223a7016ab41fff32a487d09fc2d282d1577269",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The left jaws closed empty, and that bowl has tipped onto its side. I’m backing the left arm away and opening it so the right arm can work on the untouched right bowl without interference.\"}",
  "call_id": "call_EObpUtpNInzuq2YjdX3mEUTg",
  "id": "fc_09e2bb0bbce223a7016ab420014a5887d0ab74e5c0949e8dc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EObpUtpNInzuq2YjdX3mEUTg",
  "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]: [-0.3874, 0.2668, 0.4904, -0.7052, -0.4335, -0.0925, 0.9955, -0.0196, 0.836, 0.5941, -0.4454, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2102 left_y=-0.0017 left_z=0.1879 left_yaw=0.006 left_pitch=0.1262 left_roll=0.1384 left_gripper=0.9955 right_x=0.2861 right_y=0.0007 right_z=0.1511 right_yaw=0.0032 right_pitch=-0.1121 right_roll=-0.0045 right_gripper=0.9991\nstate[joint_eff]: [0.3077, 1.5521, 7.9385, 1.5751, -0.022, 0.2369, -0.1294, -0.0342, -1.3197, 6.9675, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d38511bd099552119195f6c4b1f7598e7f0fd72e22e28112ca2b820c3ce0cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b390d48c8852d17d328c9a5f8399fdb06d5c80d65a620f468a15ad63a3b2da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93826ae041e2bfff572d76bed48e89a300645c7354e086fad7b63a1776f45ef4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.5041, 1.1336, 0.1974, 0.5182, -0.5037, -0.173, 0.9957, -0.02, 0.8249, 0.5945, -0.4229, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3121 left_y=-0.0707 left_z=0.0984 left_yaw=-0.004 left_pitch=0.2016 left_roll=0.0634 left_gripper=0.9957 right_x=0.2892 right_y=0.0005 right_z=0.1586 right_yaw=0.0024 right_pitch=-0.0782 right_roll=-0.0055 right_gripper=0.9991\nstate[joint_eff]: [0.335, -2.8376, 6.0786, 2.0488, -0.2955, 0.149, -0.0122, -0.1573, -1.5111, 7.0085, 1.6532, -0.0562, -0.0317, -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]: [-0.5209, 1.6627, 0.0532, 1.0569, -0.5304, -0.1455, 0.009, -0.02, 0.8307, 0.5945, -0.4374, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0608 left_z=0.0112 left_yaw=-0.0229 left_pitch=0.0875 left_roll=0.1648 left_gripper=0.009 right_x=0.2872 right_y=0.0005 right_z=0.1542 right_yaw=0.0024 right_pitch=-0.0984 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -3.8906, 2.6598, 1.6874, -0.1294, 0.0024, 0.6129, -0.0479, -1.4427, 7.2, 1.7607, -0.0513, -0.0562, -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]: [-0.3874, 0.2668, 0.4904, -0.7052, -0.4335, -0.0925, 0.9955, -0.0196, 0.836, 0.5941, -0.4454, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2102 left_y=-0.0017 left_z=0.1879 left_yaw=0.006 left_pitch=0.1262 left_roll=0.1384 left_gripper=0.9955 right_x=0.2861 right_y=0.0007 right_z=0.1511 right_yaw=0.0032 right_pitch=-0.1121 right_roll=-0.0045 right_gripper=0.9991\nstate[joint_eff]: [0.3077, 1.5521, 7.9385, 1.5751, -0.022, 0.2369, -0.1294, -0.0342, -1.3197, 6.9675, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d38511bd099552119195f6c4b1f7598e7f0fd72e22e28112ca2b820c3ce0cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b390d48c8852d17d328c9a5f8399fdb06d5c80d65a620f468a15ad63a3b2da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93826ae041e2bfff572d76bed48e89a300645c7354e086fad7b63a1776f45ef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAGhajR61cYobL8KYEIHUK94hAlh5RkBKrhoCKhnj9YO_ekLg1o5gnrTTSbzQu9IQ3Q0fZff3xcf6HcobGYIGBpEXKxnLDH5QsKybeoI14sQH2D8tboNCXzG6yPXdUnrr1SvZQXURelIgCR2yZsdR6cmWTjvD9EmLsqEs7eKVScFtygYAxmPKDzxkI56jWcHtJTR08ye5d5U3hGmpesRC_wgk287erIHNEicuh6rDZtLD7Cz9pUout7GI4GffWUTVW-KeyvyA6knsyonQmfCX8_fKfZgle7ITl1UtY9ySHB5JJGfgJ3hlZV9pZbhilNjAHTvgqU4O7-l_F_ntGBc3j_G1Den6EjbIsjHwOuPovjzv3YoaNX6fY_oJ9hQcjnER8ZjZkCtAg4xkhwPk9ALzYrN-jmeD7IC66884bfvFQRRTrolpm2-B3JP8HrHUzNdlMg4OQB-azdBjfetLfH7VoBeYC-Gx1EUm2b2CON28wHMAMNKGeazCj2-flAlPjl_KgN_qdH8H0kjk_Wc_haclSLANEF3_jxxD3VVKgxWpnCY0ZghpUAIajbV99GzFlSSM34lre9_zCOKXqdkFNfS7MzHw7usyV89iY_BUmwTG0MQvIcjIkuGAcBu17MHpBo-trzDwx_LNzO77OpKwDIMqj3N3SPkl86fZroQVKOSfZGFZndFN5RABauQmlviXN2DyWofAuA1wivTOmZJtimd7CLtVHLM72wEbhhN2s0NkXe_HjFRasNwM6p0GxwUVb-_t3zBpwxapzOO8yJvyFPTzyaFtFG6ek2fy1qmG8lL93Yz6Jpv8jo39KtvIDRGPbKEGzVDNot5nNelWDPyUp68EE1YwMBDoG85TbXo-b3_iVuqe0i4k2ACHpDDElkRP5kEJ3FDux7TDHV1wwRLDGyJu3McsYpYqMWXQwk3CFBFluocVR6eCV06Zwn9tNqDhzBD_8g07kPJSvO81q-AE636r3Gz1S6VunvVOCqdfEdZZ6Zs1uMzG8SFuiB-yMilmIzTZbGvIBUSmb381HUnW--fJMWdbrrzheXItc3oQSS7HmxSzt-HvR6lxNLZiNiETmwf4MyrEUrctH30GE962fEvyy0zp0SAM7jq6kLB08a6wWeRp1yGNETwOCYAoxIz0cC7bQ8q-ZSffmWzvhTOpPyaizqPQxJqUMAF3SA2u2IqZv_yXcjPh1VGTZFEpAktlgS5OPrf3qY2-ABqvzb-XYGjC3OUgvhj-86wBaKECnIL3D1S4B3Yyr_sC7M_x6JYMCscBFvTYpXFQ2hAP1bTC3yqpnr3l5OekQgAJerR3OyMHzU-_HGBP4k_emVBHySRnixjeYTcdiONb5qYkWdRYhg8cxGYwYmOKWLU-ZS0Kz1zvaklmnh8cqHUk5Lz5Erjpligaz__wAE1JFhWkn_hh9Z-GLrz7o0_N29Y_rui7AmHs-1lHK802YWpf9akpsyZA9qYy31vx1elsDBriC7Z88VpVq02R4nCeOqg6n3StT9AMbVoJ3URNngddhiiS7Zj7xOkmJxuM8wUtWgcQ_cpdYGqk0ElLTMUSZ7fIWYvybwyyCEemCkBq_NStDG1M0bmd8AAINVwslsY6X6X2ygGv2hmc5kb1Ws8VvCkWN_PGIKOwNwLFxkeTS8yXMKtjkuHvcjdMtYyvqrelvjVq_NGA-fp7cqv9TL7o8r5o8tYezFvC-x1Nw=",
  "id": "rs_09e2bb0bbce223a7016ab42004946487d0bc560e782cf1c5cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.125,\"right_z\":0.12},\"note\":\"The left bowl has settled upright farther back on the table, and the two other bowls remain upright. I’m moving the open right gripper above the rightmost bowl for a separate pickup attempt.\"}",
  "call_id": "call_5JbXuQGKrQ31ygogP78F7voM",
  "id": "fc_09e2bb0bbce223a7016ab42005759c87d090773116a7a3307a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5JbXuQGKrQ31ygogP78F7voM",
  "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]: [-0.3862, 0.268, 0.4896, -0.7349, -0.4202, -0.0937, 0.9958, 0.6075, 1.1713, 0.5995, -0.2905, 0.4129, 0.3412, 0.9991]\nstate[eef_state]: left_x=0.2072 left_y=-0.0026 left_z=0.1809 left_yaw=-0.0047 left_pitch=0.0946 left_roll=0.1435 left_gripper=0.9958 right_x=0.2903 right_y=0.1198 right_z=0.0971 right_yaw=0.0512 right_pitch=-0.195 right_roll=-0.0485 right_gripper=0.9991\nstate[joint_eff]: [-0.212, 1.812, 6.5709, 2.0684, -0.2613, -0.0366, 0.0171, 0.1436, -4.0274, 9.6889, 1.6679, 0.4127, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0cd9937b07da8a27f8cb3278addb50eefdf47ce056df024ca8440a73a4e83b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46429a699c0c1128675ce7ddae6e1f251b76cc9afef8dba2c1196c47f0396717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264292d071514db1fe81d2da7992bb346ac9a5accb58e3a61547b87b79452c28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.5175, 1.6653, 0.0536, 1.0531, -0.5274, -0.1444, 0.9958, -0.02, 0.8288, 0.5945, -0.4255, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2924 left_y=-0.06 left_z=0.0097 left_yaw=-0.0228 left_pitch=0.0812 left_roll=0.1673 left_gripper=0.9958 right_x=0.2889 right_y=0.0005 right_z=0.157 right_yaw=0.0027 right_pitch=-0.0847 right_roll=-0.0051 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -6.5983, 2.9607, 2.6642, -0.3297, 0.1001, -0.0073, -0.1162, -1.5795, 6.9812, 1.7118, -0.0757, -0.0757, -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]: [-0.3874, 0.2668, 0.4904, -0.7052, -0.4335, -0.0925, 0.9955, -0.0196, 0.836, 0.5941, -0.4454, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2102 left_y=-0.0017 left_z=0.1879 left_yaw=0.006 left_pitch=0.1262 left_roll=0.1384 left_gripper=0.9955 right_x=0.2861 right_y=0.0007 right_z=0.1511 right_yaw=0.0032 right_pitch=-0.1121 right_roll=-0.0045 right_gripper=0.9991\nstate[joint_eff]: [0.3077, 1.5521, 7.9385, 1.5751, -0.022, 0.2369, -0.1294, -0.0342, -1.3197, 6.9675, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.268, 0.4896, -0.7349, -0.4202, -0.0937, 0.9958, 0.6075, 1.1713, 0.5995, -0.2905, 0.4129, 0.3412, 0.9991]\nstate[eef_state]: left_x=0.2072 left_y=-0.0026 left_z=0.1809 left_yaw=-0.0047 left_pitch=0.0946 left_roll=0.1435 left_gripper=0.9958 right_x=0.2903 right_y=0.1198 right_z=0.0971 right_yaw=0.0512 right_pitch=-0.195 right_roll=-0.0485 right_gripper=0.9991\nstate[joint_eff]: [-0.212, 1.812, 6.5709, 2.0684, -0.2613, -0.0366, 0.0171, 0.1436, -4.0274, 9.6889, 1.6679, 0.4127, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0cd9937b07da8a27f8cb3278addb50eefdf47ce056df024ca8440a73a4e83b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46429a699c0c1128675ce7ddae6e1f251b76cc9afef8dba2c1196c47f0396717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:264292d071514db1fe81d2da7992bb346ac9a5accb58e3a61547b87b79452c28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAKLdyKrCZOYx7QemHr93AnEhq_5gPgsf6-Q-AIC0cNK1PBQ3FrAaoijzlgzj7htX6SJKljpLKQn34QR9p2lsKFV_yy_x3n-uZvnD8IOIC3-RQDkM1iKMZXeR9IPfrwKBiAG2wIRLAKEyzfBndM-DQIWt95cx1ULnjRTV1RRDqtbQfEVEsdY6Bd8zyqzTNtAAAbRdf3ErLrDq_1D7n5sdWAB38UoYHXdZipFYNg2mmoEAk52A7XI8AD0ZkQ_BkgUoT1DlWDoidWiyOrgQ9w0L3mKXNHVK85m-4shUwLWp0C7PKeAaO3vlDPXmeNUB7EkMKRTgm9ix71aDZesdxuSJK_43VVKwGUYSfY9EJB1FlEkPHBXmTDbxh_UkNM-DoiC2ch4L99sKP6y1LTsYLZ_bdpfgy5zye97IwPjbAubYURWKHJsnQ_vKfh3_3nhIMjhFWN0bwcpYEAsZtb_3lvpsi60s-k6MH_0swu3gL3J0mFYam8_4t868UC_OlcWie1w6yJKWKpYs9v-CRx7RcAfNp9zLA2LAnylKROo33E2djwmbfEKO1pTXNJwHVfgiW370rM141QHOfpc-Ryc6EwNpanIt6z2lDq5-t9HmdbhRMpnhNl0lEAHbW8Q65odrjLFmi8TWONk4vLUoEMI9WMQKgUJaVjgKVpnEHkM1iFktplV9Z4PrdlvilQa8ZU9QQKf8cxqto5_OKMHM1V8G1LprLfatr0pO8aSXF-FOg_eS-h_twR1cQ6yFvZOC7dNeoJ_L6bTUCvvpsV4Ia7ziW-M8L2U_xNO1nKN5lrsIe-Ffu1-2LtzNOoP5z3p2KxE8o0jyQwE2fpA5PDBTIwIChuyU4fODPZKnDMccROBcOQiGXxEvSnPLk1PwX1X1hYvXEW6v76auf0dJSMuMbuiC7xxlb8OsGbUWzB646ZzC53JYGWPfClodMoYF7Rh8tWmRMocKdG0BEZ0BUaAtI91UYF0kZKbzXCPIyuUJ3mRLcICVu8DGsLgiEe9GPucZISO--HQy546II2zjaf0-1SkSzXVYetYCglOxMpogJyCdHmSxCbZzv6aGQVdUlv1r1WSyZq30GnxxoJrrAT2VEFIV8nAJdNc0HfW1VMFxSlYXQ_IZPhBRomY-iBu5rDN3OBYhS8LbtgX9FnQJg8ABxSlAJQBEtR4yqdUHVuTxFT1_G7PQ6_rJEoXpb9R0QQ88XjN45jl_zDE4jRexZ-UdzEEoYySX6dKnxzKPD9jHUHZKp8EAJT7eWNmuWGZ6c1C07kKzGEL7KSRxHtJWrftMU670Zjq9FfspsPC96ng6CuEe1U5SH7aI24OQdvBoiDsrbDW_mlyDFWf_-d9cElub7YNr7LMcfm9_dAViXGrjEyNbJsEiHghLcfJyU4cE_uC5uxl9DJjhkYRkIpFSPydeh4nkC70pOcCw9U4FbrvbfmvyLwVBWtrSPRKTex2lFT1_9t6evsPYftaXOLDu59Ht4GTCBxAX3d0sWwdop5YKAPJTPMe7wnwXPdoV0xSTdwwh1S1Apn7HpyZ-gicDk80MkSJeQkpIOggbZMfYjPbzQ0F9fGbKuMRv1i49I732nRIqzEmESxj9i5qBQkYhfYKxxCS8cQh5bvTrTKUA0C6h9tCKmAbsGsmJ5lMuao9KRRLDOBdPqPs_QABxnnAY3MtkWo-yLdNY5Y3g==",
  "id": "rs_09e2bb0bbce223a7016ab42008a04087d0a771a370179b1670",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The right bowl is centered between the jaws, with its near lip just ahead of the fingertips. I’m lowering straight down to meet its side below the rim, without advancing into the bowl.\"}",
  "call_id": "call_Lm7wIcgAbarZ8cRw7TO9WeA4",
  "id": "fc_09e2bb0bbce223a7016ab42009714c87d0af180f3d35dad08f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lm7wIcgAbarZ8cRw7TO9WeA4",
  "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]: [-0.3862, 0.268, 0.4896, -0.7376, -0.4194, -0.094, 0.9958, 0.6106, 1.2594, 0.4854, -0.1482, 0.4187, 0.347, 0.9991]\nstate[eef_state]: left_x=0.207 left_y=-0.0026 left_z=0.1803 left_yaw=-0.0052 left_pitch=0.092 left_roll=0.1438 left_gripper=0.9958 right_x=0.2817 right_y=0.1139 right_z=0.0506 right_yaw=0.0395 right_pitch=-0.2431 right_roll=-0.081 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, 1.935, 6.3521, 1.7167, -0.1343, -0.0269, -0.0122, -0.3624, -4.7521, 7.3778, 1.9316, 0.1832, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b45b8680019f7c1db3d2ea3ab336d0cb5f1e0ad282c4ec406327270cad1ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba292d512981492d9209d351b18cedaecca2137e9ac4a2687cfd82cfc4d7060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486105fadce686138fb8eebac7d9b5ee789267701578711d7ec9972020981373",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.5209, 1.6627, 0.0532, 1.0569, -0.5304, -0.1455, 0.009, -0.02, 0.8307, 0.5945, -0.4374, -0.0151, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0608 left_z=0.0112 left_yaw=-0.0229 left_pitch=0.0875 left_roll=0.1648 left_gripper=0.009 right_x=0.2872 right_y=0.0005 right_z=0.1542 right_yaw=0.0024 right_pitch=-0.0984 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.1846, -3.8906, 2.6598, 1.6874, -0.1294, 0.0024, 0.6129, -0.0479, -1.4427, 7.2, 1.7607, -0.0513, -0.0562, -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]: [-0.3862, 0.268, 0.4896, -0.7349, -0.4202, -0.0937, 0.9958, 0.6075, 1.1713, 0.5995, -0.2905, 0.4129, 0.3412, 0.9991]\nstate[eef_state]: left_x=0.2072 left_y=-0.0026 left_z=0.1809 left_yaw=-0.0047 left_pitch=0.0946 left_roll=0.1435 left_gripper=0.9958 right_x=0.2903 right_y=0.1198 right_z=0.0971 right_yaw=0.0512 right_pitch=-0.195 right_roll=-0.0485 right_gripper=0.9991\nstate[joint_eff]: [-0.212, 1.812, 6.5709, 2.0684, -0.2613, -0.0366, 0.0171, 0.1436, -4.0274, 9.6889, 1.6679, 0.4127, 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]: [-0.3862, 0.268, 0.4896, -0.7376, -0.4194, -0.094, 0.9958, 0.6106, 1.2594, 0.4854, -0.1482, 0.4187, 0.347, 0.9991]\nstate[eef_state]: left_x=0.207 left_y=-0.0026 left_z=0.1803 left_yaw=-0.0052 left_pitch=0.092 left_roll=0.1438 left_gripper=0.9958 right_x=0.2817 right_y=0.1139 right_z=0.0506 right_yaw=0.0395 right_pitch=-0.2431 right_roll=-0.081 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, 1.935, 6.3521, 1.7167, -0.1343, -0.0269, -0.0122, -0.3624, -4.7521, 7.3778, 1.9316, 0.1832, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b45b8680019f7c1db3d2ea3ab336d0cb5f1e0ad282c4ec406327270cad1ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba292d512981492d9209d351b18cedaecca2137e9ac4a2687cfd82cfc4d7060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486105fadce686138fb8eebac7d9b5ee789267701578711d7ec9972020981373",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCANmqNRPskbfY1uJ48j9pl4uuULEldvvZuZtFF-zoFtvA_V8ICVN_nMFBE035cQX9C4qEOCUh83IbHxLUxlItu_6HjV4FqzvdOuAFORZH-XFDC1U9O8WCjc3yueoybpvd52BaqhZ4OIkPCtPptMuViW7cjSIJbWxjzHPg_0OaZFskhgOnX34Z1Kw1wdVAPDIWpcYI-3-ZR6xW5rs5yDms9_tLShVyx6KGTCbZEyfDOdcZGgenjuxwybbQu3KG31MH6X7l5um-ZsYSCyOe2OhAGZwlvh58cLVV61JXucHDf6NPq2bCPPz3J6roRHiBinJDzBb67saTsw5zIoKzFgFDvWrqzkzaHhFE2Zh-oPqa8dQyHQwOxFV8u2TGNl5AP7BdBiic2TRJ6mNguOJgNSWrqnTQjReWSvJ9inmRT6q5DZ5hYsvSVeZ8XhZ8DH2AhnKuZ-Yvs1RqC-iuzHAe5XAGMHN6q_sMSFuY5s1R8eeUdNknqB3xuSjzBMCk-XNAz00-6utiHOlVn4fxcL2R5BwcoQYgg0gWhG1oW5r7zcO2JvceGLyY5YE62faUzPxvt_2pVPfzicrO_4XT73rjqG3SZs4JYGSAklqZaR7WFL7VKfYoFc5PcaWwleQMLyNL-H_8FhSw7TfV5aJRDYpVtkSDxFm-o0DR0jpVDA3bCA26yvKKmHA8CUrO-6P4lHwlfPiEq3fSnRkth36utdjz66Y3k_z4JVHdrbebwP3plzMbCYJgW5mfinKHuPqrTg7JQ2-QVuKuZd9_B0-VdQS-iMxTqkKQ6me3hnfRhZHmsPZvmfogCbiVHk4NV3kyRhnT04x5ltkzy6u7M5jQTKHkSmilx-lKmfTLCOjtGbhE97vYhqXSenz3HN3cvATZPqHqXI5aEEjvTGZ61LJwS7wBqBQ9fe7PgXrB4BP1_3g2fHMJnljedueyK41f-tZMF4M7_9ikDS6yBCoGZi6rezjI54sFYHqztVLoAL1oYdSexWlhjbdPrJscmzA2MfEsxZY7lABMXv_mG5kqX0fXE_YeMHfPnbKZR78KMUcp48ZTad3wuOrfq-wNzkowGFjMLz1yBhnBraen5iPL4wVfk6UNEwffitodRnmySQTJPul_Xxix6IyDx487dhiUkwSPsZk8dx6FmtbW8n9EFopV--AcL6VFuacAnXWtzUXltrxJYCPe2lLUn-SXfiTpI26xZL4i4yWBVvgxWFoxDvT12NvULeB0zzHkL5c9DIcuzfJ993iZSEtaFlNjrZz5P2TjKL1msXy3VYIuLspR9DSSkuoWTOINiX8BnCyu5BqQXS9-fnp1mLiGGQgI6DcwqLe52UkpcoLA_8d0S5UX4Y9J3YHlVkYu91d9oExKmvXfB4Vl6NTLENOnAVV6X1HQ-jDjyJr6Z6KnrTwBCdfPoJgv1xL00IqwhPtRMT734LIw_GOKtJvKN-CBW8FW8Ro7iRzH6fhm-81hps_BLtKy-JGi3pVvPYtPW4UpyWf2IA4DEvcqmdHxhk0TGccJyA2AwPqKy8HbTQNGa25SkPzgk1acy6QENU11RdhQawXZPq2LppQ_aBF3yB0vR5ZFU21JtRfG1s8pAx0-6GI6XIJFya7efDN8m2oIsHnMDQzPvOQsxNiKsdeM6Hw_AO9zxquso3TCG53I05LHU7-Wb6LWP5if0wfAi0_Jr6Bg-t8fYVVAy7tDMmTGUj8xI=",
  "id": "rs_09e2bb0bbce223a7016ab4200b75fc87d09dcd383aa34410bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_z\":0.065},\"note\":\"At roughly 5 cm height, the right bowl’s near edge is still just ahead of the fingertips. I’m advancing a short distance at this height so the open jaws straddle the tapered side.\"}",
  "call_id": "call_BA65O9rQovrJSKYAiB6CRHbf",
  "id": "fc_09e2bb0bbce223a7016ab4200c640c87d0b4fed78ef07a7412",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BA65O9rQovrJSKYAiB6CRHbf",
  "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]: [-0.3862, 0.2714, 0.4896, -0.7444, -0.4191, -0.094, 0.9958, 0.5453, 1.3212, 0.5507, -0.1524, 0.3805, 0.3016, 0.9991]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3003 right_y=0.1097 right_z=0.0537 right_yaw=0.0294 right_pitch=-0.2615 right_roll=-0.0863 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, 1.6342, 6.3385, 1.7998, -0.0952, -0.0562, -0.0122, -0.1846, -4.041, 7.9111, 1.3407, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0aecc1e663500a9997b6f9902fcf509935cc18b3400ac0b0ea2b85415de5fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd952a2a1bb9a29f8193ac43b1f1a75c6f0020decf41ab1da945cbc7c318a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477fe161190ceae3a0ef8ffec9e57a1a6fcf4aa91fc84bba8a68c5ce3c5d05e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.3874, 0.2668, 0.4904, -0.7052, -0.4335, -0.0925, 0.9955, -0.0196, 0.836, 0.5941, -0.4454, -0.0154, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2102 left_y=-0.0017 left_z=0.1879 left_yaw=0.006 left_pitch=0.1262 left_roll=0.1384 left_gripper=0.9955 right_x=0.2861 right_y=0.0007 right_z=0.1511 right_yaw=0.0032 right_pitch=-0.1121 right_roll=-0.0045 right_gripper=0.9991\nstate[joint_eff]: [0.3077, 1.5521, 7.9385, 1.5751, -0.022, 0.2369, -0.1294, -0.0342, -1.3197, 6.9675, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.268, 0.4896, -0.7376, -0.4194, -0.094, 0.9958, 0.6106, 1.2594, 0.4854, -0.1482, 0.4187, 0.347, 0.9991]\nstate[eef_state]: left_x=0.207 left_y=-0.0026 left_z=0.1803 left_yaw=-0.0052 left_pitch=0.092 left_roll=0.1438 left_gripper=0.9958 right_x=0.2817 right_y=0.1139 right_z=0.0506 right_yaw=0.0395 right_pitch=-0.2431 right_roll=-0.081 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, 1.935, 6.3521, 1.7167, -0.1343, -0.0269, -0.0122, -0.3624, -4.7521, 7.3778, 1.9316, 0.1832, -0.0757, -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]: [-0.3862, 0.2714, 0.4896, -0.7444, -0.4191, -0.094, 0.9958, 0.5453, 1.3212, 0.5507, -0.1524, 0.3805, 0.3016, 0.9991]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3003 right_y=0.1097 right_z=0.0537 right_yaw=0.0294 right_pitch=-0.2615 right_roll=-0.0863 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, 1.6342, 6.3385, 1.7998, -0.0952, -0.0562, -0.0122, -0.1846, -4.041, 7.9111, 1.3407, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0aecc1e663500a9997b6f9902fcf509935cc18b3400ac0b0ea2b85415de5fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd952a2a1bb9a29f8193ac43b1f1a75c6f0020decf41ab1da945cbc7c318a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477fe161190ceae3a0ef8ffec9e57a1a6fcf4aa91fc84bba8a68c5ce3c5d05e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAQQtTZbhxdbnya0rh6CXqCitHns9lrpS6_zvFEsoZkhWF3Hzsedt_4MBhTrnS6N2_xV2Gig6Z3JFwgN6Bg1n3yxigVuEqjims3YI3kudB97tcmjdf_c39IkTIZvNlI6cxZTP0437NShXB4Qob_g6dZLi-Wqm2pyM8hLqLz44SNCpC1AYj9OoiHwoI8Rgs9RiKj18ipvhdHvLkaXWNo-qkYtp4kE8ICiPIUw3bU759duXPiosuhDv8CHRBKeXvvIJ6QbIHk1evCVq05t-BILUUisHoFlHpzglE1qb0DlzuEZA9VQ1ICQ3Z6QmCRKJxi8hZt5wKvSp7S5FbC-8dW4cNnQaWjzeXDWDm1yrjbZ4yBDC8bvehGdnqMj-YSJ0-kdGl7rSKbSZC0-ZdVCenXFTyTk56SsavZGVEPccvszFKU8hlrpZVS_dqDmSK01OKUZr6533Q_bU43og8P_46xgAqMKvcgmqAW70W4kwUJ3QvZYHuWropnNmX1ywFSS0pPatCe4CbkRKtih81f-jVgAyKp6o82U_qIhfXq-2lHWT123-UqTShTgUVWEyNsmxRo7HDnBT0CJJgw2oWMTQ_L3NGU-uqLFyc_yXbJTqtTTwy7vQtnPI9XqZPxYDCjQow02r8FXRfesSzzNwZ4LRCH5Wd1_xJNmseipqHIiIF4fODaSxTEeSoFlGfeQ1g30lrI7jlbSZD89phHVAVXU9lBeTpHFea09ZER81_6pgU7qNtiqi1O4omb5Sb8Y7I_H7hD8aBiQBc95Ns96JwzXp7OJLbqBOluutX4e1RnrirJpc1VeE-sgVHR6KLJIH8I9Pny6LtvRjfLV0aNNY-fiPNHm0B1b1ksgcwR2jHtOoVXzbjIkwlFYqE1WWFQHGS3U_aJg4YIaJ80Ha5NF2pau_YRcat8iw9_4_Iwqybx8d4uEo5G2093g3zs2qAnHK2jQrcQd6w6vG3YbMPLhNL1oX1R21pwkuamM6RBHvTx8ObJmSs_4JryCb9X96yMfueKvih5Q1f306AYrVyk3jgcy5beC_dKKBg78bGvv2LUYdy-q29pyeAfwkE3s_2kA_YsmdLnZ3KlGttdJivamHKDm8_PFjOPMx7w55gTAZcDhwW8XGYnOY_QGhyY9_wQkq5a_scWUTZu3rNQueyYgJNo35FX3pbIq9rPJkCEpe7thFrzMtgU03du8t21BfuMvU7b2W4jBNUe_zW1P3DcibZhNd-YvjGv6RfWHRdb2cLInatImygZq4Cz5vPFhP3BIwcngRcYmqtnPLQBkG6sh-t1X5AoTEKrqSZo_pBbd8ZwDufK5faPV7D2jsjVoa11lYJVA1qqtz5gfw3LaTHIk286BKjL3NQ1c_HTYXdp5JOZCdjmaCdwAfFevZDu1In5-4-u_nWtXEAQFlv9idhx6HFEetrGUILejOn9XDXQHbrf-QaSq46-t16sl-XLD0PAP1XJlhec03x-DIe3axbjlOW2wvenqS5XK46uC7cy5VwgS93-TsMnFPG57q4LFV7RAnT4LbYDLdfZBPCJMvGuzWhUFTzkcy38sTuaWoXOrmBWP6eCjsjyde6SyBDN1yT0ga0vtOZYqhaSVtSgM_a5IhlnTFhnp-TzTOjaCOqahLC-GiJv75a1YZsVYxtXzZmxO72FWKcEsDAgDid89720jqCDdCkRA7wC-zMuRIEEv26LO6c85L03aCon7cIavH8E5ed2o5gBYvF31xnrgNYPhcWoDhFk-sINiNqDtHG-TN3hm5eO8ra1c05YQ2eLJ4qhuELOUZLBGF_i82K25n4maZR0Jd9uWaz1X3rHOJ_7fkPrhBSvRM4t6X7XRlCoKRHzaiiRF9V1rxP5UG8FZz4Df1-HQ-VCg0CHZW6DaicAg7_Q6_HDwdCVt2pJczp3e09kDeuDYN-o41aChWs04iANQtrTM8XqvRMgEDXya3qWmiVR3hln3Z0vj7dnrG_TMiar6_sXetQAkSwv3ert5TZIqJEbX-evZnQOAk4HxQpEfvXqTGnjtetSdETfSFZ1ASYyOOw5ASiEtwuNll6UV3-RVajq3mOjZzMzzJQwKU7E3BhEL7-NQBDnz5Zm7OkOW4qUQgLx23mCOaoG",
  "id": "rs_09e2bb0bbce223a7016ab4200e5ae487d09dd3236c005e88a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.13,\"right_x\":0.31,\"right_z\":0.06},\"note\":\"The right bowl now reaches the jaw tips, but its opening is slightly left of the jaw center. I’m shifting a couple of centimetres sideways before closing to avoid squeezing only one edge.\"}",
  "call_id": "call_MRuj3pgY0Jtt8HPfDhkClFgZ",
  "id": "fc_09e2bb0bbce223a7016ab42010020887d098583899419af9ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MRuj3pgY0Jtt8HPfDhkClFgZ",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.271, 0.4896, -0.7448, -0.4191, -0.094, 0.9958, 0.5735, 1.3682, 0.5964, -0.1764, 0.392, 0.3099, 0.9992]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3038 right_y=0.1202 right_z=0.0533 right_yaw=0.0404 right_pitch=-0.2783 right_roll=-0.1019 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, 1.9077, 6.3385, 1.6874, -0.1197, -0.0611, -0.0073, 0.1709, -5.0667, 8.2803, 1.2625, 0.3687, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08cadcb7186dce73a1a3d5f49b2e2002523ef62f5a9d6efdf37cebd56a410092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041c2368d0a630270c4f9254c0eac9bff045602d6473e21d8d1c08da665206f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7288b741a809ed82da85d9c1050f2a14528af766897047ab035a5ee2e6959ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.268, 0.4896, -0.7349, -0.4202, -0.0937, 0.9958, 0.6075, 1.1713, 0.5995, -0.2905, 0.4129, 0.3412, 0.9991]\nstate[eef_state]: left_x=0.2072 left_y=-0.0026 left_z=0.1809 left_yaw=-0.0047 left_pitch=0.0946 left_roll=0.1435 left_gripper=0.9958 right_x=0.2903 right_y=0.1198 right_z=0.0971 right_yaw=0.0512 right_pitch=-0.195 right_roll=-0.0485 right_gripper=0.9991\nstate[joint_eff]: [-0.212, 1.812, 6.5709, 2.0684, -0.2613, -0.0366, 0.0171, 0.1436, -4.0274, 9.6889, 1.6679, 0.4127, 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]: [-0.3862, 0.2714, 0.4896, -0.7444, -0.4191, -0.094, 0.9958, 0.5453, 1.3212, 0.5507, -0.1524, 0.3805, 0.3016, 0.9991]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3003 right_y=0.1097 right_z=0.0537 right_yaw=0.0294 right_pitch=-0.2615 right_roll=-0.0863 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, 1.6342, 6.3385, 1.7998, -0.0952, -0.0562, -0.0122, -0.1846, -4.041, 7.9111, 1.3407, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.271, 0.4896, -0.7448, -0.4191, -0.094, 0.9958, 0.5735, 1.3682, 0.5964, -0.1764, 0.392, 0.3099, 0.9992]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3038 right_y=0.1202 right_z=0.0533 right_yaw=0.0404 right_pitch=-0.2783 right_roll=-0.1019 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, 1.9077, 6.3385, 1.6874, -0.1197, -0.0611, -0.0073, 0.1709, -5.0667, 8.2803, 1.2625, 0.3687, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08cadcb7186dce73a1a3d5f49b2e2002523ef62f5a9d6efdf37cebd56a410092",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041c2368d0a630270c4f9254c0eac9bff045602d6473e21d8d1c08da665206f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7288b741a809ed82da85d9c1050f2a14528af766897047ab035a5ee2e6959ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAUeB57UzUm2yclA5Cg3NsCWejbe0XCbq6I8tu3B6BH6CAIdfdjZvZWtq9atY61sKhUnX8_5hH4dqw67CyYOeE55-3LrpIZ7_9AUZlVtY0CD2e61qVC4wWctOHj343K0-Zzq7pV885sA0kRvDV50xiuiPPSnu0TncfdPnrL0yzOFhMwsKhVL_tvwXKWF-zy60M_yeLlb9GDXgLy3M_IdsH1B5-LBtD1LERXFdmtxvy7eohTqtDCBaHtd-WX0ZPcfKaQ0eB0RZX8dAsJGvNIImNNtw4rpu3IXPpQEWD0nONPLM3hAATsRx3Mj_qRviotJ3GSMcZwebNaQtGcFhciPO0RwmUVAKNCeHca5v7TIPrBymYENV6rWVOXAKLiS5hgcnGSfJNIAxGzeSMwCJT0Jmm5EXdS_YuYW5H4j-dRXoGJO4PgUy9jvYk6JFHGM2h9Nrx_48n43Z5w9677NBv081BMT387DFOHNJbcUowNUm9j_5krDz96XYTUVGPj8p0GXYPiYMnuRdorATg00lpRoojPSZipIAtKvQegrGnL41bQ68jTaec0sm5jtO7Bif7PYmqaG2QyfLVlzgDKoy1c5T911URDYx7o_EZS-6jIZX-9viAK_GQHALKm1PYjb_AJCwQwG2J2KdYabA-VR_fp_7g2anpnqIoMBwF28PHltqiKdTCC2XxrOKIiMfEd9_VJvfmLjD3Sc0K-fUugEcYn4o-VMBBAJwAfgVkM6yNKZQhnQEhQBmqW4q56cWdEmHVCMIR896e3784R9r-URr5On7SGsj-HOUsQ6SXkwxua6PplhzBwocHnTP3jm72lGyu9NwH6g_wkDl4bf-t5xV-EegUQjW9tivTF6eAP4O7c6N9cjf-Wc63B1fDLvI0uYviKcaY3FtWSgpwyGuV0TKWdPWuH55fg5-wgMZTR88DDD3Pko4mX4tbH7x3p_dwrlLz7wJ0e75y2fQXLXl2JBo58QNUZaKRpawLotDoh4b2luQkjOjtfKw8gYlKdoW3ypybZcZRXMsrhCCQVYK2Qp-CjM764TCST6bhjHSEt3Nq-vj9mu_gEI_MUU4iJxf_mcTu9O-aBlk4E0zbK3VfDFB4UArvb16pyrj-fOjvezrUS2cDpnjm4_r4lpRZgieZ444mAsvewNOwSkrvbQM6oIByE3veDTezWkksDIJMdNm4cX3s3ZiL2h9SRj32UV3q5SVa0YAEgbDyV7t7Nygc8-xQyafjVOGjIvRnhOw9XOfbcBfqTUhE8afpPmkVzn7zFuzXVu7AvO2b0zHsRfpRCkXT4UfMD5LXd8rzUBEhKFZ56C9qJrq-oDIhL_sbYclEPoIA2c-uEJymBWUG0FcrrcwgziDq7I467SrW4zRto90cv34vhlNOZ6xgbTbaEvUUj9UprvHIM8acW9QplcPFaaZ7DGmXpVV5DFuFL4TGHlhDBggWjMwIpA6k5vdAyCoaE_IyKaUcWb_RFOxHoZKMsOY77bjRJVpuvcPZ0AyXGBKAf3tlebO3fMzt3tPTM05V6bWYdN3X4lxVb0jaXT9Z5B0g45fVwTDVlHjHu5j7_a8qdv_tVT07BDkc3iBpLs3LD1GE1rftDDHiJBdWvswEkogsHRiYgk_SH2xKNlElt9VzGxVsO6zYWi6ax8_qsGYBWZIFIk1NoQb6lP47xymBJKQ6-8QmUz1Q4iGj2TrJS7bLqsnk6k2CaYVNfNv5S6sLJQKS7Wz6S3yFHktXcI_330LJ_BI_uIsynRMBgdGHBoTME-sXOUZFfR1forAZzHqPlVuooJb_EY4DSwjo1on4w1eFLPUlO7w7x8G92a5kVB-_10jYqAQCMBqcNutyp1u09U2rOBPnrsa2XxmVOJESTpQOXl5sdFGvduX33IGCWno9_1Sh1WJC4HNA_EbDDIh5deoAqLJGWOrhy1yfi4HHXOlYRPE5cQtlXcR7l2Yl6WsRgfb3wQ-KN_QgqNLKPIlgW3rwH2h9ncEBDIQOWb_pr7MqosQbsjbeCY_XrYt51EZxyWjYhZfB0kx_nbkql-Sw_DJjObv_jEehGixXB9txwVMfsAwmWPbN8p4momjBqz-iJq8CExHQUN1vKwQWVgHgD1J65oOGFCDSvE7vdJtBneOnFGFxBlrmYSSfuMI06J0R-9vKzD21k2WvGmVu3Zk-6Ycvl1ZY4wvXpnPGhal3g9pUBINjYROSy9KD-GJe8F0-QHLGe55Nni7hlmPSmdetb1PKHkPiX",
  "id": "rs_09e2bb0bbce223a7016ab42011f0c487d0aa9eab9b32e7f730",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.15,\"right_z\":0.06},\"note\":\"The bowl’s lip is at the fingertips, but the wrist view still shows it left of center. I’m making one more small lateral correction to put both jaws outside the bowl.\"}",
  "call_id": "call_vE62u7alH6mhsZjjtXuU08v7",
  "id": "fc_09e2bb0bbce223a7016ab42013e62c87d0b2a5570bc4f9ef1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vE62u7alH6mhsZjjtXuU08v7",
  "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]: [-0.3862, 0.2718, 0.4896, -0.7475, -0.4194, -0.094, 0.9958, 0.6071, 1.3983, 0.6125, -0.1879, 0.3889, 0.326, 0.9991]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1777 left_yaw=-0.0056 left_pitch=0.0792 left_roll=0.1489 left_gripper=0.9958 right_x=0.3003 right_y=0.1314 right_z=0.0482 right_yaw=0.0634 right_pitch=-0.3006 right_roll=-0.1024 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, 1.8393, 6.4889, 1.7216, -0.1587, -0.0269, -0.0122, -0.0205, -5.7504, 6.9128, 1.1404, 0.4225, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6ea57624696b52613c0287c6d59914a807483abc52f1b356f1fafd976992de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cb8f01d6ce379e469d285f666c33515e0d88a6c23e14595fe618726404e28a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b3adec759c9fa204c3a40d84d05b9e26b4f97953207e74973380037bc27577",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.268, 0.4896, -0.7376, -0.4194, -0.094, 0.9958, 0.6106, 1.2594, 0.4854, -0.1482, 0.4187, 0.347, 0.9991]\nstate[eef_state]: left_x=0.207 left_y=-0.0026 left_z=0.1803 left_yaw=-0.0052 left_pitch=0.092 left_roll=0.1438 left_gripper=0.9958 right_x=0.2817 right_y=0.1139 right_z=0.0506 right_yaw=0.0395 right_pitch=-0.2431 right_roll=-0.081 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, 1.935, 6.3521, 1.7167, -0.1343, -0.0269, -0.0122, -0.3624, -4.7521, 7.3778, 1.9316, 0.1832, -0.0757, -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]: [-0.3862, 0.271, 0.4896, -0.7448, -0.4191, -0.094, 0.9958, 0.5735, 1.3682, 0.5964, -0.1764, 0.392, 0.3099, 0.9992]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3038 right_y=0.1202 right_z=0.0533 right_yaw=0.0404 right_pitch=-0.2783 right_roll=-0.1019 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, 1.9077, 6.3385, 1.6874, -0.1197, -0.0611, -0.0073, 0.1709, -5.0667, 8.2803, 1.2625, 0.3687, 0.1343, -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]: [-0.3862, 0.2718, 0.4896, -0.7475, -0.4194, -0.094, 0.9958, 0.6071, 1.3983, 0.6125, -0.1879, 0.3889, 0.326, 0.9991]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1777 left_yaw=-0.0056 left_pitch=0.0792 left_roll=0.1489 left_gripper=0.9958 right_x=0.3003 right_y=0.1314 right_z=0.0482 right_yaw=0.0634 right_pitch=-0.3006 right_roll=-0.1024 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, 1.8393, 6.4889, 1.7216, -0.1587, -0.0269, -0.0122, -0.0205, -5.7504, 6.9128, 1.1404, 0.4225, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6ea57624696b52613c0287c6d59914a807483abc52f1b356f1fafd976992de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cb8f01d6ce379e469d285f666c33515e0d88a6c23e14595fe618726404e28a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b3adec759c9fa204c3a40d84d05b9e26b4f97953207e74973380037bc27577",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAXBKKTqZdFLQFA9sO2xYMQ70ZZIP5FehqwVu1oiN6eYirLNGgGDQzlnv0JCxwtODbBNAI7IFnP0OugR5V7c2GZNh31u1YHPxFOtdvMKAoTtTjYbgIGJOrza2RDTRUpBN4i3mkEtElH0ud5y9FSWjF973GSNEC_xji5N3LSq9Qv2Ku7mOTk7793B3ci2ZCv3KfDY1-OkMgXOI1I2q-Q2PNh8Vkhok3Uxh9RdWFQvHQOmLLUm6hogVEo4tG0ttTNU7-2ABnQN4Goo3LlCpeoOhhMnMS8ANvhEH_60hS6ZY9sMMEZuOqjaugxHMGa7RpDNuaXVQyF58jScdW2GtCnpTy25RroweE6cx_Mi8zv3KFVJebFPxkch1LLmIddANNlTzgpj-1al_QSW3SdqkRdhVKnEL_gZ_Cf_FqwA9V130bFYgXc1y8mm7amgk4hxLHloTNk2dxX82V1IxYMMVBEf-563WNgSMbwMGZUn_UjGWw3gE9rRd9wvHkM1OKFm9jMHuWIBb9PGW0c7SCMbUPlO1gj_F9xHhLY8QzZw2HLX7v6cok9U3rrjAS62CSQcqqz8vu-I8FbUh3bNxWRkVJROlRpiQjgLN_SpM3WeFkNZAN8LCrYX85uYuSTsBHqj-YAHuqSODB-GWfMgX-sp8SIu8wdW-VrBMnue5TykyQmmx8uhT4ixMPms7itc5topzJo7drdvaBIuU2-B143KC-9--HPaDwSPPW59KoMtclYvCWY52G2b5oJajvu1UEBfBGrfNm4V1PqXpArSvhZlkxFWpp5s73uVZNIc_Q5IrBm2AwuESt0uFRDM1WZY9qxABQybr4tV3nGZMfnFkUtZQLQJJfSnsOULdh0kejKroGpWkocKX9TZZ85Yz_1iRsH4vuO-TBKNwUxrhnljpbTW88Mzv8T3x1WQw6ADQ-k0SRCtkg7VjUgxunPDRYtDhZ1gDhqNPhQqdEefAztaz_f9EY7Cvg0M_HlGBAgBC_g3gtT9aAhKGXOPn9UgMV6xqViFn1FDJo09xY6riKL37OKL5ulMWzgXqA1Ncvl65jkSiNmGp9ertRuGt_DqUOfdUCb_fbvWQJ3F_Deh6F6UIrCGSzEG9RUsIJWYrVICMEBTY0O_9a_v-Am8Q7VaVKFwfa_WN7zoitzjUB8ZreR6kv6m-pTGY625TOPaSLx-0S6hlw8i4r4EVM8INIyvAkEtb--w6i4bve2136D1oCbz0zZ-KI-VtGQH97ZkVSNWPbWqyJO-NNduWvFDGXCOayRE6Rotrx5fb6ZIn1a_zatW3ZcHGdbryMRsbK4CXibW3hpoMV_eZBBUsOXtMAtPLJk8wD-rMHXDvvG7JH5olB6bGiUDmsnZP5gExPBU7OMA1qZ9qFS4Yfij0uzggHKPrASikAZhjmrfsAk3JKNnR9mv3v66K3g9l_HmnAkS6P-7vBgR4xPSBVieuKmDmpmQDOK-zhS11oDrNdngNiCfF3taf2sR_mlosptIrZ6JAO2US1tUukkcPw0UGY=",
  "id": "rs_09e2bb0bbce223a7016ab42016142887d0a8aad659f3df7f85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bowl is now centered between the fingers at the near edge of its rim. I’m closing the jaws and will use their settled opening to check for a real grasp.\"}",
  "call_id": "call_2lOMcBGaOfsI2VMBeOIEyfXT",
  "id": "fc_09e2bb0bbce223a7016ab42016da5087d0aa569f0f89b15f43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2lOMcBGaOfsI2VMBeOIEyfXT",
  "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]: [-0.3862, 0.2718, 0.4896, -0.7479, -0.4194, -0.094, 0.9958, 0.6067, 1.3983, 0.6109, -0.205, 0.384, 0.329, 0.0079]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1776 left_yaw=-0.0056 left_pitch=0.0789 left_roll=0.149 left_gripper=0.9958 right_x=0.2969 right_y=0.1299 right_z=0.0452 right_yaw=0.0621 right_pitch=-0.3186 right_roll=-0.1069 right_gripper=0.0079\nstate[joint_eff]: [-0.3487, 2.2632, 6.3248, 1.7509, -0.1929, -0.0464, -0.0122, -0.1983, -4.8205, 6.0786, 1.3895, 0.1734, -0.0171, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c339fe9ba7ca6fa56af6af6875753c99463f12b1810f1fee0fded334e40a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ebe1eaf2514152ea3b41ceea30cbc7f7ebaa35f26a6471c5b287644d14c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e68fd0db1a64ab7c22f5ed6da5f1e546cc5664662fac853b78f1e2d3e0c528",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2714, 0.4896, -0.7444, -0.4191, -0.094, 0.9958, 0.5453, 1.3212, 0.5507, -0.1524, 0.3805, 0.3016, 0.9991]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3003 right_y=0.1097 right_z=0.0537 right_yaw=0.0294 right_pitch=-0.2615 right_roll=-0.0863 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, 1.6342, 6.3385, 1.7998, -0.0952, -0.0562, -0.0122, -0.1846, -4.041, 7.9111, 1.3407, 0.1392, -0.0317, -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]: [-0.3862, 0.2718, 0.4896, -0.7475, -0.4194, -0.094, 0.9958, 0.6071, 1.3983, 0.6125, -0.1879, 0.3889, 0.326, 0.9991]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1777 left_yaw=-0.0056 left_pitch=0.0792 left_roll=0.1489 left_gripper=0.9958 right_x=0.3003 right_y=0.1314 right_z=0.0482 right_yaw=0.0634 right_pitch=-0.3006 right_roll=-0.1024 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, 1.8393, 6.4889, 1.7216, -0.1587, -0.0269, -0.0122, -0.0205, -5.7504, 6.9128, 1.1404, 0.4225, 0.1148, -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]: [-0.3862, 0.2718, 0.4896, -0.7479, -0.4194, -0.094, 0.9958, 0.6067, 1.3983, 0.6109, -0.205, 0.384, 0.329, 0.0079]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1776 left_yaw=-0.0056 left_pitch=0.0789 left_roll=0.149 left_gripper=0.9958 right_x=0.2969 right_y=0.1299 right_z=0.0452 right_yaw=0.0621 right_pitch=-0.3186 right_roll=-0.1069 right_gripper=0.0079\nstate[joint_eff]: [-0.3487, 2.2632, 6.3248, 1.7509, -0.1929, -0.0464, -0.0122, -0.1983, -4.8205, 6.0786, 1.3895, 0.1734, -0.0171, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c339fe9ba7ca6fa56af6af6875753c99463f12b1810f1fee0fded334e40a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363ebe1eaf2514152ea3b41ceea30cbc7f7ebaa35f26a6471c5b287644d14c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e68fd0db1a64ab7c22f5ed6da5f1e546cc5664662fac853b78f1e2d3e0c528",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAg_yFsNvHH0FGDyn_dYxynK-55Rq3lqX04ZHFSkiEa0xNVyiUMEa89lWqyIPCxxK32fxWk2_-MQbvgKtVfCMBIZV3LFqYeoy88cmH-BrNwulWNDz4p8jBmNWGRb5mBklniBXYBeFJvQ7YnlfcUQgVyIpSucQSTncF59o2CSE0qqFcSJqGyWFdoIozpJAuUXyBGPko07-SR3fIxlvFYZ-eUmLSXUqN7wvCXcgZ-WmyqB-aarlT8gDVHxgLICl-FBJm9kd4dTi0vaNEbX1O84evPsmaJ39Bt67k4u83MpE7xCDMCDZKVBR5wR5Vxy7_X_UdkCgzkScWmNIZ9LMeIL6VC_z-xSIKyDhcZqmEaoKiQsIs7oWcZ4Pv0bBhxIL4lbCbQyeHFat2Tk125dY33zJymBiGXEADf3u8nvFS9NygrEPiF2uKuBeE_yTnhfbVgDS36Y5hXMmoyeajmDCA1MDr9Mys9zWrqgeDzMVcIR-HBls0d43t1AfT95kmoTFt7X7MiicWx903cRhx09eSgtVvCydi6lzo0wsMvA85QSPosK5bR-5RM7j3O5o_0xKv8U3pCY1g-ghx3EMtzcUTxrfupF0ADCDJo2-7wk09GgDmWmTec8nuZcSVYNyytmt3IC5fcV79TIXDqq4JaBd4Fn1g2-unHUrIT6hNq2iYjqvRWaezT1P_Suiab7cvg2M65DM6hgl7ZRmqRcseaRdJEB79rMY7zLCWphPWqxqejc7mdnV1oBMlh1pPMdXa1FQAvPBzNcnojGQs5ZeL3hwV3SOSlkdPX1qPP11pCZmbv0HxIFgS5S7Mp7hHNcfNG1FgNkFhfltqcwDEB-QAQ4Tb-BEf2we_MQDatwDwaYxb3q_yxjAFhJUZq67cvCwCLeTbC9ujsQ4HLjOEsIIRXnEuuVyK8wffOMUVz9bCKkYBtkPJjru8_o72OXAjTMdcI5F7fWyNZrYzO4OfQ2LPW5PxCgHEeVDEhCPOa96TxLHEeys9_-zFdnrg_AWIcOJYk20gMUzi-bktpS6uaWOmojcwtkzTYpIKvtLhXSV9rPMKYq8owtd7DzESC05UthXRVNXnJ8d75pGM1JOchwvWnzvO-J8JhQfDLJNYOqs88JMMcnNj8mlSkeEzaVWC1FK50xS8YW8leaE-0jgBaiaovu-WeoGpRwKQzllpb0zlUqLYRDRIWrd4dq1KCD1TgRHkqo6AMc5HPRjcej5iAaahzQS-uJbuT0IOPWtoYtgDZ4eGJ91Fe0D_9MP5CNrkEvaabuqV8a0n7XYSPxZGGTrBSgo1kkC2bnjld4T_oXAMtRa4cU_b3pRbbo0OA7taQ4o8mvxZD4MhW6KZnSCfZ-nyHF0pAWczmRSgyFT0Ac49BHe0QhNegMfhWcJhOJwQTOaV_NvT3hk8hMSYBSW2wKVZj182D7l_NRRDlCqjBEfrxM6rOCV6WuEsHDehdySKVtZou8Bd9VP2P5uPi9pRKLK19wMvID7pLwKXo4FpuE-ycklzGnBRmSF4rN3KAHIhIrSNccKtfziVhb77j26nrYtazWUvC2DzKhgkn4AOZmb3jlzqSlC9IjO1Ewzdc-lpvCXA2AqpcZ0GP86xapfFr-YU5Nky3B_SvsC4y0hzuy7Z0hQ6YnxyCRcSdfnCqIAIFsLH7eNUWdifRDL5He1Bv9qoi3c84g5X85gEM3xaQi9bSbPtJQ0GMy1XyesEG-6skmO6MwVDCKnV4wt23wbF6XU2nyVpsE05PqeopB17YuNABst3MSZF-UjWDNlYtTxDgWAocIFx0MMJ55x2Wjxb4BeyFqnYth6pAP23QRpUhjs1lWM0r6f7HyEDHE62ECvDLIiTHrCHIFYDu8nZK3S168vv2hrPnz28HJV-jD59vWjGuf298o5YJdiDP2K7c1NbrVvhpZhHnGSFsCCVhMrUmF_lBZSFHK59nwoMDawzcFa8qBC6j-6jBBNZT-r1SaczFl5j9Zdr8nR_6_aLlJUQ2ohufG_TEK2WJpQdQDqngHF79EgzQsgAk-M9xFsblH7f6NALI5pfY5aNeNvLUPTL7jx2DF_yIZW3eUnPmr_AExTo8g-H_CAtaizS-k3fZCoD1M7ZMEVo0Q_oqXLpCZ05Z6L-3p7FIwDdqtu6sfag7rqqly62HgKQuc2xo3qATaI5TY9EU4EjjkZXom2Y-jq5a-YNOGnXy_rcVH0wRHk6kE0EPwYpoQbavReNme-QNln4db0odBAqol1_k_d5cRcO2sRTmPpTyuygfL7yFjpBe3ZuPFffdUrMFiVM7mdDVz_K6AbZW3AqkjAERy8g9xd3rt_tjdAmsHaBjGQjKUwmbEqZ-uKV0Myj12KCe_nYKYLS5FUNjILF03vLmO6InRG7i8J9aucO64xuH2BBFkxUNHnqm1iywBv60JPaKVSRQYllSL0YsiatZFFcl55xGBmAeSB6zxi2iLU0kwsNr_deRziFG7pxA45kYsxxKANxygD3CQNECO79gm0r77mev5IFNHsoVKxRw8Kn_PWFf5FmZM0MuDSWh_zzG9U_XzB8Be4ifTYQXovJm21szOwLsQeg0ZRMXM6LTaMPBkO3dF6mrEUKuMThe13POjc6GztbmcF1Su_FBNUeJAypjmSWmRV-W4bUfTpkT3ak0tZUgiOFfnokh_RR1KK4FS8Vu8MAdOe6RNljRKbE6Lza8AmF3nO8RqoaYjygGmg9ZddWngc0uyokmvpT1i92KrlvccQtbS2ZmBrcqxiqdx_6IL-ngDaTELJm3iDMhyRmgAnI9WoE22V0lhaiQ5djSvHuHZJDgNwPSOx-5I0U-071clH1bYd0zsWbPUex2YxSlArMChHnZ5nqGMFwY7z7HXmD-d5-BNRw9uKP8xPlA0tXzZ4MZ12ATxjySogJr7wbVGMbEXSRhfCkwWmnONpLF2xH_ROfX4M_Tr2E0-Oftjnc7BRvAQ-SEk7Ypt4KVmDctQgPBFBfZKbbtj5fW7iki2bwjPn4zgeZBolxY4SGAPY9eOWqhZv6uatFQozllju9SPop_Lu0VgT26EyWlbYjBDFgh1UmXYS2yygzXt5VJKg3qvduPAcmFZRlMoOYZiFJ0pP0rRSsAWuwbAIyGTLdr45VlEDsZLKjdq2Nf4sxOyYu93-mmqEEu3-jks7-84L8kNnbsXOHCKAqOvdDDzwCrq6RfqePtT2ZMnM2OIANHCWIPcP2nombB-WWChRqRigFBarDpUTESTKe6Wm75ORW8vg8Kt_9mRoVy_W5sRKRLLHbWweWV8AahBQwpmiV1j0aRo-NH0BVdorGMo3r8_TZ3lnRCa8dgHRWaAEpcrJmg-pNjnts1vmM8i2J2a2DaIfdbzLGkvfz4lKZFSsreIRzTVXhd9GrIBB_fnZIiE6pjNR_S9c2qkYtStJtvm0i3nygCHwpSM1dCYeJgaaFmym1iLlm-O9IL7XnVt57gbMB8IEbIsxNLzEgYcHOJNP2g9cte_uU4lXrfn-aBal8cUUMPkzSZh3gYEBWL3PBdBGA4l_xteLtJ8QbbKsvBIwIK9ZILt62bO5J3w5Fop1ToLWLmTIL1t9wi9_tXfWgjz-HlXbBPqmqSn7jnI4jMX6GSwIBRGYnT_2euucdaHfRfadTIvRMR-IEcAKYI-rMt3pZzpRy4Yv0epobVg7BG_9deB1Pk94hQdetUlmYw19pLZZ59PftQ38hb5M6FBjK_ZVS5k4K3Qg_0f1WW7B_WbGJBwkiAVqBzsqNhjG6id7FyywsjxNUO-dVyeXj2dAYLAp5Zma7rSpSfxXyW74cswafgJe-SFVd6lA0h81tGN3MSuxyjrw9tQkFdGIIhjkbeYYpsbiNX",
  "id": "rs_09e2bb0bbce223a7016ab42019a2cc87d0ba15de0da93cec93",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAgEqctsD-c9wiBOdTzcXvM_85kyhcNIYKGBn4Eh10OToE0rVZvTKzwIekjiXA297-c8OYzBVTmwZGTVMAxgbTxSo5egmIYy7Ky2EMqTtXlSXN8YCYsjuN2xXfeOf2FB4XKysS-EjA2Z4hgWXT7Ru4hbX_gc-K0RDecpwAx67KSHZUTcx1xePCLaQL_w0pnz9t82a6NN9S0eo_mEPQlu6ni_dkAd98vOgmvtP36abZXs-IuSFKHZzKf-2qY0WYRvaTixgjGtN5Tr_BbDr9ZtAkOehEEDP0Wz6-FB8aFZXN2UIPF7lnUevLaKJDP43rdMjCbw92C9J92HTsgcfxmVnwgejy-URF0qz1ezOWgeIcA8dQgoXts3odD-QK-XioJgFOU5bvq7BBpxppFpW1nDfIzu5VolfkWNompMpg0k4H2kYoI-OV3dqRXFTgvNmEdydjv85tOAKozQMXDIYzrThuOzt_ZW-eVk1kjkBZjDbqdL8HXmeJD5VHOzta0MLCtuj75gw88VchcUjWt_fVn3hgmCOrKuQTumJ798oDL18j-pQ0anuLCzGLzYFdaB_z1cCmB7MNlSG-b4GSWPltZ2jySDpTsoVgwx1IgY-YDXoShuKdzgDLqq4Zo2XB_vMlKaLoC617O-n1lX0zELjYXyr1Bz44FVkaO6FVQV7ftQa7qKfVe3cafgVFWxbbW-lklABSh7s1qKviTigrEX3LtkIVGNWzLpTTNr2uOoklNnUKxW9Bku_LMPh_0w7IALvlwyAKJ1HkfvaML_CmEPoyf25R8KIMlPiMaBl96NcmanZN3_uGEnId-oH5LlC8-eQPeYEfYmPC58MIUsa_HS6fNHPIXUVQXIjltMmx7PHFsjmrWSdCmKrlLQ9zxlRc323uzT7uvo-7Dm51oRqKvw6p7jgCeRUuLp-Nr2BBvdmgybrXFJy8tXoLzOuvhSbjvP6PrMcp37HpEqYfbAVj07j63zlUdvGe7ypkDP2Xj4qT4wpSMGSmwt6vDCB8HBRqJuUhuuyMAmQyWwch2D7vcBB59KuQoM9KDc_rjSntt8rdHPKmUfrZ3N2CupdoMN56zwUPyqi3uixu1kL-vj4hlGdmorTFCJFFRbb95Fk7ihTZZZZ5McQTqwE5ywmrOgleOaRtfEFyHIs7QdOSDLa-QhfJhxI26hcxu4OT0KWhvab2DVy-B6Kwotl5rSXv3le7RbAVjHWn_nId4B4QhFqA6bKbQPCwVGl_dAkw3rP2Kr89-yfTOHOvrannfCuDwEnbo7ReJuGNt5tHL1U0calApoc2ctVW-8qA5lDZcaVRB52zdy0kAjBym8M6_P5aTIHJYC3ltg_cHOdckuD6u0J-8J_pT7IJTJGd64Ty8bQQ8ydVeZ-J8nEsaNxnPE2u9Yis2xnlAaRVttI4mp05VGJeqlPeTVI6ON1s5DNWWDTvOEE2zaDZAZMKwjto29j-DhwUDHgkhtqAHXjWwIJ8wCHUOUgzdyODjQ1s-QUZf2w_iMAzCWVraBsruz4soyASTi7UbBh4f5NuwXUGE4Tx75kYNpOH1DYBoMpV0ib_Sx8I9IlpVS9haVEWQgS5vxfzIi1oIEoy6E8QckDyUPHdGf82-ShaC5fpcjMtsNam-FlpCZY_dq80-PrSV9ifNgTZtVVjN70k5HIdb1OU_OeVPAZylyC86ORRYCvydqbxtDx3WfjzIdqoYaS_cifFBjirjnyniZLY7D3a8C-6LNcM78IKHbP-vnAKUtZE0xrF_nv_61iajbp-9McWz9ly06uF9NqlJsPtCxf8B1U2EinMkLYU5icJEGa5AQz9oMEPAyNzSyAqKg3lwBKZ4GlX8psJCcbfMKgIfVWfH0PlgmFMLDvdqKbA6-Hs7A0gnvHacGulpEitMKffkkrU3chj4JqPeTpw937aBmsPmpxnPJY1RLrIuprdzeYCFtFS850A-fXjE6w3XBJMa32D187SS2rhfrNisM47q8I06YvTVA5ifqUt9dTU_vQE98eZABCqYRjnoh9z9pjqx_rhJt1ik377MJafFKcPvyl1-UH6cEWWRQhblfT36Zge2v8xZoD1rv5hvYGfRdUiPW0Qz3dqFeWD75sxuOAhth_fNpbz94q6aPdn0_d_wzEtlCQ==",
  "id": "rs_09e2bb0bbce223a7016ab4201dea9087d0ac21d838fcfd281c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.075,\"right_z\":0.095},\"note\":\"The jaws closed fully again, meaning they went into the bowl rather than gripping it. I’m reopening, raising slightly, and shifting toward one side so the next attempt can pinch a single wall with one jaw inside and one outside.\"}",
  "call_id": "call_jLcnJ5wZa3sAvk5rDGkTsjJ9",
  "id": "fc_09e2bb0bbce223a7016ab4201fe2a087d093ef90063d8731f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jLcnJ5wZa3sAvk5rDGkTsjJ9",
  "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]: [-0.3862, 0.2718, 0.4896, -0.7551, -0.4194, -0.094, 0.9958, 0.3908, 1.1847, 0.6254, -0.4118, 0.2691, 0.1528, 0.9955]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1761 left_yaw=-0.0058 left_pitch=0.0722 left_roll=0.1517 left_gripper=0.9958 right_x=0.29 right_y=0.0726 right_z=0.0792 right_yaw=0.0441 right_pitch=-0.3514 right_roll=-0.1206 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, 2.1128, 6.3111, 1.7558, -0.1148, -0.0269, -0.0073, -0.1983, -4.1778, 9.2923, 1.3993, -0.022, -0.0904, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88cfe65ab022f801e091cf3d05c83fc2eaf3df4b1f8db3083702da0619c78d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd133f5fbdc9a8970983a406894404ff2d6cfd2d25847924b7664275fac933c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93cf6d2227c6450629a803fd5e16251f0d309e6b963e4dca6a8bb985a9660e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.271, 0.4896, -0.7448, -0.4191, -0.094, 0.9958, 0.5735, 1.3682, 0.5964, -0.1764, 0.392, 0.3099, 0.9992]\nstate[eef_state]: left_x=0.2064 left_y=-0.0025 left_z=0.1783 left_yaw=-0.0058 left_pitch=0.0824 left_roll=0.1474 left_gripper=0.9958 right_x=0.3038 right_y=0.1202 right_z=0.0533 right_yaw=0.0404 right_pitch=-0.2783 right_roll=-0.1019 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, 1.9077, 6.3385, 1.6874, -0.1197, -0.0611, -0.0073, 0.1709, -5.0667, 8.2803, 1.2625, 0.3687, 0.1343, -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]: [-0.3862, 0.2718, 0.4896, -0.7479, -0.4194, -0.094, 0.9958, 0.6067, 1.3983, 0.6109, -0.205, 0.384, 0.329, 0.0079]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1776 left_yaw=-0.0056 left_pitch=0.0789 left_roll=0.149 left_gripper=0.9958 right_x=0.2969 right_y=0.1299 right_z=0.0452 right_yaw=0.0621 right_pitch=-0.3186 right_roll=-0.1069 right_gripper=0.0079\nstate[joint_eff]: [-0.3487, 2.2632, 6.3248, 1.7509, -0.1929, -0.0464, -0.0122, -0.1983, -4.8205, 6.0786, 1.3895, 0.1734, -0.0171, 0.569]",
      "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]: [-0.3862, 0.2718, 0.4896, -0.7551, -0.4194, -0.094, 0.9958, 0.3908, 1.1847, 0.6254, -0.4118, 0.2691, 0.1528, 0.9955]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1761 left_yaw=-0.0058 left_pitch=0.0722 left_roll=0.1517 left_gripper=0.9958 right_x=0.29 right_y=0.0726 right_z=0.0792 right_yaw=0.0441 right_pitch=-0.3514 right_roll=-0.1206 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, 2.1128, 6.3111, 1.7558, -0.1148, -0.0269, -0.0073, -0.1983, -4.1778, 9.2923, 1.3993, -0.022, -0.0904, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88cfe65ab022f801e091cf3d05c83fc2eaf3df4b1f8db3083702da0619c78d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd133f5fbdc9a8970983a406894404ff2d6cfd2d25847924b7664275fac933c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93cf6d2227c6450629a803fd5e16251f0d309e6b963e4dca6a8bb985a9660e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09e2bb0bbce223a7016ab42022f34087d08dc52870e979dbf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_z\":0.06},\"note\":\"The right side of the bowl now lines up with the jaw center rather than the bowl’s interior. I’m advancing a little and lowering so the fingers can meet that wall from opposite sides.\"}",
  "call_id": "call_kdImE52FsFbQ5UOUlPxajYWi",
  "id": "fc_09e2bb0bbce223a7016ab42024134087d089baacda538443d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kdImE52FsFbQ5UOUlPxajYWi",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2726, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3611, 1.2652, 0.6334, -0.3504, 0.2466, 0.1253, 0.997]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1758 left_yaw=-0.0062 left_pitch=0.0707 left_roll=0.1521 left_gripper=0.9958 right_x=0.3019 right_y=0.0717 right_z=0.0669 right_yaw=0.0481 right_pitch=-0.3697 right_roll=-0.123 right_gripper=0.997\nstate[joint_eff]: [-0.335, 1.8393, 6.4479, 1.6825, -0.1148, -0.0269, -0.0122, -0.2667, -4.6017, 6.8444, 1.0574, 0.1001, -0.0904, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702151f1d50eaf1badd040918362a170e95639ad25bfd521557503359b9854c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d950f72260ab88efa753f8d276beca8c105f9c43464e155faa815a8d44cb96e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74648434da1a72d38cce7cc3f3ceb0d5078acf25036395dcf6147a705b9bf031",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 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]: [-0.3862, 0.2718, 0.4896, -0.7475, -0.4194, -0.094, 0.9958, 0.6071, 1.3983, 0.6125, -0.1879, 0.3889, 0.326, 0.9991]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1777 left_yaw=-0.0056 left_pitch=0.0792 left_roll=0.1489 left_gripper=0.9958 right_x=0.3003 right_y=0.1314 right_z=0.0482 right_yaw=0.0634 right_pitch=-0.3006 right_roll=-0.1024 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, 1.8393, 6.4889, 1.7216, -0.1587, -0.0269, -0.0122, -0.0205, -5.7504, 6.9128, 1.1404, 0.4225, 0.1148, -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]: [-0.3862, 0.2718, 0.4896, -0.7551, -0.4194, -0.094, 0.9958, 0.3908, 1.1847, 0.6254, -0.4118, 0.2691, 0.1528, 0.9955]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1761 left_yaw=-0.0058 left_pitch=0.0722 left_roll=0.1517 left_gripper=0.9958 right_x=0.29 right_y=0.0726 right_z=0.0792 right_yaw=0.0441 right_pitch=-0.3514 right_roll=-0.1206 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, 2.1128, 6.3111, 1.7558, -0.1148, -0.0269, -0.0073, -0.1983, -4.1778, 9.2923, 1.3993, -0.022, -0.0904, -0.1685]\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]: [-0.3862, 0.2726, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3611, 1.2652, 0.6334, -0.3504, 0.2466, 0.1253, 0.997]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1758 left_yaw=-0.0062 left_pitch=0.0707 left_roll=0.1521 left_gripper=0.9958 right_x=0.3019 right_y=0.0717 right_z=0.0669 right_yaw=0.0481 right_pitch=-0.3697 right_roll=-0.123 right_gripper=0.997\nstate[joint_eff]: [-0.335, 1.8393, 6.4479, 1.6825, -0.1148, -0.0269, -0.0122, -0.2667, -4.6017, 6.8444, 1.0574, 0.1001, -0.0904, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702151f1d50eaf1badd040918362a170e95639ad25bfd521557503359b9854c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d950f72260ab88efa753f8d276beca8c105f9c43464e155faa815a8d44cb96e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74648434da1a72d38cce7cc3f3ceb0d5078acf25036395dcf6147a705b9bf031",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAnN8t9lFsW5FGj-cgT3ZgZztgbX6lUFPcThNWfMmtqDdF0EgkvhqIonP6ge_M7d06gngS_WWdIqNkz51W3cJcG0V4uU24uiFgRoSlhYmOUW89ofLXFHo7haRU_G1DtJe4Co28A31HhfDxqHbc1b-BKsgDHsTRlRDVS_s4kX2oJbOVt55cqSbbAe0y-BgFnVMrrzeYA6lqbaocni1rIZHjljFmF_ag1_4jhlHWjj8a70yji9Ryu93FPaECgD4y6vWQ2qklChlFkwy9KQytObgQ85qxwaV680kWuiwyY7vMCWgTpjnubJYmz7tYfmNDe1PVKovLFPyDGSwPiq_cmNCExo_LrroK65QZTBaQfoasF_SrYNVN4s5l_hqvlSrbyl_wFGPEa5FhYKIfhT2QBeTlazesBst59Cr7fNiLYXqFvaYrWUY5rMstFSR2vzuMlGw1n1UH3YFux24p-Sbdt4_BeBTShdts49VcBEh7VEMGgUGQSaodNnu8yGX-lxl1JD-nm1phM9X6I4j-2bWmI15fd9NfM7EeGGCsfFMju_fQPWZw_MTL256qdxXaVstaeYXNiahpRFr5ZVv6ha-XdZvEdSogg7xMop-Tr5BOWwKPZlHXNv8pAxH9qvmRzJ2f45pUWBjgTtR1AY3BLDTcW7D2_5vZesZwugZA2wgKD2bYIdt-hQAEqenfjkuNly6F9jOyDax2pTmwI9yw34Ityf-XbzWlwyBC5En-vurgcA42clUwpK-XBnXGq-Zz5AOP0VnVVbaMhs8WMpwMKS6_l2kAKcLG8H9zd7pwWtih1fHS_nQeRnWJo3lWqG5KRXiHjw14dt9BtZzGxES0W6KIjTkgngI16fZOchG89p-y4iqQO0IrcrZyPqtI4xNps6vcsUgKJ7mL9pV6-1AYIMJ7xpONMMtnUJLRdpEFhnd_Q2TlVz54Je3fcNmO0LLSREkQmitUeOflovC6g3QcEp7-cA7SblHwic-jTR6aBNDAqo84l1o9YKcfx8KPQot2zn7uHCmHs5oHXjmxtu3Nk_egrcEMDlpRCnAZb1HSWtmZCFEi2NUQCGcMD1GP5qAngOmL9OvMbwmHOFVcBiF6U30qap5h4HWuJOyfGzL9BTtSh6_8EQy1jTkJnPL0qTfk8x_dTri91eDy9VrPHCeFIdbgLg_06URkesdwnG9SvXp_G8RI6qnrc5SCrW2berC6KSHK_8y_SBV8rgyxAElmlAJTblPa46i46ayCvrwJtkb7lPPz-02nO2phg9uJN5HYmSuSdoepJYKy03xxFy-HrO14FGTQKLrXIxv7nAefabtloys4yJvy5mQJevHB5h8YOBg9VxBAASBZngvbplEBuUXgULspwWff85ePgBvgOhd718pCNv9U=",
  "id": "rs_09e2bb0bbce223a7016ab420262d7c87d08c1cd931273eb995",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_z\":0.065},\"note\":\"The targeted wall is still just ahead of the fingertips in the wrist view. I’m advancing another couple of centimetres at the same height before pinching it.\"}",
  "call_id": "call_K1OIYVDcPPeTIVjqnEW5XPrz",
  "id": "fc_09e2bb0bbce223a7016ab42026a0c087d0936c46baf2c3f477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K1OIYVDcPPeTIVjqnEW5XPrz",
  "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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.3308, 0.6334, -0.3317, 0.242, 0.107, 0.9972]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.303 right_y=0.0682 right_z=0.0502 right_yaw=0.0424 right_pitch=-0.4169 right_roll=-0.1458 right_gripper=0.9972\nstate[joint_eff]: [0.0068, 1.7299, 6.5026, 1.7118, -0.1197, -0.0659, -0.0073, -0.3077, -5.9966, 8.8547, 1.3748, 0.0464, -0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131d928c5f05903b8aa39b881d184bffac00687b145368428c31adeb745ff726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80b974e597d0c402438b26802719d460193ac3fc87dd74f1b6a43580c30e5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814057fccef77906df16548c83584321e1382c0276a5d2683c092c7f1102e594",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 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]: [-0.3862, 0.2718, 0.4896, -0.7479, -0.4194, -0.094, 0.9958, 0.6067, 1.3983, 0.6109, -0.205, 0.384, 0.329, 0.0079]\nstate[eef_state]: left_x=0.2061 left_y=-0.0023 left_z=0.1776 left_yaw=-0.0056 left_pitch=0.0789 left_roll=0.149 left_gripper=0.9958 right_x=0.2969 right_y=0.1299 right_z=0.0452 right_yaw=0.0621 right_pitch=-0.3186 right_roll=-0.1069 right_gripper=0.0079\nstate[joint_eff]: [-0.3487, 2.2632, 6.3248, 1.7509, -0.1929, -0.0464, -0.0122, -0.1983, -4.8205, 6.0786, 1.3895, 0.1734, -0.0171, 0.569]",
      "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]: [-0.3862, 0.2726, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3611, 1.2652, 0.6334, -0.3504, 0.2466, 0.1253, 0.997]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1758 left_yaw=-0.0062 left_pitch=0.0707 left_roll=0.1521 left_gripper=0.9958 right_x=0.3019 right_y=0.0717 right_z=0.0669 right_yaw=0.0481 right_pitch=-0.3697 right_roll=-0.123 right_gripper=0.997\nstate[joint_eff]: [-0.335, 1.8393, 6.4479, 1.6825, -0.1148, -0.0269, -0.0122, -0.2667, -4.6017, 6.8444, 1.0574, 0.1001, -0.0904, 0.1392]",
      "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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.3308, 0.6334, -0.3317, 0.242, 0.107, 0.9972]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.303 right_y=0.0682 right_z=0.0502 right_yaw=0.0424 right_pitch=-0.4169 right_roll=-0.1458 right_gripper=0.9972\nstate[joint_eff]: [0.0068, 1.7299, 6.5026, 1.7118, -0.1197, -0.0659, -0.0073, -0.3077, -5.9966, 8.8547, 1.3748, 0.0464, -0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131d928c5f05903b8aa39b881d184bffac00687b145368428c31adeb745ff726",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80b974e597d0c402438b26802719d460193ac3fc87dd74f1b6a43580c30e5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814057fccef77906df16548c83584321e1382c0276a5d2683c092c7f1102e594",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAq3CWEd_qhPTH2UeQ4Hwmt1jdjYt6YE3NXEhEssVZ4_xfWRHnSusCqaHZSCgeAajFaV8IuIkbheSHPys5As1CphbkYqnh2_BAnyRdo1TP0uHZ1zA9kuRPgD_fNhj94zpnN1IaQhJmlAQ_Nr4vvG8nPzPwhWnBMAW4_Wo5fKHfKgHVLBcaOijb3Vaxx22OAQYvEQOwQs-J3lr043MPravpVFT5TYjWKQ9UqQ72YrBZ7FT5UJ4BadNxTufKSSC61r75EA8eZZbdMlzlshLsCdFKKTJCunSisdU3M0GVj184n9oKObwmuM_Nm1Vf9cgL7OpFH-RKZ7e3xn1KmM4slTHM6iFKQ5AwTYudINPxFWoRhWHREYBM0jght8UeHDI4znDlZ-_DqPKdLWD7etn4md64yOO-V6lhOwR0HMy8TI1MjacI8XEsY7fVr0YAERGrrFCS6wYhBkMIh1edEKmQxZ5xDJ6pvuC4xFk08Oyhihyd6-1JGvwaqe1NlDxBqfpArVgxSXfsy109K9t5T17BTXOgmzAFaYa-sCpKjsNbIamrIkAxFCTCChfPPRjR2x-zmxYH1evsp2-tOa3r1AlGy-TauiY8w7UJf-B4B1yE9UOyInw5lwPKG2TcNu_EI0_XRg5O7VDZo45iX71gA4yleOC0GHMCeFFqihGUhAEnRqIXWgU4_mPdIcnRM-Yi71KvR8MBXgL0XfxkGEFXoqJJYQ0Js8eef8QUXZV46YHzByIBedj4e0_2zff_vMkpMtDwtuspavwk-6k27ykW8Xbi99svrx38CTLSW2mzlvOGpAH30QeJeBcqHO3jnPe52OdNLZmzWUjrUfakkOk0FIjgJvPMT8tmzp-fu_6IW_EYmFN_SJFK2Mtv6zzGge_7PIcslVEUZtiILspJNt7iVIF-qBJodIfQuyKFt2TWMCPCal-WCzRd21wCe0tE0B-bO5ZR8b893ec6rq3wyB2VP8tcB79mAcmFwg2QefGz-46Pgb_i_tbpI6tAOk7inVbWhwJX_aQwbDB_quXVRjWiEoACpUa50LKUieVVEMSTWIpnwYGIJAm7wFb9uZbCC9n-R2MW4YNrPNCNuxB4ZpTsBreF2wq9xCjpQfzm2ykFO1gjeUgxB2zzsOgDEZ3ea8hZzY3xIHNB67CNt-msVA00srUrZ-fgV-Mb562V4oWp9MwVzwZYOzKcGdQSj_K2l6ceC28XuhpdHETYS2t_vT8VhxaWOPCQ_psvajbAjFtXr9S4Yel_JiR2LIGloWKOeraq035A3ZwjzSvqqhVlWHzfNwKPiesb00VapHwcoCyqf1fmBO1whhTSeI2c6KyYdGmtQAWl6o_DOhoyboNyoSrOHKYsFKEcpPnNjSnHrtpjsgvPcJv79Ct0eLRmV9rFu9c8KWe0MSpjaQQASImI3D34J84o4iWaEsrf90XT1R8TRUIal2fNdwVFAFeaFdG91oC4M-BXCT6MerkzyCcQl-odE12WDQ3Cz4lnv0sHpAOBq4awgwt45OBTt4UOv0kOtoO7k6vNRevBA",
  "id": "rs_09e2bb0bbce223a7016ab420294e5487d09f0e0d6d7499eaea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward move stopped near the bowl, with its side aligned on the jaw centerline. I’m closing on that single wall now and will check the opening for a secure pinch.\"}",
  "call_id": "call_0TtnL5C3hMq31gmlACMCc96Q",
  "id": "fc_09e2bb0bbce223a7016ab42029fca887d08f4787a05044bfe1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0TtnL5C3hMq31gmlACMCc96Q",
  "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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.33, 0.6331, -0.3405, 0.2268, 0.1036, 0.0081]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.3006 right_y=0.0701 right_z=0.0487 right_yaw=0.0568 right_pitch=-0.429 right_roll=-0.1368 right_gripper=0.0081\nstate[joint_eff]: [-0.3487, 1.935, 6.3248, 1.7216, -0.1441, -0.0611, -0.0122, -0.253, -4.506, 6.1607, 1.2674, 0.2027, -0.0269, 0.5543]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e04eaeee042e4d6e8594052140257603db91347efcb68194a795936d410b21e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931745389ede2d7961215c504b7b33b32fb2e981712b3c1dab26cc1a3c4da2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beaed7547dcfe0f5b18b028ca455c6887657c15ae6476d8288e9cb49c3cf2c70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2718, 0.4896, -0.7551, -0.4194, -0.094, 0.9958, 0.3908, 1.1847, 0.6254, -0.4118, 0.2691, 0.1528, 0.9955]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1761 left_yaw=-0.0058 left_pitch=0.0722 left_roll=0.1517 left_gripper=0.9958 right_x=0.29 right_y=0.0726 right_z=0.0792 right_yaw=0.0441 right_pitch=-0.3514 right_roll=-0.1206 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, 2.1128, 6.3111, 1.7558, -0.1148, -0.0269, -0.0073, -0.1983, -4.1778, 9.2923, 1.3993, -0.022, -0.0904, -0.1685]\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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.3308, 0.6334, -0.3317, 0.242, 0.107, 0.9972]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.303 right_y=0.0682 right_z=0.0502 right_yaw=0.0424 right_pitch=-0.4169 right_roll=-0.1458 right_gripper=0.9972\nstate[joint_eff]: [0.0068, 1.7299, 6.5026, 1.7118, -0.1197, -0.0659, -0.0073, -0.3077, -5.9966, 8.8547, 1.3748, 0.0464, -0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.33, 0.6331, -0.3405, 0.2268, 0.1036, 0.0081]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.3006 right_y=0.0701 right_z=0.0487 right_yaw=0.0568 right_pitch=-0.429 right_roll=-0.1368 right_gripper=0.0081\nstate[joint_eff]: [-0.3487, 1.935, 6.3248, 1.7216, -0.1441, -0.0611, -0.0122, -0.253, -4.506, 6.1607, 1.2674, 0.2027, -0.0269, 0.5543]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e04eaeee042e4d6e8594052140257603db91347efcb68194a795936d410b21e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931745389ede2d7961215c504b7b33b32fb2e981712b3c1dab26cc1a3c4da2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beaed7547dcfe0f5b18b028ca455c6887657c15ae6476d8288e9cb49c3cf2c70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_09e2bb0bbce223a7016ab4202d32c887d0820b217a69143d0c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCAyWNImT3Qnt-Q89MebtnWiLVv7H7jQHEpP4uhCbuJVOKawO-0Kl-ufbVrdOIM_QP5GxmVuv5lNGmF5DAikXV6Zdtlw3o18M2S8poZtf8sRorXHtVcbBhA9rlCigyJ88zwPGpCD_MvtNtIjYYRS9qjhQ2GPJKwK23Gof2y5lKE9rg0Mi1pacSlVmGzAfPFF7z3Gl-E8Nnh92Ntn8fLXbYoL5jJp_F9kknUT9gmkE5stAmZx7WAHQk73WKaczWqSZNTzd0Sf06Vpd95tJGRPE9327Mg63IMhWvuC814sWM7HjizQrtPwVW_H_YBzeWg-N196Cm3nWib0yHzXQYYZF0LzQvH8IOHbDJtZjF2wnNbl0mSgNep1pSw5cIGhRyr0z8dmJem9apvvQA2rUMRGk9KA6Z2dJLPQePliDOFpqJJyWrpcMjFLkU0iCb2chIDX1NrRm6lra2CxV9ewLphwfmQMIbIFTJrrJHVLecopK18rpEw8r4r1e3RPalr3F7KnyHD6ozKFrktCjme31sMBv82eT_oOqZ6TXtkJ4nTBkZDrGd-xwbTBFqq6psYLui15uUZ2BUr533nEtwzmFSK0D5k-YxDNBCYo0mwQouPNCeH4dJvDcWkopa4YGBF1VH1GirPQ_Vlfj2ByRY9-mxDRdTfSQ56j-xGTwSQD5WgBr-J5l89YTlePTzjeghtEtfSR_CNuXapy7EGEg1DhpiXlfIRhkPPUoPveWDJycBovMHHDWsF3FQYbCg8BSiltX_lyfjKrFzgB2ozWukvcVPAexSQINNB2_O_-KJRf-rgygG6r4B-CY2EHbut5JrO9kquh7JmbwlWOqPLz1EwKxpCD2Ka-Or1T1nOEVoNxB_-zmyq0qFYOV_egclR82xlUFg4ceInHzJ-ssM7a2D4FOhqkqfxDDY6yO86IOQcFAqeokztPca00-0emNMWA0o4LCtWsR6pbQGbSpwu0-XMxi7t2T84WHlm2gAsqYMClHVBTvZir4oHz30c5TfHbRIqoC4IZ7YF3pYU1qqFJn4CfpF2EA7gv7HeH3fYbGHvN8hLak3bNZVFzjd8V9hVMRkyLwHuzPQOD0l-KhJWDplkp5UiCsIYUP5pAqD5E4ai3nV9XoyHs06sVH6m9oh85kCsLlyCo6WyEG4M9fG8udqBzjkfrjYveJTDWQarD8QgBOlF8RjIMm70EvUHdbjt15cx6aKGUq0G_GrO69vs-CTCAT9yXrGdO-A==",
  "id": "rs_09e2bb0bbce223a7016ab42031a47c87d09f9c197671f584a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_z\":0.14},\"note\":\"That side-wall pinch also closed empty: the wall was still forward of the actual fingertips despite appearing close in the wrist view. I’m reopening and moving higher and farther forward before descending, rather than forcing a low slide.\"}",
  "call_id": "call_ZeQ7uMXOuINAyR5uoZzUxnGz",
  "id": "fc_09e2bb0bbce223a7016ab42031d78487d0a9cb09ec84e540cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZeQ7uMXOuINAyR5uoZzUxnGz",
  "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]: [-0.3862, 0.2768, 0.4896, -0.767, -0.4191, -0.094, 0.9958, 0.2546, 1.5497, 1.1522, -0.6601, 0.1738, 0.0051, 0.9952]\nstate[eef_state]: left_x=0.2043 left_y=-0.0016 left_z=0.1729 left_yaw=-0.0065 left_pitch=0.0565 left_roll=0.1578 left_gripper=0.9958 right_x=0.3778 right_y=0.0705 right_z=0.1239 right_yaw=0.0693 right_pitch=-0.4671 right_roll=-0.1496 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, 1.7436, 6.5436, 1.8193, -0.1294, -0.0317, -0.0122, -0.8137, -6.694, 9.0462, 1.2186, 0.0513, 0.1392, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0804ea04433019a22b50aee511fcb53e04d3617b66f6092885991fafd19a79e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6198aa1cdcb3eacac58338d7157a1a56a3407ee0254b922eb1afeec7199628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a44393ad96762029daa9ba4396c9ec0e1b609deadcd32d3cb97a0c4d642383",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2726, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3611, 1.2652, 0.6334, -0.3504, 0.2466, 0.1253, 0.997]\nstate[eef_state]: left_x=0.2053 left_y=-0.002 left_z=0.1758 left_yaw=-0.0062 left_pitch=0.0707 left_roll=0.1521 left_gripper=0.9958 right_x=0.3019 right_y=0.0717 right_z=0.0669 right_yaw=0.0481 right_pitch=-0.3697 right_roll=-0.123 right_gripper=0.997\nstate[joint_eff]: [-0.335, 1.8393, 6.4479, 1.6825, -0.1148, -0.0269, -0.0122, -0.2667, -4.6017, 6.8444, 1.0574, 0.1001, -0.0904, 0.1392]",
      "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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.33, 0.6331, -0.3405, 0.2268, 0.1036, 0.0081]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.3006 right_y=0.0701 right_z=0.0487 right_yaw=0.0568 right_pitch=-0.429 right_roll=-0.1368 right_gripper=0.0081\nstate[joint_eff]: [-0.3487, 1.935, 6.3248, 1.7216, -0.1441, -0.0611, -0.0122, -0.253, -4.506, 6.1607, 1.2674, 0.2027, -0.0269, 0.5543]\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]: [-0.3862, 0.2768, 0.4896, -0.767, -0.4191, -0.094, 0.9958, 0.2546, 1.5497, 1.1522, -0.6601, 0.1738, 0.0051, 0.9952]\nstate[eef_state]: left_x=0.2043 left_y=-0.0016 left_z=0.1729 left_yaw=-0.0065 left_pitch=0.0565 left_roll=0.1578 left_gripper=0.9958 right_x=0.3778 right_y=0.0705 right_z=0.1239 right_yaw=0.0693 right_pitch=-0.4671 right_roll=-0.1496 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, 1.7436, 6.5436, 1.8193, -0.1294, -0.0317, -0.0122, -0.8137, -6.694, 9.0462, 1.2186, 0.0513, 0.1392, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0804ea04433019a22b50aee511fcb53e04d3617b66f6092885991fafd19a79e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6198aa1cdcb3eacac58338d7157a1a56a3407ee0254b922eb1afeec7199628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a44393ad96762029daa9ba4396c9ec0e1b609deadcd32d3cb97a0c4d642383",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCA67juxxbDZtykAn5WU6qySVmQ8CiUQ0ht5CQBed7iH9hcXogmEL68Wx41YFboekVDWwFRYc3SH-qHuVkm7hLBfmGwx5f36GcDUY-YhkoSMptbGKIHUadgU3fyyTxfu_PrAFVIvxjURcd8WGF6tZ2vt_wGoMSyG1Wso6YLM4H2dDMrQ48TqXWf5imV7b6rGlH5kCYl9HPTTp6APM-Q5b3qW8tTiWcxmsHsTagDvpGQGsXaiNzjaxioHyHGSwYsl5xTEJlYobqfccPe7Ffo4fdWI-EofKD7flUVHKkNqUxM0GvD2FWAA97k7SopUiYFsbtMf0jus73yWzAKIolpZuHNZynWdLdLvp7iGNTIxMDV8CIqwYAO3Ko3Aa64W3fGoJUok0JGuVbynvj4cN9ydqQ2oOAZggq6r9Joco4oSTzWGBcPRVsX5nuom59XEG9cmi50sF56081oFpcu_J14zPQ--ZjlGkCt7T62YuIBUQOy0jv8811jKsIE6b7r6Vn9BU1Om9-kKx3k3nesBXMfflJEUTrfV3WYBPCVXkMyuyD6B9MMFowO8s0cNvzz3kaji-sWwZ1mSSRTiAj_G39kEzeDRobGq-DdEj5gn_BkesuTUYUup7qFrAC2DxMAxvoE7cNuacz1x-ekuKxbW3J-ZwZv9e9AucL1fJYpw2FyBLyjxjG1bH4qxXf2t_VG9BD2th_eZolczE8uEKzGIXr5XuGUrxntHjhQ_QcbERxZkqVlYnhDNZ5oUM8jtVxbhtv761BHu34eREO5fFRqebMq2O7AMKn4K9CYfB2VzHo7OYJDQHBcnG4WtTw7hHWcWCZGeiqOGIeib1D8Dxv3FT58i72rYdo3Vs7mSfly6WkVW5PYu9WLlzqmnFuGNUGCuDVSHpv99Rrbo0Rvf2sdKTh7ba2PMd3nTUqGME5yAKWCM6j-p-IrmO1Wkd2p4rb1PF5ovs7WpO9EBrpAJhVujymrzhSDR0oWgLVpmoaC0faqJnPi5it2WEMzOnaK2mVC5VnxGgfcT9siQv-pkOb5Nu7fm012yPPomtHZXjLmWEzY7ZCyG2akoMkFcwqIboeizaBO2pu8NvbLT0eNnG7aebv_wd5FofZkYFilwxnhaQPpSmLqLG7syX2hX4GTtZQt7ApDJNnv62NsukRdn_L_Fr6mwAgm5OqE3PEmn_anvcE2zIdaTsXI23C2MrS2KEgzYz1ThW97wYgo0fUp_rVB2HgPlKeZQZW2rTZZTCIu2VRX0NLSH9NytqrR_zfdsSvzS0OGrGgWfF_UMGWtVYjC9XLP3uXmpOaIrQwKi1u8oYOVh8hJKtgROB6X5zh0l5ePkUdDTu04S1aZ6a9CdwedUSPtuUlyAlmslmeiGC3RloAF_8YjzUdfL-gxyETPkz4ID1qU_MvFvjVRevK9bG1jG-HRaVk11ac-F8i-wk9cueqyBqCaLLrV6lzPHznbgTu4gtLjRegMJlrO2aiZcLs896J9C3_n3Zty0ZQVxcNkuTTbpF-0lAA6-0cbIMKQWpHQUoUjPKLZWX-BJ31pX4bI_4tzD7XeXPmEc1PHWreQ9VR5go-G5nkwy0ce71Wdkjk-iDWT-uN9PNrPB1nDmmhNpAl7apZ2VGXYNtMVYMbcqqkM7YHfV7A-Uy5YgUgCZ8buuR7hSVZTHODIJJnLv8Ppi9HQ0xq8pb0CuClxFqYi3u7jVVGqGZPB1xDeloiiYxwTvbqtnwjmAugmZdXW-RfLhqTp3-e_mwdSjsZgK-i18vC6tU813gCIJYwkqltFY0-phrkUUjFGk1kA5RehjK7RE5IT2Y-xs26_zypdH1KQHFegD2LgTiBb_vjdgewa6GnGmoGMlImhGgIRzasSv0WEfIF0KwR-J-ai_6cKX9Jy9Cs0806sESdbRGcn205bgokQugQIz4SY4w8s0SqaRMBXWeHwNjA3MEt1IUHGqwIKkHxRXx_2YOH7DOiwXseuW6gqgF_O5s3KOkygvNaM6Wh3ngH6x4CCAGN_HsQ2j97VUizEox0YolZiftQnlKtOB3MwXkuMFot4ApTmBnO1rzmieSpg9uxStd3dQ8bjyM8-eveu0y3M_hXISQ1PGYYZLkh7NsvI--Kc6LkZbuJCz4sJNbW3HikSNyXArkH3aN8Acp-JXYjKkN-n47rxjbP0f0Uxf_3Ks2t6U5MMKWwZBG5zVPYWdXxNRlul0Fao4jtslVFT8nLkEuJrb3glpXn9JLPxb37yiRL943RA54WRYqXA5q2QsyaiqjJ4_TyEvgBZ8Ty9FeHcjfzjem05gneHhpbgZ2ENdbQRLR3XcMrh7leGpw8JpIKmw45LQg4w6UldFay5izVEn7TdW7O6E_N0qIm5O177QIAN-nNGBkiHiURfTISKsY5E7-Z-XzLp8ybd3I-k-VjdbDaF5EbRyeIMbu51HU_PQ3ftt88oBza-esZ2iMPgQnNm4oLJ8SrHflvCgM4l4ZwuoNQBwCDl4LPhijPCnfo5WDig6LMFQmYrgXVZopQdM242Swrf0DSOxcQnmLF55KAym-kWFEQ6E5lPydtDpCr10Jv2Py9Y0_TThNu8QVnWug0snSBYAdRwN4IiDf0xZOp38oMt7lMoAmL7n-UQ0TG6LZZfVBUaCC4f0qoJ4CAuOoEZ6T2A900ufiR952MY6T2pBfx2rEliStHFpjVf9ZeBmk7DZtqa-8IcnwtXOQX_aLlCm2odFJGkm0s0aFDZ1ScECLsbeuyvzAi2Y0FzwsMfKgjlVyx1WaOcJYDFmIoHmIHUYVSjBx_jQa4KMHZonwPICjO6XQkSH6EuAIQrShYtQyVeA8o54MAYO09U0-FoeRylhljDvrunAcqaz2LqRFvv4wpdKvO0U3o7Et9_U0aL_4HE_fxD5I9yX-P3whRA92j12mchTgshPedGjhTprkJRxzj6M1qLV5QAZuyU6iT3XCKAH_2dF53I_aiWzOL-bJ4OsSlSbRdT7AzkWoGDm5ltQc1cl7FPFSvVTBsKDIyZj_QYda-y4JbV1nwngzZUje_iCY0h8pX3ZMzFqhOTJn-jMgk3TIuBa8nXbWnSug6yxecejYEJ62lbN48mwWfr8O8G9HvSt85eOSKPhYt8sXCjDDkTSIeAuRjVDuZWztlwL0DwGbvAbamtA2oXRVvBoWuXZKFGI3fn3sXQ4GjUXbjZs2csSTyXozfYlEW4qdPlcJ-Gk4vU1FlwQgEY9oL56ej5_B1tmjineUdowlmarAVWQ8q6K_4MFAxPNIDMqE9GdEyjsP6i5b2ZRc0KfCWchHhLuo6_vVClnmv_G0LXegTwPewqYBfy4baL2LbqKTQKjx0E31JpKJI-6__Wia5ZcIye7HtFnF3j1gpCps89rXZvHjMTyWbd-JdaRjRgEDigZVXFI0xaAKI8_x1_-Uza5hkMNt5ho6xwrWO_Wndb0Vne4PpsU-0xmgPYRWfRNfze811VEt6otINgiepoyaWadAp_5Rg==",
  "id": "rs_09e2bb0bbce223a7016ab420356aa887d0a5db2658cbcc0074",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.08,\"right_z\":0.09,\"right_pitch\":0.25},\"note\":\"From above, the right bowl is now clearly under the near finger, but the tool is tilted backward and still too high to catch its wall. I’m tipping the tool forward while lowering modestly to bring the fingertip to the bowl’s rim.\"}",
  "call_id": "call_cVU2Mk3PDVJ05g6czj22Mltr",
  "id": "fc_09e2bb0bbce223a7016ab42039c37c87d09e867db5bdf2d80c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cVU2Mk3PDVJ05g6czj22Mltr",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2768, 0.4896, -0.7738, -0.4191, -0.094, 0.9958, 0.326, 1.6218, 0.4347, 0.7444, 0.3069, -0.065, 0.9963]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1716 left_yaw=-0.0067 left_pitch=0.0501 left_roll=0.1603 left_gripper=0.9958 right_x=0.3915 right_y=0.0798 right_z=0.069 right_yaw=0.0851 right_pitch=0.1466 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, 1.8667, 6.3248, 1.7656, -0.1245, -0.0464, -0.0122, 0.212, -5.9145, 4.9026, 2.254, 0.2662, -0.0757, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f64e5e7bcc2ca9569761af7600efabfdc0d4666ddf7d3f64d3822816653b554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346b130bb7424946cd79fdb4a7fdb63fbbf273030e57621692c31f0897a05f71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1585b79372c7365dcbbd160ba7506902ef54fa5968b6ac9280d685ed315cb06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.3308, 0.6334, -0.3317, 0.242, 0.107, 0.9972]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.303 right_y=0.0682 right_z=0.0502 right_yaw=0.0424 right_pitch=-0.4169 right_roll=-0.1458 right_gripper=0.9972\nstate[joint_eff]: [0.0068, 1.7299, 6.5026, 1.7118, -0.1197, -0.0659, -0.0073, -0.3077, -5.9966, 8.8547, 1.3748, 0.0464, -0.022, 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]: [-0.3862, 0.2768, 0.4896, -0.767, -0.4191, -0.094, 0.9958, 0.2546, 1.5497, 1.1522, -0.6601, 0.1738, 0.0051, 0.9952]\nstate[eef_state]: left_x=0.2043 left_y=-0.0016 left_z=0.1729 left_yaw=-0.0065 left_pitch=0.0565 left_roll=0.1578 left_gripper=0.9958 right_x=0.3778 right_y=0.0705 right_z=0.1239 right_yaw=0.0693 right_pitch=-0.4671 right_roll=-0.1496 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, 1.7436, 6.5436, 1.8193, -0.1294, -0.0317, -0.0122, -0.8137, -6.694, 9.0462, 1.2186, 0.0513, 0.1392, -0.1636]\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]: [-0.3862, 0.2768, 0.4896, -0.7738, -0.4191, -0.094, 0.9958, 0.326, 1.6218, 0.4347, 0.7444, 0.3069, -0.065, 0.9963]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1716 left_yaw=-0.0067 left_pitch=0.0501 left_roll=0.1603 left_gripper=0.9958 right_x=0.3915 right_y=0.0798 right_z=0.069 right_yaw=0.0851 right_pitch=0.1466 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, 1.8667, 6.3248, 1.7656, -0.1245, -0.0464, -0.0122, 0.212, -5.9145, 4.9026, 2.254, 0.2662, -0.0757, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f64e5e7bcc2ca9569761af7600efabfdc0d4666ddf7d3f64d3822816653b554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346b130bb7424946cd79fdb4a7fdb63fbbf273030e57621692c31f0897a05f71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1585b79372c7365dcbbd160ba7506902ef54fa5968b6ac9280d685ed315cb06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBDw1cLvnqUJBGr0gBGjNOcbWeOrh-AoZizuQjdM_MuD5d6iUbIXuu5bDwbLCvIhGo8lx_p74bh19oHXReSMhhsCHWEEI_36M6jq4HUPN5P4gkxmlwksy1i1-EGqF5F_SQGpT24af3YZzenvaR3FjrIjXN5p7QUYfFtg5miMPSSBVC2M8c0howWh1rtD2c5XoI0mbTQwYgSL2SYdFc0kNB0IE3PC_j5YeFp6SgFgouvLnlTwj0doA05A2Dy4q3ObCaZOn_6zV4tqZr2echIU9H6YJH9fAP0MtBitjMuyNVLorR3UHU3J_pknyqmhbnBFAWmVfKxBGD-0X1i7DwTkbu2sjjD_DSnTinWCKP_WhmsWra7Gk7V2qIKEEMC-Ucofvjc6nBDpMouJ_ezfDPJ62IBApyJnZodtLeoX5nBnbtYjLu3IEqAbve7iX7i-p7CccUY32TQuArbeUixeB3qWbJ1YBoL0qDf2lQSmBld911GSgj_7HicSUuAIzh7Wqsn8OXi5DVKyz-sBJh-v0eoZd-cHNiLuI_8XlnpbRhYvcPq_Zgq9OTup5oX8iyVOOeAsY16l02dFaAtw6gp0_A4C1gKjQHpSEcvnQ7pfmJXqngvmwv4k0f6DNMgjLqf5wEjyZ7t2FDRb1Zcw1YH5GI-0FmXBrhk8pgTjOc1KqPr5yLpkpWrJSaujnjMturHK5C9Pm7rRC8wOn2CWx6kfAi1TcH12Z4NO5xOLsFoT_zHoq09cxHyLuC7S01p79HToO8cnU0lyW28RYK91hp4hwiN0MjkqxQMNWzHnj25ABcYDoZ6LBC6PdGwbg7UHQqvv5SUThiGK8wuKEBtULD0N_s7jmGTyNahIHmLxCmPCCOcDXxMYEj9w9_7EaL-rlr1-3572x8_-x4bHvul7Is-1wHAL3ndzEjz2hkgNE8fpkRd2sJC5Yf2ARzwhsSh5FpF1AmBRxazDQnhGV5jBFn7kPNeJUEICbBuUPkxGK4Vxwvez_P0r_kKdx5xzhLFgHzkqbpf-kpFT5FKwrxAf90vytohihb71mpG_O4z6MWEQVFSM5dx6GPO8MOeRTdyUeNp8VxLUJ9o8G5DSyhrH56NMCKM2AOwcZX-4BQpjQv3I4s7BURRH8dlzCFyJXvT4urSvP5HBMBzeLSq-jYpDb-aT9wgCulnPYHd16ZtYCcGjPu8gdllMKnOqYJVo4nAe_8_aPPsvT-0foBLQI4eqJ__znRNvDTzY2bqQ6uVZjcCUPcjnzS3Ubsu4K74JT27hGBGWmLRQPZAW1vB44KlYeSTj_vXUiTktAUducYAInHJ8DkrSmET_88lmEHKzBYyvBxqC69kvwvHse34cRxVJgOMlEd4cF2GOD7u2zahh0ghvsBN1D9yBZGUDA15BgltqVvIkoyka97n-amUWMhsLjyRXOf6f4gvbMRq966IgBBtGUsQ8Fg5WIiGW4TEoo6gU7w2n7fqt9KF37t7H4qF42BXfd5VVh00MAEkQedQc4GaH_2OeMRIabCxD4XT8vq-hXY_Y4quwUJyXa_f3JAK4Evu0r6xBEkwtzWApITmkN7ewejw38GZnxqKgQ6-vYMYUxJJtP2JEURlXpI_zpEGJ66b4BM_lTNG81Xo0BbMZkxFiagTlllOh9rhBkyPjlOLIDScpmAXodTdycOu0gIg6ERRJPqsw287-C9ng0YeloLyaka8YaEIIZBqy3dXP2gQmT29SrsKNS5HeacJujtVFwrxmKfon6dixe_1TfwNZjd8c1WXRHypUfEkeQJ0V-24XJSnsgYn0OEIbAuqhqpInAh_DjdhQIMJxWn8inXjxKPfir-5fDFv4WVbLqs_i9KFpMquuuTr1A5YZOu6dF39ankdNN_suU5WUDBkwm3wJaJf8jBPxAbGbV24m1tv7FBZKeYdhSr-Jr4iz76IN5MS0f41bDbDim4yH7oiea4cri8_ONrcxfg2ZdYTrM5aPI9Fkg4mWib2EVndnYbv3M7S_4Doh0mUQEa7BgHqkBdVeSTPb8Mo30c2vv-7a1-zASl39Z6hoDbFqnli2uI1TysB027mmXc0znerxTwK8LVlrFeIUfohcovJHDZWOqjAE1guc_5NNv2-cuD85avpv1nAItZcOHLVq29OFanigWFMfr-2GNnRgLosNNgLfyJsBpCO4rwMeXKL0qXMCK53IcUCcrthjuBsaz77vPqS9GIObCm2THh5w3h9HdfLhle8qgssJ0jbN3R_FqX_8ovewmzt37_HGxyYdzFMHdA4IQaSGsIZyhpU6s0fvxlf1dP-Oixb2EucOmtmPWWoyyCQqmjIgq92U7o5X7dt-BhNHUbDL58A5iRsMLkikKVoZVSwNt6Pyxpy6ntTzxNqj4UTWHYxvfU_iLE5QTVtHxuE1Y0yKIylNBtKSamVpL4SMMLiem3n08rAkqdFHC4a",
  "id": "rs_09e2bb0bbce223a7016ab4203f318c87d097481cbf84c72c77",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.055,\"right_pitch\":0.25},\"note\":\"The forward-tilted tool is lower now, but the bowl sits partly below the wrist image, meaning the fingertips have gone slightly past its near edge. I’m pulling back a little at the same low height to position a jaw on its rim.\"}",
  "call_id": "call_4Czq4MahHQ4NO8E0dsw7yDYs",
  "id": "fc_09e2bb0bbce223a7016ab42041bab087d0ba72c838f0b1099d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Czq4MahHQ4NO8E0dsw7yDYs",
  "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]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.3603, 1.7412, 0.2878, 1.0111, 0.3275, -0.0719, 0.9965]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.0067 left_pitch=0.0487 left_roll=0.1609 left_gripper=0.9958 right_x=0.3629 right_y=0.0798 right_z=0.0345 right_yaw=0.1058 right_pitch=0.1485 right_roll=-0.1777 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, 1.812, 6.5983, 1.7314, -0.1294, -0.0513, -0.0122, 0.5128, -6.0376, 4.3009, 2.4054, 0.1587, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31f9fc8ed561e53a8f503f9d5eb49cb4762cd97ad6d369fb73238c69b11e5df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd734352c049a5b8f595959eec64f75235280f7561b520e0e015ed5bef1e083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cba2935fd6281795edcf8d9ac279198d13a2b0f6ed3250350588a0c791a6cfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 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]: [-0.3862, 0.2749, 0.4896, -0.7559, -0.4191, -0.094, 0.9958, 0.3466, 1.33, 0.6331, -0.3405, 0.2268, 0.1036, 0.0081]\nstate[eef_state]: left_x=0.2054 left_y=-0.0021 left_z=0.1754 left_yaw=-0.0062 left_pitch=0.0685 left_roll=0.153 left_gripper=0.9958 right_x=0.3006 right_y=0.0701 right_z=0.0487 right_yaw=0.0568 right_pitch=-0.429 right_roll=-0.1368 right_gripper=0.0081\nstate[joint_eff]: [-0.3487, 1.935, 6.3248, 1.7216, -0.1441, -0.0611, -0.0122, -0.253, -4.506, 6.1607, 1.2674, 0.2027, -0.0269, 0.5543]\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]: [-0.3862, 0.2768, 0.4896, -0.7738, -0.4191, -0.094, 0.9958, 0.326, 1.6218, 0.4347, 0.7444, 0.3069, -0.065, 0.9963]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1716 left_yaw=-0.0067 left_pitch=0.0501 left_roll=0.1603 left_gripper=0.9958 right_x=0.3915 right_y=0.0798 right_z=0.069 right_yaw=0.0851 right_pitch=0.1466 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, 1.8667, 6.3248, 1.7656, -0.1245, -0.0464, -0.0122, 0.212, -5.9145, 4.9026, 2.254, 0.2662, -0.0757, 0.1099]",
      "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]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.3603, 1.7412, 0.2878, 1.0111, 0.3275, -0.0719, 0.9965]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.0067 left_pitch=0.0487 left_roll=0.1609 left_gripper=0.9958 right_x=0.3629 right_y=0.0798 right_z=0.0345 right_yaw=0.1058 right_pitch=0.1485 right_roll=-0.1777 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, 1.812, 6.5983, 1.7314, -0.1294, -0.0513, -0.0122, 0.5128, -6.0376, 4.3009, 2.4054, 0.1587, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31f9fc8ed561e53a8f503f9d5eb49cb4762cd97ad6d369fb73238c69b11e5df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd734352c049a5b8f595959eec64f75235280f7561b520e0e015ed5bef1e083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cba2935fd6281795edcf8d9ac279198d13a2b0f6ed3250350588a0c791a6cfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBGpjT2E4suMUg3m6hsW1yV0TGQHNe4jRCiMeximoztVKexqkYCX4tT2FdETD4KY-96qRtVjdWmAjDuehJcZ-bHp4-fjMHW7WyO1q9apF-kr-BtosMBpVimhrDvSbUUpGsw0zFdrVzcXAJhh4housk9FaSk6ZvrzDq8Dd1GwXKqziZmovCb-b1JVOcNIMq5O57oZs5b2atVhA6zoCQfO4kRwAdWV6SkTDjMyiejeoOzkntkmuarLZk94BhUwgso8dCB50wkMCIGUuvjITI3rlLmnkg0GFCuRIMT291GPUESJ-c2_6TjGl6UshKm7raZ6mVxaNuQYosB3sdrbIx3Bb-mM8NT5Bz6XDtotXQABd3JptILpIn4SG1BFOTjDbzhUHQniPsrzAHkwUhHoX9JKqob2ZBtm6sZSFEDTERNewKC8JYYGS1lKVSVTmGeSfAzfNXebhNzx_K8WpBZdLj0LJHCN0tokYtow0Mr7_HaSePmv-upSIWHba4NMy6oL5LjsPBMoh45a621n71ElMi_EAeCz6j7hr-liAhUzOCN2q3PzYkRakzYxlBnbJgh4zum5A8amtl6YmLGpnFwmOVGyt2g6n43r2ZWhOHUR7wvyPx_FxTytTQXawOOYbnUHgAx0BBDJjPCYR3dpMoltNO5R-ksMg0K-VDzxBQfhoAS3xiSDZLffKJY9IfgxJIHfocJtFY-u8UhtCEbhSsQJMuzOYqW3Vc6coLJlhmrEGVeolt6a2YJ2nr3FqTfExi8IMoNvG_ZBBxwYDhPnT9P4ybRoIVVLlJ_8YZgVKr8MzF_OO7Km5PLaVUyPQ1w2X8zrml0PJSEiS_PZozJmbkEtdiybHOfeaJA1TWTWHNIrlgODbuFXwNzmTOHL4KMa48LxQvldiLRUWT6W67TwTKmC24qUUsHNlYZ3zKYqQ10QNb7QhCDxdiNxzO7NNb1fkAijVDiuFDxyINyTCnMMQaFTlmK32Zfp7cJWNMEgRO26NcGkvaW6dmHCLPkI11pwi9463ZGE-h3MBsVN9JveR-pq-IWAE25EH_YVeuwZm0LA1nMzB7XuvjjV-E_MJZnICeJJRzWKvL8fHQ6Y6xNDjhyM_xLC2tLXxiE72MhfIN4h1YuatZnoLH63hj_b86Ps0Yoq8klixMy4LNI-uiT4x-EWpjORHDciUDvlfk12JNnV3SV1MrUP0jxJAWH2IiCsdhS9sF6zThUKY68RWYjfqY0wi5yIM7GeuWz0r9y9dkVtZ-OzJQarVNzDrGqx2rtQIjc5wW6cmpauA9RitsASvKZOIJcIGtqDtkc7M1LgUMywNKuTRZx1y4m_u3prRUMa2A1fq0YlI45AHMqSiZkNpZgX8LMz_bYZslyk56Hk3gxe7lNvScrLAVNIt1AVo6GAu8dzfP-gQGB",
  "id": "rs_09e2bb0bbce223a7016ab42045557487d0a55fd3a1802e9d24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this lower pose, the bowl’s right wall crosses the jaw center at fingertip height, with one finger inside and one outside. I’m closing on that wall and checking whether the jaw remains open around it.\"}",
  "call_id": "call_yFV7RSd7dpierbAmpz8fWypD",
  "id": "fc_09e2bb0bbce223a7016ab42045a71487d0989072cb050a7cdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yFV7RSd7dpierbAmpz8fWypD",
  "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]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4187, -0.094, 0.9958, 0.3614, 1.7325, 0.2878, 1.0676, 0.308, -0.0574, 0.0392]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.007 left_pitch=0.0486 left_roll=0.1607 left_gripper=0.9958 right_x=0.3682 right_y=0.0858 right_z=0.0495 right_yaw=0.1126 right_pitch=0.211 right_roll=-0.14 right_gripper=0.0392\nstate[joint_eff]: [-0.1983, 2.0171, 6.3248, 1.7411, -0.1441, -0.0366, -0.0122, -0.1709, -4.2872, 3.6581, 0.9206, 0.3248, -0.188, 1.1844]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a583c1b7ff8881d6bff55eed9a2993f596e740d04e969b291508a38e5901935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f5d7c5830365bd4cf008a45865060d4d8542a531f9b1548b644f9b69d4f84f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc11b9fe1045948bff6ca21301c122804344576659ca711b7aa43f4abdee458",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2768, 0.4896, -0.767, -0.4191, -0.094, 0.9958, 0.2546, 1.5497, 1.1522, -0.6601, 0.1738, 0.0051, 0.9952]\nstate[eef_state]: left_x=0.2043 left_y=-0.0016 left_z=0.1729 left_yaw=-0.0065 left_pitch=0.0565 left_roll=0.1578 left_gripper=0.9958 right_x=0.3778 right_y=0.0705 right_z=0.1239 right_yaw=0.0693 right_pitch=-0.4671 right_roll=-0.1496 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, 1.7436, 6.5436, 1.8193, -0.1294, -0.0317, -0.0122, -0.8137, -6.694, 9.0462, 1.2186, 0.0513, 0.1392, -0.1636]\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]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.3603, 1.7412, 0.2878, 1.0111, 0.3275, -0.0719, 0.9965]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.0067 left_pitch=0.0487 left_roll=0.1609 left_gripper=0.9958 right_x=0.3629 right_y=0.0798 right_z=0.0345 right_yaw=0.1058 right_pitch=0.1485 right_roll=-0.1777 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, 1.812, 6.5983, 1.7314, -0.1294, -0.0513, -0.0122, 0.5128, -6.0376, 4.3009, 2.4054, 0.1587, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4187, -0.094, 0.9958, 0.3614, 1.7325, 0.2878, 1.0676, 0.308, -0.0574, 0.0392]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.007 left_pitch=0.0486 left_roll=0.1607 left_gripper=0.9958 right_x=0.3682 right_y=0.0858 right_z=0.0495 right_yaw=0.1126 right_pitch=0.211 right_roll=-0.14 right_gripper=0.0392\nstate[joint_eff]: [-0.1983, 2.0171, 6.3248, 1.7411, -0.1441, -0.0366, -0.0122, -0.1709, -4.2872, 3.6581, 0.9206, 0.3248, -0.188, 1.1844]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a583c1b7ff8881d6bff55eed9a2993f596e740d04e969b291508a38e5901935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f5d7c5830365bd4cf008a45865060d4d8542a531f9b1548b644f9b69d4f84f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc11b9fe1045948bff6ca21301c122804344576659ca711b7aa43f4abdee458",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBNF-T8N3ipmeg1-BFkOoyazV5jsor98GRG_UMtDFlylusnvGmaAdhDYVzsdxtrc9jJ12EdYqnQ1d1U662XH6Iyu2F7VZk_OdUgCPZDFwQWc-ilKGQ-RvNqKhXunDnMgv5nXvTZ37ivSvj2qH73cGYvVQZ1WkDeejpqt9ZMCwN2jlPJpGBewhCkdAIZheub_z9Gl_gvZY0FI7gOnShBQYAtV6YXbqNlf9QZnTdcN19P-tJ0Nybquw8WF7zh2gqz00omWUj9iFScPQAMLokqsKYj8KJCbzyBHOCJ5qELOSYQ30WYkWQsZ6VawMkPC20BKVZHYel3XiKpMRIUAu3kXLsgqTa7CTTceX8m9dTsdiG-vNFZlrjhi3Ps8DnK3tVXYUHwTxIPCzOewst9Ifm75JkPs7bqXwTxSOdjxJhehEuXlZzEYl-5aXNZzg0ZVnfjIRXOzdpanxNyeTzeRj6NVX5FPyY2hyq1czLUfWyeVFU0BbzU38ph6L-3p4tWMvs7NgabPkAsFBj4NzsTyiiK_rXRQD37Oozrb4JhEm7ErZiEZN0GAHHKLGhLdLkO_t7QaSXTXMYO6_wHm1e_ZlljpkrkG3gu6sccVrdHqCRW2goEX7HNwkrEET6shbT-SF0hcwcd_8Lz7aehmpwyJqopO5cshzp7g1S41dGEHfy_-I3OOgxIpRbdriGCfy_JoKgdx70jb4bh4bwiC2IY_Hfc0BigwsEiX2W48GZnGjKYnj7wTzghp8qQyCOalKRPnMOwk7wv_7Y6L2JnO4k5nCHeTEwDIGmQQE5u3FplDU66mS4Wl2REyLH7Q3J5eRIN0FzJ_IeD4Xf06tvBU_rcgDnfPU5OUTSjJixPRerdO4Nb8TRXbrtXLZ0h35NZHomq5013CPLnSLEIFkHJ1Kx4v-4ojNtC0WdVWOuu8cRMjCEc9QD_LmFZrcizyUvscvPhwXjcJwkygk04QmVeJyWCe4wpA9ehImAPTCv2lYjs0PBu4gemXa531RsaO5Kn34hWpj4EpqGkKE3HbF8WTAoeUvPCjRHek-tnSo3nmMHhd_pmnGCQtIEXXLGUFM-F0zmaBy0I7Q_5cMctMNdc_2omA32Za_Jc3cJOhilLINHvpOEvNEFg3oQMHSV49IPmUPdOKuerveRQymnoduaLxsPr_Zj-Lb17es99Av5xTr-78DtEt_1JY_PJGwfd55du0DLlOU7wNeniS5epPPYY8cE7sZ1KSjjiYNBh-UFa2lFrizbJtHAJBclV1cMNTyqACZ0MRtTk93-X1yf0576lfDgypr666GjONMEQs4-M4Dph8-ea_sIYa5b9_RvxkD0I9Y2e_ugsNTGzHcAYuNtJEcALe6hsL_p4DvdLcaCp4XrkMf-i-59AhDPfHQ5wg9UIHzmPz04UyvxwMuoua5b7ME134ZVfG486H31PMrTuxPUhY0yps-vOvZl-aBF3b1KuZXwAkYrCJixx14kqa-YvLDAFGZuiuMD-CQ==",
  "id": "rs_09e2bb0bbce223a7016ab42048435c87d0915d04950ecf4996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145},\"note\":\"The jaws stopped about 4 mm apart, close to the width of a bowl wall but also near the empty-gripper reading. I’m lifting to see whether the right bowl follows before attempting a stack.\"}",
  "call_id": "call_ekg47tK38FZdXe30R4F4SPaJ",
  "id": "fc_09e2bb0bbce223a7016ab42048c2c487d09c136eb7c71f83a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ekg47tK38FZdXe30R4F4SPaJ",
  "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]: [-0.3862, 0.2787, 0.4896, -0.775, -0.4194, -0.094, 0.9958, 0.3599, 1.2778, 0.4248, 0.4801, 0.3054, -0.0647, 0.0405]\nstate[eef_state]: left_x=0.2034 left_y=-0.0012 left_z=0.171 left_yaw=-0.0064 left_pitch=0.0474 left_roll=0.1617 left_gripper=0.9958 right_x=0.366 right_y=0.0848 right_z=0.133 right_yaw=0.1171 right_pitch=0.2142 right_roll=-0.1449 right_gripper=0.0405\nstate[joint_eff]: [-0.3761, 2.0581, 6.3658, 1.6825, -0.1734, -0.0366, -0.0122, -0.0205, -4.8205, 8.9368, 1.9805, 0.0464, 0.0366, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6dc03844bb33320b411427751d30644619b7353b5e492766886ac310bd617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf9b3d213bbc457f51d6ee7320ea5b6b08accfddb8d4e34c3cb930fd6fd042e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62409306783c46d017f251a22e68ab3e746a677217b2d8b571cc4a422847fe3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2768, 0.4896, -0.7738, -0.4191, -0.094, 0.9958, 0.326, 1.6218, 0.4347, 0.7444, 0.3069, -0.065, 0.9963]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1716 left_yaw=-0.0067 left_pitch=0.0501 left_roll=0.1603 left_gripper=0.9958 right_x=0.3915 right_y=0.0798 right_z=0.069 right_yaw=0.0851 right_pitch=0.1466 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, 1.8667, 6.3248, 1.7656, -0.1245, -0.0464, -0.0122, 0.212, -5.9145, 4.9026, 2.254, 0.2662, -0.0757, 0.1099]",
      "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]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4187, -0.094, 0.9958, 0.3614, 1.7325, 0.2878, 1.0676, 0.308, -0.0574, 0.0392]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.007 left_pitch=0.0486 left_roll=0.1607 left_gripper=0.9958 right_x=0.3682 right_y=0.0858 right_z=0.0495 right_yaw=0.1126 right_pitch=0.211 right_roll=-0.14 right_gripper=0.0392\nstate[joint_eff]: [-0.1983, 2.0171, 6.3248, 1.7411, -0.1441, -0.0366, -0.0122, -0.1709, -4.2872, 3.6581, 0.9206, 0.3248, -0.188, 1.1844]\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]: [-0.3862, 0.2787, 0.4896, -0.775, -0.4194, -0.094, 0.9958, 0.3599, 1.2778, 0.4248, 0.4801, 0.3054, -0.0647, 0.0405]\nstate[eef_state]: left_x=0.2034 left_y=-0.0012 left_z=0.171 left_yaw=-0.0064 left_pitch=0.0474 left_roll=0.1617 left_gripper=0.9958 right_x=0.366 right_y=0.0848 right_z=0.133 right_yaw=0.1171 right_pitch=0.2142 right_roll=-0.1449 right_gripper=0.0405\nstate[joint_eff]: [-0.3761, 2.0581, 6.3658, 1.6825, -0.1734, -0.0366, -0.0122, -0.0205, -4.8205, 8.9368, 1.9805, 0.0464, 0.0366, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6dc03844bb33320b411427751d30644619b7353b5e492766886ac310bd617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf9b3d213bbc457f51d6ee7320ea5b6b08accfddb8d4e34c3cb930fd6fd042e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62409306783c46d017f251a22e68ab3e746a677217b2d8b571cc4a422847fe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBV3X-ZJ_kZVx7GVztg3dUC_UqCfVnMgHsiBAy9FQbXgx2m87FBRAgM8W3fo_p7yxbZUtOr9JVl-b3lDnqE0GMGw5XjgZ7-b66BOyyibXHYAioFCaPJqLo9lJ6hrIxGce9QjsTYP9GYHudDYmbE3AdYL3Pzwjx7OAxpivaWNFALkZmSPNTBWP-u7-laBPyWbvTbppuOcRfCFNpsFiOfj-kfQ8JpxQ0kUYLzBlTRkRsz-awI2BgWXovL4JViTgDUFJ8hcN58aMDEXJOMh9nxzBISf2rrRbZ-kGSRmJ-WTGXm-0FA7FQwkA63iporPSmi8WWMjLiXWZmghoZUvAmf41fQmKO0RsGvvw7DXTlwnN1D5WjoQxn1L7I2v2X1jWlzX_RgUJiWxK0V1lYMl6j45u55ZC6hba6uy8Hs-mQYHNSuLbJs6i3q1F_n_kiXih83PKC7jmywqo5D_zdIeDPaz5PGSeVrlFYJMu5XOmjhWvVE4Jx6da1dboBMqvOkrZx7pTBzK_bQtUsWUp__wRbPYJQhSmcygRPpL1edSatexCYVuIaYr-Clv6WEUlg_XwXii0eL6mqPbpmUJDTcwaypQwwUP4x3WX-tXj2MrRif1VVOB6UZYJJ_nvBnWh4d1rx2xd3bf6FYJI5d0M1nS-4m-JuS376Bk0bnpXXqIjoXR9GtE_bdx1rE7gS51StrHAlRRwq8otr9c8F9IhBD2ZK1n90Ejri6A8sCEB3HJmV7B_HhhDtcqdNOeeGJn8H39RHyjxDnAHznvYZUBHPR5qScVpGAze6-8rF2lSpNErH9V9t6ChRQz-4IxJl2G0PHEGo4FkFFXhSN8_1M_yb0_RFU8_cKThg2O1WNaqhn44_coVa6F3H2qM7FzOK-Sld9amFRFQVLOTbrVQ6Bm61v3j-RrPikKVZ7E5hObWnx8-sJ907vEjXc3cCmYQXMdggiJNZWompJ4frEXgRKxZLnRHmrUoi7KbQIXNm_SGTaunaYIPoJoBZ16SdWC7t8ZN6bgRdHW7VVDsst113IyvTn7AgSBzek7x6op-Wyq5cRG67bKenlFb-z34RpriEWfrFRrPnoziJcp60OUdwYavHrOjEbLtNn4pGiOnlH0L_IYKPZONn1dVhHMo-8CUwdn1jVZr4gtcu4fncGCG6Lv8_NUvOYExv4LIX-OmiWzm7r_FKP7Z8rcTyXMXUk8_U49_Z3FJW-8FjPj0G8qDnS21Cb0bbNRAGMi_xNIX9YmPVcPNr_yHD2DBajt8rf3-1qxJIuTJpBgx-Svb3MvxGZ2tQ8G0DLdYEOQTz8aM2Iax9kzloUak1v3Cw_gi-CW06Hqa9Y6t62MGCFFbkdKgoNMzvxHdqO5gwKZ_g9ILMHD62w68tzhHj0jLDbVXIOrQkNGb0aHfps6nUzDGTayL51Dkg6-h593eTfTK-Oe4PclpTfVJzsBMnPFa1hZpp_aRUx-okvODvrFA7pngcXwN2BijKZq9iVa4j0QsLayI19X9xqRP7VcMgae61YjsR4QrFY_7E3FLO7k8jjiOyrwQRAKsB4kLGyBAOKryIdMkxgRq0iKmgUFVnL3wDjvqgy0lUbwHPa2L1VcLywhfEcy11GACUPSGVbqUpmI8XGe-KXu8UzmO9VtbF7GacYjhSqlG75w4tR097_Q3bwRVK3P8WgpaNma3-be-oLkIN4NwrWM91rrS6tqmgNZDbrlimV8EKJ6pVR-0Y_YlLK8Uk-1TNJRGP-mEy8qSWu_lg9moGBUYUyHVhglQB_v7VaNwOyjg6U0ZbP9ucntJucGGP-06vmLxiwqOT8F_HRAyDRtEgDBfZL6rGJdkMlMXmxEkaH5KKTwPXXC7RNAaPziVLnQNyxX2XzPInP6Vi3v4i3cD8d-Rq4McmfzilG2N_LECGISD7idDmpz1_oKeKoL4Bltchg3MYmPFPaHa4gMQIkYiNWepFr1NT-BvUNL7h2z1Es9-8XQi0XcpvCHa4k4csV4mInUF9_HIayXTLVZUPFu2AvricJSUvynjrNsgYIuOHnvVFvS2vdk9wBGrlCy6AaA72ul986viiBFY3ArTiuvdIgpSjnayHPX81nE4z7jaxImn456WoPs1G0ej76hjd1O1z41Fig85i05qSMShL1OA7skmsQgKTFJVxdq8O3irGd6chcPTSvaO4BNRXLXXu-amr6LgJhvTrXWVlOZ-x363Xf3Gvt2j8x-x9TRQ6D7AFgEl7FytUrN9THq60carIsAlTaD6zACRCPXdFgWZxEQqgxZVhcgHiwLz_tSSaggde_2U7lzuBZr3ZFKWEmUjxCW_n5pKmcysGop-UTXW48vVmsnBEeTvfzidoFh42XxBPnMMWYpTokDdoeO4Vf9NCjgeJlZyq8WgF2fF6SjMQxOCtn_7aMRjODq85jkZeuOeoTNKrpuJahH7kMKI4maOdJo9B4wq8PtpGXVASVsUmyB4bbUvIXqIlXmDPxAJP9Dbc8DbwejFJaAMII75VNKnKbOs6sRS6NmkKd1Vx8e0qHjQrKCIJ3_4KcTwYxSgeSRIZWOGFCE5Wgif3xBkGwiphBbPXSEMnf0Sr0JA5ff3jiKLxHGpZTTl3OBJLRGvVZaDxbciIL7s3z_PIsfT8VQXJFinjQNmf7gggO7ymVKa2ii00BcX1rocNXFvPAImV4QF6WRPMflMv_STQ-J5Vy1YS6SYlXCHxV5KXP0wriVIi12BMe6h2aX7hak8ZPWZguaBtD83GkQ7p9gxFtxRVthAYEFnQfrjjDRp-3x9l5ER0ll8Qsr3x9VDJ2mqRD-_ZxC3Df6nzZ78NFopfHtAfTAjdbkaPw1n3P-PngM2FXtAlQVBK88c673BPertS4-Btkrpqyr1sqjRrJ30AlXi4SGMD_Qe4sBZYCpz0qoKgjl_yR8UuVimABGMif9efaBYgidiabPoq3rWiivd3X0m8c3i4CYu3zA-UeQncyDKbAH73jr7L5AVTj5qxBlCzoH-x2XpK8cHGzvzqrus9z7JpqlKfznIH1ImKGUQNPAl8NMg==",
  "id": "rs_09e2bb0bbce223a7016ab420508d6c87d0a8ab81a7f46b5273",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.255,\"right_z\":0.2},\"note\":\"The right bowl rose with the gripper and the jaw opening stayed around 4 mm, confirming a rim pinch. I’m carrying it high across the table to position it over the upright center bowl.\"}",
  "call_id": "call_3wnrrQAm0DaEQaUL4GFnZi0D",
  "id": "fc_09e2bb0bbce223a7016ab4205403f887d099f56e364ccedf7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3wnrrQAm0DaEQaUL4GFnZi0D",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2787, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.8757, 1.5642, 0.9558, 0.0658, 0.7315, 0.1581, 0.0427]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1711 left_yaw=-0.0067 left_pitch=0.0476 left_roll=0.1613 left_gripper=0.9958 right_x=0.3609 right_y=0.2541 right_z=0.1813 right_yaw=0.1732 right_pitch=0.171 right_roll=-0.1817 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, 1.8667, 6.3385, 1.7314, -0.1734, -0.0269, -0.0122, 0.0752, -7.4051, 9.306, 1.6435, 0.5641, 0.1783, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32b838311364b2eb11e688c6a2b64fd3e10512d9251c3e8e43885ec33cbe827",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec614c7a259821c1e43339723f6e2ec5738499d50f8b6d38e87a5be01d3b105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2f387ae6aae4ce3f41151612aa2ddd4c2f64f4392414ba79f62584671c0530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.3603, 1.7412, 0.2878, 1.0111, 0.3275, -0.0719, 0.9965]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.0067 left_pitch=0.0487 left_roll=0.1609 left_gripper=0.9958 right_x=0.3629 right_y=0.0798 right_z=0.0345 right_yaw=0.1058 right_pitch=0.1485 right_roll=-0.1777 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, 1.812, 6.5983, 1.7314, -0.1294, -0.0513, -0.0122, 0.5128, -6.0376, 4.3009, 2.4054, 0.1587, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2787, 0.4896, -0.775, -0.4194, -0.094, 0.9958, 0.3599, 1.2778, 0.4248, 0.4801, 0.3054, -0.0647, 0.0405]\nstate[eef_state]: left_x=0.2034 left_y=-0.0012 left_z=0.171 left_yaw=-0.0064 left_pitch=0.0474 left_roll=0.1617 left_gripper=0.9958 right_x=0.366 right_y=0.0848 right_z=0.133 right_yaw=0.1171 right_pitch=0.2142 right_roll=-0.1449 right_gripper=0.0405\nstate[joint_eff]: [-0.3761, 2.0581, 6.3658, 1.6825, -0.1734, -0.0366, -0.0122, -0.0205, -4.8205, 8.9368, 1.9805, 0.0464, 0.0366, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2787, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.8757, 1.5642, 0.9558, 0.0658, 0.7315, 0.1581, 0.0427]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1711 left_yaw=-0.0067 left_pitch=0.0476 left_roll=0.1613 left_gripper=0.9958 right_x=0.3609 right_y=0.2541 right_z=0.1813 right_yaw=0.1732 right_pitch=0.171 right_roll=-0.1817 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, 1.8667, 6.3385, 1.7314, -0.1734, -0.0269, -0.0122, 0.0752, -7.4051, 9.306, 1.6435, 0.5641, 0.1783, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32b838311364b2eb11e688c6a2b64fd3e10512d9251c3e8e43885ec33cbe827",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec614c7a259821c1e43339723f6e2ec5738499d50f8b6d38e87a5be01d3b105",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2f387ae6aae4ce3f41151612aa2ddd4c2f64f4392414ba79f62584671c0530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09e2bb0bbce223a7016ab4205833cc87d098370df1f094d8d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.275,\"right_z\":0.125},\"note\":\"The carried pink bowl is almost over the white center bowl, offset slightly to the right. I’m making a small leftward correction and lowering in a controlled step toward nesting height.\"}",
  "call_id": "call_hdvp1C8Oj53rFm06lqX6b0ru",
  "id": "fc_09e2bb0bbce223a7016ab4205aa78887d08a6c87b2ff2c9543",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hdvp1C8Oj53rFm06lqX6b0ru",
  "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]: [-0.3862, 0.2836, 0.4896, -0.7815, -0.4191, -0.0944, 0.9958, 0.9104, 1.7283, 0.8921, 0.1875, 0.7509, 0.1764, 0.046]\nstate[eef_state]: left_x=0.203 left_y=-0.0011 left_z=0.1689 left_yaw=-0.0067 left_pitch=0.0367 left_roll=0.1654 left_gripper=0.9958 right_x=0.3555 right_y=0.2671 right_z=0.1109 right_yaw=0.1925 right_pitch=0.0998 right_roll=-0.2432 right_gripper=0.046\nstate[joint_eff]: [-0.253, 1.5521, 6.5983, 1.7363, -0.149, -0.0611, -0.0073, 0.3487, -9.8393, 6.5573, 2.0342, 0.3394, -0.0073, 0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387fa33acac7f31aa358ab1a375e75796a0f14734bb87bae778fea19009802aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24723f0c279e231ff921dd4a90a110f1cb233849e3b5f81d82fafd54a66e9c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8992a33dd965c35c02e63abb4efa4fcb2eca3afaf73eeb1eec8f0d47e7d3b1e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2775, 0.4896, -0.7746, -0.4187, -0.094, 0.9958, 0.3614, 1.7325, 0.2878, 1.0676, 0.308, -0.0574, 0.0392]\nstate[eef_state]: left_x=0.2034 left_y=-0.0013 left_z=0.1713 left_yaw=-0.007 left_pitch=0.0486 left_roll=0.1607 left_gripper=0.9958 right_x=0.3682 right_y=0.0858 right_z=0.0495 right_yaw=0.1126 right_pitch=0.211 right_roll=-0.14 right_gripper=0.0392\nstate[joint_eff]: [-0.1983, 2.0171, 6.3248, 1.7411, -0.1441, -0.0366, -0.0122, -0.1709, -4.2872, 3.6581, 0.9206, 0.3248, -0.188, 1.1844]\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]: [-0.3862, 0.2787, 0.4896, -0.7746, -0.4191, -0.094, 0.9958, 0.8757, 1.5642, 0.9558, 0.0658, 0.7315, 0.1581, 0.0427]\nstate[eef_state]: left_x=0.2035 left_y=-0.0013 left_z=0.1711 left_yaw=-0.0067 left_pitch=0.0476 left_roll=0.1613 left_gripper=0.9958 right_x=0.3609 right_y=0.2541 right_z=0.1813 right_yaw=0.1732 right_pitch=0.171 right_roll=-0.1817 right_gripper=0.0427\nstate[joint_eff]: [-0.1299, 1.8667, 6.3385, 1.7314, -0.1734, -0.0269, -0.0122, 0.0752, -7.4051, 9.306, 1.6435, 0.5641, 0.1783, 0.5201]",
      "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]: [-0.3862, 0.2836, 0.4896, -0.7815, -0.4191, -0.0944, 0.9958, 0.9104, 1.7283, 0.8921, 0.1875, 0.7509, 0.1764, 0.046]\nstate[eef_state]: left_x=0.203 left_y=-0.0011 left_z=0.1689 left_yaw=-0.0067 left_pitch=0.0367 left_roll=0.1654 left_gripper=0.9958 right_x=0.3555 right_y=0.2671 right_z=0.1109 right_yaw=0.1925 right_pitch=0.0998 right_roll=-0.2432 right_gripper=0.046\nstate[joint_eff]: [-0.253, 1.5521, 6.5983, 1.7363, -0.149, -0.0611, -0.0073, 0.3487, -9.8393, 6.5573, 2.0342, 0.3394, -0.0073, 0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387fa33acac7f31aa358ab1a375e75796a0f14734bb87bae778fea19009802aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24723f0c279e231ff921dd4a90a110f1cb233849e3b5f81d82fafd54a66e9c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8992a33dd965c35c02e63abb4efa4fcb2eca3afaf73eeb1eec8f0d47e7d3b1e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBeg2XQhHN8Urjs2fMGC8NtQopYKSwcCcoE0vYFsNuuMh80gjd89ph_OfB-wyciYsQPqrj8smATiboS2vEm6UbL5TntM4F5wWpfE6LdWIlZUOcnQEJNULxVIZZV64pZmjAmTFyYa11qZrLJYgQsfKucwpFgyv5GtwFHKoNtsIvdl6vFk5AzUpFdJfzURscJfsBu6RqjwDtlafI-SxjMo1W7ajuPfYYVhJ1TtunJkfU7KAUXwDT8Ul4yMce-jpqwoO8d4-8Bhs690Mr7duTg1LkA-0o7cpIwiyeEvcdtz_zQTD3JLfyPAEXZphXtA09Vw82DOMHx4KdbWH_EhVEvdJs-0oxPIoZGRTVVb6FoXMYZ8whnlk_SdMpttcKnKtQh-xLWityakYprWrgHyNc5Vh489T3pa5OayVhZkWvfasmXHYbIIKuL3MZOUeaFAoGgwQdNC4_rwCnefhfmB9nFKzKdFCb4UtaaS85ySXkovjImLgoMp3KpUtQm9wmysV60MYZD10bLy8K2T851AxHVbZ8yK1FOHdcCfzNMSfLwgFqTcPxc9AbLo2atZ4VKCVglxdjcZACjvYsycLDqfO-g6oIc_yszaQCxawr0DewlEAO2xyO0xjn9P0o2UTcOl-HNYkfoGlXQ1PEFi5wdhRrWnqqSFSsc39YvNftYPhEyhf_E4tZgqaHOacNvcpLApLskPVxp6M2jOcVgygNbfmeXdugmQj25a-OiuefQXPF0a726udVR5QGHeK27VFVJgk9gxa7FVir2VotKmE4-Z-7Fx2YVELTyZbQp9jOXd9A7zlcpdFpBYn7ieYEwceBFJxdhohC-RvmCVT4hATm9gf5v9jr278RvHI4jFYAMZufsy1aynAJzQsiYcmOwBA4aO3G8YLIkIhQDGCdLOqYpbhBMIdBSKxjFN2C6OKGmmxNRw1wY_hjgQjbSEHG-J16G8wHyRFL0T_WV_PNjCDMa6J8r2BM6cSfAgIvbBhS7oCqeZb_0xEeSuvn7eyhM33xJQWdgzzeBS5ItcEAmfl8SYSbXWktt54yqdlW_uBm1TDmUYb0vNh9nMa8k2EGhMIYVEfveQF2jFRUdAMvx7OxwxvGhU5XE8lvLnGAq_kXUphmy1Y4J_xdSDUTmvc6zVwQ11OpDRri9DkYByfPJI1A23xvQlMpdhFvNU1LI1u2gRA79Vbj_IgUg2tf8MCQ1WNXNKX9S1XfDMpHsgRNdYQk76wEuniXb5Ue5UKMnvMVpZnsciMfkTUOBnAG5FkQe_RI5vtiOFahgb8_8Hej3go9JSECMT1fbRAd08JIH_MW7BtjkAfVfR8s68XKN6hZz59Yez3fziaaPqIGWoTwBXKTIpQvvF8MdAR8w4yAwjOJSYKzE7B__4l9Om6ypYtAF6c21rguQY89kbKUMvqLm0OoyWjDoDN3tKz7JU4cpDMzLBmunEECPzitp0uZTY8mCs4zO_oIt-TG-5egf5ZXmhlDVREVqf4ei5I53ckHAUUtSY4f2UJuJxVR-rg4QgUZh52Uwm6Qs4YkUlOtRr29n0etc5fyv2HQ7gffqS95L04g6o_4DImk6m8RMna363RFQyp3bln-dkRvA03MZq6tb6wXOZ5plTlfk0kFU5c4D6HTyXBNBGnoCaENQflVsMnO1uyk35FnyR_2Z",
  "id": "rs_09e2bb0bbce223a7016ab4205cf4e887d0b94881b8b9afe14b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.082},\"note\":\"The pink bowl and white bowl now overlap in the overhead view, with the pink one still visibly raised. I’m lowering another few centimetres so it can settle into the white bowl before releasing the rim.\"}",
  "call_id": "call_gRH3r255jWjY1hzFfifneiT0",
  "id": "fc_09e2bb0bbce223a7016ab4205de99887d0bc0c3a65244bd7dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gRH3r255jWjY1hzFfifneiT0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.284, 0.4896, -0.7822, -0.4191, -0.094, 0.9958, 0.9154, 1.7451, 0.8852, 0.244, 0.7475, 0.1768, 0.0482]\nstate[eef_state]: left_x=0.2029 left_y=-0.001 left_z=0.1687 left_yaw=-0.0069 left_pitch=0.0356 left_roll=0.1661 left_gripper=0.9958 right_x=0.357 right_y=0.2732 right_z=0.1103 right_yaw=0.1974 right_pitch=0.1232 right_roll=-0.2196 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, 2.0171, 6.3248, 1.6923, -0.1245, -0.0513, -0.0073, -0.1299, -9.2103, 6.5709, 1.917, 0.3883, 0.0904, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18a91c0cbf91104a6c535752f6a144f59fd9de69132b6dedbf4359b957aad41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39c2e038999fd442824cfa876343b1ce663b861952c7044ff76de66bfac8465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb14bbd951c7b951323a50e6657a378d76b017d82aeb49f7b7cd0a0354bfe57e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2787, 0.4896, -0.775, -0.4194, -0.094, 0.9958, 0.3599, 1.2778, 0.4248, 0.4801, 0.3054, -0.0647, 0.0405]\nstate[eef_state]: left_x=0.2034 left_y=-0.0012 left_z=0.171 left_yaw=-0.0064 left_pitch=0.0474 left_roll=0.1617 left_gripper=0.9958 right_x=0.366 right_y=0.0848 right_z=0.133 right_yaw=0.1171 right_pitch=0.2142 right_roll=-0.1449 right_gripper=0.0405\nstate[joint_eff]: [-0.3761, 2.0581, 6.3658, 1.6825, -0.1734, -0.0366, -0.0122, -0.0205, -4.8205, 8.9368, 1.9805, 0.0464, 0.0366, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3862, 0.2836, 0.4896, -0.7815, -0.4191, -0.0944, 0.9958, 0.9104, 1.7283, 0.8921, 0.1875, 0.7509, 0.1764, 0.046]\nstate[eef_state]: left_x=0.203 left_y=-0.0011 left_z=0.1689 left_yaw=-0.0067 left_pitch=0.0367 left_roll=0.1654 left_gripper=0.9958 right_x=0.3555 right_y=0.2671 right_z=0.1109 right_yaw=0.1925 right_pitch=0.0998 right_roll=-0.2432 right_gripper=0.046\nstate[joint_eff]: [-0.253, 1.5521, 6.5983, 1.7363, -0.149, -0.0611, -0.0073, 0.3487, -9.8393, 6.5573, 2.0342, 0.3394, -0.0073, 0.3199]\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]: [-0.3862, 0.284, 0.4896, -0.7822, -0.4191, -0.094, 0.9958, 0.9154, 1.7451, 0.8852, 0.244, 0.7475, 0.1768, 0.0482]\nstate[eef_state]: left_x=0.2029 left_y=-0.001 left_z=0.1687 left_yaw=-0.0069 left_pitch=0.0356 left_roll=0.1661 left_gripper=0.9958 right_x=0.357 right_y=0.2732 right_z=0.1103 right_yaw=0.1974 right_pitch=0.1232 right_roll=-0.2196 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, 2.0171, 6.3248, 1.6923, -0.1245, -0.0513, -0.0073, -0.1299, -9.2103, 6.5709, 1.917, 0.3883, 0.0904, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18a91c0cbf91104a6c535752f6a144f59fd9de69132b6dedbf4359b957aad41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39c2e038999fd442824cfa876343b1ce663b861952c7044ff76de66bfac8465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb14bbd951c7b951323a50e6657a378d76b017d82aeb49f7b7cd0a0354bfe57e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCBg9qaFvuUtFQHg9jWkwu68AfuWk9RuhC2KWzc1bHh-xXfEgpFE2aazEXZZ6avHXtjWmuEDZ4uNmgHzjZy8uBGzarQpzWKMGq6-UGtkMQ_ZCL8lxMIULuxQX1lBH8Olrfbi3TyAGC5THjJK4GjP0RFeGJ7KmJ3rdGlpDlCf0dXRTPxhi9by4iPTvXuUVb62ShyY6We_0Lbd-MVHf_rvFGlkh5VnUvUsLd83BSG78p98H4gI2cFtZqPL8fQiMB6bhBXE5GO6yBBO0VZrDnGmoiXHwJARfJbQ4cbqxPuIWJUGcD1V3Ur9eN3RtLhroEXZHEMcOuFRmAIh-37wciqcM6EMH1bTHdQJ4bKRdxYIhf-k0HscIFuF5JhqqnO-MYiqqznRZOVdGwxNQdE-NvBg8DRDC6icxxB9PgfXCmaq66k65ub2ve3ODlJDw9hs6FHZqV0NtgP0GdDvyNbvds03UTl9GXYt83YCfYZL6GM5z24jFEeKZYlDrU3K5xjS_9ZsUuCpbaL6Y8P9pXb4Wckp9r-51pD7a1OQhMG1V1wZDgXGKNtppIyPGgO1-l-Wb07tc_ah9X_Mh6FCsYBq8ZTsSWxPia0TI6xrt49GFulJjzjQYtsaxEc-KmZT-dOsMoXvoNWw_waHuPTyshJZ4INF8xg-DG37U-d1MWc9Cb2q2MIqHRZ06XmIS3ySdl4jwZpQvP8jK6V7HgmOD_yV7I2bkMfc3mGs0CTnpXIDD_Qn6HoDXKxU34e9e1vKhA5ugjGc7izN-fnSkZ8Keys3jPBUL4bRYcisgaETE3KsMHPm7uhcIuN5yjjqjNeRou2exmqbtt1ARDzmljAqapMNNJm5cHLI5DTpQqZn9Of3s73ud-oZu_4BXxZjsjX1uLSZtpsbFSANgu4IdlJeSalwDOY0VYcryhql9Gh3L5Pwt_g4V53Sw1G80tuYfv6_MXXgYPhVrKS_GU2Z1RG4CmI3kl-LFTOQdrP59BFHgxv9uqq8_TrHH6vKakMUEeAg5N7WpOEKDtLJ8KZlKK96qBWzFE2Pg35LiL77jdpkWqqUcxr_0Pi5CzMfgHMoY4-Mb0xtHo20hPSbMju_1ZwXzvAxOXz7NA1EQQ2BkDfO7isOBD2gHu2zbANrpY0Iifs0NjTlOmpxb6BbCF1opVawKgTa5HSzfA92DWyJ4tE7XU5tUqFkIFIDbQsQ2JCOFOaD3JJaD7T65x87JCtnXPubz7XmWLGunIyW8GlI1zB_2BE3GedcUcjA4yJttk__ex809MX8OqqIOyL200v1rX7Jt0OTBeJWb3nvFiE5jVyKTCM9ahTRmVZ_5FJcTYC23e-OHK7bLn8ZJEAl",
  "id": "rs_09e2bb0bbce223a7016ab4205fad1087d093fe776dc1def16e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped at the same height despite a lower target, indicating the pink bowl has contacted the white bowl. I’m opening the rim pinch to release it into the stack.\"}",
  "call_id": "call_1SCM8WGL60xEi2zLahrprrku",
  "id": "fc_09e2bb0bbce223a7016ab42060063887d0a75a8a9df3f157bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1SCM8WGL60xEi2zLahrprrku",
  "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]: [-0.3862, 0.284, 0.4896, -0.7822, -0.4194, -0.094, 0.9958, 0.9154, 1.7451, 0.8852, 0.239, 0.7464, 0.1768, 0.9952]\nstate[eef_state]: left_x=0.2029 left_y=-0.001 left_z=0.1687 left_yaw=-0.0066 left_pitch=0.0357 left_roll=0.1663 left_gripper=0.9958 right_x=0.3566 right_y=0.2729 right_z=0.1095 right_yaw=0.1987 right_pitch=0.119 right_roll=-0.2223 right_gripper=0.9952\nstate[joint_eff]: [-0.3761, 1.8393, 6.3521, 1.663, -0.1587, -0.0269, -0.0122, -0.1846, -8.2803, 5.9419, 1.619, 0.1978, 0.0317, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae2b3217b4051ac6612c2936ee62e5b939b47af982dda1e709d020410cf2940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc2265267ba7ee08e83274227226960615ec69cd97b5ea7103322af4d36c817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa42992e285ece11dedd60c5f76fb94fbfca96825bb9fe61aabc163d6e3b75c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}