adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Goal: 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, 0.7937, 0.6037, -0.3824, -0.0227, -0.0257, 0.9996, -0.0181, 0.7929, 0.601, -0.384, -0.017, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0013 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.5111, 10.0991, 1.8437, -0.0659, 0.149, -0.0611, -0.6359, -1.2786, 10.359, 2.0147, -0.105, 0.0562, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30eabb3ca40bc1180d9b7e5a522a05dcfb8dac854b63f14b7e8eeb8ce08e5b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec1e1d7ad2b6ed740c6a5c34c60cc7eff1c87a1ddd1f4f965541b060672318f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00202af6924fcb2fbe595ec0c59b004d8c74793142bc23fceb0d3052216f25e7",
      "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

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDG5MAG4pNPZNkLbzlFS_oXmltz3CTF4mB9hILUiOSl2CO1qTQhKBuw6RJAOWkcqh5qZPU6smx6ge9C01rpNBRheQNin-lIQ_iyKY7JP_0KmWRyqkm0oxc7Qr6rHfnLFVaGt16ODZOgqtdfIvwp3Wv49Mae3DHcvIvQwIXHPTpfdsPSHWMowdliBNZgn1OHXi3GTm7xKYKEL0LP_NQU0KlTUamXCfyhX6RKi2m105As-iKTTrTu72MrRHrAiUCVMcX_zbx0QWZPv1_20-j1YH0HvmbqzFTM_CotkK44ydCPPG1lez1OOt0uJC7gMhk6-pKbs87Etj3PQIzr4z5d_XTKR13M8DYa72ssHFNZasyrESqkdO3NeQfnKPozEsIwkzsUAeJtQD-ZYEHoXboNyh-Cq6Kr0D9AxsSrlfAQFq8TdVecTbLvTn7yvF2RoBPSHutcmSjBVXPs7Gmck0pmfeKPl4X1mFsmDJ9JjGoasFHQLarhxdeIN6fquMjF7JFlETjmQ_n01lv0sdANIcTwpbjtD0NBY_ThXgrgZgjsSCh4qsDqsttNWjI11GQuBmz0_1vJl2U6pnFnIKIGHWMbEBAmDR7vKNxozx2SCG8dyyDROlmZ1Gqe928LnTG_JckNtHHG5Iut8Lpj6p5wdTLDi0f1vsUzzFRhOtkc1bFY3-n9l7QIbamNnh1EVdhqZDRULNn8xyysUZ-b1o8lMzkA7gjmwAWbxkI0J0hqvP1800MO4tNeMIwoNefDMuxXrfFTLSAydoBzdpCVCp4wGnX0TbDESvAIFtQyFxZl9mDszYsIwOj4Wi-21ba5uvj44R56ZFZqWBU0gIgfbLNY9VyP4hhRaFoh80PubxP1vJyKZeTwociBM6xqAt2QtaWD-F1PdBT7dBK6oOjekmo05toiT0NW8QJmNuPgzBg6MFYEhfALB1qLiOCud1xNs5pVo0l8Y6RjwYSXomPYifjm1q25WcK7yAjqEhB3mVvqfc-tFQorriJkxfncHszeRUWx5JxeV0SNL4enFP-bYjdeohDStjcsO0C4yvp-FL2BWAzt003FoeD5DkwfV8uqvNITiyCPP07m0oc1ITp1axRX00sFKMvinQTwEDxEljnM0epb54_jnEV-p3zZUvdC2qS7dQJBIVo14jk1MBzv0fL-TAh-BtzQbrnk1EHgSUl8p4LadW356TEaiW9bFNzKqAiDl1WKvqi0QMgAOhT5M41zftRNu7rOnGhtJIkUjPwOZbX_xdezAxgnEvEPiV1XOzAiblDjDgm6i7EhJR0k3hHWN4AOZDfaaG5GzaGhAaGO3IEiQucJD8qtRqsSHlWbj22ZspNnESgrZFGN1lF_O6CY-djqsA61mgrSultedAiOAO-GDbxiHjp-UMRRa9SlVkpTN28m8DtfsvgiBkLnV-LuQ8UEiIIFRZjDkb_RDmzUQ0rZvEz4a-3_mK2LZeoibxZi611Bh2JXTAhRaN_rfF5ZSGJ09jQ1eAyMvf7-u8aTFlATuXIWxR-sNiSvi82tdaibw5nqxngHT9ip5okCBYJnjtP3lyguWXgPmEKpPDSQyJb0ec9Yp0XrZ6Q4YXQ7PG4Wb9x9sNajNDBGmOMHFnBt8OetHe6_i1PZvlwdAWc-aHTtVvsgPN6rft-x3QPjg3_ikCYfsXAo3W5rtC7wk6zgFOyiKzhAtAQGI0nMnf_DkZo9qi4mq2O0B8aSEGs0nynqHSHdHHYsJ0pBmuTCHHjWRkv5uEEvb1VaISSxz5kWwDY1F5f8ij0Da21ZISl2mzSbmcjSa7npIpCo5C0zTI7ZEqmD9SvrMUHDuf727wc8APwYnRmaoAN3nrIUlya5U0e_B5gTXbP8v4GRy-50-u5EEpkl-6QCnqy1-GryLC5AzTeySSF2GyUVHclz-kFnNSBwNX0DHPk_AOyQiu4WKqOJTx6k2QcL9Dj4jqZR90OXLfPYavaajsfDJfSNS4j2gl4ee9R_OUZljhAP_NzRh4cC_DABCC4DAN8gifHmzUiwy2gIUlvzEurGKyuFqmBgZUMtSpSQv4LrnZkf63l7zg2E_H-UHZfEY01nQWMsv-CuBlovml7tHJB7vrz6VQNpwN_qtsl51jqnQPeG3XNrER5U6FgmfPLd5AN2fY0_VJDnfY3_qJHu86VzbwVdblXBcyRiqB8LXy31IrumvMgLBpgOElDCE6kATJbmaw6VhZywz1vox4VoOKBYELewKy6VVR6gvmEo37jd0l-1a771Sg02u9LsnCUsWmDMvv1I84txy0u8gSY1aigF4i3oY1NebMG2eXK-uZXid0g9odl_LqOkckyfcRJBdyW7N-pQ1lx78jUjJrT4KyB66o0nnB5OwESiNbOr9zkf-sxY-izKjPbs7CjqMWRGoj6TeuNbyl0izQfSkSRooyXzWu3pwsQusxX4izL3GeWvXICrrkdZpG157Sd8pK2pQENnZjD77b6cNoIhMZVp4Mpy7-8uAbLK6nz1V4W85bCXDl0Deqmk6ytOZN9XbQ0z74lZi0WCO9-wqBKUQQ_iMFL2LeByhiNlwD2-iRfmli8logG4KIFvNLQSwB_ka1d4NU3J7EZ6NU-lW0E7HuyQJymCtJ_uRBGY8dvL-_zUprqgm-FkLkeN13sZP3qqthEPnJma9FSw3cXrBwMsRhdCaug62Gmi1wEFxbVzVkLyECV15IasrnAQ86sXSyZxPla9KtSq1Y9tM5VuroOj8GsfYUhe9kGeuQWJM_lAeD_sy5JGkYTC_GsuVLnjT8TueyAne4MV9Fljo7UheYk0IoXcpnzb96dG-OzE2jo5FW65yRUV5vugdJcSmNCH_i-ciBWu3ZJs12KwQSabdztXySGj-eQhmOAVXP4Cc2gpN2qUlgudx30l37oSmekLKfhJfACArwaO3q0fuMZF28Q1hoJk6_QsLQnAhh16vHt6Q42hF0UWHNOawHiQt8I00lWk5T2hJIfr7cw2Fx83dOWFMSb6XksLqMCifjEOf4xWXqNxKCLpBkQH5yfCLkjL8YDx5Fk6KgtHhSmQYbloZ3ecwzltDkcXveNNHgFrVD1ZoSX0S9FPZX60XGGvWwTPSaGKN4d6vysCvk0mK00k3dWxnhFn_3JRm3jtwXyVWWEfbiun6RmBApzIa1mGtckyKDHjk-tTq2AkcoPCvOuXcCblOELPOTNeR8tJ00c5vVowGk68A8yFjsLpg3NL9Pb_ulgXSjZs1jJiwcIzEChxgpDMb4y-OpCnsJawIzZS8rYFI3Xq-syhSVhmUbHWUBDbaHK98SZiIRdRVYPvGuhyo65EgFdUuvJ2D4H3WIwHO9yxAXLHtliz",
  "id": "rs_0a9c4605c8743cab016ab420c2381887d0a35d753169f968bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.16,\"left_z\":0.16},\"note\":\"Three upright bowls are spaced across the table, with the left bowl nearest the left arm. I’ll bring the open left gripper above it to line up a grasp around its lower sides.\"}",
  "call_id": "call_iWyBH2nb81olOnv8FHOL3JbZ",
  "id": "fc_0a9c4605c8743cab016ab420c622ec87d08a71a9e73bf83f60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iWyBH2nb81olOnv8FHOL3JbZ",
  "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]: [-0.5571, 1.5242, 0.9413, -0.1307, -0.448, -0.3389, 0.9995, -0.0181, 0.7975, 0.5999, -0.3927, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.3978 left_y=-0.1534 left_z=0.141 left_yaw=-0.015 left_pitch=-0.0591 left_roll=0.0246 left_gripper=0.9995 right_x=0.2928 right_y=0.0012 right_z=0.1745 right_yaw=0.0013 right_pitch=-0.0156 right_roll=-0.0025 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.0359, 9.2103, 1.7314, -0.3297, -0.0464, -0.0171, -0.1162, -1.5795, 7.2684, 1.7656, -0.0415, -0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf8ce3df36a79031ccc81a0da044af9538ae8861085a014d1e16c91430d7861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df892fdf8f3adf1eed3360bc510b917b40254cce0c8d47113cc792033987e210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b508797dec432b87afaa4dab3b9459716e28e8ed05b92eba2031f57332ba3e00",
      "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 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7937, 0.6037, -0.3824, -0.0227, -0.0257, 0.9996, -0.0181, 0.7929, 0.601, -0.384, -0.017, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0013 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.5111, 10.0991, 1.8437, -0.0659, 0.149, -0.0611, -0.6359, -1.2786, 10.359, 2.0147, -0.105, 0.0562, -0.359]",
      "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]: [-0.5571, 1.5242, 0.9413, -0.1307, -0.448, -0.3389, 0.9995, -0.0181, 0.7975, 0.5999, -0.3927, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.3978 left_y=-0.1534 left_z=0.141 left_yaw=-0.015 left_pitch=-0.0591 left_roll=0.0246 left_gripper=0.9995 right_x=0.2928 right_y=0.0012 right_z=0.1745 right_yaw=0.0013 right_pitch=-0.0156 right_roll=-0.0025 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.0359, 9.2103, 1.7314, -0.3297, -0.0464, -0.0171, -0.1162, -1.5795, 7.2684, 1.7656, -0.0415, -0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf8ce3df36a79031ccc81a0da044af9538ae8861085a014d1e16c91430d7861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df892fdf8f3adf1eed3360bc510b917b40254cce0c8d47113cc792033987e210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b508797dec432b87afaa4dab3b9459716e28e8ed05b92eba2031f57332ba3e00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDNwwJ6estFlwTq36XZie5eZdq2Zv_qW7kMbAh7n6EJaOXzvg6mCdkHX-ukvx5ieHCBL7oAqIqo_KXf329bBc6fxeJw6Y33c6VbXAYEcRGIZgyEJQYVEosw75RWgsa_8nY_dVyTetMohMMdDJTRkHOL3OXTSIBZQpAujsthJHiWL-83Vhns9HnW5PS2ipVSfXKHIG303WTD0M3EvV4-W1Naqyf-zn1m8NIhEkEE2WmRHz3oLhYClxiufC_Lp12T1YjqqhuDNEZ7e9AYbanRA-haL5m4sD9BZNoy074XbMun9N0MINvjUt4ZIg80nLz77T6Lo5wXlFBKwr-GHmx95bxHJVTaQqTrc5Vmeejv4SBA4TtqPyvl-KSu299ZRPELOB74c6mlb6nCv3sup6Z2oYfuB2RA-ozN18Vew5Eqt__SxSFswr9W7N812j3RMAYJOFW3NipY_dMKAvBueCnZZ3qSAKeF4RrC2e1JYWtMlNvnU1CVBV0stWQxNW9iIMdXIGiwA91pmuaEK0KvYS5eF9BC4rWlF0H7tFDVHMFidR6zu5E5aN_Gehs65xfG4MAjP2UxEPx_eaXKz5EUEUhrbLP5yEqa_n6R9sfjlh7K0tk910UBtqQhrVoPGnVZ089RSO17Kw9hXTrXzIK2aN7QzIkjEHEr3_ibPVvYhQek0S9IQcUFaZwfNNDik2aDy_gQNk7SvViKWJlaT6W9wKfM63YxWWiRrH054MZuFppCnS1KYBYAP3247pfbKxAiLSJeeTuj_wPkUSQTpEHFZdPwsf2j7YGPrULjVEji0bUBSW7qVV4T0ccn0FsaElGAJueeipCqHqUTmH4M731cm65re5qEZccVf3IsklFUSbE8XW5d60SegpHhkXdaCpRH2FBiD6LXboTz7h_teyN5k_YFlfrVss5B448T4Ce62lafCjiI5i0cEpIvcayBzdWr0UC4L1u1GqplaRWPrPTS7zCB8OORG0XVwYYd7Qlq_jCmLEOkWWZxAKjVYe7ZnByfMWEkQTfM-O48qiolBKWovaOAkNOrWw_wA0goig2eF7JWS2djQX7r_rEjyaC_BjGKfb9_YQjB1TYScQfAB5Bk2o5VafvNKmJazQk4LaEZmCnIsYh786aRaa2d5rokQkhjxPdu2hvon_s67eZGU2HIyQ2Daau4130Raq4Sio7YieJh75KXBG8mgvrYsRJ_Knt2LGxqtQdLyz_JmXvGU7aBVYDZxWumZIgnQJ9p3yXA1EovF4D00AItxN4IviZjqI_jOPJ8eXnN9RodK_ZSJb7OYPW6DqBOK43_k9sOwlrPAUGwmWNRWDFL225etNvlb_NWu6eRB2bionGbRV5Czrxar8hB09i3dqSam3PhLuKbaaWIUwOAqG6iBnzvVWZqxsFd_drTLkp78-RsLPXirbo2g9JTQP6_JIX3GAxZNwZW-juYUXaUvU00K7I9YlRXRavZJigzaf2FBT2wPFZJW6oT6S90BphTNSYFTKT3NOcx8zc0N01HomM2O8klqsoYHOY9t78V6DvqVgpuCmw7LPx_up7fhkak-V0EBRL4xZTtu-fbtW6MXq1DY0JnzFC7omS2J6WR_gcg3j_eo52dm-VM_nemT1Zk-WNWT7ZcZBQhl090DcK6MPs_Bxls9KRVet0C8VQjWkOcB3a-3RFUfWIUr7WtQwDlqWo8CPZDBgkycbfcg5rvuXJb_sDfCVWTfElSbsaYqKzDZkaGz5CR5As7mIbBkkBEbXhHT1Gcl6isVs08Z9E4oKl_ZD_3-04TH9uOhJWA_qV7CDbIkRM8alv1f6PzLW617yMCN5AlrCxNzTGJcTbpPK1LI9gbfdz6OzhkgbwxxfK_W72vIGGEBgY-2UX1RtEeUsTrjpcmYQ6Gb2ZGIt37aAgR6W8GR_YFfpOU6NtEZ3eQr8MuqysmSFkd6Qi_hywk2wLjfKhIiYXrqwml2b-x2rGBetNrFqjo7IjPuQd71tPeZlPSP23VHeUmh1_p4h2yPfq2p3IRvabKkHt16XqorPlrnC1EH8CcoTIK1QkXK7fWq9Mkt_u7XeRL-9vzQD9_lyI4TjZCk6LhiL6xgMkjOK6zFUwcRxzbxGW-QgYfP7lnrQKKH5_JlrzQ_Ny6bJ4-8Uaky1Y72FECHA_7AwCO55gFyt5d71UkgD5qT57QOIQ106Ht7VY0eXZrPFBoac1NXlDboplXhrFLM7TV0KvVS2zAMsliuy69yqD6ZJ-r-qM_HIR7ToIhio1NTVlxDMu97PbFIXrS0eUqxnp_I8un83XQtwkEgK3CFqMwqTF2iCGFx8XYZzvprT9YKVYOhibQfN8hWu8MZe1Uxfby8pm15UOoFgYUCa78ENGXChw9Y5XkrKNSMgKUC9bUrDdE8Vk385itGf_Ilg2j_CUcD2zDPB8RYuddsj_Va94R3wnZS_SW8FlCJqANtNGYZakbNV_ECKmgFLVHl6DCj7dDCnMXwjmsyERvHZms_orlC21O5j_HIHnvDMcE58lNTZ4OLyj7LrwXCTggVRRjA71ofR6weAouxFhssoEV72FlseXC0T6W62ivFr9lGF7B4jOGQyGTUMxUHB_SKIQqLSwPmKDvqu0YDjZE1GvMGqL9VLAZXNCgmZ9q1h5lWQaa9D9BpE8YN2XQ6z437Dvoi-ImAZpDI1Pwe9CDkHGz0ExlqehKTIupyLJL4v-cTGI1dGUp7U_WGU1RVY0PQavfoWgs6DenfmeBrvUE0QzodzLtDxNefnEXd-WfXe4vM4xjPl45VPH4t6XYcpQ805gNCYn_Qw_xwPFdaIrVD4zuOouRl7mi4yYIhsLr7NXwmbC0MbSvRyeSp37nOqbeYKXNDqlEatlX2eM5UG-r_ieeh4p6A-tsr5bLctIFOQWX56bMGYzXJG_r6Wxju9MqhJ35yv77AGtRqN4=",
  "id": "rs_0a9c4605c8743cab016ab420c9394887d08b637263a06a93d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.125,\"left_z\":0.095},\"note\":\"The left bowl is directly beneath the left hand in the overhead view, but sits a little left of the jaw center in the wrist view. I’ll shift slightly left and lower toward its tapered side before closing.\"}",
  "call_id": "call_ZHXWc3oLpJJYqoGptD0jW0SM",
  "id": "fc_0a9c4605c8743cab016ab420ccc3f887d0a87772515baef880",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZHXWc3oLpJJYqoGptD0jW0SM",
  "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]: [-0.4644, 1.5898, 0.8417, 0.0208, -0.4007, -0.2989, 0.9995, -0.0177, 0.7986, 0.5999, -0.3931, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.4074 left_y=-0.123 left_z=0.0987 left_yaw=0.0189 left_pitch=-0.0873 left_roll=0.0362 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1741 right_yaw=0.0017 right_pitch=-0.0172 right_roll=-0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.0085, 6.5436, 1.9316, -0.105, 0.1294, -0.0122, -0.0479, -1.306, 7.0085, 1.7118, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5749f27bb583de8cc3a1c798c430989114d9e8ad97418a45eb653280e6777238",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b5545ba20169eb1c543a0e8620d861360e07d399862b1c225f29b3e6044fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2a7a4d04fcd144fba9bac122119b2afe1486e57b7fe5fb1a8caaa2c8633fba",
      "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 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.5242, 0.9413, -0.1307, -0.448, -0.3389, 0.9995, -0.0181, 0.7975, 0.5999, -0.3927, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.3978 left_y=-0.1534 left_z=0.141 left_yaw=-0.015 left_pitch=-0.0591 left_roll=0.0246 left_gripper=0.9995 right_x=0.2928 right_y=0.0012 right_z=0.1745 right_yaw=0.0013 right_pitch=-0.0156 right_roll=-0.0025 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.0359, 9.2103, 1.7314, -0.3297, -0.0464, -0.0171, -0.1162, -1.5795, 7.2684, 1.7656, -0.0415, -0.0513, -0.0415]",
      "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]: [-0.4644, 1.5898, 0.8417, 0.0208, -0.4007, -0.2989, 0.9995, -0.0177, 0.7986, 0.5999, -0.3931, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.4074 left_y=-0.123 left_z=0.0987 left_yaw=0.0189 left_pitch=-0.0873 left_roll=0.0362 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1741 right_yaw=0.0017 right_pitch=-0.0172 right_roll=-0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.0085, 6.5436, 1.9316, -0.105, 0.1294, -0.0122, -0.0479, -1.306, 7.0085, 1.7118, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5749f27bb583de8cc3a1c798c430989114d9e8ad97418a45eb653280e6777238",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b5545ba20169eb1c543a0e8620d861360e07d399862b1c225f29b3e6044fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2a7a4d04fcd144fba9bac122119b2afe1486e57b7fe5fb1a8caaa2c8633fba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDRfhAMJGCKMXXU7mbJJicaGbVxx7tKKCQNGfdS3MgweffFVjwhMGkMpyDsxXt43vYZo_L2SkB8qXNl_WhpVJdiIKuKwSiuWIWK_oMQ0h23u0Vb426zE4GPhS60xtfgj56TxLBRqt9cQhSqjEV52mLTHAVXf_r9G8ouLJCtyIXjRoktb9ZEENqxQzcRYJpJX42cJklRCoJDJNl6MKddHR52L2if-T9CasDcHUEkn6dkD49FegJIlAd8bOrqLP4FWWMggNNTNDuLfJv9VgRbSOzpCRURXgnzAdMSf5RP29nyok8wjnyeJiTO-eJeWdIb1C0fzVai0JVajjR13x1QFiVv0X06ZYztbg0cLA1r4--0tyejePkXeJTooGuuYLkBt4hQXA3NKAFS3xqTytwBpnvDiUtiMI_vFsHVjqSW8y46og_UCIRiTkxEgzWYQwMNS9dPnxVAnxSCKjbwyOE_-fUh03Zm8DATOmPkp1goJy5apXbN2UR3ZX73OboB_OpbvxuEDobsQma5vFqouD01geNGSbFVargv6wNeEsDS88kgG91f3G6aSplDO4zddaHfe4ZVPcz-rvlt_HF-6Zh2pT41Pi6KLzSJIYVw52QyADnyTQwTinXgCJLDyN8PQOkP1OD7zFQFJI7nH5OfJU41pkTPaeYqNs13MswX4pz5YXIYS6jhH15Kc1Ztn17cZI0tPwJVxv5XbzTITOf4A91PH6NzOY1-n4ZE6MnETKUiHHmdgGjEWJTmnWIiAtbaYaVBqUmaElprJgK057PU8VoLl05QOl_To9RnlUjzsQ-eXbfa1dgOWO0xzyWqQvn-pW_Gj5r3uxrYo1fB0Pki5cfuztucGWSa9TrcQR5TSzTamiJTWRjh1NWNR9a0pbq9PG-8WuV1GanmLpakA8SnoyvAo5eiYuESp0sRpsMbj-Z3xiiODsGd1VekWkiWsMbrhDXvaaKqA8iCGsVypuSsTii80zr__3am1MK_nBJHti_5ONstOhOjueY1ZYjoyfRmOG3CUksPBx1Z24nhGVUcJ4x7jbDpYuHnZ29-zo4qChevEUeCN9TVnk21YIG9r1KdwpUe1WFcSIBAE4yOrcoW2UlQOi-y7O3xnd_VMY_5VTD_6WHwc_cOiEqUjYSaYCJ13DFDUj6tN5X73OFKZnOcYxCYnoH-xyeL2kxpwcBcP6Zft24z2CxOdrWf2DnONvjcrnlmiq3_AosxCEtu3jouJ9oIdivuzB0WXXV19reh2HCIWHP-ZL0u_ZReUdvzxA9tYwdyP814lh1iXCMEV4WBs5JspnqHU_rS3Aqahm-gGjVRitj2AZlHxnS8rwFK5UeOd_nVzx3GzhZYJMatzRK6JPsh6xn8VJUgoo-8opJ_zMSzak1J0wQp9a1-mMO0qKsjmd7PbiNfoTuiRvm5F1npWAxfiGYx63WH-PLcJhbvIVDR9bsobL1Ysu9I4xzfPWkGIo92tomnCajxt8GTCiyd0Y6EwH4XHPvTPhGnMl5RST4anRRgBHYDlENOKR7PXNIF7oHFM5uVP8iy4WP-ySf_dCojuYmbJ0QV_qfnkapgZu_qWQ0LSuoxzE0RQt_v-PRaGOZ1qc36_bMZ8I8rCEjcBPzWWIPZkWRO1ydsSfwkgzp6Ybc0Z9SPUhju3Qz4BmTzLBVwniX0KMyuL9Js0K9Qa_8RCXVpiaCJc8BvcijndnS27a8qbr_x-QRydLnVIO6nk8HpU_rEipVNyeTrQSlwb-3-aRQlytuCBTKYyxvsyngH9HRFx42-qkkJt3WK-ysyJ1NRZat7SqxfMxBL6s5NFxMuvUpV5Yo5ib2-haOg7TsinkhLB6RPUFTFL1UtG_D_lI6ww4aIepnbK2fZuWD2c9bEq5YW7oOH1XRMHFpOFvlSdvsJGEpxIVMlPl1X89EO24R0hzxS9GmWCGgo-roR7nmxQ8WkdPjA_8pPqcjwSXGtHCli3iTmuRkVaAzr1bHbyEtV6spfGD-VmDt9zBdemX5KnzpbfjaC1U5ITdTxIllX34z0ZsdA6MPlnyXG40xrTlQQcCoaQ8GP1c9eqrZ2daGHrupIKx3mthFdaMH1bfkmpl-TEiuqZpv-YlZzgSkE7Gbfh5kMZn6mGrt1mVkh9mOUi9HsKmJ35WLuViKPt2XMd5gGgkR02FZDyR8APQ4cbo7Zivn89qqCzAnr6O0aeKdiYzIQxBTZjBsJULGVKQY0WTpQqbfiyIUB0k2vounzk3ulY2ktimO8w_I_XjngcNA4C8AQzmAckzOtvqG3yJuN6g53LFDvKJw0PKNKwRiJmF2oBOt1Dsx63ENnFrql1LwrF8p6aQX-WuRPssBYPz4Cuj2wcRc=",
  "id": "rs_0a9c4605c8743cab016ab420ce8ef487d08ddc4eccefcc73a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.1,\"left_z\":0.045},\"note\":\"The left bowl’s rim is visible between the open jaws, slightly left of center. I’ll make one small lateral correction and lower the gripper to the narrower part of the bowl.\"}",
  "call_id": "call_bJbUyEspPKAW1LEcG9MCR00R",
  "id": "fc_0a9c4605c8743cab016ab420d060cc87d0a4d59df6e9d4c3aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bJbUyEspPKAW1LEcG9MCR00R",
  "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]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0177, 0.8005, 0.5999, -0.3935, -0.0162, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1735 right_yaw=0.0016 right_pitch=-0.0195 right_roll=-0.0029 right_gripper=0.9963\nstate[joint_eff]: [0.294, -7.6376, 6.2154, 1.5702, -0.3004, -0.0708, -0.0122, -0.0479, -1.4427, 7.0769, 1.7705, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a142caeff31ee536e9ede485c71ecc8b09495fbb5b909b3243ffa496ddb23a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a240094a7075ed385d99faa4f733cbe2918a41c9197506d5d3b52b96ac7914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb98979cf5698a6bce7caf0360019083b0474035b1111d9529f7822d02e0c632",
      "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 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7937, 0.6037, -0.3824, -0.0227, -0.0257, 0.9996, -0.0181, 0.7929, 0.601, -0.384, -0.017, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2938 right_y=0.0013 right_z=0.1781 right_yaw=-0.0002 right_pitch=-0.0011 right_roll=0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.5111, 10.0991, 1.8437, -0.0659, 0.149, -0.0611, -0.6359, -1.2786, 10.359, 2.0147, -0.105, 0.0562, -0.359]",
      "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]: [-0.4644, 1.5898, 0.8417, 0.0208, -0.4007, -0.2989, 0.9995, -0.0177, 0.7986, 0.5999, -0.3931, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.4074 left_y=-0.123 left_z=0.0987 left_yaw=0.0189 left_pitch=-0.0873 left_roll=0.0362 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1741 right_yaw=0.0017 right_pitch=-0.0172 right_roll=-0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.0085, 6.5436, 1.9316, -0.105, 0.1294, -0.0122, -0.0479, -1.306, 7.0085, 1.7118, -0.0464, -0.0513, -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]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0177, 0.8005, 0.5999, -0.3935, -0.0162, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1735 right_yaw=0.0016 right_pitch=-0.0195 right_roll=-0.0029 right_gripper=0.9963\nstate[joint_eff]: [0.294, -7.6376, 6.2154, 1.5702, -0.3004, -0.0708, -0.0122, -0.0479, -1.4427, 7.0769, 1.7705, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a142caeff31ee536e9ede485c71ecc8b09495fbb5b909b3243ffa496ddb23a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a240094a7075ed385d99faa4f733cbe2918a41c9197506d5d3b52b96ac7914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb98979cf5698a6bce7caf0360019083b0474035b1111d9529f7822d02e0c632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDVX-XZ5FXldLCNcwZEDVRxtykWg8_gYtIaDpk0Uzmga0YAhigE9CDW7HMaKDlN5wjXxLyoLyBchVRWArdYHWHwzQOSkK89lqsje-bIoVTGe-THIf36t0caGia5gZIQgw-KPj_Z598CIAYYY1Cozwkf1yQ9URSNGFgfHPI2XikOqKDGp8F-TScTXyMsiY9Y47Xrrp69OZcIO91YkxHlO8BXIToTL_53z4bl9v9Q2NQCWkc7IhPlEQR-wcpmEygqPG1H9qTJJwNZnoVIUgPkcwNeuuEV6ED9v1bTqxbxCiXUqL_s0zW_2DwJPEEjhdkBvk3eE0l_Dz6kifSeqLXC_NNYBnn3eswPuK1lVmPMm2WmBsTsVbJgbkObkW7HOOO5X06C_iS1OkSn4jacadMyAmRW98cYifctRrRqyx5x9OIBwdUA1XK0ZkvLeOONxAbXuUlvXDDjQB620ELB1lSWgxb-6-BoqngVifiTV_i141hJ5g2v82gj-16D_EWotT_Dsq3c3Q4xtTnTmSHB4YjM7Y0ZKkge-g5VlL3j1aBwK5_CKGNRV6Z4KbeZvcVi5M-cZ0PiPVZXxmrHjJkGxaez86WwDgypxiDFU7zC51acxTRQ9LNLeMcEnvJSW_T2n5VAyVZRj70QSidlbJqD3UxqfA8ZbHMImI_wEL6OdfkSE65UhOLp3qUN_9ZgdetaBriizIy4mHffycry6O-QdUuxvr2L378teOZkJnr9OqK2aq29D576lT3fDAsJ2yCBq7iaoxuxw3MeHuUXbQUPUU5_5GoAvwUplmHTfKaoEhoDqOPjQgUF7V58HkGl7PU4UsK99WkFUoov4rSDPPHRSHt62SCGySFSMWE47tknphToJ53e6EW3_YdJRXwnab4LYhkAqqZEZJzdnvpGSMN7jHNyVud8Lj-knLde_bwSCco5NcJPwEpdR4HVjJrr1AZFpWTiRWknv3JcWmvPaznpWkn96OBPbZp_OytSb-OsZ0Vf7HKJM2EIYHCDhBD1LY6iJPzquHIlz8xoCtH_6rXqlHpmHHsM_iOQnv4joc3X7UJOiJfRoG5f1R0aQX-KA1hJQuEOxDcR0bS5TeTundIEzn3WCkImpaXSp-yegKIxr-UpjMKh828CC5wYIoUfkVd8lbtxqxkid5tqPavS4fmh42ooLlTAVABcRk7bybmkYa4gfEp9KX2X_SuKtYdiYqr1jakrCcWmt7ToKeZoLbEQ39zm8z_fwIQYwV62eN1yH1X4Nec35XAZ5IH28EIlFaIEC6365l8TCcw06NrqDmfGXRpiJnEs_6UPIuJNpmgmtgHdw7sq0DspIXdgb4AaQ7MjlbMAonBe6bts7HI4Eu7QLPWC1orQo5IN8to8vSRp9Q4PAUZbC348NWcH9ZnEcf_SExn4MrIb-UkmaiNLoRQozMpzBkRrPpy_YFeiV8BHEZWfzVyLEb56tHjwnrSr-K_ViAR6ogTms6ULRZ3nUD0jek8bIbT1PqaEbZqJumCqagmoK8LXqydBE_Tm-sftFGZZyMNfDnF0I5g5tm5QcdzzzyrBPV6soMZ_UsprY0UUFnpeMbF1vuXXEf8R6IYKeV_t596r0FbkewvfxaghG5twhBNkaShAb6RhYumnteZ7bj30t2yd9fS5nWxGb48Lhqx9tkhk1qEBLs3vvqwxPpzKQukn7_YQs2AJnLq7cQFHHcN2MsRZm32ABi3Id98cdSdcSRGnTLjoqJAvdD0yWnD6ZA8KcOKMvVSLs7jBo06-wFAFozOTj_ISIxsVjFa3NkFXCtVPePqjstWTHP2jv99kgCV7mr5WgSZUdvfGC8mjWbbzpFGcFk0qTPrP9UQEVq7P5uyJYowAmwdliQ8c-HTrup5EmoJU48CqxwEZPX3K_rWvcxN1-MyRhCEuM49n0j97CKP0M7b78eOzE3qG-TicrmZQCP--XL0GsEupyBaXukNHplrY5Hz7x0CJBCmB-wngomV69gCqch1sB5izAY6eC6OpgYCd323tEkuXnntKEXA7abb2kZGy31VBP77FFQWW_zSzAPW-nsVcF0rmQ0MQOT6iJrIIBxadWyx6SMm9aSJ2sYkCnFlPoK-9dHag6XpZdj7vz7tGFA1qkCHbVeiPr6XRotPD-rTRT14f5_PG5b0KZzAE0E4r_9FK3Wp3S8EfuNpq7yKz_mkunC0Rpz8cLeVsnSQsJGYYA0RnqJZXKiN7UQKvbFWkbrJeUQ_yKfnOSxfLhueWuZPlSRYZBmsl_iHu2kn8Jd9WJBSpmMmTjU9K6_ItIX8Ta4eCzxyhbPVX_ilJkaJZzoEzOnvlxyKtOAW5g0NpVKtA0jWwojz8eMA2rGVwDLlZTllvPnp2JDGT-L7XcE0CCDn_Hy0FcmiDsu1cRY_-YFVWSspD9J6k-OLkQwWrcXissJWqj63QfONxwxJqc2l76Pcih4fpDtLRCanf2Bm1bXe4Z4SZagEgYaJ8sA7swT4=",
  "id": "rs_0a9c4605c8743cab016ab420d259b487d0b2cfcc8855c8139c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The arm stopped short while trying to move sideways and down together, and the bowl has not shifted. I’ll hold its current horizontal position and lower gently toward the bowl’s side.\"}",
  "call_id": "call_QrUnQuzUiFiIlwl6OyGaBpuJ",
  "id": "fc_0a9c4605c8743cab016ab420d49cb087d0b2edb7061cbe930f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrUnQuzUiFiIlwl6OyGaBpuJ",
  "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]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0269, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0032 right_pitch=-0.0214 right_roll=-0.0052 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -7.8427, 6.1607, 1.5556, -0.2564, -0.0806, -0.0122, -0.1162, -1.265, 7.159, 1.7411, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296089ea7e0973f1874d566ebc75336b7f390a41772f346b2d83ebd179c81646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c82201de7073d776957bc04fbdcfb5bdd256d81a615931e1e1af866501476c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53646d67acee742d0b57d018182872dd330b8086ed682ca7b38cba01de23bd84",
      "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 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.5242, 0.9413, -0.1307, -0.448, -0.3389, 0.9995, -0.0181, 0.7975, 0.5999, -0.3927, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.3978 left_y=-0.1534 left_z=0.141 left_yaw=-0.015 left_pitch=-0.0591 left_roll=0.0246 left_gripper=0.9995 right_x=0.2928 right_y=0.0012 right_z=0.1745 right_yaw=0.0013 right_pitch=-0.0156 right_roll=-0.0025 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.0359, 9.2103, 1.7314, -0.3297, -0.0464, -0.0171, -0.1162, -1.5795, 7.2684, 1.7656, -0.0415, -0.0513, -0.0415]",
      "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]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0177, 0.8005, 0.5999, -0.3935, -0.0162, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1735 right_yaw=0.0016 right_pitch=-0.0195 right_roll=-0.0029 right_gripper=0.9963\nstate[joint_eff]: [0.294, -7.6376, 6.2154, 1.5702, -0.3004, -0.0708, -0.0122, -0.0479, -1.4427, 7.0769, 1.7705, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0269, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0032 right_pitch=-0.0214 right_roll=-0.0052 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -7.8427, 6.1607, 1.5556, -0.2564, -0.0806, -0.0122, -0.1162, -1.265, 7.159, 1.7411, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296089ea7e0973f1874d566ebc75336b7f390a41772f346b2d83ebd179c81646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c82201de7073d776957bc04fbdcfb5bdd256d81a615931e1e1af866501476c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53646d67acee742d0b57d018182872dd330b8086ed682ca7b38cba01de23bd84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDXGBBBQG0vHoA1_ZnhglCqMTQZ4gCfxNWN0-xaRhMHBnAKy8LeZrOaSqGgDP6VXqEmL9ndsKIbKzWtF38LD2_8xujkxgqexoo2VEZ9MVXXfRJokr-mL6LF1V3DIBc2vC3Etl0VopHa5w2hicqX5kJwVIBZlBg-k9fWXSfSJqqo0qauGdb4FAHkIovadZyL5bjtu0nl2JGY723Txm-pcxovKrCPfh5xi8hrdzCtnGG3rJiXmgOflPyIAw-HKXFDORBxia2z0rcnqiXcTgLGB3X8MjntLPCQWM2lH5YuAYXyXg56NRx3YQOTiJxsf1GwugQJibwT3CtTXCw8o2MICapIR1hzI28lKJj9nrCQIMLcr1qENf40LP7VD77ADwJL45JWvCXuKfqS6QLI_F5fZMFTkhJth87av_ddQtev1M4IHemXMQqnNfOolHAvaYAvL-OiB_arvF54doptzXOFI0GUK-KYe0RyT1dW3aihL9KMIBZdySb2tVYYMchWb2XgWvj5DDdXMNDQyaRFI2Tza9SYm89pEAFRGIL5vtaLKREOij7yUlqmKslWaYMrm1fEktHvwc71JT3bDGCo_vLfnJ9xgH3o-uY65iUJ6XQhvn2ICMsAVPW1ETRO1GyFbsAWez4UynOVc-cGo-q7LSwV0PTrfuapoB2-XTTqa98q-7NAXeE_wG3TvS9CTT7i1HFS84eegoSSuoj3Lzv8Fhx5su9PigIZU5o7F3D5PFb213nf6fE2GoSrBbJaIE9rRDZfKvlasizlduVM6uqFRg-ll4toOi6CYsNYLpCkSOlFX3ZqtMOgYTJxuGrAcJ8KwhfKaBleOOMCaSIhtot0g4MFPvc4WoIXOzdtu5DQLADsV6-jPVQAHKjLQzRDRiFlzalTsTLpJhVfzcXd0-73PRdIQxE9vmXdKHZdDakLWW_-4pHnxFp64vDYL6y3yHa9Wcz240dzELpBLkmgnCk5naXG1hH1XyW6sXbAqW-0cUl-YwDmzhMAtgNGzrTmmhCRcMESlp7IiDnENYrp-gEULVE7Actw7wx3ufURh7VJ7yZfB-HgM7lcd2VFOrIzrveL6IFqpviJtZXHGtQgPWT6LAiv2_6sjqq2gr6mfIzU_-fNiuqW6EeOjbn2oPvVFog5m2OLJvOgTso_qpQMfyj6wL5WB3mHY_W2whQEuAshgTHO6bRsDqf6YiOJmX0LE2oOyv5IVAxtqSvUhyPtaxAsJhssT7ms8Dmc4xcnC_V_vk8Y9-fvNaw0digP5lSw53Sm5QsPa39FQJLqes8zGeTyitU8oJ9M7AwrSI59jCKdyGa1WRVBO83n3173dyNBEUT7c53nbCWI1iQyEDmPXr_PgY0kyAI8pA==",
  "id": "rs_0a9c4605c8743cab016ab420d660dc87d0b874886a34f20b3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left hand is no longer descending, with the bowl positioned between its open jaws. I’ll close once at this height and use the settled jaw opening to check whether it actually caught the bowl.\"}",
  "call_id": "call_bP2yCRVupZjtxSQouDRXRD7w",
  "id": "fc_0a9c4605c8743cab016ab420d6a00087d0984cc3010a836c71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bP2yCRVupZjtxSQouDRXRD7w",
  "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]: [-0.4469, 1.6276, 0.8093, 0.0837, -0.3744, -0.2848, 0.0085, -0.0177, 0.8005, 0.5957, -0.3935, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4085 left_y=-0.1202 left_z=0.0807 left_yaw=0.008 left_pitch=-0.1021 left_roll=0.0349 left_gripper=0.0085 right_x=0.2923 right_y=0.0013 right_z=0.1716 right_yaw=0.0038 right_pitch=-0.0236 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -7.1316, 6.065, 1.5507, -0.1441, 0.0366, 0.6764, -0.0479, -1.1556, 7.2684, 1.7021, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77879edacf208df19bc7778fddd21aaa64c60e2e782b03180390c454b5eb6657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146c5d1e36488a3c344fe1c85d133b54de11b96a925bd51fe9ebf285e134da7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb6bd6a1911953a4a8750ffc3e3a46e33cdd89d6e263342ad17e22fa97a04eb",
      "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 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4644, 1.5898, 0.8417, 0.0208, -0.4007, -0.2989, 0.9995, -0.0177, 0.7986, 0.5999, -0.3931, -0.0166, -0.0235, 0.9963]\nstate[eef_state]: left_x=0.4074 left_y=-0.123 left_z=0.0987 left_yaw=0.0189 left_pitch=-0.0873 left_roll=0.0362 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1741 right_yaw=0.0017 right_pitch=-0.0172 right_roll=-0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.0085, 6.5436, 1.9316, -0.105, 0.1294, -0.0122, -0.0479, -1.306, 7.0085, 1.7118, -0.0464, -0.0513, -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]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0269, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0032 right_pitch=-0.0214 right_roll=-0.0052 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -7.8427, 6.1607, 1.5556, -0.2564, -0.0806, -0.0122, -0.1162, -1.265, 7.159, 1.7411, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6276, 0.8093, 0.0837, -0.3744, -0.2848, 0.0085, -0.0177, 0.8005, 0.5957, -0.3935, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4085 left_y=-0.1202 left_z=0.0807 left_yaw=0.008 left_pitch=-0.1021 left_roll=0.0349 left_gripper=0.0085 right_x=0.2923 right_y=0.0013 right_z=0.1716 right_yaw=0.0038 right_pitch=-0.0236 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -7.1316, 6.065, 1.5507, -0.1441, 0.0366, 0.6764, -0.0479, -1.1556, 7.2684, 1.7021, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77879edacf208df19bc7778fddd21aaa64c60e2e782b03180390c454b5eb6657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146c5d1e36488a3c344fe1c85d133b54de11b96a925bd51fe9ebf285e134da7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb6bd6a1911953a4a8750ffc3e3a46e33cdd89d6e263342ad17e22fa97a04eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a9c4605c8743cab016ab420d9d1e487d080d4cde3aad4e325",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.16,\"left_y\":-0.165},\"note\":\"The jaws closed almost completely, so that was an empty close inside the bowl rather than a grasp. I’ll reopen and move above one rim so the next close can pinch the bowl’s wall instead of its open center.\"}",
  "call_id": "call_SuTCAqgYuITeOgFefExH90Nj",
  "id": "fc_0a9c4605c8743cab016ab420de0d0487d0ba0886faedb84b58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SuTCAqgYuITeOgFefExH90Nj",
  "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]: [-0.5678, 1.6073, 1.0771, -0.2749, -0.448, -0.3794, 0.9948, -0.0177, 0.8043, 0.5953, -0.3931, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4059 left_y=-0.1639 left_z=0.1385 left_yaw=0.001 left_pitch=-0.136 left_roll=0.0413 left_gripper=0.9948 right_x=0.2925 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0275 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -9.306, 9.1829, 1.5116, -0.3834, 0.1832, -0.0464, -0.0889, -1.4427, 7.0632, 1.7118, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50da708bad6a68f858c49ff679f817bc9889dd1766959a7eb0ed7b2af7ca1716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc656679f6e6bb8ce691a1dcabba9825051e89fb9f3c3cec48a5ce2ebe4ac17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14791ee332950aa39e25b83b39db51ebfe17f67347b3352e0ccbe4315c01b2b7",
      "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 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0177, 0.8005, 0.5999, -0.3935, -0.0162, -0.0238, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2928 right_y=0.0013 right_z=0.1735 right_yaw=0.0016 right_pitch=-0.0195 right_roll=-0.0029 right_gripper=0.9963\nstate[joint_eff]: [0.294, -7.6376, 6.2154, 1.5702, -0.3004, -0.0708, -0.0122, -0.0479, -1.4427, 7.0769, 1.7705, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6276, 0.8093, 0.0837, -0.3744, -0.2848, 0.0085, -0.0177, 0.8005, 0.5957, -0.3935, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4085 left_y=-0.1202 left_z=0.0807 left_yaw=0.008 left_pitch=-0.1021 left_roll=0.0349 left_gripper=0.0085 right_x=0.2923 right_y=0.0013 right_z=0.1716 right_yaw=0.0038 right_pitch=-0.0236 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -7.1316, 6.065, 1.5507, -0.1441, 0.0366, 0.6764, -0.0479, -1.1556, 7.2684, 1.7021, -0.0708, -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]: [-0.5678, 1.6073, 1.0771, -0.2749, -0.448, -0.3794, 0.9948, -0.0177, 0.8043, 0.5953, -0.3931, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4059 left_y=-0.1639 left_z=0.1385 left_yaw=0.001 left_pitch=-0.136 left_roll=0.0413 left_gripper=0.9948 right_x=0.2925 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0275 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -9.306, 9.1829, 1.5116, -0.3834, 0.1832, -0.0464, -0.0889, -1.4427, 7.0632, 1.7118, -0.0464, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50da708bad6a68f858c49ff679f817bc9889dd1766959a7eb0ed7b2af7ca1716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc656679f6e6bb8ce691a1dcabba9825051e89fb9f3c3cec48a5ce2ebe4ac17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14791ee332950aa39e25b83b39db51ebfe17f67347b3352e0ccbe4315c01b2b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDjgsQCizKJA0WxfKFgnSWhnaJCaGwvhnOJybQ89_l8nMMboq69wvJJtURE-1a4c9Zo-1-IPaEIPT_zEI1vjHdJQRbLlor73P1GVKKPhatVmgUvemPEdSDasbP0AvpNaBYmoqCe7PemEWfZCCNNrWEWaRzc4RCQkM_NaIIP4MFvpRZmXa_hLZa83jbKAq3U71tvh2l5UQLXRvv-7WhG2bEPr8ArtIjayTtAL8xyd9c3YBalpRi_PIijk-GN6xuGMXFTPnWBrbP8HooLSvB8MYkmk1cfFF6OsMYi8DCRq20-6FE4LOmyjb9MWrztJyrZD_nZSDIksyjNmxrfwa-iPYWJku8ygjNdUKplgrWl3_DRrv14JA7CrQBUhYmNpnd6vX6fufkc6gYoDBweieZx5mQt-8ZPah_PEReqH3GA5eu0et07CU6Kr-I8IaAOSTc66MWYHQyWglH-nk3_CpnOowB44Elk5Bcjy7AP9o75brmEhEw1Eh-mv7pY0Iy8FunFbh_LnQT897-FeFdN3GwWdxbUgYQO9qDNMsW3qS18wLIlaQYywCSiLPzyYjAopQ9AZebCUoYgC6JjvgehqLUank6fsJpLJjyf4Yi9iqZ3Yssvcq9AqVdSnq7nUw-YbE_APdQm6faoyV04kfLl_Eet0i2SXnCVhoJ2FY6nNHL2QduvxHFO3IuTt_bvr6E6RgMOB9LyB0oamCWVfDJbYPY_Siz3Eyr93pgtjEoPgw4rggMtFJ6Zk7UdZx-OvmMnxjVyokW3CSZWmpDgkY4QCeVxUvFFMUY5OoDCSgMLPfC-Uojp1Y59CzcpX0eoeTOGOR4eqPHizq6cYlA2mrPhMuNOxRJyvdiILNtjJcBLzpSjXFqSxQbJ5vVw_Gs4RsXTmhEqQKZoOj7Z7petXvL1vBVJ3tcY2sHZRFqgihFWcCs-aObaqVbYmz1E8wzurDYo899D3VWAd1fTUtJRecbgaeR-zwVOLWZyM1kTu2tzbH24wJ2PyVkumtcdfEvfVR24OnwPXIAlV12IPpbsgTZeQp_oJ2Zw5fK20VyNVMRd6ztCM_I7JhUu9_78r0EeHFr0GOetF4dMgYRJaUXOwM85vzKNqnAzq32AgHcMWUD-HHCI9Dyvd_mOJixqMnyyDENHopP-FobsQbphRQOU5fbFso-2MhJqPXFaJVFU20ZYDHoYr6C2F9yd7H6wCTRCpRahi40VjzDF0yTiHB7R3krtxp6EnsqDsAGs3rhNPQjk48xhBFQAdz8PcMHUQjAAISl7YARPkD1TjrNT1StBTm4EEXNFRPRg2LDV-xRDgjakW2Lb0HPO7DcQeco96svnoTWMiShln3vdlSRgiqrONjg-u7ThEjW2paZ4vRtNfM0sPUI98xltu34KC0Mg4GLbedqznbbTXsawZrZwC_FDvInZE_cYSi3RZk2DHdjvXGEIG5InAoBjxEIyOvbor3-N4qEjFgpLL-YnWUE-5auX-jDTMWLhMMR8qr_GatPf3jjho01b39PTnJdl6841U3ODZmrPP_dQmiJVwwScN9vSaGz5MLyrLHdJ9Yjb03-fheLq6ZKX701APCUUBRb16mOBrTnIiVcgq9KH4IA-oBcAfskG5z869MhwBjG9Euxy8ns225lHVOI1p_UpSpiiW8aqIeoYZDayKlOJndMVfbawVSFartSvWnm1ZnB3KUFWDNFNz4tBzto8KqSKRb5Hq87SED47BU1WYRqLjdTT352BT-baeR_xWjG40g==",
  "id": "rs_0a9c4605c8743cab016ab420e1aa7c87d0bfa6ce8eee8a5374",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The white bowl’s right rim now lines up with the jaw center in the wrist view. I’ll descend at that offset, aiming to put one finger inside the rim and the other outside.\"}",
  "call_id": "call_8oxyAkRExCPR3XO1rtbVpnfo",
  "id": "fc_0a9c4605c8743cab016ab420e326bc87d092b7d0d5c9303fba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8oxyAkRExCPR3XO1rtbVpnfo",
  "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]: [-0.5705, 1.7683, 0.8726, 0.0406, -0.4438, -0.3832, 0.9957, -0.0177, 0.8051, 0.5953, -0.3962, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3985 left_y=-0.1613 left_z=0.044 left_yaw=0.0015 left_pitch=-0.1796 left_roll=0.0631 left_gripper=0.9957 right_x=0.2921 right_y=0.0013 right_z=0.1696 right_yaw=0.0038 right_pitch=-0.0313 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.7607, 5.4906, 1.619, -0.2125, 0.0122, 0.0806, -0.0615, -1.2923, 7.0496, 1.7656, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7473613ce475e156b861d74db62469486711cbb7eb1243f7ace287fd411d4720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726d87fbab455ca0f3f342ea9911b2c6f6cd893c42d545830c0aac7be8289522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bccba00bd64e24134a9d0121b09edf878e7a0a91a45e3f7296ac05485626430",
      "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 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6272, 0.8093, 0.0864, -0.3748, -0.281, 0.9995, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0269, 0.9963]\nstate[eef_state]: left_x=0.4089 left_y=-0.1203 left_z=0.0814 left_yaw=0.0061 left_pitch=-0.0993 left_roll=0.0368 left_gripper=0.9995 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0032 right_pitch=-0.0214 right_roll=-0.0052 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -7.8427, 6.1607, 1.5556, -0.2564, -0.0806, -0.0122, -0.1162, -1.265, 7.159, 1.7411, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5678, 1.6073, 1.0771, -0.2749, -0.448, -0.3794, 0.9948, -0.0177, 0.8043, 0.5953, -0.3931, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4059 left_y=-0.1639 left_z=0.1385 left_yaw=0.001 left_pitch=-0.136 left_roll=0.0413 left_gripper=0.9948 right_x=0.2925 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0275 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -9.306, 9.1829, 1.5116, -0.3834, 0.1832, -0.0464, -0.0889, -1.4427, 7.0632, 1.7118, -0.0464, -0.0562, -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]: [-0.5705, 1.7683, 0.8726, 0.0406, -0.4438, -0.3832, 0.9957, -0.0177, 0.8051, 0.5953, -0.3962, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3985 left_y=-0.1613 left_z=0.044 left_yaw=0.0015 left_pitch=-0.1796 left_roll=0.0631 left_gripper=0.9957 right_x=0.2921 right_y=0.0013 right_z=0.1696 right_yaw=0.0038 right_pitch=-0.0313 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.7607, 5.4906, 1.619, -0.2125, 0.0122, 0.0806, -0.0615, -1.2923, 7.0496, 1.7656, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7473613ce475e156b861d74db62469486711cbb7eb1243f7ace287fd411d4720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726d87fbab455ca0f3f342ea9911b2c6f6cd893c42d545830c0aac7be8289522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bccba00bd64e24134a9d0121b09edf878e7a0a91a45e3f7296ac05485626430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDo1CiEeuExSYD-OLpzjx_SVRRS2_E8MDrfJLDZyxNrm4-fLhV_qCCMrtRectiU_ZbjRmOV4F3S0z0M6L61t0UwwLk4E946yFtpIsS8URY_qDwNXDRSm15v8lSGs-z9ti-EDS6RsCTx0YG8svxJqwim6CmRluduF9iZomtxuWssAaDuv9plbttXyA462jphlMsfMAgP_J9aR83Eo0-WjUEbOwUkFQOn-EZ7JFtM4lxKlS3sn7QZuMNrpF7rDCsmdjoqUSvx9eOqZ-HRHP4SfpPTc9W5Up5HR5riYjhtS7HZGRIveOuJO-wF2AYak4_-hTc0fdByU9vmYcdPOp9J9L5c1KfMWEh1aedxfmhtoHo9lUGvCCuqlwQn4kaMquD115FEuUZijyoamE6EdYXCxIKzZ033YJUrY7yOHf2RZCptJzbBd1HGPAlT3sJ5aDgf9jDQhzeeaYNNGPoTG311X5E3J5ZHM6rz3D_ub9TsChnE9E35Z89z5MlBocxMRg_2iqwqeIV26IRxzPQQF5RmgyPKLKtS_mxmh9ukHY30ZwXgYqJFFgzV3-FP-RgIYmsZBgt0kqUbN5sYMb5A8lHU8bRiFTMRFPo-Z0Kw85Y-DjjKOaFK_gsJN9eFt4Q1M1_odISrbn47GD6o9SXQM6A-jdD8PSp7Wl0Cc-Nm_VPOwyJE0IDg4onf3FL7JnOhjzP5NK2hm8qQXgfcFysxy9ZDWIqgiy4y-LOJOrapRUY0ASqFgIzX73yZblq-byJD33rwLW6uBweeXDCdEPzdgIGdIvWbfWkYfvME5n7cmFv0AOro4_zPFc0Oh8-lESBn72ih3jKmPe4iNxmzX-cJOGp3UtGRzMhImIzkppy153eSTjerDnpgTk6s90FSlUHKaazjsKl4rCkKzadpJKcp8ec7AcFhfN3eTVOpe5t-_GlH-QmaU1GsLgrwmgqbrTqgPqcEJARs38VGAJs4B9r1QxDk2y5O-96NlWE9gZbL7QnK8CH9xCxaMeOPn5qDluRveorRGEBgihoEXri5dLwbXa5f0JBDeF34cKuaa0V3fcroNU9uBWVfQitKrQ4S7CzX1NM_o7H-EjuigwYJ6BQDepd6efika9_alMR41Zuwrw61PyH1FVoRS2dNS88FM0N43jUooEu6LGf80hf6ISXug8bppJ6OYDPeNnQx0XPeCOle0aQlfQ4znyMgDyGt-3C0mUQG7tQUYVS67t_boEX2FAyknQq676Sv2JBqz-KTayqf5mMrBnYzD_q1NCfNVa5M19ge-Rb8gfc8AXb5oyKBitRE5SbBOR6gRlVj71J_lOacdNMygNewBcMjIVP1otZL6PVM93YWA4k31435wSkiJmbqz7qjHlzPzqYwLH-OMBsRyElvYnJy5uLi0l9Rz1XAFleH1HkIYn4YRiBGEAle-0frflZHevY1AeNEcXAVdVoNvWvv730wwntVvL0LpldBefJXoy_LCUggKXchoBmxJl9tg7LvkFKpHqMHrUmtg6kcTGecrqjMEW5pCjZeD_04HgOmjv7LmBEJO4Rp4JBqXdNUjPj68g0ldjA8w75NzBoRkOw19fSQbbACknopx99M27FptAAxjTYOGHoR5Du3gEUuzzIsDUFdSd_qRXQdueg3ZfwWN0bfsvItkSGjIp_B4Y_4Wc-PmeyKJj5ED1_HoR1ZFgo6jqrOoZiF2G6ntE70KIJxEVR8zDme28kNk9aku5sEoAUyQeckTar-j75lFwNP7tDrng9WlCxsI1HBMgDeJKNG9D4vGGtI_Gaq_yKusd4sw1t1WJAsvfIhmrOBlR2S5YyJxUuVDTncGuyggi-wxmZywToiztVkX3nJqHn2baQdep78xN1Ue8XZtgFiKnrVXYubOct8u3sV_1GE1MHHQX6LwDichl_57I6E44Ia5sAnxeF0N0ndtRp9g1xbLbONB1Li3eV4Art1tN7AcfN6qsbykoF5Tl9G30j0wjyiiuhSPtUQ_0W-4wQoXV9leAXoCDumsigLyYTTQqEs1Y5XE99BAHSjYdaTSI5PWquAEhox27txFIVVpJvQL7Ho3F3F5JIaxgVqlDFJmzC7A18bSAmMf1OihSJZq0VHeTjqkcm8G1cAbcewRhjYOyUDONr-URaEjcHdqPMmBSP91lF6SFb4z5tXepaOGvWzBrTCjnXEBGrT",
  "id": "rs_0a9c4605c8743cab016ab420e578c087d09f16575d852bf7d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lower pose, the white bowl’s right-hand wall lies between the open jaws rather than under their midpoint. I’ll close to pinch that single rim and check the resulting opening.\"}",
  "call_id": "call_TeXztvsYtKbrZUCEgPpf4Mpt",
  "id": "fc_0a9c4605c8743cab016ab420e7447087d095103d7eb8ee7f6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TeXztvsYtKbrZUCEgPpf4Mpt",
  "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]: [-0.5705, 1.7798, 0.8597, 0.0422, -0.4583, -0.382, 0.0383, -0.0177, 0.8051, 0.5949, -0.3969, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1563 left_z=0.036 left_yaw=0.0143 left_pitch=-0.1927 left_roll=0.0861 left_gripper=0.0383 right_x=0.292 right_y=0.0013 right_z=0.1693 right_yaw=0.0038 right_pitch=-0.0324 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.7043, 7.0632, 1.3797, -0.022, 0.1294, 1.1795, -0.0889, -0.7453, 7.0359, 1.7314, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18be9db264394a9b6c6fbe2f44ea967ed9838b74d8cbc4de47b272ff3c1b73c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9807aaf26c463e104f628c1ac5bbcf775f83097b9a28ec451f628d534dbbc6ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dfdf8f2b6b2d93ee64de8928ff1ecd1b1784f3f3b8b2370e359fcc0b29a9ce",
      "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 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6276, 0.8093, 0.0837, -0.3744, -0.2848, 0.0085, -0.0177, 0.8005, 0.5957, -0.3935, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4085 left_y=-0.1202 left_z=0.0807 left_yaw=0.008 left_pitch=-0.1021 left_roll=0.0349 left_gripper=0.0085 right_x=0.2923 right_y=0.0013 right_z=0.1716 right_yaw=0.0038 right_pitch=-0.0236 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -7.1316, 6.065, 1.5507, -0.1441, 0.0366, 0.6764, -0.0479, -1.1556, 7.2684, 1.7021, -0.0708, -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]: [-0.5705, 1.7683, 0.8726, 0.0406, -0.4438, -0.3832, 0.9957, -0.0177, 0.8051, 0.5953, -0.3962, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3985 left_y=-0.1613 left_z=0.044 left_yaw=0.0015 left_pitch=-0.1796 left_roll=0.0631 left_gripper=0.9957 right_x=0.2921 right_y=0.0013 right_z=0.1696 right_yaw=0.0038 right_pitch=-0.0313 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.7607, 5.4906, 1.619, -0.2125, 0.0122, 0.0806, -0.0615, -1.2923, 7.0496, 1.7656, -0.0269, -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]: [-0.5705, 1.7798, 0.8597, 0.0422, -0.4583, -0.382, 0.0383, -0.0177, 0.8051, 0.5949, -0.3969, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1563 left_z=0.036 left_yaw=0.0143 left_pitch=-0.1927 left_roll=0.0861 left_gripper=0.0383 right_x=0.292 right_y=0.0013 right_z=0.1693 right_yaw=0.0038 right_pitch=-0.0324 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.7043, 7.0632, 1.3797, -0.022, 0.1294, 1.1795, -0.0889, -0.7453, 7.0359, 1.7314, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18be9db264394a9b6c6fbe2f44ea967ed9838b74d8cbc4de47b272ff3c1b73c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9807aaf26c463e104f628c1ac5bbcf775f83097b9a28ec451f628d534dbbc6ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30dfdf8f2b6b2d93ee64de8928ff1ecd1b1784f3f3b8b2370e359fcc0b29a9ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDrYqEvdvXeZgP6RzG8Ya8CyuP5vjys9PrLd1p-Dx99TRpht0El8hHIEu0M6CDhBQdYeeV-4xxm2CAqg-IJlqnz0YXxedVhaaeeKlvAwBRslpA92t5ef8YGuNrKoLoz0fvofH5NIaIQuBnlDfopEhflTgR_9Q0Irf3-KQtNmw14AgBkBkirynSO8tqX9fPoMJbUdVYgKTgK012uvZvi769koMxTnQxnovtSn0NQpICWj2-XkkTAgBYgg6VQOo8hES_79dvigAmPNRFnAYEfYlzTWPJbpTJebKnJUbxhQJARWyOnOiZzr4VySuJ7AlRgKKkKkepSX6QhHZY1ryjOcrrQykNMIUnUcOyDnorlEJA9uJ1GrwRBg_gUPdUou4FOSEGKqm3bJeUdRJS99URtzoMEHfE0cgJRloQ8Vr5HDnVuYIHwrodLDLss9poySyOhS9p9jRGf265Pja7OFYzddo_AqNztvOQQOKVPj9RHnKN7yeT870EFApjNTnlHkYs_csg_bygDCx-18-k-4iQEm87yrXnhbsczNMUJtTc76NxsTOm98pg7ZH2in-KJ_M3Ftr7TYtz1WucXe3biL3u6nStERKRe2xfUQZhK-JjThQL_FUEywk3urtGQCxdcTt90auBfkPcaC9IMVTTjqAhe8bKzaTdrwhcFYxM8VVI4SzCGDAHuvD3KfWxUipWEuno9YFZRE1XRglt1nlPv9147YTB25_WbS8BDrD7M64kGADu93el3KtBIBD0OAeTYWvJZIn1QKYivQloH2x0xQV24RVsXPx0qtGM5-vkr_wTMU6q5bWrj-45X8uG--fjI-bX4hjXD4M9UDIbgRm4Ned-vuu3OeFbBUR8b4vfbcjbuGlgPMMkKpPkWKMafTXeH8Lk1Gyxv9o8_YN0AciUCDNQdNVmhG7nHTd2rkB-qT3xrZNT_TORV5XXBNKkSgVRsOUR9e1vWP-PM9Ovzrumd3VN4ECrAJGYVkXiDlbu7TY8ycr9tFyKJcCQR6TZUBZmi255bcc48F9Lr5Ez_ouRbYSO2Yb86-Mza3IEk-ruIqgNx2GWO_qg_TpevdnM_So08xYIA73WsJppD7ax1sW8inzTAOu60qYUceUZm0aeNzgOFiiimCdcZFCEVirjEpARwMuz5Pkp4jm-TpMA9hmzlDkHUh8tPNam1QdlZilUZ3-TSiYub2GJN-jWPA8NsQbljtBNNgQXu0XgIrLkh1DF75F56zCKW186t7gRlBFbC3e3qsol0sUuw-xZBjLg4hvSHKD6DPTjZ-ZSQAdruZESmuZn9prHzVsDWtxCzznG9qgul2Fo0Ik7y0Q01A8uaGuZjdlZJvm8okTITL8TijQWAQ1Nx9Nhw3w==",
  "id": "rs_0a9c4605c8743cab016ab420e9dec087d0bb4febcf89e80cc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The jaws stopped at a small, borderline opening, which may be the thin bowl rim or an empty close. I’ll lift a few centimeters and check whether the white bowl rises with the hand.\"}",
  "call_id": "call_58oQjWnapGzjsG23PlihBfAW",
  "id": "fc_0a9c4605c8743cab016ab420ea353c87d09af1c42db755ffe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_58oQjWnapGzjsG23PlihBfAW",
  "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]: [-0.5705, 1.6394, 1.0393, -0.3069, -0.4622, -0.3874, 0.0423, -0.0177, 0.8051, 0.5945, -0.3973, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3936 left_y=-0.1547 left_z=0.1069 left_yaw=0.0235 left_pitch=-0.2149 left_roll=0.1012 left_gripper=0.0423 right_x=0.2919 right_y=0.0013 right_z=0.169 right_yaw=0.0035 right_pitch=-0.0332 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.1402, 8.8274, 1.4432, -0.232, 0.0464, 0.7692, -0.0068, -1.1009, 7.0359, 1.7509, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48408afd1957dea09b89fa6e287f540eef9828acdd78a232aa404e49af32b5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368365f2dc8f62f8e4f0b50ee0884d95b767dd768dea6bb599444be17554262e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c4658a3384ac3399e4346a5a38d0074dbacd81c2fa86ebf0638984bec4b0f1",
      "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 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5678, 1.6073, 1.0771, -0.2749, -0.448, -0.3794, 0.9948, -0.0177, 0.8043, 0.5953, -0.3931, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.4059 left_y=-0.1639 left_z=0.1385 left_yaw=0.001 left_pitch=-0.136 left_roll=0.0413 left_gripper=0.9948 right_x=0.2925 right_y=0.0013 right_z=0.1705 right_yaw=0.0038 right_pitch=-0.0275 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -9.306, 9.1829, 1.5116, -0.3834, 0.1832, -0.0464, -0.0889, -1.4427, 7.0632, 1.7118, -0.0464, -0.0562, -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]: [-0.5705, 1.7798, 0.8597, 0.0422, -0.4583, -0.382, 0.0383, -0.0177, 0.8051, 0.5949, -0.3969, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1563 left_z=0.036 left_yaw=0.0143 left_pitch=-0.1927 left_roll=0.0861 left_gripper=0.0383 right_x=0.292 right_y=0.0013 right_z=0.1693 right_yaw=0.0038 right_pitch=-0.0324 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.7043, 7.0632, 1.3797, -0.022, 0.1294, 1.1795, -0.0889, -0.7453, 7.0359, 1.7314, -0.0562, -0.0708, -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]: [-0.5705, 1.6394, 1.0393, -0.3069, -0.4622, -0.3874, 0.0423, -0.0177, 0.8051, 0.5945, -0.3973, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3936 left_y=-0.1547 left_z=0.1069 left_yaw=0.0235 left_pitch=-0.2149 left_roll=0.1012 left_gripper=0.0423 right_x=0.2919 right_y=0.0013 right_z=0.169 right_yaw=0.0035 right_pitch=-0.0332 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.1402, 8.8274, 1.4432, -0.232, 0.0464, 0.7692, -0.0068, -1.1009, 7.0359, 1.7509, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48408afd1957dea09b89fa6e287f540eef9828acdd78a232aa404e49af32b5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:368365f2dc8f62f8e4f0b50ee0884d95b767dd768dea6bb599444be17554262e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c4658a3384ac3399e4346a5a38d0074dbacd81c2fa86ebf0638984bec4b0f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCDxtt50fZy40FplY7f6d3HsYpjgS8Cv-pYfZPKUjcpRq7i5x_6gF_mvI2Edd0-HEfXcAJyf6F-6C073Cnq4kK0Hadm8LM7t6N8YvtG7a11na2BmtkLN0s4RJ_IFAhmLO7Px9t1eC7cmsOiaaio_MOpaZkRsxUJcVyzZheK4cpFRf3TL9Vv-IzyE3-DwXtDx8br6V2LPXvXotgpNlT_V42uBqngtQ1BIxHFic2eLqg56t_p0xIbL_y-N0m9mVMhVrm8GXix26wkqZWSDKZsVofyidlyorhxPj-45efCi14dv9fde18PsNlfjQrZZjOjWN_sGKGzYGzFpCI5ForZDpAzpuz0hvd2CpRJ3zF-Kpkt6FAJF0gYfpVZuqwk90FD_0sBn_0OdZ0nU21Jr8Efr-X1Tjintu8ryWhj-P7PFeEN1rRBYaQeoFol0gvSr-3QLMYHpBk5981D4RLlZxKI-d4mzSmNgOKvSlEmEo-M97EX4TPbCnBL-mHPFSjfU89hteTSRYr3V2qMxfKeluzCAU8t6Ez2vKya9y7ThAfF2xDpCmagk3ZHV1S7E642TsuiGtLKPiHt25iAuP290w2Zg8WbTFttiY0bfwlh4oCLZcb02ODRZg6PF28zZRZlbTd7DWD2YOCt-W08SP2DLNJLtD9NdmEDrFaSeQvmXVcdyI76DZ1XyfQNlA5QHls8vHazJjzHIKfZrj-3hZtBBrXVHF9-vUfofErI055tuXxUI4hDJ6mB0yfGxRWRwcvHit5Q-bURIBVlYyk9T-ScXcSdR_1spvy1Ax1IC7ho3sWZiSOZObvjHEeOk9le5fEJEXSP0WtIbNIaR2F0RXTlgLonEfl0umP9nTugehVBU7CijObtxXHTHg9nmEohyxuWgmNqUY2l9O4omzzl0NLZyImI70EMxMjCuKvcKlbjo33y3WOkjFax6h99JT7qIeQyUsZDtFDpuKhYotKZJqEPCevFUbC9o0u6esv_uzXuY8OwWTz8VUVdwY62v-AbYmzS2HIYKo0APepDj_YenQYQnGQAMJmup4N51JVRHYA8NA7-ARK7KcjIm-OmUh8kBJ-GTz7jGDLcBdl5llxq-mucMyjWBJSNCPLKQWJENeLB_A-rUJn79owsk2lgNpMvEvSyZWuu1QvIlDw4tvkHN1mR6cdgvtZdSeAMn7Qq6kjazYKp-faH7iuYVaiCWUR3Mxgf23Oh_x--yVpUpeSOzUrm0ADpDFYBOoQigsDfym2isS8nSUn3h_VyAbhfuGyz2wTiEajFoQDK2OhW5qTG_YM9PeyB6ox68qDbb7uycvXZBropUSKyWtNWN2CalgpBnyhywVPVc_5YYmx-drvAXdINYtApjeLMgoju5HPP6xEAqnIezLsau1zkMSbROfmKysGw4TVEmK_Sc4Tx0lcebWq8HagUKYA9FhzjPgaBxWWytQxwc8SNLS5XsR3qQikhppmlzez-fpawKKM1C6qtlRsF2H7rJJHYidBgsJF3nFSe8qBJgcYRwvhe_ufonW4AAIBBliG5Zg8H4F1evimHVTekM6fvU2MUR7d0TJOxp2FPonnVV0HwvD85MxnJpkTlNnWQJWWuG5yCwpNruZHAsOnSVdrH2iCjdI2Huq7RtUbS2flSL0UA81H48pEd4RXxSVFTXxyUegDAcgA_9R2cQqm5PLkI0uvR8mZuSxMaXUco5mPnOJLXTbiqX12phSotsQrM2e7DCpC7PUzE-6nTUnkVnRg0xpXeKip8i0Uw-7im_M2YSXfuYNtCxvXyhlR8oibHmsosbxVEwtqLF0W7wuUaQ3zhcfXGvmDhPswiVf5WNvZZAEmN0Cs9SNg_9AuttfSDkj1VH43nGfr2qOgoaZjfalnY7q1n5PqcxOeAhrHuj9HtOLxNDT7mYbEdPd5gIaDgrPVNGwJv4eThpCG4AnA4aCZg21w4Zfl14RFt40Y0KEkhFOPPUR02nzCHZp3KQBMvuLAKDmBDyNBIQaLfSbyyQ1r9xLy9Oe0DrghBPKo2dANIO6meeyKqlyRHmlrlSnjkKP4zQEegRj9T-Yn_TuXBhEgBvafNE3Y7-cjXwS5IhFsIiXiDkq5HiMtDLKyxaa53qJ7MOHZjB_HIdsqL3OnWp8_fJ1c-Lf3Hxm217cc55HXkcjzHMYJfFUPO3dVIgzYQU7r0bRE-FFPv-t2amIIjF0JtJUMSVcGZRepN44KJV39s0p7aqZg7V4dXW2y83vjgh-qo6x5rX91KsiNd9EmOYVPOPxB3tpyV9Lsz2n_lARM0OZeuEfE3e5XzNp1-sjnznLx-M0ES3g-uFLxDPpSHg8qdlqkgzm6zPOLeRb6ZriQMmk-JlMuX_uhmEtCDnQQJ1rYM1-LWiKjBFo1ZBFGmuLt6QW856cblRpRMMV9etpt2olx23wxXrIfpN6di6dZ14PVQxnKw_th-AVNB-SEqzpXAaeHtZzucfwinm-uD66PbzfCkzxUpYVDMQ9VsOroo2I4sgFLH9v8YcE7esxGb__Na9FFcCs_KvGIkDsWBkNeJyTjXPAfSKyqWUmrm71Ms5hjsZDplDu5bFgldzLyhG21RjEUU4863QARkCwsZ-BP1U3P_zMgWOTHroDUrjgWoThMjK6JPOkrvpBhj1Q-FIVuYNfutNCQYucLWATOB8ip-h9-zTOtYPWt4ZUf6CSwhGfIwWUTcBHoPmvrBQZ65PXwgGKY0_kM2Q_GfhgiRNdDA_geylZyoKCKAyZ9cDrs0SsXAO26t0n3n1HQNlKi2VDSMRWqqcn50e8hrIjvrX90f4Rq3gLvkkmNBkGiS8wtsyXbDGcDWVwHrrHa-FPUSW41ZQDsz-jeJveocMUjdVX5kkNU5WQVEzRd_xX0ezmisjOv6-FcoNN4abPuRN1kZHqNxhkwIwF6M8Xwp1OoKP4rxxavzy4Xay9HC9Jx0Yam-1IJSQd0mqH9RNnYQLp3up86oFaXOJo_adOru6K4MBaAkYUuS2CUa5Fpm7g41zoTz7daumT1tt79GY9m7Bz-D2le6wd2_AT93m4T_rvZapRofG6DNJK-XkQI_DZFslSmZreQkpdAoS2n_JWrv3Ufj---y7U5_g-NLI4iIx6BX3Ep3ASKgtqAy9WuWs0GVsN31--QeJs4oOQX011IuEbwj98G5T2suugBDDPMuW86k39DZR7qlJdw6L-NG4E72oX5mDS8ZP3VG_R15Evx0iJrdfoxF3GjMB-u7EwQz1TGb_p376aTkwKvgfmguhDx0Nf63qnl2sFXcsrkOEQ8n5KEgPPZj42sOHNFwg4RBctywF0cOeCL6dqHcCHw12pCIUGi92J5LZ8q3oNFdMDmuqD8VJApPa7sPSRtdyQ9ksspJ3P3q7lGi-8juSo4xoHcaYRxGC-eFAYsCNq05z7txAlmLdEQNmqOH2PFcefJyWyCKawZX-5pxZHVqcHBfSdZoRqwBxVnaZnH38UQ6sb3PfpN5XVGYrX8M55yz6oLa4VpUAOeZXdzcxDzl9EOkBxCdKkMz4ki2h5gzs",
  "id": "rs_0a9c4605c8743cab016ab420ec946087d0b733952a3f9c60ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_z\":0.12},\"note\":\"The white bowl stayed on the table during the lift, so the thin opening was not a secure grasp. In the overhead view the rim is slightly behind the hand; I’ll reopen and shift back toward that rim before retrying.\"}",
  "call_id": "call_oSsbIQ0hv9yPshmcmqg6y1h7",
  "id": "fc_0a9c4605c8743cab016ab420f0f73887d0a9f8ad8175e835ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oSsbIQ0hv9yPshmcmqg6y1h7",
  "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]: [-0.6079, 1.5799, 1.0111, -0.3668, -0.4736, -0.4206, 0.9948, -0.0177, 0.8097, 0.5945, -0.4118, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3731 left_y=-0.1571 left_z=0.1118 left_yaw=0.0168 left_pitch=-0.2311 left_roll=0.1018 left_gripper=0.9948 right_x=0.2901 right_y=0.0014 right_z=0.1649 right_yaw=0.0038 right_pitch=-0.0523 right_roll=-0.0048 right_gripper=0.9963\nstate[joint_eff]: [-0.6222, -9.388, 6.1333, 1.2088, -0.4274, -0.0415, -0.0366, -0.1846, -1.6752, 6.9949, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ba62968af4e34f79edddb64bdcc3985483e93e1c8591c247c66cfbc8dbc7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec35ef80cd067d93682fa41fdceabe278f0f4f1a9a02cc24f7746882583bdd27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddc75686c861e54debf50af9165f1412aaf5c2a49cce152a21de18e482b2b4a",
      "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 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.7683, 0.8726, 0.0406, -0.4438, -0.3832, 0.9957, -0.0177, 0.8051, 0.5953, -0.3962, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3985 left_y=-0.1613 left_z=0.044 left_yaw=0.0015 left_pitch=-0.1796 left_roll=0.0631 left_gripper=0.9957 right_x=0.2921 right_y=0.0013 right_z=0.1696 right_yaw=0.0038 right_pitch=-0.0313 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.7607, 5.4906, 1.619, -0.2125, 0.0122, 0.0806, -0.0615, -1.2923, 7.0496, 1.7656, -0.0269, -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]: [-0.5705, 1.6394, 1.0393, -0.3069, -0.4622, -0.3874, 0.0423, -0.0177, 0.8051, 0.5945, -0.3973, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3936 left_y=-0.1547 left_z=0.1069 left_yaw=0.0235 left_pitch=-0.2149 left_roll=0.1012 left_gripper=0.0423 right_x=0.2919 right_y=0.0013 right_z=0.169 right_yaw=0.0035 right_pitch=-0.0332 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.1402, 8.8274, 1.4432, -0.232, 0.0464, 0.7692, -0.0068, -1.1009, 7.0359, 1.7509, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6079, 1.5799, 1.0111, -0.3668, -0.4736, -0.4206, 0.9948, -0.0177, 0.8097, 0.5945, -0.4118, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3731 left_y=-0.1571 left_z=0.1118 left_yaw=0.0168 left_pitch=-0.2311 left_roll=0.1018 left_gripper=0.9948 right_x=0.2901 right_y=0.0014 right_z=0.1649 right_yaw=0.0038 right_pitch=-0.0523 right_roll=-0.0048 right_gripper=0.9963\nstate[joint_eff]: [-0.6222, -9.388, 6.1333, 1.2088, -0.4274, -0.0415, -0.0366, -0.1846, -1.6752, 6.9949, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ba62968af4e34f79edddb64bdcc3985483e93e1c8591c247c66cfbc8dbc7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec35ef80cd067d93682fa41fdceabe278f0f4f1a9a02cc24f7746882583bdd27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddc75686c861e54debf50af9165f1412aaf5c2a49cce152a21de18e482b2b4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a9c4605c8743cab016ab420f46e1887d0bee3f2bb501349c3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCD74zSquuK1M4cq-KICYTlpPo65XIooQX7hzHrgoldYGwxUJyQv6Imu-hhJAvrtFdU-b1u9uJEpyXG7xLaPJ0gR27KDnQGjXkORfBeHY0jbmrArg8eEOeKTq-LUr4zCY0mq3A5-zngmK0Y2uj4ejp36hjhoOWgz7YOwz8vhEmxQvBJF1O-F0JYniKaNy5gkG4eAYIrqF5_bexMqB4cQBBFsdsoUQhkylRACD1tLPjp_yse0Mwt_geHWSvLZfr1okRjyVILcOkd_tp6zAWzlsYVFDqkXpFKQItuS7cFqAIyVp8vQpc9AiQ1XT6Y4ikNVkYG57LZOmeKAb7DqNsva9WQ4ajVbLq81q6QhYU4pzBrzgjox0qxTfporSJEFc_Cv-5kuq7Qs1aEkI9T3501-nvZM8IYYByRlw543FdwPLpUQSxSujO0wULkuI4O_MBkZzzEeldVTey79Qdn4ZmXncY-ih3KKLRgacxAe9v4Tij9tOOXSp7o8AbsGECxJC_MJYubIlIu_rBscW6lO9UW_ed-x-kAf76gJpoR5qQliJkletE-RrmEVrdWVGQquKZTevSQHPv2Mk76a6IZyDQDpHYedvBhvstCyYWwWhsN55_1bC9KZotHyCDH0qnYNcS_qZOYOARfEojC5p-mtu1ahNHK7IAQ0O030OW1EZO1R8NQpVTXmg76p_s6QObisHOBcp3VqEiwoq--uOiSUbRL9EOoyMMrgE-mfZn8cvNywxhftlmxBzkRX1BG493-a38Jyc8MLqoAkz-FomGTvcKLlUshdjszGMnIoZGB2fi_5Iixv1cFnbHFE2OeJwx6bWo_Ug2llvCok4gl6IQxNP6kSLpjrf8rA6u-kZJn1h_dIfNUdB3KQP8cwS6ujzA5VH_oqUIEXY1ZFWFx5khvuVS4zHbOT3ohMtAFpzExzJijh11b_Qa1MLiM18DIz6DUrhCaZODF6uZfLnDabgueHikxZOCeOsMnmiCDf-V4ZW-KCIUWRnsk0yorImoX8U5aZAVtXJ-4Y9ea_v61QFy2V1twdu0c1FMoW7YF07subrZihNB49tRulKss3qoQXAAUv9FIcPN_srauCr4jHjlSRgxY0gNZtVqK-WnU7HHaRn-jgcpoK-Njx6JoQtR3HJMLcrGNhfv9rzsdLAloOFMPnfJQfa9HEz05-MU6gd69MfMvpKZ67rtfYkUXDU3Sn1LZIYKeehOZjVBwRY15nDtRXWe46q-LXUa6m3POZW2sNSbz-Lpu-VADJmJtmMYuGx9wuyAWDSnRgTIWci7TXHBNsIDSesqivnsf-_UpYvj3FIhzi6eSaCXoUlMFFzIHCDGO4w8E23LfgjQVGk2u83H0C9tFggvG2dZQh3uDYKUtQMI5Rao6MV0jXDdGEiTkbdSoT4v5xtwEReQlmFtutMWqrc8_E38kXKuHAUh6-uzbzYUqEv7xP5M2EqwuASzzaJQQzoBZw8ksuRhZj8tTm-l_EW0iojcU1pmFqnuX23WiN413R3ilK5kyLEqgMPj8R1iY2_Gi7e9il6uKSERj_uPaCnlk6gcotDbqKyOn70wtBD1vaf0LAGyEhwgpiQIUAsz3PeZJTH6UVVh2nlgxjgRCBcZyVm34muvoNRQ7z6mEFsx-Yg35KF02JTgAU53Fbn2SZRjCUh-X01aZahudKpMY5mNZWc11JYv72Y1Pvb-v_s-8VcikqQFZ0jpyAYP630oztwi3Y9vbv19AaGA0yA8o-Et1x4FLduLAtiFfDmIBS9whUbg8rA5VuPLAppaz4RO_aheVDuM_7OQAKJOznlINik_rJnAqPzXQkXw8WoKCWqa-NJIMXYHERBkETvktq8yQIdgEp_KG6",
  "id": "rs_0a9c4605c8743cab016ab420f9517c87d09d19d7e2cde88789",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.185,\"left_z\":0.04},\"note\":\"With the hand shifted back, the white bowl is fully visible but its right rim is still right of the jaw center. I’ll move a little toward that rim and lower, keeping the jaws open for a side-wall pinch.\"}",
  "call_id": "call_OC8cFLNyt7qKixvDRZjdU2tf",
  "id": "fc_0a9c4605c8743cab016ab420fae4fc87d0987938ff79c12e34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OC8cFLNyt7qKixvDRZjdU2tf",
  "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]: [-0.6735, 1.7588, 0.9253, -0.1871, -0.4946, -0.4686, 0.9957, -0.0181, 0.8116, 0.5945, -0.4156, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3644 left_y=-0.1789 left_z=0.0382 left_yaw=0.0069 left_pitch=-0.2848 left_roll=0.1359 left_gripper=0.9957 right_x=0.2896 right_y=0.0012 right_z=0.1636 right_yaw=0.0031 right_pitch=-0.058 right_roll=-0.0049 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -7.9521, 5.4632, 1.3407, -0.4322, -0.0904, 0.0806, -0.1983, -1.4564, 6.9675, 1.6874, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c54e9c9ecdaf5a61ad157622db8cff770056ccb60cc4ba548105410cbc6b39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e0126d5eb5ceef5d6214c8680a6e5980eb8e7d466a7240dbc4e6dd37196b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ecae6828ec8aeca88ec69bc44e2937b9ac107d02d7eb30d1cd5fb45af8fa0b",
      "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 34 changed as sent

message 42 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.7798, 0.8597, 0.0422, -0.4583, -0.382, 0.0383, -0.0177, 0.8051, 0.5949, -0.3969, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1563 left_z=0.036 left_yaw=0.0143 left_pitch=-0.1927 left_roll=0.0861 left_gripper=0.0383 right_x=0.292 right_y=0.0013 right_z=0.1693 right_yaw=0.0038 right_pitch=-0.0324 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -8.7043, 7.0632, 1.3797, -0.022, 0.1294, 1.1795, -0.0889, -0.7453, 7.0359, 1.7314, -0.0562, -0.0708, -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]: [-0.6079, 1.5799, 1.0111, -0.3668, -0.4736, -0.4206, 0.9948, -0.0177, 0.8097, 0.5945, -0.4118, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3731 left_y=-0.1571 left_z=0.1118 left_yaw=0.0168 left_pitch=-0.2311 left_roll=0.1018 left_gripper=0.9948 right_x=0.2901 right_y=0.0014 right_z=0.1649 right_yaw=0.0038 right_pitch=-0.0523 right_roll=-0.0048 right_gripper=0.9963\nstate[joint_eff]: [-0.6222, -9.388, 6.1333, 1.2088, -0.4274, -0.0415, -0.0366, -0.1846, -1.6752, 6.9949, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6735, 1.7588, 0.9253, -0.1871, -0.4946, -0.4686, 0.9957, -0.0181, 0.8116, 0.5945, -0.4156, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3644 left_y=-0.1789 left_z=0.0382 left_yaw=0.0069 left_pitch=-0.2848 left_roll=0.1359 left_gripper=0.9957 right_x=0.2896 right_y=0.0012 right_z=0.1636 right_yaw=0.0031 right_pitch=-0.058 right_roll=-0.0049 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -7.9521, 5.4632, 1.3407, -0.4322, -0.0904, 0.0806, -0.1983, -1.4564, 6.9675, 1.6874, -0.0122, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c54e9c9ecdaf5a61ad157622db8cff770056ccb60cc4ba548105410cbc6b39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e0126d5eb5ceef5d6214c8680a6e5980eb8e7d466a7240dbc4e6dd37196b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ecae6828ec8aeca88ec69bc44e2937b9ac107d02d7eb30d1cd5fb45af8fa0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEAAkPpkXwBPaUaPn87Q--6d-DcoPQo_fl2lb9tB1jLUopGqQoyaNOFboQMg4g8hxM2QZPShSD2AZuSNAWesrIr0NZTsrIVgkvhioobpXOMqaDMaPJ552RivZz657p0PA4MQ8kceWdckP6OG5eGI48JwzSYWBVslDPb2P2IKWtT_PHIvI8gcrh_pu2rNVJggMyjxKBdZcNZFk4LUHsqGV0CS2XckoZdfvP4wkDVilINW0GKtLPw1imjvgUkJs2toODsKlSnMbTpLLaA5jpTOmgsW8BRSQ5sNmGKIFSlGYkmXm-kmrmTPEUOik6-vrg4JPz80GSussAYKhmYRIxkl9m2C1OEEJwKg376q7Pim5JbW2KgC1x57dm4vPn0iMMlIr7aSOPjRKKVV8-oXthEoOsAw0_a9NZECtC_6OduaSq9PhY4jBQnZJygrq3WULtVPbjv7NHT9hywFM29X0fc9_lgcHteOGMfGPW7nzPOjISRxFFyv_oeGlkfEn45JleHMGGGsWUxoMRYmxdigTa7Q46PZ6eL7rYkd7dKsh8r-Qq51sZxSUU3y0cP0jgWXL027LO-X7E4EBomuYn9Yq3viqbgJ9aaa4EcqUirrn1w3BEfR4t5m61byVrj4Jt16rbB6ycZ-J5noIunQbR_nUVo6qO_mObXXjAZTLlfUBVRPaBxb0yHOd6I7Jyu25w7Sx9ege9OksLF56JV8HswKREzGU5zT38O1c_4RAuvgccwvP8j7mMV_K3mN1zZCTcmwLMHJnlFxuxMAdfo8ljLLckVpcU5hYMy-Omk8gGXCRgSKlJMu-gMhdZkX_fLl1_fiNiiP656KHgKmCCb3kGpFlsljTfSJ0lmn-glYLRG4KrBr_nT7J201y69_HGjTriGHUb8TEYlyVGHQ3dcuoSJy8yY6G8-9v1Pw3OJSbKjqPHHPLo1L01vlHLSntkFg4Ht35NlA49Ijy9n7Y_t4iEmnNlMzVXVIYAv5zlV0RJc3cXgj7mqxjcEqML6GfcHpjN66ynxJQ0WaMleSX0I0ZXUE58cLbucidOYHl4bkBSqmz4i0SVX1Zu12n9pefcxYh4pAUV3CRpEjCExmSj9IYig3RntU3wLyINue7aPTTSbeonJhDpal73AxCe9KwX4Fjr3_n5Og1sDmXUoQVcbGlU2lIilfuSNMx0ht3fuf3je-xuMgvs1NqTd903O7RnVcsGwMtGRRSmSvov_d6ix8LBFKVaZ3pEb6_fHYDvJ4X0IPqYWdlT_rQUdhc2ZOpSzl1cFObhby6nUHTigDU7hq69b1SYMeUM6q3gDNRdE9p_T4XMwTpKi2XDqKLc-kxpAcBs_YTSXywpl4U9GEbos9fPcXEdGxrHBL1uj2h7T8i60dacOG9K2xewIO7O6KLLJW_6R5TWZvHxNxCjf5zBtqVgSbm-xGMT4KwysXxEts_tJcLulJGQkK0z6l1CdqhWxXwpbOyTErooB1poAka8bX1ZHaziBHyvDdKfwTaWX_So1scdcZWo9u0vegtx3oAaF7rDxpq0Ems0ZZKPPdzMPqg97s9hwpUf2xKT91aLcXVyyi_7IUEFVbb6-nb7k5Ap89Qv21m1ob4xa0x2LssvIOC7FPsOEVjj8qt4UEKiDDmwiGB6PNilUCnMict1Nc5sjIFdVTdgeG-0Kx6p3LY0kJOrnx0jFhaqOoJrQ_KiszTtAThEmqfm0oxTlrum4AKXjXJN542JI1naTuCPFGEbTALXswOaI510XhNg2FGFF1P_2jDRPHBn3jMvEI8ZyeS5gurmCfP4Vov2ynOLzPI0H1hnoG6N1b6vvsU15BQ9EYcXYygsj3Kr4vPhzCxtDYz9QBImHsu0HsJCj2JSclZURqacuBQavy_Dc6Wx4lC4OelfxHTxXec7Tba8Vq_K5ppdrtkeHx_Efg0L3n18vJ148BOjZMSsiyYOx75CIraqyGyUfzQdEwN3ECzzhch8Fy4_PqChVF-rg82etNqa9yZCS7bth9uB0Ui1mSysIOOa-xyEWUZ0AqxnqLtU8Ge3zSm3CmloOE9EfTQfQNB2xMqQVUWL6IXG2b3_-B5uXqJSn1IA8JcNLMTqQzhIEaTzEz7vwoEZj5AEchaWojXuaN7UuvyFRBvxhrNQaOUGfMyzZi_yl7wk1XK_pe3oIJKD2ZQLsUXHtokaFCbxOfiVmK5M8C_3HrGVbqho1zmk43Ztrk28NVY6_ofsP1owmEqvfw67fuL5MYnbDc7zgddB_ktM3H4jaSeG-7abktvKzx48NnRR6i0g-Ci1ApWqXKdn4k0wfPuiK6AGIW1LWJOVoBbcamTX9iteSzwEX9d5WC3iX7AMAUVa8GuDsSAS93b7Zye3fN2uFqBkGfu6tlJm0toPgxQqZYiVnwauVogl3bGp-6XYBe3_cbfRarVqbj911Iht_zt9ymxo6dzvvAcCk5UvMMxnnH3bWgJv6YFJFDSuwKJmDlV_Jhjp37bUVdpPy_f75miqetVK2D5L7B53rNFlSkWyf9CA_9j7S0MDSCXmwGqlMM4ow6o3QPm8=",
  "id": "rs_0a9c4605c8743cab016ab420fd29ec87d0b6ed21add12268ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.21},\"note\":\"The white bowl’s right wall is still about one finger-width to the right of the jaw center at grasp height. I’ll shift the open jaws right to center that wall before closing.\"}",
  "call_id": "call_SRALYEzNfqpH84KPKqgi70kt",
  "id": "fc_0a9c4605c8743cab016ab420ff8e2487d08803cb6f112eedc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SRALYEzNfqpH84KPKqgi70kt",
  "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]: [-0.696, 1.779, 0.9314, -0.1795, -0.4992, -0.4919, 0.9957, -0.0181, 0.8116, 0.5945, -0.4152, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3621 left_y=-0.1876 left_z=0.0338 left_yaw=0.0019 left_pitch=-0.2855 left_roll=0.1274 left_gripper=0.9957 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0034 right_pitch=-0.0576 right_roll=-0.0047 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -8.0068, 8.253, 0.9988, -0.359, -0.0464, -0.0024, -0.0752, -1.1966, 6.9812, 1.6581, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4365ca831e34b1f9927e8b13dc266d87b3306eafe81bab56da5c6f7a462373d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3754f5c08a5871e98237de83a3c001068bca3eb5bdb4a12a9428543ac0a9f62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb42ce2a5ef7dbfbbe21e6efed02cebfb757fde4af8363af08e01217661c831a",
      "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 38 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.6394, 1.0393, -0.3069, -0.4622, -0.3874, 0.0423, -0.0177, 0.8051, 0.5945, -0.3973, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3936 left_y=-0.1547 left_z=0.1069 left_yaw=0.0235 left_pitch=-0.2149 left_roll=0.1012 left_gripper=0.0423 right_x=0.2919 right_y=0.0013 right_z=0.169 right_yaw=0.0035 right_pitch=-0.0332 right_roll=-0.0055 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -10.1402, 8.8274, 1.4432, -0.232, 0.0464, 0.7692, -0.0068, -1.1009, 7.0359, 1.7509, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6735, 1.7588, 0.9253, -0.1871, -0.4946, -0.4686, 0.9957, -0.0181, 0.8116, 0.5945, -0.4156, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3644 left_y=-0.1789 left_z=0.0382 left_yaw=0.0069 left_pitch=-0.2848 left_roll=0.1359 left_gripper=0.9957 right_x=0.2896 right_y=0.0012 right_z=0.1636 right_yaw=0.0031 right_pitch=-0.058 right_roll=-0.0049 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -7.9521, 5.4632, 1.3407, -0.4322, -0.0904, 0.0806, -0.1983, -1.4564, 6.9675, 1.6874, -0.0122, -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]: [-0.696, 1.779, 0.9314, -0.1795, -0.4992, -0.4919, 0.9957, -0.0181, 0.8116, 0.5945, -0.4152, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3621 left_y=-0.1876 left_z=0.0338 left_yaw=0.0019 left_pitch=-0.2855 left_roll=0.1274 left_gripper=0.9957 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0034 right_pitch=-0.0576 right_roll=-0.0047 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -8.0068, 8.253, 0.9988, -0.359, -0.0464, -0.0024, -0.0752, -1.1966, 6.9812, 1.6581, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4365ca831e34b1f9927e8b13dc266d87b3306eafe81bab56da5c6f7a462373d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3754f5c08a5871e98237de83a3c001068bca3eb5bdb4a12a9428543ac0a9f62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb42ce2a5ef7dbfbbe21e6efed02cebfb757fde4af8363af08e01217661c831a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEE5OqUSyNz0dtRIYw916ssVSxPDYBtCmveAn_iE531pryRsWwfjbwv3_IL_Ef7O7vpAObztHWPQPYlTYNG41SuFWJqal2julivq5tjm_YAdkut1sBBwOeXu2KAE6cmQlHT9Yt-kBm0U9LaMVw4EkD-eG-wo27ugnTgDCO-NqM0mZh8YWLO_Lbx7NvS3ngdtUV118--HamxRAPMLjD56Tl9aFKTO0lTfgD8dYs2eX1mix7bd6WZHdHFHhAnYvrZ-cgnk_uBxQt8MzGVh3VOpf53j8-OYyBzJG1jd7klSU4qrVpEDtmOJMXAtGLnqXN6xWLHlwmCa-XghOY-cWi9hL5cacVIcKRbB7Sgxiyg2YDaNL2yl6oI6FOL2yMirg5x3jNVHomRVDGy26r0HhMf3QWRLQnLFwEVGQqCOfx0UWTA0pJ9Sj_BOclP8E4Y7BLCAq1MxsnPABUEIUy9aE0Ozxx5QVZPMAKraQC4TDtMpAGoOtUriTsxEs0pLWuM1l9YhxpyWn-j8qwTIyWGkAB24bNP91644o9GyzR1WzgBCpfZsbAhI5bozvigq1NewSnRdCoRKuT9k0LAtNSb0BWDaB3ErwP5O_FQeP0pVJ-NjN4GGMQsHV16FyoVyABG31FdynwfrojivFEy27lXZufhNnDZeKCjEYnxj1rjEeczJcurH0O1-XI-kG52dogfwtjs7v6Xfg8eGTAT525gbrybveliDY0hysAy55sJ8p1aDUhOISu46xFZHhJ9C4LJ9Rd-SUY56UcfE2dQrap83373CPN3ai4uA81CWoJHmSLHsR3v1aEdTicGF122IpLudolpoyKhPBG5Mr4JyuDovcu_29hb490wecwqkAiN9t_jQzxOHM53piitB-S7zzVi2oV9dYcFITAmxQqMlTXqlaB5DPI_SnQzNZHzoJY8Vjns3b99POm12pdGHrJCsgkfGgHCES0E1k3i8tSNw7gZkzOBDWdQEzSg_9Qhj1kHGGWDn8RdJmhznjMR1mG226eP1OlptBWoXnOJXrtWL3vAI-o1RyO8jdOdcSU69_H2UhpDhVtg-fKl3hw6Yh-dxXp-Fqb8yvviMjQCMCwFMfnkPm1AAAc4QRpDsvy64ESdD85jUZ_01VNSQD0PizyDccVLzX3_kXHJvvJIkihg_qBmtZxkw4hZt7hSylz28MNWe1np8ugQinN2y1raeUxQZbSxYA1H9v58W8pCu1AwG_MpNN6OIBgKUVf9XXXow5EA1mGT-Fm0DeEy0gNj7Rq-Usb1emR7g_4g3-Z7FF_o2mlDj0xg5cQNT1JxRRm0jYTbDpLLs8bzwfYatvteqnn_Blz7D-Q7nfz2nRsLH6lf_gV7A70Jzqd8awOXgo0d4TeIrPSkMpzkRWLkXvQIQcQ7kXA-fAG2Kt1eoMMMVuES6X8N6h8FCa_m-S1FTVppYH7RE9ms0lRydwNGf4f48k6xZ3M-1DZV2Hru7N4idCkptEBeJawfrlDf66hQK8iAT81h-PWO1FRdyOykxvurwTxo55F2CN8B1VdGFAGVIFapxO4c5xx23KxGk-bjyMOWwrivXOcX6coMv0a-QgQ1iMIBjpdXYgo-QDGWIEgbAr_J6JhySdbpQt4NWXa2blzmhJMmJEyTSfPtptmWIlsV36Bk8smCQeEvSWP8CqShKqvZ-piXzV8UCkizoET8C-0XJpyCZdaD5zoXymIJiFcdFjIyrU04lCHtSgBzJcxm-SaN_rSd5r7VBHHPwTNy1mhwxCfmA_loTAg_R-A=",
  "id": "rs_0a9c4605c8743cab016ab4210258a887d096f72bfa57943ce7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_y\":-0.21},\"note\":\"The lateral correction stopped early while the fingers were at rim height, suggesting the bowl blocked the move. I’ll lift above the rim and finish the small sideways alignment without pushing the bowl.\"}",
  "call_id": "call_JZDI63Hgnc1XsqAxJWZfa2jE",
  "id": "fc_0a9c4605c8743cab016ab421036c5487d0bfe225aa6df707e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZDI63Hgnc1XsqAxJWZfa2jE",
  "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]: [-0.6987, 1.779, 0.9314, -0.1986, -0.4992, -0.4915, 0.9958, -0.0177, 0.8116, 0.5945, -0.4152, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3587 left_y=-0.1862 left_z=0.0316 left_yaw=0.0027 left_pitch=-0.3001 left_roll=0.1405 left_gripper=0.9958 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0035 right_pitch=-0.0576 right_roll=-0.005 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -7.9521, 7.6376, 1.0281, -0.3736, -0.0611, -0.0073, -0.0479, -1.1829, 7.0496, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b33ee8aa6f600204fe1a2bf6119a722e5efe1d0e3e65396b78684c2f49a2d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634a5ab66e46ce06f44218c24aeefccee680576cfa03b5f0194f672bcf396647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b52f5c6f8202e246c4ee849141aa0ed30800d0b6499187ff2bacdb6bb67feb",
      "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 42 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6079, 1.5799, 1.0111, -0.3668, -0.4736, -0.4206, 0.9948, -0.0177, 0.8097, 0.5945, -0.4118, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3731 left_y=-0.1571 left_z=0.1118 left_yaw=0.0168 left_pitch=-0.2311 left_roll=0.1018 left_gripper=0.9948 right_x=0.2901 right_y=0.0014 right_z=0.1649 right_yaw=0.0038 right_pitch=-0.0523 right_roll=-0.0048 right_gripper=0.9963\nstate[joint_eff]: [-0.6222, -9.388, 6.1333, 1.2088, -0.4274, -0.0415, -0.0366, -0.1846, -1.6752, 6.9949, 1.8046, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.696, 1.779, 0.9314, -0.1795, -0.4992, -0.4919, 0.9957, -0.0181, 0.8116, 0.5945, -0.4152, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3621 left_y=-0.1876 left_z=0.0338 left_yaw=0.0019 left_pitch=-0.2855 left_roll=0.1274 left_gripper=0.9957 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0034 right_pitch=-0.0576 right_roll=-0.0047 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -8.0068, 8.253, 0.9988, -0.359, -0.0464, -0.0024, -0.0752, -1.1966, 6.9812, 1.6581, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6987, 1.779, 0.9314, -0.1986, -0.4992, -0.4915, 0.9958, -0.0177, 0.8116, 0.5945, -0.4152, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3587 left_y=-0.1862 left_z=0.0316 left_yaw=0.0027 left_pitch=-0.3001 left_roll=0.1405 left_gripper=0.9958 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0035 right_pitch=-0.0576 right_roll=-0.005 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -7.9521, 7.6376, 1.0281, -0.3736, -0.0611, -0.0073, -0.0479, -1.1829, 7.0496, 1.707, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b33ee8aa6f600204fe1a2bf6119a722e5efe1d0e3e65396b78684c2f49a2d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634a5ab66e46ce06f44218c24aeefccee680576cfa03b5f0194f672bcf396647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b52f5c6f8202e246c4ee849141aa0ed30800d0b6499187ff2bacdb6bb67feb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEHYtwzOOPLC15oERAn7yX-e_gdl3vbSt8TQDiZFGPv5CvV1LhtpNZTFt4gU0xY4N8_3pvxNnaQu1S0cI6U48CN1zcy1oolLn-VVD1gjBUwSl-2rmW0C7dDqRjHQGb2Br1MCQiCilmOqP4vBgvdiKnQfvBTWjP0L9chGlo06w8KtFkNpEQL19qeS7CkO76gKKpFR_LItrKoh4qA7_Vyv17RMRu_GxfvOtRzK8pJUoSdFnP-GhTtF-VgzHYp5Dj-rVjsyBfuppsWP5H0iKzQkgVcZr-A3v7sb0-HChyL4GCLM2h_kjSe56qub6m4A4rIh-G1VTMM1mMiG3aclo047mDyLimlurtFCN09VWnblejj6EZYrvKRrsbWgQWGVQMK8-D2odTQApOBYFFeWDfS8RZriGq_RfL1Ev3WfAhU7bgFatu9luj8Rv8WE7bn1H7Zw4xgVHndxX8GTgxKo1eLWn7Iqf1WWqDihR2ST1_tTWa5msBCJpAFHUkwpVLglQ_uZv6MEZh4pWFUEwlNt2Iof909xg3K5cUoWdnpfzniJC86babnZ-1sfR2cIIkDyToyr9Vnlsev9ru4LOglIuqZyXHWw-ILXHENN7lKr07M_GaVMQb8DNiGD7SqAupLCfmftRdV1yt8jvHeQ9HqIkEIN6D7ywas0kxZxfGicKZ04-aQHftMVxul1MLMJxp6KmFTF1WDoO2kx72hBFqFTzqaA8qkc36j94aGWeIN36nA_-u6ebxHH2l9KPXzxOypGkmuk3F_OQpar652cMGS32KOtgV4ZjJ7BnL_wwzfLF1915o3ov3mTYC46uzrqzKmLy6GW91fyqzN5aGc27YD0l-6B2M4-jA8gIQJQKyORxNB0P-jHnGu9US3kWTyYa44XLXDOqKRzCT_ItogZ5Bh_htvN0qhBWLzvEr3j6YsGzg60i6c8fPMSmS7UNOODgWP-cQyBt_IGppUjxbduaCzwofHW4rq70lxxdG1qFoRb6B8mBtMqQg08XcKoaf6p9p2V-v4CBquw8H5ymPRJk-M_ZpMZ49VnulfCgh9RlsFuu7KEJIrBIAikKTBR7rWOP7pz0Kk37QwUjGOk6iAYd1c6Yyv8fDel8L-CfMaRm8y-ztT_1wZ7U8LeGKErNdsklm4xjC9irZSR0ErnsPkbBRaTiHm5oef4G8JpbiRiX9FaDg23i67023mHTxIwk1EJ11Dl6WDG1BvcTj2EVy4GNHG66txXWgMIElrNpGbNuhgpKZFCORPS8XYmaKCb1MyAjGem1loKTybTCeS8DQEzR-VGlLkCNJDfx7wa3c94MvrRc9IAqhxi5Wd9jAt3ANWF9lxcT-gMyBxZj5tU8id5SY8cBaN4wEiMPtrPnVmlGqiyuyOsPpQMAbyfDa6l4O3rXbcFdotb-R-KI2e8bjHoXNYq3rIrWydn8MGBxEXO-EovEiyJo7PwPTp6Zw43o97B0pL9RRWop1rNf1M6GThbXziFGKbwZregPZJTAA6a-hMKB8Ib2GasPx_mUPpiLbDC2UVwNNGs3EN7NM9s5AhqhHOR2X3GhqHfbXMEwp6hx5zPmD9V0uoMeVFsLnN0r5F_GVhv2fjRP9ndBU8Q_mqslkt-znXZOQNixpsfjxbYGtVln8VXu9WZsuI5Ew2Sp_iDcyh0J8o6PJyNlOguqLmpWkyW1zrR3mKuhXPyFl6vw5d1X4uaG3eywgRwSMP33b-Waz2R2EbHRcKUeWCab_oA6cscLJa5jlFptlTT592yNO3Bkx9MMl9yPlwJclU7R_ge1YcIr6277RU",
  "id": "rs_0a9c4605c8743cab016ab421057f4887d083511d56797a496c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.145,\"left_z\":0.18},\"note\":\"The fingers remain at the bowl despite the requested lift, so this pose is constrained rather than freely tracking. I’ll retreat diagonally upward and back to clear the rim before trying a different grasp path.\"}",
  "call_id": "call_hOjNCGWI9pxv3YC6yp6hACdY",
  "id": "fc_0a9c4605c8743cab016ab42106c2ec87d08919595982d44bdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hOjNCGWI9pxv3YC6yp6hACdY",
  "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]: [-0.6579, 1.4284, 1.1488, -0.6907, -0.4755, -0.4683, 0.9958, -0.0181, 0.8158, 0.5941, -0.4225, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3388 left_y=-0.1551 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.2552 left_roll=0.0907 left_gripper=0.9958 right_x=0.2887 right_y=0.0013 right_z=0.1609 right_yaw=0.0035 right_pitch=-0.0694 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -6.7487, 9.5111, 1.2332, -0.2369, 0.2125, -0.0122, -0.212, -1.6752, 7.0496, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947052a5d8f2f6b1d92dea6040763a17fa90cb0ac0e8138c322a7c440c59e210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c85556ccd3ec2133fc2a372b0e0bd7d6627464dd9d749467f73e7b18bafe33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d588f4f5f7189dfb7eaa2b056e481b55eb3eba616bb53e37a4860a84e7480ca5",
      "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 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6735, 1.7588, 0.9253, -0.1871, -0.4946, -0.4686, 0.9957, -0.0181, 0.8116, 0.5945, -0.4156, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3644 left_y=-0.1789 left_z=0.0382 left_yaw=0.0069 left_pitch=-0.2848 left_roll=0.1359 left_gripper=0.9957 right_x=0.2896 right_y=0.0012 right_z=0.1636 right_yaw=0.0031 right_pitch=-0.058 right_roll=-0.0049 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -7.9521, 5.4632, 1.3407, -0.4322, -0.0904, 0.0806, -0.1983, -1.4564, 6.9675, 1.6874, -0.0122, -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]: [-0.6987, 1.779, 0.9314, -0.1986, -0.4992, -0.4915, 0.9958, -0.0177, 0.8116, 0.5945, -0.4152, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3587 left_y=-0.1862 left_z=0.0316 left_yaw=0.0027 left_pitch=-0.3001 left_roll=0.1405 left_gripper=0.9958 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0035 right_pitch=-0.0576 right_roll=-0.005 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -7.9521, 7.6376, 1.0281, -0.3736, -0.0611, -0.0073, -0.0479, -1.1829, 7.0496, 1.707, -0.0317, -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]: [-0.6579, 1.4284, 1.1488, -0.6907, -0.4755, -0.4683, 0.9958, -0.0181, 0.8158, 0.5941, -0.4225, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3388 left_y=-0.1551 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.2552 left_roll=0.0907 left_gripper=0.9958 right_x=0.2887 right_y=0.0013 right_z=0.1609 right_yaw=0.0035 right_pitch=-0.0694 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -6.7487, 9.5111, 1.2332, -0.2369, 0.2125, -0.0122, -0.212, -1.6752, 7.0496, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947052a5d8f2f6b1d92dea6040763a17fa90cb0ac0e8138c322a7c440c59e210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c85556ccd3ec2133fc2a372b0e0bd7d6627464dd9d749467f73e7b18bafe33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d588f4f5f7189dfb7eaa2b056e481b55eb3eba616bb53e37a4860a84e7480ca5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEMko1JcWCRuyuvLJe1amFxTgKNLfME2RAI01YgT6V_YgHG64EBsPaY1y6V7JcAEjW0SVtr1MqV5oKlCZzI5ckdxcWsvt3P9Y9TwQ5_wqrGCj4u08dgOJ9wOVaa7uTRF3DSQCsl1UuRnN_4N_M78XTn-sYq8tEzCKmRlCNShn_3Nz4TL9s29_sute62gs2KtnCM5cZdibe0poKXdwzH3qe58fXy7prv8vNxBz5tkUYLAXGfmSJxN6dM_j1Ed98J3KaQ6Lzu3WTRNNL-0PVyJeUk108xlmOdOokpQj6X3LT00VtMt-u4izPXLHWiI2Awosdkkia_p_owuIlXJrwi4BV3azA-ARk8PapuWQC8au3kZ3oID7dbOO5CjCORenGZIbnA6Xl_5m9VEfun5oeTyuTx8Bxm2Pkp8IhTcpucVy-ish9Zbb3XfNnxmjIe_PSRZD-a_rM_yPsL1TGDFASSzH33AKQmP2_C97a9eNX3qbJeBcs2k2eb9GzffwxpDmENcdBHW48P_88iZaMyX9csanuLlTLhQHRmnS9ERKOejCkMR0KgDC7Tgvp5yOG9oRFtaEF13_vmw7r6oSsU6CFBi7PRhTsgCWTeaOYW-XhWxPbRn4QnzTOkcppsz3FlBA8saf_DLAbEAnZSDBQvnS0_WB1Zvcv1znAW0k6j8lkvmMyqy_kmDSr2O2A5EJsYvl6bU9KmniCiBAxH8U0Fb9xmz6ByG_N_rD02NyUzbdGnpV5Sehk1WpAfVg4UzI47pigaXh0S6wwDjdk-SiYnkY6uBQ5eRME7SmP6z1Xjf1aiFcsP7V6pzfmDJVc_eUuPUNh2rcNtypkl-TGtFW99AnnoeEJIAuFq7bK_M9lETM_y_rHH4cFJIR-oHgpR0YnmUKk9DMgf3_C9TxkEVoFYsTlVv6jGqPXQ-RvYJf95z4gvinALFmkgCctc8GEXioflzAjnejq5dmcyHj1IZI81v7vVEdqBf-4D1ffQO4-s7SqjO-dcKxC1axGyOm5QmSfJyxauvpB--kAsFNMMurgQLMSeUBfeyPjiRj-jzPYO5-uVUNV2nnxRmRIhIOkmLPp8EGKtXKZJAkAWnKepzX5FLYmXu1wqgY951-1xNhkHi08ZsiYNYYcZQdZdF2TCgNCt4nj_ruu4VIshMV3bzWx2t7EEuMC4tZzs6qf6Q7OFNeGO4nDmudaG77EZDtoE3OFR1Oz6qosFaeDHyrKf4RkIe-iYq2nlmfpVsrHI8Dv6alicHl2VZpy_9hCDPhqkaGj4mNcgxNoJAgpiqzkS-v72BWQ5D6Fj88DMMQNjQkG8tsWmLY6SuuA0J5BGQ7vP_ATDdhhdUEQLwffmxR8L-SyaE3xqeBDVnWpj4G1JRgVvc7uMeNpY9WtYMc4YmDALhan9A8Mudyp6f2OveCNCGWDsiYZxw7A5VsiSip2PeYUgHbm2Yuv-KcRrPYHjZaJiQNu4R5PbYBiBL1Jat58I34m-jDu35t4DUmvOPbJAmakmL4i6DOCMWnfUE9BLeQBxtKhZvS9UZsHgOGcB9B6NPMCWpWYazluF38-EOJSleXdyvh_HwSCm4fAO1UP5ZnL90A9PWOC7-c0hpeA2pLzl1ItgfuUK9uv9yImxMcj3UEIBbyZ5N5xeXp2Eklrc_SuBqX6ab8W2O_Ga3djb_2pbelS6f34T6w69ZAYQLoBEP0clWmnlJWIqe06_jXTu5UpvINP5m2FoQMC11KkVGdTjxxm5nNVP2PSRgA0f6z0NBmt_A_J9isqYjm9lrzjIlZcaYoYPV3uv3wZy6iL0auNGLQjGXw3o6HN19KmM_FWlKCF8jVs_Hqyy1ECRP4oESe3cenm97HEmc8Ttdt2ieb-zHlFzJxpDDI8WXnP5YhOl0f93biOPRvRifcS5QvmCXJzEIGWG3Zf6ivqEJ_5C7dGhEPpWUQH1ZteklFDLcqUAEJPr_nSOjEECbPtS1vc51wOSy6cX4LbVReLKwLzVzSQNLKQLpBeSpOEFVzDjCnlfPKKocMhpSjETI4BRi6QGngkB4y3kBx21Hv8n",
  "id": "rs_0a9c4605c8743cab016ab42109bf6c87d0bf07488c9417dd3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.14},\"note\":\"The white bowl has shifted slightly but remains upright on the table. From above the rim, I’ll advance a little and approach its right-hand edge with enough height to avoid scraping it.\"}",
  "call_id": "call_5Xz9p1BOK0DtlEScPxKILEyK",
  "id": "fc_0a9c4605c8743cab016ab4210b422c87d0af056f53bcacc5e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Xz9p1BOK0DtlEScPxKILEyK",
  "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]: [-0.6807, 1.6142, 1.1542, -0.6178, -0.4728, -0.4911, 0.9958, -0.0181, 0.8181, 0.5941, -0.4229, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3522 left_y=-0.1771 left_z=0.1206 left_yaw=0.0084 left_pitch=-0.3392 left_roll=0.1435 left_gripper=0.9958 right_x=0.2888 right_y=0.0012 right_z=0.1603 right_yaw=0.0031 right_pitch=-0.0721 right_roll=-0.0046 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -8.294, 9.3744, 1.3797, -0.3687, 0.022, -0.0122, -0.0752, -1.4974, 7.1726, 1.6386, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e405def83ef25b17815db6d5310888833ec6b0117037957a85ca9d1a5ee9ba32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5760987a242968862b82fc6cf56463b1a8e0339d1a70a7635b1543f527845a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d9b36ddba2b179bdfe80f42466450a41dbb63dd06c8f435610c2a4e07634d7",
      "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 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.696, 1.779, 0.9314, -0.1795, -0.4992, -0.4919, 0.9957, -0.0181, 0.8116, 0.5945, -0.4152, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3621 left_y=-0.1876 left_z=0.0338 left_yaw=0.0019 left_pitch=-0.2855 left_roll=0.1274 left_gripper=0.9957 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0034 right_pitch=-0.0576 right_roll=-0.0047 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -8.0068, 8.253, 0.9988, -0.359, -0.0464, -0.0024, -0.0752, -1.1966, 6.9812, 1.6581, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6579, 1.4284, 1.1488, -0.6907, -0.4755, -0.4683, 0.9958, -0.0181, 0.8158, 0.5941, -0.4225, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3388 left_y=-0.1551 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.2552 left_roll=0.0907 left_gripper=0.9958 right_x=0.2887 right_y=0.0013 right_z=0.1609 right_yaw=0.0035 right_pitch=-0.0694 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -6.7487, 9.5111, 1.2332, -0.2369, 0.2125, -0.0122, -0.212, -1.6752, 7.0496, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6142, 1.1542, -0.6178, -0.4728, -0.4911, 0.9958, -0.0181, 0.8181, 0.5941, -0.4229, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3522 left_y=-0.1771 left_z=0.1206 left_yaw=0.0084 left_pitch=-0.3392 left_roll=0.1435 left_gripper=0.9958 right_x=0.2888 right_y=0.0012 right_z=0.1603 right_yaw=0.0031 right_pitch=-0.0721 right_roll=-0.0046 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -8.294, 9.3744, 1.3797, -0.3687, 0.022, -0.0122, -0.0752, -1.4974, 7.1726, 1.6386, -0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e405def83ef25b17815db6d5310888833ec6b0117037957a85ca9d1a5ee9ba32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5760987a242968862b82fc6cf56463b1a8e0339d1a70a7635b1543f527845a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d9b36ddba2b179bdfe80f42466450a41dbb63dd06c8f435610c2a4e07634d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a9c4605c8743cab016ab4210d85e887d0945553b5e238dd7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.235,\"left_z\":0.17},\"note\":\"The white bowl’s outer right rim is still to the right of the finger midpoint in the wrist view. I’ll move sideways above the bowl to line the midpoint up with that wall before descending.\"}",
  "call_id": "call_C35sCLiyiKwk7TpHk98lvog9",
  "id": "fc_0a9c4605c8743cab016ab42110ed5087d0b922fda2c02809d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C35sCLiyiKwk7TpHk98lvog9",
  "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]: [-0.6807, 1.6348, 1.1549, -0.5785, -0.4732, -0.4992, 0.9958, -0.0181, 0.8173, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3586 left_y=-0.1822 left_z=0.1176 left_yaw=0.009 left_pitch=-0.3233 left_roll=0.1255 left_gripper=0.9958 right_x=0.2888 right_y=0.0013 right_z=0.1605 right_yaw=0.0035 right_pitch=-0.0713 right_roll=-0.0044 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -8.6769, 9.306, 1.3748, -0.4078, -0.0024, -0.0122, -0.1026, -1.3197, 7.0359, 1.663, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab159a48160f202f217081358a1c091aa9a2a362bdc75c3fbb08b0ee23185a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122ec0c2f941ad365b0ee60f13f1ca064caf5d0dd40a73b19b150a93b0bfcd73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0766adf3e6175fa88e463823c99dee9e6faaa9d4022ac0c443c5a4f24972c4e6",
      "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 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6987, 1.779, 0.9314, -0.1986, -0.4992, -0.4915, 0.9958, -0.0177, 0.8116, 0.5945, -0.4152, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3587 left_y=-0.1862 left_z=0.0316 left_yaw=0.0027 left_pitch=-0.3001 left_roll=0.1405 left_gripper=0.9958 right_x=0.2897 right_y=0.0013 right_z=0.1637 right_yaw=0.0035 right_pitch=-0.0576 right_roll=-0.005 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -7.9521, 7.6376, 1.0281, -0.3736, -0.0611, -0.0073, -0.0479, -1.1829, 7.0496, 1.707, -0.0317, -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]: [-0.6807, 1.6142, 1.1542, -0.6178, -0.4728, -0.4911, 0.9958, -0.0181, 0.8181, 0.5941, -0.4229, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3522 left_y=-0.1771 left_z=0.1206 left_yaw=0.0084 left_pitch=-0.3392 left_roll=0.1435 left_gripper=0.9958 right_x=0.2888 right_y=0.0012 right_z=0.1603 right_yaw=0.0031 right_pitch=-0.0721 right_roll=-0.0046 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -8.294, 9.3744, 1.3797, -0.3687, 0.022, -0.0122, -0.0752, -1.4974, 7.1726, 1.6386, -0.0269, -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]: [-0.6807, 1.6348, 1.1549, -0.5785, -0.4732, -0.4992, 0.9958, -0.0181, 0.8173, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3586 left_y=-0.1822 left_z=0.1176 left_yaw=0.009 left_pitch=-0.3233 left_roll=0.1255 left_gripper=0.9958 right_x=0.2888 right_y=0.0013 right_z=0.1605 right_yaw=0.0035 right_pitch=-0.0713 right_roll=-0.0044 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -8.6769, 9.306, 1.3748, -0.4078, -0.0024, -0.0122, -0.1026, -1.3197, 7.0359, 1.663, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab159a48160f202f217081358a1c091aa9a2a362bdc75c3fbb08b0ee23185a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122ec0c2f941ad365b0ee60f13f1ca064caf5d0dd40a73b19b150a93b0bfcd73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0766adf3e6175fa88e463823c99dee9e6faaa9d4022ac0c443c5a4f24972c4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEXCpKtloesZ849LcBz68IiofmJ0csbtsN7I5SK9oGxbG2R1ziRonLJRWgHsK9SkskJOeaEQ4IacSUAXNWlUJXXhb-bjb4Ua7oYpu6D40aV8KnsgENd02DvLEVLu4v9PBygp2X-Y25NqByTfCTiH2t_JcNwyQTCHo8Y3K5qHfDBiSpdnndKPjTrgSdIg6uxW4BC1fmS6seDkiNFkR4W9-mRg18-dUzauBLuqEkimOorvOXBtgzfpDJS80X78Cxi_cqiGBufWIdfpPY-gMoPZb3JepimNFranZdagMUXmd1vco_2tMWe02NkgObXubIa2z4arxn1q6cSn_5H4hhyZ5BHEov5Zde0BoiP6WJaUhlWxkZHsucOTeCCmG0FOJbNTLUOSRdgtcmZ_6CHmOBP7HAnfJYaf00sT_vXYiM4ciFnnuzlpgJRJUih_LqzyTXTgR8OkybL9zZSy0oFhCtXor2j0lNBvLwHvuZ3zJh37SoywmuPunP-9PjsABAEoOFgc91gZi-K5HEgMtDPGWD_jDazv9rGKoubdTqTrnl_X6I2oO5pWA-cu8pR5EQ5IsD3Wgnj4d3OAPIfmwDUttil4eqiEW8csdNwQQl0YHbQMLWDT75sh2b64VP85auWb9iJl-PkQymxQe7ONKvANfU5jw-aVXtYLP8FKWpSHqttc8PxQiFoBtQvS9c3RRyqQfq8jQWo6KU7xzE8ayJGEp3Et4P5cFxJPzdtrRUYFzSnAavltlY9EZfLnWgsKm-O1nrw4y0cdj-YTDIZDIubIYJX-BnBbQiYMRWt30jp9KP4Jp9yyJqUQCT-AenQ5TUFhVig9NK7b2hXA0qUNmZd6mGK-aguNZPQRykWF8vCLZh6N9u2AaLyzcMO0QpA9o1HLzuhw7lD-rI0tkGgWWlRSTD_NBP9qcgBcH8CimBaivYOwJkYBMzbu1NkHsVY5AcVzhfBq-3odbqWGrRW9UYBufxuWmUbdmxTBmYuMCt0-kMQSJnIKcPYW_O8fYpW62l2LCK5rlt3-Tw0FWj1iRF45bxEWFfD77N7UJr3r0OS5AU_AaNVflDqHomP__j_SHeWJcgL48BBwvnfu6QR6T0OW9vO-MKHQGO1ZEHzBxKh9stt-qqAKkNmpE4wTpvkW0OrCs1CyA1TLOOb30nK7b7Zd5NBEl8nN1aEgIx1vCEN7MohpVJSIehh_dTivrSKmZb97Pgw9lXOKuMV8tT1ZoE-oUUNN8-qVBfQW_Jxgvwx-yGU78Nqw_2gdsrcr5TNBMxu9CNktl8bczUsw748XWq5s4E0JKF6GSEhq0jdCofO5qzDL5DoiKxVkgWe6PNtaGegqXRaK9F1VWrd-b5IeV1iGRsZmu6_PJJRtyFaqkl064UG2vTvJ560-ooiwzKeQhl8-lg585TJ9obCxNMr0qPNXNRVugWT_9Ud_2AS3pY-pygIQOBras3Yrpy9UwPqjlMS3BTnUi4Up3xfQPQ9Q8f2p2K7e3HsX5KFNpoxBdeR6ihK8AdxHtHRuiMBKS_kJy1aotl7rxcVdNjgyNQD1_3gOBkjI5TRSKh_uGHp5uJGx5afOxxMHkyw0h4TMz8oD8CGzmSM7vnvWCLHL0V-8gLGdk42w-9ZGRMlbLYi5qfEMZ9nclLPPQ3PpTKsyH-PAA3pwFDXEvRoWLN_WAj0LaT8B7Pkhbe5gDVDSrCjCKayv9qWiDGyCNimphV13mXjtmIQhBRuYIpD_awivVfmeqXbso98__rmI6gCPxWLj-Cpdp30_W029f1dkbWAYaPyh56YbsxJN08WcE1gyaOGsesic7al1EPQpWREm61Hr7DaIB6swNYWG601HFxGCrWOKomRRvKZUWNi9Vqe05bEtEgnW6bq5NJo7KzNtX8IaqroDJgQ7U_m2vXaTWp4ncngCu2ZKQsvUXniDJuouHPeBSt3EL8M_c9IQY2W_8EkHUhu91cfZnO4YOwLfeOMYHjIBQhdpPIiFVtqxrbQdmrnzOPlxrwupPnufHfMe05UjRe9LlufD659OZJwl4nQU9xY-w1mx1Ofy8vsZslEbSTEzcX3gPGy7mlYMw_va32Kus7pATNg0HXUK4B78pu_ZWrVlTqzWlx6PA0g3umUgQleBgkRuT5wch2mnNNfcxJhjTvxykWSHR1INGt4NZOMPo3FxHnhiMhFHVkg7fzEjQ7MxIxvvGt3ZLK0Rp6Oc8Hofrv_7tIAdXrQyNAqc-3EAzPBeeW2bWHcQnfLrbqy24Q6DIt0VwbbL3bU7awTwswolYAhmRQavxAgO1-gH3I-I_l_fWDK98I53guUejdSPd0bCznOagNHQWoi6AXCIOmgdQycoqr1h7T1-gVZ1RFMKOksizgN5B8IPsUfjuHKUy9Z0waNflhGH2Q9_Zdali9F5mjitoFFkB32Ha_zIjsdnS_wn8llKWttzeD0KVhhxUUqPTwyNV27F6tQVpFJ0nFQ71OIoHavOq7s5w6w9SLzgpdhfmbVpbGeGT-QuqgorOQ1zNuBMtCp_CX1uZT7TpkJGQ1xsPdoOfcdHhYIND9bmwNhcOV4xySHvYIdI7I-lyuI0GwcDKPQNYK817yEN7ZKtTvsAnUETPZPspAaTnU6po6sHEI0fUVC5gyjAdjVxyD1ssZ9TAFpABIsd47jUW65tycoqqmcyuNtpXomGZTZuwlL5obqWfU8ZrBHW7dPmvqZbwy9dXyikuy_RZ6DWkwtJvw8jOujo_B2JwtoRvi_YNGTrds5IVfgTWV8YmjHyzdOHfHXuraihvofVvFF3rfrFSlrsdSFbAiJzsAgo8EgmqR1-jvbMltG9jrf6Gu3zx7uYUXgpqTOi-0eQMyN76Yc3mg7PL6QgIy-_4SUPE6v-smaftXDcvlD3skcvyWXL1sDlK02u4IWTuLWBvXbJ3mu6_rde_OxbILRFq_9zAECHzhNyS3UcN5eBXa0IBSd47bplz-VwnK2VFekCLUp_IyEm-B1KauVSiwieK11LpezLByis0wxGomcT7izYI3WXJ6UnnrCCvB-KTm7XhY7IRIMAqcIKyP-5XkAy8ZXvSZH56hT5sxDdbpW-BID",
  "id": "rs_0a9c4605c8743cab016ab421134df087d0a17d45ab465b42c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.22},\"note\":\"The sideways move barely tracked, likely because the open fingers were still near the bowl. I’ll withdraw back and up first so the next approach starts clear of its rim.\"}",
  "call_id": "call_gsHZU0e8V0Hbvy4GjTTbOxfw",
  "id": "fc_0a9c4605c8743cab016ab421168d6c87d0b610fb26e1ec395c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gsHZU0e8V0Hbvy4GjTTbOxfw",
  "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]: [-0.8516, 1.5806, 1.412, -0.7921, -0.5114, -0.6258, 0.9958, -0.0181, 0.8223, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.333 left_y=-0.2436 left_z=0.2105 left_yaw=-0.082 left_pitch=-0.224 left_roll=-0.0045 left_gripper=0.9958 right_x=0.289 right_y=0.0013 right_z=0.1591 right_yaw=0.0035 right_pitch=-0.0763 right_roll=-0.0043 right_gripper=0.9963\nstate[joint_eff]: [2.9333, -9.1282, 6.2291, 0.5006, -0.6667, -0.0073, -0.0171, -0.1709, -1.4838, 6.9812, 1.7509, -0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb89792df8e9e3e223f1dd4c630d8ec7f57326c105f85ddfcca7b850dad66d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acb226fb44bc3ada4774e5618a38e16865969b1e567f7d9658604d85b218e43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b657414748f1609e8d6d7541eab410e1bc4035cd7940aa956731b24827de5f",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6579, 1.4284, 1.1488, -0.6907, -0.4755, -0.4683, 0.9958, -0.0181, 0.8158, 0.5941, -0.4225, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3388 left_y=-0.1551 left_z=0.1761 left_yaw=-0.0002 left_pitch=-0.2552 left_roll=0.0907 left_gripper=0.9958 right_x=0.2887 right_y=0.0013 right_z=0.1609 right_yaw=0.0035 right_pitch=-0.0694 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [0.5812, -6.7487, 9.5111, 1.2332, -0.2369, 0.2125, -0.0122, -0.212, -1.6752, 7.0496, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6348, 1.1549, -0.5785, -0.4732, -0.4992, 0.9958, -0.0181, 0.8173, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3586 left_y=-0.1822 left_z=0.1176 left_yaw=0.009 left_pitch=-0.3233 left_roll=0.1255 left_gripper=0.9958 right_x=0.2888 right_y=0.0013 right_z=0.1605 right_yaw=0.0035 right_pitch=-0.0713 right_roll=-0.0044 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -8.6769, 9.306, 1.3748, -0.4078, -0.0024, -0.0122, -0.1026, -1.3197, 7.0359, 1.663, -0.0806, -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]: [-0.8516, 1.5806, 1.412, -0.7921, -0.5114, -0.6258, 0.9958, -0.0181, 0.8223, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.333 left_y=-0.2436 left_z=0.2105 left_yaw=-0.082 left_pitch=-0.224 left_roll=-0.0045 left_gripper=0.9958 right_x=0.289 right_y=0.0013 right_z=0.1591 right_yaw=0.0035 right_pitch=-0.0763 right_roll=-0.0043 right_gripper=0.9963\nstate[joint_eff]: [2.9333, -9.1282, 6.2291, 0.5006, -0.6667, -0.0073, -0.0171, -0.1709, -1.4838, 6.9812, 1.7509, -0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb89792df8e9e3e223f1dd4c630d8ec7f57326c105f85ddfcca7b850dad66d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acb226fb44bc3ada4774e5618a38e16865969b1e567f7d9658604d85b218e43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b657414748f1609e8d6d7541eab410e1bc4035cd7940aa956731b24827de5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEbojqXcCOwQBfCYgXS0PzvjIG2aIGgTb-MXxU86-Zi7UD_pYQjX9P65P1Kvgr_4Ph0O9XFXbDBmLYtNyvnQgn9IHMqHyawt7IAXWBrwnuW_5nviLBH1eWYwore87-22F4X4GG91_sGuwD89d7DXVhakiJHR6ZYuus817A1B6_Z_B5DomGQDEOovswZGUC_OplkJMCInz9niXW4qhZwLSBg5trcH0yHxC-LLAmcVk2j-DEeSYSl6duSh4Ib6QfIT55lsUzA9C3FjVfs0MdpG84gBtPmPDtN2g3I9j1sZF8XjRr1qE1BQ1HnUfqmT_VcFIoeIqqmqeh9W3oSPvQjUByB4vyphNTo5mxqwiIg33i31Sp9gLttO09RXm2cGFBYAHTLJyKnHYD6S2dZuZZIrbyyBGbYCnydzCwhSyUXg6rwrGoFjGWxl1g-pBx6dTlpbRWEyro1-deKaRBBYuIV2Puxw283R1ls11EmU-7lKmifBUsmZI81zkJae6FmOd6ZzZWV-j_e_CZTpukBNgT_Q1bT2mztQRgrCj-rsVTfqMTiynCsgvXYLUNt4PVqw31mct4RRthqoEuhdm1zx0cZS2Xw9C5jlAxQI_gGlTxxfqivMQZvhFaaPcvNHnJC7NwNjktAGqg6Kkkfjj3Kr5tBh7ymFzxR5oK1UtFETLOZCdR0ndJ5GZEB6PBw-lDuY_BFfG0sVb9BhmhsKUEb6399L8cchX8qGPtiq5OW20T9ePLOlYX_2TwTlI3Sk4GILq9BtCAS-kg9HOZi31L2zVUEvbVqUQAhE9nEQPwEWrCPYbkah8sC0rq7Y2VXq7wNd9JivjwqGwCRCVReOoGYkVYTC80VA3y-6HoNG4hkKrX1S_kWeMacCwfpr9zdtwpcT5y2kzvAyLj2tfc3BFz0gVQ25h3IIaGY9bNdeHIUPCLJIwB8f0_AeMSV6uL_Q2e65b0l6ZLyaGYStVKikRfzTq2WhbzCFvF2TJ6riWfSzqEsEqqRg_nPCJ865upqNUcNWM1-RoCZ5bFHZoZ_r-b4nmXKZm3OYylTNw_BnKgszmG4xbFVdLIvEqgw82uC8Ilmc5eevDQOXabdwSr_mgTwD-jRycjlye8BR8Jbk_nP-BsBKsPrzZd5i7upis86qT4285-4xJ0IlrC1qp8vY1mKuexEz1dPUspkUXC5NGhxLfi1iByUK486ELqaRzK-vbdSninm2AClitaRqkVpILupLm8MI4OXtu-ufRsPb3x_vvfk1UZUVFhboaNWRdrhqt3-6e2afcfZmOyVpIqKc6s8IAfYzO313f30_mjQiSNzkpsXDD37Am97otxb-boisPPMxEmx158MmjaPcR6pKg6-R5zRMJN6mcSRM27BhQzKJ7XgJ2Mxbv_bkDjK9rgpTEgNiDKvUmSD5lOJZ13xUARHOoFC4zzkxvnGNnQFlSBBc4yswY3SvOSnAYXDhNW9E2F3-LYhu_4o4TBudNA7UmDYzB1pNMdUL9lQrSc8wGtTUTKEP6eG-lNvncoIWpWqjUMUECozHz9kvQqjOTcbkw5deMJgSHQAHiYmTNba5J4_LINN8jSfQMnoHI537_DUZERL5r3QRE9YVTV1Oi5R0voApQ0rdwWOE65NKu0Ntyl1VsZfuPd7v0yBtwjCq7CuyrjUgzysndCLb9a_LiTtG7I7pKTAkF1xPsdJhE3Bdr8rB5yby_1EFwK-wmoQ346KEnqv4mJJ7oMXOGG8nfXQCPN2DWuMmisZju3WI2Dzzf8-PQFYx2P6P8h_egoryq1ffi8CTjBv39g6m1OvUYkaFoyXY8FIIInril-ljPJgwwlY8PvAF_zG72t9ocrkG9lnQ5IXxJhKv8aDE-O-W5GlPNHXAidhggTkMJfPR_vwonlrkdqjfeff1yql8HJD0G0-2aOj4oZacZC5f23hkuQfUuvVw3eJpnESEGDXKjQYpKHNBkn-mAiVCzPLwqiFec_bIOb7nBQJCLhA-UahIUfbK2P3zdZcwLujCnz4RCZA0iDAcaZIm9Z0IEDOuCVjY4FLCzZlqi3gAahNCxh8z-L259w73QPZVnr5bMmLDlobHzgjQnC_-1xJBEULOpl2CZ3vjdF3UPqzTRu3Km8G0rFtMDW9tXENE8jwyPYnVVpYU29cXhdiGRjHdcsROaxSqxX9OrTkEdwPHsHITRFb9xMxKC3je7jb09Q0YYVFJqrG17SVWmZMR7S58N8U2WITbTNKLkkY2kddLq8BmyF6kbDsOzHQ3gfXlzNwbXmuM8dpqidqrD1RIl75FQ5yXB4mZODV1iUbODmsMuYz",
  "id": "rs_0a9c4605c8743cab016ab42118e65487d097c1e298547669f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18},\"note\":\"The white bowl remains upright but has been nudged left, and repeated rim attempts have not lifted it. I’ll park the left arm and switch to the right arm’s clearer approach to the pink bowl.\"}",
  "call_id": "call_rn8RjmcoRB0Wdqum5f9vmpmY",
  "id": "fc_0a9c4605c8743cab016ab4211aefa087d0a14dfb2b18c18dcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rn8RjmcoRB0Wdqum5f9vmpmY",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9688, 0.836, -0.6838, 0.02, -0.0021, 0.9958, -0.0177, 0.8261, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2902 left_y=0.003 left_z=0.177 left_yaw=-0.0199 left_pitch=-0.2441 left_roll=-0.0105 left_gripper=0.9958 right_x=0.2892 right_y=0.0014 right_z=0.1581 right_yaw=0.0039 right_pitch=-0.0801 right_roll=-0.0042 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -2.947, 6.6667, 1.619, 0.0855, 0.1148, -0.0171, -0.1162, -1.2103, 6.9949, 1.6337, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927b2b2b5f6a8e5f496f83cedd0542f2a1d422b5a9e76468122cb4c46ce0d909",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace69bd0cceff99dcb8769d59a6ff3f77ac4c0cbffda8715b11e0fb2ede1fbfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70db18e58c88c95564f720ce12a4c374be06cc36afea75dada595cee6754be89",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6142, 1.1542, -0.6178, -0.4728, -0.4911, 0.9958, -0.0181, 0.8181, 0.5941, -0.4229, -0.0162, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3522 left_y=-0.1771 left_z=0.1206 left_yaw=0.0084 left_pitch=-0.3392 left_roll=0.1435 left_gripper=0.9958 right_x=0.2888 right_y=0.0012 right_z=0.1603 right_yaw=0.0031 right_pitch=-0.0721 right_roll=-0.0046 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -8.294, 9.3744, 1.3797, -0.3687, 0.022, -0.0122, -0.0752, -1.4974, 7.1726, 1.6386, -0.0269, -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]: [-0.8516, 1.5806, 1.412, -0.7921, -0.5114, -0.6258, 0.9958, -0.0181, 0.8223, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.333 left_y=-0.2436 left_z=0.2105 left_yaw=-0.082 left_pitch=-0.224 left_roll=-0.0045 left_gripper=0.9958 right_x=0.289 right_y=0.0013 right_z=0.1591 right_yaw=0.0035 right_pitch=-0.0763 right_roll=-0.0043 right_gripper=0.9963\nstate[joint_eff]: [2.9333, -9.1282, 6.2291, 0.5006, -0.6667, -0.0073, -0.0171, -0.1709, -1.4838, 6.9812, 1.7509, -0.0415, -0.0708, -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]: [0.0101, 0.9688, 0.836, -0.6838, 0.02, -0.0021, 0.9958, -0.0177, 0.8261, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2902 left_y=0.003 left_z=0.177 left_yaw=-0.0199 left_pitch=-0.2441 left_roll=-0.0105 left_gripper=0.9958 right_x=0.2892 right_y=0.0014 right_z=0.1581 right_yaw=0.0039 right_pitch=-0.0801 right_roll=-0.0042 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -2.947, 6.6667, 1.619, 0.0855, 0.1148, -0.0171, -0.1162, -1.2103, 6.9949, 1.6337, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927b2b2b5f6a8e5f496f83cedd0542f2a1d422b5a9e76468122cb4c46ce0d909",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace69bd0cceff99dcb8769d59a6ff3f77ac4c0cbffda8715b11e0fb2ede1fbfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70db18e58c88c95564f720ce12a4c374be06cc36afea75dada595cee6754be89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEhjogHsW5AWQa6wqVvsC8aCmXUhQ-PgIS7fckEAHniYQ4-Cg0LFJuHhWPPaEFkSUIbktyyDI2fyrKpSauUCFFMR8_mZXZkunC3W5gL6DqihA88he8JanqxUE8Bxvu__UKbNaxhKkBC5ga5LNToMSMYgCYmKGFtD_QaL7S5tBlfUZX8iFUz7zid5VtTDbp7RGDmrLQU3ohMddXdJqn_ZjcVahQfpkc0prBSIjnqXR1NooqK8cNR0FZPmeFQ3ZB2ckVVacKrq0NgRlUnl4pkqgja4NxRZgKsmGmW3AgC3r2S9S3iyShPIpuqbYK9Xg90r37BFl4ugAKlxSHTq2Y6KwG3M8BtDVy1jobr5HznLAdupAvkK7T3eq_UpcybRm8sZMlefocUE3PsgzckxX71Jq_yv8-PA8WzZRRetr6ZBad9Fie7MdsmtRLAqhinvTwgDjZ7H4Ek04nASTww3Y-XAjauZD_Rkg9Mtzq7Dedv0uPlmlKMraBmUCxhFjOE_Oh3mIsw5soASYy5ZLu3o3A3t8CLqzB9qa3ZR02MjRqHO9n8OLaqYmvgBEuhkUPE7GXwx5YxUhEzM2MqudLB8ZgPSmfHfNioko6oD2GQiOhv4WFJ5uMcg9XcIFMno5xUVVSvjuIBmQPCDy3YVaSYR7HUd0MR_w7eK5Bj2lKnaTkKhYrh1Z-YhLUHnbcsPUhzzOw4xTXSEaw68SyoOZ0lGXLU92xrn1F0teIMMdXz_BVbMbjvDtPuWiNE29WYNK0gLIdGya7Mi8AxlOqyJ8unJcldr1D7ttIdCWm75cls0FMCwgctxmwvP3QZ3OUJFKuR1W6cfyxHYqQorhYyPdNwhd_OoHjRFggNzp_HVlsknoDfOTwGPFRLuKbvlfO995iuhu2MEvDejXNomMS0gwHwKBNyEglRtVeTP4rCBAzJQQhwEnZoSe35Il1LR7x8vvEkkCG7u7LIave8_83EwkYikGQuukGacGXQLIMmnsZqszUPIZMqCsj3gGsnhMjkeoukrLFSumvd6m0OEeDe3mjxG_tBSUcTAjRwwC0HmIkYrLeZsnrLlN-r6_NoVLoJhXs6JqRM0XVwzg6FYiZ6GZa53wu9WMqGg1cPakq-T1q22kUkBlT8Js2cLhKe73ujwi2M_l3IjbXR83tZwBka-rNT_sAVglrx2LUOl5Kt5DrH7CRPn6hB-Ll27bkSd62TVeJ5N5WyVhSlWDbzyr4uc43VS2h7WWhAhA99NXjsuZ_I-nq7V-I2GASxWw8nGbgmFKcPcDj7m1Vz_0DnPdOt0zNkXTYdTFrUSkurz4UvigKq9QLelJH4397E93tSD6qLULU0_fAHDg5E37eBCF_oiaApb-DeSaMPu7W8IEeapYcTvYRWSTiyny5zRexKK1yPoBQOnkWT8eXPjTz1uBJeS9LKksY-W9fL4w1GUSOVz0MNoKMg1w3jzzBCwVhfVGguXUfBDj1SU17SCCwXn4QEDnOeKqqyBNWLHZlzIPCq8dNXjjv6wjpcxrMuP2mRC6n5Q82vtS6NL-_p7cwUvm1q0oZ1IOgxTfeOwovPawhbmVxb3Xbl3pAQoWHMojbaXVB_KKrgyWKwT-oTrl-9ZLBGt7S0HUFWKdW3Iodl3KS7HH0dgIPhAAzyGaPLb2S6ioc6ityJSqOxMzBKwmmDesGWs3wIchFTOXQ4TX0JnchOabPztOCzxux_Bc8Za3zRDmnKEfADMXLnd-wJhXw5c_BdxVwFom7zGRtOyGYEiBz8f9XbBu4SgrW3GqCWbovK1BcBykA1VXrt0QbVIJ_JDdFLZD5t_ujKweaD_z52kpOBXRThh32nNFCqocnBNn0aIlm1Gbf0ynp_xAwD0kQFGW83BoVxvf1VhZs1i418r499Fp9gNOd8Xij0xcFPVMcjmOf6MHSDLaeo3gR_",
  "id": "rs_0a9c4605c8743cab016ab4211ed20487d0b56084b4c368853d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"With the left arm parked, all three bowls are visible again and the pink bowl is unobstructed beside the right hand. I’ll bring the open right gripper above the pink bowl to assess its rim alignment.\"}",
  "call_id": "call_Yv4iFdQtoqW0Aqm4djwBvufy",
  "id": "fc_0a9c4605c8743cab016ab421207eb487d09db0cf77f5d14fc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yv4iFdQtoqW0Aqm4djwBvufy",
  "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]: [0.0101, 0.9741, 0.8314, -0.693, 0.0261, -0.0006, 0.9958, 0.4408, 1.3746, 0.8219, -0.2398, 0.3035, 0.2241, 0.9963]\nstate[eef_state]: left_x=0.2882 left_y=0.0019 left_z=0.1721 left_yaw=-0.0262 left_pitch=-0.263 left_roll=-0.0147 left_gripper=0.9958 right_x=0.3612 right_y=0.116 right_z=0.1236 right_yaw=0.0526 right_pitch=-0.1732 right_roll=-0.0456 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.6325, 7.1043, 1.5458, -0.0904, -0.0562, -0.0171, 0.1709, -6.0239, 9.5658, 1.8486, 0.2613, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddc8cfe26720339d9ba27543e45616a4856719b1bbb08a1e44264a5fe0d7bd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286a70cbad6302176f7956ff2274877cadfa80875a78a2619a4362a7be955efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59386f9b29c4dc03ab5161a5fd2380e8ddf97146843d6776591c7d55f3d7067d",
      "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 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6348, 1.1549, -0.5785, -0.4732, -0.4992, 0.9958, -0.0181, 0.8173, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.3586 left_y=-0.1822 left_z=0.1176 left_yaw=0.009 left_pitch=-0.3233 left_roll=0.1255 left_gripper=0.9958 right_x=0.2888 right_y=0.0013 right_z=0.1605 right_yaw=0.0035 right_pitch=-0.0713 right_roll=-0.0044 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -8.6769, 9.306, 1.3748, -0.4078, -0.0024, -0.0122, -0.1026, -1.3197, 7.0359, 1.663, -0.0806, -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]: [0.0101, 0.9688, 0.836, -0.6838, 0.02, -0.0021, 0.9958, -0.0177, 0.8261, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2902 left_y=0.003 left_z=0.177 left_yaw=-0.0199 left_pitch=-0.2441 left_roll=-0.0105 left_gripper=0.9958 right_x=0.2892 right_y=0.0014 right_z=0.1581 right_yaw=0.0039 right_pitch=-0.0801 right_roll=-0.0042 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -2.947, 6.6667, 1.619, 0.0855, 0.1148, -0.0171, -0.1162, -1.2103, 6.9949, 1.6337, -0.0806, -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]: [0.0101, 0.9741, 0.8314, -0.693, 0.0261, -0.0006, 0.9958, 0.4408, 1.3746, 0.8219, -0.2398, 0.3035, 0.2241, 0.9963]\nstate[eef_state]: left_x=0.2882 left_y=0.0019 left_z=0.1721 left_yaw=-0.0262 left_pitch=-0.263 left_roll=-0.0147 left_gripper=0.9958 right_x=0.3612 right_y=0.116 right_z=0.1236 right_yaw=0.0526 right_pitch=-0.1732 right_roll=-0.0456 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.6325, 7.1043, 1.5458, -0.0904, -0.0562, -0.0171, 0.1709, -6.0239, 9.5658, 1.8486, 0.2613, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddc8cfe26720339d9ba27543e45616a4856719b1bbb08a1e44264a5fe0d7bd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286a70cbad6302176f7956ff2274877cadfa80875a78a2619a4362a7be955efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59386f9b29c4dc03ab5161a5fd2380e8ddf97146843d6776591c7d55f3d7067d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEnX0PtvI2mjvAweq0ZYwfpGTUFy97TaPtlDBXsHdVKnah_vYIo5Ah3easwOJrUw4IPrA-QD-llkcmoY6G9WYrm8EnrNNo1hDDOR_eBf8NYxQqrrhMicAQKrEvTgM4UJ-lXHVnKQvoCzeZkXDHwZnwb3VQfrChY3XMO9hnXjWCGGmBnzRMBx9z1kZKvOrcZKEutjS-bIbvZyrZiQPDEkasuAG8i482YcZEy37p1__lWk_iri5TqTxm6s-sg4J9j0RAAf7IpczOcPjABP7ibdgj_KqmqdiN2iujyyqcCNcEOjsxO0fPivDXbHoChUjF3_bwoCanxjbTUZ-5vSTiZGdJlULFtDmVJipCUnjlVLUaH2zd71zUjZBuzWP8jR8il3Ihw2QycOkic2pX1tynW8aGcBJRM92HAfL-S-vAfX8BPyJ_dbaOWB2s-z9N4ie9CPhdjQyfTv1_ELpbDGlNtg7bzB5rgpy5OHdyhMaEzhb6VjRNJUXAfUiuBdLZlTcJwLMpHWnL-eRf9PCeXZDyTlGXxbQA4uLgEAW654sjGfGRixsGRRpXEZsMCl5WSM9Dx-ukpdxnbuVGAIK1nMcntPKr7KmZsjIFr7JYXpmoHRHdG9UUZYvYsO59U9BsuEKOp89KBswYnY5Z7Zu7uoDDK29a4CUQUl0MrJ5zT2KH-1Fvzp6lDh4OAWYdpDI36DLk_zQxMqSQY-9g3FdwEBWvpRrNY-fIgrXSpvr0_vjHY-KbaiSzGgepWclrnQUybmYp3RHfwhzjnq85alPvnl_D2nhWPX4PtUWJSTMZeidk2Hfx9k1m6-2AcReqj4Oeo10cFOGBdD7zN4R21pdY9febfn_m-ZrxppMTHW0eDt4Q-f7qZ1oFNDCXm4rMbzzfuNXWYBd5YxoCJKlRJr1C-5Qv_wrMUhnNbYOUbYnO8tKMUbhxEYFNc2gdY-Yan0ZILQNW5fTjSU6v9nOlx7cSN_o2vloKWbZjsuFPuu8vDQYE0G8gS2fgDde8Uh0FpnH1tu1iklIl7MGeAqcwKAPk__BEOn2NpzR28doKNKvBTWqtu29BRQkFKGIaklTsigVWqwElfCCQFGP0cTtKGH1zqbsUkutsB2aPk7hWAxugmKhN8ZrXgmTQnbiQMcSll1mbtHsIYRCEYzoxBdYV_FYMiBOKCv7b-Vgo6rSYtpNhHr2_-0bR9voHaV-jYO9TiOSmqmCR9AzseKx3nAoqONh_fPThRb59F3Te8yP0xpuBTaiFD2mR5ko2E-qMeJ1klwLfxz17UTVL7oPjR8pP1jG1LoKwBAPzw-cUcCZQqXyFksdulpO-ABoVcdiUAqtw6fRA57KpE_1-_IsU32ad8S6jZrabvE2i848rgjGEk-TScef1ALE_xENl_Okz1QN3uIjNjwu9s8x7yNjMydu-CvF5H9O6gl13lZHlTsSF0Om1YXXred4G_NzUBLN99IN_4sDh8JbswiLpCixc3zMiNKa6-PQqH4iiX924fL3jjJ3KpaW-B3W1XuB8CN3z8WYfQ3FAo7lZb5F5-oUb9dHkb7mpJpabgZCuVXvsE7Z63eI11pl03hbjRKhlId-4JEiEv3_yxG4p_rCHHu7Xx3FC6h889rO1-bjijoPKhcgKFnm5Am1zKkAv_gxJov9jFM2-AIdVPtKSj79zsifhC_zohgAZ8D13tlFuUNAyETAPrRi9ruMPR3RMF3oeC1_scAgO1qEhu5w1w8orx2GUjrwGCNLH5lpA1D0WNoKlchzu7gRxauSwB3EgfhYbaGmbEojcHajwk2842o_Q2xF4VxXTbQwLH-TRR_996esMZxDIe7OaYP-IMDyiyhpm25RyfFgJjDeYwDyA8nu-0liqcU_GdBo8z8LfnKPb9EWj6nIW7N3NGdiA6fjwSwjaGLxgN6OdZvBvQjrVaffS9v03ghcuZH7YAd4rMLnXQl-sRZ2GHTkLsenc_ggpD_uEcTAZ_SxGLk4l10xFnkt8zdPGBD47wkRIBNLw_5I8NPikHalt-a17MRR2QMv4RelOvf4E4OnaBUFV8ZX3tQqDEgBrH_aU_fhadUjgEFp91X1dCdRnze33onbBoHY1PkVo2mHE9MdQShzeI7Owoke_d-POJ5vEmY4EGgBmK4Nfn-Fb5hFwJVByKY9vu7BbtNl8I7s6wyWhddXsHF4Avh6yE2v0NPqc7s0QSM9U_5fQ1XDUm8OziFFN3xA5CnuRKgXsT3gcquC3hxFcoSQs1ImczTJDKMvkABFSE0T9e8hSrhfiag7utaGK1VdLCZGfrwHm60FdCPeXp5ucYCYpc86IHfuvVnXG5i_4Nl0ePtFvGBnVg3abEjEEU5mP37_4q1OC2Le6sD-bk4xL-MyVTZIX76Ejti-jHzJlCzuDS0dJBGLDLNmRN6p3lcwEQCysCR-mhEyXtdn97SMERoU_0wbvfE7ZMyW5A3qBhnpIGsH44im8GFQrxQb4kSfKRo1bS_PVibALqBL9UTRBBIsBEifce",
  "id": "rs_0a9c4605c8743cab016ab42123a59887d0a88784b7f2dc8b42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.07,\"right_z\":0.055},\"note\":\"The pink bowl is centered under the right gripper, which would close into its empty interior. I’ll offset toward its right-hand rim and lower so the jaws straddle one wall instead.\"}",
  "call_id": "call_nOg4ptS4VJ5lpIYQgJstd2CE",
  "id": "fc_0a9c4605c8743cab016ab42126833487d0ad2406680c89ae5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nOg4ptS4VJ5lpIYQgJstd2CE",
  "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]: [0.0101, 0.9745, 0.8314, -0.6945, 0.0261, -0.0006, 0.9958, 0.2825, 1.4406, 0.5816, 0.0055, 0.215, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1718 left_yaw=-0.0262 left_pitch=-0.2649 left_roll=-0.0148 left_gripper=0.9958 right_x=0.3463 right_y=0.065 right_z=0.0447 right_yaw=0.016 right_pitch=-0.2547 right_roll=-0.0708 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.2906, 6.7487, 1.4579, -0.0659, -0.0611, -0.0171, -0.335, -4.9983, 6.2974, 1.7021, -0.105, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227b495586da1199059e560cab330cccecc2f1c82d112a915cd0be312ef4786f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf58c033fe5305c893d880608f69c5efa9c677b243c957322040e60b3af7c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354785b363fe5964cbdf8bf7f53dc8544c9c210a1db7f587970b307ceca79d04",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8516, 1.5806, 1.412, -0.7921, -0.5114, -0.6258, 0.9958, -0.0181, 0.8223, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.333 left_y=-0.2436 left_z=0.2105 left_yaw=-0.082 left_pitch=-0.224 left_roll=-0.0045 left_gripper=0.9958 right_x=0.289 right_y=0.0013 right_z=0.1591 right_yaw=0.0035 right_pitch=-0.0763 right_roll=-0.0043 right_gripper=0.9963\nstate[joint_eff]: [2.9333, -9.1282, 6.2291, 0.5006, -0.6667, -0.0073, -0.0171, -0.1709, -1.4838, 6.9812, 1.7509, -0.0415, -0.0708, -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]: [0.0101, 0.9741, 0.8314, -0.693, 0.0261, -0.0006, 0.9958, 0.4408, 1.3746, 0.8219, -0.2398, 0.3035, 0.2241, 0.9963]\nstate[eef_state]: left_x=0.2882 left_y=0.0019 left_z=0.1721 left_yaw=-0.0262 left_pitch=-0.263 left_roll=-0.0147 left_gripper=0.9958 right_x=0.3612 right_y=0.116 right_z=0.1236 right_yaw=0.0526 right_pitch=-0.1732 right_roll=-0.0456 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.6325, 7.1043, 1.5458, -0.0904, -0.0562, -0.0171, 0.1709, -6.0239, 9.5658, 1.8486, 0.2613, 0.2564, -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]: [0.0101, 0.9745, 0.8314, -0.6945, 0.0261, -0.0006, 0.9958, 0.2825, 1.4406, 0.5816, 0.0055, 0.215, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1718 left_yaw=-0.0262 left_pitch=-0.2649 left_roll=-0.0148 left_gripper=0.9958 right_x=0.3463 right_y=0.065 right_z=0.0447 right_yaw=0.016 right_pitch=-0.2547 right_roll=-0.0708 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.2906, 6.7487, 1.4579, -0.0659, -0.0611, -0.0171, -0.335, -4.9983, 6.2974, 1.7021, -0.105, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227b495586da1199059e560cab330cccecc2f1c82d112a915cd0be312ef4786f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf58c033fe5305c893d880608f69c5efa9c677b243c957322040e60b3af7c25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354785b363fe5964cbdf8bf7f53dc8544c9c210a1db7f587970b307ceca79d04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEqwyDwKCZvLZlTD3OqeeewAfd7ZWbt72uhrOyo8ZgiaEPpx7AJEC08kp6OTl_VMis1jsSrLZJipOWkP2P84cCXwmY8OvELSFMBxe4NmirMWm3ZKgn60DZZnB7Fhh4w3l06oPAQk3q07-U5Pi0trHpvdvMk5ZopdWCt8RkAXIzlz_wrejRUgv5xwYPjXjrNU00j5Gq-p4xznk7qY2Z7icaRBqL2wIuU1ZDhiphWMA6sLYS2nI6d8QEmXAYpJMGGOek3zIXAZzxxFD59uMetGN-e43Y7eefgvd7EHzOeJSZKbOw04hLYh_ahnKfIc4jKC-IA0uPsrtVz-GjvxAYOSCu_H-sb55QGGrfmivAS9eH9kgMkWImAhvfHP4AlME8Ac7aEn3xmzgaVM878I7N3fuP7ZQDrb7mS2JyiCvKjcTLW5vy4iqhuWknCpJ6SRmDhRZZE7mgP-2ZKtDQH2ToUU9mQJfpAFz4VuJZF_Nek4QoYWEGVBciR7rp-5I4N6bjmOLkCiIUzJmTnOfftxLF0c_OKJ0u5Nd62m4_Y7WUajNd3zJIJCI3rJMHp5LPzUczKL5XikX_uJwi0W9Z-Mmnd-5D77fnCpB1sCvPNsUcEY0Q-ejNeuihcV6z4kNbUy4MpHK6oEW2_I6ZRWfeb-pFan-mHKxddNEPD-OcdGuSAYqjot6H9ZUgRDxamD6LrBGofsmKV6xDD1N2oFqAO2yMapmUOrXa_Vn4l5r7B9mRwliMx09BfFnmcpXOkGaMB_WrF3NmtwZpwDeVRstckiU27K8bDExT6r_m9KAPNyJ4xwo_Ldy3F3W5exj7wHp7v8YX72-v4VofbANf_s05FLW5rgS-hhaf7sA2gC70Kbtz_CDd4I2t8juWLvdjamRs3y8KGWzPxNn-c_s8f3DvsUOTYuP8ObAZJm4t77ngh0Qf2UtYogUEzprqep_qSwH46PPJRkiSZ2Stbc7dJ88mo5Gr_11qSO6nTkEYkGSIDZc-hOezBM94cBZ1wR5Dv5JtaFuiyuF6wj21noQhkoDZsJnFi7s7R-lYBsOiGZJoZ2n9AX6HrgASBKO_6mTOCyB86JHikv1TOQhaOGJBO1QwaXNTxCsY1WQnNNfdRBt5fa1FOV0_YPw2r2-i1xRs8fr-m-70NBYCTTY50r_gTQBVUASRcHera7JRb-GBOX_bgXjZskX2QdKhg_H1y4NLjiaiBnavZNYEZbA1iF1rXoJttFD5b4CqwU_pIMqr9ZywsMYF5qL-X670UyVuRHLHQ2mzVVVliReht2AfwBAgx8hlweU7Scnc2qkBaCIyVihcqcNmaF1mV2gJF-VvWabOeFgN9a-68z06RiL7nPRNWLeCC_1I2tDqbCa5U-oKyEC_7afVVOfMGwWOeS2B51WuewWMjfeoF42PLg6Lq4SCZ_SWDM6Q3EcEQhS4OdvPDeCJ0mhPghEM-bq54usarrHaoEtzNyfRV0LbW547p6Dq7I4zby1JLljqbH49Es3vm2gUu9hfx7p14jqDnZ1yajOKDXNeZCOspR0vny3XOc9-WS9-CgLphdSPMpCYYb1wTaKTAximFsKI60tnolk778X85YGNifuvMsLdeEPICh7mo_Wuk_qXv3sap1AjFATfCN9BDgiCbyLPKEd5wzvT_QDVzc8k2cTJ7tHmjRaySOWaOY4dGz64LEsHT24qU8AWTR6eEUG-_gaCViAY83dhgS114TbHPT95Jg0pYIGoskUti92-pW88tm1gAM1nS4Yw1NNZTB37iNV16ng_fvztc8HlNs_lMhMtU2aaQ1pmagRfp_XG17nS6tb6q5vQAGpijIPyPal0fz7aEEHRYA5pKocJtn2G4XiDBgO7nWwayHvEvHp8_l9WN9IMcJNCwMjiYbG4tzTeW23JGeloozjqNNoBUsLx7s4CpBShxxBoBjC1CJPY2lp7uAXw2BQ5yBNKYDu6Pm90EsQPJbPiU6m5Ij1RHfw7JmPciouHPJJyjNYfrVE-Cup8ZYtC0o3uxIx5DYqslXgQOb4-gXc6jf9oY3yDZbYKL8yXAejJG2GIxnw5amNQtGA-6G7vzdElsnaRnKhr7HHU0WXGw0FA=",
  "id": "rs_0a9c4605c8743cab016ab42128ac6087d098796501f181bb1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.045,\"right_z\":0.052},\"note\":\"The pink bowl’s right edge is close to the jaw center, but still slightly left of the hand in the overhead view. I’ll make a small forward and outward correction before closing on the rim.\"}",
  "call_id": "call_uHQ4BWBw44cEbqTyFOtmO5TZ",
  "id": "fc_0a9c4605c8743cab016ab4212a3d5487d0ace3979efbe6d935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uHQ4BWBw44cEbqTyFOtmO5TZ",
  "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]: [0.0101, 0.9741, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.2207, 1.4734, 0.6025, 0.0364, 0.1543, 0.0761, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1718 left_yaw=-0.0265 left_pitch=-0.2649 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3588 right_y=0.0563 right_z=0.0449 right_yaw=0.0371 right_pitch=-0.248 right_roll=-0.0584 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.4579, -0.0415, -0.0659, -0.0122, -0.4991, -4.9846, 8.6769, 1.5751, 0.0952, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585dcecf753703a5acf3daea46ff4b27a57c7d251a597ba6bfafea2c08212198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87ba5cdebcaa76baf6312688c3d37760ffdda78264f7c7915170a35f6ab6bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd15fd737dbefcd9d83fc677ad82fd495b866a2791a0fa5b7b9fa680002c16d2",
      "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 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9688, 0.836, -0.6838, 0.02, -0.0021, 0.9958, -0.0177, 0.8261, 0.5941, -0.4229, -0.0166, -0.0273, 0.9963]\nstate[eef_state]: left_x=0.2902 left_y=0.003 left_z=0.177 left_yaw=-0.0199 left_pitch=-0.2441 left_roll=-0.0105 left_gripper=0.9958 right_x=0.2892 right_y=0.0014 right_z=0.1581 right_yaw=0.0039 right_pitch=-0.0801 right_roll=-0.0042 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -2.947, 6.6667, 1.619, 0.0855, 0.1148, -0.0171, -0.1162, -1.2103, 6.9949, 1.6337, -0.0806, -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]: [0.0101, 0.9745, 0.8314, -0.6945, 0.0261, -0.0006, 0.9958, 0.2825, 1.4406, 0.5816, 0.0055, 0.215, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1718 left_yaw=-0.0262 left_pitch=-0.2649 left_roll=-0.0148 left_gripper=0.9958 right_x=0.3463 right_y=0.065 right_z=0.0447 right_yaw=0.016 right_pitch=-0.2547 right_roll=-0.0708 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.2906, 6.7487, 1.4579, -0.0659, -0.0611, -0.0171, -0.335, -4.9983, 6.2974, 1.7021, -0.105, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9741, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.2207, 1.4734, 0.6025, 0.0364, 0.1543, 0.0761, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1718 left_yaw=-0.0265 left_pitch=-0.2649 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3588 right_y=0.0563 right_z=0.0449 right_yaw=0.0371 right_pitch=-0.248 right_roll=-0.0584 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.4579, -0.0415, -0.0659, -0.0122, -0.4991, -4.9846, 8.6769, 1.5751, 0.0952, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585dcecf753703a5acf3daea46ff4b27a57c7d251a597ba6bfafea2c08212198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87ba5cdebcaa76baf6312688c3d37760ffdda78264f7c7915170a35f6ab6bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd15fd737dbefcd9d83fc677ad82fd495b866a2791a0fa5b7b9fa680002c16d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEtGqKPQ8oGMI2Nz0hKwN36eTMrjbX366h4s1lzlgRhSa3IeFiSQYxVRVxM0hMCeX01Bbt2gsJOazyvXaRVsUivJkPm0gqVc5iYSg4u8T1Z8VTfOn-HHplafIOc4IKTOEv72wkJQpAt0OFT9_GUu7gloCuZd4cL_0YWqGJG7L4uffsPexZ_JjaQOmE6p9ESzuN6oquroPhBItg60-SfHp-YeAmRhsBV2KRYZUsryPxshxHQRSlXbOhH-RxDE7-KBRAj0Eoe4a8pnLtwyaQqd1V9k_7qzb2Zq5rWGeR7jsQw2KFAUC4qnrD1G2UUg_IQQWlQuGJjZJwRER3w99aX_YAnRXUzrt69RFV1Z3RW5fLN308WsKzemnN4B2LgKC9Cnl0kxlGQ4NUVTy4ZDTsP4569Sz9yZrjygXUgKvsnzJ3LVqgU1MuIiTFh_q60HFc9Zg09OdhfWzCFyr9JsRLfFymkFNKBBip8r_cTnxyPJ_CqjvjjVnANBv7qYBY14T3bMzzT2MmVtAUA0NhqXGl4ehvQw9xIQDDUsI6hv8-uOscIkkffa6NEtpFHEzJDYZchd3ndJPHaMBWSCTpe-9rn7EBPLfiP_RzNY83eyM6ZyPjmrXa84bxlo4RLzFQ-VATls6_LnP_M8VRiRiGa4fkkS_Q91IkMU419SuHUB6o6VGiWU6HngQJSmmdlS7ahzukRqxCmSjLzA7iWsmZ-6eJldblcSmxycL7_UwCis1b0S9fi-_mgJ6oS1DOH3MH8HwEujxRjqNvfiuOIutLiHFaF5ENCjn6mh1pNxCOu2AbDAKQnljZ6893ddfbQCJGe5Yo6j2zwwj7DU9jdzEsXfSS9KvRxwh2YfnHt-NQhAy_XPRIwWELy7C9CC7nBlTZTm_L-C2jFqyp8J4PHHIhCX5ZuVhCK_YA1iTJ6v9-8AMtW3y0tsNk0HPs69wZMP0hQx482m_AL81KgOYCAPZLxoLsLZQtNHOtaPdXJyVVOTx9GeK3p6d9CPe0RqFxI_zQ_FpZAOZUroBJlN3VbfrSJYsgaPfzAg4ZM8CPLNYBDG-TIhvvp4rW2T9KHvAk9ozy8mKqiDultLgsQeTQzJUNAlK-oqBvkFpe4chCoP4lvkVtjghBLy_l7MxDEzyMw9KBbtbeNnf8nTGsPbqUF2RB_B9gVseSxJKMDvsTxBTYYPro-KZJ58mqkpeC9wbEFqwyP4xoIvvVeSGvf-ylnQVfE4cK5FbvACLFC5qWLg7k4nwUSWKnRp8ERCXHh_SQZuQBeyOv_vwAzIFaluyNn7m1jok1QzGiPl9IYr2ADlXOqL36jdt75kRtJlvoDf25s4XIqCGbh0mCVVCNSxldu409QkxAtW-yVjw==",
  "id": "rs_0a9c4605c8743cab016ab4212c46f087d0b0d88cb208bb8246",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.03},\"note\":\"The bowl’s right wall remains just to the right of the jaw midpoint in the wrist image. I’ll correct another couple of centimeters outward, keeping the grasp height unchanged.\"}",
  "call_id": "call_VgV3Mz3dqTmAjnGhEXJ1Wfyy",
  "id": "fc_0a9c4605c8743cab016ab4212cbc9487d0a375e1a0e7f0b9d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VgV3Mz3dqTmAjnGhEXJ1Wfyy",
  "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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1268, 1.4906, 0.6052, 0.0231, 0.1043, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3593 right_y=0.0309 right_z=0.037 right_yaw=0.0179 right_pitch=-0.2829 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.3316, 6.7487, 1.4628, -0.0024, -0.0562, -0.0073, -0.2256, -6.6803, 5.7778, 1.6874, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68122102991551d514ec563e87d05892994351c19f9a934c319a941e83853616",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea962dba9efa8f80d873944005c6c3aa080d1c56ef65615bd191b16a17a3f86d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b3b9407446db125b1223537d7812a8f449231dcdb6fabae2614b6870a5c6d4",
      "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 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9741, 0.8314, -0.693, 0.0261, -0.0006, 0.9958, 0.4408, 1.3746, 0.8219, -0.2398, 0.3035, 0.2241, 0.9963]\nstate[eef_state]: left_x=0.2882 left_y=0.0019 left_z=0.1721 left_yaw=-0.0262 left_pitch=-0.263 left_roll=-0.0147 left_gripper=0.9958 right_x=0.3612 right_y=0.116 right_z=0.1236 right_yaw=0.0526 right_pitch=-0.1732 right_roll=-0.0456 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.6325, 7.1043, 1.5458, -0.0904, -0.0562, -0.0171, 0.1709, -6.0239, 9.5658, 1.8486, 0.2613, 0.2564, -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]: [0.0101, 0.9741, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.2207, 1.4734, 0.6025, 0.0364, 0.1543, 0.0761, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1718 left_yaw=-0.0265 left_pitch=-0.2649 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3588 right_y=0.0563 right_z=0.0449 right_yaw=0.0371 right_pitch=-0.248 right_roll=-0.0584 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.4579, -0.0415, -0.0659, -0.0122, -0.4991, -4.9846, 8.6769, 1.5751, 0.0952, 0.0562, -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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1268, 1.4906, 0.6052, 0.0231, 0.1043, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3593 right_y=0.0309 right_z=0.037 right_yaw=0.0179 right_pitch=-0.2829 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.3316, 6.7487, 1.4628, -0.0024, -0.0562, -0.0073, -0.2256, -6.6803, 5.7778, 1.6874, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68122102991551d514ec563e87d05892994351c19f9a934c319a941e83853616",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea962dba9efa8f80d873944005c6c3aa080d1c56ef65615bd191b16a17a3f86d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b3b9407446db125b1223537d7812a8f449231dcdb6fabae2614b6870a5c6d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCEwrzyqmSzeO4Yv8the1Dk9e6XSTN4Y8kxclW7DtUOB49KCXKt5A2IreV3o3Nn9YxbOCIqHNUKAx78qD-euEaUE0x84uSKC-PyJ3JGn19MJZpN2kPnICY8NLPCxtJCLHMGDIWXEZZpk0UiKQoxa-LFTLmBj5NJF-gyOfhYWJMIimvVzcCRHTMzeBTEV25A_kT7CYieONCO26CKXdlgMCjbikcfzOZXF-p8V5iiSb74rSmjNAmHhJwTJmbiMmBVUPHWCd70qIvmHT8ok1KmYL0Y4zZvdiALWLs0vueJOo8_ON1wiLrtNkYUlnkRsJOnMLmtrzuJP1-ZMxb49wFYnES1ZKxpJ5PVWGc6pEtwXK2vzTKLdPHlXZiOovh3vZ1GuFYF-94CyR04KiXeAj0Npx6tyvW6EaTgXjePu1TpoqmlJFfW7KcPdptW0I5P_Ri3LzkbSS0RJZZmLBXWShG0SKSMDx7CS30EGFoZtZkCSBteB0STEuGnnK116JtViIihkQDJ1tbX-qFJ0D6RjvqtZRTLcbRKW4q0L7W8Sw2x9CHDdlRg7qHle3BVYdpsWkXQOdFXBiRD6jZFcOzhX4aCvejtimkckj7o2fgCJjZd-Kl0ehN7Q1OqGixbttMdiLoUjLZZ6r9-gB725NuyI5CGNS5OVvYYeG9-wKbtm_vP7k-mWnPEmn7De0YuUp5JHJNyb3JAX0OUIEGxien6HzlxDSii8Nmi9R0SYhkmZJxVcWNXVOIho2sY5NJaWpZaiHBz5Z8jRK9I83WPIikJrxdfeQoeZrv54OKpnYS0AekpzwQzvrFLK4DIpPwyq2Pp9Mzsrlu2clGfNiUQmSM44bba078itlsc0nS9-TLKmw94kdPu8xb3VuYQnb6YjVMkjWBWBmaZeVWvNSLkzdRi4gvugkzJan7wKBT2sT3l8n0Rs-ZjnqXpBValHcfwOtcFO1TX9cKYrTWuYyPPSmyOyeM4J635wK68Gy2Gv5m3bG0HoFomT-wUKnMEjjAlLdQW25WWs31nQ07T5m4lWoGOjY54oPS8Otb_W91-tNrfLg-z38kzf3L1AAORDlGhq5NlH2LkXApmJFCVZo5ZdCeVfCPhmpAUhhPdpnthabh-Zf1OPmllOwqNWfLwIK9MMNXZ718ib3mV6J7T-6_DvEFnAQuwQAkz7mRqUJCm5VOVhkhEpAkNRJAZCS3qYbJDHPMzMY4Il1xy5PJlJ9ikaP4ozuHbDaqP9mCluO1F_THC4qRAgkZ_CCWg4cqiB_mFNPxZ8r2i37dfWWgTMA7sTVw35polR4X75ikXmsEtJk4app0JM49gFeL1TsKqTcy4o6orJX-kNDEaf_3liuAQBpj0mHcvflPs-nzS7YywBWVPLvIOUKdiGq5kapQm8thkNpsCotVqA7ZGkEqBt3lERovbjpC9oPyw2BaKyMbjsjk_oPVyax2ssZPSvcLcHNaVmAJKWhwhSo22TyEqvnxPtZqH8J9U4O7Awpwq-8uFi1m2MU52HG-9lUDw2UVX5QZKfbxgPpY4mwKaXtAIkTUZNxaWYv8m4LBwjfUAx5zZwb9NfFWOSkcb93_tjnMu4Cls2rx2iTWb35MxUsuNiicsA9-8dPbOTwRXPh9kdSQXt5JVPtBoyTF_ycjOaC6mRsS5w586iAwmueKOQ",
  "id": "rs_0a9c4605c8743cab016ab4212eb62887d0a3e990bc7d73fe5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.042,\"right_gripper\":0},\"note\":\"The pink bowl’s rim is now nearly centered between the jaws at low height. I’ll make a one-centimeter alignment correction while closing to test a side-wall grasp.\"}",
  "call_id": "call_Pj0tbbSApiHh5PEgRFdlmjLO",
  "id": "fc_0a9c4605c8743cab016ab4212f7f5887d0ba4d9f4a21dc94e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pj0tbbSApiHh5PEgRFdlmjLO",
  "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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1093, 1.4883, 0.6044, 0.0422, 0.0803, -0.0078, 0.0172]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.363 right_y=0.0292 right_z=0.0403 right_yaw=0.0364 right_pitch=-0.2649 right_roll=-0.0615 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -2.0171, 6.7487, 1.4725, -0.0171, -0.0611, -0.0122, 0.0889, -6.2427, 6.0103, 1.4725, 0.149, -0.0269, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f495d45196f96408ebc5c38af39c24231cb5a63602a8f48306434708622223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c316197620033f1d2d027b1d2a66d9d2f1c331e2d1fe1184ef8dc07e724f82f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e121f7108d79cdf3924aa4f9d21237a0be7c595c6379a0522751074c412d7975",
      "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 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9745, 0.8314, -0.6945, 0.0261, -0.0006, 0.9958, 0.2825, 1.4406, 0.5816, 0.0055, 0.215, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1718 left_yaw=-0.0262 left_pitch=-0.2649 left_roll=-0.0148 left_gripper=0.9958 right_x=0.3463 right_y=0.065 right_z=0.0447 right_yaw=0.016 right_pitch=-0.2547 right_roll=-0.0708 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.2906, 6.7487, 1.4579, -0.0659, -0.0611, -0.0171, -0.335, -4.9983, 6.2974, 1.7021, -0.105, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1268, 1.4906, 0.6052, 0.0231, 0.1043, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3593 right_y=0.0309 right_z=0.037 right_yaw=0.0179 right_pitch=-0.2829 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.3316, 6.7487, 1.4628, -0.0024, -0.0562, -0.0073, -0.2256, -6.6803, 5.7778, 1.6874, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1093, 1.4883, 0.6044, 0.0422, 0.0803, -0.0078, 0.0172]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.363 right_y=0.0292 right_z=0.0403 right_yaw=0.0364 right_pitch=-0.2649 right_roll=-0.0615 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -2.0171, 6.7487, 1.4725, -0.0171, -0.0611, -0.0122, 0.0889, -6.2427, 6.0103, 1.4725, 0.149, -0.0269, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f495d45196f96408ebc5c38af39c24231cb5a63602a8f48306434708622223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c316197620033f1d2d027b1d2a66d9d2f1c331e2d1fe1184ef8dc07e724f82f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e121f7108d79cdf3924aa4f9d21237a0be7c595c6379a0522751074c412d7975",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE2K3O3a7LdaZoQVXZ9fPai4FeMCJoNy4sFjZN1ZyATW_aHqn4-Lr7dUm-4OXLz5iYJ-uprWdRCBd3UmLEiMd-pUf-mOIg4oE9DLt_2uNd3zoURruDN_AWriRrver4Wsq9wyM_vYNcIzdNDrCXsMQsb3nQIioa3jL0bMEvd4U0ygRbwkGxcBpzYTnqzvRKVCuyOkSfd0i0vL2byJJ6YzXy4tScfNQLn3913QcDh6IFvjUBv2sC5qWmzjqxrefgHJfE6oe8lYJ1yopwe-3nJNQV4gyVJUembb2_insSA5EFKpvHoc9CbrjsEtxHW0PnTjZDQLF-RGZT_Lz1zur7GpUeggB7s7Uxq9wf29FBqnf9E6wr_mE9U96p4Oo4To7DwXdL7ILJ0FbG2dr670KN6f1liGxLgOLfWhA7OxX-WFmvXTHhBwmGny5KWeocvNb9qdLUqfUqjv3ZjYluT42ap6BWPLikv8V5FNsxyf1yxQjUvPCY3Xkc66-0JP2EjCKpdoxzgmATUR749J-sPpDb2KPae_1hOlOmF9VHZLtCftNrVVnxuzAqeflWGVPoH8TvJ29LiXdhUm85KtynEscVGa-YbiFdjeK3tS3dLd5X_nF94AX8zMoYzI2iT13wuXXlrrXWDRHalY1f6yAQRI-6wPtzdRU-Lgrekh0CKittVz6L8cPVznrXH4lszcN5wiidtwG1skD2UK95HpAkKHc5bW2XsOONe9zoV2gsnvY7ajTGci-0sIXzfereV9NVWj4dbkXA-MJNvNkULXXLNOXf_MpeKhUzqxZRWVmj6wmG1yOgVzGfCt24577Rr9X4ibNR2SxV8Y-AvyVllRFPEqnmDue_57Ll0CJMFBFui3Qn88UT3vanu7L80yOBkVwUAo1uGcMQ3-MMb0kLc7V-fWWOy7wpRoJRHWc-SU8Rmm0DgFji7jhg577P7EDKBDVM77VL3TfPu7bhJuJZULw8Itr1A_c1q32AldI1dOporgCcOWzZOpz4vhzC0OsCmLE2kTZQ3A0yFAGUvJyaR7gE54PzdHn0TEv1HDArm1zxcyN7sp3s3BcjL0tWhMel0lRodtuzZNrzU-C8EFJ6vaHchfj0ccd5EHb3SGkyaMUeF4uD5ExqdZzhiraobG3206zwltjqOHi26899v88ewtUXcv2WN-1O_XEX734we2zlKq-ZQBgAzXn-kbPkvlQC6lSXhjQ6q66CNgPNyXi9NtTSnr4oCoAGX1-CdEysYZG8aC8ivUjmK4k7330wthnOtff-oRsWtIoT4Hl2hOjxYumpeni0MlqWEPWc6nSx8vHvgA8pytv34936ZPeL9_um2JsFle19sRoJrZzlQhIIktB7TK9iVD8L6WRokYssOSZblZ5e-WeTS34JZ7CNukCNi7fIpXW3F7FWepcupiQtNp-FNhlOTOnXmq7ki4w88K_ch_ta0Ve_R9Ti4-P6kgSSt9-eceIULhdW2ohkeDE9ryePIxDAol-HF_oJ0VENaajlxNQVS1It1_1W2ZhZ5Qy2y1Emay5gOKRwB5awuWkjXEF2uAkMMxLcPCVNK9pigE_e-KNFuarxdYwlDrrUlFDYk4-y59HvwZl0MTMKYENqxj_k_G_pvkztzLQu_P9GaUr2Jn1kueAhCBx9o3e6-_tSYJ3xeOO3XBgedfXNUIYNmD4Ej1PEIyJD4EQq14AFXWALyrdpsLOlzEuyrHO-uELgUQXBjX3rDaV6vBX5uhPMNWh0pj0xS9pXW76wgDAag6qrAMgAOqMKQGPXZnLddSqyxbbrVMkqfg4oLi4akU6VYpsxJ2wPJhN1BBKB7rPswvXRgcXrygScWZxyi8w-wRygEDGTDnAkhDyzcly91gufn2HMzzyC2EnvmnTB-5uPfLUZ8mCxckYYvPmTmBUHY-uRsU56wOyx-hw_65TYtwFQMOsvTqahunCfR9lGi9Ve4lnlzUZ1DFsUjQ9iA_g1989AeJUlwpOddeeFnz3t5BM7d6NBiiVJqWwly7sfwZjS8W6Qph-aMgsnx5UEDmujE4PdD5-L1s5xmDNMx_OiFLhh1_-skwTxpxddUgZ8yz34nn9V-8bw-6N6EA102FwaEhlP3tyQ8fuy5F1Sc994gnyfxgcuM7wXi7ST3i5KSveorqjUf0gMZvT9bJr1QheNL2RyhtN20M2bD_TyDSr0MxNGhcHBvyI_AJ3MhwiYisefZosRypaTJeWmpD0F6oFbxNFF8cd7uVNGme3G3yQbN-IZLajJDMEvuU9Z8eR45BEyVKpsRJQpLtcCFQyO7ohcnt7K346Fvll3vQXSdqOA8sdJKvcZ4sToqoiNAkCqF5w1I0SR_3UrL6_WtVcX4GVujb3KsabLvf8r5fyEut-JUyEJqDnKhd6Vl9siyE2eJRO7ijUKGGqvQo1O2-nUE3MQaLqO5LGu4t4jtR2EnstPwDIK_1esbPYDMJP73qm3GkiZ21bZwQZQieqAR9y9LhfJMMMrvcXY8avGSu5BuUOZH9ngXGjPfJkfBuoxtvOSH4DvZuNVMDBgRUG_oRScrPAu1Hs3W2TXEwztFqatAxf4TB_8tSHx4OlN5s_klO29WvVkdCZPrQJ7nShgcUdaRDHpPWZCN1W6Y6aKclmtGGxOfmPvFd5g4Q9eqW_KIYtXkmjKhZUaZYXpuOFifAIHDgTApmKq9P56mt5Ebd3dHmciK07zwicdLuTKkDV62tVZQy9pzmCpAS3q79zp2h2OVeo2Uduq-jqF4QpqwgW395aOXglfgK6eUUUss3bzkmgCcYnKMCuin0wtoT0iSfx9jRwSxtW7DymGIBz5Uo5aify7Ha8NYc6HAZt6TSVwgqkgCE3JggVbFfW42XWsoJYClJEliBOIyboDjpokcpKIt2Lv8cCNGAVPfTksavFZrhXaFURfPsIiRymQYh4biMBZ0Ly4g4TDEi7E-dB9jt9-r9yUOpiTO_7XGC4uPtaT8r4qZwUYqbjEdu3h9w8KORro=",
  "id": "rs_0a9c4605c8743cab016ab42132e92c87d0a3f7f9ad80708786",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.325,\"right_z\":0.12},\"note\":\"The right gripper closed empty, and the pink bowl slid a little toward the bases rather than lifting. I’ll reopen and move back over its new position so the fingers meet the wall at the correct forward distance.\"}",
  "call_id": "call_gYVjGnoJLUcmjDto0xn1dIy2",
  "id": "fc_0a9c4605c8743cab016ab42135d85c87d0936ed30c456e6392",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gYVjGnoJLUcmjDto0xn1dIy2",
  "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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.1242, 1.1843, 0.6792, -0.363, 0.0738, -0.0021, 0.9952]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3218 right_y=0.0307 right_z=0.1027 right_yaw=0.0532 right_pitch=-0.2913 right_roll=-0.0545 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -2.0308, 6.9265, 1.4725, -0.0317, -0.0415, -0.0171, 0.4444, -4.4513, 9.5932, 1.5946, 0.2125, 0.0659, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f14aafd11fc78bb2d6146e104599e53cab522d260efbfd1ede5a2271ceea8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9388be8e702a3b755964da43eed75d7fc24181d90749799fe8d7dc938cfe9a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a02b104486914cf7fe2dbf32f18149c38bc9dffe8d93bef136c9d47210d299",
      "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 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9741, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.2207, 1.4734, 0.6025, 0.0364, 0.1543, 0.0761, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1718 left_yaw=-0.0265 left_pitch=-0.2649 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3588 right_y=0.0563 right_z=0.0449 right_yaw=0.0371 right_pitch=-0.248 right_roll=-0.0584 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.4579, -0.0415, -0.0659, -0.0122, -0.4991, -4.9846, 8.6769, 1.5751, 0.0952, 0.0562, -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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1093, 1.4883, 0.6044, 0.0422, 0.0803, -0.0078, 0.0172]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.363 right_y=0.0292 right_z=0.0403 right_yaw=0.0364 right_pitch=-0.2649 right_roll=-0.0615 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -2.0171, 6.7487, 1.4725, -0.0171, -0.0611, -0.0122, 0.0889, -6.2427, 6.0103, 1.4725, 0.149, -0.0269, 0.7155]",
      "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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.1242, 1.1843, 0.6792, -0.363, 0.0738, -0.0021, 0.9952]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3218 right_y=0.0307 right_z=0.1027 right_yaw=0.0532 right_pitch=-0.2913 right_roll=-0.0545 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -2.0308, 6.9265, 1.4725, -0.0317, -0.0415, -0.0171, 0.4444, -4.4513, 9.5932, 1.5946, 0.2125, 0.0659, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f14aafd11fc78bb2d6146e104599e53cab522d260efbfd1ede5a2271ceea8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9388be8e702a3b755964da43eed75d7fc24181d90749799fe8d7dc938cfe9a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a02b104486914cf7fe2dbf32f18149c38bc9dffe8d93bef136c9d47210d299",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE6btSQ3iTRKVKQA2AyPiHZiQu3V1nKDu0DSGWJf7JMk3QnT5ZLX9vYZ05x6KACdlWJGpaHNagnfzkmI9G8svS-t2Jvbyc8o_CvbxXRI6Ba_kGe8xpm2Y2pDlWTo_lRyiznOd2j6peweamgoPazrpYLnvF3xmP6kHDt28UgCjt1M3eImQ7kkQXZeJ1a_y-7xQLUd4R-6IrYW5ljjqS4qWOkb1fKl4nPe375dyKL1MlsulofFw5V3J_UI6tCMr9QKx4H3uORBLOGTNZrkrPo__LbZ_ci7Jp66jr0BXo6PU5W5NIO6UdTwZkuLEkiTGeuFYGMrdlp3qaXJjWn8ZmP9lIZdnG8TWGuNdijAm-RUgK8SAR_qaBAAPiEqaRBgtI6jRzOnxNhehAWnUPNg3F_NoPuiIAKYkcPsTNAI4jjegu4q_5TmQCG4k5mLyy4vdn7ACeXrDGU_8IYLMUnNFV2zJH9isA13z70EX37X78pGswgp_I392crJbKzLKHU18M1Y-_DhCbrzS30DMq69dH0tVqapoPHuWwwJFivjKrVayfFRZSARlthNxSxi0i1oJSLbQoBOQEt_vweOkGJSYq_EYfzPSHv_mXJjYDgn2LaEvHuTw-3gZMMaz6j2xxUvwK5YYv-jiD7PqudFzSmxDSIQ6Rqo4_ci35jEIjdJbmXl5E595UrbWBnk3iqSQV8nyKf1sSVAj3igj379XRbi9sDTrzsQkiwcqTkZFVe94Wl-_wG5s3O-d8LicB5h1JB-gYIUrinTEb19ynnWIUVE3hM7fxXaDkb9Wt2K7nt7nLMqWHFTIizXEzrxpGJUcTM4X9MV0n3-IUyUac1tAhXRvD3F9IbI-U8ROII1MPNW5v_RWFSspmTdvttwdZ73P2M_X65V5726T-icyiE41s1ajgdpHbzwLb8KeACY9xxHbdSug1dEeKz8lsYwKXOnf05lEp3m1xcbGvmkQmOb_pil2YErNbO8WwiPvghTttRXfnGSvm0ii-v-gSDgAjOKKkZNnyYkn8sdgd7dLRvFlY8I69spjya5vpFwZdCnzdSjIA4OZZpZ1b11BjTi3Yx9fE0aAHRwr5-ZAORR9jvJVkVAD_AXGdVwUlNvv-35vt9mnLcSnC1y3WpjEj1L8ULqtsIdprJ2MCaOiOMjYmn5BLSiN_UrxBmLMO3p8ejbJbPLYQuEYawc564igFuw6zgDruNGNek6eM1Efz0dUGmvcIi8drzpRJFM5Rwt4DqP8SQlcfaRSgZ8CGWSkGHH56xmLH065YvklDOegwVeeEWGbvtf8aSis5erojuF3xlrgBBIO9ntBQqZbDeaKPmAyG-A9UP8fZatmv7Y9M1FljPZ_PsXwrVxo4kqNv8URjwD2zUA0TOsi2b_GgkLYew_BRh7A2K268kd_6IQxX7Z2pqS6jn1_gBc1NtegKAG09Ipw8DuFZFHBXTWEvjEP5T-h_2HVBhO-48RNbhE6E3MZ8AA3ul6DO4Z_Gx0Q==",
  "id": "rs_0a9c4605c8743cab016ab42139323c87d0890ddb51e0aca207",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"After moving back, the pink bowl’s right rim sits nearly on the jaw center in the wrist view. I’ll lower straight down at that horizontal position, avoiding another sideways push.\"}",
  "call_id": "call_Luni5uKzOKgzTnvq1PSN9hAX",
  "id": "fc_0a9c4605c8743cab016ab4213a147087d0b20927f3b816d866",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Luni5uKzOKgzTnvq1PSN9hAX",
  "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]: [0.0101, 0.9752, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1242, 1.3251, 0.4858, -0.1173, 0.0689, -0.0013, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1714 left_yaw=-0.0265 left_pitch=-0.2664 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3048 right_y=0.0294 right_z=0.0247 right_yaw=0.055 right_pitch=-0.3798 right_roll=-0.0564 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -2.1402, 6.9265, 1.4872, -0.0122, -0.0513, -0.0073, -0.0205, -4.3419, 6.147, 1.6435, 0.0415, -0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2337c6b72478c68bafc6a250b6bcd6543feb600fc3cbd39ac1e7061a0e10142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2ca3d7896379516fe21346eea16067557ff561e5f0e3b509b4b483b035dff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94498437dc3d371079293be763ff9863da0eb81622782cddbc4aff60da9e7416",
      "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 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1268, 1.4906, 0.6052, 0.0231, 0.1043, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3593 right_y=0.0309 right_z=0.037 right_yaw=0.0179 right_pitch=-0.2829 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.3316, 6.7487, 1.4628, -0.0024, -0.0562, -0.0073, -0.2256, -6.6803, 5.7778, 1.6874, -0.0415, -0.0171, -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]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.1242, 1.1843, 0.6792, -0.363, 0.0738, -0.0021, 0.9952]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3218 right_y=0.0307 right_z=0.1027 right_yaw=0.0532 right_pitch=-0.2913 right_roll=-0.0545 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -2.0308, 6.9265, 1.4725, -0.0317, -0.0415, -0.0171, 0.4444, -4.4513, 9.5932, 1.5946, 0.2125, 0.0659, -0.0952]\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]: [0.0101, 0.9752, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1242, 1.3251, 0.4858, -0.1173, 0.0689, -0.0013, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1714 left_yaw=-0.0265 left_pitch=-0.2664 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3048 right_y=0.0294 right_z=0.0247 right_yaw=0.055 right_pitch=-0.3798 right_roll=-0.0564 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -2.1402, 6.9265, 1.4872, -0.0122, -0.0513, -0.0073, -0.0205, -4.3419, 6.147, 1.6435, 0.0415, -0.0317, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2337c6b72478c68bafc6a250b6bcd6543feb600fc3cbd39ac1e7061a0e10142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2ca3d7896379516fe21346eea16067557ff561e5f0e3b509b4b483b035dff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94498437dc3d371079293be763ff9863da0eb81622782cddbc4aff60da9e7416",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCE-QdN1oayud_upI8E4Uob43iZnyy_wx2YbZFvhaSFvgMDrw77HWhDJnMV_wFMFEM3BR84TCuxbImo_D0F56B0q0_GdoeKOd6tUoKNYWSA9DO1Kk5AiDZg86DiV9ZX2EYA7iVGbc5vYbZ02MSV5MZNUF7UqdBeLDlkVSNKd68wIyN8J-PdGEgW7_qpI8WX0Qg9dnd7CpJg3V1trAKQjJbXELP4e__URQP6l_g-xFE7cZwsg53OtNoKtsDc-UMZBduLMq_Fni91pvS9Dy7QsgQ7b0nrX8TooUC_Me-0JL0kblNee4fV-lWHvhD3dtHO3wtxQTDcQS2j0gdS3Gdf36oPSHk_DQdkV5RahnVbWwBJ3AYMTc46cDvOUv_kFbEBhovJDQkbL7LLWAiHMWtz9-kiJoVWO7mQ7PZRj-ad2gx7pKrsKD82cNYZG4QXio0a6_n1YQnFbtYRHuhB4OPz2w6yHF9Y1WkFXzUL7430b1225-0O_aaiEEKL2ty973RI7iGT7q_7NWq62th_nIqWeIL87S4KaBsMT-_ModgXqX1htJq4oDmwGB4cbDxojdjLBhncWF3yj0d3S3oUVczTRPtwi-jVUTFyExpsJ4SodM5RxqC3XtjlvkLlGxf11BMOihH5G4UvZd_vI_kCsVNFPoncmdtk8fh92YaYMcn_ByCLGkY06hpswJaO2i7x-m_KqmTcxlRl7jYnUmu-l6edLf0U6wyQFW49JqDxMND-tYx5Z2mmb9aWHZ_yYrGGBz8bvL5aYDEwJp9VIHSFkj8huGTjVuYrB9ndwEK0eYLjHQbtGh4_C8o_aMfvD2Ko0Kf5CHv63AkbmTrZOJT2nlq6wBIRnwirASMq8pJZEcoB7DybNIvwSU1AnKw8j2rYgzv_M_UkdKgKTsECDTRnlwF7-jJqGdudDc0Fn6hcH4pTHT_VPmZYtlNfUXGBvg1SSuGuqF_PU99fvx0W9hk-syqTiWUFR5vSNYdEYoM_UJlghexiY-ufw_QvcHlJMYYw6k5RbsQzWeAzwujeBJpYWgFCc4yzyAS6CDQxCuXjwR4DRqiwHgzP2YqLZedNjCeVPII-NvQ5JxoPFh9qbySpp8lbCldQvONzSVqmmbqiR2eLTXY20PVVCw5Vo2IJDKa3jfG43Ty-gdZnZNYvYx-zSoIOJuEOLdCmfOCIb7W-J_K_dM29qWEw3Wy7jKk5b1RR_oM7VkKs9zAuwhE47Pi90dZjmsHbNsFHj_6YZwBsB8jsRcLeDy08lNhMmUX1CkNcaq5tUiwuf3S-_ug-XDDdCVknBMPxxz_aAFla9Lia9vKUJ9xzSvyNu2t8jgcGeARuqNXq5Y9CPR4s1eOM0QHnyZz5d-NCt9jQt_rD-U-m9QwKJx0u2swYQ-xDvjFvBVgYlcnEEguyl_dLj4pVn86b1LKwse3RaEfPqM6OIKh3Udm6222PLvF_PByb1lw4NDHWPmQB1nNqHm_6RkrH1cw2_3p2AmrCwiA==",
  "id": "rs_0a9c4605c8743cab016ab4213d365c87d08aeda7a978ff0cfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At grasp height, the pink bowl’s wall runs along the jaw midpoint and the hand is just outside its rim in the overhead view. I’ll close and check whether the jaws stop on the bowl rather than meet empty.\"}",
  "call_id": "call_wzB4FhZygX5DkwMVJpxQLwXO",
  "id": "fc_0a9c4605c8743cab016ab4213dd47487d0bcd63644d29e3ac9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzB4FhZygX5DkwMVJpxQLwXO",
  "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]: [0.0101, 0.9764, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1246, 1.3167, 0.4828, -0.1009, 0.0364, 0.0082, 0.0376]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1711 left_yaw=-0.0266 left_pitch=-0.2675 left_roll=-0.0152 left_gripper=0.9958 right_x=0.3072 right_y=0.0356 right_z=0.0281 right_yaw=0.0794 right_pitch=-0.3594 right_roll=-0.0209 right_gripper=0.0376\nstate[joint_eff]: [0.0615, -2.3726, 6.7487, 1.4579, -0.0415, -0.0757, -0.0171, -0.1299, -2.5231, 5.7915, 0.779, 0.4127, -0.1001, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b7f9765e313c9a3ff5649dba22bca71f1ccc86877566368114dd1dcf3eb14e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0466d2174af695cc1530060ca4bf067124b85a25a68f2dfaf3b36bb58bc4c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41b353b3dd1c6797221118cbf6defa8eb03446713458ec94c83fba398210d3f",
      "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 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9958, 0.1093, 1.4883, 0.6044, 0.0422, 0.0803, -0.0078, 0.0172]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9958 right_x=0.363 right_y=0.0292 right_z=0.0403 right_yaw=0.0364 right_pitch=-0.2649 right_roll=-0.0615 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -2.0171, 6.7487, 1.4725, -0.0171, -0.0611, -0.0122, 0.0889, -6.2427, 6.0103, 1.4725, 0.149, -0.0269, 0.7155]",
      "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]: [0.0101, 0.9752, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1242, 1.3251, 0.4858, -0.1173, 0.0689, -0.0013, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1714 left_yaw=-0.0265 left_pitch=-0.2664 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3048 right_y=0.0294 right_z=0.0247 right_yaw=0.055 right_pitch=-0.3798 right_roll=-0.0564 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -2.1402, 6.9265, 1.4872, -0.0122, -0.0513, -0.0073, -0.0205, -4.3419, 6.147, 1.6435, 0.0415, -0.0317, 0.0366]",
      "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]: [0.0101, 0.9764, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1246, 1.3167, 0.4828, -0.1009, 0.0364, 0.0082, 0.0376]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1711 left_yaw=-0.0266 left_pitch=-0.2675 left_roll=-0.0152 left_gripper=0.9958 right_x=0.3072 right_y=0.0356 right_z=0.0281 right_yaw=0.0794 right_pitch=-0.3594 right_roll=-0.0209 right_gripper=0.0376\nstate[joint_eff]: [0.0615, -2.3726, 6.7487, 1.4579, -0.0415, -0.0757, -0.0171, -0.1299, -2.5231, 5.7915, 0.779, 0.4127, -0.1001, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b7f9765e313c9a3ff5649dba22bca71f1ccc86877566368114dd1dcf3eb14e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0466d2174af695cc1530060ca4bf067124b85a25a68f2dfaf3b36bb58bc4c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41b353b3dd1c6797221118cbf6defa8eb03446713458ec94c83fba398210d3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_0a9c4605c8743cab016ab42140d4d487d0b2c274507db8b7d5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFKd3gk9R1Ove4jVdLGyMcssHg119fBmZajb7TlZ2NsQza6_HrehZo37cjSSd43os4iFogNnG8YcjVuqHCP0rWvMaT8fEEbMASBeW0ACMsSiMFlzPTzaNyfzwYE2uMDea_1w0ZDTtDoYPljQNmvoqAc6bSFbY0cvaW64_bTFib-fOM57HiOM4rDFEYbGROjSYpofE7k04nsPySSH81V13M3O8dzPs02zriqdTSxBcNpNB8Vg8BxvNtDN-893fJ3oqMOTgDWmqICwQOLOrJcdE2rEwa1576JGy_qDTw4yOMQlveF6xUNdI8LnRo7wFeDjpvNHXwnft6Leoc9VSL06V2v_xGsle_ZoDBplpO5_mmQ_dHy8eS4d4tAUxMKiNi7YhrWgEJk-NoKtN8_vSWT8EBLOOkUM21nzYVIK7KJbBPBb8O8wssflxyB8hRsuV0g3LmFN7M_zRFmfx146QYKIoaWBVHTdQvMoYnDeFI2ZNEQQpi--mKwi3W0ZV-Z5qZ-r3AU8l40F0IAvHXzAXpoTWQ_iHTnEyCNCcDQlXybVzw1GGedgSPSg9V4QxK1zVEXYuOjpE4ipFcquIPacCNSclfpZH2p2vgx9w0Ouc9map8-pwOjTiPB_mqai2N8jWKip3UZKp41A0nKdmtxDQXSS1zZGGX2teOIuIYaMjGP6DEtgXRlxMTlWcOQQe8j0faRBnH2HIzz33Kv-3WpOdOyDD10ngGPfF2ZKKettfs8gmibTVK9qM-MioDVqsOMP6WKfa2COpakgLKtXkSeh3wy7fpNRGQ6rzJV4uOWJU700XWWRF3Br-GCBCIpe7TbyAQK-TzhwcrMYLSBslO-fMRKe_W0PSXyPXgJSuim9ySovSKAMMoevrUEXzo7xMlf9rs08YS92NomK0iSUKarnYLWNy-9KZWinAXl-gGBtj5mY28HpaAGNnd0qYKLShrbowDhnpNemLUzourAY4mgRy0PjJ44XRVpDse5HfRT1qJVyefGPYy5MwTegWsp8A3WiFpj9XSTEDGb6GdbvVB8iGQow0e0u-ZMhhIznkSEYMZn4N_Izw_Zvba5c5TGl3XIRLEK7TQtjPnM0vDaaYIwYqh3b8MKKrTBCR1qzARFDldJAlFKrJt7pZWxY3VAEo7DJ54jvOngft1uEO1tBdLMy8GXyD_i8-3-Yw-FsMLNobhh8qpK12RDLIAOzLVCXL9_2W81kQRqzczQCW_A6reBzBCA2KUq13QhaHJgvJoArVYFsHVWesXXm7TfU5uDrXLwCbJiCnM7PyTG3FyJ_yQ7Yl1dI27CMBs0qJnKSmoOdonWE4hQ3pIc2eXN-ZbSWLgzF74sSQCQdxhCOm9IVE325wg64biEZwKsDQVJGGEhYW5S2Gd_N-t0Eg8FQZo2xJsJvu6ZqNrEJjt8HkUioQTVqP_9A-417mknyWWlTZIPHPq5cTOafOrkh-DOYiuMX-8C-Xq1deGDopyphM7vCfMhMtT74BDZdxj_nb-F4OZ8h_ewKLLuXu5RPMkeZ2NuPEQWJmUUV5ZUFg-L1hyaa9wUE-lOjcfWSzacTGquITTk6aifwR5YKJUbVfT05a_qLtefPqvx8bE2t4S1x49ClQLyR912MmbFJBiYl7FtKMiSDyMYN3xsB7zxspo_gVud0yVju_QMioFs2gJ8mIN30Ix4BMAkmmolukEhSVxAdSSbN7RxOFRZQ7DXbHh2PoKnVMej84etCKFWHUOLgcnTh0cmFZsO1B3-VI3iDrSOevsvEZKcpv-ALngOsiEhvYYVPXQhutBu_LokJp_3FGY_dbQ4C6blPjKU2LYRv4uWPYXWOhqkA1cKhEuFua-_kgCLOk3zSyXX_87zvnX_smWCvQHiBR-kM0YhwAAOyDEFLq8PUzvgT_-Ga5omnnjhgARdK_vVSf-nKiDlfaGPA7t8flYmFEU3bfEgKK45-TTn3noCnzdZ9y4zbcuOKkI1xnQJuJ_T6DWmAIb-s9rIyUpNSUt6lmpagTU9SN8n5MhAdUb1WNegm2dmrYAVIZwdEYaLqfMuqAOoS17JRvQ4Io8pkX7lhP58v1DREEWjskHk6PefDT4sUgl1qfYbO0lqdlxS1QnzoD7sULW3ndRf4_T0gu4AIjbKzyp866xHyjVtxAMDgqhBmbq30hKO5H6PRh_8pxyJywVE3TJ4KUdPt2W4ex3qNyuPJaZ-x5xlLLJMCvXwcKrCfjHcFKoBSoUmn1XN2lKIxp_Lfa4Htm8PxKptM9kQE3VXcWviWe6QpdbFyimLGpHQ0G3o-CYkEc1pH3YoYpSxG20ySP8p0ANZRRsasflb5TCHeS15mbV6VeRCt39k8JOD8JzkggKFoi8cJgJV65geFvof4WttmUP4LEUZkUtmhi8ZP6sFtS02RcIv7bngeGy-Q1Mz4QYEEjsKdz3L8pzBfkalZ2alM6T-WTsmobQQa8w5TIMbbmlu6Y8TjjHRza42OVvDKd367HmsdXlsqoDtu_5yTKxErDTSoN0hgNuZsqnCiJKnzJ2tWViDipZCefBSlm2vIEvl9N4KMAFDeQ1WQ_F_BVPXUq4WoCNpsPXYm1Y0xFx6O9PbAtP-lSoSIn4qIEtF8WPygjGy7uqaHAlK7UJvri7PnST6-QE2USg6etONpTEW_G5y9-BUaV29CvYFyk-p3s3jcuN9OjmXtBRpc8g9jNBP184vnGXss20CX2w5hNvKYseGWqp3fIZT3Hw7yKfhrwU1Ik6Nq0f4XohQaC-OoFvbdTyWFiz5x1Xw3Ns6VZl9Kx4i4ckSBjoVKVnyFh0LjH38xRvQ4rxZYsOKdNStcPV6d_DXRPLsjigOUU3-v5yFct7_d7c9DLbKk-iQx2JtWRsdIkrISxVpGGvYkVb6AaDsyqWKoFi3YPmKK0__BUjQ38-pz5LYIXXnK-JLRSTH9QfvIweR__I4F3gFeYioiihMkn3R6gOOhC-SLUirNnqNdBxTGrUwan-ezGQnbAlJBQHq3decGSvKr1Csf6VG5UTjQ7y1ZtkA61qqNYAYusnevFdQOi6E2esinOQjQsNZpe_WQhmCl8t7-GvNp94zNfgowoole-mmWIqUkEbOfRD4js08CTl1YTYU2zA9pRYkXaeF2H0pH5PByEhCHOSR2s9bU0OWoXoksSbF_Dam-AHp4AJqLTAz6ABTx9vf98NZ86GdFRKQh2bgn9P_HY4RoBlP1z1Gesjfec1Di3FPfxlPJ8PV2MsFVJ_jZP58kGON2cjC1Aua67huu4UNOCGvkFdW",
  "id": "rs_0a9c4605c8743cab016ab421456e4087d083aff80ff2708ee8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.265,\"right_z\":0.105},\"note\":\"The second close was also empty and pushed the pink bowl farther toward the bases. I’ll reopen and reposition the right hand behind its new rim location, rather than repeating the same side approach.\"}",
  "call_id": "call_gzL14lw5L3syUIuRWNL0DC1n",
  "id": "fc_0a9c4605c8743cab016ab42149421087d0ba0cf4b133f4c713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gzL14lw5L3syUIuRWNL0DC1n",
  "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]: [0.0101, 0.981, 0.8314, -0.701, 0.0265, -0.0006, 0.9958, 0.152, 0.9829, 0.5846, -0.5438, 0.0444, 0.0242, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.169 left_yaw=-0.0267 left_pitch=-0.2778 left_roll=-0.0156 left_gripper=0.9958 right_x=0.2653 right_y=0.0363 right_z=0.0927 right_yaw=0.0902 right_pitch=-0.3662 right_roll=-0.0181 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -2.6598, 6.7214, 1.5556, -0.0366, -0.0366, -0.0171, 0.3214, -2.359, 9.6752, 1.409, 0.1245, 0.0073, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28760ede4a4058bc9accedcbc8a7a856a2ba43fc434b2221fb828b39d65a6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908b9a46b59e6d1deeb42f667a15cc53b7cef2def0d8c32fa17457ee50300cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011a7c1642cafe0c97e1040141f570077808bcbd4e2f82e8767972bd18534cb2",
      "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 99 changed as sent

message 107 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6949, 0.0265, -0.0006, 0.9957, 0.1242, 1.1843, 0.6792, -0.363, 0.0738, -0.0021, 0.9952]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1715 left_yaw=-0.0265 left_pitch=-0.266 left_roll=-0.0151 left_gripper=0.9957 right_x=0.3218 right_y=0.0307 right_z=0.1027 right_yaw=0.0532 right_pitch=-0.2913 right_roll=-0.0545 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -2.0308, 6.9265, 1.4725, -0.0317, -0.0415, -0.0171, 0.4444, -4.4513, 9.5932, 1.5946, 0.2125, 0.0659, -0.0952]\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]: [0.0101, 0.9764, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1246, 1.3167, 0.4828, -0.1009, 0.0364, 0.0082, 0.0376]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1711 left_yaw=-0.0266 left_pitch=-0.2675 left_roll=-0.0152 left_gripper=0.9958 right_x=0.3072 right_y=0.0356 right_z=0.0281 right_yaw=0.0794 right_pitch=-0.3594 right_roll=-0.0209 right_gripper=0.0376\nstate[joint_eff]: [0.0615, -2.3726, 6.7487, 1.4579, -0.0415, -0.0757, -0.0171, -0.1299, -2.5231, 5.7915, 0.779, 0.4127, -0.1001, 0.7741]\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]: [0.0101, 0.981, 0.8314, -0.701, 0.0265, -0.0006, 0.9958, 0.152, 0.9829, 0.5846, -0.5438, 0.0444, 0.0242, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.169 left_yaw=-0.0267 left_pitch=-0.2778 left_roll=-0.0156 left_gripper=0.9958 right_x=0.2653 right_y=0.0363 right_z=0.0927 right_yaw=0.0902 right_pitch=-0.3662 right_roll=-0.0181 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -2.6598, 6.7214, 1.5556, -0.0366, -0.0366, -0.0171, 0.3214, -2.359, 9.6752, 1.409, 0.1245, 0.0073, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28760ede4a4058bc9accedcbc8a7a856a2ba43fc434b2221fb828b39d65a6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908b9a46b59e6d1deeb42f667a15cc53b7cef2def0d8c32fa17457ee50300cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011a7c1642cafe0c97e1040141f570077808bcbd4e2f82e8767972bd18534cb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFRqJ2yHmdZsMhbTK5xDrJxFjpQnudUOB0VygSBfIdeQNP3pPy5qL3MIaxZWb9VEh3EsPWolKzaSRnkDQMNASbB_vcVh13krGLz65F2JWnEjUg9eP5Riy881Mme8JoKnYkt5PYssteERG8gKtCFABD1TBIoWoM1sU1mQ_PiCRpT_Wd7MEFHiclX_60uq5rMpYnedFVM1zE5v905oaRJnN_I3Fn85R3LkTVlqQ8Yu1mcjOGs44R0_p8gMuyXDUZxPyjUlA99Fj3PJdehlCj1NZbjfGCBbQKUFV2vqTEuRtw2GMdasmGwhY8XUAE0SsGEXde1iY-hk3B4LiaZK-BnnBwn5YCF1SRfM1HP7jbA5rTrqPM12dpNoP5SD8n05cXh2NT2TuUqGXQG3sa6QGJ1XqmwuWTkQ4TgLvH36zuDfj82FMuxylQoLChU6RQ34PXLmTDa7m7qAlJuwZklLmJ9-RlkHP5f1za5z-JJbEi5TJauAoocuI6etHwczIfsVwTRQ75CrL3exH03wnASSAxIrCab79eG-ru7VNRZgbxiJ-cjMLHNEoTK19qxXbeV9tqnp6SKi8LYwdebsHz_B0Yt_eBMfL8O40Bp9QK3TU3oNzoq6VE9u_91crwGkm8RcPZb2Viz2_82WuEu50iDKy4KBtEIL6uC8-4XW-S82pm1-__PwIDQp5OQwo5jt_oMKSRykaKCrVvuYc6zqu22624o993cI8TJ0DiFUbZtjkXHe0cINrktaTndkD17_gaZX-xSQDaY-MrbI2qH5qfMbycqpkUttVdc0y35s3NtrnrwOs3pBL8lFke9sdsrWGipXVYkaoW2vV6eB97o5uOCOzTv33oR0SZV0nzesK9xXQyVvAJan-96juucLHUrynHGjukEnr28KWKxLWw1ti0_5DP3c8QL59JH65hUN75LQmMqmyjxWmYl4Xg_ogzR0X3a-Q6EMpWFH-aoGHhMan9rz8oGrvuwwcvNvjzwF-4d70QbGYFGSNLMjloxcgA-L7J5PtUt682-yIvwnEXzxlJDxalXaeC26ApXZs3rxyUMONZ6zb5XPaoIYAIU7TR_J1ponMVpx0oy6nLQPH5MrSqGURMUE30LhIjhIjd1y6yGEsDbMBqx_vXb2IdxOM2Iji4puIs6hk9mW1cnb7sXkyjOn73mRV7htZYIJ_NWs9tGWjYojJ2F0uN1xhn9UqTZqODW3BGOiHhNKEKiUyoAGJfu0Wj4nrlAinokVrp68Pa1tsMT0YaBlgXx11v3bsoHj34isEpZe-BxeSH5p1gVMoeygzY7FjtSVuVHanKZO7lYnKS-AWBGvGU3yF7WK5r7RSW7ZvOpvOZNRbbQdpwBGFlHD0SmTUKF--RAQoxDLwlrurGshQqylcLhJSvY6Ojib9yg1Ifzf9eRZCN4VcDhD07-FiYVZsI99wixOSTb5rIctyv9kxdQ5Mltda26J1z9N8vme4HW9Szt5egFxwTInS5BOcghrynk02DHjIzTBxZj2X51KOfvRCwGVILhmkz1TdzsGzA2hougmhFJCHVvIvReT3D7JZKCuG_ofBiVmfygJJjU7UUatE4sxYQa8BSjtVWnVMfbrgR3GaGEOUKxR_aqGYXWqiaHkwyZm3gVRkI_9zF9tP5iOXAY1qTF35aZGTRhqjHMTrko5QeqCZK4z-_dTdN6sRaxFzA0Rhkk53OYryXY79b29-vvqZ6D8WaNzIc3088L6gO_seefaDp7FbyJQ26yZz8AyjjB-WT8VoFy99eGhoDbR75pdDceioK856AO8HkaIx-_E2g2647VF770TVIc2If4e34ZR_AyRTOdoFXmBUaDwOh1TzhOK1pkTciEinnU-O76y9vLXJx_hIq10GvoiPBXptg-aooarCoMKZUSyPMAGC4f8pTw4spKALg6GgWlydzuwfpEG1-iyzky5PPCe14VJvIirw0NSg9Uti2A2Ep0mhBdX5V_Du1zAMFp5rtJKVMw3kScKFUijoVQ0yBxXX2ij7tkMHBwugXIyqDVfYLUD1vMWB6_vyf_107acUwT-moZ7EmtLi_QapqrUVUoVj55Oa2jBuMLn-qWoYjDiw-CyKm9BP13CrEuXDi_vNdh0hte6GRswVnHmscy75_zW4LxtOWSRKdmYX3ipObt9ejbvNZuX6dsvYEIK-Nsv9OFjkKx_rsG0jkgR3DdQuOsdaSXHlrfehxveJMAqHbRSOltZbUjfgPZJBJtScq96MttMO3rpaUGTpPy90I5UDjA-47yV27B-dc6nippl5rdYwZbQbw=",
  "id": "rs_0a9c4605c8743cab016ab4214e8b6887d0811afb62cd63ec9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The pink bowl is fully visible ahead of the right fingers now, with its right-hand edge on the jaw column. I’ll descend in place to meet the rim from behind, without the forward nudge that displaced it before.\"}",
  "call_id": "call_hWKm8qjpu8AxKXPdcSbzydsX",
  "id": "fc_0a9c4605c8743cab016ab42150dee487d0873887e9a95b7928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hWKm8qjpu8AxKXPdcSbzydsX",
  "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]: [0.0101, 0.9836, 0.8314, -0.7017, 0.0265, -0.0002, 0.9958, 0.1543, 1.0538, 0.4252, -0.4011, 0.0429, 0.0254, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.1681 left_yaw=-0.0269 left_pitch=-0.2813 left_roll=-0.0154 left_gripper=0.9958 right_x=0.2476 right_y=0.0345 right_z=0.0347 right_yaw=0.0908 right_pitch=-0.4538 right_roll=-0.022 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -2.5504, 6.8718, 1.4872, -0.0415, -0.022, -0.0122, -0.294, -2.5231, 7.0359, 1.6581, 0.0171, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952f538b4dd5df70209b3cb7661fe836d8030cc7ed47bb8db0b3c59028d40982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556632ba8403f4b75d574d82827d0ff6cdeab637971f5dae2a8e2e3a6164824f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3138ff3df5c2e9ef0479dae554c74b59459d97592f4e43fde90c69c849a828",
      "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 103 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9752, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1242, 1.3251, 0.4858, -0.1173, 0.0689, -0.0013, 0.9956]\nstate[eef_state]: left_x=0.2878 left_y=0.0018 left_z=0.1714 left_yaw=-0.0265 left_pitch=-0.2664 left_roll=-0.0151 left_gripper=0.9958 right_x=0.3048 right_y=0.0294 right_z=0.0247 right_yaw=0.055 right_pitch=-0.3798 right_roll=-0.0564 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -2.1402, 6.9265, 1.4872, -0.0122, -0.0513, -0.0073, -0.0205, -4.3419, 6.147, 1.6435, 0.0415, -0.0317, 0.0366]",
      "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]: [0.0101, 0.981, 0.8314, -0.701, 0.0265, -0.0006, 0.9958, 0.152, 0.9829, 0.5846, -0.5438, 0.0444, 0.0242, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.169 left_yaw=-0.0267 left_pitch=-0.2778 left_roll=-0.0156 left_gripper=0.9958 right_x=0.2653 right_y=0.0363 right_z=0.0927 right_yaw=0.0902 right_pitch=-0.3662 right_roll=-0.0181 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -2.6598, 6.7214, 1.5556, -0.0366, -0.0366, -0.0171, 0.3214, -2.359, 9.6752, 1.409, 0.1245, 0.0073, -0.1832]\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]: [0.0101, 0.9836, 0.8314, -0.7017, 0.0265, -0.0002, 0.9958, 0.1543, 1.0538, 0.4252, -0.4011, 0.0429, 0.0254, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.1681 left_yaw=-0.0269 left_pitch=-0.2813 left_roll=-0.0154 left_gripper=0.9958 right_x=0.2476 right_y=0.0345 right_z=0.0347 right_yaw=0.0908 right_pitch=-0.4538 right_roll=-0.022 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -2.5504, 6.8718, 1.4872, -0.0415, -0.022, -0.0122, -0.294, -2.5231, 7.0359, 1.6581, 0.0171, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952f538b4dd5df70209b3cb7661fe836d8030cc7ed47bb8db0b3c59028d40982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556632ba8403f4b75d574d82827d0ff6cdeab637971f5dae2a8e2e3a6164824f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3138ff3df5c2e9ef0479dae554c74b59459d97592f4e43fde90c69c849a828",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFUXzlxVixWTVsa6bJAYHoQFJC0AhLLLspR9wGc1bjDOXdEniRF_D00OoMhK6rknAUYyhrQtgrrk5JfNfE8ZjvmEhbx36FiqiQcsot4FDYRGZpkKTJYryn_obhpY1TYPaevvZMZ4M_J0rgT1zWbTd6EMmVhNoLysFsQxLYHoKEvqQsKx63PbCIT9v__hFQhhD-wC8yOyimEvz0SEbSMnQPs9KoagHJpLGzuYcWCfPaAFBTetqTBf8yDDbt41nMIVqrKuHnCNVjn3WQ6lU-ZMqM6tWNakk-P4yedQmijX6ScxtMwczSEL0TA0NymCk8GWpYBlo2EAaO2hFeGhmLJ9-PHQBmUSZ--dsEw-IgzwbkE3WomGfdO_tVgvislryUSjxvrbXC2HmxVerSEF421ItWs8g_ZmkdMuUGlNwhHLqUBLHgBsPIy4earkFA7ouV7JXjt3ZtCElcKH-HZh_EYiThz4Cl3kLa2Sot0cXiJ-TAQQIxfCdL-wve4owVv28WiC8kM9Q1zNtWxToWHlSEFmRhT_YXe_v_6WDmlKKo4QS5SLaRJd6q7Gb1EW2TvEzJFmGUZd1pOZRf8Ru6GMa4p62bZ90zxYKs-zXTRGzyVXX8Wp8T9rUoS5jh6TsTAFN2y-V3coZxLzzgfgrAVbSgPRDDaDOK57TwN-tgBfZUhskrCLjFVzju-9mjgznjdTSFLKpzmg4NusyboA08uB2Iw0COiyXDhQJcJLQMU7ufzX6yoLOkluO8XPlYS6anhXm7SxC5pxx4CLV330ypEe6ay7hyfkWqBR-V9s2QqzpuAwbGkOYk68aahswO49HwWjfz_pmwijn3xJPoFfhz1BIWVVpRYnHy-J9dJhvvwpD8tTsRsAwq6ms1xWlW2f0ACqYTwaEd6rR76AiLzwuhHWb0xsgO0OuIvsyCOeTeThYo5pAOMIj72mh-2kI94lFJhgCNFUAMgC53LHGgMAnZCA6Ah7JZjE9nB205A69p2SK7eRanYokXG09f-ly1S-oEE1-SqxGrU-3QmTxAG3M-3Wrdg4oS-2Rh4qBV8ssn3r7K44UloumB_INKsljgjaU4Qztgf7unsxf72WLvcdzq3wIFv4JH-kLMyN0GP8LvnQRrqzcApzZ2l9SdK4_KIf95lHD22vHwDVe2LWPjX8DYpTuqF_YGY8mqvf0SyR8TQaM4zkQyRLzW82aMtqFokoIWG6SX1jLPhO5fcRmrz8oqftUP0vxlJCiyO1HcV06LVdxKGWEpkBAIvdUgiKcNsHiE53aBVIJnNVAEwsHatYpLzQfW4_x8UfACwYZjCjzaxVBTQLKmCixQ1RMpvElM1BEmPEOvs63xU",
  "id": "rs_0a9c4605c8743cab016ab421531bb087d0998ced96e9d51bfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this lower, more rearward pose, the pink bowl’s right wall crosses the jaw center near the fingertips. I’ll close once here and test the grip with a lift if the jaw opening indicates contact.\"}",
  "call_id": "call_cTo9oNhXBAQbgM5qSxhnatM0",
  "id": "fc_0a9c4605c8743cab016ab4215386d487d09ddf74805fa68765",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cTo9oNhXBAQbgM5qSxhnatM0",
  "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]: [0.0101, 0.984, 0.8314, -0.7017, 0.0265, -0.0006, 0.9958, 0.1555, 1.0309, 0.3981, -0.3592, 0.0353, 0.0296, 0.0224]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.168 left_yaw=-0.0267 left_pitch=-0.2816 left_roll=-0.0157 left_gripper=0.9958 right_x=0.2496 right_y=0.0364 right_z=0.0356 right_yaw=0.0976 right_pitch=-0.4165 right_roll=-0.0099 right_gripper=0.0224\nstate[joint_eff]: [-0.0889, -2.1402, 6.7214, 1.4579, -0.0073, -0.0464, -0.0171, -0.1162, -1.9897, 6.8991, 1.0965, 0.1245, -0.1294, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac4f79842b21194fbbe6eeb83e28d83ed6f948bab2dd35ca10bf479dd74ba5ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4360d00987ef50cf1113794aafb1c14347f9d5fa3d46376d9bd3fb0cb86ab20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b0e3edc8916f48a53a9ea3d1fd40a5983f4eca8ffced52edca7be6a18f134c",
      "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 107 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9764, 0.8314, -0.6952, 0.0265, -0.0006, 0.9958, 0.1246, 1.3167, 0.4828, -0.1009, 0.0364, 0.0082, 0.0376]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1711 left_yaw=-0.0266 left_pitch=-0.2675 left_roll=-0.0152 left_gripper=0.9958 right_x=0.3072 right_y=0.0356 right_z=0.0281 right_yaw=0.0794 right_pitch=-0.3594 right_roll=-0.0209 right_gripper=0.0376\nstate[joint_eff]: [0.0615, -2.3726, 6.7487, 1.4579, -0.0415, -0.0757, -0.0171, -0.1299, -2.5231, 5.7915, 0.779, 0.4127, -0.1001, 0.7741]\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]: [0.0101, 0.9836, 0.8314, -0.7017, 0.0265, -0.0002, 0.9958, 0.1543, 1.0538, 0.4252, -0.4011, 0.0429, 0.0254, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.1681 left_yaw=-0.0269 left_pitch=-0.2813 left_roll=-0.0154 left_gripper=0.9958 right_x=0.2476 right_y=0.0345 right_z=0.0347 right_yaw=0.0908 right_pitch=-0.4538 right_roll=-0.022 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -2.5504, 6.8718, 1.4872, -0.0415, -0.022, -0.0122, -0.294, -2.5231, 7.0359, 1.6581, 0.0171, -0.0317, 0.0024]",
      "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]: [0.0101, 0.984, 0.8314, -0.7017, 0.0265, -0.0006, 0.9958, 0.1555, 1.0309, 0.3981, -0.3592, 0.0353, 0.0296, 0.0224]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.168 left_yaw=-0.0267 left_pitch=-0.2816 left_roll=-0.0157 left_gripper=0.9958 right_x=0.2496 right_y=0.0364 right_z=0.0356 right_yaw=0.0976 right_pitch=-0.4165 right_roll=-0.0099 right_gripper=0.0224\nstate[joint_eff]: [-0.0889, -2.1402, 6.7214, 1.4579, -0.0073, -0.0464, -0.0171, -0.1162, -1.9897, 6.8991, 1.0965, 0.1245, -0.1294, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac4f79842b21194fbbe6eeb83e28d83ed6f948bab2dd35ca10bf479dd74ba5ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4360d00987ef50cf1113794aafb1c14347f9d5fa3d46376d9bd3fb0cb86ab20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b0e3edc8916f48a53a9ea3d1fd40a5983f4eca8ffced52edca7be6a18f134c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFZUTmz43bgfqm8Av_cy2myAcyxkUjYvnwxPJHOXzNxf-YTZ5-9TBhiVEB4mrS8PWxbFsmrg71LcE4_QT_fmtsin-ThRYtL7FGFKFcoi6RPV36MtD9Rn5DBJ2-fIh4Bey9sX9Sz72Wzm4ODnyBM2xcYokgL6ruOFue_t6a7ECsb438y986l-yHSKVwNpoRPTJVT46gVhwhnf8hzq10wuLSros4IlqgT_A3eIFHnxplbiVsBMJQD6ldby1QLHmDCl5VgDzyjy6kZm28VINZMOH8JOejr45237CNXdcj3Sr3y5axNtM5m3g6xfv-xt_il1csjiSFTlPphOYifj5NR9TzqyGJhq-jqbplaaMmfrX7G-Yx937awOdbPW5tx1WnaXhSYgZau9pG5XXrTk2tOuRICnQEJUQbg5aBim9XP1pMVvekr7LurYpg8QXUfLgVM_1noqeRGqeaFRd3pAv6W5wvw7DeRRMr4D7Jlhb5El3aCMNcJqL7x2Nhm151Jol7HzbJ3KinhUO-UabqrzjP-0Aw9Dvdtku7YbtrhBaVv5edbnl4AswjCOLOtafX7TVg97K1qSdX6bF9xvUmmTSdsmFO_hS08vvxOSDuY8NxADx6yaT63uDMjBqOB5p6mPbqccfQFJl9ONIYtbu0J3Mle3yMIsG5YQkz3MY1Ghc8Y7CfuM23e1-EUPXSrdUqHFT4fJxV5nHcRXdd_HJyJ3CJrqY35DxlLq_8az4p0kyObXJMCnTVcEqaYTWumGvFRb-x1Q9GIIS3vGxouKANSpnvvAzwPnHXFXjCwvJFXVyIjZNZwOpDORNw0Q2FgMjlkTANxfGQfMv8Z4IuQf8ZLEU-lGXi_7yRNoJBrbo2J8XYyHoan3Qw_mBsHpihs4sRQe84E3v_RW327efyhVrOHJL0Ee1GgP_Id0NGEY-gyP5YUHW2B5jJz8E-i7P09a4RW_kUZEjPB6b4QsDp18dzSfrPs-Us5ZIc8tuHY3TF24aG3wjthbxQ_yOXzf6Yp5WSvN8SO06TbuaUMp7pWMJx91pNBi67t9WWe9w4MnM-iH_5F7PQ2UX49-3FuMxvbUQwsLP-TVcCEZDpYAzlxe0l0cBHs31W61RtX05C2KwEd-VXjnvPd8uxGMKQZ2MswDcFjAquwQE_XRpDAtuzJ-pUJY5mEWOsudTKl_ngoU-UQF80ZPWtlR1gjCGtMeMTXGaHHHXcWkluBzPIp4vDQcCQnrNfR3T0qfVAuMOuSS0oS-vqWVwFTdisMLvBQk5he506vgkwtmSLnWTtnZroZQEIy6ZHxvTnYVocmBwukUHBFnumpZYbrILraxbs4jErDyd0mpRf5kb4bFjK_IrIvk3Flu20PAdbi9Q9KJ2TsYMILJSylc49io2m0GIzSmCQjmPF0jQknkpujLZ_OP6YAQPpyEthP7XjgpqV5EaiAbenjob-_eCyOibKDomoDhfSR4Wa6apmVtFuQiCsrjTyFz4J90swHra2aMCdiX8-SNjBIoE7AdE7c0aNf1oVJXTsydkftL53QOXVdastygTofj1jYUjZB7_HcAUsTwcl08xfiU15EwnFKanjiov3uhWvSsd_8u94PV5ZfKUyWlZhBpEK-zcX8HQ1E2G2h0gtAE7iDcnMIpM--Pd7RBg03eO_LkI-LQGT9zqBrysINnlL7y3QVXraSphc89x4Fl5zs4Do8_QPkbngWeUeZqXPhbuHEdsYpx6_1Gz-VVVmuTLYBSclJf9OBRHiFCnUnnizUsjBFdb3YpY4vES9g7dNECcwxpu9dAFDDj7UZ9GLRbj5K-WHPPSgz8J8qZUf8sJay2mxAZ23z6GxUPyOtTAZmYLwxMlEl8_vEfwZ1IzgmvWWUMWKkjEMYYT2NY7hFKFsLMvjaPKlwUSe_B0ow9OQal_yqbT2REn75Dl66T6cEvSC51yp2pDFJoVod4DFTE15Vc_cjE7cPNHQMlW6Elnzv__Bj8Vr-wJtueFZrPIsGUVLROMCCBeLuNQOBPmby386uQ7FiodtcDhNSyHwdkfayeEdbsqmiAm1im0l1bHZ0WPQtM13snta00ybTRGlTM1Jyzr6gWo49expP3H-bUvKlEimTRBG7ZO8Fpn-Mo0PtkvkqKaiam50PVXaiy-2DRxrGghBnZmAk8HNaq_H7a8M8vOkcoDdcpEw11qFPlefP27ofV1Dc4pST52q4DKpyMAQODQH2KEYqrA8q0ERUmkG2QmY-RJxmQA1cbhEIa3BuOKLYkQi1omcworvOLoc2P2f23-35y5wpNLAhCX9zejxDpSobTvfyoS3q9zTRlmXvHeFICtUxVCJ98zXYd2ClJSestiz9JkjBmx-Equ4=",
  "id": "rs_0a9c4605c8743cab016ab42156abc887d089899ec276c36d27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.255,\"right_y\":0.095,\"right_z\":0.14},\"note\":\"The pink bowl still slid instead of being pinched; the jaws closed empty again. I’ll abandon the single-rim approach and center the open hand over its narrower lower body for a whole-bowl grasp.\"}",
  "call_id": "call_6YdGoaf6WOfOprREouSyueQI",
  "id": "fc_0a9c4605c8743cab016ab42158939087d08b9816a73b18f009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6YdGoaf6WOfOprREouSyueQI",
  "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]: [0.0101, 0.9901, 0.8314, -0.7029, 0.0265, -0.0006, 0.9958, 0.4679, 1.0592, 0.7982, -0.7692, 0.1791, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2873 left_y=0.0018 left_z=0.1662 left_yaw=-0.0268 left_pitch=-0.2889 left_roll=-0.016 left_gripper=0.9958 right_x=0.2522 right_y=0.0962 right_z=0.128 right_yaw=0.1371 right_pitch=-0.4295 right_roll=-0.0107 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7829, 6.7624, 1.4628, -0.0269, -0.0415, -0.0171, 0.2393, -2.2085, 8.7863, 1.116, 0.2369, 0.105, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1727f11d3c266c061e6c8ba676595cf7d0d85640ed4a7f0d98868faa225164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe9a972d09b6990c48cddfda65e3009c925b2c9dcab540cec8218e41f91710c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ce462e84d3639c8930ceec1825d5d1521532d9917a697400f3b2018e13a7fb",
      "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 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.981, 0.8314, -0.701, 0.0265, -0.0006, 0.9958, 0.152, 0.9829, 0.5846, -0.5438, 0.0444, 0.0242, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.169 left_yaw=-0.0267 left_pitch=-0.2778 left_roll=-0.0156 left_gripper=0.9958 right_x=0.2653 right_y=0.0363 right_z=0.0927 right_yaw=0.0902 right_pitch=-0.3662 right_roll=-0.0181 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -2.6598, 6.7214, 1.5556, -0.0366, -0.0366, -0.0171, 0.3214, -2.359, 9.6752, 1.409, 0.1245, 0.0073, -0.1832]\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]: [0.0101, 0.984, 0.8314, -0.7017, 0.0265, -0.0006, 0.9958, 0.1555, 1.0309, 0.3981, -0.3592, 0.0353, 0.0296, 0.0224]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.168 left_yaw=-0.0267 left_pitch=-0.2816 left_roll=-0.0157 left_gripper=0.9958 right_x=0.2496 right_y=0.0364 right_z=0.0356 right_yaw=0.0976 right_pitch=-0.4165 right_roll=-0.0099 right_gripper=0.0224\nstate[joint_eff]: [-0.0889, -2.1402, 6.7214, 1.4579, -0.0073, -0.0464, -0.0171, -0.1162, -1.9897, 6.8991, 1.0965, 0.1245, -0.1294, 1.0525]\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]: [0.0101, 0.9901, 0.8314, -0.7029, 0.0265, -0.0006, 0.9958, 0.4679, 1.0592, 0.7982, -0.7692, 0.1791, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2873 left_y=0.0018 left_z=0.1662 left_yaw=-0.0268 left_pitch=-0.2889 left_roll=-0.016 left_gripper=0.9958 right_x=0.2522 right_y=0.0962 right_z=0.128 right_yaw=0.1371 right_pitch=-0.4295 right_roll=-0.0107 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7829, 6.7624, 1.4628, -0.0269, -0.0415, -0.0171, 0.2393, -2.2085, 8.7863, 1.116, 0.2369, 0.105, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1727f11d3c266c061e6c8ba676595cf7d0d85640ed4a7f0d98868faa225164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe9a972d09b6990c48cddfda65e3009c925b2c9dcab540cec8218e41f91710c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ce462e84d3639c8930ceec1825d5d1521532d9917a697400f3b2018e13a7fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFeJulYuWfx6UJjyJ1jg_b7vZ0XC6K6YebEyTIVNsjK-vIzr6h-hsLEvKDAPWFURmVGTp6JDeYJvO6iTPSG7lgcaldFsfzQwiBtMk0wpL4jUNVagCwrDLgO1POjjZJwPtw2Q_jTWj4DU7mf8lnrVGG23mmKZDYo11bE_CWHlsV44cWKb6CsiiDAu6LBk3pndmgO6sQ1YPXhniowJGM73T8Semv1a624dbb09JAjKdcIXnsGD4DELAJV_JO6uB_61LLWqj_GzJ5uC4OAOZKiffoVXn3fYWbuzK4J3lLOwiuM4vYGDbYJbQsiRWgbX7-bl26xatmySZGqULkfuNNnZ0SDUygTD_n5VHBCyWGYZijW4O7s-MPIrsd3TM2vj5Gil2lYnsYCRCHXFdPlfqvM68PSvkq3tD_NHCD7XRnQQOPdPBYgNsnzW6Icf4KFCKqzRn6oRt4rT2_v9682RFK1HSvS2LcQiFguQHJEU99j4OW8PbAyARZuWY3aubS7D75qADoAOeRPiUeVWHv4ddnnUzShZtZjYUzpf0kNf4X37OvYJtac8ScCu55ppZDMvHHP4L308EDez7aCGYelf6D8VU7B086JouWkToe7PgcKUDzLkJRJ92NX6bAMZFN5SrcWfj7vx-9fVF86QKnUG8t8JFBwveEvdrn-SsuP5sIupqBAzvK_qDKahjCMWggqS0tZF_zZgXp_jY2EP0g6X1bnzHHIBZAKD_B_nZPNGPls28JYJiQfMwStD8-EXdKFrCnqQrOfLfjMgtdYDyf1hA8_eMEbskNUurVo0c1piyBQRf63USW0ij2-J7kLWQWNa7yH6xTg_ZdZa6vR3tkUEr8ZETIJEBTzM3xqSkdq8ue_HgLQke89dFO7-mnpolDd4kf2IFtHnVACr936NoQ6gSfrnd2M166u3SbJ2p6JU2SUmXYT3t57MFFTnEhkHyeP2ChpfsOSJTtzxy4q1Vw6eHWya8sdBKNtFc-KWpAcVweFR1__zPbtEdPe0xRmf33TL4ni4bGHtk5dsf24XnoBTSHp4vwKFuV3EFiQi6wuoqNdiMH06vpwyd-qfO6n44yT6wAzePwb3m_bhCjNRsahdlKJOCmpZ5kSrE4swxTcbJWzwQespVzUa_f1zuWgwaFf2gaAsV81TP-II-R1Q_PKUBP7YWSh_5pG_zufOsE-vHpi8ymD_4GTeL8HZWMqiFklGBa2b-uapppWpGo89goSm7OmlsQYS84joCIuTpHzlwYeVJcAlDhw_Bh7Lm85IjsjR3mtiJ49WpAtfo85q106qJ4qSoU_tPS7wgNo7Mepfx9AQuatIpC-o7vmuNVhnRU1818H1EOEeWYq3a9sGrGN-ErJ_yKSurXTAhpMU7CYeLKYd09OruzfU_ZPvQxnC3HW7iCAyjZQVtn9W9r9NirAspEEpLByWwtfgWnAjHicdScgrEIz9_RjDegRwRdpfApt4IvO4j_utAIHxGq1ax_WvhXmD_i_ypMpFkoZ7O38b1GGT3gNnyjJSFS3RnGzcBPUibaWh8WLlXY5tNgd_XmnB0j9_TKfyIxDUeMWJKUXbf02z-TCU-ApWboFxrTZhZfP-G__Rkium-HJOVpzDU69HuEjClJAQyfQ5d05NgS4Qv3df7yAbDy0g5FcxEUqON22t5TQX-xPVODKtMGcNztBsjMB4wEul9aSqs8gNkuzaNTLVTuAMmXLcUrJtLeapwisS_dh8hD-BDdtLyJphND7CzgFI9QaonuoTXeRg00OqatSngrbx3KSPXVTCGKJYIZrvklRtqb59R8xQJZRz6evBTtd8NYJfx-guvZrvvwJmiZ_i9uEFHbaRszqGc-97IWqwjV7PttyjzOpPIwECdczsnhrGS85BlM7oqot8LFBKrfYIl1qOzu8dpClj9utjGp-YYPr1vOiHcg0tqIErzKHv0GlMAZ9hYvjgrAyI427c2eShXAUE0ASVDWF2sEcDMCqi5aZJ4podT9495dTzyXLHaO1dsCfvtPGfG9GqtxThyc_ygqKUiy7MWvzQN2lU0d0Jc_iGO4sNxwRQyOGmr1KfUs6MkKKpee-ND7z2nLoWhToU_QAjLI1lLHXJgyuDzkJnlJxrMRqs7NRcs_RQdO-2wp0Jf8d7CEcySdDcSJhiJnvyQBnGcFJO05yb_VTEDiPTMwSc8iO3dacXPeOjsANjZZAeesTRkMVut0_CHxJPBvMA4jdI0zvAo0V8QqAWiboiMLpRGJ7h734Aj4z4DVFq1RJsXIl_A==",
  "id": "rs_0a9c4605c8743cab016ab4215b86c087d0a7eb58ef0d2c6327",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.124,\"right_z\":0.005},\"note\":\"From above, the pink bowl’s center is a few centimeters left of the right jaw column. I’ll center the open jaws and lower toward the bowl’s tapered base, then see whether the hand can reach a narrow enough section.\"}",
  "call_id": "call_wCib3eIqE0lpZIjGfzcJpmyQ",
  "id": "fc_0a9c4605c8743cab016ab4215dd9dc87d081fec3577a38044a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wCib3eIqE0lpZIjGfzcJpmyQ",
  "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]: [0.0093, 0.9932, 0.8307, -0.7143, 0.0265, -0.0006, 0.9958, 0.5903, 1.3239, 0.4503, -0.263, 0.2169, 0.3607, 0.9955]\nstate[eef_state]: left_x=0.2851 left_y=0.0016 left_z=0.1633 left_yaw=-0.0277 left_pitch=-0.3041 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2358 right_y=0.1166 right_z=-0.0012 right_yaw=0.1456 right_pitch=-0.5145 right_roll=-0.0355 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.6188, 6.7897, 1.5018, -0.0611, -0.0513, -0.0171, 0.5402, -3.9863, 5.8735, 0.8523, 0.4469, -0.5934, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a57d0c459edf9670ea8e1321be845455210206d073625cd529f650655ebf8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2bbeba8cd377cc01ccb64d89dd2e5d1bf0a13061524f5a6fe755280b1ac033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39102edb86144dc6af593a28dac31179586410f9e49616d984966852454b6fb",
      "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 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9836, 0.8314, -0.7017, 0.0265, -0.0002, 0.9958, 0.1543, 1.0538, 0.4252, -0.4011, 0.0429, 0.0254, 0.9957]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.1681 left_yaw=-0.0269 left_pitch=-0.2813 left_roll=-0.0154 left_gripper=0.9958 right_x=0.2476 right_y=0.0345 right_z=0.0347 right_yaw=0.0908 right_pitch=-0.4538 right_roll=-0.022 right_gripper=0.9957\nstate[joint_eff]: [-0.2393, -2.5504, 6.8718, 1.4872, -0.0415, -0.022, -0.0122, -0.294, -2.5231, 7.0359, 1.6581, 0.0171, -0.0317, 0.0024]",
      "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]: [0.0101, 0.9901, 0.8314, -0.7029, 0.0265, -0.0006, 0.9958, 0.4679, 1.0592, 0.7982, -0.7692, 0.1791, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2873 left_y=0.0018 left_z=0.1662 left_yaw=-0.0268 left_pitch=-0.2889 left_roll=-0.016 left_gripper=0.9958 right_x=0.2522 right_y=0.0962 right_z=0.128 right_yaw=0.1371 right_pitch=-0.4295 right_roll=-0.0107 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7829, 6.7624, 1.4628, -0.0269, -0.0415, -0.0171, 0.2393, -2.2085, 8.7863, 1.116, 0.2369, 0.105, -0.0904]\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]: [0.0093, 0.9932, 0.8307, -0.7143, 0.0265, -0.0006, 0.9958, 0.5903, 1.3239, 0.4503, -0.263, 0.2169, 0.3607, 0.9955]\nstate[eef_state]: left_x=0.2851 left_y=0.0016 left_z=0.1633 left_yaw=-0.0277 left_pitch=-0.3041 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2358 right_y=0.1166 right_z=-0.0012 right_yaw=0.1456 right_pitch=-0.5145 right_roll=-0.0355 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.6188, 6.7897, 1.5018, -0.0611, -0.0513, -0.0171, 0.5402, -3.9863, 5.8735, 0.8523, 0.4469, -0.5934, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07a57d0c459edf9670ea8e1321be845455210206d073625cd529f650655ebf8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2bbeba8cd377cc01ccb64d89dd2e5d1bf0a13061524f5a6fe755280b1ac033",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39102edb86144dc6af593a28dac31179586410f9e49616d984966852454b6fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFmQQEs7ksTZlx5JwN8YJfbiZPoNNQKec7NQZvWqLgAkIF9EBBZMXea6XGTt1ukB-kuDApFeUbJTT9aEp2rRXoXN8Jk_t0y2tP3R2iZPURoM2Si_zw33FfwpVU4noStJzT8A3cKw5hPIwCwL3-AXurL7yAOZvoN7_aaS05Sv4H073qqFIhuUpadlGU-dKG76qEHFPaJvrYJTc_BUEvrfLkOAJe42MB8DXEvu3QYKFc_RSAmKnwktLQqeqswwIv5G4sOxu19D5c6KGzLCzRF8-OF50mUZ7UBwXnok6Vj72ChHRqhmaC_v62z-mR4MHesib26MvtvdbNeY4Tr2_6rgfZjKkQOU0Dh1FOOS7CKXZHvOx7cfcTxxe3zfiRuB4UFloRF_DATHHMv1vE9mftYtX86XFP7buPaOP4zOIo1ObELA98uqS20L9V-rWqtOKfqWUX9ePfZkf1oTZ5I8MZtAMI0xdOjP029MoHKdMP5093z9LGTGMAfNRClGzD0YU4L3yjZ5XEftB2ixzxLHj416ifCUjbcyE9qtlKRCBOCgDWSzHy_EVBT_A6nXBg4XvczjFtgHw1P6hzfQ8tyggXTAXCbEe7725PLc3OeCJ5S-bwryQyseNRAxtFYdwjECTMdYHA7nFP8u7SnypqwDiNGf4tg-9M92BVmYhH4efzrj2Uh5u84n8NaOOzYs-SVM-Q1WmdE1SjdNftkkYEA74W74qeHELs89N8BMCjZVfijrLiznWHfmiFzKoKHpFuWZypGVh0JUPpQ5DLvHZDJHGvsMi-nibH4lhP0AUu2JWMDd9tcFoyJY4f5TF_yH6hUTTb6FFJdo7CO3tFKSfZ3bW6fzSsg5c4Zvo2tUqDeuyhsGka61mzD83hLAFc36sLhxHaOrZng-njabb67X2VyBGeYis1HKF8RTwSur2USlWEE7dTtcykDUidJq6nBBswGADo8AMV73MAeY58HFs1K6y2mmcmxX-QMUS0TT9amoKUOd4iQN-FQH9-EdxlEt2DGcra1WNzvfkLSWeJuX-zCyA1Br-uqmtKl4hdGp3ZlCqHh9MFiZe09oI9fa0UksYkEdqg5N1hBvjWBlHUrdRO7c07b8doKBkG7q5hrvq5eTmDwXkoes2zTIlSsaSsoURps5x8JbiBnBfjF5F1jre2uEb-h3iDSvb4FLSYR-spEiJUfc2rfi6Z2OVDGPNXvZb8wWYYiqn5hHBSZnoP9p-wRCehApsj2oWXPuawIk82h1-rapAFrLnlWjvS37lGNVW-hlOx_BALpphYndAUYw2xy5TB3Ja8cWaux3kbX-5n9zVsa2PWCw30UXtz4QKzHhLOAiUqSfz488eSKHC4upW5VNU9uLzBBzHUntNZ8qqLbPxSGZST2Xurq6avemTchbPi5sVhkbA1adUwh-jL5D_wsDnt3g4hEJfQPsvb517vsTQ7g4PXGxpofFGsL6m3davzVMJBMJukipTif5q2r4YTFUuJYH7l2jRiLrS3b_EOU7W1Jp2Ai1-hJyzJQUTL9mGc3uUl6ASJCzwqFGrre5vN4QNiFQLfkxfmXmaecWAr18NjvIcp9hWQzb9v0TP0prVck22VprZTXKYs17CMXPz3-KNviUonJhEW9GUwCx1Jq1gu7hzk5JahHry3bKW5hb5jHkI22OApYWzse36IY0wW9DfgEQatOZv2u6gxU1Jbyc4FNdL-zGzxIMYyrWqyolWKjoluYdCnvNXt14YwiQktybDtTq17WTZSPIGZTKaDrSuCIR5gXEEiT3wAe9-uw1jVvI4FGrgk9KJzXHq3pwTvsT3a5ios-ioa6bZOHnstw1MBVCaNXss4IpJIqJpf1cFxutxDU475D5EOXTlRUAmLA9PIdPLTqMDB4_5zV2jynO6A6bbiQJ4D3g18-CIv2ilwexxTeDxjLPNkrQzZRRf6bQiDr6e7yC4HsDcBAlT8P9bP9q6JjvLVGCHhsjvoCXJGeguEyKnHm3eyu609lGwmib4XGG2t-5OfAbBy3-JY5gMARr1WOGffawxHGnAogzDH5MmS9DaA8uQIqP6nZVGEtC387R3YkfN1pluzUWaNBtk5IfOA7YLAVSKRfbyjDXXu6g2zWHYpZx9hs9JkwQGtqo1m_cggg0l-1NNmE8-A8_BaIBmufHU1KvPZvhouirwuSP3gB46EwZ2dIialtM0dv4NTiMjsPrO6a3ol5jnmMmHSdwiB5mEo1URuq_LIzLU0tInQjOO903KGHBgDT5-wz0NmYLWqPJ7d82Djkv08xLXUDksJpDdTaC3tS1aESo4cvhcgPlPOuwwo5_SktiwomE-aAAevD-DjPFJ6Kz6rIPKJFp4QPIJId_GuGcYExndFXKjFC71r-tWyiSurox9-Hux3QM_8g6zNx9FgeIo62K6974zPIvQt3twrMs9PHKWT2tRsy9SUz20G2z6LccgmGujes6RUAXDJPZgk6VmWBaeE99Y13qyN6yvMBpO5tN_6arWy1A_xfTAQOzlKPf7UqHiIVBPtvpKWUVISDwMiJf56AlMMrpUdfbGQ4FQ_duqWreIRpoz4uln_N-SitT7U41ayHKnEYrHYOkFHjbJrMinpuAB96g93019Errdl9skwB1x-8espk_Pxn12w996bjDuZLU--AKsbxbsgRG4KK1QhL5Awg242b0vCAwIMi_SIKRRMFdxnGGtNKfOxkhqc1ZMWRWTUNGASkCEEk03Foe8vr8wc8hEzks0O9svhWkAL8p0grerr9wS3NebaPyApJElUhaLV32NCV7xAzyKj-S3pWPY96Wj5hVpI8i4oAknPUloUIWStYLsYhv_3pWqj0XC0HVl07b61giKIWfQqi1M5AXPB6NClJSiD3lrEtZkNDa4H8jbQgJDXsjWTBKtQsRddrVsZFIhuLtmiM7qHzBX8l6oOd_jI6bv0YYGUDK-GUDEtCfcVH-XwbwUGD4BZmzg_ILer66rk3HjGR1Dau46VUaKzZm52hcpdoUGSuXznLaj3cnI8hfuDTrBvBQbWAh9miAIsRxAacrSoKP49eYGEEAxH0Ft5dSZjh02KGbMFylStVj_u9ZzQL8tJdAsmTWrUu_KqdtAvMHHW7ADCcXupdvJ9Atc7hKCFLulPOz01y5b6IPmDFmdM_B0sNDwZ_uHZKqRszdE9aPQu70PYJbhXxqdWXr0THgJnDYS5FrRyIHC3wKsRLmtlZhHCOXJAZalltnhUgYe8SUnF6tloJJ9fRBT_LzVUvQMuXMzBZhaQuVTWTypx1HSfvd_1xccaCzEQ2IH_u5hDpN3Pr-LiBK09MI0dom9_yZmZifwwwDpcvUNVFBTHiafixHkgQIyYGuyoNPpxSbuZhI_xYDWyaCXtk7GoT4vKSwXze-Wj3ERh3uCgnPObMYH4WAZbhfNd04cW5k4Xt9tfYbdUav57K1Y5-iCko2qw32j8g3BCt-b9O0Fr0myedSS8x0P0e9iPoSNC2zjP21DEKXhhA6mrVGFomrrzGyuCJvs4l08jtIFkh5q3DQ7hxxJ7r_PZSSHmO5axOvQ6vX9bMwMEg-6CFKQamDm3xc9fw5567Sn1TfwqzApLmEk4O",
  "id": "rs_0a9c4605c8743cab016ab42161965487d0af566159813118ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.14,\"right_z\":-0.005},\"note\":\"The hand reached table height inside the pink bowl, and its narrow base is just ahead and left of the jaw midpoint. I’ll make a small centering adjustment at low height so closing can grip the lower body rather than the open interior.\"}",
  "call_id": "call_PvsCQVnqFtap7JRfhE420n1k",
  "id": "fc_0a9c4605c8743cab016ab42165954887d09e443d99ebbde388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PvsCQVnqFtap7JRfhE420n1k",
  "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]: [0.009, 0.9939, 0.8299, -0.7204, 0.0265, -0.0002, 0.9958, 0.6067, 1.4284, 0.5072, -0.1986, 0.2268, 0.3744, 0.9956]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1618 left_yaw=-0.0284 left_pitch=-0.3118 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2539 right_y=0.1323 right_z=-0.0033 right_yaw=0.1488 right_pitch=-0.4953 right_roll=-0.0289 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -2.2496, 6.9538, 1.4823, -0.0366, -0.0366, -0.0171, 0.5128, -4.4239, 5.9145, 0.5348, 0.1538, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd819f28998aee59676400cbce4da0ab249b52ffff67ef4bf580ea0bbde8a9bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8725aba9dcba5c882301ad72abf66d545ab0386c652d3520e7502f257a2fde31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f64a1d04a034a410380952ee5055534340454d571919ba9f277e4919c5b61",
      "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 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.984, 0.8314, -0.7017, 0.0265, -0.0006, 0.9958, 0.1555, 1.0309, 0.3981, -0.3592, 0.0353, 0.0296, 0.0224]\nstate[eef_state]: left_x=0.2871 left_y=0.0018 left_z=0.168 left_yaw=-0.0267 left_pitch=-0.2816 left_roll=-0.0157 left_gripper=0.9958 right_x=0.2496 right_y=0.0364 right_z=0.0356 right_yaw=0.0976 right_pitch=-0.4165 right_roll=-0.0099 right_gripper=0.0224\nstate[joint_eff]: [-0.0889, -2.1402, 6.7214, 1.4579, -0.0073, -0.0464, -0.0171, -0.1162, -1.9897, 6.8991, 1.0965, 0.1245, -0.1294, 1.0525]\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]: [0.0093, 0.9932, 0.8307, -0.7143, 0.0265, -0.0006, 0.9958, 0.5903, 1.3239, 0.4503, -0.263, 0.2169, 0.3607, 0.9955]\nstate[eef_state]: left_x=0.2851 left_y=0.0016 left_z=0.1633 left_yaw=-0.0277 left_pitch=-0.3041 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2358 right_y=0.1166 right_z=-0.0012 right_yaw=0.1456 right_pitch=-0.5145 right_roll=-0.0355 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.6188, 6.7897, 1.5018, -0.0611, -0.0513, -0.0171, 0.5402, -3.9863, 5.8735, 0.8523, 0.4469, -0.5934, 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]: [0.009, 0.9939, 0.8299, -0.7204, 0.0265, -0.0002, 0.9958, 0.6067, 1.4284, 0.5072, -0.1986, 0.2268, 0.3744, 0.9956]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1618 left_yaw=-0.0284 left_pitch=-0.3118 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2539 right_y=0.1323 right_z=-0.0033 right_yaw=0.1488 right_pitch=-0.4953 right_roll=-0.0289 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -2.2496, 6.9538, 1.4823, -0.0366, -0.0366, -0.0171, 0.5128, -4.4239, 5.9145, 0.5348, 0.1538, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd819f28998aee59676400cbce4da0ab249b52ffff67ef4bf580ea0bbde8a9bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8725aba9dcba5c882301ad72abf66d545ab0386c652d3520e7502f257a2fde31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f64a1d04a034a410380952ee5055534340454d571919ba9f277e4919c5b61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFq7msR89sql-CKQDVwIuqyviv0WshScCTA4C_IS-PqPdYvVMKFO5Q0okKyJD1oFij0B1mrqGSpNag1wvLUcaFuupeIA8gjRv0-fADgYa6c2-BEV8CJsfw4o8Hyd0L3vWhUV3b-jKMbS7_tpR9r1PvK8BFY6qWBDhujOPXCnh6vBuixoz2QRxrc-VifaS0QkqPnm_0HAChDYQUvZXV1X--034osjRU9kMCSSaCS1eTK85oYBj7fZRCtimGWdtgpyP1eX_J6CAsVYNrZbTfJ_HZU5-4N0SFSJAwhbeJvOOIdiQZA0w8_2z6uUYeLIqST9V9SUabG8Y-NaUxmUGw_qdCPf5k5uwwM5nUaqzM18y3Mw5e_0SCpAG-0wXYP2QMoqijvqW2dPTjH0Iis0n6kwHJN1bzyjGpLXhUTksnsypjWzj6a9CIhg6LGMuh-3_9Qdw691FRo67Izfypj0wejVF6fyjlg2PeLMhkvgRRuSB4v_A7zabb6rACiP3demjmdK5KQaIbbvUiDlp7-DmETCxCxgIRDaR48S82qUmZawAByyp4REpItQQThndrBVJ8KxxMMpyW8SeyD2KAdtOsJZZETzshpcFgUsU72_UrqNIJjCvxitiMqJIjtExNyH-457RrecWboT0cIw5BBUJJ2crEjB2Mt3fT1TaCf4FlrcJxc1m9NrX9LQ7Iwk6dkTYFwJufUP8gI8tL2oUjQnEM8qIMn5VoKpt02u_xE2wcnlaINLx3dV3pI2OgMRYhhoqQ4ocM1oLfu95KNtyAz2-k9Elr0Weowx5VFrqZmIofcU8cVqm61JrML7vMl-ZM19voA-6Y24asraAGKUBCbTs5uQpor3v9Vv2jol3LoC81Plzw0J4zDI4tCnAW7FOfpV5s17ym1BDwA22NjUtJ-fYM6lvejODw7bbODLTSxxiXR4RBhBxjyOLXJ8XkMNvNNPwx4ckDMDA35KKHPUKe9Ed0mB1cmcnDXVrd6XqDRk9Z2xbD06Ki-mFORzo0RbaHDI0HGGvxVZSG20Qfh0_bbdaGwpnaVmWwOE2wSPAbJKljCZWEVBm-hCQNH1f4GYKDWHGSTnqY9MPkm_QvoANq6ciJIi1KYWHevdfEFs4vOybECVVj9OmKB760gdS60TNk8r36X_u1KMx4Og_WA3Y3UDyOm8Tmy5YvAxlQBbjkIOcuBiXnG1Ecfi3OE0nm5ebzShyFm1tae0RVIEzcJuEWaqmKju8s_-iBWIp-pafOyxU7HkHqstb094qFpDYtoBzWxtNw-R-NTfSARalJmc9jb8V1HFJ8bk-iRX1GDAI-slC7vtOIkliqCG5tJJV1xdNZ8JrOaTajuPrBBGMR1hcGT0IKSA1RX_b60w0atEqilU_LLg7S47yMKddHxlmJXc8r2lRcoizbWGz4UWhiOXRl6FX8CC8tK8hVmhGUJwXlb_Jsv59r7qPUsAWBiIQ_3IpQ-T4oCGNLu7Oh3Op9sUvJaTSXkVxB3sMZPljA_LyYkhrl4P4l5WEQsohQr9piyPKDyyQ4p3s-3lPYXIvO4b9J60X8O13r1fpDguM0r3N0Deh6TBOLoPglYzdYA4YD0BocWB-9ztqkxnMbqH6IP-DnrsaerNsiofZq0T-svKmrN26mtutZcQZ3srb4Pn6i5bYg5vQWOs8c5VKiKzUbMlG0mM9-UqMHCHbOwKnpExJ-ilpNlS8xbzi0CL-gjVxCFBVxyIL7JTv7IL1TEbZK1Xq0_SDju9OTtew==",
  "id": "rs_0a9c4605c8743cab016ab421688da487d0ae11c2d186dce1ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at table height around the pink bowl’s lower, tapered body. I’ll close here and verify from the jaw opening and a lift whether the bowl is held.\"}",
  "call_id": "call_EynAcgxKSDds9ui4WUE7tuMe",
  "id": "fc_0a9c4605c8743cab016ab4216974b087d0974ff8936f939c9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EynAcgxKSDds9ui4WUE7tuMe",
  "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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6086, 1.4105, 0.5179, -0.1459, 0.2001, 0.3859, 0.0415]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2655 right_y=0.1466 right_z=0.01 right_yaw=0.1844 right_pitch=-0.4319 right_roll=0.0402 right_gripper=0.0415\nstate[joint_eff]: [-0.1026, -2.4137, 6.7487, 1.4139, -0.022, -0.0708, -0.0171, -0.1162, -2.8239, 4.7932, 0.6032, 0.3785, -0.188, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7244843a29fb3e990c021167ffaf2db6b819651cc2da427dc6f49ef4c7825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c25c75490c8550d7f5c6f5e57627263672d60c8210b86c9c013e8810d8e92f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4f1d23b41efcf77279371a4e3219b9c3a45dfdca9a575134f446d39cb086c6",
      "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 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0101, 0.9901, 0.8314, -0.7029, 0.0265, -0.0006, 0.9958, 0.4679, 1.0592, 0.7982, -0.7692, 0.1791, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2873 left_y=0.0018 left_z=0.1662 left_yaw=-0.0268 left_pitch=-0.2889 left_roll=-0.016 left_gripper=0.9958 right_x=0.2522 right_y=0.0962 right_z=0.128 right_yaw=0.1371 right_pitch=-0.4295 right_roll=-0.0107 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -2.7829, 6.7624, 1.4628, -0.0269, -0.0415, -0.0171, 0.2393, -2.2085, 8.7863, 1.116, 0.2369, 0.105, -0.0904]\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]: [0.009, 0.9939, 0.8299, -0.7204, 0.0265, -0.0002, 0.9958, 0.6067, 1.4284, 0.5072, -0.1986, 0.2268, 0.3744, 0.9956]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1618 left_yaw=-0.0284 left_pitch=-0.3118 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2539 right_y=0.1323 right_z=-0.0033 right_yaw=0.1488 right_pitch=-0.4953 right_roll=-0.0289 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -2.2496, 6.9538, 1.4823, -0.0366, -0.0366, -0.0171, 0.5128, -4.4239, 5.9145, 0.5348, 0.1538, 0.0073, -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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6086, 1.4105, 0.5179, -0.1459, 0.2001, 0.3859, 0.0415]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2655 right_y=0.1466 right_z=0.01 right_yaw=0.1844 right_pitch=-0.4319 right_roll=0.0402 right_gripper=0.0415\nstate[joint_eff]: [-0.1026, -2.4137, 6.7487, 1.4139, -0.022, -0.0708, -0.0171, -0.1162, -2.8239, 4.7932, 0.6032, 0.3785, -0.188, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e7244843a29fb3e990c021167ffaf2db6b819651cc2da427dc6f49ef4c7825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c25c75490c8550d7f5c6f5e57627263672d60c8210b86c9c013e8810d8e92f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4f1d23b41efcf77279371a4e3219b9c3a45dfdca9a575134f446d39cb086c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCFtp7ANqhyK6ePdxWDcDXF-5PCu4xu3yzRv9SubXB18CIz4VrrZKNxDQd4z-6wpAqawEys6BqvFLdEb-xBXw2rzIrNojCeMkWEl7A1KirUJ74eBfLUHxkAV7OMmDO5cpIJ1tQ-otM1h_HPPLvfkbxBaoVBB1f0h96kgwnJ5XkUOh7SIcBElrFjZqiyarboT-Cdfr4h4J8BSuMILjBxYS5WXxFeHUN3AoFjFFl_Au1rpEP5fgB_nK0dRUHpF1eHc7xX65KDkk18NKl6Rg_hqzWR4-RTu43cl07Bss07dpzQ4HNOyE7RNVNl0xfR_pTkLCf9MYFj_xEftHyue5JMzzhcTHt-CuPDU8iJopwh9k-Wn3WOhscOjIw4HUP58iiMtRlF5AWEc_zriiUnTvoLf_t__X096XnWSzbNwI3huq95sYyt6AVJRS68SP4_fO7ZX31zI3pqxtHQ72KD2QlmtzOQ_Ns1jSWsy3xeTheFolKo3EQ-ED01j6v_7aHPt-tpw_aX-xnSOdiAYbLlpvhsHVEKFmAE8J0jx3BPPAbdoGm2fjaxiDZKdHgLPdkXNJSVU9M0j8rMIzv8Sx4EDYiW_QXNOlYFjBWxVi1IQhWiO9ozfE_825q8vQ8MJI8rDLKxgyw_usRpVQ_GvlMVWfGj-ahxcEzuGDk51wWzISVY-XhEFCFBxUAs2UpBWesZBzvXGvm_4pyCG_8t6pOzJDBr1KicJXSTXbfld69BOEP8hF2FiLJw3pQv-gbRhiZ-RAAyroZyhrQfX3OaVJZJFhjUgrj4BRmR1Mz0bFgn07fm_QfS76nhVKqIsrhClQpKq4kxrRECICTqjCwUEsWqL_crE_5EmPqieUGg5X4krtTE80ylgPwH1yNmyEM_mz_UCgzrtoq-fLp1OA0u5ksmBumWHo_MuU5PDJ3WVozNXjlPXf4Zanxe6zfv4XqrNM4IRR_QiEHpf_TsXdnBU9oYSXqcQqaSO3fF8sL0r0o7gU8dDow-lLyqsl9ilcj1uPj82XO1El9PKEi6zlx_S3rFpn2gBkPT9QJV2YBkSjY2ThZiZfX3XPr_FLz_IWmj4PFlWGTIorgMt43Bt4yBpF19jFjuyYPpQJk8tdjlU5bc30DIASU2S9xMtXOSrVvAKLR0T52DKSOjjnty_HqidSYesKyGxTLdG-VUhjnXmPr5vA7STUrSDO1gSdsK4RHMHg1kI17c6POBKEJoP5ktdb3UhSvCcbxenasooH17dIkaJkrORiYUCZQiTfSgtMYZ5krDuOQoi_KaCyMl97B923y9quu0heb0lx9dXtunor7ENC4tJE7VrKlUB4KuJq4w2JSEo1oL0F1zO26nlOl6MJ5G2juM1D9ElETbNJ2NengNTlPHWFWFIQFaABRSEGypliwK-3Xc7XZntN7H9S8_JXVIich89ERwwS9FXpdPoCp7VaAOs17EEAiuPjcAPBHqjSFvqyYlGqdw7VlarsWLPDj31bLTE4pWr6qWdHNIZD2G3bBoZy98-oCA=",
  "id": "rs_0a9c4605c8743cab016ab4216c2fd087d0b66927a1bc3b5148",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at roughly four millimeters, which is marginal for a thin bowl wall, and the bowl shifted sideways. I’ll lift cautiously to see whether it is actually secured.\"}",
  "call_id": "call_NpeF15CDIhwtlm5O4biMuL6F",
  "id": "fc_0a9c4605c8743cab016ab4216cadb487d0a5aa144cf44f0533",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NpeF15CDIhwtlm5O4biMuL6F",
  "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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6075, 1.2465, 0.7532, -0.5568, 0.194, 0.382, 0.043]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2647 right_y=0.1469 right_z=0.0881 right_yaw=0.1887 right_pitch=-0.4444 right_roll=0.0381 right_gripper=0.043\nstate[joint_eff]: [-0.3624, -2.4137, 6.8034, 1.3846, -0.0415, -0.0513, -0.0171, -0.1162, -5.5179, 9.0188, 1.2576, 0.1587, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855613bda5e2afcc0ad0dc21a50c6843b771c81757fcc78a86d38c6c03c26c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f582652953ffc97e47f8613cc9184a29e5fee50a579d3c518947a6b73bee9173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f261b3f31eeb40ed22d890827e482fd790352582671ca178e9d1f332ad5996b",
      "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 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0093, 0.9932, 0.8307, -0.7143, 0.0265, -0.0006, 0.9958, 0.5903, 1.3239, 0.4503, -0.263, 0.2169, 0.3607, 0.9955]\nstate[eef_state]: left_x=0.2851 left_y=0.0016 left_z=0.1633 left_yaw=-0.0277 left_pitch=-0.3041 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2358 right_y=0.1166 right_z=-0.0012 right_yaw=0.1456 right_pitch=-0.5145 right_roll=-0.0355 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -2.6188, 6.7897, 1.5018, -0.0611, -0.0513, -0.0171, 0.5402, -3.9863, 5.8735, 0.8523, 0.4469, -0.5934, 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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6086, 1.4105, 0.5179, -0.1459, 0.2001, 0.3859, 0.0415]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2655 right_y=0.1466 right_z=0.01 right_yaw=0.1844 right_pitch=-0.4319 right_roll=0.0402 right_gripper=0.0415\nstate[joint_eff]: [-0.1026, -2.4137, 6.7487, 1.4139, -0.022, -0.0708, -0.0171, -0.1162, -2.8239, 4.7932, 0.6032, 0.3785, -0.188, 1.1258]",
      "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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6075, 1.2465, 0.7532, -0.5568, 0.194, 0.382, 0.043]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2647 right_y=0.1469 right_z=0.0881 right_yaw=0.1887 right_pitch=-0.4444 right_roll=0.0381 right_gripper=0.043\nstate[joint_eff]: [-0.3624, -2.4137, 6.8034, 1.3846, -0.0415, -0.0513, -0.0171, -0.1162, -5.5179, 9.0188, 1.2576, 0.1587, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855613bda5e2afcc0ad0dc21a50c6843b771c81757fcc78a86d38c6c03c26c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f582652953ffc97e47f8613cc9184a29e5fee50a579d3c518947a6b73bee9173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f261b3f31eeb40ed22d890827e482fd790352582671ca178e9d1f332ad5996b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a9c4605c8743cab016ab4216f321c87d08950e800c84d3bae",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCF3ac1xowiS3GGKx2B4YZxFQGGHLoWnwPoZUKBxSiGJliodLC7BrnaPWctetPrxTHHpC1Y7FaGlaKjUJoJFNjzSuRup9jJZNX85-AYkId7kC37lCb0D3-QyTd-NP9uG8OG0BApLi226nqSbd5c3Ge4ycOFW5VZGmWxwoT6UjKox0eMxsoi0D51ROrTLGxecFh68LPiL4bVr7uzaSutiKU18KJQ96SlYhloeRsSyBZ7Li4zSg78W9u3d5_UIJ9lnO8aNZHTivsIOnlDe0wdD1Nqjs47aslbEC8iLOEzONntAcnONkdH23hhU6AwJwRUbPWgw1nQ7MlMA_e6hXAkbKnL5ySmmjP9GgHirRuRiHTSU5PPDN0FO1dKI4FC0IYbSvNRnfTl_rip9CMtG6gtgWUkzVoxjkH80PzjcwskRmLkKvwog_5ut3AOCWgMvN79-DDPiLikX3RAUcVTAEn3YxhZoxNkvJJQ4Ph-vxE2LaJzHzR-fuD9UzjZpVN8Pqca_shtmz6f0rFeY75WGrzOrCCFmoA2DfwEM5RsdwNFiMiIcZInDzA_iUZWS44rMLR3UXdYcnOR_4sFVk-gYA7xxxQHHWPnsKRX_nIqmjYYaKvwbsaIKJJFrna4f6UMJXH0Se_v2IkHRJiRUxPhcCEVbpZ6pg8hVB0pgvC36faR7whEQjiZAFEHh4q94Ks6KIPRmMcAXxgvIwsZq4RRET7etSRtgdFrmNB4mAzmjKN9hQaaoxCDxqfV4n_xobMu78UrzIv1t7Qz_zZQDwSTHteAW2t3O0n9CFdnQQ9PLMjPfOUl7S4AMJSUOAe1VUMXHLcXYacUFMnHG3XLbHAbKJsHDSic7VV1UDJ-RKhTGb3kYYpASV__lEXtc_vE-7WhrdsiOVnS9EiGbAp2MbqhDl2X5qtfjBAA68PyruShqHVXDWPRcySO9yqQuPOrkiGDe6ZfisKcNTt-9OK54LUs5qKhjS9wFWX3DK7-1u7FomtaTMZz3jWRN4KAwFAoupwpBks7kpXHD6uEXhyW3W4QhmGAF_uHxzoYqqK5oXfO_LjUb-1966XPhkyOlRPlS1B5e7atCyNteB97CzHWhTaRRbzNpUwGal6aTUiVlDmS96o1DLf4vSqnP5EsHn3Esh5Kll5tX4qaf8lLCqF0YGSkqC78qyx9sUxlJvVKvC-5q4StpWsZKuuk3pYdr4gJaqYe-olAp8fbzzY-WdVI19NcdtnK0g2YseLq5s29yiX2-IlG45hGrrLy-s6dGf2z3c4OWnAkB-9UKh7hAShEWVZ_QroeILBFQV4J7F3gk_SwCsK13gvj8y1GHv4GcAZEhlyfU-ij_brc-5de14PZrq8ZNYFnvcp2RuU2B1VX1fvXMcjTDRa3rAyoKeiCt0J3Z1poPEU-EdlpcawzUB7_mwe68FbByc-42XyWft_aRPv4NjuCaiXFoBCQeegm3Lo-KSRigcYf3eJQ80RFa8a3hfphc-JC6RJzbqcQAyyqAVyIefmQTjsVinDFoAwdSkI4LEKkJiQonOYSMJyKMyr3IeBgMho2F42yxaMB0u3JqaAKPyjQuZiKscQpWZjp6n9xGLW9BpHrulgQ1Pm1j7wVoXv6gilBb0M5fmByvUjJMWHqdhyFgUIM_2ca28wbHUaun_5f2wzfV0Tn6lGO0gY356JqRT6NKx5qOfig6u1RPXzAb5Z1ooihEaG2vKKLuc7bwNlqHKOt8ZXx5qynCmzl7kMRByNE1ejBQfEPdS4GIc5_eww_z_O9mT5Hru_yCylERHuVZhcia7xPgkLRbXyQiSZLViSkqV6dxNBmumvanjF6UdQWEhmaz-30ZISag-ZmzrLzC_QcqkAnD",
  "id": "rs_0a9c4605c8743cab016ab42174ddc487d09baaea6d05de0d42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.255,\"right_y\":0.215,\"right_z\":0.16},\"note\":\"The pink bowl stayed on the table after the lift, so that thin jaw opening was not a grasp. It is now well left of the hand; I’ll reopen and recenter directly over it for one more lower-body grasp attempt.\"}",
  "call_id": "call_9SfqY7XgBn9Su04hwGNB1jLc",
  "id": "fc_0a9c4605c8743cab016ab421767c7087d0bc6cc5d4c068fe1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9SfqY7XgBn9Su04hwGNB1jLc",
  "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]: [0.009, 0.997, 0.8299, -0.7216, 0.0265, -0.0006, 0.9958, 0.8448, 1.3754, 1.1019, -0.8425, 0.2825, 0.5674, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=0.0014 left_z=0.1608 left_yaw=-0.0282 left_pitch=-0.3159 left_roll=-0.0171 left_gripper=0.9958 right_x=0.2506 right_y=0.2136 right_z=0.1473 right_yaw=0.2228 right_pitch=-0.4667 right_roll=0.0322 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -2.4137, 6.7077, 1.3944, -0.0562, -0.0562, -0.0171, 0.2256, -4.547, 9.3744, 0.8083, 0.3394, 0.1343, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4adef0865529b93cc3d96808e054a320afc871f5369a9233c878cd5b9e3b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b20cf1f385c2aa3f7c61415a70ede4c4499a747abbfd065c48cdcea0ecddd5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d73621c3cb75bb00e12481266f31450a272a1e539197f3bdcc011dcfbea45c",
      "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 132 changed as sent

message 140 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.9939, 0.8299, -0.7204, 0.0265, -0.0002, 0.9958, 0.6067, 1.4284, 0.5072, -0.1986, 0.2268, 0.3744, 0.9956]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1618 left_yaw=-0.0284 left_pitch=-0.3118 left_roll=-0.0166 left_gripper=0.9958 right_x=0.2539 right_y=0.1323 right_z=-0.0033 right_yaw=0.1488 right_pitch=-0.4953 right_roll=-0.0289 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -2.2496, 6.9538, 1.4823, -0.0366, -0.0366, -0.0171, 0.5128, -4.4239, 5.9145, 0.5348, 0.1538, 0.0073, -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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6075, 1.2465, 0.7532, -0.5568, 0.194, 0.382, 0.043]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2647 right_y=0.1469 right_z=0.0881 right_yaw=0.1887 right_pitch=-0.4444 right_roll=0.0381 right_gripper=0.043\nstate[joint_eff]: [-0.3624, -2.4137, 6.8034, 1.3846, -0.0415, -0.0513, -0.0171, -0.1162, -5.5179, 9.0188, 1.2576, 0.1587, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7216, 0.0265, -0.0006, 0.9958, 0.8448, 1.3754, 1.1019, -0.8425, 0.2825, 0.5674, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=0.0014 left_z=0.1608 left_yaw=-0.0282 left_pitch=-0.3159 left_roll=-0.0171 left_gripper=0.9958 right_x=0.2506 right_y=0.2136 right_z=0.1473 right_yaw=0.2228 right_pitch=-0.4667 right_roll=0.0322 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -2.4137, 6.7077, 1.3944, -0.0562, -0.0562, -0.0171, 0.2256, -4.547, 9.3744, 0.8083, 0.3394, 0.1343, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4adef0865529b93cc3d96808e054a320afc871f5369a9233c878cd5b9e3b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b20cf1f385c2aa3f7c61415a70ede4c4499a747abbfd065c48cdcea0ecddd5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d73621c3cb75bb00e12481266f31450a272a1e539197f3bdcc011dcfbea45c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCF9ByuvPf8zK87jQwnD9gMTz6KcQmMCB-NZeDXlb0SiPSFEP4wGHUaAISGRo2tAzpQPXcx_fDBL_eaJ24P1SqMrYgsJp1o7KeqRgur7Y-7PxOqeBsabvwaxZMCeMSyFiZgBpBjV6P8C-ykrl8b_D6xO9RtrcUaeymDauf3NhDXsCl1eWbjj_KgTEHLb4czYGajoKXCFWB63DjSmiRPsRgjuSezYsIf91pc0E40ulvXcWP0gqF4b5w-l_h6SCYJzb7Mgh7O6PPnIkusmmKd67LnAJ4SFX6ULOvtkxKNoxX4k_hVupmR1JZwwBW64weeG6_VieSjciA61OAnl-PTPpe17BCKQzAoryyvtoCwjiO_MRs2x8-MsjYH036SIABRTiARUGwXCenTPBiDvwp6qZlYeeJzPrQA1-o5ryMH0tTx8M8RKU9-2cHH2bkPyYdSTIIgbQj4WBFW7QeUwHBbzUplKY7DUmSS2mV9daxg7QEj5L2_8PY0WMfrJ-vQi4gWXenwAcLHLi2XGBh21AqDWUfRleITU53b8GSFeHGgxpWxXYUwI4H_sWB3nCuYOkf249FHRIqGuhzlatx1yOZKcI2eJQzMf6RMZhz7lnjooUOHGkk3jkkuPXKqAaEEOtFhIYHbdzJjhkPm0kyUZAdzXyGuLeaYNIdmyg6lZI3APOhKb9KrsUdGpa8YF44CkRTOZNTH6nyAJW2i6CWNyhNxaiU2Z-tR8ePFKOo5-lI8OJAd2sLcjw9ykLwK3dTAQ73caBOgLxJu62ytlZ6qOgxbUSX1CQujEbXmZOvc1G0eGgQ-4S4iB8uXRlXpUrfDjTCHfISa3Psb-kOIiXiT27tkAOKRTJ3SXe37hLugB7yLLOWR7Wq9sutbMx7zxpvTAav0V4qKoEdaVTMlpBvQYrNFVklCXjuMaw0gGO_Sxp3R6G2dtkZjhYhBWLdBx3Z3pAYqclK0UpSAgYenm_EE9kMYdYijqsSDzLoy8nxNeeRyqeUXWlIqtGRtmn1VvuvT3xTCpHHySGv5pK8ccW1L75xN0QuqiqVaGgt6UvspgDnZFOvr31bu5w5CRPNEvGIBjajFHnf2jPV7XE4jr9k31Kl12-TLitYpMy8feA6xJZvXYCf8OqlRHTrWKxyfVr9T09l237WoBIZ3e-KsUDXOTrNlHjUWtdwlhO9bLtm5whIWJmjjbKDiT8VFri3LJTHjPksCbyPsOZtWog4cDNPUMlcqA_Nl7m9Mx-HjRni9raItZMWUFGlRHQGihk-rlZoTA0eG0KGMoV_KRNOmoS7JcJdawxwTok6SdUu4sSzvZoRGFC06W1y5CR3L9EMr93MzQLkRiPwIuj-ASWKRKhSQznX4Tai3V-dWjjPfqZgzwFv0W6JQr2gP9AUgAXaLINa8k6OoTppPAPU41IQhrQ9SlWWNvb4cfasaQD7IRQc5xVLTNOz8H-kLH-XevAUB8eJowp_XCMUB-5t7HVzamzTGkHnl1JFOXZjjnG_4ZJqr2pLD55Q42Y9Wx28V_LsKTJLc-VWB9Cd6qQT5jQot4LEnEn5angXmoy8qqSq2rFa2dsKO-TGYKJCNurgmUnj_7IpfNU1pP-NKSeg5qrPkug66AXacr_uvGhCIpmc3Y1v2D1ufXbjM09jCnoTcbBM0RMGIPfQPiV1F0lSc6e_yobSMu-OeotXQBf1yAEZaZ7p1uBY15nTsLHtfsNzOfyJ6cbiqj7bvgPjkVlN6v9LcYH006DVyHP0JAXXf7hE2TTDD-Xg72K5ICOhyW2GBSRORb3luCCWWmS1yVWVkmVoTwTxFVCms3W508KX-htAU0xqalT6eLA0hk6oIO3dXe3e2SvBmcpISn4xGnbVSDCH9Vw9D70Ncs3kIGGOH3jg_ls3ksnTDAXHrNK-efqHSWGU-Ma5bbJdZn7O9xAfdWlAF-lRx7hr6OzZo_i4RrOXfF8viLcUMnOo_yP6MaH710RLfPHimqubRRlWLBy7LlQwHzwT9diAtf8sfVFo3gDfiUXcmYnT7evOBVFE3eWkq4diQePS_5nqNxKKTIhQDbZJWd07ourqgy0y3jaQ9gK734eWug4zrAKkgkTVA5upgNuKb1Kn2RlmBuO_F-vrDk9Rq2H8jcBm5ZoUzrrz6NFSFpMpgCkwQHnbMDtOOkZxrDScm5YkKy5lzrIRjwcjXZ5Ni47ih1LyEM7vuXfvVmxtYrrma-JmhaLbSc7KtbaIGWaVhWj3UVEsSMfGVGhH38qvv-NFeIPBifO39dh7FBFJYuSP831ufy1Cdxay-geUKnXAQUpvnV4h-kmALkSaAaFfJMVtv-FkR636pGE1ogQ4QWYILNa1D0iJ7UuWm4J6asBwVwjFU24kd46864NvABvHSagYzFg5DMaY5UW4w3BXZVTErJq4ZwvI_PkrjmIfJQTUJ5qZMRMmgoKO5RSO24hRmq2ispRNw5LpkCVUDgyaaTlTQAmLq7OUj7dagPIAJNfRvG82RkLl3jh5PUrcWW8NzcFtNgwAl3oM8fvkpqS4XvJdbIzM4hiMdaviI9Un9Q0ZnoI4fb9rXIe-mPtrurNPP4FwYlft7EKm-rC2-x1N1OIKSwBB7D0y_NPYEPsySHf9R7Hyo2w5t8qssW",
  "id": "rs_0a9c4605c8743cab016ab42179676487d09472f23a21044da2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_z\":-0.015},\"note\":\"The pink bowl is now almost centered under the open jaws in the wrist view. I’ll lower straight down without another sideways correction; the camera projection shifts as the wrist pitches during descent.\"}",
  "call_id": "call_pUNUoF5RIraIq5Lj4t5yceme",
  "id": "fc_0a9c4605c8743cab016ab4217c088087d0b6ec22c3953b5aa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pUNUoF5RIraIq5Lj4t5yceme",
  "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]: [0.009, 0.997, 0.8299, -0.7212, 0.0261, -0.0006, 0.9958, 0.8604, 1.5669, 0.672, -0.1757, 0.3187, 0.5686, 0.9943]\nstate[eef_state]: left_x=0.2839 left_y=0.0015 left_z=0.1609 left_yaw=-0.0279 left_pitch=-0.3156 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2565 right_y=0.2188 right_z=0.0138 right_yaw=0.2214 right_pitch=-0.4111 right_roll=0.0337 right_gripper=0.9943\nstate[joint_eff]: [-0.1846, -2.3043, 6.7077, 1.3651, -0.0611, -0.0464, -0.0122, 0.2256, -1.3197, 1.6889, 0.6471, -0.4322, 0.2564, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4def1ba76bcbe85c66a93df8e2e8ce067a6327cce42b75ee49181b39d01c64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7547bc38e79126e9d55cce60dcd064cdd05db560ea4913946b07c4d749f007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a1ba98805df65b9777f57d8b0a966510baf056f465ae53b1a23754e8ba2e05",
      "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 136 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6086, 1.4105, 0.5179, -0.1459, 0.2001, 0.3859, 0.0415]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2655 right_y=0.1466 right_z=0.01 right_yaw=0.1844 right_pitch=-0.4319 right_roll=0.0402 right_gripper=0.0415\nstate[joint_eff]: [-0.1026, -2.4137, 6.7487, 1.4139, -0.022, -0.0708, -0.0171, -0.1162, -2.8239, 4.7932, 0.6032, 0.3785, -0.188, 1.1258]",
      "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]: [0.009, 0.997, 0.8299, -0.7216, 0.0265, -0.0006, 0.9958, 0.8448, 1.3754, 1.1019, -0.8425, 0.2825, 0.5674, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=0.0014 left_z=0.1608 left_yaw=-0.0282 left_pitch=-0.3159 left_roll=-0.0171 left_gripper=0.9958 right_x=0.2506 right_y=0.2136 right_z=0.1473 right_yaw=0.2228 right_pitch=-0.4667 right_roll=0.0322 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -2.4137, 6.7077, 1.3944, -0.0562, -0.0562, -0.0171, 0.2256, -4.547, 9.3744, 0.8083, 0.3394, 0.1343, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7212, 0.0261, -0.0006, 0.9958, 0.8604, 1.5669, 0.672, -0.1757, 0.3187, 0.5686, 0.9943]\nstate[eef_state]: left_x=0.2839 left_y=0.0015 left_z=0.1609 left_yaw=-0.0279 left_pitch=-0.3156 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2565 right_y=0.2188 right_z=0.0138 right_yaw=0.2214 right_pitch=-0.4111 right_roll=0.0337 right_gripper=0.9943\nstate[joint_eff]: [-0.1846, -2.3043, 6.7077, 1.3651, -0.0611, -0.0464, -0.0122, 0.2256, -1.3197, 1.6889, 0.6471, -0.4322, 0.2564, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4def1ba76bcbe85c66a93df8e2e8ce067a6327cce42b75ee49181b39d01c64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7547bc38e79126e9d55cce60dcd064cdd05db560ea4913946b07c4d749f007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a1ba98805df65b9777f57d8b0a966510baf056f465ae53b1a23754e8ba2e05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGBp3t2XagbrADc6pJtIIDbVTnzRRC1YorfZ7wbCug_DYbbJh-bfFhB9MtLQmfK0dCfR6DK0-nIgAqn8NoO3aDyr-rIJX8nUNj0gMUR5Gj4lAFdtfMGNhzef9Yh5xUEO3mAYtQZMSoKrm7sXwWbCCFrcPTm529x8G4g1VAzEdjih2CfONOMSyEN294PtyHcmwQzPtDl2-G0GO5GUxMm39LLgTB3wfg3GvaPSySd2K3JkI3hNBe8mPsNOswWuciQVVlSPn4FHUhg_rwfNkjl6Dp-WyoLfMDZeA8YJn3lbjHQCqtJ_ExH8DbRHZBG-bo0XuGAtewfY5y5cNfz4EMWdOQ9hdVr6b3SdC25_yj2kphZ6ox4TNAOKKEwK-C0VpyLN2PXxI2PT19CdMqXOgtKW1_OH6OYgf76eIpTNcD9TxNfx1c2ghz5_gcuLCLlvmCtFzIK39RYmbBVvUY3IvCXtGusNJioO6WG946TJYNX1GcIqAZ-SZdRcH5UqgWd4FJhw7h55UJSB1o_tsQ_GbY8s2wmO7p4aV4tSFn0wJZeOSd1qQOIu3kFx70G6h2PnPWvVAwG_WWye5fpcseJlFXmN-wegFFaEE-YoGTI68Tn4PWvI5QsUump-tKDCWjgvHr95W2oq0iAp4Y8Pcxy_a7XFMdDe_ZV79DVjHoFyREHyTUs0OFuK20A-ZYGqCZflufqV9lkzGLc0ynwG5EgXCt-UWE_a9MNGDw5xxBjVyKeMyySC_XK6XNgCmWRO32es7lesgatiqZQbQkAMT1Q33uheUtdT_FDWgnOL8AYmtfA5d8cxCe1d1dwGkfFfK2mnYrix0C5gJ32L0WcOSarKuVaFDmjm4TyLV2YjWPvHABk4hlSLv7bBJZ-7BrcqHTvydy7bA4oX0b2N8bFFwoOhex1hMzP5hiZ1_ELhOW0WeMRpMN1C-eK0z0Ili-CR2CS1kAdiTLEkB_4c1r33lu2w6gQME6rkcHjxgUBH-oDX_QCVTUnpyGI-9YueCXCQoObVtZ4VqaZSWouSLs83tvpc93sZMyCe4gfzVgX3ryE2-H4I90crIaVPZDXIdeks0aJZvXr-qTUQPbxrmbgdriLjnI3-c9HntadbIGzLT3XDrad_sX4EOCClBZ3wxgHw9BwVOqoSezWHjw31B5gw7lY6yXkx0-7qesrFtHwNB8Js2U0P9dhx_0vRlHXUAGudLzOqMqIeqxlYnuIBSUMN5BlQvXbxnsEZf8bqkml7_rXpdMLd7R1Pl2b_0issMbs6xOm_I7bNYMelv1zZNiPAfzfTIRwdt169hFPIsEljF-ErEpeQt4wujI21aEhoOiaZFh2D8MmCLbYLHOMEyuQ2wcJVCI4DL9s6tlOp7zmK7B7yxYxEL4st03RVTp5wK0xk_vRXFvb4TzqxHwBZZ8DU5ZMCBtl1lzdwrx-X3m8NWI38UmfCvuzBD_hKIPrMrXXbhEgGOVzbI9YS21b4ldkOi7o3zM6_A01cmVDg9E6C2HWfkq9grGhG4yYY5lSI9HWEWh1QrFgeRxUr2G9YCNPwJFcGsXj9SyRbNOHPLIb8j_vlKj-hnXaTkMqv3IeKZEULGv4ViBTz7CKHbLoV8BSRXJ140MsTeuuJ8xb-XJQqyyfcgx_7HNB-nZDLn8mDfr0PiqEO_SONymvJhSYrZYsHT6oehdoJgHRQOtYV9PjIy1g-HMc41GKGkpX87BLJJMk3sttPMfrMa4nIWYiwWjOVTbDPCXmubcX1RoeHUy18xPyetnNYLhgx4A57KKsfxwlrdVA0yNpcKN1JQB5t-IgpeDEKbZB9pxycsQ6GZiT7KGyTRzodjmKEsWjcMrTJdzBOKmZYkBHhNz9SbNpT57b9Rt6oE36DikpkkR5jSR81GsacI0mW98a3d57Iq0BZrUvwlJO_LE8gcJ3K4DHljvbZmzH-tliboa4UNoZh3CB96Wk4HIHC2aYoOY=",
  "id": "rs_0a9c4605c8743cab016ab4217f15a487d083e5ccf241bf82a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the pink bowl’s narrow lower portion at near-table height, and the bowl is centered from above. I’ll close around the whole lower body and check for a substantial retained jaw opening.\"}",
  "call_id": "call_fmFZGZwsr2VPhPYRHK7wUpCh",
  "id": "fc_0a9c4605c8743cab016ab42180915887d0b40e97353a81966c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fmFZGZwsr2VPhPYRHK7wUpCh",
  "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]: [0.009, 0.997, 0.8299, -0.7212, 0.0265, -0.0006, 0.9958, 0.8619, 1.5764, 0.6628, -0.1825, 0.3069, 0.5587, 0.0083]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3156 left_roll=-0.017 left_gripper=0.9958 right_x=0.251 right_y=0.2163 right_z=0.0067 right_yaw=0.2314 right_pitch=-0.4377 right_roll=0.0204 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -2.3726, 6.7897, 1.4286, -0.0611, -0.0464, -0.0171, -0.2667, -6.8581, 6.1607, 1.199, 0.2418, 0.1001, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aa3717157edbf0c6aa0be34fbdec9517717552c07996698c188a9cf673b955",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52c75c45d773d1766b1ff962ab57e13de34cda22e8055c6d778e590053fbd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1fc846b71f2318e90d51be6183d35004312b2a57bca4ea9337787f6ac46d64",
      "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 140 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.6075, 1.2465, 0.7532, -0.5568, 0.194, 0.382, 0.043]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2647 right_y=0.1469 right_z=0.0881 right_yaw=0.1887 right_pitch=-0.4444 right_roll=0.0381 right_gripper=0.043\nstate[joint_eff]: [-0.3624, -2.4137, 6.8034, 1.3846, -0.0415, -0.0513, -0.0171, -0.1162, -5.5179, 9.0188, 1.2576, 0.1587, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7212, 0.0261, -0.0006, 0.9958, 0.8604, 1.5669, 0.672, -0.1757, 0.3187, 0.5686, 0.9943]\nstate[eef_state]: left_x=0.2839 left_y=0.0015 left_z=0.1609 left_yaw=-0.0279 left_pitch=-0.3156 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2565 right_y=0.2188 right_z=0.0138 right_yaw=0.2214 right_pitch=-0.4111 right_roll=0.0337 right_gripper=0.9943\nstate[joint_eff]: [-0.1846, -2.3043, 6.7077, 1.3651, -0.0611, -0.0464, -0.0122, 0.2256, -1.3197, 1.6889, 0.6471, -0.4322, 0.2564, -0.1294]",
      "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]: [0.009, 0.997, 0.8299, -0.7212, 0.0265, -0.0006, 0.9958, 0.8619, 1.5764, 0.6628, -0.1825, 0.3069, 0.5587, 0.0083]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3156 left_roll=-0.017 left_gripper=0.9958 right_x=0.251 right_y=0.2163 right_z=0.0067 right_yaw=0.2314 right_pitch=-0.4377 right_roll=0.0204 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -2.3726, 6.7897, 1.4286, -0.0611, -0.0464, -0.0171, -0.2667, -6.8581, 6.1607, 1.199, 0.2418, 0.1001, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00aa3717157edbf0c6aa0be34fbdec9517717552c07996698c188a9cf673b955",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52c75c45d773d1766b1ff962ab57e13de34cda22e8055c6d778e590053fbd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1fc846b71f2318e90d51be6183d35004312b2a57bca4ea9337787f6ac46d64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGHJEk0BPHTUnckB4diVkHHybaHhNec_A1ChJ4O1xO8N8E3eWcpXioXu_BDuMCh86HzVtZBZZvlWSizpgEJtelEqeef4bCDn8PNW4sO41UFlIsbH6rrhth3FU-vXjp5gVeDLgPkPVeK29K6DTHuSVdWR3UkZoeJ66_X-3qB_50K3c2unNwNmUphmuw5wVQ8unHC7ZAZ9VzG4sCLGUHnhjS-deEBwfJ4cmTumDazNLA-yqyIogTXl58-QHqvWFGfI50F1fjQrHUnvVdM_ujjZjad9iRs7IwC3-qPMpWhY_vJ0U7hWuA_tcgMzHo_PtGDZQZO1yBA_Q2QJdqOGVhkQqykDw22wZ1hx_4ENFQVZjqCrZI0jxh5E5STWeQ4P_uIhj5B7ttoKgZRpaNUfqUWBjfy5bkyF8Rk_QvQUoiFOZJ61fcxqQDp3iOXBUn1IS1PKbp8hs6k7AhmdBtDoNPqhGfyxW8tcHEXzWAGqGLTHXT5YKwvT7OQAptV0q-i35QXFxYlyNQ_QS7Bvr9poo7q-ulioi-ctToFtF0jnz9roYe6AKDnJdexKapCkxdhuprAYDxDJK1m3SDRtfkYzmq4OVIM_XSoS7dydUXXlRsJOfn4lVB7e4VnfGSpGlnFkZLq54fRjNtlJtVbd3aor_2rvk8ZCzr3-tD-31uKVEje-doJqPl452tb_fDGcH2g3jU4QihMo1Bvii_wHhJ7XI8JIgA-G9A1MwB8COQ6Qg4MiD8e44Ueai_DgFcoDUPkNSNPBnzH9UZZkXkx0b9dK3UWoOSGl9LT2CW1ml782-ZDiIo3DQAPXgqce_3cSDAuQNYQ2P8_qAR2NdcpnmHKYKEazaOnEbDlkFzZU5nLwoFSY0aepOqqcxXCxplGZHNy7cw85O2Q_XPq1F_n_526FGY7NlZPD_S37q5bQGXOhqJb0PglFsM5MroXS7r2ibvKoYi9-MPfuyjgFpth9SSP_ciO89HDiYBb7eMqZdALD7GiyxQ1fvBOwa3K2Q5D__fCyhsBz9qg0DXYVP5wIHQxa-sItT-VRZW9xKa9dbWvHLXv_U4_vQF03CCc4OpCem9SY2Og7729obdQ1mTAfAaCsU-rtEPTNA3u9_oYdXQFDEbrTJNYgmGpU-9gQYrxAfuSlI8pZtTPZuQG2cfjISsSdIrfBdXnlhffq1uSCao3u17uhMyXnPFMTDE-DS3ArZ0eDizleeZ1QFEONbhHZMoBFm1XS7BjW4JJVZWHXH1I6fn1Gra1RGk1uKDPo6l8t3AltBM_Ll9QuNL4Tr8cIaPZNTfe7HADf9T4dDls91jpgFkKYfv4rELy5McpMMXYg9l5LgiD4VMtisogxhDptYVVWW6ZM8rBEFxeFNMPFFLbIc_BegXpBEq_0LeD5Aw0tH7sba6BfAfeUm_dIB9TAM6Wd7wQPcJPXfMyeH-3ChDJjO6H-S1KUwh2o8I5O1PxYBKqOI46KcRlRV40xYRZqzFi64Dm5jTdaQWfrqNLf5jsX1VnUXuDQdITT94ljPE_8j3o_en5lO9NZy0NzKUNKKm-7LFuQI7MgdOtzsiLupcIvgoz_uvVZHzdHZ_eoSOi9VqWXljSQ5yP0whf4Fc7K0-_uR8gG_AbK32y8VVS_MHFZe3GXWOgVIVQlCr87pGGpOW6DsiRxEjtof9WsOSkcVznTaRstiLw5o-fnE4rje7Q9VPS_f2Im4p91zCzWfdMg7AWFq5S8zRh6mC36XkV_5WHoc7j-mnuB8Ps3AEqwKdIwY5kZkHHP8D-uo18SFXRzWk6udifS4X423HiM1gpBcoaTrFlf2hYMo9tEAn8GPwv7GAei6aI62Byg4muaL_T7V9bSuho-nlkVVkwUXWb_78NsZqSMvU758EvmnC3Rv6_TUtCgZvU-LyT07xlPZRc4hNSJAzcq49g1kbM6QXtw6juVfiVqpU8cERsW26DVHwcTUeZ0HtwXy7Q_MkCTrGeZMzIetty9rnnlreCUOOheE1_kh5R8Bg1zL4ML51ZJorWDz0XDgIBdx1R40G6P04O6F7NDJ77z6zknpgy51l5qD32mBkGcc7Oes-NhXhrw6RU2yDOtv4yR9bs2jrUGk1wg_jQINA52mq8GTBVVQo6Kxbegs9Pz5L704XB24locczX9abNxIV01M-0Gy2tAHhlTauZ19j2420oeea8LDRdqGAGTQ9iG5hz0z2y5oxA1kKA_xoT9gawyPKBZsObW0Qcf7VF4mxtewDyh4cfPn3i9DR5NJ4Aqi8HOHRe04gvGp7dIzUlUJigF-8AeX8sMZ-X8S1OOJEtsh7BWr7ZZcaRwl8E4EZ_OnXJMSWXItSR-eYtQ0B07pH3cBhQXhJpffcoDZh3y3KkfD1clnXb4wmBebOffwdWjrYJXEyBrnfpA7p-fjw9XgNTxnG04Sy4vKAZLOK9YAkCi55Mhpt4V1zV7HETm1hnqNgIUBq3JFcWC3zKb_szcyZXGO7_UMla30rsIXBxt6KUEKRhzJ-Orlo81Ap6KxJ7G7fu6MlPU6YmUYQp5I5W8wYi1apURtugPmfeS7A4yBDS7Xm8myhFDd47uSokFNJq5LsFOEdwDaMEWylGNH-ADge2FkXJMnOCuAuPxrIPUMQ-a5iSes24mRDT_clqdaQlBocQwK9Yf43rf_2uEum5h_I0q_WF-FWij1xtVpZmAUGyFxLS4ROejcIkM_oksbj68Je8Zg_gb0gj1pA4TjbQ4Ai7fb16aQ9kJxeR8glJ1KarGZh-p9Y4kR1QIK-dJZ_epxdpEunEWWXhz8dzBTsyOJSO0lDUusxZyTrczfXzLV3gKxvpP_ozzxqPTwETkINMk4O9dGW1slB-YrFOnZ6lOsHtAE9JINGzIxWOwx6lu3q9S9VVC-zre9f1A7qqKLJFduLKC0GOvNyLgoqtVqv8rP_LjbVhpq8xHGawE8iwJHhO4BDWkZn9ReKfdA5etzDqxTRDXQ==",
  "id": "rs_0a9c4605c8743cab016ab421835c6c87d086e99dde11744164",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.265,\"right_z\":0.115},\"note\":\"The gripper closed completely inside the bowl, so even at table height it missed the bowl walls. I’ll reopen above it and position over the left rim instead, keeping the fingers clear during the sideways move.\"}",
  "call_id": "call_SwoqtnIrBSt5l1CLfp9VnDXI",
  "id": "fc_0a9c4605c8743cab016ab42186aa6887d0a8bbeff4b0872b0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SwoqtnIrBSt5l1CLfp9VnDXI",
  "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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.968, 1.5482, 1.0679, -0.6544, 0.3347, 0.6373, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2484 right_y=0.2649 right_z=0.1013 right_yaw=0.257 right_pitch=-0.4533 right_roll=0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.1675, 6.7077, 1.4774, -0.0659, -0.0757, -0.0171, 0.294, -6.8855, 8.4171, 1.1111, 0.3346, 0.1197, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265ae42754dbcec9a89c86d8970f3dea3d3701fa4a96d4cfad7aca9d45c439ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a829d806504baf36431e27d83c2949aacd7c524c6b42ff7d27f4026fb56cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c74cc31bd058662acfe0c03ca7c55cef46977c05165b5c1e4b54c0752ab3544d",
      "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 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.009, 0.997, 0.8299, -0.7216, 0.0265, -0.0006, 0.9958, 0.8448, 1.3754, 1.1019, -0.8425, 0.2825, 0.5674, 0.9953]\nstate[eef_state]: left_x=0.2838 left_y=0.0014 left_z=0.1608 left_yaw=-0.0282 left_pitch=-0.3159 left_roll=-0.0171 left_gripper=0.9958 right_x=0.2506 right_y=0.2136 right_z=0.1473 right_yaw=0.2228 right_pitch=-0.4667 right_roll=0.0322 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -2.4137, 6.7077, 1.3944, -0.0562, -0.0562, -0.0171, 0.2256, -4.547, 9.3744, 0.8083, 0.3394, 0.1343, -0.105]",
      "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]: [0.009, 0.997, 0.8299, -0.7212, 0.0265, -0.0006, 0.9958, 0.8619, 1.5764, 0.6628, -0.1825, 0.3069, 0.5587, 0.0083]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3156 left_roll=-0.017 left_gripper=0.9958 right_x=0.251 right_y=0.2163 right_z=0.0067 right_yaw=0.2314 right_pitch=-0.4377 right_roll=0.0204 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -2.3726, 6.7897, 1.4286, -0.0611, -0.0464, -0.0171, -0.2667, -6.8581, 6.1607, 1.199, 0.2418, 0.1001, 0.5836]\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]: [0.009, 0.997, 0.8299, -0.7208, 0.0265, -0.0006, 0.9958, 0.968, 1.5482, 1.0679, -0.6544, 0.3347, 0.6373, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=0.0015 left_z=0.1609 left_yaw=-0.0282 left_pitch=-0.3152 left_roll=-0.017 left_gripper=0.9958 right_x=0.2484 right_y=0.2649 right_z=0.1013 right_yaw=0.257 right_pitch=-0.4533 right_roll=0.0177 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -2.1675, 6.7077, 1.4774, -0.0659, -0.0757, -0.0171, 0.294, -6.8855, 8.4171, 1.1111, 0.3346, 0.1197, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265ae42754dbcec9a89c86d8970f3dea3d3701fa4a96d4cfad7aca9d45c439ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a829d806504baf36431e27d83c2949aacd7c524c6b42ff7d27f4026fb56cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c74cc31bd058662acfe0c03ca7c55cef46977c05165b5c1e4b54c0752ab3544d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCGLWWgPR_4o0SyTUN_MZV_06Ly78PXfQBVpPx0rZde3YGXVk8euNuRthuJt_dCwkmvjamJkt_NrmufUqiXcPnbyTUitqqVzZadqsB8LEMiqSEg7hpr8nP1vaLHOPtl_VbNW-ZeMuLv6NSVH7GxqahT3mBvQalejYFDbc49cqI7QkeQ47fztBxOFlDlpYsdTMiww5mZdT5TfR_o2FPIiJnJdaBg8V5xLkW9PjKuJXXNyin-TNuDCpZsvn3-mB_vcl8ofcKiIw8d7issLYmO4dk8XCjTYtqCcfCVzG6EUnDcOxAemxcNVBEUZHObuNNtu7-2oGXxifsIK59785nkC0WsyDNoCiQV0RtqDDkHgZKa39edDIIPjmevAjpWrsqmv_7xGtcRLVCykx2ZPZ5vexZGVadz0G_bNH3YvgfXh_O5aYmKXDFCv_aZ6EPMS0su9Mb3S6wUGV2ZAed1VDkeoxr5hx1tSKfZpS788vPoTCHhfAwsDTYuqil0sfaRVr5pBhtlToG47kGp5R7OTx6N1P_6HRtEXg6LQ9JI6TN8h2rzpjUD-yQCmpIr8F3oW61HXi6_oMD2jhnrcIfZmNR1XWAjJ1UVlA-OxpoFlTQ5LY-tqr-oODNTLwrruExKWbCHaid-gUacxJyxltnRiAnyxPQL-4fZ1W-9u2EmFElWhi7wFJfQT-p9gxHFcdL4VI1KHpuHOhDmC77uRL3chKSSeb8iqLMkdGPkSzil7r0PxyHUdslsSVRKpQqTVjw4QccvAX_DLAUi_jJMwM-XqdOwV2AUn6YxKhIy6YtMI_lIs3fShl3dKjmUhUyNuNhg33I_fBJUJ54SiixCbn4jh40hqfDepDCvrvjomgHPOPkEt1YeZxvtGvQlcWJMNln93jH1YCaDI3_A8EZ-FpLwWKIe36SYvM6fkDg5_ZdBkfJ5fcTE8x8RhomHYmzfIzgHJ5hmciRt6d-y6DUrCdar8EFN6DcJfg9rPa5BNdM224V9umH9rv77vCh8thlInX147JX-byXwFl81yKc4t1WFjl_d5GpWgXvBevnfzVCuxK9cAmBAp86b03qPfLc6w8LD1UDwa5X0JQ_RPcn6sfErn_qg7_ZGAT786_Ba92ueapD57v606IHZ8wRQOE7g3Iu_8uiXTZ2jF-6R9wU_Ln7kn0AkXb6TvpFf1rJs2kkDO2kf-d45ctRM8SJMph8Jbjy_zTgm38M4v-L2gbDgI-Zk0x7XSMpxjVLhAYXRXeDi-ZWsnOwPamHgOdt4BHWJ5HfFNj7b-SrqByRLtyF4IrCKgdwc_q1FVqpQScIMDZomOriBulbHGw79Vd4guU_f-knNMs_-yKXNnA2ZcX7BxZ1QMltS7SaMrWC9MWWfqhL1EWv8OP3nvtOV0pem6eFPQLRxkEs3CSYB9LUPsdr5oaaKSspknbi6c00xQFpp_Y-GpEd_0rNGSBZ4os_CKlXSWcO8rZgvXA1Rlo9Gg32YZ1x8hqCaAFCASdmqJZ1tENlVbIlY77IyQSS-sTytNvkqHMPX05wCVTHaumQGbWc3oRvDhMs3oAX2AVaK-MyFt3m4IDVoSJQPNIC3ZjEA805CI_a_5mMLbdlDSecYs88_3VFTUjPSmyZmkCLL74jqPOOEzECDLoODYScxfJDeNv7TGKffFAcN-CauooO1gBvoD-2yGmtAVb_8oEpTA7MeeECmkArGwlmYX-H281YBpAJfRGO5hIHonqFmRL_HjGIfpi6QsJzS_ClQ2UwcCzUyDexxRAa3Iz__EuxPFfaaboHdTRpNZcXbtaOFYbBYYDS-uP5eBA2KsP6f6GW6WN4fNWs0E1N3PamFY-tUVVokm2YrYV_LxFrpJMkwZ",
  "id": "rs_0a9c4605c8743cab016ab42189d37087d08b6e0bf3cc61af39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The pink bowl’s left rim is now on the jaw column while its open center is off to the right. I’ll lower at that offset to try pinching the wall rather than closing inside the bowl.\"}",
  "call_id": "call_Rv6zyIVBj0ywg7b8bYEFj3OS",
  "id": "fc_0a9c4605c8743cab016ab4218af2a887d0a54c084c7be3c18f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rv6zyIVBj0ywg7b8bYEFj3OS",
  "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]: [0.009, 0.997, 0.8299, -0.7216, 0.0265, -0.0006, 0.9958, 0.9676, 1.6234, 0.9154, -0.506, 0.3321, 0.6388, 0.9957]\nstate[eef_state]: left_x=0.2838 left_y=0.0014 left_z=0.1608 left_yaw=-0.0282 left_pitch=-0.3159 left_roll=-0.0171 left_gripper=0.9958 right_x=0.2383 right_y=0.2508 right_z=0.0399 right_yaw=0.2301 right_pitch=-0.5144 right_roll=-0.0387 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -2.3726, 6.8034, 1.3944, -0.0366, -0.0269, -0.0171, 0.0068, -7.2957, 6.7897, 1.2918, 0.2125, -0.0122, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e1da80f9ef4ba223df03e63dfb5f7dd6b91a09b662ff06eeda037a75209613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06541f544609703130c346b6301ea7116130ec43d20d5d26bdadba5abd6cd047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f76b94c40a2d815f2f644dc4d957eb4a64c597836d3d6a5adc2cdff94e0aab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}