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, 0.7956, 0.6052, -0.3798, -0.0227, -0.0406, 0.9939, -0.0181, 0.7925, 0.6022, -0.3794, -0.0154, -0.0338, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1802 left_yaw=0.0001 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9939 right_x=0.2945 right_y=0.001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.6068, 10.0991, 1.8193, -0.0415, 0.2564, -0.4371, -0.7726, -1.2786, 10.2906, 1.9219, -0.1392, 0.1441, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dca0d228d04d623586774b8d1ae450dab0a65650cd90c5f6d991ab9c524c35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb7e0ad646c1b862479db24cf5ed4a656608bb2d762c28658da126ce0258b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efe8ac99e233ec68cf948a7354d9fcc39d56ecd282c7c81db548de99c685ac7",
      "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": "gAAAAABqtBuJrD7WiwPfxoQONeg0z8hm8QXayHrUA-FnbE1h5YxK5eAIk1y93vygILMNts-llnqNphzdB3WMZ0RETXXFLOSpD1WNuW3zsagZTH-GLDk2jsOuubjSVGDB_VfzwzLTFbOKGuwD8yC-7FuYqd63Jm7FqAd72zgtX1VFOMRVPWxL9b-SCO07aQB56Yoez4fM30XLm117pRgYfSFWjf3E1Pzx1gXIlO-V-fEFxG5UF0SU9UEE7o9GaEBsAu0ikht1YM3E7vzv9eUSoM2qFU_9uBQXWbFTBMCr7P3zKv3Isk_rSHuPs9yAql79MGXxY4b1nRbhAq68KR32lRvt9EH6a9Q6basudmkC_sJIuQRB8qsT6U5ufEX4lot0Ffi6eyHGOM-H9BrtsCgKCXPzaAp0UfEBnjf6SjGrw6hFK5FfWlRXzL52vEiFVHzylumZwWvMor9wyZXCraFnGyiWu6Gxi2ZzN-_rxLcgC_ZsyZ6q9Fbuo4AK0-BGSlrrjLbtxbNCkfr9J4O3cs_oLwuUlRXVvxPe2EwtZ46SxMyO7XulyNcoAF9kqNJeY5Ok2lajrUsQkbafEJBhjV_KNw8Q1LIUif6ZyY2yySScEBs1B0KnZ3Z27gexaQcYV9Ca-SPfrvrKQqQmFbt2Cwq131eVAtXwMNeMpqytAsiQRBgLgBELehlo2j9lwffzqBQvAf3MPHustbOk13D-ObeCqJ61OGpLzJng_MCaLlsLgeIevtx20y5eRKJwfpxQlZZ339UkgFQIgeSskyX7QQTV1rfdlZPd8jZBvC1cylwxXdBf6X-xawPTSi1RNzkzhAVFDuMq7vrGSEgwrEhQ7ukpLmM_H4d8ovudb_F3h-BZ3l42RNY45GzaMbHjw5ras7uCtx7xdyRqGDAwGePuXO4BNq44syo7emhfI5pSdsqahFEX8yTrlbAjY7l4pdUoI4GoQf403t0LbWmufguLIJCQ5d4Use5OBM6cCJ9v_P9xrh34G8WklASUyg7v8Qo1oBaIVfND6XkEB3xkscB39eYNv7RyHMp-9JeD2jreUSVt7CeaVFlZn8IYSoKGe7wIOyEd-Fx8IK9dAj_vo8Z80s5JTt0a_49lfjWUmVH6yGJhNEy_7C5jvRuegybUbbQ9AiShml0ADeRkxTHgn8F9QnaloghoCRwuybh3GT2PctyiK7XGeGboVUZAfiRWXYDpaTqZfR2QTiEr2wDI5zVNeg13pYnNYLMTaLWXhuU0xiBiJPM7wEjQw6KDjzd49oL4LSM3vLpG3mfXioQz2i5yBiePxo6bNvT3H9OqmJN04Kto4IifKhx_6spqCXTmoVSuNINRDBZkI31Sv5RhV9xytOobOnIwV4FvQsNNG2usPRpxGcQAocL2sNv7lEnlrusCb3xild8WT1i0EkqQEOpiK0dFw1Vw3SzYYdyl3L8Rd8cI7ZFUm-45QiBt3608XAmT-zqeD1o5tvSAf5XmqYtD0SNgnkdHXTaO9q9EP1ic9atB1F4pA9j0cXD346n_U3JJt9UQKeZE-knozLM67CxU0KI8XzdF4gBE1OUoAb3lJ2l5cYJjsdIFWKDdY_dUKuIKjkbvAd09oL7Ba-uVFG4vjDaxi-RTYVPUoTinDR0KuXUsrzTrLxR0rzv506rPTF3X7OQz95DPQIMtQW1Zy8iZRPem16Y1K0yk3x8AEemc-XmyZ3lmERHBaEUF1UrH9EIF242Fleo4Gk0Z53tDydm9mOnsGploUB-iri9yPgaoRCvBKEHbGAcEPeRz8LJtfUn_bZwOvVvze21Y9v235OzIaTD-xmd39dBjs6ib7EwFaS8HY_2MnUDxlRaokJjOS5y7LMrF_dFI8uFK0hQL921SV6GRB3xVECkwxb5MCxz-XhBcbzOUKpnE3U0MkfYvEZ3c9-TzkgXPd5kKSgrsDIg0gizdFyJvm_Wd4IcTSYzeWjJgJFUpztSwj82qfFmVku6P1sUzjrxCeAo5ww3ain5xziP9sts2KmWoEWPZaGuruMyfvF23nbwO9y5ebBCSDUE3tR8WPm8Swr6L_4c6JG0tTHjDh8trvOXWe5u4n9rpUjzHfT67bEzCwG-RXJYqNqtRG7uRQiYQCtJSyTuFQFmSB6I4GmY5Kqd121DpRI820t7kvHq80CA3LmX84hXv1rUptkh1y6KiE75bexqVAOKClI0agAWYZbHLZSA_4JQBm7yB4e744B8QD8Z9aMZ-75TlCFfrLV6JqGdkcvmbbswJVHbFgrXw4DBCPqQ6rVya15d-TIfi0na_qrbBOByaIR5kkfDEv2rhwueQlXvkRqrzinzuDygugu66OagqlM5rds26ArICiumrlz865AorTV7__t6gaQeGDM3FT8TvjivBJIPgD6SgMziAKqupHpNf74Oes-AfB5xtBZrCoHyWo1DFKkJQ0OTsc66i_lRkEjrIfegxN4I7z7Vr6eEF0XSaisOZTU62NJ33-SruYnd6EmpoAw-86ez657Gkuhtmr6gGsh9-X9TcYeoTvJ3unAb_LOReTpV009oN2orAVcWCew_-e_yaAkFXcUe3sw0NdQBg-NOAoIeMHV3yaGM35EaSRXPGG6InfwGtXGRRTCDTBpUz4rRoL5ImG991gjE3xP9rYYypC_hnoOT4_MpNyiP8jww0JBRFdvbP542iMcMFKaF-bU_m1FxdeI-PHmMMRJV7z-pf8goi50mvdSy6BKtu0Ty3OaRBgB9e3otAT8yZq9o9Pe0Hpr6HLxDZGmrEfGmNeeh3oitns3Askb-_xEYjEtGeeiT9ZsAULcUyyj_FE44UnCAsz-WCuWinCdb5sl02qVqiOaEm6_qR5aEnfKBdQ1Cpab5jkMT9Hk-s_Wl6tgKCA9x24Y3GB1GuRASSWT3Ea7ok4KNLHQK-jSwlQ-XPcEkMWoMRxA2CO1Xx8pgdIUK-7epJb4dEGDQ4Ub5AUBlECQ1OrpXJuKBEfSEl8CbT55grH-1kfLEREASIRQGM_p2GakjLJLNRdVWtqAExY6k-a_lB5M82uWyfDN_gSQ1wQcSa6BeiVjkk78RNVr_GA_wPZyV7iLDSGDgehF_4MsPPmMob_hym-GO9khJtDWpUL8Ge8G0dptnQ543NmltoLSSoS7D4bl8O6HkKA7cRToezJC7c5P2pqMvTv_6QeXfRYVGa_0QmVU6aRcUmzhripZEz075uOUNopL1jIUI277AbEbrcLvsbD4hjZBPK5jPEsOZO53PDKKD1PC0e7XjafTGlhjOs1qatRO4rkV85LIxD1lmf9Jx2PdQ50_Xu3lG26Pemc6CdfYrPIU1G0Hs=",
  "id": "rs_0101047fa121a2c8016ab41b851e1087d0857eab403428d9b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.165,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The overhead view shows three upright bowls across the table; the left arm is at home, and I’ll position its open gripper above the left bowl to prepare a centered grasp.\"}",
  "call_id": "call_0TaHQeJLKEthnOtRMRs01cyC",
  "id": "fc_0101047fa121a2c8016ab41b88b5c887d0b10235315d9cbd61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0TaHQeJLKEthnOtRMRs01cyC",
  "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]: [-0.5777, 1.5303, 0.9066, -0.0956, -0.4664, -0.3668, 0.9941, -0.02, 0.7971, 0.6014, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3928 left_y=-0.157 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.0601 left_roll=0.028 left_gripper=0.9941 right_x=0.2929 right_y=0.0004 right_z=0.1753 right_yaw=-0.002 right_pitch=-0.0183 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.5265, -7.0496, 8.759, 1.8046, -0.2173, -0.0464, -0.4811, 0.1299, -1.5385, 7.1179, 1.8193, -0.0269, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc59bbf1e1a473d93df6226fe9b14e030d5275b274cce2bc4d43a1380e66be07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f43b0a3f768993e3cb39fa1933c16d57ef9b1f1298e8ad9034b4974d473ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd006affa38b40f0bccccf834461fc43458f01fe9aa98db245060b1f5af3fdb",
      "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, 0.7956, 0.6052, -0.3798, -0.0227, -0.0406, 0.9939, -0.0181, 0.7925, 0.6022, -0.3794, -0.0154, -0.0338, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1802 left_yaw=0.0001 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9939 right_x=0.2945 right_y=0.001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.6068, 10.0991, 1.8193, -0.0415, 0.2564, -0.4371, -0.7726, -1.2786, 10.2906, 1.9219, -0.1392, 0.1441, -0.2515]",
      "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]: [-0.5777, 1.5303, 0.9066, -0.0956, -0.4664, -0.3668, 0.9941, -0.02, 0.7971, 0.6014, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3928 left_y=-0.157 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.0601 left_roll=0.028 left_gripper=0.9941 right_x=0.2929 right_y=0.0004 right_z=0.1753 right_yaw=-0.002 right_pitch=-0.0183 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.5265, -7.0496, 8.759, 1.8046, -0.2173, -0.0464, -0.4811, 0.1299, -1.5385, 7.1179, 1.8193, -0.0269, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc59bbf1e1a473d93df6226fe9b14e030d5275b274cce2bc4d43a1380e66be07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f43b0a3f768993e3cb39fa1933c16d57ef9b1f1298e8ad9034b4974d473ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd006affa38b40f0bccccf834461fc43458f01fe9aa98db245060b1f5af3fdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuPpYjYYpv_z0K3_eGqmCm9QHWbPpCMeYxqrpQkrrl1I6tF_miVYmIOmderbB1Nxm-ixjxHaOaIdAMFID6qkIKk1WXPrafKdb5yLbcXvm-eA1LlKOAGAeDZxegq3C5IWbsrKXqRVi44pmyyuFTqXPmPBxUxNYJobvJsXZZw7YVbIvWjQQgkkY3FaNwm_B4jvqvrvOEi5YrbYVsXhZ4ltOOBYY7879gAzOYZRIk6TSvWRYRpMfB38jcQjYraoWLnAQJf-nLrRqSaUuNrAjPnyVf2AOThJlDRnL6l4ehzkgOVxZ_NtyAia2UKWl5zeGSp9krY3ZqFvRXWbH0qVDEMDDNVn07tMf-NyakcBkCYQI9Y-vStkjrs3OnscoMcHfYkT_tmTXV2UbFcXkLXwMinw55ecPfuTdRrvt39AiBG4Rm84VR5aieGbznu-zh74n4UbtXMtj_AweE4amfmjwKewf12HOBDYhk0QC6zSlQWPQ7ho3qeSBxeUky2RRDBJOWRIYXpzQ7ba0tY5LxJX_bRIivpLjujp430DmePK_hmMuYVWKvPKukFYzqeqEFuR6w8RU5NJwgwvFqXODGzREBtFdONLWtzxlwCAf1fBFtyutpIu5cCdROWh6ZpV1Xs-pav7dVfY2ygT3vNXaum0hup-Jj5SEc1Ml02jO1hOuJwbAJT8Yo2nTUuU75xw0DZDCqiJblaONGRP8tfymuda9dEx7RViI0aF_MOBSlIo9BFg68DVW_vk22nSyqOSILw-6OmsHmr4Ibo6LEV5Bq_TTNQfFKTeIwBXkKxSHmCNBlwOQ71Mfi_ACd4I8aA2a8CiHrvJSfAq-EjrCazB8DeQZ1rFTqDFz2-wYM1hUaL_nlkId0VSw9owm_nwBuCojrSy_pkIVIdo4xS-cX5et2WH3vzdE0laSKPtkhKFxa44VSpQ4qMPuhURnwFoOEPT7WAs2a06BK4U3HwIWQfmBG-YAPsPjY7TNIczvFhEm-MDYuUJzroolY0yeWemN-guCnBBHrkyFdxu81MbOlx3e5WZnFd5fZXzRVgWzOY3Xw604ecgRXZg1p3nO-LfbNiyESfDOHy4lLv6Z8ZnkNAKU9MeHZT4lmAxdLy_KBCDkhjbD--2zE4xiF3gcPEaAIbMb4iw4FVhz1icIc7li4Thhy-4XR4xfRMlsnRRzDprtnDVwrK3lDkWRYRiK4aX1X4JoN0dU6XtHB2eFscMXHxb9x30b-yaGmK1CHh7d6lGkHpUzvDBaAHFeJ_i7n7FghXSB2MSMgPPf2MpFD9cyOo2b5W9kEWIWs7ryHNYVFf95QtMNQCME2XtGgOuY0qwipiez9nDjNxQBh2IKkwygOg2gixr-E67bjapdEWa9r5CVJmSm1MFWsol2WiL-9Onrm2o206xg2tbQ3T3DmEyjBPv1MQExw0nQgGI-lAhyI6SkgAodY-0wDb0K939ipjW2dxmq38xt8jF1D8elZMeNpd5Yg_rWSpFxpPycWHoAakE9EixNko8ki39rnXyzMDSs8IwaL2BKTbmNbq-mQ3yZ-Svx9Zp_3TRxAIWuLJzNt4a4W0vUcvIjUF7oG3mTfVbVdUcLJpUmb83w2VldFGXoPwDqBOpdsPB7WnaLSSOdTmJLUxxD2iVXOrPolLzfi9mPZrgTIRjB9mI2SGqa0r9hVVye67NUbGLp_R3AeCeuM593uHKS_wP2H-2j5sg5gRDfeDo6UgaIgfRw75oryn1uyGagTN6-lyrW1Yze8TeHv1bWogOTuhOFuK90nTpi5mXCjT5MyFYyGNp9Hv0c_M66l_n7EadR2m_HWvhqT1-xauQV9qoRjP2hJnDfP7sjb9sentT6asVfQO2ILsvxOKqsI_J3pITQcsYBBa05hVTqunSy4W-bktY3YcDsUCKyp_zhTM9Jy0bR25M8AOkODqie_76PnYMKpS0IpbcJUhSHZHA4y1GuzWTsXPeqfGy-TP3GbAE-4RuIvX9Wc5fgbh818dgXTJXwBLEmlTJwlPt_bVKDAM3YHskUBS_2gDVJ_x9_BKYJo3kMoEAc_bh9LGpQmP9F-_CCMsR6xv5cTtVcNuw_zZXWO_bnEzYsxqREEIqCkpDCzRNdM-Z8eABxJUjRSFpmcQVfLdbMMIwErsOrduVb1bqLfUgObZHTdq_wUgmlHRAqZr8c0Vvfe4kBhFn7bPIXXfIaR7A8z8OjMvaGEWgRjISoI-3dhdXlGEa4GFtNnzYYR1ielQMjb6jP-Jd5rWw7rkGWZy_djxUS0P6wEovyXVSblP24_XghyEbeF1du2xhAMFzg1uSyeY-RQIPyaVXvULgbGnhd0nO9B7vDtiLEiaSinJmOQW79s7krYLzmyZD6YtCXHqZ7xUuIWFB7udKItEZGaIHdshQinBjsn2airfwADTB23berYj5EpuWC99HgI92qej7_B2a0tCHPUPr8oLqVzBRSt38i_pE-1gHY-X7ic4KdQygVM3b3m5QKz2TxI0iArN5tbaaKi2bjCkDRqb4bZgmSBTHgzQ6EDOXgJ-anoVPZ6qM2Ov0SBFUJ_dy-di-ZN_e8UI26SzrSwD8G5tUurPn3M6n1Nus2qPGCDRwx6L_qSyBdmkBahPrymoBQYojFM4FicPXmccCJypgkFamJlHdOQD2CQXk2I_--ZbzoitTGND9iKsIA19-V7kDNPQq52ALdzgJcv0B1wsrPB3sy8E0QGfB1MsKnbGeY7ZRo34TG90HI702JVRfwWWZHc8kXW2kfM5fuGPPv_chcmAeHX9ES1R2EecDz5s2ibM7gC6_8O_T8YKNeQXini680fKea6v7g1Slyf0o_LMdUA_12mJeQmuf49qLfviKwNWTcq3QQc4AyF2c6brCYI_-ioxLc4ePWYZoo4DTezSN38yWjZketLKQNnn-JWA3NCCT9V-ZycrWqQ=",
  "id": "rs_0101047fa121a2c8016ab41b8bd1f487d0ad0a730b7f5c9cf3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.105,\"left_z\":0.125},\"note\":\"The left wrist view shows the left bowl below but well left of the jaw center, so I’m shifting the gripper about five centimetres toward it while staying above the rim.\"}",
  "call_id": "call_QLkM2NwjkHyRWI77K83BgmQw",
  "id": "fc_0101047fa121a2c8016ab41b8ef22c87d09d74db2be00c6a0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QLkM2NwjkHyRWI77K83BgmQw",
  "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]: [-0.429, 1.4723, 0.7963, -0.0547, -0.3737, -0.2913, 0.9937, -0.02, 0.7979, 0.6003, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3898 left_y=-0.1034 left_z=0.1119 left_yaw=0.0208 left_pitch=-0.1017 left_roll=0.04 left_gripper=0.9937 right_x=0.2928 right_y=0.0004 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -7.9658, 6.5709, 1.956, -0.149, 0.149, -0.0464, -0.0342, -0.8547, 7.3094, 1.7753, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b1d7fd4bdf2d29664f40af92555a247356e5817a2dae6e98879cd3da73e103",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8560c6b3831a39a57d9d8ee6dfc11af09e40c0eab743a19dbd6f2af297ba156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608a9a6e0e9b528855e49b516ec3d9ecb50b120e4b47100c2af2c1b6fbde6115",
      "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]: [-0.5777, 1.5303, 0.9066, -0.0956, -0.4664, -0.3668, 0.9941, -0.02, 0.7971, 0.6014, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3928 left_y=-0.157 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.0601 left_roll=0.028 left_gripper=0.9941 right_x=0.2929 right_y=0.0004 right_z=0.1753 right_yaw=-0.002 right_pitch=-0.0183 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.5265, -7.0496, 8.759, 1.8046, -0.2173, -0.0464, -0.4811, 0.1299, -1.5385, 7.1179, 1.8193, -0.0269, -0.0513, -0.0269]",
      "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]: [-0.429, 1.4723, 0.7963, -0.0547, -0.3737, -0.2913, 0.9937, -0.02, 0.7979, 0.6003, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3898 left_y=-0.1034 left_z=0.1119 left_yaw=0.0208 left_pitch=-0.1017 left_roll=0.04 left_gripper=0.9937 right_x=0.2928 right_y=0.0004 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -7.9658, 6.5709, 1.956, -0.149, 0.149, -0.0464, -0.0342, -0.8547, 7.3094, 1.7753, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b1d7fd4bdf2d29664f40af92555a247356e5817a2dae6e98879cd3da73e103",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8560c6b3831a39a57d9d8ee6dfc11af09e40c0eab743a19dbd6f2af297ba156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608a9a6e0e9b528855e49b516ec3d9ecb50b120e4b47100c2af2c1b6fbde6115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuVDspMR6H1uk1Qs8YuWTpty8YBTxpyNTHa-W308LQcQAXDifU-fQgPy5mWbrsEU_d3RC7BQfUfyF6yH3V-fqH8MVGBjsyl1lgmjB71j-24DSWSAl2iCDl4qILWWGVj00KgUOl8_bRhy2OuPIMpmtVZnCobzM3wWfTtpFiG9F_xlJ1dBxFpIeLfNhMnFmGHzDYtKIQUWCjjvWbMruBdKoVqzVhs-aEK1GhrVcwtadslg_o-dT5zwhZnvzVXyEFO4DwyRS-AkqKg_XNc0gcfqt1mo8MJ6hcexkK5vct8zaURaTf1GdLR7mpbBYfJ9l5THtrt7RWlsTsVx0U7AnKQyst-Qbwhfnd-MxPmPENegmBPGYpwcvuKa6LRS1yTHdJmodUe3Psr5UIrLEQqf6cRcoyxiCpHg8u3jBczb_UNK5nf1_UH5RXOpxBh3dPqqp2Hj2SkC2EEnfL8flzdmD6k9MiA24Mrezn25qm6N-NFCX_UnzPnpRn0qEdlccOHuKHKKeR1RbECyRbr-sKGpDCFbqkXXZ366RK8XWWuBK6YyluooGpWVwxDk4IqISYJApdnRMdif90rT2K7kQEabSOmNeUfQTCVDVE18oJGhNIHGxhYIX5hRG7-YNRQCRv5n-MA2cUyeYmn8PmaqmnQ7tXeNXUmT93P46V5vBTj6Vwu9GRuGRo12pUsRVg8Z3lGuMP1TMUkIWHfj5H7r4HkFn1ayHiXRD9jZ3rmMPVT1FGFWV6AFN4dfJMPdSSPLRph8XtrC8WkTYQC7uCJlCClGFOh1ZTZKxFmmUgysCqsDiDkUix_cu949mfprjmHxst-ScAZ3VcUcSqjYygdiySJLfjHrcFXADK-p9pzMXUr9PCGAltShuGEH_6iTPTHowR95BEi_bZe2EEScqBrF86_T8gj_XOgJyOHeMEoqjzgj6NRxUIbnA5Q5pn_uPXTPkS1BMu7oY3Wlqf2gLyOc-en9TDYodPzohkCGjCGEnFIgK1hqJFJR8Hi-6B03KpuiNvdof1DmSRIE_J7-cy6g3JHFbPJBpXJYCJil2FC1PLJWnoKEfrSrtmb9VXgjhkzzsahi3Y4Wq_1TvMoqbEqdTNP950N41EZdc9VmBM9effSehq3RZBS7TsXtGRzn-dXlebTQ-JQ7LYb0UCPkZ61qz9oKdZUA53Kr8gEbkHswZVyleKmbaspj_o8mqGk2lA52sIIdxJjlCGBWXWwG_WZ_557AsFhf9fHIN0e1GZvMktR16WyENI_OgCAQUpwwH8T84RdDViUmp56KD7TfbwAybXcg8HsWI_Q6j4AGV7z8mSQVWVw3Z0JLgyXNoLZy-sszqqF-xcbDot-17LAChMUzfZXTNUGA5WavAJHq-0GEZH2JvVF3gYf-z2qIMD2wmQijz--vu2lCksyXv8nua4Na_cwJausbO78Yx9YHDvjnZkTSGfESkpAkSjk1gGGdLDmUK86zShQlYiJFgnyXLRuwWW74yTMvM3yJKJI4fBtGxO1JGIxOW-Cph6siW8ooQQv6kOVSDZDYcmVO0Ff73DxoSxhE3QvrKqwSo0aGjIV25X5UYcSP-IbTToWUv7NlYEtcmlG7p_lBIy2jOVD6Php0h_oCfhKgqwUVkl-9fE4GoAVdyuci6uvKn9imDMm7k9mDoEyDxoakYSDj-Hve1Z70GDLJtIHxm3ARrcm_sU32iLO5zP9BdL92RzBsVhMA49LJ5UgPqRJz5m8GFFxQCr2GTkutkEPjdQycmkfNKemP_7wkjfPcz_NoRLwWKKvMygXdcspCVVUA5HhC0YyP4aKZm79IVpZiRfQBxXQuvAARcDuv29-ZktrAZTzddr9FkblfY7xwvtmuhFgzuXbeesklVkCwAxgP_H8h5ijgr3zUqKxmuMw3CM_65I2IzaBF6T6tUDnW05OD1U-ClQjVAYLgRIG7QyPp_4USjKDwv7DFSQEX5BbCzsrfMbzFYdmV6IipU_fuzLvaN7rkEWIULHw3vrtWnt00mi-1QEvtLoLqirbuJmnHXUMMYhm9IkT31yN7D3Ok4uITiDjYeA9lJx8wlovDt77mO5tiRizVsdQoA0y_YsEt-_GB_X7OYnx_EV9bwOvwWclqel6Is9j8jgAJULrudrpirBMwodlJ5Rb6QZePtdD4eeZc0cIl8SLuqoy2UoZb1xClH6ANHEe3J4SMtRJ3GLzJDygwIH03zGO0aSVbrfgyvW1-suilDz2G38RfdR5EbOIP_bV2BZt8KiQeuG2Fa_3GQAAAZgzCfDD5lcw-kg6I5VmVYdHCkXhmcQNrv1_7Y3Ku5D_kO49Hk5NetICPhK8fMWbN5uMF7rvfdI8R9hB037FFn03xwGwkAnr86WGZqrFWnGTCXXxOTh970YCBPRx0-Ki8kUV6HvQJJYmzq9SnpyS_8vVmdybEGTX79nV-cpKfTQWfs_xkXo2eFznocGos8QNOvJu9WDEX8QisyZkHryeZZ4vK3dlg-sOwDKjl2jke3OBh6JxQ1AP-ZHc8PYstnEXJYm-LZE_Enr4hl_QCcYu10Bi8rPNZDyyPqaNHlYyXVzrYGiTeS98vyFXMhfxL6k_TscDxVLiQDQthYRnMiKZoRnyuFcpeaN9hGuV-WVmIa1BvptXRyMJ4h0NB-oK3_-fofSw_b4qJ4kNZqLHPFa_S5Suslkaj8C3i3O8wQjsrqO5FkEQL5su6atk6nmYhOunelNfPI7Sh21M95-qmp4J5l_nJg1hKABuzf0eICrNOoD_4D-pXUC4lrhNzuvFXPP3Bw==",
  "id": "rs_0101047fa121a2c8016ab41b9144b887d0971644ee0cfdb936",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.083,\"left_z\":0.08},\"note\":\"The left bowl now fills the wrist view, with its center still a little left of the jaw column. I’ll make a small centering correction and lower toward the bowl’s side before closing.\"}",
  "call_id": "call_oSsJptqxR68axCco3E9y6E49",
  "id": "fc_0101047fa121a2c8016ab41b9457f087d086ed7d37b7c17d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oSsJptqxR68axCco3E9y6E49",
  "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]: [-0.3717, 1.4979, 0.7013, 0.0528, -0.3355, -0.2668, 0.9936, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3852 left_y=-0.0839 left_z=0.0819 left_yaw=0.0345 left_pitch=-0.1249 left_roll=0.041 left_gripper=0.9936 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -5.7231, 6.7761, 1.9805, 0.0024, 0.1197, -0.022, -0.1983, -1.3333, 7.1863, 1.7558, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e622d107e442db6c7cc8abb63f281ed4736bc30b01df82b22ee4d531d978ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978ddb5bb581c087ecd6dbf63df2186622bae18e2a136ba0ee640facae5c3ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929b30dcf3f594fa96c111ab2c91da1d8fcf323f52720bce6ebc512c7b7967ad",
      "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, 0.7956, 0.6052, -0.3798, -0.0227, -0.0406, 0.9939, -0.0181, 0.7925, 0.6022, -0.3794, -0.0154, -0.0338, 0.9977]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1802 left_yaw=0.0001 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9939 right_x=0.2945 right_y=0.001 right_z=0.1797 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.6068, 10.0991, 1.8193, -0.0415, 0.2564, -0.4371, -0.7726, -1.2786, 10.2906, 1.9219, -0.1392, 0.1441, -0.2515]",
      "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]: [-0.429, 1.4723, 0.7963, -0.0547, -0.3737, -0.2913, 0.9937, -0.02, 0.7979, 0.6003, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3898 left_y=-0.1034 left_z=0.1119 left_yaw=0.0208 left_pitch=-0.1017 left_roll=0.04 left_gripper=0.9937 right_x=0.2928 right_y=0.0004 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -7.9658, 6.5709, 1.956, -0.149, 0.149, -0.0464, -0.0342, -0.8547, 7.3094, 1.7753, -0.0269, -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]: [-0.3717, 1.4979, 0.7013, 0.0528, -0.3355, -0.2668, 0.9936, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3852 left_y=-0.0839 left_z=0.0819 left_yaw=0.0345 left_pitch=-0.1249 left_roll=0.041 left_gripper=0.9936 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -5.7231, 6.7761, 1.9805, 0.0024, 0.1197, -0.022, -0.1983, -1.3333, 7.1863, 1.7558, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e622d107e442db6c7cc8abb63f281ed4736bc30b01df82b22ee4d531d978ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978ddb5bb581c087ecd6dbf63df2186622bae18e2a136ba0ee640facae5c3ab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929b30dcf3f594fa96c111ab2c91da1d8fcf323f52720bce6ebc512c7b7967ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuY0PkwH4SA2cQEEtCMBDpOrw4vtO0dEqNSVkAj38dlKLBWl16bPNRDKHvjsCMwgZVW5D_qLNsDh3H4T0q9sIOZofFcOWEj5XE5QHeQmdF1k3Y_BpXluudXSiIyLvjTo2oN8t-wAH6YLZhkHY2Oyu698TbCDJB30Xfppz6tG9DYSCNSCzPdy4Zt0MJyG7I9wV8erTSlE_Qv--ZuPHosDP3MTZvk9ni5Qk22TBKwdkDG38zErAPi5vcyf4iUepHGEV4HfkC7EYqWH-CMwmsP7eq6PiglKq28z2TA6Sf73VHIcOUNTEEWFueagG0uEsD0ELhPMwRTC6V_UUCk49U85xqGoRxn3JI485OHKwP3BP4vjyAEuNqOHmJyphPXzmE1LUbD-ZuLkm4oiZqa5z_ZFU3lM7xUcqWGhYlyGVEC790De1F2ZCoQRzzDCuSdJ-Avc9MuysddQ63SjkSScVdc_ZU9h6YfgV_ECsQSjz32_tkcyV-6WN7aWjHb8maBTlC3tJMiu2nIkCyAgG0LUx6RLPDfrdK4uwD-1eva3KKeyEYAwQs-H6ZFgPsrkfVxOT9TLF9qwI4SA4rqTlNHenx9ooI9gZHKCRX-r9qqlBVuIibaTfcLrikYySe2bF-q72WCFMGS9dv4EiAyEGW9Qt0X-QG_RoPEAClBB9Da99MD6gkyT31INISUQAYr2ZpXcTCUZrJhGSC7aN6McrS1cOcQDLRr-yNNXsJYEByulYSebqaW8EUU1bdwmPZIl-EYzMT7E8eiS2cnMi-KjoTHs38VWljrYMG74W-4fucO9FXlUiOC17C-M-5bm99aaL5E2tg3QQ9LVZXqPXJeCW1fXtgGkeT-X8SW5iapAl9bYh4w9dMWgztz17y2_tHgHLUOC-3p8Q7ILqF6OTWcAoZX00PKIAtpWeB7s4sKOlS2di040hQ6pkk0OADn5NgEzy-EBxE_XH0hK_3rfAbH4-_0DJ0wMJovVW8GwrWPJ2_hcSycsfEf4a57AIeJ9rL3Wha6uVvi1xUdTKw-PPR491Q2GM11ysgpVwTn_BO9bVjF7kszHMcEgqzyJ0LbuH6_-6y_Uc3DAQEIAh5T8gFJ-N3pnijNsNmN7jllW_JpXmllQQpDnemf_mFsEOs01J8FbHUzsv7UKD0bcMbfG1O5enz5KpNYCYtVnP1bpdNbuB-xlsBRr1XSMBhKuaq6HARLN-mjY5Eepo0uz6ll0WYN2W1AHsr1mzEXxJs5-P_YBB-asMs1w2Xd7EGNv1KyhUjqtdOFe3WlAypfpA4nQ5_cVsXXVQuOFf2n9DmODr_4N9n8Rdtrjo1zf472LZ10gKAVZFZ6JJ7_CQCT4nKz18IJ3bsMUOuWtPb7mES2Kfnu6-h9MHt6ovzbr89i_kw3XjLv7otWR13zVrqgYdk4kz6ODzubM6i2Gws6XSma4_ZCoLQJ2-XO84K_4v4TuQVO4iGdSe2WoxnrFdEcrWTu14N0gtUU--d6QLk3RAizqN202RfKa1BaJzxQ5IsL38RW27lD-LbZuzbDKrqrznSstsPjaGTLwBy_BWMn3LzhCKJfQHqVtozVrVdfgQF4vowvhlvZzHdI-lXriVq6MQ6YytT2KQTKCjFDOE_KnsnYG9A3ApprHneD0o5OOopRC0agUCN5IPh5hSYyQr3ENaZWPREdI6r0zaC1oxxJBQ==",
  "id": "rs_0101047fa121a2c8016ab41b9656f887d0a6083c0882f76210",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The bowl is centered between the open jaws in the left wrist view. I’ll lower to roughly mid-bowl height so the fingers can grip its outer sides.\"}",
  "call_id": "call_ikKgRxREDcxfLqZnIkLkgzoH",
  "id": "fc_0101047fa121a2c8016ab41b9731d087d0a3ba79ac886edab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ikKgRxREDcxfLqZnIkLkgzoH",
  "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]: [-0.3592, 1.5166, 0.6754, 0.0914, -0.3294, -0.2581, 0.9936, -0.02, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3841 left_y=-0.0793 left_z=0.0715 left_yaw=0.0376 left_pitch=-0.1323 left_roll=0.0463 left_gripper=0.9936 right_x=0.2927 right_y=0.0004 right_z=0.174 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -6.5436, 6.7214, 1.7802, -0.1099, 0.0952, -0.0122, -0.0615, -1.0735, 7.0359, 1.7509, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca3e8de6f86c2f5ee7894eb88f319f05059d7410e6d93ba60eb91e844d82ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965305e6c6b5734bf1bd3a5bdac5dbe0c13695b05a8d6890faeba5ad4b833a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72570ba372a8636d4510d4abd3520138e968a85db4c0a7cd7b34872d0dfe1234",
      "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]: [-0.5777, 1.5303, 0.9066, -0.0956, -0.4664, -0.3668, 0.9941, -0.02, 0.7971, 0.6014, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3928 left_y=-0.157 left_z=0.1314 left_yaw=-0.0138 left_pitch=-0.0601 left_roll=0.028 left_gripper=0.9941 right_x=0.2929 right_y=0.0004 right_z=0.1753 right_yaw=-0.002 right_pitch=-0.0183 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.5265, -7.0496, 8.759, 1.8046, -0.2173, -0.0464, -0.4811, 0.1299, -1.5385, 7.1179, 1.8193, -0.0269, -0.0513, -0.0269]",
      "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]: [-0.3717, 1.4979, 0.7013, 0.0528, -0.3355, -0.2668, 0.9936, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3852 left_y=-0.0839 left_z=0.0819 left_yaw=0.0345 left_pitch=-0.1249 left_roll=0.041 left_gripper=0.9936 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -5.7231, 6.7761, 1.9805, 0.0024, 0.1197, -0.022, -0.1983, -1.3333, 7.1863, 1.7558, -0.0415, -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]: [-0.3592, 1.5166, 0.6754, 0.0914, -0.3294, -0.2581, 0.9936, -0.02, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3841 left_y=-0.0793 left_z=0.0715 left_yaw=0.0376 left_pitch=-0.1323 left_roll=0.0463 left_gripper=0.9936 right_x=0.2927 right_y=0.0004 right_z=0.174 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -6.5436, 6.7214, 1.7802, -0.1099, 0.0952, -0.0122, -0.0615, -1.0735, 7.0359, 1.7509, -0.0708, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca3e8de6f86c2f5ee7894eb88f319f05059d7410e6d93ba60eb91e844d82ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965305e6c6b5734bf1bd3a5bdac5dbe0c13695b05a8d6890faeba5ad4b833a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72570ba372a8636d4510d4abd3520138e968a85db4c0a7cd7b34872d0dfe1234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBubXBpwuGHcJc6OlJS24IE0vVaiupGvSp4sLbRO5vk3Avqg6lyhgTpuEi6d1CuTIv3I2o5Bf8Q7nnT2223w4nSf2DHoPH54cu1oHqkb-LhzZqoVqOHxMtu3AxonKgpUgqe0V7k5pHIgDeJ3-qR0AwWqNwPKTfUoLaY8h75ajTXTDr9AfYnAuIYofUXSGzV3a7NSofxLUMsvdL9LygAsxb5XKGBm34NH67KBp2VXgvhdocgnDO39OqyV8VMlhs-uXARdwXfnnoNScOoRYDL4iBY7iJzjjOpmRGVr5q3vtdC156k0TF67xLkwhdSs5_If_N8_vjiIbJOOn3RAE3wRRa5iy1Yyn14mqLbt0DjdkN-6QMYj7ttPL8csb3ls3bzjnr-wduKfDX6YAmBlTmT2hXHG8hPb2OS-YsYEwEvpFWwK7oRgLNQFlIZ7EZQjeHnV13ModqFRrfoMgix8gcyLXachD60iriF8nfJ_JY4v9MOXsyQY1NPQM20LxeRce2tmUuk_Gw-Ru51Sb-ogyxHOkydPh8JziIe7N_CM1tMjYuaQf3yjlamXKG1bTJ5UHDbxWWTjrOuuyyylUmuY8Q0wYUx8_4_XRI0i6Lh0XaiXMGqvuIyr_K5cP3enKxiFmPjL996OUOaoSWezJSLQPlyXQDD-S8yY2wodl7rH8pAqKuBCwcqiQeguEOkaMk9KpccXIxteqYl1WbRt2mD0J_Qtfjeqqqr2tmNShkMgemx_DzGAbNwfBahDeWN5GA5NhKSPnMfY00ccpTr9SKlXHD5-Nhpn4t2ZCo2d7bgweqfHXAYgeb9fUzVDxK2Ls9fYdeMCECLdoCyQ_PSNHhtIyPNVHTNbsfJHrbfHks_3gSwds4hTeZlttp1mpTCSj2Yn6yrLTfAy2rTY21QScO0Q0lVFh5JTiVR2qTR1pKsisC1FyH-VGazSjfR6Xzae1js-wbahToZ1bgTIeKOOIOfKPTNn8m01ZeAjEVAoynniP9f8OXmQ_XUreWJuP_GLkdKy-M1A2GBF-0CrIAIC4jfoGnr62xL1jqo2Njfsh0kVwQXonV7sDguOavfEobAtAy7I4DTOdA59jRlyl179PeAQhI6Cv0Y7rLS8rEs7JEZB3ELJCeHskFvCrg2u69RU44lhLyI6VGUT3lhM7OCR-pgktSaE8CVsuCCdt7HrJBvzw9r6014FY_V4KQtG9EzjGutMdlUPE9MQ_hQN_00sD6mf230i0uN1UB-rbS7aldq4AhHSUTLPi8facV3pfeK6gKFiLi4QRE9HQSAMjE_HRsWfEeytCB6uMzcNSKJ5Py73GNlLhMWSgoO8i0Djs_sFKTHa9FWcjSoOciqR_txY2qhWj0FRw6y9R3xX_4h8Twk0uNUHv1S8IT0fbuieOy5vlPD7IEbgENTvFzqTGXJuhJHw4r7QDpojdK9qYaa-ObG4GFDHQ-JuU6YJIbkbGW3Ya4M5wmM4VPoFnkqBG0V_ckplElHJ2KnT5X00VMbEczLjv5S4escVB8qX0I4eFLAfnt3biyJ51OGFstBRLG3R3bDQ5hHYfDAKQMTkNsRiYO3JNJIeUJyI4iGqU1095ZWX8iqIcfeH7t5fOuISOiYFdqUL-SdIUe5QMu41FFuSpnRKz6CBKtHA_VdOsK8eBhFygnb3JnEo_YM8AFzTkf7GFF6f2Mun6Zh9_4FjL7iGG6h18VJnhwMGX0hppOPtuqy7u2BuxwvhXPLtfouw5xfjMYaqPh_AfEXeXsTsHMmGq-RHx2Y9qX1T53Fq7BJLZ4b_4PhrMvlcldrobAnL8VZ2tCKDlhM8y-P_pYZ3Pi15PEbccENsnyTqIz4ea_DKEBGqddHhRMQ5vTO4ZPXMZE5LEcFNsLTvgvAO883q4OBvMgvY-NRzuRNaeE49cKU9s8rby702PJZbMgMitKyPIkREA88wP7q9yAOcYwpYlR-rTWiDTlcHNV53KzA6mM4-WXkC4e8O0Xt5vAz_JaqyOSQ1JodTv-UQ6g0fG9KZsmbpzRUIUnYBTRVL_65-UZ7djMOCJ9B6bVe259uR",
  "id": "rs_0101047fa121a2c8016ab41b99868487d0ab701726f6418b6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped near 7 cm while the bowl remains centered in the jaws, suggesting the fingertips met its rim or side. I’ll close gently here and check whether the gripper retains the bowl.\"}",
  "call_id": "call_R4OawDLOxomAhRozO984yKWs",
  "id": "fc_0101047fa121a2c8016ab41b9b2e3087d0872c15c7abdc2ffc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R4OawDLOxomAhRozO984yKWs",
  "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]: [-0.3592, 1.5166, 0.6754, 0.0898, -0.3298, -0.2584, 0.0085, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3838 left_y=-0.0792 left_z=0.0712 left_yaw=0.0382 left_pitch=-0.1336 left_roll=0.0468 left_gripper=0.0085 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -6.0923, 6.0239, 1.5311, -0.1148, -0.0122, 0.6374, -0.1162, -1.1282, 7.0085, 1.7411, -0.0708, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42e17d14669219bd5095f2450c02f0c82bdcf3a4dd69ba8ce97aa29acd72f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb82ac747c09b2688c609be383b5ed6cc1274df6fa946bba46c39feadeab129f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b1f981ec9d034780dceb0bd8b80ae2eb6a0623283497668c09f83766ff0a0f",
      "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]: [-0.429, 1.4723, 0.7963, -0.0547, -0.3737, -0.2913, 0.9937, -0.02, 0.7979, 0.6003, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3898 left_y=-0.1034 left_z=0.1119 left_yaw=0.0208 left_pitch=-0.1017 left_roll=0.04 left_gripper=0.9937 right_x=0.2928 right_y=0.0004 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -7.9658, 6.5709, 1.956, -0.149, 0.149, -0.0464, -0.0342, -0.8547, 7.3094, 1.7753, -0.0269, -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]: [-0.3592, 1.5166, 0.6754, 0.0914, -0.3294, -0.2581, 0.9936, -0.02, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3841 left_y=-0.0793 left_z=0.0715 left_yaw=0.0376 left_pitch=-0.1323 left_roll=0.0463 left_gripper=0.9936 right_x=0.2927 right_y=0.0004 right_z=0.174 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -6.5436, 6.7214, 1.7802, -0.1099, 0.0952, -0.0122, -0.0615, -1.0735, 7.0359, 1.7509, -0.0708, -0.0659, -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]: [-0.3592, 1.5166, 0.6754, 0.0898, -0.3298, -0.2584, 0.0085, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3838 left_y=-0.0792 left_z=0.0712 left_yaw=0.0382 left_pitch=-0.1336 left_roll=0.0468 left_gripper=0.0085 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -6.0923, 6.0239, 1.5311, -0.1148, -0.0122, 0.6374, -0.1162, -1.1282, 7.0085, 1.7411, -0.0708, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42e17d14669219bd5095f2450c02f0c82bdcf3a4dd69ba8ce97aa29acd72f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb82ac747c09b2688c609be383b5ed6cc1274df6fa946bba46c39feadeab129f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b1f981ec9d034780dceb0bd8b80ae2eb6a0623283497668c09f83766ff0a0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBugpf2KO2S1-SMLljWvHyXjifhI4Uc3M6QkvKapJXWipuk3gTgvjrSjVp7M5t20ltW05xhewPn0yj1ZOtJqAL1WTZnWJDNKh3YjFgg9ukuD4US6zDnZTNXLa2KM8EDUR0GBJFj-TS_F49yBdRrbW0q3EOTUUMaz1vs-jFrNfzKXqbA3D5eaXiPP0maqExGyHynyL2aJJ_npO7VrOmnvit1ybl7FpeiVhlpPEnW3WgKjHaUsMtxrMjOvptxtWzNgVDXboErsKRayyzt64Pe9XwHBtPRoKE0O7oDNepISBiBf1umnGtOyizONBVuoiKz13B60HFL655u60POS4eTaUTNbHBUbkczeuiaapWnpTqIwvL3DYCz5G5kZwC_bueGQGzLRnuCESxqd_qnBKflrhrp-dkVEQkakmsIVUL8Kzt_Tz-pL68RDN6bTTHcicHg5CC5XEIGP6Uf3xUN3pFEgJeKidJ-MEfpKXgbRpolW-dlUaOVETX3HZceAe7iGGPx9F9RoMt5wlIyOXNHHWudNQ6Zq0PCZ2ZayDoZeIBq5wJ-mQw2hH_7CC01Q_BFeP1TBcGbCoPQkh2S-QgZTzIV4n5l8We2b8Ez6OpO0lvQkP64vgle9bPPHU-wD7A_uwnKOCfbQOzwmasywAZ9AxanRJVHjy_3ul-UI5vNn8hhtYvDWIU2taIc3tx0V21go9KC92fo_gjQZ4LR_VnYxjbGYyzZN_eF5enytI5CkKOjwlZZNbSYIgI3kAx2aUNgSW8IvoUdqh1o37EQ5ZG__pUeu8kVhCK4fUSAnpGwJcYUDvw8tlKke8M0foAnx0hqvQZLcsHLFOf6UlBELYPnaHwMdu3f0PpvvGd-w5RVq65whJy1cd9nLlbO1Rbaq2PdXjINKcLJvHwLOygst1IrKP6aVaBttWxwjaHqoX_1aG8VYf4EmaHl8QJlpgGbZl1FADDrqEyD4dwVBdOXWveg9YvLtmXGby5iBCiYgHBoVaH1-zjXCcG5PfuIFMLV0iiI3TnNq7uNc2nTav6HYwD53_mR9o7hOyqNOQP-Uu-XZWISnFBUM3WO7coInko8H_y1t2vxCZVVYDMfhrfDke458bEdN3yEDK5HEVsunh0YvnQ3891Ve0a51fzMnvbjq80uCnzDE1_rWKHw9lEMSfSix1v7oxvl9WVSD08xZiQntg9DSMQXteE96IMSoqKRLDfunvlpnmQ7VHrP6QMaemPBbAGNYfWWOy-pGWYsg-mruVM2E5TP6b_If7rKzbjkFybcANcsIEnY6B_iUvfiB4vDgU45T9ZUQv9cKVVj0NVZDSXH-6qrGiqRx1rFrpvz8WXYdY9b0R6Wl_dQsOnB1F2-vl4YYQ6QXUSs_kFoIVjZV-A1l7k44K9AGWpN1xqYlK2EYhD24MUimGKKQTtkfVBETVZ_WdunBuEzdTzNoIEcq5P3wzETIfQhbhWr2fb9cbTtKRzqz5SROlEZ56xjzlb5PKp5WwvMPayRQhVvLWDTrCsLy7TUByB_x-y4GxFyuGUEdj0Dy5Mds9ysJBrtaFtKRDsDJaVZ3W4LAfp6YFaopAi1rmDtTQWlqLQhslZZRpnvoqMC3oQhqEwCgyHVpX8Kh7Zh4sIXmMar1cgYnsFG4h9WmHiQUJ2HmDselPq4AYe66SN8zgxRln8b8ecAX07GTLj_CnRFd0mghCScmqTx3PhLkb7VjLmmSytSszFFwXHeNEAeFAaG9Ztr1yADDG6Yfwgy2DRT0Meqxd5SXayxuoO-zNG2V1wJn5siAGPej84pHH_4n0_pudkXohc0rn0uKwB_ubukJu50X1pAYJULNryeBfn0vQ3LLCR1bo50cNwzSZDWQ0W_aoK-i5e8P9xQyojKI9B24q5fnPnNyybTdAE8iDY9FWCX9D1RuzonuLoW4aEZSzHxk9zTkXbFn-mfqvYtreDOKV0zlHNc35p1NbaZtL4IEGn66Q4e_hKZHdzEI3RJKTPXxoEqaXlfYwcVXFD3GX-yAworLS6mhRzYjB0TJUPFYPwZfN0JYfk0O7JHRwst_0J0g5NC-ITu5LuDiqPFmPF3n5DC-WZkistnMCRlz9rcYIlIlDvaecdKfCk19GcrkhLA-X-ZfHFHM3ZReU8Tr_qCYx5PsgHAwXF6VkD3OsgzkLKgwpJGhmkm9jvXo04Kr5rWglSAWuqQLJ-coPg6D4IHmlvZr3cXT2H080sqWkZa-y2n5gwNZAV0o5eSag-JmSukQoZ5OLS7kc66gSrfdgAoY-DeaWW7vY7BtjFGPU3fonR4=",
  "id": "rs_0101047fa121a2c8016ab41b9deac487d09634b909367c183e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.14,\"left_x\":0.42},\"note\":\"The gripper closed almost completely, so the first grasp was empty; the bowl sits beyond the finger tips in the wrist view. I’ll reopen, lift, and advance about 3–4 cm before retrying.\"}",
  "call_id": "call_UKhPZVW239O7vyjwzer3rMn9",
  "id": "fc_0101047fa121a2c8016ab41b9fb3f887d0a4ba4e2656e272eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UKhPZVW239O7vyjwzer3rMn9",
  "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]: [-0.321, 1.5169, 0.9409, -0.1802, -0.3065, -0.2497, 0.9932, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4141 left_y=-0.0778 left_z=0.129 left_yaw=0.0528 left_pitch=-0.1445 left_roll=0.0405 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3624, -6.5983, 9.1692, 1.5214, -0.105, 0.1978, -0.4127, -0.2256, -1.2513, 7.2137, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d151f89e822234932b3be128240c1010d4ac2699d24bf91a0cf438e05d8ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894af08bfddd1c5d996128df3c265c1788aa322a4b4b11268060bb97e4c3b5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6684b54b250fb0f756fb59c707dbf22b8d29362c6019194bc3e4718da5d2b976",
      "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]: [-0.3717, 1.4979, 0.7013, 0.0528, -0.3355, -0.2668, 0.9936, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3852 left_y=-0.0839 left_z=0.0819 left_yaw=0.0345 left_pitch=-0.1249 left_roll=0.041 left_gripper=0.9936 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0217 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [0.2803, -5.7231, 6.7761, 1.9805, 0.0024, 0.1197, -0.022, -0.1983, -1.3333, 7.1863, 1.7558, -0.0415, -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]: [-0.3592, 1.5166, 0.6754, 0.0898, -0.3298, -0.2584, 0.0085, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3838 left_y=-0.0792 left_z=0.0712 left_yaw=0.0382 left_pitch=-0.1336 left_roll=0.0468 left_gripper=0.0085 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -6.0923, 6.0239, 1.5311, -0.1148, -0.0122, 0.6374, -0.1162, -1.1282, 7.0085, 1.7411, -0.0708, -0.0171, -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]: [-0.321, 1.5169, 0.9409, -0.1802, -0.3065, -0.2497, 0.9932, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4141 left_y=-0.0778 left_z=0.129 left_yaw=0.0528 left_pitch=-0.1445 left_roll=0.0405 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3624, -6.5983, 9.1692, 1.5214, -0.105, 0.1978, -0.4127, -0.2256, -1.2513, 7.2137, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d151f89e822234932b3be128240c1010d4ac2699d24bf91a0cf438e05d8ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894af08bfddd1c5d996128df3c265c1788aa322a4b4b11268060bb97e4c3b5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6684b54b250fb0f756fb59c707dbf22b8d29362c6019194bc3e4718da5d2b976",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBukw-rXOYv_yLeeBDeBTulyS_RlC9dYFg7AWC7xwFLtatcyRjCn-9oty7YIsmfK3s1O1dqUP9j4Y6grwlVyxfZOMLqu3Q2TTfODjUvpSNWBSbCKSk6IiV4wl87DEyXaPtx1jwDsJEltE6a9C9IBX-azADKwk7kq-YPxReRM1atuCmVa-ciEBun3UM_CgdBqFWO8CZymLYSlWlUsr5soyD-8iKa7HHsCQldMPd_RWxjdmpmDqFedTwzVKxokdNBTWGXTRhvqoRG7VkbViMAC918Xh7NNA0gDSYEC9RnwI5K9lXJfsy7TeuB8H-lR9svZbklk3Fq09G50Edrt7NlTM6aphid6xofYqOyL564TduYds7XvbXlTinJ-_UsZm_XIvZfmlg0ZKX1VbUiVf-viOBUfBxBvU6zP8lAiBddpoOQ_aKaBfTv6sujXhQBfN0LODCsCyQrV41sZ8VOTtqilfm-MZQmWJQR5egRm_RhyY7iGoPA8z4sz-H7Qh-3R8mCkkHy9FOd0AfaBS2Q2oiMdeDwowl9fWEBsZT3agV4n60pCQh9PJsndvYBK1v_rLOJ_vTJqy0IDo3doLyAv0ZpJvS-WH5cdRq3-untoi5CHbfd2rl5B8D71Q-unftT1AyUu6tLnaE84bOPZrSlYXWAeL09zJtLLWswP9tnEklMOYELrU1zV1dSaNV9UiIPstV3zlTAsYlQ7rU_4A-imzA_RIpmB2BPqq0z8qXdYcY94yHDXcDnl9DHy6bcag3KHXzeL_Sz1lXZ01Jwkkc-TvjxQs1y2Lf2pfAE728_n0HgH29AhCet55dQDT2ocWBRmZLAW9BpI0IfROQ6VU22zaArC8tedAsOrrjVJ1j2ytMF6l2SZOY-KEFOACJW2fN1uMBlfEGKW2pK7aOxgiW_e5JbUWt4q5x6EkuzDa0QDDQ8nejKK4DuKdTf7uYCMqVih9AIfQOJnSY_en5zNWlxYh8IXJiN8ky6oCbrBfi4TjC-vPG7Oujv-CfIbVapJ0Ivjnc2w169ZTy--zPlAhjawfBbqniXzKyWfdhPcNvS93bpRZvfbEV39zu8-0YHvK8O-NgkkCkYPNCmDt5JAs8CXg7W4PWuGo14lVyaCIxURJ5zmuyyjYN9tKH25LDfzZHAELUxu-mujxTCpoJQHcMnRzAYVZ4ww6ud9RVnYeAku13NZr6nTbItRuO0jVLhsYmxw8JLvqjYMGYWR7PNxuFJnIWBDFkE6kTMsX38prcyZu1vdFpjXLJ-POi80EajyqBBmBkaCUTF8bG4x_lcCg_vgm9GUEfIECucV3lNeZx5zeG_ITUe-ZNser0L6YWNRslgOTZ6GHE_OgmtkzYQJz7wgjwgiHdly4s60f2ToX1t78TsMyO0kxc5zxW0uG9-VwV2kGUbAN3bQhMvRl4k19bVhrP-c2WYovcApXscjBnJnTBnmCvWfRNfejdPnC-PODUNqgNGflcNfkzeLlwnO_MPwHU8XLnNhTIRGvuXrSej_pNPfU45U3gXDUlzmqukloPoYxD64eQ6xEBSC8sL9kcL1DiTEWVneeKh3WyC0O7JMkeqJyb5ep93RJnJEQlJ6dypyNj6zUmN8V1p4dZjK3HtdsoYX26awtQBHao9_iLOH3I3biV0YJXKpK8S4ClJOCTi9Qo-KbYrXzxAVgpA2EJWxFZJOC7x62Ebd9vVZHYGBmySdqumE6-tKZ_XKin6dfG2FzH9Kzp5BHeTI2Yvj1pmMFrZSKUB0KZeQt8YSDOhI0JFeqVEvjvHbY7Qg7E5v1mMNzwXPg-vFx08AJXB-vZopHg0Q0GjoMGcvi1v9sjoN1TZprF3BMcY=",
  "id": "rs_0101047fa121a2c8016ab41ba341d087d0b928e4e7a1ac9669",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"After advancing, the left bowl now appears centered much closer to the jaw tips. I’ll descend again over its sidewall before closing.\"}",
  "call_id": "call_VS5lQcsePEsJf5LmfsID3aw6",
  "id": "fc_0101047fa121a2c8016ab41ba434cc87d0b8b76a569c6ef1b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VS5lQcsePEsJf5LmfsID3aw6",
  "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]: [-0.3199, 1.7054, 0.7452, 0.1726, -0.3107, -0.2512, 0.9928, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4104 left_y=-0.0753 left_z=0.0386 left_yaw=0.0601 left_pitch=-0.1724 left_roll=0.0538 left_gripper=0.9928 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.294, -6.2701, 4.4376, 1.3455, -0.1245, -0.022, -0.0464, -0.0752, -1.2376, 7.2957, 1.7167, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e943e0eb399e300237c2cce29ac80204ab4508f462e024cdea60b6cfa6b7333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd417cc3aa348424c3df80c8dce96272de9f3b4284ce4afd306e2eb67aa3b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5fbf1f7f1f3c609748246f4144450ecb60126727ec79bd5a5dc41ac2050ebd",
      "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]: [-0.3592, 1.5166, 0.6754, 0.0914, -0.3294, -0.2581, 0.9936, -0.02, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3841 left_y=-0.0793 left_z=0.0715 left_yaw=0.0376 left_pitch=-0.1323 left_roll=0.0463 left_gripper=0.9936 right_x=0.2927 right_y=0.0004 right_z=0.174 right_yaw=-0.0018 right_pitch=-0.0221 right_roll=-0.0004 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -6.5436, 6.7214, 1.7802, -0.1099, 0.0952, -0.0122, -0.0615, -1.0735, 7.0359, 1.7509, -0.0708, -0.0659, -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]: [-0.321, 1.5169, 0.9409, -0.1802, -0.3065, -0.2497, 0.9932, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4141 left_y=-0.0778 left_z=0.129 left_yaw=0.0528 left_pitch=-0.1445 left_roll=0.0405 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3624, -6.5983, 9.1692, 1.5214, -0.105, 0.1978, -0.4127, -0.2256, -1.2513, 7.2137, 1.7363, -0.0269, -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]: [-0.3199, 1.7054, 0.7452, 0.1726, -0.3107, -0.2512, 0.9928, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4104 left_y=-0.0753 left_z=0.0386 left_yaw=0.0601 left_pitch=-0.1724 left_roll=0.0538 left_gripper=0.9928 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.294, -6.2701, 4.4376, 1.3455, -0.1245, -0.022, -0.0464, -0.0752, -1.2376, 7.2957, 1.7167, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e943e0eb399e300237c2cce29ac80204ab4508f462e024cdea60b6cfa6b7333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd417cc3aa348424c3df80c8dce96272de9f3b4284ce4afd306e2eb67aa3b2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5fbf1f7f1f3c609748246f4144450ecb60126727ec79bd5a5dc41ac2050ebd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBun_HSF4FJtMQSp7EGF1ThYuv0wVFLyTmS5Url9KHGWdd_25qmVBlFc3ZWotEosgZGu94eNMvc_qIACllZFD3iB10yDSYlkBkbPIzphSfUx28JBcmUx2WVHNBYJOwYqo1o5Kevm2vN25xduwGpnBGQVZ4d2tIFPmUARxKFb--BcKTuCe_cV1HUsoL78rHTlfGT8rsT56uG8esDQH1uD70cayFSBOD1O1FnNmgaRyEGnvZVyub4fuDj7et6KZqojuFT4iHZIJorUQcd3kKWcd1P0lQzMGizb-vIQLiBSy45fM8GkfHlu4E2Q1XD19Pg4etzMIvw3BB6P3M7u-iP_hHQRCC0hnz9V5Q4-gOqRkai0eq5t5e6Wg4xbh6xKmkN7JU26VYkSWyto1VV5pO2bCUpaXLEOb1EcjwAv9PYc4wJTbUmNMu8rki5qAGMJ-K2Kd3jEsUWhLZ6diY2qD6yquLkyaLJIYEz9NQLE9UBEifmGUmsth0ExoOE4ygC4enjkNK_IxiX3Hbhy_hLNVSiy8VRJkt10gK642luE9R5S1l1xad3GBwOd71qqxNNHLlctlcJEPLjxc90Q3QunvLpbO--4jXAPgs9GZ1Uurd32skB8FwSVMy43KruGFJPY-ZZuv4gMhTU-Efrs5zAjUB7TLJZl24YeHnzQ6HSxgSyxlOh22L_DbrQQBZUrnTSiDHckw6Wq5gckGvizTjYE1nR_7VRBukkSyggsr33hGHQJZjWk5dQB6ROucVBNUHOyTsuTfulNp54Dcx3g6a2er5FOVwbxViQFxWQTFm1-wEtRFFFTs1C2FlLYzC0tKOiBacPT-2ZQ7UrkcWg9H4pX4LtPEmLvnbC2Jmb1r04MSCpTV9_x9sTj1ZNchODgSJ1y2Mf7mk_vW1qIRrWY9dFT8qYSQAQT1_LHADL0VboisOJA0ZxvGzd_3EYG4crWz9OHyyaCsRsNlbeBhGByGYEbgwzgaJZOkku5DcwVQNf2sosmhz0JXWiuVLDogjhnOQtiml-USFz82QVpHFVu8qVDkWe7S8iDxf_2y3JqXBIoTCiOdgiEnRzEmAmNRuSPDGL4nWEzNhUwey_xRzZclREKwl9RFyhtRo81ZEx0jmS8DtG2KfQkMrpaRhdyA0PdKpqco909iN35cT4GTdzJ-gWvk_nQLGqP_UDz75TVYcvm_jH_lSFFim9asJG9aFtzDPCdVgYq0Z2rcxMI_pXzFzKyRwTKqNzfejMrXDrviBkFRLz6Lvwd-zXgIfwcS6ibpW1asOMrEh7a2oao-eRW9gpsVeAs4jBpFZGGCoYRyoFOvVsfjAJ45c2n2Y8FwKImahOATHJeTqKJ7AINa63RlRIy9Jia4x-mFibkhZ4jOT8LijXPXp3JBe4XG_9VnKBcE_KvSDi5Q_GQKbYT1mwhc9nf4ufCa7_GyGUqSYeT-HJKYNSGEMg5Q4ELwHOKdV6eUL8tDnC1ZuYUK59ta3Pvth_sNsUK_quSpPiwJnya2B2KWUsKnFMA-M_zpx2mgYp_wxmPS9q9K_6IFRTyQmJj6Dg6dYBEMejBTA==",
  "id": "rs_0101047fa121a2c8016ab41ba67dac87d0957973a4148ce8e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are now down alongside the bowl at about 4 cm above the table. I’ll close and use the settled jaw width to confirm a real grasp.\"}",
  "call_id": "call_bllT77NRwZNejZCvyQByCU0U",
  "id": "fc_0101047fa121a2c8016ab41ba7421c87d08aa23234eaff6bc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bllT77NRwZNejZCvyQByCU0U",
  "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]: [-0.3199, 1.7206, 0.7334, 0.1688, -0.3103, -0.2546, 0.008, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.4048 left_y=-0.0735 left_z=0.0278 left_yaw=0.0638 left_pitch=-0.2011 left_roll=0.0627 left_gripper=0.008 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -8.7726, 6.3521, 1.4823, -0.1538, 0.0073, 0.6422, -0.1026, -1.2786, 6.9949, 1.7314, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd46cb89e1cfbe7ae5b8b497bd462a1c62420c08743cb526b951602d8f7d387f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeaa19d5df062c59fc71c213bdd3d6e7b535984cbcf95349e3a4b045d9198cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50365ead9ef7c8454f451b6391f44a231cceedd1a38076342ff6387c1117432",
      "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]: [-0.3592, 1.5166, 0.6754, 0.0898, -0.3298, -0.2584, 0.0085, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3838 left_y=-0.0792 left_z=0.0712 left_yaw=0.0382 left_pitch=-0.1336 left_roll=0.0468 left_gripper=0.0085 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -6.0923, 6.0239, 1.5311, -0.1148, -0.0122, 0.6374, -0.1162, -1.1282, 7.0085, 1.7411, -0.0708, -0.0171, -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]: [-0.3199, 1.7054, 0.7452, 0.1726, -0.3107, -0.2512, 0.9928, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4104 left_y=-0.0753 left_z=0.0386 left_yaw=0.0601 left_pitch=-0.1724 left_roll=0.0538 left_gripper=0.9928 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.294, -6.2701, 4.4376, 1.3455, -0.1245, -0.022, -0.0464, -0.0752, -1.2376, 7.2957, 1.7167, -0.0366, -0.0415, -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]: [-0.3199, 1.7206, 0.7334, 0.1688, -0.3103, -0.2546, 0.008, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.4048 left_y=-0.0735 left_z=0.0278 left_yaw=0.0638 left_pitch=-0.2011 left_roll=0.0627 left_gripper=0.008 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -8.7726, 6.3521, 1.4823, -0.1538, 0.0073, 0.6422, -0.1026, -1.2786, 6.9949, 1.7314, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd46cb89e1cfbe7ae5b8b497bd462a1c62420c08743cb526b951602d8f7d387f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeaa19d5df062c59fc71c213bdd3d6e7b535984cbcf95349e3a4b045d9198cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50365ead9ef7c8454f451b6391f44a231cceedd1a38076342ff6387c1117432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuuYfE5Mi93lZJZtz463dw8VB9qQ2g7BR82Kyn9xFZEbxU9unPHWB7AUh2zAwyOySNXRuTt0ug8xB5ud9yMsHaZhsE3s8u9Ll0yMeR3PH-FxAHy6zOfTiyO3t0hgXpOZFX0x79RC6YIn1tAlD7ra-YLmrdLEpZO5P08lzqZHBbWWryQwIMF7fmVjD2wnkQ2QaJN-ZMpiPYw7eNL1gdazwb4q2sOlNDINzfPh0Bv_dWElF9pfzjuKtLKp59r5_UZ2KllAEWSeIx0xjBx-1WNFB9eIxmsTu9pIfwSdsOGp56hsXgbf1oLeEgkh_39D6wor4SMfz-IUqv2NWLHUVEbHmUaqqhtw53LZ9hVbELOQfZVJUq7ivV4fueoIBBajX0pvpzdu5j0RxXxdrFk-tPZKsIU9pThq-CH8Lap6oofLnjeiBRvizVKO0CVoScOFkYBHx5jjYyvXukOm2Z38DYsDOmutsbXI-PJ3Xh7j2O3_xe4I60SQI3OmODfGdAT1pAE3y0_Iua_iBnAo2W06YGmKmXOkfvQNZ0RHWh1NYKSwJUgfCfMrEqDI1jTlzS9x1ZaVNnFCkLW1cUHbH11VLlb_Fw0hTxEUof0jsPp1f0o4QGuVZynubOXHc_6wz-bhroBx9xD9WQAT3fm_TlNAKtvdBVE_r3maKQXOgQqdqmYn-1FW6XKuhFGr4Rw4l8YABhZPM6GBOX6K-YSw5HSzEzCUG00eDNFdpvrkbSjEy55pY9lq4zVLjAZFwy_yXXLI79-OTwKrsQdf9ZJz5L6M-fBKX51Lj7gp_Y-LNzNNM39I1LK8Qd33E1XowH0_kByIjhaG2qJt1kcQ3kcetgK1JjrMBXsZK8ngNRAvfaLe8CAAxSRNQdgTO4lMQWAGp-rxr_Eh2WXdR0L1EduR5GOfDObB5cm55Pn9NrqR5K_S8Kg2wZ1tcIyRXt07NZKTVrVgk1E20oim1Q05lM5DMsIwCTIvX7BA8AZtgez-G7DydwDsCEb12cgb6PufZNIPnGrMBqwvFeqOnuaRxRLQWeu_uscQHN1gVAKQovqRUXZYzob4Aa9148IGnwEX66VTNo8oeyqWPlsGy9gidb6snI0DzfWjKjWpwgvdE6EkBen66kdqlOLGzYJRsNkSfczSDkrWrn08Ux1Zh6LgQzAO3hUwHKCOdfjn1A_xh5cDGfp8kdfBtlV1XSxrxSBqpY4YcggSgxtPxP5J2Q6apVCvtltruRALva5-eCxd8KeU52Er5ebH1JsYinC8wTUlWVBW68vWARcmroBun0gz12g-d3UQLPdEShjbI8HVN3tqiMJiU4OAtlodq8QanYhWqVa9XrED_3bsWR_8uZGHbQT90MC_IiPT99cmN5zg9tHtaU5jhWfphdyuzFDJ3nOLNPLe3VNXI_ix5E3hEzzLoOj_IcErwjndSBhA_QAd16mfI3ivGRBBYZuNbGgrBeN1zjUynBR8SJuDtypmoMI9S3GDVvTfXOrYS-W5Kxyrdu6GgFTmRglENXNneV0t9Wgq_TArdFkP_2KYT2K4ApDBfYKO6J80R-o_sYm388vCCA7XFgshsykXUvVtOS4pwEfjEAnBg8uri3EreXl1pt-scdOSycujW6VykV320fLC4I1tTX8_QCd6oh_SXTAgn4F9PW2i-SzQbAOvkOFY9WYN_YQyuoGPI09DsvO0nhl7VwPfVDoFWRCHl94U1cJMJiS0MeBtU9cGq_8brVhXeZ0XJhXWhXKbgXdTRLjC7NDkaz7gHUH8PC1HpoCaxsL4K3CtaYE74654iCBAWrsmBguqOKPFaLN7h44oSA6NA6A8IGmuQOT2qMn79ziV8pNBmdPIaoJCLO1Hz9J2KVdd8G1rayW4qCv60LTBeT0euOhlo96b2ei-BsX7YNo7tFWHMB671OmkNtHFwUQZxaAn1fXkP8N69TonCD26DIeNin_UAaSCWpriS8qYZixc0_l8aK_lzmHBaawd8YnSYYDut617bJE-o6zT4izMLmM1zHJ286nm_PhRciBWPCXj8o8NP_6b9bWCI70G0GsayZyr_5VK1L5jGOaWTOWiyOys0gc8DywIRRFMElsAdO3LNTn8VVXMAhZOoFtTPjsJLB6bmOF9iysNdUs0rv-qnswAUzQntnuieBcf7BtLH1qxvyAJ1vcXlGV4A220kyM4V_z5K2jfpHvTLkjDFSHmlwQS3c_kMdIvEPDDcuNV_DNK6U9tLErmCMr2_ma9J5jBt2xDp9stCv6lHcQJdAcyBYmtgiXqHzbbPjEWl9g2lkSEoi4YlcKOXGAE5SzPgWJdHdt675bQaZUYs8XFmvPnzt9Ud1sPvR78PLo6krNtGta8M7vqBpjEYTYG9LRtymoptCWMp2t5seItwvAhrcBZHl-5y2zdM1Ab6-pf8V0CgW8gGaue9q_eUP2bf5JhDgYx-t36c85UEjWPgVZpXuSOcGl569IuiVoMNOcjUbVzZOciR4Ri2B3AcUj_NYYJHPQbuSEUz-H6X1Obpcqh6wl1EoV6Jh3dACG2MmKZO9myj895ZymI7zzl8GFW38i-GFZ7VOGogQwu_lRZBs_p0IoQDmKgZyO8aurHjWapeYdJ4Uyge3TS2-xB6xx6tJBcKULVcFnJa0yF0ZLMcTEdH70ESuxaAN-rZ-dq6s1wKGT1x4nhPje4-Db4Yc0TV5V_2ciCmc-fABqXzgkB1aWKeIvi_p59c20YkGoCykWcYdKpDfIkblwMeUTrpaQNKUcnWGNYyNKnWrmZ1eaht7a0RwUOrA6pN_Uy37A45V-JSftZ-sghdb5KTpto5Akjs-FVmv565p2id6kQzag0gwsHmpX2l8yRJgVlE_lrdWGRiCRoEEz8xvxUanLnIw6tWQUUlmcFSCs11RZ2CUmPa0669zpPilLJ6giG3H0bwBaOPmaml2o6d52sU71a71DSRNmm5BnNbh5BpxC1jV05Bi1B7WeH3luRH4ZSZfeDHMby3zsOwxDC-W2sfoOslko3kF3ropK85FGapbn3Of6iOmxKC0-LEhDfMZZNceIbo4fCz-aFq5Qst5cONS7DwjNmO9B7VoYSuByuCm4sFl5Ag5_GA_tjQIkbsaxjSks8qneVqEm0RWJzjEa0e795TFwIt7Fw1iy4C_gZqCCq5kpeR77RamMnxR33_-H0SUeHuFLBTaTP5WoP1Ru6mLxxtzCA49lcHupnPuycrYu3S7hOzQjkuR4rFqL-Y4PUag974xRSahxCq5BQfwTj1IL7YVCkLbNaUydMMP4oneRvm9wQ1wyMEFr58I3bA==",
  "id": "rs_0101047fa121a2c8016ab41baa409887d0b43791a61a8f20e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.115,\"left_y\":-0.028,\"left_x\":0.412},\"note\":\"The second close was also empty: the fingers entered the bowl rather than gripping its walls. I’ll switch to a rim pinch, lifting and offsetting the gripper toward one side so one finger can be inside and the other outside the rim.\"}",
  "call_id": "call_GmrzVWOyy17egb87jm9eLVnO",
  "id": "fc_0101047fa121a2c8016ab41bad704487d084e188e52d47df57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GmrzVWOyy17egb87jm9eLVnO",
  "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]: [-0.1684, 1.5356, 0.87, -0.1604, -0.2203, -0.1703, 0.9932, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4062 left_y=-0.0263 left_z=0.0936 left_yaw=0.0943 left_pitch=-0.2326 left_roll=0.0622 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -8.212, 9.3333, 1.5214, -0.0611, 0.2173, -0.5836, -0.0342, -0.9231, 7.0632, 1.7314, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff579def460c36725e894bc9a63968f3f01eb8b42a9e284e8f738e6f20056a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f8d4a363c96ee4086e112ba503e20397b5c68e94e6a18c381e7c7bc9f5ccd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411dd3ab6fbb84c1cf031fe9041f81a495e221c47c0b85a95e9f704dc5bdf143",
      "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]: [-0.321, 1.5169, 0.9409, -0.1802, -0.3065, -0.2497, 0.9932, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4141 left_y=-0.0778 left_z=0.129 left_yaw=0.0528 left_pitch=-0.1445 left_roll=0.0405 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.002 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3624, -6.5983, 9.1692, 1.5214, -0.105, 0.1978, -0.4127, -0.2256, -1.2513, 7.2137, 1.7363, -0.0269, -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]: [-0.3199, 1.7206, 0.7334, 0.1688, -0.3103, -0.2546, 0.008, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.4048 left_y=-0.0735 left_z=0.0278 left_yaw=0.0638 left_pitch=-0.2011 left_roll=0.0627 left_gripper=0.008 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -8.7726, 6.3521, 1.4823, -0.1538, 0.0073, 0.6422, -0.1026, -1.2786, 6.9949, 1.7314, -0.0415, -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]: [-0.1684, 1.5356, 0.87, -0.1604, -0.2203, -0.1703, 0.9932, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4062 left_y=-0.0263 left_z=0.0936 left_yaw=0.0943 left_pitch=-0.2326 left_roll=0.0622 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -8.212, 9.3333, 1.5214, -0.0611, 0.2173, -0.5836, -0.0342, -0.9231, 7.0632, 1.7314, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff579def460c36725e894bc9a63968f3f01eb8b42a9e284e8f738e6f20056a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f8d4a363c96ee4086e112ba503e20397b5c68e94e6a18c381e7c7bc9f5ccd47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411dd3ab6fbb84c1cf031fe9041f81a495e221c47c0b85a95e9f704dc5bdf143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBuzmW3VN5rjdT1fRKkfAlZwYWKw6tr0SIBIqeSqcbSKpox-bSAvnH0YtQ_uMYrry_hoct9FbqqW-vIHpbk9tDIgBL4aEwx-r1-JVFeepl7h1Kx1xVOXi2P7CcXRh_QAeX5lKPRbyxZ4YWrsxToBBWZ1WlCTnAUc28ydgeMXk5yV2hIQmHXb6mWen6W6XXZpl3QtXrXuv5casYJiIXE2gT4yyq0TAs7_3avar31INUenh__mgfPQ1ktHB4FfyyyaVA5x2eARVxO-1YXEVl36gWDRkjQBl4dxmZL_lQhXI4MjgkzQIUapucwU7rlCkVWZ61kUORrDbkNJMcObQiwWk1jidvctQSqXlh241O5YkF_ODDZHIznFN8bkaPuxCsPBfs_ujvumD42zaSJcBhknrft-9_h2Lt9fkx32Vwj5P0jsgrS4MyXxfcREWfFV1yxHhXP6A8PW0R7O5sMFa0gQldXmrmSh_FpU8QUCP9R-MBlyvYnNzgePYOmLff3RVLdZS2-PvNlsZArU7o_9caqdfKUYlPfB-8HIcuUTxkIL4q23lKzdd8r9SHwH1JoSeGuyTFR98VFn-s48Rg_XmF2LRr00dXsItf_2Cni2nl1nmIe1yfW7mJ5JFg6n622DOzPWVGAPeNxeQKRUbG52FokKp877vMd3DRzEaG56Y1E4MUqz7lacMDyHFQ0QEs3bPWlVGDhSeOCZOtZcrWi9kaXDO3ihX53gRhSbjVAYIlE4TO0QNuHdnU41Ar7DSknzCOB7C0jfAv99vP1jk9X6Vb8bL8IdTm9r1h_yzuLKyCiKUjGlEKF34wpBg8ItDCPuRG6OxY8EO5OmfCrfG90T7tmtxEuaW3B9K8YRI4LtzVDsTCxP2dKo9cawivCDOQLQSw-NEo4q8L6L1tGa4fxV_06H5WweS0fUGM7h3qGYJ7VYQn8TdWjH_RVc35WpmcF39SvDE0wtGHznFrQ_u1y1OH7YX3Izbb4LhWU5cLQAd5qqaDKdL7d6n_BqjQDODePTqXddSObduimW5Yn3_7AyxXcfhvlGTjWJBuiq2F-kmhjhQjlNiH2BE_QtWmX8i3JBm6wxpTvwRnw2qJYGADkrO4S7d_7gIARTe9t3jVxVsFvC5kHb6iQsvkbKaYoL-dchK3aNDAYYNu59L-3hXo8JnBN5NN4UIWAAhLtoma9ibruvqLe9D1f4CXtA3RHGkmbiAOxW3x7Y5WJGFjuqpk27BtVGU_LNNmWXEms0TxLed3niWjlPkHZTldjinnEKMaDS0HJFZKgQFjI5VMAgPJx0cFrQjfCCZOQ6WNkxZ6HweBFHwaawMX2AvM2EdUMUf4C776GdkXQmfk7uElfu871QcBEr7fAFhxSrW7GB8hJyu7E3feY_aCLtK_vIslSeoYXcIwmzTu_RuYoXLS7s5kXwDCbWCK14pBQ2WQkwgNC6yhQ5FmkeDk9R3OHrUsp4Hz7XpDL9SHlXuHCE1Kpx9gihh4dxTXGLxklEirfFwwr21vx7pnGHhzsOc3NDL4QFQlartvkYI8IhH5VxGP2asusJIuQKFt8LwGxS9ZP1C8ZbS_LL8gC3w24gQHQ3M05npXWObt3C2mjuM5Rsr8JzJtOVvWaZRA_9GoOe4EUZ-yzedb6Sn-aR1f3ntz0zdeMXK_igXzLIaPpmRrSzmuxk0AwycFJgFq0AJj7DBCCmyqFLVURtAzcW6li8KTIbYuLZw5dgPCHDMa92RUmJC9TTj5ITNhn869aZnU8JbYPMD672Kyn5bB2H21vcxBeR9aFXzkSE_7Y0Kl5sOoSyOmTatf_bqg_2Bn1jd9aYo4vujeWGoFXwf7d6_ds8P0g9U-w441TvQzsL9xOzGrpMDol9v4CtOSElO4nIhah5OkbKmplPW4eRHCAbwkOaduuCdV15J6sFnoN6eHta4lKm39cdsVhLjGESD3pmbzUQJuNxBtoyr8P7dNbZOfJAOMprFL_2qJiLq-j3Kzxj",
  "id": "rs_0101047fa121a2c8016ab41bb05ddc87d09c1bf28a029d5df4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.048},\"note\":\"With the gripper offset, the left wrist view shows one finger outside the bowl and the other over its interior. I’ll lower to the rim height for a single-wall pinch.\"}",
  "call_id": "call_J7HOABjDzHt4OVKHaOYlTsiX",
  "id": "fc_0101047fa121a2c8016ab41bb23a3487d083df8309e2752a43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J7HOABjDzHt4OVKHaOYlTsiX",
  "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]: [-0.1646, 1.615, 0.7826, -0.0383, -0.2134, -0.1642, 0.9929, -0.02, 0.8005, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3987 left_y=-0.0247 left_z=0.0495 left_yaw=0.0919 left_pitch=-0.2773 left_roll=0.0731 left_gripper=0.9929 right_x=0.2929 right_y=0.0004 right_z=0.1736 right_yaw=-0.002 right_pitch=-0.0237 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -7.4462, 6.612, 1.8486, -0.1343, -0.0464, -0.0464, -0.0615, -0.8547, 6.9949, 1.6777, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6fbf5c4909203c7b3c46528ebbc133c7794020b15504d8962d5b4f22ac31ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434233aa9dd523a00750b0dc5328d6c2570c6b8d99955eeb3ef255be2fc24734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56138d03d807f5cf42a3126800dbf9b9d736dc20127866faf370482b8e29635f",
      "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]: [-0.3199, 1.7054, 0.7452, 0.1726, -0.3107, -0.2512, 0.9928, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4104 left_y=-0.0753 left_z=0.0386 left_yaw=0.0601 left_pitch=-0.1724 left_roll=0.0538 left_gripper=0.9928 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.294, -6.2701, 4.4376, 1.3455, -0.1245, -0.022, -0.0464, -0.0752, -1.2376, 7.2957, 1.7167, -0.0366, -0.0415, -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]: [-0.1684, 1.5356, 0.87, -0.1604, -0.2203, -0.1703, 0.9932, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4062 left_y=-0.0263 left_z=0.0936 left_yaw=0.0943 left_pitch=-0.2326 left_roll=0.0622 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -8.212, 9.3333, 1.5214, -0.0611, 0.2173, -0.5836, -0.0342, -0.9231, 7.0632, 1.7314, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1646, 1.615, 0.7826, -0.0383, -0.2134, -0.1642, 0.9929, -0.02, 0.8005, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3987 left_y=-0.0247 left_z=0.0495 left_yaw=0.0919 left_pitch=-0.2773 left_roll=0.0731 left_gripper=0.9929 right_x=0.2929 right_y=0.0004 right_z=0.1736 right_yaw=-0.002 right_pitch=-0.0237 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -7.4462, 6.612, 1.8486, -0.1343, -0.0464, -0.0464, -0.0615, -0.8547, 6.9949, 1.6777, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6fbf5c4909203c7b3c46528ebbc133c7794020b15504d8962d5b4f22ac31ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434233aa9dd523a00750b0dc5328d6c2570c6b8d99955eeb3ef255be2fc24734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56138d03d807f5cf42a3126800dbf9b9d736dc20127866faf370482b8e29635f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBu1P2jE57zFfY5G6u2Dp0_tFXubYjYhOpmNjHe07BsndGztQxgQVSFNo-K4hWjrl2ij-8hWJieMhV70pQCngtFhAhESs5DvHgSIHoZFwvT476alhiekNj-GvAkJx19siMGK-Tn767k3L7jyhmYKa2sxuJy20qPavBGmVzDIL919E_LZYk52z-lC2_c_APkUmpR-rIKGxOQywWRUrExNG6EA6_EbC6bjpgwtTyZAVLWewtqLDqnhGzJ090z7rXCMfqIGvskUCylZ0Uhy5wPneYfeXgeeKAR020G990sWFIpsbFqr48xjHCK7h6Jl0_L562fLLhmW2SCH8ZmkBdmMz0gcTeeOQvdQq4rD_EoxfTAkqGFvqLWQCqz1kQIhzqnkHu6Nnypj4ojB_auYJlJcRhNRVZUkadf7F-umePW8KsS4T7cAb5m5hDQoH1eeY7DI_rZAOTCPzVKmawNUylG7fElzRIKdmpC6wg2svwBkzehBNoCVREl7cwEsN9oTRFOSPBjzOuS--EKlFT5hEOo2o7RiyevevbweUae_-sTuXSE9aDr7yzeVh8wETKT-HAS39u0dFcasghCK4iy3jyW8hy-mT3n_t-4HoIpw4yOERL4_8ZuOjgOXE8iduChsihfAKKKzowDI-D8Z6PVPVTRsLZ-GxHwqNEmcdMuOiZKhFVMRWUeDC8uY75IeTSSOY6wXqEstnnZb9BKHDYxD4UCAgu50uWOQmw0lNVgwuEP2yVGg7hWNhD5gRYDuWquFq4LMj7Ch-L3QZISQ4sxYXjb4MYHZpRWvijoKlzYJ2i3FtgXABtjlLDiGAFsZltJU32CmH5NQualvBEFcGnhi84q_RO9YMjj4D4x2J-QUn9p2h1NQFj6Dm17seMdlQeBVoL_5U9sCZl5mOVA5wN1QY-GxsvosoN3VzK0RDD95qJQDXMjuDjGjqI8P-O2gCFWtgXfCOCfE79TVHpaAi20Phd_y5fwHO1Wnpe4jQhT3_ZVopKzHtADlYWTFAT_d3gvm71CdH4cheWbIs_XlOpr0unwtIZFsmHiHGGdgsM7zpZc9E9meZiHhoLJIr2o-hZDj2q7EMRAdnOT3Ls_O8G87H_Q05uUrvlLeTLheQk9vRrhxPQh3SBMzVIXXH5usfNdvgHjwHQj_8Bdy5OWicF7R5dgMKG7GQWlcAlagDWRyicoi_-OzC3ifbqujjOOM1NuxKzy4zynrGMJHsqUOf-HyaixJIOqHhqrP26ZJayVBm8j9ai3qPwZj2JUzzsT8UNHuCYq6xLhMfXYqvM7g2pxjMCrmxwO2V8rZ8cwv6QcwBO4VdL_QowUWzZ6e_UqQAbblF0TBoi35",
  "id": "rs_0101047fa121a2c8016ab41bb4393c87d088250c73083565e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl’s sidewall lies between the two offset fingers at rim height. I’ll close on that single rim and check the retained jaw spacing.\"}",
  "call_id": "call_MuyeU4gdqzc2aFoFOIHcEMzN",
  "id": "fc_0101047fa121a2c8016ab41bb49b2087d08c5a690864f2c660",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MuyeU4gdqzc2aFoFOIHcEMzN",
  "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]: [-0.1646, 1.6276, 0.7681, -0.0223, -0.202, -0.1837, 0.0388, -0.02, 0.8028, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3961 left_y=-0.0262 left_z=0.0416 left_yaw=0.0938 left_pitch=-0.2895 left_roll=0.0539 left_gripper=0.0388 right_x=0.2931 right_y=0.0004 right_z=0.173 right_yaw=-0.002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -6.7624, 6.735, 1.0672, -0.2027, 0.105, 0.862, -0.1846, -1.4701, 7.0085, 1.7216, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ad6f121288ccd650f91c9e0b72a8cdfd68ef06f8d5c17411979da0290b2c03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12054378c7d25a560bac09e4e7f41b772c0d3660674dd23526f009c249b59cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961afd3eee57304e858248bdb5b21b70b5a1d4003e7a84fb6c96954111ea8efd",
      "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 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3199, 1.7206, 0.7334, 0.1688, -0.3103, -0.2546, 0.008, -0.02, 0.7986, 0.5999, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.4048 left_y=-0.0735 left_z=0.0278 left_yaw=0.0638 left_pitch=-0.2011 left_roll=0.0627 left_gripper=0.008 right_x=0.2928 right_y=0.0004 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0005 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -8.7726, 6.3521, 1.4823, -0.1538, 0.0073, 0.6422, -0.1026, -1.2786, 6.9949, 1.7314, -0.0415, -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]: [-0.1646, 1.615, 0.7826, -0.0383, -0.2134, -0.1642, 0.9929, -0.02, 0.8005, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3987 left_y=-0.0247 left_z=0.0495 left_yaw=0.0919 left_pitch=-0.2773 left_roll=0.0731 left_gripper=0.9929 right_x=0.2929 right_y=0.0004 right_z=0.1736 right_yaw=-0.002 right_pitch=-0.0237 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -7.4462, 6.612, 1.8486, -0.1343, -0.0464, -0.0464, -0.0615, -0.8547, 6.9949, 1.6777, -0.0611, -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]: [-0.1646, 1.6276, 0.7681, -0.0223, -0.202, -0.1837, 0.0388, -0.02, 0.8028, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3961 left_y=-0.0262 left_z=0.0416 left_yaw=0.0938 left_pitch=-0.2895 left_roll=0.0539 left_gripper=0.0388 right_x=0.2931 right_y=0.0004 right_z=0.173 right_yaw=-0.002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -6.7624, 6.735, 1.0672, -0.2027, 0.105, 0.862, -0.1846, -1.4701, 7.0085, 1.7216, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ad6f121288ccd650f91c9e0b72a8cdfd68ef06f8d5c17411979da0290b2c03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12054378c7d25a560bac09e4e7f41b772c0d3660674dd23526f009c249b59cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961afd3eee57304e858248bdb5b21b70b5a1d4003e7a84fb6c96954111ea8efd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBu4yLI4ze9og8qHJ-ROsjBqYBUXPu9nkJjYUaDiFBmBQ2egiRp3lLiSegxMqD92aTg1_vEd-d6tHLDBk_kh4TAzXfU8xnhr0BIcfvxd6YhuTBiXDNU-NJNr5Vbf55KIYspkU5Dz2_eJIy3nZh2iI_KGUn-ycgci1u_wVH0nT8mfuNSjDygJeNfFNeYFEV4GzSTGKLRocP3H-EqTiOVy_oYGVcV3luPgIEARjhc1UHc_gCbt-7u0mhaK8oLnG3kTvvQAyctbleTjlo2hEP4D1VsDcTXUrfI01EaT3SwioVYE9mGSh9dAdb1RUOCOv4rpkH1OsW-A2fqP9smplW-rrcGElDqd0plq0XavO_cUNtAZzG87oVHYJsyERiWuB9IupkRL3-rfqtBVek8obcNHP3lZOO2Kyle6UNKZjiRNWXe7MZ8IYJ0Hm9IpQouRktFBuNI8itPmwY0MY2p5BtE6JnqG5kvismnNqwzOe76V8j3Lk_VepGAjrlNdXBW-r_7oINHk3yv8iksD6fypigmXfdaWwOF8v_ia81PF9t2fGvIf5nOUbv5UBvlrb6EefBY1zV-otnsomX-SMkYovkG2hYO7Q-IKczwVvMBX9F0tLHKT7QFug_hd6oIIlttSj-eo-M_FdRci619d_0b-aj_ZcP7idGSl6WwnCbjVHbsW65fTyc_wcfnpiumXNRInfK-S0UXbAfe4HpItCRv8mqqJBx9xMmbsVOBWe3Vd0a4rxML2AONiezWIgJXnpnc2oR6ru_aneqvfq3UBDkc0e-ULtQScul7zShKwHrnpgs28u8j9giWV7Fmthgo_Yh2YicgYPMUy6C6E5AoCAky3K5bpnEBiGkdhz83_QUohSGF253oC7Dic1QHBPot6VVqIINqLKtGX7AkCeS0KZeWQ1YbzcMnLX_aQfDzJBcGJ8sTvHji3W8VHVbNWwllPTI1JeD5yxgzfo33cNuIs6ZiJnkPEJAp94avK3ETziOk5eIBgU08hLajx-x20BKBZVn2TFcqw1L04I93VDt7az1X5-_6X2zQypcY8deQ69EfbvpoFCf2PZj5ShHRPf85eRNTqF6GvP_nK3fl-LSen_7BbEzY0UExNV3xA0GRmlrsNeIhj5CwqGN5IX9jBpUbfQH8_NrI2rfS589KAx2WAGlKRZu1zRWnTNr11vta8IYFpfg4XjadZU9HSu9qVMWs3xx8xw0vR1SEBBWH5_RViyeE8pmUm5VLkaz9lxqVKKuARkmtOqCpiom-e1BMxN9sf3T9EBPn9UycNnfmXayEbnl4OFLmQWiJ2ZnFrg6u-SYKCtuWt9mHZfbJktXH0fsIKD-qlLBn04T9KYSF2i5A9NJOtwdhwcSLPhbFIKP3p5HKzBTqaczpldeDd_SYn6-qqJdgbS-BFsCq1nlS_W-93wxCKxP2frHDPmpu7XmM8RP6SyAkY9IJubMR9nJ8K1PCJ5D7HqTpwxPy3ECZYeH5OoHic2dLE0TrfhzBJRjgYt1pohlHrBS5c_4UD1c1FHOeL6EHPUnoBedvI",
  "id": "rs_0101047fa121a2c8016ab41bb73f8487d0b73b8e6c80eb35d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws stopped at roughly 4 mm, close to the bowl rim’s thickness but also close to the empty threshold. I’ll lift a few centimetres and check the overhead view for motion with the gripper.\"}",
  "call_id": "call_M5wVyOs8FvxWJzDrCd30APrc",
  "id": "fc_0101047fa121a2c8016ab41bb7b71087d08dfbb6f0ade78836",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M5wVyOs8FvxWJzDrCd30APrc",
  "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]: [-0.1654, 1.5154, 0.9287, -0.3267, -0.2028, -0.1837, 0.0419, -0.02, 0.8032, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3923 left_y=-0.0258 left_z=0.0976 left_yaw=0.0962 left_pitch=-0.3199 left_roll=0.063 left_gripper=0.0419 right_x=0.2931 right_y=0.0004 right_z=0.1728 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1983, -8.3077, 9.0188, 1.4286, -0.1245, -0.0513, 0.6764, -0.1162, -1.3333, 6.9949, 1.746, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2cc364ede975505978cd89acc63405c62f9a91643d7cc7c9e7822a6ca6c82e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8990ca0ad78cd51a2839c849bf3a5193ae39d1b7ff8bd3c7dc9aa755cb1da21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aad25a4c1ba7b7e7e76f78edfa9bce3820eec5fa2c40a96b076fc38ef89a75e",
      "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 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1684, 1.5356, 0.87, -0.1604, -0.2203, -0.1703, 0.9932, -0.02, 0.7986, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.4062 left_y=-0.0263 left_z=0.0936 left_yaw=0.0943 left_pitch=-0.2326 left_roll=0.0622 left_gripper=0.9932 right_x=0.2928 right_y=0.0004 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -8.212, 9.3333, 1.5214, -0.0611, 0.2173, -0.5836, -0.0342, -0.9231, 7.0632, 1.7314, -0.0464, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1646, 1.6276, 0.7681, -0.0223, -0.202, -0.1837, 0.0388, -0.02, 0.8028, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3961 left_y=-0.0262 left_z=0.0416 left_yaw=0.0938 left_pitch=-0.2895 left_roll=0.0539 left_gripper=0.0388 right_x=0.2931 right_y=0.0004 right_z=0.173 right_yaw=-0.002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -6.7624, 6.735, 1.0672, -0.2027, 0.105, 0.862, -0.1846, -1.4701, 7.0085, 1.7216, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1654, 1.5154, 0.9287, -0.3267, -0.2028, -0.1837, 0.0419, -0.02, 0.8032, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3923 left_y=-0.0258 left_z=0.0976 left_yaw=0.0962 left_pitch=-0.3199 left_roll=0.063 left_gripper=0.0419 right_x=0.2931 right_y=0.0004 right_z=0.1728 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1983, -8.3077, 9.0188, 1.4286, -0.1245, -0.0513, 0.6764, -0.1162, -1.3333, 6.9949, 1.746, -0.0562, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2cc364ede975505978cd89acc63405c62f9a91643d7cc7c9e7822a6ca6c82e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8990ca0ad78cd51a2839c849bf3a5193ae39d1b7ff8bd3c7dc9aa755cb1da21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aad25a4c1ba7b7e7e76f78edfa9bce3820eec5fa2c40a96b076fc38ef89a75e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0101047fa121a2c8016ab41bb9f98887d08ff3438fd22b9b6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.143,\"left_z\":0.21,\"left_x\":0.399},\"note\":\"The left bowl rose with the gripper, confirming a thin rim grasp. I’ll carry it high over the center bowl, shifting laterally by the measured bowl-to-bowl spacing.\"}",
  "call_id": "call_g9tkHELifFWQ3wb0sdemYF5c",
  "id": "fc_0101047fa121a2c8016ab41bbde60087d0bafe2753320544fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g9tkHELifFWQ3wb0sdemYF5c",
  "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]: [-0.5056, 1.6444, 1.4826, -0.8421, -0.3763, -0.4633, 0.0414, -0.02, 0.8043, 0.5999, -0.3939, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3978 left_y=-0.1419 left_z=0.1975 left_yaw=0.0719 left_pitch=-0.3341 left_roll=0.0546 left_gripper=0.0414 right_x=0.293 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0282 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -7.3231, 8.9915, 1.2186, -0.3736, -0.0024, 0.7546, -0.0205, -1.4017, 6.9949, 1.6777, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b244dbedc616001d9fd227cee6aaa41465661447dda30214d33f53b5dbc6c8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452ffe81dd3ad1cf32023338e38acaa7db2ee6d50001aa54b769b76b88b66d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8434681f1ab9380df60f2b0eb6464f59c4a05884d03b8281c319ccfb117b082",
      "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 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1646, 1.615, 0.7826, -0.0383, -0.2134, -0.1642, 0.9929, -0.02, 0.8005, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3987 left_y=-0.0247 left_z=0.0495 left_yaw=0.0919 left_pitch=-0.2773 left_roll=0.0731 left_gripper=0.9929 right_x=0.2929 right_y=0.0004 right_z=0.1736 right_yaw=-0.002 right_pitch=-0.0237 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -7.4462, 6.612, 1.8486, -0.1343, -0.0464, -0.0464, -0.0615, -0.8547, 6.9949, 1.6777, -0.0611, -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]: [-0.1654, 1.5154, 0.9287, -0.3267, -0.2028, -0.1837, 0.0419, -0.02, 0.8032, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3923 left_y=-0.0258 left_z=0.0976 left_yaw=0.0962 left_pitch=-0.3199 left_roll=0.063 left_gripper=0.0419 right_x=0.2931 right_y=0.0004 right_z=0.1728 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1983, -8.3077, 9.0188, 1.4286, -0.1245, -0.0513, 0.6764, -0.1162, -1.3333, 6.9949, 1.746, -0.0562, -0.0708, -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]: [-0.5056, 1.6444, 1.4826, -0.8421, -0.3763, -0.4633, 0.0414, -0.02, 0.8043, 0.5999, -0.3939, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3978 left_y=-0.1419 left_z=0.1975 left_yaw=0.0719 left_pitch=-0.3341 left_roll=0.0546 left_gripper=0.0414 right_x=0.293 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0282 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -7.3231, 8.9915, 1.2186, -0.3736, -0.0024, 0.7546, -0.0205, -1.4017, 6.9949, 1.6777, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b244dbedc616001d9fd227cee6aaa41465661447dda30214d33f53b5dbc6c8f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452ffe81dd3ad1cf32023338e38acaa7db2ee6d50001aa54b769b76b88b66d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8434681f1ab9380df60f2b0eb6464f59c4a05884d03b8281c319ccfb117b082",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0101047fa121a2c8016ab41bc0ec9c87d08931103d7f369676",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvH0FnmUMODq9DtO4w8AP-tmZsO48796jWY0ewcM6QltAU6YcqxGdjp9_PSmU7M9cCjVijokKis1mOqpYjkDxlxZwq09Uni8dsvSwWXzt9MbXs2pYEFMEcIVr_v4pnGczAQsN7LlbEaMHwAzvl0SB2yg9bLXeGnQHZirGgY4ShviKryk4ggLtf-do3JX3g0K9beWGu71JCZAhkL7HXF0ZBmgH27vkMEo3uwpMGRzzSA6bBKcH_xa_wnTuRoMy7xYVyjrUpNZVKlEBz6PUPI1XDn-oQdRSDGJkv-FZ-fVLHPYso0rKVkWPP3dSgLPkjlM-5wGUh-zaOeJQrxUyVED_lBpigq-Rs-wNJxW9uhDXdf1tQHkh07azPihqIaTaDJvEDnC38-tmVsftfQUneuZ4CIvx8Eavcl5O5sz7ZPEv0epnnqS7GyxfX1ulpdL0tNrmvwzBMiaGEDXd3jq2bVxHbb1u1Uy7yFvT22I0FlFejHkB_JcZTsxw8911-l3xEStm7G4y8UuL6NtCdbDmXYtgUOZ0DXzJGO1Y6EpnLCidX6UWQWxSGDkJfaLMn_knAsbJAY6-AjVPDAc_EjWTAkTWsB-vNUYjP-k9J8r7TdnOl5gQcS1uXzxZl3IlEaLJDUamE_4HKZaHcuLZcro9Ha7C-RPhbZ_AnI5j9rZLS3hW5E01tV9tSYU3jPIaSBgcTcMY-F9_pVu1Ocm0qno649lxfL4fPHDAWaNzOl9bevkE5rLPeSCeSpPtAb-fskVdw9jvBzzkDL-17i2I9yiEZmy2V8hnshRutSv9MrRA_VGqVZakuYmWmb6ybAR_ef206CUgMDkSfYV7XVAXEfAKDnNi6eG11cwo2OLk83OIOQsxPFuBc535HtqRi6yQ1OOEUwwe2rn1onr4uZwjeDnHWyQjuUk1USfbI4bodZdjY_DU1R4rTcES6tGlKf_IHaJnFVg97dFGhi4zxNOtCQzrYOfPDUldknkFsnjehXgXlWvJHHoZVHNSjv_SSd2Jj8tRuFeSFJ5uRhoujVe8pv_66BsEg1lttahqRLGG8Gx5WYQkFI9FAwu6zWcP6_MN5eOhyL7a7KA97X-pYf06Xa7RSLE4-Wmdjc_qGMgOEYvFm2yIbN1EHRf0nVvtY_BneIZOUNHR8r4dn_b95UJ1uUPbxWbS-ocYvbe1Sl74xg7zOeXx0c-D56O8xgDiqgVHzEIdVbelNl7MME9VCBLA45snpH8-LZ0WVFAiha-1lyhFfnRXXdt1pVZ-Bm1xUBFWLhlGJ5tIYo-BLq0U0s2NB2LDLc7boUPYAQZm6zdlb_x2k-jLcezLVnXFPQ7oeJgCpxp99v40sOIjZOhKEqZ2Zoy_dekU7iFMnbqUvwSLJdPIoGL_uUdbg9vGdla8oa6pEWlao5euPLwhm8tSyZl-wNGH7tFZhJ13ilsZDIyo3PQa38DRyQO2-IUSfF4yEvLz_GP_oON5qnSn4NA2oUnM4HHJ4ZKEUm42pmyJF5adRzZsWCXFolbQhW5z3DaA2AaPVbhI9Cyso_nMlDNHHIl0GpXOCLR7TXL9-8qOqPOuLjO8gnOwkOX_tljYTrkgIV2llbLvbmOps_",
  "id": "rs_0101047fa121a2c8016ab41bc5c11887d09b4df6ad66002266",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The carried bowl is above the middle bowl, and the middle bowl appears on the expected side of the offset rim grasp. I’ll lower slowly toward nesting height while keeping the grip closed.\"}",
  "call_id": "call_wyMuIk0LLlNkzoV6JnfUDNo1",
  "id": "fc_0101047fa121a2c8016ab41bc667bc87d081d8ff154f7a0071",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wyMuIk0LLlNkzoV6JnfUDNo1",
  "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]: [-0.5068, 1.6669, 1.169, -0.5655, -0.3748, -0.4694, 0.0439, -0.02, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3856 left_y=-0.136 left_z=0.1057 left_yaw=0.0854 left_pitch=-0.3841 left_roll=0.0847 left_gripper=0.0439 right_x=0.2932 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [0.0205, -6.8171, 6.4205, 1.3455, -0.2173, 0.0317, 0.5201, -0.0752, -1.3607, 7.0222, 1.7265, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e975676c196e11202fe304d746983f3621ef441fcf3399665b9a410502499f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b882f861ac207c58398c045d09faf7f63e5248fe215e9d586a99e258485bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a029efa6fac0a369562f2cbca5aa8b6f6998f51de584af467a783e75856d11",
      "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 46 changed as sent

message 54 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1646, 1.6276, 0.7681, -0.0223, -0.202, -0.1837, 0.0388, -0.02, 0.8028, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3961 left_y=-0.0262 left_z=0.0416 left_yaw=0.0938 left_pitch=-0.2895 left_roll=0.0539 left_gripper=0.0388 right_x=0.2931 right_y=0.0004 right_z=0.173 right_yaw=-0.002 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -6.7624, 6.735, 1.0672, -0.2027, 0.105, 0.862, -0.1846, -1.4701, 7.0085, 1.7216, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5056, 1.6444, 1.4826, -0.8421, -0.3763, -0.4633, 0.0414, -0.02, 0.8043, 0.5999, -0.3939, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3978 left_y=-0.1419 left_z=0.1975 left_yaw=0.0719 left_pitch=-0.3341 left_roll=0.0546 left_gripper=0.0414 right_x=0.293 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0282 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -7.3231, 8.9915, 1.2186, -0.3736, -0.0024, 0.7546, -0.0205, -1.4017, 6.9949, 1.6777, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5068, 1.6669, 1.169, -0.5655, -0.3748, -0.4694, 0.0439, -0.02, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3856 left_y=-0.136 left_z=0.1057 left_yaw=0.0854 left_pitch=-0.3841 left_roll=0.0847 left_gripper=0.0439 right_x=0.2932 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [0.0205, -6.8171, 6.4205, 1.3455, -0.2173, 0.0317, 0.5201, -0.0752, -1.3607, 7.0222, 1.7265, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e975676c196e11202fe304d746983f3621ef441fcf3399665b9a410502499f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b882f861ac207c58398c045d09faf7f63e5248fe215e9d586a99e258485bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a029efa6fac0a369562f2cbca5aa8b6f6998f51de584af467a783e75856d11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvO2iFnDyvHnFYGwMqsLNdANe7mL8jx_bTGD8BzDkYQZy8gGC9XbzqTaIe0kfxXAD4zPNjME67YzGhF_5Fb3wAp26SVz7uzvvHpcPHp2AB9L7ukwRpba5ZM1GnNdQQdsHGgOqgexsObFTnWjwDIAO9MLAkKRhwLWZnY01RTkKl8EczLIFSqeunZqwYct-Bgwwi08Mk4JmSYhG6bU4ISlAgvF4ZhhexBFhr5NAWlU-Jlbq2GlAPeVwdDlVOuy4to3fI8r3T2jO2Sov13Qeklf13DyCS9cfcUXmFcAEXnTs2hm_35xF4pxLdEGdeP9MOdvCMor-r_ZoBxt0Txerd0eZxTAfUy46xvEAQK0_UDJEOugdJrK7kd3da7znsLHmjyR765sj5CGRoHt0t74JsSvfb_84jdjWY1Kf7Yey4x6_Hk88W--tC9KJpYBfkQmpO7phs0CTWYJYueNu6s0naFCh0mWSw37aTt_tTduZcoN6JCsncGzBw7OIsRKgFjgjR-aHpJt3xUvMNrezIxH4zLzTuWgUv4dCMe6NHHX0LVIgWAV4XJ5neWSSgubCQJm6IZ23pLyOxjXNHs0cEyZ0IgSIFvtrh9yhPRhIe02sjAqET9ykg4pbLIOg9voa-7Y2jICDt9qosAQOp1pZbHoTKJMyjRlp6uHwi3GKbXkmiM8wBb7RzbcG-spuHDyUF3Jdm71IoMaH4Y5cLKUiNVR3N_1Tr0bPOJYOX9l5TSZvlOd67Ny-1AnrekLobFmgJh0lDwgLE0Pyybzb9SSOLi4izX27kWRkcNXGbUst0i7aSUm3fCcckJjweIilf4XmeFYZQfENcHY_WjdGNRnrJfuJjZXKHQXeDwpO0CMzEF1O6ghVoYJcMxQI4BJ4C8s8jDPCu_AAL6oSKF_B6EIrlqppwcssi8tLf4uBF0ZxVnkjUTb-UVNIrYhXrGPEs9UymQh2J5jsq3Ks-S7aebXsPpUHcXVPznEQbKN1i9fmKdHzspi6SnHxVtqtucMwLepydtBFnrnSht9rlJVoY_AOU49vtVBMdrD4bD5dv_gOfYDu-_ABroBUkTpj8fZRTzqm9GiKpJ1UYBDbb5ptcBCmDtytAeRjQ59N0KesO83QsK8tnlvodI6TbPgHVfwwq1X6USf2BGEckoBcXCbgOez955hAM1JzYqPPuiuA4fibW0Nzio0Ox3qMtZ1ZvRnQSo0wwNslbDcgtL8J2nCMAVS4beEa27cVc2IwNAypVvbklc7yXfpgWabs_I4UqBTVaiY6gOAaN9eemxef9lMbvFBJtOYA-oQ_tkkh-HrbVCLL5raYSzJrb06iGwlc3YGuBWxDErf7QHWphe92JuU-KYOzGr6omWT70b_g3sqkQvmBgEv4cYAmgAAVit0skUjRmS7IjcApK4gMlszh-svsaG6L8DtsZNK3a29IkBYpLRPqSmRWMjdg7cromZh8HQEemZfx9D2fI3oFtLql_J8K1uIgwvKtppIrWEGhkpZ6v86FvCsqOEiyCfXTOSklsiIbIYnce2jDJCBPLxC5ydiaOXEyA4lw6bwDmqLUDTIVLPq373rLc3VitOHqMR_HwgMrWjS5GExxRb_67Fa9j5g_kytbUw7qgZ5YUA7fxvk8Apk6tjh-wFbPW4GKY_TyYO2SF8JBfXb36-vXxIEdnzIpy7HFQarZQDKKRXJcR-K5HDuPazT5rEWkcnPmZbogQKToeUnaVr0VoHqahv9VsKu9Ryeuzsy2sb1fC6OAEnCptgNrwMWIukmBlH5R2yM291-AqBYQdySMk6ZhqT97TrW1oUPtsFAgzwPSxEUDzq6wI-2rr4SHzWVWF2RIBKmABg9jvOwEX7sDmZaUbX4KnTw_eNUHZmZFfCgBBP-htYvPGyqboL0D0xHmPhaP3DCZx0ht4RYPmAwtSeLNiiLLucDQfswqHBHp-sPnstD3SfYCepH32nbYnDnSae2fnF7Bms4GddbQuvfQDOeLun1K4hHB1Cv6VzKTzKoJq4wnEzKIOPP9VTY_fexMCWgb2x0JVpN0eY53kmVRMwhTUB8aVHxXCB0TqSkRtSyYWRGulT01v9e9HBny4A_F8_F0c-m9cm6n9iktsCMIziK9znUCjX4PuUOKlNSNXg77flNzm7CBoSwdMz15Pw9VLNbsWmM5jyE2d6NExMube-jLvPi3rKM-xgneoZxOKQ5stES8PyLFPFjqOuYITSknMrXoxq9Lp7PI-AszjrERjNRpjN3rCd32Tu38l911Eml15LDpLWWxCizZ_iRPf3AOZ6cEMW_h_5vTV-sm1Q2KaqqrgJ4wDD0WNZfFoUJmljT6SvikqBM1ewt8F8tMIzUbP5KK2dxj6U0zDGo72tg8bol4VCqmYuW7qiCErcTpdLNSrADGfTff-6sFRpruZVU2IyMlTlVGFB4AnY9NlhAFqp0_VBti0s8ONA-Cr6HB2uuki9t-45csGmP_t03da1Nyioi8aeBNEfiOrkXy875osyDr8PbCxOn6QYFKwptsP9tW5lU_YO_r87niF-LkZta0eTELMZFaC-hswZKSz4xFcC0ANiCgsH7Lhp4m7f9WtzohbbDdQtjzmg4pzcHS8Q-mwI7Inw7GuHHj_Az82sFE5b2uan3JW-J-9t39KzeFQqx1DmduA-xJxb631UC_v2HGhBpWmkOVcZ4SCsyRiBgWKPE_AXuHd0PYZFvwi4_1H-gUsWaqK5c-zD8BmbZzU4G8R6YvALy_RvxMTlpJfd_xH99y-7y7VJB4reh9_TrTwbk3WNXoPEuLlx-IGAJ1W0EsGq_hRAcgd5YYqdqxJVAm47q9jzJmQilJYWxQjcGBgDX4Umgpinsv_53dAM2YMl5DXWB_NoUClPnDh3wsrvfQqt4D5-72jKBh00erpGK5gNHOsWruxqP-8TSLv-lztv4eDvykGfLAqgw9RW3YWgtsanC0GM2FSqzV3vfy8Etx27ZvtGBL1Dkpg46UpMN1HOklI1_tM7Jin1RrpJ261skJWp2DLDJZaVGBZ8PV6Bd9XOu0ssDz_IaP50M6kmTnyOhiYXmM3ZVXIrpnkiRHhuIiv7ggFGrY7HmsYjS1OX9op2xoGvoWWqwAm1RPX5AktgrladSrA6v_uQ3ysS6blnGDLLgdyFZ3sOsVDqyE1v3jazpWENRiNGQPKSUCeDiI-I_ugAjj9rHW1GMoJf0rISpftD4l40eXsL8slgmclkqi8nMDQsEM4z5d5mQf8mwCZHi_6aPI6bCvfmIyYw089Jqcx7LWhUcqzuQT3_DLt4j0Q_on9RFINIBPfmLHXUZgQt8N2FGdaCMhZyaqvsx4Ic8dcMmTEDi8mx7HFF2AcgmKVXlwSA0T2kgoc-pxel_WH8Gb6j2baYy-wtdIqxxfySyHw_6AKw1NH0jAxm_ClAQMKhJ98HUAjw-BsaUAAVmc-bXinX_PM=",
  "id": "rs_0101047fa121a2c8016ab41bc8beb887d0b6281a81b8101d1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.207,\"left_x\":0.405,\"left_z\":0.113},\"note\":\"At nesting height, the carried white bowl is visibly left of the lavender middle bowl by roughly two centimetres in the overhead view. I’ll shift it toward the middle bowl and slightly forward before releasing.\"}",
  "call_id": "call_EuHdpovqTP4yD2A3h6GCMqi6",
  "id": "fc_0101047fa121a2c8016ab41bcd684887d093ebba6ade3b68e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EuHdpovqTP4yD2A3h6GCMqi6",
  "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]: [-0.6353, 1.8626, 1.4132, -0.691, -0.4179, -0.5922, 0.0467, -0.02, 0.8097, 0.5976, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3982 left_y=-0.2001 left_z=0.1022 left_yaw=0.0807 left_pitch=-0.4154 left_roll=0.0931 left_gripper=0.0467 right_x=0.2932 right_y=0.0004 right_z=0.1701 right_yaw=-0.0018 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.6222, -9.2786, 8.8274, 1.0281, -0.4274, 0.1001, 0.2759, -0.1026, -1.6752, 7.241, 1.7363, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ced8e44e477d33ab016689701ec44a2ff598ff14306dcac59cf1524647b0a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd19ef3a2b9f54c506a7e4929901010fdac513e8194a9a031eda4e87363fec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675c2bfb6bdb8946ad34bd48ad995a1d30f8bbc6e52f2492479b7090e29724f4",
      "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 50 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]: [-0.1654, 1.5154, 0.9287, -0.3267, -0.2028, -0.1837, 0.0419, -0.02, 0.8032, 0.5999, -0.3931, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3923 left_y=-0.0258 left_z=0.0976 left_yaw=0.0962 left_pitch=-0.3199 left_roll=0.063 left_gripper=0.0419 right_x=0.2931 right_y=0.0004 right_z=0.1728 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9976\nstate[joint_eff]: [-0.1983, -8.3077, 9.0188, 1.4286, -0.1245, -0.0513, 0.6764, -0.1162, -1.3333, 6.9949, 1.746, -0.0562, -0.0708, -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]: [-0.5068, 1.6669, 1.169, -0.5655, -0.3748, -0.4694, 0.0439, -0.02, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3856 left_y=-0.136 left_z=0.1057 left_yaw=0.0854 left_pitch=-0.3841 left_roll=0.0847 left_gripper=0.0439 right_x=0.2932 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [0.0205, -6.8171, 6.4205, 1.3455, -0.2173, 0.0317, 0.5201, -0.0752, -1.3607, 7.0222, 1.7265, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6353, 1.8626, 1.4132, -0.691, -0.4179, -0.5922, 0.0467, -0.02, 0.8097, 0.5976, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3982 left_y=-0.2001 left_z=0.1022 left_yaw=0.0807 left_pitch=-0.4154 left_roll=0.0931 left_gripper=0.0467 right_x=0.2932 right_y=0.0004 right_z=0.1701 right_yaw=-0.0018 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.6222, -9.2786, 8.8274, 1.0281, -0.4274, 0.1001, 0.2759, -0.1026, -1.6752, 7.241, 1.7363, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ced8e44e477d33ab016689701ec44a2ff598ff14306dcac59cf1524647b0a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd19ef3a2b9f54c506a7e4929901010fdac513e8194a9a031eda4e87363fec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675c2bfb6bdb8946ad34bd48ad995a1d30f8bbc6e52f2492479b7090e29724f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvT9uC9JDwv-JHzLZgAu_jWL73G3FyZvozZsqRy2_GnmzIn_ySUo33VNjENPFOiOkFZRYeCTG5eXrX7yfJ4ezqemTAo0b3ktkEw7HkVNRuBOZYwdagUlEUs6X1xsNFTY0h757MOEE4sDHLuWKDl1RpEgCXjDJ_HVTSQhkXONBShdOGNkk1aJc1zcHLE20yx3CewhhxolakQfjXDpqQ8Aw9FDKpMjMLFcUzGc-rbcBA9FBPCNHZYs0RPonF-Epf3CobQZOmKfabG6l7Y4ZvnEzPRRp1dww2aNmD4b5TqFeY4N8n-e1lbeFPMgeCTZBRwx2sPqKZPR23p1GEsuJ9BwzixP02ns51h7Xqgg5j7n6_M-E6OsKbhux9zXZ2PKVfs8TyCBOzPxvWefnKXvuaCxaSIxXOqpu89cIG_Popvf14CVgBzBCkMsYFEjrX5rWKUNe0Ghw31LdMLxCYSuuXkwokTNKL7hCrK4Sd0PyvIo_HsTWfTmG40_8KVR9bzlNK56YUYudIsXPjbqWqlf2vLfs9OBDHwfZ6vIW0U4tm_VQp_IrmDRJRAHsoknOgJxh6FRNk9YazMRdxV5ufWk8QpQ5bD56qrOa2IhfmmNLlDptnKszJyLxwfoX1emx8HkL7mvE35vTmMwhZAfo9OWqMrJZmqzG7zso2tZkDx7W2sPx2venSuAFzK99LEQvnGby8hfZkjlZ8PptWTofa694VdQm9gknBJ-tTEnWNXjEO6CZZOZB55RnKhwUZXj4aOMwGviMTnD9jfDRWAENz0uTzhIgfEjHKEgzX45sI9EAfRUUYk7B8nDoPcFMNXnkUbRy7uHIb0WL8I7m6cmaUyR6-NUBmQ4VrlJEULsW3l0_WRiEgOmBPxheAnv9UNleUFZl2EgdhRqJcrn-AN3DP8tXyrEadE0LMvXh9IsZbhPqXyv4oxOl78XbmURMh7zjciFIS_w1i82xMJPPeQ0KV0VHQvg57rI3foGKK1sD2AfrttSeJD7kEkyK-oVmfBbARSeSxmvsGf9hPbFFV8Q2FuPCSjpODtLKIz-7S7WgY2eAWeP3lOsYH77jghMdVhilsO6K1CTThiy880Bh2PIf6b6vu9BH9gD6dL-j_PPLf4SXz4g3Kf-oV6c89HCVva91UO0EvDF76iIU10umQjAoBPz-B5jHMQ7fWczds50rY-xunJ4IM9wvLUNdq5_rDWfgeNg6Ey2ac3GfK-wo_z9XWVC5ZUe2OrRpgogbsWYkmwl607T3cCjuTOtvvynhS09tq2dYVqHW54puwNOczkNBzejCeHgQqlOhIUPZycKl_ZzLS9YGCGMuHGRG3aEEIkOOZ5j2IIncG5wS0hGk5fvIkm0UX9bSa0iwelJB9UNjUPKcHAqItv9wvdTweZooQQBZoDuxV-zAGvVImrKFD6srb99dJ_smstIVUNdqwd38-YBD7jK6A1l3c-JmOjvQnUU87tY3emK_dg5c9zu79B-hrEdgRrnTPVa_khfdG8xCxS3QzAz0-EqMTYFbNGC8fIAX_ybhfoP6fnxzjJk3C264BkRqVP1IFYQcYjATaGSJnznPWyZSTUHxF5d0QfhpPlT0Ke4pHBDKxKXsYb5Dw-oxBxIPtxl9VgpwYTrE_YVUM7nkSErPRhc6rOfPy12mwzO7tGy_rkiolOPu2jfkKIUhx95iynxYSOu_BqWwO6w3_qwV8_h9QvUoqJKacLlQb1FNGIHwBCDBSwra-x6hLp3zEGfKtBvmnRrN-vNd-fLpfYjwxIiCO_KhLtEp0liPXdLgVMym1oyvJ98qkDdwPCKQ7vl81jYzIIBl3gHyf_qh9soQciiuXwgpvd887p6sJF08FVKj5yV9hirYb_momNmTh6ipFNmY1V1PNMuuTszR-TpEW8Sf1vaD3YC0mwiNPLjDNTbjDWnbB22YdabzxhrQ1AkyC_Cgbt7aGXXgAYvXrrUJmZ-Zj9WKpF3ERORHAAI_Yv38OS5S0iABNkKlwzxvhvNj6UWnsBwVb0tFCRkGxuar1Y5H7R6jP50C6HRf5YD3_bTb5FW6jS2iF2ugvJnY0BZiR_7rs2wC1FUqxejicNHG4Kw9kd7dCKxR__vBooGY0u4ctAgNJVZ8-_A_Q2o9olEi1kxNybZxkFeNSSYlqo37dzN1zl5yn0mYbwgci2AjMAti-n2EzycoCMMdAdL5qvKuWBxI-Aq0BJzs7OWcDjLmKYLGGob3RYmBFbPtkbC_YOs25Gb1GOnf9JSU6qlk6rY5N9GGxYN9tgbYHPWu3k5jxeBLWZVZbfk64P7yPiQgk2K5L_DPmymsXLdZeatYibDPkzHlWit1gcrdFYA3LZt8uBwJn4qgwjXcy1wak5jIdklG0Lr_0g0fefIbCYCY25tjUif-2i3hc_5R3EuZaZF1Vo45KtlbRjWye9ZiDP0fS-GXBiIJwyVwQTVN_0RC-AYG1WQgHohujweNZn-2udPxBqHC1fRZjhNdIlosFqjI2D-FwFFI_fOvMJJYoWqvGd7rV9AiGtSpzo2RjJ27A9VXFChoKJqcUJq2QXu4v4l16p7pvhaUdrQkqwf-88NGFLE8DgonMjhFgp4WPwjqytjIoZEID4XV6FMchJjfnPpi38HutMn6tETcz_cmnmA7CKjixo2GAisS_xeeFzKAZlexia_Ai3iqCQtCfE-BEJ_DMPd00tbuwMAMNetkIwuX8Xa1VgNJtH6rxsL1YKujz5Yb55jjqHfpBApwJki5dYsjy5ICM9mSZnGmPTd_vbp7nzl08FcMWinY7QBAQKhicvFpSKpQRmEnUciv98716WFl--vRrhrOGYu4TqjaGQDkpiN9Yhhr_P6NYeYbMgwu0oHuAFZ72W8AT1firg7PF8PUDscJzRbmD350oVom8p5Cxf2TWpRgsZC_LbdkyIHyECmW4bDOrvajkwF1s8IeeAuuhuP_u_k6cFx4SyrxyaLb4owuEDuBM-ai08LcThVgBuZy44HZUK2j0=",
  "id": "rs_0101047fa121a2c8016ab41bcfb38487d0aa75e56433cb3059",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.205},\"note\":\"The middle lavender bowl slid sideways when the carried bowl approached at this low height, so their rims are interfering. I’ll lift the held bowl clear before realigning above the shifted target.\"}",
  "call_id": "call_Fwi8qWReF186j2ae8gYSRiQm",
  "id": "fc_0101047fa121a2c8016ab41bd2538487d095d086eba34cfb46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fwi8qWReF186j2ae8gYSRiQm",
  "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]: [-0.6399, 1.8725, 1.7622, -1.0405, -0.4137, -0.6003, 0.0489, -0.02, 0.8108, 0.5957, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3999 left_y=-0.2047 left_z=0.1852 left_yaw=0.0808 left_pitch=-0.4252 left_roll=0.0926 left_gripper=0.0489 right_x=0.293 right_y=0.0004 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -10.4547, 9.1145, 0.9206, -0.3053, 0.0855, 0.2173, -0.0752, -1.4291, 7.2, 1.7363, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef99efb274f0e690115f00f00aa5765c7469bfa70f3b52c9d7e6de5205eb849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978d324c3ad8f8b7e0930e8a8a9363b141cc792825db05f0103ca48aeb4f6498",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58549f009d59262831bfa58f7cda54ab9de4014ff389de0311c14cc0272797ab",
      "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 54 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]: [-0.5056, 1.6444, 1.4826, -0.8421, -0.3763, -0.4633, 0.0414, -0.02, 0.8043, 0.5999, -0.3939, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3978 left_y=-0.1419 left_z=0.1975 left_yaw=0.0719 left_pitch=-0.3341 left_roll=0.0546 left_gripper=0.0414 right_x=0.293 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0282 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -7.3231, 8.9915, 1.2186, -0.3736, -0.0024, 0.7546, -0.0205, -1.4017, 6.9949, 1.6777, -0.0317, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6353, 1.8626, 1.4132, -0.691, -0.4179, -0.5922, 0.0467, -0.02, 0.8097, 0.5976, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3982 left_y=-0.2001 left_z=0.1022 left_yaw=0.0807 left_pitch=-0.4154 left_roll=0.0931 left_gripper=0.0467 right_x=0.2932 right_y=0.0004 right_z=0.1701 right_yaw=-0.0018 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.6222, -9.2786, 8.8274, 1.0281, -0.4274, 0.1001, 0.2759, -0.1026, -1.6752, 7.241, 1.7363, -0.0659, -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]: [-0.6399, 1.8725, 1.7622, -1.0405, -0.4137, -0.6003, 0.0489, -0.02, 0.8108, 0.5957, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3999 left_y=-0.2047 left_z=0.1852 left_yaw=0.0808 left_pitch=-0.4252 left_roll=0.0926 left_gripper=0.0489 right_x=0.293 right_y=0.0004 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -10.4547, 9.1145, 0.9206, -0.3053, 0.0855, 0.2173, -0.0752, -1.4291, 7.2, 1.7363, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef99efb274f0e690115f00f00aa5765c7469bfa70f3b52c9d7e6de5205eb849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978d324c3ad8f8b7e0930e8a8a9363b141cc792825db05f0103ca48aeb4f6498",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58549f009d59262831bfa58f7cda54ab9de4014ff389de0311c14cc0272797ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvWZBzC1g187m-FKTPWVVhGIpp7JRbLJctrfKQvyCq_B3AJ8siI6Cro6Kr2RZIGTOlbaZ2T9PJ5q3eQ_lIZkNGFWTu6KuF4JuvVjI-23CHt5dd5m621UKZwW7C_PvUwDj72CYvVayNpAPZx660lwZE_n19-6IB359qOdim2jbZohWZZrzmmg6P8OMwZbTghbTFLDry5Cu3iugbHuGjvyMBY-GtksVciV25c_zd-nd3PmGEdPhoDqDZb0bqJw6bLuideB8lsXGepQgVszvRRG1R46j6XuVua55aABMu0Nsd1ySYXnlbo1Cp5SNPiFSRZYl0qboLAkX83I_LBHC1lcMClrvSnFoMDopvoIAwz2xBDp6V4pmX9nsAmQwrDZpY3BUHI6qywrRvPqgaVkm-CYu5SRk7NdK38CsSrHS7ggst6omDqHul2JrQerzUlGw_t5R6i3491289OXWBt8DWjTip75QGv4WP2fkzjhT92k1aEzRrVd4CyCg8mIlMepXrcFu_vwexBG_NEEtkPMGPryOBBEUPQIZ_QevCZG5bN5cSwCXwzR6g1mXJIqLu2TL3Zq9E-7i135PB9UbHIOkvjgupZe9PD0sWq63tk7lDkjBpoB62l8GNTd_sscRFhFmDwMujlNg_pY8FOyVgcf0Dc0gnVws9CPHZQUMX-bEicxRTKMGz4XP5Aj-0ft40-0rZCpMgrQ1UjymVyDKud8TZxkz13Ylx37MSOInzXK0a_LrseC96hSibuKC_eWcMLHnbue1Bd6x2CkatWSRnYC9ues_FlwOpmiMqAlSyqExecOYKAX2NUJh5BQwPRmVJgWB2cRpq7BKAzoMPlbaaBxDQXOGOr3gaoU-Plu_2tdXJ2ivmhys16i1D8LgIm59fhD4OvihfL8ZwrlEridfwS5JIHdxHhqI51uNssSU2djGYLXry5r_sRXAvFTTJZacJoU3ULhF4bgzX7eqJRmW64c9AMN_J4aahTIMff9WWO4F79XZNGRWdv4VkyqbRzS-pkvpMov2DLtbgjWFR8P3gRGlxUbUfPQXrYz0NWR2cPkqr8Ow1lgJyE0bvtHd9CsOnBQF-U_wDq1wprhS2nYxjrE0q94W5gWhAnCfCIjrYI6G6r-KUr_XtnLlARaw9kaYCC-mIqf4ikiaDR_O7SiVQiaPZ9bWQjtU3B6_tfB3IytdXhTxf2d2Lzom8RiRtoozSG8ifPgZPIF1O88uoDg9Cl7422X6xnI17U2cD13bCJCtMKV-yLIbTTF_CK-moZryQeqERZIcSxJylU3JjV97-bTzMaqHnbWq09s-c2WM462ybNJvQdb22Zx-w8DX34dkkooKUzwHlsmSqU6KHLwpTb5mFLkwaWLNoHkumRUrBuqdFmnt4OlAriqz4jTFQpjs9MoSxj-lIGFlly1ybyBOtwxWQ-5x0IiA4u1XuZuGtGt9Echrwt7T4u83YQ9nVwqU9KMlhtJVH0Zd_-1hmigkRycgm2BCNvW2Qo4b1ZPFB1AtvruCOWygUZYx9xCjDiSc8uENA-LfNqz_mNSo_rWPWCtMbyvRF4vB0t2Sx-rS14_GrXvZkrLHZqnghgwgHOWp50iEAh_0O_OBSlOW905Zg72ERQGEsrvQLK5qkptQaK0QDWn2vYrqGGRtkxs3diVSAaw6IYa5VRyquHT9ygXz-4Gb9u7VgBak938jkNCBbgHS_IWuQugk8XDRzCjBOvufrX5P0F_4cw",
  "id": "rs_0101047fa121a2c8016ab41bd4c2fc87d09c25218c69dd166d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.265,\"left_z\":0.21},\"note\":\"The carried bowl is clear of the table again; the lavender bowl now sits a little farther right than before. I’ll align the carried bowl above its new center while maintaining clearance.\"}",
  "call_id": "call_I9rYL2wIvDoL4iiM0NEcR0HD",
  "id": "fc_0101047fa121a2c8016ab41bd5ddd887d0870b737ba5ec5a98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9rYL2wIvDoL4iiM0NEcR0HD",
  "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]: [-0.7509, 2.0811, 2.1277, -1.251, -0.424, -0.7052, 0.051, -0.02, 0.8135, 0.5953, -0.3935, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3983 left_y=-0.2674 left_z=0.1981 left_yaw=0.0567 left_pitch=-0.452 left_roll=0.0793 left_gripper=0.051 right_x=0.293 right_y=0.0004 right_z=0.1679 right_yaw=-0.002 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.3077, -10.9197, 8.4581, 0.5641, -0.5836, -0.0659, 0.2076, -0.212, -1.5658, 7.2547, 1.7167, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a7b2a5aea471431f0b340aaf1c06d0f0d700071292691d30419291041f0585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec986200e26c64936b63da912fa250caeb8789221c4de49747fa718112844cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8375bd25b97a309793a82b57e4862bb4dc99b923c5422d35ad7ad690f0cf6d54",
      "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]: [-0.5068, 1.6669, 1.169, -0.5655, -0.3748, -0.4694, 0.0439, -0.02, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3856 left_y=-0.136 left_z=0.1057 left_yaw=0.0854 left_pitch=-0.3841 left_roll=0.0847 left_gripper=0.0439 right_x=0.2932 right_y=0.0004 right_z=0.1724 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9976\nstate[joint_eff]: [0.0205, -6.8171, 6.4205, 1.3455, -0.2173, 0.0317, 0.5201, -0.0752, -1.3607, 7.0222, 1.7265, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6399, 1.8725, 1.7622, -1.0405, -0.4137, -0.6003, 0.0489, -0.02, 0.8108, 0.5957, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3999 left_y=-0.2047 left_z=0.1852 left_yaw=0.0808 left_pitch=-0.4252 left_roll=0.0926 left_gripper=0.0489 right_x=0.293 right_y=0.0004 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -10.4547, 9.1145, 0.9206, -0.3053, 0.0855, 0.2173, -0.0752, -1.4291, 7.2, 1.7363, -0.0464, -0.0317, -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]: [-0.7509, 2.0811, 2.1277, -1.251, -0.424, -0.7052, 0.051, -0.02, 0.8135, 0.5953, -0.3935, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3983 left_y=-0.2674 left_z=0.1981 left_yaw=0.0567 left_pitch=-0.452 left_roll=0.0793 left_gripper=0.051 right_x=0.293 right_y=0.0004 right_z=0.1679 right_yaw=-0.002 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.3077, -10.9197, 8.4581, 0.5641, -0.5836, -0.0659, 0.2076, -0.212, -1.5658, 7.2547, 1.7167, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a7b2a5aea471431f0b340aaf1c06d0f0d700071292691d30419291041f0585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec986200e26c64936b63da912fa250caeb8789221c4de49747fa718112844cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8375bd25b97a309793a82b57e4862bb4dc99b923c5422d35ad7ad690f0cf6d54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvZMgpasA4pdHyjQE3NXluoYDZR7cN8an2sSHWhSn2UdfkSW9baGEI1T3AseUdea95wdaP1c_GE950Yz30riMDNhsvNSEet33cDwpaAXyPsaEaBPGo5ThRVj_4INHYKmSTjrLZXodaUgt3nO_WB5FnzOgPGnBbMu4i3MXWR3uuOG2Pccz_BwtIGggc8959Bl2qcAG9soXvt0u8aIuZA-I3xXZkZ0Xft9P5KWQtfuOZsOFVpy2tzzR3m5t6OpaT5BNefJCFXd36mASHrSMZpJAtYhsbR7I3gyvz-WDH2AInSaeBBamwUVGGHwNhKkB-T6viZESDVLlyHzRvTKdC8ct427ISZLxzfL1Oid5flBuBzlqJugQsymfncIK5WGjnHRfjwwqQSJsW8GQTWIzde0lKdOr4eULPRiS_HNoBrRdjZA13H7Z3XrQO-EEPm53Q3VxLqezZ_QXOBN2qwfkpVBxCjrtKGfBKVxZBn3kJkkZR4ySR8i2T1IK0MqsW7AkqEDoU87UV3SjN6DgQGWKw4WAgR-Ru_RB9APhZiji_3SrRfsRbP-uSMieiVGscS6Nj9e_xZUL5GmGhj8rHUg4FIiij-VFAUFo0R5rq17ilNjIf2hHSikCr4HivvzMoE3p6uTiR8y9NznZcNfbbRrBz222sMEri7Gn3QxnfncpB_RjQTlEHIHF9TRuHKOqnaN36z0OLxqIelirSuLb7fDi8d5PJmTcMHHdfMvhgulY4EBtTSSZmJhtMuZjVgilJXW-tZnVUJPSSYE0RWHCFRlFo03atafmmhqCzzc6WsM-S6IxrrTPTT6t3k5a2-S9WS7ZI5lY1tg7PHbvmkxh8Cp5Q7GZ5wD3ddQzwQ7sXP8vjn2r_6KtuplqNJDb9Pjq_oLCdleAnoeeZ1REq6im5-ACdqFNJLYyUIkIGjvTRMmlsrirKn8hch0iQ9MgOt2BdU2-ubkpCqdoUvdPoo8pgVSU1ErHMj7qkuHroiQOUFQjS578cDOcRSf86SF1M_DoGQove_LtJNUuxwWawITd5Od2ZTbVGq8yhO6EdsZHkNlfDvzZYbERBEOs4WNu4Q1IhvzeFg1MviqA8NOunv87MTblOiVKcrQsbipuVArIv_xvZMkF88qOVKC9EaHwnfEULRQ4pVKsj1UITXvR9zjCtmNkRWZQ3kUDAcnmbNzkAszXZjXqJAa1XVsZh7gqvx-S1pWORG51qLvmUaCMls2Z7om3I3BmSfLHYCW7k2XIvHepNM3IKKn-ID37quG-pR8DMBVtsoxeWhFJoMH7x6qpc7eunVEBSQHs9LQjPM0rHdsjrXZHjJH8zUyajiVxgjRNH4LkGWgB3tUmPLdvtNeF4OL67mIWUeReJrb6HQyGXyPN85JpVTiAh79vw7E_FNVUd77pootOzcGhITnG9qIsDOF-mMj_SvvH-8x12jEKD7JBr0PJhw8a49z-EdJqmztz-w2fviX97_gAKg0tFK4IQp3XjmSzCD_aYBQo1UOpb9TAW2yRTzdiPZd04DqzYw32ZWFhKPQLK17S5_5a3rR-Z40DZ1P-6ikheR82U0qI68SmnA--5IF_PnxDfhkjaQkE14GMcehGsgbxIGaWWPwEApLVCtRcuh-BW4VeqmN5Wyks4id36sUWdxDmxLu9nuwc3ZyRzPByTDF7oLQMLSyt1I3ED2Tlm4zLu0jRWjbfWrBbu30_SPnbQ0qSfHsRlioK3q1uWelmAGyEXT_tmtrH0xC5QOBi9glQ==",
  "id": "rs_0101047fa121a2c8016ab41bd84b8c87d0936743a568a517aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The white bowl is now centered over the lavender bowl in the overhead view. I’ll lower vertically to let its base enter the lower bowl without another lateral push.\"}",
  "call_id": "call_dfIUYnfqBIseW9RhNNq8KuTx",
  "id": "fc_0101047fa121a2c8016ab41bd954e087d09a237aa5b0079790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dfIUYnfqBIseW9RhNNq8KuTx",
  "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]: [-0.7544, 2.0552, 1.7672, -0.9894, -0.4175, -0.7219, 0.0524, -0.02, 0.8173, 0.5953, -0.3965, -0.0151, -0.0376, 0.9976]\nstate[eef_state]: left_x=0.388 left_y=-0.2614 left_z=0.1121 left_yaw=0.0869 left_pitch=-0.505 left_roll=0.1254 left_gripper=0.0524 right_x=0.2928 right_y=0.0004 right_z=0.1662 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -12.4239, 6.5709, 0.9548, -0.3101, 0.1587, 0.1343, -0.2667, -1.2513, 7.2, 1.7411, -0.0513, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4942f025d6a80329fdb561f2ed5cddcf1f7a1ae8e35f5f2e8375d85a9dd92f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2f490628b1353c5ecbed0cbe4eb270f5bd309ac8011f083ce0b7c6129bbfab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f893717832d0cb2777443634916662771c2aa47bf6a3a1dbfb33c0657388bb18",
      "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]: [-0.6353, 1.8626, 1.4132, -0.691, -0.4179, -0.5922, 0.0467, -0.02, 0.8097, 0.5976, -0.3927, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3982 left_y=-0.2001 left_z=0.1022 left_yaw=0.0807 left_pitch=-0.4154 left_roll=0.0931 left_gripper=0.0467 right_x=0.2932 right_y=0.0004 right_z=0.1701 right_yaw=-0.0018 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.6222, -9.2786, 8.8274, 1.0281, -0.4274, 0.1001, 0.2759, -0.1026, -1.6752, 7.241, 1.7363, -0.0659, -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]: [-0.7509, 2.0811, 2.1277, -1.251, -0.424, -0.7052, 0.051, -0.02, 0.8135, 0.5953, -0.3935, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3983 left_y=-0.2674 left_z=0.1981 left_yaw=0.0567 left_pitch=-0.452 left_roll=0.0793 left_gripper=0.051 right_x=0.293 right_y=0.0004 right_z=0.1679 right_yaw=-0.002 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.3077, -10.9197, 8.4581, 0.5641, -0.5836, -0.0659, 0.2076, -0.212, -1.5658, 7.2547, 1.7167, -0.0611, -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]: [-0.7544, 2.0552, 1.7672, -0.9894, -0.4175, -0.7219, 0.0524, -0.02, 0.8173, 0.5953, -0.3965, -0.0151, -0.0376, 0.9976]\nstate[eef_state]: left_x=0.388 left_y=-0.2614 left_z=0.1121 left_yaw=0.0869 left_pitch=-0.505 left_roll=0.1254 left_gripper=0.0524 right_x=0.2928 right_y=0.0004 right_z=0.1662 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -12.4239, 6.5709, 0.9548, -0.3101, 0.1587, 0.1343, -0.2667, -1.2513, 7.2, 1.7411, -0.0513, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4942f025d6a80329fdb561f2ed5cddcf1f7a1ae8e35f5f2e8375d85a9dd92f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2f490628b1353c5ecbed0cbe4eb270f5bd309ac8011f083ce0b7c6129bbfab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f893717832d0cb2777443634916662771c2aa47bf6a3a1dbfb33c0657388bb18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvdZqa0NQXrA6r5D3efbFC5rvstU9ViXEEcpIixV9SsUA4ikUOkR70VtYmxvuVfJxO3FwGYrITzauIfNdLc7Qwh9pXvgfMDTrrrSSTG6JJo5aZxeQri1NaEbppAj41LGKP6OPk5dJAf1sRPKp0nne7qemJKLYt82QuZ2TkdpHK3Aokd51OsDeM_OQy-pnEbBK8G5j0gW96Mva8Ll0Or3XOWUOW1N_VGYK52_BpzZBeKwYbLwJMrNBohPAXUgWZtitc0OhzH0ySM0RlwinVyUer2h9l3Fn8Is6RqgDDtdlkGjz0gBdGs1o-O_UGJ6RfyUjjBVcDhOMJfsdw886MJ_QU3uT6g0Hw0C2T9frKabeFyYTeYFQKNqEhLuYyuFeCLO-2HccL01HPX1DPjdmAj4uwIaNTXtSmqk53OUVzDmfreePX5e_qA_9_1tMb6Oplrfyh_ciJStTVYPc5NQ0JqpJCImGkmACi3ZszyoX-elwfq4kObteQLowvAy1qP4m4AcLXGXzur0UKubVCFUK7aocnQlmIsXLjtjHMDl4xPTMiy-kkgJu_4epTx36QwQy4HjnLLkQPL0AC7pOImcVdcLSAr9Kkgl1WDC2bCxVrDpjycTSNi4iiecXAS-F1FxZw-1vlZJz1gaKjIuiLSyrqcoXb8uD_4MvN8LhRaly30xB4AAbj73qhoJi4k39jF2azLKNvFcidhnrIEvsmEtqogBV115KNQcxF6c1h63dcc31_hdOU51hsrfjcGDriqvTJvuU3qvkudcXiDxbICi_f7QAYaNCqfMLmiGqZLuf4Tzy2xKnU0kSsulpbu_DhZYgxQxk415ije-8m14QGB0kmn42dhVgXjRakT1TOU8aMtB9UZ9xKHTodYYQtA8sOWXwevfh7Ef-ANXHbx6PJo4ZcOfZQryHRkQBATt6g9ORUTwa2ye2kj-KNJNE3XgpIh-fxi0TTUPt72cxro0rRMzDTcUpG8huLhL2gRtAjkt0UPo05IdVa15POQD4UZg_fl-QxVXCGcUrAFAdkSplsJ74pEAA8bQF9buohq4RcDG2AQxMtOOe4Jdhmfaimd5mJZ1PnUDPfYsM6RsZwPAsumO0bSU1hLz-DoTNnRC0dl3vU_XAdOoHLCEuSmuhOpC18zgSkGj7AzA2AADUUiE8c-bpV21r_h10Jol3pxcX-4wW1SNZ6X7J4BqtgHJ7TleWdLHlcNcYuPNdeE--xA_yToOKFXLecR7WG6OBtPEkUOkkIn0Tw93ND0OPJ7nCwmZ-pKqqWaPeDR47tHeZ8t6WZkuKUaz2qfMktYsm2hcz38jnVbLJEFAdSY3-meYP7im9NUD-X8LNB9kBf0VdHYnPBj5olxMC9jtoNrNSF6QLGSD9kuU74QAo6tBUx4uAMyTaiI9e-JqXEpSVczat5BO5w_3PDkrmtEs21rozRHmBPDJ7H8hZWJE2C-vbiEkxinPCS-27MkG79acA62Wx-XXuzkFGnjcA5CjB-a5zY5aOFyVEqQhTkYSkPYUe1RJqvXctT-FQyWoQ8niEAOZj0pkV4nErcY5HGaQvUjLdMPlJozVYBAMqKbzCMvYvkQXbtNt4WxJHvbU1zMclCMKkQPEmFCU9s6jKDdOINRhDckisrQj5AwP4IWiQBGL9boHuNKoVe_g48sEPLaTllsXKiIZ2fRP-Jpv7nUmxVTtLRK4GfAUF08XDA6ttMwRrKyZS0Z9q4E1lEq2XJTfR5dfE1rhDRGW4zrKqOA_c8RNoO2TfL3loOSDeJ-7HKoOYtaPQtDvaeQfyg9wLfIcW26cobLbX27GJyZfZLe_fQwhOhjqBt73h8zGRJliv2kU3jTITL-4PuhfF4FjxizfZcDB601RSjoFCudxOFd4gNtktoBx-3mGAj64NeJpnKEptr5zu2IrvuP_G_-JjKo",
  "id": "rs_0101047fa121a2c8016ab41bdb6f8887d0a61445fe70648380",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"left_x\":0.402},\"note\":\"The bowl centers remain aligned as the white bowl descends into the lavender one. I’ll lower a little farther, watching for the base to seat rather than forcing it through the table.\"}",
  "call_id": "call_aMRgEM2kfY3aCOp8786UTczm",
  "id": "fc_0101047fa121a2c8016ab41bdcb4c487d0aca4d2cba766bb55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aMRgEM2kfY3aCOp8786UTczm",
  "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]: [-0.7403, 2.0926, 1.6859, -0.8627, -0.4129, -0.7162, 0.0539, -0.02, 0.8173, 0.5945, -0.4099, -0.0151, -0.038, 0.9976]\nstate[eef_state]: left_x=0.3966 left_y=-0.2614 left_z=0.0778 left_yaw=0.0912 left_pitch=-0.5033 left_roll=0.1184 left_gripper=0.0539 right_x=0.2907 right_y=0.0004 right_z=0.1632 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.5675, -9.9761, 6.4479, 0.906, -0.2222, 0.0904, 0.1441, -0.2393, -1.388, 7.0632, 1.8681, -0.0708, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9b4aa0e9621bfff7f92f6bb8a2af851e208a3a786491f74ecb5b005e54ce47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cb1bc9a31a0a13f588dcf3268e5c70df97f5bcce0a1bcfd5ead5f7e42ebda2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e91306cac99e24cfd40027e68153277d2331b609ea7493f0e1ab1ade819560b",
      "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]: [-0.6399, 1.8725, 1.7622, -1.0405, -0.4137, -0.6003, 0.0489, -0.02, 0.8108, 0.5957, -0.3931, -0.0151, -0.0345, 0.9976]\nstate[eef_state]: left_x=0.3999 left_y=-0.2047 left_z=0.1852 left_yaw=0.0808 left_pitch=-0.4252 left_roll=0.0926 left_gripper=0.0489 right_x=0.293 right_y=0.0004 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -10.4547, 9.1145, 0.9206, -0.3053, 0.0855, 0.2173, -0.0752, -1.4291, 7.2, 1.7363, -0.0464, -0.0317, -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]: [-0.7544, 2.0552, 1.7672, -0.9894, -0.4175, -0.7219, 0.0524, -0.02, 0.8173, 0.5953, -0.3965, -0.0151, -0.0376, 0.9976]\nstate[eef_state]: left_x=0.388 left_y=-0.2614 left_z=0.1121 left_yaw=0.0869 left_pitch=-0.505 left_roll=0.1254 left_gripper=0.0524 right_x=0.2928 right_y=0.0004 right_z=0.1662 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -12.4239, 6.5709, 0.9548, -0.3101, 0.1587, 0.1343, -0.2667, -1.2513, 7.2, 1.7411, -0.0513, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7403, 2.0926, 1.6859, -0.8627, -0.4129, -0.7162, 0.0539, -0.02, 0.8173, 0.5945, -0.4099, -0.0151, -0.038, 0.9976]\nstate[eef_state]: left_x=0.3966 left_y=-0.2614 left_z=0.0778 left_yaw=0.0912 left_pitch=-0.5033 left_roll=0.1184 left_gripper=0.0539 right_x=0.2907 right_y=0.0004 right_z=0.1632 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.5675, -9.9761, 6.4479, 0.906, -0.2222, 0.0904, 0.1441, -0.2393, -1.388, 7.0632, 1.8681, -0.0708, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9b4aa0e9621bfff7f92f6bb8a2af851e208a3a786491f74ecb5b005e54ce47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cb1bc9a31a0a13f588dcf3268e5c70df97f5bcce0a1bcfd5ead5f7e42ebda2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e91306cac99e24cfd40027e68153277d2331b609ea7493f0e1ab1ade819560b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvh_8ITeB2ySBeH2wQ8D2M2bbU6umYoZCRB9JXUVyqpoGju4vUDKRvCpyYdtUjblXGdym-cfDfBdFnuh_GWFceyUrViLWXh1HdyHARBcJr65cDt9HQFLZz3zh0Hr5KxlBKeKYUiZOZKzrtxKUEdMjppQszcuEuk4d2Qq2aV1ApTkMVvGfZHjNYAp05Z0Qy8Jd939y6SRVtKV_XuOpCWsjSkmz8BQU17q9ks6oD8IaIlwZyWvC6GS61qtoJujEuHnc4i4xpvxVM3ya2sQjVm4wz3DnG7q6URQnEVUQ3AOqwOrYwI1PH1IXLEPjWsMs7Bb6Irku5Ndv-PqJlpn1v21JVeCP-YjlxhfACaZsnNC17GeaLrPSyaxXp4shMvQHwSleOJVY4VRie32gSS9Ywab6XvbfA9-gtcpEBU4n2jZE7JEPbfYDdZSR0wo4sJf1_KaJNvHy7f1sZUC_VeT7xJuVDTVOKW41oZcGlh1mUywDvQjcx5LejfpeMMl-3ODir1ybtTSM5Gj1Y6Fnt0KRVGXeQV2zmTox9Xlk3B3sF6I0SPer4O4thQA4rQj2SSQGtS_rMtftyr1NgOCiKDb0Lsk6sfEprM96lnSWENpSUOg7nB4sFjrw75G1mikYddIJtiy0Tu0lmXJSAPJ99r-OHk_iZQO5VnfVVuBR3Bzkk6o1eJQuDixoSA7RWEmVmmuk04RCZg_axwCwn4U3ANPvwXP4GmXQZz7zHtpZNPXNl0MmFIQrj5muJzNufzsXP0s6Oa_R4DJ1euW0v3aIUTF_zN7f0_lcMxXPfDK009BO07LmAG-SHBsRvl6b5v2f33jfZOmtafrh3HNGK5vW8dvade1hed_Fi83Z6Om99H97-AvVlAnYoPA5v78yaO4438wRXr3YZIhEgLSdTGSbOiytCJDqEzpPCHCcffam_Vuzb92MLIOHkgUdYs1LiKPvI15C5HjAx0ZkYKtYDGVB1MmsYYLvCgMYKEPD7bqJjW4F0jsZeaU4OZxla8qo4rPpKOf9gNJn6vBJQ_SZT6pt08SSsTwgWQUOMVCOU3V8JNfkLShf4A8uD-22aNIvc46OQVFbJRybkP1O7OgXE-fZrbN7z6mDgHYlO-zmnr1w9i6qJWqpYFexsr83wAluec_9x8bN1A3aOInojz0dgStLaUou0soUUjCslHj-xpIBXlCH3CSO2Mz6p-ocafZnssyC2S5I3rejDnRnt4IREFM7waxgC6cCiAOeV69pMVHL_Q3ftpS2H-RvTv9KSXZCkNppeto0dY2hnGDjOJvXsY6htbiND8b2WtfN0p_yvHmSVq-0L3Z1UPDdMDhyJxf2WBJ-wy_jb36Q3cLh-QfP7JTHzp5vrWA7YHjjo5zOD-WkclXJZWUv4IK5cBhMi1JQ8h3UUhoXnU_eCxDdc-0o_iZSW102ffZdLSGVx7nbEAUAQ8XZ4AXFbLk8zp024JJN7uT8u7pXDqpEmb_BSSzhzpqhYuQiAvqlRrYXM7vd3Im2nFKVHH-ohaOSxYgpOKI0EAatk3Qq6qRPO5LThAqzCOzEZfSHSGIhszBiL-lX-0ya7MOcIF65E8l0PSLuC0swUR81FXwGpzaISA4CH_XfWXJDo0D3NnK7p-vod-cIxsmoNF5udpfEtt8TPaigF1om5F2WgpxN2qZk99mpEwjtP-fWINq7M8Q5hsyuHqoV1W_4cdYg4gHyR1SDwCf5Kg1A8g__WtvCxpi96qUXnFm33qRw1ITAHQtqIVTvrJnHduqUrUBOq0VH7HgPt9oKwucMsu5fyMdg_I6TwZyGFCp9WutWvVSuiQt3EhoenI0wvJLxSJhtUx9X9otDQdP83bkd26PvCJ1E69OfkQre_HbtagB7YM3sUt5eoARQWF0P3S8o3gDh7aq-kuIJeQHPCaRLpTz9UKXdfrpyks-DM0C8V7Pg6Qv5PKVJ-YKA==",
  "id": "rs_0101047fa121a2c8016ab41bdf7a6c87d0960844fc84133448",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent slowed around 8 cm with the white bowl visually centered over the lavender one, consistent with the bowls contacting. I’ll release the rim so the upper bowl can settle into the lower bowl.\"}",
  "call_id": "call_4OTedDdo8Bp2JeEeW3Gt0FYQ",
  "id": "fc_0101047fa121a2c8016ab41be0f78087d0a0b7171c695e274a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4OTedDdo8Bp2JeEeW3Gt0FYQ",
  "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]: [-0.733, 2.1227, 1.673, -0.8314, -0.4129, -0.704, 0.9932, -0.02, 0.823, 0.5945, -0.4152, -0.0151, -0.0422, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=-0.26 left_z=0.0622 left_yaw=0.0959 left_pitch=-0.5121 left_roll=0.1351 left_gripper=0.9932 right_x=0.2902 right_y=0.0004 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0736 right_roll=-0.0056 right_gripper=0.9976\nstate[joint_eff]: [0.0615, -12.0, 6.2974, 0.8571, -0.2662, -0.0024, -0.5495, -0.1026, -1.8667, 6.9812, 1.6972, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86acd76d38d67f8bf61a52764de9d6e93c81b4f2a4846f710b0f2ad677c51abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed4f03d70e98d5415b6c98831765fa149e4cd43af09c7bd10ad5b405d2094ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7667ea637e098717dad5949d5070d984f60facbc266ae5c7e1ea003f4550b65",
      "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]: [-0.7509, 2.0811, 2.1277, -1.251, -0.424, -0.7052, 0.051, -0.02, 0.8135, 0.5953, -0.3935, -0.0151, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.3983 left_y=-0.2674 left_z=0.1981 left_yaw=0.0567 left_pitch=-0.452 left_roll=0.0793 left_gripper=0.051 right_x=0.293 right_y=0.0004 right_z=0.1679 right_yaw=-0.002 right_pitch=-0.0416 right_roll=0.0002 right_gripper=0.9976\nstate[joint_eff]: [-0.3077, -10.9197, 8.4581, 0.5641, -0.5836, -0.0659, 0.2076, -0.212, -1.5658, 7.2547, 1.7167, -0.0611, -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]: [-0.7403, 2.0926, 1.6859, -0.8627, -0.4129, -0.7162, 0.0539, -0.02, 0.8173, 0.5945, -0.4099, -0.0151, -0.038, 0.9976]\nstate[eef_state]: left_x=0.3966 left_y=-0.2614 left_z=0.0778 left_yaw=0.0912 left_pitch=-0.5033 left_roll=0.1184 left_gripper=0.0539 right_x=0.2907 right_y=0.0004 right_z=0.1632 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.5675, -9.9761, 6.4479, 0.906, -0.2222, 0.0904, 0.1441, -0.2393, -1.388, 7.0632, 1.8681, -0.0708, -0.022, -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]: [-0.733, 2.1227, 1.673, -0.8314, -0.4129, -0.704, 0.9932, -0.02, 0.823, 0.5945, -0.4152, -0.0151, -0.0422, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=-0.26 left_z=0.0622 left_yaw=0.0959 left_pitch=-0.5121 left_roll=0.1351 left_gripper=0.9932 right_x=0.2902 right_y=0.0004 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0736 right_roll=-0.0056 right_gripper=0.9976\nstate[joint_eff]: [0.0615, -12.0, 6.2974, 0.8571, -0.2662, -0.0024, -0.5495, -0.1026, -1.8667, 6.9812, 1.6972, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86acd76d38d67f8bf61a52764de9d6e93c81b4f2a4846f710b0f2ad677c51abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed4f03d70e98d5415b6c98831765fa149e4cd43af09c7bd10ad5b405d2094ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7667ea637e098717dad5949d5070d984f60facbc266ae5c7e1ea003f4550b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvqhxVcVcHdzA_qrNIuMkEOrTAL7s17nXt_DBg28LZEpfRxZ3utVzAZXxiblyjXXl9C4-N-KuOA3ttOs6Uv1JrgCBg03StJgD5zpZsSWWW0gOP1SI7z4m15q0eRJYJ7CnTI4RikfLAZ2zj7YlWSdcLJ3avczkpoaewNwUAAUHc59rT3_6Js4O1BG5W5krF7poxrHEOmMxHKRcJ-qokK1RRKJsZZ4maWEE426fVlZo0-RuR-vnws_KlaHaldckBvbhAV4VDXpdSUnslx3Dm97Zj1aV-eo3iQAE0CkyWUP9fEuvFw1HlJv7Qh6b7heuo7EoECj-XzMQeF_ACz3dnr7JZZXfKX-2PkdkIAsbMVxNDLtP7agv6VDaPLZPx3fyng3ncZkLZVr0y0ns7jDjRXWiwzYi_ptBaiETP7Kvy_gX2AWI09CnOUCU1rcFvfc3aNeDeTwg-xeAg3FHqIEHRmdXei1Q-5byz90T-qhYkLaN54VR6IW4Ht92d3CF7N20aS9MSWNHp9MjTa8wXMzRXITX2YrVKqE37WTQ78K9YVb96ijF5Zw1YXccbu9AxijKun6n23QgGrhDtqi8xcVmGr3g_zybNn39zEqG1wQRs2ycY5Bwk7AIp4V-sKnofVWLctdTOpafbIgI0sl69KmlAu-Rzo8KQ5IvmxgkTQOasLA1vrrcOS23eqnxQspb3px8gRezrtQRf9hjCvENEjKNAvp5erzPLZzcpBQygMCj5pbsdyHgE5uLb9B-1KV_e1bwuDDcc4hkanQVH9dQnyvUGTwiT1ZoNQMZlTXRyyuAwODP36_DReCNZI4K99U2bnUiqEeCZvrk0iPSx44RhlwJfMfwfl7e4Sln8oDKphfyilA7DgUaRWcpe8A7mhP-8rUuP8_nSqm2ttmMB59I3OkRfovFgmHU1h_C_KfZWr0-2PJYWT-WoW0WQtvGYTcqIG0AoC9a5c5s1Vq-cJMyxAPZjJmyAKa20cyGWytz57AhUXWgKQsPdisC9T56ZJ6cDa4PiOQ_ycSvnuGkabVSCjUkccxxNlNsQ7qdu3g0TDuzHIxbYxfVLxJC79IYmhdtDf55eZ2C0MAASkQdBEqAh3qYBX2pxKQbtuc0OfYuY6WeMmSmSDCe71o0maW1oR7-s5NOK4IVerYguT3wCbr834zAe71OgDKoIaXo2YtsiMvYH78QVPjSDqJeoOZqpswB5eapfQP0KkOK1ms8fSo4KrUQIdu5HQrl1C7wPwLb8F5cwxMBoLqjRvCDNFe53-d2PQWbY7Cy6XJ2MknUYtwqq4VRaXHoEt4KDynQAu2xtBerc-l2KAEdIjtlUtoz2NYAXeWAoULgYZQwlQnIJKv8y57NQc0Iyx-XVnsDUrTfLEbWBfoEOoJExjLg2aiM2BYGipuqVpdRv1QiB0d5WHE6Om1L4-ctj6Hz2gm0CoENXBVCUYgfnlsKv-Hmnk8gUgCCfQytEEFb1L-qU0q34lkYU5ADKGyqc4ePQFvcIyjBy0vyAXjaLBzO25nmAi3yYYjxYP51nNB3g9C49xbNLztD8cpdTNPr3B782_Limrb_M0_OULQ3c37W6H0ZNrF9u5lawtKZJvz4QKaa8IQjJ8N9myNzEB7IGI-rpg58y_ix4_4j2SrAjFOny06tT-pOeIA7Lp_sSaUbQgLzneoyww-pJsIcYfWWi-R6QD2XcHl2viI18cOb9_s2GWeDrg7t3sHZpYLKF1xl8p_862SJpQ15aY6BhkhLXapcNY1TaRzbaHdM9Aa5rAm6O7TPfBUFRUh_8cGiNprG1OXzacELMAq4uXNLeEiQL0qgeMiEOF3z22BDYYtI9xjE-UMq8HxBBRjI-KCVaz9qgfNsuVvogy_pgFVbg3_JdJczT-ggP5yFDjtExrNl7cCqHzWkXsP0PJG4lC-zfpkUc7uVqtFgnIvii61SyVJyfj0nKJJdOVtrxZL8F8n86QL40fpZBZ7loqBOthjY93F-Cn9FxI5ia9IjDkJLDnaSgCD7H8Pjd9wl3GQf0URuVNqyZ7wdgv6xDa4u2sJyqwx327Fh3QqLQSW95CO3_Rh1e2mj0FY0nKx46CSv_8bnOa24Do4gYZXpv9-Ab_iF8Ou038U5sOAlVWOWOTss83IR_kIWh_3iOqVHi7RA8nHckrOs5pR8WZXWRLOrrAhmr9rbDYrF-FL-1BltKr72yG-CZ_6w5vEys4gMQs_GQIe8R7sAJdPgxkAg2EvGLn5TkHQ1AZJXDGoI9788AmFAeXpir1Z0BbDkPodqTLdEg4LDsSq8e3-MXycBpFjSUJIVyr13u2XMAElMwHJ8JtNMDs8GSiHNsrQiZXMgdahz_Ph10fx02J411_hvY2aQlQ2BQ--EMMz2oTr8OeZjQG4Oafq9UnxLmbFd2lRuobS-9fqdKHFcSdj253poqNVdF6OfRdNod2fETC8iUiT5jwBzkcWEObJVBh0Jd1XHHa4ljm-kuuBC-tO8PjBv-umXysJTUydX6zFeTj2Rpv5Zt2-Pe0etyeNaR0FEcG9mtmRE0z8z4QZXGewk0aNAN5V_Le715RXXsgpYhS4nMW1pXTk2gAvX9LA4m7Su-B70B2s8D4YuOZn6-m7r1vk5ABnvhMWHu-W8Ss-2YCOxQw94j39Cq3qrEEqWUk86PP2HlLiPSpLuomb-lUEXPJIQN2AO3fZLCGhg1xuJpesbTIfpoESkfASvXST_iWtPBbP5i_D3t6ynjeLj0B8jzqYZzs-MZp9qlYl9bDuFhchmGvOaJZHgfRRfKk-H2_udLrLx5Q6nZ1RXZ8DrmvBun4TiPplHT_8L4vA-hwVDEL8G-6dujImZkOQkvUdtZAv9cI7vlOwH0OAkGcX5ZyHm3esIJ2d5FUHtzKjKIW5WJGvsxLvnPgAYFzp8Df43OarZrHuiKCo21tcuo-1kBjIrH-p9yQAPymjRfk1_daOwZgo0pR8vuKp7tz1DZwAhU2q1ctvWA3xaeCm_DdSb4vjGvTnKEdWoNuXMcc_1H807d04xcOZQ6gfpxtCTGGKC1K5ZT2651rDvxQmyIPKXc2d-FlRzcwweQSnd6b2MlkjWBZktOOsivflRo3KDiidZh9gOgRAeDXyF17OOsJ57eQk6IuVQK-Hf5im63uXAtCw8dibZiVENuZRgywjALOJ_9diWBo6qplNjwzuG-UpA-iLEes9dSpK_190ktVhaP_FCE396WrANo3PsS7uWRLFyWNRA3jnY_hVRJNyw0GMQTBclUQ43NmYd1sjocu-z3rWlJAXynAHc55sxVYSZwjdO0a2ZpYSw2xnlWZuyY7giM8DnJ7dCzCOCuVJ0fd5WZa-Ed0Zu4a7f4hH8dhTcO-3_LN_1U_fjeRJRNmto3YYFEwCPkMfZBUQIewq6pUkM-niP_pRajE2YM-iAHJ-xPJukkqj26tyqrH8Up4ycmlMEf6498MhZiXS7QhncabmT3akjtr50EjYd6Si0ocPOWAQsdqiAaWSZPW0EuYX-9Ylc2OQtOGowW26dxY_Eq3aZiFOGAsOF9VQM2raTuw9XwnUA==",
  "id": "rs_0101047fa121a2c8016ab41be3a8c087d084e022dd06d577db",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvqpMut9pmuXt1FIjT3rRBUc6KbOe-85wfAbhaOVBeVhGS3gMfosKHEkzEaLfTuFt75UkxoiD9MVs_f8H-CevMjBZbbculSS06tfUP6k-p9QWPY79hB1MJG-5tls2mQJ7DHI9uK6R_4AbjnF4gcnXh6jvEiH9VraIw_-kZtJ9PITy4xbopkNM6FdRdSkx0DKmGP74XgRSYtz372mYaXvdZetROHVdYAuUpv0gTyiD4jv4ddXpLGKbys1tdIACptMN3oDSWhFORVOfPQAkDBZlvyL_J9kkdshMy549lpXylMcjPDprxZam5dAQ3TCgA9P0PiZVwkoRtYR9HL5r-k6f_WkbqsUjsuP06bjAF7WYUnFsJM9Gye12IUIfVP3V5K9VeYQqy1UtdlxcdsJlztNL6RzMnkX8bNF-vW_452fN0MVTBn7sa0Bi-PvyShQZohOR-d1qhZRp90G1u-ocBK9ZdNL8Iwsb7-Ndtb6b4Z-VCQd8IERhIp70IG1WnrXKq550SIo70pCgXtXNI0_kuC1N-yEggIii5Q__yiUSdw340Ve71zvRVwi7eXlEZUpwM1GbOK3P8ESzbBZBNgQ8sng5TlL8-ApliSmzo3E68AozZrELh5Tp6rSWFMClnEaqpqIc4C6tH6DUIe1BRCTACnNBws5lb9TFePLpKk9vG5tySPWAOS4OBWPOC6O83HuUXYzjYJYAFrpGoDebHculWA1_oJZYFX0HD2UXVsu1IXQXJ-d46EE57g0nKiiWmb9H6DECwOq9KjKQ-apylOSv-lbwcMnTeSxNTCNfRGswFu5rd2GX24rW9t9mAsg8wuCbSgQBsTNfAIQDtgIXArfUqivnumXwORKwKbJMGZ3D6KIj1Gacb7SFpa7x2Fo1GNaO5ugHMN2Amqan0QfgH8GmpSGg2xjaeGPefHe-0aHvlar0bCDVMRcekrU60PfyU3zEaQvv6y03QvZKjDQm6tWdKJzOgmoqwout-1Uz4Q3uPyU_ysLuNRh6Scv0lgQ533V-04XugPJIKMh_WwM45TgkhldO2bV3YB-_2m9pWhpUgq4Cyd25cpMCCsA3-eUS9dKAHCj_oD9D79pmae8tbsW82VjZPvRLD8oZp2fm-em-NIYzj46d1GnLnac29nm5VLbPMLgWssMuoPZxS-znUcpDexxzX4gTQTVPHnDCSAX8ejslWgYjTGvvhK7NtauhL3wWULzrfiH8jRlreR2braR-tSwgBoVRcoGjlG5F8HhSise6c-bqyM80EA1FOsGyC5oXa7AhU2x4XE-ux06_COzw2Sfg7aKs2kfhtxlUHoysWju0JoDKJlkWxo94Al7YEhd7wZNBqsyj4ijPZES7yrl4i54HGiW_f58cLIdJU_tG_V4Wo74FNSY-f04TEy54mxBAA9bCJvi7yr9xWLCkIQnZMThkR2BJPdrjRc7USZJL70xjEsxjWdTUeVjEzUkHxmNIf39aMLDN3XsjsW_chBXsQyoHSq3nOv2wXl1Z8SajmhLpmxqS5uD2Y_4jXcvjduGQXKveZGc51DQfbCJMwod-1fXqBWCvudTsGWmWWTtl0kzXFD89OAdE3OsPE9EyluJRTtg_2wwbFiHpfxi15KwK5TLUjw2S00lp2qReS8AyoRvF2ngakk8e4zIqNhMKOwK3wky-eZPzhDaXl_5u4OiLEZuAEYpU0CMmUh6mxadqcSecSr0vhPl9A3hiT_oleiYnfp8ldmOAd5knwXaT2h03Mh-9ojjZhriFVFQWv-lY6iPyr2GGZsqw6vno3jMja4_xywtWNnAJrPJVgjsoqIZkzmJHDnd2pvOw80ub97bkXFCLs4huM3c_9j4mIIadVp9d9RaheJX-9XItJMD-5CONwkXnfBWssE6cvo4YYXYet8Z_AyQ1-PA1lz19dcU6t-EWa_vyksTjNMw8NNohjFDoTYn6IXIF4sKu08CFXzFRhE7I8WD2jt8yT-Yw9QP04dMzal_zo5KMZQNPWfn1IkD1CWQmioavo5jRaU9o1s6_cyTtRgEXU8AvaoN-z7hRuPTMGdNzM2OBPQPcVnASuy9OGL-ItU18Uoes27L0XwOFuOFBbvLCg=",
  "id": "rs_0101047fa121a2c8016ab41be7a05487d0a62509f20b4dfa8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"left_x\":0.29,\"left_y\":0.0},\"note\":\"After release, the overhead view shows the white bowl on the table, with the lavender bowl displaced toward the far edge rather than nested. I’ll park the left arm clear so I can inspect all three bowls and use the right arm for the next grasp.\"}",
  "call_id": "call_utHtfpAV6zUs2infE4S23YPE",
  "id": "fc_0101047fa121a2c8016ab41be9538c87d0aee7e725812965d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_utHtfpAV6zUs2infE4S23YPE",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.141, 1.272, 1.2755, -1.1347, -0.2016, -0.1703, 0.9928, -0.02, 0.8249, 0.5945, -0.4194, -0.0151, -0.0452, 0.9976]\nstate[eef_state]: left_x=0.2931 left_y=-0.0022 left_z=0.2052 left_yaw=0.1382 left_pitch=-0.531 left_roll=0.1337 left_gripper=0.9928 right_x=0.2897 right_y=0.0004 right_z=0.1593 right_yaw=0.004 right_pitch=-0.0797 right_roll=-0.0079 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -5.2855, 9.0051, 1.0232, -0.0366, 0.1392, -0.0464, -0.1573, -1.3744, 7.1043, 1.707, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b3ba9a2c3acb2e3245a1d66f92816b03f364e8613dbd9256cf73a6e5f5d283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb471ea890db40b327fcb5664095a0fae5b053448d2d0ed8a6d5f4c94c66066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4863d4b74cb3215a190fcda1eaba3097cc7115ef852f4ea5c5c9ddbb4f78423",
      "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 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7544, 2.0552, 1.7672, -0.9894, -0.4175, -0.7219, 0.0524, -0.02, 0.8173, 0.5953, -0.3965, -0.0151, -0.0376, 0.9976]\nstate[eef_state]: left_x=0.388 left_y=-0.2614 left_z=0.1121 left_yaw=0.0869 left_pitch=-0.505 left_roll=0.1254 left_gripper=0.0524 right_x=0.2928 right_y=0.0004 right_z=0.1662 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -12.4239, 6.5709, 0.9548, -0.3101, 0.1587, 0.1343, -0.2667, -1.2513, 7.2, 1.7411, -0.0513, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.733, 2.1227, 1.673, -0.8314, -0.4129, -0.704, 0.9932, -0.02, 0.823, 0.5945, -0.4152, -0.0151, -0.0422, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=-0.26 left_z=0.0622 left_yaw=0.0959 left_pitch=-0.5121 left_roll=0.1351 left_gripper=0.9932 right_x=0.2902 right_y=0.0004 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0736 right_roll=-0.0056 right_gripper=0.9976\nstate[joint_eff]: [0.0615, -12.0, 6.2974, 0.8571, -0.2662, -0.0024, -0.5495, -0.1026, -1.8667, 6.9812, 1.6972, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.141, 1.272, 1.2755, -1.1347, -0.2016, -0.1703, 0.9928, -0.02, 0.8249, 0.5945, -0.4194, -0.0151, -0.0452, 0.9976]\nstate[eef_state]: left_x=0.2931 left_y=-0.0022 left_z=0.2052 left_yaw=0.1382 left_pitch=-0.531 left_roll=0.1337 left_gripper=0.9928 right_x=0.2897 right_y=0.0004 right_z=0.1593 right_yaw=0.004 right_pitch=-0.0797 right_roll=-0.0079 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -5.2855, 9.0051, 1.0232, -0.0366, 0.1392, -0.0464, -0.1573, -1.3744, 7.1043, 1.707, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b3ba9a2c3acb2e3245a1d66f92816b03f364e8613dbd9256cf73a6e5f5d283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb471ea890db40b327fcb5664095a0fae5b053448d2d0ed8a6d5f4c94c66066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4863d4b74cb3215a190fcda1eaba3097cc7115ef852f4ea5c5c9ddbb4f78423",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBvyHo0qgCFiwzwrCIRZSUaDRf7Fq4qFB0jWchP-zPbszF_qsnqmlceEenx3XbVKmJ18mvn-zXANHYH-jp42YnGsp8aIfuK1CPcRvegaStf2t0g5pECz39J6q-grtxAYvQ4XgHBiTOk80lukfs7CHD_TOf78SwT_m2Mz-plDwXHgvYck7VN33tKwBHr7ctOeT4cFfxyt8Wv2ZzsqgQ3-opv_NvdLSfX_6qd8J65zpYUY30fiTsD4680eDduwacmMmtqPSALjhBHb6QFhSjtBGchDfUI-QC9wk4XXsQK9MUKJ2TdaPrq5gOuv2oJF7FG2MyFfnzWc3PtdnKrQtY4wFJhyOi-mIsjxzsQB7G8R_ybH7Tu4sxUUbPhNZ1Be5YWOOp99DYjJWKSIsslkeSmZepvb5bj-lm0MkzN6eu5j_g9_e-gLpedOuIwLuuwQyvz2dg_5Uz4Y91diYW069BjhP5dzdQN0sweC1ydmQtK1uBMCpXdNOkLMmUW-o2JzIjOYx3M72YqYL3lCp3R4lV4C3TE9kTK8IQjpb9q_4QoklUrReBrUJ2lqiVwJqs7KzxB4lkr333HHy0iBFnoi2vts96tGVk3hudMQTDJVNzzUmRJPFCD8-hl9aPzEdJKhAfIngVhhcuk1JM49-SgPNqtlC8N0NUCfKCZd7w0cH6A6_MMfREyHMihGViOOW70BpmkAj7EgUEkQ5ZYheLv1I_2qyEpPZYvheIhr8moail12x21tufwtFG0C5wPlOAHTfvp5Zv8HslXVWJWi21qrtVmXvOgb4eJBSOufDmNlS128kyNJKhDdB8f6JrX4dS1Mwatgpt9ydHjuxfAOl2u_mOshdjgUI1Y4q0DSKOlbCp-Zx1NM9BT4afZQannT1RxiZCAgDJRCSb1jC7rfoxNRDGx2n9somSTaLw5gU8o-yMtQOPN0HPNvt3ksWF38esOqkNHXNcQx1qxEUSuGsBsMJBaFHwNaniF3ySJW_R0-oXmKN2xgQNW5l3NqyZwx-hTCP65G9NT0dr_jQ9pkfAHYPZ5ovvlMH8awaGc_RUpg-HAB6vfGfjY-Yz16fcUfWg3ktPD2GlR8gJYnfjY2b9a1PmVVPEsE3vzRwB6dOXLn9oTpoZxeOoXBHYvv2CTNKMWtshfRO6eV_Ovvyoi6ZHuHmsdZRftXBLLYTk7_FQ3wAid5WDvFQBEKpO3OUtg88ukCl0d9FrOp4FzsJczbSKt6mX0NHb82OXgU98mi1EfxSrqyJDqiYLrZ13Z3dC8Olu20d7Hi04NLC5f6z_FzYPAb_tm-_Zwbla0airGk1uD66v0PccKCUdpj-T2z4sjHdgvCOdYeHvt-3BTt_3yzt09Yu35Ju_lo78Bm4-cexOO02A_tK_4SPAB2MtEoWqwbGEEfvF-S3JqZReMFOMZYVxgDOE4-Ws_tpvKnAmhgchVn2zYI9LVEogHsXtXGG8D-X7JA-9XY2fAAQ3p6wz_fTFQwTDKzTioAPX7fPn-7a-F37nhljtJlGJH5VHBlYj58PhIeDKDog671UN0IO59vpomb6C_NWamLtD4_v-9k1fL3BsGduru5pWc1xfQp2MkLca0UaIYyCgEBA04vPn4RKOhGIEC5sz2o9MRLq0mwx_CGzOIeIiqNslmj2T3Pnqd3Mw0WC_ryjrfTccPhNWSD2Ruel0qhd1d8Pn2U4Z0q0NQFMv2ArC_Cv9Y4cYBuyh7iDpXjNI4OGqg-B02QuBPlKpKYXobATVIhvob6PjCc_9rqdmxHCEU26tf1Uy9RPavmRwgk5Goq9oEmaIg6VkzzCMFIVG_YdwX31Nc2p903Nq7BhbqAFYUoAn36sTd8jtbGXZdAAqafxJHktjWLdqbD-9WukaTbsc2VVoj5hXE35qggZSx58nMZrq3JXaafMfOekyM2jFER-TVq5TH1kXYrFvFm_fD1yCcvZEnqfzMQXqxP-UlLQPoJiGA-gOZZc2_vEhOyB27ZiGr0Zhtsc37emmvvGPjmGjZ0Y6zg79XdOLJVWIFCAESbAcQX9BgFJXkgSQASNN-An5NOsxzMIhCmTXgSt6cdEngiq0D6-VcIUtBn0ts-mWRUiUQEiqlpBOwxNaUdesXEDGP-GmGbXn_6N8CdaPWJOFS7_i5B4IxHIk9pTlxH7XRHUAavsjJZF86WpC2sJP-WfqX7zYsuWeoL2WVz_ogB0cTkyZHogarfeqYG40rqx3lXpB1ngyHzgatZ6yPninAB5nENP4yPWrMmAH3CiRZ3Sjy-a_zxsNYo41AsZGVgfY9Uzeb-Te38KwrGJEM7QNz0BCTtqhXad5Gm78kgSRBPYB51hw==",
  "id": "rs_0101047fa121a2c8016ab41beeed8887d090825f94aa93d631",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.407,\"right_y\":0.11,\"right_z\":0.11,\"right_gripper\":1},\"note\":\"With the left arm clear, all three bowls are separate: white near the center, lavender farther forward, and pink to the right. I’ll bring the right gripper above the pink bowl, offset toward its outside rim for a sidewall pinch.\"}",
  "call_id": "call_pk5mqpRyhi137qKZmrBMZgEv",
  "id": "fc_0101047fa121a2c8016ab41bf152b887d082bbc75c023e032e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pk5mqpRyhi137qKZmrBMZgEv",
  "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]: [-0.1413, 1.2728, 1.2751, -1.1423, -0.1883, -0.1726, 0.9928, 0.3744, 1.5143, 0.7757, -0.0399, 0.2596, 0.1669, 0.9977]\nstate[eef_state]: left_x=0.2913 left_y=-0.0044 left_z=0.2037 left_yaw=0.1281 left_pitch=-0.5425 left_roll=0.1217 left_gripper=0.9928 right_x=0.3859 right_y=0.1068 right_z=0.0861 right_yaw=0.0485 right_pitch=-0.1765 right_roll=-0.0427 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -4.1094, 6.2017, 1.0867, -0.2027, -0.0122, -0.0122, -0.0479, -7.3368, 8.5949, 1.8339, 0.4078, 0.2808, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87feaf4db469b53924465ec17fbfe1d367f7141cb46b9d47e55f1abf9f9bf385",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9825064821063cdf3b6c9043c243c369120ca166122f45962997b5506bf1647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e833ab90f225c6a75b8e55cf9beb7d8811e61f95aece0481494c1da7f70fe66e",
      "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 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7403, 2.0926, 1.6859, -0.8627, -0.4129, -0.7162, 0.0539, -0.02, 0.8173, 0.5945, -0.4099, -0.0151, -0.038, 0.9976]\nstate[eef_state]: left_x=0.3966 left_y=-0.2614 left_z=0.0778 left_yaw=0.0912 left_pitch=-0.5033 left_roll=0.1184 left_gripper=0.0539 right_x=0.2907 right_y=0.0004 right_z=0.1632 right_yaw=0.0001 right_pitch=-0.0626 right_roll=-0.0025 right_gripper=0.9976\nstate[joint_eff]: [0.5675, -9.9761, 6.4479, 0.906, -0.2222, 0.0904, 0.1441, -0.2393, -1.388, 7.0632, 1.8681, -0.0708, -0.022, -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]: [-0.141, 1.272, 1.2755, -1.1347, -0.2016, -0.1703, 0.9928, -0.02, 0.8249, 0.5945, -0.4194, -0.0151, -0.0452, 0.9976]\nstate[eef_state]: left_x=0.2931 left_y=-0.0022 left_z=0.2052 left_yaw=0.1382 left_pitch=-0.531 left_roll=0.1337 left_gripper=0.9928 right_x=0.2897 right_y=0.0004 right_z=0.1593 right_yaw=0.004 right_pitch=-0.0797 right_roll=-0.0079 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -5.2855, 9.0051, 1.0232, -0.0366, 0.1392, -0.0464, -0.1573, -1.3744, 7.1043, 1.707, -0.0708, -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]: [-0.1413, 1.2728, 1.2751, -1.1423, -0.1883, -0.1726, 0.9928, 0.3744, 1.5143, 0.7757, -0.0399, 0.2596, 0.1669, 0.9977]\nstate[eef_state]: left_x=0.2913 left_y=-0.0044 left_z=0.2037 left_yaw=0.1281 left_pitch=-0.5425 left_roll=0.1217 left_gripper=0.9928 right_x=0.3859 right_y=0.1068 right_z=0.0861 right_yaw=0.0485 right_pitch=-0.1765 right_roll=-0.0427 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -4.1094, 6.2017, 1.0867, -0.2027, -0.0122, -0.0122, -0.0479, -7.3368, 8.5949, 1.8339, 0.4078, 0.2808, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87feaf4db469b53924465ec17fbfe1d367f7141cb46b9d47e55f1abf9f9bf385",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9825064821063cdf3b6c9043c243c369120ca166122f45962997b5506bf1647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e833ab90f225c6a75b8e55cf9beb7d8811e61f95aece0481494c1da7f70fe66e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBv4FTDSkFJKSn4mWygoqCjQXgepSFEKDitDRjBJBLrBm_S7ONmshsk4fL2odZpXjP6v3O0sMT71DZQEJ4sufycLICw_Em47rg8GwvwNvO6VJZGjwWgCqyq6WeQDfMmXT0vQRa7DcWhlHYnlcvXy4etXXU1GUqzVmqQ0WisN3drvIUDUgqiGuW8ETTH2XPNiptgpubOr4VGFl5r_vfP10ubfAzwLaMzTGG8Q4EnBQ7_6ySh0eHcRVQzDh1haxro4AA4LzA3-qozLb-HDewkzSkhgps6nHzcfqfAhi1cTB06n7p8WuPRbsT5qoUZhxLwiK5vqQLc3eniYZG0RuFGrosBLmZhQS3YWrT5_JPn5G_orTGgDSwF71m6T4yO0w4ruaM17L4WQsKw-AmQoHesO94owOfkWVUQhI2HDfj3t3ZtOGjkTa4d9MOShTb6iTXu4g-OUGYlmvAFMym4uJlxFOV46wIhV29q6JCWyZNSxIFni0xJ9I43G-eQ6WRt5eyPlr7Y3_ihiACfQ44gSnUwustu78WqTz7t0U0NGORbfswCJNh9WPwS6SJI148roYkf00XdgpXm3BbpS6IxxAcRkGQUtvcaNcYkh3xyzL4rLneK1t8CKI_Dk-bF43PucO282BXc-HW2UT5XHjD2gT8j8YYK7asr07HljX3qNDBeu5cvLdf-nYxNlElwHZ_fTGaEPQGMo0E-hNXWw_j_jwWLuDygVNlWezno-siBRE4FvG15QtZ9yJJ2IJqOmJNt0979GrKZTJvZWs6PqBav1aqKmhary5AqAfpM5jSnBtC56Oj6iB8jPJz7GfQKebAGNlBaWuf-YiPyWBt91SL3sCfXieXIe_Dj1_h6X02yQ9iY8CyhyKcGPJJupjfdIgYPSIMsvNpOCFxn01ujevlb3m8Cavg4xyvnl4nH0wOkXMV7lWgjwCWTzM32OK-zkoDP-TzHG5sTqVc31l-qbtiWtNEPoCbdiPKIY8pmzXxGnqzMapHjScQOTJYSkH7oqJzQ0N0ylzLCXwfPG4Szzd1xdiwzIBJ_YddE2yx2BxEnImugdRQR9c569pXdo2t16xJPNf_HX2jGt3nXdFkWcs6cPikNQolQQ7QJzhyA-6_sEzw_jraMIHh60MnJoHIGwiHP2ykePESsycy_5O7NNE-Vsn6ObZsQeFMJjt6RJWu7bJFbadTiAV9KKDbnsSErVQ0hQx72h1gjSh8ODDe8VsKhotOVTY56BFVl50dM6hDG0uEnxix2W8_UK6RivmApDOW_YQGWmBr3PCrIx5uTC0P07p1_lxg8gDkFKaZ38VT_s04JzbhcCH2dSACOAzyVhabbSGcU24MGOTA7-oktSEWj9EHWHzKFtJxEF7iCecY4qzUm8xExXvzBVvGoRVFwK1HnyfT7wULxqZYVaknD6nSUtvAvUcmwiF3zGa0Y3DeiHCk0k0A7_3bdf4e2JO-NkEBYtIG974CFOeRPK9kcxgW0sRYx719bZK4MsNTQCbEolmmRFvmekaPVWTygKRWux_LaEkIoekhqeWqSiytV6_XfRz65pyp_ayZhxRy1yb9fBl8XvPnRKpwIfEBf_9hoNlE4KFe2Wfu0W1ghLwQw1pWTKCcQAper0382ZafrECkOIRkn94NTEsIHPf_PXGSrBx67Kn0sPuZSKaOAiWxRKci_LaiennUMnQmF2B2b27hMv_i2PowAKKY_FCkMwQbV9vRFQte5hEqR3QwG_y7zQxYkFoIkGVnK-xVU_HV7EHBXLJcBPsWNB4pE4Tjnb4-xU7pmdt4TdzqmW-ZgFzC_47GTAOGJGQoUk7PgfUKuGYQVfNF2KGQ3FoctimCnfAp4bN_mozrjSeANjPeSLJKgPsFW2zOFqdm6NhWLjUR5W45PwXCqP-qZZA7R_Q-zOXng2dbP9VLE_e1WrfA-Qu6sSNstDPxC01bCzgW4XStt_0Eq9DT6Q8edAtoyf1awdcBceITftBSPaStxdEuzzbe5Dm4jqcWVsoS9PrpvY3Cv12YpxXSfGNPicThvhs8ZWUPACmcnPRY3TlzCpULomXrd78JYpKwBIXQcsckQrl8AcIuhr32-8WRWqzRgoUtP0lxP7z7T12yej59rwz5Jgl3cAu_P-X3oET9Q2OfdBNdLc82kGvC3kj6wzKkCAzF0EISc8o7NKzRuP1jSfTsLwAaYMH9xlnCHDMFUkfYj40YALqIQ5qqOpbkzu9N1sFPIFiM2jDa4HyECyJreoJpEGzbwljtDjFptsUKz9k51D8qVZGz-oztGJoP5IG-DVa-po0tbykGgroOkiEtmNeyk2u5VNfUggoqzJZr56W4JTflcAOw43L1t8VVGa6JLaFpU2XgVBT5Xd3BWbyY7_MujOxiGjhJbv6kYQx_vAADd_T5XugSUcBTtVBymlmYF2O0UyCYDyib0V-TCRCNYM",
  "id": "rs_0101047fa121a2c8016ab41bf4e7e087d0ad8abeaff24d375d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.412,\"right_y\":0.108,\"right_z\":0.046},\"note\":\"In the right wrist view, the pink bowl’s right rim is between the open fingers, though the gripper is still a little behind it. I’ll advance slightly and lower to rim height before closing.\"}",
  "call_id": "call_JceEJHlBLJL44SldnxZB60w8",
  "id": "fc_0101047fa121a2c8016ab41bf7467487d0945eaa70bbbf28c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JceEJHlBLJL44SldnxZB60w8",
  "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]: [-0.1413, 1.2755, 1.2751, -1.1416, -0.1871, -0.173, 0.9928, 0.3511, 1.6844, 0.7837, 0.0803, 0.2489, 0.1562, 0.9976]\nstate[eef_state]: left_x=0.2917 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5446 left_roll=0.121 left_gripper=0.9928 right_x=0.4022 right_y=0.1048 right_z=0.0432 right_yaw=0.0374 right_pitch=-0.219 right_roll=-0.0566 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -3.9863, 6.188, 1.0232, -0.149, -0.0708, -0.0122, -0.2256, -9.0872, 5.8735, 1.8242, 0.0415, -0.1099, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b6cef9baaf1ad85fdb44e945e98236eaf3106d7145be088c60210bc3e54749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51a2b5e3c5da370051fcbc0b41af69804eb7b627f65a1eca0dab3e7f3327681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5141063a3667a9fbccc3f0c8af03aea0e7553e67ec57922d7fdecbba0229a53c",
      "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 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.733, 2.1227, 1.673, -0.8314, -0.4129, -0.704, 0.9932, -0.02, 0.823, 0.5945, -0.4152, -0.0151, -0.0422, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=-0.26 left_z=0.0622 left_yaw=0.0959 left_pitch=-0.5121 left_roll=0.1351 left_gripper=0.9932 right_x=0.2902 right_y=0.0004 right_z=0.1606 right_yaw=0.0024 right_pitch=-0.0736 right_roll=-0.0056 right_gripper=0.9976\nstate[joint_eff]: [0.0615, -12.0, 6.2974, 0.8571, -0.2662, -0.0024, -0.5495, -0.1026, -1.8667, 6.9812, 1.6972, -0.0122, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2728, 1.2751, -1.1423, -0.1883, -0.1726, 0.9928, 0.3744, 1.5143, 0.7757, -0.0399, 0.2596, 0.1669, 0.9977]\nstate[eef_state]: left_x=0.2913 left_y=-0.0044 left_z=0.2037 left_yaw=0.1281 left_pitch=-0.5425 left_roll=0.1217 left_gripper=0.9928 right_x=0.3859 right_y=0.1068 right_z=0.0861 right_yaw=0.0485 right_pitch=-0.1765 right_roll=-0.0427 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -4.1094, 6.2017, 1.0867, -0.2027, -0.0122, -0.0122, -0.0479, -7.3368, 8.5949, 1.8339, 0.4078, 0.2808, -0.2515]",
      "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]: [-0.1413, 1.2755, 1.2751, -1.1416, -0.1871, -0.173, 0.9928, 0.3511, 1.6844, 0.7837, 0.0803, 0.2489, 0.1562, 0.9976]\nstate[eef_state]: left_x=0.2917 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5446 left_roll=0.121 left_gripper=0.9928 right_x=0.4022 right_y=0.1048 right_z=0.0432 right_yaw=0.0374 right_pitch=-0.219 right_roll=-0.0566 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -3.9863, 6.188, 1.0232, -0.149, -0.0708, -0.0122, -0.2256, -9.0872, 5.8735, 1.8242, 0.0415, -0.1099, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b6cef9baaf1ad85fdb44e945e98236eaf3106d7145be088c60210bc3e54749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51a2b5e3c5da370051fcbc0b41af69804eb7b627f65a1eca0dab3e7f3327681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5141063a3667a9fbccc3f0c8af03aea0e7553e67ec57922d7fdecbba0229a53c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBv9quekS2Oxgz-39HjFUdeg0SZsBBGVHtFO50WbVp1SLWxRxXRsYIAta0AErCd_NTzHdi4cnt8cLyNUQqBL5m10aOp-uhTUU6cSPWo-GpGQCd54F0cor1i2SzOIydRD5H8CP9061CvHNcK6BoufRNDzHJgil0dwYUC3cKVQYErfcLzwkrF8wuMCftRfRZFsmXlZ4cUjGjHwmn-5VyfFXO0t-Pg9tEsxtQCsXJmilRQPvM_GF_A9duwapwlaN23Sv9i4jKXcl5-53qc6_PHDRvJlpcvTV7segChwyBAH8jLc8aWhEp6NO-puIxsCBxawIVbfPw8w2VSVA6uLj5K-6IIl2o3xFv53CUiREaVDHVAQHTl4ZmepbUgRqZiKzrYu7F1NcheedzRXRNV1T9tSKcSUWZtAmnON08KyqfgvFOStZ6JGQLGm6qD-9PkHk8QvxTEI1Od6gKpUQ3haFQejAxQ0ItmNp2WPhgSMnbno4mKpMvd90JiMNfANqEye4jkDBPprJ1-9jhp96XneornEloI4EYjbJvT6_hXL3k8NsuhQ7sbpi0OixYLRXVEJHLsJyKBKtLEqAVs8r-YrOcTonySQIxtrI5R8b17XW9ZPp1pufFveNwlI9CFjpbY5pYzSV82c9PlC94pkFaRRqwYPyQexLb_2-dObl_BDoCSB4BDCQVKaO7SCat5CzrhyUzVV2ISnAUB1Eiy1aYJWoItfJ1slA5kQnMzLRyKL3VcX_5NVqvOwHt7uhg384mWLHjfJHmzSR61dyGVgIkxdRp49_42KAGVQcManZBkM_J4060qJJ9g4eFDoJlnJ-d6QdYLgqKfFmdP9UPFOWeoAUXKnYaroPSXbvCfSaNO17RvJz6Oa_YQk5nOVOrq5QCSoDt_S-pwD5Dq1oitbhpIfgRH9G_M7QjVVgrTbcuxVgMJR9l-iPGuzCw68v-pvSysJj3tdsZ1lLnjGSd5WIuzu4eKIqMoFWtXeMdJluR21k9ijwpqlWXPsc9J1YHI2qYAYwOLi63PrEPF6zfTnI1fnfMv-qPxOCdUGl5Q4UrM28wCdbDJZRGM-rN22lJji8pSdlBx-5hiYVsATfS93mXH3sbu37Az95Dq_todZAjmmmINK-3IwUEaa_RntNCQVAQyW7UDJRnXzMBR8ovlmf3-PgB3AoK0GnoAFTefULRgUZQdWPlIZFAmdpKaMqpkCGMy3hiXpsgsarL5yjEA1Pae7Fcc5MJswwzYOocKTQUI6qPup8oBn34ABeWcxgquYBWp0IGeiYCiI9-33vcQoeR7gfJB34-pCf2aBDjCJEi9cS7tzo5F0bKtFpovtzQ41niXYcitU46FbH38EJBLcQTPWGm8vBTsdEvtae0wF_vBbJji0Oif_psIvKCFwbSuNmVlddKXcNp1Y0xNe-fFo5jJNCiClYGO5Xk_h-PwleoOkdZlhJO1JWaQPw-VO_oL5XWXyVjrYMpZm1lF45_LZ2DQqv9zDcbv5-csKelmDjLNcV7Jkr57IBbQlsUQLD8Gfna7GKqSVcRSPCCa1ThFKqEJfueQZ4y0Uy5dkGle1xm_dy0DI40na-2TLgNlF80gR-9TT3XS__dSlTT13TKPJp_VDdwo6bDayd2gjgEcZ0bkU1WRrh7NhkNz-2vektFjhOKKmRJSBo1fU43zPJmy_fkCvE9i_AslmMq9cd3JMazgJlb5yzcAeVsZcrMVKMmd5tNcDq_91x-s05b_FarBmLQdPR-TGQFjE6BnFc-RafIIOsZlP6RrGdvhI0TeRxrFktyHjYlEyIk9SpsNxz6klRilzkUTR4n18YfKw-mcxxUVTikldR3yUWWHRkK_tC2EDHTo8eAp1FzgMuuXR1V5Wli732kjfSMfmJnDx24ID5ztbf9wQu7lr6B_vAqOy1jXeQDkAoE9mcJ-Hv6Iu-TcnWKRGpWOKbtk19z2xMASZHYqUOTyqbQECiibKQM9rrMRepI4Stv0RbK28DgDGKSqhDXj7Sc9AfJgwUZAlgqyOBi2RYkZIGjQLAZvew9hEORnh4H2BYRrvwe8HVtElkYebqKL6-yUkeVG_mUNQNSUkwZkXChV8Bh-WIBtR1OZboUsSlyk2cClEWzYCU1S7beuMk3sYehHdIom6Lk7T4YmkGdY3KckPlDc2BSMBY3-_8TQFBtb-GmFoZK19iFGH0-IJ2TrRebChuvEtMpMtDlAqLshyZo2kMEe3C8uoLqcfeGKlDG07NY_T5YSSJ-izyua3jEMAuEQYfpMxqaurkNEuHws2AKDG-dnfQposvukajRd8tx9RKck1E4KnRQ-CIUc0G3M8d27uwRAGZ4KvLzQPsOKECUWsY3YNoDUR-1TQuUz96ccxQydoF-nhuyKrzSA41YNf0OkadFkBN4cHo_Ltiz4pg6GFF2MbemWCAKVa5bTv-PzDGfizhdS3fMlqcWxLsZFkkvGn7Xq5Tsyae1uitS-NI4vD9i0qMzjZ46IIHy213hRSTZNaMhYUpqNPO3x9U1WaehtI7nMcybrLbRRUjlslP0C-W2TCoyKtPQNRqCJqUHU0qLtvVtKuTdQBpueTU1qGMjuH2ej-VA_lrBLAK_pykOGUjsa1vWBTVTT3lq_cRfcvvNszd5mcdY5TrTiaqK_xxq9lg4KDi69kckc9x0QBeqxu_VCMm22ngIwVnUjt7DiWJ0I4-yLA",
  "id": "rs_0101047fa121a2c8016ab41bf994ac87d0bffe6eebef418ede",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.07,\"right_z\":0.08},\"note\":\"At rim height the pink bowl’s right wall is still right of the jaw-closing center, so closing here might miss it. I’ll lift slightly and move outward a few centimetres to place that wall between the fingertips.\"}",
  "call_id": "call_APeWuevaeZ6RxtYOAutDMSNW",
  "id": "fc_0101047fa121a2c8016ab41bfd305c87d0b3f094bccf45443f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_APeWuevaeZ6RxtYOAutDMSNW",
  "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]: [-0.1413, 1.2758, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.2558, 1.5913, 0.7822, -0.017, 0.1917, 0.0933, 0.9976]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5442 left_roll=0.1208 left_gripper=0.9928 right_x=0.3975 right_y=0.0729 right_z=0.0612 right_yaw=0.0248 right_pitch=-0.2378 right_roll=-0.0618 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -4.1231, 6.3932, 1.033, -0.1734, -0.0562, -0.0122, -0.1026, -6.5299, 9.0051, 1.5751, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b818a590d8c3a22478634ec57da555682550a1bea7be959b3a297ebaec6b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933cf35f303d41df637e94b80ac2384da53db3656d83db884e00acf36a29e248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712efc609fdac0796519ed2b59d5273d6e48b4d7c510d2ba9c8f6355ded3692a",
      "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 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.141, 1.272, 1.2755, -1.1347, -0.2016, -0.1703, 0.9928, -0.02, 0.8249, 0.5945, -0.4194, -0.0151, -0.0452, 0.9976]\nstate[eef_state]: left_x=0.2931 left_y=-0.0022 left_z=0.2052 left_yaw=0.1382 left_pitch=-0.531 left_roll=0.1337 left_gripper=0.9928 right_x=0.2897 right_y=0.0004 right_z=0.1593 right_yaw=0.004 right_pitch=-0.0797 right_roll=-0.0079 right_gripper=0.9976\nstate[joint_eff]: [0.2667, -5.2855, 9.0051, 1.0232, -0.0366, 0.1392, -0.0464, -0.1573, -1.3744, 7.1043, 1.707, -0.0708, -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]: [-0.1413, 1.2755, 1.2751, -1.1416, -0.1871, -0.173, 0.9928, 0.3511, 1.6844, 0.7837, 0.0803, 0.2489, 0.1562, 0.9976]\nstate[eef_state]: left_x=0.2917 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5446 left_roll=0.121 left_gripper=0.9928 right_x=0.4022 right_y=0.1048 right_z=0.0432 right_yaw=0.0374 right_pitch=-0.219 right_roll=-0.0566 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -3.9863, 6.188, 1.0232, -0.149, -0.0708, -0.0122, -0.2256, -9.0872, 5.8735, 1.8242, 0.0415, -0.1099, -0.0269]\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]: [-0.1413, 1.2758, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.2558, 1.5913, 0.7822, -0.017, 0.1917, 0.0933, 0.9976]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5442 left_roll=0.1208 left_gripper=0.9928 right_x=0.3975 right_y=0.0729 right_z=0.0612 right_yaw=0.0248 right_pitch=-0.2378 right_roll=-0.0618 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -4.1231, 6.3932, 1.033, -0.1734, -0.0562, -0.0122, -0.1026, -6.5299, 9.0051, 1.5751, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b818a590d8c3a22478634ec57da555682550a1bea7be959b3a297ebaec6b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933cf35f303d41df637e94b80ac2384da53db3656d83db884e00acf36a29e248",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712efc609fdac0796519ed2b59d5273d6e48b4d7c510d2ba9c8f6355ded3692a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0101047fa121a2c8016ab41bff56c487d096004301331d1f96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.042},\"note\":\"The right wall of the pink bowl now crosses the jaw center in the wrist view, with one finger inside and one outside. I’ll lower to pinch its rim.\"}",
  "call_id": "call_zI7pNezMBWoWS2A6GQs9hRs2",
  "id": "fc_0101047fa121a2c8016ab41bffb39087d0bbc1b71da5f2bc91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zI7pNezMBWoWS2A6GQs9hRs2",
  "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]: [-0.1413, 1.2762, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2474, 1.5993, 0.7708, 0.0063, 0.1783, 0.0784, 0.9976]\nstate[eef_state]: left_x=0.2918 left_y=-0.0047 left_z=0.2029 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3979 right_y=0.0719 right_z=0.0573 right_yaw=0.0362 right_pitch=-0.2367 right_roll=-0.0616 right_gripper=0.9976\nstate[joint_eff]: [-0.1162, -4.2598, 6.2154, 0.9988, -0.1441, -0.0464, -0.0122, 0.4581, -5.6137, 4.9299, 1.3748, 0.2271, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de9abc4c5b895ba0955500c379c4defac27e0d003fb8b018f60ecb4e53fad16e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41548b65826a8d92201b6433d06196d74a800d8d00d3f780569769caff87d833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e8eb312bd10e096d083eba97fb4bbff5f33a094421f937a4a0f60de2db9574",
      "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 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2728, 1.2751, -1.1423, -0.1883, -0.1726, 0.9928, 0.3744, 1.5143, 0.7757, -0.0399, 0.2596, 0.1669, 0.9977]\nstate[eef_state]: left_x=0.2913 left_y=-0.0044 left_z=0.2037 left_yaw=0.1281 left_pitch=-0.5425 left_roll=0.1217 left_gripper=0.9928 right_x=0.3859 right_y=0.1068 right_z=0.0861 right_yaw=0.0485 right_pitch=-0.1765 right_roll=-0.0427 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -4.1094, 6.2017, 1.0867, -0.2027, -0.0122, -0.0122, -0.0479, -7.3368, 8.5949, 1.8339, 0.4078, 0.2808, -0.2515]",
      "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]: [-0.1413, 1.2758, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.2558, 1.5913, 0.7822, -0.017, 0.1917, 0.0933, 0.9976]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5442 left_roll=0.1208 left_gripper=0.9928 right_x=0.3975 right_y=0.0729 right_z=0.0612 right_yaw=0.0248 right_pitch=-0.2378 right_roll=-0.0618 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -4.1231, 6.3932, 1.033, -0.1734, -0.0562, -0.0122, -0.1026, -6.5299, 9.0051, 1.5751, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2762, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2474, 1.5993, 0.7708, 0.0063, 0.1783, 0.0784, 0.9976]\nstate[eef_state]: left_x=0.2918 left_y=-0.0047 left_z=0.2029 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3979 right_y=0.0719 right_z=0.0573 right_yaw=0.0362 right_pitch=-0.2367 right_roll=-0.0616 right_gripper=0.9976\nstate[joint_eff]: [-0.1162, -4.2598, 6.2154, 0.9988, -0.1441, -0.0464, -0.0122, 0.4581, -5.6137, 4.9299, 1.3748, 0.2271, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de9abc4c5b895ba0955500c379c4defac27e0d003fb8b018f60ecb4e53fad16e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41548b65826a8d92201b6433d06196d74a800d8d00d3f780569769caff87d833",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e8eb312bd10e096d083eba97fb4bbff5f33a094421f937a4a0f60de2db9574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwD_akcmuxt6jMGeHZ1X5uV-bS1aXAc6KPGemoRCYzC9F9Ty8Ozilv0Zun8VoxMapocoWO-_vMkeaXD847dIEln047s1en4PpM0AM2NXI2vNz9Qeo5PpogDgwR2HCo7PT_ZiI1boUInw8ThRtEU_Mh5I2EKg2-Pt-ZNQYvF6F3PLDbCCedYCa0pBPqW1Hamo4BKJU89Ji5iQZAnhKaghADFCuGQoMyuTI0awCiE0a22HKRsaRAsM__0kUWVM2fplV48sSYITNb73x6j92RjlmvVCF-XH3yhUKMHPgBt7DR1EIT_9XPbGJBdXIdsBkZc4whaW1_ftqTh_WGs6WIlEI3Iy_Qs9ft2EcW6G6zHeBTa8g-qLFTGOEgjlDe-neo0F1r_Oejwk2von5U229JBotZzOQjk9jB82dpIrbaKN0-GZkIanvLdxV8uH_ofafc0TGsRFEEaoLJTHY0PcVPFgjGODn55XU4D7VTpQRWmqb68US6fvYrvFA8KtzKRN9xR7XNRcYGK48Rah_5YPGnRADBkM9cUS93hI3uTgs3-yA3JG1V8lmLqigfH7rq6mengByoC1QubuFka_Ec7KZYNP9mGpTXC-zDSGhUEBythP0jijZ_pEWb4okt973-ka0Y_yy8hsD6OkNvdeTpdgwHkk4uulnL8KHO7BenG53bsauDeRJjfuKwWsJxKTOQW1_E25rWNHgikBBde1Z-h3Bi4mZlHdY5Zm1Ke2MSQ8yanao_d_KDwh9IoAw9VgqMCGHXlS7QRLhqsJQPcoWsfa3xhqzgQAZlt3uCbfpL0Fyh3jQOkgkoDRoRkH1G2az7fPfN5tlVYyLWlkuiMq-GxHTue1jwNHseZxpg1BT1sIIpuJLwrwnsmafIorBpbpNEcfXPbU037PvK8Y1-BY3FHunPcVP2yDvPdqKuWoDiTURicAY9OToy6oAMIKl06lkR6gRL72T1a9DJUY7nlDkdxEv4UICxlENjC5xQ69z8TWuMuj6r3Tul9CrQK_cVuCUH_Do8jB7bmHRMW1WGF9bCmXEaq0E7USMWMyYRCHdtPyQiFiS_8Ze3T7vGNkkMgCdAhh1BvKh7eZu7ljUgVQA1sM7xESsOhy-k1kObwXzlVSMoLBuLLydveTZFbt3cHHfOatV__3lgvL75SIbPAy_sLxoQwXkaF5xEf-ffZgaM821T4FzhIF5QR2xaUJlkFPAEwWQ2eLRvwXZm_wc6NlkfRSnOyBOUl2LTpEENOsC4EUi4FtCa5KBAlRszBpQvUA42AJvz2LbUyh9wJtL0l-E-lSqY6-qMolw==",
  "id": "rs_0101047fa121a2c8016ab41c02eaa487d0aaf01f4136314739",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper stopped descending around 6 cm and its fingers straddle the pink rim. I’ll close and check for a retained rim-width opening.\"}",
  "call_id": "call_soNs4E4MeuPoaISSxavJFQzB",
  "id": "fc_0101047fa121a2c8016ab41c0335b087d0b0f3754cc70ccb34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_soNs4E4MeuPoaISSxavJFQzB",
  "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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2558, 1.6436, 0.7376, 0.0711, 0.1669, 0.0902, 0.0231]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.395 right_y=0.0767 right_z=0.0386 right_yaw=0.0471 right_pitch=-0.2505 right_roll=-0.0475 right_gripper=0.0231\nstate[joint_eff]: [-0.0889, -4.1368, 6.1744, 0.9988, -0.1538, -0.0366, -0.0122, 0.1573, -6.5983, 6.3248, 1.0916, 0.4567, -0.0562, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4faaa496009d4f424cfce47f2c2e4652266c243ea61bbd617c04aa3ec7486d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b933906e449a0963844123763eade3a7b7b3cd7fa124e6c1814dd47bb252cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f8bd0b0574318a2ee6fbfeb5d34e3bb0b51ade528c986d992f16e9a192efe3",
      "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 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2755, 1.2751, -1.1416, -0.1871, -0.173, 0.9928, 0.3511, 1.6844, 0.7837, 0.0803, 0.2489, 0.1562, 0.9976]\nstate[eef_state]: left_x=0.2917 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5446 left_roll=0.121 left_gripper=0.9928 right_x=0.4022 right_y=0.1048 right_z=0.0432 right_yaw=0.0374 right_pitch=-0.219 right_roll=-0.0566 right_gripper=0.9976\nstate[joint_eff]: [-0.0479, -3.9863, 6.188, 1.0232, -0.149, -0.0708, -0.0122, -0.2256, -9.0872, 5.8735, 1.8242, 0.0415, -0.1099, -0.0269]\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]: [-0.1413, 1.2762, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2474, 1.5993, 0.7708, 0.0063, 0.1783, 0.0784, 0.9976]\nstate[eef_state]: left_x=0.2918 left_y=-0.0047 left_z=0.2029 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3979 right_y=0.0719 right_z=0.0573 right_yaw=0.0362 right_pitch=-0.2367 right_roll=-0.0616 right_gripper=0.9976\nstate[joint_eff]: [-0.1162, -4.2598, 6.2154, 0.9988, -0.1441, -0.0464, -0.0122, 0.4581, -5.6137, 4.9299, 1.3748, 0.2271, 0.0806, -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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2558, 1.6436, 0.7376, 0.0711, 0.1669, 0.0902, 0.0231]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.395 right_y=0.0767 right_z=0.0386 right_yaw=0.0471 right_pitch=-0.2505 right_roll=-0.0475 right_gripper=0.0231\nstate[joint_eff]: [-0.0889, -4.1368, 6.1744, 0.9988, -0.1538, -0.0366, -0.0122, 0.1573, -6.5983, 6.3248, 1.0916, 0.4567, -0.0562, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4faaa496009d4f424cfce47f2c2e4652266c243ea61bbd617c04aa3ec7486d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b933906e449a0963844123763eade3a7b7b3cd7fa124e6c1814dd47bb252cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f8bd0b0574318a2ee6fbfeb5d34e3bb0b51ade528c986d992f16e9a192efe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwIg25MOBMk-MTAR9Jx3r-lEcF2urLWyXb8fCy6f-pJmwsl9_laPysSoSwbeRKjL6r_u4MUYinuDo7L33RIlEakWrVM_RdnkjD__eQT-qqSsVx9J3cx52zCp_qOkh1kNplVeIhTjaIbLTm13-kzNGaqckcTuEG3EzU_LxZsNfYXONrlaBqbfYeWhPk0YNAUnYQBB3rrB0xbThFHF2ZpJXH-JapGHbgztf_1jN4nHVCVBXmpO6eVu9AwzwcQz3FJsuosGQV0ad0l3IIDE0sJz4MeYqwN_PmeBJudxWtvtG7W1xIamNd84A0GEjBE5t4dIyZI7p2ri7TtpNcBFdhR1XakDNXTmIZMMFgwQd2ZQLbkogjAgxSlz_jmFzwmvciI2zI2yoPQY46AUAKAWTM_kurstYW7oiK3bZICM9z-doaguCXYE02YSIBmzxb8n9OOWZON-aEsyi5i28glQml-ofRAOU3SOvp9Vk91djDz08pYsEhUi3vUmKCg7dkrSWZlK8abbATa5bZjcEaWLVxZmNzLLZrgW-Y-lrZeFPXeaB55cC6rDn9OgeiNy09QjIsVtdu_Xcp77x7xWXMaRcZZuflUBY6nQRoAdiwiiWVpn3QYI5yEk3gIWwu42eykgbtFQJ3zybDeSwQA7apNIxnB_7yr6BDXWGH3rl-vyFoVkFp3dZ2eeuGMjfHB5w_laMx29I37Hz5yi8Ot7sautUZhUSYsFcHLSx0XIPLsm3wTFQbyN2cv5oDed2-pIFVX3j3mClraTDUTY2GSbIHnBHklegEpGXfZQz9MUdIqMie_wTJ8GGn22d0rU5o5hvsXNHqclJXM2HrZWKF8xLhY7-rAf6hhdWZsFqftUCsgqmLpDHzmtihctxOcDEZ2Pb7ra3monavGZ62K-4vVeITByhJeH8FP-rYDgUuyR3lpgkHU0f0HS6Mtpw6gZeRBxLRyhAXUS5NEEVrEXKOw2dZ0PDzg3UuyGUJkR0c3Y9myTNjKLT6g_-WE2e6fnkx_bDqjBl1WWxsblNIavJncpunj_DINp-YIukv_MHnplFHjTLBXSbp6mwzYBysYVNfQOwnp0zqTOoTHbpw37Yg4i0nNIaXXfSwdMjMKJSdvQKnniWKQ1GwkegkaJnqfNRrOJbTi80kCOeSBbGxj_rngFtaAuzKWVS0DZkpV3Syhw2EzN7uNYSwXbsaTS_UlbB0qylRzSCvn4jPmUx2mgV18HOUg_EfL6pqg1VWNVVf7S5bFklDkKB2mBt31BI-tpinRJYstNz_GLlPyBUnO8NAcgJvntn5n4G-2IHoBj89Vfvw-aQXv3LgIfXR8ZM_NcT2yiSySB2LiYOrAsjmIuhQWIkzpWquCBi3qFsIe9pAAFwWOiW6djOBSnRbgK80FaJ4BqIp4RZMOK_pMoFNJUZ_wRjzOzgTNOPeNDlhk-JrhZXzvP-iMzM1-UVmupFV91Qoux6MpUQ53jiNSS87_1By0aArNJxm2iJ16Xm4mVkkgwh-vHMqIilHuQ-obfYrcGVyIYoo12T1m0xAC6f7Lp9rA5Nqb8DynikmYGYLepVp8Y5rAkXky4mYWem1Iss_vswo70w02Tfq_JpfVjAFrZdwShG1tknbSgPqdNJsZUw2KduZatwh_6x0oKDF0u1jR55gz5wU_jhzJPJgmOhure5gipS7vqtS0TSyWKrPK2AiuwdQ09nwuIGo1FISS-lFqvoLrNDpGd9sDcD0jJlCn2clj2CC-_7WeWucAIGAs_J2OXxyC5i0_2VwMMKWdeNdfZq0WCObtPjwPIn9bPXoVWq51AkecBukfi49q_m6TR-B3MitT1YGa0R0JYv9caJvTIHg8nURjTqgE3IPz4jnJfkn33ra_DkrMFqtbphR49_QEAptHuXiA0JDMeYj-0RF8T7t4UFQfdpj7FniAKwYwZ_7nN3qR_nNuHhwFshHbLS4fyyPSroOLwDuxpd6jQaZjjlMLBq2tkn-vyxFLUkX0joz9yhjk_8WWY8I-OE08pLl7F1VU9YjD7aLby8lV2B2MtVszmZ7Wwq3_r5P7tzgeSDrKBAHZ2qHvZ-GIF9AhtlQMMFtmawE64nAqnTQp4AaGwWc4K9bIrEHb1rVgW1XKJLO8ItcPOwk92dKEdslo1E6zoj1i4s9_Ry_gPs1bx0U5t3b1j5b6fRfs4zbUqdecT5kNu7qtvydFG-PpARjIgi1nBXe3anvM8yNwdlBbEzRmlZmaugdbzfGTvMJ4obau5MXObFSbmzb6hR-T4zrwjd2cJE03sO1ReUYfgoblZKV844s_MzXjHElQ-l4686teOc3C9F--xfg436K6aw==",
  "id": "rs_0101047fa121a2c8016ab41c05e83887d09312d3d4de90cb17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The closed jaw gap is only about 2 mm, so this may be a very thin rim pinch or an empty close. I’ll lift briefly and confirm in the overhead view whether the pink bowl comes along.\"}",
  "call_id": "call_JfY6fWXAEmfBzMQkCZOD7sGs",
  "id": "fc_0101047fa121a2c8016ab41c07c9dc87d0bbc407abd9301e53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfY6fWXAEmfBzMQkCZOD7sGs",
  "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]: [-0.1413, 1.2766, 1.2751, -1.1408, -0.1871, -0.1726, 0.9928, 0.2569, 1.4891, 0.9546, -0.3374, 0.1627, 0.0776, 0.0276]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3905 right_y=0.0767 right_z=0.115 right_yaw=0.0569 right_pitch=-0.2877 right_roll=-0.0608 right_gripper=0.0276\nstate[joint_eff]: [-0.212, -4.2188, 6.2017, 1.0476, -0.149, -0.0415, -0.0122, -0.4581, -8.1299, 9.6205, 1.6093, 0.0904, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62dd7f9cd20fd290d43f623d788aed85125d96f3f687147a96184bbcb1f80250",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563c86c676065fc6a5020b1d0dbc3e2adfd7b9a3de23b62a33f6c37f30b13251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdf4f7b9b33c2f88f28ffc31cb6898bd7349687f3556d47a4366160ff9dd1cb",
      "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 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2758, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.2558, 1.5913, 0.7822, -0.017, 0.1917, 0.0933, 0.9976]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.203 left_yaw=0.1275 left_pitch=-0.5442 left_roll=0.1208 left_gripper=0.9928 right_x=0.3975 right_y=0.0729 right_z=0.0612 right_yaw=0.0248 right_pitch=-0.2378 right_roll=-0.0618 right_gripper=0.9976\nstate[joint_eff]: [0.0068, -4.1231, 6.3932, 1.033, -0.1734, -0.0562, -0.0122, -0.1026, -6.5299, 9.0051, 1.5751, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2558, 1.6436, 0.7376, 0.0711, 0.1669, 0.0902, 0.0231]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.395 right_y=0.0767 right_z=0.0386 right_yaw=0.0471 right_pitch=-0.2505 right_roll=-0.0475 right_gripper=0.0231\nstate[joint_eff]: [-0.0889, -4.1368, 6.1744, 0.9988, -0.1538, -0.0366, -0.0122, 0.1573, -6.5983, 6.3248, 1.0916, 0.4567, -0.0562, 1.0574]",
      "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]: [-0.1413, 1.2766, 1.2751, -1.1408, -0.1871, -0.1726, 0.9928, 0.2569, 1.4891, 0.9546, -0.3374, 0.1627, 0.0776, 0.0276]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3905 right_y=0.0767 right_z=0.115 right_yaw=0.0569 right_pitch=-0.2877 right_roll=-0.0608 right_gripper=0.0276\nstate[joint_eff]: [-0.212, -4.2188, 6.2017, 1.0476, -0.149, -0.0415, -0.0122, -0.4581, -8.1299, 9.6205, 1.6093, 0.0904, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62dd7f9cd20fd290d43f623d788aed85125d96f3f687147a96184bbcb1f80250",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563c86c676065fc6a5020b1d0dbc3e2adfd7b9a3de23b62a33f6c37f30b13251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efdf4f7b9b33c2f88f28ffc31cb6898bd7349687f3556d47a4366160ff9dd1cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwNdUXT87__J_LK7uYIeqAX46jcbhqx-RuG4sgZ5d1D8anErzHq3Z97vbV64XVDKswsBGJT8Xg7tS_QqgCfmZqIJyR-1qUDKJQmsvxJtiI1wiflJw9QIBSnjmTZh_7zo1CMw4PhjJfkQnfuiH07qwBWbXg2ll4fiP61jDJzhT2pII7ydkYC38NLXsZyaBgFpE5LQE--lbP53H_xftx0PdXjt4MtZ9eDQwyvXdn_DNPndEsp00G4x8t5RIqVRpBZgaY129zy--NY0mhR_DIQIWNLk-UBHnq9O_Q-1LLnvh3prkWIdZJ80XJ7jRKITRvAcAUspJSJ-08dAOEsy_uaudcO8_GdjhejSP3uUnU0TCDN_coOtB6jAWBr7We5e6jI6XrNcnAcis9ZEOEzYRLRhVam-tN60AI7JevNekfi-4ZPEKkuk90SFMn2jLsuiAKe9MFFEDlBhMHgp2Lh7B2gFoM2tHGnggtygH301EtcDScnyYDJcUVIwrWjQ-i1OcuwlcGCOQTnR3MR6ErkbRiTz3INqLnb_D3G3oeGddBuWZCTxb0q45Hh7llFPeyJZr7eJNSPvkC8DGSxyZrPG-Fm7u0n_eIdHjb09DkXpeTrP_PzdLrh98O5uj8_2d_E-cVxW8fQjaQDhdAdWMJvG9uZKFU47aMRSqRbJhYV5w-7GN-jlAl-1LId-KeISVE6I2w1KAWAdanCM_pljUk-xS9mQqx11XUIF7P0R3aI8weFnyfy6s-V9Ii16lvHIV9cDnSNaWgBPlJa09HFuoJWykx7qPIDfxhBsBkbuqbd9gF_Q4Mr-SmgtO0tWrqnILG1Wo63vZHJh44hENPX22m2NOWIyv8i2N3YLo3lGNNLBeEhwm3EkGagePwGbPOBqqEfmaX9T5hkhXJy1hNPu8VY6MdUYDifw8Nh0RCOe2hTfYSRKGzAsO7C_eO-KWlQfbczf8RZpvjhx4IDH1xDKiNbQ1cV0VU_Z5BcuY9HE1vrMFnGctDXdNrNOIwB3jcG6x2cAEbXzlDJe8YM3yQKckPSA3fszZ8pCzAvfeyCGXV3DNFi6u3V8EElcetDKq6xSt16zOQ0SbgvW4qpIPkxpPNorbeL7r3WQ5aPwqzkpu42oHdnEtGLiZKJn2ZbkbdBLReguengcsolT-x0HQ2Sx4wo2bIUdfvO19VYshCdodX9vVAYW9JXIFjb3-r9anLBWceKQsGP-Iu1Ys0swQSrzSD8DNrKVR9bn6XYOj7h6siSnNu-SdXmDpEASH8Cla_JTHuah_V6dYSneq7852QOaympAeLN2FEgihrk59CqPBQ2n_Ordw1PLoY3waf_JBKM5X4DKO6K9rW9_mbUN55ZocAfbUXk9TpiErGYBEEZHQvpdVEfTuoCA4MO_EUUQ1QvnOUW6HBzLV3PSz_-rVMPem2QLFi-D4FLXDID43r8TTwqXZ9CvrFPXtw-IDSonjHS43jCx3wofcF2kpndz9KgKdNOp1XGQUBdYbaMEZK44i2RnDxi6jFXBZwxi-0loHtOHIPVbqzQRMs-lV3v91F08jYvqrrP9OQjaXPhRDrSwYzqNRV5GJmnxY-QODXd9UvKaEIoIWpBetU92B-SmSJEPiHYaLxeSdsuVYvLBTrAlXj1ZEsHhwZ-vj5KEra5Vp5P0MYtLyrguXIQm7GwQXJiGXcV_upxNNHWD0VYw6JIZiO7OyKPkESqXbh_BZhuw8KfbSNfiROOhp12rtMhEgSmlFT59BuhSMo0HwPBcGnT--mP_y3Zx8F_jND6oAS82BLjK6lE1vWreec6oOjJyGA0-etFUH3RJE9IeGZeOQPwXNSS4h4_yJL_TtbEpINh0mI45VCRrW9Ya8rNYRYPOEM2kvpMaerBpv20uZ-P-8dMKVVRjTGHR68u7PRTIFFThGtoanAUECHcZjOpQxEsrgMxYfF6NWkcER1LINnrvb4DIehyuNeNLoFyLjhr4-JodGUM7PGK6bIEpbqnTB0YyDqgPEyisFZ3ceg7qOeMfUmj7YHuBB1vWxZSoa-CJPYP8sp3f9bhoDjLpdqdyYsJ3r76STqfM2y--s7uwLFy0n_C-GCT7L3mf7yuo7_FwqT925w_oOD43CZkxvhPcPTRf9Q_jMqyiBjIweY-B_vnz-aq2xHG3uaK-LvD0ofEYrcSiGhx9z67MctSPNwAqK0cH3fZTkGCOtGKMz8Sdbdqg2ZDM0ANh9zNLSuyQhvF9ubPLepG1t4qG5vnka7OKLgG9osRFYFCeXS2Ivu1TZMe4Cc2qBqUVbxIJZ9GB8sH93gUXYYaEZVmbTuuehj4ArHwZOZLM7iq7-6zbTxtjIDKqCcuYUPOUf8kQwHYKECIOltZ4fqHgmjYXl_MMK2qkIWohPeSZ9SYOgHL_E6eIcs2XWmStRu1XBXRxOBEXAhj_ptQUQX_xalu8sZ_uutc-riEXCG2Xnr9gd_nE4UPGVbripGs0rHxY-Psgb3fhkr1bb3z9-3PIFtAnbzKI246",
  "id": "rs_0101047fa121a2c8016ab41c0a21dc87d0888b072b11ee5c03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.422,\"right_z\":0.095},\"note\":\"The pink bowl stayed on the table, so that pinch was empty. Its rim was above the finger tips in the wrist image; I’ll reopen and advance about 3 cm to put the tips beside the rim.\"}",
  "call_id": "call_st4bflRZbC8LiQfpIr6LpSW7",
  "id": "fc_0101047fa121a2c8016ab41c0c901087d0a5e141b63a31095d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_st4bflRZbC8LiQfpIr6LpSW7",
  "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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2359, 1.6203, 0.9737, -0.289, 0.1471, 0.0467, 0.9955]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.4039 right_y=0.0742 right_z=0.079 right_yaw=0.0632 right_pitch=-0.3538 right_roll=-0.081 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -4.041, 6.3932, 1.0085, -0.1001, -0.0415, -0.0122, -0.6496, -6.8855, 9.6205, 1.6825, 0.0024, 0.0611, -0.1294]\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,$blob:6b4c53c90f23c3ac0181eb327bc4210ce09f005d8d943e301cbcb54f5f423c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9655e1be5b9713c4e110522aa99dd53abbe5028ba3c85a45e318adb3cc528236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c750047dca6de097869836654a5bf1ca678cea9a6e8812a2ea6f8f9c5575bbc",
      "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 104 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]: [-0.1413, 1.2762, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2474, 1.5993, 0.7708, 0.0063, 0.1783, 0.0784, 0.9976]\nstate[eef_state]: left_x=0.2918 left_y=-0.0047 left_z=0.2029 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3979 right_y=0.0719 right_z=0.0573 right_yaw=0.0362 right_pitch=-0.2367 right_roll=-0.0616 right_gripper=0.9976\nstate[joint_eff]: [-0.1162, -4.2598, 6.2154, 0.9988, -0.1441, -0.0464, -0.0122, 0.4581, -5.6137, 4.9299, 1.3748, 0.2271, 0.0806, -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]: [-0.1413, 1.2766, 1.2751, -1.1408, -0.1871, -0.1726, 0.9928, 0.2569, 1.4891, 0.9546, -0.3374, 0.1627, 0.0776, 0.0276]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3905 right_y=0.0767 right_z=0.115 right_yaw=0.0569 right_pitch=-0.2877 right_roll=-0.0608 right_gripper=0.0276\nstate[joint_eff]: [-0.212, -4.2188, 6.2017, 1.0476, -0.149, -0.0415, -0.0122, -0.4581, -8.1299, 9.6205, 1.6093, 0.0904, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2359, 1.6203, 0.9737, -0.289, 0.1471, 0.0467, 0.9955]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.4039 right_y=0.0742 right_z=0.079 right_yaw=0.0632 right_pitch=-0.3538 right_roll=-0.081 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -4.041, 6.3932, 1.0085, -0.1001, -0.0415, -0.0122, -0.6496, -6.8855, 9.6205, 1.6825, 0.0024, 0.0611, -0.1294]\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,$blob:6b4c53c90f23c3ac0181eb327bc4210ce09f005d8d943e301cbcb54f5f423c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9655e1be5b9713c4e110522aa99dd53abbe5028ba3c85a45e318adb3cc528236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c750047dca6de097869836654a5bf1ca678cea9a6e8812a2ea6f8f9c5575bbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwSj7wMMk_pcEHzCof6cCj9UJpGu-bGJ_ZlIwrKc_6cOcJhHfSJvzZME0sNhpmdfH-ATIBZiAmDmW_sUAjUQjWaOMTZdl0u1vTeU2BWlxtrxqndMojGYdBzbbJ_FZaxa3DjxTmSs7jFhREZIKZtsjxqY-EILrZCUO3eX0C45lyXvPA85trUzcJ805NmbzmaN4p1F03tmLM6n86rdsqkj_uh6MakqEFOnS_9TKZjTKk9-vQi5Z5PlF_QGgxV8AWGjOkg_wAux5_8qogNA9bYnqEd4VZmD5C6nH-4zKjz8foB445vma-reT8-0VdNaCBb9XVOLDRX8xJBmuXwwQ02tYUeGKNAhwGSj_j58jy1awsu4RCqw7Z40ascZ9juYJ0agFdmcLwRnIDsoIgkmIeLNpsLVkVBsjFj0tq1V25eLuhCPiWCcOk9qPVUsRXr2xCooC3A7ey7QqcYcB3XEvKIe7rGwSRJDsZUp0z0KUvLuaEjyKzDA81yVz1j6PDXKRCJBrXsleg9aSbD8NBCzNr_Kq-oYKcMwXfP4aF5jj-IYQYE0aTfcO-3X0tHIGW9XUsQrngF9f3ea_Cpc7gS_X8kvrQko4VTNWThaiYTiPRzz4qV8ZCI0x_qAAspGonxysQuzaJCSMzAco4hbyVtGgJ-37fa2A99nNaw7Mb3NogczJbYcUrlH7Ln_cy-Ur1YDxOsf8HQtjRdtuPStWm4SzM3cfTCGbiQhfUDQrSeO3oE1CHoR4bbxVPopOpm61D6YjgHoMxHFwoPXnXifac47E3PBxfxqYS8W-sLjMpTVjPq9rp58-U1-sKBsF9Qlc6NnQl-YNRMhdWdiNKBrVB5nfTmTsxvaQdtgXt8ZB3h29mTO1oySU5POZ_RWaigL_MkKELsqKDZy7y_HS1jX7XhKdYLqf2fJ0TusM9jmxpcNFjhMhMCaeUBM7HkCSmrZlbhpg03PimjkawYq5UN6yeGo4e_aVOa3CoNvU6JgKJV8XbIGLVOvDghY0rn7G1WNKBHy5OJu6Lk6PYGnMh3XeSsUSWOB1_inovZ-522xQXoLgl0wLE01wOvE_22CxLgIUafMeI1SFONV8T9NtLFmEGUFYRyfoqcsUhrdnBWovbuPYX8bloFuwD5SP-ZFhVhTMhCBqxMdEafHDNkNdkkWTIelmm9mXRSx_5KFeuoQrjf1Upx-g1M4MsLp9bHg48CYFaxpAzBTpZBpfnK7iEfDOG3Mcv3gAkvQP4f6edNBPrnSI13iSEBai4_aJECo8n31TLEyUOj4UUewFlwzp3po_vziMEcvH7WCdIa_IkJr-jdrfgg9tW_mNQzdb5NRVlQ3zoeNbOB3L5qxwS-7Sn-ZZCiG7eghPKu3hs0J3omIbkqlgJsC7HldupvOlkSXBgv348QrlcyNUQGaRvDVsZit2mgKDn_mgS0YkFmfK0Ev2_15yE07w3Stm4dd0ryXIelkw9NQ_QXrpUIu9WFUlWBVM2ftYuIIRJii5H-A7tXo-GwNZot3MvPkWiN6d1y1H4YS5Uge4lCkwfT07AnsnfDxaSQwDyoEh56_Xlm1zfshpIOJ5ftnYaEV4iC0QyWoEAUT4P9oM7rBe-fsiANIH1Mm2EK9CYsq6xTyRi6V0Gkf-3Z-k0uc4NmU7ymRJ1kzWIdDhw57_D5XDKrzlSU3Em3z23fwEOogoOph7GPfW5PomphtcHkuMCuBfRiNn4ukgsFUBycC4eBj_dbjAZC-mF1ibRqwg1z-ULcCJDfFuvOA20W8ZA87y7ktoj-rStD5zH6JvIYajtKUHuxXLoEZ0GoD_JNMxFAxPvVWE4ckGn_Q3_e8d8wSmkVjIuUTK3vKx9FstRVjSWPK9VL6Xg8nhayPfVecahGh2NtPTQl05Jy6x9-Q76RXNtrCJ_dcI69m3ceeyqRQZNq8PSMSjKJLQWTMPKSYDiXcnlncA==",
  "id": "rs_0101047fa121a2c8016ab41c0f997087d08a121e7d678d69f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.438,\"right_y\":0.052,\"right_z\":0.053},\"note\":\"The right wrist now shows the pink bowl near the finger tips, but its outer rim is still a little right of the closing point. I’ll advance and shift outward slightly while lowering to meet the sidewall.\"}",
  "call_id": "call_nxxffhsVfDwGvvE9IkBuIqMP",
  "id": "fc_0101047fa121a2c8016ab41c11018087d0aaea22dad291dd38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nxxffhsVfDwGvvE9IkBuIqMP",
  "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]: [-0.1413, 1.2785, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.165, 1.75, 0.9943, -0.2398, 0.1101, -0.0055, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2023 left_yaw=0.128 left_pitch=-0.5472 left_roll=0.1218 left_gripper=0.9928 right_x=0.4171 right_y=0.0534 right_z=0.0414 right_yaw=0.0525 right_pitch=-0.4198 right_roll=-0.0902 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1504, 6.2564, 0.9939, -0.0757, -0.0562, -0.0122, -0.2393, -9.1145, 8.9641, 1.6142, -0.0708, 0.0073, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9efd5a5924ba18772b642e00e3d5f1a71b923afe69661e32ccd859eefbccf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefe610cc061169cfff15a8be891a95591196e46d7ca75e99536631756c48dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498411fe3f47ec3ff1774e77f18abd6941f86395cd0614ee0bfac4dfd86f83b0",
      "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 108 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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2558, 1.6436, 0.7376, 0.0711, 0.1669, 0.0902, 0.0231]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.395 right_y=0.0767 right_z=0.0386 right_yaw=0.0471 right_pitch=-0.2505 right_roll=-0.0475 right_gripper=0.0231\nstate[joint_eff]: [-0.0889, -4.1368, 6.1744, 0.9988, -0.1538, -0.0366, -0.0122, 0.1573, -6.5983, 6.3248, 1.0916, 0.4567, -0.0562, 1.0574]",
      "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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2359, 1.6203, 0.9737, -0.289, 0.1471, 0.0467, 0.9955]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.4039 right_y=0.0742 right_z=0.079 right_yaw=0.0632 right_pitch=-0.3538 right_roll=-0.081 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -4.041, 6.3932, 1.0085, -0.1001, -0.0415, -0.0122, -0.6496, -6.8855, 9.6205, 1.6825, 0.0024, 0.0611, -0.1294]\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]: [-0.1413, 1.2785, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.165, 1.75, 0.9943, -0.2398, 0.1101, -0.0055, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2023 left_yaw=0.128 left_pitch=-0.5472 left_roll=0.1218 left_gripper=0.9928 right_x=0.4171 right_y=0.0534 right_z=0.0414 right_yaw=0.0525 right_pitch=-0.4198 right_roll=-0.0902 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1504, 6.2564, 0.9939, -0.0757, -0.0562, -0.0122, -0.2393, -9.1145, 8.9641, 1.6142, -0.0708, 0.0073, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9efd5a5924ba18772b642e00e3d5f1a71b923afe69661e32ccd859eefbccf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefe610cc061169cfff15a8be891a95591196e46d7ca75e99536631756c48dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498411fe3f47ec3ff1774e77f18abd6941f86395cd0614ee0bfac4dfd86f83b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwcwAQlod7NxSvNRR7BpU22kM6SZDScE37eUBpnZggXODzKsdjM3nfVlLAE0POuetBtvJMebngHv6GJEKW9MbiYunJLb4hSx-U9Rde0kpuma-Xy8WGIvniOOzys6OMRKh1wqUzKFfrIcLaofCo_j0TxvKVAKjbPNU6p9YehjFwt0JdlshNbzMWTAm9NSzFYkfvXu3oPEPRYvD9udxcVN-qmLvVQU5whWceVrNA8cQjV06dnHL_R3_uMztGy_krhnsTNO0HJBAshwhPvbyAH8SM0XolnD4_lDHbZqxZz0BAVUXMmCrbYa8wUIoQ7vqsLlouw6CR-kOFJRVvjUWSOPDa42OMtuRuwC1SQ-jlCS2ioZsKCQbVstqsR3Y28tRG4sYngdpCrv6CIl9qhP6KtIzXy2NXAZIUJtvb9iRc22kgyI4gMgcRzQT5bcngDoYjKKdUMjjHCjcMuRI44nDp8dZo2c9RBowAjklKSI5vay0j-C1C8hQy7d8_9ZXv09iuFnPPuvcCJDGDdJtkxyyNgsgicfmbjL-w7kprYu5Itl6ryVAUMXGjp1_t2O1FaFlFFIN2DEWFjC1A_uEuZ-orM_VPU5UxmZxuHCxHW_Yg8HUhld9npMF6YfNhmS2fxSZtFyYy_c_w_4cTVLURLS0hWnQG-d9wi9IOh7cWRAkH68tbBlJ15ofD65dCIRQPaB6Rf222ibC-3v5YucJkakJnRhxnCXpIXD2JoVVn_42bie2-IltJFpbBZcxlXV-lBvN1lfc8vNeN3KY8yz-_wy7b971WByoO7fpmMjrzIKa4UyVFGrBiGWFs5XBtLD4wEzUfLKOSeQw58fkxlE7_-v4IyStqf3tHpoNb6XSVETAAVDo8I9jFMrAIYKVboyocBM5Lgsce_NZ2r7lvgAvd7gh4RHgco0Dv9-wPulcaRevndDP39uwNRxHbWEoFNkyZNHI_pxRLddZKkQvIybYiZiC9Jpq0zNmaBsaLC9tFt6C5A1aNlLgnTRLKdjj6t73_VN53tu0RXTpcoJ33P43vZujEpuSXUiANGEOk5XkrzM1LnzoL6ybeBMIlCYfIZxwqIhy8kCg4Zbpq6hBE4t0XFCHD8e3zV7Wp9GQArP5k9lkBeDznsCjrkfTc3upjj9hUo6t1wGUTVaOdo7Sai-mdBRdiyI1M0r6xPXlGrs6atN8fCLyMrqPhSAw_LdyUIuDvQ8uOc6BUvqL91cEirBS2mlFz-x7EKGNypY3LqUWxVM-T1uS3fC7v8a7KmP9fsB4LkyQNXrEmaN0nSMnCD5jgIT69wH0Wgh_-CK_plBaREGHAGJA4RpTIl_dFYQypgaLiS3BKnypllNUAmY8Ic1XJoO4K80IPAjyt4UqoBIs_sbjORi78AL_DiXn5YpEqahdIHp8PuqK4HCzSa_WtnXV9ons-86PkXKWrIEmKnVWfxAVHcc9WNfFIpoGBBIhytl0XKo2h7ureZlnFFnAeqZ4se0RY9QPCDrV8yqWEPSJIgK5-_YEbxH5BS5TqfmAt85FwSn-Ycp6Ao9iHkxgr4t30w5ga3Gtoli08AY8qH_aGh6Znih3zNBYlOblzHmZcF3SFZ7o-qYt1fx-JuOuTW-N3HPG3VoK_jNwRUo3xc9K_9nttc6MupcLC8pDKYOKhubENHaQfQ-OMUl2rBWLb2GBzlf9FRA39C-h04-fu_hd-qUmRhlL1GZf5V-Fgg3DvFV8NDBrG04u2igGY3NmxpxeJ5JWa3_XQzMD8vEAZGSdEDRh3SgJ1njaN2idmekZG-UsC5tVHDXG7pslY3jqyWisTwPV2wpESENw==",
  "id": "rs_0101047fa121a2c8016ab41c13cab487d0959fb94dd7aec198",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.015,\"right_z\":0.048},\"note\":\"The pink rim is still to the right of the closing point in the wrist view, so another close would likely land inside the bowl. I’ll move the open gripper about 4 cm outward to straddle its rim.\"}",
  "call_id": "call_Fsx8w9Le6euy7Db7ZguwQfWn",
  "id": "fc_0101047fa121a2c8016ab41c15057887d08ba5080e12b5e72a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fsx8w9Le6euy7Db7ZguwQfWn",
  "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]: [-0.1413, 1.2785, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.1486, 1.7882, 0.9974, -0.2199, 0.0944, -0.0277, 0.9963]\nstate[eef_state]: left_x=0.2921 left_y=-0.0048 left_z=0.2023 left_yaw=0.1279 left_pitch=-0.5468 left_roll=0.1217 left_gripper=0.9928 right_x=0.4198 right_y=0.0496 right_z=0.0296 right_yaw=0.0629 right_pitch=-0.4373 right_roll=-0.0906 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -4.2462, 6.3658, 0.989, -0.1392, -0.0269, -0.0122, -0.2803, -10.0581, 8.3077, 1.6239, 0.0122, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d06da494d42a9285f4287dee2c97895b289881da119cc7c88ca143d7c9579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46094da982dd4146a535cc94cd5036b68dcecb23039338a67d9a5d7799b3667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be66060d3b02af3faa3f04ec25a04f2ffcb7a2a0bb8961f25aca0fc4588c9751",
      "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]: [-0.1413, 1.2766, 1.2751, -1.1408, -0.1871, -0.1726, 0.9928, 0.2569, 1.4891, 0.9546, -0.3374, 0.1627, 0.0776, 0.0276]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.545 left_roll=0.1213 left_gripper=0.9928 right_x=0.3905 right_y=0.0767 right_z=0.115 right_yaw=0.0569 right_pitch=-0.2877 right_roll=-0.0608 right_gripper=0.0276\nstate[joint_eff]: [-0.212, -4.2188, 6.2017, 1.0476, -0.149, -0.0415, -0.0122, -0.4581, -8.1299, 9.6205, 1.6093, 0.0904, 0.0708, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2785, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.165, 1.75, 0.9943, -0.2398, 0.1101, -0.0055, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2023 left_yaw=0.128 left_pitch=-0.5472 left_roll=0.1218 left_gripper=0.9928 right_x=0.4171 right_y=0.0534 right_z=0.0414 right_yaw=0.0525 right_pitch=-0.4198 right_roll=-0.0902 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1504, 6.2564, 0.9939, -0.0757, -0.0562, -0.0122, -0.2393, -9.1145, 8.9641, 1.6142, -0.0708, 0.0073, 0.0659]\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]: [-0.1413, 1.2785, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.1486, 1.7882, 0.9974, -0.2199, 0.0944, -0.0277, 0.9963]\nstate[eef_state]: left_x=0.2921 left_y=-0.0048 left_z=0.2023 left_yaw=0.1279 left_pitch=-0.5468 left_roll=0.1217 left_gripper=0.9928 right_x=0.4198 right_y=0.0496 right_z=0.0296 right_yaw=0.0629 right_pitch=-0.4373 right_roll=-0.0906 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -4.2462, 6.3658, 0.989, -0.1392, -0.0269, -0.0122, -0.2803, -10.0581, 8.3077, 1.6239, 0.0122, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d06da494d42a9285f4287dee2c97895b289881da119cc7c88ca143d7c9579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46094da982dd4146a535cc94cd5036b68dcecb23039338a67d9a5d7799b3667",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be66060d3b02af3faa3f04ec25a04f2ffcb7a2a0bb8961f25aca0fc4588c9751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwiw8OLWis75XAeDyFdJHaQMGN86U8LujXd_VNQTCY-j-D6HIG02gn6px3YX0xeI6w0uth1Oxh0SysL-0F6arz_bZkAyzhSNrEAPDW-zMSzzuLdkg1byTMLJhFeutSi-Z8O-RI6dONbC8-1eEdLOxkhtef7npPNnoRbFdAGQX8Ln5PmApxzVoCTJw0OTUuRFlOAzqsEELznKccV2gITAiDge1PR3rK_nSn0nntit54DLgZWbBQ7CFV03XtjkteNjL9mePrJV66_MNzDTln4EkBlrxP1r3sA1f2zOmNAjuHGp-Bb23Rr84dGMkWRri8nofhF4Glx4Ne9MdJTHfnZFrJthRdMPOYtsez7YSgJ8uV2CgP1w9c4Wh6FhkyMTPsaglYuQnD4X6rH0zXAmEEwv4hjbY7lWAlWrWH5pTrncOiTEKOOIhCgbqBkp0sPEjlox4gobjHqkRRLaWJYsxEdhKlVyR4WZEW3Lb3wKsRtqWQhjwtzZvs-Nu03cya5y-5NwRAawcjvMTqWZj9mV6nx7xjXKhum3PQ6yWpaFUPKzuP_MGdDQfma7piAUp5hhw38jlXOg8h1Oeb5j7uXph8zMer57ivEKVvDWou-rwFBqWG8dHEb_OuWaxvZ46M3k5ETiwsHZxjICwtutbBZ62whsYBEM5w02bkoyUAfkqPG069TQb_Oh4v5dm5i2A0Flrn5YGBRuvKJATFGs1xdGU1nRRXnCS7JETtzDmWCbD3pEpbAEeaweYGvZmIPBxfNdJIns7s2jWfYNDEeDRKsEwK5KUchN18T2OioPDnLYZYzQs_jJaZ5G-U0xuxhC2yyoKaFTaQRhz3QXRNep1ugAH7CszrHajp8gJbRBVLXmiPlh0E6gU_MbJoMvPio3OHSOQxWfA2BdUPSWqdF8Jw03SCIJdsVVPjGW1yqaX62NRk1UZnb0PJ6_RSHqULybZfnILon07j1VWVB2bmEry5CTxoxZr4QPjcAqXMBBxhV-Tg0DGwe5A6l7lfW74D2cRIYubxSAgMo_LCErc5YUbw8_DedCYkX7clrDoEYx0Pt1QAYUL7pvwI0FFEqy5fyPZtejDbbdebdXETdC2NNu48fLIo7wS20_KhvvnHaQ9Xurbby8WUoLBGR0AmMPiWgX-99_cvubHRbNJF1TSNteT8PX-tQAB3sQH2QN72Zcvmrg7rpSvS6Pqp-k5Je3Hx8KTSzwU47jsv8wvnaOY6aBjJE2HFBCX-VGyvwa_f2xTBgQ70F8Ri2zHZHT8WZ9dmw22YWvlUFkCMwyLC3QD3Naafj-8MF7vMqrr9rK6dvJoSv4pzuFNriJL-UXP0smtdla1aU1oGSgtsIuwgt7yx8GrbX1ePKG56uTaZ0bF0zFpgGV2IO14ZPZgnSnjo1l_a_SBs8zV95KTHpVK2tau6E3L1x9kZjKKdJUZWyph11RXu7vf_JNrRhiZ9Mfb1UfI7KQXZTmsqtusjK08vnfR7zPlO1EAabJ21mwciy3r0WnEnhy3EFFOpN3_dWUfa0L3NBSAAnBS3fAigU3jTH1_7iB7tGNSrjWCgQko0YvK5lSILk58Ch09NjKv8TKiUcOwpkW5daJZf6bvHcCjJMB8GmrsEzxbc3HCrhaYLirfAMpvRjVKPNhTkhUxAfZ--MYI9OBuil_vWGEUTwVPGfee4RBf2Zoq1n5cNZAlaLgVn7SsuUzvFZT28Eg29QKSUZ-ZNjsqgFH8Ybyz0cWrpU0AmEuVeljlyPN9LbPGKQ91ISgKd1C06lidDAbdcKBNj7ZmohT0VCd2aNxrdveDELOaVbXwPkncnHXSA3ajyZNWkUTngXIK4PaIdqOrr6rTeD9Kp5Sq7MbnTh_X2jZlJgmiMyD-We8ADTgNq8t5MU4IOSgebjNexJg78AR46yJ7YenTB__QR6Gmb2X_R5gZGmQDGY2IbHmkorG21i9rTYfImKFiAqKq9r7S8a6wrKn3gTAhl6ffH3_pAswIn1mkQ2XnT9jETvgjjOmexIG717LY9IbrPwovcrJKhWggR7aTXva2V7koUC9y7jahxPNHJ9dZ5WTHEASWRU02YrZvZJ48sE5CGEmBktlWnnSiHnst46p5id21oCkRf6A5xvx0_2jtcKszWbhOaIEUBE0KVW6Plc1QSWVVMHRJ8iRTfUmKjDsec7sl7TtXp9b4GLnPkwDhN0tQ1K9lgRL7p6j1TyLoAEtjVLsAr7c7vVi2wUy3KbxKMxMuqIoeCa5-j4AHpdpeFLPRcnue3FoOoLxc2YW86Ti2pMkZLOt2jrpmJ2lUQTguJwzEfF5H8663MUmJiu4aojeo9jJVdlicR0hZlD5laXGgF4pBJvkTmJQmuDJe01suTeuU-eRgy4TdwAu_LotufrGFvOA_36YhqT1LnjpkMCRkSeQvjpfQIzuOCQkj7zSxLX_lLJd8PJAPIiE2yBCxwpWLF38CNZ_tLhQKGKWz0EkDSX5yqEMOBdlYMAXA6HpqmWPVlDzXChuiXGrCBJZ73J7euFizy2e3oqQYHyAaSiLRO6vHvRMIGZV5dWW7oWS3xm0wwvNosNkxH_hv5bpEC7hq62BRgkNLIv2_wEb6HZzvgtHZCGxPPWzjYnL5ux3rPchaZtEi0AvhdNcH4rgk7fZLl5SIVMMFVtUHrPavMmkIfoaicVcFzToQeqBs10n1hUZ-xSnR3B6pBAbmlqUsO82PhDdl-OuLg5SxEL1Cqh-8izp9HgsAZSRbDvOh3wQnC3L4ZmKGx43eTbeC7g5ve0WuYMHJI0OprtmeA1o_OCltaDqaeoRJ_FIiXXUJXi8nggBQecRSp3tAKDeMW0egbyvhb4PyD4W5jFFE7urpKpM5yLx_zNfRmLvRbJuDPCjbADvNbUhh8pZa3KjDWMU3UsEpikPuowldUB5vQ13cwS2JDsBVpMySpIelMFBH3UE1GYaL8jEZ7UePTb6ozQofkxG23pJAR8wB6NyKYRj3sZY578RkllYkjBAI81Srjjy8HAn9v8wYhUHmw73p4C6_yxzxRSGugHyxjuu9goZsOx2m_DDWfyU0elHIw=",
  "id": "rs_0101047fa121a2c8016ab41c1f081487d088d9edd13aae1cd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_y\":0.012,\"right_x\":0.423},\"note\":\"The low sideways move barely tracked and lowered the gripper against the bowl, so I won’t force it across the rim. I’ll lift clear first, then approach from farther outside.\"}",
  "call_id": "call_wN9mEEqS0As3eCBqaDCN7Fhi",
  "id": "fc_0101047fa121a2c8016ab41c21ea6c87d0a01092c9f9967c76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wN9mEEqS0As3eCBqaDCN7Fhi",
  "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]: [-0.1413, 1.2793, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.0982, 1.7653, 1.0946, -0.3534, 0.0544, -0.0788, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=-0.0048 left_z=0.2021 left_yaw=0.128 left_pitch=-0.5475 left_roll=0.1219 left_gripper=0.9928 right_x=0.4269 right_y=0.036 right_z=0.0554 right_yaw=0.08 right_pitch=-0.4548 right_roll=-0.0836 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -4.2872, 6.3932, 0.9988, -0.1538, -0.0611, -0.0122, -2.1265, -16.3897, 11.7812, 2.1563, 0.1538, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc4ec472269ba361a843de7121eb9a3c9180d506451061209ab145bb5524d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63281a09bf7c1327e5fe284b5f8ece10f1a561a277179eb27a0c91d1e4c61f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59aee245bb13bdb7ebd8fa797cbc53c87b8635cf37f9667a657ee890f6b50e0",
      "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]: [-0.1413, 1.2766, 1.2751, -1.1412, -0.1871, -0.1726, 0.9928, 0.2359, 1.6203, 0.9737, -0.289, 0.1471, 0.0467, 0.9955]\nstate[eef_state]: left_x=0.2919 left_y=-0.0047 left_z=0.2028 left_yaw=0.1274 left_pitch=-0.5454 left_roll=0.1214 left_gripper=0.9928 right_x=0.4039 right_y=0.0742 right_z=0.079 right_yaw=0.0632 right_pitch=-0.3538 right_roll=-0.081 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -4.041, 6.3932, 1.0085, -0.1001, -0.0415, -0.0122, -0.6496, -6.8855, 9.6205, 1.6825, 0.0024, 0.0611, -0.1294]\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]: [-0.1413, 1.2785, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.1486, 1.7882, 0.9974, -0.2199, 0.0944, -0.0277, 0.9963]\nstate[eef_state]: left_x=0.2921 left_y=-0.0048 left_z=0.2023 left_yaw=0.1279 left_pitch=-0.5468 left_roll=0.1217 left_gripper=0.9928 right_x=0.4198 right_y=0.0496 right_z=0.0296 right_yaw=0.0629 right_pitch=-0.4373 right_roll=-0.0906 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -4.2462, 6.3658, 0.989, -0.1392, -0.0269, -0.0122, -0.2803, -10.0581, 8.3077, 1.6239, 0.0122, -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]: [-0.1413, 1.2793, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.0982, 1.7653, 1.0946, -0.3534, 0.0544, -0.0788, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=-0.0048 left_z=0.2021 left_yaw=0.128 left_pitch=-0.5475 left_roll=0.1219 left_gripper=0.9928 right_x=0.4269 right_y=0.036 right_z=0.0554 right_yaw=0.08 right_pitch=-0.4548 right_roll=-0.0836 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -4.2872, 6.3932, 0.9988, -0.1538, -0.0611, -0.0122, -2.1265, -16.3897, 11.7812, 2.1563, 0.1538, 0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc4ec472269ba361a843de7121eb9a3c9180d506451061209ab145bb5524d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63281a09bf7c1327e5fe284b5f8ece10f1a561a277179eb27a0c91d1e4c61f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59aee245bb13bdb7ebd8fa797cbc53c87b8635cf37f9667a657ee890f6b50e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwn8b-IoebZD0TYeAf_CcSYT9AZsRN9dfutBJFQg1RDBRGwAwfIesJW6INoH_q7WAyjkwaalOPxPitlKQU0_UTTBG8wBckw2b8kflAvLnw1rBU9Dawd5lnynS2Wd0bnCAox6dro4JqSuIxz-CK5kxIG8ZsonbKLXhI5ZVSR4MPm-TNjBWrNciHG0g2FTjVA5YpGrOKdvV3Qr_0ui71gzCiiGdeS8bVMmyQe8PKI6gRzOOfFtj4t-MpydVqU8lqslDTGARUP9MDqmseO3lxCK2-8YMky4p0YPUVJ21nfm5w_YBRyV3e4y9W8KZcukv7j3JNv0bxzPdguvRDCof5Kp9NGdSjs2oMCbkc6M8ffZUlJIgEAf84DIn-UCA9vbDGV_sp0_7_BHreEiYXwHY2VrG3Brmx4Po8PSrmTxOT0Giq4m4e9pAJGJAOpzWCI81SS2i9xX0TsaK8UiYgEgXqC09RHheWEyn8rThK6l3RHZPu9HiA3fDBJvrpDN1Gk5VoBM_wSdgYLOiKujFa5ZkwsgL5Z5O3i3vS3ctI8II4VD5TiV-7YQU1aECXR808InctGqiNVixFIAG-u9SifXvXu3if01zloY_JkOIDa8f9a-wHcM_j9CfMf3LDO6u4tyyuHEmz-PiV-jw2uXQcMyHOa4SfAW68JhD30dj43upNDQfMLnNMISG5CkodhiNAWmk8AeMkygHvjnivcROu4McvJEKxG1C4-uj4U8XdbWu1QgMR_Y00osdkJaLS1RKqRDyoFvTmQ78qqGfXEUPWuD0A0im3MrlKtNSiUejmdkCZXQMgBn9Kq30OY_FWuL4nEyFzjnlGu0WrRJ84aqQDhXr0o-WFK_6dTcdH21esFqUN8dyiZeP470Vg5IiTP0mbz9CMe7u-QvB50gqRtqt2oB21_Qp0mTwj6XL39d5ds629jNKrDUvWgw-IpvZc1KU5RrVQsD8T_wyoTAfyryO4Z1RAZryMfvHigZ49bYOoZUbtQcR3pm6zMgBmjouvWSnhj67km2kcyDdx82j0JP7bvcImQKd1jsEJZs-YoEabDEZNCVTyVWkbzd6Zdr6ozRmrJbuQ9SWjbmMr8EQCK5Dkmyn31Yza0cCK7QdqAg10LYFnh1IOIynGvt7WhHOiZfAO4RxTTxFzZR0-mlf-teRnUo3aN8k0KkFAD0-qPEGYwzHI6CDXPsu7VvlAvVek1Qwz7Ro8dMLY42I8xMvLZjUaDdyibLVgDJ0YxE-1jP8oIF1XY5wnAXcP2peMhN6Bib_-VoKyO5M_0haLNLkO0mjK_3IpTMrlw946RGjhBjGKhyIi8POE_yPBR17jY4rZNzhX9mb4222XvgejWgS7s_XBCUqBGEE1T_pEsG3t7-jJIxdeXRnGqCSiOra2eGRKSrpibuGvgbvnw392ie_is1RvVZHMRXE7d56Tc4onjKT5lnXf5QzyEJg33aDH9gsxJstI-Mih6eHezvMybAlsdzZJvNsOwlmJcfs7chQqIVhtcWY-2HPNMD5lP1PxfInxjzUkEFPj-HxXS3BypHFH5MmLGKrAZ6SU9mmo7XaYgSO-9k9OBUfN9umF77f3wnhjDopecHSV5FQLdDlphgXRffoqEZXdz1mYLyao7sJrg3PQYnmeoSxsQ4T4mV5N6f3sKaM6n7msQeDCP-xAYaz9DB9IrOkxrhd25VMhxUnOy5PHNUPHsBPUPOwmcNuU6pvP98ewBXf-yCZpXqf6Cs5lIfu6PyXpvr_XtacI1kwTSh00Ztik-ECGLWkgI59uQ67vl4eEqKV7-7Fk-bEnO62R6UrFsq3ZubjWp3DQKV5lngbDo-tu1zc92E0xBF30mElHIX3nynMc34eDpgc6S7aq6zOX0ThL_wsAGEqBO0hKVDJvNwdLrNaahFe97azghFy5cO-7qIMrcJNh3e7yFQ4UOynyBdwPa4JiJZi1uOOHBZe9_2ebsRwu9At2k7LSV4ZbHbDFD-WiWWZz2yUc0O_kxFjIbQLPs7mPzUfOi5t0tHrp9D4qsYTSHVcFqNTI1qX7NcP_nLw0VPcOt",
  "id": "rs_0101047fa121a2c8016ab41c24d93487d0aa6584f4f8b79d12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":-0.01,\"right_z\":0.19},\"note\":\"The right arm is not following the lift and its shoulder load has risen sharply, indicating it is caught against the pink bowl or table. I’ll retract toward the base while lifting to relieve the contact before any further grasp attempt.\"}",
  "call_id": "call_HCiSOkJNsltgZP4SrEC3eZ5C",
  "id": "fc_0101047fa121a2c8016ab41c26920087d0a0dc37cf171ec742",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HCiSOkJNsltgZP4SrEC3eZ5C",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2812, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, -0.0433, 1.3731, 1.1851, -0.8368, -0.0059, -0.1925, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.2016 left_yaw=0.1277 left_pitch=-0.5495 left_roll=0.1223 left_gripper=0.9928 right_x=0.348 right_y=-0.0104 right_z=0.1733 right_yaw=0.0632 right_pitch=-0.4587 right_roll=-0.0919 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.2872, 6.1744, 1.0427, -0.1099, -0.0415, -0.0122, -0.3077, -6.2974, 9.5385, 1.2625, -0.1294, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f352070449e1bd6e9d64611f2965dcc4924ac69c5d621986cf42696474143f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f58fd923fbbc168845d0bb71ce540a85b85824e1641e7df4dfe0ad9bb67f1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07480356453eef1795643cd96198bcc8f66ee85d16f09f64f74fd68ff178ea3",
      "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]: [-0.1413, 1.2785, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.165, 1.75, 0.9943, -0.2398, 0.1101, -0.0055, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=-0.0047 left_z=0.2023 left_yaw=0.128 left_pitch=-0.5472 left_roll=0.1218 left_gripper=0.9928 right_x=0.4171 right_y=0.0534 right_z=0.0414 right_yaw=0.0525 right_pitch=-0.4198 right_roll=-0.0902 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1504, 6.2564, 0.9939, -0.0757, -0.0562, -0.0122, -0.2393, -9.1145, 8.9641, 1.6142, -0.0708, 0.0073, 0.0659]\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]: [-0.1413, 1.2793, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.0982, 1.7653, 1.0946, -0.3534, 0.0544, -0.0788, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=-0.0048 left_z=0.2021 left_yaw=0.128 left_pitch=-0.5475 left_roll=0.1219 left_gripper=0.9928 right_x=0.4269 right_y=0.036 right_z=0.0554 right_yaw=0.08 right_pitch=-0.4548 right_roll=-0.0836 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -4.2872, 6.3932, 0.9988, -0.1538, -0.0611, -0.0122, -2.1265, -16.3897, 11.7812, 2.1563, 0.1538, 0.1099, -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]: [-0.1413, 1.2812, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, -0.0433, 1.3731, 1.1851, -0.8368, -0.0059, -0.1925, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.2016 left_yaw=0.1277 left_pitch=-0.5495 left_roll=0.1223 left_gripper=0.9928 right_x=0.348 right_y=-0.0104 right_z=0.1733 right_yaw=0.0632 right_pitch=-0.4587 right_roll=-0.0919 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.2872, 6.1744, 1.0427, -0.1099, -0.0415, -0.0122, -0.3077, -6.2974, 9.5385, 1.2625, -0.1294, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f352070449e1bd6e9d64611f2965dcc4924ac69c5d621986cf42696474143f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f58fd923fbbc168845d0bb71ce540a85b85824e1641e7df4dfe0ad9bb67f1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07480356453eef1795643cd96198bcc8f66ee85d16f09f64f74fd68ff178ea3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBwtICduxkfPMcEJSN5YBw7UahwR535dYXDR_T-r_Eq0uOLtovMz2qp0KOlRwnmVALqetI8tB0WQt_fdeSHh9v6otJOt4gXbTjBclzhUPtzYTU6BYvMpqe5bCSJWbUDxiAbe_VlqJWcEivHmcd9te3Tc9GR7ltZyirHK2rdpcSEnHRAhQ17nY-ay988z0aXVPwNE9SgiQGQ4hmTPA8J1IAhmpTg3EBun8i4P4tp6jXjy7JsHYMkVf8ra4OYE4sTMHrgZUiDclZZjq-vFBpPY5tDiChlty0wSxE7omHX80NneJrXfEOM03BXW81xGnErEnnXjGdDbuVzlq2Yr-RfrOl12bCFSzJUcWkkCPHDHoe89gq1UpJAis8-67ZL5YPBStYqFc_IzfPBQpYrOZEu2XXdTw8X_Ge03j-vo9XyZsg50uorsoqTYnKbEOkYlsvXQ8MrkY1eeZxQqKCj580l5AjLURb_fuBfj_1X14j2i7WL77bTThEQMYbRxww4o07-9z4AvFVij_Ahyt35DKtAvSZiKodAv2BUV-mQClRvbWWRHa1wrboYR9UswUZ0b5C7UcEQDtKWC0cQdERC15jOH2TqgsQrKaDCo0z5CvvoEmucIhjv7kbVND_utV-1Xfsfqc7wv7ipPC1iLFl0kJxGdeVrXNOiOY-uPlNGtv_bTD6n_hf-YNLfTrv6X_LYyf2bUEdNdte1nlX9T58ab9Q1df_aR8ACvqOvYeputoyoP-mYitM9zaa0Bjo_Q2fYRVMVi79srmofWv9vArxdhIEwEmECUvbge1l6L5B-uFPulcvaUDMOLyht_64RM4WkO552NKha-t9jRt2lEV0QkKs8K7uzmfItjznChwPJ9NOWmJh2Rmlm3BtEUld7dkEvyf_abgIItI7Xe8g4ZKyLO_qOEr11Jt9HNJdZunrcL9k9R6cL_NhTMx_inKflPkRzenoeomein7fHJc-zILxOHVCnGrf39ccvgbhgNzX1POC4_910H6m0KD0Z3wO4tBc-U61UVcyodCOhZLKmcbd2Q1Ed2oAW8expVYetg9OTKr9DYim9R9kzsQKVew6rQy8iEFz80BBVR8nMoZGIBRK-bnOyw_IHae-H_ei40A2FEEJpxn8PEk1WxqrVcrTJCW1h0LjiTzImPn61pFIJ9vgwwnNy6YA3WQMarxBq3klC7VF-vzKHbTMTQnEvfiKVBiVPb6JaV1ZGkTKXkuVy3YCQl0ZLoy_4Q0U_3SdihJS-O2xHsY32fjmeB3hq1nd6au-Dz1J-nRV7-UHuKKlpuZviRwH21kR_HRd7WHhKf3i00OfTn0Pgk9qeBzUDAU_65mwR_LcH6eOpfRIIwd2Cvg_YakMZLwCC56lM_y4UAlXBSDC2zmfUnWe1KLN_r0pWE3o1S-QvzUEuG_L1sF64L-JUE6scLYf7Jq9kEzZm9rlojioV0c3hUZTe4qG2B08ZzUc54-55FG4Nfp1fZuEjxY8FUW9XVfi_WwlhA_i8kR1Jc2ZGomkq2W3MLeh5I2sJRGFWospw-jY2cEZeJFnYYvCn8TjmkP8wH3DKbor0wM4RbHsQCXdTS1GpvGQYS7mbESDAl3h1kPxz1ggKsDI-PlwrFMab6YQtaNE8ABMhYV-91k8O2ZJruoryOjFN9GH7Im_j8zrMQTa9zTCwAkKSg8nk9eiW7N3fBeWDEerojwvdsciDPHylVmf-NpuOAqKiFXTWIHdqz8Ozh-WXh2mrXMD7xNgFX0UmHFg_2tv4JpbYhCe5xSl9QkbjnJYk0kbNHxkoLu9zRR709JI1zHFbeQiv4Oh4fsDUZ-wmv08fP9iEAvOs4qbrq-zoEBT12oUjXZtwTIdJwxwR1RaKaGjvnW8DkjPcZl-Uy8ySmlFSfXFTJ7L40mR_T2orBMeyktg0PMbP2AsPLJ5uXc1Jn-KdOZT9Rwr-P1m38D9s_J_oaFSBKF2aJvIAh388l-Fx8MvmZCaHvqvD8hlHVxI596BR843h_MU2mH09J7rILNu2qeFEe2FNz6w8Z8BPoYDSrsLsUxG1v0sTPXD0TcZI6zNDA3g3uofdyW0f9hH4mZZlcadoe9LHxgVgRqkkZVohOmM1Jaz9JOFizJBIjKdrK7YCCBo1ERm143AnWAFIx6lsx3zJ7Klz3H7KXhhejGi6d2H0mBbjrYbAUrmvn8zD9hvrBUqBLdoCEI0z1nr8CgEfAqtUVBu8xzgf66_HEqNVjN4Gvvl0lCAO0coahdf_IVdF4T3pxxKvuAXuIOhaYy8pFRP7yaRATFMeu3-m4NbEh8mClO_EcCa-EB1w8XjyCpjvklv0IOWWXy1h3imUYrJ2mfdGqudOZ2-H-us4lkMU_JoAw0SFPFI1uiUTx2fqyWnuJj9ht3bsIdEHzjtt8nepZDGZKyxuEHqrl-ETyfZ2FolfEDaVynp6FgCIy8WftS7VSCU4lq7AqIhnJbB3AlqpSOLcJaUw4gbKjrxTue4yt53zVJtluL9NhEbORTBZw6cLjYWq1nHsl93GLZsa7UhlPuMonoyApnhXD8NTgzNqcZAVElIeyu_iOWYB8pTaoPzmEoXYtQG1OB0VfuDJ3EMxdiTKUE6b04Qqb-LpQt46feIH_6EQA-CLB_xcW4WSNoNLwYWKY6bdkKmUP4A91zNUcqUcEqo93F-ydV0sVbYV91SmwYFa6SCqxW4dh",
  "id": "rs_0101047fa121a2c8016ab41c29bdf087d09dea2cf52dd23be1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.035,\"right_z\":0.135},\"note\":\"The right arm has retracted and its load is back to normal; the pink bowl remains upright. I’ll try a fresh rim approach from above and slightly outside its right edge, avoiding the low sideways sweep that jammed it.\"}",
  "call_id": "call_j6aznubX3TUkor7v4bkP8WB9",
  "id": "fc_0101047fa121a2c8016ab41c2c899c87d0a56c028f51cea80e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j6aznubX3TUkor7v4bkP8WB9",
  "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]: [-0.1413, 1.2831, 1.2751, -1.1412, -0.1867, -0.1726, 0.9928, 0.1078, 1.5101, 1.1496, -0.7429, 0.0444, -0.1036, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.201 left_yaw=0.1281 left_pitch=-0.5517 left_roll=0.123 left_gripper=0.9928 right_x=0.3638 right_y=0.0351 right_z=0.1253 right_yaw=0.1139 right_pitch=-0.5354 right_roll=-0.0879 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -4.4239, 6.2564, 0.9939, -0.1343, -0.022, -0.0122, 0.1709, -7.7333, 7.159, 1.4042, 0.1245, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e39eef847917492e42df781ef3bee17f90981f74fc78cb25130403f651675a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f38694226a0729819321a682319485777905f0d5e03456d2c306dc4400e449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62852f024bc129e83645ea2fff2fd51919bcb49e6f6ec9d54964147577f54b28",
      "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]: [-0.1413, 1.2785, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.1486, 1.7882, 0.9974, -0.2199, 0.0944, -0.0277, 0.9963]\nstate[eef_state]: left_x=0.2921 left_y=-0.0048 left_z=0.2023 left_yaw=0.1279 left_pitch=-0.5468 left_roll=0.1217 left_gripper=0.9928 right_x=0.4198 right_y=0.0496 right_z=0.0296 right_yaw=0.0629 right_pitch=-0.4373 right_roll=-0.0906 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -4.2462, 6.3658, 0.989, -0.1392, -0.0269, -0.0122, -0.2803, -10.0581, 8.3077, 1.6239, 0.0122, -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]: [-0.1413, 1.2812, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, -0.0433, 1.3731, 1.1851, -0.8368, -0.0059, -0.1925, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.2016 left_yaw=0.1277 left_pitch=-0.5495 left_roll=0.1223 left_gripper=0.9928 right_x=0.348 right_y=-0.0104 right_z=0.1733 right_yaw=0.0632 right_pitch=-0.4587 right_roll=-0.0919 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.2872, 6.1744, 1.0427, -0.1099, -0.0415, -0.0122, -0.3077, -6.2974, 9.5385, 1.2625, -0.1294, -0.0611, -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]: [-0.1413, 1.2831, 1.2751, -1.1412, -0.1867, -0.1726, 0.9928, 0.1078, 1.5101, 1.1496, -0.7429, 0.0444, -0.1036, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.201 left_yaw=0.1281 left_pitch=-0.5517 left_roll=0.123 left_gripper=0.9928 right_x=0.3638 right_y=0.0351 right_z=0.1253 right_yaw=0.1139 right_pitch=-0.5354 right_roll=-0.0879 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -4.4239, 6.2564, 0.9939, -0.1343, -0.022, -0.0122, 0.1709, -7.7333, 7.159, 1.4042, 0.1245, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e39eef847917492e42df781ef3bee17f90981f74fc78cb25130403f651675a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f38694226a0729819321a682319485777905f0d5e03456d2c306dc4400e449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62852f024bc129e83645ea2fff2fd51919bcb49e6f6ec9d54964147577f54b28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBww6o3tcCdSM422GBG-MvTETbUYScG_tMrz5sTt_JG6ydg7G2LSa1x0AB-ziZUtztqKZWjgK-oNmg5hit0s5qUfgP9KVmy5o0DHG2dQLnwSbDsW8jnclsBoZao7aeYkoNhnsc4CLIyqNVeSAgXV4nGnYIcqYoJLxeQwquv1F5XNlfXqBO9jW-O2ACDhY03znIBcfZxPLJo56VCT_hUHxirdFUyYQP2_fs8csbYAichPShPHQcxiI0sjslM-BjkS0E9O8bXNyDavWJCnTXDkQX11vsEKLwGo2Phl9TqvRp998QmduMrzjLdTcSPxb8AJARDwuNMFE0BCQD_GbBjV3_fE4CJ7rmd8H-DgSYxrr5zYGHwRD8J3Im1luNGFRcHi3nZqawm3dWu5x4_73szBk0GClT_ApljkxLLLLBFUj8u1_6u6EkI5Z7RVdVLNEso6-wU-CxFNKJlSblglSW8C8N9bPrhgFDWyirMpckx7d6alfWwaGB0hcihPo45cvGOg3ThjsIfOCOWMOTGgM_JVaQTxA_HWwMrtZJEtCDZyT0uYmDNFtaeCThrDbynNDzsKyvv4X-g7nItHS-1_gnluoiEvUPc9f8YwR_FlkxAtn3BBZSgG9GLwG8NAHyC6s5I9XnJ2zuL_O0J1opu_rmAv0Lj7j9b-njzs69GoKOH5ZdjPgX7pRh051jh91Bmlm1LmWCFGpnhNUWfpC_ReZlZShWrNqt3uI5rc-QczOc-zHsQfKYzXgYe3K8AoBg6k8yiZdNKhJ2G96OF6SAWR6rsB068YD-4qR9gnQShf5qkb6sAN-Uw4K_E0tBs5pd6BpT6vPKT6Znh4IHD0HYBEJXplCjHpQmA5wsOwIHg3uGNEAp0EFJwsxR3kdPU_aB7CSj8S2DHPM_afL9K-u-w0dk84r_WrRgpUwit5vPlgM9HFK6mQLa3udll5ygRmCmcdqgxH886bE543P2rF8hbzE6UKNmBuytlnGc3mX0nKVb6ynbScXJXUXk5pi4UE0aNjLlrO-DdZTbTVIBYthxeqoDL8PLEZqHoGRGelfk2pTPEAeaDFO86fKcWzMmSZ40unR0ydrKP9qDhAiDOWcDnwo9WC3eIR45Ot1dXvsFOVBxBrHU9YUcy9ZHBfQfGlRc5y86vXZpAtI12traK3M1Pxp8OV1vYXLNLt4l4QudENQStPfadMRARHvcljqQyDbWz57ekVmcZmvHnJC-SO_n0lURK36HsLaKu3WjNxUY5lN4mMK-bTw2LAJYe2Zr6rH1N6pKaUNfBq4LHdhTT32mna2IjKq95mHmi013cBB5ypkCSYcp8FtmRCqxFH1Nn0FFLJT_lI6dWWyVclSomIFAWC6-iEDlfVh4UXxTvmdSbGMpnDTpYMHi6KPwDpF4pPW6UAKQ5Clq2ZtwsLcs5KxfHJUeG6_wr7MzZey8HYAaUFHS1Woas9KU4Pi-ucwyY3qsj9Ph97VsildnJMKwV3PAcqCQ_B0rpGqzRG-U4d1Y9RYz48BmUry534HK4hA_ly-qRcs9oe3WRcjtFjtkTUWgKbe9IMYNoP0tOa__x3VCyvqb_Va0l_pmQS7aTvJyy9vv-jSWqUe8ytzOagorZS6e_V1h-qkQN0tmZpj7opxUKREwVg-VdGCBj0hhK4txuy1yLxF-eOggS3VCFvZlBaDBUXhD-gQKKGqia_vkWBvn8A0GW2_aoscf--l3yHSewduV4dAl9J7IGI0XwrLiJwnyF0RklJhY1OQY7VuYhv6IKimc2ssWJLieJwzN0Se3ZZiX7EFWmL-EMyjPZEEJqKboO1licc0YVRyw==",
  "id": "rs_0101047fa121a2c8016ab41c2f04dc87d09b1f2eb2b1532472",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.035,\"right_z\":0.105},\"note\":\"The pink bowl’s outside rim is close to the right jaw column, but the bowl is still fully visible ahead of the fingertips. I’ll advance about 4 cm while staying above the rim.\"}",
  "call_id": "call_BI5e8YjEVPBjcMEML0RmqnzE",
  "id": "fc_0101047fa121a2c8016ab41c30214887d0a1129f9830dc33fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BI5e8YjEVPBjcMEML0RmqnzE",
  "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]: [-0.1413, 1.2839, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.0959, 1.6901, 1.211, -0.701, 0.0433, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0048 left_z=0.2008 left_yaw=0.1288 left_pitch=-0.5523 left_roll=0.1235 left_gripper=0.9928 right_x=0.3889 right_y=0.0334 right_z=0.0866 right_yaw=0.1116 right_pitch=-0.6126 right_roll=-0.0917 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -4.3419, 6.2017, 1.0281, -0.0855, -0.0513, -0.0122, -0.3761, -8.9368, 9.8803, 1.3309, -0.1001, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c3e4a47b6f57eb9ab1ee7dd20f447c46fa5e93be8475e2e90813920ab756be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6049d00d4a394494c39912c42cdc1c29892a5f4034144822845d2ebd12352c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2b6c07e325660e6bfc34366a9e0066297fc7b20c51a4b29cebb359af8b137e",
      "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]: [-0.1413, 1.2793, 1.2751, -1.1408, -0.1871, -0.173, 0.9928, 0.0982, 1.7653, 1.0946, -0.3534, 0.0544, -0.0788, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=-0.0048 left_z=0.2021 left_yaw=0.128 left_pitch=-0.5475 left_roll=0.1219 left_gripper=0.9928 right_x=0.4269 right_y=0.036 right_z=0.0554 right_yaw=0.08 right_pitch=-0.4548 right_roll=-0.0836 right_gripper=0.9963\nstate[joint_eff]: [-0.2256, -4.2872, 6.3932, 0.9988, -0.1538, -0.0611, -0.0122, -2.1265, -16.3897, 11.7812, 2.1563, 0.1538, 0.1099, -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]: [-0.1413, 1.2831, 1.2751, -1.1412, -0.1867, -0.1726, 0.9928, 0.1078, 1.5101, 1.1496, -0.7429, 0.0444, -0.1036, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.201 left_yaw=0.1281 left_pitch=-0.5517 left_roll=0.123 left_gripper=0.9928 right_x=0.3638 right_y=0.0351 right_z=0.1253 right_yaw=0.1139 right_pitch=-0.5354 right_roll=-0.0879 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -4.4239, 6.2564, 0.9939, -0.1343, -0.022, -0.0122, 0.1709, -7.7333, 7.159, 1.4042, 0.1245, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2839, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.0959, 1.6901, 1.211, -0.701, 0.0433, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0048 left_z=0.2008 left_yaw=0.1288 left_pitch=-0.5523 left_roll=0.1235 left_gripper=0.9928 right_x=0.3889 right_y=0.0334 right_z=0.0866 right_yaw=0.1116 right_pitch=-0.6126 right_roll=-0.0917 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -4.3419, 6.2017, 1.0281, -0.0855, -0.0513, -0.0122, -0.3761, -8.9368, 9.8803, 1.3309, -0.1001, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c3e4a47b6f57eb9ab1ee7dd20f447c46fa5e93be8475e2e90813920ab756be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6049d00d4a394494c39912c42cdc1c29892a5f4034144822845d2ebd12352c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2b6c07e325660e6bfc34366a9e0066297fc7b20c51a4b29cebb359af8b137e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBw0g_fFc36l6Jh1g3VBOSLDPfISDitcpb306trpZM8zyybR2DudzSD6BhlkCZF7r-354jG6t6W-Ic6Yn5ksQ3M8kZr1KGy_K7BDBUJtmFqUAyLw6RQbhX0A66-IP0LKO-bPWLqaeAdDCAvQzW9KOyUClQqtbdU1fRL5g6PJyfQLp3wHm16oFMdEL4uDO9lNeupbSGAWyKxMzRqB-GRYAOFZf2nVx8d6i2B0gdvsENEZLCsMY5DVYazvaOsYdGRARYn_XuKONOjjmA-Zj0BNYmQz8DH_ywNVU0tpgSRlLr5ALDuCHcqudRNmnhgCPEG4YchTZ616P4cHokHIf-caAaIRJ2obzYP0IZKnpb_1MAVeAIHxJq9bAW6EpNtJz1VNq7mmYXsmVNkLVp-GVzeZoc2A8lJkm16x5saD_ZIZ2-9twRhZdbU5_6NyIypTMIQB0iAXlwsJdwuyrL1v0rCNx56Ily8i8RNKfvGubZMrOcO0SIj44HtfMS6B-RuFvQndeiyh_YZs6j3zjhgZu_09vp5ivTu8kb-HJWft6t-fhrgNLvGU94i7rZF3BBRbpR18MZ6pKVMMHYx-wK4h9D1q4oJPW_VOqbb_7o25046GeBPDpWOB-J3_3-q5Roy3S2lvMrqjX1xb4lSV43E8UfUIEsvHa6vyAJ68uDq7H7RYUthy8JiiUWabig-37t2rif5XEeZzXV1QIF2fgMHQHhmXJD6dAj10ocvp7xly6o5TNEG6ZO5bNkpxz_jblFV5yD3pf7cZ_AAobKKih34a_acMpbzxgR7slRPor9rCbUP3b8-EkgAQiEutaUg2xG9IjWVD-nNVQx5C0W4dIPJptG0pFfuRy1ifLzMssCKMx2twfPnhdKm9WgZxpkhpFGLg4wkWxJGOa9BsazOTxm6bI1c7CejYdZuiGCTDxCJTM8CU4Rj2gIv_l8OhAs4bZWFpEEmqSRpjSrDu_X--vErRJCp04h2vLxQ-jzYUkwX-hiRBjmQGiBb5vX-L9eGi7m6O7NNsI48PiZACs6Ln92tpKmHgcsxVb51IMxM_co0Dv2MoL6S0Co_h6mqy_7FOwj8jRz7hUlxpowQk6roVdo5YdUUrFwSo_WVTX20oDVkesG0oOsO4-MUqD2MZvMhnuMIPv_WXjx5wc3Bkaih25fhZ68FEJ7ukSydTP1UAXGaWCvz9wx36IuBA7Y_j_VMVGUSSDR90QritHPZvIWXneH7TiD85b08IYgc7hlccgBya-u9UDchIj96LoIuyyQi_oX3aIY-kwXiuGeV7f7uJnLipGtTSPmoNjTYB3gpHiiYtdcKtCZrg-e9uwv7S-qySj1hKnFlIaeMQ8IP73kNBahwY0ncnzLFLFtm6ln4GgTfRbWcIlJ4pRKs4lqVF2miJofpsCFQ1VtOGoD7IT5-Ncoz8BYaC0hLF0qlxW7XwrlXxvK2VxjjQjY4po9iYLHttWpqq-LEU1cmC7y7okILyuAdQArmSQ3r67775bq2zJvTmMVCQViOW_LOqODeC_qQi66sjmbuhzTpJTGiT8X6G35L7U-ifVpc_N1knGz_50lmsXNpxm2pxI7I=",
  "id": "rs_0101047fa121a2c8016ab41c32aa2c87d0bb425541677b3fee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.055},\"note\":\"The pink rim is now near the fingertip depth and aligned with the jaw center. I’ll lower to the upper sidewall without shifting laterally.\"}",
  "call_id": "call_3mehVX0V3U9s7OvbEbGtsEi6",
  "id": "fc_0101047fa121a2c8016ab41c33714487d091aa45bd4b2f82c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3mehVX0V3U9s7OvbEbGtsEi6",
  "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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, 0.094, 1.7718, 1.2007, -0.6258, 0.0433, -0.128, 0.9963]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1284 left_pitch=-0.5532 left_roll=0.1235 left_gripper=0.9928 right_x=0.3998 right_y=0.0336 right_z=0.0594 right_yaw=0.118 right_pitch=-0.63 right_roll=-0.0969 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -4.2188, 6.2838, 1.0183, -0.1001, -0.0366, -0.0122, -0.5949, -8.5402, 6.106, 1.1111, -0.0464, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fe6f7a4b28339634254381393a2a2c871abe11f0aa256fcec5b21dbd02bca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b734661d795fadbfd624083e93eaab3d20388668094dbff8bce8ee6094d96e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3d3ffb69cc8f6b3360b7ae66af8bd51b44e6f892e72af642cef1d964778e56",
      "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 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2812, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, -0.0433, 1.3731, 1.1851, -0.8368, -0.0059, -0.1925, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.2016 left_yaw=0.1277 left_pitch=-0.5495 left_roll=0.1223 left_gripper=0.9928 right_x=0.348 right_y=-0.0104 right_z=0.1733 right_yaw=0.0632 right_pitch=-0.4587 right_roll=-0.0919 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.2872, 6.1744, 1.0427, -0.1099, -0.0415, -0.0122, -0.3077, -6.2974, 9.5385, 1.2625, -0.1294, -0.0611, -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]: [-0.1413, 1.2839, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.0959, 1.6901, 1.211, -0.701, 0.0433, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0048 left_z=0.2008 left_yaw=0.1288 left_pitch=-0.5523 left_roll=0.1235 left_gripper=0.9928 right_x=0.3889 right_y=0.0334 right_z=0.0866 right_yaw=0.1116 right_pitch=-0.6126 right_roll=-0.0917 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -4.3419, 6.2017, 1.0281, -0.0855, -0.0513, -0.0122, -0.3761, -8.9368, 9.8803, 1.3309, -0.1001, 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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, 0.094, 1.7718, 1.2007, -0.6258, 0.0433, -0.128, 0.9963]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1284 left_pitch=-0.5532 left_roll=0.1235 left_gripper=0.9928 right_x=0.3998 right_y=0.0336 right_z=0.0594 right_yaw=0.118 right_pitch=-0.63 right_roll=-0.0969 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -4.2188, 6.2838, 1.0183, -0.1001, -0.0366, -0.0122, -0.5949, -8.5402, 6.106, 1.1111, -0.0464, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3fe6f7a4b28339634254381393a2a2c871abe11f0aa256fcec5b21dbd02bca8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b734661d795fadbfd624083e93eaab3d20388668094dbff8bce8ee6094d96e39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3d3ffb69cc8f6b3360b7ae66af8bd51b44e6f892e72af642cef1d964778e56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBw2CYf6x5K4hN4Le6CToeGhtgk1E3QFPNlP698_xHQoDgIsJaSTfE5Fp2MdxBRx4J6gi3RQo_IjP4eJEuMFjo34Fzwh2kipmbgZANc6FFc5pS_FTQd8TooTZl2oqZvHxrecKYJzoJWMFmHDG46BrCPQv3DjflQXbjvVHXx0XuMUGPysKPsLjSFBVAH4MCIprumKlJ9XovDk3g9V_zlMvQ2VHCZAHP_J_Y0ldagjSZ9uIYvX_7VABEAGGCrP76ikKGkDsG97v95Ll8lygPelgcDauk7t09s1iIdlLK-Dyker25-aW7C7unx6N7kN07REHaET1S9Cn0JuMLcePpfCcFOPDQ4_MgG7hNIo0E6RnU0fqqum9DCd5MG6HSiCNnnlTHYrNeK7Sjy1TPBKP5NmEUYdPq15IPgiLunpX-bFxBvUhIiO_Gti5IKkHkL7dELBrc4mVojMxJyqXmbtHPf037jUENFbebzZ02LqMkMFTc5qwDvAZR58h6O_5RpYwBlVTgy6Z_RIDFi5IBve-I4a-zkxsCSXHKEvq8cxg383rTBMZWPgplEr4Hl6pLbA5B0OjTIRzL-tGeyLEA6toqdm1xfImD6iBZSIL77ReBFlEsWWzhUkiDHN7kf_hzmnKkyIqs6w3NNRm0UtLyDys5wzTlG1bsNxmRx0c1R7TrNyi1c2PIAsq6RHtBxu7xiZHpXnMhiytwWYlXOfeb_lhg1JfiHIQwcV1DBpgZgQnTO3xP5UJ6BwW6uKysc0-tlJM2A2XPmwCHNl53muNQJlpljWJw5V-ZNC6u1VwLnrHaR2wSurK6CL9F_d9v0yimOlE7NJyc-j9w3c_FVAGu_J5ZFsLmecUwnxxE2IvU96GFS2YYhY2JIOMQ9pHgDiO8ZYzA5HOj9-JhWs_FZhueXS8k3lJWBgCYV0-lo6NCKrH6ahQy4da6VYLfzHgh6F_gfkZ5cq6_JBimqHqUunlnI4p23rMsLYlrIu26p7eDWwZJWsfLAvgoXI0r-Tf9HzvZH5GMTDd8JzoynwvARPCR86eaS6ar37xunyvV20kmYqCqj45I-EhKaYD5G0YMcslexlF6lwGl2qQudGlopG68ESZa1i6dMVM2Lmsz1hKXTJ6FR-goAmp6rRwbVSdrTQ4Qpqe5RB7ljGJXDnPd9iB4pAHUZi-_wIfvMR3kGIOlee0rS0svtoeTaucdUmgPON7koPWs0zix_I0P-2JzXIRuR10Dysn_H33M0mSDGAe52GJ4ysMcf5k3AJffcItwnQVNhV79BF05orUA-TLD7RAeg7eZQCVfKdTEaUd3xmagSt9S2DwiI9cnYx7Yo5Alb_FQqdPDeiXDt5xZ2S1zUB-C29eDZZ1nw_Whpqd7wdO6-ik2oJ7a2qinL_R1KOdY2_VOAIxi--_3k5iMONa86zg328wkUafGKg32I5HV80Vw_aTvc_x25MA53ykdSz69YrbROGKtMqxIp_",
  "id": "rs_0101047fa121a2c8016ab41c35b79887d0bd890407f7514738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The outer pink rim now reaches the closing line at about 6 cm height. I’ll close once more and immediately check whether the jaws stop on the rim.\"}",
  "call_id": "call_aMKWO8yTeRFbZ8QDUbZKWtQK",
  "id": "fc_0101047fa121a2c8016ab41c36347487d0a61c5851bfd572d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aMKWO8yTeRFbZ8QDUbZKWtQK",
  "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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.173, 0.9928, 0.0914, 1.7767, 1.1645, -0.5941, 0.0429, -0.1326, 0.0078]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1286 left_pitch=-0.5532 left_roll=0.1233 left_gripper=0.9928 right_x=0.3955 right_y=0.0322 right_z=0.0485 right_yaw=0.119 right_pitch=-0.6398 right_roll=-0.0982 right_gripper=0.0078\nstate[joint_eff]: [-0.0342, -4.3145, 6.3795, 1.0232, -0.149, -0.0562, -0.0122, 0.0889, -10.5094, 5.9009, 1.1062, -0.0171, 0.0122, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addc4b5208d31d26bc2b2cf713d47e154cfc1e6a4c4bc2bef33dbe824f930dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840607454e2fadbe9be25ddac37764272828ee438cf0512f3e3bd9b82ec02c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51d624ad2d944daa2ab8a8b503048c943707910b6c7dc8f748f17651d23835c",
      "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 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2831, 1.2751, -1.1412, -0.1867, -0.1726, 0.9928, 0.1078, 1.5101, 1.1496, -0.7429, 0.0444, -0.1036, 0.9963]\nstate[eef_state]: left_x=0.2924 left_y=-0.0049 left_z=0.201 left_yaw=0.1281 left_pitch=-0.5517 left_roll=0.123 left_gripper=0.9928 right_x=0.3638 right_y=0.0351 right_z=0.1253 right_yaw=0.1139 right_pitch=-0.5354 right_roll=-0.0879 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -4.4239, 6.2564, 0.9939, -0.1343, -0.022, -0.0122, 0.1709, -7.7333, 7.159, 1.4042, 0.1245, 0.1148, -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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, 0.094, 1.7718, 1.2007, -0.6258, 0.0433, -0.128, 0.9963]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1284 left_pitch=-0.5532 left_roll=0.1235 left_gripper=0.9928 right_x=0.3998 right_y=0.0336 right_z=0.0594 right_yaw=0.118 right_pitch=-0.63 right_roll=-0.0969 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -4.2188, 6.2838, 1.0183, -0.1001, -0.0366, -0.0122, -0.5949, -8.5402, 6.106, 1.1111, -0.0464, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.173, 0.9928, 0.0914, 1.7767, 1.1645, -0.5941, 0.0429, -0.1326, 0.0078]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1286 left_pitch=-0.5532 left_roll=0.1233 left_gripper=0.9928 right_x=0.3955 right_y=0.0322 right_z=0.0485 right_yaw=0.119 right_pitch=-0.6398 right_roll=-0.0982 right_gripper=0.0078\nstate[joint_eff]: [-0.0342, -4.3145, 6.3795, 1.0232, -0.149, -0.0562, -0.0122, 0.0889, -10.5094, 5.9009, 1.1062, -0.0171, 0.0122, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addc4b5208d31d26bc2b2cf713d47e154cfc1e6a4c4bc2bef33dbe824f930dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840607454e2fadbe9be25ddac37764272828ee438cf0512f3e3bd9b82ec02c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51d624ad2d944daa2ab8a8b503048c943707910b6c7dc8f748f17651d23835c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxCXAzYwo8gKoG8-W1dUlm2oeLr6TPrGJ2siD6ZssEUivMai3qXRPcjerBDcMgJ1_3cNdcYZP7PSnpkP0Mtgsc4dXtKVhELyBS0iMPikSEggNO-md9xNEwYSIQOFRs9tW_tyX7Jo4ZYsaLpdZ1AHYuy563nd18XJZg1bgYUy-1UmPIXXcpntYZmriGbPKnEBnt_oFyRkSvx4ABcUi_IYO2GINHRCm2Dky9bfvjXKSR_kdGYkWSYBeNQJaOT1LE1VlCvhD_-dmItd21gLhLCaYHiWmyGvLRhqbZs_FkGl9zf450mP_nIw3cPB0PC5hU9qxU9jzBMjrJFxjm8-ZlL0r-y-rJJf-rD3wEXDW2OtqDjox1UqLKXOJZVbIMhOGBLXy8BZbRw7MbxVCf8dCDtEpYT86rGxRYj57YUN2Ropp-ALA1UNkN3rnz9-3zhmYie6cK2skodRmy72Vwr1epHvbflg7ss9WWAPuVEBhTn4rN63GPWCA4X_N9u7MQNhK1kZP_mcrUsIToyF06fZdZoFDLnCLpxT9ikhiOpdxbKQ7VzAxYoxRR7yJ5bdD4_i6TOjPPpTdXQjewqirsJZDc-Jf4OIgTjAp1ktDbnH5aI2vw_o31Bzc04vaMVO2HYMFe4kq6RboIv7Jc3aNsR8QkPs7pUD-jWO69aaWhgmLbByIjtKhXmPLectdb4_TFrE11NiQ_aaaVMXl0VUCUKMQPI_U3QqC2VzrYJBiMlqj7udxD54SvW3wfwmi_9cZEmzVc8sVn5pCXtRct7BMVovApOAhbSxWdq4DpqyQPDACK8QuiWs5pcdEtAOmo_yoh-34mvDyYoVKRBuUGpo_hqZOghIntPfIWiJSvHAMyY2vsWV_fbAcd9EioQcSuOtPXKeX7Q5LH3Fl1HqnmrHx_2lpAkGnJRF0zQP_OhHYLlgzdGdV9rJoVJhsyS1jv7zSXmJf30S4jujGNQ8Gwb7EZ_Tc9wWe9Cpev0OuCA_pE__cJTF1pURPJVqlcPMSzv0-_y2qR2I7RORbI9t317bQEBqOpRfaGBOB7tqTRm-eKP5SMwVWB4u4s5OPt0OnhCMrZF-7PsplrI9AofXTX7VEYDuRvk3sgxcaXIpJNmXDj-36eFuzkIMz5CXXokXLVQZvJCj9S4EWi_2MqJr2LWfF_k8yJ_DKobLsBMz3G0eOoU9pAVQqpilxBJYHYKZvBTaXjbjZNUA5K0gQwH0z8YKMhHaHU-7rJYhlQi-qM7jCAswVzS3DECkzrrYyiHQK7TJNIqPz_cVDPrXPMZt4KnBcH7aNaNWlR-UMHTGkkVgd0Wx6LMwkOAY3-I4N2SHoSJceDfhRWUIQ1K6K8mEStC6axv5697gU6WFhbxtZ0eRbZw_sHwQPIwGhoqzbhjwue-35tkjKtzxPIg-8bYPKkJyiRXdJDLOwkhTyg0ondAAY_JNMciSRvHGiqZexv9jT0eWStS_x9adn_xtMfmw-Da-qqLl_6xflSzqq-I4bLx6R_94u7MKILVdomrte-WjVtpE4h__3qbcXPn8urT1nzD0mrcwqaD-OEYFgtBKUMsWjnJZfHBX27fJQRWw9ZhBcI0FeCjjklNyg-dM6HP40lKTvOZpibl20OkwJ3Ck9TvFn_gqD7I_9-r9X2mQ8LwjnYuEfLB8Ex4BxKDQNzdpU2YRvLzBti7I6b1hOwYtDeLQ_Jcjs_K1EzQhhxLR8gBKKVGCiLnC3EhoLepTHLQIEF_38C3IntkD0BnMjoxjR95s5a0raZmJ46Dq5rdddVs7D3ItbK3u8I6ptYjWfUQyNg1REGhneEur6YlijB4e5g-T4-Ytioz9Nz1-hDnxH1j04d_1b5v3KOVMFVBhkJ891LH4pEnZ23yH2tugQb5Fsk9YFVkErhdXx6ujS-4uLDY_OxQCrwvicfd_7CW9AfdFiu42KCALOhhkUG_Q8IufIM7fRU7V0N5UxAiE-GymhnpcqYxAbrkz-pVPWXnThAawfKi7x_1guoM_UHvGlyNusrD51V0DXTUl3ZzCKCJY7LZDs2Smbs5KfkDttIYsdGUQy5StO4bwb0WQkGgvaXQb9Q1CkWjILgi_31AxRQOWcfry1kTqM4ivAVh0Du9dW7QHsFa7N11tioCFDoP-zhr0w_Bu9wm0fKZtJqs1ch4_QrXuFvTXqvNYG2pz6TF9rxZ1BdczISbQIc18uudtwkNGG1PYvSLR6VLaekuFPL9reM_OIOmwTA0Xdbm47e0qFMZkzAUfs-C9xfsFIjZZFV6khxwNwDp_16MLr2Mn4AYXWzVABOaI_doxVK05pB-AcfcduzPprbgWO6GEyuc_waNW5SNB5RWUEUvCg_ibTcNAx-nT6vqynTM5tV8l9vwpMQGfHFjvd7DEnrkzOpOMXtp-e2uXP_D8XNk7KHHvqc-twEydh1Ln3SM9jHrHucEm4cZwOqA-xYPUJygVgR_NNNj_8j81TXRQCnLTMaIbhcCJTVCjU46aPiHBsRX-LYDg3v9G_g5I25bdK-tAC7LxClQWAYKLthhc9alkM0P5r4dNWny8lCnmiATOAgIp8VSPnXC_DPS315_DEfCQ9g9igRLqotkC5pVjtYiVzIA1TTeUTopT_ZGzuYIG8Cyw65JaXeC340zjPasdtE9hDoQoFBnJC1BVg79EQ_uIg6VBKefeBr_EjITGKfSs4D5WD81I5VNIxO8BcpFGvvfA5ZMwxTOQ40r2iqBnq-UBamueZEo413YzG0vi5_olagjT9_RMNedkuNRKaNwK3rU-0r9X4j9-KAvbIv9wfFkLCKOEqkIabPq5zYaam9K_rpURuM6y_HumV9AwBpj4rGPQK-im0UrPWj4JRIrJtzH9HBs_DTI4F6Jao-vtVDcPEqrG1flUcSoo_eQyqvZ5WXniIEWhQks0ss3DPo6QVWhrgnnD1O5W_cNP6Gbqz6ivvt36-urlq4eszWXKXZ44BWDAfoHuR4k-hONoC6DkzT6W9Ny3Jk8DF0e8iZ5ul25_uxcf5qLUZDoURPZ8H6QDQFjAsdGo9Hfl-H-5OjVfxA3v6CP5HKW5rblMY_IeUCYpqw0JOuxfzCUx2uOYhxUFAO-XmBvgNq77y-xOwgYJsFTgpl1cJwxVS1Ki0-sl2ipjeB32nHTslx0sJbHoJev_MShNPmkDWZFgfewpXlFPo_xMFz05jfBepzTwEthox9bWiAnWgck4Aa6iCt6isJDdqVTWkC4APsa2lUbRRpurLOV4iWCIwR2C6FsmwOYnsvwpnD1ltdRWsPzL350MlQV0aT3DCm8eJ5f3tOQf9LmZnNmV3kiD0pBNYbF4J0d2usHO3keWs5Tv8rpi9WmjAFTCbv61OUnHOf7nWqGjCkCAr94TjlbFYMlQFn7qBBio91TilyQdd9UuVs7Agj8Ya-jsCmm7SOLBtQWvHNCHIl_RwRMRZbZuFPDgXUwKyKm6MNCpQlQcsbrSZ-sSxzH7yodljHxTgNONyMdYHLGetQPd5V8_ATJwZW7969--NTuuFsY3UjHmQOthDsvbo00WzWS1tl3lajLV7G-SzW4uKlRnSBvAVynmoZQhZW22jl23vGIbT4UnNYVaME72vU1p0IZyjF1CLVcAiJaa4cw_W9J3H2RHXuzt9ZBvolAlADgq4jeKiyfyWG7S7dYZlrubV8bQ7Z-rMiyI8gfLdr9_gMhs-2eAYDpCIl-oXCl_HMXP4Gq4_lNVqRzM5k1VSF0x_pklsKwsIMUuovBzmLfhI5-E2W4bSEysReH1EmytAg7xKtyO3l-rRWk0Qov8ML52BYM7PbgOOR_L12kCike2-bu9rJoHYfn3lre1wCY4phhU_hElskS98vr4mSO0jmwGIx6wbTY4m2SOIrKQBbMiRN9tQv8E8BUIjU=",
  "id": "rs_0101047fa121a2c8016ab41c39317c87d089b2ced7cc753071",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxCiwFpGxJkmFE5f5ki4D0JNhLB48Dc57L_dI7PdUGhstVM9Qq2YppDZBlQ0VMftmzH6qbSCnjhOq4tVwaPqbk2jpRpzeMGfU0SGg1I_0UoqC-Dh853ad-YjXJDnxNSPkh9y9hSWwgUBeORnbwaAidVFFXjSPpcyeE_6N5TFjrfU_mG7uWJYdVcsYmOnsr90aLv2Iu5qZwtv_Qfs_q4CXxrLJwkbLn5yOOoqQtKkiiJhS3izvRmgyOhx_z0986JOlKemNzjhSLoaW_tGMuu6ue9kwlFr-5eMQrO-ec_jb2K_hVe3DpSvJK0N68rw1m1NaGI_ZG1KM17Wyti0nqSRLFg9gdFXnML01illKnt4V22ZiDCzEbjv-if_KP_wVnGvdQ2AZrgmLh3inHycoZcrIskQXzBrLV1G3W4jcwMYkzoWXZE40zzCj1O-aFvzxG9tucLaaleCMMw0av34n2y_uKOU0AISZKXxDfKqsZrHAgYSPiz-m_NhqzUDm4S79EJ0XmrGXGhjwZ_0_b7-1u_dAbctUixeC8zk-w1T1HgN1fgeH--M8dS4k9fpbx5sHuQYAR6tRLGJPy6RPHII9BwdQVs7foePOwgUV0_Ik4YpmHp7r8Q8-UQxx9tk9hgD3Bg38TkyroOGtNvwKLwhh3c6JFcb9oiutLrU2DTkO3RQ7Uzw0vUZBQWlCxv8os62wO1fA12pUEobRlmOBoelesY-mz4Y0twNI9gymC055MqPrtIzHIQvP9GrDwif-vzwAYCZbiITwRg7CpXsxl1VYCt-id8mIz_BqfQOP_JD0y_n40zuLP6Wn3C6mYz5HBrmjnRSUHB6iG16sMKYHng_PvGP0KTzsM04lNM1-D6TRhCtsuJlC0wuoZionwZJomIT2IPqRWd9XkeJcCxBHTTmZ9uZCPY47yL1NVtC4oiKbdEGqqHiyh2DcZJyYfQL2m55HPG6dqMYVsUpVme6UZPKlxDA8aPZkVPnVY-JMjNUJkQHQGIWPUy4OrHdInhgD1UaTp5_2L_-XIR7_AY9KigAyQBm6Icjvb1px2wLnrFQT3c7Sxuc7KzsX_NKVkJtk853ShG2laGDetJMi0h4e53LYR19LenmbW-DLHu0-e79gE9JELi_Q2MC9DuI7FTIwZnttdtbPZGzU7AFhTeo4JMQQ5KbrePNAEMyC-z36Lyjxe4Qn_feGchuHUxtlAHS8NEMJWJLAekTOtDgzu6Swq_4JQ8hUoLc7fRNt2GAcloQaYUz9oVsgq4ofcqYBwRNwopYHRe6CF0KMnJlLOtSv_qoFI4dk6P_mTXorw-fFGC2t3VcVHMbthbZhAenh0eLf4cUGncr5d5E8c-ItesTcGudT78B5caSCblIXQlpsech0msJJuon07WmKuP4SR76ISahgLPJIXsTs1GMgQNbmoCd3xlIsJoCx2EsbKMkOiw8SSlcBTf4L3AHPQwnClQc_vbLFULWURN4oF120zpw903CbrnO1xFHkPy_s7W0o5u6ao9JuS1fI49-KIfFH6YK-Gs_JLnDi1ZMw5i00ghBeaHxSqtEQzVCALWkVJ7J83mYLGY5nq7ac4CMZ1mUwKK62DgujnfLeCGiikM8dMsiPqct5wqYHufB5RZv9lCEgP5u0A-1OAzWhJViYY_Vu562xjMXPeQ-17jNU1syGmpdzEXl58bRUMVFD7gBI3MwzU3kb3b5RvXfv8EI-NwlUaZx3CfE1yUjv2TCCDdNAdIoa5BFjAsHeCjFeFqdCk4IWlycLLGBAC9zuGkAqHNvx44ONNtC8LgrWmo-gs03jt-z_9bg4FS11eQfaANpJWj3DKIx0N1rNtS30dpWqcp_8uci5ExKLOaZgVE8U-Od-xwHwrHa_-giun3zVxsSQCP3-tPLkD8QnPx5mHW05yJ4ieweeBx481nIdC3X-iqcH4ekNysCuK1S8Ry5ShPT6u4CPQ9p1WP-Inj4_QhMYDgA2XupAjYsJnowUWuIh9dHPI-sWUPQg9175xXueuodnBH68roAlrOt-avqOPjwnbal_c96N5loPhvbgl1GcFmyF5wLOKnru_aCN25z-D2KCyssGyR4ZXKIVlTLLhV13WiSmXM2pGHvz1MkG1WjuxJ9y8ulXqTUGXXieq48lCwbRal15b836qWwGnatHwV0PPS96wXyorqPkVhS7zvk_9zKUpUaIexzrqQ56IrEintdA2jHnuWW-zemdzKQYFj3E5W1T6t_yHR_4PcjQJNZAz0wj7B7jKyD0_PUy0lfVmskd0obrMHCfTcLzXlgQD6-MKnpUsiFDFH0Wnx3O_KsKgm44U_KOTBBdSOQS7ZzBPqbZX2Llrmf-zyD8oqTlmLnLIyUXxFp2ED2zVnHw9b9I0PtxOB-2M-bQ1M6uVmE_eKaiyMEXl2TJKFN4jW_3uEhse165Ct2qVz0iwS71ig4MHuKNNEfK-A7TQfgZcok9EqxYsec6sR9_eVD9abdKVxchzN2oLKNd8AKpaOxYN_IwfSgo6Mfh1Xv2tS1QSQ-XA4uRoZ2ZT-FJBNqARVWGe03o-oAxUxvus5sQUdvYPgYYrl987YbcFf64L6Zbkn4Yn8EXtrn_4DtvqtuHSYBWnjbXI1zs2OSvGnh-KYu1C00cVtBmPrPTUhqLYYu5K64fu5BciM4ilbQp68Fje8_Cvp3XG1q5zOcFZCsuGF7GaNx3y1EuQ5ogVVCnsDyaszvVAtuyDVY2sc3kqp63Qg5IbPkKZQFInA2VQp2ps1sMVYGeAZ2YKMG1T_SKRNec-JX5e1RM6bBQTzK-naz2DsMsKHmk75AdjuveI7i69k1w9jVGIHIgm9YxLf78nhNm4Uob4AwuJh3EY0EN6mXvsjAnyMQzike2FoUJAlEMbfYjmP_IShScgJsrUn9OW1hhsxqf8dZ3JpENM8UrcGugAPjQJ1Q3ZL5gzs_Kbgmvegeir5aJNWG07kDT4LxzfzDVWSkukw89hQAYTH-a027R2VXDCd-ohMVH-5S-2P31G0NxM2zou6AZW2lohzKsw7vHswtIBSJ_dIfPvo2ZgASHJNz8Np9iV6U-I7LamkA0IwMBP6cOQXg8ZCgurR39TjOapMGQIP7Fnay8N4MwGA4M2xgv-EYe9Lnz-Ag_yeaB3rluFTlZRhOr6P8W2JjFDXuDqJVAFspxs3MHRWH8PpcaFB9T7MnebsnTps-dqNbhwpwTLoK0YB8NvvSgf-ETsDXCs2JgyiD3YYiSlojDvdhC0Zfl13gJPEfvaXQLIAZ7nyhSky2rm0PT_lvf-Sv502xJTvPAQwMxG03YvlZpjDvjh9YRiKNeshPIVbgSjA7zt1ZE2XbgmhINMfNYV5t2CxqGY_JGRgn2jrdBv18TshlIF7NY2HwxOHTNsKPFrcs3xsflbUIWUljzprAw1c3vfwqV-SlVxtiBNMZpGPLY4CQFdLmNgo-SJ4kDUYZvG8kAj9aOR2d765nHiY6OpEd1TMpiC9h3hJNvRhNA5q2rMU4xWan0FwETmZEyntg72cSRWtSAMejyzsTGzvOvlSm8JBVQ4KYk896EqzDSAsqXCw85dE1iM=",
  "id": "rs_0101047fa121a2c8016ab41c3d73a087d0852f57a32c743c2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.379,\"left_y\":-0.204,\"left_z\":0.052},\"note\":\"The right jaws again closed empty, so I’m abandoning that approach and moving the right arm clear. The left arm previously secured a white bowl by its rim; I’ll bring it to the outside edge of the white bowl for another attempt.\"}",
  "call_id": "call_nkXgp0Mt4zDC3DRbYsniDmtV",
  "id": "fc_0101047fa121a2c8016ab41c41318487d08f9aab1ecbbda238",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nkXgp0Mt4zDC3DRbYsniDmtV",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6411, 1.943, 1.367, -0.7635, -0.3462, -0.654, 0.9928, -0.0071, 1.2999, 1.1671, -1.0542, 0.0135, -0.2237, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.1932 left_z=0.045 left_yaw=0.1375 left_pitch=-0.6033 left_roll=0.1573 left_gripper=0.9928 right_x=0.2925 right_y=-0.0009 right_z=0.1648 right_yaw=0.1109 right_pitch=-0.6234 right_roll=-0.1071 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -9.8393, 8.0752, 0.8034, -0.4078, -0.0122, -0.0122, -0.2803, -5.5179, 9.3607, 0.8962, -0.1441, 0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fa978c74dca724b1c5207a5df0f3d8c48c86fc60f117980f004807f576b9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155415aeb1ab2849cae1d980d430f641d51fa14540633bf1a54fbd6d3b7e6fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709357b7b14be0b219b795d4d282ad6ec518214fc7bc9d9abaa805da3d6e7cff",
      "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 148 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1413, 1.2839, 1.2751, -1.1412, -0.1871, -0.173, 0.9928, 0.0959, 1.6901, 1.211, -0.701, 0.0433, -0.1158, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0048 left_z=0.2008 left_yaw=0.1288 left_pitch=-0.5523 left_roll=0.1235 left_gripper=0.9928 right_x=0.3889 right_y=0.0334 right_z=0.0866 right_yaw=0.1116 right_pitch=-0.6126 right_roll=-0.0917 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -4.3419, 6.2017, 1.0281, -0.0855, -0.0513, -0.0122, -0.3761, -8.9368, 9.8803, 1.3309, -0.1001, 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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.173, 0.9928, 0.0914, 1.7767, 1.1645, -0.5941, 0.0429, -0.1326, 0.0078]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1286 left_pitch=-0.5532 left_roll=0.1233 left_gripper=0.9928 right_x=0.3955 right_y=0.0322 right_z=0.0485 right_yaw=0.119 right_pitch=-0.6398 right_roll=-0.0982 right_gripper=0.0078\nstate[joint_eff]: [-0.0342, -4.3145, 6.3795, 1.0232, -0.149, -0.0562, -0.0122, 0.0889, -10.5094, 5.9009, 1.1062, -0.0171, 0.0122, 0.5739]",
      "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]: [-0.6411, 1.943, 1.367, -0.7635, -0.3462, -0.654, 0.9928, -0.0071, 1.2999, 1.1671, -1.0542, 0.0135, -0.2237, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.1932 left_z=0.045 left_yaw=0.1375 left_pitch=-0.6033 left_roll=0.1573 left_gripper=0.9928 right_x=0.2925 right_y=-0.0009 right_z=0.1648 right_yaw=0.1109 right_pitch=-0.6234 right_roll=-0.1071 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -9.8393, 8.0752, 0.8034, -0.4078, -0.0122, -0.0122, -0.2803, -5.5179, 9.3607, 0.8962, -0.1441, 0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fa978c74dca724b1c5207a5df0f3d8c48c86fc60f117980f004807f576b9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155415aeb1ab2849cae1d980d430f641d51fa14540633bf1a54fbd6d3b7e6fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709357b7b14be0b219b795d4d282ad6ec518214fc7bc9d9abaa805da3d6e7cff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxImxp3k3rY5NXsW8zjk0Y3ll9Uk_Q5OB5jC2GJA2yTKACS2KS8GjNZUZStaAc6kEElQP4O2SJFFGqtqdJdBnnpejVEQdMZ8xmPkRuJbagQUd-QMgDX3JZ_ZmRN_1QnFsx4fdFPmx6tDeiclkyrvf0SK1IxZX6KjeLNBXBtBL_9LVb1jUTrzVY5a4CLvm-60KQPBSHsZmgNjcsmPNb55KtxMTI2TkSsxyqJkcLbXbdOM4ni2_Elq77-pUXewgl9_ZUqLvrIj_EQrt2cJPkMQJZnGDs2CmEkfYdausTc0HYYnIdXmolezdzpxoLLZHXasvU5pEk3kHbpnkbhk9pCInurXB6WXH6k7Qg4I6CKLf7mtsMz-L19wgS7d4LxtlMg2QwqIJdFNfyefvb08Gz0N1r749agP6DbzDA7NcznN_SqfkzyvLmyEMF5p5U3fDWP_XINOGduHJfFjI-PSFH2ts6uhUMo8ET2RJ-QR4MZxiP13jDNQ5nytHxLHeutEX8gCAe2EZRbKVa_mBukTNAw5kAyZd0AXyQ-7qLEOH2iIj_RAHYANp90A8_rMsHG8rPHM_nmwr7voM8wOsZCA4MZJIQyJgmmxbFxnFURLdgJFXMbwpP_-DRCjUFzLHWoV3shwqd_gJ_liBMk1YzDYKN1EM8hS_uh5OuM28lBOqWdLEXs8WOjj--MllTwrSjbqrCbEPiavSI6OJe0Y3wAL0mH9vZaeOsOzGdzCzb_j3RmjTdC000LPuKS1uc8Ya1T-Y7yJgbOggrPJs0v21Uo4uvUWeynKz09oiSm5Hl6bhL9Qogts0Ro6tNdj_BzkcBinxgygMNRfBBJJ_9qzynBFj-_biPGRxvLDEl-DMIjZ-O-vV_soSh-NXTq4kmGliiGtX8CbKSWB_bpnXl0WnAxu6boAJxMILBiHTlsk_d1XpyaA_cXqDJVnC97apqyZ9cP0oOfwElgTL9cR1UdhO60vEbyrQVTKapAS7wIiCE4gw1A9G1eeJoKCJqzjMp7-qKQ8AoeeY2pFnUDmtmPTm-ISiTQRTy1hAY9SFdrDT4Go97l2d_O7vLmMaEky-MzapjdT4Tbnfu8Hsv08QWy-nEhASz9JTC49v2iaKMk0ZxJgZLoJ8DYi1H4LS6vTmpHJjqeluK_iNkyoFJnVo5Eic9076wdYDZSr4fLysNmj33uvqffOvdyyDSkLDU4liAFqCVCmWPPTZHpuqmO75N7nAGUCjQb2v6awTk1FozN_NPCmZ_mXWGT-pSCTmvPClSHz_cFWvYuop6B86i7WrYctmdGXUPiEDIpmhNDtd8jRRFN9Wx7n9bC4kyf_2wSN0xQrBHWhOKwz4FN9Y-acCU9XLFmqB7NwnMLz-DsWBRVcNlqNrzBMM0GF1clqd-a-3h1Y4RTu8cC62t5fT_aTaXOh8maYhwnIxO39YXOcoyjDuIjFrFduz6mIeDM-yqTRjq-Edv1z_jasbsyE3hcmzEod3_oI5XrTq_zG-XAa4LISpML97ktSIodTXzBZMaLc74x9j6iVznYRdlBQhlofLfXz-VDDspb2J4QvQl8iTh1eLhZSAQg67eS_dzCg1FIlcLbMH97v2jDSa9XfHCfJo96cOYBs-PdcpjQ_stDUWzV37dlj_TG_J0-m7dH1bE4Ubz_Xb5xgzhNDzNZflPDGGn94BJseZ4FjD2wuzQuRRQ8i3vAnZsnzGbg6VqbfQtUZKGHFCtsizw7F2M7fHZaSC-xNPz_Q1bbp-KeUlGJLx3QTLT5p_pAB62lMQfFoFLPESJ0l7m_yfx9RaYai8Lp_JWkDiaIFx4ytWvMpmAN09effV39nHf6tWhDHFd8oV8iUKOTot-FgSYjIFvIETVZcrl1IKpfvvHyWaNEduQ7rkVVX-11KAZl9dM6VH2XuLDG9INIzhVaCO0gYOGBuPthl-PJOGsmL3Oqu_ipLjYHq--2gOA_DQqIvXEJkCBY5L0Y41F_X4b5npLybYxDo5gTi1UU9NoSUpW_y7Hukw48x9rU4xPrp0-Mjq2Oeccw-O-LN-wRyiCJ-B3SlUFbY-2NRcsGkRJ-fpK449xLNv5rlIH7-1YkuKrh1DuYhyVsVVzX5GgOdfP1n1glz3G_J381gaPxhO6YDZ2zrnvdpL7fdcWKVYg7QIw9vfhFQC9BcCkFC5XBIXGAKkSvgBFOlEeB34sf_y9ee8D99_sTm9cgf1LQ7zXd8ZR3zUCELOKCU9n16zRLsxaAblTGTN48MeFKBcpw4SB9gVh4AJBdDilPy-uFIt-10K1R6anwQph7MGEdJ87vuOKwdWMC2vC9tg9hhslOPU4_2gw0tiheRMEnwObVqz1s1QOZhQEM-CbSseE2pgewJn9vQCDhOM7EosHCGogu0DaolbZfXq6ZJAi98QjmZkOlZJvc_uCkA2vbyhv3pSLu4kpqx33Ty8M_IGXIICE1TnqTOfNxamiB_tcen6qgR5dCkVXeXZd_uCDnr2jjNYG5lVDsEZG1JSoIKgocYyE98m7vv5VwjQbKuon3_B-_2RZuMC7YJnHa8s-paXkzAvSaFH0UU2VJEsOiO5mTj7_wFt0TgLGJANitx7VMreg6NT2dTsbypdYnAwTSJmqX3n7MmY2MBxNdwtmAXHW7L8pD_5PoUsCWwCzgyHQ8FDn0tyy-bdBSX7eueZ7D4YG90S-zrcvbOoi-rRwEgB9zV5qPSXEy5tloVeLt7XMvhYT1qdfPM3voMUXffuuWDn-v1XxeV_2kjfiMNoEHlknGmgK-FtvygkN08VmRy7A9kQnz-l6q3yeNxR-Hxas=",
  "id": "rs_0101047fa121a2c8016ab41c45402c87d08ccb0fd257ef7772",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.255,\"left_z\":0.067},\"note\":\"The white bowl is only at the far right edge of the left wrist view, so the gripper is not yet straddling its rim. I’ll lift slightly and shift toward the bowl before trying to close.\"}",
  "call_id": "call_jWZ2j7rQLLmCcysfawShpOpH",
  "id": "fc_0101047fa121a2c8016ab41c47abec87d0a81d0e36f069933f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jWZ2j7rQLLmCcysfawShpOpH",
  "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]: [-0.7563, 2.0632, 1.6169, -0.9257, -0.355, -0.7666, 0.9928, -0.0086, 1.2865, 1.1416, -1.0496, 0.0139, -0.2291, 0.9969]\nstate[eef_state]: left_x=0.3633 left_y=-0.2534 left_z=0.0621 left_yaw=0.1176 left_pitch=-0.6094 left_roll=0.1402 left_gripper=0.9928 right_x=0.2876 right_y=-0.0013 right_z=0.1601 right_yaw=0.1131 right_pitch=-0.6313 right_roll=-0.1088 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -10.5231, 7.8701, 0.4078, -0.4615, 0.0952, -0.0122, -0.1573, -4.9846, 6.4615, 1.1893, -0.0171, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fe5a3aafec94482ce7a71b10f6a1f1f5c2553dcd84735f15637b31e747840f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03cb4d05aa42c961312afef769a0102a0800e026c6b5fa0881d63f0d0632003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76300a1e4c03fd2b1d7f8a29da5739706fcbee9a7a311f008dc55018fd4aabd",
      "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 144 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]: [-0.1413, 1.285, 1.2751, -1.1408, -0.1867, -0.1726, 0.9928, 0.094, 1.7718, 1.2007, -0.6258, 0.0433, -0.128, 0.9963]\nstate[eef_state]: left_x=0.2927 left_y=-0.0049 left_z=0.2005 left_yaw=0.1284 left_pitch=-0.5532 left_roll=0.1235 left_gripper=0.9928 right_x=0.3998 right_y=0.0336 right_z=0.0594 right_yaw=0.118 right_pitch=-0.63 right_roll=-0.0969 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -4.2188, 6.2838, 1.0183, -0.1001, -0.0366, -0.0122, -0.5949, -8.5402, 6.106, 1.1111, -0.0464, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6411, 1.943, 1.367, -0.7635, -0.3462, -0.654, 0.9928, -0.0071, 1.2999, 1.1671, -1.0542, 0.0135, -0.2237, 0.9965]\nstate[eef_state]: left_x=0.3651 left_y=-0.1932 left_z=0.045 left_yaw=0.1375 left_pitch=-0.6033 left_roll=0.1573 left_gripper=0.9928 right_x=0.2925 right_y=-0.0009 right_z=0.1648 right_yaw=0.1109 right_pitch=-0.6234 right_roll=-0.1071 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -9.8393, 8.0752, 0.8034, -0.4078, -0.0122, -0.0122, -0.2803, -5.5179, 9.3607, 0.8962, -0.1441, 0.0708, -0.1197]",
      "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]: [-0.7563, 2.0632, 1.6169, -0.9257, -0.355, -0.7666, 0.9928, -0.0086, 1.2865, 1.1416, -1.0496, 0.0139, -0.2291, 0.9969]\nstate[eef_state]: left_x=0.3633 left_y=-0.2534 left_z=0.0621 left_yaw=0.1176 left_pitch=-0.6094 left_roll=0.1402 left_gripper=0.9928 right_x=0.2876 right_y=-0.0013 right_z=0.1601 right_yaw=0.1131 right_pitch=-0.6313 right_roll=-0.1088 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -10.5231, 7.8701, 0.4078, -0.4615, 0.0952, -0.0122, -0.1573, -4.9846, 6.4615, 1.1893, -0.0171, -0.0269, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fe5a3aafec94482ce7a71b10f6a1f1f5c2553dcd84735f15637b31e747840f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03cb4d05aa42c961312afef769a0102a0800e026c6b5fa0881d63f0d0632003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76300a1e4c03fd2b1d7f8a29da5739706fcbee9a7a311f008dc55018fd4aabd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBxNBDrai5sXlwmyJQ04AA5zZx-Sz29_w6VjePVM3O7rHwjWwZEgVR6IMMQex6B5aH6-fE0q2RlNKd21VH-pPcZqLYlM6eoYGZZapUS9ZPHpHvhLrPm3UgRVMfgAT2I6KL_-8qRtkunDUU7-bQWtukT5Ti8UKGKrb4fRVtpjfY7HHE2v8I5xpTFSEVJWweFeL4kEl_Xvw1z2KXDxSR_CgwrpaSurT3cbx0gcJrH4Ff4vjdfX4GN0m2hQHABLKadoIa2XZpxIknvT6d81IKIN32SBwIDbojtRb9ykk_ZNN5RI8_MiwYXvhdIPDXzIoqz3Pof2MwIKbPuDvhIFFYTv2AC0fzoTRdOYqozqviWZkc9Jf5tQYg6eMfmNqQc54n6fNmi5-9fUodY6R8LRS9E2tpLkbVLmbNL0weSqrKiG6HFwNzOKnOTdFsLTHI9656mN_iaAIked9g5WbnI-Qh8NMkqVMvWIOJW4NAuPreYTzoeOO_8Cf-2KElFKyfaOBLnoCiiwR3jEBkRoN9yE3XTnbdHvDzI1yA0_P-sAC_9eQkNLUHcLFrC8ow-kBQM-25zGOLG6h3PYEoC5ay6LNhlR4s_3W_SradSBIS3VAfFJ63wJco7KoSxDiL86H49IARPa3AwzcKuGqqTHRL3hqbGAolmGdmSAmClnHwpmGXYZ5UciwGHbkB8ipBsFCy3EsugGu5gskQSUXiVQDUUcEVk1bZwwKW78S-2vBsXJsgr7u6lbnUqKqi323MH06AQd6-EL4eUyZ3EyGnE_ZzC2A_zatZF_5Sxy-lAbjQ67iv1XeSryEg_4jriUicD6TLHmtyEUymOeKyHVezlqMO_ikEvo4ZQ_PPD4Ys7s_ASABeOBdfKrUvLRuck6FTLuWpWhgOdSEILunImNnjZ2TLiduy4vcMt6q5kqWyDyhmRo_-hr0OhF0sJiQyZWlelUkxvqDlte2O4cezbb-JUo10-F9rFpgIJGzqoPzmXVONqs-r7FMVPB5ATwxpZLs9OfgiatQEUk0QNry-1i2bcd7OYEzjuIR1Wdz5-rO34KEj4Mte09fcEas6Tzyf_X6rbNYWxeC8UmUJqCsUbrZiOyPJwsQ-cIFVCyXEzA9O0mDKmXYJhr-4cdnv8sS7vYG-6e4lOAnRVScPAsyj9AalkWNvO6flGMN3NXDYitTBgTyEW9nKlmg29xvByrfp30MA6mEru1TVdCDE-Q1SkvRhI-VDOYfEkt3xtT46PQkEZiDejk1Jt9UQxtMw9XhICsPvXCDJ0i6hW4DeW5AmHMZb2xMU0Gi7-brEl2mneJ_cmbyEbD6RGVUm18EarvbeTA7vJdWkPF-1M31MzzycsV9Liyj0C4UcxSabW9MV6-7-iVEorP08z-49o2Uai7htjv9j2IB-eLML-r1va0QZHZsTOmiXUxcPSKoreGYadfWIVQdggTkI1iaEMmUFurixKlKGZpK0qkDG7hUKZBA8LivLfTeWie-Mb_bHKJ5Xe1w4XSntBFlVOG5I1AsXdDMdWQDcu64yO8HMYMP2Z41S3slcAV7JSGr-L_ESJ9P8HBM4a6DyW3IVAAFW5pGc8-3OuokorjrGN2bzgNXeYac5-HcTILFT20dxxMlVKgtpKfh9_hCD_9yyYxPafXehSz1e3w0wwYqscg7FoexpuqUaQtMgmCId2zrHBNdDBWGtyA6wqvRaUsk6XUF-fz0OIVsM2J4bqpywlafy_VSbUuptdC7Ljy-tlqSUG3uHWw21Wen9W24dIUubVUHrWymFZNPdh-zE2u3-Izq0Vh1wOm3TbuL2Iq41eqd36uhkGTnPxvIrWQRHGS9m2ovm0NqMo56-eD_LwIJ7loc5LJCec4QUwWRUmyEH9w3GXzvA0ajedHtYEcHx2BFHFIVQPMNP6Ei4AV3IVVu4LDa87GfcT1jN0Hs4QLHhWixlwqjjfp3r7gRKrPWEIFS7v7A2n1SiwK8tx6xAFb89ouqBm_9jRtU4emQ7Auxlu4v-RG7A8Vn_bMQqdny-YksB96nesAwd0peBoMwA7MC8mUZulLnmPlSxLItWecV-kaUzidyi132WndNPnRbh6UKxxzKJ2ihpLYmaf9Sw4NZ2yGxJvDWm69zMfTE33uKd2JWDAo6OrucUTpucwoGE1z3fBbUurxLnHT8rqlMqqnqv0q7FktlXpq",
  "id": "rs_0101047fa121a2c8016ab41c4a133487d0b42ab924b4fbe9c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.291,\"left_x\":0.38,\"left_z\":0.055},\"note\":\"The white rim has moved into the wrist view but is still to the right of the closing line. I’ll make one last small alignment toward that wall, at rim height.\"}",
  "call_id": "call_jcj8wgapkYXbwHZlLqhoDyiE",
  "id": "fc_0101047fa121a2c8016ab41c4bcd4487d0a59fa5aa839fe4f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jcj8wgapkYXbwHZlLqhoDyiE",
  "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]: [-0.7872, 2.2032, 1.7882, -0.9874, -0.3599, -0.804, 0.9928, -0.0086, 1.2736, 1.1141, -1.0389, 0.0135, -0.2295, 0.9969]\nstate[eef_state]: left_x=0.3739 left_y=-0.282 left_z=0.0491 left_yaw=0.131 left_pitch=-0.6214 left_roll=0.1557 left_gripper=0.9928 right_x=0.2838 right_y=-0.0012 right_z=0.1551 right_yaw=0.1141 right_pitch=-0.6351 right_roll=-0.108 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -12.0137, 7.9795, 0.525, -0.3053, -0.0122, -0.0122, -0.2667, -5.4359, 5.9556, 1.1551, -0.105, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235343d790d837a25e8207cc593b9d02084b8f2586a03ec4b2feee52cef9d655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd710f09bcbc748db147a8e096d285a6f270d26580fd705d55bd18d0fdc8f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152d23d643b610d6ce1fe3dd3e955a32c9afaaa36dd353b240d7acbb2429c41d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}