adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.382, -0.0223, -0.041, 0.9995, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 10.0718, 1.8046, 0.0024, 0.2711, -0.0611, -0.8137, -1.3333, 10.2222, 1.9267, -0.1294, 0.188, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ccbf4bb3818ad54043d7b7b992198219c158597433fbe8d9e05c67ae43d971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d950315d4e66cec57be4ae3b9f2274ccf2ebf6ed5ef79764ec4634ed71a551",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4a0afeaaf312bac9218b82c3f1704f715e11065d53945e7957fe4925321a23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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}

{
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  "id": "rs_0928aa613a79b614016ab433d660ec87d0b6b41e1de643e61c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPcCe1DMQZ2lJZyLs3mzxH5K_xOwjkBDiGdpdSm0M1pcZpXublkWVjSgSo_HHP72bpLFqArdVta9E2aMInSHWvkskk_F_qxnLrVhMEWpJvTHeDrfrfHhciCX5e-O7L5767PVl43b22kwaMKJH0BrZnMLqQvLKFWuwx-aXLnJ1mnK99DMjI2sOCmHSQPTTp4zupd1l5vtKB6UEh8zPEB8U7HgTx7-2jh4vN3oi0nh2dxLexDYhGuarbnF8-ZW-qGQRP-gOKb4cKdP351dPZ7Kk2cpWTl7KibkyZfilLkzV0RBu-5uCPpq-evnNnEQSa6l72u8rUPqJIATEmHUIb1usuS3dIGH_DZGXd1-uIZ18zeBbsaXxunK3MpawLXXICrMPwnW8FlvsRL4lP76fDxQvI1bhPCcqldstoLkQMEyF9gcFgmThSX_cOWqNNuf3R-hyTWNIkRbe8u4Xo40-eRQjT3YaH0Sf3_988ooxMybxHVdRu1xNqTbaznVLOvjm41EQZg-dxa9JO4E2zOgAZb2hl09rHwDrbzX_bNxKxomaYHcnhi256aYq-uvFbPhZGbUpxF2zuyU_mZbJJ69VpPaIxt-ngrqjhabhU0v69bD1-9AXamwqUo9xf-aX2o33GtNd0bOUzqbh_fiFEt02bU_CnYIBTZP_N8mH6SHLY6nVMwPnFe78zm4d0RSTFt6yBocXF5wO2i3VoGvN3_GPg6xT4fxkVOBS1SS4wdbsRaH_lL6UVn3vcynBmFdxzWe0oL4mi-d9vQ9etSgJKD_sU8bsLIrdE1av5F9GjLZWLpiyjAbuUt5Lgmb9FCY3apn7Q_uBqa-BsTi-6-7VPaD-YY3xZbV-cV_HklSENJd4jQdYO0RKIByz8cn63aHoFpJ0HpTjZtInqqgg12oE79LlyRtzyBgP2zriHqPJ1b57XHsQUqy7WQLgda1PsdbKiI3LYzt7_6bDvAzyCBJqc0QvVOqbbXKOWsOhmksUSnDm_zfgS6aJW91Ih44F90eFmk4RER4enYgILIvNPiDo14wCZdtHwxkngE3sy7aihjjUeVVjsx87oC3iKtcVWh5ZCVtl4Eyt4r6Q-UG80LTs6RGrqlLFbopkZw1kjJ0b_MrgdHO0tBQumyLG8zOubHNAKzNF2B5v_VoTjUlEoY7wagKyEEz3niGrA_c2jYNmxZLn4t8SG9mFF7Bzr5ciTXaicUbXiUzBuobecPZEVX30ZJHvZ5v-afHm9EH6MmBEzd1e6DtA8XlOiyftTyj0Xx8ld9fhtxtrPFEr8rTE4Zy54R2zfpCBTcnlc0fl1gMLVjt5xYDWwt7eyHz1bAmTCPVkvDF6jyYWP7Pa9InMeu055zFEA0RwdoQRJsKZ8uMAjVRJAZVIUueaAHTY1v9XQ2smd-iqetmZ82BIO8K3A_j8JugKDA4qfaE23yVKsnRPnTZNqgSfow3_uPOx58tUwNipszB2Tg34l4Ij2OKIk_830WSJ7vdLC0DnyAl0VYNiKLOLp5icV_HffEucx1cwJqRS3_zwN0ow3ikIU3yie9va7XIsHCfPGrh7v1dG-KsNJj0ScLFBcKobplqHmvvnKVXiCjVQqVAuJayh43IjCuNnBnoBkfMRNt97HmH23hfdttvGUw9BlLAVmjyCujbIM7qM7jJGp7b7eBXzZlavs6EJHDN_0WkLtLokS45XDcwroD7JrzRjicToRFTG66ml_nkBeNk21yOExClpHWpSIKaAvI7kPzyHtC5Vufa3cKjzWZpPqAbOcO7TMUur41sq3DFiMIySZPL5WUajQK9j1OtaC5yKqHL5uEdiDNtndV3Ywjaq4tEsEmpihiFMVngsW6eO-D0oFWHV-ddRtIdU10qkxGGmMCani3FkTKe0QmOYyJWkMXnAHTn58bTZ5Cu_LnUNyrOkoB6y0TndtigcAP9Xocld6xau7KRjZACFHsOk0UARsAVxeWJ5ONgfMtGUoT85L364P1FmFwLY4FxUY0qV2df5FqgcAhYgKNbZgU8LxBjngiAo4Ia4tlGf_fcqdohABRrd7Pf1cB",
  "id": "rs_0928aa613a79b614016ab433da890087d090259312246177a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.1,\"right_z\":0.16},\"note\":\"Three empty bowls sit across the table; the rightmost tan bowl is accessible to the right arm and the blue bowl is near the middle. I’m moving above the tan bowl to line up a rim grasp before bringing it toward the center.\"}",
  "call_id": "call_W1jguixQUv5Z8r5IDMvXFH3M",
  "id": "fc_0928aa613a79b614016ab433dbd2c887d0aca132cd0821a6ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W1jguixQUv5Z8r5IDMvXFH3M",
  "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]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.3599, 1.3781, 0.799, -0.1093, 0.2649, 0.1452, 0.9972]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3831 right_y=0.0986 right_z=0.1346 right_yaw=0.047 right_pitch=-0.0908 right_roll=-0.0334 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.5385, 6.7897, 1.7607, -0.0757, -0.0659, -0.0122, 0.1573, -6.5436, 9.2376, 1.8144, 0.2955, 0.1978, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0b1e4550a584611514160b75fa09d744a219af7dae9c6bb4e082d122541587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208c358e624be8c3ab022a41a15c0e4850a7b45f07aec979675532c496afe84a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7ec028f98bd6d10d6950f2ae73aac90f0bcfefe5722b042f24a5c1d64500e4",
      "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 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.382, -0.0223, -0.041, 0.9995, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 10.0718, 1.8046, 0.0024, 0.2711, -0.0611, -0.8137, -1.3333, 10.2222, 1.9267, -0.1294, 0.188, -0.2808]",
      "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]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.3599, 1.3781, 0.799, -0.1093, 0.2649, 0.1452, 0.9972]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3831 right_y=0.0986 right_z=0.1346 right_yaw=0.047 right_pitch=-0.0908 right_roll=-0.0334 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.5385, 6.7897, 1.7607, -0.0757, -0.0659, -0.0122, 0.1573, -6.5436, 9.2376, 1.8144, 0.2955, 0.1978, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0b1e4550a584611514160b75fa09d744a219af7dae9c6bb4e082d122541587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:208c358e624be8c3ab022a41a15c0e4850a7b45f07aec979675532c496afe84a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7ec028f98bd6d10d6950f2ae73aac90f0bcfefe5722b042f24a5c1d64500e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPjyP2Ltiv3qrxJaJuVjGS7Bl_K5wSJq9_2z9-vv05jTXBkuOnSeIxTEpzhwqYap4UUkI0PTD8Sar_I93BvknaUqFE-b2Nc5CzALWh78MniprYG0DUz0M_doccrD8OFnT9HUhDXGQUOvBJQRMrX3NzSRJMnr442_Z_xwrR3K-28wnm6JntY69XnB-mdwVokRxtmobTtR28qpv0iOywO0wt-TyttFODtkAbTLdTRFcT5o9YLHlsPDV5-SW_fs5QET35GUifNnjwHO7u6W-NWzGdgUSd6X8rihXwOnObmjFQdpr3Z7JztlgpGJLIwPQXlbAqCLsR6769gdycCvwmxxGDB3qrPfq99TggCYJRnc7xEUGpyS82XjDOG_wVHbfDPmKKmWcsCaPcnA-BfPA9iczT0JzSmZ1pLGphL6SQ0jk8QuDc_CwKigU7n6q7ouOfH1RbYDDU8aJxsMCYAbSvYNlDPkYRwgFvlC2tFqAnHe4V3NjGLZkpoLgBPknCNgLZeGaLVqpF_aNToSnxv_UWwL3gt5NoSizS3mOEtIyi0lDWdSAc0vE-eOUSzu2B5S1gMD3-sbcUrgXdSetySWeGyNMnnYTmq4RScygq86xR9RLHfCrjhY7hoUUb2GfVLiapTKKT1-OLkjxepzUIEghwH_y-K5Mu8zGtag2wQcNbwlR2TNG2Uj46DEKbxwyQhSPZLOTHI-traKOaSRJbwEv17NXSuYWMchOEzUTpm-K_4VLF-74z6NmJfFJ7B9dYewA4dD4AgEUesX0Xx_keEurCh6ywUqNhtpi6X9scsqzaw9d1d3rN7gfzbKVUIKCjEcriN3kDQsdJ85O63Zph955-w5CiFK4M6KRkQx9Lw8qBi0W2RiWPManqOiBDwTI3gnfUGyeJmGEkaEq_kE_ip25T8MLRZQ7PLqPTFxNzgqpxl0_l1FPYzMvdnstB7GbLRN7M9fguzh4PhX53y3j4KzcuRCPr-jt-Atncv96qSxRq3GykGxOd8Zv6By5VFFjW_NGzJEb0YFFIsxbXLkQ3IXM7ej451d59a5SNx-H1HAOsqazwmEGFlPnylk5okcDfmyb_XRsvmgdZaRi0nC1lgwTy5dyTiEmWyHnCdTvsa5ehHnEvoE4eEt2z023ncBiolxO1kNIalZZLCkzCL64XhLJDbjL1PczTagK2tjpwgf4eDId0LuBBFF7mVIShsoOAG1UyqOGJ6oZR3Wy2KGw0TvBHmgV3xH3Dh4j75wiSlMzFZdus21-S480kEl_yfq_ebgrdJYLXY0l1GDujno8mUD6_o9P16-FU9J5shaNAANbt98DyNNSHsRKPBqqtdIjziIyJc7YVik5hVYYz-OrQkcSAm3orAz4Sa5T-jSG-YtNGDjk7BQ49hREj0V1ASa-UWaakrx9cdXde_r5UAQyogCKKopSbzMR9idBU4qQiLX-iafwkqLi3x7as4qAX9XoI7jz-1duiyXKeVZHouiVjOF0QQWuQ3OB4JKqGycmOOvFCwlpYxpbOgMcHfVeFUgol6a_sLqywvEvx3pnwdrLz9pYWZPRuf48YI7yarP0W84BZaU92_Dk5--IqgbJvmxviMLd0uCHM6AaZ5wDxrJJgPa0VaSHTbUm8JUirADzqhgxejWWHBbgKZFnwyu_-oFFO1F5mWVPbUnt7Hi1jbC3ulQnqWTz9ABbtIjYx43dxWo6K-k8TmpGw6k9oN_YJa87-Yz2GXgp2W83HwYhdfIRAGKWhWBMeSMydksPfO8hPF4zIIwZRE_u7DDPvkP_aDUelyLWuxzqhUQTphsLFNqOXm-YpXJICzbnTTn7rt5v07YvmV2m7Jo0uSjNbpUruNtr-4m4smgac66l2R2hZ0YRvCQU83hm-elSV2YDOPXI5czaFvx4Rtw32tHkWtI44R1NaMJCQlw3YOvVgpFe2WWTjeHOY2iouIB4wEh0DiMccDde2QipojtdeoZVCw1Nzurt2_vhIlAgtHhFBiRQ5cHBPyTjon-zL5eSd9Z5qzBMk6ev6QjEeTch5IStCbeL-UTjn7ndoX5Qh3UBYhWy3QCi36aQMCQVSb3XtLhG-fTtwT0c9Btl0_9bGSOJ5I2QgUYj-d2XnOD_KcUpWYQy_ClwSwDhCMU-Z7XCzWGn2BJ6IM2vJ6THvEuPx--iOfcRSNDgvOCOkoMcUwrUEHojvD6Ukq002jmwkW_xw1JR-UKvGR6gfhOT9Ap6YMZuP_yyMnZoUp_IS-zsVK9p7vRQrn3Exo_GhpDwBAhTK4EimYp0EQl8zvywUZiszj1KB5MBMNW9x6SYR8YwmLMfGIOoTbwvJmz2af_MfwnFKoGrcBbuG36M3Q2h5gQMH-Xe3CTYHfBoQUdHrG7O3cPmUYTrRbNpz8CysYqGuX-v2X3aLk7BvU8t28QM7hsBHYie1h-JuBzk24l4zL0ws4JeViHn_Jt3MCKmPQgWj1tlIxbhSHwWQlerZehKDT9mOUIodoXdBJyQ7GwCm_uMX6W_nV0OuVdFMqsLPaay-zyq7qPuAKDbgjzgXjpPPTupY6QN7ap9c3D8uB9EvOWhmgKvjKv2ZEzCPFogjsr5LJQ_ue80cAho-vbpq2MFOiZtFGnOuHj7jQ43EKhRqbrSBvLIUqH4zV8d2cO-rYxTLTKSixVQZ0yJKY0pexZFkFFy20I07Ub8xBr1Y50t051bAafR4QB4e6xoLFbiS-FpLublew-NR-AI1oq010gwiq6ZzXmDcS1J3Vr1T-Js-2EkZiyPi7LxZ_l5ILghhpNZ8kOUOxrvccinMiZr4ugBxQjNhIzH0tEF_0ipGzvaEQADcN3NNFYGI6iXDBECBztY0cO1-n-H0iXokFqpAUWbME-3e_SEihHCt_EuV-FwtAKLBIhSSlujvMuWd0ct-beriOoGnsnIzXbmeZ31iOhzZ4mnTz7YIl8J2_HnBunnB-l_WzwjzXRrgiy-nwNOZtwy9q_thu8sf_CaOa-nYQDoG0lGa8Pvn7u7WQcmTnVGZIW-Jls6t3jNJ4jjDYB2-xGim7INuYtqiMrBeNFPuSYlc8akhvo00hXWcFLCXYO5pf0A7RIVCFdqx9QOfL2LqeTDLUtPFlK8iOg4shHCRaamIwjNl6oZdYx13xxZiqOjl8KgVRdkHaEl4gGYs_3G0ayOqK2EqpMnmO1EvglLSZZsm4iDwFRojwUTRO-shkGu4wF7jh1gzKJNgTRwcNuh1lrYZaU0wv8TQlnH2Psy0OV4Y7rGTWIachTgTWBdMp8CeXwxhxRqZ_ze5cpGgQHpkexsRT0FlS8Bz68DoyJ4xM-2oQBJ84mjcXMwqu4ot14F8q61Wp",
  "id": "rs_0928aa613a79b614016ab433de9a4487d0a8602ca1391a2720",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.16},\"note\":\"The tan bowl fills the lower-left of the right wrist camera while the fingertip opening is near its center-right. I’m shifting the right gripper a few centimeters toward the bowl to center it between the jaws.\"}",
  "call_id": "call_WdxVeX6vd4JAzMN6mD4kIGmB",
  "id": "fc_0928aa613a79b614016ab433e2a00c87d0a9eccada741cf977",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WdxVeX6vd4JAzMN6mD4kIGmB",
  "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.495, 1.4925, 0.9691, -0.2146, 0.334, 0.2058, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3927 right_y=0.1503 right_z=0.1454 right_yaw=0.0906 right_pitch=-0.1199 right_roll=-0.0458 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7607, -0.0464, -0.0513, -0.0122, 0.1573, -6.5162, 9.3744, 1.3895, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800e9462da15d2f9c50f643c2dee4d00d987e088e51c3634b1a51a16c1a1650c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087d3d76a1b40215f60aee8780b9e9438e109d2089543c5f3e6c611e7d8025fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ec8349c2bcf6a10edd801493b77c995dec2f202e148ee9cfb634a167a446db",
      "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 8 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.3599, 1.3781, 0.799, -0.1093, 0.2649, 0.1452, 0.9972]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3831 right_y=0.0986 right_z=0.1346 right_yaw=0.047 right_pitch=-0.0908 right_roll=-0.0334 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.5385, 6.7897, 1.7607, -0.0757, -0.0659, -0.0122, 0.1573, -6.5436, 9.2376, 1.8144, 0.2955, 0.1978, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.495, 1.4925, 0.9691, -0.2146, 0.334, 0.2058, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3927 right_y=0.1503 right_z=0.1454 right_yaw=0.0906 right_pitch=-0.1199 right_roll=-0.0458 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7607, -0.0464, -0.0513, -0.0122, 0.1573, -6.5162, 9.3744, 1.3895, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800e9462da15d2f9c50f643c2dee4d00d987e088e51c3634b1a51a16c1a1650c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087d3d76a1b40215f60aee8780b9e9438e109d2089543c5f3e6c611e7d8025fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7ec8349c2bcf6a10edd801493b77c995dec2f202e148ee9cfb634a167a446db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPmIxkadf6w_ZhnQwPtsuEdpuJhP6CDqqKtGw-YiyXOgfgw7-87kh42h0tDuTBZm0cSBZn8lre7Fp7893YviIntqxfNks-gmjv1t0tvQev_Wv2DgbcqBrwDOqzqjl1BLQzIUvXBWOiBtAb5ynPcYL_3nZC61zdu1N1BdTXxD6gGwHqZUAHLz7IFLkJEVt5bIh9Lot04zsLpSUDv-LnpTjTqA0BmjvQaDp9gNQotLu2k2Qf7T0xsKxd2B6kfnsEVnd1302lAsqqQokaFdJUl3zux-x4eE4XqKamUfR6sCtimx-6ALwep_OJgCGWgtk1uYozdIRm6sr_HFXMUaDoNDUWuUJZ4S76lt1Z7Kwjfqjx0Ef8BVz8yMU1MZ0iZi-rYwYKYf8dymazA04G9G2PlTceuPVTp3K33hLOT0GteQCVAmHEbwfsmjT2aBtRjIDquWtmBlhOOcK7m_TAlH84ldwHi9SnNuCCVkQPk4_91LZ5zYxNagDj4NmO6CK_lkxC99hmWhBA7wjpa_VkyAV86NQe-vhg7S86CJq_hVeW_tlwYUUs5tanaqqjxbHvrXZDSqho1SSyw0WPwGT4ZqKwGipfPB1k2Bb-N6t9wDvwM4aBV2aO_BHOQ4WqK9TKL6WOR3p5RZzxmZilnlpQgbaXY9Qtl9ZmYk8e7Nz6cBaWhziGMtnzN7CYYtf-bZsLFURTS4t70-piEogtDshW9rQhxcy1O9tsZYBIw2iuVVMUawUjRfew7a9QNVBZ_6w_S2qBxlVa1PtmH9CPjfMRqpCrEWtaTHUBW111PhZl51knT1Wxru9R4Tj8XwBkSpPJc7CNfkDHy2zToLN6xNIIB3jdRA0MCuY-sgSUhWnIsVPLPEatb_zsi1OrFlLx-p6Z5feaPHzlkzsxLipveP26MAgdA_GEARvVaPlpzKrMf08l9A3lntiBSxUs_6aLWrdCsx171GV2BTWvNMl8sUd_MtfQc8-1xINJA6hN3r8dKICHHGk5RK7CKLefZvnbn5bDsKL5j1T1e5XvXTyxJfUWdC8TU82ov50JRv-kByBchvgWySjQyq99eeyeRL42kBUtLPZ6ZIwiDYE0b0g909vFQ8C6cVuCeTJebXLqHeu7xgpRoMKCme714YldLVzesa2Es_S3dlIzawaH5TU8cZkyc0ib4rkp0c7-_lmT5WJ0OVKIN2TN7_bJBZpr3tT4x5_1LItzQpKh9u7AX9JSWTjJKvjdo6e7jwJlhW6b8c-LuiqU6e2f_KHPhX1paQolHPN4yYpnb4AMmxFnybofGZIMLGVaE94SrKPVSnMrUZNH7X3I2-ZSrpYe1tOkmySALEkRxa6mjJohJCWpsM2_0JvMqrUVh7Vanz4ZYwG1ArR22T58o6uAyBvEpjm5SN6HeFMha544maZiUkUx2flSwilAq8ICmL2ehHML1CPGGBpSSgz8KV-8rEtO6RNmaOaNvdsU7f_G-7qZ_xsPKB1iu6iJvTcMFv-2EYqbYu_6Qgpmgu39GXhvrIDmP0heU5yhvLMfs6Svk9QgslejT6A1srKNwjsk68N4TcQeLSAZhse44SC3J5XXtlGFzZ0AJZLqv_95ocTv9Sijb5_ce1Kzp0wtWHg3CXkORHJTcM4Ye_VgzIZhKyvgqEIZjLXKLaosxVNethkSl2wEu6DGaEccG3sLvr1vaTzEKVIzZZ6Cm0w1ZQFtSG4hkYnhHXo7bwOIUpRdy9fTk0ffZe_rsKeHKnk0DguDX1RgnoLHlpKlQ44TeIGQJ1dvdZKE=",
  "id": "rs_0928aa613a79b614016ab433e4d1ec87d08cafc5ce4e1fe30e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.055},\"note\":\"The tan bowl is now centered between the open jaws in the right wrist view. I’m descending to its rim height while keeping the lateral alignment fixed.\"}",
  "call_id": "call_HieZ9AuXdlIFogoFaNvrUEtf",
  "id": "fc_0928aa613a79b614016ab433e60e2c87d09a9dbdbd47c4e1eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HieZ9AuXdlIFogoFaNvrUEtf",
  "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0425, 0.9995, 0.5037, 1.5021, 0.9874, -0.2401, 0.3592, 0.2214, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3928 right_y=0.1497 right_z=0.1459 right_yaw=0.0696 right_pitch=-0.1279 right_roll=-0.0563 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9504, 7.0222, 1.7118, -0.0708, -0.0806, -0.0122, -0.2667, -6.8991, 8.9778, 1.5653, 0.2418, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f25eb73b29962527e21bf74eb552e243b0c7f2f83f4252de43f8b13021a065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ce46d733c3ea3d5a21b53e448ecd3ad44a491653150fcc540e54891fd74315",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082de791a81d9d95d6cf2ba053daa7c531ec47180e1ea306fea61d4cfb147242",
      "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 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.382, -0.0223, -0.041, 0.9995, -0.0181, 0.7929, 0.6022, -0.379, -0.0135, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 10.0718, 1.8046, 0.0024, 0.2711, -0.0611, -0.8137, -1.3333, 10.2222, 1.9267, -0.1294, 0.188, -0.2808]",
      "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.495, 1.4925, 0.9691, -0.2146, 0.334, 0.2058, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3927 right_y=0.1503 right_z=0.1454 right_yaw=0.0906 right_pitch=-0.1199 right_roll=-0.0458 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7607, -0.0464, -0.0513, -0.0122, 0.1573, -6.5162, 9.3744, 1.3895, 0.3443, 0.1245, -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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0425, 0.9995, 0.5037, 1.5021, 0.9874, -0.2401, 0.3592, 0.2214, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3928 right_y=0.1497 right_z=0.1459 right_yaw=0.0696 right_pitch=-0.1279 right_roll=-0.0563 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9504, 7.0222, 1.7118, -0.0708, -0.0806, -0.0122, -0.2667, -6.8991, 8.9778, 1.5653, 0.2418, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f25eb73b29962527e21bf74eb552e243b0c7f2f83f4252de43f8b13021a065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ce46d733c3ea3d5a21b53e448ecd3ad44a491653150fcc540e54891fd74315",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082de791a81d9d95d6cf2ba053daa7c531ec47180e1ea306fea61d4cfb147242",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPrZCp9H2ki3xqNr9lfRHRRAhmGOcFRe99lctA759kffRzoWeJIWtBX11j0gkpwMsReCZi8cEpzqerYqn4O_PPEmPgxKrp2vKNAl815tDrxdu9sNn16tR2h-5IeOFxLWX0dI1tES_q9IvROR5WA2mNCjK-1lAwQo-keDZNWeFj4Lhn-d0S7D0mBHaFxz-GfcGwJlLyHw47eoAa1sojiPulklmQ3mDqSLh8f5RGr2yXLmatbm4a9sNz_kienxxmseDCshNVbBmFdmgyFr1VG_vl0lQ_w74lpv_yBbezwUuViG5SA9u-YgA04Xx2VxmPlqfzk4ld-DXlsndIOWX_nTceXGLTZw5vmTsoEoPh8DKlREzHPYsfaiq0cN2bHMUGNVbfNUJQ4ygS7m0OlWtGDCw23Cu01ky2e_txkN8WfSAvA00AW4aEKYDQGet8JpBnJPdFVngm7RU2gGl6zwVyILSR775ccdLjLPfuZFS3xd84C4F5KlPV556mblOVzPuHAE0chc3M9plWgAFKOhB_Vc7VvtrseBBftFVXjrQ3V2FmmZkTLU5mYDVBroO67Ttkbk0IXJYSoS2eje6nAzRvRBRFxn9waF7wKWtl-aAz4VZF-lssOQltmT1zqotgvMlZpijIKdF5PKJ0tXdxtW6SrW1joUmLXEJwMAyJVcVkXAfgWzRCk7ClXDIdpLEvD7j7uiZhjtboGN_6M0uZbT8YOLmM17xBz1E5uloutXmquecKa9Hd1SNLC-FFjwh_jIs_1OfiIgVZLAxnuUqJBDq6CiKzaLP1xBpGuYvoQ5NNzCTKxYIANmBXRkI6tF7rKYDl2o0AiHDhH0nnyUy-m9zrKeOn5QvZ2VadM7Hf4T1H-F7_iN-KmdeY5mrm9gVqAnDk2q_pMZL60FluZeRnR4HvpENCXD-1ln9shuZMMox_pdyL3Bq86yPi5CYN6b93y1q3Zc_GjJOB_wq10r2Y9jS-JeOeo8i5TVaokaQnm-Y4-xC2CbTyL33TNfVvb2aer5xfSYTml-Y45Vh-mMJ8dHD0u8WOwRtj0wzyTFzwWiKfsK3h8DBDtaEabShH7fWYKo0aV6Jn2GM5857oaZhTVHOl_kYCFkpFscu_3j0i_G05iP9CrQjcPkl22eODp_vcBPCpHih-SAV-PmTkDmavcjIJjAaS7Ap5rhvzGzjMyJ5uHK-iczUMmyHslfGtqtgzX4ntfGNfKUkP7tAl3aBwRdno0SFpateNNSwbtX7UOgZ0CXwtNmc0mwxHmFw-Z-3S9pF1P-XuX5jAjjQm6f7ps2TWdkXOsW_YNXfDgHSW2OcTqA8Eii2jrvfylsac9_VGgpNLCDr_NqPXWfOqA9l0dL_7jb3KUJQ1kXIERyESgoZm8SEuTRQrw-MxmdT59DHUAwLxRFixI5fyLCUd4ZnJl7jGT8hAvhKs3xWSz7_kv47h1Nk8wDEv5TL2I-nSZHdQFg-OuHo-0FJVnCfURRXde8LhSMVumC0sIsmO_Nz8IlckaXVQU3M0Pg4AcCbM29R6Ei4e7_jQT9_UTEDXGUpI1bex6hycVyve0uGq5yfJpBQki6sl1m572bgN-pm58WhU6y6h1E2XzjFUtDHT9dVHj5AC0iuRiFged0FJriUHrHoS3KlRmGVACAqzcDDukzszfIOv_m8bX0Ge1EPDTV3DMpEPPNNHUyDTOZKu_o1OT6ciw7h3oT80TnbjFB0rwH16pW0oqYbrEEl1sFQ4zhuN1X9XaPRDnCRWf7pwY7HWnS_wbDI1dLRbU0t-RVl-cHhKoW3fv-efG2AmCDKNErUwr42fF4tZZMd_CZ8v9LYbEKdd4G-4jH-WyJnKBN826AN2NNGks_iYiChh5T9sT6si0Sm8Lpm_R8LzfGShL7qUV2N_dAvjREGNAYNmp-FSr9Xa0REowuRFd6FeYhrXj5Yegu7ZHutj6D1vhOJni9Wam5xWIB9e0vezWhC-fDRUu1wSydBNW9vxp70cWfofO5FK4nZ_nQWxWrf_KISUz7vUfR_UNmVIztog2vaYjsfmdYAGML1_AS_CakNV7hg28Gng0l_NQ6jkYxgQPU5D7ZZsnP6IxxgfiThRF8ewI2vpR959bGZerPGgzvHG-CS-f0wUHQaJzmsTAY7XutyIqbSXWTyVsPxmEQMGG3oN0a6WsLQlfDyXBnarqo8d_VZFtkRXepQh34HslK-YKiPcc3H59yW6qENNieGRtOnkJduq-FagzZ8w4DpVfY1S7BjPyMEUTOAqYetQWRs_LMwL0ec9P-VO_TLhnf1m4wWz565TIRvBQnY4Z6vdiXskGlvg3-u6NnlVOW17g3dkCwHtbVBdhQktFtA5iHP2VFhy_HhABj0f1CCj_jkAGiTBCe_bhSV4sxS3Kci5j9gtpgssANvy6D-gG5I2Dco0KOIBH4WwKx0nF3LKfgph_uztav7mkZcmCUpfD_V--JrdsNKUSPy8ABlUnAjilu4pHrwVQXnXFFRk4DcihfF4mUVpmqOO-FcXSGJc1N-wQ2ZBtq53sChj4Csk0i1T_t-gxNI3VYp9iSwctGlnkSEdpQWLXDTMxDqfq8Jd-hSit0VCrytRFLhaXNIH1PsqyfOx-veu2XKjsmMwl9xGYpAoASzA2a51YgppmX5XjIogB9W9Be0dOdrVcxy06jLEyTCGFyTNDj0S6OXLVqfBSswoCIfeQEKaKY8LebJlRxogqJHswAFGeIgYmTXed2KMFhEhlankiKGDhLaE1CzYEAE0ocv_BzLr4U8gCeOIksCE6mkQjs7T2SDVpr7QLX74G3HUf1aHLEyD4fd_5iFD7jI5R7gAfLA7CEsgkMiVmSSGqY32CZzyZ-OWQX-yK0WV8Ej-d31Ky074qsCsbA4zvHscQ9M15bQR19InTltUjOBpf7XolPwai0FDUuB4UWvTEelYjitqAEFAkXp-1kC7lq-eX2BVsyaZA6cNi_fAYIc6Fyw==",
  "id": "rs_0928aa613a79b614016ab433e881f087d0aa0f78f73588b18a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.105,\"right_pitch\":0.25},\"note\":\"The arm did not descend toward the rim despite the low target; its readback stayed around 14.6 cm, so I won’t repeat the same command. I’m trying a smaller descent with the tool pitched forward to get out of this awkward arm configuration.\"}",
  "call_id": "call_582nWZKqcZICzmnuJAbOyonc",
  "id": "fc_0928aa613a79b614016ab433eaf99887d0b7b34e5033c9fe67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_582nWZKqcZICzmnuJAbOyonc",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5564, 1.6108, 0.5343, 0.6033, 0.4706, 0.1104, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0137 left_roll=-0.0008 left_gripper=0.9995 right_x=0.382 right_y=0.1475 right_z=0.0851 right_yaw=0.0899 right_pitch=0.149 right_roll=-0.0862 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.7021, -0.0757, -0.0757, -0.0122, 0.5949, -6.0103, 6.0513, 2.1221, 0.2564, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053caf85b5fcc4324dd2090c1bc3b32e044e93a3f4814df8669f6e734d17dc5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224b5960569d9cf635d552af0e21613b488fc19da59b15830fe02edc9140dd6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8511f2ebd5b27445e6bffa8a7b0f7d7f38b6452df1460c54f2a07a071043a2ad",
      "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 8 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.3599, 1.3781, 0.799, -0.1093, 0.2649, 0.1452, 0.9972]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0072 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3831 right_y=0.0986 right_z=0.1346 right_yaw=0.047 right_pitch=-0.0908 right_roll=-0.0334 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.5385, 6.7897, 1.7607, -0.0757, -0.0659, -0.0122, 0.1573, -6.5436, 9.2376, 1.8144, 0.2955, 0.1978, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0425, 0.9995, 0.5037, 1.5021, 0.9874, -0.2401, 0.3592, 0.2214, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3928 right_y=0.1497 right_z=0.1459 right_yaw=0.0696 right_pitch=-0.1279 right_roll=-0.0563 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9504, 7.0222, 1.7118, -0.0708, -0.0806, -0.0122, -0.2667, -6.8991, 8.9778, 1.5653, 0.2418, 0.1734, -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]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5564, 1.6108, 0.5343, 0.6033, 0.4706, 0.1104, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0137 left_roll=-0.0008 left_gripper=0.9995 right_x=0.382 right_y=0.1475 right_z=0.0851 right_yaw=0.0899 right_pitch=0.149 right_roll=-0.0862 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.7021, -0.0757, -0.0757, -0.0122, 0.5949, -6.0103, 6.0513, 2.1221, 0.2564, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053caf85b5fcc4324dd2090c1bc3b32e044e93a3f4814df8669f6e734d17dc5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224b5960569d9cf635d552af0e21613b488fc19da59b15830fe02edc9140dd6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8511f2ebd5b27445e6bffa8a7b0f7d7f38b6452df1460c54f2a07a071043a2ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPvS2-n0eHMvtOcA3MwV34T3vNfSTjyM8rhl6DEldzvhKFYn5Wybyat3Y2J6xtCuJLCA22PcbiXtG8UXsgX9L2ZInJMPVkzNB7Kb9GKex46hT04NTCac63rPfeZcsb4zPr7_zdfJjpsylXrY5MmXYIJo2VSUqrYE7Nx0dm2wZzTZVlbDdrmTvGGLVzfSvkC3ySeIawU8vrzBNe009o7V11d6iD5CRZcvUvkGht1sU_qU0cJqsBzpO-pw-7kxqihEJZu2FMIP9TCkCLBigmlk5RyRmTa6rov3ZcAtU02uD2h_f3DsHbooSUPx97UBaWD74zIog3p8aIntuzyruwfKT2JKE3J9uHmc8TZRphOlvb2bA8xdZJ1xXCuryQjdAztKMOgAAoRv4qX1b7ZPAfn_5GDF-jX16YDdU8FdyK86SOG3g6VPuP8uqJR2ucRXOVYR2CItodTzy569T0eH7qqtuoYBPDpOTqU-B7Zl7agdwPbyfCdqZh6fiPLUuSZd6h1LCel2gePtMje9mM65CPISNkLOfl0qTQFa8Z06RtNzkJo8w8LgBUAaYTAoIRsbGlAwj7vsKzA6mu4r0K3FCk4yaVmACgwerbitJmBGX-m8XJcZWb2ABMxYd9BPbvb0ng17EgvPWRauJkAoOvMo7oA-O7dEUGCyWgEu99UcXgQTltEs8GWkHQePKlKGoimmFEBYNImJ__2EmKNBdHQ6vVLlkDcEzMSjMzrnFvp_y2Tv3IC_tZ2CbP23xhVFaxH-7qkUeoCI8JfHPkIIFlAk2tu3M1jtbV5zALIF4_1lJ6zodk7GscQ6fQN5RGE1UZlJWzpHjYUe1k96Wo59ucK-63NnvzKP3UowO7Eh32TDG4q-y22JJeS6Felw7necCnbOE6cax515YxewRg2Lh_5hRNhQEiImGuIZK9RFvWQYfe1Z65ext-4NVGCINdSPlDfvcjrvuOOksEANvOIqM0g6KYsf0CmCgY9ZjLM5699nE_VV64aWMirLxWxtbNjzgQ2iNeZavw9w3gF4JDUXsjEudcAvxpmrSowqXfU00CK5ajJN1gEecCmvPbHBmM_mv_xKPCwHRYEkgLfqVQ3m6oO2mpve7SFUHTm5S4oc0KeQ-eg6Gual-t4k89H0SDYxg6F4GFYkvomfHDKEiYWc-gKi6vZLV2qfIdJSMldeuMseFMRyu_wNAoVC57xkkgPtsHh9VhCeG6f8IsAussPtYuu2KlDGPKWyCMYPY4e5h4wQJeviLAvuAjbDiJftZJw4qOpWeWImOpXzQJgycI0nan-t64Iw79aCl7MUTvYumYJ89QmkYeH0Yr1z2MM9Mydto0UtZsXuHTwJGeg4VBZtQOtet7pCsEOiTZqHYw1yCXrybK8RhDt34R289zhnf7HS7ycBzu0i5A5gaTNFTQMp-2GdyMjyzWodg==",
  "id": "rs_0928aa613a79b614016ab433ee431887d0ac96fb0b88c8f361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.04,\"right_pitch\":0.25},\"note\":\"Pitching forward let the right gripper descend to 8.5 cm, and the tan bowl remains just right of the jaw center in the wrist view. I’m making a small lateral correction and lowering toward the rim.\"}",
  "call_id": "call_1WLGlRbOC6SaJQoysvK3xwIT",
  "id": "fc_0928aa613a79b614016ab433eec6f087d0afb14428a1cdeb9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1WLGlRbOC6SaJQoysvK3xwIT",
  "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]: [-0.0196, 0.8078, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5877, 1.9038, 0.4992, 1.0161, 0.5106, 0.0856, 0.9972]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1758 left_yaw=0.0012 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3902 right_y=0.1605 right_z=0.0451 right_yaw=0.0937 right_pitch=0.2307 right_roll=-0.0849 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.6205, 7.0496, 1.6874, -0.0806, -0.0611, -0.0122, 0.1436, -5.7094, 3.535, 0.8425, -0.0611, -0.0952, -0.022]\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,$blob:36674dd543d271065fd5ac45b73cb8cb3b0bc70978be8d2d75142500e47cb8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694b67f3b17605ac795b1fe266990ed47d5905974cd21e8fa9b829ea5ffe41f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64d3086cf1c396473f2a60add4c99ac697cebac6700c80ad16f2e390a6cf1fc",
      "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 12 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0422, 0.9995, 0.495, 1.4925, 0.9691, -0.2146, 0.334, 0.2058, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.3927 right_y=0.1503 right_z=0.1454 right_yaw=0.0906 right_pitch=-0.1199 right_roll=-0.0458 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7607, -0.0464, -0.0513, -0.0122, 0.1573, -6.5162, 9.3744, 1.3895, 0.3443, 0.1245, -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]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5564, 1.6108, 0.5343, 0.6033, 0.4706, 0.1104, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0137 left_roll=-0.0008 left_gripper=0.9995 right_x=0.382 right_y=0.1475 right_z=0.0851 right_yaw=0.0899 right_pitch=0.149 right_roll=-0.0862 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.7021, -0.0757, -0.0757, -0.0122, 0.5949, -6.0103, 6.0513, 2.1221, 0.2564, -0.0415, -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]: [-0.0196, 0.8078, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5877, 1.9038, 0.4992, 1.0161, 0.5106, 0.0856, 0.9972]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1758 left_yaw=0.0012 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3902 right_y=0.1605 right_z=0.0451 right_yaw=0.0937 right_pitch=0.2307 right_roll=-0.0849 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.6205, 7.0496, 1.6874, -0.0806, -0.0611, -0.0122, 0.1436, -5.7094, 3.535, 0.8425, -0.0611, -0.0952, -0.022]\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,$blob:36674dd543d271065fd5ac45b73cb8cb3b0bc70978be8d2d75142500e47cb8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694b67f3b17605ac795b1fe266990ed47d5905974cd21e8fa9b829ea5ffe41f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64d3086cf1c396473f2a60add4c99ac697cebac6700c80ad16f2e390a6cf1fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDPy9dBtnzUnq_CvBGYGWl10qd5AxeWRdCmOWSYkiREnGbFnjUKc-ZT8kbULOW6_asXxmjN180C_gxaI62KoX_64RyAyGNOpYt4FxfO0pClQe0pun0SdI4SnZ1-Nz44a3vRdhrDGPrHwgI2QfbioQpr-bzwU6geMBE7296eEOmxvBRVHsglGfPqZgQF5KrnctTBANBmc8QnD-FNPUUu84yDZR5J_7q0cLVk0EOVcpu0vnoVpASTR__L0UBMG_58CKYYFFEZAJV8aJI4Efk6N-NwK_oVH9zmuAy2KDiBwm9XzMza2FQBpOi8F5bMFYWQOx2Lnf1B34e8p7V2G4jfbJSxwH7s6pzmBSMB9JMBbx6xl6OajBEA44ttt90cYHElVvKCJJQdoTBsPSr9wMvlqcPkoogUV0UQbrogfN7KsaptEDR2Z0N1nTTy8mVfkiviE6ASJzXDyR88x7ev1QeerSJlPn6iys_IykKJKUuCFs-ejIhz-ay01sV3fpCx-V7j-0ZItC0r_7qyhutZA5YErUsZ9rvwnUkF7FL5S8khs8mlzpad4Ovxo07BujLaOjGKyrPbsXUocayj1LBP6eohyp-GREQ_J1VQoKOt6JL6z-1q6kGmpV2z-VdGAnYwNsBUmb3BAvQmecGRqz3GC85pdzwV6QrLTuD_1K-qNjerRY0i-pfHiFSTxZZKItOy41cqKb8DFeo3zTlrrALyjMSj8P0lZ97jH7TCVE1xT00FDlUtuBVcE4nwAEi7Rekia5Qv0f1HpZtUj4u_wHQTa_-lv2dzx2Ug2RD9Z9swXal-zDFwK8UF-5tk6tWf6U_fPoBEO-dYsYon-mYDePH0EOYN7pY8ycByaGBv4gfw9Cbie34jbWtdxJr6taoljOTtkpqn-8pjw0D20jjFKUqnbJNGxjKkFuX-rQSckg2zz7a_4Sq-Yc2mfr6qhgzkaJykbFADPkm0QWG9YI3cSyzUINAVYO_wccDV8-GfprZ924jJdDzylR73wkYd_8tB3VyUV3EUTjFIkVGKh8943Vpo9DcjrHBNYEGv6d94EYcWUzD2azvi9j1rZx8qjCmXwCu54q520Z7r281-u6H1_36k35sz4rB5COUprp79f4gQpVgwLkqPE_rgLaMXsDtaGObJ2OdThCdijUv-E9HtS5EUj-MPTGrW4YHIvQ53cZJj3oOPfUJ7lovEm0zlnd9oKbzyo8Vohzct7q7D9IhLiTTJVvNdayQ7tMzTzqKe71p9iLs-AP6RxhI1JGZhmeCUP0u0nDxJA4Zj7zOJAGbPFAgREl4kB5cUehPiOcCAJvw_0Y4qqbpjySU8XsI8Qca9HMEtPsIPHqvngbUEQnmKEwPCRcmn4SyE-_xf2En15rN7HN816mkkcnVH18MarFeXQfpwgkZie6pafnN6bqFla3jkRUCjEa8u7kKftP5AEaI_JP0Q7zn9PXk1DJ22Oweoqy8rMLQN88k1P0iVEfAtzZ7UQJFggcghW7qhBVGPXKS4Qc9NSCgbAnndtnrrUnYkkVidasys742EdMkacNlowc58NFJZjBWE0qJuUpn_4_WPXOiOYycduvG5T1p5of_ElsSSBTYT2iAr9s-2_S-OwDJaY1DaOzbmALw==",
  "id": "rs_0928aa613a79b614016ab433f0f33c87d096b7f55570b88cb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is at roughly 4.5 cm over the tan bowl and its open jaws straddle the bowl in the wrist image. I’m closing around the bowl’s sides, then I’ll check the jaw spacing to see whether it is actually held.\"}",
  "call_id": "call_S8YIKt4nWIUjFOirC9tyMYR1",
  "id": "fc_0928aa613a79b614016ab433f1a36c87d086c989676588d0be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S8YIKt4nWIUjFOirC9tyMYR1",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.5888, 1.9381, 0.4911, 1.0966, 0.5152, 0.0753, 0.0088]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3915 right_y=0.1611 right_z=0.0461 right_yaw=0.092 right_pitch=0.2646 right_roll=-0.0778 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.6923, -0.0904, -0.0317, -0.0122, -0.0205, -6.5846, 3.5077, 1.8046, 0.1636, -0.0317, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290d675b7847ec02a1c5be881fd6585e2a9e8f04aa495b71b33a227cd5c683d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff90196f406852e5f8bb26198d66eeb0586b22e285601addb6385362aa99e451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b4b519b39e1904866361951b86fb166a2a17b538dd35cdd5197e8c81ca6565",
      "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 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0425, 0.9995, 0.5037, 1.5021, 0.9874, -0.2401, 0.3592, 0.2214, 0.9972]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3928 right_y=0.1497 right_z=0.1459 right_yaw=0.0696 right_pitch=-0.1279 right_roll=-0.0563 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9504, 7.0222, 1.7118, -0.0708, -0.0806, -0.0122, -0.2667, -6.8991, 8.9778, 1.5653, 0.2418, 0.1734, -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]: [-0.0196, 0.8078, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5877, 1.9038, 0.4992, 1.0161, 0.5106, 0.0856, 0.9972]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1758 left_yaw=0.0012 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3902 right_y=0.1605 right_z=0.0451 right_yaw=0.0937 right_pitch=0.2307 right_roll=-0.0849 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.6205, 7.0496, 1.6874, -0.0806, -0.0611, -0.0122, 0.1436, -5.7094, 3.535, 0.8425, -0.0611, -0.0952, -0.022]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.5888, 1.9381, 0.4911, 1.0966, 0.5152, 0.0753, 0.0088]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3915 right_y=0.1611 right_z=0.0461 right_yaw=0.092 right_pitch=0.2646 right_roll=-0.0778 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.6923, -0.0904, -0.0317, -0.0122, -0.0205, -6.5846, 3.5077, 1.8046, 0.1636, -0.0317, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290d675b7847ec02a1c5be881fd6585e2a9e8f04aa495b71b33a227cd5c683d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff90196f406852e5f8bb26198d66eeb0586b22e285601addb6385362aa99e451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b4b519b39e1904866361951b86fb166a2a17b538dd35cdd5197e8c81ca6565",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDP4U4IFAQvjgG4g_luBdVT3-ESMKVDYJ57N6FFiMloG4t9r9HPMwoLsXj0YYdB_yw6Z6F2fcWkuPkBpko_qfab73cjNZ3mG9wg8l12oBAi0DF7HJmbcew_uqJygJQEOz6MBiYpJk0tdY5ThbLG8ZAX85zNPiYYXNeB3TGCTeLeftZiGaoTIzkaSs2dksgFcb0vqpzTdQ4PiegcTULbbptO1_SXVTwJPupJOzvUdHFkXmzfXRG_TrEAwoRWp3B1jpzhLw_Q6Eod1zih2PRJL_pKhKqG1W9P96hABJ5QnQ3vDEK1ExbvRJtTZZdlpHlWsdoVLK1-Ipl2llxTaewoYSVtq3b-UjbItL94Q6g26jn0yHnpttojTHBsUMfGPIPpcwwRuncTp9EcpgpRPGLdBoEo-Z-3GVFD9L9N_jr-n0BXFRDi8L-7sItiI9p5FIfDNMzIlRTq6tfS-AFmwkw1elPcQD3aD1gG7ie98SBbUSwtdfv393iu6Kfdt4xEwedWD95GssauMPDlPShXFu1T8Ssb9P8G6j14LHW5ld0T0U9_U6p1Hr69OQZV0bLcTuKf5fhhfGd71K6RjYp2pG5RjmA_5ntrjDHGgzcD82MMfA6L-1p-j4SU031CW0rVbL-Tv186aWnM7CiwvvDtkmLlcAQY4JKL0uHGxzdRm670gBXXxthXviqytMHZvqIEiyDM1eNPH3DEf9qR3qCsfnv--QSaSVgw_FhOFLXm5RM6rE2z9vyFiAkkPtYMhvEgI67LzaPZGOb3BCM8a4sALiD4Gk_aUf7tMPIlxlKd2OpPru-U6TSpQFuizgz-1Imseh5yXBypZszdWROAf3Mn1QcTDFOTDSzR635X4Z4Mnnu3I5qoKIVSYjd93Bi4oGAXKhsJeOhy4SWUTcPa3YTOiI6gXan3-pTHeQSsApJ5xqU0cRQuQI4P_v4IKsnny2H_DUoyV6NGXwELZ2l9Ir4NRdiH_R0rKxCVEoC9j8oKagLO9b_E_3MvyfXL336VDtHxW_d9SW43XhJxiztskWrv-_6utc5v_iYQJS5oYt54fpuaLGO_hm1MKd9UCGdEsl8XaLpK3SbmwHkE5_ECn06IT_W-IZ9c6ADWvCyJ-53I1bsq_5lMeAtsLGcfroTkLHoVbMwAK5uT0PJsyEWOW5uwpJ2a0nDYUAVFDCRilipAxv-x1nEn2DQuTgvSJQAknBodPugZTIkKOagFo5RbTLszsRoUA-dAzuqjZMvslfTZOV1hRy1lDbwHllYC2KnV_5NtqQRXSHT6VB7ZiEVooAP3CVTA83_Kje3ZPn7Iopq7qFMYfTsCbYhVOdDdwKGW5dXObbDKfsfteY9p1MwUqLwC-QfoHHbaUW1rCfU3tc3FpXBbycp3_aFfzR7QuG7ZtVExUkH6AHagosCi6vHVwMZExhFsDXTolMu4rRvGw46pW4E8ls4wmGxdUbia2WFDqOfDBYdd8hNTswfkFqyHxuTzSMR_rmqK6aEBXFyHyYvH_yVBBAhkHcc1txDCmhWQcfZr9C0GogEO4DGyGAoQ9COMHkQkQ6Ir0PqiPiH-w-gjEn5WLMbvgQuQbLeCSq1FKyRsg42VJBU_zx0K7HFilk9uTAr-kR-zt1ru26Nh6EvoBiCUjKVbKzUIaapHmNuXU318s0WbMNzsmgpyIrUoz_yS_IYCgMXujv7dVd4lAdr7dQI4Cb_Ww6g4DwPwgYeLeBOvl4aJShdKRdxEtUx0JHoNKrfENbxobnRbNP6hqs3qAOrOkN3kN83pdUIUM6LKVrj7s_1tnIxrJEmWn-4njvJViPR2h0TlVdATKmcODZJyQAumLx8ae4BdEiNmd1_z4gcmmNlDPLFGoF4pj-cMIHbJJGMlrqH6Gn3q43ZonsDPTzv5EpNppQnjeE1MAx4vA4kUwjBXZwpE3VEOHHwISg4d2b2s23KvMfAPK0eDp2R4XblZH5CBkWbm8c7HCkw888AovggK2lH7J53z1V033VeSiuKi6WOmelz5OemyuR74VUY5LKrFAjuUskQgS33Si7LCOmtd-JnqR-FA5aOeqsQfZA5FOE0STMKIeml1Buf9icfi6Ty2jWLPiMiqQYT8UkDU3egPsyrQ_m5iKGOspIiPmC0VxWuqEmSgk48cZyIG6lIoHwJBOq4mePw99LdCFYkWhnzuQk2QLOd8mAvZXZoRens1bwTIFt3dgx5fWu62lijNwgTqGCjWqJHH2w0aleGwlsD2xvHeaSb7A_GMI8btNM7AEX3YLSXiv5Xj1R2gzvGWvk8tXXuJ77DhvcBU3V0ydxDchxolU8ZnfJj5QdKX5P5vgPlQfZyEArmbjlOzoJiMCqf9LONYC-Fzj3D29ZVpVswPD2-HKbeChZgClDclwWs8yEIdq9KyKDNOU2VA6a5MRWaB89sRwj3diHi6cLSQHPGq11innLlhzpHlm6Yuq_hEyZt3G1QMasFkxl2bPB86UGhZKi7Oe3xeTntU3_Kq4YO1ZUC52cDPgOrnwqkgX5tKNWIc8I5duCPQmlJRJ4I0KRg08UhfOornv5Hec8l1qnAmiEpP-tnT9PoV-NY6GSYTqk-i2LlTb7C_1RXnCWFYhGrxbLtnHRhPxO2ODBeTgDUrcenGyfoAOpAgAA5PQAQt-JQdwfssXngClV94pTUwTkddY1pjR6KLCtjezKRv0Iv5XTLZa4UM9Qo2TJz01M85oIzGMB45s5vVHcVvBijZuW5tNqrO4ZMJzu-uuXu4gsCqz_Ixt5Xtf_P2PzYwnbw6skdtjaUiVOLH0U6FrVpLIjxb1aiPi17ZVlyWFFUVOmR5kC7JQR_gRkOTmX01XwWdeKl0m2WE2BYqXVUOkW5qlAqRL4gptHnfyA88BiaHX2PRG0Xe0Ec6ljgKIiozEITAugNXsCepx7E_p0H1uZur6BQIaty07sYQw7a2bJjaHqIckARAYiNkKOn5CyevWUbqfm11XaJ3RqCwUW4ou_5qrlb-21Uetk-H8bfdHT9Mej1YylOgX",
  "id": "rs_0928aa613a79b614016ab433f4c5e487d08b0b2fe90aff5f92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.42,\"right_y\":0.16,\"right_z\":0.045,\"right_pitch\":0.25},\"note\":\"The right gripper settled almost fully closed (under 0.01), so it missed the tan bowl. The overhead view puts the jaws slightly behind the bowl; I’m reopening and advancing about 3 cm across the bowl before retrying.\"}",
  "call_id": "call_2DuYb4DPHoNlxWnr7jRjGDps",
  "id": "fc_0928aa613a79b614016ab433f79fac87d0abd6e440ab21458e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2DuYb4DPHoNlxWnr7jRjGDps",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5373, 1.9625, 0.5732, 1.0496, 0.4603, 0.0551, 0.9947]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4159 right_y=0.1606 right_z=0.05 right_yaw=0.0977 right_pitch=0.2648 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.2103, 7.0632, 1.7118, -0.0366, -0.0122, -0.0122, -0.6632, -6.5026, 5.6684, 1.619, 0.1441, 0.0171, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9a767392fdffa1c50d5132c99204a9a54d52c5290f24e99e9fe32eda7fd61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd75edec21e35c29dfefd8eb8086c3297a87911a9f696e7e6514dfc22cdae62d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fabe10cc89e5b8a7515b948fc70fc5625a437454bd1a1727533292f211171d8",
      "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 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5564, 1.6108, 0.5343, 0.6033, 0.4706, 0.1104, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0137 left_roll=-0.0008 left_gripper=0.9995 right_x=0.382 right_y=0.1475 right_z=0.0851 right_yaw=0.0899 right_pitch=0.149 right_roll=-0.0862 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.7021, -0.0757, -0.0757, -0.0122, 0.5949, -6.0103, 6.0513, 2.1221, 0.2564, -0.0415, -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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.5888, 1.9381, 0.4911, 1.0966, 0.5152, 0.0753, 0.0088]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3915 right_y=0.1611 right_z=0.0461 right_yaw=0.092 right_pitch=0.2646 right_roll=-0.0778 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.6923, -0.0904, -0.0317, -0.0122, -0.0205, -6.5846, 3.5077, 1.8046, 0.1636, -0.0317, 0.6911]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5373, 1.9625, 0.5732, 1.0496, 0.4603, 0.0551, 0.9947]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4159 right_y=0.1606 right_z=0.05 right_yaw=0.0977 right_pitch=0.2648 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.2103, 7.0632, 1.7118, -0.0366, -0.0122, -0.0122, -0.6632, -6.5026, 5.6684, 1.619, 0.1441, 0.0171, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9a767392fdffa1c50d5132c99204a9a54d52c5290f24e99e9fe32eda7fd61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd75edec21e35c29dfefd8eb8086c3297a87911a9f696e7e6514dfc22cdae62d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fabe10cc89e5b8a7515b948fc70fc5625a437454bd1a1727533292f211171d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDP8jLpwWEHndkB182Uep-saS_frP1DErbo6ar3qaY0XqdMWYBmifvs4Cr0QbLnA4oVGe9J4ApgTi_KnpsZo6JMni5Dxw9jAXPj-q1pwOTfwo1u6qqX1jBQf7p1zF1cXuc7il_gSyesuRQOoDaLAbkCspUhroKe1rjN7u-TWN5CSgAVmcRBIRcIIxHAIKLku3nZzUoDSOUB15yoUBkZv6Dnc40NFdLzxExTgi6FDCOnGh4eVJQATC20ucAmEVhJDFwoOhUxuI56tTBYJWA59vQe5jaeF3_yT7qmLKB25NSuMBZJL46EcZKwU3pa7FierjtgRdrXHt2tzxHfFvJ6u0UNiapBupkLk4kiFryITQKJykL9kdiYr_aYSQxuIDr-tO9WrmW2xsizu97jkqnM99MT5wVVdj84F58Ndb5_aHA4QYpCanTJ3nrVrWwAWfkIIKl7WxzdnHmHwozUs9EdNCyrbvKNSv2gjVOVuHuvNKGmW-rzTnUFcEaRiK2sGkwk_lT_afslJw1O4PFIKU4gVU-mYkIyTIRL-iyVLu-KoROvBZoRx2Fhn6YDjGsKaszm6y-vFGsQxM-ovRWRxgEhj85r-WNKvqOCdSN7U-WlPPwyfjYNML-Kk_cgIzdO84ZVPMtwTiFvYaMjlkb3-kMtlh9_MLxtaLcpalZiSDcldzPTylpzctgei334B-PsnwWGjCJuVnMTUQZsnrJenie1DOswAuZwLxBKqBw-YMVvodMw2Qjr7y2bR6dR_V4eSy7JUHexfqpE08QCjCPv3ASpCvFrtqz-LB5j9m5DBfQROuDY2IIE-g1dlxYwQx-mHs-4cHB4M4NxAHjS5eAtDKj-WsVGQNo4V2ne5UqmroLi22rpa1yyyrUtEIIeFzzfNqLOyaVih-z_lCIjKcQHedDXprQHbKB_ZLc1ZJ5P4TbZpx8TJvh5cijZzoJpKcWVGPkwRdgGV6n3kpuNNIHBdsuWcGAsNHypVPB-Gp1HKPM3ISKj-1zcbauwQI5V5NyVovFXUW0Xj4_82vu-bPGwEIeeUslxwR6iuU-46Du9kYWGvve08G58z9t9NhyxJAXUG1Q0KlQ_k5rZ1IZNNOloBEteO_SUTcRL8K5yRYjOiaT6nbR-7EDbtx1dvFI5Hzdf3sp7G7Eo2xY4ntvyPC_yNtsznjZbRbQhz0IuatadV2xGGDUcVkFCsQ-ybSKeB7FnJdG5PhFmGihl1efJLrBRAHM8OIFTQOKnoYJrhyIQ-FnZLdry8X1XkEfDfo1CI_QEPtKs2u8KZDhf8NjKzasav_4R-8iM7bh-7c0rUcmimyoNc7ryXexNqBCe-yQXnXafPdrSXOj0VQ9VxcIoCw2zl5zM-W6ieRpw015gQAZ8l2aeMYsY1hZ4=",
  "id": "rs_0928aa613a79b614016ab433fb1e4887d0a4da2bcea3d84f53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After advancing, the gripper now sits more directly over the tan bowl in the overhead view, with the bowl between its open fingers. I’m closing again to test this corrected grasp.\"}",
  "call_id": "call_ukiVSNExA8KSPDNK9VcJDOIv",
  "id": "fc_0928aa613a79b614016ab433fba6e487d09caffa0319681116",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ukiVSNExA8KSPDNK9VcJDOIv",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5354, 1.9636, 0.5743, 1.0473, 0.4557, 0.0521, 0.0085]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4162 right_y=0.1607 right_z=0.0493 right_yaw=0.1017 right_pitch=0.262 right_roll=-0.0782 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.6972, -0.0659, -0.0415, -0.0122, 0.0752, -8.294, 3.8496, 1.7998, 0.1245, 0.0366, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1fd363af43138b0242b604757c1b30a47116222b962d58fbcb9d787366916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b93423b616f8a6b5999b750d5ccf056fea9fe211eb6a1f5516a3ee6ca3d6fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8b5cfa910ddd84a901faf318a654175f009068542ef80ea80eb2dbb87572c1",
      "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 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8078, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.5877, 1.9038, 0.4992, 1.0161, 0.5106, 0.0856, 0.9972]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1758 left_yaw=0.0012 left_pitch=-0.0172 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3902 right_y=0.1605 right_z=0.0451 right_yaw=0.0937 right_pitch=0.2307 right_roll=-0.0849 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.6205, 7.0496, 1.6874, -0.0806, -0.0611, -0.0122, 0.1436, -5.7094, 3.535, 0.8425, -0.0611, -0.0952, -0.022]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5373, 1.9625, 0.5732, 1.0496, 0.4603, 0.0551, 0.9947]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4159 right_y=0.1606 right_z=0.05 right_yaw=0.0977 right_pitch=0.2648 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.2103, 7.0632, 1.7118, -0.0366, -0.0122, -0.0122, -0.6632, -6.5026, 5.6684, 1.619, 0.1441, 0.0171, -0.0024]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5354, 1.9636, 0.5743, 1.0473, 0.4557, 0.0521, 0.0085]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4162 right_y=0.1607 right_z=0.0493 right_yaw=0.1017 right_pitch=0.262 right_roll=-0.0782 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.6972, -0.0659, -0.0415, -0.0122, 0.0752, -8.294, 3.8496, 1.7998, 0.1245, 0.0366, 0.6764]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad1fd363af43138b0242b604757c1b30a47116222b962d58fbcb9d787366916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b93423b616f8a6b5999b750d5ccf056fea9fe211eb6a1f5516a3ee6ca3d6fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8b5cfa910ddd84a901faf318a654175f009068542ef80ea80eb2dbb87572c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0928aa613a79b614016ab433fe1cd087d0a1a6eb943cbc770c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQE8AieAu0GbTZofr_zRjQDWIMdA3Vsl-Z6c3tNL_Vxjuq0UmmPUrL0IYi_vqq0gWcFslQmHM22f0Sdu8LR5uBRYABlhZPsk_-QyCesN2xXoCYQJCVZUbiKtjUDejCp75r0vpni677mjZyRrgv3f3IQWnUbrrYvE9apaUqnAUTMXEK47gGHYw-gr4XLVtXrdxoS4x1j1P25vW-KC4nq1bTu179GAn7lrIq5-wRgMBTsXvwqdJLVrX9-sb2q9lXIa9jT9bpxZzVIP89Vh7E5RPermqeAGIwe2V82FX7QW_L3TO7LEjHaLXdE4dNBNanw2oJB4f6sUWhKOLnVsmHyRd5v9DEskZB5r9R-S9WRWkkRddijpLRfxmObpzdtqm0v9nsTuVBigszNGpuburJmwqUpes_UomSBwCsa_ykYd9NozZArIBIeavw9BjMR_BORQBrlJZ-I70K3tkuVnPUbL-n-pND4vKWTCwvJI6Jdg94v6LUBmZfODzUW8HlYsXv-8nnM1VNRDuQj8QVR3wFmOm1UleWb4bRzlqoehe8hGRjnJO0vwcwXuzfC61vyt4pqnN6RMqkdSODy2kFZBQzo3gIKutmHqVVwWkCMQCf0bL6HlweWYw_DkXOgiM_xPOjWg5utEa_XO-nv3h8N8KxCm211bgH9zFGhPbPKXt4zYoGVQtdmkPfnNlV1uCpEo_vWsId6b1OWSXoNtmZLIQ7YHXwrJejK62d5kMSUeYBsSQ0JFIXYn9_9tKVOOc4YVhGvI6hRW0MGefT2tMf_pWYX_huxePEEHlhuP7yeoZW-Nicra7kCyepy2Dx88ocNIw1VawqxZFqn-pygX83Y3Yhbn7Wd1EdiIpgBJJ7rAaQL2DEbj8E1YQSog5UDSfaR1KJDFgc9Ufw6g_tRRZQOew2ONgvi7PtZqNYvwXfFVNNroN9rBInlqc_ls927PYOw-cJiIIBboarGrqXqDqoNc6hlE0V6aXzS9Y7_N5fagB8MIOdNTKVol0d3d32z-2MkPLTR4MO6IZ29V7AaiP1YIrI06tnxiAqAIoY6BoI4FDdp9lqTWXHbN3OUr3EwPGYW-R1TgYHUpQck5Qum4y6UJr41--PX3PwKw1FUHaGK2yiBW3cnKygw1Wx6RsJbhW80BMmoS1sgMF96FIAKVXN-cifPTRyd1XvBYK1LauGx1RZv94vjaGUsMLwujVMahBEWBaeBzjVQfNcCeK-nDqVAG4b2nj6-Fv_GFq7D4Gn9GA1u10SUa1CgnHQc2PKUq_pWE25LsCCubn28riVyNM_urZRxOnNkoXsrydfgI18U4AjbgbZwcbfUhhVlfVsHCDSXZJthYAL2t4Zf17PxVkD_oLz854vAU9cJFOlfCSD4wEDL0vaNiU8foGOQ0yxbcJDSXlmYsyAGA6qhZ9mZexcCmFMGAllWEBatE9NtQq2OglxonTtckA_yY7pC3hEyZhLOpY-s8Ji-FHjS_Keeo59C48UnaL7Qaxhl3tjQIyeDbq_6rrE71fU=",
  "id": "rs_0928aa613a79b614016ab4340279c087d0ae61360a95a24233",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.415,\"right_y\":0.125,\"right_z\":0.027,\"right_pitch\":0.25},\"note\":\"A second full close was empty: the jaws appear to close inside this wide bowl rather than around it. I’m switching to a rim pinch, moving the open gripper toward the bowl’s near-right edge and lower so one finger can enter and the other stay outside.\"}",
  "call_id": "call_KppLzqqWqbMQ9MhfwKuh1fi5",
  "id": "fc_0928aa613a79b614016ab434032a9087d083c7b4af57716a48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KppLzqqWqbMQ9MhfwKuh1fi5",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.4301, 2.0224, 0.5072, 1.1831, 0.3607, 0.0177, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4167 right_y=0.1265 right_z=0.0317 right_yaw=0.0964 right_pitch=0.2579 right_roll=-0.078 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.347, 7.0222, 1.6972, -0.0611, -0.0317, -0.0122, -0.4308, -7.1179, 3.0564, 2.0391, 0.0708, 0.0611, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719cd8da70fb482850d26630c3e36f895d0efca9e9dec91de1e13f035805c26c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ff214f76996752d9f57c3589193068d696838d8fd86932b19c41819875451a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1accc587ffd984cccae1b65831d8e29697080820ca836572b48fa7f956d3f257",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.5888, 1.9381, 0.4911, 1.0966, 0.5152, 0.0753, 0.0088]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3915 right_y=0.1611 right_z=0.0461 right_yaw=0.092 right_pitch=0.2646 right_roll=-0.0778 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -1.3333, 7.0359, 1.6923, -0.0904, -0.0317, -0.0122, -0.0205, -6.5846, 3.5077, 1.8046, 0.1636, -0.0317, 0.6911]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5354, 1.9636, 0.5743, 1.0473, 0.4557, 0.0521, 0.0085]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4162 right_y=0.1607 right_z=0.0493 right_yaw=0.1017 right_pitch=0.262 right_roll=-0.0782 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.6972, -0.0659, -0.0415, -0.0122, 0.0752, -8.294, 3.8496, 1.7998, 0.1245, 0.0366, 0.6764]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.4301, 2.0224, 0.5072, 1.1831, 0.3607, 0.0177, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4167 right_y=0.1265 right_z=0.0317 right_yaw=0.0964 right_pitch=0.2579 right_roll=-0.078 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.347, 7.0222, 1.6972, -0.0611, -0.0317, -0.0122, -0.4308, -7.1179, 3.0564, 2.0391, 0.0708, 0.0611, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719cd8da70fb482850d26630c3e36f895d0efca9e9dec91de1e13f035805c26c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ff214f76996752d9f57c3589193068d696838d8fd86932b19c41819875451a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1accc587ffd984cccae1b65831d8e29697080820ca836572b48fa7f956d3f257",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQMC0R0aolzDH_VVMM9S3MCyDbYHHGtgAmhanTJImjgpIRl_o4kdWQoe0QtaRkhHjUrjgQJOipy9OzDygR23rXMgCCSe4eWV9ZmtAEtBZfsPxuubEGIFzP-Y-a1PpVcWd2Ze-tAQ6hhtJu26M9WzBFWTlEHp-Jpylw0tEWoj_zS8TsdGs2NP-DHIh_IVAghfn4vU1cqgNmYa6wcStDMkek4q7v75c93F_GKu5b94B2NVbS9UYu41TWrZE94hL4sx2LJ0BeY6-gEJ7WvTUk_0jOrO1y93U4ZnwVqcqDvxBOBNUQ-F-jgqjRxsd9YZMqG5aypbaBkvKOBHc_lPPg4Q2jT_MDYj_F_q4lPrvmFbMTq7oeFQX-0cvhdF4e9BeDKeNhawH3tnW6bItnCoBududVVqJTsvNzRaNtMGN7xeJtqbST9-ku189rgSJ9G4AI8Lpb0pEosYo93u238Ij52KpzFiFvlSp5sCMVfFbBBBS3XoIuF3Sbqq5SaHxvx4db5t0AXk0GN5f0TGuN5dSPI3hNxGr8aaX6F9DeRKxmnya01y1di3vFLMXaQNOmw0lz0sYqWZ4n3EELh_S1mSp4HmxJdkInlneg86e8EOfstiYYMptO2xTI57xxcDK9SsiRm_rlgy0A8EMFN0O0VHGhczxOHiC5wVMBzlGvVQOMuFol8-PUL79oYEGQ9AKKz5jwS0vmg1Xr-anqY0mxFQBsEESeT9dhnISZrP5gEMdo7qT8Gi-YCeW0Eh9RREfdWN4-iMWwuSUvHr7zXZVlvwlCn-WT5_EWBqVfoa-DsfjyiYRXfX4abNIZMwXaWL-Sw3rWPTRyGqLAtmgj6iGCPi0aPFYssJPUxwC6Y1cAYNIfOT6ZE1KQlhJeF7ANxidzVxTRaVC6hZpCM_QWkEzhQiwxdxPH6-rGviy2GxljEi9QW9zmgjhmjCG7de_RBsIVRODL8H0ky4a25tPG5Ro5pTmgNj9lC0dYADgWwdh22UUcbsk6zJLSC6vRaKXjET82W68mR33pYqINdmZxxljqiuqlGg8P6c3AImwBa_fOTj8sXbv8keSNcRe-RfkFm05pHcsL-k98JvYQihHtP9goEIkrL1ubpjWqUkZE-jFrQDBEX83BOw0u424oIbentKBcyoCiArVnDvBi1XNHjrAD7XoMSox8K-NSdSXYi6vt4X3GKqqybpvuTTgAFef_j8mngy2KKlJP8h71eRTkSdAf-GPtnPpBx0Dl2_tEpvxlE1VpNqwxOT-_ZtDRKa2RJIR5S28L-57CQ1-tULIhGtEZTF4oDlw7ea6m2Rvv_tHgmt_Gy-vuIC3NyjQvjb-PEOm0wVrlhOr96_QCj-_XrgIWNyORT8PqRUec50UpN0Q_mZZbzN166MejZ_BjZ93Foh_NgZOeO-qgwAvHEjIlnbI7rNdocy2RwEBGgvYTyZ5VLhvD4hbi01qyZot6eCZ0njs1pVgdFRKTE9ZAJskub5wbFcD6cKv79Ow4wfqgh8pktuhXCeUBOObrp3-exy5KVM3HSg2N3126JEEmSuSoK0q2iVoR9D6xyFlirw6EqQ-Ta9G2hURoNkXHAhTEMjKD0Oqbmml9TsWA7kxXwhA6Tb6vN2mNMPmjmF_XMjczHw1CXqtZzbqGBCXQHMDeThroOvcqNUfkLQHxx591BlISSav-bJe5WedG8v7uiM8xJt3cc1BW0yIRT_09oL7_khtqUSk9c0CEoHeg7_SI6uDNqSCd6XrUA_ENhLGlgnSlvLlyacVHyn95U9aqqrQnKmb_Kj6ss2zm1S8OBVe4mKTheQFwdbSP5SvOn4Apoct-45M0a6CFwGXUlDgXgSGoOlwYvBSEQCneuKGfqieDEGQn1XJGUEnlDSkBA9FG2QkF9xHGk6M15hx7YNjZ8XCQnXr7zywofzKRIqaJNMY0V7m2G16v7B8tElBaOLQAjFVJQUxRAOGfIk1hY6RmeRdypTqAnKtakKVJ8zK7xHL15Q36I7uVMj304nYLEcH_V0O3bzJROKW9RsihKZ45OjLQgrG43CdFNhf-ehPcaP9yUDHgEanMacXYop71PRhK9KqNnFYZsgg3J5pys-Yj4EcQwo1AP3XNAZvRB0jCM93xuTv2yuvFDxOwV5ECqyuG_4AbN8sK6I_v62dA8rP-QFoYO5WurAY305uRESnvNIsagVYzMeI6YF9exD_z_pRv8xIgkDLtSl0xlrqCCo4HvqDsfK1T62qDNp65AuIJl9VZK-ucFJ6TxxWovaIWvLQvo1PX-t2y7IRVPlsYSPQRscIRFtngMu07iIgZIb529eyEphd1hEe79SLXYkT1BSI5_D0T1blP-Y9YKJCYuJFyWnVx00WKVjT-T6SF8bcFtkmMcCeWNYI4qzJwettUlI2PxoX_eWhb21r1VnVMofYuoc_3BkOopRSOGt97P-2SbRP-D7iUwCNuXNDo2Tl8WWXAqQfkxzTFGzeVV9gShE_bvF753ezypTTequKnBF-AEOajb9-V0mgM4dtuepc1nrDZMIZMktzRnIn5u3zqYwdBiC67DVV4Wpcx3rqYRVRd1TQzi8bnCxME-6Ywb9atx3gZ1W5dgaLI_zb1_RljRRSD6Vnnn5SxG7x4LqwAkOnXQWy1VvlInRuqTcgpxdDeTtWoLNiZCXr8wsE8DGkhWR35OsECtwc_mqOfByE0ImmgKJNq_8U5SnR3TDZZ8hxImBw7FrAIiFGfT8pD4PJHqjwWaE0dMsC3styBscddEDAK8keY5XeR1Iu1XsH0k_U5IUusz8XSASlcLGjMgib8LO-JsfYey5xkY7mW2Ov9mxWAhWn31ucrwwYZWgvSt1yOsPg3JVAewz0A0KJ3ySE7G_g295SJTmluKcgky3Q_Ro7l_HjaBUkAY9RTJLYHDaUD0Y-qeQ-0uvUS__HSnTSvVMttomo5_TvWMcS9NRUlhKX5H5xUvGy2HOqxed5xjDfFElU8t0jvIE_bnyBqjKTncp_bNcFalQscYFt19NqB5lznQnLOalzpUA2XTcSYENPJov2hjuqkBBSzjZlsXJg_kgrWh_SattZHhk7rBaPCIuddF2jJq_QxhVSvHmTOuCkszdhks9KOVtMQdRibZWq_39tZiTzjFjQq301VNJOvNuprgAja-azjvWqMyBsGXLNVE56G4-PrmGgkWHocIQ2VayMGJWKppEm61SiFBOsDxPOAZy2ARlCiXDG6l6KyVu8AoJydNAHCE399x-8AA14Z5TGAYLCn2T-HfmSOX5YWEvrK5w7Q2NH0Yj3RSHytEsfKmX5rNHFoGKTQoc7yI-RDOhNmPEXbo2KSLNmdslwCeaXKAuF9BECGfOt5ctWp_pnYoti3NRs2HDMnR6JGVVgopcwiUqfd5ATKpvpBVcrPS2Ko4XXtLbQVBHfEaIi-gOMcb30G_qDyDybpMal8gRVBeoME=",
  "id": "rs_0928aa613a79b614016ab434067c0c87d0ab2c23d25112f840",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.08,\"right_z\":0.027},\"note\":\"The right wrist view now shows one jaw inside the tan bowl and the other outside, but the rim is still off-center in the finger gap. I’m sliding farther toward the outer edge so the jaws meet on the rim rather than sweeping across the bowl.\"}",
  "call_id": "call_dTa5svVd4XWaR76lSGmcwQ5e",
  "id": "fc_0928aa613a79b614016ab4340aff5887d091a420e0c0c84205",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dTa5svVd4XWaR76lSGmcwQ5e",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.2787, 2.0258, 0.4408, 1.2278, 0.2466, -0.0212, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4136 right_y=0.0772 right_z=0.0191 right_yaw=0.0665 right_pitch=0.2215 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0598, 7.1726, 1.6923, -0.0317, -0.0659, -0.0122, -0.1299, -7.0769, 3.2205, 2.21, 0.0024, -0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1296174f3d28b8225c92c87969469e2c08d2ea7106f3b90896958948a6011b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f1e0218bac988a6e9f48aba3d3dc5ac2b9219c5d189ed673ba53bd1b07ce75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b3c3679ee705fe75112b3f43b6c6386e8c8e714199bc77a1be6bf518b31be4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5373, 1.9625, 0.5732, 1.0496, 0.4603, 0.0551, 0.9947]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4159 right_y=0.1606 right_z=0.05 right_yaw=0.0977 right_pitch=0.2648 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.2103, 7.0632, 1.7118, -0.0366, -0.0122, -0.0122, -0.6632, -6.5026, 5.6684, 1.619, 0.1441, 0.0171, -0.0024]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.4301, 2.0224, 0.5072, 1.1831, 0.3607, 0.0177, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4167 right_y=0.1265 right_z=0.0317 right_yaw=0.0964 right_pitch=0.2579 right_roll=-0.078 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.347, 7.0222, 1.6972, -0.0611, -0.0317, -0.0122, -0.4308, -7.1179, 3.0564, 2.0391, 0.0708, 0.0611, -0.1148]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.2787, 2.0258, 0.4408, 1.2278, 0.2466, -0.0212, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4136 right_y=0.0772 right_z=0.0191 right_yaw=0.0665 right_pitch=0.2215 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0598, 7.1726, 1.6923, -0.0317, -0.0659, -0.0122, -0.1299, -7.0769, 3.2205, 2.21, 0.0024, -0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1296174f3d28b8225c92c87969469e2c08d2ea7106f3b90896958948a6011b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f1e0218bac988a6e9f48aba3d3dc5ac2b9219c5d189ed673ba53bd1b07ce75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b3c3679ee705fe75112b3f43b6c6386e8c8e714199bc77a1be6bf518b31be4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQOOd6cMH_FuOp0OgUs3GyIFkWOl3Bm2FyPmYcOe8LM7d9fP_bQDiMSm2JX_Uhn-wApAteeAMQGyDJigCza3Ayg_PZoysWqCrGGoY4REQJVDKbGaYgnxh-iS97nv3JKdCwoJf0pZReAOB3NrbMSr3X2NUTm80s9lpOEqcOIdHD0uzioMp72AaS7S6bu7qm8EpURDJAiIJqiaIfQrnWm6lDVbc6ZaA5ESitU1v2izUN5-LIfNHGmoCXhB2aT8QwZB-q6YxzV70KbFmmfEUqTP4C0r-bKC-NmlAYrQfcpPfYkfe1auu-JVW_tACG3ytLdZgFVyuShkD2Cv4E6Xupg19FcyM_3P7PALFHWHySRhohHADlmqi4po-hBWRXI3k6HdFpK0_N-FSyg4O7xpbY4xqBh5WpNgktOzpVKf7BnqItsDuD70g_fjEJZwcQ8rySMzj5YdVUxCzNgsDTK-1yF4xQNanTFMcx1TfwmvqaH6N9OcHOYZlokuqrCLJQCX_yjZ9NQKnSJNZT560T1ZtUvirqXziq7T3wFFU3V9_V3KVZdXzj5A1ste1bUiWIvYtX8U-Etc4igB3yCmigalchOzYVlTtDeBhyKlPzHRZfCgl7vB1iLnQb1XBfoHCpvLpJSvsAn1II_c7rgHOk8nQMm5rqSFF7YYidVznwJmdE0PQM21JN4n1hIT6Lt_dvcZVOHhbyZ3WTQ8KfgcGUUH1-5D08K--R42DulXkhR0Ejda1zETX-OADSKMS3kaVP786YTTm5X2aDccD8tWgvAi2zgdiOg-4rd6CDam18PgFZYP2C--ENEgopC4LfFrq7mfrN6DfVxNPg5pvb749v7rHYmi9PhoT8uWlBAV1bbYMmsVdL5Iz7i1duHnnESVMnmhi3kxdT6Renz_9qcCsYEeFeiHY0D5-wR4dnebCmUmKzYjFbsmEzhypNQmMNMr9TAMIV2rwhONQyqxrWOGu8TuhruYvq9Nizyr2V7ZPSWvJx04MlA99Rqm-di4SttXBtexHLnO_ROFmr9nGu9AvyQiuGDRKJWDLQz6RdutieshO4a0eC_gkd74GeSHV0VmsJOx0aAy1Ty8qcT6AliMx8SgMZ4YX3j-mTebjZ6UH8Wn8W0Wbpe83wTjxdxsez7FxBob_0t6I4QRv6veLea30f8chnlKrEiO5Um8BBN1jGhnOB044IrnPx6EbdpKwpcdxcDcuF7EwzQVMih9k0DbLRWl88fv8AtBTsOQdIQDQgAX3-7yP88-GpPaR1810wxbT-HeXhUzA-0P_V5tzNopYJ24lgScrvftQ==",
  "id": "rs_0928aa613a79b614016ab4340d40e887d08b2b34ccfb93d670",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tan bowl’s sidewall now lies right across the right gripper’s closing line, with a finger on either side of the rim. I’m closing for a rim pinch and will check whether the fingers stop at a nonzero spacing.\"}",
  "call_id": "call_WWw5kmdeCAgvOw2xSf1hG5u8",
  "id": "fc_0928aa613a79b614016ab4340d76a487d096a0e5cde2b54afc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWw5kmdeCAgvOw2xSf1hG5u8",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.281, 2.0083, 0.4484, 1.3178, 0.2237, 0.0002, 0.0366]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.423 right_y=0.085 right_z=0.049 right_yaw=0.0699 right_pitch=0.3335 right_roll=-0.0314 right_gripper=0.0366\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.6972, -0.0562, -0.0562, -0.0122, -0.212, -5.8872, 2.5915, 1.0281, 0.3248, -0.1441, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fcb4f97cc322f98968216a904f8b9815e44b9d7e74a92077580e42b2b2922fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbeb8b10cb5864487c0d3e6cbbbd77e45df36c5ebcb9d26e7d6b5d67dae4fe2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a40f8860caf42d4ec2d342ab5772c6e3de3ac0ed74ea34ae8b1562c5c46814a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.049, 0.9995, 0.5354, 1.9636, 0.5743, 1.0473, 0.4557, 0.0521, 0.0085]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0047 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4162 right_y=0.1607 right_z=0.0493 right_yaw=0.1017 right_pitch=0.262 right_roll=-0.0782 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.6972, -0.0659, -0.0415, -0.0122, 0.0752, -8.294, 3.8496, 1.7998, 0.1245, 0.0366, 0.6764]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.2787, 2.0258, 0.4408, 1.2278, 0.2466, -0.0212, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4136 right_y=0.0772 right_z=0.0191 right_yaw=0.0665 right_pitch=0.2215 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0598, 7.1726, 1.6923, -0.0317, -0.0659, -0.0122, -0.1299, -7.0769, 3.2205, 2.21, 0.0024, -0.1099, 0.0659]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.281, 2.0083, 0.4484, 1.3178, 0.2237, 0.0002, 0.0366]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.423 right_y=0.085 right_z=0.049 right_yaw=0.0699 right_pitch=0.3335 right_roll=-0.0314 right_gripper=0.0366\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.6972, -0.0562, -0.0562, -0.0122, -0.212, -5.8872, 2.5915, 1.0281, 0.3248, -0.1441, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fcb4f97cc322f98968216a904f8b9815e44b9d7e74a92077580e42b2b2922fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbeb8b10cb5864487c0d3e6cbbbd77e45df36c5ebcb9d26e7d6b5d67dae4fe2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a40f8860caf42d4ec2d342ab5772c6e3de3ac0ed74ea34ae8b1562c5c46814a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQSC_s4owUz8O3DvwKjwjGHohMRLdubxy9CMtELRZVAM_WchTa0hWnb5tsDPTiHWwDGHueFOX4xaeU54QXWeKiw8sUfmz0LEHU-WySFrbH4CVXnCNFkQXXDF2F0PLBnyv8wuuBgIhZpQ8fgn6gHaRe71iaitJkeW2eag5rs87ZgE4c4mmQcGQogMfxZIxco1UKo3SD0DI-f-6Wtk48rXTbU8IzC4Nffo2wlEV4j0_JjLlCYYZL2pTvJSCx7uS3LpPlb0aXP4kokc-UX3aHj-Nnjfi8IYxnsvAUYdcnC3aXT41G31CHm67wYeQSCzxiKoc8yfLSJWMI3jpXi8yazbBFHwE9n3i6DtjqGM7UWQvLoRGwlWZR5rcN09guCd8FiHSYW47K0FUyZAbAaDe6IQoP3oMwNbSaBaCAFqIPGCkLq50MAbN9sm2V1TbldQdW9b4nBy8rVo5Gg6QPYt_NiwbfG1zpfOhwFBkKcIX3JhFXZNop8RjL4-A63bexRfHFYQW9-B_by9N4MiRLdix2azd5XpYFYWyXS8hQ3f_eslAZ6dv2WrXdUX6vH3KacZ0fwIPo47wP2PdbsGRzK7gymgtPzy2dTJMKBemDB2BemumiWg2KZG7NCnxre3G5QVNYTJeLRQn8THf05jlcWDKmFowotuk5mB0jLHrtPLZVMb5GGzKeoL4lkSegw7ks8RgtRHKxG8ieJLbzRtl7nziUjh6bJr0h7D-PVP6v12JGsimD5C9dR5hFdSWMIOFo2ahfYUg0JSEMHt2M2-GUIGLUFM7TrA_ILU92G3HpPe-_gm3iOM2LDDU1OQk40NABB_FVWvQR4qCWTcfZoAATNaIzfohW5yYAtS_OPHEsmFIVsHcyKG7ONX4IpybcV8-qOm_ni587EkEcZyTZJjikOw146oyttf6gDO00vkePn2tAHAfuW6KsBnA9VgHUT0FB1sek6jMdmauTIyVyBL1th8zMF7R1fgizZO-VJCsyEOQ_SC0E6UiIXzgy6WhXb0RS3uz8LF7DYBiALeGaGnRQjdbfIZZczV03CX6BOyPkuyV3TSsqbnK3a47nPeH2kUD2B_CmVc9IyLxOim9Tp52_n8HQHYG48jcRPugDSQECXJYh9XRat4hLu5W0MYsXYHej1yExLwHXB-KTvfUfkfE8e-nECps8zfcAWzZOhqFf3UH94v8L_fZTg2ZkT28QNeCtlPZsSjPfgwJLWOhAu97nAHz-kUL4qoNgsoC8DLD4vLth4ocNhI877pcrBB0JUk_5DFFd2hHetOhFDry1Sy-5hRGoHjMRtdIqiu5iQeMLhWZ0OyLP6EQ-a62oomOBbJYgeUxHmlNRbsWt-3WqYWP4fS3hZrFuGpQfVaIKKEm2X3T98qJkyCG514WRp9Gd1hM_hpheiqWF-qJVfByZ8le9DZpMedyjqLWt8c3LwcsLc3zeAyYLbopXA9LkupZwQJzheWibzsxHkr7YlG8_4JkS_fiiCHblcHVtNxQnnDxQOqb2JD7tfcbZPaKyNV7y_T0RkW6h3yz8o-gV4WnkQHrKj-eOSniQPgnAY1rfwtKmCDGStD-Ka-mBJ7KI2XTrU1YXV5wSlv-3CITDQ3iQ04fqg2lVysTxZBi6hkTBkLNfK9XrG0KRVbme4Vxhb-zCwVlwCCaLb6bm_f1UjClHCk0jdq9BQta4-3QL2OU11LiS_Uz_hxAIwHjL4ImQrl1bdH6nfIjTc-uf1S5dMBqhl3CEjbA-lVzklWmhz_SCEIew3hwYmsIP-jqMVs4GtdRQlZ7T5O1ks_DvewXGenA-remf6CpRoz18zJR1fKrQlZZEz4JmgxUaPh9I=",
  "id": "rs_0928aa613a79b614016ab4341063ac87d0b908fbec9abb1912",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_x\":0.41,\"right_y\":0.08},\"note\":\"The close left about 3.5 mm between the jaws—borderline for a thin rim—and the bowl shifted slightly in the overhead view. I’m lifting 7 cm to see whether it truly follows the gripper before moving it toward the stack.\"}",
  "call_id": "call_w9r0f5GWQBLqi5ohRipXc86y",
  "id": "fc_0928aa613a79b614016ab43411977887d0b06f75c216ed554d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w9r0f5GWQBLqi5ohRipXc86y",
  "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]: [-0.0196, 0.8104, 0.6075, -0.3893, -0.0227, -0.0494, 0.9995, 0.2794, 1.6279, 0.4278, 0.9909, 0.2188, -0.0017, 0.0396]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4106 right_y=0.0817 right_z=0.1188 right_yaw=0.0714 right_pitch=0.3653 right_roll=-0.025 right_gripper=0.0396\nstate[joint_eff]: [-0.0205, -1.1145, 7.1863, 1.7509, -0.0708, -0.0806, -0.0171, -0.1436, -6.4615, 6.147, 2.2589, 0.0513, -0.0317, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5cb42e6c523345f3fec8e9e95177daa1f024a03d9550dc6bef905aa28322aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874b10b2bba1eb74c9c5b559ab2e9164a5a65565faecf30495dd9378a9bdedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3707e826d565a803357a2c57341560bc8d2793ec436ec137258911cfe26e9c",
      "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 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.4301, 2.0224, 0.5072, 1.1831, 0.3607, 0.0177, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4167 right_y=0.1265 right_z=0.0317 right_yaw=0.0964 right_pitch=0.2579 right_roll=-0.078 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.347, 7.0222, 1.6972, -0.0611, -0.0317, -0.0122, -0.4308, -7.1179, 3.0564, 2.0391, 0.0708, 0.0611, -0.1148]\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]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.281, 2.0083, 0.4484, 1.3178, 0.2237, 0.0002, 0.0366]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.423 right_y=0.085 right_z=0.049 right_yaw=0.0699 right_pitch=0.3335 right_roll=-0.0314 right_gripper=0.0366\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.6972, -0.0562, -0.0562, -0.0122, -0.212, -5.8872, 2.5915, 1.0281, 0.3248, -0.1441, 0.906]",
      "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]: [-0.0196, 0.8104, 0.6075, -0.3893, -0.0227, -0.0494, 0.9995, 0.2794, 1.6279, 0.4278, 0.9909, 0.2188, -0.0017, 0.0396]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4106 right_y=0.0817 right_z=0.1188 right_yaw=0.0714 right_pitch=0.3653 right_roll=-0.025 right_gripper=0.0396\nstate[joint_eff]: [-0.0205, -1.1145, 7.1863, 1.7509, -0.0708, -0.0806, -0.0171, -0.1436, -6.4615, 6.147, 2.2589, 0.0513, -0.0317, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d5cb42e6c523345f3fec8e9e95177daa1f024a03d9550dc6bef905aa28322aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874b10b2bba1eb74c9c5b559ab2e9164a5a65565faecf30495dd9378a9bdedf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3707e826d565a803357a2c57341560bc8d2793ec436ec137258911cfe26e9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQYfHcRa-vfMkcedhobboOPks8FclKTEf8w2GN5MZzXlyg4Nkj5rMlL2iazjGu22y896a0CCqz22mYrTTX5VJLLfXzRYh-0AmMDknh5IQyjXrNbiPRkgvx4LZJCelM7xe9j0KsQrJYuVnIHnOapADa-k3DcRy7ljPxtyH5DAp1xTh-opTs1GJ1GlwUOUFQ289Om13ZVJuIVK5SElbnu4BcAPLRfMwSfSgSyMqEtq1bUox3BNCLN9aiEqgdTXcR2_5MY70i_9o2RhaFwEMtprA3HzgjQshx89bO7ikXpqFmPl9uAy5caZvM4ZhHAo5nLOuehM-3a4l52UtTQZoTqMOkHw2RkfEpUotPAIBt0e3qjc9qGG4M8GNJqHzoc0kR858wZLweTOEADzHvstEpr_37K5eE8yRKij3tcWNIMDmayhJ9pN3ErP2TfVBDWNH88-8N9SBPR5PUnwpYXgF6cgHZ4NLp9WCfDOzJsnhI-hQXd-nSCGb7ljT9IjpU53NTCUEllfVsOQWBUAFbWiHhQV1_RziI-CXi_MiIc57RuIE34hRAn4C_sjxD9yMXl-peGF6W6WdNzWmBW7K8ffBtetIlHmiiFpQBVf4hZQie68om-Ek42gzMTiM-92F7C06BmqY9LJZERT4_dmkpZKHEmtCFheEyDvFIEXptczBCjHdmNImDRWmxOa6DX2wX4hM2XaQAe81pKxxDfktMqerMB8emOXfApA0UUgpPGCxGvTnqwriMYqDGq3et77CWfhWluL5_6ZCcvmOKbQ-MtnbiSgT0jquNreMD3lwjrgwxf7cpwTcbIjq4nHhb5bk2uqLpipaxu5l3c70RCUliMZ8jzILfkgQTIqYxaAJHSH9CsCfB4esu2FR1mBzNs-JH0bn_AuNN4xIHjZUS_FufgC_ddNdGb1xzJHgBEG9Aeh6dWGaHh_Ntvyylo1Hwlk6bGcZswwS4pnHEJ1Qg0SVB0xgVVmeT3dh3aE3r7XYDJAAK1aQQJjtFsW7ZIvb_7IdO2B_X6SruKHGSyefvMD1VEtZxK7RvwxDIHIuY_XrRD5-9PUl0lOp8gBin__7DHaNV3zKvWb3yuN0QV8kXR5yFU7FYGC2NMMXeN5j7le_9tSynAXy_Vlq2DVQu2ieYCJbX5wFzzO_QhmCRbPLrrG1jS5V7TDBVWK-yYvNMp-Y0qw2JEZs-BJC4yPwb6ohBgW7e5lbhRnfLFlv8Bd4Hb_2EoGVT2ysOobX4n7kNd-T1DChTfuQyvR-ap2M5VZ5hFbEWJVnztYM6KXcyeZDdf92Z8KpRCXfbCHCVsBWmqHRjl4naP_m0v8VF5qctNyzLbrot97q5281hj02Pt2_FoqUQ3wquhIyKtuT2AxvTGz5VqYFukp16bh5lDDgzA8IY0wbOBr71O2Lc3NL4ijNlYaevFa3OLWzM4yTOYdBlswiWd5d6HpoWAcT6MVf_SHbFY3PN70cC-yPhdL0oUYELCaGix494VrhCx4dMVXXA2JEru84ciUOgk7DeOSjxArOmgrLENWCM_selm_hAxCiskQiWQ0rWVeqmHoFGnpX8atdjjaGHYBevQiKf1DFbyvvL2CY5NoqUOtNn-WI_a38mzD-NdAFE4z8zzp_kR9UcEOTqUEd8wiugGHJcuygoDniXZ4MosNBLK5XVy8OZf--s_s-w4qn3ay0IoQzTpwS237fW2nd8LnljsksxyPhy0QaruTXSi6R_uRlU_hAyMw_cfSbrXtg-wSMv8InCcB56kXX8qxvCYF_MMCqat0Xhi4-vhEiuw_ZucjZtxZq97H9Nulae1PKxT8mlGn6ho7_KpqVUtTAW7y9ZeOMbnrhYRJLwOL5pYMwF1RW0Kfbb5abZJ5v05lzi-rbMpL0CpoIv5nJBlrC-x65I_4vLiO02ZYdlXsPXjpR-Qm3txNSKxbqW1RoB-jcIGA0tVRpdczLAorbckmGJrxNIAiPXdCsYWQIvV4WxBeTFU9_TnqjZcx7a1PdoI6ne8p54eBP22H0a2XIICn5NBzsEldaTl3qhj6PB6e4jqskt6nYHTpqe6iL1yTDRhrq9Rh82nG-ITnp8o-PT7SnDlD0SeLVLino4BCsCoOJRRS1uNKx0IrczC4R3kjXQr0riu7KfwGjagS_DgpPm5PTGjUZ1pg4tVxZWz5_uT7n2v00xqUf5nMywLXMhVcxDAKqvKtpd0KitcuT_CVGLK-9DAaSig8Jrx7CGVfcZKh2dIJaAJzExhN9COu6MvDcmwstvSUgb1dIJBV1hbnkpXTYu0arnJlsz_Mbk4dag-ggpmXdCCg-bnDR4iELEeI2r_bPFef_lBFCx2kQqTWQ7m-C1cos4Qmql06KC_TJPlf8qaZ0L67tBuekd_ZQcT3fzTUJ1vT0HdxYX3coAa_iVUbvAvwNDt9Em5uVEjH9yR1_c4ucm5cmZeJDco4ayArJE_E5buU2zN94jyC7Utq6xd6PsvdFGlOPUQgXkIN7OJ2Y24RAY32X6hVfzP_NEth1oMdhG-2TogfczKmVzZWYbsuYxTttR0H_nCGm661GbSZsY2ulu_vI4kXG0ttuYqu-OANoIg0ecycmAGW6Gr_5t4PFnpjJt4agP8DHXmzzW9OZ9VdiQnvaDU_pXSMs0kUj0F_PMpGrE73ghZnKTiUB0j1KlwEu8i-S9glSL0PsIgYyM7FaG7MbFHR94mRS5OjsQ3_eUMoDbCww==",
  "id": "rs_0928aa613a79b614016ab43414583887d09a475533fb4c63b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.24,\"right_z\":0.18,\"right_pitch\":0.25},\"note\":\"The tan bowl rose with the right gripper in the overhead view, so the rim pinch is holding. I’m carrying it above the blue bowl near the center, keeping it high enough to clear the bowl already on the table.\"}",
  "call_id": "call_zxow4qktv4nEM2lNIRW4QEKX",
  "id": "fc_0928aa613a79b614016ab4341732b887d094a8a93f6b3f77e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zxow4qktv4nEM2lNIRW4QEKX",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.7815, 1.6005, 0.8635, 0.3183, 0.643, 0.1883, 0.0406]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1749 left_yaw=0.0049 left_pitch=-0.0206 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3865 right_y=0.2393 right_z=0.1699 right_yaw=0.1232 right_pitch=0.2376 right_roll=-0.047 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.2239, 7.159, 1.6923, -0.0122, -0.0415, -0.0122, 0.1983, -6.735, 8.8821, 1.9609, 0.4029, 0.1734, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8af2e7323a87f90eda76b446141e5eed4a621881f712016b25b48c3f5dbfc96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482ed76357e5f598b2214b570c1f9ad9be63152938458af623e570771f3a905a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51b367d6ecce2e193f2fc5433a26130fe3930a2ac96301f1b374355cb1dfe7f",
      "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 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.2787, 2.0258, 0.4408, 1.2278, 0.2466, -0.0212, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4136 right_y=0.0772 right_z=0.0191 right_yaw=0.0665 right_pitch=0.2215 right_roll=-0.0847 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.0598, 7.1726, 1.6923, -0.0317, -0.0659, -0.0122, -0.1299, -7.0769, 3.2205, 2.21, 0.0024, -0.1099, 0.0659]",
      "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]: [-0.0196, 0.8104, 0.6075, -0.3893, -0.0227, -0.0494, 0.9995, 0.2794, 1.6279, 0.4278, 0.9909, 0.2188, -0.0017, 0.0396]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4106 right_y=0.0817 right_z=0.1188 right_yaw=0.0714 right_pitch=0.3653 right_roll=-0.025 right_gripper=0.0396\nstate[joint_eff]: [-0.0205, -1.1145, 7.1863, 1.7509, -0.0708, -0.0806, -0.0171, -0.1436, -6.4615, 6.147, 2.2589, 0.0513, -0.0317, 0.8669]\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]: [-0.0196, 0.8108, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.7815, 1.6005, 0.8635, 0.3183, 0.643, 0.1883, 0.0406]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1749 left_yaw=0.0049 left_pitch=-0.0206 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3865 right_y=0.2393 right_z=0.1699 right_yaw=0.1232 right_pitch=0.2376 right_roll=-0.047 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.2239, 7.159, 1.6923, -0.0122, -0.0415, -0.0122, 0.1983, -6.735, 8.8821, 1.9609, 0.4029, 0.1734, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8af2e7323a87f90eda76b446141e5eed4a621881f712016b25b48c3f5dbfc96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482ed76357e5f598b2214b570c1f9ad9be63152938458af623e570771f3a905a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51b367d6ecce2e193f2fc5433a26130fe3930a2ac96301f1b374355cb1dfe7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQgCdh2bfS4etdQnLHFrg6ahCdE2e_isHzTU0f9sjPcPEVVCEhrNhKrUOM43HvRXVuW4kTZY-VA3Xu36tMzPT1aQO1mkQPIqC_xjeBfywyyGnyJPkKGtYOjJMrXYbvVC3g9DQfm76yx8IBb8IwIp9udd9G3Yo0bAkCFGSACZCKyXN2l_QWGarzC-Jd8dpcI0qc-fwb9QG014vCUGJrxvjJY1dOFVQEn0pDyWpz7VmjzOoH-dNAjnG6TmxsHqk6z0RbMK3xO95haZhYFCFfohpSNj9tIe8pDwgSseYb6c9Bh-PssqTGaa9a-EqrsrkpIqen6cfrWtjZOIXAtGc-N-HY4uHkw57ibpLmcRm5SbP-tiPGl3jYSU2pW7ejVtDtiG37AoU4gqMOCwhImjAHAxsbDRu64JZQAu72Fq3P7EzbfGs39zw9f2nJna8wsxgl6rUxJYL6p3av54DkaGcr13SDCvGz8XjfVOejnU-EFe4Ugu8z1PrUco7ydqhnTMVUOX26D9Te7-xfK9M4ijX4bH8wscz4s4hauONpmoY2cs2HSZT3qPLnuLLL5h9P25mQIQ3bwS_hcQO6OmiFWuIkWweKvdzFGfsTpY-PQGca1ANG6hgFQHHKvKNNx_JKUyjwU6U5XFFzaZRzuEVnhY1bSYQvevTf0WGXsmOlYSP-sYXfEEuVddDn3TP16xh2iKk1OIeV2RQS6CQscZptFhYqVYOiVkWw4wxAvlnJvWcHcoVopjpSiPKedH4Gh1W1AgEP8zlfpbSA412pLdIo1Tv32Z0ZCX3n075kZAiZVbch-W5iehkVdmdT4_26GcjpvybSw2sfMolrWmLoUXhArFSX1R75GtlIKpiB0vjilO-aF0omQ-FfneBhz8OekUvuy_enXeHTkZIxmRRevmXE9p0Y2P9jaR0ZZn3z7vChH7p5BQBbXI7PhQst1dmkV-2JWAs87AbhV3GmdCDdvQuPSgMrlCAHc_nXfEQBMbYrFZtFIqb5gypJ71TomEuS8wix8MIb43o6GJR-yH7UpxtHZZpoeiW4OPzMkunewQANx0yT-eWrSDeWUydOQ84fvmIfJoXc2Ua2Iwg2nQDhANLZBOB31cGv35JtENtngxnhhMrTVci7W5z9Y5vrAHxHhBnqkFShbfwWnAyX-VmHr5WPVi4Hc4PeyyawPxBHoRymv4m-nNNxFoRtzQypOqKZ6DQDlXHdXJOtRauzMaMtn5Tvvl7uOAP4-20knghHAByoihNn1HR_f38GueR-ZA5hJWiFe6qRZjC9alOr3ZpUwZPVXdsfTyTlAOnzVFxYt_ZRgmdTagrCqGSrsfSj4Er19osorwuBuUTd79IIPRj9csHUkJlNjVgIaWEDbM17APywrSqeWgbzXlqmWmyGw6edoiWekDfUmDTWk8iSP7VVob1qrgRVIHNXjGSPoM0axVRtRAwddWujS46LA7y1YcfF103_wRZWPlqoL2iqovIndNv6ajKiJVEAULIN4JfnbSluXO1wdMCqK1m6QObhx593Wh4Pt6dgIBFEbDTHPkx0SCuUj9uflQTy62fB-0BL8-6XSLoKvhsLhRJSB5thLffOTPML32exfSdfJ0Yc2OJ_uFeiPOA4ZLDmclXKlboqszT_4bXvKC_MjUzavsYsMqjqHIshSAS6zTbMVbmz-LAGYwtpwUIJrnKGVxvm7gdS3Mm770cF4JxOASUihtWh6CahZZkwoLeQylC4XS1Ol1hQglKOpZZ7NEuDVHkiRrp_lkhJd90O_Ypa_XCprY_jTpVKli9SAfXZ-9qhi8yvHOki6kzLzhD6wj_pUF9ov5C2UXsJAggbuBEYkUcIqo2fLCPQaRNhpLCrdG1LQlRQe_uzJQNsDX3h_7icVIMzrf6fyxQNBUxcA9Du2zxfjPY6s1xkVSTDU3uaiEQY3HIf_Vfyu8GQX2wm7rTAO3JeFVdBXJjF26bFbaTumnkkgpjaOQOHWGSX4QiL0gg6z8fg2L4sNo0jigBChEqF1nT0ng77GhJgpwhv7Dn2Yle6R9ZvEtBk7_ZpNLCJyEtbKkF-MIPACQV441CwElapSLPt8_Bn3dhBs5StuaaIWTa8Gtnfudu9yLQG-rXELF5VKtGtNE5XQdru4LdrXtSBCtGd9UqVXGrvHPcGV7GSdVm14VFaX5gznAXQhBznk3PMGgNB89g7t6EiBTtk4CzFO-ItL8-lW1fQ7QjLlQQ460jK7TCRPoBYZU3JLZbTJJ7rVbxHFLYYrlakMZep492Vn4qg5Qly85CRKxvaeqoIg_7XGdEJ6F2wZnBQDo8mWPrm291Kes66CzLq2-rars3eY1TtnAmSe7m2UMJXrhJm9Kxojrr9HGKKt-S63IgX5HTt0jyjWpka0enmyi__9DOdABZoZcZhSfuNRBe1IVWKrm_rYpVw5Zw8L8RPG6cC0_mJOPq6tFhuhT8MEG4w7dv59ksO4QaxL9mVatPN4Bidhub8rz4M62AjhVB5JLSNduXf1ZxJlFScZ2sU5_DfnlN9NICfdci3JZcDt2HkC2wca6g0=",
  "id": "rs_0928aa613a79b614016ab4341a958487d0a9e7af1b3e173511",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.255,\"right_z\":0.095,\"right_pitch\":0.25},\"note\":\"The carried tan bowl is nearly over the blue bowl; its higher position makes it appear above the blue one in the angled overhead camera. I’m nudging it slightly left and lowering until its bottom meets the blue bowl.\"}",
  "call_id": "call_k94Im3ICcZBsgDRGtHJnYmpb",
  "id": "fc_0928aa613a79b614016ab4341f404487d0bcfee0973b87360d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k94Im3ICcZBsgDRGtHJnYmpb",
  "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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7921, 1.8545, 0.7879, 0.5461, 0.6472, 0.1837, 0.0436]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3879 right_y=0.2466 right_z=0.0752 right_yaw=0.1454 right_pitch=0.1576 right_roll=-0.1159 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.306, 7.1453, 1.6825, -0.0562, -0.0513, -0.0122, 0.4718, -9.2513, 5.6547, 2.0342, 0.2418, 0.0269, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c4cbd0527d1e9b894894b30b16e777ebe4ae8d54257af3cba0948312764ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891046b08682a25461ae61d6533edb09b6953fc88329b965c07384ddf3022b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c4a0b9d71262d3f71763262bff14a3740f0e33aca49acaa48d82dbf6f260b3",
      "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 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.281, 2.0083, 0.4484, 1.3178, 0.2237, 0.0002, 0.0366]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0049 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9995 right_x=0.423 right_y=0.085 right_z=0.049 right_yaw=0.0699 right_pitch=0.3335 right_roll=-0.0314 right_gripper=0.0366\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.6972, -0.0562, -0.0562, -0.0122, -0.212, -5.8872, 2.5915, 1.0281, 0.3248, -0.1441, 0.906]",
      "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]: [-0.0196, 0.8108, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.7815, 1.6005, 0.8635, 0.3183, 0.643, 0.1883, 0.0406]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1749 left_yaw=0.0049 left_pitch=-0.0206 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3865 right_y=0.2393 right_z=0.1699 right_yaw=0.1232 right_pitch=0.2376 right_roll=-0.047 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.2239, 7.159, 1.6923, -0.0122, -0.0415, -0.0122, 0.1983, -6.735, 8.8821, 1.9609, 0.4029, 0.1734, 0.8816]",
      "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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7921, 1.8545, 0.7879, 0.5461, 0.6472, 0.1837, 0.0436]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3879 right_y=0.2466 right_z=0.0752 right_yaw=0.1454 right_pitch=0.1576 right_roll=-0.1159 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.306, 7.1453, 1.6825, -0.0562, -0.0513, -0.0122, 0.4718, -9.2513, 5.6547, 2.0342, 0.2418, 0.0269, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c4cbd0527d1e9b894894b30b16e777ebe4ae8d54257af3cba0948312764ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891046b08682a25461ae61d6533edb09b6953fc88329b965c07384ddf3022b07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c4a0b9d71262d3f71763262bff14a3740f0e33aca49acaa48d82dbf6f260b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQjc7SOqxpOWVwd4nhmFKSsMjkp23tF0C2ro2FBvi498ypiWg3V6uAKdjMShcV9yYr21hB0U36lUf89au_0Rg4-Hl-o7-RxTRXL9TYXaDOu1BnI11b9CM_TxN8hCp0qOZOAZf1SusnpiVEepiDDdIAJ76rQQV7hBHmvZCh277C5NfsrchZ6b6WaMtC6emAUFRicSO4R-IWaNInf4aOXeX-si_ay6oj0NJJm0_FRnY3eUiZuWWxZ24XN_BSdsAE0sPleS_1f0NVt86O4bZw1LZeOwJeD5Udm-pvKqGawGpEL7d3_yRpQinEfryUiAgXQNyhhunXE28p-7SPUOxRN9Xra5P-4gVx18LzNIBgNPvGoAhMbM8N83MC-uGZozu1KFnf25SpPawFqDqAM97GPg8kBbxXHAj7fXw43CyBKpt5aEFevkiaDn4OSSsK7kfJ3jP4ZsGb_SDglMQNx3HMTxVuf4MRrtRs2HkJa2oikHN_O_dLkwttN0Lqm4Ajidw9RxtPNqUP8AOddQt3SdM4xTX0hpW1Ohf4bv450Z7F1ouyKrhCO3V4tkpN8bYRCa-WBUPx7WiEBLrknRpgYorsCFrenRGD0z7nN_FyOaKJsBTJoWjn2j8sO3Pe6xb8TCF3BwGfraG1g0mGVlFDKc8mC2DeQgPv3M1AlOcGJ5Iv3N3RwvrUtwZk4SKb9CNSJVpbgfRGNYjHXZsIGvEG1c5Vhzb9kuyNxDePv9NTig6YZWrhnn3qhc5vcs8exa17dFYOQdBIxsjp1Q3GeH3dgWgvFleC55j0DidBRqL2t9MlddwIfX54ko-9xcuiLvK8bTB9Rb26wUWg1XXa8GfQgWCUGcxeygVEFq_ceT66ZyVmLGTTKZ4TGEOlw84DN8cwYdPHsApeGTmR4SdHkLXuJIinnQvuaANx3NekWgKdKXQEuxelLH3Dp5hKp5vs286w5pCMciJLU3hv8tLCy362Php34phYunoW_Ioedc5Bw1Osrrftzz_4vPtbAjyWP2TLFj1PtCwBTaJwVWokGPIUzCAk7JT6vZHNgOb_rcIGJlISzPkx1OCM4v1VHCVyzjIe4mfIgp0TOQtQdpLDfEaBauqE4iDqiT2F5CaaYGSMuqvFEE24Eb4MLH8yggCyMc0k3IJJFakQBO1LZ1cIbS2oqjz9gTbE16QRTb0P3eEDF1gT_2M-O0GZhNpBxQL15QzWrT3uVrL9r03CV6oSqxotqJfrj9m046ZYid7OxO_E2ySJ9fDBw0XQWv5T3gbZSh-T_OoRmbAP80rq-wFAnWhl1pXTuCQ5FP5GgDVVh_LNeEk3Co2bffN_pdp4HcP9Tp-S-lWwyNKYjCWUXrcPFLl70m_5hqmBhYHvy554F8vkKceEvtOLKHBkFMdsxKFb0GhvtyYXViIR-2yKoDlO5wuqKldK813Az-UilIpY0OOTKeqMtAMKIJz6pUwuhfKm3l9-ckjKOyqkp2SerTAWGd2_5JbEYZQGsNk-Hyiyil1OSQIn0o8hm3eDojchIgafhQxDqfOGaJwIfvzZjFnNB9_mCWhUkqi6SpA==",
  "id": "rs_0928aa613a79b614016ab434226c2487d0b219fe6a20c10b04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The tan bowl is now centered over the blue bowl in the overhead view, and the right arm’s motion/effort suggests the bowls have met. I’m opening the rim pinch to leave the tan bowl nested there.\"}",
  "call_id": "call_XM4kevgnVY5pZ7QgpZnwCsyw",
  "id": "fc_0928aa613a79b614016ab4342343c087d0870ddb008a6e174e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XM4kevgnVY5pZ7QgpZnwCsyw",
  "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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7956, 1.8717, 0.7849, 0.5323, 0.6426, 0.1791, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3847 right_y=0.2465 right_z=0.064 right_yaw=0.1579 right_pitch=0.1287 right_roll=-0.1388 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3333, 7.159, 1.7167, -0.0904, -0.0513, -0.0122, -0.5128, -10.0171, 5.4085, 1.79, 0.1636, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb9492534c8fed236140c4d7e775602a5164fd4a198cf66310763c63c4f7f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a1531ef17c149d63f52fe0e73643bcf4125a0f7c004de76625aeb71d1f61a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f02a67f75d603f2e6572bf363516b51869aedd3dd1c39591682e0239c8ed505",
      "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 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.3893, -0.0227, -0.0494, 0.9995, 0.2794, 1.6279, 0.4278, 0.9909, 0.2188, -0.0017, 0.0396]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4106 right_y=0.0817 right_z=0.1188 right_yaw=0.0714 right_pitch=0.3653 right_roll=-0.025 right_gripper=0.0396\nstate[joint_eff]: [-0.0205, -1.1145, 7.1863, 1.7509, -0.0708, -0.0806, -0.0171, -0.1436, -6.4615, 6.147, 2.2589, 0.0513, -0.0317, 0.8669]\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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7921, 1.8545, 0.7879, 0.5461, 0.6472, 0.1837, 0.0436]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3879 right_y=0.2466 right_z=0.0752 right_yaw=0.1454 right_pitch=0.1576 right_roll=-0.1159 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.306, 7.1453, 1.6825, -0.0562, -0.0513, -0.0122, 0.4718, -9.2513, 5.6547, 2.0342, 0.2418, 0.0269, 0.7302]",
      "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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7956, 1.8717, 0.7849, 0.5323, 0.6426, 0.1791, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3847 right_y=0.2465 right_z=0.064 right_yaw=0.1579 right_pitch=0.1287 right_roll=-0.1388 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3333, 7.159, 1.7167, -0.0904, -0.0513, -0.0122, -0.5128, -10.0171, 5.4085, 1.79, 0.1636, 0.0122, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb9492534c8fed236140c4d7e775602a5164fd4a198cf66310763c63c4f7f45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a1531ef17c149d63f52fe0e73643bcf4125a0f7c004de76625aeb71d1f61a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f02a67f75d603f2e6572bf363516b51869aedd3dd1c39591682e0239c8ed505",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQn7buQiv0FTfaUPGU-pH9_mJPSbQZM9HezPpe74neH2-siSXg9LxVclzvDRRRaFhETdgaLy0iolwtoIiHCUmkHL-UA4fZEtHm9Xdb6pQfkFqVcLRkXi0KhWHzUTa1QQQhOFK9FVeEM4l0WnK4RwGfHbM9cwG_uz_bO5-yOENqat2y0zMZJbOToXlRtMdyZ4tqEAprHOY4fC5VQimTnWWqqPtK5KIj-0J-EnS5l7JENIuUY0vV60vhSG6JBKSGnuobG8NYCaqoqsWynqX6UA_Q68Psnk6hZ1zyxUXDZIjZHD-Bn9c4OGRZLsFRKDKzA226FA15NUMSKTxyZ6Lx3iVJ0cQJlf6UJ4RzE7fs20AbYGdURqqqw7tTa98FTVh5Y6n4N1ucuO3yKqpm02DiNX0AEadBqTJMre15EPgM7LEQ_D8Gsdjtx7IWusQAgsoI13wdrl5qtl0oskLEUj7_l1VMWY13izhFC81maFhD2wUGC68oixB9MU7fa3JZSLZRdrlcwKsJk5Z7cOXat8bAR7rvk-mxBGYsQSnconoIqhXtQXrjQ-SaTeUb9fDi6aBALSNRPwOKLPuVVewDgOhqsWxzjXI9r3y_7ZQT5636NMMRFaaoSFbtRspcIlKCzRaUJC_O_9S199yNDV7oalX6YmzODQSvKZsXIr30cfQ2r7vUZAQPZElOm6q2H3KY02tWaMqvJ6uqiWSvpD2zxEeZzG_0SWogmlGDDY-RCEHyLJVtta0hXHQ6ApsmTqKsFUWPeJt7v8_i00jBxP9GKM-RQeli3sYM9QGNf_vuJIzaq0YEtwtnmejj49r0ER9aPEcwbPoi5_gFF72H5Z0lNgObKVba_rjQUQrw5TQmrAgBFNAFud8QbLEHbGuJ5G88pbkvqsmtspLgit-S83AieuQVDLH-W1JPHUqao0WUd5xAa9fidlD0gfgdO_BgvyM-prpWlFbZAipd7oN56JSEIX5n6RzavMWT1ll-023xOI1Zrl719uGkmkIlKCCVSA-50m-rsUlg43WzMh9frWw4mPAr4tAKbP5D2Jua34yff60B4tueTHew52Zg0JDgeTUYhTYuNmhqzJtrXU98iLhI8Om36bYCxlonnsySIpXBo9nfi7YXIJvr7a3pO3tMmEMIS6QHZjI1SznlhxyZNwuYsr7GWUJZy7mqXA0X47hdWKaVEE4qsJ2w2dwqWVAiDYZt8EnBRJGpYWUw30XDwxleWpSWaPArASe_WqvgwOn_gE51Y4sjOBng4tIC-oM32X7fVoYudaytKJEbj5xaBJvNc9odx7sIiL_eSfgnIHjNepNMEnSfDP758KgsRJfMkq4RBcHWIuWDhV07BXoy2cCDrFTW_JAzKL1sPFecW5iHTVtkAuPJNZqWwY5raAVmQCpb1GkWz67HQ",
  "id": "rs_0928aa613a79b614016ab43425b4a887d080c5e866b3e080e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The tan bowl has been released over the blue bowl, but the right gripper still blocks the overhead view. I’m retracting it to its home pose so I can verify the two-bowl stack and approach the remaining white bowl safely.\"}",
  "call_id": "call_bqxnwE15nDWSgMvDBNZOsoQx",
  "id": "fc_0928aa613a79b614016ab43426426887d0845a2869e4adad46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bqxnwE15nDWSgMvDBNZOsoQx",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, -0.0643, 0.8085, 0.5568, -0.3279, -0.0555, -0.2317, 0.9959]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0049 left_pitch=-0.0286 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2965 right_y=-0.0057 right_z=0.1652 right_yaw=0.0958 right_pitch=-0.0158 right_roll=-0.1427 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.4701, 7.0496, 1.7411, -0.0855, -0.0708, -0.0122, -0.1436, -1.8803, 10.0171, 1.6923, -0.2271, -0.0024, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683b44762a3a3030d9aeb0bc46b5e8376a0ccb76822cfca15f4624e197644e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d7e642f28a779762689a42095ccfebf313008b0f5918dcb7e06eccd6237924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39445d60426d60a35cd81938faf820b4d440efd87d778f5f915513a1699d218",
      "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 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.7815, 1.6005, 0.8635, 0.3183, 0.643, 0.1883, 0.0406]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1749 left_yaw=0.0049 left_pitch=-0.0206 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3865 right_y=0.2393 right_z=0.1699 right_yaw=0.1232 right_pitch=0.2376 right_roll=-0.047 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.2239, 7.159, 1.6923, -0.0122, -0.0415, -0.0122, 0.1983, -6.735, 8.8821, 1.9609, 0.4029, 0.1734, 0.8816]",
      "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]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7956, 1.8717, 0.7849, 0.5323, 0.6426, 0.1791, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3847 right_y=0.2465 right_z=0.064 right_yaw=0.1579 right_pitch=0.1287 right_roll=-0.1388 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3333, 7.159, 1.7167, -0.0904, -0.0513, -0.0122, -0.5128, -10.0171, 5.4085, 1.79, 0.1636, 0.0122, -0.0513]\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]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, -0.0643, 0.8085, 0.5568, -0.3279, -0.0555, -0.2317, 0.9959]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0049 left_pitch=-0.0286 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2965 right_y=-0.0057 right_z=0.1652 right_yaw=0.0958 right_pitch=-0.0158 right_roll=-0.1427 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.4701, 7.0496, 1.7411, -0.0855, -0.0708, -0.0122, -0.1436, -1.8803, 10.0171, 1.6923, -0.2271, -0.0024, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683b44762a3a3030d9aeb0bc46b5e8376a0ccb76822cfca15f4624e197644e39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d7e642f28a779762689a42095ccfebf313008b0f5918dcb7e06eccd6237924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39445d60426d60a35cd81938faf820b4d440efd87d778f5f915513a1699d218",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQxzh8AwaVmVgB1iE_hYZRnDOOBjScPtSDhszdwTSwnb9KRHFWzc6siPy5zwninJr5gqfQAQdsmTy2XqAPsGe3NpzwTdYejvr_G6re-6NE0afEUCJDPqatBGYS8gQKpIQXV9bnV-1iT_IkuS6KchkXekkwQgVWZoZvKbZ2Yf9XViv3ouEb_LTWHMAnbFwMrVNONQLrMQMCZphBwS0nxnRrCsmouvtdYGv90KcvkCDmKSCW6qZl0MhRzU4THNO-dTzhAaZABvCepCvEB3065c-7OjxZ0okcP-m78_1ye5XvPdw67zCcNQ7FxJGZ9oduNBgfr8PoxaS1f6apLJxKmw00rCEjAJBDFHNDgKjO3e1kolRQHfzINUrzJzqCz5ZX_Hg0TFswA2UgYukz6R5k03qXc--l2QEqYSCz-quzk1XXfayoNoogb_2_Hww7DQ19fz6ClXBG39JogboKMGZ-giKgyMDA-5LyIFBkH49ix9cV0WETwdPzXbPk3VKlzvhNOLhdkWVTQkf7-FPVJtN3H40ztk_1Cc-YSU2MMDdLyrL_KQ0DdPHlbPYIgBnKU2JlGOgE29BEhA4NF3S7zzld2s-lyNdH3mmhYkVDDvptq4aURjscPrPGXpc-q2V4UyDkZfiBgVpHEVSqMCq1AcVeyW6GafMMWiYBSVI41aX2s4gcIuL45xU-XdUK9mGFcSL0o8z8puiGNaG5ywBlRF84-keZyDUu4K-_IIiSlCASJqEpC7uTZv7BakQb8pZySKGFLHdT9dPBhiwmosyaUsgOR6wb_UAIs-K-aswsPznFbW6ucxbOcReh8Xg4EGOyt_JfNC76Oe53QlqcsdJE8O32kYrpw2W3z4IXwWRtD7lSztw6npSJ7v8jr0TahhraNKEOwyv6PXglC6yawfO8wKgu57XDP3sDqdmPhG-gsQnyk5QTagoHHnPrrW3qICxBi9mRXn9uyDOumO_uLNUh7i9LLg6m0asm19fmqEgMr0vpKM_54fejBuvZbNRtcoQNZhRxLdWAC8xeG05V2v-AGUyRS-21R0h6xDMCPjZFffhZQ1yb-dGJSQUjKOixiyNHCIX-QymTr1M4BFw13nfHSQZF3LUnnaX_-O6wj3WFnhmHVVxmv9lfeDjPV8s6rkl7IZKyX-f6qbyICEGrjcMRp8d8DGqJ6yVNGaSjrjzbwFmrfTwTcMOtiYop2XQUtlDm00Bnxmpl21odch-X9bjLX7XZgrkdKPDZfO-z_oyCUD-2s0OlRed0WYw7RbzfMaM9iZ49HitZzngCcTGBWKaI4kvJHT3k4NxIL2zb-pKx21jct5Tw3k-AjGWJ3tj9qGyPEjRIDgTWU6pd19bQIRmToCamAgmP6lVVBavdb27D4G-pHzFDYLrWSQeBzW8dvsBfEQxfN5Z7DHEpSQMfU55h0RAu_2ixEh4UAk9fb1jMOZCdLZrHo-vSr_eeHTRh6fIcywUVYJVvUW4quarB5jYB3_bYupxU5iqTsNwvKMlTuDG1NeypyiTevkx79JsZDyizWPFfeYD1XJsOTOyWN-x9DrqIRvKlnd__rF3cXzASLPKLQi_Xqsqz_3lRX7qe6HhHozqECKzPENlDf704DMOSr96aNhH1iXqozAc6BDp4eRutzhGn7SguFvjcYRFe6g21q5rfhHZoBTyW93jg5FKWQwCtDVOvPvb4Len0k5kMrqLnKGUeXPydZzfYdCuna3lDbrll0Ajp8ytiG0PBgBw36ekID9HavzEd9cws5PmQ8_kRl2vQIyS4_Gb1WciKW4ATV4j9PvjUR",
  "id": "rs_0928aa613a79b614016ab4342ae49087d086ff5155c48e1156",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.14,\"left_pitch\":0.25},\"note\":\"With the right arm parked, the tan bowl appears centered on the blue bowl, and only the white bowl remains separate on the left. I’m moving the left gripper above that bowl with a forward pitch that should allow it to descend to rim height.\"}",
  "call_id": "call_VoUKOrxKkIpZ5vOf8cS9mbBk",
  "id": "fc_0928aa613a79b614016ab4342e865487d0837bc84cd6e3abac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VoUKOrxKkIpZ5vOf8cS9mbBk",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6609, 1.5364, 0.63, 0.4034, -0.6037, -0.2863, 0.9995, -0.0658, 0.8143, 0.556, -0.3592, -0.0647, -0.2504, 0.996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1624 left_z=0.1163 left_yaw=-0.0248 left_pitch=0.1638 left_roll=0.0412 left_gripper=0.9995 right_x=0.2923 right_y=-0.0042 right_z=0.157 right_yaw=0.1122 right_pitch=-0.0537 right_roll=-0.1467 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.5299, 8.0752, 1.8486, -0.2906, 0.0269, -0.0122, -0.1436, -1.388, 7.1179, 1.9707, 0.0415, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d422eed848a77d0f50829d1dfd964be4e5003039a3de4d653c6c996992f707a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44232ddda848fdb7c50eb06c73f641f9ff5507b075ae5b9cc8f0fcf310e06b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911de76160795286d548cbbc5def54e007761826e7d6ce676ed97e7509cce84e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7921, 1.8545, 0.7879, 0.5461, 0.6472, 0.1837, 0.0436]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3879 right_y=0.2466 right_z=0.0752 right_yaw=0.1454 right_pitch=0.1576 right_roll=-0.1159 right_gripper=0.0436\nstate[joint_eff]: [-0.1709, -1.306, 7.1453, 1.6825, -0.0562, -0.0513, -0.0122, 0.4718, -9.2513, 5.6547, 2.0342, 0.2418, 0.0269, 0.7302]",
      "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]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, -0.0643, 0.8085, 0.5568, -0.3279, -0.0555, -0.2317, 0.9959]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0049 left_pitch=-0.0286 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2965 right_y=-0.0057 right_z=0.1652 right_yaw=0.0958 right_pitch=-0.0158 right_roll=-0.1427 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.4701, 7.0496, 1.7411, -0.0855, -0.0708, -0.0122, -0.1436, -1.8803, 10.0171, 1.6923, -0.2271, -0.0024, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6609, 1.5364, 0.63, 0.4034, -0.6037, -0.2863, 0.9995, -0.0658, 0.8143, 0.556, -0.3592, -0.0647, -0.2504, 0.996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1624 left_z=0.1163 left_yaw=-0.0248 left_pitch=0.1638 left_roll=0.0412 left_gripper=0.9995 right_x=0.2923 right_y=-0.0042 right_z=0.157 right_yaw=0.1122 right_pitch=-0.0537 right_roll=-0.1467 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.5299, 8.0752, 1.8486, -0.2906, 0.0269, -0.0122, -0.1436, -1.388, 7.1179, 1.9707, 0.0415, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d422eed848a77d0f50829d1dfd964be4e5003039a3de4d653c6c996992f707a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44232ddda848fdb7c50eb06c73f641f9ff5507b075ae5b9cc8f0fcf310e06b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911de76160795286d548cbbc5def54e007761826e7d6ce676ed97e7509cce84e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ7yPmiQvEc0fl2ZzOQ-VDhCz3ePczuRIamcQjRl7Tels6A5Pj7EhpRIJdZ4nTzVg9bXJHaCX1XsW5v575ivpUR5871GC3KLT3dPmT2iRypP0ilcKIuM2wNF2nSgaVJnOMhY-V31FiqqrsOXutSd7gF5v8BvYsbK_qKveiXSTxKisOgNell8AzQUE-MzOChi31fMDEixz8qL6FOdOGg2o_IdGbksR771mBJzdBmHuqwQr-YcYtZibPTJmZlJ3D8A0dVwmQ7iykKq1aECWATrSYqnO9iT4bZgj_gY4xzCxz9j96ohcjzEI2UD7smy1sT7reDe_7yFuqMvX5NrY01wzeBGXZnLIv_MQoHGJVPjgyBG4DC-GEvsf-5ZLP-sRe97W7LqkCmmOAq2YI98RZAvo2nf4J7HhbXuP2GA282rkUhI09pb7Bi7LMFLYIfrIcGb0Uh6A68qrfcGjzHz1ZAVA5hKgw8lbdpe3LeWpm3l-FqEHvY-xT6kx6rSqJ7PFS2q0rMKFVbvSa0Hslu1cXvRXwEtXiNBdsXnuUqr8kv0MJLmBOpuTxM-1wk-JN4_8F2DkgN9y4EHs11Kh_F256i7L9r4tr261A2o891xlQtqnxP20uerh8Bs-7A-nAQQnrjomq9N329oDbEQZtldS1qT-FoX0sP6k3k0BgFVelO94hmNvcTFR59cEiwczYzkgyZGfnRKChO3hBVEFq9JKEux83WzGOjJuxAWGGbT0qix3sRtTrT6_2K_-NhzxqgI7yl4LgK6R7nTK9Ik8Zq9yzxCmppxSvA6hgexG0BRZL4oGfFS1WN_jEGaqO_1QTYP3CvqNNfAkGTwgHUJU85AvhvDBGESujlkqdVwNW7Xrakk6p-QSn0n2RJW31gU_gPTvhDUyNHoAPJcIT34tOt6IDsgCSwmaCC4DvY2mTs1m6_c410zLQyQyrwQui8j0oNqyAgW7NuueSy0B_XT4z-Lj_9EHLHZS9BMu5T0-LTjxetfxDH1Q-qaiJbEcBC82lcV559uANHA5R0TUdNjUXj0ZwUXTsEjADKk6pgB9XbxqRi2brSt-P1hQY7Ge3_L2E5aKb2NCgmdkMnUMGJjxYI3PiYVGmnSta7Faz5dA_DdRiLhMsTyRwL-t5sogsMDFD7vo2FFEm7WTJFvFVxTFzH7XJQr19pcTrdymocBvHAW5qpDgKLOj12JG7H_ws8CnrKwtTY7BGWrqx0z6Dnl5T-BrBY4HUaaiewxEuaP2Q7gn2qPvswz_i2zYLA4RJN3AI-n8ZA3dJOJTA8Ar23WUwpT4cZaELBWlhyR13m6K4gzBoAMMNyb2ruPn2a3hiFxrBltn41MofDp-tgc-aT3G4l7aOFfdD60BT_6EpmCDcBgbOWGxT1O6-gcl0-8ZLr-eom0Bq6Vip256CEpCX-sgODgR5GOq4ovbtQvNmwlSj1itSuVx8IDrjs80CTSv1WD9vqe6HM0bkltd6UDfPNlqS5LmP_yjDbZWcjz0iiv1woXS1A_t0siqIUbQibXo0JWXpS2NN5zhaSAMcSyKdiAEwGDzfrWouBvaEG3Ff1FgE2gCAabKS2RJ3NwDsRyw7aPxZkKRr_OT_HOzecuaZlxqpgvicoCmc6C9Y48mKRsZLDSsTOx3kQc5Tf4cH69Y8FVO51O9UwgVr_ijadlkUjOA5g-RMhkJf6XJgSKkD3_HoB6qydt__CqZGTTWgwUZRdu0dI_3s-5SNrAw0v7_MzLOJgr8L-B8yQGt2fA_sqwo4lY_v5-h432MjLr_asuoHkjn7Z-nPxCLoos7dBITVa6QlYFlLh4Oy0NsJS0wu3KJVKqscryCdkuV9_Sxr648Am9pGPusyN7b1QcxoE5DySL4-8nytPwKhXEieX1Rli6jlGkWYfyOnP8FPCZ1dvH0plWcTKpFP7X5DYa2_n4o2SNG1g9-C4LfZu-1qpQow3TjCsYs2Jm5hMj4oomqd71pCMHpK6p02-Blax_nsxVxyEt1IuZOJcQvdw-rrahQz7D-jAlw0prCkHAcMo2XdQ2JaGbg9ZOvlKyHNlRK5aX1FbAx6Oj6m6msVKC5oUZznasLVXHEh3VzvNAC8fQpgI5b5cU1MYXaVJ8Ikoe8MQ-pObO5lIfkQZTtWXqDiLTarf8khZPhJCeQOab6iCWIJ3K6h3lXCokv99qCT_NMkFBvAikXns9fgdLQ1n-uWpgC_Oi9QVxY3547xE_RAT4o-5IJVQUQ0ItdwuhLPaKJ8U2sYSatmdccC9EXZHRvdqMGvbS_PcmjWt5G-UgG-NaCDs-bFpbMzPwSWIGgKNnO5hUd9yckb_uu4ebYft5kE3nuiHAzQdcfsB5A6vVg-ck-nDIwCWr6w6oJ5brRVPb_ux_9A3yKmNT7dv4X32XbcRtns-cDt-HakVm1LtNbCDtRhsAbsZc5WJPluq_CbtAI6h_5GXsnnObw2M2zllWtHqsDS2NLHRlaIRBcL7lAqq-jZksPKr2EAGQjsHxyxEBPdow2YGGtMlf_6ZUtNrsGiSGwNOJFmB0JURETnPzx33vOWDfdBBoX9Eq3eHLX3APkGIDLNriy9zr0jZZIBktxDHD_TzoVyRE_AdmQ_rT2MI4jF3Zb7wp6e4Ondbn7kmhY3fcq7AzHuKhl19F2MT2e2KbO5XLfFpKanuZR14OtGydPm6JqJYkonnU8Vq-dAgqEVdpw-8d12n1pdV3j-HeX3HpgyyQF90UWip1NoTNiJO2QA6ifV6U_kkjTsYAKlcOsi4qu0bPnVYtDkyGE5Q1e2RSn48hvcWcRO8Y93iFk_Tr9PHBcQPMlhQIlIrio5Oed0awMVAhCuW6OOfZjKMM8L5gWVmdEHahK28Ttv1z3X-Utq4XrFR2MlVJtiRgG28q2i5pZMjeV6YaPoWARa28eKD8lPuxxOGW-r6bwUoGRlnePoe5KrTLCBH3KdFWFQbG5A2YFQBL98pftXhOA_NRkJqHEM-jUlwdAXlAdBpyF87zAXD0sESpimQczXi5_cJT0TM-5RF-Ft3aUg6B9l9Gn1cdIWPx0Z8E7qmYwUaZKc1y0GG0O8nTBGwVZoFrYRHaW3b8ehVZn631O9bXkE1ccWnF5NFDplOeq4kV73FKkeV7w5FxXQ_vxRuBgMCTbXMUHrPtzRzzVdVMpbbZ1vbD9DDE8UUL_diQvtrelKxY1AEgGoIp14lQZIWGHDz_FY32F27I7V9oSQcD06Z9jFd4qFBIq6TqscFfVLD2goeMJpj_UIvo1iICS5cBAe3-ivGp2Kr-Tks-161-d39oIZrDmSvE3vVskUPdg6X_eJoKrxbvkuRB2p0k1z6Wx57Dpg5PN-Gdn62AYx4ytKvlrYfJg3YjGIMVoRRKc4UC97uRgliIfhPlKGeoFk7rm1Vhxg7qyVgWHm3YBb3Bj4xEQWgd1AIlccazAyceBTEuftIqZCfuwQCDb95IO-JHi6rOhYZjHY0JVqM2u6GuA-ws3QhVMj6Kf2REPl2-2wdcci_PYZ8yB1-U6VHPLU5NxLgmuysI0rIrzGgP6DhaOjbBUqoSfow6THRuRWT9Kr0z9T8Nr8TtjMprsIAjnhuNY2HBv0BDX_DIBzyIVmuvyf7OI8_NPU4LitcXMe3lGxgWF9K0iT3iSrrHw7nMbX9dWo_Q2ddZ2xoPe-GVT9KHm5d29D-WVllbecFQU-toc8ViJmzYIaWUwvgavqvNTJ5DNf3HTXtnFxeS1-HQaBRkL8h0_mfOLRS41hJLOq4tPu_6YJSNHXqB1wdsjlYAMn8NCLCWeAT20A4C2wNCwEVvjxp5SADqQ==",
  "id": "rs_0928aa613a79b614016ab43434611487d08fc76f1837d4fc34",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ7Enxu4sLq1VpjIAn7aL3BeJvdj1tOGBRODjQP1N8XCzDkwG5GPyhUQMCeAnIasSKlxdjGGlUv0NGrGeDUuQLxdbToMs1B_ycB_CzUkER5pSEDwI54UhyRJHn_IejT-DlvBBQUmYYFEvRcvkBFI9ziJDRq523tUBHie5whu4GYx0c8Fx5eEha8WQ013dGmdZ8V8ukKSR4megoWOkSM-r6X5xMPgzDP_4L9NgByS8oJXKV46Y88hYvTysb8dqlAozUNYTFw28Ktp43NUPsQbNtrimhW3Jb8O5gIpO5RqyOur40UnZ4c5eLJueonwaIqEeLRbPoSe3GcuQ1FcL-VAigT0nDAI62RjU66L-opKd-tMKSOfgKuIHZK6GRJ32FhYES8lx1dcY39vzxqDn7V5n8utg89BOue2IZNW85eau26kmrWSHSpRX_SlmWjlAHxywK7mFMujkI9CTGXZPMSslf3jRGDjtsF4xlWg1Bp8u9yPsRdjPUulkbqRutTML8mtM20HzOPfJEX4YPWF5RTcApUulq6_rcq9JsRXuP6OVovKHZTpGBgE0Gig1eSxCF03woLPeJNpX2aIFdVjNQfuXiZclnfpIV3DA6yIOVTytwF8FR9Ynpts0LgGQ-uus2tmYqagAmp17MPb07gI6yBlQSJ8iz9f1vW_O9dNt4uOxbBTQy9mlvpdq33eqskt2I5AzCSy4qXqzbCh_0qD6PtZaWz2-yss04Hfvxd-l7qWTORj6107nXSDIPv-AfciP16lyZrVtdEUL2TzE9gx2SGrQty8oTIHaqVmRTrP7Jno3uY0oqam8SqVtCM2-CCIEzaySb3_3TUJkT0V_6Q_071rA8c37-n16GzTDg5Xy7AHDqG_C2ECPhHp3p7WU4C9hDq2sWVrUJcXB0dpQBkgGBoE8M8YuvbimhjTFSf4ItR3ni2igP6sYm2T2aoXcsrtjKZ2Gu66J39YYcKIn6Boh0a0wnrTZsSZ1jEcKbmC1ugMZ2E1_Gas2ORKwZfa8Sk6lHi2MuHjUcG0DGoF6MMZYY2bSyDrszeNtDu89h67DK4Qji-3Xuzpyc74k__FB_KFnVZViNFtPYFDO2btBF8Y8gZPMIIjd8jggzfi2r2ePC96YDAKFMzvo3MBblYYQlzHm_lta1sHeogusfgE_gSiiYittlYe9AU_6EgBCxSKybhquWsS-SKdOZeewWQ7d8OCO4FSe-QErGooCeNmIVMOdI-XVRmyvVCkiyBTcPG3JkQW85LyzJYMDMnjiH_Bq3a4CD7Md2TuUiqp1F5xnpOrjbM6zED3q2YTzdbmWcKAneuPct8G6JIVV1IRCjcVnp0ol4V3W1CrAqakMu8ubjUSRYh1ajhhr2mDzTy1yQiQy8IExPhFbDGJgDxCAso7sZEUVIG2PmkZTqUqWBEABPmUdVYRkwoHvrINpdOdBo5hUTK1um9zWidgQZLYFNBC930TkxcMdiiym9O_h9X6PMAnZApCzPtrsWnmXVRIkXBL_yKtvjbDmgS5Z_E7sPrmQNEZSmAdDvOV8bzSSxm8zVEMvZAM55WJlM7HzwdF4AEeH6IN4jlRV1Iooe1yy1IAGQyyFDmJF3pj_iMs6ChG7sHz_z8fadzaJKNDfVqviAK84JwgaZ-ppZaTrHfRLztWscojpqw6LLzcwR08zjyNTg5W95e5JjHDonb89qr6Ty_Wy6Oy0TLmAdMsE2zUCRBY2_H6H9AeDPw",
  "id": "rs_0928aa613a79b614016ab43439377087d0a167e349711ad1e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.235,\"left_z\":0.035,\"left_pitch\":0.25},\"note\":\"The white bowl is large in the left wrist view and sits to the left of the jaw center, so grasping across its whole diameter would likely miss as it did with the tan bowl. I’m descending beside its right rim to pinch the lip with one finger inside and one outside.\"}",
  "call_id": "call_E508ZrPXIVnkbjhNtZGpsJsX",
  "id": "fc_0928aa613a79b614016ab4343a30b087d0b6c92b733879a045",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E508ZrPXIVnkbjhNtZGpsJsX",
  "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]: [-0.7712, 2.046, 0.7723, 0.8124, -0.7345, -0.3046, 0.9994, -0.0658, 0.8173, 0.5552, -0.3664, -0.065, -0.255, 0.996]\nstate[eef_state]: left_x=0.4079 left_y=-0.2263 left_z=0.0407 left_yaw=-0.0129 left_pitch=0.2351 left_roll=0.044 left_gripper=0.9994 right_x=0.2913 right_y=-0.0041 right_z=0.1543 right_yaw=0.1151 right_pitch=-0.0649 right_roll=-0.1482 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -7.8564, 4.465, 1.199, -0.022, 0.0611, -0.0171, -0.1983, -1.5932, 7.0632, 1.7363, -0.0562, 0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab63376d1e229ea926dfd122e38d6f490e8e3c96c4de73c1319ae70c9851e9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60437943e93d994340ac6ed83cbef7411ef49793b49ad8b59568214604ad220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81eb9a1ad6ce06811dd60d4edb75ce73c7593e3ca66c96c56767ab5223a7d0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 73 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.7956, 1.8717, 0.7849, 0.5323, 0.6426, 0.1791, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1746 left_yaw=0.0049 left_pitch=-0.0213 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3847 right_y=0.2465 right_z=0.064 right_yaw=0.1579 right_pitch=0.1287 right_roll=-0.1388 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.3333, 7.159, 1.7167, -0.0904, -0.0513, -0.0122, -0.5128, -10.0171, 5.4085, 1.79, 0.1636, 0.0122, -0.0513]\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]: [-0.6609, 1.5364, 0.63, 0.4034, -0.6037, -0.2863, 0.9995, -0.0658, 0.8143, 0.556, -0.3592, -0.0647, -0.2504, 0.996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1624 left_z=0.1163 left_yaw=-0.0248 left_pitch=0.1638 left_roll=0.0412 left_gripper=0.9995 right_x=0.2923 right_y=-0.0042 right_z=0.157 right_yaw=0.1122 right_pitch=-0.0537 right_roll=-0.1467 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.5299, 8.0752, 1.8486, -0.2906, 0.0269, -0.0122, -0.1436, -1.388, 7.1179, 1.9707, 0.0415, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.046, 0.7723, 0.8124, -0.7345, -0.3046, 0.9994, -0.0658, 0.8173, 0.5552, -0.3664, -0.065, -0.255, 0.996]\nstate[eef_state]: left_x=0.4079 left_y=-0.2263 left_z=0.0407 left_yaw=-0.0129 left_pitch=0.2351 left_roll=0.044 left_gripper=0.9994 right_x=0.2913 right_y=-0.0041 right_z=0.1543 right_yaw=0.1151 right_pitch=-0.0649 right_roll=-0.1482 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -7.8564, 4.465, 1.199, -0.022, 0.0611, -0.0171, -0.1983, -1.5932, 7.0632, 1.7363, -0.0562, 0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab63376d1e229ea926dfd122e38d6f490e8e3c96c4de73c1319ae70c9851e9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60437943e93d994340ac6ed83cbef7411ef49793b49ad8b59568214604ad220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81eb9a1ad6ce06811dd60d4edb75ce73c7593e3ca66c96c56767ab5223a7d0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDQ_28Q5LODMrz2SJOuRSUvWGFKZQekyHGKZCYRyyPsasx7FhSQm5NyysMWLpVwFgeDegRXBaxF4J02ExTOnqV-bn08GdSZ1gZQFOen1R0pLZ1iDdOwiMhbv-1-bWIvg4E9Oo3usw4hMw3S1ts18aeUhH9nCmuxgqyedtBl_iyq3D19TxemmZ1OXhqdwQvjzNPQUTTpI_Ma2uUEz3kQIrXUcu2daOvpbtkryCsYeV4MKwLxnV9H8_BwWaWlKgnVmS7LZ-vosJaCTrf7nWX5v9sOxLSshB6Zq9UEQ0BQTqiz5KP8EmtwFsvJG6POJY6SIUZVVI52yKTSddlwGQO9zd7_4PWJ8iLaAkfaiTisafsGqxB5_qvFWuNI18qKD3lHMpuSGIKtsEZ-oiIaUqpQI2Z4k0VTPAdahgsNSUgtqIOYt5pJijzdTtnJWVLr_yRSF0AZ8Idx20APzY7WovZ_DLB91d18W1MOfxOsGAZmUdeCGJzKXUXT7b2qEsXkUE-BgcUyOfScXWS5xNTpnYN1bp3O_epT0fg9Y5Ukx3C_OEjYlD1dRG8Wcbt-8RotApLZY6rOGGi7J2WfPjw5mXOSq97EziR1PCFia4haePQc3bACnxHEM3CSVLh8_AbURrjjFLHdkgBHOdGOQefUVxhr34K8KaNxEWq24mxuElSUYNq0na6FHQdPqnAkBZ59rSCdAdh6FSW_h05-oCyTebabzRS-BD-TzQ8UvCWTbO5qDi1iOx92Q1wJAG3yGFNf-Lw0o3nLJYgbfkMWL5vB1nd6XX77d6C9yLHCeLiqEDuf1AQ-ivJ2uLMxXsZa3AmdvaI3FIh9HThxy-rMn3Vp6Y_2Ty-3LbLmusd3_e-V8lT6UJWv63HQ7-hJUjTREolfDW0u-Lg1Bwng7PR2PlTvBLdRoFAtKWdeqZWYT3YsfTBm5GjE5Zqvql-VB8tMGgQhTfd4gg4pYGGi-222Nucj4bOiBuwAkNC1_DTxJVMn0CZp0UdeTCNmL8w2CKZrhRT_klwq_6t3zgNO-s7gAP-3kgingmjvdzoNTkhxiK0SeUjN6XvnpcUiLtW-9Now4alQ2V5O8i50YNhmgOs5IQDBOio4MaeI-JkDrBMkn2Z5WN0hwwukLnzRsc9GowFCyUF4Xmd4JAm-jxqyI1cOpnZhLv_fsSS2WWiUbzPMJEoq1DjQDLL3FdJRB5WKHcbYsuVHkr5EuYaaucLZM-J-1Do_j0JPiLrRrgWdXAOQ8xXTrNVkioreTI_goLO4E2KWzypEAubH8SbmGh4JGLOttiQchra8gWX13dCu730fSLuxuddn1Q1GFrfXggnGzpmkkK8dvKPutWfkb7NlepYv5HVTKbbR4fN_AbCt_I99oWX_fltVh89sQ0fpor7d70kPUlXxqG0gWsFaFrRi62e_QuKveYaBEpwOERbXRL3IraO_0SthUiV3u_IcMzp_cLtD2mrdWR5-1-qz_JtZ5uopQZO9A6fFAzrQdU3dHrHKMhbaDh9VXf6KrBWEQfXU_53U6mWE9UZhs1gt013FQZwSQVjLL3MZNmbtgv3KkXJYCZXVApPMg2DXcjv_HRbs3ZRjCI9noK33H-IVa3mhv3cFHWNQQ_x5D1nKrcIXR6_ejwtUp9IN2QIN94Q6UeOdMjO3jCVWs2x1gDM5PHGPMgyiPAOO3Xed7YmJH_meNJrtQJi_sKr6NeHDzsjvd7_gj6iLy0U0jn2C9ptqjEh19_xW8MXbuJ5gvwjxGgTBSA6X3zlU88fhmmQ-UNc2J0nPMUfmus5gkVK9q5HnJOD81UPhIZKoeg3S2zz3IV8-3ob84tBZyX-a39JEnDeF7Hs7lYodwEeq-YrewGt9mHbEBt9pmHzpEKeKT9sFYTGBUCTL3Gn4xZmsNYKaa05jqavlAIDlu2RkcyNoUDJDasB7XG-rZVbmKDCutDHEBk9QA99SGEZScXLRHTP88yy_w-meAw6Gsa4yTxwUIUC0DLy70LV0TGmL_Q0kQK0merZ9owJ4-l9ZNU1Kq26VEQfERf94YhLiPCv0oWLnV8XvKKHDZS5sNtmRWrCcLmZtdgeuf9ZNO45UvoUNyaRrjKCocQa4Y7AgbBbq_4OKWi0jUDmBK7K1Dm7KZAgeWwb2Vn1z3vNDqLLvvmbn-25xOI412WZ6VbVqN3tTJ7wcSpIl2XdJ635LTqicCu_g1oLj6erssDlT6ZJfkhM4hMTUIEqY=",
  "id": "rs_0928aa613a79b614016ab4343c917c87d09cef448b596960b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.17,\"left_z\":0.04},\"note\":\"At rim height I can see the white bowl on the left of the wrist image and the two-bowl stack on the right; my first lateral estimate put the jaws between them. I’m shifting back toward the white bowl so its right-hand rim—not the stack—falls between the fingers.\"}",
  "call_id": "call_nWqKdPtb1ZDUByGCgujxrfzH",
  "id": "fc_0928aa613a79b614016ab4343ea19c87d0b5f871b131c31d37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nWqKdPtb1ZDUByGCgujxrfzH",
  "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]: [-0.6487, 2.0026, 0.625, 0.9394, -0.6342, -0.2581, 0.9995, -0.0662, 0.8173, 0.5552, -0.3676, -0.065, -0.2584, 0.996]\nstate[eef_state]: left_x=0.4072 left_y=-0.1729 left_z=0.033 left_yaw=0.0046 left_pitch=0.2232 left_roll=0.0395 left_gripper=0.9995 right_x=0.2912 right_y=-0.0042 right_z=0.1541 right_yaw=0.1166 right_pitch=-0.0663 right_roll=-0.1507 right_gripper=0.996\nstate[joint_eff]: [0.5402, -9.9077, 3.6034, 1.7265, -0.1343, 0.149, -0.0073, -0.0889, -1.3744, 7.0632, 1.707, -0.0659, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e650b953c4a122a5c872b358623e316183d16cf3a2153d728b6bb4df03ab94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e27cdcef5327275e7ab41253d3cbaec440fd84f003858087db2b136f7bf173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4a2b5a6eb4959655554397fb6c7fc963eb30f6e87f662dc3dfa298991b4a94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, -0.0643, 0.8085, 0.5568, -0.3279, -0.0555, -0.2317, 0.9959]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0049 left_pitch=-0.0286 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2965 right_y=-0.0057 right_z=0.1652 right_yaw=0.0958 right_pitch=-0.0158 right_roll=-0.1427 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.4701, 7.0496, 1.7411, -0.0855, -0.0708, -0.0122, -0.1436, -1.8803, 10.0171, 1.6923, -0.2271, -0.0024, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.046, 0.7723, 0.8124, -0.7345, -0.3046, 0.9994, -0.0658, 0.8173, 0.5552, -0.3664, -0.065, -0.255, 0.996]\nstate[eef_state]: left_x=0.4079 left_y=-0.2263 left_z=0.0407 left_yaw=-0.0129 left_pitch=0.2351 left_roll=0.044 left_gripper=0.9994 right_x=0.2913 right_y=-0.0041 right_z=0.1543 right_yaw=0.1151 right_pitch=-0.0649 right_roll=-0.1482 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -7.8564, 4.465, 1.199, -0.022, 0.0611, -0.0171, -0.1983, -1.5932, 7.0632, 1.7363, -0.0562, 0.0317, -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]: [-0.6487, 2.0026, 0.625, 0.9394, -0.6342, -0.2581, 0.9995, -0.0662, 0.8173, 0.5552, -0.3676, -0.065, -0.2584, 0.996]\nstate[eef_state]: left_x=0.4072 left_y=-0.1729 left_z=0.033 left_yaw=0.0046 left_pitch=0.2232 left_roll=0.0395 left_gripper=0.9995 right_x=0.2912 right_y=-0.0042 right_z=0.1541 right_yaw=0.1166 right_pitch=-0.0663 right_roll=-0.1507 right_gripper=0.996\nstate[joint_eff]: [0.5402, -9.9077, 3.6034, 1.7265, -0.1343, 0.149, -0.0073, -0.0889, -1.3744, 7.0632, 1.707, -0.0659, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e650b953c4a122a5c872b358623e316183d16cf3a2153d728b6bb4df03ab94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e27cdcef5327275e7ab41253d3cbaec440fd84f003858087db2b136f7bf173",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4a2b5a6eb4959655554397fb6c7fc963eb30f6e87f662dc3dfa298991b4a94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRCwUUNymZ6oleDblhUKPAxy9QGUKEemGVJ8nD8LO90CDFFoxVwITNn1P4flx5AD4She-IZc3jVT4KpftuQwQeDHCF1LxfggkChVAVGFndX5uRbQ9KdfLevuMzmvjyIjR6TCyvuxKt5mgcdBKn2T53d-uflksW2TPwtQuX-ru_cnALS6Vg1i1z1aQ8KX2og4a0_CWoGt45y-G7wUjQy2BEWOtxVBGHdjyn9ovgW1GOKRJAELjQb1tHC-TeJw7djHSmEr54rEyfWFi8T8haIC2JP5M5fOSNoAv3xcnGsPnV9SgmjcWuPlbBYMOBmBwG5o2XgqfIdnu9rQnvjlNytFLw_AsnvXB9LXTwuE3xEf9HOEv46a73BHfRYZmVCUrLtfPGmH5uhGuT2TzGs4M_FbRrzMcZUbN5JjZ24jlQnPWBzMfbwGsQqpy6ljJOoA-DxTewGSADFM8z4vgEKx1PcqYvGpT4EzrRoWaOYad0sdqA2_Zk1D07h3dz8KB9MRuD37CyzVoIePeXWbnMYfplZtkQRXKfyInXWEF3FucBYeUExdxHlJSPgRk48nPCaDfiIfyh3wHRq-L800pAuWTAR8dU82wfKFcIkbjYbaXYelamDHj4L8pCDZH9vGXsDJdMw1i98y0Hdko6Ucp6PstnYmwIrU8ZYN6ecc6xmKjHPg2fBY_P7jOnWQsnSGzBVan51Goe-NfQaHSs6zw5aTh8tjxqHpcSpGbwzJb4PJ4l-jszAADtzXQq_nSjNFuIBP0w1W7_cUHQQVPGgQzjhbqln7bGBEmybtXEe3bpFE1W8Zet2hBDcsbjrphzA29-_KpiEMlhjhWEuKFjHTn1jOw6tQu0Ed6sz5nu_RiiW68l5KEQK4rom7Qz-UfElIv69geTzfVKszFMAzLT_mSlA5bFY-14AaxoS7Tt_0p-YElWJePsigJyl83ywbdye1tfb4uXN0S46KTN0yWJF_u-_dTvFjLyM2Ru3Z62H4h-eIuTmdZ4M8E3ssuuEdSWN2bTy6EBnRK1_QQlRYX2R3oATq6PEc2uj-PkunmmZOC6VO0gaDRqYC8mUYQQX8wh-2WkEZl6JliIdxMpn9ituZjNm3t-cVDlXeZIBk_xHNSAsJ-eSLqNFxVOEyCMpdbO7FxqSmxFw6-E3922EZ1YgX4OCa8FP_p5EQ4SVt8G_TOCHHJm77FmSJNs3Y6SsY91fjUFawYXSD1kyd6JTJKVQQGRXxXJJ0lHqlZwb0aQi-4pMwdd0-aBJtumKLA65rtu4c5bop5jmu_F3tjhsTaQFk4tJH_9-2jf6uD7BBxqNdP5tO7lbIZSDMWpwhMTBwgAM7-p9sLUIihYkeApb92FK3Hu1NCxcVaqPbXWxPPxqUqS_pmSPP8ugYqOV2YiwwL-i9Vi1GDwrJTVN9uTfF3UnOwcWwQUyRozSl2ETRJju3tfYDvyFtRFbPj1daXSQ_Us8NSZxf_in4O8-L1zJOYFXgVWUv6tmJpff8vfMmKtgmTJ8KI_SqQ3IJDsiUkFwY52li_PQ56pCpCcGzXiUvqyAfpB2SNektjQBlmwkMZytbtoqA0a-0azfPpw=",
  "id": "rs_0928aa613a79b614016ab43441228c87d0a6fbfbe37b2dcf46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white bowl’s right rim is now near the left gripper’s jaw-closing line, with one finger inside the bowl and the other outside. I’m closing to pinch that rim and will check the jaw readback before lifting.\"}",
  "call_id": "call_Kp0gsIToGDHDrdLAd5VWZry5",
  "id": "fc_0928aa613a79b614016ab43441fe1c87d096a83693d7b7a7a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kp0gsIToGDHDrdLAd5VWZry5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6548, 1.9835, 0.6361, 1.0222, -0.6361, -0.281, 0.0216, -0.0666, 0.8181, 0.5552, -0.3683, -0.065, -0.2592, 0.9959]\nstate[eef_state]: left_x=0.4151 left_y=-0.1819 left_z=0.0606 left_yaw=0.0322 left_pitch=0.3122 left_roll=-0.0553 left_gripper=0.0216 right_x=0.2911 right_y=-0.0043 right_z=0.1537 right_yaw=0.1166 right_pitch=-0.0679 right_roll=-0.1511 right_gripper=0.9959\nstate[joint_eff]: [0.335, -6.0103, 2.7282, 0.6618, -0.0806, 0.1294, 0.7595, -0.1436, -1.4701, 6.9949, 1.6679, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2304a385bf95b07cbeefd9f7803525410e705c52df94122f72cc0d6515d576eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6bfe443c2d402825990e2e9fee2803be27852b99410ae7cc04f71091723521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae5d9481c86a031ca368216102b5f61194cadf85ffd24a0ca3a4f0655191ba4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6609, 1.5364, 0.63, 0.4034, -0.6037, -0.2863, 0.9995, -0.0658, 0.8143, 0.556, -0.3592, -0.0647, -0.2504, 0.996]\nstate[eef_state]: left_x=0.3781 left_y=-0.1624 left_z=0.1163 left_yaw=-0.0248 left_pitch=0.1638 left_roll=0.0412 left_gripper=0.9995 right_x=0.2923 right_y=-0.0042 right_z=0.157 right_yaw=0.1122 right_pitch=-0.0537 right_roll=-0.1467 right_gripper=0.996\nstate[joint_eff]: [-0.294, -6.5299, 8.0752, 1.8486, -0.2906, 0.0269, -0.0122, -0.1436, -1.388, 7.1179, 1.9707, 0.0415, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6487, 2.0026, 0.625, 0.9394, -0.6342, -0.2581, 0.9995, -0.0662, 0.8173, 0.5552, -0.3676, -0.065, -0.2584, 0.996]\nstate[eef_state]: left_x=0.4072 left_y=-0.1729 left_z=0.033 left_yaw=0.0046 left_pitch=0.2232 left_roll=0.0395 left_gripper=0.9995 right_x=0.2912 right_y=-0.0042 right_z=0.1541 right_yaw=0.1166 right_pitch=-0.0663 right_roll=-0.1507 right_gripper=0.996\nstate[joint_eff]: [0.5402, -9.9077, 3.6034, 1.7265, -0.1343, 0.149, -0.0073, -0.0889, -1.3744, 7.0632, 1.707, -0.0659, -0.0073, -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]: [-0.6548, 1.9835, 0.6361, 1.0222, -0.6361, -0.281, 0.0216, -0.0666, 0.8181, 0.5552, -0.3683, -0.065, -0.2592, 0.9959]\nstate[eef_state]: left_x=0.4151 left_y=-0.1819 left_z=0.0606 left_yaw=0.0322 left_pitch=0.3122 left_roll=-0.0553 left_gripper=0.0216 right_x=0.2911 right_y=-0.0043 right_z=0.1537 right_yaw=0.1166 right_pitch=-0.0679 right_roll=-0.1511 right_gripper=0.9959\nstate[joint_eff]: [0.335, -6.0103, 2.7282, 0.6618, -0.0806, 0.1294, 0.7595, -0.1436, -1.4701, 6.9949, 1.6679, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2304a385bf95b07cbeefd9f7803525410e705c52df94122f72cc0d6515d576eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6bfe443c2d402825990e2e9fee2803be27852b99410ae7cc04f71091723521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae5d9481c86a031ca368216102b5f61194cadf85ffd24a0ca3a4f0655191ba4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRGtaLa0jk4OlBmz5c7lEHiyGqTA4kU4yS2975xH-OIUvzKRIeskZU8GqVzXd80191z00PWD4KrEeNQOk2RUxvG86UI3kkHk_f6TBK1xWO0nI7NSZN8_hX8tKTLbqZUYWyP8X9HoC_jQEceLEwvjjIZGnlbpgkTupAFF68UKTuuS5PLVqCAGBi8IPHben8PqGZx4HYRd8Svu4bHIo8F3OTe_nJRVtAlUn8oQwJ3z7LrrThADvkvXfP1132i1PQ4ZeoBMy0jBlVBo3g4dhT0UyS7E2NuyCV3rU5_0yzn8hV6WWyWXG7UeRze37zW3qu2P7LjwbOHyL5Kk20wP7KHoBnh1pDP_xsO39DygFKSubfDKkjJbaQvxIMIRAA1Ns4kVhfCQXTA5fWoJSYovczc0fXaCqVs9Io-T17B5YHS-r3MVBUMst1cgUZaNIMRZxpMAF2DGosjgjoMzUdyR1ves6N3yAy0PdG902dohJYEbrk8r6Ahg7IPcp4qt1awVI2f7D8rIRFCb2OoZwfssvt4-72Kg_XEFPHzv62NwJzCnX4Ewd5J-k83fHUDjllFpO8pwRvGDST53pxNpNhwQ-BeaN2STysX6P4IYr6eGZTELp3Ex1ljtdjUReg3LUjREm0nzZzR5I3vmJQIPvZ_kYRXUMnuLvJkMWlB23v_-tash-R1-H9OIGxj5IXracXITl3bRWegS37bFT_XdmC-SVKeA2m-LJPusqKDtbgTbqg8_zp1aOU_S-2IZktnN5_GhSIT9KuWqc6jnRbQUCjCHTiU-bEwxUcXA5Omjom9Qq4LzS2ptQC11TS0VENRYeUG07YYE_S_VN6OGAkevunpjw7Ex0M6CsqLF2-cwupYyNXDqffBf4IkM_B_yqV5w6-xwPse8e7f37A3DJ1dhbUb-BRu6wzwQEryk5AVmRWElm6K3928sx0UCxU75wBPL5z5DOeJoGH3pJqW8EE6px-xqNXRLTD5-LYljKXczjtB3-U0nGMU1ytTCs-KcfJmklJoOZRAw2BW-rcITsOemcUk9up2M_DU_7xhCJM3q3XmY2ltWJCfS733nBFG6zMY2rGhAh4vs0mvZPFQk8jD_K30p776WP4L68_TLgQD0xfkB6hBUKMEvB_jYKt1DDHmGOKp9wotRh-ui7izlEwblFlAISuYqPeozj_pv6RmwBD6xJBDnuRsw8Dz7JyutIICk0m2owZWTYl0EwexKnFrsqjD8zJF5tjdlIktv1HtWgIopyP7FMD60VSJa2s_WWymwLsXhFloMT58gZiNHm68AXP_QwWtvuAk_4FUz_U1ZvLG8X_vM51ohUznRzw7DvDo3IcYOLUbxECStqh5YkalQ9ueVghGa1bngrms552Ckxa3Hcg-pw8oT_SKjozmupOy8rHH5uA8VO9Kz5tyZ1BPPL3cSNY7AkwOng==",
  "id": "rs_0928aa613a79b614016ab43444c1b487d081635ba4a5598d97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.17,\"left_z\":0.135,\"left_pitch\":0.25},\"note\":\"The left gripper stopped at about 2 mm rather than closing empty, which is consistent with pinching the white bowl’s thin lip. I’m lifting it clear to confirm that the bowl follows before transporting it over the stack.\"}",
  "call_id": "call_NuvK439vKSjHiOL5cOG6zvK1",
  "id": "fc_0928aa613a79b614016ab43445487887d0a6c30f28679b952e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NuvK439vKSjHiOL5cOG6zvK1",
  "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]: [-0.6315, 1.6657, 0.6746, 0.6308, -0.617, -0.3119, 0.0258, -0.0666, 0.82, 0.5552, -0.3698, -0.065, -0.2604, 0.9959]\nstate[eef_state]: left_x=0.4096 left_y=-0.1685 left_z=0.1274 left_yaw=0.0498 left_pitch=0.2801 left_roll=-0.0684 left_gripper=0.0258 right_x=0.2909 right_y=-0.0043 right_z=0.1529 right_yaw=0.1173 right_pitch=-0.0713 right_roll=-0.1514 right_gripper=0.9959\nstate[joint_eff]: [0.3897, -8.0752, 8.0889, 1.8486, 0.0317, 0.1197, 1.0281, -0.0068, -1.3744, 7.0085, 1.746, -0.0855, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457cc70db5b21e7129e84b70aa5093e4d0bf1bc8895bc31b148ee0e91ba404c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722c5a50daa1263837339ee889c3215ac904ab191c8a379ec48368cbd43d37f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5347341a4a90c926e3cf918a0cda2b7cf063b301aa9aae92a77e1fbd0a3dda6",
      "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 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.046, 0.7723, 0.8124, -0.7345, -0.3046, 0.9994, -0.0658, 0.8173, 0.5552, -0.3664, -0.065, -0.255, 0.996]\nstate[eef_state]: left_x=0.4079 left_y=-0.2263 left_z=0.0407 left_yaw=-0.0129 left_pitch=0.2351 left_roll=0.044 left_gripper=0.9994 right_x=0.2913 right_y=-0.0041 right_z=0.1543 right_yaw=0.1151 right_pitch=-0.0649 right_roll=-0.1482 right_gripper=0.996\nstate[joint_eff]: [-0.6359, -7.8564, 4.465, 1.199, -0.022, 0.0611, -0.0171, -0.1983, -1.5932, 7.0632, 1.7363, -0.0562, 0.0317, -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]: [-0.6548, 1.9835, 0.6361, 1.0222, -0.6361, -0.281, 0.0216, -0.0666, 0.8181, 0.5552, -0.3683, -0.065, -0.2592, 0.9959]\nstate[eef_state]: left_x=0.4151 left_y=-0.1819 left_z=0.0606 left_yaw=0.0322 left_pitch=0.3122 left_roll=-0.0553 left_gripper=0.0216 right_x=0.2911 right_y=-0.0043 right_z=0.1537 right_yaw=0.1166 right_pitch=-0.0679 right_roll=-0.1511 right_gripper=0.9959\nstate[joint_eff]: [0.335, -6.0103, 2.7282, 0.6618, -0.0806, 0.1294, 0.7595, -0.1436, -1.4701, 6.9949, 1.6679, -0.0757, -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]: [-0.6315, 1.6657, 0.6746, 0.6308, -0.617, -0.3119, 0.0258, -0.0666, 0.82, 0.5552, -0.3698, -0.065, -0.2604, 0.9959]\nstate[eef_state]: left_x=0.4096 left_y=-0.1685 left_z=0.1274 left_yaw=0.0498 left_pitch=0.2801 left_roll=-0.0684 left_gripper=0.0258 right_x=0.2909 right_y=-0.0043 right_z=0.1529 right_yaw=0.1173 right_pitch=-0.0713 right_roll=-0.1514 right_gripper=0.9959\nstate[joint_eff]: [0.3897, -8.0752, 8.0889, 1.8486, 0.0317, 0.1197, 1.0281, -0.0068, -1.3744, 7.0085, 1.746, -0.0855, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457cc70db5b21e7129e84b70aa5093e4d0bf1bc8895bc31b148ee0e91ba404c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722c5a50daa1263837339ee889c3215ac904ab191c8a379ec48368cbd43d37f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5347341a4a90c926e3cf918a0cda2b7cf063b301aa9aae92a77e1fbd0a3dda6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0928aa613a79b614016ab4344bc60887d080bf529d367b677b",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0928aa613a79b614016ab43450088887d0ab06b30d5faf187b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.105,\"left_pitch\":0.25},\"note\":\"The white bowl remains visible on the table after the lift, so the previous close did not securely pick it up; the two bowls sit close enough together to make their facing rims ambiguous. I’m reopening and approaching the white bowl’s outer-left rim instead, away from the stack.\"}",
  "call_id": "call_GA8aZTCUkWIDpR6p3EpwPKsI",
  "id": "fc_0928aa613a79b614016ab43451802487d0b54c06b713f20e56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GA8aZTCUkWIDpR6p3EpwPKsI",
  "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]: [-0.3519, 1.5761, 0.4561, 0.7296, -0.3786, -0.239, 0.9949, -0.0666, 0.823, 0.5552, -0.3698, -0.065, -0.2626, 0.996]\nstate[eef_state]: left_x=0.3982 left_y=-0.0728 left_z=0.0927 left_yaw=0.0813 left_pitch=0.2106 left_roll=-0.0573 left_gripper=0.9949 right_x=0.2911 right_y=-0.0043 right_z=0.1521 right_yaw=0.1186 right_pitch=-0.0745 right_roll=-0.1526 right_gripper=0.996\nstate[joint_eff]: [0.2667, -7.6239, 5.3812, 2.1123, 0.0513, 0.2125, -0.1197, -0.0479, -1.6615, 7.0085, 1.6825, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111f45b40539f84fa543a5d1ac5d2bfb0aa0c1746108e563fcf5a26ec7b24bad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dadbed747b2fc1c6dd04f648f0b5f5d07f70a5d3c542985935faa6a5f376028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05172ebfb3fc722b2b929175c701129d71efb83953bd3084c712076aedf0203",
      "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 82 changed as sent

message 90 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6487, 2.0026, 0.625, 0.9394, -0.6342, -0.2581, 0.9995, -0.0662, 0.8173, 0.5552, -0.3676, -0.065, -0.2584, 0.996]\nstate[eef_state]: left_x=0.4072 left_y=-0.1729 left_z=0.033 left_yaw=0.0046 left_pitch=0.2232 left_roll=0.0395 left_gripper=0.9995 right_x=0.2912 right_y=-0.0042 right_z=0.1541 right_yaw=0.1166 right_pitch=-0.0663 right_roll=-0.1507 right_gripper=0.996\nstate[joint_eff]: [0.5402, -9.9077, 3.6034, 1.7265, -0.1343, 0.149, -0.0073, -0.0889, -1.3744, 7.0632, 1.707, -0.0659, -0.0073, -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]: [-0.6315, 1.6657, 0.6746, 0.6308, -0.617, -0.3119, 0.0258, -0.0666, 0.82, 0.5552, -0.3698, -0.065, -0.2604, 0.9959]\nstate[eef_state]: left_x=0.4096 left_y=-0.1685 left_z=0.1274 left_yaw=0.0498 left_pitch=0.2801 left_roll=-0.0684 left_gripper=0.0258 right_x=0.2909 right_y=-0.0043 right_z=0.1529 right_yaw=0.1173 right_pitch=-0.0713 right_roll=-0.1514 right_gripper=0.9959\nstate[joint_eff]: [0.3897, -8.0752, 8.0889, 1.8486, 0.0317, 0.1197, 1.0281, -0.0068, -1.3744, 7.0085, 1.746, -0.0855, -0.0269, -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]: [-0.3519, 1.5761, 0.4561, 0.7296, -0.3786, -0.239, 0.9949, -0.0666, 0.823, 0.5552, -0.3698, -0.065, -0.2626, 0.996]\nstate[eef_state]: left_x=0.3982 left_y=-0.0728 left_z=0.0927 left_yaw=0.0813 left_pitch=0.2106 left_roll=-0.0573 left_gripper=0.9949 right_x=0.2911 right_y=-0.0043 right_z=0.1521 right_yaw=0.1186 right_pitch=-0.0745 right_roll=-0.1526 right_gripper=0.996\nstate[joint_eff]: [0.2667, -7.6239, 5.3812, 2.1123, 0.0513, 0.2125, -0.1197, -0.0479, -1.6615, 7.0085, 1.6825, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111f45b40539f84fa543a5d1ac5d2bfb0aa0c1746108e563fcf5a26ec7b24bad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dadbed747b2fc1c6dd04f648f0b5f5d07f70a5d3c542985935faa6a5f376028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05172ebfb3fc722b2b929175c701129d71efb83953bd3084c712076aedf0203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRYdJS4IKIWP6_1QcPBLWj6NzVtSNIHJwv6w9uoQaeG2LcU59lhCGNlmkGF6dhglDuqhMMd_sAbQAI8FLsJfSubxtLmuPYU4ZICVgDRfX8qxG5Pj8uekuo9K-nuIcqjh5zLmdKGTJPhe6m0etroJSe6dS4htGg-WyB3ZiLm-B5QF6RVk_uWnt6MTGUTD307MUtrQHKXwRJepLTIHye8MmFFsF_RhUpNRTrBEd6v4k-evzeVJDg04O2RZRorWsijOiMk7RqiJB5ktl_sn_2vOeH36DHrOxDxEFNudV57mmdiHK_jAd9iKNANCUSJ699FX9lTg0nfLW-m_YY321M0OM2z3vjLo8PtIz_f6BZBAv8z2D0XExfM1udwEf2s-Afl6fTU-MzONHhgXIB3rvD017rds7dcOIKMHSftAaIIyorXhDCF958jvAgykM7xo8iEe73g8wbARfc63pCttx7Z18GchecMtl0nHxoEbS8WgW6173JwJ3-ppKOAOy-F3omk5vFpDdf7lPxfyKGcQm80YvWAINphMt8VPCTmM1_5B8IVT7Z82M0TNg89yNKay8Maf7FRI1E8xn0Em-AssCmDVd5hHQpSCRqd7Gb5AGuHsc5BGizlESaJKLDO-x2XjEzb20r6wt1YmGZbvO3xvEVKPLbt5syRCounkXb2j9CZ0eTKzr8IGR4zRZINa65eKuM9tWowDAElIjPPg1VfZHTSNWv-5zdsrgIHDf4G4DZ7zD8sRIIun6YG-Tx7po1Rj3fCd33ncTQO5SFQFX08pFtOoOe860suxXSF2oqxOUE6Ku8X8fKZnLlXTazV6hA0uvjywAbU491SHpZffIXuPuGMZlmMFaEkWK24B7AgPXRBqzBzrHzN3HolxVTpUlMiS99CJ84m4K2f0BlhD8_BF_QUeoNOpKFzLP4Lrbh2mloOCNy0GrgbXPXdBDwDXgh6ToDPVZq5E2eI2ChVqqeixBLn9GNX_tRdMy9SSfYcH8igDC0IwNmz6J-lIJzITVM5nFN3rW119auiV_BT5CLdfgv6AQGCyjvhhKQRKtu_nYI_qnWTa4soH7zAByykumFUrdGf_t3gEX0JgToPbEXlaoq4vmNf6y32EXHpOfrNN5L5tatFXkZ-nrZ4g2RKCDpqclgQzFFj6pWWvnaJw7Fw2VUJx_T-wL1aA26RFqatXksCxDhDMuZDY_kqxn331mB0c_v6BG0jUdAw1H566e_a5GJ_Nr_j0scF1SusNRlGIuYEkb9761wwrDypZ275SuqAZyWneHw-cCDRVitd3ML1Qjo0P5nsVh-MmBaCedlghWEBW3CrTGqz6quieFGZFaJ1v9dqhBJfdGdwy3gghMIpy8O2fpwQwjLgJ5w2vICghTDeWZZCoGX81f-JdFOI9D_QGe0_Mtb2TGe2-SNxuzz29H2YnJaBKn2kbu4eARKVmF4UbpEmvZr-u1tmxizWmnJbr49oPtBMiCHQREt-fzvm8w6szlrSVI-GjMqyowbXNd70WHHitKxyRArpudwajhXirn0xDw3DZ1P36KEQ3LMZ1kINZq5ZBf0lJdD9-gwuAVMF9DE2gCSrpPHArFHg1-EkxcJf0Vt9NrQyGthc1e4r7OaWpWGEZTAdSi011-OeR9uER76i6ZnG73zrtWhhZRdInXWJauSjLQddJNlbq6h5ulJKVRpHvC9gdSIW6Y7s5lI9KVjXMIuoaMVgFWUb9nf5wRUF3NIo8MupKGd3ghP5WGD6fEuO5b4tSX-dOuZCJ03TKHA6YkH-CMBsJ0vs0S6HZo1XC1_0w4VawNqEDX6kMdHueAANwVKQKo1Y_FMoh6AZwKPl8YvtnV5VUFS_iecgn5sl_4Ti3qvKHzGy4-OSc9We-5UdNxpGbovi6q865I7uWPg72DU0JSbpvli7QNbZNSgzzNIkke5u0l9c2gIIPtuk3cgWyo7O3o5ApvT6LgDFUZCWy5RJ-FF0Ev7L9B6-togPCUJGG3MqGKuEKuTeKpsnLS8BvR90WjI5avecGj6sR_VISvytXIfxlBxJDn9BSd0ww55ZfBqd5cx5oKmNDCYy20aMuOdxzAftf0Etci9Yar--i4m6coEpLCj4_YhFoiDVcHMpd3QuDT_Xw655X3mUfV7u0rXr_sEw3cbKOPifRryiLYpii8ds-D6Vc2IFVJVVOIsFvBYAokaw70b_nPoij2LO6Wz9fY8MG5newKIfJWH00173JzeAqAbIfFcdLbaoMO3oz1-mflf9xngVKnEHkqeSrygZ0meGl0q95TSOxmohvjcnieecdp42UebBBUuxBBAnlc5LdGHRlI8KfykgNVphCIFzb8R2pyu_X0W5rg-quXeNhTPOmjYnKH2ROBSG_1EYBMsAf_jBMtpgcMwkL02b1SL-EvrYViezLfFMTLU2z7lX3XVaTuFrzskZXUyF73fOeMJb5J5TBvIfoEKRYYFDMmk-dADvJBh8N2aeckgK9oXLhQF6zIozf_4l4KUmYJwdEB0HRlYAdgaEBemHhs0U0pLItM2KsO-8F4I8UknYMMs=",
  "id": "rs_0928aa613a79b614016ab43454946c87d09b7aa4bfdae214e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.015,\"left_z\":0.032,\"left_pitch\":0.25},\"note\":\"The white bowl is now isolated in the left wrist view, with the stack mostly out of frame to the right. I’m moving to its outer-left lip and descending so the jaws can pinch that lip without touching the adjacent bowls.\"}",
  "call_id": "call_3jUufx5cJOZV8bMiIjNWnIlv",
  "id": "fc_0928aa613a79b614016ab434576c5c87d0b3fac8d5b53294f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3jUufx5cJOZV8bMiIjNWnIlv",
  "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]: [-0.1318, 1.9331, 0.3794, 1.1412, -0.2089, -0.1707, 0.9957, -0.0666, 0.8246, 0.5552, -0.3702, -0.065, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4023 left_y=-0.0128 left_z=0.0177 left_yaw=0.118 left_pitch=0.1692 left_roll=-0.0488 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1516 right_yaw=0.1202 right_pitch=-0.0767 right_roll=-0.1547 right_gripper=0.996\nstate[joint_eff]: [0.294, -7.1453, 3.5487, 2.1612, 0.0366, 0.2564, 0.0659, -0.1436, -1.5385, 7.2137, 1.6532, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ac606737904d703cf0444b179a7350fe64dbc699ae8fbd4101706c552f2fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7731557d2fc123db93f90138ab991621b4de247bac6fc6869cc53167a1e239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae53dbbd08595220320003b914cc4602d4e908c8418f511d3892b96f8e9f501",
      "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 86 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]: [-0.6548, 1.9835, 0.6361, 1.0222, -0.6361, -0.281, 0.0216, -0.0666, 0.8181, 0.5552, -0.3683, -0.065, -0.2592, 0.9959]\nstate[eef_state]: left_x=0.4151 left_y=-0.1819 left_z=0.0606 left_yaw=0.0322 left_pitch=0.3122 left_roll=-0.0553 left_gripper=0.0216 right_x=0.2911 right_y=-0.0043 right_z=0.1537 right_yaw=0.1166 right_pitch=-0.0679 right_roll=-0.1511 right_gripper=0.9959\nstate[joint_eff]: [0.335, -6.0103, 2.7282, 0.6618, -0.0806, 0.1294, 0.7595, -0.1436, -1.4701, 6.9949, 1.6679, -0.0757, -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]: [-0.3519, 1.5761, 0.4561, 0.7296, -0.3786, -0.239, 0.9949, -0.0666, 0.823, 0.5552, -0.3698, -0.065, -0.2626, 0.996]\nstate[eef_state]: left_x=0.3982 left_y=-0.0728 left_z=0.0927 left_yaw=0.0813 left_pitch=0.2106 left_roll=-0.0573 left_gripper=0.9949 right_x=0.2911 right_y=-0.0043 right_z=0.1521 right_yaw=0.1186 right_pitch=-0.0745 right_roll=-0.1526 right_gripper=0.996\nstate[joint_eff]: [0.2667, -7.6239, 5.3812, 2.1123, 0.0513, 0.2125, -0.1197, -0.0479, -1.6615, 7.0085, 1.6825, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1318, 1.9331, 0.3794, 1.1412, -0.2089, -0.1707, 0.9957, -0.0666, 0.8246, 0.5552, -0.3702, -0.065, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4023 left_y=-0.0128 left_z=0.0177 left_yaw=0.118 left_pitch=0.1692 left_roll=-0.0488 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1516 right_yaw=0.1202 right_pitch=-0.0767 right_roll=-0.1547 right_gripper=0.996\nstate[joint_eff]: [0.294, -7.1453, 3.5487, 2.1612, 0.0366, 0.2564, 0.0659, -0.1436, -1.5385, 7.2137, 1.6532, -0.0757, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ac606737904d703cf0444b179a7350fe64dbc699ae8fbd4101706c552f2fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7731557d2fc123db93f90138ab991621b4de247bac6fc6869cc53167a1e239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae53dbbd08595220320003b914cc4602d4e908c8418f511d3892b96f8e9f501",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRci8NehH1jEYs4NYin4_e2LZtgbsqe-esJJg_mFKm-DnNg1jveLZ-2mhH0ol23_UCRYM5GJDqq6-SwdsJaPHyWVXgnpzGVEBqmEiBB0ld2wqYE3pJbRLaze9CZFY8-QUhYH6PQUCvxrIDUw2SMUl3QaZD1I3N1VZY_K_qyfVZzw5Roqb6B1v-MEXljgLLwYuhrggTBBPTlHa18CiKKInRpZbZMNlaGcK7jR2Pq-4bJkyuJi-RhNPbcBYHLU3wkS7cfiAozCbhmgvYqqLYZeVC4b6E3aUZl3T2BsMfYzoFccMHIr1YrUQZs9hY1z-mvIkJmuCubGORW9uXDjKzEJ-ULvdDoXBg9DpS860yIaxHqEIzn28vfJID-YHu56bzigklPCEVoPfXS_kZnfqpo2DtAY31Xox2AhcQuLdcmAQXPuu34fo67f8hU0VnxeGJakQBtiM46FIWEmdEzyxbebGm21_i91MQc9Rm2YooVg7qnaRzkvV_dMh4_L4F1GGCoBHPJLO85Iho18vDElNwwZuZI0m49_AJAtFOnMBjN8EaUOs7wri6UTw1BqXuZnRowneMN2jk-YbwQll2DYVXc1jvMaN67nVFGM-t0sLHBrq8O1smbvPWXrUfgAzgBxZBpQJEASwcL5CfiQGB4YZ2eiPnkFRDTeBGm3nWaED-iy7qe08ZwFPry4MeyD0vlF-wO8BP3W1A4g1akhoDUmc1_lQM605UWoMh_GwZiCK0yKffEp7XNqgI_o56UbgNdM7ISQVSgfe01ITFfhEQ-qz4G3j012oK77dzo4oczG9xY9dgz2cctkiZb6TDyUN8F_kURA3az3bgawN0ysDaOpgMZD8ITK0nCFwyjISIc8CI5U9NqpMaEzF2BSzzBlWYc2NeQnUiOAN9NNvNp8AInZJkY4S3ndJpqwxfRqFqSDI2-_dcPXEJEbOtZ98fF1XloaiI1QEHLK7s6RfUvp2EENhl9IY2tbbDwdiMbn2LYnuAeyr4C85WfITLE2PCqi0uMdhWwu2WUfcIfco7uyPNqer6fDV3q7NFk2eDnEZZcuITfJloeWhuyQesohGEghOz6c6i7LDpcTqymCvjmhM1PiDd-kfg0f8cM4EbnolgsXQ0LBeRipzAGxFQRfAzzEyUHZ0nA4SPQKqqp3p9qoT2myGwEkv3pwYHr8l607_SslN9vN_jms4YEtcKMcLb2ElMdcz3JzViF5Vtv5CtECVjJRQB0vn00GiQiTLrkIJexX99Z8o8nTXLWKhgKXLfI_m7tvzIivSqYy5wDhojHMSf8jgSZrbZYYxg_0NZs1YdlS4qmo9xJvubXt2paHwSi1ZM1-MVFc4wPAXbs04EVStQ6GtjUB5Rwcxs4xgnjhU1GQ6EKOL4UDsJEsf-B_hiYtWCJ6pWlP-tKvdp8MR5VORfiFXbmJLBFdXHhWnrN80ojNmS9J4BVI0iYUjzvwpcAM1tAWmdXXBmjj1_0HQBaH6nohdTgnHwoXHQPoeOboA_zX0LdMfdHTJItz4BgIehGxEA-gpCrE65VAXEkSp9GjuxMo_M5hMlxiEuUQDSWjtnqErIrh9z4RUta7L6oWpTaLInvmsuqLep5ntw5jVZdyjVbrbmnRabDNIliMQvUaVlwIcqsSYkI0bKVpx-n3-uzufjfoch41q_ZV0rT3CvYBUOy7Oc-5PXH5UPbd0zIDf9xnC8zWqCkTsooSOoKU33pjwwioUMwDf0kjaeQXzGIOl5UShDd1gg1rSKP_qDcyu6qVwsFWljHF1hVwHZfa2Y75ayqiE9jsbp6kkWi0W59AYwa-3EfdWf19-mxdcApoDVakoX3TBR8s-nH-gN5_LDoF4f_L5FPC_pHlD0WhIa4R8QDVeSKTpaiVS2rUP-_ziFoofs2WibLB6BRMA2Xnv8iPYjWPfetl1JwXW7ra_xGlH1QsHlWcUtyoIBscOM2blJ1PiSIfS9RGinbWnTM4H9afZ3F7q4ACDdCD-7VLveBoFVyHLAoWgLRPYDqLVm4-i_JWRJy1dUZfDE=",
  "id": "rs_0928aa613a79b614016ab4345a5e5c87d0884ca3f41ba59c73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.052,\"left_z\":0.035,\"left_pitch\":0.25},\"note\":\"At the lower height the white bowl jumped to the far right of the wrist view, so my lateral shift overshot its outer lip. I’m correcting a few centimeters back toward the bowl and raising slightly to put its rim at finger height.\"}",
  "call_id": "call_MGA52jPdMAcTEm7Ix5luxUgf",
  "id": "fc_0928aa613a79b614016ab4345be24487d082dbcb4d30c84941",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MGA52jPdMAcTEm7Ix5luxUgf",
  "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]: [-0.2882, 1.9541, 0.3771, 1.2015, -0.3168, -0.1978, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.0654, -0.2661, 0.996]\nstate[eef_state]: left_x=0.399 left_y=-0.0571 left_z=0.0244 left_yaw=0.0707 left_pitch=0.2163 left_roll=-0.0455 left_gripper=0.9957 right_x=0.2911 right_y=-0.0042 right_z=0.1515 right_yaw=0.1208 right_pitch=-0.077 right_roll=-0.1548 right_gripper=0.996\nstate[joint_eff]: [-0.294, -8.7453, 2.7829, 1.9316, -0.2125, 0.0659, -0.0024, -0.0342, -1.4701, 7.159, 1.6777, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174371751e4911af4982a05318e59998a7c83f3271bc35aa280b1ba3e2f73159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d11dd38b6dcdfa783fd21e9dc3895562be8299a662800d52f3cb45de10b2837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f935a98c2e97b3aa2b7c48e8fb80902fe3af91883baaee8c7d38ba7ae61fabdd",
      "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 90 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]: [-0.6315, 1.6657, 0.6746, 0.6308, -0.617, -0.3119, 0.0258, -0.0666, 0.82, 0.5552, -0.3698, -0.065, -0.2604, 0.9959]\nstate[eef_state]: left_x=0.4096 left_y=-0.1685 left_z=0.1274 left_yaw=0.0498 left_pitch=0.2801 left_roll=-0.0684 left_gripper=0.0258 right_x=0.2909 right_y=-0.0043 right_z=0.1529 right_yaw=0.1173 right_pitch=-0.0713 right_roll=-0.1514 right_gripper=0.9959\nstate[joint_eff]: [0.3897, -8.0752, 8.0889, 1.8486, 0.0317, 0.1197, 1.0281, -0.0068, -1.3744, 7.0085, 1.746, -0.0855, -0.0269, -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]: [-0.1318, 1.9331, 0.3794, 1.1412, -0.2089, -0.1707, 0.9957, -0.0666, 0.8246, 0.5552, -0.3702, -0.065, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4023 left_y=-0.0128 left_z=0.0177 left_yaw=0.118 left_pitch=0.1692 left_roll=-0.0488 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1516 right_yaw=0.1202 right_pitch=-0.0767 right_roll=-0.1547 right_gripper=0.996\nstate[joint_eff]: [0.294, -7.1453, 3.5487, 2.1612, 0.0366, 0.2564, 0.0659, -0.1436, -1.5385, 7.2137, 1.6532, -0.0757, -0.0073, -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]: [-0.2882, 1.9541, 0.3771, 1.2015, -0.3168, -0.1978, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.0654, -0.2661, 0.996]\nstate[eef_state]: left_x=0.399 left_y=-0.0571 left_z=0.0244 left_yaw=0.0707 left_pitch=0.2163 left_roll=-0.0455 left_gripper=0.9957 right_x=0.2911 right_y=-0.0042 right_z=0.1515 right_yaw=0.1208 right_pitch=-0.077 right_roll=-0.1548 right_gripper=0.996\nstate[joint_eff]: [-0.294, -8.7453, 2.7829, 1.9316, -0.2125, 0.0659, -0.0024, -0.0342, -1.4701, 7.159, 1.6777, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174371751e4911af4982a05318e59998a7c83f3271bc35aa280b1ba3e2f73159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d11dd38b6dcdfa783fd21e9dc3895562be8299a662800d52f3cb45de10b2837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f935a98c2e97b3aa2b7c48e8fb80902fe3af91883baaee8c7d38ba7ae61fabdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRgye8qQ5uh9dINuYq7nfAPHihsqBNBr_SNxB60bj-iMNYcOylbBp9tjmJsfPYWrbGVEDpsdNUGSSEY1MTQKT-vr5GLIYvISUX05nS2w4Era7vFts2VdmoglajYBk5bvKQsy-VOKL7SXsREqNdc77LX8J6-xhBi7NyzqKUSpNRATYyoWLL5JHIEPsjASbbu5P6-kQJ5t9RL4G92IEm2pVcGAezUqchfdEiJcXPIIENJBmaWuN7G-keoI9UZo89qWRlLzl6aH04ejHjltbodIU1ZGMReVkiSzyDJfHcwLUFBCJVcfjhma52CWQGr5_PXS9ZRDfbxj1e8dFx7ed8hYPMDIfmMHDCkhRPQjiUy-SECO7k8Y0EnHUNSs5ffGRo39-mSKeoqgSWE8FDHpF7IHEB5Hl-0pMZfYM6_7W_yWkuiCynGrqXu34Qaj3xQwRxmsNlnq792pmnxoZKWLrvKtzX2BvLXblIjqIgxcYYHLfJlkMHPopN1Bhqn5DvPubGK8i0hSjB5OigD8LqyHhdaC-95gHfv-PTtpBesWzPlvLdXwbfxa2Cm_6squQMIRizUExdpwAMafGrOTn2f2ELb-St1rt70Mpo-cipEkRShDayYt_fZFlmA6lA_jDk7d84nq2EEmG1ZV9zHNfkiBZVanI8W-T0KqM2IQHPZ91RP6LQ3338FAwTFtc4RagIuCcxLsYQ6aelnFpAoZUvjVZCauEUF3CZhHlXZMhm-MqtMaug75E4C2MAzstDQHYyZnA99DLUUBqAHh3eNjRpOnnJzEPeVyTBmQ05ZRRGkNhsdtvza2wXPcEGjL6zmmL_u7Ttu65GlqFBHhwFFcQBEz7lcW4_p6rI31vVk4Cqeknh8NiXH5WI2HRE8uwVDjkt2n9OYxpu7N83joQTESwcJ-NzNSBmHph5rzZh7RDELeTe_VepZlXUWPdwv7sZ-vmzvbpVF45MyiqGP96GIVRBE8vEcljZqGjP5Lkpbuw4zLnr8lawEz1fjRblfBGrN8PDH0nRZi0_cC1d_PStMbAVbt7mBw6Migm1pUn-uXglMVNuaGrhaov6WIbdBzuCC5d7MX45deebwMkDwnmwmaWlVeW-R3CgnyxUiS-UmVTbmN0Np1KA5LR8JMLDXbgwNKy0pbYFspeNufPSxLOl_YU5uhtumsP9CMIk12ZBpIQvWSkekpCGE8BHYPoF-XqV65y72X8UjlrhCWTFuDhXJ2LO6G0aDmh3CxyQwe9Hrxs7IyvoNF98f5yXUKp1nu15xPELfAFstXZT0zVEvD3WLFq7pWtSWPxd2G_uUICd75f0I5XrgAhZz7KD-KZq485txKqeBdhZWYPm7_5jdxADnIrJKDxNFjG-MzQjsuzfwdv_nNUFtBIZ7q28AbLjbHFq_JUJ3mjx7F5nj0YCoKCIdV-LxE_66C3noX868-Btt4DEzeL3zxRBTjfmtWGdYh1HwQZJZ6JonjmKkriIP5PropTnXOycfkDzYI1P4eYTm5bxvyByfz0EI00JdQWOfll2HOaauZBL8JEHf-IKEXC8rXA1n_GToP8XTbncLMDs4Tpt3A3Z1QEajA6ETDOdQWDijMMwSpXSsyMWygaLd3BalcPYPvGh3bKhlCOsPrUMxR1UIBPBGIdjZQccCouY8E71fQJ6pzB9UIlHHzaNZKtou-nE-l2RTGpqhROmXmc2rj5vHVWT-_MtoxWyB8tlHm7WeW8-ogcIQWVYDB9fmAzmbwaq76aXYcyI4pqR4wCOHEsbhqDzo72GpcHTqjxNDRpqpaAb10cH9Hj-7ootEHMrNiTK9zssJ80maS7q8qqoVdw7KMmizpo2aBUxXC8tCpnnS4chVREUrC5YZDcRW_Q6mDrvg_CnJtuz--jkGCU5yqM6Lg9MiqvvnwAsxdvTCFzGtN4RejfdsjPDklQTfGywRDd8NVSiiTAeVxO5K06qgQRsVP7niewkCvvnfRvjKAdKfacy8tXhZkQ9V",
  "id": "rs_0928aa613a79b614016ab4345e120887d099badd56feb999ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.03,\"left_z\":0.03},\"note\":\"The white bowl’s outer-left wall is now clearly visible in the left wrist view, but it lies left of the jaw center. I’m making a smaller 2–3 cm correction so the closing line intersects that wall.\"}",
  "call_id": "call_x4q7mQUnXxp8dnvqahTa8V1P",
  "id": "fc_0928aa613a79b614016ab4345faf2887d08c470e853c3c8418",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x4q7mQUnXxp8dnvqahTa8V1P",
  "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]: [-0.3012, 1.9541, 0.3771, 1.2011, -0.3679, -0.2066, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.398 left_y=-0.0533 left_z=0.0254 left_yaw=0.1062 left_pitch=0.2228 left_roll=-0.0359 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [0.1026, -8.6632, 2.7692, 1.8779, -0.1783, -0.0904, -0.0073, -0.0342, -1.4291, 7.2137, 1.6484, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693b34dcd64744e6b08100bb881f2c9e839759f0e2d099a11b29b65656dd6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0d99deb14fc5842a6d2260705fbb32e438480eedb76a4bdcdc334cafdb6dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0640cd9e2edd8bdf37398d20b19d0b74cbf52b8859a12005656831c91305898f",
      "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]: [-0.3519, 1.5761, 0.4561, 0.7296, -0.3786, -0.239, 0.9949, -0.0666, 0.823, 0.5552, -0.3698, -0.065, -0.2626, 0.996]\nstate[eef_state]: left_x=0.3982 left_y=-0.0728 left_z=0.0927 left_yaw=0.0813 left_pitch=0.2106 left_roll=-0.0573 left_gripper=0.9949 right_x=0.2911 right_y=-0.0043 right_z=0.1521 right_yaw=0.1186 right_pitch=-0.0745 right_roll=-0.1526 right_gripper=0.996\nstate[joint_eff]: [0.2667, -7.6239, 5.3812, 2.1123, 0.0513, 0.2125, -0.1197, -0.0479, -1.6615, 7.0085, 1.6825, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2882, 1.9541, 0.3771, 1.2015, -0.3168, -0.1978, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.0654, -0.2661, 0.996]\nstate[eef_state]: left_x=0.399 left_y=-0.0571 left_z=0.0244 left_yaw=0.0707 left_pitch=0.2163 left_roll=-0.0455 left_gripper=0.9957 right_x=0.2911 right_y=-0.0042 right_z=0.1515 right_yaw=0.1208 right_pitch=-0.077 right_roll=-0.1548 right_gripper=0.996\nstate[joint_eff]: [-0.294, -8.7453, 2.7829, 1.9316, -0.2125, 0.0659, -0.0024, -0.0342, -1.4701, 7.159, 1.6777, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3012, 1.9541, 0.3771, 1.2011, -0.3679, -0.2066, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.398 left_y=-0.0533 left_z=0.0254 left_yaw=0.1062 left_pitch=0.2228 left_roll=-0.0359 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [0.1026, -8.6632, 2.7692, 1.8779, -0.1783, -0.0904, -0.0073, -0.0342, -1.4291, 7.2137, 1.6484, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693b34dcd64744e6b08100bb881f2c9e839759f0e2d099a11b29b65656dd6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0d99deb14fc5842a6d2260705fbb32e438480eedb76a4bdcdc334cafdb6dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0640cd9e2edd8bdf37398d20b19d0b74cbf52b8859a12005656831c91305898f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRnuFeCOGKACJdJxOAOzUoq_9k1SqO0S9R8ZCwsEDjTsJASjBJ1RNFSLNUVyPMLX-Ub_xtEhBbBsAac1LGHhE_Yyp4f4r4_mTmcqlvhrj0jKwQwdPc_M_q1bGRTSbrj_SRgNj3WGDtQJjyCMG8Of-CiTSY0-MwE5dZiRPm7HVVd_dd0fIURft-5JPLe_g73jPo7PJdNFBS95FIxanxI_iXMApwgbgygFvetfUbo_0_-R6SyJp85w9A7lFbZsXl8WRQU6LsJfXvRW-apzl_qDcQrg_ckOQ48QRbnyhVML9CTtltYs3Ozv3IXecBFvLQgJSBF5-eoVpJQXiArhDz5cy8SX_0XaoVnirdSUTHu4BZcXwzgP8yR6NXGGfYIBXymuzcdBXoPPwVbN8P9V6h68if9SVDddeGEZz00sdOz0bujjUUBVFaIW6KcJXfM4y9yVdLw5cNcUpbYxbmWFL495E5i2IMSLnWY4owgE6NOzK7JpOUyWPP7P9muaXDPJBWglXjelXbaniK3-oxlPM-dTa_6mAB3lgQksCzOjV0NU6tKz6T0HVic4_BrZV4OjiVDgArvBprlLvBK302EuknSKtqAfdQn59C40TR8w3oAA_OxXYUqhjY_vf0yQ_Q6VuyIW-yt5njIQKGvHLB4BML5oOM_a8jBaP6T86WA1IJ1KKP6UaK2lZkxGuRHByfJWKCPn26HJdkJZGz5iUvkt8QmtR6KnzGm4MkPZXYPxEQr1-hxHNFZVlSqwDFGDXDqnmJz7oTbfw9ci37hWHGiumpYWBL5Z8U-kJBXPPqbZmgewcora9O6HHCKWa4EjqCp3OPbbKQgpXu5WIY-0xs4IdzrJObbQ75C-sIGT4fb0zzzlxmbNmTRRUeE03-aTHDnjP1ySl9RJv95cRN6F6S6JR3bVldvojaPcJd-scf1NqSlmqjrtD6Uq82O7lLcJVGxrrLMX9CaSZVy2EReiH-TlRy5OFILf2p9wpLj6HcCR5EOoS0hgjPeZgJAzO6YLA3620kBsX-meC0CoTNj7Ty_9o0Ylu5t35ShTTppGMcD2wvErv3hI9QIG-zzpP1wsEqwvwQiST9871vPOsPYucuAWF8hFOnXIaH-eUsTe22VC2nJCFoo9WRKnZWIgFge039Ufni1mPJT1G4wvUz9bS2S767_MGEaa7WxvugJNs5aigQbPjCay5KpMRJYiaf-wmGVWzjpSzFV2VuEtR5yvF4ZPEmmUMETzhMh2iFNk32g5ecv-pToByqIly8NNNm89-1aKuVHrSGWKx1tgj6Lep7eXtuptAeSfkINvKO0Aqofnn_d4CfvfWrCg10mMjVrUDwGIilMTmqxTp8MxV-QehQNyZpnCmjyWpnzczFweV_fH-F1Uly-eINRyHfnXdWxReRnWoR-EltGy0RqY2Q4XBtBWjkGxX7esisBYiU_dvqlXL8tO7i5zq6jMyFlVjyQD2aEBI_4iEe21U3urnXQVDaPOeePXwSaxd1RvbAfaniZNHGUkfs2Js5JYokI2Py6OoxFqU61Q_KA5A2X4kiCcBrWxMHjJ06-x2hnfU_3dJOKRahYpE0XhwYpQpDf-6puVBWWcNHhuRemzjCyWwkHBJ8hlWMfajtlwRv8imy5f69Ih1z0llT8MIUhyKGv4kSEKVMjgkpgTgc5tw-qBM9IbRi_PT5Yrb0vHgoUCw-bxeBCVbReGB8eJQZ0F7Y-NdboymF3qL7Ydb5er2WpZ4EOgGK5gTdgBYL6xDSHA4sza7au3jt1YrhzlBHBrxN4oQoaneAoelblClOqBQGZTd5AODLIGhKv9oDHRJnsIkLRM7zXUnFcMjUFdnMsO4aGcjB5eP6MsCyHBSI2uMJk99Gi9fG8KsYo6F2FxKnhWojhx7p7H6p9pxPRNL0ZRQfOc3anD8C7VbrMgodJMGxQ84AfZGbPas-ep0w-_jQBV2By_2wSrQfRauG6CsbQrDnhvCyqs0oDGBxBQVdX53lk9Nw1tX-NY6BvO5MNfZh_edoVnfSoL1p3UuEmoS8sc33zDfo44OHTwAs0cpiRuPz6RCWENOqt7Zu3c7lMjbMyG5-mWCn3-fmlueAscU01Zu-b6fIFbnlJRVFR2CQ8CuiKxjIePtIoEM6lFPjfO2EEpgaUVsUTIyOPbQ4oJZxJEwokRaT_EX7T3DjHoRVKyt9PBBKngpbdnRcate-fyy0s1Ydj4fUHgy34qvNPZ2o12UOx1nNtmyQ6Zimf6_05DNhuzRQX8R4EmbSGNdlLCLulmpgf29M7TfeAvQHFipKK20LNCQEebRcXSrtc9O83-3z8JkKQMSPtHMJg4IbBly9g1rT34YzL3zjOnkx7zXbVEO3MOl019vc6qvic0b90u13q6xvO0xhMUss6R-CgafsTZyfAHh6MokHZ9UcC7GGo7DV6oz28tJjKasi_4qz_pe6x8dKWu2vRTJ_v6A8LdjC8AvC7AVztwpVpKOpRXGV8syZUA_slY9IRhYNzIfuzpJQcUUP-a3sfW67hwr6AAA3kRgbeAOkByXAuPp9T96LVu_3708x-704RAInrwdA1VfZSz4LKPpAVvENa58QvEkh7NAFszqYCc0MPfZ4NlDRjpAh-iu8N57gc6ChHe2_QMuL8a-bgs831L1XMi-3CSaCe1960xxsWCTiNAVW6yTuhd7_wWtvYHgGc2k2TlDX_JXv7-cV0_bP5OEEn8Pm8GHtN9pRLdG-pZB-P_awILk74isoZXNVdA_Iv23TiaisCFFQHZ0XDG2h1xp7bFmDS5g==",
  "id": "rs_0928aa613a79b614016ab43463703087d0b27cbdd8ef2ca576",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper’s lateral readback barely moved on the last correction, likely because it is already alongside the bowl at table height. The overhead view puts the fingers around the white bowl’s outer lip, so I’m trying the pinch here rather than forcing another sideways move.\"}",
  "call_id": "call_yBOrzFkgJAIo0W9aG0rwt1Hu",
  "id": "fc_0928aa613a79b614016ab43466c4d087d0b620b35125bb0d74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yBOrzFkgJAIo0W9aG0rwt1Hu",
  "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]: [-0.3023, 1.9423, 0.3828, 1.269, -0.3679, -0.2283, 0.0214, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4056 left_y=-0.0562 left_z=0.0466 left_yaw=0.1266 left_pitch=0.3003 left_roll=-0.0933 left_gripper=0.0214 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -5.7094, 2.7282, 1.1306, -0.022, 0.0952, 1.3553, -0.1299, -1.0598, 7.1453, 1.6581, -0.0952, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9add39a856801871dce041e8712ac099da2c85aa71b3877ad31e239695c2aac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7c2d6e920fba5b2656d67426af7d1590ed85c5245d3420a0e688475b6f23d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffc6740c80eca81e950f0fb512c7173033f79ff733020247793e2366ada222e",
      "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]: [-0.1318, 1.9331, 0.3794, 1.1412, -0.2089, -0.1707, 0.9957, -0.0666, 0.8246, 0.5552, -0.3702, -0.065, -0.2657, 0.996]\nstate[eef_state]: left_x=0.4023 left_y=-0.0128 left_z=0.0177 left_yaw=0.118 left_pitch=0.1692 left_roll=-0.0488 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1516 right_yaw=0.1202 right_pitch=-0.0767 right_roll=-0.1547 right_gripper=0.996\nstate[joint_eff]: [0.294, -7.1453, 3.5487, 2.1612, 0.0366, 0.2564, 0.0659, -0.1436, -1.5385, 7.2137, 1.6532, -0.0757, -0.0073, -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]: [-0.3012, 1.9541, 0.3771, 1.2011, -0.3679, -0.2066, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.398 left_y=-0.0533 left_z=0.0254 left_yaw=0.1062 left_pitch=0.2228 left_roll=-0.0359 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [0.1026, -8.6632, 2.7692, 1.8779, -0.1783, -0.0904, -0.0073, -0.0342, -1.4291, 7.2137, 1.6484, -0.0757, -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]: [-0.3023, 1.9423, 0.3828, 1.269, -0.3679, -0.2283, 0.0214, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4056 left_y=-0.0562 left_z=0.0466 left_yaw=0.1266 left_pitch=0.3003 left_roll=-0.0933 left_gripper=0.0214 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -5.7094, 2.7282, 1.1306, -0.022, 0.0952, 1.3553, -0.1299, -1.0598, 7.1453, 1.6581, -0.0952, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9add39a856801871dce041e8712ac099da2c85aa71b3877ad31e239695c2aac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7c2d6e920fba5b2656d67426af7d1590ed85c5245d3420a0e688475b6f23d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ffc6740c80eca81e950f0fb512c7173033f79ff733020247793e2366ada222e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRqVec6-31oAJrALrDrUi4LtyuV9066l_Xdq_svfXzK_jXKQAgNE4Gw2QlmDCbZHj88CP7uZMKhrHLpaRQsbs23EsdzBWHdYx151r62DgZlJOVvIvypJKgqPc28dZlwTjcInaPc7bO-HTz5gpz9Del8UAfIVCl55XFzdc2O7pfmFYNQp1B49Bzx5aMClHOjk_F894qzGl-wYwV-GawjTDlYb5vrRO63KczUoPwtvQGq6ZKU9hE4-KkLvkT88ujn9xWQ2iFOI0zyz6NzGMyNCCaxGrxkQrjILklbun5Ox_-mSJ4RN7HdpFxWcu2ADANFX3QuJ5CrTXONc9faximsUBMi-Dr4uIbwAZmDZoQfHS5WExMYoEnwJmCYGiSegLiRemeST-HQ1HehiJkcODK_PXRfZ7sUIKSLshWbhixw61GjBrwsT_u5m-ztSh4Ugj1bCNyFcfEBi8jsbiXoa4OGZYdQ3LIU6TZOuElDO1h1Bd7Y3KAff3-hAIz1FnwbPdWnuG7RNRhnc7Vn1TS-9OB8rWbQfpg9LqOOvKINQZd3gI_oCkGxVGDAtbPZJAV-qy8boCQy6L1M2h8DDvvkbuWepk_EnmrXKoKyEvGptNspk-xQYEB7z6WXNBLXhCGSI2QbyXEFhrtHW7Py6GJP5pbmz2f-nNR5Lt0wvp_7ZQstFLxhiJU3cvHgt9xnVJ0KjrYTH1lLUz7Lc2UyYyj1UCUxs2wunqmP64N5ti5rZVL9t7ZnxTInE4v7Rce1ldwTl2ja6TSq5x-Zr6UYTMtcimna0cat_cMgCic8m-Rv7QJptGFIbH1SJRA0RMkE903UFMM7kKeDz-upTCwoRRoeB7tvDEBFbUs7IEmgcNvxpzA2deSx97DWtvwEDoIWDV4tASXr9bIWNvjcdPcN6v2mkLbpA5sUa4MhhcnipXTIGALeQMEjpCEOviE3OeM0u0O74BOenNuix4IgwGq2AaPSg6JvddnVWW6RkffSLHdeoiCR_VQT8fa-5b6GoJnPzp3LI__p2xe2rt4TOEMd36USGiXmNlacJ8LjMeW50lVXnCxDiHeiSGmfa0Jy4DbJDOTbbOwjjKgaGgkFlUNLvfUriDArxLnaHtYD5RgC1jHgM76CYsnwYYrUpDQ73WXMhUbhnh5jZbOjITLTr_hKVwIzNKkbionoD9TIdFgjYhGgzD3d2RalwnmvP8rRt8OKUXf1LFd2RMb8xtOMk05dgdfUmjbDWKz8Yk8LekuVtf19JdEnH5J-HBY1fHd2i-gefLfhKAXJx0aKVbcvjyUfosp77VXror7hGg==",
  "id": "rs_0928aa613a79b614016ab43469923c87d0beea573ec0cb7567",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.055,\"left_z\":0.125,\"left_pitch\":0.25},\"note\":\"The jaws stopped at roughly 2 mm on the white bowl’s outer lip. I’m lifting about 8 cm to verify that the white bowl rises with the gripper before carrying it onto the stack.\"}",
  "call_id": "call_exmK4RabAn8MuBRg7pOiYh4G",
  "id": "fc_0928aa613a79b614016ab43469ec8087d0bb4660888b5cdb05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_exmK4RabAn8MuBRg7pOiYh4G",
  "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]: [-0.3023, 1.4998, 0.4358, 0.7429, -0.3679, -0.2413, 0.034, -0.0666, 0.8303, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3978 left_y=-0.0538 left_z=0.1164 left_yaw=0.1301 left_pitch=0.272 left_roll=-0.0929 left_gripper=0.034 right_x=0.2913 right_y=-0.0043 right_z=0.1501 right_yaw=0.1205 right_pitch=-0.0823 right_roll=-0.154 right_gripper=0.996\nstate[joint_eff]: [0.0205, -6.3111, 8.4171, 2.0488, -0.0415, -0.0757, 1.0281, -0.1846, -1.6205, 7.0359, 1.663, -0.0611, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8678507a0d23c06d3545c4be86eb679c7ff367e839e2a47940ed70c1f32e0fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf00dc0af99edd93019ba079f17650cbc581e19f95d6ef768b1cea10841d3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c9128403114ab853d41f34e9525f751dcb204c7bb2250caeefb51ec97ae1f3",
      "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]: [-0.2882, 1.9541, 0.3771, 1.2015, -0.3168, -0.1978, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.0654, -0.2661, 0.996]\nstate[eef_state]: left_x=0.399 left_y=-0.0571 left_z=0.0244 left_yaw=0.0707 left_pitch=0.2163 left_roll=-0.0455 left_gripper=0.9957 right_x=0.2911 right_y=-0.0042 right_z=0.1515 right_yaw=0.1208 right_pitch=-0.077 right_roll=-0.1548 right_gripper=0.996\nstate[joint_eff]: [-0.294, -8.7453, 2.7829, 1.9316, -0.2125, 0.0659, -0.0024, -0.0342, -1.4701, 7.159, 1.6777, -0.0806, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3023, 1.9423, 0.3828, 1.269, -0.3679, -0.2283, 0.0214, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4056 left_y=-0.0562 left_z=0.0466 left_yaw=0.1266 left_pitch=0.3003 left_roll=-0.0933 left_gripper=0.0214 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -5.7094, 2.7282, 1.1306, -0.022, 0.0952, 1.3553, -0.1299, -1.0598, 7.1453, 1.6581, -0.0952, -0.0562, -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]: [-0.3023, 1.4998, 0.4358, 0.7429, -0.3679, -0.2413, 0.034, -0.0666, 0.8303, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3978 left_y=-0.0538 left_z=0.1164 left_yaw=0.1301 left_pitch=0.272 left_roll=-0.0929 left_gripper=0.034 right_x=0.2913 right_y=-0.0043 right_z=0.1501 right_yaw=0.1205 right_pitch=-0.0823 right_roll=-0.154 right_gripper=0.996\nstate[joint_eff]: [0.0205, -6.3111, 8.4171, 2.0488, -0.0415, -0.0757, 1.0281, -0.1846, -1.6205, 7.0359, 1.663, -0.0611, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8678507a0d23c06d3545c4be86eb679c7ff367e839e2a47940ed70c1f32e0fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf00dc0af99edd93019ba079f17650cbc581e19f95d6ef768b1cea10841d3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c9128403114ab853d41f34e9525f751dcb204c7bb2250caeefb51ec97ae1f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRuxj4n6VRtZ8K0No2qh06T3SJ0ergzDv40yCf28cftIavftw05hekOBUJxNgvp19e0o4a9Sr72sbqqR-vDQqYvcToTrAYztmL04va3Dt68T9lbBQKjZbRR_4X3bddcm02q-SFFY7BlN3u0sHJ-LBnKxp9A7UuxtnhWhyN4V_tXc6oR5scLRBxn36jrL_vk4qhW5QTfvn80pjA_H4Pig1RSx4aviVd4ET8vzXWeJNHU5JXXNLnCsuHzhsqctHE0HEPPMciQAJHgIv5Zxj8o_IEwyGRszFoCNenKV1704gZOrt4B5qXT8-dkI1dM1WB3aAtAv8onNp1w-WWP90gbjYlfA6z2JRzjMFd2kE1r77xIuCx0Xm9izwMu7XQBYK2JKtVTyM9cqGO5l7A8prA2rNvKJbxdZo0ZZ34vmuSOPOu8kzpe-bgLeY_rp6hYJeQthQ2zOrthyGDf65rNXjW7ucmlEyQ8Q1xS0LJnJLAs0824wTpkjMTzNl3vTWNZ_X8_UmOO9eRS8SaewS4sFO29I9znOYcU88Bqltc_iRB-gVBEGve4SWOcvE0WbcHUR8Q6TK0RNgOSGPRX1KiHhqAdttyVaoEyubyW__0hD2M_6LQ4uaY8WMOHNzE7GgXjqZXDYdM5E7d9jjq6yXu6fF_87SIW1by_pA4q1WoJHQZ3lDcCM2Gs9h7Ccjutt8VzBNMUJ0dX0kTaFR3LZ6S0EAGxMw4OoVbvMo6ZLxa-uY19TSnthxBsfcDFw9jKf1cKR_KhUHEJpW4kBfKuSRhbhNgehAvJW_9iG9K3Y03IoFvvYYIxFYEr7oe9_G1tOUGy8z_JB2WIZMZHvoNWTzGzfAwi919CyXg84DNn_cgNRTWBr17AyZ3F5FAHhCK-cThd2Bn7oQjQdcUfO_WaJvwtNM4UxC0z7ZXTt13T0a8YK4FciVb8F3W3voDHlwIprFbPqDWHovJZxiU7ht5fnDJ6-Kv32GAg9hpQf534xB2HB4wNivzzNJlG1TNS0CpqYB6UPZoK6ewyOS5XlDCHNvcGE2ScVPxbC8Sx1qQuFdUsx4cf_kM8BcY2AYPeGDcS-QH4PaUF_ks3KCfjeato0nOIoD-xHDjWiw3FR5kPhfwsyFMxUTndqRMVaGtyjFC6YYtuyPAxpHKyVLm2QpkD7-p10lZ6CrRF6QyRgrrYtPeo9369B3VFCt_r_r9MV9n4sy6VyOprLx9Tlbd26D_GiL1aabK4FOTNzhAD07-yDcSptI9dLGT8yPlfQGGRtttbVp7UGFoQHZ1Tl-Ybw5IS0xSkis3dl4G2PSxUOV4-fIfML2EMJYDYdv6K0-bP0nZrHAW85_sZE-BhM08ErHBCapKOwlUZe3OIsLvqcakc2pCXFDyhmz4wwA0PAWJ1u2_qxW7K58lml2Hs5BxxLdIgf8VKYi3dV_cEqzgIGEY5__tssrNZ5PrNMTK1QkBNfACfA5HE9Ut3xxTK_yBY4yBB8JRTvRjVwheyoxBy4uzj5nnnfP56V55hzr169a-jOu4A5JH8C2zpYXZrSH_DczVr1FNobYw4wuIVAbmUlVs_YIfYtcIUtgEVPHOlPVs58KKVJHuwYje1zD1Uu9iEYkGc949OLLDZxlyyYBzb6YQOnufKRZlhvIGcwqR_htFAH2XafsVOO2hxuix-Tgc-QTilmTJ6flRqojgkYJaNuHpPmchzo05xnz7RKzktif-ODvl9lnqlDt1Non0Dga3GDcYNo46hFToTk8TvcXvjsSLwWmiJ0XN11_s1nvtjtTkYtkeZkSRfL7pKUIMa0ROAlhZDrqVkIAwauBWyuuvbRq97ovFZURoUp9sczon_VD3bcvGa9vMjghVOTvrATpLIMeIxGNxLp_YugxPfxLqEQ0K3MN3bv1rMDneyIGE5Qgk8Q2aTa_ECIP9dZosPjGIJk5xiAseENfI10L-Cq8s9fR4nGvM1rQbRJBHp_B_P4GwVmbwKX8feTnFXewVdMoSFHGOvRYzexnIig-XjMCRC9Tw7kSwpXCMIJb13ED_oxXpgPrwNWhbAVLQbbWrICDZjSOHsXC-7rmzcEuyCgJTIMyTOVuddtbGuN3I9-9vaqYLMePEva-9kbB55Op_VnDehc_hr9wnpaX0-tk4gilSn7qjcejmurVuhJ8TZz30=",
  "id": "rs_0928aa613a79b614016ab4346c2ba087d0b40cede25bcc70e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.17,\"left_pitch\":0.25},\"note\":\"The white bowl moved upward with the left gripper, confirming the rim pinch is holding. I’m carrying it across to the pair of bowls at the center, keeping it above their rims.\"}",
  "call_id": "call_Xd49jXwz3HsB0hC07l5b6NlV",
  "id": "fc_0928aa613a79b614016ab4346de91487d09868f53a7cb79bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xd49jXwz3HsB0hC07l5b6NlV",
  "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]: [-0.6411, 1.5097, 0.7296, 0.3492, -0.6563, -0.3882, 0.0387, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2665, 0.996]\nstate[eef_state]: left_x=0.3962 left_y=-0.1567 left_z=0.1583 left_yaw=0.104 left_pitch=0.2339 left_roll=-0.0838 left_gripper=0.0387 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1207 right_pitch=-0.0835 right_roll=-0.1541 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -6.0786, 8.9368, 1.8486, -0.3101, -0.0415, 1.033, -0.1573, -1.4974, 7.0359, 1.6923, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbc2d7455b17e4d3f307d8239f5f0feb0d77972c689858b9880197dc6696491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a89b041e9b0497611bb5d3846ad716b8bf534ab5b028f592bd6db9155da1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6657265e05297e3baee4475e79d5db6df52bf1e6a4c46c69f6959bb49e899776",
      "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]: [-0.3012, 1.9541, 0.3771, 1.2011, -0.3679, -0.2066, 0.9957, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.398 left_y=-0.0533 left_z=0.0254 left_yaw=0.1062 left_pitch=0.2228 left_roll=-0.0359 left_gripper=0.9957 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [0.1026, -8.6632, 2.7692, 1.8779, -0.1783, -0.0904, -0.0073, -0.0342, -1.4291, 7.2137, 1.6484, -0.0757, -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]: [-0.3023, 1.4998, 0.4358, 0.7429, -0.3679, -0.2413, 0.034, -0.0666, 0.8303, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3978 left_y=-0.0538 left_z=0.1164 left_yaw=0.1301 left_pitch=0.272 left_roll=-0.0929 left_gripper=0.034 right_x=0.2913 right_y=-0.0043 right_z=0.1501 right_yaw=0.1205 right_pitch=-0.0823 right_roll=-0.154 right_gripper=0.996\nstate[joint_eff]: [0.0205, -6.3111, 8.4171, 2.0488, -0.0415, -0.0757, 1.0281, -0.1846, -1.6205, 7.0359, 1.663, -0.0611, -0.0659, -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]: [-0.6411, 1.5097, 0.7296, 0.3492, -0.6563, -0.3882, 0.0387, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2665, 0.996]\nstate[eef_state]: left_x=0.3962 left_y=-0.1567 left_z=0.1583 left_yaw=0.104 left_pitch=0.2339 left_roll=-0.0838 left_gripper=0.0387 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1207 right_pitch=-0.0835 right_roll=-0.1541 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -6.0786, 8.9368, 1.8486, -0.3101, -0.0415, 1.033, -0.1573, -1.4974, 7.0359, 1.6923, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbc2d7455b17e4d3f307d8239f5f0feb0d77972c689858b9880197dc6696491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a89b041e9b0497611bb5d3846ad716b8bf534ab5b028f592bd6db9155da1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6657265e05297e3baee4475e79d5db6df52bf1e6a4c46c69f6959bb49e899776",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDRyZpG1-IJGDHlbG5JtGCOpD4hXl0KoCRKqSt02PMrUtfJOTKEiGSq0t2ZZ41sYZb5_7mBcjxYV_HqI80CGn97ccQ4eGAt2AVvhKC6LUhN9DdKv5hx9ZmOFAYPnDH8VtUeht4jM9SbCDk2DZ2cI7bg8peQHFTfF8cFoIFexoKJOxwEiqU5cRaUh9433PX08laN1b4zMklexBOvyvPgyJMxh5pXGwU4DvdiKJv_r6WC80Ref13_tSMUAvq6qn_YNQvx0hD2Cq7EAbKpTnze2xiogZL7LKf-o94hjVyBNaQ2hV4Ok-xbL_ZLglqoa7ZJTiwKtP7khhzMNIVbWyRF2P5Wg8aBWsnJSSitNx8_IhSUbTjMUDZ_O24Iy5_Di7Az82bKnlZv-aareGPQk-0M4ji0TgefzyWEuDEDz_z8SwQDaf_tANsRVZ0PdY6XFxIVoExi8-V2IvZqzhLlolC1OO0-QgVL1ZV7GUTS3B4MY2F9u8RzJ5RLp58hr2mTeWk8ehGV9uzuMcckZSM9qGM-WN9WQ0XIy0HGs-tPVQgCrzmZ-tRJP3fPeLlIc7dbf-LKhDCYFO5HHYtr4ITPYjlAHMDv5OvDIC3gEeun4I_9q1RjS-rDGdDL8UWWFXK-96eV_qh5OND8Qpdb7C5LUnhInwh94BJZQsZKZsyDwwVegd97efTeqOTsHyxS6P7fmwrr4Zq73D6docPyODULWMEtFawwAz1sVNB1DWUSGnD--y9D7ZtxrWlgEZ29mh4ra6UempnVNyZUYQoxYaKfxf67W-8ShhNaOocA9nGxDZ4O8KBc34ispj_Xhbwf04SQfmN4GPzXnk12lhsn4E7mCf1XoWD2dUjSMuUE8SJS-Z804AGpqo5gciBxvZeBWNkAmgfVAhy18UmHjoQaVXfr1dr5cvMZaUiDzY9OL8rD5KX51RIC4O6MGqDC_jNaUM5tdjYPvkljv3GrILMU60NrXJM_BIRF_yLLfi985azDsBP6k6cHpcSHKDODjL-6YoofXUNXmefAjIx8XdMvLvAFR3uqn3TzoOpK6dL5LmYuSOdRy9QfhKpUDeCebwhY9pRfmugVcys4u3mB1sJ7A4S_gwBuANVCNQwqG0FJmB4qo4TqGyWGZ-rR3p-oxn6aN_0exor0iKk1ctvSR5Exl2jJHyEh46_6mRMa7Yrh26GG8tfFCB6cFX9crHuVV00xhxkzBLpupRU_k9CcAt96pnHTjUdQdlrv7SZvqC1F1dvTg76GLojWjHmg2hmjyqeElMS8XgVnCodjLCy4b_1sksZXsCv03Xs3U3h5LxuUzM73P1toee5Qhc0CCzb2OV-N9PxcTxYvPm7S_reR05GApiOgYjKtB6A98xkLsTEVbPq6qm_J6SDEC_fC80VjGyBvZAiVZfOwzkT7fNqA-P4btp6hikEgKMeH5_j_gKT31fSW7JJK8e3_PIYwc7QBYwSeH9n7SNLQeUl0MlahHonOQ3jiMgNgZsHw7YCbu0PJ900gN7rZHONxX98XmXmlTJvxZ4qIMcCAUd2lYpK03j6YIaSoJvKkjHSyVGWVai73cx0-Qg_EFC91CFV7NWy5-OfgEUEjj0eTJSZe7lmuwVzhfBkGn4aStaZurgz4jplUOxCQwoIwL2qdGJ0RTQlRydpoNPO-aB_LLtktukriArYeeIW8H0DvkF_MmK8ep_4ue8ph3hDOh0jmnw8s=",
  "id": "rs_0928aa613a79b614016ab43470a40087d0bf35df7a0a4f6a93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.10,\"left_pitch\":0.25},\"note\":\"The carried white bowl is just left of the tan-and-blue stack in the overhead view. I’m shifting it a few centimeters right and lowering it toward the top bowl so their centers line up.\"}",
  "call_id": "call_auyeSZDe3rHdexJWlYxp6Vj2",
  "id": "fc_0928aa613a79b614016ab434717f4c87d0b2bc517ac0bf5824",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_auyeSZDe3rHdexJWlYxp6Vj2",
  "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]: [-0.7162, 1.7599, 0.7063, 0.5266, -0.7086, -0.4061, 0.041, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3943 left_y=-0.1861 left_z=0.0855 left_yaw=0.0676 left_pitch=0.1808 left_roll=-0.0151 left_gripper=0.041 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1205 right_pitch=-0.0834 right_roll=-0.1538 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -9.306, 5.2718, 2.1172, -0.4469, -0.0366, 1.0281, -0.0752, -1.4564, 7.0222, 1.6679, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff2ad8448ed91e577c58d4aacff3d7c1dc8ee449ab0d9b7d14ead6fc1c9e0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67e35ab1e50f51b55fd03ac300d8ecddf64ea04d8612a7fbb43293509a8fb0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf3540e30e28719cf2f375c882ca715459c64208c0e7877ea565d7b6cf1caa9",
      "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]: [-0.3023, 1.9423, 0.3828, 1.269, -0.3679, -0.2283, 0.0214, -0.0666, 0.8249, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.4056 left_y=-0.0562 left_z=0.0466 left_yaw=0.1266 left_pitch=0.3003 left_roll=-0.0933 left_gripper=0.0214 right_x=0.2911 right_y=-0.0043 right_z=0.1515 right_yaw=0.1204 right_pitch=-0.0771 right_roll=-0.155 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -5.7094, 2.7282, 1.1306, -0.022, 0.0952, 1.3553, -0.1299, -1.0598, 7.1453, 1.6581, -0.0952, -0.0562, -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]: [-0.6411, 1.5097, 0.7296, 0.3492, -0.6563, -0.3882, 0.0387, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2665, 0.996]\nstate[eef_state]: left_x=0.3962 left_y=-0.1567 left_z=0.1583 left_yaw=0.104 left_pitch=0.2339 left_roll=-0.0838 left_gripper=0.0387 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1207 right_pitch=-0.0835 right_roll=-0.1541 right_gripper=0.996\nstate[joint_eff]: [-0.2803, -6.0786, 8.9368, 1.8486, -0.3101, -0.0415, 1.033, -0.1573, -1.4974, 7.0359, 1.6923, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7162, 1.7599, 0.7063, 0.5266, -0.7086, -0.4061, 0.041, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3943 left_y=-0.1861 left_z=0.0855 left_yaw=0.0676 left_pitch=0.1808 left_roll=-0.0151 left_gripper=0.041 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1205 right_pitch=-0.0834 right_roll=-0.1538 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -9.306, 5.2718, 2.1172, -0.4469, -0.0366, 1.0281, -0.0752, -1.4564, 7.0222, 1.6679, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff2ad8448ed91e577c58d4aacff3d7c1dc8ee449ab0d9b7d14ead6fc1c9e0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67e35ab1e50f51b55fd03ac300d8ecddf64ea04d8612a7fbb43293509a8fb0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf3540e30e28719cf2f375c882ca715459c64208c0e7877ea565d7b6cf1caa9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDR3kPDWCJqn9VP-Pm20P-DpWt6KzBAzgSaiHheHZ9NVblrqKB0srrhj8CSgQaRKx-1yFXs2yxQBLnRrbzFJx3mXBxq3XOlGsXQx3kWVMIctsU2T5YFTpcwOwG5mpMdkwuIoIBiwKQveITFnzS8D4rj1wmCfEjAoA8wJLGBdr4Q1KaELmp1aMuyVJJMUDja3IvonG0AVF8UvwZF1vqTyATB_uGwKRNDrpUoud0XbWO2DXu3xSRloJZVEYTeqeyY9icwpzZXmZDdDR_2SRY5PruFI2mVe7tU8kKZiFtjJgat1CDxnWn5mOYI9e4iHXaZj6nW71gK6GBzKnPiJuWYTZFF9zsd33-i4asVSjJscvwwN-m44DiDIlo44Zh_ADMoNtcs73N3qc6zmoD-VS1Dnf2SNAOl7-2B54bwFW2O6RdxUsebcxkmmGCl3plU0sLtEzHK2TTSbl_pmRyZZk9oPm3w5HYxXrGdohKqTHErWZ5LIbjiOEoxkQ9w-AP1j_rPIjQ-SflFEgs-T5DQf4J_SLyqXkZz4zbs8tWNpErN7m7-ocj8J2qL0lMzclUimVJFrjpOqeQMS3UDUYRdW4FVtDnwI8RqrS3VCkZET_W8B8deUkNVvpqZIIgj7O_xmxAp81nrDU4kyt5dhpJlcNJDnNqqQe9lvwLtQegs3TVmf-Pq_IetQJ8u1os0ZTIXeogwY3yoxE_114LMr5DJqP7Hp1n_NAdHVYheJKfObl2PdrtIinH2oIBsF9XV-QZmY0EUGAD-Licyu0pTGquBaRaPc-cC2KwhI0nuZ9tqiAyscGRyImOSPOcy6idYFdE8wRNDI4rEGeZVU97dtAN_mUXYDEjKcCzwhH_ijGRt0SZFbaCLHnprLp2BrecWWR3Z-mt7YNKOO_s4XihPDYOBYbVRv1K5EMtC6J_42OZI5SBMMBFNu_UEkZp-T6dQng6th3x7XKLkbn32uEhKC9D5HZD5D3RxaBi61sXfc2zn-MVXR_QiWMPWLw47_mXhwIpFBy6OzDASTeo7B3qRVEQ8jDOwcbkoEERGCWGOaFlI7YqGWitPD-AK23dNvURubKxPALTyr8c4W28VjX-bpn1RTKx5KqY2yaLohjN0wMEmVMJIgyVJcu2ksfH0ere_o307S5zHK-r7NdgG7MV4iakPM5lS1L52NbpsDYBodXiy9Teo7VN8hv_WtXFk2CpXhwro06UMVCKsezPMEN73_4AioDNeoNt6T5hpJatDnq5hf2i-oSAsJ3pZAwyBr9-J41PRVC1nmJWgmm59eKmGsTvizinCgIPSUjKqBUw7Gj_BHt1SXM5qMpg9kOireC_dmIuM65-Fdh6vy51Mn326w60ZhztvBR3iYZCDIDyIou-dFP9Rrp4cdr0H6UnI8Uu_JLWjDHS0mIXcvlTRx5utJBDAgq4GCmSjTpnlKu6v2OK5BHuEsWWbDLmP4YMEjAU6VUMNwbaoA3NnQf0dkdlHtF4dpivqn5iFQtnBIjz1J3oTzfi8YyK272Ia9xs_YIE95gamUx_t9hizxHi8E6-ueTwef4AEfzXqlTgFykrjaFXvIQmSWSFzZnWmUxRJWxEuYTa56XOk3hAt02gLvIcwdCNuFg_Ht947l45y4vWrtLdwHSFiYQFukg_UPFT-HsugKC7gqE1U5FbO194pB6RtcvSfLJV5BXB19DUUfSxgFZc63qthnSDqQ8hA2tUhAJmGcz_Pu_7gxDBhfRJ8-_i1g8xdjJlcHDrhvwoDjIZJYES8EpswIR_fQtbeDs45u2dpbNKh7taVZt7zIM2jA5LN68misZRmEaQirO69v35krrp3F4_bf_Znz5liPqjNEj1bqWGrBwJf4MvY-HH6mH-SSmc4gquIlvIybBzYTEsG2KQ0yz2GdDi3kXXYMdjcdxIEv133IGAPxBKceI3seDsrb1hu3pvRUIxWzOOO6H1Ck0bjaJwhqnz562GZf14CWTlVNt7IR0WceyT11s0lo4PMXjhMyd--5GUes0pLftDCzQ2BJXJ3Bwk6jggkPQe42dbtCQp5PQSyO_oU6SP8VdkWniOFhdBhB0kdf-om1QZxAXGug1Bs1I3ZIKo5L8S4g-eKvInrXMq1YULHXvhl-awRK2QedlpisuDE5vN4np2LjTplkJOLeBt2W7UV-gMFQ4EBOlr5PNmPHjG92Wq8fIGxNcCqjbb3rM9aCy6z8b4E-r9iYlr-X1vi7ufDbpsqsBK7sazfw1vvSZcOGUVddmvruUA_puCTST3WhClq4FONg0ewMWFxLLsBX9qmMKyhJPmIX6xpFmnRwwd9fc6l55Mb8cH8ZZQ5KPahrFQD7NDC3EKQYgR4yIUmiyRlgGN1ZNMnfjcLao5Q_9TQRfYpdAJfOdrZ-dY7ob5GYA5plekw9PnHXywxTAIjYAUVLYdVSHbzKIL_OoTN08rztRIj86D414R8U4YP-XN-hX8n0uUEvkkLufJNzmeF9QxWM_tWzCj3BpLDZ07H3vvls7S2RxtJF8QM1j8A0BLmJ9af0KgX4BfI8ZpQdQPSZSXWgiL6DqnTVjyKp9BFac44OddZsUaUQqD0pTXWeYafiKuqJHJRLgRDXmsi7tgs50l9j5a-Ox2PD2UMiHEkkM1mAjaNnIhbsvdnd2LgAuPrqosgavsiSKImrsSqmIKpR35o98h0V0QTir8Sj33kK-PPuGoJRktCzcjgn3QtGeavyhY2acALnTx_Rpl9ha3jjK3jS2_h4_ahEV0HSkaR3hysZ8sA98W51TXT4t6sk4339cSHyynQcMW3xnswJ73ZWgds2eejpUvoaUho3CC0X_gQkbYkufhiVyHFHgPp5rk-E9RkJEewLQkFJMIX70KRXsCRwKn_2GavELm4RbPkYCt7xm7awKORoraj9juAMtKiJvT5Exlllv9sZtHXZwwoii5VGz5ekwtqvBjyc09Gwsek7YuqfFrVbm9KbroDoBYNQ1Vj04lqvlrSqdVQ77x56MYsmF81QVb_35CwUouFECJ3goTCqVk0lGEtd_QWDqgZ_DWaE3jqyxtIYI4NRBukW3E7WOZZJYfT_WvxVUZaCm51IZoBAf2S3aYzWf_SO1sMMcBwYtO-HGu0729MMbpbJ6lFyxdXLUs37ovul5_GrfXkBmrCN8s13ixFRJNmH0WA_dN_PBOi9dLyEiusWGQO3xRPEjsJmCSgQ0SyGTwvJA3wAfSRVDEhcIqJx234zlNC6VA==",
  "id": "rs_0928aa613a79b614016ab43473930487d0a492768c9c321121",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white bowl now overlaps the two-bowl stack in the overhead view, and the descending arm has reached contact height. I’m releasing the rim so the white bowl can settle into the stack.\"}",
  "call_id": "call_vLRFoJLAOSjDEwkjS88hU4ri",
  "id": "fc_0928aa613a79b614016ab4347691fc87d0bb4958f0acde076c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vLRFoJLAOSjDEwkjS88hU4ri",
  "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]: [-0.7238, 1.7805, 0.7036, 0.6106, -0.7341, -0.4202, 0.995, -0.0666, 0.8333, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3983 left_y=-0.1894 left_z=0.0926 left_yaw=0.0976 left_pitch=0.2315 left_roll=-0.0645 left_gripper=0.995 right_x=0.2914 right_y=-0.0043 right_z=0.1492 right_yaw=0.1206 right_pitch=-0.0853 right_roll=-0.1534 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -8.5949, 5.3538, 1.7705, -0.2369, -0.0317, -0.1245, -0.2256, -1.388, 7.1453, 1.6337, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e22b42233b36a27d974c8e311515d1caa519692477f7ff75e50f47de47dada",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89af75ea3bf7234bd19a0b03138871b02532641fb6a2f14b6e7cc87da5ced4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6afa23bdfc6a5c1f01c0f3a23f94e335ce5e84b47b3c6a65b355995a44b3a8d",
      "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]: [-0.3023, 1.4998, 0.4358, 0.7429, -0.3679, -0.2413, 0.034, -0.0666, 0.8303, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3978 left_y=-0.0538 left_z=0.1164 left_yaw=0.1301 left_pitch=0.272 left_roll=-0.0929 left_gripper=0.034 right_x=0.2913 right_y=-0.0043 right_z=0.1501 right_yaw=0.1205 right_pitch=-0.0823 right_roll=-0.154 right_gripper=0.996\nstate[joint_eff]: [0.0205, -6.3111, 8.4171, 2.0488, -0.0415, -0.0757, 1.0281, -0.1846, -1.6205, 7.0359, 1.663, -0.0611, -0.0659, -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]: [-0.7162, 1.7599, 0.7063, 0.5266, -0.7086, -0.4061, 0.041, -0.0666, 0.8314, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3943 left_y=-0.1861 left_z=0.0855 left_yaw=0.0676 left_pitch=0.1808 left_roll=-0.0151 left_gripper=0.041 right_x=0.2913 right_y=-0.0043 right_z=0.1498 right_yaw=0.1205 right_pitch=-0.0834 right_roll=-0.1538 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -9.306, 5.2718, 2.1172, -0.4469, -0.0366, 1.0281, -0.0752, -1.4564, 7.0222, 1.6679, -0.0904, -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]: [-0.7238, 1.7805, 0.7036, 0.6106, -0.7341, -0.4202, 0.995, -0.0666, 0.8333, 0.5552, -0.3702, -0.065, -0.2661, 0.996]\nstate[eef_state]: left_x=0.3983 left_y=-0.1894 left_z=0.0926 left_yaw=0.0976 left_pitch=0.2315 left_roll=-0.0645 left_gripper=0.995 right_x=0.2914 right_y=-0.0043 right_z=0.1492 right_yaw=0.1206 right_pitch=-0.0853 right_roll=-0.1534 right_gripper=0.996\nstate[joint_eff]: [-0.2667, -8.5949, 5.3538, 1.7705, -0.2369, -0.0317, -0.1245, -0.2256, -1.388, 7.1453, 1.6337, -0.0659, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e22b42233b36a27d974c8e311515d1caa519692477f7ff75e50f47de47dada",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89af75ea3bf7234bd19a0b03138871b02532641fb6a2f14b6e7cc87da5ced4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6afa23bdfc6a5c1f01c0f3a23f94e335ce5e84b47b3c6a65b355995a44b3a8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDR6cMdYtK99Op9rPaqulnid83LlSnGAKIH2X9k3UclQehIr6JPcLo6PP4C9rs6lYSIk7OhTRuFEoj6RMAacK0xKW29mEr2NzO-UiSTj55bWf92EFPkTw-fn7bFDCP8NKOM5eiTn9oOxzzacL0NpSqpeEKJjQhc5rH_Pfb-yuhOn-vXQlRhwA3WzfeMSowywGN5Rs_G_wRXaX5vdaHdCAvEsOLTFT1Rl1-XF9Ca94wRnyu05egzWEUcbyRNMWmGcDzOrzwAAqnqGW8o6z86dKwv_XZ_2oytT-uLv99EyybInNwZ83XML810rGuhgrhQA9GoOCTicgyxr7DBvIrwzDgASWSVxaOW0xO6lwTJ_vbbRK51WrAnSTZQOO7rquN1qok7f-FcZO7AB1qKQ3r9jmHqq7zBkDF3WYGE3yRBMtx0_sKJkmBmxfuBbqRB_ttsRSrNpECU7Qq--v8wVJ4cwXc18mYZ4zzzwYV9xuHNBSXCqHKHIdvH868S_COU7OJ59PSzZ1JatZhIMSL0Y9jRiPIsh48ULuLKKvsQ8unFbL_isjNBNzk4By1aRlaDxgK2WKX1alK-BN6oVWDZUn91Xp9i2xV9d-B_Yr8Siu5MQPFLo3jRqUEJtkgmj7XdVEenFeX9ALh3PC2xI2jPQyx44bLR4-95vMjsivnPpe6ipMh_EH7tPLRqBU_deVQmO2KEvM7DXDlPW7X_avuZLCF8hsy10YNU4tqH41IYrF25Cj5zKEK1ZsCe6QYzke5O4KsFcB7H4pYEJOJulAnYp2er1Kbt9nFlUB5BqfK_Du6c8uaxzzSRMP_TG60NWxrfpt8X4qGkQsJ8MDxUaxtdhLLLsT-T8eqvfYs3AI62EIA7D0TvpvtgakIB8njRskKCm_32k3upeEw-3i1ZeAmhoUB9DG4a3ycN3Gv66_iTVFdjU0yFTfM_NhgATVV11uCZEBBnnSgSRGtG_oxBeoc2xpbyKCaUleNU2BIuxOc3mIxuZMLSYf8KAx-UT1HPqrLb7GZ_-PJDKf1wC_vBcKPRWdXpoaicpBBdE7Cyr3w10ro6p7mXeARrpSWcCsA2xVARljMtNwjx0ixruMtuJNCAawzdrjKS6rS7Tmpx2TrMFhkrYsHgJo1gA6XxNyDksSBsRkN8IvKAdHm_Rz0GLAE335vPnl4y9HGuBQFbnqiWnYpnNkzGG7V9WIdrA4BgXeq81F7l4ZAmkawL5Y5ZiAqfTHbIqwmu_ZkrXiKcxCZywIUjpWgr1zvk3i6ZpbtUv_vkC3YAzM6ISa23AVUjh6Ny7L0l92f1U01VGpqjy_4A1ohcYoPb6UUV56fUCT8viTyOb6_uMEQjO",
  "id": "rs_0928aa613a79b614016ab434790cac87d09f41ced65d5edab0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0},\"note\":\"The white bowl has been released at the center, but the left gripper hides most of the stack. I’m withdrawing the arm to its home pose to check that all three bowls remain together and upright.\"}",
  "call_id": "call_7vHhKNNQBLVlplXn7841Fz30",
  "id": "fc_0928aa613a79b614016ab434796e1887d0883868d37535c995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7vHhKNNQBLVlplXn7841Fz30",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1143, 0.8185, 0.5644, -0.3222, -0.1959, -0.2359, 0.9957, -0.0666, 0.836, 0.5552, -0.3702, -0.065, -0.2661, 0.9959]\nstate[eef_state]: left_x=0.2984 left_y=0.004 left_z=0.1688 left_yaw=0.1564 left_pitch=0.0077 left_roll=-0.0705 left_gripper=0.9957 right_x=0.2915 right_y=-0.0043 right_z=0.1485 right_yaw=0.1206 right_pitch=-0.0879 right_roll=-0.1529 right_gripper=0.9959\nstate[joint_eff]: [0.1573, -1.6615, 10.441, 1.7558, 0.0171, 0.1392, 0.0659, -0.2803, -1.6615, 7.0222, 1.6386, -0.1001, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3f3199308cc288bf9956d7400eed444239eb0b92fcf54806a8dbff8aaa91a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456927ca09629393e980d384673e766c2fbb186b77b24e03b51d96c927a9d54c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40663a04a0bb5ca671b1a192643d99fa63e2f73077f5f3e9fc78ec9a9d0fb92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}