adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.382, -0.0227, -0.041, 0.9993, -0.0219, 0.7925, 0.5995, -0.384, -0.017, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.4974, 10.1402, 1.8095, -0.0708, 0.2564, -0.0855, -0.5128, -1.306, 10.4137, 2.0049, -0.0855, 0.0317, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d77151a5e1d96339c53065f6585629e076045a6202786c77c46b283daea9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a323c171a3cc29f1ef7070a4aff418b40fdee7246813133813b5456a035baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2d51e80fdd5eddc3e9687ca30507cab3e30cf83d58122bffeea65c2dc68807",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKApnBd4lO6YfbPoYR_yNJlAtexm1GJzm2ZAI1I7iVDfYHSSTcBtwAO_pQBeO5UaE8Q6jnnnkp43jZzPOwByM9R6r6qC4HHapsTZOSBrbP86AAss51nwGpsckOcP5C0tiRamGJCxOUU1aaM_eUQtEXNYKahshIqjwjfHIer9qCwJ01L6t9eqjTKjHufvjJdnSlFGdrTw8zVbGUyfmEPzrgcQwg3FBIZHNlY7Eqn5mkBKdw7cVd2eZWe9Y7XElCSCflz4oEc6BfkXWUPj9FnFOmBFW7oT6ZsgGa4EDeVT92nC3bQS7jcBjGf1o5rFWDX_6At0V6ZBN0a63K-hyCciIXEpeWuUZHSinwMcG4I7deYoc6o67Ldh2L0tlHcSCotSml9OIj86j4woZG2COCQYxc7E8d2xPUcSb02kB8x5CB8rALHBFGXKibq511813YYUD9u8iYyp3h2UgWvgP5UmiDxZCsI5Z-Z20SGoXfQ7BYlgEeLlBpioySz0KRmw9fBaZfdJ2i2vZVhTtiwHqBo2_2zfyWip3JufPMvR2nDNNAh_fXXiCiJqEJIqPhHuMLVr0enQMuLfpOwZ2F8z7BJthfG8zccsla_4GVfbLL2D258LTARqDjeg3nBdGLM-lTiNVaiTKWOc_hVumkWRXmlPXsBNbaZeB-jsKAv2u8AmGhgdteIAKyJjGiCLdT65XOYE2EvEaea9vPpmjSeWtGVFypTYZcRQT1TWztaWa9V4K3PEbqINgvyaw_NzYDV0AGziXWkYhQMuYqLqcdPhgClHCFkmBlPZb9Soh06gYU1cFEyk4EfQi1s94YviVL5fD7izHhEmEhyrKtNIgwml3GoMgZdvxRaYcxFrEGaEGrd37VSKVPFvrocTt0qKE3yFPHxLK69HcFrzVgd1OZHgk8WE8S8ZI07Uxu4fyl-4_eDwv45n-wfYTMQIhx3BVNluE72i93lHrSX14Z9jDLF9CvqZ_0O33MWq5BDnpDaL2gT9jaj2wenFnC0nqBZdS8lxS6WLgyn_xQ3zFi9jHVkDNTKBO9MeiXMuNV6s_UY1wMxIHI58rjVacFOqTNQ891mvNl3_w1DqSzFLm8tU4iIZyMWmnosO9IA9NsqY2tmLxp-OQv4dlm5iCC8Ww_oeoQG-2u9Z25I14FcwbtH-PnyOgPeVW-cW7jBreta6pFmwR-cwHDpL6B9P1FnvUZsSyefre4yGXpNwn8GC5pHWDpEb-HTqlag6qAFVAQU-kBhLRSYHPFDAELbp-bTQKYsDKmD7aFiKaLMV6a8xbkLuvQ2GqySOryTbt6EE8zhceMUC5yz3QnuGTXqTq86akngnii0KkNfi0TtWDgR1ANNkSzePi0uBAnA6fBolz-mlAc0cyR82zKOI8KOcFl6pnRmX5GsQgwT2Znb-xM8Wi57MQPZpuqdLY8FF5Bp_asmj395ij898WEIqml_y-qbOkZb9WkOpy_ZYbfkDtNlGirsE-AMuMDMj8WUB6REapEJH1BBe9D9uvtpi9KS9M61ZR6flfnTPFcstS1x4guKIL22mrnZ7zg3E_KcUddJa4bSJGVpirLxQGAEW2Aktc4FtPjgh1FeUMETNmXYrjy342jRNLuaIssEhKkNuJ--5eWTGLHwpxp8gHZSLaaD5XgcYILzxx96lLtk2hhBTdRH8KpYs-R_REHWc5NkUreB6DXuei5bi__fyYthN0oCdUAF0fZrj973KjZz3LbaeERQrzyrprqbdtvY914j3yQNZBmJWg8LxV7N3GXxpv8WLq6rER6tnPMzSf8TC2pZHaTsJNxRMq1wJXz0PTItZtPoKEF2eFqsnUXE3fpIM1yUbDGr_RHq5vgNLfZ__SOKl9cUMTF5CkfyCelI73QVxwA24CBbIlRM08g1WCWszqa0vlPrhsg_U1981ScikVYB3Nk-UfIXwLujiN649jkAITVEZaeMjLgSZ7Qt_lcPGoB_rCQUySot-H1wVn3-ojd7tahUMRwcefUnqgce3XxlD0MM2QABUaVj5Ztc-tGT4tYal1zx8Q6jEEthKRBVNxDAn9ucWAXagxfZ1RN-G9a6rkhFU-3xIAvcBjPLHqhFC2PzkhgFbqOjv84iasqidFi2skfzlx1Ldr_cxaN2BWg0wPbPAC88PZ2aYFNDTAH0p-4b_DVxwOXHxsCyE97_OA-_5ItZk6IctQid3rrueM069wGawPvgGNz7t3nK4s9gpRijMuV8lHdxf67YekJCOkz-ctaDmWnIx56ZQNzMBxav_e87olLkpPvwaY1FBcprQaCX0GmWE2funQ6XJ6NS7zml3lqWP_Qzw1BmXH3N1F2CSFPRu4C5r8RnyhR4fu1uh11vLvVulOWwjUBROC_0VKVdsYl6jNuP-UqwneOmvYjZb0j7Mx2ThaijYkv9ZTPFjxAvVR4PvgElnPSE24222NqfV__-3opc4oM6U4rtmx-ivvbdeGATZA8pum2sHN83pFfgiokCuX5Z1YgayMGxes6VHXX8i6rbxexa1vyqYAEJGa0cmx6hUrBkb_FyL-zz8bS3Zm8KTYRSm4eV7cCNM6ZqOnUF7TDht8liK5dmGO2r8_f1nDgFqX8X5022QUR14xzDXIe_6S3ISiCnJ-D7crPOMbFLVf311hllgHavs6cU5ZSQZJa7WPR5cAdhioz9-XYLhUB4geYaOFTa92MUVHlE_i3Pp9KWTRPA4vgFXMT9V897QjyT5mB8d2hLA-pxx4t1zJkr9pRfBqmvJihYNnok6yQG9uxfmdSyQRQLoYWxKBDbGYoyEHsru4bppXpszXSJX61k8HbEgo1QAFQ1hnghsHFG5BeEhHWO6NTUcCH3XRXAdqdRkuUb20w_4bNgSTl6w0AcLmRCZCyyvF-aEel-bzv1oQfTfk19KU5aMnilGFATsML6SbAae6se_0x_IxfWd7g3S-qbwTNtxiOpw7BVTzFe0_Z0st3adMswcnmuiKqHeBl-jqp1IPCGiy7r0JtoD9L9o8jt7-YNhy-omXVpNjIjnc1UnyegjDy8CemLL0k7-P9U_rQNzy_kCzn7431662pcFYBTO57UcxeHio_Kg5qRrMKjijb6dfvBCy977XW9gyVrG7gf5Q2vQmOsL-7eDNlfmfLNhxfrlWCmc5RJodtMmEr0ogBOfkVSN7k62MMGkL8IDE5D2qcT7DKdP8a9T10DOfJkoQuWXSV9Jb81rgY4Fzzxnu0nu50i6KWJPnrGyaNVU_27xxunfnkyXeXEOJiKj4iGcKCqN8R-gEtMxV6ysw9BYl2B4CE4Xl0tJrI7n1vkTypTmuPtw0l_QlL9a_ZlQGlFHzZDE1l74O32x-UggOYuVyM-rtG_tMYj6uAbBSGtWikKKGuYToGWuoBZYahNTFeRx4q2HD-ug5Jodbul_DYwXiV7-Q7_O0AqW9yOkU8GULiFXetT7Tb1FjRNyMkmUBP4jlDtf7fDfb6VbxA-F6Wjxok4Hepcro6YVRsKpSRXU8iptQTAQK1tAEWmepoJhiwX-ssR3qwZHn7OGot57SLlRb-9deCB2PJSx8M16cvtXh-Pb5gS9YQFvaQpsSoOMYzjBC1OK89NuLAmFxaDqGX0I-0_PpLIdhJ_hD2WyX0y7c9dfUuuhEZkoy28CGXxe6XJjO8VQ_TS6UosstaxOnrVWwkc6Se5tm8E8alzem1ar4xT_yyMG-z583rqBJg8cXEDd2pNpUND_86rWHnNPmRMGqZ3H8N7-YjMlxIKxIBBfv0US-DClonLHBUuW2kvR7uiYkph7sugSmF8ameF2NwfLT9KXMkANx8ehGSCkCIt_R2g4h1tF8LafoRmtKHehTe-J1V-RSvIIrs15r-zusD00vnSoJEvQx5ubThA-3u2nph_JoFc9xpFKLRcALFg-yR6J5NRK3PfMA5rVqxfL7LDBSn6NrbFZAws_jfAbpIqO5YwLNxivxn185-OtLFvPTPOwkj77eaAt373kBZVFclVL_M4Ajvye_0kBvGxA5dS_tCry_FQd6O3NWUlNmhwpE5NRx4k6lDEdFiXnZSPeVu8h7gY2h8zwmbmlOQlkK-8PA0e8nVbXZstghg=",
  "id": "rs_025e3cccec29366e016ab45277c48487d0ba97a55d2089d616",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKA8sld4OyE11DYLKg-ePErF3GUhxIGLnqkqpCWPAhqgIaDd12aSB7ZWMpRPKlnqqAzV7vmmEmVC0V9PDZB5z0E_FZ8MvZuGT3p9gQDoAqCYsiSfTum6aK-gSb89omqKNSqRB6LEjB-R6HJ8jn3HT5pCLWGk57OElvNRVqC6JVDxZVaBzgLjQt5wnZBtvQ2G7c6WuFWQJrQIi33H6tvfztmpRehSLJ9HxY2-jc3TkgAKslf49hY9nqULGHpPfnfroGQmUoY1ztPKcUPhz9L55jbeQxnfVD9j49wKgoOf699xvYHbPd7CxSo32x7CYVoksCq918zYIjtLIAYBsvNff1_bRSjY3zwlMxQnV0Lkc8151owv-5ZQD1bsLlGJDv0RmP3bSZTU-cutBnkkW0_Y3av7Qr1x2hiwMdKRw_r_AJHh6i9O_xbQV5k8Q2h9LStbNEa9JFk47vTMFkY-bvfjHa0dXQr4KIwsZNzA4SKR_pXxvRJNF0VUboaXIYO5CnX5LElsugt8yuJz2AoQHaQA9gDkjLIyhVLvLgVHBbl582Oyhqd6Ey3OsHtb4Nk83HYkeNtt67j6twY5nnbhYcUKeKC6m42q5SjiwrD7d_dmzWTBx99jwmRPFvwaTlsqCuz3Rmh-No6iuyDByeQI8ppJrisFO84wto2TvIQ_jnX0Y0Icxvxf7VZ9ZmxxybLTop0u5vRda_WxJ8ZE0rYrKwV7k7FIMiadXscmv7ekhcc0hffYNhmj2IO9jAdtdjGf4XBpNy_CGuKl75HjNMvmwF-YxKO0KoCQgZ0r0XxQ8OAt-QlRFFKy5ycttCNmh-RCt1wXieMfCJVMWMnQ93HBEbm8ksEw6D36BGsnYKGU4Wynnx2RvcOCGoMqj1pWn7HHp6mcq1Ue1Zhcm67ve9Sdid2kndC2gD9byhQUFagKlezh7-1IIwB0deZhqRbXJVOyKBg1LpfBKisDLrFEXosEzRhteIgHrOomyT_frL09WNVbsw-rgR3KTU66Nf23U64cTo4YrT3uFpjJOCUquXVcUns3FWQ163tg68xK3R4I_E6uU2RidnZ4H2xFFqGwHfttfnbwQyhrLGXtyGcCflweaEEl6GwCqjzEffi-SCxqe1ZUriHMINnHOq2J9DTUJWX3eYEyEAE3CKu07kBtlDYgD7XqHbz3HiVI7RSpqucLcle4wsjF61cvMxwDchohAW3reRFv4UgfyqIkSttTN7l_7bMqIlHborq8eP1dhDp750b-wk-OutYqeH2q-WwRgN3EsHgndSRgAEcNYaJUY2BpCxpm8QROKJDDlrPWJuELZJJHWNMKMqWS_DkrK-g8F87lg0DcY_K1-TvB5E0L1x_CSMc0KS-qoiaaRPbSDFT08OK1u8JCgg1WnSPI_8cz2B0ttYHrpdMrAcgROHzAqmrvsMFM_VtudByOVLZPv6wZFU6fVWawwHK0AvBbvUD8R04e-daq7ySs8CGJ7rn1PdkG7LS3U2Rw5flwAIOnBWYplsYxIGQjC_EtgBq5Xvlqu7msoB_bkfKRF6xP6QGd2V3ohneiA3Obh-7woUalEucG0fdZ7zY6Ru9n_6CgG8HQ4kZDULVImWo9rPWZKEI7L96tFfsP4MdYK3GN22a93_n9v-Tbz7RXmkYTlsWe8OmFnHz-8cwO7kkQfTIO3BZggSY_ulH-slRsVCdBw3WFWnR0rCsauQKtAvH5HGAmEnmP1yvR4U43Nd91I1f-zFS8TusFc-ipX0YCHWVI_A1VypQ-L2pYONPOu-IUJypCuW0EWJR-KzyZ9-3GtNCMMRbt9RMF0yLoEZzlEJsc-qLBHYbds6H1s4itW65S6FE-ivmrh6Kn9mQx378uVsvgGfGL2tgfKJDOlztvxlgc0ZG7n7GA2-NXAWBQ6QV8S_FMQCC28FFnu3aKSc9b4wLfqhhzllESSLiikyzYUhuahtuDA2N2_2rvMEmuC78K_FO5fKkua6RiVrC7lTZ2K2wo7hMDPf7KVvJKrGN7xfv_qr-mFOGVAC0CyApC_JJJPz0oqihztLvA9O3G0EI3F3BLy5e8aElZefUtns1ORv2qLmFRj3uOUAwxUadxm9iWImSXMeZGEJXpwYcihS-8beVS3qhmnwpK256sM_zBsMQGJ-_-aRdVmripdXzImPko4ANrSMI9agJB0VZOy_AFNve_u8PYzNij4UnDHhMMMMoaK1EhAOnB3aa3RVYCslLjN3dt_gbjHcJVwB4Xc7A",
  "id": "rs_025e3cccec29366e016ab4527d338087d09ce33de0374e7bbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The three bowls form a row near the middle of the table; each wrist camera sees the outer bowl on the inside side of its jaw column. I am moving both open grippers to conservative hover poses above the two outer bowls so I can align them precisely before grasping.\"}",
  "call_id": "call_lEV2y7wdliAyJZ9URpLBnzXt",
  "id": "fc_025e3cccec29366e016ab4527f8ddc87d081e176624c833487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lEV2y7wdliAyJZ9URpLBnzXt",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6758, 1.594, 0.9821, -0.1402, -0.5423, -0.4397, 0.9993, 0.6548, 1.5948, 0.9745, -0.1425, 0.5011, 0.3542, 0.9974]\nstate[eef_state]: left_x=0.3892 left_y=-0.1906 left_z=0.1332 left_yaw=-0.0131 left_pitch=-0.053 left_roll=0.0293 left_gripper=0.9993 right_x=0.3853 right_y=0.1933 right_z=0.127 right_yaw=0.0447 right_pitch=-0.0752 right_roll=-0.0532 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -7.3641, 8.9231, 1.7411, -0.4274, -0.0855, -0.0855, 0.2393, -7.6513, 9.5248, 1.7949, 0.4371, 0.3297, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245781841994ed42ec9f7e1d095250acceebc9520b9f8ac0daafbeca46e1cae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0c39b6ec646483bd2e72a520886ae4e7203182f69518637054322bc25fc878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d1bac0b4b03d52498b879e86f26a838a4a4afc76812f4c8319103c670abd8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.382, -0.0227, -0.041, 0.9993, -0.0219, 0.7925, 0.5995, -0.384, -0.017, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.4974, 10.1402, 1.8095, -0.0708, 0.2564, -0.0855, -0.5128, -1.306, 10.4137, 2.0049, -0.0855, 0.0317, -0.2857]",
      "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]: [-0.6758, 1.594, 0.9821, -0.1402, -0.5423, -0.4397, 0.9993, 0.6548, 1.5948, 0.9745, -0.1425, 0.5011, 0.3542, 0.9974]\nstate[eef_state]: left_x=0.3892 left_y=-0.1906 left_z=0.1332 left_yaw=-0.0131 left_pitch=-0.053 left_roll=0.0293 left_gripper=0.9993 right_x=0.3853 right_y=0.1933 right_z=0.127 right_yaw=0.0447 right_pitch=-0.0752 right_roll=-0.0532 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -7.3641, 8.9231, 1.7411, -0.4274, -0.0855, -0.0855, 0.2393, -7.6513, 9.5248, 1.7949, 0.4371, 0.3297, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245781841994ed42ec9f7e1d095250acceebc9520b9f8ac0daafbeca46e1cae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0c39b6ec646483bd2e72a520886ae4e7203182f69518637054322bc25fc878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d1bac0b4b03d52498b879e86f26a838a4a4afc76812f4c8319103c670abd8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKRm8hwKD5P6FVSuyfeKmj1aummZILOhJDmTMbVat8b_52ARAS66TObaMWIGSS3wJlocpcEKBirE8VDKDxVt6bUfdMVqN3z3rW1TJWs2EUsVww5hXRY5FbQxLcPfvH97PqoCa3M8G9zUHfD79Uw1V2vyu_W0EU3KMETZ_7xoQ_gMb3SYeA1b0SyOoSNNw-Ooyxc9zl3DLnMtp9jyVXzmOIyonM4wu01cKnCihFBcmw8grsNnISBrpmP1R13ZYv1-2qFb-CJ5tFiA3w_Uk-tVr6ySpxn6nv2S020sgCXhEPtxw7Y5fIcaoE1Xat-bMzDLTh6x_JUhcUQpkDXpSadao0pJkkzdkAnvHwxCvOI-9SjDwEwBDw8O0GyE7iGyUoQ4YxN0PevT-D1PkwFp5wfsbmKe9htBxzK2ZycvAPRRXV1k412SRKm131TnjK5UYO_I6GCIfJRYSbqviQYndk6W5N8kdtei3S0yZMgteZCIXHoBKfW-3m88Z3FeTTOMPhFmjKItWjb_J9bMFP9JTexi7lDinUYx499ob-6N3DQvPEuwCD00k6YPrEp62L_IYxd_uHkzMwEJUO_NOA30XHLPV3tk2xklMix9kVmUPpE9q7O0JCzMByF_Gf3BjxJWN3Fj8qimfkehGikvIseB8hkwoLT7idl0xe7m_fnKyWtV2CgXeaK8D_ibyKyRjEBHyWgDSF8mFickvDaCKophs-shwAsVM678YGk_jVWMOR4TFClnQTAhepo8fzF-eMulUlboTne8PX3g3OPHBhJDjZWYdCPzljgnNbG-vh3cvU6moNBS_ow_LysnLj3zwHVU-1ytDMPzhqkh2JMCTn4v7R92u7hknOKIi4atLMhpWvY4HukD5lCd9cl4nzaqIsdhNUEXitLQduAbQmeTDRc-tKoCz8p6tXOOuQcTQCjLDcM2t6RmCoI3LrOh-mlQZOWPU4f7zBuHdH8udO6qvF__5zWtW1Wntw_HQGu_ksBa2vQpk8NiyHO1tIlpmT2jtQuA4ijrmjSHKTJo3fHi0HgJ516AU0xatB6fvpDzoHN3gPuZpH3GHZv_BJ9uwjGnyD5h4h70QUj9D0ZIii_3vGeNzaXslaG73jEB9Cg8-5pnV60-Oh4ZunCB91pbI46cn-3uKnxcxkNTuTE2A6scwLb2N9rAU0lBQiU9_bXo6FtXyLThUtfHhASQBx0AZCRm_sL2bvuHZRaqsOrNfEIih5K8N4ag7faEPFyUNv1DxQskMlMFuJMF_zHAQ2zIWvjfzO4_UvCnxV3-BcMdEeXvx9ZcYz8BbZTkQL5cv5nEq1KF9F6W-wTw-cQauiJJvREIv2tN7mPxuBxu-gCrDzZ4G4_d1txSxnuSKsEHLFLvooAEdAgirUJ2wAvXKZ8MHzobyKWqUIP6KlZJK4vA6Oqf_hQmJAQ4MW377_6qhtaFIBD2aSs0XmNGLvTkVWpAxH6MjlxqaUMrEHO9WqcHLoWkb_VVGTNIkxHnLB5QPWrd39hN-b5R1FjXrLSyVMYUD03SrBHzFb6nEL7IGoSgAMPPRf4zN1lsl1-pEMEDeUSgziCS2dXwpp3nYkOp-t0mPjsQ1FpZYlMN2m7DcFXCoPa41wPoZoRkOiStL3Vjmoz7PLGGmU_jyxErKbOpcp5njgvhnBZBydey-SC3RUfTeov4PA7qpZROkzHPG9LLY6JadvMWOBAg9AOlgqj5pE7Pgk3LdCx31KRjMYOYxHvsDOHI2eHFy8M72hAlTMWqJLfELXGeQXOxryNL8fMEz7OJut54FgWlGoijMXMxAWBNF1TnWHU3EPcdjYJUBXtKUrYj63-GnSU2DmNmqmWdD7Msgd87D0MpeV3Y_crCDh9qXrOOUI89xAgIMncHTorIdbjXurRuEczz1rLcrbWD7Jgs9N8db8ZXOGtGV5OPeXbhhRIsGWlN8PgA0q5bnxA1UtCvBTZ3MgWKmjv6L8PCo8qfx8tQnTSyx8AWLCrW1hqfsTgkEtaZFIBJHbeeiHCkXse0WpAXdHocMKdKfYhfkBcfmZucxmvxwzoBHqxyaz3MLOHQej37871CTMglejf6N9koJW6Ix2Y2x9RQ6EBktnkAMp94DmZz7C9FC5SMaHHyGASdVIotpH_5_M38UUyBCRguKiE5_p4s596QI4ZRHG5czXws1nXf13wMgRXA1taN2Iz7UkVmYe9mglcxgoeGI9dGpoLz0FErEktKw6lej8LC-bVyB6AHLav3oHjWaGTqQgR99sIqJpo8Sfjwjqu6Iv0HfNw-6XUSZcHQzAQR0HkLgoGtwg0Qno3CNWz8WDvn9c-0gDDb4jcUi2fa4kvkcB_6yOWITOk282KmUQo58Qp6c765SRt_Fe49G4Av3w9ANi3spaat3-m44vJWFLqCosufFaMQ2Dwhl2RJdh0F1npyC2iG1lIIvDEaj9a4RohPV7XkzUzEeNSsHL1onAwr4yPlQxjPT8Wm7WrCYUDhEj8EUwre4f6X9dZXmAE-v0z8vnELTGwmduj0PJx__KsBIHUoiAEX0HKBDDqrLYbjtzSBulrEuUhBJ920jk4YQR1lznodHQ1DKENUXnTqClnQBuIYgm9ipZn-G_rJ--7z7lEhwR50J4MUesMA24QkI9pq-LSXqbboNpdz1j7SCBn0oFSfkXMMwch16kIeortBNkZnI4CtPIZ539t3KXs4x71IFJx2tOQVTjdoY_XVDBKwMJDhEMpul9ymAXUq3fC9w5Vbjz-iYOiCxWwhUKyxIlz4wZwn5dPzTEPr2jbQUeQGctyYfHMUmZvYaQ0owbJ4PYuzI_DEyGeF8eMDrxbA30pIEMsycOtOnXM6Fzmca1-vVgCI0Sea1sRVK6HMGRT8-SdD2PnRu_MAU9t9mDMIPDiB-SbVDg9f-NP9v4efhzlHPN5dvYET8Q5mAQ40ziv9Tmsfr_8mCg6WBDLfykMtXhrZhpKVKeeeXdhhqNF1bbsijQ-fj9aPzTn1kyP27d08UeBhTh5kNew752ApRva-MLkXb4vh9iIKd1WatXwNhxq3Y7Fywt8LLpsrtv6IU5XPwn0dcTB4nXFRVKPiifaV9WCvbdysc7E8gY5Tsm9ZJIxLMvydT319leTsAxW0v_2Ub0s48aUMF7WIiWK4SrZbiNgCqBoHGl-i-CCgtsfHKllpJkM8DCWgNakOKsJupmH98RZzLdlc55655IARdR7xE9j2ouux3gBrjbhQriQfywglUyPokYbxu7qpm3GCbLewVRy2uDolpTDtLly8K4Jk3LWCNZfvOyZCJeichq__DqrPWR2BXJydjIxI4V0OCVDzn6paBHsLKAWLbwsqNURtamP2w2lH61N5VovTrmVz11hQ4BaKsh7zWopp3zp83Yo910KdtO4Mg-TLVEdmtKsrzdz-6ello4YpFY9yiFQWGm3fWnOIxwzCcAdJBTNqiOBx-3XbD1yjDIDyvyseLhdmITwHLoMY8EDCfZzC9EV9iILBp9UDH5ZoMwI4p6qJGpNCRf0J693WmAC0GoHK3f35D9zSHk5rm2O2MhVugx0_GLZky3bLGhWvdIxejvQ_XpV8r2SEeR9XURnVKAgOJqiHhz-qQxYNp8dv3C_9vK5B-dOCvrX6pXzSi9egZIrU3qxCxArjtYZl1lZoGDCLDGP1gwwp6bk-k73upOb0TEZFNotL5bSi36_BhhKUrsN1d5ZMcuwBl8YYjSZEGDD2iiW0_62Q_dkUxyLfBfcIffNAI50rx24WnSKlRZ6PNx2AQ1VKfkgJNAy9pR20ZuecUQ6GE0q_2_6eexwu_ZArgfDJRVuf-2bkSChUDi3ALhJfO5_7llIA-OKzYYL97p5fiJrSrId8lRmvcToHLHwCvMtAK-ba9F2Fzjcnj3KwDvi2oqIuk3r0XOljIrzuhTPlDQxs3wPhNETe8bZTV5YU-SC-IgYnBRzqvtpnM3gGC4rpP2Agd1nD4G_TlHVYuJfLrAeOcftrOvJkwUEwLaLQFHWOxuVEIapeIU7sG56HbumlLlycYZjKK4v7TFjwSbpe68VEhTC5iq_ivbePIVDQeo-JnOsSKoLeEHW7bCjJ1r2hK1O-EvKmb3UlJMs6JLUP8GO",
  "id": "rs_025e3cccec29366e016ab4528413d487d0b4323d0ae0dcef46",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKRBjlN4_P8OSjtuN_YoroWtBKSSvJY33gsDtasbkBQYpcwiQ8oWVw91ERic3RyE4ymYYYtK0fBKylOqf1WWxnCl8glXiEwxr4lH8fQdcTNIGWkfYtcSeAN_10KXlC4M8tIC16wbRGHkmHKhglWV7aCRWe9qBY-pfuIoBy_RmlHSCd_NYZUs1kSUCp9njBLqL05JJeHi3QCXbT4HB1AfYzAsVh90_URIA9beHh_YRBvM7LMUZ6CtkU40GP-Pe-VEiKxN-NeTNqN69URM7ZrmtcU7ftLO05NrmvokZOML5Lt3LPVeljnaai53F4qkvMF7TtmECRLk0maZuGtjY7kyGzL0Peu7PM6CK5oGDaHVbOx-8Lg0SI2qJb3CmRXE5mX34LxVYqCGSw_dk-m6BSSXFnqbg84M-jFIGrOhcnzBQYgEURvXVnYg0Do2ae1ZJkbr0RlGLGnauX2pfjt7eWqca-C-bWSIZW3IoTDchoj_INK_Ck15dRg7QC1ZVuaihXmw-EyNGlhpnAmrVXZL9LxVWSYr2njd2WZSRXxWtLOHqLHzdGAGnCRJ0wWhChnYdttNUJKhY5UdUy3TAarYxZQdm-2fWv5ududl80bEA_0u7XZCLTiM_mZ_mUsdRCyYMevo7xpPawrEa9S9KkKaq12ExswsV7HJYqqj84E2nv56CMP2BHHTXCFjufyF69fUDMcWagI7Sjf6wK2I5bSsNZ4ZGgQHMqr_qaJJ-TdVvXaxivcrNxkIJ_WY9OfiJZRHaCndGrfcgntk04P_huRtB_fDw_djH6fGVzVXgpmr16d88b8d7Ez1iGAtkRPfYt77mWXlV6Y5MMLyHoRS0hxopKhfcWF5NjjmKy3rsdP9oYWs0wN7mYhm4_UkFobRRzcKIHY3bXj9NYaRKFi16rpQmHEodl8TO4YlReJQm26j8lRoVjZXGKGrjmONLZ4b4havQ6xAof_BYNLEn2jLx_1A3JCAU-wNw9V5x0WsxmXND7tN9gJf0lVVedM2ZegGZxW-A1TciyGsnKuYz1FYVpVCwAqyl3Q5artDPgQuA_9hV5ZY-ao-i4fo24EyWkV2mB3CSbW8rW_HCCVn868hhd1P7hyC9l4T45PzPfNd66J9_vT4YrhPLX7pk_maLA_q_EIVReHK3fze2DY8QwBgi3wGcDScmKLH3oMtBj6niS80twFvNY5cFcT3vJmIk-LUdHXOx5JcVkjnAMaUgEqFVzGA1oGEtt1MyhhX0O6O_FuZkttaolf5led814_-03Z4GvJgi7YSZ5VCC3jdc0bjifYJlhZal4eHP10-pl4eSyW6YE1imui-JLr7-zWOL1hkvG0W4sWYn-6ZcX2LGJ0Lhc67h4p0B6qAfdUpVbVNvQJWeQBK0p9sn_SvAkm4Sz24fM2bZnND6EJVV89JvtQEf1sHo1pOsZN6xGQicMvxFmdTTAgpfS3W4x9UOmCxZEMfWmYhc4tfnSuQmaSOCBmdZZ3ytUe0NfU7rQQ0qXN9MhR4Az_nSrFYhBHMBsa6t29liQu1jPDpNv4mz56pzzS6bFxbY9M82ilHN2wjQsk6DcS8zT8_IXrfPIvmomYnEbfg3sdzrF4qA5s_bOCywc2nC8DHYHmX586ThuAicXbVoidv9TALpIk7RZJk10L_I7FdDfwkDRQ_1bTVtJeZ6eIu3hw6EVjUpPQm1gPL4QM8tgp9Nqvzwb15Nh2hgIVQzwFI-sUFi0NpH8v3NyE7zxuHNHacSMDgIuRBW7CdjbAtr5-PN7xaySvmGaZbGd_8QNoDdTvv-Krp-ffhq3TCQ88pgj4WpyNrd957GoNli8iBD6_ILLwPzUKgA4zk6exHq9v51Jx1siYBjhtMPrOaN7-H7j6E99Axx7NyvQAKCCAtc-p_JmbAf_GFno2U0KRAk7E2oliFlgiFTna9d6IAs3gto8-OZqmcKJCsM0lOk8WChGCLQkM1UpfTqclIog-pQlLRsQT1Mj03rlLBToZeE65LE3L7qELmtWEUGZHYMJpS11BJ-WoXYzwxAYHq3JxxuN0jLiD03emuJRVNDUDyuMHOiZNIShrGwEZv2YMPhBcuO-b_C6eYotPZsGSbjl6OKviR1syzgvtpKJmV1rdl9D1lVb0HMBvI3hpraKSHBxVpEYydrl3KNTFKbE5M_y9ytY32y4ynhN2HfYoqVUcN1PKwn0exntXwAnVJ7eW_BYnaBPu6bfhbi5DnA8og1JPz98a79xi1cWAZpT9mTn-Rw3Tf2GRNLkeMhXYgPrsOs3xFRkdlqwQDfXlEm1hHmBqWGFdxC1AkTf0iNI62Eg130tND1GYq-hp3DAsuGxm_030elEpMSvHxySAICEzuhGcMcmpsdZ01joJXXOb-alLxV6-6VUz-YNSwbZ4GkmBf_xGuxwdT7EZn5gX47U9-zYiy8VmJuzuECQH2_y7w41Pe3qgrGnPjl_ggLP89PiDjO5gDQIOxEtUqUB90In8HYPmeNVYckV5aXMHCl3WFquRUfAgvD8yvv6H4ee8LHxNBN3OLXAgvDpNybLK-6tHErin3Au4_5D1hJnV2wKmAZpIwyiiw5ZlK2J0Xz94NwmgcCtUzm0e7k79cKNNwlTI9VLZlBZQPreF3ob3KmHuBS_hW2SpexfltHVayaskrqP32Al1_n6tB9zUuvmMtqJwFsEmafKexaIHWgZcYeVYzt9LAlCxQZWSmdfQG5w8AW_EWtnlJOMXc1K-tLBoq93FvL7qevs69w0tEtS1nQemed_PRI6QFz5sFiu7X02PaT91vZsUglWYFjiBBE1hiGu6747xCafPmpaMtdUHJjQ8EKg7Bv_bOUzeJ_O5dxg6AvsBTrtqhwMJ_lJdcQaoikHgDkcpiMoZm2sITfIXMdM4rx4_vtbZVtg-AwgPlz73lEOBOPguQnoL6hkEN63nWqZyB0yVk-UPEEAZDThShYKns7fuhHnweNP5GRXV6JFlYBRzrel8m_7GCRJ5KLIOirGtJZ9xbT3n-aHCN-3HAPsxFAGRT9Nhw3LwSyiz2NfWih4rjElwgR9kCAXZMcRpmLV80hvT4Z9QpBUT13Kfr5O_xYW0n3vi_ThfAd9VyvJYZtYd1Isw3rbNMypCwiS_KLIr3YuNtt5JW-8ejTALfjuD7tzudOaLGLadfXBERAkI6fpi0fJQUyn9ivSy5Up8496K3lJfVrd5uNxEGNX1HCCT24D4kNgvqdWOVxbn5UP8-43NxtOBpdGL60r7QUsGkGeh1MyHLGURobNGFiw-ZSym5jTkdPNOY2F6N7iIuq7GemVkOZ-jroqtZP5jL-lwwdUgRJEiWKYwYyfFIDnB4TKYagegAfMdojgATkKoUMWFZAW5MhAYJtn_zFkoKDw8k0V8D07VM2f1YyN26pFM7ya6zr1NPsFjFfuP9_ducYhq10y3Ld4tGG-IIoaNCxp3MfdiCiSIrt62ol4msCGgFA588dHe6OrmJ9u83lNRcu44IYzvMMVr3SEe-0MVLei5WRLWMajwzhXF4XacKm4O0Gc4BxS0iOj-iXlf7T23E9aLedvcTVSW9H1KxEKRagXGcFFceOnh7cPKs-JI7pU8mXPKvRRrIthtWur4OL-u2rFQygbPrd0BIFhFMKC-lwIcYxal83rGmOSm3Nhi8rGamwzGoUuTI5EwqQ2uNhfbYDnufk7v3aG1vyVLDaPQ48BpYyrTohiFKB3bLM-oW8C-4IP9-yUmHjyRLH6ZrWRnqPqGMi8zvvYPaACwZMCNr3JxYNNFMq6Tg5_7lH2e7z_VJwmn_AATGBpv-e0P-OXaTlETWjE_CJh4r0WmS8jGZbYGNIetow_xzfQ566pfQnvDx2kXF13GQwJLNAGyOqjptmi83RAKrW4oQgd_gujRLrnNAQGfPIDMez8ZI_pVxHxe_mvHvjm0dCbcB8NEMR_7W1e4AAJJAuXRFAZ-t4zSK_8meEDWLc0PMXzsk4pcetegch7WgBuSoOvxEDM6NwsSI_5xx4TTdE1BC7A0IAK1c2FaDPNZYGJgCi31DJSXwc0guMIC6eV3JUiuzSEPCtddlSPo5Ms_FcVUTJp2oosxnXVaY-abZ1tfX127ffLTchL6rjccdnhdSU0xNeS0KcRDaahlOHTZ2ygeGM3k6rReKkFEKoA=",
  "id": "rs_025e3cccec29366e016ab4528a47ac87d096f1c15eb24d7760",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKRyles4SNKj5bxyFKvGy3SiZnrEMPbIb3m7Ql5ODUlguIyA7j_RceQl8QbVqy5GyKLEs0zR3mrPr2qNTmzXv17Sbw-5n9SxOFfN9ybDCN6VxLxoNHX-CH2AfoaR6yvoU5bSpX72Jw59FJoGsy2GKBVgMsVro6SDfrI22aLvUVyImZic6NzHwSSVzabyLAwzoRMH_4eAQOnN8TbC5eL0DLu9MJctHLMS2XAXZq2m6sJNqMfK8FnItKXqi9xz3xMeAtG9z6wqmCz4rtNz7a9hXEiqsuWMu4nlTR4qEazI5he9plkUzx5xteXDn2vclmPltJI4r72GMPn5VZsCeM_u9yZq2TvcXd9p0AIlhudTCHn4p3osGolzdhrbLy0wPeghdodYIRedvYBjJrx9DSg3ZOiyDoElTfTlws6_tI0EY080sJBjFhpjx-Kf5sm_FnLCoXN0lL0gPIKb5Wvw2rNv83jNyzE5W-z484NLuh3la7fgm_j-P04bYN00R83vU5MVa6B3JmTk0iy2fKvQdH_erCvBr7XU133iCJcg5tCmZp7W20VvxzIOH4DzzypUSTFquy5gi3NLABum4EX5ZCzEf6vxFdCWGEUzU6oep3mDCFRlHD8Ofz6HfhuGTpumWLQ_TQOrX46B6jSMfhcpIOjNp5QICjwaKent1nrGUilndJH5i0dIpIIiI_vLcQz0Ivst5hNKh3ywp3PJgK2zBAF1kONnvyEI0ablHHvjeYldZ7OCM0LopBMzKJqlo1NC4pTa-CR5_-BTrqLFq9itO1hhpc2f6HFmOzqLTCVo1iOYZeOyutjRWq-x8P0ci88SGTM3GbR8WN5UadClTMp7ZjkklcqTPjeT_fcl-2kcKj_Nz4aDrO-KHqeu82fi6i-QeE98fYp4UoZjwz_MN_08MX4ZaAtQvMK4N7RhRBlo8yLUakFWR3C9VMpDqPM1Izrk-Y9WIov73eRzMX0JfUUezLpkLj6QWa00D_QYcUG8oXntunbCucavNjiHvx-uMGCqAUWtUNBBo8IozpmKae5rJCLzSprlW3zS0qfN7FwYAqD5TMdkJbih_jHX7zRqKy7CvE8v0CaEqnLQng7p6DZe5ShTOD4fDdQUB7hRProUVNYRgjrCSPcLVdsm6RRpWgQjYTd5YgxBSgqnuVPyPHWhG_i8H8FvcP3HDy-FDTWEf36hwUpHfm-MbOeZMad4KypMTEMxD433Ty7nxugchjOhJZz-qm2iroz9lsUHtgq6Kj_rUTRBZxBjH_Ex_XdvQctzHS1qFd9TLQJXfa9ZLM1YZhlfHZZGGuvbY-IOuTiX5r-dzYyuGiK5nyN5LjeKmIiMvdfyotQcd-8MJVBccxtHA2kwm6J0Uv99wyRkZZtne41No_3J3cJ_rMe0riCaHco8P060axw7JZ8Hrx6DXAO7r1dPz7oh_A0iUfFw-NBspAD-70bjil9ezX1FMv_V3h-cOGKpGgGGTI2rcVbxardoxj-mtMbNHja6n2eVtFSzr197qeN1pczeon2Wd9ZkTKqm9XFgo8T0Z_qUtQVsW6eZRv70W_0wT_JmTJGbxLJePZQlPnRMuvlPOVSN3i6JHnyzyO7P9626RSYrjP5_EZHRsdoQQrx9kKJzpwGjnFrhadI7yPVZ6MZ9ft7YtIM0kRvrjohx6yiNQkQBkhxq3YEdqYPAPJIR4sIpXIZWREd1howC2e2NosB5WBe161oBNUUuqscl5Ni212wSSTHNv0LQWLRoYAQQZ7Cvy_140tLISEj8SteKfTtJcBeMEi_bLebppUuV7E3ZIXJApuhOdBkAbqEm77RmxXZiDHr5lUNrdbNVqMVqnR8nomMkv8HJ5gZ7M2ct9mNd-l-doY-j_eJRS_fW1JUDggXJ-FNsFREVFs41RosaD825sj-fe45swlJ29lRJUdQzrouSfcq720yneMLrBBmkw==",
  "id": "rs_025e3cccec29366e016ab4528fd04887d0b63b3f90753a84ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.08,\"right_y\":0.08},\"note\":\"The hover views show each gripper is centered in the gap between the outer bowl and the middle bowl: the left bowl is to the left of the left jaw column, and the right bowl is to the right of the right jaw column. I am shifting both grippers outward by about 11 cm while keeping height and forward reach unchanged.\"}",
  "call_id": "call_zVcSmbuyatLZyhhhPUHNPnxk",
  "id": "fc_025e3cccec29366e016ab452910a6087d0b968fe8524776ede",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVcSmbuyatLZyhhhPUHNPnxk",
  "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]: [-0.3527, 1.4048, 0.7719, -0.0677, -0.3202, -0.2417, 0.9992, 0.3164, 1.3979, 0.7544, -0.0891, 0.2661, 0.1284, 0.9972]\nstate[eef_state]: left_x=0.3876 left_y=-0.0796 left_z=0.1227 left_yaw=0.0253 left_pitch=-0.0865 left_roll=0.0344 left_gripper=0.9992 right_x=0.3797 right_y=0.0792 right_z=0.1123 right_yaw=0.0187 right_pitch=-0.1265 right_roll=-0.0726 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -7.5419, 6.3658, 1.7949, -0.0269, 0.1685, -0.0171, -0.2667, -7.2957, 6.9265, 1.9316, -0.0171, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac405c7d700d79ef4f337f9d5b5c688c92e5d0d68220a2c4731504c7c07a587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97ec3d6f9ef860700463cd4e7415d3db8d66127e5ad835d51bb268b9314c996",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cffa0778ee2efb8c8c44fa07db77ec9bcad879619ff6bb607083a92f727ca87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6758, 1.594, 0.9821, -0.1402, -0.5423, -0.4397, 0.9993, 0.6548, 1.5948, 0.9745, -0.1425, 0.5011, 0.3542, 0.9974]\nstate[eef_state]: left_x=0.3892 left_y=-0.1906 left_z=0.1332 left_yaw=-0.0131 left_pitch=-0.053 left_roll=0.0293 left_gripper=0.9993 right_x=0.3853 right_y=0.1933 right_z=0.127 right_yaw=0.0447 right_pitch=-0.0752 right_roll=-0.0532 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -7.3641, 8.9231, 1.7411, -0.4274, -0.0855, -0.0855, 0.2393, -7.6513, 9.5248, 1.7949, 0.4371, 0.3297, -0.2857]",
      "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]: [-0.3527, 1.4048, 0.7719, -0.0677, -0.3202, -0.2417, 0.9992, 0.3164, 1.3979, 0.7544, -0.0891, 0.2661, 0.1284, 0.9972]\nstate[eef_state]: left_x=0.3876 left_y=-0.0796 left_z=0.1227 left_yaw=0.0253 left_pitch=-0.0865 left_roll=0.0344 left_gripper=0.9992 right_x=0.3797 right_y=0.0792 right_z=0.1123 right_yaw=0.0187 right_pitch=-0.1265 right_roll=-0.0726 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -7.5419, 6.3658, 1.7949, -0.0269, 0.1685, -0.0171, -0.2667, -7.2957, 6.9265, 1.9316, -0.0171, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac405c7d700d79ef4f337f9d5b5c688c92e5d0d68220a2c4731504c7c07a587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97ec3d6f9ef860700463cd4e7415d3db8d66127e5ad835d51bb268b9314c996",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cffa0778ee2efb8c8c44fa07db77ec9bcad879619ff6bb607083a92f727ca87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKcxTf_rirmw_asSD6UrEcG3aQxvyCJnDL2EPtAmtK0twTsxG9LJZqK89RYxiwo_9ETxdeKjkA1Von0UwvEZ_nLw7Yw7IVbne4Hdikt242B-MpQR6hiqhhBXErwenAPykHR8-p6b3EnbAsA2DKnpMoEXyQsITg9HX0rxImhokUl_bCQB9VoMzzSP6cjjiX8M9X4gs1MOceta3tcucwufSwEAuTy4Jm4wdld3hMI-32tDfk55a84R7U_gXXT0zB-65ZqBSLVd_gyE56CxWVPOLbLE-hsRjzNzAH2x1oceqhjj2B-8TBTWEiKyPMg6uGoFlGUtO4waQDebT-l0KsvWFtV_QyDksMirCLa2VtHqzxGm_psiecMQRtFpmqt2Yxdg1dl1qNv0OzA-dKItYrol9QA1crfjhtV58f5DeoFmiVbqDVycfwg-9GnoCIVJYT0GGnjzopU4X7Bdk_K5yRxE2IxqSHsOl7V2vPlDv8-PTUdLfNPNRsY5z9h1iju5bD5DmkAJ9pkeq_EXTKQi4d-8DPzyImbULc7_ukpVHr8kBvOyvSRFKIp4BzQDfmZc0WO2HYe4Y7jOdP4XDwXz20i-_kYm-0TDOMjT092PdSUU1Ns-UqopWwn8kLVcD4I3R-4G3yaaezBgFUE8FfxNT5eAZFXWEkg_Sx7QgjK8puYD5LlaPrPvkuXNRhcYQ7dIKEOSGJicjOOIhwTyZZySA__OtwwWVwivQesa7U5udIp4-eqsT_40vZhZuvrz3wvTgMkZjw5weiFzoKUVKWOBn8agsIe88uj4TvaDjtpLGV5QZ2vs2itHTBjzouxBuKjUgjJZ7KBvUeuY6sz3oUkQkt47catnoHlnDziCWRB62Z6MyjYnRe8DFbWjGRGqdMsx7VU9xvC6NXfpZBr-nUpdiukEkHcw4Ye6NkvlNJGu09jIdVw7pJ1pwiUN_IL5yX1v7pvOuq5h3Tc7vMXe6FTYv8VhpXR-6ZG6ZBml78joZy8tQamtPBeeCZ4Is0sSE9PcXRKZvxqTA1xHanWDlELCIxK8llZF3cPTkGwuZ_sUj1bfES4SGSVHBPWhaX_BymOJHDS4ZlODbsponAej4zm7l8Eje0r-L0Le0tRfHWOf6sZ8iSG13QymjLa-vzMLKqBWlJt1ViuJ0hHPDfJFc-jlkYeV1dwZmj_ULjU87P29Cc68v_mDfZf4ZPkC9PwRcdQGcbbK2VaV9ndGV9e_uNW0y02bsawWIM5t09CrykMxEaw_38kI2zPFUcPtTqAxE2pe7_2I76ZatyB9qgy-wJ95IzfjubYLBmRzE1hB9SiPVJf7z1dsMzTkzQzxGvl2vIZEE7KIYJjZiM6mpUTxkM2AOouqgE682WC73iwxx2yHlenpdNAfAw5VegYxrcbQxO9ImnG-nEsDXqmeiRaVBlvMtXnkrkarN_4QN3trG3SuzNnTRerBrZfO6nuRtJhnH1uw5p4XxsEibyGv2cEJAva62mk256wvrOc5oQLyhVQ6jVdJ5Zjaa0Ur4fRJ9MA3S3XI25IJPgrw7x86wDGDaE5-ibKxdRGCehb50FVFxvAfABZwDCLjkZUprTjxZfx8pJNGTsQrE7b_mU3JIcwi1xsrs_I8CM8kHKcJ9x1KvQ96CvbYkmWErIVmpgaqGMKeYIeu_0n-cxqnN732a2me5suD99n6NLZpMoYMV6jDnMwuUIrpGA2BrCIdLHtlL5PupVc1qoD-vNC6uysdNw7ot8VOvjI2zh4eBksr4xqQp9Ng0E7KDeBQM60KVSgYhBd0ofw8Jb3ucRRAYoBcuhlSIdeahQ1gCC0oIpvGD4jmUxkvVShh5kAFZAeRI3xtUycHb60loug30WdlF5xAWJOd8-zyyxoG9vBMtveMkYIUpV2lnAFofLYtEsWU_kJGnNorRomLWqiL9LNcl20ta8YDv1feIQQxGCi5krn2xJlrEuT-t5iZJoG7fLh0loAn-zrxKtZ56u40QQqEBtVgFjwARYB_EiIsArkhHzLs0xm6jWVHBcj47Kxp6xe0mjQANbXUK_-OEz_Ec3W0W1huItwDXVgrTHkyKjibtDJKDo38DVOSLSPWbGHjg3Fn7c2z4DII7b53sNauBVowqaCtW4J4s2o0JEZtUHep6Zt1cVd8UbrKl0xSmJyTy7crNvsdJYvbEK5sNEEZDxra-LPAgxIfc0vozMAsdilcIk2n-PV-cL-cMxfspURdmvzwUJuB1Ql453H5xM7DvWeFvGFjiZR9qHx9cWEhsPIn3EQXWeo68z70c_6_7_trACV6EN9etkGZ6YwkmY5EBPby_K6cYDUeSThL-rwVT8W5EgQvNAmAcXHKXzVx6ZeJ0FPVuLwWXU9rHl3TaN5qE-YICrnTdReyNFpuf6ggXuHnqSZnjgvvJFnZPqziDjMbY5dmoj0fpmJDLogjwMyxf_rguhFOZUWRjXJXhtGfQcgRTV1PSymKgxpKeezKohtQmGc1dRB03N6XqDA-viw8teBB2MiV8Ek9paeWJd9CTbUOeYYyY9bkxz4kvYPye8Ke62nyPInJpewJG7f_3U-UbeA0nYDcJdKEI3YzBZ9U2RRLCUOFyJh2x5lpClReJRRDfUYEPMAtrKaROTrM7xDTKoHFDdslpggbMYBfJWtJ9-XkANm1v6sh-ZAEP3HveruOxXZkWjjGWH_B8WrdugpkTKM6pFs6ioFJ3nTyt4_AeKGINTo9xelTiQilcaCgGV1IxezQGovaTWf5WhnB1-Y69xTFFtPBzhZqPdmtpQvg9E8tB9fL6drz8D2lDfkaxhn3JP4Fx8FFacmoBABlP1eKd22nqRUl9_yY6OghoejdJvZ9BPaO8g1AttFoPjikQBo3YChmuWEN5Xh4TAjV0ZApKiNBash6AEp1FfqNSyVEmGMfFgey_GAWpPXxoiJPQI7b9amQqZ9TuuQnCEdxPKMFawNIgJMAlri8gftaFa2F0f_smHXjGji5wjo4yF9pftzuzUnx3THlNjoF2QoLivhXx-HEhDqHKjxGVj0UH1kg4kDKiiVQYCCCx2vezdzRTUqt2k6rzB9xczEfgnsjPKALaS8aZ3f9zZ6qZrvlXFi3N2srtzYHDFfhLTnLnNQW76jNuJO3XhZ7Kp6UGJSUZECmh-oZUvHX13X58UaIJoxjP4a5Dtn3-Pns2vzZOUhwiOlM-EEC0ojVmAStnjBFjulGEqGKNHHvvDUkeJrEfpp0ymcFdbFR_9fEW-HtIGra_nQlw6-orqCLbrDMd8Xa4dNuzfwW0NdqVU_2eqIQAu149DbdB2TS1UHTquCJybNexGLB1Wp2K8NRKNrA3qeNtQ537mlVpvfuHUsxNLNsrNFRRo9Pvl0IQGvTRd3iz7d9AIxAA_u15da_bckFpf617lxF5yOu8FKGHCc-N-QRvt5rg9t20sD3oySrhw4S7BSdMfUkSA8vzV42WTC3G8b4qQymUt51HFAHJybq-22h_xAv2MMZg==",
  "id": "rs_025e3cccec29366e016ab452971fcc87d09fab7191140617ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"right_z\":0.04},\"note\":\"Both outer bowls are now centered between the open jaws in the wrist views, with their near rims reaching the bottom edge as expected for objects beneath the fingertips. I am descending both grippers to roughly mid-wall height for an outside grasp, stopping above the tabletop.\"}",
  "call_id": "call_FxPpdxEBtooEY1vZmiJ2y7HF",
  "id": "fc_025e3cccec29366e016ab4529bb52887d0bff1c69390b3cfa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FxPpdxEBtooEY1vZmiJ2y7HF",
  "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]: [-0.3534, 1.6066, 0.5953, 0.2558, -0.3149, -0.2359, 0.9992, 0.3141, 1.5738, 0.5911, 0.1783, 0.2535, 0.1158, 0.9972]\nstate[eef_state]: left_x=0.3802 left_y=-0.0781 left_z=0.037 left_yaw=0.0193 left_pitch=-0.1391 left_roll=0.0558 left_gripper=0.9992 right_x=0.3682 right_y=0.0768 right_z=0.0319 right_yaw=0.0304 right_pitch=-0.1983 right_roll=-0.0943 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -5.5316, 4.4513, 1.326, -0.2222, -0.105, -0.0122, 0.1709, -5.9556, 5.2171, 1.9463, 0.1783, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a20dec9855843638ec27bae6a529e850aae0d392311f15139fad2f9025b29fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fad9572b002af109c1c19ee24b45fd4db0656970e07bed4afb165a5724e5007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93990b81ef27e21ffddfc7c96e968ebc883d7ce300ae6ac8a3201655e834cfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.382, -0.0227, -0.041, 0.9993, -0.0219, 0.7925, 0.5995, -0.384, -0.017, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1793 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.4974, 10.1402, 1.8095, -0.0708, 0.2564, -0.0855, -0.5128, -1.306, 10.4137, 2.0049, -0.0855, 0.0317, -0.2857]",
      "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]: [-0.3527, 1.4048, 0.7719, -0.0677, -0.3202, -0.2417, 0.9992, 0.3164, 1.3979, 0.7544, -0.0891, 0.2661, 0.1284, 0.9972]\nstate[eef_state]: left_x=0.3876 left_y=-0.0796 left_z=0.1227 left_yaw=0.0253 left_pitch=-0.0865 left_roll=0.0344 left_gripper=0.9992 right_x=0.3797 right_y=0.0792 right_z=0.1123 right_yaw=0.0187 right_pitch=-0.1265 right_roll=-0.0726 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -7.5419, 6.3658, 1.7949, -0.0269, 0.1685, -0.0171, -0.2667, -7.2957, 6.9265, 1.9316, -0.0171, -0.0269, -0.0317]\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]: [-0.3534, 1.6066, 0.5953, 0.2558, -0.3149, -0.2359, 0.9992, 0.3141, 1.5738, 0.5911, 0.1783, 0.2535, 0.1158, 0.9972]\nstate[eef_state]: left_x=0.3802 left_y=-0.0781 left_z=0.037 left_yaw=0.0193 left_pitch=-0.1391 left_roll=0.0558 left_gripper=0.9992 right_x=0.3682 right_y=0.0768 right_z=0.0319 right_yaw=0.0304 right_pitch=-0.1983 right_roll=-0.0943 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -5.5316, 4.4513, 1.326, -0.2222, -0.105, -0.0122, 0.1709, -5.9556, 5.2171, 1.9463, 0.1783, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a20dec9855843638ec27bae6a529e850aae0d392311f15139fad2f9025b29fef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fad9572b002af109c1c19ee24b45fd4db0656970e07bed4afb165a5724e5007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93990b81ef27e21ffddfc7c96e968ebc883d7ce300ae6ac8a3201655e834cfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKkDcWYjkgG2TrBfEEKGJ3j3VuW-UstbQhVAJajVAKuHuvJhFILnwMAXgZndv8ZHa5o0UfnZ6V0Oy5xrvPww0mtdndu48gy7Vue4QMnggOG9soz7-abmmePIDvK85k0j6EgrTfJQ_TrCh2qgK3jv0QHMjorLOHLbQ7GJDJPAQJZ2yZSWQPAKZ6glVXseAd2haEjIazFIpKvfsbOI3Gmqm7vtPGRQHcNBXnde8rMixWSRVPyv2pbR7-Q2JXOOai2mi4Ikxf5IH3A8Lzh1g7v8u6GDJViXDzBeOk0YP7ub4rj2uLzNGINPeVD1_tMDlu-dy2C8cio0wR9w3P-M1XDDU4t2Yd58yHG50Jzbv9TOu_ME_aL_M0PODzGHg7zyaoOijh-akkjUpd7EOmrlw5mFEO0V2uk0Xni9bNBQT3ZSZHDeH-2biE7tWiT_d2R3gqvhuwWgJKpzryG0wElWZEtwts408MEZglO6NE2yyvBhGcoiPSC5WNeTpCAVbbz7aWyzoniI4-i2kuPJkpdmf2xFZ1yCc2KwmBdy8HUs1m49qaojMl_dgXQOlXhWEC4FVITCh3rGhvzOjDO-95z2skeFfFQUS0a_-Pt9yI4kTu-OzLzKVO4hVCjfimb9H4j55u6GTULmhEJJd70kYXVst5OYI0xklQ5rhHq6l_8kBQT9-JkaiJ4qYlQGnBDDhHYSTOmc0bc5I8wyqdOOA9d5zhSpBlmCBrcbMw_p5L2WEhsIhZhgxmJW2mNh6Xm0I5D5CYVMYkvLZRFFJUKMpsYiBFQVjB5yo072DzgiJcTwKTX22MccZ1uTtpJtb5OfxDMmD9dterSm1hXzEydmxXH2hN8X9SL88eb0bdnOKDHvauf_2qq91tWwK78QWvsKz108SCSwhCd13iD1-2Wr0UBZ4KOkXywMUQtBMar2kLbXU3h1RU5eSsXGas5TmppXSgf3l_EfQ5E7JOTcF1CQAiWCbJrydbBy4bHeTtXbky0RqXqq_0ufIa9Cg03yTV9LQwodZSQf3-QNc2eYHt6CQwgQa-gJUpZt1NfvG24N-MXhb3ikL4k_EawvedoEVrbCTU-tE9dRGo0Fjc42lvW3ScsYKuw95iqeEk80i5YdB9J3iHsnN9ZfHFYxO3gUhNKiIBTiT-Y_g1YMM2Ypt4VesaXFxiW0W3DRAGdjpEOBtC6_MzGE46Ks56YGnfMVcc9M6szvUdP-9gsJr57og3mwgzu6QB6BRYCJzJttZtCVMAoJscydC8yfLzJM-7Pnb5t_nE4-GQG5PVXELKlTZTO2JUqdrOWq-pNVTUYLnfbv7WGRgwjG-KtrJhM3dcFqHhBazxRP3kP6B8_VhwswrI9j4_21H2WIqBnQq1J2G5eF9p_ShNrhOEJLg6rGGOztxwn9vd0vMUZsYV8ber_6HYO2whY9vSPSGqI1tkRhDfJ86-qvuKChdM-pvYRtP4nKgln-EkpuIQJJS5LVR_m74eX8pJJYGJyCD4rMm_sUXnBfSPY2-sKYEByCuc-COf-RBBSY8C3V8PWWs4YtkkoYKA0tQc0ciaQPNXATVtMP8MjLZ5hH5B24HMEXN5lFY_oWdxQAx5n900lf6GNt2hKDs_ZpNm06JTA9eBs1qrX4WmOveLreqbf6OAfG1WfLXsCX3E2z38bVwOkwQ0bloiB9YDYRVNZXAVRhNH8a_ZF6gQngtjhKNNDuhzFJdmDQCjRMyrRr9dEZ18mrH4iOyMYdEwVDI0hIIEF_8zpYSIiBr8fvwFI9cxsuyylL6SB6Z5O3evZnYrmslwnBJADm98t_1Or6yYcoP7kYvEWBgVLjng17PEVfuNraRErfOMgwLBFQ8HptUGJ_k2OkoKQMhoS6G-W810-p3ptDzxYKVE7zpzWH1GnrTjvVixoKMO3mSRCz0BMk4kuLC0ffm-THG9CzbS5rKEiNCk7K9F8Rrj3_KPrCJ-KtZd_j2z0YwEc_YBzC9_aRXxsST2ORz5VnCW7lri9gu-gwXkzeNF1Ara02RZVXcbsJasJy4Yf3v_WiiE6JnuHoDkooGIE8oEfquCSR51tQHjQmdqUYAo_0F9KG1wewFzeY9xuN5kk_wNUynVw6uXKgCAjJH9QBhQk_Am9-0keXY4c12Q0m2fLQrcNXJ6himFh8j4R6xmeSAJvHeldUQDrnk6MxNXOVncLB55kRBd6qHrAYkx5J0VOO7_Q2n5FoAjl1HNBZ9AF8kd2SdI5YRpiz9HZEwXODBKLoBkoF7KQ9RREwpNwX71Mnd9FgrCkp0h_uBXnlDOhUgay5qp6XTj50MUZJJlxxCxPJD_h11WVKBLtchyj96R4rx-78OkZ4976ZSXlFgtm_7MkYBY8V2IwgMAB-uSlzmbtFya2vEqOuAOS76Wqi6URhJDILHgaCBd9mmj18owb83KLDqqYCQDaHut4u0-nYfymtwFsAiCIERq9JcBkRGoxCOofx7lLDUWSD5SsO2mAMNcj2Gi1J9-lKZWlL_fPy3bRYfhBvSECpqYSgfLKZ1Pqymec_SF9ftYrgiLTxR3mi85S87wF3n03xGACffLGWItaCCovAZM7WdIz8f4063rgMp8dR6j1VZ3J43kOFjSifG85xcVsbDj3GUBfuIssjAWXBoU83HgCfxhRi2hbjUgC-0fRk0T8_k8hM0_nrftPS01JdYM6f6ytPRG-_1Zrdyp7GShyuTKah2hOGsmx19w6qFSSk-av8xYptYlKq7HhOh10j7csQ8LWClOSDItF-n2xTqphaOR14tWKETbCdxoPNnKrpSFrNuzPGc_PZWmyTqPs51UKtko9NXWuc0rcpM7RUyJ9qQnzPkXB5URc4qLPCy5_8xN6-T3an2OOxdnqG4WIvr4NguV3WNQva99AoH-L0VpkUm5tCWjyKYKbvUTtqlE9YRjkyQ0nirJx1UFI_GQ8TGRM7cZ71OhuVB1w2yCab-v-pURZWNhTOeQ9jaQnq4AX3igRTheH9nHuYqmOpPXSNPepOtlWu4pihbdBfNTnzQDQA-JRoVAln7kOr1ESY698S1rfgAJ6w7bxRJMrjLqUogRJ2t3R3PBqY6BEiT28TcVBCTBpsmFBnf4UamvXZ3s9M2Yf5unF6tnTdMY4nY6w38uilxpGT9FoGJvFLC9WZeI5QtOknyewTRmV22fwbqp2zLRAB9TFcBLq6ETdm3poaOCAPnpeKu4xXWzsuKdCoNu8YCSb0A7JSSVD149ir25YVQnAbBw7AdBgbq-L3PUluEs2LHTo29yjoMABAHXFWqA_S7Kg0yYKADZUBSz1UezH2GezFzkNRSXPoTxwDqns6fCLj5o2LmjsUK-K7C9rC5ApdmJ8lQ9dY4jaKGLt6VF7_kid7oemIQWGRXkKXfKkyo-BEV6jgWjIO0mIL9PLIR5CYxnDSMV__FBBe5H7SrvwCeY2mpmP1bmSjVUb15roSzluClKb3I8-DJzBKglnGG257Ha7vNC43aVQiTFzRPzMsg81GbvrtBbOxyZ502ZKRIfNtllW1X-M_rUtTayLG76CUJ2c730pfVUDxVLITXJqCqHvfb5tTAjbMWBIVcy2odBG6Kbsg4ethb9ZR9211zqZKle4m3I5GAKaYIQ4FC-_0ZNJc_0y53UYJpiPGNhVB8Cg_VZBGZmny8W_rqtZuUz1V6zjbD4dXEcjkQudftllPTzWYQ2p86AqzMJqE6w7mAPNzvwqCLE4EJTJTjAwIpBTgRXkRE2tOiFFlYL3aBGswdP_zwCrGP0rp-Bv3h0PTJ-hCb9YiBr7TO8ZkvkWoNKM_QIm9AQjDSWspYaKJlAjoC8Xoay2EsuLaPmBRciml-DOa_B56TLI_U1qEDLl",
  "id": "rs_025e3cccec29366e016ab4529e36f887d084d7a6b2e2c5e83c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_z\":0.08},\"note\":\"The left bowl remains centered at grasp height, but the right wrist view and overhead view show the right gripper several centimetres to the bowl’s right. I am lifting that gripper slightly and shifting it about 4 cm inward toward the bowl before retrying the descent; the left arm will hold position.\"}",
  "call_id": "call_xHSmGq8OXJPH1MULdc1Nn5cM",
  "id": "fc_025e3cccec29366e016ab452a3336087d09ff7f72035a2321f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xHSmGq8OXJPH1MULdc1Nn5cM",
  "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]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3141, -0.2356, 0.9992, 0.4583, 1.5352, 0.7326, -0.0204, 0.3134, 0.1875, 0.9972]\nstate[eef_state]: left_x=0.3815 left_y=-0.0787 left_z=0.0355 left_yaw=0.0178 left_pitch=-0.1258 left_roll=0.0503 left_gripper=0.9992 right_x=0.3687 right_y=0.1252 right_z=0.0669 right_yaw=0.0842 right_pitch=-0.1982 right_roll=-0.0902 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -7.1863, 6.1744, 1.2088, -0.1929, -0.0317, -0.0122, -0.4991, -8.1026, 7.5829, 1.3211, 0.3785, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f895ae97eed99fa30704f0e1fafaaf12f81fc43d487ac88381039798e96e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce8571e98964f89817bc3b0930be541596347ae6353bd236648f2298d772131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5415ac27e27e9bc0945f6b069ad3787b3904cd47cc54bd3003f06e7319545582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 17 changed as sent

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6758, 1.594, 0.9821, -0.1402, -0.5423, -0.4397, 0.9993, 0.6548, 1.5948, 0.9745, -0.1425, 0.5011, 0.3542, 0.9974]\nstate[eef_state]: left_x=0.3892 left_y=-0.1906 left_z=0.1332 left_yaw=-0.0131 left_pitch=-0.053 left_roll=0.0293 left_gripper=0.9993 right_x=0.3853 right_y=0.1933 right_z=0.127 right_yaw=0.0447 right_pitch=-0.0752 right_roll=-0.0532 right_gripper=0.9974\nstate[joint_eff]: [-0.5949, -7.3641, 8.9231, 1.7411, -0.4274, -0.0855, -0.0855, 0.2393, -7.6513, 9.5248, 1.7949, 0.4371, 0.3297, -0.2857]",
      "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]: [-0.3534, 1.6066, 0.5953, 0.2558, -0.3149, -0.2359, 0.9992, 0.3141, 1.5738, 0.5911, 0.1783, 0.2535, 0.1158, 0.9972]\nstate[eef_state]: left_x=0.3802 left_y=-0.0781 left_z=0.037 left_yaw=0.0193 left_pitch=-0.1391 left_roll=0.0558 left_gripper=0.9992 right_x=0.3682 right_y=0.0768 right_z=0.0319 right_yaw=0.0304 right_pitch=-0.1983 right_roll=-0.0943 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -5.5316, 4.4513, 1.326, -0.2222, -0.105, -0.0122, 0.1709, -5.9556, 5.2171, 1.9463, 0.1783, 0.1099, -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]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3141, -0.2356, 0.9992, 0.4583, 1.5352, 0.7326, -0.0204, 0.3134, 0.1875, 0.9972]\nstate[eef_state]: left_x=0.3815 left_y=-0.0787 left_z=0.0355 left_yaw=0.0178 left_pitch=-0.1258 left_roll=0.0503 left_gripper=0.9992 right_x=0.3687 right_y=0.1252 right_z=0.0669 right_yaw=0.0842 right_pitch=-0.1982 right_roll=-0.0902 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -7.1863, 6.1744, 1.2088, -0.1929, -0.0317, -0.0122, -0.4991, -8.1026, 7.5829, 1.3211, 0.3785, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f895ae97eed99fa30704f0e1fafaaf12f81fc43d487ac88381039798e96e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ce8571e98964f89817bc3b0930be541596347ae6353bd236648f2298d772131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5415ac27e27e9bc0945f6b069ad3787b3904cd47cc54bd3003f06e7319545582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKnYf9La-bIu4UtWEnjk4dJqnV2_7AHNRWGJRP5apQeUIyKKxzvNLIB6GokV1hL0H1p6oMw-N06gecmXVOTRGzpUFfYLMtsU-m81X1pfMxtNpEmv1-oAGRDFRBHiWs68gSOdI1ygB68rrdaoc7W8yM6-QgyW-C_r9Qg8vZB41KB0cIyXSn895gWBw4ZOhrCd0p6iXmZuWPkDK2RxK81FR_PzyrwKt2veCl4MRxsIFooOf3I0K-T7S9f7nvV71yVqV_09D5BrdSmwgZu95R_OezLx4qne3k4bn8Wg2WqauSNShoPKo8u7EQ-Smy-lQSPoV3L1FPmH1qp3DDETiyh8KwrspssmIOqaF4euq8EerRweh7vwH2rGIRuGSBKzvIYBz2Yn-voXDzArNDnpExUWIimNFw7D3_FNvVRvpACQhv56s3eO5GgfQFwdPDbGq_zf4bGPKD_YaVGuCRxKqO4K8nWeLxvekLMEreWcF_EHvt1xWxrYIRKorYDhJ-8bkehN7fqxac4JeLpy_0FFzYEN0LZ61WgABXRsyLTPCauMdwPs8FBEqyQF-om5QYzidhJizRh98IYclbji-ip4jNNcygUgKm34ZrMfqfMlGnqD6vdBp2QXucMjFPmF-wHH8ilqUNnGRJCkTnq6UTQmflO3AHOa6dtur11LlWIMjOxxDA-MbL6TFGNF6Frwd_sIX_4CjP9R08m2Z-hc2OvL07zFzEwylnqNa0kxXjC1AppT11n8lKM4LLpwH4qH53V7Rgo_yWDJNsqlkU-Kxl38zXAnV6Vy3zlhQOxgNTRdWd1xM2Qw5d81y5TETMi3gfBpL0sPgn9IplLxJdv-IV5Y-tRB0Hg_Fxyn5bzbuK5aEVejKRfcAuT8jkHRqa8awU03O2y2UkOdOA-Wwy7lIQQUoqhqya8kBIpC_TrOhdZsM8wiWAZM1wuQ_dhccEojY3FEmm8skfxaq8dW101ckH6QQJuhmWUe5tdDQh0dqmx1MzLHffiGkTHcBeosucb5e9O3a6d7TX-Eiy8RJAPqv7-2buMNPAyBxNDsbfj_rZnp92UcwBIWBI61OGTeIczJel_-dyGbiLmhmCz-FnRbUeajP03CGIdHvsyaChAA5yQ7_ujz4j6P8Mw3C5HjsKy6eY3oEOB3YDs9wwVjTuUaHTnP_6F5E2coyq8lp1ekPVaOFB1XnxY3dRmqzGX9HGHUj6nWVAZuTqwlpn-dkjvWgJAWeaK4DHhRk89gKXyW1ws2dEP6SKFhSMpTUMGKEVLb1JvrBhOR90IlBimBI26P6YzNjKCd-NiC17sWdLJrBhOnfelA6m5jV77tmy78Su_ulUy_PsWEE866XrKGIcxsvUcH_23U1Sw3EwSUNqW9vNIwSGtlX1ipTL_FP5wkk7_FkWo1vJ-ZJ0ekbTHHREgDbGFXQbrM5aMu1nXPjP5ef2PjpQ0PD7V4-A82tZJff7LWX6s-GzrtPJ8nhlU7UkdZ3utu72Xrb4XCN_awpMVZc20TEoGx6f9ZjcA7DoEq1EHTCI6TInTIVTRaT8VLiHXoxVl5iAWXjrCEg==",
  "id": "rs_025e3cccec29366e016ab452a63a1887d0a4c38f13d39e50be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The right bowl is now centered symmetrically between the jaws, while the left bowl is still well enclosed by its open jaws. I am lowering only the right gripper back to the same mid-wall grasp height.\"}",
  "call_id": "call_WtkZ8tANyC5pm4jemkALk1NO",
  "id": "fc_025e3cccec29366e016ab452a6f1bc87d0b90294981ae6e00c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WtkZ8tANyC5pm4jemkALk1NO",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6176, 0.585, 0.2928, -0.3141, -0.2356, 0.9992, 0.4625, 1.5642, 0.7124, 0.0074, 0.3279, 0.2031, 0.9972]\nstate[eef_state]: left_x=0.3817 left_y=-0.0788 left_z=0.0357 left_yaw=0.0177 left_pitch=-0.1247 left_roll=0.0499 left_gripper=0.9992 right_x=0.366 right_y=0.123 right_z=0.0539 right_yaw=0.0662 right_pitch=-0.2132 right_roll=-0.0972 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.5162, 5.3265, 1.5507, -0.1441, -0.0562, -0.0122, -0.5812, -5.3402, 4.8889, 1.3309, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb1259ace122cbadf0ee9b8dc0e6caa2b782aeb9200b81c8ec3a300ab2a75f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24eb954880ac1e64b952722d30c35243021e5be6a07fe05f66890422dc0c99b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb238ad35768d412c8656fd86bdd1d0ed81f10d55c760f132c91809ab1b743b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3527, 1.4048, 0.7719, -0.0677, -0.3202, -0.2417, 0.9992, 0.3164, 1.3979, 0.7544, -0.0891, 0.2661, 0.1284, 0.9972]\nstate[eef_state]: left_x=0.3876 left_y=-0.0796 left_z=0.1227 left_yaw=0.0253 left_pitch=-0.0865 left_roll=0.0344 left_gripper=0.9992 right_x=0.3797 right_y=0.0792 right_z=0.1123 right_yaw=0.0187 right_pitch=-0.1265 right_roll=-0.0726 right_gripper=0.9972\nstate[joint_eff]: [0.2803, -7.5419, 6.3658, 1.7949, -0.0269, 0.1685, -0.0171, -0.2667, -7.2957, 6.9265, 1.9316, -0.0171, -0.0269, -0.0317]\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]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3141, -0.2356, 0.9992, 0.4583, 1.5352, 0.7326, -0.0204, 0.3134, 0.1875, 0.9972]\nstate[eef_state]: left_x=0.3815 left_y=-0.0787 left_z=0.0355 left_yaw=0.0178 left_pitch=-0.1258 left_roll=0.0503 left_gripper=0.9992 right_x=0.3687 right_y=0.1252 right_z=0.0669 right_yaw=0.0842 right_pitch=-0.1982 right_roll=-0.0902 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -7.1863, 6.1744, 1.2088, -0.1929, -0.0317, -0.0122, -0.4991, -8.1026, 7.5829, 1.3211, 0.3785, 0.1978, -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]: [-0.3534, 1.6176, 0.585, 0.2928, -0.3141, -0.2356, 0.9992, 0.4625, 1.5642, 0.7124, 0.0074, 0.3279, 0.2031, 0.9972]\nstate[eef_state]: left_x=0.3817 left_y=-0.0788 left_z=0.0357 left_yaw=0.0177 left_pitch=-0.1247 left_roll=0.0499 left_gripper=0.9992 right_x=0.366 right_y=0.123 right_z=0.0539 right_yaw=0.0662 right_pitch=-0.2132 right_roll=-0.0972 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.5162, 5.3265, 1.5507, -0.1441, -0.0562, -0.0122, -0.5812, -5.3402, 4.8889, 1.3309, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb1259ace122cbadf0ee9b8dc0e6caa2b782aeb9200b81c8ec3a300ab2a75f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24eb954880ac1e64b952722d30c35243021e5be6a07fe05f66890422dc0c99b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb238ad35768d412c8656fd86bdd1d0ed81f10d55c760f132c91809ab1b743b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFKqWvgt0M1ExX9SaisSA4K7Ro3CLHDB6LLj-rNG0SHayd0HFQBScdCBOEGg-cil_6gLitZuNK76wUelQqQIebwLRuEinqtOoH-tWwHirYdi4Ri2T-H-srDWjlAK5IRe-xNPzwSyRmqoFTnXgqref7OptEPAOWnaTpLEQTjHQzbYaO9n1mfgMWIDMhaoDoMUjE64lp9lDA8Pjz4Id-HtZZRTxKZe_00rApW0wK36PWzCvUup8HcwTq2ZpO6Dj0JAru9lM8NXkU9qwZM6L4N4JFLPKo_hyLlMljG_4lGCBsyY9ABDCsdOLwGs8HG13EITTe-e1ZpeEL0hostIL2F0cxs71GBDKNFhnCmAbcYt5EMoeh8-tEuMDlfeD6kwOUjRfopPyPdGGy_47LX6ZZvkBNLWw-wKHLNC4xrh0M3mIYYBMArbvdHdHYmI8ZdkzIa8XFk7MGS8uLtpRHaHPH7feTxy1Op-AOhxwgn7-NGgsVHLdby-nEI7pO1V3xzTpjGg0KgQsMOD00yfKWxXJjIRo6BqVR4S2-Uo3dXbTCfr0pI1ue4I600Pi0yKcFSBJUxjzZA8Zzgz4Ox5vMXskMfjOaBP93SMimijBU3PtJiCV05xwFU1ReljPNqgbao39Bgk-s1GZ3jptLQ_4QQNlBfUyI47-6nAsGd6Pv2iyMHYf0mlfpGPTsdTeCPbijWFnL1uC3YhHlMdZuJgO1rPH__If3k48o00DzNhzrUtt8WXGxeTsyqpojQdGFt8jdKa8e4zemfju1pAYVAxE5BWDXWqW5bMsc4k_YhvkcGgmFXlp2rgGtI9NIvsROPTFueBzkgbdUEdT_vQH5H6GYapXCl8OfaThM5NJd6rVcN0Dw1tvjERtfhW4zmHk778D5EYzCpKcPUXpYqMZEBrWZtXpW6xvVgV5vBKlz7jjY0FhafQbDtRR407K7UK_OuRZEnx9ueunVHTwIKg-HHMXU48RHLhDBW_TUCIbUIhA8y8I89-wvE41d99ZF4mwmYPzUiB2EP12kn-7Mp_TnkOdyvaiOwt7xSRXTK-1H4kPgrB5BNwoolDBmILEWrOgBr4zX--1uUkoMjVKCNmSsOs6KPMZqmbgs2fJ4PXiWwN05j4OcxtG2etqbx5buw3oiikNEj2QWMIbfRgPsR91jHqy_x0FUvYfLXFuVZFznw_IDFoIo1X1odfKzFCAXe-s7k9L0wVq9gCYzrUDPzs1-isNikfO5hzz042DgKoADvKP8s7dTN3YJ7QEiguH_1_5PJBLdFn1YFc2CRwuYZ6p0tnxYNAB1grV_xFQcPq3JXUeJLry5y-7yN0WNJLtOTvrkHZ7CXLg4tEV8Yc",
  "id": "rs_025e3cccec29366e016ab452a8d99887d0a48b7c1f9928e737",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both outer bowls are centered between the jaws at low grasp height; the right descent stopped slightly high, consistent with the fingers meeting the bowl wall. I am closing both grippers around the bowls and will judge the grasps from the settled openings before lifting.\"}",
  "call_id": "call_YaCBJgM1g4pBigNwcfzln0Dl",
  "id": "fc_025e3cccec29366e016ab452a95bb087d089ed73d83e3b82a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YaCBJgM1g4pBigNwcfzln0Dl",
  "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]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3138, -0.2356, 0.0082, 0.461, 1.5764, 0.691, 0.0086, 0.3119, 0.1989, 0.0181]\nstate[eef_state]: left_x=0.3815 left_y=-0.0788 left_z=0.0354 left_yaw=0.0174 left_pitch=-0.1259 left_roll=0.0501 left_gripper=0.0082 right_x=0.3587 right_y=0.1217 right_z=0.0413 right_yaw=0.0772 right_pitch=-0.248 right_roll=-0.1013 right_gripper=0.0181\nstate[joint_eff]: [-0.1983, -6.4479, 5.3812, 1.5507, -0.0904, -0.0269, 0.6374, -0.1026, -7.0359, 7.6239, 1.3309, 0.2466, -0.0855, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9609ae773a723c68d04cd653b73f03e325968cb99d0a91d86152b38e7d3ddec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27624d3f7fc89fc077c154875668c803df14d4ca56f9fcedffe5d0c226139f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb371b7500736787432b53112ed28125a5efafb2abb1be88f2b1e5f8cdcf92e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6066, 0.5953, 0.2558, -0.3149, -0.2359, 0.9992, 0.3141, 1.5738, 0.5911, 0.1783, 0.2535, 0.1158, 0.9972]\nstate[eef_state]: left_x=0.3802 left_y=-0.0781 left_z=0.037 left_yaw=0.0193 left_pitch=-0.1391 left_roll=0.0558 left_gripper=0.9992 right_x=0.3682 right_y=0.0768 right_z=0.0319 right_yaw=0.0304 right_pitch=-0.1983 right_roll=-0.0943 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -5.5316, 4.4513, 1.326, -0.2222, -0.105, -0.0122, 0.1709, -5.9556, 5.2171, 1.9463, 0.1783, 0.1099, -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]: [-0.3534, 1.6176, 0.585, 0.2928, -0.3141, -0.2356, 0.9992, 0.4625, 1.5642, 0.7124, 0.0074, 0.3279, 0.2031, 0.9972]\nstate[eef_state]: left_x=0.3817 left_y=-0.0788 left_z=0.0357 left_yaw=0.0177 left_pitch=-0.1247 left_roll=0.0499 left_gripper=0.9992 right_x=0.366 right_y=0.123 right_z=0.0539 right_yaw=0.0662 right_pitch=-0.2132 right_roll=-0.0972 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.5162, 5.3265, 1.5507, -0.1441, -0.0562, -0.0122, -0.5812, -5.3402, 4.8889, 1.3309, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3138, -0.2356, 0.0082, 0.461, 1.5764, 0.691, 0.0086, 0.3119, 0.1989, 0.0181]\nstate[eef_state]: left_x=0.3815 left_y=-0.0788 left_z=0.0354 left_yaw=0.0174 left_pitch=-0.1259 left_roll=0.0501 left_gripper=0.0082 right_x=0.3587 right_y=0.1217 right_z=0.0413 right_yaw=0.0772 right_pitch=-0.248 right_roll=-0.1013 right_gripper=0.0181\nstate[joint_eff]: [-0.1983, -6.4479, 5.3812, 1.5507, -0.0904, -0.0269, 0.6374, -0.1026, -7.0359, 7.6239, 1.3309, 0.2466, -0.0855, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9609ae773a723c68d04cd653b73f03e325968cb99d0a91d86152b38e7d3ddec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27624d3f7fc89fc077c154875668c803df14d4ca56f9fcedffe5d0c226139f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb371b7500736787432b53112ed28125a5efafb2abb1be88f2b1e5f8cdcf92e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFK1lo43gDJU2CXoFUoWVGXjY45IzrhonpFnmuWA6hZj4FaO2CeWrbziLlZqCWnDlIqSdi2INMBA3ySAUtypVIGjLl73cd4pqkwcFmeSlr7tD5mNGbG4xdhfV2KbNFJo9-JOOOkT10uFI4Z38-_7tlQgZVfVGTbHj31jh0V_IZyU6GBEYjRJP86iNwtfG7Hs_tWxxeYBMC1sOnr5DUfkINzLQJ3yIMhyxhxFJOmqhuCibCZHQJpbFDrCQwcdtlRdh8bA367CS1IPESYhSwkpOhx9iPBQdZW0EsleRQ_EskfvoEPYfmbHSxduBVlFhHCjguJfJB9d75JrylhYVWnxikmJUA3QICHsvmQ47U51-VBatYGyx_PcLCYvDDx3gb-Brm0P7FUGYqKKROHKNmnGbiVuFDgDG30aWk6Ems0KXyp9X-9cJD0iSVdVJ5i-R9Zer0tSjooxM1db99dcTdg2Jj2p4QQZIIGFIxhaSYz3uj5IeroNIyXN85RuLQEFfKGXsAQUIp4Ur1quBi5gJerKQeonkrSE-WRhDdBduQ8LyITcVru48DsO_XQCslX0sK1n4Ynrcc_CUg8V8PuHpdQu4LlC1ceLRIHuXvHv6oTJB3uVElINRQAQNLcmYUQ4nUrpNQPO4cF78aa8nkP5cBNF0A5i1s62QvYXqMDYUq1ohb8S1IQQkrnsZpVc6i4yGNlCeRJcl_e0EZjub2ioCr_PjdD3FFGBYIs9CqzzdL1m1pCwKNGyrWWBuzMKa3fKrBjUy8JJhwTlQihl08Gx7ybQfGfzAsMV9oyVXD33pfhW5CY6PDPke5jqZbP1f-xjXaLOuaryPiPfMSDA3zkeC_5am2YHPJ8U999JMoC1gYNkSPuZ8VdbbF8WZQ4rqm1wWZGnj4quR29epGh88ez2GK_S2_R0RNVSYwfSCWAkIoG9-TgnVSOnAsFrkJMK5JtSKMZJiEuk2-y_fbqeI5d_hxKCJgU_GVvsBBG1oTUaFP6sqbSN3Kg8-DBojJp26-QV5i4GgTKqaqqguEfaDKxbENLfAWFS8ftU0SANuK0NjHSkUwyqpJ4x8LqcBolPtq4Qpcipk2BAo5ynz5GrL9ttqnmAYCSSQ3MLxON9aNZw9L6JglFTurXsWXj9GxvhiofzNFzfR2NlYSZ0NqYstQObazMEDgovAKRx-Cxpe_b3LzJIXWNBak2dKWcb3F3eC3f6detmWWG1tLdJKUVkIzOkjBAMEU--PztDdB6RrgbKPvdiFh5sSlaAa05hFmNcFyHdNH5cjIgHTnWslVDqvseHemreS2FRHDlbXNVh0sZRyWCuMyT8tqveTZFCinRhExYmssYT9hH1y4q5tOzI5NtEfdtLY734xO0UBkvIPPfxeDPD7099STA2GD4_gMJKTmKvWy7ofCMMeQeBsEHvA7CU491DGoWBtOf3eHdYdWrDakJyUrJsyMztNu-dXPWgYMmt6SV55rIm8YFjP2GnoQbmfUAeU0gKjGyYYhx3zvaJD95xC78vok1xLdIZyGg1W9Rc4WhCJ0XhtGe82iTllPxozDFzZ5HnCkTRVz9JZe-mDYhsnBz8quOkXOR92AIXYrn1qfUoso02FH_DJTSdkR0l5Msvz4ECLTj_Nw9Hzhk-O-cfeewCkTjiwo6rvjGTewhkSYgBwvP3dBNl_juq33zd-0EHs9BUPQIa3UfI0OWys3J6mn3WfBwsaSPPbqNtXAkozSefHTxfHgREB506Y_vkTQUKjyxOI-kU9pcjzi6zUZeRACMVTAHsV84kx6Ty217iOXnXYdfGIO3DFlqPdiLCmNhn5dIK2d5UAU_LTQx-ft7SkBYhRxMw4asNl_TS1HDkUBHgdMu4NKA9x5070Vv7JNeEnfOuVAvcDisqLRCnKn1uwKoD_J428EtmDMkNdQT9n6Wd4PyRLFdljoWPAzkWV6oAzTW-il0VmjSBU6T23Ly59MwspYT5PO_DVQ9CGiwkxPu_36tFmhcF2Xehak8DR6Fx-rs1yUcDDeLt1rkaapHKIGS8InEs8b4Z-xRxq2oQo5tbrVSmvjDrIYKcL8z3sKvStLy45RZdHfdapLlote6wE_PrnlN000n9JLZaG2J2xJWA3obIdxLroCV-IQFg6GHqZYqOToaPjDwFK3iyd1xwZPQshw7W_7VwJo3MhZfhugb4m73nIEH_gozRx_pUqpRlC783MydwDjKl9HbNP38xVs3ptxm9mYX2YgS0ddbbfg-_ZttQRmTOJoxB517D14DwhfMYj3hOFHd0EA0SnKPIjzylYFJXGsKcGHar42r495xWI6I0ygxDRY2rjHd40evVsk7B2JeTbP8L5b3WUoLMXbnF0h8JGkQS-a4IxQ2JyJMtfbZPtWvfQhMZA2rC-olLEUqEzOvJbkWTDiVuKryHKGGJGuyCSOaB7dZMp33z7C8Zynv1ngwos9xWJOq0FW_HbNC5y53lbNJjd0_3EpyoYDTue_z1owmvWvfJV__mkeY6dKGagCCN-tbIF_Og9shSk4gJKah8jX3-iWMf82HxbHm07GdtM0QsN5uI5y3JNPFNVP2bVdlY3oMDh44DGq20045I4Vav4xOlWJITRfTVo5mhnkcB_qlR9pmF5EKbGWIRzKPo64U_hQIOw5IdkWHBlVotV1mf-Qx0OCU0VlvRPiCn-GazChEbhty6cG5QxKsukEnMllQnyh1L6DEKAxz6fUV6zq29wyn-w9gX-tsW4ImG3r3IHqQLzdE8cDv0x3tZgg3GE3N9ih-SSxSa22e2vFk1F-9oZbMiyaM8sg3qFS-LPLh7O0hSHegzSBSnv7cNFgQWjQyOtll3RWYI_GZs9q5gFaN26fRACBFxHfYSeYP6S3NQs-lV5Dp5Gddk63t8WGKpLOBOMTW9GS2y9Yq6A7VKFmtIwbdBcjhywquarfgihq56pjkSGYDnM5NQDpc8XuORfZ-FHGFp3v7J7P9xO-7hfvkATue-8Hn9fDPiOwkcvv5dCMucTsYp3poDxSZUg3c0Paz7KYWY8XkSiaAbNZE4t7JPO6jKTSDi6j3TUMNzN8vmTmLA3ceW8ljG6UG6fjl45cp1xN1nPov7s0um5xsWzmZOrD0rVmsAf9jUqoWDYlY8Nu3Tucz90iSiKJA0vEy0vcQbUuxSaF-rii0EsHIaaei3QPZhre4EGy6fllVCL2NHSizHyD5GXgUpNoCANBMXlCEINKd3e_CmezTex6s9bcP4kntM8B451dxN9j3E7sswbL43ASSrtR98wElg66Zh5rax3MtoBhfnbfhoD1ACDJOjhOg5x4czi7yEtw4aSU5DBcPscj_gZs_9I796Q3yKcKXJfD_W-UdocoHC3RTXiHZEzXbpBnkqy3luv3aS6IN_1fGWmKZQZ-8IjcWYDFW7xz1bIEYN98hYhX_27jNB5eVac7ThBU_kXAByd3Fo-KsiVnJ3A44hwZX99RBsN5fJazh1esI-5vvbxKIBARtmeUtqZY98UBZ_7OxlKFmcjb6GqDqq7b3iXUUOit4dOMrs5HWowwlzm5E15MydHCQF5eBsgcQRO7M2nteQsiOmXS4CcCU_eU5i23pOrWY61pZCqBTqsTOnuG4k0I8BCMS4mHv3HqaJO436X3I6ghtMV4faCEscZJ6lnMOWOUlJkleMyXBEIuTpcYiPHfAtHCLBqCcvqmelXtaOlRAqRtFud68ifMkLuLtzuLTk3B-BKJ7rd7wM0ci2jTavTfuByF7urvq1yRaAwJNJTR-buj7mVSJpl_uXGgENzjzOQAAxqGpE7MXzzQR5llVZmNaH85xt9GqklVj7sSvQZ9YDuUzgiRn9npjdaggZQhj6ONZIYFhu6JZYfjt3-kSMNrtaTdsSIDgd-D8s7Gv0tgxp5_uuAaFMK9kknVpKsvhgu4aV2a2hS-QNV7tLHBiy_pM8usHExMcoBzANbMGN2WawLcvYhPhSsnfedVuaU1wN0vQ_0ChIMIY30YT1AOUjdts1PBuxurXbF1FpBJ04TkPaNK2RJJkrZdJr6IHbWdEW0swWDuuJ5oAUcGSSMDZx2nkt6ocqSKl82k1-6S9eYnsmYAhRGI1sV2DNU94IkH6HiHSJMf7yzMQUF73yhTtrCot8mRUsRRsLJtgrVOAMC8t0ql5fcpD5K-Xg2ShyP5JsST9YxsajmQZ4oq0e_3m5rHurYG5EqakHRI3VV6i3kstTyPugsaxG70AZt2fAhIRgZKVLGtB3OKi1Swqc2yjHjcxmC4QrEA==",
  "id": "rs_025e3cccec29366e016ab452acba8487d0be16100c99bf7b38",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFK1DruvMZ_7nqtqhEDv7Nen2WgQBQpyxiSRCOuvwd1R6WCFcmyvM8BvUhNxp-Ja6mELA5spBYG1zqF2UJBIhdDu5CcfhkSTVAoPs5c3A6beLrl313zrFhbVQHMO9T2xy-Qr3id2Ap9TJt26FtIYrhgYRcZOEgnYPv9N1iooFuBEK-iF4IwSwbAHi31sYUGDgeav_yjRPuTirQt5jkcFj9UN9w7jWquxXsXS43HP28enB-cJEcFBHqJXsqiO9rRWjmsLzErKADh1RJVdT2fNx3Yg-VyfhnxIx6Ck7cLoPmT3EyHF_-LVDHDtISs2NJjfEd7bm9xLAgb0fYrusmE0xZRyhBmlv6PUgdB94_j9j_DhtgrE8o1E5RmCpXKqszvFflgeBlt_xmjMIQWt8Tkw5-b-ERL6RiLC_oHMT2l06IwCA1KGtEZt-c1T03wT7qknUUrxnF8TgF8pPBUGiYcVhR8mb7-_yye-IZxIVup9CdHsmocR8ClK2XYNIpRNhlE705EENVxNLWHzKzT6Zz7xqDqjp6zF3m-POHaSJ6vGgwmmKR7o4KmeXDM5kd4RyetN6OtkCI3XYFoTKLpdBG6miJ7bWzs5S9j50icQmnII-k6_8jfXLdxqp-bbzdz5qdJ0XyoyybT79szn-W1hn-WHDK5R0qvvFoHyFPVbFNw74X4r1NiBlynkyG8dKW51EriDX2XMvlJomACTx-4eCVX9GYJMgE-PbTU2zU46fcULe-c_5xSUqhRXJSfLDNCVfB-dbxJ6uM09DlbX710BQQDydlFYBPo9b_yVlMxrF5U9xrSDrD9HSgSDBv6oU0-AIMKN2K71sT1D8vbKdBJYsjJ8TEsDoPRPpxZ1zujVO8jogPBfoXLxJ2s20g4NfKzqAz6pBDmzCO8DJa4IHR9vAq9zEsSVxIim0vhsQxtiz2ucpvMdo8RlLjJkfItLh-LaEYGevwI4aP9nUDgKAror_w8GTK_IhITF4pAVEFO6TcIYsUss4lyHORo6tQmWS0MnSdNJUWhar43v1-5txu7NRj6xtP6siQK9Agmqwh468RIh9WX7JFGkjSAGDxpYNNLZVygYDBb_eHoKzjR0fgavDAVdDElOFV1rXSXvhrEKrt8-tVGc7aVcRy7vhDKPlxd1T_-hWaZy__S81mVS-cdzcihwrdLD4Oo_ND6OhnN0wyhhgdvgfyo39BAJ87_Y996PPpDlozbxO12GzbFyAxm5TSpJ9nKaIZyE11TwPtIAOx1GGaQ8bd2WsfxtVGxxounMiievk-NFDyDbShw0-8P3SdYMbIREczbRww0RBHGNKSqoyGMKWcl1kGGbef7AhuYn3RbIiz_n-2ye5ynw40PL4Q9KqHHi_b9xm1J2OaTrYM0H2-c5Cd2QMJgqpRQQC0ggAxgg10my8AaKPuL9I0qIWvzg-9BliUGmgovyslboN5dgP1yifEALEOAOVslyeVLY9IHli_xvTByAnaweIXJncGI8lwbtGvFM4iHtpQbS95Cfn8zbalyw03JRQoWhjclS9KXkX4nTRtjzx9MqbYb3exXjAqizZmdM2zYRW_yWhnuqolJRJ0ZKVV6Z5o_TCFp1FXFgQNzvu7o1LhwzTyIrWO5zTxgCd06oVG-qNL4FOgBFxz3xIa5sUEGEOAHdWkWue_cykRI4yWJX2YkQV9qsGeAYeNww1kW40bAah1U62wdpnXbguhGL6mmQ4gB3zTraSIEmbSNTHE6n-RdZDTn0L9kDG_u7RbCAGyjiqfZRKqU7lamcTrDd8hV3e7hCGzhMNtJVKRMzQmFM3BTjfZKBzEwIn1U-Zyqelnl_EpW7KsGVkvCvdz4V00T-tPTm6L2jTYkMTsbL9Zt8CemkxUUJMtNyYgDKhjuqKL7OT2Xl7JX13Ks0UvJFkub14V_pvhK-Rc2Kiot7kIV-pJKoLORC3Ki3zXCnFy_7jODxz-famD5fIvBFY7cX756l7xYZGx58AqMbE4wwfVebJpx9QYShSdLnFG5PkA==",
  "id": "rs_025e3cccec29366e016ab452b28bdc87d0b8f653cccbde7a93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"Both grippers closed nearly empty, and the wrist views show the fingers met inside the bowls—the bowl diameters exceed the useful outside-grasp width. I am opening and raising the left gripper to retry by pinching a single rim wall, while parking the right arm clear of the work area.\"}",
  "call_id": "call_fNKAeGWnUcSw6IYzcf5LEhtV",
  "id": "fc_025e3cccec29366e016ab452b4667c87d091279af6935777b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fNKAeGWnUcSw6IYzcf5LEhtV",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.4574, 0.6952, -0.0154, -0.3134, -0.2359, 0.9954, 0.004, 1.0313, 0.8261, -0.6182, 0.0391, -0.1223, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0766 left_z=0.0816 left_yaw=0.0193 left_pitch=-0.1601 left_roll=0.063 left_gripper=0.9954 right_x=0.3042 right_y=-0.0021 right_z=0.1666 right_yaw=0.0353 right_pitch=-0.2505 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.0769, 8.8274, 1.6386, -0.188, -0.0317, -0.1734, -0.0752, -3.2068, 9.306, 1.5604, -0.1294, 0.0415, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7536cd87cd37ef236e7b127265292165c0cc48df9ddd41de5fa58bd2fa1ac89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b9f8f707a73c404495e7dc43d2ac9351f4638f19d0e5c8c8c48bf3661a3563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0006aa1ad8b166a3f7a4f359ffcc09715452da57fa9c4c7fe557e8ed2041409",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

message 29 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3141, -0.2356, 0.9992, 0.4583, 1.5352, 0.7326, -0.0204, 0.3134, 0.1875, 0.9972]\nstate[eef_state]: left_x=0.3815 left_y=-0.0787 left_z=0.0355 left_yaw=0.0178 left_pitch=-0.1258 left_roll=0.0503 left_gripper=0.9992 right_x=0.3687 right_y=0.1252 right_z=0.0669 right_yaw=0.0842 right_pitch=-0.1982 right_roll=-0.0902 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -7.1863, 6.1744, 1.2088, -0.1929, -0.0317, -0.0122, -0.4991, -8.1026, 7.5829, 1.3211, 0.3785, 0.1978, -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]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3138, -0.2356, 0.0082, 0.461, 1.5764, 0.691, 0.0086, 0.3119, 0.1989, 0.0181]\nstate[eef_state]: left_x=0.3815 left_y=-0.0788 left_z=0.0354 left_yaw=0.0174 left_pitch=-0.1259 left_roll=0.0501 left_gripper=0.0082 right_x=0.3587 right_y=0.1217 right_z=0.0413 right_yaw=0.0772 right_pitch=-0.248 right_roll=-0.1013 right_gripper=0.0181\nstate[joint_eff]: [-0.1983, -6.4479, 5.3812, 1.5507, -0.0904, -0.0269, 0.6374, -0.1026, -7.0359, 7.6239, 1.3309, 0.2466, -0.0855, 0.6764]",
      "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]: [-0.3534, 1.4574, 0.6952, -0.0154, -0.3134, -0.2359, 0.9954, 0.004, 1.0313, 0.8261, -0.6182, 0.0391, -0.1223, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0766 left_z=0.0816 left_yaw=0.0193 left_pitch=-0.1601 left_roll=0.063 left_gripper=0.9954 right_x=0.3042 right_y=-0.0021 right_z=0.1666 right_yaw=0.0353 right_pitch=-0.2505 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.0769, 8.8274, 1.6386, -0.188, -0.0317, -0.1734, -0.0752, -3.2068, 9.306, 1.5604, -0.1294, 0.0415, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7536cd87cd37ef236e7b127265292165c0cc48df9ddd41de5fa58bd2fa1ac89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b9f8f707a73c404495e7dc43d2ac9351f4638f19d0e5c8c8c48bf3661a3563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0006aa1ad8b166a3f7a4f359ffcc09715452da57fa9c4c7fe557e8ed2041409",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFK6sTbdCgdr9sE2W3awIt00PtDlGFOP0w8DgvD0V9vCKti7N9WkuAbzlZmxDs2T7FKOrmbRdP411fRgevlrvUxnoSHmk86_SeoZGN2uJTF-EVbQ8M_pp54NU9YZtGnwR6UUrwOD2wdtrQgMyXNMdCWR2AmZ1WkqvixZucnCr8DRt8cB4p2qYzb843v5EBRdibC8zty53lNhW7yYZ5ZaDD-FO3wMyVlbiqQY_lVM9p6EnqFFquyevT5JMjvfPgqBy3ogAyy3WjirFo0OtFMdOXL0wX9KjoVAs9KFwnZHCMFFOiFqEUqCSba1uwLqUNpE92Gi6Fwg8ZJWRoFV1fKSFEqMd15Re61k9SG1uUW0nYUrbgXdIUSSdpuvTQ8gb8s-pUL2IE0aj3NNJ2HdhSHnBwyM9-sZSGEcbqw8QFo_0lAuoIeh-k4lOgtmq4fTXbDhckLJ-BCIzZrbz10oAJyOUeOGYkLIFMqco4qA6ob86NtuV5tFfP1DHmQ7F_B27iwrQQi3eySNwsKrRodAzjSdOfG4Ve8cgzhQnSVddMo5hFhelqkUJ5nELOkbzqIJW66ZXT5UUeJc4eBYLGE82RaF6F4uG_PIBBjzF2IMawbv_Cho-ssMGRNH3IoOzbCx0hocA3R89QBISk40yrb6w7KGaG12FG93J9cjz_GrMeknEFa1ibOgntD3Pe2v8uaptQodP8J_5Up-YmJHKzfd7ZzQdgU4hpttx9N9HLwCbtt1yhEOH9GAkj2cofqM7uYtaCvEBTG0P8xcICBpWE-0x2cOzSBq_56ujpu8kgWvOIZ11dn2nBSUGXaYR7AMD1MQQgSUMp3xvl0n0ECQxY9rIgTaCGy4Nd1NTUriPaJeu4izkMhgMki7E4TSOcAAMr8C3IZQ8xdrs6JEh6EPk2dC8SpepeePd_gajI0NtlcNtoxph4ELZzwTpWPj6XQMz72J8aiGpwD6BJVdeS9r9L8yoAMOZPM5xQ8K-NZh7MOv8_uRe_e0WPoVeu9k9kWEENmdjugfGWEtene2Jm7nFkfabTxXQhgLETtnmQPVq_Hpb4CBcw2ty4OlYOo7JjLMxGu3StYkMXtYbTK-x2a_Ci1o0s5B8wgtQzvkBfZZqftmx5frwuQRUEp0NwmO8jFQQgXoupgMwHtoEYQzxb4bP_Ml8zQmSweynfNMHV_AvGSE3zVOGdp_gmYoZukPZaVsIT-tDyd9kxksCA3Bjtqii5-AqOt6q31DT2VC-ZrvM1HbT3hMkYa-yRqr1IB6JayHlDcqNqkMVpZFBbBUBmUsLWiaJQhK2k3VKG-PnXNTytv1P80LVfWlk5enqZcXXXCB4qrPs2UNHqjbGtVcN1HqWzDJDJ2NT3WgoiGg4xolNAaq3s9so0zlG4EbMjd8vFkUzBoHOu4Z17g6oYl4jfO8Cj-8iU_0SQCLKD9VHUm6JxJVIe7XKIbOhFVxG4YfnddDnBibZoohXca0edhwX7RQ_YvGskDSJshYUKVz9QHVTNkVnBoetS_CJTIH_i9-FJz4_os1OagHNThmrfOWvd8BRZuRu7_0BHZ7ZRFL6LIyjCDrVVJtHisBi1131GPGQqdYSxW--kh9HTwS2CAThn4dC0BZoeOxiCOzmo4VSo7TPGFBN7KHB2L1YwygzZ5bKoOo8KuxfpDs1rxjc4FYVzjKzP45a1OzUf_oaEcMGow-_Kxwpa0ZzUpHgNXe3o9cnCoHpUccZbTD2WydwqRByLMClPUa2weygM4M047MYn6iAUdYfXy3y-ixrD1OegJ0HBOc5ud7RJ41FYxK3mMZEBk8S8Ek-f9qU_SpF-a4ZGaV3CKCVcYgEajNZKqrvoJ-miPCnKJ11_Bm20sSBXOagdnXkNvBCxom50p3BjUOB5QHoHuIatJgW1_zNaItOyKNbTkcWqwaEUX30iXl",
  "id": "rs_025e3cccec29366e016ab452b872c487d0bacb3d712c1a5999",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.03},\"note\":\"With the left arm raised, the cyan bowl is centered and its rim radius is about 4–5 cm; the gripper is wide enough to straddle one wall even though it cannot span the whole bowl. I am shifting the gripper about 4.5 cm toward the bowl’s outer-left rim so one jaw will be inside and the other outside.\"}",
  "call_id": "call_wfCoPkjAMwAUNqmrUMSC81UU",
  "id": "fc_025e3cccec29366e016ab452ba1e6887d0bde4849998259e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wfCoPkjAMwAUNqmrUMSC81UU",
  "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]: [-0.189, 1.4319, 0.6502, -0.0113, -0.2184, -0.149, 0.996, 0.0002, 1.0344, 0.8227, -0.6476, 0.0223, -0.139, 0.9964]\nstate[eef_state]: left_x=0.3712 left_y=-0.0284 left_z=0.0708 left_yaw=0.0579 left_pitch=-0.1987 left_roll=0.0673 left_gripper=0.996 right_x=0.2983 right_y=-0.0003 right_z=0.1594 right_yaw=0.056 right_pitch=-0.2868 right_roll=-0.1052 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -7.3231, 6.0103, 1.707, -0.0317, 0.1294, 0.0611, 0.0615, -2.988, 7.0906, 1.7265, 0.188, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2def5325e6cea0a3a1fe11e4e574e9b7f531e499e55ad1190fce4ac25f655b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e48391fcea6ea4302b9d3efcc7cf3ac76a0655aae9e54ba104c9d4906791cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d51295f143adebe6d8fefb8ea6d3d5220301df0a0304bb09dbb306cf722a29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 25 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6176, 0.585, 0.2928, -0.3141, -0.2356, 0.9992, 0.4625, 1.5642, 0.7124, 0.0074, 0.3279, 0.2031, 0.9972]\nstate[eef_state]: left_x=0.3817 left_y=-0.0788 left_z=0.0357 left_yaw=0.0177 left_pitch=-0.1247 left_roll=0.0499 left_gripper=0.9992 right_x=0.366 right_y=0.123 right_z=0.0539 right_yaw=0.0662 right_pitch=-0.2132 right_roll=-0.0972 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.5162, 5.3265, 1.5507, -0.1441, -0.0562, -0.0122, -0.5812, -5.3402, 4.8889, 1.3309, -0.0073, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.4574, 0.6952, -0.0154, -0.3134, -0.2359, 0.9954, 0.004, 1.0313, 0.8261, -0.6182, 0.0391, -0.1223, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0766 left_z=0.0816 left_yaw=0.0193 left_pitch=-0.1601 left_roll=0.063 left_gripper=0.9954 right_x=0.3042 right_y=-0.0021 right_z=0.1666 right_yaw=0.0353 right_pitch=-0.2505 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.0769, 8.8274, 1.6386, -0.188, -0.0317, -0.1734, -0.0752, -3.2068, 9.306, 1.5604, -0.1294, 0.0415, -0.1587]\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]: [-0.189, 1.4319, 0.6502, -0.0113, -0.2184, -0.149, 0.996, 0.0002, 1.0344, 0.8227, -0.6476, 0.0223, -0.139, 0.9964]\nstate[eef_state]: left_x=0.3712 left_y=-0.0284 left_z=0.0708 left_yaw=0.0579 left_pitch=-0.1987 left_roll=0.0673 left_gripper=0.996 right_x=0.2983 right_y=-0.0003 right_z=0.1594 right_yaw=0.056 right_pitch=-0.2868 right_roll=-0.1052 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -7.3231, 6.0103, 1.707, -0.0317, 0.1294, 0.0611, 0.0615, -2.988, 7.0906, 1.7265, 0.188, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2def5325e6cea0a3a1fe11e4e574e9b7f531e499e55ad1190fce4ac25f655b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e48391fcea6ea4302b9d3efcc7cf3ac76a0655aae9e54ba104c9d4906791cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d51295f143adebe6d8fefb8ea6d3d5220301df0a0304bb09dbb306cf722a29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFK-LGJhBgX0zeRFzTgfRD-NgOoDeCr47DvW9MDNAP9Rt93b-HhbRp8Q6ZxCtBqApHrPdZ0uoz86f4HcPToDiUplPSZtPOOG_kviqU68RGUdLomrqfzWyQr5JWbCVTVSi5XQiwCT9HY3wxTyFiVwpd8o10FW0XdO8_o1X_P71eM9GS1D_eiGbKgLF2I2GNDwL_uvFUk8o-6Nn46OoMaRWU7ItCmUts7FqTQXKeaUFhk2K7r2nKOSOOJ_usW6PRAWtlLfeOZERJJqnT3Z8SCCPBH2695y0QVjh4t2H2zKk52stgJOziMZ2r7tcSR7mGjvtsLzykcgA_LJURfeYdZmKQ_K7A2PyOGlBnE8J5JskWfpwBJMdM6xW0qQPj2Z57YmWpq4_Y9MNExyIuMKKCrgyHNb72QOohsQspDOQUftght1r6T8xYNkQrDZsXhIiK6n5kIvsr0zD9h8R_5mhV5AqndKdA0ecSLAbw_h1n2EwEmOZn27Gq3__ni85SBeJrMPqzzOACYCbRLrXcxww6dB6zVODzXVTV5YDEnZ22nogbl_4q6DlDWECaOYJmdDzFM1Ik5s5JmnHO5bl9KBA3gRf0M7wot6bqhy-_UPxksFDbZIT52dLQeHr5Yk2aOk2ALG86x2tMiMP99UhmAoOv9bTPJb2mEavh5mTy-Bz8JzB3vuBK6ZIGkQ25ZnTQiA3_EKRvwvOk8iafCUgSnXV-z1NqpEYZ5JyOLjK8Pphw9uGXee6RPg_016pkK6pqkribomLq1ccV2nTHYMwmxEOKlAEafbr0ZWwsUB03Z33gbXNYkz-BEynLJF-pTxqkrLTp9Umdjn-sZCAp0CoH_Hje6cEHHRdrkIHjd-ygPj3i5G1YJJc6lEW3dujuq1xk3shiKEqpX1NtMtD8ZuCCT3oS_aMX9nnLOi77gMfvnTnaGSPxMjnMOFLvSIMpQoFixHuaKi1sRW3BLZepwMNGN-x6LVg4ClR-yAzmYF8eK0ImZ0OVxuGdNy-TPpAWUGG4kAXq6BjvKyHqnLsDI7JKEA8UT43-_dCkEeil6qPie97uOgNPVnW0h2PNq-GYI37aTZqFXhy07Zm9LWio-bqjgPdja3YssZlcw80YJYzlokxxwg4QKWlxQjD9wpKlEqz_mLUb0nWK3CLrMrbuf0GyxSc5IQoto2M1QoBI4ljdRqerHKmxRj5YKMXzirwHXSxmXOQQFjeBZ56SVlwiryZBbbNjGJPpAx6M13U56RzDp7unBxQdFd2PtacmnlnPGudtaz-bGOT7Dj7ZnM2LqLAEI1TE65NagLCcyyIWdQOIlH5qFykRPo2OwVxCVQ1P3OPINQEuw65dpFzluPMLYG940xhU5NLRGAZL9r35QWaUO7G5iAjGE1xZ7Px4oXf6-vTozZPBsTFYsep5GMEjGkAuE09gZA9HPIkclXEepeVC7fxdsoOM5SMaspfoLQinHpVVXzd73wicFinyjD52VRUT9vRbyqaY2zLPxbbfe2HuiQKABaDC4bMcsvtwyoTS3UYPKql0YlKk09b8YFNE2QjSdewwpYaBjH6DtinWVU15LiY9w4OcKHP-91jjthp4EJjG51y-ppY-ZVQT7GAx9LJWkyPnykq6PCefChATofVSd1wieAgI3ev_Ux2WTPVAkMp_FGG2e_Js4gPaYwcbdG85mzuuQX9CRX_1bVxSyxZXCn6qZx4TLVgFD-GiZso2dNTJ2-HxC0rx0AxKJkpbU_SvW98g0csl0TeQ4FV1pnVx1F60KJ6fXX1IKyexhI1rje47J7XIJMr956NjeafQo7irrQmBkmdGYZ-sCysYfvXisWeAJYJSQY95EllvSZNWtMSKeO9ByfAqsFrF-s_YcdVXZFnqjtRyS_NRButnQ3_BRp6ZNM_V6Klrc8RizGUzndG0giju59nkDD11jIetrI9YQ0MRP_MIlGO2HsEOuN_UZbAcJO_xtiT99wx34wTDqaGmOpBisWhKzXUMC25AXsBsp-WC4owRUUI4jQB5KvbjuYermSrmAhZJ93wD22WRSuajjw0VmTx_R5FQeCKA8HiEhqMIfvvoPGRIEdv7tbhGt_tldSPog4tKFl2eWksdbR5cfjdrZVRd0IxqHuZV8CFlYZHQvn9I_cPcy4I-rSOwrZjIlfQ1ZebKj7khzSrrH7dVTRDzhBxR5W",
  "id": "rs_025e3cccec29366e016ab452bc5d0487d096938ddadd0299ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.015,\"left_z\":0.055},\"note\":\"The left rim now lies just left of the jaw column, with one open jaw outside the bowl and the other over its interior. I am making a final 1–2 cm outward adjustment and lowering to the rim height before closing on the wall.\"}",
  "call_id": "call_GItIW0y8aNUMSorVir4Axfqa",
  "id": "fc_025e3cccec29366e016ab452be068487d0afce0518b81c41b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GItIW0y8aNUMSorVir4Axfqa",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1757, 1.425, 0.6487, -0.0097, -0.1909, -0.1268, 0.9961, -0.0002, 1.0344, 0.8223, -0.6506, 0.0204, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.0282 left_z=0.0722 left_yaw=0.0356 left_pitch=-0.1974 left_roll=0.0625 left_gripper=0.9961 right_x=0.2977 right_y=-0.0001 right_z=0.1587 right_yaw=0.0573 right_pitch=-0.2901 right_roll=-0.1035 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.7761, 6.1333, 1.7753, -0.0464, 0.1294, -0.0024, -0.1983, -2.7145, 6.8308, 1.4628, -0.0171, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23f6e3c46b7dd5ad43e9b635b45c67e1455fbd16af9c79975677d8a235b7fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085f5ac2edff82e11bfd28599b14667c25917fca2594485e33c5fe3de6741a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2c1e5ddf4ef668dd176e1e628d13875fd62bedf644c22016c8649f177c2145",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 29 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.6176, 0.5846, 0.292, -0.3138, -0.2356, 0.0082, 0.461, 1.5764, 0.691, 0.0086, 0.3119, 0.1989, 0.0181]\nstate[eef_state]: left_x=0.3815 left_y=-0.0788 left_z=0.0354 left_yaw=0.0174 left_pitch=-0.1259 left_roll=0.0501 left_gripper=0.0082 right_x=0.3587 right_y=0.1217 right_z=0.0413 right_yaw=0.0772 right_pitch=-0.248 right_roll=-0.1013 right_gripper=0.0181\nstate[joint_eff]: [-0.1983, -6.4479, 5.3812, 1.5507, -0.0904, -0.0269, 0.6374, -0.1026, -7.0359, 7.6239, 1.3309, 0.2466, -0.0855, 0.6764]",
      "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]: [-0.189, 1.4319, 0.6502, -0.0113, -0.2184, -0.149, 0.996, 0.0002, 1.0344, 0.8227, -0.6476, 0.0223, -0.139, 0.9964]\nstate[eef_state]: left_x=0.3712 left_y=-0.0284 left_z=0.0708 left_yaw=0.0579 left_pitch=-0.1987 left_roll=0.0673 left_gripper=0.996 right_x=0.2983 right_y=-0.0003 right_z=0.1594 right_yaw=0.056 right_pitch=-0.2868 right_roll=-0.1052 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -7.3231, 6.0103, 1.707, -0.0317, 0.1294, 0.0611, 0.0615, -2.988, 7.0906, 1.7265, 0.188, 0.1001, 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]: [-0.1757, 1.425, 0.6487, -0.0097, -0.1909, -0.1268, 0.9961, -0.0002, 1.0344, 0.8223, -0.6506, 0.0204, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.0282 left_z=0.0722 left_yaw=0.0356 left_pitch=-0.1974 left_roll=0.0625 left_gripper=0.9961 right_x=0.2977 right_y=-0.0001 right_z=0.1587 right_yaw=0.0573 right_pitch=-0.2901 right_roll=-0.1035 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.7761, 6.1333, 1.7753, -0.0464, 0.1294, -0.0024, -0.1983, -2.7145, 6.8308, 1.4628, -0.0171, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23f6e3c46b7dd5ad43e9b635b45c67e1455fbd16af9c79975677d8a235b7fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085f5ac2edff82e11bfd28599b14667c25917fca2594485e33c5fe3de6741a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2c1e5ddf4ef668dd176e1e628d13875fd62bedf644c22016c8649f177c2145",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLB-F5Lp-f3WmPSyEOiCndhwCGhm_Yv-oTfi0kvyN55qFYDJv2e5UCTWWICpyPwJvHgWgSWIWz21EtIZVVE68vsPWkCDIVQTzk7ozkOhQ72zFsbZKYctj9GukY63HrnVG-_ORKLzN1MgyeLnRb_vsY96dPOEKqiR49CPgLxW-QMDrIvOcYxH7kfpNwa6nPVYgL4JFR_OCm175af5VSP4bQxzA1jo8VQRZhKxHNU6FsuRWypIbIg1BpGCoNkzjHqfwJDZWLps2apF82A5u4_3qsqqIlEs853KWds5jCQBr8VCZ5tUPjY0LiBqkxldDjBnMZKSA07ubytg1joq5h2H0KeGqdFfZJEH4eYiuFNi9ipwBvRxnov2KfjoJ37noorrSXFucrJCOOeBkZmjnMUSf0_Bz_mqAAe9qYx9JxC60Oy7CSwb3-UamAOdUMY178pV1r7nIM6wK2oVX82ayQzdCsGCdM5yfAZfszKSCXbw6uW1j9XAG4YWafdh3fh3YRB2c2R09TKlMV8b01_uoD_DRZq6jMwKai6kalBkhYKKlH1NkRK4covpv7gWyw3gSuyKh8fvDysiRQAwhGYD58WUsyxHW8KJDxGng12qSEuwvVFjpIVl0-hFDXE5ro_Icdwbra1_QqIu7wmnJGqUS20Nzyo2OeKegLFPNaPYNEYBhlPHSzp8Dpo34R8-msK_w727OhSt_fL66cnk9rA5j7Vu_9ktYhmo4ntar2jF4ymBUPtlpPiO6lZz6B2aa3CA1q3TZgRFQ6DJgvF6tXoYtX7zkCxLjx4qjfddOHwxHnd0JHmT1XlsfDdTaef2DGUo2rjADDEpqxy2ikShKUQO0zOvCZ0V-2oZd8RqQV-OvZqSaNsOLsDEtiJYH55fBviRYb-1sEh9b48eL4JelxOGKaR3CNpDHURjF1iq27VsFXq5cW70LcK3RTsMmUSkMzxDPJ4F8o_k6TIt_KRru8v8DWg5ZnG7WkvVhRkHfGtw9-7J8vefQoXDb0rVPtxIum7msrpbe2P63jTw5acPop-1FH055VuhDIKdulj68b4YwQeXTSjvwnn68Cf51uuUhia98WKuOoHGCjhL8mk3FKdH9hftEhM-ksZ5oH1sS9gcmEUYsOlOWl_1cuu_IYoUre9dmQIG0K-mKDzXeuws6boIdzni6HZlsXwzAo1VEXje9k_POXHXomp2iPa-r8GArx8YuCFtcjbSoudhyQ9hC0lMoZQ7SwtjrrnfdJOD8eYhjTjsG5rCwgBxPb-1iQh6e_hv3NQni6JopDNxtL7xuUuEEmwOOrRfxqkQ_CeRJqpsezT5Zq3BWbP3BeJgFcGY0tgbTG7ZGmeTYvI-hE3hBx-pY2bT_eFp2mb9QX1YhqG-ntYikDRq-rf-pkkwII76R9r4SiOfxD-tENL_bQLD5MX5IA1t44Wb-EkONwmDqNsCDX3VNNc0UoauiPhr4ywxw_QoDnrFgQ-",
  "id": "rs_025e3cccec29366e016ab452c033b487d083fdac8e8201d5f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The commanded final descent and offset stopped about 1–2 cm short while the rim stayed aligned between the fingers, indicating the open fingertips have contacted the bowl wall. I am closing the left gripper now to pinch that single rim section.\"}",
  "call_id": "call_oHddF21ylvnpYn1Zoiq6IVXK",
  "id": "fc_025e3cccec29366e016ab452c0c18c87d097d1500fb2bdbc80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oHddF21ylvnpYn1Zoiq6IVXK",
  "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]: [-0.1757, 1.425, 0.6487, -0.0147, -0.1875, -0.1226, 0.0086, -0.0002, 1.0344, 0.8207, -0.6548, 0.0196, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3706 left_y=-0.0287 left_z=0.0713 left_yaw=0.0306 left_pitch=-0.2029 left_roll=0.0642 left_gripper=0.0086 right_x=0.2966 right_y=0.0001 right_z=0.1574 right_yaw=0.0583 right_pitch=-0.2958 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -5.0393, 6.1744, 1.6337, -0.1294, -0.0317, 0.5201, -0.1846, -2.5504, 6.9128, 1.4969, 0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382d4dc60c788108c871a1d8551642a599c2a8b51bfbddc8cd43b55655aa6d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a83557421e5fa3dffae487c9b2291ad835ee146558d8d5b5e1c7a3f671b9d340",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f392cb873a8bfb9e76412fd2e913279b653a0dbadddd1f15695382bb0e95d7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.4574, 0.6952, -0.0154, -0.3134, -0.2359, 0.9954, 0.004, 1.0313, 0.8261, -0.6182, 0.0391, -0.1223, 0.9962]\nstate[eef_state]: left_x=0.3752 left_y=-0.0766 left_z=0.0816 left_yaw=0.0193 left_pitch=-0.1601 left_roll=0.063 left_gripper=0.9954 right_x=0.3042 right_y=-0.0021 right_z=0.1666 right_yaw=0.0353 right_pitch=-0.2505 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -7.0769, 8.8274, 1.6386, -0.188, -0.0317, -0.1734, -0.0752, -3.2068, 9.306, 1.5604, -0.1294, 0.0415, -0.1587]\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]: [-0.1757, 1.425, 0.6487, -0.0097, -0.1909, -0.1268, 0.9961, -0.0002, 1.0344, 0.8223, -0.6506, 0.0204, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.0282 left_z=0.0722 left_yaw=0.0356 left_pitch=-0.1974 left_roll=0.0625 left_gripper=0.9961 right_x=0.2977 right_y=-0.0001 right_z=0.1587 right_yaw=0.0573 right_pitch=-0.2901 right_roll=-0.1035 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.7761, 6.1333, 1.7753, -0.0464, 0.1294, -0.0024, -0.1983, -2.7145, 6.8308, 1.4628, -0.0171, -0.0415, -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]: [-0.1757, 1.425, 0.6487, -0.0147, -0.1875, -0.1226, 0.0086, -0.0002, 1.0344, 0.8207, -0.6548, 0.0196, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3706 left_y=-0.0287 left_z=0.0713 left_yaw=0.0306 left_pitch=-0.2029 left_roll=0.0642 left_gripper=0.0086 right_x=0.2966 right_y=0.0001 right_z=0.1574 right_yaw=0.0583 right_pitch=-0.2958 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -5.0393, 6.1744, 1.6337, -0.1294, -0.0317, 0.5201, -0.1846, -2.5504, 6.9128, 1.4969, 0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:382d4dc60c788108c871a1d8551642a599c2a8b51bfbddc8cd43b55655aa6d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a83557421e5fa3dffae487c9b2291ad835ee146558d8d5b5e1c7a3f671b9d340",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f392cb873a8bfb9e76412fd2e913279b653a0dbadddd1f15695382bb0e95d7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLFwlNyjw7KBM-IrPxw5U1ntGz4BxwpuuFpprKNEUSNWLMOWjCpkWeSjHHBx3EeDxBoq-vBD2mUkUgLE0HSWN2i6YuJCmurs6j_RmHauZFLT0yxsgjewnl4SiicXr2bK1BDSpIlOXkj3vEzGEGHz-9Hv_SLPYJ3j3y1o_sOXPxjpCWwfbmosRTgSV_ksrWZ7ob5tOm2FKqCLQWhNiIae62ZCpWe-wy8RqLy9MVFtKNlXK70-zf2pq7taaLQOyewtxNoJPW_0U55i3aTCbEpoEfE-YGPuH0lMtpM2NeC_zGcpRWg_MGzUniaz6LxZ3ppL2qSVciTt7QnEnQcbHc0EK0Z7d5zjK0Pr7LqiooIOFEbzgOtBrD85VkzneDMTMx-8dafX3MDnCYhckPTYV5s5i9UA45OzjcC9xE3_dr81bnlGPzSk9gSrtWoqRvfkpxy8C8GP_5d4JtUCV1QeRwgKS61RgqtAMNiwOlLHT5EMZdavDY9duMMw5-6bcQOre5UCzIRCKXtklw0VED2KKuE6Hs2tXYXAhC5Eprge6-odEl7YF3uoXMg2KukQCDAX42HtYE4Zz_LofxuMDvTpRPeYFDMFP0P8vYoW5mOLP9AwpZ0IAmSJltf1p1OVkUjbydPD-LTev5CjgmK4tbY2frHAtLz2FiS1C6eFrN3ce7oeQ5VQ_1afg1AMXyCnAH0AUb-TEY8AJUezkK2loZNZDVsnRzKJ847_JB1ED7LrJoopUpwU9-jGjomixYbRCYELmMCOzD1ImUnGOWyMtlXI1K7NevxubhL0u3RIrU59W2RQj9O_1Ahd0sA1KCGFtt_iOszpT4Esyqx7by5zR5s97UhzL7_EOpTy1UOb_0UwZ1JbBkQ6b85NqyZqvUbXFdidNFSicg0AfpwCZ_7q3rb2vzW1aIgCuEQ9H0q7cCSwpaz9dQMK6niB6_OSmXnSUfWqoA45HYEZMmD1fcU9fO-9XtjCJCbKjNrAr2nFVM2-r3AFJ2zuaJOT8xznTyzL-9j4iOnG0DYYrvXST8dbh2eSNcy-CpQvA6zrHA0yx2epBA8oitsQyRI0Ex1nWslzWEE1V608ymARxxx8KPqYJ5zx5jVKg0s40u-Zc8ckdHr_IQ6Q0a7SlJZx2U7WKdO-ahLYEUjXHa7snDTxYUIPjIqrIvMkX65vjZQZPxcDvc0B4_nEP-RUiMoqovy7Y9xvIL0d_J5YIMKKaEterErS6w2Edml1bE2xTn8l9iucdbHEghHhBCVJx3nJPZXCiKxnUIyXdzsSlPVzVs3-5reHnMeLJ1KgCfgcI-mOxAGqqoErcoTHgLOuMk3Akobep0xKldQlqkmucHjTUwz9VoFW5WaWbbgIgTwTGcBB_C-F8xQu_1GWI2Sf1FNVpWXKIdlRUgo0m6TYmja_mqefnWj03Tax9gP_rgsJwTWNwCnZeZc6Q4PbdsTgNFwgqD_joPvTSedsC_gCM77BUTvtpiZwd2v5RnWdBCpoQhGm6Y6qf9PM0yO6MOWFm5h76qfvkgPTa7Z_XTv8OBFWS2akfryL6rjc-kTlZO60Q==",
  "id": "rs_025e3cccec29366e016ab452c39ccc87d08b0e96af944b7be4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The rim pinch closed to the near-empty reading, but the bowl wall is thin enough that this reading alone is inconclusive; the left wrist image shows a fingertip directly at the rim. I am lifting about 5 cm to test whether the bowl follows before deciding whether to retry.\"}",
  "call_id": "call_u1UKKFqwfYPEeAbtR8NmF4mx",
  "id": "fc_025e3cccec29366e016ab452c4382c87d08cc6ccccb5695bce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u1UKKFqwfYPEeAbtR8NmF4mx",
  "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]: [-0.1757, 1.346, 0.7753, -0.2287, -0.1875, -0.1234, 0.0104, -0.0002, 1.0344, 0.8207, -0.6548, 0.0181, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3704 left_y=-0.0287 left_z=0.113 left_yaw=0.0314 left_pitch=-0.2111 left_roll=0.0654 left_gripper=0.0104 right_x=0.2966 right_y=0.0003 right_z=0.1574 right_yaw=0.0597 right_pitch=-0.2957 right_roll=-0.1016 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.3658, 8.5812, 1.453, -0.1343, -0.0024, 0.1734, -0.1299, -2.5368, 6.9402, 1.4042, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33ff87ce505ffc511185fc3b76b704ff8faa99070bb57dcc283f969d5fc2dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01150a7d29186ca850984a6e32dd8b63e1e889d2a51560c42d4cffbe4f56ceb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c15ebf2a7d646da60379b2289a3807a80985c8dc08134848e48ed807271251",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.4319, 0.6502, -0.0113, -0.2184, -0.149, 0.996, 0.0002, 1.0344, 0.8227, -0.6476, 0.0223, -0.139, 0.9964]\nstate[eef_state]: left_x=0.3712 left_y=-0.0284 left_z=0.0708 left_yaw=0.0579 left_pitch=-0.1987 left_roll=0.0673 left_gripper=0.996 right_x=0.2983 right_y=-0.0003 right_z=0.1594 right_yaw=0.056 right_pitch=-0.2868 right_roll=-0.1052 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -7.3231, 6.0103, 1.707, -0.0317, 0.1294, 0.0611, 0.0615, -2.988, 7.0906, 1.7265, 0.188, 0.1001, 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]: [-0.1757, 1.425, 0.6487, -0.0147, -0.1875, -0.1226, 0.0086, -0.0002, 1.0344, 0.8207, -0.6548, 0.0196, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3706 left_y=-0.0287 left_z=0.0713 left_yaw=0.0306 left_pitch=-0.2029 left_roll=0.0642 left_gripper=0.0086 right_x=0.2966 right_y=0.0001 right_z=0.1574 right_yaw=0.0583 right_pitch=-0.2958 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -5.0393, 6.1744, 1.6337, -0.1294, -0.0317, 0.5201, -0.1846, -2.5504, 6.9128, 1.4969, 0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1757, 1.346, 0.7753, -0.2287, -0.1875, -0.1234, 0.0104, -0.0002, 1.0344, 0.8207, -0.6548, 0.0181, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3704 left_y=-0.0287 left_z=0.113 left_yaw=0.0314 left_pitch=-0.2111 left_roll=0.0654 left_gripper=0.0104 right_x=0.2966 right_y=0.0003 right_z=0.1574 right_yaw=0.0597 right_pitch=-0.2957 right_roll=-0.1016 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.3658, 8.5812, 1.453, -0.1343, -0.0024, 0.1734, -0.1299, -2.5368, 6.9402, 1.4042, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33ff87ce505ffc511185fc3b76b704ff8faa99070bb57dcc283f969d5fc2dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01150a7d29186ca850984a6e32dd8b63e1e889d2a51560c42d4cffbe4f56ceb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c15ebf2a7d646da60379b2289a3807a80985c8dc08134848e48ed807271251",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLPk_m_qDF0QG8xvB9Zvo-VR13bLVALT9tn4E7RlsOzaRjnmumA9pZIysBUcHEEMVXnOtk7NXL4ZfGVwdSwXMOAMiJjkWj_xl8eG2RCfIEnzXYKjrnxLJw-3Dr0Bpd27hxi7I7-Q1ndF5639ciY9xZ640P4hrgQLhsLW7xdwwjcy_sghnZZoPzSfsAh87qNtaDvGLR7So0EfJ-KxfErclNx0z2l2jN5aGqLVPg8Q-qBJZHAR5mDqP8GpZS74w33vW1TTKiaTpzpgIv59Fnsh8whyIqWF8aEJ3SunE4lmpdXWo5dUSE1CXjRRchgMfoOip-TifG9xElXKjcAkkuD9lb4z1HLVqJ1Zg56F1l6K33dYs3TgQj61VtctrK_e-xBH9J8CTixSCrWdPSYnFHoQ2xj6pX-6AYcIXvMlLYU05TUh36x9btxSJxz-yk0Fp-bwWsZbFiveUX1xlg4CylSA_ExXoScc5xfQQ0SDvUa98uPjZoxBUszivvLM_MEOmEV9o86k2lyIGisFT6zl6T_zKc1bynkUd9WbKwcOL_cKaq7hPtuqDpPIgadrcs6K5f7uIJ8KTGV4QR9QPk_9sEjWByxUPAVo_zF7nngfy0MDvPo7bCSpL3rOKHs1ExmWbdAourGEbUuhV09jKRsKlLb-8SLEB7Emh6-XTksb2YRLv3gqZ1jH0ZQXy8t_fjkR_aCvR82t5L92B9EQpGd2bdZly2UP1uWyexmEGXRWBoxSywLL41t2No94QW8bfzpnFKM_9wLyvBuphpNQ8ULi0VEO6C0Sh31PVy5zsp0OrSa0o57QukLp_pJk_XdDxvEelzd2CNepPRCf9TuL4cY3S1FeY_Ya2w9AW4-WO6UxSkW6qRT2ZCrxqlVrh_PSf6c6ClM54oKT9hBF3OIomr5HpnHroCkBfWaYqQzWncYiNKGgQgJwQWOI9V_k6dZ4cpsHa7tg3snG2CsRncb2JRIeCVNVgzIPdDAHWvwHjjfNq-zzj9Lfy3xKApGhbv5asxbHArLVcXYPJMBYBR9eVzhJo1KaDf5JRduaPTN2ca-qap_kean1rPQhiDAnfgJjesynLAhjbFBfMXssY_TjLjGQ_HY0EYNqCNAiG9T8EBJv6oT6d0BHV85lJ6P6n1gFl1lU8kfyqcD2JHOKJ2_k9CdbFpCIja83R97ujA1p9-wWfzjGnZQrH4Q4nE8VUVjLpA442z4DlXwwlYML8YPupepGFllv7D2fpAqLXcbKJcxfGT3Ay3uuoMOEyuWpS8UEUms2Dh-sfNmf34h23SM4qJNRQ_gruCIR_55rn3og_rZ7VeCP3JO1AyJ78CdDmRUiBv8AMkHp5UBQMnglusdNbqX01PLNGhyewKoOxiiYQjN4_zi-FQexR5-q4jQqYVIvZeSGzBpi05sT-VTcwwCe4ZuM1QiLIb0s7E56pL-z0yoOkJ2koLaNA_qn0uxoXsKS4PAqFNj1vfCRpLpb-IdUW4ZCs1DQGE2t4iht9tsALtp_gOHXN1TxzJ__eiKt65f4eFG2SoTbjYJgkQ5lCb81GZFGyvL4rqLQoWhrX9Tnc4qCEMQUSBhff8OXFrPvgs8N2zsfqPPkXicHdpkI14tpAFwIqPr1k77DPqVCS5TA_wu8DsfBbWD9ey9cUwPctp-q2ICLR99JdwURptVVukMHM6HSfmAP18gZ-BqaY4LTYgPXJ5s42ooezoALIygEerTaaDN17CpAe2DbfqXQKbzbgCghnKQ7uTyALbF03AOFeS3c5x54-mSFX-LWlOztq7cMYiPpchutGpxdJwAo6P_KQPFxc455rYqfR_t1A6nMFSnyJgwcsgi35sisU7HPtEScsNOsLYoGLKyf7avb029UV1zCr-W3CN4QbsTi4VLPgZhzbJSfkpvgnhtDttXH_EISRYqklQcKV6FqXwjS3INYIOQ01IyW7xYXfPaDDHkOUZz-neqovOwr31uFIC9fVrAP20nEgbypNmLAKxWbucObUJlO47Z0digMxQbyalIEWTZXFoQdGrxTrWd_B_xEQuTxXPaQaCLTUnoHh5nw_XaJkzwCrhfiGR0EYNbvzl8IO-0mEi-VNynAQZm0CsApUB-RSvbQ4fGbfnvFXrvPaUNJ5PN6Wux-SV4QuvJe3CqxRPE_4BF1LguOl35SHcBFSSWcA8jHSkxBqzpMSbWnmshKTByQlWfHTL2-x82KdhzhGn96Js64dPWS57Pn5HF4zVK2x0vq_l0wkScOHh8oALis1bSL-kU6BKZZ71QMBnTeNtFfbcCJQqCxLEHMqJQXlADYVea-57DAOxEJegayDz7F4zEpD7ot2QD6qcQQEg4RFQCBbL_PILYoUuZSm95DZ9JZNSzUONu_dP3WE76kxeEA5_Saeam3wbaqSPynQ9sm_gE9AGPfQN9ugDve087m_FOk0XzY-LnrABPjTnSJbQA6yzMCMMuP-koeQCMYg0bb4LfgNx3BmnlKIhwgYrTBA_0-wX6bx_Q4sc4uHMZsV5VdpmTuFBTkqasDGanAffv6YW5drnxr1TkknjrJebJ6MbTkrf4fff8jNy2M_jIM2ZsfisLLUtoo8jrgnM-26zPx9lgje3oFBIvsWWzvc_InrFJKfqJuClLla36hY9lpYjAKT8A46t_kcCKYtN3lhKRAi6FlYbFsX_u8hE_iX7fNT_KnYCSO5OYEIGUlGJbZLZJdGnxNdbsIwKiEieE5yA0k7hHYE8UhIlds9NG5zR8hvlMI67nWHjfLz9qsf7pYBUj9_Jw13MimDF6WBem5fJkBSDahvl5RpxZcNBTby0zIqVATa86SHNnSTG471Q2TgYlh6fpcgkdMDSYPrem7gOpHj7iWECbeTG2v9jVFDiVTTmQjxHgsyHcpLFuBCgfQlt2-CcMW_yVVGWvfbtG_3KclDANBvbYUfcbW95T0-w71_W2wJmuWmZWNufUnlO3_AC68q0meCuGeXqi5xo9lEk1YkXvW1xLn5EqICpQeNsye-FuJhgX7TBI150Agv2rPeT3SDgg5K2WL7X6rqck2o5wFEnuqlUXeelK4HaA2pkqZLgnFXXXSH4H8vF_JyS98xPSo7RYPJ5WVyvaCfXhj_ud9YC22MUrxU6yy9FDkCq2Nkl6kgWUTXSAYiSS9WvTIN-YWrpDelmrN_pzkHnnOL40g9C_pVEs_ukDk105x2G90TAEzCDt-nF4FgNSebjSgqR9HNGJUWvO1Y4_AGF2janLPFNJzo1A3QDoqaA1THm9q9guuysi2Y9xuOeT8Ggt0t6OV3KSHYGYTetf128IRTak8DA-fZT_CY3wso6o2Xr6Y3kBY5rQMQx56TuOC_Cd2ZJcERhNXTArUhVBWAAU-4w8TNk-HqW_1BmkPpc76tRkxrXxQ_C1FMj1Sdk8V-QeihNKeSxnCbYkqtWwbl4kjF6qgtJPp6xN7b0pZvLeB9zVPDV1hM2hCucNk2fZXq-4VIm028ZxfC-wBPpEKrJJFma4JjOrHDNEw9ribdKpnYV7q-Dl2WV_aUeqQ5DSFdkc4V6xPuD2-Pv6P13UfSZi4CgJLAPDpRGZV4D63-KShyLOIlgBaLM7_7vlo6Z5z0nbx_hdDFJXEOBya2yCmURjsgx398QLsuivmk6O5WtjpfeHcWOEUVH-aHVz7WuD7xCWKeiVkEIdOjDZOoWu05OcZfPluCMpiMtAc0zRygeqxzcFqIZVqvEBurjrFbSaqWc_VP_bzFY0eBi5aVv7DQW9p5cBJqLbr4X8IWvwPuDve5aY87QQ-bBhr89NkcQCshkTEyFuDNg57Qzm50CaqBlp8M4F36hF9vqk6ihvJ5LLMpLfS9UBhCUzk-LJbFbpomllppniAeRCxAa9RjfTxi6Gu3ocpkBcFCDTDL4g1h0SfzANvbfaMARMSp507bmh-vsTroznMYukz759J1FMpbjfZa-6vVn2HjHI5Z3AddsnRkes3LEXtPYdjxfELn1Om5rprZ-RFQGeoGeNfFKRhfAx4uVyI96CP1jK_b_vCpCRFY3OXlnO4r10DqfUUQDxaKtWZ0mD62vdIups06AtBck1ckaAvzHNsoKIbrP8LzUP8E51SEmxHYJHrnaCCrYlxzC4-PtZLfr97yi4iRZelm0diYrtrEfvUHt9FLp_HQrEClou7AbjcqcY3_YD6HC3C8AZoOZE-BGicPY4a_KbSg==",
  "id": "rs_025e3cccec29366e016ab452c6fdcc87d083f47d95e8551992",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLPRgdN1A48AAYTGwZ9ZmDjj4W1V5aDbCTPnfZ1HtOEsALxJf3emmt02jZ_Ix2Vyrd-M1ZdBMu-6c4yfCeK9-steDMfOxPtXvCok3PjZEwZkdJ-Hdv22lAEE0dxrVClnoRYPZmf5bfB1c9OiWUCfYw5pfaXQiZ744zY4voSJyu2-CLZQD9ZSQFLNvXoXxoKDqjlXSH1Fwh11pxCJPicSD8jEQ13T_-H2iMWxrCojfZ1x6vYoxklZzZrCuHOgf1f0yHxhq2e785NrewlMd7Sd62GQOl4gt_5R75nD2lNJm0W5jR4CeviYgOiYGyVeqtfsBFxeo3o9P00FY0V-JD-eTTX_KP24ClMLbEdjz7IhTZt4J0c70tXIzq36N7xRplscN0G79iD7NcRJ27VXyaNn4ALzPVG5VPntGuEPno5B_pSUW-LnozYqDxZkg7BbHAog9zJmwdTpl3XbhVS6xhkr5OqHRCjb7XqflGxJeu5Pq64H_2PFPBREQ8Hi75t9RVRcUldmygqbF-bVumbRsVru7RGbpx7WQZWy6K-x-ctfrKGiCRVtILVjrFyT1XZUErMuH477sNTCFBj9ynkWFLhyedX3oQCcwqTGSY9bQcr1o8fyucARSKEOVhIgCg8BZZjDCeOgmR6grrdSwczjtdtKehv93v7WL6_16siDF5TwmAeOW-9iMKgqBuCh2i_N3YJe-dIeGs9u3aE6KLqm_5YwSmQ9cvx4tNZnmBJYFjTNRg2-MWTL9LD4V7igbh3ZC0DYp0aYW72zMgSe5q3EeA-HOzWybOw9fVyX0akT_y6-dLL68jE58_iYeg9yCD2ILZ7Z525xSA2OkYauAIpiPQEZ4xgG0n2Z0vwpuoQgVy3CSTomhj07-djqaUvFxgODskmjf6VdkzzofT78JY_msRHW-GaB4miL9worZDBRfmr6BGzC41z42BFLSi7LHUvrY2HkrHZvmq4cBFZmOFUUDtyPnhl_CkQHoMnACzZxqSAtLYcbqiBvrIpyp1qA998aDUQJbfSCheKcZzWIu_1VrOPj0aHIAS6yckzm7Hv1eMUOBQN1O3ngQPMX3aNbC-112fZZFCQ7faE2hUV1mtKTrMFoiYEt9I3f0vmoOvXav-lRA1YQwDfg_J0bLl-XE80Hee6ZhfWlM2BvPu9DjUGQdLBbQvV4H1ki1v-nWGPubX96jzdzhaXw5QCqG6WOLd1fRuIuJW-StCl5xAGctAskBUE6naZE13Lum-J8s_TS_Wicnrzkxd-_SEEW47PwMhUF0wo9h-Jmfk2b0dq3h4hPTIVsAa855qaXwRX0-ioqgFdJ_Y8Vibk_KmOYGxvffWndooz8pyiNuy95O3ia7PycICm42Vs_uaD-QcOZluspk_6oc99LAzueLvSHy0HVYzqCzT2T9vDrSOsdA8Fc3hz_qEnUm2sqPR0LFjtKVJrfSCQHJcjoJht1l-oJLZS1qlNyL7W_wzKfs8J3FK4SVXU5zTmyCAVf2YaiyBHc09h5r9z7maxjVwdWEQO-VSbgs3mcoO8RXhqp0Vi5GNWe5lQMobIj7iaEygFWY-wpoRvzHlhTbabRCgT6gE_ZGuBhADg-OgzGwZW6j0CUDlin_pUfeAAIwWyYYv3pv2-VhKP1XZrnh4DSWGrmHhysnhPoFBUc2H-IlP7uiObJ--6d40IZWMnnL_Srl9h1HmUG62sLlJs_HQHsQQdWckYgrfchSbc3JsHx78Lgh1ueklvcEvZSUzRQJ_ZkKIJntGUHKtgTBB5bMa1VbFL5sLUCyMu2MzoEjMBottqWMRSis9zzULnzJO7IAPGRmy1aMMdc9kpEyOB4CQDmcOa0aPieghO1_WPsgbW-ccO8NBMsDFx-jtAx9eMkFqOeVGip6CyVyIbZtHpiQ_MwaPXEEbVIn3QS6byFC43hNiTOJuyekceXcnc83Dmw2IJRkAA6WdZrd2ldlsqO_S-OWfM3D5nh_SmpYYGVnZ862OHJcRHHHiDmBgDLZmJNzZXgtBJk3ao3pMkksRitqyO3gW4zX5XpQ1H2D4E6CNlYVLDFcqQsz_CpgzTBgs5fuArXFyR9z9FpnMiH-3p4tQpwKgFLEkkKgG6Qu8tos-igd64XjXlwJzjtJRuPB93tbr5cWsHM9Fsr_hgBW8Mh52QbO3NB7FZHlOunUkRxQxOPlJin74tZCjbknzRP2psQHU0mryJvQ_3wzz2k7tOCoy_2YeR83Kp-JaW-revcbX1-ppuD9njRYOkUGQSbWfrFDDmVTqstkXK6uTvE9p581Kkoq6SY3Xp6YiL-DKgb3jLZnHzI0m3KkRDC3wNljiLq7Wlf-k6M7juQJaVUwmMO3CUSs4pxF45YZinAuIj_QBCIj3nBW-D7SOVp9N5qauLk1SOrH8h4nNGfyhYYr3k2PUIiv2hfKMqwDviCE-oGzM93vZb",
  "id": "rs_025e3cccec29366e016ab452cc1e1c87d0b60e50bf83407012",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.08,\"left_z\":0.12,\"left_gripper\":0},\"note\":\"The lift test confirms the thin rim pinch did not hold. Since the closed fingers fit freely inside the bowl, I am switching to an internal grasp: first moving the closed gripper back over the bowl center at a safe height, then I will lower it and open the jaws outward against the inner walls.\"}",
  "call_id": "call_JGLhZVX0cbEzT05ivwQEXevK",
  "id": "fc_025e3cccec29366e016ab452ce56fc87d0ac54699c19ef5d12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JGLhZVX0cbEzT05ivwQEXevK",
  "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]: [-0.355, 1.3922, 0.8127, -0.2951, -0.2844, -0.2363, 0.0065, -0.0002, 1.0344, 0.8204, -0.6571, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3604 left_y=-0.0769 left_z=0.1041 left_yaw=0.0014 left_pitch=-0.2582 left_roll=0.0776 left_gripper=0.0065 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2984 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.3265, 9.4564, 1.5409, -0.1978, -0.0269, 0.6667, -0.0479, -2.4547, 6.8171, 1.4237, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4240d466b6265ba42d095cfeecfea981a6080fdcdcbc93a7da59241a1bffe43e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996adf105d505066f91f38d2fb9a1c5a89f1f06cbcf68bb23a48ac0bf65b09a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0046e5b7df401918a80690fd2cf77778d2b90983fb66fb3b7ee1b1cafd96f72e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1757, 1.425, 0.6487, -0.0097, -0.1909, -0.1268, 0.9961, -0.0002, 1.0344, 0.8223, -0.6506, 0.0204, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.0282 left_z=0.0722 left_yaw=0.0356 left_pitch=-0.1974 left_roll=0.0625 left_gripper=0.9961 right_x=0.2977 right_y=-0.0001 right_z=0.1587 right_yaw=0.0573 right_pitch=-0.2901 right_roll=-0.1035 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -6.7761, 6.1333, 1.7753, -0.0464, 0.1294, -0.0024, -0.1983, -2.7145, 6.8308, 1.4628, -0.0171, -0.0415, -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]: [-0.1757, 1.346, 0.7753, -0.2287, -0.1875, -0.1234, 0.0104, -0.0002, 1.0344, 0.8207, -0.6548, 0.0181, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3704 left_y=-0.0287 left_z=0.113 left_yaw=0.0314 left_pitch=-0.2111 left_roll=0.0654 left_gripper=0.0104 right_x=0.2966 right_y=0.0003 right_z=0.1574 right_yaw=0.0597 right_pitch=-0.2957 right_roll=-0.1016 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.3658, 8.5812, 1.453, -0.1343, -0.0024, 0.1734, -0.1299, -2.5368, 6.9402, 1.4042, -0.0122, -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]: [-0.355, 1.3922, 0.8127, -0.2951, -0.2844, -0.2363, 0.0065, -0.0002, 1.0344, 0.8204, -0.6571, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3604 left_y=-0.0769 left_z=0.1041 left_yaw=0.0014 left_pitch=-0.2582 left_roll=0.0776 left_gripper=0.0065 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2984 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.3265, 9.4564, 1.5409, -0.1978, -0.0269, 0.6667, -0.0479, -2.4547, 6.8171, 1.4237, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4240d466b6265ba42d095cfeecfea981a6080fdcdcbc93a7da59241a1bffe43e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996adf105d505066f91f38d2fb9a1c5a89f1f06cbcf68bb23a48ac0bf65b09a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0046e5b7df401918a80690fd2cf77778d2b90983fb66fb3b7ee1b1cafd96f72e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLSlgLXeaoeXvZCH0vR5LmXIokgfYaIsFJN-k73-VfLFIo9CXFFMdqYqXc4Bje87oq3QjMhPfYCjsde1ssPQHlj20joUT5dDazJ2YioNBvtBz85YUcRRY2_HQI1v6hzjOMfQ8g9jJ037hjhRh80j2_PizuCgH_WDbf4G4vBJxHQJYWcHNHGeVZiQvq_u9rwuQTDihstfuki152akbOuTiXcygY_WOAjzup3x7GFfS8Xam_vdFUUIuu2ZbDbgeDSYlGTIdGSafS3e7tDQqpzY6RCBTSzugiqaYDzG0H_7Nda-6ocyPsctdGi89B6n6kcbpATBhOaSf9kNsesBquMuc7Uw8KO0EXDMWtX8VyXkmrXAfO5gdHs7Haa0OauvvIpPJFlNKJwr_5uOOKHn6XIVyGG0_87v96AFHcwtvY4J07tRDgAcoT7a5--xAFoBH9WOBQdtPbKQz8v_-cU5mxEzlIupWJdUB5XVE6KK8qkah-DFUwHlzbEQsKJkcpaKCHqGf5LFmdrDfugAFKqMvwyb5VEfrJBH4l7aSCCi_LWQMNkQaQC3DSobSCjbGj54u3GS3XkIJtX9jbFCnaienDhqhs3-KKnZU_chgwhzXaa9pR63NiwUo6JEgz1s7V7gmux5C5qzx2bisgGHseAgPWbB-n65kxuDE6CuyN54iNpXBQ1a6F9OXQSoUqXcFyWHqgRd7QpWADCkv2hiB4vS3oUXtkSOvpS_2dtWx18CcqwGoXjy1-rOWhN717e2LKKpqZ3-nj-Q14b9cYflhIPE3ypuX9XpsHiPhKkX9y4Kus4pCrB4SD0Ksb-J_gY5GX2WQZ_4stGfOKuV2Bh5NW5r_h0OrMsrxaFRVYrFW-w12gfxED_d_i90idhVNM0PljxYLASB3ILjWUS3_-koQRHfBEbqum6aUOHIE1rKTOF9rRNZNcjb-GkHsrJUyHLJ2Pa1pkoOxD0fpM_lgOazuT2qhjr_siWK3G2a4QXkF6FwG3XcZFYcNFdFF3pTbtsqDYXfud7imUm3AnGua_SVmE14uigs0ZFuvqo8LzxNyzBiqfgNnK9sEjT_-hvkNPcgQAd2pnhFgfRDQ71HB2Ar2TkqO3D8mCf_N-xed_jXXtd-8wIwr84Zk31ox9VXbzvpgiJtCkfJZGnQddkj5VTsRjRJrP7cpJligMAw59qIqxncxAUjfEn-TH2g0XqevEGAWRgB7SmvenEKhX6FsP_FZFvPFoZQv5zNGASf0NNPnO5fXzbyrx5eWQd-rXcyDZD06Qro5wPVDYl8yxOQ4txeuXZg6vd-9W7eUXD_3Q7QLHhXj8uJ2B4UGgRIvS1hxFffV9jO-jYN8nKU3fwSd3MIkkX1fyOj78D7A==",
  "id": "rs_025e3cccec29366e016ab452d0cb6087d0b0e8b9cdffed10e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The closed left jaws are now centered over the cyan bowl interior. I am lowering them into the bowl to near its bottom while they remain narrow, ready to expand against opposite inner walls.\"}",
  "call_id": "call_rEiJIaG1y30Bvf92nSsQOHJZ",
  "id": "fc_025e3cccec29366e016ab452d1488887d0a5765ef05f72a9b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rEiJIaG1y30Bvf92nSsQOHJZ",
  "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]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.263, 0.0066, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0221 left_pitch=-0.2516 left_roll=0.0803 left_gripper=0.0066 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2988 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -5.7641, 8.6496, 1.5458, -0.2613, -0.0806, 0.4615, -0.0889, -2.7419, 6.7761, 1.4725, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f2f5d1b67eab36e3df9bfc6e669f08eacfe4596458aaa938248a4a243189d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0370f7189a9b3b4cc3c298fc3e91fe04724fb18e93c06b9671608a3cfdc90cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e559050af32ae5c6cee0174ec269bc7120e228fd7912a40a6a972ecaceda6b8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1757, 1.425, 0.6487, -0.0147, -0.1875, -0.1226, 0.0086, -0.0002, 1.0344, 0.8207, -0.6548, 0.0196, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3706 left_y=-0.0287 left_z=0.0713 left_yaw=0.0306 left_pitch=-0.2029 left_roll=0.0642 left_gripper=0.0086 right_x=0.2966 right_y=0.0001 right_z=0.1574 right_yaw=0.0583 right_pitch=-0.2958 right_roll=-0.1028 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -5.0393, 6.1744, 1.6337, -0.1294, -0.0317, 0.5201, -0.1846, -2.5504, 6.9128, 1.4969, 0.0024, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.355, 1.3922, 0.8127, -0.2951, -0.2844, -0.2363, 0.0065, -0.0002, 1.0344, 0.8204, -0.6571, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3604 left_y=-0.0769 left_z=0.1041 left_yaw=0.0014 left_pitch=-0.2582 left_roll=0.0776 left_gripper=0.0065 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2984 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.3265, 9.4564, 1.5409, -0.1978, -0.0269, 0.6667, -0.0479, -2.4547, 6.8171, 1.4237, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.263, 0.0066, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0221 left_pitch=-0.2516 left_roll=0.0803 left_gripper=0.0066 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2988 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -5.7641, 8.6496, 1.5458, -0.2613, -0.0806, 0.4615, -0.0889, -2.7419, 6.7761, 1.4725, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f2f5d1b67eab36e3df9bfc6e669f08eacfe4596458aaa938248a4a243189d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0370f7189a9b3b4cc3c298fc3e91fe04724fb18e93c06b9671608a3cfdc90cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e559050af32ae5c6cee0174ec269bc7120e228fd7912a40a6a972ecaceda6b8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLZIkRYZlEzPhaMuT3YKw7b5w7ab8dbdmtUCOYYBJ9X_5KIftDt53_BNLgyOcyeJif2-cK3BgnYnTKRSq9AIQCaE27gBYMDVWDK8xVZW_WgtZzu8TzZY-cgKQGIsrN2gd47a59Zyzhrzv_xO4t0HoQr-FXkc6lB1KW3XfeITRJShVw3x2xfXjBRCbSwEnZQxqxQY4Y85J2YCtohAUo4PwNNO2wOLIZiXiT5L44eTraQnbmc0NLk9PXooVSlyyFjSv9Ihqvr4K9ri1h9kIk3w1iV88oiQmuMUMuGtxSMWpi9T3sqqcexZMmyHLydPswykieJ33XLLRu-zO3xiEZtAYv7isWDhHLjS9MDFOIvSSciTfs1SWp88G7tMYOvLiry7PrXykIFyiQ3JnLxUj9MbnP07PbR9V-_YejLzNj5fw4p9TFv9UzP5oUlfNv2lyODY6uQg__i3wos5bza2Z-JbRXNCrTBxOsGIXt_0xI21ZtJVcHiCiWMnp5u-F4uCitD8_CSLVX7ED0kYEBWxi3O_A4nsX7AnbH6GS4kIssrmeRsW0JTUUNhtZ44guqOZe6TGxwxFeEYVWlEpcWhsEfQQ7pUVNAqhuxXKC0gRVWaw2mN2aE3QxdZiO4D8zUG6eT_Z8IclcHBfa_TZALakAoKodT5WMTMXecq-5SiExYuDmYNzUBB026iMWzwiz-NC9Iul_Hsx0zMODRSw7GBNIAzPlieHYEjxR293oUGjlq5SSmnH4srqWTVTWQo_Z3N4TDJaQ8l3IDWLQIo66sfLC26BljsJuotZDOGC9yAeU24IctRgXP8xsA5re8oRqnHG4Fd8GfSM2v8cw0dQt1z38oI9hNj_oS79ZOp10fX83D-ZoKRsb39U2oUwpBpkuwA1CoFw-j93rhQ_pm-F-hXHgh1Dl5x88jJwcHIZUTTlht2HlZKj0TgwPwbXd96MI7SQoF59zirD4V3ZBQvVgSemUUFIQV5k9mzmQ8FrflUsbQ-LWnIIZ7mxEvrpihkkQKMbC6rO-RmMpmf6rzbZtkm4o1O35ZXHNhji6iqNfLHAYDCNMrJgswB9bx1dHmKSQJsHG25nspGDwhPhpgl_rMeneRut7t2qpr3pcBRfwbEZuuZ8Ydfw4OY1sZRfHErJMAC02ZTu36VVmwD91N_eqTWejYYA6-LxORqyuAnEziuQlcQICnwvVcoz3oZrggDKDrGfX99FZ91RnAq9OQj9KbfMzJzrRsquNc1lm0UeQr82WTYjUf8TnVi-7V37RYnE5JZctyJOaHWAs1Y029f87wE-gU47EGVuGXmTFgG7uatbUR5p2zYaKw3N2lcIqO1l_HMuNwrMIRPFJn7AOkPwNZHxmrFbz-iNaifLi2xq4X6j5aP7v4DIliYFxjzvYnqbInezHf5C9eD9GVTBadXj8J_Rpm-9FIOpYROc-s0XmJ_D5OWj6Y-t5T54cRgYayrpBi5ypwzMqMmbAJODvSaRcPLe7b2d2MbpHrNnmHsMc0CisTs-6XxxNPmAnq6nfFYCVgKfr0JyECD9KOYZ1STDTy3T4LVV1yDLVKauGqPpOOZbANW86Lf55V9ka7nI7_wKqtFK6RqGoUWNqWL1T-j5eqiLuXZdw7W55YtTvbJIUmIPLnSakyVgUAYxN1evm_7PoAjCa1uEVqFwnAFsa7GECbyIkyferDJwSB0WGYgnITDsY0-hXQdn01SubTsDG-ERw1syEiuqv6RhdUcLxV9hOjYrlMVpJw_FEml6rP1Lg_WxvvHTGnZ7RtDnCJ9f0c-DdEUvxiN9yUeTAmCP1O-rY3SVcjzcU3uN6yYXVeF7qEte6Qc_SM5JvQPCWZlNZHsOcJ6bDMsWLYJI_Gn9kdfjtG23WGnTuwQY1qZNf1967KKGSdODeigObtc7alBT3_25H_7E6mxWFa4VEzRgPy80J_hzs819taxCwCV4TpVA-H9uppvJvB-29rrK948w-zMxqE9et5BjqEQorwA6dn6lv1XrHOOoS6Mps_-Rfh1xER7kcDlxrXJUUiUeXaU5Ji0uLvrVMccNxYfRyabRgCqKD1arROUtlI8GVkRFsGjYnwOcfR1JZR6jqxoPW7Z1dBrxlTz6Naf3EPa-liUFjvTM0jQlWRzH4lCF_Ltk5t1UCgUDlw0RQqcsHZM048SVEosvJ-CnuevmOQiLLDEHsSWtKlI3E6_I5J9pC4hIaHV9IRy0VmnxCidJE57wa_n3IYLzipsz0IgGiewdJJ4oJP62XzSaVrHI0xyLlFOeuRD4Bac4bCnCSQyhTZwzzC2OrPKtTJNb0pPn9HcJmTE4WcRqnFLNUoojX7lCOPUfxEvSNdXDbGmGbLEYCunAWK5dfbK8DBLTv6dqiT104FqDQA6zGPxmDvU3fnsgPnne7Vb5FvbrzWyE26SONWMHI-pYDS4uiSDexSwwhZx4_TT9DzuL9JoWCGfyeD1rQE1gh1B7a7wzUcSYwl85UK049cFzdq8jxLhYQQ-9kIFCr5x29_zK_03gqCvtMyEhzGo9KpHTdshA2BQNw_PkqQtlFDLtHuLsQLSiWdAA1XebHnFubvlXrYRuZQV1Z5YgJ7Cs6-4zOesVCB6AfLuI_wTPPSLnb65AhLyC9hwhXJzjh3a0ojGTfx1opwVpByuOSA2PF7rcgAZ_lXI69yoxD8JdxCFVpfJ5hlDG79YXOn7s6cgH9lXJjvw5ssFfuJWBDwMNeznMrL4K_quWsU2Xf3Pgrgjv8QbnpXL5dlXIsfXa2LYAYoZVcA4NKnjCoBXn-iLbhXtctYCKJQ2VGO675uE__pBwYxD8xFBOgq3ZL8R-DFowvU8PiuaKy3TojfEwms67BHZcBDbQlwz9UgwImTTkW8oftRnaTaIn9gb3tzQUkweyS30GpbBtxLSLZ3TNLSj9CDiaRs6TPGvoeANYUo_Ei5Bh-cS7pSPZ9d9WMomxGmzxH7Ag4PUN2IF1bAsvS-ki355L1AdSBPhOChuMw5t5Y-vSkLtFpyrsOHjnOaHwsbSXfiPLgQ6Cx1_Hv2Qa_QK3CAyqRyjkqPbA4V9Y90DKkBQXWnUZR_tFrKInI8IScbHTk5VE8oTajqV5TL6AdKfG8p2jzwyy8io5hfo3RsnA3-J3-RSJrplpoPfCYf3FLzpuF09AjrptTfIz6NXiD6y4Ax4aEVjkoBkPfpVHfYW4iC2XQNHGEt8EU7CNdV25qTU_KJz0smllafqfZ1KjxNir5SA3_osng5TVXx9gEaiBDO8N44Obj9ZB7HT9oCrf8t1lDvUBZp269dYt--MrC3EDEABIO2Fc5ZceEFnvENOC9WQffz-3ecfMSY7YK7MKw_B1ZjI9DeKYeyVfQACXInMy7NMdivKUNCya8U0HEJeczfS9X0uVPOBoJ3xrbo0v1578-HpurrGRTnbixAjhiwMaA8kJARfPY9fYp87K_wtAH_kv67mQuzCVhSAPdMdNf5-xLYRtTErI5BwuWLdbg==",
  "id": "rs_025e3cccec29366e016ab452d3ee5487d0ac9e250fd5d68f50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.1},\"note\":\"The vertical command did not move: despite lateral centering, the grasp point is about 4 cm short radially and the closed fingertips are meeting the near rim instead of entering the bowl. I am advancing outward over the actual bowl center at the current safe height before descending again.\"}",
  "call_id": "call_sxk70FxfOmi09fEUJETZ1vsv",
  "id": "fc_025e3cccec29366e016ab452d88c5c87d083048c226b0f364a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sxk70FxfOmi09fEUJETZ1vsv",
  "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]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.2634, 0.0089, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0223 left_pitch=-0.2516 left_roll=0.08 left_gripper=0.0089 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.0598 right_pitch=-0.2987 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -5.7641, 8.6769, 1.5409, -0.2418, -0.0904, 0.2222, -0.1162, -2.7556, 6.7624, 1.3993, -0.0513, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a74e05c0b799345d40ca7cad31a101b4ab5fc1d793add0a4748f059fda5a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a74469f671f0202e6abcf90224985a2413a01d0d318d0254cd4fd82855fd5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9925b4673acb936a0c9874aee1e610d322a2fd56f9edc2c5c6572e9b4691971",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1757, 1.346, 0.7753, -0.2287, -0.1875, -0.1234, 0.0104, -0.0002, 1.0344, 0.8207, -0.6548, 0.0181, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3704 left_y=-0.0287 left_z=0.113 left_yaw=0.0314 left_pitch=-0.2111 left_roll=0.0654 left_gripper=0.0104 right_x=0.2966 right_y=0.0003 right_z=0.1574 right_yaw=0.0597 right_pitch=-0.2957 right_roll=-0.1016 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.3658, 8.5812, 1.453, -0.1343, -0.0024, 0.1734, -0.1299, -2.5368, 6.9402, 1.4042, -0.0122, -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]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.263, 0.0066, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0221 left_pitch=-0.2516 left_roll=0.0803 left_gripper=0.0066 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2988 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -5.7641, 8.6496, 1.5458, -0.2613, -0.0806, 0.4615, -0.0889, -2.7419, 6.7761, 1.4725, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.2634, 0.0089, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0223 left_pitch=-0.2516 left_roll=0.08 left_gripper=0.0089 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.0598 right_pitch=-0.2987 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -5.7641, 8.6769, 1.5409, -0.2418, -0.0904, 0.2222, -0.1162, -2.7556, 6.7624, 1.3993, -0.0513, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a74e05c0b799345d40ca7cad31a101b4ab5fc1d793add0a4748f059fda5a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a74469f671f0202e6abcf90224985a2413a01d0d318d0254cd4fd82855fd5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9925b4673acb936a0c9874aee1e610d322a2fd56f9edc2c5c6572e9b4691971",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLcKufeogdRrLvbSCIt2OLI5tUbmer_5TMZWV7mrPW1tm-3scWAFpWDtCSIqMY03B1tlLvyCLdKCKkI1bFYo_GBk2yIPO3R763v5pN5xoCm4d9amTk95wykNd85BPbMzSRXj7GHZ7Ty8B-v-to8pAy9_Qbdq-BQLQpFzcMwLfdkKjdT9den_g4tRNpQx2lOYLxBQeiOtDysWq48aHVXBCKfVRK8f1kOtGU1S77bP0Sju37CeiwSgdoU3U7v80uGccO3wdjeKwMlusb-Gpo5QkQX2T2i0uSKH5WsjwCyCG3iPnJoAx4Kak1A4ACEJJ7kCmm6O95_l6JP37T0H8AuiCUui6Ot77XmI7reA8gniT2wv6YRtMXf--7rkIm2seCPSKcgwdTzPPHd3NwWc5u7lfVUOGuHQaQcjSKQuaYgnUeuzdkracu4DhCg78CMVxlfn0wGGnXLaBvu_h5FYKRWv_D97dq9vML7ytIzBf6p6-0BoM9rGEHa6Pdk4fGRf6JC5Pw5qsJtspfzTcQ0o-cm8hojtZfw4qY9ivDpqo9ZVyIdsokKSEnpN08BV7oww6hXjrYSV-zZuGhBXs1xHFsnIYprgqnahgdMmaCNNaC10zqG_kZ_CEBxSKcxHdT8JA1lp7ZjB6oGnDj8doVGMDuDS5Hyy82AabzvfTG8OwCZw4-Ln3qlFCe43xan7X2_sh61yMEP62EWV8ieGzyHU8Q0oBDsv85hOGw2oExVjtjXWSNmvCcg5PwVO_pmGy3l-GoHh5Ld4D1fya6nq5hh5edrkr0o0akBcc-QlN677L8pkoqqBciAg8PdpZfruj8uV2PSUR52uDmwDxQ1BG9H1PbWmsS9M5GuCP5nYeUyjtcVte7qKBZp_AZ32Xb8RzaENbnd4dNoyIG72Ll77VtLOUmsr5dlSoWfvN_knh-hv17BTTC7nOwpCn7Qz9bU8RswldjULANSwO8ZI8k5yIROIrVwVx8OLl3jDsbQhqgvxQ6cPhc8RM-2ihQJ4jA_TDUNsDZt-m2h9NfsavUvsokndmM4W4Y6o7sHoyYOtto6Lja-evNRlird4WQvHO7KHavKSCiVJxCBVriSW4m6YzpHx5r9an5ED98l2srMxw6mQ0l6UQLbTrodDYs3IwimWNs64q2eNDDpxWFdz6JO5VxjjasCmnSwBZ9VHH9Ed5tYjNHW4sHu823-fBUbkptxgsO-RLxy7ROVZNIYbhX-WJNYxFcHGbX_sFhNVjLtj76zMdCW0vLMB4o4frH4DHmkbdRMLgXevgwaTgdrNYtbzlCmFLkgLv_-qJRXP3X_nXkyyFb4VCQxOEWf02j5k01WFBxCx8E3ozebkXuBfaLPcCeDT5fPwXBt3Qs5HJoOON2xZkSe6CiIiToekk5FW7ArG3Muta4tJmoYbQt5MrDG0GLlF1fry7-FjsbO9-P_NUfiwwSGynDAGqaEZRMlP8djtNqZXYZla8EQioK67Uf5Zc_vh-CqVx_wrJeVhEGX1_PXIu0Bn-GwHbpXWNmxV_jE_Z7pjZ766jwUwTXq0gZ8k1OCjTwB6MITEMrr8da70hIbj2-ojCuA1neEKb-6cEas_bmmQyfEx_COxLDXLR5e4By7yl5N8w9maR6EOwRy6hCb9WYYEePg1tvI-B48U19thDOsMVvQCNwG",
  "id": "rs_025e3cccec29366e016ab452db4b5c87d081606e3661307cfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.18},\"note\":\"The outward command was completely blocked, so the closed fingertip is evidently wedged against the near rim rather than free above it. I am backing the arm upward and slightly inward to break contact and reset before approaching the bowl center from above.\"}",
  "call_id": "call_wPaQEXmAM0W9d8boOzEzH8ek",
  "id": "fc_025e3cccec29366e016ab452dbf96887d0b1a38444baa03718",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wPaQEXmAM0W9d8boOzEzH8ek",
  "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]: [-0.4, 1.3079, 0.9768, -0.5213, -0.3153, -0.2825, 0.0104, -0.0002, 1.0344, 0.8204, -0.6579, 0.0174, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3537 left_y=-0.0862 left_z=0.165 left_yaw=0.0055 left_pitch=-0.2269 left_roll=0.059 left_gripper=0.0104 right_x=0.296 right_y=0.0005 right_z=0.1568 right_yaw=0.0604 right_pitch=-0.2991 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.4906, 7.5692, 1.1795, -0.3346, -0.0708, 0.149, -0.1162, -2.7556, 6.7487, 1.4237, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4037b1489a27f548789063d49458e2188c81be496e272aba96c0ab634bb6e24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c2c41a283d9c3205b25da03d3b70d9fe317345e445263cf83038ff251f4138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5edb0a26b91101b4078cd036c131eb9aac985e880911cd8989725bf1bbf9665",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.355, 1.3922, 0.8127, -0.2951, -0.2844, -0.2363, 0.0065, -0.0002, 1.0344, 0.8204, -0.6571, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3604 left_y=-0.0769 left_z=0.1041 left_yaw=0.0014 left_pitch=-0.2582 left_roll=0.0776 left_gripper=0.0065 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2984 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.3265, 9.4564, 1.5409, -0.1978, -0.0269, 0.6667, -0.0479, -2.4547, 6.8171, 1.4237, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.2634, 0.0089, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0223 left_pitch=-0.2516 left_roll=0.08 left_gripper=0.0089 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.0598 right_pitch=-0.2987 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -5.7641, 8.6769, 1.5409, -0.2418, -0.0904, 0.2222, -0.1162, -2.7556, 6.7624, 1.3993, -0.0513, -0.0317, -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]: [-0.4, 1.3079, 0.9768, -0.5213, -0.3153, -0.2825, 0.0104, -0.0002, 1.0344, 0.8204, -0.6579, 0.0174, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3537 left_y=-0.0862 left_z=0.165 left_yaw=0.0055 left_pitch=-0.2269 left_roll=0.059 left_gripper=0.0104 right_x=0.296 right_y=0.0005 right_z=0.1568 right_yaw=0.0604 right_pitch=-0.2991 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.4906, 7.5692, 1.1795, -0.3346, -0.0708, 0.149, -0.1162, -2.7556, 6.7487, 1.4237, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4037b1489a27f548789063d49458e2188c81be496e272aba96c0ab634bb6e24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c2c41a283d9c3205b25da03d3b70d9fe317345e445263cf83038ff251f4138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5edb0a26b91101b4078cd036c131eb9aac985e880911cd8989725bf1bbf9665",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLhnopI0NBeKo4VonkTL1-s4w-8xUF4jlOwU9knh2xeCKXeHpHbu0iwKr9KY8GJcZUND58Sqb1tNQTS7-EzUp5uMyovSkrzQYCpN47I-fce681aZanar-9uHoqCjtfOFLshcGe-_pl2fPD_cLYZNUbUgQKdTrvgF3_lsvJcvd8l9nWzxSpt6lU4Vu2WyefhKdzw9kh4iQUEQ2XTZoXqhyZo7cDCPJ92-YSOsQF3erqL_G0EDmye1KPlKWonKHiU1ufDKy-_Jmkk1FYtPIEt6vJHs24fmEstJZDw0sz_ymgXPOnplpozwAEqrE1wSyeVUJMdx5dESjV8cY6g8Wao7TjdUTIdukpG-ugCyiHjficGGQD1Awj-YK-lRea41m9hDRX0qDX7ideK0nh5RJDEA-KDfRlOuPOlFWDbvvgK55rdGeQaLNlVas-hb3c1-dnyEXYFu640-A28qWyIpq_8OmI5umqgCdfuuBTOplC0HQb_sb5DDT5g3M3Lu5zoPkIKXztIjWn-1THxoN2qqMHQGubU3Tiz0Kts9aRLBMc-0AONbidZpBd-VxfoaxJY1KmUzCkDe5Fe514LGbQIK0INKqtCQeduMC2Um01ZcyvdZ97JBUv4IVac1u0dsoBUmsqIVNS4JHv_GlUD3AQWFFNTvs6JI-6w0kgvV5GJ516GSB6NddWk7iVpL4_s1Il4Yj3MTfu0BBaMy-XF68cae-lVk7HvM5f4tm6GKFhx_15HCBaH5yyMLukK8dUMxvvssIhkiXld3XJ0KXh1tVA1B7uxO6x_p6PNTkWuHB0ITHYQv5TMd12g3kzlLcg2MOI9MqjsKcKuu_7OZp9LcM1cj49ioRkvSh1kuX1L8x8641_lkjRKCtv8SamBegaN--xbBcDySu-9alYwTJhWPW-PoQYG0M-0o9fsv5nxycHlfVfWE5Yc0si0i6wAcJ9s4XOFlksmv4093HM_ivM9X8iqZ77Aan_haFE4um_y6DxufhZvTnCk5_48QJUvVos7vCEEgAXLeu3EbkiaiIJQEIhIu_U_5hW2qxIRPRMN6w3ry0oPfdSNBJWt3BxVVn-zlCyrQvEw7Wlmih1N0x-bwishpIn1YlWpfQcynJC5auavIxebOik2bB6cnDtY2w3BXYT-nhxeCxiNA07k4cmAvpN0x2ozwzqSTMBQoNmHwfxTUHYSWym84Vux5gY14bxmnl8f9eGLdcW15ItvsXHniFl1BMT7kSxIEjNfr3-EpFhPRuggmBCu4WFgjxxKprkoqNmAP_OfoqugXi1hfrKQEbxtsuStusfwFsaXmmzcBUwF5iEwM9Rsslml4cK2Sx09parIAvhxou_1lMDLPQzSIiEl4nPavVF5K6TIKGGxJ8RCZuBpaA-tpowgq2YSy82OYrgoCjxfjfaSvhEKhEO1Pfjb3zdqD1V7tOcjxTWRwxv_obsZAHeBMZt7r-qpitdOegsVg0-UtPsrfO2gAJ8nlkZgHp3Ftdp_fiDvu_8bWpjExf1IUWhTiLcdDbKOqxt80gNV8g5cGEpyqSUyXPu8gO6TPQMBuLyKFRPVvIMmWDWrZrqvaPhefOVi51bJkdFvJPiWzDJRdIUFvUEBUNSVLJvMd4j6bkV4vqrQzS3IIp7T0u4hFtR9TuNHKrm13RXhrCIRHuRgCDH3yGGEHEQaUdyhICTtUrFmSBKq1FojQJxq2rUb073STJg8NbH3X3hZjWkl5uOWV33SblDM6XrNcBoGMiigjWqy0WKs9tkzQjEC1wL33xCl3mmOnrN-JZc08WNa8SbbHwm5VLMmgU0PDvSzDsFUfNJ4mXuHM_Nm6BZKojKBNmhdP1GNgufT6ASkWdRZw63uRQN0qIEB2Oo6mzzH7MOpXBmjrwzuar-jkCKHLtz5fWAgI7fLPpxO0hUV0FXCGNJamv4gIIYT69pf5WThWDQVMzIt-yVLlrpj4xYkumweD-tDPU9ps-69riPSA8KBImFBFR4iZ4640XXFHf76q7Io4460NQ==",
  "id": "rs_025e3cccec29366e016ab452df0bb087d0ba07f96353e9b4b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.18},\"note\":\"The arm is free again at high clearance; the bowl is centered on the jaw column but still a few centimetres ahead of the fingertip, as indicated by its full appearance in the wrist view. I am advancing 2–3 cm while staying high, so the next descent goes into the bowl rather than onto its near rim.\"}",
  "call_id": "call_5Yqn0vsUlEAEK1RzruonThXZ",
  "id": "fc_025e3cccec29366e016ab452e0b4cc87d0bc6c34e638b2d97d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Yqn0vsUlEAEK1RzruonThXZ",
  "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]: [-0.3698, 1.396, 1.0599, -0.5877, -0.2996, -0.2783, 0.0118, -0.0002, 1.0363, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3644 left_y=-0.0815 left_z=0.1574 left_yaw=0.0279 left_pitch=-0.2975 left_roll=0.0792 left_gripper=0.0118 right_x=0.2959 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3018 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -7.3915, 10.2906, 1.4872, -0.1734, 0.1294, 0.1294, -0.3487, -2.7282, 6.9812, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a7e21d7dde067d91431d24cd913911575fec3a7d073710dd049134d698482a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4629bb2667d4b51acb4c119a5ce4b655d5960055a69a852e0bb33bc947c7ec0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24b914c05b37da5ca5fa2e41c2a40d86fbe9afb1313810329c561dcfea0a766",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.263, 0.0066, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0221 left_pitch=-0.2516 left_roll=0.0803 left_gripper=0.0066 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.06 right_pitch=-0.2988 right_roll=-0.1011 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -5.7641, 8.6496, 1.5458, -0.2613, -0.0806, 0.4615, -0.0889, -2.7419, 6.7761, 1.4725, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.3079, 0.9768, -0.5213, -0.3153, -0.2825, 0.0104, -0.0002, 1.0344, 0.8204, -0.6579, 0.0174, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3537 left_y=-0.0862 left_z=0.165 left_yaw=0.0055 left_pitch=-0.2269 left_roll=0.059 left_gripper=0.0104 right_x=0.296 right_y=0.0005 right_z=0.1568 right_yaw=0.0604 right_pitch=-0.2991 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.4906, 7.5692, 1.1795, -0.3346, -0.0708, 0.149, -0.1162, -2.7556, 6.7487, 1.4237, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3698, 1.396, 1.0599, -0.5877, -0.2996, -0.2783, 0.0118, -0.0002, 1.0363, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3644 left_y=-0.0815 left_z=0.1574 left_yaw=0.0279 left_pitch=-0.2975 left_roll=0.0792 left_gripper=0.0118 right_x=0.2959 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3018 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -7.3915, 10.2906, 1.4872, -0.1734, 0.1294, 0.1294, -0.3487, -2.7282, 6.9812, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a7e21d7dde067d91431d24cd913911575fec3a7d073710dd049134d698482a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4629bb2667d4b51acb4c119a5ce4b655d5960055a69a852e0bb33bc947c7ec0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24b914c05b37da5ca5fa2e41c2a40d86fbe9afb1313810329c561dcfea0a766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLlZlRh20qM6nGWom9_CLx-tpJ19dVm8MC7HhjO5Sv2Rnr3gN3EwmANT6303xq5ti5ZamL8Dn8A6hqbzb_u6_wLrO9cYMLDhwpT6supqP64-_6O7vw0sFwFshkhExxDng_A3J80BUS8z_-jy86FLVVkmeadDWps3BbMhSFJgfSv-yO0zQvfEwILpJmHZ2So_wgHbBiCXDOjtGxdCggUx4orPpr8LllxLZNGlzKXaW2Wt4KEqNxuOIs2t7lKMAJf8fnZGpSgV1GMjrJONJcD-ZJokMNnrX0q2ONG639CrxR9oOzLAjRtc1FPMPPPFuZlY2EDjsH4frwRmd5ZgsaUlbfJUNUBeTM0GJR9knQb-dbGiUqZkcngOp9M2Ilf5rATcDyRltaLZTC6QrrY3S367HR_DC1QMM7yGuqzB1xmSFfJf3yZaLC9vObNhUsENsmPtn5Yh0j4sW73PKmLC463A_UJv6m6JRYP8TsytOo8pHq1dn_zGwMqwh42R-dMDAsm99GUqtZbx5Ky792doklBDZHqQe8RM4LCBESbwIUe5XIVBxSR05bfLj4O4lF8Wrj07ZXHQg_C9N3nLrw0WwC13udq5JAW-ZO2v2UxyaLZynP0BCkWdQ0iKQz3X9srYA46QFcZVmodqzGif9g_SPeRa9UbJgrLyKNcMHu9vPLVU4EqUPFj1-pre-7feEP5SftLJYXOkr9KC7vjxkUnJaSDG1cGnOqWgP8DaVJZgulYlj46Mv7TnxEdk3wFTx9Sm-XA5b9tPK0E3LuMarFxQz6JUHoh2sEn9ywfZtCrRw-5z3KRncrtkIry3fkBcfy3abw4jVLyZQs4dZyc4W0v990X8-qAzf6BjhzDPWtvUeit6J9n7-aRr1MfA0eSJiumjSLz_L6pYf36H1l0bnBxJVfvZL4G4dbT9_N4eJOTAbsbCVEyuSVscDu3faskcmhREB3p8VkpK_W0zWtYkscnPjHwbfYuQ7NrU8PEMBCT1syFUA__8mqqI5v27HQMeXn53ZmsyDn9Pm2E4eAiusQgoqxVHMedDH57S1I6iVJNYkgjGKGquJpNHPKwhJ40YFHh0fXU4LvWurGIb8_G-U1u122ybqbgwi7yunY45j2bvfgSfFbVv9lki5MODFxDNzgzh_Ua_k-k3VJw9Buy1PnFVixvl9ejCGG0hjP63l1XQndkbNhYV-Ybq5EhEvUizBHBn1xaLN1Y9t3V_JqpCKWmy3zttoqyXYxbGq6UUQHd8xCwnMKjSIACuHa4a0ta3It1uRCe2bUroG1b8bWaeSX6SwvBPt57rluISPzArN7XglNeikPR48CSE0fAc_xiy4043x1BnNokSL2FjkE9OVdG7wLH8VSkajlRtsnNrc-d6_QiTMV_U1TcCSfsddpM3sdu4IvsTqbVrwq3rjfn6AEt7QPWaetsphO39fVKgxE0Fmj5pxq6GN3l-S__5NF_cADxzrql8AcPtwhjOuNSji059I1hO4ZLIJaSW-phsDJadnXtJ5hidDS-k4TFs_hk_v07bl-DMILaPcqo6bgtMFdMvYVa6lTuT3HGKMV9lU3Max-fC-Dyu4mPFClDOjL5cymSXW4R_IZdSgMGeQcSOAB4IkeRs1ef1fbneXENZ30A7pT8LiJVu8U=",
  "id": "rs_025e3cccec29366e016ab452e34bc487d09f841f2e56a3af28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.19},\"note\":\"The first high approach advanced only about 1 cm and the bowl still sits just beyond the fingertip projection. I am taking one more small outward-and-upward step to place the closed fingers above the bowl interior with clearance.\"}",
  "call_id": "call_65dVWzKRWcaHk3DBY18MqWQC",
  "id": "fc_025e3cccec29366e016ab452e44af087d0a068a8c8d22c5af5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_65dVWzKRWcaHk3DBY18MqWQC",
  "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]: [-0.3614, 1.4265, 1.0874, -0.6014, -0.2958, -0.2775, 0.0126, -0.0002, 1.0363, 0.82, -0.6579, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3693 left_y=-0.0807 left_z=0.1553 left_yaw=0.0347 left_pitch=-0.3142 left_roll=0.0836 left_gripper=0.0126 right_x=0.296 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3014 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -5.4769, 9.5658, 1.3748, -0.1441, 0.105, 0.0659, -0.1709, -2.4547, 6.7624, 1.3944, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cece398cb643bc311690ad0c70f631273cea02150f47b4f8fc2572d8d0f862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd78359fb80a224c897ca8fb210e63181529d7c4b7767971eaa4946d73b18b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b86d73503161611477631ae2c0f18cd513d712c2cae3a31b37a611d32dced47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.3983, 0.8246, -0.3035, -0.3119, -0.2634, 0.0089, -0.0002, 1.0344, 0.8204, -0.6575, 0.0177, -0.139, 0.9965]\nstate[eef_state]: left_x=0.3614 left_y=-0.079 left_z=0.1065 left_yaw=0.0223 left_pitch=-0.2516 left_roll=0.08 left_gripper=0.0089 right_x=0.2961 right_y=0.0004 right_z=0.1569 right_yaw=0.0598 right_pitch=-0.2987 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -5.7641, 8.6769, 1.5409, -0.2418, -0.0904, 0.2222, -0.1162, -2.7556, 6.7624, 1.3993, -0.0513, -0.0317, -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]: [-0.3698, 1.396, 1.0599, -0.5877, -0.2996, -0.2783, 0.0118, -0.0002, 1.0363, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3644 left_y=-0.0815 left_z=0.1574 left_yaw=0.0279 left_pitch=-0.2975 left_roll=0.0792 left_gripper=0.0118 right_x=0.2959 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3018 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -7.3915, 10.2906, 1.4872, -0.1734, 0.1294, 0.1294, -0.3487, -2.7282, 6.9812, 1.3944, -0.0366, -0.0513, -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]: [-0.3614, 1.4265, 1.0874, -0.6014, -0.2958, -0.2775, 0.0126, -0.0002, 1.0363, 0.82, -0.6579, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3693 left_y=-0.0807 left_z=0.1553 left_yaw=0.0347 left_pitch=-0.3142 left_roll=0.0836 left_gripper=0.0126 right_x=0.296 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3014 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -5.4769, 9.5658, 1.3748, -0.1441, 0.105, 0.0659, -0.1709, -2.4547, 6.7624, 1.3944, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cece398cb643bc311690ad0c70f631273cea02150f47b4f8fc2572d8d0f862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd78359fb80a224c897ca8fb210e63181529d7c4b7767971eaa4946d73b18b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b86d73503161611477631ae2c0f18cd513d712c2cae3a31b37a611d32dced47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLo8W6RkbQ2uNEkWibrynDTaADGU3jH4g-V8bLEAL4CdT6jBNuWtBYCH8gZtAZTZHI0FJfvle2YQUefZTgyCekgR1orH2E1jllqetIKqnJmxPDWF6jxyegt_LLrFNrgHZMkkPH9GFD8r_yjjpNISGcW3i9ySogRg97QYgmxxU6qL28mmlY0oGdjTdes3BhM_lbk0C7CKvU2vF_FpOY7bDHc_q_IH08QtVl8sVWRzQNinfpT_9M5oHwgS0EvGfbf9TIoRbyaeK3rGqQOHsa4x6cOa5h4pW-kS5-3f60LDCLPON7UTVpL7bFHmSYSoJjq3nfIbyys1bKEV9U_no8orTwCzlQ-jdjc54XBqGugUhOSJ_CJMaT56baayPlM-Tj4g58IASQDrZ-yc4V8eF4zxsnehNlxVUaIrmWnW1OcBgNlImkd114Rmf-twMFDjDqVIjTypqNq48rCKn3aH-S9UKgqpoHPaRLNQcW_Jj76LYutWFC6dD9CqPM6ea7OxurLT4wbKi4SWCIoWzFsTv8VKGKtU6qT0yK7-vMMk35h0a5FI6JqUKKdpGNepTmSkEC_acnaP5Wl0J6B2j-XRVuVKLqTiDYk8Cu5cHOnyuWfPWuRlyF4reBMcKOdP5eZ-dWptka2nK5QRPyAdhXkk2ekuuPn459r0cOEsttTMNlIjKd_D0ycHsXzXxSAO5F0u2ad-mweCRcVlBgvHnUkJ5HOGXrJFkK1Hd5xtHpLTwEfl4KENfSRhEu2ZfAVOFr8LtNUX_1Wu-f_Q3ufsKovCoPsmHQFyfpr1sMYpth8Zxyb2tjvqe2eYhum17169pvdi9rkjTXl7xg_5kgg9k6ulyt4YpbDnVB1mSXQ8JpAaVX_1OlSMvnCjXeBpfq-l_vEbCegsRLOY6kv7SR3HCYQDF4s2vnNgUmgUcXg9qi0N591HHw2y2jLe7tCWnF54AeqNWQCEKAGkIg_K4LwNtnsOdNVx3cCgRNzLObZGk2Cr65r-5RsvJnqxyDhYLNO4Jv13RasrRHDKQfR-JXcXJcToURFZ2J6EbmsxVTY2Bb6EjrwPpGa20u89XoFhei2xrxZ09V9_WOo_eiQ0_yAeHm-Tk5L6DwaPykT6vul7mU2qBl608klMBKu221_arTJlT21hgUDVp4OKONSQSqow6CX9xG34JJfLilkAUh8FPtHMs40D3VvVa6l6-_28auQCn8uHHa96R39RWyPrpN9y3LvDi4fjIWLIKnLwGi5Qg4q-j6T1GbrRoe4dBSM28yU87HBDf0vK_-GDzGu6v6hboQAFP5sgBOPzpA5MsMOi0E-OIRDht6y4xeGSH_QuM0QP8rGQNLeA4SSVfcW6GGa9ce7hY6To-FCRBwXHsqb9QqQZ-fX8Xl1032C0tdeffmZZSN_Qexy4pGoAGk1TFl0dRmXeFM4ga8wPD0k73kr2S081xh-W4lUpOBUbdeo1voh9lrrf7xHfeHl92XQ1I1OjXpbps7PBwe42Hi8OWRU2Sl2vdixE6TgSxDKMEmOVWK4XtrNxyGSjSCMRYnvCf9vY_tyRmX2gPoIEemXA0xJaPfC8W_zfSAKT4GwNOO6Ci6V2cr9xQWh_7CS",
  "id": "rs_025e3cccec29366e016ab452e6874c87d083e061ab65dc3d74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The arm is falling short radially while its wrist has drifted to about −0.31 rad pitch, which is consuming reach and keeping the fingertip behind the bowl. I am restoring the vertical start orientation at height while maintaining the outward target; this should put the actual grasp point over the bowl.\"}",
  "call_id": "call_FKmMxwxlzXkRDjnN7BhB9Kyk",
  "id": "fc_025e3cccec29366e016ab452e7399087d0b5bcbfd97cac6988",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FKmMxwxlzXkRDjnN7BhB9Kyk",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3321, 1.3586, 0.8921, -0.4046, -0.2852, -0.242, 0.0133, -0.0002, 1.0389, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0685 left_z=0.1303 left_yaw=0.0278 left_pitch=-0.2545 left_roll=0.073 left_gripper=0.0133 right_x=0.2961 right_y=0.0004 right_z=0.1553 right_yaw=0.0601 right_pitch=-0.3045 right_roll=-0.1007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.7487, 8.3897, 2.0977, -0.0464, 0.2271, 0.0611, -0.0342, -2.9607, 6.8581, 1.4139, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8fcb80bc05e95592e77a20e2dba87963d81ea97eda368d009904ce8f2f3c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316441615c21e3bdb72c8fe6fd03607ad4375d8a5af28c1bcded6cf37cbebd18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f679229fafed624293b01dbc37271d2b3488b0100cd67c10cadff98884f0c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.3079, 0.9768, -0.5213, -0.3153, -0.2825, 0.0104, -0.0002, 1.0344, 0.8204, -0.6579, 0.0174, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3537 left_y=-0.0862 left_z=0.165 left_yaw=0.0055 left_pitch=-0.2269 left_roll=0.059 left_gripper=0.0104 right_x=0.296 right_y=0.0005 right_z=0.1568 right_yaw=0.0604 right_pitch=-0.2991 right_roll=-0.1008 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.4906, 7.5692, 1.1795, -0.3346, -0.0708, 0.149, -0.1162, -2.7556, 6.7487, 1.4237, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3614, 1.4265, 1.0874, -0.6014, -0.2958, -0.2775, 0.0126, -0.0002, 1.0363, 0.82, -0.6579, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3693 left_y=-0.0807 left_z=0.1553 left_yaw=0.0347 left_pitch=-0.3142 left_roll=0.0836 left_gripper=0.0126 right_x=0.296 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3014 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -5.4769, 9.5658, 1.3748, -0.1441, 0.105, 0.0659, -0.1709, -2.4547, 6.7624, 1.3944, -0.0269, -0.022, -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]: [-0.3321, 1.3586, 0.8921, -0.4046, -0.2852, -0.242, 0.0133, -0.0002, 1.0389, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0685 left_z=0.1303 left_yaw=0.0278 left_pitch=-0.2545 left_roll=0.073 left_gripper=0.0133 right_x=0.2961 right_y=0.0004 right_z=0.1553 right_yaw=0.0601 right_pitch=-0.3045 right_roll=-0.1007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.7487, 8.3897, 2.0977, -0.0464, 0.2271, 0.0611, -0.0342, -2.9607, 6.8581, 1.4139, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8fcb80bc05e95592e77a20e2dba87963d81ea97eda368d009904ce8f2f3c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316441615c21e3bdb72c8fe6fd03607ad4375d8a5af28c1bcded6cf37cbebd18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f679229fafed624293b01dbc37271d2b3488b0100cd67c10cadff98884f0c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFLv5lnqa3QMHUkqoYdPq171_I6ZpGMPI9qk77_UEr6uxI7QgAp5qX95eU77Dg7AB6ZGov1tCbVawDRuwLq11_ZejRZW9H2V2LlrPEveaMVa8m2i_s8fQ_J1awn0aN6qW39H4Qw1EEc3y6a3paXio64Gta-6MsG4clfEoabwtWMVNbAcgfwY_M5aaKOZluckGFVdHGfGM1txb9yqFNv5j3KTKrCUwxZLxQmIaT9BVdC2VLWfHGJPUKGtrkb8_8em3hClcckGEnI5emgG-uSXY1vkFX-eESwwGE6LCdoCIS8VlEZuTx52JDGgoSK7-CBsQCJTyZRoa_3HEOnN-jrD0gipLgmTE__v3Han9En2Tf2Aay9zCAUSEY7J5lwGbSGz7WYBe_ME7dDIlhEf9K1KqOAKpeEbBGr06iKhHRpjjyXl1mmaD745YC33IdbCQ8ajsQPH8_oeY1XIouPZCPo5DSobDQuLtcV2ciV28DMCVprRiXSqNTuzJXvJyqXlknWxyxLjn44phu4Z5oXiD0ARvkII9bXaVyN3-S62lOtQzHGzLUi0sJrFb6OO1qQVw-W1yPja601MCy95uT-xm80idu5oZyA1-xdG3si4h63Y3oQgjAOplOz0D6qNSX7yMIzIVZI82VmrsbkjFeiI8W93907t1RO9qw5CtnVWMtZwwnH-K2IsEf8VpkKYpne8JjUS3qfuuxUTQfYmwgdAqMBeRloWmogSClQxKmbN5sGQ5tLVowhqe2Twy-LG8q337-eERreqi07H0aMkbKN5P7TOOii1EhBeJQ1rzM3g79KrCzp9CMGwz40FSdfcUv5FObQ_4xA2dt8b3XYTgFgKacccFj7R72tvepmeQ5yQf-4pZV52CMMM5aPCYwZp5Wc_wdChEzU_tpnJKASuSSbDwDg3Gb89MxIIo3q3957-yKQMV-xHi3I4cQSDRwJCOr7yR1d007ZNKFWm9yLbQPcVUSgscwa7xdi9oFnI2jpsHyLuYff3j6vOFb7Xc07Y8z0LD-mneQ8s0AvIOV5GTidWud3r304-omB9bsSjOFJOA1WxFL6HJXLXu7D9e7bCZ4ZTqqO69VSCi7f2U4YaLtxRx6aDEgx04Pm4xmNhMKcilRYEK4chv02b-3iCfrpnUbo4hGsbabovfQVK1GFV-2O1wIMc9aqMaeO1Vny9kPP-mICNVeCZlbsxook4p2DH0NttBeJooJpCc-ecX4ZuV78qYPrQ-UjCjUZSFs-ALL-fOwcDKJH_OeuD0JuXlWsj03YzwEBekS8pTI6aBYWGVWK0va5Q8I3RPa7_c3BC9M5jo_3S4UCoztzXeGTO-U8gUut4Q4nIKAcV0Z-wveE8I03nQsqxmqF01CEE9yEp7gEwt1sBp9ipVux1xi0etpEp4XKbP0vJqvppWLR9FouJFL-3LMrfa47-sEYyDwHPxNJQqCg-XPrTlbebyzGA_nmRSxulNrXy2NsBZXWJvFsz6eWyG2o8Bz7w26BXfEVHEbgaYeonivKuHcGzVmpEHvu-IwlKtpoulc5mEFQuWklDi0y2qETeTbJGwRbxoX4HhsRCvoN-iG9SygW6yE7ZYqjpH0KGEA_lmqljXAVqJamfOEN8ARu0pqH2RJb__MGiEsa4sUw6x0CuAdgOb-ixrJWGQzrUgww4y5q4fx88RUuKyCmPHNTr9Wp8PSaCkF_2cO3ka18ir6soJVc5ATj0DBKOAaVEvJ2kzR6nGtA-AfVY6sIjWdZSSZGgectkrgZZLFd31XtjBYhIqGzLbOX3ur8ZZpObtA_IOrfEmK7DIVmMjOnuSCngP8ZxoycSKJxbUOHIhaTCsFvGIRi921k5EujCJZzMugUcrRpC380yySfdzEmcwtPwcw5AnYL0ee3IOYgBxYipb-w9mktlGn4W2gqG7jM9QKmaOm0eOpHQ3_g9BrmV-djfH2xeTqeEMX2RUj-QzTjSQj6TuI3_vF5IPrGwTgRk09vSmIzCAIAlUi3Hln1sizFMEE0rJtvDvI8sWxQfgicfifxvpOTJ2u64Oya58mt-JgAWHi9K2pmdFLzlNRukw5QY6azm47sVPXJHdDEBiDPUjiE6oFkhYCXb2BYmgvqjrXWpsReiyaQnyD64U0M9nkPNWp7j6HelhkwSUgDftdUhG6hG-btZIKvqC5FKQ-IQJLUEwG_F2nfEFLjO1hj49XcMIs9Szi7ZVmkr79VKxCmPWnJat4rCxTbuL4b5ITDzp-rUW9dktwg8eRcgcOJpEpy8v05Ef-vIKvevKQRDLV0m9bFkopuJhE9wfkhmCahZGh7ZdhpEuqivZVfonXgJjAhLDYkEYAcV-8W4ct7pi8IrHQZ773jIfcFvRI3CowxBMKsk_bd7w_I14Qs5ZiaTNDcoUgK1fdRc0z_iC-0mbF7KxOJBYhRR8I8AAruy0sp-DcwOnoqEweUfJWjL-TGcohpwwgEx6EAvIUgTfSBQwT3uUn8hRdRaYYjhl6jdT18xMsZU2gTqQTS2p5cjF1SHAUQW3kGwRpwXwMmAxYOSBelI0Upxvs4_QXVfbA5KclfBElH3slPYqZHD1-hozyjSuFJ17Ukaxg0hdpdlkqhinTzyCXiWeacIUmsIi0VoU5NvmKl5-zmHC7eXiSlwqGM8Jt6dOURCS9qUF7fwwtXv_XDnwIVQCqhgHnCFiMHBYuZcdnRD6E37JyfwvZpQWsMc5h5YKCQMnwGxWXBqOY23RDyKINNkFBNA1nn3C-8lcHMSVb5jh5TsSdpg7K6xwhgMnZCXmXmSB6zpFtXHvHMf8Be1-TA-gLtGxyr6EX06MiGwpWjwqSPIQvGGW7F1FN3ce9mVaOlu-34s0EPTocVx-X9-yYVVKeOKLQ5z0YfxbyJxtcH-WW5oDqSar9xkL_wxAsThzEmh_pxiDz5YlFHmSW6dRf3fPFcYgZSitWzbFSVNoG8tb4rxuvv5ohvvxQ91zWV3Ak6Jo5p6ujfPJBZbBlo5JYG3KPSLHElTjNnCBMBqH0n43DYOX4XCocuIG-SY8ALnRlnUIzrUx-Do8wQN0fuJNrt39yIs1RKFOK2POLqNAbbG0coKFeOaAWzqcbOouC6lNQIpcggV0Jcl_zV0w_kbYD3ECmR_FW422XNMRDdzhWeaaIr5DX_0c506AFP_NHDhPOMQVjRmnf9vGatbDOu4rr2eJRsvxMSAHn-RrV3UNe_H1IvsPMwKNaI8YZlCOFAfYpxj11bvgn6JB27PtW2nbJA_SmQMp4xbyJRI0zf9f4gLLiCM",
  "id": "rs_025e3cccec29366e016ab452eae2a087d095867258169bb6f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.37,\"right_y\":0.123,\"right_z\":0.1,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The left arm is not tracking the extended pose reliably, so I am parking it rather than spend more motion there. The right arm previously reached the pink bowl cleanly; I am bringing its jaws closed and narrow above that bowl’s center to perform the internal-expansion grasp.\"}",
  "call_id": "call_dsdVXve2XeC8J0BM5P3Dtb1M",
  "id": "fc_025e3cccec29366e016ab452ee42b087d0b0ecd23e4833794a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dsdVXve2XeC8J0BM5P3Dtb1M",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0451, 0.8421, -0.6582, -0.1467, -0.0887, 0.9951, 0.4812, 1.4208, 0.6262, 0.0536, 0.3538, 0.2359, 0.0083]\nstate[eef_state]: left_x=0.3006 left_y=0.0007 left_z=0.1641 left_yaw=0.06 left_pitch=-0.2788 left_roll=0.0709 left_gripper=0.9951 right_x=0.3538 right_y=0.1197 right_z=0.0812 right_yaw=0.0526 right_pitch=-0.1097 right_roll=-0.0478 right_gripper=0.0083\nstate[joint_eff]: [0.3214, -3.412, 10.1402, 1.409, 0.0757, 0.2711, -0.0024, 0.212, -6.0103, 6.4205, 1.7021, 0.2027, 0.1392, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b490aebfa51f1e195f69e48ec88799c1922a749ff057b3f04661c7839b5b1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e0f82d5250f6e5d3c76b84e55a10015de5be8efb2794a01cdd6cd064d3f790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5c6387926ec1350b037410eaef340a79d376f37c41ed7853d952d9fb1ea9b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3698, 1.396, 1.0599, -0.5877, -0.2996, -0.2783, 0.0118, -0.0002, 1.0363, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3644 left_y=-0.0815 left_z=0.1574 left_yaw=0.0279 left_pitch=-0.2975 left_roll=0.0792 left_gripper=0.0118 right_x=0.2959 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3018 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -7.3915, 10.2906, 1.4872, -0.1734, 0.1294, 0.1294, -0.3487, -2.7282, 6.9812, 1.3944, -0.0366, -0.0513, -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]: [-0.3321, 1.3586, 0.8921, -0.4046, -0.2852, -0.242, 0.0133, -0.0002, 1.0389, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0685 left_z=0.1303 left_yaw=0.0278 left_pitch=-0.2545 left_roll=0.073 left_gripper=0.0133 right_x=0.2961 right_y=0.0004 right_z=0.1553 right_yaw=0.0601 right_pitch=-0.3045 right_roll=-0.1007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.7487, 8.3897, 2.0977, -0.0464, 0.2271, 0.0611, -0.0342, -2.9607, 6.8581, 1.4139, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0451, 0.8421, -0.6582, -0.1467, -0.0887, 0.9951, 0.4812, 1.4208, 0.6262, 0.0536, 0.3538, 0.2359, 0.0083]\nstate[eef_state]: left_x=0.3006 left_y=0.0007 left_z=0.1641 left_yaw=0.06 left_pitch=-0.2788 left_roll=0.0709 left_gripper=0.9951 right_x=0.3538 right_y=0.1197 right_z=0.0812 right_yaw=0.0526 right_pitch=-0.1097 right_roll=-0.0478 right_gripper=0.0083\nstate[joint_eff]: [0.3214, -3.412, 10.1402, 1.409, 0.0757, 0.2711, -0.0024, 0.212, -6.0103, 6.4205, 1.7021, 0.2027, 0.1392, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b490aebfa51f1e195f69e48ec88799c1922a749ff057b3f04661c7839b5b1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e0f82d5250f6e5d3c76b84e55a10015de5be8efb2794a01cdd6cd064d3f790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5c6387926ec1350b037410eaef340a79d376f37c41ed7853d952d9fb1ea9b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFL0ZkhQbvUeQHQndk7IReU9G3PjZHUC3WSsmUijzLNjmV5H00cyaXwpR9-NhIT9_MQ1aYdFUPnwvujlehlVas7-mqw4I5uLlOyeItzI273c1eoEBqOe80ZZopKMuHt28zkhzehSTUjsuSy7WYgbcrQnQ9XYSJJO8F5b3_wbpzJ3ai43RJSmL_k0ehz0UzCxodXAt4BCo42z24Y2rFPW0PP-vD6gbDbIDdm8RWh8KK7DWygnbZeJmWcn8_7F01qijDtnhdpaNOzhoJ9KFihm_Q-GpSZtbIkM6jwwoiJ4Wl9L1aJMxkGnzkcz46kjsgstX0b9EefF_MKm0mVct7os-Anh21hTncIyUz8fnoIlUrth6ZRnemJRvi93JJdEz2wjLWtN_BXey4YeISkAdPvUAHpBKzjhoiuowqjHKhB8X_jgbxDfE9ZNwpEpg2LXrU7Mqlhy7CYgppKygBiL3cepfWhmWYyV2Q0aCv42AGrz5tK66Rs8wX3ll-wNSXz1MG7WKRhhBNaXXPxN6YGIJ6DP4J8Av0NdguxvOeXqFvOTu0Eg-1IUK3pSAqwyDb5wywJkyG68F8szICPVIM_Z6NYLoNvBrmB57KhNcoEd0hKu9WGe61FD49J9Kg9ArhBtmwpFfxIve6OlRX7K6t7xoZGLLIsGpi3eRFGWRDanLE01iOeM8e7Ii2JKKS3iziAW1aoMUvxtLpys_M9yoUHyhqoWvCBRfHZLEbwWM9KoGUDoXPg8JBWvLYtl3r_9Tp8L1PFHaMt_2a0l5RKLoqbesLQWpFpBns_JGF4_N1OCk01uxVrnpjEg0WiiOe_d2LYcckyhflBnAWCL23unjfU4CQMltVZOUuKYewHqdv0LIppWMjcnlWOMVeBIa5GRhZgZWFuQ_nfCjtUBT2G1pB8fXU0frqsP5pf28A4JSbiuGjV_XQl4Zx7gAhEgMR2JRVoNuKAu1Zadcr1CMKSf4I4FSFqbjn6x725TDObnzG7dJODiWaqRJJ1wUu_H7_VnMgpZd7Nuu0BH0eKkJZq8X3NpwO-IUIfMXMJYOmI2WOPGMpP1An8oIV32PxYS2r1EmNP1Z48G_P7gL0vRy_LlovAwco-5vShf1LjabjyzX6OT26_c70y0INnhMfTNPyNrnCI133U4cc9xTQT9VnkS6ipe2wvPnfXKIh8wvrE0ThmGQ7kTKxkKG8gXAeKpN1IuNG3708OuOSzJvZmoJdxjDGepT9DfUk5gvtHb_-n1_numauHtZJw-0xCGr6FBlVUgbOvVvovF7LFeFJ3UBEvEd0CaJ6rnf4LRwrO73-kOwwMY-lL9Y6LOodhrRWRTxO8pUwUoMUXOeqrOCp-L_eBcgftn6PcGhPpg0mWxzrBI9Wy5yLuJHt2YkvjXmQ5srOZgX-KtR2IICdhWxVWCQK2D1k9GaZFLj2dY69WmtYeEmW2voehSqUrBIrHs5QG7SQ72ToPG3R_us_qSrXnSHBMGP8qLszqqETQLf_BvPBy9NOEkLJWWm4kXBw_1WO4JXZ_KObesaxMcxlKCw3eW0fuJGv9G9Puw563UrdRY8v6X-fEwgUh6wrcjnBjUf_mJAaC_pY9rmlx8CMPzjrBK3zFRmGkddwCwvqD-EKkg38sEUu-9FhluisTy2m87DdhktjAIxDa94BHqI9KPW9cFjmThgVTdEzshyS8KDOULC-18ila9Z3ytF8OEceBjkznmsMTuCIhxSEtYXarU6h9SPQDxCyk_B7iCriwg7uXLdSvEkIoW_Sa4tzgF_7JDDijwjtZUUOSuJRY9NDgSEce4Jz4iXzlCLsUaEvF-jPFZ72Cb-Xn8g58TUysISY_HneG15I5itWxncZtYS26Y06hmEKK0c9zCEBjw1MMToTFOdXW21RMyCG002iIbGB6TSaXPfecDB_5jdHX7VcXJuSsqqKya1Ew2aMHuncFw-Q==",
  "id": "rs_025e3cccec29366e016ab452f24ca887d0a149a937ad46490d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.165,\"right_z\":0.1},\"note\":\"The narrow right jaws arrived over the pink bowl’s right rim rather than its center; the bowl center is about 4 cm to the arm’s left. I am shifting inward to center the closed fingertips over the bowl interior while maintaining clearance.\"}",
  "call_id": "call_iFNoGqCtxXpNLR0aQCkluujk",
  "id": "fc_025e3cccec29366e016ab452f3d89c87d0852e1cd596787841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iFNoGqCtxXpNLR0aQCkluujk",
  "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]: [-0.0917, 1.047, 0.8452, -0.6731, -0.1318, -0.0784, 0.9955, 0.6178, 1.4693, 0.73, -0.033, 0.4202, 0.3069, 0.0107]\nstate[eef_state]: left_x=0.2984 left_y=-0.0005 left_z=0.1622 left_yaw=0.0457 left_pitch=-0.2945 left_roll=0.0682 left_gripper=0.9955 right_x=0.3498 right_y=0.1646 right_z=0.0926 right_yaw=0.0958 right_pitch=-0.1147 right_roll=-0.0479 right_gripper=0.0107\nstate[joint_eff]: [-0.3624, -2.988, 6.4889, 1.5751, -0.2515, -0.1245, 0.022, 0.212, -5.3538, 8.6359, 1.3455, 0.359, 0.188, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becc07c6de6b16dbaf539f685347657dab1780e9b31ecc288de0a7b2d85caefb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf4f91b7d7c71a2d3f43dfea4169433ad4b8958777c54db3a455ae8dedcf87a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7f7242e2d7e6d213464484a9a4560d399c3b622878ba6ad0b47e3800d2182a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3614, 1.4265, 1.0874, -0.6014, -0.2958, -0.2775, 0.0126, -0.0002, 1.0363, 0.82, -0.6579, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.3693 left_y=-0.0807 left_z=0.1553 left_yaw=0.0347 left_pitch=-0.3142 left_roll=0.0836 left_gripper=0.0126 right_x=0.296 right_y=0.0004 right_z=0.1561 right_yaw=0.0601 right_pitch=-0.3014 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -5.4769, 9.5658, 1.3748, -0.1441, 0.105, 0.0659, -0.1709, -2.4547, 6.7624, 1.3944, -0.0269, -0.022, -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]: [-0.0956, 1.0451, 0.8421, -0.6582, -0.1467, -0.0887, 0.9951, 0.4812, 1.4208, 0.6262, 0.0536, 0.3538, 0.2359, 0.0083]\nstate[eef_state]: left_x=0.3006 left_y=0.0007 left_z=0.1641 left_yaw=0.06 left_pitch=-0.2788 left_roll=0.0709 left_gripper=0.9951 right_x=0.3538 right_y=0.1197 right_z=0.0812 right_yaw=0.0526 right_pitch=-0.1097 right_roll=-0.0478 right_gripper=0.0083\nstate[joint_eff]: [0.3214, -3.412, 10.1402, 1.409, 0.0757, 0.2711, -0.0024, 0.212, -6.0103, 6.4205, 1.7021, 0.2027, 0.1392, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0917, 1.047, 0.8452, -0.6731, -0.1318, -0.0784, 0.9955, 0.6178, 1.4693, 0.73, -0.033, 0.4202, 0.3069, 0.0107]\nstate[eef_state]: left_x=0.2984 left_y=-0.0005 left_z=0.1622 left_yaw=0.0457 left_pitch=-0.2945 left_roll=0.0682 left_gripper=0.9955 right_x=0.3498 right_y=0.1646 right_z=0.0926 right_yaw=0.0958 right_pitch=-0.1147 right_roll=-0.0479 right_gripper=0.0107\nstate[joint_eff]: [-0.3624, -2.988, 6.4889, 1.5751, -0.2515, -0.1245, 0.022, 0.212, -5.3538, 8.6359, 1.3455, 0.359, 0.188, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becc07c6de6b16dbaf539f685347657dab1780e9b31ecc288de0a7b2d85caefb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf4f91b7d7c71a2d3f43dfea4169433ad4b8958777c54db3a455ae8dedcf87a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7f7242e2d7e6d213464484a9a4560d399c3b622878ba6ad0b47e3800d2182a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFL3afvg8wsjID_7ggSvVchClc1kV_m3CzzVAQuPDrR6Eyvsg8UnJ2N83EhMn5Sth_AFcKeilgU7B74tW8Vxz2nZRAjhqNc58b7OL1AF_FeftBjHL0aiSS_x0Y2vJS6Q7Ts6rsK2JjqxjF3wkuj4HA6zB1y5Dzju2iQx6-w36VZh1UhlamoNYWaICNkk1x9PSZ6rI3MIi46pkaA-onQSzknIzawPeHoxrgpDpIHw9ZKQFSdT_vuEYcD6ngFKuYWrVPSRwWHTihrLOWK8_9V0JtMThFsXHc_hIRa0CM5dpZtJ5LiurwYpq0Qa6j3upetEsz-qt21O2TVM16EaNBPtHlzxy8NOi2isFMl-Dhxlqi6PsruIEO4T-p5Xn9JQNh2v9P-sGDSV2BgYAOMOFVCVOf6bu_ulAilyJiwMI68UxCWqyz_WE2ydLulCR6dNDGyKKvgS9G2NNw-964z9ENip0cC0G_nYFf3ur2aqfHuCg2YYyxmrBHo5rJlk0wDAAOG2IEyF972K4OtmyuPqJMRioWNKAkBu1tAt69Fj7DhIVYNkkemqGog0gHLottbo2IKefysvDMgeJSFfupSEuQXRxfcKlHOIwbPh8-jcZ4b50J7Jjnnpng2t482Q1uowLWDWRRFuzrVbzzw9Wjft5Zy6gh6hQSJjeCkaP40H7rPGglPh4wQrmLsznHTb6R9VLB8pqVlXiSBHKbZ6chy-NH_c5qUN-YQLLUYu0p3comyKTSaQUkNROySiMq_JIJ9uGcrJMxX44B7RR6ZJHxu1T7aMh-biIHzpTicOFLheYFJAeokBj7nUwEiWpNQxTHB2wuyjcJ60UXdGvY0NmYgzjaQ6Wy0U2BZXTCZmt_ogvKMJgiihX1Q_lzyCbAuTfXZpiAJ_VRcqRiIjWo5pJ0Z1bR4mWg1Dw__60pQ-Akt57dMKzJ5bheddr6Pnh8_HvIk0FgTiKePO6dByKUh-Vp4rylCv_x9ee5oLncF4fXuMj-5ar0SPSz0dXq37vEW0p5JpDubX2E7Bj6G7c5x8WnORCw8-llFj9rE-BdmmWJPaMGmQcY_TZ-k6hSC49BAQjYNs4LnuUJQXlfbBau75d1OSui2D4NMXrbuvUwlTDLCbMOokFyrj8bCD9pGOxdhZVd4um5zs29YQwo8MMYQiyh8AnG7cNiAZIah47VeQvrP5alWNiG167Qi-WWcjc2oc0nqSrkx8HhDFK0Y4nsWpKpTw75pENyb2kDar-dz_G79agQxRc8NKKWMnx6bHq6mm1CV_aVvojBZDundHCPP-RQfXujDcOrJv-AZ-teaAAcjmu6eks67gvfuTM_8ULagsIgt4ApLQJBcaXTnCP8peGrjSLJicmJFBLwAhJO24v5T2IPy5i1EldT6MiXWlHazVZ4grfo4IyvOi5fBm-KjrbfAkOZtZZ2dLk9uYomWkuNCHmxn4quQjvBf_cTArTDA4wWbTT8OBu6BxuywCEiUuIS6rVS2PVeBF7qosmnSfFA-Pk3k0bNOwy-geGlwtMH4mSFJ9mnStrx7utLHBHuZ2XBP_q9fednPXSIB0QP-QCgqNYsaIBEho7aVcF-PHWqYavp61dti0cb9KAtMhvBPLWitwgz_GnksT7aMIQuE1vDM8nSFR5f99fMx_7V3CY_Uc0Q2pphPc_QB4S6ihHSs7l-Cb3_Kvv7-Njw==",
  "id": "rs_025e3cccec29366e016ab452f65b5887d0af8489d91963aadb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"The closed right jaws are now centered over the pink bowl in both the overhead and wrist views. I am lowering the narrow fingertips into the bowl before expanding them against its inner walls.\"}",
  "call_id": "call_QLC37Kj3pJjPTKhkWNC5DqTN",
  "id": "fc_025e3cccec29366e016ab452f6ead887d0bdda8b44a6142262",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QLC37Kj3pJjPTKhkWNC5DqTN",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6743, -0.1307, -0.0784, 0.9955, 0.6331, 1.478, 0.7486, -0.0795, 0.4381, 0.334, 0.0128]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1619 left_yaw=0.0447 left_pitch=-0.2961 left_roll=0.0676 left_gripper=0.9955 right_x=0.3462 right_y=0.1655 right_z=0.09 right_yaw=0.0798 right_pitch=-0.1388 right_roll=-0.057 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -2.7966, 7.0769, 1.3944, -0.1148, -0.0806, -0.0122, -0.3624, -5.6137, 8.2667, 1.4676, 0.3834, 0.0708, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d43a795ada69b3f4f1f98e5668280698a9f98555b0bc724458786bffbd6ab1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1fa6c5975e1bc7c63383c472ba6caf2afc168aa7072bc5a973c4aabd554f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2964addb1a87b505c830657e286c39b5f8a354a61632039ba735dd807aeb3db1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3321, 1.3586, 0.8921, -0.4046, -0.2852, -0.242, 0.0133, -0.0002, 1.0389, 0.82, -0.6582, 0.0177, -0.1394, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0685 left_z=0.1303 left_yaw=0.0278 left_pitch=-0.2545 left_roll=0.073 left_gripper=0.0133 right_x=0.2961 right_y=0.0004 right_z=0.1553 right_yaw=0.0601 right_pitch=-0.3045 right_roll=-0.1007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -6.7487, 8.3897, 2.0977, -0.0464, 0.2271, 0.0611, -0.0342, -2.9607, 6.8581, 1.4139, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.047, 0.8452, -0.6731, -0.1318, -0.0784, 0.9955, 0.6178, 1.4693, 0.73, -0.033, 0.4202, 0.3069, 0.0107]\nstate[eef_state]: left_x=0.2984 left_y=-0.0005 left_z=0.1622 left_yaw=0.0457 left_pitch=-0.2945 left_roll=0.0682 left_gripper=0.9955 right_x=0.3498 right_y=0.1646 right_z=0.0926 right_yaw=0.0958 right_pitch=-0.1147 right_roll=-0.0479 right_gripper=0.0107\nstate[joint_eff]: [-0.3624, -2.988, 6.4889, 1.5751, -0.2515, -0.1245, 0.022, 0.212, -5.3538, 8.6359, 1.3455, 0.359, 0.188, 0.2418]\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]: [-0.0917, 1.0473, 0.8452, -0.6743, -0.1307, -0.0784, 0.9955, 0.6331, 1.478, 0.7486, -0.0795, 0.4381, 0.334, 0.0128]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1619 left_yaw=0.0447 left_pitch=-0.2961 left_roll=0.0676 left_gripper=0.9955 right_x=0.3462 right_y=0.1655 right_z=0.09 right_yaw=0.0798 right_pitch=-0.1388 right_roll=-0.057 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -2.7966, 7.0769, 1.3944, -0.1148, -0.0806, -0.0122, -0.3624, -5.6137, 8.2667, 1.4676, 0.3834, 0.0708, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d43a795ada69b3f4f1f98e5668280698a9f98555b0bc724458786bffbd6ab1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1fa6c5975e1bc7c63383c472ba6caf2afc168aa7072bc5a973c4aabd554f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2964addb1a87b505c830657e286c39b5f8a354a61632039ba735dd807aeb3db1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFL7UBP7YpBshprYCaRi-UquEvBJCAQsCFtLt7zPVqTnraAVye2ruo0yWD_zryG3kTESPjfYM7KUzhEZZvjW3nvgYLKBZKeyxkq7SyVkShuQXUnVxv1mYaZeaNQ8X-p-EOcXJ0h0eE-pzLMCL4n9mFWm2BMcrha0e96ZPUqW8tP6FygSFP5U9L4M5VFBiU_M7m6hq6o9AHsViaE5S046mPYJn_wA-deWX_R3BRyGa5eB70NUIyImXIAKFT7Xhr_CMBWZze83mnPYMTbTUz7utO2LEcziR3_zpAMkQ-uiX4tZIla1QwE8T87zcVmA5PNHqNGGqzCYr9eAHFdJ4-rwOuJCVGMyH4eZms6VnbokBJ1pjYiFJ_V8XTG0PF2GPk08Bgq4-GdIKS4jAwLBH27qYQDYOa3lWG4liZrxqcQ-ZNKjkg9jLJ83DF3kdfxcixRUev9nI8u5JL17Heacj5tvfYLr3HCZKB-dZVeKFmwsDBHqG82Q5AQLw_JGZbQhnARTcpnvBKs7Ywa_Q6GE73YLj8585vg267PPIdJmW_86244QNvBeDLuEQw0tjVJGRGwraNHlxwcKZMV3nfwQfNLiDLSKzQzE7wSx6AiHBwRJSdkuiZ1b1143hwCJluMXxmIRmfNsnAPPzbuniE1niXkb8PnafPOAy7hkQFX605eEOPpVjEn_TYpCLCxLF-SQ9KpzCQ-wPXKVr8xqCccDnoPRAyTwVoEgSqyiRh4IgNr0KQkuwU9rSlIRYFRUnnDu2FGAu299t4P7Vwsg4v82evTvHH6FcdO5XWrurwNTt-wjeT6X-qa5Hzb0dx4AWpPvKmUBlyR0p5GmVUK38OegWaxdsvY4Qqk8j2DxYEkZELos9bnFqAs5BkuEjCz8oIFz0dgtnPQJ2ZxsaCkYpc-sPtQlk9oTKmXtqiDpOXMnAvwNdFRRu1G4p1CSzjXSSGCyOry9KKWUrTAAN7zrN4lBpxdnW8vc3KFfIkpHDHMXfwVivsPWMg0ysZrIJLlEqSiK5HaPHenNL33DsM1fxgWDQFyLCk4EjcxJIVEYwHWkgFoiReLjPheplGAvGQIRU2cy3_wZjq1_N8QDHFfCrJJeVGM76SuU3pFyQpmlfgJsvQNuxK8qPOnZr7I5H_PifTZwoGcE4z01wnG93Uzh1tUKebeTYo2CYdSWTRlSbuzPuoS8fMbTpWAltZE5kk4ol1F75N479U1KuuvuqLqcMA-aFojSKOh2PXHYTaLz4P8_dUtbhshoZ6fSjDrSTd-OeNxtJ2hGdclxaTZIROMgJ8OEqsqmZnxxtOSum3lQM3l929XZzgfFcmIVugDQtYSU1sRzQd9G5OpqvEiyw9CjKT5y8EuFZH8YY0ZQcN5Z0AXLwkQj_o2r9PcMjfhvnC5l6-nWGfvlokP8o9wYKdWBl0UvmabipPLgKVB-7NaQxa9oJVcdLKCsBedWWqPIochdL9_FG6uP1lSQqFp0_o7gdrB5zZdW8ZqgfXDlB9aAuLJSZQF_3V3dDxp_ZspiGKOf_sMhFUi22BlKEeZy1yEz2xjUQFcMDSVDstynaaQ7Aq2sdng1h8yIVDSPgT8tEuOcjV_RicpTKHU_YYPn1Ypy4H9a9ehNuDfpg9ztlV0dHEycDvl0fhm5tb9SSMMrHjleQq5G7yKNOf7JRUsChVuu64KXIAmin42ZOCcvRZIGMVnV9Eiz4VN0NNkv895p1VYZdYDFPkeplq2hBFZAn6O6ywailGse7hU6wR9zuZUWnwIMKQ4pO5gDsEEmlul8MAftP4o6mNsg-GPbHcdwdC55hbv11ZJnDLMLSpJ1aDVV1qD9zOV38RwIdiKHaEdOE0yMokro3FJEpgfUKll1wiPGONSrVaExKHHt-sWsFLS-Yrh1sgY3CZaE8oJXTMEzM6h61czuSqmFz554bBUOwZWFCrWNkhOMSENmHDpA0Am-p1-w80vZzDhz9EcurYAz7tktDwNq-gSoUxnyOuCC8vuiwaNcacFkphorOeB_ue3cQj7cqMGTgR0bphs=",
  "id": "rs_025e3cccec29366e016ab452f9a5f887d0816cf50c7193c53f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped immediately at about 9 cm while the closed fingertips visibly sit inside the bowl, indicating they have reached the bowl’s interior surface. I am opening the jaws outward now to engage opposite inner walls for an expansion grasp.\"}",
  "call_id": "call_zvDAfxDfp1iIUsCuk25pgdOZ",
  "id": "fc_025e3cccec29366e016ab452fb246887d0a48c7d9aae06dc45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zvDAfxDfp1iIUsCuk25pgdOZ",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6331, 1.478, 0.746, -0.0792, 0.4328, 0.3305, 0.9961]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3454 right_y=0.166 right_z=0.0888 right_yaw=0.0857 right_pitch=-0.1429 right_roll=-0.0575 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -2.8103, 6.9538, 1.4383, -0.0904, -0.0562, -0.0122, -0.3487, -6.065, 6.5026, 1.453, 0.1929, 0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b892c2c5dd4e0f98772e5f67027d48e8aacc8e72c3fca05bf0b76ebff1b8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db0a6bdfcf3a59a3b72e939899b366095150ea750b5319bca51c1aa2c5af041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03bb08299cb38a8eb51ebed3a093c99d4db82c4992126ee5734caad25def7ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0451, 0.8421, -0.6582, -0.1467, -0.0887, 0.9951, 0.4812, 1.4208, 0.6262, 0.0536, 0.3538, 0.2359, 0.0083]\nstate[eef_state]: left_x=0.3006 left_y=0.0007 left_z=0.1641 left_yaw=0.06 left_pitch=-0.2788 left_roll=0.0709 left_gripper=0.9951 right_x=0.3538 right_y=0.1197 right_z=0.0812 right_yaw=0.0526 right_pitch=-0.1097 right_roll=-0.0478 right_gripper=0.0083\nstate[joint_eff]: [0.3214, -3.412, 10.1402, 1.409, 0.0757, 0.2711, -0.0024, 0.212, -6.0103, 6.4205, 1.7021, 0.2027, 0.1392, 0.6276]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6743, -0.1307, -0.0784, 0.9955, 0.6331, 1.478, 0.7486, -0.0795, 0.4381, 0.334, 0.0128]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1619 left_yaw=0.0447 left_pitch=-0.2961 left_roll=0.0676 left_gripper=0.9955 right_x=0.3462 right_y=0.1655 right_z=0.09 right_yaw=0.0798 right_pitch=-0.1388 right_roll=-0.057 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -2.7966, 7.0769, 1.3944, -0.1148, -0.0806, -0.0122, -0.3624, -5.6137, 8.2667, 1.4676, 0.3834, 0.0708, 0.2027]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6331, 1.478, 0.746, -0.0792, 0.4328, 0.3305, 0.9961]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3454 right_y=0.166 right_z=0.0888 right_yaw=0.0857 right_pitch=-0.1429 right_roll=-0.0575 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -2.8103, 6.9538, 1.4383, -0.0904, -0.0562, -0.0122, -0.3487, -6.065, 6.5026, 1.453, 0.1929, 0.0171, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b892c2c5dd4e0f98772e5f67027d48e8aacc8e72c3fca05bf0b76ebff1b8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db0a6bdfcf3a59a3b72e939899b366095150ea750b5319bca51c1aa2c5af041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03bb08299cb38a8eb51ebed3a093c99d4db82c4992126ee5734caad25def7ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMDw6s8fQ6fWKL95UY0-v5ngenbLQJlxW4umLldX7jBY2-9WdHtF5seecjDtj5VTZsCKkG40jGR1TFM_eV87acYcnU0_pQRJVgQuzNsEfo7d36DOcyNZKSR0wsulsYYs0vID3soBEhq1RBJ23LfnADkAov_dIV-Hy-wnNPBHShZPQ7P_DvCoNfoaRAyi-H6wwog97WpGqXOAQTzwPw5zCAJYc9pGrFYMrfkq8kbr5xuBg1SCcsHwH-2kdqwAl-TyIIFj4jgh_uf8RxZu3xzbNll0GB8ZRSzv1a3JqH6P4lMgkM69VafrZcHtDDBdU3tZQ3I1FOvxce7Avc14xprIwBSeiGmbLu-iIdAyDbErELEk4uhZ-Tt3xkHgTK_f5XvYruDoubHzjviG54zpx08R3r2um-5d6n_FP0TzSgOSB4GtYrNlFQrR-LoyToQQ2-9WxGI8RFLYZxeNNnDUTszNrnBpoP3b32Bpb3fppCSrP6GIdKzXtmbCCCt-w9bE_XRWfKfqKGJ4iYg7YgTxdFhEGpOit2Enxla_dUmSEH8y8zYMGeD-bfnWBwRX_Lzyb9lta0kR71zM34wh6qOzu7dtE2EKiq7ySpgolDnRC6bx2BxOAD_pS-wv3HDKMa3zxp4lEX0UunDml0Zn2PbziR0jMMuDHFl_Iz-7Mjm6V_OcmvrqUecN1vVf5vlkOabuWNrx2jDNQqU1-SZrXqiNVej7yP5bY8dTYt3iKjx-KDpNC6dTaXuErW3sfi9NNr29KGzn_ygb_XnLlqZx-IwTekPDcpqt3b3Oj3ajWfeI6hBNszgtdRTqr5a7k0mk7ceTJpXUTdIxMdRnr7js5feR26RiZGmmu85DdtB5m7LtX_WX5PqqTU0-28Y3YQyehT10noQSQIVkrxBHWvth-r290egM1YwpT7ydoZTx_uMu13uHC4_RlJMAiNt0xkjRr3bbhxCsoEJAK3t8cEOo76-XBjGxRuQ3eVZO4GCg4R22DUHiHtgehdeKI9Wcaqv3PrOK82BAS2aQhB8-k6J9kRh2skGyv4Ls1WOqzAORxUCoGIqlir5Wizi19Lb_v43g_ZzpZkgjoTH8PHNK5lfrLQDDlgArZp_aFyLeebWL64150yMtEB9_2mbc0bbwZYx1K-0P3SI9TtLz-A3fqaubjGe-fUMwiUyLvl9Cha58bu06WnZokG-qZk_c9Lgpx2Lt08pfCwZWjjdCI0m5gb-TpX34najMwvYeUJa9_8m1dWZYxMZcXsXCcbimB3MO9L_SXhsutBR1xA7r_wGTx_fQ_meZ9gUHpVGZLRUITJGUy7Cul4wKudOLTrowGOioWtErVjyYOztX80aiwCJS7xBZ7FzKoRrObtZHUEXV2wZzg6KB5vezHbITfqKT7jgai5YF6M-fewhCG8WEHtoGSdAdG-vzkH0cD38KPEzgcRYSJNIJV6kkelUbM1tV56qJ4sQvRH1cwMj0-M4FUMcqbcYArrJxLIthjdHaSzMbhS2d-sqimByrSWLCNgqrkHlzQZUl0kslHL_EwsxMNki4_J-NJGenLnRHLZtjJA7dQiDWJpO2BlbgdMMSUlO7xn5jQfi74WQj8eqVjfpsO1alM0uzR2xwskEm0mHl1AyMZIyMir-e5SB9DTtalqjCipBc2HRuTn4ghHwhymGV0Vu7iLtiHxYsRr8A1hK5RRlzRSzCEgClmSAMwiXfioeGs5Q-xmdNk1rt6vdGS4h3S3dgT-Wub4NN9TXr51qDvLN_XO6q-VM4tz7RQdDuNYMCBNdVHr3x7V6nDcnwMOiK8AWc17yChbmstiV3ynWLsVjpY5687hXpNkku7dHZ8afNf7JqEv35Z0Q9CWXb7MMZFHRsHOQ82yQERLdTqr9VspDitRU908i6E-eU3Kas5SJRFyDZOvusOu9H24GOSGdiOKoTsLs4ZpzF4UwINMuFs4kBPABKw3uw1jmlbMhtxliBV8grB4mffg-lP7xSZgJwsG-vUH0aow2tftjPThrVeGYtggaA3bvUkm2k6K5H9Xz5CX2zi5Ycotk4PfpdO8epkGUoKFTRsVqrKiJAwaTFTzBdNkZRpLEADgLPJOgbiijc9S4-qU7OYBGPuWGbLv8N2E9c-W4cqZ0ZrmOtJjwa9gQx-o3TnRAPUVHFWyktEGfakZFHNA8nnYDipLVPmt3d-cIDhgFh3ulcKxOuCSzCi1mMKCzoetPxCELxVOsJGV84R_YSwywYd1K_cqEC8DiQoKanJe5aZFnY1acXamHPm_L7JeRcOk4es6Hw6KarIapvh75x-fo8GE2NuMbLd_Wq7x7bjda7fZr4C5x5ZykBEernau1m-9wwsp1dPGj8ucxYQTBCee15rJxlgZfrCYPBxj-m1BmvwL4nf7_qdmtTiWhIGEkjoMhOupkwBJ6nUdu_o4_IUwOye5VkRvDqZCb6Cyrcck8tT0yWgz78kV7QwUDxVVLH189wCVDoKZn57r8yZJancxr2fMHKsFY6iBnuK0y1I4WycSbEX3R2IxI1zW5t6ZtQlcryjPasaLcxZnP7L_ngNpf2WI6jheyzQBw1F22ferOzQ5Olxh4fy4CvuuG7dx-_Ovbz4QfJTsHqNsoHyF1XUhmAoXhTaxF-E2jAE9x-b2R-lW7M76AgPq3Fx272tajjTYF2Dw-1uHWx4uZWgXnG8bRF7tPXUmYFqvDg-eGnY14DKlse41HqLdIdx3rXJEsvXbF-JZ0bscSg2w2BWJtavIBCkceKsrevZKdvzdYI4gy0ShQLosLOkFH9ardsWiodTwdg447I7AtqUjaOswTn69ZjpoKPPweTVJqNL16bvDj-tP6t55IgvX0UIBlonu7IW86F6QEOpcHoWL9N-Vt6HgiIzch1lb6b99vZJVEAXfCKbwVjj2r7PvGHQy07fkMJWiNauYYIiaCOLEmHd7hrKV-7ArV6iWK_TZaZJ5Y5Wm1UkEWQRc_dwFmwgwky22R0C7GOl4DJo70E2SaMtuwHLQB5GZSO_52dNsioFLigTUudl6WWxD8pkDzkO2SEgzKFQDBjr8aUTmVLGlxRxYz_MaBXSEfvx8QX1EWTP_r3-zZ9QzlR4Fssqbtu0TsIu-fKp_70VRSPS0dqjL-NLd-AKLUUwM2zqKNUf0WXnwGLXsBdsM_xh29UFPy-FLFbvsjog1rL2-7y-VZfS1M1Q3S9dGpRPKoNnA3zC--KWAKGhqKovyGBIj76ycX6VNzd_2hx314_gBNdA0Z5KffTkKqFxwfZXcdheQeb98CjkPOdIxU8Doa-FBeY1Fpslc9GTnb_o24B_ZP7PcKt8KHt3tsDNCO2SPwFOhMQ-7_-7CC2U1ioDqPTSIg6Bn971HosCt2AzUDHRZGHSJg6dFChxuDusbNl-x__gN1WP07bbuVAz1nm0wPALS_VYC_5SqJg_UrKfODVTv1AH8kK867Zgj7Lh_PQ6tO7_30NNurcgNXgp0i5JIQ87OKOaLcu8a0DlUCGOcRHLC2GVGkLW809-eTKDldz3561ar5boCP2JCZHxbQjyY3PRUYXvsNe7l2oqbvfMRHKSQGVqez6sNmO74RwchKKsmOhYo-Ipg6WjR3mQUkYwM1dXjHYLgK8aAmO6KVsUcYfjVBd2BF44Q=",
  "id": "rs_025e3cccec29366e016ab452fdf40887d09ef151291453506c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_z\":0.1},\"note\":\"The jaws opened fully without contacting the wide inner walls, so an expansion grasp is not possible. The bowl rim is about 4–5 cm from center; at this higher 9 cm level I am shifting to the right rim for a proper one-wall pinch, correcting the earlier attempt that was too low inside the bowl.\"}",
  "call_id": "call_8Ruj5BZgPy938462m5p3egyt",
  "id": "fc_025e3cccec29366e016ab453026b5c87d08978feeb9bba68f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Ruj5BZgPy938462m5p3egyt",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4908, 1.375, 0.68, -0.1051, 0.3546, 0.2436, 0.9964]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3443 right_y=0.1185 right_z=0.0911 right_yaw=0.0539 right_pitch=-0.1629 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -2.8103, 6.7487, 1.3993, -0.1001, -0.0611, -0.0122, -0.1846, -6.147, 6.735, 1.5995, 0.0904, 0.0317, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e3f008854efde8ef2d28263f8b17de57ed3654b4e4667a9312944c7cc79ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aee1635b6396437c18a56c96cf79f204718fd8267eebbad59e6c17b974efa89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0334e729379ee2b8a6eb574e3e9159dbee0b11b5471c2ddbfb1a9ff9acb01959",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.047, 0.8452, -0.6731, -0.1318, -0.0784, 0.9955, 0.6178, 1.4693, 0.73, -0.033, 0.4202, 0.3069, 0.0107]\nstate[eef_state]: left_x=0.2984 left_y=-0.0005 left_z=0.1622 left_yaw=0.0457 left_pitch=-0.2945 left_roll=0.0682 left_gripper=0.9955 right_x=0.3498 right_y=0.1646 right_z=0.0926 right_yaw=0.0958 right_pitch=-0.1147 right_roll=-0.0479 right_gripper=0.0107\nstate[joint_eff]: [-0.3624, -2.988, 6.4889, 1.5751, -0.2515, -0.1245, 0.022, 0.212, -5.3538, 8.6359, 1.3455, 0.359, 0.188, 0.2418]\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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6331, 1.478, 0.746, -0.0792, 0.4328, 0.3305, 0.9961]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3454 right_y=0.166 right_z=0.0888 right_yaw=0.0857 right_pitch=-0.1429 right_roll=-0.0575 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -2.8103, 6.9538, 1.4383, -0.0904, -0.0562, -0.0122, -0.3487, -6.065, 6.5026, 1.453, 0.1929, 0.0171, -0.105]\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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4908, 1.375, 0.68, -0.1051, 0.3546, 0.2436, 0.9964]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3443 right_y=0.1185 right_z=0.0911 right_yaw=0.0539 right_pitch=-0.1629 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -2.8103, 6.7487, 1.3993, -0.1001, -0.0611, -0.0122, -0.1846, -6.147, 6.735, 1.5995, 0.0904, 0.0317, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e3f008854efde8ef2d28263f8b17de57ed3654b4e4667a9312944c7cc79ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aee1635b6396437c18a56c96cf79f204718fd8267eebbad59e6c17b974efa89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0334e729379ee2b8a6eb574e3e9159dbee0b11b5471c2ddbfb1a9ff9acb01959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMGD06hiLCSEGjgsFsBFb8Bg2YXNzO6bRYIFqhecy-ItPPxRUZ774efjtemyb2VpR6RrI1z-UuofMzLfXkFmLCYRa7atVRi9rU0OK1gvHSpO-6_mYG3UQirgUPVwRzUsbQFWltTZy-vhcsKs-3eZ49p_yfEM0l8B-8941QduHVcavOHi3YRIbBDLY7BQACC0cmAhLpExzJQ6YA4Z-kxLWZ7fKNlcBfUC87Ji-xjwUydXjQ6dRKwjuspvQddChZkiG8W7UMFP9puUS8Ptrnkki_rPokRCf9bbObhUGM-2dL0OUXC7lFgLpetpWJ6Oz0C5dKyjJfqLEoqQlIjAllWjRPfXzLAH3COWOwKLdCq6iMUT6J4RRibUfq1UE3rBEZ_W4Pv1Zf6hbSFB4LW4bATLRUvIIktQskDPe_FruA-zN3-G-WS21MHDaPLZzcsJdjoBgXf25Zhn_0ITOSTzUO0HiGKf2hv6Fp5RW5DWVttI_PXEOO3FE5YJho64cxbC0oINwF_lv_dr2NvVit4yPhLh5YLgc9xYqXWI6GSK39_iAITYWOvdFULr2mJMchDbzSZYXni847pZucS1lv-yMLzJbgWGIfjByJ8vGQ8tGHtnUAOEjwxhVvOFSqnY3IK03X4VrrZiqPegScjFFbwl--xup1ONBqpu7vwFTkp_D-t2KHZDsC9QzYJ0XPM6OZELSMJThBBBkmUIfF5jYpiXHq5jTBwcH1c-dit07LQU_pndF0DQCvyreLDu2IWo8oHIG8cqx5tSW9yrmIG7C9Uh2jl00cHhsRnCEr0GPAB1WxG0gbKb--BSS1BCzkZUIOjzX0exiDuNkpReZr_qEpGAHiCO-Dy7Jiu-CWzEjLcs-Nr61lofIOBCjoZtxD2Myw1x3y7_RqUCEiCOySz-pUM3eIIGmPU-Kw793fhOGsuIfR0HyVGvBFYBhmAYrHIQLhA2hoXTwaFIBulwqwke0x5m8nxKqOqAp60c7QanUfHA7dyKwpnIMBbOd-PrsfflkP85B4yvMR7rBCq8Ol_RsrQh31iIzoR2gYpxyq2srjWjRWLis9xGPICULZ7bj3-g8BVVweVI7h6SSmoPBqkQq9THho6X8EpzmIHvf05SAIGxfkeydpLJoK_1qiXIlZWB6LfoTOfHsrf5K85vIT0SStCZ0lIs-9ZckzGQv3r4Hiui09dnlkM5fF4POujBdYVEuPsfwvQx1YCiZmAVqa-sULab8hn8dyGctuGsxullG77ipIqd5knm1YpPyDPPdnTYB6UaD3n9ocQzq9RfnKBpes--7JFhhA8prsh3cm5cn6e_Gh1H-lGYGJGJhFngwXDkbU-5zG4AVGrZbHcn3hst57kTWTmpX1vmdsFszxwob0igv9ASgIFuyPMcmudddU2K050q1GvYGm_kHjvzACPA1ivf6htVfGHdd6zj8rq9Es0hHhBHNrUIO-Eop3cbDwNtl8MJ9S8htVPWvmbPbv83rXQsVwg3OlQfdTxmQxM4WKr2LLqrnh3JJj6WqyGDF1qYtmNFGEC0Ddi",
  "id": "rs_025e3cccec29366e016ab4530549c087d08692a8d55e7eae66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s right rim is now exactly on the jaw convergence column, with one open finger inside the bowl and one outside at rim height. I am closing the right gripper to pinch this single wall section.\"}",
  "call_id": "call_rnob89bb0TG6uHN3ualolgTo",
  "id": "fc_025e3cccec29366e016ab45305dbb487d0a87a97c486056387",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rnob89bb0TG6uHN3ualolgTo",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4889, 1.3727, 0.6758, -0.1093, 0.3359, 0.2356, 0.0087]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3421 right_y=0.1201 right_z=0.0888 right_yaw=0.0711 right_pitch=-0.1743 right_roll=-0.0636 right_gripper=0.0087\nstate[joint_eff]: [-0.1846, -2.7556, 6.735, 1.4286, -0.1099, -0.0464, -0.0122, -0.0479, -4.8889, 6.6667, 1.5556, 0.315, 0.0806, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b405c79f13e63946f2bef773bfe1fdab8679640c45a1246ee707840d7fa150d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a29346a3ea5e9144e672b08ac5f65c11e2d8abdd1ac3de709f1dd034ed4f64a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600695b84e7c8224c7699f2a8e5ca3448b68672fd77e87a28f7d26e7ef4f9bfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6743, -0.1307, -0.0784, 0.9955, 0.6331, 1.478, 0.7486, -0.0795, 0.4381, 0.334, 0.0128]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1619 left_yaw=0.0447 left_pitch=-0.2961 left_roll=0.0676 left_gripper=0.9955 right_x=0.3462 right_y=0.1655 right_z=0.09 right_yaw=0.0798 right_pitch=-0.1388 right_roll=-0.057 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -2.7966, 7.0769, 1.3944, -0.1148, -0.0806, -0.0122, -0.3624, -5.6137, 8.2667, 1.4676, 0.3834, 0.0708, 0.2027]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4908, 1.375, 0.68, -0.1051, 0.3546, 0.2436, 0.9964]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3443 right_y=0.1185 right_z=0.0911 right_yaw=0.0539 right_pitch=-0.1629 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -2.8103, 6.7487, 1.3993, -0.1001, -0.0611, -0.0122, -0.1846, -6.147, 6.735, 1.5995, 0.0904, 0.0317, 0.0317]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4889, 1.3727, 0.6758, -0.1093, 0.3359, 0.2356, 0.0087]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3421 right_y=0.1201 right_z=0.0888 right_yaw=0.0711 right_pitch=-0.1743 right_roll=-0.0636 right_gripper=0.0087\nstate[joint_eff]: [-0.1846, -2.7556, 6.735, 1.4286, -0.1099, -0.0464, -0.0122, -0.0479, -4.8889, 6.6667, 1.5556, 0.315, 0.0806, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b405c79f13e63946f2bef773bfe1fdab8679640c45a1246ee707840d7fa150d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a29346a3ea5e9144e672b08ac5f65c11e2d8abdd1ac3de709f1dd034ed4f64a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600695b84e7c8224c7699f2a8e5ca3448b68672fd77e87a28f7d26e7ef4f9bfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMJmuuLQDRpLIuNFi4Q1h3Z7jTsMZ-qWz2YQKmkXsLMpTHANNTJTG2sHd7uKTkOP6ZUWoIbAe9j-p5hY0cTI9W3UapFclWubE4K-Olpx-XMb03eon4dRHpCsNhF3RRZSHqSQXa5gIdjVBE_2-1FxTIltHWJgbxuNTj8nbdnpImYEn3j27vcp5EargOL4XkPTBS02a08KlDjETc9hahf2vnQ8Eg6fDVvXJICFLcM_rZ03dQwxN9c2tFOTBZNMyn8V1vlcPt8gGUUMLAs_arQwCTC_9JBOU-uRunvAgxVPMcJK0epqHAjczbpvcnYUAAUP5CvKO339gmSHnAk8ON701bsY7tSPojTG8Amct-M7WQDi9uyKTFvUKVsu8F4O7EnPpQc9oDL3_VE9GsUCj2ZcGLQ-fad-iI_7XFP-ulpoEXENPLNPMxYcjZLICZICfuX6Gv-GWAxrAZoidSrq4vND04l-nQNSWB6t00-8lhPLBL596Gyty99i1xcFcBe0ohC7Vq57XR7LFG-H0_qD6Wg5uSOfBkeDnHu30XPQMMGZ0I9ZlS7DVJhOe6_cFywdfbFjjwzcV2GreNjrKV0L2pmPwb_46_k0K12tGWSFcPCPPizyGhwGfvePDuxrVEUp0tGQqp2W69e-BDRYl0nn_ygUJfN6SqW-dY7InUZnDRaUAaQ8adhHPDHuJvFOXvVgk8keATCo0h3QsXVT1qsue5_jOi_lPqPG-JdWCAhAuW4CoJR1caaX5rMLNtkGrT-V-V3M-2Iv9iFhY6PVlxlbZfgXtdKC7DnXTDwZddqPThEymCoghEVJ21nCdAyWGGu_EiROJSXe22E_xmFZfYchFj6aKYZGVPryiI5zwKLIKSAcoPka9_-WPL9Ifdve9UnUnN9JLH76iuZ5JzGTp7Sk00llOXAe3Hk0zAjAt3kvg14uY7mAKssKwu9TFf3R1ulOvpF3GR2geDFip7yHwGCXSysQ8dwRF_lSJ1_i07kk6sMK6GSxA6eePh1CbSvjIBLJ7ELFqzTq7X6wZeR5koBxagghPf12EQp9Oi3X4sjvFtdV2iBtCaJjNYYzoUrMHvi8jqryG0GtLH2RDYMjojEqxdgeeNDFu0MK-XGUbxrrh2hTGeIWrvFEyUIlwd8ucmQo7TIbBqQcOkLRVOvgpSB9KvsVp8sCOul8F_A0u09vIi-GXslZXOfQQS_bQ987FEejeLsE2chfSrvRcwf3AOk4TCad5zWrCTdrH2kknPAiAs7jDV0is7LjEgL5V-LQC3azdFHIkL1nr0vxfkJp_hQwjAm5Yt9ibblmVzz3nqxaJK_Lqqh4_U=",
  "id": "rs_025e3cccec29366e016ab453088ed487d0bc114d62826d1eae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The jaws closed to a thin-wall reading while visibly meeting exactly on the rim, so this grasp may be valid despite the near-zero opening. I am lifting the bowl about 7 cm and will verify in the overhead view whether it follows.\"}",
  "call_id": "call_JzFNxu1r119aAJubhrFrdvXK",
  "id": "fc_025e3cccec29366e016ab45308cf5487d08db42e212e3e9781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JzFNxu1r119aAJubhrFrdvXK",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.131, -0.078, 0.9955, 0.4889, 1.2991, 0.8951, -0.4206, 0.3309, 0.2302, 0.0108]\nstate[eef_state]: left_x=0.2978 left_y=-0.0006 left_z=0.1616 left_yaw=0.045 left_pitch=-0.2983 left_roll=0.0684 left_gripper=0.9955 right_x=0.3423 right_y=0.1211 right_z=0.1512 right_yaw=0.0767 right_pitch=-0.1928 right_roll=-0.0717 right_gripper=0.0108\nstate[joint_eff]: [-0.0205, -2.8103, 6.7487, 1.4188, -0.1294, -0.0366, -0.0122, -0.0615, -6.4889, 9.3607, 1.4823, 0.1294, 0.0024, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb86b3af954973ccb1f722af6f31fa700d2555015666b2e9f1a0009b98ede17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8e688b9a08f199a5d4d8b0113a43cd4a00b04944d057300d3518a88d923a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0b91b0b0083df69fbee284d803a640953989070eb64ca6a231a0a26bd97541",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6331, 1.478, 0.746, -0.0792, 0.4328, 0.3305, 0.9961]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3454 right_y=0.166 right_z=0.0888 right_yaw=0.0857 right_pitch=-0.1429 right_roll=-0.0575 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -2.8103, 6.9538, 1.4383, -0.0904, -0.0562, -0.0122, -0.3487, -6.065, 6.5026, 1.453, 0.1929, 0.0171, -0.105]\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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4889, 1.3727, 0.6758, -0.1093, 0.3359, 0.2356, 0.0087]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3421 right_y=0.1201 right_z=0.0888 right_yaw=0.0711 right_pitch=-0.1743 right_roll=-0.0636 right_gripper=0.0087\nstate[joint_eff]: [-0.1846, -2.7556, 6.735, 1.4286, -0.1099, -0.0464, -0.0122, -0.0479, -4.8889, 6.6667, 1.5556, 0.315, 0.0806, 0.6422]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.131, -0.078, 0.9955, 0.4889, 1.2991, 0.8951, -0.4206, 0.3309, 0.2302, 0.0108]\nstate[eef_state]: left_x=0.2978 left_y=-0.0006 left_z=0.1616 left_yaw=0.045 left_pitch=-0.2983 left_roll=0.0684 left_gripper=0.9955 right_x=0.3423 right_y=0.1211 right_z=0.1512 right_yaw=0.0767 right_pitch=-0.1928 right_roll=-0.0717 right_gripper=0.0108\nstate[joint_eff]: [-0.0205, -2.8103, 6.7487, 1.4188, -0.1294, -0.0366, -0.0122, -0.0615, -6.4889, 9.3607, 1.4823, 0.1294, 0.0024, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb86b3af954973ccb1f722af6f31fa700d2555015666b2e9f1a0009b98ede17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8e688b9a08f199a5d4d8b0113a43cd4a00b04944d057300d3518a88d923a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0b91b0b0083df69fbee284d803a640953989070eb64ca6a231a0a26bd97541",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMVfmRm1xQsgRL3ygTvOkyFgVLdYlM8ZniQ8YAxeXHNsdGM2JecTtb6wIErJ0_RhdV3D2mBRe16sdFm0-eGujSz0Vm2fVMFTEokAqkqVPZiXNbtNdn8l1PfvKTDyDU9RFzVpbL6yA2b9tLJZyR1LWovIRyTWrTR5n8QKMx6mRQagc7SFhPwjOHNfqMb8PfrFWRTiquyk5EI7FsR5OzO-ys5SRpk5WDUInAJaPwUXr-6v9UzGe5i5E8H5Aj8Lkz_58Zz2-nceH4468CUhHRgenSlXr3JxZhOoqUDzCYcetXqU8W7bNcfDx8wWv9gC7nsEcUMtB-z7JXd4DkTwiuOY5DrH-xlhzDyvknrj9O4F_PkinDGBoog7W_mkiDZjaEcROmLdFQ_dqoKb0MzB7W_sChkjE6TQw9fgHZOzQT4UL1DUnT0HH5zjkzVBNopIErJW_BBgpyGZ-OQ_pb_MsXmhSdh0hnCQckDezPEuA3_F6F6UH-PC3IMxjK3wT6jnSPmKeMJzFV0Gu5GmT1lbvd5L_Y5JXoTz9I3CBi73qqLmhOCswuKITvfDhwzuApugkqbwU9BHcHKu0jewk2vKmlYPlABZwfBvJBYzPpnf2DwlXrDqfJ1G8sZoT3T4CKFjNzDbTGCV13aRuX8o1WKrqegkA2zHbv2vLM_SPVtIm4AzTgPpvr1TBLaj2oARczzhVDOhmxUD_sEjcwdJ5L3fXL1tDqCQkfKcP58FBKTzJwmohScFKJ3aeG6voDN2TNhBMf9RfRycODp18x4s1jeHQjQFaBmj92DIXnZ-lrXJ75u7V7rOA9BfpAhW2UFwm9HsmVclNUw4FDJTEqfvzpZQ_mdYa92oS2q405cOI9Mz8WPpd3wwogFzK5MksBrV8U16MWVBwJiUZHfwRqKjwHJ1JbXOH_kPJBT9wZrZlSHLuzEoxwYxkVcf63XioRiMYG21r2CEUkMkyFi4WFp7T1WvIBhrBibxt60_X9wPGdhLWEdZwBqpYZZME3nlvF8AJ0Q3Ntw2s-lKRRKQUhsI1nuzAGxmcpmxH7rOrGXz7YzI43KfnQGh_5E6CCsi4tONenBfaB14d5RQMd3wa7AXMzga5Kw0Jh3IpmuVouBpykfnY-zfMcVHDqiK_hWNc5fphO4uJpn8-1MJi4v6MG7XsWNvUVJEIYFZAfO7jJBLOZy6h9XJaz0FBkv9OjeXe1VWvNcsSQ0AdFPolIFsYfOpE9GyfhU_d2ioVm349QOlSljggSwi7hSPIu5UKilNU_eWTr33_pKgfkS68OQgguPyayVZCimiY4gysI4zxO8lKf6vuZ0SzSpWjbd6WERXJYn-Xg_I9CcvhzAkZ9u26R_X6xZJUTjYBLb-zOU3VFI1CSjZteyC9hVVByHGYc_2QeFlVND1ZQJjWy-62HHr2j6kXZ2KMUzY5CSGYyvZR53ia3o7e9E2PHQHx9xJleEwHYqmS1gL2L7_5wclEaSinjluRJ1gR3nyy69OGd5XQn8S5OFLAVu0_lNJ3Z0_EUvIAIEhObTHbLuEhdbbiCrnN5YeImRENU1WBohXs1Lvl-nqxvbBtSTvCdKOdOfDz_tFnSTnpzy2MajXQGkpwxeSJeEMArxiVeBXCY6QX1nS8FPvfFKV-HxR6YC2G_BD6nMGp01O6mpo9osdoipPCy5dvlW2nSHPMEcwkJwZd4CNgd8vsOrqL3kds9HKJ5WejWE4f5zjgT44VifOpv8rWbzUgtR00fANMR8pvRGbNTFCdhN19uQ1VwGOUT_zL4WT7vRUOPTm0NoVzKRci05mN-Pj7MiiOyRq0LWKpKHQGHkkHvmEPLplG8qAiblQFIMcq7x5EjzU0RCfhryHCQ5Ae0fDYu1Vf3F1mSBiRwyeyPo_W1zNLCrR3VSy14RG-6V4B-7sn0uHvaTsRLUrAOhww3oT_uxYN09S_eswJBpjvMm4CESScPri0Fi_Me2LhaRdlcbVY5P9-rL9wRd4uPZodshk6OhLUkyC_i_4KDVv98pdpHFPurcr1E-n5UBy1RNVzKLcsI2-olC086bRS-aC_jBFEF3I_OkDWoEEzUdSAkYq7K0Y1r6NAi50q6zK7HAU7igm50010jqILab2XjXwXutk-X5xFbCv2YQjjoMzQljUKpkgSmUaxzCoY6Rsj01nPyzZqgNGguIP_v_fnddxNt62yiwPJbIeYuwHa7d7VOUxLnv9HOsiR5ztv5XusHNe3mE9cKMz3BndWpARQiSG-KBedt4Pe41FuNEHYfnQS7qvODo9nITMCWJXqPpEll5sc3QYRbAV3rxA0WQY39azbt07RbzC5KjBWDvGGdPN2cPKySWUSq4FdQ-pDS0fnWxNdMiiCtfKzBCYA66fvIuSWxSyYc1Fjs44aS4zAeoFLVgwBz3fUH9h2xWR3McLhjTbyJ4ag-WMqLZfBss7BTQCX7a7GSaKGrTl1ZsFsbWOQxvChWKRUGzABKIHY1ny1Q-xU-TvDI8Or1PGZ9pZJAqKGJ_RACi85V7BBv7cTcAN4F31ej0HF907EyZyif5dWX3qkyM_-n_VrrpTIztcs2xHz7h3rxXS6nuHF-humhXxWjxW9w2lRxz7Wg853ayVDG34Gw97G_PNEpQ3oneszvT0VwoZA7eumachF0WUVl-olc81zzm6MGnOEf0KKIrbbNT7GSOV6fQoh7QHa101m_XqMZlwXchij29PYkpfQBY9mFCs9xLtGp1EHeItdzW4b8b_5POhcjnzKE5IfbDhM9fSEKVSmyQfsWf4D3FTqgM7VBrxCJaIMjKjL1pC6wP_36x5velMKan-9JpzFl65CAVdzClWi0zEBO-ItsWpCyqSMd8PMaP80fCS4LVoMwWX-BBDMyeRrGp2BHt-zqxEIT2nIhqXd_RJdycfuNJn2qao_hPC7GWIp-rxmCeSDRPqGcouFIVe06VX0UNM8L7_5ILbJJrL_JZbjowAILvoUME0g22lZvl_ba05kX3FgP7A9tRHZGdTlO-YrilumKGqcecVZbIcC4yFkixmKiRslbx2g1Ql_BQ6NGDbV3MN_OCcN_tyE66QYpIJpMiUe3ZBPlcdKycjBgZQuu9Bg00W9dzHb5nKfNgxwn5jpMojm5cgltF36VUAjJoWn5lsoh4IByDkEKMqP34U-uPi8bE31SASfMz43ySSSqm8xbNTHaa2Ve4KSjqIsf4nux3FQe0fyn6n-W275HFJGrioKMSzo2K68ImicQedAC1T6qShxRE_CifrfOc2R4Vmsdia8mpFVtp8tx7Du75ATY0yE2wMtCX0XKK3hTdCv8nLsu-n-4jGSSvNI5w4E_JCVB9xwTXh7y0tGjm97E5KJxGO_r8rue8C9T1cC_b4t_5U6snnuC0ljdPAaWx3caER1aTNSgKGwXl04bodepfXIv_JI5BHZlWx7HXf-eLjt-CTTZuXjwueiY0WFnk34lmClWdYX_Zrh0PMO822h4NWEEnl1zjemYLHf2TLCuc137e7erlh4icUZ0CKhF0mwaD8FPVGkrwGFIamsStEF50RRq6oa0bLimviOz3rrJ20lozwYQsKASmSDz0D1UODeEibkGnxqtojdzzOLrJ_pJXgYWoMupZ4XwMeGKYvfXHMf_7q4WaGzQk5p72DWALuKa4ev1_TJK1hZwxT4zxtZRO76s8_EURLM3hY-VrD_MQ7HHw1xawziBLYLKDtxiEnlwLig3TgSHsTi2zTINrRK2pzt6joSjbgjaXybN8VNhJngFAyyloxH-eeEEaCgq-JHVEeipJEV1WpdNmJR2qGWFConYz_jf_fKA6ar6e9JLzeYdnCJnCpPuqcQc3v6qyBWEf2qYcRELJJN27szBeGSsajGLdMQHi0c8Jhn3Mj5AdTslywTV9BOZa0YhoWhJYF-XM1dsGE4TEAtHnIqnZmI3LiEL1S4d28xQimjrBajKtcFqUnYJFdlkaBplUFXPRsuA8anoFq43rwopck5ld0Uy8F-PQBoyhfM5xY17epbE0luKDL3wj0sO8A8y1T8PcExhzpjfyRrjToeiyd0pomdGP8RZopXQ667BpKoBxrms915jQTSBSd5L_4h-4n-8gw62yb5SnhCDRNOt597h-n9hAtI1EFQynASLmV3tgkXt5HYTidiC_l1TGuqz3O23vTv5v8q0TbBYrAnJgoCFeftqmeJcxToa1hlcQT8j3PGImxzdVRZphGeR8Lp-jRvlg0MLHPXJ3rzijc21-uIittkUEUK00fw9t_yHSxWEVvcllSxUu8XH6mE1z11vMwGzPgADwtmsbjLn3a39UKfrX_C1P2zJEhlYD_z7i_7KyF5jBDc8das_ixS_BzipXhMj-PJ1z-RkgLPR-SWQd",
  "id": "rs_025e3cccec29366e016ab4530b57c487d0a71ca1c080ce27fa",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMVIE6ojLi2TmHKHqdd5INRpVZseOV6yClaDhjxo3dU_K_QdkDah-Y24SkDMRTrGbzkflnhxpWBjK67nfriOr2Epm1clu1J9PWpbrkZ9L2_73hrwkTIlYLpSldbBhfGZ0h0S5pvwz3coKx_J2Rg6OcBJBB7Fuf3R6tg5ArN1iCqqlLJK4cc5_wQ8AQWMChEmiQfJ0-h2shBkFib2ed6NSMlRyWZvMRjThqlerKwArW0ya6VYLt5Pi47aBChNBa30RDxKc5oSrP63rWr-nxB5IZqA3m-CsiYjfLM2ENiugHu8Zs1fotUXKYX3cHNQm3aQl0xCTScREoEz7AxqtFVnkpfpyLz5L7zzl54M-S1nc_zCQbd8RwSsB4CbMp2gEJLP2zl7asXviPJmjgjYrA_igvnKiR5g3lxPV3rM7GJuCXPnWdzIzGIAI_HN2gnVGgec1z0nssLGm-CgJotL6HYDNOu-P95-U3wRAMIrzDPfcY9Yhi9EbfrzTqWhLZ_x8HvPyYX5yA8IYZLScU2NKcoUYHPpEDVVS7_gADvVKdanNXBjaSUmVBTBRR2oIREhHEdVmbzoflUejjCJwf2yjcuSfy27xdf_s8os7hr2bdcH2kg-siH_iCQ9nZbRocfFl9n7xxrw3Q7UlEvXfnBbVkEjH9YxEDu9VggoN-smMBP5yRwcEtmJEuPbgVs8l0QFgXA1fPHcpgfv7gMGfjYVFkbzYen3YU4lpKkGWEftCxd4qHxzh1UaxP1uR58-OnjX9TSnuAX7wbNQaJZKTsQ7TOa_qHnnLywK0uaCItKwLcmjDce9e75rsBkMPTRPqBk4e3D4l-edMyYzVNvccJzw_njIAW_0U2aIEBJ8gXLm_3h83XaW4jJmcUchzg29XxC4R75fZUpnGZ7ogeQV42S-LJtWP2NijJIXrUnNbuxnf3h-bRJU4YiXMWvQB_6mK74G27YOZmyedNumKaCjS-FehRWj_Ux15n7mHdtpBj-uJafTYyYmZbAOfiY-SvCAAytoBfIFjbYvzcC__e8EdcyOeHpUBaKli7znRQNzPxnZ1w61wjE8lnvIu0BLKrxeV2UKYL3SU5WQq9Dl84OBLvBi8rlRrgwd1GNohaFlxZJUol2BDzolis6tWhZ9dNE5X9W4fPHGN4-Psl8kekIyRapgNQ9It12SZjNYqnBWRRGqToZSPlIlvc1_2OkRf1VPMxVm1rkh0tBNlfbmjIi9Cz1SIkLwcq2kZPJz_TD2QEyPNj42DC1HLI1Hl2Lcjmr2WDiHxxsiroByuO-Zvrf1kBITk7qBUDobixAxVtJ1mNsRyO25vZOZx-kQvJNaqypjFoRso5bG1JapWpUGTwSq-f4zJnZ2o3m6ib9mSg34Cqo1HViF-eMT5ce2Y1LIQI6gVFkSs4ORMS7FSr66Nc_GLFsUaoHzW0MTKKRg0CaOBzhH77RRIbA8CYZzlEPW9nGKWyN3gjvcUGrRPWQl2e3QVQPq0KFEzb40UiUGU9SN5Zm6f4hC8onqdxrTFMh5umE7C_GIGHqChMwyqCY3Vnl8p7uyxmsNNUfBJHDuR1TlDf5giOvrPdUCVubyCLEzyFpr5uoYyv7BkswK1G48949V18EX0tvi4QWII-jOsJXic3ovvhYp-iUrrUVBjxuQ9NIgOgMVQjwko8UfXJ3YwkLcvefSAPO1Q8Wy6ej-eNJ6F_KEOnPJ4uOM0KTqwDgD2nAAi69HKMniARkpzkI_TqQ5g5pfd-crObGl2_NyXO96SwHLO3x90g7DzEFyOAmiYU467KA_xy84koswR_7vVpAYdOjL_95dNcA1Gjkhrb4fUpDf8BDI6jo909qiAI4v_aM09yblc52LpW5fbJqQx_Vz4lHmNsvwvEL4sXHS8VCpPGEjkREdK3n3Ou2emq1rhVeAA4NznPrpOvtJ4SBLiE3VT0h8yy7iG-L3NaKSGQWjr3ghAd75hNgr7BFZUhYkxBIQxcOXuGgLI4LVd8rEyv53GeSfi_iz7bL4drhZDDDKBXhp15VDkM0oVaGfYjaBOpNQibxZBzjQ8RrZJDB9mIQb-miBNcDfabNNzASd__MyV3i-OokUwZCda06Au_LaD7xG9iMubw6pWFGToyHGanagpJsZXKTn2kM62RtREdPmyWskinHIqwgvEk_FQO_Cu0E-VjJj6uUIZpo1-jx04r1oDnpiiIlSi2YMKosxQyFUNT-RT41rbYM5hiSsari_ocinpBFE3BL6EyeFtVAsBXgcNDXKJ0oFrvNpJpUiaaCbo_AA6btkU80TO1lnVUvYmbs2ZBO1vfIjlolGGjx7H-R9mmtvohUEp3sW6bvUDzdYmAy6EWwleU84oTdZGT9LXRj_Bo5p5L0Y7TK82IYCa8ijK-mwymPRKdwLHNT4yopGn3F0go8C2tCoyMhw9pTxiT4EFkDOLU6tFoCl67TYvfKQikyuZvdp2WQwUfEJrL31YIBPqJFNtVEY_RPBtNjjYZVz_AZK0inM8AjUEFLu1fV64KUIkdl6S4kk-OdHX6K5udx8zc51yyypdWuPNJgEW77d8try8T0Lks78wyP6t-vNv-gTWXGdb_q5MslvNq33RoF73J7RhHozes7SWORD0rCEedvJTsfdmEw9sBBbRa5lpgpTFWcvhcqGWVXFVM8iVS-F47UyL3dTLmhYefoYrSiWaSo1xG-ASYFRLiiKk4BqccORoegDuyrROqfWeoLbjzDs87NIlMwxF7Uw8FccQduqW8kjWRyzlq4q1tZHhbMpKC9Rg-YtuHiKyzSYOD5owSAnDcunhYIkz5bWOpNq-akzszkEaqFzjnrdVAiwqRWmXfP36w5LVuQL67tpjiIk06AbvrNuKUVnaMRQYVo7iJB0DpdlPcE0EvBoFKUKAim1pKe2q7E_mpKs0FjtiFVjy-G060aCwuaVeUCStVUvAeKosobvy3tvG0yWQLLfhhCCOH1-tQ4EyGVYnh25YyFfmOCvz0JdMgh-BLQGNLfrp5By2nMJN93cvtTy8jXb80r-za4CUvKQCZk0TYIGKflJa6iAnkQIR_sUAIovAUawrGWIBEIY59Q4lHgA5TEUsV6SUsPjgp0gnYyonXnWBfX_98nGdT4Ki9cQ9ip9xb6SWOmoyozyNBUZZQTrJbgjh7H4qOuh0d2qwbREI1UxI8okzvu3Ejkz2olf9gPQDG3Te9-H8Pd5sd598L32-q3N9nRJXMHas9sbn5L_j7umITBTAhfwLroC6kcJ_8r2oN0ePmkYTrc0IdeFSlaQtzbHo3US4Nd3LWn8Yvhiz5vpfwhTJX3fFd0gmTweVLp7jXQ0KQEeMOFuOyJzu3oHh2YocLpamJBeBet9704Xv-asO2zjJfHa6O858P7s1iS6Y0lPjhAw6FqmjY4DOfjteuuBbYbekfH3WEXaykXVJIlyFSZtp38ooyTHTdxs7mv7CZphAP5lLaF_F_qphkxIY0l6UXCWnaIFBE8kLoyXdttNRTD6H6MuSHfEfmCTWteltTJQw8mNWvIEVvNXOhh",
  "id": "rs_025e3cccec29366e016ab45310bd1087d0a12936ccfd8cf6b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_roll\":-0.5},\"note\":\"The vertical rim pinch slipped during lifting. I am returning the closed jaws to the same rim and tilting the wrist toward the bowl’s outer-right side so the exterior finger can catch beneath the flared lip instead of relying on friction alone.\"}",
  "call_id": "call_ofZiIRzo3cPrPQgmVodpD4ez",
  "id": "fc_025e3cccec29366e016ab45314d99087d0b41a3edc62db2df5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ofZiIRzo3cPrPQgmVodpD4ez",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6193, 1.4677, 0.7643, -0.2535, 0.5751, 0.0498, 0.0128]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.334 right_y=0.1245 right_z=0.0836 right_yaw=0.0992 right_pitch=-0.2503 right_roll=-0.4362 right_gripper=0.0128\nstate[joint_eff]: [-0.0205, -2.8376, 6.7487, 1.3846, -0.1099, -0.0366, -0.0122, 0.212, -5.5453, 6.1607, 1.4042, 0.5104, -0.0659, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077bf7bbc157fe718cdcd2fcf732bdf825f88db20728989f55f536b442496dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d050fd075acdd3881ef9f232c4b23365f9702c3d93bfbce2afa88ce80b1b668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df89d95714151f2e7c4ee317441fe7c83dd0561fcc3f6e898e78d8a5c86803fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4908, 1.375, 0.68, -0.1051, 0.3546, 0.2436, 0.9964]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3443 right_y=0.1185 right_z=0.0911 right_yaw=0.0539 right_pitch=-0.1629 right_roll=-0.0675 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -2.8103, 6.7487, 1.3993, -0.1001, -0.0611, -0.0122, -0.1846, -6.147, 6.735, 1.5995, 0.0904, 0.0317, 0.0317]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.131, -0.078, 0.9955, 0.4889, 1.2991, 0.8951, -0.4206, 0.3309, 0.2302, 0.0108]\nstate[eef_state]: left_x=0.2978 left_y=-0.0006 left_z=0.1616 left_yaw=0.045 left_pitch=-0.2983 left_roll=0.0684 left_gripper=0.9955 right_x=0.3423 right_y=0.1211 right_z=0.1512 right_yaw=0.0767 right_pitch=-0.1928 right_roll=-0.0717 right_gripper=0.0108\nstate[joint_eff]: [-0.0205, -2.8103, 6.7487, 1.4188, -0.1294, -0.0366, -0.0122, -0.0615, -6.4889, 9.3607, 1.4823, 0.1294, 0.0024, 0.2076]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6193, 1.4677, 0.7643, -0.2535, 0.5751, 0.0498, 0.0128]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.334 right_y=0.1245 right_z=0.0836 right_yaw=0.0992 right_pitch=-0.2503 right_roll=-0.4362 right_gripper=0.0128\nstate[joint_eff]: [-0.0205, -2.8376, 6.7487, 1.3846, -0.1099, -0.0366, -0.0122, 0.212, -5.5453, 6.1607, 1.4042, 0.5104, -0.0659, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077bf7bbc157fe718cdcd2fcf732bdf825f88db20728989f55f536b442496dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d050fd075acdd3881ef9f232c4b23365f9702c3d93bfbce2afa88ce80b1b668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df89d95714151f2e7c4ee317441fe7c83dd0561fcc3f6e898e78d8a5c86803fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMZVW3kqP9e58OfCcgMu1YOQ-DumpyZKpL8XUvpDYO7dblioBs4Y8tQ19UZDTJKBf6JgHsPFnCZ87DIv9Dh0aGmupqpXZFFp37antVoX1X5zxoJqOzVLNiXBQPj0ogKU5mLM80eTGFnqNjK31hBTgMSrce9cCxvboN71hHmphg3GDsU2dLX2lYBceVbPxE2V1m_vNDOuiiKJQB7cYZveWX8u6100AnjfKYc5ayk2bptxdJCsCIdkQFijcKQxzP3yqin-2QB2bz1dsiW6OzhkKxU1-LL4tSZpPabm7qk8ea-jy-H53YIOy2IGKFjqyphLEbcrbgU5duuyuzc5_fT1djlZJTMv4jl3czA7p3PbLqGc2qsR8H88-YEh3eJFnChwydDnijbLgEcEGclx8XjxN8YhkycByyLcxXGY2fyj9KfH5YHN7LiNIKtM-darOupZ5MQY6D8y1MtL0MGB9HHXPkqZw3CHVMOBNpAHKn-53ZJJhymEXyU_Rm2fkDH2v_01USkfmUcu6LBsOs7jxKuwvy3qKrIcf3mBuF2u-9WBsKcBWMGidTIkUBJ8f_9padlUcUeKrWQ60qqfl1V4cvPAXq00GHYEIoBv5hVQxYwBZdHrtc66qICa1J07gjpN9zTGuJnCCC_CtuuhKeBNM_UFarbTR1m_ZzjHlue_fHB3GLbu4eXtEXBknqvF-3dVNNPQEv2x3CQjZH5gXPP1M5ofF5-GWDsCkM-IPcHddtoTANgCGe1ldK21BrCI4Kna79QMy-a2_AOT2GbTpbaatK4XIb6xcT-Us1B6nHQ9KSYIJNUQtBbwXsLUk7lkozsIEUVnrT4QM5Z4GRH5542T9ggn1g4M8Ws4Wi1W3DmcMnNhxVb1UWmp2NErXuHbSR_gCTjZXCjx6WBVTGhi-oRpF-cHnPcZAwQ00f_2-NLUEgF9gKuU9foEEzfjQbRdFJGBCaINOdUOnkRDnDM6vvx_ZRTcBauHCmY6KG-cYacacbvyC-4wsesw4-qi4mg2kIQ0fnjWhP0kQPqqcmmDF5QMd30n1CUw1FRHTg6fqqTl-88OhDcpb_krxKk8AsX36RWl2lcWtAVt7BNtITSSEi_kcSdPv5DhDV2dFCDinmDrnkxK-NP-SfzFPAuIn1QHts82gGZxOueojJrW1Cakts5LUcsFp791pehUoIoq5OCMQMQEBLLAknNXxqmFZoNXiZ-pR12XFP9xVjAFLYny4q-8Ta7GpTyIZd7_eHNeHUB4Zmg1pOEM8H1coSBcwFlDoFCUNTz4Dtzs4ONIRTEEvux_UyWBvS9kfrAky9i7VqAzv9KLYfNewtg4puGyz8wt6UyVh6al1Cyg7D3IwjUDocNjxF1Kczeng==",
  "id": "rs_025e3cccec29366e016ab45317adc487d0bc7a9b762de66e75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The tilted exterior jaw is now tucked at the pink bowl’s rim while the other jaw remains inside, creating a mechanical hook around the lip. I am lifting vertically while maintaining this tilt to see whether the bowl rises with the arm.\"}",
  "call_id": "call_FtvD8yfrhSpllYghRBSY5Oqy",
  "id": "fc_025e3cccec29366e016ab4531810c487d0928b8ea756966bcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FtvD8yfrhSpllYghRBSY5Oqy",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6216, 1.3926, 1.0286, -0.6128, 0.5674, 0.0322, 0.0137]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3346 right_y=0.1273 right_z=0.1593 right_yaw=0.1136 right_pitch=-0.2748 right_roll=-0.453 right_gripper=0.0137\nstate[joint_eff]: [-0.0752, -2.7966, 6.9675, 1.4335, -0.1343, -0.0708, -0.0122, -0.5402, -7.4051, 9.3744, 1.2821, 0.3443, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81aa2adeec367ef0a32d2e25756b8ed52423e4ec47a8372f37e97512b667eaa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11770cf57810c68daffaa32d0092bd18b79fc43c0ebff1193763f7686ae198a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8180e5460dba14ea262ca9f358fca5667da1370e7be30b0381ac59216854a24b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4889, 1.3727, 0.6758, -0.1093, 0.3359, 0.2356, 0.0087]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3421 right_y=0.1201 right_z=0.0888 right_yaw=0.0711 right_pitch=-0.1743 right_roll=-0.0636 right_gripper=0.0087\nstate[joint_eff]: [-0.1846, -2.7556, 6.735, 1.4286, -0.1099, -0.0464, -0.0122, -0.0479, -4.8889, 6.6667, 1.5556, 0.315, 0.0806, 0.6422]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6193, 1.4677, 0.7643, -0.2535, 0.5751, 0.0498, 0.0128]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.334 right_y=0.1245 right_z=0.0836 right_yaw=0.0992 right_pitch=-0.2503 right_roll=-0.4362 right_gripper=0.0128\nstate[joint_eff]: [-0.0205, -2.8376, 6.7487, 1.3846, -0.1099, -0.0366, -0.0122, 0.212, -5.5453, 6.1607, 1.4042, 0.5104, -0.0659, 0.1978]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6216, 1.3926, 1.0286, -0.6128, 0.5674, 0.0322, 0.0137]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3346 right_y=0.1273 right_z=0.1593 right_yaw=0.1136 right_pitch=-0.2748 right_roll=-0.453 right_gripper=0.0137\nstate[joint_eff]: [-0.0752, -2.7966, 6.9675, 1.4335, -0.1343, -0.0708, -0.0122, -0.5402, -7.4051, 9.3744, 1.2821, 0.3443, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81aa2adeec367ef0a32d2e25756b8ed52423e4ec47a8372f37e97512b667eaa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11770cf57810c68daffaa32d0092bd18b79fc43c0ebff1193763f7686ae198a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8180e5460dba14ea262ca9f358fca5667da1370e7be30b0381ac59216854a24b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMft40DoszsI2r18UJ39IIUxb9qmCdRNSFGwLEa_QTWs91MmJujtsqu9cO_7ipeTjQmbU9_GLWQy25Nl5IFDYjaPDFekFDE09pUQQAYH_YIXyBNSzXYPSaKSbfQZAH_-VE9lz3KLhfjt3T3es8cDZS0wS167F185Zmqsf2Gh1wedDmF_PL4WLBIkQOVsArNx9RQKbnvUhyouPMa4HpnQnpNzldDU6pOT_rpVQL0myhnpL3FDs7v6SpmUsK0kdspBOjshViuqOzDlIP6x8U_DHA-Z_LhUiyvCswn169uirxqjz4AZYsEeVdBSnvBvkXlpj_RVSCVT_ZLFgE143XLFVWm-yR2K_nmd47f-N2OBeC3EbPAdYz7YLsP0VfAhr6Pxw1WqFqnAnjHX8wAOV2nfbd9TU1ParNlXO5y0hdWvwO5vg7YViIZN8xQ-BpWUyMUWCC-qyEKKGsG___BPJflRR2gdkB0Nqyv36qKtC8zMeK2BLyP6_8NX-8fOnXY9lCEI89LgRJmCqhz0RH8uZiNJNcf2NrZ7TVgpixVXGFrrTJD8_jiaAR9GheY1l0RiKTF6GGhW8TwCsfncOpLreQRwjHHl-OtNWtUAbnEW6EvpYICLplvkBh-soixOyMH49M0vHZcq8A3xWPdWBl1SYQcKX-hN21_ebaJ_USCSLURIIKWSzzw40slrxz6lKSt3-d8qi2DBGq1hHfHldSbmfaYJqsLshgvu3EVO2ywxpKFmar-N334d0tMXdbZcPxqLUwo-4dhqIvL86vAj2tkggzcY_fT7MN81kzNZaXjYEkmTwN24GeSZ6Vmev0DwAqNclLtiOynhL3B9SF78MigF-_C1Bl5Urm-iM90VcI66hHR9-hUIVKmAfFJrFVd-U4ruS5CmU6BtUz2wzcklGc_VH57phbE4ew_Prps6qB_vLAMCdIHXzAwbmZ0Q3ipWgohePQwEri2_DNAHRpIE7wQKxkQ_4aNX0H08SC6inZNt1Vi8mD0mR2eGvq_pRNmAHARI99LiySIPtZHLyQaeRHJuJlFg7ppJ8LQXubEVJSF8LmZSPevv5NfnpdzVLa2ec0KuWx_8amM7uGQyFEIBaQqD63shDEvXX7gIzyab07V3Ag_65yjvg4wVyVE7D_ESEG-pEujJueIlDSZVPeOX_4yDCGk9FZDc45s8_UVUjk0eN26iaFJgTiXO1JsiAisNbXaurdB42eHtdd2tPp2nD-eAShTEclOoXpBXorIDvb59_CcwJ8vViYaqZUhBiggiU-ZgY8DafRwojZL6B9FkBLzYOBVfRjK7jMa1oMl1iw3GcAvoHbgvF0knVOihQ4G4q7nszslZR88kUELDmruajFcR1se3yYQy9Y67rBrAZIwxHU8FTJ1EGU18gGxlatRtUl76dEwr3_ljpDGFtXf4pU4l3CBHF7xz002esmWutaMPD6-qn3jATph0YIHYr9W3AAkUFEuQDKq5pymTAqwuxMUUY7ANNVF9iXyHAHWeKIigMTVk0f0PJRFeShImO43wYVh2-B71OrTYkyc8VOsasQoJNxsWwkVXYBSxqWZiBXWRrZU8KV6Oq0elMgUvTr9wH4oMRqb2_fFMdck1aB-LZqd8u6peTemh_EfrpXLQvRGpYPlrL8pA9879_EvVgHroyiRCA-ALulyYMNDZ_W-gAFOjSRdM0Jl_Cibbw-nmkxrI2ih_1ZoCReq2tw5BaGIphLrTzime6K4d1ySogauQMS2jetV7u1R8zIUDaY7qAx8NWnBsJYbrsgF7Dum9dmNRBnAnsezhEF949Rhu_6KqH9z0FBBKQfYMI7NpnovK2K30kNwEF_eDTxw24_lcNP-7S7030jRqaj62-E2HweCm4vLhfn7-oMQPpFq50wM6zfqGlg3dCrfdvUy_9N_pw7jbEHYQDFh_JcmipYuEg3vKSWrcOv-TsHs0izBNQBDfTVHBBkT_v_6vNTJqhMVLduAH9iB87XbrD9-_ATEj2wO_MdIwyAuv5M21RX6GcYPGSdJSvUAPc5rm2EMf7ZM_SEF_c51XkuxJfGBx-kmWUg8c15m12JvyJ625fFtDRQ5HLvToqFb-lxY-W1e9kwszrxJmsAMzv4bnNiwdqw3KNe4gs0LqXVB4Yvmfzy-XiSoBnPwAes_vQhsPMYxTvP9WBk4az8fiEeosDL-OsyZ6qW0ElT51yejO7EAkOgmwvwRV3c9TMiOwxeWVY4B1-E_Oq__f00d47OmEPznOb191jbyRCivIBoPSbLcelhhpKrt2QEgvEqmolLc8kx3FG9TFVtmQhczqNTIptYzy2ih-F5NJ0OmUQIDjSZYRF4OFS5ytnjJlxAQd3iwsqfulnI0kXfPER-pzSPmdQ3TRIePbnNK3TPJ8yN3Z6UWZmMcf0mRhHWGXFYSAdNYyfdo6hwBrAk31VYyv9MTtqFg_16OdkkSDnB2JNVaXGII4zDZ2CWVNOulhStTOerlUDsFpXz8BVtWlKLbc40OjJkP67GJkEzO5hCZEq7VpQLJ_Mtzc3gmGeZBV2ilY1_viNpZKunet2_YYaXukI6DlSvvQz9pYcG7nD2F_Ljp9SozwwhDbK-yOFJVv4evHj94KPm_76gwjzCUUiMTNyX9Lwfs-nUOUbe-DoSwqtDYf0ngIa0RPYNlYBlKAajk4l-ocfIkeQy4NO_CS4nnQ2l2nSnC7f0NWeHk8y4GuQ5o-a2bt1pVun_5uj4qF5ZoZlev0NCB8k4X0Wc7Hi5DW9qcXIJfA074hrjALQMPpvDMsgYQFiV3299I0xJ7FXnaZxJkdaFq9NoNgZa07g_E1ECLELxaB5ej0VV3NHnhx_vMIg8Bn8FfzG-lqgLInSKgm0bIKrm41k6yJKhB3QA8qzDy0-X36Qp735QpKk_j2XyWhsvcAXvj5hGrwrhfFISJUQwms3oktNf86FtMKuK8FLXFFigL9HHi2eguCXc5eyGPi3hHp5ZQva2R-8FRHxRwCNXs1YmLlzdWzviRwMdcuCnsDHvZmWtEeq-nUvnk_rjBOrJn_Z7LKafdDlpj6mTfeW0cFaqbLRBGWaGQnqsoYPzc8Q1j-w4oFqUkyfm4mHOtKlYhxRE04RD4wUk3Rcm-Sw9yxZLVvyG7UuwFMp3oodzk1IX82ic9bZ2GIFBqC1n0KKJwau2RkJMrFpQPZrhNGdf-5vM=",
  "id": "rs_025e3cccec29366e016ab4531b0d1c87d0ac9fe571b23d0311",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_z\":0.16,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The hooked lift still left the bowl on the table; the wrist view shows the jaw meeting just outside the lip by roughly a centimetre. I am reopening at clearance, restoring a vertical tool, and shifting slightly inward so the next pinch converges directly through the rim wall.\"}",
  "call_id": "call_YrwiHol8Ina9tGjmVdVbzvSr",
  "id": "fc_025e3cccec29366e016ab4531ee7b487d0aee903d6062f7f80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YrwiHol8Ina9tGjmVdVbzvSr",
  "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.0784, 0.9955, 0.5026, 1.3437, 1.0, -0.6033, 0.2813, 0.2382, 0.9953]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0448 left_pitch=-0.2984 left_roll=0.0679 left_gripper=0.9955 right_x=0.33 right_y=0.1295 right_z=0.1487 right_yaw=0.1141 right_pitch=-0.3201 right_roll=-0.0789 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -2.7966, 6.7761, 1.3797, -0.0708, -0.0757, -0.0122, -0.5265, -6.7624, 6.8718, 1.6093, 0.1441, 0.2711, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19dd7a14345cccfc4249a5b950b10fa06c1e673a88258a66284c9929a301d83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972a387e8b732870391bc21ef9c77c6229b9d0c93d8b2f0368773cdaf5a5aefa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1efdb7c9a3b5d9b8e59c04046a0f5b91d79c0399444b05d7a890c9d6682751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.131, -0.078, 0.9955, 0.4889, 1.2991, 0.8951, -0.4206, 0.3309, 0.2302, 0.0108]\nstate[eef_state]: left_x=0.2978 left_y=-0.0006 left_z=0.1616 left_yaw=0.045 left_pitch=-0.2983 left_roll=0.0684 left_gripper=0.9955 right_x=0.3423 right_y=0.1211 right_z=0.1512 right_yaw=0.0767 right_pitch=-0.1928 right_roll=-0.0717 right_gripper=0.0108\nstate[joint_eff]: [-0.0205, -2.8103, 6.7487, 1.4188, -0.1294, -0.0366, -0.0122, -0.0615, -6.4889, 9.3607, 1.4823, 0.1294, 0.0024, 0.2076]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6216, 1.3926, 1.0286, -0.6128, 0.5674, 0.0322, 0.0137]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3346 right_y=0.1273 right_z=0.1593 right_yaw=0.1136 right_pitch=-0.2748 right_roll=-0.453 right_gripper=0.0137\nstate[joint_eff]: [-0.0752, -2.7966, 6.9675, 1.4335, -0.1343, -0.0708, -0.0122, -0.5402, -7.4051, 9.3744, 1.2821, 0.3443, 0.1538, 0.0855]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.0784, 0.9955, 0.5026, 1.3437, 1.0, -0.6033, 0.2813, 0.2382, 0.9953]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0448 left_pitch=-0.2984 left_roll=0.0679 left_gripper=0.9955 right_x=0.33 right_y=0.1295 right_z=0.1487 right_yaw=0.1141 right_pitch=-0.3201 right_roll=-0.0789 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -2.7966, 6.7761, 1.3797, -0.0708, -0.0757, -0.0122, -0.5265, -6.7624, 6.8718, 1.6093, 0.1441, 0.2711, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19dd7a14345cccfc4249a5b950b10fa06c1e673a88258a66284c9929a301d83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972a387e8b732870391bc21ef9c77c6229b9d0c93d8b2f0368773cdaf5a5aefa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1efdb7c9a3b5d9b8e59c04046a0f5b91d79c0399444b05d7a890c9d6682751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMkrdfqWQJ-Z1-rb1CM9Akao5vCWFvCw0NbpqBEaePQ0h_ZYgGA0tfq8Jt454qC4lqinsrS3W7Ogf2-e3W_czalmIXDhwq1Ur5-SRl92ndm2y-Q4lwB7t6za2j5xtM2DpmhiKL7zdiIrF-k6FxYPaJd1DQawBNbewKs24al8DAKGJrRBXatfvhW1Uz23sgzDyO2FtR-dAC4Bipjh-RpKTX5_io-Bq-XYob4Q-B53p0dmbjHS0_1lseC3NZxyGsPVgBy8n8dSyi5Gc7CAY7v9DaobrjHyfHylbjV8zu0flnbbBBFsSgD7z4U8PKV5AdoNeXVFaiET21p3AeebrSLBcaApEOHFoJELIYF6PXvIUQiqxjkn1pdoXC7oEeD3EvTkaV9E6ArvYmr0z5VQj0skCGFwKhMJDUPbbamGkWknHtwYUoZO6Tq3pWGNwCZSxfaIaPtSQQAkO80RdP5f91r5imQH3YdXK8SBHy__c7Q9fNV-J_Gy9g6xd6j5s-C0Xvoz_-v8JxZshhilVVmH8Ll6MMgO7Mu-X5NAPZ3TedCw2asZJsU94rUgZ8_w3Tal7hDk42gpGpcZNfqPTHTCjnABRwygq-69YVx94CYaquK-9HO21KU97elASy-DQOfn8LTHDfNc19rmXxBt5jNlQFWcBB-YoVXdw8DvuDxQe5MOFxNDxuXtax-9eNqG98Mdds-hDAadSDf3FQbx2tFAGJIOK3IhRu8G1L9KqioDz0CS0Ibm_QQPRPoglTT7txbcaicNlD-vKAHZkHT7se-M-u-6Cea1S30B8DMhgNSkihmpK6lCxR59tE6MskC7Nr8RjIJZM5UVtUHOCX1JzLTnT4wq4YK86iOiLO8vHgC0p5uc1Mk3XLe0zmZcik_6mc427uJMkrMYFPqhtjQKgjTrw1LruUkHCGT74ALWTi6HrEeb5s_3ABgUKKGYv7Ken0v0N1ywQZx3j89rpzY9ixdfUkkD_3_GESWHvSZFnywebkQKM6QCyhsJ_Ewdctm5im4TU60b7viFkq8CnnRvD_171SMGF1bjsozlfuuKMFVgMSiCIAHBxI5hBarEpYydVo9uzPHNaxmzIBNUO-GMbqYblRr9ex5njKDNovhiiyKFrV2FOmiSp8oBfq8vQHiJgI9pph1BcrBEc6Gr5abfbdRHwLZa56DGVlKmeKcKTs3J3srno9on4y47-tkrj4vjuf44xw5qcGpD5zjOIT_8zNwDq3i2unHOruk5KzgiOT-PG2xhppNmjsKt3DjKSqr1GrTd_wQ_7Rha48XlPLL4KOkEMWl3YgCpKALKdlDugkjieN67EqmxuP0nC92IR67Fi27PtsVepNQBs6ZHABVtc3pgOiKu9xedqBtN0Bpr8nmqVRX7HeYQzVTGgp52FQ5XQxSAPZUElHUY5_rxcLkK2jJflxSRSQdGwRAwqkdc2_6EZkHOGINjeY52WCNf3FdWOBNBZEDIeka6s1iFvqVDQMBRhKyq93CWwwjF_jCcZZQnlYubc-bpvGIXNMn9yeO11O8SVIfoSqhTDvM1q9yEGpevM0K2vea0t7CafR-x_cLn48Up1tVTNEVWTXjs8ldmzF0_J0W43h3hSv7leNAyU6jm_E6PzGMWp68kbxHdnMJ6FgrX0ZgEZ0Mim9R6nJTV0hXetobNYMZ_wt2gJt4e9Ax7EffBdBnsqPBeoTcuJN0cP6mzjdzBJ4t_gzyWlNLmaJIxHNWgO076o50B3SvqFX1gtqT6TGV1ZHB_Vua5IKWVapl9ch0S1WdHKjy4qBQC9jrYGYJXL0k15dQTpdpbI34YHx0O2BAD4eTtti4i-QPK2C7wcCOK_jDwdAnfiCXl7oj9QYq6nihPnOzIgodg9RxFHY19rQg4HDnG-ZPnGvSKVb_t8el52LdD6qWiarjWhD5Nf3yIXMnYAK5v0Wo4y5uxcrkrcUqbFvNAIdh7s7UKHd9ThxA0B5ff657KLWMaoT0gW6Fe7aINuFqR9K5GKVOgg33uvZsgZRI2a6OojQ83p6yB2LmTA3EsAjGiUS8-XIntOrUkB-dTdT7BSMt1uyU5y6177ukYen4imq8u-6F1QpyzqMEsbrECrwYJpZISWDoOz0UNwnVZYuHXYJ3gS4Cs6BEFi9R3zEtYFldvU240_IDEbl4eGP3-98cm4bq_5c4Oyqph9mN7d3GiAppyg28vWen4fHWtw==",
  "id": "rs_025e3cccec29366e016ab453229b7487d08746455b95aa7b0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.16},\"note\":\"At clearance the pink bowl has visible space below it in the wrist view, which means the fingertips are still 2–3 cm short radially even though the rim looks laterally aligned. I am advancing outward at height before attempting the rim pinch again.\"}",
  "call_id": "call_UrnKEr7gpjrOBe4VGPBZfJPO",
  "id": "fc_025e3cccec29366e016ab45324307887d0bf68ca9dbd727993",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UrnKEr7gpjrOBe4VGPBZfJPO",
  "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]: [-0.0917, 1.0489, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4599, 1.4345, 1.0721, -0.6296, 0.2455, 0.2081, 0.9958]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1611 left_yaw=0.0447 left_pitch=-0.3003 left_roll=0.0684 left_gripper=0.9955 right_x=0.3459 right_y=0.1274 right_z=0.1408 right_yaw=0.1132 right_pitch=-0.3742 right_roll=-0.0861 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.4274, 6.7624, 1.3944, -0.0952, -0.0024, -0.0122, -0.3214, -6.7487, 9.7709, 1.3944, 0.149, 0.0415, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47eeb3e2fc8dc9aeaf7f8f244373bd4c0ae04f3f916bdf62a43348801b8e7372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec390160c998277720ea2cee734f511d2abcf433b183b899f089894d7421d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022bbed2a3dc7101a02906c9b0f5b4e2da588e338bd3277d331f49804d2be5cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6193, 1.4677, 0.7643, -0.2535, 0.5751, 0.0498, 0.0128]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.334 right_y=0.1245 right_z=0.0836 right_yaw=0.0992 right_pitch=-0.2503 right_roll=-0.4362 right_gripper=0.0128\nstate[joint_eff]: [-0.0205, -2.8376, 6.7487, 1.3846, -0.1099, -0.0366, -0.0122, 0.212, -5.5453, 6.1607, 1.4042, 0.5104, -0.0659, 0.1978]",
      "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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.0784, 0.9955, 0.5026, 1.3437, 1.0, -0.6033, 0.2813, 0.2382, 0.9953]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0448 left_pitch=-0.2984 left_roll=0.0679 left_gripper=0.9955 right_x=0.33 right_y=0.1295 right_z=0.1487 right_yaw=0.1141 right_pitch=-0.3201 right_roll=-0.0789 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -2.7966, 6.7761, 1.3797, -0.0708, -0.0757, -0.0122, -0.5265, -6.7624, 6.8718, 1.6093, 0.1441, 0.2711, -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]: [-0.0917, 1.0489, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4599, 1.4345, 1.0721, -0.6296, 0.2455, 0.2081, 0.9958]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1611 left_yaw=0.0447 left_pitch=-0.3003 left_roll=0.0684 left_gripper=0.9955 right_x=0.3459 right_y=0.1274 right_z=0.1408 right_yaw=0.1132 right_pitch=-0.3742 right_roll=-0.0861 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.4274, 6.7624, 1.3944, -0.0952, -0.0024, -0.0122, -0.3214, -6.7487, 9.7709, 1.3944, 0.149, 0.0415, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47eeb3e2fc8dc9aeaf7f8f244373bd4c0ae04f3f916bdf62a43348801b8e7372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec390160c998277720ea2cee734f511d2abcf433b183b899f089894d7421d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:022bbed2a3dc7101a02906c9b0f5b4e2da588e338bd3277d331f49804d2be5cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMn_dv0qPXbdQfzWLHFF3Rfgu-UoDvHmWFBI2mTRHy6iBQNrNuD_-Lac11TfecLEW2PIxzgwWWlsVrEJtHyLOYhDURHwi54hSZGquNJMXOisNPe5fXQ1bR_Y4d3kxIbIroV1HBpwnUM8anxnUSq80sevlPJnr1vOzIEb2AI-oWZzeFAdAfE2QYg1AIc3iS-EhCbdrx6panGAqcRdtmZUgKAaI_TweZO-o3gRLq6KGO4YsCb3cKi_clrZL-JSn1fM_mgab4SEv3TyHbdAS7c7EtqydaOR_Ajf7NVqpgTqKcmxNAi3TZo4Zsmk4zlhx41yvml_NUyM5uOooqLCg-DDNfjAtsl1ZdKEniXfabV0NVx6DbRptABuzr30fqapZLG23JVhWXHM_XZvyfeguKt-roFF_UsB7nV-iknlMF7AnneDLSRJ2rcpGeM9MCINeQD10uMqRrodQzSlQpvTHRaUFAQhueMRgx4I7_M4K85bFgXx-3qgUgmiR4ojyX_eWWCevDVO18XWQ3N-ndcjrocbgAT1KLiZVyP0LrCRpmx6u-dVTsYe8OScqM7SpZSoozsjN21ZewrbeVlJsmnkZ2I_8DxRkzXGPpy5DcZEap8PoCnY24NDj_zSGLfzK4pNDzD-5xdnd8gGHTPc7f0ab3yS7V5mi2-w0abWk3vO5wMrC3vgXemU0K0YtoYqDBTU7dgtKB3oByizmMTBkWxfeJhPzaKHsbsxiXCZQ5FnYLGahfPcgbYlAaKk6HLvuk3SO2xDCAL4Y3aMVlN1ZdBy8X4qxaPZ0jCTSEaEt2Av7yGcVth9lCDkAhgUXEM9whsOwKhNl942VtByYSTnGs9wwndkoCJ5rYKLfesiY6ZcTnF25SA4nHLKrL5_1T4qPTJ2cFQpI_gTdgOoBAuhopfplIEQEaFrhke5gnrUnKAno8BRcfx8GgEWt_rqPyor8MRrkFzeAUhjxULWePUCLinrcuN6oAfK2ltwwdZlw-GkCsGf26MgEdMOV3Svq48HUfpgKgbplEOmdJmDxiAx_Yl_FtEUHU6quMizRAFoBdxaT-TjXrXaQtJqvZJDFF7gQ_cNsz9UevpfEwoiVTEbVzz-zQViC4hR4d0Aj3kZBlhrEBzQq6m5t8asD4PAhD9qrxtGjwg-4kxiApQ_Khbow2B1qxdBvAZw9lugIz7Owie6Sz4Qc8wiyl5qqZT9qmMkMmgrlWj3ADzsECw2qvj9TfxfbLzSDWNKwAW57es8kXunCiI7PGc86S-3JVWel6drMVw_Q279aF-WcLu5KTWmtOFcZzrdRydqGapAB7IgPG17L0mNjwofGKt2wg11smNXO354XPgZ6dPz4RsMswi0EA5r7Y4BhQggzDPLYtYDT4nNx6clSHQBTlo1lZoHM-cF2T4XHo6aKM6Sr9iJAvQxU8bYtMto6RiXj81d7ge8-B6GlXpx-ef8cDkXUU6Tz6KdPqqA9k1Ay1lOXT0-J8wFMCwZ1smfHjGBREqs5oa5EbSrER29roWshO9IV-uRmstgOmNmcU-4PMRWXznlEHK8grjeKcKvRYA_g==",
  "id": "rs_025e3cccec29366e016ab45326429087d0953b6b2abaa52896",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.125,\"right_z\":0.09},\"note\":\"The advance moved the bowl closer to the fingertip projection; its right rim is now within a few pixels of the jaw column. I am taking the final small outward/right correction while descending to the upper rim height for a more accurate pinch.\"}",
  "call_id": "call_D84tSvvFh3mu8xwpMfyyWTRF",
  "id": "fc_025e3cccec29366e016ab4532718a487d0a640692e75d4a800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D84tSvvFh3mu8xwpMfyyWTRF",
  "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]: [-0.0917, 1.0519, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4202, 1.5547, 0.9802, -0.4816, 0.2253, 0.1783, 0.9958]\nstate[eef_state]: left_x=0.298 left_y=-0.0007 left_z=0.1603 left_yaw=0.0448 left_pitch=-0.3029 left_roll=0.0688 left_gripper=0.9955 right_x=0.3554 right_y=0.1195 right_z=0.0825 right_yaw=0.0996 right_pitch=-0.442 right_roll=-0.1091 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -3.0838, 6.735, 1.3846, -0.1294, -0.0073, -0.0122, -0.3624, -7.5009, 6.9675, 1.663, 0.0415, -0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2550d2c64f9d38d58a4e31cce2f9a7adee48f90504df2a3b7655d197fa66c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2e5291a9d6f1b8b65ed6433cd7f04206e4284e1daa64f70583bb06b5e586b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1c9389b2329ab3eaa8aad84e1ad3b9ec47b364c7b294ababff4ffddcf29fb8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.6216, 1.3926, 1.0286, -0.6128, 0.5674, 0.0322, 0.0137]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0446 left_pitch=-0.2984 left_roll=0.0681 left_gripper=0.9955 right_x=0.3346 right_y=0.1273 right_z=0.1593 right_yaw=0.1136 right_pitch=-0.2748 right_roll=-0.453 right_gripper=0.0137\nstate[joint_eff]: [-0.0752, -2.7966, 6.9675, 1.4335, -0.1343, -0.0708, -0.0122, -0.5402, -7.4051, 9.3744, 1.2821, 0.3443, 0.1538, 0.0855]",
      "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]: [-0.0917, 1.0489, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4599, 1.4345, 1.0721, -0.6296, 0.2455, 0.2081, 0.9958]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1611 left_yaw=0.0447 left_pitch=-0.3003 left_roll=0.0684 left_gripper=0.9955 right_x=0.3459 right_y=0.1274 right_z=0.1408 right_yaw=0.1132 right_pitch=-0.3742 right_roll=-0.0861 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.4274, 6.7624, 1.3944, -0.0952, -0.0024, -0.0122, -0.3214, -6.7487, 9.7709, 1.3944, 0.149, 0.0415, 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]: [-0.0917, 1.0519, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4202, 1.5547, 0.9802, -0.4816, 0.2253, 0.1783, 0.9958]\nstate[eef_state]: left_x=0.298 left_y=-0.0007 left_z=0.1603 left_yaw=0.0448 left_pitch=-0.3029 left_roll=0.0688 left_gripper=0.9955 right_x=0.3554 right_y=0.1195 right_z=0.0825 right_yaw=0.0996 right_pitch=-0.442 right_roll=-0.1091 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -3.0838, 6.735, 1.3846, -0.1294, -0.0073, -0.0122, -0.3624, -7.5009, 6.9675, 1.663, 0.0415, -0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2550d2c64f9d38d58a4e31cce2f9a7adee48f90504df2a3b7655d197fa66c05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e2e5291a9d6f1b8b65ed6433cd7f04206e4284e1daa64f70583bb06b5e586b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1c9389b2329ab3eaa8aad84e1ad3b9ec47b364c7b294ababff4ffddcf29fb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMq3Iz_9A89YvXsOZpb1LKxTfTHc6eXriONUp9x8Qf4NjgPjNAjoGxDulo6Yyr6OgFgtO0Pr5h-rD7ddWvDtVMPcOSuBYzKSCnjFX7BkKxQbBGald3OqFxUXp1azEDHhCaso0FIBFoXON32nwnboWHTJSh9dG2ZJcgZikabgGQLlh5jNG7tSf0GEjhn-mNRmiD8FXoPFqReKqUfmQpAmbR0Wf3hS1zvlVU2gWj5sMnC5WTAJ-MreCtZkFZR_OcIrOE5sNTV5tutWwbu9pLcfe3Iu9E6KhwrUusc4hkHX3DvwYIBiOiM_wpxe9h-7_-XoX8tLUo8Ur6_QA36l4gEy7SltGUYOR3Qfm2PwVfVbehte3_3palvsEMQcUOkCowILchsO8Sg1cf6DnR70YqUOtjZY-mbhIlnnzmOG3H8mdvC7uaR0_qMOchCGYchmjDFD_7yAsJLaQU98m0SXRlTpMY0xxvoZrpmaO6XVxLUHdEKhRMeDLanUZi_Ks15anN7LAegYZGlculUqEIJQf30NsyuKoy5BOjU9K3GrqB-EqAXTHTbLi79GxFkVACvZZrvdsOgiqPqJK8jppA8KuOzQFJfCwukhdg8S4gwpXeE3nVq8qWn9zd_tj-aZhJG02sGrg8DTp2Qe6myevMOUjIp7sktvfonocfxUbuFtlDsDNobdIDzEGokG-tQLx_rdtNWdA8yzrYll4QDM2VtFSz9sBevowSVkan5jZ2bpiCrAyaW3ft9SYgnYkQX-4yxvLtFxNJORVV14YFssqdGmtA-_h-ziUdU4qpKzv3oluybftQ1zJVnku3OcHQ2ZNt0riUvreA6Cs3nemP1yFarNLJQikLjSgICVwcD5O_KLrfbYL4UKMjJ4FBb6kRiZkvxod_z8FwfJBygY1jUdDXzQ0bdVrsJS7_c790giN5Z6mxO_z2TJWRgZmZSwHdpxuOovJ7Impf0PZkaM81B9z2dopiFv9vz_UocAyKYzZKTkITaNz8lwKF7c8XxyGqHvhwReQNI1jcpQzh-fYYNzI_9HYtrQt3UEcGZG7bqvHsNbcLB0cyn0qhhF-3uqBNUPIMgp_yQ-LbQnM-_MB-Y55x6S_O5JzM7oVpmDAgK3Edw3cJxo9QenUqDCVkwo_O69JYNl41SgXQEyppQ6MNvNGgyL8sUUVRnCrWod2EovdhIEF3DUGMtgzeYKsIu3evc1pv3LX1vVuNcfGdRIfb2ETLgTF54EWW0vklf2j8SQlYPbimv83aH9-vn4B7LNlGiduTPPMTnPwMLXxv3G2C2BclXS7F1bxr44w==",
  "id": "rs_025e3cccec29366e016ab45329b81487d083dbc1fc3ff8620d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The final approach places the pink bowl’s right rim exactly through the jaw convergence line, with the rim filling the lower view and no radial gap. I am closing now on the aligned upper wall.\"}",
  "call_id": "call_12ARwplEBtJklaJJqmByZpfd",
  "id": "fc_025e3cccec29366e016ab4532a010487d0af51df3389ae2254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_12ARwplEBtJklaJJqmByZpfd",
  "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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5692, 0.9684, -0.4934, 0.2218, 0.1646, 0.0087]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3495 right_y=0.1165 right_z=0.0717 right_yaw=0.1024 right_pitch=-0.4801 right_roll=-0.127 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -2.8923, 6.7624, 1.4139, -0.1197, -0.022, -0.0122, 0.0889, -8.0615, 7.2957, 1.2527, 0.1343, 0.1392, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240f115bd2c9c93f3b24fcc00b6c159c5cf50b06786af9c98248394e16155f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e037a21d7f8a6eca5a1a0baf59062a6216443e12e0f32c3510bcba43db4dd27f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2011433d131d209ee5ae3c51be85d4bbc9a4507ec507bfbd980dfe13dfe40b22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0473, 0.8452, -0.6765, -0.1307, -0.0784, 0.9955, 0.5026, 1.3437, 1.0, -0.6033, 0.2813, 0.2382, 0.9953]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1616 left_yaw=0.0448 left_pitch=-0.2984 left_roll=0.0679 left_gripper=0.9955 right_x=0.33 right_y=0.1295 right_z=0.1487 right_yaw=0.1141 right_pitch=-0.3201 right_roll=-0.0789 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -2.7966, 6.7761, 1.3797, -0.0708, -0.0757, -0.0122, -0.5265, -6.7624, 6.8718, 1.6093, 0.1441, 0.2711, -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]: [-0.0917, 1.0519, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4202, 1.5547, 0.9802, -0.4816, 0.2253, 0.1783, 0.9958]\nstate[eef_state]: left_x=0.298 left_y=-0.0007 left_z=0.1603 left_yaw=0.0448 left_pitch=-0.3029 left_roll=0.0688 left_gripper=0.9955 right_x=0.3554 right_y=0.1195 right_z=0.0825 right_yaw=0.0996 right_pitch=-0.442 right_roll=-0.1091 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -3.0838, 6.735, 1.3846, -0.1294, -0.0073, -0.0122, -0.3624, -7.5009, 6.9675, 1.663, 0.0415, -0.1148, -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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5692, 0.9684, -0.4934, 0.2218, 0.1646, 0.0087]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3495 right_y=0.1165 right_z=0.0717 right_yaw=0.1024 right_pitch=-0.4801 right_roll=-0.127 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -2.8923, 6.7624, 1.4139, -0.1197, -0.022, -0.0122, 0.0889, -8.0615, 7.2957, 1.2527, 0.1343, 0.1392, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240f115bd2c9c93f3b24fcc00b6c159c5cf50b06786af9c98248394e16155f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e037a21d7f8a6eca5a1a0baf59062a6216443e12e0f32c3510bcba43db4dd27f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2011433d131d209ee5ae3c51be85d4bbc9a4507ec507bfbd980dfe13dfe40b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFMw8umZY2SjGBxrPqriHO1krsyS1RnusJqav2SlJZpD0uTSjcKSADmvP3qcZ2AbvbQwOJ_ynjhgqT93m8_k4q6wT4wkmZF19GYIwWtpfdSPwAYPE-k1xgz2GrmaTMiLBVq39LIqUR_6MC12OvrQ5Ba8FZIKzOIysHa0LgC0heUYb9wxAGJ0FhK_okOvLBaTqX_7biQp7185Pcrz2nU9A-4LG94sUgoq6xzcxCh_EYMIIeqSreuyqkdyjw-FSZJ6pzJDXEkNAMgkBOqZYm_qnomDuukNH413sKPYOOczPIUcseAd9X4J1jX392VVGuGXwC1-ppwartrLAyzAhhnulQbOD3MJ3pIL6dpQtfU7cqjBm9_wY4JxH1QykfevAXjXsgvtV__C7ZchLc43GizUUi1cCz6lpqNT5ZYIKfmytfQtM3PAtHjSMC5cHfcIsC2R0GFy0UPvZbaSw856XGIBOy2rKYfjtb3YmxxCwECeWEqjIC2FMf01O2CHYzc7ZlN1BIPl0K8vc4vpxw3qh_p8KlD2ac27W4TK2QF82T21w5hoPr_8ePOAd5JLTZl14qF56KV4W2VKZsDNtLK4SO06risS9sbGDO1L9epxyegUJRwtZw7RZN_OsC7h8yZxLcxTnTl2dcEEm0Q5ubuQiu25iq-ojNeL_J8NGgSU80JTOuzSG1-sTj9UJf-Ge7rLTOa6B7dtCwqdNlH_eK856CYEyZE7M4iDSh1KDBKE8KRpR1U3j9i5WPxbfiLTgMCWlKkXGmXNHD_vHYaJJ-ofx7l_IIIYAEMEfjDsvREtEOpy4YxXL2MgKVvNweckbOwH6nysDPbtaw-SxvszI9rv9koZn68kBvBpwb_t3ic0HgNoRlyXdrQWT6bC2KJNeAQO_hO_xCgDo0rZ04x2tDhBVc5XPD9kCim9o6ODBq0RTCYrhKj9CQipF335F16tOZjWZyOnOqHidqt3XO9w7gybVBkmqMJb4JrfoW0g-R2UrLPYG2OOSYEIBVEP-Y3rp8jVldrSy0sjYu5H92cf-WhHcTyPQv187quw-pZyBatryOTweDBfwnaWPPYegC8oxnKdmhFGSPiuqmnS7-7CKFxpsJLYqiitaYl4whULWii30jAHxHrsnWtnHg7JeWYlkX33BSQjC_mqi4Ht5MyReY97zSR2bRUtQs8HR08Xj53SQJNvEZ4OTj4J2ofCHdnBgy0zqazJXCUs6FcCnehenJkrNdiKK2QV_-dQb3z_pi1FbGW5ES6_iYOcLkWVNN9POKAObXNsAj_2iG6O8pUqbmr2PKzajLkG4riU5UY0Xmqp7x14CLJncGSP_ugFsWKfiUHUs_kzcF10",
  "id": "rs_025e3cccec29366e016ab4532ef16887d087de9e6e7c1be9c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The closed fingertip now meets the rim precisely at its edge; the small gripper reading is expected for this very thin wall. I am lifting vertically to verify the corrected grasp.\"}",
  "call_id": "call_WdaUowLawZztdu9dZPqk8F0u",
  "id": "fc_025e3cccec29366e016ab4532f678487d09986143ebd3142a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WdaUowLawZztdu9dZPqk8F0u",
  "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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5375, 1.2152, -0.8059, 0.2192, 0.1562, 0.0108]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3491 right_y=0.1168 right_z=0.1362 right_yaw=0.1043 right_pitch=-0.5137 right_roll=-0.141 right_gripper=0.0108\nstate[joint_eff]: [-0.1709, -2.8239, 6.735, 1.4579, -0.0708, -0.0317, -0.0122, -0.1983, -8.8821, 8.8957, 1.2625, 0.1294, 0.0415, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3e3d10ad436f245a5f98ab60e63599034dbb3583f196e23e16f0d6dad65136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52ab0a743c80651af1fa7961ef9cbc8b2545d2b5f4336223134e038cd39897b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e6885704975f6602eee55f57fd73b35a27522bef7be47b077a71c003c45342",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0489, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4599, 1.4345, 1.0721, -0.6296, 0.2455, 0.2081, 0.9958]\nstate[eef_state]: left_x=0.2978 left_y=-0.0007 left_z=0.1611 left_yaw=0.0447 left_pitch=-0.3003 left_roll=0.0684 left_gripper=0.9955 right_x=0.3459 right_y=0.1274 right_z=0.1408 right_yaw=0.1132 right_pitch=-0.3742 right_roll=-0.0861 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.4274, 6.7624, 1.3944, -0.0952, -0.0024, -0.0122, -0.3214, -6.7487, 9.7709, 1.3944, 0.149, 0.0415, 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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5692, 0.9684, -0.4934, 0.2218, 0.1646, 0.0087]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3495 right_y=0.1165 right_z=0.0717 right_yaw=0.1024 right_pitch=-0.4801 right_roll=-0.127 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -2.8923, 6.7624, 1.4139, -0.1197, -0.022, -0.0122, 0.0889, -8.0615, 7.2957, 1.2527, 0.1343, 0.1392, 0.6422]\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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5375, 1.2152, -0.8059, 0.2192, 0.1562, 0.0108]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3491 right_y=0.1168 right_z=0.1362 right_yaw=0.1043 right_pitch=-0.5137 right_roll=-0.141 right_gripper=0.0108\nstate[joint_eff]: [-0.1709, -2.8239, 6.735, 1.4579, -0.0708, -0.0317, -0.0122, -0.1983, -8.8821, 8.8957, 1.2625, 0.1294, 0.0415, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3e3d10ad436f245a5f98ab60e63599034dbb3583f196e23e16f0d6dad65136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b52ab0a743c80651af1fa7961ef9cbc8b2545d2b5f4336223134e038cd39897b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e6885704975f6602eee55f57fd73b35a27522bef7be47b077a71c003c45342",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFM3RSPBKohWjsW7YEXbzwcCpXS67Q6lkxMBiJmlVS9vhUuO1BCAE30JfmfLKKi0Cfja76RkEo8qNi3qDmgknjMANnXjn8epmi06-_Pnsc79EP2OmFy4-od3bVyWvgKyINMdo92-BmpR9oLOSziEC0I4_JTg-1ScA2a-dcYoC_EjJVQxpKVYLGt4plEA0WKjMzLa5tc2rV2Ggf8sLeKs36nO8nDUTpT5V9iTEJIsEGbPZE07TkxKlwQcJyTdhfzoiOI7Et7clQ3xZu2hK4xmweDBFWhbus0lcdG6KZ-B0FV0cPEaFAcaw7eZPj3XUWSR8wdvLgiQfzqwiiigbvhy70Q2PmmCd--mUgrvMrrBb5lnXI1DyAhe2CA47QJJzQEKjq7j3sC3cv26D3EPPzxsMIvyv-7gGBv5aDmXbTaX7AwZQy3baHxCVvYDvWaMlx4gr96mluQX-WZIQ61lHBzA6c97tBbCxAMuklrIOiamTqiQJvcFV7Lqw4baeJn0cqu5lUpQkamnsnMCzGo0BxRCPlmnvT5WAwTpW4syapGFZiJbNAg0yJCtV92yxplL_W5UqtfjDW5joJUX4nM1kPvPqies6F4Wcbwl-Ki2NrY5w9DHOVr0f7KteJAvaN3kac69Ww4LnIU-eWtMxr0U4A9ynr165kqhdlLN4FhjgHbCUQ-BLwKwDYuVHoxI5sM6IHPCXE-a6WSN3RGf_555pCGLhX1bj0p_MCtiUkwnMFm-i59CUlYVsMoUm_k58rEi7NgtaYarxVvSTbpZGQU6Ldb1aXDHezwzkLWPPhM4yqeezEENh0ydl0U1sL4wtnKWdq3DUXOh3sPcheArK0yuyAikrOE9GHlFvjOYEW3kjGKVtCWflxGOXPBmxME6of5IuQtJifjtE7vfQ1A1JNuHw1t4xDwLYQBAHwgAXmTqP8X_6aOxw0xagTfWh7W1zLE0pB_rxwEFqDojbL-itg0tL3gQUArsqFuLvyMyId00eu7wZJnE1K5n5kEXJDYgh-gSCRaZE4Rs8xoSpguvdfrCriaGgOge7iDLZ8jHKpLJP41ZCq7kUEkcPbR1WZb1aklRz7SXvewB6GnT7QDJxojuyNgvYYE9hwLw8HIBIvPvX2nljzKsHNkjQmjiXe5_CVLsbI3GrnKE_EIXkurWgb0u1RxSGZmOHbW3-gpZoR6yEGHiTXNayIz2Tpown4eAKtZVRIvdut41V8np7ngaTUDLFLieazFltaB6tJ4GNa4XGEM_Ef8et2ciELQ-MED4i_wpjEv18tBMIxa40CUe81ELNJ_BBaXOWoaS0fpXXu5ddOupm4iY62qPVUG4ORMe6L-EYzFj3vSZlsRFR00nwn2EckNYeMT7c6hwPn2aowAf2E9_m2m3nhRNAguiEw4cb-cDDGBKnYTGliT1Ifj6FYygijulApKthERO_k-mHDeW_eVkR8_KFB1W-blJl1nsP2vnXActXmrdFA8HRFQaxwjM0eQrAPc4j13p4KwUF3ZBobKwh1M2w2heDxJIrWTaG9V5_oWoevhD8e_YRTp0f6G5TuzJMhpZhvZUsjOu1soovx1EgFnY-nEmc3tvaEReef12aB_FouSAUpo1cUVRiTdVIWGJs5pr_-oXHMk_qRpSCpCSOTcgtas94ldGlY5HaddWCs_Hc-QQ3nEx_ujREAZvZu65oMbbhzq61gpA5CkYJSr2WFhJbxyPRCXda0Tf5SrkbqMwShR3Egofl7mgVAdXcvT4bn3wD_QYFIlmkCcw5n4e5jqu7AWPoJ5bWlpze0po6GvxAirgAIePYOEACUHMn4HJ-Wnz4f4tXL0CRzsUx3fDItCQ1K65lTy1uukBsnPXGPZai4lI0sA_deSBxU--WsY2WpMqPBRiO53szN8Cml8dudxDIE0_CD9Sx1EFQ_wGHAoBzVBlyHE71dTrHx95M4g291YNXL6hc7yp9AVgSIR9XselE4iO2HfM-c29UJiPf5TN7zt5QYKx6FLftxyoZs-6BSxbydXGPRk01BabqBAPwfe5VxmLqo8ojdTgsAM2xHj1K7EXw4GoIgDG1uYYI0if0oxaQY_6bh4a8FDDfimLWDHEFEGGlpXUY8w_yq56LJvL6hjGnldy1FNw3ieNYHwyJTfRrTNXQiMilwQk6prm8SFm-uDbGBaKZl5gqxD38l3l8X0yEFTpJhYCfjdERLa5C8pBbzs5ZDgKzIHVhT5eW7NhkvIEGOXPZXHJ1fUEYP_a8uaSetMmwOf1Bz8gS5kpXd4F6ZP2V1HCvyZsm5lEyCN054WVU9N9x3tiqI0xUGGit8qhLGi9SI4p2yHuIahqAUfyeUujUkUwaRSr1ceo9VzCRXHraMg0YXzyRuTQ_QedvQZ_FWETM3L8fHUnR6lt8iXpCzpZVlm-nlZS25XuNVyGf_8NtHWh--_8vwWi3AorVPYSeTXYbFUCMXV7ASB_ho-IzEblprr8LQvF7nnPCbqCbnMeZnw_DZAkcvYy_I4GYLq-7SZNW2MYcDYgodNzo-SOIM2ASfutPlZGkuJRQoozR7XyDjwPEBkmCnfSTtDaKjk2DjeJvMIiDkOBr4-UH-_ryo6Lv1gGs__PvJcmdsEYYcCpyqg4uiQKyZMeom6Q_33uW4xlmUB_TVJzZeAYJVKfeyP7k32_uwduWwuugVHTMXV1hoEhIyuu7mmpmxxBowwhoHHgzRVmP3SvhP_EAmfX0a_gtZW218Q5GQKAVhIXWu-BXUILbfi17RxhW1o50oT-ijooYeEzB_MNdile2RRcgkdY1tmeaLVjOmUkjqG7XNEncGEfYM9-5Sc3BUIUu680cb1HlLjdQOCf9Jf76jfXMtb0XbBVXEHBadlWeiUuAjEyl6SPPLB9KhrkcchbcFIfFqib3i8kI5MO4SYqlgjq4ebQzhWJ9BfY5Qb51h2eixaDvnxaayQHzW6mWGICPItX2KGx2YDOohVjjvoelW7tCHazU23s_1w8Y6tjY0trtU9mALhQouYkUoiqu9xSKHuwarE0f5-XNT6kIMTgX7Qi44xiSIRGH7itHkgT5XXp6nnfgsQeN-2adJyS8NAQPh03jdl0INGS26vlDASTXXP5utr9VpJDOBvIGdfx5ii6VZan3LvRqtTWADi_SAXkDP8oclW2MzlFiFQCoF8dc2LmD8FjRGJmTVGGZ-0SEn10Z3Ms9Diw1mkaGG3gbTK3LEA20PYQIB9T7VjKNMnFOaNgCd743xlR4KIV1apTQ6rMeL45gVfZbcpkvSsQN56Qk2lEeMTK-1ztf5fcpVnI1OIj2nQSZ0T5q_CSDyhZRN5NjYSnqoMdjqhTgw4C2yubAmv9PzyYSfww_vsW-GgnYX70b7pUDHRn11vkugP7rC3PQnpXhOQTiPEL4_o0gb8fSVaOdSgd7afNrwnoaPSL-w2l1e3F-cKvXj7j-0kcFcbp3s4pC3egJ_UidsYQ4ufqXk1Fs1GKPLykSzvLOKLHsPdcdaR3ja3X0XXpjPb5HtiH0VDsPMvAG-uqb04MSJPVbaKbKlTstyjMSrLRLgyYR63008qpzlKz5OfcxC7ds9OEn7vaivvDZ7BwAaHZDjmi5TBmUtC6x5Rh8QlsgWZ8RziWqY0gGqzQMobtLdciu3Pgg_U-oJO4nQdv6_9t1v69KmssltTIefEroqbBQWhrN_2P-lbWWN-9LZozcxuwBORRJ5VVc_Lbj3byUbH0e0gbd-F-_XU214MpLk9XWGSgckdEiPgi3JXhpcXCFlK9b1Ew_44gIwr6-uhM9uwVIeOpYQMQNtvKLTLyIGp2y2YKX32NBw==",
  "id": "rs_025e3cccec29366e016ab45332349487d09bec27dc3585bfc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The bowl again stayed on the table; the wrist geometry explains why—the visible rim crossed the jaw column well above the bottom edge, so it was still short of the true fingertip despite looking laterally exact. I am reopening at clearance and advancing several centimetres farther outward before one final rim attempt.\"}",
  "call_id": "call_zH4ixqegDt4V2uvu8QbtlrnB",
  "id": "fc_025e3cccec29366e016ab45336a85087d0b2ccf2a6f14ce90e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zH4ixqegDt4V2uvu8QbtlrnB",
  "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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.0784, 0.9955, 0.366, 1.702, 1.4868, -0.955, 0.1925, 0.0856, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.0452 left_pitch=-0.3078 left_roll=0.0692 left_gripper=0.9955 right_x=0.3858 right_y=0.1155 right_z=0.156 right_yaw=0.1151 right_pitch=-0.5668 right_roll=-0.1636 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -2.7829, 6.735, 1.3944, -0.0952, -0.0659, -0.0122, -0.9504, -7.4872, 9.2923, 1.1893, 0.0611, 0.1685, -0.1148]\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,$blob:d5177dc533cba8474f854a95106218299c42d1dd7813417eebe3252dcab64849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41780755c6cf3f9070ebbc2daf2fe11b69acdb63cb83b8870d372b5498f97dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4b57d3a400a8080b9c16d954d5f8057972c4ab45bbde00c5b2ce3eae65e9b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0519, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4202, 1.5547, 0.9802, -0.4816, 0.2253, 0.1783, 0.9958]\nstate[eef_state]: left_x=0.298 left_y=-0.0007 left_z=0.1603 left_yaw=0.0448 left_pitch=-0.3029 left_roll=0.0688 left_gripper=0.9955 right_x=0.3554 right_y=0.1195 right_z=0.0825 right_yaw=0.0996 right_pitch=-0.442 right_roll=-0.1091 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -3.0838, 6.735, 1.3846, -0.1294, -0.0073, -0.0122, -0.3624, -7.5009, 6.9675, 1.663, 0.0415, -0.1148, -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]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5375, 1.2152, -0.8059, 0.2192, 0.1562, 0.0108]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3491 right_y=0.1168 right_z=0.1362 right_yaw=0.1043 right_pitch=-0.5137 right_roll=-0.141 right_gripper=0.0108\nstate[joint_eff]: [-0.1709, -2.8239, 6.735, 1.4579, -0.0708, -0.0317, -0.0122, -0.1983, -8.8821, 8.8957, 1.2625, 0.1294, 0.0415, 0.2125]",
      "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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.0784, 0.9955, 0.366, 1.702, 1.4868, -0.955, 0.1925, 0.0856, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.0452 left_pitch=-0.3078 left_roll=0.0692 left_gripper=0.9955 right_x=0.3858 right_y=0.1155 right_z=0.156 right_yaw=0.1151 right_pitch=-0.5668 right_roll=-0.1636 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -2.7829, 6.735, 1.3944, -0.0952, -0.0659, -0.0122, -0.9504, -7.4872, 9.2923, 1.1893, 0.0611, 0.1685, -0.1148]\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,$blob:d5177dc533cba8474f854a95106218299c42d1dd7813417eebe3252dcab64849",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41780755c6cf3f9070ebbc2daf2fe11b69acdb63cb83b8870d372b5498f97dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4b57d3a400a8080b9c16d954d5f8057972c4ab45bbde00c5b2ce3eae65e9b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFM8SwftLCp_135NI2s1Ule1MJW8VAFml9pVCV8zHsh4Q7RdQPPSQuFb7XzlAea3eii_wWxwEctNQqoETsgNVwAvF6QiYs7KCcTZaQhOgY6ptTNQxG5PkX_QTZKsKj4jjuQBd_BMxcdDthGv3ywhpgSmIIKG4qv75_Pv4dXkB7vuISLW6EYrrE1YctXD4AOtZtcjiCn2n6rukT4q-iAvQhnJXWerGrh24PH8AcW-VZLcZStVL-25ZK0O-n7T5grC9vHoD9YdMjCG2Pdncn7c-JT_PgFRNuBDwqQnaIgO_cahpKkxRNf1GM_LRsBXwFFNHgb15rFejNz0yN_6fVtIIc6Qm1mX5C3s-Z8aKUxDMfXL0E9AIQTQGVjUT7jRz8F65v3sa30z9o3N1w4kSJ7V7GEEnVp0Zsa_7_JR-ydKVJZ25FT0ERH90gJmbEvSDLKWGGgyi-vdzsXvNTTdPf6Ma7z8k---75iii8CkPnlPRjPuyfGJ93-Bg1YoskLiFn5Wsic23FCGQ6tMVZop4ebg09D-fVNj6FmBb-uXit13T7CoZKit3GUOpTt0fdvWV0kVS7-Pb_-R93VGViUDJa_8wbiVblCobIRm7fEB6P4dFAGjEKiFyOJtRF8uc0PuAq1e3rimf5Lxoegsf3BRdcWAAcZYuCMMA2xQS2KBPH9iN6HbRauTP6eLoYAMUL023noXOoxTG1K5ZdgP689L8o_wRAHBHV2kMTP03COWlfiDAAT_Wq9RBnXbl2a5-OBUQSKyNHLoIvrHmk7L9fJwwUw2aDXQNVoLBYYLUYnRbt7664IMd69Eavk9jKxrC3TBonuvSrP7SIhRXpxqya44F9ufrc5lVLxqbjwaqQR8OpoCl0c7RspBXiOYbYh-9JzW4f7nnAxLQ-kFAZBrZgBLdob9qZLlcncd3_huMWJNycx88qiY-9Yu0RrTl6NruecBVXdTKRVChZhKkVHVw1A6v8U7PpLBfam6mYvqpk7MCCmzrO8h-WsVZFIi4keZebtzKHq4iEBFWZE5Zz44y2gzlPRjPj6f7OxY6Qn-fFpWMUjHR2LX4PquYtphonjpAIBrQboT9oXopPOBuBLCfeVyJtOouqFg04XI22y1Yx3hhrFGDiIj62NmRo3XJSyrBHlzFGcdhLkvIt_HDxVSH_LwyomHMiNpoSZmIcxUGwDX1NKiakycTeqmdenhYBnMl0A60JOpWM-lr7-FcZ3YMIrstQOtUaFgCnVD_Oqbh993UUlVVNym57TiknfZVykcwqyuunqxQB4WNg_RvL8HgL8-FhvQH5uV-EH_eb5nWZeHjCZs60mduMRSWSNjyFJQxibgfdsQBns9FCke-HF2gt6rw9k0tyD4K2Cxe6PBOs_ueJwyutxtT0S_cz7LbTJeDR0YzLKVu5jhsFpl_AjhOxLz4mmbyF4YFJPtteP4qMveyATJlua3ri5ReEPt4kR-0fkMTWwYjpV2T1qvjZESAk9UrNh_Jkfv2PvOBesMKwWbVxpY9g66nirPFP4Loasuavi2y-AWShcTcEpaVrIZmOgjvIYxXCdGSNa-GHdQNwqMTkBWqRq3VVPB9qqezQRepLg3G0nxsKtBYSF-9SQOrCqXnrAZ7pkrdoXJdCbqRUwdrkjQugtyhCvGQng3hV_GmOop7vWd_ooQhMsKtYABBbA5WZ9xaKWOOlWCrM0iPpVfvMmOQuUKGYRgAXK_34ML3gBrvS2k48KcaRGMcLugnSEv0h4Tl4imrriPjMuynwH14TIT-UYeo0lcwMoWjfSvwvifyUv2e4GUHY-KEQ2qP-Nq1q2ySSKN9g==",
  "id": "rs_025e3cccec29366e016ab4533a571487d09519999d14736458",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.115,\"right_z\":0.09},\"note\":\"After the larger radial advance, the pink rim now reaches the bottom of the wrist view near the fingertip location instead of sitting high in the image. I am descending at this corrected radial position, keeping the jaw midpoint on the right rim.\"}",
  "call_id": "call_Ojt1BXmNgiiVwh8ZZFv45sST",
  "id": "fc_025e3cccec29366e016ab4533bb10087d0a2c7b5f85eb409a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ojt1BXmNgiiVwh8ZZFv45sST",
  "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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3546, 1.7672, 1.3174, -0.7803, 0.1921, 0.0727, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.045 left_pitch=-0.3078 left_roll=0.0695 left_gripper=0.9955 right_x=0.3851 right_y=0.1104 right_z=0.0891 right_yaw=0.1023 right_pitch=-0.6261 right_roll=-0.1874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -2.9197, 6.8444, 1.409, -0.1294, -0.0464, -0.0122, -0.6085, -7.9658, 6.5846, 1.0525, 0.0122, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28503f3c023649785b1bca3f99a6e574b43c50c040ead00075bcad9eedbe3903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379ab9f093c88beb08e92550d466a6ee51b4fc4cdc5e8172e9d4517b198edafd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c608d22a9889e9aa8fa068d71701741a3fcc9bafd9012e28b5e5b20b270bd1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5692, 0.9684, -0.4934, 0.2218, 0.1646, 0.0087]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3495 right_y=0.1165 right_z=0.0717 right_yaw=0.1024 right_pitch=-0.4801 right_roll=-0.127 right_gripper=0.0087\nstate[joint_eff]: [-0.1299, -2.8923, 6.7624, 1.4139, -0.1197, -0.022, -0.0122, 0.0889, -8.0615, 7.2957, 1.2527, 0.1343, 0.1392, 0.6422]\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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.0784, 0.9955, 0.366, 1.702, 1.4868, -0.955, 0.1925, 0.0856, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.0452 left_pitch=-0.3078 left_roll=0.0692 left_gripper=0.9955 right_x=0.3858 right_y=0.1155 right_z=0.156 right_yaw=0.1151 right_pitch=-0.5668 right_roll=-0.1636 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -2.7829, 6.735, 1.3944, -0.0952, -0.0659, -0.0122, -0.9504, -7.4872, 9.2923, 1.1893, 0.0611, 0.1685, -0.1148]\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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3546, 1.7672, 1.3174, -0.7803, 0.1921, 0.0727, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.045 left_pitch=-0.3078 left_roll=0.0695 left_gripper=0.9955 right_x=0.3851 right_y=0.1104 right_z=0.0891 right_yaw=0.1023 right_pitch=-0.6261 right_roll=-0.1874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -2.9197, 6.8444, 1.409, -0.1294, -0.0464, -0.0122, -0.6085, -7.9658, 6.5846, 1.0525, 0.0122, -0.0513, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28503f3c023649785b1bca3f99a6e574b43c50c040ead00075bcad9eedbe3903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379ab9f093c88beb08e92550d466a6ee51b4fc4cdc5e8172e9d4517b198edafd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21c608d22a9889e9aa8fa068d71701741a3fcc9bafd9012e28b5e5b20b270bd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFM_FjKUA4tQQM2V_Cs8LJkmEpgM1_u9Bl89TtgYujTHCkDbU1SYqo7oVZHRQGsj83PbHHx-20fzGxSC1pNgy0w5X_3pgZRHOCAXywbVV6_wk6IF1IBx49-bRHaPwNEEKTbD0FzaAo-V3K0Idkbma6xCB3KJjskE9EXVP5ry8sHYL8V9R8Zi0lZfkDjt-0tAwTOerMEV4Zza5X3T3tTJSw1x7WmuZD6oGhA44ko1Ujbyliqo_JE66JgO9CXRqH_xsYp17jAfWt3nIQLL4tVaRwptfg8E8jae6NhaC3o3FRHoYHHhlLVK5sgMvF-CcjpYbJY9llxSKSF84FVkQSqnWUi3NUr2eiDBEkbtpyhpRjU6J-H0b-XIi8dLRntFk-NONiOrW-tCBeHtzhJ0GkxFAUPOHQH-IdXs9H8Dkt7TWy5U4HMzDKckowgWxQp2UdSQmgkwq29wBul8HZ75nCrmtT3vq2exxJN7wPLjfnNIOJGo7CJExVRz4pHOfCMvqodDv9g0yu0a72hK_SkhHDuI_iXDTtW4B-HOcgTKfXg8mUQO9LKKQol8IMe4a8LV4pfwIf1it9tEsM4DrEKpujm1fofJQVhO4R_QzaWzCGbcVI4yY-W_QKi34gnpd9s2Q6ESDIFFGcpE8oJDbvB7Hg8EpyvkcuHJenBuze1idox2P2s7W_sFt7TFHj2LW26gv3iPxn8bATDMEg2bukRiYWz5sKXC4Q3tNVnZPBN_4rP-mRZw8i0QZWh6HCJDIv3HKBqdoo5VyGUSEzra90K7HVzyZ5q4BKn6zHX8Bzsh0GvKqq6VRGo4qPhfL62iSxrvTNaAntD0Fm_WAjOTfvD_h2x7uiYQljTKaqieUVQS0ZM-_QpKWGrW7nJBfjYL-V6lco1iOUcNByUW_g2pB_L8Ak1ZJGmuuqplUcXpXga7kzSd7jImDe_Z7cO-Mhkm3Yf3Ma9Eyd7D5GcTmmnZbvgeLD3V22jAiTYeh1WdiZ6_m1-jwQQB_UF1TIgrxpNVe-Pg-C3mIc27wHOasYdMQh40Za1VuCdVWWsTM_aTaDYiyT57LCL5Igrbzwm0Dou2O_-bfd9pBXfC-OxCcSADEra7MJS-kv9_i4O4IA5odZCGdyQbwGs_QxuC4tLXFMUZ0JTkIlLy35UoBiHxKvuGUYXIKZD6fhJBA9qjyHotxleBw6SyVTL5bbW-mFWn4OiIOC2vOox1ZO-9l6k8m9z-PEdmo2JCFNmoNJlAMU_mr11NpWyWZ8pKS6PWkr0JE3NjKpK4QLfbc98wCWZ7e1UUJzmJO1nET8CEOr5HfFxCcjUWOz48oNY8AhT_NrqABqRpUkvv1qm374Q8sZgGFeppGZhWWCYMx1hZysiw-NLroYjqQQ9EFZunPMH-L2KDlCfP18X4pqy_2o725PCBcmoq0YFsL_SGlw7TZROht-1_JcLNePM-7uh8sflUqC7tpHJE1Q_IR0rM0Ep-Xt-tVOpQAHodjA9Y07x0Zqo2OwtlB0CnFhBMWCMDmq-CTrzAvw8ZI6ZyhmteFgBVodLLsiIyJh_yer4zRAfhzd-d6p2EjJ6VBNglsKEukJpb71oNzwiVYI1KI933EToMy1Y_xVWrprDOekVFzdVphp2h4dTqgdawVKlwPsu_sVCe_1O7ZeCAF-hv_IzCuQaX",
  "id": "rs_025e3cccec29366e016ab4533e2c7087d08a6180f7e531bb34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.13},\"note\":\"At the corrected depth the bowl rim is finally at fingertip range, and it now appears about 1–2 cm left of the jaw midpoint. I am making that small inward lateral correction while holding height before closing.\"}",
  "call_id": "call_eIB1vtvpGQHRBspdVeJFDkPA",
  "id": "fc_025e3cccec29366e016ab4533f023887d08c34dac41310508d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eIB1vtvpGQHRBspdVeJFDkPA",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3801, 1.7786, 1.3087, -0.7464, 0.2035, 0.083, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1589 left_yaw=0.045 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3874 right_y=0.1202 right_z=0.085 right_yaw=0.1124 right_pitch=-0.609 right_roll=-0.1911 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.8376, 6.7761, 1.3748, -0.1099, -0.0708, -0.0122, 1.1419, -8.7179, 7.3094, 0.9402, 0.1783, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc4b856c9828ceb6d29d54de1180a7ace4efb37d3bfa0268283b7ad640e726d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469ae652b799f558a7ada2be5df172be7cf3a7b7d76515dbc0a4bb9983df0106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b4bf60f86c1fe7519b9e3d41b993381575cd237a09dfaa110f87fb558be177",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0527, 0.8452, -0.6765, -0.1307, -0.078, 0.9955, 0.4175, 1.5375, 1.2152, -0.8059, 0.2192, 0.1562, 0.0108]\nstate[eef_state]: left_x=0.2981 left_y=-0.0007 left_z=0.1601 left_yaw=0.0448 left_pitch=-0.3037 left_roll=0.0689 left_gripper=0.9955 right_x=0.3491 right_y=0.1168 right_z=0.1362 right_yaw=0.1043 right_pitch=-0.5137 right_roll=-0.141 right_gripper=0.0108\nstate[joint_eff]: [-0.1709, -2.8239, 6.735, 1.4579, -0.0708, -0.0317, -0.0122, -0.1983, -8.8821, 8.8957, 1.2625, 0.1294, 0.0415, 0.2125]",
      "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]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3546, 1.7672, 1.3174, -0.7803, 0.1921, 0.0727, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.045 left_pitch=-0.3078 left_roll=0.0695 left_gripper=0.9955 right_x=0.3851 right_y=0.1104 right_z=0.0891 right_yaw=0.1023 right_pitch=-0.6261 right_roll=-0.1874 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -2.9197, 6.8444, 1.409, -0.1294, -0.0464, -0.0122, -0.6085, -7.9658, 6.5846, 1.0525, 0.0122, -0.0513, 0.0464]",
      "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]: [-0.0917, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3801, 1.7786, 1.3087, -0.7464, 0.2035, 0.083, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1589 left_yaw=0.045 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3874 right_y=0.1202 right_z=0.085 right_yaw=0.1124 right_pitch=-0.609 right_roll=-0.1911 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.8376, 6.7761, 1.3748, -0.1099, -0.0708, -0.0122, 1.1419, -8.7179, 7.3094, 0.9402, 0.1783, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc4b856c9828ceb6d29d54de1180a7ace4efb37d3bfa0268283b7ad640e726d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469ae652b799f558a7ada2be5df172be7cf3a7b7d76515dbc0a4bb9983df0106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b4bf60f86c1fe7519b9e3d41b993381575cd237a09dfaa110f87fb558be177",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFNCOKvk9L968rWCRpOeZKmu1z-udKh6K8Cy7y2IgGvktUGUu3SlCHUKEQG1qInMSVlePxZd160Frki7oILgSrHYhg49avS_2EPu0nbqsPo-rA2N2DoK1dFO_eLaArLO8lpvT4LLKZ46YnzvB_hkLuIWz81vUXtI_3pITRUelGspPWtE1QWLqjPusajg3daz2MYMnu5EEk5BQkyJo87ylLzzDCswoIjWjTk1iRoC05sQSeZ1wMuhj4WpPMqCtcN8gAaKOE0DjRvpQLgkz7mWRFExFV-qAokU4pOyN0qrsgx9-64dlzCR3a_z_o9tf3orAXQFlvMKu9xLSZNC8gu0SRwtCfHjFFSChJpNbzEfx35TU_DqZwFbSVoD9TtTDXxD1LPH4Q39WeDVP0CJif34qPErmidphtXTvgTcGtgNWS4zfuHsQpB2rE0CgMMSNmuJPkOAGgusGnFgyY1ln2ZYT9bWjYQBn2tEmdFWE8-H0U2hR9tWZEyeyopUNasn5dq2xwpVTe8tLDzMnKMy78jlsgxdLyMm8TpjPWrcjmb2QBAeWewrxNqpQKkevo9lTu3e3tR07E3uvH2I7g8yIqN2W11398I0xBuLPIH5a5vDWJq8CjPGfM7ZimnQRtjgTr8tN3X1arzl9yYFfQN02dMcE_FU3MTz6XyZg05q7xJ2myREf_rbUVwlvOlGEaeOWXADOkO70X6Gi_eCappS_Hrs5XVYx8x5u9mTBYmqo6B4obN7kowFeP7k2xD5KqlyBMzVRA9ETW-ygDz-wWe6wjF8hFjfUjrid9Dmyvgj6f3MchIjNvGIBiKKmAdzeIkR6AsmVEPUCnG0mMH8Z0FQ-Y4LJo9NZ44OP2BuDVKAkgaCkFQscJa6DI0KnE2EdiopZJnLIrXL_TyM2njCyHQ4V32S-rrhO16K6h7vGG1y2YYO1kbWykfun6ljttTxmuUqc6OPBX0qLBq-h9Rhq8KJ1DBtZuHCMbMumsDTDqhSVcm2ZcmscIQxbwqturwEXbQUzm-EEYJ-BFSFH5jPAIi0bI7tUpQPQCbGbjCnSuwK7Cha8ZrkK9KqJRYEDnR6TCFF27wKHfpn1A7H66KRi2_OGtjY2R5D9UmkR-Mivlm2IxoPr0xhERCBtzvS9ifE9DeYiU_p-DnJnKa8DE2OsFAcBRgOhvWf1UuAAMF6lKYFPBIow9CjPbEpuOpyLx0ZTldfof18kfVKtl5UW2h8k6aSwWQDWcLcBKbnCTXxE482N80XEQhbppJ-ElYjXeuMl-42LV8O3GsNY-IS0YTmoB5OFaRssa4zrYUvC7isFjxTnyDVn0vdf0ffmpDqzqNE6rb8utpA5vaVcs8buVJTK5a-9RrjMndQHhFXLx4Us5VEXxMe8LF9-2ZdQMYLrcndIfsm2gX331Up",
  "id": "rs_025e3cccec29366e016ab45341423887d09ddb1a115b3065f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_gripper\":0},\"note\":\"The final shift brought the near rim to within about a centimetre of the jaw center at the bottom edge. I am adding the last small inward correction and closing in the same motion to capture the wall while it is at the fingertips.\"}",
  "call_id": "call_PviChjRUPojEyG60KRaFlidb",
  "id": "fc_025e3cccec29366e016ab45341abd887d0970eef82b1729e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PviChjRUPojEyG60KRaFlidb",
  "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]: [-0.0917, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4297, 1.7973, 1.3087, -0.7589, 0.2039, 0.1177, 0.0089]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1589 left_yaw=0.045 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3778 right_y=0.1378 right_z=0.0769 right_yaw=0.1324 right_pitch=-0.6354 right_roll=-0.1865 right_gripper=0.0089\nstate[joint_eff]: [-0.335, -2.5915, 6.7487, 1.4335, -0.1197, -0.0269, -0.0122, 0.2803, -7.8701, 8.4718, 0.9646, 0.2808, 0.1148, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff87536e313238710c695c9ef53b9b34bb65312a78e8979e731b8d8a1658f64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56592dc0764babfcf62c4ad9628c6847658a25702b521e6e437a4e49bd24d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e49a7a0b879f7439430a5c7eba37b6b3155e5fb795d3e79412b00f2a71c2ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0917, 1.0565, 0.8452, -0.6769, -0.1307, -0.0784, 0.9955, 0.366, 1.702, 1.4868, -0.955, 0.1925, 0.0856, 0.9958]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.159 left_yaw=0.0452 left_pitch=-0.3078 left_roll=0.0692 left_gripper=0.9955 right_x=0.3858 right_y=0.1155 right_z=0.156 right_yaw=0.1151 right_pitch=-0.5668 right_roll=-0.1636 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -2.7829, 6.735, 1.3944, -0.0952, -0.0659, -0.0122, -0.9504, -7.4872, 9.2923, 1.1893, 0.0611, 0.1685, -0.1148]\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]: [-0.0917, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.3801, 1.7786, 1.3087, -0.7464, 0.2035, 0.083, 0.9964]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1589 left_yaw=0.045 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3874 right_y=0.1202 right_z=0.085 right_yaw=0.1124 right_pitch=-0.609 right_roll=-0.1911 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.8376, 6.7761, 1.3748, -0.1099, -0.0708, -0.0122, 1.1419, -8.7179, 7.3094, 0.9402, 0.1783, 0.1245, -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]: [-0.0917, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4297, 1.7973, 1.3087, -0.7589, 0.2039, 0.1177, 0.0089]\nstate[eef_state]: left_x=0.2982 left_y=-0.0007 left_z=0.1589 left_yaw=0.045 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3778 right_y=0.1378 right_z=0.0769 right_yaw=0.1324 right_pitch=-0.6354 right_roll=-0.1865 right_gripper=0.0089\nstate[joint_eff]: [-0.335, -2.5915, 6.7487, 1.4335, -0.1197, -0.0269, -0.0122, 0.2803, -7.8701, 8.4718, 0.9646, 0.2808, 0.1148, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff87536e313238710c695c9ef53b9b34bb65312a78e8979e731b8d8a1658f64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56592dc0764babfcf62c4ad9628c6847658a25702b521e6e437a4e49bd24d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e49a7a0b879f7439430a5c7eba37b6b3155e5fb795d3e79412b00f2a71c2ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFNGcFi-8qSxE8xhhKAgBMxdkFsaoaQoaZa5Dn2jK-jHG8UMRjWrs82TRsNofFfKiIxLlN9NvXJd1eF1zqjIqnkMi80nopo5K-y-Sv79wisR5nbRrbgBpg53KKKkyEZV34PiG5MWjzT3F3i1IzbISBYUnpiMemYE959x8lUbhND0zHyQn-RwMhw-lU0M87IsYPbHrCUqR6fEfTNP-VFZOw90cifuYw2_TTk1NhrRT1h4uyrRZqFZwQsPU-9F-l_SPSBIRWKY1bYeQMMtlPZhRkUcFLbf-ljePstcLKqUDzeWLbh7jf69mt7BUWBLLlWUhtUyIhk0IFx3IlfxHMUnzKiCT_s6Jos69gcWsV1W0mBUFqJfaWg2uAvsI5fvEG1-eQP4YFmXS_Ujs5ei8zfwYLOOy_rAnXe7zJoIJMxHSEUNpK-r6m1kCc5vfQN-sm5USrdBEPg_-HakpglZFKlKNAxld7GgEYAARJKjNOHIK0cCbxjryJpJUvYeuDKDZTGZ9gilU_2qc0C2LCXchzS0AmAQdkCgCIQ6xVW7Bo3YMnulCUj-j99iIilxJNpju59ovXPcdw2N2JUJC1Fj6W_eFqVdrzXLeyu2ongZH0br-3mTcKbQ7fCpreWuqVsdc1SDOx2i4A2Pff41xCvZPyDo68DMsCSSmQ6sJlcgC1k6K66ZQI_InDNEYgBfbX1shDurTYqhheMP779pk2LKAPon0no8Ou4-MPOTKIAT9qfNicGvEt4QdPKzCuvs1YqDhr0V3Z_5X9zPggSyk7NctnX2p64YwOYHO0iTK7VoD1osootd9yOfnAZ3IUbP8eT6ZwjiT9Ed2qDhMF-QQwjMSl4Is5Qh0_yiItIGt34Fok63JxnMhilH_4vgjpiC-HqsOv1Eqa-KoAQ9N_6Ob915fi5tUYSrx-F_A_vOshf1CDeVNysxwt_8x8M4yHG7nAw873cFc1OCcdDyv4ghp0ngNbG_zF8NAffaZ-2qFTZdIKpLWQzzasZserKLKtWgJxd9-7zoA1q1249L3nMGhvwT0P5FbXQ7pdU3ca63h9_ARqVAcQ7jZRsF72mzP7RyoHiKYZd3qmJOX6CbweJGKY1JU2QVi5_84GB6-Tw9wtm7A6MHsPQ-Zrk69a9hhTsSGQrA4eysqOGWZE-nn376varwu8GbPqSDZ9d8BdALoq-8FBAVklGjlZPK4oHn1N1qbL7DodWipOPXrR5IOAw0BbCaXJlpX12b_KYHkyrTmiMdiYX3vjO_-JyJnV9v3nZeGD5T7bFtGuhDyusG52AH5V007BjZKDlwtw==",
  "id": "rs_025e3cccec29366e016ab45344beac87d0a4931e87d21b4595",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The closed fingertips now visibly meet the rim at the very bottom of the wrist frame—the true grasp-point location—unlike the earlier attempts higher in the image. I am lifting to verify this corrected rim capture.\"}",
  "call_id": "call_crjnOmLZGt0cgzkkV4HUPE0A",
  "id": "fc_025e3cccec29366e016ab45344f86487d0b34614565dc41517",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_crjnOmLZGt0cgzkkV4HUPE0A",
  "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]: [-0.0914, 1.0569, 0.8452, -0.6769, -0.1307, -0.078, 0.9955, 0.4328, 1.7691, 1.5505, -1.0359, 0.2008, 0.1078, 0.0114]\nstate[eef_state]: left_x=0.2982 left_y=-0.0006 left_z=0.1589 left_yaw=0.0454 left_pitch=-0.3082 left_roll=0.0696 left_gripper=0.9955 right_x=0.3762 right_y=0.1389 right_z=0.1453 right_yaw=0.1437 right_pitch=-0.6438 right_roll=-0.1899 right_gripper=0.0114\nstate[joint_eff]: [-0.0615, -2.7009, 6.735, 1.4481, -0.0757, -0.0415, -0.0122, -0.212, -10.7556, 8.6906, 1.116, 0.2076, 0.0611, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21bf1fb3bfd67f3f1ec1275d9d355e5a683c14192d411fbb687b0771026b91f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416b3fe6212747a9902d34c5d6b1fc2303d12f72a04460eabca710f72287f4df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8fdc1c547d969eda17c45493d941d8806c10a15b171b1647610d1f06db44f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}