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, 0.6041, -0.382, -0.0223, -0.0406, 0.9993, -0.02, 0.7925, 0.6014, -0.3794, -0.017, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2944 right_y=0.0007 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.4974, 10.1128, 1.7753, -0.0073, 0.3004, -0.0806, -0.5402, -1.3333, 10.359, 1.9072, -0.0855, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7380d22acf04bec31a080c25614e006ce73fa10a84d1246b4538752225b29cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe19676abbccf1045bd29616098e171378fc7f012f987168cb9f67aa033ec57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b020182bf5df3ac3e53d165c190730878d50bbf1aa3232dba9ef94ec325553b6",
      "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": [],
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  "id": "rs_0703a189f4f411cd016ab44e6cdda087d092b582b905051209",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"Three upright bowls are aligned left-to-right near the far half of the table; I will use the right arm for the rightmost bowl and keep the middle bowl as the stack base. I’m moving above the rightmost bowl with the gripper open so the wrist view can refine alignment before descent.\"}",
  "call_id": "call_fF3pUD3lxGIAfXVf0XnPyZXq",
  "id": "fc_0703a189f4f411cd016ab44e714ff487d09174b1071a93cf8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fF3pUD3lxGIAfXVf0XnPyZXq",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6071, -0.3893, -0.0227, -0.0452, 0.9993, 0.5117, 1.6489, 1.0183, -0.0708, 0.3939, 0.244, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0099 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4256 right_y=0.1654 right_z=0.1289 right_yaw=0.0384 right_pitch=-0.0684 right_roll=-0.0372 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.6752, 6.7897, 1.7656, -0.0317, 0.0269, -0.0171, 0.4171, -8.6359, 8.9368, 1.7558, 0.3736, 0.2564, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86599100ed71efc6eb1f54c910a8d3dbf9ea0095c4212f3a51c4eec9774baabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a73a968914517067e338e4caa659aced958a04e3af69815fa8175b88646a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602dfc9b0c543205f8910f7086c34539879f65748a6f5b2938bb0f86afd74127",
      "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 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0223, -0.0406, 0.9993, -0.02, 0.7925, 0.6014, -0.3794, -0.017, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2944 right_y=0.0007 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.4974, 10.1128, 1.7753, -0.0073, 0.3004, -0.0806, -0.5402, -1.3333, 10.359, 1.9072, -0.0855, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6071, -0.3893, -0.0227, -0.0452, 0.9993, 0.5117, 1.6489, 1.0183, -0.0708, 0.3939, 0.244, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0099 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4256 right_y=0.1654 right_z=0.1289 right_yaw=0.0384 right_pitch=-0.0684 right_roll=-0.0372 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.6752, 6.7897, 1.7656, -0.0317, 0.0269, -0.0171, 0.4171, -8.6359, 8.9368, 1.7558, 0.3736, 0.2564, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86599100ed71efc6eb1f54c910a8d3dbf9ea0095c4212f3a51c4eec9774baabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a73a968914517067e338e4caa659aced958a04e3af69815fa8175b88646a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602dfc9b0c543205f8910f7086c34539879f65748a6f5b2938bb0f86afd74127",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE55FLhCKPFIAvx_OgPbP4lWKNtdMcPuBRH3mnfcjg9BiCQEjp7WHh-umjQOD_Z86FOTYp0J3Tjylvn-WhsRxnwYCYh1_DAqBZDoPM9CsKEZGrp9quB-WnK2M4SSbeSJcID8MzhgAPyUHvUe_yo6R2p7gz48pJTEaQimQwshncwzLHjVek2xSEhvKhPkrVvqF2xYiTbli-yDrlb0VVLJEW-Z5iH2Y3vgkZnQC1Ihf65YrLaA-ypmr_hAMPYtwyUuddbwL327k-v_mXU5a3hQ6-ZcJQj1EUURbvRk54qngnXxvHkPazOifCbAwJPIR8Y_QgE7E97l-0Z1BKgnUCYIadFMZbORihoq14k5Cq05cPMVuZphPdwDwIywloGBs-_NYR_V-sk4hiLNetaMjFkQuq1y8TNIRmDaUEKUiC4Tyh_vjQww9lqPaQkOh-9QjvX3MuTqh8d57LYss0gT5peEslIM-H0IMj-wRxb0g2fcN0UcI0OLYd0RfFO79owqGSt37CBALDKi7U0WXx2PYXRs8TQjIjVDF_HVwmRdX7jbKPEaUy4pwCRyP6Xa2ZefSJhoqwi4peW-ho46xnZZcDFxfdN6kkTsXizU6OG8gzwpFB0eVzlIKjbRWfukvjBSnRO0t2Yro3urIpRVmpbNkt3EZyUjAH1oySj9uOncKXBFFjJhA1xyyT3VXv6H9k2n5cQGHVIqL7y-nOPGAOklj2MXCZYEkhSqs4mwkNZKfk98BH7Lu84YqclK8CXwpwEv99D9Zu_I789J-ouCSNAlHY_THrN9yazbHwpN-KsKnC3JFsG_UMd-0iWfzVck9ht5Gta-KZGc_40YSKqiJkJeSvoRxuL7xBwwVyCQ_qc4WdA136HWUu92n-JA1XnpK7dRLx2KpBRKxTUkCSPMYcsVR5Wa5iJKgeoCYjz_lHE4Qt_VrWlRbigJFBbwQdQl3wi-SJ9-B_CeVb8yGSah_xTiLFEgYPbFvqAZKsnMWLK0xEzUU78Txb6Ld5YVVBLDxCRSv-eKVP1z0ymNKDq90nPPQEpPgOt0I6S0Fi5K2jFn7Ph6Wbxl8lLLF8aywuy4CjB2TFNj1ZgzCNqHo2QMCEM3O2j2rUz39yZ-ASrF-MIrWoR_t4SW14bvM-grERxs6NkhLFTNU1VjyI7ONcfMHLaMDCEeQQnWV07xU4ZK90rDfHIGeqzC4bNOlznFX2IGoFAj25MwrrJTnbKM1Cr3dQXyoVp-bbEVnmb-mZxfEujtoh6xJaQSgMx0tvrzK5ycBPuevkDFbKa8lHBPHAMigAnvqnXrui-V0I0pgmhcVAS8N_TdU7xdX7oZHqMKAmA-B6FSQJ7TwemjzWPg6a7Sa2_nM_24ydOoxi-oNLKHf-byNjZWSKE1AcB5Ept7z5Nh8rau_q4cRzVY9YCMBxtwe3ex9CQ1efGn7uVKh6rA10b4DyyWQaip4jX0CcaZJVYV8RGwQT4Kr9SJFwthUehtZIXFBNEunKasAMMaMeNpRUjhZuHOednoJ_iCDgU8W7yg3fnPHgwhUHM78UxrhzZKdq2yUaxzW4mdVCI4qk4IX9Od_4guNcGGh0NQR_XA5DNwgA-jnJhpvL1Uhn8P78Fu_qPdODt8wqaqRhS9FXO4I77lB2Pf5KdzuBK9i1-29Y-YbDl9cOJmWfFGSSE13Y-EyFePgR4opKEEkQqnJS03j9l5ECOYtVFLnDfv1gDWFp9gmpQkgtwHMtUaJinKY6NKFhPOTYP9TZ09O2RhTpT4aHABjWuWhXw0xQOZIzYcN3QtjhBZYy4VgclxMN6lkGTa3AM3rvHBcZboXYuyI2ZfBEgSoRcfr_UQxVB1N0xlIdW--bqYGnB_CrguTLLD6dTdAeqPOFaP1x36ZdN7Y0YuEbtyuOT4UptYouXyoJ0ujpX2xekW8pvZ5UtYOv_hqJQUTi5DoOIZYqiZsOj-d5Y3I30vNksVaFGQOEgHJw6vLJMgXiAlhHCV9Ik-fsoRKwwgtAm-qMBH2Wy3Qish2x3A2jXuszGo8xuGX8YySzMjCCWxy3CvWu_tPDPwJiUXbX0r1HFoWrFczDO0GPwfSoU3FlNIanKVHZDjFz5mv4bhBvqNRD4mbXVgJSnzDyPuNmg3wnjZxbvdr4hGqcf5T1A9Thrx4LDKrzIUrMvBpM4l9wCSIrhwu3nref1VzXSqWmS_dYhQWJvDROxjCf1LsDKkpC6RF4Vg9iV04sQziIAlZjKav0ZP9dVf_bRmJjc34UlvSpnklww9ruz-fEpbgmuHHQ6bey4FJUxv25HGygAWixorRpC4x3FYxyB4qBoG2xTCrANOEO2Ewzffv7VkDxTBYnGZByGpHFY6iaNILHEDLrSZU4WZ32QgtCB-e8fh13z811MUqkP3cGVyHiQNCc7TRYuYxQ-8ygJcehU87hwrWLFChxgf5oT5jCWNTepc1bBeMQe9GF7HuZoAkieFgBs3Wnd68QjdOR1L8iQ4YMe01WV2OX-xgW9o4KoeyCZ3Loy-APw2sfn-_zJvfzuVms57XlMMzUw0ofu3Fki4eOXSLDsFCIPPfVEprC1PHFkph7IjSpACKZvNuacWQBFfGCe87TiFUWYeqfjl_EN7yS2Npikfmf6VQJ999UTtrMIJF5itvIbmczc0__0x2ucpfUg2PInwzj7hXy7SI351PFJVXq5U1JuNDgBMAIezg06f6idu4S-ZJTqs4HMCj-TIFOFrdHGNFGc_zUv0RgcVBT0lt00PY1gRfdi6tBbb8bZwBRivuW5-xQ7FKrRb4UceGOrJaaOCm0l0cwcGaHO5tnSdHJyr3vYAbltFsAhiu5cdeZCw8kIQkcKLwVow18NV5AcCXmvJP2rKxlvRwTQzzLOJDh9Y8pDpQ-SgPqmL0dhmDGNcJ3vZWMqE2GkKczwzkcqrD1B8gUOHVsh5HJjdtsr6evXbyUGFEd3qktXDjMgjtPc7bb-ZL4YYXN6Jl3mqbEkxsdsLT73SZocLakvE5hRtSHMrnkje3NInieeSY37gYQBsX043ZcFszAvN6bZis-edpcmXE9M4iTgHSDI_JHtTrqZuhOAI49JUFAOD1_yaZ3Eredn2yTppQIwjcDIDtdNZNdCb9dcQbDd4nzjU02c_E68tiMqJDWiswSKn",
  "id": "rs_0703a189f4f411cd016ab44e74f68887d08d61edd054f84874",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.13,\"right_z\":0.15},\"note\":\"The right wrist view shows the pink/rightmost bowl very close to the fingertips but about 4 cm to the gripper’s right. I’m shifting the right arm toward that side while holding height and radial reach, aiming to center the bowl between the jaws.\"}",
  "call_id": "call_Z35JBwMyPoI2lx4KbVdYWPPy",
  "id": "fc_0703a189f4f411cd016ab44e782b9487d0a64897bbe95cfbf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z35JBwMyPoI2lx4KbVdYWPPy",
  "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]: [-0.0196, 0.8005, 0.6064, -0.3893, -0.0223, -0.049, 0.9993, 0.4168, 1.639, 1.034, -0.1169, 0.3321, 0.1902, 0.9961]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1773 left_yaw=0.0045 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4349 right_y=0.1335 right_z=0.1289 right_yaw=0.0218 right_pitch=-0.1053 right_roll=-0.0519 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.0325, 7.0769, 1.6972, -0.0317, -0.0024, -0.0122, -0.0615, -9.9897, 8.4034, 1.7656, 0.1783, 0.0269, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804e4833cc15193abb2307793b728453a4196b3083270e64953e1bfaed7d1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec64d2283017c056920c2145365af3a627f65770e4a31051279006f80695ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bfb855a9560e3c8beca4248069e561cb22db1d61bcc37bb8fd4dfad0fbe4296",
      "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 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6071, -0.3893, -0.0227, -0.0452, 0.9993, 0.5117, 1.6489, 1.0183, -0.0708, 0.3939, 0.244, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0099 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4256 right_y=0.1654 right_z=0.1289 right_yaw=0.0384 right_pitch=-0.0684 right_roll=-0.0372 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.6752, 6.7897, 1.7656, -0.0317, 0.0269, -0.0171, 0.4171, -8.6359, 8.9368, 1.7558, 0.3736, 0.2564, -0.359]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6064, -0.3893, -0.0223, -0.049, 0.9993, 0.4168, 1.639, 1.034, -0.1169, 0.3321, 0.1902, 0.9961]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1773 left_yaw=0.0045 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4349 right_y=0.1335 right_z=0.1289 right_yaw=0.0218 right_pitch=-0.1053 right_roll=-0.0519 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.0325, 7.0769, 1.6972, -0.0317, -0.0024, -0.0122, -0.0615, -9.9897, 8.4034, 1.7656, 0.1783, 0.0269, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804e4833cc15193abb2307793b728453a4196b3083270e64953e1bfaed7d1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec64d2283017c056920c2145365af3a627f65770e4a31051279006f80695ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bfb855a9560e3c8beca4248069e561cb22db1d61bcc37bb8fd4dfad0fbe4296",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE59dml_SxFADjB1Jz1zTuq9U57rl6Pr3L-RW7FdMSV8NTMz917W2S3XRI32S0fSL_nFTF9e5qK5VaS1ArwmqjqcdLvMtrga-8uemL7Rs_4rAMgO7ePGGyXq9hPrSRv3gayHbcCjKGH37VmOD9n0xLu7h_Ew2ETVzL4icxLGUbdJLwwVhOyTkgLMGG481gHK6p0m3J-KoEGA5fMJjMt8FV3eH69GxCoZwgJ9oAn-Pe3gA0pAKi2Q00ygkBu-t0WQajW52B7Nl7SMEecLq3AUCdQuUjPKg7ZFSvHDs-cjUBqiuCTeCLkjHfklBks9pfta6L3ZxMSbuvsNM5e9IRHvziCix6AHYJawxJSvP08A3izn8CWKZGx-88MrT244Fx-PPRrTcwYxSVafez2sk7wlTvj4GbRdvVO2FWdTW02hKkkKrIfjNx9Nyrfj2ApHl-0pkDRk0BaMbDxy8Me6NfaNUk3Q0JxMzWbuxiHVo6vjQfWdnizpP16m_vBFYRk-73VuWVXATiBafXSFFqMhaffnsfRtQ1XntxkW09-TJtuU1jHl5Ay6TM6-__1rmKxt-0x__E9zYF010kb-Ik-dNz1PXsB4-hNFhGSp5BqfacN6ngEZuBdgoOrE7SmDnZW-DDkbO1frkb-JGbcgqdR4gCNdesGaMOUyyYmyGEZU_3dR-lEJ9uTL4mRu-WLX1J_KkTxyow5y_bx0OmjgKsenJYCIV-YIUniXpsNBAgiFyjDwlE9lgpjU7Ji54dhtelBiO5rDJRlln2wgFxujYbFmUoE2adIBieaanwqx9iRb8KTCbbaLBVNB-3pzk_WGrPpY1gtw8Ely-aD8YY-kxhOJCbruGXZAAcDRLQAAZPzAU3h2vq-TKTjKFF_UieeztU1AuTXVCu7fDpnqEx94WzvY9sz-m-vBy3-nykIQqByN_bwfHuxzeRh3Ud2P62TFkxDfc_J90bnJOa4ntmFEzQpinBiiYYhT-OTgJeVDzbkUj8akyX_rwkWIoSM2rKXok5xROlpsJZe-KuSORebk3-Pb9WAc4HFB-Q7tQQmrpERJAqdpO1cG5OjlmAqL1YLMJMSgrvUnQ7bPPQ83P0czqHziiXN-FDXiQV0QcTJcNLFV0d5p437MI05-ocogAE3MNssB9IpW10dZYJVMspe5FHPkSbhZiYFNlOiLEcNRIwtLBSYJWNd1byQTBJqRghmf7sVD3i2YyoqYSgcpw24C9silRTaxLa1zCCkjjceUaAJUzjUUz9Adv1Tud7nflmqB-KD33sIYcBs82yW_yAvWYH8ZiyfvzVksrBWE3XgFaneWxJT5NaAy9qNEpskTsl1dVRaFw5pvzQ9c1tKRifJ6vuouBgHiczolIIi8blFNnmBMOcmo36zrLQNab5MsF4mErwZj1-8ivlgX_eog7afdJYR6xPUUJ298K6rWHUe6lXlPHDzSrlVoJ5HN0uFd5oONlJAJqNTIVEz-DXu0hDPRJ7PemPiMiy32B6hxQ-UJtoiyPeQt-W727PjXuEHoi0zfwleYbPxNJFLyYlHjV5Fb6QgXxjf2fcpwDUHGRj1tnVcyRJLySH5YXZkeD0y7H10yyXXJajy4KWxPBe1rH5CUpJtLmivc2fH2JSi6Ks4BTmW8zwDALH_eeY8L3Fv9UATydHSilXoVVIbueaGHAbSyYC4USBtNm5NXF6bJaEZjeSaW-Ry1brBhNgsFpJNSTO3Allf30SJfef73siKYK0kB8U4hQBDVzF7hBt93Ioqs-_dBwk6wAsy3_iEdAZLTN5onvozaWRLPplaHB8PN2p4miXrfBJFvQYWsRzyL-B7U92ScUhO1bMdbuSszf3W7zR_o6XlAG9H65B9skaNCEzOvFjqQjbl9YVZtQFtxw35mZg5FZYWfguqhpGUK4RRnW3NSnc4NkDc5WKDo2CRtSiDVqFVJxRGFn4yxV2OswJWu9iVxthlMRHIn0lv7PR8SrYRRI2DFc4i8K2WNkCGALQ-ChGcS3smxaqifowY7nexYodRs80C4pAuJKmeIe9dkPUX3vQmqZdyXwe5oACFxGO0VO9miqtpxOH0YAQGT5lUGme4djAPQ7-cNShDfYW2698OBtvEf29w8HSU3oL_fUt381hY-WIy78AgAmbigO-A69eUfzEQksEN_fTQTmPSlfrprX-1psMBiLRhEBnWxwGwOS0iuM6Jsv3HpxfLFLUJnZwo66z0fOwMsL9FNd_2oeTlKMHMm5Mc8oPS8co_8UGA_Fhc-f9RwxWLztrGuW9oGuUL8qHzn0-CGFoE=",
  "id": "rs_0703a189f4f411cd016ab44e7a745887d0a760ef0ae47765d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.115,\"right_z\":0.065,\"right_gripper\":1.0},\"note\":\"The bowl is now nearly centered in the right wrist view and its near rim is at the fingertip row. I’m making the last small lateral correction and descending to mid-bowl height, where the open jaws can grasp the bowl’s outside walls without striking the table.\"}",
  "call_id": "call_hH6G1SdLXEbU2ZMBxLVY0Q27",
  "id": "fc_0703a189f4f411cd016ab44e7c76b087d08244fbeef535857c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hH6G1SdLXEbU2ZMBxLVY0Q27",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4057, -0.0227, -0.0494, 0.9993, 0.3927, 1.6325, 1.034, -0.131, 0.2981, 0.1604, 0.9966]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1717 left_yaw=0.0051 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4349 right_y=0.1279 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.1215 right_roll=-0.0568 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4701, 7.3504, 1.8584, -0.0415, -0.0757, -0.0122, -0.0205, -9.6205, 8.5949, 1.6093, 0.1197, -0.0122, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a3e53b754bfb3e962cf66ae487446dbdb04ef9ce82ae8faa444e32c43a6c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f6e42c74aeec5acf7507fa0603ce762790027eb8b5f620ef4e264dfd1385a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d735faaa80c891bd1fb2bbb33b22a830918167fffec76038d542e69e0834d110",
      "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 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0223, -0.0406, 0.9993, -0.02, 0.7925, 0.6014, -0.3794, -0.017, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2944 right_y=0.0007 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.4974, 10.1128, 1.7753, -0.0073, 0.3004, -0.0806, -0.5402, -1.3333, 10.359, 1.9072, -0.0855, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6064, -0.3893, -0.0223, -0.049, 0.9993, 0.4168, 1.639, 1.034, -0.1169, 0.3321, 0.1902, 0.9961]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1773 left_yaw=0.0045 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4349 right_y=0.1335 right_z=0.1289 right_yaw=0.0218 right_pitch=-0.1053 right_roll=-0.0519 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.0325, 7.0769, 1.6972, -0.0317, -0.0024, -0.0122, -0.0615, -9.9897, 8.4034, 1.7656, 0.1783, 0.0269, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4057, -0.0227, -0.0494, 0.9993, 0.3927, 1.6325, 1.034, -0.131, 0.2981, 0.1604, 0.9966]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1717 left_yaw=0.0051 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4349 right_y=0.1279 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.1215 right_roll=-0.0568 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4701, 7.3504, 1.8584, -0.0415, -0.0757, -0.0122, -0.0205, -9.6205, 8.5949, 1.6093, 0.1197, -0.0122, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a3e53b754bfb3e962cf66ae487446dbdb04ef9ce82ae8faa444e32c43a6c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f6e42c74aeec5acf7507fa0603ce762790027eb8b5f620ef4e264dfd1385a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d735faaa80c891bd1fb2bbb33b22a830918167fffec76038d542e69e0834d110",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6CiRfytp-JdX3GfT7XqH43tCJIzJjyD4dkPrcvrWO9Bjzvm1Aiwae7v1O8hXVYBGTqxLwGZb-lSQjPVd85sBQrCPWoge--HWJkJdvelyWfMnhX5VUiHr7ta6Fct2_XqKe5Vqau6FU7OmquokywYy3CeNV-ADGVD9cpfPSKwRR_mHjkxj0Udv0AK6CIAgqixD0f1PvvOLxUF_uIB0zbW7c8Gj28M-7q8llFyIB_AllOpalq7WKtqhTVAA-xy8IE7l0-8EFhmt3ecuAMvWYo0dMFCmWivLjiUprrVLG4fEexaPdMLlpU3d0ki_whNmzgz0WryOUBrgq_YHriQTOTVOIU_qQrbNm2zE1XPAiw8naq81JMb-euGyzSFyToWFKO2jUsHdKvBnxJ2bgh0tMw1k9yH0RRXdin8TlhCZTuTvuX3sAqy1NB8Ix8XOkDcO7NtcHUF3nZW41SEFgbAhGSVLo5M6sP4WDrfuCIjjmmNVjSmEOWySr9febnJWRl-bPrniMzzgDFWcT25WhF_s8y40YqREIoXIUPYdHqGaA8COgE8cIMHHJnCFrJmr14Tdn9obLQ0XjvZtBogqmG023TyYpnrxe0YiUvar96MKvxgu_c_bhW6b2faidDy8YnYSmOWZ5taa1aUA6vxPKRwGX62JAXQGeFA8LLcb249AmBlsjDT4yAf9s-5T9zFmO_f2E9oUgjQKrMlPT3rca9ST95cRJA0o9Ym7MUC7yocagJhvIAe7MTjIUE7SNFmMYs1oahWnq9a1olc75NI9zaeJdJHuOT1WXEnTM1-YJF7Ib31TkX6ogjs9uN7bos9SycqtnWuTiNiw6hZU7f9SDz9M30KHVcnaf5XaAcssgAFraZhjBbJRI0HnStizQfjq5XDdFD9a1_VNt9-J5Aup-r8_zpD8YpsjnimjAjXclk8CWW4naeDCfVRFzW7ZSweRX1mGQbNV6CpVc2l_J_YLqOWRCPJrkK1zS89bPKZF030BK2fqkdY023Sb9K2NPJPUFNtRrsfvari5cKmmG-vnyU2vm0zOMCH4OmXsadWvzPw78fFy-4lHOCKR305ZcMOZQnjwDSlXgQP7g3Gos2qoIvh1JxIVQJGqa87FdtFjqUtAGc-Gse1OzE4qYnxRjXn32rp5fW1HQggSoPuAShMpMRa2JbRcbZubj4wD5uoxurk3poftL0zyu__OoEoNwyt6FYfrdfdgAwwijgc6odLgyFOaLqeNJw6kXo4T8od1zuCTCXu42unlv7b3WvnMtJid70ArOZm9iva1jG26lw8pqfcEXTCZuncKfuHDDI4eLy7PxYICBv0411SIJ5_-gNS1s9lacF_aF4O2mGL7-Z1UYuAJ5GMJq92QoEiRCQVDFPswjepwMPUbDEEza2aq_pjZefeeUJ8LEiZ5DVq4xjKXH8pJLyRHxVASRrAvUJxTWylw_ABTGBvQ-VBsA_XgyDibDJEdz79ADRTI8BGJIPIDNw1IeiP8eGP2XO9EDAgTdx94hlB4-kRx-k9zULN9aQEWrCoYo-rzKJcrgZEkycf_ai0-KsDnMGd-lJ7MmAtWQfGEMK9wSsXtnP-oc24GjZNC_VmR-6cKudnl5O3kPePT8V-TnbK5Ez9hfFkP6K-5m1ik-v5BSGlmhTuGyHyXQgSMEUNNSOHRbA7qTrvtj6pJJoC9Cq2_zUKVh0ehSraFzoihoFAsRQlwuIhphZd1IrZxHQsUFi6IwJgX0UN2I51MvYkIuofCKGsIYCMTnT4QEQMbUlREwvSpVz5jjQPfwexcXW06yE6_Vy2f_775Q8oIcE4WlwoX-JQDo3HXaMa6Fmebw7JSHsH1NPPvAds-hIG2F-aVpIZYQc3ukUuIK1PsPnZnkY5WHK2bjf2WQeaj4cnPLG63hdEm2n_hcySma5GdWbzzG4nkD5dLuMq7hMq3mGoF60RhEb3VtsTweJim_mN2X2B7kdQxTcGzqPDELFnIQGJoW2by_ooD-_dZpblC7Pg4rfbY7xbBMKwijvYgZmHe00D6DunxZ3-nwB6p62uFcQkZ88Jz8Bs0YwUF4fW8X0z1T5AZk0-7ithuepS9oCZMUP1ml-U2b5UP6TvtmqR18-28RdsrQiM3jGwTWFm_-BvRQUa17YmuvZK9fGY1tKKaza55CA_YbHnFzlClkLyItydmAVxa1NYi7OrK8zPOZ5R1hTGdJfSRe6qmIIOk07GIsKeVqQ6wCJg0SRzryVSo8spJWqJ3O_LYo37skVHjS3ikS_dYxt5sLaC1aIb0fG8r94VLuosFivNFu2aA7uj-itL94adfAN90xyGULml_VMZ_oeLiISpNVRAWSdgpoPC9_EM4FgH3bniiahXzstRRzJuOJYOxsoa0AoDsq48jrPQw4orLh3q_tffcpCth8H6uiD4YSGUJ8dRwMHtiNB0QtmP2AHtcqrux7N92LWVyeD__LdwgyrfloJ_uVDzN4Z-amQeV15VttO_-iW9vBtjWXAvAjw3PJjhLhrJwrtCSlgVu_Xq83a89TRTQ17NJjPCJ6Yz2Z-tO37spbCC6-ko7SsD180yUUd",
  "id": "rs_0703a189f4f411cd016ab44e7f0e4c87d0b36f7610a1dfd2b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.12,\"right_z\":0.07,\"right_pitch\":0.25},\"note\":\"The commanded descent did not track—the end effector remained at about 12.8 cm—so this is an IK limitation rather than table contact. I’m adding a modest forward tool pitch and slightly easing the reach inward to let the arm lower while staying centered over the bowl.\"}",
  "call_id": "call_GX5pyDi1ox2jPf2t1oi9EPel",
  "id": "fc_0703a189f4f411cd016ab44e819ba087d0832c5ab8169dbcdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GX5pyDi1ox2jPf2t1oi9EPel",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.4076, -0.0227, -0.0494, 0.9993, 0.4046, 1.8462, 0.6006, 0.7864, 0.3569, 0.0616, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4258 right_y=0.1191 right_z=0.0489 right_yaw=0.0572 right_pitch=0.1404 right_roll=-0.0791 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7363, -0.0855, -0.0611, -0.0122, -0.0752, -7.4462, 4.8752, 2.0391, 0.1832, -0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2035fd864e1120700f96a70fce71079ff709831aa296afbd8df56f6e5fb8718",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b864cd6c5b16d7ee49782a26969b704c9e003974638dfa8a07479af3a72893a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de80282d435451994b625f5d76e1ed6f6aa9c6ce93e877b809d48ebe9f45108d",
      "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 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8001, 0.6071, -0.3893, -0.0227, -0.0452, 0.9993, 0.5117, 1.6489, 1.0183, -0.0708, 0.3939, 0.244, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0099 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4256 right_y=0.1654 right_z=0.1289 right_yaw=0.0384 right_pitch=-0.0684 right_roll=-0.0372 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.6752, 6.7897, 1.7656, -0.0317, 0.0269, -0.0171, 0.4171, -8.6359, 8.9368, 1.7558, 0.3736, 0.2564, -0.359]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4057, -0.0227, -0.0494, 0.9993, 0.3927, 1.6325, 1.034, -0.131, 0.2981, 0.1604, 0.9966]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1717 left_yaw=0.0051 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4349 right_y=0.1279 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.1215 right_roll=-0.0568 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4701, 7.3504, 1.8584, -0.0415, -0.0757, -0.0122, -0.0205, -9.6205, 8.5949, 1.6093, 0.1197, -0.0122, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.4076, -0.0227, -0.0494, 0.9993, 0.4046, 1.8462, 0.6006, 0.7864, 0.3569, 0.0616, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4258 right_y=0.1191 right_z=0.0489 right_yaw=0.0572 right_pitch=0.1404 right_roll=-0.0791 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7363, -0.0855, -0.0611, -0.0122, -0.0752, -7.4462, 4.8752, 2.0391, 0.1832, -0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2035fd864e1120700f96a70fce71079ff709831aa296afbd8df56f6e5fb8718",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b864cd6c5b16d7ee49782a26969b704c9e003974638dfa8a07479af3a72893a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de80282d435451994b625f5d76e1ed6f6aa9c6ce93e877b809d48ebe9f45108d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6GFiWRdevP6287W5N8NnuV0Uv3KLh0psJSEelY1kGJazVvycC4UsoLIDwJ-u2NHxK3D26tPdx2MQLD7bdT3U94KQu8XBFfDhZAytFG2L7rv-9fkqHevV5SmOEgcQZbohHGsXcDelb2QkUYxVKQKk7W2thUaJMPksjzrZRqzh5r_Wz-UuzNVxIaP5HR2FJ9CbcfhECOqstltN5MxC63Ooe53XFvLlGeRawQuBSjxF8m0oI8jG7rNqv1L5CHYQpYCtBvhfmg7eC9Me2dpCw2bnLaxvioFmOo6OZDPFYOEekdHry9JZ2tSH7e7YO3-SPQOSZuiwnhLO1UldsDVcfun5GrzK8KZnhnA1jM0DB0pk1lygoJT6b-CroVNcgHE4b4yJKrrtx3CMJ1GI-Qk_vlln5d9kyWvRZM0LmszmYCgT4B39PfHdAx93fX9_Yj3wE4x5HRbkomK3W_n4EKogUn2Yi_32aQTB6sQ1Sz_M5hSD6j2Gc3tkGxPLxQilDQtouD56s4VNgNRz7OYyZ0875QaGWh7G9YSRKKWj-ZSmXhAoODDCd6m31q0xcgXDFvkHhKDnia5IfFTt5VfY-FtVLy-Y_2m426HjwUxxNuK4BUvCbGzPUfGT2yDZ8iNMwsrSMTWVxFPZO2K6_agmTxMm3Ax68Qn2QqXGnWRntPf8xbMu9ChHYlGqv_GpKa_j4qouQAd-xEV5X3vEg2E3C-LYOWXc7YOqvb11TRdrq1f3pPG3czlvpQG7d-WoqIwBzwbOfRuh629rlVny72TvX9OUwol4E27AtlO3yQJALmmC_ytf4NWi-pMFYqRzEE-uibINQy8fmPq7OCBIXtrXiOFVF5mR2VJeHFrQkSwMgClxHB9ghprYUVt9pTAYKSE3vFOFIyGau2OOALAVm2MexzqJgVcDkLAE0R3mbnN4BPiyR7Eq0djqXoA2hREeDaebOY7X0BtNDG9sgu8L1YnxmGh5w8V_liPJXx8oxk6JTCDGVv7VwKNxPQigbq7Gc9Tal7VUnRU0fok0ptUIRxYquktVvvZ2gNxemwk0vnVePRrzfz0LvDU6_G-5PylX9CKww8XiWTssjtKsyfhxWwpcE895F7sMI_NQR958RkCegrWEJwUILdYnm2S3gCciskOvKidh-eaIhIz3fyxCMUL9_j3FtNTW2j51oMoIAqMzTdBPc1uTBa4xYlpytkLoHMywbjLpBn87m4GV-3LYUwiaizIx9VGKrAMwWdWY0K7WBgAmpswo-sIaWtmGI1DwZmlULVg4n866-J276mI3Wvxg6hyepqj6JMRqxEnW64ooS-r_4SfH_P7YJhM8sfs9J5_4Kys3ugiSeta-qBJAh2CiAkrdnrfNOSHrewC8c8VfZuQYbQarrY_bm5oJHj6SM6b5rDjUskRhP2A0B23eViWrVxAwSmni7hXKe_NYD4wnnQp7HMWiGBYyHb6PZon0bxw4L3t_XfhIiEEpx3t9wDg_xEBOHvuu6OS_g-7olEtNmUUGvSRZcRrBA=",
  "id": "rs_0703a189f4f411cd016ab44e850e6c87d08ed3a15a3f30f2f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.12,\"right_z\":0.07,\"right_pitch\":0.25,\"right_gripper\":0.0},\"note\":\"The pitched approach succeeded: the right grasp point is now at about 4.9 cm above the table, with the bowl centered between the jaws at its outside walls. I’m closing the gripper fully to secure the bowl and will use the settled jaw opening to verify the grasp.\"}",
  "call_id": "call_UCDUx00Db3H02ndmLDnNA69T",
  "id": "fc_0703a189f4f411cd016ab44e85bff887d0b688355d1433ab04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UCDUx00Db3H02ndmLDnNA69T",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.4042, 1.8629, 0.5934, 0.8795, 0.3584, 0.0238, 0.0078]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4312 right_y=0.121 right_z=0.0593 right_yaw=0.0722 right_pitch=0.204 right_roll=-0.0917 right_gripper=0.0078\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7314, -0.0513, -0.0611, -0.0122, -0.335, -7.9385, 4.4786, 2.1954, 0.149, 0.0317, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6eeb04770f52018bc2e4cbbd1b57d5ea9a577671629b4428855f142b8f4432",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f443a52a1259df97fc8168c7ada2a993a84f4ff29c59636e0d53dabea44c0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162d44c48fb4d367bf7f6e0435d0e3b3f44f366ff66c3dffa253920d6167ba80",
      "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 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6064, -0.3893, -0.0223, -0.049, 0.9993, 0.4168, 1.639, 1.034, -0.1169, 0.3321, 0.1902, 0.9961]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1773 left_yaw=0.0045 left_pitch=-0.011 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4349 right_y=0.1335 right_z=0.1289 right_yaw=0.0218 right_pitch=-0.1053 right_roll=-0.0519 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.0325, 7.0769, 1.6972, -0.0317, -0.0024, -0.0122, -0.0615, -9.9897, 8.4034, 1.7656, 0.1783, 0.0269, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.4076, -0.0227, -0.0494, 0.9993, 0.4046, 1.8462, 0.6006, 0.7864, 0.3569, 0.0616, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4258 right_y=0.1191 right_z=0.0489 right_yaw=0.0572 right_pitch=0.1404 right_roll=-0.0791 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7363, -0.0855, -0.0611, -0.0122, -0.0752, -7.4462, 4.8752, 2.0391, 0.1832, -0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.4042, 1.8629, 0.5934, 0.8795, 0.3584, 0.0238, 0.0078]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4312 right_y=0.121 right_z=0.0593 right_yaw=0.0722 right_pitch=0.204 right_roll=-0.0917 right_gripper=0.0078\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7314, -0.0513, -0.0611, -0.0122, -0.335, -7.9385, 4.4786, 2.1954, 0.149, 0.0317, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6eeb04770f52018bc2e4cbbd1b57d5ea9a577671629b4428855f142b8f4432",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f443a52a1259df97fc8168c7ada2a993a84f4ff29c59636e0d53dabea44c0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162d44c48fb4d367bf7f6e0435d0e3b3f44f366ff66c3dffa253920d6167ba80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6PtV7OFHJVlmF_54NQxr61-ajSy4U0JN-c4ROL8EGWOi3jM0pCiL72Jly6BhOcz8zrQe-Hu_fMt_zyrpR3DrFlYdnimCTk9CR5htXEkj2HVLf4mROGygg63Ag94hogu8h9Ip2hanJHIMf-unTmrmOjw393D-If59sXUJvUg9kH5IwLDq-_nhFg5ohNKgJ1KzdVgMobh7LL-CnnM25OboeNfFGMQXUAbEsqvI7dIW5iuo6jZQH_UTZN5pIO5Vl42MpVB62Px3jWQm-P2cP0rDm87Hx95Ff1Bqxs_Tz9P69H6vYInKr3BOEGLVIaKAFVft44z4qMKqYyz-KR6v25dFN4PW7CVUAHaI1oMLjRAEtxn1P4HasDVEGUKVYJfVcrhanzENpkuuu2qt1NUL39UFOrbNRN80JmSmY-ASB8p_FhpxwVr-N_a0ZlRXwoItT-3grF-PCx8As055qPJSPN-aA3SrDX7XdjfAGUEIMh8H6I1IWd_4HThoXeVis2M-GBc7h6fCk7Az0NhDQdkMyIM1VdXZrUlQP6o-_HeAoIwRfc9938pyuiMg9lxffdnec2d77bl6DRLBLK8A5xfEyQPOX9U8Et3puvwZMYoVlAX3aRoqGu-2KL-1wyexL6577yAQlmU5QbbvSPBLUSfexYZmzjPwqDMAEV-4PY0d8xohyotjO6a44IAvkwRLqKc_c4bA4bAHb4OHmaGniNEi04dOLp-0olflltTK6ROC-8aBm7aUlQPP4Byxg6TeSIZdADORacadzfK7heFZmpniOm0zYMFI8-4jutG2btMHJdVsZO8sm_worikGF15_K-a0-TgjYs4ojO98d7x16KT1616XjIkUvpwURxO5bpw51nri-llwZdRyEkv5tw7txrXz6ph2qwNLGJQOzOHdf3py2GFlTvCuw8qEx2Snnwhx-HjDNz2Zjbgf2XP89fRm3vTgsm_Hz5rceeh83riaN5jzst8oXVQI3Sx1qOZ_RwiUSzgzaX6mJTLLglOL4bfK7dgbwEyIYeOoYREnbab2oGUQTjpzuVctovqcAi2shXECp4iot_lHY9K2ZA-X-z-942zJoNMR1SdnerkEXSqOGe5yzhSZTRgBWPDrOsL9hHmjJes0K2H9Ie0I_TjwJIXn9a5614G5tfnfRQDdt3TNg2AA4MOjL-6bnI68RCjeC10-IHLkq2QNJ1cOlQi11SNfjazx8qNMkj6FFV4OMp7pp-hkydAm2IJZs1iUAkajoLQJhPRQo4XJOqILpTxUA02VdFIEpvrgXiycKw_wsdv-gZ1HmukZO-mRA8F0TGAy_p1vJnjTMtIX0zzLpqBB_Kt63dXlCL67ySgRrQqFg8UoqVj7R24MF6H0wouuzSf52F3omx8Mr4j4Bc7QeWRpBxGuRFwJ4ikT49rmaufZy-cXMbqNETVtOZr8iH4PDE2zqiF0N3QqDAvDtG5joumNZm-yAXzMjKJkQXSFHLuZYlaTTO1IfBgoGgKA1YHElOZx4XPbT8p4vH_cw7ZJI1EkfObBR9oJN80q8rO7ED4FzIR0WInBb55r7FKxSGf4fupe_AJmctYXFkzLZOMxqM5Ip_6cAjt_GcIAF9GBdjl4ZuztDVQlop296i1Tw0grb8DJpGjPDz4UEHj3I9s69kANCSE90Mq3cK5a4UG_DawtH750yWA_5A71tbJdHb-ZqxfdU-dzy_ujXut_GTS7O0LoJPEJndx-091KDr_L5AIOsbBQs_C6n1I3yMoj62mh-N1Z8E9jcjsBpEOKfyCKz-poluMCfFDJDJ1n5XspMaQ40xgswZUNg5gsEPK1V9iF2yYtI5Sd3ndtcFRIkw-I5IH3fgYhuG68R6n3EUq6ek1XcDedUDaUySDzCuMlpXWmgS_kJl0nzg0xoaV-ES7N6tZKwh84nbUBtcFiZPdBvu4nWKckcFcPONg3sRTUE4JQ_s8-1oqFg9bnbYMdwK40fw515yj8olXc7YAYQl5qyIe6Y7vO83Mmv0Esnczw65KE7cf7OIWpmsQkh3Wn-R3V-lUfHnbzDta6eTLWZ4GGIW5GNye8g1Ign5O-5b1fG2lcrDdThYgRY6mi2BC2W-TdsyQz6a7o28MbvWxjlzlRGN4O1D7p9rDEudj3sx9edbOZ5ZzxCZPgCzhcCNssvnutHvIYw1s-TnpAK_wHXzpkoF1MUNLogB0CFuPfqo33spV2UD70bXAjGF9daZN6ySmEpUsGbmjPqnEXjDts0sA8StMlBQJddRiX5Ll4sDaN95Nofqv-crZNuadLxhMTuQ-3bmpGlMVHxXV7fVeUXBn4Z0FYF_lFqmayJ7MlLgVSa6q-A3nQweUw_eY7YRO-ZjyjnJwLOwU895hymtpzC7gBj5ISVb1krAGmsbfNWWlU8476g1CmiT0YMZ7xFD8mDXbOjosFNAnYUbQysRItyeftNKVM3Lb2paizUMgp2CZgtSJFydfb0sU2ATCPy-WdcHNd6fYXAdqy5vMZfOLUNInQpOc3TUHAzSb5JMN7XtjvzP_jUJHKiLS9JvE_H0ycjJZEkItRleQKtBSCi6bRtXSQItMSo0fAfRcwRfHewK6ee7uIHBHg1COsIdrihDViYZT67M1CgYzERhENaZsy8bNJ_S7-Ytxn2Vw-ZMI9svGRuJd4nFGqRsUxppFECbmJP7KDISggd6d7P8hZzGWmMdz0mdrhNk5FUcy2_bt8d_R9LjIbcOl0UZgwK2pCvV2HI9g8_kH5EkCnJ4lHVHJDpW02UWqHfg2l4_rwRdosIgPMZHhZFshRACntHBEwBKFwperu_GL3lH1GVnpZ9Mu20Oa7gxuQ2IHqASbfSf_OD_MTampke49ZI5HLehaUaIo_yWXlfjCfTLnhaCMNiNw96orhCVVReEs16mEDSFnLcazq7ck13PdQwtmq1gpOrZu73bMXuonhMJ85xRQDYejAVNqOwqNDVMLbVynIbhYLyB0ag8wuXVt7ch3WBhCuMEJ0TKBUCwMal08u-T5znBxQRpUXzASRWOzgQE1vk9_fX1aKdi354wLntn2MfEDMSF1zlzGwvFOumjgKBHrCEFXDbYR9L9psqr6bI3qOt8YlTgawsCSiMkGmrzG28y1rNbectWQLAeuR9rWqvPnI51XAzVrSbrMMl7MezRkSehg-BXup56_CwXhDqkAci9mYfKHW9fo_5VAbKiPPTEIvFcwSG6-PNcB78TlWldit9Lq-gvI6cM3tng-G6iVHul_-FXwA0H8sX2HpxL_F5ZSiRCJef63YMMRCXZSYddWVc3Wj4UY85heoC7agy8GcJHzvZ7q4F71x4FARtxJOR9XSPUCEG0_sYfH2KgLIa2R2EEYuR_DISMZSKkOKSb4JIPva2MDGMXEXia7bRb4UU0MBND6UFfHSUD-98pGOHDDFWMffuKzBl_WiK5gmrBtrZ2fOKf6B6VY6Xh19nFqMPQ_u8tOyZX_ZHC7sLns2nYxCftM4a_p2pCTF5CiTOUJD6m5uWtfPn7ewdQSBaXdhuJy_6BdnIlVLANE9EAAY3Bp4nfYgNLC4VIo34kc-VWElh2zPYMcaKdzwmX6wRb2ejfxcxVUKQrJ0qaJyypXzSsndKhx2332rt-idmvFXpsOF7xU4Oq2GYBAOpd-3aVaP9RX4hSshW7CMGDKdM02Slh58WyKZ4PQKMU_7n9y7AIxBowBTMc4KYF6RfM76XKDwNmkBy9qNkvw5-XSVES0kT5MGYVqMtXoDoxkQ7eiwfIGNnpSsgxI1owGErixL8xcTzfyB57efPydf19k2wuEnw_UsLZoCG1vEf5e-BtkVDSlI_QZmDYOTulP5eORiqdaW9ZEoAsx_d8bEXh9zogoWggXLAuK3v7zw6MnqJ7hN3vYK-S-ICoeop40BtYtBrfgCCZPDv27gjiF3ju3miV123584hRFBM2xDDo7uOnXdx6PXakyLMsuMJQYJD_L_ACAE90QMGuQgV54ifZw9AMnYo4wn4CPBL2EtBc66WYn64477g_pF3QI_7OlVtRzg_e_ZcztXkki--EV_DsohXeksSzRgO0d4rxSxROBMkKzF6Fg8k99AGXqwA-KULVw2m5u5h3oIHhgr73",
  "id": "rs_0703a189f4f411cd016ab44e897fe487d09842daff56d1f183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.075,\"right_z\":0.13,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The gripper settled almost fully closed, confirming that both fingers entered the bowl rather than grasping its outside; this bowl is wider than the usable jaw span. I’m opening, lifting clear, and offsetting by roughly one bowl radius so the jaws can straddle and pinch a single rim wall instead.\"}",
  "call_id": "call_RCca0KCUAlhBG6wfWpzrENaI",
  "id": "fc_0703a189f4f411cd016ab44e8eb26887d09b5fb24f48b2994b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RCca0KCUAlhBG6wfWpzrENaI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2573, 1.6077, 0.5877, 0.6636, 0.2283, -0.0463, 0.995]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4311 right_y=0.0758 right_z=0.1141 right_yaw=0.0733 right_pitch=0.2206 right_roll=-0.1033 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -1.1145, 6.9812, 1.7216, -0.0366, -0.0806, -0.0122, -0.4171, -8.1162, 7.2821, 1.9267, 0.1197, 0.105, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d0368ab82b944c5d68cc9062ee943096a9b9fe55699b4d1682dfeab1fb11d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb205f769a8244723edca12b8391d3cc41807691cd6ac682bf1b377009f3e963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccee7549dda079ed88d14600b5953d4c223dd975572ba3e4775e498896505787",
      "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 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4057, -0.0227, -0.0494, 0.9993, 0.3927, 1.6325, 1.034, -0.131, 0.2981, 0.1604, 0.9966]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1717 left_yaw=0.0051 left_pitch=-0.0339 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4349 right_y=0.1279 right_z=0.1279 right_yaw=0.0414 right_pitch=-0.1215 right_roll=-0.0568 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4701, 7.3504, 1.8584, -0.0415, -0.0757, -0.0122, -0.0205, -9.6205, 8.5949, 1.6093, 0.1197, -0.0122, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.4042, 1.8629, 0.5934, 0.8795, 0.3584, 0.0238, 0.0078]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4312 right_y=0.121 right_z=0.0593 right_yaw=0.0722 right_pitch=0.204 right_roll=-0.0917 right_gripper=0.0078\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7314, -0.0513, -0.0611, -0.0122, -0.335, -7.9385, 4.4786, 2.1954, 0.149, 0.0317, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2573, 1.6077, 0.5877, 0.6636, 0.2283, -0.0463, 0.995]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4311 right_y=0.0758 right_z=0.1141 right_yaw=0.0733 right_pitch=0.2206 right_roll=-0.1033 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -1.1145, 6.9812, 1.7216, -0.0366, -0.0806, -0.0122, -0.4171, -8.1162, 7.2821, 1.9267, 0.1197, 0.105, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d0368ab82b944c5d68cc9062ee943096a9b9fe55699b4d1682dfeab1fb11d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb205f769a8244723edca12b8391d3cc41807691cd6ac682bf1b377009f3e963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccee7549dda079ed88d14600b5953d4c223dd975572ba3e4775e498896505787",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6VHyWA6kAH6f-BgkacHP4hAyis9i1JKxJzZIGsnoUv2DWDErhlDjkjwDMaEZLpWri_gDxKdrgpnrVDkVrkgO_8svDCmJo6FbmxosCBMUKynj9UOOum2S6EFqeVGoR-nv3fkr5mo-8Cs0oChoIttkTT8sVlw0FCJMSov7X3xHU6qtTt6xbhBzp1WDIRQnRi2eFD-o3J6tIUO50x5TXSEtOoDb8zvVc1_gDhYqlm76xGUXFEtYpypgNy2jGbJXGkfGzua_p_ixu2s72PLC0M5dasFW7RGtmND3ofRz8BSPglDtikJ3oxGVcmswHBFkP71J_2zmtxHKVzTZaPi01Nu1gNOPvF3tZAQPr-aLNHVB5CvHKnq0653rSjQxQdZIDCRTMGaiyyp-vw6bLA-xscctlouw1TKIAFcm1t2N05UbKuVuYoq7K-h-otk01SB5VEkfLNNp6sp5CyZxRP_qkHCAFZ2RtviYEJZz3zes2UTNL7axuTSVtSKPNkAMa6xFf07UQ5tHXTmzlZsZ8SM3rXn3THBk3rMpbxPwFZC3rhdPykucSAtnomDxsWhaE_T1IPt7xzaqgxQtQXES0Cfa6BghMHSzOlh5utpsxPXUbCh50Bkz1N4Mw2v8IC0e8SuPXTz8aslVf2LW3Q7PqbZdBTY7oaPr31c-GDdiJYFNaeb1G84LSQzD_J2jgg3sSyQsxjxLaoH3Wx3v2cChroOw3Kp3wfU-5dWt6Rq8woV-sx_4vq74b7EETbBJHCH8QqsOsYbcBI9yJcfHmnCZcbM8MP1yzM_wSyZVX2DRA2vklo_oCgiExNk7LbI77xZ9JobOJdKGQk-2ptLXzSGPpO1kg06aKFn7C6E8EhvukCgY0X5yYVsQ_yr2CwGF7fuouailMFM3chCpA1xchSHfMMHvnwWpk64I9cGrhlQN6ptlVWWf66nHhOsZIODcIzfW6QbBgNO_GgpHvBtxyKHgGMJXdbiYVnawzJk9piDLq_1eaYRET4Q8KfEz-kk_nBArJmgcBsdlf4e9cPKg2LAntIBjAolpxx4VT_JtWGDnqsXkZqajuLV3eWTr_0GyZuRrV8XzOJTgylWJJAPeUlo2KYeivTjoC8kYKvVpU5fma0_UPWhuI9OtV6hGa532XL7elm3RbjlWzX2hdvHkbIDm77PtPVVByyzbwWXT_5QQN-xdAlqiBmQ35J1RmFPXHjMtI8Jc8oqbB78L1NiA8OLDh8CHnZACWh1vp8LjPuV5_LNa5DjVm2pzPlCtX4jmKtiixueR7pzKJYiDF8CGkWsUAySPwgR31dn2xhM8F-nS_e_nu8ZaDuNasLypz00mhLUddfvnwU3fFkJN4pDZJjGNCWT4RrMqf7k2c-e9IWaTqlbNlLXu1wnjYPZ6ZV-GvkpPPCyuFmxy0nBVQech-XY5mtjCZXZpJB4ceK2EDLO3hdQhenP8lk03AphrIOvjVC8QLc9aW9wv6cOH1nkb-GtNH9d-2JnovI-1-wnucBjd2La-cOTyEd9imrJUFPaO7HmY04j9rYHG7wLLD6Qp3EesDpXn-ntPWLhLOiE8-p5UVPI-edBtrf-yHOGnBm5ERC_NqVQ1wyrGBjUGDn7Se_RSNXKoweugXTHmHxgDn3XOkestilhUgpDzpiBmqzN6Rs6K-NLnlrDd7Jzjnx1rwsNDjmBXWEFZjw5j_iVPDupfM0emh5ZcFLHte34MSedYo4wJehIE4_qWkTI9gq8itn1SAo3d0OLViH7S9T5FfPCRtR9alaPmm6pPVoqVSt-s-jdIjW6e1QB5fGs17ZuRfGlf_OQZGZjwemQsf3x1loDGxKJaIJE-9FLFxXBW7u6119B01g5Fo8_Ib1-skBlRHCjr9BixEHE6UlpxDMQVU8kHWg_IFheCY5Ipy_Rj3hOPDHhNg9YQbZWnUMLesJE76REVt-ZUrHiH93-S9-XtZyA5fh3dakeee8L-shCKLkYD3xmKPX9rn2EeA_F1ShWAOh6HZm9RN-X8oKVv44ZPizd5wv8qcucQdGpiIQpKjImh0arTH-oRxi51CAfy8FG1hG6PFS-Y0Hr_0EDeunBpUrfPdW46img-uLlFmN0ayzaxhOrJqR-rdwFlEIVivwXVo4Us4sJd4w-z-qzFCL_GfsCboOwyXWkPSqiYXcvwduFJcDadeUtDP32FkLa57C0iT9wgZK7BWfwGwWCcybM0WbnMHw57fMyo-IFSnidOReYUnXV3xfY2yIn9WFr9Z5wfsYtesVV0d-E0AVozkLCxZH7iUysKwMdl88q9dPjNaau58dgVZORwOko7lv3d7T_HE4P1LCVu95iaKX4NU0nDndzx5_rZSQBNE9AcF8UzpM0dNbCI8C4hU63ojXQ5J0VHpetOBmd-su6Hw45nPvduZed9LabRq3bZ2vK3U-q8dAkwlEG6pagvivWHAIEj49irbBMHja1vyo5k12rXkeHCnGQgMeJ7kvM7casLIVPXQaS28zRY-CiYHZoObOz-l6UCK-KcWSHJVBHG6aNyE6MGaMv6Z9qYT3fR95XVctHAIL7ahujbrUJ_U0M_d8dFJafxv-jU3BFoysYVEszRKWSKgJOfZovtd7o1qaoxVa-EeqrolDwW_OZgHtr1FR-xRYTQhd75ivIqyPhh2zLyD8etT_hkSlACXn2Z2WK497sPSUzOAXNIGpR75QkKrmf0vPK-ePPn95Z5ojDrrn_lnmc4f8kl0TLz-SA3clXcQ21CXk9Z-iil_uFwBe9L8loqgRSk5Dbr9urYOq8ykczFid_lwr1pS5IusBWgUVjDf3RnHyLBGDwXSzGbPl9DfOu27FP_xcIn1AEUR_DpIHww==",
  "id": "rs_0703a189f4f411cd016ab44e919a8c87d09281d3da4c961366",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.035,\"right_z\":0.13,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"After the first offset, the bowl is still centered between the open jaws—likely because the empty close nudged it sideways. I’m shifting another 4 cm toward the arm’s right so the bowl’s right rim, rather than its center, lies on the gripper’s closing line.\"}",
  "call_id": "call_8oLuUYouSWfIV9GQIjv5tyWc",
  "id": "fc_0703a189f4f411cd016ab44e944ccc87d08810373f7ca54855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8oLuUYouSWfIV9GQIjv5tyWc",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1196, 1.581, 0.5755, 0.6312, 0.1257, -0.0879, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4323 right_y=0.0333 right_z=0.1117 right_yaw=0.0471 right_pitch=0.1958 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4291, 7.241, 1.6728, -0.0562, -0.0611, -0.0073, -0.2256, -8.4171, 5.9145, 2.0586, 0.022, -0.1197, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cd96bb82286817f4bf60204cf7abd18248e0afcc17c8aca9b3fbc812987938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee29a7bfd7e50f04968351144f222a9ce73e178994d1b8da1e693197e6f3310a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501435eb1c7bb960a45893c90ed0934d6566b4449506c7dc04fb39339b7eb6c1",
      "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 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.4076, -0.0227, -0.0494, 0.9993, 0.4046, 1.8462, 0.6006, 0.7864, 0.3569, 0.0616, 0.9961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4258 right_y=0.1191 right_z=0.0489 right_yaw=0.0572 right_pitch=0.1404 right_roll=-0.0791 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7363, -0.0855, -0.0611, -0.0122, -0.0752, -7.4462, 4.8752, 2.0391, 0.1832, -0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2573, 1.6077, 0.5877, 0.6636, 0.2283, -0.0463, 0.995]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4311 right_y=0.0758 right_z=0.1141 right_yaw=0.0733 right_pitch=0.2206 right_roll=-0.1033 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -1.1145, 6.9812, 1.7216, -0.0366, -0.0806, -0.0122, -0.4171, -8.1162, 7.2821, 1.9267, 0.1197, 0.105, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1196, 1.581, 0.5755, 0.6312, 0.1257, -0.0879, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4323 right_y=0.0333 right_z=0.1117 right_yaw=0.0471 right_pitch=0.1958 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4291, 7.241, 1.6728, -0.0562, -0.0611, -0.0073, -0.2256, -8.4171, 5.9145, 2.0586, 0.022, -0.1197, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cd96bb82286817f4bf60204cf7abd18248e0afcc17c8aca9b3fbc812987938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee29a7bfd7e50f04968351144f222a9ce73e178994d1b8da1e693197e6f3310a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501435eb1c7bb960a45893c90ed0934d6566b4449506c7dc04fb39339b7eb6c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6ZVD9-xcjOrqLGcO7B3bh-oC9K5fwv1R7jK4vmhvAUdfAB9-4fcnMjprDxV8MFWethWThtuqSAWvynhA2YUBthRZC6efPCNaxi4-2XOhHlZnsm669Fcg_dei9PbNZ6CuxQ7wtqKMAJMSSqpJPa_RK7CqnXhrweBqiP1acxbFSpz_sr44ZMiczIvPiK5DGz2p-IBbp4rtz5gutCMderh7IsHaR1F2vNXOnoOyBiiEeo7hQb6vBCkdtskSOstq5qZ-ta-05acfzXbDuH9iSRoLYZo9cFOs5I6N71XyJjERD1me5HPo0Do9Lmu1OybBWbBfrmNBnVJHaKMnFqBUnghleFk5bqDvVcShjlg3W8ongxAp3FBX8ibZjQHQXhYMdXz_P2iXQH_Sl9JPHnFHM058D5dEx3Ro-1D3UQpi6JJ6pnCN0k0zpMEI7qYmTwgi-aEugXwsyZ2Yq-TlkSOzhbMFLr4CZV5bFcSDrhexns-XWkmwMEy6EEnUGObTYHG2rPYX6shlS86QTRC9XOjkFLDs08ENbCxKtZEx9GeGHBDyUnRYFratR3VjpryV3rd4tblVBWqj-zBnZWuw_sXNaMB0sdW8ahDRYVnmlxGRQYBjkaoZphwAx73zKQT5aeBz6x_oJxKXgzKsmb1wefLWQ4hUS-XqcTY78C7TpaLHtcn_FMto9yvwj4Vbzl7zZfN0o-Pn28QV36O0KygQ_BMugMU-2VLGObhCDjc5an25WXDzb7jbNW1wgCfuEGPV2rE9mdLye7emidXIjjSv2YsTSSU-x69clCFcLtrSvK2lX8p26J-bXUuKzqOqg0sIjQogxXHp-_fs8rcrpgAaDbNg5w33SsN9IOhcPny0l1bY7Sivl8iv6sMAOaZ38B8ENPWBzstm7NbQqKFZBuTSw4MDRitugIaGt7mvRmRXghNILnx1_oWImLY-n9vEjozsFd2g_SH8MvE-h2HzUpz0Dp6bFLn8_75vIIs4g0eKufLz-aje6P0mUnMwIP8hI2hzgSKymFZkMkG2GjO1cm8_KAnDDFCDAuLf4lvN-xG1sqfymS09eaQ75ka7_kLh9HGzbfJPGXejB4gwHLnAKyPIOnVy7JRB5M14BdzXr9YbODmJo4M6vicmmiLejYCE8cMz4PfuR2ZP-XHPIvQ1XbzKKEWF_gyZjXvm1jSrcljP-IuFw_oc6piArNXzZjoWDIZ_4-bVmzvNRtBJWC7taMvErFzUt79WOkNb4Dj3cwd9GAoFZgbHDFtmLNYlFGBnYuEofy6iyIjrrhXN2Iaaxl4UGdyRgcXYjaGJhdLVJel8DSLNXrpCG5H7O17bqMvJxermD5GsW-e3yud3AqejFGMGt3g-DrBZvLW8W_QQd41I585GNX2xZ_bprG5cznOJtIi0BOOJ-dp-RiM7PK3_J70Gc5lHiY0-nA0kNy17ycxODWmuvYgOUGYJ_niNe5UG-G-6dZ4ANNrfG4Pg8jMgnrpuqsjoBvVKyQr0AprJGUQKLs0AsG5LFkLNiBiryrmTNyMwxnkM0Gc5qdqtc_ea55_RkwN7ctB0wdClUaHZ88CVxHUZFeIVEEghEuYM9xeOy9r9yyMrzlAo7BJNLwoLwY8d-swmtBkcBZSjg-uQBEkVXC35HT_vyGHnIocAAmIR4vBJT8MweZY8I9AobznBP0OmBAG1Je2woIThvNZ65Ptq1y6I3hNJjZPlejQLuf0YcScLZQbqp3fxgv",
  "id": "rs_0703a189f4f411cd016ab44e975bcc87d0aedf1424a0b6481d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.035,\"right_z\":0.085,\"right_pitch\":0.25,\"right_gripper\":1.0},\"note\":\"The right rim is now aligned on the jaw column: the bowl center sits left of the gripper and only the near portion is visible. I’m descending to the rim height while keeping the jaws open, preparing to pinch that single wall with one finger inside and one outside.\"}",
  "call_id": "call_TdQ1q1tfzjpy4o81iToNuKLh",
  "id": "fc_0703a189f4f411cd016ab44e984f3c87d095ef65a88e9d38c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TdQ1q1tfzjpy4o81iToNuKLh",
  "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]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6319, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1162 right_yaw=0.0693 right_pitch=0.2061 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0562, -0.0464, -0.0073, 0.1846, -7.8427, 6.0513, 2.0684, -0.0855, -0.0122, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da8855ec9e9df01cdc9b150c05d287723eeebd5aea7a1958e777ff7c2d9880f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f1b2e9f80fd2c15397531787d3d369571155bb01348ca73e83767c2a3b1096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf571028df655f6b2568aa4b9ecd8945809e175693a25e13f9036e33a23cfbc",
      "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 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.4042, 1.8629, 0.5934, 0.8795, 0.3584, 0.0238, 0.0078]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4312 right_y=0.121 right_z=0.0593 right_yaw=0.0722 right_pitch=0.204 right_roll=-0.0917 right_gripper=0.0078\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7314, -0.0513, -0.0611, -0.0122, -0.335, -7.9385, 4.4786, 2.1954, 0.149, 0.0317, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1196, 1.581, 0.5755, 0.6312, 0.1257, -0.0879, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4323 right_y=0.0333 right_z=0.1117 right_yaw=0.0471 right_pitch=0.1958 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4291, 7.241, 1.6728, -0.0562, -0.0611, -0.0073, -0.2256, -8.4171, 5.9145, 2.0586, 0.022, -0.1197, -0.4078]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6319, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1162 right_yaw=0.0693 right_pitch=0.2061 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0562, -0.0464, -0.0073, 0.1846, -7.8427, 6.0513, 2.0684, -0.0855, -0.0122, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da8855ec9e9df01cdc9b150c05d287723eeebd5aea7a1958e777ff7c2d9880f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f1b2e9f80fd2c15397531787d3d369571155bb01348ca73e83767c2a3b1096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf571028df655f6b2568aa4b9ecd8945809e175693a25e13f9036e33a23cfbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6c6NcpvlaPRx8NZFLpjZkgACG00lTt0jgRuhwzfgtYslQdE0XoZegaXAucLF5GmuXxaoW3gBw93EiOCuAoyzbOia3kdKRoS9_RCipjrkyGKJ1CeOXw4wR0JMMzVk6YFRgxE1jB3PByEJMwx77HBjUpWyJ3PNyiTtOthMs8C7QXn7AQle3PrBXyC2R4dFDvJfHZsV1XEIPD9jyi8w4wrDaEk9KqfJmXCQsS6pGoogGX82a-0Ikk21a1plWbRtN1kCrPJ0K9rWHj5VlB3p_U5K9zwWMJA2hQtsbySPjga62Seuwu9GvhpUqetSfjCV0aV8hO6x4oAiBKbznkTgs9JX2R9wD3X2wmJsVx3OFAtXeQK77b0xOWCmaLMGIKv2r3iD146a04bC2ewQGAx2bJCyy6t3k2XCb04WODXJl6PRzbpyZ6bBBfkjJtmfa7oeXmdTP4duKVjBj8nvxHqzolqmkFxUzRfXmf2vzAdRkZA8nfDqkSPnG2fFz7Fnq9YOR1GWm6udrurSV_VNDjgvWqY-MTuWDBOKiv7V0xlC7pN19zyL8bPs2Wq7QTSeukU1f5bqtVYCSqxxTHE-wniOMSRJlquWQvlCy0S_gIUDihfbwuN0rrB4Gh9Oun8QPVBtR9JbI-bx96NlO_VtbA9OAeKilksIIxbe6ISpBOpVCRkEU6Yy6eJ_iaM0T3o1lGElzrCsuEyEgzaUSCHtFvaJ8UUL_0Zcd8L2GYRUz34Ift5tMfvY_55aE1-0GrMfoTGJq6zudic96CGe9eDnG2e4Xya9qlTyNgKZ1wOW-AnkUAaXaMDIfjBzY3vbNDq0Zrb9k0XMpHg_0sG3uAS5A5Y0kGP8Q4mflDVQq3vdcyYUQ7RGgErqCNpfyYHEtcJiKnfDdgGRh8xdpy6RL2MpYpM7WQ8X9t1om1ayB_lr_InDJBD8g5l42tkG_aP1V9tM87tOOZJgIJlhB2VRhmeFmdUv73aUBrjB2BBtDWjfXoCJlvEp_JAiaK0-KjpCqTJ64DlIuPnWZwlydo6CCbFlfTX8jAmhpesqNwmaD-KFi4NKdq3iGAC2QCe34UdISzoahWeDgaDYOeZFaHgjwpS5Z3hNQR7-4l7HCYTSvHE6hTkl2mpYBr3kl6dEyKZg17qvFfyYABEWfyRT1zdI00WgPOF2GwjKacFRsXvu_cSWI5g5vZwvDpW9k_C-oGhxGt7HpXYeOW6Wzkvi6bILFM-FhZusqCWSa3VkGfcM66lY3vuVHx_whSVAC8SZ5drVMQbJQf0CYY0M4izj8eyxP_8ThWqqGgIAmtp6uoRS0ta3uDcYOqbc1WueBmncxD9IkW3nhuVhhNFuqv4j6zgxVGv4EgOxrTOKknWvhcIkPw2O6zIzFJtbe75arfDw_jkKYh3BIOqbMiKJYMDmDp9_cKn9euinQ0C2MMXU_BG63Y3Dsiib8VSBA6Ax4z1aOXKXUbMwR8uFZmI3E1379POykuHDa1IEcbAh1erGPkKs29a_bsfJeJZsCuyzPXps0kUTDoe_ZAUdTVUvE9wiceTbLvgQ2y_R8Qolvl6Aa1SmIn7-nmBrEQURaKQ5qrnM2Fjg1wffwLUh1XBeclIC7rgpLzSB2P2T90u3OgFbYOj7j9ZIBSDTe51aGUs5o6dOT5uxUdj7s7SIJm6BCMgn14IyqgOpd820D3BQGPng==",
  "id": "rs_0703a189f4f411cd016ab44e9ab1ac87d0a3ab109f38694cb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.035,\"right_z\":0.08,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The short vertical command again failed to lower the arm, indicating the current wrist posture is at a local IK limit. As before, I’m increasing forward pitch moderately while maintaining the rim alignment; this should unlock the descent to about rim height.\"}",
  "call_id": "call_2AUKYRqtWDPSKrLGPt5VnXJy",
  "id": "fc_0703a189f4f411cd016ab44e9b9d6487d0b8d6bac6e79db017",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2AUKYRqtWDPSKrLGPt5VnXJy",
  "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]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6315, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1161 right_yaw=0.0693 right_pitch=0.2057 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7118, -0.0855, -0.0317, -0.0073, 0.1026, -7.8154, 5.9692, 2.1074, -0.0659, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938dda7ffdd0fb232a15d511c65b218ccb27ad112918b9518af2eeca692e23db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43308244dd2b036e328814e8d14e318c9c246e06b2e646df2c4fada9c1a77a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9d2328f3721fac7f47c0bf943ab600f76f2e3524a245ceac76d015ecf9f12e",
      "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 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2573, 1.6077, 0.5877, 0.6636, 0.2283, -0.0463, 0.995]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1712 left_yaw=0.0051 left_pitch=-0.0366 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4311 right_y=0.0758 right_z=0.1141 right_yaw=0.0733 right_pitch=0.2206 right_roll=-0.1033 right_gripper=0.995\nstate[joint_eff]: [-0.0615, -1.1145, 6.9812, 1.7216, -0.0366, -0.0806, -0.0122, -0.4171, -8.1162, 7.2821, 1.9267, 0.1197, 0.105, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6319, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1162 right_yaw=0.0693 right_pitch=0.2061 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0562, -0.0464, -0.0073, 0.1846, -7.8427, 6.0513, 2.0684, -0.0855, -0.0122, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6315, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1161 right_yaw=0.0693 right_pitch=0.2057 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7118, -0.0855, -0.0317, -0.0073, 0.1026, -7.8154, 5.9692, 2.1074, -0.0659, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938dda7ffdd0fb232a15d511c65b218ccb27ad112918b9518af2eeca692e23db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43308244dd2b036e328814e8d14e318c9c246e06b2e646df2c4fada9c1a77a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9d2328f3721fac7f47c0bf943ab600f76f2e3524a245ceac76d015ecf9f12e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6i6OVaClJ7HgZnnGG7GGSSuKkruXRC81aC___yFvexLX6Qn1p5pSnD1xMYKijhGkQXQEFAjVjnNtMMjphHPz0BQP6h5Vrkbuc4ijzQINnPluHWNChEhKYpHkJnb8xKyKHOjgWvTLA_deG8Gn9vkohpQJtG3IlhccnQSoM5FkmvISsxIbjIHkoDkF2iYkyDQ1K5_PrifxDZC34uLqAnV_3czzUAe0CUbTvyAMeKaVPiMKLMSH18-rCLSMA7NWMXH4xDNKqt7gAv8G2ay9wAFsorza9n8ALgysvG017BX25faMzvGCTnfO5V4JzkO4cGwkN0MJke9NRejdiGlvtlebMGrJLXU5O5-DCgzfqo0I1aBKcPHXXfVOqpw1r5OoTm9onHGvDdvqMTrt-Tz0MqBX01gZmtdmehskF6XZxelfZAznJNOh7CsoL9Qsv8FgJAw5fLjNdvRVezq_dv9cVWfOqB7-YcKh82VExYWUvXQb_BmMT3gZZoZENsO0E284k0IgXHsb-2Swwkz4SJ6mdKkK-2zD1-HQq9WwbU5kH93JaMBbv8sjpoCjhdCHJZX8V-3TKe3M3qGe4EbWrRbNu5hkbZU7moJew-gXjTwMGNJWgSEntRINUFqHoTPH9PsCp7UjJIMC3DdqfoGi70UEsebFVD46mOFIFBWufh7kU0rBURi0Jwgn2MNuGpL82uomwFpVqE11SlabHK8qPRpcuG9zFvTUVbrbMRT5ow2eQaI-IEPCbbGm3waJpLHZV-CAgLH9Vz8HIcJSbnreNk4UyhwkK41V_nLIzzoswCYoeZh_Wqs2rTE9gYftXfv3BQ9Bz10_TnUdg0s6wjjOjIRa5Dkg8iAdPo9mDIx5q1cR6htfUAUJRIBbQnFX7jNr3HJmxoKJpGRd42K-tZ0qEnZ1-7dEPaHiVmIHI5QB6lHdQPClz_-IuOjeq4bbf5RyCP7ZXlmQ2svgxEoHVPLPtlKyHbVRJbviM6XVR8MWSHD9bJP7gZrZiII-QJicuuzGZ2-nr5B9D5UHqpZQyL5acaOYh5iFZH7VtrDl8gM6K1TM1SZKcjqgzJTPbVCbByMELxTtNV8EHDu618Z5kBfotq9nhb6ZrAeHFjPCqIEzE1o7fi4qEMdK5wgXzZxZMpfCMEG-tyukqgAEoL9l7i8ukYOa6T4BtxNygRCN05dHk1nbTFGKpymc3-LurCF3xr1t8ltrCRKcGiI4AeXq68pA6cZxC8LDxdZGHdtFlBwTXJgkWrbsNPEorCMM3C_HW4STtuWvCURuYg2hpbIZo8jodrbUkBLKs7pFFPvCMCrdukoepwC8qRW4Eho2WiOx1aGVOmBnyluy_1G9irQ3zOVAxu4RiabNauS1sKaMWDY3rOV9BZzxLzrMubemEEHqhwYh5u_G7TL0QVAPUegF7DCX0wOTxaogE5_jFUDQ1MLTBhQFowXISiuAU3jdW2P2I87AvxIjL7wWRNlB66enb5rO12xWap9XLkwz1II_cTraa6lkSHxeJJGRSfOIp64QEvg3U_vV18D0ncLg_1qZLo9Ts7i6DvMMD5LnF2J4dAlBvGAE7SnJO-CgyuPgOs00ENU8BJ8Lf98A5vI6WLfXT5NsHQ2KY7jlEwUY9xo_AizvsSvFVtuoRq9yycmoaZlV3lLb-X9NQpFx2mGdnj54lJPVb0H-oSCzh5yZZy-m9TVc1zi_qfKtqyZ0fDq-BhgAeZj5A8narUCClSCUEyQZHhujvdtq8DudX8Cfvzi9yvxumDlhuWkmcuCCwzHv04HMKp01lRpWDPBY1IwQAKECv9IPKerXYw7qx1ji-Mu_DHiuEJUFDiFAtinmRnHoFXgF8Itxr9ic6j_qWz821aBksGOK0CdGij5sBOHnrBe-OVwcmBpjAX86KQDW0q-QEYW4Bsj5rluVxHwkZQyyhoP3C31HQVOPHFa8wIsDum039wO-KxALEjZ8WJF7DLo49k4Z-AybFK-ARNg726uiM1Nm7B743jrfrt9omXzOzyJpVb9oa48p7RTmDxRMnWNCM5Ww9RzXh0px1E_V4IN7IbdjO9qjv2gCPKvsIaVdsYWtT_ZKJ8-WKDbas9BXQSYi1mRCw3MvgCyojEeEP_XFdhWE0nlevQKszEKNaV6pMHumOFC8xexwUg7rJ-btnZ_z6vRyATJBZ6VQuE2BB2_Eufdc0rg0E355ySdbA0KF3VaHn-EnVpbYFVLr-nB0nmOgVpf5qU_iDShAzt8cMgxADqXEC76lNiTUiAqZ8JFFcPCfa2s-Wy_f-O-CiCQLCnoliGY9Y3LNE4FCcRN3HdRhK6Fn2nymmkYMgSWC0qJKYS2YIwKF30zgj6WYAzZ_LXL-fpq5bPyGCloAOLkgqs2na1SNCZ9Teyw0PH6PnPfOnuv14gCpKuR7gNCmq_LFfXha6PuPxhU90onYuW-vbkQUaE50x7Nu2glIb-SroNT1F4x3NJqeXibgkgMX3V9NQ-GRcKlJsKYhuHzqF2bzYyPMWX-Pd_AXF_W9aL9hPDnRdUflL5nDr02HoJn97t4sfEi0GiRcOyiFi2WttSmnO0JBmMSkUagGRUI0l0zFHTte1KbRgN1jXJ7vFIS4Hkv-DAC7VUELHrPPoIbTJUGhjuD_X0pblG1THhfYw3VmipP9Jf1rxz12vUF8A9WXUMicUdm4BkIsq8DX03kr9C9QNrdurbmvpHMp_2KgPh0mGJOdGCr-Ia1-8_N_aDM0GNeo4MHuOuFFNjvSQf49jxSNJRmqguUsZrsXfIww3MBq5aIeQqeE1oTA8tuJ5PMMXqYTWmNnVkeCwGZab0NxGu2qPz9PL78o1eNLPp6OA3yduuk1Dz4j-wO0ZCX-VsDoDnK9NmOHFts3SVeCMUaH2lAN51",
  "id": "rs_0703a189f4f411cd016ab44e9eb61087d08e791834f717d7c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.035,\"right_z\":0.08,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The pitched descent is still blocked at this far, outer-side pose, with no contact visible. I’m easing the arm 3.5 cm inward while asking for the same low height; once lowered, I can advance back toward the aligned rim at that height.\"}",
  "call_id": "call_qvjoKDdyC2pAEdjzag1SdphB",
  "id": "fc_0703a189f4f411cd016ab44ea1c70887d09426753c23eae8de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qvjoKDdyC2pAEdjzag1SdphB",
  "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]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1246, 1.8328, 0.3176, 1.2163, 0.0994, -0.102, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3957 right_y=0.0355 right_z=0.0535 right_yaw=0.0816 right_pitch=0.2699 right_roll=-0.1084 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.2923, 7.2957, 1.6825, -0.0855, -0.0806, -0.0073, 0.4718, -6.2017, 3.3709, 2.2051, 0.188, -0.0366, -0.4029]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c02314bf13c1e26fb45817da0413e8e00dc72e25656283b8eb1e6f10698d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f85409cf93633536f9ac5255303b34ecd773f112cd27a9963987f2dbc31aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7e1ebcf5a7fa995bcbe6a1a8c793eff0a29822ab4ad91f270bdf3aa065fcc",
      "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 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1196, 1.581, 0.5755, 0.6312, 0.1257, -0.0879, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4323 right_y=0.0333 right_z=0.1117 right_yaw=0.0471 right_pitch=0.1958 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.4291, 7.241, 1.6728, -0.0562, -0.0611, -0.0073, -0.2256, -8.4171, 5.9145, 2.0586, 0.022, -0.1197, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6315, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1161 right_yaw=0.0693 right_pitch=0.2057 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7118, -0.0855, -0.0317, -0.0073, 0.1026, -7.8154, 5.9692, 2.1074, -0.0659, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1246, 1.8328, 0.3176, 1.2163, 0.0994, -0.102, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3957 right_y=0.0355 right_z=0.0535 right_yaw=0.0816 right_pitch=0.2699 right_roll=-0.1084 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.2923, 7.2957, 1.6825, -0.0855, -0.0806, -0.0073, 0.4718, -6.2017, 3.3709, 2.2051, 0.188, -0.0366, -0.4029]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c02314bf13c1e26fb45817da0413e8e00dc72e25656283b8eb1e6f10698d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f85409cf93633536f9ac5255303b34ecd773f112cd27a9963987f2dbc31aab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7e1ebcf5a7fa995bcbe6a1a8c793eff0a29822ab4ad91f270bdf3aa065fcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6n8EQnPePXitBwjGx2o8PpPkwsOikkS_ZbbbPMqLiL7V6xD-T0QgjqAYb6cq91Ms4IhUlVjoGLqS3_gCm_gjDnPQINS-gB2n0dKqI0-bsUUDDRX19UfIGXYceaEZrO0qXFKN_qsdj3SIDXrSq5et8uYxRv0ipKBpkP16lPFe6TMT-Taqmp15OPWO5AzM7NI7uSlAMsIwmd3Oq_J1rm1omZKUDmeQcN7UuzvFXrUyBRfCaAuIsc63oHVytc2_8uv3w6sL-reuMHn7BsJVX-JBNfZUQnmutFfp4bVmD590awA146VFYjHyRf2SiFFVDmRInSZLaNu1cwILe8V46urJlMCeMbeY8sf5NirVm6YYlDV-zc1oodXJ7wXL0geFVtJeQdNLz7r8JPHwysSQF9hLRxfGfvFNenADH6WD5pPOpeLYGGnWsRLSqS_X2kydSD6gKHMU0__5Q6UAfTIsbT9oXAAgIUO4PsQH2zNm2Xf_PPdcRX8uX3CBFY3xyvg3Q0TI83KCSQ2ItFlvh0BtuNEQQJvjqLA7b6IaQ3tQzsCZAMZZQtc45Fi7hwwFbx-31Gn7qPrKPyt4lApXEjqYS63MfzhHJ53QldNTe9BtM59ASdg4gG_I7Haqotg-v1FgtnjZB8CbgP07sRKLVjz00T-4WSva-SweITQy7VzyOHBkOHsF5IP7j3Zz0SkjpgbDi1yHOnZN5rssWzjtPz72X3FfPmlcIvEyvjwa3uFEiclGA24krfWNUXWOPfDi3LlsNLXutuoERUTZAIoAyYuaxylcYi1cYlV-E4VPJ9qxD9LIs-5xT1DJj6ZRGnDNstTWZx2FETDfv1P0Vs9NZnAxMhySBZK23aoSXPJT-oeOHWssBS072I6qQToOmkhAkb6fx99DaGSCwsyJAPY2O_CKEmkl1rkWaQXTquEywlAZoI0jrp_iH914-dyBu2vWvvR8b64-he4nVDWvw02n7saeaOGq68o7-k1fH1EMQWOGF5nNPFUMUkp3elJ73mNafhQeTu2MQqK_Vfphu1GkmrtY5qb3jp3SgEfx4QSD5vVXj91cOI9M2ZChlUj7SQGDX1rCZgRKSvzJxfy8H-Ye_1l3qZg54gMAUlEWxcH3PqITZ47NXkBYx6i-S42Pxi8M5mUHkDBhW7y_pvFDllGfcJpbD4stHbdcnu30PGFqrpjxBttjokLR1JUgEia9AeSlC94QuXvNklfoz4cEGe_lCK63AtmsjKI1eIms41Pf_mAXbC_pscPoCWeVRQQJE9eAsry6aSPGojgZ1vvxnV3jb94AY8LmtEB-Dv-dfPZLSGw56IISeBYWLZBNxbSah9Rv_pUvBT8ycgX49x7PTfRL6co-mlZ6WtolPm7pUlt267zrqZ-yt7agfGytlKgeuQDbbDP4vggXjWESdHWGibdj1y79ashbQO1IkNskZNvv-Ie5-UhEYx69yTzjQTvICVMPNZ8tf3bWzaIGIaBxnZVb79iKSfnBRzJAxt-7odVAJB_YxzGcJaA4GcBnvkl2q6GUNpTY6QOUMRoScPQ7ZjYpJDEtuBDEhSQONzCexouZrDOlTAAR7KvjaL_z66f-PoYKWUn73KPiFZ7A0giIbwUjnPwtBruT7LXYX0m7hOPL2w6RprMj_qEb4Bf5pkxnwMW9w4a2I0QPhpQ_Yd4We9XvVxpPaICzzf1Latg6o0g6qOho8OaIoAfHWXlJWDd6W4-1LTz1_VsZWgDG2qEGnqsMyFioerdVVIwLVUFAITasBbc0m6JvB4AlIYJytFc-tdDLayZgwi3L_mh4TEI4gA3oByOr1YhRrWURrLSssaG8Hd6av99-ZTUNZr8Pg1J-UWOBZzqIq1E1AlUeM938rIJfSNScO4K3YVojE_KrWnfTLAvfiPKbQkrZB--nk0l_KpRsvEdv-qJyiMI5_UwWW9oavfOsWgf6j_XJURhXLNdWF_4wEA6ExqhBxVRRhOAJSHzPnr3BGQ4jBR8S_8xU1tXzEfTJU72Y7i85h27drIpLFUjZavCpp6ElS8pmqAr1QzU9vqA0XzSwGTdGjVJEGYLoIpHdhQ3WtLOwQm5aZJAnCgDS6v77kCKIZbBfpkHEQPw0YP1VzpKkxGUWtnwnb6I8rgp1GFIS6V7FyCpDakiL2co9gaU67A98bXudEzn840BpA2f1--nOSfbHe8ErtJHDVKjzMo0TpspjHW5_mnRfTurVJP5KwudOBE4YPsPMlovw4v4t8JShYq9tGf5o3YsN9LRVIc0MhkVdWsZ-Q9PRh6KafMeQP0rCvXye7BD_G48waIXX1vfMHt",
  "id": "rs_0703a189f4f411cd016ab44ea44b7887d09bfafa6b9b3e2f51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.035,\"right_z\":0.08,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"Easing inward unlocked the descent; the grasp point is now about 5.4 cm high, and the selected rim wall is visible ahead of the fingertips. I’m advancing back outward at this low height so that wall reaches the actual grasp point between the jaw tips.\"}",
  "call_id": "call_X8ncaGzWFUciTsd7UUZlRLHh",
  "id": "fc_0703a189f4f411cd016ab44ea6936c87d0ba0992abb29c57a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X8ncaGzWFUciTsd7UUZlRLHh",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1108, 1.9053, 0.4015, 1.2907, 0.0872, -0.1093, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0385 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4224 right_y=0.0351 right_z=0.0692 right_yaw=0.0818 right_pitch=0.3551 right_roll=-0.1093 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6581, -0.0757, -0.022, -0.0122, -0.6085, -6.3521, 5.0393, 2.2051, -0.0952, -0.0806, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0091b2d1e8a7c7a651a62a3917c94151b58e30f359d7898b5c6da6f6f00ebe05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bded562d53bf4acdcae27cebc4b7ba7e2c799f11c926b84de45f93445da3a62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5710d84db05795510ef018301a999cec6f1d5c041387c2cf26e7e4ebfc3d0258",
      "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]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6319, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1162 right_yaw=0.0693 right_pitch=0.2061 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.306, 6.9949, 1.6679, -0.0562, -0.0464, -0.0073, 0.1846, -7.8427, 6.0513, 2.0684, -0.0855, -0.0122, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1246, 1.8328, 0.3176, 1.2163, 0.0994, -0.102, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3957 right_y=0.0355 right_z=0.0535 right_yaw=0.0816 right_pitch=0.2699 right_roll=-0.1084 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.2923, 7.2957, 1.6825, -0.0855, -0.0806, -0.0073, 0.4718, -6.2017, 3.3709, 2.2051, 0.188, -0.0366, -0.4029]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1108, 1.9053, 0.4015, 1.2907, 0.0872, -0.1093, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0385 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4224 right_y=0.0351 right_z=0.0692 right_yaw=0.0818 right_pitch=0.3551 right_roll=-0.1093 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6581, -0.0757, -0.022, -0.0122, -0.6085, -6.3521, 5.0393, 2.2051, -0.0952, -0.0806, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0091b2d1e8a7c7a651a62a3917c94151b58e30f359d7898b5c6da6f6f00ebe05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bded562d53bf4acdcae27cebc4b7ba7e2c799f11c926b84de45f93445da3a62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5710d84db05795510ef018301a999cec6f1d5c041387c2cf26e7e4ebfc3d0258",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6rhRLiLsaibyjpJOQeQ-h5D6kbhKZIA--9Gp15YJXSZXd157kFOI1QdpQeWXKYnzSHNT57MEfRP0L-rnFsX3JolD4SRx_qJ0PLkZ8QA0Wey4ut2axwwH-iBtOE0r9KX4oAtbygerD456SF3R8Ya8hth54tsa_ML0pDr2tiwwJtelS4OaUEUQpPNq-Yun5cCoTl0MhQDS3L6R6dlfAndqlOx4kyTVUenz1Id0Kaf7nOJKKcBroLW7xuPuqEiJVMSL27lOmGNmoobAPZbXchAYf9CYKp0hsLUDOaMS71mMF23Gg7e1RI_PusbJBgkuVNvuqPm_yWqb-S__kXHjaBUmVJcVcZxNasfr6MVhH7-eNzzsHae1dIjqY6lmnlLwevwvf9yF_QP3Fs1oflB_cl-jQ0A2hDklK-j1ZES1qXvw2nJ1Btu0AzHjcsldoHCig5nE63uaMgvdDl-kF1TNptaOu0wEHGk0JkZHLUJ8yMvHGhFVMnZkf4vQnG980druUY3p98KKO_5NOgqaVlFP7QzmAMsxacb4Wxr6STPxBEXPuQwIH-oYOZ_9vO-bEIZcK4sDc3BdXTDuvm-TtDl123xjHARVW450cmAGmlpfOdd30UcjKkFjGtyFACQfmitpuIDl5MLio6yv65iaXDTulYGfMusuAPoEiesTKlnbYUOm-b01UN4suLHQRj4Ycs57qSghfZqXZxD2njF0bVuM7Bn6E8gtwKMonVeWEXiptsLjx44DBxQEznqK5-JXO2SsrYFRs7Gx1rAL-44eczIi_v-TEmKfifiCC7YL2W16wn8gR7Xyx5AvmMQUkeye3T3tC2B_lNkA8mkTjAnYFr2FokI1yPftnV1r6tlExwu0kSzl3tsB-Rtt-88XI_GFrT3PvZEhHodq2mboBV6Cz3o9_4kzLJa4opB02qjBoUN19FNeVgKSk2nVeD_e04YesvP8DLds1jqqruXV5WMWcStCZXZGqBOy-tkBdjsyahZ9L7VMlP4paSzkEhnMKbFWtpSl49n8hNkIj9dNEeES9K0gntOQEsMtoDoB9ynegkNL6ZOvBRKqX9VOQmKdlngkzrn6_WFIqRlAAAwLJj9v_rNstBbAkEpGunUAqXGPqu89e6YXmEu70H5Q_H_JIAWQW1f9WqLVysmYcZUFZvCUzfdXOo7DhsDhnJLF_Rliitwp9IAkotxZVBcFYJhFBpEe70Zct2y4rMn0bv7kN_xNROvmlXhAuwerXy5bmjCDNyFc9jcuNGpX7Woec7k-gtIZWDsfM6Bvnbwbrs5mBQgVxoPb2vqZ6dwZFg_IxQjbCtm1c_mNLsElIoL_iaaGneu0BTjszszyPzk3PedfW7j4eTdNvy_NUQr0IjZRFnq12FxLLblFemO5z9V7uD9v9yT5j6ddxJ2kK8PWcog4eXV51iP6XngUuVjDpsV9cDgtxHSsfs2eHgfkw_CTw35Fuye2IvPmKlsCJABvjAFTgnOHY5QfUmQbt34lAYoHBKdPGXoMm4vxxKKiSi5rUCXgh49JP3miqaVtjuRKgGslcw542OZX1kEC1352vLYjdEiT22QrL7lMe6omYwDYylEflli-iSlbPu6GeElUnPANDpeJyu_XpgXQ9cfobVC1gJt2Q12xzzG--dCxNxS2G1CN1nBFP1RY7FFK0cbnKmkJcKxAIhgORcY0MbLMMj8DW6rmLqwPUhIj_Itzt8wshEWDFUgnCuKPcQkMho7n-8PqYFVv1PNS60bEGGX1puzr9Xt6lpIGY06R1l0LKQkzt5OR1WxN38mk2iZgOHiNnOe6a98LntpvJSK_XxyA==",
  "id": "rs_0703a189f4f411cd016ab44ea9588487d0bc5354c61a804428",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.035,\"right_z\":0.08,\"right_pitch\":0.4,\"right_gripper\":0.0},\"note\":\"After the low outward advance, the bowl’s right rim arrives exactly at the bottom-center grasp point between the fingertips. I’m closing now to pinch that single rim wall; because the wall is thin, the subsequent lift and overhead motion—not jaw opening alone—will be the decisive grasp check.\"}",
  "call_id": "call_G1AmuxZ0OsxrWndFGcCMUwYO",
  "id": "fc_0703a189f4f411cd016ab44eaa854487d0b0f90b7718e33c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1AmuxZ0OsxrWndFGcCMUwYO",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1089, 1.9102, 0.4072, 1.2911, 0.0868, -0.112, 0.0085]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1704 left_yaw=0.0051 left_pitch=-0.0392 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4239 right_y=0.0346 right_z=0.0691 right_yaw=0.0818 right_pitch=0.3561 right_roll=-0.112 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.6777, -0.0562, -0.0757, -0.0122, -0.2667, -6.7624, 4.7932, 2.2247, 0.0073, -0.0415, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4781682351044277e50212953f749565ccfa91205435c822a6ab5fa37826ca6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99272f54837b9faba1836b08808f6f4e5acb636630e31fe9c705c78f87c2cf21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85ae52fb5611fb97a315178610621f46be9bf0e246cfb6fc2c45307316a00d5",
      "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]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1043, 1.57, 0.5755, 0.6315, 0.091, -0.102, 0.9962]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4327 right_y=0.0328 right_z=0.1161 right_yaw=0.0693 right_pitch=0.2057 right_roll=-0.1082 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.2923, 7.0085, 1.7118, -0.0855, -0.0317, -0.0073, 0.1026, -7.8154, 5.9692, 2.1074, -0.0659, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1108, 1.9053, 0.4015, 1.2907, 0.0872, -0.1093, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0385 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4224 right_y=0.0351 right_z=0.0692 right_yaw=0.0818 right_pitch=0.3551 right_roll=-0.1093 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6581, -0.0757, -0.022, -0.0122, -0.6085, -6.3521, 5.0393, 2.2051, -0.0952, -0.0806, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1089, 1.9102, 0.4072, 1.2911, 0.0868, -0.112, 0.0085]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1704 left_yaw=0.0051 left_pitch=-0.0392 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4239 right_y=0.0346 right_z=0.0691 right_yaw=0.0818 right_pitch=0.3561 right_roll=-0.112 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.6777, -0.0562, -0.0757, -0.0122, -0.2667, -6.7624, 4.7932, 2.2247, 0.0073, -0.0415, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4781682351044277e50212953f749565ccfa91205435c822a6ab5fa37826ca6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99272f54837b9faba1836b08808f6f4e5acb636630e31fe9c705c78f87c2cf21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85ae52fb5611fb97a315178610621f46be9bf0e246cfb6fc2c45307316a00d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6wv4SPQTx95tPmi0aJXSZrtVmUKD1ENGsHGEkcsCs5MvIfA6_31lHjzjGD4iuJz_K4bzIqc50qkWY8Bs_mxr2cCcm-du-dfEFFBIXOpRj6W54vpG8AxmDssf6XguAwH-yHnCjpUFKs4NWzWoH8FPI9T_1SPNA1gYX79KU5GCm4st6V2UoVfbGqphqzqOlHmT_y6b7eV12vsMrH2JzWdIhEpacwApOz-_wfkGTMCk5mQzTAjW8hE1RjsgZih59tSwOK4XPqBL2sT5w95kZwrfuSlQDdwlzPMpPpq_h0jtBatuPbhLm6BNVnxRA1txuIOI9mpfiZCCZmyxP9TxhvtKIjxILy0INfPxChrdSRc5kK3hsfbJgA1a7I71M3w4OcbMe_AFukurBB4ArlLFlKtOBbKIaRWTJum2NckRiKjMg9n-bA-mTzAXiqQ_M5UonH5njAUCI5K1Bfw__MowBYtZZp3ijNBAgFQaeR1Pb1Ak439GMgVjRO7csVXulvsSztuTqgFHHY5e79_fvb1t-GM5NIr5-RJ_mEa3-anm40_MwJNYVRfXWId4nU-NuWEfDPe2ojMwufv6ttGehgHyrJW6Hmkwl-4FLlkJ5zylez_UJ8_VFT5rinN_8PW0kgzSCcdLNLHsLi9qGtA-kT0QRAOMUNpO5zPrHbI_ZLxzIFkPfiXW0NYtmyBCTkp4vvIezwl01BZMRa5VSEFXkd8dARfLqDwc7LflntAkrIqF6azSmQNzVzSud_DjUHd09KytDxkwei3tgPJbRoWz0P_SMP7-jTqCpLGvb_omxt9geEpb2IYaTfgSO70e3v0ZB_X_PiQpNiazHrI_MjsdOICOqMkJ6F6vY2NcSeIoR7yIxxscVLiFMu2kI92q6bzqwjsas_xqKqnPb-j0n_kXR7E9wZJQxLBcBrszvSrnse_Q4popHOK4TsaM0eOtuCXw9m4U1M05dj9nCg03mTPT7VaAxnttSCDiL8x0z4pLQFTqYw2IaqDb6Ys7njsu6W8qrSa5-eiGzHYfPdrVqHeq2mnvkHUAeBt7M-zTIIQPD_XVVa4eMPT-eN1T-8VIx6FWyR6eAYpxqv-uy1dSI9_KiHFDTH5aR6lgPDuseGQaiRwugPVioacq8HBxUfNFTwUKzaeRIMrJQE2ndVfE0d0voCYwjI-8LtH1jlhrsKGkTXoxwfhvDhTvjbCam75qKZC-Xa0MuEPExy1xdGE2a-BlxScq4PmgXwuxoEqffrgKyunWfr4uNtnvoLSJ7lbAuocLYe3DA3oC7E6JOYKzY9JCa5GeneH5bHDRZd3PtuIAMDw3hDj4oa9MaVN_l84ML5xjUTkPy6p45R6II2Lvr704eU3i7-og6h_WZaOBWjCqbeB3pHaQDphrBqEKVPh-2xRVrVmejsvemI5mlOArHFfbhQdCHCnRD8uD3kcdhHLdNGXXw52Qp6IA1n8Tnf44y3fymWkWyCxXu0h0bE1sg2JmgT5GgRvmkl_JsISM6Mg_vKTCjiKau6vNXEy8KVj9u3nRZeqiI3UE47SAqoi9Y2sKJ4vjJ-ZkBHxOS7StQPYUOob81d5zpvoDuscQil5iFvsB4J9YmSYWFudDIfgUJaJsgWIWSVb5qdkHBOiNxyUacbp_78EarWVQ5ZA9AxrX888SlS6vyStiE3ZGAs0d2rKIQF52RtaFeIL4QD_1XGT2JJS2yzrtUUtjfq0joyuZwlgZ0ZJnwlBK4quRf7qTWXLzmQioIlVBezGVvcWq4xjYkZnL9oJeQZB-zlR4kamFmBBSL8G5xSmLv7JEk1GXRyKpATyv1QXdaIYGgx02m6pEZzVr-KcyWNF_eSEA7Z2eigDNi4jWEBtXlc",
  "id": "rs_0703a189f4f411cd016ab44eade5fc87d0a1e65e08790ecab9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.035,\"right_z\":0.16,\"right_pitch\":0.4,\"right_gripper\":0.0},\"note\":\"The jaws again read nearly closed, which is inconclusive for a very thin rim; the overhead view does not yet show whether it is secured. I’m lifting about 8 cm while holding the grip to verify whether the pink bowl rises with the arm.\"}",
  "call_id": "call_W3ljIuBmTXEJY8viCW3V4gpy",
  "id": "fc_0703a189f4f411cd016ab44eaf16a887d0b2b9299933551004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W3ljIuBmTXEJY8viCW3V4gpy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1093, 1.5486, 0.4808, 0.9142, 0.0872, -0.1165, 0.0061]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0419 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.035 right_z=0.1528 right_yaw=0.0838 right_pitch=0.4141 right_roll=-0.1152 right_gripper=0.0061\nstate[joint_eff]: [-0.0342, -1.1419, 7.0359, 1.7216, -0.0904, -0.0611, -0.0073, -0.1983, -6.5026, 7.8838, 1.873, -0.0513, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fff144eaea7b88cc57da17e3a21d27de98bc9aaa32e5b62514f81f91801007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4891c52e2f4e259e9a85ff4eb5d6067d30caa63298dc53b8c18927a6b129dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa45d94bbf54bbcb6cb4e0049161d9709ad191a43d3b52e2434684bd01519054",
      "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 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1246, 1.8328, 0.3176, 1.2163, 0.0994, -0.102, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0381 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3957 right_y=0.0355 right_z=0.0535 right_yaw=0.0816 right_pitch=0.2699 right_roll=-0.1084 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.2923, 7.2957, 1.6825, -0.0855, -0.0806, -0.0073, 0.4718, -6.2017, 3.3709, 2.2051, 0.188, -0.0366, -0.4029]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1089, 1.9102, 0.4072, 1.2911, 0.0868, -0.112, 0.0085]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1704 left_yaw=0.0051 left_pitch=-0.0392 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4239 right_y=0.0346 right_z=0.0691 right_yaw=0.0818 right_pitch=0.3561 right_roll=-0.112 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.6777, -0.0562, -0.0757, -0.0122, -0.2667, -6.7624, 4.7932, 2.2247, 0.0073, -0.0415, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1093, 1.5486, 0.4808, 0.9142, 0.0872, -0.1165, 0.0061]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0419 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.035 right_z=0.1528 right_yaw=0.0838 right_pitch=0.4141 right_roll=-0.1152 right_gripper=0.0061\nstate[joint_eff]: [-0.0342, -1.1419, 7.0359, 1.7216, -0.0904, -0.0611, -0.0073, -0.1983, -6.5026, 7.8838, 1.873, -0.0513, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fff144eaea7b88cc57da17e3a21d27de98bc9aaa32e5b62514f81f91801007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4891c52e2f4e259e9a85ff4eb5d6067d30caa63298dc53b8c18927a6b129dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa45d94bbf54bbcb6cb4e0049161d9709ad191a43d3b52e2434684bd01519054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE63cbRlKtplWRDVyZ-0zuUsOxrNa0mQcn2MbnMxQ94emFzHRS18Rsdi6FOUZnp7zfrtVabCNAbd_kcOZOSUA8FtfE5hyu-sWPReCkLywOB6QxOAmS7yAxRFnYHCdOovML_9AxFIiwgt7oLtCVt8jmYgL-EfliBsbb6UtduGJZZgWyUGpEVLaheDs__aNXveYXTCyLJ4O-uXT_ozk6A6fQ2tcimTVYOxhcC7nbQO9j2qtm9-iSzXS9WqZcFGdJLkZ3d5Lgd8Rcq2kHUc4lyxZ_IgJ_kf2vry2qqglLLENFagdJXF8uS2nnqMx_jGm0XOt38TsjLrWnJ-C0aVu3Gh1ipe1saWCmvIwp1EEAWiFdYQwcgBoWWSs-FigGaSLLE2-FdeGKCIJiZebsYMZZQVG0mCzYVAok0aCTPD_rz6axLQK3iYtAplJna-K4uKfWzRn0PsWOM4zj88Ep8A1e-obbQ8pzkqYA-coutrCSvVNFYHWqtWt4af3CWeVvZkuF5ncNAH9DrS0itUPQb8bxUV_wSXhktBNzHLNLrpAuu7s_Oj8iV_ZctcB59qJkWlJYEH1wHCWD_Y-qLu4SM_K5Nbt3SbTP_By_QR9totyz0HRbk_uNvYWmr0fJZwtWcxDUjZTCvEIEfB0fi5VpVwmmRDU59DnNEMg0AS5r7enhux8byA02pacZw7Ez6A-ODJAgSXFd16VgakB9IBKEosgCeWVJSytJSvr4xidb2iGyhziCCd-_ZKQTcjhrpeX8cCmjnYnHKHz7Tm6A_ubRfxmD4-f96D30dXfBBqSCsHmep6WWRX7mnV8VvtmtEH5gGRseada4O291ovdS9VsV3W7noaAVrIwEsiwDzVuDot82GZaI7DbDd_M7Igha3el5licZiEPGHn_f1qZQoom07lJPVraOxL7IA_Z-sRBuYA0pq42ZrbTrq1uLRQGiAh5-nXoQjxwDw1jtuM-9M8ckCHDEMrpJ9yCzNBaoYy-zfpCgj_b7z3MntkIt7J8KDHb_wDIasOUdsP-AZSboRHGVXH2pK5qD68qQ5kdHGN2K-HdxGSWRRdxFHJw_tFct-ov5GdVlXwDBoefN-EfEjENy8W6Uur_FnMzbC5ccRsKInQ0JEuaGwLC2iDrD3seCryQm_MwErMrwdBj8Nol6ajjNyay-2z4CzyFmL-vffrdYP8yMMmSamrfPl5NpHhaY7p9zdbj7vZMCkE8QYFPo1J_LYjzxO8MvlwOsLgL9L9h_c616jiVyfuMkP9286rshvO07PR56Ctys0HTgyM87kstIcOelysN73USHQb4ig72fbY60BuaGteb6YGSOGiXuBAZKTIls6C1YSb4Wd-Vg5iBDh0f1Re9TkiOx-0MU-eWV7Dwf7O9WqbpRhUmgZqsy-H96y1WDy7bs7QwkI_m2oQuhN1nDbZaNIw0EiyOFepnvSdRvz8WSJeihJnKkNFLao1Kf2aid5_So_9l5EFWuhIYPhwqE3l-_06n6asTmgb8AUQ8OKD2sR2Ka2Ml7BTXhuCr4TCiM_TTXArWvud1y7Oxu88ZlpVpb63BNeho79qI5FGAIk4SJT-cFMk9vibDBb-fKl8qpSxxbyT8Pngv0t-x6mpQZrrrS3YmGoPM6XST7NVZhYDyPJsSlOI3Ogs7S9IqOlawYCT1uFXarCC3QC6CjJBPvjeQCCrEJnEMx-CfVHE3DQjn0DHvgp2-6lEE32B8DYwi7t9XYCdpzNlLlcqtJB47CZUBvFgLYbrEmwoLGz9bnGQN9lgKUO1FS7e7fBeNOIKa0rVW1VS65_qm5v1nE-6THIDywEX6cegLx1dAcE396QwLoQ9mxUBMXwa4k1rQTzkxelIrjjLb_84MxRs_tCKY6WLJMSchrzd1kyMtqtNXyQWi3ki0CmeXjNv77jiBCapkTpWvtb-b83jvPmAeLdAQ9pZnwGUU7qhZ9_UOlihvOmZlMi3KW72lRjyOpn8DMf8w9OoemhlXwKBjOaW5FvZ-aUQxrwGyx98nKRWJINDlcGujTTNJLRroWLerMnSHFn3FegOeC2EG3fIPBuBP8YRSuhkxyjYAqAUNhM2wjtatCMUyYzm-4WLB72kBSVSKfXSH6WKZVRz3gkmvUKxulZfvSMgtNB1lV5mRGeTHRHGwNivS-2O04wxNGBXpvOdsGej_3LsFXIz6iBn6cyCMmWe1Wx70zQohLxpGIBlLP_g-CIVF3uNrMRfuqc6fj39t3rq2KTqTokESnusKy9B8z9koW2n5yXw88RPBuOMo-z6KTfGiQbL5Wwj6loPythmX5bZCm3IybcN6p4fj8qhd6c-6iafvlCBFgJgtcexcF4Kmtdg7yAZgd1I-2x4GbDvvmjfAXRB32RHkGLL6Qlf2HX85-4RBwuw9AUUhijs4omvPU5IprdXGz11qWpMsWCf1PTx4mCdX4gVHwSDaNFZC_x4TgQh3l8Ll1koKeAGhWRhqLWqueo-ZHkmf2ZQU_WlVYuZ7Amu_CPf6S4qubdngElbJqO9rvJw79PprqTbqF1UPKeyKnBHkX9CMlrKYBkZ7HXUbtktOnRqglK6BvtzGwDTVuLguB1HHOXNYrIc-ijmFic9Jfb_NKqvpX5WB81vdVyMpPs0wi5lo93bFb1Whp16oj6uugTnNdVCG1Dnmyc5DwgD-AZp5eh_DQC1yjdcxRHn6ldYRvihE_No-ru2VV5_P2ET3G7GXPmBMct0JcAtcO7nyqIUWyK81Q0wf4gSWbiScnGhYe-tlqKC0_KpN5Ey1FWqRKDjotDQt9aLA4FkKugdghED-NSI9KX7LTPBvWgGLRoUmPs-n2BWfgNo91dd_Vd6vswxCZTnsNDTU334vvli4KHOG3SKv7VzClbZWi3HnN0u9Pe_GBUFkaC3U4E1Tx3FT5DbY_oAVMLsBGX9ETOWDG2J4tlcfXx7d5VFKMbHnEAU4YA9yOrNc1PjvDS3vyHk8smuQCYq5Z-TckljAx_cM0gw1ZCcwyM8cJ4mNKPmLAi2EWRSGCOGVXLtp0iDzzI9jsL7liwoSM8S8t-2ssHHye--mRtJhev5vy9-L_tZ4Cz0703Q44r9LTsUPMkLJ8XIXIeMsOL48W2IuyrDGSEl1qHo8_QfRhoMCwWGfb9yHN5Odb7mhK_CmIXJlZlESsV0hIkRXMxczmKsQbK4vtSpsuOxmcXuEecvcn6u65URPMbe_leZngLkdJpYADdA-XJAhloRQqBE5APf8pkRn6IdmZUdUqqjbvADrtfwTuv1Tvm2xrd_qjtzt3e2to653fLlLaJlziHx8Xa39fVsRd_ZiWsSd_RUE1XKwc83j4TD9FSetqEDcizAcsnyyItIDuipsIv-z_Xsv4Toyfff0Xp5fzkGXEVl2ndj8qICvwVn4ccGpHqzlZr1Tr4QqsXeeeVnLJd3Jk9nKsKlpKyCzWzhPvlk9FZl4vrL_XBU853t5UdKTqiB4QAv-cwFc1Z-tFuFqqekImoNA6ry73nbr72yyMZ9fop7qzeXMFrijBoXwc0p8ziSYwh6zD5Zru-mUDQItfCuw9LVGPJNxS6qMP8NinMrZa1S35PIcr4vhaWSV1iT2og-DpkX9LqA4aM8uDSBNfO-uNAkrFpximRvM1gmj7pj8JErPkzlzy3XenbSbYgfr3J0CcmZBe6wFN6-6DGwKRNRj83OdyLBD2T-EFSVWDq2_GgKenJHY2SVUgC5aMNjVI3G0B4mx_QUAC2-EY3ex9vV20GdJfCvA7TbMG_1zgHSlx8Bo9ArBEQHWXuWpSIYiVtpm6RrKd68_13fkiN-rIYptajOkFnS7sgI4bh9jV84L1KKhiQHM-wd1_xJI-Mpz0TfeSUykWWuJ1ZgzpQgu8jbQA==",
  "id": "rs_0703a189f4f411cd016ab44eb1e26887d0899f7688f921fe41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.025,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The pink bowl clearly stayed on the table, so the first rim pinch was too high or just outside the wall. I’m reopening and using the proven inward route to descend about 2 cm lower, with a 1 cm lateral correction toward the visible rim before another low outward approach.\"}",
  "call_id": "call_PRQQfhUCAXa3enGnGq3hBIcA",
  "id": "fc_0703a189f4f411cd016ab44eb64cd887d08757445c02b76de6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PRQQfhUCAXa3enGnGq3hBIcA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.083, 2.0361, 0.3099, 1.4807, 0.062, -0.1253, 0.995]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3983 right_y=0.0257 right_z=0.037 right_yaw=0.0857 right_pitch=0.3216 right_roll=-0.1202 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.4291, 7.0359, 1.6777, -0.0855, -0.0464, -0.0122, -0.4308, -7.2547, 2.1949, 2.4054, -0.1001, 0.0317, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf098d8ae1d3b80904a0ad1bdd2877a629714cd756fcc4e02db2efdc04da11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cca5cc8d2d1d355a5858d8fb15426e0ba87c819b87faca58befbbcf80a3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de68c1ca310750c83c9afef2ef561f59333c330eee84a26807a64ec18632d01",
      "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 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1108, 1.9053, 0.4015, 1.2907, 0.0872, -0.1093, 0.9963]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1707 left_yaw=0.0051 left_pitch=-0.0385 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4224 right_y=0.0351 right_z=0.0692 right_yaw=0.0818 right_pitch=0.3551 right_roll=-0.1093 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6581, -0.0757, -0.022, -0.0122, -0.6085, -6.3521, 5.0393, 2.2051, -0.0952, -0.0806, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1093, 1.5486, 0.4808, 0.9142, 0.0872, -0.1165, 0.0061]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0419 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.035 right_z=0.1528 right_yaw=0.0838 right_pitch=0.4141 right_roll=-0.1152 right_gripper=0.0061\nstate[joint_eff]: [-0.0342, -1.1419, 7.0359, 1.7216, -0.0904, -0.0611, -0.0073, -0.1983, -6.5026, 7.8838, 1.873, -0.0513, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.083, 2.0361, 0.3099, 1.4807, 0.062, -0.1253, 0.995]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3983 right_y=0.0257 right_z=0.037 right_yaw=0.0857 right_pitch=0.3216 right_roll=-0.1202 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.4291, 7.0359, 1.6777, -0.0855, -0.0464, -0.0122, -0.4308, -7.2547, 2.1949, 2.4054, -0.1001, 0.0317, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccf098d8ae1d3b80904a0ad1bdd2877a629714cd756fcc4e02db2efdc04da11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cca5cc8d2d1d355a5858d8fb15426e0ba87c819b87faca58befbbcf80a3b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de68c1ca310750c83c9afef2ef561f59333c330eee84a26807a64ec18632d01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE66jLvtLntuJe1qYJLd3NxsQ1A2aGVDn4dQGywy2pLX2N8OoDdfYWIsJjeSwVCrBLgg7AFr1lndAU6ZwF1BkXx_t67cYqFZS8gghHJ0p7pCnmJ8U2dJ6AvMDHjLynOnqvPkPFkAGNEN0vQU_QH46kG2zisPSsrlnJ61UApvuqFJNjeE3mXzNsKEAtj8och7MH9-hfT0LYcccI8XQoHZMA_x97SE-1jEGioOAwCicUuyV7Pmvo5oiUj218H6YojXHSVPL0oUJfZwgbpg1FR2Y3e1cqWXEbmt2PB4f3tRXyfMfYC8wKFYgSvMRxapZjwczF-gqk0GW0EZHoq5K3JzKxS_dxDui62l8IDAZuv1BsKG_lzpRqvyRs95aoidxkVq-WiEtRRLwqa0f_JN5Ny_CZNYm3FqkpTZt8WOme-0Y02zxpGeim7fx93Wuj6mtv5MQbh277Tu7Ps5Yyi_LI0abrXSRo6kvLNTS2-O8QJkSnJeB2YlYKE8vWrwH0MS3BPZXzhWu52bVkuCSvj37DFlmlWHfVrKdbORO0Sm29FxOrl0H52fnMKcl7TWvPp_C0n7kdOXOKvGpZ8b1PvhbE-QczyXSTyafr5IwEojR4-qlhrHi2oB0Sf2fVjYd9Lx19_kb4_h-6NI3PH8Maxlo2eNy8aVw9hzxvxKeCV8je-BSQ_gPNbJlAKQiLduRXvAjFY0nO9hcG53tr_TkNZuu5kF5DQNTZkFZ3fnE9j3prr1wi_uVPAjFkDDp0DxQBfEJ4ewO-R2NhV43gCInEOHTNJEooLcvAB0bL0iFAptao18ApuZv4ecRUPGI1ELuSfIGqZ0juGdVHNDFl8L2XsN173-5XyHQVx3HPChfbJ1EH5GnIC9TDHCxgGAVj6zjY1eRM_s0znRY8DHUfjBv73wJCVOcY9ZSRc0vsPuMzeKrfvJfs6nQeeT5NFEwe8HW7rKKL5oDIuztRQ0K-ykc4eaPb9RLtVoopMbAmOzsToyF-Z4iZjm8mYYosEKm8VXvPgEjgYu9NFevwt1sSE0DdkS5p5jChTsIANJK0T6RfEigeKWOBSwnbaBexUpSlrDB2I7UGNExnYi1DSfc2iwj8vknO4Y_UvJAc-IWInpiMkzPtmg4gObyj7HMj5jdH4xLYQ8JgO8kh8GqrR_fvIayvkap2sbL373ELzVrJ1JEZsCU3Bm_VdrAnODhY8Fq82c-5gSRGQynr7aKSaIo24ppseioe5CwJM3O93irGzd_TpleM4pEbKVWbD4U3nyDIr_RXQC5kJPlx0B_pORo_J_Zw2O30IV5RqG8fzziukvhj7c35ycZ6KNA-72qUkwleDkOZJIee0aoYlZu_1YKYCz8AfSKPKx8q3UcrWc-6Mnz5PEZN31PoWonW-tVuyn9aSW5lF-1MJehdnn",
  "id": "rs_0703a189f4f411cd016ab44eb93e3c87d0be3c65c80713586a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.025,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The right grasp point is now only 3.7 cm above the table, below the bowl rim, and the chosen wall is aligned on the jaw column. I’m advancing outward at this low height so one finger passes inside and the other outside the rim before closing.\"}",
  "call_id": "call_BIeOzySJDm8k2QNNBTQuP9YX",
  "id": "fc_0703a189f4f411cd016ab44eb9ab5887d0a8b417f827642f94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BIeOzySJDm8k2QNNBTQuP9YX",
  "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]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.0753, 2.083, 0.4007, 1.5127, 0.0574, -0.1287, 0.9961]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4242 right_y=0.0255 right_z=0.0506 right_yaw=0.0844 right_pitch=0.3973 right_roll=-0.1233 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.347, 7.2, 1.6825, -0.0855, -0.0513, -0.0122, -0.5538, -7.0632, 2.7692, 1.9023, -0.0855, -0.0317, -0.4127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da183abc5ee76a8f3e7f5713be03ca39a2877538d4f7c589178ecd2c4fbb2dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc27ebc542f6239722becca2543ee30c4288c9b1d6862a8b60c842c6cff8db00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ebc3d003c16964a6cf18a372958a0b34e5987f16246327611263112909c2ea4",
      "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 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1089, 1.9102, 0.4072, 1.2911, 0.0868, -0.112, 0.0085]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1704 left_yaw=0.0051 left_pitch=-0.0392 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4239 right_y=0.0346 right_z=0.0691 right_yaw=0.0818 right_pitch=0.3561 right_roll=-0.112 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.6777, -0.0562, -0.0757, -0.0122, -0.2667, -6.7624, 4.7932, 2.2247, 0.0073, -0.0415, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.083, 2.0361, 0.3099, 1.4807, 0.062, -0.1253, 0.995]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3983 right_y=0.0257 right_z=0.037 right_yaw=0.0857 right_pitch=0.3216 right_roll=-0.1202 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.4291, 7.0359, 1.6777, -0.0855, -0.0464, -0.0122, -0.4308, -7.2547, 2.1949, 2.4054, -0.1001, 0.0317, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.0753, 2.083, 0.4007, 1.5127, 0.0574, -0.1287, 0.9961]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4242 right_y=0.0255 right_z=0.0506 right_yaw=0.0844 right_pitch=0.3973 right_roll=-0.1233 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.347, 7.2, 1.6825, -0.0855, -0.0513, -0.0122, -0.5538, -7.0632, 2.7692, 1.9023, -0.0855, -0.0317, -0.4127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da183abc5ee76a8f3e7f5713be03ca39a2877538d4f7c589178ecd2c4fbb2dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc27ebc542f6239722becca2543ee30c4288c9b1d6862a8b60c842c6cff8db00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ebc3d003c16964a6cf18a372958a0b34e5987f16246327611263112909c2ea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6-Dd_nuCdNWnL7xyuN-JmGro946uHz-3QG6IAtv970D1T2prDoMbNWW97rfn5byS-vY7EMRutLC3kdRRD_6UKmdE2gMnd4KqbfxmtDNNLGqPYS3mq6_LDfSr-Jr0lgSRDP0CYmOANGw-GFreeATpHzlEiSL8LsnsgNJeLhZusb41AbxNf4X7_c7KcH8XmWNWTAkr3gUD6HKmYT2ThSqnYWbmNY7z8LWdf7hHKU-ENtqyGhQ630O9NidFSuszIe4ijgbtopnQgCISPZ_NxADrMJVeeJYhyQjcJDb6DcHd7a8__pQ9xeXifzrWGClf_cJ5XqWX8XUo3mzb_7wMjFVBdJ7gZmzOWAeEtmFZr-UV0x5L8rLxzWmUeKMy4wQXtG0G59EKuCh5skMucDF23JjV8GfieCR7cs4mn7T113ty8GcmUtV8ffk8CKHfJVdj743D-uYqtVkHgVXt7BzRiyXHRLKkiN7n9q733bEQGZfkcUU9RWQdBdtdc8wA1lXckGKnso3dpoM6U0OR9L4dtYmOJ5RNkhdvME81FEfKkyTHjbFPtZ_kQrJO_UVbe9KgXM2lq26Ojbtlb982wZyqq84GK5SQGEAfzyfa50Z508Gfyz-fjRSq69502cUFcxXsN091K0TWQPwu3H6AHsOmL7V9dvraTAGvmsGCr7rUwp7ezTrJQmWIQMW5rAUF7arrY0qGFgzpx5mL2HquT1LFBfYhW5fPqhzrlyn8PBD758YRBb1XKB0c_N-9mSMwEK9-dGs2ToenoAwSB7GQbzNGvvcUVJYbVLHmLGhqD8NAD5oKcAtMd7WeghJt9zEtwHtrfN-clC0-pQOSCY4jA7YG3p-M8qz3BpUWVxCF_b9af5HaA0nPSu-WvqC6JEidHfx5T2a2bgL50wlc7JGVY2nLWCX6i4kR6yIBftPQzzjCuR91C18SMotcSE0UXo0e4FHs6N5EwowBwvYd6odrT_sk-_nHFl2qiAj0lOCJ0vDizoVWlYV4XUyuneKNwORrcsn-bkAZc9mt84p_2F4sHHpOiYw5NgNrwKgdHupswK-izHkz9knDEirfvp0cB3wuY54DdY4gnBXapLdkAsQkZOFtGGoCOwGeBcbYFXmMafb5sTEf9p_YnOovQ9s6ADQhFKxAmy7ZK7GMqPabIYutprhjtGiD9Ac3SkrKzjZWBgffXEkxu6RnGbW9eN_ANlL7dQEe7XnoKfdcXs27qWgTD3i8t3ZiYjynaQclwlLv4jk6ygfPyt_UpoWCEqAqYXhVXeH7n8Va0u49XgsjoNhVYoXiK1dAbLL7CBPWeF0N7xnvSV3Wc66ZCcY_ojmmJHKi2qX-Bnu3BpTvx4J0Clmk_mPtGfcwVSZH5QKD_y3X_lg00dn8HeXvoGE2iLbAbqxgwx6dLme9oILHEkrh0NEv6TsAmfDU7gNiL81uK4zcG1swCaLzjTom-tJ0yIWVHHx37ErIv31aezJ0HQ-YhDTwcHzcj832HyozupOEwgKecM8kaj4Jg68mXSa5vBl-SsyljYYD2yWKfioPXFc05oKlPOTbm69Ju4mYGU0lZ7RCcvF2xneVbrElwBFiHz65abq788ELyzLf6H",
  "id": "rs_0703a189f4f411cd016ab44ebcb4dc87d0a866da4b7b51ec78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.045,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"At the low forward pose, the selected wall appears about 2 cm left of the jaw center, so the previous lateral correction was excessive. I’m shifting the gripper 2 cm back toward the bowl to place the rim directly between the fingers while preserving the low straddling height.\"}",
  "call_id": "call_4Kq1DNhqidJi2S0Vx3T7zhTb",
  "id": "fc_0703a189f4f411cd016ab44ebd9c6487d0bcbfc27a40882a8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Kq1DNhqidJi2S0Vx3T7zhTb",
  "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]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1169, 2.0911, 0.4191, 1.4956, 0.083, -0.1253, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4271 right_y=0.039 right_z=0.0483 right_yaw=0.1006 right_pitch=0.3907 right_roll=-0.1244 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.1966, 7.2274, 1.6874, -0.0562, -0.0415, -0.0122, 0.253, -7.1179, 3.9863, 1.9219, 0.0904, 0.0415, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990b2cc4e6467cf380c5209e15e3a04c892df82d1d1c27738d744ee14587c13e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111eea584a05626fcaa68abbbb29c245ff939614643d741a84a56863088529e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53214dafe44f2de18c5405058b87c8d5e8cf63778137073f35f02e2a331ec03f",
      "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 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1093, 1.5486, 0.4808, 0.9142, 0.0872, -0.1165, 0.0061]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0419 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.035 right_z=0.1528 right_yaw=0.0838 right_pitch=0.4141 right_roll=-0.1152 right_gripper=0.0061\nstate[joint_eff]: [-0.0342, -1.1419, 7.0359, 1.7216, -0.0904, -0.0611, -0.0073, -0.1983, -6.5026, 7.8838, 1.873, -0.0513, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.0753, 2.083, 0.4007, 1.5127, 0.0574, -0.1287, 0.9961]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4242 right_y=0.0255 right_z=0.0506 right_yaw=0.0844 right_pitch=0.3973 right_roll=-0.1233 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.347, 7.2, 1.6825, -0.0855, -0.0513, -0.0122, -0.5538, -7.0632, 2.7692, 1.9023, -0.0855, -0.0317, -0.4127]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1169, 2.0911, 0.4191, 1.4956, 0.083, -0.1253, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4271 right_y=0.039 right_z=0.0483 right_yaw=0.1006 right_pitch=0.3907 right_roll=-0.1244 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.1966, 7.2274, 1.6874, -0.0562, -0.0415, -0.0122, 0.253, -7.1179, 3.9863, 1.9219, 0.0904, 0.0415, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990b2cc4e6467cf380c5209e15e3a04c892df82d1d1c27738d744ee14587c13e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111eea584a05626fcaa68abbbb29c245ff939614643d741a84a56863088529e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53214dafe44f2de18c5405058b87c8d5e8cf63778137073f35f02e2a331ec03f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7B-ALAMs48QqpK_iZXcUTaWUV4JriiKTG_LaqdrYkUefJpdAEOpNZyWg3m6ZJwP7wireF3P68ff7SadJqLG1PrcvFFqzNg4i4Pr_jzQXJh873-aPFsYyr2rmGTCxOo21jVLqEXVvkwEEMbxYjojHjsawZVRv-apqY-TSE3Zyw_JMme9q4wV_O3qqWOoFHaCC2O88P2bJS6XrpNBsX0UW1tFbfGjh4GpiWKZaq2pqDTCfLXWBZCURs760qccb3sMrAcndArVqcJj3o4apCSRuU05sd0J5wwiqWik_yX-tji3SvU9ED-tb8MHB5SD5BDXZtJgGOKJuCBQXen4-VPFdfrIYnhODO3tzB4G-oX6QCPKz6HROixNgeKug19DN7HTsyEk6oK-14NLzKqViISELkTqb3YGvUCRvxRmEKo4G8fv9kjHSE4zrkct7OcTe0o7qPTrmQBEQjvvqam0elF5q0tqR02GrSl3IWBuSWkllfBB-26pv06y7NYaPy37w587wTMsIyuSEtwfoB4FC6uf-n-exalyIrBIcTU7pr3UIsLCYLtMfUPu2-Unk-IN82rkj-uDCyBjc2YWNfMwDYWYJe2ebqVEFk5GYXTVJAsYeBiowxcyn-9eVIH4YaTUH5z6HW7biAs0olc-wZpad6hjl29cyAQM6ccm2edXFgnOYw7u7mv2WNY8YqVqOwRnmHis5W68rWYL2eqicf6EBJMUP_5hJGsNhplKaElWULcXBEjP0QviZFZU4zqwTf1mODu6ke64AR1N6AwQoh68Aw7WcJFfqs87m18AcK5E7tjdJTqUltUXdU0MJ2mKchcriBLD2F4P96cR1GyzAWxi9ah7vYQBpctpgpvyMTtAWXIynFbYjsoHKwJ-5lcqEhMk7DQKI75Ri4iPhrHl4myHWARuMeMNXiWrm-a_5Zei5xf6Y9scvHG8ZtaH3MGGrfL-qgd8w8m8WkWzmo0SZf1EjA9neyCO8wr7rtQSvEBj7ze_9Jc-dLtubRgK3D_oVmN0m6XHv6FFCO2KVKTSOjMo7_1UgtkOCrreUPAvt7dhypm5Uxcaf2i8cVP1HkFFN83NqXvnR8LQk3VBm6ArrSoswGBADbYxMnjKxpu-_tsKCq-JTQ97GmIwFGUnyt6KjD3abjcHqO2oSNIVc_MeSUWHy9o_DU47u8oX1RJec-ziglVND_rH7z14SKeqxfABzacHajb7yRY4xyvorZxExx28-A4xGPdbQOFrrLebmh5z3Bqz___OZupXNsNaAPJHF5c9gKQtreF32dCqSVtnlvj589Nh3Tcms5FWfZqm2VtHSXIRBsdeBc8CbuMyfEvhV5FJxCTNi43FYgZdZAOvbvKX7qc8ML837LNQtcKSOFU6VduX1uFz4uSxio86mqd-U7RELnIeYjlofmb0cTGVNTHtCRs89e5MMNIvVlmaHT94ZQgp4hHzXHu9a31dNZVQILkk0ARiKPuOXempB8Jc_AY9hx1uLEDFhPYoEWerZIDct2Nu3LghKa7wLJA8LqcKUS06nAbCmvLlatJkk3pzNYrhd_fdRjOmgV1ZxWj_XQGp7HhkdkpVHk=",
  "id": "rs_0703a189f4f411cd016ab44ebfc13087d0b2d38cd5ed933c35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The first correction only partly tracked and the rim remains roughly 2–3 cm left of the jaw column. I’m continuing the lateral move toward the bowl by another 3 cm, still at the verified low straddling height.\"}",
  "call_id": "call_t97bYmUCO2bqkY85HWNdhgYI",
  "id": "fc_0703a189f4f411cd016ab44ec0c47c87d09c74c19a1b72bc2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t97bYmUCO2bqkY85HWNdhgYI",
  "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]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1505, 2.0911, 0.4232, 1.4933, 0.1146, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.0479 right_z=0.049 right_yaw=0.1051 right_pitch=0.3928 right_roll=-0.1299 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3333, 7.2547, 1.7216, -0.0366, -0.0855, -0.0122, -0.4991, -7.2957, 3.3709, 1.8779, 0.0855, 0.0659, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e09201080122510e60ea592227e0346f4da8b6fe0def9ce308b103e43257bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1f4ed5f9134af2fd0d03783eeb4728ac5af85b80473c02827745b000b7cc40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78789ed12bcef1fab7fdef1447ca56ad08fa54d62b1b483e3fa12b300bd3d352",
      "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 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.083, 2.0361, 0.3099, 1.4807, 0.062, -0.1253, 0.995]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3983 right_y=0.0257 right_z=0.037 right_yaw=0.0857 right_pitch=0.3216 right_roll=-0.1202 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.4291, 7.0359, 1.6777, -0.0855, -0.0464, -0.0122, -0.4308, -7.2547, 2.1949, 2.4054, -0.1001, 0.0317, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1169, 2.0911, 0.4191, 1.4956, 0.083, -0.1253, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4271 right_y=0.039 right_z=0.0483 right_yaw=0.1006 right_pitch=0.3907 right_roll=-0.1244 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.1966, 7.2274, 1.6874, -0.0562, -0.0415, -0.0122, 0.253, -7.1179, 3.9863, 1.9219, 0.0904, 0.0415, -0.4078]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1505, 2.0911, 0.4232, 1.4933, 0.1146, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.0479 right_z=0.049 right_yaw=0.1051 right_pitch=0.3928 right_roll=-0.1299 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3333, 7.2547, 1.7216, -0.0366, -0.0855, -0.0122, -0.4991, -7.2957, 3.3709, 1.8779, 0.0855, 0.0659, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e09201080122510e60ea592227e0346f4da8b6fe0def9ce308b103e43257bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1f4ed5f9134af2fd0d03783eeb4728ac5af85b80473c02827745b000b7cc40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78789ed12bcef1fab7fdef1447ca56ad08fa54d62b1b483e3fa12b300bd3d352",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7E7yUFxpr-ZNeso6gA1p3WgyGW8DopIcnhVxATaUX_5zr7tHqb2HlZj7H42lIkgOL-uYuksw1wu0mhRR7EN4lpOSQKwaN4jB1mfLECwe4Nu5enA1fO9yHlwcojf5MzBHmSih2oSUBej6co0vWl5z7OmtwOxp3eNHQs8VnHdes_tf0lz5ZTwO-ldteudfkObWaX7nFYxcbl9-V2Ui8iqqGXZ53ojhdS42W3KrMa1Tyv4uQZLcMAXLgXw6OZZ7c0C1iKgfzkOs3onTgGE48E04izrsLp0XlALmLJxyMquwvOp2WP_vZuCIFC80_jgq0-AIMFuDGFCtxtJJA9bRoxlUo8zg4cWJ6OqTHfOQWAGi4PKyNRVwPP-MDXE-k4U3z5cuT977itfxV824miXCeY4l15nAbrljJWlvBbzJGrVvpjbfqSrLPG5X-A_XenC0iltRBLFEq6QNK46uCbuRvZ-b8GKBjloHsVXH76NvJ_Vgms6bXu4aMqSla60yaAStVZCHk_llL3jdI-mqbdZ0_EwesoK18sR4pP0arU1KhdBLeeUjHTG13HlrMMdjF-s3W5ZeUTqpGlECVk8b8JiXUBVx7Xie-Ra9d3bB0oWT9NDDxYuscDO_kfnB7quvpO5_oNY0i6Jiwj2fX4ViKjSMiiSSeQH7gpDQpDuT8LbsiKkK1VAOOsNKj4_qmYBsRL2NbhSGswbk2GEoJC4kTXCF2sDRApp4x3KzwryUsVBIIBzP7VnBfqU6vOQkCe9Nh_y-V2EqzhNIbdFE0Q-eigcOL_VEU-xVRGmQIj4ELJ6aNf8nS7ZFiLHw_c1_kdI8FSSU_tWwFBajYUQlWm2zv9zCyXcWiUDKkevr0lzwH97dWA8x-ddmxh2F7h8ZnlTEXUpU3eyrcPgimq1csaTQuMGPsI6neEwZhFMJxv_aQAlYjxO-ODXCNhO6Oxe1_uSlhxgh8DM7ph7VcRIrGywtj3TmR4mL92GezhqQ_HuPT5gu2G_AMgkBbKlosHxhb_UXjfiHAYuzYFYBL8XPGcC-TC0Lk3Z-MfbUZWAEdxC2w-nhG_kFLYxQZiEMa8kmGYUW_qw1bKbYL42qRqbQDDu6thq1K5pQXiP__VJTanvKgJ8B0dQuDC6-x7aTKSWzfKzFUK-hxDrYZcGyc70dSRxkiej0pMOAUuUj2f_8RD4-WGzXWN7m7f6jPY4SDpSjc_x_uwxKiLa7sQ-nkB2lCUGAXCZpm_D0yNhZMT92largu3-6T5i1y494HlOthe9LoC27wp21ajQrB_kI4YW4-w1zseJHQTtJ9rRpWv9U-BPm5dKOH-tYW8bM2K2L9ISKxxgsFRk8WmjJEG",
  "id": "rs_0703a189f4f411cd016ab44ec3251c87d09bc610b1a9b1b66e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.05,\"right_pitch\":0.4,\"right_gripper\":0.0},\"note\":\"The latest image shows the pink bowl’s rim crossing the exact jaw center at the low grasp height, with one finger on each side of the wall. I’m closing in this corrected alignment to pinch the rim, then I’ll lift immediately to verify.\"}",
  "call_id": "call_oWnue7T20kg0R6gtiYCPBKqS",
  "id": "fc_0703a189f4f411cd016ab44ec3844887d091e89475aea144aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oWnue7T20kg0R6gtiYCPBKqS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2337, 2.0922, 0.4397, 1.483, 0.1596, -0.1238, 0.008]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4265 right_y=0.0763 right_z=0.0508 right_yaw=0.1463 right_pitch=0.3983 right_roll=-0.1367 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.707, -0.0464, -0.0806, -0.0122, -1.2513, -6.612, 3.9453, 1.8926, 0.3834, 0.0611, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3350c96f8cb993437128c889c23803f3b99c68b28e137d55d9a42854047fd6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce7d1efbd849b6fc3a429b8bc5858bd98d1005618746192780ffcef69985216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec621e428835fd244598f454b16431116542bcbec7c8791ecee844328b9b42ae",
      "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 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.0753, 2.083, 0.4007, 1.5127, 0.0574, -0.1287, 0.9961]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1693 left_yaw=0.0051 left_pitch=-0.0434 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4242 right_y=0.0255 right_z=0.0506 right_yaw=0.0844 right_pitch=0.3973 right_roll=-0.1233 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -1.347, 7.2, 1.6825, -0.0855, -0.0513, -0.0122, -0.5538, -7.0632, 2.7692, 1.9023, -0.0855, -0.0317, -0.4127]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1505, 2.0911, 0.4232, 1.4933, 0.1146, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.0479 right_z=0.049 right_yaw=0.1051 right_pitch=0.3928 right_roll=-0.1299 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3333, 7.2547, 1.7216, -0.0366, -0.0855, -0.0122, -0.4991, -7.2957, 3.3709, 1.8779, 0.0855, 0.0659, -0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2337, 2.0922, 0.4397, 1.483, 0.1596, -0.1238, 0.008]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4265 right_y=0.0763 right_z=0.0508 right_yaw=0.1463 right_pitch=0.3983 right_roll=-0.1367 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.707, -0.0464, -0.0806, -0.0122, -1.2513, -6.612, 3.9453, 1.8926, 0.3834, 0.0611, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3350c96f8cb993437128c889c23803f3b99c68b28e137d55d9a42854047fd6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce7d1efbd849b6fc3a429b8bc5858bd98d1005618746192780ffcef69985216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec621e428835fd244598f454b16431116542bcbec7c8791ecee844328b9b42ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7IptYlYwzZiV11PGna_u0TYQuPRBdON9fpwHOnTlUnPqEiBLEvzYCzMzVbPe0ln5IgS0tD5xcnc8Etb3XLo-kL_ane9x-iaqnNvNbPSO98H11OUdqX4lQc_OQzOqUT3WdcsPxdkhmL1rsn3W9qLJBC-VQQR5wSIccOq1L_1BlHVGZSr_QOcmjGfiS7R_cr8tCSPoDflBWXFcXPcjGTTzpoWqNZ8NUkG5o8tSPocbNHmvbi3fqKXOoUTwyqrxXE0x2mGS_A3UdsU3MoRUnH7piRUHyI1apPzeditYzGU-TEsdSCeIyk6mrkLaXpU1KHJz-BKlNhbjLse2KHgku9wabV96jEVWq0Ne2DDAJKAJwtaTzSUsAxPq5ZPa6Vpa4oyzPFxlnUBQnNw202iQzn7VX4ylUY3y_szqEsr_ezY15v57cNSKk5Cn9oYtU-LxECIsgNLsy0igjakGHuYKCu7gKRq6smfSdaUqXeQg1_d0bXuy7QVYPD_Hv5rrR9th9Erewd829I1zhNxBr8Uj83U4i4PdMqNAxdiidJvtFKSr10fI40OwShM30-vmFC7x_GxIwISMhL2d7Y_mxp2PgzBpcjqHOegUFYggRm9d9nbb59TkVVnDdlGBsj1gUxCBnOdaVDhnXQ5ABjAAfPHzGLrtn6w59nc704GyS4wio-6blW8csejWDq-2lM58A09U6Jc8gxT2enIJs-qRSmRHqBVT1qBpcAYAzucadU5IazHJxbfb33NpzTbLaa3jlpMXuwmmWHPGBbLWrgw2h64c2M2pDhjt1UdaqA97L_ZltUnMsUmGiAlv2akAHh5T2mde8uRkbFvoZ3qcwZQfkT-lk-65pBVJhXQJpQmEaH4gYkVdfOv7F4P_VUHmQu_pO5XZqSzOvYne6yV1DCO66KgZq0J0uIjKpyUw02jmVX3Q8iOp3sjwHfz42JZYt2-bfYO-22YUoo-WRaHTvnaX7swU6y8wfV9QjnWmEHCP2X5vbk6I2LY7jcxhH6vavu6LNfFWIraP-gPkmjZ_JgSdhZUwr4VTtI0B6J-JLx013WQ5ulbdHdfNtmek00yb6NMNlf_TRKf1CJ9Agag-YoCWfMy7Rii9RwiLjOz4MnB1co_bbJ9E3OTbu4-uBJq5N6nxjtp_wQZhKxGvhgaN2uQ9hFNBCV9qVIu60kVfoivqaqK3iec-ziugzI_f4kFf4YPyK1bVjFt4Z4TCfGEZg97kOeHBHHt3PayZvtYoF3u9IBI3-vQ0aDGB6WsUxj8zcZr4gl8PAhP1M7m4sqDN0yDA1_AdW5bowQr-f_5AWe6qCpROuMJDnMO5xbuWBB3a_B7NSSdJjqaOAsKyapPHtT2gYeqvtWpquKOG48ndrlTT6T9dGFwMBuYSSsQ4qulo0Ti7LchhsHCQKjkt0FWl8FiMuY0jq72ruX8mqXf-6cbVLxMCqg8I-12_MhCtd3TYUsjtSAKFr8QfQX3yw5nOgbgWZ8BlRkvZ17fhXZVAj_9BwPePpTCTXCvnfZYDIm25Rq0otujTQmxoShlbSiUrcBLY5sNcmo9MSaWQ==",
  "id": "rs_0703a189f4f411cd016ab44ec68f5c87d0a98f7da3a86d5547",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.17,\"right_pitch\":0.4,\"right_gripper\":0.0},\"note\":\"Although the jaw reading is thin, the overhead view shows the pink bowl shifted with the closing motion and the wrist view shows its rim against the closed finger. I’m lifting 12 cm while maintaining the pinch to confirm and prepare for transport to the middle bowl.\"}",
  "call_id": "call_9Pv6JrXijaw35ieA5xZygYQ4",
  "id": "fc_0703a189f4f411cd016ab44ec7631487d08ffa57126d68333a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Pv6JrXijaw35ieA5xZygYQ4",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.815, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2111, 1.5375, 0.5117, 0.8738, 0.139, -0.1322, 0.0061]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9993 right_x=0.4268 right_y=0.0701 right_z=0.1606 right_yaw=0.147 right_pitch=0.4149 right_roll=-0.1406 right_gripper=0.0061\nstate[joint_eff]: [-0.0479, -1.0325, 7.0085, 1.7021, -0.0855, -0.0415, -0.0122, -0.5128, -6.5709, 8.2667, 1.8632, -0.0757, -0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada1595403f51aa96158c7b6cfc4535f5332e8cad0468c14866984b1df846237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2a9cf48d30473315f52eec3694aafda5056d60fbaad1c64173889ff9c87e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc35cb8fa781993ddfa0ea9413409331fb53289a2686d7633a6b224b40f767c4",
      "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 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1169, 2.0911, 0.4191, 1.4956, 0.083, -0.1253, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4271 right_y=0.039 right_z=0.0483 right_yaw=0.1006 right_pitch=0.3907 right_roll=-0.1244 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.1966, 7.2274, 1.6874, -0.0562, -0.0415, -0.0122, 0.253, -7.1179, 3.9863, 1.9219, 0.0904, 0.0415, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2337, 2.0922, 0.4397, 1.483, 0.1596, -0.1238, 0.008]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4265 right_y=0.0763 right_z=0.0508 right_yaw=0.1463 right_pitch=0.3983 right_roll=-0.1367 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.707, -0.0464, -0.0806, -0.0122, -1.2513, -6.612, 3.9453, 1.8926, 0.3834, 0.0611, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.815, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2111, 1.5375, 0.5117, 0.8738, 0.139, -0.1322, 0.0061]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9993 right_x=0.4268 right_y=0.0701 right_z=0.1606 right_yaw=0.147 right_pitch=0.4149 right_roll=-0.1406 right_gripper=0.0061\nstate[joint_eff]: [-0.0479, -1.0325, 7.0085, 1.7021, -0.0855, -0.0415, -0.0122, -0.5128, -6.5709, 8.2667, 1.8632, -0.0757, -0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada1595403f51aa96158c7b6cfc4535f5332e8cad0468c14866984b1df846237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2a9cf48d30473315f52eec3694aafda5056d60fbaad1c64173889ff9c87e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc35cb8fa781993ddfa0ea9413409331fb53289a2686d7633a6b224b40f767c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7V8TK6bBYK72eNpwG_d7hRwnqhK3VjMPuS7kK0WQge-ndSZ7i_e63jd65LsYViXsNtQeuhws6ShFWBeZixes81wwLKHWYmMnCJ1mYSEFaoJbQI_hVkOPjVFcAL8SUe4UjcMKei7iXj9VHdZcGmE9vgPNCPYa06UpmnwWkDW2uR3o5XMZBGOAO2nDhvyFtq8ZR8JUQbBawwGYgg-heUjW3AnFHorDc52Qw5qKpO-pxgrrCTDe0cRnsUG9LqQWto9vt79Ob6pSSlu6G0Is4RXya6tZf4q8UkEuYZpFJCRQZwrO-qKs7UkLzfwDQPGpTTx7WMncg4Cj2KDFGZeDORoZ2UAQ4HAhPyhPTs8V7ZFFFpBqXRQnwgdN2tPUVKUP6lMVuhRZC7fy77WN-muEvvz1RTKjVwgz8qlJNc4ImZouBVevCSugwoJ4HYYahXZ4FLJGcWmvyiX0Uvr_NMYE8UBbrbS4KWZoA6Byo8_Th_eXbCrPolgQTCdpn94oL8xKSdCF9n9S10RD4iwTN05tLBcA8yGf-VvpMzQRvOC7Ntcoxzbq4VDyePP7p2LmUdNTglwuG6T5z6sml9ly1XMW3_dcBp5ayGDrFAaZ1WlBJqRNiygN8OE_OQN5o7kCMrsKwiJosWfpGThichd6w1e5xrXc0xQC0t6-u9oZ5v0Xsip0mQ1uvrTS7-IdiAJPYIqsnujo9A818ZxvLO0nC2nThYZ4g76sXijscEe9exWIXHKzKzOXz9JdzOkBhZPiG8ESRj0WNhWUz9tGA_r67K7FeFIPs7F7yL21XvhuC6pXJTamkr6RPJcxSMuJzqsxXsDsWHqvyt4mTFo5pi_C7bsS7DWhxQ_smmw3z3ZWBWNHYgEosaF_9MYengE9dQ0ANOnWe8ynwbw_eNxQ58MOeeqPzSuDvcMYnSOyOvN0Z8NQHHjSjhyp4hHVGWo0duJfDc1H1jjve7L1097OFEOouEwvekec64A79DjTXdVMinLBYFAHAAd6r2HvMd_WugMAio0zeqHomMVf99bfKofyCLViPqfCofcogb8wTAxCqbWES3yEYtYH_Vm6iWXREVRmSPv0WnU0JIzs5rKGC1C0JLqjg2ej7od2sIX9Ul15cMXk89YeiwV0nskB2nu_0J-nFbfI5aLsIIzjDF9oQVnCmI-mmSsSGvaOV3cUVI4jxsCMtQpkaneJPuCkl1XHDOntjnT8vNBSh6Qcl8M-5c7JH5XcF3W-msvipSxdkVNo_jfSKBU5nM-PbgIWXfTd033sKmn6pxLh8bC8dzfVubJne1cj6erV2GLsHShIOFNFabySlpQl4WzEHk_i1cp_sTHtPuae6erzU53AXr1H5NPuDfULRA9pr6zm0_GQTQ06Wpdk40mq-RekgXFt00uV00kBSa4ryAyh2cBr8Jk-0gWBHaatTcA3wXgU5hKhet4SukQ61x6KsjokgTltPO6NzkJLNRykjdDTtT0nOWYV357LM8dR7_b6dKXPchwWO04rhXqTf3mEptGWMKSGUv_l41TKJjF5W_zR2NkUWkEUuozIgFzzlzYqMfYegc_ay8ZJ_Keq28aWdI81WVcNxgvosL1dRR3Y1LpApQoSXy2pNBl8G4XSSXBWvzcysOJmaL59PzBqRA35PVAVkeqQ6xOLfGFcNwKdyCiXY0wAlgaiZ39O3sOvK2b5NY-fOEDP8QpRkQVJQVj9M8VZPkDC7459bPspGwHc8GkygvNLQg_QyfnsmTG16sSukZJ7zz4eswgAyFOtmI1MtkkR7ygLgIU9cmpPn1Z0d0ga_7Sxuh110in5dxjb4YJbHqusibiZ8vOKaa5bK3zV1pqOZzfEHBpZpkMsWae4rCDs9k8fwEvsxfA1bV1ReYnULwncHpsO5AgBQZ5ZMaCIH4q8jqxvABuw6gjRoucR0LPywqBdfONCK6E-rI62sM9Xkn3AB7uP2HrlEZW806utLflvp-HSGd50V_kTmKGaX0ufY2fOBSqUahlCXvnrAxujysLmsH1BCcvXQ3HkKituCpz5GNAH1Yn4WuaIGi4F2uNKW0VUPX62Pxepqbz_-geP5ayGf2PaJC1uddEricpGJLABJRQGbQz_7et_s434-YsTGrItK72S84N4ScGBG3poHTYiUhFFMLGeT4ZUBFUoJAlG1NoFH-rXUCWoeMHcYPIdVH8ESbJq8mERNbYw76ibxmTqnpPtC8QpSyBiEWAbLl6oEKsZD6DMnxNd2cvK1tiNFRFxSSm-gnZO9_V0RmVJHRnUk0SkPYiWFCET7mza1HDrnYclqKxhe74chLlLjKu8H6WcMrJWM0ItJCvNz5FpTpz3wRdqjOCXgigghsxPSum-ellp2m55VxcKLEjC-3OGtB1Akds_L7XBB7f8H0OtX9_E1505nHJcxOTFY5tJ59QDM2Wsk9MuVcTcfrM-FMtFWsaG409xZCX7ZuVTjZPPhaEy2F71v-QHc4r6e92iOYPc9-ZKjqQxh1b5a3xl3CS-gDHxyYuDct9gznvkx-wNNUp-o-5aK2pu39R5_UrT2QZayuk-1nF5cnLpPK134lP2y6IcbnRHEunFWVUCWZ2xfUR9cmENWosyIX9GHONNqGNUCcsqYCmerovEbHzhQcPGR-WimJzfopn4hWRBadg7TXFBeqEO0nFuru3nl_IpC5bOGMe9OhjeRIX7QY36mblxjfaBfCI9xB2E9yfnw0ko5N_yVgoRzzo4iqnyxEAz_75akXr-TVJqABPTnPWBHQg9ZfIx9AnnLGRqZsO0tDzy5Giw0jpYCIT5cBf4dtsEAOdtLq9QGqgqIbWUXp2Y4u-Abf1EzPeiFLwSkme1aghk6FWzNNLoG4ykNTio8A7BkUNhfNmErsxP_3wzLAAju0C-rYr6WRjL-pp8IK_u-pJ7BAPOnEx3LV7kaf6rFMtIrjzn73oTKxv_pVtU8FfheufBKKM1KI3JtiU9dg8Mm0tO1aKrXPaSl6S9Y8Olu-br1NPif-Yy3c_FV7fuUWgL0h2zNhIOaGBPi5Zw-ebL4S5o5cE3CwP-x7sLJxHJa7m-BcsR6WaJULGdrpNS5CtT5G8VIu0mp8emOR-UQTl-a3AG6p_yz7j5b8hAMyEY583GLhEnC9Z5GDeEC-WBhhJSMYOjF5qvd_mWQtEoIg3ERhfgAYhfo2U6udO_53cr7Gz1VVVqgoO7BcLb2wS-kUQAVyAHEReAo4hsYT6FLKgpOoQaYSseB8NZj4BF1u2qqHnLkBaD52EmlB3TKTcOeCKjLyB1hsKNYy4YGifJa9A8vLSj3NlUAp9CfTncZu-5LRM_HFf229TLopcWNYoRCaCqjM0KLWHr0lcsZaYtfdE3K-F07j5QKA4s7ElFV7afNPSdAuzKudpWy-Z4wTqLX992uCGe7cWqrZ-HYPeeaHf60s1fvKnCN2bXYmX11Fx25QNaJ27b9hzC3CgO9o-gwCsYipBTv-5EtNi3gSSkPaBjAwkaUHUqlqVMkdVa882uGy4Pphsa3yBh1T56Kn_Feg8VrDBzGOV0TMZ9_jI8lhvSXwFioFw75Pg-SHAZ9ZOz__BLKZ2kgE3rU9CqfDlkNmvqCJq1rGfq126ZAu3kg44e7Inc3__Il3iaY9YaxVt5bHmZh1Wo80n3tONAkDQRXgJMXX51V4Iy1M74JpYY1XXLzPHygHXCX4IGfqKlWacFn0xrOPW_uvxmaqB81FtA-Cr-2lnOHzyH5LmHUMG-HdfFK58iq_7-0FsWW09aHmt5FOx2Ve1AhEAdbSnWfBFP1ablRodPXIOqeTBWb9RvD-l5Y9f2MkpKEUatYRIo-78th1LUKmWjHO8rYYoKETDjtNYafYtgVgxJC6Kwy2ZJXhk6aJ46UjLlJLCfTinJA984zz0ZFJ85GXcV1BzUGiC0gHtekmdPdgJGCiEc6HmyykWmaCHb7NyeaIuryftnMIG4A0plMDXCXrKOwZwzjgtVbbFfkRUUWELaRjFu6uAY5SlZVdthA8lD2bdW2vyelAKRqf_ogUNFdtT1IX3HaBKwWL8KpBvw6raGheRbMGqPgf_YO15xE6-pLFWnRAXmcgB7CkYL_Y_5u32olcliaCijiRPJ2GUu4KKJknrUH6Qpm9c3PpmTCz1psxG_I_vFqofbv1ZL9PJrs0Dkg__LksgDH5zzf9pOpSQ1ULM6YNKk01EqxagTntimy5T8-LWxqr_XxBe2onQl96M-YuS8CF3GW3fXfL_6H4nxenJzHX3R19_vyfHL9odLMUznNyOjmNPZx4sRPVWnsUC5D006xms9T93yW8ru0L9Ipf9QN9kWXAbSYjqVyaPNdw130dVTv3qwJJFTiO96zD1ygw3NnNrFdkF0neHspF3J8qlc3UFNzz7COEToPulvo_uv1oo0j-LKzkVFhfDCU=",
  "id": "rs_0703a189f4f411cd016ab44eca814c87d097f45fadc33a18d8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7Vm2rNx21NzFKivmgWBZbRXgnDJL9merL217gLn9G8l2sGFuYKnnyifW-nRA3VW5-XJQdNvIpwm9MnCyU6QNVfsBpno8zVB0gCF7ejwvHPRSyaQscvWpR1E8JnTuxOlk5inMMOBd11jJ2sFinP2MFfDqe7yj4OrSIpvWT_2tWfuVUqavuNmDFzOg36ZHr2NI6guTXZbm6SK4POLWx9cyT0saP0TAbWz1pnXG0PGb3SxwO6ySI0rFA7XbWKXxiUaM9SnMiV6hcszGRDUGEz5t6pSUDKKOrx6H8lwsTRsp9yssXKi_YZDm1zHDedqJRaCbBgMDqeK3BkSgWw3oftfrzTiHjETdwsqg-tt42HBTxslMGYHnISjimD550aR1mlj3xK_WIvJ-N9ead1TiSmJWpaQf1czilPb3fr0vqPP6ijLze6kLfYliuNFvce1UPxbmPw5pxYAYhJzlg2h7D9_-yUGhkkyknPhUGeUQb-PuoxuFMCzkc7ntUbTjOKyX1UR5g7nlnif2o3A6PbRgRy8myMz9wV8BOyRtPJsHx6fUgx0IHHyPi15G3ONUkYnImuJYLqkjN5qlCGdCaYg-wlwLyVTrA5BQiB_7VykmWoDnoroaa76F63LdDteMZb1250ysjycJ_hp6tpiMzKTJvG91leJCNPNmQGGpKFqqXELsevYXfC8XKufxT2kzOxCp3XaShC_feVYRKD8I5ujMfLHkJiyM6zxhR2_U0HPPI07LxaLKOm1oLwScfAmAjMxthseA4cP-TQteIzqJFXaMvOWvnequ0hsEVR9c-wfu5cFjhPLlNWHwOzPKWt7b5YLWyn4su_8EuslWSxTHZuenSjXegcExsLX9ld4hbGNmLvonidkluRaj0M_mBBbcYexFh17IGN6Ug1ZBfynuQu5-M26clwWdJfRiNweoUZCavjYxmR0evDW6t_R_Mhk-obJpVzCfOT3LMOjUziUwpg_IAkK8JOpoL3-WD04HvC_Ge7cwUn7Xj5ik8vam-MLVTXv0WebXKhw4TvQmIft_ClEKNCeWKtmr8DIguAnt1M21eTv96h2gZkuDwspUegDZsxVe6JhVK1_qGnkbTU0uvt-kBxkB94BkHl4vRixaohP33mnVFyYkEjML04Qte_ePhLm-SlstOUvHUGuY2NTSS5BVkW3FxTEGOb3BJUczlqZ6_PGdpVepW17alGBfoB4uarO6gzzueq_lwYyNYnDK9naUU9s9134hAbgy1V35ANdMzfVEHAlOn_iuqj4GBx89sTO9yEMKK7xy6_dQt4sapwXffPIh0CUMrm3HrqsXEZ2WCHjrshcVtlwJVHWSf-LQ3L2mu6JyqklfuW7STX-aHTDhufMueOuZVLzrs06moY-yt6FcciOwQ8hfYJHHx0uoCwtnPhrp93AHu5rcS-BDyx1gs-lLCRHBs13ym_5DqXipnuT_VrMo70JluvTVP1-btVXuA1kl0cZBMpHC9pfvNTsvKi3mRvxS0pPOh5WCFJpbvZi-pWsJSwqo1SEG3dJ5-NR9YxJNwL5wr_Mni3x5zVU4cMT5AGK0Ly41RqpDONF_p51Huf3M8lUGuDlkiS12sPjajvlK6P44FCd_IUEYaTBbkW1jyt565FsO6FRd5tNCFP7h8orZL3cVHS_5GE7jPSNKd45OOGGZ_ukR0c25wzjK5EdDqZ0QWOriiHTaqgbY0oSxEWpkfkcfuWOcdmcJXpqj9hq8j70lqNlx4KYXZog6y_Po_BxJJuzV8uSKQaFN8emGJKe4tjIPszJVWrsKbpsz0Fm-P-S-lViMS-Zj83P9mUt5K_MvhFd4Sfxjbd_bL0aeDzyqEe0vmV3lgLaj-QiJAWGHwPsTrXLlr0nFPRyx958JaIaVXwSzbXzWx3gRDGsyWRb6WHUXPS6cKDSRL-HUCPLsqVDnulOZz1gmFGCrRX9oJNf-MZMmZ4NGwf0DmYsIzvQE70rjIi6uhfVmkfwIFwtid5e2RxsfQH9Cf5owuEC84v2Aglnl6gCRxsli-Y_omR8q5fFnmpPYWOwF39izh2PygCGzE_NcxT91C-G5izT-jyeahPM7WEJHEhM_51dtU6PI0BDgOTrJT0Nmhd9TQKyTCPt-VQmZPA8VXKxnY9o3eZEQ46Vrq3rzfYL8B3lvPfn7W2frbel0eV1IxNOuzV0vap8yEDWj8jR4KhrXT69f0SfqVV2YT90j3j1_A8LVuKGqoOLoaw7j4h_qJjm0bNINO7tNBh1mnpfyAdIGqsIcR1-TMFTM59Um8kAufoiiNfI1mTbAcIfZSky3czMFXuGi18nbs9tt6inGrb5kyMM50snbqf4z8QzkCmtT44vA724DzDVM7d-HyzZygRkwbKrmGjbMfHPMC8dWf06SQgsa9C8x8p8u3D-NzBnsHgZ2Sy1DVt_gtggGWCjBPIOS8KmVZnpVmyTfGNqAHaPWHew0NNs0tQDoVuUGeLW9Cgogm1jQ3FVKMsTGO5LEKzMIajeUUi",
  "id": "rs_0703a189f4f411cd016ab44ed100f487d085ac4f0cd141768f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.12,\"right_z\":0.14,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The bowl remains visible in its own wrist camera after lifting, confirming the thin rim pinch slipped. I’m switching to a more robust grasp: center the open gripper over the bowl, then descend around its narrower tapered base, which should fit within the 9.5 cm jaw span.\"}",
  "call_id": "call_mHs0RkHOlFgsfY8xKXmFkjWC",
  "id": "fc_0703a189f4f411cd016ab44ed3aab887d090a9cfb833a12d64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mHs0RkHOlFgsfY8xKXmFkjWC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.379, 1.6669, 0.5255, 0.9073, 0.2794, -0.112, 0.9951]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1679 left_yaw=0.0051 left_pitch=-0.0488 left_roll=-0.006 left_gripper=0.9993 right_x=0.4213 right_y=0.1192 right_z=0.1216 right_yaw=0.1802 right_pitch=0.339 right_roll=-0.1596 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6972, -0.0464, -0.0855, -0.0073, 0.1983, -6.4615, 8.0479, 2.254, 0.1783, 0.0415, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb401da325c42e35845a64ec25c363cbb276bb4832d994a2a8861e47d7d77ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa4473108907ea0981d9cdb36801c397ac44bb996bad7d97012dc92aa56237a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56067bc964a296418571f88b624404338aa1fae3999f6ba934e57d46fcbb109",
      "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 70 changed as sent

message 78 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.1505, 2.0911, 0.4232, 1.4933, 0.1146, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.427 right_y=0.0479 right_z=0.049 right_yaw=0.1051 right_pitch=0.3928 right_roll=-0.1299 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.3333, 7.2547, 1.7216, -0.0366, -0.0855, -0.0122, -0.4991, -7.2957, 3.3709, 1.8779, 0.0855, 0.0659, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.815, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2111, 1.5375, 0.5117, 0.8738, 0.139, -0.1322, 0.0061]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9993 right_x=0.4268 right_y=0.0701 right_z=0.1606 right_yaw=0.147 right_pitch=0.4149 right_roll=-0.1406 right_gripper=0.0061\nstate[joint_eff]: [-0.0479, -1.0325, 7.0085, 1.7021, -0.0855, -0.0415, -0.0122, -0.5128, -6.5709, 8.2667, 1.8632, -0.0757, -0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.379, 1.6669, 0.5255, 0.9073, 0.2794, -0.112, 0.9951]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1679 left_yaw=0.0051 left_pitch=-0.0488 left_roll=-0.006 left_gripper=0.9993 right_x=0.4213 right_y=0.1192 right_z=0.1216 right_yaw=0.1802 right_pitch=0.339 right_roll=-0.1596 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6972, -0.0464, -0.0855, -0.0073, 0.1983, -6.4615, 8.0479, 2.254, 0.1783, 0.0415, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb401da325c42e35845a64ec25c363cbb276bb4832d994a2a8861e47d7d77ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa4473108907ea0981d9cdb36801c397ac44bb996bad7d97012dc92aa56237a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56067bc964a296418571f88b624404338aa1fae3999f6ba934e57d46fcbb109",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7YbTEXXPTjMgWJV1YOIDNK43y8QV4DjiuMMmFV66_AEp2_hsbCytJsUW8rg5hBnYMOJ5rEISvi83G6g243v6lfdel10Z7ZoF8e1obRiGLTkl-KotFGdLVQrzA8dgJgytIR94dixXb8RcW3z2S_nsCXZnFdsphNQVfksAgmONHk4l5UBXMTCivhwlNvAVJa7VL3z48ZfwD6IPX0d0C0j0i1LCpyf0AKJ23Xv4LAyWcwHNoby3UU2XQyjRdrP33n97ls3xSynYS_qEu7Bpjz4k2uiB-n26ziqwYRpp_ioi31B7cWcCzhid7ey9FhPuobmUhYRT3CqtihIBsHDb6r-a5ui1nrWW0viL6QDGF7fn-prIV5jkLtin5qH-iItt8Mgx_78gGsNRsITJeXFmuimTNqsrxL_PvHmWqwDEdCAHpNoSRzTXM-vMC73y4XDXIykLZB_kSVlzZnNq_A8TuAhwze8SLCxliXf2pSVqlc1r0E6c7bSgus-J0NHPhaZ7lQgW0bztf1u0xbJ-Lahjv3DJXp9JnRpBSbMcEM70rh_rEMz-y1I3C2ytutd5fUrM4u68PLLMEfSJ_4ETaIl2-YLOvnoGnpEA7xVd6lPVgQjCx_POPTS3ONArQIllyUEZ8ttHughJz_Ek2qPADdmg2rKMSF2auwMR4WT7baSFLB3PAFfowlXs4uonD3oLpZty7kMiNa6-NUjprNHQdY6OKj3Ye5z1TurYA-F7sj4nuTd82NaRwVpsVu2ZRRAN3A6dMeYuG2xQ0BiGTTeDHb66FpwirozXIgFrYgueypvKT7Sfkx122pskg3GvPfB2z9TCBFuWoIx9ucEj6CUSfIg8mjWnJrJnRK03j9IyWnNysMSqLiJrLmiOkxNT01ulVV-jV3DKVio0rCpVP7JFisNohIcayjm4q4rDe4-beM2k4Arc_9nqz88wNKW1xCrk0yd1rigPuoTA7GA8ifi0EcOpmShl08uWhquWZQ4XhGMquah8CwDHEx_JBIcqasppQUlCTiHrk-xSqY6n17jAyeeJcCJICXYvGmzC46NVGOKJdGRotoe2noAW6FMouQXDBC_VoVTVgZHT2lYaHJa-CTPk91C1R2AiGLuDWbSLb5sg25IF9mx48AquesEFjoPIjrQZ-KUWdMGajtS74ORLztW-SO2vTEZOp5ZUdwaZi8LLlME9oKMOhVYSh2DG8CW-2X5afzUtxoNt7J_OLK8tisfbFmXz1cMNRMOVqwnEQAT5MZfoc836Bk7rZrms0muKNUyIZAqPxeVGnxwkhDjD9orN0LCkmATYMNTU0VV8GCMyYV2SuBeoiprA6ITSFq0Wav2TocZDa0WELFn0cqv-PtYFJR2c6vjA==",
  "id": "rs_0703a189f4f411cd016ab44ed795c487d0a07eb34cec9b5996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.015,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The pink bowl is now centered between the open jaws. I’m easing inward while descending nearly to table level, using the reachable route that previously lowered the arm, so the jaws can surround the bowl’s narrow lower body rather than its wide rim.\"}",
  "call_id": "call_5wjzd7QPPzUgI3XbSWsYJVG0",
  "id": "fc_0703a189f4f411cd016ab44ed7ec9887d08015ee7847c09e54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5wjzd7QPPzUgI3XbSWsYJVG0",
  "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]: [-0.0196, 0.8211, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.4316, 2.1719, 0.4038, 1.4834, 0.3164, -0.1089, 0.9961]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1666 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3927 right_y=0.1243 right_z=0.0111 right_yaw=0.2019 right_pitch=0.2917 right_roll=-0.1776 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.7846, 6.9949, 1.6777, -0.0562, -0.0659, -0.0122, 0.3214, -7.747, 3.2205, 2.3321, 0.2418, -0.0317, -0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7d9fd17f77213a5715d9d56a2c1b9f308baf780b94df1eedf2d174e463b4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236a03b50102e9a5c643620f9accb800bcb5ec50c47121a93210e0d15f433a06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:261c950b659106a017831fb73fecea9bcc31ef94e64faba6136305d01a47f646",
      "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 74 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]: [-0.0196, 0.812, 0.6037, -0.408, -0.0227, -0.0494, 0.9993, 0.2337, 2.0922, 0.4397, 1.483, 0.1596, -0.1238, 0.008]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1692 left_yaw=0.0051 left_pitch=-0.0438 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4265 right_y=0.0763 right_z=0.0508 right_yaw=0.1463 right_pitch=0.3983 right_roll=-0.1367 right_gripper=0.008\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.707, -0.0464, -0.0806, -0.0122, -1.2513, -6.612, 3.9453, 1.8926, 0.3834, 0.0611, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.379, 1.6669, 0.5255, 0.9073, 0.2794, -0.112, 0.9951]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1679 left_yaw=0.0051 left_pitch=-0.0488 left_roll=-0.006 left_gripper=0.9993 right_x=0.4213 right_y=0.1192 right_z=0.1216 right_yaw=0.1802 right_pitch=0.339 right_roll=-0.1596 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6972, -0.0464, -0.0855, -0.0073, 0.1983, -6.4615, 8.0479, 2.254, 0.1783, 0.0415, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.4316, 2.1719, 0.4038, 1.4834, 0.3164, -0.1089, 0.9961]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1666 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3927 right_y=0.1243 right_z=0.0111 right_yaw=0.2019 right_pitch=0.2917 right_roll=-0.1776 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.7846, 6.9949, 1.6777, -0.0562, -0.0659, -0.0122, 0.3214, -7.747, 3.2205, 2.3321, 0.2418, -0.0317, -0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7d9fd17f77213a5715d9d56a2c1b9f308baf780b94df1eedf2d174e463b4b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236a03b50102e9a5c643620f9accb800bcb5ec50c47121a93210e0d15f433a06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:261c950b659106a017831fb73fecea9bcc31ef94e64faba6136305d01a47f646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_0703a189f4f411cd016ab44edaadf487d0b0bddbd706f77fdb",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7hOFLmX3o0DezkuH_W8fbSDtfvK7lfIfrVtQ3OVhI03BIU4SONyqdegbyW_aoi7zyWefNusispZ9S0ROBOgIq6ScPv6d31LHMELBRVPkpr5iJyvBN3LkWWBjlnSIgFBAMSc-DpS8PgeoyxG4YngKDUnf6VclXKnqJjI22-51D7ksndgq0FRjPJJvlJBcvS19NjdRAOGdgakyzBbe-WyBGgVJDjei7WKghGMRmkOZo2SuXTxzu9xcFnw0hl1_PYGdtzYp93UF1hiu8DbVSpMmJ-RiuX-ExkpWon5h6ybXcX1vaoVn0LZedFN1rliU3d8Z_IKXZH-9dxcLHOfXWiR-Ks6aT7zFNO5TrMq3oHCgiveDSo7ZL9M7baFJ0dezU41YNtZLFx8KAVhVcFqAVp9BOT_mCWh7TmPH8spsUAaELqiCbcW_tlQCxX0Fd-2GFuzkQtY72RewCea9iVxFjDBCY_Xio2SGvsXsoKyArxnfbsSPVK7y5DaVgqIXO_AIhRtu3zMDNV1BaUunvoU541xa0APO9VatXzIQuwO24gAobFxLMGVksjK79aOUXfjXYEaGAYTl_NoPqLInxkrLInyOvE6xZ4j3ZGOmxO7jPTLzyC2Dc1vRhKzjausBbs1NPDoW_bwcqQ8GGD9wbFJ8yNouXB1ENNrLzzSWO3R9TL52kDNYsrghvbgBuQ_c7b7zr2BnBDaV1NKbyLe7-Hzk_QOvDnXSCSrdwfX4irOaGJgno0eTiKlH1lgjnUNhPbIVCEhPEFmBCwnxVLCL0uHMR1G7RWAY-if4kKhLR50Iymwg91X23Tx87oUnqLIUT7rQU1Wb9jr5SBX1421PPY0_ljIY1oX6VThmxMgk39x9XR7sUHhYRIwq8ef6Ksjeg50Hwytv6wEFT9kD6Hyi6amDlHdT1NJiDcdo5cad390qfP4CqKKXC7IKOxKREmbJWsvt9bho3Dtwv4PXK41jUjeODuKwR60W4eu1SXAA-E8o0ewxj16AIwYYmQLZTWs74eSFeGk2c0DF-XYrRScdsJC4tDIulxM-HLD1FYxRUs2fi8_PUlf5hJC1YFPdNkEDp-7BC0rThc_ISjwJns0YLHYYhj5xA52AfMef7v15f0WhKr9HSSc8P51g7wEQ7r8xItzl8vGn57J1a2oMHuxEgJDXRE5GUrPJKb_eH3EbIGS1JJkaLD9WnOK1Timtj0eWaosbgFjVAEY54MAx38WGxpjGjLSdMMaXk_-Z1a5Y_vTQSMo82nQsiir6xUpZlbMpUsN9kaTwwUUBy4xGOUQupkJ8tsUFfpR4Mqc9AXb9_Ra4U3_H0zgEyzJdhJ8xyuVxKEKS6GZmyWSxyYqq0eQQrHKbQtmyzqS-vL-qiDHPX9UdE2zwxqbGGz7Hf266eErsDw8tqF7Lt6kpN6yTa8KZCBEkRD9n7jxYLLhUTCmU4qoJVmdcnvRpQ=",
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  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.05,\"right_z\":0.13,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"At table level the camera confirms the fingers descended inside the bowl—the wide rim blocks an outside-base grasp from above. I’m returning to the correctly aligned single-rim strategy, but this time I will use a controlled partial close rather than the full-force close that squeezed the sloped wall out.\"}",
  "call_id": "call_b02DZY3COufNE94ts25JQFdv",
  "id": "fc_0703a189f4f411cd016ab44ee0b26487d0bfc1fa54f7209b3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b02DZY3COufNE94ts25JQFdv",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1253, 1.6905, 0.4297, 1.0897, 0.0479, -0.1844, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1661 left_yaw=0.0051 left_pitch=-0.0553 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4239 right_y=0.0485 right_z=0.1174 right_yaw=0.1753 right_pitch=0.3913 right_roll=-0.1807 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.265, 7.0359, 1.6532, -0.0855, -0.0659, -0.0122, -0.2256, -7.2547, 7.2, 1.7753, -0.022, -0.0415, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaa3c321a402bc4297f6743e22c53424fdcc1e12a421013c3b50182886a0286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e31c4e677d779299e17d7211a2273dc42fdd6f5452252a725324a30b864940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387c90d4af728f9d696fcfa333c4a126a7bdd1329cd6430ffe4d04113aab5d54",
      "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 78 changed as sent

message 87 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.815, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2111, 1.5375, 0.5117, 0.8738, 0.139, -0.1322, 0.0061]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9993 right_x=0.4268 right_y=0.0701 right_z=0.1606 right_yaw=0.147 right_pitch=0.4149 right_roll=-0.1406 right_gripper=0.0061\nstate[joint_eff]: [-0.0479, -1.0325, 7.0085, 1.7021, -0.0855, -0.0415, -0.0122, -0.5128, -6.5709, 8.2667, 1.8632, -0.0757, -0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.4316, 2.1719, 0.4038, 1.4834, 0.3164, -0.1089, 0.9961]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1666 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3927 right_y=0.1243 right_z=0.0111 right_yaw=0.2019 right_pitch=0.2917 right_roll=-0.1776 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.7846, 6.9949, 1.6777, -0.0562, -0.0659, -0.0122, 0.3214, -7.747, 3.2205, 2.3321, 0.2418, -0.0317, -0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1253, 1.6905, 0.4297, 1.0897, 0.0479, -0.1844, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1661 left_yaw=0.0051 left_pitch=-0.0553 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4239 right_y=0.0485 right_z=0.1174 right_yaw=0.1753 right_pitch=0.3913 right_roll=-0.1807 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.265, 7.0359, 1.6532, -0.0855, -0.0659, -0.0122, -0.2256, -7.2547, 7.2, 1.7753, -0.022, -0.0415, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaa3c321a402bc4297f6743e22c53424fdcc1e12a421013c3b50182886a0286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e31c4e677d779299e17d7211a2273dc42fdd6f5452252a725324a30b864940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:387c90d4af728f9d696fcfa333c4a126a7bdd1329cd6430ffe4d04113aab5d54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7lNIVrDNfpq_743-UZlHCKVKSrpCID5eBnNlCUOyYRbC3aJqnEjoutV55JEY_-juLdvWMY-Yks04JEy0hg5qLxGr-lbeYY4-O8g3DRIesZY-d-A3WjKkh6DPq3aJlyubCNi-s1CuF07zNiMyfj0P5owiyUvyFjXu7bcd2UMrwRKwC7RFOruuENjggg7bckw0lZusXjIG5gr2CPLAK0MlFUH0PzQbwcyaM2hux4kexOpHnn0gu1tJEiUFLy8fH0i6Azqv97JtsT-9EICfKtkAxmJDvP4qfRL3u91AxRZKg_TMlbho88Hcji5DgKUIlmslgfVReR30XDMh1u7SkgvtLqBkNWieVVSNtkf5X88FOw3zLMmpcXWj2wyvDenK-RWh6FCobWW6cVmsYeGAxSj4KYFwdozfUpXsAlxh8JdKueID-02AWUCAaASb9mJnAeAJtSkEolvLImLwj95BolBGMKMIDx0nHhKkk9zVJ7D4tGOKzAW_VQtAmhKW7x-qs7PbipSWNIV-_1RFOPTY4qZ8rIjcsU9-D-qioplCbf_6P7eh-PFrbev-AewVySC05LupeKoj4grnhWRI7XJUgc0-jBZ-az76gNdyf4nCGParCfXo2WyXUfWhbbzrn6pi5h2e4QX150yretm0t5wC-WWB2OaUkExlwX7cJY4f8mo7ZhR3c1HqIiGPHftWvY3I7hA4d3gzgMXB4ycw711ujeUHsTW-Bt0jZViDzLWC6z0UTdlx-TDaRuv112IrYVOe6-5niiROq-n2XUhX-uzvxXHoACGt-FBeFSFWm9XRhMeqHtKr9kRL3DrWZWxiCKV4tekeUkyBxXo6e7vjVTCDUq6dz2BcaEbWKPvCyTkQzQ3-L6HNXgZCom8XMGRPI18EqmAYkT3xsoEni_J26TDJsthTtLmIS3U6wCWtoUXLjQyzJUfq-lKffr8LS1bBPNk7fsti-ogfZmm9Z-Tjb_Y0XXScjWgdXBUMkhrGB1VSW9WOjxmrM2rVz2iS5cYgIMqpOjD7WDRwrItHbYQCr7o3VYrM61cvHl19YTFjzsyJFDIsDmD_7_9hrrHS9j__XdOvJYuvcgdxrNLjMX7mB5Jh2jeh4Y0ZT9w8ZKS2a4H_jefZUBPz2Q3UFR86K3lzWdRayPl-LpGfZeVcn3KUL2-I0RAKvUAZXP29M53T-vIUVArUNZChYp1N_vA1vKmTTOL1JHIhynEgCPu-CiGLC-K5T3VMy76mwxbA8hFN-8FWUHNjOpIXIqWVDIjvMikr8bSojKfdgfgnbKlZiRLoWYqYrLSyGaTNoH49ps2reV2sKRAgQC5PobbtaVxg7iT5jB5U_JY3L0SPovIVEeLyKaM3KK_5lcsLX3VaRTIFU8rVLUAcZDtiPla7zu5VHKXKQN6TKe_RBtdUm0bulSsqwDKACQi8eLtn7vhIrLXKvsGpg0stmmcUPV8hAq72NmvRCNJFb56cm04bt6kZiShWfobpmx5ECdxs_VLtX35K0_S8v9vScnJKnUREkcXQ5rzAqItlPXB63rUOjlFa4Lxi5O1ELxN7f5fV2HtRs8EjPe23vzoPaCLpfYBrenXwtc2tYA4L_gYY6ZoPJTlMDyWliXLramExdnmA==",
  "id": "rs_0703a189f4f411cd016ab44ee3840087d0a3cb0c7c188fd9b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.075,\"right_z\":0.04,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"At the raised view the chosen rim is about 2.5 cm left of the jaw column. I’m correcting toward it while taking the inward descent route to a low rim-straddling height, then I’ll advance outward for the controlled pinch.\"}",
  "call_id": "call_4FbCTyIPEdl9r0u4f0ZhGKdt",
  "id": "fc_0703a189f4f411cd016ab44ee473a087d0885e6a18379ff9b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4FbCTyIPEdl9r0u4f0ZhGKdt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6037, -0.4088, -0.0227, -0.0498, 0.9993, 0.2497, 2.0632, 0.3107, 1.4441, 0.1383, -0.1757, 0.9962]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0595 left_roll=-0.006 left_gripper=0.9993 right_x=0.3862 right_y=0.077 right_z=0.0187 right_yaw=0.2135 right_pitch=0.2548 right_roll=-0.1934 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.7299, 7.0085, 1.6679, -0.0855, -0.0806, -0.0122, 0.2393, -7.4051, 3.1111, 2.4737, 0.1099, 0.149, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8eab866e75a8726352a09d89f912a17eba2790e8ea6403072b009eadf6e4bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac85fd717c2675ff1547ecdf89b547095888979a8b36bdcf3c8f82b506a8409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5ee02e4975b9ac7ebc6e9d516f466d2ab84dcb538464ab15338761da8291e8",
      "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 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.379, 1.6669, 0.5255, 0.9073, 0.2794, -0.112, 0.9951]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1679 left_yaw=0.0051 left_pitch=-0.0488 left_roll=-0.006 left_gripper=0.9993 right_x=0.4213 right_y=0.1192 right_z=0.1216 right_yaw=0.1802 right_pitch=0.339 right_roll=-0.1596 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6972, -0.0464, -0.0855, -0.0073, 0.1983, -6.4615, 8.0479, 2.254, 0.1783, 0.0415, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1253, 1.6905, 0.4297, 1.0897, 0.0479, -0.1844, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1661 left_yaw=0.0051 left_pitch=-0.0553 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4239 right_y=0.0485 right_z=0.1174 right_yaw=0.1753 right_pitch=0.3913 right_roll=-0.1807 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.265, 7.0359, 1.6532, -0.0855, -0.0659, -0.0122, -0.2256, -7.2547, 7.2, 1.7753, -0.022, -0.0415, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6037, -0.4088, -0.0227, -0.0498, 0.9993, 0.2497, 2.0632, 0.3107, 1.4441, 0.1383, -0.1757, 0.9962]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0595 left_roll=-0.006 left_gripper=0.9993 right_x=0.3862 right_y=0.077 right_z=0.0187 right_yaw=0.2135 right_pitch=0.2548 right_roll=-0.1934 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.7299, 7.0085, 1.6679, -0.0855, -0.0806, -0.0122, 0.2393, -7.4051, 3.1111, 2.4737, 0.1099, 0.149, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8eab866e75a8726352a09d89f912a17eba2790e8ea6403072b009eadf6e4bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac85fd717c2675ff1547ecdf89b547095888979a8b36bdcf3c8f82b506a8409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5ee02e4975b9ac7ebc6e9d516f466d2ab84dcb538464ab15338761da8291e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7oYgjE2D9ocE6-7ben-3wbkBNR-kw1pqIRcQNVA0wkvueHVQrH-ylF272F5YLBDd6YeKlzKzL5pHXRTCqDoQBLcbp7fZusTaJRamAHvQyRMlZknxPFTpJIioUC2qHvFNLucZAhBht4sG1XV8Q4N1a6fHUeHNHZF8lcB8EXK4xJHghpwAOBZwGBRjT1Qr9Gi5KHzLKW-wQFI-jJln9LJ2r9TVFyiKIanp6gelLwj9DsneCbR4nXcuxfHWB-Dfs2l_mCst5lYGgPusyq9PcfQbjIE33hWzcvVtqVbrYtZBrVaU0RT5x1wgTHet-EbcFSSDNoPRvN9gg3e5iGx4xzUFUwuzrfkU9wWfV0KEfOsGPMnqurMu9gICoznOys7zrCHAOg12wOyr1kKgUb0G5zzXHVQy-KkZU_39GKDibwLAgqB74dapwr_bhHVEfHOZJu-NmfSfu1h5rrdUYfMzv6CqUUqJTe46HzSeTXGs5ZWrnrgyY4N4Xnl7cM5n3myOSkMLpqEpjYkvU-yTXwtw99OCO6o6MwI2Qv-bXPPozqUrN_J8oSyfKM0r0MrPjy9aEROHZbbz3bMhFhVLpl-EnzFChnlsyeNwXvjFlgbv0EoIb--nDbCm_x5MttZpkwjTXZpzb4yLdPbgdeh8lBN7vr0ykWL_eK2kTZiKNJerOrMVIS9jmbdGfFAg6NWEIQXqXTjGk1TK9IxOx4uW78v7nzBbSfBgvtpe4_uMMFLrhp2d-VjSGwuXzXt2BxU5jN3gOR84280hHM4V1uEEjP0zmzsAqN18t89Hn1P-bxkZ9yU9-6HL4sh4r0_IjqSg21qGR3FfsonU7fQPosuczZI96Z3jsiARWBNiQLrP0SidQ6ZOg7wWqBwvgjJ3m8Tg4KlYTfNcepN-2ZdnlhUAqcyWmtghOphz0ky5gey8uCHp8DkftpZQNxUzMn0RpWVR-c5b66kv_S8cp2V9wpEMLSCE08IS3qP51HeuR2HeqDdKU-UhVlAY4mCwdO6VYRT3zHBfw8vkBOZmzkzZihg6jXKftZJmnbhR21DMPxo5GtfwTH7K4hxK3XfF4i12aPrTMIxRernGZt8B-6mgxu3hWLgXsCc9KpmCwvqtLJSWIv5RKQplGgK17MvhV_AzYvEcROMsisHRe_s_BZKYLeVJKPmnrKVXpLHDd3TyGfDOQgizvAS2v8txxmnUqanlVbvjj1bC-oHm0ONYw_J7WiqGSPIGAe49tHBSKzgFzCZ3ms2foPQibrPmYCCACvLdvdtvCH3XfzGcc3dSYtOLAgtkg3XU3J7A1BmaEpiyappOCjetypy6tKAI5-pixiYXa3XQ3-zz36p27MajXtxrpAShY42Ty8-k6klRZ8i_JCwl5q55DEaIIUFHH8t2agXSjTN1Rvr81L9q8g9A1JyNXIo1EKBKowEXTytGJluQ_T1OPIcA0sjGd1HfcuzAG81hD6TeML84WIqBXrzlPkLOvyTn9V0zDJ1AvUkze62-oesJPava46rH2IZXQ=",
  "id": "rs_0703a189f4f411cd016ab44ee73dec87d08fe9c7e9974b5f52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.09,\"right_z\":0.04,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The arm is now low and inside the reachable posture; the bowl wall is just left of the jaw center. I’m advancing outward and adding a small move toward the bowl so the rim wall settles between the fingers at the grasp point.\"}",
  "call_id": "call_otsfFRwA95L9HNx2JgwnMuFg",
  "id": "fc_0703a189f4f411cd016ab44ee7e2a487d0852f75f2502b3b68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_otsfFRwA95L9HNx2JgwnMuFg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2573, 2.1559, 0.4484, 1.5093, 0.1444, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4235 right_y=0.0889 right_z=0.0332 right_yaw=0.2169 right_pitch=0.3646 right_roll=-0.1952 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5521, 7.2957, 1.6386, -0.0562, -0.0757, -0.0122, -0.0889, -7.2137, 3.1248, 2.1856, 0.0024, -0.0464, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc07a49ac524df34db9f8738e929e9e08c2cebd83a4d2ae59e065400ca91043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c888800770f116dc5e3363e2185146fd52f0614e98a5c22b19855ac958eb7f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:297dc86c2bf73dabb5d88f0026fc4caf3479feab9fc036d540b2f69e17a28f3e",
      "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 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.4316, 2.1719, 0.4038, 1.4834, 0.3164, -0.1089, 0.9961]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1666 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3927 right_y=0.1243 right_z=0.0111 right_yaw=0.2019 right_pitch=0.2917 right_roll=-0.1776 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.7846, 6.9949, 1.6777, -0.0562, -0.0659, -0.0122, 0.3214, -7.747, 3.2205, 2.3321, 0.2418, -0.0317, -0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6037, -0.4088, -0.0227, -0.0498, 0.9993, 0.2497, 2.0632, 0.3107, 1.4441, 0.1383, -0.1757, 0.9962]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0595 left_roll=-0.006 left_gripper=0.9993 right_x=0.3862 right_y=0.077 right_z=0.0187 right_yaw=0.2135 right_pitch=0.2548 right_roll=-0.1934 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.7299, 7.0085, 1.6679, -0.0855, -0.0806, -0.0122, 0.2393, -7.4051, 3.1111, 2.4737, 0.1099, 0.149, -0.4078]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2573, 2.1559, 0.4484, 1.5093, 0.1444, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4235 right_y=0.0889 right_z=0.0332 right_yaw=0.2169 right_pitch=0.3646 right_roll=-0.1952 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5521, 7.2957, 1.6386, -0.0562, -0.0757, -0.0122, -0.0889, -7.2137, 3.1248, 2.1856, 0.0024, -0.0464, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc07a49ac524df34db9f8738e929e9e08c2cebd83a4d2ae59e065400ca91043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c888800770f116dc5e3363e2185146fd52f0614e98a5c22b19855ac958eb7f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:297dc86c2bf73dabb5d88f0026fc4caf3479feab9fc036d540b2f69e17a28f3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7te3ydB7UbSX0AIG9yuX69omKRTfsEzTOCJgBN87Dllf9fV3wmXH5paFRwjoiisQPtg3fX0HpMd3wCMNMv89EdZer6IyE1pGJnLLeAiUOLoOP4RXHGODFmY5UCXG5tiWz2jle-MgO6FZxWt8_HGT7DZg64mov0a5XZ7u9Nj2-6moTllFLr2XG76icrC-KNIeJAxYqSuWE3bLWKpW4bcx3ewaANy1DbjzYTXtMYDCldWCZA8WKd6xPxgurp_GJlvrdR2oTcWS5mbWnxz_WE01QFBEx7gWJnimG-QOTyfkVup2HQ3qfRhjjoWHpX13mwdnCq5ifOBu_DRbmDP9--idvmpECSTyHeydvgY9wv3eVHBqc8TESNjyvssVV0ZzngMmKsI_EaZ6GgSPxetuHD3hLdQbF9FInKP4wo2ahMvAexRRSQlKrvPgpnbpfuuNomWYfww13I22Eyq-OFLs-MLdqsaCMGIfA1jGdxEm5CmwHCXwKhNdta5IUlmMHLpHdylIj0XuFl3J2lLS57LEXBBIJvwTBuMKQv9zSwxZD6eNnGp-7uNN1hfKpmu39TGLvwUTYKbXqFSGz9AScmbck0rCmgzGE2euiJLrsDjF5Jjp39WWz47vGLcXp0netDzG_qniVlD5yF1HqNaifyv6Ug07azXIqmJl92qDN4Rx4hTyXKlEkOMW3at7TKMfQUedyhOAxOWVstsa9d6DEvGN4gpMQ2_Fn3l1KKKgxjPhbaM-9pPNjOhY7q62fUqY9t138cJSe-qIT28M_4G14xjeyNZSrMtjDZbj7wboxfYBd9bW0yPArvGSSOXTOYBi_nvxoPeYNpzes9EMZu6aNlcSdiioZ0bte0CYaAvo9PdJdq9O4CzSDtnatGUwplr8aGoa6XeG71weox7Sac1yIImeYUWS185nGYukV8Yi7le7f_hsVbmJFVqE1aC-b0TN1THZ_HHt9X-y0DImcVnU0sAVRHIzwBbGerUGGTTuUoM23yXbWwwdGr3WziieBhi5fgL73eiOX4Jo9V5AFUQZOz4QVlqsKDhqK5E125Arzsp4HXXt1gvSjXLyefIYsW85RwYZP1DbEZl3BI_QPkOrckk2Bt-dN4YxSA0SxADxoZH-2NQKT4QrHIRB8-6Ld1CN0wGTnqpLleWB5qLFHWgrW91ak4TN0s23LWHiRPB2v5V9DY7VU_QNMna7lHJMDJCB0BGxN2yue6A0_wOqmK2G6ncACQMeF6SaO8hj9l2JJcHuwTF4aoks3BU-PAspu4_M1mxxQXsljSYrQ79GzxE3Ovo_PUfzK9I0k7jrB2O9NnXlJ3Y7qPMIs6bfhyZAR15WEUo_WuPMvd5rlxX67mOk770f5K6luhC9vTmYIE_hpNuZ2wHsli34oETrH6SYswKm1G3H-PUYgnzPlT1jAmmSwPy07pr69whfRdC4NslDVpPMT0LSg_eV8GGoSSPDNPDnFm8N_ROa3UdyKCpQNsUGbx8yBJDgg6iCDwnLGPzBTp6zSvi4pQaRxOZRdtHaQDHlK8MMkSBjim6gF0_GlNAWjXmpbGKoUiddYY6GTRsJfWYokwUq_k3813pBHqgU75uZCUkHledsxtZb5wjB2Jw_mKdYTfCS1tdTs8lV4XysSL9prG7vvyF3sgWSGkcD2inFTIJ7Z6uyVxI5w8fO4RY4XX4SimAwn-rjpId8yCP1hAfOjJhuJ0G4bBcDfxHo0vJjIIAKiTuJ1Lj2EVWDEMg2APGCa7xOJ4Yr3dLGDrgf3IXv0Htm_ps7K4Kpu935Q-hXH6NKTKllHgk3-Yhn9MMPfutJR8mDG_HiDbbkTXjY_KsfNRqRVeZh7H-Xus7DUBgisIU0A4Bzn4OvGTIiLu3tT9A80-ftJVEaJ2KW0eqakrOpEJIx4svOE=",
  "id": "rs_0703a189f4f411cd016ab44eea7e6c87d0a804f851f3fe6872",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.05,\"right_z\":0.04,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The close-up shows the gripper has become centered inside the bowl again, so the latest lateral move crossed too far. I’m shifting 4 cm back toward the bowl’s right rim while maintaining the low height; this should put the right wall, not the interior center, on the jaw column.\"}",
  "call_id": "call_XtjBChyoxteNybyJsE1DkQLN",
  "id": "fc_0703a189f4f411cd016ab44eebd60c87d0883d4f545593aefc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XtjBChyoxteNybyJsE1DkQLN",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2577, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.061 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4264 right_y=0.0899 right_z=0.0338 right_yaw=0.2176 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.3197, 7.0222, 1.6972, -0.0855, -0.0659, -0.0122, -0.4171, -7.5966, 3.1385, 2.1319, 0.0317, -0.0562, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2def966ffbd00a4ee8440f516d13de018e8daad147b4ad9530ae209d4c81dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23930600136d6c086f122f452962cf048e11bfcbfb407c35ae950baff3e0c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac6d75ab9d035f40a8996501d483af8160dc98a0c74b2cb1878baeb78974264",
      "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 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.1253, 1.6905, 0.4297, 1.0897, 0.0479, -0.1844, 0.9962]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1661 left_yaw=0.0051 left_pitch=-0.0553 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4239 right_y=0.0485 right_z=0.1174 right_yaw=0.1753 right_pitch=0.3913 right_roll=-0.1807 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.265, 7.0359, 1.6532, -0.0855, -0.0659, -0.0122, -0.2256, -7.2547, 7.2, 1.7753, -0.022, -0.0415, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2573, 2.1559, 0.4484, 1.5093, 0.1444, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4235 right_y=0.0889 right_z=0.0332 right_yaw=0.2169 right_pitch=0.3646 right_roll=-0.1952 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5521, 7.2957, 1.6386, -0.0562, -0.0757, -0.0122, -0.0889, -7.2137, 3.1248, 2.1856, 0.0024, -0.0464, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2577, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.061 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4264 right_y=0.0899 right_z=0.0338 right_yaw=0.2176 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.3197, 7.0222, 1.6972, -0.0855, -0.0659, -0.0122, -0.4171, -7.5966, 3.1385, 2.1319, 0.0317, -0.0562, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2def966ffbd00a4ee8440f516d13de018e8daad147b4ad9530ae209d4c81dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23930600136d6c086f122f452962cf048e11bfcbfb407c35ae950baff3e0c3ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac6d75ab9d035f40a8996501d483af8160dc98a0c74b2cb1878baeb78974264",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7yaMeufmyWf_OB8BE99p6J0U73rlPmhMxqDN4p-YvjvF2DPxHQmC6pDPvog9RfF_IMZ46rWIwJJ_JS4Xjnhx5kyztP0bS8Q3iuRidpguxtkpHVcpsvDEx_MgJ3VuIB-KEfsr3csp6Jheqe8AwIp710kr2HOqynsE2L6laRib65RDwerFPNyc4NlNJZbdC9OV9UD8u84aEb23PMClquHrcKMGEHog4DPj8ESAMsFfpf980Sb19kseqeoXEkeEgLAgKHtCznLzs9bSF5D8j8m48tDbfJOyJP_14PX1W_O1c5TBIaHtRw7F1TJppq3py1QkaNn5WuX30KrLlAKjckflP2AARrn1GJRSwPpgT71xq29fC2N2lBl6si7Q7nFhHgDzH41pPFyTLa5VfGyNqB-JIWr8m3kEjYAfRuL0_sVXPinXZBhIN6aA3wKpC5Zwd1dX66d2zaSjgez6XzpFiSlMllicLqzKdijGW-3daZX3O3JQAh7S4ActD8fWOmXpNxqnL1wtwkwCZh2aOayujyb1D9Rwk4nVM7812gDIT1jATxLaVceJhh71sn_h_wJ9cPs6DXviwo3lARikIRQxoUG_WLc7G7RMYXuAUXq1h0m0DII0wnwfedDt2EkMEpyihbyg-voQwfMApzzGqkI9CHFBlQKu1_jgJpEZ7V9VOPMAcoGac3j3hM1OsyfB9KWBYnmeRU81uVkD6fikSJaKKr1HzJre1ih378x8No77qcWQitTk2a-jibHb3WB9AzdBhhR1DbbJ9JPABpGsoN1CSo8OaZSdAwQNM_UTxgvzCRWN_BYya5kZ3z_LA_67Kin39drVWQhhwl5sk76001mlLKulH_xiaoImarQXzmC0mHlPDCY2I8hpjGllC_uV-QN53cj7OPQluziPqDXQvI9imTTZ3KWiYNdfgfQQsLj8cD0D_d4J-uBpyTc8HD0zwiBd_-MvN_oNE8yJDHOCxoYkZ1O_J888WmlF7gjA2Y5sfuozPwjy2e0qCBFEkz1t7jJJcIo5_54SvpRUcuxFit6hnEzlPE8gtrmzWkTt4Qc3x3KvV5FhwB0SuAOQpq-2hRXhz27FBln5yVApJfocZeAT4Af6t46Hj0dpZ1K-4JjhyBO9RcgWHuQtGB_-IqLX7cfxqAThIvKKELX8nXP7uckrg3K2hPkc0lSTLkr1yDIyDZ2IU0OfFCFOB2mGjlBVlHnMTgq-DfGrdU8xyFySiZuMVd3tH3mBXY_HgO2JmF2ytckhxEJFPrX9Wz66Bsri86W58zltQ3rJdXJvWFnPbwqXxR9ujwbjKvV9OqfsyUSaA2Q46_TchKFhplf4qAG_EaJ2Z4F39X9jS-eM-O3R4XWVGk2U009U062Lw1moIK6I5o1vUbECcseqUgfJUrGtlFRrG3zkIkSEDY2qIRk8_hdqrwMg5s7HbmvK9j6p0IRGUS2kc3BRefHA0n3uDZrjq_BBhv1HkC3pbPD812JakW-qReja9_Z-zZfvjuRpsAvkYR5V72hhKWuESYuxk3tUM2TqtAQNy2Lm6y7kik7hMGvBFPe6xNFeoJrx1l6_aKfrVAgHOUFTYcxVvAJEZZa5kaVv0R5LD5kZC4rtjN5slHmistFR4Ao79aixd3kU5AM6hfexBJku0WgBBw2oYiLFLHL9402LmrNYC6_OVSMWxeWBz5cnhzf1HcbRbTWHJmLGOVl_33_2B1YuIVOxasgjxniNx7t3qzXThAQKxvGWi-FM2lKq_n22k6zN0Vz6QqKXR_f0tqt6s-9nz9zbJhbq0Hs9GVllnDJzrY89bUgZEEovk8ZTpQRdfebicC2tGDgI2inKOp5DfUdLnzUWfAeGN62yjpfDxNhStZ-eu9uJGQ9qnKMix9_qfJXTY798QRKU_soZxdNAiDsUfVW-lxDp0kFdr1-BlYD1omfbU70yG7MNtQpmxKG_r2GnzWqZZ75rsMBR5fy4slq2DDojYys6IdFTdeQp2unXeyPNWAKG0fSL5C2wETzmAQfWKMOxhc2CKRvor9UVKsrK4uhoZOI_hpSkbP3NmCIfX_SkGIZYMUTeL1_BkDzkZVr2fuzKOQ8xU1rUgkLg7zMr68zaAdm79Sh2s_uEdjCbbaUsNsiyvTBQmmoZamgPJLVZIGvVto1JfXP7feTfpEWqbRlKAhcPGOfnxhMGoak8rTQDzjr-FQC2sZaDAcEp2is4EF0BKzjI8z7eZC_Ai5I8BBDQSEVIf6oz0Eg4B5hl3A3JxDT0XD38LoUJTMQMtHQsfYQsOKFet6EKGjMIWEAHgCJh7DXygk22wUsj0yeTD-s1Sfj-yhPhVx9CWxwgFoFSHpnMKnAmcxcPyGOlk7wbdZ00u-3rvl0KJsFlqeaRn0A3W_5cnoCkcV9mCHa1k_3eStZ5qAiwZ9frkiIUdVir_oYkLKmuj1asmeD8P9yQMifegnbWxxwi5AktYzS-c7fr5_CZB_OqFltCNLsgNWzCE6la16bLleRERBaHcYaLc_PKaUStSHeyaVPuzhMK1PtvFfMBlsiWqldBPooNx5WqFb1SaqNgj279j8E3AKsk0bCwYKcUE1kjc70RpFkowGYm3ulxBY-bsdQGe8aQJkpYmq7yXFpIAmbKw5VPHswDvjWdNfM_yf4ggq4fK93-9HRNjGo7d0LOshSCkUjhPPQtwflX1DaOfeo8hzt1tIMcA0Jd-no6Fd-1rgn8Leen07cXgztp44MynKhaBq-PWp-DpbRtrIIwJhQTR6vvqXUYaDaetuJRO9zKr4-FCC3x67S0CUPrM0_nwlIHJlAzX_3rWhcV2d9g63rbJZQL2pYH4vaoeZEnvzLvqerUNetDjaBUgAJDiqT5mHehqO_r23TsyrkFIjEub_-uhva9kn",
  "id": "rs_0703a189f4f411cd016ab44eee772087d0bc9dfcc4a213a318",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.05,\"right_z\":0.075,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The low lateral command did not track—the readback stayed centered at y≈0.09—so I’m lifting just above the local constraint while commanding the known rim coordinate y≈0.05. This should restore the side offset without leaving the bowl area.\"}",
  "call_id": "call_kLER3KgNHn0GvXnkpBg4BsVr",
  "id": "fc_0703a189f4f411cd016ab44ef18a7487d095d69e4bf853a614",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kLER3KgNHn0GvXnkpBg4BsVr",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8307, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2581, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.164 left_yaw=0.0051 left_pitch=-0.0629 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4264 right_y=0.09 right_z=0.0338 right_yaw=0.218 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6728, -0.0513, -0.0366, -0.0122, -0.1983, -7.5966, 3.3436, 2.127, -0.0073, -0.0611, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5682d4a5e8bcb3bc2e6aee8f73e55d8a27cdee5e1ded322d43c954ee1489957b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e5466d7849fec01f61e192c88aa23b6f89f4861e70e3c946d048d0c3a3ea3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599fc36e3ecf1fd6eac92d50ef1e75ac88cedbb65733b731c805d6021c31e30f",
      "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 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6037, -0.4088, -0.0227, -0.0498, 0.9993, 0.2497, 2.0632, 0.3107, 1.4441, 0.1383, -0.1757, 0.9962]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0595 left_roll=-0.006 left_gripper=0.9993 right_x=0.3862 right_y=0.077 right_z=0.0187 right_yaw=0.2135 right_pitch=0.2548 right_roll=-0.1934 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.7299, 7.0085, 1.6679, -0.0855, -0.0806, -0.0122, 0.2393, -7.4051, 3.1111, 2.4737, 0.1099, 0.149, -0.4078]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2577, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.061 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4264 right_y=0.0899 right_z=0.0338 right_yaw=0.2176 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.3197, 7.0222, 1.6972, -0.0855, -0.0659, -0.0122, -0.4171, -7.5966, 3.1385, 2.1319, 0.0317, -0.0562, -0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8307, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2581, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.164 left_yaw=0.0051 left_pitch=-0.0629 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4264 right_y=0.09 right_z=0.0338 right_yaw=0.218 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6728, -0.0513, -0.0366, -0.0122, -0.1983, -7.5966, 3.3436, 2.127, -0.0073, -0.0611, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5682d4a5e8bcb3bc2e6aee8f73e55d8a27cdee5e1ded322d43c954ee1489957b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e5466d7849fec01f61e192c88aa23b6f89f4861e70e3c946d048d0c3a3ea3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599fc36e3ecf1fd6eac92d50ef1e75ac88cedbb65733b731c805d6021c31e30f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE73QiFVt3n1IfZLdDYnSJin8KnwUKsPnnCSKJv51MydJDdF-K_M1fLVkIN2G0rIFyHAENBfaj8-p2YZ_pQ-fclNgjtD3ABBcZZOZVemq0eZE6Bxr8nzcd_DfO1Eqqpw2Ul8Terz_Zb1RCikrJN2t9h3QRdVRKP4_QfpoYZNKJun_7FYacTpLNabnhrruuBDQeX_Tas00_AB1zEE6XPyr1aAQBVC0MQh-228C4K5XnF8LIf0wavMpsZRAf15k0Bl8uxk6ndIqWp4wJdVD4koPAN73zSsVZwBPfg7Gsc_RmhVjmml1Lj62N4DDMvf71l1qg4gk9EBhV-NqlaQdWJOjt4E1N9-moaQnBmApX2v3_e0dRuu2kjHLtdAbwCsggfVLldmmjWMduGyOW6ZtkHRn-1IfJU5tWuYVg1j-JENg2t6isD0uFX1Sxsb_sqyamZWPqzwFmwdAgcjRHz739vQyuuTqqYox2LaJUoV9a0z2ilkJVvy76QaBejnQoF9ktLmo82YBPOyCUSgY4aiIHmfJAyGbG3H_atnd2TLhOLRxwadPQTS3j4jfBMW1Gg3FvVcOTc1DgkBe_owGEYWpnvItCyqsnyXLvYsiZDdOOs5-Zn3B6zCTxYwa08FspqcmM7ClSXZFPzhG9CBGzoze2yyibrT_RKtBfY64ulZnhWerkHJZHMxNOLoGiyGGjZSIywuHLOLojqp4Cov38SCIERHatKscResFD3guQ5mYag8uMqSuXwlw52pXwJwE7UcEDoJl7k1yMWIVteuVUcejq2L_SNRLMRx_-9-mtvjpOvAaA8sLlh5_1wSu-r6Nppb2tHnnlawhGYkVcVbN0VK4crrU1OMniZ1Xw8tkUU2SbRAIdOSxx3ppkCOgHZS48FiBhBxa5qzablwkXVB9zyOrI5qlqOhUoTblLE5yGBlR_tpl7ZKcWB2_-ojBCsSbJKisyRmhf8p8Fz-wNvx1OHdvMxi5or5-OEwoC5OLGt9d0nuO1shfOyzr3vUp4WCM75o3lnw6ScQrizNQ_dCPWOe5rHoOSDTEj8H6YWMwMq1AwZEGV_f1VT1YPL5M1HT_jorKtR7WJh2fACtAiNn1nVwzrwDF_sxAx4qhUbnFykxhiO_tJdnE3tDzgI63CzfrBrfr7po0ooj16V8-61jzRXwFTBBCU_UYFW9ZbcjTzBtDBd3Z4dBqPT3QeOY06hi5_M0FxOjsarhm9YUNp7oHNP2loYlmyBOUxW0qZLtZ8MBLWNWkRSeOvnsbPqukFmIEUyoDAWywcRpHfwmYcpaTfvbmH0HgupKfdrerN02FoHOz8zQbZ-u0E2wiwe0EVdoFhBE2m_nz-2QRHG25f3ZazxqOSLL_0fkmgz8mkwOwXzru9N095sW2T-9oDj4CbkVdCq-bWZ4H1jWRr9gLvbys9HPxhliWa9GwsUtBjaRsKMz04VeL12xuBX84MOYjfBm_4YRn_Z_aMGVzTiN_Yx06Z69eldcQ2xdAtBUTy6uMU_p1mkzU4VNvSaUePO1fQnVJWDLc3qAi_drWDbypcnn8Q7dIjY8wdGwlVJSuTzKI0rptcN-lmU6O3LeRXH8m-W2G-AjFufz41FRYT9sCHUbbL8FqDmJ0Y-sMu_4cBy2HEGF_Gwpqmj2HIi9RbUj4ojih69U-ASFhrgluIzic5bMMiHhM_oXQbxHYPCRFq3oMTCgz4M0A9YCo_tlLW61fbMj9dNTebD1GsuvVVuldArOqywYe-bq3k4btZZO2C5lXPBPhtd_l7vcKH5Zq4MERX9DKUNtkNQY7lK7NOKz0YdShSMT1kBE-QIJaweXz7a_1hkqoMfyljcoi5epqExZ62-dfk8i7X9LvnnQelDNaupm5uR4sBCuiiUZmFBQ_TUbaQJXHQBnoFEUkeXJP1xoD37CTEmWftD6xVk6bhtlFCM5_Heom99_6vHRBnvr336mRqLkrjlBDwjKpJUMefvWVJPOM2gcv2c611DQuwjeQyRI-k1O3kKLDIoGF6aqUWclOVs5Os-SQbdXoWu3kqzsZP_3cCpVcDSzuJJo2je2IexY0kPs_u4kLnLs7kYUSajQa3mIXuJpalXv0dAszKoS3Rg2-_M1xBUB4nJO",
  "id": "rs_0703a189f4f411cd016ab44ef46ed887d0a41c676aedb399cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.05,\"right_z\":0.07,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The arm is fully stuck in the low centered IK posture, so neither height nor lateral correction tracked. I’m first easing inward, the maneuver that reliably unlocks this arm, while retaining the desired rim-side coordinate and a modest clearance height.\"}",
  "call_id": "call_DgKqNtfOsqpre5OgKorKU0mx",
  "id": "fc_0703a189f4f411cd016ab44ef661d487d0b48b9d7d3daf21d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DgKqNtfOsqpre5OgKorKU0mx",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.833, 0.6037, -0.4076, -0.0227, -0.0498, 0.9993, 0.1928, 2.0686, 0.3534, 1.4918, 0.0765, -0.1917, 0.9962]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1635 left_yaw=0.0053 left_pitch=-0.0644 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4048 right_y=0.0689 right_z=0.0386 right_yaw=0.2202 right_pitch=0.3381 right_roll=-0.1921 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 6.9949, 1.7363, -0.0855, -0.0806, -0.0122, -0.6222, -8.2393, 2.3726, 1.9219, 0.1099, -0.0366, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51144eb23557d646e0d239b83278293303231abc8330260ca9339d407bacf9d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38a95be7a3cae5b70befeb942b2bc09333cf114bbe81a7564c920c0b50fdfe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39a60e705cbdffdebf664f07969752201ef358cddf824706968f7c1127c33d6",
      "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 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4088, -0.0227, -0.0494, 0.9993, 0.2573, 2.1559, 0.4484, 1.5093, 0.1444, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4235 right_y=0.0889 right_z=0.0332 right_yaw=0.2169 right_pitch=0.3646 right_roll=-0.1952 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.5521, 7.2957, 1.6386, -0.0562, -0.0757, -0.0122, -0.0889, -7.2137, 3.1248, 2.1856, 0.0024, -0.0464, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8307, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2581, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.164 left_yaw=0.0051 left_pitch=-0.0629 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4264 right_y=0.09 right_z=0.0338 right_yaw=0.218 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6728, -0.0513, -0.0366, -0.0122, -0.1983, -7.5966, 3.3436, 2.127, -0.0073, -0.0611, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.833, 0.6037, -0.4076, -0.0227, -0.0498, 0.9993, 0.1928, 2.0686, 0.3534, 1.4918, 0.0765, -0.1917, 0.9962]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1635 left_yaw=0.0053 left_pitch=-0.0644 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4048 right_y=0.0689 right_z=0.0386 right_yaw=0.2202 right_pitch=0.3381 right_roll=-0.1921 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 6.9949, 1.7363, -0.0855, -0.0806, -0.0122, -0.6222, -8.2393, 2.3726, 1.9219, 0.1099, -0.0366, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51144eb23557d646e0d239b83278293303231abc8330260ca9339d407bacf9d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38a95be7a3cae5b70befeb942b2bc09333cf114bbe81a7564c920c0b50fdfe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39a60e705cbdffdebf664f07969752201ef358cddf824706968f7c1127c33d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE79xysc96N2jIENZ0IwOou1_BT5fUVHxcGON7buqaGqxtbanulIbVVC6fECJRBYYGTfCSwOgqKChVip4u6pUHQPCpeYIjf4hQCGXmZli8FIe2KfkzHfMxw1FT6qgL3asKUrXlhGgLFBjtwh_kVwZRIpquJPCL1Arz7gEnScIJ0FihjIdcPbhsmAhUzBHjtXqfm31eLUJeLwwsKcXwVdVQ5DF-_n06yTFuU6fNhVuuSfWWMD3MIAB3mbttzlgTGiimb3eutmLDa2xKOtF6wiQkHXKMjEw9ThrliGwUhks-cb0xvwgIQm8oQ-cd9DQp3A_1SEhle0bIwtAo0KMACc8PnxXuKbkF1j2LwuUuhtHgLXudu0bc3eis6Vz0FlwJx6A14vgXtXq27c064l9HU7HQAyXAoNgWNARmR7xp8w18XwaDnYmVUHVPzFLnLDYHpOQASvSLnvq54DFYI1aGDolelgr6m7qMxqHOJUG7byxMS90nRxA5sviJX-F-dURVFf1BXPsDvCE7FB57_lVEVvNQ0IbGaH8HIR9hX5RDhAQkos1pMiMroA8nnNeAjW1DIqU7e3wFZinLhXIoOj0UVvck7CIBWPyQ-jW5kY0q79DROJpJ4x0-qdpV6nkX1omnL4MIJDVIJZEuH3-fDzCiyvifFgGX3eVGZJaU-dmB9HsOmco7Ixi8GztsjTKHR5wmz5gKvYEFjNdzh3Vvtb6bQizhZnrWXAQRP9o148aFWaHEYUEALSxvjRyEfld0_Qxy4QggSrdU-MRsAWzCkPIILicP7hFEvQpq0XFfMf3-wKDWgBYPBR1Te1PGgrjBdC6ITVvvzz37YtYikpXElp9FyA8pH2t-db9_wpPFedKMn64510otHTa76NtIZ651s8M-QWxisL2UFamJhQEkA6aqYKuGNvaSENkj-hGP5qnys7hM1IihIf4XaPh_pI5Iq3u0SW8KZgoLn7s2UA7motZpkBxwNrD77KUclU2UG2O20mEq1TVr1heybVZl1RpqEGRoOuMWe-eKn_Di3IPfKWoC2tj5kU5mO3wcLx18C8WZRFvp18kaoOrk7szyLUk6UjX5a5mIDlnfqvyHNqx1965Ut7fE4Ee8ViIFbpczDykSPudVeCenE7GY2xYOROpRhiSK8XqWPGjfVO2vYUoTQnBf798Lt6En_EAuA7EFJ3bEOC5T6B_TK8bsncvDO26EA4hHFqqNcAD9ZhbuWbUqMNO9jw578vbYrWuMTvKMnlvY7_j9ppGBqGMGB6SBWBtjkiaOgKRD0TGSGZaKuSwJ6TmkzgjipJnzfdrWR3wP36K93rBuzge_NDiTyMbX0rGVTdn6SUUtbFKexMHuLQgAAl_J9ltt31ubFdWnkLcJWegvhkH3C2eqoZM7UdI0ca_CSYOmlj4IciUMx7PMwFYpXJrw9YysknwuEm0K9LpfKFyetaxHPRNVOvQGCGMF90v6oORyV5FQg8M-x19_W6CphXNeIDtQDdFFuF6EM2EJBunY6LEeVrO-1wFeXJIkWpN8JMwUpXzfQAdQFyLnlitUvrr9TNdtm8ywhmeAk9625_sYNqZLuftCYMd6Ggn1VUEssuEQknEp_H6fh4_a6xHoqnJjovebHespMRq9o5Tgw0Z5LRyrEr_2hotBCvfdJyUd-JgqExIprj5DXZtmTOw81zR6wkw9oIoG6kCaoc0XzoWDz-QIi0E6ptBYhGZYA4wDHt1bsHsQh0-exEGOW920XKz9rA9nieyNP-mtQRduAOOvVP4SuxSVysGVMuxhi2jJDps7U_CzM15HChQhLsPdRjuk7GlS3EJG6D5Lka_PEbh_tTIwpSqLgkyOq27MSGRgpT1aMf8FuHT6sr0CALeuvC0IFWziLoH-e-igvbs_Kz8ynU-hLtXvfYmxnf2plfRDn8K4HDP-P1URIpyt4meUAlhN0O2WFe70mDkV33_MpIT-2auCy2ahVy7_wCGssmbOmo6RbRp3pplzWJeMghkiXtkIzMN2-aCYbWinGSiaLVOGEuydg5kgbxbml4jpApr0MWR7hSb4JcSG5PkBTELCMCMHLz5cyxE_lJij6kP8BYfvMtEDqtYbVwS5FfPZeIwuesDAX5YXY2G9CmissXG1QmAR1oTKTZxLrMlNzE6_P5n9wn3qtzF4wkQqKgbJK3cPoygwFQsK46FUOoR8N56GWbjt64w-fwcB-scZjlcvFX9fmo-IpY_qlIhIo6KYiqulz5wQmxFnRT-614ayZeHHOa48AgwsXfBzOnujKhoM9eGkfYpRVGJxA2A3HJ9dNM_lq5UMF9yV3m1MtBcrkyEqaSij5i1wDJQ83_YkJ48Fb81ZeFg2cmV9El0OMdjRU_59IfyVlYU2DXO1U3jVVeMP1c0-wjNaU0uUeSkvjsnRmsTcHWYufnKN8=",
  "id": "rs_0703a189f4f411cd016ab44ef9e17887d08cb89fb2ac5550b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.02,\"right_z\":0.07,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The inward move restored tracking, and the bowl’s center is now clear at the jaw column; prior nudges shifted the bowl, so its current center is near y≈0.07. I’m offsetting by one radius to y≈0.02 while still inward, placing the right rim on the grasp line.\"}",
  "call_id": "call_lLKAJxF0ldE8tJOAIy8nAim8",
  "id": "fc_0703a189f4f411cd016ab44efc103c87d0b4e9b14c67edb904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lLKAJxF0ldE8tJOAIy8nAim8",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0021, 1.9625, 0.26, 1.496, -0.0826, -0.218, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3893 right_y=0.0173 right_z=0.055 right_yaw=0.184 right_pitch=0.3557 right_roll=-0.1854 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.3333, 7.2274, 1.7607, -0.0317, -0.0611, -0.0122, -0.1436, -7.8154, 2.6325, 1.9951, -0.1197, -0.022, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d16e7a8822685c103535b878165dcaa5f5a70666ea181d3331ce16d6e3ba4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c281c637fa04275af9c1b35f2dfae2341bf66e7c37d8b48e3aa8c516b806f815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803bf523647d0eca17a6960127e481c4a1bcbcd6d1f53a57bd0aaf648d6b879",
      "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 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2577, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.061 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4264 right_y=0.0899 right_z=0.0338 right_yaw=0.2176 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.3197, 7.0222, 1.6972, -0.0855, -0.0659, -0.0122, -0.4171, -7.5966, 3.1385, 2.1319, 0.0317, -0.0562, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.833, 0.6037, -0.4076, -0.0227, -0.0498, 0.9993, 0.1928, 2.0686, 0.3534, 1.4918, 0.0765, -0.1917, 0.9962]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1635 left_yaw=0.0053 left_pitch=-0.0644 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4048 right_y=0.0689 right_z=0.0386 right_yaw=0.2202 right_pitch=0.3381 right_roll=-0.1921 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 6.9949, 1.7363, -0.0855, -0.0806, -0.0122, -0.6222, -8.2393, 2.3726, 1.9219, 0.1099, -0.0366, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0021, 1.9625, 0.26, 1.496, -0.0826, -0.218, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3893 right_y=0.0173 right_z=0.055 right_yaw=0.184 right_pitch=0.3557 right_roll=-0.1854 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.3333, 7.2274, 1.7607, -0.0317, -0.0611, -0.0122, -0.1436, -7.8154, 2.6325, 1.9951, -0.1197, -0.022, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d16e7a8822685c103535b878165dcaa5f5a70666ea181d3331ce16d6e3ba4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c281c637fa04275af9c1b35f2dfae2341bf66e7c37d8b48e3aa8c516b806f815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803bf523647d0eca17a6960127e481c4a1bcbcd6d1f53a57bd0aaf648d6b879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8Br8YFeWPPN9mGFKmNL4xyml4H9uTzYpZYHWjL_zTi_I3yLqCcz-ZKLCD3vrLMSrxai6QzOrvq6BjW0GgUs5TBzG6RyGbe4X85k4_ZXghKXA7x868PXs3ItAMMvSdmyRTvWf9ET_7uESnWOiFUq0NAtF0Is12DSybeqYAylvS6EIMFQUmvR_Ua6_QrA6XgU7IquhnaLZ-sMQCXWYHdLRFRhEdl9q8_Sj0o3bkx3-y2y2t5H42e891APkVwVkFG36GgqlaEAF9VAjSczB8SN6nYcU7eN49rQ_IM2A_2GAgW0vD21ruCxy1ubuX3tVGwU04XIFeBA0_3twDGSiPAcaa0xVAkJOlYgNOh9OLzfoVr8MI43HW_n-rsfpxQ_gNQo-SAwaRxvU1xg02twAR1PUGHQrVDjZPe1eL2gz4gGzdpzIu_vFhpHDcmcUaCVc3aOE9_h0omsMTG-Inr3ytbLhgPeYwUJRsfjTFauwPAWBYp_C9O3F088UMsE_4J9dVaHQPKh89MK9ZVD7pkftZjz1dXpxbwDGMGBJD1loMZOCeyjQYM1nsFOYFCOUaVNKYns-3C_8rz40iQuDT3SnonIGmDIhH8mOU9q_zDm5vFmCT541zw_GjxujbIOQPYmzD6a5ndO14gIbCms1K025W93-V_mzLCFG3vd6kDQ2waSvzGUenMQjZXMIRXRk3ckcFQA_p2QhqYnMOoEFhIeTZF7rtuZLejPmZJWjXJJx4qm5VyFb6D8httZyEE8uTHWAeTolPPG34Uqrc8wXvDC7xN818zz28gNZxYUYm26LVurcNVLUu1c5G2IQsnC7RZk5AbuzRGtc1cVOp3O22sSRUPQiGdwWqRJMMnOuE-ohBX_bvqwpii7cxcxsDnJ2rcwGouMNn5K04DsxIxRad2kY3UxnRtzzPAzSVYoIkw15x8XU99CNJOmVC8A-Kx_Iq9r8sRwYVp5JHhOOi1J3cEvZkCvK5LZGnfU1xMjA_4xsKLaRqRM8juZSahWmPUNRw3fwa-7xe-hy8ncutKLNigiqbBKp6R76YszJHoXl555jSALZR7XupbvKmAuctIJeAqwsEWB2wXPYa6B0BCwVZHcO8_kwEID2vEqcgoS2o0sAz81x5gjzL5lheuwv2EWtgw5NoSXRSfOmzZDbHcfMo2_CHEjF9ElQZF26SWder0si_OYfUGZMIAgKkl2pXutsNt7SK2IYOQlgkNzPnbii90zPY1sEgWmOhjlT4xBAHPiNoI5oqcOU0qmXoqNY5MOdt3rtEuLah6RSVKNIaXOBaFpZadhOc_pssEl6LRZR4d-SnBx-aUU5eqTnHK-kec5nWoZVROtK4FapCpI2xVrBiVGdLdrxofAVJdOXYtSbwqxxmvTlSdCQiT4Bzo6u-k74nDxVQNamiJ9cMglfYRMXBu7hWp2b3Lr4eUaLYnr7WTAUIXcXzY--gcyuxzTEVVAGdIxJiUFwG9HeNSd0St_SSkX5i1XwV45waCQU-KJyZnozGXRLycns42T1ogQPAMn_bXbC8ncm5SJDfhgQntWPxUTyiCfBXE8rfw7WOuwG2vmD2-GkQ3G0LHTeK0ASRnNT1akuYs4NEJdU7xQ3bQjIWoixLYr3Qcuux3hAOLqLDQ0bFu6nGCCTJ55vC8EG9XhVHSveL4uRa2cgNAbubdaupCdk95st7z56dH0YcJJqzoMvw2l4UUC0YgvotxWGYYWe-BgorF89cSRuZOuattGUtFRBKMs0-dGDv7GU07w5HyXnjQVlL0f7mQrIoj52o8xWssJusSEl3955sYLKl-EhfHzj87Jwo-_Q==",
  "id": "rs_0703a189f4f411cd016ab44efee0e887d085edf8c0b4469a22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.02,\"right_z\":0.055,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The offset now looks correct: the pink bowl sits left of the gripper and its right rim crosses the jaw column, with one finger inside and one outside. I’m advancing outward at this height to bring that wall down to the fingertip grasp point.\"}",
  "call_id": "call_MSnYq1p4AY4ULnGk7h0O06Sq",
  "id": "fc_0703a189f4f411cd016ab44f0002b887d090402cc250dd0acf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MSnYq1p4AY4ULnGk7h0O06Sq",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0196, 1.9411, 0.2539, 1.4971, -0.1211, -0.2214, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3884 right_y=0.0173 right_z=0.0616 right_yaw=0.2046 right_pitch=0.373 right_roll=-0.1846 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6679, -0.0757, -0.0806, -0.0122, 0.1573, -7.4188, 2.5915, 2.0, -0.1245, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05501444082c1d441d4cd7f1cabbe827c1bb60cd4ddb95f6d01cf54220b44a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4533967f61b4a0e9ac6e9eeac624c91ec9a878b4a42996fa79ea92d123319bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51c5963451f7eeabed9b14d2508f184b41c7f8ba03a7350247b352992d87f79",
      "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 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8307, 0.6037, -0.4084, -0.0227, -0.0494, 0.9993, 0.2581, 2.162, 0.4603, 1.5089, 0.144, -0.1802, 0.9962]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.164 left_yaw=0.0051 left_pitch=-0.0629 left_roll=-0.0056 left_gripper=0.9993 right_x=0.4264 right_y=0.09 right_z=0.0338 right_yaw=0.218 right_pitch=0.3699 right_roll=-0.1949 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5932, 7.0222, 1.6728, -0.0513, -0.0366, -0.0122, -0.1983, -7.5966, 3.3436, 2.127, -0.0073, -0.0611, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0021, 1.9625, 0.26, 1.496, -0.0826, -0.218, 0.9962]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3893 right_y=0.0173 right_z=0.055 right_yaw=0.184 right_pitch=0.3557 right_roll=-0.1854 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.3333, 7.2274, 1.7607, -0.0317, -0.0611, -0.0122, -0.1436, -7.8154, 2.6325, 1.9951, -0.1197, -0.022, -0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0196, 1.9411, 0.2539, 1.4971, -0.1211, -0.2214, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3884 right_y=0.0173 right_z=0.0616 right_yaw=0.2046 right_pitch=0.373 right_roll=-0.1846 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6679, -0.0757, -0.0806, -0.0122, 0.1573, -7.4188, 2.5915, 2.0, -0.1245, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05501444082c1d441d4cd7f1cabbe827c1bb60cd4ddb95f6d01cf54220b44a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4533967f61b4a0e9ac6e9eeac624c91ec9a878b4a42996fa79ea92d123319bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51c5963451f7eeabed9b14d2508f184b41c7f8ba03a7350247b352992d87f79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8GNmyrO8UzZQqM_NjuZerlFx3jtDASkKfV2ul4WTZBOucsKL96YeQNjoMKP5D1rzGPNxeChwau_i70pRL38BReg8ofei2KA0SedmwbNF0QYwhamvprAlx8GJ25ixSgdeuAbLMYrlAKDhf1qEnd2jlib_RIkWR25xYMT0zr6jKh4IWlCuZy61d650Y81qxqAk2dJC5kF_0L59RwfQBGkdRTn1Oa8lODd9_Bb8hqPGiFjAfEVs8go3vVz3k-4YalHBAkJDKi7VOPengHbPDU1cW6RQkGNyKBjPLO5X1Sf7a57QqSe7_qWET2xYMDP_SWh-pfKQ5reQKELrcwqa8TNiSTS5afnSf6e_ox1XFfvMIxb3uxtPHR_GLcJZz3Md6_kNSGFoN35Fj6zNVUu0N9r0f--4CwavIDGHiuATS5T172XRzOOgKxIQnReXNrmGUyewLSYev0iHKP7F_ndxllMdntCMHD9sVWXhF2nAQabDh55HEItNsXmLaCQK5b23wARDr8C-K9ja_A1uLnp3onmS_O7-d-ic3Q3vT0cYg61oHp-ZEHRstq1nS6VIJg5uGjFc6HNmefMH15K45fxjIDMKPNeOv1u2sA3BnPK6Nbud5dGtn62E1fzi-H9RA_fhOFLY7JiVEhlSlidN4ehc5GlnTHEk036vaSk2i0xwcLTrQXGVQ6Z0GR5Z-uSEBveYO7uYBCf7wImD15hoXq4JUXQyeQKYxUPGvL_tsIsqG9dOvMHcrxX60YreXvsurfZ1iREC7QBcNMbXvTNueC8fMLgSgcSnDQ2vrB_ohw_zxb3ME2ZKKVtIi9N2aITobGByS4ZBGuH-Zbjzz9DrmyPr_3oh3LAy8jxfwQCrFWc1lhhmLo63-1MJH2O78hD_sYcaHWIe9zOhqvBPBVvwHYfxQ-9H6MTnGnwWIsTK2xQmadI1mUyilGZb6wDQZFlQXHI7YIb6DKRQEHSCU3tnT-Xgs6pzhYWld1jwFmSLcWZHcm3BGW2kcP2cyTaGLy-vdbqAzFArbOMCajnGlqkMuVrnzcRyTFJFSxSQIJ4J8_gb6xYU2GSGAmu6LNUf3aMRZn_Ld2Tay6ZDFVkkp3iefN5PxYtEz2W4hIiUigv83T895xvSMddY_IM5b3eztmqHbfHMYgrkPThEgPOKgtMt0OUKq73shkmym0ZbPGnvyfcNWP1OxS6V7dL7fO4_T9Q3mDZYPUEnIWo7tRZ1_aLMikwQUOZcqyN-u_fkLVDXTuktZbPI3uGYFwg5Bt8L9fmFPgznfruVhqO7UxDqpZkoA2f9K_BfG3Z4F6ryt63Fe4KPrkYMo1WRBg0SNkOLf_lMcZSq-9amdOuC_zoa_IuAPNciq8Rj7sUwlRWX8T5rUEZbr9vrqHkXcZoLVC_tpjpv7vP5SSFGqZKYYNPOsDdYfxBmc5W1_5ldtvYxWyVEQj7i6qNVRCkTVMzsOc9no5RvxolS3edBv-EbOoHtP7YUvSl97yGTj5nbspGBZyFoGVf-i58v5-1NFug3oATlbKVeLPAx8X76Psa-j8tkFQqW4qqQ43ShBqSXQYBE97T07qzvPZug3Tx_D8htrMy6WGBaAzW1vR5JAJxqqSAUFWrvsS4VipFbsNVN60Li7pFpI3XfiNOQOTOzkGG_NaRQAbgG3LhfuftXhaZ8ycag-aw72aQRIblMmLR0H94Ofk2-vS9zpf750jRVnMiUyfoXipn67OnhvxLZzP53L8VRsrb4swkOaaCUCRdbmgUqBzYub8_XVPHFno_0BBSeqpMKlf7vtVrDuYk3re_77r4l-AELf8EIBkvoJdQdk5ZVjjUXVpQLMgLF3Pm2nmxLMIJut3oi6GEJ0w_5jV0t0dCetGrdOrF2jXFYo5YCDvqBws5wpmTBIN0Ajs7jOETMtkbdWkaKIW3ijpZl-jHtcDLBszg7dka5SYCLAtud47JjrGwCehv8h2H1vzFwQ7aZApLelratiDt29Lsae4oRj9YYr1qp5fE_SheOr5B6XCYxvzb79HPGg1DXB1dn-7oVrmmnxcmeqOS_cpp0k1dCOdXABBnWUUC2U3uilaivEKecYuBkdikZSNwLGvMn9--mgRxoqWc_PIFf6oaeauF_xP3T1CQLqF7wIdVA1mgPj5kYHLdPfIW3WOS1rzFqS-2hhy2N86mHxJ7XakoSF8j3GmOLW1BI6IoKafulyHrrZawe_B7TkP73ZzFHNNKka2mRR4VSoYkEglURrLoTUC",
  "id": "rs_0703a189f4f411cd016ab44f03271887d0b485ffb0430874bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.02,\"right_z\":0.055,\"right_pitch\":0.6,\"right_gripper\":0.05},\"note\":\"The outward translation did not track, leaving the aligned rim a few centimetres ahead of the fingertips. I’m using a stronger forward pitch to unlock that final advance and closing only to 5%—a controlled thin-wall clamp intended to avoid ejecting the sloped rim.\"}",
  "call_id": "call_TUnhYWUKQTUaWpfhPH5tz8HM",
  "id": "fc_0703a189f4f411cd016ab44f05d45887d0af16b5f49c24e16e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TUnhYWUKQTUaWpfhPH5tz8HM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6037, -0.421, -0.0223, -0.0494, 0.9993, -0.0082, 2.0575, 0.4976, 1.5421, -0.1215, -0.1905, 0.055]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.159 left_yaw=0.0048 left_pitch=-0.0846 left_roll=-0.0053 left_gripper=0.9993 right_x=0.452 right_y=0.0213 right_z=0.097 right_yaw=0.2171 right_pitch=0.5442 right_roll=-0.1932 right_gripper=0.055\nstate[joint_eff]: [-0.0752, -1.8803, 7.2, 1.746, -0.0513, -0.0611, -0.0122, 0.2393, -6.4752, 4.2325, 1.9902, 0.1001, 0.0317, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44e8921c182b2bc733d976b144bdace2ec15c7b15efae6524dcdc7ef815ea65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490ce95bf6a68228a7321ae481c9bfd3bc90ce8faf6ca5becf56c31f0c238191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c12bb46c08d95f5c94c0ab897fc1a8590127a8f52866a945b05330347bf4c6",
      "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]: [-0.0196, 0.833, 0.6037, -0.4076, -0.0227, -0.0498, 0.9993, 0.1928, 2.0686, 0.3534, 1.4918, 0.0765, -0.1917, 0.9962]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1635 left_yaw=0.0053 left_pitch=-0.0644 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4048 right_y=0.0689 right_z=0.0386 right_yaw=0.2202 right_pitch=0.3381 right_roll=-0.1921 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.3607, 6.9949, 1.7363, -0.0855, -0.0806, -0.0122, -0.6222, -8.2393, 2.3726, 1.9219, 0.1099, -0.0366, -0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6037, -0.4152, -0.0227, -0.0494, 0.9993, -0.0196, 1.9411, 0.2539, 1.4971, -0.1211, -0.2214, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1614 left_yaw=0.0051 left_pitch=-0.0743 left_roll=-0.0053 left_gripper=0.9993 right_x=0.3884 right_y=0.0173 right_z=0.0616 right_yaw=0.2046 right_pitch=0.373 right_roll=-0.1846 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.1419, 6.9949, 1.6679, -0.0757, -0.0806, -0.0122, 0.1573, -7.4188, 2.5915, 2.0, -0.1245, -0.0415, -0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6037, -0.421, -0.0223, -0.0494, 0.9993, -0.0082, 2.0575, 0.4976, 1.5421, -0.1215, -0.1905, 0.055]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.159 left_yaw=0.0048 left_pitch=-0.0846 left_roll=-0.0053 left_gripper=0.9993 right_x=0.452 right_y=0.0213 right_z=0.097 right_yaw=0.2171 right_pitch=0.5442 right_roll=-0.1932 right_gripper=0.055\nstate[joint_eff]: [-0.0752, -1.8803, 7.2, 1.746, -0.0513, -0.0611, -0.0122, 0.2393, -6.4752, 4.2325, 1.9902, 0.1001, 0.0317, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44e8921c182b2bc733d976b144bdace2ec15c7b15efae6524dcdc7ef815ea65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490ce95bf6a68228a7321ae481c9bfd3bc90ce8faf6ca5becf56c31f0c238191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8c12bb46c08d95f5c94c0ab897fc1a8590127a8f52866a945b05330347bf4c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0703a189f4f411cd016ab44f089f9887d084d269203118bafd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.23,\"right_z\":0.14,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The pitched motion reached past the rim and the gripper is held at a 5% opening; I cannot conclusively see whether the thin wall is clamped. I’m making the decisive transfer over the middle bowl and opening at a safe drop height—if the rim is secured, the pink bowl will nest into the middle bowl.\"}",
  "call_id": "call_2NRrGQkfPTZMYOMpBI93HfYb",
  "id": "fc_0703a189f4f411cd016ab44f0b017087d09646794d437684de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2NRrGQkfPTZMYOMpBI93HfYb",
  "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]: [-0.0196, 0.8398, 0.6037, -0.4309, -0.0227, -0.0494, 0.9993, 0.6655, 1.8626, 0.7475, 0.9085, 0.5014, -0.1261, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1571 left_yaw=0.0052 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4263 right_y=0.2312 right_z=0.1254 right_yaw=0.2723 right_pitch=0.3778 right_roll=-0.2152 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.4974, 7.0222, 1.7607, -0.0806, -0.0659, -0.0122, 0.1299, -9.8667, 7.4188, 1.873, 0.2955, 0.1441, -0.2808]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc3a4cb7568db959f82f425159e298a110a593419ae03db5f372bef020749d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1929a1f5e2e8152c8601c702ef4508393958d3e530b7a621d79970d99728f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d767ee92554d7aecab4be174bff24bc3917a4487332f627b67c8ad4b0629d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}