adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0193, 0.7944, 0.6044, -0.382, -0.0223, -0.041, 0.9996, -0.0219, 0.7921, 0.6022, -0.3786, -0.0139, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0019 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -1.5521, 10.1265, 1.8144, -0.0073, 0.2369, -0.0611, -0.4034, -1.306, 10.2222, 1.9219, -0.105, 0.1832, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f732e6be0ad484a3cd15d31e6d94ca926845b692cdc21a22ed89114f853715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ab546b8712934bf7bc175f283ae75952e416a7f7f920187980e29929420d1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aac33838e9d1d93eaf22459ec57359a46f77e64d9b25ac4675d4d818d2ab912",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtDdtOU5vqXQcTcZAUeqHI_XSIqva5nRWwYBJ8_R9vS_oRSX6c1f7EVvLt9mxP9eFCaTLgXRJEJqkQMGxUlosUFD6aNm4XOvnsbcPCdQOopoghmBjcW9ub2nXiBA9reNMYYGe2O_i9Ew6hlk0E-Icf-a0XB5zvBd0u7BmNfeX7PqcnvifZegCohNLa8pTOtWOlQJNle4mn9KfiTQlSpbBSRMRsMMbk9D64NYZnoNWAWyHYhs8nK1GnTMDiC3Y8sfcrAFXO9Ga680zdOQZ-eVR2L2l4aTLvDoOGyWJ0WfKjWoTZhrnJM8GnMJxIYfLj_wNPG2ZUIOfaFj41WzjyCh-3I494iaknK2cgGvkDT5H0-PCKtEdn4RGQYAbyYpYbyK92Y3EkhelOw2GDn0eRWQp3eh-BUYGHuLLiqm1xFFw4oKer7cMCvwGqhPJR6Ad7XiFiXydwfllj-2YzjXCPyI8RZTv17SNjZHMxNYQG1UpCwoiU_wQF-zfrvn6040i2rT6K6ZTkHQKcaMvi2fvAD5TatVVbhee5mEjUxYURMOcq8MMmaiAMFZmioxgA3lz_eZ92eEiEpU0t6JM2JiM-Ui1TQB09zgFlnfnI6K2KCrc1XLPezz0kMJ7YWG5-Yn1fBZKMXaWGaXTEnjw1CWogt75172Q63eJqMARz08nP5kvudT-Fen5bbNs_rILB16JetBenN9ppZ1lAHpZF4ks1BSKMSnsDkoqz4zBYEWFW1dxwbOr7RtaFhPe2s6fonzj3aozF-iShx629KqucNPRMubXjTm4fL7aDeHGKIWXFa-xSb0GOTWyDKJsrcupggADe0Wu8DtmnxWxWyg922XobtqoL5FznLUr8UijKipQV1hrMONmZxOzF5KndFBnMng6Tm_YL8jfRvrqUmu2EjX7fK-c1yskqY9ZrjnK6wmqEMArthEfo_3kLsMjLjTiGbEbQd9x2h20xhRxEExd2z7CO8jZf0jufegfAEOMB_V9_GKbYVemXILAYej9FzZNhbMQzw4uSUqJA0_RY8_aW_6yZvZthoWrHH0cSqrInbhXEihP-8eQhKzSZGU0WDXAu-fUiqyvKS6PkKV7Lw6jPx5ppwQC6Gnd-XR32E9JQ28N2f7C6ZbgJ1wGSXnCjO0AR9Kg8_w7dXw1858mBLmp26HKypOSrZaUrzi5Y5yY9F-87QTUeiPZlBd4znt0aGblsWwgdxB0IdNlXWyUD5qa2Ln0UqG4cj3HokXpEz7Y0Uoz_rFg8sgmUY5Zfp0iSjtS5xPxTot7vhMD7mBGw4gM_t2PrbRUQh9YVA_2tSsgMIWSHC91Ng3IP3kMiGApQNOB95PQESUUdXzmrLgXUUO1IDoxA3T1shDfTmZvqfy41QgYnYdDQT0arkMQHz1RgewWc98Wm1pQyTYuXRsbXoYAfl2lrRj2v2WoMS0n-4UiAZoEKaVV4pvqfU_S1Ccdx9A2Fui5PgTUNa1yyMy1piFA3xqnBOMoK-AohcbddGGpCb5HhTG9i2qKgy9Yl66aKUfXbCuOuLcKhTNBi9jykwoQi9az52PYD4nvvMwlskaIxyW2GJ4o5xbF3uZXX1CgExYl-xDKW9oR-qORW0eBSOQdiNrdIC_3CijuxrBnniXi26JnUkWGZLwN9Jh9PacYDuneUmU8S-Z2yKfW9U2fz5w7pY8Fp2UHzzbZ-w==",
  "id": "rs_01751ee5dc733f3e016ab4376be6f487d09fa40d9244232ea5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.17},\"note\":\"Three bowls sit side by side near the far middle of the table. I’m moving the left open gripper above the leftmost bowl to line up a rim grasp.\"}",
  "call_id": "call_ibqGqq0dX6oVjKrI0IFW0Rf0",
  "id": "fc_01751ee5dc733f3e016ab4376cfaa887d09f09b03890b23f22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ibqGqq0dX6oVjKrI0IFW0Rf0",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6174, 1.5383, 1.0023, -0.1886, -0.4973, -0.3946, 0.9995, -0.0219, 0.7967, 0.6003, -0.3893, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3946 left_y=-0.1724 left_z=0.1531 left_yaw=-0.0146 left_pitch=-0.0508 left_roll=0.0253 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1756 right_yaw=0.0005 right_pitch=-0.0171 right_roll=0.0039 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -7.1043, 9.0051, 1.6728, -0.398, -0.1245, -0.022, -0.1846, -1.5385, 7.2, 1.7998, -0.0171, -0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a4d9493882d1b2867fdd5d6f64478404773ca5fb0b8d5455dc91a98e6acbf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8fb720f3fd4cd179a3923d61d858e89cf2bd5ab583130239ab9e1670c10b00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8d819f6b5b95c444efe20fce01a29d8af539ff1c8b973254e66ecf33953798",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0193, 0.7944, 0.6044, -0.382, -0.0223, -0.041, 0.9996, -0.0219, 0.7921, 0.6022, -0.3786, -0.0139, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0019 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -1.5521, 10.1265, 1.8144, -0.0073, 0.2369, -0.0611, -0.4034, -1.306, 10.2222, 1.9219, -0.105, 0.1832, -0.3101]",
      "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]: [-0.6174, 1.5383, 1.0023, -0.1886, -0.4973, -0.3946, 0.9995, -0.0219, 0.7967, 0.6003, -0.3893, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3946 left_y=-0.1724 left_z=0.1531 left_yaw=-0.0146 left_pitch=-0.0508 left_roll=0.0253 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1756 right_yaw=0.0005 right_pitch=-0.0171 right_roll=0.0039 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -7.1043, 9.0051, 1.6728, -0.398, -0.1245, -0.022, -0.1846, -1.5385, 7.2, 1.7998, -0.0171, -0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a4d9493882d1b2867fdd5d6f64478404773ca5fb0b8d5455dc91a98e6acbf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8fb720f3fd4cd179a3923d61d858e89cf2bd5ab583130239ab9e1670c10b00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8d819f6b5b95c444efe20fce01a29d8af539ff1c8b973254e66ecf33953798",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDd6A2weFFfPU7q2_dAtWtHul_uvEjPXDUhh8_f-BOOwbmT9AYpB5rngIcQRKRjADXOMx44Pk9fYUUNrPFyvC4lYb2PC0dYBLQPvQ0dga_kOcXZu1mY5vSjtg0n6DI0_WOzgrcx9X-9Nn6EGJtTDEc6lFnHME92FyG_GJ3f6ulflWrAcRVQum0QLVkeRrY1poR_qy4jVmeHRkKMwyc6kqdblaH1o40VLHgQZzBJZkcRytbCfGVW0h-A3sROxK4bVuSohaQmDl2zYoLx4b-sJbhtQG_FeQmQj_xv1hxSFQwfMTHoLdxXwyUvGVvYQTbjwDKIkidL5BqLbvkJSPubtGxdKnzou-iU_2pNzGt_bWqpqz8WdpioLr5EZfWGJmuwvjfdPlg9vW_TUuPjy4Kj7z-NSy3S25P91bh3T9FGG3iQx96rgTBAHlWnwbhgUSvC1WnoHfk_529F688asA8cRtA-o2Xfw_QMJOIusZkXwQjf-AIPy51fIGFwGF5XA3lDfkx_gjVg1NFtxCWF1qaCG2HLJbctwGufT5cbb9xMlOMKZKEWw-MhDgIteeh_sVM5IPOMOXGpjWOiVqhL14NnmoEcBTOjEQJ6ZIwbOLfc0gCdnVAlWK8H5ly9sFL1FDM4A2lkf2cwZZ_2EJGtIsH324A4bEc5fhOZW6ADJKySx1ro2KFdKyg2f0dzkHSOpWJFQlzOX-gTZvbZ6jjKyOmfBOm4Q1FbyikH2r7O9Wz5aBilBryBQug0CITJ7opAajBht_-Ms30dYLxdPW56Ps8-Dt2F1OdNwKfvZ017ThCnuaMZZasmwrX4DpZ5uK5EyhbRIY1234p9RwQ0Os112EOlV0gMUCVu5wmEn84zNVUyawOdYjgq6itEAdHuvxeha1YCyffTHVXEOxbruOaMgMTMRPp4aE_xrFXcf7lA64fA5XENlq27c2WyNmi8Xrfc8tiMUqRnJ0ooTnI7h5JtK4JdXxw9iM6AF3IhHLnVQ3ZM_8AKlrul8nqiDoAn10EyzFkQ8sNV5R7Rgwx9XES20UMZ_LBR2hnZiBAQKMnlpR4-oDgFbqrk-h0jHl3QIrb21Qk2MJOeeqKCCHhmPZ8QAybs32iLRx38J8nHEUpUvlKNaeBiEW1ZF9_mrzN22bhJKWz7uHjRD56nH4P3UIjGZ-vq6-FkYAAgYzdYSBYJe7rQqwwR0d2yvwriWtWPjjY0a6qnPiY5yQyu_lXOmvxNebcqd0TyfQk44EsLnwEIwDUDc_jvMD8mGGUS2edkZFOHQR1Fq_hytZyiy47Xrs0_ap4-aLTUKG7nML2nWfC0x9aCzEiT6YnPmKAy-prHI6cAP1mTLMtm_0fAok-lYCnbFAyNfNJYsAMVmNfkOFm20i9HVLC1vmFFsWlMPOaYi3emVYLF-TQvxVSwzc-uYNahonfygnN6mOiIv_gDHhC948ILDDM2Z06JiqEXvvc0Id8s3YDHgfr5XSA1pR3Lv5MXmqQnfD4AYm4igk8zJ3m8s3_pC_snTsegsgJ5P0CyHln2vIJdJVG2HWYmxdfFOLohZKD5ITK9baT16dJws4G3L5auG___lw91C8JwMl20bpng-SXOfmTuoxm3avdhptx503Sd15di-na0yRWz7rMfCNpFKnW-gqjDmIGt06jyc2M9h5mr_hn8NeaMi9QMPKluYAPpFuIOjTuNrarLYqy7NfSJYsUON__bPtOboj0pPDG1iD3D-iYWW0KdVwo6iqD_zkf3rC5Fc_6BlHTg8lNDPRVdqNqH2b2rsJ6AyQNDpAyE4dOd4NvTHRLv7rMlLzNlVaxIxjRP1F6r3lvDICyhtIhMefJgvN33wGS3kGIZDG1o17O6dW5iSkwhR9L-5FSjQp_2vymB-dqsceEBbIj1I0eMBt9uh_O-iaYXqvnlZPn6v1fwLgnZYCBBsyILxrrn5CH7WbyEDz4kFP-r4w0yU1I2GyAJrQU3QIlS_J2b1NHEbwHcq5LyHDf1Z7QN6-aIDg4ircD7aHqBL4pISH1-oWVJtzLh1orc9J0qJtL85Jp1HvYBpjvqQaKoWg-_LJrJfus-wZzWW1eDdZvbk2LgVIPVAEz2w1qhrDyYHfIy1p0ALsq19fGGNW8Cp6hxjsw245nfZKFDh56H-uWbc_RnwpChk6cIWi5RitHkPnxvCwIs0lgYGgwwJaWSvrNEE6QR1ZAp6PN8BkzAQLKQRxbKk0_5Pwy-ShP4C5zNpMYCggpP3C0j1x477pQzhdo2Fv683_eX0NLigLAspfRaDSdjl83Ar3HcjjxMO2fDu47rVd1GfwMj89hAMc0z5BYskrPAmj3QxunPz52AVM4-_SyUKpxVgIcT3rJ7-CeD1SFa07-2iyWAasEOEL_ZDN5N8dPuBEvpuvyi8FjPpbyF6DEu7v8XMrsiLlWuRHd9NX1ThxFwOvAkt7CUMC8icNLCsK_7ltiMvHjEn_a5IrcoGn52WQUkUMlK7vV2Vew8z4VuLcIP7bWOI2gLg63_3if34yn4NSNvtXZL-s0ZwbQV9qZ_9R4ShxEfF7eGmGHGPyvViBHEl4CT68W5EL4Klp05MqMPlHRxHqBX0SuYzgQJ53GV8DCwBAYr1mnClWVtPBCJxGK3NFaBdTXSFtHTGum3MGll46yo9lJnR7sCYjyKkJcAw14D7ZEfAtEbSOS4lidtruGRYQRae9h7ZgfTHZKjGNB_YGmSaR0CxWq0l6xPBaPZviJdXIEGwECb3HJSrTuwbaIbsPlnCq_Sv0qjyWVBBn_T5hyOuo85iH1YtxUcaaPRR0amTUuhTwXghnpmH0_qyPM2eNkf4yyUqWCJVOT6Yh_mjrRlFa7ZHgofrZaq20HjNSz5sFI73wmvuffIhIIdVSz9Tnvbed8YZGqieHyAudLUbHzv_qhy6EldZKDV9Y-LLhqc3bwLPvN0QHeUElrKIWw6AKrLYHkTKi1fOKOGpHOSgG74v-oqGgJRQx2BqTxw2xJ7wibnp3NmEfcezlw8DbslG_yMzTxklOWEMUYUGabQXpnS3CM0t5uS3kIVnFvFUOfB19UOa_B3kmZeuARA33Dw7zyN9UqvbZADrBu1VaYNvwJ3DKicHytvt0580kmJpxOl4NGcUKZ5QZ1ExVGdCmyFCXlAN8X6CA6gozOlRSAi12Ox4yHo_hmlCciVloZlUEVw5U9q55t6PtHN9evUlY_7sq9dM2IhwsPEvZ6yTRawEpFVALuM8jRdP140GBUkI6mjQPDk6Jhc2GXn5WjObIllTFcyc6KKLMTdCuU9JJM74piwg7KyhKnYDv1N4QNGs6anbsdIX5PIp_kuJccYYEyTwP-mOlH-YrMjM3tgbLYvjaqUK3DYOga72BZN1BXjbrlwApbXVfgmn_RY3kL64ChzzjLdDgcdRXWMmeTMyvyP2MAfJ256e9k8AX4M3aBlJIdu8LO2gjOhiHK7TmjUve7ff2edOyJXaZcC0nAKxNlEdHQ7cOkydbs09CnQh75H-CARm8VWaGLFpgzkESVtqyCE0w5kpHrdSKqv_vjrEXybUwucyhUq_Rr3m6t0PlhKY-VQ3E7TMPhv3XuvEKKUqrhk7vEAPRPqjwToPUOjmL1wR-5HQ05a7p3mgr_xi2PdO8XC8NrlG3bUfOicE6hCF65D5cvatnTM8L9wYDCWquU2kpAMXZf_feg==",
  "id": "rs_01751ee5dc733f3e016ab4377045e887d0abb03423fd271448",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDd6wlnUy_-ooB_P3IhBmHXzkPHDr0r7Qm32EZ5RpPToD5vdMwIX9oNQ8EO-ig9OCr6a1PRMeOPZORsC9TQIGgcvwmdkhyZjXMIzdXZBHGdixwvKARtQR7Bz_CrQzNis9SCNtHQxLdmJfQCQZ4IKuPm2xHyGinwNOdECc-NVbaVHXdd4Tv_SOqoUoKdNmBABoL47jBovo3CWFrDeEr-5ude1vbbGlu39grXMznGECaWUUn3xm5-DT3M0RMotr-qdgUV4ioBj0dKkCxt78t8jwNr4CItKx_ojKN7tmJGRMyM8oABxmuZoQOPSARBbPByVNH5gOckEt_UkXkbj99niW2Cl3wke0gCglB5-VEIS5qipZDz7e_0lFfRh4Ab2ifIDxukLFsdZ83dDUkb567LMqwBMY0dd52Pna_Luyqd28U77Q6zAXnjYEs7TGQF59peviCLdL6jId7qnEQVd36l3hm36CIlt58aQYTk26nWYFD1SLxAFdGidbZYCbKshvwF_msGFcx2Ddh7VF_hSGcGcnNrjh7vhuwvMTfR2SU-hB6-XwvEQF0gxJsp44gNWmwK-94iT6TBjGifPZZz4yYl7OcjIanxDxkT3-buzTzxPnlCjI5YQL-EI10pls51juNllAhnfmgYdZ0h2w_7QGdw-0Qrbgkpf52woJSXJC9YZC17NATIbP2yrQlgJ4izjUTuyXAJJ-BYI5nd91GJ-0QGCy5kb9iBhxMUTPi9b7xA91tNIecRuCISu3nTzyIsLKmF-3luOYHvBuopeOLfEiXg-T80b3Egi2Wham4DxvFB8OnSEFyZszyKmn78JiA2RZDC526hT1qoet1ktv5z9MmArZPX0ex7VyqWK8N7Hfhl9tQ03JC19hIU_TqNovgOgwo6U6tHVDRbOS6wNkd11UsXT_gkQMK8jh3FkC_BOcEtppdR-GoEkQVBy_XSYZzGCtTKPXqeK9N8it8hXMvFG2vKuH9-hCYVyhF53Gj1DPgOFtDKyy_N3qELTTsgZvIgh44bctxYOFfeS90uavpvjz25FamLr3G5jMREuePv2iOzojTqkd0UpgNhHIFHizWDzY284yLCb5xOY0ZQ5ofTpI8iNZFkIuD9-mcWNR55ZqHLcuDVaQt3sFNPSh4Kk7Bg-OZXgseaIy_tOpp4_lZW1KGTW2KFBwuYn--fmScVQGDKXmf2aItCWf2UpH-gULsLohUn1IpBhOmH2SnX8hSxcUxs7HnASdDHl06jqHJFEAzI6JPyU54hACRh1gWZjKqiLvRebLgkEH3cjoye1Mv0dzI-RaDdPu2ci9ix97h3o4uYTaaSpGHzffhdZbfFJFX55sbfm-kkDKiW5XZjGQzc8iqSOCMnokggg0NEw0kiuPTb-3pohfxDTqKdUP8aCIAt_Uk8b-a0stulwNS-AP-4rSl6Y8HJ4OWJkUtPULyptgp_Ro8Nct9tZNljr8PBUqPCxa28QBOxX5jwh9EnJ_pbBHpoJhCVWOY8zm4-y2bf9myGP9_si9VKkl6qHFz6QP2s2KBDWUsClLumUE7aVywgTYZj3CWEiN8oNaGS9Di9KmWIRu2aZTWqglksWkWHgPifo_WW8IaxBXVr17YRRlZ11aAs3w2F2DhbW7wKtFZG4AYnwdc_-ALQpnO9gylcB64sUt3Pjo_xp_x25b_pP0G-tKNXnj87bheC_x9OR-OCSHdmmMV7vJHMI6Et2LOl_DZVLEY7YcWxM_FezOkPvWlPQ2HjTkQXqF5-GWyP5tIDMPTyyFecCwh0ZMnKciOZAS4v6fG4YSzbzMZV4Z905_UQssL_L0XxHKbFKanB4f9kXVJgEurvTfPfxBzApyqmIpjZ1_GJhsq9ABNxOnPVQTQcwCSOs0sQ0m38PXOEggHYQnpkjcQxJP4HZ0ly-Cu1CY6HwEQHz-fDNMusZwGl7Z0pgYi8jSnZ9x66HWW6QeyUm9CKMyy5iacvx_erKiEjDFyxj1pP3uusRANz-yocBp_UngoT1kg5m_1fe0PodRiP3Bj33T_mdXVAPBCOZv4yQe2yacVKlGyOZq1p_cJOrbJSFKz82nBM6-O2oYBjWKx9fPemBD5G7DTr-jJNMf55NsND8IDUtbKyTHpRP9K0dOUJ0c6JrB-BxoiRq-tmETo-uOzznHILwK7TZRp2cIUMBmVMBBChMLxA0D91I92MyOoaVFxQpKKgz8ehS4Cb1GxL4jFAiqdQC0OL_ZbeeXoD3u6qmrL2noIOO7mMrbTvKgR-o7VyOFb5O6-wpP4Q9BCSr-s8y1YSAx09yFti1Vh1xzfKnbV7W1NfFID-m9dRwan3QVAF-5xoBvQ1cDmKNqcrKr-HSJARyup-bbaQRuqTiXddPf5B1eQKay0AMEcT6HuL8UwcyEAhIEFjiNonYcZXEggD5ZKz5IRovzAdqzpR77oRt3CYcJbdsl-AtVWq6uiNM7Get91OfriHsbtG7OaU7f7BmaR97TEZY3IHADbPpeC7pccy7WH3-RjQGDS5V1PVz-LFU9zXXW81vWOIxnyEKh27a_oIIGIoOlH5YL4Wj0YnuXM17XCXDb12WoRGN1hDSpueoQ9TEOAoXzWlZhGGADuh9opr1aJ2sV41qpFiBPxJPA2vvg5VXNkuu6Kh-_I0WNiTVpRSO9NWqhEl7qWmqVwnN9bG6AxvL9O6W_6OrUo54Dy2jKwq6vbFUlJV7SUY2ZB2vZoq_5fIiYiyjJ_ivxC0IHsACFKbQnPwrm1atxjnCmBz0q_7cKitozqdOuCexmwSyc9xFt4EdKDyIS9YxlGHdhuyKqR99jcn00DyyMWbk4o7BVKQnCYR0Hxgj3iDtHu5XKBYsxOZOSofZCoVw3rRwy1J-PDTMTwyx2rdAKKpkXJQI4WuSpxSHQbBr-cpYx7mc5OHyRdVDWfxLMYCzRUKxpBGYLhPVjuPyupFSAf-F98_Cosl_E3zDChAY9jvU92iPfMD9M4crSHciH5i0oHW5A7pPBC8xR90WXEcExbWlDx3BrSwMb7G2HcxCmgt4iO6TW8_MehwVi6fP9uhmqJA4H4Vvgh0MkFqQWgglhoTsCp-nb7h4BkyfcG2k9EhWY1EqbktvNJw6bfDJY85plxu7VSviuM3aJYCrGirP-LkQZ1qLuoV7z9aNgDOdePa6w6URqPvilJroM7mfIuXRL66GXh4_4WOgEOqH37jUTziuaDyIjf1RX1po7jA5Z5h2TZZEaPYt9u2dowP24UoskkFOQj-isRWsggekCRSiXAHnRKZYkJL5FLo5iPEJIOWkSOG_c5W4d8ZZ1wWMH4x0tPkRY_kzFeRw9Lht8Hh5BUmFVMMNr5Q-JK2IwciPbHsz3kMEuowImvgdeffBkfhsCP3QVhwxXcM=",
  "id": "rs_01751ee5dc733f3e016ab43774c20087d0a02aea0f07b5e94a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.214,\"left_z\":0.105,\"left_gripper\":0.4},\"note\":\"The leftmost bowl is under the left wrist camera, but its rim appears too wide for a full-diameter grip. I’m narrowing the jaws and positioning them over its inner-side rim so one finger can go inside and the other outside.\"}",
  "call_id": "call_IDHPuKMzs86jiLso22knOk6x",
  "id": "fc_01751ee5dc733f3e016ab437792cc087d081cba9a7398ad834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IDHPuKMzs86jiLso22knOk6x",
  "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]: [-0.6926, 1.7233, 1.0096, -0.0776, -0.5385, -0.4469, 0.4051, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3992 left_y=-0.2088 left_z=0.1003 left_yaw=-0.0272 left_pitch=-0.0865 left_roll=0.0458 left_gripper=0.4051 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -7.9385, 7.0085, 1.6581, -0.3346, -0.1294, 0.0757, -0.0068, -1.3607, 7.0359, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92397ab44a25c698df5d4313814b2d9b3ed429e3146a025e3f6e0c87e15f4f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bee75bfa4672864c9d33e4e133728093fe80a0178d001407c309d394a77012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ebd48efb536a52e5ff93e72bd2aeebcd973a1dad92685f197619a667adf157",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6174, 1.5383, 1.0023, -0.1886, -0.4973, -0.3946, 0.9995, -0.0219, 0.7967, 0.6003, -0.3893, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3946 left_y=-0.1724 left_z=0.1531 left_yaw=-0.0146 left_pitch=-0.0508 left_roll=0.0253 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1756 right_yaw=0.0005 right_pitch=-0.0171 right_roll=0.0039 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -7.1043, 9.0051, 1.6728, -0.398, -0.1245, -0.022, -0.1846, -1.5385, 7.2, 1.7998, -0.0171, -0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6926, 1.7233, 1.0096, -0.0776, -0.5385, -0.4469, 0.4051, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3992 left_y=-0.2088 left_z=0.1003 left_yaw=-0.0272 left_pitch=-0.0865 left_roll=0.0458 left_gripper=0.4051 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -7.9385, 7.0085, 1.6581, -0.3346, -0.1294, 0.0757, -0.0068, -1.3607, 7.0359, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92397ab44a25c698df5d4313814b2d9b3ed429e3146a025e3f6e0c87e15f4f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bee75bfa4672864c9d33e4e133728093fe80a0178d001407c309d394a77012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ebd48efb536a52e5ff93e72bd2aeebcd973a1dad92685f197619a667adf157",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDd-ZkwuKzGwAUUEObVKkLwAFhAvsUVtnBXgWBCKhAhGu-rTMTP2k6pRL3KuVOpJoxdkxZntlZn0mHNQpYtGei7zYkPrSHjlV5VAanw1HlKRs2L_P4K_9xm9v9WLiT3nBE13deOQL8r1kq6pNc2Gaabjk-DeVIRWGZ5ueas648CnKCjTojlozf4VA4aPYxTju--G2pHI-9wbfFbaaohjN0TA6Jg4alGiPeXwnSuJPCJnwAxj96wlLRiWUUR-kg1zQ-7vDoqZ6pt2kPc5UMZmvJZF8cQ39i_Pa9nkLpjY7rer4z7jcWGjoTZGv9HvYTCeFPQ51OTidS1VzlLDDhg9fmAK-V-h93LT7_ws9JrlzM56uV-A62lSfvtUY4bDs11oHCZA1T9IJEeH5ZNEHlOI7COcvpZFL1m-OFF_PxdPOn91JHBTSiZrYj3DxzO-0AL2myGBrZ-jkxBAIUWOXfxxWsZSziQ9YZWaKV6a9LS8vvyKTWMJC0i_ELSYPdhv_qsW-iPv9ryW-BRprBGilecdEv80BLiXMWDdlOkZQI_j9drSF4BUqdgeRPVkbOsfpvm0XorL32U-AsAbtaV37z92_7k4ldBEDXGVOeWWndd8omfDEe0qBTDRfVsXJQaeeDzIR9tP9XKeq7xTwzEYeimjIr0TUJU6vYVj7pArtfDjZGOcD5IdXnG88sdDHlU9QbVOkFmg_OsTYgaHEOnGZK6YeYtLb2A8ftM6yz4JMoJcN1B5omTC45x-Z5o_HAKa8xXyMCyF8_yn36zxvX-2m-5bwv8F0UZEQe7DrOHPLbQs3zn8OQNkYBP78tB1_FzOsIbhf8iceS5rrzRPluhE9D_-AAW9zl26t11iyPkesjaHPnOfJxjb7NrKuD8ObrhwewyiaSB5AbYWODVT0yZv29UNq_d4xFfI6Ti6Ssum7Mb7WJ6ODxoaGVvkAiB5sNiZu3YBsYNyxpVKD5MdUWp4aqhpCYChyS5XMs_b9TY-uIwll59GhploHvteoj7R05RLIx76_-RDZzt-J0mmPiDbBm9zSVc9vyJ162GUPOfwwkvE-lVhgxi7xDeorQc5H5qfTEOcEK6HVl-h2kwMZeZ2A7T-h1Aykz6IvUUh9A4VVVloJZyRVU_-iBJBRUcpj2ZcXJlKD75zxnAPEsPSVnhSCV-G_JNtIvKroxScmW7WMDiG_iBO6xBT9BLT-TZkXgML6CePJeMlmpptuA7GlQM6ZV5Vh9ki5H-bo610O7HWxSA8rfMIr0xzJMEpXJCRtdbKuNN8ea9coax4xpK81DbGAEBH98TdEoEGYA4TlCaQPs9rfNe6T9_WUD2hWopU8ZaA6OMXGRpZKa0-vP30saBNecehZwr1YeBBcSDbQjbK8zcnLdEOsS8--VvgzFxlnaFV5PDlrPRyygxZmHH_tlfZ_NKmTLxabuxb7_iGtRPOEnULxmTuP_lcXJF44umQakSnzDz5oc2kv8dxGY4gXZB18fEtZqY06eJCVTZTHc1yjCeSpk9QmYHP-FH-15nWi2NC6fE2-Qq6JG5t839tAaIWL4v8v87_KZjUUvk8Zr0PSE1TiTXOfYghocw-xbsbq2l4uH0H8RnX35Q-DlCK4dfHDC0W_e7E-zcfJiCsyi9kD28q9zvJWEwaoFZQInpAD6ccU_AtwFxZtYXdqFLY4fb51b0OhyltQo_fooAb5qj7RspGK5kIsyJxLcA7s4Cd9rhVObnkx9v86fP0nT0dA74nboUmiOo_KhNOrYOG8up532FA1USv8fiskPpRkQhgHaHJEnpzxTFjW-tQL_-_eR6X3PUA7l4ldJt1xS-CxLlpfkRh3jl8bxf_SCOWgCl756UNSNoHQMTYZIXcCs-sKFR1gSgiWLOjl_7tE-9DQFZbejfLHvmSmewLnWFRLTefxLFxqfLoGxdaQFyzSaRIiJebAyMgIqCHJ1p-G7jprtsav1664Vgblyo=",
  "id": "rs_01751ee5dc733f3e016ab4377c1a1487d0a2c78e3741943c3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.042},\"note\":\"The narrowed jaws now straddle the right-hand edge of the left bowl in the wrist view. I’m lowering them to the bowl’s rim height before closing.\"}",
  "call_id": "call_blJev0fQjx2qLfDkdPxcVFwG",
  "id": "fc_01751ee5dc733f3e016ab4377d86b887d0905ca0bcfa828366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_blJev0fQjx2qLfDkdPxcVFwG",
  "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]: [-0.6975, 1.8427, 0.9108, 0.0933, -0.5465, -0.461, 0.4039, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3931 left_y=-0.205 left_z=0.0412 left_yaw=-0.0155 left_pitch=-0.1193 left_roll=0.069 left_gripper=0.4039 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0033 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -9.0598, 5.7778, 1.7411, -0.1685, 0.1343, -0.1343, -0.0342, -1.1556, 7.0085, 1.7118, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51aa554708f0ba99825dc02de9acd5e34425f668157fcc652e09912b9bc50dbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbaa757e1ffcfb9ac9a6db1ebaf6b71b00c6cb4a6312615773577e8473117e67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8036b77d8b6fc0872b6da6a1904895338bd8a5576c545eab31c95cb0cbfdd15d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0193, 0.7944, 0.6044, -0.382, -0.0223, -0.041, 0.9996, -0.0219, 0.7921, 0.6022, -0.3786, -0.0139, -0.033, 0.9971]\nstate[eef_state]: left_x=0.2946 left_y=0.0019 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -1.5521, 10.1265, 1.8144, -0.0073, 0.2369, -0.0611, -0.4034, -1.306, 10.2222, 1.9219, -0.105, 0.1832, -0.3101]",
      "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]: [-0.6926, 1.7233, 1.0096, -0.0776, -0.5385, -0.4469, 0.4051, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3992 left_y=-0.2088 left_z=0.1003 left_yaw=-0.0272 left_pitch=-0.0865 left_roll=0.0458 left_gripper=0.4051 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -7.9385, 7.0085, 1.6581, -0.3346, -0.1294, 0.0757, -0.0068, -1.3607, 7.0359, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.8427, 0.9108, 0.0933, -0.5465, -0.461, 0.4039, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3931 left_y=-0.205 left_z=0.0412 left_yaw=-0.0155 left_pitch=-0.1193 left_roll=0.069 left_gripper=0.4039 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0033 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -9.0598, 5.7778, 1.7411, -0.1685, 0.1343, -0.1343, -0.0342, -1.1556, 7.0085, 1.7118, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51aa554708f0ba99825dc02de9acd5e34425f668157fcc652e09912b9bc50dbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbaa757e1ffcfb9ac9a6db1ebaf6b71b00c6cb4a6312615773577e8473117e67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8036b77d8b6fc0872b6da6a1904895338bd8a5576c545eab31c95cb0cbfdd15d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeBp4wlMV1rM02bph-2Yrvv7Dy2Qix0amLnGZvPAMM8clGa7n6b-32p0L_dy7aw14G4LveUBd5b-ZTm5mWH_7bRvAqOAgifFPYK_vEab8LZm8OXvi9q99Br4gj2nMh0JHe4pGtGjniNoUW-2_TfwZ7-usdxIu5RszdM1U5gNIu2vVsl6XC8C82czOpatJLP8TSADATOphruiofjX6NOhgVU70-V6jnqIM3oI10C1XNJxD1idFboMUnfB2tX3DEnrwrn7miL7CMXA8vm0rApPTRBcVZ1CE6gn8pvlOOwTXOo60XH72rcXQ0m1mGcyUgUEXq6rHKhEfqp0C2cD50QwymBSrimZC2OrayXH_3X505etMXDxe4CcDcsevcfLXWlncCPWGJ9G-iNtOjYqlb6Yd_MpxWg2LZ1A4aBpzx1lPizPoTzCzFRDvcwqiJfCqrRaRotektUdm9tBVe7CLlHflYVPrr6YQoF8a5TCk3VH5tTUurIqwbVib-BlbZpnwSal4G39y_wEN-unXfV6n5MrsPuCLOwdyQy9SYbClaOSyPjrhLtrCVjNFsqeuSdll5hKRcXwBycDWpun2yyEsog0EOPywUbzepN1RQjLbgU9yW_K3hecuYajSKbTkeoJ9xVbbnmzN4TnGsHNOsBQFySyGfTi5INJJP27tW-OXmgF2xqCT4Poc41YuCmc_q1nedlbVoUjYuVswZMLymi6GBvEK_LFwWkO9OjR6yVoGHhW_YASvY-HMIb0N9HvnfFJ6_Vpx3CMvzKdlasHtyv-f5xms8Tpo5A8fEI54XQQ6Hw74GYaeKUzOERChtNBe5s1yh082SyEiX2dw2qqJaw9J4k8CZaX275Xif8PDKFG8Ho0cQ5iaWBROlio4am6f6ACRI4l0IamsoIHLwCpEuMOgRaOQxKx2GV7udxz3xY5Nf0UZPgiWedTY74Lr4StcdPSPyYNX4G2_seMwVsQr_H89HrUz1luYOOk5Ai5V11ApxmqYXPYqdJylMJuFf9u9jq_2MocP_AXz-yXQKGwjfHddjxBSzBWqeAWHFgU_ZbDIOWPd7yGzA_U_PA909fWyRrHy7-PQBYUR1zYprPwoVCm2tfGHGbLy8tw3OyL02OTpdGSeiwhpAuKOJWCwv583eoiIjlfMikymJDqjTCvKv9AYsQFcjP6rPClloGRI71wT0d3n3-0zwF4_iqCL4x2BVo7xZLOWcaNI_OAWTI_LeDrdOZ9J2dWURTzRW07BbDr_JeJa7qRvbeaAVAp-avR-k6ycHjRlvrEfXuPqafWSfNQP6S9MkMdoAo-wdYQ3MmNSO9IZAHq1HTTL89OM80iNUeUmX-hE02K4lVlsMWek-UpsaAp2FrpJkeOhOx3w68OpVfp4a4JYuk5poUhvuJIpZgW5Znm07qpuJD8_ty5lME-n8DHEGkNHqe-RZjAm5rT6WHqyrjKyRSUq7K2RyiaqMdlvSfT0OZ19Yzco2W3gOmfZCm2ROCssRF-S8DRZvtcEqJQuKqA49Df867pTa0SkywLU5HH15p7UVBHRXnb2U_2gIpcRtApbvPk1DE-3mvAH3Skgrd6h9LuqEe0pT7vUFN2zGgeTyPp0v4S5E_mmyzDghVgU8dF6XTyyoDwKv9xtCYAEjMXQU=",
  "id": "rs_01751ee5dc733f3e016ab4377f8d3087d08f56a9d89d5dcc25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At rim height, one left gripper finger is inside the pale bowl and the other is in the gap beside it. I’m closing gently on that rim and will check whether the jaws stop on the bowl.\"}",
  "call_id": "call_qh7oHOjw3DvW6z7BakckBNPk",
  "id": "fc_01751ee5dc733f3e016ab437807cb487d0984b97acb7d77c80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qh7oHOjw3DvW6z7BakckBNPk",
  "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]: [-0.6979, 1.853, 0.8986, 0.1097, -0.5594, -0.4572, 0.0829, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3921 left_y=-0.2018 left_z=0.0361 left_yaw=-0.0079 left_pitch=-0.1181 left_roll=0.0834 left_gripper=0.0829 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0033 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -9.5248, 6.9265, 1.2332, -0.0806, -0.0659, 0.4469, -0.1299, -1.265, 7.0496, 1.6972, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bb793c87a8d564b894ce679c170d93f2224c71f9549a197ef45df4883ce1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad0ced685eff956505f36bd1807dccaefd35ba97839365cff05d5f723cc3502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489804fc1d63574835c502641397565d401ab3072e9250a4e3cc3f3a3a7f2e57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6174, 1.5383, 1.0023, -0.1886, -0.4973, -0.3946, 0.9995, -0.0219, 0.7967, 0.6003, -0.3893, -0.0162, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3946 left_y=-0.1724 left_z=0.1531 left_yaw=-0.0146 left_pitch=-0.0508 left_roll=0.0253 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1756 right_yaw=0.0005 right_pitch=-0.0171 right_roll=0.0039 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -7.1043, 9.0051, 1.6728, -0.398, -0.1245, -0.022, -0.1846, -1.5385, 7.2, 1.7998, -0.0171, -0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.8427, 0.9108, 0.0933, -0.5465, -0.461, 0.4039, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3931 left_y=-0.205 left_z=0.0412 left_yaw=-0.0155 left_pitch=-0.1193 left_roll=0.069 left_gripper=0.4039 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0033 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -9.0598, 5.7778, 1.7411, -0.1685, 0.1343, -0.1343, -0.0342, -1.1556, 7.0085, 1.7118, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.853, 0.8986, 0.1097, -0.5594, -0.4572, 0.0829, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3921 left_y=-0.2018 left_z=0.0361 left_yaw=-0.0079 left_pitch=-0.1181 left_roll=0.0834 left_gripper=0.0829 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0033 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -9.5248, 6.9265, 1.2332, -0.0806, -0.0659, 0.4469, -0.1299, -1.265, 7.0496, 1.6972, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bb793c87a8d564b894ce679c170d93f2224c71f9549a197ef45df4883ce1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad0ced685eff956505f36bd1807dccaefd35ba97839365cff05d5f723cc3502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489804fc1d63574835c502641397565d401ab3072e9250a4e3cc3f3a3a7f2e57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeDGyD6b3PRBvKYHLrlMbb94E80ScbxM-O1ciAPqdf-OkzMQzwHMEIETtT1ZbkO8cN55edyIgj_wN79PhT9LtD_VhHorRGME5qe-mYYcU5XJAbedAtcmhXDLCvoONL663pljF4rmwwVi_AI2A1eh1jPtPBo2UDsW8kwpvKZ2pql-gwuAadpOAdq_vgMZ4mG_tAbwPcxK_3dNf07kVn7moiNKfSpCudVMKEdgKqvLzqPKSDsl1DpEWtp0MC6MZ2C4bz-ZSBoUW5Sv-QCag0_M0UpUN7d-BSpHQnwWW2hWub6tQAiz0U1gqoIvpOpkvpa6QWr6-0RAvMD1IFK9LN7xxeylBIjEU_6oT9q7d04Fp3CiYR18HOfG-AI8_zNlaU1vCb_142i1cBmGpZnBwZkoV9rAZekLQplDskpLuwaF301kAYJKSoYLkUhmKQYTYfVWzweuEdRZhdF2cA3iJ5tB0rr01xyShDmkSNod71zQaR-zygXxo8rMmY6H4eiTx7WfofKUgbXqpw8OucFwE1-ss88eFmYifJFEUpZmR3SU-dAXl2LqLbiQh3fLT1ZQw2LQGm2X7AhQjJCp3AtPQRZrwuhKDo1dGAZv8Q_YV8k9Jh68RV4TsT45TBlwLHiOlnu1aZ_IzqrBI-kptdGsE7aNNkc2KSI3pneEgpryR2RYyHsqnf485tDkyWOnuBA_qxygCOUQz1G_qTnckCJH4uqwIvTIt3YWvkJbirIQRht-sSD6QKaYwknWEyMI0IEx-gzQ40Thqo1aie8US_jcW2qt7pUGEJ97l8UqBDArMZn5XaDDh8yosbl74tzNVN67tuNj_llw-JQRQc7IuAAYvJNhusGnX6zFAZo2I1qgUi9Ur0gtvgTZfSAYaFW3YqXstGDPixk7Mo02mXnKsq-bh3anY1am41wcTbHylDM0iS2qAjYC95NQCyARXoNpdINbjuTpy6_rST_pLqx8jsSsFe0g72dmhMBY0lp8GSL7us722kwMoXtqpJedMPzhRXhOZGpEoetW-l45T45gLnsN5BYtQdvHz9mGwrqR5uYixoKw0eRCm4pfFU0HzleUfmlKD-vqF-U8s-UbM8TCTE0n3tQ1nRZQMP16naCvgKIPhWsr0PdRBcnD8ii0sN4gb_tpfeqKrWEDRI7-v9zlF0AVoM7rwBifiJj2mYo8U7Wv3Gv38x8pJVzL4KHQYDw9RmbCNfom44EbRvvTrXIvl41g5RjxE6py6d92nnVaLX1UIo33n6WGMU=",
  "id": "rs_01751ee5dc733f3e016ab43782876487d09e0fbede1fb894c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.155},\"note\":\"The gripper stopped at about an 8 mm gap, which suggests it caught the bowl wall rather than closing empty. I’m lifting the bowl clear to confirm it rises with the jaws.\"}",
  "call_id": "call_tOmBb9LfBNdnv81yBz3343UN",
  "id": "fc_01751ee5dc733f3e016ab43782b7fc87d0a467f916e549819f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tOmBb9LfBNdnv81yBz3343UN",
  "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]: [-0.6979, 1.6733, 1.1301, -0.3252, -0.5579, -0.4622, 0.0829, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.2019 left_z=0.1316 left_yaw=-0.0044 left_pitch=-0.1368 left_roll=0.0939 left_gripper=0.0829 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0029 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -10.2222, 9.0325, 1.3846, -0.2515, 0.0122, -0.0171, -0.1846, -1.0462, 7.0359, 1.7265, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f1bce97b325ae4fb2c4caa205f08cbb935b0bd1f0789d102dca380339249c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050b7937e7d249eecf55664fd674a58adc5fedccdea7a3a3507a9c8c36e45b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f6b2fc6afd300d4f2f4e529b194bf096328bec0a68ab213e4a6312c27cdcc5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6926, 1.7233, 1.0096, -0.0776, -0.5385, -0.4469, 0.4051, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3992 left_y=-0.2088 left_z=0.1003 left_yaw=-0.0272 left_pitch=-0.0865 left_roll=0.0458 left_gripper=0.4051 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0029 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -7.9385, 7.0085, 1.6581, -0.3346, -0.1294, 0.0757, -0.0068, -1.3607, 7.0359, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.853, 0.8986, 0.1097, -0.5594, -0.4572, 0.0829, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3921 left_y=-0.2018 left_z=0.0361 left_yaw=-0.0079 left_pitch=-0.1181 left_roll=0.0834 left_gripper=0.0829 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0033 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -9.5248, 6.9265, 1.2332, -0.0806, -0.0659, 0.4469, -0.1299, -1.265, 7.0496, 1.6972, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.6733, 1.1301, -0.3252, -0.5579, -0.4622, 0.0829, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.2019 left_z=0.1316 left_yaw=-0.0044 left_pitch=-0.1368 left_roll=0.0939 left_gripper=0.0829 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0029 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -10.2222, 9.0325, 1.3846, -0.2515, 0.0122, -0.0171, -0.1846, -1.0462, 7.0359, 1.7265, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f1bce97b325ae4fb2c4caa205f08cbb935b0bd1f0789d102dca380339249c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050b7937e7d249eecf55664fd674a58adc5fedccdea7a3a3507a9c8c36e45b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f6b2fc6afd300d4f2f4e529b194bf096328bec0a68ab213e4a6312c27cdcc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab43784d8a487d08638409b4dc4b205",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.34,\"left_z\":0.205},\"note\":\"The gripper maintained its rim-sized opening through the lift. I’m carrying the left bowl over the middle bowl, keeping it high enough to clear the middle rim.\"}",
  "call_id": "call_flnjcvQIzj79DIS8O72rIemV",
  "id": "fc_01751ee5dc733f3e016ab4378867ac87d0a39bdda718d4a81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_flnjcvQIzj79DIS8O72rIemV",
  "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]: [-0.9199, 2.0769, 1.9453, -0.86, -0.6666, -0.6865, 0.0828, -0.0219, 0.8024, 0.5983, -0.3935, -0.0162, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4006 left_y=-0.3398 left_z=0.1955 left_yaw=-0.0176 left_pitch=-0.1488 left_roll=0.0732 left_gripper=0.0828 right_x=0.2928 right_y=0.0 right_z=0.1723 right_yaw=0.0026 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -11.5897, 8.5128, 0.8864, -0.5397, -0.0317, -0.0171, -0.1026, -1.5385, 7.2137, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f5bd01f9831ab788a878a28734c888e4c90b8050ec7ef2dd784a4acf80c211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf2277098c7d83fe27472f8d5ddc2952ed0d9fbc1e617957921079c9d41fe50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cdb6ce53265198979a76c8f2e8e0fec433c56161c2ab3c07e10b6b5a7a0725",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.8427, 0.9108, 0.0933, -0.5465, -0.461, 0.4039, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3931 left_y=-0.205 left_z=0.0412 left_yaw=-0.0155 left_pitch=-0.1193 left_roll=0.069 left_gripper=0.4039 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0033 right_pitch=-0.0229 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -9.0598, 5.7778, 1.7411, -0.1685, 0.1343, -0.1343, -0.0342, -1.1556, 7.0085, 1.7118, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.6733, 1.1301, -0.3252, -0.5579, -0.4622, 0.0829, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.2019 left_z=0.1316 left_yaw=-0.0044 left_pitch=-0.1368 left_roll=0.0939 left_gripper=0.0829 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0029 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -10.2222, 9.0325, 1.3846, -0.2515, 0.0122, -0.0171, -0.1846, -1.0462, 7.0359, 1.7265, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9199, 2.0769, 1.9453, -0.86, -0.6666, -0.6865, 0.0828, -0.0219, 0.8024, 0.5983, -0.3935, -0.0162, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4006 left_y=-0.3398 left_z=0.1955 left_yaw=-0.0176 left_pitch=-0.1488 left_roll=0.0732 left_gripper=0.0828 right_x=0.2928 right_y=0.0 right_z=0.1723 right_yaw=0.0026 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -11.5897, 8.5128, 0.8864, -0.5397, -0.0317, -0.0171, -0.1026, -1.5385, 7.2137, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f5bd01f9831ab788a878a28734c888e4c90b8050ec7ef2dd784a4acf80c211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf2277098c7d83fe27472f8d5ddc2952ed0d9fbc1e617957921079c9d41fe50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cdb6ce53265198979a76c8f2e8e0fec433c56161c2ab3c07e10b6b5a7a0725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab4378b501487d09daa6c874ca2877f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeQHw_8b2WjAzew08E8U8WfQCIAgo2DnhD-xbtSkGq2K6OfJ4aPQM4V0qDCJ_TtwsCR1i0Y40iijRVx9nAPrC4DSpRPUmBDQaorlWTm_caxfVT4bWCjDrxieT5fDEsiDj8tJvYgODK1Vy38q8ROY3lL4k8aPInBKaFaUnD-rtyxfHOUVTw4lz921-zl-eIyisRq3qYEzoRRxVReyqdoopsjo3AkvpTixveeizxJoxIUlOA7armk9PSdiYuDwYIfL3mftCx7xGdDOPlOwhLH3uzGbbcqjvOId8aq57BJ5ve_FXo_1pT9CMVnFrsb9pfttcNwULeIRAornyjPsA7eoo9qldWq-4sMh7fQMUUKDTh3UpDHerhGFFZxHXzw6IVaWcXw20TW4Sc44_11c7qb9zPC1s1Aa7MX2J5Vw8ELYzbABmNkxim3C5gwTz-N-tUthOkvgsNVahkmv_xzg4R36cuHKK8outDKYJMDLRWqcKOPhNaaVVnGUqcUY0Ncp4jntqaKQvGpNVYaPmOZZ96RInvDc227_PRThOtTI7CDk1gygglASVo0-J66e3FFqxdBGdgc5UK_ntyU5F_yDzDJlPKYOmTCiZpCS7kCaVfZ1xTIgazyq5EpHy9RX0v5KNGS8f6FURNS_8tfS83udjQmul2R7Lw50ioUok6cPHnm76HZQJAZEezVVx3IJliOHTiUUmywH53Yolj9o7AKZTwqwTlgKYoK7X-kUOE5Onm9IEi6SIqit40gi6iO9qE1BeHv14TeV1ut0Ie_F2sCpXyn0RKgFlDbjm7eHfT5N0KKZhw46GtjroXXYKVV5uX2-f22isMcATFWFtnDqNo2jfQ-gzMn74SPEglwS9Ps1xklpIPDA7EQZAZGdP3OumehOETcQLOcVf7EUOpcQEsFc3RXy9j9EqpCNitIluLlrkImIeg8Cyx2QCbm2gzgyU62JoF5qUKrFRYjMlUVZipvIKt7Us8pc9aoo3uj0M82sPzO9ylCJTZ-qRwl9ofDMnVN9mK7-83C33ggNuCWCFa7jq92F1fKvEJFM3I1uqWUlThO-9Zsc-W_4IqpfaU9V1q7ppBY6ziusuMCKxgJE2n8plpuFMV76arQiM5oxf_zaERv9SQX2fMm5e78GXA3lgTPVik_phAIpfn8KPpMU-8ZHNaaZdI4QYg5djYignq88-YQX3Q6IH_w9_Ib_A8i-A_VTwEK8FbtCl6FyTmQl8e0VSCrN0Y31nUYaS8DE5xP_taI_r-caVpUanbA9AwyLPbll7jpUKhEGJrGR-Vef_Abea0UkR4DqHsM11ecSTlukH5Ld66GF8sHBSx5MonZxMxUS8DIQDHW2YvLTtohAaPSPMuQFznvJw==",
  "id": "rs_01751ee5dc733f3e016ab4378fa73c87d081561db9e3665a01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The white bowl has moved with the left gripper and is above the purple middle bowl. I’m lowering it partway so I can check their alignment before setting it down.\"}",
  "call_id": "call_AItewMccJYmdTBN7YhFZJ0kF",
  "id": "fc_01751ee5dc733f3e016ab43790055887d0b8f9f24938307f09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AItewMccJYmdTBN7YhFZJ0kF",
  "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]: [-0.9257, 2.0766, 1.6592, -0.6193, -0.6579, -0.6964, 0.0828, -0.0219, 0.8036, 0.5961, -0.3935, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.3348 left_z=0.118 left_yaw=-0.0174 left_pitch=-0.182 left_roll=0.097 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1709 right_yaw=0.0029 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -10.2496, 7.0359, 1.3797, -0.4469, 0.0659, -0.0122, -0.2256, -0.9778, 7.241, 1.7216, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fc9607a274ae4afcad5ee5b4fe8187e0f25550a956ee2b3724092fe84eecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2ab42952685f2687d0d69987ca154212c25b90403a3a03d315f4ff2b285f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df06abcf3aa7b134c86e6085a7791e92996c5fd262a5fc9601412f792b0b44ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.853, 0.8986, 0.1097, -0.5594, -0.4572, 0.0829, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3921 left_y=-0.2018 left_z=0.0361 left_yaw=-0.0079 left_pitch=-0.1181 left_roll=0.0834 left_gripper=0.0829 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0033 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -9.5248, 6.9265, 1.2332, -0.0806, -0.0659, 0.4469, -0.1299, -1.265, 7.0496, 1.6972, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9199, 2.0769, 1.9453, -0.86, -0.6666, -0.6865, 0.0828, -0.0219, 0.8024, 0.5983, -0.3935, -0.0162, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4006 left_y=-0.3398 left_z=0.1955 left_yaw=-0.0176 left_pitch=-0.1488 left_roll=0.0732 left_gripper=0.0828 right_x=0.2928 right_y=0.0 right_z=0.1723 right_yaw=0.0026 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -11.5897, 8.5128, 0.8864, -0.5397, -0.0317, -0.0171, -0.1026, -1.5385, 7.2137, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9257, 2.0766, 1.6592, -0.6193, -0.6579, -0.6964, 0.0828, -0.0219, 0.8036, 0.5961, -0.3935, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.3348 left_z=0.118 left_yaw=-0.0174 left_pitch=-0.182 left_roll=0.097 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1709 right_yaw=0.0029 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -10.2496, 7.0359, 1.3797, -0.4469, 0.0659, -0.0122, -0.2256, -0.9778, 7.241, 1.7216, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fc9607a274ae4afcad5ee5b4fe8187e0f25550a956ee2b3724092fe84eecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2ab42952685f2687d0d69987ca154212c25b90403a3a03d315f4ff2b285f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df06abcf3aa7b134c86e6085a7791e92996c5fd262a5fc9601412f792b0b44ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeXucES0Kcl_FYNZTXg0RBrkX-OhvTSyzCkSJkcrbyiouMJYfsYqa_PWZ9ClZrjWtn8IN3rHIp1scoNuZxB0PPGIulejGzHX67wC1WouAb3SHaXSVEmuIJg1dAGevwXIUeGpK7TefGj7hgIfmNR87YRtkXcjJv-IVKUnsJTkaTb57BewT2ATJ-5LrElcpiP0q2Nd_z1_hhLlncJdtjYOwLIJQ4HcabTn77fYgRKj4u6DU2rh4OMMHlE3GDFdD5H5MAnfk5IMKKPorkcsYOq8bf3uoo5kuZy2P56WglBVUYc24PwAqrg5WtKBqKikhQbruhDZH7wQmpztIdsNBVEpK9I121klliXpsbAXBiXPGVlkCPUxfWs0_cDavAb9-9joeeVLHBYrxrd7S7Sj3BZXwcByWs41KWsI3yqvN1EB0s_Uo3FmSerSvgS9d6kvLIecNbnQDCvmfpBkEAN3eVm-Rg9HTYLWeOrc6lBl3LiZ8TC2eLweN3RlnXeP81LK5KUWI1V-X93c5mFJvW4ZSd2WlNlBJf0mBIu26fGTEtJEBKBgt7pE6mK2p6TZ7kCQmb5L45XNOmAYkqhv9LwvIGXYwefOLq8kp6EGdelesvlwUXf6oSVJliDaaqo1IGejVfXrtAQC4zXkrjGA8XDU4fOGbIjhyKZbddwkkVg34Jfd3Y4EASb7xZTxLInIi-w_yyr942bL_m-nm4BOncg5Jj9YaMFlcOhS56favptNVpDgdpyasAXC0eGLTKA9m3wD6i8S35qogDMBRDQhf6WpmFCGRuElRIShpULDg6ULv5DDKGj57kz-Z1fuMd95avHvFHHJOqB-AoLw_Urd8xiS52o3vQWTKkMWGRoMEnFDr-KgMYMsWgZjdjjGZvjubz9HjyQEqnGQRgADmsTpJq9iDyAErW-rndiWM6mcVjQmtMksXN7_-iyenYZTU0PEv5dtIWtJ_nE4KKzCqJOsGWZAKV4mIS3EcuYXS3UbcbQSF3pFJ0xJS24YcGeoFREIEEKo-kMD3pkJdZWUtaKU0Xb7JVpe2kR-yVg1UDBWxAPPx_tXcjZPvHr5-iQ9IO4RxeHSPV3PHsp_tZJQdttJklwZOChh4Ybbnqdc6eAWj8gXXKKhpRe1WrY-I7KiYI4HV5ZDRm4FCpHm4SIPgafCFP42sdguoQeTq_MqwxvZNJjWDDyxLTFnDxr_AEdQzz4LlaEBPGJRWV463vuyS3_9Lrge6OIwK5NF851hCLHUR5V2BiVAFCumleVNDx0EkPC8KVFhFpIJw7_CW1-ZrGOpMY5cqAEPHTTXxu3OUOre9hEhHtCjBIuuLVrEVOil-lQLvGJV_vBqTq0BZja8NBXVhIe30VMjYL6f23DNjIyXJ09zCzdgVMVTtJWHfyTAjIIBX_BM1_XYP4_-768Cl7-R5CPoCoATFthcf84QCHO3dnsEZvbwHZr09AB7-nH1NyMRkP4peuIOIVf_bI0_2DZoddfIeMGKp4o6d5qwo-KuruGcmAH_xX0mgmeyxxHz03O3BohoyEFGKF22cWpN0wIP7c0H-8gg5MrYGoBIoS4QLrB3RU03sg29wWz8vegkketYryDYjfQcf41epkOjlrcjQV9eqoGHmYbB7DZR2w1e4FJps5iPNvkAbf_VEuBI157cMNJals3lBOdEyMxzXi43kZGnZKB_Qit3ZLpiAkjyu52vIUQMTSnFGMq3Awx4NpXTXQh7bECUFYaMbOwOPmTdyQFz6iD-d6e55B5-YFZhkEUmVlOy9ngxrPf-I9O4geHio2ZvLRdVlpSuhTKqVAxkaLAxjI4b87R1TUXYcEQ4HZQjhaZpbBNirSjQ_QCjxrHh9JiACQOiyXo-mlv0C-dg_zf7GMuVcYUy62OEt_57xnmwSdwWNoFMwCHCM9mSQ4kWAw8NOKlVni3_TLoKwvzEf73AiVM3gLXuAwr6vyEWs7yB2ldEj8aJzf_XMHX4Fqv5Z_H-OLccNWdFFO7R2wzUwggn6vSusxYbvS2toPy8FaM0dbclki1lYBBfjJotmIUpW7BuV31uQR71oywOi-ENrDunw7w-98vt1qhI0UNjF9y7NhT6ICaX6PAq9yg5MlVPhLsxTeR9O3ZKVd3BETwR5DnB3EfEEPoDoe6WKqhbe_VfRI6CuTeP5xsObmvFDu3wbtL72DvMPbHFei4dDG0UeaNLkdKGL_MWJRW_bYWqhnD5-7LxhzoFyCRAprnI6OaseCQIJp0YeME2PMlGBt2vGpJBcJyPTl3Y9Qn8cJhx5G4lnnkx-wr8sK-vb67vWsYJq2jCFGJxh-V3U1BBPh7MFF1OEL1a5Ot33gWsNsyq3gH9xCmi6tb2naB4e6dfWe53E7JCFjp1rcYkV0IFb333TZbhkhVukFM50K0EU0-GKfxXSq5rCTrx1aGoi4t7SeINQuO2ndsijGNFB4k8Bf-0hKnm_Q9PGp5oPcc99YLFbqGqBG_GiT45ohdCqGIw59s6Fzwp-k8_2f5No76KeooKpMLI-BZINDHrul-Tjhpr5LUoOn7hbR1q4rkf_sVQQpIADUSstOPc5aPkyZgzm-s8PrL8tW56RPm_Q5p8GAtVjOZzldpNbItf2YULhrCJacPg9bjrW4aqNVF8VhwDGUa0kw52mAkeLsrELT856uwWveKSEU7MxJmun4QAkxqA-1ecCLwjxkyA6Z6dqlGba1NAlnqeoX9BDenZvb0WFLf4aDq8jMG3H2stXOPL1v6tz44b5JhFhoQvzug7jDzokV6lo2rpfrDeZRTYRclMMyD4GPQcPkVG49L9UAc6uWR_kw0ma4FlZN6rVDbnysLEcwhJrzY-H-3CBkc9_5AREQfM_Qc8GBOsWfMoNVxNmZqXmFxlFTwPr_b6rFkBUjxDByMyTKNi-sQxGvfHlgYQGk7KSCS7jeubEPevb80RtG2F65Eos8elp6jgTcjyl3PphM6HHYEZoxkbhcXbRVVZcKTCRdtleCn9SzIQjh_OwJmVQCdFEcnFtGCXRWUJ_XNOw44huAFVrEphzUWUuVkRRIhNT2LoKHkPX_f-dJM6lGXSRnv0CFpjPsEOS8nOULR1tlJtJHSVMXD0ZAHPwn1XoJ9NGGAhfiMQUwp9rsOlFQNKmPD_6p5VZnCIcCh6cHwITQNvqruAyJUUsLOe2G2L4H0E_Quoaz-5SXCeLHb7MW9_MA2RS-Q9ux8fzOifE0ZsbP6WiGWNnWr8syd_O8hpUZgGfpnceDUhRla47AGq-IEu9WYNfebZXwQjiRnonORAAZnILEYhgPOLBPWHsdAva2mUEHfdTR_ZTtIesgGLWcFNooj2RUOqMcLLmD4nZsfOGGwG9qLCg4R726-HwbDdvUw3cJX7ZxYwQ_UFhs=",
  "id": "rs_01751ee5dc733f3e016ab437923ef887d082fed79fd7eeda99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.388,\"left_x\":0.398,\"left_z\":0.12},\"note\":\"The white bowl overlaps only the near side of the purple bowl in the wrist view. I’m shifting it a few centimetres toward the table’s centre to align the two bowls before release.\"}",
  "call_id": "call_jM92BAkssSAm7imSE7p2kH07",
  "id": "fc_01751ee5dc733f3e016ab437968e5887d0b7c03969c117b207",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jM92BAkssSAm7imSE7p2kH07",
  "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]: [-0.9768, 2.27, 1.9537, -0.7643, -0.6613, -0.7574, 0.0828, -0.0219, 0.8051, 0.5953, -0.3939, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.3848 left_z=0.1102 left_yaw=-0.0262 left_pitch=-0.2024 left_roll=0.0897 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1701 right_yaw=0.0029 right_pitch=-0.0351 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.4855, -12.8752, 8.4855, 0.9939, -0.569, -0.0269, -0.0122, -0.1026, -1.3744, 7.0906, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4477b8d7ce2b10f5bad137c491acaf54251ae3e9b4aa65a4d45faeb32859588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5936ab315f56c4110546d376afdf7dfa5f05a7ee81ea0fc0e743876cacb741df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee0c06e95d6f8532f07bbeefaa76a11fa6e720072cdf88db133a35af57690ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.6733, 1.1301, -0.3252, -0.5579, -0.4622, 0.0829, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3918 left_y=-0.2019 left_z=0.1316 left_yaw=-0.0044 left_pitch=-0.1368 left_roll=0.0939 left_gripper=0.0829 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0029 right_pitch=-0.0232 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -10.2222, 9.0325, 1.3846, -0.2515, 0.0122, -0.0171, -0.1846, -1.0462, 7.0359, 1.7265, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9257, 2.0766, 1.6592, -0.6193, -0.6579, -0.6964, 0.0828, -0.0219, 0.8036, 0.5961, -0.3935, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.3348 left_z=0.118 left_yaw=-0.0174 left_pitch=-0.182 left_roll=0.097 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1709 right_yaw=0.0029 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -10.2496, 7.0359, 1.3797, -0.4469, 0.0659, -0.0122, -0.2256, -0.9778, 7.241, 1.7216, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9768, 2.27, 1.9537, -0.7643, -0.6613, -0.7574, 0.0828, -0.0219, 0.8051, 0.5953, -0.3939, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.3848 left_z=0.1102 left_yaw=-0.0262 left_pitch=-0.2024 left_roll=0.0897 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1701 right_yaw=0.0029 right_pitch=-0.0351 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.4855, -12.8752, 8.4855, 0.9939, -0.569, -0.0269, -0.0122, -0.1026, -1.3744, 7.0906, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4477b8d7ce2b10f5bad137c491acaf54251ae3e9b4aa65a4d45faeb32859588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5936ab315f56c4110546d376afdf7dfa5f05a7ee81ea0fc0e743876cacb741df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ee0c06e95d6f8532f07bbeefaa76a11fa6e720072cdf88db133a35af57690ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDea6rlhikksve5xXwYCWE3xCCHqlSx9qDxMesKxpDRf3XfSjwqECSWJddc7B-c4vDmEhG4bM8IZuLAj2M6Na7pjbcYSOX7YZkXkwcJhCj2vOsc0wztC7s94vYaYXoVhY2yziCAsEdTBe9aqgtHoTuRZiBqt4NI127Gh4saM2a6I-AYoD771r4rx0xlrmfSyn4j4a4veZqFIAoh5TUkeWwVrG9uC3LuPSpkXpAnB0EsN6xFInYvn8VSfsfpzs7EJQVOQp0fwMsMwb643NTelDxyK3_Z-WQkqrFa44VUj9VhHbZHmTNTgN6RszEYCtSPwNbhcTmXatbDaDJ4dF1S0Wz_XpFgOaqmfjfO-qUU1Vdpr51Yo9hjPDBZt6-zrluvsCFScHZFKdPZ7bZrLmJgS31ybnEZZc5aQ_w2554QjsMG7nhAo7jegTpNCNGxH71cin_B3PjipGGoks13HATdgH1MQVSWZIBItknqxtGDdOfQoCoOmcwfWxoClM9_6ZKetM-TRuT7iss3owz-snO_92ApVHtjb7e--HTP3VBILfC7i83o19utaHUs8Z2maGy-y86JPudB1BaZfNs1GL-Tc13_xpnLRj_R3IS_HVq7bx58SJrp7_c9un_sgPyhfE6Q6GGuD61k78q5rqBTjNjbxD-_4qHfTb9s8g1Y4bD1QEkHZ9Zq3EsoXQJHocn01-Xlp65SePEkOjARaOgTjGYE72Qk61A854DRw1n6_Wk9XwkX75pWoia8dYiMdmzJRc1GnmgsrnIiDAGXEOym82Yyg4F3SOwSz2FEO0Lcb8OAbeQH7eBaRKogAwv5RK2yoaxQtD2oQl7LoNZagGT9seLomH3190Ks8763ygEqNOhpB7-2c4esLhFSHjt6VUt0NaG3QQU71oFK4mWEMUXSOWCGGB2C2Z0xc8FjMTMt8q480uMo8OBbNAahTAy9VpRgFfvLwva9xvm07T48k-ieJdpz8ucy2kwOB1S8sIAZbKEG4qSTQh3h7Z6-o-PU6kGeIxYvPUVAtN7WC96Oe74eFknUNPbnJ6yLCklwIWFEBs4-bJgW-YpVed1SWJ94ne1KTkS6YhbE7HWcVqaxwaW2CFFR6Xs32UtKLNl-K4RD9Qs-y7DPpRarFqB0pj43WD6uAjXS3UefX8L93BS2fcbxrjrhDqVVHt4syVbVpvO1roUe26Z_QCS8IWmdzi9Cu0Cm-hfAyqsv4rnCR1eEKPDACX8JpY_MyQkCMIoz00RA6kEImFlmPIvyKR8BHDL0RkCwRistnHu6NJmvkrYjxPChtBNOT88vvm4F_vhxa-wIIOnq79cvc-38CuazkYa533j0TX5kOg28BcKT-F3nJdAyqyvDHQgWAxbwEsjKz7obX68pps-ONYmI3eNg6cJUDBpV4Aipka8O19DD6OTHSkjeuKyqnRvh2CsR8GouiJndKUY5p9yVVIlN7ElTobcHsLDx0O5YR9Yv7ytdYEmX1NZhxuPLCHB8PetKquvyPvQs8E-rrUfTLSTzD4zQs8rBU50NLx6N1sKTT5XQU2DeJLVXb2Uhf3Wrpwimardu0sBera6DC_smjbA1YD_Jo3mqPE8B2DPO_v5jdeFm4cTXPBxS8d03hTBFbRzpAWRVv9ew_aNTNuUkHCbrdh15sCZOBB5AIV_tyoGNqC1mt1hTOksP9_hrr6F59eN_EHbwHcQRlIYwiNj_H05NWHy2QsNH5hfJCAQn0k6BK",
  "id": "rs_01751ee5dc733f3e016ab437991d7c87d0b44966e2b68564e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.067},\"note\":\"The purple bowl is now mostly hidden beneath the white one, indicating better alignment. I’m lowering the white bowl into it, stopping near the nesting height.\"}",
  "call_id": "call_nIK6ip9cCEsQ8VEXJQN362wW",
  "id": "fc_01751ee5dc733f3e016ab43799ffe487d086c15f438009eb0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nIK6ip9cCEsQ8VEXJQN362wW",
  "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]: [-0.9817, 2.2871, 1.8473, -0.6788, -0.6601, -0.7601, 0.0828, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3887 left_y=-0.3802 left_z=0.0727 left_yaw=-0.0235 left_pitch=-0.2251 left_roll=0.119 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0029 right_pitch=-0.0339 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.4444, -12.3829, 7.0769, 1.3358, -0.3492, -0.0024, -0.0122, -0.1026, -1.1692, 7.0359, 1.6972, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b333e82d300198033e3b7edb017d39096d8a958e24c3836ae90c3a38be82dd64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cb6ce6df2dd1053c2bfdb3379723ad83da9e209ce84a2439a8e585f040d7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca1adc27c2210c8b4dddbf145562e3262666636bbc85012b2ed3dd3df26b55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9199, 2.0769, 1.9453, -0.86, -0.6666, -0.6865, 0.0828, -0.0219, 0.8024, 0.5983, -0.3935, -0.0162, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4006 left_y=-0.3398 left_z=0.1955 left_yaw=-0.0176 left_pitch=-0.1488 left_roll=0.0732 left_gripper=0.0828 right_x=0.2928 right_y=0.0 right_z=0.1723 right_yaw=0.0026 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -11.5897, 8.5128, 0.8864, -0.5397, -0.0317, -0.0171, -0.1026, -1.5385, 7.2137, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9768, 2.27, 1.9537, -0.7643, -0.6613, -0.7574, 0.0828, -0.0219, 0.8051, 0.5953, -0.3939, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.3848 left_z=0.1102 left_yaw=-0.0262 left_pitch=-0.2024 left_roll=0.0897 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1701 right_yaw=0.0029 right_pitch=-0.0351 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.4855, -12.8752, 8.4855, 0.9939, -0.569, -0.0269, -0.0122, -0.1026, -1.3744, 7.0906, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9817, 2.2871, 1.8473, -0.6788, -0.6601, -0.7601, 0.0828, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3887 left_y=-0.3802 left_z=0.0727 left_yaw=-0.0235 left_pitch=-0.2251 left_roll=0.119 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0029 right_pitch=-0.0339 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.4444, -12.3829, 7.0769, 1.3358, -0.3492, -0.0024, -0.0122, -0.1026, -1.1692, 7.0359, 1.6972, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b333e82d300198033e3b7edb017d39096d8a958e24c3836ae90c3a38be82dd64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8cb6ce6df2dd1053c2bfdb3379723ad83da9e209ce84a2439a8e585f040d7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca1adc27c2210c8b4dddbf145562e3262666636bbc85012b2ed3dd3df26b55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeeD3BaAYCGPdrI8sDEx3XshqaXSEjZ3NpMukLntyPeB9BPdrhrq7ISsBFYqlMuQTcQFx7rnEmgFk2qUKb671wqnrUTGHu5BzLsWnZMMQTPqHN-AFtwWlV4TSF4PukfNliPsAdxdTui22FGABN1o6nHBazl0S-CGtWeL8BGz1cHNbd-Xi8V6Hz_qSvjamdoshPy5ws45Hqy2C_aZ8gIsvW_4L_g_ycsdgOzw_R7cVajZUn1d_FLjMqwwu2BaYEWMOa3jZcHEpuZrXCbq_plenlk10j-sw-8XTcQqbOFw_srDSTsILA_a0K3BqyImWVpFLxv3PMPeJ_uBb-GLt_BtI8dcLEIcz8xfrnIkxpEqhtRwaDykAVDoo1Se5B9KT9km2dHxE4R5E9qXsVIHpfg7-OLs5HBWhlXpXy4qrixP-s6VbG4AIQnVbo5gw5ZP4S6c0or96Ih45nkv5xg0pTs-3kukf7S2s-qEldhXzC-Y8-V83XtlJFn7c6jmI5Mx5n1-YSbSwg2cMpARHC7KDLXsZFvyCwlY6RXu5AeB_1TIYtYXpoC4-1YfrWVNNLcp-VM_GNxAkegy7u3Ml944VJxFP4IL7xwXIAnQ1cOowrQcoNbXvcZQ-D4ZalViAjKDFF3qBVyIW4vJMOwTzTczHI9lPwIiDrGXKkAdCi7sCKXKbCscbSNliS2OArl_TJvPJvDJMfvuaEB8PYzDDMZd0q8uoWp96WgMbB61T1KcwZM8GmjBJ9gida-cXspWbKpDZ9YQ828l2G1d8ROAoIRmIx8mSO9l3tgjVH_pUaXu02meo3ZStkgeXinNRu-bvqW9XD26AeAc6n9GQ5xTnMVv5BKne91KKoZ0dk49TkNCQ9h5XzfAd9Qc2WeHOkqesJYG1HbfZ6GVncHBaaWX0GxfxNdYBIW8L2hm6S9Kwu2DZXncnN6cXzBBZ1s6qVwmkLDgQbxj7eEmE58iI3u_ocszNrhvTiYh3DMpvyxLJANh7f3-Myfi7sPhpIf5G4sz_nUuI_Tzm48w54dkDFspuw_xNJKiafm2yEEvqWnz4Uqf-ehxiFHIbKbFjrIH1illn9kJkF1904Qsbs8GHy-78ayhVLiWpwkazc_DS22Q5l_p7EdyFhsxeR6-e5bUobKh0xVzdmo8ZI_sxXcsdsC8Oz6pQ322jEjLdJb1f0piUDaEBZmE2Eb6qfI_e1p1JvH1djlQ1kgle699XD2BixVzMSQ37YhwCSjDeKiDCAz6Mm94GWAYaorjJz3ugWd2rxQwQYTsklx3e7XHTWA6alPW4XgpD4dgQpYzUi7V5apKmDmyEcDotq7RjacH3I1rWtgHHNB13veQOUkKZOy2ofO7RB0h8CV2yULq5yXq5BzkBTk2oHPufKI1PbV7cST6AzCT9RVdW6FPrd7-YkRy5JrRxmhcOQ1_pLYhTVMj3Xo-LPg8AnmeSNyQEqt1B7s3o4jUixujbozaCi7awR43LQIZtjd4VAZQ_ZsDtspCA6sG_-3b83-GeBDLMIZpQ6ODocNXTnACafgXuU-M07bZ3pShwHy86n65gGy71ekooOAXAQuyyCFkbu9jGGodD6LQAlyEUsnDWgN6wpP3n2HM4gC0vO0wd03TwVjVIrWW85PlEypRPgHW4owD7dviav-VsW0z6zRd7pSTGPqvsbaHdbM24vJZfJMKjzNwXIOC4aP_SAGKkbfqs_CVle2MzrgM5Qttnf3xYItAw8HfjeKvGt9RF59E4OHYrmAVQ_PKT2mXg2CcpThqTr1VpCccZur7rZH8f_4WWrvWUEVplaY5SgIZF5dY9jM-GRRcVu-KW3l1y40zDHB-cL5KgJ13dP028x3O2pKk2kgq48X38NOsuWwOB0sI3fyTyCC19HNYRPnSeaGyIdjG3qvYh4_WkmA0_WkfiYJJ6h0MjJCl5iWwQMwhJPP3sQLrQ3trKfAbSpouiW6eqkbvHG6k-JjCX-OQ21_qUwjxIm8zQgFEJ_8QkRSLNT1V-TqcsVRPdBJOTTVSGUqfRGkVzFScdaN2n5_w-Qxwy6s2-yMNUVF5GOPh68kYqZU_Kkr8EOcunTqKZjCvUjP0I4BtVOK5XitGLsYtD8OWn_KaeDnRdjg3H281Swmp5Z1Tfqhkksr8T_FrILXvpQ-YZlVQSZd_sRcqTBvHMSldw8vD-m7PV0Nd0dAesD3AFfEnFNX8-R8jl9zZYpwco32ZDgxv4mU1v70ftrPmhsR7uVS9r6DaPgl",
  "id": "rs_01751ee5dc733f3e016ab4379bd92087d0932fc452cd9bb95a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.053},\"note\":\"The white bowl is entering the middle bowl without obvious sideways motion. I’m lowering another small increment so it can seat, then I’ll let go.\"}",
  "call_id": "call_qQZQjC33LKPJhxehlhCVoEFv",
  "id": "fc_01751ee5dc733f3e016ab4379d91fc87d0852d1000ea3d14e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qQZQjC33LKPJhxehlhCVoEFv",
  "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]: [-0.981, 2.3024, 1.8259, -0.6415, -0.6521, -0.7605, 0.0828, -0.0219, 0.8051, 0.5953, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3889 left_y=-0.3819 left_z=0.0603 left_yaw=-0.0272 left_pitch=-0.2305 left_roll=0.1138 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1702 right_yaw=0.0029 right_pitch=-0.0343 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -13.5043, 6.188, 0.9695, -0.4664, -0.0464, -0.0122, -0.212, -1.1966, 7.0906, 1.7167, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871e9c530d1ec1e1aa2ddd30294ad72813e61b47cb4fd85f4f3abc9646dbcde0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a5e2184c88c93347e9d70b89362ea1f6d2eb05ed13e8abec0c8ea4b2024473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113f8db3675f675e33d3bd29d93a505a4c631d324c6221609c703469b6766e5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9257, 2.0766, 1.6592, -0.6193, -0.6579, -0.6964, 0.0828, -0.0219, 0.8036, 0.5961, -0.3935, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.3348 left_z=0.118 left_yaw=-0.0174 left_pitch=-0.182 left_roll=0.097 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1709 right_yaw=0.0029 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -10.2496, 7.0359, 1.3797, -0.4469, 0.0659, -0.0122, -0.2256, -0.9778, 7.241, 1.7216, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9817, 2.2871, 1.8473, -0.6788, -0.6601, -0.7601, 0.0828, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3887 left_y=-0.3802 left_z=0.0727 left_yaw=-0.0235 left_pitch=-0.2251 left_roll=0.119 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0029 right_pitch=-0.0339 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.4444, -12.3829, 7.0769, 1.3358, -0.3492, -0.0024, -0.0122, -0.1026, -1.1692, 7.0359, 1.6972, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8259, -0.6415, -0.6521, -0.7605, 0.0828, -0.0219, 0.8051, 0.5953, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3889 left_y=-0.3819 left_z=0.0603 left_yaw=-0.0272 left_pitch=-0.2305 left_roll=0.1138 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1702 right_yaw=0.0029 right_pitch=-0.0343 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -13.5043, 6.188, 0.9695, -0.4664, -0.0464, -0.0122, -0.212, -1.1966, 7.0906, 1.7167, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871e9c530d1ec1e1aa2ddd30294ad72813e61b47cb4fd85f4f3abc9646dbcde0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a5e2184c88c93347e9d70b89362ea1f6d2eb05ed13e8abec0c8ea4b2024473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113f8db3675f675e33d3bd29d93a505a4c631d324c6221609c703469b6766e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDegVT6Tl1LZeyzylwbIrGYGM0ivVCgLmWSA15__TsCnz5V4GucvMN7FbO-4OXtfltEci_8ylhYJNHYMluFPiaVjHp_G5rjPlFP1YIg32WLaILD47nkf2WEyKzk07R_C-0pAxwZizbUTnjQFzKLTci951EctD30-0Y2tm6x_ZTGpwZz_JwA6bDyCfLjB3dWBmSyMyfzr8xKN0gankqbGXjf0MFnoKWf4JFcYIcRkXkQEicTxnwXfjhUfH3j2ZCUsj7rRH2r6E6FEX8NCUzbnOv9GQlH3vxNHZ2E-H0GUFalXwds85Aa2pAlyh09fl0Ub0E64cH7cvqIb5GglLOV4mdbQhGkjIk5td3kkSJmNasLJtk2CdjrygcfcZWBM2T0ZoBHbWFH7HHdF8_wEpzMwiVGm-7QVj9wZ_wekgnL6pwPwKPJn4-gtDXXdWQKRav0WOGmkECj_6kJialtj-LWtk3BKLbo1AH8ND6MQ-mBsVo3u7bcPVb3AYRGl4uly8vTNeJvI5kOxOn07v5HkQHNT-zuE6EzFoyEbUhldtOakN7My9yoMvgDu0AIxL5SxWXn7aqkrbdKlt1Ph92JVqcZ_gjO7WLXutKJAdwFJNmn8rO6qadg9NIIbZFmdiPLQcbesqKGeQ7d-vvhYPQbmucK4BBkdF0BAlv_JCfS4K2CyA0nHlLjZ-NMSuo4LZcd9OSUCCUl8mT9W9qqFjnHndUOMa49glREZ_2-6HgVQ6Y96CBkbE12OWGLlRSW0n73M9xOcc0DNayUiuPyVuQoRrVC4jhRm1O3jvXKUHwohMwj8SHnHlmeQ_EXEHc_eUm5Yy-hNjx_VBRi5t4WVPAK8YXqmwX_IL9nTY-zkX6otFVFDqSnc0KydPZAGRzWpVWhwECRZm3RdkLR2jIoV7OvQQvqa7x6R1DUJcqGw02L9-cRuzfhGpcukY3gmwflzU9PdbfF-TCWlhkoVhCcI8jsf58BZ8qBuwFRd_y-FYM9gxVRskLemaW433Kic_vnNXR2LgeKgcUigC4tiJ7CiSxKjnyF-rollIdHtqRGRxJDmaikr_nSqk867O5FXq2_mcR4CTJj5dHpNV2_6iJNRnnqRI6DKPjMJP-XFy6eVcQKuDJxVg-jNLyGXuYL_rGydojXr1x8OwDJZAaZQT5D8e-gAooOHol6smqrhAaTG83XkS01MDghz1vRk1bt4ApoCdNKeBmaMLxMIWCK315YM3JxdP4mIMadJaiR99pxBXOPaecIJbXfThJjScueM5kH-C51SjWVmI7txPpx7lFzzAeP9l3xtS3D4F2hS2ytWPVj8d_bGpbIk_bRL9nGBt1PnPI06xRduwrVi_hndR0dtrA2iSJZ-Qi5puXwr70JnogEvRNriew20neGz500toOEu73ayKbXShZoGwh6Om-RDhJ6cB7WmeoMr9zUT4kaeFI4JK89T8CUF_qNshEkkvMg5gPIiX6BSEiMKvOuc7JKrBmZ08bnGxBuksER6p4niby8PiiL9Ul9zZrxceuC45W3pHAw_elzYFa-WCGXl-fyxDeihSRsGn2sgKa8H6XCCicq2-bFuwbR4Z_70Nwi79j7RtKrGQd91nyxueUpbROyP7hE4ESQPfb7cA3rO8_no7Rpgw5EtJEoHmak=",
  "id": "rs_01751ee5dc733f3e016ab4379f442487d09ef6c2026efadc9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.62},\"note\":\"The white bowl has reached the middle bowl’s height and the arm’s load changed as it seated. I’m opening the fingers enough to release its rim without sweeping into the neighboring pink bowl.\"}",
  "call_id": "call_p4zWQdRtg9W8jBEA1D0ETXOx",
  "id": "fc_01751ee5dc733f3e016ab437a038d087d09eabb79b70dd0d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p4zWQdRtg9W8jBEA1D0ETXOx",
  "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]: [-0.981, 2.3024, 1.8256, -0.6483, -0.6518, -0.7681, 0.6154, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.3807 left_z=0.0595 left_yaw=-0.0218 left_pitch=-0.2345 left_roll=0.1142 left_gripper=0.6154 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -13.4769, 6.0786, 1.0476, -0.4469, 0.022, -0.1441, -0.0752, -1.3197, 7.0222, 1.7411, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d951f1ce0b7b2fc4d75e180c4df46e611c3810837f91f5e4cc63db7f550704",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee33f6d36ede1fe872216e0cea121514b5e456d8ad42cd373ad520de700d43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67bf5b0bc24b44c474d562fe8ec2af271876b46528dc035b119f9ade9060210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9768, 2.27, 1.9537, -0.7643, -0.6613, -0.7574, 0.0828, -0.0219, 0.8051, 0.5953, -0.3939, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3951 left_y=-0.3848 left_z=0.1102 left_yaw=-0.0262 left_pitch=-0.2024 left_roll=0.0897 left_gripper=0.0828 right_x=0.2925 right_y=0.0001 right_z=0.1701 right_yaw=0.0029 right_pitch=-0.0351 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.4855, -12.8752, 8.4855, 0.9939, -0.569, -0.0269, -0.0122, -0.1026, -1.3744, 7.0906, 1.707, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8259, -0.6415, -0.6521, -0.7605, 0.0828, -0.0219, 0.8051, 0.5953, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3889 left_y=-0.3819 left_z=0.0603 left_yaw=-0.0272 left_pitch=-0.2305 left_roll=0.1138 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1702 right_yaw=0.0029 right_pitch=-0.0343 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -13.5043, 6.188, 0.9695, -0.4664, -0.0464, -0.0122, -0.212, -1.1966, 7.0906, 1.7167, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8256, -0.6483, -0.6518, -0.7681, 0.6154, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.3807 left_z=0.0595 left_yaw=-0.0218 left_pitch=-0.2345 left_roll=0.1142 left_gripper=0.6154 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -13.4769, 6.0786, 1.0476, -0.4469, 0.022, -0.1441, -0.0752, -1.3197, 7.0222, 1.7411, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d951f1ce0b7b2fc4d75e180c4df46e611c3810837f91f5e4cc63db7f550704",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee33f6d36ede1fe872216e0cea121514b5e456d8ad42cd373ad520de700d43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67bf5b0bc24b44c474d562fe8ec2af271876b46528dc035b119f9ade9060210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDej7VuleAN2E9516qzjeMDmKNUD6iKLvo6kEji4vqmnlo1dDyI15emXk9vOjoWYyhvUcoafcWsWdwOsJxlqIyG3ZJuylHPkZStusDbbDzPvIfWrsfFsVOnCfjjH8kCWANnsvpbtahIIajEw4d7BqCY2jT4sQpOWErPlmkM_e87AEZnbFT-UGDcmmPuI0MuBhGRfywHATi-uxu2IHagrfChDYXQVt-WTFseu7Bb8g_Rv-RTB7diFHx-uoCnixDIkPll8t53x_5x6HpbzPXs1qvVpt59yZSrZJeTeYUosOk5RgVkJ2MB-hSb_vqF55PfkqsA96X2_KkH-vDs1xM-diGUGUZkRFGiplP-w0_T3uoC-3LA6CU5sWiYZjYmjSZnZZxZvjEXHS7qZYUyLdnHfF9hsy8go7dnwG1aYkdgucnQ39MmoMcS2U4bbY2XZ8hI5NZh2lTyh3QTGK-r_mLdMORDRpvrpvJDGi0dYoOaINKXQpT4TQRn8NxEU4ekhLJ2gTAbOPqPCQCBADprAuQT7Pz0t2o9p_u6m79u2QcRQgakThk5lmunLT3U41QI4_hgmF0HVDSiij8LZAuN1JZGSyHaK9i4qhC7-dHnDltDjvDI36pz4xG_KRFfOszOmvT4A5zRH-zIoIARWV1GPgnZ5QeviSbsQ7-JBuIQLkIqzqq9MAI9VDziaqUe8SB3yzE2-Q3R6EGWrTSPhIHLbuCW_XKIm46bC-ww7SYl-_yNzsAQ3pS3zbZ87sRLe0KCh-bHdPWzh-6gQpXgQl9Kg71KS5O4trHStsTFQPYUfKWFoipHt8hpSMi0Xg9MLIeH-i1V1llKYhF5WLr7-rbNIZfqJkRd88sZ6dwGFScetvH8hHm-1oSHaY-F7opSSu9ZVrXFQqT6E7a70cpGzFsSKmZN4_ExizeQhsNrSKBTqSHqZ1eC0_q3ILFLrD2LqOfUxjuXxPbEj-DU70C458oqh-GOR2r_I9wVHlMqKh_dB0SvR8OFMJz4eEKOcVjT2zw5OmPjxdZGal_JPj_VzI6qtzP1CouB_l_m4UtP-mK91lpy8vmtF3MxClgRbIUmM8o4k8UJO0Nw76MzWfmEx3cx4TmqDoklrEbRZyid-vlaF1helPV_z-ipwNBi9Ilg4iY0xo1r9SBu8X3LJ204uDaUOotJmb34I4K8mF2fl2xnzcu_vHAqjBSmdlRVQBis6CByLobqPYXqpBn4NsPFMFOA2UmYFxdeTdC-tIlnKm0neCQfyhsXgr2_8-9POzqguIpk45CyQ7FtIuHHTpAGGw3Nr3JpOaGU1qpl7SG2Pj-B_BCX7-us0c-EO4C9387I0TM_pokLR5A9C",
  "id": "rs_01751ee5dc733f3e016ab437a256b087d0af1bf2970fdf45d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_x\":0.28,\"left_y\":-0.04,\"left_gripper\":1},\"note\":\"The rim is released. I’m lifting and parking the left arm so the overhead camera can show whether the white bowl is resting in the purple one.\"}",
  "call_id": "call_CeBVnqVhJ7IZFcQFc6zc34qo",
  "id": "fc_01751ee5dc733f3e016ab437a2abc087d08c1edc8709e1cf8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CeBVnqVhJ7IZFcQFc6zc34qo",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3466, 0.9768, 0.8429, -0.704, -0.3122, -0.2199, 0.9987, -0.0219, 0.8097, 0.5949, -0.3965, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2853 left_y=-0.0415 left_z=0.1806 left_yaw=0.0206 left_pitch=-0.2185 left_roll=0.0964 left_gripper=0.9987 right_x=0.2923 right_y=0.0001 right_z=0.1681 right_yaw=0.0029 right_pitch=-0.0427 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [0.294, -2.5641, 6.4889, 1.4628, -0.1832, 0.2808, -0.0757, -0.1299, -1.2376, 7.159, 1.7705, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886b1cf7ee3431eda22ec7a13742a7e311c3ec84cc7f82e7febc5eb3b6b3bc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c4f8b5d2939beb283557e23974e1ebe9d7f0208478376b71aecf6b3836b343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c231e0f1e8c43c3daaaecf34647ca46459d2c111ffa99da5d75894266e066820",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9817, 2.2871, 1.8473, -0.6788, -0.6601, -0.7601, 0.0828, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3887 left_y=-0.3802 left_z=0.0727 left_yaw=-0.0235 left_pitch=-0.2251 left_roll=0.119 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0029 right_pitch=-0.0339 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.4444, -12.3829, 7.0769, 1.3358, -0.3492, -0.0024, -0.0122, -0.1026, -1.1692, 7.0359, 1.6972, -0.0659, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8256, -0.6483, -0.6518, -0.7681, 0.6154, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.3807 left_z=0.0595 left_yaw=-0.0218 left_pitch=-0.2345 left_roll=0.1142 left_gripper=0.6154 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -13.4769, 6.0786, 1.0476, -0.4469, 0.022, -0.1441, -0.0752, -1.3197, 7.0222, 1.7411, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3466, 0.9768, 0.8429, -0.704, -0.3122, -0.2199, 0.9987, -0.0219, 0.8097, 0.5949, -0.3965, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2853 left_y=-0.0415 left_z=0.1806 left_yaw=0.0206 left_pitch=-0.2185 left_roll=0.0964 left_gripper=0.9987 right_x=0.2923 right_y=0.0001 right_z=0.1681 right_yaw=0.0029 right_pitch=-0.0427 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [0.294, -2.5641, 6.4889, 1.4628, -0.1832, 0.2808, -0.0757, -0.1299, -1.2376, 7.159, 1.7705, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886b1cf7ee3431eda22ec7a13742a7e311c3ec84cc7f82e7febc5eb3b6b3bc2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c4f8b5d2939beb283557e23974e1ebe9d7f0208478376b71aecf6b3836b343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c231e0f1e8c43c3daaaecf34647ca46459d2c111ffa99da5d75894266e066820",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDerIz3MCT9Cv5nO1ep1uKO0P1JhD51ufTWFhwiKublBU-iLpv7DF2zdk5GxO3lfFxxOSJEN8-GLgpDkwy3O93t5vd0IrNF4NUPLmz4d8ryT9cey0OGhmV6rGl1Wc2045qV2FPjVz4a9_LgRQeLkq9h6Xi5A3H6eorGcaY8m2xI08_WyedBtN3eQvFVolNiE8tPcze-PGBmI7hbWunzRsLJKQpJIvcDxuq60dtnJsozMLbArf2FGgY_70E_dkjevbG8iVWesQEh0KdCXlt94w-zHQdvog_2YNdC7lgwUIDjyWf0nD37Jz4yc2wHliQ8qlj_0iJ7uLn0b-9KihEzj7PL1bKm87ik0Rlgvts2QS_nulVpwe1CtqCh63D_DG9VcKEbhZOdzKHYzOIb1PWXKGXQJ2LZKQDVXt1F1cq0wDnaxdlLbgiKmMjapQkrbTs2KzjEFmhQwUIColKBCp8aeOlL7whnCuheIxt4bESrjK-TglvgQnfzGer4j2q_aa5JmrRqYri9OcwFFAhHMfRLVRSFXHrDW8wPNDt0V1MrztkHLFn_IHuwX3EWO6_i87hKjpvMn_o5xwJMvtjjEcrq9GsBEI78VmuXnZFmBdvOlgTSX0h88tXKHB-5Tn9A8WZ7XZUEOT_-Xx4wslfFJ_sqgRDQrnrligFOohsQjnLvlCF4UTpcmKjyETi-nTkOWxRoPYFnZ5-n--o8XU_kVtFhv62NjC-soMqFVV90xqq2vKI9g6zFZJDphXiJow9zuCWjny7TDymAORc_wntsJw3CzIUFtSLqw8oAbnzh9rpnMLGVnNZIDumiBhzea6HX05s97y0mSXasjRKtYzmubCBmjmqUCF-wRJWnjF1bmrVc6WZ_WUd6qezX3XAcag_nYSR-Hk9Hz795gd3ZLlhbfE9Omj_ZpuMQCHqluHelyOt-mgitIV7aT6mH4MtxCXxfkeMrbx8ezUx1wTmkFCUNkaH6nk92YLAJ54rfIzoRIEpxOhlVbJVm0NuMdRzLzH5TwetabEsZTH510Abm3jiWdPXoqLppowzOKH2TDZ95ctBjgmiMfAxhnUig98srvQwSBZxoxJHjTE4YEyT5U8TDh-3r_UCr7u60N9RDOWTyDNQKoP5dI1MsCkyd_aE4kC9hPznXfFhbJStfidrr2DhzJQ4EnG_3iou3i1VvAlv-EuGuiVan980BdODWUYM1KKByLhBnnv3yZNaHOpz_RADwURATKJZzXAkSudPEGY1p5ZKPsYrvW1PhulSXMGFF46WjE2Hsl3AZmTL2W9dA2AXrpHryPb-_T3uqzZtTgXZb5xwGTxzS7BRqCvWb2uba0_Wr1DeJfsEO0ZDFmYV5HOsloJqzx5NQnpHsaerO2g6hkBoajSHsvsEtGHYcoUI6hQI4czetSwPgg7maqzMPmJnmjbj2k6UIGYBPJ-hJic10Urqs_z2sh4bP3iGnbazhXSuuryU3zEXfpAGI3CjyptSA5l4W58MG_Bc5FpJm3a_IVT9HET0NzM_Z_NYnw5WDx2GuDu5Nf_V-e3_w9u1NrU1CLpGpY257KwDN4zp4RC9J1xBy-bGdjip1DfdyzTCiSSiDNp1O3eYiJdx9XkG8-095_7wKkk4Yg1ot1TRC5LFDdsbeeiottP0uR_Fai-2Hxd-JD3E3lNaK7STHgHqmE5hN9LFWy1LZ4yfzI4xEamEYeTFEpvbZwGD77zFOB145UYmpX7OHKLpY_MkGjssRyBhcfPz7KzZXtRR54o5apU6Lsqjwo_2SYWFwim-lK43dbRHipZcj5AfpaxxLeKb11GU4j8ElbXiWdAwa0rx8Rt-_9MWtwXghW6qcXLTFx8I84uPW7w16rCprAfYRL2-X8QPBDHblfypmmBowt3dhUc2yxoU2vvK_9u2cWfGOZMjFVpGCJ8-vy3taIXT7kuerjlOOiRHc1rpRSAfjc5gj7RmUjOMLm-FPsOYwevKBZEP1Oj1MQWDR6knW2rEvjeGMH6_g5FDdAMWdRH7Y2r5wbH86cSZUQ6Gy0IsjjY0iXFEXahZnekiNR-_KXsxdPkiEweLIr5MQ2B6BfW1tgvkicrpaIaLFF653_TQSWXbQNjOnE9Ime28Ne_JPui1GUbK99r5XrrzK7RjZGRggZMpVWQw2KnCAbu9SDhaAXa7VprwmGzBjoIbyogbc6WNEri3swPtfgoHCd5s_1oPOmH6y5AlxWhyGTJNbIPc9mAsAMujeJJcC9osaa3XLoQGEeYEfUMJg3irdY_hJ0zvdxe9vNmYZTZhtKsfTeB7ZptBalO9k69cehxTGE8ogeTZyVypASevOIGSiejjbmgmGKn2f6mfD4X_k-pbRzhKuHZetuTphY__zOlaRbQtMvXeaJDC-ryIAV7XuzPi_TRxnYIjE3VHoBpxo7nNtk3bUAVQY2O898NeOlAhyZ1SbvQsn1ICO7M80cuv5sX8RjY6RhOngx9U7ZD3t5f1XDq9vRCnJcotA0S4Oexp5HksU3ouQBv6qmhVb_1oJf23veKHhS7ZZLtrWClVuMnlpRSBviCw1xQ7CGYvbkAzgjMscZ2Oh7NZkNzykD7ekb4etyAHt-zyCK58nH8FrvAhdlfTvpVmMYBsWpYAhDsnY7ThR0reIKIVoAkUSIQrRwod6etWNItJxEjO98rj0xwzZ0By9AX0aRB52zYlSyiTc_8AO9tlw2QzrIpUZvVvvAZnVbIu45_FZNfJVdqKannh8IHTT0CvuZI5lqY3BrSSea-b2uschpfLVIdPMwGe53c6E7QmNyJ9SJZ15YApCRG6h5xlGLQlw1njA7KxOXSApX0bi_kk9zfukagzdixazHG3iKzIkEWQ88qZ8Yx2WXesUVE_QR4zzqq3ybcPypOhrwENd2wbas7Bn1r68sZBwbgLwH_ygnTNCqr_tgsq8Lkdhpe_7k2yAh7QX_KIMXG4i3Cg5KPaYFW5i9vWwLO3E1pTf9HpXc3AvbMdyn5vAqZSfPbqDbuO3bekY8r9-YrvrYds6ZzrnhC77P9eOjxkkWVKNCWI0rio3eqYSXhzv_JCxcLgTJfl-hAUD_Is0g_WbgchsXGtj9lp3Zc7u_1HVxKg3K6wuXiSvDz747XaQXk8VCuzYVuktWkXrNnAVAOk9BslL_suEqP9rGmE_YiOlhP15dSo953W-9Tre-phOSiXG-5k5szB6T05D4faobwXHsmawsKUt-lwdE9sR0RkuAW31j9Q==",
  "id": "rs_01751ee5dc733f3e016ab437a7596087d09a9f0bb7f13900a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.15,\"right_z\":0.105,\"right_gripper\":0.4},\"note\":\"The overhead view now shows the white bowl resting over the purple one, with the pink bowl still separate on the right. I’m bringing the right gripper to the pink bowl’s near rim for the final pickup.\"}",
  "call_id": "call_8GIHwcXciQHNBvLIKuABQxKb",
  "id": "fc_01751ee5dc733f3e016ab437aa628087d0b31a89d3d6687d9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8GIHwcXciQHNBvLIKuABQxKb",
  "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]: [-0.3462, 0.9813, 0.8429, -0.7197, -0.3069, -0.2096, 0.9988, 0.5121, 1.565, 0.7792, 0.0334, 0.3813, 0.263, 0.4026]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1768 left_yaw=0.0126 left_pitch=-0.2395 left_roll=0.1073 left_gripper=0.9988 right_x=0.3835 right_y=0.1443 right_z=0.0853 right_yaw=0.0414 right_pitch=-0.1193 right_roll=-0.0368 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -2.3316, 6.694, 1.6239, -0.2271, -0.1294, -0.0024, 0.335, -7.4188, 8.3624, 1.6825, 0.2076, 0.1734, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8bb3477d1f8df793c10f351479426039c707767fbfa117a5f6a4e4abee7c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4863c86e2c09e5b49cacb617336b52c717e055e83dbcdd48e445e255c3945b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5911273856dd699215f256b86423eebe34a3c38865bcbbff3fe3f518913a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8259, -0.6415, -0.6521, -0.7605, 0.0828, -0.0219, 0.8051, 0.5953, -0.3931, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3889 left_y=-0.3819 left_z=0.0603 left_yaw=-0.0272 left_pitch=-0.2305 left_roll=0.1138 left_gripper=0.0828 right_x=0.2926 right_y=0.0001 right_z=0.1702 right_yaw=0.0029 right_pitch=-0.0343 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -13.5043, 6.188, 0.9695, -0.4664, -0.0464, -0.0122, -0.212, -1.1966, 7.0906, 1.7167, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3466, 0.9768, 0.8429, -0.704, -0.3122, -0.2199, 0.9987, -0.0219, 0.8097, 0.5949, -0.3965, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2853 left_y=-0.0415 left_z=0.1806 left_yaw=0.0206 left_pitch=-0.2185 left_roll=0.0964 left_gripper=0.9987 right_x=0.2923 right_y=0.0001 right_z=0.1681 right_yaw=0.0029 right_pitch=-0.0427 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [0.294, -2.5641, 6.4889, 1.4628, -0.1832, 0.2808, -0.0757, -0.1299, -1.2376, 7.159, 1.7705, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9813, 0.8429, -0.7197, -0.3069, -0.2096, 0.9988, 0.5121, 1.565, 0.7792, 0.0334, 0.3813, 0.263, 0.4026]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1768 left_yaw=0.0126 left_pitch=-0.2395 left_roll=0.1073 left_gripper=0.9988 right_x=0.3835 right_y=0.1443 right_z=0.0853 right_yaw=0.0414 right_pitch=-0.1193 right_roll=-0.0368 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -2.3316, 6.694, 1.6239, -0.2271, -0.1294, -0.0024, 0.335, -7.4188, 8.3624, 1.6825, 0.2076, 0.1734, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8bb3477d1f8df793c10f351479426039c707767fbfa117a5f6a4e4abee7c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4863c86e2c09e5b49cacb617336b52c717e055e83dbcdd48e445e255c3945b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5911273856dd699215f256b86423eebe34a3c38865bcbbff3fe3f518913a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDewnPFUE2PlExIHSRyufIVdUsVJ5BZ5N9kBz7WIkRC7Z3dyCACQIzSOki55R7vAZ1KjKuAiDXUzrfAe8wsbwfV9bNjdi6JIX3KskUqjFcfc6fIHF27zDGDHpdobNpqfOl0jWyHNAZikx_omqXLuDsA65nMOJVyus8FP_b8yubfftZhq37kjn3iVAflHKARN3cDIIkdaS9f_wGQIETF4LjS7rOcxSUvirw368sv9m401qJvrcbR3mXalSviNKTrTyfrobagtsAm9ZXWMHPFiV0Je8rvxMOT8w4JS3UTLFmWuH6_-8_GvZDE8UYeYrBdIzN91s4gt8BsGDJXPMGmurH0X_LqyChXA0C7q65EdMW_Wxlju4nKzyEL1wad03JWmcOxEwmcgn9UwjqEJutQ12jrgT0DIBLFTPSCfkxdTJiDFN-e-aRGroAMKv0l7qSr1HfuVacRNoSCYtEdMsPqt8EAT-xSuiJk0L99SbIVh5z_Xzv3ruEhsIxra-TJzpu596ZT16fzT9y7kuw02D7xrPufZp_hgyrdVDJPfUDZ22QXQSyea9KkJgRR1pyVCqBqk-IT6bS8QnVznhcWP3W0nV06mTnYBglsIJgEsIJNyu6m2JXP8TAOJsCBaV-s6lDhMEoYzAFHYyfIDoP50RaeVUer2GpGU4wYShsyyA3NKZse1M4s1lZcGGunj5Xoj26pMXMiTxWlnKWERDxKp5akBDCD53Am40rTkOR7mQyKF_i2c8PcmvzyZ0HnEO9F42RyXvW2HoHngydCv2gJJjcYK-YbnKXSQ73TKVEv1f_kfN4qnAnj7LCrpG46HlB6k_Aj1CAK-uOTjdg_xLMVUkb-RXFt_T5kJKQKcfALoDI5aIRQbftAJ52sFRVcg1BR8qdMj62duBwbj3n9bLiNRZpJ0GES6v26LsLFVAV9aRQ0lfyXG25JHLcC1yKUYz4HWmmV63Vkflnr1gEY0mJp0d31rgicRgQErPm7ZUZPZvl4E6DcvlrpakQIesfn3osuvvEDLhk3DabonsM7KHAZJJzzYDk-TrAgWRJoLL-Ay1J780cv8AGuQPmPmgCCDLqbzC0FKHVsa2Kvy9vla1S7-xgryAVFDXPR0nQTVwemQS75WtWRLom7BI-VR0Vn-YZsehCNUIb9hFg48hwrAOU5SsyMWvPBzS9FRdsTjW-zvkWiJnNPdbKKnDf-Ot7AcOUfYM7BmbmHYZHJo0WLKP8S_D86L6SzIYa9OA9yTxr5RbaBMAk9iiLv3Lwc6WAuliSS1v59sXGQSDZZrZf1J3VFs3IwtcCazRcwH0a1vQV-FJlEnmxZLyBomBqQElCHRKkQR-MqFko6noTBqLnaHjopl_iPyZ_rd_h9NXmyVtXgkqeb_LWGeprBGok56t87cvroJa9OgAqtbJBWzEuYS0FppqCrRB0rIJ02VLILynj8-vG1O7JyWQA_8J3pIt0hycQ86Ewe5s0ElUfrnQkiGMB3aazSlIo_s98jieyse83DsBOsu4N4lii4iVJOaCw7FEccAlbtS4p_1u5wj6N_OhojEnBku7XHtEH2KVUZhGGQ14P3v2tHyHduQeYKkEFVb8amH_5cnMHDBc2lbTnuQli1--r_nrSNoaUVrHRy1HO_gg905tNikMWATnkywmMaSs7I0H5vtnBu6BpgLRQ12h2f20vJLSnxZAsPeLVeFmx3ZCOLtIRGGQSyFGEDbxC9Bzy2enLP59U03zDE2mOf0kN0h_DLqHCcQuf0QtFILXdyvON_cUQESIgeuc3-ZYria1jWpoTG0YHgZkMdz9dWp-HYKdxKr0MH1FexTbfgtc2Brw1UecPJ_H2W2vjuaaJkaHDXHuyMCmVQBzkA4xvzQMPu7SrqGazmrHdrzUIzReYrLXO4dx-th_ndnNWK-ynXT1NkGdj6R9wbQX1i0ZIPqJz4emj0knBJgorN9Wa5dn4I_NDGy1Y12Fh8kRu5IHpvwtlUWPc4UbZVJ",
  "id": "rs_01751ee5dc733f3e016ab437ae1e5487d0a29c79652025b033",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.413,\"right_z\":0.048},\"note\":\"The right wrist view shows its jaws straddling the pink bowl’s right rim. The arm is sagging a little below its target, so I’m making a small forward correction while lowering to rim height.\"}",
  "call_id": "call_3Fpxjaj0TL3nWnfqzGkvzFua",
  "id": "fc_01751ee5dc733f3e016ab437afb24c87d0be6e764388b68ce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Fpxjaj0TL3nWnfqzGkvzFua",
  "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]: [-0.3462, 0.9844, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4736, 1.7336, 0.7921, 0.1463, 0.3573, 0.2424, 0.4026]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1756 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4008 right_y=0.14 right_z=0.0417 right_yaw=0.0308 right_pitch=-0.1657 right_roll=-0.0564 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -1.9077, 6.7214, 1.4335, -0.1636, -0.0366, -0.0122, -0.253, -9.1966, 6.7487, 1.8388, 0.0806, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b3bd02f4d4c06b3993725c34b0cc2f1c7e37a28a02295bfd803d9f4d42aa96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1aae4e0abfb986e00a1c6534a478ed05a2a7e0a182232275fd8b88483a15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b84c238a13858ca1d177d8f3327e39d0b357582c9a94c11decd4bec320ec55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.3024, 1.8256, -0.6483, -0.6518, -0.7681, 0.6154, -0.0219, 0.8051, 0.5953, -0.3927, -0.0166, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.3807 left_z=0.0595 left_yaw=-0.0218 left_pitch=-0.2345 left_roll=0.1142 left_gripper=0.6154 right_x=0.2926 right_y=0.0001 right_z=0.1703 right_yaw=0.0027 right_pitch=-0.0339 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -13.4769, 6.0786, 1.0476, -0.4469, 0.022, -0.1441, -0.0752, -1.3197, 7.0222, 1.7411, -0.0806, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9813, 0.8429, -0.7197, -0.3069, -0.2096, 0.9988, 0.5121, 1.565, 0.7792, 0.0334, 0.3813, 0.263, 0.4026]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1768 left_yaw=0.0126 left_pitch=-0.2395 left_roll=0.1073 left_gripper=0.9988 right_x=0.3835 right_y=0.1443 right_z=0.0853 right_yaw=0.0414 right_pitch=-0.1193 right_roll=-0.0368 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -2.3316, 6.694, 1.6239, -0.2271, -0.1294, -0.0024, 0.335, -7.4188, 8.3624, 1.6825, 0.2076, 0.1734, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9844, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4736, 1.7336, 0.7921, 0.1463, 0.3573, 0.2424, 0.4026]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1756 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4008 right_y=0.14 right_z=0.0417 right_yaw=0.0308 right_pitch=-0.1657 right_roll=-0.0564 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -1.9077, 6.7214, 1.4335, -0.1636, -0.0366, -0.0122, -0.253, -9.1966, 6.7487, 1.8388, 0.0806, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b3bd02f4d4c06b3993725c34b0cc2f1c7e37a28a02295bfd803d9f4d42aa96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd1aae4e0abfb986e00a1c6534a478ed05a2a7e0a182232275fd8b88483a15d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b84c238a13858ca1d177d8f3327e39d0b357582c9a94c11decd4bec320ec55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDezIdvzS17T1KuqVZ8YwqKDLobrzyWt-NRWQNfL5v__nL2LzRlnE8uT7nsRuG6L5q574jOtZQxKKrHIxZ4jcPMFfJyHneFqv75zz0UsdjonD9SWqF4ilvtkfuB6fJVhqcJg-J_rPVvJ7S5pdnzPbubbq0pCoUGxe7WrN_wNgguX6mWD4Rg8XQrGWSz_O_x_cD71vyCdHti4tvDCsUiDBcviBuqS8JYfS75FUOL59iuyUBUOcQIl5QQOivfEPP34f01fGoKUd8r9Dg9mFSDuPxpuXBN1meEJCaDohCOpu-2UO0C1E0AwxBjp4BZHJPtDuW8S7pcjZHsaaMDNDPjmvljQ-pr6d9eWkwXmOwqTnXV4LMqzXuJnwsA_kepTHfHz2DrnTF0sMP1CSYJGEy827lZzgnF1LbwlLzUh4qIbsyDZB2TiriwGip0I1X-zRuNUlE6pbLZW_z04Dhn_5MfmNXuh5Z205WShCcSkmSzHqYlY6oCLh6Ruc7MlsjrHQINHZAXFT-np1GlKLmhdQH7aloucelA8KGS4pB953KyfVjG4miC_SXkmqlFdcykz63HaLNCPbhZgt89uZuWjujYdS3yhaUtErEpAzLQj-IW4jFw1uFOjOc8_uajhUUp_4h1LeUgtE9iAG3MsfokzTulSvYtlXCtj7-p3vuKzjtaWgMueEmP24qvo7M36PmesusJEOEjCso5DnA1CGQLqiVVhE3yXXYGEYxE-zCHuWO4En3aV0YSvumFMGruVcPqwab4w9x8Gj2JjDlcQv-xlV-rGLMbmhenx7u-XHlq36RsyO0gUSj-sW38segvWm3dw_Dzfqfu7dbFSIyR2IALzwqIbG5nwb4kMsUNNKXfYPre4PVp05cOwYP-D4Gq2Sh18ltoL3Rci7X20S61-Q5SvH6GrpLvgmPxAlWwJprbUlwG3f1Gr-9DMzkt4S8E5GdihvzHMlB2nv8UPQqe9spNtiye2DwXb7LwcFKzgbFX6MK9vJc7D2q5wPKNk72EXulNbQVFug79BfD5RdGLriz1ibP6OraNx_MhjpyNQ1amUU_AG5zYO_sWZ0iCamfRynRDZzlofEMaKhjlD30JMxGYQmvFQYMv2YLe9YO7BWaZOgDQTX2EbaaFL-2kN1RFsrZE1ao-7rsJaJIRCMjc4ltWkrHqYAKatr6EmYpNfdDbiTYVhT6FYxQ3cJXD2gnHOX6Fm2KahBBnoi2i0AdSUJGi72G7RsKFx0SrMn05jOMsrPX5QVq9_u-0=",
  "id": "rs_01751ee5dc733f3e016ab437b1c79c87d09d1e4f410c2a9d26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At rim height, the pink bowl’s wall lies between the right gripper fingers. I’m closing on that wall and checking the resulting finger gap.\"}",
  "call_id": "call_NI0PPgQmcKZTMuTcSXB9vGwI",
  "id": "fc_01751ee5dc733f3e016ab437b1f6dc87d08228f213ec81d7a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NI0PPgQmcKZTMuTcSXB9vGwI",
  "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]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4656, 1.7679, 0.7925, 0.2169, 0.3325, 0.2272, 0.034]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4093 right_y=0.1452 right_z=0.0388 right_yaw=0.0535 right_pitch=-0.14 right_roll=-0.0366 right_gripper=0.034\nstate[joint_eff]: [-0.253, -2.0718, 6.8991, 1.3895, -0.1636, -0.022, -0.0122, 0.1162, -8.7726, 6.8718, 1.3162, 0.2515, -0.0513, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1d063abbb49dd9584c71643c676858134facf058bd31a2e21a2774cd23fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8139474bb577554bf2aeae31e7b857a43640719f8b59e25acc64c5028f258059",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13a5e8eae348f9546d836699f2d101c604160a9566053f4b4b2abe148bd97c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3466, 0.9768, 0.8429, -0.704, -0.3122, -0.2199, 0.9987, -0.0219, 0.8097, 0.5949, -0.3965, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2853 left_y=-0.0415 left_z=0.1806 left_yaw=0.0206 left_pitch=-0.2185 left_roll=0.0964 left_gripper=0.9987 right_x=0.2923 right_y=0.0001 right_z=0.1681 right_yaw=0.0029 right_pitch=-0.0427 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [0.294, -2.5641, 6.4889, 1.4628, -0.1832, 0.2808, -0.0757, -0.1299, -1.2376, 7.159, 1.7705, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9844, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4736, 1.7336, 0.7921, 0.1463, 0.3573, 0.2424, 0.4026]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1756 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4008 right_y=0.14 right_z=0.0417 right_yaw=0.0308 right_pitch=-0.1657 right_roll=-0.0564 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -1.9077, 6.7214, 1.4335, -0.1636, -0.0366, -0.0122, -0.253, -9.1966, 6.7487, 1.8388, 0.0806, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4656, 1.7679, 0.7925, 0.2169, 0.3325, 0.2272, 0.034]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4093 right_y=0.1452 right_z=0.0388 right_yaw=0.0535 right_pitch=-0.14 right_roll=-0.0366 right_gripper=0.034\nstate[joint_eff]: [-0.253, -2.0718, 6.8991, 1.3895, -0.1636, -0.022, -0.0122, 0.1162, -8.7726, 6.8718, 1.3162, 0.2515, -0.0513, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1d063abbb49dd9584c71643c676858134facf058bd31a2e21a2774cd23fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8139474bb577554bf2aeae31e7b857a43640719f8b59e25acc64c5028f258059",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13a5e8eae348f9546d836699f2d101c604160a9566053f4b4b2abe148bd97c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe7rdzkb2zsvq47OneHqf1XwyG1uhL1s-IW64rEWcqUAet24cvs5i3B1MD5vn_s9ucw3Q6aKraxP1MV3LdvboO_-PbvWcG0ngMHwhoUT0PvHYUBNA6u57muMdjrWJqonJ281us70AGWwlK4lqXJkOJpTq5TEl_IcHh7P1mLlKFWwS5P4GOqgycrHoEH-bxVfPCvGCPZiU1JcM9vWOjAXCZi4fiwpHgiJcbs8o89AIk8TAmzEbtgkKUb9hEtlogL0dSm-swM-4MHnREHYR5oCg3pyIjlGLVzSayhvSYeKVcENV4LKUa-vbO3wCXMGsemYUu-wWYFvCwVyot6KEQU5lsPFfKngtbL0qPG6TIqlirV9qd6HBl9CNUXbsn__Qk3plYOGN0kV4B9xy2qNywsUsH22_6kS1Aanu4qxFGA2iFfXAceu6EfYEeIZfn8ZDPKffzqQkf5PvuG76ec40T8EoOtAZrEnUiSAmI5f9hWTfdfyHctzh7qk2wN413RGjec6qAFY4uCfRBREwjaMKlk5xviCzJcXC7aACODHKXHjZ_r4xxagp6lTrJtXZ-VFqyAq7jAyG_p1P4ENPmon4wp8JJF0q1zOPpYcVWMe6fL2T2eNx1FTbntgd6ZeIufBC8SxhsY7eGRqZlEzo-41TaZjSIKOeT-kwp_I0rJ6NSgsB45rZHqkSca7fOfafRM1GoWU_kvfGUYBbPiOR5FCVjx_FwIbH7DkZknENtToDPKSmnKdd1o3x62sjf5sS_cvotN8y8KREpjbIroEpF42LFzp3WfxtWXJCwvY23O-QZaVlWWJs7xFZQtUv0LPxn7sAefITqvQKofOnZzUM-JzTZhyTZZC89nz1rFI-fWcX7e8e2Nd5w8h2P-7PkC-MeezPFuflddx3H0w8dG3jzQAuXjvsRvDhzn9UjeOWAv-g7YZb42DPJPWVqE62FjTsvkOarXS4q7Pb9_mmvCNAO0NpuMGWyy46N72cW6tBJCD7axaU-gCbv5T_ZznUD4T-pSrSChAjxEiNDa98JsZN95bvpBqki1D5IihPhmh-dLEnmeZ18Avw36Hq4lOt1-ewryhZuB72ZYiDEUdk8JqLPQWZWBVXLYRv_gEZqpuGHf75ciPP_jrD9Aj91ZB4B4_9B8tpOVSA1C3nqHzcRfoTi_4MrQGlUvFTwBl1UZbIYVsgP4xgGYwf-LomfbtKb1fUET27Pcsv8HjAJH0Er3RmNSecPOnqEZrxHU0v1QX-uguN80Bm-BaE_cyO4MOza8Fim31fQQLZcvcT6dx2UFO9tTfbpevvr8IAR-XpiJTwUYOa7L-tQsfTwXhv_3DaziecU0AM1LZMD4tQcQq-_1mK3a3Jq0g8HMryrkrHyEyDaGBjCNXAn_lWFGEYA0an4surdUQCB5WhSJnH7Zkov0UKqT8ZVEuAC76TMzhYiJ7QnwLF7tWQobD913_ecrYegQj6RW0z46FBWf77V_DU3ZZfDO-jsvX3rwywiEUm_UAT9JM77F3Q8hZS8lZdPbrUwtRR60Sj__UPGZeZFBUU-Ci6J5z5zKqlu-HEaEDXTbri_aDAFaEDtkFmV66dOB6yRCkY67rdi6H7stzwM-sl4hjhXBb4ny3UazkfJphqlovyhnh3n9dF0SVyb1d2hkFNn6q0QGZy9WlT6Enn83z1Ja5TkUJOUipclx3E7Bv4HI2RgVF77yuAOiXxfQoI1Gk3c0MHRjS-7w_f5jPvfgGWsrlruQPvB5PMOJyo34nG-ys7TNIclaL7bwAdEZ11DEdmBgB_eNV0SJOgIjWfV7ySsjXxPprRrDWb8iMYLX-t98h8sT6EzQOHUgTKhabncAt8COskJZS0XFX7k_YadXZJv0kAo4Czp8D4oSG7knVUR-JM5-C8kG3FgvMTN0ymnX99Las2v9svLM9G2cLBpWkAtzqFg7BIDzd1BFEOjU1wYNnhzrXmK6IL05D7jQMTVe8Sbi6lvSCqEC1SuZiYRX-56WB_h-ry9TLKORoLy-MBEkqH9Wjuiveh6k-xbX5t3A8YJcDhB31nRjojz0fq-99_VxbKcZOn2RrAU9r8PkcEWIPsvk1LBni22xltJiGxFK2QCEzeAfmo4E3U_Vq_RsdDNu4aqetPIvioLGv8i5Ql3_hHHpe1liO0P-SPDGiTT03EoJdCpmB7zVQ2p1nUM9n6uBx_Pv2obrEDb0HJChwpNjRttMeZoO-spfx1az1ebpxrahzbrDKUSPwoRoLiXw-KvMdefpz4cHtR0mKGV9WqKGWT6_-86lNcaoCmNiiShmsL2TFXiVz-WXTcY2ptVRxY7gEieH9IEpok0nVIsLgdwdR3jzZwR_GBMliTzoqc6f-CTPRgrTvoGzxoCN5xjNLmyAjce0-8GieRqrOkibNkZNUk_T7E6OreljwdSW4qKVMbyLXtkLt4CSYNTzVoJTYmmfq5PFHT321L8kIFY5bzTDb6KXeuGuWKEa8EC1WQ9T07x90ru8S3PAf4kNyzTQVa7DwijjRzSjTP5hUQMkzn8YjTUpEPpb-GjxrWdWSV4sQnsL89nvE7qCTtJseDZfOjx-TMEaIKVKpKtdJb-994pavEMx_c5LZNoVmmD0gwbwE4X6Gp-k4e-VFrMxiuEj7VZ6uJSiZTX9IqfwsIx1LtHO2v1fKilAq_bbSkibvatXYvgHihDSVLldODG5xGRuXMPxRx5G6yt4bfd0PunvQCzKF3pACGOQLrPOKw4fK78XEgUiNpXEkFUDrBSD3eHPRb67xdcicCq_o8PtVYWFiWNRY4WWmx7ynMsYehIoTZHr0HbQpxQqQbsKSLJsQm3wkT2naa-HfOof3xcB6hsjp9EEdC0If9JlEGUUb9cX8Gwf5cKJ49Ejv9mXQn10G8ecBbpJoPcifPmpfnBE8USkbE9ztJWVdBotZO1Av41Q1eoRQvJ67R2Ry_R_Atre4sYHkh5ow4bgmSJ3JU2mYNCHSt8C847SYFVTgiFj-C16YWOta0TM87ZEJDKA636eFq6T8sQ-QmusBJp2nQ60bwtA1BJ-ojI2HD_VVtV6VIlGi__gXvU8mYgYULy-IF9TNrnxQ1-ISlC0qoIIe8ErDC4CZV8sN19kszeuGB39g1v0XYvr1rGl7vrZOv4rHmm7twM4dPd3doOiK-5DCSgZIL9DC_uuAZRqh0cxPCB1BZ-SPc_GRE_9SDuZs5h9bPFKQMHcruYgUwsiNRM094lJ7SJ0_cpbxm9Z4z5lEMsrNnP8MykKC7K_HziYoWIV1FSbDCjn_Zg1kKU86fJQL7QDUsfP3HWCEE4hCGaBhTLAj0P6BJTLp5mpNtzFRtGAUw60LIZeV03lHF6aINP5_TIvPPY_8WRrieY8vANj9Wbr0QJFmYvjytvaBTF5W1ZjZooCk-IuATCVylwWna1W8XYT_Z6jhMajsAa0M-zliBXxsL2rNWPfwtkf3-OODlsrWrtvrnkJg3QyzFFl5UUtLos5HhZNOvdE5ssxIwSbqELIQvxJ7x60_65n1a_EnDjOrb-iNLsSHYwE3_8mAxhEDJZDSCxLSv0KItMOh_EBd8OuLwJXi4S8MaKakwiFnGCNt_d1xgCcvuBdPe1dtKZ_nYlR3g-yDXF-FsePUbW7K5kxaTknYg_3iZ7OU15K17Ov-YexO0XRh5vVAbaEqWQD3-TpVyErLCm_PQDSClqPg3ofqf7hZ7Boo8CsoVAvILXGYxbntCnrai0w5RvZFNKKtXMBbAyXKEKohkPlfwzDEpul8OBO9LGaQm56SfYsJqYccCk29zt4A3Q0u_MG6uc1UsF44YgLbI2qMFlEwhfM6638WQJ_0hKVAFxWzL8QSdafAA0n2taKNddkIvVhgTW4SgiR3g==",
  "id": "rs_01751ee5dc733f3e016ab437b4eb4c87d0b690c8f4f704f6d6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe7GJ5RBlBoUeEV9Nq0uIh-HVJiTGJm5P8Tgfg0tNC-vLoA6J21Po2cuFH2L-4r51xSMD5WAPpE3wg02j9XRf7As7xJFxKj6tKXqcVHjJZK0IlFyw8CjzqVR3whvIaoeS8Ob4hK81CWFYNr0-qjkfALPcpRoF-DFWP32dGhxF-hmQP-cjmrFViSjnLHOk_uOB7MRlr9EMkQ0JMYAUM1Or1fduGqsReJEUFnRowD_zvCUfeHMVStNeNyzVZaEEkn7FO2lip4nnPq7T2jE2a5WGHdbZuV1pKV2w1kVV_7lZabKgWa9yiEY2BvLXFV02lOPs_K0YRE57ggb76KiQwMYRWWPKHKHOauoTWdn8u0fZc9JGYb867dKVIrDLNYhfq00mtmRbcpHSHRtaQMPeNEaOkBBeg5ot-kHzn4TFCXEw0EYOethNHRgetvZMmJG3knaInfqJ-idb1R236_YtHK536fOH2J30m5No_rzqlhiZW_84vTv4PwH0Xiuf_TeNqnBKJmjVOxzA1Ysz-zSL_yKEndFZ9Qi6fQwSxVz5ukMZsuH8iEWE_VuAqrdLSWNSwHHDS8laNP9RgGmAzdzLLxz2xSJZU7X316YRmeQjc4niteyafMmPjkVQ1IN3BaaeAEowWpd7GXTxsRE2eG6D9aYoVUbINK1lee5uARytYlgV0Bl6OgAF-O9WjepVreccLXiKLtycH7sIDVH0jcS2Do7VGrasJHTUrHhU1zk6f9JnuGi-XZjpjNiQ90uf9x4HKMWgK30JAXQCdtgcTbqosgiBda4HLaH1GpDevrQJMBmrKMoguQS_RAT1y-1PbgW8zRPa79usb9dczzj88H2fq8_9hbxcb4H-TWwAue1KcJf9cPSyq0fjVmUtj8UniD-lZYQEBaO54Difm3eO0nODUoeHja2QpHA_IfaZHVfwMhp0yOeLX17xU3LUw8vMJbHHrtmyK-YD-ZIIKCM2itvQSaK8R6zUF8Z3hytigtIFg_v8IzO0Q7Xgq2o6ejeVOVEDPYDe-wF4XrZvGQY9-j433c3tddB9VKYoQfG4QBrncg642Vb2je0B8e-jjzMJx3oMkKqcEnuYcrm5683pCHiPu-hSsTBW8AB3jzrm-t-Qj-JlNFk2NMKpVMB7odWOY46JO7tArEHed9sCqYksGFGMOCJ6qKWXVh0y0SSHUHvo5PWKyZ8o7RnovFfIlk4_DM6YzDwK4UyFr5SyeoXuWjR8j_aV6vQEEiQpj5MJiK-CdsTNILK3HnIq48F4BNk3RmIj9BPmS3yh-CKzhTJa-AnoAHjQ04-SWQVJCL_QT7C5KAt2NSoRtOEGtZj161KmFExb0UjYtBBu8izHOD0Mc52Xty2MJlKyDOQRhaeagxD_ksr0vhoaZ3DdxnlvMn9rK8ejaSufdsYQJfwX0NUk0NLzNqTwFKVP3YcszHmsneUCIUk931CFremJOPc8X3UN8xj-sb5tBnXVMndGZ8laVgeZN1GpJmsJcIXQmv2PEjHUHBi-oblPltsQl7pmtKUfpZLdv_TtpHf00Oqvzyd-Qaq960ptz-_OEkE0DCoIOFo9f8U_d6RkAO-hN5AJbS7p2CMt07cXgP1d3oXoQQLPuuEbs2OmBHAqO8X_jfBO793P0e0bo4GnUumQ8uNNucRd5b7_SbtdyQpsp0jy_e4jsmJNiH0JaoR_tvhSmFQbthoT05gfXp6kbX-zRJkYJwzuiStWEhPj2xczDmpV89OIBJ0mrKjXQDjVhthSw0AGa7LhaY-28t66q7USAEqh71q_smnd-X1eVq4l6lJngFittCORmH-XId8Cku4G0afmOpCsaKyTjYlLtERkeTaCXWQqbU7XKtiojF1OPJDGL0uv7T4jnJeb9cu9TKpVZOnUXBuCmsoVT6zPZoXWnaW-Ree3l2b0Ph-3rCuoN6By6LuuAKZIiONMAqNG-cwSKwzCCocBj425U9U0Y1rC_1Lt1EA0z99lLfh_QvSUpMZa0aXILN0-YJWjYb6tl1455m804Fyh0GCau_Qyhhwv9KgNHqK9kliBAxHm9skKQGzTLgiM8Sv8pqjrlI66v-1wg-s_F5Kj6Y0HyBpt0EJiDr5Z6IXy0_h-dVk3ukRr-yhCLITScfqke3g4HnKTO5l0uGeztmwNtI6XVyplWAFC-avT6uVfLqBjTu9mQzW-ZO0snEOv0VbGlYcfFaj67bRCv2r0yA2U4DbQaN4MpqNXxRiUbpMu7itJsqtVXz",
  "id": "rs_01751ee5dc733f3e016ab437b8ab4087d09879e550adf455d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4,\"right_z\":0.105},\"note\":\"The right gripper closed almost fully, so it missed the pink rim. I’m reopening and raising it before making one measured correction to the approach.\"}",
  "call_id": "call_sad38ru46ll6GrF8AM0hX5r5",
  "id": "fc_01751ee5dc733f3e016ab437babe0887d0a35e9a6bef0c535b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sad38ru46ll6GrF8AM0hX5r5",
  "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]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4644, 1.7638, 0.7929, 0.2066, 0.3332, 0.226, 0.3969]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4084 right_y=0.144 right_z=0.0389 right_yaw=0.052 right_pitch=-0.1451 right_roll=-0.0403 right_gripper=0.3969\nstate[joint_eff]: [-0.3624, -2.2769, 6.9949, 1.3797, -0.188, -0.0806, -0.0122, 0.0889, -8.4171, 6.4615, 1.5946, 0.2906, 0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ddfa792df65c40a01c1be685b63d93e5ef0bc29586ec59fb68f0d944f44c76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7c9b9e129444b5ac418b966520f6e25abfe69b2e396e0f46db9d62ae66c03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43fb8f9eb5c3f7670767f76228e5dc9cbcbeaaeb7c7178d8442ccbe93f0f1a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

message 65 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9813, 0.8429, -0.7197, -0.3069, -0.2096, 0.9988, 0.5121, 1.565, 0.7792, 0.0334, 0.3813, 0.263, 0.4026]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1768 left_yaw=0.0126 left_pitch=-0.2395 left_roll=0.1073 left_gripper=0.9988 right_x=0.3835 right_y=0.1443 right_z=0.0853 right_yaw=0.0414 right_pitch=-0.1193 right_roll=-0.0368 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -2.3316, 6.694, 1.6239, -0.2271, -0.1294, -0.0024, 0.335, -7.4188, 8.3624, 1.6825, 0.2076, 0.1734, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4656, 1.7679, 0.7925, 0.2169, 0.3325, 0.2272, 0.034]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4093 right_y=0.1452 right_z=0.0388 right_yaw=0.0535 right_pitch=-0.14 right_roll=-0.0366 right_gripper=0.034\nstate[joint_eff]: [-0.253, -2.0718, 6.8991, 1.3895, -0.1636, -0.022, -0.0122, 0.1162, -8.7726, 6.8718, 1.3162, 0.2515, -0.0513, 0.8376]",
      "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]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4644, 1.7638, 0.7929, 0.2066, 0.3332, 0.226, 0.3969]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4084 right_y=0.144 right_z=0.0389 right_yaw=0.052 right_pitch=-0.1451 right_roll=-0.0403 right_gripper=0.3969\nstate[joint_eff]: [-0.3624, -2.2769, 6.9949, 1.3797, -0.188, -0.0806, -0.0122, 0.0889, -8.4171, 6.4615, 1.5946, 0.2906, 0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ddfa792df65c40a01c1be685b63d93e5ef0bc29586ec59fb68f0d944f44c76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7c9b9e129444b5ac418b966520f6e25abfe69b2e396e0f46db9d62ae66c03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43fb8f9eb5c3f7670767f76228e5dc9cbcbeaaeb7c7178d8442ccbe93f0f1a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe_5tZ4Kzf-wRwX6I5jZFZI1sR7H5Qke4WugX7BpOa4i3G_2GKgDj2u4DBxYDChP03WbjpcCCJfiGViMdUKYGbq9Ll76TJ2pWOWr1flZtdnCJDMhceeakRMZ1thh4I2qTByHMQcaYapqkQ6h97CXHSs9PBWnV2pqh0Q3cqwQVJEAAF3MKe5yAeY79AKZLq1de7QxQPcNG9-4Ar2OysQZqbDsG9iYKHladA_aCLrixiX5dZOS63gI9gHhd-jLV4clm8_-BPPCqKDL3_dhBEOoo4eaM7fTMDCV1KtVA39tf43Pwke1zM9s_o9pt6vhoAZY9ho_0YS5Wjh8lc4QID2THbUTWv_gY0Vrg-Tyrqj9gCFHYmwfDCX2tYfERhKoU0IMFHyRgBFzBxAc7duxQCS7NzWAXeuDT1mjvNkxdbyQoNd9h8Gx4XKWaUdNo3d07sPOwawgeK-A-z4h3Q9Jiw7PNZ31wmaF2b_uf-16FswL7goq46vznPEuHaMaCpNP1aLplgG3VtDW5N9HQv6RVzgQcAnpCooha76HJplNj55NIIvbtGPf6VFrg8SaidqajRrCGD5zmkVlq2sd6uyPnqHXZJ3VjzPo2JADX3uyTtjkFgj_ANhE2Ai8cn36LexD3mGTxCMZarF5Z5mYq5NZEjPCtgrxznbbJBB6OCzvZblJ91oTyEicDHrBNVSW0V0bu10h4LbxZl34Kd3vdfsU2O8cKVORQFBJ7VvPU3LitVQZXr0BCNS8lV9dP6WZ0_Cfp5_S9ounM7OkSGVRnSLPWbfpGDn1k5_zgFpJorsG3rn-aVZdYUwp345hS3HQk7nR0XWluevEmmIgrpo_SJK5xrj3c1WOytqJhAP6ebqtgY2YsYPEOw1CKDJiRb5aFs698yH1W9R0W4heUTI8sMQeYbcRtDybUExwnhNgeJssiQkhr_AcUPR1vA8Q6fG7kGbkqzG26bHH3Crn1AdoCC8b813yn_cxNDFib-gSLe6HNLcwYWFizo90fYDay-_yOl9JvI4hfeXV3WF20J6KyfcaaIEmdrD3qQx6AKGbyuaYp5IJTSFCGPR-D25Rk3qYtmTMWXcJ3kgSQ0xM91c8viVNXGz_H8dt3FL8YfKIhDCvdtPF2_ryquee-1Yly8TmySjgF4wfkwdg_zDd9xRO_hqpLdcOIy_1p7N0M52N_12U1uBf7N53upi5DZ-6D2HsVEOCau1lxZhwvIv3w2EgHzFVAtftS6ouDAe_ZMeEnCZcYuQEurlXmd7TNi3aD5Fm4QVdhLLwNIWFtNJzZKfL-jW2P_yaPkswyKgYoxEPMSk3QfwR6I99mqGKs8HuXhWQ330qIWzpGxN4g5vl0uTEHVIuFHB2Sid5wA35VpUfR_pnNH86d19-TvA5HKOajVWbowMPkYCH7Zh7WniIpSOBVwJANJClNZDn_-M5BtvosDoXtzPLcxivcz9RIQeWD_uDAyYxo3G95iWhHFC1_ZkLeL7nTvoWqCdh0ldpOl7n9-CAsWx1Q4y48Qh7Q7oFWCnKwrPCcFOnl994l-ssnXo0v3EcWeApobKGmb1zVgMXzQMcYuKcqw0-pPpkj441Hn7p3welbgQchsuN11iStmlE8Mfbe4M9EU1BUJByjHAfdl0oXMpadtT2Pgr3XokZ3EVlYX2ILi9rLujI2EHK-55oRNVTD4F2SUfcUreVo2dweFBIbElbD1WlOB1s3t2c0f3ucA2Dhfu-D359DLgzBCBTTsYcKqtAbEJc5h2t-JJAI6Om9FoJb8wDFeDk1rrDqV1kkcU1v0kLlWpZ_ovt0DjDkgVKo1svYFGv10ndRI3iF6Dws-umQy2pda4hJnvvphplhI1VAyZ0pe25tN4CspZA4fKHJr7HS4uuZ8BkfyBMkXzofHBV5-37xBKQJ9DGWSD9srMUUmQ3mocYE1bO4XTnUC2ViFdx0wdfv3Gx6CqUANSvwG4JbLZSgT9ksy4FnF2fgpjzG50s9kk_vhAcpbYrK4ZCT4sszNQZmkYiXAC3H4fNygk8B2IgEzcguxCs1kXuhg8A6cJJsRFHGQ1Jhr1LoJtT84H56wgKA==",
  "id": "rs_01751ee5dc733f3e016ab437bdb42087d09b44bc1c81540d9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.16},\"note\":\"The pink bowl stayed on the table, and the attempted straight lift did not raise the right wrist. I’m backing the open gripper slightly away while lifting to clear the bowl before retrying.\"}",
  "call_id": "call_TMdyx4TEP1qpxsubivUmFz9m",
  "id": "fc_01751ee5dc733f3e016ab437bf0cd087d0a62dd82263649ca4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TMdyx4TEP1qpxsubivUmFz9m",
  "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]: [-0.3462, 0.9859, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.5053, 1.4738, 0.9596, -0.2756, 0.3397, 0.2363, 0.3977]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1752 left_yaw=0.0129 left_pitch=-0.2459 left_roll=0.1101 left_gripper=0.9988 right_x=0.3802 right_y=0.1471 right_z=0.1386 right_yaw=0.0803 right_pitch=-0.1663 right_roll=-0.0472 right_gripper=0.3977\nstate[joint_eff]: [-0.212, -2.359, 6.8991, 1.4579, -0.1832, -0.0659, -0.0122, 0.3761, -7.8154, 9.6068, 1.5849, 0.3346, 0.2173, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec1eb7b1bd43a3f4aa72320d6d9c6d26128066f28eaab6285eeae139c1512e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba489dcde24c090bc6f889f7fa7d33f685e25ba792869e6d3fea4b1e6f6cb8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45458ac16889c846ec9a07846ce8acf2cd4861ed9b3f6b31f4cde48f9febf6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9844, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4736, 1.7336, 0.7921, 0.1463, 0.3573, 0.2424, 0.4026]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1756 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4008 right_y=0.14 right_z=0.0417 right_yaw=0.0308 right_pitch=-0.1657 right_roll=-0.0564 right_gripper=0.4026\nstate[joint_eff]: [-0.2256, -1.9077, 6.7214, 1.4335, -0.1636, -0.0366, -0.0122, -0.253, -9.1966, 6.7487, 1.8388, 0.0806, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4644, 1.7638, 0.7929, 0.2066, 0.3332, 0.226, 0.3969]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4084 right_y=0.144 right_z=0.0389 right_yaw=0.052 right_pitch=-0.1451 right_roll=-0.0403 right_gripper=0.3969\nstate[joint_eff]: [-0.3624, -2.2769, 6.9949, 1.3797, -0.188, -0.0806, -0.0122, 0.0889, -8.4171, 6.4615, 1.5946, 0.2906, 0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9859, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.5053, 1.4738, 0.9596, -0.2756, 0.3397, 0.2363, 0.3977]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1752 left_yaw=0.0129 left_pitch=-0.2459 left_roll=0.1101 left_gripper=0.9988 right_x=0.3802 right_y=0.1471 right_z=0.1386 right_yaw=0.0803 right_pitch=-0.1663 right_roll=-0.0472 right_gripper=0.3977\nstate[joint_eff]: [-0.212, -2.359, 6.8991, 1.4579, -0.1832, -0.0659, -0.0122, 0.3761, -7.8154, 9.6068, 1.5849, 0.3346, 0.2173, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec1eb7b1bd43a3f4aa72320d6d9c6d26128066f28eaab6285eeae139c1512e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba489dcde24c090bc6f889f7fa7d33f685e25ba792869e6d3fea4b1e6f6cb8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a45458ac16889c846ec9a07846ce8acf2cd4861ed9b3f6b31f4cde48f9febf6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfDEE55RRHR6HF0ykApI-UBjX4rju-BWix1UuvdaMBY5Q8_wNt9PHAAD8bHjF1y7OP8BYuuielPZVlgk-W86uTq-0GkbBnQKYY6ir_pt0Yv7DnM7V7TZGvWRsrhN0yJL9aKCW4E8ftOk64E8DN2UTaPRv6a3oYn68cF9nDfyH6NyuejbGNUU-bboG1xila1JO95sBZUNCgDAYxRJs3Kk2cGVK_1obuXmZKJzCP5AhXiK7ppNGV5fwnvu_jNjLhI2AtrSxu2iq9AeKiDv5JhsC9qMn8VAPsbJasW3w4nljHJ9cJyTaQrHEI8QSTV3Eup1s7rYa1pNmMLRjeCPEJf2n5dbiZx15g_zwlGt2LcIfFDxhgdTQZBIDJ4-FmBVhpqxLtUB6u_J_zziIvxCB2UhssQaACxMTcRMEkKElZ4KtCH3vEe-VZzxXtWDvizUHwjWUdMHvu889XULc8_SZ2Q87cD1IzxF2B6GyaYGkg5yoI3qEI39NOATxbaSue8XKKrsyWVkslFRMYvaowHz4g3tcjziVuymIWUZjVU8oP8JFEIuyjK87skTTNbUOIvZ9oc8dpHxt6x1ATAYWNTiiLJ9YjZJ5f60dnO0tXhUKcfQVTAAqSM1LQxKBPpYhdsZ8HVXfl71fMUVahp0RKJqodvC1I25cyqhn4RtFVa8n5-Xu1sh5P_Z6hkSJj9KLxLAiFXKhLPISKQZ73fqTx1ULbRCo3Xlh5b4psbE4vCbCCWWSU-WFVekVE-V8XR6lbPolQn2mji73iGbYP2YiBpIIykilv3iTcYkHIfnZT4OmdICD3D8CzDVgGV3KMV9k8XPZI4pBfcId360cXtw_wVqAKY4fI19ZYEoQQ62NkMivmp6jF_f3c3WFRjHDIvJE3NzRuoP1aP4rSAe3xFqJBVYXvUICNQElYCTY1yNk2GA9vrJIlnS_KL9EhmuJ58dFrc9goOPoiIc-zUc8iwm_mj20Mh7eR-eKQIKEu6Azh3jxXd_I5dxfcCYhZ1JMc8W6o0gxPp8SLMibY4ackPIeAJRQhjCqbgMclQzIYYf5vwmxH0VZv_J53EQr8_u7PyqUFskpbEKnSEjoKhw1ZIVLqLds1XxpxtINxhcgMZ2bDxPSMSlBvjbglIm8kEXZ-KynY5XBJ57cg5TpX18KlAlKF2m0cUHEJGOL3on1x8UI_8NxWdDVQ1CSJwpic8mNGju-7aFz5-qKJT9C6600CZfhzAY9yYV2Vq1Wq0pb2cI06QyIQh9-DC88llkuRJOI_ZL4a3Ehrfda9W3yTX-6JhS4lhiBnwg-809nmaC1E1HhrJHvgkioavhSZmWa3GD5xnbWFRpzGYw2C0V53ohtGPcO6A7rypof8QIWSpe7FL6iEsuEBzCOh1Kv6M5ZLmTp89O1xxwLc6OWIWgJ_XjOnk8GTv5KsOLbhKX0g7UQ0Rpo5o7UhOuXCV93XH-3oHxjLRz537OYu6PkOtnbC-j4FfSSM7WAxqb_Ce81kppziUkMKOYk_jbEujGFBFN04jwYW6Ppa_RDaHhiaZ0YGP3COoYKEHQwLG61j5g1HN7tYox8xMswxUeOBfID5JvZlxdtriQiOhYhW8YsCihS3ZOBQ6wHaXuDwmZpJEbVAdG14s06yobuNkLf2rWzgBhIT8HtIMH-bdCoBjkqOgMrbCqGuahThZ89XGbAKXUe1wD9Q1J_-LzCzCzdnLJrFDnExM2yaTwJMAfF6IvG-sPLTwwT3DqVRpdzCb5Eqop0b4FIDzSCQGyf5ksXWI10rHKv9EeEwJD8u6KReux9ZC-8sNRfrylJU8C4Ra064Wb0uUct9pJieJyH0AltPOcoEoOI47Qhl4izw2KPzHjVsmzgpQrQgljCE4uF3biCxS3BUtm2vbwdSxZCT5Bfp0MGIrkY5zbvJ6Rwv6DBVueZYNF5d6qD9CvjjWYh5Wx9QSl7gYqk17E1TmHK6lZtixADw=",
  "id": "rs_01751ee5dc733f3e016ab437c1947487d08c30ea8f132fe18d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.16,\"right_z\":0.099},\"note\":\"The right wrist is clear again; the pink rim is just left of the jaw centre in its camera. I’m advancing a few centimetres and shifting slightly left so the rim, not the open bowl interior, lies between the fingers.\"}",
  "call_id": "call_R84E6odgSWNwmyyHSGHjIuhQ",
  "id": "fc_01751ee5dc733f3e016ab437c2f84c87d093ab3a0c4136bbd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R84E6odgSWNwmyyHSGHjIuhQ",
  "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]: [-0.3462, 0.9894, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4774, 1.6974, 0.9829, -0.178, 0.3222, 0.2157, 0.3978]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1743 left_yaw=0.0133 left_pitch=-0.2495 left_roll=0.1115 left_gripper=0.9988 right_x=0.4032 right_y=0.1497 right_z=0.0738 right_yaw=0.069 right_pitch=-0.2663 right_roll=-0.0924 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.6051, 6.694, 1.3944, -0.1978, -0.0464, -0.0122, -0.4718, -9.4154, 9.6752, 1.746, 0.0904, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ee0caa38fbb131df6232b131a7300d82a547353d5880dad0b47fdc523537fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf85da1eeb843e170913eecd784d11eac0f49a598a92ab9a0d0898b9016bad67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4687a61bcdc3d8cb0ef78dcc583053058a9f7b1df4afa99daaec9d6ce3a920",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4656, 1.7679, 0.7925, 0.2169, 0.3325, 0.2272, 0.034]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4093 right_y=0.1452 right_z=0.0388 right_yaw=0.0535 right_pitch=-0.14 right_roll=-0.0366 right_gripper=0.034\nstate[joint_eff]: [-0.253, -2.0718, 6.8991, 1.3895, -0.1636, -0.022, -0.0122, 0.1162, -8.7726, 6.8718, 1.3162, 0.2515, -0.0513, 0.8376]",
      "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]: [-0.3462, 0.9859, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.5053, 1.4738, 0.9596, -0.2756, 0.3397, 0.2363, 0.3977]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1752 left_yaw=0.0129 left_pitch=-0.2459 left_roll=0.1101 left_gripper=0.9988 right_x=0.3802 right_y=0.1471 right_z=0.1386 right_yaw=0.0803 right_pitch=-0.1663 right_roll=-0.0472 right_gripper=0.3977\nstate[joint_eff]: [-0.212, -2.359, 6.8991, 1.4579, -0.1832, -0.0659, -0.0122, 0.3761, -7.8154, 9.6068, 1.5849, 0.3346, 0.2173, 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]: [-0.3462, 0.9894, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4774, 1.6974, 0.9829, -0.178, 0.3222, 0.2157, 0.3978]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1743 left_yaw=0.0133 left_pitch=-0.2495 left_roll=0.1115 left_gripper=0.9988 right_x=0.4032 right_y=0.1497 right_z=0.0738 right_yaw=0.069 right_pitch=-0.2663 right_roll=-0.0924 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.6051, 6.694, 1.3944, -0.1978, -0.0464, -0.0122, -0.4718, -9.4154, 9.6752, 1.746, 0.0904, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ee0caa38fbb131df6232b131a7300d82a547353d5880dad0b47fdc523537fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf85da1eeb843e170913eecd784d11eac0f49a598a92ab9a0d0898b9016bad67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b4687a61bcdc3d8cb0ef78dcc583053058a9f7b1df4afa99daaec9d6ce3a920",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfHrMyApde5KvIs8pTm6b578-ZHJhyPaqd3gGt0Xwzkv6keV1Y_HbpvAq9XuRLXo3Og-3wId_JXwgFLZc55k9pLEvC026WupCUq_uPV6vMx2-2P6zTc20HOU0rvEX-JQIG8QDMdJdqQbUCMadDq0QSMPc8_ks1d9XKyszfa6ZBJFr-3hInnLbmqXqpH6aPSiYSZLniGgVllha3DbA4eRuUwcLtWKhSYNWW-JnUwmIInn0p0DEGTImRrtOnEKI9C3vu5jvRefaItrxUn80HI9iWOJwfWmZ5UCz6qyZW8-dryFyOuQe7lmxdqvq-57ZLv80jIDK6tlpyz5AmY6WxoG6iYxUneAZjueq4nTwwQPxJmXLZiYk1Bv39UJM45Y1J53DOvb4wCqjKrz9ZCw8dOO73sMDto5CdGFTkh4DdKHToHrrBiWWZRiqQngFI0ZYPeB_OGNdxrro_YmKmZkWuWwoSwjRQCzTEetXnoCuJ9RjeljoyN9BgkTqGQ3CB1XVcrB_cLQXMm4I-lwJAUxyhSitOvX4F2agifulTGHh9Xm8xet3udSdVLMpHDOuhLffOf5x497bAsz6Fm84eJEJts_qH-01UT5qh9JDdZvBzaN01utfQUt_ZAKfDf4pqESc6b5XtVpfgvIqfH6ofwx405YTJ7Q3mE_8JZSOjZNzCZLD16F5QhVkXFHDBF7qMjpcpDIgYHSjv1dtT34f_WFqwnIhCJWuBhP9p5Wrx38Mwwr2R__7AMeY-BHHYoO9GSMVq7bcr5IjmDXdqfCuOub-u7tuBhAWA0TKWKtvb0wVOdB_aPK97RMVKHH7x6WqIp0PRGv02Qs_X0tS7_dejGKLqlYF2xi60CqYRYs4NmCxxbKrR4RtSyz632XNc0_jPHsrxccfWHpAst7mJAVHT1zjFe1XBi_xXuUK97hZ13_HvwNsSR6zt8Cpoq7l5Xk57x7BAxTjpZ7Cy_OFQtsKbtEIYuxlyJl5iZRnveW34B3zVF73hJzzzUiphmM2ebce1DyDxVwZEzHCyzpWTmvU9ndysdzvrM5SPYSpCEEAYH6wTbIheuNNXoqAll960SlG76turUOLpmzl0bVjkjjraKdgmnNKgxKeHn8F7ldv2LvYmnuYqqkBUphn62ivyLCd_zISU7ufxVb97iRuzS6-L63tQXmZ16x2eVsUOkXW5erk_0qeQKoQ-H4R8tikBqRx29Gvp_senvEzJJyepGu2bbwj69cztb-pPa5RTPhQUanCm4ltSXbyOB_SwP7xlPHUBD6gLNymc7Bampigc1j-dYD2IJLMg4eysKE2mki8NnHqUpOHIOtu8f9q8HbFezoVrx7WvMIHvsffrDNuCGwpblIKz09_GkKXS0GEVUGgAmMUIZ3W73XMAHB0e6xzh1hyud3sDJvfcX_YuAeYqEgq9Nyx3Ndnmmlgsc6_xckkKkQpETUKoAZO97305JylT29FyIg4ZjNVUEpm3Ya-BIwkGqjvZy6kGgT72deyOBWyO4AXrBlE1ZpWcAoE1A0IK-Vg9AiopuBL1MFdbaETU4EAeJUi3GWLr9IqGhCaxcwToKIsdW_VemkHHWewUmipQUfNhc5rIgzDuunY5XDLePlcc7j6eLr1mhnK4TKXdZqnSrx3gbJphdekv6lj4lQN8cclbgyis9Ec7Npv5AXUrIH1r3wgKACIZ6YR6deu6WH68RR8Xrx7rILBMlX2uRoh_wrWN5ebklOSYHlhSFDFALsWYS11sALtSM6uR8a_9mSIm39fFgMOiw3VM=",
  "id": "rs_01751ee5dc733f3e016ab437c53c0c87d093a6a8d9133b13a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.048},\"note\":\"The pink bowl’s right-hand wall is now framed by the two fingers, closer to the jaw centre than on the first attempt. I’m lowering to its rim while keeping that lateral correction.\"}",
  "call_id": "call_6JkYpUl7XEC9a5D6IGE13xPX",
  "id": "fc_01751ee5dc733f3e016ab437c655ec87d09f05de787bf00575",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6JkYpUl7XEC9a5D6IGE13xPX",
  "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]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.0342, -2.3179, 6.8718, 1.3895, -0.1734, -0.0464, -0.0122, -0.4034, -9.2786, 9.0188, 1.6581, 0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e36392c026ceaf25c5c5cca5edd947f8d1c9fe5260f66c5837b02ae66e37d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db77fe140d7885e89d3ff5554b87ae668bfc4b29bb4892445ed817adfe61de57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c96425ac108be2116b5dd24ad31f937058ce2ae11032c5ac78564fa5bfb4e22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9848, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.4644, 1.7638, 0.7929, 0.2066, 0.3332, 0.226, 0.3969]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1755 left_yaw=0.0128 left_pitch=-0.2448 left_roll=0.1097 left_gripper=0.9988 right_x=0.4084 right_y=0.144 right_z=0.0389 right_yaw=0.052 right_pitch=-0.1451 right_roll=-0.0403 right_gripper=0.3969\nstate[joint_eff]: [-0.3624, -2.2769, 6.9949, 1.3797, -0.188, -0.0806, -0.0122, 0.0889, -8.4171, 6.4615, 1.5946, 0.2906, 0.022, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9894, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4774, 1.6974, 0.9829, -0.178, 0.3222, 0.2157, 0.3978]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1743 left_yaw=0.0133 left_pitch=-0.2495 left_roll=0.1115 left_gripper=0.9988 right_x=0.4032 right_y=0.1497 right_z=0.0738 right_yaw=0.069 right_pitch=-0.2663 right_roll=-0.0924 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.6051, 6.694, 1.3944, -0.1978, -0.0464, -0.0122, -0.4718, -9.4154, 9.6752, 1.746, 0.0904, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.0342, -2.3179, 6.8718, 1.3895, -0.1734, -0.0464, -0.0122, -0.4034, -9.2786, 9.0188, 1.6581, 0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e36392c026ceaf25c5c5cca5edd947f8d1c9fe5260f66c5837b02ae66e37d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db77fe140d7885e89d3ff5554b87ae668bfc4b29bb4892445ed817adfe61de57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c96425ac108be2116b5dd24ad31f937058ce2ae11032c5ac78564fa5bfb4e22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfMrKabJ_VIn-f4SEs0fx5Y9fOW2nbkn9gVUn4036da7J2IeRUDJSSlxAFpJLtCnA638th0R_a4nYF_e9vMxxpYv3KAg7-7LzHluaGyqlS-NNJep6kcSnhJHcdN31JvSk0za23V7AZ9I0kt83s_ZSFwJRE9BkRGAbj9yT2jLyeJGtBCqnuLZbk2h0DTic4mzpekGs8PmTdL13f4JVjeaZw2IWh4U2N-nfg4ZTrEw-Ej-vo0O5Q8jujO_jwEk9Mda7TJ1_hoUa_6Mbj0TOJ_KK4CfNDA0mRE_3aCDTM7F2YoAjmTHGUlw2H8ozdj_sv7QzjkiQM5jUKP6YN_bm475Ahj1T2YlKofNyGIZNLFjt5A8CIFJ45Tjon7tgSXTeXXtkQ3wiWiAUQ9nb6JlbKKFi_zj-cl1vklwcGufbp26_0bw9tCuwdUUq15W63ruXG48jA9cfXuXouVqe77fPLytbTOdhE3AxuNvow52JAzD-ND7FIm8z3RuRU6C54Oc4e4TEg4nd1jTc9Q_27wVZ-E58qqnF-hyp1p1ZO_chN7AyR0TXWt6sVwvh9MQstNbKuU9wtzTVxKHovsgLxcAyhoKBP17VcctOfq81tNSyjyfPH7TxC0FzdeyWK_LlS_70WW-IzvRHtN1E4xSy_RQaFBt5Mx7l2biEyxzRhCTV9yD8nMloPujILhZGHGbcQKdRAsebTwJOD-GX10JHTdaqbni6qclR1xJiCa2WU2QNBltS-9Pb8Tdzt-RUdzJLExUCnDYJcbKNYvRvCyBGjY-eF3i7VK3NXEHdc7Oinh_Set4fpA4OzlZpgEmeq9w6MxG3G174F1sGPBgIIqWyPPc2hSNgzlnzt-rOZBKFYob-7TorW3ulkdw-4Q5spnang3MMqqFKB8T-k3Sy7vECwyZF6I9a2HVAWNEvbB-EbKRjsd7p-ndz9PtekA_o4eQHtSQi6hAWV86LDD_0TvWw-LkLF6WdoyBCJ4ynlsPkCuqd064bNK5yDjiCjIY2LnFvfllA5NmTm_n2a-_ZmxlLi6A9TDBPtro7panY7nPnOk3v5MKvPi4ltf9tcIqsuic_9t4VgZliuGDTo7MWpeWdx6TL0qd7-8shVp5zzSRXHfXWcEI8rMN-wuQNFwpS5JJ-aK90ugIMDhwABHsW_oy5KrVTkJeCw7AsENJCykCDuROrSfANAF7kmmhr21JPS3P5xEnM5Rcy9lTbEV0H4PRyHZmZEv2CtuzrLnQ8MPlZIyI7yt_R_PAujZ9yjIWqUSzeqy6vuI4lexoN0b3-P84VFDT8DtOFIH0ot6r1y5zHGHVmc9buQKsfxh3ikBIdB825GpA9sQpPCnVXiu7fdDdTsjg4j29GbjhA3k3XeapO65LVbXwuSh4fNf5O1f3XNe1nJVfUBjYjTVU9e7ehnIAru77vLxh-hHOBE2ju2SKHgGu-iGMLftZu6VQhcKTgS4bBLKP-kl2M3VM2v_3GUSUsq5mD0caW_I3pIMYAw9BnrqHhY19wBmjDQkYMz21uaouHVShhQsb_y1Y5se_aBEl9xf5o-jmIs5H_yG1MzMXKVP6bGW32Y177-Z88qm6raeKYrR9cILLibrur2bniLpX98zt7yuevKuO_yzJJQHDIPmQEgiwAl1WprNO7UVpbufj0b3nt_QDbf5zBBa6-gJn_cQKZnb6os19cUiIhV-imo6QY1CBZ6sbhY_G-oQI7tGWf1dOMI1NBdruoabVElHzYF_XVKmGLoyDe3fMzHFuQaIeMYTSAh8G6DwV8KlwI1E0nvKNsooHDkProRcRK698d5xr9qAwS51w8TWR0KaS6qb5lwd9YFITBoKsoW1b1ixtzJHTtZSQ8e2iUH3CKxgK5Lcg3ZR0kZASZp5xlIv12vk5ENa27AvGijbVqULhZy0oNZeu2R9gvnbKkAnZpvAk7Iya55gAKPwwhmWTtBqDs5SWTTO-vK4Iw9CYdNeM8_obZCCRBnHXBHKvSHAKYlpJQ4TZwyqvh83YtuZMho7fEU36KarKA8DYie6B_wikO1M12oU2IAH6UlDGa3tzVRFobev4lurcVFMyiSVPot1beGv15f0Puj7K-QqPNU32ZLLZpCSVKbMlgbxhyh2YJDnX_h4ieDKRMCrRvgdOyKuEmNMaP4PDLoVFtBhd2YitlAGhmGig_yjnluq_XNuEI7f7QbYVKQi4l-IxIQySze09ovsvoPrz0Lij0RC2jvTfLrly-VtTrpmqDb592pDO5_juEbdNFUN_BEjo1eC9odjZnM6jBJhqPTo8veRFIKvwnW8FWGgvPrW67ZHYA09pdUSYLlg_JwpjDcCpzRqp6pqD5DviQ282yheQV3Qq5BOXXRbdpsDgqvcvWxQd3D8XzEJL_3eOdl67OCDp37niumV5GPhEVMNZHSursKCbK_KhUwMOD18KijdhyQdXaytO48GQ9xjxH6jZC3Cwmum5oAkyuvpZ3JoswFoiaOmQp7B2HdeX_8Ydn0S5huN",
  "id": "rs_01751ee5dc733f3e016ab437c917b087d09df26282af634a20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.394,\"right_y\":0.172,\"right_z\":0.044},\"note\":\"The right gripper did not descend as commanded at this forward reach, so I won’t repeat the stalled target. I’m easing it a few centimetres back while maintaining the side-of-rim alignment and lowering again.\"}",
  "call_id": "call_IlSGso72DqHqXUrQ3ydokLqI",
  "id": "fc_01751ee5dc733f3e016ab437cb5b4c87d0a7fb03d9f0c60bc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IlSGso72DqHqXUrQ3ydokLqI",
  "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]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.1846, -2.1675, 6.7077, 1.4042, -0.1538, -0.022, -0.0122, -0.4855, -9.265, 8.7043, 1.6532, 0.2076, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfa5bffa4cf6f3f862eac11db73f60bd6388d85774e76ac5f87e7edb029d562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6021d65e2a9b2d36c1209e5a5066910da0a2a7a9aab0f380dda1a9e3158571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d23a7e23be090924086e8c544a569bbbbe6d035563d744ae1928a7cc391057",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9859, 0.8429, -0.7219, -0.3069, -0.2092, 0.9988, 0.5053, 1.4738, 0.9596, -0.2756, 0.3397, 0.2363, 0.3977]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1752 left_yaw=0.0129 left_pitch=-0.2459 left_roll=0.1101 left_gripper=0.9988 right_x=0.3802 right_y=0.1471 right_z=0.1386 right_yaw=0.0803 right_pitch=-0.1663 right_roll=-0.0472 right_gripper=0.3977\nstate[joint_eff]: [-0.212, -2.359, 6.8991, 1.4579, -0.1832, -0.0659, -0.0122, 0.3761, -7.8154, 9.6068, 1.5849, 0.3346, 0.2173, 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]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.0342, -2.3179, 6.8718, 1.3895, -0.1734, -0.0464, -0.0122, -0.4034, -9.2786, 9.0188, 1.6581, 0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.1846, -2.1675, 6.7077, 1.4042, -0.1538, -0.022, -0.0122, -0.4855, -9.265, 8.7043, 1.6532, 0.2076, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfa5bffa4cf6f3f862eac11db73f60bd6388d85774e76ac5f87e7edb029d562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6021d65e2a9b2d36c1209e5a5066910da0a2a7a9aab0f380dda1a9e3158571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d23a7e23be090924086e8c544a569bbbbe6d035563d744ae1928a7cc391057",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfPPzuBJXbdO38kR37HnDtSO09ZuLgQLMlxhDXA2W0sK9qIWW_d6sAM7kgoqOfiHcEczit3CHw8TP0FncGtz5PInPP7gIXQ_LUBjgHrHAc2-H61B-xgMrUB_1_ac0h8HsMlLG0cnEZSf2QelNEJe5a5g77hZ0oyW6GozjJYaYv1z3HWCpHgW2lWp8qUpqWEpPCW1yxZeewmXwA8LL3G4znyN2jJ0mTNGXwj3OQq4kmprOop6SlmLB57FO1xnUPQkik6yAxiktha8bBspD7EkWHYru0CcxEcaD8qz_3nIY924nP12wSKI3jVe6wpl56KGchx99e6phNBCQYJmRVyocYhnrfirAc9FbmcQhfSelPoSm3gAa5r0oRvPJ9oB_m-6u9dDB-p2jQAMtRzVVPhiW9Pv8EibBx7a5VlBq3ilMu-Tzy7kFCH4-gNmupY2zsGhU0ScAW-4-w2gxsASrK2taEda6HK8YErRyUNq27bc-bZKsiaIG5SG4sqJ6g8C5VHhFIimis7wJn5MP8K28D8HXxAcHlNtNwC7B4xYpSDhGC3NnY8XCZVt5uv9O8a3GUWkV2kl4yxh2jWRNz6ldAnhlCPyc3s364F3e_BXs7k8tiZnwIrtsIzuYdQW2qHstOK4P5PgiDQKswFTnhSYK0XOk9XLmrbpwiLJLsBA1PCX5LqkgtZ7VubO0ygTa_okY6KBj9r5SrHLKwcHFROFU5B0lE0_mt2A0ye0T0qcVWW5Gzbo6yuvWb9K1a1mviWvMoxy29zhx_gy6LSCKE4NEjM2H2SIe5HnyNzeXiAQDY1Iqn9pGeFy_IeMT0LezkDOaqBizo5ztcmmLASinUUjzUQQF9PsARmmAI85ZdYRvQJ32GHUINc7amVPGJvhYFGR49MY69uFe-zHfltSwbiBV32yTB1j1ET3LdntT7pmENEVq55x0KE0pcQBdnh7KkwUDtUf4iLi9q9yJjk9V5xBLNnE5A-RlAska8HPiZTNt8G2m9q5Dyql88TDZUx5NXkBgWzbfz-xQ3yPX29VjsdcG93XOcM-HXAT5VgzapONkJ5F00NjLATV_bPGNvhFd2K426amPzIizAcnupR1earB6Nq8ScwJzwPCTajwRde_VpaNzug-uxL1F1xd84Nw_I_EgeptUHOcXg6brC76T-6c-ebvnJuX5oh-8_Z8RRihkuRP-7Xyy9K3mo2nvgCKFturs78n0ejuHDqmj63ML2kwYdpDX4GHbIXM65GIR8HuFryqvjVUn4GIz-nXZly2RCFWIkNWDXcwy-f7Tm8udPJ_lD9sJV4-EmqexseDmFfXUL_PxtDyiMUQJVyIxv-4LvAw2ROO6yMc7S3JRd0mcHRQZU0N4WjB0jdhOpjXGOLQ9gpy_12PwjGTeekzNivScWyUMReYETMQsBzOnA88_ARioVhYeQSzaz51UWWftEmO_HUc2b8Oe1VgPXXy4gxjBDPXV9BdmA1PlI2gqVtNkRj5pWkcZIbeGQIzQSmDnhQ_2EZ1sgiDcOBYJrO8ejSUjTd2GvAJMDOF0TUNA8MO3pYlEstETjdZyukTLMYsX02T_QTS9t0D5ssKmZDkoucf1R7ijmT-zn6",
  "id": "rs_01751ee5dc733f3e016ab437cd703087d0a1229153d6c4fba0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.19},\"note\":\"The right arm is still held at the same low pose, likely because its fingers are touching the bowl. I’m lifting well clear while retreating toward its base to reset the approach safely.\"}",
  "call_id": "call_RaRDckxzNTuDvyODk6IkVvVw",
  "id": "fc_01751ee5dc733f3e016ab437ce615887d09206b2c1a9b5f1a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RaRDckxzNTuDvyODk6IkVvVw",
  "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]: [-0.3462, 0.9955, 0.8429, -0.725, -0.3069, -0.2089, 0.9988, 0.4629, 1.3293, 1.0695, -0.4747, 0.2905, 0.1902, 0.3978]\nstate[eef_state]: left_x=0.2828 left_y=-0.0415 left_z=0.1723 left_yaw=0.0139 left_pitch=-0.2577 left_roll=0.1149 left_gripper=0.9988 right_x=0.367 right_y=0.1306 right_z=0.2031 right_yaw=0.1065 right_pitch=-0.1293 right_roll=-0.0293 right_gripper=0.3978\nstate[joint_eff]: [-0.335, -2.7009, 6.694, 1.5067, -0.1538, -0.022, -0.0122, -0.3897, -1.6752, 6.4889, 1.1893, 0.2076, 0.1148, -0.0122]\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,$blob:4da9baa3fef21c979a580bb0a5d05161f99de12aa9931195c7c506e0b5d7bc16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29e7e1f5a3384aa737f0f7a49bc76c8019cf7c12d660ae513c807f99984537d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9730e504a3d916bbcc5cc618b9a1f05a5fe53bc4d82abecb4601276f2c208101",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9894, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4774, 1.6974, 0.9829, -0.178, 0.3222, 0.2157, 0.3978]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1743 left_yaw=0.0133 left_pitch=-0.2495 left_roll=0.1115 left_gripper=0.9988 right_x=0.4032 right_y=0.1497 right_z=0.0738 right_yaw=0.069 right_pitch=-0.2663 right_roll=-0.0924 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.6051, 6.694, 1.3944, -0.1978, -0.0464, -0.0122, -0.4718, -9.4154, 9.6752, 1.746, 0.0904, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.1846, -2.1675, 6.7077, 1.4042, -0.1538, -0.022, -0.0122, -0.4855, -9.265, 8.7043, 1.6532, 0.2076, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.725, -0.3069, -0.2089, 0.9988, 0.4629, 1.3293, 1.0695, -0.4747, 0.2905, 0.1902, 0.3978]\nstate[eef_state]: left_x=0.2828 left_y=-0.0415 left_z=0.1723 left_yaw=0.0139 left_pitch=-0.2577 left_roll=0.1149 left_gripper=0.9988 right_x=0.367 right_y=0.1306 right_z=0.2031 right_yaw=0.1065 right_pitch=-0.1293 right_roll=-0.0293 right_gripper=0.3978\nstate[joint_eff]: [-0.335, -2.7009, 6.694, 1.5067, -0.1538, -0.022, -0.0122, -0.3897, -1.6752, 6.4889, 1.1893, 0.2076, 0.1148, -0.0122]\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,$blob:4da9baa3fef21c979a580bb0a5d05161f99de12aa9931195c7c506e0b5d7bc16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29e7e1f5a3384aa737f0f7a49bc76c8019cf7c12d660ae513c807f99984537d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9730e504a3d916bbcc5cc618b9a1f05a5fe53bc4d82abecb4601276f2c208101",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab437d0c49487d0b35b8738c2d65f86",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfVVM4jO2j1d_6nhHfLEviCdIQ91p5mVvluo1oVy0b0pb-0Fv8sfJhimNLKsv_Z3G4EQf1OCEu-z2owzpjUyDMTNtzvis9O-mI5tds-cMdk9rWcTq_qIUa5Y1YpnKr6DeAp1a1TSP4n_gJIPzxz8R185WBYrQKLPCzwBCLfmrQUkyjTQq7OLNhadcxnGjMuB5kO4xbKYn5XenCe0KR9euGyXECriiqNZavW7e1UVdUAWBLpuXl97rmqmmYnfqx0cT3C-c4JDdbMPoUQ4ocQR2k-BE250AdtmrgAAEH7swm5SY3UTrC5zw1A-HgvykgSgnLFOOXPouP1pQMqgfTivCyvJaryF6I4ihagy86LX6nYSdKdEOn6oyj6sKAZ5MCCtetOKx0K-b9RpqXIxWzqc-t5fgNhv17dm6Wk9QDdiZXH8dt7nuFJr97tOUCLWvGlACl1JsQcYsnAOanNJAf6Syo9qwA8r-gnkqXEjDQgeVvKPc8f6ssVbdpKlZSS8I4MCQwuYsfYz9zhxgjn2rYjy34ZUgeLPoEOzQdoCSiDeEFmWNtp3gVqdMpXiGgGWZq7fyklEfMBCAHfQUVRA9MSKcRjoOeLsRb-B1pA9zr_lQjSst2Yjxy3_HmWOwqnGxiRZVn4FtJ7nuwXQRfxhoRu_A3kXHZjr0_MBjOAz19Q-55ZGLNfFYOmvr_pvG3J0MTuFg0umnbc7b9gZHCnfAQunI0L6sTsM6AwRmQrgjYvzApCcIfKTw_KhUvklp0VTBqe1XNzHPci60eqx-wuNnrU_dbGGx2JHibqUs9nfNDSLM-2hCwAYLiYMnIgFNx6ZxqtPJ_oiAKzgETqCaX78akJnZioLhnnYx8Gdk4y3cwj4CZSHFeQYbiOBYd3HFkypm3ixdxtmosxCurw-piOxFSS9g8ZNTfCasAxYu3qr9s1o5Ixu-fta2V0YO7mXc5qYSNfS7piKOT7YlFj3d-rVkSuFTLuD7aTbM320oCmipve1O-TB-6F46u5XbVx8ncFrDgPGpWiQ_wJPM2FaCHe0WTtf_sfxkoa34smBJEKZSZe2yGwM43nO5Qe7oWihZ3a1r7qeonFi5uIumwKtW7e07xhsbarTPF1vqiBWnNT9NN0nMQ-czdl84FhKF6esEw0CskNwgLfQhnT9E4V9g2X_Q_yqRQDWzKjV6X2HeSrLU_4ACOV3uA9D7daDzl0roaJiR_87OeNooGhBgBfuN504yyhA3sIxg==",
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{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.17,\"right_z\":0.095},\"note\":\"The right arm is free again, and the pink bowl is unmoved. I’m retrying from a little farther toward the bowl’s side, where the rim should fall squarely between the fingers.\"}",
  "call_id": "call_8zZAjCKctV7jqHzBWn1Og47M",
  "id": "fc_01751ee5dc733f3e016ab437d516dc87d0a8814a70788b0ede",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8zZAjCKctV7jqHzBWn1Og47M",
  "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]: [-0.3462, 0.9955, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.54, 1.5791, 0.8761, -0.1181, 0.3267, 0.2287, 0.3978]\nstate[eef_state]: left_x=0.282 left_y=-0.0413 left_z=0.1716 left_yaw=0.0142 left_pitch=-0.2617 left_roll=0.1159 left_gripper=0.9988 right_x=0.3787 right_y=0.1651 right_z=0.0898 right_yaw=0.1274 right_pitch=-0.1989 right_roll=-0.0571 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.4432, -0.1343, -0.0415, -0.0122, 0.2803, -7.0085, 5.9966, 1.5604, 0.2711, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7305426aa763f2e43181e8f20e72d38edb2bf1a0ed2cfa3fea7db4df4be543b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbaded705138e5dac5cbb957637e40dcead01213cc2943571659565f9ecac68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3836752f615a6086863711898254a79f9fa9f4e73eab1281f6e97800d73871c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.0342, -2.3179, 6.8718, 1.3895, -0.1734, -0.0464, -0.0122, -0.4034, -9.2786, 9.0188, 1.6581, 0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.725, -0.3069, -0.2089, 0.9988, 0.4629, 1.3293, 1.0695, -0.4747, 0.2905, 0.1902, 0.3978]\nstate[eef_state]: left_x=0.2828 left_y=-0.0415 left_z=0.1723 left_yaw=0.0139 left_pitch=-0.2577 left_roll=0.1149 left_gripper=0.9988 right_x=0.367 right_y=0.1306 right_z=0.2031 right_yaw=0.1065 right_pitch=-0.1293 right_roll=-0.0293 right_gripper=0.3978\nstate[joint_eff]: [-0.335, -2.7009, 6.694, 1.5067, -0.1538, -0.022, -0.0122, -0.3897, -1.6752, 6.4889, 1.1893, 0.2076, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.54, 1.5791, 0.8761, -0.1181, 0.3267, 0.2287, 0.3978]\nstate[eef_state]: left_x=0.282 left_y=-0.0413 left_z=0.1716 left_yaw=0.0142 left_pitch=-0.2617 left_roll=0.1159 left_gripper=0.9988 right_x=0.3787 right_y=0.1651 right_z=0.0898 right_yaw=0.1274 right_pitch=-0.1989 right_roll=-0.0571 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.4432, -0.1343, -0.0415, -0.0122, 0.2803, -7.0085, 5.9966, 1.5604, 0.2711, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7305426aa763f2e43181e8f20e72d38edb2bf1a0ed2cfa3fea7db4df4be543b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbaded705138e5dac5cbb957637e40dcead01213cc2943571659565f9ecac68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3836752f615a6086863711898254a79f9fa9f4e73eab1281f6e97800d73871c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfcS7Zz-S16M7C4jrmVi3Ti0f_KN4mJPx95EZ1m6mHg2-DiGrI7A8TpPwdBNSA2HTtoZLFdUpqRNyUWs1Vf8rbt4JaPiVry2CEpgwNkdwISrCo-fA3Yv5VlZ-6_I-sQmaXp_HtoiHOXBqWq2BDySeCAMzaXc5dQsl5Y2py70-kYow8Us8nlEB9zGIugBk1HCDJWkM2aBCUbmhgDKT5yrcpNn4CHX1rE8p414LRK83by4WTNgqcOYDp9llMNoyhaIQA2SntEpO638JplUnW8Kdy6NGsA31Bl-pVUwgV8icLkuJ4zah3k9UKRXz-aKc61GKGmn5pxO0pt5njFlZRVrb-wueVvrvdII8L4RfZp2WoEq0ljoVnay9HxcT8qSxzSK9Sm9rrYPY1H5nNCCtdU4v7Q_2ij4_Hqz1KcccF-YQJXytLZXaVYHLcc8OtcL0akrwzmcQz46d3qwLGNK7BoExtQN1WMRQ2WR6-XZcebp2Cw8mz0W-fDwpa4Vr0CR0M0vU4MdrydYSezFIbN0sxK5-Q51PKDKXMrvBnK5vhZSFmTjNf0xreUN82vqob7HdovYwaghqyEDVwcVB08r_GvGHq3EE3z813Q7MgEFt_AE22TIumXtMlViac1mb04flPeH8mjL2hcoHE2lkFMWqozsw8Seh7u5pgp5RtqoBqmCMuAodPi1AF3kyXPBVFrVC4kQ412ir0S8eUC4twBMk8U8J1cwJ-5PPOgFDjI0TR7_5owWkSSMadwPlratfdnzNwB0VrCLIsbmy1VA5za8V4Vv0iwtNWzbSLm8fuA7vFjvlHLu1N6aAwRIrnEFv0w0CzFLPuGedrRKTfc4yOKj9BL1RViju5CUuOnfKTz_9JeeSKd0IjyiY0Ec0KtdO5-gsejsYmlsAcqgVSZPbL6haU6yNOE17L5SEOwIpUa3qqgFVqZ_b0HQH2sM_LWqwcfiI7GJrJPLOpxAH4wQRzFJ068BX5Ykt8oTTayR7P5L2g06Ux95vtS2X0Ilmr3bh6N2rZZp7I2cVYY-lUor444WpQ4CMKr9AbA8ZQhts-6FsNeuvC0wI6gQMCfRTabzp7qY6UP1MdQD9URiJgAHXmA8iWNkSelYmIJw4PuQwh0wyBdpss7vzRSuBtpS5KHflfHRlxkl5fMktkWd3u9TGzUBnKGUK0Syh1SEMyl-X1yhtuHZgHg-vD3xwdV2_rUcD0mFbeymMggZfcChHqbkyxNpFRK2icDX9bmbGKGCxJzsfxfNt3EqtfuwHNvDsyLzm_AyZ1GDPJvrxB-iUEgssMSua11t0ipvZrL3CSSppWtmuNU3oGkN1Hzu72vuryvd8jFFK4_DHjXHbjFWm1ZVmN5dOGKIKqom3MhfLdPCXzoUV5ZgK7dKQQR6gclpG9EiEx8uoCswFsP0oXvxMHX7ErshwZngjAdrMprqze6j_TBS_0UIHnCE9EX9pi1_o2mPJdT5y2zdlozk8zpd0ksY8DPv_thPpwvBmcQipKgodEfwcA6XhjvwINuYyFeDj76kSbrrjVdqRRGsf8VA-iqGQc6KeDrj10v8Cj_8PrHtrCCF21yUmjctP0pJPKcZmNEo8AzqmrbqgltdV7sTRm5WJINxZ69NEI5eGHcd4yi8ZHijmw0yd4r3I9NfW1knPRxFpE0Q-aqFDvaoMVlJ8KkhOzGzPSJryrmEbDJSRxnFB2D_1QM5IFsxvaKhef1W2AtOUkH39H3kujw5hU5RQNoA_oJvYH7_6XSb_DhXUztcTZK8fY7hQEj9ZvOxIJpx7ioea5E2dJnOZ-ZQygMfeFDnzAU_ND_WAPfJTltbuKh0Vok_2YbLGyai8mIm5jqI0PiZryYa8_pYM550JClWNQlygvn8iCNmAae30-gH5s8wo8SKTmXpWdwKoUV-9eMT05gMVkNpcgQZtxbo89kvn9I_urtZNpVNYhnJ2P9vyz1sd1gL_ElHujcg4h9gr_fTjkfQ9-mphJHkZz6r3m6PT5DoAkOsw0G8MG5Mr3bqowmdT27bgpt5iHIizOIy59vHpg07fXcbrAIzPPSvd0X1Yhulpd1bUY0x2U4hU7VTaGP1wc9PPdhCufCRCba0tRxNFCva3JZoK02bEKnV6eBOecdLzoloEvh554fVd-RthSYIJllQIsRmWA6zzMPpyoJcf2sUTouxSuyWbpLe3c7L1bsI8802xlf0wiDIS7Ygn8KZUE4GiNaud6aWGrvPR9-ZkUGBtj0H1Hoc46H7BfKqMDxsE81dTTt1gYWkeG_5u_mjfNBY6YHGuAoG9y3t59AS_ijquji50IpdquqeqHA0ZIY29iNtxHWoH9atkoMGZeg6JN8ykXjFUigvT1zanABinSO4tr1iwab5_7CCMsTwMwQDtMD5Lmaed_sPGVvVEIj_qoz1xbHf1bkBgogFEUk16i7bc1B-_hEEi5T1pFO-zhQf2rbOe254Om5AWn6CLcMcIf_LbYVezfKdNwanFQLb62cFFRG_rx6Ev05Pr1tM1hewtZEAOiLaDd_zVTmKAOr6FyVuCpNon-6ppN3L2tGpqRYwYiqXkmJU9crRLzQ9u8DOK0X8hqxlubioAZPDN3dUiVvhFU8sPxtn5Ic_HW4dYpaRyADxnjoXBtVtdxE1UWMMxnKjie7vQjvhPZOv-4CGBI2_rRlpm1iofkJOcG_LTUd9MV5-ORlaqEQzazcXVJtW6JlqAPp2NvHOy7DGJUOwR19lliA6rgdg3ZoR48VbMlk4s6OE_ix1Klmpx4eJ0jAiiKPYwA7Z5mxX3Zr67iUiraFZKmJRN99fIpJ9oFk9sY8EebD4mnHvE35ZYYfZDzBvua5U_NSolD6JTP131_KotkBZFyYdeAYvD-1L5j15yEYc8tidRO5XjZbsm79yZeZCd7OBZM7_Rt_3oIEZLmG4_IwD6sSgsUdMD_TfHZ48Vh1aaHkninQDp0Svq7oC1L_8LbrppvOccaCYPebPAENy7Wf2ovdbFpC_kBYF3YTMRYdG_qkWU4V6ZOOjP6hNiN8KW_nvQoQwC2pdpFmdrSKriMa-7p3THHcA9dlNA8nBE2kCrjnkdC40IN81kj4eIU2i-_1xsR4BiNCpg_-_K0sp057007KAWVlknvRyu_q-zxIMSihobHCcflJbm88B3qD3pdUz6HVpWhGpAiqsla8tKtKH6ygvHL1TRwR8cIh8ivg27kF2caFVyFYQDMvIqfjDLFfbNVMidqtvJ1hnG88kxfl6TGzbXk7g7RqVbEtPPKSI7XIPEUO1WmNt6hJgf_ioTvL7SO86QnIEC819nwi1AO438nVDeRSECipztx3a4k8CceDqlGzEskwlXW_83WcIeH6MvcWyUR93t2DYg5njKeqUdN-FU-0QuWBOB3H80_1j9KeQGgSyi9YQjeMztZuxtGbSTLlq_MUy7WRG68eyUerfvwB-AXs1DsX-J6ruvCJnPFDRGCfs1WnmFWm4iYBu7q6CzyCCAc5-X2MHfms4jvCkx7VaSLuLxvjQ1juWlkXocGdGvtI9Mq8BNLeFxsgpGDSdZRdVMUbRQ==",
  "id": "rs_01751ee5dc733f3e016ab437d7df6487d09678394ec55eecb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.384,\"right_y\":0.15,\"right_z\":0.049},\"note\":\"The open jaws are over the pink bowl, but its right rim is a little too far to one side in the wrist image. I’m shifting back toward that rim and lowering from this less-extended pose.\"}",
  "call_id": "call_WZgIjKV0wTqwXiozSnznnye7",
  "id": "fc_01751ee5dc733f3e016ab437dbac9c87d0a026fac44bf761df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZgIjKV0wTqwXiozSnznnye7",
  "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]: [-0.3462, 0.997, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4942, 1.6386, 0.7849, 0.028, 0.3035, 0.2047, 0.3978]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0147 left_pitch=-0.2634 left_roll=0.1169 left_gripper=0.9988 right_x=0.3808 right_y=0.1493 right_z=0.0549 right_yaw=0.1136 right_pitch=-0.2106 right_roll=-0.0604 right_gripper=0.3978\nstate[joint_eff]: [-0.3487, -2.2496, 6.6803, 1.3602, -0.2076, -0.0464, -0.0122, -0.1573, -6.735, 6.1744, 1.5849, 0.0073, -0.1392, -0.0122]\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,$blob:cf3367445406b13743bb7760f188bd6b9f38890c0f1042709c54a8b45523051e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649cd5d6778b16b53c7e5618fe64c413b7141ee2da255d7aef2203086e4f94a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9badb8f034935983cf6654ea6125aa43eb12199ca2e4007df9f97101c78165",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9913, 0.8429, -0.7223, -0.3069, -0.2092, 0.9988, 0.4759, 1.713, 0.9897, -0.1291, 0.3061, 0.2058, 0.3978]\nstate[eef_state]: left_x=0.283 left_y=-0.0415 left_z=0.1738 left_yaw=0.0135 left_pitch=-0.2513 left_roll=0.1122 left_gripper=0.9988 right_x=0.4119 right_y=0.1564 right_z=0.0767 right_yaw=0.0902 right_pitch=-0.2346 right_roll=-0.0717 right_gripper=0.3978\nstate[joint_eff]: [-0.1846, -2.1675, 6.7077, 1.4042, -0.1538, -0.022, -0.0122, -0.4855, -9.265, 8.7043, 1.6532, 0.2076, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.54, 1.5791, 0.8761, -0.1181, 0.3267, 0.2287, 0.3978]\nstate[eef_state]: left_x=0.282 left_y=-0.0413 left_z=0.1716 left_yaw=0.0142 left_pitch=-0.2617 left_roll=0.1159 left_gripper=0.9988 right_x=0.3787 right_y=0.1651 right_z=0.0898 right_yaw=0.1274 right_pitch=-0.1989 right_roll=-0.0571 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.4432, -0.1343, -0.0415, -0.0122, 0.2803, -7.0085, 5.9966, 1.5604, 0.2711, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4942, 1.6386, 0.7849, 0.028, 0.3035, 0.2047, 0.3978]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0147 left_pitch=-0.2634 left_roll=0.1169 left_gripper=0.9988 right_x=0.3808 right_y=0.1493 right_z=0.0549 right_yaw=0.1136 right_pitch=-0.2106 right_roll=-0.0604 right_gripper=0.3978\nstate[joint_eff]: [-0.3487, -2.2496, 6.6803, 1.3602, -0.2076, -0.0464, -0.0122, -0.1573, -6.735, 6.1744, 1.5849, 0.0073, -0.1392, -0.0122]\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,$blob:cf3367445406b13743bb7760f188bd6b9f38890c0f1042709c54a8b45523051e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649cd5d6778b16b53c7e5618fe64c413b7141ee2da255d7aef2203086e4f94a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9badb8f034935983cf6654ea6125aa43eb12199ca2e4007df9f97101c78165",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfgOSpLKEPuvrpJ7cv6cr9DgV9H4fZHHzElJ6wzS4hNAUQiSzB-SsVtbpLxuD8DQnwMB6uU0jWsLRoHmosANt_HtN9iXssoW6uWrplUV2QhyPDklAlx-hxRHeyb-xdgpylPP9NxJxvrGQpuYLFRBdF9mqj7VdhM1zNvhtEwFj1zlRSRO4wPAEXyBrQn2KiWZ6ywvnI-EF7LnKY_leS3qZYZmmqSDdG1O_VT9CaL2ZEThnH-bnqvc6hb631Z5kYpBC09vUvFCzx3pnkh4LK-V0girEspJvUgHCgl2VIUnUrHEasQqOXHVkfE_hBBItN4SN3D5i_CW7aONNi5ginSHp_lnXWLJwj7ovQGRulOtw8CFwb3NXfk50DF9G4Aan90EcOZ0t3pOax_8PId-1g-i8o_sdPisTSzRR3LZIATerehWzbzc1As2skv4LMezjUt_PUnejXWn--AOUHqqYa8UoBSpZwAF6jb96Qh6TyBA735byr5yv_HgWopoMGFa_snWRe1jMvJZO1xvJ4dAn2SmeonA8OY8Hrn15niYrzCH6GXb3BSkTr-dMcP94mfVu843K-4GxrdAJuzAhxg7tj9agUJ1rCGgUbVLYZzjsIiW9CofZkfvRIqVA6wk1siPa3CP2V0y-c7dXd4OCjTalXtW6lz8gUyVhCnz1lrqCAe80ZMwyjCMIESz2qkv3djBqqeqFzASZBOzkLz3ZIcN3ukVDjwUG8DjoCfxbHwu2Jq3QC_AzQkJM4SaqRRL_hcMhfRUVePkMsa9GMLyNfR5LcUiIjxFwSv4MC1Tsbwiqmg3Bp9msKQGA7g6XDJ0EolcwjKg4CXPi1Lj0bcImKS1UZkvGiXLFiQR_V7FQo5UBNbHkq5dAj76BA6C-PjGyWtYkHIVe1qE0m23C9ey3203V7LSjYVUrehO_7cGJllr4fKmNmId2VfGD0WsggsZvPjQbhHOvD1VJvhoj4qupXbxCxPaDymx8GJ-HPyrTG2G43Nv5XVwgbwyxo0a2WI5j1kAfKm0wipDme5d4YUW3i-UWHMLWrGnRQSn7aXYSfany2wI1WCXE6Dg5zYwC0yj82QsybkhjbWlLH7LjBdzibWnJDa_5PnT6zQ-iHLK4FN7YEWEizFdBM6zypp_CgsfGtal7D3Xn1MVRyKaFrC_HjmlCZ5Z-LM7bmSdgFnb9tkNx0RkbXMAN9q0r1n7JnXySpKG42m4zKKr73U0h3WtLfWKGaHeWiqg7EPUQOATM2L0M7-EVvl5CHGHX2ZVdx1BLHm3X92bweR_s4-164w9tkZiKSWXmNWV_38aSaluMPia_kY-1tCHyrsTIllxfOWfpQnjgSLNUnJsvmJ1azFM7rLffx_CXgoVNsKeca28w49yGdQ4nA_G8wwOT-J5HSyr16Z_dod37kesOshYypX9kL0kT9eSirX4fg60nqhvcNicvglu4D3eeu-or4hbWuwasx3UN2qvP0xJBt7iNOpW4cEx-lvqi4ey16V3K2IwHk1NTNkUl1tfaXqprYYsTZPpFJOkXQlyyCwFQIx4xoR1oYeK47GeeOwVeeOnyt6gx6dwjrJquTx23HABMw7mz_0tZs4U-fFKwb1mnHFLkgpt9peJO8yqVMyFAo-OxaRG4SlFakBXa6eoXtSX7YFo-fyhxS1lJqzhJ4OyPFc2kJjBZD7Pf0wDQCmQn2oN7caGkns1_-gjB0-P7Y=",
  "id": "rs_01751ee5dc733f3e016ab437de71a887d0a67ff276ebcef111",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink rim now runs through the closing line at the fingertips, with one finger inside the bowl and the other outside. I’m making the second close to see whether it catches the wall.\"}",
  "call_id": "call_F8EvuXq4sg36tbr7z9LSZUEj",
  "id": "fc_01751ee5dc733f3e016ab437df553c87d0b584ced0634fbdcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F8EvuXq4sg36tbr7z9LSZUEj",
  "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]: [-0.3462, 0.997, 0.8429, -0.7292, -0.3069, -0.2089, 0.9988, 0.4843, 1.6665, 0.7574, 0.0731, 0.2829, 0.1837, 0.0111]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0144 left_pitch=-0.2631 left_roll=0.117 left_gripper=0.9988 right_x=0.3787 right_y=0.1476 right_z=0.0407 right_yaw=0.1314 right_pitch=-0.2265 right_roll=-0.0648 right_gripper=0.0111\nstate[joint_eff]: [-0.253, -2.359, 6.6803, 1.3553, -0.188, -0.0171, -0.0122, 0.1162, -7.7333, 6.8308, 1.1697, 0.2222, 0.0366, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee60c27a0d4abcc9a858f068e1f97d09fa7bd11c8db8fcc1e7bc1428fce66c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9dcac1730b7b6591f27582a1b0e40ab86b1bd6aaabd623559c4be7e3fd9037b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c694b84042f179d0d1650c299feb2618f7119659cfff2d34945828bd9ff0f15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.725, -0.3069, -0.2089, 0.9988, 0.4629, 1.3293, 1.0695, -0.4747, 0.2905, 0.1902, 0.3978]\nstate[eef_state]: left_x=0.2828 left_y=-0.0415 left_z=0.1723 left_yaw=0.0139 left_pitch=-0.2577 left_roll=0.1149 left_gripper=0.9988 right_x=0.367 right_y=0.1306 right_z=0.2031 right_yaw=0.1065 right_pitch=-0.1293 right_roll=-0.0293 right_gripper=0.3978\nstate[joint_eff]: [-0.335, -2.7009, 6.694, 1.5067, -0.1538, -0.022, -0.0122, -0.3897, -1.6752, 6.4889, 1.1893, 0.2076, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4942, 1.6386, 0.7849, 0.028, 0.3035, 0.2047, 0.3978]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0147 left_pitch=-0.2634 left_roll=0.1169 left_gripper=0.9988 right_x=0.3808 right_y=0.1493 right_z=0.0549 right_yaw=0.1136 right_pitch=-0.2106 right_roll=-0.0604 right_gripper=0.3978\nstate[joint_eff]: [-0.3487, -2.2496, 6.6803, 1.3602, -0.2076, -0.0464, -0.0122, -0.1573, -6.735, 6.1744, 1.5849, 0.0073, -0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7292, -0.3069, -0.2089, 0.9988, 0.4843, 1.6665, 0.7574, 0.0731, 0.2829, 0.1837, 0.0111]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0144 left_pitch=-0.2631 left_roll=0.117 left_gripper=0.9988 right_x=0.3787 right_y=0.1476 right_z=0.0407 right_yaw=0.1314 right_pitch=-0.2265 right_roll=-0.0648 right_gripper=0.0111\nstate[joint_eff]: [-0.253, -2.359, 6.6803, 1.3553, -0.188, -0.0171, -0.0122, 0.1162, -7.7333, 6.8308, 1.1697, 0.2222, 0.0366, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee60c27a0d4abcc9a858f068e1f97d09fa7bd11c8db8fcc1e7bc1428fce66c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9dcac1730b7b6591f27582a1b0e40ab86b1bd6aaabd623559c4be7e3fd9037b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c694b84042f179d0d1650c299feb2618f7119659cfff2d34945828bd9ff0f15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_01751ee5dc733f3e016ab437e1526c87d09df31aa8b24498f3",
  "summary": [],
  "type": "reasoning"
}

{
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  "encrypted_content": "gAAAAABqtDfnw_kYs2m3fPGowaB2E37J-_w1MOTe9YjoFlolEs6zuPLJNtOgo_I_DthkcjBsAZsmh63hR-xgU8mwvrwugoznyDEN1J9_t6AsZpVBm2nj7sGb7IiN1iLCoU2XhRIzTFQ6Yl7ZXw78qgjXhAI9Xb1thHcOWeXTs0LHvgKlxLUeRLDY3fq-_3_ne_XwBync9Fe2_JzHRWcaC4yRTykOZAIZ-u-MDudqyatjgaOEi6i0N7F6GU6_iR-meD8lGmFTpNFlB2mZFzls9wBDA0rPLXhJgOd-NT_0qWfcUAzhElYp58N0irVQFX-QUr_YAWQVVVj-razOyTMldFhuliXxXMslbCycM_KHS2OWiz0F7uvZwdSHuHwlPf4Tqlph3srGQgUeliB9gEmhDnOT_Ucl_lsieu79YabNWn_FKjPQatTv64epHRm110IinESoBrEeG32EWb9gM0GBRfh3GUGRgHkkI7xaFRwiVva696bQpbs8yJ1jez4HoBLq7MStq3uGyYUqe5Lc4GNfy79m_YxZt0yOUH9g5AZhzwKIpUCd0q_xQQ0ksnzo07iSG8ILF8rba7mp-n7dzwa2K3EsDf7Q3O52CMMCIDTu99MrSDDFflTGatra58YiiZI6rzQdP00op89DYwDqGjLYley1MoYS8j-5dBxeiL1FB7ltdlQMwNBHuYK2ZyX-uRaUBKxej83X6OEPOtVjq5rl3kPaNRLtQGhj4kgkgGpvjPo2CxZHiNEGjDx6AcrxECinLYfWY0N3QIxTSoXzFISWHKzixh7qIf_m0J9qWLk07de8Xn3WWYcaJNhPt5u_1PJqvWscjLkbShA-hJbXP2Teusgl0PMMvFVJwCksnkpewGRsUa48MtKbMMb-gdul1NUHeNZcbq1asaO96Co1Lz2eRR7NBjdrW2GI7H5wO_bIL-3A5CJkbHw755y_akRh-K2lBo-i645kUZRxfPj8Jx5r3ktMi0-uEZ3EdwBKzgZu_Dc6IvXpUqixFDyH_XXYsda_JO9CXe89I4DiDF__0F6FKG21YZdnD2dlb481bMlo1UO8ZYaFKF3PKp6JZx0DVNy_39T9BqcxjqaA1fhI-LzxiFDlRlIuUn1P4ASpdFPlheFurx8-8goZs_cna5QLawu6FPfoZCO3HPkc78NlTgGvP-ChCbKO1mMtCYKb_pjqg7qkK16S9ZK21dB-eJSiY8EdKomdfrFtek9bEamLwy5-wR28GA0UKy8P2wi4qYFK7HoZYqZFISX5nPLTBaO6NBGkp0NHz_MlUqevLe2qi5s-aSSxxN4_DBSsDK40M5_9dgb8AHmi9wswJY6DrByWF9ICttbO1uL_-AQaASePpK13hkYYY3x_7I0TEEBG93yAgppW3O3UZWsI-r_2SNvfuE0LRmqjwY7F2iNSHZFs8IJcRWj5x496IIWU75iTKMnY5qXcWDkY97sx7gehF6ABRSrIJ8eXZapnhUvgNcoharEQv8LvhljLXPWQTZa2Zwi81PEukwTYM8TnOswS6iyiNLPJ_ALlpX4kyvY4869VFZ1WiYho1QilqTIzephT9nnNGqCGoeMUaJbwAiVsfGAXRq0xf9W2OZHFYYusuhGJ4lGXPvC55SVbrYk3C1kss3j007BwjRuCtWnJjTt_odEFoMdEV5DIkb6nc9OjDcVnoB0Qnx7Fu0V2xEBee9AznO6gwpCMJlPAesLJmft0xKZRxsfBNUwW3OboqmugCCtkbiNXH414GcQqKrikmqjjA0VWjQODn18XBQpSWZs3JtpbCSLZAEZrj790CnJdxhXHT3V6gMfBCF7BXrH1LmoFW46h_rzXXcP863GAmV_9-_hVkojXJ8z1yfUxLgxc-aUw8qpXEroQiWl_pij59cjGuzu7PS-Sc13vTvo2LmOfoW5WBGOiEfAGMN0i7qu9",
  "id": "rs_01751ee5dc733f3e016ab437e5adf487d0a58ace0b3340b58d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.17,\"right_z\":0.18,\"right_gripper\":0.5},\"note\":\"The second close was empty and nudged the slippery pink bowl rather than gripping it. I’m lifting clear; next I’ll approach a different part of its rim instead of repeating that side pinch.\"}",
  "call_id": "call_7mkJbs9gqMkRT4VV1aMc8cQz",
  "id": "fc_01751ee5dc733f3e016ab437e6e99c87d08b4a4c9e5239f157",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7mkJbs9gqMkRT4VV1aMc8cQz",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0008, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.6487, 1.4616, 0.989, -0.1982, 0.3355, 0.2592, 0.4973]\nstate[eef_state]: left_x=0.2823 left_y=-0.0414 left_z=0.1702 left_yaw=0.0147 left_pitch=-0.2667 left_roll=0.1179 left_gripper=0.9988 right_x=0.3695 right_y=0.2117 right_z=0.1692 right_yaw=0.2203 right_pitch=-0.0588 right_roll=0.0228 right_gripper=0.4973\nstate[joint_eff]: [-0.2256, -2.1949, 6.7214, 1.4921, -0.1685, -0.0366, -0.0122, -2.8786, -8.5402, 7.8974, 1.3211, 0.6178, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00960d72dee58aa580acb62a6b45385caedf53406f84e9f51afdc74cdf6f1ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3f9f6512b502a38d987d27fa57db61ed86fb9dec0a707df96d04818bbd0b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b5eef1e19a9d1d5aaca4ea942ae8dd283386ae79bf49f289191d314e14285e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.9955, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.54, 1.5791, 0.8761, -0.1181, 0.3267, 0.2287, 0.3978]\nstate[eef_state]: left_x=0.282 left_y=-0.0413 left_z=0.1716 left_yaw=0.0142 left_pitch=-0.2617 left_roll=0.1159 left_gripper=0.9988 right_x=0.3787 right_y=0.1651 right_z=0.0898 right_yaw=0.1274 right_pitch=-0.1989 right_roll=-0.0571 right_gripper=0.3978\nstate[joint_eff]: [-0.2256, -2.2496, 6.7214, 1.4432, -0.1343, -0.0415, -0.0122, 0.2803, -7.0085, 5.9966, 1.5604, 0.2711, 0.1685, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7292, -0.3069, -0.2089, 0.9988, 0.4843, 1.6665, 0.7574, 0.0731, 0.2829, 0.1837, 0.0111]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0144 left_pitch=-0.2631 left_roll=0.117 left_gripper=0.9988 right_x=0.3787 right_y=0.1476 right_z=0.0407 right_yaw=0.1314 right_pitch=-0.2265 right_roll=-0.0648 right_gripper=0.0111\nstate[joint_eff]: [-0.253, -2.359, 6.6803, 1.3553, -0.188, -0.0171, -0.0122, 0.1162, -7.7333, 6.8308, 1.1697, 0.2222, 0.0366, 0.5641]",
      "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]: [-0.3462, 1.0008, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.6487, 1.4616, 0.989, -0.1982, 0.3355, 0.2592, 0.4973]\nstate[eef_state]: left_x=0.2823 left_y=-0.0414 left_z=0.1702 left_yaw=0.0147 left_pitch=-0.2667 left_roll=0.1179 left_gripper=0.9988 right_x=0.3695 right_y=0.2117 right_z=0.1692 right_yaw=0.2203 right_pitch=-0.0588 right_roll=0.0228 right_gripper=0.4973\nstate[joint_eff]: [-0.2256, -2.1949, 6.7214, 1.4921, -0.1685, -0.0366, -0.0122, -2.8786, -8.5402, 7.8974, 1.3211, 0.6178, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00960d72dee58aa580acb62a6b45385caedf53406f84e9f51afdc74cdf6f1ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3f9f6512b502a38d987d27fa57db61ed86fb9dec0a707df96d04818bbd0b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b5eef1e19a9d1d5aaca4ea942ae8dd283386ae79bf49f289191d314e14285e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfsJFggMRo6MNN-uv3mY9UhBU0DbRMkQO6XfJGET_LF2rMEgyykbNB5zSwPLiCuFpTJJLU1n3abbM4fBQCkzbbw352OmoWbwG3ScMRj7vyPrtipP6_T7exuBUqe-X4gf4LzgOoHLOPLkzOWe_NqdRqa9K2wA6jHBf9dHJ6uiUT9Z7zUzRbBbshTSLGPpWJ6w0zXLPMRPckH9O8gX_G1dc30e3l-xgn5tkewWzFX6H2PdYYjt5NcwsnUiWNjGtPAbSbgSKWc_IkYScVPlx2DJclFAipZATWoVl6Ka-5BanGrxJKgOJKs9jYaHRmAk97I4joYbyVHpcwzNdtJK-sdlH9njH7o7gYt6tdwjmb-LVLHqgBSDamt3SRdaccLf2mjUR16s2mV2zPzXby9xppc1yoFPTD-5xpPD6uml9q5gmF-Y7pkfIL-8qQYTc7D7gmh-9YnJsiAe2MkA5aafcgbmA_-hisWgOch7O9aaijskIcW5gVH3eQaCSVCpNZcM4rfGypQdTjCX5ETjKgO88Kd_h0QyTpS3pAhOYrUtbouOo7dTiqQKwl9YvQfUuSRTroC2XwcL-LGyEELwD2lavXhwM9852JOWROnntjzPlxxJV5-h7UtmUfGbD_8sLnxyw-j7HXhppt8oQmHnFliTqJnPNOln_9ZpvSpI3YmlKuEvfepXcFqU7HJUQAtv-by2u2MxpHhCQwQe4ytiDs5Ud1oSpN-5PnZPBMEcHdwx3nVSnQn3zY_bq8NK8l8WcuEpQw8PSreDTnPQqZOQ71IaWr2LFPH_JgRqdMjlEC0fgALA6zqBugW7PjO6f9KhmRKa-dcxRbQiqRySKJaPWt_mP0gNeVLbjAKu2LmbHh97zxU8YEkFx4ODezg-zK0ZgGCrHLsxwl4ZqaEuMGmIbBYjZ7mCknumCrPYnoOLGNTzvwNzKrfIoEIE2mOoIP4jFsZ7cPTwkVmhCJqj8cuakBuGsRAcaIIfykA_QyGlX-xU_B_VEgsVNyvDmeeN_GIKOLqmg_dERtoa6b3NpaX1hjeqDAlBR8y-fF5ie-5PI3R5QSyDfpYXGkn25rsXuaqCS3dNnsoUI6EjU1wjiMkJ6P8zeZjUbZnHy3gmobPYJMRoiDrYABHl6tdi_rzfoZGq8e6X-oFqWF4e-Vn1VuCML-G4UGe47paiurfoZaMb3uw9rGPiJmw8Etu_dukt6pdMwehH3D5yiv-HIcQBoa8ij-8C3pjHF_V1Ux-0JRj4UMeO-z5vz0T5D-VD8oE5Tu9dLmJK7cVXrMIeNxBX7XFKPJPKBGQTFucvFJmhgPE1LqVaNJC7Rw7QnOVQzvfdNkFJ5cfVBpJsLSWiXJOKDC4YzWaTEdfFMRd-ppHCZpFCUKqg04exV64sI6wMv8gfgz9p9qp3NAti10PowV1LXcWRx0Nqvl_y50u7NYFOXWZDBgawpG8HeMl6vdPSxmzZOLaZnA5DVPYiTWSX74vvKskOZx7vTgiaIOl2iRxTxPZd7EksrP65KDsbVhV1mG4QIurwFg7c7h9weHcoJuaCKtqOZQoOEYnT-HxN2FY_NVDgnQDMehxKLIbDmcBuTzEBYXnXaClrenq4lrMJe8eYRWWHlmqcnVLyHygjZ1Klkc1d6_mS4PYo4_i9P9b8Wl7BiG0o8MVj7M73NgPnOjfSvKakLuXiLjqTVa7hiGBz2zGepEmczjQBMxN9MeNTqcKNgY2CXPTLJPFC88dfwHaYhZh5NGzIixfXBpVtD_3o_cjhwF3H9iVJOUikWqABWe8MBxZ1gamxhWriQHdNkgAyPnlz7D0NkY6hzVgecwB2xpXSxLN0HjEAJlZ3Kb_fQUCt_kM7925-isfbMIUkz0ZtiUvc65a4xWh3diXFsUrdhH3XDxe-jNbWWkrjrxm5amv05Gote8O2aRvBJUJyPcaU_NKisYMBOKgoalm0xQ53VnjXwDztjwF_wEMu5g71Lh1SGCyJ2sHGuE-4LYX1hxCwxgr9GI4MT7Q8-AWbcz-goBbEfOrzwmOSatGbwg_hrCY9AXVabYHs1g7VT3l4q380CfZwxOIftAFBuiLU8w1a4iUFErsTtQnfIRR8sm3v01l7Z4mfjNdxpqL6wani0KO63_pNcOJTHhMy-KX3Hl0b78ZSJ6wp-ICFuT0Z6BnYHJvf5yFEYURj2R25xWep6PF93SuUXP90nchIIDAkOxEdjrHHVagvkoh4ludA7CH0GPtyC7y5BlTe7QaymZODdiD10YkguEU_s9SaeiLcVSKBLvfQUp10yb1NNfwu69OEHDkdBGN14WfWtQhgSSRt9LYLM_sq7sOz-nnWel4BOtHzN_y0kMmWY8ZI7NcsSy0T91g0HmXzpvHfgjzU_DsaDnnGW70If2IKdzaIZ_fCThhHSckEvCpB-86pMwiLJkWbw_d4KBvm5LrOXfzOI6kQ5emm1gSOhw31CeU4n2zL2FxjxW7jVgq2Jdkxsm_RYhVfbPREfoLVC0eUFfN75RD1Qn9M4t5xsergIMalAAISvQBA_l3qcGrxbjujC4eJOEqRaZwPfTg7dbHlrBFEFx5zzKmEXtVY7SB2qzlsA540m24XVmAlZHqa8DzV3FO0yukNZIkGuG4qAQ3OKcIxls_8Ks3sRpNP9P2Zu7Fm_PqB-dHlZw2SpNy2TOlXMHrZc44yJK3z2QRtsWk4e-37uLL",
  "id": "rs_01751ee5dc733f3e016ab437e98d4887d09698eecdc898d4a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.35,\"right_x\":0.365,\"right_y\":0.21,\"right_z\":0.175},\"note\":\"From above, the right wrist is now centred over the pink bowl. I’m turning its jaws across the bowl’s front-to-back direction so they can pinch the near rim rather than slide along the slippery side wall.\"}",
  "call_id": "call_8SPKtmBJGjZ2rxk9Y0Ae0ga9",
  "id": "fc_01751ee5dc733f3e016ab437ebdbc887d0984124e3ebcae595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8SPKtmBJGjZ2rxk9Y0Ae0ga9",
  "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]: [-0.3462, 1.0046, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4364, 0.9398, -0.1974, -0.1497, -0.1154, 0.4982]\nstate[eef_state]: left_x=0.2825 left_y=-0.0413 left_z=0.1692 left_yaw=0.0154 left_pitch=-0.2705 left_roll=0.1197 left_gripper=0.9988 right_x=0.3638 right_y=0.2058 right_z=0.1532 right_yaw=0.6249 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.4982\nstate[joint_eff]: [-0.3487, -2.6462, 6.7761, 1.3504, -0.2076, -0.0415, -0.0122, -0.2256, -7.4462, 8.0889, 1.9121, -0.2759, -0.0611, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b484ca7b6db3b61c9b31b4f8294a964f8a03d4a3be559be83d5472f69c3340d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ec8d639dd38081e8ee128d7a4bc3f7dd25b1503a4c3494d5318c46e5aeb48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4049ede02892aca819ed61d9a964b4b396027c16141aefc0d9b521e42485e2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4942, 1.6386, 0.7849, 0.028, 0.3035, 0.2047, 0.3978]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0147 left_pitch=-0.2634 left_roll=0.1169 left_gripper=0.9988 right_x=0.3808 right_y=0.1493 right_z=0.0549 right_yaw=0.1136 right_pitch=-0.2106 right_roll=-0.0604 right_gripper=0.3978\nstate[joint_eff]: [-0.3487, -2.2496, 6.6803, 1.3602, -0.2076, -0.0464, -0.0122, -0.1573, -6.735, 6.1744, 1.5849, 0.0073, -0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0008, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.6487, 1.4616, 0.989, -0.1982, 0.3355, 0.2592, 0.4973]\nstate[eef_state]: left_x=0.2823 left_y=-0.0414 left_z=0.1702 left_yaw=0.0147 left_pitch=-0.2667 left_roll=0.1179 left_gripper=0.9988 right_x=0.3695 right_y=0.2117 right_z=0.1692 right_yaw=0.2203 right_pitch=-0.0588 right_roll=0.0228 right_gripper=0.4973\nstate[joint_eff]: [-0.2256, -2.1949, 6.7214, 1.4921, -0.1685, -0.0366, -0.0122, -2.8786, -8.5402, 7.8974, 1.3211, 0.6178, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0046, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4364, 0.9398, -0.1974, -0.1497, -0.1154, 0.4982]\nstate[eef_state]: left_x=0.2825 left_y=-0.0413 left_z=0.1692 left_yaw=0.0154 left_pitch=-0.2705 left_roll=0.1197 left_gripper=0.9988 right_x=0.3638 right_y=0.2058 right_z=0.1532 right_yaw=0.6249 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.4982\nstate[joint_eff]: [-0.3487, -2.6462, 6.7761, 1.3504, -0.2076, -0.0415, -0.0122, -0.2256, -7.4462, 8.0889, 1.9121, -0.2759, -0.0611, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b484ca7b6db3b61c9b31b4f8294a964f8a03d4a3be559be83d5472f69c3340d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05ec8d639dd38081e8ee128d7a4bc3f7dd25b1503a4c3494d5318c46e5aeb48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4049ede02892aca819ed61d9a964b4b396027c16141aefc0d9b521e42485e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfye22zHHBSVkJtaeimOepmU1oflL0BOLQR101hFGMgYVtJtdpTF7sc923NVDuXbvMB2N7UKrVJ16mQ-Hyp4hn5p8i5wcOM7DcwXSA3qWZlxbTGrC3TsmIacSczuFT31oJ30k0e_SCYdbTFEH6Rt0iYX0Nrgq1KDwONVRaC6PnggRQODhcsWiPeqhSKee220RQ7GEbH2N037iqJHLck1rPTDouEV0SR2XxFWdFj9WJlzJ5_cYeXA3VVnv_0X5LlixoxBqdACXgFmgV0RHWPg6O1yCWGuBD92k-fgEz54XcxoCuBXGiieEm4zywoC0MN5IzxF3bbmVeE3MCXbvqd-DmUUyvEWQCWnoYs0Taqo8OFiDKChfewtBh_9nppbtxwDqM3YUm3BjonZjwyy-fPGtpziol8DKPQ4atcfQNsvvy2yi-Snl6puGrHreTYQCFot9JtI1zcwR65XtqoIamY_Xnz6QuZbz5YnnAaXhbE4EmamYEZlxS7o0UIn-CA1t6zyCUH16L9QaV5IVC5Q3choNr8lTGdFiot4Ws9pUewQz5lOMQzZyCB--CBvo3ZJiccrPmptaXEuUU4YlD_FATXz1XR6Z8ZeNJq0w2mNSOyBABF5Z07KIRhpV1t4yvH1hQOyJtGYntHNt7blsLiVVaTuyapLvjKQxZ4nLH4GYWjL9eHBGbraA2ebO-0-ImW9-f0WhLZrbQU3bRjGLfLnjNxj7s39QyYQwnGKYyqptdDgQwQYfJzB0ruLqkOqos8fjQByz0u0JHf43NoLc7GXSFP8Ti1Lfvdp_PmrZBRHzruOwF7jvtO_wTXcKCdYPlM6cxyuBg0vNG8ruoc-NWJD8mX-YmQNDTkwYOTeMQBFVY3brZKWRdQQDNspgxkyEJ4SGvR-NinBao58ENZyOXuhiHdcYH15FCefvzRCmE72iW8SEsJKb64WyMrwpQf9bvfcitZU8KVOLf5cWrZfLxvopfNGIi0bXiR92W7ss3RBZafoT7G7ZJqXfx3xA4HEZ1XSqh0VKBAVFbqq4qYDopeE7yT9nZ-AtmSX55Ocm2Aqr0ZydSpdDLFdjQMVbeoXfx3V-xMtd9ShD31FePWerACOhgfp35Fti4VGfOmLyLB406CcXvegHh_vGnrjdRTqA6IPgtc3ey4RmX7UNqKHp00UBZrDTtDX-_UinfF_Jqq8Neo4ezV2b9Y4zEr5ercUim6SupmCpCRml5O8Qt7qJPxmkCBpRyUJNN4Pn49Me7X5B9rGoVS4QtF4efV1DlSx2gGObwY_m8NPNEBci5QfG2m_42Q9l3Ip1VqDpu4rOBpTY0Em8vX2tI=",
  "id": "rs_01751ee5dc733f3e016ab437f09f3087d0baff35e05c81d96e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.5,\"right_z\":0.19},\"note\":\"The wrist has turned partway, and both the stacked bowls and the pink bowl are still upright. I’m completing the turn at a safe height before approaching the pink bowl’s near rim.\"}",
  "call_id": "call_Dfb0r9LrokyKcNm3tM7OQTV2",
  "id": "fc_01751ee5dc733f3e016ab437f1035c87d09661962721f2e34b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dfb0r9LrokyKcNm3tM7OQTV2",
  "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]: [-0.3462, 1.0065, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4361, 0.9398, -0.1932, -0.1658, -0.1249, 0.4983]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1687 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3628 right_y=0.2084 right_z=0.1544 right_yaw=0.6434 right_pitch=-0.1098 right_roll=0.0275 right_gripper=0.4983\nstate[joint_eff]: [-0.1983, -2.5094, 6.694, 1.3895, -0.1538, -0.0708, -0.0122, -0.3487, -7.4598, 8.0889, 1.8193, -0.1832, -0.0122, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3b008084d99bf75413f5c1dbccda9698128dc5a4576ef9cac5e74f95d26f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5b9a5b75bc3bee4d2bdd6cc5b4a736d8d95446c6649306afbd1c9d6647e618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e4f40d0c871d9b4c6cb0ac53ed48071315eaab517dc865b9fb1c2531b4bee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 0.997, 0.8429, -0.7292, -0.3069, -0.2089, 0.9988, 0.4843, 1.6665, 0.7574, 0.0731, 0.2829, 0.1837, 0.0111]\nstate[eef_state]: left_x=0.2821 left_y=-0.0412 left_z=0.1712 left_yaw=0.0144 left_pitch=-0.2631 left_roll=0.117 left_gripper=0.9988 right_x=0.3787 right_y=0.1476 right_z=0.0407 right_yaw=0.1314 right_pitch=-0.2265 right_roll=-0.0648 right_gripper=0.0111\nstate[joint_eff]: [-0.253, -2.359, 6.6803, 1.3553, -0.188, -0.0171, -0.0122, 0.1162, -7.7333, 6.8308, 1.1697, 0.2222, 0.0366, 0.5641]",
      "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]: [-0.3462, 1.0046, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4364, 0.9398, -0.1974, -0.1497, -0.1154, 0.4982]\nstate[eef_state]: left_x=0.2825 left_y=-0.0413 left_z=0.1692 left_yaw=0.0154 left_pitch=-0.2705 left_roll=0.1197 left_gripper=0.9988 right_x=0.3638 right_y=0.2058 right_z=0.1532 right_yaw=0.6249 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.4982\nstate[joint_eff]: [-0.3487, -2.6462, 6.7761, 1.3504, -0.2076, -0.0415, -0.0122, -0.2256, -7.4462, 8.0889, 1.9121, -0.2759, -0.0611, 0.0855]\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]: [-0.3462, 1.0065, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4361, 0.9398, -0.1932, -0.1658, -0.1249, 0.4983]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1687 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3628 right_y=0.2084 right_z=0.1544 right_yaw=0.6434 right_pitch=-0.1098 right_roll=0.0275 right_gripper=0.4983\nstate[joint_eff]: [-0.1983, -2.5094, 6.694, 1.3895, -0.1538, -0.0708, -0.0122, -0.3487, -7.4598, 8.0889, 1.8193, -0.1832, -0.0122, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3b008084d99bf75413f5c1dbccda9698128dc5a4576ef9cac5e74f95d26f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5b9a5b75bc3bee4d2bdd6cc5b4a736d8d95446c6649306afbd1c9d6647e618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e4f40d0c871d9b4c6cb0ac53ed48071315eaab517dc865b9fb1c2531b4bee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab437f4421487d0a0591938bde1772b",
  "summary": [],
  "type": "reasoning"
}

{
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  "encrypted_content": "gAAAAABqtDf9Gb2mwT52N9GxJV-g7zpB3VWBR_ZeeqPu3onfiQ3rTPYlIyxC1noOiVQMJirWYc5U6pMarONGcpJy3Ya1B8TorINJ7mxvtQQ2yIa9f5en1GrOCK7whImTHon_jJgUdJ206wutiziXOFTzCnkqIjsiJwmEfYtZV4mGksCXMD4lCAEi5n58ACwgStRJjjR6I06tidbi5kuONgCRKFZcWbjbKButGE0_0rHZmRUqrq5G37eAeBDsoLk5p3cBTe7jx9GjiD0I_MMTIjWAflbigEcURSJq95m3UA22LFB2Q3CLCzqx2YA2F4KtPxe1fKuov-peLEfVl28pfC-zRYJFmdr1ZCO5p66Ndnq4_1U08g7aoG94Vh9ZPmOo6RWDysGOlWFhbtt0Kh2Z7gBsBJoCZEDofjySWlfcliUQiQAAu6HK98YJxBjkGXudsVdsj9adFajsfh27GxQhr9Ue5b2AA3HRrbnEnUtue__PHHpv8XZuIBPmBwxERwoi6Xt2NGv6UcA391pU0-hg2G9MCGXTuQxpcAA0bi38h9yXdbqyo8sXrJe3hLcBvC87Gy3GNOderNvuiS3rbfkLr2Fj3tsHIbZzVM_vScEC78IQdEDSCnKl2qIM4bLLY2vDSehDjmQND1ueDKVUBke17OaYYBJJduGD7hPDz_UzItNxgHEoKLIu22sGdITrKqsF9zQpEDb8AMNnOiM0JokYVPnNEYuoE11djRdjHHPjW4rPgvta0gmKvX2RJ2sKK7pfBUlHZO2PnNy8snHdhMtMjFSnRimy6tbhDvml5bqHkuiUu5VDe_4DCR-7mSBdU8siasQN3JBuk1wM7qWD0QZV2NjB9V_y5vEQuydgIaLs-QkUvMctuS3HuWYg1RcdlTSBssnVgdMpfm6wihDs4YEn1Ij6qRqOZGwzcns4QDLuiIhKt2kDX2W24RSXtIKUqkvaSdiD1OxDfxDojUxjFqcJudtmdJbH5FrNmPbPdrKeQwMieKf3ewBaMWabgxj2ZlzGTGPzSb_XxLzWthwJERCjQoVKTdrx_jYYsq_B6wdPfgzXNUf6T3GqBeWUZ9xVywnl5hxaUXnLJltjmKS00T7FOFPe1aUWQ3Q9wpxX-Slu36HLP6gKTJyA_6E62qUFK4iPZJ3utL__UsAMPm9zbwGfx-e8nkR161wppHpGNtqh83q4QqrKomXP_E0h2252yJ-tIoFXd5xZYoVQehB3y3ayH-9Y8PPO1h1mq-dery9PyamYdNn0meTlA-iQ_fJWvKT-N_r-iatzike7_jm1LCUC-BEdwOwKKYI2khFEdGRGzDyw-nWMu0kT-IYXsNfJ3mXqqCS8ek7Dbi9vRmWKoZ7fUu0OSou8E7-lIIHD4lUu_RvcQgHmutEjX7rM5_rk_KUtC3NV9Kj_ItEH__Qeq9gADCnA_F4YKZgRmwLxUJzVEta6MlLofCfNojmnfhfjobAMabojDnm8qmYtm1F0Rr3ECCs4QgPV_mHhvqVyLxHwJeb9Ew4yEvIO4qI7SnfZ8Os2KFK8Yu9cwae8XJU_pw8UJBGQSMyOYftZiV173j-Sojr58p3_1tqFmGIAbgVcpKxHDNPy1Nu_eKQ34pSYFaFmglGrXFZAC3nc6H0hD7AMB6-jO_nPwvfXCSoNSXuRSqkLRF_bG69eVI07mYOERWDR_1tvLUVXhrEmBCTnfk7hNaVxr_fiIgAp6j2MlnDWmvDRzGrVx3Y1pmNBux8TMFajuiy957Q94il9AL2uC3O1tcKGIaaJ_DO4JyV2l7OzhXChbRtugYMnp-0Vs7nZtPOdVl4MLK724FN-Pzre7UXglbYT7_lO2Hu8xsoP2Cc97wecqq5-cgsnHUPIvGyfXLjZQ6FRRwnRErfLj-Cu3WB7gXU7Fzocvsi1iKe-Wf-cSnMc7WtStwQ-j2JiJUaUnObI8TL876OM-7NJ2k059q1JPOF74_Sx0XCCegbkjqbwrVKf8YmMyZY2FgyLMDVdfhRrA6YC-qbUHGuK6fTv5hNvtDHTpL4-7QmxD1cRLuHC9axoLcKB5RKw2Q2IDqKyVeHY-ObMVijVE_RPHGCIcfAVy26JQCtXN4Jxxi7mq6s3bcwolb4bpK2zFE3VdtkXGdGpJoMP6pBVt0VLYXStJUp1RYzkobAQMYDd988sCt2cShjfRB_rCVo8Ntf5giHd4vF3qqvQMZmfw0P0RToJl44T6bz6KWi0V51lOBKirw7gxBnbCt91G2QNnD6wsylkpHUwdaZZAOPr7yqKr9xqoOQdCwvHyeME93fHaEMvY4AwjKceJ2tyrSvF15HWG9X2kzKC5iTiN9r77r2TM9P8PKAklp22md6dQ9CdWTVcCZCPHwmYfmTpEKa3b7qWoYih6kS6q3nPkn78nlWcA1tMAbmZRQCLcRBwxw1Vdy9MpFlxlIQq5gVOgWW79_qDNApwKF2S8dGYTMGpoWkIbjH54NURTfbE8_aG4NMoTTO38Tuuq77vNzWZA_T8U7ViZH9wlX09rcE7WbGR3Bd91Tf2V8iVVc14ZDjTSsWeWYvBLeUCqoVf-khzk1XZ3lGBq38MZQi83Ns0XaRBXpdSCTwkdUAjGgX43AfAw1isCYG64BH0xBl_tVRv7pL9J5BKSeIOCDaDI6IgElNrfc9-iDzO21L_2x4FT7A_Mi-k9oecp2fdLZAr-UNRANzakH2rhymrLDz9GQnEDdC471OcHsQlmFDpmaSZRwFKiL6nTnIPWUkeOIEagmn9PnFivcgtKbuS2EUo1pf2B1z8-Xjn5d02Ed3_9EtVqMe2TWW0707VB1PRkFfOZcRmyPVqWm9NqAX47MAavOVNXcGBKIXHfC9Upw_-bDCuTnOM03yWxwvuiDntVYhMGkL3OC_kxobw6OdTZp39tFsB4iLQuPBbtIJ-1Ox1BdyPuxtqFcb-or6L1KJ-txiegY-N7Jg5w1MZqkRA9Fk0Q22XA6n98goLUKzjJZ-Dy0HkIU_CpwziwlcbzvnwLbu80fffiJdHan2pxtA3Hm4z9-wrkSTvcHkHsYJneo4GmqJ9F3A71laErNUK0v2l2KlN3h_4tUhr_rO1",
  "id": "rs_01751ee5dc733f3e016ab437f8fad887d09ffcaaeb850be422",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_yaw\":0.6,\"right_x\":0.344,\"right_y\":0.23,\"right_z\":0.107},\"note\":\"The wrist cannot complete a quarter-turn at this reach, so I’m using its achievable diagonal angle. I’m moving toward the pink bowl’s near-left rim with the jaws still open.\"}",
  "call_id": "call_nQYv8DdmJrIcLOwX3rJAcbE8",
  "id": "fc_01751ee5dc733f3e016ab437fca21487d092ed3c954081c7b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nQYv8DdmJrIcLOwX3rJAcbE8",
  "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]: [-0.3462, 1.0073, 0.8429, -0.7288, -0.3069, -0.2092, 0.9988, 0.5591, 1.486, 0.7815, -0.0658, -0.1551, -0.115, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1686 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3217 right_y=0.2377 right_z=0.0919 right_yaw=0.7473 right_pitch=-0.1907 right_roll=0.0438 right_gripper=0.4984\nstate[joint_eff]: [-0.3487, -2.1538, 6.8308, 1.453, -0.1783, -0.0757, -0.0122, -3.1932, -6.6393, 8.5675, 2.3858, 0.4713, 0.2076, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca648d8c0c17fc8517005ad1c1aaed06bb1ef8bf5e4206b5e85e4d7403c38cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d57deae5bfb099f70071cc113bf43ada80a40e969e42a0d14bdabcf1b247c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94be9685b763a83f23ee730783bc847ca4931fce42e9191cd556400c6da593e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0008, 0.8429, -0.7292, -0.3065, -0.2092, 0.9988, 0.6487, 1.4616, 0.989, -0.1982, 0.3355, 0.2592, 0.4973]\nstate[eef_state]: left_x=0.2823 left_y=-0.0414 left_z=0.1702 left_yaw=0.0147 left_pitch=-0.2667 left_roll=0.1179 left_gripper=0.9988 right_x=0.3695 right_y=0.2117 right_z=0.1692 right_yaw=0.2203 right_pitch=-0.0588 right_roll=0.0228 right_gripper=0.4973\nstate[joint_eff]: [-0.2256, -2.1949, 6.7214, 1.4921, -0.1685, -0.0366, -0.0122, -2.8786, -8.5402, 7.8974, 1.3211, 0.6178, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0065, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4361, 0.9398, -0.1932, -0.1658, -0.1249, 0.4983]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1687 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3628 right_y=0.2084 right_z=0.1544 right_yaw=0.6434 right_pitch=-0.1098 right_roll=0.0275 right_gripper=0.4983\nstate[joint_eff]: [-0.1983, -2.5094, 6.694, 1.3895, -0.1538, -0.0708, -0.0122, -0.3487, -7.4598, 8.0889, 1.8193, -0.1832, -0.0122, -0.0024]\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]: [-0.3462, 1.0073, 0.8429, -0.7288, -0.3069, -0.2092, 0.9988, 0.5591, 1.486, 0.7815, -0.0658, -0.1551, -0.115, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1686 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3217 right_y=0.2377 right_z=0.0919 right_yaw=0.7473 right_pitch=-0.1907 right_roll=0.0438 right_gripper=0.4984\nstate[joint_eff]: [-0.3487, -2.1538, 6.8308, 1.453, -0.1783, -0.0757, -0.0122, -3.1932, -6.6393, 8.5675, 2.3858, 0.4713, 0.2076, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca648d8c0c17fc8517005ad1c1aaed06bb1ef8bf5e4206b5e85e4d7403c38cbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d57deae5bfb099f70071cc113bf43ada80a40e969e42a0d14bdabcf1b247c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94be9685b763a83f23ee730783bc847ca4931fce42e9191cd556400c6da593e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgBbPOrNiLXTOCRoYnl1aUZkT1IiARCb3EnkJJz_EBoUYS2UoObllvKhBFdGXo5tfiaPnDCTQyRWdt8jTABoceyZ6xHcJlkft2EmHYRyMrZE-e0Rpkvuj1jIRsymKQyRg_seCF90gwEOMARMYKECnI6mjWw_aXtXjjbTtTDFpzGlrXdLtB2m9kaD93EdsDgHWlG2D9FlCX0qSmsw2_wGpEaBNGWuOD9mWIY1sS7BnNnpC3zkcCYm2s5aIdhk_syZzULJGhWtC24EZim8Q8xq8aoRmYdYD0t2Qvx-6H55X7J0IjRAriGiQXURakRWWETTANu4xJZBU6mhtrUlTKzNHJAevPM3vm0fW8kusS6N_1revtoey4KBIPDNcfsdlWKR2EXgDsUOIwYuVGHFJlrc6c4tcZYE4hvTWScZ8KBo3k161RD_zt7_Wl-co8DdI6lVMxfVxzkq2zLFukfjwtHixst07O4OmwRZF10UepgLV-8VETjx_ZUGx0ovGStLLKW1DoXDD6WgL6OmOM1yF4tERxw2Cdnm2-s3e3DpdPoeOdzonX3_NLQ2x2xwfV9CtOrwdqnNgJfG2_7wJGe9M4dc5cQAMry_DdTxstB9R3W_zHpMWdQ53cAXPy6LCSumTg4dX-ZjUSHU-tk-Fb0pGWcs33Y9dRqLdka6VogZz-l44PMQgssF_qGtaluGdLpee3BVqI30yguBoFIARMzoQnxm8q-vj2tEZpRIEuMDClPafm7vkHk63bEetC1Q46tRFoA0wViIeBG99zy8GgN420HWAC5K3FW4p_BfNI2WWuEGpNOtSwh-dGvtIg3VXXwZlfOsesGc7B3xPpjZT8L0T3E7vLVzUEMN3L51s2tFjFDe54SWiOOLpAto4RJORsPniypXlxbnl6oqEGAEqaRNhFi5Lx36ho0SE2Yif8H27S4mclyBo6Awa1JH9K3IPDhba9o_2ckxUlbM8qTVT54sUlXNtdCqQ-aWOdn0Aq6-GwnFYwPaq2WJN34w4kTS9LadqMjJreWStrSdTdwMxcl1glGPNVHT2SLDF0r6xJYj0wyYpDyvSLAKeS7j_LQwYFgUn27txqtWN7xaqqzSPOauOLlMvjNpGOYw-U2Dslb6_frnRTRjmqAIf4b7rEi8RClFHPCOJFT0MLPL-kpQX8LTMDqMQ9e0Cv57cZXPKlAYFnf1RJxYKaNyBsPzuPUzG3HZksLueTZ4vvPf-vLuLpwSfbQCrowmV3uxjthoY43GHjWS671IS-elRQNo9bv6DQSR8kEtOySePll56BNNVsjtrgzQpbuS_EWeUQNtQGb9ByPsNaP1LF6FTgDEdVjiNJa8C0oqcviaAsZC5ETAqRJA9_ncRhXzYqRmHmdhOk2xawYoCqN6oIA5onVvVbakEAfYktBamhpifuheLxZDjEjE5mMSkhVW5Wozf7rswZzlDAv2cFfZn2JY8ljRvv3kGyJmtnH2jr5scOANJPDmQ2akxaLmgiX5rtobqVq6vY9MZOe9PvrtQlZZaEickgC9uG0O78yj3p5B5JYnkVN56gcVGsteZ9cQH5khT7ezEqUqIKo1t42sCOC8CrD24loZlBNQxHRkjyMOELKqbe17pVjEz1gu3XKtnyAHliEIyZJCu1XriBPd5mQGA69_vBT9P7QlsgR0lu3pPBXTrkbz9VuqhdaAsiKXgHZYIbSytJwAeF8mkf9muHHcsFKOPPXHU_iYtwhELsvgVYP0jL8F3aigfMCnPK_p4TxPCWHu-9xj8qRHRtSvtTo3JLUBRopXXC06iqS_sU1FM0xxMX6wNrF0H_JX99lK6LIy2pSp4H7SuyQpWJ1Qk1aw-wILVP8oeR_WBuUwh9Vc4HBUzv0sTDhABzhkFTe8Q==",
  "id": "rs_01751ee5dc733f3e016ab437fef9dc87d0abcacc553fc82a12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.048,\"right_x\":0.329,\"right_y\":0.23},\"note\":\"The pink bowl’s near-left lip is now directly below the open fingers in the wrist view. I’m lowering in place to put the fingers on opposite sides of that lip.\"}",
  "call_id": "call_0L0kZGIoKQgCQrzbwHgs6Md0",
  "id": "fc_01751ee5dc733f3e016ab4380068d087d0baedfd58e73b5f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0L0kZGIoKQgCQrzbwHgs6Md0",
  "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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.527, 1.5818, 0.7082, 0.086, -0.1394, -0.1097, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3309 right_y=0.2251 right_z=0.0532 right_yaw=0.6996 right_pitch=-0.2097 right_roll=0.0398 right_gripper=0.4984\nstate[joint_eff]: [-0.3761, -2.359, 6.7214, 1.3797, -0.1538, -0.0757, -0.0122, -0.1983, -6.9949, 5.9692, 1.6142, -0.3053, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb93366a91f682252f024c02d24a12d5981307ddf9f05cc5cb1724e16690572c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e89b9eded386380735b3cb8a25b17d3e5967a63bddf3bd5138b6acdbdea7183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127cd56203268cfc2bbdafc54c161ea323ef39c931ae3ec487ced70908872254",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0046, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4364, 0.9398, -0.1974, -0.1497, -0.1154, 0.4982]\nstate[eef_state]: left_x=0.2825 left_y=-0.0413 left_z=0.1692 left_yaw=0.0154 left_pitch=-0.2705 left_roll=0.1197 left_gripper=0.9988 right_x=0.3638 right_y=0.2058 right_z=0.1532 right_yaw=0.6249 right_pitch=-0.1164 right_roll=0.0258 right_gripper=0.4982\nstate[joint_eff]: [-0.3487, -2.6462, 6.7761, 1.3504, -0.2076, -0.0415, -0.0122, -0.2256, -7.4462, 8.0889, 1.9121, -0.2759, -0.0611, 0.0855]\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]: [-0.3462, 1.0073, 0.8429, -0.7288, -0.3069, -0.2092, 0.9988, 0.5591, 1.486, 0.7815, -0.0658, -0.1551, -0.115, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1686 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3217 right_y=0.2377 right_z=0.0919 right_yaw=0.7473 right_pitch=-0.1907 right_roll=0.0438 right_gripper=0.4984\nstate[joint_eff]: [-0.3487, -2.1538, 6.8308, 1.453, -0.1783, -0.0757, -0.0122, -3.1932, -6.6393, 8.5675, 2.3858, 0.4713, 0.2076, -0.0073]\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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.527, 1.5818, 0.7082, 0.086, -0.1394, -0.1097, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3309 right_y=0.2251 right_z=0.0532 right_yaw=0.6996 right_pitch=-0.2097 right_roll=0.0398 right_gripper=0.4984\nstate[joint_eff]: [-0.3761, -2.359, 6.7214, 1.3797, -0.1538, -0.0757, -0.0122, -0.1983, -6.9949, 5.9692, 1.6142, -0.3053, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb93366a91f682252f024c02d24a12d5981307ddf9f05cc5cb1724e16690572c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e89b9eded386380735b3cb8a25b17d3e5967a63bddf3bd5138b6acdbdea7183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127cd56203268cfc2bbdafc54c161ea323ef39c931ae3ec487ced70908872254",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgG-Bwc4yh_qZmW5_v-7CyWc-gj7I1fqmMwVy0L65KVGe5gdnF3uPELIGv32JCQuc_oNhXc-hrHCCGa0lKiPTwd3QYunQmNemq1vPlNtJHc3TqX87wRAmJUGRLx2ZXPEOAWzLVMxUOe5CW82_mNb2O4O7yvJQAFOuPiumlzyfDvaZL55tonu6GM6aUDzN0-Yee29ZqCUqTLc4tYeBO-cDS4yy5i2l_z1j1OjZs295d1VhOyubX8YZCApJsZTb3xpG2KiFMouTQppi1jBXp5bPZLi6FRVe8wXwuQR3pGcc83zoB87wghfY8-15JOgB2hQFrS1tieIg7Ps1VZI1GGcQc8rKNyuTkz9bSggVPo8LX4g1giqhjJ5E2AD4cgrJbCdBVpnzfAIV6vDLU9A741SC918Exk1CiOmMmiRbjT85a8EirgyWN2ahGs4e_85qO_H42M1Ljx4-_haUtShi_8wnDDNRBDA1aCWT4Ax48tXFdrz4mxOELQIKjcqrTyV4XRY-lTUqE6WpQwQVkNP-UbxtQxu61Va_zJLtPd3wcD3chUTNRnVYdyK0Q5RLnOwbE-sGcbhELc9zdsdNzsgktXH7C4DK0WhqJwtyUdWocQusqp4JXUp-c3det4zbZ57Hh1MPm_zjMa1A_FjFu8oUlrrCK6K59efAhxo0IQRaDvWgj-M7obqyjoF5274MBAui4ooLBCqiXOw-ibT5v94CxDNP1juCqdWFMAU4EbIVBr2hkS53JEeuLlrNj2KKds9ZmTB79q2j4Stw-QENv-qWfETKEnlmroZsNCXloH9rvT7J2K5aUgciv5n6RPZHrcnBrPVNeAnthGW7_GPVu28GkfS1rf-Z0gIUkaL-U_gPE5k9z-tlxaVm1_KloTm3n3Ev_kDgFNV3smOfy3EL7HHAMxDuMouiJaqgaNPPo9BhhQmnw9o8h8yQUcC9_xF1ilagHDzludPtJK9as4rqFm9gCeuGJdpv-fhr1hfLBV43j4A5ZhVJSs2fafDutMxSiKutVzDqI8SVYkJ2RhdpHBz9veSNsMlE_JHndUqfp8Ebpq-R_wuDURtZBYqQiDBaJwOOew1HLPo8tTC2eUoInC0sCRJIifJOxoJqXOotgp2-f-Pm3_NJplUTAtEZ6lFDtYSWR2DITCG45oi7w7cEPKUHr-60gL3TFGZsw1hU3w2bf5jqbDl2jqTtb9QHhXpb4uN20FwNKftUqKXGd6YjOi4yLjSdzv4G6bEV3GtzglnKkH4S20pSHdsO638ZAXLTK2GnRnqLa5IggceG_rpZXuTUcgXum0E6UgPduhUueLvA2Zn9Hr3ORMCilfxK8wlIfD09_z13P8JrnGW-JdcFziODJg93yG8nhRzIiXxmrqiQ3Bque4l3MKmGT3hXtosZJhwKtNDLuw70FxMH4Q4oxQU4XUfGLfj7IQtPvf6YYNPsHGWAimOOgUlKTgkKMWhwlhzQ7waD0dHGK7tVQlgTUF6rr5cArnVxbLkGeWYbdqd9DWElWKS3zPp3jBp-DCQZd_gsklXtdJ6VdH3vIaaeTLWYVrbNvpXeyJJtqycbiz-6M3n12TIjE_zF0gQHNKBc4qRFcijjjiSPxo-kAV-nh7VVZxXNJotM5m_XJ_taeioMgIVa86LlKHkVi1MWw8i0iLXNA0mRaV5AaUFCMyHaHJzn-Jwk7TT8lbiW65_oLKHWbSBQCaeoA0kpNWntYBBLMq_vDh3yp9cwvYwZk5s99rVH1O2OUIogqAZg1c-x6aA2GuiAe3Hbz1C1wy4XLNIMGtIcF04AwmMhLkaW729hn45lwvFhhs73Rxe6LHh8skwi8TfeQ_Qt362SDkHMMBz-9Xi-nydNCyeg4B7_WHiIODxXhX0xPc53kKSs-wKwPKcQ1WbOUG2WFBHW6IQpHWrzvg5_1aIogCBcTLF7t4I5PhBt-B-hRR2RyyVP09t_rN8UfBkhpo2YvZycNeqiOFyj_nRsrFNIAspN4tqIm_lSKLHA1zxLmibH69mKMZAJXQ8iWZ7VZxwPjo2idwGhL70liStnKbPCZftYYIHs6MalEbXy9qme6COjnifWU3hbdScHbJvTIPeXJAklRTOdoAxuWnScCAhNWeUrstCYr7UFwIt8F30o68j57O-pNLwNsFoF_FJKX3DVrdieEXyGF_c8-lXWX9taeAg52O1lXxqthg2zPEVC4XaAOcs5nNSyblBnMrEYsOCg-2pMzbk6rDHMWLPqP99KLCGQIVc6SStcg5odRoVClYxPU4C9-IrIIeu7ILaHL_rK6wfikCR5TdmE2Ktv2-zKr3HrKmJFWkJ9-kKe_2COqOf33ogaWDl4xFJO9VK8ioiz0KIap6U58Fvhx7aTmoJeNRqDo7UtvNCmARP8tYdGsWIXz5BMWLjoOMQOcB2vhi5QYKLB4wEPov5c0GbEOOwmV2fA0-MAHy3mBIQ2Q-j3Jp9i3NZ0DvWEDQhvyoYF1CCvucaFlq8-gZdDqVJDuK6TgU6G_sbKFz9DPAT4gsoMHs77bGyN9av6weAA3fok52uG7IQiv2GHrdOtYDYuPnxDiUH9gDWIsp1D6T2sXrHKo3qxEBwVN0xunFYdGlTK1_1SbsWh-biWrSJX73K35e1XwtFpRS9eJZXkkvtpgAwiWEuuKpH_BUHrXIH742XjVpbFVwsZmx-dD6_cag_QHzyBshm74jeqoO6O50zylapxEuRZJhW-1t9MZmr07YCBRUB7nokbZV7ng7ySLoiFEnpJ96I_oyUUzp1kt1iWFcjYYTNQcpv0i3WvErl8kYQLBVyOmon2tKyK1bCEREng38qdbuvyNypbYCcVkn_MfZcc2pnzWCuHfTArEbxlgTkIM_XtIcgPPCqoGKHPJmuBIgRQqfcq6undBYIoHFbx5ZLFzDjC1D7wcJvNqQ0Myjili-PqjTzBm_ZYOU7PGvrHnyVqmBi4O3BpjpqgM5RYEQ5MVazqIp9P9aiZJN6wnCS2hetKl3Z-_0dxBfRiCNPxxyXqNQAP_YAzvwjJXbizjSEb4bbA==",
  "id": "rs_01751ee5dc733f3e016ab4380289fc87d093f727d302254d09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.108,\"right_y\":0.253},\"note\":\"At rim height, the pink bowl’s lip sits by the left finger rather than between the two fingers. I’m raising and shifting a few centimetres so the lip lines up with the jaw centre before closing.\"}",
  "call_id": "call_w0J97HOU4Q0ujoLRnyXYLfsX",
  "id": "fc_01751ee5dc733f3e016ab438057e3087d0ace1c2889fb1dfe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w0J97HOU4Q0ujoLRnyXYLfsX",
  "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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2089, 0.9988, 0.5217, 1.6108, 0.6765, 0.1131, -0.1734, -0.139, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0157 left_pitch=-0.2752 left_roll=0.1218 left_gripper=0.9988 right_x=0.3219 right_y=0.2243 right_z=0.0359 right_yaw=0.741 right_pitch=-0.2373 right_roll=0.05 right_gripper=0.4984\nstate[joint_eff]: [-0.2256, -2.4684, 6.7624, 1.3455, -0.1685, -0.0513, -0.0122, -0.1436, -7.3368, 6.7624, 1.7363, -0.1978, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22586caf0f53baa8fa9b779a87c97502fe00bdb16b9b8136cd39db41f9b3734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171dd3eba56b26b98e8b704d144a4b9156473b92c8bf57bd45be416302c481ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad06881b9a0fa78d050688875bc094f5593a0344cf448fe783658aab190fcf0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0065, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.4431, 1.4361, 0.9398, -0.1932, -0.1658, -0.1249, 0.4983]\nstate[eef_state]: left_x=0.2826 left_y=-0.0414 left_z=0.1687 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3628 right_y=0.2084 right_z=0.1544 right_yaw=0.6434 right_pitch=-0.1098 right_roll=0.0275 right_gripper=0.4983\nstate[joint_eff]: [-0.1983, -2.5094, 6.694, 1.3895, -0.1538, -0.0708, -0.0122, -0.3487, -7.4598, 8.0889, 1.8193, -0.1832, -0.0122, -0.0024]\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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.527, 1.5818, 0.7082, 0.086, -0.1394, -0.1097, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3309 right_y=0.2251 right_z=0.0532 right_yaw=0.6996 right_pitch=-0.2097 right_roll=0.0398 right_gripper=0.4984\nstate[joint_eff]: [-0.3761, -2.359, 6.7214, 1.3797, -0.1538, -0.0757, -0.0122, -0.1983, -6.9949, 5.9692, 1.6142, -0.3053, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2089, 0.9988, 0.5217, 1.6108, 0.6765, 0.1131, -0.1734, -0.139, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0157 left_pitch=-0.2752 left_roll=0.1218 left_gripper=0.9988 right_x=0.3219 right_y=0.2243 right_z=0.0359 right_yaw=0.741 right_pitch=-0.2373 right_roll=0.05 right_gripper=0.4984\nstate[joint_eff]: [-0.2256, -2.4684, 6.7624, 1.3455, -0.1685, -0.0513, -0.0122, -0.1436, -7.3368, 6.7624, 1.7363, -0.1978, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22586caf0f53baa8fa9b779a87c97502fe00bdb16b9b8136cd39db41f9b3734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171dd3eba56b26b98e8b704d144a4b9156473b92c8bf57bd45be416302c481ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad06881b9a0fa78d050688875bc094f5593a0344cf448fe783658aab190fcf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgJR40kBUaG3mSNSKwOBL5iPvgdg_Q5SOPUeI8qzI_H120ZiKsZY8OdVDjBflAxIpKFPul9fS_-4aUtA0SLatUseJd4Z8D3Cktpncv8DnsTTdmOsDIsTo4XWwKqrdZgJfKz2JrOs5vmEubbMHOU0FIQvUHH5Yy7E-j6YI3WvWBihNC7tX05gpFk3MsYiohdZNlrwQ28Yn4ICXTPPb8cId9lVn6SKn8sRRra0C-rtt9oNGI_QNZr7CLI1ZnHo08bAbgsbHhkYdbGbyjAdF7CE7Ov4Lz1FnLhLEqjUSuMyx6kgJdpFNZWu2AI34aoMhOK3PbJqZ-EEeroKHUddWn6kX4rAYoRc1VHtivlUsYH06V0Ot-gicdRmLODJ43yljOdH047Xx7sNyHa__IJuveWOclzszggVY3ihnQh9FDsxhC_QeXX7N1nVPgvIR0W7vsyg_rE88T-jeaS55HJKv6BQctJroItjyvB9JBnNuw1G6eMaR5pzve6zB6IMrGhnNV5HZO3e820ejKzfIx1LTNaOmQX5M7X-rsYJib_NtzAPb8uNrzqMdKmWUjoidRLNkGlL5fD7pIiLIc9QCr_6Voa-3CgPvd4_Fykn3dLZoJyJ1VyZ0q7p7hxc9R5SGJeENd33M3fttjzLhZDdSEm0A-5Kms35CIhnEqi-pkW7m9oXKEUd-XtRtjDADA9OmLUllTxIO3nvm_NyuO2vr0BNwiJdNzTLzlpnN-JbLNSczf-WlysBXYmObhZx304Q_kQVU72phqLJy7TIyc4mi-IIiDIsdYPxKwoLWYgJ-M59zFPkunnktz-h2ABxjYiBpr16X3ScJYRU4PTc1lw-XaJwr8CdqLlgnKtAR8ceSMDut7x9-4rImJg8D8mxDdu-WbS0tn5beY0V6LHFGBZvO3PaI-boVLbbdZAGRAeR_jR-qhnysXvGkeu5c-ucQw8BZ5f7srtb3b4vMO08mi0u_sNS3vWempfQtqZcwkdhM6h_4GT_mBV3FFmU5BZV9mtNbT-wNW4d9jbcOTN0mJv6KsRZ_89uszV0HcPHabrTIx2VuQUS4k2dyPO2IKNmMXBALYXpVy2NQHM1TQX6smlhHzt8Cb-jtKVZUkvo5M1mKsJI8UHxQbszxjN9w8JXdZZbN-pobGAvGggAMwj3Olu3LygkuAkbwnCm4N8VRuvHG93g3obPL6dBHOh6SGA30ubsbBIrQLnnsd6xHlaTxGcK4RHRnvwLUATQw6J5R825Nt0oHeU33FZchgwo4mPFy51DcYEOnlAzv083srtBBepMxadcachkfMicEfFvvCXpPVuGQDZLnUF8U1Bq87sgFoG9ZpBybzd28ELG8kBEhVd1QObwVwwGFPVUIEK-4D5k0n3IsqHk4WnMmmJvnonSqLw93z1q9Ch6Co2Wxpy3Q6uLJEUfWrmwZdj9zTKCRpZD3-guxtroM3uunTBvhSFSU5QSAFqMR51cFZE4QZYHWDXDnA-5O8lki14jqVMzNvRplo5teQRkWpJi3l3-PDR9P77RKg6oNp__r7xG4o0pn3hX5NMoJUo8dwG_NFFA9JgranezAckm2oZoYj_iAn0DNUySTSFgKsRWKtdbBZH_zJx0Fyn8mkPXoZOwkok6mHadrUH90dpjf46-1W72ZqNLMo8ZyMqiVmHBmqrbHMjBkpSGFl3BG2RQSJS1embCYy018tbNDmKcES7Qi0=",
  "id": "rs_01751ee5dc733f3e016ab43807b7c887d0abe79427f813b5be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl shifted slightly, and its near lip now lies between the open fingers in the wrist view. I’m closing at this position to catch the lip rather than pushing on the bowl interior.\"}",
  "call_id": "call_0ENaytg0wlS1ycnzvowOyiGi",
  "id": "fc_01751ee5dc733f3e016ab43808b04087d0b86b646dd61a99e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ENaytg0wlS1ycnzvowOyiGi",
  "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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.5217, 1.6093, 0.6781, 0.1341, -0.173, -0.1505, 0.015]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3257 right_y=0.2264 right_z=0.0406 right_yaw=0.7458 right_pitch=-0.2137 right_roll=0.036 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -2.3863, 6.9128, 1.3455, -0.1832, -0.0562, -0.0122, -0.0889, -7.2, 6.1197, 1.2918, -0.2076, -0.0073, 0.5836]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a357334ceaa722b3abfa508dbbcdfae2b013e089909dbb6168eb13fa2124570",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195073e0382b302962693d54ffcaf84fc9844f9955d7278f4db7d46854442029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa4deb3626ebfc5fb7964f7bb51005928161870fcb32fcd4728a199109758ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0073, 0.8429, -0.7288, -0.3069, -0.2092, 0.9988, 0.5591, 1.486, 0.7815, -0.0658, -0.1551, -0.115, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1686 left_yaw=0.0156 left_pitch=-0.2723 left_roll=0.1204 left_gripper=0.9988 right_x=0.3217 right_y=0.2377 right_z=0.0919 right_yaw=0.7473 right_pitch=-0.1907 right_roll=0.0438 right_gripper=0.4984\nstate[joint_eff]: [-0.3487, -2.1538, 6.8308, 1.453, -0.1783, -0.0757, -0.0122, -3.1932, -6.6393, 8.5675, 2.3858, 0.4713, 0.2076, -0.0073]\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]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2089, 0.9988, 0.5217, 1.6108, 0.6765, 0.1131, -0.1734, -0.139, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0157 left_pitch=-0.2752 left_roll=0.1218 left_gripper=0.9988 right_x=0.3219 right_y=0.2243 right_z=0.0359 right_yaw=0.741 right_pitch=-0.2373 right_roll=0.05 right_gripper=0.4984\nstate[joint_eff]: [-0.2256, -2.4684, 6.7624, 1.3455, -0.1685, -0.0513, -0.0122, -0.1436, -7.3368, 6.7624, 1.7363, -0.1978, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.5217, 1.6093, 0.6781, 0.1341, -0.173, -0.1505, 0.015]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3257 right_y=0.2264 right_z=0.0406 right_yaw=0.7458 right_pitch=-0.2137 right_roll=0.036 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -2.3863, 6.9128, 1.3455, -0.1832, -0.0562, -0.0122, -0.0889, -7.2, 6.1197, 1.2918, -0.2076, -0.0073, 0.5836]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a357334ceaa722b3abfa508dbbcdfae2b013e089909dbb6168eb13fa2124570",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195073e0382b302962693d54ffcaf84fc9844f9955d7278f4db7d46854442029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa4deb3626ebfc5fb7964f7bb51005928161870fcb32fcd4728a199109758ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgN-Ltix51oMR9yub2qz6y2UTWwsfyyN0Hw5YplQahTIfVOB4dVdDUeu1a2-3VPe6z3IT-Mxi2rzQIkhJCPQGgHLUetKCq1MF4xTVZCTkL-AlowgYeWvgSNXpacC3PsFuCona7qHL2xwcT2uON23pLyxVPf7MzKrKTbEh9KFgbqe8a32Ua2gwrs9DFrE8p9FlbIG-O4yPVlIGhHhNwItRVfaKpsjdxx2sQ1hJl8IXkMgXCSNQHNL50mQbFt9AgpZg2DJhQvdUdB205EeJfaoLAnHQpr6D15ftIUc33N6eySaKNtZBa5u3kAbHZatukt8Vl1bLjbiqUfKf0G-W3DtJplfJjGGjBdiTrn8U8ORBISWrdsMeqwRgO2bNiV3bIIwEuKH_keEozPwqaldC9pPS5u63IMwXqC7APJDR75QTEmTQHQoqCiqdOGFb6R_YJJmMdckDeZEcC1koLG5O27aH073Ttq_YWEsgdnSfZQuYjLeIbctLRXRlZKcJn_v7Mcq0OLpVrEmbvUjpqeySym8ClWcQSUwj6OPqPYcGyiwLoWjzV-BwZs11Mcr8HcqniZSpaV1-Z38xoyvXyGOTpdx0cpBfZLFjPi85Rntm0x1lbx8VMUS5PuR1xA5wnCg8gupGkiGlS_gDvyhTEzjH9L2QRPqTRETNNX59SlJ5-GQ7Ty-trE0BPTQ8GFAzmD0iwCi9GxxR7WkQMlFcbNByWZgPIwb6mpq8uzxv8CAqdU4-sW_hynr0nD7Kq6KepNUwhEcRvj8oATAADpIbGxVQvoBPgx7vVvQC-IknWAQmZfsv_9g_7QZVhhgXYJJGdYVvq66v4pDa6vjvdzdFeJlHdOQrL6dYLUck6TbcJs2u-vcm1-6eEicw5S5x9QOwks_3a8yQERUblSc1ixtGGiSz8vmkruisPH3pPg_OwVjHTJ-sq3q31y6lUCAuNaPWFd1T9UaIQ9qYsSubpvp3VJ73dd6JHFrhEexlPmTa2eiEWg_9nGJUlp9H90fSpcVjfNWgqVN83MxzKo-agY7Z8lVhWO5nBM-DnkwhF4Hy29yF7yAOU65Z6iYgyzMJLxpzOpRV4XC5QrF_RBKdlvw6MxYyHd0I_Dx4V9Yud2ZNfRZiD48r8Iuir8P9noGR6qts2g5TMK6SWv6N7ZZkufJOSx6tY_XB5Q-BpLxGBLOFAG5YjuO6WdKKkQJI8sViJT4-e9rkUCAWzaDSeRw7rWAt4K2iZE7jEBZ4qNTyBlGqDSc1gXhozUz1N3-GgaUKlO2U6fUcOm3OlMHhzCpoDelqAM3SGwaY8RHmgUPE1BQFcyKzlxM8Q2boyWFTRdeDW12Yl-zmzjEHeyL_eJgT3diZxUb---1PYMGMgMb3M4dgLc4E6TWvcYVJ22sch7X6bSrZcysZUDWHrv1fj_WEcaytl45e-RBO6Q7sThDSA_pV3HUbZEOMbC_I9fwojFzvBzIpMRgRhAkytf4yhqP2P_5IAIWf5FA66P0d3jpsFrEW6Oi1HQ_8_n7bAty2sGmCJ4HLwMTF-F7cNbow8STQZF0VvcVhi_BQZnvRGO8C8gN-XV6Qwl2Fs9mzmz-0afCShXO-du7a1eE7h3kA_tdGUrYCycf3WzOQy9v8HoTn09OJXb0U4AizTVjjYiTY8KAmsoRRiPzs-AyEdYMVkCIe3nqYFa2QsEjcX8AuqQLl-HefpnBoD4c7DX4I_Q3qpzwvXZn1XS3dtG-CZYD2KAm9PikYKhdiGdnMuGcWxn0BGefGjYYEiqpVDgzo4=",
  "id": "rs_01751ee5dc733f3e016ab4380b75f887d08c7f22ae82371ef4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.2,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"That diagonal close also slipped off the rounded lip, so I’m not repeating it. I’m moving the right arm away to expose the pink bowl and see whether the left arm can reach its other side.\"}",
  "call_id": "call_McjiDNkN94EIQbsZrILDtav2",
  "id": "fc_01751ee5dc733f3e016ab4380c49c887d0821cea2a7c62991c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_McjiDNkN94EIQbsZrILDtav2",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0138, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, -0.0223, 0.9646, 0.8566, -0.6979, -0.0517, -0.0254, 0.9966]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1668 left_yaw=0.0163 left_pitch=-0.2791 left_roll=0.1231 left_gripper=0.9988 right_x=0.2906 right_y=0.0062 right_z=0.1845 right_yaw=0.0287 right_pitch=-0.2363 right_roll=0.0388 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.4137, 6.735, 1.37, -0.1734, -0.0562, -0.0122, -0.1709, -3.0154, 9.3333, 1.5946, 0.0317, 0.0122, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ba692fa554cffd214b933fea3aa6935b639444161f774e52e340c34fa4903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9345a20fc3793875f15a8112d1faa566acf16f4e1b8438585b644308abf76310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ed364e49c5ccdcc7c6b2042e8510547f176a06f52b37bd77aee34bcf2823db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.527, 1.5818, 0.7082, 0.086, -0.1394, -0.1097, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3309 right_y=0.2251 right_z=0.0532 right_yaw=0.6996 right_pitch=-0.2097 right_roll=0.0398 right_gripper=0.4984\nstate[joint_eff]: [-0.3761, -2.359, 6.7214, 1.3797, -0.1538, -0.0757, -0.0122, -0.1983, -6.9949, 5.9692, 1.6142, -0.3053, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.5217, 1.6093, 0.6781, 0.1341, -0.173, -0.1505, 0.015]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3257 right_y=0.2264 right_z=0.0406 right_yaw=0.7458 right_pitch=-0.2137 right_roll=0.036 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -2.3863, 6.9128, 1.3455, -0.1832, -0.0562, -0.0122, -0.0889, -7.2, 6.1197, 1.2918, -0.2076, -0.0073, 0.5836]\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]: [-0.3462, 1.0138, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, -0.0223, 0.9646, 0.8566, -0.6979, -0.0517, -0.0254, 0.9966]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1668 left_yaw=0.0163 left_pitch=-0.2791 left_roll=0.1231 left_gripper=0.9988 right_x=0.2906 right_y=0.0062 right_z=0.1845 right_yaw=0.0287 right_pitch=-0.2363 right_roll=0.0388 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.4137, 6.735, 1.37, -0.1734, -0.0562, -0.0122, -0.1709, -3.0154, 9.3333, 1.5946, 0.0317, 0.0122, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ba692fa554cffd214b933fea3aa6935b639444161f774e52e340c34fa4903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9345a20fc3793875f15a8112d1faa566acf16f4e1b8438585b644308abf76310",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ed364e49c5ccdcc7c6b2042e8510547f176a06f52b37bd77aee34bcf2823db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgYh6YlrPMqMsUFLJ0SUA6BoQ8IIizlTnHrwqYekStVmdLBXcSNUa6Ltra1vjOY1x0M5r12d3F0Z4Le_i-YwNWbHafhlUjfiYSL-AioQfdvZm7Nj1S1UB7NSxU3Ik-q0Xv8fuo-tZ-m5wMYQ3nftdw2NTwg1z-O2IJvsABm_EPICf0QjlH9pyxAKHj7c_1b4DsX8QiwB1zpXIYTI8XdNgrGZ78KFy8VOK9q9jyDKu-yy0GekU12-4Hyv6PJCqiigU2LuGVxFEYAPHR4pz7lAXEDpau9DcmlntzCIBZebkvWceDN9-QwxS8y0YtTHzKoDrEHSRIkkYhsxyJAhX_eMx_6eVBAIDgmliOUH1Xf_EQsiDrd8bQiReI5mHBZVhUIugh2R2VHgVkzKiBSaykQ4aim-YDbUqLcDTqfHbVJg5lmhCnzDI6-g5MpbNj1fsw2F7mywwBeMU7cXbgtFUfK3DgotYPX9H-cTQ6bWSMqXiPfaA691A-VD3w2a_Pji0PFPmwddlZHQhok6igBowAt8U3MdJpWKwsyKAQyNGuPaCN1Fk8DFgB10lFzJzaWwbVpRSFTiegWlSPnR3k82Cn306Sl_0u3-3kLtX4_TFp8toQJB6Kbg1NnX6E-jLQ_iqZO7vTOwYNI2rRxkSz2XJ4Fq0QGPoWy3COOjzW4qIJZBoYZv1jVIvd6CGoncJh0CvPOR5Of6MSjdKR3RRcMdl66zBJLLJcxR3-1I7HXLPdT0zJgHOLGfWXZHRmut3iL536tUZiq2_YlmBtXJ8U6jGVRmU7IqxLpxKbphI0n-gQyBQqPMP6zgV7Mq5QrpcQYz_9x_VExai5--DeTgKL8m81RdiVdXLr9B6L_DNKcf9fZJyjAdy-tZ_1503wvcCOcCjeKk_mGwEJ0KGONhzkiJXP8k_vEn73FOS2tX8A7ZTBclcug_SmdlEalaWCBReQ1v6mlGhFacwEbybdelLaZWfuzusd9u3dAzMv3mZ-BHqeBPxiaQ1KYInZ6W_7H6sk1ZiEpAd1ouuUOwcTrC8IIFgpScX_PGtNmYfWIVFhMG0iL5NyAiXY3INPkeerg0Jqid6r92oxpXoPIQ8Dn12dVOx070J8bNIAZoM-hpWEH5VXJz78BM3oOulwK-KCdC4aD_XqDDxERyDuXJcByLVKGI2nyx1REaZD4VA-eSor4b98Kfuq383Wly8yplybNyhN0MiSl9tt56MP-RiRRmbcWhwkjQI3Web1kB0gmnxx7p-VcAnu4zc9xG-R6IoHzd7VRHbS7-XLKaAaDHKxRMimqeAj01OpW0ecYOAOwuWQh1Z2dM3QiSD_8OxuGXEYONBKhGB9pSO0WYnoL3-Pi7_IlN_Fx0VzspzVO3cBf2VjZlD5Sir7JQFcYUFhDCmZPV4bHVGun2l0Wnm043FA9EKAR1_kmqPC6CJiWPXjBZBQef0y1r33i1P5DxHoeG0dIo1mSIjyO919txxIaLXftp4RCg-_EeLMzsltIhnbgSJWgZP_pS-GNzmFy94SjbXPoUMUxrXvyPss-Vs4MKiVuTNp4zsEcKl_DHeobmDvApYo5dSvSBtaKLxG4ESZjbPGPjeSWodrYQXEwW45YOBMjevK-EZBZAk3dAYssrY3A9mWsINsO9TnmhMOoxD4k3umMauNZ5cevVf2WXCCws6fDf45-ktgZNsxkn0KcRymgiB0Hcwf1fAKeS1ErSmmYXn0-lQvsKlapiwjy_zpNqtJ8tj_tAMgxbig0cPdMmVHGz-qlR0ClVQ4_RNHl1Cu4VUbTDr_kpIfgx2soU3NhRzOK5CJZgY-mTAIkyCbbwrU0enZ0zUEPP56AC0FIM3NJ-yHkNYG8fAemVYWrbqoXDAmbQtHpMeOX_TsqB89bVApzqoUGulUKk2WTrIBvV60KX8QCCsG79IXLLtwXTcWvwBql1Q6iCPE6KWY71jUztEfeh8xIME_xnoPi-f7biUi4dNPiDtg5-bI21lNaDq9t9rgFBgrXT4BWuzq6JVVZnw0o8XcSx10yjqCzUEJQ4dhdzkZiE2f_V8xDBD0BNG8KU9mudLbgznhFR3pWd9ai92PBYNLHaFlkqgxeXEP974GndnaDiRIUZ9CuroT8PeMsngrDdCkDc3E9yX4F1yR9QIW1btcT865sTnfBay0-dOL-vmkkXEtzxy_kepDipGg0Usqh8VK9e6t5ZwdwgrH3DtGt_CNJ1zyWO21kh7mTz9WlIMiUHn2kWMrPfOvGBDeMzQtFP4EP3Hi23rHGBH85VtFyuzDyqB0tJB-kxoFeYfSRLQeYJo8K5VeC7v5Psho9SidkmBAIcGg6yyIDHu3kSJdKJKk9o6EwuWhOf7s80Y5z_p_EsCntNgKLPWHy6tR4-TnmXLRGEb-oq5j8mctevMoIZyYxA4Szi4RfMXgMp56L1DSG6RRQfX1DKqUJAucxsJ9KlWP0zAOZSnRKsQVOe_HNxKYyp-vDyNOEpSV4-OlSUKb857Fay8rAvYW0Feh7JwCFdj3QS2NnkMMx4H68Nd1LswuGWdGksVF7cnTiqpQejDnX49iky__X2YI2P6fjORD_7VVHsjXMG_zWcwcT-T8FjqdP5G-Gs72JfZu55Umy0A6wnL2w6mEmavbBp4lSUsC-ge8rNwPBROfpRzQjtTPJQnjRClItsTc9C9wHrkllXMrvCZqIMj3R_4xapjVOgNUJAUmtsKSwZt1S6kUy-eapLQp8slRZ5xOvUDdwex0yDUYIHcOOE6JfsRtPs-IEpiGJSHzFFz-Wb25RWMvlcSvH4L3Fvy_Y8aeoajNgDNKHG9VRszWeBLut7WSYbPNPx-sF2hSbYVQOfrERLIvyRUiJlyDEY5FqGGyPLM9_pS34npdIa9qV5TGyi2yeX2zr2tk2k_b3EM7Yc6FP_ddeUCVchN7kdyayOGaJU6woayvosivj_97_L940sRFcDjnTdrnCEGnnU1_A44RMMLEM056shiXNBwCzPDiO1tYaNkLaaBvLpu_6uTv_S_5nrpN0oxYWBVYtSkcP9im5TigPfZ8Nr-DfnPdWXgb-kiJK_CaobImqYUlBnSTTNIlBJfe_Qxi7gbN2FuSabaGDaWbM6nPq6PKlJIqV9H6PsrVfNo2tpwvgVZ5Cxp3msswCRbwe6RLsAVoBoo8_CpvcRJZKZSXBcWPWKNx_vEXfaxMYx0vbZ21I7vtg2-RiInKAZlegLEOyDkX-jmo5sVKlIO6FUAaaK7lmj1H2cCDmMifJ1cNKwF_c5b1oqIgc-I2qvzVuJ8U-1pfsMVx4CFweYb2Igcq_TRiZda4UzbkDdIyLc4qVnpKLlMKQuwicHWH-u6nkLOv1iL0qyk07LmUS2e7CLnjJU5lRfAY84eK0RNiFDu2mAPrz-QtBYkyPBC-TyUcQ98p5zgwW-SOJJJ7hTMkIM0qzJ6dpDt99WxTemZZO1BevJVWljrPEUrFKWj523QcI0gxnXYPus84HvWRi0BCQPDwbu4OrrE7oovkfADpC4jmg5aLfOdioOtUWL6RsXJZZ8AlELHFa72yam-JJRJ0I-GEFupELx8ntr2R9_Rz3hnz8mR9gbHLqZC6YOcSVA0tRP5aWHpoAh3Onczsxk6nEDoNqqhEX9sKj6lAw68imLKIZ6_PVssaxij03xL7zsGgxpRkU3TlmU1iECiwmzEFErm99d10E-z5eh0g4cuyRZd4H_Ew-CZnl5k65LoRS_p99GdD2qN4jqCawgFuKgXMXV_g-Q2zGZEFwtvdDs3Y=",
  "id": "rs_01751ee5dc733f3e016ab43810295487d096428ff9a850a712",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgYQfQKRviw3drdttNYYfyiyod_fDuP8XqEpkT3tprQXPykCE3pzYby2g05QfuEyt5WlPA_ubV7xb5IkTvNiphAEF1kP2fgc1WFu5sSYLCODs7DeIwuvar6N81icd8362ZcBeD1x7tAsUYFbwU1WuQHTRRpkWDhhJObeRCMSaaMegF0uPh9TQ3-XNNM64uDF7QYwrPPcbng3an0dnqXZ_98C2xkYxvJrw4UGAUTdHiSMcF7KerxgfR3gDDRk7HEFd_tPadiZGn7YP0t1Of-eeyHNNiSiRO8b1jX-d2YBiokEskJ4_doWMwGPOEBpcejYQ4B1mv3wdVqPhdXDeUnJvj6xoJfkeaq0SRXt7WXNLdyn2t0I1qdeg1u3uzzxbdOKaEhwdneOYnnU5rjHQO1hrELy_CgqqpZI4JlHlbI1ij4mt1eemHj3Z279lWG7pikejbSPoAvz0mesUiswC5pcG8mqpzWnNV8z2APKZMpvtBoYZ9hYkz5_OYSc0dzO52ftB5sqvBGXfpIQNwY94cLydlQAMh_2aFOldzG1A8Sp35SKJHyOa5HHMdcL-ArCC1ICRgIpUFSsxdjkvsvX-q2AxpRSmnP1coz57lJ4YXaUiGeoNv8LlkZFdFLgKUn_gbx9RGmoU6q8R1RFSMLGt80NoxjfCvwlfiMC7N-Zy_5pbMZt8VHTZu7aYVqgRGnpTS70-Pz0qGajF1sxlHC4MRie01nnQmI5vsAVcVnpV9Xfm2vi7aRqHMQ6uZYziMMcT_yNJNR2-w_Ft7hPIMBYU4VFjo3RtJNU8n6dWe4RhJQDrgQcApzWaaCNO9d3EQPbjHrD2VSWZujVNhPH7zvQKRXNZQ9BwE2bLyBT-jxLwpdrcJf9vXDnG7TdwXg4PB7J3QJ5S23hc02mEdMQXLNsACw50YuRghhVFks16wSxeXk-RW0SuNdgI7UnlXQSCdfPzu3zuxEXluhQiV3oOvVwA7dDblV3KdYrUarhK_1sKsuFNMnf830WADGID28cDR4zhCg1vLSf6hmiCoL_1R6IPWU5RBl1l1guHRgRVRGboe598VsPjAxyHNI8HfGQ9EuEVNiyhaDJX_PvHXiDxFLDk5YiyPnnRcwLWR-wswZP1W_0TKqOK3NccoVEpl4VV4NgzTeKawfFEl3progVDevjPOBZxR_yTuP1QFY-DEZGjeCSCwLauJA0K329ZiRy33W2rd4MU9jzpEUjm3k-M31zLzsmrIdkMM6Et_lLr6JKTipHHuxWSh24_W8pTxwYLE12VsvQ-7-wZcbj7nNVrt2yb5GiUsh1S_rGt_8LBJmjwxgJNMoh4KY7dDmwVdTaBTWaP2VVS64xzqkgNDzWgfoahabc54G2zIVYMUr0c0SWo9XIceIvN169QtdpU8yI9uidxRStF3oDHzSk2iNJ5-vOkimP9omHizGVskSCzTaNxHaIY6vPZk7Xxp54ZuT3NAFSZJMUnKbOByMjz4x6-eonYv-atxb9LeNeE0fJ15SHRHH2uvrk4AonDBBybuJU0-o2_GMQ-bfw2IDWC2b1Trtd-WrY6aXb4s_33PtwXEvkBIcAtRAcRD8Q1__aAD8iZTYb_xkEQYR3HXlsD0pvz6rG_zLYIqQZqbYlUx77AqDY_lVtIjAnul5zE0uQIKa4LY61JS2LesxB9ctdbCsSuj_GhyZckhY8BMtl9uMsf-1lmjdB84nbzIseZGEP5AU2OsIqXut6UxHj6FGOuglgTJShYeEKcsZ7AoLQY-poDDfWI6qgSYbdcyXsBRLWa8apNe9K1_0B7i2_b4B-sMCEVaXISsahi0C6aHP2928p70ajOC86I3Q6xY2LqDbtZTeCiWx7wo30J2Vp3MEc2o8JylCeU-I_v1Ib0-S-hHG9dFTBYwDUJ3iiEMAxxBztTIFPNVAStA_3a98Xp6LzqzYaln6LCbS5EQTfL6DZvsaajWdrQ8FtPOPfUTIob33ZmNvIfkWQp8YYbqnM45L4NgP109sduPfGFj9aq2B7_uZ9lwVyehSjJ1MeMLWf-56TSxyOddLnQkX4LbZdxb4UUmAKtv0BoBlIiUXnmGKL-B0my0w5lOfzf3NTpnu4po7RLfwoadCW00wXzC6QWHdr2OMZguOxg8yp3icHWEGDED7rE7nBlTysFhuWr3okiJYmfu3mKQ6u5LOs6BxlxYARs-8yOoW_qMEJdhNAksJPGWF-5cLtP13vZIqGNdXgfRbcZENbFHxfaeyfTInjyN5X1DPeTGT4zjtKnWrnP9T0sYpWkDR0yzoSXo2aJNzNwiCJeSNEkWgwi0t2p2WSUffuYVLLN1tFZ3SvYYFc-XIVZeP3hVa3LR7gQCR91z4iAnzjhd_0ptv_Iwtb5CPUciWG-2GOGGCSoM-yExTxZV4x8QVpGeQJBGF8_nOyQQ66iN9fiTw-iyVHvu_MlVfeaiP5o-Wy-WGJtwlayGE1IjoK73UC-iIWywmzVVVRX22cmcpQsGbXwHF7oOu5sPylyhR3fw0lam_ygDwo7clWvwcnpccAdLXEi7vIMxcJXhs5CpH_1uaroYT7XlyUNhTCzJg7YSL3KGGHF-JsJhEDbqO43djZqOBQn_KnPsBaP4k97-DXOPeZk7v44x7uGnM5VSS9zDgewAntZ7TdcisB5Pj8NkrQIEvYMGTkZQmqHcxkd-C0hcrnFTZebNGSkGb0ru_umZw5e-jYBOJcCMbSq5e8IDSzAkMq7VLjc4tUzkcZ3eB34cZse1CEFJlozBXI9LTKzyAiMNgVwHu6qix9WZgzSv1unXNw36F3E_-PomtWoFG7_F8-wSRKWOAUNnN4BHs_7Kc4hVvIgh7jvhXPoNh7_9BHM7WsMqOFB7REvzC0KMUhXaTAqTfGNMnL9R4lwbUJ1dW2pIt7XVKoY3Dm5lvap380u-XOEXlRMrpsCoqhigCpum0aJTmp8Zf_Cwq-_kMwM9nPtwRI5Q-11lyjeoTjmkZzlWdQNWNF2urbvkPjlVIhmUAvll25eD4rLdIw8jxtAZllRPuroCgT4FT4kPZuuAiF0mlKeAAkGQb6KY7XXUYewhdt3kMhaW6-ZGWxZWCwb77IoWrkLuCmvkhnaliq44T_BY85MaG5WRiHEpIersstwX2D7mOTs6-36zsi8YBSnCzwsqrdSWDp1gw1OKMsyR1kBsvGDLldR-Iumg6lY7F4eRi-uctV7vC2mf6AghSdBLbHfsxKQhtbJ1YREWNxQxPFQbXWwRtF4gxtAquFq8tAxnb6juEJsC8b7bRzqaJNGMY8DFAn_P0ifsX_SB6EWBczxBlb6tvjXxSjHj7d55C3gk8EbLKocXC66uOWFkP_0w3TWC0e3QaQgjY0u6B4bdfv62-zNChO7870zc=",
  "id": "rs_01751ee5dc733f3e016ab43813fc1487d0a466994fcced0b5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.397,\"left_z\":0.116,\"left_gripper\":0.45},\"note\":\"With the right arm parked, the pink bowl is visible just beyond the white stack. I’m trying the pink bowl’s inner rim with the left arm, which can reach that edge even though it cannot reach the bowl’s far side.\"}",
  "call_id": "call_RbT4bT071yIwj0aegS0uLwtk",
  "id": "fc_01751ee5dc733f3e016ab43817e7cc87d0b8c56260b6963cf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RbT4bT071yIwj0aegS0uLwtk",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0279, 2.328, 2.1101, -1.0096, -0.63, -0.8883, 0.4513, -0.0261, 0.9668, 0.8543, -0.7223, -0.0525, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3634 left_y=-0.394 left_z=0.1093 left_yaw=0.0104 left_pitch=-0.2988 left_roll=0.1086 left_gripper=0.4513 right_x=0.286 right_y=0.0054 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.2652 right_roll=0.0403 right_gripper=0.9963\nstate[joint_eff]: [-0.6632, -12.9709, 8.3624, 0.569, -0.6032, -0.0464, 0.0317, 0.1709, -2.3316, 7.1043, 1.663, -0.0708, -0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c872651367d20d29825ab31376ffe473c25151d182c63366b64e30aa7b98013b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8088abc802b318cea2cf229f7bcdae442aaa74f27909ba70d577511b9dc364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71dd74e6c8afc8cccdd6d1b67865f97bc44a83cf89801035bccdf48a1be1ea9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 137 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2089, 0.9988, 0.5217, 1.6108, 0.6765, 0.1131, -0.1734, -0.139, 0.4984]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0157 left_pitch=-0.2752 left_roll=0.1218 left_gripper=0.9988 right_x=0.3219 right_y=0.2243 right_z=0.0359 right_yaw=0.741 right_pitch=-0.2373 right_roll=0.05 right_gripper=0.4984\nstate[joint_eff]: [-0.2256, -2.4684, 6.7624, 1.3455, -0.1685, -0.0513, -0.0122, -0.1436, -7.3368, 6.7624, 1.7363, -0.1978, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0138, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, -0.0223, 0.9646, 0.8566, -0.6979, -0.0517, -0.0254, 0.9966]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1668 left_yaw=0.0163 left_pitch=-0.2791 left_roll=0.1231 left_gripper=0.9988 right_x=0.2906 right_y=0.0062 right_z=0.1845 right_yaw=0.0287 right_pitch=-0.2363 right_roll=0.0388 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.4137, 6.735, 1.37, -0.1734, -0.0562, -0.0122, -0.1709, -3.0154, 9.3333, 1.5946, 0.0317, 0.0122, -0.2613]",
      "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]: [-1.0279, 2.328, 2.1101, -1.0096, -0.63, -0.8883, 0.4513, -0.0261, 0.9668, 0.8543, -0.7223, -0.0525, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3634 left_y=-0.394 left_z=0.1093 left_yaw=0.0104 left_pitch=-0.2988 left_roll=0.1086 left_gripper=0.4513 right_x=0.286 right_y=0.0054 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.2652 right_roll=0.0403 right_gripper=0.9963\nstate[joint_eff]: [-0.6632, -12.9709, 8.3624, 0.569, -0.6032, -0.0464, 0.0317, 0.1709, -2.3316, 7.1043, 1.663, -0.0708, -0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c872651367d20d29825ab31376ffe473c25151d182c63366b64e30aa7b98013b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8088abc802b318cea2cf229f7bcdae442aaa74f27909ba70d577511b9dc364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71dd74e6c8afc8cccdd6d1b67865f97bc44a83cf89801035bccdf48a1be1ea9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDglYOwiErkXYn5QUz5GiUwrV2lBEwKeZufkClBITL3T-s6DBIwpvde1J3uSNzsA9R4nrg23Jao3CdmCZ2bgrHA7U7T78rmx_K6_TB1iGw5G0mZRnW_iIoGCKzVBAdM8hysrrvr_vH_oyVJn9J5Xn0ZbswjHB5TllbYVXMUSkgbuGQDe9YuhMjLtHGIG--61FvUmw3ik30hoxFhviFJ3Wps81-0bDZy1Yhs2wKyXfvB5dCKYwLVw6I9LF4F9URe9U4wwSjk2T7I6qiEUIl9Ij9ATQ-g0yZ3DZ48hCZttSktjVtwujyImbcWO_0TipBoEz2dMPRFR2v-iMWFNFPbHtCyFl_thVBq67YLy0oR9Igkx5oPKkyUvO4MSPCOYRBwb6P-Hz5UVIJL8JaJB5xuTHsliF1KXuMbTvpSGGPFsfrYrBaqd0ZXrWHJIH7r1_RK6aqbM1cj5YAG9caJJW5Lq52VIMLD28h4BMJvlVbQAjSAhiJqA_PScCb1vQO1Kewr3RzfyPcAMtP0qNr17F0vlUQQ6r2tNfnsINLXn3AO9ssr9-KRPYJPpjGls10gNnwFeQALgANo0PSvk000A_Az-0wPjDLCYweoWJafuCl5tQciHTTDXXzLNbaNvX_DAqD3XADk1KegQjQOMGpmeu29MP0fxErhBzaX8PcCx4BMv9gNIZLqBqXbqZCWATnEAd4hDQkC94LuTCa8SGnt88U3NJXS1boTc5UOWXMO078etJsjKLxAcuTEbME7ZJ4SOpMfFCIFQeaqVChwteyQp2uR-CrYPLN5MlEQC68uY0JchTLX5PUpc7GGZfwV82XIesfII0bNhpCv_aJ9yfvSHiqcUD8_7A7rZC_OlCiBIRHRoj71KDbWaBxN2VJx7z1rtF37P3Zx--vJu8-bXAMlNFxfnC3XtFYFis_GvoK_AbrCHmOVDJ4lyMUa6No-m8-KngZFBVNjzPGkcFeGpDtGHqXHwhTDciZ9UAcLIPAygbeC3uedOLXUOdFydbG_7NuPEZlPf2B-oqn9Q1dTm65b-X7TRwt-kf2Zgm8aokNxnUWk-C4ku6q4EzZbwqWMoSHE4ZbBE6NfycB5GMWTiBZOC8JfLgCoZIigNNfS5SUNzfczQpZ1vZV-LVfhbkiu4xyK_lX7d_EE9EbG79HBgBFA6RoA7d1r97WeG5-Hnb8blpEnblpkzfXOx6fKFo2aDAc0zMXIkVjJKUhgEC1tJycsSCJZi8ZrPfwwmeZ_cxcdThUOSyOgz2evrZTMrs_-M-BIBMCJR-8WbfJ0f5lYrcdMOWBJPvy7YHow16z14sbm-D8DAORy-f2OiSLe3GMFxSTCcnjoKQaafQC9bI4c3AKJ1vWHBP4-8aqigW8VOXJGS1rj_JEdeLu5EwDNb2Ekh1pvzzLq2Tsyz6JFC3mEZoeoCJG_qPfh0Hev9j3VnNiCT7sG7NNODU689FHW3XMnXh8CQkLyRkwW4SoPIM1JcDz0cwFjOlVGdoUeXAqm0LAijYttKM7WY2HBQRDanoMbnpT8MFu8porIslV_gST4IYFsZvW2fqXlN0OFTv-khpBap6m9Qbqlu-ttK5zRBcUAZ1OPMIDZcqm5BlE4__a_oiYZNrKS1l_6-vo56lca0HsnzMpjFr94OXFCjr35Jrs0djL1qvrQuL4neVNM0LteXrc4ZsMQKKZBkc5pEP2iNl2n1zqGzN6RcxIK2QVDdQrk21D9IBm3wtnF0GRphwQJV5Uo724Jd45FXWbxHzRt7BR5z4tQRoSuXm7oOt-R-mPIw2ifhxyjFhu3I5gloe_MgLNLmKGm6i8nghBuUlzNaw_yzSWtCC-_2uBtUkasjMNYA4XyN0CTrc5WJ662mOfOGGAW4jbanbu_Oy2DdwHqr2D7QhXk-WBFwhxkM9G2HL-r_-OjjlBEZXS_m0Vnt7LsWo8P7ODCSMxG3g7Xd-x77V3UaVu31xVURxm63jow4plQ_8VijKAxoW2R2uZt-hApOO6yn-08MIGfVsuhp6DrUi8wbULBZsukNDa9jWCe8yPxmmcw4OJcnwtNiN6coFDKupm7XxkRdJ91Z3_c2V2lLneJVesmI9hq_bqNWwVsPvpnyzE391Y-oE0Hklbwo6UCVTgKCMcdjJYWHTx00HRzv8o2LpFsNlKYuGZx-xu7FlIUdzKerN8mDLd5X1SebARODIxrsiS1Ok-0pfVeYy9jNEUWReE_PJKnoYHy0ECKajFlLs54RTF11Je9MHq6QbNzmWD_VKowK4W-YHqzq9c76Ap7Sqm2vlNM80_GGKDeRdEau5a4k1gTFBfrjcbMeHjFCksloZeDTA0I-A3U2CzModqL4l-OmkLR5f767JWstHHzka6Hdc9k2bNH5XKIjEjUyY7WlYJGSrh-ofKrqmxxdMbXksLHqUarAN3t-FVQLElgcWiXpznGxZkBwdQJRf0EMzTL7b4lRr-1wugDCJL1uMWJfuEymFdIVqsL4ay5CZQXVs1CL8SreECRTQkgnYUL7zTgKD1jAWMzx9NBmkzNcJkX4euXcAzFAsGBEYOrvI0eFS4FPL0ADaSasw21Ia2vN9YvsGgyYVAUXLlejJ8UhnQJRRlyDAYav64jaLOV-gkKfbylRDAWerIpdF5CjSs5xVM6dqjdpH_ITXDNcHlqOyijfQZrUssTvoWqIrxzvV8cPr4FhyJTgRtGBe7jKA5CPVyOoXzP6WKwRZQrdnbRRIE3mlrrxrJ3gObtCetKWECoILMpbMJ2OaO9gLeQBCuFKWda2PgR0Rv8qAaKAGcpmI7aH0IrhcyoC6tKUMi2PBEWCccWgV6jN7_q8puug3ooIRwQ27oprTuwSub4eK9SIMYyfttWIf1WiOv2Q3BNFiTbcX227b9gWiECI1XAHxm1bMO-JqOmWDLhwBvb8Ww1nDkew3I8OOCpCkyNMCwJMqPgQPy4MdH6JXXOR2xBVkIMy7Y04LvamUr_OSd4XZYjAS0ywvYPnbrwhTUBeQvB3WmJ-qri1c5Cc1QXqslqi7e318z6BzEXrK6OJs38o8BMQEgw0KJZ1BXhdNaow-s9O3x6Lid7xmy-xPuXZjVT_3CkWjBTx-UxxqURGuauggCaUUQoOf6xEG8_UV8TaBn6OlULnvtSb4KFvJm9GFBXxmRWK3b9mt0chZv2oUnjo3_oaWS8szAy171ctfXC7pO48l1mJAeYPuL_0TW-coljJQ6dnwlptpoaUwPDFYE7CVhwYCjVG3MawbOtXWIP5qFkbveKzwT7htTO40mkn4ywWpZ1-JIpTVTHDP-Q_aq3a2AUyP-VX6CYCShMsmfbFGRmpyMghg0sKjGk13-Y1QE8wqQ4NGkT5oEwbXYi4LBF1wrg3e5chiUDPO0UJHs7eqKzxwVDNERvC9fotRPS9Hog5FCxb-T_i_HqR5tmHgcT_5mECe9qGwBlYkV4uel90c1v5zDys47Sa3TEeKDMxULjQWnzzX84pjvKZiABdfRG8Icr6xnY1bxBhmQ_xDBes9r7iAP1QliaqyFyRAmkGFBdR5dH70k1v6PqsDn71MYGmMwNeiCfVzqY5L4ainlG8Ll2C6Yfei59cBY92dU3mplczC1HO2PI0iDeYDDUbF9kr7LFISutmxEkUcspDQSYzlSCa6if8VB-gfqCl3mm7ca61oEjR_i1Pwsq2biGRTaWLWSCmRYxPYJVtQlrgR0_meMRxfD0JBgmN8fYO5mUqmKPV2qg5DY9SWlPDjiSDNYj4grtlH3h4b4ZIEpODwqn-wTLGrKDLC6kF_vhP05TSH1OMyDYy2NRbJw0rD7UA8VVJv_Oup-3aWLMcjc5Mu-6LGyThtt_WLXYUsXpiWuxQf2EXHTilOsBTzph_Pjj1Acke3OxeNgia5_2xAYRJmNF0Xpc-VfZzG8ls62aBrHSKpwy7c1bydV-gkM4D1eB3XCZYftZavxN974ltqDYDnYc=",
  "id": "rs_01751ee5dc733f3e016ab4381d264c87d0a3d93ee9139097e2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgl1eGwu02nD0IEg1dhhgMTvI02DyqmMVbOy_xTCLBVm6q0X1ouSthsy4N9NjciE39cLA-leckEg8xw6XZP2K05z7Svch8pq9k_xvAHxdj8mVFS_soYbVIO8HmT-k_90n9P5DZB_fM3hXapzAStxTCFeXIVs7HyA_Yk8xIHzSKszk05nn4pzFfuQdK9vh6q-1QOkGdZibBrKlxNyDkPZ4kI1PmCPFkamXmVrP1ffWJFHD8m2jrzaHEz8p6AcL9TGW8cmOlCu3V8LGbkSYw5MTYBdbezVYdMaaSfS3DpSqceVQ2-LNCehpzbyqrJec2BJl3VLtvi8zGyja_2Nck1Z4BtgygwMq6jQl0izhwDxY6SjA8UbNlFmWrwgczmQMukuIkVhe4teumxlRR-dXVRm3jUuYumt5foAjp16t5ae-URDBOfMYEFwKOHboaENXQyW1kdVUZj4p5soYLIHA3l5OUl8_UShHZB1dO6tb4OpoCtqsKjxpLLMkY6jQcXSsc66jB57LdryAd94R70oFVXLebXE9JIclQSsMfS9EPmekLiJnE71dUlW5mjptgg3TNV1U-dhLXIYo5XCnYFn6qC8V-mnXFEkETCA1thrW3YdgUoRovoHRGb-lMnXBxi-y-A5-vNkWacm9bGr2rmZX-f4UeCWT_q4wjE1jjy5JGvWz_zswUXRwiSev3uUQOdpinCHtPKmUK1fjQRVJs7TL3mdXi9TxKv0Ou0Z4ATjJb7fWKVxaXPydmlsd_bxQ0tO5WROLNatZP9exUwidWkjUa_2KqMeSkKoXQP31jr2tUFVWTTcWnmyR-0ViZkEM83gyek6oMFDLd3GwxV448UqOXl6Fkt5PzhJwFmTlVdYIFmuRNVJed_MN4msTdoosiHSxxsx4sqSz3_7Otks5vzydEnoogq2dPz7k2Qy2oTRJV5kg5d6t_jdYvvySuW3gFJ8hP5g3DDy9hIk54MDYNLabCr-dfibK9qAsOkv9NwKThhPL2Yf5EJkAzxh9dvkPyplPK1Dq8LniFOtUX5vwYAuKsOJg2-8itCPHQrF2AxP6R-rT_a-C__ygqKR7sn62nj0HczzJhHVL1SjQ-BUkKbelyyWyEjb4FaeC5_Cn8kDJuYJOfsmAJgexeMHsmfL4v8Bw88iSBcHyPl4G4nBdD0VBOaeC4cqtrU2nDLUMahu0s3MQtK51DhO9ytu2NRFNNLOrcHWOlSyYM3HXxQaMpG9jnFXyPMil-kspdD2o3ZWm-Y0sAu7V8VI_HkscMC8IATVhKTcuef129NlEB8TrG_gkJGbTvTcr9uGvTqR7pMVJvb8XMqI_tIn1TihWxop6Oc91cX_GROqQUymJGwwMc-_lBgCwXL9kOFvw6DAxkJa5WB_Q-SbwsEnxvbLbdAAD1npz7NoTk20cDry8bIhMsu4lkfhwXr_H_7fA2bhjp9OPqj4BXGWmNYivbiTQkBYVvXdiEVp5GdqRKTxIwmOg_r6lsidFapdgVHanAh9e7xlcTaHLcN5Yhnoi87H2a0VxG2bv-woe6sAACDWY6Cyp3cVYSMxIFA5cPGnFrCv3b7ebptLxJofKbfphvEYRQfgMwRhkyCwofNQsEmZs_dUUeLRAuvHPP3PZc0fCj-yUPYeYKti5_nciKIxlWtxCizgV2nqLQJKAWnNhLtjYYwqhCFmO6bv1zZdilewFQ0-qrGtxkv6kxwHltcmdpynjqQaA5_o9UsUw3H-lO9s91DuV5EBiUbRdwOqw_8y3KkPwzboRI8oG1-p0G3DXCcnWynyCfFFX_weWUkUL5Ekgavkg7vdHXm6NrbMI5BLslXhRBL1DcYNKT-7GDt91Jre_eLNRH9QRNtyv4Rt1PVS_mQVI-haP3ebcPmkVy29V2poiGkj_lhU7U3epkrpf0WhcnettFt0A96jcYPqrS5OtPCC4wNcYpYhL7Po1GfXptc0L7-Koy26V1Gz9d_NAj0x22uj2DK1PqrFKHsUtdRPlBHMRJB_3ilYYmLJCcCjWuZfYfEjTAs_e1C21vhFUkrrkc5fYL75NIiIDonBxPyiRcxD19AFAmYBML5TNagHNQ3O1HWYGN_NXXD02jYyDsEZoAzCtZEeg0Fm8QQu3fB6u4XfdJg5CDeX2E4WBxu-GxabHd9J0gACdS3E6KemOkOKMsMWHbfLMLS3T5nLzVfOr3jWx0C-o9N5NccQenSacF7ycOCWVve99seF15J9azmZ8RZWbChnpuZOVrmeEvbZ3lk7awvwIZOYEC0SkHKEDyZM1VB9JHOsQUh0mccbi3YNyload5cdh9yy3ZKg5_wsUW85szlMc2ZAUftaxpWmrHiRGGsnZ8cSjgA-UaKbyiPQ3sWf_KKe3J9gbnOSl5slEqo4jGPQLIsRbY5XWLBG3nuVaxHtMzWnxOCBFu1ghTv0E_sUQcYiW4zzst6p42hwcjSfyH-e9yGr6NTxnnsRJCLXfP6spsYxf0zN-Nr3Rw3Mz87x76OmYGnyzgSf84N6_wJTlLbFM3AvXF7avugL6hHy2dkvNFydxUju9e0-jzEFWXwstzBFCNQZgcXCwEhM4TRS944y9Y4wEriuceSg3IgrG4rWeMGtsCYSS7qItFagSS2nMz6BPkY1J2HFgdp4JoNWaQh2J2htG8lPThMB2V52I3H4KeSxt8b6fGO4Ih7ltxv0VSmAfcJC3l_4dAL9qpqEoQyMBzDKFK4OxpADhWAhLGKGld-RJXbk2vu9hnoctAVhige_s-i8xskBjxWVuuBVyH4YsMS5kUKDJS-VO706uWlD1JrekOtg5z6CZt29zvI22UlJaUpVa6aUVqU_t9npiC6k5dlOOrXR-Kyfok2hHxC0db6aEHonSc=",
  "id": "rs_01751ee5dc733f3e016ab43821a20c87d0a16bc942d60e14db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.048,\"left_x\":0.375,\"left_y\":-0.4},\"note\":\"The left wrist shows the pink bowl’s near rim just to the left of its jaws, while the white stack is beside it. I’m lowering at the reachable edge to see whether the fingers can straddle that lip without reaching beyond the arm’s limit.\"}",
  "call_id": "call_1jzDRdQJPOCzOA4fykPYip3Q",
  "id": "fc_01751ee5dc733f3e016ab43824745087d086e1027a6cd08721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1jzDRdQJPOCzOA4fykPYip3Q",
  "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]: [-1.0195, 2.3859, 2.006, -0.8745, -0.6224, -0.8864, 0.4513, -0.0265, 0.9668, 0.8543, -0.73, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3675 left_y=-0.3942 left_z=0.055 left_yaw=0.0215 left_pitch=-0.3189 left_roll=0.1306 left_gripper=0.4513 right_x=0.2846 right_y=0.0052 right_z=0.1776 right_yaw=0.0258 right_pitch=-0.2728 right_roll=0.0405 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -12.9709, 6.4752, 1.0232, -0.3785, 0.1245, -0.0171, -0.1436, -2.0581, 6.8991, 1.5214, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c76288810292735961c5afa32a4664f9ced0db14aaa943fd6fa788ca67c1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cec55cd2af9e97ed45b45530325cce8aa9047c337ed8530a58db1c90809eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8314942969ed1c6360fd1ca2ed2363c4c987ddae72d0eb3b580ddd7ab1ff3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 142 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0096, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, 0.5217, 1.6093, 0.6781, 0.1341, -0.173, -0.1505, 0.015]\nstate[eef_state]: left_x=0.2827 left_y=-0.0414 left_z=0.1679 left_yaw=0.0159 left_pitch=-0.2752 left_roll=0.1215 left_gripper=0.9988 right_x=0.3257 right_y=0.2264 right_z=0.0406 right_yaw=0.7458 right_pitch=-0.2137 right_roll=0.036 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -2.3863, 6.9128, 1.3455, -0.1832, -0.0562, -0.0122, -0.0889, -7.2, 6.1197, 1.2918, -0.2076, -0.0073, 0.5836]\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]: [-1.0279, 2.328, 2.1101, -1.0096, -0.63, -0.8883, 0.4513, -0.0261, 0.9668, 0.8543, -0.7223, -0.0525, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3634 left_y=-0.394 left_z=0.1093 left_yaw=0.0104 left_pitch=-0.2988 left_roll=0.1086 left_gripper=0.4513 right_x=0.286 right_y=0.0054 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.2652 right_roll=0.0403 right_gripper=0.9963\nstate[joint_eff]: [-0.6632, -12.9709, 8.3624, 0.569, -0.6032, -0.0464, 0.0317, 0.1709, -2.3316, 7.1043, 1.663, -0.0708, -0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0195, 2.3859, 2.006, -0.8745, -0.6224, -0.8864, 0.4513, -0.0265, 0.9668, 0.8543, -0.73, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3675 left_y=-0.3942 left_z=0.055 left_yaw=0.0215 left_pitch=-0.3189 left_roll=0.1306 left_gripper=0.4513 right_x=0.2846 right_y=0.0052 right_z=0.1776 right_yaw=0.0258 right_pitch=-0.2728 right_roll=0.0405 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -12.9709, 6.4752, 1.0232, -0.3785, 0.1245, -0.0171, -0.1436, -2.0581, 6.8991, 1.5214, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c76288810292735961c5afa32a4664f9ced0db14aaa943fd6fa788ca67c1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4cec55cd2af9e97ed45b45530325cce8aa9047c337ed8530a58db1c90809eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8314942969ed1c6360fd1ca2ed2363c4c987ddae72d0eb3b580ddd7ab1ff3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab43826bea887d0ac49738ea60ffedd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.04,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The pink bowl’s lip remains outside the left gripper’s reachable closing line, so closing here would only push it. I’m withdrawing the left arm and will use the right arm to move the reachable white stack toward the pink bowl instead.\"}",
  "call_id": "call_voXjKJHGXKwb02LxKGN90EYs",
  "id": "fc_01751ee5dc733f3e016ab43829503087d08346460944d2c8e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_voXjKJHGXKwb02LxKGN90EYs",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3588, 1.0649, 0.9764, -0.8539, -0.329, -0.2714, 0.9988, -0.0273, 0.9726, 0.8524, -0.7368, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.2843 left_y=-0.0418 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.3068 left_roll=0.1146 left_gripper=0.9988 right_x=0.2834 right_y=0.0051 right_z=0.1742 right_yaw=0.0253 right_pitch=-0.2873 right_roll=0.0413 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -3.0974, 6.4479, 1.3211, -0.1294, 0.1978, -0.0513, -0.0342, -2.6735, 6.8444, 1.5263, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736dbf6731f85d9c027f871210420b26928a8c8e00bbecd4e0709cebc48d2118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c54380bd53e70b5e5820a91d006cdb180e0c0542580e48de8ff08bebe3f764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca72d538d57d16f2aeeb3e947a688f1b3b0bbe9921e213a6cf39475b31abb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.0138, 0.8429, -0.7296, -0.3069, -0.2092, 0.9988, -0.0223, 0.9646, 0.8566, -0.6979, -0.0517, -0.0254, 0.9966]\nstate[eef_state]: left_x=0.2829 left_y=-0.0415 left_z=0.1668 left_yaw=0.0163 left_pitch=-0.2791 left_roll=0.1231 left_gripper=0.9988 right_x=0.2906 right_y=0.0062 right_z=0.1845 right_yaw=0.0287 right_pitch=-0.2363 right_roll=0.0388 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -2.4137, 6.735, 1.37, -0.1734, -0.0562, -0.0122, -0.1709, -3.0154, 9.3333, 1.5946, 0.0317, 0.0122, -0.2613]",
      "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]: [-1.0195, 2.3859, 2.006, -0.8745, -0.6224, -0.8864, 0.4513, -0.0265, 0.9668, 0.8543, -0.73, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3675 left_y=-0.3942 left_z=0.055 left_yaw=0.0215 left_pitch=-0.3189 left_roll=0.1306 left_gripper=0.4513 right_x=0.2846 right_y=0.0052 right_z=0.1776 right_yaw=0.0258 right_pitch=-0.2728 right_roll=0.0405 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -12.9709, 6.4752, 1.0232, -0.3785, 0.1245, -0.0171, -0.1436, -2.0581, 6.8991, 1.5214, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3588, 1.0649, 0.9764, -0.8539, -0.329, -0.2714, 0.9988, -0.0273, 0.9726, 0.8524, -0.7368, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.2843 left_y=-0.0418 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.3068 left_roll=0.1146 left_gripper=0.9988 right_x=0.2834 right_y=0.0051 right_z=0.1742 right_yaw=0.0253 right_pitch=-0.2873 right_roll=0.0413 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -3.0974, 6.4479, 1.3211, -0.1294, 0.1978, -0.0513, -0.0342, -2.6735, 6.8444, 1.5263, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736dbf6731f85d9c027f871210420b26928a8c8e00bbecd4e0709cebc48d2118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c54380bd53e70b5e5820a91d006cdb180e0c0542580e48de8ff08bebe3f764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca72d538d57d16f2aeeb3e947a688f1b3b0bbe9921e213a6cf39475b31abb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01751ee5dc733f3e016ab4382ea6c487d0a34544ed10115be9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg2mvf080OOlj441a4rltRyN9s8V1KyywUWK0DibOigVBOAbM5CstTKaOJsizY8i0wTSq4qcXOWLsKkXt60iiUWZwO5XNlOrCHzU0nnL3NQIQw3jQEJ7K-1Z6m9ZINUFkAkBkgYTYaI4CWNJrzcG9ahmkS1WqViYpLCfHCHSZJ5NMs01i7qKCN7UvnH6aNxllnbrpXqOWAtQ94HqrRi21KzHIAbFsAtNgs4Y126Z7mq_pHm9RSOJQveuS-OQmVkbim8q8ZvRxDsVumccuRevjM_FB1LboY_IRrgZ7MjRob5onl45K5XKJMCfQHQfNo4svkVPKnENr7CWEZPrzuyZx4Wcy7-o7pF8QWiYPg5J95rFqbCVamtCJlIKCUNGltO48NKGa2dP8nbhfxMdLLamCghGT9WXGO-CrST-mGoCK0k_nLXqH_YsOGM6PV-n7aNFLsDiQinGBtcXD6KTy_zcBYj48r1dILHBxB5ECthtPtU5Hp_pPag3zWuYesIjLJjpLH9aGzSawC9k2iyzB1KY69Xds2yNRhmFLG4xqq0TMX-fG2Yz9hMIpHEh4-0s5nRK22H8YZxWE9WlpYtAIgtQB2IY-HNiMqLZX0ZCdGZveeiwoqXlH35nFbl5B8-dYvEHr5CxsPof0Z3Cvr2KQFQUuUxBcUGiaO65Nn6NrIBHyxreL2kECdw22Ebr-WwNEd7EKhNek3O3hgUX-Z2gRWZmaQkLoTJGxZqu2VSKgObjHXy1sKtAjB60G4i3k6y2H1ZZi61cDnke_aLGcDPYvH83--PT7o3uEP1i_6b58ZDXJivObngQ1Do9qpmhy8QaXGWbqjzhPXCyMaPVO4fL9biddpiYOfxW6GBvUYr6RHOtFrqdMpsUzoXDDc5_JXb7U7xJs6llUee3MhxWdwsOBk53hXJWN6bywEobut5mj9miLLU4gxv3pEiiC18VR7mPNUBj3X-Avfp_c232ak80ftIQ2QXQkV1zFmb7OzNbyBmDMC7hWQcmxnmlJxLQ7su2MtSIlS2Nqu_9zR9meEr0tQ3T_NihiN1acg3km3mDYVxav2TOkKPn3lsVg1XA0suri1Sz4BvtYLDfVxLRx9OfNk24ytFr8cAq3pqPlKQ_m2jcq7G6ws6bvinO6OZixs0G8Z6Nox7tCJW44DmOGiS_JO6ryGFlrrUEEnjUMTHFQwAKyfdRw88F-pbRzDSBJm1YvBLsy-QKyJiCtBZXQUbKiYg2aG5TV2Q24hBmdde19TU0Eqf9d7HC41GrPrcTkOLhwRMO8HIPH3mQFcPpL4HlneyoGWQ-9jLchW-0jPs2Z9T9L0Y6kOIwJGUEfP8TIj8KIaIj8Zy5-oCu5epb4gNv9K-04TNteOjAFsZ8AscNa7dqkExwJIPsp7sVBLNrxFZHMNm05MGGCEkZ7cl4SPUp0ERMvDSVbQHIQbzCsCIKFHYkCyCQW3uXIZ1t-pKinM72mwLXTN5cFnLTrV5g8HVrZ9RPO0EYOKuYIeINhTCA1Vb0qs16lFx1kZ0N_xEuvgMmIKI-VLp7Q6ws3g0Aq-QvAp6kyuGsCmlGIv_9ivIW6tzSJazQJUKbk8CI7469xnf5UGFH3R3GfMnMMEskzEojHGZOri9MNwJyV53IulFMorZ1p149zK2OqocHK9wcACoEnFrVQT3hbbBwA2iTIXa2OS9GwvUIiq7Z20CVQ1YnpKOhSR-7vLLQXWVtpstElYsvzRU4R2YJ9m5_FU41kJUz52nwt8oUYZgHM-GA3tNZx63LNF9Si8GD9pBZMuOm39i54h5Da4HxZ3p58j5gixxTE2vNsD5IhB4HHErKUKn5vmtxCPQqx7vZLGdcv-EdE9vsjNkxTEihJlVjWrSwR4FRd1L_PexbV-gXprI6e3DlRUOwjXA-LyoQSABIB4EjBFX5HyBSHjBTmy8gwaRQhiaAIv8qxZDlaRO_ghCmp9NUi6fnf811Yuh0XTZBs96kDvzi3saGZYcC_9KNphC346t7WsbzbaI4XqTjA4n5IjQfe8vngJkMvTalnDQhcvNZYgCBPbF1bAiGdL2Up852MdS5Mer-GcwwcYKvxsn5NRqb_iS0QeDIRsXAsq8PwKF-1jJhKoNvr8tHTKaTE5xPOsUrlZguuitcQ==",
  "id": "rs_01751ee5dc733f3e016ab43833469087d0afeceaeb29a3ed6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.115,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"With the arms clear, the overhead view shows a white bowl on the left and the pink bowl on the right. The right arm can reach the pink bowl’s centre, so I’m approaching it with the jaws fully open to try an even, whole-bowl grip.\"}",
  "call_id": "call_4tJ2uWOnYzZ151eC2iQ7DEwJ",
  "id": "fc_01751ee5dc733f3e016ab43834b2c087d0a2a35f7b318b8ebc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4tJ2uWOnYzZ151eC2iQ7DEwJ",
  "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]: [-0.3584, 1.0695, 0.976, -0.8722, -0.3138, -0.2771, 0.9988, 0.6258, 1.5211, 0.9707, -0.4633, 0.3454, 0.4751, 0.9969]\nstate[eef_state]: left_x=0.2808 left_y=-0.0431 left_z=0.1847 left_yaw=0.0558 left_pitch=-0.3327 left_roll=0.1087 left_gripper=0.9988 right_x=0.3344 right_y=0.1723 right_z=0.0982 right_yaw=0.0332 right_pitch=-0.3566 right_roll=0.0028 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -3.1658, 6.5846, 1.4628, -0.315, 0.0122, -0.0122, 0.1709, -6.653, 9.0598, 1.409, 0.3883, 0.1636, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5438e0f08c2478fb5b835f56e665099e01614acab6626f456408b1ed6e2ba99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37c08491785b61b007d94d89e2fd60e50f2a8c8e6d73426b5005ce5cb458db5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3b685caeb24de28d9c08b7e8f26fbc66722851a51e50b76c0b73f18bbd5f38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 151 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0279, 2.328, 2.1101, -1.0096, -0.63, -0.8883, 0.4513, -0.0261, 0.9668, 0.8543, -0.7223, -0.0525, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3634 left_y=-0.394 left_z=0.1093 left_yaw=0.0104 left_pitch=-0.2988 left_roll=0.1086 left_gripper=0.4513 right_x=0.286 right_y=0.0054 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.2652 right_roll=0.0403 right_gripper=0.9963\nstate[joint_eff]: [-0.6632, -12.9709, 8.3624, 0.569, -0.6032, -0.0464, 0.0317, 0.1709, -2.3316, 7.1043, 1.663, -0.0708, -0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3588, 1.0649, 0.9764, -0.8539, -0.329, -0.2714, 0.9988, -0.0273, 0.9726, 0.8524, -0.7368, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.2843 left_y=-0.0418 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.3068 left_roll=0.1146 left_gripper=0.9988 right_x=0.2834 right_y=0.0051 right_z=0.1742 right_yaw=0.0253 right_pitch=-0.2873 right_roll=0.0413 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -3.0974, 6.4479, 1.3211, -0.1294, 0.1978, -0.0513, -0.0342, -2.6735, 6.8444, 1.5263, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3584, 1.0695, 0.976, -0.8722, -0.3138, -0.2771, 0.9988, 0.6258, 1.5211, 0.9707, -0.4633, 0.3454, 0.4751, 0.9969]\nstate[eef_state]: left_x=0.2808 left_y=-0.0431 left_z=0.1847 left_yaw=0.0558 left_pitch=-0.3327 left_roll=0.1087 left_gripper=0.9988 right_x=0.3344 right_y=0.1723 right_z=0.0982 right_yaw=0.0332 right_pitch=-0.3566 right_roll=0.0028 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -3.1658, 6.5846, 1.4628, -0.315, 0.0122, -0.0122, 0.1709, -6.653, 9.0598, 1.409, 0.3883, 0.1636, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5438e0f08c2478fb5b835f56e665099e01614acab6626f456408b1ed6e2ba99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37c08491785b61b007d94d89e2fd60e50f2a8c8e6d73426b5005ce5cb458db5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3b685caeb24de28d9c08b7e8f26fbc66722851a51e50b76c0b73f18bbd5f38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg6zheZzsPGjmOfpgPhWxdV9Reajitu38aGO2I51j9EgEV_hesOYMGdLoVisQbngJBxjRcayyWJA6L8X2nE1-7PxVafW67z5RNXEGew8GXMI7nJ-HMrrfCOAe6HcdFBnH0yOxoY2d2sdCFUK3cMvJHGYznPhgpg-ZQGkxR6rJ89embVSanLZURUXVLjCi6sQNsdTVfMNjaaulTE4psd2sdPjaWQA_SuOCI3-ZLrPyVhKVHXbveMxB7J-9VtxtRp-JXpxYdysyHx4st02uoHrznKgPF8MHSDW1d0HXIRXjSC2SLZFfN-2U9lv2g9VEPMb-XFqwBHhW0ykU1kTyuKrSEnuxiE46QgMzGkcjWhtsKRvTi8Br4HOvJyXlnGihqI645S93zEBHqdsLqlzX5g7CBo_CG4x3xAOGxucn8ofYbcZyk3QRcUzvkxjdE5ooMqmqdLRAmpQYC6zXyP1YvF9CTGUeO_Ta5AcSlsce5aCOiAiqWH0bub4Q5qNgArZRoPCPh3k4ZuJu3uWLsqxgQHfjpf34WzUx-Yx_0YkxZ210QgVN52ySYWlIF2K23xNfSjutJEpEsgH8uzWq7ldop_ozWpAT0-c4QeUFWJ56COk96v1YFeYPSj2aQDIZvJn6NRhfuVKRy-Qb7lNKcJ4rOATGRT3mG-L8QYMFiwO2lB06zvpP-gCsnW78rZaNHqv-MU3-NcFGNrWQae6uAi0SRkQuVHaTNhDSxWdtLJjZzq2NjGhkMq-8_mvA1QPnw7hJ6yhCy2-rmrHBYGdPpSeJ9LWAr1aX4m5B2X2muTzognA8QvlydsHumOrrBJGMv5oHf2xE3Xop-qc5ORejngNcJwC_ZXEmIA3eKnuzd187I09TrirUkaa2mM_1Bl6g6TjBfPAg91rjzRc4NOvLc7_WHTUH2GZwv9sd_7wZ5Sd0AZm1aRm8xg4eZIVQpcLc32fzdes-74vJkeW0A0M6a-fNszTOJICclLEx7b38nQCaRN6L7zCnLtkKzs7Ko9aBN9d5TOXze9j5daznYqEKJK_8Xb0jnEQqLYZLjLyrB362EKgnblz4Eu2aHe40Uhe44JnmsjRaalmYT6G_EYnrDZJAf5pX1yZVg-emDMT-DOcOpS85-1rP2XL2_jtcwV7swfnmUlIw8h8uUoQGLiO6EwduWWWVC1urYyyId2pFgcJ07Aizuk_RJxnw05rkeeHdiqLRpZjpFlzN7AuoxfRI5DDLbtWBsTjGDiiBiQxBh-W6c-db7ESjgJvsOJTMl2-SAVSh5Q6J0h8s8vFNopwMC7skL4hVOoRXgiGZRT_Z_iZwa6r5qfV0mAeUVvMjsXvnc9o-hH5U8qkeHJ6xTnWNFiLB8jR4BQwYAM2rwmVjItU1BTLYNYycrSA1KhpUuF_3mIgsvCMRhRpchRsqh-BnUaMNQQoR1B7yF5VJSlIYlEROmcqsBT1GSRdUtEWwPD72fy1ogtfYbnPFZk6UQWQ3faMRh3CXkGda-LrreCMRMZECVWaGntbOXdNdk7yWwuyCqSmGmiLhgfcQTYmszKVcEBXjSwKOHSbKowjXRtF-oPzTA35xH0Ahkqbpe01QcAXTv9wH7CTbFsn14QARpnDVLMnGG4Ia0oNHnPTYCHzM5Hi5HRtCXvtNKj4BxGWFWBQnpkeipt3mUxCuhXPaCGDwYorUAzk3LMOdlMfyISg9sqFAIFGycl6eltf9snwQHqtpU082oq3nt7",
  "id": "rs_01751ee5dc733f3e016ab43838f29487d0905d2b3d8522cb6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.225,\"right_z\":0.095},\"note\":\"The pink bowl fills the open jaws in the right wrist camera, but its centre is left of the gripper centreline. I’m shifting the right wrist toward it so both fingers will contact opposite sides evenly.\"}",
  "call_id": "call_OjeKS7fhC8jjCJsvRMSYEhTk",
  "id": "fc_01751ee5dc733f3e016ab43839bb6087d0be7651f5d1b618c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OjeKS7fhC8jjCJsvRMSYEhTk",
  "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]: [-0.3584, 1.0695, 0.976, -0.8795, -0.313, -0.2771, 0.9988, 0.7326, 1.681, 1.0931, -0.4992, 0.3702, 0.5446, 0.9963]\nstate[eef_state]: left_x=0.2795 left_y=-0.0428 left_z=0.1837 left_yaw=0.0562 left_pitch=-0.3396 left_roll=0.1112 left_gripper=0.9988 right_x=0.3342 right_y=0.2196 right_z=0.0808 right_yaw=0.0632 right_pitch=-0.4024 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7966, 6.5436, 1.3309, -0.1978, -0.0317, -0.0122, 0.1436, -7.8701, 9.0872, 1.1746, 0.4518, 0.1734, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55f8383d8a74d99689399edfb81341f4d859930555d0e50bcc4135f360a26a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4687ca302d9d8fd601ca2cd143522be023de915e32a5d0e172ae45e20a4ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9254de1ffd6fa6365e263580291dcbfb6570cf751044c5fce9362541308de35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

message 156 changed as sent

message 160 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0195, 2.3859, 2.006, -0.8745, -0.6224, -0.8864, 0.4513, -0.0265, 0.9668, 0.8543, -0.73, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.3675 left_y=-0.3942 left_z=0.055 left_yaw=0.0215 left_pitch=-0.3189 left_roll=0.1306 left_gripper=0.4513 right_x=0.2846 right_y=0.0052 right_z=0.1776 right_yaw=0.0258 right_pitch=-0.2728 right_roll=0.0405 right_gripper=0.9963\nstate[joint_eff]: [0.4718, -12.9709, 6.4752, 1.0232, -0.3785, 0.1245, -0.0171, -0.1436, -2.0581, 6.8991, 1.5214, -0.0757, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3584, 1.0695, 0.976, -0.8722, -0.3138, -0.2771, 0.9988, 0.6258, 1.5211, 0.9707, -0.4633, 0.3454, 0.4751, 0.9969]\nstate[eef_state]: left_x=0.2808 left_y=-0.0431 left_z=0.1847 left_yaw=0.0558 left_pitch=-0.3327 left_roll=0.1087 left_gripper=0.9988 right_x=0.3344 right_y=0.1723 right_z=0.0982 right_yaw=0.0332 right_pitch=-0.3566 right_roll=0.0028 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -3.1658, 6.5846, 1.4628, -0.315, 0.0122, -0.0122, 0.1709, -6.653, 9.0598, 1.409, 0.3883, 0.1636, -0.3346]",
      "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]: [-0.3584, 1.0695, 0.976, -0.8795, -0.313, -0.2771, 0.9988, 0.7326, 1.681, 1.0931, -0.4992, 0.3702, 0.5446, 0.9963]\nstate[eef_state]: left_x=0.2795 left_y=-0.0428 left_z=0.1837 left_yaw=0.0562 left_pitch=-0.3396 left_roll=0.1112 left_gripper=0.9988 right_x=0.3342 right_y=0.2196 right_z=0.0808 right_yaw=0.0632 right_pitch=-0.4024 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7966, 6.5436, 1.3309, -0.1978, -0.0317, -0.0122, 0.1436, -7.8701, 9.0872, 1.1746, 0.4518, 0.1734, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55f8383d8a74d99689399edfb81341f4d859930555d0e50bcc4135f360a26a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4687ca302d9d8fd601ca2cd143522be023de915e32a5d0e172ae45e20a4ddb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9254de1ffd6fa6365e263580291dcbfb6570cf751044c5fce9362541308de35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg90wkALhHB5kq0RJlaUfSUz2LH3GKKb4Q7Cky2txhmQBTZZ5SEDvlS5wXoawYmMF0OaPFh7vyRe9zEHITbBibyQmFv4TYpzgpOtAhYWgaHhz-SeRfw6m4TPzCCUE8EOKbcUdXZs5ognmqyp8J_L2tNz3ABmruyiyVlpY1H33ZTzFIG7tR810J02jv_PYJuKboEcqQD5frPY5q420RzXoAKim-xVrKHhqwDkXq-VtZZk2-vAyGYGenjsOL3a4d8C5nYfAO2DjIn2qwyJnm2kxUBx-oRcJmWTuYC28CE6Cefs88g1w8Kica2ffeJrYSNRpXUT676Bcp6YYxHDyLiyIrnk5RI9X0ldevd9l4xFrRB-GLP5kU04G6s4rKRwBvRjLkqvjYs6QJBdsi_Q4N1Ht5fejfDCx4FNGYB0cQ1QNRifw4a7OtUcP57iBdcJa3HTEZ0dt6_yMHJABEVAoJh5IhmsHGq7sSGxgc98UpxqqnB1pRI1IM0lCn0JcGfJnvRXDb-IBwioWuxwRlQ6VW-ETsxGm389bDxalI8VRbdGFqtKxZoSu1W8f2r6PDM1MgOo5W2gVEuK4U9EebWIu0NYsPKMZKnTjgdt492NDLYDRkpbPtufuZ2uXGAGuWfpscBbpdssNjYXUbUDlIirrMj2ENew1yyzDrUnv3pIsdy_9JBqB311VUJw-nPbRoSOPOGWovJeGzG-EDZbbsOrIPhJmOS7Ld-jBGKgpYZxIkIKozsPKXs2i881zwOu_-7k55wEdBumRGGSoGWMsivMhEuEtp5rETM3_RytzOSx2dmSWPqXCdneBg_puMNY1uuoimLDqquO7wGEdpaTcmrir3xM-xIEc_zUaVCQ5DtoRfnQ6SchIJExSFgIWyYI2jdC98IPqfLstx6gj3-cvnpprWgirjiDcviq_qDuLkbfjvuuHL91BXqbyYjBiAUrIfELh0S-bMvr3cFxjacQLmC_1kN1jXpM4o-XuuhQJmrNVrwXOobaJruGNuMhU-I3R9Gt5SDuT-3qa10w1j9HQPZDPl2QF_kVs63Y82CrX9htUDYH5OnpIM171fgST2-uzTyXsvL2vvHhSZEtK1SYb5nVr0WaRYB_Xy2MJlx0lt5rhc7dPgXUduiMdFJQQV0rhowy_JsHutE0j8YpY0acAc69gxurV7UeHy5Da5NFV3if2_882Rrmd058a7NlpmxL5WkbtcFoThxcE6w7xDC6KQ7cS8QYHJMGEGbBXq8tQAwUgg2uWcpByTW8G-NF8Rbx1fVfKkLHsarIyNXHK3odjQuZGKDDqd1EFJydXKQhmQp7Cz4Lv3JGMyb23qB8_UPWPP64AgMMjRfn-TTuulhDPYcl-CUqQiJNmEIOq_Wu1vQ8GSRBJqwRibTCDAIY0nKJOeCOcDmOXAT3PBZ5og88STPcUL2ZUJ8w1n5sCUp7infcNkAABjXfbU57QmhuIqza9P5wCZmx40sb43f762ggOXz3FAEJX-20OnBhFa8Dbfi8FqUVjTBoQeRTfpEhFRLJa772A042ximUjQn89eJX6kKrFz35l75T3cmEGMZLZkYrQrp0OgbVJKXHsvcQTSnOteH7ehz7jZ_1MiXVFX1nn15poxhPoigYLe5O88kD1gc2TJ2oeroNZsEEKd_6ov1_dzWJvKDo86hqekYYQ_TBuNdaHwX0EW2XoxxEMF6wnoW0tG5seOOITtuvZTFhLoLfgTtiRCwHvYD",
  "id": "rs_01751ee5dc733f3e016ab4383c11f487d090d01125e261f64d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.225,\"right_z\":0.043},\"note\":\"The pink bowl is now centred between the fully open fingers, and its width appears within the gripper’s span. I’m lowering both fingers outside its rim to grasp it symmetrically.\"}",
  "call_id": "call_3YrJQ6JMWPPLGkcVb3pyE8CM",
  "id": "fc_01751ee5dc733f3e016ab4383d1db087d0ad348af8dcf175c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3YrJQ6JMWPPLGkcVb3pyE8CM",
  "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]: [-0.3584, 1.0698, 0.976, -0.8795, -0.3103, -0.2771, 0.9988, 0.7395, 1.6871, 1.1065, -0.5041, 0.3847, 0.5587, 0.9963]\nstate[eef_state]: left_x=0.2794 left_y=-0.0432 left_z=0.1835 left_yaw=0.0541 left_pitch=-0.3409 left_roll=0.1092 left_gripper=0.9988 right_x=0.336 right_y=0.2216 right_z=0.0834 right_yaw=0.0515 right_pitch=-0.3924 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -2.8239, 6.5436, 1.2479, -0.232, -0.0317, -0.0122, -0.1573, -7.8427, 8.8137, 1.1697, 0.315, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c443961195a02c06fe2299a43794f46d96622a5d9c184fad894ebc064c942582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb781583751551b02795291bface789d896572bbd0a68cffd20468dd9a6bea58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae4ba914a4825c24187c200c88f85b0f5d93fceb2fbf4a88abf28901f65e744",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 151 changed as sent

message 160 changed as sent

message 164 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3588, 1.0649, 0.9764, -0.8539, -0.329, -0.2714, 0.9988, -0.0273, 0.9726, 0.8524, -0.7368, -0.0521, -0.0261, 0.9963]\nstate[eef_state]: left_x=0.2843 left_y=-0.0418 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.3068 left_roll=0.1146 left_gripper=0.9988 right_x=0.2834 right_y=0.0051 right_z=0.1742 right_yaw=0.0253 right_pitch=-0.2873 right_roll=0.0413 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -3.0974, 6.4479, 1.3211, -0.1294, 0.1978, -0.0513, -0.0342, -2.6735, 6.8444, 1.5263, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3584, 1.0695, 0.976, -0.8795, -0.313, -0.2771, 0.9988, 0.7326, 1.681, 1.0931, -0.4992, 0.3702, 0.5446, 0.9963]\nstate[eef_state]: left_x=0.2795 left_y=-0.0428 left_z=0.1837 left_yaw=0.0562 left_pitch=-0.3396 left_roll=0.1112 left_gripper=0.9988 right_x=0.3342 right_y=0.2196 right_z=0.0808 right_yaw=0.0632 right_pitch=-0.4024 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.7966, 6.5436, 1.3309, -0.1978, -0.0317, -0.0122, 0.1436, -7.8701, 9.0872, 1.1746, 0.4518, 0.1734, -0.0611]\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]: [-0.3584, 1.0698, 0.976, -0.8795, -0.3103, -0.2771, 0.9988, 0.7395, 1.6871, 1.1065, -0.5041, 0.3847, 0.5587, 0.9963]\nstate[eef_state]: left_x=0.2794 left_y=-0.0432 left_z=0.1835 left_yaw=0.0541 left_pitch=-0.3409 left_roll=0.1092 left_gripper=0.9988 right_x=0.336 right_y=0.2216 right_z=0.0834 right_yaw=0.0515 right_pitch=-0.3924 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -2.8239, 6.5436, 1.2479, -0.232, -0.0317, -0.0122, -0.1573, -7.8427, 8.8137, 1.1697, 0.315, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c443961195a02c06fe2299a43794f46d96622a5d9c184fad894ebc064c942582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb781583751551b02795291bface789d896572bbd0a68cffd20468dd9a6bea58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae4ba914a4825c24187c200c88f85b0f5d93fceb2fbf4a88abf28901f65e744",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhB3tKlzLRfIrZ2kj-1mlKzMeLpZ-KY7xtv-qEfUiwdF01iuawSFVkdCHx867WVkENCYpACZc8NXId4lHFefaW047yMWMDtoS7CK0laOq8mpzpXl5Te2oFwHEF6z1EJgnEsvw_1lxcIpuAl33jo8t5xWLEDwq5BHorsJF6FzIV39Oe4fzOitzk7odk6IkREZE0MwZtxWI_BqTLhXN1ACXLDH3u1L-oKDSgVPZSJd3PXFG8PsOZcnWDbpIt9F6IWeWzS6LKwwHmWh522MDXs5ZvU4vSYMfUSWyg_uG_5qPf_b--ipYrX2agTkQntyg9vMHr3ZEdH1Fho-LsV_5wcdExlNcGNDEGhZbk5umyY3mGQ1-Eu3f71GsNjmiCzokj6YRiWuGW04H3BELNY6_RFh4iRU4FuCvCiVGohI9lV7U04knPoxn0FVnYVdOlaACubqbmcpFkmkJ-44bHw3c1jsUmRoq0GZv3444ns1jXuEe8uG6qWKV2PPWWpkVG7F_YzROCB4nnNUWZVqwya12wYasg489PrepxxQLBU1WJtNooW50kk9FOBAAIwCEynXlfpfzZ9qY71N9-hyjfMFIlYSmjDs_rMinFt1xtl0Vs1zn_kRNq7MQbJAtgvKOPgdh_g7u_tAOYw5EedEq38j2gPHtLSspRGqSA7JTmD0piNYytH880k70pRk7TwOa3-AuSDcY01dclXVMke_X2MelTRSOxrK2a6E-H7tWqi6fyPNtIUgj1unORXx7usyU5E5yWkqSxW3dFchAZhK2afq1zJmO1T0JMGchDPspH4nsHY85QL_oBpv33mIp3U-UAvFeqb-gTNrI-NlSv9hrpWfGsJO3CR5csTfoCpuGxegaYzN0G2K8WfQ0JcE5EhIEnmwao4EggDvRnb68QBDgE9CWm5VqH6O7hjFUK6HdSVjM_xjbiIMAyeJhiQPNH9SnsdLH3bXnsOJN6lAD60Aeg1wbdG_bu1QB2dyfeIG_e0DX4LzwHEyDEIXKyJ0C3YDXsqPZ8np7A6QhnWtGPFfiYuJl2mj0jZdkrLdDQA3iDogTWikZuxsYUr0v7JtH2IYXPNZF6EugSBefaCyILxKgEScsntMeWdwW7ffD9TJz-rEWitG7HAfAc5VTF9DAXzHU74EeKXWoQzFiJp-uBZ3TIg6entvLtUPxnNLuhuLobJMLmHHrD7QbEhNj5R_2zumlgNnFv1K4-nRMP7jZim20PmskCuvaQwEBscLYRS_gfoul4tnIvdd9nP7FJQ9IH8VW95Hx4fvO3Xog-UPDe96Y4iRp_w3glxtDBssX7FXmdh5-CSr24fXzk6PqAGJGYiCH6YjQtvJpsRlC37DFU8pAp_IuHEZYD0lSxADW6F9iL8hIY9J7nfo6EM6sziYfoP0b4I0iFTcKKsXNh4Q5wvLDi29XYOJKE3uMZFtQiwPToW8pPe3zbcmsBg64CfrwW6b-kSSGjlu4ILB09o_kQlYTNY9MHrleR5ZY9wKKnq4S70CJzfwO4eEFqt74cco1xEvfyzt8Gt54_9BzE270fWELhp2LWCs7yVK166Al9tsnEpyxwqXblrZ3Vx6144cP9puibhUBjyjiWXPbv_iIBQAcTP2N2vselNUkDeOmGMvrognKqe19yhBMcibvH8vUY15Z2fbYdDMHTPN0nngm2VC0kolL-JvcTtrEegQZNVTK9i4u8GXwcMoRTyJaxDYPqfAjKCCju8ZYmcqPJT1OdRFn4lwyoU4JwD2zks-snBV6Voptct5Cxo4o5FwKThUyazSB9TTnYXdOiSzFK1S3qrjVJUiYWCTJeG0UaLD8sl6EYzSbLLqlUGzVOl7h8ZxDkBWxUpBmsDY8Giqyw-VTbMHi3A73IvQfHyDA==",
  "id": "rs_01751ee5dc733f3e016ab4383fa01087d09873e64004099d9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fully open fingers seem to have met the bowl before the wrist could descend farther. With the bowl centred, I’m closing around its opposite sides and will check the settled gap before lifting.\"}",
  "call_id": "call_IGXW4uI5BO4I7PGLYp0HmUTG",
  "id": "fc_01751ee5dc733f3e016ab43840bb7487d09d95b8c70a5b7f10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IGXW4uI5BO4I7PGLYp0HmUTG",
  "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]: [-0.3584, 1.0733, 0.9756, -0.8799, -0.3099, -0.2775, 0.9988, 0.7395, 1.6871, 1.1049, -0.5179, 0.3805, 0.5571, 0.0078]\nstate[eef_state]: left_x=0.2795 left_y=-0.0433 left_z=0.1824 left_yaw=0.0546 left_pitch=-0.3448 left_roll=0.1104 left_gripper=0.9988 right_x=0.3332 right_y=0.22 right_z=0.0811 right_yaw=0.0515 right_pitch=-0.4066 right_roll=-0.0277 right_gripper=0.0078\nstate[joint_eff]: [-0.3624, -3.0838, 6.5573, 1.2967, -0.188, -0.022, -0.0122, -0.0615, -7.9521, 6.3111, 1.2869, 0.2418, 0.022, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af25b4d5aee52e0db374677b2a7f042c9e02b7f8d581bc058eb217f3e56bc58c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e100abc5202584f3787879da9b59264550ba8b8a1251dc02e0635d9d07c0dad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf36b7e5a0ff34a48a6da25b8276163fe1893b086db192a9ce9eadf7279b74b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}