adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.3798, -0.0223, -0.041, 0.9994, -0.0219, 0.7929, 0.6018, -0.3801, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -1.5658, 10.1402, 1.7802, -0.022, 0.2418, -0.0757, -0.1573, -1.347, 10.2359, 1.9316, -0.1245, 0.0317, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b912aa67215ee27c97a4d699f5626d4ec4db7ec7e330562fb90558d7fe543b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8448b2bf0c5b234a4b04717848bec1faa0938711cf3b9f1ff862564caae53585",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31d1c13eaf41174033195d212e047986dd8c09530bbd032de0f9568e1bf985c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtFF5o9f1szwSPXIJy-XC3Vw3KLf5U64tOrNMcHz1iPKoOAjAtaREe20cyWBqdtOnsyiaUrDoaeUbPfVbFoGu8ZRtxpxZRNirtoa9x7E7rwuMy420aiC4P73lRkzsM1qalNfAh3QZul8PHIIWM_i462meAMaTOsK7EW_JrPX2KpYklKt0kkgZ7v_sTD5uzpoayCxffNuw_Z2EAVtC7CCULzesV0_QDFao2ZyAVmPxtQrZtzKk3iSfNxk3papjNLWUT0rKyyVsedM3i6AC4Pce9o43FZTGrK1GqIwlJt_vNcDB4Kf-KwdA6WCtYO9xB-tWoldPe1c_GASvPPqGXHAKtdlOg6SFGWnY6g2iBjPwWChS7Mq4kqjV0ys0R7p5D6Ex2nStu7EvAGFYIbi_QUxsFLo99mbZAMMBir43VPBm314YLNQR6nrlrrR9JR2DKbOOpcj_z7TcC1LzAdpJ_YHZMaBwi6efBfsq30Hb8V53149KnxGPMlx7b2Wm6iUCN_Hx9DJ5ckbSRV-EFLou0BSVArhLkhqUGGQl1OnsJRIvLxLARvRIxKwp9SNoe_zmye9mcCCxUQ0Wv38EpSxMigLxikMjC5h389LmOvSooG7weiFv0xJS4Zc67CYvXBfFXTftD0jeFzqzYdoS6ab0BV87FfzWABaEZowAlS4IKBN1QoD8dRnlna2P-xLR7bwrRm1j0vTB4K-Z67zVXQwgI6ivLvhsEVrafSZISax0qt2vhmUao2LyzUoknizgaLFUZc5Gbr56_k5GT4iWDM-jsO4s9OtC8S08MuOw8cV5ANWUt3hbXv3KdfEWZe732x5btdkveY968m_2C5ZGGUTccn3txXJHnCxf7ztCPBEz_xdGicKUJreNs40SOnvnelQkuf_dYtQPEaZRfOP187xy05jH5Cfn9HQqLWzpNCpJCmp-d0P86YWZrExmxT9eWrOp8mun2843v-eEXCJgbAUKw6yQH3o-I_yYMLRcqD4o3fVdtLaP1KsXPeDKsq1Svk8KIb1wJDrRKCQDGdHP-tBGDzW9XhY9cMUCKQs30hPNrQr_2lJhhAHu5Im3ZfpeKtQKiOEhh1CLqsjbBwrBw814cWlTieY8tf0acapsff5QPREg6lcv7YOV7czheFFwArGlDCTKYrTYQf74Xv8OCuCTYivuqMhMsny2zNH5S236I-PMuO6mgg_ZxrScHL1U_DrjEzss7dsJPIOB2bgpev4A4wwNBzhPEYZfwYNq48tLkdp2aZNkqOUVAQ6_P4zGHoECd-VAh31HDNqdmkMOYFhmVHANqmsuZwN93TFsAOZNmlwt_dzfNf7WCm2lHpzSpCa0Bg-SkgU0KhmBXtDfuhFwMzBVMMcTAtsNs3bjK4gVeTfyjkBL9q137QjrhKvMoJvYMXi0VxE8BHMT2spNEgy5jnghKRcKqNffo92rRiyyUEEKivN2tFd2-L4RX1v4akIx462B9_6ZbjYh9WJJG49akevOMJhgjBBzLmo4y-k7X6Ky9no6cbROfc0MtVMDI0Ck9ZqnIeFs32WXgwiMkOBWot5bDf2Eq6iGZfNIaM0lq5OQ6enLnWz0ZxzGupL33Qp8N_mQqayvMqGIYCIK-pmKo0eGPxG2S__bYuPBt9ijdm7faE_R36HyvdpZxojESM3SBCEhX7D7cn3r4lNFWCxlRiMdrtzctGdS3oMTy8XibVQaAXgQULnVZI-nTDcnVc_o-LZmVs5sfjTZ0AIUweeearnpdZ4MMhIA8RehDvk9Oz9ualLP_Vsu_kugCMGhBuVGHdYX-xlHIW5QLKkd7IoVtpSJOCqn8dpodilzAOJMpOhHCNzftSk2u7cf08KaA3RdupcU2t2CjCfwWo0-crrFVgp6lHN0dtkSrPKotMvpuamTHjurHcVn8SGMVUCFqsI7HqM0tdzOQyM01euUQIJsVI64RFcD7cBllyI3FvJaEdxLk-q6INHKcz-5bqjALZ6xuXoAWGg8EZYRUmd53QNBlx3ZV2yHft2GCHRobJXpHjFFqPZeQwo2qQRSZKWYIHTWWJS_JfGToHNM1DyIXPNb9RCEfcdcH-o0X2RDYMEgEGgnkzXYSyJijH3UbLt1z5buRi3s3ZSGZV9bmXzavlJYcPd-aahtiExS21mgUAq9IeuReswsEhk=",
  "id": "rs_03e6c7b2673894e4016ab45176c0e087d08943f3da2b713851",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.07,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three upright bowls are spread left-to-right across the table; I will first use the left arm to align above the leftmost bowl while keeping the right arm parked.\"}",
  "call_id": "call_78r3cCOzahcnpJX3Xqf1bIMg",
  "id": "fc_03e6c7b2673894e4016ab4517889e887d0ba0f80a61910ea07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_78r3cCOzahcnpJX3Xqf1bIMg",
  "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]: [-0.3424, 1.1278, 0.6266, -0.202, -0.2626, -0.2077, 0.9994, -0.0219, 0.7967, 0.6044, -0.3927, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3314 left_y=-0.0656 left_z=0.1299 left_yaw=-0.0293 left_pitch=-0.1054 left_roll=0.0273 left_gripper=0.9994 right_x=0.2933 right_y=0.0 right_z=0.1768 right_yaw=-0.0003 right_pitch=-0.0145 right_roll=0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -3.959, 10.2085, 2.0195, -0.188, 0.0415, -0.0708, -0.2393, -1.6479, 7.0085, 1.79, -0.0317, -0.022, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba51bacf0a8c9575e2d66e30028ccbebb2b837328abdb1033012b230ef48c22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8992685f37b1483ee829049a5230efc77a431b119a412b0d58d596d41279745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33d01f4811f08585bb2bca2246626d8190885ac75476b095b633284ca4c4bf91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.3798, -0.0223, -0.041, 0.9994, -0.0219, 0.7929, 0.6018, -0.3801, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -1.5658, 10.1402, 1.7802, -0.022, 0.2418, -0.0757, -0.1573, -1.347, 10.2359, 1.9316, -0.1245, 0.0317, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3424, 1.1278, 0.6266, -0.202, -0.2626, -0.2077, 0.9994, -0.0219, 0.7967, 0.6044, -0.3927, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3314 left_y=-0.0656 left_z=0.1299 left_yaw=-0.0293 left_pitch=-0.1054 left_roll=0.0273 left_gripper=0.9994 right_x=0.2933 right_y=0.0 right_z=0.1768 right_yaw=-0.0003 right_pitch=-0.0145 right_roll=0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -3.959, 10.2085, 2.0195, -0.188, 0.0415, -0.0708, -0.2393, -1.6479, 7.0085, 1.79, -0.0317, -0.022, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba51bacf0a8c9575e2d66e30028ccbebb2b837328abdb1033012b230ef48c22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8992685f37b1483ee829049a5230efc77a431b119a412b0d58d596d41279745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33d01f4811f08585bb2bca2246626d8190885ac75476b095b633284ca4c4bf91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFF-IiFe60nGUeUtpoBnoOeCnZkP6K2Ht8wr-k2fxhhgX6aS8x6D0U4l0jli9ShrXKhEAQ7NjROBQhvRvgALzDMJppQlzukpCdx_lE4sYeM10Tk7MHqymJ-IhSHx8vpiqRFZ18wmnCIVpKopxRdMbOhB4_ucG61NQofuGXj-Q5a1pVRaPfUrV-g8xlQJ2xo8zmbObmHQzj9CNPktHq0nEHJDFPkhZ5Kn0QJebYDZRdAxcMohJFLOAMr-AqMYzZ04AE7HSsoxHN2n7NFSWafD4-dzrb2wGdNQQt0L6VMQ92DDz48TXnN_uwK8h-ajCAQL4OXNPJfh2dODr40bEYVBQFZPpJ-9jSpA2YOYavJk7s0X32NyTDSPt-UhPqIaEm5M8WeP9_QXm4iqYiTVPIsduhkF8Zj9BRwng971zlaFzk1QvAGuJxPpMdaYb7wwQozx46xGTBGD3zXWsakwIr-uTdLkDsFlqcwU4thgPLeN1PkqH0DBjjmli373DFi53bsXuWUZ95MFEpvUmXazaM4ftQLp-N9bC7-etfZ07fgo-rX6pXLYhg9HVK3wuJ5fJ1hvf-PkFe9D5aQT-pLgRdA95SOvDOCbx1_03wde3-HQO1t3_PhKOunJgUzXWEjGlBqv9XoduezTu9_KM34pjN7Vgkmwpq21ZSzxe6EDd9P5JRb0NUIbsiP2fvV5ZyNo7vZatB2JHEPMOqu54Nv49lzUDg_G3CStRQyNuV1OQYQKfJEobr7I0J9yWw_jZUfWihFNGN_EwXxAcTFnq5iJAOapp_tSDx0fYfVuhPpRVQ2hlLnEnCqVnYLXy2DDpEiJ-AaBJg289A7P311Tdb5L2WoVsaKYqrLgetG4LIOcoeUkkegGKJQ0j-UKl8DbIm4t_WWg6DdeRV_9phCLuK_4fNmclZaXEF-0F4ENbJuulC6p2X8Sog6E3TEdDa5VeriPVDxVFKNGbQrNU-kKzkAgyM9oKCIoWw6-wu4uO207qdAnjGLMtsbAOTSxbOB9b0gH2cO6X26QnrVn5BL267NgpyIrqiiNLDwqiNWsF1SJfyl3cZAqJ1TPop-1xdRUezF_LJcvOHqmarA3Tq3TrZV_Bnnqg4LGzLAol6bp2NwYyyb1jgSPTg1X6oYFkzgPYH6I1JEb_1EtAoC1e14D7C2mr8rNYSZw_hm1CghgUANrJ0D7qFfGTp9zgvRUudQZqSN8UWdAcE8nHkVCe5rDNILcS8kkiwwAy4ClnpnWBwwiQgVbkyCoK5-Jmk0407k-MQNVod-zRuc5CwH0KfLihMChu2rdouqPhxdKUKyXq0_J1ei6d1lI3VsGzifHZW3Mkqss3-dJ07Q1V6dVcKsqfoz30UbAY3JOR5-wlvGC5zrReYq9i132f5NJZfhTrAmtytAPfRllXdTbNzDa2YDubkTJSEG6OKZTa8mXxLFsT8zfe-mMl1tqzH5CHf_b3Uo0XNJWRFlyF6Rj1hNDC2-9KQ-KlzU3Dw-v6TBphy374fsWFzNrLD3Zk5vubKBfnta93Bi55ULCCzqLzbgOmlkOummgjL5fBK6fjXrTyDCVgjdQ8JXILAJCeNpGEjzJ3ouDSlBJYUuQ9eKnVnQ3jBDb9Pumr6ZsMoeeVLD1zN32wT51rILQ24AnYKCzwSagpvkEtt1gmYxFHVlNfKRPAKY60ae3NUQ9eOSfXQ==",
  "id": "rs_03e6c7b2673894e4016ab4517c1f4c87d0bdfbf172377e5d65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.11,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The left wrist camera now shows the left bowl clearly but still about 4 cm to the arm’s right and slightly beyond the fingertips. I am shifting rightward and outward while staying safely above the rim.\"}",
  "call_id": "call_KkvhX6ylcukTSiBxcnZkq45K",
  "id": "fc_03e6c7b2673894e4016ab4517d520487d0ae6695a90f8bc46e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KkvhX6ylcukTSiBxcnZkq45K",
  "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]: [-0.4465, 1.3121, 0.8665, -0.2909, -0.3237, -0.2714, 0.9994, -0.0219, 0.8005, 0.6018, -0.3946, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3645 left_y=-0.1082 left_z=0.1564 left_yaw=-0.0474 left_pitch=-0.1212 left_roll=0.0272 left_gripper=0.9994 right_x=0.2929 right_y=0.0001 right_z=0.1741 right_yaw=0.0002 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -5.3675, 8.5265, 1.3358, -0.2759, -0.0562, -0.0708, -0.2667, -1.5385, 7.2137, 1.7411, -0.0659, -0.0611, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a492c625b2707f8f8657637e285dae9500a3b89b2b06c7948002f688b68a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fbe81cd2a80d46da82196a5f40c10eb5f308bd290026cdaf4d265a2d25da84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a2222f958a42895dff6798d1965f5da0ebe8c5afdc197a3889cf9fb7b8ae36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3424, 1.1278, 0.6266, -0.202, -0.2626, -0.2077, 0.9994, -0.0219, 0.7967, 0.6044, -0.3927, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3314 left_y=-0.0656 left_z=0.1299 left_yaw=-0.0293 left_pitch=-0.1054 left_roll=0.0273 left_gripper=0.9994 right_x=0.2933 right_y=0.0 right_z=0.1768 right_yaw=-0.0003 right_pitch=-0.0145 right_roll=0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -3.959, 10.2085, 2.0195, -0.188, 0.0415, -0.0708, -0.2393, -1.6479, 7.0085, 1.79, -0.0317, -0.022, -0.359]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4465, 1.3121, 0.8665, -0.2909, -0.3237, -0.2714, 0.9994, -0.0219, 0.8005, 0.6018, -0.3946, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3645 left_y=-0.1082 left_z=0.1564 left_yaw=-0.0474 left_pitch=-0.1212 left_roll=0.0272 left_gripper=0.9994 right_x=0.2929 right_y=0.0001 right_z=0.1741 right_yaw=0.0002 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -5.3675, 8.5265, 1.3358, -0.2759, -0.0562, -0.0708, -0.2667, -1.5385, 7.2137, 1.7411, -0.0659, -0.0611, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a492c625b2707f8f8657637e285dae9500a3b89b2b06c7948002f688b68a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76fbe81cd2a80d46da82196a5f40c10eb5f308bd290026cdaf4d265a2d25da84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a2222f958a42895dff6798d1965f5da0ebe8c5afdc197a3889cf9fb7b8ae36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGD7dQPVoF_WAPtm1NDuY9Sx2Nx9Q65kLsL0-2h1AN-BV9gOGe0SCUlDZidP0QM4xx_Ego9EBK9P6stlbFJWcOzF3AFCs09zwoISxxkquyLAi3m5cQmnz2gTuAabPDi2uvhQOs0U7WnF0cWWP98HGpxgkLgmajjkgrWOCIXZHkwMyLHhpZUAKkCnsNVXgtmDOME--lmetoANKt1ViZ3o0ESv3brUhfATEjoSThWXd8LfnD_S_cVl_9razL4U9PrgxYALMVxrHb-ecoo0OInTEt8Ne8-WJa0y482BALRHYiqv6K5aEPOgnIRhnZRQ0AU1fQkFy9KiO4km_AiqXIbyP2WamBljczJQis4QtxmnffOPeh4C2VcvH7ebAifOQYErFzJZ9Q9Td_PWpnEhVmkegc5q9fsFRl05FzXbjQ2cE3D9OnducJYK8ICrPcAg_nxXzbiwUJLP2y8aeOsbPUy_LAjIawM--jZdTP8scJYmo0eD2j3ZSBFErVU4nkQssx73r5Ew-Jefzn_pgzOakk5rE1xnv6c9xhIcLrAoEZKwThY9cSOCOEJfQDWqDnjbXPbBeeYzrbCpJq-og-BTGGLcWAoP7s4k6LN3WwPnS2SDb_uEnL3wuEUfpVlh6xFnYrKDbvJH5SAKOQUIJYf7ESfwIU9vL2o083rh9nsKKeXSkeTfmjmwuCUP0gIrStkMOivHXwop98fkqMvQlnokyYRZLi9-dv4-0A5i8FCq2JM-uvA_LK8H6kUnIJuEOzxzf-13WLrosi8pqTMoA3h6l1CPZ9QgtWS8FD3wynxfhl2Ij-i8vIz3VjZf9oCRn6ejF0wmklpVStVMv0KlYmxm7ZpWzyfwkg3fU7FbqPRBt4J-UNxtiKFDs_Oof0seL0ABNxoHcc7ZKI5BxHs2vzdGlkT2VYiCWYlNmu_poImLCuSO--rdSmfWVBcp3aAJwzFSDbNpo_ABn2KoRF-qQsPo7X7fjdbCTzVCUq2J8qczqjZeTVz_WkVfFIQAC0OzoRM92g2AyKVZzE0ZSD8bDjvFMJlzpNFcydyVevs9wsLPb-d_nYX89TAJPDUtLITJY5Yf-VzxnXQWTuhrqOdsuIqUE7ue_mydugSjQkmbYklZlyEjXJSHmvpLPHIsTD2oudMYX-LVWAU1QHj9Vtk6-Mc0mqxHp8wb7_DM8m1KtAlrT1CIVmJ9q80bjpDqvizo2UB_Su0tjDy3HjPus-GNgdMJqm4aQWs2CofkzzlulSuPd7aNgf9SWSO7uJUkxf6SEjioL9c4_7Ln4FIknoafWxDCIe7U0Y0fi5kA4WJqFlq43EH1MyJSWt9GrqynALKPhotuXG9zNvIo0ZdFZobOPy7fAR0D6JpA8_FxxDjHfqKW018sWO-IFdIC7wkqWfnwdCoesoKLtkgXoGq6AucOmTDM6o5qTBFkbBF1jc-TEaE8ugjt7I-N_PV8XlHFxwc2K4KyIzonjON-83NPn5ZmUuPq6WXiQNIBJFrDo8Atq1m-Uzbp4Wjool3zix8FTuUM8NsXVjTzSkYl3TIJBIaSTAH2inDYWccNdYKSoD-638AkhE_yyBa_A0AVTEiMOY9o0UkgZW1kIU2-Xwv_eHE2V4O-R63LT4yhYHk-V2hkfqFwwWgS0c6fSI2fdlTErkq0sulLTgBG0juqG_zVpxBuXgDjHQxCkyeEjaTpRtU3cYk1WROImm5SWsra8paHUJStI57k_t-MWLjKo6h5jF3YC-TBwrj9mP38wIpd01RkXFki0SDuuwxKjQqUgAFN1N0yMW7O_AOfxrRlMgpdLNsPOsZZHmlM1lyNWs3JIOjFeXidXysFbUNdPB-RYHVawPWiUcKYTfcrSo5tHKFkMhF-G7ktQOxY3uB1GdM0yvxuqEdtUF4tFfH_azJuy8J_P7TAdJcWqF9yduPHvtsndBeUO_yGjt32czQl31nHI3GW_juLet7YQd6lynJ5c3YhA3accJV98nn3iGjs7zier05ppi0sUT-IMzfRodXkNpqwS3hy6CcEqM_LS9QTTPV-_RHFhLk36Dr13Fd-MDwNvcUhJf1nYFTwdz1jPY_3YiVVt8Er-bhhlE1YZ0=",
  "id": "rs_03e6c7b2673894e4016ab45180531087d0aa30ae39d89083e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.125,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The left bowl is now almost on the jaw column; it remains roughly 1–2 cm to the right, and its near rim is close to the fingertip row. I am making one final lateral/outward alignment before descending.\"}",
  "call_id": "call_KPiQyT3KLpSVZbKcE24K6gPR",
  "id": "fc_03e6c7b2673894e4016ab451825c3487d087ea03f64d3d23ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KPiQyT3KLpSVZbKcE24K6gPR",
  "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]: [-0.4564, 1.3243, 0.8997, -0.3267, -0.3382, -0.2817, 0.9994, -0.0219, 0.8017, 0.6018, -0.3931, -0.0162, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3655 left_y=-0.1102 left_z=0.1603 left_yaw=-0.0392 left_pitch=-0.1307 left_roll=0.0343 left_gripper=0.9994 right_x=0.2932 right_y=0.0 right_z=0.1741 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -5.3402, 8.3487, 1.5702, -0.2662, -0.0611, -0.0708, -0.0889, -1.3333, 7.0359, 1.7216, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c538988311bec628e0067ca99027fb1e19173fdb6dc3529bd1195ff6c5b7521b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a47740d264b16cada0439cc58c6bd1491dc09272e6d44d843eb53d977d9f82a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d89afade04ea42d7b29a6f26d86cd44f31848f6e2d0100ca6a9490567fbda2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.3798, -0.0223, -0.041, 0.9994, -0.0219, 0.7929, 0.6018, -0.3801, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -1.5658, 10.1402, 1.7802, -0.022, 0.2418, -0.0757, -0.1573, -1.347, 10.2359, 1.9316, -0.1245, 0.0317, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4465, 1.3121, 0.8665, -0.2909, -0.3237, -0.2714, 0.9994, -0.0219, 0.8005, 0.6018, -0.3946, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3645 left_y=-0.1082 left_z=0.1564 left_yaw=-0.0474 left_pitch=-0.1212 left_roll=0.0272 left_gripper=0.9994 right_x=0.2929 right_y=0.0001 right_z=0.1741 right_yaw=0.0002 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -5.3675, 8.5265, 1.3358, -0.2759, -0.0562, -0.0708, -0.2667, -1.5385, 7.2137, 1.7411, -0.0659, -0.0611, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3267, -0.3382, -0.2817, 0.9994, -0.0219, 0.8017, 0.6018, -0.3931, -0.0162, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3655 left_y=-0.1102 left_z=0.1603 left_yaw=-0.0392 left_pitch=-0.1307 left_roll=0.0343 left_gripper=0.9994 right_x=0.2932 right_y=0.0 right_z=0.1741 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -5.3402, 8.3487, 1.5702, -0.2662, -0.0611, -0.0708, -0.0889, -1.3333, 7.0359, 1.7216, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c538988311bec628e0067ca99027fb1e19173fdb6dc3529bd1195ff6c5b7521b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a47740d264b16cada0439cc58c6bd1491dc09272e6d44d843eb53d977d9f82a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d89afade04ea42d7b29a6f26d86cd44f31848f6e2d0100ca6a9490567fbda2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGG4XhWUluCutJux__9yGiY0L84FSTdhk-36OvXkzy6XBlDmqmUe3HvFUvGAXxDFyHTGcAdZhOCyLDbRQ5cWV8_vqtnZ2qr01MannjEzQXWieTCn3YfncLJqxtZI_h2Fgguix6kLk103xatrrJ_gUOP_G4bsXRPPycBWE9gxvJjTG9X15sTF4hbGBXctmUZXXJCldyVG-YDrG9vPuB4LYBbNhKiTKxkuGqcjmeKQaeAfbXzemioYBgDvg-IOBN0iAAe5VgfeihVcDCassUzczrrIWF_yVaUB74EzDXHLXPUAwamC8YOmKN1XdprPHCFh4PoSGSUPX6IWo2MNYZMnFEgn33Stv4xXQcUbqqruRRzj-w-wKSyr-9ZMhxgYYRQRkvo6RtRwoJUPX-KthpvbY1Cpw6iUDcPXZEbhkGiOwkWLm3AGdob2Z_JTqnfmz0rR8LELc4xevfTLSRnUhCnrJAOt0ZIQigoBxhvI-ZRq_wkQ-9KZz4dP3nEf89lNMtRi3gyCWsPlP6LNhkcz3G3RyC9CM8_zFNpOBLu9pEDVOpIyTTl9TXXa7FqlTa00E71nclKWh1NiyG9wYbdv8OdYeMPMmQyoGrdnkxClIGCnVsEoIY2_h3260L1r342pjstraXCSF3GX8QGAI7W2vEH5ZtIWlvdn2ZIw7CxaR6rlYY_jsuOGHXyYnNBKTVY8lrTdUglwA6oLRAYbVfaBst8ayef2PGTZue8vpvnmqlX4jUaCc4xuxrRQXv4gBmi8e174VMaeXJPqZsZ2CRC-JUyQvV3K-HomK-_temq4j9ZfhVUPvw99Fqwwm23f27wYuSRv9N6An5vXw2DRqMeLomOPAS2pq7m9Q-C-wGsZ8pp9vgdtWdoXIQDZ-R0R1ZDO3jff7fVy1lZHVyGxLjpXissErqO-9u6Vh-4uu_QgM8lRwWgyK-0YCzqzUsj9VQzoQ3zO4LwEYzc-uns7P4Hc5ztn9pGATKTjfyRhMGKzsDkNBR2lvCAjdribMOHETGWuJ3Ulgh8RMTIeg7077xOqnBsu19aQBkZp1C7Ez46XsZ5X34QlM4lorDii3U6OwrGSf6gSVpFkn5EPQGg3_vYoLTF5vNWa_qiTeS4C3-b7k3ChkFILwSy9zDmhpqBYqLsVN-8GOoSa6xerDW-iQqw8wEem5mkkz8cEnowMDiDlhsu6P4a3C7IYwvWwWUzRZSYyNgiBa426aEpcmvxpaCkjyoNbagYEz5iKK_Wqc9VudQ99V2m0SGZ7Dst1IbwKdkYC1Ib437PqSnbfeyw1ThS7zBnWFirT_SZKd4VY1lanKF93HteXYOwAKovxuUpfrW_F7RfRQVi74JKBIqq-W7eM1_5xngPLwUWRnJg0lKLJ22l_gm_BgOy8FAGl3yUeIyPd30fm80c3SuWcqTWCMWNPSM2U3uPQyihuXxO2A8pA0jzcLqB6ehXIuGhIQuBSl1eA94YyZ-O1VO_C3EqrvyJ9CalgyxqHpiHJYYz8YoSrXs-ccegTQ-jZGoiuNA6oCbOquOWuTbcTFqMeTiwUVL6EGWTVZgQ5aUjIRVPphCU4bwEjs4DukdoHWY6RYiHKuiKn0BYp3E6aJbu1YoLHisiTGVNFDwmA6IuODK9L7W099gXjvvavnI=",
  "id": "rs_03e6c7b2673894e4016ab451847e2c87d09198bbbe2bca5203",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.11,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The left bowl is centered on the jaw column and its near edge reaches the fingertip area. I will descend vertically to the bowl’s lower sidewall height with the gripper fully open.\"}",
  "call_id": "call_PytNwCdTfRgzSXv1FLMGQTeO",
  "id": "fc_03e6c7b2673894e4016ab451854adc87d08dfcfd709dbf1404",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PytNwCdTfRgzSXv1FLMGQTeO",
  "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]: [-0.4564, 1.3243, 0.8997, -0.3271, -0.3386, -0.2817, 0.9994, -0.0219, 0.8024, 0.6003, -0.3965, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3654 left_y=-0.1101 left_z=0.1603 left_yaw=-0.0388 left_pitch=-0.131 left_roll=0.0347 left_gripper=0.9994 right_x=0.2926 right_y=0.0 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.3538, 8.3487, 1.5946, -0.3004, -0.1099, -0.0708, -0.1026, -1.347, 7.1726, 1.746, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df801a1086228fb60b5e3a0052c248640cbea8d7f72c91e1b94fca9340cd1151",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c18a87a78b853e36cb9c9fd12ebe6d3a99816db797f91ba165b0edbf09663de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9832df8d5e431335731780244e85041e8ecbfccde2a8a60656659a17603dbe5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3424, 1.1278, 0.6266, -0.202, -0.2626, -0.2077, 0.9994, -0.0219, 0.7967, 0.6044, -0.3927, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3314 left_y=-0.0656 left_z=0.1299 left_yaw=-0.0293 left_pitch=-0.1054 left_roll=0.0273 left_gripper=0.9994 right_x=0.2933 right_y=0.0 right_z=0.1768 right_yaw=-0.0003 right_pitch=-0.0145 right_roll=0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -3.959, 10.2085, 2.0195, -0.188, 0.0415, -0.0708, -0.2393, -1.6479, 7.0085, 1.79, -0.0317, -0.022, -0.359]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3267, -0.3382, -0.2817, 0.9994, -0.0219, 0.8017, 0.6018, -0.3931, -0.0162, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3655 left_y=-0.1102 left_z=0.1603 left_yaw=-0.0392 left_pitch=-0.1307 left_roll=0.0343 left_gripper=0.9994 right_x=0.2932 right_y=0.0 right_z=0.1741 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -5.3402, 8.3487, 1.5702, -0.2662, -0.0611, -0.0708, -0.0889, -1.3333, 7.0359, 1.7216, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3271, -0.3386, -0.2817, 0.9994, -0.0219, 0.8024, 0.6003, -0.3965, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3654 left_y=-0.1101 left_z=0.1603 left_yaw=-0.0388 left_pitch=-0.131 left_roll=0.0347 left_gripper=0.9994 right_x=0.2926 right_y=0.0 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.3538, 8.3487, 1.5946, -0.3004, -0.1099, -0.0708, -0.1026, -1.347, 7.1726, 1.746, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df801a1086228fb60b5e3a0052c248640cbea8d7f72c91e1b94fca9340cd1151",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c18a87a78b853e36cb9c9fd12ebe6d3a99816db797f91ba165b0edbf09663de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9832df8d5e431335731780244e85041e8ecbfccde2a8a60656659a17603dbe5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFGKcs6j9qJx5sXs5XnZtCvLcttCCpZl-nn9Aik7YNp6rV2P4-7dgvIP3jaDfPUudw_PdhQQgasbHvo6wVjhHYtu-zi8gJAqgtJxCafJfa6pjxOiNGA6kk5Ym--ugcyxdufqpFuCGFOiqjscULXE8flF4PDXsRbNH8nOcz-M2NQT_eaFoioeZuR96k0rm3MklaIOKfs7hRI7P5fYb2ZBxrqk8-oL7J0lq3xldftk5_V6yJXZ_YghvqAR5m-GeMhdiFrQUcXDUjzOA1Ic6ojQDljNWiZRfvRCLpefIIQgLJGjvhSYA6dNdGxEU35oFYiKPA47EF3o6Gv6AWhnsBP0lO0CUiKy1__5vKaMMJLACVsQ6MyPCQWo1kyljH7GL0gJX5W7FPQ2zrD5UPbPjpIQzRcOX3A6nRjoJwWaY-VKft8ALFXt62cc_Neo6-Z7zDpu5QRSnI8hPr0cTVFpAsrLKP0NXLaU_iwtPxENYHKjj4epHzWy8y6b9yX3Q0HZuyxyUbXnJxs5Af0HTi7b8Wa0WPwdf6vOc8wC2vEW3Zozn910AchxWt6lhK1vT5-u2PYwwLNgSbMDv3GdtOwRBZ2abS9pvGYwzaN0NPVMyUc9GzmVlIrtma4GAA23QfDIRfP5AxFFrhQ4xP7oc2KhcRm6eyv3twGVeCkJlI7_R03dDsmM_MxO0wuDAFf_Z5q7pAqYJ-9eG4wb464cjtARvJ3isgpmDpGPMWeHbY2yEvhTIm7jjuXi4RJIRMMvvF74yG-fpntJzHRknXuevsVpxN6umubWg-vFExU_qibFZ36iIFCNASpSg5epB0YRQ9MmFon5QKy8G3u01DA9gapbgEptmUway6HbcTvwEF_57p_hpHCuKP3jblxsz3tKDzKvl8FzOED3FqK32bU6-VuWAVJivZuP_4bgYlzBZx8fH2veJY_b7s3gTzigGmv1f1oXq_OR8fBuPEgRTnm2s0RhkDR0_7OIcah0H4T5IXfKWUiUvi1jg2aPkGXy8r1oz8_pN3l4tmmJRy58DBum6MZ49vRtgv1iXbmN19zqyXi-KeV1TTaAoSwGxhJJ-vkF_HXmpK8FkS-XNes1EM7goCD26eejAC1Vg8iENjEnoFYne-JV4YR6LAUwQFLudB2Wtno2FvOkMgnL-htyMfDIRbb_sjrbRGP_rBHu_s20pRujNFnFQThSt9N4PRWOTTmKg6atY7ij8UntkTAmESKxQ24V7hX8EjTQVPKixSylwFKF34bNB50R-mSyWqn9LawRQPFXe6xCvznP750DZYD4BrsbIaXj0yLXcJfcCuML2lLYjn05tSSleOeHGO_e7ezrHMzPSr1aBPfWh2s2vH__OjPps8ORy9vRxxnOcBtB4gV0UkXyvum5NxbZgvu9C9oJGhV-dwa3LoZi_gt_7ya6WlB8bA73JAapwabSpeD6TLop8G8hoGXZvQZplF93dKpvbcLHj4I-ZjyuoPgJGdhQLo-bZ3WZCEPdanQhAixUqJEi7vJUJV4oijjMS6noeHaqczCbLwVqZ7va1tsxLM5uAsfIyaa77CMUm_QvaWUZnf6eQNPdJEz-KCcu5Rgdo0jsI9JIMPaeCreiHE5pGHKWafub3D5gk80QbUynhU8hN_M1-lAYRShRIXQcxVdi0TRgBPbgRzfd4e__Z2nTgnCbBSKlbvDbb97xJBJHiq4FhnO7tFmEUvYXxfRPr1XH7vdMSSpSXUyQ4cGYhW9yKJhxkG1m_3ABtKPTEFvEM_vcco13huNcZOQ6FXOT3U6BYJ--FQL6E6NK978uv1c_aO8ftfYcB4PLHmTpubQWQ_9bAnSJlYyyrGdAlgcMR42ZuEUJa3vXacvlUze41AvQL6SM6_kynGJLGqNRn1AKAs8B8yfyJvgnvG9E_TGnBDRFnohas5gLSfI8GLJcJJiu7qvieqB8M6quZELmkS4xZ1xSkFeJeFhvgnlVNqZngbpdclQxhj5LBpi_hLtBnZrjukBElBtfdxyK37zLq_Nr5yLoeeZAXuKRrn5gmOVAKoqS1DDL-Tyjur4wivrWJ35aw1ay0xt_FNcS3N4olN2izk55QlR0rYKbX6uNRA-Qu5jv2xYuB_rtW90ltgc_BPqWI09JJkcip-L4kMkZ0Q==",
  "id": "rs_03e6c7b2673894e4016ab45188022c87d08b970c11c2478dcc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.11,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The previous vertical command did not change the readback, indicating an awkward IK pose rather than contact. I am easing slightly inward while lowering partway so the arm can unfold into a workable descent.\"}",
  "call_id": "call_WPMPHutMVYNqMV2v3UsnHgSD",
  "id": "fc_03e6c7b2673894e4016ab45189b73087d095ac68186a52ee4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WPMPHutMVYNqMV2v3UsnHgSD",
  "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]: [-0.4812, 1.3586, 0.6739, -0.1658, -0.3424, -0.2905, 0.9994, -0.0219, 0.8036, 0.6003, -0.3969, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3377 left_y=-0.1054 left_z=0.084 left_yaw=-0.0485 left_pitch=-0.2196 left_roll=0.072 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1721 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -5.8462, 6.9675, 1.8877, -0.3199, -0.1392, -0.0708, -0.1709, -1.3744, 7.0632, 1.7656, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e12f64268363d7895ee5c58a96065308d8dd64faaa969af9ecde51f7093665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597f03faa4bbdf2ba55e7804b8b0f3c386ba8804a7d8f53d449f1c9e4e61d319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318095fc2bf787258d79b1b78f87f01b9a7996acf60072cd05371a180c880669",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4465, 1.3121, 0.8665, -0.2909, -0.3237, -0.2714, 0.9994, -0.0219, 0.8005, 0.6018, -0.3946, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3645 left_y=-0.1082 left_z=0.1564 left_yaw=-0.0474 left_pitch=-0.1212 left_roll=0.0272 left_gripper=0.9994 right_x=0.2929 right_y=0.0001 right_z=0.1741 right_yaw=0.0002 right_pitch=-0.0229 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -5.3675, 8.5265, 1.3358, -0.2759, -0.0562, -0.0708, -0.2667, -1.5385, 7.2137, 1.7411, -0.0659, -0.0611, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3271, -0.3386, -0.2817, 0.9994, -0.0219, 0.8024, 0.6003, -0.3965, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3654 left_y=-0.1101 left_z=0.1603 left_yaw=-0.0388 left_pitch=-0.131 left_roll=0.0347 left_gripper=0.9994 right_x=0.2926 right_y=0.0 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.3538, 8.3487, 1.5946, -0.3004, -0.1099, -0.0708, -0.1026, -1.347, 7.1726, 1.746, -0.022, -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]: [-0.4812, 1.3586, 0.6739, -0.1658, -0.3424, -0.2905, 0.9994, -0.0219, 0.8036, 0.6003, -0.3969, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3377 left_y=-0.1054 left_z=0.084 left_yaw=-0.0485 left_pitch=-0.2196 left_roll=0.072 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1721 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -5.8462, 6.9675, 1.8877, -0.3199, -0.1392, -0.0708, -0.1709, -1.3744, 7.0632, 1.7656, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e12f64268363d7895ee5c58a96065308d8dd64faaa969af9ecde51f7093665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597f03faa4bbdf2ba55e7804b8b0f3c386ba8804a7d8f53d449f1c9e4e61d319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318095fc2bf787258d79b1b78f87f01b9a7996acf60072cd05371a180c880669",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGOMsgvmFyaenxPLI3kfK32noRDTqX189tXe6yntSxfU2aSFOCgdtqZ80CR-u-yG14hmzRxR9N-a50ohHrYUF_gE75F2Zy_zvNAo59ipwouVaY76Id6wliiC8LSIi3TEMsInLskr3sXN3nx-MLkji7xabTZjgU7WqEhP2KWcswCa7XH8jd9yM4npU_OqV0BpW7BPvvZVbCdjjygBvc-MVIJb4by_mgFpuwoU2phuKNAV3he34v31UHXRnPSFnbn9zgwK3md950b-Wt9UVF9BU5sA8ZqqFcRYnAf2JDvb7F39CScbg_JxcpCqv9wnUULzzOsnd76EdtVeUACdXcaD6ArugMc9C6HoLRvNZTahUHyHheNr0eKVa5pD7LwL25kKWzY26LjBtHT_5tgnUy4gXESkPSKDNYsXl625GjNERFRDOWdh6f2MGoBCN1nxaqca8Ra0ajkrEj5_YTvM-Go3Q6cqQ9csgq-nMXDR33Jv5PpHQuLyX6eFoksuIlRAgv7Wd4BU3TALgYB24o4kbhkaEmTEUGYZ054Q8EBLsR3V7WAWg9_e3CTpfJccld332KUzG0uXZUJmDoiexTBtvarWS-QpY65phJtymEgDI4uMpTDj7If9WDCNZiMgMUUw4bANehQTpjVfvxqy4CX0E_2wuEsPzbKjnnRU24mHXuex82xIslPiQ8tlsvGtQhwZ9F_mue3p8FnmvQDbP00XmEdO9fDnx94uOUcWBWRrtK7FOJazwpPoaEQDcC8oO84Ty0yMvebGc8jGnBp57yrk6Ck9Dj0svXM5aPGrEe5BnLk3m05Di4i6S1JHC-Ky-4XPXWRNT_2MHQxN7oen7TQF0TUeJQFyB9YhMLJiMI5ZfPDxlm_B-zG2aDdvLFhsjwQ1_krXOP9w19gtJPE8_i7ZE177e9XSPQkkacedIr8U4jbmLQscD3WPpe1SO_nhPvS6_hId4Pb_2dbPyYWQa_W1VDnnCDPPb-oZ1LS3XGXF7eTqigA3qgasTp8xmVr_YEgArwznRYyNIecQ99C1tC0kwki_XTG1SMSfp-Jhl4TOx3KyWw181K2ooE3HJlWy-6QT5J2xtP1nbLcWKgkkGZ2PbsoO0Esb29CmSjSz5pcedZHpjUuEGIx48JhaHi0lcWKEI3igxZE1hC_GafKo5aL77wkJf9reey-o4lYrsGOEsZ5lNFzz6PB-_QNH_rukfsOgAlFJpI3OUP4IiKpYpfQzw8xiG87DXEdHdb5NGfnq2cLYteK8UoasPvgoppGQqkzyVOc23ArPoCxE7F15uTN-eTwTHlgbcvtNxmU3ByWhQEBc17JAHGX4HJsozOR1Ascy5mkKVGolcO89t8YFEBS3k8-igEcI2OsUw9nKY_y5tmEwair-kDy1-qGdC7k301zZhEIwfGQoSf243weay9ChBEotvzqCqcvq23MDFwcKRbf7ESzOdhm1YJxUaSFI9fS3TSyE77XjRFXgFDW5Issd9eh1JY997FOED3gpXSO3zqUfBdssHOw4MfYDGH9msVX7KtrA-Z1ACyg3mLOn-j1apXfP2GR7-5QIqTj6yfWxmlVCDWTXWd18jFSkUH1YAxh2pp5CMAVCW4DCDjcGqmLhfeU5VwMgkz7qfgRPAg-ZvKwHXEFqMQdbTNZ2zLpm2zl3dEMi8Qh9zPJ6XZdijjjL-whmqYkyMCjqbxAtdKnWrrjn1VTxk3Hi0vduAH59T5_rn2npJBwk-8s1jtErLCuYFa0vEt0k0AkJn4oxkCdyXnzZ6LT5lMviLQlKgMy9RZjCnNOb5QgPSku7dS9RCrSsAT5fHxpIEgC_CuANZ7jEZ8SJxnCIr7b0DYDw1nl7ZecdJj-Lq3L9L4JzlVGHGCLgtJBRUVqH9Lsn8aXPTj4Z8fSDlH-FPYpyV4G1FD3EmF1L77a3T1PIjyjuTHeA4QTo5H6Qf0DjFKnLwecgNs6XyzbCw6udTyB6IMSoVyQuSeOr5aAZPvY",
  "id": "rs_03e6c7b2673894e4016ab4518c2cbc87d0936c6bd56afcfe41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.12,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The arm has now descended successfully; the bowl fills the wrist view and is only about 1 cm right of center. I will advance slightly, center laterally, and lower to grasp the outside wall near the table.\"}",
  "call_id": "call_H6Yvwdys3Gs6ltYptQZXEiHJ",
  "id": "fc_03e6c7b2673894e4016ab4518da15087d09f739941cd758822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H6Yvwdys3Gs6ltYptQZXEiHJ",
  "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]: [-0.4961, 1.5661, 0.6353, 0.0071, -0.3492, -0.3042, 0.9994, -0.0219, 0.8059, 0.5999, -0.3969, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3432 left_y=-0.1129 left_z=0.0271 left_yaw=-0.0421 left_pitch=-0.2827 left_roll=0.0997 left_gripper=0.9994 right_x=0.2927 right_y=0.0001 right_z=0.1713 right_yaw=0.0 right_pitch=-0.0324 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.6632, -6.8444, 5.7915, 1.7509, -0.2222, -0.0513, -0.0708, -0.0205, -1.4701, 7.0906, 1.6825, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9bf656bfcdb48c165a4d88400265f6936b241df85bf2271216bf9e70b0ff16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd77386c72686d03661d0f478f8ff04f745435e76955ec6a15ea3958cc044d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9636d2734b7e397606ce369034e7e874de68dabb19373161330f5e1d7dca27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3267, -0.3382, -0.2817, 0.9994, -0.0219, 0.8017, 0.6018, -0.3931, -0.0162, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3655 left_y=-0.1102 left_z=0.1603 left_yaw=-0.0392 left_pitch=-0.1307 left_roll=0.0343 left_gripper=0.9994 right_x=0.2932 right_y=0.0 right_z=0.1741 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -5.3402, 8.3487, 1.5702, -0.2662, -0.0611, -0.0708, -0.0889, -1.3333, 7.0359, 1.7216, -0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4812, 1.3586, 0.6739, -0.1658, -0.3424, -0.2905, 0.9994, -0.0219, 0.8036, 0.6003, -0.3969, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3377 left_y=-0.1054 left_z=0.084 left_yaw=-0.0485 left_pitch=-0.2196 left_roll=0.072 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1721 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -5.8462, 6.9675, 1.8877, -0.3199, -0.1392, -0.0708, -0.1709, -1.3744, 7.0632, 1.7656, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4961, 1.5661, 0.6353, 0.0071, -0.3492, -0.3042, 0.9994, -0.0219, 0.8059, 0.5999, -0.3969, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3432 left_y=-0.1129 left_z=0.0271 left_yaw=-0.0421 left_pitch=-0.2827 left_roll=0.0997 left_gripper=0.9994 right_x=0.2927 right_y=0.0001 right_z=0.1713 right_yaw=0.0 right_pitch=-0.0324 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.6632, -6.8444, 5.7915, 1.7509, -0.2222, -0.0513, -0.0708, -0.0205, -1.4701, 7.0906, 1.6825, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9bf656bfcdb48c165a4d88400265f6936b241df85bf2271216bf9e70b0ff16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd77386c72686d03661d0f478f8ff04f745435e76955ec6a15ea3958cc044d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9636d2734b7e397606ce369034e7e874de68dabb19373161330f5e1d7dca27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGRqu_UrYTtDBJ8Wur45fh6qrsXOyaxEslvSde1M-kaUz8JBwca57Wc9A9rkdnmrf3eY-u4l9nW2A_Ja0DixewjrCpcF4efeJ9oQ9TohTg64TDBcKZGXrEzXv-q8vAvO5n4411gl91Nu7xX7qsUkbGjA7MlpSlsMclXWN6YjPeuI07Iykou0ls0KE8CzG-I9B5NZ6F59eK7h_pusJZJaEGsCV7HasSDBpkcSD51vd-X91HQboaRvCCQyDFC1kx8YaNsXJoQYNvvMuftPNUFm_FcHTGT8AQXHNgz_-E1DNIkqaMhel-oEYB0UxL-faGkYLOnWXA-mbLncNMVRxii9EBSV71PhqCsh-_SPR-QHg4EHzY-kaP40L0qMzyWNLPZB2DtCIe3kEeR4cDEHkuUBFxqjlQRbB9ggV4qu8_HqLNnzBy0A7GJXjXPmgsRfgzvXwtCV-IbZd4BLQnol8CVWwWaY-Am_h2fyzypNvpK0g_tupnWFV6Xj_51belW9f9cO9Bh4r0DTljL3QI9eFN_g0y9B_xRqKWKr6UhV2irNpx2Vd_esetHPng7i9jHtnG3t8Pyv9hjPPY0Aw-doMKoqtRXCzQTXwMzgZ_nTGsYewy5bL5wqnZn3QJvZ-hF4QZpnVxnTl-GMe3LJz7qval0U8pfN_ZRxhHjJTxwoNZvyMSbxYQ6ci0PBZRKw8C2GFeyhb2WXJ5EKLg3CJxUj2YLGKxfiqTG8QJ3_68x_IfZovLo-vpLRHMIlc-XFoJnR5NQ-ll1CjdleKKx9zdbCUoYugESp_o0LLQTGJ1XmoUZRxahh2C63Yle2J8v-WJh1t_nTJJlgjsgEvjrm3hGxgvuNe0fNUJGxkTwZiUH214hQGQjZUUAaGlOXMNWE7-kKgOMSLpf71LKAFBc3XjK1eOpr9aeIY2VYdKQZ0VFBQQrRGy_fNzB12lknJ4-BdgtrjGdXXsEKMBuwdOarvtHIZTaTEfbNSRK-aGXlCwLDm4V0ApGQ34b71jvSGRG_lEdB1QigaEWBes8-7l9XPTo68I_QFsIrd0SkdCpWtKHwRVdCTYxyVWxxiWSYgv3-HFRDaum1iAZo_EMOcttM1fBiqw1KqnXKbLvRle7ePDXqKi_tSkFs8CI1AYDPjyUqhfabnqLdC5KHH5Divag-H_h3g96e5Hjk5lF0LYTa3x8b7t5KQr4AwJRzzH85SL2KNyViMPTakR_fCaLXCzyzI53do-1lnmz8VlxG5XSyqs5YhGo5-PjgzC0jv4EYrJ_GQaNSvTenzlUN22Z8rmg505NERh_gwTXdDVDNJTEufsDOQt18FM8_X4=",
  "id": "rs_03e6c7b2673894e4016ab4518fd8f887d095e5ff7e17f1251f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left bowl is centered between the open jaws at a 2.7 cm grasp-point height, with both fingertips straddling its outside wall. I will close the gripper to secure it.\"}",
  "call_id": "call_buu1wj2xxfG0tiNpZEQQ1gqC",
  "id": "fc_03e6c7b2673894e4016ab451903f9087d0976f9a4ded789a2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_buu1wj2xxfG0tiNpZEQQ1gqC",
  "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]: [-0.4976, 1.5841, 0.6346, 0.004, -0.3496, -0.3042, 0.0091, -0.0219, 0.8097, 0.5999, -0.4122, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3409 left_y=-0.1122 left_z=0.0204 left_yaw=-0.0405 left_pitch=-0.3021 left_roll=0.11 left_gripper=0.0091 right_x=0.2907 right_y=0.0001 right_z=0.1672 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -7.706, 5.4632, 1.3211, -0.188, -0.0366, 0.6325, -0.0615, -1.5795, 7.2, 1.8681, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f05afac043427ba9f4b86c4c9c42e5e9bf2f08df83eec95c5c4e6c181c31b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2782b67e4cea42974c94f0e7d21a45646fd287bff49afa29d3ac29345abf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f871fc871fcb82ca5bb856066325b07d3aa65d0ceafe8b7b026b4384e1f4d6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.3243, 0.8997, -0.3271, -0.3386, -0.2817, 0.9994, -0.0219, 0.8024, 0.6003, -0.3965, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3654 left_y=-0.1101 left_z=0.1603 left_yaw=-0.0388 left_pitch=-0.131 left_roll=0.0347 left_gripper=0.9994 right_x=0.2926 right_y=0.0 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0282 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -5.3538, 8.3487, 1.5946, -0.3004, -0.1099, -0.0708, -0.1026, -1.347, 7.1726, 1.746, -0.022, -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]: [-0.4961, 1.5661, 0.6353, 0.0071, -0.3492, -0.3042, 0.9994, -0.0219, 0.8059, 0.5999, -0.3969, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3432 left_y=-0.1129 left_z=0.0271 left_yaw=-0.0421 left_pitch=-0.2827 left_roll=0.0997 left_gripper=0.9994 right_x=0.2927 right_y=0.0001 right_z=0.1713 right_yaw=0.0 right_pitch=-0.0324 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.6632, -6.8444, 5.7915, 1.7509, -0.2222, -0.0513, -0.0708, -0.0205, -1.4701, 7.0906, 1.6825, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4976, 1.5841, 0.6346, 0.004, -0.3496, -0.3042, 0.0091, -0.0219, 0.8097, 0.5999, -0.4122, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3409 left_y=-0.1122 left_z=0.0204 left_yaw=-0.0405 left_pitch=-0.3021 left_roll=0.11 left_gripper=0.0091 right_x=0.2907 right_y=0.0001 right_z=0.1672 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -7.706, 5.4632, 1.3211, -0.188, -0.0366, 0.6325, -0.0615, -1.5795, 7.2, 1.8681, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f05afac043427ba9f4b86c4c9c42e5e9bf2f08df83eec95c5c4e6c181c31b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2782b67e4cea42974c94f0e7d21a45646fd287bff49afa29d3ac29345abf9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f871fc871fcb82ca5bb856066325b07d3aa65d0ceafe8b7b026b4384e1f4d6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGX4TcL4CbCdKFe5bwCB6uKplnqmkQqm_nVnUi3PNjS5t8Fhh_2dlmpdj5b02CytD-seEHF9aBtdAfwphcYThUkzJBeSbUf0oiGyFW486_DAfL_ZHHFtz2F7KEe_PsMidIhVAdER00w47frH9PksWmmltzpaNwhcl27I5MTWrrzkD7si0NU4ChQz_u1AGeDEbLFi0vRVpZt4D4G3l-2KP1pAyVZFP--kY7UUfmLUG-_7WJ8beh1usdL3gx7EYaCFfXWxTHTBl5JG0bhzLuShtDdXq29JADMZNCdZgzER4rv6MqN3z79HiEIY1Rg0uvprU-KYnzygTCZfYbMWDD6pVC06hTne-VxMp90LPSrjv_2g8rE9zGoYzLRdnEQvE433cCBiwI7QZ7orElPToaomcNZeHzJbpl6mBxP2b06tcxbeIM_54DV94rp2soM4BZGDDr2y31zoqVlP0EJZvrRAJqIlN1cAxRW3-P5uIunMu_OVCABAh71b97tggoaIZ7qBUdTc2a66fG-0Qur9QbmHd2L62CoMagL1ec_zXqgQ9QVKKpuBmgAsFHviK5UwDroHhBszIDUpGEQzKR_UwobcgtYAQHTAyKbV9twMJaN3t65l-2lqxhrn48_PIzPawHMFt9R1PCi9CEBWEQV7KTXRHgzHPNFwMHzOIMzAoV8RHWy5WsNatUENNgMnN4WDxhAQCyZdnifIz0vl8-iJ3-Qu5kv_BwYNytzBtLdH-pD16pKGaViZhTb803je3KsWQ0Y25CkCz4dyQKFFcGtA1xMwhMVsgd2t-ukL8Eyi5gUHdZOGvCmdSRXUfb_Hk39MIEpZxDUnvl4Jgm__Xyzv0YCwRlDdqKIG0FzcAKmtIMa_KiZ64q8KNjVqobap-w4UM5tpT1sJ9W--EINaSLPgv6QZ1yEjLayc-N2Pi6P_6poB5dzNwffjyk_a68WxtT7s71Ue1ySDXSgdxrQU8ZSUmd-C-2A63jfT8TO02s4IfycmiaZ7A66WIdp-cogDhRGxc7Ie-bHM2n_AepPZqSItidGiIW3FY867i8KnkyV60EheK83OrGhroJ6kx-BjfyFc6Pz4b-UMLa31FSBUqHgKkrU1Ysw_1R7TTQzRayP1SdLb4DTwwDDWlT5LWjtaKfQHUo9T7Nx4gc-tXIloFKaZ7WgduMKmiVFv_ZPlRo1VT9inNY-QvmkUn74uf_RTwMVp1e3T5hiQB41JJaZ3eebjoH7zQmqZZ9_lH9s_pNuk0l5zMELu_qghbGScCfEuJqTp4tpT5GURqy10YI5-Q7I-KjY74QP6OKDvjlQ1LMMiPPiUS2s3jy1GpMMgfqymMBf0JPG4dtRghPe_-lM6PvSO0rD1K6ibaVEgGKbixBDYn4AfH6pG0b4lBKyE1sfhb0Fy7lD_ub6Y064apR6wlnvxDeqieZZnSHZzuvF8svGjup9X0EuoHWiPGZVZ-be-pvaHe32T-AVDjnST85RYtHxnSM4EGzHkyoNqVs8akdTAixJ8oQqmWuY8M5VODNifrNBmmxUFuSHCtZgqToXfs2PfmcgrWfyDsZCzBZRnUA0_ZRlR2FBVlS10dnPilYApKxvks4kXd_rM82cY60ghn0lkQCGjRmyZ0n0FaGVpsHjvFDTwYbZCjndWXle0PaE9MKUZJveDGxtzMsPjBHZvOsUMKw9pualG1iGik6Yi-UmNN7XVOnGKt8wgtpiszO8WH45PPlCh9PGiFPn2XJ_WS2-5DnS1MAyoZ_u3oXriGsCD3aGaxE7I_T90OK69ORIQ0QY46xopeA9iRuVf1Pu0m1_RGhT8X6_jwn19aizd6Lr_2Terks7y-uv5lk9uHBvgt54v0SwZC2aC_TaxNNN6RwiGKiZknPpPdGQQ7wBO7tRukcbaCfe6zW-6S3nt97nCETBviy8A0GSn7OG36PFCSN-x43vsP-2sZa6uTchjasq42tSW-8cCdTNd-Jv4qLohgnz-Yv65Rv-Vz7Bf0zARgeO3WHyx5tlQRfWyNxNmT8xnMUInUfdoLK6T-3iiQhvQ0_CAzZit0d-qLS1z8O9gfLBinbdSQ5L_Pc3KFJCsLzZtdz_m03baD4NDjuzjVq3dLptIS-AJv1Hp8LDRgIaoCS6auu78DcaBYm5NjAEgXtil2T4YeNz-UkNWvMXQCeLRKzmiWCK15KpPleDbsRTJiBGyPP-guHf5bXV_0AbEgVrtDgKwsR8kEd8csnE_BuTq-e5fS2G9cCGE_ns9ZBrnXcro_8tm4prneq7Wlthkvf3qT7aYnMKMfbpI1dME2p5F6vfQhzUUxCWioNXWEcnNaNdLtcFqOj7-R7KEI5RzNyp_IOcSX0RuUgfUiVisMrdXNV3RJGiEYdxZgPVvjCJLF4S1Fb_TNwd9I_xyZj_ZHyzagiXpltW4AQRbBwthpixrFhW-4TZv-TSUo6J2GKjuMO_vpwNQb4-ZCya_nCjEvpZJEDyOqF5zXQpxnf4l8q-wLy5H6u0f8mFbqBqQ5ZwAQZSVO5PHEvA_Y1fU09xCek8-o1bk8JYCf4=",
  "id": "rs_03e6c7b2673894e4016ab45193c49c87d08c79ad037c3145cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.112,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.009, confirming an empty close; the fingertips were still short of the bowl despite the centered wrist image. I will reopen, lift, and advance about 3 cm outward for the one planned retry.\"}",
  "call_id": "call_mlqktUnn41MVSYdQhrIUVD1z",
  "id": "fc_03e6c7b2673894e4016ab451962d8487d09e662176b8041a0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mlqktUnn41MVSYdQhrIUVD1z",
  "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]: [-0.4438, 1.5631, 0.8703, -0.281, -0.3222, -0.2749, 0.9951, -0.0216, 0.8101, 0.598, -0.4156, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3673 left_y=-0.1088 left_z=0.0693 left_yaw=-0.0218 left_pitch=-0.3392 left_roll=0.1207 left_gripper=0.9951 right_x=0.29 right_y=0.0003 right_z=0.1656 right_yaw=0.0004 right_pitch=-0.0572 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.4855, -8.8957, 8.5949, 1.2674, -0.1441, 0.1197, -0.149, -0.1162, -1.1692, 7.1453, 1.7021, -0.0659, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6adfffe8a24c528d58dda4f3a2bc983053f635af4a75d9089dae7dbb69f96f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7800234f0755699322f8e2e519766269cfa7f151bf768f8457e48151b3278de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263273c5a273995508e1cab75823b197f32a1f2cf30e05f13aeaf49f83f3ffaa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4812, 1.3586, 0.6739, -0.1658, -0.3424, -0.2905, 0.9994, -0.0219, 0.8036, 0.6003, -0.3969, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3377 left_y=-0.1054 left_z=0.084 left_yaw=-0.0485 left_pitch=-0.2196 left_roll=0.072 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1721 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0003 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -5.8462, 6.9675, 1.8877, -0.3199, -0.1392, -0.0708, -0.1709, -1.3744, 7.0632, 1.7656, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4976, 1.5841, 0.6346, 0.004, -0.3496, -0.3042, 0.0091, -0.0219, 0.8097, 0.5999, -0.4122, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3409 left_y=-0.1122 left_z=0.0204 left_yaw=-0.0405 left_pitch=-0.3021 left_roll=0.11 left_gripper=0.0091 right_x=0.2907 right_y=0.0001 right_z=0.1672 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -7.706, 5.4632, 1.3211, -0.188, -0.0366, 0.6325, -0.0615, -1.5795, 7.2, 1.8681, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4438, 1.5631, 0.8703, -0.281, -0.3222, -0.2749, 0.9951, -0.0216, 0.8101, 0.598, -0.4156, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3673 left_y=-0.1088 left_z=0.0693 left_yaw=-0.0218 left_pitch=-0.3392 left_roll=0.1207 left_gripper=0.9951 right_x=0.29 right_y=0.0003 right_z=0.1656 right_yaw=0.0004 right_pitch=-0.0572 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.4855, -8.8957, 8.5949, 1.2674, -0.1441, 0.1197, -0.149, -0.1162, -1.1692, 7.1453, 1.7021, -0.0659, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6adfffe8a24c528d58dda4f3a2bc983053f635af4a75d9089dae7dbb69f96f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7800234f0755699322f8e2e519766269cfa7f151bf768f8457e48151b3278de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263273c5a273995508e1cab75823b197f32a1f2cf30e05f13aeaf49f83f3ffaa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGasgA7nQTqozipWs94oe_UNsrOaHaIqYPpoQVj2Bk_P9tltdTQiLaLW-y3JOLDva3CZtFAzhQ4Yvi9BN4TJit9pieczhYBu_sx9Cu0XwKh0VUYWT9uIPzhR7ER77ytbXp79ph1pHni4pyCPuGHSqOBwk8iPzFNRv8-NEWuU8Pxus1fMcJnsrfiC-1ThMoxqGR0g9LzlxJXbfrmj-uOrBBo3pol_dUs7CQGMfIOwIAKOsuV0x-Z31DAeSh_u8YyZx-KPkZP1ek1XtDWjZhcxOMrNTnOYUDRUpnbUccQXXbE2PrafXAPBrjIw5fBrv4a-MSt3Mcs5p6VPGVC2YO0KH3srZEitH3vqWK5RPMhbMcT2kE4Pszr4EMqwfPLae5vg4BQphPubU6hUN5dRilo07CFXXiZaJexcPCgv2xFEnqE-I96r1ahOoRjn0SKYGXv64PIT4CQ4-QQoMCRaDq8ySLGDKBBV1AEAKSNcGF3r_ul0YQ1DlPrDfoHOBWBVS87nL0GHX9PVJL45q-eocCFVI53A7GJvmxYJGyV9LD0HJlTNkxLJbHPVgvIomExnN9vF0eIxKyos9o2AXtAOQGs99MiFwu8OMf4G7EoAppP0mYKpde14G8i7PbWgTtuqkMPcalb2xhZzHTmGpAUbvNpndEBzXaRFrS8MrTKG-bnKBtaM1luwdecHJMg8ulaIEDI9k1cbiJjjD60iNEjn0TFWMRAjNCo0qhpAvcIslbxLACFARaz_iwL_4SaUCNcjqIq1T4dOJ3yjRFVyEGiOqEzn_FqJjqt9WnDGAYJfzgUyLO96Uu8ScogyjOO-qWivvSstLTCdSlwScNHU5MQcX4Dljz0zXjRa-jFKBDDm6Uh46LQHZBHioGPJXSSja7l1wTQ1BjBpWljX_-C_ojEoQR79VDn-p2_KOhHhZX1IRBlwGnKOe8qflqkPvoaL86dxxyj0j1pyyQ2N35qBCIDvaPHLWwO9LHxeJOlq7NPKZCCNHpF8OZCajM6ODyg_37fmHFSNAYqDvtePJlLthPaPPsH5-Zxt27JAx0T6BlfmB6GWThNl3pcU1v316rn2HRW1hhslJX4LgkG06dQROYiKowDKxlqkf2_VTC969pCFgE96LlQtDF3u0Zq_pj46wa8yKL-qaiP3cuJPgjSBSe8W2Dzn3uzmjNAHX-66zDdnkMKXidML8Yv7Qr_v9PWo_dfcem9ABjH4g8uTEwMLxeyuGfJIliv-CLz-N-me19m2CmM1O8LvkLcT7Y731pfI4z55NVCM_FjKm0WeL9qhBUBlmkCskwChz_fGxOqwuiDF4-s1XMieQKLB6_l6nlhWY7ovbtr3NyM",
  "id": "rs_03e6c7b2673894e4016ab45198f82c87d096001b69b7e81530",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.11,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"After the outward correction, the bowl remains centered and its near rim now lies directly between the fingertip tips. I will descend straight down at this corrected radial position.\"}",
  "call_id": "call_DitMaquMNqKrACxEbT3GkB0a",
  "id": "fc_03e6c7b2673894e4016ab4519965b487d0a1cbe222f0b775a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DitMaquMNqKrACxEbT3GkB0a",
  "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]: [-0.4419, 1.6684, 0.8169, -0.1593, -0.3183, -0.2771, 0.9987, -0.0219, 0.8116, 0.5961, -0.4152, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3674 left_y=-0.1087 left_z=0.0286 left_yaw=-0.0161 left_pitch=-0.3741 left_roll=0.1324 left_gripper=0.9987 right_x=0.2899 right_y=0.0002 right_z=0.1644 right_yaw=0.0002 right_pitch=-0.0603 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8291, 5.8598, 1.4237, -0.2125, 0.0562, -0.149, -0.0889, -0.8957, 7.1863, 1.7607, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccee54ebabc0958931822a20827293823377331b5450563637e8f6d2aad3054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0450c4f548bc46f3b488f9cee3e950de5e76aa6dd7cbfe11934588680db23f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf291eb1b1c6e8e623bdfc865f957223479e221d0b2588e757ed34bba8e3f40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4961, 1.5661, 0.6353, 0.0071, -0.3492, -0.3042, 0.9994, -0.0219, 0.8059, 0.5999, -0.3969, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3432 left_y=-0.1129 left_z=0.0271 left_yaw=-0.0421 left_pitch=-0.2827 left_roll=0.0997 left_gripper=0.9994 right_x=0.2927 right_y=0.0001 right_z=0.1713 right_yaw=0.0 right_pitch=-0.0324 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.6632, -6.8444, 5.7915, 1.7509, -0.2222, -0.0513, -0.0708, -0.0205, -1.4701, 7.0906, 1.6825, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4438, 1.5631, 0.8703, -0.281, -0.3222, -0.2749, 0.9951, -0.0216, 0.8101, 0.598, -0.4156, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3673 left_y=-0.1088 left_z=0.0693 left_yaw=-0.0218 left_pitch=-0.3392 left_roll=0.1207 left_gripper=0.9951 right_x=0.29 right_y=0.0003 right_z=0.1656 right_yaw=0.0004 right_pitch=-0.0572 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.4855, -8.8957, 8.5949, 1.2674, -0.1441, 0.1197, -0.149, -0.1162, -1.1692, 7.1453, 1.7021, -0.0659, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.4419, 1.6684, 0.8169, -0.1593, -0.3183, -0.2771, 0.9987, -0.0219, 0.8116, 0.5961, -0.4152, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3674 left_y=-0.1087 left_z=0.0286 left_yaw=-0.0161 left_pitch=-0.3741 left_roll=0.1324 left_gripper=0.9987 right_x=0.2899 right_y=0.0002 right_z=0.1644 right_yaw=0.0002 right_pitch=-0.0603 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8291, 5.8598, 1.4237, -0.2125, 0.0562, -0.149, -0.0889, -0.8957, 7.1863, 1.7607, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ccee54ebabc0958931822a20827293823377331b5450563637e8f6d2aad3054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0450c4f548bc46f3b488f9cee3e950de5e76aa6dd7cbfe11934588680db23f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf291eb1b1c6e8e623bdfc865f957223479e221d0b2588e757ed34bba8e3f40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGcDbwlREeAQIRc8k-ilT7yGyBcTo7ZLBc-0t0HJBtqeZdUmTNIS0bJA8A4etE5yCAVfsgOInTHRzpp2kfOM5bP4sYfh9BTceS_xo6s8MKpiI4gWYz6q3WTaEG02YBJSDCLM7H8qMjccyGNFgVvPWzj6TgzKhIzXD2b3_cUwvOuZwEp5tp-J4Q1ETq2prsrTuMSamXCx6mXjyRLNlO4A58NEhaDpex6m1lK0uGimV_nT_KjF9u9tesVapY7YbPdZVXye_nTvasQ-nvFUiD216-MqOq_IoOj3YfesSn4duEpx8lH9jG0VYtkOOMEcYG06mtXd_70vsP30j2Sm_fknhlhBL5y6JbGCsIUVT8-dmgzJOpvSkMoDi2RfnW4kx725R0_46zeLRundxGfnjRXtE66Bw31CuVS47TM92yY2Z5ivcqK4zNFRLyAyBQNQt5h_LHULGbxPl500QlpWfjvF79VF9m2aSZlyeYY4KurvXi8jX3Ap9emXo6pxu7RgBOhzWlpB3iOrKtOB-XtFzsH_-2acQZyohixQBTInW5nz4RXNMuYNXkjLnXB1P2rptZ39vAbgBy9z8IxExJkO1B62xDaENSSWoz9v7wMnmvJik1GEqyydSLMcE9kLsBRUZ0EX6BCv_iu2khSQdBSFODFOx1CSHzx-Yy-T2lkT0FXxckXpOBnRu5QprhiUmzZDimcgax1WtLY2yL_J5dqbpp7OzXAlqFvqWEhGuFAjYLG3qvUoutZJa1HJ2JVsjz44dr3Z9ezWLXH_QMXdASCTLyEjm472iqnkcNRcEudw9FLm0NwvZjpgkDa6_ekyhfE5Z1ZSIWkDEcz5K2gWk88Di9_QbkIKd5wEYJ8acDEGJmI7lxzw2Tqd7XVXem-9L-YOdERcIsDlBlSNkRJIU5oplVs27L0ScbHtirUoKuQ5rvKHHc4lrlLW08ueOQWSiK0ALWDwIwUGoiJo5AwQ0osac0UqdhimsgCidi64Dr-LTtO1Yt9JVyzn2Ngo3G7IzAfmBC5d7WqTezSz2hNsCdIlpgqqZxti-VUmKEofz2KDMW97Eo4AHvIfRihlviM3c992qD3BVcE6eBbm_ZLQWBq-ott3lLVzoD1I4zAceIpSp0YVu-q60o41lZ83T2zlBNOew982W6fIISXXMFryQucJtZhwWl0wfOBy4-6EM46XElPhkRcl3w2YiuxAMBMyvVft8c74KMesbk-QcFw6-re7bh1CfqFDKBsqgynQpKVqb9NmGUPpcoEGgamt89vj2xh3fz2WpcKcMe9uorh9f1DCp3VBXVecA==",
  "id": "rs_03e6c7b2673894e4016ab4519b62ec87d08e3e21944737e40c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the corrected position the bowl is centered and fills the view, with its sidewalls between the jaws rather than ahead of them. I will close for the second grasp attempt.\"}",
  "call_id": "call_MawXwUvG8Hi49P4774xTGpVY",
  "id": "fc_03e6c7b2673894e4016ab4519b94a887d0894ddbd63e5a2cb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MawXwUvG8Hi49P4774xTGpVY",
  "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]: [-0.4423, 1.6886, 0.7929, -0.1535, -0.3149, -0.281, 0.0086, -0.0219, 0.8116, 0.5953, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3589 left_y=-0.1055 left_z=0.0142 left_yaw=-0.0105 left_pitch=-0.4101 left_roll=0.1445 left_gripper=0.0086 right_x=0.2897 right_y=0.0002 right_z=0.1639 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -8.9094, 7.4051, 1.116, -0.1587, 0.0269, 0.6471, -0.0342, -1.2103, 7.0632, 1.7118, -0.0659, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc025c223f18b9add88ae5d8da011ac4889f149cb2a12cf943e74e56f2e16296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c580fd74ef851eb916f5bd77c04575d792619a943f949fe31edab07e120b51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de85dff77114498bbcf30aab7368b2caac9da8a78a85c97fd3f6d238d83285dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4976, 1.5841, 0.6346, 0.004, -0.3496, -0.3042, 0.0091, -0.0219, 0.8097, 0.5999, -0.4122, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3409 left_y=-0.1122 left_z=0.0204 left_yaw=-0.0405 left_pitch=-0.3021 left_roll=0.11 left_gripper=0.0091 right_x=0.2907 right_y=0.0001 right_z=0.1672 right_yaw=0.0002 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -7.706, 5.4632, 1.3211, -0.188, -0.0366, 0.6325, -0.0615, -1.5795, 7.2, 1.8681, -0.0415, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4419, 1.6684, 0.8169, -0.1593, -0.3183, -0.2771, 0.9987, -0.0219, 0.8116, 0.5961, -0.4152, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3674 left_y=-0.1087 left_z=0.0286 left_yaw=-0.0161 left_pitch=-0.3741 left_roll=0.1324 left_gripper=0.9987 right_x=0.2899 right_y=0.0002 right_z=0.1644 right_yaw=0.0002 right_pitch=-0.0603 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8291, 5.8598, 1.4237, -0.2125, 0.0562, -0.149, -0.0889, -0.8957, 7.1863, 1.7607, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4423, 1.6886, 0.7929, -0.1535, -0.3149, -0.281, 0.0086, -0.0219, 0.8116, 0.5953, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3589 left_y=-0.1055 left_z=0.0142 left_yaw=-0.0105 left_pitch=-0.4101 left_roll=0.1445 left_gripper=0.0086 right_x=0.2897 right_y=0.0002 right_z=0.1639 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -8.9094, 7.4051, 1.116, -0.1587, 0.0269, 0.6471, -0.0342, -1.2103, 7.0632, 1.7118, -0.0659, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc025c223f18b9add88ae5d8da011ac4889f149cb2a12cf943e74e56f2e16296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c580fd74ef851eb916f5bd77c04575d792619a943f949fe31edab07e120b51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de85dff77114498bbcf30aab7368b2caac9da8a78a85c97fd3f6d238d83285dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03e6c7b2673894e4016ab4519e40b887d08c140d3b50a36e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGlm0kYJy_RFfXILgS_2Sn8wax3RhGjA35iS25O79vzcuBM2PDf7JL0VOI0Yu4m6Mf1v85-7K927BvwUVVAQAjd6KbGa5Na9diYr3ORQoQeJ2Spgq-8i9yQ_zUo0tv2FGy8XrFmkROah-4bZviytejDJ0tshTGNSOLN27zvg8HyerxqDMfWYjMLg7Vx6kW7aPpLSMJSkMaPaK1PJGUEJs-D4o98Rq26-ZenAMojhS28syXpLqLT3hlI21WKzZTAXXzyK7T0fJjTCAdypn8JV4sLfw1bxFfra9IzgGE9UFCLllQD7rR7mhKN6nDKDLJ45XKOpvqV1wMXkjgIdBwzyfDN90YFWGm1p9fiK3KxXv88JZ7sr4ANjeK8B577BldPSds3LhZg3Vg0OD0KIKeG01UUcZbwDKEfyY0iE6fyS1pgP_-JRO-mzjrrlJFh-iEPKQUdhGGLB3Ug1wAhTP3IeyVdoUfzMIWjuBq6DC9HTvll6lPFs-9gERirGU6QijBjzb9lTonBwvmwLgAzggprKUjRJb8246MwRzX6-aGMpcH2lGkFTDkb7FMp06CDFmO2M3B3iElRjx3goodo5f6VAs8RbpsqCfNCj9Q7o5Y33xtkFP8VOabi-ylqTYItSqJlXv2YJsot9FVPWHoZPkdwigK9r6etxir7zei_V42dRvRDtDzaoqxmSt5eoRk-xJHCbx3-UDu-FT1TP_GxoniFWzZXBi3z6JJ1Lp6U4eDgzeqHkI9gbCRJYJbNSLaMSqQbdn_mNs9EA42KMpb6HD35Xq5yfwff7J9lgYs8gbvCOly6lFAPkYOn5jzjDXSCx3hRx9NH5MueEyswweUTUxB488_VcA35KjGi3gCjpgjRbXobKLwsa5-kP68rPZu8F6Ca4tmw6CCVgbUY7DyoyDOEKYnjEXXKGQbuCe_uzA30HRmp1JMYzbVthI8iTkRn3iCVGiTPpogJFmo_FtkPALy2tsorrpRVdcbqK7s0MTykxycSSIvynGuqVExKk7b7AENfj4rHm6dyIUBDuiJ0yssaD6F4_wNwHXe6pIEo2i-6q9CEDFmlwi9qOmjfbiO1U7Yc47zuqnjLbeDXkl5eXMxe9CUKD853vLVgVuGpC0HO6mCUTKOcn3ZPhKTLPOKcZ-aeSPWnQ-VhLkTDEdAsw97_a65qyW-rK_TmoJaWP4wg-bm0mOqIui4ITtuX0uvWYzFiF1sI1blbXuzVQVqhDBVwtaNMOLi7-I_UOQwelcvCamCU9a-_Vq5LUACffF7L1eP-s2wl7Q5QU48dVZjeslm57H3XkPclaU_DktpUXWuCq8EyT9aBdae6lnOngkh7hleA_W8A9KKE86eRkTekM0NwR8CeBowzj4DVD9QDeEb_jH0k425DBdR9XSUkeHcukuM-0XTFojDHBosKy4HqZeYsxuQYCOD8Drfs1S6ob8PI7UdElfxAG8haX5DFikzPbFXsoeVW",
  "id": "rs_03e6c7b2673894e4016ab451a3b10887d091b6526087fb3d38",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The second center grasp also closed empty and pushed the bowl outward, so its diameter cannot be captured reliably from both outside walls. I will switch strategies and align over one rim edge, allowing one jaw inside and one outside to pinch the rim.\"}",
  "call_id": "call_ENZbscLm4C5jLwbgQzJOwfpG",
  "id": "fc_03e6c7b2673894e4016ab451a469b487d08f7f9a1ac66014a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ENZbscLm4C5jLwbgQzJOwfpG",
  "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]: [-0.2832, 1.6039, 1.0142, -0.4568, -0.242, -0.1665, 0.9949, -0.0219, 0.8116, 0.5949, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.064 left_z=0.0805 left_yaw=0.0181 left_pitch=-0.4398 left_roll=0.1475 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.1638 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.3897, -8.9504, 8.7726, 1.0916, -0.1294, 0.1538, -0.1392, -0.0752, -1.3197, 7.0496, 1.6923, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c7a294e5e4306addacd1e310667e06e63b5d174ca8e410267ea6b4e427fa7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d7681b4276979a4ec3751f82ddb381153d0990ee4ace7c2e9b3f75d5cb9671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933ad3271c6e5278e3f270e9aed21d167c738f968951be4e52d8c0f8600c602c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4438, 1.5631, 0.8703, -0.281, -0.3222, -0.2749, 0.9951, -0.0216, 0.8101, 0.598, -0.4156, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3673 left_y=-0.1088 left_z=0.0693 left_yaw=-0.0218 left_pitch=-0.3392 left_roll=0.1207 left_gripper=0.9951 right_x=0.29 right_y=0.0003 right_z=0.1656 right_yaw=0.0004 right_pitch=-0.0572 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.4855, -8.8957, 8.5949, 1.2674, -0.1441, 0.1197, -0.149, -0.1162, -1.1692, 7.1453, 1.7021, -0.0659, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.4423, 1.6886, 0.7929, -0.1535, -0.3149, -0.281, 0.0086, -0.0219, 0.8116, 0.5953, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3589 left_y=-0.1055 left_z=0.0142 left_yaw=-0.0105 left_pitch=-0.4101 left_roll=0.1445 left_gripper=0.0086 right_x=0.2897 right_y=0.0002 right_z=0.1639 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -8.9094, 7.4051, 1.116, -0.1587, 0.0269, 0.6471, -0.0342, -1.2103, 7.0632, 1.7118, -0.0659, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2832, 1.6039, 1.0142, -0.4568, -0.242, -0.1665, 0.9949, -0.0219, 0.8116, 0.5949, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.064 left_z=0.0805 left_yaw=0.0181 left_pitch=-0.4398 left_roll=0.1475 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.1638 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.3897, -8.9504, 8.7726, 1.0916, -0.1294, 0.1538, -0.1392, -0.0752, -1.3197, 7.0496, 1.6923, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c7a294e5e4306addacd1e310667e06e63b5d174ca8e410267ea6b4e427fa7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d7681b4276979a4ec3751f82ddb381153d0990ee4ace7c2e9b3f75d5cb9671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:933ad3271c6e5278e3f270e9aed21d167c738f968951be4e52d8c0f8600c602c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGt_Ap8vbMvOCB27GFjzxBq-ihJeECQTs1_pb6Jx07rvX-nebgx9Ajhu6T-t_HYT3JC7XDrQUifoXGHB-lma0E-4QerLVZJ2X75p7_xbspQ6huhs2lDvpMsdQ7FirOYdGHUPKElHCkXNf32-g-HjDFz5H3yCdzyTTrKEyJv5osQaum3dzBQI9DQ0fA9vFzCMD6YwJSefcqAVI1IDR2gnyb5krCbNHmLnpYsHWd6RyuJg_Wphoji6InwE-eYCk2i8UZhhbWfVRP1Rv3vUEV0H0r_4Ai09c9kU14rPkZaGqa9mZ4mPKSOUXZyn7e_OgowiRVlKvL6HrG4EApTwg2RhG_hD6s2SoMfimMbAhuXanwvEgGqM0xggKLHWeydg2m5ibyF5hVF5bgO8Q6wAbjkHdpVcYJRZUxqNMIwOR7eQa8UuRlrWxhlUABx_eQ2KEKzdUzzxBHKVMTJ450ChkjTephGB6k5Mw53OhNtP7AiNgc9JyI_w5AMneeC1aon1G3ofQhMgUxo4NMQYtEbszkmjIPsnwk3w2O_EpcMTomudPF77DyAgoZ4jo8d_-vjGBtoQHWzvh1BRUAmapG3JFFmkhWE7tOsn8TI38vVLxiF4yjwRV2pZimvBEeRcOAjHQp1Vn94AFXTOjAMjME4vwVxEP8PB_fFBj6fgrpsSQ9xqItlxgA7iwnY2a9cNLASqo18p-YuRqlqx6tLWJkH1GJzbLo0uuPBtY9M0YatOC1QW9z27sLi5cNhH3fXGN7XXaw2dDXRvcTzVdoZ7RivzvraEbZoGSz59I-0yCkjx_lw2yhFX1l0LSttDQI5ujwtD3NstZut0BdimmSo3ViKLIRLTS_xrgVxW5oFMQ4yH_teIS8hxBYZySRZB9BRMQMzPwTxfzyDMbcOBikfeFVZipaSRhuvsjFcGH0mwwLom04qBXCVn3XD3Q3SOC41Urj47Lcn6qLnWmcnc6zMD9wd3Lp3uFyFaS9Mo45nCRb7z8SzICjfRzW85RVHdtO-Layra5R6BhxwG3OW_GVlvgIL0DCBvuGr4edhKQG1YiWMG8e5b2YMaU7ZuMNYxlBN37aZvzH9YBOv3bbxJRuCNfb3RqhsUGL8mFTYEhzw9uSIqemzgXmlu0eyvbbNyyHCuaDAJ5rYoj0wjW9LtjONac9MdMWukNS8CmQVvnQYzfeV8ZNT7GOETexrWwd2r7xPKwUu_R_JK-VDAfoyqKPrx5KvP5TFrZMlhD-HhVoaJvgbHTcY4gZf_UH271yxxd-PnjOk4-qQaKbUpYmTAan62hThQekJP7B04oi_8I3JaYJ_jKlpYoOyme0t42kdwXXe1iKdRCHGeCUw1DGC0yp0LRc_vXwTCRjBSejUAzFPruLqxQwdSF9StQ5zHA4qM_DdrSj7OFH__PviCeXaCOqA02jub9GqqXtqFfFMEtmjjcyEvOhVY7jHkmPO2LHiVdbgBsaEmS0bcU4xeIEqDdhZCJR-7IkrIN_DSIso17HXUnFjuo-4m-LILTMEZoxESKONOPbn3DYkrQioW47FUNKTnF1rpdpPLO7voKBUfLKn6c4BVqqay0bDVPXkKhOdVfyqdMuqOH9HRcQdHrTxO9Czp832XLlYXnEEs-Qa2AC4odzv_4xDvNGih9SofWcD-GfRZy1NdVcdc8bd9HcAq2XT0Y-dPI2OPxIHAaMeWmUaQIs7-92f2KGE_XUdy1SxX0tyGFbhiOSsVbJLSoM-T9OSsk93J9OrrPTo_Usr3IUG7ENd0kfelFhm0ygoJwh7hiLBkbzClMRXp7jNDK1iJkP5-MJ3ak4zjJe-8G36uTe22Mzm-P7pstC59L8Q25jFYZdnteCDfAL-u1EtvK4pFGAXYIDufypuamYXBhF0Lc0sJTs5zgscah2OMim1orePEi0H8Mf7OQO-1cg_JYRly0fGQ65kmiCtq4IXLGQDX6M_WM2mC1I3THaalzOk_SZilk5TwUVa2p35G7unLfnWa6abtXP6Td8KrYIDUxSnWEGXZFDfx3EIWNH1Dy4bncxJ0WQt5l_NnazFjuhPucWK7gK6hzCiOPGTr_FMjPz33y6aMMmpmCPEGEg7yQBAQesqVia2zYhUqzCqoq5ZtRBUpzs5VAX9BSpHzIgkk8xXmdV0Tebmq9jQsegWeJDNN5EqTjcgbNgPYac221EL6Cx5XnynsX52sfL5R5Ueykr93Uir8rXPouaWOYwbQ6cPzi4OhIMlIuoIFOL2psi8xV34r8nCCM2nHn57DqrQcHCePPZaerrA2ON3n4ih3zd6JxkeQ9cqekyO1h-2zZCxxFK0CCftbT7RkQi-QOd_xmRRmV_wS0wdoRcZ0bCHH0Jy0z_qrcuTbR7GmlRv_EJ8xzi7VbrmH4ryznvbaFn7MoKFCLQYNUlXbA0bnmhU1yA7U4rMcXcRr2BKoEr_CxDacf72C6S-LM43DTUzrTUlClRW_nJzFyjDW1HXmyX1Y7XOYQRw59-E9pVaqhl6UsF3i1d3hbDop3eBxjXgLzJb-XjGpAr8Zm2eQ5BhGRBntEqLM77vN5YshyILmcw4ghiCS_CCk4-kYGemQGrrZvbUipMXQZtVQgT_OZeupt8hYoW7LuFoolCueDIGtwuWAK3TtocuSvhX2XCcIx25Pi2QHPW1tprrk57q5ccL1_WNZse-L1fT_yETjj7btKfV3xYE5p7S-dWm9gqgOsWGJr0_B5HMg6_UC24Hrh6QD2DZgkB2hGYjt7xn94DnMYLND2-Z1lb6rNmkApuA8pRxYyXrD5B3sGtt5V0f1PiqXvlHmV_cT7gVSMgLmZ9HSE2EG01ZKKEOpHD_dyPTz-3rBc3YMB1JAyYEmFhEXWK8eXmaOpy7JJjdmmO1Ayc7it0DGfVR_RBk-Wej5ec69I26yKmqLlesmNEqiBCIo_8gvspRhFzbC7wPNHmFQT9Km1Cd4CySxq-oZaA2OgEQeFBWEawAjK7JhqpT0Gt6briVoWjN3MBZ-DkWhQf2E66kRTpxd8kdEbnSLfi3i3vYSQAgqoctql2bMwoilaFq7Jx1OiKY4PLKqBrCtmhckmUe_7tVWr9-mxRY8SvFrTipSg_hh-UKvdSlsHFB4oW890BgQXR2Yl-TUuAy-pZeGYSMjSgd2TbetNOI-PRb30Z1qUPvPwxsD1u-8oIVAe94HKjLgOcpupsDGWHYcrkHsO_-vbhyC9gJIUHMOTb2Cv2ANyFbMruE900XHzR95Fw0EE9zwfKosDnQ-j4pUy9Zrn4M267Z13xYMSDH0kkTmIsXQthirm2zNYhhSoHpReIaCGxJHYArIh_K6vRK_M126Cnw0kJA0U8iB8Yh9c8WKay47-wU4yIMTYkQGmylOqcm9jwPJNJDn_i_ZqbUr0WAyINIRplYHvKoTLEQ-Ty8ibwqn33S02s-0AJIO6slr5t9PCCCAS2I_Tlg02_y-hIlf2hU7D1uvsmO_6UPYdLYC6uHvxejsrkQcyXkBji0Ao149WDkXH287pTvI-X1TG5oV-jApQ6OHv52rp-Ll5yulr5bPaV_fJTzA9t3y2xfX8GzHDi41tK0zIv1wgbMMwopx7qROEcOCfDo3kQKC3UdjHqAo2TaEpJje9FK-FAq2rdygKoNlEit5bvfslRdu_mEUtnioM8HpCnY",
  "id": "rs_03e6c7b2673894e4016ab451a7814c87d08fd47394e1db0845",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.04,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The wrist view now shows the jaw center running just inside the bowl’s left wall, confirming the rim-pinch geometry. I will shift slightly farther left so the wall lies on the closing centerline, advance to the rim, and descend.\"}",
  "call_id": "call_XBzw1Kxsg1MfPnaxkQWaAL28",
  "id": "fc_03e6c7b2673894e4016ab451ac7f2487d0922d93b42d9f8d77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XBzw1Kxsg1MfPnaxkQWaAL28",
  "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]: [-0.1997, 1.7344, 0.9512, -0.3107, -0.2111, -0.1165, 0.9987, -0.0219, 0.8158, 0.5945, -0.416, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3907 left_y=-0.0376 left_z=0.0266 left_yaw=0.0503 left_pitch=-0.4971 left_roll=0.1613 left_gripper=0.9987 right_x=0.2898 right_y=0.0001 right_z=0.1624 right_yaw=-0.0001 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -8.3897, 6.2017, 1.4432, -0.0171, 0.1441, -0.149, -0.1162, -1.2786, 7.0359, 1.6777, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f5b7ad00ddf7557ec015e9154bfe4113a53cd521b259c49591c03aa8b70886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bcb0a1af52f8ac454e97d751b731a8fe614c805dc00448154cebe7fb76594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6663e6e966c68b2bb7b4c81832771e01ff7f158be4a239699b24534b4149e9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4419, 1.6684, 0.8169, -0.1593, -0.3183, -0.2771, 0.9987, -0.0219, 0.8116, 0.5961, -0.4152, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3674 left_y=-0.1087 left_z=0.0286 left_yaw=-0.0161 left_pitch=-0.3741 left_roll=0.1324 left_gripper=0.9987 right_x=0.2899 right_y=0.0002 right_z=0.1644 right_yaw=0.0002 right_pitch=-0.0603 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8291, 5.8598, 1.4237, -0.2125, 0.0562, -0.149, -0.0889, -0.8957, 7.1863, 1.7607, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2832, 1.6039, 1.0142, -0.4568, -0.242, -0.1665, 0.9949, -0.0219, 0.8116, 0.5949, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.064 left_z=0.0805 left_yaw=0.0181 left_pitch=-0.4398 left_roll=0.1475 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.1638 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.3897, -8.9504, 8.7726, 1.0916, -0.1294, 0.1538, -0.1392, -0.0752, -1.3197, 7.0496, 1.6923, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1997, 1.7344, 0.9512, -0.3107, -0.2111, -0.1165, 0.9987, -0.0219, 0.8158, 0.5945, -0.416, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3907 left_y=-0.0376 left_z=0.0266 left_yaw=0.0503 left_pitch=-0.4971 left_roll=0.1613 left_gripper=0.9987 right_x=0.2898 right_y=0.0001 right_z=0.1624 right_yaw=-0.0001 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -8.3897, 6.2017, 1.4432, -0.0171, 0.1441, -0.149, -0.1162, -1.2786, 7.0359, 1.6777, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f5b7ad00ddf7557ec015e9154bfe4113a53cd521b259c49591c03aa8b70886",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3bcb0a1af52f8ac454e97d751b731a8fe614c805dc00448154cebe7fb76594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6663e6e966c68b2bb7b4c81832771e01ff7f158be4a239699b24534b4149e9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGwcTz76j3SyGOHsRxWZUGN-LAmzAbR38B7yqef774AjxokagK6G8sjH4LKTGx9tbk0-hXrJZlEa04bt75s3MR_C3Q9dNZi2BlEl_iqI1bzIjTlDf8pRlGETBx3GsnFGbSHjoACG-prjQGkJ2xv1pVPU2bKG-J18c5M51cgXIzX3rdt-f2YyfGC6Cz-Wk7mVhC5pkGMhJvv6jSV6ezOI9iszQ_HK2EyV0ZJ81p6_oJNdWqwMsnfM2j9nmoDRUtzy6UTGez-l9m9jpR6mEirumFbfm43rINksXDhHrNSvBofKpVYwWy2xb8eqG7JJ-Nyiy5KylJ_FPXztvLy0NlPkSgdKqY-V-9n2Cx0-Z723gvfvqhZRCzlMr4JhlWIEGfNW0CcjD5Q_Nf1LEfV8Rw8VipM9ti6-9ub2hpfHauAYar2u46TgBa55ThTKJYHnKytYh8GRdT3Hy75NtOOW_bQBU7HR0q2sWgmPhjohgqmSC5KFY-Pgyfz9fMExifzwFFvzf9nbA2oAxVDwRKlUo2tF3mUI-WisF9vg5SsjGMjX10NKks_SXT8UOixeGU3tX77iwuGsHI5-1Xq5O9ijxR6PLSmErnf27VX784_wukxFAXyx7gObzkdFMLIrS5OKDtpLt0fvPOeWkbxnuSmb5qBU1G00scqLQxBF4LMov5GG2zPsOc2WDMV1E0pXTLdREku2ghkqV-ufpVUFodGOLWUtyjG0RYee5n0-pSwmOVRwkB1hEALWGka293VN37qvF5_p8PP-wriTQt8pnRqtopgDyXTeNDZambhmbPtYD9oq3N8CKPCwU-pYIEL-epsuhTWgX7HgGgWcrMYH7ESQxHo20Ngj3VIQFWIOYoppdh4JslBILjwyynF7rY3j2wHlbwrq_D2SK026wOvrY0X2y6oDxOdAyASviH4dBzUJtGjktgo3Jo_5-d3ib-_sbfQ7eS5lSTlqZNMs7EQlT-R_allT1-mkIphXJilGsdt_zPE_bbFzpSNeEUcRAJ7rfiGJukevffyrHZ22yqBVu7O70a_O3ZR5CSNUowULlx6-RxI8_WDxIDIDE-TK3uOAWbTv_77-GvjOZ0lbmYK_qNCdYCtvyTRxVRJWJFuW9KJhCfSq4KJFAuC_QSpzQPdnvNmJchwjliBLLh2d5HUBlNxYMgd7mj798wmOTbkhRPAkQL6d8VbZ6LqzvJr9onr6s1GBLqK6VOQ4y_HIB-HjkSHHzAOE9BsOh7q97W6m44wqlWpJelWTzRQt_gg2dAD4nbfKasp1W_IKHxl1fZ1XkvOc54HASEXzFCxuAzYzCwPOY66qSixRKPYdrK5SDOV8DC4QIKbsCnc",
  "id": "rs_03e6c7b2673894e4016ab451aeb06487d09f60ceaf2f3b94c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the bowl’s left wall now lies almost exactly on the jaw closing centerline, with one finger outside and one inside. I will close to pinch that rim.\"}",
  "call_id": "call_eH5DKVGAqvFmri5NpVwxVgQr",
  "id": "fc_03e6c7b2673894e4016ab451af090487d0a692ef4f3488fff7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eH5DKVGAqvFmri5NpVwxVgQr",
  "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]: [-0.1898, 1.7561, 0.9436, -0.247, -0.2047, -0.0937, 0.0084, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3998 left_y=-0.0366 left_z=0.023 left_yaw=0.0363 left_pitch=-0.4672 left_roll=0.1588 left_gripper=0.0084 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -8.7453, 6.1744, 1.3211, 0.0024, 0.0757, 0.6618, -0.0752, -1.4154, 7.0085, 1.6435, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc853fc3a4799c0328c61941fdef029d1366808c02af2f25ac76fcf49c85f8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd5a6a9c76a185487a352fd36b15a1a1e7e6d4eff37392ce5a3d0844551e66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f6c215be121bdeee2eea16d9b100600df91323ed2905e7d3fbe61ac99ee7d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4423, 1.6886, 0.7929, -0.1535, -0.3149, -0.281, 0.0086, -0.0219, 0.8116, 0.5953, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3589 left_y=-0.1055 left_z=0.0142 left_yaw=-0.0105 left_pitch=-0.4101 left_roll=0.1445 left_gripper=0.0086 right_x=0.2897 right_y=0.0002 right_z=0.1639 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -8.9094, 7.4051, 1.116, -0.1587, 0.0269, 0.6471, -0.0342, -1.2103, 7.0632, 1.7118, -0.0659, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1997, 1.7344, 0.9512, -0.3107, -0.2111, -0.1165, 0.9987, -0.0219, 0.8158, 0.5945, -0.416, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3907 left_y=-0.0376 left_z=0.0266 left_yaw=0.0503 left_pitch=-0.4971 left_roll=0.1613 left_gripper=0.9987 right_x=0.2898 right_y=0.0001 right_z=0.1624 right_yaw=-0.0001 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -8.3897, 6.2017, 1.4432, -0.0171, 0.1441, -0.149, -0.1162, -1.2786, 7.0359, 1.6777, -0.0513, -0.0171, -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]: [-0.1898, 1.7561, 0.9436, -0.247, -0.2047, -0.0937, 0.0084, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3998 left_y=-0.0366 left_z=0.023 left_yaw=0.0363 left_pitch=-0.4672 left_roll=0.1588 left_gripper=0.0084 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -8.7453, 6.1744, 1.3211, 0.0024, 0.0757, 0.6618, -0.0752, -1.4154, 7.0085, 1.6435, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc853fc3a4799c0328c61941fdef029d1366808c02af2f25ac76fcf49c85f8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd5a6a9c76a185487a352fd36b15a1a1e7e6d4eff37392ce5a3d0844551e66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f6c215be121bdeee2eea16d9b100600df91323ed2905e7d3fbe61ac99ee7d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_03e6c7b2673894e4016ab451b22a0c87d0b5d8488f119a8a6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The thin rim still did not register a grasp, and the repeated contacts have displaced the white bowl. I will park the left arm and switch to the untouched right bowl with the right arm, where the wrist view can be aligned cleanly from scratch.\"}",
  "call_id": "call_bLvCBwxaBpy3IRX04HOUNkEp",
  "id": "fc_03e6c7b2673894e4016ab451b7886887d095887167e3318595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bLvCBwxaBpy3IRX04HOUNkEp",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.12, 1.1908, 1.0332, -0.8761, -0.1753, -0.0483, 0.9957, 0.3027, 1.1622, 0.701, -0.284, 0.2115, 0.1471, 0.9966]\nstate[eef_state]: left_x=0.3003 left_y=-0.0016 left_z=0.1685 left_yaw=0.0496 left_pitch=-0.4508 left_roll=0.1516 left_gripper=0.9957 right_x=0.3343 right_y=0.0693 right_z=0.1345 right_yaw=0.0397 right_pitch=-0.1547 right_roll=-0.0261 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -4.1778, 8.8821, 1.1697, -0.0611, 0.1441, -0.149, 0.335, -4.2051, 9.7162, 1.9707, 0.2906, 0.1636, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206fbc8ee94fd9125ae53d19e46e3f550d24780ddfbfd6a0f4818bd1e8d01959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c194ed8525d1eaa37c165a2f4b8cf380d88f19a376ef1c1366df783b77969818",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f341a381f788395fcad61d09a7dc21ca7be48b7fa0c92ceb6e370f935a2c3f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2832, 1.6039, 1.0142, -0.4568, -0.242, -0.1665, 0.9949, -0.0219, 0.8116, 0.5949, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.064 left_z=0.0805 left_yaw=0.0181 left_pitch=-0.4398 left_roll=0.1475 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.1638 right_yaw=0.0002 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.3897, -8.9504, 8.7726, 1.0916, -0.1294, 0.1538, -0.1392, -0.0752, -1.3197, 7.0496, 1.6923, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1898, 1.7561, 0.9436, -0.247, -0.2047, -0.0937, 0.0084, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3998 left_y=-0.0366 left_z=0.023 left_yaw=0.0363 left_pitch=-0.4672 left_roll=0.1588 left_gripper=0.0084 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -8.7453, 6.1744, 1.3211, 0.0024, 0.0757, 0.6618, -0.0752, -1.4154, 7.0085, 1.6435, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.12, 1.1908, 1.0332, -0.8761, -0.1753, -0.0483, 0.9957, 0.3027, 1.1622, 0.701, -0.284, 0.2115, 0.1471, 0.9966]\nstate[eef_state]: left_x=0.3003 left_y=-0.0016 left_z=0.1685 left_yaw=0.0496 left_pitch=-0.4508 left_roll=0.1516 left_gripper=0.9957 right_x=0.3343 right_y=0.0693 right_z=0.1345 right_yaw=0.0397 right_pitch=-0.1547 right_roll=-0.0261 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -4.1778, 8.8821, 1.1697, -0.0611, 0.1441, -0.149, 0.335, -4.2051, 9.7162, 1.9707, 0.2906, 0.1636, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206fbc8ee94fd9125ae53d19e46e3f550d24780ddfbfd6a0f4818bd1e8d01959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c194ed8525d1eaa37c165a2f4b8cf380d88f19a376ef1c1366df783b77969818",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f341a381f788395fcad61d09a7dc21ca7be48b7fa0c92ceb6e370f935a2c3f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG8YkWqd3EOV1VbayNHQFjq2pDaDREcWJbqWhDqyThtMY-1N5rmIjW2PjdIxczIFypCDKfLo7CmZ5uydq6FckSHdJBC0c4pu3c3X76TIRI_s2Qf46YpA5OCkLeSdaT7S-QR0iScAHU0Zbhd7BuD6sBpKsNVSobq0Ad2hmI_BsP6l7ks_vHWF5aIWkr0Xet6Qc2jc-f_dQHI8DMNBZYldtN-lRqrJ7sHXBdVSliPX-S2QNNmRxXLdCTH14NMv_FAQ82-U1BHwEFazasvhs-iRpq8KI55v5j2pZrSYwEhb7OU6zRGR1A3BuooYhyDG49jjbFT5PG2zzYNWTCMjz_0hZ2V1bhCaw9kazhhrXevVTZbUrVju4uWw-zU_lObPDT6hAn8tlfG56PCbu8gi8ig7Q2vitKpHp_dT020DLvqCcyVH-v0bXN5ALlNcrVWYwHskdqfjMMNm71M2uYo0oZRVnOFx-VxHc8GGY2x8lgjD-Rl3kquYCOCskj80mKWOPSz7ALgK_z3kVSkrpYKuAqOl4rs4PABpIilWeu9iEboL9umdQgr7YbPkuazGMDfvq2E7kzhbKQRxx3ATRszCvbaIgAeh0WHZl3oyt5rdVp3I1Hv7gxbPNQqXHRAMXZ8RsVxd9g_441y_drzmCuGJoujYFCbWtlMIz5E6iVei-A5RmsD0kBSa2NSMevrNVoUZ_kP_HUAUt2iwkIoFIGqJpKRSogtXkPFMV_grstTVOTnG9mKTJovdKZ5g-Pxn70g8z39mCo1coDZVrwUryr1g6tLuV-mbSqdJasi6Kej811lwrrs7lYqxTYZj0c3MHLzfxjRBLvxRbvuDifErL4YS-wsTmIMKCelhqHWaItYMCp4XK0880jS6cU8mC-aYBremzDxzlSNSejln50SbdZVmgMaiJW5jp343qVSP8_h8X_H8nag4a71BPpK_qG9qxnKhiZyIB7LhLPv3Su_OYGT3YGxL46xO1lptLTBJSAC5ildt-6ZQ13xtnMMt82qDKqAH8ECkVBgnreY7-m1IRcS6YoryoIgP8s-tmUi-C7xGp6O_ObhnmNHrzvjigSrka7V8J1p9jHeNgVwd9tjvvSupaDCMcIkAFQ5_RSg8cpwU1ZKfs6G9DC7eZ0tnKlxyLRH04XykP0vQ-eJO0nfK1ugzkuh7QdA7sDYCCEJnE8cCmEXptyVxaXGUD8ykOKZKxPl_ZiymLWc5ZxiYEBcddAowvMB_q4bSyQkHNFpHnhmm6deykM0tHXT88T4CFv3gbwZSMrNoo9s71uuny6CsdmiCOdjrjK08bwc_Jrh-pHGW4Mi4loeTuyz_22OnL9iTU3f1KuZqx9fwqK5QY1UlAW-7uDlPbzl2uhlztLVW3iwIb82721t2NbJfPMWYQCIQeJDTIHd36HeMddxdX0_a7gU1FEHYZMtYY_43mIJJXGB1EwKbFsz4xK7HzhW8pTxJKd1Jp41-L9v2B1lEDsPg0l4I1ScfHMjYsCA9RapMDIfnsf3FRZMJKkDJWX-fYqltHnajpK8slQ8WorjG7rs40cklIuodbdVJfTU6XGaLTI7Hb5Fsp4WETNT8isai5mQ4vK7fh6SQH7vu8d3y7HIovXwxX6rapFxtMN9nE1fmLoc5EXpx-pm1LNuDog9P2dDtpVXYvPkuUMicTyuChwp1biFs5FxOjHi6eqQnJpGk4C1adxnyLxLhOAXP5KqkAeqi1yrbzA4X9UNmhQ4DoggrYBtPFvwtEJ6CTer4IlvG5H0zKtPnzjp2cfxsy122dqNwebuSP8J-WlqxV_0mZ5ArPMbhrVuKL5Hk9b-CbIqPCIT17Wsu0ZuJfU=",
  "id": "rs_03e6c7b2673894e4016ab451bac41087d0b7444df34701a6a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.11,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The right wrist camera clearly shows the pink bowl about 4 cm left of the jaw column, with its near rim just short of the fingertips. I will shift the right arm leftward and slightly outward to center it above the bowl.\"}",
  "call_id": "call_QiWGEfte3oj2EMpwPFQElVuG",
  "id": "fc_03e6c7b2673894e4016ab451bbd73c87d0add5cbf5d67bd03c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QiWGEfte3oj2EMpwPFQElVuG",
  "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]: [-0.1169, 1.1931, 1.0336, -0.9039, -0.1726, -0.0494, 0.997, 0.4194, 1.3151, 0.8188, -0.3229, 0.2623, 0.1967, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1645 left_yaw=0.0534 left_pitch=-0.4804 left_roll=0.154 left_gripper=0.997 right_x=0.3475 right_y=0.1087 right_z=0.1278 right_yaw=0.0828 right_pitch=-0.2138 right_roll=-0.0463 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -3.8769, 6.4205, 1.4042, -0.1343, -0.0708, 0.1197, 0.0479, -5.4769, 9.812, 1.619, 0.3004, 0.2711, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36176e844b1c3af042032c21a807155573b06b684592fbb7ae0729b86558f79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39291d71852c02d7c56f1d47195929b8f76ec74ead6db819c9bf098801c099b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1cc6275895c4ea9c7c00da041adfc7bf9112e12fa5a8d0c31f9e772a8fe376",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1997, 1.7344, 0.9512, -0.3107, -0.2111, -0.1165, 0.9987, -0.0219, 0.8158, 0.5945, -0.416, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3907 left_y=-0.0376 left_z=0.0266 left_yaw=0.0503 left_pitch=-0.4971 left_roll=0.1613 left_gripper=0.9987 right_x=0.2898 right_y=0.0001 right_z=0.1624 right_yaw=-0.0001 right_pitch=-0.0667 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -8.3897, 6.2017, 1.4432, -0.0171, 0.1441, -0.149, -0.1162, -1.2786, 7.0359, 1.6777, -0.0513, -0.0171, -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]: [-0.12, 1.1908, 1.0332, -0.8761, -0.1753, -0.0483, 0.9957, 0.3027, 1.1622, 0.701, -0.284, 0.2115, 0.1471, 0.9966]\nstate[eef_state]: left_x=0.3003 left_y=-0.0016 left_z=0.1685 left_yaw=0.0496 left_pitch=-0.4508 left_roll=0.1516 left_gripper=0.9957 right_x=0.3343 right_y=0.0693 right_z=0.1345 right_yaw=0.0397 right_pitch=-0.1547 right_roll=-0.0261 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -4.1778, 8.8821, 1.1697, -0.0611, 0.1441, -0.149, 0.335, -4.2051, 9.7162, 1.9707, 0.2906, 0.1636, -0.3687]",
      "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]: [-0.1169, 1.1931, 1.0336, -0.9039, -0.1726, -0.0494, 0.997, 0.4194, 1.3151, 0.8188, -0.3229, 0.2623, 0.1967, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1645 left_yaw=0.0534 left_pitch=-0.4804 left_roll=0.154 left_gripper=0.997 right_x=0.3475 right_y=0.1087 right_z=0.1278 right_yaw=0.0828 right_pitch=-0.2138 right_roll=-0.0463 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -3.8769, 6.4205, 1.4042, -0.1343, -0.0708, 0.1197, 0.0479, -5.4769, 9.812, 1.619, 0.3004, 0.2711, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36176e844b1c3af042032c21a807155573b06b684592fbb7ae0729b86558f79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39291d71852c02d7c56f1d47195929b8f76ec74ead6db819c9bf098801c099b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1cc6275895c4ea9c7c00da041adfc7bf9112e12fa5a8d0c31f9e772a8fe376",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG_sH6MnOvH3tye6WJCFnMnfgHvtbXIzdY1CPfUVxTztqK8x5rDf2HFGKUnE8o9PBKSDhjPZn7fk3_ThPatY75gYWDLlT-5zw36__O192jch91rzaID7uAjwuTOp-0BYoANprgfaLIW1j1Q6wQEoCJ5b2_VooHZBYdgRLdDufkU0aMqlVWNH5Vt_7rw3rNYiDFr_trwdqzXwVBx2hwrK-kfY6f1FMDnC5MHJVez2_GSIzXnkZKOn99x1lhap8CrOoepTiuBt3yR_oVBycdqGOAD_dO_aFsX_S85p8uG6QhJ6h3OFyzYtCKsBvxF86crY6Yp7yummtGiex7WyuQihKY2jkk01jqIiGaxPTqPjTdHp6trI2-NS_TdulQlOweHBaR6bW7opLlMiglwElwL2RuwhMnfKb2D6vr9ugkAh7k7aepl-Qyyrv3KjW4AeGrVTpKGyiNJYF2S5FlgqUFp9QfFkOj_t_176L7w9m5hQPuHTbDx4FGAFEMgPkm_Me6twxnfvBMCc08m7dBtMbaAEVBFnXFKhPqy4xOGuMeM4Kh9b_FrOdQi_liJ-45jVQ_P_WsMi62gHevzxjB6Jolbu70IXxFO3dZKhhb4UYFmAwS31GsLpU4yvIFYYikjYnoJIAInh0UsIMDoKmoRAgtzPDaofeDP-ofA4_XE6XwzFjmWRAe443AJktFMypUioPP3q8XQDvTUFs1oUyTb0kMwelA4l4D-rZkZrN7hZhxzw6AV5yZuDO1aqKOJIY86es8of8n2qn8pIjVG-tpxy-lfI8u07AOjl-740SicnEVGx72ayZfILufnEI1ZZe5aMuJVxoo7uiBuUyMfV89DxMeGTdjpJZuEPleKghUn1I4Bgca3Ia7HMFsPteUc7ZR4AN4IdMXQGCHz48IE1jwLAz24bGav4w0saCMlKBs8buHsO8S9ZlwhMqVtnYU1SvtQ1pEH--LebDpJoiOe8uds94EN7Ja2ble3nfRdvV01Gpyrg2qA1KUSYh9YXqfStaozZU98OBC2jP8Mck-z-nVMZkCUDC2wOQRlZ6TGw1aE8Y7lZaCNT5YNbUQ8F36-qOIEVaiTS5nWn_l-b_3waD4pw4JeiyPezmQ_f02pdQsLOFiK35crtiww9EZkOIOzTkV7PaofaMo5osrc0x3js8gLfEzcY1xb5XVuQsMt17_BFwmWqtJ6vTglvctPGURvXh8bME98J5KBI4BwusF9u0T57rV-MpBgrkMvy0n_6CFL_XBQMnlmH4tKEY_2XWsybLxbh4WEe6mI6zSLbgyYU78JtN8YHRzzoUDrT184HvjrkfNKMm1AvibVNQ-f_WdCv151e_RAHUbdL5woq2Zqmj_ZgWzwOoUoMp4_w0wmYgpkLxl5c5EktH7b5VLoVaxI90sMmRpm8ujQ",
  "id": "rs_03e6c7b2673894e4016ab451be001487d08dbdb015e6c68f88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.125,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The pink bowl is now nearly centered, only about 1 cm left of the jaw column, and its near rim reaches the fingertip row. I will make a final small leftward/outward adjustment before descending.\"}",
  "call_id": "call_T2mG7xxtsJpoFsNh9j6fLyZ8",
  "id": "fc_03e6c7b2673894e4016ab451be97a487d092a3c664d9c87719",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T2mG7xxtsJpoFsNh9j6fLyZ8",
  "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]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9971, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2173, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9971 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0653 right_pitch=-0.2104 right_roll=-0.0452 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -3.7949, 6.4479, 1.1404, -0.1392, -0.0464, 0.0024, -0.5128, -5.6, 9.2786, 1.6288, 0.3101, 0.1343, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29a4fe2988de78e643d7ab4fda294ffcdb5f5648638f6de2ee2d1591411a7a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d55b6ac00be704c91103b11aba7b131c5253adad13f9e572810105c6a7a4c14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5d9c64e4703abb1352392071a6bc9cb18288f2651f9944b7cfc4ca9cf656d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1898, 1.7561, 0.9436, -0.247, -0.2047, -0.0937, 0.0084, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3998 left_y=-0.0366 left_z=0.023 left_yaw=0.0363 left_pitch=-0.4672 left_roll=0.1588 left_gripper=0.0084 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -8.7453, 6.1744, 1.3211, 0.0024, 0.0757, 0.6618, -0.0752, -1.4154, 7.0085, 1.6435, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9039, -0.1726, -0.0494, 0.997, 0.4194, 1.3151, 0.8188, -0.3229, 0.2623, 0.1967, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1645 left_yaw=0.0534 left_pitch=-0.4804 left_roll=0.154 left_gripper=0.997 right_x=0.3475 right_y=0.1087 right_z=0.1278 right_yaw=0.0828 right_pitch=-0.2138 right_roll=-0.0463 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -3.8769, 6.4205, 1.4042, -0.1343, -0.0708, 0.1197, 0.0479, -5.4769, 9.812, 1.619, 0.3004, 0.2711, -0.359]\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]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9971, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2173, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9971 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0653 right_pitch=-0.2104 right_roll=-0.0452 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -3.7949, 6.4479, 1.1404, -0.1392, -0.0464, 0.0024, -0.5128, -5.6, 9.2786, 1.6288, 0.3101, 0.1343, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29a4fe2988de78e643d7ab4fda294ffcdb5f5648638f6de2ee2d1591411a7a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d55b6ac00be704c91103b11aba7b131c5253adad13f9e572810105c6a7a4c14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5d9c64e4703abb1352392071a6bc9cb18288f2651f9944b7cfc4ca9cf656d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHCqAET8i4UR8I_Ubt0xflsVTnyMA8sO1_v_0W9_Evag2hevTo8YowGgh3LaHbZcDfuzkS0MaUYcdm8vErtwBMoBspruh1fZmMiTYJ0fvMzQQy8MqG3W2agz_jL-swZ8QG5DhZwWhuV0XAKterOlTZc7Esx0WzFktPjDOEUSvk_sW2EM2Mudq5GhcVcTbVSRLS91rVkT5JM75qRFUZVH1XgG7neNHpY5pfeiZnR4COuE5l4_10q7e4q7T98LIwTlggMPd8NGuXZxyDODpF2oVfoOxftM3E8cNrW6ZEwAqIMffkdeUQ8fYaPtDlH5Auu1Or-4ciRcgtvyVmgKbnPkE5XHm3Z1YHRVy4HvIsxz0hdLLOQLoTmG9E182g-k7u3IvunyPrzcgZt6bgxdeSR66gXVur6_YXXIdkZtaoQni3zi6R7zNS_XQud6pmwA-mT7rhRVTE6sRfdnvbcajql-j8uvXga1pVfZIUfsW9Zq7GfSiGud0MYXnmDJpEZFM0vkhSTzSmy9VXylV_mG5TQd8H5IykaM8-gpb95GsHBJBlzTuU-W3pqE0lbRhDzUJcFt8mNG0wpZX8ErXwgCK11YB-mcOmks7Vm3iaAjRjdtOHRfEfM1T0B6v6oVW-phWEZilPH4sDoGN9Ml8R-qH8LINtrRUXRXfe0RM4iCMy3ME5JuC073H65_qrowIbP3MCmAbZrrzc1wrGwNIWP_a-7Y8P4Np09LDdycQL9bUsq2H4BWU1boeJ6e1xP6zUt2WxgDCAWir7l6JcGMFBKzeUJpcuGoWKhx2rLtBqARVn9vJcLH8Z3VB-SviJNbbNKbOLfIOA-Es-XJWqRq94LUCJQUrU3vEpsrelMUGFP13Z23JzNecO-qeK_kLYfEc0wyyQ9kJ4uA2MHa_zNqMh5DpJ3O5nxbyROakHcKRdjDMwngAoAW6a9EvBo5OtKTuxs3gELlUMB4tXyDH4JLULw9tHEdETAK-MiVst4MsTfLXgnJbCiwFajIoU_WdWWzrhAumwqijkcEkthVWtZoC_mkCcpqJezVkVnK7BMejp_eEwKfP-MWmT3J0TizV4eH6u96mR-e0DnIylZ2r2fChXxzM7V0HHRGx30p4oiaDzfliagm-Gu8_pEi-ybeXKM-9WgnZukaXzun2JhXyVSFFjsvVq3G_qpUah6Qf69VFkyl96jGtKgRZszoHnBehjFC4U3nU17W_yIiUB_32FjRyxH9WDQL135HGWvsr_nDreLajrZNi0QVdsKQ49m7Uno_PuOSl-XTX7AxP7WsegzRAVLZE1zB9wDtG6Y4vgl5yj1YnDT8Au4Xq1GSMDc2y6n69SddudLAXKRHN4VTSRElD29DFk3wgYP-wNZAHx2dHznn38lDmf7NNctLAfjN89w7M9aCN2V9D8t0gQGUDSLrPZiB6znWq3sGIJ-07wnLKzrb4mBQCtfRr6AYBFSIALWF8GiSA5zhwrfTrEQKOnEWSNdbZzXKsUGWw==",
  "id": "rs_03e6c7b2673894e4016ab451c0daec87d0a2d98b4021b5e652",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.11,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"Although the larger target was not fully tracked, the bowl is centered within about 1 cm and its rim is already between the open finger paths. I will descend vertically at the achieved x–y position to the lower sidewall.\"}",
  "call_id": "call_k6egXoRHSqneTkwHEh9PkrTB",
  "id": "fc_03e6c7b2673894e4016ab451c1855c87d08bc9ca415d5bc422",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k6egXoRHSqneTkwHEh9PkrTB",
  "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]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9972, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2176, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9972 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0651 right_pitch=-0.2104 right_roll=-0.0449 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7265, 6.4479, 1.1355, -0.1245, -0.0757, -0.0122, -0.3487, -5.4222, 9.1692, 1.6874, 0.3101, 0.1343, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652af323d415d43a20cf2cecc53942be90161023fb9525813d4a80e41f4427ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2870f31591d905afb67069a47226c59a7fc71b58272abfb9e86eeee09fad7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a1644aa59f8b08a6a8195e83a847f34b780d967bdfeb778329a40c37ae1232",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.12, 1.1908, 1.0332, -0.8761, -0.1753, -0.0483, 0.9957, 0.3027, 1.1622, 0.701, -0.284, 0.2115, 0.1471, 0.9966]\nstate[eef_state]: left_x=0.3003 left_y=-0.0016 left_z=0.1685 left_yaw=0.0496 left_pitch=-0.4508 left_roll=0.1516 left_gripper=0.9957 right_x=0.3343 right_y=0.0693 right_z=0.1345 right_yaw=0.0397 right_pitch=-0.1547 right_roll=-0.0261 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -4.1778, 8.8821, 1.1697, -0.0611, 0.1441, -0.149, 0.335, -4.2051, 9.7162, 1.9707, 0.2906, 0.1636, -0.3687]",
      "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]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9971, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2173, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9971 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0653 right_pitch=-0.2104 right_roll=-0.0452 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -3.7949, 6.4479, 1.1404, -0.1392, -0.0464, 0.0024, -0.5128, -5.6, 9.2786, 1.6288, 0.3101, 0.1343, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9972, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2176, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9972 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0651 right_pitch=-0.2104 right_roll=-0.0449 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7265, 6.4479, 1.1355, -0.1245, -0.0757, -0.0122, -0.3487, -5.4222, 9.1692, 1.6874, 0.3101, 0.1343, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652af323d415d43a20cf2cecc53942be90161023fb9525813d4a80e41f4427ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2870f31591d905afb67069a47226c59a7fc71b58272abfb9e86eeee09fad7e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a1644aa59f8b08a6a8195e83a847f34b780d967bdfeb778329a40c37ae1232",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHFNNPAUH5Y7oNht9868qiRjm7qVmMqS2kKl4mTzj0_b57Dv6NLxvKAnVjLTxEtXMvXBVmFMJ270qKIgOPiGURAZYxSB1ddRUSDd4TQ9QnZzNPHyR5Daqlfpj9zcvSjyIs5WmptH_e7fMmQohTvuXZSZ3Id4c2xbkJCZuxVrlExM21BLAYuTmy1NwX2_AYxtA5FcLYsQsaEspu7PEM9HPzc3WYMnmDgYfNusIwe9Wkialno_w8Uoj7pbApHmL6lspzMzC1JS38LGDVoMb2oyOak7qV6skuC_LjEbT6EJd1DtnGGeCdFamEtX_w-GG1Ma_tDC12w60V8t6ekNm6F6RfL5fnrPgTf376JUhfXqIrf_C8SbedUs24Ld_Vh3UpfBA1M-ViezpA-dMmovOqKSBFLbxTrJh7lFQW1XSUtPs4k4Dz6DEmqOxykl-INYXrYrHMr0ujNhaTv19podMaRkIpak_24Z9kYcZ0sS593wnRkHJw08ggyKSUswlO_BZ3vTDIadNm6oEFCF6AbPrioRdgqICzY3z8hsXqDxyBBp3aCcYHeSVT1YcamNi2QIXeZM3ZvzPbtnBO3OgnD6xDWegZXQ_mtd5ZpwY3j7ETJ2qjXPxxuBjD_D3U7qTd5zUyuv_UN7eN7nRbsaWf-el7BducjbFClWvCbI3mZpp0OVJiC3GKcN6ly751rWqowThk4Equ4gI6M5iGX_m1y6A9f9f-4olBB7hOh6z-d-_7dpNvRNdxm7KWe_qkbZaFBlpJfwfjskTV9zbXFJDXr0vhzlILXYy58eNzkSpQY2jJj_Jjn4MEVWlOl1cQ9VcEnqroJh23MAeMscKoBt1EGV3LBbJ2qm1plYJVRtf3Q8Q5j4BhELq23yPY55fNtEl-E7UFU1LOhzPgl4-NRJM8JhBwlR5wWESgxEc4i3xacWVzrapBHai6kFurPXvVe7ch8BtWZSVh19JBkO5PAWxaDly9aukHTmvhYDHxM6q_-lVfSphqvAl-nGu9cackkbi1pF1L1KDnBnOlUp8Xf9GcBgU3RqnOZ5g6oOrC1HG11lKO7VBVMCykdVssCfXjwC6_6BHQplrwYylTu9m4gKG8UL_cTnipawZFXbbFtZIYGRFxxMPpgUCYu1EHjZiZFwhqBUN6pDSZFOU3AvBw1A70IpkF0XLix7klaiTEPyemiJ6BO0APzYWG2LX8KveXWB668MQXmQTS-IqaCOvOSYbfpWZTRRSmOr1TnMpUsR_-UQE5SqzvuodmhDXYbdQ7SrZ4cmuWJ5QW1upnbHYLT-cxHR0lAHr_vQ7UI51fcx4ZicPwUdkhJ2ko=",
  "id": "rs_03e6c7b2673894e4016ab451c44eac87d08a46cf377a66cea7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.11,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The right arm also stalled on a pure descent at this extended pose, with no contact or readback change. As with the left arm, I will ease it inward while lowering partway to escape the IK singularity.\"}",
  "call_id": "call_nnObK7DCkAl1D1NTKr6WUKjy",
  "id": "fc_03e6c7b2673894e4016ab451c4b21487d082c8a8c52650883f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nnObK7DCkAl1D1NTKr6WUKjy",
  "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]: [-0.1169, 1.1931, 1.0336, -0.9058, -0.173, -0.0494, 0.9971, 0.4591, 1.3392, 0.6338, -0.2024, 0.2848, 0.2253, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4822 left_roll=0.1548 left_gripper=0.9971 right_x=0.3183 right_y=0.106 right_z=0.0671 right_yaw=0.0798 right_pitch=-0.2897 right_roll=-0.0748 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7812, 6.4615, 1.1648, -0.1245, -0.0757, -0.0171, 0.3761, -5.4496, 6.9675, 1.8388, 0.2759, 0.0659, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f132ebc244556f4ff246c487d220a1498622405f2904927d257b067c6a7fafcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9358087f9ceee1c2025677565a4a4a3804a2ac543524dbdd6442af859a050a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5b12563e125db30751318d352f1fc36cc8a03fa1405a0a4c0c3401bf05a5d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9039, -0.1726, -0.0494, 0.997, 0.4194, 1.3151, 0.8188, -0.3229, 0.2623, 0.1967, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1645 left_yaw=0.0534 left_pitch=-0.4804 left_roll=0.154 left_gripper=0.997 right_x=0.3475 right_y=0.1087 right_z=0.1278 right_yaw=0.0828 right_pitch=-0.2138 right_roll=-0.0463 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -3.8769, 6.4205, 1.4042, -0.1343, -0.0708, 0.1197, 0.0479, -5.4769, 9.812, 1.619, 0.3004, 0.2711, -0.359]\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]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9972, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2176, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9972 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0651 right_pitch=-0.2104 right_roll=-0.0449 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7265, 6.4479, 1.1355, -0.1245, -0.0757, -0.0122, -0.3487, -5.4222, 9.1692, 1.6874, 0.3101, 0.1343, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9058, -0.173, -0.0494, 0.9971, 0.4591, 1.3392, 0.6338, -0.2024, 0.2848, 0.2253, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4822 left_roll=0.1548 left_gripper=0.9971 right_x=0.3183 right_y=0.106 right_z=0.0671 right_yaw=0.0798 right_pitch=-0.2897 right_roll=-0.0748 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7812, 6.4615, 1.1648, -0.1245, -0.0757, -0.0171, 0.3761, -5.4496, 6.9675, 1.8388, 0.2759, 0.0659, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f132ebc244556f4ff246c487d220a1498622405f2904927d257b067c6a7fafcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9358087f9ceee1c2025677565a4a4a3804a2ac543524dbdd6442af859a050a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5b12563e125db30751318d352f1fc36cc8a03fa1405a0a4c0c3401bf05a5d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHIbZ5CdlL2_QaeWNC5T6sUzBXWLvSz7TuTT5EbrThNSRBlgVM8ZdkPui1uTvdaDc11_57th8e9E2xIhr83lnqT_drGLFOS1qFwmc0sDv7URwY57E06tbufzBGg14sJie2w1BgjuqiUrbOPv-sBlQv_7pQjI5VP0GWqkIkTruY1WcdUhSR_Q87G5dbQGUFFwZ-9k1cFd1gKHTrszuDSjoxfRfL53tTG08V4eBSibozWWiOvN3THGoZFBSJCMrPIyEnw6iAYIiYFl9kvwJBdE8SyitVzE7Ramc-R9YUXGPCR5zJ7ZLDITV2wydQUECvfEiA0jt56JlGkNX_QUTqxbbhYmuS4Gh0T0MKEn6o4mys4pwQL_IyheABzI_gtpWni9NHP2etegRYaAOM-i4S2CkvPs1DDZidDz8_u6QooRpjBRSo41E5Fqm6q7i6CaJor60ZFUI36F_jkJzr1QYRWxLdyAFlugr5z3PBwoejpG7xTRVln5Q0J2-Mv3NYu7iihZFRiMw1RQwFkAhYhpB9Yi5sKPqxfrrHS7A4U6zwBnxzSt16T2m1wlPe8W2rudOXUi2mTlHgCBIfyqlvQzRZC8UQ6O4IcF0cdD2Yzt-ATGEAOkuktVcaempG1-pJ3Inz5gNUDO8a9Qx9fOIMLvd25dndyAdtVxPbZusd3HT1znIOnWJ1xy1TlmGJdAGZwlD1FPr0K0dT6c0aiXUcRgp3YDClJVl-a_guDK-pDFWbu81gY6L3FdL_U_VFNVlOvdkeezjqasUglq7hCwYJUGxMAHAp6prXl2a7fHHD_KF1pELhpKdUNCR1XDgtnfnxv0Wv2paoomi92klE05sDbDY3ppP2N0XKk2NXOouz_6jNqlOOsn3IL6DzjxgkB7GF9oWFl9sEDTQdj4dXJDMZwgWVWggURoFZ3Cfz5gcPb-4y_n1E-AiDnyCZahc6GPje-r049Kld0ixc2cvJ0DnCIPfgwJnrZdbUal4vldgKqOa_gdwxeF_QNO5AgmeiwFFjnYXrgF5wgVVVR_NnGi4Ch2EVEJjPMJPSQvdIzfaNIGqQ7lBukAhzLhyJi39lG2ri5Wp2cfB9wryh_VS9uOAMYnLquyYQO8BD8PkXn6R9AeMohQig2vhl5XEYTM7SyDBPQK8t9Mr3jWeiY7S_LeQIlZUVnPeINgmU5-F-0szX1XN3yOCK_BPApBWE3d6k3CYiXMc2bLcZXLEmQq0IHjiOhNFU4-Rn012YQRxbt1_1uQvaz1KeqRoPQm8JCvSKTVO_8JqZP92T4dMdVydRNPpcSqNoWdHhft9cPxEVpT546DPBSBVTEKD8MlN01RNP-pDcBPyUPWjxT2edTqpTBOiT4Dy2fouqPuId0Z2Uxq1KtRisWBEvhihs=",
  "id": "rs_03e6c7b2673894e4016ab451c71c5087d0a2751575cf765757",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.125,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The arm has descended to 6.7 cm; the bowl now fills the view and sits about 1–2 cm left of center. I will move outward again, correct leftward, and lower to table-level grasp height.\"}",
  "call_id": "call_Wf4rtpNLuHv7bMHdGirLtO7S",
  "id": "fc_03e6c7b2673894e4016ab451c7947c87d0bc26452cda0f6350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wf4rtpNLuHv7bMHdGirLtO7S",
  "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]: [-0.1169, 1.1988, 1.0336, -0.91, -0.173, -0.049, 0.9972, 0.4679, 1.5757, 0.646, -0.0383, 0.281, 0.2283, 0.9967]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1623 left_yaw=0.0546 left_pitch=-0.492 left_roll=0.1569 left_gripper=0.9972 right_x=0.3345 right_y=0.1182 right_z=0.0181 right_yaw=0.0826 right_pitch=-0.3467 right_roll=-0.0934 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7265, 6.4889, 1.1795, -0.1538, -0.0366, -0.0122, 0.3214, -8.3897, 7.6239, 1.4237, 0.1929, 0.0317, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c431da8e88c3d1691991d1b2e6bfb99d897733805cfeca4f85c1a8600e280f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db96ea45afe940d5e39677ecbbfc04dc03ede78a5ef768f5f8e40759f342ed5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c56f09b908c00ab75cb3a847b7a034abe6b596f5664b396e2d319b2b401cbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9971, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2173, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9971 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0653 right_pitch=-0.2104 right_roll=-0.0452 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -3.7949, 6.4479, 1.1404, -0.1392, -0.0464, 0.0024, -0.5128, -5.6, 9.2786, 1.6288, 0.3101, 0.1343, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9058, -0.173, -0.0494, 0.9971, 0.4591, 1.3392, 0.6338, -0.2024, 0.2848, 0.2253, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4822 left_roll=0.1548 left_gripper=0.9971 right_x=0.3183 right_y=0.106 right_z=0.0671 right_yaw=0.0798 right_pitch=-0.2897 right_roll=-0.0748 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7812, 6.4615, 1.1648, -0.1245, -0.0757, -0.0171, 0.3761, -5.4496, 6.9675, 1.8388, 0.2759, 0.0659, -0.3639]\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]: [-0.1169, 1.1988, 1.0336, -0.91, -0.173, -0.049, 0.9972, 0.4679, 1.5757, 0.646, -0.0383, 0.281, 0.2283, 0.9967]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1623 left_yaw=0.0546 left_pitch=-0.492 left_roll=0.1569 left_gripper=0.9972 right_x=0.3345 right_y=0.1182 right_z=0.0181 right_yaw=0.0826 right_pitch=-0.3467 right_roll=-0.0934 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7265, 6.4889, 1.1795, -0.1538, -0.0366, -0.0122, 0.3214, -8.3897, 7.6239, 1.4237, 0.1929, 0.0317, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c431da8e88c3d1691991d1b2e6bfb99d897733805cfeca4f85c1a8600e280f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db96ea45afe940d5e39677ecbbfc04dc03ede78a5ef768f5f8e40759f342ed5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c56f09b908c00ab75cb3a847b7a034abe6b596f5664b396e2d319b2b401cbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHPar9G9ZUgLydFBSB6xu8FV2ZWwiRX8LxxWBeVRidj3OgmpM2mNhB-30QH5ucdVu9iT-GqeEtojuXfr4mYMvda9vacEvxbs_cyBFIRG-x9e0BJl8nEZeR_qScmlk3pLfxRrPK9GsxsSe_dyFhglePv1nbyjK-8obFeI1v9In5PH4yj6zWmmxctqWrMQi3D5v8jjnEe26gVR7OLhTc7RYAu1tZWMvZ8vo-z4fCQzW8CccrucqbQdcitJP1c-9aJTJfXXDYXPux3Sd1ofMQpAPiyriOmmmuJqCqo9Q3q2gR5qw0wNR18r-NMMynXKdtKIad6DlhJQ3D3FnnYPcVSQu0E2EVAtZP7OG1_HLP_3HF8ROJANshV6zIiQcAtfT351-WS28sPmUefh_E5eKM35OP6XiUaCPTMOYw9NVZrYtkeWrrY-9Ky1rIJs8OYQp_KpQj1Pj63d4Pd9qs5-uQ_5rwMDXaeneXgC42k1HhUcseHR_Al2lKaj1sinjYwO-0VmIPpu67V3wm4abZnpa6h4VTkZIUdrDiVLzF-wbyohc7w6b31C1IDkURF_WWbps2LtrwzIRyXCPP31iQKXdH5ZEvg-lO_G8SCQsSBBpG07HDq_AqEuymCZ-M9FlpACXEjqKLuP8Y_cVKgKEqgCQisNyKjltWaCi6PkyUUmD0y16fv9oHELWAjZ05J9v0NFjvSRzVJeSgud5tT0u-pzrCA2FnGTU2_-lPbZWM0Ol4-yYbT0LhPa5N3y3B5p75FbX45arC-MbbG2F6cQgiKOI1MPlX8OqBtRXbxDi0ajWJzWvJfNAJ4cG1hR4TDY2TwNQ0deCJAWKLG-yswxmCXuVPnw8Lna8h2JJGuBaOTxx6rH6z4XmkSG03oPLVgJxa3r9ZFaAhn3ku87VHHzfd_dduMdY7824EPqVqYycNVQP9Z3ILFHoHvm-LJDjXjK4TchMBdi6tBoSVRQIbXg5K-PrzREFCq46uVcPFUofWUipQ1paAavdFcKgH-t_ghM5rDfA487dbNwEqua4ghJFInwBVp9Pm1vAr8zhTNgjIt7nf7RVznGiaHm3Eep0_boptGxhOCxPoEh3jpufdePUIlJcYAblgwFiUSen73TW6jOSI4aEN4NCW11DYymWDTKsTybAynHk2R9DqEPMyVlGdDLiv7QzMyK4hFG2a9Rb7JZFGIdGK8F7zj5qQgqzKbEaG5JOjfn0x_jPgzIYZBrsQqC4jR8q_bk5sbPA-hswK78tSF1nuyaqzoQR1DG8n84XlbaAt59v19KILgvrw2B3XFLgC3DidunLkYPV3kQs9lkGm_tJ6wugaAxyT4GqUXdLCDlHBzg6MrUoh04zVIfhm_vlQdTaVSJ8FpOGWMJmJM9NHomT-bmeKitJcvYyyQlu6Qaxn01JEvNRyWA4YP9r6KeosSSmFttr1rOJbjon5qNs8VhK1ItehDD6J2PAuepCacn34JLTeLSB43WLYb3ggILJ12n53P7OIMP6l9mRMl7PmV8iOfkptBux4UUxuPBY38QcBraa9PkVe-zwZZXrls6rrldrK4Q-5h2cW0mZxTPtIMhM45vb570qJ_mNRNNko5lUVi0rdmyfkNjCJ7qrlIKl9zFerxFcxlDCe-hujLjhsfsCdv-zCUXcmpgMxlvlFJKObf8YbsPoyLYAUQW0gpvgc0gvsPYYKk7fO8HPqg7vYSavjDWFTPqEmUeCJU4gIhcfqDXYHrZ2tUsFHH_iNJAPsFwfeIdvPcqMEJVIA_WQp1R06A8Yx2twU7zgHueekEiOy00AndR4DxZWoC5ffdWfW9GbK3BAwjIjjNZu-i2wKTn87cOc3rsjBe0yRvGC6Kc1w47mgWfqJWleoIqCDS55QdenOwRa1eQeBrOTL-LeSxPLY39X6j6JS29FvMesmVaypJzdl70MwstkxOnc8FLLr8x9HXAlNmivov52jNWaesjGG5UyTXierkJlBWtxsqs315Zu4RGhkoQ7_NP84UqOmQAopD2etoxG647XMtTcaFSAcL0WZtqiKDrre3Z6EpVQ_l8W0qeZgEugN1sg8xiPzCf2LrXhifw1JLo9_LOwreqJurVONy5RL_8kVhbDiIqRZDdloAu5USskzXeuAhIZdJHmlL2PJhFiIC7M4jJ3S2sCA7GDN4safOjDaPeX8xFZNni0BbJX03emmY8NUt_RSr39pDIcl3v5EFgIRxsqfsOYoIVfQKx2Crxl2dLQnF-OEloMJmOPbV5gBCGzjjAaOgJvS3SsMB80c_gUwYdXCoBpsff8SWfdHBVZJAg0nQKoxq0NCgPxvLO1UbpbAnXsQLYvhAh6FwJnghcc2hWH2M3tVjnyQ5iqM_sYTidds0HVxYtZpY9Sp5vssjlecI2zwYbjL6VzSP7nGxvE5isBEcroSV406qwNGNsNP_Sd5u4Xkx6Jo6_GEYqHiReixEEC2-wpW_pppDmMFAoy7IBUZsE3axRYi-tncMfFyx7j1roFxI2AFu14GDFLzsEHHs_qicF0WzdDX_4zN-PuC--VrbJFCw4Si_lsekf16A4Lxp6DslfL9-bHG5vbyOGZS5VgG8KjMwcPKPHXkw3k5lhm4QwDV1hTV8hFoI0yw42szh3FJgq12NMRFTSSBkgKikvg1iOlBsF2GE25kSz9FrDixAaSrLqx7SCcRJQm8OlwQXoEX1gcqqxDFgw_lqZqGNAAtgfWm6mNW0qHqaPJrdLaEdEf4NFZoNu5MkbK2JzxX2SQLjLQjDuplDpr21MRUprkpSxOdQWheZ1mMoFloTuxb7EGp0DJiuMzWTgQsUSCdHmrrR5WLW7e7FBexUO5V33Ddj8DOqgrMWyiyYYOlg13mabi-9KZCZvKmX7xZIce1BKOtw7ebBfNpTMmpR4XYCX7gJUh0cJLdtsuRf4S_geywNsr3vdazbnxe4y4sI_mo6_RvLaPy4oKdkzuuamf0iEq8mt1X6htfSLoFS7PLhAfJKzoGxSZ1crIaa14evznN4zPCAZX4361oqoLvpFWgqa5LPM3-1UDBNPqVXiuGfAkDOYJS1xsQvR9lcot3ff_nneAe8AXTCQVvXj2jHyU-fZ0ANYFvcCq4qx5ZoRZcd4E2npKLHxhUqyFTlB5H19Ujeaj9IrJnY2OOEn5VCzB4TAn5IiQ1G1qJYn_UaMr-OvesUSs9GnrLD35Duonj9-R1GKM5L96XhrJc8W9o5G2ymAFZiOIhIQQc6LTlMchzSni7C1BoXlXJi5U_LY2N-iUi54zLr8H-wndE4xee7UXiI8HYJUv5YOm3zOtg_cFN7vG5Y2bp951g=",
  "id": "rs_03e6c7b2673894e4016ab451ca435c87d09e494ec762732fb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.17,\"right_z\":0.065,\"right_gripper\":1.0},\"note\":\"At 1.8 cm height the pink bowl is centered, but its outside diameter is visibly wider than the 9.5 cm jaw opening. I will offset by one bowl radius and raise to rim height so one finger can enter the bowl and the other remain outside for a rim pinch.\"}",
  "call_id": "call_GzKrNfRQGQnO52gTPNRu44HQ",
  "id": "fc_03e6c7b2673894e4016ab451ce07cc87d0bbabad80a5508241",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GzKrNfRQGQnO52gTPNRu44HQ",
  "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]: [-0.1169, 1.1988, 1.029, -0.9123, -0.173, -0.049, 0.9971, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1603 left_yaw=0.0552 left_pitch=-0.4988 left_roll=0.1582 left_gripper=0.9971 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.5897, 6.8171, 1.1648, -0.1441, -0.0513, -0.0122, -0.0752, -7.5009, 6.8718, 1.536, 0.2076, 0.0122, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69daa6b00f3c829ae987f62987085576b7c06a6a0c9e52801990563cb7d3e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225976d5625c38c743c1a41bb7f8572dfdcd9495d135228f958235411c14cd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f0bbddcc53aa21b0a0a10a678e18da2baccb8811bbb7643bf363af7796bc11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9054, -0.173, -0.0494, 0.9972, 0.429, 1.3258, 0.8417, -0.337, 0.281, 0.2176, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4819 left_roll=0.1547 left_gripper=0.9972 right_x=0.3501 right_y=0.1102 right_z=0.1318 right_yaw=0.0651 right_pitch=-0.2104 right_roll=-0.0449 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7265, 6.4479, 1.1355, -0.1245, -0.0757, -0.0122, -0.3487, -5.4222, 9.1692, 1.6874, 0.3101, 0.1343, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1988, 1.0336, -0.91, -0.173, -0.049, 0.9972, 0.4679, 1.5757, 0.646, -0.0383, 0.281, 0.2283, 0.9967]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1623 left_yaw=0.0546 left_pitch=-0.492 left_roll=0.1569 left_gripper=0.9972 right_x=0.3345 right_y=0.1182 right_z=0.0181 right_yaw=0.0826 right_pitch=-0.3467 right_roll=-0.0934 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7265, 6.4889, 1.1795, -0.1538, -0.0366, -0.0122, 0.3214, -8.3897, 7.6239, 1.4237, 0.1929, 0.0317, -0.359]\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]: [-0.1169, 1.1988, 1.029, -0.9123, -0.173, -0.049, 0.9971, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1603 left_yaw=0.0552 left_pitch=-0.4988 left_roll=0.1582 left_gripper=0.9971 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.5897, 6.8171, 1.1648, -0.1441, -0.0513, -0.0122, -0.0752, -7.5009, 6.8718, 1.536, 0.2076, 0.0122, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c69daa6b00f3c829ae987f62987085576b7c06a6a0c9e52801990563cb7d3e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225976d5625c38c743c1a41bb7f8572dfdcd9495d135228f958235411c14cd40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f0bbddcc53aa21b0a0a10a678e18da2baccb8811bbb7643bf363af7796bc11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHSmgW9n7T52A-O7X4qqaxPlBDAl8_CneLqAln53xiC0R2y_dFNtmsfvp82yVcuJczIrmjWgJ_oEMQvNZghEmtW9PDMF_EM3rRe-qp35C55sqT6hUMM9xz9NFCfGQrycJv3IDVC8cftAF3CQU_RnsfIrkclOLeXJ_5AcOuBuLw1Gf2Zl1n5wCiDdHIR2XC6cZF81F6CuQzjmQi6hLtGwX-HMpuyC1nn1IlbA3XbaffFIERwsUIlb7vzloMe89FX2SqD-GffVg-Zpi34NABIenF15g7rIrGflQpMrhbaJhmSnlK85Zv5dAg1PwhVa-LpAr6hIr0xYDPwW-WSmuzHnlZual4kEg6FSJT07VmKRecL0v5wx32ZcQThNAVtgvHAy9Tm-4HQTS880cW-z4ecfVCwx14d30XC2R7x1kjcivcEX5hS31k90YD-s2OTSOE5VXeY0eHSML8jQW3vSX36ArYQNnKvEbl-KqisBsKkj3JsocGD12QjNYwNj9wgpvmL3xwdFO5u3yZibkNyLOwiHDp8sIutVXYsrV13y6R9OUKquDQqIETmUUlTYOaKKJ_ErocZlwdX83nrmCSFCbrDlQEn-5gfYs6t_0CqiCniIQ2JCsnxwBB9b9bRcr-pFlgIjsjS0h1wbbLrKSG0VYd2ClzdKeB7yHToZ1lDDi3DVZXNnA-NDMn23s84bFTynMNN_oj_scn6P_QHKYLPEEf5y5tr4ilnF0dQHWtNTQt--8w_Lbe9Au679YeRKTkz0LpUm9MMFaPazA75GcfSccA2lDeHoTCs_Wt743yJtyNBrhtNwwQ0YBRtfUPZ51BJIjz2hc2KZPc3c4ry9ZVZy3GzWux0q0jtu0Dha9mIQzxjSrBElhOqHJcPQvDHYiVOZqb4FU1Lznj460l4E9OERT70bnghUBZ31SpU0zDi3HbVJwToQiBSCRbkR6qz-RzF9MLK4tpssffP93gmjpT9iEEIOp23A_TWc_BPny-Z0R7Sw9qCpX-mmpvB_YiryZrdmJDxzs01tlg6ipueAzhqW8RTPkPdDS-bMleNhf8pSKkBbJq4LQK-XJqe0RM_ID81E_5iKDgZicYVsmMotvJdgxx7G7UlFV-L_Vx7RAdze9tjzHEwNc5izo87Vrq7Kb3mbJ3ktTTQSuAwgFcMCZ6kZzVCwCvKsFYpW6DjQG0nfzBHamZeDlO2LL1jlaMmhYMTfCByej-VIsqazPUs_YbdFRNh8lvKz7Va8rItrM80KgtQcZ_sH7sv8XhQOT_kiiDNgOvS44Kh3UPMkmNKzWXfbhU86sm49vc5q-Munn7ht36FfgwjDUmrNEceui90XbCihYFDnQVUgOTHhRCD9TvUB9P_EPghc9gKePWcY-aChMpTNypDmyHMHtY4YL29zvYyegj4G1sAwFSpRskcprfayAgo-gpg0UZavMD67QwVxj3aX19ijLHlHF7oeSK556MfeD6HyItq7tGEsYNsaCB5UCvTIZmNp-zgbAmWhDr_UToWySUdbP0=",
  "id": "rs_03e6c7b2673894e4016ab451d1196087d0a5561dd092b149df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.12,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The rim-offset command did not track because the arm is loaded against the table at this low extended pose. I will first retract inward and lift clear, then approach the rim offset from free space.\"}",
  "call_id": "call_OhiBTh5k8i4KnbKxqpHiFLqJ",
  "id": "fc_03e6c7b2673894e4016ab451d1fb2087d0bc133132396b9242",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OhiBTh5k8i4KnbKxqpHiFLqJ",
  "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]: [-0.1169, 1.1988, 1.029, -0.9127, -0.173, -0.049, 0.9972, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1603 left_yaw=0.0553 left_pitch=-0.4992 left_roll=0.1583 left_gripper=0.9972 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.7812, 6.4752, 1.0965, -0.1245, -0.0708, -0.0073, -0.1983, -7.5009, 6.9949, 1.5458, 0.2076, 0.0269, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ff8571b7ba9d55ab4b0c2cde33f9b40114d7308c847fb8ee7955504ad3695b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2c5cde40171717a417fcf27af63c12a8ec0667306c1b1f348814df427622a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517ab2b031f5a6b120c4bb879b764fde6a6739d1b8cbf76226f00843953d965d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1931, 1.0336, -0.9058, -0.173, -0.0494, 0.9971, 0.4591, 1.3392, 0.6338, -0.2024, 0.2848, 0.2253, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=-0.0003 left_z=0.1643 left_yaw=0.0539 left_pitch=-0.4822 left_roll=0.1548 left_gripper=0.9971 right_x=0.3183 right_y=0.106 right_z=0.0671 right_yaw=0.0798 right_pitch=-0.2897 right_roll=-0.0748 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.7812, 6.4615, 1.1648, -0.1245, -0.0757, -0.0171, 0.3761, -5.4496, 6.9675, 1.8388, 0.2759, 0.0659, -0.3639]\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]: [-0.1169, 1.1988, 1.029, -0.9123, -0.173, -0.049, 0.9971, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1603 left_yaw=0.0552 left_pitch=-0.4988 left_roll=0.1582 left_gripper=0.9971 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.5897, 6.8171, 1.1648, -0.1441, -0.0513, -0.0122, -0.0752, -7.5009, 6.8718, 1.536, 0.2076, 0.0122, -0.359]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1988, 1.029, -0.9127, -0.173, -0.049, 0.9972, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1603 left_yaw=0.0553 left_pitch=-0.4992 left_roll=0.1583 left_gripper=0.9972 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.7812, 6.4752, 1.0965, -0.1245, -0.0708, -0.0073, -0.1983, -7.5009, 6.9949, 1.5458, 0.2076, 0.0269, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ff8571b7ba9d55ab4b0c2cde33f9b40114d7308c847fb8ee7955504ad3695b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2c5cde40171717a417fcf27af63c12a8ec0667306c1b1f348814df427622a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:517ab2b031f5a6b120c4bb879b764fde6a6739d1b8cbf76226f00843953d965d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHYyak6vP7afY6pb6Rn4_lj8tlfLvS_VlRK8kamBFFzgiPhyPm25q8NKoMIGqoGHoIF966dJ_dDeKr4KVNhTSgs0kBjgB3TaFgfoO4iOTTgiyzClJULs8ZyQZHenfGdm3SgVDwL7ixZQXkxG-pBND30OZ0kkcYAQcfW6fGpewrv6JnAFgPCCcCAvQPjlm_xiyeAbfi5a36fH2jDlDvdhwXnbTrVExZhlbCvnOV2wfAE8CqNCOxkTeY0WvA_XaOTlkWzlxI2hV4vxQPxb0yD1jguSjOAGVKJBPOo4j_MYnU3kjL059wZg4HAtI2p9litgmZ_jlK0OGVytG15bg96i1g6uhu2N_Esk4AskBXhXh0iFLoXKtdFs-X5dIsSD7Ln3bq6U2safOWLZBaP_J7lUD05LDob8aGLAbbqIyC-K0-r2svAK7PIBo4aGjJAAx2z1vsEGrP8I9l3FWQwTiKUol1HC2WOHM1ai1ocgYLaK5zMwqIeqIgX3_K0_VN2A9TaT16s0R6Fg2Ef6jdDT1dGbaBhscr53wx7SRH7OPq1Ab3tJbz__0an4g4-XlvZvjVfiTzWlEVfAdY9hOGh0qvk9kaFrmNsBIZJ0zAeJTobHznQ3T-Iy7J0sDwTe_B3FtLAH8Pi6cCJY3Jb2fiEPK6dVbuIRHQXH0Pr_624brX59cPbcbb3gt33QRxcQiEsrYARB306guQdJXcch7zGneIlOp1y7jEvqk7a5EV2XrECC4muxn8sEPMdyb9d2joq7tkpuB9OLI0gNycYW8lplE9caT2sfHGxrO1vjq3uwq8ysQNbKikwbqKL9V2e7fm1YsrRZrd_SQ9Kz-vGOqAuwV6Fi8vXR7pYs2aOjayvIwXWkCEOyKgARSdAYhKbOshueyxjRxMluOFDOyWNT07dF_8TjdoS1OEOyFcz9dTxXHhsrlkf22KsE-10kLyGuEll9HYn8kC7KZYvz6Uz0076JSl9O69fgtL_AycOWMz4RStp8QqARHHulk7V4G_UKbZ_vZ4hgvCqlY6VqSrDyUbt80bXr9wib59-ln0UVSYHwP86qXibrMZt7MRc7EmJ-DaMfElVVK6jX7Z8Q_qbus_28MnNGFeo--7TG8E1RDWgi-IH2TN9DPnnN4bFhgpas1qvHMeHPHY8NcTWOmarVpct6HhY3gj9Agd8lct7KHi8OK9FZwYbC2HKDIx1myklCoeUh38r3Kt5NRfFOCtI_4dkvzH3WZn-fpXt85g7-LuOFk6KtbEOY10j5fCzte9yyGVnjufPuSTphxVJk5zK2Uh4I20rrHObJKzY84ODmC_3MYBxXIP1HoeKrm5pW-VuSFdSy-y0vP7R9YY08MlM9plmc1koQEEuJf3qAlQS0MCskeCwvj-fSWkXgbiUHtsRVaFpxlkQT4lDvj2yJd89tHdoSURxDqBY3ex8D2vitvQjA5FZ-rbRnbljx0Ao4zfTMwg6L1ceO5AxrFkPdbMBLldeOy3JMmPucvovVfWZKoNA4xpk-PQOtFhWTiFXyhBF97-eTk7QW9j0TZA3AtJQCmoMMFY3LAQdqOt5PAk3cKPma7pU87-KaeLHyiIkIHaB3bk4oKSlGs9lxpLDFROBULJPUtL5hlMwMiT13vpxoWVGIbYqj68Nz4Df2c1QuJWMRVG6YZeao63tGmPwEUcklrtsKV5vRIT88KPpg3v81CqK_T1RXj28Hm_2ObPyIgY-Oh4-tyQGQc_qJq4X-XaCZgNqQW0FG3-dtQXDfZE3Alc9x4rDjN72rpTggkIHId-kIitzHfvruVIix6Ftw2jEWqgXY9Qv8EpAYpoIvbIfq35FHgxZOVwLSTrAaMXL-7jdvM-ocgEi7dBl0A6uqbvtPsreld6Buv5dr5bN3_isfu92P7dPNr-SjRQvX5p901quwYhbEME_J3TPz9lVSu-PGqSrq5wwDx5f5Dcuv9PK1Nx8BgYA6E7A2lfIg3QpliH59Ci0QXPYzxyL7dBQFwZ5opbSU7fhnlvZRI87sVz11TBvPuec2Kax7sQ9khj1RJl1h7bRTiCqK8afGon2rMxdoWTybZ3oqn1X6pcxigg96G4cEC6lx493LstHHN2OK-HkZR9rLXjdg2NGicwaS1XnBychPRTpkKqySMJNBjnC71Y41WiUPHMO37cP-SW8kEbD9_1RpZegpYZBJLuCsnRHLFYX0gdhM91W4mcPxUVKIIzbq_QwONcd9vX-cy29Y9uD7_9IjWvs2e4iFv_loeFwbzemYlzNWDgdTFc4ZgkQL5f9iY7pm2I8eEx9QV7HapWkPDxfNVYsXGoxIVV6YkzBnxPTZy-GkVdyj0HfzDBcQJEfGrrO1LoiuB67ZgVkgox15wCuNNc25IXwsZ4ASnDtyQbaXJxtaXy1DuWA9t-mQ1Lvmuz3MoAYn3oF1ZtwQNqVqD5duxtNU7tQ_Uo3TFU1y22meADgjK3sVuY8qXdGD6g9smTxs_VrMA2kRWLuq5qx7xnP1Yc0ok3FYZjxtv7N7keION4nNfjdZOmLUvSXOB35GkzF9k1EiGlBQ_GN_LhDRuobQfnAsxsKpyd7zQ_6DffVoYGIhpWLyGkodGdZfMp0wrHxy3ad1UAqt2sFagRcYBnuluP66PAzIfNF3MnDiocSBeTHHIGl26EE2BzAqt05KkAY8IYmIMLfmmBKXj9aXCXz1waS3MwMe9ymyuCFq3FAs2zp1L7dmVA8xZ3xGrRJB2V_0-iIlvf2OuZzz3glkhbjTPC21Acm",
  "id": "rs_03e6c7b2673894e4016ab451d4959087d08bf667078ce4c8bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.12,\"right_z\":0.1,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The arm remains stalled despite the inward target; its readback shows it has accumulated about −0.34 rad of pitch. I will explicitly restore the neutral tool orientation while lifting inward, which should remove the awkward wrist configuration.\"}",
  "call_id": "call_3C10zE50J218zhlVt2oSdQ5q",
  "id": "fc_03e6c7b2673894e4016ab451d70df087d0a2697e05d9e4bfe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3C10zE50J218zhlVt2oSdQ5q",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2007, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.6456, 1.1774, 0.4473, 0.0231, 0.4934, 0.3614, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=-0.0001 left_z=0.1594 left_yaw=0.0556 left_pitch=-0.5022 left_roll=0.1589 left_gripper=0.9972 right_x=0.2982 right_y=0.1244 right_z=0.0907 right_yaw=0.0396 right_pitch=-0.0387 right_roll=-0.0112 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.9863, 6.5162, 1.116, -0.1343, -0.0757, -0.0171, 0.1299, -3.4803, 6.5846, 1.6581, 0.3834, 0.0904, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f38b8fe9ee4fdf686da822c79a286f3f889710c8c8b948da2fcf618d93280ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da04992c56c2f4445f4287a57cfe55297939a7410cb3f29c065d9e00411c709f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c948a9df40da2f49fbdb08161b0f84c4e99bfb2cf0764941614fe5959ed9e47c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1988, 1.0336, -0.91, -0.173, -0.049, 0.9972, 0.4679, 1.5757, 0.646, -0.0383, 0.281, 0.2283, 0.9967]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1623 left_yaw=0.0546 left_pitch=-0.492 left_roll=0.1569 left_gripper=0.9972 right_x=0.3345 right_y=0.1182 right_z=0.0181 right_yaw=0.0826 right_pitch=-0.3467 right_roll=-0.0934 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -3.7265, 6.4889, 1.1795, -0.1538, -0.0366, -0.0122, 0.3214, -8.3897, 7.6239, 1.4237, 0.1929, 0.0317, -0.359]\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]: [-0.1169, 1.1988, 1.029, -0.9127, -0.173, -0.049, 0.9972, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1603 left_yaw=0.0553 left_pitch=-0.4992 left_roll=0.1583 left_gripper=0.9972 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.7812, 6.4752, 1.0965, -0.1245, -0.0708, -0.0073, -0.1983, -7.5009, 6.9949, 1.5458, 0.2076, 0.0269, -0.3639]\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]: [-0.1169, 1.2007, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.6456, 1.1774, 0.4473, 0.0231, 0.4934, 0.3614, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=-0.0001 left_z=0.1594 left_yaw=0.0556 left_pitch=-0.5022 left_roll=0.1589 left_gripper=0.9972 right_x=0.2982 right_y=0.1244 right_z=0.0907 right_yaw=0.0396 right_pitch=-0.0387 right_roll=-0.0112 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.9863, 6.5162, 1.116, -0.1343, -0.0757, -0.0171, 0.1299, -3.4803, 6.5846, 1.6581, 0.3834, 0.0904, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f38b8fe9ee4fdf686da822c79a286f3f889710c8c8b948da2fcf618d93280ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da04992c56c2f4445f4287a57cfe55297939a7410cb3f29c065d9e00411c709f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c948a9df40da2f49fbdb08161b0f84c4e99bfb2cf0764941614fe5959ed9e47c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHc-p-SyeWIY-rprmTLVFoeLuM3GkTKSNWeZtnF-wzIwo_sH9MPmQZtDmzEQQ-rVZjQhILSzpxrlPhyIkhEymUI0xF588pcaKixoXQc--b95EM7X6f0eJdljC8ZiXn55sJwIdz8H8mE1OSQ7L_Wfn8cfcCrypeTG-WBNVm9L2yKA4SisytNHxMMpOMwS7oqbFpY9Y_F0bBMZlyz1mLeNkTMvuX_wbuSMxsN82C7goGOmiewXQS2hqw4SQ5FqkBsn4ZkTCxIXHOofP1dVCeuPKvoK-YM40RGQXF05AVsfG1frCw1NJwu_t81fBcaPT2QftbFJlPzlaoZLFgFA_N6UVNCfJEcOhOlefoyNJR5bQA1-yE-90URQCXFUfRAb_AlDLjeDSOHDTFXB3FgRo790NPalFzXDuwR5fU0h7_QiZGhmoZF_VYPrsMyExPurovw6tmjtj-6hQgf0gbHYxwpVod5a_9EHXGnIY8Qesu2cSw_I5U3how_q8K3dDY0HhEuj4yaKl0RgJB1xlsTL1Z_T5dUxjvS0IUYy7reIowWWTACY4EjO7vEtmEYUI5ewBcb0UDSH95pP-mdhFVCvf0HdK656MPEJC4x8NXDP6s-IEmfMyEFI6fF6Gqg5ZwFt7lrlEtPUdnMsAOdPLRqg1_6rVliK9DUJcDnIIuG2r7qUs1Ia8UENu6m5JiJIyyKj22nrcL3BJZ-rnVJw4RGiQZvFLUr8gCnuLViksWANpXYlnyN3rGNO4LLtNK81ZXuG5MEOh_asu7koAk3sCu0kPDtjSiJ7Vtpv5S0eTqxwLtnmjHHS9QCWRrCNxErG3jP_MoQMuPX9cMv8xzY2Lgi6vm6Zd9S6xlh8grQ8cpcg3G7RmV9VX07Lx7vm00TOhZLY1zrQ8y_-pnctbD2MrS_aBJSJk66RLIubwjVmOtehpyAdAHnn42quozTw7bWLjti9-c4qFieQuu2v0Dl9UZ9LkfL5QToeEyb8XXRDoV5lFcUm9IzH4buMZOVBYn1ewk_x2G00jQG7merHibEH7fNE_nGiIja5gnURIpstlj5mA4FE6K_WeziZ7wAdXtEa1QdlcbT3EA2GEyU-88K6Gk4rV8P8MF1lCxkXtLtOjle3JToRpXPlIyphFGJYy1SoLUxxIRI42Geziqzc0mtuHE2nqjgjGaMlURfVpJp1dCt7NgZERc4Di9Z0sFpLf5Q25CbZ0r71jBdSdgB6G59Ct3YHTjRmrsG_-xHRK0MgMurQbuWMIxJtA8u5lDOrqIM9IAQ4zm8qT80oAQD4ULtvsSbQTW1YXmq2LNRwlWQmO-A1u4bAnvKXx_pNR6HS3loN5XdLRSqL9SlvIMB_pVUSJQXOhoJB6XoW7RhMPryfxEMzROiMIBvb20ars_QtVYdmKWS-c4mcrQORmtsmfz3DAz4-wgvTvrFeP6x07FUmlk_5yzTNI2ASPxfQM8s3jT6_xzyvPiXP8gDV9E1lR5702vHPWBAGd_nv_yZ6kT_PeM9KIqniKdpUF3AzvHXbCedGY1N-QPtVQGI0zoxc7w6jc6hm0YXuOYiSZCoIttm5PCMWUbwYN31jRt6WwOtxOgu0B6_8VEM2yQ7Uauen87FPTdKmsbNpGtAMthqHmR_qpLnCrAIEy_RLlQminGh6bS-VhloQZdEbww_0Nsu4yMJapw7An9QPTDY8BasRUhoy-IxpcAQ4-Kyxx-NZ9vMJfNMDk111-MUPJcRN8sH1bHSbAtxrIYCayGVEGMmvAGqaj_eM24qcfS2WcQ=",
  "id": "rs_03e6c7b2673894e4016ab451da5dc087d0af5cd35b13bbb961",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.165,\"right_z\":0.09,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"Restoring neutral orientation freed the arm. The pink bowl is centered but clearly a few centimetres beyond the fingertips; I will advance 3 cm and shift left by about one radius so its left rim aligns with the jaw centerline.\"}",
  "call_id": "call_3y5IwEe7nfSaJlAV8UDbIfUK",
  "id": "fc_03e6c7b2673894e4016ab451dbcd9c87d0a42e8db422af0101",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3y5IwEe7nfSaJlAV8UDbIfUK",
  "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]: [-0.1169, 1.2041, 1.0283, -0.9134, -0.173, -0.049, 0.9972, 0.7193, 1.4178, 0.5426, 0.0803, 0.5503, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1585 left_yaw=0.0559 left_pitch=-0.506 left_roll=0.1597 left_gripper=0.9972 right_x=0.3124 right_y=0.1555 right_z=0.066 right_yaw=0.0427 right_pitch=-0.0849 right_roll=-0.0594 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -4.0957, 6.6803, 1.1355, -0.1538, -0.0024, -0.0171, 0.1299, -5.7094, 8.7316, 1.6581, 0.5885, 0.2418, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc654de67f15a1f513103b1c6e6521cfae44f767218dcac5d1293e3b10d0b318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8667622eca8f622bca42ae9608bdbe0aa44a82b2c401d72066bff6803d1b2add",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaff136b782efa6e564e717cd1f10fbe1c8d5ae6cf8ec222e2f664ff137b3ca9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1988, 1.029, -0.9123, -0.173, -0.049, 0.9971, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1603 left_yaw=0.0552 left_pitch=-0.4988 left_roll=0.1582 left_gripper=0.9971 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.5897, 6.8171, 1.1648, -0.1441, -0.0513, -0.0122, -0.0752, -7.5009, 6.8718, 1.536, 0.2076, 0.0122, -0.359]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2007, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.6456, 1.1774, 0.4473, 0.0231, 0.4934, 0.3614, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=-0.0001 left_z=0.1594 left_yaw=0.0556 left_pitch=-0.5022 left_roll=0.1589 left_gripper=0.9972 right_x=0.2982 right_y=0.1244 right_z=0.0907 right_yaw=0.0396 right_pitch=-0.0387 right_roll=-0.0112 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.9863, 6.5162, 1.116, -0.1343, -0.0757, -0.0171, 0.1299, -3.4803, 6.5846, 1.6581, 0.3834, 0.0904, -0.3639]\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]: [-0.1169, 1.2041, 1.0283, -0.9134, -0.173, -0.049, 0.9972, 0.7193, 1.4178, 0.5426, 0.0803, 0.5503, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1585 left_yaw=0.0559 left_pitch=-0.506 left_roll=0.1597 left_gripper=0.9972 right_x=0.3124 right_y=0.1555 right_z=0.066 right_yaw=0.0427 right_pitch=-0.0849 right_roll=-0.0594 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -4.0957, 6.6803, 1.1355, -0.1538, -0.0024, -0.0171, 0.1299, -5.7094, 8.7316, 1.6581, 0.5885, 0.2418, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc654de67f15a1f513103b1c6e6521cfae44f767218dcac5d1293e3b10d0b318",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8667622eca8f622bca42ae9608bdbe0aa44a82b2c401d72066bff6803d1b2add",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaff136b782efa6e564e717cd1f10fbe1c8d5ae6cf8ec222e2f664ff137b3ca9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHgu4RyTMnXOdAFeUPB4zYssDZxST1zTX0X6wo0XtWQulh0jXairLadcL1MWBJ5u-V7oyZFZjd7E9Np9mbDhUJq2qYrO9rwqDkn5rjhuyKBgKHl-WseF8W68NzfDX1K12bOgBMcicx_BE0zViyQ5uNLm4OsO-wp_2r1LjToVlFcwX819MR5kgwt7S4CDGYCMSXN3-_gvCrpxCZ6FN_br_tHRMJq5UhuGooenJFNcanszLo5k7HdlGj0TdcDDN-9qCl_g47eXf8q7ENHv5dGbYwpnuu97diFNDOxoyjR-ccbEcN9GQfaxqW0VA9xPNj5HNEMa64hLEoM4OFoki09rOqOWBdm-2BPBW27hr8fSpq3z-s7fr29lbfsUVsvzHgax96s9jE2xoQw61BacWyLdmQPhqThf3BQqMrOoDXV_lBDWW1SKk52qJDSqCX3ol6qmFNK2duMHXX5BJCkGo5RrNBJ17YE6nh46WvPdxaAaxsiVVmeAwtautYDbYUZLq8p3VgXIPYUlgzqGmkaPIUC0bV5F8XebggOooHRNX62H8vnf966O_RxzFTTelu4p45ySr1yluHbgigIeW_F0CnAvxAK_jq9Cxgz2UeukDL-SmLWsEtyaE7oIDom6XJXc-HX7qGFrKbMMjHybNPr9dUMWVXyvf91hJqiE5Ztuj5sVLlnnoVaM_T0yD06mHwt9Aq8d98b1Aau4Gim8Y5GZzSS0kzJMHurVAHJSxo-U_sDGcV7LsTejqXV5peSvWgu3LYS5qSVjtQbSrJP8MSrwoeCvsbPP1JU4PP59wQJkZtJJVDoIq1LFpHkOmxyyCvW08TCA6km-MtMrLk-ONzQFJDbtQMwSo2viLY1Y45nyWWcti4-G3n_gP0bOUNX8jRWvuVdQG4eVBpRgg6v_nCjyygSlSuyB4AF2pSMPGu-mIQp4ze8RWiXavpHBJw63gVTmtkDMezww52WwMo9VJUfz8RxsAdk00ry6KFB7UB2YpJZ6RpgAn62Aq-jXYopJoQQMCwvZIypRoHCvxWPcdgf8MyDIG0QNHWxkzBFvQJ2MgMQ2ChT2ZTqfqP12gXyNlrFjsici0afFxP91ncY_ZsXDqYw6JdhBgg1naszMSnQKTNnuCaZhcBS71FKAwQ9jAvp_wpBSCl0V0UDiYqZ2I7JuTtW5sxPTJ_N_7J0l-1_v5-DoCYf9ZSKipbWzo8msrlw3Fwj9fhhvAyjXGNcA0uOfmz0rODNYVm_d_HosrNy5-3HyPgrALEiQ4Kif7bOHBQLdAk3ufp6ntrne7NGm6QG8q59vwjpOczenNHy6P4u9qx536E_XIAtkZmK5MQhLiyPE8gm-XbebNVUV3mJE0KmSjrHdgBHev-buIOAuZjJksfRbWrdrBdnVrF_CKYI-l2_GxNSX_BSDcAxCTYoMJctGoW4RnvNeMd9tmb4AuJ1UJWgFICD-YS8AYR_pYxRa94XTqketOJvJQGr1NlYvCPA7SwYY91X9hggSaikgiFY6-uqhDnDf5S_IdXmqlYvlMmRgFjCRcgtB7ABUXrv_u-AHFmM0nxjTLX48SYgeJYNWPMpkLP8orpmoeEyuSTBaf_6D6y7SoDuDBOl0I3LYA-7-67TbEvAPZgrFEQjcYVqZd4i50DtNuQ=",
  "id": "rs_03e6c7b2673894e4016ab451de47dc87d098acca491d198fa7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.08,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The bowl’s left rim is now about 2–3 cm left of the closing centerline, and there is still clear floor between it and the fingertips. I will shift left a little more and advance outward another 3–4 cm while holding neutral orientation.\"}",
  "call_id": "call_o6JqGIhCFK4E3H92ujkUwsdz",
  "id": "fc_03e6c7b2673894e4016ab451df3dfc87d0867426c9392b55ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o6JqGIhCFK4E3H92ujkUwsdz",
  "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]: [-0.1169, 1.2049, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.569, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1583 left_yaw=0.056 left_pitch=-0.5063 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1617 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0499 right_roll=-0.0357 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4393, 6.4889, 1.1355, -0.149, -0.0513, -0.0171, -0.0752, -5.641, 7.9111, 1.6972, 0.4029, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af5358bd4754c25bdd2f256666c6cfd1fb3522defaf4503bb5fe10baefe771d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f702e813310ef655293f954df4e48d1a0e9aaafe3c24492f81b4b62b8dcfb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e5c34efa12b47d2498e7eab26b83e89837baa31db11c33522086ac316f271e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.1988, 1.029, -0.9127, -0.173, -0.049, 0.9972, 0.4706, 1.6157, 0.6472, 0.0048, 0.2806, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1603 left_yaw=0.0553 left_pitch=-0.4992 left_roll=0.1583 left_gripper=0.9972 right_x=0.3387 right_y=0.1214 right_z=0.011 right_yaw=0.0862 right_pitch=-0.3429 right_roll=-0.0914 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.7812, 6.4752, 1.0965, -0.1245, -0.0708, -0.0073, -0.1983, -7.5009, 6.9949, 1.5458, 0.2076, 0.0269, -0.3639]\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]: [-0.1169, 1.2041, 1.0283, -0.9134, -0.173, -0.049, 0.9972, 0.7193, 1.4178, 0.5426, 0.0803, 0.5503, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1585 left_yaw=0.0559 left_pitch=-0.506 left_roll=0.1597 left_gripper=0.9972 right_x=0.3124 right_y=0.1555 right_z=0.066 right_yaw=0.0427 right_pitch=-0.0849 right_roll=-0.0594 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -4.0957, 6.6803, 1.1355, -0.1538, -0.0024, -0.0171, 0.1299, -5.7094, 8.7316, 1.6581, 0.5885, 0.2418, -0.359]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2049, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.569, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1583 left_yaw=0.056 left_pitch=-0.5063 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1617 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0499 right_roll=-0.0357 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4393, 6.4889, 1.1355, -0.149, -0.0513, -0.0171, -0.0752, -5.641, 7.9111, 1.6972, 0.4029, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af5358bd4754c25bdd2f256666c6cfd1fb3522defaf4503bb5fe10baefe771d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f702e813310ef655293f954df4e48d1a0e9aaafe3c24492f81b4b62b8dcfb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e5c34efa12b47d2498e7eab26b83e89837baa31db11c33522086ac316f271e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHk5Enakyw2yBId9V_ydx7x8K8lTiNA0XspnMUGv8CKBxvlwCxl-IGqJkFnX3iOBxJVz-yGJ4tOSh34YMRltNPCTP8Rc2YLkLWiDSD2YE87UfmNIGoWd7-6mxKRNQlr_aqALIwcmMlSzFXESbXTH2rypYOxTuiHQWT61EGxIdG6Mnpx8FlPcgMc-mRvIfPWuu5aXDkNn3zpMwoL6axeMyGaRVUImzlc824I0mZpSUIU-L52nB1EuyVppPlg6AIS5Hq67EB_Sc7nD43pHrpwuunjSvu3CqNL7XZvfXTtlGyguGkqWCp_hvFYr7cyywq9u9_5AodPl3tT1jusJ_ToL2V3jDKQ0lw737fcI7RSnF7PGf8FiYPr4Z2eUhCjCBITwyITpYd3A0T32A-bE0pexaR4nz1A5aHomhbdb2u7X4S4i48edSMEJ9rYDKFJV7v6bsVl0Japjrh6i2CKrp1vQhQR25jpBNsF7oM-pp84mKis6x5NmWlmTiD7n4H6-J3jNSZwbbhieZEKb8X9u1dbtGyRLNvdCBcetRQv3XCYY0GXqBRBL-Y51IleNfNK_nXkZl9RFjU7CUIMUbWU6glmiAj7NNW1cNoxsD81cfkD8JpcMP2mt9_fv4l_us3TGWF66BzzgeitKPvyeUDEzC4hvRYAETdRoHaiWrWsRhNb7wqUcgQdubGXGMAHRV3N0ehWxzsLQyGXj2GFisoCZoJKGLh6jAHx_i0qBfs4d-YPIg0QnAAGJIy-GmM4vazkF1i600IQRIb-psu8tyGM6BXhpHXNsrSVYGiqVil-UhgrXV8yfLN6BPoIEXCcnBkNPWi3JYYfle0USX3MQuEsf1DzWQLZRS4Pnmfdv4OtFLox93j_C2y3_cXHkD3cIPeWY3HorexaIRRXBtrPce9rEviycpD3jqi-rGjVrzGAR7wdm1emcMzmptFJAsUXmagxRFHsG8-Wg853D1ecLmo6dpGegq7z0MNrdDlNPAPXfQXWLhXnafzi4zQ8qu0E_Dg31hMRqCn6-4f0ETNzx7cPYdSgZSGs9MK2PjRAVbtjNVFH9xOqesh7VufCbUhj3vScxIhSnzDjMI_ILKO4RZyMHJ8nIerXRqHtK0ZiJu6LR50o34wYRMpVggeZCLaLOnGoPdy4-PXkQWR5bVsKSpchi0K3LRGBZ8DHBBzmiyjV2XME1r5xGdIjPCjIbFK-ZXKaTnDpSYjg7ZIVhlKnc5C6TJr2gxZnhfQi0zVfZhA-H1ULnnYwkFTIceD_-mNsR6PbWEecXWYqEq06iPWasREKaXXTB0AF2bdZfwameRXts2lxAL7SGNKmXMKF8xBIo7yvi-JU0izH3Xx3qbArSodj2jNEI1AyJa289H76_L1XM10PwWTQMp88Sah1ZTixnGq4kNNuR6rUsSJukTrDLkB-D28gCzhm6qrfBX1LogPzjGMV1-ySI_SaTpb8_XO1vUtT--aEWFot0lRxLfoX6ecXyJk50wQMT1PVI0whAGi-Gxv39VBGI5IYgQTF8fVGGR5CnyFMdcFBT1kNA-CD6txqGYnBZ0UAqUJE7jeXIOAjQTpiHvmBXgXQ90HEBeKfi9vfKW4QMYugKfm7IKxp9Gvecm3NSLOcDOd_NCGC_xLuyFytMiH7vGfpgXhS5omK698JNptRLfJBLHgesMxFtVoSoRw7V3pEXQ9cuOprajAQ5R3Im6ng3neveLN9BKgHIZq2rKg7j0ikECF-l86j1iWjZQ0hmmmnQ7UZTEYUEdWIExaQj1aAnafpwQiD6S3JseAUxYrjR8BI3t9oP_sb6urxaflFSoUASM8TEY-_Y6mXNNUKNc1ciZVgvt1yqdgzujRLNh5s4mDWVcSVjJSVl1Q0zvPLyNypETFTZwbJkTAuSsccFAxKNNfLT3fe9ArN4cP4FJpUzSz8AbAvd-i5-qXNgnGYByAEMtrQ1TvsV4NNF6E6rxNp_7RjnqGgGwy0RRdKXSOZljjxet3WqGMxLFDwat08lk_2sPoyjlUeg15rnHWWtz4a0Kc=",
  "id": "rs_03e6c7b2673894e4016ab451e19bd487d080394a86a2928bad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.162,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The jaw center is now about 2 cm inside the bowl’s left wall, which is suitable for one finger outside and one inside. I will advance across the remaining gap and lower to roughly the bowl rim height, keeping the tool vertical.\"}",
  "call_id": "call_6mzhBtkTCh5UTzlRmHxV399r",
  "id": "fc_03e6c7b2673894e4016ab451e32f8c87d097401fdae6f0c5ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6mzhBtkTCh5UTzlRmHxV399r",
  "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]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.7246, 1.438, 0.5678, 0.1097, 0.5686, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9972 right_x=0.3209 right_y=0.1618 right_z=0.0743 right_yaw=0.0276 right_pitch=-0.0498 right_roll=-0.0353 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -3.9316, 6.4342, 1.1258, -0.1148, -0.0806, -0.0122, -0.1436, -5.5863, 7.8701, 1.6728, 0.3883, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e44f18f7c24a30c27a268084f0d3f43fb1d2a619140d8976d56484f9c4d566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b0158f748751319b2c0c02b51c728b55743ffe0fa3342a6bf46681dffca892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691990a970ba232507e54e5b1fe8d055b4245c9c4c78067ae9ef1c06a6e54289",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2007, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.6456, 1.1774, 0.4473, 0.0231, 0.4934, 0.3614, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=-0.0001 left_z=0.1594 left_yaw=0.0556 left_pitch=-0.5022 left_roll=0.1589 left_gripper=0.9972 right_x=0.2982 right_y=0.1244 right_z=0.0907 right_yaw=0.0396 right_pitch=-0.0387 right_roll=-0.0112 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -3.9863, 6.5162, 1.116, -0.1343, -0.0757, -0.0171, 0.1299, -3.4803, 6.5846, 1.6581, 0.3834, 0.0904, -0.3639]\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]: [-0.1169, 1.2049, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.569, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1583 left_yaw=0.056 left_pitch=-0.5063 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1617 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0499 right_roll=-0.0357 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4393, 6.4889, 1.1355, -0.149, -0.0513, -0.0171, -0.0752, -5.641, 7.9111, 1.6972, 0.4029, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.7246, 1.438, 0.5678, 0.1097, 0.5686, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9972 right_x=0.3209 right_y=0.1618 right_z=0.0743 right_yaw=0.0276 right_pitch=-0.0498 right_roll=-0.0353 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -3.9316, 6.4342, 1.1258, -0.1148, -0.0806, -0.0122, -0.1436, -5.5863, 7.8701, 1.6728, 0.3883, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e44f18f7c24a30c27a268084f0d3f43fb1d2a619140d8976d56484f9c4d566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b0158f748751319b2c0c02b51c728b55743ffe0fa3342a6bf46681dffca892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691990a970ba232507e54e5b1fe8d055b4245c9c4c78067ae9ef1c06a6e54289",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHnERgh0bp0wB8GlJ-ZBdzYEyL9bjZFLVfpAOEqQUnJa_L7bsXzsGjNtorbJFkQxM2PIa1yDlls6wyXH4wQaIlbsiRYTlC5F5Y08tZPf8kLQb5BFRXhI7oEAQJFw8Khf6zUBk3eL0JmKbCvvVCfUtR00USS-VMXDM1L0auIZpuGCjFsGJXc5chRSv6ZIvZvVJTbAGqNWkRxwzg59HUyjroyc0JaRe-Ba_cJmNmYE-iIRB917QhUXXKgkzBWp1vA-_G76b7IF0VElQm0WcxTqwP2V0lLXQzo3NEgJ4iI_HrsynN-QPWSlpVJ4OT_8ch3ko_Rqo-VzTnVDx1NJ6kyvcZeeoNq10mSa51VC8GvfLIFMPxO8lHCmjMT0CsueJkjFJFMbLbASjjyk3gHmEs_WjBDo5BOuAjz0OqCS3guk5M9betSEA_zpwYP9kBe8UNdC8ML0EYvySg07PsDnhJlri6VKRTwBnxmY_w9XRL8CSHwaakt19OZ4tt0O8wi_FUA8Phm1LDFhnyFHgU_LQl02FnhsV6e4iw6Py5yIHXS0L083AmME9MRJvE4h7F53Ychdq3Hw4IL97v5LhLjlpXLlph2APNEbyzsJ_VgHeccGil3_3Et9uOph-anEnZD0gvjHLcCnaRiPmvfLTmSAwntDE9NABjQeGlYwHjnA5qLD-6aGTdfYmMUiR3h2U_XoEWd40qcL-3cIkMI9rJ7fDeUK0u7RBPqE_lyx3Aci1hhrR_8IbPttMookGuxettXZZihCG6ZlwvAWXaWGpPYqbgZ47sD2wN1eqFLtujOAF3UfeqFkH88MaQs3h2wFI_WN65PF5gaaHBnKoAzfBNL1aId28LhXz1Oxj5Nv5MvGSn32WB_O9gujaw-EUinw5dlpgjg7IARIyKqGXe1bT87EYNMPrEOhn0UGoJzmokxZE23uK5K8o4q5KJVVJV4StxtC0iPJ_fxu0ofi9J0mvoC4qut8_rvrfLC3oBGXSq0VRtLl968aC9xiK8ULiWd-VpGHBbEtZ5Uc5n8XdJP8WxU0oO3yTJwroEfVBhVkEUjvXDMBXOTy5De1b56uYYq9jjffd98u8jkfgxbCx1I3NRHzJggw0yHUbGL8AvS8va1eF1ajZ2PoqESfH6rC3_wYVW6oE60j6HeCXOSHaJqXFhJinf5uvU8Q9oK1rQiGp0WCIszG3RZeWe4YRwVGba0HIqtQwethUURY4HO36UaP5xgob393zRAXufqOd16iXcrJ1lpzwLQ4upZhmB02oKqXHZQFentxW5_o0wwZqYQxPHi_cwU0ayTwQWVz1BRJdLbmrg2Sx9CwouN0FSm0oR-IrAhUzkb1KuVpNmhzVmTO0ArAcEyGlp9YeF9ZBGHauu-q3IsdOHOHnc8OE6W55-GZaPEcCnoXPQZ",
  "id": "rs_03e6c7b2673894e4016ab451e58b0487d0b92d5f9fe65bd9e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.162,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"That outward descent again stalled before any contact. I will use the proven IK workaround: lower while easing inward, then extend at the lower height without changing the rim alignment.\"}",
  "call_id": "call_F8OSovGCyarze6cvsnJ03Ghw",
  "id": "fc_03e6c7b2673894e4016ab451e610fc87d08d4825c47627a1f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F8OSovGCyarze6cvsnJ03Ghw",
  "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]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.5686, 0.421, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1618 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0501 right_roll=-0.0352 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -3.8496, 6.4479, 1.0867, -0.1294, -0.0611, -0.0171, -0.0342, -5.6274, 8.0889, 1.7118, 0.4078, 0.188, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270a659f43ded848fcadaa578f0239e4e6e107215543a165eef922fd87db3c07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2850d09043306ce6797429639d2f8addb4cb0e0f2eb4faaa5da5fb020ca476fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c37d74a31e35a70d85b8dbd894ac3b602fe252e0d4d9c5d1f9f70f37a60f6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2041, 1.0283, -0.9134, -0.173, -0.049, 0.9972, 0.7193, 1.4178, 0.5426, 0.0803, 0.5503, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1585 left_yaw=0.0559 left_pitch=-0.506 left_roll=0.1597 left_gripper=0.9972 right_x=0.3124 right_y=0.1555 right_z=0.066 right_yaw=0.0427 right_pitch=-0.0849 right_roll=-0.0594 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -4.0957, 6.6803, 1.1355, -0.1538, -0.0024, -0.0171, 0.1299, -5.7094, 8.7316, 1.6581, 0.5885, 0.2418, -0.359]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.7246, 1.438, 0.5678, 0.1097, 0.5686, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9972 right_x=0.3209 right_y=0.1618 right_z=0.0743 right_yaw=0.0276 right_pitch=-0.0498 right_roll=-0.0353 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -3.9316, 6.4342, 1.1258, -0.1148, -0.0806, -0.0122, -0.1436, -5.5863, 7.8701, 1.6728, 0.3883, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.5686, 0.421, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1618 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0501 right_roll=-0.0352 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -3.8496, 6.4479, 1.0867, -0.1294, -0.0611, -0.0171, -0.0342, -5.6274, 8.0889, 1.7118, 0.4078, 0.188, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270a659f43ded848fcadaa578f0239e4e6e107215543a165eef922fd87db3c07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2850d09043306ce6797429639d2f8addb4cb0e0f2eb4faaa5da5fb020ca476fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c37d74a31e35a70d85b8dbd894ac3b602fe252e0d4d9c5d1f9f70f37a60f6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHuBbCRbJ2Gx7Y-irOBCwA30ZhpYudcPL13lnudykmtF7NPruqiV2my7U8B0tQ4nDkY-zTNas-oIKuHww4MwWLByR8U2O-P_9NtoL7utAoWfQ9v5Nz0Du33G53fFD_I0C1fH1ei4v0gJ3Cxg-ZctB0wLJUB_TVzcdfSVvg0NlnzqdNh_xixZsUsxTPpoNEfAyD7AWIiK16wLLN5y90tcejSod3s9XlckzS5clzMHBCg4r1WddlDRyI1-f5A25vhMeToyOFLrinfLaEanZqIm6fu6F6BZpU48m1iq1QXeFzGxyjRgPXC5MoSVslhXqHU7_sLLOHf8Pr9NDmJR0z-pFTXdmi9tvBeXT-lisd5JQoSZRWTH2Gg1nIFTfUXQNFvB5VJa5zobl8_-w-4md9JuFPKB4rokDAiBhhvEpUHxhvGu08tnFd9VyEz-GKtyffoJgjubjBk1YupbqKIE-6J4000daE8rkgXdpVNrr4sPmq1yoBage20L95-RibWeBgOx9C4-Qhr_ODb2_HIlYU7l26viPFWH4sEMbcnoL_siP-1xgXrnR81Tae0wQkSZdjGzoVzF2PxGlSqsHNPPk64QRpWwrMy-imT1naIimN3SiTewFNRta3sIy4T-AdX8m6nOMPh7hHJsspqk62L-YvonY8SoTmetJlSsTEr4TloEMDDID8oTWHJ6eI1ii1UnAGmadA6WKUIVziiOKPQ6RM4xk7S8YuoPmkbQAA74AtxMHmkImA3bA4yqu8qKtOEp78z-2Qh83IesU7ItcKNtYGR4tJ-CB7O6L54WjBuid5905ZUi1y96Fl5hFpwUFEQ3xbz5HvDqCZeSdZ87h1t9wD3PYcC4YdxMLr1sdwiNvHtVKbJ2SEFOB-4sM11fCOOsj0FdEFbKP-Y_I0PphzEl_Hah6oR-F8fxaEudqr9Z1vAZIuJe-0aopVlG_40iZVeN0-P58S46zqm4vobmwOim3NKjdMsuaknEkK3n0Hm8q8EU5sAZLUDA3kM6MB_2O_66ihkUtBROKkyDd942T4c6I7t5RrKJFX1ZnNmumk3-EN1DawxAmUYwXZaBUraXzoeRUc7C_xqqLp6heQ4631I7A3O7ePr9RfLUL7KO_9NNu9oihLnslzoPUOpwJ5mv_xumVdjn-xmoBXd2gT1egh4BW8scyRBrfaLUeGf84EQISbg1YZk-azPIGcOp31L00pACy7rtlZ3n6vcAdaGyYNwrHFL2NOje2zym-jfz61OBZGSdLCCYlcYzu03GNKrd3Okii-pKgl5opTXMoPqM8nhojR9b5o1wB2-iGMdjis7jlkIY1fiBNcmt8IkDjr8OTEIMb9GZYoV_WwMycjUyABSpzwyFZVfAqV2yfBNiifLZaaMFe7LBJJbQY9MqscSjDR5qzNiFPSr4Ph86W7YJazi2KYbOjzXYGHo4VV8vHtdb6uMtqua5yQj2FCkwkJ-VMVmqzeM1VI0nz_TntxP-FMVE8b4T3nYbMxUJbokll2vSywUG7Z9pqhwtHPZzgGwIdA9ze5N8ZK4mCiP2b7Huch0WLNE9e0teSYhFwIeXggxErVxAV202-MLWnvVEyq8SUkgiyPAPb3uCRu3UK-NpzgvptdUrQdPmyfN_ZonZxRQEwPOmG_opkNPbYv7IU5u1YLw86GO1pg3HOmt7cL8DQ3nsRrg4ymRnMW7MHdPpqnRLsdjCOAOIciKekQQtnOT2hvMT9bHA0OM-9OPSikqFoXW0-Ro0WDihLUW4drAdrbI4xC8sS3Q2otnMkvYpwdEqfVhpduHYm3byOdUcn_4thM1tLfVQdnLrvrHFEaGXhamYNQ9aKJPCZsnYVgmHvIl4al_6twCmeVtaVhK-YYPKXr6maigWgoFNYUwHI6wGIcfhKTr4Odw_DEk3FBzyYCGZ_qRtBdgdhd_oVtrMHmHxoi_n7jf-EG-edNs_XKdjlMBDVfOO09q4Bv5LAFpGyRh0cCVdyQ9AgnfG6Nu5buH-fRz1LTF7y9lRame-hQeOcZJnK2Nn5BtcY8X3E-w-dPqWNJ-pNHgTjbfAxyRY6TwGSCWq2MA0ePETThvjkqPNc6DJcv82UGq2lQOlMc9qQTxQTznO2w8n5fyZA7K0-mERp8m7nFx8PDzrsecXOvb6xjz7NwVuaHV6Cf3oSLbC7qvzAN3yJAg30u3BEuhqV6gRP-z6HKAA-ItnlLtYoz0Db9dEXtj2gi-Kh1OubaXY8lpQQ0OHiGHfjqBu3E0C_PtrnymBYxpFUQFXd2VvPSuFRQTcs3tQGRpdu7CkOWuQcUzMAY8ifpVCmmYefx57pKAEkcYcQB4vLqwKsl6vLztEh-US7gti9r_23K5BS9bs5BC_C1J-4P3QpSUdBtFw1g-YtlcV0ey1o1_2_lved0JnViNVRnR9YJ3c9REy6okruH7tenYPh4mU-GSySw_Ed0t1wydxS2IEtv3zegTLwy9V5HIOoMYKxaZpvXjTcH9LmIBWcreQSG9LP18R_GvyPcX91_w7zDdz0Ja8D9-yd7mcbxV9UoN0lydA0PvuaUoXWU3y3RNd-ARsIg94qnhS8kVYn7BWfiHrsUUuanZKYSO_Hy2LkW1fWrkGe-T3_uFft607VBYDtzA8Qz3ObNaFDZ7VJ9f0OOoXZYQ_HcZ5GirpzTXyLYSLsPWBUaaDBlsYjJhHJUsGfP8FIJVvPCIY42k04GATjy2AUAkGhXUeTUVOoN-PGIZWqb9VkWWUxzmhO7pE4IkYEmLEqdaOpWYvgiouJGN-zofhmc7B3SwBP6CETE_CRYoNnDpBIFfwWbc5VUCljxw55eFO-j4IFgleOWf3jw1tCdmG3Nh6noqnYlEiBcaE70b50HGsibzoHmXwgCspwjOnMfVURvYNko3lhJ4u3XGDDdD8FgezsPFnBcLqZh2GwyU90nEQ7HN2CJX8xNVZuZIgAS1I9KVhUVxtDFmUjTFHBI5bRlguz1YP2KmK7OgFRPTex-buAWExOe1hppBQyrm0YTvYYETzUkOhLGOqnAu71Xq6XlMwwlAWEQ4VNoeIdlJLrS1hb4yMHelfxdFiDsAiUI4hM9a7yP90uR0xvoC_-C52PVjiKzFS2m-p4JH2tCJGyJ9wP7KUryMvj2rw23ooc9WPGBTSTgUs2Y4DMlp6qFwbzy2MYI8TQvCn1mVBvUhp4hfkaeVaeSspArYJgToXvLHmlIGb7Jk-OfkAd76b9UqBMngEO9DEFQw4zhMRjk729otKVRPA4WdHsLO9lG-DdmUI13URrzzuXlZA6zuPI07iJDS66lgCUk1VRx4VYBPkx75rLQK2iBjhfcXTXiz4kZL2wExaHprVXNsdvWaA-OjOqZBBSTe8FWTL-4hTqaR_GF29BPABKV4v0IL_cHeCTuZqh_xTRrO4V34Dh66DVQnkHf2rc-jHA5KeYx4DAR5_pzcMoBGiswD_smHg7xATF5Gxmx5",
  "id": "rs_03e6c7b2673894e4016ab451e8870c87d0baeac71ddb6a7540",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.162,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The arm is still held at the same pose, so the limitation is the vertical-wrist IK branch rather than contact. I will pitch the tool forward while extending and lowering; this configuration is the rig’s preferred posture for low forward reach.\"}",
  "call_id": "call_IwZp0jXd20wyeBbvRiNNOPk8",
  "id": "fc_03e6c7b2673894e4016ab451ecf63887d0b29bb0879c01d42d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IwZp0jXd20wyeBbvRiNNOPk8",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2095, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.9301, 0.3756, 1.0847, 0.6636, 0.2455, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1571 left_yaw=0.0564 left_pitch=-0.5108 left_roll=0.1606 left_gripper=0.9971 right_x=0.342 right_y=0.1622 right_z=0.0206 right_yaw=0.0336 right_pitch=0.205 right_roll=-0.0465 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1641, 6.4342, 1.0672, -0.1441, -0.0464, -0.0073, -0.5128, -7.0085, 2.8103, 1.9463, 0.2564, -0.0806, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c288faaa01dac7ef709751b483a09c207b476f660466616884bb126fec3b87b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3c8f30ffcdaced01366f86201492dfd007c20674e37ed561e9c6e1b8c12917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977cd6e4db7cdf6543b37c326db147f239bc5adcadb1acd6a0f9e31e043d394f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2049, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.569, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1583 left_yaw=0.056 left_pitch=-0.5063 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1617 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0499 right_roll=-0.0357 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -3.4393, 6.4889, 1.1355, -0.149, -0.0513, -0.0171, -0.0752, -5.641, 7.9111, 1.6972, 0.4029, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.5686, 0.421, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1618 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0501 right_roll=-0.0352 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -3.8496, 6.4479, 1.0867, -0.1294, -0.0611, -0.0171, -0.0342, -5.6274, 8.0889, 1.7118, 0.4078, 0.188, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2095, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.9301, 0.3756, 1.0847, 0.6636, 0.2455, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1571 left_yaw=0.0564 left_pitch=-0.5108 left_roll=0.1606 left_gripper=0.9971 right_x=0.342 right_y=0.1622 right_z=0.0206 right_yaw=0.0336 right_pitch=0.205 right_roll=-0.0465 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1641, 6.4342, 1.0672, -0.1441, -0.0464, -0.0073, -0.5128, -7.0085, 2.8103, 1.9463, 0.2564, -0.0806, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c288faaa01dac7ef709751b483a09c207b476f660466616884bb126fec3b87b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3c8f30ffcdaced01366f86201492dfd007c20674e37ed561e9c6e1b8c12917",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977cd6e4db7cdf6543b37c326db147f239bc5adcadb1acd6a0f9e31e043d394f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHy-pqzS6sF9gBH3Pohj_tATc6hwVoOtq1w8jQr5PksBkUaM-STM3ALq3CFZb10nKUv3OzkC_894uaPopaIoBbYAiq-2Ev8uyMGBcoc9C65zOF8UfGJU33nD8jC-CaWSZUojCgQnjJjtanwPgNhEdbOGtAY_yHKLrWCCO5rEdeTlfjT4LovIpGcIS249qZDazspvCh8rs7_a6xiOJEizE9ml6ljnfUxyzqUCG-N3vuSUtsSSgOBC-4DIlH_cWc02MkXQ_P_-DMs2IOJspLsQwFR8_JbbhNq55Ko4HaNSDR6XfdBRogtd_zxSkO3hzWDTSNdQshDH5NUZEijKJ2Or2T85blVonEgpKAZj2YSoL22gyXsOURTMq-w07z1-5yvVjHFaNnF6XOGtONiUNVZnHINUbkgWepNm9yuEeL6XnXJlSMHoVIo6YvYlADKc8ThtVRonQUyS4yVVUGkiTINen88ElqEUsXKljqhqYjVN3ie89x6SFrDjUZuaZoThtw28XVKkROnFYDjFC1U_wV1QhZguuXqoMN_rnFgVkgih2WCwIsLW4KmWWC9LGznbZvWoq-850hmR5mNPb2S2mdp_kfjXXTX8TAbhyJuvA4VB3GaWxXbkz_bN47P2rjtyc0iGT_V0msET9R17wyk4-2uxAZ00TWapWcHtrwU_0NMiennfAZKx5bFi8I_u7VC7Yx0vT1oUhzHJ8kr2-COmGUwnJeDJ_F5aYTHbJAhvgkStLTG7_kgRpriv-mkNljFn9yGhtsgKktK36tfLnYRO7v8a-ihRy_Jn7K5y6fWOESKugsxD8OIPqIOc40raRZLpMCijON1nxSy2MRWo2a2pi5iDtRqXJAFDcwmABpCB9asOXgSZUpBNvirlvOweU6K6bflFYn7FEA6jJLERVu13c-gbnHjjFlnz4bAOqM-Ro-PWSXNvd23vxUT2A0dGWcZzHWq764tZV-AidvaSlC3H0DD1b9VEBdwcRH2V_Jk1AkImH0Dxt5caYJtf0YKrwSdFN5I2Ux4ydg5CEsTyu_JJK7Dabrj7ylciNI0ZJ71ldo0pjNiFXuX7TLE3AuebVWhdNConahKX91EJupsD3KItdMYlIOcvY5PG4nhBSb7utwuE5JPiNI5YxoqLtYiO8n4UlmTyEKUxV7tBV7bD7oQHOnqiRxrllQ0HKcvx_K5O4JaZbuyWNs_a_E7sZQesNnTPAcOaYZtJncAQ9qqab2Z3vd48UPXvkyRkaJsOiMqDyZpBCJwwzvExblnE0dpWG5urkvH2L7AkN5DNKQwsOLC8KLWCsUUiyoNEFiEWlqrEuxFxjudSNKnAtt8qZZXhh7TAsY8Nj_lFexjk-RpxlicXlJHoyDYEPAgvGbaF1CdpErrLcu8SKalPJxVte0rQgZaBa4ypgGRkCNH6MsUB3sTIEx9ZizQfZ7FQiRh3GtHMBxsGNOjjtNauxQAk0tPXx43TuuRTuJCAMIAMNagAZXWpbC4pGpTBMQ4J1VKwDZTzbcoNYRIqKYWbVjHP3exxXB4ECdInQyRy2idcLw7XzFCxzzB44fWvOxFY0GPlBMsbzQ86z8AJPAcXrWuqKxNnvyJCTxJs9kv",
  "id": "rs_03e6c7b2673894e4016ab451f086cc87d08e272ed01593f869",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Pitching forward reached the intended low pose. The pink bowl’s left rim now lies on the jaw centerline at the pitched fingertip row, with one jaw inside and one outside, so I will close to pinch it.\"}",
  "call_id": "call_b9jSaedjrUdrHSmBRTzL1wT0",
  "id": "fc_03e6c7b2673894e4016ab451f13bac87d09606c1fa45c5e16a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b9jSaedjrUdrHSmBRTzL1wT0",
  "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]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7227, 1.9484, 0.371, 1.0767, 0.664, 0.2394, 0.0077]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0564 left_pitch=-0.5112 left_roll=0.1607 left_gripper=0.9971 right_x=0.3392 right_y=0.1588 right_z=0.0118 right_yaw=0.0386 right_pitch=0.1811 right_roll=-0.0724 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -3.7402, 6.6667, 1.1258, -0.1148, -0.022, -0.0122, -0.1573, -8.335, 3.1248, 1.7656, 0.1783, 0.0708, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d054b1b9ae2d9d4b4abc3a38d7cbe5c6f04ba7f75cebc3edb3a31825c7af5d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367a383d13b2915a17e5aa566a5404f5702bb738c60c9e4fff4108720c66dca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453144109a64d065ede536821976e9fe97279bee3573fb22bcac1070737f69cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.7246, 1.438, 0.5678, 0.1097, 0.5686, 0.4206, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9972 right_x=0.3209 right_y=0.1618 right_z=0.0743 right_yaw=0.0276 right_pitch=-0.0498 right_roll=-0.0353 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -3.9316, 6.4342, 1.1258, -0.1148, -0.0806, -0.0122, -0.1436, -5.5863, 7.8701, 1.6728, 0.3883, 0.1392, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2095, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.9301, 0.3756, 1.0847, 0.6636, 0.2455, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1571 left_yaw=0.0564 left_pitch=-0.5108 left_roll=0.1606 left_gripper=0.9971 right_x=0.342 right_y=0.1622 right_z=0.0206 right_yaw=0.0336 right_pitch=0.205 right_roll=-0.0465 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1641, 6.4342, 1.0672, -0.1441, -0.0464, -0.0073, -0.5128, -7.0085, 2.8103, 1.9463, 0.2564, -0.0806, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7227, 1.9484, 0.371, 1.0767, 0.664, 0.2394, 0.0077]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0564 left_pitch=-0.5112 left_roll=0.1607 left_gripper=0.9971 right_x=0.3392 right_y=0.1588 right_z=0.0118 right_yaw=0.0386 right_pitch=0.1811 right_roll=-0.0724 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -3.7402, 6.6667, 1.1258, -0.1148, -0.022, -0.0122, -0.1573, -8.335, 3.1248, 1.7656, 0.1783, 0.0708, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d054b1b9ae2d9d4b4abc3a38d7cbe5c6f04ba7f75cebc3edb3a31825c7af5d04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367a383d13b2915a17e5aa566a5404f5702bb738c60c9e4fff4108720c66dca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453144109a64d065ede536821976e9fe97279bee3573fb22bcac1070737f69cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH2furO5T9wR7GOfY3Ne97mV4n4ZW788H2BSwSjcGWT7KY08cYpY45vskVqpWEp-DfI8fGIlMWKJC2P693PFNxHq_lrah8BIckqjCKHQaEzq9hgN6GU4-nVyhglJScN1GhbeY9wAPgkphzXitF1M7fZwEMR0Ffr_tNiU0nFuBjauPzdc8Bd8KNGXv8PYfP8O3_DQ4wN5LddmQMxSOxZX2KaW9WxW2wB01StRqxwSorwv8_gZ_DgTqUZxDNXFfuSAu1qOv6VY88HDOHD-kNtvqDXz4U8ZiOKdsmYSYImM33fpD-7oKYS6taO3xM-hgrWXdw07Ned_EW9YE32RROUowDg_TcWob73eqaE-m2NvnzgOQwnVvJSJ3nwDsYQdht_sWNIQbbVKpx8DBr3wm5ZrAssUKIXt1nZDUtD6clq1gzmCNweRkmm7RqUThKsCHz6AmJ0shmoLNMVACKrsohRknmxYjY6IRL90EOAuzztVhPr0fpEn-QLtErB2V-px-5RvAk6d7ZarUdPAL9EbR12kjMGVMvwYIu8iCLA2BvAgtoPHXnmlXFaI0KHOgI-To4DAbF2OX9glmccrweEvDqgglK96hXefO2ZBhW9b0pSn2g5O4P_sHNk0Yu194HF0I4JK4ymdvSbLsoC0mAtwO7FaydMs5m0PD84SGJrcx7WhUBJlipkg-scwXanPNMlqhr99iaVgGdHO6NTjOgOb9ONos8Iro9czxB0hhRPrav1wHe_tZ5YhkNxzXpm7y7q6P4dSY63jS58ciEyqkY4ecxdT3x1at5RU5vLq0jmjPs9iuN8Fa2GZi8QGdr31Qe9Iw7jmAAVKTi8A-wtj9ie5kz4qyyGQyfhHtG1B1n7Hs1nvCoWgqM8jfiVaU_fETvDU7aYGXcOq09ezRlg_WHEylG8hfqteTcFBZAX6kydbTR9X5Cy7CzFBaYkClTasQAywpzviLsHJkWi3ntkEItnEQf_QWdulRK9ra2U0xCqeivSOiSUprca5ldt3IOvpHgjuQJhGyI7jQElsTSzcCMHRhqyfaA3sFiVia2MWouSYEW7M8pK-sYYwMVGVvcyI6A3lZyivSUWC2qUVItq1JD2M1KgjImlCN61IM3G6SXqqfuWCQf_AwgIxfvq1cSKpflbIBR7hHB_ABac_OwzxiTuT0G0TpfgSA5FhYrx4_z1d2W43oNEWjHFdl5xl-gexxW_6ytSLP9ug6s6c0VHMjUx5ACpTKZ12-goSh5NmytGQxD7H1IYQiScqgMampcBBLyBgNcwaxsOzM6sQZShqadvBjdNv5wPoBznLFCMhVdATVdjEECQtSSfuow9japoDa4FSBNp4iQyJ15nNe5XPb07Seo4NdCaGjadwE25MgArDdwh1Y5dwHr90AU1Sc0DZgKseU3t-9eRYFDzJI16gf7WPerY6v0HOfy7V8dvuErDpDbSyq6WUMFhtLp7z2_u9bkKWJ7g4_MQw4aI3aggozL7ta_nF55nm56abhyeo3-v0tbLt1N3kGztENJT0FDXF6wfPWppcaiEyIUzJuWK6qvn6cYDR5gAsm3uRTuQD5kTw7MCExfYpDvFOxDOtrLhRKhOFETlodmDr4nje0ICGm7eShETOg7UfQdsw78yTxSHcg5gQcBmpQtAms6dtWil_S_gqmzPtiGG-sa3Em8WcR6hkR6gv3FuYv7Yx7AI_N69xnz1XRCGnl0tPVs7obvmWpx0WWc1n99Xe6QuL4zkFcQk8dE-vBOLgzBMPlbF-Ar5BOm3e_g0L9q7nSW59GYN23XAO0LV9l75O2gTnQ1URb3YUim2LU_aTA==",
  "id": "rs_03e6c7b2673894e4016ab451f450e887d095a23d4b2026af2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.19,\"right_z\":0.08,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The close was empty because the bowl’s left wall remained about 2.5 cm left of the jaw centerline. I will reopen, lift, and move the arm farther left while retaining the forward-pitched posture that tracks well.\"}",
  "call_id": "call_fTzjbY0LiBEJ5q0KagPACLIH",
  "id": "fc_03e6c7b2673894e4016ab451f5f2c487d0b4d23c4efd65c382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fTzjbY0LiBEJ5q0KagPACLIH",
  "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]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.8249, 1.766, 0.4255, 0.9085, 0.7593, 0.2661, 0.9954]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0567 left_pitch=-0.5112 left_roll=0.1605 left_gripper=0.9972 right_x=0.3349 right_y=0.1885 right_z=0.0634 right_yaw=0.0376 right_pitch=0.2615 right_roll=-0.0321 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.8496, 6.4479, 1.0916, -0.1392, -0.0513, -0.0073, 0.2393, -8.294, 6.1607, 1.6923, 0.4371, 0.0513, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0340f883e2114ecaf7fa765ff469e5bdef07dae9d85c86a55b63d8c97da92463",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa078819a2fdb39dde6fe280b33e18bb3b1734839eede0cfeecce02e2b7d9413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bca1e1b7a30aaa7997a45738849d9a5a6de89be1da300124761ff24be65bb19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2057, 1.0283, -0.9131, -0.173, -0.0494, 0.9971, 0.7246, 1.438, 0.5674, 0.1097, 0.5686, 0.421, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=-0.0001 left_z=0.1581 left_yaw=0.0563 left_pitch=-0.507 left_roll=0.1597 left_gripper=0.9971 right_x=0.3208 right_y=0.1618 right_z=0.0742 right_yaw=0.0273 right_pitch=-0.0501 right_roll=-0.0352 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -3.8496, 6.4479, 1.0867, -0.1294, -0.0611, -0.0171, -0.0342, -5.6274, 8.0889, 1.7118, 0.4078, 0.188, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7227, 1.9484, 0.371, 1.0767, 0.664, 0.2394, 0.0077]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0564 left_pitch=-0.5112 left_roll=0.1607 left_gripper=0.9971 right_x=0.3392 right_y=0.1588 right_z=0.0118 right_yaw=0.0386 right_pitch=0.1811 right_roll=-0.0724 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -3.7402, 6.6667, 1.1258, -0.1148, -0.022, -0.0122, -0.1573, -8.335, 3.1248, 1.7656, 0.1783, 0.0708, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.8249, 1.766, 0.4255, 0.9085, 0.7593, 0.2661, 0.9954]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0567 left_pitch=-0.5112 left_roll=0.1605 left_gripper=0.9972 right_x=0.3349 right_y=0.1885 right_z=0.0634 right_yaw=0.0376 right_pitch=0.2615 right_roll=-0.0321 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.8496, 6.4479, 1.0916, -0.1392, -0.0513, -0.0073, 0.2393, -8.294, 6.1607, 1.6923, 0.4371, 0.0513, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0340f883e2114ecaf7fa765ff469e5bdef07dae9d85c86a55b63d8c97da92463",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa078819a2fdb39dde6fe280b33e18bb3b1734839eede0cfeecce02e2b7d9413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bca1e1b7a30aaa7997a45738849d9a5a6de89be1da300124761ff24be65bb19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH6_pOaYAyMbtx2TuH9OCovMVRLAbGNjcAberAuV__hgllko-Iw5e4e1nhNBfvAjol50ctvTcDBXNKSQyIwtwdyp4nNTu1tsqlARfbYzxT5zxHLZYU0AFLEuauhLZX03JtGwXFqNDXm1YYQhQIPbOrDxeKPxFbxVJsif3ljsUjYaJjNuG0nuPhY6uTirBwb21ma0I7iKVLvjX6epxBAfweK1_8-aO82PNcG1T274Y0V_EgwfJzDe7A0bb9HnkDuDGaC-p0cZK4ZqXFejpmMn9h2TR7-ECFo-F3GvDDYoYN7R7viIsdljW_9xB100h_R_xmq9GRLm_1D2dd8xik1GM4oXMjk4y1N0v27v6AjdNSfzCyBxPUwHiZvR9wC7tRdjCiNyOLfWMSo3HiIl8tbP31yiUx008OjBmnXW33U3Jz9IgTyEFPRsjsFuETCT6uXWIeIdQh1IzX1eQTh9Gg7lPiyCJjBXagGAIh2x0iYYnbUPrGbjdt4bhQP2og9UrN1jFdjyUh1TGtm5JhFZ7TZY-VqK0d8FHzVMU8BlHpKgvb_hXbtZXmIgxWcCfjELnoFQi13V_3UOBniCJZ-9E35hyWw3ufaKKaA28YZySRRVItO4SrBrOB2uH4IDJSlHWHnw5ssj9gkNw6MSQx9SikIIyYhN-OOOEEHAU6TndYAnuS6HTuIQq0UD2VeDiI4lLxEs_tqESBlwsxmDYIxOikOwmAgCNA_h48V4x-IR4_aLOrQhwKQFrkLR9NFW3GrXrFeAy4QjtANGhN-kF66xmnLQ-o8pr_jxDt3GIM1kaxDWy6orTcJW_yqt-bUWq_yr2T3Fy_z55TqEJRlVPILCPowyLrquw0scA7GWa3ciBc5m1r-ucheNRS96IaMitHNDhXrA5ahZQUFTRzM5ycSrHXExEMSPpDwO4de83yIvp52LEFNYyI5XJlzz-JwkyAqc43WnN3Em-MVFUaNMUdlt4oEXboBIn6Vjl0t45_CAQJ8NB8Vli0RAWFcGh_WFh1h-V9NXrriTC1On_QKJYKWD3rYcKidQJ78K36UDLuUC82Mxg3IXzbxwA1bdqhF1zH_rn-tT-52X-au7UkIHfA1nKxlnXQnN0dMmpjnVJal0QLvQTTRUKvV86wNM2XaXxmwHmlzzGVkCWgMcyvQ4EN_-HiUg3P6RyAtyN8nGHtKtv4Di_kizvH19YvlBykw727P179bES6KuUNPxsmP-jZIk7GnJFIhPw4wEBGw645e6XYqqK76LlkV6SNQZ-2zWHJLrEWr1Rl9PTjQzQ8MhNrFC-tnrj-X4BXaDC3UR1S07C-nG3mJSeqTO7sDrcUBH_5SXTy_EGJAcn6cTWKHs6H_N_L4-viWeB_MyNadBxqskF6y0EQrmmVtrDe9st_UPcMwPzyqUqP_",
  "id": "rs_03e6c7b2673894e4016ab451f8f83087d095d060631c7a0dc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.189,\"right_z\":0.025,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The lifted wrist view now has the pink bowl’s left wall exactly on the closing centerline, and the near rim reaches the pitched fingertip row. I will descend vertically while preserving this rim alignment.\"}",
  "call_id": "call_l8fRP5urh2V4J4iJwvHGUbTa",
  "id": "fc_03e6c7b2673894e4016ab451f9990c87d0b9cacaa23c1ec7cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l8fRP5urh2V4J4iJwvHGUbTa",
  "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]: [-0.1169, 1.2129, 1.0283, -0.9134, -0.173, -0.049, 0.9971, 0.836, 2.0178, 0.4217, 1.0996, 0.7799, 0.2695, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0568 left_pitch=-0.5146 left_roll=0.1614 left_gripper=0.9971 right_x=0.3309 right_y=0.1863 right_z=0.0106 right_yaw=0.0412 right_pitch=0.2228 right_roll=-0.0826 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -3.8769, 6.5709, 1.072, -0.1148, -0.022, -0.0171, 0.3077, -9.6205, 2.7692, 2.3516, 0.3248, 0.1392, -0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31db234077af49f42252f636e1cda8bb44d8d109a6218dc26d9519f6b11232a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d2fe9205a79942a2bf44410ec28559ba6a9352ff14529c3e6baadf831474bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcdfca53f1097dbd3ed028b2b21edeac4d640e96fa93972d785e22078f72ac89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2095, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7246, 1.9301, 0.3756, 1.0847, 0.6636, 0.2455, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1571 left_yaw=0.0564 left_pitch=-0.5108 left_roll=0.1606 left_gripper=0.9971 right_x=0.342 right_y=0.1622 right_z=0.0206 right_yaw=0.0336 right_pitch=0.205 right_roll=-0.0465 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1641, 6.4342, 1.0672, -0.1441, -0.0464, -0.0073, -0.5128, -7.0085, 2.8103, 1.9463, 0.2564, -0.0806, -0.3639]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.8249, 1.766, 0.4255, 0.9085, 0.7593, 0.2661, 0.9954]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0567 left_pitch=-0.5112 left_roll=0.1605 left_gripper=0.9972 right_x=0.3349 right_y=0.1885 right_z=0.0634 right_yaw=0.0376 right_pitch=0.2615 right_roll=-0.0321 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.8496, 6.4479, 1.0916, -0.1392, -0.0513, -0.0073, 0.2393, -8.294, 6.1607, 1.6923, 0.4371, 0.0513, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1169, 1.2129, 1.0283, -0.9134, -0.173, -0.049, 0.9971, 0.836, 2.0178, 0.4217, 1.0996, 0.7799, 0.2695, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0568 left_pitch=-0.5146 left_roll=0.1614 left_gripper=0.9971 right_x=0.3309 right_y=0.1863 right_z=0.0106 right_yaw=0.0412 right_pitch=0.2228 right_roll=-0.0826 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -3.8769, 6.5709, 1.072, -0.1148, -0.022, -0.0171, 0.3077, -9.6205, 2.7692, 2.3516, 0.3248, 0.1392, -0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31db234077af49f42252f636e1cda8bb44d8d109a6218dc26d9519f6b11232a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d2fe9205a79942a2bf44410ec28559ba6a9352ff14529c3e6baadf831474bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcdfca53f1097dbd3ed028b2b21edeac4d640e96fa93972d785e22078f72ac89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH90NDevCLx8QIqvVqx_KX5h3oLRdQSbNwWHhEjFBfyTmOoWQCEbsnWVYWlupemFpjh3bx87JAJFTciz4V-8jQ9EGL38vtDJJARFPA-LuzHiDGYTzIiyE_3CuBXQMyXYs_ZHKQFmFomeXbD7pSxJcjurvvooN3abfFOT1oJIK4LnItH8CyYJKb8eWLvsNnDrCQoureHx0yWSRCriw7OspVeVySKdgqQbBhbCUdm-PKEjF6jUtG92xXbkKzHa_PXVZ2CAZVNZ9jRzjElM5lZdAwgQiOeM6q6RSE_VIpTu0VhtNUUw1sIvLEFgsl3S-JCQsRp3cEkRkS24VE6pPs1bt_E3IJrAB_KbLwWm0TOcbSuy1YECpQwqv7xcAWUD4OiF0T0nkZc3fHkWb1UBRpSdxYgHBeNNPiDL5hT1Ch-2clhafrBspYlf6gZ5WEaxJRCl_eJmdKZytTZJhUwnEtOtytbQZqkcWGx6u3CQ7U7sSpR4z1bI-hmVVnL_D0CqPF4H7mT3cyXd46HUpbYpE3uE2BemuVC_LqFVT5Mi99rjvwdpsYPSmt6xTLijmUzoo7PNksPmMJ2FiQWNdEVGRAfMa1vnciE_zsciNPfgqWKfd-FdQ3JqSIh2IshAH_UKyv3aoBev-qgYirxFM7CAfCAfhsNR6J9oruq9SLBV224EOQQ-WEax0UB7-TJ6mVYTlHwx5bP4FuF37VvFSHYaTnrEdmsxKoo6jk5cTcJSbiUXQiAciGhBggLVASFqeaGl1AzY2hydNsjxzpxip_gC4KbdDX54_UYaYtgaCL1DPTsMaJ7Zo730GNTlob1s28KDciPaMl70M3khpuNpBEwshkVMyTSqfuAUN3L_QyT8M5xpEvyha2juvtLfZwUUPJehvNkk_mDaypzDF84BbG7v4sLgflAyzQBoLOnBg7TdxCs4Yaip-MpbH2yheJwDToZ3X4mZivBuFiAANGqsaBopONAn4I6ctRgUcqnWiaQlQyXve9rY-9Mf3XBZnGZMfE60s5cdOhdVYbal4HO5NCNGZZSdu0BJe4QsKADEvgbHwq85sf4jpe9LLkdkwwhS6sexZl9UhBnHuFYowYka8NPz_ElU219uDvv8AiEx03Z5joZeP-kWyavJg3IMmEsgwp_gGHAgYozv4uqHubY-T-hhBGbI-1Q71LPHHbv583JVpHeh1Ovyosfr8MdW9AR_seI3MT17D9hKNBUZ9Airc2bMej7B3eA6KEKBvZNZI8oA0zAAP5RvQU=",
  "id": "rs_03e6c7b2673894e4016ab451fbf8b087d096c58e710b6c423a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the pink bowl’s left wall remains essentially centered between the jaws, with one fingertip visibly outside and the other inside. I will close on the rim.\"}",
  "call_id": "call_DERcKqMFfInjfWKIdj0Vyu36",
  "id": "fc_03e6c7b2673894e4016ab451fc21e487d0b383cc3c200352a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DERcKqMFfInjfWKIdj0Vyu36",
  "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]: [-0.1169, 1.2129, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.8379, 2.0552, 0.4088, 1.2102, 0.7811, 0.2729, 0.0076]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0567 left_pitch=-0.5142 left_roll=0.1613 left_gripper=0.9971 right_x=0.3317 right_y=0.188 right_z=0.0144 right_yaw=0.0295 right_pitch=0.2653 right_roll=-0.035 right_gripper=0.0076\nstate[joint_eff]: [-0.2667, -3.9179, 6.4615, 1.1062, -0.1685, -0.0415, -0.0073, 0.0068, -8.3077, 3.0838, 1.956, 0.4127, 0.1148, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f74c6631db93cdae4fabf90196da687b2a939786e7f08178d1eb47b83c3069",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f0d6682521c2b600da4bd244358c275852dfa7ec366cb4ce5f8c923491808f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a384b7cd80801e9406957ca54f40d3b9ec56e016e2ca597871b81e11a2845578",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7227, 1.9484, 0.371, 1.0767, 0.664, 0.2394, 0.0077]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0564 left_pitch=-0.5112 left_roll=0.1607 left_gripper=0.9971 right_x=0.3392 right_y=0.1588 right_z=0.0118 right_yaw=0.0386 right_pitch=0.1811 right_roll=-0.0724 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -3.7402, 6.6667, 1.1258, -0.1148, -0.022, -0.0122, -0.1573, -8.335, 3.1248, 1.7656, 0.1783, 0.0708, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2129, 1.0283, -0.9134, -0.173, -0.049, 0.9971, 0.836, 2.0178, 0.4217, 1.0996, 0.7799, 0.2695, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0568 left_pitch=-0.5146 left_roll=0.1614 left_gripper=0.9971 right_x=0.3309 right_y=0.1863 right_z=0.0106 right_yaw=0.0412 right_pitch=0.2228 right_roll=-0.0826 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -3.8769, 6.5709, 1.072, -0.1148, -0.022, -0.0171, 0.3077, -9.6205, 2.7692, 2.3516, 0.3248, 0.1392, -0.3932]",
      "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]: [-0.1169, 1.2129, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.8379, 2.0552, 0.4088, 1.2102, 0.7811, 0.2729, 0.0076]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0567 left_pitch=-0.5142 left_roll=0.1613 left_gripper=0.9971 right_x=0.3317 right_y=0.188 right_z=0.0144 right_yaw=0.0295 right_pitch=0.2653 right_roll=-0.035 right_gripper=0.0076\nstate[joint_eff]: [-0.2667, -3.9179, 6.4615, 1.1062, -0.1685, -0.0415, -0.0073, 0.0068, -8.3077, 3.0838, 1.956, 0.4127, 0.1148, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f74c6631db93cdae4fabf90196da687b2a939786e7f08178d1eb47b83c3069",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f0d6682521c2b600da4bd244358c275852dfa7ec366cb4ce5f8c923491808f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a384b7cd80801e9406957ca54f40d3b9ec56e016e2ca597871b81e11a2845578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIChhiYWobUgvc_BPLoO6X7d3KS69C-ZN6-A-tjlBW9sEgLVlFcjnyqNthpfJEK08A46553WUfecttpeoqOPqrVvI2v4Qyt7VySYcz_HSoPv3YF1uhhrYf0G6ONQ0xQ-0zYzwMlNHfgeXZbLsbOUyDANozOXesL0TeDay-640rDZvwt6E8Lf83vIGBw6hBKFoyinoClwz2uOB1oZJzAisQ5exg5vPw4GVpB78f4ckx8BIgRQeJCWP8nYth8kz6Z895AfB4BerTEc2eh3xxE90-2EZCJjHEX4MsCE-UfzPyXg-0BLpOfbqyNEW-FDca2rYJnK1fL41BgLh-xF4-w_6cCxNuco2wCLLQxVuYIR0tcoi6_ZhCu4yCICsw7xZKh7JGPP_hkrgb9bgEGqmb4rKjxcy9mdjoNf4kmi35Rt5kZtC77ZehdjYwT11DRa7cmwyfV-Tvab9rgLNSc2-23GzkU9rZEMlSChqDikZKW864OTD7hdeH1X7ShG_ZUiRgSQ2cBjt3yGd25uO5nK84hs2KpJxX-2O43BADAChm2ObY3NJa6tPpeGpZySZa9LzQBrRxxz-1o0ao0MqPVk9iTMvE37ZFbCIwGwoMAtJRBP_ZR3fZ7_WkA2OXCeCaP1CZNiWPqtzt88a770i2wLUv4f7Bqu1y1Jr4lOYN_CY4N8FSGwXXnU90Fh9cYOsLPpOZYJ9QbKK7dKj9Z38NgLOhuw0KJYRHdBgIK26hOjWc0OjwoG9eSoWDnTnWc27yYgXxCfKbKYcd7obxGySYk4GjIASBtL4RYKbCBQ0IM6Bj-gsu8kklrmxJc9wmzkpz0iy5R8sE6weWIjv84eczH_1vJobtlGEY8W0nvGLtxKavPxXdzNIrm5lyqZOAF3OHXuZQ894uglbcDqcnocvYujDbubP0JA27rdHC2oZxY05wW5jMWjcpbWzqYiJC4bo4o53TEOA4mRl-lFLjUUnUBj91GX08yTQqTfuqO8wuPs1NTyH3qbohu7EGW134m0oX83dEUtukUeLjLpmf69M1f5M-DjXPWGEABEWkLu73YJmaoPylS39bZg6jy4DwLsIt8brLfDZDVOt7KMxJT9avLzAqQR8-NIm-0ubJWbv8jDkljUFemJM9R7pJzBXGgRjN-xs1XHAVUqzl8DFq1xbZbl1BvvwCEQtxv3w4IYFbzYhqULN3UlgeyKQSaSfKmxCTsktFNAXwXdvNfDiEjuenviLKdWRY1vlWagkWzYQjEVj8LYS8No12Nq3NfBXQDnMvFocM5Ty2XQ55kbXzcXmmsga4kXAoLgXhWzuaatzKKuOjQuDHk1BBuLkKHO0Rbuf5ty8aAHUVQYEGJD9ZzRvWGEKrSW5KA-FtnfESU0epYSwwo4V3lhLmZtELQbk6Bx4236_E9rJDeN0yLtCD0ELDjz0TZWKhKvoeXJIV7g4ICI2kK7h0SXfuJ__m89tFYsEZUsz-MC3D6mh66R6a_FEWp-7mhL7UUNwfV8Q6ncgwykacrqXn2fv00TtTOE67xh1ACqowWsmIOy5fjkF75Ib-zRfZgbqvEi2gXPGzfSnMmr6L0BvOVlabSDDKZr1R6YXrxQeDk8NNtFEQvslNalBLwviYUxNYlS1Mftfg80UI7b_810L0-_nFtx17bh5k0xBS9BX6PkPS4X5-fi6tNOBNjiCX8CKbIec3cWQaIuls8btVcvlHpQgI_4RSuOImGhj7FYIu7BCwUkXHmsKDBC9bf76T9MG_23LjtdQBNxdw3v-BDFHyph8pkpe18wXXwueou_WU3zqeq74tFQh4ANRVj4EHqQGJW9m10DpChjHgeqGZBqiFLOAmvOVBXGHSK2-KIis14QpZ07FB79IU1NsnzLxviveaTxmuOdQ9HgpqevmTlheGNyEcKiCjhhKxPsTxvQKAZ43Jb_RoPjRrTPOiAL83F8SS95lnk8nqDEF2x-SFfawFY1B48dDwNV2ukd7nQ0oq8plFh7UOwmBUmiLOrcG7yuo6jL6LyKw8PPpTB0FoeMGxjzezgLC9w0TJeKa_5wCuYZTbO6ggBsqgNxzQFC448_shCPptvpu0dU6XApfGSDU5fnA3nTK4tOzYSa-t6YCdltFMQqz8__eClVmsLW7pxIY9B4r4irW7oh8H_XNSSMOYzevyloEfUeob6j7ORsB3MI9hLjUwjcJZ5YSfac9ZhBqbzRBmtukJLySsvo5LfAzEYcyZBr9pSC2GiPIH9GeocXtiOQB9wcp1aTkS8k_Xe7Vuj8ES1CuZ_xQaKNK2tkFclW3oCrC1UA8bxUBQ4w-CPo56TUkB7wy6HWhs7JgGUdfA-AT7LP02FEyixIgzOT2-wZ48mZa65GREYlZdCuTaRhd62qnI2NqMpssj-UC2O79uqQ23hp3sx1FPF6gz7cvcT75k=",
  "id": "rs_03e6c7b2673894e4016ab451ff38a887d081d4c2a2211cc459",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.188,\"right_z\":0.07,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The rim was laterally aligned, but the post-close view shows clear floor between the bowl and fingertips, proving the grasp point was still short radially. I will reopen, lift slightly, and advance 4–5 cm outward without changing the rim-side offset.\"}",
  "call_id": "call_1VsMYBKECWKe8ZQnyhAvyiNJ",
  "id": "fc_03e6c7b2673894e4016ab45201c40087d0886a680b02efcb1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1VsMYBKECWKe8ZQnyhAvyiNJ",
  "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]: [-0.1169, 1.214, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7273, 1.9034, 0.5186, 0.9836, 0.6899, 0.2176, 0.9952]\nstate[eef_state]: left_x=0.2926 left_y=-0.0001 left_z=0.1558 left_yaw=0.0568 left_pitch=-0.5153 left_roll=0.1616 left_gripper=0.9971 right_x=0.3716 right_y=0.185 right_z=0.0515 right_yaw=0.0193 right_pitch=0.2641 right_roll=-0.0368 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -4.0, 6.5026, 1.072, -0.1441, -0.0513, -0.0073, -0.7863, -9.812, 5.9419, 1.873, 0.1392, 0.0855, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499c1a441053a9668cf039eea041cc705957686d674f1dd4f3fc73c80ecba65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a8a5cf2839993ee236a89ed5bcf5c535a4bdb0d25be8da9abbfff0a13bc5e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8eceb7e61312ebfcba35aab35aaa3a933dc0f91c104781c919d37f2b1b3a4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2098, 1.0283, -0.9131, -0.173, -0.0494, 0.9972, 0.8249, 1.766, 0.4255, 0.9085, 0.7593, 0.2661, 0.9954]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.157 left_yaw=0.0567 left_pitch=-0.5112 left_roll=0.1605 left_gripper=0.9972 right_x=0.3349 right_y=0.1885 right_z=0.0634 right_yaw=0.0376 right_pitch=0.2615 right_roll=-0.0321 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.8496, 6.4479, 1.0916, -0.1392, -0.0513, -0.0073, 0.2393, -8.294, 6.1607, 1.6923, 0.4371, 0.0513, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1169, 1.2129, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.8379, 2.0552, 0.4088, 1.2102, 0.7811, 0.2729, 0.0076]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0567 left_pitch=-0.5142 left_roll=0.1613 left_gripper=0.9971 right_x=0.3317 right_y=0.188 right_z=0.0144 right_yaw=0.0295 right_pitch=0.2653 right_roll=-0.035 right_gripper=0.0076\nstate[joint_eff]: [-0.2667, -3.9179, 6.4615, 1.1062, -0.1685, -0.0415, -0.0073, 0.0068, -8.3077, 3.0838, 1.956, 0.4127, 0.1148, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.214, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7273, 1.9034, 0.5186, 0.9836, 0.6899, 0.2176, 0.9952]\nstate[eef_state]: left_x=0.2926 left_y=-0.0001 left_z=0.1558 left_yaw=0.0568 left_pitch=-0.5153 left_roll=0.1616 left_gripper=0.9971 right_x=0.3716 right_y=0.185 right_z=0.0515 right_yaw=0.0193 right_pitch=0.2641 right_roll=-0.0368 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -4.0, 6.5026, 1.072, -0.1441, -0.0513, -0.0073, -0.7863, -9.812, 5.9419, 1.873, 0.1392, 0.0855, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499c1a441053a9668cf039eea041cc705957686d674f1dd4f3fc73c80ecba65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a8a5cf2839993ee236a89ed5bcf5c535a4bdb0d25be8da9abbfff0a13bc5e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8eceb7e61312ebfcba35aab35aaa3a933dc0f91c104781c919d37f2b1b3a4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIIixOf01spBkSCJ97JT-6GJHmt0yretSjPeFrM4G5vhtBet5JlH6BAvZcloqDocJvC8xErDbXukudPf-pwoLHr_mFMO5GiTUR8D9KwaGIpiJZEzgFO-OJNnwD0VrxoNV1qEfCJSxW7ClAXTNnO9QM6RS9FxcQyvoT0fjw3WAmi9nzqlA4HzO51ZzI66FMYFr-UfAZTwf-z8_XzWrBFj2EMNV381V_Ow4wdXnidsCbj0ZOdJfWDl8vdst6x-0fXpsqIratBDdsm4Uejt1JtKim4bvChikEMhXpiw5vD3KR1C8WaP4TsiYmzy3HBK3I2Z3FcTvo0oXGb-G9bF8BaZ5HCdDCIMsu4_ffdXBByd9MHheSxJdg-XmbeCoiM1ghT1qqPfDl037c80w-0XpjFwmCYxGxNILAS3VcjBBCt8p2EyKUYv7gUiPUGdiZCv8F-kkfhs3tSVQWgY-3Hr9ezbNpXVcnSGQ-WYY2rok9TEvygNJhJHw8CQ-38neAXAJGL-QDBEOrYtcRLM_7mduxlc5AfB2lJRPMVL539hRmpMUpPCnyrqxoXxq5jQlZpRhZJqh6fqEq200U45zN1MQawlm--RCrssm6rJcgDThlrX993i8RfEE2rhGs7hT0aDtpos_02bbCzHXR4Fc531RJpRjvwPtFOHMz4omaZbnjhTs0Q2Agkek5DDIrOZGfKgcwHo30W5CqeAOYVicfz5v_2ObRgECZsjLeVlEy3jVAJBypaXCfi0vwBqCRRH-GXEiEO0-OeHoVIhGFj64FPN4JMvK6qGyXoPfL_4tgyXgWqCJifSsjOLjf8_MIDOau29zt3NeT7BHDwXTkBaagP3s1y_tV5K00GUQRadF_WJSdOqCEAJBqKgr_N3EfBWICcqxXANRZFx0Ty-j6bhOnd2j1qKnAN_r9E1JHRNAe6qmZmSGbFZZWZ6S15NLhT_Kh_dmb5Zb2kRk92eAFi0PJD-ZUSSK4h37VKd8GP6WxoNyEUeOtnz-sPDRuuVPPvOZKqKxmKxXxRcNuUVXdzZcSW_2Fk2AMspCITkvhrCyWUpwNa4TbWU_VuDlI1wmpHLev7DLWsHyPG7lQHhMnhIvw9zGi6MLuXrqEFrugVvAP-u1aXKGLlyDJ59DkSnBtBDqmPK0OtTp8H2q6wCcOPuOWmnwdC3fJQuRrcw7KQsuduOix1LBoTZyxCkPwApp7AiVc_KApyXNOPbwaQeeJZQXi2H_JDPhkSo1awDcK23AC67Tfz4PSPamctVp3ubwdv4Ef-p5nkvDLCG4ISSu7wpneXozOi2m_3b-PRbN5xXBrV2VOum2uZXWj9W9zrlYvUwGf3BH2vmzZVu7aatL-8n9wuydUGk8ZQJILXhnLIumY2mPD7REDDyeO8GkZQkKR15afgiDG6uyZujbgL47v-t1i3HR_OyVjJ-y8-jiMORR817kh4Wogl-njHvlYoPD9_F_5PuaPAiOjDaSO3y8JWVTs4P4gAF5BF5X2pSdgH3oeEh4qgYrImd8wJz05y7sMVUMf3O5D_nqI5rwrjvTM9eetlcHmvFUp0NQ==",
  "id": "rs_03e6c7b2673894e4016ab45206e9e487d0bdc2774feff76903",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.185,\"right_z\":0.025,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"After the outward move, the pink bowl’s left rim is on the jaw centerline and its near wall now reaches between the visible fingertips rather than sitting ahead of them. I will lower the final 2–3 cm at this corrected radial position.\"}",
  "call_id": "call_RB1PeisG1g89WFZ3b7sVX2Qg",
  "id": "fc_03e6c7b2673894e4016ab45207a9bc87d0bc0f65e2a4a04d6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RB1PeisG1g89WFZ3b7sVX2Qg",
  "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]: [-0.1169, 1.2137, 1.0283, -0.9138, -0.173, -0.049, 0.9971, 0.7265, 2.0041, 0.5259, 1.1187, 0.6949, 0.2192, 0.9962]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1558 left_yaw=0.0569 left_pitch=-0.5157 left_roll=0.1616 left_gripper=0.9971 right_x=0.3763 right_y=0.1879 right_z=0.041 right_yaw=0.0056 right_pitch=0.2967 right_roll=-0.0084 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -3.8632, 6.5573, 1.0867, -0.1294, -0.0171, -0.0073, 0.1846, -7.241, 2.4821, 0.9695, 0.0855, -0.1832, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149f45469ba124fbf3a270dece6d64906bc2d6368c49b24606a19c25f618d688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903893142ed89743caa02ee1d2499a1fe946483e710e895d31694709499a8379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c729370db897147330203f0de693152ab15af0fe7413112aaf3c0617ae98876",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2129, 1.0283, -0.9134, -0.173, -0.049, 0.9971, 0.836, 2.0178, 0.4217, 1.0996, 0.7799, 0.2695, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0568 left_pitch=-0.5146 left_roll=0.1614 left_gripper=0.9971 right_x=0.3309 right_y=0.1863 right_z=0.0106 right_yaw=0.0412 right_pitch=0.2228 right_roll=-0.0826 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -3.8769, 6.5709, 1.072, -0.1148, -0.022, -0.0171, 0.3077, -9.6205, 2.7692, 2.3516, 0.3248, 0.1392, -0.3932]",
      "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]: [-0.1169, 1.214, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7273, 1.9034, 0.5186, 0.9836, 0.6899, 0.2176, 0.9952]\nstate[eef_state]: left_x=0.2926 left_y=-0.0001 left_z=0.1558 left_yaw=0.0568 left_pitch=-0.5153 left_roll=0.1616 left_gripper=0.9971 right_x=0.3716 right_y=0.185 right_z=0.0515 right_yaw=0.0193 right_pitch=0.2641 right_roll=-0.0368 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -4.0, 6.5026, 1.072, -0.1441, -0.0513, -0.0073, -0.7863, -9.812, 5.9419, 1.873, 0.1392, 0.0855, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1169, 1.2137, 1.0283, -0.9138, -0.173, -0.049, 0.9971, 0.7265, 2.0041, 0.5259, 1.1187, 0.6949, 0.2192, 0.9962]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1558 left_yaw=0.0569 left_pitch=-0.5157 left_roll=0.1616 left_gripper=0.9971 right_x=0.3763 right_y=0.1879 right_z=0.041 right_yaw=0.0056 right_pitch=0.2967 right_roll=-0.0084 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -3.8632, 6.5573, 1.0867, -0.1294, -0.0171, -0.0073, 0.1846, -7.241, 2.4821, 0.9695, 0.0855, -0.1832, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149f45469ba124fbf3a270dece6d64906bc2d6368c49b24606a19c25f618d688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903893142ed89743caa02ee1d2499a1fe946483e710e895d31694709499a8379",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c729370db897147330203f0de693152ab15af0fe7413112aaf3c0617ae98876",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFILCai0z8wThOBadXEZk2RmnBkBs2eoAFZWNZDJ5B5CQrRRRUvlGBfS9BE0zn4i424IjRehfbu_TZAExH0gwnxIRQDD_vWUwKR2nG7iPYbAW2vklfQ158PdCuLO3OjnT05_foD6nANihG4PMQlJT7aXw-c6SFoSe3LAd4j9R8U0JKIFdzsfFVZWXsDkGH_bkR2adlvKcLNXNiEXHwcNQrzsAp2z-qTZIM9cnsKO3hFj2z6SG_F6t-CzMj8De0VPbm_NlzTKb46xEN-pIH9mOJVD6GRTi2A4cwaKjzWbDuQ41vu9WIycByQQLxpRY-9BO8jgZy5M3kBe68tAhu5f8sbcu8nsKWIelTy8o8wQsKvgALZD5erx6cBodqKhkd9IyRpkG5TT9XXAL6vo85YRFap60Qw0pgbencwuLBJhiiA1DQAmVR8ja8mdxPsmxVtA1pFYoyNzjG63ArVTCNxEzLUGLfb6B64jG4HVF7MafMOM-GQQ-paM7Yv-TxfsV_KDwcuiYJevzTiOsofTvW18u554C2FbX_30FiHmI_3McLejmBuzdYiYlHwYO19JjnTIn251jHWq2igo5VTtT23bT_xG_QHt3MCh4n1AvGbsxOd7I2ftQSpt3tKHZB4bWzP1Y5WZn4SFfAsZ8ssviNprLgVvhflY7MoEJH0Ul31Qvvf8GQhUs4EWDgXJ_Oq4DNgA96nJ2UOmvQIWR4BDLrVKV-DgAdP3dfDcno1_EQWvSMwK_bgEkmDT2xHT4m0OI--ZTRcWQvHZRjUTLo-7H789bZJ5I0Hvf7d7QiD0ubKlp3_AufUWrSLUodr4QZq2rwbMn25X6e1eAkKHEYZ3AVGWZYUpXXhNrjyhoJSWrx4wiLtSJEzlWofrFe1kTMWpMYdiVG6J82U_nt2NsOSC9qVC6bqLIalM0qGdDJWsZn6TRHm-XSHqzDZbgVXy0tmwXcZqQA3mh-SOawbJjyyHwnKDGv3GVO4k55ey-ataW1fqAspDri6WxotkpwCZifreGD10Xm_tRfmlb4uvIOl3QRVbHksfso1NaSpiXXi8CIZFoZzusYW9Y4ez2L5m7Q_THltkVIePH8adSWRkf_V2jJoujoo0yIWfACF8A7pNpHL_rifTVKATkSfSAatGzf_FrGBIgGdbHxOA510v7ofZrFQ22KioBcUQAzKZzsZhlzXuwVMnBsj6gMNmi9Ax5APkFwM43EBebnlDJ__lFLpCxpDc8Qj8u6Sd6EUV2iZm0qFVbIjAfdXzFYT6lOwcYsTKGTX3B8L1-gmeCUS0ZupiC322AKAf5cS7vb0gQPrYyHKmvhatMJyZJqWSp6vRTS1UoDEvLI5y",
  "id": "rs_03e6c7b2673894e4016ab4520a848087d08300a798a5aede91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The corrected pose keeps the left rim within a few millimetres of the closing centerline and visibly between the fingers. I will close now for the rim grasp.\"}",
  "call_id": "call_KMNaxRfSzvAY3vsxWlOZP0tB",
  "id": "fc_03e6c7b2673894e4016ab4520ae32c87d09445a64d89f8f3fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KMNaxRfSzvAY3vsxWlOZP0tB",
  "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]: [-0.1169, 1.2163, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7296, 2.0171, 0.5125, 1.1038, 0.6907, 0.2127, 0.0085]\nstate[eef_state]: left_x=0.2927 left_y=-0.0001 left_z=0.1552 left_yaw=0.0571 left_pitch=-0.5176 left_roll=0.162 left_gripper=0.9971 right_x=0.3709 right_y=0.1855 right_z=0.0294 right_yaw=0.0236 right_pitch=0.2644 right_roll=-0.0417 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -4.0, 6.4342, 1.0818, -0.1197, -0.0415, -0.0122, -0.4444, -8.9094, 4.2462, 1.8779, 0.2222, 0.0708, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2289596fdf1b618bf5d847d943730bac73a492b5af7b2e6f48fa8c9f093a03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eaaf641137a55a8d8534b666dfe8c6fb258e2984d3fbcdda20d032f48b19bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73f90e9970ce3e00aadd2112c1aeb3da5b369b31c2390699505ab2fb112da72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2129, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.8379, 2.0552, 0.4088, 1.2102, 0.7811, 0.2729, 0.0076]\nstate[eef_state]: left_x=0.2925 left_y=-0.0001 left_z=0.1561 left_yaw=0.0567 left_pitch=-0.5142 left_roll=0.1613 left_gripper=0.9971 right_x=0.3317 right_y=0.188 right_z=0.0144 right_yaw=0.0295 right_pitch=0.2653 right_roll=-0.035 right_gripper=0.0076\nstate[joint_eff]: [-0.2667, -3.9179, 6.4615, 1.1062, -0.1685, -0.0415, -0.0073, 0.0068, -8.3077, 3.0838, 1.956, 0.4127, 0.1148, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2137, 1.0283, -0.9138, -0.173, -0.049, 0.9971, 0.7265, 2.0041, 0.5259, 1.1187, 0.6949, 0.2192, 0.9962]\nstate[eef_state]: left_x=0.2924 left_y=-0.0001 left_z=0.1558 left_yaw=0.0569 left_pitch=-0.5157 left_roll=0.1616 left_gripper=0.9971 right_x=0.3763 right_y=0.1879 right_z=0.041 right_yaw=0.0056 right_pitch=0.2967 right_roll=-0.0084 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -3.8632, 6.5573, 1.0867, -0.1294, -0.0171, -0.0073, 0.1846, -7.241, 2.4821, 0.9695, 0.0855, -0.1832, -0.4078]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2163, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7296, 2.0171, 0.5125, 1.1038, 0.6907, 0.2127, 0.0085]\nstate[eef_state]: left_x=0.2927 left_y=-0.0001 left_z=0.1552 left_yaw=0.0571 left_pitch=-0.5176 left_roll=0.162 left_gripper=0.9971 right_x=0.3709 right_y=0.1855 right_z=0.0294 right_yaw=0.0236 right_pitch=0.2644 right_roll=-0.0417 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -4.0, 6.4342, 1.0818, -0.1197, -0.0415, -0.0122, -0.4444, -8.9094, 4.2462, 1.8779, 0.2222, 0.0708, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2289596fdf1b618bf5d847d943730bac73a492b5af7b2e6f48fa8c9f093a03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eaaf641137a55a8d8534b666dfe8c6fb258e2984d3fbcdda20d032f48b19bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73f90e9970ce3e00aadd2112c1aeb3da5b369b31c2390699505ab2fb112da72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "id": "rs_03e6c7b2673894e4016ab4520e1a9887d0a2f3fd44fe34c0c0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIVDid4R3PfYib1rqxmIddvR-1UYYrS2x8dzkDJmOfCfi44caCRGjULZDkeVNfM-QubkyAXFFTWbuNspzYyo9lnI0iikwFe6PF6yT8FZ-KJBQ6-iKLFGlYnTUMcZnaSOGkZhskC2n8_7wBPwnw2nbQKq3hiXXMQXiwYFTc_Z-aBiK0FMM5Z-u4OGTZbhL7NzJ1dxoCVvg54O4ohIMcefQzxwmSx-jNXj_3G403r4ReXke-aIeaQF27D79BDdScPu6bfCA384wDxAHpqmDDBYwPXhCu9TWvCBnl_CiYHrOjZCO7MU2WZAYXqQ5iehJNrsKfxO4_7W4AjC6rbCmnIXFJRmh3yA5_XzxU2ht6Dkv7uWa5AtDZfAWnOj6uXtwK2XEOOTNmLAlhvd4SLroHwH2AhdxSm7-V1U8TeJGAz4nQCKLtUhPjWCH7TkQT-oZmZMNnervugoFGZzI0Ken901tzc7hIF6mt8nzH9tm7smTYo0SEdsIfnfLlw0BRdpnWhLgP3roPNqalwD-iTCv8AXNluaXJ8skeqLBnO-iO91ZOMEA-absfippMw63I2JRRc72QGEpU5TZYzcj8q3j8vFvYG1tVTE5F4CDTnLABIzavEdln90MhP7m72bpqL-0dJfZMbingkJXh771Po9vd17Kxsp7qbVk1XIvP7EIpU1J0vVBNE86SU2KVwGDahUv7qIwK6DkIkzMm7S_3CpleDQXT4iD8D9H54qr-O4GiUjYZbanG2O7UnLbdlfugmHebuwGvBOAo-SkptVyWxch0hUO6MkkXxiUHbsAYynCnPzT5CU1NMS6wrQYnzONCZW5Y4AKdqnXePgoJbl9jD2QltGfBUzKin4mXONwV26v0rboZovFYIODRCj0hUDN8NcVasSd-KdeWywyUskffvmr92RM7eV05hsJmQ7zceXUZpvtiipwc7CPIRiiKtCFN0SeXFBCUEtl8UfTB05ViYmP1Y30eMCkFs7WbjPRaH6B8l1WeQA5F1k0JrFEw6f3Hquanf7KvAepXsfZ_HcEspoLUxzrkKVTphu4_WFo7WDaxJ3tQ6pl12plmyhG6qhqQZIv79My2M0YTvXffyx_5WVxxMIEJhVoqxp8a8pGU_kbbZdh0oRSAiThTTFtCiXWioChFwplmmjuZ5wg47t2hdpkaPOYMyKYfY_mh1L4jGTUF1jqDWc4AsFiTZuhBAahLLWwbEQBXKZXRDzTbL1Gn4mVmzYXgEg3fPhysZ_1qjuz_00LbIDY4=",
  "id": "rs_03e6c7b2673894e4016ab4521333d487d0ab3c58cc1f8ae52b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.371,\"right_y\":0.186,\"right_z\":0.075,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The rim is aligned, but closing at 3 cm was below the bowl’s flared wall, so the jaws met in empty space outside the narrower base. I will reopen and raise the grasp point to the 6–7 cm rim height while holding the same radial and lateral alignment.\"}",
  "call_id": "call_WEY3cuBaCZLJC3hRSvPP7OCy",
  "id": "fc_03e6c7b2673894e4016ab4521375f487d0b56c42ddc73b58a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WEY3cuBaCZLJC3hRSvPP7OCy",
  "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]: [-0.1169, 1.2167, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.7311, 1.8526, 0.5087, 0.9569, 0.6918, 0.2157, 0.9948]\nstate[eef_state]: left_x=0.2927 left_y=-0.0002 left_z=0.1551 left_yaw=0.0571 left_pitch=-0.518 left_roll=0.1621 left_gripper=0.9972 right_x=0.3692 right_y=0.1846 right_z=0.0628 right_yaw=0.02 right_pitch=0.2752 right_roll=-0.0297 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.5897, 6.4342, 1.0623, -0.1343, -0.0562, -0.0122, 0.212, -8.7726, 4.7248, 1.8242, 0.3101, 0.1441, 0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ead9cb6f95919bfda40aaea02b3e60757ee48a1d9959ac7e39976011fce2820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eae638e9df3329e432fb1c1b9570b74cf9d2c4f0abaa88a7e7e5922c4afdfe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8eddd474ab128e7b043c8afcf04d68270c6e6152bcf9ff0d67885b5d8b50fa2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.214, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7273, 1.9034, 0.5186, 0.9836, 0.6899, 0.2176, 0.9952]\nstate[eef_state]: left_x=0.2926 left_y=-0.0001 left_z=0.1558 left_yaw=0.0568 left_pitch=-0.5153 left_roll=0.1616 left_gripper=0.9971 right_x=0.3716 right_y=0.185 right_z=0.0515 right_yaw=0.0193 right_pitch=0.2641 right_roll=-0.0368 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -4.0, 6.5026, 1.072, -0.1441, -0.0513, -0.0073, -0.7863, -9.812, 5.9419, 1.873, 0.1392, 0.0855, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1169, 1.2163, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7296, 2.0171, 0.5125, 1.1038, 0.6907, 0.2127, 0.0085]\nstate[eef_state]: left_x=0.2927 left_y=-0.0001 left_z=0.1552 left_yaw=0.0571 left_pitch=-0.5176 left_roll=0.162 left_gripper=0.9971 right_x=0.3709 right_y=0.1855 right_z=0.0294 right_yaw=0.0236 right_pitch=0.2644 right_roll=-0.0417 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -4.0, 6.4342, 1.0818, -0.1197, -0.0415, -0.0122, -0.4444, -8.9094, 4.2462, 1.8779, 0.2222, 0.0708, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.2167, 1.0283, -0.9131, -0.173, -0.049, 0.9972, 0.7311, 1.8526, 0.5087, 0.9569, 0.6918, 0.2157, 0.9948]\nstate[eef_state]: left_x=0.2927 left_y=-0.0002 left_z=0.1551 left_yaw=0.0571 left_pitch=-0.518 left_roll=0.1621 left_gripper=0.9972 right_x=0.3692 right_y=0.1846 right_z=0.0628 right_yaw=0.02 right_pitch=0.2752 right_roll=-0.0297 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -3.5897, 6.4342, 1.0623, -0.1343, -0.0562, -0.0122, 0.212, -8.7726, 4.7248, 1.8242, 0.3101, 0.1441, 0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ead9cb6f95919bfda40aaea02b3e60757ee48a1d9959ac7e39976011fce2820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eae638e9df3329e432fb1c1b9570b74cf9d2c4f0abaa88a7e7e5922c4afdfe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8eddd474ab128e7b043c8afcf04d68270c6e6152bcf9ff0d67885b5d8b50fa2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIZGvJpjdO00mf9zXDBeSm-nkVsCmp02FCI-6aY7nCEMNPNKXrddxfSo3rxP1LICza28dwrPJxK2wmVYX_705WD2G56z9LDetReM-YXIIhkmxanhfNTxmnKFNNC0GnrDFYVaXyjDqKU4zixE1f7RAXamVu5djeYQmrNGkbjG39SP5Ismo_YocHveLj_e5YLOLwxRkDzJPGFSuYafLOuG-OXGYZMoN9q0VPgwJ6puqRJSr-newU06PRyo8u6nn-0aaJEnkGaof_dHwM8a7FpAkZq7St8gkg8xS78ar9MgTdWIeYYOQwwhSu0y0Db123i618KunKWlPs1qAPYuXTcH1ErKXcVzWB6un6Kq7nOCkfkH5XKHgK4HSqEMUOIQKoxTak4ORU6dCmIWyCdNs22owZ1gIlF2gKgBJECtjDXA6Jvarf0HuquAZk9L34aTzRAXUPx98b0QG6aPw9yMCFAVKZflhuzMypO021SVuvT3KDj9Aj1NUWIgkUZ1WKS13Viq5YeRGe07QUwMZc2R1ozkCLuTkStOmmA2ER_dpdfl29Bfp0qkzDWxwkhIyoESYFSp5P1Nrv8bWKj5lSN2swwXt9w3QQDPGINrJHHAkyesxXavnzAOE4H5IER1PZkkdXqMFLwDwEYkW5keejhbWH-l5s7j7IU_cBrF-5pqFao7s3DPIldufdepIqhjVqxnjWrV7h2St-Zi69yqAuvUjfnTdIid4C5UCTgacopoX7J5s2HM1zPSIZuRL8j70e8u0mlUGbMWMvWGadaacjNLhmnYPqTh0Cyt2hvatR9qvKAsI3lL_aDory1AOjbAkviIaVqwp81tiYthiZOsNCseGpID-STGRV7l91-y4MwawH1HstRg5so4haL8VeRj9iyfEtN1Nbt-bGdwG5EadxUh4AmkAitneNKx5lZiw2MK3_bAtQUSYtz_l0A7uqolfj4baZky5CcDyI-i_rLlYIIKApjvelfsqastYxKIT5SsMVfydTZSfGCWeNNgopU8fgPiWoDAWENhMwTAf5tWfNipX6gaBJIQke4sZ_Br_t68kvcmBaR8YQVfUarKbKnQOpTrd-GarP6-MejulOq7ojyo_fxCswr8cmkcXPvNeDtYUxT5bBCocq4zV48IyBUptWtL_7n0lIyhUXhG27HLuCvXoY5jqPMWk9jIgsENgxDX3kEsjcxxLkgxyqmPtOYAV3BxV24Mib_HZYPj7fC4ucDp8lKl5LHRAkwLn4O8mKfx1k57UVVUCKr3_8_tPRM2mvP3ciIaUzNn8N53cUmkxvWKttKXyn4kyL7sQU44wmlqU9bLBzESbW-9KlhcSv7fTvySabK6rUMR1iTsmgyiYPbvT_HwvXcZt1LaImr7rg8Iv4wzgff904=",
  "id": "rs_03e6c7b2673894e4016ab45217af1487d0a9509fefd9bd1b19",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 6.3 cm height the flared rim itself now intersects the jaw centerline, with one finger outside and one inside. I will close at this rim height.\"}",
  "call_id": "call_u8G51k5gRHgObB69b9JxPDXm",
  "id": "fc_03e6c7b2673894e4016ab452186eb487d0b95b74a0f52e7e32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u8G51k5gRHgObB69b9JxPDXm",
  "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]: [-0.1169, 1.2167, 1.0283, -0.9131, -0.173, -0.049, 0.9971, 0.7315, 1.8469, 0.5083, 0.9394, 0.6903, 0.2092, 0.0072]\nstate[eef_state]: left_x=0.2927 left_y=-0.0002 left_z=0.1551 left_yaw=0.0571 left_pitch=-0.518 left_roll=0.1621 left_gripper=0.9971 right_x=0.3682 right_y=0.1842 right_z=0.0614 right_yaw=0.0275 right_pitch=0.2654 right_roll=-0.0439 right_gripper=0.0072\nstate[joint_eff]: [-0.0889, -3.8906, 6.5709, 1.0965, -0.0952, -0.0708, -0.0171, -0.2667, -6.4342, 4.1094, 1.9707, 0.1392, 0.0952, 0.4908]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdee2f42a5b6d1cfb5f79886a767080a1ea39dfd0f52a42971826700b1f12912",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5d07f69e618d2923265557390d3aa43071e4c7cd58d0598f1540323b6c565e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fa7bf2f8a06639e78c1c1554efba7735249b2364adb8f1c5b96181d98e89a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}