adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6044, -0.3824, -0.0223, -0.041, 0.9993, -0.0181, 0.7933, 0.6003, -0.3862, -0.017, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2934 right_y=0.0013 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.5658, 10.1538, 1.8779, -0.0269, 0.2662, -0.0806, -0.6906, -1.4154, 10.4137, 2.0391, -0.1099, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a8939a1c5aa8ee1246ffbe37776ad5610e8e721b328e8e4dd47ca0bc1b9f32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7253ddb78088a4f23ec3ef0f0e1d148efabe25524fa23106102460581476234e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0fe8223f876c059b7d4c4702311eaf76306d5fdab902b2e6fc60dbdbecfc11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFPd8nBiH43d7Ya8f6CMd5AOFap_R9zAw9cJrgqri26HTL7MWCKiIje8YPsdDA7YuYMSemXfgk9FhpxhkBtH8wlNvZ0LOHEVLgUGjCUNh0Wk-msqRRiLw3Ek6VzGZt_cswjd_lEmEDft1c37ERufNjLAZy9fbHV20_pU_sQU-SVpAr83v8lZWZ7Jky5RLomUUkv7_4M3rcYEr0R8twy2roOoD37rw4gGJ7wcGwts01rvuH3MQ5SjT-scfaHsypcnKkhasP4kCIB2T3ASWrLvIC9zkimX5Vg4sWc5b9jiTncsW_BHEP-Nar3sxQwQjc2vwGjn8OXWlbrI0Lv7_VUHb67rmu78qJXReEJzlEhlHWbffBMyUkFc5Otj6omQX7iZ6SGmqvyD8-JDSLNmvdfmaF62BePYq61JRCdGEnHz5-DaZ4Er7g4Gon3bHZTJINgMnPFrUpXjAhix3nPzd2wDHHkfVg6-_P1fGBCxyaYqzfY8q22RVz-t5uEAZI4MvKFmUtNT8haP36Xl_ZHy8GQAwYX4SonkWgC0rsFE2NCVJjZxuNSrotU8s8UzUhAqkZqWH3H1Ld6z7J__1Ed0pTN1HdxReVNqO_NooQO70IzAzim6uDhcCjWNXSmBbwXclalNZYnNitoEcPiDlILz7JP008OKEzi_dWmYJVi_3dUuQAlBuWJpCNOmy7PXKb-XILnCIRZwhvo2Httn6awUMvvIz4C0BtnkRnepoT3Ob8mibx1pysaauBVQejtQIPOqZYe9p831eKXPP1zAd7kCDc0Jd1AE-TmI48SfhBuIrgI4FFA6h9BCyKa2wxIG0E6zq9FlFPTkd4Bh0zTrTgPYtmUTJFq7bsf1ZxSs-H5WduUU4cp3zAO4oTyrTpqSHp735CVS8W0nMgid_T1fZwhYuerjwseRDl1THu91jkdA9-_SdschHH3Fk0dr1zYNCXDZMBsDNYujwL26WHX1lzmhMuEiL7NytJPfjt6qaicfwYLbX4X35hdpmTsVnEGrWsiGqg01kha77xB7IPECTYkkoJdMlNPLM2t1kqQrBWL-lwY1XgnNURtUgaKcAjZSeZZtz03jiZG2ci7dWm9EJLOP58xWVVFhKItDV4ti5uhtCcY1rDo9b6VFTyCORxWRtMpuqPihkNcGNmiyGAF2szPzELzK9ZvxRShSF-DscByqzN9yKwjCkrdsR1lGbTR3FpJ7pf-cTCRWSD10B-I_EHY8Up3F0-atR8cnwXH8OxU7_T1oSGZ9QL-lZo0WjI1T7C9GRtd-cf1PGcGi82WaEFKDlqRrOTA2WuZC54h0N0zwiNsZ8eWws_ycwFaD1MprdHm9iYblezLR1QtaOnrJYKgLWhOZou5kzZ3xINyrMRSDT4Rk-gmuThps4M-c2lutysT50IQ-I__xfJI-bGdR24Eb48DCWGuQzGz5UM4WgMGTwDJtxbJsIgTvZ8D-aJEI3Njd5uG5Oz7lOqtY1VCc1ULo1oCufUPS2x3GmvmoeQdhsDh5f9_GztpFWPiQPGu94goik8BhL7XhNtChKw0AjbmrGqvYOh11QFYHEacL1vCwj6KEQX1solXG4fe8xRaisGf6fxD_s_PDHb12Tm3gCk4IHpK62A3ADTobYv4wwNs-CZa-IzuoZVtgZAxpJ60VrKLCESXsk48KDt3GFNxF6zcvuczvz1EYnlYiUjxh8qMsRilEVoRFlMBxva6hG9zkCrYm0t_5m8vhLGleQRbcj1xFBAGxdUgi0wp23Pkpxwrxwb1txLUBQJIMZG9xcPxO_x9BEKR9IvRLNecWZVl-Pkv-xkr40w3_t-Trdzmh3dUqfM5sfZdTw99qB89jpHg4AEzzI4FyEYZSxyzk1qmmXCXdnFDOFbpQVi8BLjiS_vpcQkzYMRfcWyCgM231sOL_x4Pn4n2-BGnOhhcSBXtihB4veMSJggDlH5-sGlkP3UCwG2R10bUkONS1g6BZeGJDrew2AoaIqYd36ieotaFpsGGanMfLqu2gKZDHtLTUCZlbdpTn9wdTyYhZl-PtHBme8gqLZrpbTLQr2xQsBHGoFD5vP4kgNcKRExTA_9h9v2WhOWlsSmjBRf4V9IdH3ZZpZCJF2t7QnBfVnC07h6tIfsWEUlgzfhxsLISERhLbL-t_lzPB7s3ys1pjpfY_CtxUPLQuiwOAKxHa-TQMB2Y7rGgTT-8EmrcUoYDm4UR-I_D-Frc8D7Vv8BhQ8eiR5gsb6sPtqU4wy5zFMKIeBMNLugbBcLCUObq-MT4kGLxk9-MP-Gq-JVw2TklBLh4q_OhpCtCVZnqEMT9JF1-LLqBnhQkbxnN9eKIKCjWUvq-yAZ2PhWjxiVPvnRAu61OaTqmlJud7qzIi3bdd_X_pGQ05159Iogu9aP2E_6WJOEEsi5mO6bGqAN74QgTY6-ujx6bsIJCAuZ3OkyLsV0afyl9oFjwuCcBHa1RNdQAvmMtqQr0pySx-cJDx5ocHvElnoOb7iRkDfOwto7979IUo79p88D79yGkr-q7bvxievKU4E1_inxSMaEf02g755YwPQiLc5-tDK7rgHkvMU_JGGW0mlhAmklKrLx-ROLXC3NgWenc_AevVXk440izDhvuOA-rIK1G4XWMnaC13WMO2Oa615fbWgirQNvd9XTHJLsgTnIBcWxjXjF4I2YtFFVRs6lxU2KajKWY5FgTg_kt2cVSCE6G-4My09HiF13NvU9CYzQl0FeLrG8o6HKU2HZ-OrGUh0GeUcuGn61BiTc1KjfLo1nbgKholgIR9n0gb-5cmoZ2O9QHDeXvVQ9e2RrNcxdNW8VUgRhICpwjU2OQTvLp9mqjvihPuZ53rp1kA-5q_apcReKSX1AXCwd9_MP5csL2So8ZJM-QEa44ZA0HdJRVkfYac6vQtx36B77mxD0SNWGzOwv8AI93J9aNh_rPz3C4ZCVjEoUaqw5ogqWcMu7_QTOPs89JGMkDwZvv4W_jH33zlIzpBBuXvsBmBCuHaxmiOTK-RXG7vwoK3peA4_VMYJR0b_OLq4Zx-w320S7Q5D-BcRqiof9nFcXwaiefZUNICtnffIYWx7MFGLW0Gakz8R8Gb5FUA9EBKDJba_BHBiSsMfnBdK2EqgtTn3eF-ahxetmMpAGGLTR8sV-xS8iR-jJfBb8aFm7GO0Ny3t9uAuVmXatsP6-u8fCIoATa2wteq3JqF90zeq_OMk-Pa_YQB-jt6TuOLb-iIlsT5O1hjY2uqUkEMTx5tQS2frBrsn6L94B_J-3ehtMZ2bYPkfeuwTtgAEu-JyC14dHAHO7GChpDkQOqcmNIURaem8g6CnjWOaJGU8rcm95Eg7b9fu_7MRfrVRNZ8TeplyDbe0GTO4w6B8lhZuSzIi_22pPKpQXrg45UFN1D8rvxx2JOkxqT2blz6Vsi_Eq1ltgMpzbDHBatYolgeDX6OpeoAw6p-q6AoKm18L9T9duO_ca2hzavRaRppNuPifuzQOPfSYg879H5PZtUzG-SxEZlUtvOkM45aiTYiJrLQVPJJjgCHXJwzfdMqQMgUDiqm1Ohqc5G9oMtd2sYdYUeOjuwcxIAkSdSy0gHAi6Eu53Ncpy2uhWlx5zeuJkUkR5QEodyuIDsgQ4jmbhEKP39WikyWJyAM_Sdrj63M8eiQ0eP7_ctgbd_mV9Nh0cK336NZrQfRTuxU0m8EjGWP38WG_TLs7ZLRloIaefRlxAiU8NHpL5cj4H3IGJGLuzTNj6FQYo4rK57kVK_hR3jJV-YC6XMIuL_4XAAgzAOgY-qhfgLmBuREtCaZJ8I1raIUmPeg0yTbhYxp1t4zuosWVeKm0fvfHTO_rZ5bNjS3xQl951o3Q850owVwvlNhQPNPAhx-fC8iY8FqcBKZ6AqQCpPQ_b87wta7gBE1hRGwSIQ3XAU-OkwBu94bP0fa3enyyDcczZgp1CI5Vv8RG-o0NcxWZvBHjXMOuKwQs2AiFFcUEJMvgtbabyX0iUlht8fK2oVOgCCRLZdfEOWBwPcZhINKQvbfoH_yDpNeWbh_eOrjf0-0awOWTkPdBhnaVpNf91l1Q==",
  "id": "rs_0b5ddf015159a2e4016ab44145267c87d0a943fb2521d7c420",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFP0qY0cAY6N-2F0IZD9wDrxfSMKVT3NKWaC3cSISp4IDkddItnY1lkHgLa8jNYH6B88UBJEgCHy9pV2w4lexeebb6G8XkOSByLSflQSaMCW-9puqIfCo9qqkQVio8ISWiU4HHIjw1gPGc4qv13sYO3fQEHndEIvhPZM3dHriShzz0qQmHhmoT-XKm6jGqq_hYPN_GbgCK0zYmfsxgLvR7kAwmD0XsxPNgNkWzIU2wLH-8z8vEtZ9CXMPEyHDm13v38SqxXei-kNLfMNKYgdgumRXGJR4L-nQx0jjakmleKm8LkAn7M_WCxYJB6LmkTQEFONi3MOwahk_Cwvisg5RKY_xOCUPmrW5vrIgT0dEdk0ENRw6yRXMyjxch4IkSaFkM-kwttb8dbMOUtPInzanJyRNywqJXyUzaZRGPlsAR5SHhWuPB2dXBUGuWdiYhoQ4Li-jozCzWYW_KF7FAaVGu2BXjQPa4YX--x8MDms2ViZGT-ShqC6-og6UmjKW7CRi-qwtLnXTxgBVbY04D6qOv-e9fPSAziM5aVYHivq69e8EzdtXWMxW5BTdCW0K4Nh_MjYOhrYRt_78tOF3bxQtKoUWPNEQbH78oXa6teiCUN23aWI9cmVMRr-sQSY8oYgLaY9zQaU29cGad9NAofrPLsKgcIEpOQCQXE6-G5dpwTJO6-7PzXzHh-gKgBWkXPCece-vCRwjRnR0PEG7giSvLaT8gVvrtQt7VqnUqKPv7_6HP6b3oEN80GZiR4bKfXlUDkRM7VisFMn0phmeIGWHkT3LlItGXCmg1Vsicq2ixivDih0_0mO1PGsxrpBYzxCHQxzX_Ho3bzKUntUtXVnst9JOs22I92mlxl5aCt501H1FTAS092tfwdkwoEajjpBw1mLfT_QEjU_eo2cHQdj2ocfTKT7RpVLeR6FWin4EuOfnEc7gJ1VWk10JgnMjN8ONqj4tFu6zlVGhOZZiNkvHAFJhV0TOivP2IgJxj8LaSlNTx6z49grGR5bK7t7a51H0RVALNM6jrWyQc7d16ISmJCIeYaOFS_5j5eWOIOMQPts_BdEDoHspCsBcU2z7JbeO8U3tef1gKCZFBYocChvEaIMqm34BEbx01y5PjzS4sW6cCUj2XjSUjZz-G1ygnhvWS4PtRhesRPZ8UIZK7qmyohe_tidtHAyklz5Oo_peSeyRKnIe5qIUr1OE1ptLCnNmzWFqtVByyExCAoOZbVGidRTFFYYOZLxU5vfaDcdrrt5ytaivphMl8c855h2q29LvR63ws-JdxUCRCdhI947AdaAGA4Aa5b0TbaS4GvKFshDTEREsBZuD1H75XhzbszvXSzNGwdIe_ZkyVekgppnzZBd0uk9yxtwyCrD4XbWXKL3hL9KkU-QDWRc3W-vkbXzXWoyI9-eg1tQqNp3W0kiRhkwFmZxaB1Jn_5qGnrufYGhCaLT8SrfGaaP9KaNdykTJUWij3R-0YnemV1e1oKHrhnnpPAxggakTOYVgbqtIxea4IxXnWtHF8oOpt0ebHwbCjGmj_Kk-LvabIWNHlIorWxtsmnaXZggGvnfWGD2xD1mViQs1lBenB8eg4Lk5826HnG3kSkCNPqtUzKWzOtEm4BOjeUYq91b6xcy7CHMXm-ofpRu5HSakJpBevXtHNDGkm4lxEPJVbeBlQ3BN_uRjElOqjcymPxK6I-wgUBoaMEHwpS_ZRdvwlu6SojtGIOBUebj37HRuylDsTdcZRATEtfLUMqPRkJJIBqDIYPlyD1yi81icwBphq8RC6fgzE4TtDpWk9CNU8-fudnbeJ-qmDjE5wyLvpapcQyfPxYt9hEovJHaUfb1KKL5n2rjGjexZb6GV0iILlRKyV1yfl78a61jnuuwl-PxyqQn46xbNCHAlVcbaz5T6GmW93Mpxy0zzutH3FsebNuPO255-BCIy5nzjp70jtV2AMF6YT2YGtsPFzR8xSNkmydLUF0OfR5Rg0LKbfx6iC5L-Yo3M9PLBSEbOGZq8WWjmxOvbhDQGMq_SsKsr1p7Mv6V4DfIn5vwT_pX-XTB9l3r0y4bj6xeDs-qyaRZPnm3Vs0WAeN0cB1OJL0RQoDFtXFmVM7D_Ldhh4PbTAmm2qpMDJbnC0atMk4YQJdYhxpoeigmYt04tDtvpfjTUU4SWsFrB5MA8aVf0BWK6DQlfqjXdkKReQDPkCuJ5mBq-1OpQIXJOceVifzcdPxR7Vvfvy6gi2-AZ0VPZxC9UBVERJF0Vzx_Eudzh90k1zWu-y-FixbNTNAkahTNsjhRNKOhItyMKjlbgG2yFrd9C8lo2HybwoapRHwfKSUsSfY4YmkZTT_uAGcXtOJhy36qJnHQoMpW8ZC4bsSDGrnwoyqftlIcNWKscnEKpOO_1JapmcpzQ7BfGldGBtxU8EBKsYm5CHBXN2h9rUomMc25ZGev6w_iGMg8FcPz1wNHb8iKdkvhtx8w6iasIGDr5BspSFsMmWneYqHSzGoL1WpIHTja6Ymb7mvqHKDFGjZSR20IIimBNcuvNdQTaNVGhC9b_WYmMCzEvMB87KPZxCF",
  "id": "rs_0b5ddf015159a2e4016ab4414b4fa887d0bd2c6d53963d6c1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.08,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three bowls are visible in a row; I will use the green center bowl as the base and first approach the blue left bowl with the left gripper. The blue bowl appears ahead and to the arm's right in the left wrist view, so I am shifting outward and right while staying safely above it.\"}",
  "call_id": "call_1dJq82NZb6GqgLUJUeyPCS60",
  "id": "fc_0b5ddf015159a2e4016ab4414e4f0087d0aa07f65579e22bdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1dJq82NZb6GqgLUJUeyPCS60",
  "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]: [-0.3866, 1.1599, 0.6128, -0.1612, -0.2966, -0.2344, 0.9993, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=-0.0758 left_z=0.1225 left_yaw=-0.0318 left_pitch=-0.0985 left_roll=0.0285 left_gripper=0.9993 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.3829, 10.0308, 1.8828, -0.2515, -0.1099, -0.0806, -0.3214, -1.7983, 7.2137, 1.746, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a391d39e825c121b6e4f1537fc068f5f276deb30dd5098b60499ec9f812b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20f31a7449f62b332e47835324a59cb1551adc1a5f9fecfc4855b8ba3f7d07a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9bd81f219ffc54b152fabbaa247a8138404c05dcafe11cebb7983784a9e949",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6044, -0.3824, -0.0223, -0.041, 0.9993, -0.0181, 0.7933, 0.6003, -0.3862, -0.017, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2934 right_y=0.0013 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.5658, 10.1538, 1.8779, -0.0269, 0.2662, -0.0806, -0.6906, -1.4154, 10.4137, 2.0391, -0.1099, 0.188, -0.0952]",
      "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]: [-0.3866, 1.1599, 0.6128, -0.1612, -0.2966, -0.2344, 0.9993, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=-0.0758 left_z=0.1225 left_yaw=-0.0318 left_pitch=-0.0985 left_roll=0.0285 left_gripper=0.9993 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.3829, 10.0308, 1.8828, -0.2515, -0.1099, -0.0806, -0.3214, -1.7983, 7.2137, 1.746, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a391d39e825c121b6e4f1537fc068f5f276deb30dd5098b60499ec9f812b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20f31a7449f62b332e47835324a59cb1551adc1a5f9fecfc4855b8ba3f7d07a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9bd81f219ffc54b152fabbaa247a8138404c05dcafe11cebb7983784a9e949",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFWHeYfTAFSY3WtqEuBTLCI-zx4jLC-tgvzyZF0oSZ8jY_9fyP3uFjvhcehbvSRhLuhnLUwFj_JrmYhsNv4GBTkVuYW3hKc7KP8TzMummk9efFHDqXtbT-Y7QGUap7xjxXzVk6QHS1yTYOsGX0sbuCUDaESVUQ_UWXaU3_gp4hePWRakWT4YoMv_8nccbWZOWGewhGGmsPhopoEakuflrIesdUcEPt3NqkT3oxka0CVrfElSGegwTkY46KGsuUz2ijYOlWAPUh7VFSqI8L66mFJ51vxyViLekeBkqQYzYFQDLI2FRYZrjFPXyXvAb-atJ9zbbj-fI-UsnzEFG93PPZYFyfBn3F5arTgJY4SjlvrH4KY_Zoi_ebgu7vQzJ_ZqfaefHzM7oFQFRlejHQa8iAnpyblBheeGCPutXk1034gPChnAdJoV-kjYk4996r2j4MpX0XIKnAjH-nk4sfYKr1O52WC9hAdOlMBF2gb8RV_YAoVDZUZ7r3LACNM6Lmdgfo1KEg4ypof1FH7itpzBPBsPBa7QT1HL0h7DvGVrEvWsLqHuuV6lrXMWVdLh-LlVnWf94Aj4K4izCyHjQjHqJ0EEH-W8sYd6C6bi8_iQfPazK59x1f2lP5Egi4E29UCWHDe6Ezxb14u5nmuQtVSTc_EmI4bn7kZUXqTK9Xjf8Yo3NLgO7c8H_Z5UX98isWjy9zjbUMfEBDIdkEpIUhAT4CvS4q1NNEpfi-zf5_MBdBbsB9qRUZauZm0wBySlXF-ISXAenHemQKBlouDjyU531aMLhOcCM_bzbaaBEySxd9O2-BxgAIe41nJ8zD9JLgpWcfK_IpoQrmWk6DUGriTEQhY8WgEHQFVSBFVP2RYwQLTIY_utMOiYu8LIj4NNv7Cwnydk_MCCeytmR_DPkmEgqecNVi5xSsh-XWpO39KQFliAIzpYHaX5bjwlU8FmYd4WQvRuskqgW0u-pAqSOCcnbu4OHh4uDKKaxRDnpyAGz6nnvmiWu7WJOfV866fx8I_qcp9i4OLRu5gAUKCqwk1lhtccC8KIFvi_8Le8h0nGMnRLB2MV4uteHbFrUjCdX6mqzXoS3zUsLJp1HBsJnkd8mF-OSbwQARVAMh3v6vgTzcJo7MEIJC0L77bzweTVEmHSTfirA6jy0Bxv6uWlcw2V98YylQkn46fDZ8PoahO8BsWEiaIb6u_EluXDb70N3coQIFzdCDKLlua1sffRLwoDSz_tvtoUiwnwWK5SAlGqRQNX24uzHIFf4q_zlmVbRmGNQ-dPCU8SSrYoWuSyZfm-K5gIw7LJc_-X60e8lb0cNdosxxQUTq1Cb779BfsscmA72MBxDnmJ5zZHx_-exrSFzf_2UvRSE1e3i2ca7qQ-we6w0a5RYbo9HC8bBc9HpLNuGadzJA1nGxksL6cUbK-go_XHufWRc381RzDlbz1fP7j3bYZAYpdUIJHg6IEJk5CzXMY73MemK3aEoYyIpgS4aOdO5rqI8aJfAcnIrC-xsBjGwMHS-5eUMazfvX0gfOCmv9hNw1no-0OfTfUjeIezaqe3y2ooggCXRJvItMNLox8u_1n8mq585uTwU_ST6cjKuKTDIRLvy3-EiE7fGpxu7KMTToC01yTHvxvs0Xvyi-_lpkxB18ZIiciPMcDicWDP8vkpZHGkNG1Tj7_lrUqTYrfozGKb97Nw_w-g3CfDs09VSQv6rEOb9D1CZ_O11s2DOxHvyNNJ2ynnj9r26Bju2Rmpboiqu-2rXU4u4vCgbzYJKvoKsdV_70A18B30ksf6SnVWFmpwjSlvm3bEfofgH7tupUwRQzTkIRSOxgS0EUIXMgFnNOYyxdFAByye0I4TrarrJM3kOfPwswzob1n7N_yAILRiucJUMI-RjDEX952dwtJJnPGf9u9TQP3xs3_bmNbevhGB_QQ8qElyeoDnrXW31JIENx5kOynRp1rLhrfF7FGweB71GZpBPvmvJdidZs7ntrw1_1dTYsy32n4ei3uP3lAcLwvaOaLXpaKaWFDy0UUToj6yHvJE9roaSk5pN6a3a9ifjC9HIvOKFl6TYpcAHSyRO7DPiqcUGq8uK5d6E-HnxosLccp341KyGa1JAWPf7nT__XsP044bU31IYW4qzhSPP3Z-N8iFhE3NCH41uow088UxtlwYEkCp7sgJHXvUw6HDLXfbkO6EVmL28IqLMubbyF7QGfiXwuKkEpMatYNogx4LnRtp6DhEONP30EhyISAvFHrkH11KRZF1TJn4Mps8B55gn_jGisSBYsGD4g6l4w7yiOW6PNrXcBnPivEpFNYMyO-hYEUWJBdt6xrd6qVNhgIF5NqUpx2zfvrpg8JWlaET_7-9YhS0g2h1iMg1FwkFOrWszfJ5Sv1FyIH7W63GD4vwnUffWVEYx1WUe1v0VisUUcC5BEgalJbirAbA4W97oBBKOlsvbZA-Bfc2IDAu9Nwm2glIPV9BRDyp5ELc6LSpqwun36UgZuG5R35FDS1r525ZBxp1Tweu7Z8bYayKhBjNo7ZF_F9IbxIs4fFCB6V_tcZxRxtttuhCCMNhG-FwdjUy1hUL1ywy0pf_d_znussxQMb9wbOmQCRA9ItgDuiOCM3HGXrrC1ORO7NCUj1ARPO2UG2wd2gfZ3vBPGMC4SAJTtYe_7nXawnrA1hdF0wDQL6qKFQ6hdr4I8JvkuEb4ozDWx3Z1R9nEBgrx_C3g58KziloDesWzdHrXJ9LSfjD4BEPNdiNGzsvVijEkSAU_rOVDw_JTIeRyoY_0JCAGiMiaAboSHNWqthDe35mQh0_9C4UU7JKF-VPK8JJKDmG9igoIQOkNTLO6Na2JRSsJTGX6NDbH9AmZqzr3rEXDbot2wykIHzS0WEKhrO",
  "id": "rs_0b5ddf015159a2e4016ab441522df087d081cbf593d4c9e83a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.10,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The left wrist view now shows the blue bowl nearly centered between the jaws, with its center still slightly to the arm's right and just short of the fingertip line. I am making a small outward/right correction and descending to grasp the bowl around its lower sidewall.\"}",
  "call_id": "call_SpCes8n7LvYNO5zovG7eBAIB",
  "id": "fc_0b5ddf015159a2e4016ab44155373487d0a8ab95def56fdfb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SpCes8n7LvYNO5zovG7eBAIB",
  "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]: [-0.4393, 1.5257, 0.4969, 0.2264, -0.3378, -0.271, 0.9993, -0.0177, 0.8043, 0.5957, -0.3943, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.0928 left_z=0.0267 left_yaw=-0.0259 left_pitch=-0.1742 left_roll=0.0626 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -6.2701, 4.6564, 1.6679, -0.1343, 0.0073, -0.0757, -0.1436, -1.5795, 7.2, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f04a37e6a3261d26da4a8042ae5c366f3bddeeee8713735e8d30587a08a70e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1b2f5898132e87f71fe4212357bc524fbff9945015a9fb368ccedc0b787a1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263be8768966c1107e487c285fd345f521e359df6c9af1d813875a94d510c71f",
      "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]: [-0.3866, 1.1599, 0.6128, -0.1612, -0.2966, -0.2344, 0.9993, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=-0.0758 left_z=0.1225 left_yaw=-0.0318 left_pitch=-0.0985 left_roll=0.0285 left_gripper=0.9993 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.3829, 10.0308, 1.8828, -0.2515, -0.1099, -0.0806, -0.3214, -1.7983, 7.2137, 1.746, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4393, 1.5257, 0.4969, 0.2264, -0.3378, -0.271, 0.9993, -0.0177, 0.8043, 0.5957, -0.3943, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.0928 left_z=0.0267 left_yaw=-0.0259 left_pitch=-0.1742 left_roll=0.0626 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -6.2701, 4.6564, 1.6679, -0.1343, 0.0073, -0.0757, -0.1436, -1.5795, 7.2, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f04a37e6a3261d26da4a8042ae5c366f3bddeeee8713735e8d30587a08a70e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1b2f5898132e87f71fe4212357bc524fbff9945015a9fb368ccedc0b787a1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263be8768966c1107e487c285fd345f521e359df6c9af1d813875a94d510c71f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFY1jG1Ak4MDrWhEjy39AtA-1c0iM66gzkgNGm0vQ1klOB5Glo2vENOVDR1TgczDV7FhsJMBC28waR3tcz6D0KKoG9U0uXa7r7BLik1TATcc1ednXOqQxIRlhPOWNsLwVZYRdiOf9-3vF8jxuC6ZxjHYIMG7oGBH--We17x63-Ypq5N4AlJHzBKfP6HmP1J_ANr9FzUjTsjtyRjH22wkRklfx1cvbayowii9TgvgduItrWMFPEoEb_OnUKRRNdn5-KE8YcssfLTRTaZvQsw9dcAYNig_Iq1StQ3A1RvIct5rWsl59mFH5wZCN_F1pMQllBDHT7QsE0wCv4jTzb5F5X39DCw3imsvC7UBSSEs-VMroH6n_2odU_OmF-cKSDYHdn5NpkIJ_4JVsRXULUeOK6kyqpu1Zd_k4DV21QhK1ILSDmUO3jo2U1EFWUYEu_A8stE3GRinhp7tgDB1TKc8Y0Az4OYUngjITtPsY07_Pjbi4gzZLz3KK6LxO8ag1tpGA5w5LIVyj8RiNxFAdyJz-atE1zJhKS1IM4GtesIjRSLX34IMssNPAVot66hVeMDcabqqLQlMr2pyIT-lZjf3Xtxub87DXs9MHQnHUyvLtDPuXRbMSbt8hCG2qj9qbos2tAoP6Kxh88eRfhCTOlQeV7LZc8cY949fft7L_Jz_id8z-L76bI0jBAC-QatPD0Xcq8-RTR5xPlG3kG_qAElpzY7YECtgrVF5I2lkYzxjZpF-mJIioWS0sKZC8SRBMqEyJN5JKYMrBT6Gqtcv2tUMIsEvor0snS3AKLuEcs5yt5PiRrReY5AzISLWRxQ3pFCnRGoke3ORBDagqo7R5ZqlDO6880v0bPuMfNbLDbSkI5QDAj51Q6AXzKU9mDH2Xcb_IF6rSlOBXsDiEBXP0nRGO_L8rPwUELKSWSPDT-4qbWLc3cOJEQ7mRbZeIHu7I4Zy8OHdQfozgyIgAVb6LJtbblhF9JP5LhgMP_WdtWqnZpGmu-N6Ztc4QAvqmQ8y7waSDAgJkHC9tEH5RsPKnrBspAhxEP9aQadF-FC_cnO6SfNdbwDNHcQf-P88Lzi46wXx9WizvlUyCeMkZQ8rXYGBBp6LKz7MFNB1jgMuRxDk13H0chz20JuykuPJVCBfGfqSJU6G_TDSyQcDVxdqIgfzRvqQsoqlUQwZl5MOq_byHAddn1UMFv7Ky9ocqe0JNiW6avU05sat-TPSqCwcPQ3zGQJ5N-Tb9Mz3kA9DbkJ_loNFd4=",
  "id": "rs_0b5ddf015159a2e4016ab44157bf5c87d09e2bbe7951ee70c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The blue bowl now fills the left wrist view and is centered between the open jaws at table height. I am closing the gripper to capture its sidewalls.\"}",
  "call_id": "call_mN8pNSFcalRlrBmg49vQdUFy",
  "id": "fc_0b5ddf015159a2e4016ab44157f9c487d09d01163acfeff0a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mN8pNSFcalRlrBmg49vQdUFy",
  "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]: [-0.4435, 1.5185, 0.4931, 0.26, -0.3309, -0.2932, 0.0284, -0.0177, 0.8043, 0.5953, -0.3973, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3474 left_y=-0.0975 left_z=0.0331 left_yaw=-0.0259 left_pitch=-0.1416 left_roll=0.0263 left_gripper=0.0284 right_x=0.2919 right_y=0.0013 right_z=0.1696 right_yaw=0.0007 right_pitch=-0.0275 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -4.7248, 6.0513, 0.9499, -0.2808, 0.3492, 1.1893, -0.0479, -1.2376, 7.0632, 1.7607, -0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57242b1f5e3754c6f4afb52772e01b67736bdb73b86ebf76c3b1d2bcb32dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6733f51770f9d46a166377d6f22d25ccd87e9effb42763fc97ada3e0457b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65095043bbfc91b9f3739c6482f708b5959c229691ffb84bf887e73e6200c6d",
      "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]: [-0.0196, 0.7956, 0.6044, -0.3824, -0.0223, -0.041, 0.9993, -0.0181, 0.7933, 0.6003, -0.3862, -0.017, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1792 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2934 right_y=0.0013 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.5658, 10.1538, 1.8779, -0.0269, 0.2662, -0.0806, -0.6906, -1.4154, 10.4137, 2.0391, -0.1099, 0.188, -0.0952]",
      "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]: [-0.4393, 1.5257, 0.4969, 0.2264, -0.3378, -0.271, 0.9993, -0.0177, 0.8043, 0.5957, -0.3943, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.0928 left_z=0.0267 left_yaw=-0.0259 left_pitch=-0.1742 left_roll=0.0626 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -6.2701, 4.6564, 1.6679, -0.1343, 0.0073, -0.0757, -0.1436, -1.5795, 7.2, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4435, 1.5185, 0.4931, 0.26, -0.3309, -0.2932, 0.0284, -0.0177, 0.8043, 0.5953, -0.3973, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3474 left_y=-0.0975 left_z=0.0331 left_yaw=-0.0259 left_pitch=-0.1416 left_roll=0.0263 left_gripper=0.0284 right_x=0.2919 right_y=0.0013 right_z=0.1696 right_yaw=0.0007 right_pitch=-0.0275 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -4.7248, 6.0513, 0.9499, -0.2808, 0.3492, 1.1893, -0.0479, -1.2376, 7.0632, 1.7607, -0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57242b1f5e3754c6f4afb52772e01b67736bdb73b86ebf76c3b1d2bcb32dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6733f51770f9d46a166377d6f22d25ccd87e9effb42763fc97ada3e0457b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65095043bbfc91b9f3739c6482f708b5959c229691ffb84bf887e73e6200c6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFgV1NvCqvBGkdhD-aTiZ6rLgfr4f7H2lZDuTgy6_th9ZFOvgu54w6at4g7oG8XCPDAaZVCn_VsKqpZegH8CmBkE-MNUstkoM8GepNlXLxxvwbT2k9LRHLJIoQ4kVOc7WFWhpVTd5AGuPrYWG8MD5r197rhVH1x9Uo6PB5nMIFcBT61CQgx8hgqD3a_1ywdckpC6zZJsy3nSCJbG92T-3MYBcaEgCuzEHf2yMoknDscNTkua90wIpJRrK-IKFASlXaGgC7KzJkHF3OrZ94HdbCDMn3LhqTV3eRgd-hBHUubhvLNuIlH2XBtQ3ACn1o8a6MyfvXz_W1MoZ2AT0Dsta8qQo54ZNqfWvmD3DCmjAExfacXJ2EnbbztC_4tgHdMZv0lrcxD5AH3wpIptHzqvYSWA-7KIl4fYzZ2z8cSj23TTRPFwzRvJKTmOKaqNjwE1tUdiPvkSeazpZYhqj7APKF8rE_rMmqxdhMs9jvBmMAAW9a-c1WnT6Do3RDADL7qMqSSBHQoStM_mFb22goxGebljewkpz1Am7BMH-zBILfGaNj59NRURGDVbO8wjJO9UBgI75-UbOoQ_Px27V4QfgUKOi4l-yUPTj5mu0tllQjTz2ZvaoBlM13udEO68SUWSg7GQod9z8hdwAHAv5oQNIwQZzs5SHNGuti3jdeMyBLd0ywAi-ETt1dfbQqjsPh9rEX_5kq8hhwwFvdsKa20Z11GxZF4y-jKPYXI91t15Apa0voB13WllbQKnt00g5O6iOEBdr-A8dVhlKcLWCGtkJ7CDGLRGrGVzVDtbKNhwpgg8lGcy-tnWYYxr0X0SmMz370xef0iWzPG86oRvI4i24cVrgtdGgqtQiW_OC_rCGFy0bxt036VDIuSKsSVcJ4VzjTe2LemlrC_g5wAJDDBXS9HxHGIGjDfuemZXatUKdrOOwnZJheZrH7RKfaEplW0dBMKL_XisVUPjd19lE4iUyWDNQ9zBZkz3UWfG_eT3OqKzEyJIuKCE2hSY80bh6hKoZPUFsU6Tcyj7a9MHomccKz9YtHbHts4PMg4jDSOJldLsM4dYMEZsrkY21x58HALqcrp5q5cpL3VoZ40bn9A2EvAVV1vqLFEp9skSCMO3ebKPaIDNuwCP689J3rgMpfTLgDpFW6d6N53VwVOaU5tDlib_0NXwMYioV8OY7BRXDz4WdwDjCLxB-46Swe92OogAhJuUneUhcBDqGpl10q0oSq0rBttzXtrvm2CHqLzQiAbXd9m7okwkDxDm5hyzgubo8gw1f62vLnmv3sXbkFF2NqF82kgqUybc1cz5__PLHM8RdQWHSSSPdhQNWIgf-Bm4dGPZ3KWFPUkfV5DrCL1GdArS6GaJRcCU5l3RJV-Mi1y5Xza7IX-76seJ0fyKvKbFRwyqzk1dU01TujJYjDlRJpook9bg2LRRg0eEr6SEkLcokze3i8fn32cER_bUzijdpEfsRDFaOhSIFYNdMh-1kuqKIkin14BVecRXRVtRd3_FX9C-X6bKjN_yvQW0PJmCMXi5u-DqxSkKcZ7bgqoE-LIVacA_HZ6TijUkNt5ND_GcaZ7N_BWA3yEeGj3OiWJoE0R31C3TD93pPylsLflubGfkYxNAwRBl05DCwHk35z9aKEYod3qd_D65-2DBVuacjk3arnrQwBAFEl_kjFJa3GBByCmxBD4Oyo5GeCHkLJQX1n-HEJGxS4xa_Ol4zRktEcTNGQelZRv7KsLoAnfb2gLOrCKkEY2tfzLYjLnMRK_F6RyWdTvHM6WKmydbUGp-PFxTwT0boKCael2wzagIIAp7-lSrdpCCNXipPaLN1vjR4qUAdBHkJfU7iVRiqpWfn5yvzWwyAHYp0FIDxBDXh_RvrD1rqjeFY4xYfbCp_gmijg3OzMw9aLKrrR6p3753ARQXbp-AfNqgpp6lF0t3NJJDjRdKQm29QVUFEDMdWC-zNm4vcZiWO_23tyoSbte-Ay_sizkg-qwcs3VeaYX05rJpIs_RsLXxHzmE6yKpIGs60jOSDORzirls6z0uVHLCUTT2l22T8hO8J7nkQbTPzWoBWYri073359ggaf1hW52jFCZ0vO5ONLigW5vQpvQFhJnOwxeN7PVYmg99we5ehlgvCi87NVoCLoGBV7cJvwoIbd5XGCq0yyVsRVJDc3aHoCre8XdxAgfBUpp6gkFUtNQLU98r3Nk2YNfzBrnb8EOKLCXixOpFxHPKRt5g_kaV-AV4fta3OPMo3zO94ufipxfDzOIVU0vt3pJeEV2kXuOelTaC665SU5tVlgXC3I9epMiUltqxEqbLsYOmdywb-AytJ1vK52ukBcAnRbOFAN5BANodl1jOjL3hIAHu0vFqUsexE7vFxN03e7ym8B-Mios8kgvQs-V0ahOBLN4AXvjG0QEg3MC52HlIzQVSDo5APfmOamFnSunzpQangJ84K1qexaF0lvhSdJo1CiBs9jAXilEQACa5s2UA1E9x6dwKIpXS9STZ8M2f_sHSQKMLfk4-Tbfhi1b2QrsJvwSwu3zV0ERDCMoXgN6_F8WCMZBaXjQfh6N7gySQeW9sybGo-z_5YcXxHVzfvjJJZZhxGGb36d19pPz25ef8OXdSNHhaURtOSvnTb4505g-SWNGThK6xMH_8xeZnfa1xQtbkK4318vZJqq-C35n5bZx-2s-ub1gR0rRUOf4Gp2IfpmFt8Wc8Yogup4GKcLwCyODiVMrDu-GsgoXcoQf9s9PwX65WEm6xY49tmZX8CPn9M-0ngzOcEazxf5l9ChVaBxlmOs6IyIM_Hhg0Oa8XIKH5KzoEvro3Px9zuvslRbg4pLxGXd8rMbQ8B7295YuL0MilMSegTfMsBSBF4F8G4TkjX6_8QLFZs59LnCGD2MgCSStaoewdtwuSmn-uHqhujVNr99RKmCHUW06ns1HHb_HgTeT05CaBVI42XIInSY4OVICN7atK1WGQODtTm9Kqg-uV9YflFSDAJ_vnh3k3epXRIL7ulFuOsspZ1wJfq3O3Uy-N90QuKzcU_qD3YIbmFiOjR7hFYV9fz8yM0wvtW7pfA25qv9t3GT9ZqwvWxHQ7XHLxOL3WYG28E8512yBEXpE6RChXR4TiIJuI_ObzaocpGYVW_ojkNQNfag6qrcUIjrkqVLJEbYa-AqRplVZ2LvyV4UojpM=",
  "id": "rs_0b5ddf015159a2e4016ab4415b922887d0bc3378fa431e4256",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_gripper\":1.0},\"note\":\"The gripper settled nearly fully closed, so the first grasp was empty; the overhead view shows the rounded bowl slipped several centimeters to the right during closure. I am reopening and tracking that displacement with a 4 cm rightward correction before one careful retry.\"}",
  "call_id": "call_xhggt1YQ5cxCrt5qfY9TebHS",
  "id": "fc_0b5ddf015159a2e4016ab4415ff55487d0bd221791f80acff5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xhggt1YQ5cxCrt5qfY9TebHS",
  "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]: [-0.5877, 1.5909, 0.5529, 0.2077, -0.4213, -0.4019, 0.995, -0.0177, 0.8043, 0.5953, -0.4114, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.1351 left_z=0.0248 left_yaw=-0.0336 left_pitch=-0.1663 left_roll=0.0326 left_gripper=0.995 right_x=0.2899 right_y=0.0014 right_z=0.1668 right_yaw=0.0007 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.2444, 7.8017, 1.4481, -0.3492, 0.0415, -0.1587, -0.0752, -1.2786, 7.0085, 1.8144, -0.0024, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e707708e6bb76f617bf5314b00532a769f1e1c7e3cee5f95261d324ee47e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2ef112ec7eef00cdaafc4f075e9278fd17e50a441fb0d741185c75e66fe849",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a130db342d6aba1e2e39c70044023e935be4d999f7407bb9b9b8f60c9cce1668",
      "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]: [-0.3866, 1.1599, 0.6128, -0.1612, -0.2966, -0.2344, 0.9993, -0.0181, 0.8005, 0.598, -0.3935, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=-0.0758 left_z=0.1225 left_yaw=-0.0318 left_pitch=-0.0985 left_roll=0.0285 left_gripper=0.9993 right_x=0.2926 right_y=0.0012 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.3829, 10.0308, 1.8828, -0.2515, -0.1099, -0.0806, -0.3214, -1.7983, 7.2137, 1.746, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4435, 1.5185, 0.4931, 0.26, -0.3309, -0.2932, 0.0284, -0.0177, 0.8043, 0.5953, -0.3973, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3474 left_y=-0.0975 left_z=0.0331 left_yaw=-0.0259 left_pitch=-0.1416 left_roll=0.0263 left_gripper=0.0284 right_x=0.2919 right_y=0.0013 right_z=0.1696 right_yaw=0.0007 right_pitch=-0.0275 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -4.7248, 6.0513, 0.9499, -0.2808, 0.3492, 1.1893, -0.0479, -1.2376, 7.0632, 1.7607, -0.0562, -0.0708, -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]: [-0.5877, 1.5909, 0.5529, 0.2077, -0.4213, -0.4019, 0.995, -0.0177, 0.8043, 0.5953, -0.4114, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.1351 left_z=0.0248 left_yaw=-0.0336 left_pitch=-0.1663 left_roll=0.0326 left_gripper=0.995 right_x=0.2899 right_y=0.0014 right_z=0.1668 right_yaw=0.0007 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.2444, 7.8017, 1.4481, -0.3492, 0.0415, -0.1587, -0.0752, -1.2786, 7.0085, 1.8144, -0.0024, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e707708e6bb76f617bf5314b00532a769f1e1c7e3cee5f95261d324ee47e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2ef112ec7eef00cdaafc4f075e9278fd17e50a441fb0d741185c75e66fe849",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a130db342d6aba1e2e39c70044023e935be4d999f7407bb9b9b8f60c9cce1668",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFmLdnBdQlRuHTjJ0QRBEznj55r_fvsve1ojbulrxY-p49SGGJd4KMQUcIJOdOKS92oEbwH3qtQczWVrPDl7LMuJVnqbXOHkAXk3RSTzDbEIXWVviAiw9Q6nidsB_j8n-flYNsJBZ8xeOO0izMgFk0gc-fiuKAtWdV_etl9eCigqATlqzc4C6tedhfdoKf3XR2qlIgHBHTfjBhc9NXXeNhGapybY1zrM30FnR-9IKz6pyLR0Nc4MRw1qsJFApShJWUgdh0VafbXeTR95sbdFHdA3pOhnrRHnOSPuLG7o82R45-k-uVKAE40ctK3Rnt299zOEAWh711CEoGGJJ7ibxfjpOt20MJYLaGb91CrMDYWljVidBOLgEjZN6USw64UXb3fZfyeCv9o6ZAi_ySYifsCO3weRBvvRhsdcGKNGzcUbqkeqrCYJG10dMHGMVutC0U63LE8JCqzc08Oo2D3NCIZDTjsZjI_70m4uvbBH_pTwH0MR7EfL7Huj5cVXP71KIrTAYvxqkJdKfppYBZaLrAXsQsU9NDQFeluNSLroBHf8Edux5QpYkEVaF2CEGweqbb72X1OnX89lyJhACULoUkPdHo__AuDufYOhf0npCskaBwJ0WUr_lTc6nKDLAPtzzhjm5airnPolLYo3obi4seIaOd7mgpZFWvB0Z80wOm_d3Ssu0lEdSI7uuPnQGYTKEH6XqcyeMzD71q6JsxqhpBytLigl3_jigoSJuGmTQUGWhVxqQhVi3CeAlSUdgg1-1rEVm8GZuH-c62VFODRMXmB8SUwsJ5DpYORsqbLUnBvgGaov0Je6tIwhA6OfRPhJT0dpLBRN28TFh8BT-NySnkpwd1zDycD-wUmbbaK7lM7MeHu7S0GN31W6hPNBrVeeQbEU129XTqt7ETKu2VpqpUEtrdKjBPzUuF7Em9qSnM6Pal9Knmt5TXP2uRNXgYOPEdGjMis6uu6_d1qllIdZiq2Fw8Ag7Tt_ViMnkEC6bJA4ypedcVvqq6jHYDVx_3Fn6LLaFTpdCCS-nbjErz_mm5OQQ2bh7obt23lLTGRZXja299LQqb-S6NXStMNsHer7o7MshfuheKOO98uXvrh2hJSDN3ErSCpI2cGxvrZ2-x7sMXyho78youeKKhTMG2gXFflBn3uhrXtL83u2tHDPEnCvdr6Dtf-p3zG857EDLCsMZNh6DOqQgO_we3mr5H5PjIGCvQhxbXXujG1XTdtzfXMxx0AxJGeuOpMmwtnNIdvKJaRhphoDzpQO73FraLXfNSDyv6J2T96jymXOfrK3BjFOEnf-t0P3oXt5evumW5jhbZoCfu85xRmIP5Y0U3hcLR2RuX1MYVNpDdUHGfwii_CZxTDU6JQaVtg_TIWnvz3J646UGsFocemM1Ln0poovKpenJg6zDgmOxijqg_oPGJutUm-gtMccoCHtwWA1OqzLAZGw8-87pOuIRwAeEtPxinaGSGM5eO7wz8gMUfVNBGuhZabirGT_StT_8xZeI1L4Cjazvs_oJFpKy9mYgog35QUFtgQswv1-ZegZIZlp7gPuIyumHib_iAX-871e_c2Kv7-buaMSzJqj7ok-0_VtrS8T3ZIYGhpfHnhgPE1Gbq6I-LYKnTKgJTDWKW7Zb9gZsHTLNB8mMryrHVDH9awxm2QhqY2YowlWGaN1mPJNJ6GPw==",
  "id": "rs_0b5ddf015159a2e4016ab4416427d087d0a7a60405c9595098",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"After the correction, the blue bowl is symmetrically framed between both jaws. Because its rounded walls can be squeezed out by a hard close, I am closing only partway so the jaws stop gently on the outer rim.\"}",
  "call_id": "call_4mkm2sJzuEJGmxE8U9hTNNC1",
  "id": "fc_0b5ddf015159a2e4016ab44165215c87d09b1ba766db296820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4mkm2sJzuEJGmxE8U9hTNNC1",
  "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]: [-0.5919, 1.5929, 0.5571, 0.1986, -0.4206, -0.4091, 0.605, -0.0181, 0.8043, 0.5953, -0.4152, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.1365 left_z=0.0241 left_yaw=-0.0338 left_pitch=-0.1723 left_roll=0.0304 left_gripper=0.605 right_x=0.2894 right_y=0.0013 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.0786, 4.9162, 1.5946, -0.149, 0.0464, 0.0366, -0.0479, -1.0188, 7.1453, 1.7021, -0.0513, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b343021196c3be10afa9fb6b3c8bd6192701c6ac055e992010b085c8bb802f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b43cd19d30fefbe78e9b1db20094b86fa3531f92dd5fc0abb960f8917ddf382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8851ad5a2b82386c140e60341c93fde9ca9e004be62a12da59a732645327ecd0",
      "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]: [-0.4393, 1.5257, 0.4969, 0.2264, -0.3378, -0.271, 0.9993, -0.0177, 0.8043, 0.5957, -0.3943, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3436 left_y=-0.0928 left_z=0.0267 left_yaw=-0.0259 left_pitch=-0.1742 left_roll=0.0626 left_gripper=0.9993 right_x=0.2924 right_y=0.0013 right_z=0.1704 right_yaw=0.0007 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.5402, -6.2701, 4.6564, 1.6679, -0.1343, 0.0073, -0.0757, -0.1436, -1.5795, 7.2, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5877, 1.5909, 0.5529, 0.2077, -0.4213, -0.4019, 0.995, -0.0177, 0.8043, 0.5953, -0.4114, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.1351 left_z=0.0248 left_yaw=-0.0336 left_pitch=-0.1663 left_roll=0.0326 left_gripper=0.995 right_x=0.2899 right_y=0.0014 right_z=0.1668 right_yaw=0.0007 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.2444, 7.8017, 1.4481, -0.3492, 0.0415, -0.1587, -0.0752, -1.2786, 7.0085, 1.8144, -0.0024, -0.0611, -0.0171]\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]: [-0.5919, 1.5929, 0.5571, 0.1986, -0.4206, -0.4091, 0.605, -0.0181, 0.8043, 0.5953, -0.4152, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.1365 left_z=0.0241 left_yaw=-0.0338 left_pitch=-0.1723 left_roll=0.0304 left_gripper=0.605 right_x=0.2894 right_y=0.0013 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.0786, 4.9162, 1.5946, -0.149, 0.0464, 0.0366, -0.0479, -1.0188, 7.1453, 1.7021, -0.0513, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b343021196c3be10afa9fb6b3c8bd6192701c6ac055e992010b085c8bb802f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b43cd19d30fefbe78e9b1db20094b86fa3531f92dd5fc0abb960f8917ddf382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8851ad5a2b82386c140e60341c93fde9ca9e004be62a12da59a732645327ecd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFqy5q0xm-zLB2yWPTe4oJD4WJD5qzggQ0Q6U50p_Cc9WCt5Nw-aH9kkGxKr0xG_x52NPIOZo0oPR72Msv_DtT-hTOHbEOt7cyNKwDwCjiqivLoSvqXKF3ezWZV0pQtTOvJdtFCDeWNa_e-g-UMoOiQyXnMXANFB67_GxGyQCl7v6xMVX1XIPLQj8W7epuVzved2oLGd1wGrNBOoklrQboCjh3cBGkEAvaxZxPL73TqTWR0ro5kS-IgKs083Wo4qy9WpvWP0qT2tA5KP5juPCdUSaZkuOHYEVlc4Zp5Z6lCh9K_3lPf0_p9roPWWhboQd_9nX7MbNMRP1S7_KDzvnhBt5zDdqlZy9xjSdJKtPR7GLOGaZEe5f--MQqrIhmA6LMZ2hM0RLl7uWpmqUzVIhkMbntomOU0oDn9mn4s7LbNnPY7OL-DkORORtrmAq1OldDD9kcp0PGqSvBzuGVkD44K374hluBAKeAPl9NSF6VEPsVVdf2DURJWIAVqE7gjHenvfsSbe9q867yuINBqaRQfDV74R9RyfKFRaYoB_SHi-aDcjPqoTDLH_7gELJfs5RmuR_vOdGgeJhm12tMAzzPZZeyV8RbbksPp8E4KDmzm7TNVUqYd5cl8uwkmOZVq0P56vjBLtqGkLOd0uDpBJ0Tu_QPi23-7wuXWSLS8vFL2-gXTDXgxO0xAavEWFn0YFslndDJo76wXZBmHK6QC4z1N5366PzgAc8jF8HUsC5TohuOZ81us-6SdA4XWYP3umzYnCpii4fXTiCn2UkDpyZM9rlMpCWmxGng5R03KMI8ZMROha5brEFwmbLPwwwM9dI9cJsnFMeaS9dwri0ENupu7BV0RtsEdKVeDh3L0OP6Ht5cKmuKA_Kz8jMOfGAiZ3REDeolUsvN7ZrK3x4_iiTU18e1XuOCyg79Si_2SQVjjWjf6NQZlAnRmfS7Aj1A82bCrSWFKS_5j3NekCihLqPNO9Np6FVyc91tzV-Y9ZBiOj2EdP2butrYkCsHdovH16SKIbuJ0pblV77ah3Z7ggZlMoEcaQJSTGiOM1itzvNT17bcAjnXuUbOwQhhD6cRapxKcSHTYCaCt0QpxMIQxXMFdku8RmTDolHt4ZtYT6r_BJx6H5evVSEilYJpg8pW_EZPbhfLPNkC5rUB1bEAyQlUtrsnHpWCEWwnGKHBOoyYKozBXpqj9Ap0xBwIjdqReKvjvOiDXrrWb3kVVScfZzbCynmq8O2OsYBi_-a7XpiiA-IOJAepMOOJqmyoxM0Ftl5Dj5Dv2OAuJy5F3qw4qswnThD62FFdxm__xEqcsEHSrDwf6EEkYfLQiC_TlOzXrcccmoLkz8IR-hL7wVT82DSpZRh3OKdfW3iCZKFZsZ0hNLU70wSujwUVzMW8H-THqLkYpWxA94VIhRy-HUDuT8GWJv2MRe9GmL_-Pn4v9n53OjMxq8htm3jb4CfrmQpeeViezv3UbM6bjY4QZ1B4cS-csh9FPV4p5yAgGGccbzFrKgF9hc8cZ222dpGe_I_EEizBwXUVyJZi7gH2J94hDj60zU5aK3AddiahCWQCA9FYilbAxJb0FSsawpmqx3DMHq2ejcXjnFghSG-baGnZlkQ3_5NEfWNNdSkReQ3WgIWilDkrr-xgY8d4y_TD_joL8ucksSMEgHRq5MI5wLQQVKkqjS63bpFUfCk_k6j1AC9H0qHUyUsS0Gd3lMrGvW_TqqjrdrXKbXgoNp87DwDFFX3mMF3bkUTi_YQVyzKNErEehlwJn6EdAGQV6nl7NDkMUV8uaSNRpIEx89ml3e14ZpWOR23NNVlrmRD-0wTbQEbGyY0ixLWU56YzyJXl-erEey6ac4Hx85jj_V932GcLX46dIf8hCgWm05F8b4awrtlAtInvh7cu0Jk5UJD3gILAnpL6wjwI7pLBd8oZT7ReSh2F-e5G41Iq4BNmFbpHGNml-XVfb-3XjuSzmqp7sFmLt6OnPjrN4FKV7nov094gVaYZVGJleJoSPrlKfQmKCg96GoiNO8bp7ZlRLBFrrKhq3QEg1N3uY0C1rrL-S4nzQ8cR37NTlnN6XVDJx4ky7pCtzGBgoWQ5D1TmN_bvS52DPfJePVQFEWDsBKk5rpd3IDHASUrl7iU52rqUFOFF_PKwvZ68=",
  "id": "rs_0b5ddf015159a2e4016ab4416788e487d0a9ed1918bdebb9af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"The partial close reached its commanded width without shifting the bowl, so the jaws have not yet contacted the narrower lower wall. I am tightening in one small increment rather than snapping fully shut.\"}",
  "call_id": "call_7iXaaOE5zwdEMYN25YFmvirD",
  "id": "fc_0b5ddf015159a2e4016ab4416981cc87d0bef1c8ff978630d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7iXaaOE5zwdEMYN25YFmvirD",
  "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]: [-0.5911, 1.5929, 0.5571, 0.197, -0.4206, -0.4095, 0.4037, -0.0181, 0.8051, 0.5945, -0.4156, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3387 left_y=-0.1361 left_z=0.0239 left_yaw=-0.0327 left_pitch=-0.1735 left_roll=0.0309 left_gripper=0.4037 right_x=0.2893 right_y=0.0013 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0473 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.0376, 5.2444, 1.4237, -0.2076, -0.0317, 0.0757, -0.1846, -1.3197, 7.0769, 1.7118, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd92885f998ac725b54e57aff8b501e0e3c924403013c30f8b1c8913964a42f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335da7e04d2611be816b02c1e0614bc4865ea1fb033b94435e9f88baf2e2c609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e92222fde7cf940baaebc9b7cec3eaaf6315dad4787827e9aeb9f7507cae311",
      "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]: [-0.4435, 1.5185, 0.4931, 0.26, -0.3309, -0.2932, 0.0284, -0.0177, 0.8043, 0.5953, -0.3973, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3474 left_y=-0.0975 left_z=0.0331 left_yaw=-0.0259 left_pitch=-0.1416 left_roll=0.0263 left_gripper=0.0284 right_x=0.2919 right_y=0.0013 right_z=0.1696 right_yaw=0.0007 right_pitch=-0.0275 right_roll=-0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -4.7248, 6.0513, 0.9499, -0.2808, 0.3492, 1.1893, -0.0479, -1.2376, 7.0632, 1.7607, -0.0562, -0.0708, -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]: [-0.5919, 1.5929, 0.5571, 0.1986, -0.4206, -0.4091, 0.605, -0.0181, 0.8043, 0.5953, -0.4152, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.1365 left_z=0.0241 left_yaw=-0.0338 left_pitch=-0.1723 left_roll=0.0304 left_gripper=0.605 right_x=0.2894 right_y=0.0013 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.0786, 4.9162, 1.5946, -0.149, 0.0464, 0.0366, -0.0479, -1.0188, 7.1453, 1.7021, -0.0513, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5929, 0.5571, 0.197, -0.4206, -0.4095, 0.4037, -0.0181, 0.8051, 0.5945, -0.4156, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3387 left_y=-0.1361 left_z=0.0239 left_yaw=-0.0327 left_pitch=-0.1735 left_roll=0.0309 left_gripper=0.4037 right_x=0.2893 right_y=0.0013 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0473 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.0376, 5.2444, 1.4237, -0.2076, -0.0317, 0.0757, -0.1846, -1.3197, 7.0769, 1.7118, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd92885f998ac725b54e57aff8b501e0e3c924403013c30f8b1c8913964a42f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335da7e04d2611be816b02c1e0614bc4865ea1fb033b94435e9f88baf2e2c609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e92222fde7cf940baaebc9b7cec3eaaf6315dad4787827e9aeb9f7507cae311",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFu61i7lDEF26FLWAqck9U1cJUQsQ_fIjiLIxbRwh-6QMAg_GuVEUx513ID4QvHgsXZyF9lLuDc8yYzXgclXbBcMZNjr2Dq5Q-yaFNe8lYPb2YVhqmH8d51DwFExpMIj1C9UDDymenql6-k90-cvF164AGfqUwXa9ntyjzp5Y6gvcpH_y9Qtys01tPKAyejE--MtiCjYv6mHX5BASDvNThBN1Ee8Rs9oRVMPhFOsomtPK7ZDVfhGE808dyR62iMsnX4Es8vJbaZW75IlFLGCl_wl6-KTMYkI41UAbfAPPKxu4gIhRb-erJxlcIaDlYKNmfvAaeMv--I2fxQ-iqjfnJO-IKfI-wm6eOBKhbw7DS26QSLsLmQnm6b895z5pFJdUw8X9wjcQ475GaKw7LlE6upCzl9Ux7EDNxKYZce5oov07q1tyTetACrntgYYSSlgLdJxA38gUwQBbGsHaeaO2LZY-fYZrmjWah-He7CTQSJLnTyrZMCj1bkE4EEhJkPtZQyQ_SN731xp_JMmE7TFyPhIcO9aUNwlCMzBdJNyjX3GaDMfX0Nmq6rAlnjPrfYzaQPgDuca1gFMXP2NMssMNgctDihyYQxoPC0W_JR5ThUy80TEp6acdosYVCDI0cjNCUtc_fCFU_7fVGUCygxqRaqv6b9ZTgcGRHwCCrgOO0AJwoJnU4h4-6NuSlzYQ9AMPGHsYeoV6mHifol6vTgofYNfhBUHKNUNMsfOfwJpHa8GWRBaAZqrL9JazYmPqLn9_8GTP5p4u1hbSTopV5iuEQ6s1Dw-bd3v6_rdkZPtCYPnMCU9oTMcY3LOATGoMHDYMXMmc9hv9D8phId_qp0IH4HrhBf82kgsnphGQMjwLJIkDDJl5XWhP_9qsWmPr6Me53XqPfOMG8lkcN8D1niBE5-Byu54FYrqbS6AQj8oNvu8umX8LMNd7mm5pIBaUuMWu_2pGX9g2SslppI6tzH5Ld7Vlp_SO0WGnV0PTIYBO0Bl1EzAW0jYwZuQ17ThZ6k3HTECLdkVVn3GQFOfYRngAT-xlKoPTiSkC0_j5eiEcn8nH0GG9uigsV-DlcRJBl7SPzBxrYtJFeH_hMUjOeTJmdyZ87hkG4jDpoYAOefwNuCxHvEO0UUf0kf5pVJ_Rl9APS6CnXq0M4YMXg7B4Y1yOdTW-bUJh5LNDqMQTe3zTOKC816KAehEU1oSkPvqBU8G05F4qyaZPOMaLGVWuhqCLXtHwnx7sAeOTQ4X22Elf1qIztsJKdotbOM1XHEf1p3uuvGhvxctxSu20CDMM04sw9nmnQUOynwZYFETBz0muS84mw5CJhxbSnH_lWxv-7LmafeeOfxoDLHBTgJ_VgdssSDSmFlIMEfvVy_Wtr9k4knuk1mOuVKzdopxi9J6ucd7zn5wUko9ZQbzpS7URbze3lkY_jEcx88lSkxJYpjQ8faVcFitI1fm_75lh_XSJnFNXoYOkHMzgvG_9EO_RGd9vIei8HbsvH-s3yn7wEq23d-4CqhedmBI3BLVAEOotFXH3Rk7jH6dseckwBEnirsyxnYxy7EA85AfPLo5NmI2X2udamz3Z2EE3zM8Ef5fAhD2P29dJUQHWjN-6nFsjssrVhOcShT6TIXFaW-CdFVhIOppAnzL4HODLd_XEaGQd_SuqmZhLfKIelOxeew_EkHURMsKycqgVxCLkg4wUf5b7BjHm69kPYZcm5zSusNNl15x-WDnczUJh-KPon0F5YHm__bXt99glA_Ca6O1xuACbqp66rVi6bleHFWNSkWfbbmcK-gJD37Men4_r-1b9vzl9h4DCiIQl1ght6xYLAqQd0M2fHSuHImc03CN_XX3AsnQfgDHhuU926fbi5d7-5TemrodhUJ1f6LFs8WGrJZw6sxRhQxBhcWDaf39LOpuUgQthRN081NM51jGjGX732t4HXeWHmiJvUh413-ZKFWDCRl-0BGpSsXCZS6q7XPWNtHPm8hQUFmni1qkTWh88db1_iBJw==",
  "id": "rs_0b5ddf015159a2e4016ab4416bafc487d0945dcf73a3363f36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The jaws are still moving freely at a 4 cm gap and the bowl remains centered, indicating its contact width near the base is smaller. I am continuing the controlled close to about 1.5 cm, watching for the gripper to stop above that command.\"}",
  "call_id": "call_WvTMWirEAkS2ySu3NXlyQLdF",
  "id": "fc_0b5ddf015159a2e4016ab4416d6a7087d0a1a2d14908ec280f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WvTMWirEAkS2ySu3NXlyQLdF",
  "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]: [-0.5911, 1.5929, 0.5571, 0.1951, -0.4206, -0.4129, 0.1546, -0.0177, 0.8051, 0.5945, -0.416, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3384 left_y=-0.1359 left_z=0.0236 left_yaw=-0.0306 left_pitch=-0.1751 left_roll=0.0294 left_gripper=0.1546 right_x=0.2892 right_y=0.0014 right_z=0.1653 right_yaw=0.0005 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -5.9966, 5.1897, 1.4383, -0.188, 0.0073, 0.1392, -0.0752, -1.2786, 7.3504, 1.6728, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43dd8a14b1a67217418badcc981720f0dba8dc0a0198e87be4fe9ab586f32405",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f768b789b2439118ea6fb7179ac587e71a12393030d15cd3590d6f31979b7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc5f2b6822c0e6fa5488bf9d5799dd99fa8079a25f009b27a2aba945ba09725",
      "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]: [-0.5877, 1.5909, 0.5529, 0.2077, -0.4213, -0.4019, 0.995, -0.0177, 0.8043, 0.5953, -0.4114, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.1351 left_z=0.0248 left_yaw=-0.0336 left_pitch=-0.1663 left_roll=0.0326 left_gripper=0.995 right_x=0.2899 right_y=0.0014 right_z=0.1668 right_yaw=0.0007 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.2444, 7.8017, 1.4481, -0.3492, 0.0415, -0.1587, -0.0752, -1.2786, 7.0085, 1.8144, -0.0024, -0.0611, -0.0171]\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]: [-0.5911, 1.5929, 0.5571, 0.197, -0.4206, -0.4095, 0.4037, -0.0181, 0.8051, 0.5945, -0.4156, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3387 left_y=-0.1361 left_z=0.0239 left_yaw=-0.0327 left_pitch=-0.1735 left_roll=0.0309 left_gripper=0.4037 right_x=0.2893 right_y=0.0013 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0473 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.0376, 5.2444, 1.4237, -0.2076, -0.0317, 0.0757, -0.1846, -1.3197, 7.0769, 1.7118, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5929, 0.5571, 0.1951, -0.4206, -0.4129, 0.1546, -0.0177, 0.8051, 0.5945, -0.416, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3384 left_y=-0.1359 left_z=0.0236 left_yaw=-0.0306 left_pitch=-0.1751 left_roll=0.0294 left_gripper=0.1546 right_x=0.2892 right_y=0.0014 right_z=0.1653 right_yaw=0.0005 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -5.9966, 5.1897, 1.4383, -0.188, 0.0073, 0.1392, -0.0752, -1.2786, 7.3504, 1.6728, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43dd8a14b1a67217418badcc981720f0dba8dc0a0198e87be4fe9ab586f32405",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f768b789b2439118ea6fb7179ac587e71a12393030d15cd3590d6f31979b7a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc5f2b6822c0e6fa5488bf9d5799dd99fa8079a25f009b27a2aba945ba09725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF5j81s-2vdUpigtws1OjGlBe8l70e28uUBASHjPVXckxHDeKR63IBHqWe0bpUZLN60aVYQ0u3Z6eSg_12SOh1t-ZP-6Fh7PIo-LVCJuSd5Gtsb0gvOTrrdHDjnvkNbQQaAGuemObLAx8k5Bt_q1BaHIOkvSwHwzNHapQCjX4sC8C-rc7yNJWELiifWNyd9vV_jpYHcMvUWKTsJmA05X4Bm-dh7RvWy5i2vfN1g8WM5B2WBYmYqCbzmlYQhn22dLwt0CBl6_4KodKqxFyFE19a252NHyqSPGvLZb9Y5cko7-TJfMc21wjPkGcxQMrnvetaVa5Srziw-cEu-mV0qCyBpTt0TdivM9IiToLOv3KCYNHN1bHeck68veNRBC-sLzIWgN02rvZ6hgQdRcVEFSKNU3-lxrR-cyPR7s8fzVxgdLRnUnbGQ5NWs2dXCyKvbU7eRtIgQU3naL_bkLIL8t3csKGK7Bl_U3BI8Y1fqjPZUoezUPMp9CZkUkFLYPkaF2THBUHEnXmtmfQ6WJmyeyaXt2bfI7DdDhsZLd5yAXcTc0UK0vLcs6wxMsbfSMVwijUwPrjFIvoQf_cNxncJ_-mmUIcrkmjh1NpnbDR5mZO2F9ZrkqYCApsb-9oondkDrL2gDa1vi9XEzjXVObT2GqytzQpjmZY98EXWOjWMGdxxr2XyMayYyhjsDXPfK1kbdow5qEZJC45_EUB4--5m3XNZpsKUp076ZkoDW0QLmyAzwm5SPu4f0I5B9eWy7JHxhSGcdQf8ZiYar-i73pNUmXB3V3tjX0Al4wzqLabd-kIE7w7tI_-abNIi9HukNrCEY6fGE0xYjp8gwJVSTYCt8TazmmMcivJgipZswsy5gY2rIAY04ENAShGJJw_8Atg-lsflzkZTLEKsFmtAIYU6g_EiIeUCfSZEs1pAvfjHO9P5ZQkN4dUBUjqTVzr6uCr4RJZLnCTcpB1J3oY3ZBrhqqlhuf1ROLHLsfJGY3BYsHGPqxJbzJvVukQb2HhgG1MP5Qu-f74zauwmYg4Gb5SuRvDrHuL4-kOGAWY9LSfM_8cRKw3ddf7JGx6SwkJDTDgxd1l7Ea6oRfyh_IhaZm7lL3qacbinATRh_t-DskZ0zYhXT1ix4ZwTuhLIkPm_0akS_AbejMtLNLz75-kErjwrTyQDGNEE7mhU9KO195uXnvzhgU1JuTJJGc56wRK-X7QLxLZ3OV6rrKxn5__tXrgHmAFLNnUYBTsf4hwZ8vh2VRB7qhoNzoPI5Yhtkjzkq0yOt4QFPAf4ZtONMpRmgCp7GJuuGbcVdVNFQbK8l2ZcFXelFbg3pn1EM-hOQownQHpUUDNvodMAE6P9njxkYXgJF05ioVGQIbWJQGBAah64JqDMMyFmMEmEoZFRjJYzSRGGuxmSUUoY-cqHkRpjQCqb-tNsJQ57B7IOjMryYH13ugLi3qkYIRGJcMkcWjiWIYlAOEQMTqY-xWJyRgmyEpxAmBZkLDmez62QkenSfnohhWDO0NVLa3C2sr7oIWUR5LuvGnIHOCYV3RqgZFw--FGkXs_7JjWnKoJVpvzRLtNWdVhMquAbnIYrtpjnVA3Y1gtbNYDEfLARLExKxiaQ7ZOLsDGNoA8WbRB-8FHMZKooR3r-qeE8sWPPfQFX-5MGPwcTdRkBi8ahlk1rCAd4YwphZ1J2rOnL9hIG5G_FDBZTA_nYRPHPuOmqBm69HDT5_s3hXpww2851OvYmxo4BxLgb58eOyNkt9juEp7Q1hj_rrpl0TxlO2204MQTN9yvRnKQsQLfAe8t9kVvg-HKIEuoL3QlZSRTiUoxDmVt7v3bCq1WyGp1XTtlVN_wSXJAHBgP9wXX40k7gWKdzFwn0p3c7H87qxyJhcF0zjBSn8mZtT5YKtl7F7D_k_hnDpolvS-gNaO0_MxRJ0UYh1n6oCMBBcZMG6h-KJwcrgBPkf2grTIXyxfD8-yLMwtihaLwzYqG121thK519D2osLPt6y8Y51-IP8J_gGwGXG0dVp3vsoexDx7xLV_sfeAiy4115kaRovLek9lDubW3tCP28YYevpAqHevHxqyQJN4NUE7UV5-8LABZTd-KcuT6Dv43qhjprba1VPRTS0qOEx3_BRq0lRdBcTydbMiRCH22rgRJCxZSC7HHSBv3nsRzli9qiVTM_eSdNo0MTCwxsQC7A0U1hAl1YtX0xVxZlhldclXlWXldLxGcZsDhZ-VHX0mdeSk-g7n8T3EqReBOikPO2lp3CGJkQUuat3m6gVy6eUR5IqmuJAtcKv3l1nF6WzVHKDP84SLVVHfmAZgNhYYO-rUbAVVblVuMhAPp_SwIFRba82fijNiHLfORYWncu0ChPS3-C58svhQBe6bEwU7Y6Na6GCbN0tncTzzWC6rURmxpH5WEO8mc7ZJR1M1dlIIZW99A1qTtAuQJFwp-PBuhQoZINiB4DJ8_0DE_8UfUlnhlNrsnO_h23z1pd_zVz17E2HaUT5PKmtm1Ee67lexpIULYVt_dH67izi-uUaqkZLnFJSrNbz4BKxFt2LvQgBaHwFmmT7XA2748atobsLz6HP5Yi9QmcUo1N_rL6SvKXDjhw3c3IwZ6LpOEh52OzVnoSH70haZwVy-jmKWAzAiZjs5gJlS9zhu0Juee-9BX8rwS75mpy0zkpqQM8m-xzt_EMLbb9si2fFSd7_32zgA-daF8-x7Jk57Rvl2WbY-hwbeW8q4QZEh3eeppZePNQn9NCzELGEZrL4YEisiRsnq1jDaeXpGZgeL3GUibNXLLSTQQr9GiyVdhXPJPCiO5vLJBKdug8h1jrUpx_xAgquUkdSRPPNGbLSi4GP3peER20q6JiMB7I361NNkHXa026paiLl0_lbE3OibGVfGMuvc3jQcD5VGwnxf6KGQtxlMxmLhlU8N3ChjCcUnxC-YzfEqnqEnrrlokq7s2NMPzhKyxF18vFLTA3JsAYQEnK-5H6qj3nmBSC4iOdH-u9kmOQLj9cOxIZa28vA7p6ppG3PY7ho6-QtqT7wpO5vxAgg-zB7vxwYUBHJg74FG5Djrra6y65wmnkczfgOnM95gtro6T9XajE386N9nvfFGZJ3OHLppCGfpS-zWUcbL3eOu0AtOWkPfrjpchFIQ3CjE_rpLKmSpFV51QcV_SBDRvjmr2fOu4NCOBEIq34ziU3ca5tKD7jQnGM8zMerfo3M4DgaPgDJm-wpblArputpsEsXyx2fgeJS6QvMhMtuiqS-GIoknShRR4sZ2fh5rgqBnKngyvfA7ZhLIu4rtlUJMh0TcFAYBi8EmhLS2e8hxzwr5WsEEI9po4XBcV_6D_YWISHG3sDR5Ra1U6_dtYH1dP_LS_cIq8mxna6nbLIyW2nMl7zfsFZHHKOWENWQ2k5Wi5YOLoDZt_S0HUEoDdsfqugS4njmyx_PN4YSHxQ0bt8YAlhd5NnE12R2UXCbgRDA8pZFQj6VVmWelJMGfIlwPKZ5Q4pju3KGXgL9emLUXiwk4_sxNOUr8UnzmiJF7rA0Jzo4io39RaVu6E4YLKpdzsaL_RTHZTbKH6hIIovtHTwv234QB9VyWc-iNN4A3aDKeClbs9N-jMlRFzXzMzC2jnizd_1e0OPlrINvbA-gw55tgpAtx3olzZ4uCpG0j9nx78vuZdVgj7N44hVqWtN29BteCa9_U1TOEavlooifawXiO2a5KqwcGf0xk32LJnLWAQIJcnEv-e0tPt3ATII7MyNZ80--mruwrc7d0XXCTC9SPV49f1qbbF2PlgJQawlBEyQyX4PM0jchQp0Ria2BB-SaQEqWGgwQ1arkTi6ZOHotciIk7dQi2_LMNsuYCpuZpk0rUoE4ck_aPnw4Tzx708T59a9R1uGq4CiNBGFtImDg50Hvp0ieapq006OjRDkwCozXXrWrlb26zT7i8nhZeLwJeHQ1nizoYg12DmSUf_3V1QaIrLAsdgvQSV8rFYoE7KhhhM3SGZv_ou2D_tKpip-Xv4pnZvsP-d4nNFccMkgm46TgCmia26ofXyxmPVjaYExHX4eV8XOh_jc7n-iPNoYbCcp0ajwia8cEdbtlKRRXlgoDrJzdpEOsHhqcbdv-xEKfg5jTR9k2CD25r5BHIu_YxxniH3iNxHlERTJQFvidzkssoWu2d1C97XBiIEcibA3YB-8WgUJYuvHvqkWPoOAZmkqNGCpXTUxvmo8cGgxUfn2Gmi2FheOVb3OdsWePN9uAJiFcylfeNgZtUvtXGMmcNQpQrEbm7PQQl78VglEk95IY3baU9TDn4o-SbVgDhtWHSI89CDz9GLkQ7pg8WqRDJcJLx3OZDzEXE1lmCqONWMjMWvd49gH5747v",
  "id": "rs_0b5ddf015159a2e4016ab44170ec4087d0a48e24c2086d28ff",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF5byT0a_att_d5ztK3A-_OlgYZjtIoG2TEprBHrfoEa0Xmu1nYrf-7RvoDiQDbus93f0vgx4UpN8H8wL3NYN0pwiKFdJV97WZb1AdAIWb-wMIwo--NhAG-ThbKT7qVauF5rpgI9XYYl9h4PVew5ovUlOK38jzIQddJlWMZ9oO7194qPlTqFrQ6U4FDTflKwzQzBPmivmJ2pTxwSPl-zfyTYguTlUVu9gIUPk3o-zP77TpOeGK2pJ2uDG-XREn2fruKR8rq-V5baVDrUUut7WxX5NKMpBFKr_IcJ4wAS7NTU58_XH_WODo9ZyUI90sXHckJ2eCNRie1h74l--pkUyGaKwqnOvJJO0GoQe1dPw-qnFjR8TS15XIlSwkg116fAWnIBbGH9mxlUJVlrsnIA3cA3_kwWS-l5P1diTUUxrn6aG05ASZNbcnmJ2QYtbz_fIkQHPpPYuApUJu9STyS2KNRx6OcVojQlFcuFnrIRJA8JsmAUi-vDqQIZm-5ADFoTCk8w9ltt3nXlIl29ldk5BOyPaTVOtrgrf4kw75FSWqL7SyHwdeLuHuqhAhg8Rpsqt2OPUW--w4sWt0X5TmXO6aiAADNQnrhrtxNkeMlVsZlUzZkZ0l8YIkTzO0Sv7odx6RxyCB3080-Yq8V85CJ9L3rDoVYuqP0sdUj4Fwg82CEGZ0UxWRNu6bkPJp91HAJ3DxZHdUBMfw2CzCgW_28KrKrhEfihiUBkCjmeHMOKMhLsZlnFLMKeuyjKnlpFm8jTOZ3Ju0hJXSXjqowopd1UXXaCVAP9ssFuyvdI9Lx4XoxtP1Oz_L8yBcONsPNQXcLfWvUCtErvcrmAkgQfowi4mzYOlG_ymerd92ROUCbL-MA5Qc-yR90giwGMdisIo9FL077rPFPRRj3KaAJXMyFUW3u18foBozj5eob2gEhggG8qlwKhBf3DmkM_YIfm8dg2TkgqCWCOmby_iY0HGLWJ06nPvnfmpTjdBLSCvMcYC_-r4m1xSjXwtm937Q2CNlAjg5fe7ZbPEP7tivM1UQQkicHTRFvIdMYE7KV2D292uJjx_Cf-Emz3WAoU4hmieLViP0g99AGKWzOZNF0AwWAiGKvLWP8DDzVk5opEvWG728vMYMCPCyOU3s1ebxSDh4NGZnHs1sA6KRNz4TO8CNHTlZvoIf1lJGMcpcmK0drfg3v70g8XR3uWODx64IxMOxhitObcmuusC0SSIqK33ta2rRIZOWD31_NW4mnLIz8630OeFsamlcCCWc17un9xhBfj9bz-s2f73hrmD8YUHoTnv0q5TYmnlIBXdhvhQPcQEb268jRBWf8_9KE-LYPtn2Nv3vUst7nuZFq8UhT72gzLY9NwpnjXUi-XDUZ7pgbEchqKpr1LTN9KAl05OZvcAN8q3h0wE5VLaLm5HUYAtRwvqUo9fHWr7gNsDPs-6NoAAwSnLlKqf4_SoP-eXLgQV9tmLp-VsMYaXMSqCZoZJuJBarpuoqGFj0THwQS4n8H4pKjfXa28M-C1f5IUZgmyOw_qsJEOtGe3rzHcPyw6WndL9nGmlKFP9jGOi1jG9Eyw-6j_bGVv08Ai5wlvZmw65loGxt085zAca840sloQOW8mSNORy7sPJYa4UY54UNMR0lW78gd5RD3ENyvMEoZiVEDF1kSl9ICe6cfv7VvvrGeVSBTreMgeSCzogxUD0WjZWyylk-T_gus5NoUjddkQb8ulhBw53DMWlbO3rrXcNNjQNYPjlDyG_RR2VUehVL4NpUsZQZNpbqE-XEOVQ7ybbU17zb2D8X6eFAr5W_nU3hvWjoh9Zs7NDSqzTi6515SDOsBwQuL5qivTObWcI17SCHNFDCtMvEpdqFSvLhIm2BezX6ThnXAda9u8PIvnGkZEHxaFxOVjFLSoeEWfvBndehCE_Phe9gDN-D2zRKn-ssAppcNpAniD8AyJyQoQBnfwOJyxbzDs6PicG-5rwZCfg09EN2Y3nMNoZ7qDCjaAKnx7TkF6A==",
  "id": "rs_0b5ddf015159a2e4016ab44176e83087d099871094156029ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.095,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The centered outside-grasp path stayed empty because the tapered bowl lets both fingers enter its cavity. I am switching to a rim pinch: reopening, moving about one bowl radius to the left rim, and raising slightly so one jaw can sit inside and the other outside the wall.\"}",
  "call_id": "call_dzuvspKtYeuFimHCH8wDz0CU",
  "id": "fc_0b5ddf015159a2e4016ab441784fbc87d082a846647e2f4b58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dzuvspKtYeuFimHCH8wDz0CU",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4578, 0.519, 0.1287, -0.3355, -0.3241, 0.9951, -0.0177, 0.8051, 0.5945, -0.4221, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.0952 left_z=0.0406 left_yaw=-0.0087 left_pitch=-0.1802 left_roll=0.0248 left_gripper=0.9951 right_x=0.2883 right_y=0.0014 right_z=0.1641 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -6.3248, 5.4085, 1.5214, -0.0269, 0.1685, -0.1392, -0.1983, -1.306, 7.0359, 1.7558, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abfab0165e99af364d57e032539619ab191a2799f081aa127f61da157f791f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32030c7aa6c1725739b00df7ad0a942e6b5438a4cdc8cb043d436ca47d79aaca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c55717e51b631f62da4a18c48cfd9cb94f172dd91ef3eb828007690bbc58e8a",
      "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 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5919, 1.5929, 0.5571, 0.1986, -0.4206, -0.4091, 0.605, -0.0181, 0.8043, 0.5953, -0.4152, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.1365 left_z=0.0241 left_yaw=-0.0338 left_pitch=-0.1723 left_roll=0.0304 left_gripper=0.605 right_x=0.2894 right_y=0.0013 right_z=0.166 right_yaw=0.0001 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.0786, 4.9162, 1.5946, -0.149, 0.0464, 0.0366, -0.0479, -1.0188, 7.1453, 1.7021, -0.0513, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5929, 0.5571, 0.1951, -0.4206, -0.4129, 0.1546, -0.0177, 0.8051, 0.5945, -0.416, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3384 left_y=-0.1359 left_z=0.0236 left_yaw=-0.0306 left_pitch=-0.1751 left_roll=0.0294 left_gripper=0.1546 right_x=0.2892 right_y=0.0014 right_z=0.1653 right_yaw=0.0005 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -5.9966, 5.1897, 1.4383, -0.188, 0.0073, 0.1392, -0.0752, -1.2786, 7.3504, 1.6728, -0.0562, -0.0366, -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]: [-0.45, 1.4578, 0.519, 0.1287, -0.3355, -0.3241, 0.9951, -0.0177, 0.8051, 0.5945, -0.4221, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.0952 left_z=0.0406 left_yaw=-0.0087 left_pitch=-0.1802 left_roll=0.0248 left_gripper=0.9951 right_x=0.2883 right_y=0.0014 right_z=0.1641 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -6.3248, 5.4085, 1.5214, -0.0269, 0.1685, -0.1392, -0.1983, -1.306, 7.0359, 1.7558, -0.0855, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abfab0165e99af364d57e032539619ab191a2799f081aa127f61da157f791f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32030c7aa6c1725739b00df7ad0a942e6b5438a4cdc8cb043d436ca47d79aaca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c55717e51b631f62da4a18c48cfd9cb94f172dd91ef3eb828007690bbc58e8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF_KVvqiRGG2r4keEZ9zMbAPaT9OzFua7QPhw8K2PZjoYvKRiaALjxUWhu7dqj0MOYlIqDVJx4buZ1kOhkqPbc_JxHefDu8HlpSV0bwbJqc7LKDiIIenBy1-ldYX-qOpC-3V4n1KqzhyV3jxhHuT8rt9--Z7eVQ1l5j7qDpJkKaD3qld-BcQFi2VY17tL0n5e_N9M2CTTT2VCuEwRR26tlU-h2w-fW5kxz6BFLSUtHMJKsaLWLLtoLmgfmnONL6TyMERNVKRMuDafIEp-ED3GGu4SwO8IOF601kS3Ola1E2CwdUPdyC8i-iYKmIpGjzCE38Jll_sob7Y0BHb1AwmIWgASUR5HWS43I0F8JxgsaV2U-jc5nGeh9-1bewb_WBevPHsgpbhl853psDdlIc260kBK3dKFoVOUNef2v--6W28QlRjYlKnAKm9XPZLZUedi_uMBphc_htH4dKk9TNnNxPWh_TBSMOjBE1nMXKqzeYmmfLhmIeDLAIH2Q4oq_-4Gi4Vvb0WrGkdLNH8ZROnWcU04Bb1FyFevskPHs-_4NheRx2PdKdwPFcTdKReEhf1DbnyzehVTip1eptTTFrdJkmdM6O9FksdFUbYAlJpApPVgLPU2En-AORVEhWmJO7naQsBWjtPrKeht3KkUmOM15Ahac6FqVTYyoW9A5VH8AEBUWIrZeYka-gSUjLfnOAnQVf1gDGbs1m2rLOw7OXU_zI7UJSX-JdpvFGc1tBUt2KYtJHwrbHw5j6qmEwr_dzVxr1b0v11Ei8IBxola_zREaJrhVuI3_4vgBJ48XxIBElhUURHrJlDYL43MBdLfGzOxuVOSAZ0UTmbKGkXwAfyjALV57jEKsbBKGk_uW2zwBtiHi18YCO36UL3BSendZSwTJYXGljGyfDdC3Vl2Mbf5IGnFmQu4dTFNKZsAB4ffQMITBLAwUiUQA1D6s7lxFh-w8YjtDIu-e1dFs57jM1umGayRvaKoq61Yk9JikdKRumTff1zdpcSpFUia1pGLTr6N6jztSj-nIGiY5hpPqv3SxwomGF6pSByakdoKxw1IBr7UEtGenQ9uNPbDmmsn45IbtBb5QctWmBAMYxIvtGB7aRgqFnUKjT-2cGQTYNfJkRva8ivfddzwuq9yZpr4_zKdYWtNa4SOZJdTZqNsBRpaaM5ndejJ68OoOHb-BV5kBcW8WjgamWhOZdKNml0i2GpbSy0qVR9gkP7AMNbILzwgRTtwpSkE7p_9Mo3Dp52Fe9au8u6ifFG5AKUtCB2dbCsC6TTmOqbpUykzit6VkRPOrVlHSz45Ofx1k5BLYFDO-wmDQBUS__E55Kc9VBrScvO8r1dUeComSv5zheMIUDzopS15P6RL6rwq7S-u7YdKYosDLd4oL_0L7WRphxvBKD7PAyjuUpqXRR65o5QcvMTSsRomCl9RHVDjIog6sZ79PWYOOv6tvtSSVKKH8Cs-Q4KDu_4MrdfgD_WvqyPTiDIWEYQC1oyzsyYwZr_n9ICXDVVBWYlfcYJP3cuicsGFv7igQzml_sVnjaZQVDDobCtaaVSx0fwzCrQHJYJynP8dMZ_h4UX79Wz4rnsONAsu-04WlaP47KN4PKCHnZD5tfVM6OiuAlRvaOFdksVC-5DYomdrh1pNeZTeJbykBMVK7jmCsDiWy1XdYDYAMfNHVQlDwrbFcKM4RTfOEL1fX0AHjoeqtZY_BWOlh4wYzTCpBa-0CoSXlcDic5RoPomh1uTGlv-tDofhEAna3PdYi-9Uka13O3UdPR5NKgKu31ZgL0dG3M6qH4XU8GdKyHWr2kFXFcSjN21mq7blxjdM-Xj4KES1fHjsohZVvMAET_FrgXyGAMwKXguU3XJ6WGBgWzyKmzEJSnVRts8XxZt9tR4N_UjMdy2BsDwYJa6gbpJHnGT7nGB1VYxQfA9tv9gKgvvjWPTUwoU5wsVor-vw1-FVrrLSYQc9IIrngzwmp7C0Ye1bJzBcetMAJJtEleee6orU0xYyNP9YogDVnJsxK-OCtCfhZb9-I-3RZcztNVtac2l8Oyt_Du7YmGQc7Aj3cw0aGWwTXUXDYfPmFZSg9i2_2eh7xDPbBVyOuR5ImDIHVa4UglApLp2FOakQC1f6Ha9F8OaoVGQbFKrTeNDEmMz0yr4SWcUqQjbfZ-bJ_TpkCz8zh6xMlvLOmxrt8dPKPOFne_m4mmPJmbx8pBQHm9kV_ucQXJZmNRZD6QqSHDrQJ_jjbtS4fpF2wGgrH5ooLmbLr34yePE1DNVykjSg0GrVBcQzBDUXIe-YrhbnEg8NpGePL1aQRanQUmk1hxiJZrIiQesbcP-VhWdtl_O3fTmRKI8NnyLQu7mejTTj0o4c1gCfi1r4mozVcDKnYFhMuDsWEJGgVSsWofEMCKw9_ITLBtIS7hOVJtvdYiUXzZWQxTkMYZ",
  "id": "rs_0b5ddf015159a2e4016ab4417b4e7487d09510151d6bf90605",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.118},\"note\":\"The wrist view shows that my first rim offset was too large: the bowl's near edge is well to the right of the jaw centerline. Using the observed shift, I am moving roughly 2 cm back toward the bowl so the left rim, rather than the bowl center, lies between the fingers.\"}",
  "call_id": "call_0ocYbp1S7piafHkqsXsAiohK",
  "id": "fc_0b5ddf015159a2e4016ab4417deb5887d0bb721eab5cbddbfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ocYbp1S7piafHkqsXsAiohK",
  "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]: [-0.5274, 1.4933, 0.5331, 0.1085, -0.366, -0.3637, 0.9955, -0.0177, 0.8051, 0.5945, -0.4225, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3309 left_y=-0.1154 left_z=0.0322 left_yaw=-0.036 left_pitch=-0.2063 left_roll=0.0353 left_gripper=0.9955 right_x=0.2883 right_y=0.0014 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0542 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.8889, 8.335, 1.3846, -0.3883, 0.0317, 0.0366, -0.0205, -1.265, 6.9812, 1.6532, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d72e6fdb9796cb470ca3edbfc95464173ca616ea0326e9ae58420443fda759d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03080af5a27ce91777f5f98066a84046bb3aa4985f2218ef4d40a094aca8631f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5a1dcc33c8dd5a8932ff11844f4439960f8eb0b8ed285bea2461b0558bd59f",
      "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 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5929, 0.5571, 0.197, -0.4206, -0.4095, 0.4037, -0.0181, 0.8051, 0.5945, -0.4156, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3387 left_y=-0.1361 left_z=0.0239 left_yaw=-0.0327 left_pitch=-0.1735 left_roll=0.0309 left_gripper=0.4037 right_x=0.2893 right_y=0.0013 right_z=0.1654 right_yaw=0.0001 right_pitch=-0.0473 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -6.0376, 5.2444, 1.4237, -0.2076, -0.0317, 0.0757, -0.1846, -1.3197, 7.0769, 1.7118, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4578, 0.519, 0.1287, -0.3355, -0.3241, 0.9951, -0.0177, 0.8051, 0.5945, -0.4221, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.0952 left_z=0.0406 left_yaw=-0.0087 left_pitch=-0.1802 left_roll=0.0248 left_gripper=0.9951 right_x=0.2883 right_y=0.0014 right_z=0.1641 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -6.3248, 5.4085, 1.5214, -0.0269, 0.1685, -0.1392, -0.1983, -1.306, 7.0359, 1.7558, -0.0855, -0.0659, -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]: [-0.5274, 1.4933, 0.5331, 0.1085, -0.366, -0.3637, 0.9955, -0.0177, 0.8051, 0.5945, -0.4225, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3309 left_y=-0.1154 left_z=0.0322 left_yaw=-0.036 left_pitch=-0.2063 left_roll=0.0353 left_gripper=0.9955 right_x=0.2883 right_y=0.0014 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0542 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.8889, 8.335, 1.3846, -0.3883, 0.0317, 0.0366, -0.0205, -1.265, 6.9812, 1.6532, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d72e6fdb9796cb470ca3edbfc95464173ca616ea0326e9ae58420443fda759d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03080af5a27ce91777f5f98066a84046bb3aa4985f2218ef4d40a094aca8631f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5a1dcc33c8dd5a8932ff11844f4439960f8eb0b8ed285bea2461b0558bd59f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGCzA6tD0SxY8WsE697mpGIz3kr7U0lamKLzwKOwJQWBJz9Llfu4nZ3Zc9gf5ksBQXiMhrPdTIFgDcPWrMdYT9rD5h2fHfKrMumCAG6TdGPbgKmcvaWyf6s4lHQhe-WM0bfZP7hwBIvA412DiCcGWbEURMhwL9pXBX6cCAxWsR0uOr7D8Zfr1e5iSKoUT76OESVk7_YXplMypaG9gIV3XbdiTv1_hUHQG_pDbKxfxgaYwa3O7zGdew4ntlmA23Y5jsByNwRZKbGhq5l2Fud7lxTHF6sTBrO607at-NtloV40UfN8h4eK0VeDMAjCnYy0Eo7ksqYqxmWgOU3lyC9MaXUD02R0qM5kDxOq1zkacJIYZcW5x73vk4YFaIpAhVExZCfbPz9xdA4cCzaNNsirKEj_aGJMRvN3jk7JlV8WAkqH4PE1zs-iRyQAZdl0Hc-zcDnPWkWxleqKQdvRqcBNf2Kck-ZH0lYeV0fn1_dNN6f_eOuFpGV89kDjDNICtDr7lfznC4bue3QcerAk6zvdaD10Gp6KfIA4Pq3Hndkv8BdXFndCeYKVm3zZSGlPtwzpG2heUQ2a_aic1wGQ9tPHVKh09iWEZhFg4y5jqGIxas5SxsPfxAvKbJNg50Iq4aXwUpRgbjRPUZxN0CR7horALMmK5lmYymdFe3CYOaR81qk-oFE2zNgA6L1zwBEg-4ndw86B_NbTJtf1GSC3KGUnmNYYB3tZk4GVdhE1vdOsdA8INIKChA6IzdL6UlwEfZU_MHNpmAM56veis3wszVfVXbiweywKvBRhbsAYWG5Gb8XW-4twbbHdpCEPaUbv68rBxMwMU156xUaALRIgvaVqRt9ImGMGtMSm24T0tt8jR_JvYAVlTU8coODbOMMlQVWywsvVONRYtlA3ew-hcwxaNoSJfLVa-gzv24rG47gtYf9Xoh-uZTm0TBeFpfefay_cMSWSZXckU0OYyQHV-R_Qxv7TNbWxC5pzuCSMp2kIpnFe84mf34ZwaK1e4I97u6NzZqecbme4WHV9aW5hjFKSVSSHmrGOmA433iHhQBcD-0ljbWd7wXUkqsAlazSwfs2eyesmQ0BMl7rAjM9Qm2y8XBfT12OiUeuFoV8M7djQxQkNdhcdyU6CtMwmVLSLOa5ZDiwGcpxkgdB6BkCFe0O0Hn-DtgAyGcxT_MmsEgl0gsmoF2JphH8YREaI0mY6aVVuN93H-nV09vwQVAxNV5H-wxsdHcRRh1fKvOZf_VDq_WHilRPrLjgxS2GU96iVdr2Ruf5m7F1NkJyRoMeMGsuD9sj_h-B2LrZmKUjJ6kVztQm7l0VmDQABnfJlioMA1CcB5aEHS1U7u-tP9DRi7gaM3-8RjSxMkzY7BWVY9bgng3iExG_zdOfCkMCl-HyxKkJn16UANrYpn_qs8lALSEmYkiBP7M_oTEvdei468BNOMqHx18ai_hShgK9fqz7M9Cu0Se6JTjVeOZGMVnCf1RYuzv2C4iSFBc6U6frF7zwqtJOxqWhZomZU3GmVjk21KY7oIilKYCO5u_9kv9yO6_HChuQrKT41tBuI25_UcUPCrAg0Xt8mddFsfctfhfpirqdAqNzLdhu3oDwwFAbphvbV0VmNlAky_6tnz_pKUfSpEdLaeUNpo2BHGmFtYkRrYBF3aqF03fLB0Fu3D6So_-8affnZJ7pVSs6N9kJp19owZ9ttk3hDTFqwTlQTN8wE-dvMJ0UFDazlchnaEG_eT6ZyZK8yV1yNvbMSXSX4XTL0UuKtsot3Y51IvqRyB_3cdMPXqM7DnZOl32gkDm3uYEoP7AN0XKHhfJiO4H4O4zA3b9b2QuN8fWIDBbuqWEPSkoE5UtLJDQB4MEE0_8YUbaLQPcnuN8fkNv10JBt2Q6vSDOPwtPcqTXKOW6U7fRFrU0BJlGRrAeYQDixMG8fH1cxM-qt_tTP1zVOqWv1jTdi8iltlRQVAi48uN_9L6ao5DJO_fpX",
  "id": "rs_0b5ddf015159a2e4016ab44180672487d082f8bc14659fbc00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.123,\"left_gripper\":0.0},\"note\":\"The blue bowl's left rim is now almost on the jaw centerline, with one open finger positioned to each side of that wall. I am making the final few-millimeter correction while closing fully to pinch the rim.\"}",
  "call_id": "call_DWu6qvLd1eO7k2fEc7weWuc3",
  "id": "fc_0b5ddf015159a2e4016ab441820b5087d09a737958643cd98a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DWu6qvLd1eO7k2fEc7weWuc3",
  "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]: [-0.5503, 1.4979, 0.5419, 0.1215, -0.3744, -0.3943, 0.0206, -0.0177, 0.807, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3328 left_y=-0.1242 left_z=0.0362 left_yaw=-0.037 left_pitch=-0.1877 left_roll=0.0101 left_gripper=0.0206 right_x=0.2883 right_y=0.0014 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.0565 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -4.5333, 6.1744, 1.1013, -0.2515, 0.0659, 1.4286, -0.0615, -1.4701, 6.9812, 1.6679, -0.0171, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76b5fcd34242007323fcccb4bef2bb4c922b7be83eca08c5bc164994bd1424b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f7ffaee22f953e2e89c2cf177ccc01b00a5656881a494006bdfe0afa0ba55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fba9668c14b40084eaee003dfc25adba51e344f08e3b325d6650092d960615",
      "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 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5911, 1.5929, 0.5571, 0.1951, -0.4206, -0.4129, 0.1546, -0.0177, 0.8051, 0.5945, -0.416, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3384 left_y=-0.1359 left_z=0.0236 left_yaw=-0.0306 left_pitch=-0.1751 left_roll=0.0294 left_gripper=0.1546 right_x=0.2892 right_y=0.0014 right_z=0.1653 right_yaw=0.0005 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -5.9966, 5.1897, 1.4383, -0.188, 0.0073, 0.1392, -0.0752, -1.2786, 7.3504, 1.6728, -0.0562, -0.0366, -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]: [-0.5274, 1.4933, 0.5331, 0.1085, -0.366, -0.3637, 0.9955, -0.0177, 0.8051, 0.5945, -0.4225, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3309 left_y=-0.1154 left_z=0.0322 left_yaw=-0.036 left_pitch=-0.2063 left_roll=0.0353 left_gripper=0.9955 right_x=0.2883 right_y=0.0014 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0542 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.8889, 8.335, 1.3846, -0.3883, 0.0317, 0.0366, -0.0205, -1.265, 6.9812, 1.6532, -0.0806, -0.0464, -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]: [-0.5503, 1.4979, 0.5419, 0.1215, -0.3744, -0.3943, 0.0206, -0.0177, 0.807, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3328 left_y=-0.1242 left_z=0.0362 left_yaw=-0.037 left_pitch=-0.1877 left_roll=0.0101 left_gripper=0.0206 right_x=0.2883 right_y=0.0014 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.0565 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -4.5333, 6.1744, 1.1013, -0.2515, 0.0659, 1.4286, -0.0615, -1.4701, 6.9812, 1.6679, -0.0171, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76b5fcd34242007323fcccb4bef2bb4c922b7be83eca08c5bc164994bd1424b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f7ffaee22f953e2e89c2cf177ccc01b00a5656881a494006bdfe0afa0ba55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fba9668c14b40084eaee003dfc25adba51e344f08e3b325d6650092d960615",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGGs_3JGSt3sQTJyIiY_a9eBTFqXQPBqa7Dq-EqGHm2cLJQhKudjaIVG4GCp2LRuLVbVpEnPCOxCVl6aiYoON8LReppiaF0U5GStOVk9kdwrRRLtgCiosfyHCue33L8IE918OG0yrJpWyUGtbb14e8Vc0VJ7l7ZIMcu6sKfxMfjyKbcaI2O9af1ya4asHudBNmLTr4i2atJ3nE8B9tZbnxkTXZVG4i4Kz1sN2Ob-9aoaXqwaiIEuhX-oxUB0Jgmi1if75YrbTyIg0V4pc4JCmuK08tpFl4pm6yaPUsInXAZC-74X8MZ0opQIYUHnLCkRlhEh3V0ZQ7qD6cTJws2IlXjlbWDLZBEVfVEq-pzbK4nQVZ_sX4bp3I1kkNlIdhCZ1LLrli3lQTWVgy0J6fpKR-mvSm8S3kd8_X3Su4OC7_OnuKsrt_PC37q1eaYx0ztMLJsZNVJziiUlfswpkPpYWKUL4Orfo7a82Z_7LN48SmMiY42mOoa2B7wC6YoKRQebZm1c4osBM8JBuWwdzdIPwxuxgVBXocK4_fRTkNwt6Ib3i-O2vtc3C-N5DoBzaf4vr4ElRZj7dS7ZYbbfZuTzw39-r3nFBpWgRCnaaHHhOzeOgrerISR_8ioI1hPD4vE8kZ2oXtG1zJ90PJo6Tb4l1Z1CxN5xbbelUWujXlejiRkUUk4WudJJ5QMMFjiVQvQ280o-3wKNtRuT9ghCaMNQJmap8OVaKBAW4gr7QmkIDn-GMsVMerwadQ9qO_fEuu9P3ONJs-yD0S_EEutKUzvVjuKILDja9KQh7cInsIUGbhkeSDO7_eyqo_P96EqR1brawWEvChmYUavrT54unZx22u8cvJ8HGzXZNFyXkg-XiUGoEfwEO99uH1_enaQZKLUOynJmqaAJB9DryY_-ryQtp2qL8sy2DBeBUSxAfivcMGC3Rd2ayT_B3hQQm0ZV_ONzHakv7kVj5gXFggmstV5AJvJYnXJ1Ncnf1u-G9ET1v5A_XxGBwTOx5DoYy96uQvclClXbDUPhY4Mh1PZXX9xtAF77NIpGILOGO4o7Wr3AvALlRwLeGAWQZP9zp-m28FQSe8mcCY9KRn7WQ8CD0AVmV6xYIps57oZqwffOhgD21Lr77-dvtz1jTbI6-Ab5DktceFb8awelGfkX1n1PztBCHy16ulxvZNmsvAPr6AnKRN14oKfyCa96o17nfT8W5yGx2k85Lps9JQk69QyEWhddD1WLMHvL6Op8udlwGGxcZEOyLM5Ffof_M1GnZo1-N0nPRYg",
  "id": "rs_0b5ddf015159a2e4016ab4418528fc87d0a86ea5f15cf5b94c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The rim pinch closed to a thin-wall reading, which is expected to resemble an empty close, so the decisive check is motion. I am lifting about 6 cm while keeping the pinch closed to see whether the blue bowl rises with the gripper.\"}",
  "call_id": "call_8rDwgkQsppkgqgRvaLszW6zn",
  "id": "fc_0b5ddf015159a2e4016ab44185555487d0a582e8cda8a493f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rDwgkQsppkgqgRvaLszW6zn",
  "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]: [-0.5499, 1.3575, 0.6628, -0.149, -0.371, -0.3939, 0.0307, -0.0177, 0.8097, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.331 left_y=-0.1236 left_z=0.0841 left_yaw=-0.0387 left_pitch=-0.1969 left_roll=0.0127 left_gripper=0.0307 right_x=0.2884 right_y=0.0014 right_z=0.1627 right_yaw=0.0007 right_pitch=-0.0591 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.2291, 8.841, 1.5507, -0.2271, -0.0659, 1.033, -0.0889, -1.1692, 7.1726, 1.663, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf97a41050f62939f073ec669ed87463fb3e848d4cadbce145a735d75ed0b14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6725a73a3ee1c7d0f6d8ad946bd7bdd162fcdc4e609ab8d1341d52757c6e56da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8c3fc62ba9e7534c5a4fd30147b32d33ec46d8c400fb7161a1bf0790d9dbb8",
      "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 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4578, 0.519, 0.1287, -0.3355, -0.3241, 0.9951, -0.0177, 0.8051, 0.5945, -0.4221, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.0952 left_z=0.0406 left_yaw=-0.0087 left_pitch=-0.1802 left_roll=0.0248 left_gripper=0.9951 right_x=0.2883 right_y=0.0014 right_z=0.1641 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -6.3248, 5.4085, 1.5214, -0.0269, 0.1685, -0.1392, -0.1983, -1.306, 7.0359, 1.7558, -0.0855, -0.0659, -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]: [-0.5503, 1.4979, 0.5419, 0.1215, -0.3744, -0.3943, 0.0206, -0.0177, 0.807, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3328 left_y=-0.1242 left_z=0.0362 left_yaw=-0.037 left_pitch=-0.1877 left_roll=0.0101 left_gripper=0.0206 right_x=0.2883 right_y=0.0014 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.0565 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -4.5333, 6.1744, 1.1013, -0.2515, 0.0659, 1.4286, -0.0615, -1.4701, 6.9812, 1.6679, -0.0171, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5499, 1.3575, 0.6628, -0.149, -0.371, -0.3939, 0.0307, -0.0177, 0.8097, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.331 left_y=-0.1236 left_z=0.0841 left_yaw=-0.0387 left_pitch=-0.1969 left_roll=0.0127 left_gripper=0.0307 right_x=0.2884 right_y=0.0014 right_z=0.1627 right_yaw=0.0007 right_pitch=-0.0591 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.2291, 8.841, 1.5507, -0.2271, -0.0659, 1.033, -0.0889, -1.1692, 7.1726, 1.663, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf97a41050f62939f073ec669ed87463fb3e848d4cadbce145a735d75ed0b14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6725a73a3ee1c7d0f6d8ad946bd7bdd162fcdc4e609ab8d1341d52757c6e56da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8c3fc62ba9e7534c5a4fd30147b32d33ec46d8c400fb7161a1bf0790d9dbb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGOZei19BgzrZgafaI7zV0sfFWX9Xz_5nrBccqwwvdqM2Itesvmb4tQvtDgup6AHw4YruEQRGqUPQmpiD9sLenxRkAojpL3AwRu5wtcj9Xu0vOXdlo6-CtdDkgEnD8dSTyjHUTXq2DQm0BSK9Hcdy5L2Ea_CFz-XZTmbHO0hlk9eJIl6HnnyU_E2DEogtyaKYHPz2sge5IMNUMKAxR9XrFATzGMW1R0Ry6IxfCAAyKssCAmIiOtu2K-yPfmdJJp6WZfL_ESqtexK817MI1_m_YN4IepIA9G19Pa1CFv6v-ym8uyeHkVAuQfmyq5ZukhYI5oh3sL2n8yijHQ54jtksTbUkIZIelrgapNmkMO5KZwvqQ3ypnDCN2EnImxm6EpHjASdpyfSA-4qcP2PTbO9joFlALrXrhOXGeSKmGm7CguMXmHS2RkZlQQ4gpOKHqMewDvOamISEw2dofw4x3stAiTyOTJK_xC1qrGMA7Avng6jEgbmOJq9TGzw8RjUzLS6hXOVn1rjq4CEcwc2_70MEM9KtHdwN94An_5s-mXyK4d7dyLErOrcB6B_GPOBRSmiyPoD9GE7zNHnqFktr2cKfGBRGqP8c-SNB2dcvjx6_R2KmZ1lBTlZfFtGzgbNASSajoeVd4dcPDxhUv-rOStVqMMXDWPZL394Pt8ajMOwcNlDVlLoqs7qz1S6N3ZLgSxqZh5WEEoroG2sAe-fXCpZscMB2pORjCkp-OiBGHnzNuSsqoFhZVacbV503fK6QOtIib79WbTtPPbcUK2M68OmhTVqqCXjvvr0pbEVcwANQQscNw47bIG9-bwXCD6gl0zkjZiwShGj9JGxmYbxiVw14vrxRnr2X_1RdWwS_GzBKF_A3rzlJOBk3IVVzEicp7nFCdmKcnL0JKcpMjsG2APb1SNBWIPoARXqrsarD3mrJTtub0PfrMJxQkv1nSRqxsYgySzFIuKFQ7cPjOpyH2nKRGf6J5KbPojivp18TYQ4Yn7se68v5ZCFJGBL0bQUfQWt46sIpxMbZzwqLITDC1HYQfeDB710y536B9Yc8vNRkh3CJh99TLuz3gPNYtamLMSUQ1IlauyGOeTEGHyoQHm1L4a0kIDRkghXT2scy8YKPeGSE6QpO5-BwSGkLvGV21ByDbWhLaIAviWjcpsrfugtZB88_mkW42tfKy1tEpxkD_Rz2EVITHF79lPElbOT6hXqhETsQUfoemSSm0vFtyCkFFuLdmlp7JfIfRjvRiJ6oTergoT7rgt2z5yIMEv2ya6gAKzLI_hO6W5x-A6wy_AbNc3GDTkccPb9qHgaicBCmdFzQTM6LBtoV6VWHmJA9XtcITZMlyLks6i8RgUyFYNOXOCVm70PF3MUspMdTt3PLoHN8fzFIve--TsCvPAeuPkcS_jxzfMLvS8Y8OkI89ftFea9HmvO_Z7xBzYzght9nsz5M0YJypd1Ojhdb3LIEjvYoBSHW0CzLkiL0FzaNcIN6mGSyUd6Axcx9mMac2CZVkxT6-B8q8s03TSc3XHrxwV8SeK5-FGHyC9Hh1hUDK8tnC3_929BkALkGnRN6p8H_jhRyIgPFpY1XpjdMTiBTe7DElvCGOs97yZbPtc-eEjpKL0qeiJ-0KOBHKKG4B0IdLZj1eOOFAUUXfUsiSY4XeSQflKnGrGkRfdYQq1Od8r1HRtilm8ZWXNVgpKHdotrgoonVqTIo78qYhQWgz6sbRM6ND1kCigicOhTiRhK1Yffdur5oqnpge19ODDelQs_pIo_7hd2u2OZqscPQapdANC2pFWltYUGsVE3vTEdK-ItKxVAVxU2pV4BrsYoREuIQYIXJ-R5ejIo3phKYAZz0BUAuUPXcE5e8ceXWn6uMLBKwQyN0_m2JwKu9dbr9RhwogdgjloyTnRojX9BmsmzWjy7zF5iUb6prLtjBwmUfSYiGFr6Wx_83IxIuybUSa-waJF70Zs7FfR5zJClLGgPx3NCktEd5kO76KAiNcB3s9L1a1nzRZwr_krENISQ68a785Oy8o2dpswLWIpeSJAiEIOXwttXHI5sxacAvTJosJedDJEI3raHi2_4NB92Of7uWm2oMNrMRF43MBcM1LdbsWVu_Vz6DIftW4f9xEEjR4S-atDs_IMZawHeGk8qb8jTtM1RpqYcQK1uSUslRnI8IYYWBrKzHNKCMsAS7Clxqz7BjqtT-P3S9ygq6jYKEq1PmVj-MsRyMLo_DiFFJJq3FDIAq4E__VljZJ3l0dLxl3Tt6dSHfZY95z0ycJiugkCkBaoKx_JPOK3-OyBE1dbDEoWg7oU61YNZ8RvPyN6Dyyxqy_0sRFWpToamWUtjXkhYlZVVp_BBrhY0M9b97ABqg8n6edhZGwEwzmBpjSkYewEwaBg39CKvZ-F7tPys5J6MBErPZqv67t8G7REYgnF2Go3Rsm-7ri6x2stzhbTqbvik1-dZbOthfzYFa3X_PTXZfqO58EjjoaFgInkWZ5pRZCH96hI2rlxVFAyomuPqmVh5IFc5nf5mi6I_ZH9F4bEtogEi41jbI4gE_B4LfDtGTyiw6uimCFNWstYBm2svezsECLykyUcLXAxs5agk0QQ4lRgJUKhsnRzFmFtGxdNlBpFD0MPFyDlYAZ6NT9jgDuS7esfFx1rDtTdgG05kBztphAvTH52jTjByjPG2JxWMnJ2rtKpKFnIkXJgY53fgZ7jJBWBZ2jjiIHkrXtA9irWXJfcD8cFrZWw7UwNWa_IvyMu74ZMD0DVXCcTSR-KnWk__BfyrU-xZ2UmiMNgg6CFYi5sNeRAw8iTLS5WcvPzsDwFlnBt4lo6IADUpWhW2TQq0oab8X--tfgXejI2vfv7zPEB66JrGwAnq0scf7YiqM0y6GRgoizGiYKcy59nyCvdevs93rtnO1Vcz7jFpjFyS0PPyfyVESRVuARHnLJRvfwmbdAP1I1O9Lq8L7wnSdBH8Ux1qz6W3ydYnchz4XVlkxZuPkoQG0sJ2lXQ62E9-HOxrIHR_VUxEgj0NxtYT8ivN6yTk14iGzFCYQpB00OQ0bdXMka7RVod8U3TfSYMRPBsIGcQLe-KlS76IDCsnat6uv3YRXTK7-5th3OitlIP7Z-QPo6jWGM9jvD-5XPLdmiKVgLcigMe5Vl2ruBWuxb7g_SLqNKO78lJg9mXZFJJt44MTJfk6yzmvry6yq_tlV195HDTBydFODnRCnvyXHpuOh3rvJ582ninu4SHuPXpAskyk3RZ-fXyqJjcBEbHgm21X8OewQ8Cw1sUWE8Z9BBOc5Z9ORgQE4PKePrg0GPGvyiHGWN6ZXr6JKPBMfYddjGBGpWRJhzJkronbRsy1O-9ZHjC3fd7vmIUAOuwiHDnsUtkWghFwhuNabE-FonScNOS6K4l-RK8vu6gYtP6KOHXtl7CrzMllpJW4qQ_NdzHopEoy1aQPEKbXEv_O6SE-MtJLIlrfW97j9DblIVgegTjZRTS3cpJVWGJbfatfsRB5S7ossNolqqmfRn4UllFx4oTZG1W9icaISz0CsfD5rBTqvsPYvHZEqAxceFp9-Dyj4bx0U6FOIUXCYRgUgByenATb0-VGTmf-MZPhwC5QVEBpwoUgOHNj8muFvCyiF91Jmo_3izraLlKdnuPhw7QXcA1rKsfEn3PuWv8MGfaGrj0lvalvQdQfdD70dbhsN9YpNK7_c83Zx23Wv5WPMm5g_98ymMaBsS7iDbmqo65-NZ9-c-sXcLTPOSc5QaYtHbmd0Tm_1mYzNtVIQ2A74DEVoskjC61KVoFFz0YHqoy-bBBp1aMTuE8tGfs1Nm4o6IUN8UfTNs=",
  "id": "rs_0b5ddf015159a2e4016ab44187e0ac87d08d519891959ba5fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.136,\"left_z\":-0.01,\"left_gripper\":1.0},\"note\":\"The overhead view confirms the rim pinch did not lift the blue bowl; it remained on the table. The earlier whole-bowl attempt stopped about 2.4 cm above the tabletop, so I am correcting that key error by reopening, recentering, and descending to firm table level so the vertical pads can engage below the flared rim.\"}",
  "call_id": "call_xK0xG2OyQrK6ldyOmtRcziCQ",
  "id": "fc_0b5ddf015159a2e4016ab4418d57dc87d087d1e9ef82562a78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xK0xG2OyQrK6ldyOmtRcziCQ",
  "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]: [-0.569, 1.6611, 0.5613, 0.3859, -0.4412, -0.4072, 0.9937, -0.0177, 0.8116, 0.5945, -0.4232, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.1394 left_z=0.0335 left_yaw=-0.0035 left_pitch=-0.0603 left_roll=-0.0219 left_gripper=0.9937 right_x=0.2885 right_y=0.0014 right_z=0.1621 right_yaw=0.0005 right_pitch=-0.0614 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -2.0718, 2.5778, 0.2662, 0.6667, -0.1001, -0.2076, -0.0752, -1.388, 7.1179, 1.6435, -0.0659, -0.0317, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdac8219913a7b453a8305ed52d9050cceac92e3ae2fd725e3273244bb49816f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4483644fbddc2f715fa074cc44df3db03aa6d901f58e9126542f0ae783013c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d66419d6140f6a025394e1ae82af3eaacbf590db7eca60cc2dfb0ad1834bdb1",
      "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 40 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]: [-0.5274, 1.4933, 0.5331, 0.1085, -0.366, -0.3637, 0.9955, -0.0177, 0.8051, 0.5945, -0.4225, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3309 left_y=-0.1154 left_z=0.0322 left_yaw=-0.036 left_pitch=-0.2063 left_roll=0.0353 left_gripper=0.9955 right_x=0.2883 right_y=0.0014 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0542 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -4.8889, 8.335, 1.3846, -0.3883, 0.0317, 0.0366, -0.0205, -1.265, 6.9812, 1.6532, -0.0806, -0.0464, -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]: [-0.5499, 1.3575, 0.6628, -0.149, -0.371, -0.3939, 0.0307, -0.0177, 0.8097, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.331 left_y=-0.1236 left_z=0.0841 left_yaw=-0.0387 left_pitch=-0.1969 left_roll=0.0127 left_gripper=0.0307 right_x=0.2884 right_y=0.0014 right_z=0.1627 right_yaw=0.0007 right_pitch=-0.0591 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.2291, 8.841, 1.5507, -0.2271, -0.0659, 1.033, -0.0889, -1.1692, 7.1726, 1.663, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.569, 1.6611, 0.5613, 0.3859, -0.4412, -0.4072, 0.9937, -0.0177, 0.8116, 0.5945, -0.4232, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.1394 left_z=0.0335 left_yaw=-0.0035 left_pitch=-0.0603 left_roll=-0.0219 left_gripper=0.9937 right_x=0.2885 right_y=0.0014 right_z=0.1621 right_yaw=0.0005 right_pitch=-0.0614 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -2.0718, 2.5778, 0.2662, 0.6667, -0.1001, -0.2076, -0.0752, -1.388, 7.1179, 1.6435, -0.0659, -0.0317, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdac8219913a7b453a8305ed52d9050cceac92e3ae2fd725e3273244bb49816f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4483644fbddc2f715fa074cc44df3db03aa6d901f58e9126542f0ae783013c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d66419d6140f6a025394e1ae82af3eaacbf590db7eca60cc2dfb0ad1834bdb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGZRiuoR96xpYZza2v5aYdFK7IvE4LUZ_-C1qAw45aFBOl--56AP5Wm0u-J8EOKMFeKQN2-lZs0ZoEUd2lkcppIwjX4z0SLfa0GOH6WiOn2BxUS8KHks-ZsRddx1cXqYnQwt3AV60YtXb8khG7PFReabgu1fXO3s8Mv5s4FjQD-WYoEnA3y7c5nfPzty02cIKtO6WriayFowefFHuoYdHhJDvfgVIOLsPU8Hwf-Ev0tW-Q4lWCf4w0TztjhdYKYqDNkeT08kL0BQUSpKFhnys3Dm9bDJlnKhbiU6qEHR6dimy1m8r5PLIS5VPuj5aFHk0h03eBWvEJEysXQ1_L8d0OJ_a2qqMkxYL1zQTe-_AS6EAS1LTboFb2RlK_OyZ_htrRAbGevwczISLrFmr-hSMTKmb2um45oQxNmLVM8MwHk8gSUQ7RRp4vd7OLe-hM8k23v3oEs3xIntw8tcMjYnLqT7ourxiUbyQwXd-4v7XPhCNHOjluiwF7OSvGVxU0XH7cr24cma5tRIkIxXmypAxjWVpy7_ldsgb573GWsuVrn5svoMgZsRHRctTSbb6OOwJygQ0LWBaAm_j9hKcbr3fJTbv_VFAUNiZUgQIrIWoxixYqRsn9glUGC0v0P-kb0Z9UQIMdy3_94zbXl8Ih5ISLsJ1mFAP9da6oO28lDcPZD3AJPFHooCHVFirDrKnuWEbaEyfOAsWf1__7MjQt0dQb3UnQwykp3Sv9sYcjDE0zIdHcYhVfuF2NzFDSjbEBB1dRVLfKHwCYAhPWZXU2c739chu-hcCChL1UhsDJDlBEe_utj6XqEnA_PLEKe1S5brEoZDxehcRvZE_bPNtnpa_YIZavgC062ofS_urryeeCr0ziMKfXmUd0LjFqhwGg-KYkeK-PqDvySm5i4v_LzWF5HH_TjxvstFotyyN5s2kkjA2hvcy-nRVYxiBH7YpI_yMOKbt2hEA8FFFUF3Vyn7hHW1r1kZGJ_t2LU75E7uN3ETC04xp_YSQa0IUoSkQxCAlnnm_5TaYmX3KRVI0S9ZZGczYmAmXoumMCQzZGEJ2YL0VkJOI1biU4C0n3-bgojWIsDh-qYMDKED_LARLarH4MrjcPXgULygGixPYVg6YAhenuFYbHx8MZPo_SCiNhBO1utReNTZLMWcRc6ZhL6RfmiAHP32xHNGh6tzh0P9L-SjrjDRQGjUPHOmt9GNYeVXUuPyVoh4EwhYfUcaxa-sCHpWg-W7inZMWde-vwQbw1rEi2U3TbcnuPvZT92z6FNNSVZ-guaiVImkC_xyxfGzuQZ_GEySa25gciuFjlnyquIkWxjDvjnRLtc1W1k1eZgCDhZfffdJn8QPkdSWzD_0C8SNVxtSHddITC6a6bUsHkz5hH_fV3KpDGaVAHTFlhOgK6gHXcnTmseor0_o5l0tDUh3xXasgccen_eW65r7WjEuya5BwPgyWuFp3K4Mk6PTIpzLCy40XVcwk1ODbTX--liyAdWbNqAgpShLrEkepXyCJnQ7oqZ_97MdJ_Bj6AI-QITDmlJjdo7VrfGgLdPpAbVysWeY3f2HmRVo4OopKSAQU_JeOoNrJzaqdpJYoQ55g0vkePchOzyJLbYBe9VdlVD4RN-PV44u9R39zO9_XDXYKxTMxnKwTwJLe5VJMoCJroruKQqaTNtZvPWTa8HaQidZUmZUr1iGukg61sKPOgegCmoR0V_jr7HQ8JoosxZOYXv697L-KazEREsxsJRCxG00rSoR0dV64K_RqnM4e0GDncgo5_9rdALPVBdmrtF4varatgyFSRqO8nbUJt8WFd2ws-3jNTAm0qv2IOPhheHEUsPA6OVhF2fJtIA09YFx9QIX8nu4tITe7nprsEgpFf-ksu_VExD9re-HqHcXVxe_JGSACvCvTxVZS6RHPTrtEqTdpg6EPq10BVi4BCmKCwozUhkn78FwdZVbKiOK-GlYMXPNci4dP7yXn4ke5naWIs0TiwqJIWZRivmHmqiuEhaT71GkEcWeLWMFD34xn4ZiP-mKJUU3dFdfgGurZoAJvNrol4H-X0tqHOA7X_O497hULQYj8TsZCIupvguRTBWy1_4u17FJgm4Dgy9QSroUK4xxcZRBIgWkOCS57ma0ivoYp3QTHqCQekU4aoOO3o-8KmWWS2aH482j4WRn65vIJyNlIo4_1mhaP1nLEEgctL1utx9JHavfqYksxBd-zmm3sYDy_g-_wLaCagQF91_RB4CGRm-rLAlrAqHu829-Ozt8UV2ctqQR5oTsFtvVvfXnKv1Iw3QSGca1ugMh9q7B4WeCISVHpOxmPDT7LXmwypKE8IeoINitqjLodx9PAtn_NPcHE9JpfpqsyfxVNBzHK9-8r6nHCPqSSD04NCqV2YrJAoomcd-WjSbayhuUlgK4t8baQjMs7ZCdeJ1K_Qdm7EMtGjBTSx-wQNh4Q1573O-8-KWYizOBFiZ5nHmBBusmFPrb2mST7CQ9xFU7ocrZO8-She7H3zahSx36gTn2zFUiCp8ODx5gwvIJDa_BDA29URLYfYSn0ACmZv-cq30E1m-z2vVi2apvz4pmKM-DkP4qehs4CVkNPpmuVL2WrueDcbV7r9umPCQ2mAXv0L1erWSFAitwL1MiiMGe1OT-UjaNHmpRoBg6uaYrv9b2-0ZGhLybGtdyuG7wdGV99rKt9M1gmADDGhqpdeu9f83wd48isfytm4Il2BMa0-_PVCWklP-QXLNUl5HIz4ZhT0ioJo10TdyUbn8DtiM7ZUb2PTPA3oWN7pYAeLlWbEEsIc7VvjOHmdUNeqnjq30wzRSeV5xiDzXmVf5yEEq6NKREEIWK44ZITe6R5k6OEhz8v4bbhN-2sZTaculRI658suOrQ1wQniZDdxl4L7QfWqaYHK-P0QxfsOPcQTeOZzNbzPYJIPaLFlkwSgwQDbxmsYSN91Hi2Uuzf-06c-GpzDLqB7Kb1xwKgUKw8aBRrk4JaMGWLDJis2UBctHm-QKbjJKA5ZtM_GY9qmgtdrZ5R8vT16akMguL3ar0jcKa8OFR5Xm8diu-OM2-ZL9ehahxvnyGzyLKVxA21pI-V3F4Q5KyPNQoX1jeNU-f1KaOU_BgHdV76I8lD0VBZP3vdCM-Tg71uhAj2qxwoJrS6xwASdEzhcL4dam_1NKF3A-LOJYRj0JhkKsjgQhWIcjCSCrToRkbAS6LEpgi9tLJSysEPOvUhj_EBkhBscDDaUc7pWXPXLtmurOqDc_FPsU6RakFp7uRLqBHt7G5klmaT_la-QefTCGfcK4Ya40gJk_R9j8oK4__SKRDBVP7fA-rnM4IZ0MFsj0ioCGh5X1pSyiuq3cRf4aP_WQ0bmJMDs8rO5DeyExMj8sZqk-Rsh0efBbXaE3_o9XFBLV2i7UGBQN0g_3FEWwEaYsiwMaYscNRj8lTos5NGD1pxOLA0gvXiTMIXfKzWwk1IVk8nLHC_TmmcvGv00Bw_SY0OjiGE8H7W82hv8YXIP5b-IbrrtOJx-ByVJc6lrZbBqdkZdGqYUELFYk-hPzeJIWkVpJvaI7vl_PqVAD3odts87mzMMRQ0xvpa9hsEUt3vzn9YJbfD6j98ZSRUXI6HyYX5pjGLhDacuxfGOivy85skm6oRzs_JVHyiW6Y7UZzDrLrYqOuFO-HBWx66_9C0KdSN8QELvLKIkRhQ54S2H7BuNJQ5P42TAafFuxHWxbwrrzf3gKIhbMbNK1RJ2VSnnKDrxBwcv_KokEq9-SuJODi0wsXyyT-oH2X8WYHpn-SUvNJik2WF1fUdurktQHiOtaCUmzibxR0Yk3aZ3GHsVOx1V2c1TbofIFccE33aWYC5U_Ey6Qx9ulazpm2tNZokBv4PPWcEDJjwjFY3csCYV3G8Qo-lHJ9aKAHh2fePnvfPiauYCjlnUGr2ekeNybpBxMSer6ELv-sZhCVoe20foJWyFQhvxZ_JIcGqv7wynK5KC5M9dhFChYxLe_2E5OdKnvHowlC_3iiOaHJwqDblSAJ2hW80fN3grhsoHk5Ojh7oHG37vW4PgH3JQi-nmiGWM4fxgekGQjgarwN2GVckK_5GnKV3iECclpDgKfMJ-fQZBPd66rmirlKKM1o2pEALuqEc8wDfmKFPU3bqN3B07G6GWMvoQt23AjEGZP2VIQmeklUABlm_Y1Cy149JEvqXcSKRLcKrjh_ZXMtkb8SvPOaRLwHpKAZZ9EjZq8F-LajWbxf9dtg_MSkyH91IOtiA==",
  "id": "rs_0b5ddf015159a2e4016ab441909fcc87d0b5288f8829891f43",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGZLMvTJTd0c3rFrIIGHFhFfqJkjbbC8Mev5sUdYEANPIBcsyyDpRfLSS9y-WtSSCQLwfA1qgvfuX3GLypJqrcXeTT2WhxHZkI2BEqoivenafJHfye17J3D4q2c_Z4DVoLFTchSe32ITzHB-yUxQubHTAWq5kspHWfUewwiWLCIP3EvyuNOPJN95itpGmrdWPlB3eE6kQKoa2ZQ3J63gc4MES6a9aIC24y56Jwet_u0CyAYK7Y4bV0TwWNRtvexP7v72e6uakt6Vn_QYIyYWeeRjHRQ5ADNMdvht5SCIha45t2bWVxiWr6HcL7G9JcEXqNNjo-HcXFgvMkZwq1zvRnkJ5MeliZNZtPVD_Jjc27qALWUbvAMlbmm_dLIMzWStzE9E8UhRwADPHY_O-LwOOzWhwLesjSz1uzU6Ov1TpbwWWaKEblbmA-O3hqbPNf_GM4jkkVg0Bi7fIUqSNHgDaOg-kH6ebfRkAB1quW-HinGHjlCiZabxPsltvOh6P8olQtPEVq-SfS_KVNu9dfvjbG-A1-LivsfP7EqMVoI8rU6UG0hqLSL2P4rTxa5LuDaNG-3CSWDizMfRFxWtMrsfZm4NDQvpz2MJuJl2Ygl0Q2ehGFoLAvtBRZd58goB6tUYRMAHcRqs3oZr6Gyu4cb3-MQXfjGNG2N59rMoBs9xL95erlr2bIYxqhYhM3vouv3I-uLabDnLH1AyjpNmy0knjuEZ5o9qOknyaA_PBPCuOFvSRrbuzkL1mpWSMjqwbJ7lCey7Hi4A7JZ_nfAhKZrPrJuvnyPYvJY9fy2emGSVuQlA0XRGvKesyn_Ds_ktn1pB49innao2LakZRFufejq9IIXhrsOgHds_iUz9SQ5ya9iRirPUC504HzmSEBFq4RFPlz-hN__DUy_expRYt2l5Tne_hJVB0_G4TI8ZFfQGsZuWMP_pH-RZeOAiApGQYPJzCp7qxauNchyO_EToR30Cc7TqJiZyUYc8D_zzDl_vicn_83BCzaDxlImy1fZuxBR7Olqc38gHqsRyksNZS7DtkA-CW_oEjJ7PYl1fv9I-1EVYJMgccYQGNL7hAaHhHFFbBG-JxHbvggrDJ-GFEgYIWEwD8dRhhEyd_1sDq1AXROWLre885owslJ9na3QGoajK8_oaaJbwEp6U-lN9G0xsdGpWubQyYDbDaBvOCEMVEZsQrpxBOW4fj1JFVtaXl3kvAHoG7fzUXyylfN3DIw9xPM6rkiyo26jmB0N04X6mx5BqWqy2-2cD1OxdzianZKfzkJcw06lJaNdgbkVyMJvp2SMu-BjrTm6dQG8yxvlLKjsQluQGxrZTQ9TrhfAN2GvhJRJmy_B0iXckmDs9Lb5ZvXCEqtZdAe7ZgrmlDaxACt5I-dUHMqjL9hQXo6XCNLBThpjnqLWnLq3OxETXmaiKEtjaFhfx6v4JbczvESwVSzGKnUR2dRcy6s0ZPNcjzdiD4xwODg_GFe9AqobzDagovd_Obp1eYXyBCANFprmFVAFVRfuFRl0B-rg0SEL71Mz_UNFH4OsirULIRiQDXM14dsshNDyZO_ksgCvv6insbdZ9p_KgDcngMjqfP6cuAZrpaWIINEAlspPHgps9pkk_WZJ-G7n0jyjDo7vmqJTL0BQC622BwF0SASMkPQBvQ6puw-LtGH3u-sLBSlaFGrwZFFcHJDrCop6e83exr0GfUZb-veKQH_5ZuM9pJPTOxSM3sI8EEijhcEAxZg-aYKEoqqgP6Xu-LcuInYiybuUV3QVd4bnteZHz2F51fYgLboyEqZAenHzkNEdpxWQZarpszeYMBziPRScb3vxLfYE6RAEo5x1zlG46XwKQS3-AHzcvR9LFIJ7m5pZvzxN5csW1oJMTDfzEDkDMYytdkrNufSLiVS8s0yJiAVHz2JnoIObnsEkJE0KBvVcPuih3hegedGh7KfXVzc8OXa0-7-mcP9L2WKqMT8HLskF6i_84zeT2rllKSiUZvmyjrm3wGIJEtWyUrsyF5R1m8ep5pTMF2b3M-xbvWWI8pyjBFWacso1A4u8IEnAB2JozS08QDffPnDgiF1EUPOjjgMSl5yZnbA8GgY7gZ9RRPO22LyBRJcTilaZNFQcyZF-QaqRM7e2pBGcoN9vrnEc6FZUnmR7nMjWNlNuw6bJEMfArl88q2637bcsgfaPVtYhNBf_gVqSJ15nJQ5HORppAgqGvWueI4Bgb8fNtRDfOL5JjhasYZl_Nlee",
  "id": "rs_0b5ddf015159a2e4016ab4419695bc87d0abc0854a793472c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.114,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The centered descent stopped on the bowl's interior at 3.3 cm, confirming the bowl is slightly wider than the fully open gripper and cannot be enclosed. I am returning to a rim pinch with better geometry: offsetting to the left wall and raising to the rim height so the fingertip pads meet the wall instead of passing below it.\"}",
  "call_id": "call_4d0iFxBHh1B0mgAWChFErSmZ",
  "id": "fc_0b5ddf015159a2e4016ab44198d9ec87d0944f0a139d5fcb3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4d0iFxBHh1B0mgAWChFErSmZ",
  "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]: [-0.495, 1.5444, 0.5598, 0.3283, -0.4046, -0.3782, 0.9987, -0.0181, 0.8135, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3716 left_y=-0.1175 left_z=0.0633 left_yaw=0.0244 left_pitch=-0.0225 left_roll=-0.0478 left_gripper=0.9987 right_x=0.2886 right_y=0.0013 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7368, 5.1214, 1.5653, -0.022, 0.2418, -0.149, -0.1436, -1.4974, 6.9812, 1.6581, -0.0855, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03cdbcbf2dc416c44a11d5771e81f23f09c04362e36b7ae7c5eb459e6866392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63c7e173e2a038db434a6f2e31d3cb77ab7e1091c894192c0d286143d564324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316251cc01a2393fc1e07cbe0d412bdd2b785f79426880e4d1fa3cb634bb4deb",
      "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 44 changed as sent

message 52 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5503, 1.4979, 0.5419, 0.1215, -0.3744, -0.3943, 0.0206, -0.0177, 0.807, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3328 left_y=-0.1242 left_z=0.0362 left_yaw=-0.037 left_pitch=-0.1877 left_roll=0.0101 left_gripper=0.0206 right_x=0.2883 right_y=0.0014 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.0565 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, -4.5333, 6.1744, 1.1013, -0.2515, 0.0659, 1.4286, -0.0615, -1.4701, 6.9812, 1.6679, -0.0171, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.569, 1.6611, 0.5613, 0.3859, -0.4412, -0.4072, 0.9937, -0.0177, 0.8116, 0.5945, -0.4232, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.1394 left_z=0.0335 left_yaw=-0.0035 left_pitch=-0.0603 left_roll=-0.0219 left_gripper=0.9937 right_x=0.2885 right_y=0.0014 right_z=0.1621 right_yaw=0.0005 right_pitch=-0.0614 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -2.0718, 2.5778, 0.2662, 0.6667, -0.1001, -0.2076, -0.0752, -1.388, 7.1179, 1.6435, -0.0659, -0.0317, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.495, 1.5444, 0.5598, 0.3283, -0.4046, -0.3782, 0.9987, -0.0181, 0.8135, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3716 left_y=-0.1175 left_z=0.0633 left_yaw=0.0244 left_pitch=-0.0225 left_roll=-0.0478 left_gripper=0.9987 right_x=0.2886 right_y=0.0013 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7368, 5.1214, 1.5653, -0.022, 0.2418, -0.149, -0.1436, -1.4974, 6.9812, 1.6581, -0.0855, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03cdbcbf2dc416c44a11d5771e81f23f09c04362e36b7ae7c5eb459e6866392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63c7e173e2a038db434a6f2e31d3cb77ab7e1091c894192c0d286143d564324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316251cc01a2393fc1e07cbe0d412bdd2b785f79426880e4d1fa3cb634bb4deb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGhjMoDiX_-u8_uFox0TAQLVp5RczFLcT6kdZEEHTcqxeqlUntFYvhmFXO-vgpcbGRnWNrzPl3ZrQi_EBEmXJYevsxwtrI4lPve_nijt1vjOW8coc5vmq33AMbU6nVy6zT54-7bB4I8HyrDZyUN-WODWXctptoH2VXPGXYKUZSfjlG2ZTe50QOVvzu0WaeRSsn2YZEB7e2_e2cn6Q3n7XkDx7piYyi_WnJ7jCXFvFK-sGYvqYZS94XK19XGU45V5ADTkuqRn5wDd7LvgnFovKrDTBJaJXvqsdNfqL69naOI9m72wIYjgOdtmGxvNMEt_2YhL-doS08278EpHieHlVkTOlYZOj5t_nMRGJu2TUwOK25n0oweota7kr37fWjOHzPZaT2sc4_kVcYm7wb1LvT2HDPPg7zem7qMBM1xLgz3WNFlgpw5obuyzIbl015c6wCZi-6hH0Ug4_rMx9NoamBhBpyezsDafjxjdtjp2Cc92NfkYQ4cG_wUnIv5HSqGnagGwNmWN6Wh9435ezAaHZEZkqLKzHiQWnQ6UAHsDG9M4W3ty1xpZ6v1Rsqc4Qqx4nt3w8Q5W1J-mywshODMuW1PZBHOSWKhr_tENiJUsJoEwq16aJNIBMkdD0RtAY8d9URvuq253iWee-XzmQGPe7CIdgm-Y0fQzxJqGiP2H9BKwMZ1p-QkFxrCUZZV5Tk1_wGwJCiWiYf_fcvA3BCYRxL2FcwFRQC07pI0a3wp6Oi0s1LNygeyRGeofyJFTn0eX8pH0N254mcX9yEvj39kgRM9USgSGa_jh6X2MRf9Lwq-bJlyMYXqkyZlun-cWRs5CZH4leHmKbMlxeOBKx1yRg2asD9k8ZreQzFExHbUa1m7paU8B8JA-ZlLTy-1R29gupLSMdP9h6VIavdAkuXHa-n9JlseAxdrFxytx9To0r-eiAQJgSvK1ND3DrLlBY1CSkDAI-OmLJcFsSLPitRR7kiETi_FJHN4WOkIcu0fmk-MO2_bGPSELJhtrSo8SYE2-7ZZ4I9frv88Lwla1gQmNcBgGHt1-NipEVJmmEV6OhQBeNjbT1OKeWzCSVonsBpcSLr3RbSBrZhS46IS17usPiZEfbgVLauVKJvAJ3p4loAkaULfjxSltX-auH0TOS13IYDYWN7ED_jTQCLsMT0dxYx4aclomVUob2-oVcoTV4571hm1k7QVJ-5pktmTxmaWjh_7G63OOA0e_IP4k2fzdN1HkxJbZdkg8S7OFTTJnK-gJotjshnDuJmnvIKk2apCaq1gL-SvTZ-9GjrRLXTvI8XQvubMyp3lSnx7xW-Y99gbF_keZZ-nGQU9g8JfR4uvcmzuv4Fxt35APROsxFRXjN4fcdQGuuF0tj2ZFjq0DodIpVXoBHdceYxKIjbxNIXXNiDbpsYWYpNKUt4bc_mr5o8_N_u0W2Ns4eh9UIyWgWBjO7QdmSozF-jc4p3GsnGnbF44N4LtlZjtyk6eiZqds0Q4beCd4v5dqum8w31T9BBpYsAn3XPevRz691_nAPIM5yuXVTSnS2hzjXQ7P0iGoIzjxu-nGLCBz0LFUltJaQDwKRF-2wLttwkmavUIGREo6D9Kcv5BiEiUrUB5uFrmzKMcVhTWBA_e96erniAEPtSkRN5ddIbmmQRFHJQDOhB2VUvdWrFGhtpGL20naeCWfbPEmrkrMX-FOrNa7AQ5fDBLz90yMqq7-1xgjjpWrMdNy4A6Zgyafs5I0kTB7HL-X7pkzGV96_NYyWJpaTNTC_f8gtF1Hg-hMg01xPHz0Aa_VetDVR14IOjWTD46EEff3xLT32eqWpCD0eD4ui9XY1esL502KuJEM9C0Dg2qAOi1gjAnoP44JjQ730UeMnFxE_CuhOdWuYiEd3HmNSmJSAo67tkJC8JEeljADFTVYMmYd4OP6vyP9mDkEEZ0GpFzfr4tP7kENIydexgP4AF0Dy2WSvlFnlqrK3_qQ22BQnp2UgREH26dnvwUhbw-9CCablb_HeoDsd-UaX4VzM-wVgO-RDr6pCug0QUCCJl5t2cFoqYlhAQcBONLW02f57Pdy7sgnI37e_4IXm7n7CdKqSLdozFLmivAWdJl6NB7Ik-oTPko-ztMXMlj5EklLNF4NtN9-jj8WgfVwTrHOMWzNuFhbTrH7LU2j2OFHpyIfyLAdBxaKRMemP34ShETh6BP1Zg4PYrNAwOSvaIZrpTGD2cmHKIpY4clqNnE4Bdl-yxOwSlIWzRZc7yo7g_k6YFr00Hl5igPW0U8zgFhGLLDy2DdLvIcXtYn5ItfU2bZ7q1tuV-eaQ0KWiJd8Z8gQQifR3oQGd6fwRGn5_vqgGbP0HTAXqJ7EAJw61nwE0IsN0DnKBkX0-Vvk2OoWifrtOtpL49fUhHfG7vLUqkwsbldIncRNTWQEjTVwfM-FHfrPEGn6LyHUFbk8cAy7Qkn1p_qMuUgsZrAIF7JTQeQEK2UEAydoD27yk0JjbJtQ8tNPM1hOkPXZzx0POYpNXef_8Z2YFoi5YTWOuVqhStIIHCAyqDtaaHLStIUxsPBTAj-i1-X6WCowXMit9k5QqMYuJTc5KUP2pgH2FWkWjYlgPEJ_SQ0WHLatmXMl_1cr55Nuk3YeT4o4Xk8_R23-NCaocQ38nOJL8Xitbljwgsdi0D8sVOrz15AMkx2XflX0IHg3uCYEH92V2OzlZoFBlJTiTQtV6SgNAVCiSB1i-Ix87yAvXh9ZkpJzFKWz-A90i5dSl4VNwQZtTlbiEqPjWROGo6Vf28rwUffHGPblJSmr7veHjlMYq0MLRzihpDo0q3IOAm3I2oRCl7feaNGQKSmj7rq4Lvz_kOv0rF7tSv1tMpGZc62f1rbLWvwDA58ezDXuAbhrFNT6wH_8W14HSP5RLswVRO65ZO1tZCd0ODN0X9iofyVjBF0miQPKS8043UnjWifnUvY-QwnGDoA-8sXTnMWmpI_VgKuRkCsRZSHyY063zW05-ANAWh3S-Fiwvca4Sd4Ecj9jrDA4f4iVzpcoG-BW64i56XpNJqfR1RjJG7C99pQS0tfj2e7mZgv0dug5b53zUVHVY4ItvUxCJDeBhQ6jgv1R0CrWi1HYIQuwBqH5On_DqjOBUMD1YlP-UkVpTgkK2Sj7wL60i0JSQcww07tqRoFuk8S35jYMUO-OUMy41etwX6Uwhnop6_kLF8jZXZ9pD6TNOACgIz7t-_QziUEqPt6KfW_ViXARBruLEhKN9TJ_KI_hJIBDwAjyIRUzjBNQNQcdMa0cT-9WFSiuPxZAvGuVOmYCR3Ts4l3C4J4UtFpxk7eJxqvSC1PuNAeG_RW_MlAl2UXG-eQ53Q-oxlAVFPZrtTzxvDF6cgjR1VSQa_QoPiEMnmrVGdW-zhhqXqeeb3oPRok7aJZa9RQE6oxj1DwN6CCy395dO19RetgiYTkDg8SBvbD84UzvkN7-satL5PFcJVX31PHhGOFKQ3HPimEa_DtA7rVPzFSHwPxuKIytl4KrSSvDLqrmiBM_axZfzqdCMeDh7xZ7zf7GDvWtroXq0rSMZa1Qh-esTzX_XouBGMCeKDReUQ8EvT2wguRiC9Ha9G8a-_cmNlnylTFck9iAtJIcq7Khu0ytSr8AH7msHxsaEg5maTQXh7HRFDsTet5GtyzHDOob1mEDjLm-XZchgWj35fzMGgAlCLvHUFXqE75iLDVotO2sgOqPCK4mYPwkYxKncd5ZZi7mSLRRd8SHIR-21NNdNcsw-5Vtozod_F5Tgy4mlVhXlKf-jWwZAWU2EakjlfWFAZuFaB2rZ7_cHOCKW-LvcW4EVx_IIwOGGvcyyfRB5H9wINxKCsgoDoouG2V--7LEwl9X05SmYTpXqsLr_AHCSM-XJSlPRpVGiu_j3nQ_cUv2GDBxvRfZwBZd_Ps3d2JTkoLok2NGEja-_x9nzw3epbRevyBCU9BzbPnTU1Wj-vplopzCTTpw60UDpFP6ceAbfAnar-2nj1OghVFTbCgXOoZO7YUAdlZs9C0OqoZHZ__C4KLaOGZXUwM8Z6hesU4EvDhHadhxBOuRRdOuzEUvwhVupybiHCkIJerySvrWTDLoNlNFvxvGCfUCIrOlDC8CzB1gV_AjCFQu7PAplJQZtFf-AG64Gdf6n98Zvwhy81Nz5vrK3dNxdCL",
  "id": "rs_0b5ddf015159a2e4016ab4419b4d2c87d085cf65dac6f91417",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the raised pose, the overhead view places the grasp point on the blue bowl's left rim, while the wrist view shows one jaw inside and one outside that edge. I am closing fully on the thin rim at this higher contact height.\"}",
  "call_id": "call_VVXCSFrGaCKwj0HCt1jV4C3g",
  "id": "fc_0b5ddf015159a2e4016ab441a0c26c87d081428baf2f1e209d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VVXCSFrGaCKwj0HCt1jV4C3g",
  "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]: [-0.4843, 1.5219, 0.5571, 0.2657, -0.382, -0.3561, 0.0087, -0.0177, 0.8139, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.1132 left_z=0.0581 left_yaw=0.0059 left_pitch=-0.0665 left_roll=-0.0214 left_gripper=0.0087 right_x=0.2886 right_y=0.0014 right_z=0.1616 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -6.3658, 5.3949, 1.6288, -0.0659, 0.0904, 0.6374, -0.0752, -1.3333, 7.0085, 1.6825, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6076300eeca7dc82b6aaba34b16ecc82a50715ad083487096d5d2d7ad4c53cca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467fd1009da90ca5f176a23c5e1e86545b17a31a1bbe97dc18e5210a9eeff54a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5aac7e4a010930f83c8bae3797b0c99de759a1235d1e46e60788f8f7078817",
      "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 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5499, 1.3575, 0.6628, -0.149, -0.371, -0.3939, 0.0307, -0.0177, 0.8097, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.331 left_y=-0.1236 left_z=0.0841 left_yaw=-0.0387 left_pitch=-0.1969 left_roll=0.0127 left_gripper=0.0307 right_x=0.2884 right_y=0.0014 right_z=0.1627 right_yaw=0.0007 right_pitch=-0.0591 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.2291, 8.841, 1.5507, -0.2271, -0.0659, 1.033, -0.0889, -1.1692, 7.1726, 1.663, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.495, 1.5444, 0.5598, 0.3283, -0.4046, -0.3782, 0.9987, -0.0181, 0.8135, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3716 left_y=-0.1175 left_z=0.0633 left_yaw=0.0244 left_pitch=-0.0225 left_roll=-0.0478 left_gripper=0.9987 right_x=0.2886 right_y=0.0013 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7368, 5.1214, 1.5653, -0.022, 0.2418, -0.149, -0.1436, -1.4974, 6.9812, 1.6581, -0.0855, -0.0464, -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]: [-0.4843, 1.5219, 0.5571, 0.2657, -0.382, -0.3561, 0.0087, -0.0177, 0.8139, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.1132 left_z=0.0581 left_yaw=0.0059 left_pitch=-0.0665 left_roll=-0.0214 left_gripper=0.0087 right_x=0.2886 right_y=0.0014 right_z=0.1616 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -6.3658, 5.3949, 1.6288, -0.0659, 0.0904, 0.6374, -0.0752, -1.3333, 7.0085, 1.6825, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6076300eeca7dc82b6aaba34b16ecc82a50715ad083487096d5d2d7ad4c53cca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467fd1009da90ca5f176a23c5e1e86545b17a31a1bbe97dc18e5210a9eeff54a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5aac7e4a010930f83c8bae3797b0c99de759a1235d1e46e60788f8f7078817",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGlTDiWG0vs5HXe-0pZhIaGza_8YGN4JQ17KNgUbfVezPSIooc-68z6IEb7qKN82dxWivHOsyPEDV-hnb2AKPi7ZCjhvVZpt19gZnw9AFtvLciUWCM6fURmuPy-ftIbBqB3gkIJWQ2yphrz77_e6A1g48-cRZV_49473FAs8UDP9dj71vY55ofaWNtIEsKnNbQsQutq7CTDrwEQbPcQtFg2sxBG6SqyKKxhI9B_DaVCBg41HpcN3X60h53WSaZ0zv52FU4JTygtvC1XD_1A3hUGnfMCMQLSVUFgWgynGqOxmfkjMiWMsz28Li8yqDknfuoB7kVJfx4rOZcf0GPw9apNYL5KW3CfnB3rXJ-hBA3tQ_9XGgnnFVR60jOv6ruCgMkGU_7N9A5bVXelwn42558t1wuGdA2qgrX4A6Zpa47si0OED8_y71pHXFixgAm9I3NYSiuJ0__GXvb7aW7ztR3C3ZKJmLwM6BJ3uJCOXZf08wNWj92r8tA19BbRjTFXjaerCKBV4WBGzTFOQj6Eti_NCcaVVoYzwuBgx4_MAkd3yQGsJq0fpKNEh-E9HIkyAHbWUAVKdoH_fTcgXBiyifB4YYkjjdDuxcI3DnSs6SZtWqUpTEgt5TFn5Mf6jsi3lwKxbneL-D7BFISRPal0ZRFoJ7Yrx4UFKXnO9NIqx6N40wJtT7vaAbVdiyz13RmnheqNFmbJcwqJaGuyGvhzGt8Fi2Qg0ajyV6XZJ_Jy68bhF7weaGq5KqW4AwhMtP3EfeAzKsLdUnEonGmISYZ_kYteh49n-TigJcfBtz0MfjpA6OanG--wlcQDV3Nd0E0zZBBVIJKfKoob6BqAAp_rkg35l17yFOUtE1LJ2d29Jw3w60YlO9HVrt1MwO8mqVcOh_DpauKSD-E4dTUQjMZAMtGN6kV_E-rLNvJAs-0sJHZqYbBTU4fWKhyoca7jaz6A-z3c5Oz1fvuuAquzJwn97M_hL7kKZ0R5hbMjqkLohi-0IQqSCayp13y8ym84PWAuBEitZ0XNlqEts6AathOmn4EqOanHnAgsk5DmEPNSDCIYnkQDXhlsApdJD1WdrneXCm7OtE_vteHwWvwiHn3xVfTlMgbIGtGYyqpgiRGw1CUj6f1PjLHNMbENiq_0CH9koB9ugxWVkSLXFMWAPK9MT7LBkahh6dVLVPGh5p4I_fGrAf7E8U_9bT3HujMJId0O4vV1o5Tz3rvHwSB0NK6ac8xrRcrFmTjHuUYSSHAQkncl0XgM29VojHABa6Eqh7Y-g1vTXGl5QM_mbQcxWM2ThzlQugHAPdEI45zElfjm4ZDSh1f1Y1-cmnmZEA27gLj4UR_GzGv1u87ZdiZO_JTbNJDunikCtOztAqikoQP67tU0cNwntnsu7e0ElopV9WfUCQ7kbr8MD34cR1G5f1IALcMmIR0RRLXdjAuJ7t75E-oBpsFgxqh1KMhVScpDRcQk6bUN42RstqAAK9Y3RnbD082Aoa-Q1jGxzIHY90b1_u5yyYy4sG1ODsNA_S-PrkMwOFTn61WPhlpr7jxD98_16m4nTEvXm7fUfYKTrQvp1W-DPkvesX579mItBHf0xevvkgzVkpgBeh6awG3oRAVNf7zT6PnSg6MIdauPqK4dhMt5ZXJvXQii15PKt-9n-HRDlP5bOVsplH-_q-takYGnSwLLGRlzwGdLVSdWM0iztSrfMd0UhbS8v2KW7VVsVAkuWQd-yHJP7R28fNjzy_sGmKGEGC3WJsLAwJeP1Db5UeDHfSirA6zuIjqt8pmN_K7rMNcmNdl_s_LbKA94n5rKNgMgmoP1KCn3X8U1lL5scwyl-v7G2N2H2qBG6EulMf6NxdAY",
  "id": "rs_0b5ddf015159a2e4016ab441a3bcd487d0a6cd109e149b3bf4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.08,\"left_z\":0.065,\"left_gripper\":1.0},\"note\":\"The closed wrist view shows both fingers meeting over the bowl interior, so this pose was still centered rather than on the wall. I am reopening and moving 3.3 cm farther left at the same rim height to place the closure line directly over the left rim.\"}",
  "call_id": "call_MyEkorGcy8f88lkw52Kg1ENF",
  "id": "fc_0b5ddf015159a2e4016ab441a5078c87d0af16f9967e99e448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MyEkorGcy8f88lkw52Kg1ENF",
  "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]: [-0.3683, 1.4639, 0.5213, 0.2619, -0.3046, -0.2955, 0.9944, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.0804 left_z=0.0615 left_yaw=0.0255 left_pitch=-0.0706 left_roll=-0.0252 left_gripper=0.9944 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.5265, -6.8581, 5.4222, 1.5409, 0.0269, 0.1783, 0.0024, -0.1026, -1.4427, 7.1726, 1.6777, -0.0317, -0.0024, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462785b4451ca8b1239a715404d1a6a4dddb63e2222c3d47356da951a0bf742d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150e39639d4ff19469c2346b6e188845190b9f10cba45137ee26ad005845db6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44eedd053f81ef3e64c91df066f500187af8758df4cd098f1c6619f021b1ea2",
      "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 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.569, 1.6611, 0.5613, 0.3859, -0.4412, -0.4072, 0.9937, -0.0177, 0.8116, 0.5945, -0.4232, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.1394 left_z=0.0335 left_yaw=-0.0035 left_pitch=-0.0603 left_roll=-0.0219 left_gripper=0.9937 right_x=0.2885 right_y=0.0014 right_z=0.1621 right_yaw=0.0005 right_pitch=-0.0614 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -2.0718, 2.5778, 0.2662, 0.6667, -0.1001, -0.2076, -0.0752, -1.388, 7.1179, 1.6435, -0.0659, -0.0317, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4843, 1.5219, 0.5571, 0.2657, -0.382, -0.3561, 0.0087, -0.0177, 0.8139, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.1132 left_z=0.0581 left_yaw=0.0059 left_pitch=-0.0665 left_roll=-0.0214 left_gripper=0.0087 right_x=0.2886 right_y=0.0014 right_z=0.1616 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -6.3658, 5.3949, 1.6288, -0.0659, 0.0904, 0.6374, -0.0752, -1.3333, 7.0085, 1.6825, -0.0415, -0.0415, -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]: [-0.3683, 1.4639, 0.5213, 0.2619, -0.3046, -0.2955, 0.9944, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.0804 left_z=0.0615 left_yaw=0.0255 left_pitch=-0.0706 left_roll=-0.0252 left_gripper=0.9944 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.5265, -6.8581, 5.4222, 1.5409, 0.0269, 0.1783, 0.0024, -0.1026, -1.4427, 7.1726, 1.6777, -0.0317, -0.0024, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462785b4451ca8b1239a715404d1a6a4dddb63e2222c3d47356da951a0bf742d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150e39639d4ff19469c2346b6e188845190b9f10cba45137ee26ad005845db6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44eedd053f81ef3e64c91df066f500187af8758df4cd098f1c6619f021b1ea2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGrDQnnif9x_xRgeZvzOT8ql365LHa97gDCzkx1K970fkcR8JMKqNs8pkLmfyWC1A1ihUDlVTMIgD_kCEp6VzO30DQyr7KbO6jefAtI__5iZwc-I-nq3eAW2E1HjA22vj0NX9WPp2qvaMqJ0zQCglOitl4RpOSzW1Ejd7f5Q3wyxzGu6RHan1SOh4XDbqAash-vbH-RcGd5RnWtPJlyxpazVVP4RH4JG9Zu-5wGEniGVpMyd3gbZED-ofZYHKmT9tdROOMlWABYLw5fSLueCQoJ_H7jvX3qgzrr3um2R6-IlNh_D8p9e0ZY4mmZo-JUXSDPIhr2LNyvq8_ftFjA69ddiYwQQu8HRANwfMTfFLtUqLymsMcG7y4kYp54SFskucVero0pYY0yXYvNG6yre0iD7IcnERSj6h-RlJV7E9iuq0hAWUU1vu1gaZvxtH_P0qdpj8SS0wLJJxwHHyoSa5L4Oy8MJCF02cQUJ40TxbUjUt9o8nBo1qv9WAcsiQg11XuNWHELXwfHE7WAfGXA25cSMIam6KEZD6nYEI8eQUtywrZco2u1X-QNmg4mgqhoHeXWWkuLMcNbXzESGcJhbqJUEaFEc6JZYfcB_P3lJhEs4a6qVQjwzBd-5bGsjuaZrVDQ8S9ys8xAm6gLymdqGIb0TBPH0H_lpW1OSvFQAcMWSqU7DtDaXcEr7lZBINZttd1y3ddlBF2Hf3RIMWwNSWAE6jNBUIW1WIztc1QapQMSej-t2ETQoPQubl9ZE64p-QltNwEMlQLzhYgR3h9gwO1wF9T4WQoYxKedwRAMfg_9OFYodU7CSeUeWaG1FjJIGXEQHtC1ul-J73LtdbRXAfAHPs09bCynspODTwKbdCeDVfElSqDPuh5k9kXbRb0GTxH_GSZZy_ppMR5ZwK7k-EKpkHvc2VDBCvPyKBi_1zHIqiqg7E3HPNMVFP5JXlcEwHcz4prRPayS9eVMfWa7Lli6mDIwsVqAZlh0RN8hZIH7rYUzZ1EoK3ul8UCg21LNc_p_EpE1-jwDwS7Ew1XS9Ajq8kPzDdPq_t2IIE7t3ZJI5M04PLyPDrt-XJxEsdgCuOZA_zNFCCtNUWY_uQramtlcvZeP0t1EjftxWToYyl91E2V5yFp9MHirSyKHIxH0NIGrZFIzppR80uwjcB0pRuFTU9v5JZ_SPvHn3xqzin6jMNBRRkTpfmOY0OW7fBP97JCLHRp2VLclEXOMuCWTWVLEMIiFomoHPtl1q_pQAc8MjJqg-c2RVHw3eArfHlYo1pv4pfZ6IgNuUGz_CWCZp5UDf_VN4RdHYvEmUu9Vaerj8QjYgivXHFOmp3Ex6BA7E7bmKQqWTMdvG2EgDUOljjFUkyzZuIFThmG99FcEAIJjmY8_nEb8S4n4Igg1XvQfJsitbEb3meDkKoWMMiytLS2sLyNXoULm-gToF0G2VwfroMw7RTc4bNlYwaLrfi2Wh_Ei6SgLidw17mqj1ii_5xPSDj4z08to6c1YIflP-N0miATWcCBQPt-eiHgk6FhRhxjKjtVX_LhzvAhTMeUBTKRb_VjC58QfdoCjMIwqdAlUN5r7cBFywhU833L8ydWv8f6L5daJCgRTliErlOlVhSmozQO9urzh0c4Y0ILD_su59-nJdmyopF3VhcMvwnhdhDdc3U6onFb_sNg4gNNIzdIJ13zDqLahXEGpY4lk-oNvRkfo-EhwjDgWu-gCU5uTJMQH9wU0R5S_1GNN1kB7SqbP4Klv4iAe3NuwozJGVr9GS10AXK_8nr0zx3A6agD1ykSloM9GxGIKFncHsqF1rZ1qAcrpMdPYMRXQT2gS9iHDEe5j_rP7L11YzPcWAK69qMZvvX1URpW_NaCFTOEtfPCebA==",
  "id": "rs_0b5ddf015159a2e4016ab441a7ee7887d0914d8bd9d282c224",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.072,\"left_gripper\":0.0},\"note\":\"The bowl has now shifted to the right side of the wrist image, and its left rim is only about one fingertip-width left of the closure centerline. I am nudging 8 mm farther left and closing, which should put one jaw just outside and the other just inside the rim.\"}",
  "call_id": "call_8NHdyKdsUQvKhng0Cuk8vnTr",
  "id": "fc_0b5ddf015159a2e4016ab441a9b8dc87d08682cab36ac3ce48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8NHdyKdsUQvKhng0Cuk8vnTr",
  "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]: [-0.3439, 1.459, 0.5179, 0.2501, -0.2844, -0.284, 0.0082, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.0741 left_z=0.0591 left_yaw=0.0274 left_pitch=-0.0849 left_roll=-0.0242 left_gripper=0.0082 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0007 right_pitch=-0.0667 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -5.6821, 5.135, 1.79, -0.0855, 0.0806, 0.6422, -0.0615, -1.347, 7.0496, 1.6679, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9adc96aa41f60ddcd830e0550cc8cada83366e382288dd0bdfda0d7ac02808fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14b39ee2eeebe93f68c38aba479b25c9ea6fae61c2195609fc8876ed9de5f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b393d0b5c99b592a925a02ee275dd655bcf74c70c4a4675890a7af9f727b7ce0",
      "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 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.495, 1.5444, 0.5598, 0.3283, -0.4046, -0.3782, 0.9987, -0.0181, 0.8135, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3716 left_y=-0.1175 left_z=0.0633 left_yaw=0.0244 left_pitch=-0.0225 left_roll=-0.0478 left_gripper=0.9987 right_x=0.2886 right_y=0.0013 right_z=0.1617 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7368, 5.1214, 1.5653, -0.022, 0.2418, -0.149, -0.1436, -1.4974, 6.9812, 1.6581, -0.0855, -0.0464, -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]: [-0.3683, 1.4639, 0.5213, 0.2619, -0.3046, -0.2955, 0.9944, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.0804 left_z=0.0615 left_yaw=0.0255 left_pitch=-0.0706 left_roll=-0.0252 left_gripper=0.9944 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.5265, -6.8581, 5.4222, 1.5409, 0.0269, 0.1783, 0.0024, -0.1026, -1.4427, 7.1726, 1.6777, -0.0317, -0.0024, -0.0171]\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]: [-0.3439, 1.459, 0.5179, 0.2501, -0.2844, -0.284, 0.0082, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.0741 left_z=0.0591 left_yaw=0.0274 left_pitch=-0.0849 left_roll=-0.0242 left_gripper=0.0082 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0007 right_pitch=-0.0667 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -5.6821, 5.135, 1.79, -0.0855, 0.0806, 0.6422, -0.0615, -1.347, 7.0496, 1.6679, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9adc96aa41f60ddcd830e0550cc8cada83366e382288dd0bdfda0d7ac02808fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14b39ee2eeebe93f68c38aba479b25c9ea6fae61c2195609fc8876ed9de5f8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b393d0b5c99b592a925a02ee275dd655bcf74c70c4a4675890a7af9f727b7ce0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGuHWXtlbHpqI2q3V_VMWS5KZfJcwY48kAFc0bf_5I2gLewjIWQnyd2saybAMGy6KE2q9EVX1q5Yz8nheW1xKszkHLFPuTRHmCkx9PTwxKkIgDJU-WNAdBDbNSLQwZ6-6kSsO8lQG8ZTwoN_JQmrn49b8KFCGPvN-6Ek6c4OElrZT98CroJDXG5LH4owLFd0YNJZqq4yZHbznSqJcWzTKPq-5S1mLX2r1I5iPBkf7vVEIMsapVKDgwhuQs6An8gyaG7e2m8hj1KvcHRmjOLu6JX9Q1BE2W7GjZURXXWpgviEGPKLw6oXmd9rjGvbc1V4s3KNQuUeloo2EmPqRInKkqItyo5XYeEeHyvJ3bCC3It_uivy3RiNRQA1k5RnkbvT6j_smwDjuZBB-AvR7sXYzdtZCExIvNMF57FUTkQqUyIZlCOM_xbfKfAe2bRhNvrHDbHglpc-6wf0BZRmuffFLGLKXP8CyNjINx2PJzjPyRA8QQ4K26ldCxW9FUZoHRpaVRMqfG_72thw31jJOquY_u-0Ii3T0nxj93sdGBi2s0wN6BaMOlgPdaEkHpStIg-Hfl5fqV42IBWDz15fydHbVyeO0Q6DhR0LHK91pDheCg4PZlY5N9kYJwBVGaF-89ZZmn8Zz2-WTlSeRE2H30Rp8A-HxcJCeIzd97KtmKDv-rb9HlfcYiNIt2aE9Iga2IdlwaG2id_7quUed1aN_OaU3Bct_wKlJODp0c0287aEf8tdEaKcIirJGxHVuGVDZO-5fEkH1LS-On-vE57vLACO6feLm66rQFkEeYHNuBjPMAGRPNrK6McUwpkMiEzltVfWjChpOAHFUC2XMxKrywhw1v1AzoX65ib0MYbG-irliE0VjIxQ58eRSkCclflpuoMOy0VO1BHbQ7PV7T9Xr7xRRzhhAi4G6UUQ-XDVRrsfDuZhkN5CYKHd9ybO8Ah_W3J0tY93rA-LSu7ZDEDkPs45BUcaW2qizRJ1PNHxTVI0iocj2tHWQ9-tfCtoDbcgWRgEqRBzhpXKVvWlUGo2iLfHashGYST0cW2e-JTWJnLfd4ccCQsgiLeNb5Uo2kwlRAPujfAS1F_vR0-30Muu44ESZt93XACd1O4JhhcetiVWvrfvcP4xsEXvo3zmyWpcFSGftYvpyuc2ZEZAnP9y-Q0QxHKibiCUBT9p5GvGogTFjaY12iT9Yem5yX16Yj0Kd7mFl0tG1v5uFZDEMx4FgGUuBV_PryMbaD38lZfBxQx_hekAiHaUuINMiUNl2qnGz6QqrieR0GhBxXpWU6h99Aip-fTiji2jJw5zBFT6dM_QnkHyT9CXtnOnIXDDCbUFu8VTBR3xyGeeFceylIJ8ymcIN5ZjuuZjXW6y2dcy8WQ4nQFvfU=",
  "id": "rs_0b5ddf015159a2e4016ab441ad726487d0a6bf7b92baa56eb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The closed wrist view now shows the rim meeting the jaw exactly at the closure line rather than both jaws sitting over the interior. I am lifting 7 cm to verify this rim pinch before transporting.\"}",
  "call_id": "call_p9QfopE4XQHTH7JgG6aAjy9z",
  "id": "fc_0b5ddf015159a2e4016ab441adef2087d085e302ad83f082d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p9QfopE4XQHTH7JgG6aAjy9z",
  "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]: [-0.3439, 1.3048, 0.6678, -0.0448, -0.2848, -0.2882, 0.0106, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3657 left_y=-0.0744 left_z=0.1183 left_yaw=0.0297 left_pitch=-0.0763 left_roll=-0.0306 left_gripper=0.0106 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 8.7726, 1.6337, -0.1538, -0.0122, 0.232, -0.0068, -1.347, 6.9812, 1.6435, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723da7364045dadbcb4127e9fa523dbfe9119b670e5e9b17118ce1fffa588d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f053cea8124db212a8101cf2b18f691ab9267897803bf3888c2bf78d9d1e1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54802608e4548a32165778df21e38c2dd79cfa17d3a66491a1e79a7cd65aa283",
      "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 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4843, 1.5219, 0.5571, 0.2657, -0.382, -0.3561, 0.0087, -0.0177, 0.8139, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.1132 left_z=0.0581 left_yaw=0.0059 left_pitch=-0.0665 left_roll=-0.0214 left_gripper=0.0087 right_x=0.2886 right_y=0.0014 right_z=0.1616 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -6.3658, 5.3949, 1.6288, -0.0659, 0.0904, 0.6374, -0.0752, -1.3333, 7.0085, 1.6825, -0.0415, -0.0415, -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]: [-0.3439, 1.459, 0.5179, 0.2501, -0.2844, -0.284, 0.0082, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.0741 left_z=0.0591 left_yaw=0.0274 left_pitch=-0.0849 left_roll=-0.0242 left_gripper=0.0082 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0007 right_pitch=-0.0667 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -5.6821, 5.135, 1.79, -0.0855, 0.0806, 0.6422, -0.0615, -1.347, 7.0496, 1.6679, -0.0611, -0.0757, -0.0171]\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]: [-0.3439, 1.3048, 0.6678, -0.0448, -0.2848, -0.2882, 0.0106, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3657 left_y=-0.0744 left_z=0.1183 left_yaw=0.0297 left_pitch=-0.0763 left_roll=-0.0306 left_gripper=0.0106 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 8.7726, 1.6337, -0.1538, -0.0122, 0.232, -0.0068, -1.347, 6.9812, 1.6435, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723da7364045dadbcb4127e9fa523dbfe9119b670e5e9b17118ce1fffa588d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f053cea8124db212a8101cf2b18f691ab9267897803bf3888c2bf78d9d1e1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54802608e4548a32165778df21e38c2dd79cfa17d3a66491a1e79a7cd65aa283",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEG1KZtMfmYs_B5LzuDmGUpOAKokJdR3x1oVXmUBz7hSYk__wRNR6IhS6-oLeGkFv88GHqp3FCnR7vjR6Y4ORGNLMmgBVqgKl9hWqLf5N4CTfZKcbEYvz8lpgzwfuW3gHtp8LlDfywTEnYhV7Joh_4agRHoaleiSwR9UHGGWEVr2pqQaB4mFHJWqsbCtkRj4pO5Y6vyUaM1cnhB7iB9lTqIuLmsSY6WxPRA5XyGg_8bZN0yD8Plsfe6WraHMI6p8y__jUpzYLIYH9PNM1aHvprt07ytEMHAzNsk33L_eD-yixQhIG2aBdFzbtuxvDKK2wgV_14CPubyUFI212NmbSxRS0Qm1Soq8M32yVMRKLAGggp2at7F2oIM2hO_pO-j6zVcWaMCbq8LFQ2UuTfqpfazISEV2FfDXLqQwTNVTzhNmAMP3GNdysT_mv-ybJKlQefQ2BIR1lGBLCjhu5KREc3xAiiRq473gYNgfV-CZlqS7-EYCEUlGmjtcQTgKk8zucuW7nD8XRHM9CsmKO7Jk9acriP0O7alTMOBgDemJYyN3euP64Hy9yfr3W9ck9eMkZTVyrXBJzzS20xPMTBffWn_gLhxAKTnG5NLDT02cWG1ZY1UjyVsHVZM261XviYoMSzhDlcnsXtlHIrraeS-rxbrBUF-3GnYPrE0RN8BUTxihYvlmRYrN01XjByM6Zqk4X84NF88UsYeRNRveSdSqU6kVPOKE5ltBPoA8frf__6tAuh0RYWFhDmjzhytQOlU_t8ENoNzM6p5BQgue1PLGfvlilL-Gir2mv3C1PPyV3xwVV5XDS6GDz7b0jCUtH6U9vPNqQZ5Fj4wJBE8VTSgiqyzBYCAIUcWczwe13odB4HFZxXb3icVGd1hbmsMlwMjvPuo9KmfTs-tvc67NEHrgfWeJzP3jJx_xbB_UnkJAccbmgtZw4SFC7R8QZtmRsfH0Bl8CifFFJoRtB1anCKdJUy8YfcbgEDWiwCKXVpkqLoWUA90KxmqUS6BJvVrYlhseFoEKfNYUbgNO_U3pNPP4UnGO-Wf51a0wEYssn3bq61fgo84wH7N6-R7pHhCX7PEw2EN6j3UaXGxPa3LDH0NOkxHOJOCmJB5Y9t2Cb1Ln8LoQZPYeqawMLvJFbJaTxqEqEj4CKQGT4ba7KnnzH7fTJ8QgIf7cbsLnpYOGQbnw3ecYxgneaOrX9HYSi3BvKUQzPODtuPzaziuWxbF05EiPBlgoeTeMKPOSbA1EZB-xmt5qfOQco37s-tvD4o-8mYC-qDzt4XE0sOBgS8XRniOkY8Ol9wMxuxeJlRIQDMZkgnQi149jb0nocl8BNyLWHwt4ct7NViDSm2xtIu9TvjDBb1Xvsw3whBaBoYyvcrQj53ILpjiRfEsQoOt8yzD4xeccTjBTh8EdO3248AMb_6x-X2LiMikl1scf1UyiGtBOGOymFXfbBY-PNplI3Xqzbmtm13tChk_aOGg8tWUixerrSQw_HFZW1QrCdcnfLnTZ_YB6nrVX4zvjYeRJElZX4Di9I7T-sgDnt2nM0Mc81I0YN4LqeRoeVKlmj4qyVMW6utoNFejoSFTqawlxhCCbXXaiD4Xi50dW_Z2yX3Q_jj0yo-YEGHwTIU2zAmoNfrzaMLSDpCPIDXLeWS3g7FlfmRT2FsbWCnOoOKlYLGN4IRlKQ-PEfi6MGvA_lE9uUguYWg-DEeBw9IcCmRRAiq09MnY1aWIiBv7uFPSVokFniyDyHIkF1zR-i2Vk50zLulADDFlD7h1f87opQ-awjHxD2k-CibBcBD23oTvwyfxpWDKDqXrzDPN_6vQ0NDwWKdLpdWLxlPBgT0xD542yxv1TYUL2rwchp3dA3xiR-o1bzp2VPDaMLScl2sTPDSE5i9aXA0hiOlR_AeVXje3vWWt-gDFq1YmcWabPgU8WMdj8UkG1E-gGUSoJFOY4ibvEDZZ4dFFKEkm8VWaLNfl2K9LcLqZzutxIIQwvW0I0a0MgEGrMwAZAEGG4lG8NVaB_vILqvqcnj28AjYGDl_0fszZ-QVLE7lqkwOA3FR7byolJ_KH9yDQQj-6BL1HqEqaIvWG7_UDsMba4sHNeVVG2YvmpESUf1--kO2CSfFAONMD9yKzKhdoPr53-TtAmCvP23w-pAWTmPtXlfsL1zgAiUTaYw-I4Nr6j39eJZoDwJIX4_QFW7O9RC-YFwsLlAnpy1DQzZCDIY9INOsUHcRvHuc59P-EGRPzW6Uo2KY4jN2rmMikuAl7IxcoKNfpvrKVCMcfV3T9t2GBJ3deG7emBRa_4qwmYnqnzfLKGZefgpzMEKVIIh6TKTzo2e_K6yiZDjNcn714FT0x8pVaHRVlaYTvABPTcQ8UDBhLXgBisc0RjqsrijIKuqr4uwJTWFYnF0d6kgKubyF9XOC5faw6tgRLXqgv7wqNuHXu5TQNQKH9jxl1JrDTVUrTSKAi4NmUW3vYbCPeB3h9c6YdJyRR9VAM5PMteGsQcN-CdcjAEmg_wtDbBu5Jz8SdCLNawbSC14EfmcWFf6KkLmG-OJdmHMeyzCtDouMoSaZSk4WvnEUeSNwVt6xtMgcw0Kpj_8Gh1WuLyeGr6r4lYTpVK4CXgqkQa3vvCcueUoqNQI2fJ63hofGlAjxZrsPUujf_YslA3emmu07OIvqm1Jj7yPKnYlGmy5iMfQWR7KqdaklsOQxBFQhocx4-9rD9veqDaKs0POYFw8zogj6UWwuCtLnDkTOmTRuaMmx1zhHvRQqeYbzL3TCepgloTS5_aOqkH9rt24rYdbCWBYOoRatyI-EnxpBtbuLYdwapwdjGLRZvf93hoIHw6_B5Ex6Cu9heEaxexERt4OZ8yKsCi8AHvdu8L1N9FqNGdB77Un1s8sTt_hRqNU0JSBCmzmJsMpXgmkSUJ2kZJiOMNlEA_lz4ciwqochv6tTRUOA5Oan6R_UDq_4xt4zXuwRlwkY7b6Hw42IJZzlzpbzhBFB9bpCRTs8PYkRrGUlGmjNHw1HhrRX_ueGLbMrNAhBx2rNUaU2sgVyB926sEcXxAAQiwmY6qeKdc9x_ndSi0_YgcfyvVBItdzNeQhKPc2aR-8IpA_tIZA7Tiy1hXuXZ7yiYwqVcLJ1w2Gaq1c6C3J_iP",
  "id": "rs_0b5ddf015159a2e4016ab441b0903487d0b9e4e2727f9aa50e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The bowl stayed on the table, so the high rim alignment was correct laterally but the fingertip tips were above the thin lip. I am reopening and lowering 2.5 cm at the same rim position so the pads overlap the wall vertically.\"}",
  "call_id": "call_bprCOFPdXjOvFauTh8601E27",
  "id": "fc_0b5ddf015159a2e4016ab441b4a41487d09bf7f5a499598ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bprCOFPdXjOvFauTh8601E27",
  "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]: [-0.3439, 1.5475, 0.4778, 0.337, -0.2844, -0.2893, 0.9946, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3591 left_y=-0.0722 left_z=0.0298 left_yaw=0.0319 left_pitch=-0.1236 left_roll=-0.0131 left_gripper=0.9946 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0004 right_pitch=-0.0698 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.4769, 4.8479, 1.8046, -0.1294, 0.0122, -0.0317, -0.1299, -1.5658, 7.0222, 1.6386, -0.0659, -0.0611, -0.0171]\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,$blob:8496236920a829e26e98ccd571fd513ed2325b09db7a91ed6be5c6e43cef9245",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd82fa064574223beaa8623b249158a9e3dad2666851e5cb0b0042b3e6ccdb39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5ecfc84322d87a1ce014678f20101af821bb8ee642d406b4268c598c02beec",
      "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 65 changed as sent

message 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3683, 1.4639, 0.5213, 0.2619, -0.3046, -0.2955, 0.9944, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.0804 left_z=0.0615 left_yaw=0.0255 left_pitch=-0.0706 left_roll=-0.0252 left_gripper=0.9944 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.5265, -6.8581, 5.4222, 1.5409, 0.0269, 0.1783, 0.0024, -0.1026, -1.4427, 7.1726, 1.6777, -0.0317, -0.0024, -0.0171]\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]: [-0.3439, 1.3048, 0.6678, -0.0448, -0.2848, -0.2882, 0.0106, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3657 left_y=-0.0744 left_z=0.1183 left_yaw=0.0297 left_pitch=-0.0763 left_roll=-0.0306 left_gripper=0.0106 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 8.7726, 1.6337, -0.1538, -0.0122, 0.232, -0.0068, -1.347, 6.9812, 1.6435, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3439, 1.5475, 0.4778, 0.337, -0.2844, -0.2893, 0.9946, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3591 left_y=-0.0722 left_z=0.0298 left_yaw=0.0319 left_pitch=-0.1236 left_roll=-0.0131 left_gripper=0.9946 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0004 right_pitch=-0.0698 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.4769, 4.8479, 1.8046, -0.1294, 0.0122, -0.0317, -0.1299, -1.5658, 7.0222, 1.6386, -0.0659, -0.0611, -0.0171]\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,$blob:8496236920a829e26e98ccd571fd513ed2325b09db7a91ed6be5c6e43cef9245",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd82fa064574223beaa8623b249158a9e3dad2666851e5cb0b0042b3e6ccdb39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5ecfc84322d87a1ce014678f20101af821bb8ee642d406b4268c598c02beec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEG5PAad2Zxh1ULcYFFlaGUu_Kh8p94MYUJMFB7zpewhcwkdEsjlPzX2GhCPwMI9q86oZ7NQuhy3llhrVzi6DxMeqSYeZDmETFtJ-S60ZCShyuKuz8U434yDEAwtwTZMaCe-5yesl6UsDVrYCv1QnzE41_vPlGwIvvbigq0ug19lCZLg6g1Ie81ElgD8rrhX7ZgD7givNLqo1NvFQRwW1VY-fVvgad2GPWbLa6VvJ7T7tKzoCM7FC5yeXP7pxGYyGAAWcGHEVbIErKO59HSN3jyXHqldNJmiuacWvQLpP3T6YDt6h-FZXvxZ7t0nMzkJoNSkqiElCVSe9oKILB0DO4aF8ArO1Vi9Pt8xVKzySz-VcINBnymFVFLqfKGXYf_ql3jEA1JBzcZk1fTQYCALfaimn8HA27M6OWy1veioSYSA3OyFC0UxAKMHjw-wa_Fm7F8NwQ4JSwpee6BCre0yVeXlLsGTPSgB5Ok9tDQJb8YDG9nDRVLnk5RciENZwc3b9op1gTK0FvcSJTC4OulIUT1z_Eh8b4-_ijDIMeCxv5kvfJ7QXefpuSVa7I0wcaPZpEjSms8J75nn2BSrKYgmy-hQVfaRu6SXElcvVllldQOMCFqD9hGNVI7vPPkv3W5xwURC7IkajzjJ6AXFi01gllC1NTaxXesubLvWze6m4pC8A8qQpmW8u4S7W-qhMgkbLgs3L4sEIgvfgG6skdIC-zHC4-0b88ZLpac9AowlAhYa1efTj4zy0Rt88nzGZ2w10ugmYE_9MZhKXvhqzKqkOuTVcmMkIV2xKo8OzaVqd6XHDicS0GBHd5k-Tocsikb4w99TqXSwmvSFYvnGh1P5JrtW8oPjlXo0E095GOPfqiPbGM1sQKzD2pUw-krlyAZOBIpsQsayvEm66Xg2qrZpJZNaApH06bTAMTsfStsyDL4EJbRNyDY3bqc1P3xXJyTTIA0JacHR54v0R2EupH_NRkaSmmYPgue9mb1rKK9XXx-drCZ1q0AIb54qLMuY2R6ZBfNn050YU0A4JJxlmtUry9lFCrWJVFb0FRSDNsLj_ErFH9h52t-QPR9p10Dibz0i-P2Wx3con6Wzhk9_4_0Vn6NvQxBfgjR6fjSQUau24pq9NGPoPW41Wu_JDKG6yDGVHMHwdKfJ_5OUqQH92vbzr4Fv04ilas0zjrS334c1thCwHg0eqEo20u56aDDi11lEzR3HvMkAMheN7lzh-SI8kpm43lY-G9_4PoK2ChToMRLFdy_YDk88iM9Zkz3vvGOHCq9268clvYIHeMkr8fdX84S1fANQv0AV40vTr9e11REInr5I52j8hCtD4U49hFO88eomMwmWLe_K9TDRUeHNr9H2IYBclc3P8oDBjWFmVc8en64WSgPiTFj8_32yFhVheZcUGDTuc5hM-HOLKLr0Q3tVGOuNlmcwHwbrAjzFmjO5kVOO0V4I7qMdg4XX4qVjID8Mm60z18lNQZbta2FKxAQKf_UX7_uNpiVsruSPccACF_lu5G0XKLfqgamOwlDsnDcinD7OfvSRIJXqE9p5bbHe08V_UJJpLm_xr1_1wkW_N8-_fvf30lmfgtOoxnjxywgMPGrGb_1vnaKYhYM2h4Yx620Y-wGQRIHL197jmHpZeOZ-q5UrVNJl8bUadVC2y_-Q59mEWVSkrYbM_76pydr_32SRS1kzV7NlW5EoFg53nWkkNWT3ltsksiaBxOQphderz5PNYjAg7Bd82Wdf-ClJnQ==",
  "id": "rs_0b5ddf015159a2e4016ab441b7841487d0a3f5ecaeab36babb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lower pose the wrist view clearly shows the left jaw outside the bowl and the right jaw inside, with the left rim exactly at their meeting line. I am closing now to pinch that wall between the two pads.\"}",
  "call_id": "call_cXxTvW9mUZpN2UMnO8vPYD7F",
  "id": "fc_0b5ddf015159a2e4016ab441b8a21087d096f51d96de0f9ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cXxTvW9mUZpN2UMnO8vPYD7F",
  "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]: [-0.3443, 1.5452, 0.4709, 0.3637, -0.281, -0.3077, 0.0419, -0.0177, 0.8204, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3609 left_y=-0.0736 left_z=0.0328 left_yaw=0.0378 left_pitch=-0.104 left_roll=-0.0377 left_gripper=0.0419 right_x=0.289 right_y=0.0014 right_z=0.1598 right_yaw=0.0005 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.1077, 6.0923, 1.3211, -0.1685, 0.2564, 1.5556, -0.1299, -1.2376, 7.0085, 1.6386, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2fc50c3d3212e774401f30688d7a5e8bc4cc707c2bfdd10323b2de57f17c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5c01b5138eb61f5a10730aad954a2201584ea00b64b2809b496cc6377525d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6f33f396a6ca77904f3eda48e54b56729ef3a97e185f73345c4f6c904bc726",
      "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 69 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3439, 1.459, 0.5179, 0.2501, -0.2844, -0.284, 0.0082, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3644 left_y=-0.0741 left_z=0.0591 left_yaw=0.0274 left_pitch=-0.0849 left_roll=-0.0242 left_gripper=0.0082 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0007 right_pitch=-0.0667 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -5.6821, 5.135, 1.79, -0.0855, 0.0806, 0.6422, -0.0615, -1.347, 7.0496, 1.6679, -0.0611, -0.0757, -0.0171]\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]: [-0.3439, 1.5475, 0.4778, 0.337, -0.2844, -0.2893, 0.9946, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3591 left_y=-0.0722 left_z=0.0298 left_yaw=0.0319 left_pitch=-0.1236 left_roll=-0.0131 left_gripper=0.9946 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0004 right_pitch=-0.0698 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.4769, 4.8479, 1.8046, -0.1294, 0.0122, -0.0317, -0.1299, -1.5658, 7.0222, 1.6386, -0.0659, -0.0611, -0.0171]\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]: [-0.3443, 1.5452, 0.4709, 0.3637, -0.281, -0.3077, 0.0419, -0.0177, 0.8204, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3609 left_y=-0.0736 left_z=0.0328 left_yaw=0.0378 left_pitch=-0.104 left_roll=-0.0377 left_gripper=0.0419 right_x=0.289 right_y=0.0014 right_z=0.1598 right_yaw=0.0005 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.1077, 6.0923, 1.3211, -0.1685, 0.2564, 1.5556, -0.1299, -1.2376, 7.0085, 1.6386, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2fc50c3d3212e774401f30688d7a5e8bc4cc707c2bfdd10323b2de57f17c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5c01b5138eb61f5a10730aad954a2201584ea00b64b2809b496cc6377525d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6f33f396a6ca77904f3eda48e54b56729ef3a97e185f73345c4f6c904bc726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEG8sCWsGr7in_3awR8ULoSNXwh-C9gJy8EyLdfA6atzjy8t6gyMkloo8rHnGm3bHQiu5RV4-SCyWCm6GtLGIMwXORQxu93YICM-v2XmHOlk39UmbETId2AfG_qsgPE6kSSWB5sjtm8sgcMbzduaPdV0JW2Tm6AU3V0pSLUKR8py4PCsxvLWK67Fv6jb9xjauAQrH1Mx4GSkULl8qqJgtyqvKHBxFcYcNXn_JgmoJmuA9JsNUuOneL-Bzgogj-WjFDkGpBO-zoz7R8n2V6dpAVWAdvKJjdrpFSWO2QPT4R5S5Y3JRWeQyQNzSipYeMP32fy4X1cJlIofW1XGqziHcmhxxiX0OTd8YlBSlFpjmdrb7ta8HAHm6gi00WnuPPNI4OvKKtl7_zd9TsLqBRXHL0T8zXd3wxiZHwetlMqbBQbL-stjA2HEtpgFVOokfoLnoHd-y1PfkueRvxNih0-q98I9BPHBX_HUg5VUnT_t1vCHwN9LuQfoZ98Iv1cUr7PeUoKAWDBEqZChzTGzfE9_Z174w_4K6G9RhgtizF6ObgFP-USfqYdrGEom01_BrahwtbtLp5PjAtT0g-MLMvA9-UsIhkHSArMVX-OCD9CQ_VWnyCvz-WN1XZ8r95vneDNgow8m2_8FFEwelmjxYu3XI1ye5KWA3jBRvJha5gGEmc85qFrV0e_vkO0zQqug8Cttk6w4xkZxllqpOZa-zk02RV4HLmD460ooTI_yhqsKKQ9-V7ZaAh-zKYnlQ1BP_N2iGvh6XsaemcG7W2jldUE-TnoPDPtLas5VIi4ap7nKhS8V-Tg2IoBg4Xw_eYFExEI_-2aZ3lJ-KtBZmxOuX8yGKV3EUM-lJLfIQpYFcDDO7aI5InyWV5MdYwLTdUgL6PySKLRDDlC-k0lzSPyLK25pvDdo87jEdomlM8OOMHQ3wUIaG8miy_HSiCfAcLEfD5q5seqOsORaZyJmArjnNVdzfj8Df2uXO6PFI-VTG0ePFf6B4r4faMn5bMzbNqoWHdga3DAjxamdhWsUHCJPaTtyw7CFgrim9maXUCz28upt7nNGRK5tZQPqq-HhCxXHbLdomnXE5ri9jVNNMFDXz4XqDVNMTljUcn_uST8iE_q29k81RKCSBPenjlT7lpyvMJCNiwgfWv88vVaqc7wwFsVHCmh-TDsGEZFQUW_dAYBXCqAk7l0Ji7e6D4cY6qmzRrSJ7ZAC3uOs8yluNFVAu3R-eNmQ6Gdt1G-zQ04IlsyFXwWSQx8kkgNFRUJ4qoprhdXibaimKiqH-MVFJZxQHlZn7xk_czP_IcPM5AYizehNel003eP0zl_NHSUYf0PizNwYgtwr",
  "id": "rs_0b5ddf015159a2e4016ab441bb88c487d0ad82f6889ce22a70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"This close stopped at 0.042—just above the empty threshold—and the wrist view shows the purple rim trapped between the pads. I am lifting to confirm the first secure rim grasp.\"}",
  "call_id": "call_RQLZLIeEkjEEh6Hma8zIyrwH",
  "id": "fc_0b5ddf015159a2e4016ab441bba59c87d090bb9f42f3a60d32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RQLZLIeEkjEEh6Hma8zIyrwH",
  "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]: [-0.3439, 1.3201, 0.6392, -0.0357, -0.284, -0.3145, 0.0435, -0.0177, 0.823, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3601 left_y=-0.0726 left_z=0.1029 left_yaw=0.0446 left_pitch=-0.1091 left_roll=-0.0389 left_gripper=0.0435 right_x=0.2891 right_y=0.0014 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.0725 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -6.1607, 9.6205, 1.6337, -0.1001, 0.0464, 1.0281, -0.0889, -1.0462, 7.0085, 1.6386, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87151eec426b04280a9d04fb494fbeea12c7431e22fc841f11bb1510e741a3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6984e027cff608875bb025032b7f39b3be132a07695878911ee8ebeb2c5e1a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2fca9e4edba3d2e7740cda0b63aca275774f3f640290306161b77540adeadb6",
      "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 73 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3439, 1.3048, 0.6678, -0.0448, -0.2848, -0.2882, 0.0106, -0.0177, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3657 left_y=-0.0744 left_z=0.1183 left_yaw=0.0297 left_pitch=-0.0763 left_roll=-0.0306 left_gripper=0.0106 right_x=0.2888 right_y=0.0014 right_z=0.1606 right_yaw=0.0005 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 8.7726, 1.6337, -0.1538, -0.0122, 0.232, -0.0068, -1.347, 6.9812, 1.6435, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.5452, 0.4709, 0.3637, -0.281, -0.3077, 0.0419, -0.0177, 0.8204, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3609 left_y=-0.0736 left_z=0.0328 left_yaw=0.0378 left_pitch=-0.104 left_roll=-0.0377 left_gripper=0.0419 right_x=0.289 right_y=0.0014 right_z=0.1598 right_yaw=0.0005 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.1077, 6.0923, 1.3211, -0.1685, 0.2564, 1.5556, -0.1299, -1.2376, 7.0085, 1.6386, -0.0659, -0.0415, -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]: [-0.3439, 1.3201, 0.6392, -0.0357, -0.284, -0.3145, 0.0435, -0.0177, 0.823, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3601 left_y=-0.0726 left_z=0.1029 left_yaw=0.0446 left_pitch=-0.1091 left_roll=-0.0389 left_gripper=0.0435 right_x=0.2891 right_y=0.0014 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.0725 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -6.1607, 9.6205, 1.6337, -0.1001, 0.0464, 1.0281, -0.0889, -1.0462, 7.0085, 1.6386, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87151eec426b04280a9d04fb494fbeea12c7431e22fc841f11bb1510e741a3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6984e027cff608875bb025032b7f39b3be132a07695878911ee8ebeb2c5e1a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2fca9e4edba3d2e7740cda0b63aca275774f3f640290306161b77540adeadb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHCZNMVtra2MJ3by18CU98ixyc4X2eaM65ZIUQ2JtpDlTusPP6XBkNVOm9unmVDBl_83Ohyphg8T3zQfi-iSwXQXcq6M0V3M0hSLJC3SqWyxTz6EFJQwb4GqzPOGDwvN5ydHZ0sJ4afJ4TLwb6Z8wjcBZmmrzbyYsj4zULjepDRhbKpf1huvTOAXplmC6vb93CZ1PKPRrq_JQDXf38N5Y_CKZhYkN1Wl3q8TtWOcXjY7baiNdiMD_d5IszxKnvFQdCNHTD93p1Me3HwptilhOJmNEIy2KnRZ1aRcSsOkb4h1EWfEGhlNLyfoX90eSebnPZXRZ7I_SQSmxrcZTXf3iqJCnvC0eSUG4NnxtP6RnWKDnLryA6ZzGeX2G2onJWeynUjvkhcd_OimLKVIX5iiXK5E3zoSNTTEEG5ZbLKTnl-IJTyI2NczteorYwBMOkdOFnW_4kzRvrTPKRI65yKHlfXLTBjyYaskIHAtYTbSQxF8oJA1F3DK1Dx0nHGjcQEalBxBnyGlLd7j1z7G9Aa-KuYztUvWKba-j4J5l4RGfTLhukNxSq-syb7bOj36ciEdf6Q2ihtZvEh-g1cOCS-OVHNhzpz_Z9d8JKS_51Q02l1tuOXC-GQEGTa_5GMo4mSXfEdrS1FkZHDTzrEBcIloWWbeKT5tbvlKNEUipbu51ONky4fRNNB9Uhmvx2O-6jjQg4zSS3RktTpj8B0uJ0qoKS32PGJ7-PY2xz_wduWSIE9c2Csjk9-T-ljavKOB8puDRq0cqGo_XDsE04mOYfXASz_wtRfXA0NmNA0t7V_v5f0dTlq1-gja8isCuav49hYdYMg4EaOzfCMmrWPji-l4v_oLX2tvXRvW-bUfJKIHzszuAiOW_bBVTnkUaDdd6RXQQljW0ujExiOum5xohiF23fJLZ4-Bi5lBORHUvBJexdADu2uu1dzmtb1mrLc36vEx_wUh3ajE6tMzJMgjogNe6H4eHQdAykvuYX4UiX5ETwyYRjMCuuPqyI09ORwodZzPVQin9qxuVZnnFETzC2b14q439vwjeImwWbW17xYfxfS4ZVk9fWnAAkYA3T4s4662JhZtFQn_LMVRex7QlHkA_mpmtDWzWQsb7uwbLJMFEF1Y3ADNfNtgLTlXm83asO4Tcf-8QtirG5MQB0r9oLqugEVuMfVk4GaT-hitScO1SRY6dAbxZs3ZREnGOXrH3LesoESU6lFiAuJpL6UNzX2XkEPUK44DSBzG9TvOOtgF2_LhBXlp15biTWTzOmooNPfpFUHOm08CUNL_f5-cJUvnR7KbRCJOGF8IdoyxAIvTXzLJPSFIXqTG5C1ob6fkLzSY4qybKXdKRYmtpW0nO3DAwUBUuGirtvX9xf1tp0tp_CcQxhGiXREgWVGwLEUwH3HpX7ZO2xcXu__ZjT-wa57UGW3rhURDTimjtE6c6r6zzqmOS1HUglc_-HT_8KH0Vy2wKP6MIBDuGlSYWkOFYjxjZUYtGLml5jDf8tlYCRfDMqG4b4pHAmirTrnx8ttjQrPvBw3lr-kmbNvyGjPnAB9qmfBcxtsBATX_mXVZhvcOALmvTSMHLUmh2hkP1JLANxJ24bJcNQLz9Uovph2wRrV6LoQbKLYsJOSOBpM5k9CyT8T8_xNCmKlBCaTvtX4ZTYKhBazyC0ZCKBoS81oPoUapHFV-sIOpvo-MbhBs249k7X5KIc94t0hNWWqkZseeO9yfZ7TXGgnR_fhszNyOVRxpuxOacd_BaKvifj_j0IK_YGbr7s2gm-VvxyFjiLuSJg9eO3fibonFO883yrhT59q-2gRbzPewvvYcvMSlfstwd6INT9jO3sMVWqPnTEb09wI5OUKU7F60dYamHPuyOOdbWQT0880vPABAz3hoCm1qeeXPvrzZNXTaLXIFN3WtYwyabMQZdVMMFV7-X6Q0Dx1Ens9Qojxr0NSxKnPhAholaLiGv18Q1N7ktKBz4VAVeFwYAbwFa0pMLbCSHZK8e7K5xbXj8OvyZhgTXPyAx_GR8cUAiIQkj18TQdsAmUyOKQ8DQq6BxKBISA8yeyx0pk9TYj39dUbXIawQj-sx7BpDndCtiYviKZSEJS1xmhS9WWqDo0Y0yTNE_9o7tz1J8y2udILmKTrkz7KDJVnHCHqflgiL3juruy6WfyoF69UDTnObTQ1Cw9StzHZDzVvSQRScCp3ouicnJvp6woS1NGNxiAypOVird7qsfsmlP0XyEbu3UEab4aGoxI9ckVtR-wmLwHpvF51p1AgnIqfiMQKUGPHlQtqxp5Pz0xYjjI4Bu-7356kyCJKvi7vL6IIz4HZYJkKiDiNVddta_DmWofLVDPlkVz05s-kAuQIkKu6GGDISVyuc3APYqT6pxPjDdc9WnPeNGe9BCpdT7Cc8c-iA0Bs-rhxueoWFSzkWgq_OdjmEJbIoG0DAJYHI81K4BnZpWO6PYPlwbWxVz8d28wFPFNa5ROmGThRNGpkHDhECpxsoGAhvtAYAQH7gB3mLOcIFg3vWZgrRR8qDhye0YelENSUTQzR5Fzh9ozepw559aR0rWExpscfoInahIE5ZM-lCD4UJ7BcBonsvE_3Xm2YuKG0-rcDqh4fRDn0QRTMlv1b96BczwP-IkxpAm_PYfVE888fPa4c4qBjfhD-q9_yLtK6xYK1-4VZvAm-dIFuejBEZH4wjRdjw-Kkpa4uItaZYlAB9hBM_HMxyfb7Xwvw4nTOTY1piT_y33atxj-TAm5cQdGPpbEVgo4Qq-RyH28z1NqI6G3bPN2UOqev21rZxpZDs3W3f1HesQ3oEIfLPb5rPYt6GONu2NwLAminV2PLVYh4PffxSfBMGKCLNX2G3URj4PiyfYCKtJbhbMKHKcXXvmAoodjGTD-THzfEjEWDrueMrg==",
  "id": "rs_0b5ddf015159a2e4016ab441bde68c87d0b7a96163957bc7ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.17},\"note\":\"The purple bowl moved upward with the gripper, confirming a secure rim pinch. I am carrying it high toward the green center bowl, compensating for the off-center rim grasp by aiming the gripper at the green bowl's left side rather than its center.\"}",
  "call_id": "call_b36TK7x8crV0rqkHR9MtPtOp",
  "id": "fc_0b5ddf015159a2e4016ab441c17bf487d0a1551eb9efdda425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b36TK7x8crV0rqkHR9MtPtOp",
  "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]: [-0.7624, 1.4857, 1.0431, -0.4358, -0.5537, -0.6292, 0.0458, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3453 left_y=-0.1964 left_z=0.1549 left_yaw=0.0202 left_pitch=-0.1405 left_roll=-0.03 left_gripper=0.0458 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -6.0513, 9.4974, 1.4042, -0.5006, 0.0317, 1.0281, -0.1573, -1.5111, 7.0085, 1.6728, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5143a00a6d02adf12d1b21b4977a78223f903173564e7f0ad78463e1d5481aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d052c19e569b1181409e4c584cf74f6383a62220caf84220a26a41ef4b06e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b05acfa2f629b5fdf31b3e10e174582611af5bcf47ebb8ea05de8e496ec3cb",
      "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 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3439, 1.5475, 0.4778, 0.337, -0.2844, -0.2893, 0.9946, -0.0181, 0.8204, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3591 left_y=-0.0722 left_z=0.0298 left_yaw=0.0319 left_pitch=-0.1236 left_roll=-0.0131 left_gripper=0.9946 right_x=0.289 right_y=0.0013 right_z=0.1598 right_yaw=0.0004 right_pitch=-0.0698 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.4769, 4.8479, 1.8046, -0.1294, 0.0122, -0.0317, -0.1299, -1.5658, 7.0222, 1.6386, -0.0659, -0.0611, -0.0171]\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]: [-0.3439, 1.3201, 0.6392, -0.0357, -0.284, -0.3145, 0.0435, -0.0177, 0.823, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3601 left_y=-0.0726 left_z=0.1029 left_yaw=0.0446 left_pitch=-0.1091 left_roll=-0.0389 left_gripper=0.0435 right_x=0.2891 right_y=0.0014 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.0725 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -6.1607, 9.6205, 1.6337, -0.1001, 0.0464, 1.0281, -0.0889, -1.0462, 7.0085, 1.6386, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7624, 1.4857, 1.0431, -0.4358, -0.5537, -0.6292, 0.0458, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3453 left_y=-0.1964 left_z=0.1549 left_yaw=0.0202 left_pitch=-0.1405 left_roll=-0.03 left_gripper=0.0458 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -6.0513, 9.4974, 1.4042, -0.5006, 0.0317, 1.0281, -0.1573, -1.5111, 7.0085, 1.6728, -0.0415, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5143a00a6d02adf12d1b21b4977a78223f903173564e7f0ad78463e1d5481aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d052c19e569b1181409e4c584cf74f6383a62220caf84220a26a41ef4b06e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b05acfa2f629b5fdf31b3e10e174582611af5bcf47ebb8ea05de8e496ec3cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHI04Wxv14K576JWNonIanfX0YAR2Q6vK4LwXlzbA5xBysbpeBC4552At9HMZ5bQ_m__YgpO-ESS4Q_gzhCF7Dv5HOjESqbKMLB2cgrO-I7MbtWs51KaUSqdZdMoK4t7iIKOyyDB8qaNfzxSV7mSFtM5je8JJIYlBflmqTLav0kQhdgjh40hrTKDeiC1MiSUQO8DX-3oxFt-mVVntYyKxAM5C9rLM-ReCxIDxCx85sucyUvKaHNkqCoUt3p-hNrUZCGQip5bENSDoBPP7XFNHTm_N9ekZqoRnBKOX7vr7EIuBlucS05s5WBj4xrDaLik9ezOVkDNnEgd8XP9tfkDd8PUmvL4lHFJCVHxHMQQyHXxet3bgzlgkTtKYepbPXAg9wA_U5uf8RFEbhqMYFxRqQ6O8eICyGzCNT-0Ft4ef8ukiYcHiaqRPdoq1Y7P4DqBWY_vB8VuBjVIxHtphTgrvs42xhEOTxXhoUefkh4kb2ywDlfSVmFxiTCxCOGiLAAaF6NoAyYiIC_us7EkNymAzoswNOgMkFONx51cjxdUhldqUh9qcs9iAH6p1KgfYUvAhxw5AVB16BrRb6D5XHvL0AXWJ2zry0CejJyRBqn00t_UJioRMQiYBklthc7l7gnJb7zhcR9kzdinppdM-3XZfs2XrxMqHxPz6HtIX_Iklb4oHZkkB3v5TpTfQazFkEQsKtTi-Pu_U1tPpyhD-7OsN6iAjnRZa0tacmQeEGu4YhKKfbc54DjR6GEN5ItEQ7YTT7gLsSr6H4Xs6IEPvQBHt-4N2gF_B2qvbph4d4ghr8356o6O5WU_qaQuvhjq1WZZsJ4CZiFI1YSplQaFiNih30dRf0EKpFfTeVuZ3KTyplbhy9zp7iUT2gJLGVmwSS4_WKV9yMwQcI4EZSQWYR4VPvKd-RM3d8LHTzLnYZ8cu427x7_dodiMZItqfmOaSlCRg8zQRqTiwtAKxzF55pfxAtK07k11iL_5zu9IsHMjP7VBB8mV8dTo9kU6l8rlI-h8RbpFi7PpBEQDj12bIFS9L3Wb_n9IVQ46BfgPQvfG-w3f1-1dkcJmX7vPJUoHFX-9VuQ2Pzw4uDXzkLhnT_iosUZwkN2GXTttLwJEcZBUO2l44g2JTDj2_zBZIqiXwvCHp89Fh3UoIcBPSOcRi1eZiukio-aNdVf23GCH_rRj7O04ZGJDHICbJ5A3DCVr3WhWMBuJ2CR_tJ7ps0yujaLFPHY3FxMX27HMKIzLC6fYeoeyRY8G-WOjI53jk1TgQVvzng9Ie0fiRg1VQPa5I0Om0Hvu8aAR1HoDB3s9LC01IKYya6VLHI6xxbe81ipsIjJHZOFMh859zQgf11AhUWgDcwcsA3omMh1zKY3FZkgIxO_8bgKnqYiu1HcbZzWMSfDMBHy-8sV2rWb-bjsdlzHXmdjrpuIDOrN6WlUXpHlxw2Ee6B11rfMkW86V7fncx3jhHPZQ6PrZiDjGlWoi001HF7WRAOjeDLCF-gDibGcarU6YJcbVLobmdaQ3PD7wiBs80j6TlFbpTn8g2yEmWINf4cGb8rh_uNZbi4MdOyHTjV_7cqagAxTZg4rnDQYdOpgaSCHzCDm2XRp3lgTm_sNUOBSmJf7WrgWhmSMyD4o6WfwvKqe5y_1T21MiSlFOnMnkVXFS9FLqNDsqHzB0Ck1v2YkMRZYaAniJsLLCwglVKTvBG61HhWyCGLIeYFRObLarJsq9znwL_sgh49B7nUl5hsas0zqBqUi20QYomRf8bS9vUUXvE_1xvwB1iKHe5VS6-OMk6SKbBmx-goU1ET3HZniEYUyGk4oNcad5wvfPmrQuFJaXI4_13UPBecBftMxEurD4LzrbJWXSZplpkkilq0cIwsJLsCRBH6Z8cXkmw3yckMzKGUEE7XDHw0BhTpr1h2eP-aE8R5jHqfodhBEHHkOI2Scm5jdKrDrhfzPCaVRM6Xst-zOdf3jvR9EF6vFDtaqQnJZS10RmHMP7_K4WxgDgwWLaApWUZYVGlPqnTa1ztHH4WLWdUXHqi3nRRFfyefNAmwuIwSAYGTnivNHLhm0m7K-t8IS9LKTtzUGJ1VawvRmUxXdETNdYoGgscIY0HN3ugXjiqwxdRg47lu8863PUkONeoS-aG6FeAC9XbVEM1KfcDizxqHgUH-Ls7kVbo3VYgAQoQKPYmpSkinluumbzZinXvGg9RfpPMBPtqH2OlpmW4IjC2cdqSylSh-g4acEzKMnLBAXu689KvNDavZFx8Kn3Znmvu9XtbYJ3ftrX0I=",
  "id": "rs_0b5ddf015159a2e4016ab441c4a5c887d0a6ca79fd20135a18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.215,\"left_z\":0.075},\"note\":\"From overhead, the lifted purple bowl is almost directly above the green bowl; its apparent upward offset is expected from camera parallax at height, while it is about 1–2 cm left laterally. I am correcting slightly right and lowering until the purple bowl nests into the green one.\"}",
  "call_id": "call_jYvitbPjK1JUVEVSCr3dgbg1",
  "id": "fc_0b5ddf015159a2e4016ab441c765fc87d0ab5485c5f40ef28e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jYvitbPjK1JUVEVSCr3dgbg1",
  "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]: [-0.8005, 1.6379, 0.8875, -0.1982, -0.5735, -0.6567, 0.0464, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.2072 left_z=0.0748 left_yaw=0.0192 left_pitch=-0.178 left_roll=0.0115 left_gripper=0.0464 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -6.4889, 5.7641, 1.3944, -0.3199, -0.188, 0.989, -0.0615, -1.3744, 7.0085, 1.6532, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fc80b5a925dd40235a009ed0be29f105478234a11c9fd249ce54b189923e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c799bd42566dca6eef7ec459c9e9a3e208a8da68fa8433a61521c57041cb6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d48d28f09e421fcd73a1badd6ca6eba47b4eca43ed8cba7d61cdbb67f0b503",
      "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 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3443, 1.5452, 0.4709, 0.3637, -0.281, -0.3077, 0.0419, -0.0177, 0.8204, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3609 left_y=-0.0736 left_z=0.0328 left_yaw=0.0378 left_pitch=-0.104 left_roll=-0.0377 left_gripper=0.0419 right_x=0.289 right_y=0.0014 right_z=0.1598 right_yaw=0.0005 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.1077, 6.0923, 1.3211, -0.1685, 0.2564, 1.5556, -0.1299, -1.2376, 7.0085, 1.6386, -0.0659, -0.0415, -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]: [-0.7624, 1.4857, 1.0431, -0.4358, -0.5537, -0.6292, 0.0458, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3453 left_y=-0.1964 left_z=0.1549 left_yaw=0.0202 left_pitch=-0.1405 left_roll=-0.03 left_gripper=0.0458 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -6.0513, 9.4974, 1.4042, -0.5006, 0.0317, 1.0281, -0.1573, -1.5111, 7.0085, 1.6728, -0.0415, -0.0659, -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]: [-0.8005, 1.6379, 0.8875, -0.1982, -0.5735, -0.6567, 0.0464, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.2072 left_z=0.0748 left_yaw=0.0192 left_pitch=-0.178 left_roll=0.0115 left_gripper=0.0464 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -6.4889, 5.7641, 1.3944, -0.3199, -0.188, 0.989, -0.0615, -1.3744, 7.0085, 1.6532, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fc80b5a925dd40235a009ed0be29f105478234a11c9fd249ce54b189923e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c799bd42566dca6eef7ec459c9e9a3e208a8da68fa8433a61521c57041cb6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d48d28f09e421fcd73a1badd6ca6eba47b4eca43ed8cba7d61cdbb67f0b503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHLkwme5Xp-meoaxAStYdm9x-EdUYFz3L0iDJaDnDzDbEc5c1M8h1KOl-pmHZJtvZgywMfLKOISQ1KVs0Hgiwb9BbGs4zsIdIWg8jPdcpd5SO_2Vkkxp2fRT6xI4kWmvi2IS0jJkq8JN1gqMjq2qhlHXGNNYRDx2sjPtqTTbmZI1CEBPQOJ-Q4mW9bt4nTXpOd2O0HtTc1dDIvCELww7QHi8jyQaJUPGI1rqI6W1MBOOZON0-9-mu926BBs0yqopg2hRVKSCcYOsj4R3SNAjDy7UGNyLesLDv-ffYsiDZ0x0-HX0RG58h98dYzq64KS4duwICg-a1MPs4ucEnsfuoVfJK5Mg-bLqDc4B1zUO4FzA5Zx97aL_ZLbkDjbcJ1blij2IxPsmbHFsoWd_w8abxVy3kSWl67slGi9pqBXgFWNmxOd5qxbfukERAsJofIbrR-AZzXD_FBEyi1Ntf7aStroPIjx1Y9-F5BBEyYtOqy5atp1sIKipAuc0ehVXLBKk9b8pwgMbV7rf8HE3zmtY-qOAMnKN4d-7gKiXLE6a9LR1-tv5njG-BgsCBfWeRuozT_fDlZCGlFscJmbaL5jHbS6B4Ti1WwLA04wC4jMtKc8-DhxYU-PgDrh457SAALVE3MH1pbS-3YWE9peuuytRZwVaSuCrl4iTRrKl3It13CbVyXNO7dS8IQ7aWhli7OqtdL_jzmz9rBqtb915WYpv-MR2qVttlD6fVgsMQsnTkhjnQULaErYlAiz3AmgVgNUhHl8g0k5mOgGQZBRnwevJvj86RlycviDMQgHDBT3ORY1AefmZsMNxSW4B62lZ6qXhslanIZ_ehJapoUScdGwVtuWpV7xP9VHZbSQAEvbLc6kaW4gZckDXlDQunvWccvBV0xcz7V8tsFi0LqavppsZ9155wzlma-MhSSM4pwgPpbueKtPyhbhCsuqhaPdu6ISRakHRw-UNKjklypP3_yTHKtj60FM_3B4_Gj_8URpDyYPnCGfY70lga7fCDT3ZKCvsTm_VtWlSvFHVp8STdNotOwDrYA6DC_XifhLZLIFHTCmVSun3trWXfnpFn9NqJcJtU7tSB-hlpZ2Xzh9RsX8dsxllrSFnean9Q13q-z9CyQ5eVIu6vYGM6VGB99os-HTj477UBJTQUvTdCuFyTEMVbDYVZuuTOeM0gTUU5RBz66yKTgj3J0qaQJwf56iYxazcUwOYbo5BlL0LgbfThDbAxy-tUW-Lsogz1h6XwhAWCVa0MaHlcfVv3Pv8ob_-H8fDRRGsCE-dGyG7u2DnhhRPWLqv2CDNAtmfd21sAxtQHkMSRBr1Tj5rcd-HNlnUE1bARLpgbopVDvNgR5M43ym4jCRWLemAv2zsouV022gynCa2xWuVDlaSzfVWhdgFhRyyZjwGWq1x79pFaF2KnYujuimK9D_xdv_8aLQUvRuj1Xxe0HBOJarTjXDCn7br38F5GMJBDw9cVES-f20Ix2z-rXq2oyo8Rn1IO1bpFxHPcaEbOPtDrXWArFg7s6ehgPCPkkc0aCbFwON-WwlmXZgHxIkpiVoRg_M--j_NnPOpgF5XE1dQk6RedfagIqWY2GpJEhBLNYPUoVJTRFmGoqzvqbVbwZcuMc8xMG3Sibsa2UdmmApNKHyPEsaoP-okwAYU0mT-QKjTZc-Vmp4rsz7aq1Qq2byUsd8SebIVjF2mGdRmTvB8KlRQ0GBKANveqL19ueLTOKyUtuLrniP0I6DG5jN-Q==",
  "id": "rs_0b5ddf015159a2e4016ab441ca039087d0b28fd2abfd7e1ddb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.227,\"left_z\":0.055},\"note\":\"The two bowls now overlap closely, with the purple bowl still a little left of the green rim. I am applying one final 1–2 cm rightward adjustment and a shallow descent to seat it before release.\"}",
  "call_id": "call_03UOlTPSLBqRE08c1TE9Phrn",
  "id": "fc_0b5ddf015159a2e4016ab441cb23d487d0a63a9d1293f46ad9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_03UOlTPSLBqRE08c1TE9Phrn",
  "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]: [-0.8223, 1.6936, 0.8921, -0.1421, -0.588, -0.6868, 0.0488, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3421 left_y=-0.219 left_z=0.0641 left_yaw=0.0232 left_pitch=-0.1657 left_roll=-0.0067 left_gripper=0.0488 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.8957, -6.4615, 7.1316, 1.2039, -0.315, -0.0855, 0.8181, -0.0068, -1.3607, 7.0222, 1.6337, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f389a65b59e60ee8846e2700acb7cfa0266b095e633c0cf74207f7bc014c18d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ac7eabcd5d72d4f7525149d05314ff107ec0552886258f294b7441c3936730",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faa731e29614713289e3855f07d450b8bfccf4a11503f5cd46b0aa874401f6c",
      "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 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3439, 1.3201, 0.6392, -0.0357, -0.284, -0.3145, 0.0435, -0.0177, 0.823, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3601 left_y=-0.0726 left_z=0.1029 left_yaw=0.0446 left_pitch=-0.1091 left_roll=-0.0389 left_gripper=0.0435 right_x=0.2891 right_y=0.0014 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.0725 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -6.1607, 9.6205, 1.6337, -0.1001, 0.0464, 1.0281, -0.0889, -1.0462, 7.0085, 1.6386, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8005, 1.6379, 0.8875, -0.1982, -0.5735, -0.6567, 0.0464, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.2072 left_z=0.0748 left_yaw=0.0192 left_pitch=-0.178 left_roll=0.0115 left_gripper=0.0464 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -6.4889, 5.7641, 1.3944, -0.3199, -0.188, 0.989, -0.0615, -1.3744, 7.0085, 1.6532, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8223, 1.6936, 0.8921, -0.1421, -0.588, -0.6868, 0.0488, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3421 left_y=-0.219 left_z=0.0641 left_yaw=0.0232 left_pitch=-0.1657 left_roll=-0.0067 left_gripper=0.0488 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.8957, -6.4615, 7.1316, 1.2039, -0.315, -0.0855, 0.8181, -0.0068, -1.3607, 7.0222, 1.6337, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f389a65b59e60ee8846e2700acb7cfa0266b095e633c0cf74207f7bc014c18d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ac7eabcd5d72d4f7525149d05314ff107ec0552886258f294b7441c3936730",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faa731e29614713289e3855f07d450b8bfccf4a11503f5cd46b0aa874401f6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHOSY3Ycizv1s3jjGSL9qzpOhgoESY3tc88OoXRiqlSg6Q6O4QABo_5i9fQy4MImykXn-zRo2spyMvqm8Bu1WEsEsNjhZl6IvA1eNCOztOSAlKFKAShiF0fapbb-wuk2cmFTi3v1D_8D3bOKlx4zm7EplAEPQdSAX4J-yzwdHxJ79cyDxYx-nzunSQbbOw_omX8GMRGnDlFamhqIBUxsHa-CdvonlqKFdPlT6Te_dEnfly-DOMm9BjFCGN9O2blkEJW2Ke-iVKcSei5lTuTwf44hCv_1SaLlLaKJQowqHa7KII4fwryij-tymdhxgmx11KkPMtFn82QvDkhz8DTh7RURhMwLblvZTcvThar1IaiP1PB6uU6jdXiPVX7A5AeWpC9PQ4b8QX7xcfLKxy_5VUxLy-CE4Fh-9H6JJWkubbr3SnYTehlvZ0HJLPpou36pI9gth207KMz7OP1eGQiDeE71C-z-ZUVDK-sLQYy3rCgyouskqFlXxqK1Mmof14LHmgVRTLyefLDaGONV_9o87AJmnwQw7Ht2wH3VU1MqFOBel6FZ3KWkowYgvQiq1spz6LuutmlerJmksnSJqvhVdAXCxnrbWsCGPkXYZlF74YzpuRJ2IxlVQr9s_n6oPTCiSUNu1WoR5UgKLMVfzVUtpOr_2d-XTtQIleItIgzrZ2kRvaUQ-j63U4N_fB43OMkbEh66U2WkvuiPPbVJpofSTjIWIngghJzyn1HnC_eIX3zAhz6UFYeIXVLB03gT0tEaZ_XXil5y2_QGgb9QTx_nDw6OnbxLxkOk3_Xsfh_6S4wSk2xKE0j5ss_W-0abxdaP9SslgNBJmgQnOaf-dmGRTNVsmLI9P5ytLEJ5CVf3h6Bxr06B4-8SVZOyMa58dpaKdl4MmiKjEApXAG2-KYaHEH-8Ne6JgsjxN5h37gBRoklZTEeNhL32RD2l9fp3gCdFNRCkgmUSO8LsljGO35yL36tVMkbkWELzBNwWEg4gVa4QRNj9s18viAMdKfioy0wbj7HR0ExKgCjwOd3xUa0L5LIMtH8pER2dvNm9xKmz1QclL8W9pZubRG7u4YW6_tGpzYHChC-fcHcAG67iAc1bSvFbC7pyDhwOi07uAyu8cHnDrd2gxrm-XglrhmK-DCnesbNA0ScZo2haUlU0lk4vI8SuynsQ6c7eri4XmNpGYrvWalK9SZ96aYmC-TLUFvg-0qw9Y33n-A15opi9oDr_qUE4EeFuuMWZWoXlNYnLNcQxHK7BetSqk97NGTq7UeDVzo8FFGBwsbs7pi766LgWfReXzZgLfLaFO1qmsz1NcyRYDgD5pYJHEr0g1Pr7CbhMeH1rcHKyhhfx3sdIWBsrNxEAlsj9UckeigZWJoQrWxmNv8=",
  "id": "rs_0b5ddf015159a2e4016ab441cd363087d0a680fc8c33fcee24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped about 1 cm above target with increased arm load, indicating the purple bowl is seated in the green bowl. I am opening the rim pinch to release it into the stack.\"}",
  "call_id": "call_JqDwEy7V8cKqYX4waaKsOlHB",
  "id": "fc_0b5ddf015159a2e4016ab441cdb09087d0b61ccdf6e98baf06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JqDwEy7V8cKqYX4waaKsOlHB",
  "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]: [-0.8211, 1.7203, 0.8955, -0.1448, -0.5846, -0.6975, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3415 left_y=-0.2185 left_z=0.0547 left_yaw=0.0314 left_pitch=-0.1849 left_roll=0.0033 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.853, 5.6957, 1.3065, -0.3053, 0.0659, 0.0415, -0.0479, -1.2103, 7.0085, 1.6337, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a6e781acf0156a3f2ccfa58783bf758160c1200c69a221dfe114d57e793fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15a36c60529b2a9ace33638a4875601ca6d6e55f995980e46c7fbd6dd5cd865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae035b32e9611f8a6cc7b946ec01d638ae3395690feffe95266d98a53e50a4c3",
      "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 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7624, 1.4857, 1.0431, -0.4358, -0.5537, -0.6292, 0.0458, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3453 left_y=-0.1964 left_z=0.1549 left_yaw=0.0202 left_pitch=-0.1405 left_roll=-0.03 left_gripper=0.0458 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -6.0513, 9.4974, 1.4042, -0.5006, 0.0317, 1.0281, -0.1573, -1.5111, 7.0085, 1.6728, -0.0415, -0.0659, -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]: [-0.8223, 1.6936, 0.8921, -0.1421, -0.588, -0.6868, 0.0488, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3421 left_y=-0.219 left_z=0.0641 left_yaw=0.0232 left_pitch=-0.1657 left_roll=-0.0067 left_gripper=0.0488 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.8957, -6.4615, 7.1316, 1.2039, -0.315, -0.0855, 0.8181, -0.0068, -1.3607, 7.0222, 1.6337, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.7203, 0.8955, -0.1448, -0.5846, -0.6975, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3415 left_y=-0.2185 left_z=0.0547 left_yaw=0.0314 left_pitch=-0.1849 left_roll=0.0033 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.853, 5.6957, 1.3065, -0.3053, 0.0659, 0.0415, -0.0479, -1.2103, 7.0085, 1.6337, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a6e781acf0156a3f2ccfa58783bf758160c1200c69a221dfe114d57e793fe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15a36c60529b2a9ace33638a4875601ca6d6e55f995980e46c7fbd6dd5cd865",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae035b32e9611f8a6cc7b946ec01d638ae3395690feffe95266d98a53e50a4c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHSh61PJzrCftufuGtS_diyg2XpDO7ttHa6V1b2FkK_1Skfh2gxnbxD-uri9zr9uQ9e3a4LjeYw87IsA-a0CprU-tobypeSJ6ltKaX7bJQNAPWvcB3kL9PJb2y_lnM9jIn3VPEg5I_KcKQ_W3FeUx2SMpch-n98ZRPVI5a-jyqnff__spsl5KqUkTzG9DEjnjfoL5g4CTAAyg1A5EdPcuhRfqeaFGXh0iaHBMUolcwCTTs_mWpaJkzXQrycS87uLCO7N_YpAR5lwDQO8BbLOuuiYHuZK-7FHqvgN6kwqWc49kHHkig19ZGDAhIyh4zUc2tt9gIG79uLJ2-s8n_KTsBWAqUJtF4w9q_XJ9nh4n_59lLIeUH1fOBYl6J_BVKyQw8zroZ9O4aPhQ-3TelWLcxiQQ9GjRJLvhGRkuM57CLmb94ZIxfZ_-fUMUGZc9FWeAAoES2Y_1dxOdgaZYLNfmxtPAixpejEzlyf7O0HJA0Bf9thkkZFu39AHgIRE73x54KKGpIbI4z0B2inTplBDCD3U5BjWGEDlQVieMum1xQfursuiiSW81Kc3I1MUgFkIewYSZH6Hkjx3tRnc5fWlQb6dsQaa4gaXPpyIKQyatOhknUjpAk2bMBNZgEuBC_qylJ1vOG6vVYDviSVUJeZbQJlPEaluUwMEmm0bMgqEhTexcv0xOMpNRH33B2cbI42HjAP1A4h6xJaPY9OCrIvLjZRWozGXipMGnQ5Ppa6ATlLN4cJ582oQYaqXBFYO9V8BddTJJoFoB_Dj4sRUao2jpHa2I8HE8hrcnIKUfm-XF1ef2g9uC57NuzbAQ2jaJGwk_cKNfSwqqCR2SuNrpcWx6W7xiR667W5xkgmqbZZy6nmx9o7VmfKIJYy8ba6kXMz8DrfuPCXrv_SNwL7UZNy-OXlkYYFP0IIKC3ezMe6sG1Vs54xFK9m1ZN9bfOXcCA0xQ_sKaRYhv_1-arDpjuIzoRMm_AK2AwGRtu3xCFEu_TKZj6RUm1eAwFTYsdhiTkDE3SlBtTXYGZXJOj0eSEN9bhvFt4IZ3fN6Zrbtmvwb3_nH8_cChXnwhDsEGBhjQqeGufTJiKCWWBQxx7ab5akE7pd4jAaOCakt3zJfyFKI4sAw8lDRor3fe93D8u2YWe4FzfajpDkEcwlxD1bPQheWZKTBmwnJ9IaYCT8RddKvLu5fPBuTEr1cDAZHiumlk_NOpWvvCgXQv6S95dmLIfBHYu1TEk6mNG-4S9FVveNWmc0NHR6B_GC6iR6spVKG4a6jbtp67LGl5p_zq-xvn_0hj9ZDi7P8PzmuHm_bkwEBVonhQ90FJRcRNELnGXYcU_SVYtgc_GVLjjyf9Zwt4A2cTLSdGF0_aBcgTvUgxuHim2aeExyb6-oPP4yLpmrFVuVSyEb9ohRdA0apkilPYr_fsGDCbraGtBd934q_i8BrYLLCfSWECQSnWQK63EJrq_hN1ZgvQlJCvYFfUElahobC4-5ABbchAkTxHtaOO5dFWuZyMDfBaDMCcC9mrIInjETa_neQqnNGC118HNDlPSchXA6W--k7oPN7_3bi1LPu5Mi-B_pJnilrLuBvleNFBrczXSZxiFq7GB-64vdKwU_zNKm_A==",
  "id": "rs_0b5ddf015159a2e4016ab441d049dc87d088c82a5726a64505",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The purple bowl remained nested after release, though the arm still occludes the exact rim alignment. I am parking the left arm at home to clear the overhead view and make space for picking the pink bowl with the right arm.\"}",
  "call_id": "call_wYgyXfVto9fsboiQo56s6JCH",
  "id": "fc_0b5ddf015159a2e4016ab441d15bd087d09007235a3cbd5c71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wYgyXfVto9fsboiQo56s6JCH",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0818, 0.9382, 0.7464, -0.606, -0.1265, -0.1535, 0.9986, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.2884 left_y=0.0023 left_z=0.1616 left_yaw=0.09 left_pitch=-0.2163 left_roll=-0.0006 left_gripper=0.9986 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -2.8103, 9.9487, 1.6435, -0.0073, 0.1343, -0.1538, -0.0479, -1.347, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d375cff6acef51f15ba300985c79883966c297b37fdc2536f984057c8d92c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb00ed071f2718ebc8238253dc90defb787b0b9f9391be5d751350a69c226de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada37d4c6598d9048ff2d998959de4790bdf71021b36c7de92f54cee0562f915",
      "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 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8005, 1.6379, 0.8875, -0.1982, -0.5735, -0.6567, 0.0464, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.3396 left_y=-0.2072 left_z=0.0748 left_yaw=0.0192 left_pitch=-0.178 left_roll=0.0115 left_gripper=0.0464 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -6.4889, 5.7641, 1.3944, -0.3199, -0.188, 0.989, -0.0615, -1.3744, 7.0085, 1.6532, -0.0611, -0.0611, -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]: [-0.8211, 1.7203, 0.8955, -0.1448, -0.5846, -0.6975, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3415 left_y=-0.2185 left_z=0.0547 left_yaw=0.0314 left_pitch=-0.1849 left_roll=0.0033 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.853, 5.6957, 1.3065, -0.3053, 0.0659, 0.0415, -0.0479, -1.2103, 7.0085, 1.6337, -0.0513, -0.0464, -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]: [-0.0818, 0.9382, 0.7464, -0.606, -0.1265, -0.1535, 0.9986, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.2884 left_y=0.0023 left_z=0.1616 left_yaw=0.09 left_pitch=-0.2163 left_roll=-0.0006 left_gripper=0.9986 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -2.8103, 9.9487, 1.6435, -0.0073, 0.1343, -0.1538, -0.0479, -1.347, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d375cff6acef51f15ba300985c79883966c297b37fdc2536f984057c8d92c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb00ed071f2718ebc8238253dc90defb787b0b9f9391be5d751350a69c226de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada37d4c6598d9048ff2d998959de4790bdf71021b36c7de92f54cee0562f915",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHbQFlxp8BngnEvBZFjIwsazMeYCs-6KgX2pPCBwtubbZj2moaxB50ij7JBYHA_moowk1rFE2-PEFVz2OZdC1JK6KzAce3e_E1TzC3hFAaP3xQ2yPpm_rStK1aX70nIFfvM5FWPTj3MkriHgAwqHj336-aDJ415h1BLLjN9rdfnIjEq9c5waL08SfgBleTLQK_JAmo-ODOI2Esu9WvtFDzRiBCicq8fadE5mti91kBuW-eWR--SW_ab6-w5TX1gZtHCekb7ytKeKyz-zq636YbUgfvhRMqdB5RDy0wKrkHZK9bsc_D3srmY8tyFe1TQOrNQtNQ5ZqVmfYw9xjLtCMOivcgLhbQJf3nKWlfN8s2bZ70udKWQUmwOgiY02N8b0pF5yVqbHH8A6haTPT-Qi65b-sTwcFp70pupBJ6VqoY6nC1mf0M9d6ApQyEEqQ7TydhmVKFXiz0vW301DOpdV13vicoUJNtbNU2L8KejuLavZnkaNilxCNs-9wVDFbhXXIlN_RqaOyPhdScBxOF9eT2Xd9eweDhf2eXaqm7Z_ZzWHF7l5JWnsCMsBaJhAXQAdcm9NkJDicGJZ4HVqIOfbua_BqF1Gs90OLMGIfKhd1e5SsHa_lEs7TZRfUTEm_Y7zPoU_Fbo-j6uiSYeQAOnBlyxE2SToxG4fQFq3LKe_UGDcfjdUikybar6DMT4cSYM_6tb15pryIZPo9mSTl-5NSNcHV6DvNunHiYiINynzVvQUY3JDl1j2HU0eb54dVriWUiUr60R8DeD_PdlyWG8_EVH3aXlwCypL62-meG-n1_cYTut3D3mXZ2dcBhXeHuPXqDtCM6Gaed2316PpF8PAxpf61otl0_FkA_grdw96O1jdRGiacuEJfLiQ1Yr2O1L5F9gItlVIUETA2LmluI-3flLcsKU4GwDU1LYUQ-MMEGvO1q_uKc_iZ3xHhTebF4pkPc9wmPu_ZUZcUSGgrBmEkcqPOC9wL2Gj3QtaGZz3oFthNd-yC7_ldB5aJiYvhjaq90l0zzD44milDexNO5vJNRgYekRlRG4ngQDuFgA-K2UmdL68SZ2NEGPTRcC0HJPdRQfQmDfsn62iK4xY1kIDLr7J6oOpdEtG3sEnHsr2nBdNPOGANI2BdIDn94XZCJc71IbbraDMqbMURuZoh2o5kNg_UOP1G07tTZHXkTs52nW5JG4m__k9b2aom6EoJ9RnRsvWi0RQ0Tm72bIuKmrf5uj3_NorwNp6j_PK5qXfCAz4SLaPM4oteJBBXXWQjiKSzH9QMjMMb4goJSiw6k9vkD4ODOerfwP6fEposeqCfteytvH6Sjzssuy8-qtDmxZF2C2NmwZ1JXiC_XxpSUJ6OYebnmITnm_JZpdMLziPrPkXGpv60A86XWXOf3bakFnAz_CmYPn5PF6Ic9zTlXi1s5TzjUUKV21HHP0BBBlv4m9_kT62SA_oY4cf4ArxSQM2qoykJrdyOqHse4DXAZc8yxU0R-d2-JUJkax7RZZtp5FhXjziWME54cZB2SaDwaQXb63HGI3lnmtBE98HcMhSLI9fV9EvA3ousvXLymNJ17Bgv-kShU4gnODf-leTtL1JyUzyxOqSCkmI8BK0P3FNREFMiUWmy2pgtUbmp-nUzaXaaQr7Yh6jVY4gyXe9TowIZgrDY78M99-RgEWWBuFDCgnHTYKN3Ts_vddPRHJLjFmUhFKle--1OCBx2-TBb8GmdIfqJzmzNk-GfUeedle0myiTt-obo3d2umpb9-7kuTpbXfH0U5eaMeaRA2oQXDdJ2CFlnKGcD73-Smp25gt5sk-ek0vG6F1nw4KYfG6iDoBaHynFxuTUHQape9RN90-LF79cHq2UhVjHzaBkLskkoPyTC6-0rru9pnAa7wDNoke_-WYTVQxJNI-DyaOMb8Ti_LKsEGbGhrytenhhvDnJcY5DrTI4sS7QOfgC0WJmtn1-BE76PnN8VQIK4wWigk_QeILeUmiWTYohSy-SpImokOK27CbYPoLG0uzReuzza_SzH6AxyEtSZk0oldGoLh9k7TrXLS2x_S6iDbi3cXLY96kCEoXNzUfcIj4pOWexrZPzPkiwW84Z0KaEo__K2FTRX17TqOFCuv0yDKZJV3rhHpJXYCbPZ2TMFxBjA3QzOaGUsbfRJcm-1jdVTnlCZezcqWS5QHY54CxCTWfxAwdVi6UWo-pfADhafKMntuTJIbfr1mTcZV3Yl43ubmPyI66ZDk8rtBaU3wSsEwLz7n2oQHEz60tCRrnjPXJP-r8keV_nQd4k0YEXRxw_Vjo4wPrEs8lW1QdlvPExXVwftehibdGiKYVFBVMTEc_KqMg2JtG76f0YzCG691MtKkcwGa9T6kRiCf7KQVOjCT_Zd61piZrCKKK9ceKvF3JjWjA1Rbr-8bGp1H0xS765S42vdi5zSlBfQsiwwoWp1N1ze6Pu19c8f93-ROaWNsauAFiziSQbEgK_X85w5ZyeC3EfYT87eQxWSM3gHNTZjNMyJirRDdiNUAdiRG5UBKIL1Lr4C0xAVY9rwPYjVwz0P6FyFIbZVFZmBYSzRUDalbsCtJY6sTSGtBbx4sF1H22AZs0VQhEnXCCHKXiEzE557l6xBGB0rDVdvIjlOTOt9OQ3owtcGDAuGxFHJtN4gggOEWBesFVKomEGc-m72Znwzs8Jo-Qp3iz_wcvEc8u53FZR7afT2hcqEEFNcbf3VUdazdmpmFIv37TGiknb2tfDh6urLtpDF04JbHS8QZXoCwJ7HLKuFom1MJxxX-DXIWjqfD_OFpKtKi3EbFtFqhvJOogpvfJVCocIVKYIXpI4BsS7EThTFHhRxM9hVRhI6xBjUUyOyRCg5Kq01koidN4xrd7Nct6l9JBZexfsnEjntdIZ7B-pA37E5G7lok-EIoDxs6wRGTSaHCu6okXBCvdu4tmZGoTMGmSZZrww9BfE6yIEKSpan5idu5F6E2D4HKqsX3T863yO0idds1vVtLXBEQCZvIDjo-gvt-IAqja0Cg69yc1uV_qalCv89SweBO4kCPokSd5Ol4kqAUkfe_j564H_TFIQ3EZqQO9qoIl9PmAYzgaFlhxPEWOmKgHEUYpBUSnS7JHnUspF1OAmJK_dDm3vK96ODMLW9OOLJ7YTo-fqmEcqGlSXEZ357tZbq_KttqNBXnn66luwyPL5w4e-6BYm_QPGXfozCmYMuast7amoLrLEfdEZ_kZvfogt34hEw8mlkDfOLmANYt2qL3AZzFfVz2yboqr3pQZDzlbpUZ8S8FvHi_k_2ZvPL0bTFIi6fCFLkPxAEhQr-BChJsVS2tfab02y8rVMCklNX1YBhXa4f9wX8JWP0sShl0JrlW8IaDIS_LZvcFFuCm3Ol2DdIrt6HjTA6u-xmpKpOTY50tQnE5e8Lr9nQ4YxKXSIv60SRVd3YBf0wuUOStz3RY7z_ev1BfMduNZI8HENm-VOjKir1KA8yM3GJWoAy9X5rMRbNl3SGwV8ouj9mxFpDuv_c-ZRyIG5E8bD5z1kSRC4SuHZiSI6cyxgbpYp7r0NgPn5q8flpert0x3M9_el2eB5hx8vaQm3U0pQliTihz4rJ5Er6RmyFoJQiM_XBog-144ZgszlLBVoi1lt5-gUNk9ZdXxaxoOvP3jX2CREZMK1JwSUiZgbEwTf-o9oYajUdbtUTYg-sYU5EFl8lYGP4FFIFD6KtSv95awiaMR-mYN8aNyUWW3Yd_Otsf6WUVylQVaZT3fhEPI797r2L_4AzSSHfRZ5q5r9OZ99cx7DIefXPJq6BqYF6pGfQ==",
  "id": "rs_0b5ddf015159a2e4016ab441d5e63487d0be4c09de2b625bbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.0,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"With the arm cleared, the purple bowl is adjacent to—not inside—the green bowl, so I will correct it after reducing the remaining loose bowl count. The pink bowl's right rim is already near the right jaw centerline; I am advancing and descending the right gripper to the proven low rim-pinch height.\"}",
  "call_id": "call_r33D4kxfjkhEl9MrLTLqgH3b",
  "id": "fc_0b5ddf015159a2e4016ab441daa2f087d08d2315b893961910",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r33D4kxfjkhEl9MrLTLqgH3b",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9432, 0.7479, -0.6239, -0.1135, -0.1505, 0.9985, -0.0181, 1.3922, 0.3172, 0.3058, -0.0166, -0.036, 0.9992]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1577 left_yaw=0.0776 left_pitch=-0.239 left_roll=-0.0043 left_gripper=0.9985 right_x=0.3198 right_y=0.0007 right_z=0.0134 right_yaw=0.0011 right_pitch=-0.1903 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -2.2769, 6.6803, 1.6484, -0.2027, -0.0806, -0.0171, -0.294, -5.0256, 5.094, 1.9316, -0.0806, -0.0562, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7e0208a6903e15ce3197296cfc67a22332a308b747f055217687065894365",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2c454cd7e50c2b73d5be653a74d057d20cbd76ccb1f390c416824281b939ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5f4587b90cb0cfc7f626919f0a10b5dcb979931423df21503f1750ad3477dc",
      "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 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8223, 1.6936, 0.8921, -0.1421, -0.588, -0.6868, 0.0488, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3421 left_y=-0.219 left_z=0.0641 left_yaw=0.0232 left_pitch=-0.1657 left_roll=-0.0067 left_gripper=0.0488 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.8957, -6.4615, 7.1316, 1.2039, -0.315, -0.0855, 0.8181, -0.0068, -1.3607, 7.0222, 1.6337, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0818, 0.9382, 0.7464, -0.606, -0.1265, -0.1535, 0.9986, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.2884 left_y=0.0023 left_z=0.1616 left_yaw=0.09 left_pitch=-0.2163 left_roll=-0.0006 left_gripper=0.9986 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -2.8103, 9.9487, 1.6435, -0.0073, 0.1343, -0.1538, -0.0479, -1.347, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9432, 0.7479, -0.6239, -0.1135, -0.1505, 0.9985, -0.0181, 1.3922, 0.3172, 0.3058, -0.0166, -0.036, 0.9992]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1577 left_yaw=0.0776 left_pitch=-0.239 left_roll=-0.0043 left_gripper=0.9985 right_x=0.3198 right_y=0.0007 right_z=0.0134 right_yaw=0.0011 right_pitch=-0.1903 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -2.2769, 6.6803, 1.6484, -0.2027, -0.0806, -0.0171, -0.294, -5.0256, 5.094, 1.9316, -0.0806, -0.0562, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7e0208a6903e15ce3197296cfc67a22332a308b747f055217687065894365",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2c454cd7e50c2b73d5be653a74d057d20cbd76ccb1f390c416824281b939ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5f4587b90cb0cfc7f626919f0a10b5dcb979931423df21503f1750ad3477dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHgCtOAocdssmbdFoFvt9Hg-LO92-wpM-wlAfBcWbUZM1b9AKVjVcYGiwHz40Yxj89DwX91X4BYeEacyVd_A9cqcAlLft6ZbVbpl8YxohlCznEXtXBeSQvkQxH1wsqVL7jrOUeuQ5AAunq6-_mABvRrNKvctEVBGHTZvY9ecCh4AmHuOlOg22WMaO88KImgUkKf_puBFtU5OQmBfHBibkJgqipMBh6PKTTo4ezBroRXl0OpNA-c7EPTVJBuhZwvbQegNfplRWWhgcWC8FLzzJZXoN72udosAE-x0myvU8WXTJV2bUY447IsjLAp41qDiy0_IAXc-sm2Z6_1FfKXoatVAh4cwIwTAx85P77v8ezhJNKl8b7vSxPTKfXI_Wy2AKjdEVK664EDH62c65RnJHP-ngnz9Rf9wKxo7JXtXuhE379YRlGEBbE4-ZME812uhlFlMlGq1Knqmi54pn0BvswQvi3F-8HOhQ5wbJiNKmLGr1IfnOwZNHI4gXkBK4Msm0XK4eJWN8U801QXWd9YVTB1fQC_zPj2J_YQDAI-RXSVm4HyYD2BJx6N0xOBjHQhKpeOn32qoXBrHbb2pfBCTxIV1mVqsFHHHnEqq_VBZjOOGetHNNIk6Cqwic-EIsy7ppbqoauNGzaAYQDH-AT2f9PeTlQuatjEc3c9HKkJVZN542PUotbCHv2FsleG8Al3Rn7pczdGjtXY9Pc-LuVWSwCm4HT4TP5qCV1F6R8Vdd8vRJJth-2RNwvLwnVtIaM8tIgcsrQfjcNuIC8TcLvr-4XPyf3hvP1M72O2d3JyvCWhpmfSeUBwNA5wXe7gU1fbA4lSeUARXrw_vw91lwmQbc0p25G-xmij3aklGPqKlzS9q--4oBP1F_ntsa1Or_A2o2ccHqGaBCl7eAZLmmB_EzS5qBSTi30W9kK9mEH0dlHQNLp4PaIRI24wnV3c9tCQTJQSocXhxEr4yVh4_hwjMZoI8qiWB_Ij6l7b4q8qjh6gC6maqpj4nljmXe36ZMtwG1nhOJBpAkOLR79bcWjrC_4UK6Y8L-uKNQ8UfoaqmTkWOre6Tdlu6rOJwOErQpGmfzxabEoChIfggoiHNYuoQICncslb_D765q3Ep8Dy_TdIUjwukpl7B4MMzX_0T218DvF_gzLjUVnSyzB1eBqJ4Dmfyv2e_EzIYFRZDcJPan8a4gBraBjqtZiWX0Fx4dyBzgFVszaZnD1VZ4Y_aiZUEH7Lz_-1ivkcksBSkmQzDej24x9gw_pQ9Wn2tqeGx7gOZuBwkPigP2PYzPjVqOODr1cuSYaZ0VDM8dn9hn80erorIdvlyK9c7zHzxiChONQ_M505rgdDUZmwNXPkSEPs-CpsGYg51gLZDY97sfvoow4l_MROBER0k41Jgwfw5QqtKivvXsesXWW0KSh9pss0DsJQHwpb5-qRYHe3NDVv5jXwYIYmC2H2faiE9MKsvJOzynlLoE9C5Dg41QLdiIzP4khb8KwNFkkjfEboCj76-DXb5CGjBPiT9E0KFdbOy7QFY6pEZbMU8QPejmyFz6nhdMUMQhL3Oan9a9xSuQ-Y0YX5t06WpoEouTz-qxStXbyumBLv6LgOaM8SZFH8HrrcI7BPxHPQDgQ8B2630_rtBrss7FzkbfQBeObKkrTIPgz_jcYUVPkUYkQ91piFl25095sLq2hPLqagHx3AKUEYhmiNr_P2WbPwkcTg-e5nfiqKJSuQizol6cU-tnchgl0ZUOrORPO9T3l8uwGpfbTovSShEv7RIKw7wr4-bALoi0z0H4eyYJs_5e9K_v4pdDN73XACwxKc0NfIJ2K_bVb3ZLuL_D7ZILtQ1tlnz_SBZ4BG72puNSM7lifPmgsalfaLXKYF6VhWZU6880AkUknbUePYLEr4dhQrFBm4bfUOYHfYCDigqqPQp9m5QRn8vQeAwFNRvWUDFlkVZ85AVXnbrj0zrcsUm5YBwODjb0f-BHMjMzJYBu0LMgrYLeZI7-Dwt1dooGbjXIzufTHQdWV1ZzTId_c=",
  "id": "rs_0b5ddf015159a2e4016ab441ddde2887d09718893609537e08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.04,\"right_z\":0.03},\"note\":\"At table height the pink bowl's right rim appears about 4 cm left of the jaw meeting line, so the gripper is just outside it. I am shifting the right arm 4 cm left while holding the low approach height to put that rim between the fingers.\"}",
  "call_id": "call_qdOh6vcZG8RDURERuzkdPhGf",
  "id": "fc_0b5ddf015159a2e4016ab441df936087d0b79eb2b16b164e5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qdOh6vcZG8RDURERuzkdPhGf",
  "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]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1673, 1.343, 0.3408, 0.2329, 0.0761, 0.057, 0.9992]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0785 left_pitch=-0.2402 left_roll=-0.0071 left_gripper=0.9985 right_x=0.317 right_y=0.0435 right_z=0.0239 right_yaw=0.0557 right_pitch=-0.1877 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -2.0991, 6.8034, 1.5263, -0.1001, -0.0073, -0.0073, 0.2256, -4.6154, 7.9111, 1.4286, 0.2613, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f178e7b78501209a93ee52f71b1343cb77f4f519b5690b9568e4023af5e67e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beef184a601b8fa3342d5f3b4e272e38f2a0c7fe39ffbb4ae775e0814eb57ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ac537ae78300439969c9b982d0be22f80a565be1379ce461fb74c95defa29f",
      "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 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.7203, 0.8955, -0.1448, -0.5846, -0.6975, 0.9946, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0349, 0.9992]\nstate[eef_state]: left_x=0.3415 left_y=-0.2185 left_z=0.0547 left_yaw=0.0314 left_pitch=-0.1849 left_roll=0.0033 left_gripper=0.9946 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0005 right_pitch=-0.0744 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.853, 5.6957, 1.3065, -0.3053, 0.0659, 0.0415, -0.0479, -1.2103, 7.0085, 1.6337, -0.0513, -0.0464, -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]: [-0.0822, 0.9432, 0.7479, -0.6239, -0.1135, -0.1505, 0.9985, -0.0181, 1.3922, 0.3172, 0.3058, -0.0166, -0.036, 0.9992]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1577 left_yaw=0.0776 left_pitch=-0.239 left_roll=-0.0043 left_gripper=0.9985 right_x=0.3198 right_y=0.0007 right_z=0.0134 right_yaw=0.0011 right_pitch=-0.1903 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -2.2769, 6.6803, 1.6484, -0.2027, -0.0806, -0.0171, -0.294, -5.0256, 5.094, 1.9316, -0.0806, -0.0562, -0.0904]",
      "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]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1673, 1.343, 0.3408, 0.2329, 0.0761, 0.057, 0.9992]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0785 left_pitch=-0.2402 left_roll=-0.0071 left_gripper=0.9985 right_x=0.317 right_y=0.0435 right_z=0.0239 right_yaw=0.0557 right_pitch=-0.1877 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -2.0991, 6.8034, 1.5263, -0.1001, -0.0073, -0.0073, 0.2256, -4.6154, 7.9111, 1.4286, 0.2613, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f178e7b78501209a93ee52f71b1343cb77f4f519b5690b9568e4023af5e67e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beef184a601b8fa3342d5f3b4e272e38f2a0c7fe39ffbb4ae775e0814eb57ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ac537ae78300439969c9b982d0be22f80a565be1379ce461fb74c95defa29f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHkOZPBoERwqaFlVpsHvLoj6wdOaPOXZxfv2t1apR_OE3aJDT06jDUSgsT3skTvNmrvqh9JAeRckbOyqvXuDG5PlQJmoJ2_GBEL1FsBI9Kskq0Asg9dmklsl9yt5lu9yLH_7zWHxOcr-4NpOgY4o0Xzs2fm13hb8LXsaVobVM7MTGSNT13ytmLTr4qOQLPo5ksW0fxiD0zPCmZmmTPN3yzE1PJHTt9J-rDPsi73lxEcP0zQE1WMgPfhegPFI8wqpJ7pL9-V2WW44j_vxQ6dBZABDkvwyPq6HlYZRAa-SDqmZquY_Nwh-4KIlF1F1Dlv_wnuB0C8nuPKy2PI4q52RNLXhz4X6nUwMZB9pbB5X5iLGH9mEPE7Y6wNCcSkx2nbCeQJkOL7KEw-nbla0YTdQAI79ukNwhL8tfYB67MshbfmEBroFyYYKt7tMUb3BaEqea26s1-UCdTbOqYAOagade1hn0PWSlkebxxYsxNcxy96Tas208LajKUgpdYhX9uNVvBtBG63aQBU7qNiXkz4vdSgTCt3wBk9xZWvp7B7zrH6mIeZefqBt5Iup9GhWMZO-KxkIJTRFplRSfw9TpWDOLI1mVLUaMB2z0wetC_IEXCmKWMz3y11rqcgh5FFoUG0n0v-Ecq_GZ8szWi8tMFl8BN-XJTCt9p44jzCw1kyjBN7pwFbY2YLNsxqFyLUgc98GtLhAzsA0uVN93cl5iJudsMNl38oi9tCBowJI-Kd0F3Y9ePljssCFR6apvV_WLSATifzg-5TaQqoQ4qaHHLQs1TzGl5g_F8V8Ed1uGOrRlmxyqLc6ivpAwGpOmY7DyJuCWEj0UUYrZVPYeXh5uqnluvQ9cd-QNIYtitwJOgYeRShSwowOe89CchL_7bVQsaVf-k6EveM6rbnbQthmLVOLt-8CoRNmD8cCuLCik_6AZIeZPdf_RNDJto7IifhIqqmgGOZ3YnlTf5GBxytnxfdlUCS7G4KKxEwEMqvtt5TMDu79C564k2zyz85GGgoms7MIbMvpO-nZFXxqphHgXPxidAfXQT0rfhy1oKkLdC0pYLxXsv0GpzRo_D7NN7QXTms2Z16OYkf_4k3bWrUX91ijhuofzJI9LKJEntcSBpKZqnbQcmKUnH-mlTnvhs6frYho9DH7g75WXLmZ63HJ1VTm6Q54YjQmIeskt8Li3_Rub_2KtJXXwsimNK314ya9GGcwpKEaqybIWPd6gdkRRmY2vU5TsjuwVlwB-AItJjz9aDmYvSL6wFHD_AXpwJ2ycEoZgTUVXJvjlDHIT3ttRN8t1af6_Ha1kN8ehWKrS15a_12Xo6iQtx-P8QN61QJR8cm-EFZHB1RW_qMUDq8aTZwcvI38jdJsMdbz5R4wqmIeFb6SrGcjqSmtmc8MJy2faLDBGFciPidgPwhtJsysBsDtUDwP-AXqnf73i5c7knp-2uaRdbA6gvQflkuZ-ti8E6vW7lHjCQNRWfAsCtmHFaJqSqDsI9KhaW8ItpwZcz7OKOmw_JWdDTMlfjCKzROwTzVV3MU9qaAaT8Rx7oRP6fycXWMX0jnd0NE6tjmWjVirwCML6CyWDf7zrQ9LqTxrj08P2unWvy8uIAU6Tkgpzlx_esQ8TZtBipKf1FXaqrawVhkpEtqRFk_2FIetBnAqOJ8fDhvZMC6yCfddt-aDFWC5WFR38kaWh4ugFHs0wp6Q1PChvrc-xDqAozO_Z2knRDscPiXfx43wPPFDQr6Qo9vPaYq_17SenyImuWOoBOVdZewBM_cL9FPXZPLjFFG1tWWDyM20hazQJ4fJxP1sSihcIMSJ3SEHs9dpuRZBJTQvATUZNh4PLPn73AcGIw18j4uuD8hXtNkeQPvK9nPG3yulH9AogQMYFhNT7wG_f4fJXWTIxPxLx9b7PQ1I1THRyk9Wt69Fm40bpmoorIgyYd4aA01pK_09W3EAXrE-S79K9PK4PqD8I-pVKXIEfistMWn9IPzSc8Mjlz3cm6Mn87--8Tegab2Xn4DzwRrskoEhnGQ0ImMZCBFmGQChN7sS2-inBDo5Ransrcor0ph8oeXPg12O77uaXz9o0XrnQl68s3Wrix6iVnCT7_uGXwHVPnLG893GfZKX7Et3WE-JiTAPt50ksHf6QmaZKOriav_au60wYf8GfZeWhPAVCQSEOo_ZYHwksRVao596_Le0HpE0yJL0OI2QmqsUkj-VLe_Eh2mcT09BcBoHaKkazqXkT6JDek58E13HQJLei-156hYMW0jJrm2bfLcxqC_vakcur97JybOK8BkVrLz9lX6RtPIeob4dTFLCvooSZ0AjQbz1BBMcg==",
  "id": "rs_0b5ddf015159a2e4016ab441e1cee087d0a71a67e39886a2dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The overhead view now places the right grasp point on the pink bowl's outer-right rim, matching the successful low-height rim geometry used on the purple bowl. I am closing fully to pinch the thin wall.\"}",
  "call_id": "call_WTt53iOYugGi6mIlPPOn9bSe",
  "id": "fc_0b5ddf015159a2e4016ab441e44a9087d0876558743afc544b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WTt53iOYugGi6mIlPPOn9bSe",
  "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]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.168, 1.3411, 0.3439, 0.2142, 0.07, 0.0521, 0.0084]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0787 left_pitch=-0.2402 left_roll=-0.0074 left_gripper=0.9985 right_x=0.3149 right_y=0.0445 right_z=0.0222 right_yaw=0.0641 right_pitch=-0.2018 right_roll=0.0036 right_gripper=0.0084\nstate[joint_eff]: [-0.2393, -2.0991, 6.7897, 1.5018, -0.0659, -0.0464, -0.0122, -0.2803, -3.8632, 5.559, 1.6923, 0.0659, 0.0073, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182363ab3d08547398fa651edfa8ee4740183e208e0cff94bfc22198b5f0bcc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c652efce72f614d88835974ea86c7d82200cc5873e30f25b0a8fadd95348d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b1afeee51936d6006ba0b5190f81ec525f86e192273b0012feb1ccd4965785",
      "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 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0818, 0.9382, 0.7464, -0.606, -0.1265, -0.1535, 0.9986, -0.0177, 0.8249, 0.5945, -0.4229, -0.0166, -0.0353, 0.9992]\nstate[eef_state]: left_x=0.2884 left_y=0.0023 left_z=0.1616 left_yaw=0.09 left_pitch=-0.2163 left_roll=-0.0006 left_gripper=0.9986 right_x=0.2892 right_y=0.0014 right_z=0.1586 right_yaw=0.0007 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3077, -2.8103, 9.9487, 1.6435, -0.0073, 0.1343, -0.1538, -0.0479, -1.347, 7.0085, 1.6825, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1673, 1.343, 0.3408, 0.2329, 0.0761, 0.057, 0.9992]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0785 left_pitch=-0.2402 left_roll=-0.0071 left_gripper=0.9985 right_x=0.317 right_y=0.0435 right_z=0.0239 right_yaw=0.0557 right_pitch=-0.1877 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -2.0991, 6.8034, 1.5263, -0.1001, -0.0073, -0.0073, 0.2256, -4.6154, 7.9111, 1.4286, 0.2613, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.168, 1.3411, 0.3439, 0.2142, 0.07, 0.0521, 0.0084]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0787 left_pitch=-0.2402 left_roll=-0.0074 left_gripper=0.9985 right_x=0.3149 right_y=0.0445 right_z=0.0222 right_yaw=0.0641 right_pitch=-0.2018 right_roll=0.0036 right_gripper=0.0084\nstate[joint_eff]: [-0.2393, -2.0991, 6.7897, 1.5018, -0.0659, -0.0464, -0.0122, -0.2803, -3.8632, 5.559, 1.6923, 0.0659, 0.0073, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182363ab3d08547398fa651edfa8ee4740183e208e0cff94bfc22198b5f0bcc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c652efce72f614d88835974ea86c7d82200cc5873e30f25b0a8fadd95348d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b1afeee51936d6006ba0b5190f81ec525f86e192273b0012feb1ccd4965785",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHogPyUKj84nJvqBBJwmAK2qLLut4WUCNBOgZMqGc3Yhv5tSpgmN9dwzx2BW3EbsLf77SiWVlGuSpKYYBV19J_tOD-Jx0tncg9ni23vy5FprVlYRzffG3FJdHiAA2Fg2xDftjIPJvUVApleG4q8ynV6Ig0PMlsTHelHxtMe70Me8dlynMrikyg5KkaT1aoGwF2B3kdxKK9zq9ERdiXpQ5QLov5Na8QBZOKiTYhVWin3fPlh8Fh6n4k15glNYVsPPEUIdO-q_grf9YpwdQeR75CG98CPwwtZ0T9wJnHTjNbLxttnJNRYqqYAqh6LkU5z4XAZpkNOVZRlFPbA8rGyZ6em1G00Mb_gzA5ibIzqaZGIlBqj-jtVjsv2dKjJ7526Z5C0Rrqynm9S9P51Zkdjclx29B_ZyfPlCi8PSP8ZmEXfd8EfDsSjVficsfRH1d8ek8z8wXl6w5VxtdACCQFiHWGY8elMdGPCMrBVVKcjYjB5wcgSqEsj-Am1nJauxJA51SeZT7ZsFo8pVTvzo3lTOlhu_u47lOR5aCQSsRRk8RDIF_Hz89KVg2ECipw_BrqQE93YjV1hIboKHqipuXzPQ3I2Wxy37EQTIyoGTjOMZYAwoNDX4nNS1zDqU19X9_fO2x0ttUOptl9bJMEQOAu-zgMsnE_RUkzXnHffwSSbVKcpw61XU899OIu7LwWmMbDlr5UfpzL70I01esJpA-VrPmw1c_idR2a4Y9mUIOn5tgUuPK94IobywFwVzELC4ZWLvfPa3xrM6Myer2tzXcbD9SXXhDHhXzXG7KVl4BWtpOHgoTaVvNiiWLCOIkrqOwiNuSqAUEUzgwINLLYSl3xp-5FWnVfphspgobjPQLYis7xVjnAg1ERAd8ohsTRXppjoNB4h2yqj8tiai8hIocHFCJ446XGtUJV7QdHr16xBfBoWkP-94nBA8UAN3BjNb3R28Z7jk-tCvC3Ghqeo6yt_ZBSENH6NvrF9TYquyBml1NpYi0G7_qFRd9vLYL5oPwD7sPtQu02O88QetHkNY_dHscryhdlTXYMc5MVOsWKVqudVgzAqp5F8yB6FY6B8ItrixFId5BIjDlVfaGRvE4lQf0gLCgHel2NwfjrgONHJsF3NyoRVIiTEYFR08ux7wrk2dkPU2TxOG1pLJ3a_44iCUSHKz5vURDbn1yjmA4uuwNw4qushn8QGIHe_EoFM7phbyxxUW8nDCNCxDu8aWKdkICI0rLB7j9rS6qsDSPkLOlhplpfUWtiMbKVqwyIHTAl1JitIsUUfD7_kpKnzGybkGI0ZHwZw1awV43F050PXnPkR-xyARQ3pwyP9tE1huknCday2EJ79Nu2x9kelZ3BVVgiH6Tpv20v_1NQnrPL3MkCQuiOjj82kMXHUyHTIAZFC_tby_KlwvNLuikjA6tsPawjSQIes5jNzPHciUveexWX0ts3OA7eEq3H7ZQpOMjWOnrmKZQ68pbmPHXVpPKOImL7d0FBwqXfX4pTLd83lJvMNQrMeVduIm91U3_CFDRLmvMQS_g5QJ4WpuQRelyhsIPi40txC0HNGsJ-CxwaOQl9rBCafGhflNgWLPs9pazyZThhoLiQrIZ6LC3DXgSEd7YqqWWidLVqUl6y3jBQNvFRMLAe-okYOUirODMn0DXl-1vKCZntdg2O2g-KVCioUxxsI4xWPXTg-13xla1X5An3rLwJLSlRFvTsw-ibz-pBvyWfTnzn4TjavM7p4n3qWqPcQRx3_g11XaNj-G64dfW83ZWw=",
  "id": "rs_0b5ddf015159a2e4016ab441e6f18487d0bc8b03a9e1a6d506",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.05,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The close was empty, so the grasp point was just outside or below the thin pink rim. I am reopening, moving 5 mm inward toward the bowl, and raising about 1.5 cm to overlap the wall before the retry.\"}",
  "call_id": "call_6ztVZrc5x52oUysfEjNdmqnO",
  "id": "fc_0b5ddf015159a2e4016ab441e8398087d0b02589fd98f88092",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ztVZrc5x52oUysfEjNdmqnO",
  "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]: [-0.0826, 0.9443, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1898, 1.2861, 0.3584, 0.1017, 0.0731, 0.0601, 0.9952]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1573 left_yaw=0.0785 left_pitch=-0.2409 left_roll=-0.007 left_gripper=0.9985 right_x=0.304 right_y=0.0489 right_z=0.0244 right_yaw=0.0777 right_pitch=-0.2444 right_roll=0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -2.1128, 7.0906, 1.4823, -0.0952, -0.0562, -0.0073, 0.3077, -4.8342, 8.7179, 1.453, 0.1538, 0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5b719ec6ce3d44a0a3590fb3dbbd71b27b896e2e65b34ef7877adc221807d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b694c3bf4b30dad74a4f4181336dfbcde4cb76bdcf4103eb31ca3b0646ee5ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec8bf3485247a952b30f45342484d6aaec463b4e409cccd17145e6d22268127",
      "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 109 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9432, 0.7479, -0.6239, -0.1135, -0.1505, 0.9985, -0.0181, 1.3922, 0.3172, 0.3058, -0.0166, -0.036, 0.9992]\nstate[eef_state]: left_x=0.2857 left_y=0.0001 left_z=0.1577 left_yaw=0.0776 left_pitch=-0.239 left_roll=-0.0043 left_gripper=0.9985 right_x=0.3198 right_y=0.0007 right_z=0.0134 right_yaw=0.0011 right_pitch=-0.1903 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -2.2769, 6.6803, 1.6484, -0.2027, -0.0806, -0.0171, -0.294, -5.0256, 5.094, 1.9316, -0.0806, -0.0562, -0.0904]",
      "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]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.168, 1.3411, 0.3439, 0.2142, 0.07, 0.0521, 0.0084]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0787 left_pitch=-0.2402 left_roll=-0.0074 left_gripper=0.9985 right_x=0.3149 right_y=0.0445 right_z=0.0222 right_yaw=0.0641 right_pitch=-0.2018 right_roll=0.0036 right_gripper=0.0084\nstate[joint_eff]: [-0.2393, -2.0991, 6.7897, 1.5018, -0.0659, -0.0464, -0.0122, -0.2803, -3.8632, 5.559, 1.6923, 0.0659, 0.0073, 0.6227]",
      "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]: [-0.0826, 0.9443, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1898, 1.2861, 0.3584, 0.1017, 0.0731, 0.0601, 0.9952]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1573 left_yaw=0.0785 left_pitch=-0.2409 left_roll=-0.007 left_gripper=0.9985 right_x=0.304 right_y=0.0489 right_z=0.0244 right_yaw=0.0777 right_pitch=-0.2444 right_roll=0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -2.1128, 7.0906, 1.4823, -0.0952, -0.0562, -0.0073, 0.3077, -4.8342, 8.7179, 1.453, 0.1538, 0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5b719ec6ce3d44a0a3590fb3dbbd71b27b896e2e65b34ef7877adc221807d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b694c3bf4b30dad74a4f4181336dfbcde4cb76bdcf4103eb31ca3b0646ee5ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec8bf3485247a952b30f45342484d6aaec463b4e409cccd17145e6d22268127",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHsDnZyzCIajsjJKFAv4sQ8HdEVUiUmBB0X8Jf13gnZSpCnXZjjY4IgegzUXkIYkiho-ROPUWw4FhFBRp7A_sco-_809jUHDEZARhyWQHwjHu9FmuRR06s8u3AZt-bM90qxLTVa3lnIYAbDY3ir2kuN-RRI8Dj9rE__6RncB5oMNHZt1QGDWP6ds3ajHQ0uVmZVkwErQhkn3jQbQAhtvvU1GgI1bXOt3cT39KFsDkDb9BaelDmcFvYvttjIaw1K5vcldbN7BExU-OiSOw70oJrjZmnXFhpvnN3WpzknDQM7f0t_5jtXszm82rsLyjazLYMzaBmdUpVSmwfwHSljfJfiofuPy4a1mBXingILktZGEIk6VtbGLWxsZxsHbr2h64h8S9zZFgAeQBGqZ2lcVtdnXxj50xWmUb3CjsXynWc78UNzR52Ti7gDWSLfd4UZdH2_TtYttRx3bw257Nk2B6vyxX0mTRvCDxRXTRLl_crWsfexy4YjPt9KNuavlMYBs0uvZongVeVQMT5l256GJ_ouhGoSGE2RnkwFBD1aBfPD-xsfUfX4d6Po1r-k37l5kBIxUsaXZEPaNy0De8PWGWvMQXZoymTYm7cU0iRO9D6sm9tKfFxroVz8eXRjGps5hU9WDV4-c1926CNH8_1VEYyt8Flu85TFRbm7AcQgAqWWOTS-va3zKZPefYvwHiOSlXrJhzpgp2_bzF6cZmn08sD6rrHFF0sPRoxqMXTAXRSWhpc0BAVSVZMyw3baz-92G-yMqmK_45ucj9cTa3GNQm3GUtkuBZvCDMmQ9k847L9TZWeoKlsEGKHFta1QewsJHAbN4dDz6n73Gbj7k2P-deRrX-16xXLJrgb8zgoAyl7Qciwn0nP6Fj9WiuM7YUqFk8N0Ajj4Hi8njnKoQ0pdWPbF3lFwfHMPCG-NbyoZh4RNLwWkUDVClun9zKsta_E_1dfPzyOHOrVm66V8O8zxn8CP4mO-Izr2upHMmzF7bewcKQVJ9CutWMWydaMNuXuyX5GsHbejE6qNpsOphV1jvH02KwH9-ynVXzsqyddwrbhA4f0KpMvyVeS4wPV43aSS3g9nXwSjDAjl6K3TjweQ8y9cqBfZH3hGs7R0mDVVsh4r1JUjtxZEiA9m2kjw3A59pcZRcUJEcdN-UdRNtwF2T4AMycZL2bBKaK05Io0pBJN-GbalIjMHGs9n2PhVwZXEgR4TE5G1uzyR6jLoZBLgW_1bwU8_LltZOQmsuKrzFy19fSJuLIDTHlPI1L1xH4eygSq3QY-1V3EK_d1IJUgFBEqbwZzGdWfkP_V5CVDZOHVYClXwkDAK6fCW3lGPPrlW2K95yYmb10b2TD5cnIjhGtw4lWrXE-7GVOHNRxRGHsFW3VW4jR-29Or23zOPK-X3_tJHbeHS_LU0KRMFuNCWJapYZHXhmb7UJkGFyx0DmFt-ESwLtdSic0j_5yaccA6lHUYk8Enql7hM7yZ1nNMy_Z_5vMYvVtNE93W7OngVNbYAMjVqFshTqJigVWmrXqZT_feF",
  "id": "rs_0b5ddf015159a2e4016ab441eadc2487d09dcdd23f82ea3f0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The retry pose places the pink rim directly on the closure line with one jaw over the bowl and one outside, at the highest height the contact allows. I am closing again on that wall.\"}",
  "call_id": "call_x2trLsAmwKj9tw6uEMs7PLRh",
  "id": "fc_0b5ddf015159a2e4016ab441eb899887d0b24d1493faf6ccbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x2trLsAmwKj9tw6uEMs7PLRh",
  "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]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1898, 1.2827, 0.3588, 0.1009, 0.0666, 0.0551, 0.0079]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3041 right_y=0.0501 right_z=0.0253 right_yaw=0.0861 right_pitch=-0.2419 right_roll=0.0041 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -2.0855, 6.7897, 1.5018, -0.1001, -0.0708, -0.0073, -0.1573, -3.453, 5.6547, 1.5214, 0.0513, 0.0024, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec53bb115bb02e99f901737247da36cf923396f6d4c63be3b966835e56f78370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bebf13bc0757737f6c5e9af3415d8bfebb8818568eb8d3fbe21efa5ea9841be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8cc12eb647bab058d8223caf39b326d8b1cd4d34d4966ae45d20377f563aa26",
      "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 113 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1673, 1.343, 0.3408, 0.2329, 0.0761, 0.057, 0.9992]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0785 left_pitch=-0.2402 left_roll=-0.0071 left_gripper=0.9985 right_x=0.317 right_y=0.0435 right_z=0.0239 right_yaw=0.0557 right_pitch=-0.1877 right_roll=0.0044 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -2.0991, 6.8034, 1.5263, -0.1001, -0.0073, -0.0073, 0.2256, -4.6154, 7.9111, 1.4286, 0.2613, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9443, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1898, 1.2861, 0.3584, 0.1017, 0.0731, 0.0601, 0.9952]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1573 left_yaw=0.0785 left_pitch=-0.2409 left_roll=-0.007 left_gripper=0.9985 right_x=0.304 right_y=0.0489 right_z=0.0244 right_yaw=0.0777 right_pitch=-0.2444 right_roll=0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -2.1128, 7.0906, 1.4823, -0.0952, -0.0562, -0.0073, 0.3077, -4.8342, 8.7179, 1.453, 0.1538, 0.0562, -0.1587]\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]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1898, 1.2827, 0.3588, 0.1009, 0.0666, 0.0551, 0.0079]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3041 right_y=0.0501 right_z=0.0253 right_yaw=0.0861 right_pitch=-0.2419 right_roll=0.0041 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -2.0855, 6.7897, 1.5018, -0.1001, -0.0708, -0.0073, -0.1573, -3.453, 5.6547, 1.5214, 0.0513, 0.0024, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec53bb115bb02e99f901737247da36cf923396f6d4c63be3b966835e56f78370",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bebf13bc0757737f6c5e9af3415d8bfebb8818568eb8d3fbe21efa5ea9841be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8cc12eb647bab058d8223caf39b326d8b1cd4d34d4966ae45d20377f563aa26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHwbOMRn13JhFWGNm7NyFzWHklkOrTPVY8prdEYff8yFU_kn-X2L5QMOeDLyq1C2gegG-J1u9VP44LKaDvz403SCJD-w0YA3UL_MbvG32W6L9cSGHKRK36nICbwblU-vFTDo5yQFiROUzR0wAYhUIHpbWKUVND29EO83yszVnT4JYmzeJTlhhnbYzhXt6cNYO3ZmXc6k4tBFvg8C4JzgK6y_lWPaCIClCXKz9yhifbK_ZhcnV_CYcvP_UBnqLpQ3DHdBbJAW7gaFiNAI-SDTiCTUJL8M6rYZdu_M2Z9EDGOK-8HtAlucmk2Ju3Q2j1_0ltEDSgJf21WPiwZ8nB1cnGC2IK03SQOzAjJw6vSWjntEHzhItpGqix7okbXKHlCeJqDSVY8zjskT3ZJPZ1o6f8B-y55m9yxWfL1R6NqOlAwabY3HhQWBfsba3o7Bi_vayb9DJhooI-LMwRPLoecK-IVzqmEj_5ypGnPiYxzJLZOQOo251n3UdXrOMr5i93q2k4GCkb-0laRIz3X5J4iFZm2no1Y3k7y4bvmQjLpl2kPT8EWHWvZ2FYQjQbsOJIIQHkyrzhmVAnfkoXgPx7D6TfHvb-fxX54vaayLBAy47sRPieCDZIdSXCab43DmVHyhytWT32h-18sFKCxJmr2KmNPfF4j9OIca2oTS-c5sxlSMD6N3xnwxcrHyDePUSXe2Dc-ZgJo1L51eZ8ZnVespZjY_qvvGLTV1MjllD4qh24QVrYPkxG2XDtvMVogJSLkBaKAYHm91ngdpImtmwZECh4RiS7tioxA008snjir-7Yb5_aGOXkSnni7eIWAEPqIrevjAZbQ6aDjpnIrnw1mhrYpTVEAMKpVTqBOv7gLrXtzA9Pngw5ncsUaPlZKXUB8UTjas4T7rw8F-u9xBx2s6QbPhcGpfjNMxVql7EOuU-FQ1xtCRa1Cna6vyl-0l7fQPh2XxU3ilNKSaZHE3QygGGBKvbHOx50nZFMZBOVvpsk_LAa7prxvKfAnNHuTNhvqky_EmYg0LpEBdZOs4LyAYxuTOliT5PizWE4h_MhuC1iIEBXwqBgyqruOC_EfIRoWovSsR13qlPpxdWvbsX4mRe_KX5Cqz2xmhASzmA4mAIwwh57ap0PubomxXe3P1ZeaLmdm7a0pJbgwvFbg5LdOvU5xTey11WkWmjCWuzsqZn-ZAn5DwTaqS8-33kClBBIgh0oH6ewwEVsjsWBDtr6JNE2r7RMVkrD9nUnqNvdKtp9SyWzgZxgrgeQbwKTJP4FKMMWJWrUt56MTietTr55gdQopkwLV3Lffe4m3iKNGU2aUTpYTvq8eqKYhmmMIhfISoRt5lSz5Wv8cPAWPSmdyfQgojIc9zm4u6JnfafrUH32O7K00hBxkGus3sZqLzsThbPJh4nShGmS2oDohrJzGs3azkANfMcPY-2n4KKmxKS-fCLafDI-FXMTTfHD7gTjczVHnAyNahDdrsQ2V9SATx6bzUKLRYf9zK1MDFx1rBeqScE0OHc32XGM6ufPQUI573aWJ5CpIPeWRj1M1GtZ2S3QWlZLyiwmCsEUcTUaPu3tiTrbuTPqd2YLG_S1FBVJs8k55DMzgXhv1Kk3lm3H_m4Qx6k4GN8kviHip3o65ks872eZg1T-CT8YeuRnV3QjCX7bQrbKZyOZtrBVQCg7Ny34yueF6DbCbjj6dyYkJT982k2Io1zE7wIZgtPjMmUfLO7yneP-MBkhsQBgw85Fy8aAMxaM9PEhDX6iSbZS7DzKNJNKO-fYvw9rSa1dLHfQfPWGLJMCukFUoUDFoZdazWyJwvtk8iBOq-7xRM3qHSnPL-K9WQyAXbXyH1s5nzUqXvDw8EJyrf8em66FArRkZ1Pyobd3OkrnXZ50uHyo5djmb5w4wgous_JqFc46Eg9JtemFZr2ZCjgnE-3fik-gRjKQgy47iOTqEIr5hcPgsGgs7K0GI7tUtsOL8Ajl_CODRWJW2uR-nAM1iaJ97dSjCi1WPIH1zJDhaqXecGpMbTW6CJO5go-cMDkLfXAW5g5qxoUgbCzbe530JetT_-tqSo7mN_w==",
  "id": "rs_0b5ddf015159a2e4016ab441ee8c1c87d0b3fb9a066882658e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.05,\"right_gripper\":1.0},\"note\":\"The closed image reveals the real miss: the rim is aligned laterally but ends well above the fingertip row, so the grasp point is still a few centimeters short radially. I am reopening, raising slightly, and advancing 3–4 cm outward while preserving the rim-side offset.\"}",
  "call_id": "call_jNIy0oxjmizyrJeMBkrPFhoA",
  "id": "fc_0b5ddf015159a2e4016ab441efe71c87d09626f5ed00bb66ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jNIy0oxjmizyrJeMBkrPFhoA",
  "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]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1635, 1.3598, 0.4995, 0.0013, 0.0441, 0.0261, 0.9951]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3274 right_y=0.0497 right_z=0.037 right_yaw=0.0949 right_pitch=-0.279 right_roll=-0.0019 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -1.894, 6.9949, 1.4823, -0.0952, -0.0708, -0.0073, -0.6085, -3.9726, 8.6769, 1.5311, 0.0024, -0.0171, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547d6a1572352d6f19cc13379302fa6d71afa0d30bc80713f7d4270334625040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91fa423945634381b98ac441e8405d971c6ece95775cf2fba639061adbc22049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffcf6ba8649e1a7f12b5d9d8a29f3c77b5f68dff994ee035a4da755c42699aa",
      "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 117 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9436, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.168, 1.3411, 0.3439, 0.2142, 0.07, 0.0521, 0.0084]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1575 left_yaw=0.0787 left_pitch=-0.2402 left_roll=-0.0074 left_gripper=0.9985 right_x=0.3149 right_y=0.0445 right_z=0.0222 right_yaw=0.0641 right_pitch=-0.2018 right_roll=0.0036 right_gripper=0.0084\nstate[joint_eff]: [-0.2393, -2.0991, 6.7897, 1.5018, -0.0659, -0.0464, -0.0122, -0.2803, -3.8632, 5.559, 1.6923, 0.0659, 0.0073, 0.6227]",
      "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]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1898, 1.2827, 0.3588, 0.1009, 0.0666, 0.0551, 0.0079]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3041 right_y=0.0501 right_z=0.0253 right_yaw=0.0861 right_pitch=-0.2419 right_roll=0.0041 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -2.0855, 6.7897, 1.5018, -0.1001, -0.0708, -0.0073, -0.1573, -3.453, 5.6547, 1.5214, 0.0513, 0.0024, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1635, 1.3598, 0.4995, 0.0013, 0.0441, 0.0261, 0.9951]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3274 right_y=0.0497 right_z=0.037 right_yaw=0.0949 right_pitch=-0.279 right_roll=-0.0019 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -1.894, 6.9949, 1.4823, -0.0952, -0.0708, -0.0073, -0.6085, -3.9726, 8.6769, 1.5311, 0.0024, -0.0171, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547d6a1572352d6f19cc13379302fa6d71afa0d30bc80713f7d4270334625040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91fa423945634381b98ac441e8405d971c6ece95775cf2fba639061adbc22049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffcf6ba8649e1a7f12b5d9d8a29f3c77b5f68dff994ee035a4da755c42699aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH12BrRlK5rLrDtPIocmil5hWhH9KouCm2mMQxRMH0Zi2zHWaR63TA-gGRg5b-0lCRxE1o-899IYaQ7umBvShB_Ecr8G_wZFSquLlcAMiuwT_7RfkgzMvjGhNFvnju2Mge6KUNIi9F03Vh-tmKH-A6AmY_0jyDaI5-g6l-KFIpse41-QFhQJWzUmUoXs8RN2Bl48FGHFCBxqzZ4MDeNKFlUbFzWQEs5-Y1dMD7dg6A_RxMFJyCITJa5aIjKrQdc_i3A23wnQIkCf5_PwF8p7BnHbLLv94dIKWFs15GL4z7AVoy_a3-iMbw1lacCKhyCx4b0QBcMob8Kf48Y_YT4WIJ0N9ogYxJYdyEQ-NTVxvMyx2ouzc4rZcnVKvaplQr_kSsNSItBz_SEoomS-HgZ3_P_punrO6JJGE1tdUqIYa_GgA__29Pn0GiL0Ezofyu1OXLNNqfF998tooezdPv9JrS6gLZdoHDfR8PKPVpwwJgQ_rFmwGI5wTE6s6zskkQyUtqZ_GVeGNzV23kGlcm20mBpajzv5rnstMcOMA_2WJVOI9_kYQROv8NYiDmC1V1C81RqMnJVETV6MATYqw7MzIaoEO-8nSB3mRN9typDeH1DBB1__E5vV97u5y0p0Bs0xGTMwzo2Tb42L7EMp_ReTNrafuhITXk8Zq9BMJ8QkRImDjupJw2biNxupnK3D5L3hi3d2quj7M93MiQWmpf2i0JG3l025ODl3_ffbdaEKdlQrkA5IudVN844XucfXcX7NS4Et5QWBWswe-N1V2SssB0STsrdczy_rITgk1xF7sD477NiAWp1XVUNLy2UbS5q9h5qsx5D2ZVAx-JnHeOD8iTidBYwmeFgn5fmvDwWP3qHDNjIquHg-73wY4_Ftgp6zZuy50g-Zr0P-z4Xmd8vecg3sLPLIsLBPJ4aw60omZS_XaXWCRT0gAyaAXrj0DF9i1ij5rkU-idBl1-LJ4MFzYAL1p4RGFolh1VOd8k8AvHHDTPqG4mW7EfVk7h0u9Fqy8ZollxTs25l96Uo8f8jAGUEAeyA5wWYIgtZLkmI-ias3PPgu10xwPmgKTeDRncM0PYNHj4gI8xqEcB9hgC_Y0qifyqKDHyf5J2lWTRaie98ztfl9pW4BV6XBht6cSHjePSrR5WCMh3A411IaXsMmnxkDlGNJhMNffUupf0FPVxp285d7qxi9cAvrOCkrseZjDg6-xVl27Ib0-7JCX9VfZ_gFrpHzRRvXI-PdauGWGyTDRbIa6OOW5bmojj0vWntFcN0mD30tFYUEbIJVp7vmUA8xM9MYSXttj3oUaq72r2ljPj7CvnVlx2_UxxABP_XJjqpNdgKjP15aJ6gQSE8yeyaVlyh4L2dPh75TLzRq523N2lZdbtL-iGHsWXAuaGxmPrp3XMovR7ggNHs2L1HsVgboB9xPZNtWkmxs2y54WV0nyO1tbJbvsSsvtsKNJUp6HY_vbP471SBISb7rd7dHL4igRoIreSrjLUbOlMepJWl8lfvRKoVOUKSk-UeF7XJqpZR7GUWkSVDy5aq2HVKL8HRqw==",
  "id": "rs_0b5ddf015159a2e4016ab441f3467487d097a5ccf970e8aa94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.025},\"note\":\"The outward move brought the pink bowl much closer to the fingertip row, but the rim still sits roughly 2 cm short. I am advancing one final 2 cm and lowering to the proven pinch height.\"}",
  "call_id": "call_H89UMFNX6245JA7G4L8MSLZZ",
  "id": "fc_0b5ddf015159a2e4016ab441f47bb087d0b070dc70d1c63ea9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H89UMFNX6245JA7G4L8MSLZZ",
  "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]: [-0.0826, 0.944, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1547, 1.4498, 0.5247, 0.0368, 0.0395, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.1573 left_yaw=0.0788 left_pitch=-0.2409 left_roll=-0.0073 left_gripper=0.9985 right_x=0.3355 right_y=0.0489 right_z=0.0233 right_yaw=0.0941 right_pitch=-0.3085 right_roll=-0.0056 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0171, 6.9265, 1.453, -0.0806, -0.0415, -0.0122, -0.4991, -6.2838, 6.9812, 1.5165, -0.0806, -0.0317, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557d265b0c31738c5e3015a9e59bf3e5adb4f302efe2793f1bc372e4ca7209dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f973eab8e3c11ba3642e6c605d671d481a756d07b218eaae8021b48d229c334b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc74c4cdfc924588db9f1bf9f65c2020b85030276cac8d48adf1b1e7e3ee1026",
      "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 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9443, 0.7479, -0.6247, -0.1127, -0.1539, 0.9985, 0.1898, 1.2861, 0.3584, 0.1017, 0.0731, 0.0601, 0.9952]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1573 left_yaw=0.0785 left_pitch=-0.2409 left_roll=-0.007 left_gripper=0.9985 right_x=0.304 right_y=0.0489 right_z=0.0244 right_yaw=0.0777 right_pitch=-0.2444 right_roll=0.0023 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -2.1128, 7.0906, 1.4823, -0.0952, -0.0562, -0.0073, 0.3077, -4.8342, 8.7179, 1.453, 0.1538, 0.0562, -0.1587]\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]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1635, 1.3598, 0.4995, 0.0013, 0.0441, 0.0261, 0.9951]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3274 right_y=0.0497 right_z=0.037 right_yaw=0.0949 right_pitch=-0.279 right_roll=-0.0019 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -1.894, 6.9949, 1.4823, -0.0952, -0.0708, -0.0073, -0.6085, -3.9726, 8.6769, 1.5311, 0.0024, -0.0171, -0.188]\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]: [-0.0826, 0.944, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1547, 1.4498, 0.5247, 0.0368, 0.0395, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.1573 left_yaw=0.0788 left_pitch=-0.2409 left_roll=-0.0073 left_gripper=0.9985 right_x=0.3355 right_y=0.0489 right_z=0.0233 right_yaw=0.0941 right_pitch=-0.3085 right_roll=-0.0056 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0171, 6.9265, 1.453, -0.0806, -0.0415, -0.0122, -0.4991, -6.2838, 6.9812, 1.5165, -0.0806, -0.0317, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557d265b0c31738c5e3015a9e59bf3e5adb4f302efe2793f1bc372e4ca7209dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f973eab8e3c11ba3642e6c605d671d481a756d07b218eaae8021b48d229c334b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc74c4cdfc924588db9f1bf9f65c2020b85030276cac8d48adf1b1e7e3ee1026",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH6no_G44i2zqKMmbhJyiXCTGsjjinLDPY_rvhlDP5bv9AvFkfAKisMMHDGpsPfbIALvM-cgXZ9tsbh1fj1xmFcE9auFD03QkUo4hpVU5VNMXPzAjtkT3OiiyBlY3I4mtULYIJY_D8IKqOFfBnNSp1d79XaG0rTy1fH8VLQFbBmyJPvk6ZrM3KrecnhKkYFUDmTd4-AIVfGO6GdtGKMqUXJ1XZ6Xynr1Ds4ze1CtR1ClrOZp5Lyhi23TijXW25KwGZ8xs7Yid6TQ8UWWvgHr_ZF-gQ9O5_0Ui1DysBvOtyf6UAlRCOBm-vMdNP9S_-x7RUCTFiw6a4BdkHXi--9pAyQB2X0fkWgrLzBKfwwqLcaVLUtphsrZ_X_3xj6OXYtetPD1mD97EaPsDNFSyrOlUHCJoGXxWK8YRClZBgFT-kusbCA2gUTC_sMYU-pICut12DZn2TldBoTEkQSGv1VLqiqCTUm7n8AFqpn-lwj9-hB8jFwShgEALeb7OxnWAdRAcTwKfArBdAWJcdICkg4jXfeHSSS5TvhAZykuixGF9zg4H2EhGpvOsATRe0yZa50u7wbHnGmX-Q5zsD_LhJg6CELQcX5T770W2OPdn6MfvGR9o5BsyJ6M96WH050UTTT3txw-N-TfwUj2dTnIvob6Shb504nB6lPVmP2sMACCZXSZn40pE2u9qfQ38noBT1KXtKF1TudN-DXJIhHTmMP78LQ58DJ-uANGCaJGbBXIV_2639YWJ-VqBWgaghyXyEm4fc4GiRFGxBO5blItghLUj1jIfbuVaS27W8aKR2WTg-KlgucmatM0MRCPabYXrycJXw8kx37puqyuuPPiAUtU6RVUB1Obxe4ilqZ6A7inaizxqXyOk64RNdDm1NBFoP0yxNvAvlOxM-lJyTFaFRSSGFMqSBSCsedYQD4bfPG9EnQM-wRdnp2FOZ_SdGt-qqeE_Q-ySS0FuV7FNyB29NTVy_En-5lzKoiBEsm2414uoUg9RkQooBjLNC7HWGFU59jDM8ZE8c4eN7l5dJSYhOJ3iw-hv9n5u9pzQ9Z0ogsI0J_e68mbvlhA05sO3YjIdkknVymqLrKL-3Y6AlIKANbUbd43jfs9GJU-b5Vaqwe4LsUeeaWzKyYk0SiXndMQulkD4nRJFny87jud4XoNyh8z_BDeJkf_xJyz7aAFaoX8W04ngI4z9uPqMcGLQqeOvVWmy4O3R9dFx7OF3yfDhCNx2QUHykekRdQluMUPAg4KttiNQivV-_ENrN98FvLdXtUZuZLMK4n1CXfI0KfNUuZbSorbiobJ0Ejg5oaa5wHUltP0N0ooeqiuwaxtBkMVdgFd8fRQMdI_kilcrgqG6ti4vxcRUvDCygWZxeGYRtuwQvYRQPhLym3qidvGsxSj4YN5O7S-yKOM4os5UQ4SxRQN6UFXpdSmU1QKIbnKtiAsGRdJCk4NnR6Ty7w_-GwE6gRPtSFvyc6Uq5Pbu7gSxlN8EnP4TgB8zJrc6l0ReuhvRqCeYOX37J3QAR9oFjXu46r_gm79Y37JeanfZEbLgQcnXZJ-JHyyinfpNYCsobkQ5rzlI1vf_e0ufxBede-o_OznQ0_xIK2spR9PkEoEJDQ6zlcQn81LcKlgWzZgV5w2iKozX78a3k0ehcjfiRpojkzVI5Px6Pi_ree2pNjvV3-uVMgFymhm-i-4x1ZD5Cjbdim3ho=",
  "id": "rs_0b5ddf015159a2e4016ab441f77fd887d0b63cc575e70249dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355},\"note\":\"The bowl is still fully visible with a narrow strip of clear table below it, which on this wrist camera means it remains just short of the fingertips. I am advancing another 2 cm radially without changing the low rim alignment.\"}",
  "call_id": "call_KWa8oBxS9DpcUcNEIeTs8Uos",
  "id": "fc_0b5ddf015159a2e4016ab441f8676c87d08b96f25bf3610511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KWa8oBxS9DpcUcNEIeTs8Uos",
  "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]: [-0.0826, 0.9482, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1482, 1.52, 0.5503, 0.0402, 0.036, 0.0029, 0.9965]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1562 left_yaw=0.0789 left_pitch=-0.2451 left_roll=-0.0066 left_gripper=0.9985 right_x=0.3389 right_y=0.0478 right_z=0.0101 right_yaw=0.0987 right_pitch=-0.3499 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -2.0991, 6.8034, 1.453, -0.0659, -0.0464, -0.0122, -0.7453, -5.053, 8.2256, 1.58, -0.0952, 0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b500c2fba6711d3284e941d880cc94e7a1fd4ee079a913f266e07f6008a560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd6fb6192b6f4ffcbaef2ba8a35e5a1d1cfc36c94a76c44387ee876e6870a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1b7aea1e8c6ba12fbafb2d58747592085728653028f9c4253711f9fd833a09",
      "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 125 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1898, 1.2827, 0.3588, 0.1009, 0.0666, 0.0551, 0.0079]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3041 right_y=0.0501 right_z=0.0253 right_yaw=0.0861 right_pitch=-0.2419 right_roll=0.0041 right_gripper=0.0079\nstate[joint_eff]: [-0.1709, -2.0855, 6.7897, 1.5018, -0.1001, -0.0708, -0.0073, -0.1573, -3.453, 5.6547, 1.5214, 0.0513, 0.0024, 0.6032]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.944, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1547, 1.4498, 0.5247, 0.0368, 0.0395, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.1573 left_yaw=0.0788 left_pitch=-0.2409 left_roll=-0.0073 left_gripper=0.9985 right_x=0.3355 right_y=0.0489 right_z=0.0233 right_yaw=0.0941 right_pitch=-0.3085 right_roll=-0.0056 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0171, 6.9265, 1.453, -0.0806, -0.0415, -0.0122, -0.4991, -6.2838, 6.9812, 1.5165, -0.0806, -0.0317, 0.1197]",
      "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]: [-0.0826, 0.9482, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1482, 1.52, 0.5503, 0.0402, 0.036, 0.0029, 0.9965]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1562 left_yaw=0.0789 left_pitch=-0.2451 left_roll=-0.0066 left_gripper=0.9985 right_x=0.3389 right_y=0.0478 right_z=0.0101 right_yaw=0.0987 right_pitch=-0.3499 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -2.0991, 6.8034, 1.453, -0.0659, -0.0464, -0.0122, -0.7453, -5.053, 8.2256, 1.58, -0.0952, 0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b500c2fba6711d3284e941d880cc94e7a1fd4ee079a913f266e07f6008a560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd6fb6192b6f4ffcbaef2ba8a35e5a1d1cfc36c94a76c44387ee876e6870a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1b7aea1e8c6ba12fbafb2d58747592085728653028f9c4253711f9fd833a09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH-mX2lzgO-CTotrRUCmqQXK3fInEObuUj-p-XiA941J2ZlrJrfHjqlhWj5R0yiYebn-f_qO4Nu6OLGtqPAOjiEHR06Za2lNhgiF-iAguoNwGSdblu36lOE0wI8_lE00JfM24azlPSokL0a0kWUaugbZxbWnOTXUFeNDda3HVWKcadZCe4sIE_gQ-LkmfRL7k_kGhxpllZK6UWZiYePTk3LeTUXgFcqfUVtMrpU03tXyL3u8B2Ou4aRCBq4gz645o8nhgkW_XXtVN4U9rYSHhVBgbCXygeGE4GBhQcZf4yebQQWtUNcT7MHUwFqvzhSvmjBZHaqilJ5bEh5SbNcMSnivq06xFNfzbh2i4u1kGZwbpJb99wufAcw6yKUO6Li7Y9G3MWtBqFvi3LCwVoWHMz5of54GpRseJdojGcMTUX5vFtk33ZyDas60ZGosHjXHoBVdk6GbiG0Jmg-cYTLPYC3ziM2Sm4TP4XgM-ah4XNZDqhAi3AWvuCmnIegaMpJvOdYa6hBIGF3aboQrk5fqeivXg81pimegc3fSOhxYpWXgVNpUF6m8J0_UJRipRjyS8M7hdivLDtRGk9FZ2GJE6k2ivi-h7gqDLHBPDxPJPaBXwyN72VKMHGftOzvp205bv13DiZ9zcDXbyLeCjWvmn_vLYrObAIZE-BMvctoInIQxN7YZR30DI3JxjelVXmEuhT_bS-rhNPLNpKpu2BDX16sZ2eoxHCfyxx06SEvu-kxEgBWKR9E4FaDk1HwTm4RZHsDRAGYWxTCuGhsgU5_H7ZS-nYRHWe33EoAMWyWRoxcuZ3HegIz8ZR8mHKc_nzvahyw45Wy8EiEeCoCI87kD03mG6JKemX_wi_vOgjSbFY-t4axOGdRjV56i7eruBUxRQtIt8q-GjMPkbSRTQQF7oFZ9hUR0VaMXTQUx8K5vu6mb2kQvr1Eq-YKrZo6_qTD0AzMI5XBi_PVeLsWCFPf3Futdzl2hpo9Au6UggzzsvNWF4jza8ymeemrIdwVItRH4srMF-T3B6IcGKhnOukIroK_uuxqLrrffC2FLlE7a_MXLp8P4VM7_Nsx3Tq-vKoCx8a-QcvrVO4dQw6OFChyyROPOEq4wknOarKP9rAkNH4R0NFeB5LzqdjPANOjYYiBhJqNHS_bm1wUtGtBwcJbB9U_KnNoA_IbhmcYsuqnPynn0xVqE3iSYHKQiNk4Y9hewM184682TKxtGy95U0DDfryARmEwQgLdgYfL15L28jaWqWRCVDTk-eUEkEfEylUdR6qUqG6iMqsrQfNjf5BczYxsAPJVS8UBtN8blXuBMuS83F9EUBEkKdlp39k7nt2yOAvQjZm_PpclRy49hTShxXxp34_e3mtVsUjRKDG3yI0hIdaT0Y9G7PE3FuDsuliLB9lhUpklCag0649hBNC5Qn_UHw==",
  "id": "rs_0b5ddf015159a2e4016ab441fcc85c87d098fab5c3966fb540",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pink rim now reaches the fingertip region with no clear table gap, while the grasp point remains on its right edge in the overhead view. I am closing on the rim at this corrected radial position.\"}",
  "call_id": "call_L4SLiWN8nFvI5e41DrJZqkZm",
  "id": "fc_0b5ddf015159a2e4016ab441fd592087d081a04f4b5ee6cf74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L4SLiWN8nFvI5e41DrJZqkZm",
  "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1455, 1.5234, 0.569, 0.0303, 0.0357, 0.0025, 0.0075]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3434 right_y=0.0476 right_z=0.0138 right_yaw=0.0967 right_pitch=-0.3445 right_roll=-0.0147 right_gripper=0.0075\nstate[joint_eff]: [-0.1709, -2.0718, 6.9812, 1.4823, -0.1197, -0.0171, -0.0073, -0.4171, -5.3538, 7.5009, 1.5556, -0.022, 0.0317, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f3453b9caba02b2e0fdae68fc7b57de3d13086ebd7b5eedd0d4e85f4d52070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d331797e3bae39ff09da8d4f49eab9125dfeec235a8555213647a9c4f09feb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8dbddb4dcb573039c83259ef3706244dae1e41b1d581acd32880b00c5e6168f",
      "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 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9447, 0.7479, -0.6247, -0.1127, -0.1543, 0.9985, 0.1635, 1.3598, 0.4995, 0.0013, 0.0441, 0.0261, 0.9951]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1572 left_yaw=0.0788 left_pitch=-0.2413 left_roll=-0.0072 left_gripper=0.9985 right_x=0.3274 right_y=0.0497 right_z=0.037 right_yaw=0.0949 right_pitch=-0.279 right_roll=-0.0019 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -1.894, 6.9949, 1.4823, -0.0952, -0.0708, -0.0073, -0.6085, -3.9726, 8.6769, 1.5311, 0.0024, -0.0171, -0.188]\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]: [-0.0826, 0.9482, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1482, 1.52, 0.5503, 0.0402, 0.036, 0.0029, 0.9965]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1562 left_yaw=0.0789 left_pitch=-0.2451 left_roll=-0.0066 left_gripper=0.9985 right_x=0.3389 right_y=0.0478 right_z=0.0101 right_yaw=0.0987 right_pitch=-0.3499 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -2.0991, 6.8034, 1.453, -0.0659, -0.0464, -0.0122, -0.7453, -5.053, 8.2256, 1.58, -0.0952, 0.0317, 0.0024]",
      "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1455, 1.5234, 0.569, 0.0303, 0.0357, 0.0025, 0.0075]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3434 right_y=0.0476 right_z=0.0138 right_yaw=0.0967 right_pitch=-0.3445 right_roll=-0.0147 right_gripper=0.0075\nstate[joint_eff]: [-0.1709, -2.0718, 6.9812, 1.4823, -0.1197, -0.0171, -0.0073, -0.4171, -5.3538, 7.5009, 1.5556, -0.022, 0.0317, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f3453b9caba02b2e0fdae68fc7b57de3d13086ebd7b5eedd0d4e85f4d52070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d331797e3bae39ff09da8d4f49eab9125dfeec235a8555213647a9c4f09feb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8dbddb4dcb573039c83259ef3706244dae1e41b1d581acd32880b00c5e6168f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEICpXWfzKbYx_m0TFqBicJeKAa3OHbX6bgURwESdux9AAAyZL8jemYgxHrGusYL_7MrvppcccI9i2vGySZ14K7OmRd9vRyohh3o0XqGFiwaVVZJgEamwjRqlMIG0gbtIUXl5qJDu_ML2WUNdS45ZLsaX_ugLDM7VSC7XqeCITMHLPu5yVF89jNPX_1taZhA9LTja0KbN3lnR5IHMkw8rCJMms9S0SvE7UuguuD2hUf1q2bxATCqTJB0tOuWBdQI8SU1DtEEcfr5mma_TRUjRLS-BFlqudXIVEVv5gpZEJEbGBrUTHV6uT9WEUlxfDfmTEkpxrPEBaWyeJkYTlU75cMT-e_Ts6YC0T8fThA4BCG2YTQKGif1Oipa8X4Tg44-hJH5Umryp5C_XnUcMOWXSaw3CbDIsbNl93S7KFYUlmQd-90oEN9GxK7B5IDZdYhoLxFKo9LbdaPkUydthuwZfZF2u9MTovcJ3B3mxfpUkvM4fjqq6f-UrfxHY2VJj4OcQBqtnmp-A1TrBhGmLFcivK9kqv_3TA3w8N8Q8f7lAtz_ZdJ3nsH7U5odEAIJr0pv3qjZ39SJAB9JqoIjAUyUaLHSU4toQC54XAwR-7PhjHVcXWRYr6aVko4hP34ADFQoSTU-lUQVkX2qHzCKLbwSWb6BtPyP-98SnCDuiTaLvWYdYUUX3t_5TYwjVwrq0jKNxqJt7A97Q7FXljrk-_RCLBIckpqoQ4qxGBhbp50LmB4LUtLXdEO5NQdj13BFWEZLRAWSrkMzYNSRw1QiPrPdzgpN9-PuDFCSn5SgSFhzThdjtZH3V20nTcD2w87NQprM8FniJJO6eqpdXsTSsV-Sq05eu_2Q-sxE1VkNQabJb5ZXxU41nJGHotXNGy1sJnU-1FgGlWy2ZbNNaoccVxk0sb-Q6suS8CkD6J1NqAmQmXS1KTZvVPty0sKWd2av0JlZyqeAEsx2zQiU8YUumaWgT5nfdq-_l2WbVe62wrI5hJhI00pb4bMt7zuJ1dZ0OcP67yU_N5fVB3SxW6y8Yw523VsRm7NaIdMIKCAQOGlROY3y53QFK8v3vpFFWwn3ZVccoheBGTQKbqv0l5limx9BloZpXC19iB_eKYtjxmSgeTApQhjGLYFttpHOv01ldx3ZwbWAkx6esq2B9iUZBJ0O7-yd4Qd7v5KAKPcOSh-h8fU0nuR1DjNz-x4_O7xs73NPd9PGu_r_lGZVl7ms4RodX40iDk_ESEOik-QLLjNMpHZ2NTBMFoDG4AKT70LTSEWeZdelnx_4Jiulc4tR4517aVBaUt7mG2t72XNJxr3-WGknLrLSetdnVwJXfvSTh1ETx33mSZ_paEo61K0MXLSpZhccOp19cRjiDDI8nljfVxQtd5XUrAwC-DrktgO82RKMvyriOUiCan7WgBcF-clqzqfB5Wi3n56LiAZPjSPDdd9gIMtjJS5i7Gytc-EzQXRf4Az_Is3aiOC6r4rPDKkQqFYxqLOdFU_QmNauZZIjM7wvX9vFCmWEgL27QlyuEe-QYi1JCe-J6pG21WQGloX0hpc8vNdeIwN5hA1Mu5FSEB_V3pxQ2kV5B5a1tvZVkufYId6VuP1iNf0XMNgmWHsmjt7Vjw-xJnjO9EBCVJbpam8p26BrcHBzjCEo-7puY1QT-oKDBOHlFVPFUOJvV3qksATX4uHLqEmYwVxf-dhN75vQnC3HCAvukZBXQAyhzi_Q9obUVnROtXYG8E_C3lNYdynrS2wv8XwULWHjHKuSVwINE-RhoqMtiLgXRvvgqqE3R8JaoevCmkeKvJ0XvpWsbuGLQifblB0wC9zJaVsQZepdCBc=",
  "id": "rs_0b5ddf015159a2e4016ab442007b9887d09ccee8b63ed0d10e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The close is still empty, and the closed jaw reveals that the bowl rim remains above the fingertip meeting point despite the apparent overlap. I am reopening and advancing a larger 3 cm step so the rim passes under the finger tips rather than merely entering the camera's jaw wedge.\"}",
  "call_id": "call_3HqmDImdGtVtQTy89MbVSIXO",
  "id": "fc_0b5ddf015159a2e4016ab44201c6d887d0884173cfc0c8f61d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3HqmDImdGtVtQTy89MbVSIXO",
  "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1539, 0.9985, 0.1322, 1.6016, 0.7021, -0.0662, 0.0219, -0.0261, 0.9954]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0787 left_pitch=-0.2454 left_roll=-0.0062 left_gripper=0.9985 right_x=0.3647 right_y=0.0482 right_z=0.0186 right_yaw=0.1118 right_pitch=-0.3867 right_roll=-0.0222 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.1265, 6.7897, 1.453, -0.1245, -0.0415, -0.0073, -0.8274, -5.3128, 8.4308, 1.4823, 0.0513, 0.1343, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27f38bd89dd114330d7075c5c972592dd053932b702ce109ec81df05924aff0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568f2d50c60e0910cfd44740ecd75161cab1ffed116d2b3340fcabe2fa62f44f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa89606c131bf2964be787a8037ee578a48764723d4c479ec44af96eb91d7f5",
      "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 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.944, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1547, 1.4498, 0.5247, 0.0368, 0.0395, 0.0181, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.1573 left_yaw=0.0788 left_pitch=-0.2409 left_roll=-0.0073 left_gripper=0.9985 right_x=0.3355 right_y=0.0489 right_z=0.0233 right_yaw=0.0941 right_pitch=-0.3085 right_roll=-0.0056 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0171, 6.9265, 1.453, -0.0806, -0.0415, -0.0122, -0.4991, -6.2838, 6.9812, 1.5165, -0.0806, -0.0317, 0.1197]",
      "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1455, 1.5234, 0.569, 0.0303, 0.0357, 0.0025, 0.0075]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3434 right_y=0.0476 right_z=0.0138 right_yaw=0.0967 right_pitch=-0.3445 right_roll=-0.0147 right_gripper=0.0075\nstate[joint_eff]: [-0.1709, -2.0718, 6.9812, 1.4823, -0.1197, -0.0171, -0.0073, -0.4171, -5.3538, 7.5009, 1.5556, -0.022, 0.0317, 0.5397]",
      "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1539, 0.9985, 0.1322, 1.6016, 0.7021, -0.0662, 0.0219, -0.0261, 0.9954]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0787 left_pitch=-0.2454 left_roll=-0.0062 left_gripper=0.9985 right_x=0.3647 right_y=0.0482 right_z=0.0186 right_yaw=0.1118 right_pitch=-0.3867 right_roll=-0.0222 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.1265, 6.7897, 1.453, -0.1245, -0.0415, -0.0073, -0.8274, -5.3128, 8.4308, 1.4823, 0.0513, 0.1343, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27f38bd89dd114330d7075c5c972592dd053932b702ce109ec81df05924aff0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568f2d50c60e0910cfd44740ecd75161cab1ffed116d2b3340fcabe2fa62f44f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa89606c131bf2964be787a8037ee578a48764723d4c479ec44af96eb91d7f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIHaIRtSmQczy2fJbVwyvXCQsJUNDwpHvUyaU-omL6vwxZ9dzDymGYz_PxEepwOqn1ZsedNKvmA52G_vONzbKqwI0YwaDukgj0jtZbU1I_nPjeesaCEzJlwFtVq7l4fUnnnVelvI4e9CItdRyylmwSk-etvYCwvmnNuA859bmBbX4JgnJ3gWlfQxliGsE0bdUfIirNeShKIQl4f9Y8ldoMLoyUyw74SbJ2Te2sTWdcxnsknVbj--7Hkwc-06Jf-gOxMN3b9_bZQjgluiA1z-J09W4YRTOn6sZ1VgC-QM2N5fzOw8if2n8j050jUlFgg65nUyO9IuoM-9whNYIc0HW0XN0dHr4qL8kbnHzReIFJhfmow8ruyt94UmBZzVMi79YSXZSbm4pHqz6E1xL1Qu-FZicNVg6ycxahAZofDopEocFP2EJyBLyRPrqkv5RVyOqctBcuAYcxlJ5UyG7taU9xbMOpBIgBiEnKTZmQtzMk_J_OO_jFoSSAUPqqWZ_aX_Zw2xe24I8ouDzarKCXP_0s2QGj3knIUXqqOCShXATVTz5d-z8X76uN27Ujc4HisgCD0NKyWW4ZZovdImXIwK3GxPoDvQG4o13L7z3D3hsmUgcfqat7MDI2kM19INvccWX9xfYuE_Tc9bk8KypfntXftcx4g2eEI3NUkp1bjOgeieqa_ttpRcu-YxYfd5M5cn8PoD_WyO7UXlM6lj0cLsjCJ2mpX8EhJUayJgx1-XY0sUSxyH1Bs_mGVhkvojFACbUoT7UhWWRMNyAAu4O2eXwcD6MdY1mpZMbeZpd4Lmrl28J8ikBTlCdZC2rErzM1xwl4wv2V76OertCGZfdJRJjn8CNXDl3H1ceK-PrTj4gDjsei_mFE1PZG5S7aR3EXOSgjaedEeQsjsJdPX_9XzO_RO-NICC7DgIcLdf4CtN7TTmxnt-qCz9RqhKC1GRWyesRFI1DDLl2j9QCINUnrxY9wMNm5LiInV1bymAAurRdQir_xC47qUufiH6U_jV2wa_2JFHHw01JN-2VpmysE4soscr7EE1wfuRK22HJbCLNiJYsJ00XthrN8nR1WHI81yCrwQxiiYbNhPgq4eKiydTZIY_Dj49R4VZx-As35zrIhwxrWIUwB4-OvmRvBIMBysKFMCKUlGBpuOyu0sWDQbtzM2jB8cnQAjIjJDt5JDaC03XalZK8MIs0Fy4_3AlxaXH4g2XADmYBgHZ1zIKmxcTVEh2XQmz0Dpne5OKj74F8kx78FPvqpQZaEjRA2SUrOfTYcuSjs6JtfGTgxkviAPtIz6cJqQOt8fTxyh7ZVbo3PjDVs6YvYuri5Wljwh2PiCNFmWyaCRd-H0Mcbz1IhmjK29faXr8DDnhr1Eg5RmiBDmLf-GgSXZEDZJuyh_gZD0IlNNZyqwgYs4BJG00MyN_m0tESJm-FxMCpBTm2Dno5DI12CS-BgdfCq9npvAuy7wttcrHQliHmczeYxY6TABRc7_xXoeBfRfJ_0nYkQhn-mv7YoObUjJa8yeAEQGEhshCmmTAiq-9HcCjX9GbUzpv6BbzuzjS6nTbeJfTqRLfNLlIwF6yFBt5GbXNubbu-BYS8MfbUOZTpR0ceHFBE-JY3-iTHnxi6GYRVhbhsAPKU--lXAf9kh84N2zZLUeV2avKrDjbUcDl91tXb4zM6ELpIAUGGupM7cH1jXM4hOFDOzype4ZiM39hZGpDLntBPH4Je_G2f1q6VbtPWASnTSP5ZFMaZMNOLaNEA7vvZl4MFPN4Hy63_wI4rpqcCJtOu39pSf8QXnC0flAbLUADqO6Sfs_GLv9JP2ktTzqAQFMqaOSWjqYK4EPvEDrgoPl0LrrJNBB_BlZWvzcyooxg5fgIDRA37MM1fRuYr4fQV98MIX9RJJS_UEDbpe31Mz6PSlXRP0R14Nd-fu6-zsXRyzD3ZzfnPiQtlgLGB3B-xsxnkLgZnI=",
  "id": "rs_0b5ddf015159a2e4016ab4420508e487d0a97fe48f22fdbe7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.08},\"note\":\"After the radial correction the rim finally reaches the fingertip row, but at that row it is about 3 cm left of the closure point. I am shifting the gripper left to bring the bowl's right rim onto the meeting line while keeping the correct depth.\"}",
  "call_id": "call_TLPzQQx0iJdAyCCFGz7h9VgS",
  "id": "fc_0b5ddf015159a2e4016ab442067d8087d0be9706e420142d08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TLPzQQx0iJdAyCCFGz7h9VgS",
  "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.2337, 1.61, 0.709, -0.0772, 0.0544, 0.0273, 0.9963]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3585 right_y=0.0792 right_z=0.0167 right_yaw=0.1521 right_pitch=-0.3974 right_roll=-0.0193 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -2.1265, 6.8171, 1.4481, -0.1148, -0.0708, -0.0073, -0.759, -5.3402, 7.3915, 1.3846, 0.2759, 0.1245, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4232e950698c3b7659d56a8bbda75649cef7e513e01ec2e26cf173075e2b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12567262e2f4dad974ad8b88cdf3cc1afd8bab50a3fd9d9ab1224dfa31a38160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c325a4f637bce17cfb26e21c59faf6ab5c8ecbf49c23ee96a3863b23e3086443",
      "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 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9482, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1482, 1.52, 0.5503, 0.0402, 0.036, 0.0029, 0.9965]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1562 left_yaw=0.0789 left_pitch=-0.2451 left_roll=-0.0066 left_gripper=0.9985 right_x=0.3389 right_y=0.0478 right_z=0.0101 right_yaw=0.0987 right_pitch=-0.3499 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -2.0991, 6.8034, 1.453, -0.0659, -0.0464, -0.0122, -0.7453, -5.053, 8.2256, 1.58, -0.0952, 0.0317, 0.0024]",
      "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1539, 0.9985, 0.1322, 1.6016, 0.7021, -0.0662, 0.0219, -0.0261, 0.9954]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0787 left_pitch=-0.2454 left_roll=-0.0062 left_gripper=0.9985 right_x=0.3647 right_y=0.0482 right_z=0.0186 right_yaw=0.1118 right_pitch=-0.3867 right_roll=-0.0222 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.1265, 6.7897, 1.453, -0.1245, -0.0415, -0.0073, -0.8274, -5.3128, 8.4308, 1.4823, 0.0513, 0.1343, -0.1978]\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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.2337, 1.61, 0.709, -0.0772, 0.0544, 0.0273, 0.9963]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3585 right_y=0.0792 right_z=0.0167 right_yaw=0.1521 right_pitch=-0.3974 right_roll=-0.0193 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -2.1265, 6.8171, 1.4481, -0.1148, -0.0708, -0.0073, -0.759, -5.3402, 7.3915, 1.3846, 0.2759, 0.1245, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4232e950698c3b7659d56a8bbda75649cef7e513e01ec2e26cf173075e2b79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12567262e2f4dad974ad8b88cdf3cc1afd8bab50a3fd9d9ab1224dfa31a38160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c325a4f637bce17cfb26e21c59faf6ab5c8ecbf49c23ee96a3863b23e3086443",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIKBMAn2RR79plSxe7AaUE4Gz5eo7HedQFgLxjVY_Gi6ChzNIhC1FZ38bSCCFAA8IoETLO-E9zoAvgD9us4_S__zznSDwrDHg0oDLQcQgCQIwukPmopwdN83bkOMWuxIibsf2coGAbCerAfysO8tGmGm2xHyGFWQvEYZEJsF0ZV5bsLRV04Jmwn1-VcAmO1XdM8JFB57gedI0n8cb8X31adoUrtFG_lVDt7aVPgsuPjb2lSH7_TE3TrUfULgdXhz-Vayn9D58Pak3mzJ6cgt3GMkkE1bo7RrhuQxrZZaCYZTuwjMtdTWoZe9FDXXuzsgon-D8Gg-XkK5G5nDE-g8ZChGKkLNlMNhKO4JLJxSrr5kHCu7iBquiH3nnjNdDVk9wULInd4JnvUjEUI01ynyLXTEYZeoIs34WbftFWsZ1_azdprcqdAlmI9xPCcKs3bfVNoKwmu0lkD7NIwXlBUt4hnSp1tjwlhzW0_3rYIDlAAp7aou0G6esTGzd0O1xkbP3J_2zTfbBxS9696xTvjKhf3mSYLYVMme6g5_fFEQmz5-4ifTmudVzYOX1vZQxKfHcpVY3PCVDNZMtU8UxbHw3n0YIUtAL6LWYy3hBP0Xxa1bQgg2E7vd_1DeuTJmZDu3H6MLhtqrJoKHZ9WQMUpl0oTpyDFuYch-wBeqR_LV1uJ6gWn2baGJC8WRSmz8F9muyJS6cq3BauVyPQgmlkdhYkNpVC-n5D2Zp9cN2UaaVLkNzWDMnOAM0KM8I5KBsKRiME52mLJv8itTtF-H53PegxjQHZnnxxQdZGeNYAYsSC9X5AMvA4T-5_49ZeSDX5TboFhxN7k23hr5aenxcVoPYVomcvmJoglc7PpNVRoMSVBalX4NZbZjXtv_he76GxbahpwZgmIVAtWJUmhdt250AwZe624xaRIfbgfD1-VxC6rzVZYHnLJSZ_Ut47S7GZQdluMSxSvUC08N9HGSBG-5UeHfKWa0Eam7WSwkolA8r74F27r4h9wQ1MH_3aAV95p_IgoyM-IAkNUoeIVxazCNa-hijbA0qU4HXjo0YEcSRIGWU1DSjcC7l3-bUOsqBVR91UCnI8eN5ahAGyiHRrOnzjVY3IMijxkS7pNCQq-3giINWPgAlukarkj01MryOKEDqIIaZOiHRZXON9H_f9iytEpcrcxGh4f5iOoOsXMki0_ORrLVfj9PHgvstd64r-rros_RJwp6Ml6RBbiPwaMct7Ze0z9hxbFIxtiDztFs4dLQUQgmMY9wNQtkACUmh-k9gIcCwY9EsltqviGn2w2EdcJBtihPaOfZ40fm1AfW2jhAao8F_VkDL-dK_H006oqHKJiEwFjRMFvb-PaUDiTtU0QVV0X1uyoXPneZOECtzmiQ5h3ls4TbDconUphSZWnfaIf1fJLIX_bI4VsKcyEVCpTdksKJDcDmP-zu4fsc_fTYCydpapwGbG_AUiXX2wjYNHSlO-4OGoUuDmhWdCbfn-qoJgOwReY63xT_MUMhgngrFKSx2T4rW0TXWH1hGsb5kS_OVGOYvLmY-NWMrmIa9lCRGP7sIIWl_xAiU39V-wqdmCA-NWJnXEBXHwaOz17OKOh3fSWlP8X2UMy3NaNiJZI-8G9xJGUT1MANQnsOXpYyWMoNOBCH6zEAhv3BvJXI02S_unqdAGMYM7mBHc0yIMGu1bJe29wavDH43EGduK_Erk6BI_pgb8TOiWJhGxfNh2H",
  "id": "rs_0b5ddf015159a2e4016ab44208ebec87d0bdd55b681be09799",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4},\"note\":\"The lateral shift centered the bowl edge more appropriately, but the wrist perspective still shows the rim ending above the actual fingertip row. I am advancing another 3–4 cm radially; the overhead view confirms there is clear table space for this move.\"}",
  "call_id": "call_6VLEB4S9HzUezOJee83hktsa",
  "id": "fc_0b5ddf015159a2e4016ab44209ef0887d08b9ae38f59f6e162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6VLEB4S9HzUezOJee83hktsa",
  "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]: [-0.0826, 0.9501, 0.7479, -0.625, -0.1127, -0.1539, 0.9985, 0.2081, 1.7432, 0.8249, -0.1192, 0.0399, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1557 left_yaw=0.0788 left_pitch=-0.2469 left_roll=-0.006 left_gripper=0.9985 right_x=0.3794 right_y=0.0766 right_z=0.0017 right_yaw=0.1548 right_pitch=-0.4575 right_roll=-0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.1128, 6.8034, 1.453, -0.0855, -0.0171, -0.0073, -0.6906, -7.788, 8.1573, 1.4432, -0.022, 0.1197, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1f9ff3c5b9aed67d042aed458599e81ea7a065058ccd20e9ee98ce73f6e25e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7237c965fdef30d976444713db3a315736d5ce66f61a55d059f78550c102fff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a49ceb9f23db9ee4340402cb648ef4bd48e955e38e549247a230b276ac5952c",
      "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 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.1455, 1.5234, 0.569, 0.0303, 0.0357, 0.0025, 0.0075]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3434 right_y=0.0476 right_z=0.0138 right_yaw=0.0967 right_pitch=-0.3445 right_roll=-0.0147 right_gripper=0.0075\nstate[joint_eff]: [-0.1709, -2.0718, 6.9812, 1.4823, -0.1197, -0.0171, -0.0073, -0.4171, -5.3538, 7.5009, 1.5556, -0.022, 0.0317, 0.5397]",
      "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]: [-0.0826, 0.9485, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.2337, 1.61, 0.709, -0.0772, 0.0544, 0.0273, 0.9963]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1561 left_yaw=0.0789 left_pitch=-0.2454 left_roll=-0.0065 left_gripper=0.9985 right_x=0.3585 right_y=0.0792 right_z=0.0167 right_yaw=0.1521 right_pitch=-0.3974 right_roll=-0.0193 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -2.1265, 6.8171, 1.4481, -0.1148, -0.0708, -0.0073, -0.759, -5.3402, 7.3915, 1.3846, 0.2759, 0.1245, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9501, 0.7479, -0.625, -0.1127, -0.1539, 0.9985, 0.2081, 1.7432, 0.8249, -0.1192, 0.0399, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1557 left_yaw=0.0788 left_pitch=-0.2469 left_roll=-0.006 left_gripper=0.9985 right_x=0.3794 right_y=0.0766 right_z=0.0017 right_yaw=0.1548 right_pitch=-0.4575 right_roll=-0.0266 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.1128, 6.8034, 1.453, -0.0855, -0.0171, -0.0073, -0.6906, -7.788, 8.1573, 1.4432, -0.022, 0.1197, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1f9ff3c5b9aed67d042aed458599e81ea7a065058ccd20e9ee98ce73f6e25e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7237c965fdef30d976444713db3a315736d5ce66f61a55d059f78550c102fff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a49ceb9f23db9ee4340402cb648ef4bd48e955e38e549247a230b276ac5952c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEINe04sF8-WhrEinw8C1ZUn-I9vrYKQW80dX3w-3nIm6Vorv1KqWP3XXsKnh_P1LrIbR35UfDijtNrFsmyz3_PwvVeIScaMTonqF3Hpwk4aJdFbnfQ8Dlhpa61Ij0B8ff4BcqWko_04wyAWWeAR81knO1QjqOLSNKxm8kBfViH0RBPQejAC1V_uzSLLsZjmc-kVYO1lXDzQiwuCgBNxNdaPbWfqergNrs0obukxHJvrvhENdcRuqBd70dJTwxPhrYf7UGAWtufc0VP6jFkq_ep9AnrcpKaErLYuD2cyO9RlzdaUYQAAmmGAbWlH9Dno3G2Mt2MTHVuymrhYCww3dzp8OgZRcqoDuEYPWuKqHOmb7fA9V9iP6f3daD8CFaR8UODVhTSNyUm2yxkThnTQY1GQ94MMokDavbylNi-PEm3BHR_KmG5T6bdOmbxejyMnnx7Pu6GWqowH7vLGn-M6E3LE3VSLglwgFWyvTC1tkDWAoSM0Ez3ktmAQmF0VHK9XBWvA_EJAyoY3nTbG4Ja-c-sPpiiGiRyZArO-KbpWTVJAcNThFFbV5IrZiMj2SqqNx-82gzovMTs-U6vru32nZM6z9VtjI6BNCTNAEt9OEm14yUX8Vo5A_wUpCG7MuzSWpUNnssHoGTc42M8xHa07vvqary99z6LuwtUjOqKZrf30Sz5Ba-4gds3jg4UemzVK09GcgimARmGGR_R1hdIHHtTKkaWuQlJejN2ZoY7Yffw7mT8coPYN8uCVnJ9CO2w2j322dKp_mUVk-A0sM6mlH84UZFqi7UjHtlLXdwdLqT4wyZQiJ5d_b0dK5TCf-vWo2r9T1Ht1Sgu_i02hSl3zfcQVtEnbVqc4nGBDiUvT9_3VlUqAa3_bWZxUziKtQFqP6jmBmc-Edl6GbahWgZ30UG2YRa1NP6oeIIjOnncdTZPuH39v47_wgz2UXgT7368dkh5yMLmBH8Uy5lU6-Jz2r0fDsSZfU9ZIX5hBMU8cPMph5DZ-Jl5f1eisfqXUDt3MbXBuRuKVfprr01mdg95nXAzqzZWQo54Wkz0IFBTfe_XiPf-ux4D7_DXq-7U926iE-ZnkUI672fwiQMFT2uWqKP6DArjYHI1n-LrOAvwIhEICQMdhGU4dI-M46g_i7whNQdS3euNKLhiU9zy4xk5p0RyVP9LouPPIKRbfq24RvHhM-ybL2XOIgAwnLswWt7ohD6jLceWMimdhSrY3LDd_I9pcRk-EHd_PAIKbE0H640yYBgQV5HO2h46hsGv_b2Q8qx7cSwsjl8oDj5MLECMSR2WFXNir_CATsGvx7-1cqvNL3Em7Dv4Z-gXR-ual2TAmSgydDwb4BGIzL-nWDDsTCKQHXI-x7a2upyoP4frfqQ-DM-BbuSwkQ3ZULehPuIAQ89BqbEiM4H8GE9Aths3XX9H_1A==",
  "id": "rs_0b5ddf015159a2e4016ab4420c7f5487d0bf456ba76b066587",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pink rim now descends into the fingertip row, with its right edge crossing the jaw meeting region instead of ending above it. I am closing at this corrected depth to secure the rim.\"}",
  "call_id": "call_ejhkzQDT2yS9jmGJiGhzSTAB",
  "id": "fc_0b5ddf015159a2e4016ab4420d230c87d0b10df71d81f5ebf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ejhkzQDT2yS9jmGJiGhzSTAB",
  "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]: [-0.0826, 0.9512, 0.7479, -0.625, -0.1127, -0.1543, 0.9985, 0.2081, 1.7504, 0.8227, -0.131, 0.0364, -0.004, 0.0086]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1554 left_yaw=0.0791 left_pitch=-0.2481 left_roll=-0.0061 left_gripper=0.9985 right_x=0.3752 right_y=0.0763 right_z=-0.0032 right_yaw=0.1596 right_pitch=-0.4791 right_roll=-0.0264 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -2.2359, 6.9128, 1.4725, -0.1294, -0.0757, -0.0122, -0.0889, -8.335, 5.6821, 1.3114, 0.022, -0.022, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21807b53fbb3aec94dda75e69b0ea848db5beea714ef1abd7fd8748876b0233",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b1d2cd45de6c9fc962e8aacc5cb724260b0d8f5d9cb9f58f9d6ba3d8e33464",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb589196c121c2367b89e17e1c5c31d266c3f074afe7d1d81b888cca31957ff0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}