adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.382, -0.0223, -0.041, 0.9996, -0.02, 0.7933, 0.6018, -0.3805, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0005 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5658, 10.1128, 1.8095, 0.0122, 0.2125, -0.0611, -0.5128, -1.4017, 10.359, 1.9316, -0.0513, 0.2271, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df68ad7f6227f816eeb39698f4acfb7d21a574e6160bc289f648ac2c30ae654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d77e1465efbe62cfc5efa892cfa328a9612e2ce05954b499e85fddb02238cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6465586b41a1b374390f51cd10f468935becdeaba953e51dca444eb80631db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_026b8400f96d038b016ab4486d048c87d08d2cee1d3195f56a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEh1OW3Dbimv-r6VR3KAyYrDPaFShazu1W8YDUjSmYLYusS94NfqLMqd9VHxQM6fP7zxfQnbSy6zZy8Cc_dkfTvujLMdsW-xAFymUkCQw-M8QSi-EUukvK2gxSiV-pBgKXblzJJlnJQWJaqYtRu7VK-MLylfH8s9PIK_juu--00UjLYHBhQpkd97wpa8TWQRJnMlbKNZSa9f-RAOnuxkTaMu4B1fRek0dv74K2zavjgHl3jahaWQ70Ee6AmACOkH4twQnGhBRZzBSO72f_Naa4NSHfO6en1MTAD8syzLGrZd6YjsfKRa7Ol_pcJTRScJSxUa52O0wZj8KLt9puuU-h5JUiZ3SmahOkDmsGkGc3Ko1oKavG2v4g4kXg99xK8hI5aOnxa1lINTYKLZZWc_p8glPHPgs0xZVi0lcAzCI-pr9kfrw1ft7vjQZTdgp9nRFXPix73YT5VG-rysktvkhNmhx2RlOsrZm0GWgKlbc1lQKHSAa66nK9jVK4ez5ynVjbJInINYZkBG8FMM466zBNy0j2HLpyLNelKtz3jqNiNgNsszFgOe_ok-TOxjOrb_U8Ov8bR4K380CTG6sJTsqF_pYxkvDM9RNmP_IOiMrahA1xF4QpfbVyyoh5JLA06WwhmYPtPnrfQowfIGA1wx3AEpwwxnMlIRxkIS2v9SFHzKCGDC_iylJvVWZ4bnwXpgZaMnbCD7X-Nv7BpR2nHB6B3xVC2dp-cjBlOYS1oKlj1LHi9xj0JrWKiPWKwUroH2GE4mgcQSJNQsnhsn8T16_kF1UyBLKNw8vIe-nVJFFDYygcqeIpLqOGzNp7w0DVgw98MboNOsHXjz7mbBjzL_KXxWceC1N1ATt6NkO2EvKdhcfuepM7gJBP7ks9J2oHGC7iTZ-DByeigwWM-Mw_qxL6g7fmCOafqm6RRLh4EN_edeJg0SZaWDw2qO1AtFoCtqj5511GzOqfchIoRJARmSRh7eiEevwBbP_tEJt3ZNAe56YgEPQXSGIzMFN_4QB3UQYsJ5eTkZu5UfPHPu8U01AZl19kYj_yaLS7CaCpTkaU3FdGTu0g5lpFBj_z_uYSUyLYm9x6KKS1Xt_JF8iOUZSFJ156iBuIp7a8EW_KzejAG3Fj53-DcKvkABzYPxbP1VcKEsfa6UkfRRjbI7vV6kLZun25HHTWYMTAI8egZNFM6reqUqwSTp7KB2mA--8-povdHEABgD6C33X_U_37aJfwSZK2eSjO84cnvpPof5l5N4t2y-ocOoCr356h5INCBYwXf9KVYtxc6KedhUFApTvFtYQ0vNdVANVHkHeX2qib-KEB4bJBqoODiyeB0BfJEVDb0R8adCNXn_3i55vhEmN-XxMHE-Bo3iF3fkY0RUtaDa0RQ6fLwul3tD_nmfN-0mesx3_S-33XSsMK1biACOHAsrHVInrB3k2MMjkPKWOIQmRMlhbXvtcbhn4zbj9I3JbZky8tF9Bz-QrFfyR7R-HhZQx0FzV5FDS-8JueKjonYzMcTeP4Aztt7ps09Vkm0konIP9CyfhSAqXNgKtfcYSXsF-zHZIvh6gOmGxQ-oYCuUHzfEzJ1LAYNSQX5VLQs8TbnfM7gkELsSKLKT99nexl7PedPEtReU4Qy6xLvDKy3nb22LGxDUyUz7SMHnarR2EmrF4G9_DYaj5UzCIoClEC6xscdNlahHG1ELGjCfsFvECv34s1pdXVCf4nN-WsoUzz1bqYeiIpmf-BSjiheigVdGxhGGQlyPkqRFOXBrQLLS4hbD45Kg-IgKdYqTEaBRW4zXUKCY8OeIZxIDPx8wR5tECbuFA2-UiQDTphgZSZeomcMoy7qe19S-bbmzE2L8PrvVTdD1XbG7UpE5Rfey90AfzX5aF9eKm6cm00GYMu5bluqLMWteatINIIl0NYEG27y4JU0AVDuWzArvEo29mBpuS62hbCvgqOeQ_f_zhZKzkIwdhWi2juCqUSsMSzlbMF05NccvQ9FVnlyG8odmB7ZWFCnTLSEr-VM3PWe-hC6OgORoBeRLVa6vCdhi3DDB4lRkQikHL7uU4YawfgpWTKfyQH0AtJOTL-A7NdGKcn0IQupsYVoDLZUSPLS3Zq934d5squLklrLPBDfYP3vFFSvmpBNyPqe3G6DAwjDmF4knLb2siWDvCYQ-3uW45LZnjtOzn-opN5kfj-2PVAtIMp0uB56XTsJTSj-nJNhiKI46PbMik8kXdV3eqv7V8k0rZ_iKvUWRcG44IvnbTs_mtTc0a8zfxLrROX2hmzvVeK8O7PcBHZkqmB4buPhca1huMcpEZAp8GjZLID4kgPIy8L_9vHwzROBt1aXz0QbxPOUcc7j9AWoY_hLt0rHtZUSQGlS9",
  "id": "rs_026b8400f96d038b016ab44872598087d0ab026a11b6306676",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.06,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The three bowls are arranged left-to-right, and the left wrist camera shows the left bowl ahead and to the arm's right. I’ll bring the left gripper above that bowl with a modest outward and rightward adjustment, keeping it high and open.\"}",
  "call_id": "call_fqkpmsfKff4cKx1XWi2gcAMC",
  "id": "fc_026b8400f96d038b016ab44874b4bc87d08f80b6962f153e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fqkpmsfKff4cKx1XWi2gcAMC",
  "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]: [-0.3279, 1.0252, 0.601, -0.2489, -0.2428, -0.1936, 0.9996, -0.0216, 0.7986, 0.6029, -0.392, -0.0151, -0.0299, 0.999]\nstate[eef_state]: left_x=0.3177 left_y=-0.0594 left_z=0.1411 left_yaw=-0.0402 left_pitch=-0.0775 left_roll=0.0174 left_gripper=0.9996 right_x=0.2933 right_y=-0.0001 right_z=0.1757 right_yaw=-0.0038 right_pitch=-0.0156 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.335, -3.3983, 8.4718, 1.956, -0.2418, -0.0757, -0.0611, 0.0615, -1.5795, 7.0359, 1.8437, -0.0317, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93196020acc9fcaaaccc86c3768ae23ea5231dbd17d199dc7d3acfece256e9a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c316d81dd09726fbdb0ae35a0c70983f9a2228b479d89e08252d9ee0e6f73ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c02d836edef12f5de71a4438ec4fcf84fd66deb63b5bfd4cae1cf68064c340",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6037, -0.382, -0.0223, -0.041, 0.9996, -0.02, 0.7933, 0.6018, -0.3805, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0005 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5658, 10.1128, 1.8095, 0.0122, 0.2125, -0.0611, -0.5128, -1.4017, 10.359, 1.9316, -0.0513, 0.2271, -0.105]",
      "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]: [-0.3279, 1.0252, 0.601, -0.2489, -0.2428, -0.1936, 0.9996, -0.0216, 0.7986, 0.6029, -0.392, -0.0151, -0.0299, 0.999]\nstate[eef_state]: left_x=0.3177 left_y=-0.0594 left_z=0.1411 left_yaw=-0.0402 left_pitch=-0.0775 left_roll=0.0174 left_gripper=0.9996 right_x=0.2933 right_y=-0.0001 right_z=0.1757 right_yaw=-0.0038 right_pitch=-0.0156 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.335, -3.3983, 8.4718, 1.956, -0.2418, -0.0757, -0.0611, 0.0615, -1.5795, 7.0359, 1.8437, -0.0317, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93196020acc9fcaaaccc86c3768ae23ea5231dbd17d199dc7d3acfece256e9a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c316d81dd09726fbdb0ae35a0c70983f9a2228b479d89e08252d9ee0e6f73ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c02d836edef12f5de71a4438ec4fcf84fd66deb63b5bfd4cae1cf68064c340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEh6tY0KM2m_fPJzID_9sBSQCK-FgD69DPYFJQV2LzLEYdQ4l4DzvO_ne2m-tN6uTl4eEHVthPPzsaXStpdUhnoC5pNkurE0di-_3lgbxlEgf7tkCwFxZoSGKBeR2nHMdB8LLuCmaRRSFJ-GyPRTFUF5nH8RVOGCFxMV-rbJgxHSxq-EXNhHuxlDSQW6XsigLr5Er_fU7C6sy-Awf2jo2WAqJGRfW5nYfmPNQxH-1J7t55EnH1nrZBIu8y3BEEd599AAFeNZlvbmYamafJOp5DDe1R90Y5j6adrObzfPEXrl8eQeUdNkejprsYyU9Sf-gavAlsPnx1DKiKN4_SjCDFmZ3lWYf31pS0wKgFXzPZpnZFR0kUGr9xB8hEjK8ckCrrY-8sdFWoBeIbc4aSWT65UQdd9nSMjlJ0YTq3f0sspUIFBKBptwZ4U3ctDayPtsH8KZXn7QoQgxjYvcEISk_ZsswjCfXq3WsbqPYMbNljDPONpGWWepq5MnBrWIHARpFWR5-QnjIN30uM_wf4ZjR90hIt4LxpJyeiBbd4zxBbs_h8KS8N3YnXMMQjNVkvrLeXvVx6NskoW6QpoGh17pvRmEp5gZbnCJE_XxM_Xzmdyr789D3rNxSYI8hR1YqiDYmTTl7jdQn6MopFGbKb0-C3pglexrfOqhxAkwk4wVyXz3op0vsXKoKbinbA6P-VvHqAX2RxK-TWuS3XOxWVNXG1SXzYRlOD7ARPVseax8CuH6CwaMQOMOHSEljA__APLIcqI0uSkd8t0A-jJ-qejhxIpFSjoZwvfBEoMEynFpIDz2SbGluU-PkXlP5OaTaR0lGz89ZEfY0C6TsV9LmvYeeEy15vHK2t1lTrdpbHQsE73MqRr4F-WgTju-rW_NgOpnHAgCl4ZuUYRrJ_PcqZZxNqetY18vL0R2cwt0_1gndEm3hylsnJk2ot2dWWnI3nx9p7A5kmXdX8K1Wg8T0RSbnpzicCG0sfipN_Rt2PDdWI6RICnalx0awgDQ67ApuUXg7l1i3d6LhHYdj8OShVMBXdkMAHb3hvEr94XYaXE-tlpRAsc5YaEIeZmFHkmHrROuXegfh8XDhgTAh5MCf99frhuk3UCD6m0G9ob5a3SD2jJgNtVnkMEF0u-C1p3BFbw3pFAvIHPc2LuTNRpda6wR_50s-kUdz7y7ZqCzk2WKRXNEGxxb5RYGfA1-rpZYz2cYWH4ONJRV6fxH-r8ocij9sTQAWttuqPPE1kyy-3FUYY0dGeH0qmjOQOJtHkiwzGBZ4UcF75vk56n7jcgaA4UQpRmMbp89dLH_N5bODcwXIQOUpimWXDLikLbR8fY8ubaQ-inzGMCRWzbVmwqJlCgawFt1VYL1M8kGSpzZObawbFxbsn1Oasy0pBGWX8bR_1wS01qiFWBBLAFST_ltbemqxAQBPzx8EBDeRY-RyjnP2WqvdPfBvOvup4UEDBOYpzq8tbR373z2nxPyeF1KgA9T22RM2rJX1iw26fUCm-NPe5GJsjDHUJdJm-i0xtA3QWI8krOOX7b0JBEHPg4QxeGg5n7lNz0jbgZ8FLQZpvZC2qfQjPKuBq23xGiSZcBGlEoaRp41yR7J6OhaDgLx4RdjCgIxylhU88Hp4hG3QD7sFnivrbkhf2KduN63Ad79RNgg2DSzqeOllXnFBM3lhYkga5eL5wlxL1UufcMmONl9RdIvQ81OeOlvW7ZBiu7f_vASNRJyF8c47-wtmWci2GD14LyoUIC9YPGhh6KcgEO9w-L40OstM--prr0PfTwEtELZhKdG7ZKWNCIiGFN4EofXnNjuVutyhi0FM4Nr8rXV5zqitj20_9c1DHSkfL5mDjigkgVbrE_C6S8qYYCgsKOM_twi4ZRMqea8uEVcjpCSLN3Oa4tI8OSOaBB8UB0_lmahBT9ymV3Vc39l3msZzM01cO1SCQveMj1D_4lm35SE4km5P1sPh-zGiXdu_2lbw3iiM6CM",
  "id": "rs_026b8400f96d038b016ab44876e67487d0b40f903c55f5d4c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.095,\"left_z\":0.15},\"note\":\"The left bowl is now large in the wrist view but remains about 3 cm to the gripper’s right, with its near rim still just ahead of the fingertips. I’ll center laterally and advance slightly while staying above the rim.\"}",
  "call_id": "call_q6kseiamAfTPqiC5ikpGZ9nx",
  "id": "fc_026b8400f96d038b016ab44878f86487d080d9b667de94f2b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q6kseiamAfTPqiC5ikpGZ9nx",
  "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]: [-0.4137, 1.2304, 0.7097, -0.2298, -0.2939, -0.2451, 0.9995, -0.0216, 0.8013, 0.6003, -0.3935, -0.0151, -0.0338, 0.999]\nstate[eef_state]: left_x=0.3418 left_y=-0.0903 left_z=0.1281 left_yaw=-0.0531 left_pitch=-0.1393 left_roll=0.0338 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -4.8889, 9.5658, 1.7265, -0.3687, -0.0855, -0.0171, -0.0752, -1.4701, 7.4462, 1.707, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27b05a172ae824457529faade17567d6dd620b0f638c1403ac439e78f0d2ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0028ff5701108b42546974d9828d8df8637eed34552d412c5cfcb9b4bb507721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af51822165aca1e30ff57215929e2df05843d88bdb3335aba410477cf33fb56a",
      "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]: [-0.3279, 1.0252, 0.601, -0.2489, -0.2428, -0.1936, 0.9996, -0.0216, 0.7986, 0.6029, -0.392, -0.0151, -0.0299, 0.999]\nstate[eef_state]: left_x=0.3177 left_y=-0.0594 left_z=0.1411 left_yaw=-0.0402 left_pitch=-0.0775 left_roll=0.0174 left_gripper=0.9996 right_x=0.2933 right_y=-0.0001 right_z=0.1757 right_yaw=-0.0038 right_pitch=-0.0156 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.335, -3.3983, 8.4718, 1.956, -0.2418, -0.0757, -0.0611, 0.0615, -1.5795, 7.0359, 1.8437, -0.0317, -0.0855, -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]: [-0.4137, 1.2304, 0.7097, -0.2298, -0.2939, -0.2451, 0.9995, -0.0216, 0.8013, 0.6003, -0.3935, -0.0151, -0.0338, 0.999]\nstate[eef_state]: left_x=0.3418 left_y=-0.0903 left_z=0.1281 left_yaw=-0.0531 left_pitch=-0.1393 left_roll=0.0338 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -4.8889, 9.5658, 1.7265, -0.3687, -0.0855, -0.0171, -0.0752, -1.4701, 7.4462, 1.707, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27b05a172ae824457529faade17567d6dd620b0f638c1403ac439e78f0d2ee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0028ff5701108b42546974d9828d8df8637eed34552d412c5cfcb9b4bb507721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af51822165aca1e30ff57215929e2df05843d88bdb3335aba410477cf33fb56a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEh-7AbASfTDNX4bUpELWiS8cwSjK_kkee_TTt21VxInr9fPaDrf_ldksoznrmSqIDirfTspINtUSzg7ExkQgn7pHOk2UO_8FIQEUQtNCpqS7-qoJLHL0rtYCiv8E9YFce9pmKlmriV7Jp5lEiEzT7NUGsJMZo6cgUCRfT17GLyn1w3YXswnvLItRMxVJPPVg5E5GgCutJMTZU4st9uK5gGZCyecrqxD2-heAYdcDkxP5YOC-2yhhlMEb9TAl9CXp9Hv18oW-ZayGJzLlQaH__LWckWM6_pVuGEZy61w5Dei5syASaGQggBPVk5UYnqncD6rmgnxnKHCl2DJM9WWGHKmF5ZZkfhnzdKKzEaeMQWHAcWctKW9sZMU83_faP6VPd8BHaUsoc0v_q_gu6N448tYsjDSCDIDwp7yDO27gpjYVOC8HUrulzxMrvq10K7ZC4ae8qnbrmkT6zY5VnaDZpfKItI2knUdGXdigCj16DX1o5cd_ykhop8gQ5Rme0X190GIRSazOhaZvsfM0Fa04ylSxk9iVA48HvHby2jo4T3t8fOCJ_gKMt-lwkOmMladw_b0lKXaOl-nS2hHSoH94PaVRS9r8cnauoyXzrAMYQbuszy6KLuPtwfCLbHFOkQ0PuFifMtrF_pLQyaH4An1dRzX2EA2UZCuCjRj6B2ZU61hIpKAPXbGXDTcVZNQ4_jChSaDy2VZ3xSVWr6rCMQi7XR0pPWiCfOf7cn12_kBGRlfTmfsN7Sm3bajpjXqCahizH1ApuCYPOImdnkwnMZwjHZPTplINqN7zjlVV8RxOaSQHyWanMVZrwulKhiUO95zsn2egWMmP-aQSFGuGzpiWK4btxHrtmF0-9n6i56mCZieAWhbVLZ6Qjehc44gR4QGQQ0G_tb6JBI5slfdPUwGx-kfklzodLwT76nVIQvw6D1bUOUk2riUPZpVW7kjmXiUrfDpXVSPgIgs90oVW-EH-7LcYNboIfbeX5wrSTrrK_5-2tkRLGEp5pid5A-ZRHRnzaQ55-Q8tCffmKuyk5D3BxGREaxxtYRNyyFIor7R--k-QOobIBbSSbWaYKx8EIGZj4kmLtD0fyZR1Iw4ahRCJNyxmB0Xa2ljw-cOwhJwc97kscqEoRWE5WZFTUnJdPzEHZvPwdnFUHtWHvzTkhGgJjDUyuf6eyE2LFU5KxDRS7EZ1OGkJITCn71IkOOlrZDIli68jpmvf7NTFlfl97fsJOdeczmdkiZcA-eOmG_VoAl4Avk8U9qo_8CJ8gQEl0UegoTwRtcqL8yFAJ6mX3d94jVE-vNLAxUCHNNfPbrr4Iz7kfaOpw7zYDmBRDAhEml5awWtbQ4D55bgdEUDudtptIa5Pu6YXR2ilTdRrm4jpq_IkE5zs75S7LIO1HGhtmEVos9gemwTtiFFO0y-_RCauckBPXmxfnY7pRrwe6HaE1TnpgrCF1eyBhgOqaTFw_L3HIZRpaUe3tWO9r1f10YMO4AGuyCWDewqxE0gKNT0LbVrRzV64MxgPPSrXHAOvRm9HnCItAg4Mgw9CP1zploTu1QZRlbJPN0kkkGX_MGd3t9g-UCYNeG4_4J4tD_ykcHWfZP7QE9R0UedqcZn-4zPdPQyPXxkMA1uPlz6TjKSVUAJMs7zG5P7wuTTRSTVIe8aIRaB27yBg3Opd_qdZEnxtQSEQHWLh3wmb6X2_7nrk5C7XromCnpm6NtM3TfccuiyNMxNcWpga3Z_10rw1b0buI7f00jblnu_Ucnhc7l9DkrTr2zc1XUHzp-2ask2tyxC-ON8MPWncNIAAsMQpfhL0lpZapFtO4ZOqT77IDI6Q-FnEayweE2m4zgWxY5QmYlWv4Ng3rM1lYnuyH_EjF0Gi_ykX-WW4-38MksKQScUFCt1PJ7jnU02SW5IbU-oGEdeb0zjkvpjb-rm9MtqcBWcPtzuYru6OPBNkoYuscgqeqjiM_8EDC_K5yTY5iZEE5zdYa9zYQ8yX8Y1ea5miJjXt8Smbw==",
  "id": "rs_026b8400f96d038b016ab4487b6bc887d09c9aca6203753372",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.11,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"The left bowl is nearly centered on the jaw column and its near rim has reached the fingertip row. I’ll descend around the bowl’s tapered lower body, with a small final centering adjustment, so the jaws can close below the widest rim.\"}",
  "call_id": "call_61AVTSmiTUUh26B90sqcRuRj",
  "id": "fc_026b8400f96d038b016ab4487d4afc87d0b121fc512acfa855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_61AVTSmiTUUh26B90sqcRuRj",
  "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]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9996, -0.0219, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9996 right_x=0.2931 right_y=-0.0002 right_z=0.173 right_yaw=-0.0019 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -5.094, 9.1282, 1.6923, -0.188, -0.0171, -0.0611, -0.1709, -1.4017, 7.0769, 1.7021, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4193a00f43ba8194c814a38e18840f8a26bf2a1910afb849adbe6dc992077b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0c9989548d4fe2e7e5cdb73630b1adb3e96bae17995c9bea1d6e2713c0aad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b74bcd9791add80f4b36d07f03fc679e8a88ce254201770bd535e58ca8d461",
      "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, 0.7944, 0.6037, -0.382, -0.0223, -0.041, 0.9996, -0.02, 0.7933, 0.6018, -0.3805, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1793 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0005 right_z=0.179 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5658, 10.1128, 1.8095, 0.0122, 0.2125, -0.0611, -0.5128, -1.4017, 10.359, 1.9316, -0.0513, 0.2271, -0.105]",
      "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]: [-0.4137, 1.2304, 0.7097, -0.2298, -0.2939, -0.2451, 0.9995, -0.0216, 0.8013, 0.6003, -0.3935, -0.0151, -0.0338, 0.999]\nstate[eef_state]: left_x=0.3418 left_y=-0.0903 left_z=0.1281 left_yaw=-0.0531 left_pitch=-0.1393 left_roll=0.0338 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -4.8889, 9.5658, 1.7265, -0.3687, -0.0855, -0.0171, -0.0752, -1.4701, 7.4462, 1.707, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9996, -0.0219, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9996 right_x=0.2931 right_y=-0.0002 right_z=0.173 right_yaw=-0.0019 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -5.094, 9.1282, 1.6923, -0.188, -0.0171, -0.0611, -0.1709, -1.4017, 7.0769, 1.7021, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4193a00f43ba8194c814a38e18840f8a26bf2a1910afb849adbe6dc992077b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0c9989548d4fe2e7e5cdb73630b1adb3e96bae17995c9bea1d6e2713c0aad9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b74bcd9791add80f4b36d07f03fc679e8a88ce254201770bd535e58ca8d461",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiDRV7P0EKdphT26VP3eNGU_Xs916jM900KYekzDs5UlSVZsLGTDN8tA-o8j1WPm_5x04dkByZ2ZAM8brwcn10IW_sQkgDomsK6mmo2PYDeRYkVGCeq_TxROuMRGJVUPNLvCy0TI-fcQGYBgd4AD4sYblNKVO13O_cS3QFmFs8gsccNPVpbKFEKS6NFW6zUe5yW13tDGVm_JPWjML61aCBsdMCD3c_Ql_Yj0BncPIoloMV_bBKN6qIfNf9Mw26U5A0oz1_KsR3_YHzjY8NePLHVUR6PaIMmvn7-WNonGSnzA97mq8TpPN91hAhA6dI2sO0Y6UH_nYbtwQ8o72OZz-mUVC2dyVFMbwPfJOhSgPOnO8nG8FhYyncvtizGU3nQL3N_bG5HUvPebWol6fDg9H3YiBqI2ZLMl7hG2h_zK9MQWTEKnWMqNHQSI8HhqrWM9Zy8Jd9uN3Rqk7vdUxb-DkkeDqEDBQPVWKnEgSf5LYMXjpg6qZf-2jC9CVgNT9Ruc-kOLsItW-biCpPVOAMEYd78WUyJPOH_nelCdparz46VNXnAyRPm3UcDbhUEIt2lIigucHksYLnH5SPPldnrqY7GFz7972wCTQpx6rzMNFGIYopYbM3dICdiKW7kF7yn5GLJHzcxmgVk15hgHc_r0IMR1b-aj0rPa9lhA4ZqXIaN_oqobXZUlvRuFOz8cmcbuxX33bx4lRcph_r0P_6OTuIPqGl7SHMw1V0lBk5aQwTo8OPQi3sxbbDNsiojKB2CKj0o1TsQSQEBfmVKQmsYANwqk77LwLZuDoxKvAGInKtv5YrYzYi7LK8GHZsJ6xqHDHuUK-qJAkXrOB2oqXHTOX987aqb9rqP7jyTZ3rlnwUsqiK27xrOmx3oSb9cpHnw_ZkeLUA28Y7OVi8ax4kzTHAK1HeVY-djjQmK8VS5IoIchbhFyWV_KExut0ip9JjFrQQ0yo-rFuudTV2W-YndYo8RquOvEbCKltf08O6L5CMY_hrdEWmz6UZBTrBKeDRVPEayKd-eC55fBAW8YHL1zIyeOUqpt5mhdba5V_zAJn3LSJ3GspRGU0n_TpQJdVJ77quj-7lk2zOYVmhT5xO9do7nbyAQKtU_BFNru87L0XgKBvdh_SAVwoT-EBhl4jYksOnkeq3rDP5bI9-yC30AXBLklFdBIiMycjhz13mPbsTBspSAB3tWn7Nb7tLbqfqoISdC9dSBxNSSvin-VbgF47b-Mo0Ar5Tu1U4gc7vI8KvrMJyyCwzGyp6gpNMO4J4Si1ePSk_6dx8UVTWmPLBdvlfCVaGhDkVHwKD-qFqG8z1pFDgvHnrMmEWYwT8P85tCjWsBJOdkpigJBCWuyktN2wFguZbf5QjlH-s9jeIcDHGn1Re6vs1kSC6hASNw1-VD546aD3xpY7NXhCJLgYaMLNEIzBmDqrc2XOD0Xsfba5wNppV-bv3svn8UM5SxUyn6xCj_hlD5gsgkuP7D8ehKI7aWmiXSUHc5RmgPgDKNZslQwdDRCpXAruaPQBDaJQ-fx5ppK-1eDiqH95XjunEkOwMsR-EMNNPgSxzxNGfJVOC6k-NXiPADUooP0tzU2nNlkNA43EWrK5FKNDhx1SX9G-XcXmosG1q26Nx3Jl6fW09XI9Xe4YTfGLa3B3RLarNXm91EAy8A-85oOcs-NbI14Uf4KytS8O_mrdvbs3TXSf9IsAdhER8CqK3MEfAPVScSlUvJYF3VTMGKzGAVsf5MBc2g4b9-1SDQFq_S7vgHbRyfEokM3zZUO7faO_DMuwcP6Ot4OaMFWWOXAU3zHaNwN2zbaiAbjOuuB17vWgUuHw7YVPHJzu5rhnQFsfv2yf9NumPUIYQWWtCyLL2RfjQZZ6HPoahmDeUglHu2jauuHk_ZOrQAokBx-b1myejUWKwa9U7UUW9giYZ3TlcLEnTgRtGAkZgyYFRSGdkPiBrt8eMQCHtwcooRziZJ0TcIw18DK-c4vPJNFHkriDRM2CBQu5vwDg==",
  "id": "rs_026b8400f96d038b016ab44880268487d0a659d98274e52218",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.095,\"left_z\":0.1},\"note\":\"The attempted descent barely tracked, while the camera and effort show no contact; the arm likely rejected the combined low-and-forward pose. I’ll make a smaller vertical step at the current horizontal position before trying to reach the bowl’s lower wall.\"}",
  "call_id": "call_FTVgL62BDd4kvPrFp5hWqelE",
  "id": "fc_026b8400f96d038b016ab44881b8a887d081f43201cc36de5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FTVgL62BDd4kvPrFp5hWqelE",
  "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]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9995, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9995 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.1214, 9.1419, 1.6825, -0.2125, -0.0415, -0.0171, -0.0342, -1.1419, 7.0222, 1.7509, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46da63e2aac1d1123a00ce3e0d70ff1d0317aeb70afb0bfb253b77bb0ad4871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c473859feea3731d78e85e5ef193f9068db97bb007eea2e1b98e8d03fb430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7fcfe692a82a929c9d99c5977df1c55de388739ca2277fafeb8de013d8c55d",
      "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]: [-0.3279, 1.0252, 0.601, -0.2489, -0.2428, -0.1936, 0.9996, -0.0216, 0.7986, 0.6029, -0.392, -0.0151, -0.0299, 0.999]\nstate[eef_state]: left_x=0.3177 left_y=-0.0594 left_z=0.1411 left_yaw=-0.0402 left_pitch=-0.0775 left_roll=0.0174 left_gripper=0.9996 right_x=0.2933 right_y=-0.0001 right_z=0.1757 right_yaw=-0.0038 right_pitch=-0.0156 right_roll=0.0024 right_gripper=0.999\nstate[joint_eff]: [-0.335, -3.3983, 8.4718, 1.956, -0.2418, -0.0757, -0.0611, 0.0615, -1.5795, 7.0359, 1.8437, -0.0317, -0.0855, -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]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9996, -0.0219, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9996 right_x=0.2931 right_y=-0.0002 right_z=0.173 right_yaw=-0.0019 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -5.094, 9.1282, 1.6923, -0.188, -0.0171, -0.0611, -0.1709, -1.4017, 7.0769, 1.7021, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9995, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9995 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.1214, 9.1419, 1.6825, -0.2125, -0.0415, -0.0171, -0.0342, -1.1419, 7.0222, 1.7509, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46da63e2aac1d1123a00ce3e0d70ff1d0317aeb70afb0bfb253b77bb0ad4871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c473859feea3731d78e85e5ef193f9068db97bb007eea2e1b98e8d03fb430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7fcfe692a82a929c9d99c5977df1c55de388739ca2277fafeb8de013d8c55d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiHh3dfT0q4IqFa4MaCAUI6lN2QickwKTeZtSU1XQpfEg7dRn9n4gDqQbXqC1G8mat0IBaDKJ88U6I0bTaglcVE3Asf-F8FUAOcs1HrW_aXtDs0ZsiHp23YQNWLMzJPddI3lOKHaigrY6RYDYS7URiyKu9xyf7tGmyHINsDLcl241kb_qQ90aVAb5WHWttC0YnHE09OZ4ztWj4CXsc6V_8IVp-57SHGX_jkM185PWUhwHpd_Qizcp97wOLTZb3jQ2uwfjfY6bzTbnJZJE3FOL3eq3PgAgctmya9vR6zWtrkNZeZR1MwyeQVuNbqCvFcb84ABCOvTrW5qout-ycKtDlt7H4AStX6w0fDuQswarFCSLRk2XgD4Klnr6mAIhmlEjpXkhbB1YYjLh9Ue-BT4MeYWxhTKbT5sbPAYl1q1l_Ju1kK3N14olsw-kom2_ueciy80aPzVMk5wxfDZHkhkX9Kvd4Xp_fBfSxmphGLypyxNZ0u8u5eM6agBgwNWG4Qn4x37PrJHFO8IJcZYtt6Kq_TLzHZ2f9vEZ0t4awhN3Ij5UM2PMLQS0li-gfznk2mebsObeXeA8vnI8fHs7sXPOx7fg9bebr_PaG2r2NrFgUoDmCdhWwMMTz3OYKU-cMei3wsSj-f0KSKskORLRrTFLnKb2xpNOKa5WHtb990afWiEVSOHlrB67sAUHrXiC6iJbxIgsp2SJ78sNJ_6QurHtZY2ZvCTTdw2peOTJqi1SUSD1w-f110-OBZtfGXMdcLdO5-RAKMmtE7Ws2Zm20X1ULOmxFb0iYS5miD4qq-vHYOWtx5HFSA8MhRzBsOKS0pYkzGQCVpjNp1GzFuIBKHgoIEBKcF4D_xRQp4f96AAw8VpZEHZkI4rIMlXXhJZyYYA9rQjfnFx0hWmXoLVG52Wng64rU4BEWHXMxjm5azWwSpAT06DDvoXgCE-s3rgQag5ivoiyPbFjJWceLcnF-kHKbp6AcGTXn0mH1-v7BWua-o-KswjL9sL973kuQVQT734ZEk-CuQHHn2YPvnrvxghS1V4U-tVKRj1PYao-ir6fA2ArNQ7vGgHv5_VkCMVF8ZRPe7w_DMalBjz8kzZsvzXce9npvK3t9CX9Tt7ddd2Ja059K3h8EfWuUVxLlOEu-x-8SKsOE63_NBKuxOnb8-CGQv4D89rMcar9XhRwA8NEpTMJCpLg2KoDp-gtRjH4SPtcsJoxhrCIBKIWTFnY4nBAadi8acPVBfXss7OnA29L1_yOnRyE2f7QXCUv6Oa6Fjttp-1qEuKHRWmSMmEdmnALuhJVhJafJAcMXDFXQkEoS_kNdYfjyEr5Xo51arsjmi7DCPhUm6heIV608bdtc4W4gLh2tB5SGd8W4W11CVLPYvG78zWBPljMeS4VDk5xE1-yLh09W5ZRMyN9-5vM-dqJUMhkW9P-VaRWCJh_KVr6Prk9rEWlyJmQj73-P96GVv6niL_tMKpvYB3AUPbjwSEkwba51yfyc7TnTNjXuOxPFlZG5lS2IjvNo2F1zZtrUQqRYV5mbz0J3b4EwmE6wW5yIWjPj2QIVUnX2eK_pcSVtNxrHTqx6_s1PNvEjvIC0EvMiylhB-3C5Hpr_xleiP5-bKHpVaMUzBvhujoU4S1MKWtHKThPWxFx8mzuSTTGn1Dxg5F-_BKFuGqllQn4Aa_Pe9306QdUb8xeZN3FXaSA_aZEj788Q_pLpT7BjiXgwy_HTCoRnYCFkqrcodJagwv4poZmOlgSLFqQ7hjWsFngl8P5G6ErtnctoaD3V4ICpkzM1D9Z1aSEkyQf3YQscJcH74yHQW897u1n6msczc1TKs2HCzCft51T-tYo99JC4-dfIqz_X48rDxNUHyRS6WTthyQLq-iukl7KUpjWErqjJE6uALyR29USeMdDULEyaShrYH7heT40xgxqJYSAYxztqIpBuaXNgicctgqQLqxr3Hd7wyRif-gV1LgT2YJxt1kOCGf0l-Fss1XC5GBGy1O-2i_L9OPK0HfpQkmJypLYRfXeerYYIcptPApk6OndaxF8Jlui5PJT9AnExN_-loDHwbt2uPpkpMI0cs3VMrGMxwIojFMA1ivL2DwStyUJsRluypsVGMU0uoGYrUDgIs1KsB0ZevCXEy0fb63Yw_zkaVLPM=",
  "id": "rs_026b8400f96d038b016ab448848b6087d0be85cbc21a3b06a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm will not descend despite repeated lower targets, and the bowl is already bracketed symmetrically between the fingertips, indicating the open jaws are contacting its flared rim. I’ll close here to test whether the outer wall fits within the gripper.\"}",
  "call_id": "call_FS4uhbFNOjDzUVOehAfsDjSx",
  "id": "fc_026b8400f96d038b016ab44886605487d08d106fe6f2ad073f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FS4uhbFNOjDzUVOehAfsDjSx",
  "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]: [-0.4191, 1.2476, 0.7273, -0.2287, -0.3119, -0.2596, 0.0093, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.0909 left_z=0.1305 left_yaw=-0.0359 left_pitch=-0.1331 left_roll=0.0336 left_gripper=0.0093 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -4.3692, 6.7897, 1.5995, -0.1636, 0.0513, 0.779, -0.0479, -1.2786, 7.1316, 1.7167, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b716ceff5b0ee55ab2b0ef3e9088abd9ea5bb471be79f104be79cc49f19a853b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45236fbe53fafbcb3a01f0ce5daf8ca5ffbc4d0e3afa6a77b30715c70e75325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948dbdfca017a3787010934c3d936be0255b8fa5e969d890bae6d69a3ca6daad",
      "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]: [-0.4137, 1.2304, 0.7097, -0.2298, -0.2939, -0.2451, 0.9995, -0.0216, 0.8013, 0.6003, -0.3935, -0.0151, -0.0338, 0.999]\nstate[eef_state]: left_x=0.3418 left_y=-0.0903 left_z=0.1281 left_yaw=-0.0531 left_pitch=-0.1393 left_roll=0.0338 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -4.8889, 9.5658, 1.7265, -0.3687, -0.0855, -0.0171, -0.0752, -1.4701, 7.4462, 1.707, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9995, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9995 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.1214, 9.1419, 1.6825, -0.2125, -0.0415, -0.0171, -0.0342, -1.1419, 7.0222, 1.7509, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.7273, -0.2287, -0.3119, -0.2596, 0.0093, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.0909 left_z=0.1305 left_yaw=-0.0359 left_pitch=-0.1331 left_roll=0.0336 left_gripper=0.0093 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -4.3692, 6.7897, 1.5995, -0.1636, 0.0513, 0.779, -0.0479, -1.2786, 7.1316, 1.7167, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b716ceff5b0ee55ab2b0ef3e9088abd9ea5bb471be79f104be79cc49f19a853b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45236fbe53fafbcb3a01f0ce5daf8ca5ffbc4d0e3afa6a77b30715c70e75325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948dbdfca017a3787010934c3d936be0255b8fa5e969d890bae6d69a3ca6daad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_026b8400f96d038b016ab448897f3487d0986436de18415679",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiRnvgj3IW0EJo5kGY7AorQulJDYfyp8qrz5i7wdDvFnjaBvdk3M_aa7ydMQF8ILXj1IUosipzxMzRMc6MGyiPI54hCZPQD7kdr3WcHpKjGqjtbNTGUGe0-5ZvewbG6r5GwYTxweNgkNNgwACMrMLNeAykxa2TBuLKcYDOA4mMRnH-q-ZI--1_LKOxtQkmYGzsIOsZSdt3EiOWDe3xj4DguUTegoFxMbYgHlTiRIkiTRo_NdPSBKPTD0PLzqraAagDgcUshVREzyKJFr94sq9Z3OaHyTmBD2RRGuX-UImVaRbpuqiVYyYHksfXLPQYbBoQ1pkNFL42T1uh4-Z988ifG4NDKWWNuj6MkPWuQMvvo1fsVQ9JlrnlferKIp_p5XtFbb8wQt-BGqNbc83sG6e4VSF6XvmmbcnpHD6Nc4n8z95ockxoq-0zuKAytTihLYVZ1RwNzYmKKvMPmo-xipvm1CbLY_yoBe84JGuFMx-LxNmA7fWoGu49XQUqiDdaGmw5epaVfkFqDZ0d5KhV--VFXmUKPhGBMrj7AwP0xdlTKwKn1BiY8QDCWqTeoLKgXB1NkD58iMcwMnWEWjUFuCqpkxKQ4CvyY1b6RVKqdYmlEM17zWCaqQi3NMTupiB1PPS1Ya9OusSvMBxkrylR4CLSK4B04jukZI04gBHiPrNXN6a9Hl2KCvPuVGJnmKyxBemtPgnsUMdew6kwjhqzVxVBkTAEwTUwdWxJfNBTImqsWYX3B_5KXUznjiZUt31UIkm4eMK7Ryz7m6U7iF3Ls1jiBTO5tUPc3glZNEGo-BhaZjqCENmm6lta8H8K6IYImY7_s45a6QkfuR3ugo9QatDKJtkaRIt0Vk6qPJGYUnCQl5ghGqPwOsa0vbiKbK1UxzHyi_rI-SUYCgjdpy9KX26eSIjnNv0oYmayl_q-r2j-NRGsTFK2Al0F1kf_I00D1E5wV0clGtir-w3YJZTQHcRnulEhEOBNtLIKehzLmyy64QbEwe8TxAZ0QFi7a-edlWTkxKflIgKseP2V_SPqqhooWKgN-rF41PzC8vFYSzKZESAZPcvvJygoMEZtQ7OMMNm8QEJvRyL_lRuhIeyHwiaKLEZ2p6Sz_a6bHdMXMhaUBLIKuRXDD7tBwbT2HJ7SXyrkKSAi8UJy8BvwZAoxm0qj53kTT1z9PeUsdeaH2oiZnyRQQ2SKif1vd3R_naJ2j-KswfzlVYneNu5vrbo-zcqXeIOi0V43hDzWJZqK9XE2KcAldthb-2WNPR8RIjtxsUONjSLmI5YzV8X6sW2h6UZhUo22n48Gx8qe0KiXExYMOpt1q66bQaMd0SVvaWMouZsZfSR9S7fbQetmkoBnn4Okov97lVx207AyF-VHHgCjLSAOcPtf3Yod1a8B7U4oeklVBKGfl15XWCctOtbqqEMoPagq1er_f2-bowd-qbKsDGV59iQ1P6Ex2hGYC_ZGIUAgAMOTlDKm3ra0vQRKocscFnaw8JDCUrOmo22EDca5SqKo=",
  "id": "rs_026b8400f96d038b016ab4488f3c8087d09b377806da3684c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.09,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The close settled empty: the jaws were above the rim and closed through the bowl’s opening. Since vertical motion is stalled at this forward pose, I’ll open, retract several centimetres, and lower in the less-extended posture before approaching the bowl horizontally at rim height.\"}",
  "call_id": "call_515h2e9Xuh24omGI0pFWuXhQ",
  "id": "fc_026b8400f96d038b016ab4488fd68887d0afe11337ade6ca0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_515h2e9Xuh24omGI0pFWuXhQ",
  "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]: [-0.5095, 1.1339, 0.4965, -0.1631, -0.3653, -0.3229, 0.9952, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2985 left_y=-0.0904 left_z=0.085 left_yaw=-0.0452 left_pitch=-0.163 left_roll=0.0413 left_gripper=0.9952 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0015 right_pitch=-0.0252 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -4.1094, 6.5573, 1.6777, -0.3248, 0.0513, -0.1197, -0.0479, -1.4017, 7.1726, 1.7753, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082d12d01aef7bff15261942f8a5a7b1fb32eaa03a0812b5fc1cd857a7c5c3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d288ffbce02c535392ce279a6dd285d94ab1521c4183ec5d8899dee85c455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57245d3008aedb40896810d28cc43bc07ecf7f71e9eaada24853838bc5b7813d",
      "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 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9996, -0.0219, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9996 right_x=0.2931 right_y=-0.0002 right_z=0.173 right_yaw=-0.0019 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -5.094, 9.1282, 1.6923, -0.188, -0.0171, -0.0611, -0.1709, -1.4017, 7.0769, 1.7021, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.7273, -0.2287, -0.3119, -0.2596, 0.0093, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.0909 left_z=0.1305 left_yaw=-0.0359 left_pitch=-0.1331 left_roll=0.0336 left_gripper=0.0093 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -4.3692, 6.7897, 1.5995, -0.1636, 0.0513, 0.779, -0.0479, -1.2786, 7.1316, 1.7167, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.1339, 0.4965, -0.1631, -0.3653, -0.3229, 0.9952, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2985 left_y=-0.0904 left_z=0.085 left_yaw=-0.0452 left_pitch=-0.163 left_roll=0.0413 left_gripper=0.9952 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0015 right_pitch=-0.0252 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -4.1094, 6.5573, 1.6777, -0.3248, 0.0513, -0.1197, -0.0479, -1.4017, 7.1726, 1.7753, -0.0171, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082d12d01aef7bff15261942f8a5a7b1fb32eaa03a0812b5fc1cd857a7c5c3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970d288ffbce02c535392ce279a6dd285d94ab1521c4183ec5d8899dee85c455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57245d3008aedb40896810d28cc43bc07ecf7f71e9eaada24853838bc5b7813d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiVDUD-T85PFruMLMvXTVY3D2MJHBcMoSAKROFchVd0A56IhZGuqgv4ELSI3qKznLcA2_y1DO9NEVwS-CRdEqRTZALys9oUypkWBqAZXn-C-hOhEpiLenW69aw8xu62qpf2V4rFzmGQfYY5UErpyY12soH3AqW-emI8DI_e19DL3FPun8PAdvgyDjEHwONMk192PZFI3pO2FeF1mj1XDkBclzm7To8pP97wgpDktuq4Jl8EMHdxjICepBQUL1nxpRhfARBmE_fdhCj9KrIISNBl5DPHfsrwTGy2EQYnRAigPYocSD6bHwyTrLuSnTljyg6_NEK-vvMbIzRI9G3yCty08QfYAANErBSnV2KRLp46gUV7Cz1BgzZSmX3RD0wQpRXksTfbiWChjauNc2boHZGlnxExa_24f3X-idY0Px-u01pZdUZG1uwa_ySZUiEAApTTiY7mZMExXOf69RnTxgEbqAbsSjuFTyx8gu_tu4C15eX8izAjJMyOVE84E3OHflrRAcyaNb2-Rd15YIc7Z1O4TjMovSRG0QEju-E92wNCxX7ZNBfC0WsXvvSS0srZSX5-sPWVCmAnTelK-9MpPL1NLfts4ybvFENOv0HZlYOA4NmpvbnWKMHdmXPBd6sOwYPzgfYy9jUOSDBaEX7PlryOKfTRCASSy6k7MHiCQMk18NyI0VqCJTgmJl1RkYu3uRUR0Mdx-c4efuyJcOtzI37d-F4zKrkTWGfIZF2MH7g82JExkTzwJVuU6YuPqZLiw_2RFQP6F62gj4MBjcEU0000sW2BfFbROEV0A7hY01G1dhFcNhshwpIXGWh3ujUdQ97Pko13PNHVFbwme-6ZaZqB5C3uKAT9QYWVUT3MpBW-_k0Nh4T0S4XgAch5iNFuuepA51uVQkEM_eREulq1GYvPMu3_Eb6si77BngE_26Qi3OppR0bEomABlOv-PnR40JKi7hIAppV8LtxVf9yyDT27NRaWlovC4Cvkl0raxemliCAz79PvVe-0HYrPR8dUjSv-K74M3vMcq6HXABswLGMx1Oe8spFtrkz1XHgdu9wr5fXLR7z4-mH_ZQ4AUaxHXtjCMkmTyGqDxVHNKNQN5DVYXYpSiQ7a-81UlYXIfaX9hqt_rSs97aSuis9qpbWqGCk08smccJWmO9um4hHpTjkjBddFqatfcofXBrMSATL2zcFFrQY2cTW8sqN_uy79R2qf12KBB_fAzVdhPMk31js7lIW5EywSqSGdYAXn3tDfmxhOA8PLlZQikojQ1aK1rvG91FSY5eHRwhrvOjA05lrnnlKVB17ypupXBdQjfjpU1VxXCQCfNe5XiPH1w77g3KjI9eysdzys3vDg6Po6t6-9wAuwLvAp_dQ2KsW2gtEhwr9i0TpKErOvv3AUv3Gk5390xkhJy41we5Q849bgoShMUgVInQi84eJ6eo9CXqo76bFLoIMMXH77_d95AL5G1jiYbKgZXvlCPDdQMYQ_zTuvwENuMBdB-sYnO8HFuOlkLT2kFzij_c3xWguN0nZC0u-mpJ9awQbfCIXMHTNBVyzzH683ypJGU9vIDozilddF9ZxWr-0z6l2OpPx6L4zE-trRT3YkQC12SnUyJcC0a_HSq9ZPc8jMJ6P8scz-lN1PZn6FXDBqxHS4t65acAUghRr_Q5ev23nFpmARDl7K0Zone8nB8IqAdqPiBw6g9-wfdmMB84AZW3RxRxkCE5M222EHUGQzZmB1Po4irTiDW8LS_iVFtxpmeV7FAtlxQkVpGJCXadDUoPGP0jUUTROUkkTG",
  "id": "rs_026b8400f96d038b016ab448930f0c87d096472e8a87753a32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.1,\"left_z\":0.085,\"left_gripper\":1.0},\"note\":\"Retracting allowed the arm to reach the lower pose. The open jaws now straddle the bowl, but its near rim is still several centimetres ahead of the fingertips, so I’ll advance horizontally at this height with a slight rightward centering correction.\"}",
  "call_id": "call_b4CM4n0wBu9vr9iFSSun7Nqh",
  "id": "fc_026b8400f96d038b016ab44894658887d093ecda89266be812",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b4CM4n0wBu9vr9iFSSun7Nqh",
  "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]: [-0.4728, 1.2999, 0.5598, -0.1242, -0.3485, -0.3145, 0.9988, -0.0219, 0.8082, 0.5999, -0.3943, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3176 left_y=-0.0907 left_z=0.066 left_yaw=-0.0212 left_pitch=-0.2259 left_roll=0.0648 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 9.1692, 1.6386, -0.0952, 0.0757, -0.1343, -0.2393, -1.1282, 7.0359, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028e69fdd4e3de12595ee48a0ba2ef60584990f96402534ec2eb566fc2c7191e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410eaba8d9d4bc31ccdeccda3bf32329557916ac2f8474df4c9cc9141a6551be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a851ee4b95f8a8b327b00404bf27f3416cfd13b515c4ce81e28594d26cc562",
      "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 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.728, -0.223, -0.3119, -0.2554, 0.9995, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3471 left_y=-0.0913 left_z=0.1319 left_yaw=-0.0385 left_pitch=-0.1272 left_roll=0.0344 left_gripper=0.9995 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.1214, 9.1419, 1.6825, -0.2125, -0.0415, -0.0171, -0.0342, -1.1419, 7.0222, 1.7509, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.1339, 0.4965, -0.1631, -0.3653, -0.3229, 0.9952, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2985 left_y=-0.0904 left_z=0.085 left_yaw=-0.0452 left_pitch=-0.163 left_roll=0.0413 left_gripper=0.9952 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0015 right_pitch=-0.0252 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -4.1094, 6.5573, 1.6777, -0.3248, 0.0513, -0.1197, -0.0479, -1.4017, 7.1726, 1.7753, -0.0171, -0.0659, -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]: [-0.4728, 1.2999, 0.5598, -0.1242, -0.3485, -0.3145, 0.9988, -0.0219, 0.8082, 0.5999, -0.3943, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3176 left_y=-0.0907 left_z=0.066 left_yaw=-0.0212 left_pitch=-0.2259 left_roll=0.0648 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 9.1692, 1.6386, -0.0952, 0.0757, -0.1343, -0.2393, -1.1282, 7.0359, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028e69fdd4e3de12595ee48a0ba2ef60584990f96402534ec2eb566fc2c7191e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410eaba8d9d4bc31ccdeccda3bf32329557916ac2f8474df4c9cc9141a6551be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a851ee4b95f8a8b327b00404bf27f3416cfd13b515c4ce81e28594d26cc562",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiZDn9Mr0eZG-1vrCXneAtpkDkXcFUuFGxy8vcpLHoHdl4YJZTDxM6x5BefQtolrdTZ7AZNnaejOacW63K_8Y3T_7ytGwkQVS7GbnQGprVnPEwWpzJap1jD2AvEwf-2rEdM5A-kW47xPMAWD3gMNot20kkujiA6nYsHbTO8EwKCs15FVt1rRirnBA7wEkQShgu5SZwbLR5cM17dw6PFKiwWceO-AQUpxHAJBmtm2UQaV7Pnh0OmIspoQRknIoGwZ6aBNnUArzrg2WtGi9syA3cB12qjaCV4dL77e1IWws30Pp3nxSizmSC5fFZco70W-0pyotD4W1ig8hlTep-8oRDKhNH2z2f4z9Jjy8SboilM_EEvej6BFDAkeZAzpAr1zocpdHaiJQCZ_GfhOMviGujJp7CksRcAY5IdKZP9uQvTxh_DUbhGW2x2cBvp_xMu3EMW9uBYn80EWwFtv_AykO9SkxF8FWTWCMgY6urwJpNaOTP24VARc3yowuYHnKXTFy07tPDcdP_Hb2y2NkUA9VvNLywco3COpqdZvsxZYxB6aScAbmDx61-HnULrHZ4misHDZ5pRNuy0thoZUlliOp6RMzxMQb4gQ7FcZDlmC6mrDfqskSgAsdco4jRBVWPd6qjDJSqiLTTXAURENPNxgRdHEBSWeRSvx1XcT99W4Ol4Gt_cN4_njDoyCxYO11KbkBF8tc6CX4VjgMS2GAW_7Y81sCeQwLTGSN2466QFUmZqNBPgGIb33jT2JA4JwRShqXyBBJdZJhfQeCnNu7957Lnlqxfe5mcXgUGWjTc2d9ST2JvTO5006YtdGxPbS6AjQejRsGejnpE2WpF23jG4_H9cC0PLysmx8gCjtY0hxi6ZsAl5-Z0jMGKBqMqt5-f0Q5DpLgg9UcymUAtjU_o-q7eSAO0_-qgJmIMbfksVj8E1NyWBbb0H1EpRd3KqLY3IS-jjdBnC7ipAlE0srn49fag0Scjk6avE_sfrXr0U2kZf7hUDzz-A7jse3Si3p_0vau_gP2h0cDyHYvlOHkHEbAbbAiS4qIf1AhAUPNKMn0lwXTDHlJxIFFBotu4wqjy7m70cpBBmmbNbfb1UPVkTXff0JGC9zFJO1J-89PbNGyR_CUiIOYov_CKgfDFAupGp_W-ySrRiggc91wdPHDfqg_ZM_JAJkCRcBMZMtfWiXgWjsOh_VYwb_ux2MXQqUeKsJm4POO-ukWpF-3Y3IrIN7qWScz2kpVqfN4FRk4lzAZnRe6Sj5cSWogHLXSKTYfhZnhmWADK70R8HI04Fb5_Y9uKTOp8W8Qobfy7cWtGAlap5U_TW9NBO4VifNxrTYAxGS596jhxpcW40mhsyVRPm44zb9XhnRJMy2AYaWVKVTfVi1Ef0TOTIRxucvWwqwcwADThQAGwy7OK_huNa8-Y-pzihjArfJFgc7LBgXsnFamz3TmfZZTFRB_Zblk8oNQcnasH3whS_SrIiOFJsMTQ8iSpa7PQ7940YKtpXaDXfYhbT9-1JIhLNje0LRgYFa9d0O4LNgFmNh8Z53P_08RKXURFNFDx4hjSnXlnZGMq7wEquwCPv8YojXNHoDlqApOVFsapB4NNUDbjEhy6M5ArQ81p_QXhZ19nvOVShAhqATkrNxcooZEgTeMUWVPSyOsuBrjB2fp4ohV_k62PRmMP6PVHRAQ==",
  "id": "rs_026b8400f96d038b016ab44896d97887d0a6e3ecb46d515862",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.09},\"note\":\"The bowl is closer and the lower pose is tracking, though the arm sags to about 6.6 cm. Its centre remains roughly 2 cm right of the jaw column, so I’ll advance another small step and shift right while commanding enough height to stay at rim level.\"}",
  "call_id": "call_Mb8XBW1M8qNxd9uai3nIbdDl",
  "id": "fc_026b8400f96d038b016ab44898131887d0a7f8697a32e7b746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mb8XBW1M8qNxd9uai3nIbdDl",
  "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]: [-0.511, 1.4258, 0.7158, -0.1905, -0.3599, -0.3405, 0.9988, -0.0219, 0.8108, 0.5999, -0.395, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3401 left_y=-0.1153 left_z=0.0747 left_yaw=-0.0317 left_pitch=-0.2533 left_roll=0.0713 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -6.3521, 7.6923, 1.2381, -0.2466, -0.1001, -0.0171, -0.1983, -1.4427, 7.0222, 1.7411, -0.0659, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5187b780d9a3e5937dd3d7bee050d95b4ee3efb5113c4c13624a4bd545c6ac30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6f8d767bbfa024df81816c8281ed3cba7503f97245b68450c07349b473bc64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175364ecf4d64259788e0201829be3536d70f3b537e0c8fd5c0ddda284a54f73",
      "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 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.2476, 0.7273, -0.2287, -0.3119, -0.2596, 0.0093, -0.0216, 0.8032, 0.6003, -0.3931, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3461 left_y=-0.0909 left_z=0.1305 left_yaw=-0.0359 left_pitch=-0.1331 left_roll=0.0336 left_gripper=0.0093 right_x=0.2931 right_y=-0.0001 right_z=0.173 right_yaw=-0.0015 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -4.3692, 6.7897, 1.5995, -0.1636, 0.0513, 0.779, -0.0479, -1.2786, 7.1316, 1.7167, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4728, 1.2999, 0.5598, -0.1242, -0.3485, -0.3145, 0.9988, -0.0219, 0.8082, 0.5999, -0.3943, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3176 left_y=-0.0907 left_z=0.066 left_yaw=-0.0212 left_pitch=-0.2259 left_roll=0.0648 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 9.1692, 1.6386, -0.0952, 0.0757, -0.1343, -0.2393, -1.1282, 7.0359, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.511, 1.4258, 0.7158, -0.1905, -0.3599, -0.3405, 0.9988, -0.0219, 0.8108, 0.5999, -0.395, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3401 left_y=-0.1153 left_z=0.0747 left_yaw=-0.0317 left_pitch=-0.2533 left_roll=0.0713 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -6.3521, 7.6923, 1.2381, -0.2466, -0.1001, -0.0171, -0.1983, -1.4427, 7.0222, 1.7411, -0.0659, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5187b780d9a3e5937dd3d7bee050d95b4ee3efb5113c4c13624a4bd545c6ac30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6f8d767bbfa024df81816c8281ed3cba7503f97245b68450c07349b473bc64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175364ecf4d64259788e0201829be3536d70f3b537e0c8fd5c0ddda284a54f73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEicb4WNIheHg4YndTe9vypnBTVTG4ToEn8FW09RaYbSioB8iiaraQL3UvZ6SpVaLnNLVf-xWa9epECv80ewUNmjf0ICW8kxUuNjBIADeHdB36xXWY-yCMNIw-q4GKmYhGfYwQ6eqFb3OgQ0z8V1UZpLhrsMuzTlB3gLhmNkkwp6kWlSIclyxUPIyK3AfJMv4tIlKDludlkQ85-uwYDXAik8AOG2LD3gJhi2yAY28G_Fy6ckSX0ADQJXZZZkLxEWQpzJIgYsiNc1FvomF5-6-9Kud7QD8jQa0MhqKNraAAXUmbAytzQ4DOWsK8ZUEscdZIiDTQkSQieC3oM9fiAn_rx3xkJ5kJo_mGhndV_P5ExAM7I7xWi-Vm-tQUtC5k6eZe0hmPEHINSiiTagCn1GSKMY27ZW4djz2CEDLH2QaE53kXiwRa83NG0XpGBeLGC6RkLHYPN7Ae9st2lExnn5h9sh-xvvEKoSwzyCn_5uGPG4XjhMJ8cLIe74_Y-95g15Hrgv1c4-__PP6RDqSbNG7kCCls4xJZ_ubIOeHARh02uQqMVd5UNhPowc1Toptt4GbLD1vgY5vtuzpCKNcY7RiBC-xVtAnti8NZrklqa3liuoUfBUeqIYtGYEfeTMPP-03a49kaq5q8PMF-VUXqy4B9uZk7S89NkAe9QjsHkXsqWyteoSFUZvS7ucme5a61JIGQY2S-Zf0Ww2Iix_Nb6y_E_k2Fn43UsOEIDM2MouYJbSbER06sr8jTsLz01aJDAiPcoQudNTpI2zA-i6D-p0pcQ8V9aSqlKWuruKGtDtpjPK4FzgPjzEKdHFA7vbbgLysUNVAQdoe3pBz3q5SU-ZfsFwq3ZMicRmTUUkI1Pfn4aJ-kCeAx_2PdIPB5dcKBbHhCpGCH_0nqVW_5dZv1binm_vsbJt1-AZfeJYY0PP7bo8Ltxsj_dNj5fOg8wJX5Ti7vZEfbMnm2uhJPOaPfGLztW_mRwTq6rxIuZdh2qtN8wehWlQ3QQFiHJR24CIg3iDZA1j4fiYYIJ3ZTQHb9bR_T_3sZd6PRCeKeKjmSe-BIw2Wp1oaD7z6b65aPyoqIH_kQp1eUMBBnYDoaapFUyBjCQgxibbMr8LO3lMNfldssrSp9wGKyiHffpTL-w3t9AviUrNYs6ANIKV1t6zu9pd7rV5xPcn6RSbeUmoa7IEKQRNCoYz5Kgut3Z-mBtzDg5J1DCzWDAmY7drWKW3Y7OTT_DfnxQEdfLOxDB_d45yKnkuWSVK--QIk3r0ZQ6GOv3UBf9u0WhpWwWHreTNkXA_zkQnW6KwKfp9vz5t23apsZ_sDBbP7l9vS8RxFPr6bdW3eG9UE5tluQ0rIhPp-2VigsgsPRer-BQiStq2y94lObfTKb8=",
  "id": "rs_026b8400f96d038b016ab4489a6e5487d0832b9386f8478fdd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The bowl is now centered on the jaw column and its near wall reaches the fingertip row, with the open fingers visibly outside both sides. I’ll close to grasp the tapered outer wall at this lower height.\"}",
  "call_id": "call_0Vzl9Pc0J8BwlRAkcY9V2i9a",
  "id": "fc_026b8400f96d038b016ab4489ac30c87d0b4e78659aee0ba4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Vzl9Pc0J8BwlRAkcY9V2i9a",
  "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]: [-0.5163, 1.4364, 0.7158, -0.202, -0.3637, -0.3416, 0.0092, -0.0216, 0.8116, 0.5999, -0.4007, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3375 left_y=-0.1152 left_z=0.0697 left_yaw=-0.0306 left_pitch=-0.2714 left_roll=0.0839 left_gripper=0.0092 right_x=0.2925 right_y=-0.0001 right_z=0.169 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.4068, 6.1744, 1.409, -0.1587, -0.0073, 0.7692, -0.0752, -1.4291, 6.9812, 1.7656, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d24b1fef12cf781b1d2d78a7bf272306ae988d83d255e70a141ec01a420b7300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990fe53fc1faa67151d951c231f993f807954d6ee6c503b38aebf36a4ff6438f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57733fd1cb9db7541655806c16dc0f22bcf7b66ae47bd74b3b1f2f3a2d35f58",
      "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 28 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]: [-0.5095, 1.1339, 0.4965, -0.1631, -0.3653, -0.3229, 0.9952, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2985 left_y=-0.0904 left_z=0.085 left_yaw=-0.0452 left_pitch=-0.163 left_roll=0.0413 left_gripper=0.9952 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0015 right_pitch=-0.0252 right_roll=-0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -4.1094, 6.5573, 1.6777, -0.3248, 0.0513, -0.1197, -0.0479, -1.4017, 7.1726, 1.7753, -0.0171, -0.0659, -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]: [-0.511, 1.4258, 0.7158, -0.1905, -0.3599, -0.3405, 0.9988, -0.0219, 0.8108, 0.5999, -0.395, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3401 left_y=-0.1153 left_z=0.0747 left_yaw=-0.0317 left_pitch=-0.2533 left_roll=0.0713 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -6.3521, 7.6923, 1.2381, -0.2466, -0.1001, -0.0171, -0.1983, -1.4427, 7.0222, 1.7411, -0.0659, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.4364, 0.7158, -0.202, -0.3637, -0.3416, 0.0092, -0.0216, 0.8116, 0.5999, -0.4007, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3375 left_y=-0.1152 left_z=0.0697 left_yaw=-0.0306 left_pitch=-0.2714 left_roll=0.0839 left_gripper=0.0092 right_x=0.2925 right_y=-0.0001 right_z=0.169 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.4068, 6.1744, 1.409, -0.1587, -0.0073, 0.7692, -0.0752, -1.4291, 6.9812, 1.7656, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d24b1fef12cf781b1d2d78a7bf272306ae988d83d255e70a141ec01a420b7300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990fe53fc1faa67151d951c231f993f807954d6ee6c503b38aebf36a4ff6438f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57733fd1cb9db7541655806c16dc0f22bcf7b66ae47bd74b3b1f2f3a2d35f58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEih5RD1EDhltNyxoMueOqaO0e8FnEzGuI7FcAId5zrGhiTL5i7tTTlYMdsZbxYC_UQP5jFV0ye58pBTid57jloi-GCWG4Johwvmtl_cYxq8Lpe9EXQoC63AOkr9itOgCX-llGoNaeTq-1WmuwdnJUl23AldKWp3cBBtrOI6wSjvhYKGiDP2F14d9cJEfpd6Ckxyxra9dF-Tz1mM2RIqVkmJBxP-8blEJDu3Eqi0QkE1eJd46xm0KMHuTAjKSxDoWX8zn-uHFwlaNvLx49pE9j_V5f-2GEd1DKwlh1c2h4nDM50LGvj7esVGzgYXoXvMANe2xvV0-kJrFi2G79Sukq6VoWgBeN1ig80m_xymkmE0BQYGQvv_G7jMXRxWoniqfv0vCP7yJr5E_Sr5pMUpD2gHfxS9SpzOcDFGy9fpUP8LBSWiQ2I-AuanY-K5gCPYmgYq4kqwMXjwz2IXXArmOi2UAUQ6BocL8ihWgXqYFJTO-OE83hdM7RZ-17B1Nm3cPFouBaxcGBxE21nHugUnhsOA7Jjcsb5uETfa1PWuxYkkqZl5kSwocEWKe5GsqDZPR1qfcJ3XGl928slg4Kk4vugqqB9DoGBMIiYeofiTV77P4wS19WCIXpZlcoXkDPXdXnFHXiqkBEjHGwYdr-PQMk-X77M-KEWP4DywIMD6zjT73SpWpG6sky3x0fm0M5g7wMHBCGPnAq5_874Q3IATFhELajZTeuVu0mEXLczqwIUxBAZ_MR42iosk9xOaSHTkvVEWJ3JD1S5nOc-i4XBIog3a7JY3yL2SuZ4vdzbgMxZKa8qXFPf2knJuLW97mlO9Wmh8SLpRgv08ssePptL4mXZKiQ71NQz7wAdqJr83z_5sipt9hN5q6gOTAey01smgKek5xRX19LtDPCCS-XnGukRRq4nI4xc7HB16O8rXydLM5DNQGSxorxd9n89tNse601F4OUDUfE1QbqfMWCWnvt77Gdb72YcLSL7DE71q2eoerH9MFM3LZvJSf0hcy_7UZsECAe_vB5nPF6OpHZDiuhf-zkIB6__kbXtOstR5DU3j4swvp8a28Z9i92wszgs6aWco_36sRIN-u85Ri0uKmbYCImwdGpROueNdqgGbCJ44pTN24uuABSgaOETscoD8nLRq9KqPTLEwRwtFPgwYRh1rPyAw0TUSv34v00y9ImHSI7DDixi83gZIg7talkDDkE_O2d4x0IRwAB3Rea-Eahf_VUucpjyAYE-qo_XJ8iQk6KCe25L5qZTxE9mcSYGSFGjkOZgDDzviejkuvpcMx7KL8BmbbbH3QES6GsLUiOnyeeh3mrvA5IoeXT5SAcn6CMR2wb_vOxRDLQOYyTdtXkSLbR01ztl1YBzvB1W4CMUnCWZpcCzg9lsZYzWO8ES9vvgAMDcGO3CFoljoq_HKmDoCxFtxzPSJ23oEzgHbMT_nZHXub6xNV1OZMgIrfvjFNNsEcoWhoCnr-2ME3cvYjau5ydpORe3SF-sCEByAmbVOv8bE-XefYmUEOH0v9YSn-NFcDlA9Mj30OnLAi9QwFjvDSuqTiEAn9g-Sd5S3o8m_ONAnKgN1r9RxSx38v1BbAWxawEJZ4_nTKR52S88Zy0j_AY_UEvVTw4s-z2toH-Mfcl3r6U2nWWuBO49_qSsVauqE8xuR13aU_3rRGjGBi2e1tOb4Lmssbh1GSnMFOoymsHlCTxSAb1CZ2IMloIoPzDb7W5rG1RrX9hLBmLQpWyHjuYpVGzof7qjvMBwymO-9Rp9-XmZvDvygPOx0ecxnCpBJFKY_Pf3Ed9xgBIPkc5exmDNHNyAezW1pZ_6DqM2Xsd8Yr5roK-frM8uMBOP2LKIgZr_D5a0NVN88wWTJTnTchtaezxMgEzfs0KKizYjMCMZ0WFxv2K6r257ApSd5bZbEoUe8Nb6jkJu_tCyyfyB6YyO2kjN_kfPrPFGmVi3tMMf8HG0L9IyfSGKSa6xFSp4fI7KR0cCsqxC-laxYYzEUGduAlZIceHc_z2sv5OagEtHJmor7utGqMImtXPPlIz54YQzxbvbmDvuxzfLTv6Mvt1rnkcqa-FfrruOUmZU6zsCkVrvWQN5-xAAcQQM7fKvf2ubKkHpvNMB-8B-99cvPAIgg4clvb2VU4G0E_hpSSwFWej6R8VZ2W-T4YCPed0ymqEUPZf99s6IDRTQRyH76fsnslupAE7Xf6Z7TB6ttkspYvesZBNr9QPQd0GUk4cbDbIo-1u4JwQLqsr5402AWbJYf2rIp_rVAG8rKqiYNC6pmDertYiCDOFU6BUs9PAzwqrnK1z9hVejDsTLnCnTtuYKcYxnw5Sd0ocXTGeKM_wYTv1H2B98Xj5tsK-Gqf4BapJJshRPtGwqkRUhkI6IkHMbQTjZotS2Bu8Hxgv0Z8k2KjpDkVPtg23R9KmzjawNP8acapq8udB-p4Ap2k90jB8Qt62C4Ofdzt_fCr0SiONx0LBm0JZ2ihlUJ5D3QjDO2pB4sAnG1csGT76vQvAUH92kWYe-_9jQyq8zd9klQVElwVe-ZSKnUNQuQBiyYwQKV84-KpVQ1nEOeO3PF1LUH0qNqNnXH6AcG2yAUfdY0Mj_QlWXANtBqwdt1QSFZQPKM-iugB2OeK66iUAG9ekGFcV_a6MVLuADKm3ScWi70mek=",
  "id": "rs_026b8400f96d038b016ab4489e07c087d0b5eef27507ee7d52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.115,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The second close is empty because the 9.5 cm open span sits inside the bowl’s wider rim; the open fingers had been resting on the rim and preventing descent. I’ll retract clear, open, and lower near table level so I can approach the narrower base from the side.\"}",
  "call_id": "call_5knTPNttZ9oTL6SH2IyIc2s6",
  "id": "fc_026b8400f96d038b016ab448a08fe887d0a88e42025a8fc447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5knTPNttZ9oTL6SH2IyIc2s6",
  "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]: [-0.6796, 1.3407, 0.4389, -0.1139, -0.4404, -0.4725, 0.9951, -0.0219, 0.812, 0.5999, -0.4145, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2673 left_y=-0.1146 left_z=0.0188 left_yaw=-0.0459 left_pitch=-0.3094 left_roll=0.1026 left_gripper=0.9951 right_x=0.2905 right_y=-0.0001 right_z=0.1661 right_yaw=-0.0019 right_pitch=-0.0545 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.1761, 5.6684, 1.4823, -0.3297, 0.0464, -0.1001, -0.212, -1.0051, 6.9812, 1.8584, -0.0269, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b5a1dbb312bbc51eee5b05c607bc5f286808e267dbd237c7a0b00adee1d7a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cb4f34212563dc5f1ca4bdeac90c4c9546cb8569e25cf0b976f2254876320f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7f9028fc30b1b8e6f6e717e56c5de8c2986503820411a076e5bf56e2cdaa65",
      "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 32 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]: [-0.4728, 1.2999, 0.5598, -0.1242, -0.3485, -0.3145, 0.9988, -0.0219, 0.8082, 0.5999, -0.3943, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3176 left_y=-0.0907 left_z=0.066 left_yaw=-0.0212 left_pitch=-0.2259 left_roll=0.0648 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1713 right_yaw=-0.0019 right_pitch=-0.0305 right_roll=-0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 9.1692, 1.6386, -0.0952, 0.0757, -0.1343, -0.2393, -1.1282, 7.0359, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.4364, 0.7158, -0.202, -0.3637, -0.3416, 0.0092, -0.0216, 0.8116, 0.5999, -0.4007, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3375 left_y=-0.1152 left_z=0.0697 left_yaw=-0.0306 left_pitch=-0.2714 left_roll=0.0839 left_gripper=0.0092 right_x=0.2925 right_y=-0.0001 right_z=0.169 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.4068, 6.1744, 1.409, -0.1587, -0.0073, 0.7692, -0.0752, -1.4291, 6.9812, 1.7656, -0.0562, -0.0415, -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]: [-0.6796, 1.3407, 0.4389, -0.1139, -0.4404, -0.4725, 0.9951, -0.0219, 0.812, 0.5999, -0.4145, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2673 left_y=-0.1146 left_z=0.0188 left_yaw=-0.0459 left_pitch=-0.3094 left_roll=0.1026 left_gripper=0.9951 right_x=0.2905 right_y=-0.0001 right_z=0.1661 right_yaw=-0.0019 right_pitch=-0.0545 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.1761, 5.6684, 1.4823, -0.3297, 0.0464, -0.1001, -0.212, -1.0051, 6.9812, 1.8584, -0.0269, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b5a1dbb312bbc51eee5b05c607bc5f286808e267dbd237c7a0b00adee1d7a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cb4f34212563dc5f1ca4bdeac90c4c9546cb8569e25cf0b976f2254876320f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7f9028fc30b1b8e6f6e717e56c5de8c2986503820411a076e5bf56e2cdaa65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEilEIdAXFtWBfbtmwQrFRQwiIzomNuUpnUi72dtmspFz-QCkOPvmwUpx3DVVnnWHsO2wm2oMxpnyjudAchnzfF8zZ8z-4G33e2z4IGlsgIUGn-t3c-X-Ah-X5guXqpAM1pz8xA3mqAn2NnZ-ZMrIctft3B33aRnYc82rKNz1brPplk2PqntapT0Hn1KKugXYLTUyAjDE8sUstQKoNga8pXEH5hSnJtak0hOaGtFrA0nd5zw_Yk8FzXAWkwG4imKrmkLRkc833ZxYD_IZsUfL9tp42MJuiINSlJ1gmX1oV4G1ud-hBpNBoFXJce5xMw17FBF7WHNi55oCO45Y_h6UwXpuCd3Uei1WFXiKC2JXF45WcxYMkeMGWLrbD7uiuGNXJ5UN-X0igRDCcB_pU3xPXjAm0u2HsEnz9Ga4P77Ue64TlzZSa3XO4kKsbGTfiOs85c4721kf5c20AyUBF23iVSM_WhymGNoCAMIMviiW_M41LlEFihSAwlpbDbyfgOJtp3thb53S7jivi7v0YjDw7WEgyLQqor6n6TF_98jelrCSsEE_kGqbbXB3UJMGhJ3GnMuqqR2AKRmjnP2OyDSz5cCSW2z3vn5DDWC7cX6N7b5wupIKB4FRvlLDdTmvQGDVXmZ3le7bmJAlqS1IfA8pqKTS2a0I5QoYLyC-nATg6h-MG8pptsMfWHG_BreVPTqL2ujiu5ymx8yxiqdsVhWc31OKfl8W_lzkP7Tzf_gLXuXJe1EImw21tgEUEaDknOaM0JeTOt_ZD38hyApQwZp42FqWuhN6sBFxJjjgY0Wa0ROtQlg0d8dD04rEVw-6uJsoRwx8GMdHpE29wGmvC5_0RrmABavjyBcTeO2lbZ6dKEjlHEWr_avXVSg1isDGjOYhWIXNfJjyAr_z-55scEn1AmiKcTf24zm5soKYLxsnCI2Pi9ooKL5pc2VgOnUeuUixNYr1FbCb6bwkBdBm7rnR7v3KXmsYgumYlUbDhZ0bU96qANl1yhc8En9LB9x7xC9Mua_PJgVP1I6Y6O5Xfk3K6z0dGJ1-8PFNs3xYBt1AQuiyRe9XouGf-B4bFg9UsgPDzA29ULhrvkR-Z4xT0Af-ZtaveHyfkUw7yQb9PWvi9pIr7Cme8_iyBos1p1esU3kuPi_MaR2uEw1AqnmZDBcutwUOMF51TYkgGn_QV1p9qSI-CNWbai9--2ZaLtz4qajaFQBuQ9ObYQT0lR9mEqErLhl-fpG6q9mPj7fCTjaliKlW3Nfb-Zezbe-Ox8S89fkNpfimCZofCNArxu1qjpS09WmjgUYV3gq6MZQcAQkkUZ0g6g0AWt7OP_e6Vye2-MFNq5H_KZikaGyJhFQri6CtAiKqTRt_9hGoRzTAkuo-KFLHcgQyD8gJS4u1Xzz0F2Q10pUpgFyCXxejn1H0WrfCd242rT5HMGL6BSj48dhvNy8xfve8ZlDx0gotSncbGpr9tJ6N_ul_gxRCIBPNUsrE7IkJ-UCAOXMwZhOM4EkaGVfvXZ1SfrmrRtOXRJ40Zi8MjM8Ziq56oylbVvu-zStL7sbNaStSfRzpioU5OArWhV9kl5m-gVvAy_Swu8Af_a97V08ox3NXf7hTGrTlLsFYBFFNih2jvKshGmTfbgoNiJkhyxu-2eS9qdkEB7UpD6hDmjfOoaoJI8SZ-tOVOq0Zvh2qiAjZ88XCTx7sah9P-X675PG3lwHpoEs7Jd1s6-to1Fwe2VyNc5p1TVXtR94m627pbsVEVZZ4XjtJhcvN0Q5_FuLLyDlGVF18sZPHMXDeaSwPdwocMyc8EGOnfXC9YR_zqc56gIlCoxdIEISrLC98_ZNIyo9P0-hLOEvBD39c1N2",
  "id": "rs_026b8400f96d038b016ab448a37cc087d0850fd696a258fd82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.115,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The gripper is now at about 2 cm above the table and centered laterally; the bowl’s lower wall is directly ahead with clear space between it and the fingertips. I’ll slide forward at this low height so the open jaws straddle the narrow base rather than the rim.\"}",
  "call_id": "call_oHR3RXuJcdO6jBoZfA0JuDVi",
  "id": "fc_026b8400f96d038b016ab448a4cc2487d0aab03406fa8d9553",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oHR3RXuJcdO6jBoZfA0JuDVi",
  "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]: [-0.5735, 1.4597, 0.5259, -0.0956, -0.3981, -0.411, 0.9988, -0.0216, 0.8162, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.295 left_y=-0.1048 left_z=0.0136 left_yaw=-0.0043 left_pitch=-0.3452 left_roll=0.1197 left_gripper=0.9988 right_x=0.2905 right_y=-0.0 right_z=0.1647 right_yaw=-0.0015 right_pitch=-0.0603 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.3487, -4.9436, 7.5692, 1.3846, -0.1978, 0.149, -0.1392, -0.0479, -1.6752, 6.9812, 1.6728, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f8a81a26fae5a66ff89b0dfc17c46572b905caf241b2a000211dbeb47ce44a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46aad83ab81327adf1ac6eb444b4d0653de5e04fe87c1d1d544930134613c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7beb85e51c71fe0f726d8c8ef8aba80640c3c384e95aedff6838c4314513ed5c",
      "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]: [-0.511, 1.4258, 0.7158, -0.1905, -0.3599, -0.3405, 0.9988, -0.0219, 0.8108, 0.5999, -0.395, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3401 left_y=-0.1153 left_z=0.0747 left_yaw=-0.0317 left_pitch=-0.2533 left_roll=0.0713 left_gripper=0.9988 right_x=0.2932 right_y=-0.0002 right_z=0.1704 right_yaw=-0.0019 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -6.3521, 7.6923, 1.2381, -0.2466, -0.1001, -0.0171, -0.1983, -1.4427, 7.0222, 1.7411, -0.0659, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.3407, 0.4389, -0.1139, -0.4404, -0.4725, 0.9951, -0.0219, 0.812, 0.5999, -0.4145, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2673 left_y=-0.1146 left_z=0.0188 left_yaw=-0.0459 left_pitch=-0.3094 left_roll=0.1026 left_gripper=0.9951 right_x=0.2905 right_y=-0.0001 right_z=0.1661 right_yaw=-0.0019 right_pitch=-0.0545 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.1761, 5.6684, 1.4823, -0.3297, 0.0464, -0.1001, -0.212, -1.0051, 6.9812, 1.8584, -0.0269, -0.0806, -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]: [-0.5735, 1.4597, 0.5259, -0.0956, -0.3981, -0.411, 0.9988, -0.0216, 0.8162, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.295 left_y=-0.1048 left_z=0.0136 left_yaw=-0.0043 left_pitch=-0.3452 left_roll=0.1197 left_gripper=0.9988 right_x=0.2905 right_y=-0.0 right_z=0.1647 right_yaw=-0.0015 right_pitch=-0.0603 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.3487, -4.9436, 7.5692, 1.3846, -0.1978, 0.149, -0.1392, -0.0479, -1.6752, 6.9812, 1.6728, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f8a81a26fae5a66ff89b0dfc17c46572b905caf241b2a000211dbeb47ce44a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46aad83ab81327adf1ac6eb444b4d0653de5e04fe87c1d1d544930134613c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7beb85e51c71fe0f726d8c8ef8aba80640c3c384e95aedff6838c4314513ed5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEip2-n4wDdtsePl3JUFDVUAO5xB4ybHnE0D8rdx5K8AD_1Qdb5MWTqCrmK89ysYUDCHzTAJote3fUuxwIMCJaRdvZf9rIV_F9_H9EDddIXh3zSqYCX3wjyRw-BBPziyjfkw6NhHgYjVTumb7TeOq3h-aWNuvQoTZ0g3q3d_tFoMaQEfj1nazqyj_Nf3KTW81k4zMWzslafS58n-UGLd5-F7htT0KWCpg0wU3fVc5XZXYqQmM-ECsp6jpa2LbAyueMNwToQGV8w1cqWE_T2I_Zb4s-rzlyDrCPyEdHuRex-PZA4Mvmijy9l0YNu2kx-aEedzMVnuyA-n64_fJ8Ylp12_qLKfBxiJsWukQxbYcaESi6Vfby5MfU70FKucIkhotRn0-PSMbS6SJL2EGfBb9s6FqRq8kFJ5YSE4SjP52KP2844UzVtf9r8fuJ0MNwtkit-1BkAO8LIk-dp8ioKGjV-ngzAnqybzR9pTkeEoUAYQya_lnnS1JwVmL9uCDDSYLSMnJ6yHokrtN0QHu61omNntx8KAfmwiUkri3hmugeQD4fWzgupECSxe-UrM_l2iArUoilO5y_BU3iVONJkf0SXi8fYwXldHZyfY8T90MX3oorX12sfka8s2Yntd7O0EFyHTj5ZoRjvq8Ca31kPQ9_H91mYjsU3xy6QReAZwXnbWtpTfrMJka-vcxOnFIRUjz6MkccXoCgGwx8Rj_NK9e9NXNprEFLqV5gER9Gh3my-pRIj48kNzq0VLkRY0k717RLwfSDFK5giox6-24EC4NJN9fKJsXeuuFZhKMEr9xfbIkDzv_OmP9nzP-5DsjRt-p-CJH5qcPoOPSmLNTwMUJGMhnsenfqExjU9O9tWXTaTD66PVb0ESXsh9O2HLRW7e1IYN9-Jwd91vVUWAMxkRWw2pC_Unyx9u4VvgMUrqGlQZljbFB7BarKaeEa-Zs6vn3CPe5euvubrn6hx_uJYYpDiRBdKtBb9Juh0CnHy3AKC6HTCXPoFzvNfl8UDT5_tzOQhrQzAriPjq95vlOpvlhqnXspGAwPX3gVXZs-ChBs1PS3Tpz8HEpikGUs2oPlrdkyF-gIFnxVDNGUubcPS6TZbEIH7-8Y-dnglSWNFexwsaLK73H3-94fqWN443RR9UOZyclpbxtxHQNN_YNFSoy3-wJybok0S83znhlnbtDs5lYXCjdVjQHKWe5gKjQ-bCBUqu-KHTjoHgYY5APq4rLQ-l2OwYQiuQkV_MukpojQ-kLKE0cquz8m93LfDTZ6F8V7ie24pBNPWU7l27Y772Iec4wZpiVGWaKnJybBmU_nqEctjfXiDJm3Ae2kqe7iNRCcRjmjVRF92pOzbRzyRaE86OsM9GL1mgQouox1hl3jZHsJ9s_3BP2fF-I3UnFEdOXZg9GVBYALiTA48uDe7V0SjvUQ==",
  "id": "rs_026b8400f96d038b016ab448a7c33087d0b5b3ea426ec16c44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.115,\"left_z\":0.025},\"note\":\"The low forward slide is working; the bowl’s lower body now fills the top of the wrist view, while the jaws remain clear and centered. I’ll advance the remaining few centimetres at the same low height to place the fingertips alongside its base.\"}",
  "call_id": "call_3vLQ9hOluxW6FHGDKi6Sie7v",
  "id": "fc_026b8400f96d038b016ab448a84c4487d0b912b4a366d421b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3vLQ9hOluxW6FHGDKi6Sie7v",
  "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]: [-0.5655, 1.4693, 0.5411, -0.0883, -0.3897, -0.3855, 0.9988, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.107 left_z=0.0161 left_yaw=-0.0198 left_pitch=-0.3398 left_roll=0.1225 left_gripper=0.9988 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.0667, 7.2137, 1.3895, -0.1001, 0.105, -0.022, -0.0752, -1.2513, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cca5a0a43345d176bbb9aa87714ad697b173b19acc2d15fcba107b425c9d520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7da1296f49dd49de62001a7e40341a238ec870ee8d57b147c492d61fc2abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe13b0e89ff3d8ff441c055bea9f41dee61b8ea3944935670ab2c3f60be2a4a",
      "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]: [-0.5163, 1.4364, 0.7158, -0.202, -0.3637, -0.3416, 0.0092, -0.0216, 0.8116, 0.5999, -0.4007, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3375 left_y=-0.1152 left_z=0.0697 left_yaw=-0.0306 left_pitch=-0.2714 left_roll=0.0839 left_gripper=0.0092 right_x=0.2925 right_y=-0.0001 right_z=0.169 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.4068, 6.1744, 1.409, -0.1587, -0.0073, 0.7692, -0.0752, -1.4291, 6.9812, 1.7656, -0.0562, -0.0415, -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]: [-0.5735, 1.4597, 0.5259, -0.0956, -0.3981, -0.411, 0.9988, -0.0216, 0.8162, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.295 left_y=-0.1048 left_z=0.0136 left_yaw=-0.0043 left_pitch=-0.3452 left_roll=0.1197 left_gripper=0.9988 right_x=0.2905 right_y=-0.0 right_z=0.1647 right_yaw=-0.0015 right_pitch=-0.0603 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.3487, -4.9436, 7.5692, 1.3846, -0.1978, 0.149, -0.1392, -0.0479, -1.6752, 6.9812, 1.6728, -0.0562, -0.0366, -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]: [-0.5655, 1.4693, 0.5411, -0.0883, -0.3897, -0.3855, 0.9988, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.107 left_z=0.0161 left_yaw=-0.0198 left_pitch=-0.3398 left_roll=0.1225 left_gripper=0.9988 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.0667, 7.2137, 1.3895, -0.1001, 0.105, -0.022, -0.0752, -1.2513, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cca5a0a43345d176bbb9aa87714ad697b173b19acc2d15fcba107b425c9d520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7da1296f49dd49de62001a7e40341a238ec870ee8d57b147c492d61fc2abe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe13b0e89ff3d8ff441c055bea9f41dee61b8ea3944935670ab2c3f60be2a4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiter_QNPDgv1cIg9vQGLeN37j3sY2J-VenJxcF1RKI1kQ6YA-2T-Lb0Ef6_HaNgvZVJdr-O98azEsA0PNIfx8PPQVynUzkljkpXd0jihpqNg3RYNcByvPxgWfbQ1-SUO2H691OpNbKJs0rTRGlZTaHuaMLprLmfLqZ3YG_uoJv3tycf3S6oGeyYVir1lMeDY6PkO1_g-V2ldZG3izcDJInSI0zEuIZ9e9PRU1oauuyV45lId0nQ2Vsy709YGgjqeTpfUEKDbeQHYE5GxdBmpppmjlJKj0VnM4lfhFop9THMwNnbjwZcapn9rl_D-BbxqjaxdFTQ0ad6eX6I9CUf1s43VMaDjD-FiH240gCBYe0yQ7l7mrZms1nocMOrmD6dG9Vge_ePY2hDpdzf0NwuTm31MKGYmjBLRmZnziQzeq1A7tb-_uFixcXhS2_QfkMe7udidKtfka-D7T4mDjtZspIrO_QsISD6xm61bT9bV5Rv7yj-Ldc_6_FAUVQ-lFuJhQYEjxP0X4BLiqdvH1s1s-2i5XvbeygUnijuXyizHxZqhB5Qsr8T994nL7J73LMMZtGtd2GlTPUQu9Uy4jSd2x5MveYg3eeMyLsWT4T1bFAcpEXIPUO4ML-7kUStxH_EJINyS806cTC0p1PUzegkxUw42cbefaHwZ4hIDyn77s6PYh6IGfyTe1nI1ZT2iIVaWJuq2Jegt29kWd96WZe9HJOpRTOyg5tDbro-wb17C6FIz4kMShRb4lDDZ8dr5tP5v7IBHPhh8mkwQoJRGN9xIHQSocc1qJyNa_p0oKPjLnmXtaYrluB6WX_LfwKNWYxKvv7S_QR1V0VYbvMZi4Sl2A_RmvNKxuvFYRm7BmXYcqwent-zCgeyxdeFPmsLZhi_ZRpyzIalBx-iZQjWYkqJG63xe_umKJJ5R2OmcWr1KpyLm-xtkK8ZEMveBTQzORHhDRNqWRtO6yhHjjlmDssNci3u49FMFzRHbJzHu-qCUoLfuF5Y0ZvqISo0JOIyNJE4BxZo1wIkTm3GMKb5YuYXBflke5AGSV-ClGLbt4upGbBJiUjcxMPAYN4y8axkRowv0l6uorv9hTAP2bdJC-L7aWQ1P0z6KA4U98uB0xcvhBd4q0jIiRd02CPTQDmkB1vghrlk2KSNclGEH759RIXWsj4kjjooJnvFjHQvMOq89InGnsfVwCyN06Gdj0x0LjlfZjaA81SEXjMv3yuhxHHPJuNYw3WRmxmMOke5DpzKnARY82Sauy3ts-ojRJgkMp1OqNSKGJGB1azvAFiOIZ5GO6Ft502FT8PGZGmPnoYAH-BKehKqWf8tWdRWC0gyPIEoNQ1Qbd_G1YTcocuj51_rhwkV4fg7Rsjrh9O8Jos7axEq_ewhaiWRyZmFX5baXiWKJ4SvuWboyJp2Yx_zluTd7BENER5UL5H2XXStlFDGfuJwxmV0rgjlFB2cU2NhKYUIs2pvu7kIqtlVS_nngOy79AQHs7x9HV5aLCtKwOcyceqFh8M_2HyGOY3f-XjBtgAc9kDT54ZX0JO3_5wRXGLCHXh6SLmJkf0CBpmzVLfJav3_8cAf1qjPAfXVRqNazsnAWmYyopHvbjhKQF6R92bEWJInxa6oVS2WQjWgH2mKO0O4MPEJLhzQSOirgH1mUI9YSgx7ebRPdvBvcNlSVwY_Ya0FUN6Nrc5AoDJbvFCSWaibPYCzrhSFSibzICD-9GRy6EMA4L_OR3XOUgi-HIIZi97ArSw5gWTXntir6Jy8GVejbSybmD1lj4AAYhyWaSl0ZBmVkZJarKgmd20-rgbDAY8EZn2PO-NTehVHdU2B412D-05_sTMqhDG-ggQYlcAefRwWVH0P8hvCtMm8D4kJK5fsECJhxfb9DidpD_ZROx-49UnBBKI_cRkr8_2wzyEU-HnQfQfgj08Jv-hYxfyvA5sLW0MeANoXKn60eHj9-eBsrd--C8AP8HzJjMimUZ1JPvx8WROxEEwPrGAYplMsKUAGTfPFXNf-sI8jjeT4babRFAM3ZuvEPQuITOrcvWQMmU9C1KnM3CU24ze778r7WLvCptTcPhA3I7yldySP8svzEV3R21NSTC1Rgh7p2wMQ--nrMcpDtOfFTNhtO7fmV7VcDVialOM-9RpVr7ZvJBbtVg=",
  "id": "rs_026b8400f96d038b016ab448aaa5c087d0b8ca83e795930fdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"Forward tracking has stopped about 3.5 cm short of the command, indicating physical contact with the bowl’s near side. At this low height the visible fingertip span is wider than the bowl’s narrow base, so I’ll close and test the grasp.\"}",
  "call_id": "call_lL481BCp5rJ0jUGW2YxkXtsC",
  "id": "fc_026b8400f96d038b016ab448ac60c887d0b737a1239abb6cfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lL481BCp5rJ0jUGW2YxkXtsC",
  "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]: [-0.5655, 1.4693, 0.5411, -0.0917, -0.387, -0.3859, 0.0096, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2997 left_y=-0.107 left_z=0.0155 left_yaw=-0.0211 left_pitch=-0.3439 left_roll=0.1221 left_gripper=0.0096 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -4.9162, 5.3949, 1.2186, -0.2466, -0.0464, 0.7692, -0.2256, -1.1829, 7.0222, 1.6581, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83208aae3c0ba1722bad6c3338b6d1812bd00f1db00d2737df683935872197c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1835ee80b0fd47319fab16ceecca07df03a392a098d09b8e6859c70eb3a793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628fa5d2767db5602c90a0b725a9eba4b8cac1147acc73cd6c1a2fca254d982e",
      "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 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.3407, 0.4389, -0.1139, -0.4404, -0.4725, 0.9951, -0.0219, 0.812, 0.5999, -0.4145, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2673 left_y=-0.1146 left_z=0.0188 left_yaw=-0.0459 left_pitch=-0.3094 left_roll=0.1026 left_gripper=0.9951 right_x=0.2905 right_y=-0.0001 right_z=0.1661 right_yaw=-0.0019 right_pitch=-0.0545 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -5.1761, 5.6684, 1.4823, -0.3297, 0.0464, -0.1001, -0.212, -1.0051, 6.9812, 1.8584, -0.0269, -0.0806, -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]: [-0.5655, 1.4693, 0.5411, -0.0883, -0.3897, -0.3855, 0.9988, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.107 left_z=0.0161 left_yaw=-0.0198 left_pitch=-0.3398 left_roll=0.1225 left_gripper=0.9988 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.0667, 7.2137, 1.3895, -0.1001, 0.105, -0.022, -0.0752, -1.2513, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.4693, 0.5411, -0.0917, -0.387, -0.3859, 0.0096, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2997 left_y=-0.107 left_z=0.0155 left_yaw=-0.0211 left_pitch=-0.3439 left_roll=0.1221 left_gripper=0.0096 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -4.9162, 5.3949, 1.2186, -0.2466, -0.0464, 0.7692, -0.2256, -1.1829, 7.0222, 1.6581, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83208aae3c0ba1722bad6c3338b6d1812bd00f1db00d2737df683935872197c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1835ee80b0fd47319fab16ceecca07df03a392a098d09b8e6859c70eb3a793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628fa5d2767db5602c90a0b725a9eba4b8cac1147acc73cd6c1a2fca254d982e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEizih9Vwb-tjYLibFeiKlZH4ecapVaBO_Ps-4_UNMuJxothTE9KZDP4bRA-HxALsfVPWrm0Og9Wy4F_tNZAIJIrNOD_K-ZLVjoB-rz-3S812M1-8-qPYh5Q6i4l-7bh8SvZeKhLbtxBvxj36b0BoJCJ_xI3VAr7eByexRVLKcQ542k_r-ddsT15aBh4Np4xFoZCuPavHG9rIO1TjLeITmUYU57aeySfIEQOR4rQ6LQtnLA1_0H8bdHQThQa4eKvhR5gsxBAJZP1lHIU6dZR5H-aOSfPXob6npd0e_Mb55vis8n-77Lbph3tt3vAEY6hoj6CIbfGiMWYaO029d617v8UnFnzWgl4SdBhBu2WKnvRLvnv55BYcSKgSkmYFWghsAYZm9lmxWzCWfBBU2qOklwwu4bZ4B7tS1TFAR8K-Rc6ggloiIy8HI-KYpD5FNrztHe877JoTZOUxkc9K388UjE1eyi4tb-rtBw1TzSnZMDz9etK-e5h1xlVZNvnORNL_LswSL79tszXuMPHbLXpXuONBE3X12nsGJEvBmaYzyVZR8Q0tSSXPwVvwDPWUVIUBiXhdhghPcWaKTuZpVBQApp4FfGb_evUHP8B8O48OBZs_zs7Za3PXWsZ2VsY3licMNLsyQnQPbSGYaFzw64MnXbzmhdgDmG3TTSjmNOT_ufS3Jm8lj7ou7CFJrONR33Nm--GkTU7xfI7QU5EW5jATPUVeV15ShomDW8Rkq6T9hFh_-8fFeoC_RqygRZEDARmhMBEO9NigxKyf5hHLMYq-1H4YlP332bHvyyzjR9-MrxMjIkIVAQQegzgpUZf1YrdO8FR3SRyx5GvFHvy4KGtFlZazXkleIkYi1b87rqSbhdxTT0iNOgH8gRQZE9dPbCzT8lSviijXbAfCt3Fx8BFPEycMxYSg_VL7cPM7nDfOGbDBbio0mcvpf_bSQejtes9g9k03i-BRhpJ4cZvUBk-RzseqH-SPbDlUkQ0F0iE3_jrbewtB2E0h2cCpOluS6-BtsZfkP1irlH4MCQhH47KmaMzWBmYhcBafA-ogIr6lRatNORU45aiJJ7M2YjmHnUHJWnanbKWJSymSVIspLQ8GBwiPRvLfpMBMua4ZsPtoOR_HTSaN9SFANEv-n9XIo3HzrjrTe8kd6iyHJSgOqwsNQ-tKTxokUVeTBcbn__6tWj-xwMbMzZxI9jkpt2wTJf2gFzNBQJEoMk6sJKN0Fu1Wwq56v_w71K-ePz0r3cVaL2oj8jogsxfgBgc7PeeKaaSEteOOq5lt35bXpIiCLuS5hWiYCfyZ1BQOEiHb1Xo4AWM6p_TtC-k1clIImJp9Trmlc-p_yNItG_M64qpAOOxIgshtF5xf9hI7ppPFldGSDYQKe_1Wh24nHTufeBhYpFP1WS2YNWv1VI1fPiualMfRb1qh2CuL6U4Ljc-TVpZqnGssVZYwx4AnFN6S65FrzHu9ahr6ZHJ_YDWRrF78QeyDLan5hTxLuzldFAWeqPQNQHzL-vBZ__s4nkMMPmonMIIOqNR-Mbzi06Oi1yrrOICXW5U73ITwj2x6_uUiYySt1-Gi0apNtEB4fVhejS7aBzsniMSkdw1NzhGqBlzwJCySbH0K7cBc-6nHNuUqLh-12xsiD4DyIEo4HWXKc0eEXO_9IK0-AKGIPiI6Eysl7BbLySUFRKyN7SB6JGaMJ5pXFwmoj_XjqkeZhxgHoe-NQCOcKYe2H0PZ5EcKKvZFhbF0EjVmKzHdGc8yKhqPmCkKftJevzj0kSbPDut8wASekgGD6PlGjJVlaVvJ1q7RoVoUwnZvHEfpJX6mwxtkH3-bF6cVqkyL7BtbeickNxoWmL7oOnCCoBAvp-ubIXguxVS1t3o59qQvjEXSJ8SEkwJzb817u5ENq6insKcy2fo6EXlrIDBv9YdwptDSHCWXuq6h8iZoQlBqAsbM0KWMcJ69qLeTK-kG8he1HI8WQiZjkGUP4JdL0m_abml6SH9Kn7j7ekdaZMGl_6f7fauvdoL2-BWOfA3yjFm4b7U0bzkXRrdd1Ty9xSNAfeMUzxoH3BJipEvjIkyCvEuXWcvxDljml3bV1cnIc5913mjvsNRSgtZ22fNQsfIuXbcWjhyh9Mj2mkQOJC72mW2hibzH7FstHYQ8yLJEiiJq42-qmJQB6qrkotoNI6j2MVXZ-SDG6lZMe5bQF4eXRiKTJWU4G8kPlaHihBhps1yzRX_0L7rdO1MepE9BzX5NxA16hUd8QnL1yIHXmpyPyL73adKF8DH6aqHufuM9CNU5YTqmWa54O5hgrBWeevILiwi66KUorq0d6k0yyfqK450jfcbs2usMwNUaXe57I58qu0z5DhtbTfeN56IMiqeQsIBNZcqWwTNJ4uzTyqOjxhmutCsnMdUpq7nAeJFqgLQdmZRTl2QmPuWFpgyLBJBi8r9cI_CBgQA6-owBWScAXGz3GGp-WNI9KdvLemQcOo3-aKNNUE32Bl5q58W3c-OGw9ZjM2NSr6COuKLC-QnG5aeLZugbjRbStGX3fswEHxbl60PTT02bg1BSKhMC-VumiD0Qi_LPLoxDjpsB0sYcsBK9EpTvHbD5oA1KhjpOQX01v_sMd_xhAo2ws8fJmTLJUZs0AbbBSYQggIvyQTNcOPDigSbrReOESq-XiwlB9zCPmxB031Ya4KBHGUF4X6-Nkh99jOg6HtxlahmYm-ULrXmim0idMH0-SblyO9qOPZggXbm51V6-vlZfgWaBdgBs9eACsZ0r2Uy223sJg34mEEv322F_IcVe2RtIamYh52YYCr2xD5j1QnnIfCtFDot1QuzgA_LLSXSgcetDIomtQoELhrfRIUwTC5LmswpKZaPHwjiGmCSmK2UhHhI0xK7OZoBiDVHju3bwNGsJG_MD5tGO95QUp1mEYuL5zqGUHfmuO6pnxR3hykKALGemeZ_fxK8onIT5xVvvARq5rSPtnEeAazkqH5Qoym4bvc=",
  "id": "rs_026b8400f96d038b016ab448af65f087d0a9acd9bc4ba0fd52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.12,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The low close is again empty, so the bowl’s base cannot be reached from this straight-on configuration. I’ll switch to a rim pinch: retract and raise, rotate the jaw-closing axis 90 degrees to align radially, then approach the near rim with one finger inside and one outside.\"}",
  "call_id": "call_L81ODxn5Npm2kbRIMsFLoql5",
  "id": "fc_026b8400f96d038b016ab448b27b6487d0a0b12d08b4624020",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L81ODxn5Npm2kbRIMsFLoql5",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.9171, 1.4952, -1.4624, -0.5301, -2.0331, 0.9952, -0.0219, 0.8181, 0.5991, -0.4221, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=-0.0732 left_z=0.1034 left_yaw=1.4142 left_pitch=-0.3936 left_roll=0.0802 left_gripper=0.9952 right_x=0.2896 right_y=-0.0001 right_z=0.1626 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.2103, 6.1607, -0.7399, -0.2808, -0.0269, -0.0122, -0.1436, -1.4291, 7.1179, 1.7314, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f40c31b5a803f2365b8ada8686ad7ff29469f63a48942769b6730ae739a3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9f58c9577e21aced6aedd9fb6899a391cb287693ade45464d4760cd775c9f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daefe3bb7b16a77e30fafd954975656661b02e1f101630b20e375c67fb4d2a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5735, 1.4597, 0.5259, -0.0956, -0.3981, -0.411, 0.9988, -0.0216, 0.8162, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.295 left_y=-0.1048 left_z=0.0136 left_yaw=-0.0043 left_pitch=-0.3452 left_roll=0.1197 left_gripper=0.9988 right_x=0.2905 right_y=-0.0 right_z=0.1647 right_yaw=-0.0015 right_pitch=-0.0603 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.3487, -4.9436, 7.5692, 1.3846, -0.1978, 0.149, -0.1392, -0.0479, -1.6752, 6.9812, 1.6728, -0.0562, -0.0366, -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]: [-0.5655, 1.4693, 0.5411, -0.0917, -0.387, -0.3859, 0.0096, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2997 left_y=-0.107 left_z=0.0155 left_yaw=-0.0211 left_pitch=-0.3439 left_roll=0.1221 left_gripper=0.0096 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -4.9162, 5.3949, 1.2186, -0.2466, -0.0464, 0.7692, -0.2256, -1.1829, 7.0222, 1.6581, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.9171, 1.4952, -1.4624, -0.5301, -2.0331, 0.9952, -0.0219, 0.8181, 0.5991, -0.4221, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=-0.0732 left_z=0.1034 left_yaw=1.4142 left_pitch=-0.3936 left_roll=0.0802 left_gripper=0.9952 right_x=0.2896 right_y=-0.0001 right_z=0.1626 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.2103, 6.1607, -0.7399, -0.2808, -0.0269, -0.0122, -0.1436, -1.4291, 7.1179, 1.7314, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f40c31b5a803f2365b8ada8686ad7ff29469f63a48942769b6730ae739a3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9f58c9577e21aced6aedd9fb6899a391cb287693ade45464d4760cd775c9f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daefe3bb7b16a77e30fafd954975656661b02e1f101630b20e375c67fb4d2a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi44uRzcnA7wshYd_40_qJjacTogPCZD2tVmY7djJej1voiS4o3OWCuNN5SOXAWAUQLvHoplJx9HMTQRZz9BNT3NVvQUcP-UHndvyWvWwc8nnDU0Iaeo-8BcFClbxMe9kHtwVvB_pUQwnT6DpuA0Whk3SW-6KXyZYmE8OCfgHC0I0TciXSXQR-KsDE48jSqu0x38c8YlvfMSTBe7BJkLhyz59Q8euAqQsOUdWbZgcNTEfmasMWdouPbvc_egRtXLlSkE1v10mVdqSRIUewNLIvmvWcC9UH1f0OUZ6oKgu2B-hwaeVP6y12QVqPqwtZdOTM3umJAIRCC9N0gRzT9pgNMJEWVcqHPu5NxWuFx1BjN2fXguFJNliK8hjJu1lybQUS9TT3BSDD-2M7SeTVq-BSCHh-WHGqL-3j-TOAT6QKpvkbMPWOBRUnDT0M0M_BJhTYk9wdfnGKXHBZWtYDdXNtGWgH-0fIEvKd5o7DWQ0zkDWfER5W2dnWM_RUhY8XeEhHal7LAZTV9GMtynIUo3EgTefcTJ047ukC4V9l9r63Rle57ndU6bXpzWDgDSU9T7Cz7ji0BrRCCoxB-q0Vql7EeI8KGCA6zVebcSom-HzNM3ILdZds4u6gawQkk_PumjqAEGeRFNTTn3j4LJt2rx8nOQax9Ad323u7s_X2cAPNmIvIU2DcrEUCR9KEUH3rQVmHgK8gTS9Jwkmm4aE5VooleidOC3VswUGTOJzTGFlPGtRXNO5VAe8R2gNJnnDBbazin4LjbfMLfp4swIFJvmbNhPTv5jueYevOtmgF5bwTApe36DTmoPjcWFtjhBPjnUtp8wGBHHMCu-0YnyE_LwwRDItgalB8SY6PPdlm1UrbY9Faj9T5to7lIJDrR1N8i9IvMo23RFFsF4rpYdaNF9cDruHDE6VEvyI41BaA5V4_u6wOd-NBwsNSqvjGxpJ9xc06bRZ64t2cGRTpd-D4Pavbcsn2JUkzNk__txnCRmod6doyFfW2pMS9NjtVbQoOlT0HYjDlxerhHoXnnoC7v_Cmd9p0GhqfteBd1Hm9Wu4ha-GGvHFSRQ_fYgZfe02waI4Ny00763b8yKDi2dV-XlqdGdx22QS529Nog2PP24icYErRD4P5Ozr6XX4oulTcrgv2ggAh0msCgQoSa5fZ-EfSSqZiDqON2rDClMcslz-vYMuGcPCtHoJNgqXJrMACFBALt463Bm_o713bJ-GjJMn8-G56ymmEzAMuX_866G1SiWbPxM5_cAthUTuOzOP2Yki2EcVYFFieTj68apmn4SgqKbl_8aG4P2QTmLFGbCJ_MdF8nzrrS4NPJCE1Wnv3wob2bwDb8H32ay5ckljO5Mr2BarAezb7kWOUM0bAZh517L-b5JTIwn46DPD4hf0PhIqkpjxgDPCYnHYD1Kt6Y4hJpLJ6INWfFhM3AocvX1gX-dVXPGvTetA_r3tx-m7cLgKXySmHe0xtDfT_cGHsKJytmDyywakSScNk2cZm7W_1ehbY2fUkkIOEoFG8Hb0gUNDaRujB8rtxNRywzrXnRngWOg-gKqYjMuPL3MPlGeENS33nMcyInTPTsFVaVZfElb2dHcaraHjjL8IppWlpiNrIIJqRnuWr2WiyspS1HubdSc_9veINWPHo9Bk-RUJN6pbGGgP3Amc2gfXkigjozcZjVfyygjKRA9d8PppxyORLNen92z-Odt-K-5MnxOePYKJMGWVFFgDyNod55DKo069QbuxNopELAbRknrf2YmPFgMAw29DFfvhZR_peskKTvUrgZ_XQ9m-vxKY5cpTmYT99BewCzpo96cSkAR3t59PD8k3K_nizFtUSBQuFjJyGnM1mQ0CkLQz_Fhvg-WmimPmjTgyAQ6By00eyq5lsuA7moH_voeAbo5eROWPK-w1eR_aUp94E-goMwUAXZwDEMA9vKzecdc9AQe19SeW0EwDg0VR0vXqisicd0dJvkeVYDu7FaOMcv4TbmKH1Wm_MI9_wZLn-F0PUXDq_HYyNJxvRPXfjS4g4UWsUAQ_Qb7XkFWizl",
  "id": "rs_026b8400f96d038b016ab448b5bab087d0bb68b6322eae786d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.115,\"left_z\":0.075,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The wrist rotation moved the arm slightly inward; the left bowl is now partly visible to the camera’s right. I’ll shift back over its near rim and descend to rim height while keeping the jaws open and radial.\"}",
  "call_id": "call_6ak87cF81m9u6FqAfYeuBzxc",
  "id": "fc_026b8400f96d038b016ab448b746f487d0817330ec1124fdd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ak87cF81m9u6FqAfYeuBzxc",
  "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]: [-0.5488, 2.006, 1.5375, -1.4651, -0.5056, -2.0621, 0.9988, -0.0216, 0.8204, 0.5961, -0.4225, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2999 left_y=-0.0789 left_z=0.0846 left_yaw=1.4678 left_pitch=-0.3928 left_roll=0.1211 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1606 right_yaw=-0.0015 right_pitch=-0.0748 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [0.6496, -9.9077, 6.4342, -0.4664, -0.3394, -0.3932, -0.1343, -0.0752, -1.347, 7.2547, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808b4b3804aa3140dd35370549aa2ef13bef5b02db83990920db26889f3f6ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cce1948a5e2e9dd30bcbaaa08497bb8f1dfbd2af426adeed676e24e1a9f734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fb60eae9ab3e996463bef7fbc36c1204914caf7ef2c27f3471a79366c2910d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.4693, 0.5411, -0.0883, -0.3897, -0.3855, 0.9988, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.107 left_z=0.0161 left_yaw=-0.0198 left_pitch=-0.3398 left_roll=0.1225 left_gripper=0.9988 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -5.0667, 7.2137, 1.3895, -0.1001, 0.105, -0.022, -0.0752, -1.2513, 7.0085, 1.6484, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.9171, 1.4952, -1.4624, -0.5301, -2.0331, 0.9952, -0.0219, 0.8181, 0.5991, -0.4221, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=-0.0732 left_z=0.1034 left_yaw=1.4142 left_pitch=-0.3936 left_roll=0.0802 left_gripper=0.9952 right_x=0.2896 right_y=-0.0001 right_z=0.1626 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.2103, 6.1607, -0.7399, -0.2808, -0.0269, -0.0122, -0.1436, -1.4291, 7.1179, 1.7314, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5488, 2.006, 1.5375, -1.4651, -0.5056, -2.0621, 0.9988, -0.0216, 0.8204, 0.5961, -0.4225, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2999 left_y=-0.0789 left_z=0.0846 left_yaw=1.4678 left_pitch=-0.3928 left_roll=0.1211 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1606 right_yaw=-0.0015 right_pitch=-0.0748 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [0.6496, -9.9077, 6.4342, -0.4664, -0.3394, -0.3932, -0.1343, -0.0752, -1.347, 7.2547, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808b4b3804aa3140dd35370549aa2ef13bef5b02db83990920db26889f3f6ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cce1948a5e2e9dd30bcbaaa08497bb8f1dfbd2af426adeed676e24e1a9f734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49fb60eae9ab3e996463bef7fbc36c1204914caf7ef2c27f3471a79366c2910d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi7_8VeqcJbt9MAbeOMqgY1P9IzMkaNcGaJ6Qfa_K70jI7OsS1WJ5R1FMHO-QRPHSvhf2yZC7qlnUnqa22Yz-BYKCCcmaZe7DKVnSe4NyWnfDv65oXDdsIcea6SrbSu_ELhym39HsuyxPk-S2MJOu0CzeIDRbDA55-EvGEu6Ew1DLgDjB5Wi--oV-cgkAGIwiW3OI6wwQha3bSS8ra0taNnbZsOCaFJxtL4xlkzRbCiE8zHIcpwhMa7K6XGfltfdXirKuM0lpnMCiD9oPAcFfo9hWL7YMwhV98QdNaChfcS7OKQK1aPwrb9faYNtEkRNTpPOSvYUh42i6wMNucP5Eb-D62fq1ogkeQDFvViPOMgSwR6TyQR3xI6NHZKEfpSDFVVrKjhTC3ZgkGKj2jP8KbWMgb33Ttt2ANrKZbZPNPhW2qVNqn3X8Q2gpVq61G0fpuOB6TnKF-9LRr3QNBUdVLxlOi03czwGjRPRnJmUAON_ZPpcvlXLm4Zp__KcyxiMf-MSvlMlO0vrbmy4zpxYBOfndmtWOsB9bb4vbcNixShrp1e1UVGwDyFRBU9MGvEwba3qnbcdBK2uPqBlNdAJtToob2SRvljmCH-A5BBq1lKXDdWKxgDTNrA1cNeSgfN2Bqi_6CHlHJ6wsqeCKvS50m5ICk1KEU3t65rkDHUNh498QTNfnDsuR3SdLw9adzvBloYJjHAlqjjGdj2STHxgGyCV4Tp23oeRxI7fOW6vRjtnHNND7LkKIzhgl2oUfNy73nah2eEjBHhGNdYejvtrCIoVxjpMx59RrhHKfSVl6MJ1UAv0UZuype9lrcCzw0dvyUdFmWNokLfQA1n0V81l4_FPW08riIlHC73z6OME3Olf0Tp-GPOPyPwehArMbNRurSHCHDduqWFjYHldWowLLlTBryL2QKnetkLu1q-PeWNIE1Zmv34XUYEGZiJhA3OVQH73uAgB672OXxWWbSxJvFXSzeyfF1sK3TF_fwOOE_ErU3jHkbpa7yoj8YUaXiTZm2DH9vP9tgOUHEyzlnbLeFdLqxcjZU5URqDC00bbDjSMFH_Fj9z-eGTi6zyTktdBwKdeNYcK-9VrnF89mXHOblt-SqCdGhU20LS91hJlYpDPUTxaZsc7pxuB58P9FiuRBppT0zvxt7C3YpT-O7MK5c0c4Ttz988Z_9S8sa_HTpjtV30j92VweRSM6eD0srFK1PLwd_ErMRCIxt_gFxKRsg60UW5TnAW_-uSIMMPhtgn0eeZOwNHSqrohIAEc-Y9eTqzi3ZxJcENNcApVTxle5Yk46HIgHuA14lFYPQb6tZDyx_CGUfwwXvQNkQCTb9oKvMiKzrWtzjrlKzIyP3R9Q4sNE6nw65pCBWMgiMfwPkH7AIICVMOsRfBhehSq2JltYc-vx3b6EmQAdLoaV2m_BYR7nTWaiKt3GwTVin3EMlkGUZ1NpJsMNLsstB6LyvbOISxWzukm_BIaTKNm872mFdJCrFDFOezfTCgQ9xXteqZLnv2Np6a4t5L8B1j_YTldwFT-aO_msqgqNMbYhTKUTbXGM2rUNGtjTeN4YLtInp_6XHhmhU8pI-LO4yrEQbrntTqRZwIpIls-7QSe71s1adCBA==",
  "id": "rs_026b8400f96d038b016ab448b9a9c887d08545807be7a1e2c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.115,\"left_z\":0.15,\"left_yaw\":1.57},\"note\":\"The low sideways correction did not track, likely because the rotated wrist is near a constrained posture. I’ll raise and retract slightly while preserving yaw, then make the lateral alignment from free space.\"}",
  "call_id": "call_NEVAWZvdGNBVToitOIQ5rDCj",
  "id": "fc_026b8400f96d038b016ab448ba935887d09981d5739022296a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NEVAWZvdGNBVToitOIQ5rDCj",
  "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]: [-0.5426, 2.0056, 1.5391, -1.4597, -0.5056, -2.0621, 0.9988, -0.0216, 0.8211, 0.5957, -0.4229, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3017 left_y=-0.0778 left_z=0.0845 left_yaw=1.4712 left_pitch=-0.3959 left_roll=0.114 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1601 right_yaw=-0.0015 right_pitch=-0.0763 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0068, -9.9624, 6.5299, -0.5104, -0.3297, -0.398, -0.0171, -0.1162, -1.4017, 7.0632, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcacd3f07bd1c6a15f944b3c773c8f1fbe57fe66a731f4a5afca99c309a0a630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3297283fa761725ae92f2ddeeb759fdd448c9cd79920832de0858296c843de3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c4266c0d143f673f84aedd9d1e19cff201af3443d237b33b2343422911f71b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.4693, 0.5411, -0.0917, -0.387, -0.3859, 0.0096, -0.0219, 0.8165, 0.5999, -0.416, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2997 left_y=-0.107 left_z=0.0155 left_yaw=-0.0211 left_pitch=-0.3439 left_roll=0.1221 left_gripper=0.0096 right_x=0.2906 right_y=-0.0001 right_z=0.1646 right_yaw=-0.0019 right_pitch=-0.0607 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -4.9162, 5.3949, 1.2186, -0.2466, -0.0464, 0.7692, -0.2256, -1.1829, 7.0222, 1.6581, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5488, 2.006, 1.5375, -1.4651, -0.5056, -2.0621, 0.9988, -0.0216, 0.8204, 0.5961, -0.4225, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2999 left_y=-0.0789 left_z=0.0846 left_yaw=1.4678 left_pitch=-0.3928 left_roll=0.1211 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1606 right_yaw=-0.0015 right_pitch=-0.0748 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [0.6496, -9.9077, 6.4342, -0.4664, -0.3394, -0.3932, -0.1343, -0.0752, -1.347, 7.2547, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5426, 2.0056, 1.5391, -1.4597, -0.5056, -2.0621, 0.9988, -0.0216, 0.8211, 0.5957, -0.4229, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3017 left_y=-0.0778 left_z=0.0845 left_yaw=1.4712 left_pitch=-0.3959 left_roll=0.114 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1601 right_yaw=-0.0015 right_pitch=-0.0763 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0068, -9.9624, 6.5299, -0.5104, -0.3297, -0.398, -0.0171, -0.1162, -1.4017, 7.0632, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcacd3f07bd1c6a15f944b3c773c8f1fbe57fe66a731f4a5afca99c309a0a630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3297283fa761725ae92f2ddeeb759fdd448c9cd79920832de0858296c843de3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c4266c0d143f673f84aedd9d1e19cff201af3443d237b33b2343422911f71b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi-yxQdpyohXJvoOOIuy8RRZKa3XHSGBvB7iurHl6qXRZKsPR_BV_0EjM4gh-OAxC83yjLcuwItNFjNtz4uCTZ4hUHhOIHd6BqViuzaB3_U1BYXqi6LpqJlQWq9OZN14YgKP_YI5Z33qvG3VVOkGecjrrwuPPgMWt53r3UsRRKUsByVX71IkPupnEB2f3nFdghe6G7b1UrWM-dS7BQhQPG-yA-LTZRBd0wLFFM4O7GA95_Id78Vwadu949UgsyWSl9mK-WwJz5gzGde8IIHFQ3w_a-flwnk6yEliWf3edip0yhErhm7Qw98gqxW8EikYld9WvWlrc08jn1NDx_gkaHbI5APhfdqdtNvcRcJKLb9Zx5x75ihiI0Nm6sSwW7ez9zWTgLFHDVTMkry3dcdILjXD7wHFwInBtgjcrVFrE-EbkOjABYR559-Chmu61cqw59_mqKkI7rzL1psTN6qlIV_bJ3K71ryzVmeOl2LpLZzleci5L1LpgeGJAx8g9gea9DgWxuR9GdVHZd5N2NLmnlMEfDpxCtCSKhkU0I_Mc6DJcuRBIAg7tCnJ3GBZS3ljnQ46NduYhPXyPet2wHLk_312kzYWAXzgLnnuB2GZe-zhejUBk-JzWRCfrQt5jECRthbzxhWw6A3jeQFoPvG9QNi_F3dC3P7r9jKWFBS5B73ivFS1ysR8cYvlw60RaGwjlQwpYLcz0Hmx8mlJx4PNvFJj1jZvz36LO3JHmhyOThGi2w0E-lDc53OVWBDa-NEi3yOJEPT-YQTek6lWoGzvg8PY1VEY4bxGVowoXVL-97i-4xFomwGzButKXcHX93_OdQTSmIRV-_B-4VmrKuV2yIWeydR96qN06PQRLWjkZ27EJJWJkI2xwleiTJ1AbR2I67bpr_8TBB4JYo5uqBRY7rbHDL0j647x9GhollQtXplqkpZBgJBQW-2YZJ-zC35Tj2bT2lHJChvtQP3nBj9JVTm9I-PGdxGfQx4_qJzxrFSRswy-ZvGiIqbmPLiXmWCz6JWcPAni7grpa3S0XnjJCVnu6wDdhSBFgoxV6y55RKBJ1Sam0lPiUytJGHrPB8lZ1Oa61wkPn2nM4rusEp5Y1zQv4pwnKEQWdNHBfnSjzqO8zPBL4pcLNjSZWhBLZVD1K-wTzurKVQo-oJerjZvF6r1vVtSOrxKBPlDtzj51h5atK6RlbUErfP5PysmG1u2_7692AJMubz_nY97EqSNwI0SdKRekFSdscQF8uE5pGI5EGQq1PURtuPfUTfhl4rBx87x_jEcXrVo5NUPHHan5qCKD9c7RdHYJ93p_D0JLptVCbett-gA2KoR-OkPpYcVPCS9dlfr4uBW4c_UZrTp846ex-qSgrAvDIcdv3g8Hf-byaihnWvk4yWjcBqJlS0eMjhTXNBs2HHwW6PDpzHLrBF0aA==",
  "id": "rs_026b8400f96d038b016ab448bcd0d887d09b5e83bd9b0512a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.15,\"left_yaw\":0.0},\"note\":\"The arm remains stalled at the positive 90-degree wrist posture even for a raised target. I’ll unwind to the neutral yaw while retreating; then I can use the opposite 90-degree rotation, which should preserve the same radial jaw axis with a less awkward joint configuration.\"}",
  "call_id": "call_czPz80IvlzGqqzMIcfTGxBD7",
  "id": "fc_026b8400f96d038b016ab448bd532c87d0b953334a1655b4ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_czPz80IvlzGqqzMIcfTGxBD7",
  "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]: [-0.7128, 1.182, 0.936, -0.971, -0.4793, -1.1511, 0.9988, -0.0219, 0.8265, 0.5945, -0.4355, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0996 left_z=0.1422 left_yaw=0.3977 left_pitch=-0.4184 left_roll=-0.1411 left_gripper=0.9988 right_x=0.2873 right_y=-0.0001 right_z=0.1557 right_yaw=-0.0018 right_pitch=-0.0954 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.5812, -3.9453, 6.7077, 1.326, -0.3101, 0.1343, -0.0122, -0.0068, -1.7709, 7.0906, 1.8486, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f663ae84691bcec2aaf5dde3f57eae30a1ca16071d366512a113f4377effd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6609e5a3f2a0455684c1da6a844ec203125167d96e46e061616d88403d5a9ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4da2e442a6661582ca505894e4553597a0b35cfb80f39f7ea0d9a8b010adfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5549, 1.9171, 1.4952, -1.4624, -0.5301, -2.0331, 0.9952, -0.0219, 0.8181, 0.5991, -0.4221, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2944 left_y=-0.0732 left_z=0.1034 left_yaw=1.4142 left_pitch=-0.3936 left_roll=0.0802 left_gripper=0.9952 right_x=0.2896 right_y=-0.0001 right_z=0.1626 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.2103, 6.1607, -0.7399, -0.2808, -0.0269, -0.0122, -0.1436, -1.4291, 7.1179, 1.7314, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5426, 2.0056, 1.5391, -1.4597, -0.5056, -2.0621, 0.9988, -0.0216, 0.8211, 0.5957, -0.4229, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3017 left_y=-0.0778 left_z=0.0845 left_yaw=1.4712 left_pitch=-0.3959 left_roll=0.114 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1601 right_yaw=-0.0015 right_pitch=-0.0763 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0068, -9.9624, 6.5299, -0.5104, -0.3297, -0.398, -0.0171, -0.1162, -1.4017, 7.0632, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7128, 1.182, 0.936, -0.971, -0.4793, -1.1511, 0.9988, -0.0219, 0.8265, 0.5945, -0.4355, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0996 left_z=0.1422 left_yaw=0.3977 left_pitch=-0.4184 left_roll=-0.1411 left_gripper=0.9988 right_x=0.2873 right_y=-0.0001 right_z=0.1557 right_yaw=-0.0018 right_pitch=-0.0954 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.5812, -3.9453, 6.7077, 1.326, -0.3101, 0.1343, -0.0122, -0.0068, -1.7709, 7.0906, 1.8486, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f663ae84691bcec2aaf5dde3f57eae30a1ca16071d366512a113f4377effd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6609e5a3f2a0455684c1da6a844ec203125167d96e46e061616d88403d5a9ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4da2e442a6661582ca505894e4553597a0b35cfb80f39f7ea0d9a8b010adfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjBzY6C4EcUUwLP_guWZ0uCRP438NHncZjqhtTlucxo6IYoWDPbB___uJZ1srdBTaQmcw9tEBnJJOPHyXK_3fDbN_5nqQhM_Kcfyw72C2C6x4nFGuKtTs1jHLIiQkscy1HeMhUahli_1_OjIh_knJF_VAXcubMZDyCUVe7I81nKHOGf0c36etrO7r-gya92ipyPFsRwos_vlu5YiDK2rh7NzJKiULt-r1upp5_s_QJXUs-chww3gbEcsd1qQV5DtYkejgJIOXwl5qaGAiKCU2Bvsfpz7A8PSyHa6xSk-mCT3fy5Qc5h0_oXt6Sa18uvvSS892CQiv4SONDUksuWuAHSjH-M_14Mk6hWnrp-otNBNl2HbbDjXcb-_el__ag153aUM1jwaTwNSQnexHXiq3e_ShVJ71I5hoywFZQdGlKC9IHdfg7r-yQ74-55PE8rYZa58mP_cf5rbU5KrErXxCN1_U9u5tsjioye-eKpeUc6KTAzQ6SAS0TU2DBsuradSsvqPdITQPaHIJbOLU2j7A6bo-WELqcaVCvz_wxS-VxDHs1q0pajRAnsgktB2RhbZ6-UWJysUV_uZWmSQ0FwVHvFdSHo5Rd7Ygng4H7L8BsmTOqqh5COS_Fh697BpDNpUMBrZd2cns3exkrLAZZMVGoPLo_BW4Xml1xVmzfcjgwhM7b0h79adH3FuPs1InxNtbxOCFvq_R1V1EtIuHujEU83NSCgzyoCeZyW_y1N_qQj68R3IZQcuN94cMUJ2nyrqReh2VO7_6TIyVhouSvtUkFvpamq4jRXAm4bHBT0YwyPn0Tv1Dm7awZi9zUz3NOVUAr50uHKGkp5Z7gYb_4huKX7MffJkfwgP6JE-q0FgWHsIYUQYZRiEFDnhfKm9OCXRcpBHyT_Nt9T8WyvzHRw04NzKYxPemYUT1xed_YUiZ4r8lGzN33VsiC96rJM4NG0jrp3_UZnH-oXE4Mu0kVnB5-5DMcJ_g0dC8naoQ40IhSRZ7Xp2DKGbYJIbfFbF6ZGltV12fRFrGOSsfFFTf9vOxmlIU1XRJqkE_Dnvl-z33oFOb8hnePpc7nYTZ2SCYonZJAvm2tF3l51Pf-j2Y9UOYXhXZPkHLG79N43bMlOhmoYhRD8Xi23zZaKs0cBdJTN6v7Iy5dP4Ko06R4-ULbK4Wnz49AKsTIpkbHwRyuKY7JP_kxRWHa4N-GJAG96L2zihTmurxFFtJwhhezVVk3ITAE9JqdTy4ei8kldTzvTGigaTkGCX3CkQ5STH9vP6Y2zWxv1af9dQvFUAoq1LlucO0-aQazEAG67qEmqJofDIefW_ydT_MPS_NOgV84o7nST0Na0hr4VCVYOwa1oa7oPO9Ce2QqOlH_JXzgTHBrA1chqnePuXprXU3bRCwLeDrzbhQiD",
  "id": "rs_026b8400f96d038b016ab448c0551c87d092c0b5ccd4fa5369",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-0.8,\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.15},\"note\":\"Unwinding freed the arm and restored the intended raised position. I’ll rotate halfway toward the opposite radial orientation first, avoiding another large wrist jump while staying clear of the bowls.\"}",
  "call_id": "call_PC6iu2IIbCzgOnbcaA0t7nrv",
  "id": "fc_026b8400f96d038b016ab448c0d60487d0aa27d5e5825b7855",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PC6iu2IIbCzgOnbcaA0t7nrv",
  "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]: [-0.2024, 1.132, 0.8833, -0.8894, 0.2512, 0.1509, 0.9988, -0.0216, 0.8299, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2477 left_y=-0.092 left_z=0.13 left_yaw=-0.5644 left_pitch=-0.5154 left_roll=-0.175 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.153 right_yaw=-0.0014 right_pitch=-0.1083 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2256, -3.7812, 9.4974, 1.0476, 0.2027, 0.2369, -0.0122, -0.0479, -1.265, 7.159, 1.7509, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cedecf92a374e5d4ee90eef4bead381e5430db5de9228aa9e023f8394a71b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37847a7f5cc57b3f2b4dd2044d3de521c7ab46081eea2d3786b9302a3b1446bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb83be89fa603908f2c62303cb40872c3e9d5012db9b54ff8b6c0e63dcccfbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5488, 2.006, 1.5375, -1.4651, -0.5056, -2.0621, 0.9988, -0.0216, 0.8204, 0.5961, -0.4225, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2999 left_y=-0.0789 left_z=0.0846 left_yaw=1.4678 left_pitch=-0.3928 left_roll=0.1211 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1606 right_yaw=-0.0015 right_pitch=-0.0748 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [0.6496, -9.9077, 6.4342, -0.4664, -0.3394, -0.3932, -0.1343, -0.0752, -1.347, 7.2547, 1.6923, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7128, 1.182, 0.936, -0.971, -0.4793, -1.1511, 0.9988, -0.0219, 0.8265, 0.5945, -0.4355, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0996 left_z=0.1422 left_yaw=0.3977 left_pitch=-0.4184 left_roll=-0.1411 left_gripper=0.9988 right_x=0.2873 right_y=-0.0001 right_z=0.1557 right_yaw=-0.0018 right_pitch=-0.0954 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.5812, -3.9453, 6.7077, 1.326, -0.3101, 0.1343, -0.0122, -0.0068, -1.7709, 7.0906, 1.8486, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2024, 1.132, 0.8833, -0.8894, 0.2512, 0.1509, 0.9988, -0.0216, 0.8299, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2477 left_y=-0.092 left_z=0.13 left_yaw=-0.5644 left_pitch=-0.5154 left_roll=-0.175 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.153 right_yaw=-0.0014 right_pitch=-0.1083 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2256, -3.7812, 9.4974, 1.0476, 0.2027, 0.2369, -0.0122, -0.0479, -1.265, 7.159, 1.7509, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cedecf92a374e5d4ee90eef4bead381e5430db5de9228aa9e023f8394a71b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37847a7f5cc57b3f2b4dd2044d3de521c7ab46081eea2d3786b9302a3b1446bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cb83be89fa603908f2c62303cb40872c3e9d5012db9b54ff8b6c0e63dcccfbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjEo2qVaK_HBw2wyV2yXdCEbc8CfUKHDLkN3FK-Izl_sTw-fMS2z7r299SngIhRGTbMzy4r95kQn6z74c0Z_cBkL2bQVACYrofFJFPZfUgTTxa0Ls3cC_fysTVClQPnndDQ-QUZWTXmJJg_jiXeXtBZAtYuvDOxRSeIvsGBGI4Usyin6sLAFanAQrIusy4nJdBy5O7AWXtCL8rz9mtcsUaus8qyaH1hlYvZkxRdYylioXjdX6_J-jg5ubRLrunh-yDMUiMMszCT2c7FVZ402mstbXwzgE48gabbAj5ZO_zlWnKv52Oyx_YuRyYVSb_dXKx0U-yY72bEtirgHN1Bhs8Jm4oVkBek8aYEeO_Bzgw0C5ctze4k5IYnUUo4wdrms4m9A5OUdalTR6iu6RfvdYukMTPiF9ZTfw8eSTZgmrtftg_hAqecVmYdkLAQbylbJxwMfw_fCNzF_bF6oTMOT74E4VqFJd0bHRJV1q0P6A-nYYFi0A7yuZY3YzfRF-jKfMBNMgpqlLpwnjnF1nCJmQLMnplm3lsotIlBy0m2isbqdjkv3zy5clBbNR79IBgGKx8T7UT9Iaqy3oy4O1i6tkinE1TRRq6F3Qv5-CcyKrxOb9hZ20E6Dz_A2bnZgJ70iRW_S58xKTbkBeV9qLSb_FU4OS9JP5AzpDm8o4ga3T2FyOTOMD3-hy1nC3SDfvqZFJA6lgG2OxQeaUsQMJL3mp4wfPljgEs0fPjdgWduGP5xCwvroNEThoAIE1JmTkXbwvDvL94X4OrOu8EKIEzjoDgpURF7eMQWdw49Xo1pVpq71kYdOrpz8r-zqOE5rXg1iZaYI3A8I3LRNiEbNQJTYCulbcqLt_NQf_OFvAA3otcWPZ_u-LYvwvCVwYks4mFnYojj6CL3PlsxJOr1fIFTnD2ySNYuwMoeWf44YC6GYm8_OaI8cneaji1kEeJrti3gM2HE6uSaPyLxEbgWK6w9zQWJ-UO6Qj1dP8V09fPmqhxKzuq-B6_dn7PywFKa8eoCiHBP7jCU9uyuBRgIvHuXH1ulGXAwEXjRrTzjg5wGulW-lNGlzEqMjspMQYHtqpf3Gzg3_kiQLUcXiHYyP9K4nkyRyoTUbRvDyKn9Rj6fkDGTdNtp9ywTxoLVpumLkjfLdWAaim8YpYQPkiiyG1w-QG4nHWxKD5oCTHqZgbKwnf6UGbp2U-okEPeLrcSPpwi5fOA0AWVzJq4eEnqrwY7YMpALmjEYbcIjeImmeQoZ4tf0RDE=",
  "id": "rs_026b8400f96d038b016ab448c36f4087d0990e73f456b4a13f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.5,\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.15},\"note\":\"The first half-rotation tracked and the arm remains clear, though pitch is near its allowed tilt. I’ll complete the opposite 90-degree yaw in one more controlled step before aligning to the rim.\"}",
  "call_id": "call_oez7cYs5VtK4nyiWZSFuiFuc",
  "id": "fc_026b8400f96d038b016ab448c3ac1487d0afb4c97ff9efc189",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oez7cYs5VtK4nyiWZSFuiFuc",
  "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]: [-0.1486, 1.1553, 0.9039, -0.9199, 0.3473, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2462 left_y=-0.094 left_z=0.1333 left_yaw=-0.7207 left_pitch=-0.4879 left_roll=-0.1742 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.2479, 6.0923, 1.072, 0.2271, -0.0904, -0.0122, -0.0889, -1.4154, 7.1453, 1.6581, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a34f9f45945b402d4d3f75451212b193d85d135d03e31d3d085006a65cc5cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609e918ea21ed0fe005514477d417d180434aaf3499d3491e479c5612392632f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6698c1f179d1391448466bb5a232978308b88e6429b1e0ab044b74d1dbd56c9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5426, 2.0056, 1.5391, -1.4597, -0.5056, -2.0621, 0.9988, -0.0216, 0.8211, 0.5957, -0.4229, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3017 left_y=-0.0778 left_z=0.0845 left_yaw=1.4712 left_pitch=-0.3959 left_roll=0.114 left_gripper=0.9988 right_x=0.2892 right_y=0.0 right_z=0.1601 right_yaw=-0.0015 right_pitch=-0.0763 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.0068, -9.9624, 6.5299, -0.5104, -0.3297, -0.398, -0.0171, -0.1162, -1.4017, 7.0632, 1.6435, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2024, 1.132, 0.8833, -0.8894, 0.2512, 0.1509, 0.9988, -0.0216, 0.8299, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2477 left_y=-0.092 left_z=0.13 left_yaw=-0.5644 left_pitch=-0.5154 left_roll=-0.175 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.153 right_yaw=-0.0014 right_pitch=-0.1083 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2256, -3.7812, 9.4974, 1.0476, 0.2027, 0.2369, -0.0122, -0.0479, -1.265, 7.159, 1.7509, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1553, 0.9039, -0.9199, 0.3473, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2462 left_y=-0.094 left_z=0.1333 left_yaw=-0.7207 left_pitch=-0.4879 left_roll=-0.1742 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.2479, 6.0923, 1.072, 0.2271, -0.0904, -0.0122, -0.0889, -1.4154, 7.1453, 1.6581, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a34f9f45945b402d4d3f75451212b193d85d135d03e31d3d085006a65cc5cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609e918ea21ed0fe005514477d417d180434aaf3499d3491e479c5612392632f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6698c1f179d1391448466bb5a232978308b88e6429b1e0ab044b74d1dbd56c9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjIyetIv1CDmsyNqCZjuXR5C-VcDTRFFqfdYADkCvNZLDarunbWZohMd21kE_BWru4DtsrFjXLjv9k6XCr4ywJn4O5AOGkjl0asovnts-ibM5S9d-A5QCMuWe3zTkEl7D9Q5Oh7G9-7Opyk6HEmwxzvWFokMKKgQfnSpm_CW110YgQqzdVUjbiD05x8alhdn4L18jzk1UJOHjb7-FQ3nmuXpzMNjt4yUaHyh1AUjnrocApHdkNPSdTTSms-8EZlhukl3zqcRIO8nyspP8RB8XqacJ7NHiY-2NP8e-GUP3K5xa3HGU9LCO2iYwNiDvDoBGamcgRNIA_iORH57Jfh8OlXRQwHJYN8g6jvv0yCDqkvEg46523gNgDc47xgU3E-9qbWyGzU4lg4xJY5145S-3LGCazyFOz5AbfwvozQFlbQAhWXhcSReZO8gKia8Mrj9zcNvhm4ib5ldct4D0Y3z1T2QZ1zM005jujvZKRuJtlmzoEwiqSMsrBF8qUrgWqbwaNCYZiPjQnBFU-PW4Q7MyyI-5Rq_Htrp6QBLU_RZvJT96iiUwcm71bEZSLj-oHiiFqLCJvKeZEg2F1PFFMoOdHAnpxbIT8lkBG3DQT8RiQHOg3p4PsEdsftW3vuPURaDzcJCUaDK5cfCJVjUA91iAfVdUYRFRZN2ZWRFWWjFeF6OVUPKV9Jfic0hi8n_9kluXSkL5V6772RG-v3K9bA3wsMZ_r2uPMK_Jaa-8Zk1YZKkGHSuEo4PfgCJokIbkPQDcinFi-oPvl7F2VicWnOAaYpezhDk9j6FaXLv1oQQomCii-p2FQXa46zWFQpXlyljNUM3romx08lo2zIz2GW3J-17iMySBPUhUtrLYg8HKj3TXN5dAzmtO2RBt7VlR8OHvzULgGBoNa-AT59SMhjyuwhlL4TuMUiqSdVJUzs6_DOfIre-6lZomBXgr5zm8nDFIJDgj-T3LGuEF6k8Ie42V9lVSzAZvXieECAxQznet5nbcjC3MtMFRE4-mEwCgHyK6_5YnLTa7_OZdoYy-1KeMOSvr1V-hU1KWeKAx5qumR97iz5YesLaJITOhmq_Rp7uQtTLo07Us16ztlkcFhw2kCUznOoyYbHDp-sY1Gxg3oaLhWj4q_gYndAEe3O5PE_K-sPH0IQYOew4JE5eMeO5e2kHl89mwSmAXFBgXQKRdnh5x7ATOZ_-L-ZdnzdmCk1aW5PLOL1e2V7O2ydNT86GMkU9VUZetwxGlm5QEcUedoNIX6QJZjNMh3ZiJXoDUXs-OPwuZUZr2hbsI8ulGC6F1stKpK71r9w8ZLW5zUZ4iBc2znH47VsQpX3h6-mtwEwMKgDdhVF_1JQ8CL3rY9upVQj4JvBgiDR_l0avJghH4l81zT_y2uReuJ-3Bjo24-Q4FtaVcUwiuD9nxJHgExFczW1V_y-zYvxKPtK8z5XfzPTzK93zWW_ut5YgXH3KGrc0J6IO_RgaaPEO1No35fAWcMQt32NqvWO_vSGVDlFdO-nyL7JUy47yAqXC3kfe2XTXCW0BUqSdYItaPo10cNVdcj-FXp_sR0hf0qBP01qnLVAqeUTS773faW7uUw5NerR6EJuTWKFnW86jQiGpRlkDejtiEQL_YqOl2itR6j1o02pm2pjVIqQYugSDwL6y8EgZ8PU7bSroH5Z3D-XeBX5whJuCY4vOp4b4Tz7y2U-he9bA6WwyWN6Z8pCT4vJE2n1Ji63",
  "id": "rs_026b8400f96d038b016ab448c6ba1087d087f21f9ee31f108f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.115,\"left_z\":0.1,\"left_yaw\":-0.75},\"note\":\"The opposite rotation settles at about 41 degrees rather than a full 90, but it is stable and still gives a diagonal inside–outside pinch across the near rim. I’ll move above that rim using the bowl’s known table coordinates, then lower carefully.\"}",
  "call_id": "call_pllhlhMeXS5P7n9MWPBjohZc",
  "id": "fc_026b8400f96d038b016ab448c7d47887d0ac8454470ae58dde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pllhlhMeXS5P7n9MWPBjohZc",
  "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]: [-0.1486, 1.1561, 0.9039, -0.9199, 0.3466, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2463 left_y=-0.0939 left_z=0.133 left_yaw=-0.7203 left_pitch=-0.4889 left_roll=-0.174 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1528 right_yaw=-0.0014 right_pitch=-0.1091 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.3026, 6.0923, 1.0965, 0.1685, -0.0708, -0.0122, -0.0342, -1.4427, 6.9538, 1.663, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088a4bd967b6d5afd5258d44f41dd90715104a02e25a7e46832487f85ab6357c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5915066ea2cac9b524a778877e4026451ffc9e9a57792734a07a662292bc1b8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bd839ef2ee9826cfe6583ed433a16eed90412ed83dcd13ab6b4608b7f86aa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7128, 1.182, 0.936, -0.971, -0.4793, -1.1511, 0.9988, -0.0219, 0.8265, 0.5945, -0.4355, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0996 left_z=0.1422 left_yaw=0.3977 left_pitch=-0.4184 left_roll=-0.1411 left_gripper=0.9988 right_x=0.2873 right_y=-0.0001 right_z=0.1557 right_yaw=-0.0018 right_pitch=-0.0954 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.5812, -3.9453, 6.7077, 1.326, -0.3101, 0.1343, -0.0122, -0.0068, -1.7709, 7.0906, 1.8486, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1553, 0.9039, -0.9199, 0.3473, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2462 left_y=-0.094 left_z=0.1333 left_yaw=-0.7207 left_pitch=-0.4879 left_roll=-0.1742 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.2479, 6.0923, 1.072, 0.2271, -0.0904, -0.0122, -0.0889, -1.4154, 7.1453, 1.6581, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1561, 0.9039, -0.9199, 0.3466, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2463 left_y=-0.0939 left_z=0.133 left_yaw=-0.7203 left_pitch=-0.4889 left_roll=-0.174 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1528 right_yaw=-0.0014 right_pitch=-0.1091 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.3026, 6.0923, 1.0965, 0.1685, -0.0708, -0.0122, -0.0342, -1.4427, 6.9538, 1.663, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088a4bd967b6d5afd5258d44f41dd90715104a02e25a7e46832487f85ab6357c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5915066ea2cac9b524a778877e4026451ffc9e9a57792734a07a662292bc1b8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bd839ef2ee9826cfe6583ed433a16eed90412ed83dcd13ab6b4608b7f86aa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjSS86_UAOLj0xLm4812Hr12bae7Kx-EXeWIFTFBLRNeF1rkMOx8Ejvq1I_S42M__HY3MKGFSj5KkMwfmY9Fs1w875_TSygjgzjeZEaEv71wNLcDm18QJ3gcRTM_Uu17CbNXg5ge35XPobbF6_T0Z1C7M7rAA4FMpDYJvJ7HFuURBvWY5DT86f4EENA1zaxjyRhy253lVm_JM_S6fWqiN7r5qrkEqq-zCGXo1HmJ3JWTnmoXkaxQox4z_foQfWjjzw9YyuGL100VrcrxQf3gleOpaZtMlZCYzZxxAqO9PbUvGxAGiemYOvCbS1wwreAIHa0OeI60H_SnKcFB5cVD0r40OPbZtNp4lD3U_f676oOHbl40v670A_9cs9qET4iXWoPc_mQCrEMjsi16Fl4i2jYS0uE8T789VVwg5eNldMcTE5mjhdS-T_ic3G-UwXQIqRQiNNl-WQnJQM4FTdo3wFkDqXXNz0hVR_jOU0JZV9XJS4ek4jr6ghPubXsg0wNmjMmiLgsJtPzCbjBmj0gwIo4sO9c2aHuS18QjD3NQeZJDIY0AV9q6wBWyS5daDIQgbsPDbe5gZOwQ110kAQovw8LVva6NGEcFFmr2sCu1IJPCSmOwxh8BfgduoxG3rguMwzZSmclgZEbbvUZFYJFRJdjA8Ntm6aNi9ajNyk2XtVUT7vWHciL6R2rymZMkto3YZGCJdbrS3O28VTyKxgC04Se-noT20XKQSHqlJdURRmpDtFEe0vBSzPG4hgwrZA6mtFTT543099nA3ec8CsdzNkH9OybMlgldmRv3GNXkfLPhRLpvCSWbGgJyonq-TXECkn-hUZjBq3iRAY1Ki6mh71E1X3KAMFOzg4TE0JwhWdXFBM1rn_g8SFkb2trRuV2NeOgMDaSbM4wjLfp1FgLbwWJ8SVQanHMEHT-ur5mSAy2w2cKO9z7JuPelZEd1J_-M2qpYCX0dys726gdlccdWeJSTYcDTiZ4OQbnnzLYBIAw2Q1hj5NS6tlU9lWzhPV81DEODtgkn3BLS1DUXhTkXCPsa-r8Azpeg0OqmIHpI-gGHMr7-bVBOdjXiw7jtI8paCjHKR8cpV0sf6ZebroA6yVOekcxAgpYxrYoEB1aI-KocUX3nnhL2ExtIzHCQdqDbOnFohz4OWK1rEvMYGU1cMQIrL7iuTYRdJaEWAMvLn8Ct22Icw9rIxMhA12WtmG4ubCMHakLmYpwF7xzV6Q9-xqcYmAK7OS68Aa1x2-UjSbIVW8naBTwGpD2kD5YIq4hySbBV1CeyBBtsp7KC4M0Y4G9pCKWxggNS1zGkDK3jFKT_mpc3IQvV1IJhZQbUO-rYxslqevxJYta2AsCB1SWW9orU9SvqGnDVYBQA3Hbjc7w7HF3PPfDowYmEf3g-XkZsiqIIIa5KQIUr-zz6hbd6uschympKyxAH9xdt3rOtYYQbRKtpmXAqjAl7-EWLMaj-PQ0XgVM5Nb8voNk8pNyepyt5sPpwQTn5PPXxv5r5AUkBcCw2exTbHnzOJrh8q3uzOt0PWbqHYDEEHNfVpIkwKngaLnhf4VIAXySpYQgPJu9BrWnjqIN3YoX_QsN0GAEqx-xzSfczQBKziF_J7ZnhepS0pzrY0MjkzchcZwJzlYw0_tLKFJH2k6LvWDkD_G7BFUdd43jyURLDOPBGrhGhryhXZp739yw7sW0xXmFbHxXaHtMZ5nJxkOQP7XFQpFfw9lRvg-e9Pu_89GycZ_fJZC1nb6swWCVuYOwGqcsTJXUSJ4YwBPUTt_ceKugYHR4oS7TJabd6kDuRd45a6_svxKd2ScREpxhWoIZEKr81QeftMNs-0PyqZDUx5J4L_SKwBYVlbjY-J6NvUjLDjxaDE3xpJpKmVPLQrB68OB-lwrGQK_WbUEbMbeMvUvnJVg3ISIN-r98drhg4a3O_DKHGe3Fz0_gLkVUSzYb7DMsQJtGuBeKjd5SCifh_TqvOg27FRt7j2JS7nVkj-oTk69Ss1_kp26lS67LgOw2BApZC1U1BpE0YkIoiR2OG1NMC1CoMRQPbk7KK2EgQy5npq9FC0G_JRWkm3shgULqOVz2zS23Pr1K6Xzu3LdDkjF3a0wt7EC0eRFgYoWg1uc9p4x0Q6Quc-VG5JaC-oefulkd7X-AlGIPKDJmKEM2-1IFUZ3ZWNY9Cu9nf5D4KiHsUE9rvnWR2E9WqLt8Pc_PRk6mV9-LBidPkf9IAVdcyY1PKS25mjb71cXeJLHmm2gDbZGunJHji0gfTOyUUnu0Euo-w5bhZBrjWtga3tCtYBIKfUyn-hoplpj9IJCN8-l4kK5EEdcIiQFEyApiPCQ4J0DUKmR_bRmu9D6TwwRpjpKeNFWBQTXUaxELRQod6Qfhccc6neyYqoRxAEYBtdWsV4hFpWBkstHj12j_aEH5j0oKXfSQk5x3DwBVeAxnAfu_P2ISa_62fKBo_OTrzjDZocxmcdlcstFFgcJgHdO__QULmdhhUNXtdQZ_QeFRrC78mQRnbmK0yONUKbuN25gne-G0L75XO-MP3CDLOk_TABxMIuq5lAOtOkBIGRRyVE2PskHF8t6OaCtv7GSJiVF6mA2f66bWJoDDSV_LAPwFMTfh8RlNrdGnrC7HDlAICqjiEflyqCP8oDkkwvR2sFLuYrU23W8pnRIY33rRAYgXD87xLUjNVjOZjbx7uAIVgENZrteavlXz7zsVVpbEnNoldSe2HhfbQq8xkeltqQF8xVf0RRpeiNqG3f1oqiC_uLy3Cj4Q3CfUdn88s3StsmJxAgjF6pl3TzwMog11FMwbOX7Bg7UHvPa0YDdhL7zFU1hWXGYSQbU8TcK2JIexlRmfS_BFariL5xt2vbUNUXv0vGXZls6UiBcteDV3uEMq9gV8CW6yJDrQFlA-EsUTnAHGoyABk1LBb3jydTrTurqGuH88KurNtFhUuK8ajg3mSY5MtOaRnuqlt7lYV8H-IXkb_ZrB0qShKNnRLQ2DxDVVQJIJAUptd4cE1IuAyVE-hw8LwSZBxUYES3H9mEUDWFM1YvmPctf1rDaQm1F_Yhq08cess3f62jIW9nwZNccOcS1LFxrmfZSiDlYK5aZNWMlkuc1B5AilpofyMY6y6bmFcDUcqaSwtWhpuFOMyRGT8CNKnok7R47wrOGx6sFbx5QKA7C7oIsOXKg_phLko9xkBe_MSZe_CAUsod58L2hV2GVGB0k_md_YuitgVnwHC2PuczbFP5GWD0g=",
  "id": "rs_026b8400f96d038b016ab448cab9d887d0a6fc0de20c312e63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.11,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The diagonal yaw posture is fully stalled, so I’ll abandon the external rim pinch and unwind. A better fit for this wide bowl is an internal expansion grasp: close the jaws, lower them into the bowl, then open against the inner walls.\"}",
  "call_id": "call_MwlLOYgArNCmWU3HdB0hBP04",
  "id": "fc_026b8400f96d038b016ab448cf7f3487d0aa2356c33f614bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MwlLOYgArNCmWU3HdB0hBP04",
  "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]: [-0.5285, 1.1099, 0.902, -0.8963, -0.1066, -0.5323, 0.0099, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2403 left_y=-0.1144 left_z=0.1373 left_yaw=-0.1174 left_pitch=-0.532 left_roll=-0.1612 left_gripper=0.0099 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7009, 9.2376, 1.1209, -0.1538, -0.0611, 0.7546, -0.1026, -1.2923, 6.9812, 1.6728, -0.022, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2aa953cd41eba91eb1915d49fa2fae5852130897a139cdbbf588186a9e4a786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a539190d6ddf7d3887be523850c065247256f8ca009822cd526afbfb47ae2d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0a469e48e822e0934e9f3389e0786751840caf26593a0bbb26d34f68ec4b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2024, 1.132, 0.8833, -0.8894, 0.2512, 0.1509, 0.9988, -0.0216, 0.8299, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2477 left_y=-0.092 left_z=0.13 left_yaw=-0.5644 left_pitch=-0.5154 left_roll=-0.175 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.153 right_yaw=-0.0014 right_pitch=-0.1083 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.2256, -3.7812, 9.4974, 1.0476, 0.2027, 0.2369, -0.0122, -0.0479, -1.265, 7.159, 1.7509, -0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1561, 0.9039, -0.9199, 0.3466, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2463 left_y=-0.0939 left_z=0.133 left_yaw=-0.7203 left_pitch=-0.4889 left_roll=-0.174 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1528 right_yaw=-0.0014 right_pitch=-0.1091 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.3026, 6.0923, 1.0965, 0.1685, -0.0708, -0.0122, -0.0342, -1.4427, 6.9538, 1.663, -0.0513, -0.0611, -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]: [-0.5285, 1.1099, 0.902, -0.8963, -0.1066, -0.5323, 0.0099, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2403 left_y=-0.1144 left_z=0.1373 left_yaw=-0.1174 left_pitch=-0.532 left_roll=-0.1612 left_gripper=0.0099 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7009, 9.2376, 1.1209, -0.1538, -0.0611, 0.7546, -0.1026, -1.2923, 6.9812, 1.6728, -0.022, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2aa953cd41eba91eb1915d49fa2fae5852130897a139cdbbf588186a9e4a786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a539190d6ddf7d3887be523850c065247256f8ca009822cd526afbfb47ae2d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c0a469e48e822e0934e9f3389e0786751840caf26593a0bbb26d34f68ec4b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjWl_geJLJ8s7E8bPswEzmnFhX3MDzz_NiVJsl46USn9tW66OWIURED_qqIOp4Ge658GFkHfzL-sHbNVoprsAuaNfldb83upkuVkfGWrpiOCPLoUfQYN5dqFHwf8YfknXWCH2NaXn3oESlI-8HlA-TgrU1qmJGixz94nehjJWuq1tAkFnMY4gSrqRdB313sZ-MIK3I-r5H1573pA7G3wCzNHGLKkHomrPyukMt46a5DAtRbxWQKKwl2Fu94DC91clPYyIzHOgJVnBsIOaYOG3ibGSkFXKN5aGcKFECrobR561kISXekvvehhTFiI3xdwI_HwXL3iK8LBCuaUqYG5PRAq_4dmUO2IzlD1n8ZRjAS0Ly3EMNCR11XAoOkgMZguQlEPWctr0DgRvSMTANMEb6IyysDNFWWQ5VBEyQhhRiy8SY1sCHRwSBSwzefUPOa9qXdqy8HZ47DzJp4QtRQUY1Id1GhAKWiGixukBERhHS8yNs4KcIdH2LOC-wvBHsHHSAWeiOQh-Fzhbzz_-MiFtjgks03Nuz-hrbxIcA7f8b8uXhXUgPdD7IaAer-L8_HGHHxTbvXp99N6L14-HWmlBYTyelFpSRYEjXRvWMejphYNepNV36ZeKsm61NcsZcNusuZ_0oeYy-9yQ7Ksy1Z0zVSn71DFV5kU1YNiQCAaBLZqH9kZqltsasQr8NYnIt_BCBwPdC8iylg3Vpv-mVW8me_xtG_CYaJnMk8S3tVDe3tNO9vc_yclm72hw2wBRfE7t1iEkCd4vrfBbNqr2GTi-quilWpwCXuBqvOyRGsJUvncD1HpfmG5TcB_f3jTyKKum7dH1rL2jAYwS62DNuDMLzKlIiGlt-zrMehqhphWHe9REugg6NU_rtgMKrKb7ITQ0HdeZTA8_GSytWmbQPVq_x5v6vWdsGqoeJZcxQgfm79AmewRZlJEs0cl7bAkPnx7l7oBN2WulWidRmEZCnSrGfXF4upvti9_BqgINHU4nhjJFN4MWzQWBwDZlPuXNXtb4JQnO67xSZIqVFLHdES1K7FnewVUOpVWEQppJIRNDDoR1vDS0Guvj81Az7LI6LvwNN2GyLITJD-BXagxlFs9TkU6DK3jCgzbGlCnCqgqa1-imfwphVzOnd7Z_v-w33q-OuCOXmM06jSmbVZuiQ90AKemlQ5rDRIhKptwvT6Tlj7INV-NEtrlGlWZVgbu2rMOjr7NVtaW5vQtwrcrQOh7fUPGkD_ZDRlbrE4BNNlCwfF_r6EcXemRhcgou9xeOQCiFjsKU8AkvroJoJ8BDU88JnQRkv6zU4YeFxE-PMGWaherIw2CUSwP3teg-xtvBkyQZD0GIOevdvG5XbBWNgWEQn4Sg9rt-Ag1hyLAOPcravVjsxWEKJgJttbbToXlC50SCHW3UEwz0WG2H6MNGRJc1j00WBxpgBrm0zrVg_VOlTiO7wbMSNaQWzrc9Ur-9PWJTeOvvlQZev2eO6IvgHzxrr7gp6iy8I2B09kY9cj2fbvQac=",
  "id": "rs_026b8400f96d038b016ab448d4f08087d08f09f8da4b4f9e90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.115,\"left_z\":0.12,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The wrist is nearly neutral and the closed fingertips are centered behind the bowl. I’ll move over the bowl’s centre while staying above its rim, preparing to lower the compact jaws into the opening.\"}",
  "call_id": "call_IUau6i1PF5C3X7LUvoo6utiI",
  "id": "fc_026b8400f96d038b016ab448d5726c87d0a419ca5a4ac39bf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IUau6i1PF5C3X7LUvoo6utiI",
  "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]: [-0.3885, 1.4715, 1.0641, -0.762, -0.0986, -0.5381, 0.007, -0.0216, 0.836, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3213 left_y=-0.1088 left_z=0.1065 left_yaw=0.0354 left_pitch=-0.595 left_roll=-0.1406 left_gripper=0.007 right_x=0.2861 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4034, -6.4479, 8.8547, 1.1209, 0.0122, 0.2955, 0.7155, -0.0342, -1.812, 6.9949, 1.6435, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4f8594ea330897462cd99dd1974d1365471282b6d27da4c089e3f90c0cfb06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe77cd0176f2ab5635faca52fc31f8772fdb5fa101b4efe850a16cfada5afd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219394430f109a94e39f591f040ffea0e8152aa086d56b1bc556daf16281388",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1553, 0.9039, -0.9199, 0.3473, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2462 left_y=-0.094 left_z=0.1333 left_yaw=-0.7207 left_pitch=-0.4879 left_roll=-0.1742 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.2479, 6.0923, 1.072, 0.2271, -0.0904, -0.0122, -0.0889, -1.4154, 7.1453, 1.6581, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5285, 1.1099, 0.902, -0.8963, -0.1066, -0.5323, 0.0099, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2403 left_y=-0.1144 left_z=0.1373 left_yaw=-0.1174 left_pitch=-0.532 left_roll=-0.1612 left_gripper=0.0099 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7009, 9.2376, 1.1209, -0.1538, -0.0611, 0.7546, -0.1026, -1.2923, 6.9812, 1.6728, -0.022, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3885, 1.4715, 1.0641, -0.762, -0.0986, -0.5381, 0.007, -0.0216, 0.836, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3213 left_y=-0.1088 left_z=0.1065 left_yaw=0.0354 left_pitch=-0.595 left_roll=-0.1406 left_gripper=0.007 right_x=0.2861 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4034, -6.4479, 8.8547, 1.1209, 0.0122, 0.2955, 0.7155, -0.0342, -1.812, 6.9949, 1.6435, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4f8594ea330897462cd99dd1974d1365471282b6d27da4c089e3f90c0cfb06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efe77cd0176f2ab5635faca52fc31f8772fdb5fa101b4efe850a16cfada5afd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219394430f109a94e39f591f040ffea0e8152aa086d56b1bc556daf16281388",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjaUnL5dfglk_JyqTGV85GOxBFzjyysK2SF9ZpEoN-BcLHzX_SypwILMIozjR9vhv0LKqu1JvpYDdRBcEwL87q_BUINIoj0ZmhVTb0AxEhc9Hs__61bqkE89vxlIZ8zi9yVrN_N7ureend_5JPFyoed5xTP3KTWEhwjE2hlGvDAY1kZVH-c8JthOfEMJxJ27kdLK2aKPVAM2Ox-t1F594aoWd_wY3HeKF1iZcObLHpN5hYdpaxs6ZjVINVsHv8jMiFPiqGepXppVLCg13CbH9H03qVLJuP6Vkv8CKyKzL010hmQtqOeED3qldrXcRRlRWKmYVbxjRj__RekuWkxHKajto56096ZGSo8F2GWmrB23hd4GxmieuaJOhjUdyCpr30j_6RmMgX8YIt4xyntvdA9fdcKHoTHR3kldIri9vJ65g5QH5XU1ndYZ70wQMRAqg_8S_GcVw_zOgQR_v6c9xPxMAmGmeEtnptAKKJS-hoy4LsNzp6KTXB5WqPpPmQcLYqXdTDWStOZF4WEyHYH_M95Lq3bjiECf667V7SUq84-NHunj9ATp-zqUS5PLkknDU_30fArO72bvAoE-5I52y1tDeBnc-jQwzkfhDAni4OAZnBOGq0rSfuDpukFqBmxktPNeVKpTuXHiQj3l0KkS5woqYj7umJBkaUXrG0n4DjRZnlXldIAXdw5z_TGoXBD-az1NQH-YyYfmvzk0CKfeaHmIKBoT2kPF5HkrFzH1JLvpoZBThmhXvAWogi7TBlE7WyZTyVp8-lKF2M68NCNP-vAcSj2UDkJNGr0QZO0szg80ElB2wjeyxusbEECpaO3Fs4_JJ3hoYe_ba-LwTgQv1_lxRnoVLYATFM_lG5O0BMXEIsA3o85_bhMo6j3SiK4yu8pS2nq5ZqYDpmhSCez34ovRhLyl3Y6c49yrsz9o4wvi_bBY52jdHMu5Peli79LRQfUmFc9K4qCIwABZLSLYFZ6IicYeMujoA_Rq12LLLgAWgE6AM2YzYAubIx5nxiRXpX1vF9A5GJzIwVCgvR8qU_cGapBFRyCH7bvjeiTdPIoAnNr8eVyS1sERUvHejpZQ-YAR0gxLO2nle13o0B7buzYTN2SbMoJt4yIOzB6aXSI7yioLRpwzqiE_d6UgUOLlSMYy9w5Wr_7a3VaTxGsk0Si2oRwNFD1KA4W798IDlXau3PC-LOGv9pkt8XBVIUAK3i7bH_dhXUMtqnYG_qAYnzuTJhE86-blgHejgqrYwRMp5-VOgFqIa_Gz0xuE8Ff0ewNLM3oTCKradQYZSFKtCMMhOASULhHQoo8NpQAtSlTmTOWqNz9KsJgqTiOsqc9X6u6lxOt1uSOgeKLeI5deASPIoV1TxW3RRSz6NcbQhSx_QpZxQSumwmKFtjPlpiQvSXhnlAIxKZ-8-vhG1P_ZXT7xMPe94Ja5s1eDGXf7PVaL_CxEE6e2PLuts5OiuFZV_w5lJVkjfB8n7q8h-s_uAHhfg7V7aKIEeLqDD-4W8Au9mGGxh0YnpCuKbVTNuhUivsXOhqEXljo40VhHx5mAKCzGuDCbDxmWDM1fCJCLhYndaXKmIDyWz1ZMb4RW84szp9xjlncDDCj0HBBNQUaNr3zqcR4VHdrXzr9V4q-7pyhrV1I4Pggza3VUayYX5xB-3b9",
  "id": "rs_026b8400f96d038b016ab448d875c087d0aefb973361d8a3ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.115,\"left_z\":0.055,\"left_gripper\":0.0},\"note\":\"The closed jaws are centered on the bowl opening and only about 2 cm short radially. I’ll make the final advance while lowering the compact fingertips into the bowl to roughly mid-depth.\"}",
  "call_id": "call_0SD0AItmf8E9bcp6RSQRBUWV",
  "id": "fc_026b8400f96d038b016ab448d9367487d0944ae589b2c00421",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0SD0AItmf8E9bcp6RSQRBUWV",
  "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]: [-0.3843, 1.5921, 0.9855, -0.614, -0.0986, -0.5396, 0.007, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3281 left_y=-0.1101 left_z=0.0548 left_yaw=0.0558 left_pitch=-0.6415 left_roll=-0.115 left_gripper=0.007 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.241, 6.188, 1.1013, -0.0611, 0.022, 0.7155, -0.1846, -1.4701, 6.9538, 1.6337, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9db6aaf69663407d9f23f1ca1dd13affdeafea588e0c617c273ebd25b98d812",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7c0869e7571cffd06329431bec7e34603b932bf23ac5659aa51650894232a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f3a1c305c609e45f221af1497d34b44dbb8a73f8e8f4b7cb258efe2f623324",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.1561, 0.9039, -0.9199, 0.3466, 0.3473, 0.9988, -0.0216, 0.8307, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2463 left_y=-0.0939 left_z=0.133 left_yaw=-0.7203 left_pitch=-0.4889 left_roll=-0.174 left_gripper=0.9988 right_x=0.286 right_y=0.0001 right_z=0.1528 right_yaw=-0.0014 right_pitch=-0.1091 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.0479, -3.3026, 6.0923, 1.0965, 0.1685, -0.0708, -0.0122, -0.0342, -1.4427, 6.9538, 1.663, -0.0513, -0.0611, -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]: [-0.3885, 1.4715, 1.0641, -0.762, -0.0986, -0.5381, 0.007, -0.0216, 0.836, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3213 left_y=-0.1088 left_z=0.1065 left_yaw=0.0354 left_pitch=-0.595 left_roll=-0.1406 left_gripper=0.007 right_x=0.2861 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4034, -6.4479, 8.8547, 1.1209, 0.0122, 0.2955, 0.7155, -0.0342, -1.812, 6.9949, 1.6435, -0.0073, -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]: [-0.3843, 1.5921, 0.9855, -0.614, -0.0986, -0.5396, 0.007, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3281 left_y=-0.1101 left_z=0.0548 left_yaw=0.0558 left_pitch=-0.6415 left_roll=-0.115 left_gripper=0.007 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.241, 6.188, 1.1013, -0.0611, 0.022, 0.7155, -0.1846, -1.4701, 6.9538, 1.6337, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9db6aaf69663407d9f23f1ca1dd13affdeafea588e0c617c273ebd25b98d812",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7c0869e7571cffd06329431bec7e34603b932bf23ac5659aa51650894232a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f3a1c305c609e45f221af1497d34b44dbb8a73f8e8f4b7cb258efe2f623324",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjcNsESxZMoCLCuflaG4wwGKqAO5eiaAY8J30G-nC8viL9eis48hvKNze_E1ZabmlVJGR-09QTRv35ZURX0nduhObrpO1I_1auWH0jtcG8sKegr4eJuEX-WEjV3vX77lxUVGhAypGqTZoNjCn_z8R2juvyfuCwOtR3ZaUnjCfR72Iu_llQExxo2N7HXv4VDdIZtDu2KhHxiwOqphz65B0n7Nf__Rfm89EKK_ie5an1fZzIKn4uVClJ7SJoP48nKEDMjKbcebwJTsQ6_GYFiVmYaXItUDpWWTY0kbZ2FwW_VpAAc0NmLdR98rNQr5iNj3Q2R9eBVbu_hWn_sDDPFZ7f7_bf7hdjXloGPJb_oQ5mO9kMHEyYPCBsK2sokvJohAgNlG05H1PSkBlPYxbkNLeQw2srRnEjE8P700MyzKfpPOmpAmfVeb8awmq_ytudvyIqJbLQUs3mVFqYT1oIWs2VtUNkyZBpyo7SNJiaq6dkTrVpSK-yBhHqfVvF0pteLP3LtuiErEatm09yWtNBQjxfNExGbF1aYdwCtuUUitRw3FFeYmmcbOl6BmAPcTmBjf3Bj-EO71zzfXQcv5g04X6iQGQqBF_NWUkdznabMSWm6Z75xe3ci2nbb2xaIFOajJz76Rh7r7sPk--BpPfQRg3utAOBohLH3r4vspOGWR3MltDy2N_hIpR1uRqdiYc04xXlM4Bm8TjhHqAh7fxGysrHx2-6cOPUKbGdDqsIFusq0p5VvMi5YHGZS7LcjYLcjnxVbDcu17Eq0a71JYBEePLrVQr3mkcWQlbXBorSCiDAqq9RRnCvLp5rwtV0Nsq-FTjEgZH0NZHBLr2RpQz_-4JG-Su5kB0jlAtICI-LP24UygtUnagSKxIQyL7diNkCnjQddRL_iv7s9NW--VCaBVhN40AC1qYDq1QnlyGeYHqCLEZvwuuMcBQLwMh5ahQ4jJvkBcBw9f3RBmfdBP2tmCfOrfWEHfnvhrdIIh9EwjAsT0xObJLpzNAyfe0zx_BCNeyCYHeCVHhluJb4prqyjf_CVgIK-r9Wn76efX8ilu2M46YEbgP3PPQ5UGm3Sjvl5yCa0UClHD9q-VnDLUDWw2R3V1vNOkfooER4CIGVMMAXP0vlEcuIVNDhGWp4greZUW1EBGd67XMdhPqqA-QOt_n03n1kvy1ReGizGk_WnvTw76MIDfioJFtJqdsJnH8wo-PzmkcE7PSaG79UcQpfTdD_tLa7u_I03xBGIa2sIaTiMl9OtbTyiWvIDv7ngphrCijC9heUo97ICdnNj8Syyu1N3X-ucIOns4sx90EYNqNbaVDU=",
  "id": "rs_026b8400f96d038b016ab448dbb92487d08583df12a12f65e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The closed fingertips are now visibly inside the bowl near mid-depth, centered over the inner base. I’ll open them outward against the tapered inner walls to create an expansion grasp.\"}",
  "call_id": "call_cCSEl3s5B6RdC4brxcwVtwZI",
  "id": "fc_026b8400f96d038b016ab448dbee2487d08b727bfdcc90669d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cCSEl3s5B6RdC4brxcwVtwZI",
  "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]: [-0.3927, 1.5856, 0.944, -0.5709, -0.1062, -0.5472, 0.9947, -0.0216, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3247 left_y=-0.1103 left_z=0.0474 left_yaw=0.0574 left_pitch=-0.6316 left_roll=-0.1147 left_gripper=0.9947 right_x=0.2862 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -8.4581, 5.8188, 0.9939, -0.2027, 0.0269, -0.0904, -0.1026, -1.306, 6.9812, 1.6288, -0.0659, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa569fa74545702fa9c6924ea452a9538e236f207890366a463a8716279bd62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e7e2ef7ac83517275a350a6e96242f929ebbc6d3ada96aa52473c12e47fb26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452a9817ebc130fe931218219fdd189d7024bd5514a34e2ec11dd1fe13305bad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5285, 1.1099, 0.902, -0.8963, -0.1066, -0.5323, 0.0099, -0.0216, 0.8307, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.2403 left_y=-0.1144 left_z=0.1373 left_yaw=-0.1174 left_pitch=-0.532 left_roll=-0.1612 left_gripper=0.0099 right_x=0.286 right_y=0.0001 right_z=0.1527 right_yaw=-0.0014 right_pitch=-0.1095 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -2.7009, 9.2376, 1.1209, -0.1538, -0.0611, 0.7546, -0.1026, -1.2923, 6.9812, 1.6728, -0.022, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5921, 0.9855, -0.614, -0.0986, -0.5396, 0.007, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3281 left_y=-0.1101 left_z=0.0548 left_yaw=0.0558 left_pitch=-0.6415 left_roll=-0.115 left_gripper=0.007 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.241, 6.188, 1.1013, -0.0611, 0.022, 0.7155, -0.1846, -1.4701, 6.9538, 1.6337, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3927, 1.5856, 0.944, -0.5709, -0.1062, -0.5472, 0.9947, -0.0216, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3247 left_y=-0.1103 left_z=0.0474 left_yaw=0.0574 left_pitch=-0.6316 left_roll=-0.1147 left_gripper=0.9947 right_x=0.2862 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -8.4581, 5.8188, 0.9939, -0.2027, 0.0269, -0.0904, -0.1026, -1.306, 6.9812, 1.6288, -0.0659, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa569fa74545702fa9c6924ea452a9538e236f207890366a463a8716279bd62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e7e2ef7ac83517275a350a6e96242f929ebbc6d3ada96aa52473c12e47fb26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452a9817ebc130fe931218219fdd189d7024bd5514a34e2ec11dd1fe13305bad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjgYLcFgcqh0ePpZmLkuKpKbIlk1lpZq3pmZY_0xfWF8R3coddzkidn5J2LnORl472zPcSR9HxbNtZhrP5vhyQSZQuSXwnCjLy1uvh-SsfQ0hrUcq2LTjTqlBTd0VqRPpfWEkVwjSYWQvSIg4QGhJLgqYZ3KG-R4hkTdX82GG6CYE4nCbGbJ9zkbY79el9Vnng7DgqmYBek5PkCeyPOkOk1t-1uP25Fb7e7thHnFolq75lhFjBuuYG5ILyDcQIpcwKRgm1deU_viwptBZXdQFIkPaqY3aBgxY8dogKeie_BU6nYDMY7rDpjWCqIMXb9HFQQ6T_PE9IcXRUuZ_LbU3CgnlJY3NMW0o7-QlTPSqtDNElbYf7tGE7bNOF-pA70OSFK4_eHbaqJXYm5haGTs4b4fTrmst96Ga8cnhdGHRqy0b2R4Hgp3-osXjuxm5s-S18gb70Lw0-BgGhwobPn_0mkiiBl4BHGlpoW7jVW2tgiMALhX1ux34c1LyY5m0-5c--bZIWbO8-KZoYk1Vjew9ziRJzJu-ppVkV8aeVbFp77CijqN8j0alwfNSzn6e5MiReiepxyBYUfZQbKqpQw0_m6DhKTKR050_GKswZgJSgU5fG23pZYzdWtrf-m3zvTXZQxNbq_CFOzEjoPouKdP3RFAiGGOvr0qY7ZL7sr1aLgLJC3KqIaAPA-sAaZYDJVE_i6bJ1A1Sk_OPKcUyqFeV9iyiTlLoU_zDX_lKjQkCycQ22ZfNiBxBOOsQuu5lUN6LQL2nOIQNk82YQJmhgpAhjtTozEotdZOZguU5xotzJqrNF4FzfoUSd_XL3rZ8xCz81q2oM18b2pb4XdZain_p339mSYvwaBPdkwxpy3YBL_N_sONWTZBu8ZCzEuDIw4N-thUKnxyto2K8aytT-r8QeEXeBZiaTlrTUToVCp93g9W8hVMBuoPyYT1_C2EOwgn3WEgvWmPq2nhkRRGUyr01adGQJKWW7J7-VspWqYOiFeK5go6X94W4NpkdzWhN_FbYjipZ239TZo0HZRiouG_3gHfF4kMunoqmtNcHqC9434N4xDHFTBH65aAP_GF5ahsK8Ex1Xa6xT8N2cZ6U_yD33z0ZTNFhvZ4srgjs49gOqB_8wXbifJnagbxq2cKnxmmoY3Lph-HC2dV3aBj0fwLv7cepVN4EIxVwgu5HOQBiZQBYPFW3tSEw1BPptua6i0hPcnpvehQ0B8Nhgib-OBv58Wu5U1C17DIs3WgXBBW3fe9VyGyUCdvROFOtQBndluUxQ0mZdxkjigA_zeXet-WYP0woZobl3GMqaDxmzhJQhGe_MFmM8zIl7zCbB8v19ZjFRPTzvBvds7RNpYVvXANgfG5_a_z4YtHgCxLnh15PYKs2MyIoVAP7CYc80bSLiGn833fi1M39nlaEtvEIaJ_9JhVJC02wJzYJ_UFiR0BSymPlaEbnA1nVHWJafnN0sVUYmPJTFVp1SMifa64qOJovM2rb_mCNpgNvkFeeRDFhIkDBNwubHDVInRgkzkjDPL1ShjIFCUNLP3e2mE9C-z2krFymln6vELmzEPXJ8gE_nPB-w=",
  "id": "rs_026b8400f96d038b016ab448dedb1487d0bf0206ad1fc84035",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"left_z\":0.025,\"left_x\":0.33,\"left_y\":-0.115},\"note\":\"The jaws opened fully without contacting the inner walls, so they were still too high in the bowl’s wide upper section. I’ll close again and lower near the inner base, where the taper is narrower, before expanding a second time.\"}",
  "call_id": "call_WXk5etUr1Om7VFXB3BEbr3gU",
  "id": "fc_026b8400f96d038b016ab448dfda1887d092c62ce75c83444e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WXk5etUr1Om7VFXB3BEbr3gU",
  "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]: [-0.4042, 1.6241, 0.886, -0.4583, -0.1135, -0.5617, 0.0094, -0.0219, 0.8364, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3268 left_y=-0.1141 left_z=0.0267 left_yaw=0.0575 left_pitch=-0.6151 left_roll=-0.1224 left_gripper=0.0094 right_x=0.2863 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1148 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.9692, 5.6274, 1.0623, -0.1734, 0.0269, 0.7692, -0.0752, -1.4701, 6.9812, 1.6679, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe6ee2bd8a5a4dabdf82a4800fb696fa9b887123a3b27ed56516e8dd5405189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9278c56864bf9efd99c8df14b5575575ef307f1db1d7cb6118b8199d3b23c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f4934b34aa9525606c0ca932027db6474195a7ce40f81ce9cd7719b3d00591",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3885, 1.4715, 1.0641, -0.762, -0.0986, -0.5381, 0.007, -0.0216, 0.836, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3213 left_y=-0.1088 left_z=0.1065 left_yaw=0.0354 left_pitch=-0.595 left_roll=-0.1406 left_gripper=0.007 right_x=0.2861 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [0.4034, -6.4479, 8.8547, 1.1209, 0.0122, 0.2955, 0.7155, -0.0342, -1.812, 6.9949, 1.6435, -0.0073, -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]: [-0.3927, 1.5856, 0.944, -0.5709, -0.1062, -0.5472, 0.9947, -0.0216, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3247 left_y=-0.1103 left_z=0.0474 left_yaw=0.0574 left_pitch=-0.6316 left_roll=-0.1147 left_gripper=0.9947 right_x=0.2862 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -8.4581, 5.8188, 0.9939, -0.2027, 0.0269, -0.0904, -0.1026, -1.306, 6.9812, 1.6288, -0.0659, -0.0562, -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]: [-0.4042, 1.6241, 0.886, -0.4583, -0.1135, -0.5617, 0.0094, -0.0219, 0.8364, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3268 left_y=-0.1141 left_z=0.0267 left_yaw=0.0575 left_pitch=-0.6151 left_roll=-0.1224 left_gripper=0.0094 right_x=0.2863 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1148 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.9692, 5.6274, 1.0623, -0.1734, 0.0269, 0.7692, -0.0752, -1.4701, 6.9812, 1.6679, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe6ee2bd8a5a4dabdf82a4800fb696fa9b887123a3b27ed56516e8dd5405189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9278c56864bf9efd99c8df14b5575575ef307f1db1d7cb6118b8199d3b23c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f4934b34aa9525606c0ca932027db6474195a7ce40f81ce9cd7719b3d00591",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjjyLBrlW2b-RNv3V93DQFYAIdNiEpnlLis7kwEgGo-loQFZEZ135FRviYSmbaQw2XO5TbpUIlGWNiNNZEqlGzKHheiFWkt2_sAIEUDM0wscAFCQjzwav4EO659atu7BajkdzSAoacQl6ld75I7Pky92qhWZJmFfw4jto9lzqWxLgguneiFUAf0SMN7mGd6aL6NeyQr0MCQ6NH9Hs5bwbkaoFMAIP4Vwrg2HsdvXWW5ltQCpEZkagRvY2zV1hfTbRQ3mgqWIAwAWucg_UnBeAJMI0ynIUMiZ-MYzVo5wHFjyRhiVwYNQeyktJSAKNAuxG_zgmLWLxJkrTTorg3Wv6ISt6xSjoeb45RBSu3lNZn9B1mwKRmqptZCWVbxr8C6ETrdrBcOOzzuIlVZnQYIvYwCxnYJGryGcxTNUQj_G42sLcgHv9kqLCuZmFVRVA0YtbGYoKVwfITrOWxQRPBChZtsyXzZRiUZMNsdaxxCAeVExUzxvGuXA5eUVGw3x3lrG8O3hqP17Dm7hHgomDMMctYWbfLqpM5UaeWakLENXsy5dMHOr_Pcpy7HTn1FRP8sa32HyFQq9e_EZ_lLSQVl2MXSJ1y_Kbqn4bbSMyDmeWftGGr3T2iUGbXDxmzpzrd5o7yrdOiH9lzk1lfJjd-15JSy14CSpMLVwuj_5zots1SoV3YRUuvSl7ST6IDvxvIwnrcmMnCPovrZZBfzxoVp7_7GrV16ilhXguCzeVO95urkWkFLqMKXh7jn9Bn7jVIWos5c3vaLxBZxTMhZwifwAQ8M94jsyK8NZVoxOHiDSgFjwIIWkRwtaCBwx_yCx1WyyA_JbZN_Ug4Wgw4j5d1V2vz4756wxjEGhAPM1TaUNM7HuIT7-ztxJfTsVMVOSihkfGwEkT-YgaJ5pC7TAissHe6MTtO4l0IY6II_JqPIny0OllWPIGK7uVI31riCRK-wnR16yhEL5GV_Ck7Wi6HOqmHyu3DFgEiBrVNUBqjcAzseDbRwTr7Q_koi3dxE80M9pjH8L2L7i8P-hV3d0XqdzTUb0ydYFZlmS9cxZxA6G6rtdjpe8vcbx3tEhTQV0hTXldb05ZAcybC6Xfw4Hlgp86h4VNtz1gDF1_XnHWfr8TCC_lFkYjskWwj7nmJagHgU2vp_zi4bvfvRo1_6WeALDtKHNl5JeGhih4250LU6xMldrbNqGnQRiaY7EITLlcZN-WvaEafQmz-SZa63eCAYh9adF0WCLSQqoQflvl5E5XbXo5k=",
  "id": "rs_026b8400f96d038b016ab448e2d66087d0904c313cfd5be606",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The closed jaws have reached the bowl’s inner base at about 2.7 cm above the table, still centered. I’ll expand here against the narrowest part of the taper.\"}",
  "call_id": "call_Wn5pHXsHhfBfLUlSBSwt2FA3",
  "id": "fc_026b8400f96d038b016ab448e2faa087d0bab3db4618ac1b1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wn5pHXsHhfBfLUlSBSwt2FA3",
  "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]: [-0.4057, 1.6272, 0.8726, -0.4507, -0.1135, -0.5674, 0.9944, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3237 left_y=-0.1134 left_z=0.0223 left_yaw=0.0625 left_pitch=-0.6233 left_roll=-0.1202 left_gripper=0.9944 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.7744, 5.5726, 1.0476, -0.1636, 0.0659, 0.0562, -0.0889, -1.4017, 7.1043, 1.6386, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ed22e596e44a4b370e0e75f913379b9940293ee20ea76d4de6834c23f91258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6b6a260db9b47f36256453eae6916224b1a03604426beb4a55983a472380d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2d00eef6f69de5769336f9586f6f818169d2ae75e81f68e56833bc6bd8f196",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5921, 0.9855, -0.614, -0.0986, -0.5396, 0.007, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3281 left_y=-0.1101 left_z=0.0548 left_yaw=0.0558 left_pitch=-0.6415 left_roll=-0.115 left_gripper=0.007 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.241, 6.188, 1.1013, -0.0611, 0.022, 0.7155, -0.1846, -1.4701, 6.9538, 1.6337, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.6241, 0.886, -0.4583, -0.1135, -0.5617, 0.0094, -0.0219, 0.8364, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3268 left_y=-0.1141 left_z=0.0267 left_yaw=0.0575 left_pitch=-0.6151 left_roll=-0.1224 left_gripper=0.0094 right_x=0.2863 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1148 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.9692, 5.6274, 1.0623, -0.1734, 0.0269, 0.7692, -0.0752, -1.4701, 6.9812, 1.6679, -0.0708, -0.0757, -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]: [-0.4057, 1.6272, 0.8726, -0.4507, -0.1135, -0.5674, 0.9944, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3237 left_y=-0.1134 left_z=0.0223 left_yaw=0.0625 left_pitch=-0.6233 left_roll=-0.1202 left_gripper=0.9944 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.7744, 5.5726, 1.0476, -0.1636, 0.0659, 0.0562, -0.0889, -1.4017, 7.1043, 1.6386, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ed22e596e44a4b370e0e75f913379b9940293ee20ea76d4de6834c23f91258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6b6a260db9b47f36256453eae6916224b1a03604426beb4a55983a472380d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2d00eef6f69de5769336f9586f6f818169d2ae75e81f68e56833bc6bd8f196",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjqqKom2RQrB0ZE-2yXuuVVCW616gRO3sIlOrBu2H9r5AUnSkO0oLvtx0tv7RR9__AyzpGgRtZ-Z_NemdBA9no0oxro5Jg5d2LVaxAqPZ5UOxuIFOCqvvgyZ2yO505Swv9pqgnL4r9j3gZ7j1biskrhozRHsDIrO5vlmtnRoroHgx5tPCVYV-KrcY_-U6ADrX1VgNctQTDlprAdrDqu3hyDfK-nU45TZoBlEBlT1qqDp45i9fo-WvLh6_QFPTQdvDPpP3_vvyVXMy5t4OCfy7QfBKkWNtpTHCg2hGLNgjp74uE34lGJ05y4WUjkYPnlbQhy9NAtvZOGlEcGAy26BcFUoBmxQMaG8jCGtzs7u1DRBqKYgfO7NQqbOEvj1RBB0-ezyo0Mur2T5Sh_ENOH5Q5tYRDO2HmWo57naS2YKDWbGCB0jOjQ04VDxgbRg6qGUOyKA4Y14dl0vJpkUtzyqfXDZV9MCr9UKDZvRRnpncBrye-cX860UydMIv9lZvGy7ACkTjvsm4hmcoITlFpkg9txVTDTYM3lVpGrRpR4JhBtGh_JlGmeLQqXpRldYzJdaSVoF008Q5sVDL3TK3WsicThOQqcOoVpYTPfQJ0090bz8elyi1GeN-ox5Pap7m7p37mrrPj7uo4CDGRw8bw49kvWjnTT8NLUTlfe53dMxVVD4ozLH4XUo_Ig4ol8q9vRLK3Vi9ra4C6_qtU6jBqT-oEf_hyB-KHJMnIPLfV7HOt_KRCIVJpnHdRiEgYgcdH1nLhi6vIjn6l22gVefKe29RQsZSpJsvdYocaaELKknyqvHaLAGOqnBJsBbVVXR1TTONAvPa6JhNmCwYeahxjKjrmmV1rb4UMpLEEoc2AFfegxXtR9blzOs5nWal9kqGync88sPKAbzpUtQK-RUy7Z8B_xhOrshKjLHX1aNqr8umsTjo61VUWY9JIt7bC0hbnrE8Kz02oQlyE7QxR_s9OxVwmu4FmMWI0CuIW8FwTHxG7mxaQSRZYk1URy3g2is_qefLibxNiVhgIw7bqY8q6tTMI1-mye-AOTz_2oYKYQMUikRmd8f_jEUD8wSBSis5thwFwdUM8031cWUeT3fscvD8p-dP_F1wo36R2YSxTLxi9oa2kEUJZ35r4alJi-iPY6bN4vI5dTfBtPle-HRU3wlV0npj37vWtrx6cGu8AzkoaGilPYyrtPD8YRS8bVpGqBsaN_WqzcfqxTHjQGxLDBBVvBYwcr1NQy8CtUby2XeUC-fqgMGIG4-6atEuOc-T9zOUgFAwYJb6ZJynbh4gBRvYbGQVKicjrPeOTftJ6_jfsPvWOsKc2nzygncIKV9Fqig2B4Uzw4vrlKQ8hj1bKlWyTDegwTuGQdU8ioHlsJhuiIK0Rk1cHdtcUalkUcKRv2EzpTmBR7HzEFU5ruMpTMRbAx5NYo7p7osmbJURO_3mcVCVcERsD0GrtGQwRSAVE0KBlWTqanf9LCfUnEunn4A8bro6NWlHXdGjq7Vx4W_vUh36jrU_ndC7EeT6NnBk3BJCaRRtR2OASHk1qYjhdWs2YqVPNTI-hRZi-uYp7y0Ku9Mwlz4Duzu4Lyre0oUsi0enzOfdWCcVHlrtROD5Z9Gp3qT_JS154cYV7ramWxiW7PWSOyubdg9zysHjlvEqwd5t1l2wG2MtjMqBOIic4stRHvavUJwV2sfzAPJHyJYUpzSGd0R2p7O-gcPb7j1L19zHw7Rp5k804SzZ6w8JXeKUZ05qnz31KvfGKSKA8GjnA3GF_5o6kzU_iwz1Eo74NKzb2DvOK9uDyMqNYf6grflHSq4V8-zjy6GKmoAvmGXbJqbsZA3mK_oTHCD_nM6D-9OHy-4h8Pqn6Pc4GvHBiY7o0En9l2jVWIesZbIz3JKypWbax6ct18xCE9B8i3r_J-W6jww1DPeqQIBtNGhM0HpDQw44B72zJenblc6Car2Vd-al8SCVlfzX3O3P0_T5mkoUBo_M8J-0TOekWwc3DlpXY4Exs2ipKl3jhyLFkUAjUnzsMhnyMkoEuxVRbiJIl94k-Gukswid-i8TqAJqN2Lck_CJ64WhvrDEgP7u8oYwRSOJWiQlQtQL-Mr9kaC9jKVj8iSWqI-3vtaoEK3DSzxOdFqugzzpz0_v6cQ8T-CUE8EHutiFMON4ZZTz138erJsWFSP41U8gmLxuBnRYWisxgSFRAf4scGVAVQwGoxx0zM1X15Lnu_CJXxQlrVVGfWMO7FH97SpGNtM1zcG3f4BEQp-AzgftY70klD9uJVO-BeObvj561iTSkoXkYbnW9xW8FIjtf6f_PWeO9T7LQvRyzXKXkCazwXu6CUIe1HBPO9WZzO06GKsRRtWzSLYxNfracJUvA_0_-gt4BfYnLBJvUZWJ38tqOMuycVQ5gnInq5veG4EMcB3kk6EeL088Ba4Bu8Wk-k7ZyDDrcNghdEwyakRgdJEPyanS_lN5u9KbPRwDaGqfNVKaegDZEx_ACtem63EoTLXq8tRh6yzZMvXB-szHYMzwMYEsrGY_KE2fe1iXJLfUpnLLlR6QahAvspzh17bBsB0L9tMBzGScv7KO4Po6vunPEbFZEqJOiFQys7bFQRybYs0OK4AXbTiAym_DCRmqG6-BhHKFHS9eF__8baKxPcHJ7IQjloLkSQGSidixeryxwCzXytK-UUlYRepjdbxdBbtYJHOJ_LvD76VTelA8mSdv6ij77hz0ASz3-6AnV46kGDXpZt1j0Iy8RRhDo2TNff4_8AvdW85EEp5jrttjnd1LKx1xGggOOxuqpDjZast9NS6_2YEoORaq5oOir9dPdaPsGYJdb3WRalkBI1IIKvmwAksKOXPQUdg4dYhiyAx3z8CAbxJ0YCKYo1FFnN",
  "id": "rs_026b8400f96d038b016ab448e6504c87d0a964343b4bf827d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.16,\"left_z\":0.065,\"left_gripper\":1.0},\"note\":\"Even at the inner base, the expansion reaches full stroke, so this bowl’s interior is wider than the gripper. I’ll instead offset the open gripper over the bowl’s right-hand wall at low rim height; closing there should trap that single wall between one inside finger and one outside finger.\"}",
  "call_id": "call_6IfaVilSDmCG8qwuLge3HBJq",
  "id": "fc_026b8400f96d038b016ab448e9489487d08ffc7f6bec1d6e4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6IfaVilSDmCG8qwuLge3HBJq",
  "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]: [-0.5358, 1.631, 1.0248, -0.5961, -0.1513, -0.6754, 0.9988, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3245 left_y=-0.1576 left_z=0.0571 left_yaw=0.0378 left_pitch=-0.6099 left_roll=-0.1342 left_gripper=0.9988 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -5.9419, 8.335, 0.9206, -0.1783, 0.0464, -0.1343, -0.0205, -1.4154, 6.9402, 1.6435, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cfad761ecb445467cb15dc6cdc95deb5f5af820d73735292244fb372b381e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8babae681fb1ad43bc8980f2b716d02ee31bffc519ca7d2bfa59a61d6aca93b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5c7a7d79a4dfb462d4039af5b3d4686cde924570ad3185c6d585d0bbd4c526",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3927, 1.5856, 0.944, -0.5709, -0.1062, -0.5472, 0.9947, -0.0216, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3247 left_y=-0.1103 left_z=0.0474 left_yaw=0.0574 left_pitch=-0.6316 left_roll=-0.1147 left_gripper=0.9947 right_x=0.2862 right_y=0.0001 right_z=0.1512 right_yaw=-0.0014 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -8.4581, 5.8188, 0.9939, -0.2027, 0.0269, -0.0904, -0.1026, -1.306, 6.9812, 1.6288, -0.0659, -0.0562, -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]: [-0.4057, 1.6272, 0.8726, -0.4507, -0.1135, -0.5674, 0.9944, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3237 left_y=-0.1134 left_z=0.0223 left_yaw=0.0625 left_pitch=-0.6233 left_roll=-0.1202 left_gripper=0.9944 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.7744, 5.5726, 1.0476, -0.1636, 0.0659, 0.0562, -0.0889, -1.4017, 7.1043, 1.6386, -0.0464, -0.0611, -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]: [-0.5358, 1.631, 1.0248, -0.5961, -0.1513, -0.6754, 0.9988, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3245 left_y=-0.1576 left_z=0.0571 left_yaw=0.0378 left_pitch=-0.6099 left_roll=-0.1342 left_gripper=0.9988 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -5.9419, 8.335, 0.9206, -0.1783, 0.0464, -0.1343, -0.0205, -1.4154, 6.9402, 1.6435, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cfad761ecb445467cb15dc6cdc95deb5f5af820d73735292244fb372b381e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8babae681fb1ad43bc8980f2b716d02ee31bffc519ca7d2bfa59a61d6aca93b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5c7a7d79a4dfb462d4039af5b3d4686cde924570ad3185c6d585d0bbd4c526",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjtgQZjojzsfDrP2oDGDMu_A4OW-D2apfokZKbz1DHq3mWTzBFcphiGX5Ed_uNjNa-rrrlRMv0q3kU1PsXVcHSwFKWFFIZSM8aBaB0MskIY-1NPqZY57OyCQtPCd9-LHyyYK1SPtwjm34ZNaUWpPGYaO2GfdjB5TG_T8XtOvzwsSFbrPrfFVMjCosoU1U9H7qINbOkrsBb3ncNwhCGyVd13mmsyZAUbTtyVDRvSeEafjdh-xIW1Po04XDJsCNCjHe5RY-3uagLFpdUR9KAcIPDsGZKDrdk9HVoyeXEleFsBfUhOXYYpIwQP6QIX7b6nw5LmtqA-RXh028MIGjOGsemtAA_e6UMA465uvwNovmptjNUEg3MlF7Ix0cA6DLTIauZItaDojc6Xtos3fMSnNsFzmxZh4PS_2eYx1h0fvTLTQLWhEyftUuZAJ2B1fXJ5uzhtmKZkll7BXY5U1hF4kwyni3YB-SsM1kyk9xo0sXp73tfoG7k3uP_YV7H4EBOFeBjliN-rsolNRxY2BWoZH6vF38js5PhiuweZMxREKRKWMvgv1uyKqSYgtoYAG-zESKaypPfsw5h7d8opLD9aLpzL_ZYOzozBMpTBLZF2lRtWSSZu8wFr58KkJi-jHQsuK_98BjfvD_s3cPJ90qNsZYgAlmSwNN2UPL8wKXi160BpE1HodM44KqBPx3zGpz2tBkvACzoaSQoiJPQIzGVcJgTbOXzbxv8gHqqPY_jDK-3CWmnFJvdlkQjhIn10-JwMR4E1qpeEilxNGmTx6ViKe87FP5mn17YiRMQy0rRS7i4J281rowdFAXJSD0UAIhraS-ZkepdfNPykYx--XG2G0k6_NuYup-9iS_LDeOxFsnVxC9w6okFiBAM5Ltw2xYtSpwTg4joZLz9IS-OGUKtJ8vC1z8Q8e5Dgej515iGTGQ94DG6ALffbr2xOKZAWxqkyRqhGP2GGN2IE0PcvEo1GBQ4wLjfqWCF0jf8d3A5iZ25KbuGNcCSDetTgQtChNspk-5OqGxgjLrOXZRy9HnPPR-87g4zslm1RwJ6dX1QiP2Upagcoklhpeq9ZETT4ZV-fipxfRqrqXTRZjbrZt7zv1tvqCXmS6d1jGID7hAFkqgyxmYBllZplTSsj-UhwL4XnqalWPbwWkJmPNrIYHTMOE_OXIUD7_GHt7y4tdayC7slMP02iXHjzGYweXVNmo_xlT3SzIMjb-0riT2lthEroV-jt1IC-tspSzHVqaWy2GPXSulTjEO4uDx5P_-VoFolObEoBkVt0sxQQO39ANsfWcED6BibDgvMby82Np1SiO2E-nsZc6_H4fPBgCjzsKPOJ3fWvgA-ec9NeOuUgauU0zJwv-JEPu6eOHM3K18Kwypfu-IlX-qF6X-BQFfcm9po2W2E_P86ujs9x-Q7EqxbsllJZPA==",
  "id": "rs_026b8400f96d038b016ab448ec27b087d09e5ab3a625316a4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The lateral offset tracked: the wrist view now shows the bowl’s right wall crossing the jaw region, with one finger inside and the other outside. I’ll close on that single wall for a rim pinch.\"}",
  "call_id": "call_GO7UWefDymUufDVdQaBxorKc",
  "id": "fc_026b8400f96d038b016ab448ecaee487d0b3268d0d9444ef94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GO7UWefDymUufDVdQaBxorKc",
  "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]: [-0.5415, 1.6302, 1.0149, -0.5941, -0.1551, -0.6781, 0.0099, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3216 left_y=-0.1574 left_z=0.0544 left_yaw=0.0401 left_pitch=-0.6142 left_roll=-0.1269 left_gripper=0.0099 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.1573, -7.4325, 5.9966, 1.0476, -0.1392, -0.0122, 0.696, -0.0205, -1.1282, 6.9812, 1.6435, -0.0366, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815fc471bb75edbdf58b2b9c6c25279e0fb152ebcb8081195b8747795f1b1b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f304a4f9d9db6edd38d1399b84c8c60a0b3753a8b8b6d2a78878547ccb325f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19283831df628aa5c15d8921a5bd3cf66881b27c35e845b7e590d647921d08b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.6241, 0.886, -0.4583, -0.1135, -0.5617, 0.0094, -0.0219, 0.8364, 0.5945, -0.445, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3268 left_y=-0.1141 left_z=0.0267 left_yaw=0.0575 left_pitch=-0.6151 left_roll=-0.1224 left_gripper=0.0094 right_x=0.2863 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1148 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.4171, -5.9692, 5.6274, 1.0623, -0.1734, 0.0269, 0.7692, -0.0752, -1.4701, 6.9812, 1.6679, -0.0708, -0.0757, -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]: [-0.5358, 1.631, 1.0248, -0.5961, -0.1513, -0.6754, 0.9988, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3245 left_y=-0.1576 left_z=0.0571 left_yaw=0.0378 left_pitch=-0.6099 left_roll=-0.1342 left_gripper=0.9988 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -5.9419, 8.335, 0.9206, -0.1783, 0.0464, -0.1343, -0.0205, -1.4154, 6.9402, 1.6435, -0.0464, -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]: [-0.5415, 1.6302, 1.0149, -0.5941, -0.1551, -0.6781, 0.0099, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3216 left_y=-0.1574 left_z=0.0544 left_yaw=0.0401 left_pitch=-0.6142 left_roll=-0.1269 left_gripper=0.0099 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.1573, -7.4325, 5.9966, 1.0476, -0.1392, -0.0122, 0.696, -0.0205, -1.1282, 6.9812, 1.6435, -0.0366, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815fc471bb75edbdf58b2b9c6c25279e0fb152ebcb8081195b8747795f1b1b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f304a4f9d9db6edd38d1399b84c8c60a0b3753a8b8b6d2a78878547ccb325f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19283831df628aa5c15d8921a5bd3cf66881b27c35e845b7e590d647921d08b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjxJmXhD21NPthV6P_RO_fWhzyVbrbiaHqQQjX_0Klr8md5-tS8Rp-5eAwSnhMV9PyzkK6dwgflX7Xz3v5DWtbuW6jc4EtpukdzGQ4jGPqi2bOq6soycq0nj0DrhSmzhCSIWg8JJSi8wWBSZhUl37zTbC6-JryKZ6LatrzgR_PVJboq8Y9x14NQ0UPfC2OZ5Xu84DHI1nWlhE2BdCyQxBbewNNMAl-8anXQjgHaqpWVYdYMxc5_YqUbbeqi4hKu0T_MEh52hG8vPb_x9IsvAVKeklET-9Vn5T0smxXEpz9j5t-KWSnXo0nH_PZ5eVwPlHUSMr_3eP7Hi3k908_dMniQ4LRa6nQSdiOeKgIjdgaRtNLznzhHjjC_RbeZUFBnKEEBmMlYuOJyGJ3lIgKwCd5VOAvwYCo0AdOpQSHONlBuQKqXk04IjSeqzkwHT5ER-ucxVKBBgK7QXLumoSNAN4-OqW4oicutr_rTgDt5GJ7W-7uJ_0VOiXPtm6cgJIQsyvUN-p-36qoRgaMu_qdBIIYzTbG-JQ3_buFrnCSlxpKilhKahkchmkPwc_J-yb_XYUl-K94HcihIQc501UrxEq_qEUGWV9CYwi5C4snDYqmTrxmTgW5UaY2SDhcUiTj3_CMIvvHK7CHxvh5zJJdtKqFmP9ENWKWBo2S5UC6dRRb7-uhOGJrRs6Qs_LLvp9oE5Hn1Ttk9YaZWEV7JEWCgdzInLLwl_7NsZSm3pmGd33Y4jhJx87hfcIEyNhTKbABYcgW-ko6zT3Qwu-V357M-XNMvojsHFZ0EPMXEwxZzSYEgNKleMVdY5gihQmblW2A7LFD6ns_I6tpr2poGxbxGznpWYpR06j3wVXlQ28yaFr7yUg7cx1D5ZaiqxRZGcvQuc8K-bWqmpgsizPIlYVmJXSKvR91DWEqDwj8y4RVKrz70NUA4jH_FNGesdDj-xXYpE351sYXoP8idg7uvxrMS96tPNFwQ9LadY6Sk1UcncFtzVuo-lUG9LQdBPszR4Xs1WTbLG_iRCVy4FqeE3wKEv_7D_DbTfqdbLL5pdRSBoVFrJFKFFsY_T8ZCi-6iPCRlBBoQzos847ZS4AFD1vd-UjtDo1nodooWnrc_h7J4XNJKG9rahV4G9PLC1th8z5iCyIFzuxKCj4f1idUzN3w_yU6lLl8ktlJqvV19OPniBmphBAX8EifhlNeL44p58zsyvv5C5L_REH6SOQt2sq5s8S9FoKsmJsJ-0b6EaJUBFiaGorMfmeQscKD5Xi3Fyuj6kqj9IYZoamgwt3XsvGXbxlixv9cLkvadHtNGL6JlV36VxKVPvIpcyEKC9IBB3WAE5bSSAwEYfbOkzGTQ_KWtbiMhfkuLyv13j94SMejY_oOwkAzI_zF7bUPJ5dg1izBINf6uKS5xZ-PxBOL_9BcjFMcTKiVVkSP9mpwVSTkZ3dvcK01JxfTkwGj8i8tlmdaaX9ALxF2uPQ1I7UiuBX5s49fjKoVKoVF4YdxhLEFjc9MuY6dIiJz59nT11S0eNPua0sR31dckKEMYBy6Kglrn9sV7KTjdpPWtT8hcKxfZWGVbK9M8jYnJotCA31kHVlsRJeCSfm_ALw1jHP5j6t5g-TNCE17eNcz06WYA0HlbqJWGC61F15W75vSMUke5U-H7co5Sjp15jmHniTpUGgw3Hh9k7w==",
  "id": "rs_026b8400f96d038b016ab448efb6f087d09005589157243a34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.2,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The close is empty because the bowl’s visible wall is still about 4–5 cm to the right of the closed jaw line. I’ll reopen and shift farther right until that wall itself, rather than the bowl interior, is centered between the fingers.\"}",
  "call_id": "call_sP3T5v3P449WZ2kI2QUB1KEn",
  "id": "fc_026b8400f96d038b016ab448f0ae1c87d09baa9bb2143186f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sP3T5v3P449WZ2kI2QUB1KEn",
  "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]: [-0.6544, 1.697, 1.0859, -0.63, -0.1856, -0.786, 0.9944, -0.0216, 0.8402, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3133 left_y=-0.1948 left_z=0.052 left_yaw=0.0391 left_pitch=-0.6293 left_roll=-0.1244 left_gripper=0.9944 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.1194 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.9402, 8.7179, 0.8864, -0.3346, 0.0855, -0.0171, -0.0479, -1.4974, 7.0632, 1.6435, -0.0806, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ceb0076bc6049090f4eb3d4d8f55699376ce1a6a68fc6440e487038b70e50ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ed81342ce058d2f6f49c992fa0ec348df61eda5b497b77abc5eff059f9c719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415172b07e1ece35dfb22306f5e4b251063abb907ea7f265b907f02d1474c4ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4057, 1.6272, 0.8726, -0.4507, -0.1135, -0.5674, 0.9944, -0.0219, 0.8364, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3237 left_y=-0.1134 left_z=0.0223 left_yaw=0.0625 left_pitch=-0.6233 left_roll=-0.1202 left_gripper=0.9944 right_x=0.2862 right_y=-0.0 right_z=0.1512 right_yaw=-0.0018 right_pitch=-0.1152 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.253, -7.7744, 5.5726, 1.0476, -0.1636, 0.0659, 0.0562, -0.0889, -1.4017, 7.1043, 1.6386, -0.0464, -0.0611, -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]: [-0.5415, 1.6302, 1.0149, -0.5941, -0.1551, -0.6781, 0.0099, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3216 left_y=-0.1574 left_z=0.0544 left_yaw=0.0401 left_pitch=-0.6142 left_roll=-0.1269 left_gripper=0.0099 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.1573, -7.4325, 5.9966, 1.0476, -0.1392, -0.0122, 0.696, -0.0205, -1.1282, 6.9812, 1.6435, -0.0366, -0.0757, -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]: [-0.6544, 1.697, 1.0859, -0.63, -0.1856, -0.786, 0.9944, -0.0216, 0.8402, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3133 left_y=-0.1948 left_z=0.052 left_yaw=0.0391 left_pitch=-0.6293 left_roll=-0.1244 left_gripper=0.9944 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.1194 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.9402, 8.7179, 0.8864, -0.3346, 0.0855, -0.0171, -0.0479, -1.4974, 7.0632, 1.6435, -0.0806, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ceb0076bc6049090f4eb3d4d8f55699376ce1a6a68fc6440e487038b70e50ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ed81342ce058d2f6f49c992fa0ec348df61eda5b497b77abc5eff059f9c719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415172b07e1ece35dfb22306f5e4b251063abb907ea7f265b907f02d1474c4ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj1lkRABXdm_1ehX7IeXdUW6GFzqycaRnonjY7m-qkwhDFhk-3FO2XoAP7tYMKiBDJdwT3SqFT6jpoeuPAvcEueLxSkOfDkPV43fpuAyrKO9npx4qzO6QV7Jw_uYQY4I9lDELhJJyDqbZxw_0yF-AmNiuOQLc0zeTuLeChkorJMaH52crRuhZJuQYNISYYqeJNEqBxSGoIzl4gw0GkXWirXsDd-ZSlOBXJx94jUVDrGJyr5oz1q6b_FhtG-q7vxeZBMJWhsbLRFQ1c7JcknUy6c4meWg4wey_8HYtDsPS1a1ml2U8zBasjKCqI5gTseMyAwWr7mEqTJLEC9_LLj4Y1Kjjs5yeHRMvsfPOLETpHedeBOPsLvqqYH5_5kJ4uyyeDxFacZ8rkaOU9rqpM0ksX0Tywoo94X40-fm67l2vOd43lW7TBy4WtccJSmGGATVWarZhCNTIBtqveh4NI9WiHHgrVZnjl3LcebmjzSRz5NpzA3r3Hk1H3tJylko3V8JgCpFfFvXGLEUocG8_R6ytaSJTlhLTVdpop-wt6lDGlRBbnpeW1HzxUCHi42y0wd5WBiidD0Zaxr_bejbM8IXXCTrK9fmBfhYplBm-wZExVdHguN7YikMReIn3iSR-Yu-uvLSInAA_24ciZiii5cUu-PGE6cJEYWYV7aTJjNu7hWmzcfUiSEApw13cib4y6MzeKWQ81nL5ts9dAbdPElgvazL6R5oGiDHXSv5nzaMJD8qFpCi-qaByWAedvmBawx-G5uaY767TcY9p7FP0BZpjjDtaq5FcE58oLJ50PBKBD17Vk6AwRvWP6Rt6VkEmNgJPILS1KMWR37TM3XHDo0MdbzaM9K00XJt21zv-_PAg2_v1hqstWSbq0KazJNxa9ScSXP_gXYbbKMFNLpllFAvCc1DCm5726fE8yXnMCMWZ4YR03vf9wU7HI6dop9tZLmw_XXJx62XNmUKsy9W7vlQdKy5oY9h4EACL-BxD3TkVOk6RkGmb4I5E5xLdKGBEuokIQDyPF9HVaxXMJzDtaDio3puutrDQ3YdAq2IoAoIHkSJT70pDTqhEBdeSz_zAL2xMIau-94mxdd_nuloWPwSNCfXgM9GabXAHyxLhDRn7g83guRzfYEG2CfokRY3-VMIyg95Hc64_GpgtiVxqn3v-ogl1BXmok9kvF2zgtO3nYKUiHYZZPRKZPFfYSBmxeGzGKTn-bXRYyYJumIjxgQOZh4Q5PmTKUklXye6l9cclnpwFvv5xK_jWX0yw_YoRLr1NBDARgyJKyPuOWqI9xzZnoEOSCzkpK3SYr56iB05HhWtB17ZGOTAYZrc1O9FuzmA-HkvcWMMmUpTsOSG6Z9joLdNvzTMwyUq7rPlYv7Q1QkkzJljQ23Dh-3dfSvs-lnj7-mlgfq2FmhOnFfsysdBpMZAvOow9J93WT1qINa-tH7BTc=",
  "id": "rs_026b8400f96d038b016ab448f4058887d0b36d58ef72722475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white bowl’s right wall is now aligned almost exactly with the jaw column, while the purple bowl remains clearly farther right. I’ll close here to pinch the white bowl’s wall between the inside and outside fingers.\"}",
  "call_id": "call_h2b4ibYGLRKFXZr5Ofpe6lAb",
  "id": "fc_026b8400f96d038b016ab448f4764c87d09bdc50f1d9b1d905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h2b4ibYGLRKFXZr5Ofpe6lAb",
  "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]: [-0.6613, 1.6981, 1.0607, -0.6132, -0.1936, -0.7902, 0.0097, -0.0216, 0.8402, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3093 left_y=-0.1931 left_z=0.0454 left_yaw=0.0463 left_pitch=-0.6319 left_roll=-0.1115 left_gripper=0.0097 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.119 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.8137, 6.0786, 1.0232, -0.2466, -0.0269, 0.779, -0.1983, -1.3197, 7.0906, 1.6435, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5776d8873fbe7433550e20c19267f19bbee365e68e1706a69429014de25dbbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a05760ce7c7d5fc9458a8e44f700c7450b1c5df0c983cc5589a082ecfa8bee5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c16189917e5eadf920fdafd0f1b841b1e0b09491d57ad68fc56804f27c9a8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5358, 1.631, 1.0248, -0.5961, -0.1513, -0.6754, 0.9988, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3245 left_y=-0.1576 left_z=0.0571 left_yaw=0.0378 left_pitch=-0.6099 left_roll=-0.1342 left_gripper=0.9988 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -5.9419, 8.335, 0.9206, -0.1783, 0.0464, -0.1343, -0.0205, -1.4154, 6.9402, 1.6435, -0.0464, -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]: [-0.6544, 1.697, 1.0859, -0.63, -0.1856, -0.786, 0.9944, -0.0216, 0.8402, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3133 left_y=-0.1948 left_z=0.052 left_yaw=0.0391 left_pitch=-0.6293 left_roll=-0.1244 left_gripper=0.9944 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.1194 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.9402, 8.7179, 0.8864, -0.3346, 0.0855, -0.0171, -0.0479, -1.4974, 7.0632, 1.6435, -0.0806, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6613, 1.6981, 1.0607, -0.6132, -0.1936, -0.7902, 0.0097, -0.0216, 0.8402, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3093 left_y=-0.1931 left_z=0.0454 left_yaw=0.0463 left_pitch=-0.6319 left_roll=-0.1115 left_gripper=0.0097 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.119 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.8137, 6.0786, 1.0232, -0.2466, -0.0269, 0.779, -0.1983, -1.3197, 7.0906, 1.6435, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5776d8873fbe7433550e20c19267f19bbee365e68e1706a69429014de25dbbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a05760ce7c7d5fc9458a8e44f700c7450b1c5df0c983cc5589a082ecfa8bee5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c16189917e5eadf920fdafd0f1b841b1e0b09491d57ad68fc56804f27c9a8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj9M3Pmc7LnygDKJ6fRR329DfOthQV0F77YRiO1_xR6U49c5TeShRa3Z9vtHcqj3MUxFh-TCSfl9cD-L3k2wOUswCSHj1wJSHlocHQNCcMvd_SsaFuv75963mnSuy8gcGtt9uujJEmuM486jzLEXFWyWFmtUAbh5ufgH4C6vH2F0N5QZc8BxPg8ZBUywdUg_VwHg2WBmAI9-1T8bUXsQx8L9f09zThtBwCISr1mwSJp0bEWMJ59R1CmwkJy4LWfoRnaUywhghwUoST47BUvbKxkL1hNbFg13ImFFzZ6ERjNtT5qt4EOtnaq1wquDjBfpYTFoS5xWm9_Wcwtt91axTBXBrrHXUkbsyDvca4CPpk40cnSvTOBUTl6N9Y0eIm_cgDJ4zMfBgbMy91ETj7SVaMlfSW_E8Fls5Zw5keEFy3ZAWz6ZPjFtr3tweKkDFVxD1yEss4ujvizxs8JW-pGrTtQaFpcqghxWrPhLSo8oH8zwcmla9IGV1--F-afh6WnTJxem3otp4fbp0qjLp6oSTc5F9MMTrOZZfh7S4iZ9l6QQr7Jm5bv3EMJkNQaeaUrfjAa7FDiByNUJw0FeV78Ylma1awQxm915-cStf1cKIPcBt9GW5cA92da6JZwc6keMXfFAX1kFDXaIm_TVaEOVNdZ1k2D_Qbfxf4LWIb-EwAERPp0GjD6zl_Th51FtlWY4CgoPiGJb2SXrKsZpPfAzTGTqLooishtayTV7uF9bv2o1G0uKXzeHEFG8KabgtQL-Ho1yBSljwWQ1SiqDhkat_wmNiyzCN1oj47AxFxSFT4VgEJgbYhKMnC8oWJ4dYmuVr50301YqsAdUIP1d75FP5aRlig4LBr8CAEozyaXKXxYpquvIB2Hlho3lPanQf4r8lgZWcguJlEk7QoIalZQyT7yBG1ur9uu8P316PmJcnMeuSDoMzm_Nv8xJuDSzrgkslAdi0cs-Im9xQ1X7sP9d_xcEnW5nWXS9M0GtEzL_pJpraflqCnoOlFJWX3udBXZc9AHjD__u7CnD19DIYABTI423qCT9Ss71bzJ7W4A_gHzSOcfYn35J2ixSVVM1f0k0DRQ_Z2MsajDWFEBvCyFomLpVlNHozMJeIgpqyCcrEvMkYfa9v58-AY-dFWMD6zKS7irk55ofBlYbX8TqEQLPvkGPAnn4n-o3bZViWzkFwdKPwcnxJa4MTn3GJK-lVT6hegQ24xn5c3_ab3wl2Gu8Ka6eiLUN8hm3Z8lzO03o8g-eROgOoNMUYWdFfXINJ1BQWsSFJ_HaVD39iY6_qsc02fbl1WH58cJPw0f7ooeWanI1gKEGGd5ikQ5CMvO1h32puoUWlbsML3PuM3AGPagPaOb844kDxm4s7ZXNUsTUrNnZkSAdq-cY6fkOT_PxEUk5SE8eHS_9Yio5G68LvhxpHdIpbIY5agP83u0gAluYfpSIUfVV2fhyZ03RNLZHNKHb6WBhbkSx6Ya21yRhf60kt8meBATYGSEfVpjdfY6mBMub2J1nt_SxIPZm37kH_Dxet55hRxfzeZiXsl6pIZaUlWyrcTKAfC-gk4VC4E2Mk8s_4WpJ4B3EJbTlcuyZf7GsB8HlXz0CuEq4ZgzC3srgEHmbAuRFhcAb2i4u2bJ6spCw9WaDS8xQNxh--W05KU3TttNWfs2MmyrGYL5wbK_2Pi2_Juuy1Qi2SSukFAj9JH9iyiN8eveAYLRVC6pF5AYkACtmhfM8CN2wbOEZ0v28OX4Jph2PEFcrdR4X3m6LJKN8grEN9PP-fuTH_tjLPSu4iM1SKiAAc0SMw06CfcZZ3bVZBql4ONx938frIN3gt-CA2yuVbZegfMs6Q5_onSWaC0_prTqEb8AFSlWeczGqn8k2m2ClyCkcLH4gyF2xnvhyYwamR-WUCa6EZxxtP94mPqJRlV6KFS2y-fNq0LVkVlWpm6EA5ldkQEn1VmdI8DJ5_-ZFkAWWREqHclJFLDH45fmKp1dwBBypi_EydwMIhz3AtqQF1SVUxI1jvY7EoPSJEI03l-H6DUcAX_vVzCG0WVhyKz5gHu-PfObTBc-eaQ-zOa35WJvWsOTl3Hp2yCErsR2c7Xn_hesG7eaBMA3j2y1MQKI7z1T5shHSXPknA6DDWNJnVBsLLjO05X4fIa0pNC8RoBVmMzheGnHXVOOJuUsJTRFiEzK5ZZLeIP1gInr7WuvSrKld1h_TquFJWg8PORjWzv1IPplYZ0gnkb_aIx-0SGk0kS6t1DTChHgEeaf-ZV5d0zF3cFztyy-Bvh22ELmQ4zNFLBjlJ-IVoRaJoXHUPV3Ok-Gx6HGYF7u8XhBCul4I4Adzz2GXsPaws2lObT_FW-nbTocXKKGPSqTgcSnC-5BLJHYsn-ZdqpGyPN9R_cwfUoRBazD4TBxcWaQJ4uGka5f9MSKzvY048qx55Ci3_RFlKuxfMflQGg7mHryB6pGjzSvv_sI_RMx8KqFnEN2NuOEltQxTZuf6ZITPONufBbyx5oava_VOGE535Toj2CUCxYCzZMzgr9AxxztcmSq3y-BuRfU4aMdC6yHY4ZeOPHq8zj6DVqjsgjvL5NXaiMNxVTpMSIHwU12EQSjHlC9x3okNKQ6zYttav7qoYVHXVCUpFd2L-dU_A47G2AN4n_GSyc0Upb3R8Fv_dNTtnGn0jEWDXwYzx6NxGDFccd7AmBOQO5c8fOl_pKcSo28iNNUtfcUl6zvVBMW1W3aNrdJc3er5DHEMTzFJN76FV8YasJlcicwPeRbHZ7p7qrQNI6xLIp0D32wCTtS9Qs8QzXezY62ascb6aQRP3KuZK3fX0boUh3VYC-KhYbdTxucYW1K_EKNgS7gIiyu0YjV9_YT8KKsGyhE4wmKsUee3zgxzX-YGdqA9lI5UepbUFXB1QCiXpNMRzmBIPlu0ZcSBV0Y7xVFT_Hei8C8JaXqO2ILJXS1WK3pQRPykTlFHy1iTUk7L8fxcmmN7Qa4jjJF9kgEgRUwFgcldPeUTs8EcEHa-Ksub-edGlD2weDten-pdTUaGayLl5YihYTYAQAJlJxV9eRyKpBqKxc9ORxFoXMLw_osguw34kD3tLsUQFDdM8f31AtgNtjF8h1KO3GXvpX-okp1VfnVtvt-R1gmDCvNH2Hx73aBrJbvvYEjMTnjgQkM13yjwjTp8u6SfTAg0wHmzGfo5YnnCIoM8XQJOKo4jlrlLtQpKEzuzoLU0eTr5wI1iIwdp3MtqFYoECJKi8uP0JDd-YpTDXeJT9_iwzfhNpE-BMa0zU9BpvlI7EVATTbLL13E1_I01cpU6CCfQ-hDwY_lqTPRD9kduSWCp5V1eKe5y-AogljAPfrhyx0itztAAwP6JglnSj0hUSJ-KGJxKIiAr4083rY9cYdwBDHl3448WR6rplH0z9WSWp4Rtl3hfMs_NgOZeERzHIEwmPHs5lOQd3U7FxLY3RoX2TVhRaoxpT6qI-B-UKHqUKiDe_XVvJ8oDQc2IWAwDFxpA1uf-tGzghOw0VY_UIb2MARbiTgAGF75k6f7FF3lKkzJsY4P-VGpFSA9jyVW71Qa3mQ=",
  "id": "rs_026b8400f96d038b016ab448f779f887d0bfb26a9a192ce166",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.06,\"right_z\":0.09,\"right_gripper\":1.0,\"left_x\":0.25,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The white bowl slides away instead of being pinched, so I’ll park the left arm and switch to the smaller pink bowl, which appears narrow enough for an external grasp. I’ll bring the right gripper above it, shifting left and outward while staying open.\"}",
  "call_id": "call_hVbQWJVGYpUmMCgDgcTUU48G",
  "id": "fc_026b8400f96d038b016ab448fc2edc87d094b5ed03d9e66ab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hVbQWJVGYpUmMCgDgcTUU48G",
  "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]: [-0.8246, 1.4906, 1.2049, -0.992, -0.2447, -0.939, 0.9948, 0.2756, 1.1809, 0.5083, -0.0986, 0.1829, 0.1322, 0.9991]\nstate[eef_state]: left_x=0.2516 left_y=-0.2038 left_z=0.1326 left_yaw=0.0366 left_pitch=-0.6247 left_roll=-0.1119 left_gripper=0.9948 right_x=0.3191 right_y=0.0606 right_z=0.0807 right_yaw=0.0354 right_pitch=-0.1832 right_roll=-0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.8701, 8.6496, 0.7643, -0.3785, 0.105, -0.1148, 0.212, -4.0137, 6.1744, 1.8926, 0.2369, 0.1245, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473410b3f100ece6aaaf3aa3f4cd530a26050d8bb4d806191d263fa5fb8c6b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76dfaf0ab7a37b5c9ad5b545ac33dc109a9faec0818845dad54017f1ca4a4fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6df234cf55b2b37873f2a107748eb20b8c8281b5e9b409ca081ae5224563fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5415, 1.6302, 1.0149, -0.5941, -0.1551, -0.6781, 0.0099, -0.0216, 0.8379, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3216 left_y=-0.1574 left_z=0.0544 left_yaw=0.0401 left_pitch=-0.6142 left_roll=-0.1269 left_gripper=0.0099 right_x=0.2862 right_y=0.0001 right_z=0.1507 right_yaw=-0.0014 right_pitch=-0.1171 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.1573, -7.4325, 5.9966, 1.0476, -0.1392, -0.0122, 0.696, -0.0205, -1.1282, 6.9812, 1.6435, -0.0366, -0.0757, -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]: [-0.6613, 1.6981, 1.0607, -0.6132, -0.1936, -0.7902, 0.0097, -0.0216, 0.8402, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3093 left_y=-0.1931 left_z=0.0454 left_yaw=0.0463 left_pitch=-0.6319 left_roll=-0.1115 left_gripper=0.0097 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.119 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.8137, 6.0786, 1.0232, -0.2466, -0.0269, 0.779, -0.1983, -1.3197, 7.0906, 1.6435, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 1.4906, 1.2049, -0.992, -0.2447, -0.939, 0.9948, 0.2756, 1.1809, 0.5083, -0.0986, 0.1829, 0.1322, 0.9991]\nstate[eef_state]: left_x=0.2516 left_y=-0.2038 left_z=0.1326 left_yaw=0.0366 left_pitch=-0.6247 left_roll=-0.1119 left_gripper=0.9948 right_x=0.3191 right_y=0.0606 right_z=0.0807 right_yaw=0.0354 right_pitch=-0.1832 right_roll=-0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.8701, 8.6496, 0.7643, -0.3785, 0.105, -0.1148, 0.212, -4.0137, 6.1744, 1.8926, 0.2369, 0.1245, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473410b3f100ece6aaaf3aa3f4cd530a26050d8bb4d806191d263fa5fb8c6b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76dfaf0ab7a37b5c9ad5b545ac33dc109a9faec0818845dad54017f1ca4a4fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6df234cf55b2b37873f2a107748eb20b8c8281b5e9b409ca081ae5224563fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkCel4M2N4g_0ejpNdUOHC1PIvpv2wwaV6XB7FaVtDYntnhBLm54qSrNNv8WfcpYo0PDUmce21zHhEwyGp6drzh_k5PX80JFErEVY5u7gXcHZCKP8xVKfg1UV--P61tL7T-vtHL0Zlj3foorEODFItubcNSEnFhtUoPakX73wz0_GuLv9AHwa4GYngmshYzkcK12qMkjvoaTUz5lYUGPgeSCkFdk6VJySZHYhT2bsfSYmk5Xk8Dl-ipjdu9ICIMtSE9-325mbesABHiK_k2b2VcKDbslSR3KF4l-90D8yQrwFbtxPRGT4bDXZzdJ9qXiw9u10cgWImqpH5OmghycyMKSX-ZRPbHja77MykgB-6UUwKpRw7n5Ec3S4KlRs_16OuuxZn9qPuVlliM05jaIdGxkz243BZS17mGQlzSYY0xwLbNrQIuQBS4z4kMpD2IxGbVtM5MaJrhtFgOT_8lUg8MuzxJfymSJIqWMXjXz0w0b14vBPvvMlcOjm_A7td2blKOTtcP9mTZTivnyS_h_jBKbi7gDB0aXpDuRZITtN_gbnHslAhVWb-qeZ8bZsNpqHn7aPa7CAyYXdSL6iSN72McZNjjHi7yBS6vqRJ5afAdM33t8xwqsGv1Qxd0yJgQ0I94TzWcJX3jdtZbxAE35M_O7jwf_mShC7flpI4NqDCnMWt6T5QhH6fxgNnqnM1NCqi6U7sGSVA0JWSS852JL78ePqh9imcQwcNTH1xEjDpOmchq9zHf1hiLQuodGAU6rMsHHsLN3tLVgQ0FZD8Hu1GPGuScIc6XvZYWzwL-BUinYMlNScN9cJpWPhCd4gF8JvWJCkLNv7Tr_XbWHEFet78zXOX2maMq3ZJxSYqe_192lMCUGuSVh6IaNWP220vg8pDRmob9xkpe3nZsN_j-YF1OCwupdfHOnNgDyQl6PPUgSqpyXQkRzWE1gsvNQ-oF65hRBRrjrY8eW2atsqi4JW9Knz5Hy7rYDMLDyFt-6E_p7aAG0VKbiRjdXAT8EZ7U2-dWoQc5SK83VcjQcaYVgVduv1zPgBD0wfqykqapmaC_-RiNqdtcb8RDC5b4_dH1WO9Rdne8DvQQEOi8VvMVvdowURRlpkZV-ZirPJ9GyuuMWXhfgD2t9hKJywZ-V3C3d-lPw90BcWPOFXrVmPS12xPUGih_blfNo9T1d3tdh362FEOm-cpfgIC9sOVRjrCmIqHt0Izdr4k51v27VVSeX-1MMwhYyR3ZdodqiB-pUq1YIT6RKSxvuAgh9d9_Xh76jH2N5p5jfi1neYni2UAwb35pAXVqtfrYSajJWRsg2XXOaNPyCWtdIwWhJfNzj-TJoPzqhlSjY4AiNACRrYPEtpqAX8mIADXnsQZmrt58wpZipYsTM2xmRabyPWzxoP3oEzNvjs75068oFrsZ0z2y6-LEi26JimmiKnZ6hv5BSnTHXdUb3uP4MQ2kgJmRnKTO0fqSSqp1YucTaMubeLJN8rRlUQ-wq0ZBWYLYE9Sm0qHbmOCFUXlxTW0Y1_QIU1acv-5iRPP5w8AdYupoIg2SaIV8NhAAmg0KWxcweaYYsN-OVUJ2lzdHBBWiFWhC1MFVCAEkYaSnm_pTkywyNOgFgrsjPwAqWN9--gZkyXhAD6HpOzNd2VfP5CELoAfZdL5dDyo59yR_0jFAMXH8wcJDolJhA6ERX6XP5ndHn-sgIYLleFDcc2YRPHPZdO07mn0h9bW8D4s8L8cJ_LZLNXgpdN-WmB5FPkijStoHVBh--rV_S60HIZoveuGZHXY921GwpUEFmQpWVWxmgoz8m92jdI6HPV6wIbZCXelOQFWKowBIW6EJ-1xdefD7OO63t3-G_ljXrMzLf4hFZ5uWJA-CBtBNCNHqWhOdC0W9ZpeoehLpynjScOoNjjSMarO77LKtEGuE",
  "id": "rs_026b8400f96d038b016ab449000a4487d0a90b2230d64818f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.085,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The pink bowl is close to the right fingertips and its outer width fits inside the open span, but its centre is about 2–3 cm left of the jaw column. I’ll shift the gripper left and slightly lower so both fingers flank the tapered outer wall.\"}",
  "call_id": "call_kRd7nw09g0majk9GraJCqAuo",
  "id": "fc_026b8400f96d038b016ab449019c4087d0a90d493e8d914c45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRd7nw09g0majk9GraJCqAuo",
  "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]: [-0.8326, 1.4784, 1.1881, -0.9916, -0.2596, -0.944, 0.9957, 0.3508, 1.3075, 0.5171, -0.0463, 0.2165, 0.1658, 0.9991]\nstate[eef_state]: left_x=0.2489 left_y=-0.2008 left_z=0.1316 left_yaw=0.045 left_pitch=-0.6168 left_roll=-0.0989 left_gripper=0.9957 right_x=0.3206 right_y=0.0807 right_z=0.055 right_yaw=0.0599 right_pitch=-0.2397 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.1607, 6.065, 0.9451, -0.2173, -0.022, 0.0806, 0.0889, -5.2034, 9.2376, 1.7607, 0.2564, 0.232, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a1e7a61c4d31a84777049b4b0d9b919e79b62ca806d2e7c9cd9f8b6a111a39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b36194710b11c8876ef27ffd979b04072dc26b492a2cf5b8fd4f565ac4ffb45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daee5508179de5319cb23eb865ecf11a29c55b6b5163ada0ee687166c2e7b729",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6544, 1.697, 1.0859, -0.63, -0.1856, -0.786, 0.9944, -0.0216, 0.8402, 0.5945, -0.4458, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3133 left_y=-0.1948 left_z=0.052 left_yaw=0.0391 left_pitch=-0.6293 left_roll=-0.1244 left_gripper=0.9944 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.1194 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -6.9402, 8.7179, 0.8864, -0.3346, 0.0855, -0.0171, -0.0479, -1.4974, 7.0632, 1.6435, -0.0806, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 1.4906, 1.2049, -0.992, -0.2447, -0.939, 0.9948, 0.2756, 1.1809, 0.5083, -0.0986, 0.1829, 0.1322, 0.9991]\nstate[eef_state]: left_x=0.2516 left_y=-0.2038 left_z=0.1326 left_yaw=0.0366 left_pitch=-0.6247 left_roll=-0.1119 left_gripper=0.9948 right_x=0.3191 right_y=0.0606 right_z=0.0807 right_yaw=0.0354 right_pitch=-0.1832 right_roll=-0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.8701, 8.6496, 0.7643, -0.3785, 0.105, -0.1148, 0.212, -4.0137, 6.1744, 1.8926, 0.2369, 0.1245, -0.105]\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]: [-0.8326, 1.4784, 1.1881, -0.9916, -0.2596, -0.944, 0.9957, 0.3508, 1.3075, 0.5171, -0.0463, 0.2165, 0.1658, 0.9991]\nstate[eef_state]: left_x=0.2489 left_y=-0.2008 left_z=0.1316 left_yaw=0.045 left_pitch=-0.6168 left_roll=-0.0989 left_gripper=0.9957 right_x=0.3206 right_y=0.0807 right_z=0.055 right_yaw=0.0599 right_pitch=-0.2397 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.1607, 6.065, 0.9451, -0.2173, -0.022, 0.0806, 0.0889, -5.2034, 9.2376, 1.7607, 0.2564, 0.232, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a1e7a61c4d31a84777049b4b0d9b919e79b62ca806d2e7c9cd9f8b6a111a39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b36194710b11c8876ef27ffd979b04072dc26b492a2cf5b8fd4f565ac4ffb45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daee5508179de5319cb23eb865ecf11a29c55b6b5163ada0ee687166c2e7b729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkFnThRsEiXTt5OeMnRmXE1FyY3AOdrBgk2xhvYJuA983Z5ANfoHFMu62G7fN1M-k5ycu8vYJ8cJzy_OypacCexZqF2ud_Zu7VC38HIzbIBnK_unDt-Vtcq0_hMpTMubs7Soj13OQx3VLJbGEIIYP9jR2sx88G10B78KlwwqWQaqFT4qU2b9ccbQ-MqNeR1N_v0FPRsU_FUzHyOADv-oT9pSP6xOHWGKxlgu54MGiJN3UcImoBbe16y36ZXUrgWE5LPiipklxpW9MhHQquDtmNgc9UlIOPuvwcFo6DzG3r53sgQJFlbKn60nqK6Nn36EWye2WPA7mVuCU7Qn5MAEOesLW78sdzykLc4cyAOBgeQwrgNinE-crkM8vzdZjTC4OcflpVQx1G4C-gZPchNOzOI2PbLNOEQBLkB8dOOEdxIhaNnvcpq5I-S0eYAaH2mG2Qb_rz4QT5VWMLPR4ysVD3Z52RPB_KcCrqd-gILWQJkliaX0ukKlOczSSNL5n1GXgJOIC6jHcV6oZipbFFUwuo4YZIU696Vw7yMTtmqG3llw4IB3cBHwgi0bTBK4GcxzzLphvzjZPtU_GzYvs1OeTbnXzhSuXhTc1QytRnYhY2TWTX8ORAlhntaMfCJZLAEcpV7ZRhTRI9MLomf-3xHcbs886pvU9lYNKaLl9pqni0Y1-1gJTfhOuEloU91k1FIPDylHf9U6IzO13ZyS8xVIoVxIrholGyqoVi3Rv2TK0qDBNqnFtWHZB4DYRDTiPHy36enEROD6EUTCrKtTvoUd4fdZEoQwsWWmqeeRSsBRGS5VHlxOCU4KbN6pTr1SxqHybcKBm6pRyh4TvPM5DcJ-3szXFOSFdeazsqDhYRQW2uBo0Pg29sxWF7SKP5unAB4-uYKoMf4wdAkvVT0JWXtswzdro7IoQ_g6XDR68j6m8FFHMofhNg_6zJmBmHg8Havn6cRmnkDv_wFf8Y2WE6q83ONGV7nt5cRAATYjgXHUl08yYMcECmCx-QEXLTyuXPQQaClejjN48Gml5s6b96JKWo5cxMcIZe7qI1au4PQmx6856Me3QtinJ32spLdiTRTo34WlLopDyToXseU1HiYw-qopHiAXLGYOe3hT4o9WpFSLYZ6-LItiohHLRtBfn7u6QLY1Q9NcMukntx3XTWfbqBSvG4m-eFNG0bi8spNyLfL3ahDkWA-EIW-xh5Cz71c0awMk42LXAZMZDg-pt_crOiP-0U0IImc5leZVbHxW8msatAY4ZgcJ1b1s-aBJWALz0o_EE1dxhoX8lDkIlNGyPNHtsYEP4_Q-VJVO12wqbn0xKvbbMYeTsQcaEMiGPMwKLbBgiuC9jYlyqcVjTC_KqXUgZCVCSRlOL23XRVz6ZehawoF5JP1HJvUGcLjoxFW2ayQ",
  "id": "rs_026b8400f96d038b016ab449049c4487d0be44d9a59d21455b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pink bowl is now centered and its lower wall is visibly bracketed by the open fingertips at about 5.5 cm height. I’ll close around its tapered exterior and check the settled jaw width.\"}",
  "call_id": "call_fntysweg48PGpgKrVpt8z8uz",
  "id": "fc_026b8400f96d038b016ab44905294887d0800f1244b8d7eb6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fntysweg48PGpgKrVpt8z8uz",
  "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]: [-0.8379, 1.478, 1.1774, -0.9825, -0.263, -0.9474, 0.9958, 0.3637, 1.3285, 0.5182, -0.0437, 0.2283, 0.1844, 0.0083]\nstate[eef_state]: left_x=0.2479 left_y=-0.2014 left_z=0.129 left_yaw=0.0451 left_pitch=-0.6152 left_roll=-0.0969 left_gripper=0.9958 right_x=0.3196 right_y=0.0827 right_z=0.0497 right_yaw=0.0512 right_pitch=-0.2532 right_roll=-0.0325 right_gripper=0.0083\nstate[joint_eff]: [-0.3624, -6.735, 5.9692, 0.8571, -0.2808, -0.0464, -0.0024, -0.3214, -5.1077, 8.6359, 1.6972, 0.2125, 0.1099, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214086ff330b65764471d64df0b41c0243754cf5588d83d8adb264cc780b0e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed453748bc0e5ca157efb0735785876e159b4874d007c63320d9012a009553e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a502fa61d4eb6bcd524b4e9f62464dcea064d2692f509c840f464a1241f1d924",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6613, 1.6981, 1.0607, -0.6132, -0.1936, -0.7902, 0.0097, -0.0216, 0.8402, 0.5945, -0.4454, -0.0151, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3093 left_y=-0.1931 left_z=0.0454 left_yaw=0.0463 left_pitch=-0.6319 left_roll=-0.1115 left_gripper=0.0097 right_x=0.2863 right_y=0.0001 right_z=0.1501 right_yaw=-0.0014 right_pitch=-0.119 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -8.8137, 6.0786, 1.0232, -0.2466, -0.0269, 0.779, -0.1983, -1.3197, 7.0906, 1.6435, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 1.4784, 1.1881, -0.9916, -0.2596, -0.944, 0.9957, 0.3508, 1.3075, 0.5171, -0.0463, 0.2165, 0.1658, 0.9991]\nstate[eef_state]: left_x=0.2489 left_y=-0.2008 left_z=0.1316 left_yaw=0.045 left_pitch=-0.6168 left_roll=-0.0989 left_gripper=0.9957 right_x=0.3206 right_y=0.0807 right_z=0.055 right_yaw=0.0599 right_pitch=-0.2397 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.1607, 6.065, 0.9451, -0.2173, -0.022, 0.0806, 0.0889, -5.2034, 9.2376, 1.7607, 0.2564, 0.232, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 1.478, 1.1774, -0.9825, -0.263, -0.9474, 0.9958, 0.3637, 1.3285, 0.5182, -0.0437, 0.2283, 0.1844, 0.0083]\nstate[eef_state]: left_x=0.2479 left_y=-0.2014 left_z=0.129 left_yaw=0.0451 left_pitch=-0.6152 left_roll=-0.0969 left_gripper=0.9958 right_x=0.3196 right_y=0.0827 right_z=0.0497 right_yaw=0.0512 right_pitch=-0.2532 right_roll=-0.0325 right_gripper=0.0083\nstate[joint_eff]: [-0.3624, -6.735, 5.9692, 0.8571, -0.2808, -0.0464, -0.0024, -0.3214, -5.1077, 8.6359, 1.6972, 0.2125, 0.1099, 0.6081]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214086ff330b65764471d64df0b41c0243754cf5588d83d8adb264cc780b0e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed453748bc0e5ca157efb0735785876e159b4874d007c63320d9012a009553e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a502fa61d4eb6bcd524b4e9f62464dcea064d2692f509c840f464a1241f1d924",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkJsjXdC49NcL1W-OomzguOC87OlY50hzbCGOyCOCa3jUP3vuRM9PycmH0KVOAQQ-u0yLnMnm8NYd8k63OcKsv7NMneHzbzSSzGaCr9KGzxifFktaNfrRrwALxp8WtA7fX7R88m0ivhGELrQFFnioxXYAtl4HqBi8L2lmPOZVfODpc3yn_oi1TUr9NSfzw6gEVp6S62kplJ9DcHPDc2-Q774ZDgfYPKKZeTbwz2mQ1O0ndKhUFjLiUM__Ui5UGGnO0sbQRy4IXRTWe2OTqNgVey5RM2np0QM4VYlWXuSfO9th7-mClH6Vg7jZQArknW8e0CvdW3frzGTCzQh3a8_LwPOAEfCW38kWM4xsu1z8v2-T-UlrR2xU04v9HGEdifE5HBkalfhWiXw3Yl3pXuENn8T1PZLzVL1zpPtTIcerImie14EUTgVM6PPWDjKuczE6T7L_x1LnF9ciSvhQj5yp9XGeesL5Sg-xCZVzUCMFZ0RFj59B-g0Ugg9imLqP2cjtMnM-kKXXjZghC8t5TY5sTPcRvQX1ZyH089ayrfrEdxRUyTTWHC5704gRVGV7u273L6USVf0fuftiSFmfN2iDLV5qetTD6DPl4jgbkaqsdxTDID4EfBOUsEZVQ7z0-3I11SvUBHuaI2KyEzFHnEs7iQvDI1CKuiKtIliM2cjP_s-Qnk8Oa7Xy4yWBbii8U4CfRlKMB24i2SE9Ryk8_vRqgHQw8FcFflXHb2YRTiTIvYStJbfjqF0WLAeaJIBEMhkooLeocTDV-qy5oq8bCBiEp8MDfhYX67CEtwW_Dy2uvaIk1bKoto90J8et1aPso0jdZCeWl6V_NzaJTWp38OT-Rbs-tkM1nKdJGo6JEYqEM42K9VmtPgFfVr2CEK92Iq3VrI5eGzpPyXwqbLFqPNMdX_ud2waN1-_HRWnjD88p14_YaJH_F7JeC7HFATdli2B5Er1hcilXOeDoslF09kFFRMO-XPgBDwRf41h64RX83PkPg_9jV6rBzWxf9t3MDkBfk9nxyQ4oEuXvjE07V1Q2b9LfWrP5geQcsFn53kv3Q2AlY6PNG4WkdYy22jAAWN2RPcmFisnEL-XBosiDbKDUHZMqueLPzQWzNmSzG_XWqznjXfhF12UW0RJucDDBZHwZm3MXwY4iWJDzwIoxVKfgnXxNTB8A6V-Uk1c6mL4ZLk3yFbc6a8npadyhAZvg-bCwkoeixnIP0sC2fEBUjcGRs_N9K33DRlCfWC46KHOC4ZGurnfye9DZKhPZswyDWkjVRvw-Ne_zLkXNF_OBVY1fVs3hmDcK_ilq-mFc22ljgXCAzBuioQRSU3PkJWFSOFDJUByYABOMUD_4jJPvdPUK08bhERsYLSwSP-JI6OcB2_k0d5r5PjiTjEHj1EGXP02XefPXtRCfPjW1pOHQkklldba65F-m0XGF6YhQ6KlUnpZSWuUp0PS5q2ssLRPrrBsM4ueI9WgHv0JWhGwDfCBxfNq-1HWbuGD05CR-3VcgB88eY0El8jBXf-xSYBpacc0OlX6GDB9LrOMeZjyQAWQVZpvW_Cm3p1ktlMYAaNZpKDgvDvBFPSvBqsmez_14z0O4FuO600_l4JqlRW7kTVcp4Llx0L7MvV3qqjyZUyOzXNlGhfHlIQZAfFTZjMww4rWPlu",
  "id": "rs_026b8400f96d038b016ab4490828dc87d081850305d4346862",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.083,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The pink-bowl close is empty because the jaws were still above its rim, just as with the white bowl. I’ll use the successful low-side approach geometry: retract, open, and lower near table level before sliding horizontally around its narrower base.\"}",
  "call_id": "call_asLdS2bM12SlYDm3i2XPFsPy",
  "id": "fc_026b8400f96d038b016ab44908dc1087d0a74829567d9e416a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_asLdS2bM12SlYDm3i2XPFsPy",
  "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]: [-0.8379, 1.478, 1.1721, -0.9794, -0.2634, -0.9474, 0.9958, 0.49, 1.1748, 0.2886, -0.0196, 0.289, 0.2668, 0.995]\nstate[eef_state]: left_x=0.2475 left_y=-0.2009 left_z=0.1275 left_yaw=0.0466 left_pitch=-0.6163 left_roll=-0.0944 left_gripper=0.9958 right_x=0.2579 right_y=0.0846 right_z=0.0155 right_yaw=0.0755 right_pitch=-0.2833 right_roll=-0.0399 right_gripper=0.995\nstate[joint_eff]: [-0.5402, -6.694, 5.6684, 0.8913, -0.3199, -0.0513, -0.0073, 0.1436, -3.5487, 5.8462, 1.536, 0.2173, 0.149, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a269a1148cf22e180051b273c836ef03741b8ea8a8ae36d2cf84941ff79a8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c3e95feb6f564efbbe2952ad2d839500f62057df80f03ac22d17d6daca029a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a8bdf4d177be405493a5c5c3349106ac9748c7a99985dd2351c7e83174dac2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 1.4906, 1.2049, -0.992, -0.2447, -0.939, 0.9948, 0.2756, 1.1809, 0.5083, -0.0986, 0.1829, 0.1322, 0.9991]\nstate[eef_state]: left_x=0.2516 left_y=-0.2038 left_z=0.1326 left_yaw=0.0366 left_pitch=-0.6247 left_roll=-0.1119 left_gripper=0.9948 right_x=0.3191 right_y=0.0606 right_z=0.0807 right_yaw=0.0354 right_pitch=-0.1832 right_roll=-0.0146 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -7.8701, 8.6496, 0.7643, -0.3785, 0.105, -0.1148, 0.212, -4.0137, 6.1744, 1.8926, 0.2369, 0.1245, -0.105]\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]: [-0.8379, 1.478, 1.1774, -0.9825, -0.263, -0.9474, 0.9958, 0.3637, 1.3285, 0.5182, -0.0437, 0.2283, 0.1844, 0.0083]\nstate[eef_state]: left_x=0.2479 left_y=-0.2014 left_z=0.129 left_yaw=0.0451 left_pitch=-0.6152 left_roll=-0.0969 left_gripper=0.9958 right_x=0.3196 right_y=0.0827 right_z=0.0497 right_yaw=0.0512 right_pitch=-0.2532 right_roll=-0.0325 right_gripper=0.0083\nstate[joint_eff]: [-0.3624, -6.735, 5.9692, 0.8571, -0.2808, -0.0464, -0.0024, -0.3214, -5.1077, 8.6359, 1.6972, 0.2125, 0.1099, 0.6081]\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]: [-0.8379, 1.478, 1.1721, -0.9794, -0.2634, -0.9474, 0.9958, 0.49, 1.1748, 0.2886, -0.0196, 0.289, 0.2668, 0.995]\nstate[eef_state]: left_x=0.2475 left_y=-0.2009 left_z=0.1275 left_yaw=0.0466 left_pitch=-0.6163 left_roll=-0.0944 left_gripper=0.9958 right_x=0.2579 right_y=0.0846 right_z=0.0155 right_yaw=0.0755 right_pitch=-0.2833 right_roll=-0.0399 right_gripper=0.995\nstate[joint_eff]: [-0.5402, -6.694, 5.6684, 0.8913, -0.3199, -0.0513, -0.0073, 0.1436, -3.5487, 5.8462, 1.536, 0.2173, 0.149, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a269a1148cf22e180051b273c836ef03741b8ea8a8ae36d2cf84941ff79a8582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c3e95feb6f564efbbe2952ad2d839500f62057df80f03ac22d17d6daca029a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a8bdf4d177be405493a5c5c3349106ac9748c7a99985dd2351c7e83174dac2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkOn9Lsh4QhX08T-SdzNXnjFBBPGKnBasmA60WiIJtaO2H6trsaf4FY7g5Tn6zPCj02UNI0FTcvI9QuQ5sVd9R9DqAzX_FIW9qQxeQbI6eWNY3Uqf9ZQTl9Do0f17hKj_lF1Xo29DvypR5rc3qqumXVzKav-XjXIZtQ2tV0zYhZpIy91ms8ym89vVg4FiGgOS6crIqWWP6IwbYWyqUeWFDfCpNyQRV0jLmmcH84MZdb02xSOTIKs89X8BRCD83kh4yV57FUejDGcULA5ZL_YBq_K9e69HE34uD06t8c269eyMNImsGjKAfdHTJ0U058zffBSb40JcnTs-W43MRrDUjPrQ3-48NVxfV_Hs63-4XqZdGmia9k6IfVTsvZjPV3nCSKhxrPPLsyYpHI5C5sNsZKILy2ULLWdJ6Mef1obuBqf8wO2qKz6c3soWTHAfY0VT3ccA7zwMEaURvbJD7zGnJJyVkEGu40Q6YcaAsprvefuqN9xRQu5r-rwCHHBet2QgrskNeA3duSwac7d4nZ4bAnS2E77W-NI3oEJUTjub3fOY8sz1217yzlzlbfrBrAFyJy1uBu8wxtCbrmvBMV3V4xpb_bJ8e1ut_GeMqiKSPhGe8YRU4IvW477cqUnMt5K2j4WWfwdEg40wAEEa5-SLKfTBZEjs0v8D67YUfRt3djyobgG8GNHsrXNHmNdqYU6vh0dhdwmYXLulZVbG5LtkDZg2NGpCTNp6Pywk2od52GF8q7FW5lBGQ5O53_LJwIlm1izuUDoB2cO84s5g7qJnJ1q9p8Wy8npbJhQC92Wt92OKHuQSQtmbpkfookn2GxDQ1LCgnsCp6lLAkBqO6Xni6PKIf3_juL3UoSUdY7qAV6XaTMfnCpnEkWPPiWJyZfY_MprFDKQidKTlrruuGaCN7YjIw5EldMD69_u5zggJtE6U2bOZfWUnIH6hQaPVeEgZFZHEd6UqFGWYQDb1VPoE2mnyi-TBhd5XQnSsFlrIZUf4GfptLqGUHny1lo7m-_wbv11nt4irbRX9aJSqeKa7iyvCJO8vD4Lv9bLL2V3Wm-o3UQD6CvBkOxP6e8vXSMu4iWvVHDdawfAWaC3UAaU8B9NEAXq_Fqn8VBrLuKhX0XXjyOKgzv5X51JF1WWlThKRrqspy8uO48OYTNFU1ifGhYWQ97qJGvBzjnF-CdmnEjYRKRUlV3mhv1zGWcgVnPgaVuJ-sLvGgsUsOv2U8gZ7IcSprAieOydCixPQ57WyVQ7_5wOJ4guRw8UZJSwZ2KMggB-KEUUL2aiP4zBL7UbegPiw==",
  "id": "rs_026b8400f96d038b016ab4490d147487d0a388d46e89b3a3e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.083,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The right gripper is now low and centered, with clear table between the fingertips and the pink bowl’s base. I’ll slide forward at this height until the open jaws surround the narrow lower body.\"}",
  "call_id": "call_s5vMZZM6cteHGmdm26jiRvYB",
  "id": "fc_026b8400f96d038b016ab4490d6d5487d088012908318e0d63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s5vMZZM6cteHGmdm26jiRvYB",
  "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]: [-0.8436, 1.4773, 1.1625, -0.9752, -0.2634, -0.9478, 0.9958, 0.3752, 1.3842, 0.4061, 0.0315, 0.2226, 0.1825, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2012 left_z=0.125 left_yaw=0.0436 left_pitch=-0.6192 left_roll=-0.0902 left_gripper=0.9958 right_x=0.2915 right_y=0.0767 right_z=0.0052 right_yaw=0.0598 right_pitch=-0.3428 right_roll=-0.0593 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -6.5436, 5.9145, 0.8523, -0.315, -0.0757, -0.0171, -0.3487, -4.5197, 7.241, 1.5214, 0.0659, 0.0513, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e692d81b426185519733e771c895473a039003d54efd2b66fdff38f9040a526f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9c7398c44546507d1968d28d0d04361a8593f652c7de926e7914d20d0beb25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1735eada6c9503d44df568c11900a937b04d4b2799fe64ad3b09acbd30294e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 1.4784, 1.1881, -0.9916, -0.2596, -0.944, 0.9957, 0.3508, 1.3075, 0.5171, -0.0463, 0.2165, 0.1658, 0.9991]\nstate[eef_state]: left_x=0.2489 left_y=-0.2008 left_z=0.1316 left_yaw=0.045 left_pitch=-0.6168 left_roll=-0.0989 left_gripper=0.9957 right_x=0.3206 right_y=0.0807 right_z=0.055 right_yaw=0.0599 right_pitch=-0.2397 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.1607, 6.065, 0.9451, -0.2173, -0.022, 0.0806, 0.0889, -5.2034, 9.2376, 1.7607, 0.2564, 0.232, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 1.478, 1.1721, -0.9794, -0.2634, -0.9474, 0.9958, 0.49, 1.1748, 0.2886, -0.0196, 0.289, 0.2668, 0.995]\nstate[eef_state]: left_x=0.2475 left_y=-0.2009 left_z=0.1275 left_yaw=0.0466 left_pitch=-0.6163 left_roll=-0.0944 left_gripper=0.9958 right_x=0.2579 right_y=0.0846 right_z=0.0155 right_yaw=0.0755 right_pitch=-0.2833 right_roll=-0.0399 right_gripper=0.995\nstate[joint_eff]: [-0.5402, -6.694, 5.6684, 0.8913, -0.3199, -0.0513, -0.0073, 0.1436, -3.5487, 5.8462, 1.536, 0.2173, 0.149, 0.022]\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]: [-0.8436, 1.4773, 1.1625, -0.9752, -0.2634, -0.9478, 0.9958, 0.3752, 1.3842, 0.4061, 0.0315, 0.2226, 0.1825, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2012 left_z=0.125 left_yaw=0.0436 left_pitch=-0.6192 left_roll=-0.0902 left_gripper=0.9958 right_x=0.2915 right_y=0.0767 right_z=0.0052 right_yaw=0.0598 right_pitch=-0.3428 right_roll=-0.0593 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -6.5436, 5.9145, 0.8523, -0.315, -0.0757, -0.0171, -0.3487, -4.5197, 7.241, 1.5214, 0.0659, 0.0513, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e692d81b426185519733e771c895473a039003d54efd2b66fdff38f9040a526f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9c7398c44546507d1968d28d0d04361a8593f652c7de926e7914d20d0beb25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1735eada6c9503d44df568c11900a937b04d4b2799fe64ad3b09acbd30294e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkRtX5RO6RAaxIJhaolUxQ5nftXE77YuGBonejuAK6-nRliN67tSYbVUaxhJMruUQW0kGy6C05SGMwnFuaqMWt7CBqA6Rv61OAxGUXSsfl7aFtuvV46eDgnlqI46PFhG0ZIY-lCBMo58utBw4U7Ygakg1nMmnx5qPvaQ2T4tygbVIZH5kTVDm84CPSQ_e8fM6bobnmm0QguVLdUy0XXipazfymlT40Om06LHFjVDgq8Kjhi4SiLX-qe8oixJWy8HMb5JKpYTN33Wld3hSivWd34R5bDURaZhoGCO0ItgTvwZRQ7RzxhvsRzzrIUm7YVLX-O3-J2MwClmdIMOnhw-Hn_-LKiRa0U_td6OzU-RGaAxtbv11rkVfSvMW6ZDAq8kZQYyRfV4eqFsNxFe7DgbTz4AtrxapLuYJJ0uDno5inacc-cXje_AkD2UZtFrOWKLvlD0PS1b7C_SblIgZ-Ne9crzs2wEkC8NxZHzN0wu9zifpd9lctToH3qdDEVmXRekvTMIxZLGUySZaEd7L2MWsUzGhkkxzb1FFcByKwZ-xb-1qQ3fZkw2QqX6wBuEBjafsEmZC4ssa7KfWnSD_K-_BcLP7GeuAK6VuzvqYBSNG1BedXmmFbVNHWoZOrv7MdKDdoh8PtwMc8qdjxK0DsO7GBoPM8DezNqLDqb_-Bvz7cG6JEbKR5LYPZeU20beozGFoYr-kM-fg-d6x9omos-gAomqHLdiIBVjtj5Az9v4WBgnKrQwi-rqqQCwEdCyxd0DnhUI0eQXMj_SKtzuJVGJZ5CddM9EieK5XRQf_aQKaZGw6FsED9T2QHQDyBw0vow94RZTVETbLbWXPkKOOwpDzAfegOhIqmVJv4LX2BLSSPn1xEViCp4BlHzJA1ow4_pbFn-kGUe1V0ynYR1eu1wRkio2W6OLq7vUof9vYrcYgE4lFPJRPH4NS8uKIu__S4jB4AmaAC-doFOUsOZ-WsDJGRxtEo7mjM5zmqKWbB8RPsK4Vi88JQ2ELYiEo8s-Byrsg43BiPlvHX1ZfGvC-2mKCxzYjWb5BFUXMrHm57MqkJbkP4cuH7yBZPrxDQ5EQgWKFUHDkzJLKrWFA7g-BK4w1h66IfL2D48RV-Rkp1IItxU4PkJC_iArIaTWEqyP7umI4S-l_IPhlhTYmHQKmUDYJ4NzKeB3DhoXwqWfcX24hUsrVV6Zbm96GdbJ34-WD9w9Url6lvRCArAv9hu2l1rOjuG_9AAU3-jOOBGYgP1yf-QaA27wQu4sWAy5_NVk-lQduI8ZscbZo1LKyJRx-c_JTiihvqR1zZtIWRqcXBQ_--nimm_E0UxJ0G-IXavg4zWHCuSqyGgAWb4avI9twbEV0ACFfMPNFZZI9hfZlJqOjfKr0FIeCcDmR4ruheevUumN-KWapNrKbry4EauAPvhVD1mRA==",
  "id": "rs_026b8400f96d038b016ab44910058887d088ea2adea46ec55e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.083,\"right_z\":0.02},\"note\":\"The fingertips are skimming the table at about 5 mm and remain centered; the bowl’s base is now just ahead of them. I’ll advance the last few centimetres without lowering further, so the fingers pass around the base rather than over the rim.\"}",
  "call_id": "call_WtXeSLBbcIzYX12W9MrqMawX",
  "id": "fc_026b8400f96d038b016ab44910784487d0964d64235a771390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WtXeSLBbcIzYX12W9MrqMawX",
  "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]: [-0.8494, 1.4773, 1.1568, -0.9638, -0.2634, -0.9482, 0.9958, 0.3527, 1.4673, 0.5072, -0.0093, 0.2077, 0.157, 0.9985]\nstate[eef_state]: left_x=0.2451 left_y=-0.2035 left_z=0.1239 left_yaw=0.035 left_pitch=-0.6156 left_roll=-0.0958 left_gripper=0.9958 right_x=0.3115 right_y=0.0796 right_z=0.0081 right_yaw=0.0624 right_pitch=-0.3692 right_roll=-0.0705 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -6.8171, 5.4359, 0.823, -0.3785, -0.105, -0.0122, -0.3761, -5.1897, 7.7333, 1.326, 0.1538, 0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b977b450588baa56b3f96dc87b8d3dc6bcfbf5c4a32007c67fe0657786c372e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bf2a9f5faffdfb913850e354523a2e522b4139bf789d4be8c7400ee24af022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb9e23f3cde14d60fc3fc92d916dd499447a10aea2ed92586bd719a30c345b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 1.478, 1.1774, -0.9825, -0.263, -0.9474, 0.9958, 0.3637, 1.3285, 0.5182, -0.0437, 0.2283, 0.1844, 0.0083]\nstate[eef_state]: left_x=0.2479 left_y=-0.2014 left_z=0.129 left_yaw=0.0451 left_pitch=-0.6152 left_roll=-0.0969 left_gripper=0.9958 right_x=0.3196 right_y=0.0827 right_z=0.0497 right_yaw=0.0512 right_pitch=-0.2532 right_roll=-0.0325 right_gripper=0.0083\nstate[joint_eff]: [-0.3624, -6.735, 5.9692, 0.8571, -0.2808, -0.0464, -0.0024, -0.3214, -5.1077, 8.6359, 1.6972, 0.2125, 0.1099, 0.6081]\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]: [-0.8436, 1.4773, 1.1625, -0.9752, -0.2634, -0.9478, 0.9958, 0.3752, 1.3842, 0.4061, 0.0315, 0.2226, 0.1825, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2012 left_z=0.125 left_yaw=0.0436 left_pitch=-0.6192 left_roll=-0.0902 left_gripper=0.9958 right_x=0.2915 right_y=0.0767 right_z=0.0052 right_yaw=0.0598 right_pitch=-0.3428 right_roll=-0.0593 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -6.5436, 5.9145, 0.8523, -0.315, -0.0757, -0.0171, -0.3487, -4.5197, 7.241, 1.5214, 0.0659, 0.0513, -0.1538]",
      "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]: [-0.8494, 1.4773, 1.1568, -0.9638, -0.2634, -0.9482, 0.9958, 0.3527, 1.4673, 0.5072, -0.0093, 0.2077, 0.157, 0.9985]\nstate[eef_state]: left_x=0.2451 left_y=-0.2035 left_z=0.1239 left_yaw=0.035 left_pitch=-0.6156 left_roll=-0.0958 left_gripper=0.9958 right_x=0.3115 right_y=0.0796 right_z=0.0081 right_yaw=0.0624 right_pitch=-0.3692 right_roll=-0.0705 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -6.8171, 5.4359, 0.823, -0.3785, -0.105, -0.0122, -0.3761, -5.1897, 7.7333, 1.326, 0.1538, 0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b977b450588baa56b3f96dc87b8d3dc6bcfbf5c4a32007c67fe0657786c372e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bf2a9f5faffdfb913850e354523a2e522b4139bf789d4be8c7400ee24af022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb9e23f3cde14d60fc3fc92d916dd499447a10aea2ed92586bd719a30c345b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkUiNPp4xfOJo07aRP0c5AEfr25RKuh1AnrNGDZK22dKmEW0JBmeXIwC4H4irGXHCN150nuc9-8RKvJap3U2iXeJt5XnLmUAL2Jgj71Davt1ca19UHTChlqgO28KgAjqJbzIlVlQfaugZaiOjNb0-9qSmX9yuxMe-apu6hTCNeDTobczkH4s0ZkwRYGHZGNeulU_Y4oiLUPMZE135yNNaJ7LHx4Rzlo0xeif4AySxSzwVhEnyfMdVj8gvjWIWQnJdK_GrH23yA2SmS8a9a9g6QjJaIq-ZqJzMS8JJqUxzC4XbxSHzAWuUZ0Kzfjgyoa8nbtsL2l45Q7IP1KD8K2hbGe4_SkejbiIeDQu91ogOL6Ua_16GO0PRYFYIvty0WYxFwVOFbGjOl0pTHhiT7tJtmGriq5CexsNbOHX9tyXt3ZgXLVJvti1Z4vFXJyBaQUPbqgQ0Eh9W9MGSNfurkFSpQ_6ciSc7WghEZ9L42DCveIUy-s8LaNfGgTIJ43ucIZlRuhFvHJYmtAkr0wtgH8vePxgp_SyZgSUxU05FBJdv4yQ4DvkvaP4UhHAXRUuh5seslr6NVE5SFvzF9HkGj9laROZwshGB1HAgvZXpZZReUIomAm1wIFiqt0a6HLTeQ2YlC3DJY7HzSocqLVDcefRFxX3csu66ggVlZFQgSWckfj0uDbEdWsglsQPdLCVNCJ237mgcgUXdbFAKqDeyoC3M5I6NpRqMbwMP_v4DhR2EllPQuoSdnNpBMDK84a5xnYi4b8jrwbVJPb3PRSh4JZcyjaYBNfPlHojAMGg4GaF-pBT7ejT27KL0UZc99W1B_FST9d-CjgBixc5gaKKm6Z37ce-wK9SocK0YSi--5BNGlf5sJNco2T8wl11ynr8PixfMcpxv7n8-4MoDHphrOY2rUyXBQkhRd4OkmsiWgqqo3YQl730gw4HFlviL-A3V8y2OZWwlTz_aOuNlHMdwCIXIiXJTBdQFKolBCzt_8EVx1qb6WmdIaJIdyRQpTSzNiIROdDo_emwTWF9XJL51zoHtECVyhXr3ghJ7kuPuf9mxMnRzSlo8LCE31nmVXO-eqWIlqb6a_4D7gpjnrpnpCR7_hEZtbT3yLDZqxHgBmumJcRc4rbRHYe9u_UJGFsR-8UOhktacji6zhVG4_cdycaxLak4-ykbFaV_0VApN-i-sCREVzyxMDgzqAx1bquefB9Dj4eD3e6mTDG4KtFM1kxzqG7IitxG3I9cBrfWh1bWZGm4dDjkXsE80yVuIpkcqxmoiplqiZTcdIiOKO9jEHD6xRIcTolGo76TlWwQabI4Lttk0zhKkTe36qljthicEiMCdsi",
  "id": "rs_026b8400f96d038b016ab44913681c87d0a8eb2d2ebe32e1f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.083,\"right_z\":0.02},\"note\":\"The low slide has brought the pink bowl’s lower body between the open jaws, but the near wall is still a short distance ahead of the fingertip row. I’ll advance about 2 cm more to fully surround the base.\"}",
  "call_id": "call_q3OYstqEw8tEgKU5jIzPP6zi",
  "id": "fc_026b8400f96d038b016ab44913c5cc87d08dfdf821eb79f9e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q3OYstqEw8tEgKU5jIzPP6zi",
  "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]: [-0.8513, 1.4773, 1.1522, -0.9611, -0.2634, -0.9512, 0.9958, 0.3313, 1.533, 0.5865, -0.057, 0.1932, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.2443 left_y=-0.2036 left_z=0.1227 left_yaw=0.0362 left_pitch=-0.617 left_roll=-0.0954 left_gripper=0.9958 right_x=0.3245 right_y=0.0795 right_z=0.0069 right_yaw=0.0613 right_pitch=-0.4059 right_roll=-0.0802 right_gripper=0.9985\nstate[joint_eff]: [-0.6359, -6.694, 5.5453, 0.8523, -0.3297, -0.0317, -0.0122, -0.4718, -5.6821, 8.3897, 1.2821, 0.0757, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da6e6ad01f3553afbfe7896533133cbba265f8940752e6b63fe5a817932f341",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead9d94238ec2825659bb32bd03bbe18a80fb64f23d2fb506e4ac822acd4e473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639f9fcf53cc781e826f1213ece0fcb6a2d3f22cf814d891fd3d42d3cdf815e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 1.478, 1.1721, -0.9794, -0.2634, -0.9474, 0.9958, 0.49, 1.1748, 0.2886, -0.0196, 0.289, 0.2668, 0.995]\nstate[eef_state]: left_x=0.2475 left_y=-0.2009 left_z=0.1275 left_yaw=0.0466 left_pitch=-0.6163 left_roll=-0.0944 left_gripper=0.9958 right_x=0.2579 right_y=0.0846 right_z=0.0155 right_yaw=0.0755 right_pitch=-0.2833 right_roll=-0.0399 right_gripper=0.995\nstate[joint_eff]: [-0.5402, -6.694, 5.6684, 0.8913, -0.3199, -0.0513, -0.0073, 0.1436, -3.5487, 5.8462, 1.536, 0.2173, 0.149, 0.022]\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]: [-0.8494, 1.4773, 1.1568, -0.9638, -0.2634, -0.9482, 0.9958, 0.3527, 1.4673, 0.5072, -0.0093, 0.2077, 0.157, 0.9985]\nstate[eef_state]: left_x=0.2451 left_y=-0.2035 left_z=0.1239 left_yaw=0.035 left_pitch=-0.6156 left_roll=-0.0958 left_gripper=0.9958 right_x=0.3115 right_y=0.0796 right_z=0.0081 right_yaw=0.0624 right_pitch=-0.3692 right_roll=-0.0705 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -6.8171, 5.4359, 0.823, -0.3785, -0.105, -0.0122, -0.3761, -5.1897, 7.7333, 1.326, 0.1538, 0.0269, -0.0269]",
      "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]: [-0.8513, 1.4773, 1.1522, -0.9611, -0.2634, -0.9512, 0.9958, 0.3313, 1.533, 0.5865, -0.057, 0.1932, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.2443 left_y=-0.2036 left_z=0.1227 left_yaw=0.0362 left_pitch=-0.617 left_roll=-0.0954 left_gripper=0.9958 right_x=0.3245 right_y=0.0795 right_z=0.0069 right_yaw=0.0613 right_pitch=-0.4059 right_roll=-0.0802 right_gripper=0.9985\nstate[joint_eff]: [-0.6359, -6.694, 5.5453, 0.8523, -0.3297, -0.0317, -0.0122, -0.4718, -5.6821, 8.3897, 1.2821, 0.0757, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da6e6ad01f3553afbfe7896533133cbba265f8940752e6b63fe5a817932f341",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead9d94238ec2825659bb32bd03bbe18a80fb64f23d2fb506e4ac822acd4e473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639f9fcf53cc781e826f1213ece0fcb6a2d3f22cf814d891fd3d42d3cdf815e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkXdwFBx1tgjZqLcjaD4g6-0MJgJdvFM6EMbePSIiCb-MWk-2qPw_5dTGXb2y2g2xGTPAKTyfEMTdQdPB5yEGmk2a2VtGQDTObdm9617mqyyHlrtHIt1A4M4fPQaeuCYTBAE_piOZYMi68-q7hldBbxyfRh8dJ-u-PXgtzswIAfP1PpphLW1EO7gD0q65kOtm6Q1vC-nssLqDGjzpqDVtf0SGQ2iSphGkG47cP3Ye73QBZRW93O-mT69DGSVo_3yaVQ7nhQIu8vLdP-f-oiMfCoIwFmV1ZfAEUtEmi-aqMK6-701tU7gILavPjFty9xZqhc2I242ZqawdTYZ7gb470VGY29_JASluuP05M5g7C1KEm8qMA65fgXkqKKS2O47y1fmy1nslV15y59DxZK3io84NkwmeVX8zVOl949jV6p_UuMUmQbyx-7NqfTPZuh_fwANL0ERPHAB41Ohld-6O10_XijuMcHcbiYKATsURoZkLTt-3DXbdevjvXtzikW_SMhj-t5j0UiJPQDSuayR23Ic6V0ynlUEsxRxUYIMzz4alKBPG1BVHhAxRlFt7SI5OFzZwlzijQ-1u0YHSUC2DOACAPhVqlGfWVregI3PCelNJUcOp6sCHz3E_DPxOXfDtC4imoysg47E3xamEzPuOt5nXxMiAq5n9sIt7pQSmAZRtFIuWpzyIllxyhQqwq87eNuL4FuTexGMXWOAx0s0de2PSkJPAM4LwWjsKcxuMYU-I7kgVTlMHNIoCoJHIcQbodNzOoi_4yDsUpOcqFfSLk_k__2oBODxjLzjA_GnQw6qDyBHj6fAS2ZvKfBmRE2xkYZKWV01LBWpvp30kw39au4zd3j6QokJs2_8oCkH2QnAgSRjFryCRXTIf5KTJab0GLPnSOyUMyKa3eDVthJ-qvI70gEQvs2qnmF0jz3MC9qias_QqnQ4Sza_s5aovtSQkIkWq4yll5W8gzGiFiBLbB2pH8zYfv4XcyVpOPCCz9mhxyWWKZoOAb0PekLl5-0KQUNRL1dkpwFhObO3y6uvJztzYKEB2yQ5bOQOzMo0wQhRmP_Q7ovbfBvszbebeh8JHCSeL4TwjW67yWSTsJTpcH59pZ6pyfO3Nle4XiMKnnRUX-fqYJLkCRDTPupludfurzcY0vP2zu0N74CLbpgYJXKQhe8E_FASWsSHlBG3eoOdBIzcDnXfB8FEnRNR-gqKYxHGoG94ZrUEPu4-KyXZE5KNxmmB6tdMLYnlc3GHce3M9w=",
  "id": "rs_026b8400f96d038b016ab44916381887d0a4d9c1b70114e468",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The pink bowl’s near wall has reached the fingertip row and the open jaws visibly straddle its narrow base at table level. I’ll close now and verify whether the jaws stop on the bowl rather than closing empty.\"}",
  "call_id": "call_fJXMMoftisNXtBrSpqsKAZjo",
  "id": "fc_026b8400f96d038b016ab4491679f087d08ef19381261ae8e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fJXMMoftisNXtBrSpqsKAZjo",
  "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]: [-0.8562, 1.4773, 1.1458, -0.9535, -0.2634, -0.9508, 0.9958, 0.3286, 1.5383, 0.6098, -0.0723, 0.1925, 0.1295, 0.008]\nstate[eef_state]: left_x=0.2434 left_y=-0.2049 left_z=0.1211 left_yaw=0.0303 left_pitch=-0.6163 left_roll=-0.0963 left_gripper=0.9958 right_x=0.3293 right_y=0.0804 right_z=0.0108 right_yaw=0.0643 right_pitch=-0.4039 right_roll=-0.0836 right_gripper=0.008\nstate[joint_eff]: [-0.4308, -6.7077, 5.7915, 0.9011, -0.3053, -0.0562, -0.0122, -0.3214, -5.6547, 7.3778, 1.4383, 0.0952, 0.0073, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb353b942aceb67d5b323be33dd6ebdaafb177da582544ceb4b0955d5a30916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe3f19d6e2fa06dc4d9158ffc1c6069d3dc0079400ab02103d897d782d20578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c83101e002729216a13e2d6bc1bcd9cb9573ba1d2dd4e4ac1c9097f4a0c72e",
      "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 144 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8436, 1.4773, 1.1625, -0.9752, -0.2634, -0.9478, 0.9958, 0.3752, 1.3842, 0.4061, 0.0315, 0.2226, 0.1825, 0.9987]\nstate[eef_state]: left_x=0.2454 left_y=-0.2012 left_z=0.125 left_yaw=0.0436 left_pitch=-0.6192 left_roll=-0.0902 left_gripper=0.9958 right_x=0.2915 right_y=0.0767 right_z=0.0052 right_yaw=0.0598 right_pitch=-0.3428 right_roll=-0.0593 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -6.5436, 5.9145, 0.8523, -0.315, -0.0757, -0.0171, -0.3487, -4.5197, 7.241, 1.5214, 0.0659, 0.0513, -0.1538]",
      "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]: [-0.8513, 1.4773, 1.1522, -0.9611, -0.2634, -0.9512, 0.9958, 0.3313, 1.533, 0.5865, -0.057, 0.1932, 0.1375, 0.9985]\nstate[eef_state]: left_x=0.2443 left_y=-0.2036 left_z=0.1227 left_yaw=0.0362 left_pitch=-0.617 left_roll=-0.0954 left_gripper=0.9958 right_x=0.3245 right_y=0.0795 right_z=0.0069 right_yaw=0.0613 right_pitch=-0.4059 right_roll=-0.0802 right_gripper=0.9985\nstate[joint_eff]: [-0.6359, -6.694, 5.5453, 0.8523, -0.3297, -0.0317, -0.0122, -0.4718, -5.6821, 8.3897, 1.2821, 0.0757, 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]: [-0.8562, 1.4773, 1.1458, -0.9535, -0.2634, -0.9508, 0.9958, 0.3286, 1.5383, 0.6098, -0.0723, 0.1925, 0.1295, 0.008]\nstate[eef_state]: left_x=0.2434 left_y=-0.2049 left_z=0.1211 left_yaw=0.0303 left_pitch=-0.6163 left_roll=-0.0963 left_gripper=0.9958 right_x=0.3293 right_y=0.0804 right_z=0.0108 right_yaw=0.0643 right_pitch=-0.4039 right_roll=-0.0836 right_gripper=0.008\nstate[joint_eff]: [-0.4308, -6.7077, 5.7915, 0.9011, -0.3053, -0.0562, -0.0122, -0.3214, -5.6547, 7.3778, 1.4383, 0.0952, 0.0073, 0.5934]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb353b942aceb67d5b323be33dd6ebdaafb177da582544ceb4b0955d5a30916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe3f19d6e2fa06dc4d9158ffc1c6069d3dc0079400ab02103d897d782d20578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c83101e002729216a13e2d6bc1bcd9cb9573ba1d2dd4e4ac1c9097f4a0c72e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_026b8400f96d038b016ab44919fe8c87d08425517bd7322d79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.03,\"right_x\":0.33,\"right_z\":0.07,\"right_gripper\":1.0},\"note\":\"The base is also wider than the closed span, so the centered close remains empty. I’ll use a single-wall rim pinch on this bowl: reopen, raise to the rim, and shift right until its right wall lies on the jaw column.\"}",
  "call_id": "call_12LDToyu9y9ZYTvUnK3g6RRQ",
  "id": "fc_026b8400f96d038b016ab4491c013087d0916aca7945c9b79f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_12LDToyu9y9ZYTvUnK3g6RRQ",
  "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]: [-0.8577, 1.4773, 1.1404, -0.9527, -0.2634, -0.9512, 0.9958, 0.131, 1.364, 0.6762, -0.334, 0.0914, -0.0322, 0.9951]\nstate[eef_state]: left_x=0.2423 left_y=-0.2044 left_z=0.1195 left_yaw=0.0316 left_pitch=-0.6192 left_roll=-0.0922 left_gripper=0.9958 right_x=0.3204 right_y=0.0296 right_z=0.0515 right_yaw=0.0528 right_pitch=-0.4471 right_roll=-0.0913 right_gripper=0.9951\nstate[joint_eff]: [-0.5949, -6.694, 5.7504, 0.9304, -0.3101, -0.0611, -0.0171, -0.3487, -6.106, 9.0598, 1.4188, -0.0366, 0.0513, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f89969e336aee8fd26459e9c669a5538ac03604d608d19cf340008dca80899a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4810b7f0ef8d1e44dc72a9f22e4c89f17fd2ab6bf6264a333ccfb34da1453419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e77044a8bc5867dcc0efd4dea45329c4796765254ec7545b31a56b4c589164",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}