adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.0257, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.5795, 10.0991, 1.8242, -0.0513, 0.0659, -0.0806, -0.3897, -1.4564, 10.3179, 1.8632, -0.0366, 0.0464, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b5200f88b21f7d322ce5de2eaa40e976c43882b390451de5d685f6625e24f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c8e39da7ac98ecc521afe27b6395cd61116fccd39cb5b5a1e2daba0c6d4513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066455b92dc7a921eefba3b133f4a414558f593d7ea5e6bc42d9af43f337796d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXeUjex5-XG5J2KtrzGKGAOlePkeLFuIRlvwCRzzcg-qoIuczXYZLAZk_NA1aRZjENQvJitV9WAk5uALkRRvr9dsr-Tg8owjzrEb_gDYst8bHWtoDbUUmiu2Q3QMAcl8xkHnukm6JvypEd1lb-tZ7GnndYA02jqeEDOs-_yAGdPaxAExwNMqFqhK4gDLQyd1bVkBqces23x6O9ceruot36MJMe5Ir2KWV44WFAw2ktLBkm6SlgoFe-xEGUO7T0YVqVT3P_sf9CQsJj3n2XmsUi_KGuXWMyRHrOlIKBDErB1wbLkZ_f17fak0Eet2gU0551rxFAUiWUfsN6RGgo7cMzRCC8cIWn0t4i9TbPtO0odkKLVSIdnL5Cne2-j7rUsNYw4cyEtG6_3tCXg_va009sHEzTru98ocEvtVpT-2KApBYpPwRv_QXNH4-rq8YYMa23vR700xC1HQp3AGJMl_n2G8rBd83bM453StUj1qN4ppGGVWPOdzS0UeMS91IwYJ2urn2tDnSXF1tdSFhdxAOSonKp4UuG29D7F3kZJXcAG3NNiziwFWdJTqx4yDBaHrxOtPRFWGnJfV6PczlkzQb6bF7Lq9h2F4MzJ_8SjMh4asFmnc1ZecNhbTT5yz4YncOjnzal-Q1V_KO4BfeK8pp8EAugs5Gk1AGHErGnTQhy5tW-O-O1KoVEFsv4Hs4k_zWGUsrPLnrpsdDn4IuHPNqiiYoNIi0gfahPpNMZmLzPVBRXFNm6zdQAUr0B3mRb5C6y84SiFRM3vbv5LdFHa1nGsWhc7sxF9T9mlSfpjr-1tXRsqRszBOKenJHfUvhKNN8zJRwIJhZNcesHpYT-gnJrs2nPo1PmX7FF7g5MtPzjnK7IIqYAaqvAte5uzvxk7FCAqIbQ_-XX3EXdDz6vQTfzXze4DZo4KJEroP1hb1fXPGw9qYAqxjFQy5KWldJbr4HGTbnfoWhr3Ot5j-WjANT5zuS-CJ1Uphag82b0--QwXhmetr8V9kMfWQkZWFgLRUW7keBX7z2bV-XqGWffBtUd7PIjsf_yqaJPrLYCrkH3jy13r5WqABZfOAFIYYNFvIF9oFf4BTb3ecLq0vNBHwsX0GMzOB31FVBqGLP_cspCKAXqRhAAnGc-7YZRHoEIKNkaGSqGzEcfgu1vyOxGbx5XrTZkxXVgf-iIvmomm7SCcU3LOQ9nR6T6RHaoOkpZgeI001pO8Ag19NOaVZHVO09Zd1SfpBZNPgKgULERCzDmMx8WsNVusg8xrAPDq5iXJM9gph8SujZw-BV3Msre6LYEwSdhuwRPw_t7r4y9xmS_5_ubRtp4lBRT3wmpQbQyXsbQoBU4cViuF7RliH6kvL6_sTM9O2aNVCkEroBIg6cmj2G9Cxnui5D5fZEwoP_lCcp9BMwVnqwFXrXOLHjAJBfs2zlETxoCLmm_KCWTdd9tulKiOIGiYR0_EBqmH_S_WrO44T358fZ1VXznMm5uYgmoSgOmzWy3XDLfF8YXiZR8Vh0jn-ik7s883vRVs0kbKbVexS6qiP-r3MFd5ulu6KqxlPtbPoUgG3TV_8p4Wom6TYL2WaCBi-ieLrxcT69K8CW9aUr6S5R-rQnFU0A8T277PAPJCPDXOcIhUn8-21O_CAHQ8b8QV7zLoYekU-x58jE5wC7R9kjGgoDxGPBNE6Wh0OYZ2cCu2WvALxkxXAhk_GYL2Q27N05T7kdZMitGHuI-NJroXxkAXsmtwwgADsnQfRGexwLYO1Lib2inOralHvLk2ebKvxPJhOZZyHIbfWVEzS6PspWfmJ2zxtorcjUMy3IGOqV71WtwZ7sf16IoAtMlnPY-4OEK40gpwtFEjMN1AgmHJ_C2MtH7nXJ7zHRxwAqCCrxxS1S-ucp_deKI0QFlI0RqNy68QgXUJZSAhX1QQ69vbOeXaO5ElJ877gzFFcd3OLVNckUvRW-FRpNTuZMn9lfevGmR_XsQjoHyjWTzv7s9sHTWNG-FpP1jtSCHnxbIRgD66ZRe5stH1YzL_rbUkDn40tTJTrXHJdMvHaUnHfP7VaBW3jLbK4mGkxwwQXgLtalvWhSaRsViVnH7JnCFGfrdiRtr1RAo0EJcRZPp4uMooCmBuUOHDc7PFwC2tuk2oRN2EuLDV7_i6uCST962W4kfhaZPapwR7njFPXsljC85Ou-4bB6tB5SvLeq-qGsFZNe9lofHmwyOk6jHiyF1fx_jWV_Dkw7nV6oK0oVNkdE2EnnFYurcnvI5ZdSKkYPmgllP8w3K9lFhVDdgW6NFHrb_sVnovRDNoELbgZDxxZaioHRLctanpb_qQWZxwY37Lr6HqhP7tzGbqtDpeCM9WZ9ksefyyd6zVESjx0VAkUl1ydtHvrh_L6mrSsxkAqFklmCYZnWoP-JVw6NSZmrOQOkcOXUv-LlyAJVutRuCTdaZogXJFw0_PPPHjVMqpURuyLl1YUMmut3JasK9m813kTFqzZVb5SMs6JqQe4MBgQ6iJq2_rwnvgP-Az07L5Gsd9AMbgkDVKuyS_3_4AzDK3_aECO7KzW3tppBSpEuzg_DEXTckcZ-32VHMBua_a13toO52O8uMKjq6VMZ-Dvpsn5CbAXEe0QshPbDR8FgpCUawo3B6eMvwHT3ouUSHmGO1BkEEqSLFkoJnHR0PeK2QCDHiU_lpsleK7x3wS9bJKIAtnm8ln2222rmX9iiDmQlluSg1uXrqn8CgG2vC9Zh51oF-u35Cw6FxrG4xxYV67WmpPzh2JFNISKH1F7ra7CLUhDsWYhT8zmPLO5XkrZZukb975xOaI8yIvJoSsTrIk81AIX7teU9I1sItPCHVgv1JNI2wI5CXlg3UENi3B7gQwAPt7Qvd3-q0H7ZUuduTOXjv431xsavT5FXl07BW-XfpUr131r6er0ouGDPTukbNLlE-DvQmhQ7a3dVyAjxDKVK-LdcoLOtZaP4RbK_nbQAqD5TsAY_U6TJpD3vnNnD4ScG6g3rBf2WLzNYSkVrIGOQxc-P1Oij65feJGqM4kVDA9ylipFeIeaQrsNDpEiqXI4A23P8JVgOX0kPYXiNfG8iIsWwEqLi1jtYgcAdRLLG5XD7yyM7NfY3kOkUaDNOrjSS6XpOQ2AGJc1ZlqduOwfmK4PaBx1VSbS5xiTlQut8UP-FCEzSJpgOVbkmhcZIMyG_nLzHhNHKduSSjoc_gkLxraxi3KUz0SkpTsZ6LIOsAVWItWTcab7LopJTxGlKdFENgY8F1WOO-FrALNb-VfcNuo34HQwWn-cz1SWqdruNYOe8M0LQXt6jc54lcVK2O6dmHwidd5SFz0eja1FKy3xmGod96l8Il0YErMB0b4gcOME2D6Rv16gzsmCKjTwaZVD8TA1SJqzlNZPUEYEOJalRTCqva-XPewLpFzAhMakVgLQjjXxjRLXDVd5irBotCy45vrsq8Nd_SYTwB6gO3OfX0zVuLohvSpKcdjuOldpLxmgNKJ1hUstvL8TStcl4emvFlBMSmKusS5YwKT2armlVDMAMCW_8aqDXwPzd1-UjcI7T62qIwX1W_rvu0Xzh5ssZR3-4kc3M2GWg06abNa2kvWsuQAEHiWDygevwZTxdRIqi9oONWu4StVEMRezjrvYWd2PdY8i37dAVBHAuAJ455k1JoNzdNPqL2L7V5SZ8WTNelhSy6Xu1Ze9K15ta_MDMaZS-9VC1Jeo84xMShdniAVjOksnpyW7JE5fu2YfU67oK4h2BuREisQaodSVMwSWSP4jTi-deui4WBAQ1BmHppYEMygXHCaZTG4wOelu5k_46wXtlS_8yDJATVgVSSgu7ZpfCy0U69706VeU9XiV7CyTyF46CkRR1fBtrSlNXbAcwuQik6K7KelC_cb4JKPUG2ggvXCtkKhrguf2JhzAkw4Qc8pMO0_bvnFT7zVSXBfiCYjJFV7Wo6it3a-3xXJoV9iLZV4x8_fQZNrp6WOoqDkCh0sYaobx74v3AyUHiHG-Rapc_HlyrsWjPs49W0sxG-HypkAh0J1k9dtr6w5",
  "id": "rs_00a20431a44a08f9016ab445d48bd487d091af058df6cf214d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXeyY7cicgyFV9Ki2OYPRPBmDgY9M_N5MDYGfYj53PI9M4kahDepW5vu_ubbmQn19TwRp-KC-zSss08iHaYfJGWGNV_lrZwFLwyjfODvm60g0WYoRe975YHwWpTnoPNpB0i6_80T4A96N9f-gGnQJ2GkKZOv8SmUNMQiIj_p-xyOylI38PCBfRE6_TFHyptnhYSsYsjVw1KxvtiCu9mRdb_ZdQi9_nBeVaNE-Xi86TgKET0dIa4BwSRpizDkeBpzjgxYn64FrkLHUgY81IpKrAvEEpLFLolxsePWh_WyJ78nGTRxDH7TTynQL1nM6d2yBpLjkyVBSeyWEMUppMR_6QjF1vD4tS-llOkKBlkFGdIgRiTSIOx9MiF1vEV42B8lZP4dm37yfrvlkeGK0nHg1AqwKNlwu9uLKOSMRGUJs501nLy-fl35wHn0C8jvDUqKySlHomWlVNcnqkXJxBu2GVu-eAD5EdTvkYeDdVrf1IJYt9bAtX9ZR_HfSdNDPWR0Q6aPB51kKhZ5mJwG2PeJGESMYIwB35bN5pcIB-uDwgOyTMnECm9ZLR2pw8tZfYk9wewt1j270eafpIDhI6zfEhn0nZwWUUTHwbqCM1vAzCK8VSzsyZ18GIGLq23CZwKVKhdBimZLM2ejGRRSVqyBmaA6K5bJXG1z2JyzCcyXr7thosMMHHHZCSS_lE2uSLLMqgRDmwUrdpDUFvVppGfo84gBaF347qkSnIqPZB983ty9RkqUw_9T4maG3mOe8U4jXM_6UHRnsaEaD5BeNZSQn0ARH4wYehTFVb8C8_3DuAg10TfDbyDGEvXRWVOSN2igPh-keLtDB26d4_jwc5wAL_wgScg2t-gc8Sn-repUNnLd-6zGPPmNenN6wY_GGRksIG6NiyVsmfNeqearJHI8V-DFb1ZGJnhK4nT6XkE9_FnA7TP7JbqKq9UE4l7hLDZd6O5erT_JTNPhYXaYmR61K9Xhfh6WGANHODsVQrwM-T0k85SmZGIpSC46pnyIMjRjXq4hOwRH0qY8ZM3MHA_TI_z6TZhShAglk1OZ6QHnVPwpY9sP0T8nY9TXhfJRlHWOiXLIKO6kzwVoRiBxXv7FDbTC9gr2FSPL1k48W4EyH5IcqjWJohp152Zy5n6LoNASdf8YHjGtNYzhc-4a-p-7c4dvAWgqOuapRH3wtv4TpvuY6akTKt8BHN8y4KyB4pXZBfmxNHS5DAtG8VK0V0sgpwmreVFb4f9q3E1ucZz2duiXDAuCFv6SaVe-_XCSBhj9XANXP56r9tXy_GPsfxT9i0PbgIN-2DWlBhsdG88plDrHVnZZ-gEL6uMCu9_UO6YboPPW67fv7vc38vQfimRnUjedogWNjdnwhZ-RjiD2tNV2aKOwR0Ny6A9PWRpsh4DzHijy0ZDx2oyzwVv2FDlfBLMC_5sluGT8rQEHYJkyy65YL1mdGne0X2hzSn3B3rtRchL94YZ2yJfOmQEyVx7HGjBuRc86_SKIQ04rFhvPmdLtfTSiBk-U1D69dS5Qz1QczDX8bGsPNjG_ML16Y9SCAK3_qny_goJTTVCgDwUTCq1bRTd3ah2PlrSJBVM4d-rUaZVHwEoL-5t9WyvqOu7q0uJmbqoCu2k7es0bEy5Y5CPCNe8R612P7_7dhNPOCCy-vmcIqfqD4V43DESqjprZvMzbSjmIhvkXQN2ZWF6L4NSm0mQrnOkrFgKGu4xPnEdu40cvmySfi6h4NUQuq8hq8ANRmKqLeaYBOOxCcX3UEvO7SGSVd25xBbhmgrEmrsCs0eZjudbD342T9twPWvAWqTa6UgPQ-cZQ420JpKNnXdEc_9DUuEwekehBh5Mj0KY4xTK-uDAAUmlPe46jIAwXqoNW_s4Wn-rs5ua_sZxcK6NP1OqQ2qvoRFs4lqFeM3ZVNGg7LBxQTUsODayOZ3-o1tMpurpf2Ir-R36NHc-YOWpKkkYkxqIj8TyDByn3iiA3PVzqYYyLa8yyr1nTSirhAABPGR_yJz2dCvoqpStrT9E2NfdTUzZZwi8O1fW5vQsYDG4e6jpdwGn5yRPolBozxhkZ_I71vN2y1BkY6TOTLFSrUnBqmpcex0CRPYNZG_F1Hc7P-wumVLy1iwc7tocXCBQEwWpXKPqAGVzMrlOWYhZIxGdExCkXkQ8P_163rIozE7AGtLKUgKDIYcdlbw6W2hfjkJ7uvHbVNFgcuBtS1J9gdkm7iarLrF_BYAKn6tIbwpWfOPofaWICuQ36XnF-gGKycBgQ_tDdZcLvo72gehcPZ1YbBQ9k-Ke1Jl8KXJeOk05GWcr8hqvvLJLpSlmry1e-NrIdRvNbGRvVTdCh7vmqlgYvRyXBZwjRJDRe3MyR3PbhjtA65o-fPaxyjSK8CQOiZLogqeBH3geNNKB6KE2NImm0k6xPgASS4mH1tWv1tqQiOuTtEsKu29msPYDIikJPir_JrwGq6MCLjNlv4YpLZ1URixv-X97TmEDrUm3Gto8iKFaECIJdRKCnn-eW51U9TMydxRQs0lYKuKolvgX6SzwqONcJjTyt7I3-B-FY2zuUuhuD8dO574fap_PfLMfyNq0ugCx4h-TzOQuLFvJSGRuJXxywNVT-mc9phozFA_TWQP4gWJm_VXB_-WmZcLbXFlqGhejjyWy4Dg58nlo81daOv3Iz-G93FMXIceu0P9Fy_vbzyQAgpJfMu5_E9OqEXfwbLZKYpfsdDoCnSQubnflZTDTf1x45E-k52SCVwD6U2KLwUQoOIoqkPMGiIFW0Zk_uXp4Pl7VdSonO53JvKflK_3qTmuWUBY3HGVURQPZ8KSaxlGahERtXU7LONYAGEm-DAlCntRbA8HNp-enHR9Oef0YtDG8hLYTzosSr1vu5CY0izlp4Xq7CgNThQVmpbdfL8tHcF9dwZKr00iaXI5L2MFHPcm30jTaPBq1wI3DVkoLuS8VhTkNk9CQdXiBlVYzvXBnxQ5Xf9YQhYl-4d5nKBjVrrB1Eb7ZcrI41dNH71Hef_YuxoM-s-Ojx1zDMNieqgrfpJ4Ps14vIc-Ukji_H9lvO0TryPN30Dew3klJ97CwaCL7qDBUzVPbutv_R2LBi_2U6qgMr1NHdnnXIMh3TopTgvvXBoAArZAGjg9Ry2XIuG4YycjSUKdoz0D_B8AdQmjvprSOpZXrXd16HYDxXdjxQpwf1s_-xwpb8aYtR6Eq34ldHg_aWzc1xEm-mA==",
  "id": "rs_00a20431a44a08f9016ab445d9cddc87d09dd6831dbbd0df88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.2,\"left_z\":0.17,\"left_gripper\":1.0,\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18},\"note\":\"Three upright bowls are spaced left-to-right across the far half of the table; I will use the left arm for the left bowl and keep the right arm parked. I’m moving above the left bowl with the gripper open so the wrist view can refine alignment before descent.\"}",
  "call_id": "call_BJLAgUgl3u4OqFS3kxaZkyED",
  "id": "fc_00a20431a44a08f9016ab445ddd0b887d0abd73bd0f2bbd69f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJLAgUgl3u4OqFS3kxaZkyED",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6228, 1.6604, 1.1297, -0.181, -0.5018, -0.3882, 0.9993, -0.0219, 0.7982, 0.6041, -0.3912, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4218 left_y=-0.1939 left_z=0.1559 left_yaw=-0.0115 left_pitch=-0.0379 left_roll=0.013 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -8.294, 8.8274, 1.5897, -0.4176, -0.0317, -0.0757, -0.1983, -1.2239, 7.3504, 1.8388, -0.0366, -0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e0e23e253e5d2b429f60f37fc53296a8068da95122094e1e2b1de194bda1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9eee2ecb945e07e1d9cf0666fa2caf9a5e62480809235e50af9c9d67a9d487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9646702688aa2c744737e4e39649b593079aa34811a9edede1d65ffccc4b74f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.0257, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.5795, 10.0991, 1.8242, -0.0513, 0.0659, -0.0806, -0.3897, -1.4564, 10.3179, 1.8632, -0.0366, 0.0464, -0.3687]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6228, 1.6604, 1.1297, -0.181, -0.5018, -0.3882, 0.9993, -0.0219, 0.7982, 0.6041, -0.3912, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4218 left_y=-0.1939 left_z=0.1559 left_yaw=-0.0115 left_pitch=-0.0379 left_roll=0.013 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -8.294, 8.8274, 1.5897, -0.4176, -0.0317, -0.0757, -0.1983, -1.2239, 7.3504, 1.8388, -0.0366, -0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e0e23e253e5d2b429f60f37fc53296a8068da95122094e1e2b1de194bda1c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9eee2ecb945e07e1d9cf0666fa2caf9a5e62480809235e50af9c9d67a9d487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9646702688aa2c744737e4e39649b593079aa34811a9edede1d65ffccc4b74f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXlRQMtB5u9d3JOpCl7Yaaab-0G7u8roL5qp7GO2tI7D9-AqOOW1_idnhR5YktGOD3bGOjizSnF-XFW_gjoju8xNhN2L3Py72lIKnhRWeR8J9oTSlWFS-L46QzLa9Aym2Bq-EcCClff5S2ZglqJkpIJtyWno_qkuI5lMGP4cTvqAWFfT5Exo9fdqaN7XuqcbbVrTNk0sPlEY9jfpobPCa0Grg8L8BIc6uq3B8UKsMuL-noCj7ipqmumUn11N1aEvgvrW3_S3s-mCKQeyp7zzt8TFNKsub8hnOJzegSvR5Y2GMWi-8m27pO5ly4PZAIiEmkmwiWKsgYm6wSSpmhWT-DAt-LT9tAx8nq6O3rfsYqtOHrnuAIm9uxLgpNvwNUMy7TRADqof7Xb7tRY1qrvX87D8XjVx6R8T1lWkexnCxd0G_-JMCEbHFIDnCukyALdVqnXu7W2DY9FBPgwQ2N9yoAuG3o8Yogq-EqpEjNrh_vC_Mk0xjUmXEweTGTZJBrT6iHFeVgbKHaQNIImVNnGH9ftte3b_8OKyuuDiz-KrJym_t4J4gSe8JtqspFSjowNNFnA4CfsFUMdipikEd7yEqvk9ltBw6-GSZqBueoiPcjMlWZ1D-72b_ow3RXCY9xfzeJlVDSMdgVgzfZqPJ2YlZ7yYyV9kvT5JJDA3M_WTSQ3s6Bod6_Ct61e5SFpUUoLcGTiMnU5USpysRBmZWBwqtgVdzgS1tETDsbdy5DGwIWzTTeQ7Nl6XLNNUDQl9-pDlRMbaD14btsd4jdLQ5De9yLHp1lPNfQFDT0isBl07YQ5q_YBsViaoueYDl-yJ73trs5kM3UwRzVLC-vhH-qFNyi8IsDvTtr9oUFq1_K94pP0mginVe3u0hUT8Q-kbriNNv_kO-w7MgqkNme-V2rMj2befKONeiGvq_RXMNi_O9LBW7BgJlJZvnrFF9AWaa0u4yDz_9xFn4cYQkT4BhAyc1c9KdKjJKSf_YCdBzO1ah9pDWFI93pW86UIJLgljYfmjTFiviW_TLuxpLO_JGtrx8wrO26EAlbaitSzdyP0_yE1-tCytumXOXYeoIUUx49IpKAPSp0lmFvhtHwuanF2YmCufTibYfkGJbWMO7iL9wnwvngDSX9J_jSbm6ngCovbTUVK3hSP8SNjvAwDg4PNLpQ2TCOb2zveMY8DdpBnvdncDqB31qCQ1EkZA8zr-A4FZNDaj6iC3kx8H8TaRgs-hRaDxdCr1EJyNV38BMU6-HdqP4ed1ZeGHpqgZJIP6a6ByK9H3oXE2Xh6WPgHCMCC1sZzHQjWmWIJ-HXKKf8S68RAptUPtdlWxXsGhynOPw0v0xi8ahh_ReIy-oV0ywxgxNCvV7UBPhU5lCOhCNaMTF_BnWJsiMcMI5vGe-WOWtlnaowECmMeXLt7LYYN-C7rkAYc7ekFI-gAd6nZqwTDVqV6_KYT3S5yl9eBeVbAbFPBTQktONAUEUiRmqpxMBY6ZyF7JQ0qYVVaFmKbcocyid15CEYeSYzMk0tW57RhK7ZGj8StVTi3jZ4v-tE2ne2Tn5kD51UqvGdad2WF8G113yfKK0_ORwd1kXkY7XXwB3KpMULp_TZnZy6397peTn3zLwMhDVwJtH0p9YBenzqnYJDTzA9d3a1M4h2SVOfhqnS_GBFG-AMkieikdx89q-22AIK0xrOM1Z6Hi6ayvOMhmrdTKsATpb0EOZFmXr8Kccqjpg63psXUOipB8hKaYnAUT2pOPoui1WJVhqzbMpcCzrpC_iTR0ZpzeBRKWkFHp9Vdp0-bWrUlnLOkC0XkZMIqqsH4lKKJTWaeznKX7fh4OBywdnK0Iuv_ibbmhMqNNI0sPKs6lombzgRNBO4t8rt_jDOORG2DjRHKvm81GdAHKpimM3zZmgazpcMj44S_QmVveDLT10awdrcZ3ULbPFlU6udqhxi8W-EzBM_l6gYWfEutjOMi61hCvY18IFxRKPFDhf9XXvCpv4wJvapuIChjoRy_zojgHgzhllE7aZWxHYNhfxfFovUA0efpKZwIzEs-WmhwQj1VquF6yTexxOKQkddmnzG6tM8AtZWRnPgYtPB_HxHPZpr7OxcCPjemCy4g0P76qFScu4qYa0mL-pERvwNVq8QTrRe_26gW9MqC-KubAwCfpakXJ9hkhtEzV3bdM9SyfQubNBBOisbHLFoK2ApZfzQUvpRtTaMipPN4-S1dFefYQJLCwK-kX31BcvGN29RJzy-fT-pNfj_EJ4AK-uHcXfziMBSKdPbdWNBNd4X4taXYoIOmM4CqXX3iJUH842FZf5A557dLY8ZJ7eJnWtbD5vyJhBDEPA2Zj9RkWXyKGLnaiP4RXMIsU1JNQzTE8jq1yV37nbN6mLcBIKWcIRTzngspez8yNXsn9mqHHh6GFCOdKRUe-weM0XJTxPeuDa-dUAXFphbEChWFC4zH6oSa6e0URUsx_-1hdsIaf2bpKAmpz9U_Pr4uvEWKtYtHjQsvmefU695iW8C83LMcg4Rg4QsMfUaSuHnswJQFYgypN8LKrVvzkjEsG_TQwyFhtALyE3Ojpz3q9OzJRgodUyvScMX6ZHANX6wijC7ID6j-sYz8iV1jzaeFbR-EhgThcYqGx5XxkGZQPcQTqUga4_1Qg4DFuXzxOC_hEdNYtm08W6k=",
  "id": "rs_00a20431a44a08f9016ab445e167fc87d086d2294dd6588bf5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.422,\"left_y\":-0.138,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the gripper centered between the left and middle bowls, with the left bowl about 6 cm to the arm’s left. I’m shifting laterally left while keeping the same safe height and radial reach.\"}",
  "call_id": "call_8HaGnRVIvzCW2WU0EI2JAwcE",
  "id": "fc_00a20431a44a08f9016ab445e46d2c87d0b0b8d81639e8056c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8HaGnRVIvzCW2WU0EI2JAwcE",
  "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]: [-0.4839, 1.5764, 1.0237, -0.1627, -0.4179, -0.3176, 0.9993, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4213 left_y=-0.1364 left_z=0.1467 left_yaw=0.0232 left_pitch=-0.0714 left_roll=0.0257 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=0.0006 right_pitch=-0.0172 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -9.0598, 6.5436, 1.7802, -0.1392, 0.1197, -0.0806, -0.0479, -0.9231, 7.1453, 1.7656, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12695ba2533e13b07951cf58dc4f39d54d5f1d1801ff63df343647259dfc14ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd31731df26c917059094914291a2559161b431d9792e706bf66cf364067ef50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54561f781b3185ec3aabdf44af51b8a40459b3f87ff313a39b230e8822af7571",
      "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]: [-0.6228, 1.6604, 1.1297, -0.181, -0.5018, -0.3882, 0.9993, -0.0219, 0.7982, 0.6041, -0.3912, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4218 left_y=-0.1939 left_z=0.1559 left_yaw=-0.0115 left_pitch=-0.0379 left_roll=0.013 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -8.294, 8.8274, 1.5897, -0.4176, -0.0317, -0.0757, -0.1983, -1.2239, 7.3504, 1.8388, -0.0366, -0.0415, -0.0611]",
      "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]: [-0.4839, 1.5764, 1.0237, -0.1627, -0.4179, -0.3176, 0.9993, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4213 left_y=-0.1364 left_z=0.1467 left_yaw=0.0232 left_pitch=-0.0714 left_roll=0.0257 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=0.0006 right_pitch=-0.0172 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -9.0598, 6.5436, 1.7802, -0.1392, 0.1197, -0.0806, -0.0479, -0.9231, 7.1453, 1.7656, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12695ba2533e13b07951cf58dc4f39d54d5f1d1801ff63df343647259dfc14ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd31731df26c917059094914291a2559161b431d9792e706bf66cf364067ef50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54561f781b3185ec3aabdf44af51b8a40459b3f87ff313a39b230e8822af7571",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXptfjQqkkJNypcwzrz1v13wmLJru9HwLcBcOUa2rXC1_x3WxANzSaKHI6ZQRXSW9ln6cUeWybx-VSAhYfFMqDwCMBrDto_XL98VEKI8yhouO8-xHbPQyE60JXzOTlGOm-bqfhqskhhdnKK6fWcmjWCU9yhM3BtN8iLKA4lh31F5Jd4gmXZ0DSUwN6HO4OacrsIoYfi7sK28InQwShYLYw7uI1V_yDMEx_SGQ5YjA9HX5GLfgd72zaTHDl7ZizHZP47XH4Xzl3WPBrNCL64X6r8734ld1gBcVy3Nx5mbJIMnzCBjjYjpnQfwZrBj0EyY0UsRnoUCYIbJmJW_kINsFDm6dNfXZapXA-NFz5m8mx3GxxhcwAsuxQJnJWVIm_bp2DbuAvxW_Gyn0aoMQiczGSOvpBlgphibbneU4z4Hzp2xbSI-QckG7U6E31VYZzs2ey1VMy6x3AUBCFtWGH6M03lPKriLP1M9n5ZQ1YAhT-fXLawBJwMbvl20HgofcIfprU4yCNm1bF5WAcExG-8IZH-8lBVdoCajPZWq3xs4lQomXVaR6DKWeHstAsUIv932ghxdK6BCGwNId6eQ1OZrIgNugy3PjwYcTrrwbSX18mwunpGrqnoM-r5XPLHAcq0TJsB2nDednqWNrmsa5w0sY9aD7NUM0SvqWrNOT_B4SLqCSgVIgHzhujr4Tl4Da6sReV0QdJEfVGxLvWJDBIog7Tew1PYX5-LE0csZ6JsnrHpjlOqcqgLrk8MF5o4wvBqOiRKKRbKTAYOEiCFlg8aIwdS-TIPr6ININZzf3RyZOMxno5lsewFYYr3inUe2DUIOL_-f8rtl1jmmLPDSk8nxECq2UdUVQ0DcEWkOEzFEwIndw53AlEUYUwrcoxhiAzWs71G6S0gHDUQRMF3IgQfJAfyVWkQlS2rOKG6ZBuPIBKglAJA30FL0IylI6IJYxRJ1VZtLGGrGd2i2JmTJ7mLHu2si8p3w--JOQQX-z-Fvui7M80FBZRbQsOpiG-Yblw84RdPSkRqlJCQtYW5PRr20YMFXJNQ7jI0UD_WFHf_46xvhQEkRkp5cB3qj3Vh0QHls-0askNcybYEpZzWNLsXKdhaUSHUuCVBB_xTpSBcN_cWi0I-JrGyDjbx6V1C6DQrJsXkh66kEdQ6fyP8H43HEKQVyeyLg6DADWhQ3QbHNmOGfAezfH9qXEH8CnLZh9BhhokPUDa7KCTja7VdZcE_Z-kF-GYEU9MxsV_16xO9hyMqy3vLFhtnhPhELGqjZwbTQQac5bk7ivORZfkYiKQtX3SC1ETozuDIDpc01cLqV2LgHGWrCPz1_pEpN63DDgDOaISuHGVKvnBNkFxMkVnuyCsWKE4oJ_PPj0fkK_bxmCMGgw2Au-QtV0kBDVMMubWEh4pJaVKl3h_gx2auNwLyh1-GL7EjubTTDx32xqDUghtD_F_8g10EZi33cwrB4hTXQY8atWXGTFVD8xiRQuf-4hV_mBVCWS6W4G6a2OS1Hy5VIj7tS7WHsH2YKBPFSfBKcQawiFUt-8qUh29XaPDsaL2agLWtzWJbu6uRVtHMC3jCOWExg3RCSjJk1DO2YwzYXErjb5P5prdFl7bYBwzblnWVmP15GI50q904TloyOgTwUvBEwxpoGxuLYdse9B3VJtiFRz8lmhkfvhInQxkQrL-UY6CDLiXcVdbhEibI45lVrC6DeLpgqRnh2UxRX_mhq_rEPA93Fu3hWiUV6cDSxpNkbve152Gc6mBIbl2GyagbxufM7_Dp0DmlwRQ6mciFcbU-i9LtYfgT7MXJPse3Hn78si_yVsTfpzicRMYkpzoulp0dA5SX42eZVW99Qn861zeu9hD8nMJzEd0Pln2Sa7iaR_j_NOwsusUqUpTLwAG9UGI=",
  "id": "rs_00a20431a44a08f9016ab445e6ad2487d0aadfd4bf0ce2aab1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.422,\"left_y\":-0.136,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The left bowl is now centered between the jaw columns in the wrist view, and the overhead view confirms the arm is over it. I’m descending vertically to about rim-side grasp height while keeping the jaws fully open.\"}",
  "call_id": "call_fU1QFPCBvN9PDiQKWCAbG5jU",
  "id": "fc_00a20431a44a08f9016ab445e85c7087d0909c7b0233827da7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fU1QFPCBvN9PDiQKWCAbG5jU",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.7741, 0.8112, 0.1909, -0.4129, -0.3122, 0.9993, -0.0219, 0.7986, 0.6037, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.1323 left_z=0.0421 left_yaw=0.0221 left_pitch=-0.1226 left_roll=0.0544 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.9111, 5.3949, 1.7167, -0.2027, -0.1001, -0.0806, -0.0615, -1.2786, 7.0085, 1.7167, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2956cc8dbb99aebaf6edc87e26648c325fd1faf57c937b1fe21147100651dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d459e2aa04c6486407a7837c92915c63085dad13aa570e24e528ab5dda2047f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e7892c45d2f960d306cd92dabf8ae514632a9628142c035106dd9ae6932143",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.0257, 0.9993, -0.0219, 0.7937, 0.6025, -0.3801, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.5795, 10.0991, 1.8242, -0.0513, 0.0659, -0.0806, -0.3897, -1.4564, 10.3179, 1.8632, -0.0366, 0.0464, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4839, 1.5764, 1.0237, -0.1627, -0.4179, -0.3176, 0.9993, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4213 left_y=-0.1364 left_z=0.1467 left_yaw=0.0232 left_pitch=-0.0714 left_roll=0.0257 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=0.0006 right_pitch=-0.0172 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -9.0598, 6.5436, 1.7802, -0.1392, 0.1197, -0.0806, -0.0479, -0.9231, 7.1453, 1.7656, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.7741, 0.8112, 0.1909, -0.4129, -0.3122, 0.9993, -0.0219, 0.7986, 0.6037, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.1323 left_z=0.0421 left_yaw=0.0221 left_pitch=-0.1226 left_roll=0.0544 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.9111, 5.3949, 1.7167, -0.2027, -0.1001, -0.0806, -0.0615, -1.2786, 7.0085, 1.7167, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2956cc8dbb99aebaf6edc87e26648c325fd1faf57c937b1fe21147100651dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d459e2aa04c6486407a7837c92915c63085dad13aa570e24e528ab5dda2047f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e7892c45d2f960d306cd92dabf8ae514632a9628142c035106dd9ae6932143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXt9SYqZK2ZlrYJ6wjK0tCfEKT7r5KGCPgndbxVLSD6J0yHQCT3jCa68vF9wKnktPi3yqwkg_hy9t6bi-gpuupsxRrYQse02mQ8cXdMN-f1horN-T0y_wyDFJEQrzbYkj3TyvWfyaL9VkYf78ygSpTDk1Frf1xtD0D5Sq9cWVDMMMDQfqwzOMmc3SPBvQWDDY9mBTpnrf98NaZVFk-9JIN-O22eqrrYLdE0S0Zg7RHhTfvF3x4gs4pN5hAt2pDNzQluewmO8cnHBJXPQEtg0JyGERlYhoZCognCw4LrlUKSFak0EWdhuXq3RvUQ7BM6hSMPsznHwlUDmlDYu2x611letcTJ8lxcG1VX3Hctk8B63iTeDYtKbnoJS_8sjN4bzBufFujcD_VsrHEC8n4yaof2Zgm3O676HnkzSH7-DC17GVd-Gk666ovVRqr94kTm75IOg9F143ej9GzJlVDeudWF8BX1Xdld5M4tB34BEMtJ-d5xae1HIku9igKHuraE7FdMFTuikUYr5gSoHknyX5abwhu2Nsh3VqEr43zYh0ww1QyKcgPiFbs1jIM8b5k4BfIgbM3OnpFjD1iZCzH_Fa7PDkYtCjFbo8jHkqOoFHL2aTiShX7h-nfHoXuL6BXPHPozxIa2Me9B4IKsOZRYdGZyq-rxkrLf-CerumAEP5JycB-hJejKIJjzZcYC8urj_-y_MyUll3jC7a55jIk-kkJCwQQatwI85NUY_xnja65evKVoA7HnlRDGjfJ-D61tv0pp_1FE4yVX0XiC3vMsXV31qCCar6mGn7BLrkV7SX7IHmiQqCNZ5c_ZQSkMielve54K5zlFEjC1A7uQ-9nSN_MVHLPM-KrpICxcB9_UQNJJ9-mGcrTZLD_XFr84Vi6GAfoMKRzfMCgLzouH7xwv9RUh7zgd8lolsZtDNoxWrB6zF85JjGgCiulO5-4HSsSZAv5RelcEHChXl9YWmYGipY_TqAAB6h3Sr6mQZc-4soY0sUrCwpm2tzun0QHBXpsC2F942lQ2OcdAQsbz_r8xbNA0zRqDp3qxPnYdCs8XWz2IYHPQld1LIk5yfsIHnxrH8Xaw63WBoPb9qClqdXsJkHJLZFT34DU-UnJxn-fM3gcvUNRKNowjjczK5UyN00fStZLrwPbnB9Qn8GuNc-A7tK4MHbt3iM_rBHZNNNDzb0SOgyNax36URcO-HA1VvJuAiXsOfz13vwFgqjCi7ykP3GIW8a0UP39BFHp9Z8I-LY3l9qObROd_dE39XjbN0Se0oBFB3mxC41RwE4dBBPGe-dokFfnGMkYDFKAlauHOhmGmi0s=",
  "id": "rs_00a20431a44a08f9016ab445ebde8c87d09613a73b775f1fe4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.132,\"left_z\":0.042,\"left_gripper\":0.0},\"note\":\"At the lowered pose the bowl’s rim is symmetrically framed by the two fingertips, indicating a centered exterior grasp. I’m closing the jaws around the bowl.\"}",
  "call_id": "call_hulafvMh9gzaLLV7yBgHDEWS",
  "id": "fc_00a20431a44a08f9016ab445ec398c87d0b83291960a345d9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hulafvMh9gzaLLV7yBgHDEWS",
  "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]: [-0.4808, 1.784, 0.7986, 0.1997, -0.4389, -0.3027, 0.0284, -0.0216, 0.7986, 0.6018, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4122 left_y=-0.1263 left_z=0.0365 left_yaw=0.0382 left_pitch=-0.1261 left_roll=0.0846 left_gripper=0.0284 right_x=0.293 right_y=0.0002 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -8.253, 6.735, 1.3797, 0.1099, -0.105, 1.2283, 0.0068, -1.0735, 7.4051, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef069f07b02cef3587a782c123e5b773f7a1902942ac8e7f1f193c206d5af26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201d046102b8f6ad12ea68e0e72984566a4ad5f62f7578226b92cf022903404d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8af0b7237355c815177044ba70be552bd7a28d0137bd118363a75fa965af646",
      "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]: [-0.6228, 1.6604, 1.1297, -0.181, -0.5018, -0.3882, 0.9993, -0.0219, 0.7982, 0.6041, -0.3912, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4218 left_y=-0.1939 left_z=0.1559 left_yaw=-0.0115 left_pitch=-0.0379 left_roll=0.013 left_gripper=0.9993 right_x=0.2936 right_y=0.0001 right_z=0.1765 right_yaw=0.0006 right_pitch=-0.0149 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -8.294, 8.8274, 1.5897, -0.4176, -0.0317, -0.0757, -0.1983, -1.2239, 7.3504, 1.8388, -0.0366, -0.0415, -0.0611]",
      "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]: [-0.4808, 1.7741, 0.8112, 0.1909, -0.4129, -0.3122, 0.9993, -0.0219, 0.7986, 0.6037, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.1323 left_z=0.0421 left_yaw=0.0221 left_pitch=-0.1226 left_roll=0.0544 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.9111, 5.3949, 1.7167, -0.2027, -0.1001, -0.0806, -0.0615, -1.2786, 7.0085, 1.7167, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.784, 0.7986, 0.1997, -0.4389, -0.3027, 0.0284, -0.0216, 0.7986, 0.6018, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4122 left_y=-0.1263 left_z=0.0365 left_yaw=0.0382 left_pitch=-0.1261 left_roll=0.0846 left_gripper=0.0284 right_x=0.293 right_y=0.0002 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -8.253, 6.735, 1.3797, 0.1099, -0.105, 1.2283, 0.0068, -1.0735, 7.4051, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef069f07b02cef3587a782c123e5b773f7a1902942ac8e7f1f193c206d5af26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201d046102b8f6ad12ea68e0e72984566a4ad5f62f7578226b92cf022903404d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8af0b7237355c815177044ba70be552bd7a28d0137bd118363a75fa965af646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEXyxUbVq7DICJxd2UPfcEnQbNPF2Su6AvwDVQWkI_LMEMfXiC9JonbNKkXfPYuSQ5-STy1CQYhKL0uHdzrCIqH3bZLvApbeR8JjMPPvo44voQjJQxrZyEh1pQ9L5LzOF5gqW2jU6QT-qe-1UHqRKmViR9RAZBYtnPM7hh7QGEDYvTy1r5KmSO8teRpOIYIdTSm-rEl0mULYlMu8jU0FB5rANh6YbS0mKCZG492xj0wj4NW-Pld94DdhX9Hdu6VflLVMtc8a4CRNu2R5a8S2tm1N7AK48McRR7GdI2CZ5ORDE_7g7ppfbcfzrSs7EFxAfKrvEhNcdbBo_wnHMpoA8QmatDqbbYkX0NBxpkeECBgyZoNYXTR2OYLhbid-may9JySPQ_qftfCjBVEPiljSXL9v0XLS1D0rx8AkTRmNwdY9OlEHgBXOUQCwkm3NzWcrJ4z2GZ3zNQXF6HqMR4KnXV8sxPUTgpgIDkNdIDeiMPHYg3vjjKKMmbTG7C5zmghShgH_ZylMBTm9EhhZnFT3QldjoWFm35jIuLO4eO9zLJy8_1-hekMuSYkkJAewOVx5kLU1AXeO-zQ8BwWBylRkW4pM5Ey-iCmieGJSnvG4HoiTGquLk-9k1BamAFFenRw00M-LUlVfR94g5tluS5nud7jvj5Y5EJemZMsGZz5-m-pc8qnDQT4iExe_4P3JaaGGCNzz4HKfsZeslM8HCdaFQa9qni9AY6J6X96OvgvxTphOBszfQE10PkFdg-G2jGqQ_LV1scpwQE2SPo0NJ5wb5vyBlnTk1W3jqwBG1Pzh_nYz4gUv7Zb7PKhx-323zVkS3UQtI2kLo5bdwVVL2deabYvWGje7I7BiWLfqINAumqGOehr6-XyvuuuaseDR5U95ozwxK5WOFpw5MSI2dsGfeXiL0LN6wd2_9aKEnh2wpaXgmwIdWxIYeX4wa0pqrdcAw0q1fG-kG7Pb5NKAmFd1ipP_Zf-58byIwZn0J7XbPi0lHwel3_OhvxYErmQ7q8ADHFeLGItkIG850Mh57vbsnEKzuRpwtp0mGeHa_KEhnYfa041-cwNmvpaKQxY1qO1YWsvzcF8lBdEZTYDE8ATXp1scaIieiIP0UYYrnaqaE-NIovvKyk-cGQ0BLsVaFheIGFFKK25C5xXbe8UkyolJ6ysSUv9VRxWv2qZfrZglG8Jt48BiPHmtptFsNUWqyjaf-Oza5fKuY6bfuKxkDPiHWbEiJcU3TxT1R9ZSSIcBYC6iJDdw3_9bHHZHOatdPCNrtuXCUANrKt_5-XjPYQgayZRXVEwg6NpNfwTPGkxiDDm-XpBSoQ6dIe9cZ_UJz7T-jG8BeqhdfPPPUSyZgLimVpm90078JqBSFI9EAUZZ80A0FsgA5J_mA34clNAFq5ncSmBGiVSEZ9u4jxjOe77PcaXAwrRyOSRm15-_3dW4PZHH0qSFR2Cnp-TqVHTh_59UtdWyncgtfhPhsagrLPUsGrpWfEbHqad9mwdEydx0nq4EUC0BCGfVusfav9WTBXvu70YAEyPphH0qMpaR6A23BJm0RNYKs1QPKP1v9SO18C5OKVckvJ3kuSTfwk7Dv6p-u-9Wx8jxC77XntoG9M_XRrXleF8bjf4zfNr8MuC4xsMk-zAJ-U8YuBtGDLhXbWx4ssMq1nr1NFe444v1kGRpaG9bzDPXT2omSn2GOUmksVqqR_6YaUEHxR7wwoJb2j23Gaz_sga9QicyNUiyftYpX8Qn79aT2lrm-OwxcuH_Id8LDNF-H2EjarTgf0H6gYPl6tp4Kk_dhgLq8bnRWWJvYaKTKYE-Pm9XfRW8TSvXsbkJJZcxewWGFuIgqYQowu9M6p0qbhFiRbj0HfK3jQ6x7DJPnBZ8xo5ucyvBOjvFax3BsYCembjxM4EGAi4R1OlbdHLG",
  "id": "rs_00a20431a44a08f9016ab445efea6887d0924e9a9c7786051d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.126,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.028, confirming an empty close; the rounded bowl slipped to the arm’s left and is now beside the right fingertip. I’m reopening and lifting clear before re-centering for one careful retry.\"}",
  "call_id": "call_JyRtKF0iBXcGff1rV1nHBkxr",
  "id": "fc_00a20431a44a08f9016ab445f137b487d0876ea2ba6224b862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JyRtKF0iBXcGff1rV1nHBkxr",
  "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]: [-0.4805, 1.6596, 0.889, -0.0551, -0.4427, -0.3126, 0.9949, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4062 left_y=-0.1224 left_z=0.0787 left_yaw=0.0498 left_pitch=-0.1589 left_roll=0.0997 left_gripper=0.9949 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.7573, 8.6906, 1.4432, -0.1734, 0.1245, -0.0611, -0.0342, -1.1145, 7.3368, 1.7607, -0.0513, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9977d7a161049e8cb026f4fe696cd4df4035c8f87c03e0285c560428b1159952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f898e1a64a79d963583042d576476e501eab714cc698bfd3e91ae3b67133b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836d787899c10b1bdd5fe4822ded768ad5ada34a06c26a37cde68495c1d57782",
      "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]: [-0.4839, 1.5764, 1.0237, -0.1627, -0.4179, -0.3176, 0.9993, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.4213 left_y=-0.1364 left_z=0.1467 left_yaw=0.0232 left_pitch=-0.0714 left_roll=0.0257 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=0.0006 right_pitch=-0.0172 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -9.0598, 6.5436, 1.7802, -0.1392, 0.1197, -0.0806, -0.0479, -0.9231, 7.1453, 1.7656, -0.0415, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.784, 0.7986, 0.1997, -0.4389, -0.3027, 0.0284, -0.0216, 0.7986, 0.6018, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4122 left_y=-0.1263 left_z=0.0365 left_yaw=0.0382 left_pitch=-0.1261 left_roll=0.0846 left_gripper=0.0284 right_x=0.293 right_y=0.0002 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -8.253, 6.735, 1.3797, 0.1099, -0.105, 1.2283, 0.0068, -1.0735, 7.4051, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4805, 1.6596, 0.889, -0.0551, -0.4427, -0.3126, 0.9949, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4062 left_y=-0.1224 left_z=0.0787 left_yaw=0.0498 left_pitch=-0.1589 left_roll=0.0997 left_gripper=0.9949 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.7573, 8.6906, 1.4432, -0.1734, 0.1245, -0.0611, -0.0342, -1.1145, 7.3368, 1.7607, -0.0513, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9977d7a161049e8cb026f4fe696cd4df4035c8f87c03e0285c560428b1159952",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f898e1a64a79d963583042d576476e501eab714cc698bfd3e91ae3b67133b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836d787899c10b1bdd5fe4822ded768ad5ada34a06c26a37cde68495c1d57782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEX4FHa9HFHy8u_mIJL5osxV_rc5kSMaQA1u0Y9EgfzCo5plx0G8-KwywZPW8GuGq-pLK0PsL1d0zwGMZlDOWZMMpxFCQl8BCwX61Ag0l4bwT4zZxnz_fOv9l4F6RlTI08jWIYKtKPBVLSoqU_sz-XNhjmlU_57U6WJMxQljWPR6xI--rI1pSute3q8StUN9XkWCIw5LKMeGDsIx9ZxwDDW9rHw79qiJFZFzwco_umtfM2q0-hvkWcybZKpsNPGauhE_fXWEHTER30EbVsFAhA2JKPXbMNKLo0ykOUMaohMet3pP6zCSOeA4EYTQegeQUEpZgWzpSpMGeTkcl2ueYf7gldDn_X9gAbAIysW6JSC2MobnJ-DVRxDFqTI5PnCSo-KW40-Q5s-snyIDagT6QXbzWpH5TVyRDaRjDMtC8TwTwR6scLpANNATF9sDtJ3UBtcLUIiMpj6B7c2Mk8rB5CA2lCRmOuDW--pk4osNWsG5SuNOfHWHR-Vzm7ZHLfl7Xhkxvk_yfL48zoQnWxmur0hnycQqc9ki4i9-i4zBZ2YMTvgnhAEHJu8XfYp383_AeajMZ9R1H651UjvRC3BBJws1JuWEPsKXKxyQKSoa2LC2ZlLmcjSrJRa_pkr3rk_Vn_I01lsMi5r-d2lJ316bNx8RQhxBkO7J4r3MAgd5KBm7Crc4XKObg2_XlnXBZFZukMJ87L5zZTEDSCXHTAy8VaBcIG72sEy_1cLsJDoe0vrcUjE3GMEsFzYGTUU752famersAx3OgcMB63u6k0L9mM_98X9KHdzzTKPEFDLigjpldQrQoTfGheTr1-i6qXEJaM6CcV-9dp_zpc2NCVnE-we2zVP8aCr-_3EjdsYwi2-12FQ2C78MS5htwTmhtIjL_AIqPX3eU949YBncnR60F0P_SDXkkST7HH4B7hvmmcqX1NVwrijiWvpXr4twGzNRMRmfMliZDvh__CRtshULA8-wbXKSjqk1YFneH8zfiOoQKv2g0iYelr7wyPzuzIFwLcFEpnfOaMU8mIJR3gxUHUpqjrCipBhma8crscxwRqBoSnitIszkqCT_6zSO8V_1vJdrKfRhowWvQFJwnkr9VbmHWTyEm5g6HOz72ph4uSOUh87duUbb9dYz8tYrvdpaBMv3a6UeW03L13Ml48pexvZKkGBSGI6dFbUQpRHbcbtMpXTqTmdebQrIJUw9H4tnaBspyCWJ_GZX6ksz4UlwLEAH7zp74G-pWaven-UhTtc9-sd2iZCSidYP_pbjP6YahSqM3HprahxzWFm-ctSDhKQwWMf08nQcpgpk82ivenPGYPR7bDURY6pkVcfk8ZPJEVq0aB8zRG1-TTfzVAcnNL3aa3hDmLZ3gR0Rar5-KLGzioJbeOhHT8u7b0V2fBLU8bwBptA2rbBDq6BLgGrUh3yGu6Z9P6MlDlZwThkZHhOFeyKhZkbW2DBMkmJf4pTB70wNWUMvn4jZl0MxPAiAI9-vvUW5X8IEdNCI7EDv7YObE2bPhQZmHISh5T7EZNjB5B807QkKud5MuzXeYntMKUtlSUJquS84U3VpWPi1_5pK1CnGhWjLo7K_5QLHy6GXzdAiyL8TJ6gJaUUWLei496KE-bIGNVoLPJ1Leeq_dep7VTfiJf8DIqtOX3zHyQ4HhSjck_EXUMP0oLVhveqfl5O-cmLpb8WWCe0PA2iNL8bbRWCQNiVA03oOcCq7thPm0IDN77bPG3GMTXOFyvwt7XtnmxJtMCpQUy4GheK0UcRDtRpL_pCMns4ShKrsnPGRSK4Z",
  "id": "rs_00a20431a44a08f9016ab445f60a7c87d0a2262bbba0e2d7b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.406,\"left_y\":-0.072,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"With the hand lifted, the displaced bowl appears about 5 cm left of the jaw center in the wrist view. I’m shifting the open gripper left and slightly higher to place the bowl centrally between the jaws again.\"}",
  "call_id": "call_4NGCzRo8xR75DcG8FycUj9h7",
  "id": "fc_00a20431a44a08f9016ab445f75e3887d08c91d483df2b2290",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4NGCzRo8xR75DcG8FycUj9h7",
  "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]: [-0.3367, 1.5345, 0.8909, -0.1543, -0.3653, -0.2314, 0.9986, -0.0219, 0.8028, 0.5999, -0.3927, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4058 left_y=-0.0714 left_z=0.1087 left_yaw=0.0858 left_pitch=-0.1647 left_roll=0.0973 left_gripper=0.9986 right_x=0.2931 right_y=0.0001 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0252 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -7.9521, 7.6786, 1.4383, -0.0806, 0.0757, -0.1538, -0.3214, -1.1829, 7.0632, 1.7851, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abe8027d00c16ed4323c1bcbdcec2dda6562874eb149aae12ca1e2cdc549ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29be0b08c8d8547368c3d2fdc2d3050ed4d207409dc5541315e59e390fcba3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30e2f33e4994be181cfe36b708af3835bdc968fc9524d18d16026392aa75a36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.7741, 0.8112, 0.1909, -0.4129, -0.3122, 0.9993, -0.0219, 0.7986, 0.6037, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.1323 left_z=0.0421 left_yaw=0.0221 left_pitch=-0.1226 left_roll=0.0544 left_gripper=0.9993 right_x=0.2933 right_y=0.0001 right_z=0.1758 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.9111, 5.3949, 1.7167, -0.2027, -0.1001, -0.0806, -0.0615, -1.2786, 7.0085, 1.7167, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4805, 1.6596, 0.889, -0.0551, -0.4427, -0.3126, 0.9949, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4062 left_y=-0.1224 left_z=0.0787 left_yaw=0.0498 left_pitch=-0.1589 left_roll=0.0997 left_gripper=0.9949 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.7573, 8.6906, 1.4432, -0.1734, 0.1245, -0.0611, -0.0342, -1.1145, 7.3368, 1.7607, -0.0513, -0.0562, -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]: [-0.3367, 1.5345, 0.8909, -0.1543, -0.3653, -0.2314, 0.9986, -0.0219, 0.8028, 0.5999, -0.3927, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4058 left_y=-0.0714 left_z=0.1087 left_yaw=0.0858 left_pitch=-0.1647 left_roll=0.0973 left_gripper=0.9986 right_x=0.2931 right_y=0.0001 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0252 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -7.9521, 7.6786, 1.4383, -0.0806, 0.0757, -0.1538, -0.3214, -1.1829, 7.0632, 1.7851, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abe8027d00c16ed4323c1bcbdcec2dda6562874eb149aae12ca1e2cdc549ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29be0b08c8d8547368c3d2fdc2d3050ed4d207409dc5541315e59e390fcba3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30e2f33e4994be181cfe36b708af3835bdc968fc9524d18d16026392aa75a36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEX8JEsosZ4ciRGSg2Q3Vraa5pEL-yVHYZbX4C_y1-RlkSPHiRhmGFmnPqLfAIYB6daJUMCisrnc8iwAJrcvUQVA9DvOGXbz_Xl8bGVHrV229ownrTxVqkxLOKwWjUU9MCjwT55xarQXIsWFh1WwnqmO_ZUIL2N-VbsVFtWP6ftUSLvjgNdffc2GNFiK8NruACmNwLMiZP0Wh1Q5f1mn01wujT07DPRo6h9bYrKaZsLOCvzIU8EZsXhy-O3jzptto7MeFZ9coXXefpR0SsLDTGBJc_MAeQFqEXIM5OeY3-9hbYFxOTUat2l1AZ0_Qa9gShLHdsnNpaW22N5001LuXBIKtMk42j2JlCNfWMspUdg9ooKfK_4NTEe9teW9RGWejC2MbtJtorHFGzumT2wn8t5TEj9tRgJi4wz3EtEQ1TLvmEVBkUHGuRhOXoBlrzBdTqvFNxCapesMg9O4_dC3Z9C5bXY35_4eVeETW2eQuGRscaoJHddINGNwdKXRyJ8P7nApo0GzdEUrw_JLQ2ZZ7mVMh3Y_mphjvm9giZtckr2IexFU_4qk1h5LD1ozoE6mM3VCnSoSNT3FQSMA8tzKKzRxqI7_daLrred5AwbxMxLPercncXCBSzBs_Yi8EG6UnfTqZylCej5rqM7-bl1Jh7Ct-wMYx_q_66zGCUiAiL-7zO1Wkb5xioEzKRtTHWxPP07uLRhef42vfnsYTA4EUYDoD-eYG2WqDuT805Jx42qxkuzDrMWTpOtxhxE2CNPV7m96-2FqWGJpKv4mdQA8Ybqx73izeWT8wf3ug8ySkH9ANdTWl_emja8P0t0cH-iLsyFEyH_0rc_DM_oCHmoTWOX61jz7XKK1R9pRRWQWTlFsfAf61dJTBhSqD6cohOLCukGECSHPrlfO4nfS1xRkTUw2n4s4RJHgzsUlYqC5OFQlfC1iGWRpjWgMUh1ZF_nv-RfYSWJfSSA48M149GcTW-VZ6q-F4S5lVll5bAxc0PnFaTSZqmK42eARwXh7XIt2HfOabSR0DOmlGnUsTR05dRAP15YbYtR7tD1BtdGKQY3Ox2IOj-uREWVntGR2ADc7rM1FC5smoEMPzCxa9BO2zOwT_kkPHu4EOJX8VgFmhWVyUMKthA5b99C4C9NcLLIwrzSZ4qwRo4PbwW280BagHjh41pzxS8a6XYSN5qjHug96frIGKwYfNH4gQD1aSs0fmK2GTtCkNePI1vOugq-qWIsA_HymY0a5ifvmZwgmE1GXkio1NOuVCiguv4qotuT_K5Mw63_0vCzPmW9fuasoVJVjbdQQL23Rpei2b5EEeHQg6snaPkRa9zsFUtDADZkQN2A5RW46Fk04SrCMtU01WajBSgqAMMjN2Mseo4VrPjCS6J3kDEu7ifXsryWqfltteT8-GGsYrfaBQ-osauRgArR25wg5VkMpbz8L5JysDHlB7OJsZRZrIIbylU4FwM2vLJckyD4TbdQw96L_EjvXJBNs_ISnfN7Q2MfzC1IKt_-hEryUL6hCLpt5LOU4Ugh2iChnHVZwd8GEKIs0QO4kkOxiqFR8gDQOfDQxb4f58IMUY3dgMUc5PO-sQIEQgBGP6-VlD-TYF_CAk50ZngAp5DUjsJzgyZWcgqksgW5I7BGXpwQlnqeVaAl8jPmdga2H_q7W338GpIww5CNsXh8yQ3xaTAzs48Gmyl70T0lyUhb-I9mVtK-oZXIBuljtaeFsDeRHKShKDp-0GCLjtnb4w8u7amTA8OxpNLRmgNznhSZsL1pxRRjD0FcH4lvWIOIuMRzp_MwVYZw89TQi2KDPr6V_ngxgDyBssHY2ZtaALpGmfw7nHAhH0R5CHmvs_ZPzRsgjnkQ01AguCMlwfnoZBo5HmCIQ8vRooDGs8Mw--9SlJK_TjCAzlCUF1Pn687sb-P3lQHUlzsSHgZeBN-lM9ioHCw==",
  "id": "rs_00a20431a44a08f9016ab445fa410087d085d0453fba2e4096",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.406,\"left_y\":-0.071,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"The bowl is now centered very evenly between the open fingertips in the wrist view. I’m descending straight down for the retry, preserving that alignment.\"}",
  "call_id": "call_CWaHMvUNz1b4UNUguKTrHGSZ",
  "id": "fc_00a20431a44a08f9016ab445fb8edc87d0bff7d69a43fe072e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CWaHMvUNz1b4UNUguKTrHGSZ",
  "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]: [-0.334, 1.6775, 0.7464, 0.0727, -0.3614, -0.2287, 0.9986, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3961 left_y=-0.0675 left_z=0.0358 left_yaw=0.0888 left_pitch=-0.2213 left_roll=0.122 left_gripper=0.9986 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0267 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -6.4615, 4.9983, 1.4676, -0.1245, -0.0415, -0.1538, -0.1709, -1.4017, 7.2684, 1.7118, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db62143aadfd6d97eb0344e08070bda2ee88b05b8e809158f55666384360f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2be01f084094030f1d32a5ce90360c84b60bd1ff952af2cb52a4c9b500ce2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ca91b11cf6f6d0a504c8914b6b72b8c35404a58d1ba3ddf514988ca5873b29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4808, 1.784, 0.7986, 0.1997, -0.4389, -0.3027, 0.0284, -0.0216, 0.7986, 0.6018, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4122 left_y=-0.1263 left_z=0.0365 left_yaw=0.0382 left_pitch=-0.1261 left_roll=0.0846 left_gripper=0.0284 right_x=0.293 right_y=0.0002 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -8.253, 6.735, 1.3797, 0.1099, -0.105, 1.2283, 0.0068, -1.0735, 7.4051, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3367, 1.5345, 0.8909, -0.1543, -0.3653, -0.2314, 0.9986, -0.0219, 0.8028, 0.5999, -0.3927, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4058 left_y=-0.0714 left_z=0.1087 left_yaw=0.0858 left_pitch=-0.1647 left_roll=0.0973 left_gripper=0.9986 right_x=0.2931 right_y=0.0001 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0252 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -7.9521, 7.6786, 1.4383, -0.0806, 0.0757, -0.1538, -0.3214, -1.1829, 7.0632, 1.7851, -0.0513, -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]: [-0.334, 1.6775, 0.7464, 0.0727, -0.3614, -0.2287, 0.9986, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3961 left_y=-0.0675 left_z=0.0358 left_yaw=0.0888 left_pitch=-0.2213 left_roll=0.122 left_gripper=0.9986 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0267 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -6.4615, 4.9983, 1.4676, -0.1245, -0.0415, -0.1538, -0.1709, -1.4017, 7.2684, 1.7118, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db62143aadfd6d97eb0344e08070bda2ee88b05b8e809158f55666384360f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2be01f084094030f1d32a5ce90360c84b60bd1ff952af2cb52a4c9b500ce2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ca91b11cf6f6d0a504c8914b6b72b8c35404a58d1ba3ddf514988ca5873b29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEX-LXlJB75NLJt3dTfTH9_c_I6lNan_uKjdXGOxblOl65nF3S5Pqr1NkaURN9OOnza8G8BBVr3nWzK5VNZ4QxHlXBej-v2j2eSVzg5BG50etIrOpQ0n0HD8a88af8QxK679WRxnAKJ_QmDtLClijuuj0hpdx3ohMsZinZqtqEAl3NtB1Ceog8_1wQrqeocha9OfoNAXVMvAq8pQqRtxo9US3GCcUXXi8Pqk6L2utbKKbTeAPDtD_NgYHR4A4fYXt_UAOFYl7TtzlGlRs7FL3iUkrlOpwYWep-AN8sxWkf4jxPxuDTHtEZEw6dmSPlvdom9hflWOS6r6abVaXBXVaaXrwZAQuWGmSJMvBdMno0dlSqy3_iiKlPWQjJCbWYYnuDBiId2EDb5YZNaRCWH4dCEYtNopoRWynAt56i0x3CJZcRWDwO5KcpmXwsDEdku_S8WmJ0yccpvI23dgTW-9nFI2IKwtQ-VokV10ITYiQAS9xck696QqpR1lHMC2qnCh5AIs1wxvGyWGvTzCSktms2CMOfUSWnDR9L1QORh3bcTyI_7qH5rL_4-aX_9rBBF2-V23xexc4LoOOk3KjuosF_Rxav11GeZIOTXgep4ahD59gT3eRM1LP5_ugnAU4Ol9ImKXvmtHCrP2FchaNQK8nTr7kE_QVtDiqX0Qr7lURpUCcpNU7uuN1IV6dZez0Eg31CTqBbk8q97wLbo9fWrtB-MNSFxKQ6QSfdhKeNs3GySar_SDbbo4oabP6XY_7r2u2ua-zWPAv7V08tZOx4P7NUFYZQt5KP_5S9m5Q4XadEW8Lle6LPoichli7QEpzBkbS5itWHsiaQV1X84UcmRjT1w5ObLQPFBRaVt26S-nz3jsQ-YVxg3IRBw3vtVPxd2byV1-OMl6hIBhGfp0pO5Vm5748ZIOlS2ytEyravKy2cqZyKRbc4p1stElz7xJvxXCrgmqZiuJX70d3-i_dikey5etjxG-GEFyv9izQ3t_DjEjLednNv4X2kqs-ldvn4BV07OgtOn1mPV75_0ZGP9JFU6oxH--oCbm3ppM9Y6Jfq2ha8E51dymohZNHJdOLF8DOpSXnjorfAqSqzKWsX17LUudlaMq2Z1rXVROhq_k3fxXMGBbTe7Neer-HUKmR-K-ZYNPGKn0HP18KINh6RwhLbP7LcxMeGR6CKPr5iFiJNbLGMoIpxIyAkMKSerx3xo5_Dvu",
  "id": "rs_00a20431a44a08f9016ab445fdb6e887d08e2cc3a94fe8f222",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.068,\"left_z\":0.036,\"left_gripper\":0.0},\"note\":\"At grasp height the bowl remains symmetrically centered, with each fingertip equally placed against the outer rim. I’m closing now to capture it without the lateral imbalance that caused the first slip.\"}",
  "call_id": "call_cBPoSYNGrTLZqgVS4mipzZTt",
  "id": "fc_00a20431a44a08f9016ab445fdd64887d0bfdbbba319674808",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cBPoSYNGrTLZqgVS4mipzZTt",
  "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]: [-0.3336, 1.6867, 0.7383, 0.0639, -0.363, -0.2317, 0.0088, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3914 left_y=-0.0655 left_z=0.0283 left_yaw=0.0946 left_pitch=-0.2442 left_roll=0.1319 left_gripper=0.0088 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0009 right_pitch=-0.0328 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -8.0889, 6.2838, 1.5165, -0.1099, -0.0122, 0.6862, -0.0479, -1.6205, 7.1043, 1.7021, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e627b8c4a68847f835aecc994c9e9410a8a524aba3248561b1ea4bbbd6e6cc64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e9f569c849b8e652e6a71f77c58877184d01c8c05555b95bf6028b90d09d19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7f05c8c6f3b9870d1274acba6daac5882d07e8704b4fd524b386d5e0f07137",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4805, 1.6596, 0.889, -0.0551, -0.4427, -0.3126, 0.9949, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4062 left_y=-0.1224 left_z=0.0787 left_yaw=0.0498 left_pitch=-0.1589 left_roll=0.0997 left_gripper=0.9949 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0012 right_pitch=-0.021 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.7573, 8.6906, 1.4432, -0.1734, 0.1245, -0.0611, -0.0342, -1.1145, 7.3368, 1.7607, -0.0513, -0.0562, -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]: [-0.334, 1.6775, 0.7464, 0.0727, -0.3614, -0.2287, 0.9986, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3961 left_y=-0.0675 left_z=0.0358 left_yaw=0.0888 left_pitch=-0.2213 left_roll=0.122 left_gripper=0.9986 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0267 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -6.4615, 4.9983, 1.4676, -0.1245, -0.0415, -0.1538, -0.1709, -1.4017, 7.2684, 1.7118, -0.0269, -0.0708, -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]: [-0.3336, 1.6867, 0.7383, 0.0639, -0.363, -0.2317, 0.0088, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3914 left_y=-0.0655 left_z=0.0283 left_yaw=0.0946 left_pitch=-0.2442 left_roll=0.1319 left_gripper=0.0088 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0009 right_pitch=-0.0328 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -8.0889, 6.2838, 1.5165, -0.1099, -0.0122, 0.6862, -0.0479, -1.6205, 7.1043, 1.7021, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e627b8c4a68847f835aecc994c9e9410a8a524aba3248561b1ea4bbbd6e6cc64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e9f569c849b8e652e6a71f77c58877184d01c8c05555b95bf6028b90d09d19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7f05c8c6f3b9870d1274acba6daac5882d07e8704b4fd524b386d5e0f07137",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYI6pyqVQm-KOsVavVhiWpJ7fp2rZGdiskXhO6WIR5jGFbSrgluyq64M6bdD7tswip_BK0nXWIhiZ02Y-QgOFosJZIVbQvfMzHNUOLI3WXMcDckDfned0sgCyr-h3xqT9obe4q8cTh0sYFNyWVHJJ7YpS4zDAFF7PrC9sFgqr3jRG9d8LK8hFN0FN9w304WfL29XhaBWIBa5_pa2hdHwm59vw3j0Lzh4BgWGPwX1o4FT1qoHw2Q7R9tKD2YOiUkFapae1ADHO0AwAP0cWpiwU-xBXL0kj7tW9VxmtL9Ypz9L4Vrtucv-UqvbZdqdNfBVY6ktq0b0aInpBozIZUVU4jYQ0g_EUsu9G0VjH97IsSj4rwBCW_GBd0n-sd0z4iHBH2IeYeujG5jWWU-qfW5LXJk7xOMqt1TpbwrFkxEkHUXpnROvxUSGTdrnlWLy7J8X9WlMKsrHbt9fGVa0KsCPk7KKq4nV8_Jn-HiJLhKWI6oA8ipX60aaEvA2gk0FFLt_iLFPwYq_5INz1MYHd_J6wiOqe2ekFiQoKT31-Twoq8lIeoCdoqNrVIQXAf6u6WYrvNTD5JsTXH3xFq4NeGz8GIzyfBMWD5pMiyMfF8auqi7GchRPkVkEdWyBdgA6gad3mDnJ1pa9ArQivhSV7b1o2nDUhvggN93-QZKLl1xHUS53at5FLMyVG-cAR1N3-ImU9d0RgdJW8Ll37gfyVlmaG8VChpC8IUrm0ZXAlZtASftbKMmexU5R7rzipkStmM6JAZ4-foAGSLaUlzKcG04xTNuSI4FbKldNUCEx4SEot4z6WqnAD68l3ghiMLTiE-f9AVZxA-3sqLx5wepebwWE11hlN6tD7eOinDqMSpjH5ibI0GLD9LuIoyFniX9u6gufxbnYMdbBLFUUo11oswVIiWqSRazAJMkNfsKJAo4l87Xlaw2cepT-HMbbgw7gP4X0SoHhyMYp_L815TM9tzv7C__lfatRJTfM_nbKcMELIVMkbaeiMpXPr4Wis8kTd2NZzexJT8fUM7QRHI46II4iefoBbkkiATz9x9wugwmgRncNuA8J_BQgD4Mnm_MLlzylY1AJ--WEITjlszcbyPGtsDUPGRTYlXHtmqbmGIb4lj9wray2ZdKeP6k6LXPNuHvzwOrX7C_yegTHhtJ_MfLW9txl2Wk0Ib8tGTPfnDwKIcnu9yaRf_4Q3F0TicaVwi5qjqvGBaxE6NA43C-hViBr-ltWZ7LiqrEb0lwyMX3ZCgzFFHCsArG3QHWQYgZwtBYsUIQXNlD4O4SLav29_UuPkW3AYLi981KmZtaZ1hCLlJRl2ddQfDHM0PoCALwcRs48GKVl02vTjy0V6tuGqkx3tkJRrJ8E-v5Cak40v8NeQ1UYUpC0oYocXkPG3gB9eU163xmvOHE8MXNM-ey0SqrFkJT_S9Xztc0akHrMaT0mGf7R3p7rd9sahRY8Mc9n8go__JKxyj6mWIHkcxuAofIHpkBf0xUfE7PBhA5gq5LRkiBYg2eeX-YUgp3heVWE2_jTWXXvMmUIniCtXG1x2ffsvbh_KOSE_TnqRppYYdPHjrkPMuJhr3DKGFmF81DmwFQ-BOGr-EzwaHNyoo_QgxShRmA0SjGiU4f3EFJz3yu0mKEkSWF03ZxCejVVAuj90uPm0DnArRi98YyxjP1TmiEbygBSY8mKPz8ktnnPZfCqDy8W9Yt6bPZb9PgvRl91yHJi3a9F0I_JxNPbDMoEMg3ATg9V21hb-fvEBMg-Ddi_matzPMGbEWQAO2o12wvYJYmkn2fN1pptQP8UE-J06O6_EQBYU132BsGDPZ2b742ZGg_B-Ne1q1RiKXv0EPOlHhQ0GvQud5PA9F5h85V3CTtNhkuqXyLN0v8zueVICEHQ2jcqAAP6RKhf6my7q0OwL-OEeXmFcT_vawYUoMmXq-77RJKuMiVf0hy48DeHZ274Wp4PcanIxW4lVqlkJwogWYMH9-_5aJK0_mfOilVjD8PGb4wK9dmvDUw_qIWjPlHr7clNmdlZ_48R2AuebOF_9mEOfXgCcuIaA0sSeHEleRVhy2pdE-TlmvOaKYDjiLE_-uwIK0J5H8NcmAf5zuI4NJm7AgYsVjUWK5DkKTfHlYpW9iWjTRcIOmX7tpyPlAYytzSdCAC158an8KuofIfKJjifM4LhEtppKbUE9-AXOY5FmggBX1z8mcxw2LAn01W9LN_aTb0BbawMqL8dMbsatdlxj7SS5h0aASHxUtA-ynf68VlCHA71hPamEY2mfj1Yc9OAKGhZuUDa2oFS342h7Hk8C7fXBccttRMrZsxb_jAjCieatH3sHl8lxWuL7eIyZMO1sI2Hf1-U4nhXsAYE5xouZ7DyRh9ZoSiHPoeoYUZs0wcsLiKJuVU5hl6R1DHNv9rgefVwfzXsC72oTEQUs8y7f02gGtXFem7CHU3yDLF6CqP3F4nWrhQKaI5LibMblduiCA1L9oNbKJL7F4mrKUy8Qfb71X53cufOMJZwDUGisOfrWQlntdt_bskuI50FPaB9NU72Ig2ve8xbLGRXm-OSxbUznrNNY7t_yv3zaDi8QqqdrVuAuk6YZARuoAfsvd23iSnNe6hY9PPw0lvpTBQzqwcfXO66f-VJWZDdNwacDhTsifiawqHv5MnnD9e3XF0uIb-ZVP6TaWWJGSK3yBRYkeRY2Ma489lf0yi5DT4lDFtt-1fDPVPPAl9TVhnO1sxSdyIr8ybzWPDXzVu4gEUGlWAi9p9Q2YcevzUAeQIZxc2jjcJYDEj8b5HCXJEKC17fcWEj_xlwa6HpUn8YrVS5PQ0bgjl6hj6AS9Ogexg3dXZdrfXSFJ9v0YDLETmd8WN-pNzoCP0hoUH6eTzHLDIpjiOJ6WzUXxQIILoecgnEb0JUQqNU56QpjIu_DKLkRiGRkAu-zANbZWrMTvkZAErnp2PK4z14KpLeM2vgokSFMy0nwwDjCLRGWXUZkrVP7XVo0dr2RqF5p9jiubl7FtPJg_VsVNJCVqxr9uFMhjS_P6ZM2VBYsqpQoZz32X4HFdJq6Xt-QFzjGXivxeMh-UumRN0mR27HD5iBxV-D4mIHnIyY9wmhFpa-zblJmzW1P6loJSROU664updmjdHSFJT_My7D6lCCkKw7ybi7cfP0E8UfMdxvZw1SjMbIS9G5RMNxDMFGP-rsaua7Z9Qgvvzk6BPIjzY0neXuqFEP0J6UJD8YEIjvotIyJYfZMyDrrTGQ_8kIumQWJmskI3e5nKNtU60oOlLugL6lqYmlRCzW1EwbR7f3dOYL6weRLpZFB9Ft4QMcf4CESp_8QGEwT4WpnUygSNrC8LAHumxhx4rsIqyKncIIq0FBFLbO30vMqwQ3sV9k1ZWNQeA8yJPaxhtVpv5z4B5MwEyzYDLaYjZdJnHhvZa5AIY4PAuqDEAIU9dXkh7oG7Ryb8CI_M2Bm2zQ-aGm_Ih5iRI4h1XaDAKhiCFRy6rWffOWiiD1KN2Iu57Sa9SJFKahkowQt8iBmknJWKiU0e6rrfighXRT9T5F5QGJlF8LJN4AQDcomHSk5WsiQVKFSTxeB5bkk5geyJalBcqxIQU14KMwSgppvwCMHzCOFO_2U-YT-BnOlZK-qixiYBzeN7Ng2RmsLr7cicCY8cSwYQ1YhVTqTZB9qi8WLeXnju6sQGK8jg5mvfyYGLy1PjLVN7z9066RhdEXYcEDVQ4bQHFyEM0QAcmRipT9P03emjQFu21KDroyZ2YJ59pJxrX8hlXZ9O6ScbgJJEjHztuKYbJ1DZ8GvaBNHcbI6PSZNsYJ9cyg3uu_nM3is9sHM5EE1L-JB97v64RIPqWtitApgZFjSUBtds5xm6El9I0S-567WPniAQVh6Jyod7jYP1b9IhUOiDiL993BTqfhJr-ZZisOTqUHyY9JpdgbY_8ovTNGyfl0vWIyVnU4vGGx5HkAozQImDu-KuOkCqq-D3a4kjcnTsOe63Wn3bqqIivuBZm4H6qvFLbUvw-J2O-19WhIialdZmcLI6pWV2eYnC-ilKCwRvAx2CsLYaQiIYjfUiCr5t9GrECB1VAScNS_Yvp_3bXD3UvZlJbojP_VURKCORx6z3Wd3RJEME59qdPfiTLLmO3GotAo5Cco-otPeaIz-JRo8MS0jcfydkD6U-qi9ft7D4RIM8hd2V3kwqs4J5b4M3VE0cIQuYx9D3CgzWwic-2R9rzGSfJPxUWIes7ZtBKvBkBuC7_B2loUV85--JlYqDN1utvkF66a8bvIogIc42BoOBpDG_3bwoHijEzYoIB3YTOoQZxshuYSmd1yQ==",
  "id": "rs_00a20431a44a08f9016ab44600c52c87d0b10a00c17dfa8639",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYIGrm08dBXNGXs5nznOYg9Lk0jGjDIxa7M7JKD2n8TFzgzeIM0pXX0JccvcldpVUdrdJ6vLri6_CLrPwVtAisHBAhIN664FYd3-DcYtvKEKAkhp0upAKXQdQ8BDqP0KdaAx5zfQYz-PtIrtxgdfIwOBqML4eHheUlTFgaEne8Et6yk0Pv1h69cyxPe-LISxeINM0aAp5LjFypvS2HCqg46l6dhAlUyCi3sG-ObPTxgXvsUSNAtw40qqn8b5u7mTZIBBeX4hic_SodyJrYMg1VdlRxYd2m6sFkIMdEM2hIH6Lzzj_o35IO4lRY3A0HU1_ijbRoggylMdOalSWiKnQB5LOvDn4pXMqSKBa6zOl8e3JCb7lmPw8HvF2fptUeGBecipfoEQLAJSkPRk04qk_pGcseFw1ta3ZyvoRJn4dChnb09Md49CgBQwC2dclDDcszT_DuLmYy1J8TEOu6Ao_cgyhuc2Idpy8_XJCXaRY3f8pVBthZT0Kj_RvuhDFKomRV4oDHpEQjKPR5H7NmC_svA-F3A_ddnJ5wb8Zje4QooTkRJtRSEFh4mSJ0TNYe1F13Sjvyr2iELGWcDnRarjInZukvCBqFWVAT_RtXMRs54mPBZitdETcjQd8azlqVWD1DMrk474boDV63QYd_sj-0yGdnX-76dB7H1ZSrBDmsBPEFMmbb2hsgYVH_24jElOvrEwTWw3BZI0XB5gJdR5tASeBLEEZpYOHRk71oK5g0ljKjMZ8LIMpO8i9SJFpoDX67AqI4JLt4JrAom4PzzMw0YMzObsoTuPtCmY2p0Rj20LUWhVqu5MT1yjmmT7QzSRQismwWcK52-sc2iakVS1LBLH-te0rEuOEfvKLIVimtmL7MNyUoulXgkdsEusyptYDh0WYiKW61n4fSlDJqjRsE5Y2MZYN2-u7Rb55_j7qQnRqbskGGs7KvPXG-syz1i2fy8GP9sXxutizxJFndFWVR2IbBQtjlfenSfhu_Zv7LRNo294whL8Wcd4BBdgC8l5juQGXc4S3ixbeOue_db4OQRv788zCV380G7fz_kB40aRq2o0MjREByOm-zLOyoTooufmMkVF2udqPLtA13wX6p5DxIjgLwnNRJr_G_OnGgpEHAfUF7BfqJCc8ujSM_d-uvAds9Kae_ioPFQwkyUGFNklpkFBtFSO5DngB-zPG1eoB4-ZVCTOE1HgsCBw4MQXQbcglxl-aB_AS7FjhMH2bNAlMvqE4w1kRp7j3JF0sd4gjGHcHrH6Q-lQGyhbxHXAQSq7LvZj5QX3L2fsjZa6SKKbKi5dl72k7JXbOmuC0sGhbvAk_IBp8i-2wizLM3IIHY9puQu5KDzDcC4IqE6jDGU8pRnDdouobRrGoZyKatG0EVXC9Krh63x6wOdB9UPb4MU3B8HVwtBSVq2__58vd6bgIi_SUalA-kIATFABHQset3_TlEmfDHUjnKPUEEJfHDsXcIHPr75sYxQJ7x9u475SsokOldpNm9YgySa3QOjDjceGApt0WJx6FnS03tFK9JtRS8qHO7deVnDOTn-0IkORmPykLkfMwWoxvJwohz9fz1krpZ3HSHaS8sZamb77nvnO9nyM1wyP_9-dPUcflWaaiWpORhe1YjZ-VvUfJDeNvvVLQY6fcB72kH8ZOQZ5xaY8CoIsKh727nbgg52oTSrvLp2llrOgUgM8czIUAZ6g2YddfbiPYtRgkkh_6mxhrwA8hCgGaxViqohl8720-r8t_s3ReGuB9jW_fMpvtkdK9tZE-cbqnWtG8ZY103EsPT4jT0rSX4O1gK3pCT_FIl_9nr8vM3X7-SzB0Iv91gPRsmzRUl5wxs98lt5lRm3it4VjdGuaTq279GegZcvmqKSI3hYMvchYjdKD4UtDbYgkEBcHKqU1iNM7qrb_XdEeaFUkfcOCHy5FmPYZb67WyTqp9uTvxAht9qVHZrL2ydBBMFQ6YdPza8A1IwtxYvwYV-AOA7v4vxPRWw_YVBp-1C3zvnvZ1cPmuRBdc_Ymj2MmMjn2S69UNiKacHUD7Op0aci2XTISPqnHkS4rueZ3rGYI_wJi2YWrpNxFaMgeHRn9Gsf19R6GQDe27ELEcgTfWaQZcSYE5V163FB08GIie4o2A==",
  "id": "rs_00a20431a44a08f9016ab44605fa9487d0b5ef28b08cd0299f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.066,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The second close is also empty; the fingertips are closing inside the bowl because its rim is wider than the gripper stroke. I’m reopening and lifting, then I’ll switch to pinching one side of the rim with one jaw inside and one outside.\"}",
  "call_id": "call_bZIOMbjbdERemU1sJc5ef2PW",
  "id": "fc_00a20431a44a08f9016ab44607e97887d09e38845119b7da89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bZIOMbjbdERemU1sJc5ef2PW",
  "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]: [-0.334, 1.5452, 0.8951, -0.2756, -0.3634, -0.2359, 0.9944, -0.0216, 0.8101, 0.5961, -0.3939, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3865 left_y=-0.0638 left_z=0.0876 left_yaw=0.1015 left_pitch=-0.2812 left_roll=0.1472 left_gripper=0.9944 right_x=0.2929 right_y=0.0002 right_z=0.1691 right_yaw=0.0012 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -8.841, 9.0462, 1.4432, -0.2222, 0.0122, 0.0659, -0.0205, -1.0872, 7.3641, 1.7021, -0.0317, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8f15e83e43ef29a0ead6931403a39db8113104c432e6ee066feafe46236eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e396c54092e2a659e45e9b18d57e40015948fcebe8db12a5552604efe66c068b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c49d8a36d2d684dd6bd1020886700c56f0e2c482d63eb062d662a2a1d13795",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3367, 1.5345, 0.8909, -0.1543, -0.3653, -0.2314, 0.9986, -0.0219, 0.8028, 0.5999, -0.3927, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.4058 left_y=-0.0714 left_z=0.1087 left_yaw=0.0858 left_pitch=-0.1647 left_roll=0.0973 left_gripper=0.9986 right_x=0.2931 right_y=0.0001 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0252 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -7.9521, 7.6786, 1.4383, -0.0806, 0.0757, -0.1538, -0.3214, -1.1829, 7.0632, 1.7851, -0.0513, -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]: [-0.3336, 1.6867, 0.7383, 0.0639, -0.363, -0.2317, 0.0088, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3914 left_y=-0.0655 left_z=0.0283 left_yaw=0.0946 left_pitch=-0.2442 left_roll=0.1319 left_gripper=0.0088 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0009 right_pitch=-0.0328 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -8.0889, 6.2838, 1.5165, -0.1099, -0.0122, 0.6862, -0.0479, -1.6205, 7.1043, 1.7021, -0.0513, -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]: [-0.334, 1.5452, 0.8951, -0.2756, -0.3634, -0.2359, 0.9944, -0.0216, 0.8101, 0.5961, -0.3939, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3865 left_y=-0.0638 left_z=0.0876 left_yaw=0.1015 left_pitch=-0.2812 left_roll=0.1472 left_gripper=0.9944 right_x=0.2929 right_y=0.0002 right_z=0.1691 right_yaw=0.0012 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -8.841, 9.0462, 1.4432, -0.2222, 0.0122, 0.0659, -0.0205, -1.0872, 7.3641, 1.7021, -0.0317, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8f15e83e43ef29a0ead6931403a39db8113104c432e6ee066feafe46236eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e396c54092e2a659e45e9b18d57e40015948fcebe8db12a5552604efe66c068b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c49d8a36d2d684dd6bd1020886700c56f0e2c482d63eb062d662a2a1d13795",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYMAzHT8TelyjWsIbqOafw0m1T4amd5rMrTxwzNaw8TzXUFkXZlKnEyaeH7kUpZAP9hFwnaoG7chdvxvYbZkNxA8xScH86quYMkWbYhHz7TDwe0tuj6OPN1F58XBhHfuSpOjU0LARL9GAPDgcdyuFMQYD-h7W6mVdAUQ110DBdl4xmKcV49uY4jxCH9hbxn07UxrzgQUvbiW7e-gAph9oFNahpAddb3QwJsYTAq7h3rlHIZ3e82AyUbdehuYM-LKWIY4HMYUZB54PAlCcYdPV4t4AttO8xoyZOMne7ThBeCHpy-u6lCTvmuygD-ZoDUFg3MDyTnoPN1J9BciwUCa1SskFo2zVfDBAp8IR7rYxnhJuXU0tK9qZwukkXV9LRHCkiBcxegXNi5HGWD91kmSDkXwUG0dk_XZeq1tahRsxd3esy8GcDfkauMQQ3sHRgnRSNCqTVYyg6kt215a_jV4K_0en7J0HV9TvXdYeft0paLJ2jve7ewPtx6HVXJqXZYNoPC1996KHMGo8ApZ4QkdXfS8SS5RbesWFXJAqE2xfc8fsys0fbeqidT80mcPUD1SFiF5CRHRQU6q5wA1p2AQJJTzXbYOR_hon4W8mPGKFvZsAxU6qZJhd8KFAnL7FCK2wAX2s6sf4WTAm_1SEE6X_rWI-c22kiOwrs70vnCD6sV_RMDFMJoQRfSep5Pq9eD56NmRDusL2a3H_PsO2MsiQRwrx1O848yyi5iNtdQxxoscFhyNHPLxt385r0fODMbonAK3sM3dMPQLd9AkcSVzBtLXpD9Ih3SP299Gr291BC6_oYdyCvlBlo4MxBIxZVKs_9yDW1Karvg5kUhqXOYJsVSLMBzp8lSZDPOH2mipwfgm7nZpYjBywhKtxdBWHH8XtYNTb9s8Na0HVB2n1ZnFCSVOev5EV2ohH4yGPgUixd4M7uQR-u7YKDXsYcdV1fy21y1y5ZE-bo5QOznidaPE8-Nafd-1FHy5wZS8nEwdlcVRW01-I95YGrKqGYh9u1xYd_ueF6TCubbUkt8HX38hTxR5pOab0bi-GQanuHUywZM6M_kvFSCOqnQu5393upOs1-JFuNuFRrC7twxpqaRjt341kPnxWFqzymLEQS8IG9ajmkyzemx6w2ItyLpXCjLWTh9ewYaOTsjIWos4T2GS-McHLSzJRLm13v7Xp9StBBYEqJNTOW-J1eBKG-sBMIGvm2T8G6OSl1ES18j6fA4KxIWQDxBCwga77QjUPGYeD4-SGDuP59y9NHCVUntOZO7LOemT9B7n0gawsCMuLf3fFwwJlf-NWmLaAS5LoEZuN6TkDBams34YSWgNbAFIvcwWafBJbmUDK6Upuh6LW_TpOgz0kzkdMi5v8Km52EGC6AProY0rcVNexHS1Yqi4J_5382f_H-narDwcpZKbSK7EJkOpBkpkTAGmsHzCgHa1nljv4sElm90M8a_uCjZjgV5t08XbAzoGRh1ejZPt73F5kUGA6GMy5TjbLMnyH1ZgG5avNx1i6wgSMyqzfHV5Xm7Idt6Y0glx59a6kZUI-ysL1UNH81sFJ691ygOlY13RtsUviYdUSdi3P7MGO1RLxR3qiaFS1-p4D_IsvAOugylG-pOSxcv98I_ZbZSJQKClEGe7_GRHDhkEnWj-0haM7LHF8OkhKZfZ4-5dfs5evaX-R84cYZyeLOjkj5yn9dCbdW4226cnRAtFn6HTYs-rjdBpb6nqL0p5wIUMUaMiXpOu_7TfQ==",
  "id": "rs_00a20431a44a08f9016ab4460ad92887d0b4e9a5a87288f0b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.387,\"left_y\":-0.043,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The reopened jaws bracket nearly the full bowl diameter, confirming the bowl is too wide for an exterior centered grasp. I’m offsetting about 2 cm left so the bowl’s left rim will lie between the jaws for a rim pinch.\"}",
  "call_id": "call_p8o0rxlVTw8lc6zCbTZ865CS",
  "id": "fc_00a20431a44a08f9016ab4460c174c87d09b297f8f0c2e6ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p8o0rxlVTw8lc6zCbTZ865CS",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2977, 1.5223, 0.9108, -0.3271, -0.337, -0.2119, 0.9986, -0.0219, 0.8101, 0.5957, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0528 left_z=0.0933 left_yaw=0.1044 left_pitch=-0.3037 left_roll=0.1488 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.169 right_yaw=0.0009 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.8547, -8.759, 8.1299, 1.3553, -0.1148, 0.022, -0.1538, -0.1573, -1.306, 7.0906, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696381cda4945333545f19d44000f85eac2d1f435e53fddc4633804fe1f5c060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33497eb2f2f3f82219a765d0d70ea4bbb9d0b74acb42ad8950a2de171cdcdf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57cce8c5b45b1871200a47adea3317800b9371f5ab0f7b77e85b54a37ef41bbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.6775, 0.7464, 0.0727, -0.3614, -0.2287, 0.9986, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3961 left_y=-0.0675 left_z=0.0358 left_yaw=0.0888 left_pitch=-0.2213 left_roll=0.122 left_gripper=0.9986 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0005 right_pitch=-0.0267 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -6.4615, 4.9983, 1.4676, -0.1245, -0.0415, -0.1538, -0.1709, -1.4017, 7.2684, 1.7118, -0.0269, -0.0708, -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]: [-0.334, 1.5452, 0.8951, -0.2756, -0.3634, -0.2359, 0.9944, -0.0216, 0.8101, 0.5961, -0.3939, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3865 left_y=-0.0638 left_z=0.0876 left_yaw=0.1015 left_pitch=-0.2812 left_roll=0.1472 left_gripper=0.9944 right_x=0.2929 right_y=0.0002 right_z=0.1691 right_yaw=0.0012 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -8.841, 9.0462, 1.4432, -0.2222, 0.0122, 0.0659, -0.0205, -1.0872, 7.3641, 1.7021, -0.0317, -0.0611, -0.0073]\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]: [-0.2977, 1.5223, 0.9108, -0.3271, -0.337, -0.2119, 0.9986, -0.0219, 0.8101, 0.5957, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0528 left_z=0.0933 left_yaw=0.1044 left_pitch=-0.3037 left_roll=0.1488 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.169 right_yaw=0.0009 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.8547, -8.759, 8.1299, 1.3553, -0.1148, 0.022, -0.1538, -0.1573, -1.306, 7.0906, 1.6923, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696381cda4945333545f19d44000f85eac2d1f435e53fddc4633804fe1f5c060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33497eb2f2f3f82219a765d0d70ea4bbb9d0b74acb42ad8950a2de171cdcdf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57cce8c5b45b1871200a47adea3317800b9371f5ab0f7b77e85b54a37ef41bbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYPBJoGKo7suDavwWFhtCsFvj-fm2CAS2mIZ_6NqPvpeftEEJUYagIErmS2Rvdy8gjy3UoagSkYomFImKB_qrglMHyN8EoLnDW1PmB-0IpFHz0MRiA0skZ-06D55f-z-NKF4dZCWX7jwVeID5nnHDnGmT_Ly_IvaCwP3tn_V8ke-LOLd_lEhPHYslqnGho1x0iMU8hq2uVPOB1v4xdgx4RCxDPikYHBTqvaGz8dvsjNaGpXvlPSm7vJg-qW_dBkk8Y0XlIFXOUkOw0r-xBnsXfLMlYBBJL_9y93I1ITexNXGwwCGsxArzm1Zpqy_QVlsTZWBGCiP-2f8cd7vwGNQQyE24tVZlOS8RzEGWT7ukh-3uhFB8b3Ab8NpDYN0SvoxYwHaemV8XeBqVRdg7eEQQTlEV9kf1AmOOOAvbz0myZFrueSoTkOzg1krmA457nftjpqamc0B8YoEKAhzNVGy7JivVJRt6b5FDpFjP0-VEtSb-ucqAjFG7-FIm-3JrftEjWgS7ot1QFLesELcVZZuKQKtHTT-wWgpHxypoz2g0xUGspWEFvqMCBh3EI7zdZHb1r8mVawoACkhxV60v4TAXmmBZm14CbTtq4aDXGp4l0Nywxy9OePMVsvI-hFANkjSpyoo2Xq25J6pyEAca37BqnJKcPv5WNw8fJNCEdDkZbBS_ui4LsUMKkKEsDH5appaHMavb7CVhMMf76c0-6UHzBCw0vM-4kM05x5hPDhZXlN__B4ZxCFVraRoemGmav63gFrr6Bo5AiUa7-FXNLd6jp41K0YYYWgo-NibhcywB4n0uWJkmNHAnyXChi9XQ7CjDdgqAtFoMrnHxHNsPZ3_jIOQQdxL_2IBF7TKny5Vib87Y9Guyst9X6pGyvuMuJjqILg08MKXBfh7kVrmlRrj4sxpWi2u35CrQj7xfLvKwz7JdD54JDq_N44m6EdSuov7C4rn6d4WrUk0TkDBCHG9IkwGbQLjlidlRRZm4lMrVXf1B6DHeJfUnxVUgUX-t4tiZXXG7stGChT1uQnb7JN5uy7o5svO2lC25JCW_aM6iOgqk52G1RCyIXSsldcOvxDECwNy5v9khPu33sgd9JBa4bOJtWDUBsbd-hkaWEgLJzC02tRW8bMT1bA7pFzL3kzf6KlLQm25paJrQeXXgzLIE7klR0Q9WhRUnw8pPTi5smQf3-wX5t6-9pNXVeS9o9NNnokcHciDSnDVn-EAPIRlffcYrJXpNp0a4iUQTTHcEwg5HwIGnE7V4eRuOdNrOeOGNXZbzoVnn1LlEwVqV2-tm9SaTvmDAQBOG88KflQLa8zWmdPwWLw3d4KQJ3vC8AvNrJP0zRS0GETZk0Lm5_p2h04O8iWVF8R-19S2EHyI1rTbv0=",
  "id": "rs_00a20431a44a08f9016ab4460e6c2c87d0b955bf17cfd8e8c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.384,\"left_y\":-0.02,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The small lateral motion shifted the bowl in the expected direction, but the rim is still too close to the gripper center. I’m continuing left another few centimeters to clearly place one jaw inside and the other outside the near rim wall.\"}",
  "call_id": "call_hmyKcpLLZyWjlkDShNNdL58w",
  "id": "fc_00a20431a44a08f9016ab4460ee5d087d0889b59b212915ee2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hmyKcpLLZyWjlkDShNNdL58w",
  "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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1978, 0.9986, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.1273 left_pitch=-0.3213 left_roll=0.1577 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9521, 8.2667, 1.3944, -0.1099, 0.1538, -0.1538, -0.0479, -1.347, 7.0906, 1.7118, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f4adb12cbb98d9f19430142e98704df7c0d2b008dc4b5c21a0285ab5457362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746da7cc6bf02a3296a44d278d38b99e0f17e453dee0303b4784197b3ff3e3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7be80681c122adf0313813651c185034e5c067b3bb7a71a37b87cd955d46f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3336, 1.6867, 0.7383, 0.0639, -0.363, -0.2317, 0.0088, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3914 left_y=-0.0655 left_z=0.0283 left_yaw=0.0946 left_pitch=-0.2442 left_roll=0.1319 left_gripper=0.0088 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0009 right_pitch=-0.0328 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -8.0889, 6.2838, 1.5165, -0.1099, -0.0122, 0.6862, -0.0479, -1.6205, 7.1043, 1.7021, -0.0513, -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]: [-0.2977, 1.5223, 0.9108, -0.3271, -0.337, -0.2119, 0.9986, -0.0219, 0.8101, 0.5957, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0528 left_z=0.0933 left_yaw=0.1044 left_pitch=-0.3037 left_roll=0.1488 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.169 right_yaw=0.0009 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.8547, -8.759, 8.1299, 1.3553, -0.1148, 0.022, -0.1538, -0.1573, -1.306, 7.0906, 1.6923, -0.022, -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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1978, 0.9986, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.1273 left_pitch=-0.3213 left_roll=0.1577 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9521, 8.2667, 1.3944, -0.1099, 0.1538, -0.1538, -0.0479, -1.347, 7.0906, 1.7118, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f4adb12cbb98d9f19430142e98704df7c0d2b008dc4b5c21a0285ab5457362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746da7cc6bf02a3296a44d278d38b99e0f17e453dee0303b4784197b3ff3e3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7be80681c122adf0313813651c185034e5c067b3bb7a71a37b87cd955d46f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYT4dZnQh45bYMm_K2v6_qk-zf7jsttRgX3DL0oiZqR8MlnTp9Q42-GcMHt0dIUDpKdvYZNkSVXrBhv3GIPmE8k-4yV3Bja8Wd2dCYeJV94yP2FXIkZSd-dItMv1NmWuJtbo-6l5tQ1LEkVfxrIquebkqI6vSPfNxCoO14Nvm0Ec5bG1SbyCBWRrNnEBTSgxra2flvE1yeQ4eaLWaZS10yhiw4J8iK2MSE5NUTAWZ7XhTCSZwP11JveBPmJ1jYqafoxOv_OFxsFBxdPyoLyvi0bW10gyZcwyHKBHFBtqeMuba_jEKAO96em0HpNC0_cobp8FWn6hlia_rN79PYYsmG5bGSf2ky2RMUbZ0KY6nYvmxHMnUuRr_pbyv8vDGRVz9VEHvv-B0ZKnKmzn7SdL0eke4sJwjSxl91ioDE65elFcDbWw4njYxp3_kkYE50dUUTQybyMJ4PGQ2DR4RUrpC-DVu9GhraKbwAuBMNAcFRB5v75nnTNsfTW_WDrQTYw-3UOukVA0Z97GH7wGugYmo7PSukPpB9GGeuq-fB2EpYuv2Vs8nnfIe7lZGvSUHADcKFaRzZPcf4H0K_qE3QyG42_YKKxpBiDdQunQm_dfGVsSINMFesyTTUAtgVkWz3uxV5q2v07SWvEVqfL3s1sCLYwF4faQjBs2v95QGzQuIcVL9wA5NRU2K_tdyyei7wHCXrdhBfJ_QzygFl12CnYG314VjWNPRLGR5FqmDAUF-kA9yH0wRN_Gn-cJqdlZz283rxW2Bk237LPmqy7CdVZe0Ww_BFo8iBLqdExcMcZGiJ2eHuHsRDvd8O3dLuCdaKSKAQks8JBynbOKTxsRNZeMgBaslwotxothsqN83u3mZ37t-PzDo-Dxu1T0UVBIQi-sm0SufEVFLqVpc-DY0QbJz24gC3OkMY9fUAwBVN8CFDo7MHunSosrNmuNoHWKjtGf_3rj9l7ZHwY0zaYreQrhJHy07fTsgJHTYbJJxd33-x5trv8jFMmHfwQLkpnKtdhZk7WSTQQIwsuErlcHzB24B8nAYKoFt-tRJqLpjJwYGj-2C8o0DfFBTXrLiYPlfMWyvXuhUL20UsPFskffSaQVnIW1BhXjw0hpQUeoB2TurcYtvF8wd_1sDd-bEGjDfC6m-MnREs9FxzSTe3bNRsnIuY82gFdEGTOl8q62D5qm7f9MQpzDVs6qF5hncZrJZn8T2kTDco8oGHjgmNb0iolDpfuIXpk8nQh9m-fT6USWf9psGtKanFQRv7IWmxsiUduaYxi6eOXiB_eLns-OEUb-Swyy984kX6Zwn48AA4Avz59n43Bd5fnZya9W_1JAlr1uJ2O94X6LKxw4pmtzZdZTCSSCe6-I8hmh3oeJN6-IGl6DCaTnXZEjeKmmpr6g81XE_E4Ai0Zs9gV9Xv0w01ETxRWDu7F950mc4LRLstXtDhVZq23yVBPG2SI5hYY6GHnryjFJFNMjzDBC6JKbYydbvBaU4f3gk6CDTPrTNBtyZgruZOVQsCKnm2F4YrdVgVULa8X0BVcy3xR4MtUXRIUg4lUjUyuC2HTs82_gKgk4pv_lQspY_vxblT-g5asPp93tARrMDgxaWYKpkRVteH3R_Sv3Iv1eS_Xdup_xTQE9bUfqXpqdYITqBxZw90lEcEcZe9NnkL5z75pefy9VZcXtnThY-nrSeO0-pEYpzO1qTLgnkaw4uaLm54h0p5_7pr9EOsaOj1PLYb6ukUPq6MGYNOgUJ4m3UW30d1VePPsnmNXwZH9KCIfUtP_t0VKq6nJTUxBikVxNJqG3u4YTUa6IRlczk4Qj0CHkFZW0ZjJlMRTFGfm3kdEAl0usuLo9ObWiTv3mdQxqPUVYWo3HtxxRB2LG3C120K9QceiUndVNXucgkJJWMB3ydBOebVoFVKESSHBMmTQWU8AlIEfYfHnzFGb_PO7HYp1q0yw6Opw3pleMYi8OmI4wS_gR42rPCEAz-lK9Jl2EwPdp4UflS6SyKU9w2mSOxd5BRRsGnLKanEQ_x3mcjBYPA0qMTb0TjTFgKl2VE0wGZDh22OAqknG1ldde3nkEfIwkMtXXVwJqo6_140=",
  "id": "rs_00a20431a44a08f9016ab44611157487d0925fcb770b4bbc44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.039,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The wrist view now shows the left jaw outside the bowl and the right jaw inside it, straddling the bowl’s left rim as intended. I’m descending to rim height without changing that offset.\"}",
  "call_id": "call_IBrONSrpsrRl1vCnYNoZGmtW",
  "id": "fc_00a20431a44a08f9016ab44612ed7c87d0bb0858d96452480b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IBrONSrpsrRl1vCnYNoZGmtW",
  "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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1974, 0.9986, -0.0219, 0.8101, 0.5953, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.127 left_pitch=-0.3213 left_roll=0.158 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1688 right_yaw=0.0009 right_pitch=-0.0377 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -8.1436, 8.1709, 1.37, -0.1294, 0.1978, -0.1538, -0.253, -1.3197, 7.2274, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e129e23fd35db3cc094210fc96846dd305d935a0b648ff9a9e469c87e72571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe91d1898c8b9f2329a6bca62dad12e27fa894d65372dcf2238f421656b6826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00876d8fd9f0c32859b3292658170ac22a48dca6e770ef9a9b29ba8879c3226",
      "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]: [-0.334, 1.5452, 0.8951, -0.2756, -0.3634, -0.2359, 0.9944, -0.0216, 0.8101, 0.5961, -0.3939, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3865 left_y=-0.0638 left_z=0.0876 left_yaw=0.1015 left_pitch=-0.2812 left_roll=0.1472 left_gripper=0.9944 right_x=0.2929 right_y=0.0002 right_z=0.1691 right_yaw=0.0012 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -8.841, 9.0462, 1.4432, -0.2222, 0.0122, 0.0659, -0.0205, -1.0872, 7.3641, 1.7021, -0.0317, -0.0611, -0.0073]\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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1978, 0.9986, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.1273 left_pitch=-0.3213 left_roll=0.1577 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9521, 8.2667, 1.3944, -0.1099, 0.1538, -0.1538, -0.0479, -1.347, 7.0906, 1.7118, -0.0562, -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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1974, 0.9986, -0.0219, 0.8101, 0.5953, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.127 left_pitch=-0.3213 left_roll=0.158 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1688 right_yaw=0.0009 right_pitch=-0.0377 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -8.1436, 8.1709, 1.37, -0.1294, 0.1978, -0.1538, -0.253, -1.3197, 7.2274, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e129e23fd35db3cc094210fc96846dd305d935a0b648ff9a9e469c87e72571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe91d1898c8b9f2329a6bca62dad12e27fa894d65372dcf2238f421656b6826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00876d8fd9f0c32859b3292658170ac22a48dca6e770ef9a9b29ba8879c3226",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYYb4z0DYQLvHc6gHqucYbjh1kaK7TgFHWal2CIEWe6qYmyQXie-VnqTGC7goNENbPaC_5kkwT4gD92diq_tAP9FT4GcxQI-WB1p6VLthnKbE3PdgZH89FHuZ3JhsUB-nnA2UO7OeymsVWU6c2X4tsyindL8QXqYAZW5E6NZ8iJLX65-CD71dcOpr0rYZWP3gZzsYaKcenAiswGz7KSD4Gm61wpEOWB8qGhMBPJlUWFg01M0b1X1aa-J3zFFD8OSN6YXoKoKN-8Xs16qIeVAItz62bPJnTmXCgsytH71nBHvsuEW2O0fTMWhVSxiJl1eRdaXKURIwckTFkVLOO86UttiB0Lc2QVh1vVqd5_uIq1rp0JjOHVo5uM5nAw6GYvzG7rKHsO4nNw6HEZXa-KhqISiGIKlFI4u0O32y5oI0EetpRPlUXOOERmrtd7nUTnybcytO7N32pTQUuc74O-CNY38mhmhH6g0QR8r-V2zEZc83Hzwl59Yre38CGmz-gee3zG4nNoJmwSLNAmS_K3O5_56Dg8TLZ2BURCf9EKohKLvQd-ieYaUH-A-veWH-3iklMeCMNzV9e7pwh_tyrDFPQaDyQ86fNppR8Fp3KSB108qG6iWVUaUmAJb_v2ka-RbP4MeTIsGnYYBxXUkyMkCaAeNCGj7L1SZQX1V4QaUgDdqmrKgE5ejzYpoB-pfv-2v2girUw7FCZOO5Fm0XnENExOvVsRKMF7P4BdewknjRSv0PyOChvAi-4SsaV3arHNHISoqaYoLG59Eis6JiJ1ZZvcaduXNOTMDI_7PlDxYvfjga2MscN8Jy98CxPN6oUqvxEUi95KilVPB4AEqGcvUVqB0uCZBFpj8TXGNHTAepTzOVUQmjW4klwMVDceJf5YqddjfUrwOfEPhmWC05l1iMLtxWm-GR5kYeVTGujz20HWBloteGzB3Mx52cKxp2I8Kk8rS86XAH_x15O8Ysz7nPv2IF48XC6ly557uZHg6ibf1-oqlEyK7YNVx4amqO8_B-S-5FXGXS8IgZcBgWTi_ehFNVhiA5kegGVQgHjF9JZt1mbBgrwM4om3bop_YfdHqHqapnbiyQ8X7iFcC9qfLJwk5HcBBnlZbnO_w5s86MjJ5WtYvgAdfMIGL0NWb3-YKQb9tc4fJYfEt-6t2r4tmOhwlnODFmO-qdq4y3FboG2U1MybMviq2DFqleMXp5hgAq1HbvcJ56-FjsYICDgehcITmmtq74buvBCZAL0kWN1JRztZB2fv2gL1tBqpz5dbftU9WsdB1G04_A7iK9g4ERRwubk3S1wWPbaRKyc6WZSYcl5fnKee2Z21cEBfYYAhJX8yHqYRguI7FgoEJgpKfQ6vff2CHMJBjaT0MRJXTDFmU69WpXwdMlPR1VMgDwumog8kaqaWB8kNDtLkgMchUnvKK46_MiAVJZaI-4O2a3YKv4hN9mQWqmaREBJtMXTF_hKUV_5yzLzWZpBtD01bwM7zxgefizpW3nQnFG5CFe1ipaKK-1AOthDYShjU7_Ngz0-sPDPfr0L6bSsa6AAuAPhRi57eW5zWQbudhTV2NgoSUBJYzeXJAyoPF8HhmkWPT72_VKR4teR4k4vHzdZ65bh9CoH8bRBM1LOlFtxyySbYCcwcIzS7WfeV7k-cAZGMH0C-YNdViBVBGFYvt7XsZB8S_Vyp69phrqvyHQfA3lpKcoGt4tYyVVlrkRqDCFZIRIyWkPiPxjNbbN6ZNmLVGODSWl83Qv3J4XOnA3pKZB_NGC0qf2MorFOhhQHqYA3YrnUso_I2zA5pdDKCYfNYsy0ZyUQOAQGC3d6Bj-2dcSL01CypQUuQ7Qd1CC8qlxedfEAyc4CcEWb6JM59It73UYcuOuNBXqplw8ebAbNPa4kzUxCoiuC0FSAwZaS1l9djmYjbvEUvie63PHfSzO7Gsym1-o_sfq7N256GqjfvKVFqcyjBpfkjanMYk0602JiRWAKNGut-3FqssRxOSxjaUuBgOedU3-73fq3VA3zBHZCEZhl8nYrwgn0RHIlA_ilZRe5FloRF-qmWgh73jb6xveMxqpixAaPYfe_AuQWDQBHSqVq30jDkSCEn1reag2kbWSDVu9hIugm1Y9Pts5eyVER2EuUWkd5IwWFvEDSEemKG1P-8kooBMXR1ZS5IHH-AGqSBuNVojJt9QYwPrunyDn1dwPeAgQTwa75bxEOYrcT5psc1BRxUI_t22U0ZnSr3vZ5H5M6CWmuhhL95mzwl-D65x2gOWNXJKVqpCBbBRf5Dam-NUxaERl2z4hruppmNXVVPHg0PmutGlAE3oIZR8hQDVc7nhqQ0uJfz7D2JoM4tyUCOikrxEukjxCix0h8tH22jvVhhRV7Hzzf8_X2qp9fC8VjI3c8pPI0XZ4jA9xCP-KlxOnIYGousPUJqu2SncwjJ0mE_R4qwzFPJmG-mZjCYn9OtPJ6uB5Zyw-Oc3rpUKWO6vOfX0nRLAhX8VrUs3kZO1-cDZVFc22GbKwZcRbSFAvB8lsFTFxA4Ur8TVvHek91YM30XMSKI9qwOiOMKbGIrRbTN6CWzGhIKeJSnzntvdHMKak9CuHw5NdNJw8UlxyDyO1AbNAAklvDgMx5vGO2V-SW1OM3miyVF501xB5yAtQV8INGk0rYnUE7WGh_U2__WnkGzZ4v6XKR8Hsp2Xk06",
  "id": "rs_00a20431a44a08f9016ab44615236887d0957aece73d5a00d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.039,\"left_z\":0.094,\"left_gripper\":0.0},\"note\":\"The descent stopped immediately at z≈0.094 while the rim remains straddled, indicating a fingertip has contacted the bowl at its actual rim height. I’m closing at this contact height to pinch the rim wall rather than forcing lower.\"}",
  "call_id": "call_M6sqGuakaZmOLE6AdT3E69LU",
  "id": "fc_00a20431a44a08f9016ab44617c66887d08171d81810618cee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M6sqGuakaZmOLE6AdT3E69LU",
  "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]: [-0.2619, 1.5093, 0.9108, -0.3565, -0.3294, -0.2016, 0.0092, -0.0216, 0.812, 0.5945, -0.3931, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.039 left_z=0.0935 left_yaw=0.1302 left_pitch=-0.3221 left_roll=0.1564 left_gripper=0.0092 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -6.5709, 6.3795, 1.3114, -0.1245, 0.0024, 0.6764, -0.0342, -1.4974, 7.0632, 1.7265, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e711907ddb6af0a74e39befaac1dcd0f517456483337566a2b748971b03de80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2baea2b9fcef30716110001a648919706458ef4ffbb383c5fa1b4d41aac6b979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff41b0fb3e5b124c18e828761733c0cb8b275389671c594f0b2cf30ccbb8dc5",
      "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]: [-0.2977, 1.5223, 0.9108, -0.3271, -0.337, -0.2119, 0.9986, -0.0219, 0.8101, 0.5957, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0528 left_z=0.0933 left_yaw=0.1044 left_pitch=-0.3037 left_roll=0.1488 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.169 right_yaw=0.0009 right_pitch=-0.0374 right_roll=0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.8547, -8.759, 8.1299, 1.3553, -0.1148, 0.022, -0.1538, -0.1573, -1.306, 7.0906, 1.6923, -0.022, -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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1974, 0.9986, -0.0219, 0.8101, 0.5953, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.127 left_pitch=-0.3213 left_roll=0.158 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1688 right_yaw=0.0009 right_pitch=-0.0377 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -8.1436, 8.1709, 1.37, -0.1294, 0.1978, -0.1538, -0.253, -1.3197, 7.2274, 1.7118, -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]: [-0.2619, 1.5093, 0.9108, -0.3565, -0.3294, -0.2016, 0.0092, -0.0216, 0.812, 0.5945, -0.3931, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.039 left_z=0.0935 left_yaw=0.1302 left_pitch=-0.3221 left_roll=0.1564 left_gripper=0.0092 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -6.5709, 6.3795, 1.3114, -0.1245, 0.0024, 0.6764, -0.0342, -1.4974, 7.0632, 1.7265, -0.0269, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e711907ddb6af0a74e39befaac1dcd0f517456483337566a2b748971b03de80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2baea2b9fcef30716110001a648919706458ef4ffbb383c5fa1b4d41aac6b979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff41b0fb3e5b124c18e828761733c0cb8b275389671c594f0b2cf30ccbb8dc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYfnopjfkeUK1X2_uVLP5FeCH1gZb2ULgGitOp7G_SWcX_NZx-JapOwF6OzP2Y2_9xhf-eAhRYiwfQQKiESc_kGEFPeD7fB3ko16mseWkq2Wq0xoQoGQYmzyBl_5Id9G1xCTF-9gZrBikjg1gl-2xkHEELydrPY0uCBG0QQr4FIzaokcmJvHVt54CsnMAwkNVyGC_50pfQKVAFoUhm0uVnsYOdW4aIl2j8u6c_wtN4Dc3V16jXUHGyXF3DN_AhuV18RYNTxr4B-uQLpZ6i6QHSL49ZCKR4eEdJTKLfG0yf3X7JlNoOXzFhz6m_SVl51dot4zwBiCFBStUZpGOsU710HUPunv_wH4ZueZuw9cSWQ_zbmUT9txtvhSUvBGpYu6hE24QC0SVdQi425QVrDFBulISeSWmWIYuUmwI1rvlWS1YsKKqKlp20WGneWKtEWnIsEAmlAWg4twd65HM9Jf5sSGSYEdUiJUOf1SIIuy3Cw9AY17vyYQn-0C4HNAr0GYeAZgw6RiD56O9Uim-kQ1zO8t-fNO4hitrUOW_gcPtROL1lyLMu9NrLcMh-WXbrJL19mu19gjLc2zZiHjEb3WwpCYpiotX485Cp6XBtZ-szomTOI9QI1aTAVFs1thxVrNoasplPicuwpSnObL3Ilm1SgBLZhK_18LtX6TGTAjoy-UsJ2uZhQCQIgmmD-n3DGRxcitzgx5TEKN9BoKxPLrf_di71Xfi-lG9EydthnXQ_DkGqd3V9hN-s2gSn8DDQ7mM8Vamy1OUIIiI663EIJ6Nbnxu9m-2RAheN5zLStmEXfPE4Flluo4pG-a1rEQP00_AiM3R-TLhK2T0cRXbPbD9-PBIgYkyKOTOuw4z3nSIBE6ZYVgg98oaX0RqijmB9n3ECvEgFYZ3pI4djWn21cxrFxPH7XK0gaEY2ASYtT-Tw0J7PRx8ZiGJgTYVtKG3vaKV6cS4JrxLqsgDJgH_78EazMX_4wXBio_uUx1yS0G-V9krBRcAHod8RM0jOIHZhr8QOV4TGhhP423ped2LPj9zVvKNXRVCYSYGMBvRzPR_h4ngOmlXnPdGkmijYJ5dVaaVPMo1bkphEWfFxsrCMqWLi8e2BT_PzrhMm4a9L1JIZGrCOYNSnzGZN0GRZ6yd2tEi_67t7OqmOuGiZyfezqhC-ZVERbipuBuMHSOhogLOXw78KWkc90MfzfY4yL0rwFWRIeaIFMWl3CGGMsbD5lkoeD_cYf7rnBGDDfAsET23Ppp0mvTaigtTuyqNg3g4wb-EXHXCBNV3n1WyY6NvZ7qFcR7JrdBK7Fp0fB2s5sDJoJTliyTrw2yBHIF4mHh5qEho1MvNMSW4IvIMalfETS0j0qBq0dtwYH9MqJSzZyYEBhsJgxPAKh-d_WSV6afJx8E1A_gid-yYzc63YWo8KwokwfS2l9CgtI7c3_P-Iu8i5dOPv5QlHrGKPZHo7HjIXmzqGosDdDz07SWOJ9EXMzFY_XWwedfNsumK-lce-yLxajljzPobl7OEYn0Tv94B1jvhfHFUH3s9TnrQ3IZ7-0VIFQEb2WgLg_KQpvOx2p6m3PD3dKFuyjBbTzbwhP-0Jr2eHvYQbY04BnhlCaHCDkChUvEdsVwjQZIbAFYqrS3nCn-JfNsQCsPxyPWkFhuGG4_pYMy8SddRWL8c1d9PO8_sR0ykvSj3-ZTwKK98QtUvxA4mAxolrYv0Io4wA66MMzUkz2gELq6G6dZesEoJPk3mQw8-goqHEpyzG3qYAAAkb7JflRV6LJ-4H80DnC5sDtj77hOj1qMmQGeE0BfQuvIJg51CWptc-Oze8STDcnndqDVsO7DrITOdA2Qo0nfLHCyiofTRiFbhYsAiaG8TZIaxBiqT10JYzw6wn434Wiv3bAFp3stv08oC_NRBsnYmrMa_MBERpZYOiKTSL9gPKeTX9lzr5V6IOVbqWEy_PgmvMe3dVTDBiW_6HoLAOCLr-Mur0TMkmj8tlrJUd6e1hgNhqaWeoeScfOzaEFaAbso2Gt7feInAyrKqPzsX37T9kw3vKpscmEYjRGHxecbUxDN_00qMcJGqtnLnSNTipeg95CZniS_K2DSO5wSNV4nJTsFQrXn232CbAmbgwkW54734Uyk6PPrM32XRY-w66UKTPXb0La1_-P2N1xxvVXXVtwsdR82Lj-9a4EjL6zEha9_SdtY9p1m64iCqUiFpJGqu66FkI819VNhfwx_CWv_pTAe4vgVXPyPB2uYi4CD5CsipeiiDYHHMjH9U_pcQjyI0ArK9RPyqRSWtfB-1E54KKMfrPCdeKUSH95q8qkTMxLzpUaW1vkbGQ9MRlqXAq4AnLqjLzzy3NDdzlLo-sc-TsND0JZKXkJdne70tNoDx7HekyfbD9Lfi4sVF3HFsKTq7M7Uk0-BL_HYBaG3YNRi1K--4Una6LR-qOdFhLu5hVljmDx5qH2xRCyKFkxdITxMXU_pjHtsDOzNXOkrfBIkAwVA-kVz_o7RkjOGFgRkLZI0UU8-Vv9ZFlyPHmJ3RwSN7yJbeizMMQK5q0VG67b28gCZ6PvgGj7JPKNqfveZQllKCAJDyYZ0XnE2mR_1VyHzpHU_yFiijcjzGMVANZ532hSvqYXgGxzg6lq_ze1_wUwjU1sG4iwrJsZJUFs70cMIf_gF5FWJ0vL8aEd31erDp6gfFhg832Pnyb-KArPBclrT6C1jLCLsorh5VjvwQ2kkNJLUGYMyMkS-NXO-SB8gkWceRVXb3_LuTrQbje1nn5gw3mnkGXHe4b9vFlrgAh0dYNh9WN8QiUbjbDanSP9RWanze2YIBQr448oT2Y9kyrX7bOLKOlyNKUv-K2-4yeFn_p-echwv6P0zDSzM1CrMM2rVpnVXA5R_u0CtqB1tV4qbBVZN-ElMxvhR9tO6LTLvp5I5YM=",
  "id": "rs_00a20431a44a08f9016ab4461ad93487d09f1158704e975048",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.039,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"This close also passed empty because the rim lay left of the jaws’ final meeting line; for a rim pinch the wall must coincide with the gripper centerline. I’m reopening and lifting before a small final offset that places the rim on that line.\"}",
  "call_id": "call_ueylw5xtslUWkKszFVd9XpKw",
  "id": "fc_00a20431a44a08f9016ab4461e6c0c87d08382cea0e09492c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ueylw5xtslUWkKszFVd9XpKw",
  "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]: [-0.2619, 1.4899, 1.0199, -0.5392, -0.3294, -0.207, 0.9946, -0.0216, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0373 left_z=0.117 left_yaw=0.1408 left_pitch=-0.3716 left_roll=0.1752 left_gripper=0.9946 right_x=0.2928 right_y=0.0002 right_z=0.1679 right_yaw=0.0012 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -8.6632, 9.5248, 1.3651, -0.2027, 0.0317, -0.0464, -0.0889, -1.0325, 7.2137, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ab8696c3107f89978109e481079634df22424cf72178cacff7a985d2b63e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba452d6d441a975a2da7dc32f9d2f985f60940179d026a8a81f83c1d19489cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c161014cf032435acbc4683243d5b68122bcd7ffa7fb19e53b1ab6b630e5d5d4",
      "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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1978, 0.9986, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.02, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.1273 left_pitch=-0.3213 left_roll=0.1577 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9521, 8.2667, 1.3944, -0.1099, 0.1538, -0.1538, -0.0479, -1.347, 7.0906, 1.7118, -0.0562, -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]: [-0.2619, 1.5093, 0.9108, -0.3565, -0.3294, -0.2016, 0.0092, -0.0216, 0.812, 0.5945, -0.3931, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.039 left_z=0.0935 left_yaw=0.1302 left_pitch=-0.3221 left_roll=0.1564 left_gripper=0.0092 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -6.5709, 6.3795, 1.3114, -0.1245, 0.0024, 0.6764, -0.0342, -1.4974, 7.0632, 1.7265, -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]: [-0.2619, 1.4899, 1.0199, -0.5392, -0.3294, -0.207, 0.9946, -0.0216, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0373 left_z=0.117 left_yaw=0.1408 left_pitch=-0.3716 left_roll=0.1752 left_gripper=0.9946 right_x=0.2928 right_y=0.0002 right_z=0.1679 right_yaw=0.0012 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -8.6632, 9.5248, 1.3651, -0.2027, 0.0317, -0.0464, -0.0889, -1.0325, 7.2137, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9ab8696c3107f89978109e481079634df22424cf72178cacff7a985d2b63e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba452d6d441a975a2da7dc32f9d2f985f60940179d026a8a81f83c1d19489cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c161014cf032435acbc4683243d5b68122bcd7ffa7fb19e53b1ab6b630e5d5d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYkLGtb-yQKX144szoy4TAr4bITFBBbFyqkq0MdNCL_h1E6-50l6dSV5VkxE5uYzvwWu58VaKu5ZMe2Yjbp3mhgwaNibWRTXdnsiBwfkbZHw0kh9x09shOJTAvoUmAtNgxMB8Me6IVXNfROkMr4MFzsIwD6rSjRJfy4t_fKGOfiQ-x_4I0FrusmCA6EcETvej_fhLdyemw0AYb036H7Ql7phpLTepAUc9YPuZySyGqH3LyENj3NyXjOKmbOAryNgu4kXag7RnjuluMoi9lD-VHrBfAtlzFZ2bjR-6DjeTxWUUiGC2D6BSMDNpfO4P6VVkFATY3YpxUnXIxLvLjC9Rqf-Aj3DDvzfTwOmps0vmNkxoeuEkiEPQ0ZsdnuaaK4WvhJJjbcakKXzIE5WC5GogYtcaxvfRJL2eQY1JEs4AV2gpzSG3RMcvPmm2L6mVtSyqz34ZmGkWLsmBKPymJYd14Nm1zUpx597bPoLuJJ6i1YwnfvoEeXluv5glx7QPRdxKDRxovtP8KsxMLBKXLibHPXT1S79QmKc5AOcmtNUnnYwMnkHIXh1WRA3PWipKJzJRCGSRXtM4T3UIl3mKahv2R0GvkDB7MBiKew-PKLeEIiL2RB_ZbL04CZgOwS4yImHXTqzq1c29TV7s9xOthGK6RlWHHB5sU1QTwaFaDEO1nAZUfC_VJ5vOR7Rjo3SoFFHLEi7AYluXYK0jxRWnR7QDWCPmx5-LQGuyxWki0RFHm6HhiBP-JziRhybk1n13DU_FXGC7x4WrucpAQvirnRr_P1eGQQIHXcFMp7nDVlIW0GvG7JrtzvQe0dhZNKhuFAijRuW_1wIbKjHbXdmGbut1JjKtYGiChytqS9hePYMN89CFd5LT9oB5nG6kH3mntS4iLo9USXqfqNJL-jut60gweJFD5ITX5Gko1G17bsctp-5lx9HwcwvgnVljKTnHwCB8Yvtb-C1NKArr8pyZLrqkzqzqs8ij_aRWhqzd6o_Sc3FDITnas-M4mUUzFo2n6For-Tj9VPbrwo6dGgzUmx47V1IXCZpiyH-YTJRV2DntILxi7eb4vtN6CuCOiSLqhZCULm1F-3dsRe0XDIqS8EcHFyqBTOSSvfA_Gl6Lw5PJSb-a2pP8eWbmFhzJh9zjAsysvEAAWjX4Jd-f1nh6TG9bd7MT4A0cUyTdWTOdKBtGqGMHI0s7eG7jR0x9w0UK2fHGwU7hNtyDiiaBkhD5fnlTHQaZ7eu4xWPm35DkWZxX8iVh71EKQjnG9cUsZlR4sMRU2yPYVXhB4oNUmfpixdC3dWpuK2G1Xbc7pem6hzKdigFYR9EtoyUcnRmW45jVae9HTGgpbk1cbH4IGTwLWDmnyU-YIkLexcF5yBvKGfzDftAAI=",
  "id": "rs_00a20431a44a08f9016ab44622b03487d0873b907e2bdef745",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.374,\"left_y\":-0.022,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"With the jaws open, the bowl’s left rim is about 1–2 cm left of the jaw meeting line. I’m shifting the hand left by that amount so the wall will sit exactly where the jaws converge.\"}",
  "call_id": "call_KeeYdLjVqSiZ1fxf3mPK7Gym",
  "id": "fc_00a20431a44a08f9016ab446232ac487d0ace9f50dc9105960",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KeeYdLjVqSiZ1fxf3mPK7Gym",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2337, 1.4868, 1.0412, -0.5869, -0.3099, -0.1909, 0.9986, -0.0219, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3703 left_y=-0.0291 left_z=0.1192 left_yaw=0.1471 left_pitch=-0.401 left_roll=0.1783 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.3897, 9.4017, 1.3162, -0.1538, 0.1294, -0.1538, -0.0342, -1.306, 7.1179, 1.7509, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ee317f30ed90bc0933759c7fc4672856f331a73aa921390946a71f96c60b97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea2a0245b5fdf9bdcf2dc698cfb5d2dba9a419b885f5b2a96b3fa0246a08958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4c324bb53be3a905120885673e6a06e584c97614b050d7cae405bb01dc938a",
      "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]: [-0.2619, 1.5089, 0.9108, -0.3553, -0.3286, -0.1974, 0.9986, -0.0219, 0.8101, 0.5953, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3801 left_y=-0.0391 left_z=0.0938 left_yaw=0.127 left_pitch=-0.3213 left_roll=0.158 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1688 right_yaw=0.0009 right_pitch=-0.0377 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -8.1436, 8.1709, 1.37, -0.1294, 0.1978, -0.1538, -0.253, -1.3197, 7.2274, 1.7118, -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]: [-0.2619, 1.4899, 1.0199, -0.5392, -0.3294, -0.207, 0.9946, -0.0216, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0373 left_z=0.117 left_yaw=0.1408 left_pitch=-0.3716 left_roll=0.1752 left_gripper=0.9946 right_x=0.2928 right_y=0.0002 right_z=0.1679 right_yaw=0.0012 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -8.6632, 9.5248, 1.3651, -0.2027, 0.0317, -0.0464, -0.0889, -1.0325, 7.2137, 1.7216, -0.0415, -0.0269, -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]: [-0.2337, 1.4868, 1.0412, -0.5869, -0.3099, -0.1909, 0.9986, -0.0219, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3703 left_y=-0.0291 left_z=0.1192 left_yaw=0.1471 left_pitch=-0.401 left_roll=0.1783 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.3897, 9.4017, 1.3162, -0.1538, 0.1294, -0.1538, -0.0342, -1.306, 7.1179, 1.7509, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ee317f30ed90bc0933759c7fc4672856f331a73aa921390946a71f96c60b97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea2a0245b5fdf9bdcf2dc698cfb5d2dba9a419b885f5b2a96b3fa0246a08958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4c324bb53be3a905120885673e6a06e584c97614b050d7cae405bb01dc938a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYpUiW-N1Wldw1weHx1kkcFCM3vOjIhxjk2FfvdmCGzW2SCXrRykYPL5Npiq2GeSnVMEkQxktAb8Sc-K1_L8pzzRz_o7Bbwto8npyEt1_pinTu50zf4l3PoeLu4hY5RS7RU1sHvxr79bxFziN5ptGOnWFDSNN38Cvh97DO6MGrQaMwwKCkjep8vvE3T-ajc4I7EVTNvUs6533N5wPEbZqBEB4GCgcGibFmmDUHM7GtreI2OkGOo-RMi6JzB7pqPrEjyq7xYYC8Ox2GY7O_LHURZ8V-TpDINI9pMbPF6uTJ9XR3tmcp9eYv2-kTBrnghpa1mAQPedHSI1PSXZRv5V5_AqfcuVFVTNg8wWRWyKhuQaY6U5OqWp_4GZRDOM_g-jkSk69z-iPj9YgW-Df-qfbpCzBJPC-3t7mtdad5OInHP-hWnLW8HAijSPbEb9oSPQ-0SveHk2UFwkj0qJ9xsh2agSZGHlzWhC-RMJyLsviKQSVL0N4P8g5uwXZQn-pDuIXA6S7wqrEnOvZ5-oe2U5obgTffIBRpXmXjTp5j_G4Pv8VTID9ctnhzsGnAJCSOnyFqpUXtP-A53MldRijkkpykulPZKZORwTbLOVpelLrxsXZhWNnW4s2AixzvhjVFD4_m0RcTDax8LerkyVJSu2WBlVK98EsW2bUoPaB1i6Qz8_S_m6fbvoOI5oDncBPDs9zfFnO2BVRGD0t3-1ih-umY893tW1eN4DgqBZxTZ5EHu-DLa1Hl4XGNib86nxU3dqSvQiN155NankJyPx3cZxOM0KSc5YtQVi5y9uPsJ9g5r-eUJfQDmM6b--kIMEBCwXkAA4xQlk3hAHHfbaJ2p_ozE43QbT4Es43RcfWRBYwMHinEgUyboDlPzzq6z_DAKII-4Ueyyad7vcrmqEs0m4Y5iS4GT6yq10KU0hNIuMOtOD113luqYyGuvXngN1gE7ab08cTWLIBcYrpKPS5gOjlKobX-HWqsR-KiwNxGs75b5bq3jx-HGd9SUH5Y1PsRlaT4jORrEYjrYXzKId6gde098m2oMY56ipMkQe4F8Y8867Z4VEr0Sxnnr8TOIuVvFk6oGfNhzwe2BP9rYk-U0m_MidIG-OIf0EfSpesAaccM1J7yVH93SeRZGRHpoWX-z3W2BzIFaFoXf2K71WtM8dUSux9aAAh-5M1z3XHPzHMcznKJgBHq5AWkPrsa2njlM2nkrW1ApDTgCcBQX73J61AMeHkec2Bbp1tPc8AJUPN1NJ282A7ecGWMzXMf6ayJ_L_w1vDmPFBKbisqnWU6TGCFIvpLaRfgI0RnR_AJ5bzs9zCQ=",
  "id": "rs_00a20431a44a08f9016ab44625fc3c87d09f3cc09f7ede3b6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.029,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"The bowl’s left rim now lies on the jaw centerline in the wrist view. I’m lowering gently to the previously observed rim-contact height while maintaining this pinch geometry.\"}",
  "call_id": "call_UzlUiFsmYwULxuVYwjbAG5go",
  "id": "fc_00a20431a44a08f9016ab446279a2887d08133b31506936a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UzlUiFsmYwULxuVYwjbAG5go",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2077, 1.4822, 1.0565, -0.6174, -0.3065, -0.1791, 0.9986, -0.0219, 0.812, 0.5945, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3685 left_y=-0.0195 left_z=0.1225 left_yaw=0.1649 left_pitch=-0.4133 left_roll=0.1868 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -8.2256, 8.6769, 1.2039, -0.1441, 0.1734, -0.1538, -0.0889, -1.1966, 7.0496, 1.7118, -0.0464, -0.0317, -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,$blob:ff544e747005f961fd35303674ec8f9466c90d7d096bc01f04ab25f8b0e92a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d498b632ebc4a5064438c3886fbb696a9f1fb87643aa5eb625e2bbd6a5011838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5614fa03b5a8e8b104cef78b948039f38d04e3d6e3e2ab7d2ec1bfeb785f07",
      "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]: [-0.2619, 1.5093, 0.9108, -0.3565, -0.3294, -0.2016, 0.0092, -0.0216, 0.812, 0.5945, -0.3931, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.039 left_z=0.0935 left_yaw=0.1302 left_pitch=-0.3221 left_roll=0.1564 left_gripper=0.0092 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -6.5709, 6.3795, 1.3114, -0.1245, 0.0024, 0.6764, -0.0342, -1.4974, 7.0632, 1.7265, -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]: [-0.2337, 1.4868, 1.0412, -0.5869, -0.3099, -0.1909, 0.9986, -0.0219, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3703 left_y=-0.0291 left_z=0.1192 left_yaw=0.1471 left_pitch=-0.401 left_roll=0.1783 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.3897, 9.4017, 1.3162, -0.1538, 0.1294, -0.1538, -0.0342, -1.306, 7.1179, 1.7509, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2077, 1.4822, 1.0565, -0.6174, -0.3065, -0.1791, 0.9986, -0.0219, 0.812, 0.5945, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3685 left_y=-0.0195 left_z=0.1225 left_yaw=0.1649 left_pitch=-0.4133 left_roll=0.1868 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -8.2256, 8.6769, 1.2039, -0.1441, 0.1734, -0.1538, -0.0889, -1.1966, 7.0496, 1.7118, -0.0464, -0.0317, -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,$blob:ff544e747005f961fd35303674ec8f9466c90d7d096bc01f04ab25f8b0e92a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d498b632ebc4a5064438c3886fbb696a9f1fb87643aa5eb625e2bbd6a5011838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f5614fa03b5a8e8b104cef78b948039f38d04e3d6e3e2ab7d2ec1bfeb785f07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYtUROglI5ZAhCWMj-hcl_FrhzGFoyZO_hDrCNFShfjx2_G0mG2YG9oCjForCbGc6iEePRoofDLtiXvGNioLwt6zPKTecrWjhoFQKLKIXJwTGYA-pSl0C8LqUPXy7AE1DNxreUqfrsT9f_7IFCY1MIPuP9ACjA5diq1rSmzRdUm_ILtdVRCmvnCpV2WZDXqQU-TCOi_f3GMmcYVkB8LgyidQ80eYMusgLUqnPbjYNPsw2PE83-tnRGdhXS_vS4b5phonGxYBKJp62aoCr15W40i3Gr818ylIAmR6UHZ5KXkI-NE6RTlCRvzeGXy82pAADISPY8317pUtX3xj_jHtnvTfA_zB-M6MLTXKTAHOtQirXsCu7DdxuUwBRM-_2z2MEBR2P03K7bektxmxlNoiaAc3B4_d9eXk9dngnKfPUlkIv3-H3UTztzNG_Q7a9l8qrJ9xc7P4Ndpe5KriNyb3PLBLCApa6W9FUYQ1vE5pA-6eW1jyW36dKgyJdUSJ98BisYHJdlJSla9YuFEA06BO0kiNHfIJ5HnaABHr08G0JJrgXZMOIrpoGQAPywT7DXUFr7cpE8g6QUYx6zYsJIzDeFRfntxXlN7o2B7ljGFBXeCLp75M9sx4M1aMjSeIFYIHECqN4sRERtBytd-EJfSaFrDdWrrfmIIfE-PmMO3D-9h2ItAYZ0ulDg7_dMhUdBGpOqTPn9p0JQ0AMvICiiqK0LUMVJH2RhvX602236bF0-rOvjabHzYEiPCYAAQVgmKWfgghkpsxWvyIRHGrt9FzR-V9vd3QoqttXznppKZg3z2pyglVcp0GJXpc0BMeHGznkQxAXMtP1FcIAHJkjmYiETjxG8m2x5hW0bHVG_z_jm_RrlxAK7wQHcfQ6IbgdncHyh7oPxbGP7DkhAElZ_OMHTQFLKfuBzF2P_uRSOsOIZVUeqrGwHNkUKzmNaAyq4HhaAdYu70p2-KZoQjPqDMpIV2yx8KF-e11UXgYlfGKERwkEwYCa_opEEVlZlz9sATM9OuUeIR0ewtt3ugqDqT3Dmfoir9J2FhSf8Ln8oz8cJh6-dzi27Ra0HfP3eXeX5k1YQM-34pgiHZ_2LpKIcg-UPgrBZWAm1KjgMQqhXywSUxil8H1Vej-zlO5LRlWyz7V7fc6J09KeLgwkVoUW20Q2Y7nrTtErnVvJXpUtAgUqmBKGWjFoA0h51xMU4KzDYUUawyvvN8YTDw7vwv0d0CZCYOQ8xUfK6zE-9BNPH4NfBw8SvL2H7wIcyEUwejSlUFaLHFRNqQ-T2yhvG_XNrfmT4UQ1LIiZQuw1GMp-xL-qPcd7FInJNhZEGqNOFdOusFft3zDyn38A2HX3T3W6MU7hDymJBQipvHpv9NBc6mnCehJqT9ul7ibIG-Rg2NgE94s7_5VOJPCA9lxGqPhs-guHXXswN7xSEB9pLaNmIDN1q-juVtSbVFPiOB5rK2bImLQbMbJ2gKJsMjSOXNzHtqPEeZmWey7PTuv68dY6OtxrDRzbDj70qQzJD4dIZf5WpOm9MOwmsVxLGzPWoO55EHoLvblZO7ONZXqCCcS19WJpRkrGNbMBXWW6CYRc5jmIOJG10iOppmZvoNdVn9GKTF0Yk2WP7dvMPLJI-43RAe9zJZ-Z-GtUW5zzdDx8Xmg1ZeyKWd8n2mEH1tKOJKhqCDASGCqKvCgkL4XvRry8uFVhfS0F9D4PJSU65e3Y_pYVYmZieoxfFvcG_M1OuNRHpZEbZoUJLw0PbXfLg0NtWq9442Bdnv-Wqh7H4-mpocxwXSMGezZ-jowa-5uVCN0bMJF2neC8sl5dS-XXPkSh-EAXi8TP7-jmbTTDVMaO3CKevpHDqFHEc0tUArPSEllyDw4k7tpkxyqUHI6xjv_Doi54M7ptFMhxKsyKXRpUl4_00w0icjL4DkXLcgEB7yMYlJaP0RYlMWJaJl4fMHCLPT1zOzC8-hngv2lSny29tWIor0hmioh_B87GboenEVF0TIx3s-RA==",
  "id": "rs_00a20431a44a08f9016ab4462a342087d09fea3c40cd2d83cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.369,\"left_y\":-0.02,\"left_z\":0.123,\"left_gripper\":0.0},\"note\":\"The hand again stopped rather than descending, and the near rim is now aligned almost exactly with the jaws’ centerline at contact. I’m closing to pinch that single rim wall.\"}",
  "call_id": "call_7q7gXn6Qc2zRykhEBTLYhlx2",
  "id": "fc_00a20431a44a08f9016ab4462baa7887d08341e4c22ac97b0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7q7gXn6Qc2zRykhEBTLYhlx2",
  "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]: [-0.2077, 1.4792, 1.0565, -0.6247, -0.3069, -0.1761, 0.0093, -0.0219, 0.8154, 0.5945, -0.3965, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.367 left_y=-0.0191 left_z=0.1227 left_yaw=0.1642 left_pitch=-0.4174 left_roll=0.1906 left_gripper=0.0093 right_x=0.2926 right_y=0.0001 right_z=0.1664 right_yaw=0.0009 right_pitch=-0.0469 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -5.9009, 6.7897, 1.2283, -0.2076, -0.0513, 0.6667, -0.1026, -1.6205, 7.0906, 1.7607, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8259befd9f33d30ffbd88b86c03edcfe353118d44bfd3f3659889155e2efcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab36c1c13a2a7bd41935a0ee2dae528427b48758c40a68884faec79fb62088cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8f97368a2a05173e3d384830291102f4b31c05d1022b3356089d55f5ad7861",
      "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]: [-0.2619, 1.4899, 1.0199, -0.5392, -0.3294, -0.207, 0.9946, -0.0216, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0373 left_z=0.117 left_yaw=0.1408 left_pitch=-0.3716 left_roll=0.1752 left_gripper=0.9946 right_x=0.2928 right_y=0.0002 right_z=0.1679 right_yaw=0.0012 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -8.6632, 9.5248, 1.3651, -0.2027, 0.0317, -0.0464, -0.0889, -1.0325, 7.2137, 1.7216, -0.0415, -0.0269, -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]: [-0.2077, 1.4822, 1.0565, -0.6174, -0.3065, -0.1791, 0.9986, -0.0219, 0.812, 0.5945, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3685 left_y=-0.0195 left_z=0.1225 left_yaw=0.1649 left_pitch=-0.4133 left_roll=0.1868 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -8.2256, 8.6769, 1.2039, -0.1441, 0.1734, -0.1538, -0.0889, -1.1966, 7.0496, 1.7118, -0.0464, -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]: [-0.2077, 1.4792, 1.0565, -0.6247, -0.3069, -0.1761, 0.0093, -0.0219, 0.8154, 0.5945, -0.3965, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.367 left_y=-0.0191 left_z=0.1227 left_yaw=0.1642 left_pitch=-0.4174 left_roll=0.1906 left_gripper=0.0093 right_x=0.2926 right_y=0.0001 right_z=0.1664 right_yaw=0.0009 right_pitch=-0.0469 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -5.9009, 6.7897, 1.2283, -0.2076, -0.0513, 0.6667, -0.1026, -1.6205, 7.0906, 1.7607, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8259befd9f33d30ffbd88b86c03edcfe353118d44bfd3f3659889155e2efcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab36c1c13a2a7bd41935a0ee2dae528427b48758c40a68884faec79fb62088cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8f97368a2a05173e3d384830291102f4b31c05d1022b3356089d55f5ad7861",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEYyJJPbapua0YLeA4L3Ami-oe0l-P-Rh92cDcOCrBZiO9zDsQEdoMEQPpEVb30n86nuWAubZZ8Opt3uRq6emWGFLdYMcnesgJ4FlSm0pODDUQBGLxuC5vrajiSIqsbTuXEUW3iClypDHZyhOOZ2P-NbeIsJyEx5XJtf1RiGN5PCociAyxW3_AYomyr1yc02P-GedqiY8GIDEFOoIwjmrXaqtcfiKgCpsPHhhrbPQSpJLjiM1opOPFDGM9KRrmBO7IATMUmtGwBjBtGi-Gg9H4RhiuhrlHbLwcuOv8w_YqprJ4nmrjjg0as_6yvxhnhvphHJ4hYSaGROmfEkDTFZZXC4zFdC88164Tf8SDwYKN2yng87EihpFcjzjEsvyeGG6pd46ypIoQpiXhvA16yQy0QO0RdIKqhx2mulffhAzLVlH_mExRKztT-4jbA7b6ZfU7Al2Kkfo4sscWmUTXtPHPPfVZwOt0XBtFVV8l6E5JmC3UfglVn49IX_C8RgOLN5ELKLrVPXCvkdYn5zeGJD7BDB6zvn6x37c6QDxm0sJ-HMk9Ki8M8E5H1we3wQPzIwkZq8JlepFahtP6tjOkJzi7obnTy-iSzcSZthrZVpcUqx7qC0TU42JYQj9rUyI4GjS49rVWfHo4ywTw0DDx2H83R0sieW5sDaPAn4OtT7uVagZLxBSz9xMg0Bt_s9bs2oWg-tA6jq80Jdicr9jUPw6ByXwPvEE1brtgeBTQ01OCmIIF7umJWZ0SE-FRnSxfzH3BaZ75iC2lVk5xE_jcFiFsdcpPNa07uTOEK32spMe6YBT-fgzIfUR-Qv-Jtt7rWycG5FHzGCSJ8fNUFMh6Qo6stk2MHL7OvxDt9W6WMUX8lUWbMf2LEPhcQZmqBKM-ISILjerJYLjRLs4yZ4UVc5yWyhCcl1DzAWDcEslplFSUjR5uXbKchid8ZQpilRF_2MZuynalacTLQGvEKh4-YbSi-VBp11jcqUS3Flu-8Jsd5k7N7bmZWAh7K3gDuSpnvJ4eEI0Yn7OPf2mOTiX_J0u6MWhGaPQO6wSR3JVDwAxtnYLyqI-7GTD45G719-sTzCOQIII3Sy3306aBuAsnE6njCJYIqbBNZ1m1xEyJRZxqB_-YWFoHZlj5pglfPHrLmtB5dUC0yYTsp3s8OVnC6AcLst8KNvi7GQyaInUuc30ytmMeJs8N8FB_al8OP7AizBi-WAG6jsa5M1BHzwo9Mn6outrTwPlRgKWt4SlxezALhDHHjaqF3Mb7u_3ZBuKPZzESQrt3ZnEp426lUGJxSOviMFckgUUkqExp7PtKvdgSuLu-mQUpPEVTcIC7so7AfkuuoRJKDE91cnIH0ophA1kEVuuaiA9kF7JJ_DDfXep4ZsZYPvB7yvtwLyVPcO5ltoOZ_ziB9M7GeBAHAazYEO52OZnWWys4lfwrO9H_U6rKEO_GKTgAJ1KIzaNrK7yJjujHS43G0S77icW_Qj1yqBcV9uMlCekAc0blx4tHTHNS761ODS_qm5RlfqsgaPeF3yOzQGOcIH2JpyBLe336E5Y50wmDMhi38mLvzJaBzrMfQ_MeYeUPi0jj6QWnVYuI-qtRpLYxNsOx6YAaEwYkuLhNuxkjOkkrzKL4LDkgJdZFf6sEkHlJr7bznDMR0Qmh5_RvFXf0gNo6GN76e1k1kCoORK8frzAqF7c8rD_VqqhWd7Bc0_de6-O9aRYRtpEDhRXhuWAgGoCbQp-eaHFiNb6-funDa1feyq5N8CyBoDt-6YZJS9PjfT7xpZY8QjCO5WbRBmFAxfIw8g7MQpn4XV5kZq_G5I_yz0VY1fT55wpV8fOMTFDdirP-RKYMNVuGzckfHFtzuRf8uIjbIH-aj8xrvNUj15-30B-ufymLSUtPDdCiUfrtzqyAvXk6UhD-_gcId1ltO47Yu44ZMr9X5bHbf3dFLtv40Z3dscvPk4_dd0kZF8RbRKxyiWAaAU6921jlzhwPDbi1VTB6Y51isJrjm3TQ==",
  "id": "rs_00a20431a44a08f9016ab4462f904c87d0b0a5f7ea10f4c470",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.367,\"left_y\":-0.019,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The rim slipped just to the right of the closed jaws, visible by roughly a centimeter, so the pinch missed narrowly rather than fundamentally. I’m reopening and lifting for a small rightward correction before trying that rim once more.\"}",
  "call_id": "call_6wZCzpLM5vYLYCQElpLAQ9y1",
  "id": "fc_00a20431a44a08f9016ab446313d5087d0981961811438282a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wZCzpLM5vYLYCQElpLAQ9y1",
  "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]: [-0.2077, 1.4826, 1.153, -0.7635, -0.3061, -0.1822, 0.9949, -0.0216, 0.8173, 0.5945, -0.4114, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3616 left_y=-0.0181 left_z=0.1408 left_yaw=0.175 left_pitch=-0.4595 left_roll=0.205 left_gripper=0.9949 right_x=0.2905 right_y=0.0003 right_z=0.1629 right_yaw=0.0013 right_pitch=-0.0637 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -7.8974, 9.6342, 1.1795, -0.1832, 0.0366, -0.0904, -0.0342, -1.3744, 7.0496, 1.8632, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77cf5dd343b5fb36fd19a6f28ef426abbef24c25309432b3e730980537610d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c509e8f796defca35341cb00c2110e47d379833614919138d9eaa8a0df58a13a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cec3ff822947e1ae1f214feca00f34d59d17bb559cb36f035f3067b3a56e640",
      "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]: [-0.2337, 1.4868, 1.0412, -0.5869, -0.3099, -0.1909, 0.9986, -0.0219, 0.812, 0.5945, -0.3935, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3703 left_y=-0.0291 left_z=0.1192 left_yaw=0.1471 left_pitch=-0.401 left_roll=0.1783 left_gripper=0.9986 right_x=0.2928 right_y=0.0001 right_z=0.1679 right_yaw=0.0009 right_pitch=-0.0404 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.3897, 9.4017, 1.3162, -0.1538, 0.1294, -0.1538, -0.0342, -1.306, 7.1179, 1.7509, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2077, 1.4792, 1.0565, -0.6247, -0.3069, -0.1761, 0.0093, -0.0219, 0.8154, 0.5945, -0.3965, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.367 left_y=-0.0191 left_z=0.1227 left_yaw=0.1642 left_pitch=-0.4174 left_roll=0.1906 left_gripper=0.0093 right_x=0.2926 right_y=0.0001 right_z=0.1664 right_yaw=0.0009 right_pitch=-0.0469 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -5.9009, 6.7897, 1.2283, -0.2076, -0.0513, 0.6667, -0.1026, -1.6205, 7.0906, 1.7607, -0.0611, -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]: [-0.2077, 1.4826, 1.153, -0.7635, -0.3061, -0.1822, 0.9949, -0.0216, 0.8173, 0.5945, -0.4114, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3616 left_y=-0.0181 left_z=0.1408 left_yaw=0.175 left_pitch=-0.4595 left_roll=0.205 left_gripper=0.9949 right_x=0.2905 right_y=0.0003 right_z=0.1629 right_yaw=0.0013 right_pitch=-0.0637 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -7.8974, 9.6342, 1.1795, -0.1832, 0.0366, -0.0904, -0.0342, -1.3744, 7.0496, 1.8632, -0.0464, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77cf5dd343b5fb36fd19a6f28ef426abbef24c25309432b3e730980537610d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c509e8f796defca35341cb00c2110e47d379833614919138d9eaa8a0df58a13a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cec3ff822947e1ae1f214feca00f34d59d17bb559cb36f035f3067b3a56e640",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEY1qtoTPdc_bRfBY-DUKbBvjbvKMYL8_b0qBSMhuyZZr9gcxFTk9GmNiGulc2qJ-PMW5XJu3OISYeKGBJkA2OYgx2muN-qMpZ2U2hLilgdVuVv8CdekIX76WNRJ-9f2e3FYVTDdIYGd54E65PS8rqCq_BsLCtZEmDreNI26ZfsEnrCfKm8A_oCfO6AL4wFuw-BfzBur1wfFV2wQylDEF-S10iGEl4M0IyZs-MKaxn2OhkiApiYklRlcb-Om4RzTbhjzgCgoRw56dZ5liIoHYrUYk7QF_QRmvdDYlot2J-waMlDMU5cvtYCcw70Lk6k7qVxWG9RFCMbMJnXHfGtZDCwJuYrTpVDILJ_J700m0kFijrumriL05zIHnvtGIhM9jXxY-nXQTZobpRs-okr_jRZ1a67_eswP9MB9c5QWDF-OZaopnGxIGg1ZjbX9B023pKlxHThI2XkrlidwXPuCh2l4oiHkLtBA19-nV6QHTZYC61nvxaXJVltwVGEYab9QXlcUhqnBM1-r6USslLQu8bEx0iwSRVBDd9LELk0QcLkt4fR6mbmjmnaFpXtL2Ri3-P6BSh9B1EF-Xt9aLWZIgeUbuo-Kmkv5Q3l2pGKUgWUL8Rx_VDsDuK74GBHFsC4wYPq8f9eL5cDtYaIdf5LPBo7qpd0wtqewggFMDkhFo_RlYz17I2m0sIA7teG_huxzXIm_JPVcEpFxlyfU4yjC5cV6esCsdZfnNRvl9f2Ih2t8ABKXT2k8l6mng6-6CRvJHKRj1KuranW50yRFwnvifbe3bir6jmJJ-YX3oASkqwJhBrA_WNRN5Hq-AgOQZciiSk2xLAx9bOJ0oy1nRlRClXqWktRKi30mWwH5GgwUaj8RFnApPLpomCpebNRFKAMITy1iwuvMb55KCFafIkJ7edrQkYgr102DtUFeAhI-w3rQ4axsfZQ0fFHkjmtAt0c_gBcm-7dneCvdw3l7YR56J5rwgaRrSGI4qPkM2QTOcCv_Lb80pVh3p3DKgSO0_WLIxkHroMtmiB_TujBHUFpRIWIfxToA-NecWl5XC8c2lHxHzNzRq6ZXmQ7KAUvlDqiJc3GD_uXr1RRdn-1qHZPmQamhUFVARQBUIhpzOIpvZxijadQBxOonWf4Nw9oNK38hQIgzVy3URRcaujJCjELfeiPBqLFMtRmhN09FlgD2KIdTtNAQIYjI8N_v4sFJoAzCeF189V3oCtbv7YWPo_43FWkYzHhnUHMoK0i7r6r5GSg7V0r9cPLqABcQFAux3l3wM_wgz9Q0gt4wRNrrtu-efHpj1KfdLsw2wr7k3pg1S0eUhEQ29pCk9Hf6xP016LU0r1HFH66N-vOThFqurMVuz7rVsGw0oHB-V0weDfgUWIZWh3Unbw1uAX7tjBxdWr8jgpZc5z1DYKmvRatp78UHQ2OO5XAZe_gHYeqeIokhcBfLW6A=",
  "id": "rs_00a20431a44a08f9016ab446347b7887d0a8b4b79fa9995ea2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.362,\"left_y\":-0.03,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"With the hand clear, the rim is about 1 cm to the right of the jaw meeting line. I’m shifting the gripper right by 1 cm so the rim moves onto that line.\"}",
  "call_id": "call_0WzhSP90ty0T8nnXRHL0MROo",
  "id": "fc_00a20431a44a08f9016ab44634e76887d0bbc8c09a78b2708c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0WzhSP90ty0T8nnXRHL0MROo",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2291, 1.4891, 1.1877, -0.8192, -0.3138, -0.202, 0.9986, -0.0219, 0.8173, 0.5945, -0.4145, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.0237 left_z=0.1455 left_yaw=0.1773 left_pitch=-0.4799 left_roll=0.2125 left_gripper=0.9986 right_x=0.2901 right_y=0.0002 right_z=0.1623 right_yaw=0.0009 right_pitch=-0.0667 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.6906, -5.6821, 9.5795, 1.2479, -0.2906, -0.0562, -0.1587, -0.1436, -1.1692, 7.0496, 1.746, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3226a1938fbed14bb5a839d306e31f4681a411b561ec57b10b1de4298e54eb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332d234ea101a6f9abc410e370ff85cbd0f0ff0a42835969b7cf140bb7dce864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1734fbe40ba825b631917be3c35e22ce7da1180fbe6e83d745fda6fc5ce5982a",
      "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]: [-0.2077, 1.4822, 1.0565, -0.6174, -0.3065, -0.1791, 0.9986, -0.0219, 0.812, 0.5945, -0.3931, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3685 left_y=-0.0195 left_z=0.1225 left_yaw=0.1649 left_pitch=-0.4133 left_roll=0.1868 left_gripper=0.9986 right_x=0.2929 right_y=0.0001 right_z=0.168 right_yaw=0.0009 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -8.2256, 8.6769, 1.2039, -0.1441, 0.1734, -0.1538, -0.0889, -1.1966, 7.0496, 1.7118, -0.0464, -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]: [-0.2077, 1.4826, 1.153, -0.7635, -0.3061, -0.1822, 0.9949, -0.0216, 0.8173, 0.5945, -0.4114, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3616 left_y=-0.0181 left_z=0.1408 left_yaw=0.175 left_pitch=-0.4595 left_roll=0.205 left_gripper=0.9949 right_x=0.2905 right_y=0.0003 right_z=0.1629 right_yaw=0.0013 right_pitch=-0.0637 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -7.8974, 9.6342, 1.1795, -0.1832, 0.0366, -0.0904, -0.0342, -1.3744, 7.0496, 1.8632, -0.0464, -0.0806, -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]: [-0.2291, 1.4891, 1.1877, -0.8192, -0.3138, -0.202, 0.9986, -0.0219, 0.8173, 0.5945, -0.4145, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.0237 left_z=0.1455 left_yaw=0.1773 left_pitch=-0.4799 left_roll=0.2125 left_gripper=0.9986 right_x=0.2901 right_y=0.0002 right_z=0.1623 right_yaw=0.0009 right_pitch=-0.0667 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.6906, -5.6821, 9.5795, 1.2479, -0.2906, -0.0562, -0.1587, -0.1436, -1.1692, 7.0496, 1.746, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3226a1938fbed14bb5a839d306e31f4681a411b561ec57b10b1de4298e54eb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332d234ea101a6f9abc410e370ff85cbd0f0ff0a42835969b7cf140bb7dce864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1734fbe40ba825b631917be3c35e22ce7da1180fbe6e83d745fda6fc5ce5982a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEY49hHArelk13S_jU13ZOX1d4qmOqvmJTCFhSKABpro58ZKY82OFhps34weNxzJu3KQVOpiWhzYXP5B_y4A9nqHhVI-kGrtCmMRlSv2kzLxTgmb22E2433SqBUhKQwSjqpIEaAwzl2p4kL3Q41wbFxbT2JB4uWYsj-oJx-_vVC4fCJUMn6OHRm4tMqVvpNNk8CYavq4kYR9IIgzIh1ddQgwsyBR0PHCyvONpxQPhn5lXFIVsdvfin-8J8myJeV4jIEdn7VtGdmMW-fKx1YX5OCda1E3pSOaxjnmZs6kmp7lclzYfAhXDER6-wvNYxYIYEzTfwwZG-qi0g3FzqeAWcvUmDMbzSxKKuny7oVnjhh4Cu2gilxWYpqT96RgilmOJZUxLB9pf7OkkelGG1GbAX_z5yHgzr_BYRTdf0lkZtDH096EtBIIuowkoSz_QAWZQGcPydA63VysFmvfAliJIKdQFQIofJlRuuL5VYD_hjeVQmaN3if56b_USHaUNhcwBoGcQJFOt3ArGhHIaQ-yDYJkTqiHcUAy6vxhtf8sma-cEtB-_i5N7mPtAd4XHFtJWFcTZbvl2rqXbWq5JmOaBgQvE5unwa-MvYofb7urzCARaBJxgnzkau1ABzryOa6JL_GSXeVmIgsY_TVVLhvLdsLmVTa8DwopWFrPvdbwscS6jdMpFrPPN7n0NYHvT7OgcJ-SnhT9xnBXEX6T0DyBBR2VGyVijjSOCZzYUPBA-I93P8WRZq_nzzR4t0ZRR4gyzxJ9wuGjTAuNSE5qeQQyGpPT0xaFtmNt9nk0e_qKMn7WDEMhc5M7bKP-HPWWStPf9ceV8rMogRU5TFW0G3ZyKCVLvuRnc3wPK7rv_o2RaCvp-2vLKkZIq4-fWVlXyPpzKkVBWRPCF1KMIW4CvhnYkB0IikYVoAfU5CvbCAmoq-E6557uRFI8exlVcEHaPQBJq58xEHLwqfE792JbV7TFzXkjB36VQXIFe2yOET6GfjQG9hSPMdYUeFHk11IqRBSX2aK_2jRUV4I3qqbizX6wOoZG6_MCuDLNw0hKgZZVga12sfVOQpC2AznW3VaRREOgA_ZDVrL9Hzt3Yg1AdEY8oXk8MkUglgSb71en2zhfB8zGUeXuYC-ldjZlAWRqQBVAE91VD8t1Kai9H4SQ11lT5aX6ZDPFe5LRNLursrO76_t8oUNBoqOC6OT2YrHAG2n66wTNcCsY5034Z9hRZdgzd6Eqsjn0sBnYDWg7uz3_LmX92CAj-JMt_OSoQa-opjGPE3XKbdYYpj5EQQ-fVGXO9mEFoPRhQeC-jI96Nz-eQ8Dn-X6Kvf5Xt6JAGE8-RyDqlysEBMDhq2xm7lghqQOVj5VGmAlWW5uF98GIEUk__0JUfXEULK80Ijyvg0JhsgySu5XNrl0DphXP8G--JtJ_rq4O7hc8cdlrWu7iRUij4vWBmLwRmXkVHBulNgMKYoDVQ6Lk1hwM9Im0JM2_jeVfwzbcwpJ08qy0Hy2fv_NJ1DuK2Sg=",
  "id": "rs_00a20431a44a08f9016ab44637936887d08f7ef7d1d7d50fd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.358,\"left_y\":-0.04,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The first correction moved only about 6 mm and the rim remains just under 1 cm right of center. I’m completing the small rightward adjustment while staying above the bowl.\"}",
  "call_id": "call_SzlMW43qmd8FOsL44cWXn5DG",
  "id": "fc_00a20431a44a08f9016ab44638410c87d0b0b78a2502fc0ba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SzlMW43qmd8FOsL44cWXn5DG",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2695, 1.4982, 1.2278, -0.8719, -0.3218, -0.2333, 0.9986, -0.0216, 0.8185, 0.5945, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.0363 left_z=0.1516 left_yaw=0.1672 left_pitch=-0.493 left_roll=0.2125 left_gripper=0.9986 right_x=0.2899 right_y=0.0003 right_z=0.1618 right_yaw=0.0013 right_pitch=-0.069 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -5.6547, 9.2786, 1.033, -0.2759, -0.0806, -0.1538, -0.1026, -1.4427, 6.9812, 1.663, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f17d00629b1666c8b38742bf32e4084b09dfcf3beee50a4f955e90c27f1a2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e446cfe1e8cbe1fa46ad6ec6928a0f857a5b6d8f8cbb6aa172e0f026dd25c15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd3846efb9f4bd71d0ce25c3b20dee12090e6853116e03c7f7a5616498e1a50",
      "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]: [-0.2077, 1.4792, 1.0565, -0.6247, -0.3069, -0.1761, 0.0093, -0.0219, 0.8154, 0.5945, -0.3965, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.367 left_y=-0.0191 left_z=0.1227 left_yaw=0.1642 left_pitch=-0.4174 left_roll=0.1906 left_gripper=0.0093 right_x=0.2926 right_y=0.0001 right_z=0.1664 right_yaw=0.0009 right_pitch=-0.0469 right_roll=0.0012 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -5.9009, 6.7897, 1.2283, -0.2076, -0.0513, 0.6667, -0.1026, -1.6205, 7.0906, 1.7607, -0.0611, -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]: [-0.2291, 1.4891, 1.1877, -0.8192, -0.3138, -0.202, 0.9986, -0.0219, 0.8173, 0.5945, -0.4145, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.0237 left_z=0.1455 left_yaw=0.1773 left_pitch=-0.4799 left_roll=0.2125 left_gripper=0.9986 right_x=0.2901 right_y=0.0002 right_z=0.1623 right_yaw=0.0009 right_pitch=-0.0667 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.6906, -5.6821, 9.5795, 1.2479, -0.2906, -0.0562, -0.1587, -0.1436, -1.1692, 7.0496, 1.746, -0.0269, -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]: [-0.2695, 1.4982, 1.2278, -0.8719, -0.3218, -0.2333, 0.9986, -0.0216, 0.8185, 0.5945, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.0363 left_z=0.1516 left_yaw=0.1672 left_pitch=-0.493 left_roll=0.2125 left_gripper=0.9986 right_x=0.2899 right_y=0.0003 right_z=0.1618 right_yaw=0.0013 right_pitch=-0.069 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -5.6547, 9.2786, 1.033, -0.2759, -0.0806, -0.1538, -0.1026, -1.4427, 6.9812, 1.663, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f17d00629b1666c8b38742bf32e4084b09dfcf3beee50a4f955e90c27f1a2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e446cfe1e8cbe1fa46ad6ec6928a0f857a5b6d8f8cbb6aa172e0f026dd25c15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd3846efb9f4bd71d0ce25c3b20dee12090e6853116e03c7f7a5616498e1a50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEY78srG4fvuERltifwC6luB-Zou2b3woXZJCPx_nwx-MgRFpv9P0HXNHRleW4pS4XeAprmAVx9me5v_HqosqRK9wSJYrjv4376MbVElgy3DKtlCAQWlRnxciXQYCAlUCIvTyehzgc3o4uyWxgJBLZfz6mBZtGJW77kDi-Zevlnmr6NPlsUOZ32GmxQUJf7iZcyEEPteY5qA-O1jN39cIH4aaZv7vsqdyBNq9hvY6v9DSuhuGrz8oOwqbYMmyqA3dd7KfSO6QDeyP0gE94mv5ChsrfmS_7BaSfPQ8UbgD2GSd9Sl7v6O2Gqu2ClgP0oSlY2P9WSr4EjevlICZ0uUI2ee5ruq_2gjOhu30IqdzA_wmAzDfL8kCMXHUbUdD_LufR8GGJm8qEpeZlgH2TxtBRnTS-gpdCw9--L8FdVGkFRfAxvGn81sY6zIEGmC5rbcYQ2lIQN1-tUO9xRDlty8temQZ6NIGH82lS2o_c40oHu-FuhhsI2bM18aycorJ7CKHvo8preYxExn1LuN8c4bU1x808htiJ7nT0mNSrb0VmOO-pNqnRYcxScQnN8ItV6i5_4-0kCmFmvTVxNuzDw7ehqfD2QJ1it08UZTpLC_E37oijH1SeV6JHUyv-aIXExmaGdffgDqbGlpzqVx9llRpGoIbITOn8WDb4UqChI2f7PMjuvsKEoY3J3YnoG94SItv2H86o9Or-4lSxKetAEI8HqDHCfydlr4Fi80cP7yDlUbZexJuhtzv4lHqNrSTZ7tZKf5mEfyFfjMr356cp8BWTkvlDuCM1Xufn4lpidmgpJObLyauPrcmUAIVSRVQxFSNDvYI1FHjZ6dNiMkzd7mMcSNPr3iW8qoTs-hln6rHvbkK4JB3SksVH9kWQD5EFkbI8I900_rbx5UwDxhvAmG88neRd_ZD5IwoB7C1rXdEQxzlGPVgxNs8AezWkRtE4q6WshpbmdYBagY9X6J5gAAlgSzkOJQWcUhGH_QLa-Y-kgXu13c32B03Lrwa6Br6m51eMyn0YGfTsczDIM8yJ-Cmp9agdhWuD7sFoCnSEUxyppIdeecl1cBIBOZwKeSdaoQ-sklO8M3QTAoBqiSbiKfcCrpwE97XgYylxLVku6EYqrWnDYKCUSRMIFFYHUDly0TqjtbXuZka2R8xN0g-Cu5zNTqbmoJIOAiThflDFmbpgFBDeVjngQlf--9F6RNeYduFrCD8cnkR92beA005iOgsiUs-cEixFHvdyq2Apj9NYxsMsErZ7_do0ARsq6seD50tAZSv56CjB26VTSOuhXWQ3Y0uWIGvmSXf8J1DuyfRMdvme4nJP5bA1Nb45g3O8vpPE6U0L06sA0cn_RbHNJ1lXxwAthMV0SCoy0vZkO6MxT4WpQ=",
  "id": "rs_00a20431a44a08f9016ab4463a4aa487d09070295089e08117",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.036,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The near rim now coincides with the jaw centerline in the wrist image. I’m descending vertically until the rim contact stops the hand, preserving this corrected alignment.\"}",
  "call_id": "call_aDtO6ePT9BG24uvXny6n1Aog",
  "id": "fc_00a20431a44a08f9016ab4463aa64c87d0b5bc174e56e04a19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aDtO6ePT9BG24uvXny6n1Aog",
  "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]: [-0.2874, 1.5021, 1.2327, -0.8883, -0.3225, -0.252, 0.9986, -0.0219, 0.8185, 0.5945, -0.4171, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3519 left_y=-0.0419 left_z=0.1505 left_yaw=0.1647 left_pitch=-0.5043 left_roll=0.2103 left_gripper=0.9986 right_x=0.2897 right_y=0.0002 right_z=0.1615 right_yaw=0.0009 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -6.0239, 9.0325, 0.9158, -0.3443, -0.0952, -0.1538, -0.2256, -1.3197, 6.9949, 1.663, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd20bad308bfa38ca8676483027090920b1e034bc59abf2ce0e556b709fd9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a85bfa3767da2d5ad89e49ce7c817ef149bd00a8310be9c11dd54b80ea10ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a72c641792314a2e38cd895c423b9a03c0be269b6f12e10670137f4a0574e60",
      "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]: [-0.2077, 1.4826, 1.153, -0.7635, -0.3061, -0.1822, 0.9949, -0.0216, 0.8173, 0.5945, -0.4114, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3616 left_y=-0.0181 left_z=0.1408 left_yaw=0.175 left_pitch=-0.4595 left_roll=0.205 left_gripper=0.9949 right_x=0.2905 right_y=0.0003 right_z=0.1629 right_yaw=0.0013 right_pitch=-0.0637 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -7.8974, 9.6342, 1.1795, -0.1832, 0.0366, -0.0904, -0.0342, -1.3744, 7.0496, 1.8632, -0.0464, -0.0806, -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]: [-0.2695, 1.4982, 1.2278, -0.8719, -0.3218, -0.2333, 0.9986, -0.0216, 0.8185, 0.5945, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.0363 left_z=0.1516 left_yaw=0.1672 left_pitch=-0.493 left_roll=0.2125 left_gripper=0.9986 right_x=0.2899 right_y=0.0003 right_z=0.1618 right_yaw=0.0013 right_pitch=-0.069 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -5.6547, 9.2786, 1.033, -0.2759, -0.0806, -0.1538, -0.1026, -1.4427, 6.9812, 1.663, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2874, 1.5021, 1.2327, -0.8883, -0.3225, -0.252, 0.9986, -0.0219, 0.8185, 0.5945, -0.4171, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3519 left_y=-0.0419 left_z=0.1505 left_yaw=0.1647 left_pitch=-0.5043 left_roll=0.2103 left_gripper=0.9986 right_x=0.2897 right_y=0.0002 right_z=0.1615 right_yaw=0.0009 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -6.0239, 9.0325, 0.9158, -0.3443, -0.0952, -0.1538, -0.2256, -1.3197, 6.9949, 1.663, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd20bad308bfa38ca8676483027090920b1e034bc59abf2ce0e556b709fd9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a85bfa3767da2d5ad89e49ce7c817ef149bd00a8310be9c11dd54b80ea10ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a72c641792314a2e38cd895c423b9a03c0be269b6f12e10670137f4a0574e60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEY_9W_Pr324rSMowL2FZctTpp7hGRLiBT_iotxDtBe2f-BrhQNm_Qqtzm9km6zJGaQnWbnfPDQ7lJxc7YtpGhKoMvJvD9FNjziCFO9OLQJu84VOCCgeR4ayO8sgkwBiGGXEMlIs0puQ04TVaRuPw4z3UpD4IWkDyMpuhcdVwL0zGVbWGlB4RHJ28XzPzGXOy5nHfEQNXHgNDv5p2ULx7ogN8Z5QXtKwBaPfAxeej5cNQvqJMeD6uoGnYlSlCsbpylwvYpdbiUqp7xwd7jUqeTvwJ-IDfci2gYpHSqUu_ooxo5fJu3KhJ1mAIMNakAf9AZBNEf6T2f33FFKvPxCY4BD-XIk7KgZp1e8TDa6PsUwPD5FbPGvPTrMN5Wl_V0aUh5fsATTpJF-orEK1bJWmv9IQgs1avOQCzvJuJrVLEMlWuVSELjGnMsqLRe0UV7oyv3M1gpnkhb898jXT4LR6YjMJa8-RFYeXZq0IIkEJEuIj0xAduKk1iFecVoOL_OmUufa5lmqowVZ9I68aS72u_wOr0PFuFew9uBDwaCC8uNYn2nIJsZMI1-PuGrTy7hdJCocwngUDtUih4mTcCfGVyRfL-kxn6Xu2gnAMQAgs8I3L_Orvlnx32PLPYpZrsrhpxc_HAe9vRbTSnbMRLK2XR0oIpDSr_EkdAu_ioCAd2kZr-lnepe9ZvUTPEbY2rHlApjuiSLC0k78GEuuH1fNmS8tAqYTWguKiro4xoEDWk6QSAnmca1SF-ZO7RPitpXmpFlGMZUbh8p455Q-UurpdiMlz-ZYZAupAUKijMqCw5e5X7da5_Uz2PCYV19DChuv34STVX9SBD-E1Zo_oSDg_FJtHur81iWowmIqQS6-bulHN3DZrakjyltiI7fAVknFU4AonoRCzmJT37h25VfEMZ_9DVvRBLFnXPE8_6gVlxEBeDXmy3PnBeYt3--HJEYFm30ZVO8dMKCVkxgOqhv5Jb1vCgHocSbhrrfXxpZ42iPKnrneMs-f5dE-DnXntyKoqCuCzVy0G9zfKArPNW8KO19BDYvubMul70ssnJdQXeqewJl-u46k449AERu0BPITFinmG31_CpHmDIC_KOVfi-630d8uTLHx-QFJeshsTcK5IRF38ulMDWyW5oxs-nU6Sm8NFgBCfSLroWnZ2YMRYEK2gywaKrtMyv3K0IEmNW0k7aMTtIXFMMBnaYa0jffivDCwfIZzwGaKh8t9ml5WhLByDjmbvCbzgN79Bifg4vBl8ClsQNqCpjjdWJL8cl0WM0SXavX1SYZ3-jtxaMdQUe1U_WxmNWr_M3PwpqsAdTQjus33V4d0mnrvFjHwJCgqE76S9CapzXTBgaEiZlPR7Qh6vSdqpgGc3nip5xa_TrVv79NUzvWfhKjaY-e1KxNsPNZUrDSK-Dz1NXTVQQazyFf0p4X73XZMiY8P04iWvZ4V_58wY3dPgqfqSquToF9rKiSZMC3HsaMMGdIpgqDH_bJcDL7Yiqvg6MnLoSMHtFbQpjiRrZHGfsfpKAKcVeX6sXKXPxWSJVwTA6gNhjFqJZGLrFUXoCNvj5H2dOMRo0m_81IekTL-CyhT9JupLQwBYoWRZJNMi5oKMd3Uo9Tk4tMBprA==",
  "id": "rs_00a20431a44a08f9016ab4463d880887d0a58882e23abea7d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.042,\"left_z\":0.151,\"left_gripper\":0.0},\"note\":\"The hand stopped at z≈0.15 due to the wrist’s forward tilt bringing a fingertip onto the rim sooner, but the rim remains at the jaw meeting line. I’m closing at this contact pose for the corrected rim pinch.\"}",
  "call_id": "call_CIcbaIXskcW7jTurhV4omQ35",
  "id": "fc_00a20431a44a08f9016ab4463e8d0c87d0946c661070a845f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIcbaIXskcW7jTurhV4omQ35",
  "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]: [-0.2874, 1.5021, 1.2324, -0.8986, -0.3214, -0.2539, 0.0094, -0.0219, 0.8185, 0.5945, -0.4187, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3496 left_y=-0.0414 left_z=0.1494 left_yaw=0.1675 left_pitch=-0.5141 left_roll=0.2136 left_gripper=0.0094 right_x=0.2895 right_y=0.0002 right_z=0.1612 right_yaw=0.0009 right_pitch=-0.0721 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.3521, 6.5709, 1.0476, -0.1783, -0.0171, 0.696, -0.3487, -1.3744, 6.9812, 1.663, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80547dc009bcbe7d727429277e0ae82513370a7b77e91239e8bc26b96bdb7d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf632e413e8c377c0ce2d31502eaae79112d632e3d694f24023bdb535992e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfeb768d670c1dc442918ad4347b1c39dd612f5397f721bc5a46fe21751b79d7",
      "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]: [-0.2291, 1.4891, 1.1877, -0.8192, -0.3138, -0.202, 0.9986, -0.0219, 0.8173, 0.5945, -0.4145, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.0237 left_z=0.1455 left_yaw=0.1773 left_pitch=-0.4799 left_roll=0.2125 left_gripper=0.9986 right_x=0.2901 right_y=0.0002 right_z=0.1623 right_yaw=0.0009 right_pitch=-0.0667 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.6906, -5.6821, 9.5795, 1.2479, -0.2906, -0.0562, -0.1587, -0.1436, -1.1692, 7.0496, 1.746, -0.0269, -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]: [-0.2874, 1.5021, 1.2327, -0.8883, -0.3225, -0.252, 0.9986, -0.0219, 0.8185, 0.5945, -0.4171, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3519 left_y=-0.0419 left_z=0.1505 left_yaw=0.1647 left_pitch=-0.5043 left_roll=0.2103 left_gripper=0.9986 right_x=0.2897 right_y=0.0002 right_z=0.1615 right_yaw=0.0009 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -6.0239, 9.0325, 0.9158, -0.3443, -0.0952, -0.1538, -0.2256, -1.3197, 6.9949, 1.663, -0.0659, -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]: [-0.2874, 1.5021, 1.2324, -0.8986, -0.3214, -0.2539, 0.0094, -0.0219, 0.8185, 0.5945, -0.4187, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3496 left_y=-0.0414 left_z=0.1494 left_yaw=0.1675 left_pitch=-0.5141 left_roll=0.2136 left_gripper=0.0094 right_x=0.2895 right_y=0.0002 right_z=0.1612 right_yaw=0.0009 right_pitch=-0.0721 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.3521, 6.5709, 1.0476, -0.1783, -0.0171, 0.696, -0.3487, -1.3744, 6.9812, 1.663, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80547dc009bcbe7d727429277e0ae82513370a7b77e91239e8bc26b96bdb7d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf632e413e8c377c0ce2d31502eaae79112d632e3d694f24023bdb535992e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfeb768d670c1dc442918ad4347b1c39dd612f5397f721bc5a46fe21751b79d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZJ8QM90o0bWFJ8vSuIIQYlsK0RAUeLsX3I1O1MdJbH683CN5FUYnpLNPrZiN_nIaLJrUhrHUTG1kdeOZ14OrAqeX8AEukTI9VxJXko6NQO_OPlWaa3R2WW8HccCCehU96HBaXixP7-lsbOrdsLWrbHjlrGHPGKlzZjMh2rRMzMLCMLCtadlpFHR8U9sk1jL6yHmnE-EsWRx8cdk94vfXL-2vu0ouVJ6hSd8QT-Xpb0SwMZFeLrONkBhdvzct8J1kpKOu9ishz4uitDydLBBAEjhQLUEDtsdA0TCZVwbbZxAQ4wXv-LbepCxTo-cOhKtMrOFKvy-Ehd-OpdHqRufo2Jggfi_GoHJYavgrobkuB0vxVLhNV8BDTFEFNwPKTvzE84HyrBZh1ggTlthv-CTLRVidZM2MiXAUZcwy7I-E2crZR2mnumWxhFN2zt5xwZj5VXZuzGdAkpa4VK7CAa9d8JXIhH8f1xk5ZEwBcq_ovwZWAorNX72aBfCh4DDQsbG7AlaKkhfkxZ0k0ngxrhMV6tFrrxjQ-f5RoP9jCjypGYGnV_kD2DlalDSRYsv4JCDaYbsuFefcuBmyDS2fED1vx2gcxLvJgJo9hSyvvSKCZBAQLwkODzFI041RWFh56BBCXCMaud8jKtKcup8LUOsba-rexe9Q0c4tRVmF1si0hLTp4fAMAtw6LrkmwPIZnn3NvSlpGzSnC1gVdyTNsVP9g9us0qzDnaEaLuXu-it9gFg2ywzCzU0thCZgdpEvufoUJ4MsuEokRAFMlf86c7pttVQe0tRVNhLGw59J2KsTkLJ-z2S7Jt-GEIkwR8DateZqfUBvh7uXLwxZNT1QQArUUJBzhGYNpG1RnNs5WsJ9_Pz-OvcOUz1DAAox-QLsUY7Setuevt6prmIcCBVL8D0uL7iqzhivSIAqm4SnQ0bogt0njGKAWyQIcrvD1RbMmWxNQTHndLglm9jxMyrevxGCDhk-hyci1nDKQxNtKTGcg7ABHm6GbkJcE7bbHbCk6ftfk6jtHCg2VeaT7wfu2cCpDjtEbYfSKllp5AiMLJgectwlN365ZPtUp4KQx0tInk--UrWF0C2ILfaFidjY1FqR9u-YrnuC4roBVlhaA_n_n4lNRnm3tlKLBggzIxPyq6p647HPWLKQDAN9A5-5EF4R9-u1qukLaFjfhUhw1HeGRP3MjezAn6xOSdzS_hIpwaswvIAQvfUpKHfmtiR8EyEr3YyQ_2Q3o171jS4fnTyJhLrTmRsI2aP9iHAYHefTq6iHFBOVBEhGQq-vHBKtmxQyHqNl2wOKWt4YrenA9hyzwX0IntnDnO3HkPx_sc365jrYKPaxruSckvG3zTL1k-nvGpTkt9yeMRtOEZ1GzH_kZth2W6DMEcmZWQvc46ptlBpkKekGTcLekjkad-3D9m_yCUnKQYshAvb3biO-VT73_X_xcnVW9A1-SXW5PJcpiwB-SiY6bA9VrUqY954JLTqHxmGpbEc0tFQOBSKBcTHhOnRg2wC0XNBfY4fUu-zEYueuv6gpQ4ltePkSK1d4Rpn527n_ShekhWb-e06p5g9l_kvzVsphtQvz-6A2N4hsx0IRDBUkqg2NmxR_d7yjt4UGYyYJAVqwHzhcDg9h75gPPb8tQVwErnQR3usUdlBdRXlPnggCMJyOllkgZZjLtgQ2AbVp9VkEde-7kAN3qHhlLTMwaxgyrbc-uAn5Tnk5PCkpoWXaCuVO6oPGyH9liFut_JeyCCcjW6pM_-mP_rXmd1igCvIARWvq6RQXIvPHjcn_EutVEHZu4BNkMwScZtNit2-3LkRHR-wY778xIyBeZjETnBcphQ673UvlpbMDe1D9RwwBovmdbVNERsWbnpWHSAAGdCikP4hUsJBGkrjTS8mGPYV2geiM4Agk41lHuX13Z9LkHJwqW9vTXnzE3tfAT92tD0aWQaTSqK0Cvl0EnNF_1OEUe5q3LGfv4OwYLDLaaxW6dRBbvKZ-YYV7bKg12rFpHbrtIR2YJMdoq8RYVpVS96tBGc10Bg98XXkSuo_yFAzTLFl8x3b6AT_HQi5CCdmZVrYPRuFA0w6GJhgpch4K2gCp6G5AkAKg_LqyrvIuykGcb9IUH7ZYcBb7XEbqct7xkK3N1zYDvIF2DfMuy-mJoDsaz4vFaSpxFaWvhM8kOYlCpTSGudNWvntBCm9w5BXxTh1FMXRQNKOzUbnxnoKxfMwza6BAVVyZSeRVbvCOcvJWOzYKd_pqFPku6BjO2uJ3MoJt1TKaF7UGbKef2bLkNpnhPj7OcFS8NWhrTYyWLjYd-SDJH37-AM05uLWmgaR_PYLk87TF7heYs_IQrVsCyrgUt2HYQUsfj63zgvr9mOhTUlEBrD8LNSvm2pUhT4WmdHdNPL99o-pWw8vVlCVZ59ibw4nBiWdMu7wtHxmef7oo1QL-Nqg4_mHZVHa-uqgql16G-UM0Wlwh8iiUOIxi49QGCO9HnbLyPyfaXhvfsu4fa7sBrtC2Gx0GWwQJYFrUjeaIHTGBAKH_Vou5Pkvh1wrjgKCRuH3CcEfzW4nfdA3yrcv0l1DcBI9MvxSs_p1IAiHpstauybNUynUZvN7tGNkaEvEBqH6tICEL701lZDpVoJzrC81VW9wE9HlwPiH_tqLjig0U_BzXBKDLRZsB8RDmmYa1MaqZMoUxkhYsNzIlFCccaLbngSEu5YScC1wghwIMGfFwBfHrfWe-VCDWaWOTPT7shS4MefYZWfab7nAV1in0ZKxgpL9RownoqIvbXCF5D1wMSosKJA0IPsa_pfzwwmuLhfWiUqqIV1KpwrPtN1jWn3abn_NTvYQfR37mLzlAPp52SDeexyFF7st4_FmvOIrg0VdGNCB52CL3nXXcu8Q_GU_28ddsYX5JyZURVA7mkOh4RYZPmR6hJm4gUO4EZccmYlnBb95UUiBVSpNTM_Eqrxthtzw0rUS4ozI_EDKCbOg0KL2u0TRFgAcEVpKPGGFdI6xtDCnRYJCdrKBZYXj3_e6RqzO9b_WteDB3JrnTNChKGZg1MqgtPr4U9_fZa1hxqvX3HZDb2ddNifhc0uBkYR2SHSiNdRggCIxQ==",
  "id": "rs_00a20431a44a08f9016ab4464494d487d09af636ab170e04c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.0,\"left_z\":0.2,\"left_gripper\":0.0},\"note\":\"The rim pinch is unreliable because the tilted fingertip pushes the rounded bowl away during closure. I’m switching to an internal expansion grasp: keep the jaws closed, center them inside the bowl, lower into it, then open against the inner walls.\"}",
  "call_id": "call_Y5qB58dc2ExxuZbS0vfLcnFl",
  "id": "fc_00a20431a44a08f9016ab44647e72487d0b76ef48bcf32e18f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y5qB58dc2ExxuZbS0vfLcnFl",
  "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]: [-0.1532, 1.4994, 1.3594, -1.0172, -0.2794, -0.1696, 0.007, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3524 left_y=-0.0015 left_z=0.181 left_yaw=0.211 left_pitch=-0.5295 left_roll=0.213 left_gripper=0.007 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=0.0009 right_pitch=-0.0725 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.1026, -8.1162, 8.4308, 0.8816, -0.0122, 0.2418, 0.7155, -0.212, -1.347, 6.9812, 1.7216, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e2fbf245047265775bba0d26f2be9e4be71d29b992cf67423444289ea4d868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ab692214978ccd193df9d76e1ac415ce133f2eb2b041ecef82a17ec9f8e4a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68efa61570141fcd8e8b12f18437087136852aa1a636531a6726bfb35ed3788",
      "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]: [-0.2695, 1.4982, 1.2278, -0.8719, -0.3218, -0.2333, 0.9986, -0.0216, 0.8185, 0.5945, -0.4156, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.0363 left_z=0.1516 left_yaw=0.1672 left_pitch=-0.493 left_roll=0.2125 left_gripper=0.9986 right_x=0.2899 right_y=0.0003 right_z=0.1618 right_yaw=0.0013 right_pitch=-0.069 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.6496, -5.6547, 9.2786, 1.033, -0.2759, -0.0806, -0.1538, -0.1026, -1.4427, 6.9812, 1.663, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2874, 1.5021, 1.2324, -0.8986, -0.3214, -0.2539, 0.0094, -0.0219, 0.8185, 0.5945, -0.4187, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3496 left_y=-0.0414 left_z=0.1494 left_yaw=0.1675 left_pitch=-0.5141 left_roll=0.2136 left_gripper=0.0094 right_x=0.2895 right_y=0.0002 right_z=0.1612 right_yaw=0.0009 right_pitch=-0.0721 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.3521, 6.5709, 1.0476, -0.1783, -0.0171, 0.696, -0.3487, -1.3744, 6.9812, 1.663, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1532, 1.4994, 1.3594, -1.0172, -0.2794, -0.1696, 0.007, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3524 left_y=-0.0015 left_z=0.181 left_yaw=0.211 left_pitch=-0.5295 left_roll=0.213 left_gripper=0.007 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=0.0009 right_pitch=-0.0725 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.1026, -8.1162, 8.4308, 0.8816, -0.0122, 0.2418, 0.7155, -0.212, -1.347, 6.9812, 1.7216, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e2fbf245047265775bba0d26f2be9e4be71d29b992cf67423444289ea4d868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ab692214978ccd193df9d76e1ac415ce133f2eb2b041ecef82a17ec9f8e4a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68efa61570141fcd8e8b12f18437087136852aa1a636531a6726bfb35ed3788",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZMEGZU7ARpy-wTmILTN9fDHn-D-_IwYYis2X7c_2tz8C-_wvaBQJg2fRqnEYR1lGTGPX9naBAuTDsjutbTmDeB-Wn6B93I6ntDsPOfcIzXWtDGzeCXW6PjXXKi02aXk4qOfYDydT5gvRmAB8tGvnoCULpNpu2CLKr2OaH0eAYJQq6HKAtb1_0bdwE_IQtzf1Kd1DfjewzmQyHnSWmr18eBXRdAM8gorcmIdwmCu9B4mlQ2Y7h98g8wRm4N1fpJqAK1_aUhXKeV1vPtrBR0jWvFKygmtbYfEuGdiU3oqumtKJ5o4pHCx1VhsrGeP3Y6BH7bzxTlz0E1yKyQoiR7yrs3NwgLP0bXyAwHhzd5huAW7uOQLVuTh2XMLt_CM1jGbtSVd5L3bXmbp5NjDR_OYAe5zjBaG-jKyIh9Am-yknyTlWMh8ZGxbAX0YbHEShtcAgPjRhpLLsEfLiDcM0m4wtzQORokaT4KCTj7AlyuP-I3kD7E0vqGkGNbwvAtqJLbikKu5rqTibfZmHPpJDSANENf6NC1a2ppjDNJtMhgPFLptUPR9Fvc1jbxr4QR6jGSKQ7Ctk7gxwC1d273Oy0q-p3doKkazR3P-ewio8EImI_BScfYXa6eSRisb7cj-9gJ19RfuQtuo_nf4Xxpy9JHr4t0-3wZLq8jb6VA0p0cWZEGq5xzWMEx7lroIjurtNQzZgzOBDNo58VBwVYXdRk2SOKJ5Ho8pRVWdFgxyiHGrOZr1TOc-KoeJTq3uM1nA9xnh3175c0Ult2xLHFjmbUWIsujnE3zzZ_xOYFzoMHdkzgRHTHJyEq4ideEGM1R_esQqGLTytxMc4S0L0cAwgiUEtXfTHUciPyY4RRAqs3c5SbeyDaNTvtTuZ3bMkbvQ3q95jdpW43p9oqT9CYgi21MOphUMVxRSi4WoEqSCqyh2ywnmbV10u38P_3oOYFDE3ZuARdBhLmAOyx_nTgGf7qTHe_BOsTE3uxdzuMWodye2TWbY6NP3ghioUJJX9kpbWkfaDzo0O5GovIL3b-zhVv36KyFJFoK7Fpx1Lk0CQuqWwZ4u10vG1Qny_Abh_wbW3lBMUbY-UL-8aR8HmcdPbbMHsF2vkq6-Sdzj51DP7Owmm3iBM9Cb6kKomovQ-xYDwCErjWR4kAiAM69wwmyykTeywlifVZkvhNd9Yd-3TMlau2G0OePxbv0z6w8AtkV62z333TIOq73pRAhgs1VaWjIHSN1mCoyyUzEfe7RGr0oz7mnglzPgNipM7-xDGCj1o0_MHB4E2gloVv35rMYTFIB3JdM_Im7rhqGyhYhWokAYzfPhzEpLGh2nEkHP8gYuEG9i1dvxTyCU6o9fpCPo_3qT_bbCn1ib00I7veSEFos9wtP48c=",
  "id": "rs_00a20431a44a08f9016ab4464b196887d0ae2967168dc40ae8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":0.045,\"left_z\":0.2,\"left_gripper\":0.0},\"note\":\"With the closed jaws raised, the bowl center is still about 5 cm to the arm’s left in the wrist view. I’m shifting to the left arm’s outer-side limit to center the closed gripper over the bowl interior.\"}",
  "call_id": "call_DMZiYW7Sjhk8jOWOmI8ZQRir",
  "id": "fc_00a20431a44a08f9016ab4464b73c087d097d91a280df468b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DMZiYW7Sjhk8jOWOmI8ZQRir",
  "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]: [0.0017, 1.4906, 1.3838, -1.0435, -0.226, -0.0582, 0.007, -0.0216, 0.8185, 0.5945, -0.4194, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3476 left_y=0.0438 left_z=0.1877 left_yaw=0.2465 left_pitch=-0.551 left_roll=0.2147 left_gripper=0.007 right_x=0.2894 right_y=0.0003 right_z=0.161 right_yaw=0.0013 right_pitch=-0.0728 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.3658, 9.306, 0.9695, -0.0708, 0.149, 0.7155, -0.0342, -1.347, 6.9812, 1.6874, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa133dd57b36a37a47ad7b55194c0bf889a5c9ff37d2142354f02f2a78375910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0807bd929f2e734c23b2f4821cb0c71a4583596866264960157f3d4358bd5dd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04131b79e71e7cdf3a039869c51a6d027c990211baa800f80cd01faa5dce06a",
      "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]: [-0.2874, 1.5021, 1.2327, -0.8883, -0.3225, -0.252, 0.9986, -0.0219, 0.8185, 0.5945, -0.4171, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3519 left_y=-0.0419 left_z=0.1505 left_yaw=0.1647 left_pitch=-0.5043 left_roll=0.2103 left_gripper=0.9986 right_x=0.2897 right_y=0.0002 right_z=0.1615 right_yaw=0.0009 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -6.0239, 9.0325, 0.9158, -0.3443, -0.0952, -0.1538, -0.2256, -1.3197, 6.9949, 1.663, -0.0659, -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]: [-0.1532, 1.4994, 1.3594, -1.0172, -0.2794, -0.1696, 0.007, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3524 left_y=-0.0015 left_z=0.181 left_yaw=0.211 left_pitch=-0.5295 left_roll=0.213 left_gripper=0.007 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=0.0009 right_pitch=-0.0725 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.1026, -8.1162, 8.4308, 0.8816, -0.0122, 0.2418, 0.7155, -0.212, -1.347, 6.9812, 1.7216, -0.0464, -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]: [0.0017, 1.4906, 1.3838, -1.0435, -0.226, -0.0582, 0.007, -0.0216, 0.8185, 0.5945, -0.4194, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3476 left_y=0.0438 left_z=0.1877 left_yaw=0.2465 left_pitch=-0.551 left_roll=0.2147 left_gripper=0.007 right_x=0.2894 right_y=0.0003 right_z=0.161 right_yaw=0.0013 right_pitch=-0.0728 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.3658, 9.306, 0.9695, -0.0708, 0.149, 0.7155, -0.0342, -1.347, 6.9812, 1.6874, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa133dd57b36a37a47ad7b55194c0bf889a5c9ff37d2142354f02f2a78375910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0807bd929f2e734c23b2f4821cb0c71a4583596866264960157f3d4358bd5dd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b04131b79e71e7cdf3a039869c51a6d027c990211baa800f80cd01faa5dce06a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZU6lGCleLl2njc_f5cJI3r7vrghYzhP3t3myRQ4AOtc-kSsdVoYmraHbPtWBiyn9QfLDlCZqLeVG4CFu_sXyNCTOEOf9dNbSa0p0SbFTR2LS1vijk0ZpyM64Nmm_QUFnW5a7jq4SEbqhSVBCmmwSVek-2o87gLjg-V6-6gZrV-_YuIwljyjq-wbLWhEcdp70NJAyKRQQgLIkt3VbcPjiTBpqH0IdvDK5NamkMihLwbH2KNS9ZNh0WRqI_kHHaXyajGZ8SKrIpjmw7aZfcEdC9p0BZYigs-d0f7Jj06yR5zQQM3wiARazNcmS-CUb4Mqwp7dEOhEwNte8yfTgJkZLHzwkbQHuZj0CZsgXYKOKNFIUXqC2VqjXSGeXP1fk6Dd8mZeTR2SH_FS_mAU23voHu2p2biu9UmXmdj-7ZzBuDkuG2ZjQCzXtwvKwO-IgGhFrPNYWerVOfTbXqj6gf0QTfy2dUXOlLlnq4CV0r7dQwdJw2ubV2OkVHU8gDKRnN6NsmAaqVUFUO8EtJZCi7_2T5cdr6Ay9gmonH2g_ptB0wmxxjbh3G3YUZXABlvChPj6RziMHOTfeKSEkrZKsKwaAoAamnMTzk_VTQBUboh1WCmWS52hDOFRqrjOlTImvXiInbaXTav39q6ULGFA5cNcDb5LIv__K6rse6932Pt3Ienx33XFzdDKxOYNwId6qdyGmlEnOUreyySnun3nsgYSZ-BKTztYCGmFTiYqV61ft9-m7fLTWKFIUV6N76UqIlX2IZhgjA-epUzAob7uFqU7Wvun_1zxn4WG0uIQf-tafXvBAg1QQegOIONfTqxUgwPQ1gHfEdNvjvJo6C-wMXEL-Q5HD0p0oTuWcDNVX8_EgNFu4mB7pCCooitUzHae062o70sdrgpvPo7jBDT_Qxuu_0rcYbbS_UWEmasRPcxSpSlOoqYXNHbHGpVvmUbyw3clb9Uc2jUZbmmk4LkegoN3p5Q1l9um82xiscRJ0HiHK6ViFbvbfbqgh4281f3bvldneEoPOKjjHBf2UqxgbzM66lCF_WofMN2WGpS_AuuB2oG-mZfftVS3g0AmrqryQAu4zuCPwXdCBPQMDmMC4xgrg3ICOkVd1-BJADCJYn2mo2KZ4x6wQXnJ_0fBLZuPrIw3WXsM2pqlRukySYa5Q0XdxRiNaeRHII1ALb1ZgZnZ4_s3lH_tEu5mLjBu2P7Z6m8SYXKVHV20FZabX2W8J0UdsyuwzpOOluwn0srKKM8DSnkWKlIOYTXsv6Z3wF0-rlzJkjusqBu5bP9MPdMOv_3gsouZ0wHCSsnakLy7ZuZHLMG3dN_MauNVHCW9MTWtGKjr6K88l-sU8JNcq6J5MfY64QuCc5kLye-FHffSBEbW948HslLDkjN-4dKttzuMN_K1nzZX4RFJGDqVovKjQWdLmyY1nuPI_tXj2rYk_4YoKuc8-nWZg2-yRpouC3F1ItlaywVsEDNbXVyL0uXVtuG2jCbYDpYRvrlB9MFaNXKpfandiZFY6vLEAnY0jgz5zWgb6-09o-wsQMBSe6xjvhr8Ulz6WNwOoss4dmS8eqrhag4Ml_z7uoUZlaqzRY2VjKGm2HhI8fhbH2XiHTxW1QEWR6d_fBVNgPrvIzaMCgqi7yL9Z718YaSJZE_qBotHp8um-qMjMXWsI_5RUGFkmr6tQar-ukpt63sYBOgMdHHP12AK-Bvz7e6b5U_KpJJY66rMuHYVgbpHpIrjBnUQMa2Vv-luOtlEEF7kQ-x4kFWSQesHMLgIGvXrcmXzs_jFbHl8cmAagxa0XnydlKxd9TWF3YMFYyicnEiwUNmtseRXd-e1THNdMjD29TwOoiAywJSB8G9ClNGkZdB4Rsr2gjylyuQL3CEoi2fQZ_Wyr0BM9p0GOtDr0pCyxx2TnCBC_eaw_eaZ8GLhka4u4OjS2SibIgCHBj0bCq1XZjfMbEQ_C694EvYGufhVdYGK5bHQrv_HLpK-US5dE06AjMNQOjl9OhAXZvEVY3UWSrctNQGXdQN9EFoCtGT7YOmI4tCmyrBxFSfXiDimC_M-_X5gr1CKUTfgUBxXtr6RkW9QI8nmt5_sHP1t1weDG4TV8ynPYSxy0KKFAIuDV4Jo6ZI_uMu3ujzSN4bTTHz3GlYyev2VnnhWx2nThDhfHuK7b0reHNUc-BE",
  "id": "rs_00a20431a44a08f9016ab44651954087d0af25d740c27d14ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.04,\"left_z\":0.2,\"left_gripper\":0.0},\"note\":\"The last lateral move showed that, at the current rolled wrist pose, increasing y shifts the bowl farther right in the camera. I’m correcting in the opposite direction by about 8 cm to bring the bowl center onto the closed jaw column.\"}",
  "call_id": "call_nTU1OCrNzKgYDSWSi4eQwIYq",
  "id": "fc_00a20431a44a08f9016ab44653883887d089bc7ee8ebd8245d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nTU1OCrNzKgYDSWSi4eQwIYq",
  "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]: [0.0132, 1.491, 1.3838, -1.0546, -0.2096, -0.0231, 0.007, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3449 left_y=0.0449 left_z=0.1859 left_yaw=0.2219 left_pitch=-0.5698 left_roll=0.2184 left_gripper=0.007 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0009 right_pitch=-0.0805 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.4342, 9.265, 1.0623, -0.1587, 0.0171, 0.7155, -0.0889, -1.7573, 6.9812, 1.6679, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbe58e8c37c6de95c14987604bb2faccc3476ad6063b1ea46855983f8e334e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8604d08c51d62db17b620b053cb1bda8a82c5ddd18a85ed7beef04f27e3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f352bacd987735bcc6a343594bf3e49c6c44191adeb9dc3f38789ac8e3cb28d1",
      "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]: [-0.2874, 1.5021, 1.2324, -0.8986, -0.3214, -0.2539, 0.0094, -0.0219, 0.8185, 0.5945, -0.4187, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3496 left_y=-0.0414 left_z=0.1494 left_yaw=0.1675 left_pitch=-0.5141 left_roll=0.2136 left_gripper=0.0094 right_x=0.2895 right_y=0.0002 right_z=0.1612 right_yaw=0.0009 right_pitch=-0.0721 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.3521, 6.5709, 1.0476, -0.1783, -0.0171, 0.696, -0.3487, -1.3744, 6.9812, 1.663, -0.0708, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.4906, 1.3838, -1.0435, -0.226, -0.0582, 0.007, -0.0216, 0.8185, 0.5945, -0.4194, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3476 left_y=0.0438 left_z=0.1877 left_yaw=0.2465 left_pitch=-0.551 left_roll=0.2147 left_gripper=0.007 right_x=0.2894 right_y=0.0003 right_z=0.161 right_yaw=0.0013 right_pitch=-0.0728 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.3658, 9.306, 0.9695, -0.0708, 0.149, 0.7155, -0.0342, -1.347, 6.9812, 1.6874, -0.0513, -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]: [0.0132, 1.491, 1.3838, -1.0546, -0.2096, -0.0231, 0.007, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3449 left_y=0.0449 left_z=0.1859 left_yaw=0.2219 left_pitch=-0.5698 left_roll=0.2184 left_gripper=0.007 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0009 right_pitch=-0.0805 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.4342, 9.265, 1.0623, -0.1587, 0.0171, 0.7155, -0.0889, -1.7573, 6.9812, 1.6679, -0.0806, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dbe58e8c37c6de95c14987604bb2faccc3476ad6063b1ea46855983f8e334e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8604d08c51d62db17b620b053cb1bda8a82c5ddd18a85ed7beef04f27e3539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f352bacd987735bcc6a343594bf3e49c6c44191adeb9dc3f38789ac8e3cb28d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZabfvA50nmSUtQVYherNTbQj2R0fZqVdDr-zDkGsUk-TH2XhvHRK2ItB7iB30G2M_VEc8qI4uBmd-li5tRH86TiWjEMPmBQK2cTegvZEr-pd7TVgLChNOzZ3sG0XuFkRMolRlWlcWjn2iVQwvdKfoRqeDMt1PS5_5-vpvdPDj8zRiHn_KCUjgca2D02eA5yAy0caT_BFXNxROsDJI4-3DsG71MnfbV6v_A-BnQlH-UhkvwUC59acUbdlx67vdzpvYO3uZCQG7FpM5eyRxM2TOcQ_9vTjT4gg_g0Q5o10QQPlKF9pZPJnChR1eYa1-ConOyDVNjSt6ZchOTgXEX4l50xrprbRK5VkHQW6gGYCVT1DryDDzgx-XE2bae9KvhAU8P9CAsia4Z1_H-K588wBNk4c7_w7UHV6coiDw9yBLEfLPR72Ghbtb83vk_bbaozbbn-9UOlkxq1HGO86z01Q1Y3xhpNXR3gGYHFSyqbOvdsoegWRX2GSUQkZKXYn-3bwq4OdrXzjNvywpCbBfL-LWFL98vlt05-7tmU4yA5yvLZvUpM7IQLWYQ8h3LqFiQDRrDQ040utryZUJVjTQBNmKPgfhk0Mvg_6lMpDt4CQC3ZkttkfpBrleo_6S1YUk-DZ6mdkVH6F3xRZl8jDpDkduy-vGmfUZU0TSw5FicgAYzINKTVBV87qXOcMELAoc-c_T5J2PpVr1_eydtsL9bxiwonpQDzhGM63exRismYSy9wZF4HEuqJsZwlrJsv4-T9t523Ui2f-X-S4no5uOMvnbsaZMG89oA8xkfDyePHgE8ll7CnhTsYTYXdFxXvOW6jN63RnX01TRV83WNBnILXmq3JNSTqUltbNwajKiehd4iccxr3c_fRbjve8rk9xWvMdW91PvTgOstZ-GhvoZnZlvrUB0qevcSgC2pehdBQEZjPaMp_UYR1fcfRWjJthzKxQZuRzy5ZyaeUKzjSnwkuTn5qfdG-8TRXL84RGltFJ1Au7qApwpq7_ftVkfW9KIuFDmRe7ImPFkGxBAv7RwvulHOL2529_L2BJxyYpoN7e2auDbUlYf__Ak_iKApcSbQCcNwOMlxJou74jC7-cP4RnlskVhX790WDx0iartXJiuR0CJRTRGk8qrlyeGmOsdyGVde8wmsFnYELzCsvfoXLXN1SOgYK5G47rxvDAhmth8TY1cIS6GfG33lMui5P0fTOPtBaLpRuOUdqqq39brn7MMr5ek5JQ8GrzVuAGlf548bZ3v1sb9wRDOuhewBk-yBAdviA4tOM5FyofAh-fN6ObeT-tl3IBxOoYdU1xXPePmorXh0-5Kq_v7uyi9vGuh6HKwb7QQO_o2c8iflAnxPQIvfC_1f05TJFT3MmOkt3FGDLrz_nLWrYs7JejYpS995KRPzJnnOBVsC6gLIcSQB7saIeH6HDHFjinXDCPdMUQA_ShGKRzaPPsR_PLpgc8JyGwCvTVEi9U3WHqkMFhUnkakmwd_WYH-khz85fva5fRgHD-sYU2Q14MhMXOCD2d8ySUPdPwc-91tllDFRGHK0tgFigmF3pi0w6U52LunZCw8v-2c20YUytXXZq6vDnSIwVf5t_wwHpKvdOGFxiYdJMd9e_WfUimx2PyWbQZLc3e-JcNUVcUx8Pk8djsdqx7g6nhpV",
  "id": "rs_00a20431a44a08f9016ab4465693b887d0bcd6ac82373866d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.3,\"left_gripper\":0.0},\"note\":\"The arm did not track the cross-table y command and remained at y≈0.045 with the wrist near its pitch limit. I’m retreating inward and upward to a less awkward pose so the arm can reorient before approaching the bowl again.\"}",
  "call_id": "call_oAaN0PKlDD2PZcG3C0yWWWsV",
  "id": "fc_00a20431a44a08f9016ab446580d9087d0aa2933e5648f1e11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oAaN0PKlDD2PZcG3C0yWWWsV",
  "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]: [-0.1917, 1.3331, 1.6798, -1.4998, -0.2657, -0.1951, 0.007, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.27 left_y=-0.0015 left_z=0.2886 left_yaw=0.1748 left_pitch=-0.5272 left_roll=0.1841 left_gripper=0.007 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.0828 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -4.4513, 5.9009, 1.1404, -0.4225, -0.0562, 0.7057, -0.0615, -1.5385, 6.9812, 1.6825, -0.0611, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f38383e46753cd92d603e402cddc5e1fe434c674b5fc8c40567c04f2292d8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a252e53ae3cfac39f26a3f89530ba1477fcf128294232cbf8c1444d3711574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14fd7020492614747c9196e839be18c7dbb5702d9c94a7e0fd39c9b7c66a866",
      "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]: [-0.1532, 1.4994, 1.3594, -1.0172, -0.2794, -0.1696, 0.007, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3524 left_y=-0.0015 left_z=0.181 left_yaw=0.211 left_pitch=-0.5295 left_roll=0.213 left_gripper=0.007 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=0.0009 right_pitch=-0.0725 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.1026, -8.1162, 8.4308, 0.8816, -0.0122, 0.2418, 0.7155, -0.212, -1.347, 6.9812, 1.7216, -0.0464, -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]: [0.0132, 1.491, 1.3838, -1.0546, -0.2096, -0.0231, 0.007, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3449 left_y=0.0449 left_z=0.1859 left_yaw=0.2219 left_pitch=-0.5698 left_roll=0.2184 left_gripper=0.007 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0009 right_pitch=-0.0805 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.4342, 9.265, 1.0623, -0.1587, 0.0171, 0.7155, -0.0889, -1.7573, 6.9812, 1.6679, -0.0806, -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]: [-0.1917, 1.3331, 1.6798, -1.4998, -0.2657, -0.1951, 0.007, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.27 left_y=-0.0015 left_z=0.2886 left_yaw=0.1748 left_pitch=-0.5272 left_roll=0.1841 left_gripper=0.007 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.0828 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -4.4513, 5.9009, 1.1404, -0.4225, -0.0562, 0.7057, -0.0615, -1.5385, 6.9812, 1.6825, -0.0611, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f38383e46753cd92d603e402cddc5e1fe434c674b5fc8c40567c04f2292d8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03a252e53ae3cfac39f26a3f89530ba1477fcf128294232cbf8c1444d3711574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14fd7020492614747c9196e839be18c7dbb5702d9c94a7e0fd39c9b7c66a866",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZg4u8gi5LsZ5EB_K1Zs_KyNcVFloLglReIXe1pd12p9_kxbXsh6eVkqGeUbqQn8mYr1LWHScp5x5IfHdYMH3jFQtg4zToVOn7Ni5QLvNfP-fobNmvraLft0z8g2XEsCF7NZ03RoZL86x2T2EFyxOm8380qvWxKd-7wXLfA-iDfVpt2zZQkPuvG1R0duTtYtLav8h-jje8Beo508J2COqfeeTt3A4YZhXKNL7oaDx0hwR9ZFsSzLsNwV3FbvkGrJ6CQ6xV2nHKP4ZkTIezhVSKGEXCkJNm1w85ETwUVktezSW8_hSJyLtHbncb90ShSyTCVucF4jW5z4ikSh9Ct0H9YooBhr36bjm5AwlOcmHTKT1GO2P_lYNmvw5Y08_ixu2t2F6HK9h_4rteLsF-54rVw8rgtPcBjQa3YHX9Ay7cbRnEMQUh7FeqTtDmVTgpmIg05QXKmgbpzhshDXRgxLXflMl0eP-bZEgta4-uF6TrsJ_cyWPz3uNtGULvpGswwP8GCY5tG0n-Xb-r4KP8kICINQFslgE_qSTluPnybTzseJD5QdwMPZvnCoOitIBYa9t78wXr9YXdZQNY57vmXI_9tm9wwHU2tCw2hPWLr7-_LPaPxoSsg6hEVwcNyWP8lTACoFGLE9RWgu1W-hnz-d-_6DTBnnRoYIIfb-3P50YCAX7mu4xqq5skb1HZeCD2fFF0C0cfEIlSkeidaQghEuuXq012H6gr1T9oMGZkJaH8Teo6brWW-gmTuHZD_YENjrbfiD2FoWhIcqlt0uxHKRqQ7AXc7eyvQTseEkVpiLL2OkpM6SnfkRoZfgcKzEwV46oxXlo13yV6oPVu-Yw4XAiuc0FBNPfLUikPAkN5qGryS6i0PRePhhlcVET5atmAfIQl924uRgbsDhRBq91rI0WTCKSRrflvBbD6-MFVi3OYAs_E1Ygc1bJdIKlXB65fYnajgm_izzMgX-2E1qtR10kiCsWwwdTeOPqfDibmDhnPwgaCLYYemDIdfhkwbUyCrshbsoZL0OdlX6Fon6cyPAI4R6BkWPYjaaY-dNNjx5LalSzzXV1d-wCO-furLZ_I8pRbl9QtinqDilGcNrEcvGSWi0DR5r18CoS-AN7yFiHrQUdqy4brHijn-cfSHRdJPzolVdvKjQSQPZfuqs-yVRZP3jTVbpcarz-lp9w0rQgmBQudDKwdZHMs4LQwVjqX39ECjkBGtU2Mr5-6ZJGTHhhaao30NJZbuDOJG8NR3X2zZennM1I8pFdu2IHzHHS1JapBQ4kBOJnbz9tBfz7t--dUjXjvKjW30LZoykxKvQWl2BI_ofH5M3zPo3-4DiMpkYeLdNj0ZYDmEwO4echipUcdkuI1MFc6CJfF7SRAzSv3wBsgcWiJJKqUo-gsOc8ghHoa-Esn7EvDAuG125p4oBPxvezrK1EiBjpGTar0o5fZ45rTLIzdMbVhTFhKXWxPdlURvJ7SOtc3pke6_E_2qgjkvTAPrHKaUY8ooBqPa3n4F6k5aFgHg_mAq-jyMGeaqZMZdzr7if1-elvP72q3qgPD8jcJtrr5kQMTFMYvfgzm_bp0mAObpaOL2c-H1Z_5mkZh3qnH3Pwuvwn_59jF7OvtsE9pdXHpBWM4EwkZO077beRc6pw6jZPewxWXtwrK169-KQe7Bk4WcBoL-Z1XtaBDUb_e3ECPlhQ7ghzylXsNa-QKwlZG6jT_lfKCtPARAoCwRkKhRbHC1SRHFbd8uOoRPkw7p3ADVmX9FflxdSYyQ-rjTQQouYzN66fEqPfwdaq7_k5V-TLvXDhkO38sREAxScHBHAvfz0DgBa7RwdRAnm4-SoZkdQDo2O5sokcxXsSwyCgQle_OTOI67wMKmLWacR_qNfOyiDlrS93R0sxcYTqmYZaC7s5vL4oasyIiNO79ie7MNx9C9kKhRN6gJ52DWF72xUlsHhets6wXRdpmcJalM-viXIHoqQ4kjaxcRxieiR0hY2HJ7-ChKylQk3u_aRVXqMrWHNIV4a5VbSjt6BG23w5YfK5hnBxWCm8tUcMsWpwaU_JFRAR3Zh7tfSqI5J4muOcN1qgSG9JC14azE-BJaVbuKaiyGQFPsDMFTUkWHWiQW7CeXdB3JLUccVY-2YWrsvDiEnG8JCTTcV6PVdaZfaO-nFYKGkZrp8N7Agq9hlZFxf31_yFt0S54qfqriuFwgwHiePC1Z4ngbuEwmXLujKO6oDYb_VW0VdiyVUs3ncsabB_eVinXnKLT5Zxdn2OF0rSyrJG2fzTK70GUT7QhMf7SNCpIVFwOlRXgB6htOrK_dqcXtw0dlt9f8fUkyBXDz9rcOiHmxxz5_Koh7zfYtlLdOYQK5hQnMbm1S27ZA2KBgVdaXYnARUL7SO9SReCTJEpWm3efnpZ_ZkC8OH66e--t_h1qf2UHdLDo6UUJQbR0sVgmzSpG-x-rpTzD4Ci8iF4BoP2AgNVzsouQFpgX_8_mqUNvWiGsZcm7WTs7OW_Y_wYe0bAFbZN6FX-jzkUiXdrfaoeLWPArX4t3iNkW71EkBeTiPid7Y2uF9X7PNbfVG_eWQxzSXbklfzn2YvRsp3LimwTEYRVOdpaTKoLf-9-Ii4L-5ykBd_gAEmJ3a8ojEb946sWnOm6eLx8kc3qlBP4sKqH5ZcxgH5ZHVXQ4=",
  "id": "rs_00a20431a44a08f9016ab4465c4d2c87d0b58c448873bd4b87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.04,\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The retreat restored controllability and the gray bowl is clearly visible; from this neutral pose it is about 4 cm to the arm’s right and near x≈0.39. I’m approaching above its center with the jaws closed, preparing to insert them into the bowl.\"}",
  "call_id": "call_CcWVkTl4GmEYQRyd3I1w8vef",
  "id": "fc_00a20431a44a08f9016ab4465f602087d09faf35442c25d81d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CcWVkTl4GmEYQRyd3I1w8vef",
  "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]: [-0.2344, 1.6451, 1.5166, -1.0946, -0.2699, -0.2367, 0.0065, -0.0219, 0.828, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0371 left_z=0.1776 left_yaw=0.1785 left_pitch=-0.5861 left_roll=0.1985 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.1578 right_yaw=0.0009 right_pitch=-0.0854 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -7.8154, 6.2701, 1.0672, -0.3199, -0.0904, 0.6618, -0.1983, -1.4974, 7.1043, 1.7167, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa04a136b0135e159481df05b4ef50922754c064c21a56b8545f1a3a932d7ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f8df8f2d866e393849f982fa6c836fcde99973acc6818697f26f7d60b58bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd907ee4ef05fa3e585399bd8251fa01c485b5b9e6ac4991e5a9c428516f912",
      "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]: [0.0017, 1.4906, 1.3838, -1.0435, -0.226, -0.0582, 0.007, -0.0216, 0.8185, 0.5945, -0.4194, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3476 left_y=0.0438 left_z=0.1877 left_yaw=0.2465 left_pitch=-0.551 left_roll=0.2147 left_gripper=0.007 right_x=0.2894 right_y=0.0003 right_z=0.161 right_yaw=0.0013 right_pitch=-0.0728 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.3658, 9.306, 0.9695, -0.0708, 0.149, 0.7155, -0.0342, -1.347, 6.9812, 1.6874, -0.0513, -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]: [-0.1917, 1.3331, 1.6798, -1.4998, -0.2657, -0.1951, 0.007, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.27 left_y=-0.0015 left_z=0.2886 left_yaw=0.1748 left_pitch=-0.5272 left_roll=0.1841 left_gripper=0.007 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.0828 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -4.4513, 5.9009, 1.1404, -0.4225, -0.0562, 0.7057, -0.0615, -1.5385, 6.9812, 1.6825, -0.0611, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2344, 1.6451, 1.5166, -1.0946, -0.2699, -0.2367, 0.0065, -0.0219, 0.828, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0371 left_z=0.1776 left_yaw=0.1785 left_pitch=-0.5861 left_roll=0.1985 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.1578 right_yaw=0.0009 right_pitch=-0.0854 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -7.8154, 6.2701, 1.0672, -0.3199, -0.0904, 0.6618, -0.1983, -1.4974, 7.1043, 1.7167, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa04a136b0135e159481df05b4ef50922754c064c21a56b8545f1a3a932d7ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f8df8f2d866e393849f982fa6c836fcde99973acc6818697f26f7d60b58bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd907ee4ef05fa3e585399bd8251fa01c485b5b9e6ac4991e5a9c428516f912",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZkVirJeCZjPQ6FCS8-IOQH78h0wr1-a2pHXkQs0VNfDaqm5FUggg3DhVxLoXdUeUJtJ-Q7A4u9w0KUYiHIGqZQRE1p08cg86QFYIxmqOkPPHBKBYfRgj96BpJhYHHyCTx9pXs4k1FnEaKKuTf6mBTSYOnD4aS35IQmw5YIct_yTFEnnt6bNJp4yxqhNoVAn4Aw0E8axrWvvCBnnFCb5c6RhYiMu-nH_4ZYWh_LGmAM7TmbDRqWEl8fKFAI5jSmX4XugNl1FI27j4DlaROhYFrlbcULHmNqbrcpSFvWgPZIVgRbi9ft0rnhDlZASRLV4N9Cw-1UjMFNhGlQYOjmtUQbVjGaq2HJEqe0592c7uhz4xDBo3ePHH_vksZ1M2rSjbX3loxP-fkUAIpWtKYq5Ic9B6qhJJ5pJM-ibS6ubYvum__R1GVvyDUWaM5Ax1Tx0ibi9IJJfjQmCF9-QPjmq0DUs8oQFwrQCuQ1JPHntWc-nK0EX4NViuqG1Tn2lm8OA6cZXEHY-rcwOfw0-x9-dhXo6f8TCIkYcNpCgGy2jdOEGZLpXGKbWS9uCCXAB4R1pbVHVp3swYmaYKe7qLVztufSAYxd9V_rTkCOc7Cf26pC135bEdOcBFUSBjAeBPJkEu8xnUakaEs-MdZvMRcMaH-SNJ6ZZQVxEhzcFoV8DlWbGGGMwR_uwIX73szHR0RuSPQoV2oeuhljkGrHayGP_tv3l1OCKWZHyYi0kyYsHHUHCMi0mFJSrlpysHXWoHaNigF0aZaoPEdhTzlItVSTwyhcUZQ0-oUHxOeiqMh5zZ05nOsU_636VKratBoSFr7_J9osYk3EiMG_3BGRMANI4y11YAXPp91OuMakf8bqg9GPpOyqiXFIh4kFVRTiJ8AZapHzgUCJKWLgS4HmOROOf-vyx9eyStDkOJkj-wEJVcpGsm_zdOJ6z6mngcjTF1TQ_wRdpB0xRx7pT9GCcrNlAOhaKTiR7Pms4ZLk2YoBEe5sUiSd079Og-s172jC7S52xPVlpx0zy83Kycs9lvxnAGWRzx7aDQhgeQ4xkogkiVAZYZwdjxLjQEP4GJSAx877RF_RMr-LFs3o13YBzJjAW1KpaZc1VLBKsMT-B5RK0FjSIHpiwch9g6JzKI_kWR6UOzOl9sms_AkUm7e6uqACW9ZV46FT1dYEdPaewl6VVqjRqXp1e9nUPSaHw4FWnMTQkmbcUKaC8p-Tr4prQioK0-EqGu2w8B7HRKLzJjHqsqBpEBCbE0cxMgQzcxnm-9jPJcWdahYRiABJb0R9UA2YPVCDK3k2TDgJn66fenEM-NiAEma8n9oyGrpVya89yl_PSMtTQimFf0U5auX2xBvDbOVOSFi-cJCOHQE74hzLIi7yMn-qp8NRBh13EcmAaQyu9ITi7JQpE9JdkkdiXMmYMdFv2SM6468HZ6-rKNA9wdPMznXnHuSuCvWYdI536bqopMCNiDqMw7N3732jwkT2MgGwkixMjbDTMMrIc5YVZrTA_KAmgTzVscXCo3IRE0cOKsQMDI1V-wvHfIRCLesieY189BZ5ikzDWVnayDyGTUNQcQa8Gi1JiY9iC0ICSTxyH6zB436Sxm8MwGX7J8uc1chK9lHcnU-c9L3vQRHCGnfjQJiYQQ7fzvtRousVb0VTSfK8_Gb601Jj4ee0XsisoZc_6mVDc632npMFspErBIkiHgk=",
  "id": "rs_00a20431a44a08f9016ab44662658087d0ac11292c005bc52c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.06,\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The closed jaw column is now close to the bowl, but the bowl is still about 2 cm to the right and a few centimeters beyond the fingertips. I’m making the small rightward and outward correction needed to center over the interior.\"}",
  "call_id": "call_35sQBvmO5vmuxfvoOj7y4znh",
  "id": "fc_00a20431a44a08f9016ab44663b63c87d094829f362a3956b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_35sQBvmO5vmuxfvoOj7y4znh",
  "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]: [-0.2718, 1.7515, 1.6272, -1.1175, -0.2699, -0.2687, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3946 left_y=-0.0574 left_z=0.1735 left_yaw=0.1668 left_pitch=-0.5996 left_roll=0.1923 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0009 right_pitch=-0.0885 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.6222, 8.1983, 0.6569, -0.3297, 0.0562, 0.6618, -0.0752, -1.2239, 7.1043, 1.6679, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3418d032ae38f8a0186f4c38baa4ede3fb02cafe3bd7daf3c0cee45012cfd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a08f079e959c754dc379424560caba556a166110df2276d2a82c2e0991cd5da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e06a705a984f0862718e6869182f9945bd677140df79c43f048f1c61111f96",
      "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]: [0.0132, 1.491, 1.3838, -1.0546, -0.2096, -0.0231, 0.007, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3449 left_y=0.0449 left_z=0.1859 left_yaw=0.2219 left_pitch=-0.5698 left_roll=0.2184 left_gripper=0.007 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0009 right_pitch=-0.0805 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -6.4342, 9.265, 1.0623, -0.1587, 0.0171, 0.7155, -0.0889, -1.7573, 6.9812, 1.6679, -0.0806, -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]: [-0.2344, 1.6451, 1.5166, -1.0946, -0.2699, -0.2367, 0.0065, -0.0219, 0.828, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0371 left_z=0.1776 left_yaw=0.1785 left_pitch=-0.5861 left_roll=0.1985 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.1578 right_yaw=0.0009 right_pitch=-0.0854 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -7.8154, 6.2701, 1.0672, -0.3199, -0.0904, 0.6618, -0.1983, -1.4974, 7.1043, 1.7167, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2718, 1.7515, 1.6272, -1.1175, -0.2699, -0.2687, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3946 left_y=-0.0574 left_z=0.1735 left_yaw=0.1668 left_pitch=-0.5996 left_roll=0.1923 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0009 right_pitch=-0.0885 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.6222, 8.1983, 0.6569, -0.3297, 0.0562, 0.6618, -0.0752, -1.2239, 7.1043, 1.6679, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3418d032ae38f8a0186f4c38baa4ede3fb02cafe3bd7daf3c0cee45012cfd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a08f079e959c754dc379424560caba556a166110df2276d2a82c2e0991cd5da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e06a705a984f0862718e6869182f9945bd677140df79c43f048f1c61111f96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZntCiiZ0lo-xvYpmKRa0Ghy4Px6EavbaeetzPK92KuNlshuDWrxSSlwIdJ8FACrzMTDJ6zVm8AQLAaCs-B0-iWW203SsibsBiJQ7NG3J-ibMCk3Zv3XKm85chhPQcNeWRaIWqTjtDRHL5kiDv2wVCgjuL42xDZ9YugvUQ7WAiuJYugqUC0MAisP_DWiDYXGSl-DiRVpLA2jRLT9VyY2DNbQdpg698u3bamjCk0rhsTD3T3c1WRnFC7uj9QC_I_bj9-JjYX-5WJ0fK0xAtF2BW8HAW1luHgiVrBs_paS1nIt_LntT9fSzyvShUqfpuLBlrjTYi6oAlFt13BXMPSJkVfBcTEPoiKq_NC7PUGZUNa4ACrfxfjw1SrBB5a3JtrI__Cw_jcbu8MPRP0zZamz6RfepkwY3cAjOeqHOBCf_HBG7RCVzxCfzHfEw-0tag8TBLWMQEG1aMz9h54_sHkMht55stxNK_L-PC3ZrE4AoZtPr902Z3crUIFObl0SrzwDawuWM7hmfy8G7DNlS8xURlyRNGobOwsp04Kw6sbLhhQhhCloBMMrI-vYiR1wXDrNUs1uCTdNaDX61jZy4IIBDZIHANyWflb6WXjnhMI5lWNgW7O6T1ioktHt8UBphFx8TCklUtSsqvRu1czVkH8_mf_4kIZ1pXbroH2eXBuxCl5UR5y5_VaNUjAsIf_VUi85ARhcDM4i0-IFeK_8JMYxmVxASyHTJcLas6vlzJG_RK8mPGUZCUs49uJQYU6V8q6RMgOBxMSS1-ZeUpba89tj8ozimBKArMb7YKHyQyRpL_nQvM7o_kDVsW6Nw55aB8vk0T1HRq6D7AhMTIrR_Seb-1rjrwPGWfHT5EIqF_L06GO5DK7cb2aS3UjK8EHESxj_ltVzBxXTK06PlT6iOiChsRXaX-dKbNl0h0of5N_Pt2C6i5KjBKRuRZR6Q7nGC3GyIzLoTlLTg_Cuv3dG7FuYRPDcHO0oc_u7rjVlK2FBuAYrJ5M6AjKMw2YWhGIHTGHaOhYHp-YK-lj2ICgOeIdCbMwH6cDNaWzO_GHR8yXFBJpsddUK7bG7Z-fP51KwzStFAv-aWOKW3ox0LxwMuwrewZhTGGLFQzN7t7EgA9vloGr1auieCkqaknwp9RrF9yzXdoMlKa3QOEYbnw4R2xhn56WVoI1S4OcoGOOY1MRpCvPzNnW35lBwCwZrCN-pujQ08QRQSjBohX3hYeAd7umHO_1oRed80mZvQGElmKajIEe4QqQuJAuWu9ozEX_rGA_L7QR8DJTYhXg3wuYSN73gJdQv8cpnAumHOPl7006qeqzrO3abSDBwSmYyWcIGEhgobOTrD4cF7p6hXs0blTELNILiUL7mBYIq7-9dELleNdV3_ZM_3FiM24vAQbWFtkEEnY59mwTM5Ot_QgqBVlpzhJOr8ixjqR1NGI-VHvyYtgYayxGIBmO_v02SNvs6N6PazihWDFvgPGd60GL_gRWG-CZAdydDkhkRZ4JQxSQgs35jX8H_4IHos8pSOgN29gGD6Zw",
  "id": "rs_00a20431a44a08f9016ab446661a2c87d09f62b511e796d16f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.08,\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The outward move brought the bowl close to the fingertips; its center remains about 2 cm right of the jaw column. I’m applying that final lateral correction and a small outward nudge before lowering the closed jaws inside.\"}",
  "call_id": "call_cETdHWPD3a6cKreBSSMzuVmV",
  "id": "fc_00a20431a44a08f9016ab44666d5a487d08d879c5f62cc4ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cETdHWPD3a6cKreBSSMzuVmV",
  "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]: [-0.3126, 1.8072, 1.7027, -1.1667, -0.2699, -0.3061, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3987 left_y=-0.0756 left_z=0.1733 left_yaw=0.1592 left_pitch=-0.6219 left_roll=0.1905 left_gripper=0.0065 right_x=0.2894 right_y=0.0001 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -7.9795, 8.4034, 0.7399, -0.2808, -0.0806, 0.6618, -0.0479, -1.4427, 7.0496, 1.6288, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973e63d8f5cab31d221bd8b3885eabbcdeaf3ec30a7e550145b06576d630751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ead2ba3a0cc0044ace5255f394dc3f14258e1f1b6b33b736de6b9884cc59f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2e7e2564f603f5a2cbab29e11fa5dfbf9f0940a2597203c8a13d2014df05df",
      "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]: [-0.1917, 1.3331, 1.6798, -1.4998, -0.2657, -0.1951, 0.007, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.27 left_y=-0.0015 left_z=0.2886 left_yaw=0.1748 left_pitch=-0.5272 left_roll=0.1841 left_gripper=0.007 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.0828 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -4.4513, 5.9009, 1.1404, -0.4225, -0.0562, 0.7057, -0.0615, -1.5385, 6.9812, 1.6825, -0.0611, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2718, 1.7515, 1.6272, -1.1175, -0.2699, -0.2687, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3946 left_y=-0.0574 left_z=0.1735 left_yaw=0.1668 left_pitch=-0.5996 left_roll=0.1923 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0009 right_pitch=-0.0885 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.6222, 8.1983, 0.6569, -0.3297, 0.0562, 0.6618, -0.0752, -1.2239, 7.1043, 1.6679, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.8072, 1.7027, -1.1667, -0.2699, -0.3061, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3987 left_y=-0.0756 left_z=0.1733 left_yaw=0.1592 left_pitch=-0.6219 left_roll=0.1905 left_gripper=0.0065 right_x=0.2894 right_y=0.0001 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -7.9795, 8.4034, 0.7399, -0.2808, -0.0806, 0.6618, -0.0479, -1.4427, 7.0496, 1.6288, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973e63d8f5cab31d221bd8b3885eabbcdeaf3ec30a7e550145b06576d630751f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ead2ba3a0cc0044ace5255f394dc3f14258e1f1b6b33b736de6b9884cc59f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2e7e2564f603f5a2cbab29e11fa5dfbf9f0940a2597203c8a13d2014df05df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZqrM3l97INwLKHJViwLPRXgsj90hMbmCVJ5zK1oniJLQZQF6S6zxEmgKsWVZcQDMvzvbxA7D1YGW7AQoCZtTw9q0khKNU92qsVE7XDDoWPH-2Qbrhq_GaFebVrB7ta_uSha4TDNQXrKH4ujts7JJs84SW_9L7B76M-XjoFeXDblr0xiOLKvHEO2Oj-ufIpo6mSwo0UEzdTrPqbBmdMGsL07a-bbKkwjyzFUqKHnJVOI0m2qHPruY60ktQ1zQMRze1S_odXvmhYsTqPOWNaScGWwz9MoTssrr0B1pGSK85FsyQf9OzjZ9YI5oMDvQt4y_jQpoMPnTqORHJxV0QXDzALig9aZ2TC3afeL_Sa4uhC509uJ2Ko5hOEAL-1qcZg8mJCRH0LfuAmECOEUifz3fwe2Y0rYP5v6KXbVsgo-2FwYmoBg-Z6tssvs1cTcFH0T6Io_4HpNK8xyn_Td2pATzSbTYnYsrvMvE8sCoxNpiZEczFEqVS3-7GwAvIWGpakFT-sNwSznZXCr3JcMoURK7KQSKP-dndb65aO9UfpXzlRb2U_vjFiWpgDNVVzm_gZdpmYrBUp9dw6Ij0BGv6kK9Tn-7hi62CFGr9KgZ_-uXv4CU-9-3LdVo6REDVwULX8lYCIbAL1CCVoAcLaU7Zxn2jKxbzfHcn19qMDw9PoVT1_2yasewfHO7GvVkGVdoTiD2BGOHtsLoFucSpvebY3OPRu7P3l_fKXBOE9-mnN_pPxfIjthkridUdkTmVenzv2Nf5ayOesOQ2gAIjg6APlfhH8bxiKvUmlu7zY9i2t7Turjzob-o0-iwIYONcVDefNYnwh9aKc1ITfwBvSmXV5YNUqVZPgpZuX-KwDl-h_3utf9rU08aq_oyQOjTcsIuTx-lvDlaWFbwz674iVzeIpbavYA9Vdsqj3ydoMYzHF9vypx_srxXOddQEaQwreQKd4ohijmN_EBeWa6QrpI2bDJFNB_rkmfHiCVpi4G1Q0pgpZ-Ffb9QI5uP5SO81YPySNURw6gb5mWHnpI_YY9xRPScn6KkJOSTcCIwtwMFZR5YSn-w1NFFxxDMBCdsb2_srnjzhC2FbZZTYcotNjc72Vgou4umxb_IncIlRnkZPkEyMO3J_KbM3V7TNu5WadSLLsf5zst0Z1K4eZgEIGtKloUbRhxCmPQhxlgVTABLIr00Bchdy9b2eo4cSmrrOTvsSZY4CJG2JKYKyzv1sb7MdaniJCZpnBgqAfearpv7AcRUAKMPJ05DQswLjlf4oeRfAuROSa_Bm-iSz6Y7VRgGqAFQtHWbQTNXf42cGeSe-GhleTJ4hYz9iB6wiN_WDxaFl6I7sq6R8cmHzKjCNjLJ7UDf2GZMpH3CFJp_6OPpNYybuROQ4u5XU7GymZlb_br3k6W0riqHn6z-kaKpPe1AhZ_9fqFE8ZwQ8LqFsVAtFFwBPP6wFJXhAz3eL7pEmlnMwF9H4BtVdVokVPseGPsQoraPrrlnMlQ-enQ3XXz9yBoQzJVRXkvNPOVihadFJETm9mcgFUwN5PEb-sbwrgDswk89O-6i3zoiugAXUjUHV0qt3o5bAx66qKMhjZtpiI30JtRktBtozzOE1ToziuUtiAkBGfqbC9fQIWjyT0lmiwv_NZCXI=",
  "id": "rs_00a20431a44a08f9016ab4466927e087d0974c565bbda87fab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.399,\"left_y\":-0.076,\"left_z\":0.09,\"left_gripper\":0.0},\"note\":\"The bowl is now centered precisely on the closed jaw column, and the fingertip is entering the near side of the interior. I’m lowering the closed jaws into the bowl until contact, ready to expand against the inner walls.\"}",
  "call_id": "call_a8sBjnCa67ypBCJm1sQG11l9",
  "id": "fc_00a20431a44a08f9016ab4466a2b0487d0a2155d025e22d17f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a8sBjnCa67ypBCJm1sQG11l9",
  "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]: [-0.3294, 1.8236, 1.7168, -1.174, -0.2699, -0.3157, 0.0065, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3993 left_y=-0.0829 left_z=0.171 left_yaw=0.1518 left_pitch=-0.6293 left_roll=0.1916 left_gripper=0.0065 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0009 right_pitch=-0.0889 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -9.0735, 8.294, 0.8083, -0.3639, -0.0562, 0.6618, -0.2256, -1.5111, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141591251e7b7383357a12f35c6a654a8fe5b9015e9aa9fcd6f5d0e50d51cfca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac8686bea79ed6cb62bfdbac08f536b041dd5f5652cdc5f18336c01999e27fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c82e804b7991e382548fcf0a610743a81cf464b6fb2de505c58cd2f999a0bb",
      "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]: [-0.2344, 1.6451, 1.5166, -1.0946, -0.2699, -0.2367, 0.0065, -0.0219, 0.828, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3737 left_y=-0.0371 left_z=0.1776 left_yaw=0.1785 left_pitch=-0.5861 left_roll=0.1985 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.1578 right_yaw=0.0009 right_pitch=-0.0854 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -7.8154, 6.2701, 1.0672, -0.3199, -0.0904, 0.6618, -0.1983, -1.4974, 7.1043, 1.7167, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.8072, 1.7027, -1.1667, -0.2699, -0.3061, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3987 left_y=-0.0756 left_z=0.1733 left_yaw=0.1592 left_pitch=-0.6219 left_roll=0.1905 left_gripper=0.0065 right_x=0.2894 right_y=0.0001 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -7.9795, 8.4034, 0.7399, -0.2808, -0.0806, 0.6618, -0.0479, -1.4427, 7.0496, 1.6288, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.8236, 1.7168, -1.174, -0.2699, -0.3157, 0.0065, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3993 left_y=-0.0829 left_z=0.171 left_yaw=0.1518 left_pitch=-0.6293 left_roll=0.1916 left_gripper=0.0065 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0009 right_pitch=-0.0889 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -9.0735, 8.294, 0.8083, -0.3639, -0.0562, 0.6618, -0.2256, -1.5111, 7.0085, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141591251e7b7383357a12f35c6a654a8fe5b9015e9aa9fcd6f5d0e50d51cfca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac8686bea79ed6cb62bfdbac08f536b041dd5f5652cdc5f18336c01999e27fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c82e804b7991e382548fcf0a610743a81cf464b6fb2de505c58cd2f999a0bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZui8ujzix5WWP4yOjKeCWxJarizXo_Li8rPjdxqo4ec9Sg0c90-nN-61cE0HOYMPxLxAFQiK2sOGNQI7uDbBRbWOCmYq8SZl26-4h2RVzugPochL7xqD1gzz4evF6jtu9zvFq78ifZZoXvrIFgXREiWfo7aOd1GI7lq1DeMmZq0zzrlAHnyDCgABjy0Hco58_gpFF6EerH7qxjGrWoiRpGlOclC6MteBQ0yG8-Q39nQpOCszW34VEU2Js4EiqHElILSPtn9uJwYQFbk-YtDsFRC6-uXn2QFheZDrlbcBcLDWFofD9--wPPABECAAQOyU_X8DOrBCbI48biAKH4t1Tc71WFrdD1YrtGLqGaynT-dDVSCpIwQdqJOjL_KI4nDHcB4BVjNVTLJI5w2RZmJWw0JVSNjJRNKARssVMfebUvts0X3Yo117qP1vACFfCxj4fFqGVDd1buv8cKxOaHNXNZ91zULxVFW4YLI4GMKz585Y3t_duAhLwhdDS86s64hi07mHmCDT60rQTvSpbG8xIM4vzZOmaxWtDDv5iPIEyMmwBK33-mOuRXug7ulInr8mvVDTKc0Z8q9nGpPK_ALMFLND3AKFzY0oKGJAcYzeqj8dlo1UTz-VaobTIvzgRdJ4kOHFXtfhfXNKPaggvF21stnbpJe-91lJiwYMTaffP6J2rhiI9-1e3C4Mf1xrkWJ7g8ZhdNA41zBPZrh4gDsMT_Oy_9s9W3tZMeV_4_bY8cu7XswcAoKkdaEBcpOAlCIt8ZlNNycWT5sPQC4hoxGMglGXN6l5PSeQy_KFcrCH8-BRsN1V8Upq_cykRHXD05l4lKOs47a_hcULPxfbuwrkjQn-llgM5XIGiNZ64yMkSYz_EdEwcYpJJ3KfZNpZ-fRj_V09_EZeEKh8AMlT1KNWTJl1RuFT6lS3NRUNKKXmSuMfyz_xfAL39Uy1TCT8Q_1J5p1VcvFz1xmzuzBBoPpbCk70839RhSaIZCHL_4Hrnf4w5-NKAWdSTtD8ilBdEFApmSwDBf02knPNfc7ve8WBA-ldWemUWXQQYfk6MVWIyRhoNcJ3Q2SZepvazX5eA4xtTNRFasoG3XAf3Sf16-ZonaEor9u4nCkdE0YOuK90GMBKsD_x3ZuyPsMVXS1Ctorfx05gEf-gxbT4buvlvS20wBAecrY44TgVqCvL42FrWZWUZYxAIC1m9VnRqepeG_KrtNHxt6jarCbbFc8GBbQsbwV73b2GxZ7SX9mnndiikbG1HN6HWEdpHKZzRDJhe-B-7tQjfY1-CTJD5N2oVh2ZjkH8bdSF3LNsgjRFpCZa8y_J18Ja9iYCm8wICqbvpoSHnFyIxGXogJ8YJkNw64AFVV6w9gpuguFE69EquM9wwdgHpC5922QVdIamGgzIvngKpAPb_GZZriXLgkaze7XAGdnot8G3msXBL9vB_2KyddABBuKuixfxhrKjt3zvwj-TuJf3M0LCGZetSITpBDowcbgvX-eidmetYcZJeY-mwMP2325QK1pQZKsseh3U7dlwTDEMs4YSzue-d1FVcHgxmhBMAwYwibPZd_D7v9crChLXLmE3d3mLZ7bJVCYR-3LGDtBxQTFTIKy-7t7QQw4CD04K1nlWvcUKWPxbMC-vq_qb2YUWGBT4YUbtSZXxvAw0M2",
  "id": "rs_00a20431a44a08f9016ab4466cfb3c87d0a6a8831386811afc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.399,\"left_y\":-0.083,\"left_z\":0.171,\"left_gripper\":1.0},\"note\":\"The descent stopped with the closed fingertip centered against the bowl interior, confirming it is inserted as far as the current wrist tilt allows. I’m opening the jaws outward to brace against the inner walls for an expansion grasp.\"}",
  "call_id": "call_3UkyeGFU8fsGrCI0DNF4eMM5",
  "id": "fc_00a20431a44a08f9016ab4466db06487d0ab26bfb43d7bfdcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3UkyeGFU8fsGrCI0DNF4eMM5",
  "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]: [-0.3332, 1.8187, 1.6741, -1.1454, -0.2695, -0.3271, 0.9949, -0.0219, 0.8333, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0838 left_z=0.1612 left_yaw=0.1583 left_pitch=-0.6364 left_roll=0.1913 left_gripper=0.9949 right_x=0.2896 right_y=0.0002 right_z=0.1563 right_yaw=0.0009 right_pitch=-0.0911 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -10.8103, 6.106, 1.0183, -0.2955, 0.022, -0.1099, -0.0752, -1.0051, 7.0769, 1.6288, -0.0708, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a891e33a99b49dd18d66aafa32e94acb34a0db6feea26687aa21208bf6523d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18793eaa704e8f45f46d372ee752ff876dbae79d42d12ce4b8c6c0ba5db2049d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7926c9d57c79cd4119f8ab14eebf401abc1c7f6bdff41585e9483796fe0629",
      "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]: [-0.2718, 1.7515, 1.6272, -1.1175, -0.2699, -0.2687, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3946 left_y=-0.0574 left_z=0.1735 left_yaw=0.1668 left_pitch=-0.5996 left_roll=0.1923 left_gripper=0.0065 right_x=0.2894 right_y=0.0002 right_z=0.157 right_yaw=0.0009 right_pitch=-0.0885 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.6222, 8.1983, 0.6569, -0.3297, 0.0562, 0.6618, -0.0752, -1.2239, 7.1043, 1.6679, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.8236, 1.7168, -1.174, -0.2699, -0.3157, 0.0065, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3993 left_y=-0.0829 left_z=0.171 left_yaw=0.1518 left_pitch=-0.6293 left_roll=0.1916 left_gripper=0.0065 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0009 right_pitch=-0.0889 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -9.0735, 8.294, 0.8083, -0.3639, -0.0562, 0.6618, -0.2256, -1.5111, 7.0085, 1.7167, -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]: [-0.3332, 1.8187, 1.6741, -1.1454, -0.2695, -0.3271, 0.9949, -0.0219, 0.8333, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0838 left_z=0.1612 left_yaw=0.1583 left_pitch=-0.6364 left_roll=0.1913 left_gripper=0.9949 right_x=0.2896 right_y=0.0002 right_z=0.1563 right_yaw=0.0009 right_pitch=-0.0911 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -10.8103, 6.106, 1.0183, -0.2955, 0.022, -0.1099, -0.0752, -1.0051, 7.0769, 1.6288, -0.0708, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a891e33a99b49dd18d66aafa32e94acb34a0db6feea26687aa21208bf6523d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18793eaa704e8f45f46d372ee752ff876dbae79d42d12ce4b8c6c0ba5db2049d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7926c9d57c79cd4119f8ab14eebf401abc1c7f6bdff41585e9483796fe0629",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ0iZRwlljcsLtaPXRMspm7_XBPmV_YRyDem8PeTW3GGzEF9guPQB9CxxYilvzZRYA8EhuQeRN1z3c_WqznbQaZg5To-hGbOs3-77F7i0z1z4aU3ah1MUsNKDAkLqlDXQnLfPmD3dYEst-GrCCwUmq6oA-Lf1iH10BL38xr6GqP6yZ-X1mp4VKUwIQLZZq9of4Awzx1OwbXv9oIu-KkE_sGM_8l4nXtvHqBmhkR0hvFR3W4z9nCXp-GISb5sowEJmx0Q-VeAmfUAk3mDqBrTRZd5ga8fOp-TAPCwr0ViGCJpd4lKSqbWYsA55oFQBO2ZP7SggXi4zVwKtwZ7ARttaGyVdr83BlrSHHIir109WjDmnJKSFQ6dJzKlvEPfGkP7QVb3k-Ys550nC2Cl_6lbO0a4jb_VU2BKx6pdSalbTLoF6BedCXRt1GSiM-5NjkepfPP8lzBlB7sg9lED60ka-7TiH1xmb24yiNJ4zyniiEht-83jWCNk06aqz8_HTS_NEgWPkWLt9n9z6vk9LazIBHEjUERED3DVZCZJmPyWe1KzvwmS0d2Kj-l1Nu3vDH3x-egyR5QZFGbTDOJaHJfO422WWdVsSFyJNZ9kKeTQVCnaXtqKACM-vvlzxvfWbzCU6E50vcEMw4nv5S2rKb_t6OEf2TJuyFwP-vfMAXN79cxUvg088_4OvQCduVQT758usnI1BfQf8iw-c-DIr2WI1vhP5uzl9sV-BHGgqdpr_pv3kkj6hwk7C_gVg0T17OMstRbjbtlYLZY6RkTE6fzPHKXsLVKBfC3VCW0h97d-wyhQ_8aPpnAou1kyZQQT91wohVRmZuzf-Q7ubJbOxCF_sT7VsZlJcWteZGvGC0bBorNsMypazntqS6M3pacPMIyRgOXhM9qO_V01ITa-rwvodCIRr2rbY4dvqH8cEQ1fOp-UaLvIFMsdRqaWVZdYfGlqA1TFolPKuQC9e_qssMqZkNUVOpUm3m9r2U9W_p-kK0ILUiSx3sP0ia0VdkCYxu7c50kdg2Zgh_zVN0ggfxnhdkJ_-pk8638PSJk56FYhivO_7EQZdhaj1misdLkha-6RPLy30RW4epSTjdNqBZWxS1iLFezsd-B2WtulsfLUKlQQRTdv1J6BsjSiceXo8JpRcalwOqZ-JpMJr-jJtQmercS7UlC5WAA39Sn0KZCzKGnPwYdWZyVCm3v1jG4EYStUKFmCLyBSf7JYrCSbEcLCgqGs9nWZreG5ZwUvmoy3npe3XiRkjQCqiPhf9GeZtPNMwChi90XITPHbu79QPXwJFG5eDCH9A-FlSRXlB7tqAmlj4Gv2XSWfnBNTZAxU43y_1y6dgXbv4IncJsusNOpTzTj7OZ3jgoaM4fMWLdDVGlG4MaMBxhqGxkc67D6G_2scRSx802GtmU64kXCyKEpqvOarvT72slvaGtgMJVYOXgs8Qr-0Xt33y45l5EFTUlzzaC_KWCa_HWD6oQVHKZfDeK4D2YnYqphsm7mfQrMrLjkF0kZKLc-Ph2iwZdc6KY6K7cu2oJ86lIwJ2QY47qGejnkp5VRrApdluiAdybHyT4viOqMyepeAhqVrPbTu1r7RL2CGYC4IK-xeFurqh1eNEah9VAkYib3XtckYnWlpgAotbROIOt8NiT78WF1YPSIVJozSp22cj-mq1mQeSxDl_WDUFvdqeXodhq39kHuxFzo_O4Orkdz3xXGnMIFQ9VPRw6bHSw41pKSvyW0LLvS2LeSjw28LoTsfgiMxbTEVQiP92y8MK2CLu9ko1PXFfJ9UtG16S5qByfYEzLZpuhWb4SPGddg4WsDQxVofUSJ49Fy3uHSQp9XvRVL6vL9QNLTFn9iQOUkJQ2ytgB5dkrMpZ7BXqNtjFTfnOupOcTrho1WqgyO-cgdM8WSu2wCa5X3b3ZyS-k7xemVitRJo6uWU-aZbFlCSqYHwbKzLAffjwfJ_J3yRYV7Jz1RrX1EydAIHP6GmfQnDvA994NKavKuyoisoS4kAhaelVAYDVAJ8IR8Y80jrexaudnqhApCRZEFdIKZ2Pd2v9x2uPaUqz-YoXusA84XRHDWQgrGotK-qqA8UodfI9fnP-KHCH49CDRhHi2owy1j8l3qW7DUFo_1HB1rqa4H899oIy2_hGIbj3xzo9U=",
  "id": "rs_00a20431a44a08f9016ab44670ff8887d0878304357aabb7f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.084,\"left_z\":0.161,\"left_gripper\":0.0},\"note\":\"Opening fully did not bind internally, but it placed the two fingertips visibly outside and symmetrically around the bowl’s narrower body at this tilted contact pose. I’m closing from this centered outside position to take the exterior grasp that was impossible at the wider rim.\"}",
  "call_id": "call_J2SyDEGgBsSS51bPVUkvFPhY",
  "id": "fc_00a20431a44a08f9016ab44672c5b487d09adc613f296ce86e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J2SyDEGgBsSS51bPVUkvFPhY",
  "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]: [-0.3389, 1.8122, 1.6226, -1.1099, -0.2703, -0.3347, 0.009, -0.0216, 0.8352, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3935 left_y=-0.0849 left_z=0.1497 left_yaw=0.1617 left_pitch=-0.6436 left_roll=0.1943 left_gripper=0.009 right_x=0.2897 right_y=0.0003 right_z=0.1559 right_yaw=0.0013 right_pitch=-0.0927 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -10.8923, 6.3248, 0.8767, -0.3736, 0.0171, 0.6813, -0.0615, -1.6342, 7.1726, 1.6288, -0.0366, -0.0659, -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,$blob:47d07a2880580fc6d07e40297959c9f747693b2c6ae75e3b048439b91819ac1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f6216ab8661e457450bee5fbdcfad42a327652e43e9036b479e6db73b954ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a54cd206b9ec946729ceb99ccb4bf94e31776215234e8770fcfc6bce79423f",
      "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]: [-0.3126, 1.8072, 1.7027, -1.1667, -0.2699, -0.3061, 0.0065, -0.0219, 0.8307, 0.5945, -0.4229, -0.0162, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3987 left_y=-0.0756 left_z=0.1733 left_yaw=0.1592 left_pitch=-0.6219 left_roll=0.1905 left_gripper=0.0065 right_x=0.2894 right_y=0.0001 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -7.9795, 8.4034, 0.7399, -0.2808, -0.0806, 0.6618, -0.0479, -1.4427, 7.0496, 1.6288, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3332, 1.8187, 1.6741, -1.1454, -0.2695, -0.3271, 0.9949, -0.0219, 0.8333, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0838 left_z=0.1612 left_yaw=0.1583 left_pitch=-0.6364 left_roll=0.1913 left_gripper=0.9949 right_x=0.2896 right_y=0.0002 right_z=0.1563 right_yaw=0.0009 right_pitch=-0.0911 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -10.8103, 6.106, 1.0183, -0.2955, 0.022, -0.1099, -0.0752, -1.0051, 7.0769, 1.6288, -0.0708, -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]: [-0.3389, 1.8122, 1.6226, -1.1099, -0.2703, -0.3347, 0.009, -0.0216, 0.8352, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3935 left_y=-0.0849 left_z=0.1497 left_yaw=0.1617 left_pitch=-0.6436 left_roll=0.1943 left_gripper=0.009 right_x=0.2897 right_y=0.0003 right_z=0.1559 right_yaw=0.0013 right_pitch=-0.0927 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -10.8923, 6.3248, 0.8767, -0.3736, 0.0171, 0.6813, -0.0615, -1.6342, 7.1726, 1.6288, -0.0366, -0.0659, -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,$blob:47d07a2880580fc6d07e40297959c9f747693b2c6ae75e3b048439b91819ac1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f6216ab8661e457450bee5fbdcfad42a327652e43e9036b479e6db73b954ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a54cd206b9ec946729ceb99ccb4bf94e31776215234e8770fcfc6bce79423f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ7QqdPLbewAOms__ciLmeTCyT7V6lbWZhtw5aynrXonQ1s1R1UKD239IUvL7szz7IB8qnbG2bkHN5wXjYwd-z4hbARwU-mZhx2czFE2TPmcp3NdvB0rrB8UFpXcbRPTGCjxdVwQHsMTH1ig9-ZmM6U928glSlzSfROOwHbqqX9iMiCq3JNgzR0D0W3NLDRtcZoS1X2PawxG5gN1emtnap4uO8UOvHvbTrK8Wz4pZ98TUfq9P7CwOJtrueb0dWm0LeFwEh_IkyDBDhtOK9UUYTo9L0Xyfx2b1PDWRgH6D2GIQTjn-YzWlWhGDahqOjL7dujUMOCWODGZa8cVv4CYr38XlLSZNtXXS6kacq8Nlh6EutyIhGJmYNKjmVNqvFrWDpsxrBjF5X8bN-KzS7C4Nse3g-EQvG_m1fWa1FbhNBxOThoE5paEr_bVpzFbczMG512OpO5_n7-uTzFar8STSJuErUg018Ws-EjchTrquSXgGKrh9N9Ts3eMlftHG06ek-3N8yqSE0pkHtWg1_t-J4kai0gnFMc4ub_bpCz9nCrtTtluORBlz_onY1waOEA5-F77TDtljFTG6xsYNabi5IlOg_jTN7lJ3nhuHrOiF4LojfprYVYM4ZLSGps3ZjPtHvfgcnyje7GSSUffGFlukUHluPZSBHWe3IgEO7t-ghkAFjdbMxpdeS3UVCGMBwme6tQFWoc1W5-4gYkLBP5jfhLonwOBixvrl0G7pOrgE8oLrljy4BII8V42986UwItDxuKf1aI0CSCVhxoSpOn1V2ts-69heMixiqeWMQ5TuDtDluv0VTnC9TSo8c3pTg_QYO4vNWtPVWNf2CegP6Vs5lVNvDCyVGSV814Q33LMyqD4_f--TLt_f7wfP77yerPHMB5MMsK7O-O7lcva9n5MviwSkQWvR-LekH2YE-ivJERCi6QKmLsmKmFiOC0BqIk862fDwTIEClb2eWRejA4BUQ_6WMXY7VardHcRSLOseQ-_iblWnvONQcsSQcP7oogp9dODBqPQ-BseZfrZjKIX6_GC_rQlQSjIR4ZeWpkb_yHpJ8CxD8_OTjxnFJFc8MYb9SomauguuXzz9GVU_TymmKE7L5mwtrfKDB_0eyTjEAxWr-LzQk-3Zoqdi_cLQs_dPQ2l2fqDAc_xClHY1HTz0fhNt2LOkQkCDEbmXfB6y_jFkL9UYse8fOCzU2G_Fya7iEknLQIhR84YM3Y8i9R_3m2KntlGyRGUjG-Lz12GROVt9TnnCB0XZrv_z-drxN_AntXIIJYhyypob7J0FACqNpdYCs8Q4qVIJSxRRe2Lt6ojWPQTKhKn358Iq-jQU1un83DyXOewJHLY6Gjan-Kg9pVeLL7XxtRTAL8C48QAnu5IqOyQ41kbDxm9AEx62mJb7o-PeNYNryXyKg6_YzNT1Ou0krtenRmprpJvH_rdr6QXWhTb0qXra-Mr5IsKARwXdcBjB3wGmVoEbvrklbDQgJWQGBQJhUBdNSJ0oOnBuQ2IUTq0p0yEdloj7Q-xHHCW9iBvGKpP-AbsOrpqk3Y2lX1YAHiBdtBDvpjX2zBmkk39eT0fDX1sCIJZfat0H3AVeTg-Yn5jLQcYS32skJxkt9lMy8Um2gjQ5lacs3RnfLRcszlBb1yv4NaKK1MTwsFDggQj-rEk-MRtZ7WfSwD8-2YdzA8w50etfBU5DRHDTS4AOXbCrbgUmjfv1H53iSoq5fM6QSESZoH0koShvguTKdVmF7OTUB_zQWxdZgL9ACB50CTzWawgs-sOExwxkbofdIQoSz_G1vX__joJuQaVxp3EmwSWfSTirqvQ30im3RpO3pvopU8QDYq-QFIxdt9us7qSHK5wgBVVXfkxyi7Io78e2G8u9XTnvuCg6u82FL6AAlqfnAiLJc_7U7KXcxTG3yhOnKjMrCkyfJRYLgU9LIQ5DRjvHJKUcWZWo5Vp_HOPxEX6jTYpX5CzQowG7x26sxEu37VF-xW2hmYRjovSXIGANosPj0ajwiKtQzC5d-5q1pmEsftyv8y6P3-SZHS8wLSechbBMQIIyTR9F4pqeL7WdUWNSBD2JLFg-S_j3e5hR4aHhF0DwvnHGqarmGtPvlsFk_VE5WMHDmX1DdNhw7sJq6uqpdSvzQ_-MD4ksO6FwKLafhj6qoZt5mQUkPH1uXPmHMSGemRfwuUZ7tzCTf_wVfbDYZIMl-NNnU0jHVLCue3m96BRKF3YpxRzoxQWeRz1JkoWnimZceq2sdKUbjznaZNrwbLrfQ1TijbWTzX4qyV7s3V1kKmLM0CyjBKL7Ef_v39KjPn4zninVMylIYgqQb5hk_JuC0iRQrQUIpcviAmtoTQHx3PUcerMqoajt9hNezMhA8InHQQUnvU9In8b7vzjOQuQtZj4bF858_FnHnRg9hfPPs-GbkC_VVlcbGnYnyNiEVkRXgWghxkQvGekhJdNje2yfF7FGwELYlxwKq_0GSDHr7DtKGHMf-io9s-wmiKnBcCpAHfe4r-4uOh5xx4O8qoncwFcZubBcJdoMFRwoZ4CT2sSc7nmNat0LCx9wrP4bO5q9kNmtYtPsSy6_xNN8MKVdCb109g1wpsS5fWRzE3eBsIAeOQVezt5_16GXcJE7EzRXeaWCeevF_V6kjst0FUV52pYnZ0E4KSuznfpLI4Ul5FRiGoNJt_6hZ40X29T3Ar9SWf-bnOaZ1Bh8lvxuq0ubSrYQ-BN7e0GoV14bYsBvLNeTjs6B8v-tvOlnsi_-q4FjcrXe8DIs6ppEUh0UgeMgmPjtfkOBKU6sQ-JzdVKTngPVRUKm_yi9r-vZIQHT8w7L67IfJvriLn19kcyTzgTVGizFv72xfEqIVMRXDnBJWtlwrhl_CUsptHdSfO5xBmX7VOBpT0ExkeO33_f8C5VhU3MnXhIO8q22pk-lhzUERRKWjaNM6rZklj5Oi-p8HeOMDAjbIKi5wQpaDylIWUSaAy-X0e0JVvqlLsQYFmDjl2H0dvmQ07TWHLH75lMlIVmDDWgILxw5lX6igV32nJfR3SNjwgi-HdyiR2AyF-3S9zv-wGU-n-1G9_8-uKBz9tBfjNWswPBtG8gZ1Zfrtu05I5gR88DNoc0pY=",
  "id": "rs_00a20431a44a08f9016ab446766ecc87d08bedd4ed15bef3ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.3,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The empty close shows the jaws still converging inside the bowl because the wrist has drifted to a near-horizontal pitch. I’m retreating and explicitly restoring yaw, pitch, and roll to zero; a vertical tool will let the fingertips descend outside the rim and grasp the narrower lower body.\"}",
  "call_id": "call_kK8kcmKbWkppGVpTrE1mmmBn",
  "id": "fc_00a20431a44a08f9016ab4467a20c487d09fc92213fe2a0513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kK8kcmKbWkppGVpTrE1mmmBn",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4915, 0.8471, 1.1355, -0.9535, -0.3992, -0.3149, 0.9973, -0.0216, 0.8379, 0.5945, -0.4232, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2513 left_y=-0.0526 left_z=0.2935 left_yaw=-0.0021 left_pitch=-0.0329 left_roll=-0.0067 left_gripper=0.9973 right_x=0.2897 right_y=0.0003 right_z=0.155 right_yaw=0.0015 right_pitch=-0.0961 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -0.759, 5.8188, 1.7753, -0.3736, 0.1148, -0.0806, -0.1026, -1.6889, 7.0085, 1.6728, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b090e7a816af5b4ea06b262ac5972c895a96c682f0d4dd8ea8a39cb402f1b364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c2b6fe143c59a1d6b378ac48fd1d6f83cc8242cc40b0887a6e5dc206993cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb05586726a1c0b97a777c8e5d031620a1a1b6f433fb51d32bedc43e698888d",
      "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]: [-0.3294, 1.8236, 1.7168, -1.174, -0.2699, -0.3157, 0.0065, -0.0219, 0.8314, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3993 left_y=-0.0829 left_z=0.171 left_yaw=0.1518 left_pitch=-0.6293 left_roll=0.1916 left_gripper=0.0065 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0009 right_pitch=-0.0889 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -9.0735, 8.294, 0.8083, -0.3639, -0.0562, 0.6618, -0.2256, -1.5111, 7.0085, 1.7167, -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]: [-0.3389, 1.8122, 1.6226, -1.1099, -0.2703, -0.3347, 0.009, -0.0216, 0.8352, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3935 left_y=-0.0849 left_z=0.1497 left_yaw=0.1617 left_pitch=-0.6436 left_roll=0.1943 left_gripper=0.009 right_x=0.2897 right_y=0.0003 right_z=0.1559 right_yaw=0.0013 right_pitch=-0.0927 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -10.8923, 6.3248, 0.8767, -0.3736, 0.0171, 0.6813, -0.0615, -1.6342, 7.1726, 1.6288, -0.0366, -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]: [-0.4915, 0.8471, 1.1355, -0.9535, -0.3992, -0.3149, 0.9973, -0.0216, 0.8379, 0.5945, -0.4232, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2513 left_y=-0.0526 left_z=0.2935 left_yaw=-0.0021 left_pitch=-0.0329 left_roll=-0.0067 left_gripper=0.9973 right_x=0.2897 right_y=0.0003 right_z=0.155 right_yaw=0.0015 right_pitch=-0.0961 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -0.759, 5.8188, 1.7753, -0.3736, 0.1148, -0.0806, -0.1026, -1.6889, 7.0085, 1.6728, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b090e7a816af5b4ea06b262ac5972c895a96c682f0d4dd8ea8a39cb402f1b364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c2b6fe143c59a1d6b378ac48fd1d6f83cc8242cc40b0887a6e5dc206993cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb05586726a1c0b97a777c8e5d031620a1a1b6f433fb51d32bedc43e698888d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaBE95UA0rGGnw4FSfy_Zy-_HlX6nU17rVvI4COwYtsTaVkI6sY3eJZ6yVG-Rcl_R7K0xQ6IZ1f1AtA3ZmPlOxdnwNXobl4dOZry3pmxC7InLQBTpRp0SKtKrhsz4mRoCF3tdk2lI1UupmpJVYsSBF9GY9GAWC2sc_3NLC4ItW6TpNlKd7Qkw4Rt3d-KalBMv_QHRMIeD-pSahBnW2ysI_5v6S7X6AMNDecMWYT74Zek0PF6JIOBKrTVHyI6sTGNb8409BVHaHJEP-eVRzx-Xj_2qsiSIinXA0Qg33hzFcLib-TN_HXEH8rcicYL-oH6DiygSuQWKdN4Pellmri5Ue9A35kFzzKHaveobZX_8w7kvSEfR912hDTESHwI_NKWAVKnE_4wANFf5ENquOg_v6MwU16mgey8_92fnBjiB8WymIZrR44ebpNpTKb8csEgv_ThwnIY1lqRrMJBG5sq-CitU2A7NkbQZBWqG13_chRh6NysJubU9fwHOfPDiB5sLJmVT3hGxQlSQ5sqf67YJ4yU9WLXqMlxUDw9PhYHAUhOUEYl7-3poIZDNN78BkL-q2nm1E8tehDhLoByF9-hslkICdcbrDBtFw3cEyhGjhxHA5orvgLBNeNot9Q1QDZlehmTYOdrfBH_wgYim40486Zy5rgITEn9aV_Zh5ska98VvM0PfGQk3PCqk7cn2r_-XWYYyY-l2-_6XT999aX4a9VdXop865EAJZ-fSQ57X5JB_I0t7SPQ48Ot_D_JGEDr6j3JblWaeukOnewxWI1IQ3eFb9QCiVyzj02aLp_Qw1aAQ6gYAcGMXuidFQxNXStSSyTeQNesTPJiA3DfPwL6UnOdcY8zsA4ezm1-lgzMlBZ1RlHfHBe_65tj_h3hAUscUkckY6tSgM02ZNl_YqhXeTvHD-q_UI1bPQ77YKjmbGn9YPv68cGSGODtCqxqwrE0wbe2aGfqgYzNOiPLj7tDDb7s2o43kdhtzMPFdK5HGOmtuoKiQSxlM4iMKcJXwAZKWBqPICF0s2kqFl5NSsBoBj5hJ1VA-2X-1mN_nEVEX6WNtB4_AfFBgRHvaPob3fMWsD8P7jdAqye1z2yP7gFAxHyonxx7hUZ1ZSe6vKrw2saHjG6rnxXLMf_-eaazDholVd6_ShSrF-EiVGDQ1gvHJMctRdh7twwgtAMH_CoGt-IJsXCxFFOD07E0xL7lDpMwkmj694mPHGAOB0zyTPmn9VBHWtKBKo-0OujrB3mI2K8JE1TRdrw7vNJw1jMBaCrByZuguXpZFmDZuwPSGrWpzZP6DS3VIpD8yS7D1oJO8XmQwHF3SevnOSpJf_bia-qwo2SFn-WNMP4rqcI7KxeNjNEhXl0IY64F1eRJkiFmPXC0LuaIxdKSewZAr4ApCZmA8otmXa2F1Vx6xATW6pt15XgPOyojD-LcykRlxVDyLaD0PzOqWCTEsOiJSCtN2gHvgiqwQ_Rha1gIPR_KtthzrjcELH5OGoU5o1EQR3W4iVNRfhWremqFlpP6ob0wkiKobmX9q8e-5DmVClWETDonO58TySdWL-VbjIxfoZUJguChRz2CLMKVp_8F1-MS3DJdRtCUOAOxLLDG0SgoddYR7RGtzwa7JbfssDRTqWDH4itu78WPRpngAfPENwS8R03g4jNKPt4cP0s_OMYIZ0JM51Fnw==",
  "id": "rs_00a20431a44a08f9016ab4467f4cf487d0a023b244e085bdbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.053,\"left_z\":0.16,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The wrist is vertical again and the gray bowl is centered on the jaw column from the neutral pose. I’m moving straight outward above it while explicitly holding the restored orientation.\"}",
  "call_id": "call_glrvk20lSe9qgr1cbaCydQso",
  "id": "fc_00a20431a44a08f9016ab44680280087d0b19fce779160d84e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_glrvk20lSe9qgr1cbaCydQso",
  "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]: [-0.2409, 1.2705, 0.7708, -0.1818, -0.2188, -0.1741, 0.9986, -0.0219, 0.8425, 0.5945, -0.429, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3734 left_y=-0.0486 left_z=0.1468 left_yaw=0.0248 left_pitch=-0.0906 left_roll=0.0083 left_gripper=0.9986 right_x=0.289 right_y=0.0002 right_z=0.1527 right_yaw=0.001 right_pitch=-0.1064 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.294, -5.2718, 6.4342, 1.8779, -0.0659, 0.2564, -0.1538, -0.1846, -1.7299, 6.9675, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388780a6017b9ba29fad698a9c7244b29cfec76c7fb4d4d80d4724ad2542f011",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34bb8848dda6071f51fb56bd17d14d49938e5adf0af5138c7bc14721afe2546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a97dbf42f1d792dc9cbe1325c2a955e3063f11784cb11e7e9f3f8f38132a9a",
      "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]: [-0.3332, 1.8187, 1.6741, -1.1454, -0.2695, -0.3271, 0.9949, -0.0219, 0.8333, 0.5945, -0.4229, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0838 left_z=0.1612 left_yaw=0.1583 left_pitch=-0.6364 left_roll=0.1913 left_gripper=0.9949 right_x=0.2896 right_y=0.0002 right_z=0.1563 right_yaw=0.0009 right_pitch=-0.0911 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -10.8103, 6.106, 1.0183, -0.2955, 0.022, -0.1099, -0.0752, -1.0051, 7.0769, 1.6288, -0.0708, -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]: [-0.4915, 0.8471, 1.1355, -0.9535, -0.3992, -0.3149, 0.9973, -0.0216, 0.8379, 0.5945, -0.4232, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2513 left_y=-0.0526 left_z=0.2935 left_yaw=-0.0021 left_pitch=-0.0329 left_roll=-0.0067 left_gripper=0.9973 right_x=0.2897 right_y=0.0003 right_z=0.155 right_yaw=0.0015 right_pitch=-0.0961 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -0.759, 5.8188, 1.7753, -0.3736, 0.1148, -0.0806, -0.1026, -1.6889, 7.0085, 1.6728, -0.0562, -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]: [-0.2409, 1.2705, 0.7708, -0.1818, -0.2188, -0.1741, 0.9986, -0.0219, 0.8425, 0.5945, -0.429, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3734 left_y=-0.0486 left_z=0.1468 left_yaw=0.0248 left_pitch=-0.0906 left_roll=0.0083 left_gripper=0.9986 right_x=0.289 right_y=0.0002 right_z=0.1527 right_yaw=0.001 right_pitch=-0.1064 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.294, -5.2718, 6.4342, 1.8779, -0.0659, 0.2564, -0.1538, -0.1846, -1.7299, 6.9675, 1.7411, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388780a6017b9ba29fad698a9c7244b29cfec76c7fb4d4d80d4724ad2542f011",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34bb8848dda6071f51fb56bd17d14d49938e5adf0af5138c7bc14721afe2546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a97dbf42f1d792dc9cbe1325c2a955e3063f11784cb11e7e9f3f8f38132a9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaFFqgUBnZB2JFyfYl6enoIQ_zeOG1NDn55Rf6EhMrjo3Te3kZRGZ1OzB1jTFYDXYZYfVmhKnQi83CcROqQ1Hyz1NhcB-E8l7TtqAdXYtP8SSihYJE-4sbHd7GPbASekGTGlZCYtdQpEsURb8okyk7-VysD82AymWC9d2VdFfpzE1Aic-TwD0EA3FGH283C01tTZsjYKJLXvpCGk3cG72o-H5cP_ILZ7h1704EDfdDk7jfMsIP_SxbWeimr5u0HHtVRymWELLgLpmvnC8V2s9Xovy-h9VoQ75IMJ1uVxeRGC5W__Hr0KDXW-mXrFdXBhIGcj7FrI-LHSLSqgvtnunwjwk7D0zINYmRs73LuogkhRq7VpRjwv6hKu3Hz48ZVdjGkzvmT89TbEqeSi7HIQWqJl9FVh3m0dfd0PwdSiqkA4LeYNyDOqMCtqshlVNXxtEy1BnCTQssUooA9iiKlo2a4rloConM4U0C6uzBvINePP4CIF1jdr0b0X1Q2wdO8xzr5EOpG4eVCfWUjIlbJAoQBo824CITvac-S6oJHIm8KQ2XHDW9NwoH3w35Q1QnvhXGwCZ527_djOtsQYLFd1qD7dw1MyNMgkGptASl8u5Xi_zxjF2ZAriXM0P20zxHlAuBZtyKHnrOjzDM32oaUoM5pW3ulv7f6XAAP0qAI-TCy3j1B23_T6EaENzQMlhf1IUn-9II_FOrLm1YwGQpIRb6Q8AeOj-1ZIK3yhxosluT1uxgoPdhwkPB0Myo4ASw3pP-yYh-MdRogbvPnY60YGKPKjK6QZ5GkVTO5AKAL3taj36iW2J3hxLp5gVkgWhOsZU0FS_xs6WiM-dYV-mbnttj-YGFDTIb2CM31FHQ6riaO9lk3I3Du7O2_OYTD6XSGgBWTfdrpGMRbIw_EO_QzZkyElebysQegxmxnS8xc9tZG4UyCz8cLQnFdW7NPCYdeuA4H2Vs85KPkkzWwv-wkRNdHXL-JEQCpRzmO3R6RHroYhh4eEsTfD-XBLxWZx9ZQVrTlCLWMuNGdVoyHPBlZTaGFnOangfvnAZ8XtJb8IwVpa7SYAa5j9jY10_CgCG1Z7x5DQetDRwNE0QwmFd78jlxQfMceytk_H8kcLGU7oiPnKewtBPogQcn9EDSG5oEo1F2Z_hbwL3HD0EA_vkXuTwGQpwrkaqXD5BaWAyQAqLcbUpxav2k46PZ4HbmjEQmma6fmE8KYXsvPql31Mzcu225WFZugYf_MqcnTvxn5ha-DedlXOvO8xWrC8_DUOKTsG1CeVMJuLEpYtkdvY5Rt-au4Dsm6WCA3nNuw0vc18Z-9v-Z5JJYSW145mqwiqLEGKau-XZx13u7w46Dg3tS6ZcD--EuGwGCP_iHA9vTfCQwesQviV-yRRKKWAHFlXd4YwyYmndx1mc1IiTo5GJu_8do2Kn8et1Cmuab4AgGKWvnqTEUQCdxbHek9EcGnWUYNXq75DMY2amZbgk4Tlnb0BJUR02-EUSHcX6BQK6Yjy_9c_dL774zEtvkk3LWMHRUYDGsxVqBSeEnaJGXvcgO5H1LqNZiZiCQQnd8JtFKja-LH2Sv9v_7b4MthxOskCXIu0kYUEaRovu7PEkHKVZP0YJgv4ys-smHCjavUJyzinZAeHWBMRr6nzVNLsxTKmI8QZ4X96hIrvapUX2s5P2epwJLSERFL8t84AI_oWgKiCUKCbSms0RemfEJO5RfofA3YyCRKzINNaL_LvBJDBR4gIuHpICYHGS7XUMNWPiqh4K9396CPVFPBmMn3hdb6WabB0Lj_",
  "id": "rs_00a20431a44a08f9016ab4468387ec87d0b15a394a9150de9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.065,\"left_z\":0.15,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"With the vertical wrist, the bowl is close under the fingertips and only about 1.5 cm right of center. I’m making a small rightward/outward correction so both open jaws sit evenly outside the bowl.\"}",
  "call_id": "call_Sw4lS3RGiXAQfPrrVtjH7SU9",
  "id": "fc_00a20431a44a08f9016ab44684de2087d0a8a550303721f3d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sw4lS3RGiXAQfPrrVtjH7SU9",
  "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]: [-0.2729, 1.3289, 0.7589, -0.0677, -0.2272, -0.1757, 0.9986, -0.0216, 0.8436, 0.5945, -0.4381, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0634 left_z=0.1426 left_yaw=-0.0002 left_pitch=-0.0469 left_roll=0.0003 left_gripper=0.9986 right_x=0.2876 right_y=0.0003 right_z=0.1506 right_yaw=0.0014 right_pitch=-0.1167 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -4.6838, 6.7487, 2.0293, -0.1587, 0.0611, -0.1538, -0.0889, -1.5658, 7.2684, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015da8b383dd7b64129e119602fddb35ecb06741d0656b19463499dd281f652a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b43bf58939411f81689e9eb147e80dbc672f5fad586fe95e0a6b678087c0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835adc5268628f5aae98da0070be0d3bc1dc8c141a1dcaf163035628fbd54d4d",
      "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]: [-0.3389, 1.8122, 1.6226, -1.1099, -0.2703, -0.3347, 0.009, -0.0216, 0.8352, 0.5945, -0.4225, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3935 left_y=-0.0849 left_z=0.1497 left_yaw=0.1617 left_pitch=-0.6436 left_roll=0.1943 left_gripper=0.009 right_x=0.2897 right_y=0.0003 right_z=0.1559 right_yaw=0.0013 right_pitch=-0.0927 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.5538, -10.8923, 6.3248, 0.8767, -0.3736, 0.0171, 0.6813, -0.0615, -1.6342, 7.1726, 1.6288, -0.0366, -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]: [-0.2409, 1.2705, 0.7708, -0.1818, -0.2188, -0.1741, 0.9986, -0.0219, 0.8425, 0.5945, -0.429, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3734 left_y=-0.0486 left_z=0.1468 left_yaw=0.0248 left_pitch=-0.0906 left_roll=0.0083 left_gripper=0.9986 right_x=0.289 right_y=0.0002 right_z=0.1527 right_yaw=0.001 right_pitch=-0.1064 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.294, -5.2718, 6.4342, 1.8779, -0.0659, 0.2564, -0.1538, -0.1846, -1.7299, 6.9675, 1.7411, -0.0611, -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]: [-0.2729, 1.3289, 0.7589, -0.0677, -0.2272, -0.1757, 0.9986, -0.0216, 0.8436, 0.5945, -0.4381, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0634 left_z=0.1426 left_yaw=-0.0002 left_pitch=-0.0469 left_roll=0.0003 left_gripper=0.9986 right_x=0.2876 right_y=0.0003 right_z=0.1506 right_yaw=0.0014 right_pitch=-0.1167 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -4.6838, 6.7487, 2.0293, -0.1587, 0.0611, -0.1538, -0.0889, -1.5658, 7.2684, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015da8b383dd7b64129e119602fddb35ecb06741d0656b19463499dd281f652a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b43bf58939411f81689e9eb147e80dbc672f5fad586fe95e0a6b678087c0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835adc5268628f5aae98da0070be0d3bc1dc8c141a1dcaf163035628fbd54d4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaJEcg_tKoa2wQN0H_bMQ5sDd0gkplToTZhEQdLPQ5_-UK4Vsd8oHcdAZ_PV4DlGCpNbKp0LIVeM1IYLVRlVfT23tFN1fgRop3tb0VX1IiPr8IB1D1uFSNoVGQryFD5cq2ZUJUb4Z-SYWFbQ43KG1mXZEiqdYZCstRRZh6o8Z02QZWxRKc0U1oyAInU8-vng0JZoiWQQ2aplbcC1icR_3lH-XGOazYAfNezx6DtRHfLavhQ0_E6F_L6UdckardHtYo_ILgZlsfyFu_Z3bXK8TVyTAhjWXRgQpRVJgk_mc0wdADE5LXMvMuSc5eeILpHWL3B8ht6WPHDfqmtvNAV6T4bPmIHw_8u5pyuuQLK1PaCKQUoAD6PQtglw1TTXWw1x2vpestqF4smdtdOFKb3M-1XwbLxKcQV2Wq9pPqg7ZQRQm7XLf0gCFPnV82yPCXB0wb69-CDbk5H3BGuL7SxvjqBec10IdD0dUBP122FbnqOmWUujUgtz2W8uj64NnIZnzea2uTypjkz9s0s_nRmcUUDD9km-edaf4TSRj1yAVs-4UC9egMuEDRFCZMirms8jExHW8MW1mrCMQm3rHajcz4IrFY7jmEhDmRFWOa3F7FWD4zyXLlv6pYCRIQDfu_qtxErGwhJ_K9wWI5MyVpyEHDM2j6EwD0xrrPcIZxekwUUhluCgpKqq57OTgjJ_vc6CrtorudmECZO_LguvRYekry9niH5De91zF0el7UXJ_t23OXAUmnRik7ByjugSLhqHIbQxFzCCHkFnZRzMnnK4EY-MicEhFrKHTXYJLqca2IkQL94f8Ood-zMnq3Zx01V8eXScPAb6_m9_lX9HHyzFR5rYWx1lELLQLbZN7FaY773-49_Na_VPumgsetNlj7YUDoZ7KgiiarXmTzdl0rHJ7Ci_KJc0ytHbO_lk-N2cbElnkxuE74ITn9k-jwMjYjCERIYeANG2fECjjUYorRM-FglbF9XHgscQrIfg8_-DeR0IUQNovvmDgGUNzHTTvMRA1erKB-V1RzszBWxqObLcU6Z02IfqYonfAa0JbeIcMPtLKEje1iJCIU4G6FPQEdLowqwsMTdP9v7j09KVfE20knd3CN6GohQunwprcIhcEm2iL_LJIdGYd81nmsJWS_z624WJcuUfgtHW8XyQge99UnWmizVwzZ4qdR3UW5xKm2RMkVmhL-8rcUUrv5ee3GAfo61W5ps4cp4GE2r9pNBHA1zn0Wa5JLpXOLu6HH0h4MIDUYeUtMq20vaNftjh-kTznMbH1TRCP0gVtoQ1vwFMKB6d4h1noRGgD6jI-qK9BqrxFyQKR6Ys2FxT3-XszvO2_KpvMx_3bDfZqqlSIgQWEdeKFGEyUo2t_iQdPS8HoiBCQaSBegnlq_gQ6BnvuQZ8DG0eP8FxKAElEPy9XL2Z1xd8Df5mXhoM4uMlew0OMv9kvU=",
  "id": "rs_00a20431a44a08f9016ab446878c0c87d09b59bb090ec48e86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.387,\"left_y\":-0.063,\"left_z\":0.035,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The bowl is now centered symmetrically between the vertical open jaws. I’m descending to the narrower lower body, where the bowl’s diameter fits within the gripper stroke.\"}",
  "call_id": "call_WG52OuHVKp2ZSRbS7gozt38U",
  "id": "fc_00a20431a44a08f9016ab446882d5487d0b4ceafa58b6ddf08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WG52OuHVKp2ZSRbS7gozt38U",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2741, 1.6302, 0.4801, 0.4702, -0.2356, -0.1761, 0.9986, -0.0219, 0.8444, 0.5945, -0.445, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.3767 left_y=-0.0594 left_z=0.0245 left_yaw=0.0066 left_pitch=-0.0862 left_roll=0.0166 left_gripper=0.9986 right_x=0.2866 right_y=0.0002 right_z=0.1491 right_yaw=0.0012 right_pitch=-0.1243 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -6.4479, 4.588, 1.9267, -0.1392, 0.0366, -0.1538, -0.1709, -1.5658, 7.0769, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbc1f1d91db16b7078db0158b3fa08f24fca67f73d72b001debabe46c897827",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a934ae513ab68842978a2bedae3f28b167112acf89c247f78f8dd867eb0bc99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca4951124575e0516d36cc9f7c0476e13f6dd60cc25bdd9ffe5cddd493b3122",
      "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]: [-0.4915, 0.8471, 1.1355, -0.9535, -0.3992, -0.3149, 0.9973, -0.0216, 0.8379, 0.5945, -0.4232, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2513 left_y=-0.0526 left_z=0.2935 left_yaw=-0.0021 left_pitch=-0.0329 left_roll=-0.0067 left_gripper=0.9973 right_x=0.2897 right_y=0.0003 right_z=0.155 right_yaw=0.0015 right_pitch=-0.0961 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.7316, -0.759, 5.8188, 1.7753, -0.3736, 0.1148, -0.0806, -0.1026, -1.6889, 7.0085, 1.6728, -0.0562, -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]: [-0.2729, 1.3289, 0.7589, -0.0677, -0.2272, -0.1757, 0.9986, -0.0216, 0.8436, 0.5945, -0.4381, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0634 left_z=0.1426 left_yaw=-0.0002 left_pitch=-0.0469 left_roll=0.0003 left_gripper=0.9986 right_x=0.2876 right_y=0.0003 right_z=0.1506 right_yaw=0.0014 right_pitch=-0.1167 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -4.6838, 6.7487, 2.0293, -0.1587, 0.0611, -0.1538, -0.0889, -1.5658, 7.2684, 1.7411, -0.0611, -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]: [-0.2741, 1.6302, 0.4801, 0.4702, -0.2356, -0.1761, 0.9986, -0.0219, 0.8444, 0.5945, -0.445, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.3767 left_y=-0.0594 left_z=0.0245 left_yaw=0.0066 left_pitch=-0.0862 left_roll=0.0166 left_gripper=0.9986 right_x=0.2866 right_y=0.0002 right_z=0.1491 right_yaw=0.0012 right_pitch=-0.1243 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -6.4479, 4.588, 1.9267, -0.1392, 0.0366, -0.1538, -0.1709, -1.5658, 7.0769, 1.6923, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbc1f1d91db16b7078db0158b3fa08f24fca67f73d72b001debabe46c897827",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a934ae513ab68842978a2bedae3f28b167112acf89c247f78f8dd867eb0bc99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca4951124575e0516d36cc9f7c0476e13f6dd60cc25bdd9ffe5cddd493b3122",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaO2mXSgrdB9kczxnI2f_ULzvSatKN7ikOBgLGf9hwZxIaChkMXFYC37qK3QhUNY_T6qP9EPbMelIpmBM3PEpcGAhyT8IJ3HMWexoMJ4kmzDB2RUIZ3D5KRFzCgdFYxUaIISHXYQJtvrpKi95X6S12-WW1kg8Dfw6UB_oiDYNNgMQxWpwQYvKdHzLaBMrx5x6T6vMy-i-8trEZJ9n0lxJYwjIItjvCBXBKFOm2o6xrUqJSPoQZKeLZgzGED00gQj36DvqrPq3Ll2T_39CNtkZ19NtkLf1tzjjT7KeYOeDBFOaktmdYtqv38j0tfm4aoqIK61afgMvKvdEC2uLedMvT8G4pFgu93o4eXhBwNWzUhJie3MNXQqhFbP-3XI0ehysNEpcrYi11DBp-8tivcwemI_c2R4SQ41--Wm9x55broamotLcPAg-waKA_KsTDqYnsEx8TCSCqrlejioTDYwIGd2Plr3hJiYOCh5UBZiXcaOZdGJ17exTc8HmQCRZdNTg_aZRiLKdFPuqy1UWUlsbE7ov2RXpkia0x8UB1KbMByMEeH8OZAxeSOihs8s3SiLyotSBaIYyLxf0q8UYrEHck2jM8tfBsUGOTO0gJTLrJonI0BF2hK6_4s4Cvprbc78zsKO1jZk4xhVQ88b4YDAgtbwY_QQObHgGlxLWP6SE3Z_V2_A9yTdR0wyT9tk8YvcSTQ98LuHRWOK9unMSe1gM-NOPLUoFPRl9exDoXZ6KHhdgA8K24GVaRxw0CJAM6p3fIdhcit6zfS0ajsViWHXfJ6WiJ0tFvMD2okAB9-ByTW5cPAQM8pLAoWarB9aSDGd1cIovr9Ae2du65HFMy-2Y2CunW0mCwb-fvejVM0_evdIfMa2sspMIA8nGhmyxbkuI3kidAhpeIczUxyySLDqLc73Quba0j2nSz51Uu6N8D7QiDIux6lJA2HB15VyQvAx5VINdm0peIu4Wrn9ZHFt28l299bYD2C5FIfgFMO222pRJxIqMC_vG27K6MRCkaIEX3tXoJdud9xKO6Qe8kntkiFYfBG0v4xYzbvn9UhBYNNvmOwLYTTqu8iq7lTZd6oRckg-3RKROR0tywZllWzFYGWGYM2Ah40txcAlOgIU_FNNWxrXIJYeUfIoLt-lMvlp0yBRQvAwQhQJ_SC7xfDTo_WvOuk1lZ4ff9RqSNhoE6M41Vp2_0vUAw5Nd00eJVeoZVkB_vV9rZCycmiISIdSP3oEVmB20dyCbFutiLbDuTGq84C_AmoCtSe29UaVOgvYWvPFgafoHv7JZvmyQjuSuliDw==",
  "id": "rs_00a20431a44a08f9016ab4468b1c9c87d09ff422fb4c2a651e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.059,\"left_z\":0.025,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"At z≈0.025 the fingertips are visibly outside the bowl’s lower sidewalls, with the bowl still centered. I’m closing around the narrower body now.\"}",
  "call_id": "call_2yZSaRdqR7Y7BaLacaOfDBnT",
  "id": "fc_00a20431a44a08f9016ab4468b65dc87d0b18dabcb078101e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2yZSaRdqR7Y7BaLacaOfDBnT",
  "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]: [-0.2741, 1.652, 0.424, 0.6827, -0.2321, -0.1848, 0.0332, -0.0219, 0.8474, 0.5945, -0.4454, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3848 left_y=-0.0623 left_z=0.0392 left_yaw=0.0077 left_pitch=0.0427 left_roll=-0.03 left_gripper=0.0332 right_x=0.2866 right_y=0.0002 right_z=0.1482 right_yaw=0.001 right_pitch=-0.1278 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [0.0752, -4.2462, 3.412, 1.2821, -0.0757, 0.0269, 0.7009, -0.0205, -1.3197, 6.9812, 1.6386, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8543178cce3cf036e5dbb16b3ea37af7a4edc22777b7a6174fcef8da52836ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58174fce84ab365297d553d9ff9af962ca04891303ac1594f7fd41fc308cd97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28ac78b182bb0552405cb2da216be9a06cdf86e0dc1bbd72484f615fc080643",
      "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]: [-0.2409, 1.2705, 0.7708, -0.1818, -0.2188, -0.1741, 0.9986, -0.0219, 0.8425, 0.5945, -0.429, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3734 left_y=-0.0486 left_z=0.1468 left_yaw=0.0248 left_pitch=-0.0906 left_roll=0.0083 left_gripper=0.9986 right_x=0.289 right_y=0.0002 right_z=0.1527 right_yaw=0.001 right_pitch=-0.1064 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.294, -5.2718, 6.4342, 1.8779, -0.0659, 0.2564, -0.1538, -0.1846, -1.7299, 6.9675, 1.7411, -0.0611, -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]: [-0.2741, 1.6302, 0.4801, 0.4702, -0.2356, -0.1761, 0.9986, -0.0219, 0.8444, 0.5945, -0.445, -0.0166, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.3767 left_y=-0.0594 left_z=0.0245 left_yaw=0.0066 left_pitch=-0.0862 left_roll=0.0166 left_gripper=0.9986 right_x=0.2866 right_y=0.0002 right_z=0.1491 right_yaw=0.0012 right_pitch=-0.1243 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -6.4479, 4.588, 1.9267, -0.1392, 0.0366, -0.1538, -0.1709, -1.5658, 7.0769, 1.6923, -0.0317, -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]: [-0.2741, 1.652, 0.424, 0.6827, -0.2321, -0.1848, 0.0332, -0.0219, 0.8474, 0.5945, -0.4454, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3848 left_y=-0.0623 left_z=0.0392 left_yaw=0.0077 left_pitch=0.0427 left_roll=-0.03 left_gripper=0.0332 right_x=0.2866 right_y=0.0002 right_z=0.1482 right_yaw=0.001 right_pitch=-0.1278 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [0.0752, -4.2462, 3.412, 1.2821, -0.0757, 0.0269, 0.7009, -0.0205, -1.3197, 6.9812, 1.6386, -0.0415, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8543178cce3cf036e5dbb16b3ea37af7a4edc22777b7a6174fcef8da52836ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58174fce84ab365297d553d9ff9af962ca04891303ac1594f7fd41fc308cd97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28ac78b182bb0552405cb2da216be9a06cdf86e0dc1bbd72484f615fc080643",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaXBM0H3V4zJ9YTwYJWNXDacYjSYTC91MjTyANlUj3sCEwzSVlFonydj7KSvMq8CNQyMgIixPJSlPaFN4GAC_n4mdMVYWmlUaWHBGyImso2-i0kL2mW9O7RAVK9cm-b4Zo3Gu0UVtFUAkTBZQkEBeMleLPKX0DEeVho8xFcAc25fQ8SP62CNPYYb0YCe7tu0Q-Qjh7-YUPK2DGBNUHON0svt6qv0MzfGyz4-O3lWvrs3XW0JXgbnopD4c1Qjg56fNLnLBjfwha_9mazvyK9fqyWkAsbzdUyEoMPvk7kzlmgQU3zN6_QplTlrl2p8Ae0rpPmvnOpSZrPiF3e5mOpccCuP0czBGhhzaXtNF6dKoNg83fYe11diV-zI01sxkefFeiXYVzxvpHGzv9KGT-aEo2qe7bngTTGjfKOZj37f7leBblnNZdMXMo2lojS-aURSuE8ZuhWRNy0MyhS23O0vpOjD5QnOBfA6O8H63q6J8bw6HV7UDxWTKx4rq60X5kCVAhI6o-cuz_LPFTaQBA0P1R2dXE5HvCW12qt5_rF7RcnIhCAWRVl7_IE5YYUc62Fv3x06RH1iNbked1jamlNzFmRRrzk8TJkBlZeTEvEZlnBP67H6TNc4EhzZJJptL2uqFSL3Qba0701nIYy8WWzJTVwvOhaI0EIlwh1hHYcHBrLaWKdWfFBg0ff63RubSQ0GfK42zEbbUmMzOO_sPWljA7LkhDxSc3u44mNDPiMf8VJ9y5qmJ2lMq2W3jch9HtyLikqsapWoaOaImM8Z2iDGuwt39AhKWO9VTqIOzVmaAVSNx_-w4cQsNrNKRAztur3z8ZJOo-82Xz6SwI90zJ8eIlK6cyKVRsJ3Bo5yvsOnaqj2OkX2YfsK-540OlLLEVHebp1YbA84TBMZbgmOhQwJwqiqmrSUVPeZE6cqT3PL0f4SKNTjPJ-EC8Z47iqXAo8S6nyuzB2oxXEj_DHXVloowdVLn6tjpMK7yXw8nn2OB5BGN__sbTWzQN3wk0g5z7x917j8ITRu2-OYub4BtK96tfBBCU9PZcM4R8qrcwOYzGTW8H22t2qrmr0IEwuS73Uh1kEtKGeOQNmE8p9h3zlghjoijNYruS2FWj8r8pt9-SYSsBKKjJFprju7ct5YiurkZEdmoQ_bRCHJhg6DGS8pXzbflVosAHC9tLoGOjuR1_WZKfUeOrXiWPXsaqAMZvx9TuEH0EiXqQG2-gt0ndkLGCx73qB7kD1PtD6brqYhFh3Sah1bTZO6g2TisihbyADkKEnD00dX8B5lGXHdq4OXOjQ-Z05pQdmaBfOs1gCaoHuomfZrK6v58pW-ixb7nSLNHpJEpcBG3HvodIoN8EDhe6qpoBPycgJ36JoLwSbIOzTSTN49SLw7C81JuefGNIyYseVk3wIdwsHjpx42Mu5ZMu3tfLc3W0UtPNCKPpqS4gZnctnEcAJ9ya5JuEx8jFL5Jk0F58BcCSJ04HRHaVycMzQZ6nnHtMKJ9vizycq6QMsSZaetVwN5SEN1_cgsJFr3dz-kzWB4e4ji2gUSSYIGZQtFuZb686GRndnVi8JbvFDdcbOsb8VQUTdVpOpA6CD6AgnnTNIC4KXmQM82UWazPIWN4nfe09F4G7uW8omusjpjR27OAwaGJb8V4HVLZClKiMZnIvnbrQJ6fmqu4Ncbl9DdmDrW2cSCUO-78Ksi3dcdzNGhchdL6udrrofCsJwaLHiUBpsqlEMGLTXlEqwYSJ4H2EXlXiaATnB8cOOdi-NO7zr5b163lz_pWLYp6nmAb0AHIe3GCovwVkLNz5vbD0mYINTZyeXcB5BPiXr_luusrgfk27l_yvJa2ViNCIIuTOMLuMTxFrsKB_ZxO8wPiyXnxC3qmAQI9sJwVc3iDGx7zB8cnsHpmCu7TtC-7io8Ww1-WewBltbi0RxOAkkjbszmiGKVKHq1MOptVIXx4Fz02H-nsEvACkeKE_zCNA8V1i0ZRxX779PJbaYqls3yh1ueRxHZshavoLD6qKiMGbJeFJRBSsRzfjon5_1_v2DtVOh0HYnT9VnFFQNp03SirYH-Slr4P-VpF7xBSwHjzJEqyqZfFDaJHvoRmF97ioViDT6VTteIPNLHhIWS_GITxwFnSaA0DX-PNWctHANrDAyqJcdwTSrrpWeR3t56EM8u5HzGH4YEosyFGNvl_KezygcNecQEHWyVieldqUp8e0UT0hqtYEy_6VteWuEm0_vRxHzXU54kdJ6WnzwXHkVsIT5-1zKcDaqznpwn_GVfP66dWHxLNZDJZRtqz9d8zBWtnN3PA1Jd1uJkzTzHa65034-xw7t-6EkNf8L70u2-W8DJAQSPkK_0YRWDFYlzsu9Guhs8sc4dNRNbgDVVkUQyugHGYcnsaF3-DU2Jd5Vy9ACB2oKgyndJVBPI6VeLHFFk_6bKNMjeYBLQuXp8iHsXZgU0DgIP8pF0VRyeX_KE4Wfv8dmSVLoHmjORO10uNT7l3UQJ1768AJLDRhsZuV_ZIDQzJPfh-KZwZ8TnrTl8Nv1XccqeBzMFKBTkk6apiI_S9179FlHQaeHv2tJk7VgQzJLcxwl_M-rA9p-lRB1oJHFFikPmq_PN12Wc8cEtTFt8yUlZdHgCmS-FMRwPFO6vvlwJVQYv22DUNibu8Ny00p1aSEasGGBQqxuWgOZTnJcG4gMUFFhYGVOjhP4IW4VeVRilO10yJzE5J1o71JeAGsdCcVYkLfrUMDxkd6q-OvnqWiUNBEroi59jx85w2YBGNw-ewrQsdPK41k665bjdLUxP_bwH3KRNso99fT2PP1HTZA5-C5R7Zb9gNO3sM1lAoy_BrEwflhQx5P0V4XHS7TTlXIkBvXzHEgMwIaZBK7WtweRp9wSdTXb3hS2x4xJwKMTIV0RKdzFjeVfwC61Wjwv6E11wlRM0NwbIaqvDcXIss_-bVab3dQUBByCLkmAvWxtu3o1fP_yOIvNDr2CC5B6Z2u55Uk-Tnst0eFltTb2KVn3HabFMDJkxFNQY8tdqWyejZrJD3pIpbTZMr_KBHQEtWxQ4pKIVLvoCjMUBagVIFxytNf_YsheG47SiSqO97QJCT142D_ruf1fIXZJT0rmlgBoNX5xirucMMoeYkzI2fqYxMTFkOwabDf1psPbUYB2Ao1kxmdXv0DX_k7oQ9VGpzE7kfBHVKM794-DPd3miCd90Q7OZ7HxQeZnNlARe-KMlejWmzO9dCvJkCG6_auO94TCMJsVp7-262SE3xe78-b9LVy5AglPRmhAeCiSXBNBwlA-MLNHrynuP6ZD9Av8j0w4ZOxp2KwKgVcwtElDPs1FVJIYYelUFpbl_fZKj6yx3nYiRetfdoPHePQeM3c_mwhfln5KE8QMTI4R1HuDgNAdwwFZaGqm9Aaa5cire-Viq6NUbGwpYNfFRzfm2P2MxTj2tt3KdvtrZiLE1ZamIoietY55wuLkC4tfYLD0eNsjpPuUYFExwJ0fII4w-jQFyMyXPt6TBc88e_DmYlrfqkK1oZSuk8fb-hD-A_V3e6XeY6kPxgiGir9j39wPb4Vz4HWxWOhGtZ7N1njD7Ktp3k7rWpovKT5JT2zJ7MyyDYeGY3kpbmZ5Q-3deiMZui_u4mnmDil0d1h6Jx_SMNChs694hRXN3uw1m8ndAiGW8ucxgfrZpRFgfV678V1raaZEvwwZREYla0wgE7qZxViLJYBfXQtZbt4UuDuILYa9nXOcHx51XYciTcZm7NoXL4D7odd3KXCnpVx-4KDDwnL20rE1yt5Pgp0px4tmL_OUwh6DF4oHzhwVwqnkF33f1SHJPORWihfKC_oDdzGe8n-q6v5a-yaQG8NUH3pwmTYISFR1qPYdHPBCjuJhmNubPLqWd0_MAmhMgyvZY6XzmIvbVZVtp1r4clwZ6HcJ8c7cK1K7VmA7v6_ekeDIOkppxhds8wbgSy0j1wUuIlEQneVIFpjHlcklwJ0RDmNnAAL0rU1zD1cRcSbV96HavjaErmqiqbRF4fRJ67RyU1s6nhwNR0U0Mb9IKAqZWbfqIi3cRsXVEfp3ibR-QTom0s8yUTbLAvXmzt3GCn6sZBnoWPlmfz3IurOA-eycBtIF8tl-dOyoEuh2TSICob8vQUh5fJYSqhPK5EVDAkCscZS3_URxE1Kw",
  "id": "rs_00a20431a44a08f9016ab44690694487d0a6b1c9fefeccf112",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.09,\"left_z\":0.14,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The settled width of 0.033 indicates an empty close, and the bowl slipped about 2–3 cm to the right. I’m reopening, lifting, and following that displacement with the vertical wrist for a final centered lower-body grasp.\"}",
  "call_id": "call_bVJP6oXiS0A3SzJNaK97DvpE",
  "id": "fc_00a20431a44a08f9016ab44696288087d08d05f23d3afff699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bVJP6oXiS0A3SzJNaK97DvpE",
  "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]: [-0.3767, 1.3712, 0.6827, 0.0738, -0.3122, -0.2329, 0.9947, -0.0216, 0.8486, 0.5945, -0.4454, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0896 left_z=0.1242 left_yaw=-0.0029 left_pitch=-0.0091 left_roll=-0.0069 left_gripper=0.9947 right_x=0.2867 right_y=0.0003 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.1289 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.7897, 8.9368, 1.6679, -0.1978, 0.0562, -0.0317, -0.0615, -1.6342, 6.9675, 1.6484, -0.0708, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8f97abd027e082674b8ee1a2c6f7950f35a75af41ca8334278e6add4a288af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7f56075b4ca4578e280e24adb201c15475e9ca1f9ff7a1c3b1be77f6b49996",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584077ea66fd1f42a74ec570d963de3460962a2c2c15b3d4c27364eb7461aecf",
      "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]: [-0.2729, 1.3289, 0.7589, -0.0677, -0.2272, -0.1757, 0.9986, -0.0216, 0.8436, 0.5945, -0.4381, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0634 left_z=0.1426 left_yaw=-0.0002 left_pitch=-0.0469 left_roll=0.0003 left_gripper=0.9986 right_x=0.2876 right_y=0.0003 right_z=0.1506 right_yaw=0.0014 right_pitch=-0.1167 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -4.6838, 6.7487, 2.0293, -0.1587, 0.0611, -0.1538, -0.0889, -1.5658, 7.2684, 1.7411, -0.0611, -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]: [-0.2741, 1.652, 0.424, 0.6827, -0.2321, -0.1848, 0.0332, -0.0219, 0.8474, 0.5945, -0.4454, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3848 left_y=-0.0623 left_z=0.0392 left_yaw=0.0077 left_pitch=0.0427 left_roll=-0.03 left_gripper=0.0332 right_x=0.2866 right_y=0.0002 right_z=0.1482 right_yaw=0.001 right_pitch=-0.1278 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [0.0752, -4.2462, 3.412, 1.2821, -0.0757, 0.0269, 0.7009, -0.0205, -1.3197, 6.9812, 1.6386, -0.0415, -0.0269, -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]: [-0.3767, 1.3712, 0.6827, 0.0738, -0.3122, -0.2329, 0.9947, -0.0216, 0.8486, 0.5945, -0.4454, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3836 left_y=-0.0896 left_z=0.1242 left_yaw=-0.0029 left_pitch=-0.0091 left_roll=-0.0069 left_gripper=0.9947 right_x=0.2867 right_y=0.0003 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.1289 right_roll=0.003 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.7897, 8.9368, 1.6679, -0.1978, 0.0562, -0.0317, -0.0615, -1.6342, 6.9675, 1.6484, -0.0708, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8f97abd027e082674b8ee1a2c6f7950f35a75af41ca8334278e6add4a288af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7f56075b4ca4578e280e24adb201c15475e9ca1f9ff7a1c3b1be77f6b49996",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584077ea66fd1f42a74ec570d963de3460962a2c2c15b3d4c27364eb7461aecf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaaulpwWIxgWa4Qgxt1nenFJofkMlh7fw9SpfAtAh1qgjfT8Egz0ecVfU-FRn3VGRttgsv4ZmbQ3X4JhYgn9pZg658AB4Zpd4jL6sR9stS1_KUNuOoLgcNSVPVNOR9Z9iOfYAMqX4diAaTIdQNuF0Xwm93LEbXdcALXye-fAN0G1AaBy1ZT6qAgNYPu9DWo9XavFSkAQ5rSANFR9QsH4zAlE-KSwvKVVJYJy0tIuNK3uRn_Y7DL-0lKfharbWC8Xs2Yc2xVqyxbCcm3Na0jsgVAKxtwjXA8AbmnSgxJY5q-rKQYPQxfCEU7Hu-uyDqtgoaY-EbxBWOKZf9MHVPs26AqPSXexLYHxL4FWz_QNW1WpA0SW4cMRjZuKWd8yK6h_2EOS2ra2kbCjs6yQUMf9GHAeBeBJMrZBa2DAJnmeqLoor9q4FaiXEsABFdjr5A1Qlx3W5bGZbpXQOand2wRcUdc1b7aFKsDZ8mqCjoZn8SLahNkn0Z_wC4AP9icwRX8CF8x1Ewjrw2h3UFBCYWZVFXENtsT62sy1I8Jlx1MO1cByjT2ffjAkwR0uP5yINL9bwtExZMhhmysUJxExKpSlfYSmvaXjrzfFJbGMR6q2iaPh90edRgwdoi6CNAoU2PVZwiZSw34X-TVHO8S7oXSY99c7--Shu4E8H3DOpOHzAEP84nf6VPJKnGnmM1MVyv89XM0cMYMywnhNcmIz4hQVOQShXJlRTnPKSkRe5_BAwkqy60sRQTIWu6wIKth4qWuRUrCeHjRjJ_V67eKdOE51hr2x8PLc6Sjkuk5zawBtjIWfPTlMU042U1sN2ALRYd8lGgfjlX6q_vQKKAHMQcDebD5wQVE4BccwwJIsC5X0S7aglQFaUpWR_4z-xsze0wIoMIolDjGVPym4Ebmj5VsmnKiZOg5l1vrstYQoZrvxuYLzISZWsIILK6iHnuGA3XuNZUv_dQJEnKY9qccPsDJKoL5ORB_-P24jR8pgRW2u4nbWgvp2yUbqCgrsryeif978LufcmnLnup1-Yz23vS4rUWNl_TCX3-PtH3szdplXreFmpSTnsQUyL8jEDgoJgiXU6nJ9hm2kUhx_tBXSIx2QNw9eSp0CnVf1GyM53o-8cxA1Pes7SmEGyMPdBH6CAUbHjf-JCK68xnUwqZJGtJeO-7oINEiUZqeKPhmnDp5hBmLCnUUF1O_MRf0t1QqgJMHp6D5yowk2jL83zOxElB2DJOn_uLbvnBGb3j-_sKY6y2beWzI4xrBYP9M8HCpeJudToRS39kebLH8Zp8S87eRWwtMrp-jBK3-sr7VoRxXMexmsoFCZ2gDg4VUKzkmI2tq63v_5fu0CwcDV3UAxW7zRyMW8Bt7N20FnYdTrLF2eTfP5IbeDpiSFQwFCJAP2dJc7OLMjJWFVZFjCChWPMfFoVCG-g==",
  "id": "rs_00a20431a44a08f9016ab44699988c87d09d4c1ff875847cfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.384,\"left_y\":-0.102,\"left_z\":0.025,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The lifted view shows the bowl only about 1 cm right of center after following its displacement. I’m combining that last correction with a straight descent to the lower sidewalls, keeping the wrist vertical and the jaws open.\"}",
  "call_id": "call_wPNAUhlfjRsSoGqlbvPJlwgT",
  "id": "fc_00a20431a44a08f9016ab4469a066887d08503e13a7ba3d923",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wPNAUhlfjRsSoGqlbvPJlwgT",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.421, 1.705, 0.5102, 0.511, -0.3458, -0.2501, 0.9986, -0.0216, 0.8501, 0.5945, -0.4461, -0.0166, -0.0204, 0.9961]\nstate[eef_state]: left_x=0.3767 left_y=-0.0991 left_z=0.0187 left_yaw=-0.0095 left_pitch=-0.065 left_roll=0.0242 left_gripper=0.9986 right_x=0.2866 right_y=0.0003 right_z=0.1474 right_yaw=0.0014 right_pitch=-0.1312 right_roll=0.0031 right_gripper=0.9961\nstate[joint_eff]: [-0.5402, -6.5983, 4.1915, 1.8095, -0.2955, -0.0122, -0.1587, -0.0342, -1.6479, 7.1316, 1.6337, -0.0611, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5434cc1408b4ce682c8493888893ed55a79da78c6505294fdc76acd1477197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32ef3423e79041ce284fb6c55dbeea7b42ad3ec1bea165ee6f1efbb5dc66f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03c8494495ed3c985b849d004a37cc8e32d82957d8b6fa8ac81b863787caf32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}