adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.794, 0.6044, -0.3813, -0.0196, -0.0257, 0.995, -0.0216, 0.7921, 0.6025, -0.3786, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=-0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2947 right_y=0.0002 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -1.5111, 10.1265, 1.7705, -0.0464, 0.0855, -0.525, -0.2803, -1.3197, 10.1675, 1.8974, -0.0757, 0.1734, -0.3443]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad035aec3bcf71716aac44f0437f407dca282dd0e3780fc75216b6d882e2e34b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9327c06b3bb4ec768ebfdcea829a282c16345b8eeb8154dc27d9d74971ee0d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d59ff1892ee43763142b5bd56320c0153fe38097cf735f1eb3bd236373a13afc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_044005da99400505016ab41e4064b087d0aa356dd77efcdac0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5HUVN-tjLRLR6-pPf84hC_h7etT29B2oQtHuNMWjhkMT0k1zpLnrGLjUwFdGZ0glJaT8tQp2sHWVs9aujpAGpjRxnGg18pd_dVJqN4KmaOy9oZh37Bw_fQz6ql1gnRgd6CTdjbHpWiJfN_Avk4MV71UEMKZEVhKo9Gwrd34M2u8Ib7TJenQpD6jXG_3HHPZZ98FdycaOdMFrdBFkK3tYsNyaKjWc4U2liSB6pReiSc7bsE0-ViNQtP7-T6wGqwPGTomILhuWcFv0rtX9AczgoMkMV7Zh5ZrRcau_blETgWkWg4S8WlF71GJmY4wtCsMk3hAsgZS832qmel2_X91DY8_dcKiHSJyb2moinEqeuV99wRCJb07WyPbO74MpNM6eEXXomW1SLhKaAc1M56z08P0onOoBKCmDRUKBlzKynpr_PGWaw5fDe20hqb_rlwhZtls4xTlNrP1y_syP-8TVAhEkMuoIvCjF3V-rmPVSamJnc4cGnIIH5dxf1MBOiS0c7SXAwgI5HMiU8rH8fTVoi_OVu0cg3YUCje1KNM4HdJoY17I5T-_TdfuJRGfAVHFTjJUa4GDIqvrvqFdlvHkrKZPgygXopFbsP-mrM3CK7RzF-dBfgze-xxOssIy63EVPBn--UNrJaj3UI6a254ejlliWGNGgM2mCQyhh3OmaCoF9zuSgthKQ8UkU_WlO6eHLUq7LCUABksW6Fvr_jCXSZ5ybNm6V-kxGuUJOcA7DH-pofqiJbiC0frEJJFz5JVDTTvZpwljwHacxg5FA1c_62uqEMAtxQfeiWfyMAy2QvY5Nvx1qRkUptIaki5xgy-ao6-RVNXHAia94pI-n3K8vkXixTDGJXjRrsmlpKJXysLBa0TrqKrTxPtFy38jIaXgBjkZNlzffmaA4VCnZ9YRn8wONbrFxeO2SzoQNc4xa2Nk9j-3PZUatT2NOPyf_vwfwoJKNjFbgd9Eyg4pmlMdtCKJ3zPsmp3RhGtpN7yp7Ux0D6CeISNRSKPR-O_wTl3qhQSlnHLLheHHYnObtVbjWi7vWWwzTDBHW_kgXBVsYKnrHDT0GljaGKBig23pljJHy2GOieMIvcKOSrH0LlEQSo604UDj0G3ho3sLUuYDOVmOzigSftLmX85AXsJ_ZdLrlhPWRcWJLJucH8LvV3ulURdxG-5GgRswC9DNgsp8qh9h7txpdFq1SHbCAdW8DFNenwqA6yeB--cSRkncwBO3C5ttJN4_JIOLtAlzWhbwYKupoT50wMSfLgm6QxSv-BmwEa7boVqoGK5XJQ4-6jcIycvNStqEPUCkzhiGByqUd7uEssEiQTy2HydlWvzSkTyizoG33zvBvgMrCcDNcWjb6cXN8HdTNwSNMInXZNd7j-1wF46s5h0SgSogYOXYvTjleKpGy6A7ef3IfNBRkMU1f4R7gRxakHNx6MeBlhti5QlsNlfsNQocaLxOxJkp2JqVOVaRlbXxrTtK1KdzU0jZvSbd_7H2_2f8qDS28dOu8qehnUd3QytTdnqquiQj3_iNy2SneFZA7xR1hD19TUaDanp6eyM9Rvtc6anQ3ix-4EYFOwHnI1mGOdyjQQjgvElKArVVzbLH2l_KjVhSSUz1PkdtSGczH3HBuoYOGaubFdIk5qjKe52caIJnaRXNfD6g2puMO9u9KdwAlOHLWUL1FX_M3rFhCsgTJNj-Qks78L0vlCAJLOIXd37FtzLKu0mW3QL98JIh6_TVjYJnGgEKjNyBql0IdB9nKbcBchib-2Ugu0=",
  "id": "rs_044005da99400505016ab41e45347c87d0975417d4d0c51976",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.135,\"left_z\":0.17},\"note\":\"Three bowls sit across the table, with the green one on the left and the blue one in the middle. I’m moving the left gripper above the green bowl to line up a pickup while leaving the other arm parked.\"}",
  "call_id": "call_5pMz2xC6E1C4reaCl36K2v77",
  "id": "fc_044005da99400505016ab41e46c69887d0b83b6bc9a42bf114",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5pMz2xC6E1C4reaCl36K2v77",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.4414, 0.9005, -0.1513, -0.3782, -0.2821, 0.9947, -0.0216, 0.7967, 0.6037, -0.3893, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.1293 left_z=0.1497 left_yaw=-0.0179 left_pitch=-0.0642 left_roll=0.0231 left_gripper=0.9947 right_x=0.2937 right_y=0.0002 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -6.7897, 9.0051, 1.7167, -0.3297, -0.0317, -0.0415, -0.0889, -1.5385, 6.9812, 1.8046, -0.0513, -0.0415, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdaa997a220752b3fd4ac7eb937e39e6dd732544e50aa679315acff770b5328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2ff96077897af1db4820f3f2b669d03a6da49510cb136f8dc37758e2ed9372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2e342a2be9a7864f6e0d58b2fd9355cdc9199a8bd96d8ace3cbea4cb752a5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.794, 0.6044, -0.3813, -0.0196, -0.0257, 0.995, -0.0216, 0.7921, 0.6025, -0.3786, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=-0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2947 right_y=0.0002 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -1.5111, 10.1265, 1.7705, -0.0464, 0.0855, -0.525, -0.2803, -1.3197, 10.1675, 1.8974, -0.0757, 0.1734, -0.3443]",
      "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]: [-0.4858, 1.4414, 0.9005, -0.1513, -0.3782, -0.2821, 0.9947, -0.0216, 0.7967, 0.6037, -0.3893, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.1293 left_z=0.1497 left_yaw=-0.0179 left_pitch=-0.0642 left_roll=0.0231 left_gripper=0.9947 right_x=0.2937 right_y=0.0002 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -6.7897, 9.0051, 1.7167, -0.3297, -0.0317, -0.0415, -0.0889, -1.5385, 6.9812, 1.8046, -0.0513, -0.0415, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdaa997a220752b3fd4ac7eb937e39e6dd732544e50aa679315acff770b5328",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2ff96077897af1db4820f3f2b669d03a6da49510cb136f8dc37758e2ed9372",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2e342a2be9a7864f6e0d58b2fd9355cdc9199a8bd96d8ace3cbea4cb752a5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5Pf2MzTNLWmE20fTVCS2tPpfwaDPfRyGp2BeKw6ydeLTVyn8PfhPTypgg1bEAkKue2t2vazU0wYXWhad7f5JK_D7chhcNvH2QO_ecxs9YxmQpp37kXZU6j-iTa9Zy_9xXaNURr2phTNv-uS9zuAoDCbJG7wlkWlxrr3AEFPKlUfYUc8L18j4HwYRsnXgtlrKmQxPuvewPoCIzcpOgdXTVjjZlZImcvWNUcavgxHQYbf5SUKhCGh48FzwqLXbpTkIziVqd9EyDg5IyTj1BB_mtbRBBSx2jIhhiAjGqDmHWkTVYzHDMr3-qk0RFq2fZY6VPxfrH7s36NjK6-cQKZfDcqBsHh7Aa1A4k61zhnNfZjONDhrgwDhTk7g3E8uyCfVGOdHlUEfzpa8I5EQy5F-h6CfxTATEmRKp0bNPUpw5AWn6c7j5uhuOqFKTnXd1jjmmaqvWSCxjcPQPDxypZWDzgakGQlsJO-PFILr6xVjbwF8B18gnbpMqfiC9YlysXbhWG2BllY6a5QoH5p_92-YVzZmR5tlk3PxTReyNaEMMqeVGBhp5fzvIdE5ZcxAYrTmhoQB7CL38350iUay-bm2rdRJjwzQRz3Y9A_aTECZ9GeLJKN1iNQ0fM3A8FCoDy5VvIDiB36oeZ3QVNoqO6z-isokHivq8BlHYUCOO9HGg3AwBtK9L1NgspOVpaKTcJXX6cjJ64Rmj_a8cdg6H8CG9n58L8897jO0qpaRDhLhRkb18wIjEM-rumDLE86y6UtkvPk5pj0BRj8pjGIGsBIkHqEDtLDpktWA2V1JIX4CPEjK5R89aktpep2dYpe6I5o4LprJhRQXQlHuWzwb8nUFdmnk0yNq68pTIjQwgx0zDkd8scP4BcjUfJAHE0sVWK1m1sUWcD5hGPRQaJoTyLvgUEa3uFoQ0WvxCR_jTxVYvwIcEKQDlgLCqCwzt8eof8NAnC_usFsNCudyoBR3dOu9__S_M7VwGeNWDRxH0-DLzbhgcgmJ2JyVWYnvVC2XZca8YyvD5GGPoLKoGzdYovFjXoRJUVNRv1GAid1fR3mMlDp_3J3eUnvPls3SswoNdvUDYh0v-r6umXclie5zntg6j_frOXDSXJBZ5daVIqUmQsDwNXGBkYHKeAHuL2VNA81jspynUsaZwHKtpMKe_TbFGsGBaZsdYZ-46nDneq54fGRjmCnGsjs5VhwK1-9_fg4bgaD58KM7XxAzGPvDnVpcVJD-UUW6IOLrgm7gcRl7snj-4dRgwQeFYMf9wpT2wesryARFptLNdJd_dKOqb_zBuhSt8eDmxzhkIWQkihj8b8UNoydnGH1lm4J3f2rUoFz7bHyaVhwiXJgx6YRaybImY21jddocREwTNMGHrbjsefaKRhOMPs0VU29OnnyrDYV-96jhO4yaWTjG676TW-DHRqmO3llAZWbZCURBCtoboA6hjknMwQ_OHeBDfsvbb3cWV_BnrFFTs9RPkDwt4O-kQI0P7JOWdAAO-a8xX5wrzSPoA1JJyeUcVeq9kGJ2P8COUYJtL2u79effmdtcfSKDjI9HpN-pIUZ5CxVwwwwVt2BbDiPO-ObCAXXil-2038shXPLGW81hrF3coGHWTAYd5VBshXoSRIiSbt8P7Aq16zLq_Lxsz61676OR1hOOBelWlaCTsn2f-PIb9HP7m7JiYMF2M9EzLjmGdXzx8WQNfMBadPxMscst7ze29Yb-R78qxIMWB-uBWBOTp2FIkdgryPIpkOmC85Cax5TdtFqXIeeSXc15wOQzI5uL0boIkwBaQ3ji8LrVBF6sU3LZWOOqqIIKGEAxO0kf2iSuT29Gtc5FW2JqX0hihbiPWeED4cNYidWqFrlqIE70vMWgDqgEtfFVeN1CsRZkPjZLiWkbXz0oyh-WEeem6Q5NTdWtut03neoOwjb1GvqEDqnihGehAHHl9e7PMwoW99CmVZHFYk3YDmX_MZSOovcsQU2Y12OhYhSyAi9t5YbSYKDiX0e_MU2Bko9YC0K5TyUv3XFF-UJ3oTQk62M2WAXx9L24E9hQ0LWHh_huEN6c3S1lPFhKbpqABG4uay5yp_pkbuudA-oIt0cyRq54275YsOGpNRTqxupEIAzsamhZPpSyJ3A5NnZ-n4DJwp0caEShnVSKwmYJcIqzwTv91HqaUYYsi-o11g8-YaSgzFMbOQazkNTzqLaMLpXt4lTMyeIMEDVLpeiwAk7PqUX0iq3zWOasfg3gwUSIi04Kuji7oLAJQi20AzdfSmKZmTVVvfYio2_EVOSA44-p2o8CsBlRcvT6giyU3nk69BHb-HMCAs7D3ofghx1LVLpdE-NZd7EO0JLOkyXheMLdCL2Pl2oJ-dSAZPl4zIFziXolbuDs8l5Q8ZPcc5Eq8V1aWToAQC-eHmCehsNMsLZNqCndBefT31Whgla-5jIdV1_1pWyaa2K2eTgD0nwTwxM-eFuPDMEZYPhJCBhDY4e7uLcjaWcbxz-PfaXAyEkuBY-5nZffD7ychK-fRbg9XXNz89_BYu-yc0jhjqIb5SrDeqLe4vvr141cl1E87Yz_viInwXOvRbPQWbTBsJCK3wOzbwRsBKBa8iQnjiPz8D33MrYMNMaSFyQBJWnwA9Qaat9nOguYJHf9rsbz0v0d1mhIBtpH5Ol68nAuzUj827_Zq2PshatUk10OtVZkbl7Pipx00mPk8voNQojZNJm7jJYXFHeEIpui8uW_OMfuxhoIUjwLbINNxtY6OSdg8tE-N9J_4vLJ1h-JbNSdSq9HnhedkkjGKY4tTU12X2IFZDzFuw--B2Gdh7fTASATCCsKYBd2FXyEeZSDhtTy-pbBzXfmhfgnJduEEA0b3bIDj7UYmau4q-oQrioaddGFijBWQF7j2zAdB4vIJzp9UwUPvL_4djgnsZdpTAPZ6GTOAh0TFt4nC7DT1dWk04aa2gpsxEQZCYCoKLFa9QZR-uXHDYtuy5v1steB00umjFfwBmhNXzZuNPoAGHvtKM_fZ9DABhUh98WpSzq3Ho1W-flqArUB1_xt3C3Eb4f8yS6FZu3e2toAPHT-bE7m6lHUnTlIpXNmZLWayunkkIj34bUIAKx0k7u5yxZkA7jbWDFfWUkwrOmRDYJfJgX8Gq8oVoonKW_hBO3t7_tipy6YZqO73WBbaLKjqUxTFAWjbpw2q9_gWl410esWHEBeaLTWx2MjPRWuHWIqFsJfuWOn9VRWABVmnSLEuWd63x1smbksI4BU3OP0RsiSNKvPiBOHoLlUanNtarnaSPczRFaJOdqBPZi_R1pgTyXWAHiAdI4ClZc0MgYR4cwPu-ggaL1tGVAIiXJSw_0IdhLdnxJFL7EX36617oHiNZEWsi65MFf1FnwLjCXxlG8WmodhMDzCo2DUqf6TEiUjFvtIS7IkxQ-UFAEiD39OC9869SBh6LLJNMlm3CUAPlnLHq71aO3pUR_D4GCaTvd8EMS51PjftMEBuBzssmEewFJjQPKSphlzS_vJsfiKIQc6Cvvl1ii1ibeaEKtVqgSJRsXtfIxInJElaB6SMu4IIvOAVWQcq849CSfLVE1Qq0-Kxk2uOAQGfHNpHIP_DXtDUxZ_YFyGDNnA-DGL6HyhQsXaOu2JH7UDJDvAdOuaKtR7m2uPeUjbMYNrYnS52WOXJxzHqCRARUm4ZrQ_C0tTkbO27VqlC7Fmc4iuc8gqPpzzalfSXCSy8UPqS7HH-VaDxxUFdzTx5NW_Nlyue1WdB_FP_o_SXM5ha3HVM9pvuT0WKBTwxNThzKzGHlxagpGMnFOzojIBrNS7fMAiIcWlRQlt_NtQUayZ7A=",
  "id": "rs_044005da99400505016ab41e49a2dc87d0b089c47b16719e2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.11,\"left_z\":0.07},\"note\":\"The left gripper is over the green bowl in the overhead view; the wrist view shows its rim slightly left of the jaw centre. I’m shifting a little left and lowering toward the bowl’s sides before closing.\"}",
  "call_id": "call_MMYb4iBH5z52gP4fvEIcDCS8",
  "id": "fc_044005da99400505016ab41e4ed9c087d0b9afd49a4950cfa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MMYb4iBH5z52gP4fvEIcDCS8",
  "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]: [-0.4313, 1.5585, 0.6746, 0.1402, -0.3401, -0.2581, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3829 left_y=-0.1074 left_z=0.0646 left_yaw=-0.0052 left_pitch=-0.1218 left_roll=0.0417 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.9829, 5.9282, 1.8388, -0.1197, 0.1294, -0.0171, -0.0615, -1.4154, 7.159, 1.7753, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ef34785ff2ca8d09205e46779391a5e28ec554abd0f68f90a29f2e34ec43bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81312f32f073c3c1be9a776857dae0a6f2e5b7e28f3700e8e1de4af123920802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5a909422d657eb73058b3fd879acb5361c6d0a2e7cc9be717752319e82dc9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.4414, 0.9005, -0.1513, -0.3782, -0.2821, 0.9947, -0.0216, 0.7967, 0.6037, -0.3893, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.1293 left_z=0.1497 left_yaw=-0.0179 left_pitch=-0.0642 left_roll=0.0231 left_gripper=0.9947 right_x=0.2937 right_y=0.0002 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -6.7897, 9.0051, 1.7167, -0.3297, -0.0317, -0.0415, -0.0889, -1.5385, 6.9812, 1.8046, -0.0513, -0.0415, -0.0415]",
      "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]: [-0.4313, 1.5585, 0.6746, 0.1402, -0.3401, -0.2581, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3829 left_y=-0.1074 left_z=0.0646 left_yaw=-0.0052 left_pitch=-0.1218 left_roll=0.0417 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.9829, 5.9282, 1.8388, -0.1197, 0.1294, -0.0171, -0.0615, -1.4154, 7.159, 1.7753, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ef34785ff2ca8d09205e46779391a5e28ec554abd0f68f90a29f2e34ec43bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81312f32f073c3c1be9a776857dae0a6f2e5b7e28f3700e8e1de4af123920802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5a909422d657eb73058b3fd879acb5361c6d0a2e7cc9be717752319e82dc9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5XmNhHMu2QUUYdHHuaFcbVGMsWehPAm8JCmTIVh5ioLzoxEjJxX-K25SENDMH6jRdSzYsvJzbjPpSA5P0wcBJXs6f4tm_NObokCSqJ862PsAYtCClFZ9hdUlh3Oy8Nzn9oyBsn3TxIEAU5MR-n1IelajAs95DkO0DtJEE6__ZTii80VOURcRTgJT1pEGPuWfSdEjtH3K8uYnlRfncEeV7PqDdPmtsSx7kV2Le_hoefB2f8OkE7kRiQT2sBLyNvyR179RE0ELLL76i7NERXiE07yUzHuSuvELG8tgCUYQFo7O5V3nPmHx6IrpRYN45KedpdA41hxqrWZQlPnyXK2k54LmjcaAR9XhS5W1KCO_QBvy3dW2MnHNcQCU9Aw1jhDZqqA0xOG4gGkf7VHGQwDAcUg2apeFk1lBi-7S0Er5pgQRPpnVaX90vwyCG8idWaRw6-gLhEtrOdWJjdoUsZrB-zoHJdqW7wMw9AACPL0FxCcmOPCdkyBo6IByhFmztjy4FfOdsRwxA_Z3CekkVslWrKw_a4ubS6knyYdNC8CWsq4S0Rs7k6QjZItPNiD-XQ1lgc_YKrhPfIPZ9BzS4_474qDBmzVPYQ6cVAdXXLNt_PZPGypUYW355T68I6ElX2e8JWc7SUxZs4w8zvm-dbsyje4Js7gUGuZEzTcaqUPqcpDzuO2G_6w2pItVxxSQeRboMchdASu8t61YiynmB6bm_ZSzqbLSfE4Cgen6mNwp9Fty23jyLFzAqfpu0VxoF-KPi6IJoGEou32CWWc7y78i2eA6KDhKb2dKSN-WwO19oWUPAdDPIMco1hJDPhHOcQSU7CbVGH8mLkGR5MO1UY-HgukfaJlByJ8v0wEPgpBXeV9ZbjDVh4sQyumYI5XrxYqYLd8wXVUs3IvB_-_oX6uUlVtFH0zt5hN1UEzrA0KsJd0IsSetayWlwjv_64eYcQJ9v1hCdcF8A279Rvce3RZ7jkap_D6wuCJ1D-DFqULiYCnOO3qlZ-tWnzPoNw-one2O5ZBPAK22TW8wQO5cKDw6nvPQRomR5yJznNxfJyV-30OWymmich7tNx7kp6-EN2WAPEgK7ZZSlhFaXvObQw-6lGcYXrQAQto9f4IMGxaTEfy8ljHsqR1FIfOO17tW41lmGyLhBnkxolqX-VGgHN0GCk3STOkphj2-1FmAmWBn6SlMP3evUF4qZkpqqiF6NziEQx3sZ9mvpcDpb-Ntvy1KGHgULvJBbpuM3-TWYQ3Qhz5XwFkvZdP7ETAQgSmmVKJSOg4e6EOXdPqezfA-TaGdo_jVePp_5wiRdSQDKHJNu9mJJVUd40ZsKsq3VoQ2w2fyiUkuUUGiTzx9a7bpnMf8OKO1JGOXVLbb3KF3ZZ7xixJNPSzLkoNOPkoNvwu89GA0xZR9R-HnCLqMgR5dGfPd-XbH3HdMt4EudXnADxgbpGTDhSeexJ7xQ45ZMYXATUR_CAgFfiuDdaa_jUid6NrK2XTDDgMg5mgrJVv7sz_ZInlY4m4jsHdBrSi2_jCnBug_yE0kF5Y85gJqL9jX6cVMAbja7S0iF5XiMsSAig-vF7fgP29iMchkp_YhLpznPimLcBNYj3cJutI-mLVsOnai6v8hZSb8V85-4rk9hZ2XW_mjKqpECewq8wKk5Q3bfemqOoh9i8t-yMDzeSxZzz8-83Ug4GrZepwJBSxwqNY8cAfIUUcQQDgsAKFcjaJqNRtvStji418v5qgJ6_M1Yi5t_GzqUl54PPZoCz-ElTnuC2dIbNeN8fKHKEFvEDbcKguqKFm2M-9W1sVx858r-TlylJCnSb4ck1FuFr0Ast4BC3E0obmEWxgsjpn2TKa6w6wZoPTciKg-TbtsZJBJpYylbqIvwA_JcQisHEHqP7AiMSIJPm9XRW3sh0CFrGcQub8aibZosJJse71tLfhRVNUbclSy6n3H3eNd1tZxVE4qfXrb0MyElfxRfBUmD3E3QrnjDCI4rI69qTm27hXgaEWhq9XWHur6k69SJHmGESg8OGXQ2pPla0btRTezMPfId50IUxhTth8qfWn2FMFQ5sCN6J07KG-f81CM_bU4HBfm9m1rPtI-Z_GhBt5jAEyPmigyVSLyKLdNYxCkkVBzHNUF3oUFZQ7D0nUx5z5HS74ZfcIds3RZL58XXZdBsATENlcBBEDw37ZAUVuzc4gz-hrNae0an8FAl4GIBR9Z5nCdCHtArVjLkuiXbHvnJ_6RUMzvbHEEqAbOtNoqptop8mYC_6EXIsZOr-GC_YLzAxSwrIIQv3P81iORVNgpZzc9bYx3KbMp8d3H7fhdAXjcQmC6IctqV_kq1sg5ZkBn1q-Xfv7MhN8DvrBIRJ92QBn-tuhi8WNWxY7Wjcqc8pENbpxf9giuwqcqytpACpx22vOYyweGYSL4MAuWDk7n8omXPvL3CH4JWDDwKxNx-kdOxORee6SXsWM7ZRAK4XQ8U2mpiWrXxj_dMEc7tyQtvEHlcLrFlxVeR798Vn88JLxNTsYUKl7tbY5OTgRnq4bMpikZFQwQyIU_99A0cs47muQyDqrn2E0Js_UegyAjwc8e2sEfjic_H_ehG1f7LGfvd8mzyOZL1pH83LFUNK00lmybOScoyh",
  "id": "rs_044005da99400505016ab41e5142c487d0af56d2a849c47e32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":0.035},\"note\":\"The green bowl now fills the lower wrist view, but its centre is still a little left of the jaws. I’m making a small sideways correction and lowering to the rim height for a centred grasp.\"}",
  "call_id": "call_avAr2zqGfr44ggrsmuLlqrjs",
  "id": "fc_044005da99400505016ab41e56917887d0bb116f8c2fd2e46a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_avAr2zqGfr44ggrsmuLlqrjs",
  "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]: [-0.3985, 1.5986, 0.6212, 0.2653, -0.3153, -0.2447, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3861 left_y=-0.0992 left_z=0.051 left_yaw=-0.0013 left_pitch=-0.0995 left_roll=0.0242 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -4.9573, 4.9436, 1.4872, -0.1343, 0.1197, -0.0122, -0.1846, -1.2239, 7.159, 1.7411, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4449985e6e1aa84b174f0ebb081b9036e608edc8359862ecf9ffe01728dcbdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fe95909ff7984af9ef090f4bd7bba3bf7352635f98869770df847e15f3fc15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38db42be9ac5a195393a1f108f21151f7e235cf2461314ed082ea1695ec75c1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.794, 0.6044, -0.3813, -0.0196, -0.0257, 0.995, -0.0216, 0.7921, 0.6025, -0.3786, -0.0166, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=-0.0018 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2947 right_y=0.0002 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [0.4718, -1.5111, 10.1265, 1.7705, -0.0464, 0.0855, -0.525, -0.2803, -1.3197, 10.1675, 1.8974, -0.0757, 0.1734, -0.3443]",
      "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]: [-0.4313, 1.5585, 0.6746, 0.1402, -0.3401, -0.2581, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3829 left_y=-0.1074 left_z=0.0646 left_yaw=-0.0052 left_pitch=-0.1218 left_roll=0.0417 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.9829, 5.9282, 1.8388, -0.1197, 0.1294, -0.0171, -0.0615, -1.4154, 7.159, 1.7753, -0.022, -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]: [-0.3985, 1.5986, 0.6212, 0.2653, -0.3153, -0.2447, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3861 left_y=-0.0992 left_z=0.051 left_yaw=-0.0013 left_pitch=-0.0995 left_roll=0.0242 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -4.9573, 4.9436, 1.4872, -0.1343, 0.1197, -0.0122, -0.1846, -1.2239, 7.159, 1.7411, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4449985e6e1aa84b174f0ebb081b9036e608edc8359862ecf9ffe01728dcbdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fe95909ff7984af9ef090f4bd7bba3bf7352635f98869770df847e15f3fc15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38db42be9ac5a195393a1f108f21151f7e235cf2461314ed082ea1695ec75c1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5arH0u3d0PCzlo8bvelfnPistbFZO898ORdaIhNhZp1OT-wzQXmgyZVCZn8ltfdz0MYry4i8YHnGyAou3NdtBMtbsKO0WEx2aCIMtX926keB3KgNl6NameIRhY-uaBiWI1gkcv1LP05yxeyNo_wUtLs-aRglZ878TUVPHqkI7KS6ru1w8brKumtXKGSJwnJwKv7V-ljktG37hiTiu9iGM-dm76CT_NmzAfrcUVpMOw79wHB2vCHVw21dYjV4Af6V2IfdeQT_S_akBYkxYqW6l-zfK1dqD4kQ624bkR8d5KpouLksq5CBQxeCr0cLLuK2uWLwlplJw1eLKGLEewkOGP9M3HQIJHE6yeHSe-Xrob-R695mAgb3uWnNgETRr1t6XFLcAkqDEisCtU21b8yH9lAEMPz6Ll2bwqLQQKX3JbOcVSJzzSCNssh4qehABja0LoPfgUdFMxBl7psdpWn7G85RyiT_cb6prOao-y2u50X-wLfTI9tWrpNSlLarB_XETDUfF-tuj4_LtB1S749d0XueEl0jmTZF1rw4Z7eBDf_2wg5MMMs3m13vNj5POJX3Hdkr6ALfQDp0UBCMw_C7k6eoiTh5z3nZpbABQQDBf2vU5LHqcC1lIgJSrS_DSqBCS73ikBlvMH-_olxjCfHNxNYYsgygFZsQ1qtDHdauO97IzGLTv8a-fiAkmax5KAQGJqn1q1pz2JrveRDb0M_XxsO1HwC1B5LGdlUC3wga6sCIWRSnh-Ej6KddiafdqwrsFBuqBznutWOPdla242iPaTS09PO-4oId5W_356Q1m6rzSQYP_hmKyiH_AOA7bXQnylPCnSFLNJBHrNXlbdaR2wEJO3IdCskiQY_vgWlJ7zhUACPIg_Ho0098sB1W5AJ8O8E-w9M5KiC_jBdfUQSYU2_LUNbe-X7_l5_1RG6sSgUIfTIPSy8449XzJRJxjAuGnLsQNyU6b7al_4PZEA5TmMWhEHn2Lf0Cn06iXp1PA-zit9X6QjpTi_nZn974src9XMyirEUXVZ44d0MNrwxP6bm4Kg9YYQg3azMyvhbPr0gvb4hxhWfq2aImPSh4XkzbQoFeropPm-gymJ_3kRuRvcELAY0GpSPGoKHsJ0iKjPrBNOQhvDcGm0nQ9RVEDYfvbuBwGYHqZQ0vJ-9gchB-6mf3I9TTgL1KmcE2GgfSSHuxBtLXRet3tzCwAacj8BujfD-o0wU9KCUfXND3wXodiWPumWEda_lIvKSQFXaAW7txOfY6hXvOh2YOLMOODncqXClhS3IF1BA3HHq3yoMaEnF7EN4C9sJ-QlktR0psbCWhIT0yhLYwnFfB2cF1VKN3aA7wtw6qEETjIL0JfpeiHW9AvMnOhVnKCtAi_eoX-UxhQRQoIHAIUaYGqSLnGFbM5ZfHMyB0g0UaMxthcvSFgZIghlftthct1693hD5BSvkKDPB_gNFwJHVgVAv-AqtptElxXCnzmL4p_3ZhpFqC8LvPCH6FzdezmovOEFz9lu7MMlmnNMgErUh9DXNY8qwi64kk_46k8V_rnfGA5kYPBE-PaYLQ1RVkC0gPuWLgyx0regv5LleJQwjay8jBDyhDc6JGmBkGaEeTArsjJiy94z3i61ruMf4iVjVInnFwFsJq69oX8WYRXCeOh-wE2oYHgdSCDVx9VIEUYZhuU1Br1rIL2kLDio_PhF4hX6EeqFzCg=",
  "id": "rs_044005da99400505016ab41e588acc87d0a11253797be7385d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.075,\"left_z\":0.025},\"note\":\"The bowl’s rim is still just left of the gripping axis, and the readback shows the fingertips are about 5 cm above the table. I’m nudging left and down to bring the rim between both fingers.\"}",
  "call_id": "call_Q3OOvXbc86MlmYOuyhQ4Mma8",
  "id": "fc_044005da99400505016ab41e59ba8887d08006baac578b8a0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q3OOvXbc86MlmYOuyhQ4Mma8",
  "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]: [-0.3302, 1.6382, 0.5632, 0.384, -0.2768, -0.2092, 0.9945, -0.0216, 0.7986, 0.6018, -0.3931, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3878 left_y=-0.0781 left_z=0.0356 left_yaw=0.0154 left_pitch=-0.0892 left_roll=0.0213 left_gripper=0.9945 right_x=0.293 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -4.4239, 4.0274, 1.2772, 0.1197, -0.0855, -0.022, -0.0889, -1.265, 7.0085, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9eb3c17ddbd5f6117b0802ad19b732dfc714a177669e3c6020e1315f7f8a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb87b2a5a82d3afd25a43571b3f98380dd2c4db06af318776def74e16a863d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f08ab4ab068ff38a2299ef59b188c498b464af25d47e740b8b97796bc4a66ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.4414, 0.9005, -0.1513, -0.3782, -0.2821, 0.9947, -0.0216, 0.7967, 0.6037, -0.3893, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3923 left_y=-0.1293 left_z=0.1497 left_yaw=-0.0179 left_pitch=-0.0642 left_roll=0.0231 left_gripper=0.9947 right_x=0.2937 right_y=0.0002 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -6.7897, 9.0051, 1.7167, -0.3297, -0.0317, -0.0415, -0.0889, -1.5385, 6.9812, 1.8046, -0.0513, -0.0415, -0.0415]",
      "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]: [-0.3985, 1.5986, 0.6212, 0.2653, -0.3153, -0.2447, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3861 left_y=-0.0992 left_z=0.051 left_yaw=-0.0013 left_pitch=-0.0995 left_roll=0.0242 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -4.9573, 4.9436, 1.4872, -0.1343, 0.1197, -0.0122, -0.1846, -1.2239, 7.159, 1.7411, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3302, 1.6382, 0.5632, 0.384, -0.2768, -0.2092, 0.9945, -0.0216, 0.7986, 0.6018, -0.3931, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3878 left_y=-0.0781 left_z=0.0356 left_yaw=0.0154 left_pitch=-0.0892 left_roll=0.0213 left_gripper=0.9945 right_x=0.293 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -4.4239, 4.0274, 1.2772, 0.1197, -0.0855, -0.022, -0.0889, -1.265, 7.0085, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9eb3c17ddbd5f6117b0802ad19b732dfc714a177669e3c6020e1315f7f8a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb87b2a5a82d3afd25a43571b3f98380dd2c4db06af318776def74e16a863d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f08ab4ab068ff38a2299ef59b188c498b464af25d47e740b8b97796bc4a66ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41e5c45ec87d0bbfadd639022a4b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl rim is now centred between the open fingers and the fingertips have reached its lower side. I’m closing the jaws to test whether they can hold the bowl securely.\"}",
  "call_id": "call_eWh9gom3XcZoWjQNMBN5yWMN",
  "id": "fc_044005da99400505016ab41e5dfd3487d0a387c1e6f9b47bcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eWh9gom3XcZoWjQNMBN5yWMN",
  "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]: [-0.3134, 1.6627, 0.5503, 0.4301, -0.2584, -0.1982, 0.0087, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3894 left_y=-0.0749 left_z=0.03 left_yaw=0.0108 left_pitch=-0.0848 left_roll=0.0162 left_gripper=0.0087 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.2017, 4.4513, 1.6239, 0.0366, 0.0904, 0.6276, -0.1846, -1.265, 7.159, 1.7216, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2394e3c4fff08c8bb5f0a096cab530a12dfe4ab20adfec9cc3a9c164b00b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013a1ec6e663775e487ccbb5a70f1ae13fdc31231b4d13f456b78044d9d2b436",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cf286304f4cf0f44360827003315208604b4aa6bc108a23784523abfdd152e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.4313, 1.5585, 0.6746, 0.1402, -0.3401, -0.2581, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3829 left_y=-0.1074 left_z=0.0646 left_yaw=-0.0052 left_pitch=-0.1218 left_roll=0.0417 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.9829, 5.9282, 1.8388, -0.1197, 0.1294, -0.0171, -0.0615, -1.4154, 7.159, 1.7753, -0.022, -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]: [-0.3302, 1.6382, 0.5632, 0.384, -0.2768, -0.2092, 0.9945, -0.0216, 0.7986, 0.6018, -0.3931, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3878 left_y=-0.0781 left_z=0.0356 left_yaw=0.0154 left_pitch=-0.0892 left_roll=0.0213 left_gripper=0.9945 right_x=0.293 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -4.4239, 4.0274, 1.2772, 0.1197, -0.0855, -0.022, -0.0889, -1.265, 7.0085, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.6627, 0.5503, 0.4301, -0.2584, -0.1982, 0.0087, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3894 left_y=-0.0749 left_z=0.03 left_yaw=0.0108 left_pitch=-0.0848 left_roll=0.0162 left_gripper=0.0087 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.2017, 4.4513, 1.6239, 0.0366, 0.0904, 0.6276, -0.1846, -1.265, 7.159, 1.7216, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2394e3c4fff08c8bb5f0a096cab530a12dfe4ab20adfec9cc3a9c164b00b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013a1ec6e663775e487ccbb5a70f1ae13fdc31231b4d13f456b78044d9d2b436",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cf286304f4cf0f44360827003315208604b4aa6bc108a23784523abfdd152e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41e60b0b487d08b17b68840f05377",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5nGIpAai-5bro8G8Pnxp81TcFti0SxyNumbvdlHz3q5-h90ozPyeOUW7MzQqLFjKRL0UrLMiW4kMiH4PhLjLU8KoHJ2g1EaJi5Nd9Jix0KfRdPoS6jQ3jh_Qm8xLYVXkvzj7TNNJA8dAS22NfD5phNvQ60zORTizy9BIg9jdj4Qrz6URzpjfvEdr4ZWxYqOpgXQVqV6TKz3lpIHL-7M5oatNitRgb2DOgFE0p2X0h9O_1XEVXGuS71uibu2YFLwenqV06EJkkHiJCrga1BriQzINMfAgiX3IlmUzih4aFsGU742OgewbrSwITDnFIOgiC6W3CjrFaOjTtFm1W2hlP1pHyEwJzVhB6qaLB94ck4oIpSPXbL2-H6_DSxYPt2eNIl2MOpXM7Mo9057oLbHkLO3A8-BtR4rFrjtmM1xV3HFSLpEqvZ6AFXHhZcNtlISBu7j60MYQ1pQxk5al99WmoghMPrqRyyOPauy-nwcv1KPXak6bmGPlOLKeUQRv9W65EBrEqahqP1z6RA3uRaFVC7QechYGl3KA8MrnEnmMYdoDS4uHO9MK5ue1YWUGq9eE1YfJXPCShB10FFpE1pWE7wpJmB5H0Alt9Yub2hhIJu3LpcVUWINwcE9vnAAPVozwJEo5QWcptHInBoP-d1Cz7at25Kw8NX7SU5xQPc01AiiV-zS9rbSV_V21ohI6xHygrurLXuvmn5Vu1hgoTrIuaSzpBMj9Ycx_tSNCYDRiFjaqewpFORENDiX2m-x0cSxTIKXlzDB3pPJbv-rjy_LG7PAIKJuM5-46Opgd9Wey6lFW87fFlDde-0OO0m-k0e0zCb97XKHk8YDfm5eKU-IpcShu9RtOqDLsGUvRGAO5ntb8JeMF_5yi5s2gZcWnZD1fXh6KJYd4T_aCD98ALZx8QF7bnohUbccLkFpFiaaCqf6BCdufqh4iJsKNNUwOVyDszHV0Ma0opCgwi9wo0i_4GS3-1HpbxzjC-3p0N2FzZrlImvLhIXe5ZzPuG5YHJN2NuvXKYhG6OJzYKQPME8IXEcizNnzoiSAxLshTvL4rwxG-_cuixsqrPvOL2r9po5qxR6pvvyONlC3vt3YeTZLtpfsKEuOt70tuUxbaAHCnknYrb8-PMkET3vA71VMJ_IX6PWOQOGBReIMPNcBpOqDPfQK4q-TLDBJ0IzgR5JZQwKwzd_PebdxKgx36jZYCGcHKFD6yRG9E4om1IiIY4p-pjzjLJA42pt4QoWtDCLKLIFCLOpzAqhkPCVe_-JaUuiHZDGG2lJDxfus9BVLksxNKW2nzcsTiy4IR3Dny-5DW1KEg_bVJm3bRUNLaffr0VkW-aoiY8dd10PWTOogAPFYLKG82NHItN8FsJJP6qvuT0650pyxoE3UZsloNvoFX0nEz83RpGoEzpTHpS7gTJKtIXxmSH28Em0Uj4N644cdQwxCkAu-ZAR2asHAaTX5TaVXDHSHLF9yovnrv0tDId8pIvW4GFriMR95GHap3h3Pd-eusoNFZAHZKDlaxJBd57zIhik3PSlcrKi037BfpSwCjScgstI_s_olnZcfhkL10onGHEnSQveNuqX6VJGDF3D-Cb97Uzg3W47kUk3yiHEQ5l5T6XWyVU6eQYl_QgbESYTPyz_AzQ9xHyAq4D2dgoXbKMPifazPWpfJicQh_5xg9C5Li8rw5qg2tETq0WZW5p_tKqF5jbNR-tIM43uSo2_hkzPHcCqJP95mYCGaTtmr1s3cuLfbrtymItARiblPUEjk7bwR8BXc1cDCUHFi2_heygagtlel2M7wEoblt1BHr7jp6ywBeFVONtkz5J3etOEKnQqw3pGRQCy5x_isa4IByKzvaG-VPMYox0kTxmotnGyvCiTBT_Ct19ufYuV6N2qCv7j__cL69blOXCH778vbFHAaGAY7PFLYYQVG6_65BsWGB4Z_-i_3GGeQBf1fyCIXTITgrPQLEdASgzm83gK5NTM7_-ww9tiyyupesNFIWLcmS4V_kwena0st1fQUsBKQRI5zS8IRdSkU-Bbk8a8FP4OvLva7TggJEEfNntAGsx93WHZ6pt9tbi2P2GkMqfzRL2iYWEjTeCZMH__bVdW25kekyZPfQMsCqGgMz0tNBD4qLl_987BYOKhLbkIhRRgF6jPCg97_0vNV3DARtHiI-9NLjz9hLt1I5gVQpZPFzFZyw==",
  "id": "rs_044005da99400505016ab41e6527a887d098ca432ed07a3b37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.41,\"left_y\":-0.035,\"left_z\":0.03},\"note\":\"The jaws closed almost completely, so the first pickup missed: they were inside the bowl rather than gripping its rim. I’m reopening and moving a little forward and toward one edge of the bowl to pinch its wall instead.\"}",
  "call_id": "call_J3HG0bnoejKcP80KWeAwdwXc",
  "id": "fc_044005da99400505016ab41e671b5487d0b2e80159ae29fee8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3HG0bnoejKcP80KWeAwdwXc",
  "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]: [-0.1581, 1.6825, 0.5785, 0.4763, -0.1547, -0.1181, 0.9939, -0.0216, 0.7986, 0.5999, -0.3939, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4111 left_y=-0.0344 left_z=0.0391 left_yaw=0.0353 left_pitch=-0.0483 left_roll=0.0055 left_gripper=0.9939 right_x=0.2927 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -5.3128, 6.3385, 1.4481, 0.0073, 0.1978, -0.2613, -0.0342, -0.9094, 7.2547, 1.7314, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7aa28b301a3bb03c4caddd5af367d7a741a2f5c7cb7eb178cd48b92dfea6ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab08e77d9826c994b7c6acec4d8680ad45183a4754ffb7b9f06b44fc6e4d2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4324b28ea373b2e7e844526a35088efb38a4824783746ca1f66504a0ed175d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3985, 1.5986, 0.6212, 0.2653, -0.3153, -0.2447, 0.9946, -0.0216, 0.7986, 0.6018, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3861 left_y=-0.0992 left_z=0.051 left_yaw=-0.0013 left_pitch=-0.0995 left_roll=0.0242 left_gripper=0.9946 right_x=0.2931 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -4.9573, 4.9436, 1.4872, -0.1343, 0.1197, -0.0122, -0.1846, -1.2239, 7.159, 1.7411, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.6627, 0.5503, 0.4301, -0.2584, -0.1982, 0.0087, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3894 left_y=-0.0749 left_z=0.03 left_yaw=0.0108 left_pitch=-0.0848 left_roll=0.0162 left_gripper=0.0087 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.2017, 4.4513, 1.6239, 0.0366, 0.0904, 0.6276, -0.1846, -1.265, 7.159, 1.7216, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1581, 1.6825, 0.5785, 0.4763, -0.1547, -0.1181, 0.9939, -0.0216, 0.7986, 0.5999, -0.3939, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4111 left_y=-0.0344 left_z=0.0391 left_yaw=0.0353 left_pitch=-0.0483 left_roll=0.0055 left_gripper=0.9939 right_x=0.2927 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -5.3128, 6.3385, 1.4481, 0.0073, 0.1978, -0.2613, -0.0342, -0.9094, 7.2547, 1.7314, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7aa28b301a3bb03c4caddd5af367d7a741a2f5c7cb7eb178cd48b92dfea6ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab08e77d9826c994b7c6acec4d8680ad45183a4754ffb7b9f06b44fc6e4d2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c4324b28ea373b2e7e844526a35088efb38a4824783746ca1f66504a0ed175d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5u2Szrh7_Wfxf0Ojx3cStclvVQo1pmUYZiCNOHm7Ji_ZnymOXD_i99q3bOXtY-xVbk8SKFLC4KXi18UK-yd6ViTVzVbLmE2tSLYTc22x_d5xqjFQSMbG624F_kl19HdZkYrUL7j1t4W3iTNdgU1nzvbKAStObEu0SFmEnO4DLOJiLW-dsMTVZZovgwM1gdwv806E5YifgU_onNMJDEeh9LXHddty3gBHZzEfgDWHzw07KNKjpDAk-jwOK7B4CPQJ-L_gWtfFdU0Qc_GBPwsEYmF33_ZJYvaSx1T66TyqKeLAzGtKg3UY45hlfTIW5iS3gGKREhlnrcQBC9zLgEYCWJCS3J74bjVQPi1lCbeoYIGKQltJknV46TZMYoTM5_FhRseXP3aH6ZNOvcNEqyZiX4ih6YcFYrSP5HZRUfT2R98C7y35v8fej66vYfWlSSa526Y6cDUB4Cd7gRoFfyVpxhnxlczH4Qbe33QWfPRZrae2mrZErnfqC0zJwvJiKi7Cp58yDLBBLNwoHADmGxY9jOx2HO1xk0K3Y0Df5qj8X7dR3k7QSa2sufXaGejR1OEvI9BUKCDF-FEiOK-BxZlLGlEOxNavezZ2-MnLwdvJBOI901l4UE7TBRjZtxESgV1G3PaIn0d39-lVhqHQ-tdb3kwvGIG5sUO57rShzd8vWjGoAnUstavYdb86ypC2q4V3-BmjRqLJjk4YZEPPwSxNCyq2aSO2_QG_dIVCX8ySx7vlWTZ2j3QqbJgRQqbtelE8dmOu7QQmCTo7NC5FDPPyq64Hdx8rF6h2ATSTj24ofnq3mKZpuRXHgHaqVrgrC_IJ4HaX3XsA0oKwHIf-quO1KXtQMrbYUt26he51QpfeaSSE_Z_GYWdSqIS5pUtzKrj9XsajF-qdYcrul19l9lhc0qVFw56vjAlMFs47o14RcZxCo2DgHBMEzp_D07JcsqDxdmibPXjm_IqnpucXXNBXWJ1yN208gy0CFcXHBEPzg6AIf_uluWKvVLNoixSY36vqtM4fy7gjf3Uk84QUOXIUAdBv1kVG9BuOjdTH3JKi0Yn-M75by92QWfUykjnELeCk-HxTBbW1SedDBP9uIuG706qBybZTxJRV6YzU86Hi5mi9kfyKNnbZyuijkG9uJ0wTMyh74YrAKqQJ3IJxHg-rw4306L_iB86OKu96WWo_EIYqAeOsZ2yfAG3RzfsJxBTXSfbFT4wpurUQuuHQY_fK1qEbUADP1UzGJ1TqaZejJjNzh8gUxeHskedBSZZ_sbdUjJAPWQU9XdeD_h6Iz7d3WozQsbkxbCWqGqjdOS2ibhL8XRgrDiqbZFFcAb890ybh4PIh9ZeDp4JKIu-C59SJ_UlEcakU5hV9eROHSOp4aOQ_V0xeHsPBOQdvImhg5-fYZOg0KvR3j7pQsHi_iwHcJ00_RCkMOLvoXdP3H9cH2Px1Cy70jceCkOcdxJltj0kz5na0PfkRZ6xXlGImoCc-Uirbq9Uzk4rrOM7xYr2jMoyTUYjxIjmznV0xXHRWn6ttSlx25J39RYr_J6a6NBsPkH0TbzRvg5vwzwdGrUT1FOSprFGqJEZ9rrO-1Y0URpIQRoaoNvnGKd3tkweXlSSij35KGJ9z6GDan_tx8BwLA20Cp-TzJ3LofjUwtq21yK_8LdRXwuLY-6Cc4BGuo8vWs1nMFFG4lXMw6flVUvtReMlFFBbmJZR_bfFVkFn6rkKIamT3KBcxcNDQMlRZj25uAY5QC0PeSuTmi5k6AVf1QzZINjrwiyoqZu-B45ayYoVYGSlbKnqoygOvcHiRroZsj5szWPACUczuN4tzCUEH1daJO-1WozzKMZB7xW_B8XdG1hheOvosH5vpNCeWQI5arh4Jo4mH54rwJkGjDRdrFh55A9jp7c4sY-e52zFmNLel0E6NaXMRf0o-xS6kPi8bren8roYeisQah5e8D3B8WI3gi19JHbrnxWngZJ_60Tp2AAhk1d0JEaS2byFCeW6MucSzCIn-4qeE2Etc2RcfTo1GQjCeIFAcSPlhXJFeCwzNLo3Kbw4vRPZklJbZG4ktVDw4CsL5LkzYByV2gmLH85mS5EH_LBx-PJ6pVUgt2dGqFir55nmqodAqXnuGbfkjbrIRcw18gMgStuLlFywsbbR8NFtPnn3ChoYPSugFoNVVcQ7UjCVle_0JSGqjffnL5615zK0eNwsyMMUryjMr_6kNOF9FAut9xHPghaAqgx9RZKjov0e9XahBVWBKTfmfAI9u5-VKE4tXiwaKQu4yHIYWRl8wQwpE3XLZRDbOyUE2wW9Hw920p6YPt2rmbZYMJV9WGaZ8_FfF7tb6DMdnIuYpzHLnodOk-hEtpGTUG3Yl1hYNKsS14w_ynopONkIDVUKkXbKEk1PpJhNb2aPmmobUm55O32EqTXsd1uCFJWbFcV6iI0R_q_bWhTP4fXSIteAeoh_tMkpKX9G8iHnYq-tG0KuL03kxiumLDUkD29LjbXf_qTFUYp6wdbBnWQNWXQocciFFg3u3e8lrAhT15n17T9fgMfTcYBneeETEPxsPlGIN9xBz1FYTkJGutzAdi35ZzYRmKIUSWstumFgEzsPqooeTJKbBqOarejGYiUhVmTgEOtQRK3nsm9W4_vjPHfzX9bjuYOm9Zo0XGEb3I6tGwqEeKNamupt4r2zrCHnMWujdAoQJ3SXW9nCitU0vDfbfCs3dWRxnNcanHLHpPSDLb2cOkF93HM8W7TXFJyTQni9kmJIpQBDLIJf8QYc5zGLN08bmMek_C6HDHWeozy_ayEXedqZFyP9XjJPNAJZHECd_6c7Z65jE5dhR0jt2a-kvJp34Uf2dUZLd9th5D1DvBhGJ4uJOMGfFewxU_tIc57dqWmOOudRox68lpYkoF85G2mxHoo1DDLWt0kVDjKxRYVMGmRXF9_JYPtRDSraSy2475i1wDExA2XxTA1M_5CiXyAEd9fga7H6dQkE8Rx6RJJgBYsp04SASWcOY2kvtrqvccd_R1Voxf5xvYDuKPFSKO29Hm56d2JVLY_iTUtCzY=",
  "id": "rs_044005da99400505016ab41e6a1db087d0a53be3f94b722b2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The green bowl has shifted slightly under the repositioned gripper, with one side of its rim now beside a finger. I’m testing this edge grasp before lifting anything.\"}",
  "call_id": "call_UNwsegJRfnEXFVlBbu2OfSCk",
  "id": "fc_044005da99400505016ab41e6de2c487d09cf3e6eb3bf74dbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UNwsegJRfnEXFVlBbu2OfSCk",
  "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]: [-0.1574, 1.6871, 0.5793, 0.4755, -0.1543, -0.1234, 0.0083, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4109 left_y=-0.0341 left_z=0.0374 left_yaw=0.0387 left_pitch=-0.0529 left_roll=0.0019 left_gripper=0.0083 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0236 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.241, 5.2171, 1.6728, -0.0415, 0.022, 0.6374, 0.0205, -1.0462, 7.0085, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c06d36a9653aa6c7a7d492f7a1d13f4a9462ee8356fdf240297374e8a02ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99ed43714b5bfca0810aea31b060dd58aba7a4ce02a607b118a581cfba1e8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e248cea378dd56027624641c6b315ae15ca898ee2c7f90f413b9aa0dfdbc91c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3302, 1.6382, 0.5632, 0.384, -0.2768, -0.2092, 0.9945, -0.0216, 0.7986, 0.6018, -0.3931, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3878 left_y=-0.0781 left_z=0.0356 left_yaw=0.0154 left_pitch=-0.0892 left_roll=0.0213 left_gripper=0.9945 right_x=0.293 right_y=0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [0.5128, -4.4239, 4.0274, 1.2772, 0.1197, -0.0855, -0.022, -0.0889, -1.265, 7.0085, 1.7558, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1581, 1.6825, 0.5785, 0.4763, -0.1547, -0.1181, 0.9939, -0.0216, 0.7986, 0.5999, -0.3939, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4111 left_y=-0.0344 left_z=0.0391 left_yaw=0.0353 left_pitch=-0.0483 left_roll=0.0055 left_gripper=0.9939 right_x=0.2927 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -5.3128, 6.3385, 1.4481, 0.0073, 0.1978, -0.2613, -0.0342, -0.9094, 7.2547, 1.7314, -0.0269, -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]: [-0.1574, 1.6871, 0.5793, 0.4755, -0.1543, -0.1234, 0.0083, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4109 left_y=-0.0341 left_z=0.0374 left_yaw=0.0387 left_pitch=-0.0529 left_roll=0.0019 left_gripper=0.0083 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0236 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.241, 5.2171, 1.6728, -0.0415, 0.022, 0.6374, 0.0205, -1.0462, 7.0085, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c06d36a9653aa6c7a7d492f7a1d13f4a9462ee8356fdf240297374e8a02ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99ed43714b5bfca0810aea31b060dd58aba7a4ce02a607b118a581cfba1e8f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e248cea378dd56027624641c6b315ae15ca898ee2c7f90f413b9aa0dfdbc91c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41e71244c87d0bca88b19410f32df",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB56wALqtCX-jlZToyzu0IHGWvpF9otch-Hs82qwpCz_l9C5VVfO5tfmtxZf8fuddGVmoIdizfMckQSjUJZY9M4NjKbpItC4mbFqHRf6YJ-K4arUcWzkXvATQRl3TKStcBZuULprq_lbjWSpCT5qaenVAIlsD2eJ6pPPQf0JKCymy3FXxpcdLRDrJWM9AoDnRr50VvVX0m9RWfBhO3z4mWrSO4YSu53BLy2eGbOp6S8XhtcUCvuSXciOdCOE4qKwXYt1rrjiZ-iZHoq7947xFitvjn7Z10pdcruUr86vR-CvbWsxlw3726ffrf2oDdpcj0-vKLoLfy6EH6VqqLrh4zBcqQZlr_ZgD4FJzegWtld2UAFZHOF6Z-r8wwJbW34lO0IrizTV6p15TnrkGM3d5wUz9_stGlZ0Abw_F08sGrecNyzijD-moXG-a9VOWT-riPQ29pxfdSLwv3eHSLougdJZMHAh3oc21qqPdQZ4JXnfK_qA_YehS3hRVa0duJ89ZR6yIp7nSv9ctmO5HzVO4Bfu1ocdCTNdyAU8d1vaqCGIYHJ4AGPSosjmhQfckxE1KOBRAM1xoJosDDgBDWOxvcMkpe-92SNa42GUGVYChh2QQKlMYOAqFtlegqimXGaqokA-69XgbMgrcMgfrL7ybr1aq1rAAb7VXmp-v06KPnLVdwOlBrCg0CPltu6D9NufLQZVn827gIHKv-3QfzaUu9JWJQqWmKLj04KBziIuCnOZmFCLOuClcf8HjJZDd63VT9PpFNzP3s3Mbnq3GkSXElB1t7c4Q2Ow7r5XWXrBFqz-xYODo5h_q5emVfvJDlbHjGhsIroiGVBGKhaWIuGVHz6lsP8aYYk54PM5QJaEnst4HifmHisoY1erwHVFsom5MCspbTUBwBzMbBbaEN4sCEDsV9e4NMkU1gTl7G1j4cr_nShmKHVC5ObtAkXWNl0AVpE19RlvtStM6zuoeccXUgEKf4Oqukv3yUDgLRQDxeAdRG5_oLL-YeKO6t9nDhz7WqI_vyVAwtYrfFDv6P5Wr-x4ReQFP8YhwK3JU7wb5-e5BAl0YRVEXihnsxhQP3axXYjKd7HB_7le5i9euJ1XeYvMJ35MlECAGBjeS6N_XBgzC_agJUcZSQrve0NsN8kf0M6xAecXo6lL4HJFU_LQ3YQ9eAq9sHsWZTH9RsfdanbCUxfeTF6PWAcIIVp25VBkY7IncfN6Va_WCpBYQMfGx2z8rnoRV2oGPpYp7RcnFXLpY2HunbaD-7YLe5GKiHQRK8zrC1Aqjo4lMbSaybF-jmF6uBvCfRu5m2M2X19dkzVldv_GNor_c-UM9KM2m7dqMZoahkW2T3Kh7Jh1sr0TVwfF7XCFGf33Y9ZBIMJGd6Ojke5vysna7xA8wKQtT6d3HKa9PjPc7i6IFt1x5xz5RRbs-7mQvYGFef4Oge3RgnByzDnXd1XIC7Auf69QNLd9A5gM-YTd_lLte7lRbQJR6mWUHNA-cbbfzsS5MKFrsvbIIVxmSqK3_o_vaSPGJz1gQEoIe7jp-4H7LhtRPw_iM_GbaViNZAbtB7WC-ZP2kRgOoamMhuGb6wa6A1tmfBofY5Kxhur-5oZHyFfqRb_TgBQb0EiXsMzjvK2TqJWEK1gZZ7t-0NsKzFgV-XaurnWW-SVqJQ-8H_DnENvWF4xWfzcpa_PAm1gx3p_DAFUs6vL-OjZFL96OzE9daKw5NPzXRfEYErBaeYq5nzR3iEgtCywY_QyXxtkB-FO4sSk76wMxDg3a_7iyAGildRvwA54_B86rnFRUrEWsT7-OvMMRJSkbVgtUdTZAwVPSUNGzRlVIg_P_KbjuAQQMkbT_H5qdLo7Y6EImnwW3qAOehOVmqBjYMCVDuiD9E6K4C8hNQpLOo-DboCxzsPG3Wzf9WQURmAsFZFPpAf8EP1h3XDhNJHv9EUuHH0WDmBWhTgIqYMAlhyd3uWcn9N4VxmOhwtglpEQpHXvvq2b0QLbH5gi9-iRAZK_uTizlwpvjgJ-s-kJZVVseJwM4STPzwrQa_UpxSDxnbiBEjjM0DughCoDC1cx-FLXy9DcC4uwYoN0d8TPF8EYITNDcDVepI-r0aCWyT6RAsXV9nvY9yyNHktfmI5G2PWLFsNaluSFbvUWZDV9-N_NxW6CrXCCdfhcWa4e-l9Fq_BbXuz2aRiTI9xrKL0umN1rj3UyJ9shXhj-xHg6ecbnvo4zJ5CSzrdgzYxBOJQbg2evRm0OlYY8sE0H3HHHZ9WJSuhF5tIyULXArsr6N02Wc77mMAFHeVmTRgEG4ZM0ouuE02s4ba2_W70e1CITY5aUNO7ryz0maksbhgXnaUtr2jFQMuR8VMuTFgglAI426mx5cb90fRMcfWaCZQ7O1urrUwdBtIpmj0N3mE9P-v_bCumy-Xj90bf8JDNKCAWTZ0Hg1zKRBaCA8SK0SRL47x_CLrJNIa_18lDFX5xcep1o8fatYD54SdMLqimT107SYhilqeAFBdI0uzqMNNP_hJVJTgUxGckjllJKy35Szo2jh7B-2pq8SCdzYLCGTUJlELblVhWs10fB1fpZezoxQHYyF74dHUVvtJG_O3eMfzXw2yB4m0MlFd6fs3yyiaqKFf73VHjPTXBHCIvLtaek4b_hZa7yvczh_29x1snCPooXbyTTZqKyOWfI0Ru-0GCPGP4Db9bgxhdWD_r7MmJgJNKQYv8pXZRHabqopKLYsTJakDqPX2hHROF1X6xpDgQWlPtBMVoDki6P0vOTmzU2cyj0uXHdzCuQ_YOKvOR7gyELtLL3Yg1eC9e-kWrBggafGh9yO8SEZ1tFT2R_iJAZwiLzqDUeMur-ZpP74clo7PEovZEF1uin0JSTaZs_qgAwmDr89sxao2OG1g3gSa87Q5J5D-PZf1ODrjCXPp9z9sfHKMTNTwnYJszNgIdzISQ3zYeFqZoc4nIuZvBZMvOuaH2Z_vv5FDOh63bvNyruxvDKMUHkaEgAJX1CvjhYWcsNCygcNoniw4XTV-vSLrIP-KgrHrN3YywUcrN8npn1wYl2LuWx27HK99FwjP9DHwm_RnVtSuOF4d-6RJ2iYkuH2FSVNahx5c8BsozyJcirmuSAdeMkeo1IFbJh4fom4OCJj-hOW7SCiVLxaH4-Suz0arFvfB4qItzlkDTXUv45F8PnKrKJPHsyqSNDdYEiNmkkrXFCKWW0BZO6mZH84CVWeg-JlmehklMw1e-aJpalO7TX2VNffGkNu26m8E-5P6TWrRJCMl4uWXbm3CddIMsBndw==",
  "id": "rs_044005da99400505016ab41e759af087d0867ea771a12b21ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.14,\"left_y\":-0.015,\"left_x\":0.375},\"note\":\"The second close was empty too; at this low height the fingers are closing inside the bowl. I’m lifting clear and changing to a higher rim-level approach so I can grip the bowl’s edge without sliding it again.\"}",
  "call_id": "call_rUvnikJE3Z0CqiA3ll3z4X17",
  "id": "fc_044005da99400505016ab41e792bc087d0bfaa0b78f97b22c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rUvnikJE3Z0CqiA3ll3z4X17",
  "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]: [-0.104, 1.272, 0.6479, -0.0208, -0.1242, -0.104, 0.9938, -0.0216, 0.8024, 0.5999, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.373 left_y=-0.0133 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.0683 left_roll=0.0021 left_gripper=0.9938 right_x=0.2931 right_y=0.0001 right_z=0.1731 right_yaw=0.0001 right_pitch=-0.0271 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -5.2855, 10.0171, 1.7753, 0.0366, 0.0708, -0.2955, -0.1436, -1.5932, 7.0359, 1.7656, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e155e8714922927b4edc987ead1ed0e7a9196a5333a96612fd807d1b17a2916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6f902bc7441e4c4f29a78b728e3f54c8eb032170d1eb1f98cd344c5e98cf07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af2a354596ae4202f48acdcbd97b7e2b4f255bcb7f9a0d9bcec6a8222325043",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 32 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.6627, 0.5503, 0.4301, -0.2584, -0.1982, 0.0087, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3894 left_y=-0.0749 left_z=0.03 left_yaw=0.0108 left_pitch=-0.0848 left_roll=0.0162 left_gripper=0.0087 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [0.0615, -6.2017, 4.4513, 1.6239, 0.0366, 0.0904, 0.6276, -0.1846, -1.265, 7.159, 1.7216, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1574, 1.6871, 0.5793, 0.4755, -0.1543, -0.1234, 0.0083, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4109 left_y=-0.0341 left_z=0.0374 left_yaw=0.0387 left_pitch=-0.0529 left_roll=0.0019 left_gripper=0.0083 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0236 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.241, 5.2171, 1.6728, -0.0415, 0.022, 0.6374, 0.0205, -1.0462, 7.0085, 1.7216, -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]: [-0.104, 1.272, 0.6479, -0.0208, -0.1242, -0.104, 0.9938, -0.0216, 0.8024, 0.5999, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.373 left_y=-0.0133 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.0683 left_roll=0.0021 left_gripper=0.9938 right_x=0.2931 right_y=0.0001 right_z=0.1731 right_yaw=0.0001 right_pitch=-0.0271 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -5.2855, 10.0171, 1.7753, 0.0366, 0.0708, -0.2955, -0.1436, -1.5932, 7.0359, 1.7656, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e155e8714922927b4edc987ead1ed0e7a9196a5333a96612fd807d1b17a2916c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6f902bc7441e4c4f29a78b728e3f54c8eb032170d1eb1f98cd344c5e98cf07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af2a354596ae4202f48acdcbd97b7e2b4f255bcb7f9a0d9bcec6a8222325043",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41e7c260887d085f0be0d838add99",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6CJl9PN3TYsNCjQoR3K-icEG4bYmQ1T_pbll9iGUa5FWwdjHXjKiC2MiXQaWwAMOb-ohDb8ON0T2nxb_P0SasuHjuq4KKNkpWt6e0oq1i1zHsWyQqYB7nbw0NLkcQyYihYmv2BTgCWAa0xjoLmpi-eBjiWd44nKVGAcnl6TlZfoZ3qmEHzugLoj8-bpCddkRxJQLXMKppJE_mz5OxetfVn7ygnPyfh0xrF8NlYxTCg-HwwOVRCSjsfVTDm_MkRWKa_reVAsuzfH9mw5pAf8RpVZ664JJ7HsbUZGiVcyUbd-EVLCLnxT3d7KB84jKT2HxLIlZZ78sPozouLKm10pI_Es9un8Z-89cfK-rHUaeVFSBGdCdbUuXhKBX3GyCCbBaNqwsl3nBBcUsGmCrQnhu0uG-t2bbv0hdPjhzL9FMj6zZ6cYolm64Iu2tltOdEwHXQAG4R8KDRNascds7DlXD15bEx16JcozAywDtp16laVfoN5-mcPzkkWz7AWLuV-tw5baohZ5n2S1t9nH2B5T_vmB1MPGAVDtG62IYa3EWyeqXI_2YadzX7WwnhhUguqylTHWD4haVRg6Opy17tOlnVSTakFcW1kJaZTmLVeAPgKY_BF6ZPPaQJgvB0at3t6V4WL4nMUCj7adgIeiJ1aONJpwuRUpswosqPNLz0mOqE0zmYPG8HwQ_b20SZ5mQiG63k4Sbwde3GfuwXPj6__xPtUItmo5vdsach53XQwxActK4QrYn-FB8HHVHexLWf-pJPZyMucVZAmAd4Rh5luHIVnm_SeCP-OH1FPswi6-kvOnd86QRHybYMm3FRDf7Rqt5blDcpdoKmIZoIU6lJkz_Qnn1e_ySPPrldOBRnzeIDRKVok_PbbQ48ohl9hEIb_Hlq4Uo_SuWC4pcUqQssoIx7keVgToaCV_P81XjQ5uvWj5Go4MNwuqt40M-qeH65PKQjGg2UznhaxUu_owV6egeRxS1TJRsbOCytG-tV03oT9cWFh89xA4ZpeV5TgOcMe2iJ4QD7jUTeJ_fVkPDVq-UdqxEYevoAbrlYyFpqoAgJIoBb7Ghqkez2rRXfENY4f5dXSFLZNSx8ItrkIkwRD4V0hmRfLrRIuS17WdK3WNkdwxrOXHzT-tKTjKIPDnZojOGzeaS1Z0feSIsb8hq1KDrldNBE-r5tdLf51UpbF1EP8MJYdwFZhNBxrDSePY_OvwNS8WQdSRxUVCvG57G4_PRbUqfGGCWECsL58LIprNPMp8m7nsGrLvOcwLEHtJqCaAh9L8Y9jgw2zV5AMC0MHIl5hSQnoukAfJmV9Q_hX1FxZYTplibM4TLKgfjILUwt3Mwp3tYrAVTN8YVkGN4OWIxrla5tUbp-bW7puQHhLWAyZ_ItpusooCHEdIICdqW9U2lVqfs1DgaoSmzgnlnp6AgiELs-wDxFxbIOhi759pPKp6arwO4byCv_bZwt6b8oifIvtKRAz16f3d763UHC7d96Q44bvpJ02Hr7ta3lc15p-XtdT2XqD-1q1EOqQmOYlix3hFkaqa-QTOB3jFDDooIZMD2zh6ZFFR881QW9HryL023T0tfJkyaJcyQLueMKhZWtnSfnvoaC1rIbbwQqJQGJxy7aCfPgjrhlWFXCdr1_lTkR8Fbyq-YfOQh9xPSfTdj5S-5CEd4HGrvWexx7fHwt2xDJ_XxKk1MGRdnB0lspHIjo=",
  "id": "rs_044005da99400505016ab41e80c66c87d0b438fba47d28fc0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_x\":0.373,\"left_y\":-0.013},\"note\":\"With the gripper lifted, the green bowl is visible between the open fingers and its rim is nearly centred. I’m lowering only to the upper rim, rather than dropping the fingertips into the bowl.\"}",
  "call_id": "call_2VXUJgE6LF8K5cV7OzdfiFg0",
  "id": "fc_044005da99400505016ab41e81af8487d0adf8e231ba9fff7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2VXUJgE6LF8K5cV7OzdfiFg0",
  "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]: [-0.1028, 1.346, 0.5625, 0.0772, -0.1272, -0.1013, 0.9944, -0.0216, 0.804, 0.598, -0.3935, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.0115 left_z=0.0799 left_yaw=0.0597 left_pitch=-0.1287 left_roll=0.016 left_gripper=0.9944 right_x=0.2928 right_y=0.0001 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.4632, 6.9402, 2.2149, -0.0269, -0.0366, 0.0562, -0.0342, -1.4017, 7.159, 1.7558, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d933ca16aac41bd055e58059267534a828adab6c9f43e1e6722444632d4ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c644ddfd8d2a0dbc916f89a762e570e42c27162e0e8c19c6de138641ec00dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec9e83ab954ffd7aab4297542ac4f9ca850229c1f52f14cd676e77aa493388f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 37 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1581, 1.6825, 0.5785, 0.4763, -0.1547, -0.1181, 0.9939, -0.0216, 0.7986, 0.5999, -0.3939, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4111 left_y=-0.0344 left_z=0.0391 left_yaw=0.0353 left_pitch=-0.0483 left_roll=0.0055 left_gripper=0.9939 right_x=0.2927 right_y=0.0001 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.3487, -5.3128, 6.3385, 1.4481, 0.0073, 0.1978, -0.2613, -0.0342, -0.9094, 7.2547, 1.7314, -0.0269, -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]: [-0.104, 1.272, 0.6479, -0.0208, -0.1242, -0.104, 0.9938, -0.0216, 0.8024, 0.5999, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.373 left_y=-0.0133 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.0683 left_roll=0.0021 left_gripper=0.9938 right_x=0.2931 right_y=0.0001 right_z=0.1731 right_yaw=0.0001 right_pitch=-0.0271 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -5.2855, 10.0171, 1.7753, 0.0366, 0.0708, -0.2955, -0.1436, -1.5932, 7.0359, 1.7656, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 1.346, 0.5625, 0.0772, -0.1272, -0.1013, 0.9944, -0.0216, 0.804, 0.598, -0.3935, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.0115 left_z=0.0799 left_yaw=0.0597 left_pitch=-0.1287 left_roll=0.016 left_gripper=0.9944 right_x=0.2928 right_y=0.0001 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.4632, 6.9402, 2.2149, -0.0269, -0.0366, 0.0562, -0.0342, -1.4017, 7.159, 1.7558, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d933ca16aac41bd055e58059267534a828adab6c9f43e1e6722444632d4ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c644ddfd8d2a0dbc916f89a762e570e42c27162e0e8c19c6de138641ec00dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec9e83ab954ffd7aab4297542ac4f9ca850229c1f52f14cd676e77aa493388f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6EOc36a33XIr7gawybyIM8XhKUXg_iZocO8QRNYWzVQcyukJvzXjxm6gYNCs2hF4B33v7n1NTWAAKccFdoVwdx-evTUBUAOInavVBv8NaRXnyVUmjnX7Asd1oJ_zFak6gD7d5r9925nyhe383HTs9wHZI-93TcI3a_aVzu192zbh3h29PpuVI7LrumLwJdPCo9Si49ANryK3roOcLqK7pOkOmganjjW9NaS61964_zQKq465QUHA6BKJb5VZuMTDCeHqO-QxQFUmdqMlonPeoI0z2ruB4cQOc5o5X650-lLHHEjaOZxlh5sPKkPR35V3dMRLWHl9rvIktgjCJRuHgmjU3I4MjXlV5fuhRBveM3fOF2rF3TbloGfZiGvyXpNRrjVzx2dIjgZn4q_WNdxtTKIintlBDNrIADygNkyvV58KLZdlyVxoqncGzHtE-3l6ybt8ILHVtccJs3YMHACpaPrZMnjkGZARbWrpaNJgRmKAAMWGSHRwxltNzrcUnO6kXaqb3gxZN12lrWY-Jw6Ud83-wTcBYhb_ov9m_lGyh53X2TY9GnJlft9iE5JH9YvbsY-9D1P2sgN4hNp99ngHxbvHuUENbw2XPtN10yt3qHaqt74wc4WLLBAevJ-zIpjAN0RPGE8Ux2u58LH3lpdEgv0MQK7kDJLos-Qeg47V4AWrabztE_IKFFEB9dyQBO6zYKO8uGiTUURyh1iWJp7brZ_5KRQEX0872s9Ar4u3nFyoIDs5NUNM3HjKl31JewLgCHggmaNZQdjuE5EoBUSuAVXBPDqaU8_sPyEiqTrZsKfx_k0w6CJKQ54mNEQNLWsELub7NtjRa8Ux0bdQMi6HZJWg9VcV_ODf3lKPKMo5dqBCIUwA7RgO23Po7-O18rJ3bI47edFIC5GKvoqxu6_pbJ5P1t9yoD_UiagzOUEWorRhgjM1f_-DO-lM9cXj9nLPLYsOqc3_K52e6c6pJZzf-wWmNpULm3IYrxx4e5WNdP_y3-gnu502EnJP_TscZ0abW_x7tB_QgLkffhySnAM7-9RW1lE9K8fTaupclhhdPMv0ZPltG3HhRcdPi4rYuiMXI6gT_Q_cMla1bdazwGRT-Q5iYiOWKPkScb9nh3u5aZJi1JKH28MNiF7EMcJ0u6FYDZvXz-SdnbX1qveO5oZxacMyVYCom9bW36sWL3jrrpd0d2R-YFghEYm236p78RUKAzguVdmcEYFCW4a_Cr87mvEt6VdJfR7qSRoqwrcJet061nNe7N2Bbvl0TYNyEY75OL-aQmJmiT50BQ2MZeKgfenABEGhI_Z3MKDGEKZGtGXX8TFIYhCSBzNAups9GB33Efi7G4OSM39OCU3YB8zzh30zhMx7ONbUYGDihpQ5AoReY=",
  "id": "rs_044005da99400505016ab41e83ba3c87d08d32cba6797e51ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl rim now crosses the space between the fingers at about 8 cm above the table. I’m closing at this higher level to catch its outer sides rather than the empty interior.\"}",
  "call_id": "call_xpbl9yTgHXGDxxLDBhygVbAO",
  "id": "fc_044005da99400505016ab41e8408d087d0ae85eabb177369b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xpbl9yTgHXGDxxLDBhygVbAO",
  "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]: [-0.1028, 1.3632, 0.5327, 0.0811, -0.128, -0.1013, 0.0088, -0.0216, 0.8043, 0.5957, -0.3962, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3556 left_y=-0.0104 left_z=0.063 left_yaw=0.0614 left_pitch=-0.1711 left_roll=0.0236 left_gripper=0.0088 right_x=0.2922 right_y=0.0002 right_z=0.17 right_yaw=0.0004 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -6.2154, 8.4034, 1.5067, -0.0659, 0.0024, 0.6422, 0.0068, -1.306, 7.2274, 1.7558, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca068deea9da4296aec0d631dfe89acd7466e02979d3e4e4cb5569b38ac6e5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56586d25bc357adbb85a2c935e829bb7331bac8f10bb960a9e08778197b746c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58eaf15bc261ac62a1e16ad249abc08780e4b9b532e577c8d289b48b83566d66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1574, 1.6871, 0.5793, 0.4755, -0.1543, -0.1234, 0.0083, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.4109 left_y=-0.0341 left_z=0.0374 left_yaw=0.0387 left_pitch=-0.0529 left_roll=0.0019 left_gripper=0.0083 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0004 right_pitch=-0.0236 right_roll=-0.0001 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.241, 5.2171, 1.6728, -0.0415, 0.022, 0.6374, 0.0205, -1.0462, 7.0085, 1.7216, -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]: [-0.1028, 1.346, 0.5625, 0.0772, -0.1272, -0.1013, 0.9944, -0.0216, 0.804, 0.598, -0.3935, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.0115 left_z=0.0799 left_yaw=0.0597 left_pitch=-0.1287 left_roll=0.016 left_gripper=0.9944 right_x=0.2928 right_y=0.0001 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.4632, 6.9402, 2.2149, -0.0269, -0.0366, 0.0562, -0.0342, -1.4017, 7.159, 1.7558, -0.0464, -0.0269, -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]: [-0.1028, 1.3632, 0.5327, 0.0811, -0.128, -0.1013, 0.0088, -0.0216, 0.8043, 0.5957, -0.3962, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3556 left_y=-0.0104 left_z=0.063 left_yaw=0.0614 left_pitch=-0.1711 left_roll=0.0236 left_gripper=0.0088 right_x=0.2922 right_y=0.0002 right_z=0.17 right_yaw=0.0004 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -6.2154, 8.4034, 1.5067, -0.0659, 0.0024, 0.6422, 0.0068, -1.306, 7.2274, 1.7558, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca068deea9da4296aec0d631dfe89acd7466e02979d3e4e4cb5569b38ac6e5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56586d25bc357adbb85a2c935e829bb7331bac8f10bb960a9e08778197b746c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58eaf15bc261ac62a1e16ad249abc08780e4b9b532e577c8d289b48b83566d66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41e87274887d0a6ac7cc92d44d9a9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6NnFgLqG3BVt-Q880TFrB9ozjYjDDw0B8Ul280cYdIla7Z9OeSAf0DZk6F0E7bGh8g2jlNAFnD3x2qhC96pu2Siyoc3QnVeRQD7Jl7JVGMzGizQB0jHP5pRLF0mZ2b_raV7QNtVH2MHtRAemrMNnClF1Y6IqOs4g-CUyB9i4-N-jOpgE-XHBUaExgCGbRggBsX9ZR7GrDcHeTytE2CUd0-Pyf6J1ZzBkjtjDJspgqUxhBni6qm1_0tCX1HrYx2J4CgjXkdpZe7nUi44Mopy3YEhBq9OGGfg0J-0En52FkBtWvpvnhRjSR-ewJrZlP21DZib5zEgpJArTSAsBEDBkoCCUL8XltcMH7mBXixbUAvWoyfqp6ohh8hP_YqI44ASMjKIAuHzLbfyFrXAIL2xkH95cXeIaYXKE7rxj5GI701uqZlo84wquz81MuxF9p8fagFi9QWf2K2A37HYE6IvlWcMuKwToEEG4zmn_DxfKpa0zU3lJqBkAvaGFjEjTs_aSw4TFFzQcGgy9zGwA_vnsyBxAUnDoNFC8a_5WjEG57JRjB9n62DdjYSRMHClGUMNQgr_cHAUORi1m4hSZWK_tNo_B6ptopBaOjRazxceUBYsy0T8QoFP5k8vsT0ljzL-p6D54Q8cborkzkvuKs1g27Mn_ec1sO9ho-1LHLFXr_FD_rvr0Gli7tFghHTWgbgge81l4P2GPTcYc9SDGgGTBo_EULN74bwpUb9bXB9snyWJlCCfgyxRuM8eeR3fQfW_zNNIsIGAjsl3kL7oZZ_RiHT8WW3WL-XJxTfvbYeJZTT_QCNlin7Kjr0xZ8S4nXS8Z58EQfSfcFfG7iMYHzGpoxJSYcaAuVumIXTGCSc_SocI7VNuio7JKWWBO05x202lulG0HEg2iQr_qyy-XaQPkwFpnTsAO_MFru4GQ-l-r0YOUZIDMHBkhytu07REi4jJTPHSYEOEOHKbOX7HOCIARaesldcd-Wn-tga_by19V68NNKDEXhwE8jPp0D4rwMgGLm3TEOPwSJ9-78ddUP42T8KjGnCbb7JuYdeiNB9sE93klN_-ukryuWYfhlzKzmsu0x9umP3GPiSbW-yqrH2-R343ZaOmtjnhj7OyH7xyhjXbZALAR4iQs6V7pS0XC_X4-uNO-JNXCKeoGyl_6vd_-W5qIjitV7y55soGaZbHtb3MMSlLeK_DlP7cobs9TwBdSnjkLt4ZcAxPfOTLtQFc3TiZTU5xFFmye3tkNlzuj_fNMujcQiFOoJte8ir3UHgBQxmEb9pmqbMVVq05bd9GuOwvrJ1o_d-itwBKKPbEE413bKKKzWPxj4SO9xNEyvWnp3Ec1cyXfkTgxtZZHWg5BvQHorQkaVHxo6-nscUtqhdYZEFy--3zPgea2GhGTCvQlSzAFIaXTSFcroVni0DtKg8Mk9HgVXbnVrThheUtjbqbSpnugGu3rtKMrPlDsZ-k7KWTWOjPMdt6C4gVgU00mPCNuWd-IBueZIsGnTNPluxnB30uLNBe2jCNzPtMQuU3bmUSQnsOyPepBZYQcJXtY8pQaTfvC1IMLICH0odTKsAZWjU1NtR2t66jOLSgqyx4NSuq2l8Vy146PPgpuO0hascW3ZEDOGJPLqHrd4m8bIMLUVJ3GamlXnplanSaAn-t8abG9dfqRqPDQTB2aj2hHRas8jk8WqnSjI6bfghNIYnu7ESID2gex1DsrQsGDicRcOamfYoQT8jMhHgsLo0-AdpQL8qmsrgJNTCocz9BIDisoBOZili96_jfrX_uWrvYsbzcjHcL2PsJEgzYruDJQocEC4EWM2hREnm35Kjh6kOqntQXf20IiVlMusvd0u18Pb7HTVhidf-2ZNZuZuxrN4R5CM0U4jh9SeqMJ6LD6Wfasd11WF1OFCK2EcgG15uzdR9uaeRDCpmlqitpmT1sETEr9Wp0SvlHiYgGsLB0PwrDaoSVv2nPJv02ZHtsO4pkydTJ3Ai6hAoskjsMJmYJ9eXUu8vGeNFzxK8he4PQkW6NpQaXjPaLRy53V_b1gml0Jd-",
  "id": "rs_044005da99400505016ab41e8b50e487d081d264c1b2e262b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.14,\"left_x\":0.355,\"left_y\":0.035},\"note\":\"This close was also empty, and the wrist view shows the fingertip still inside the left side of the bowl. I’m lifting clear and moving a few centimetres toward the near edge, where a finger can get outside the rim.\"}",
  "call_id": "call_YUq58ykTQqs2XR0feceTpw1D",
  "id": "fc_044005da99400505016ab41e8cf35487d0bf37afcdb4238ed5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YUq58ykTQqs2XR0feceTpw1D",
  "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]: [0.0887, 1.2335, 0.7231, -0.2623, -0.0044, 0.0044, 0.994, -0.0216, 0.8074, 0.5953, -0.3965, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3507 left_y=0.0356 left_z=0.1217 left_yaw=0.0895 left_pitch=-0.2019 left_roll=0.0173 left_gripper=0.994 right_x=0.2922 right_y=0.0002 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0404 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -5.4222, 9.6205, 1.5409, 0.0855, 0.2662, -0.4518, -0.0752, -1.4154, 7.0359, 1.6972, -0.0562, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002f29064f6049e0157fac6f45d725d15df47aa4e29e67d0495359e1897853dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ca9282949422707344c271fad6edf33d56c48eba0098f32cf658671f750440",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5530f885ca03629c582bb42713e9c9b40a3520dc7c0357d20704028218fc02a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 46 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.104, 1.272, 0.6479, -0.0208, -0.1242, -0.104, 0.9938, -0.0216, 0.8024, 0.5999, -0.3927, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.373 left_y=-0.0133 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.0683 left_roll=0.0021 left_gripper=0.9938 right_x=0.2931 right_y=0.0001 right_z=0.1731 right_yaw=0.0001 right_pitch=-0.0271 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -5.2855, 10.0171, 1.7753, 0.0366, 0.0708, -0.2955, -0.1436, -1.5932, 7.0359, 1.7656, -0.0171, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 1.3632, 0.5327, 0.0811, -0.128, -0.1013, 0.0088, -0.0216, 0.8043, 0.5957, -0.3962, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3556 left_y=-0.0104 left_z=0.063 left_yaw=0.0614 left_pitch=-0.1711 left_roll=0.0236 left_gripper=0.0088 right_x=0.2922 right_y=0.0002 right_z=0.17 right_yaw=0.0004 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -6.2154, 8.4034, 1.5067, -0.0659, 0.0024, 0.6422, 0.0068, -1.306, 7.2274, 1.7558, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0887, 1.2335, 0.7231, -0.2623, -0.0044, 0.0044, 0.994, -0.0216, 0.8074, 0.5953, -0.3965, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3507 left_y=0.0356 left_z=0.1217 left_yaw=0.0895 left_pitch=-0.2019 left_roll=0.0173 left_gripper=0.994 right_x=0.2922 right_y=0.0002 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0404 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -5.4222, 9.6205, 1.5409, 0.0855, 0.2662, -0.4518, -0.0752, -1.4154, 7.0359, 1.6972, -0.0562, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:002f29064f6049e0157fac6f45d725d15df47aa4e29e67d0495359e1897853dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ca9282949422707344c271fad6edf33d56c48eba0098f32cf658671f750440",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5530f885ca03629c582bb42713e9c9b40a3520dc7c0357d20704028218fc02a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6WgnzuYpO251LsDf1kXfbpUqNnPn-PMxx6ikvOsIvr6PSDdCsXxwb2LxSfCzYOZLGjTCdlaSukdDTY4c3sdyK8LTmbMHO6gnSStaRRgSVWSxGF3rfkjDs6WiFzaSTDJC-KjxcKx87UMOP9PGUB6oRPvQSOIyEBklRLbAnncb9d-sykXd0gK4dTf8Qaa2Tx7oU60y_k-24H5hIBWOjR4MPWBRa1XjUiBn6KXBdrV14cmiBfsiFQuX3Ucr0dwfaH0PEEdIrKA6xJ6YcGLYFRk_aqgqYvl16skCx-4uNxzVPFbF2BxnSqErP1l6CLon5qyy9H2RiAnJd7cOXTCYMrLAxG3M-0X4Lb2n3KHv6w4wn6HY-F7I5IDZnNziHtPB1muugJu57W2xuq2xuUxX2zEmUow-kHaqxGGJpZzprc-7woAGstrF6xkqTWTmoIrirnY8BGc2wzzATk1U5YoGSFKRRQNp9vR2uXT7yolm4EY1WT3gq9AOeEnhHtvX-DRNHg8_Rrh8dPTVIzhjyaeRe_BzH7-dP82eaCyoU6kBjM68e3NdmDKw8KZ8LHPSdxLlhdv9EhvcT_yBoJMjJVfpuSN9Vl7GsferyNtCNMZguaAqk7Xj2w_lXVBVkCN3rpi-ygZNY44skKM3_yRh48aep89GvJo1HDVvRjvu-NK1cJxJpVrqc8eUQZfWaid2tgUEmxiw03BEmWFgqVvmij41KZZ6RydTUtpa4bgYBCWXCs-J3JeMScz7K7LMBTp8FQQLbFaMcUkKnWYMzueCLkCG5b0B6B6xkg6rp-jpH-HPcPPTfnUDdSXLPk5d5PDELj7ckRaKoxMWaCNKUMdm0KF1yJeb0DXBW4P5ujYRyK3pZjCqQhVwJyhgrtF2vzyjCDPCncdVwlKKJdc2zS1jbc5RE9UOmfxNmYFGk517xURf_nhLuG-zOHcKZVnwrUd63ueXFJoLhQK0o6yNO0J8MPDG9TLg7qekMR9pDHhpHasMbfE7qJl4edWNS_8NizqNIqvgXzivIAGw47elT0ErxWJQ9nCbGHiU8VrtbslFcDLSMgp50BELbkQVUC-SQCRzzp5YkAaDodjmmHk2ROgv9APjLnkv_CGS8OBHCeI7W9ZzeEQlu7xgGVAcAExCIpoTKIOcw0klHYugE1gx3O865oX3dz0Xw7PpoSPYW9bHcqlpq1Q6CaghX1vYc71a2IZm-wz6CWbK7FExR_hDs3BxlT9_39kJMvJYIU1iXCiGlOppKvBBiOyv4D3ZfDyBx3r6S4nPyDggZhbf8X7VGRq1EYQFdGZPPAALnFCPEdm9DwNLIEXUaPuzj51uL3ZS2Z51hYPMnxSNydtjXemsXXzmAQh8bA6v0H9NR_4cw8UGlbtZRPscAR-CzB3fyq93c5_jUJnfvFm4C2aUid4nmsVn7HMJO4eQgGZq0iT6sNlFoxC8l867d4Xf6ycpiP0faH_T-pJwCtJRfZwoj9jNYpg0_C8Zr_UiP-8iz4gSrc3xTEYXyLHenrUvBMIA6k43Il21FFOvopl1Xi9YnzJFHINSPj25iZ9X-YbnCOXRGOBRZG9XTv6kb8_nsS2bsnDMQopPMSveN-6Z-TFIrlHc-SsaUCU9aNYwdBN0RUGggPEEuTmygnlrPXDdoQnX-cHBk5lDwaddQ-NMr7PcyyjCGBahyj0eRObuqITe58EOdMkAkCVOI7whY56ILuIuneXZxKesNOSSbIEnjjzGCWGEw-r7DiMgnjVb2lNxY2Rbq9WHMaH1r5XqluJ9-mutFlEH0dgFyzcWmwyyaHZPeyeh_-99hPfFhPN0zAnaRjjIaynWMnbe80D4U3c1trMVNLizQsdWY1u-TVW_HtgNiRpQUgdmjhr4NZH2V4aklPbDJwPdlHlNy-sXZMhawnvEm5nv6NGM_VlsiL6I8ftPXDQOcMnax30zjRd7Do7ztTNsY9LEjHbkfjIE3IuH-BC1rWvpZxHpk3VwxgOIbNZkrZhTsF0O-PnvcEKIc5QK36eIFe-UT_vv48T6wezzknpMt3tuZcOGH-IDI2zmiXhYIjj_I4beH-_vf56PV4f5oSAwW5RBWSSMWa6SL4KlDzqW53Ix151c1cfPr7lZDul_If2CmPcY4GH-dKbqAwx_OsLtUownG-jfy_iDVnKETpAMaOfEGEZ8uw65kN9B4K1VHDND7SRp2kaiPKPIyJ9zPken9cA_Gtg4YJpMbDOfawzlHEV1NGyZKn7KkWvU4suyyqo-L-20G_ZdYReghd3qZgOCbPXqg1lvy6XcrohSwz1UpjQfSLATcMu2Opge0gIcoBL47G7iCuCHZqlEXfzxq32k-jpVg3PfcxhI2XFu8xeu9llN0R__zqnGqzjtE4iq997snba118d3McwHCImgv6rK9FtbqoN64eSm8_VcXLyLDs92txnq1bScBOM_rIieGvGyc6KjBRSWt0572blRuRTHhcbZ3rMeeQm_-7hBxzWuA7sjB40obxxw1bzU_45hwcjKckTZi-SYf1eJZ1t9zx_A7YQ3jiseyqrKjPZ7uHbVHaT0ZBxygAkvfW-uPeCQT24IXXu2zln01ia9fg9lo_uDI8-2Z7DOtGv6nSPTe6RvhQB-ZKX9NLAGqIMx8t_s1ZsaQdarI4oEdtnX8l6qQ5rbu8HNHCaonqCxDuqtJvNouwIz7BYwHVicT-kPK4kRL7RrJUZtmVW49QV5d0M0U7g2Xjb5CXvww42Gg1WyUQ___UXdzsdRiOacjuhdDbTdvoYHQYCKBVWD74atKJ0pVOQsgtqPQf_hVlrcpJbMvBwkElY-rIUj6C20C3lcOjlma4zT6vObG1lnznqzQ_0cwft4O-e9WSlagVsyrBq3ajcsaYlqKfoLZeXHVQ4yAC3UgPjzSwtv7ia-5S-rpnkaGffTTkAcKnDXdMBT5608WKnUL7-rsBU8U6LxDSVwhZYesgSwnMXkOFghDoBss-GFYQzg9ImCKwDxsGYaaP2B3j13tMHCkUmem7UkrYxEsaVX2YFOjmXTmaEQGt7x4MKlAwgk_0QMuxTbwSFzL9KtjIQihwIMsGjf7fgQyiXX4_X8rxZi-2eWnGBEM1njcOT9iyB6YFZJuqm-W4IS4EvKVeCCT3Ujtfg15wsjlIj6OITKW71MOEKs5ZM48BM3WYMd_6YlTGghEtJ_jsfQLcO3YSZ17Fq9mZXBx85biFNjno2cc5qCxe5pF_CVrdNbrDjZCznLmvbvVdpbLRqRVorYlVOpW5Fv8Kb0r0df7nEgTeLR7OL74hdZ-G98jfb_ZH4s2npJJ5PkS0oUpau4SmFy6sRCjUU1BG30qOGWknNp3zGh5ryM1V2etrlx_bgT5cgggv5yo6Vs6-NAEg97jqtyMkbODXN1Qk5BBgpeSMlW1e0qFkDKWik3u0iHIY6bic4ioXN60IudOclomzXF-j5BPiANvlRtfR7VTSixWTtDb0fngFTK2CfdQ0V3NIU67pLxdi0fdA1CBfVh9xJgAYy_85x1YZnWj1Zdf0qsgrTLF1sGQ5dzrU_gDRkjEKAAGUn9gxOseCqHK3jNMjUr2Hn6Q004yF4Mdf-nRU2ibZb1h4Gmh8iRABLMtKcc18EOgde_ePkMH4WwKjgOYHGldYzH_ZuZZhSgu1ictpcWv4u3MiEyK8vF9Ez6732cc8vux6oOlleOUp1s_65SdlHhdPn2dVYRh0zpYlLpgkDI22mzpMT2B7FCIeBDLIPtTEO2VRj6EGA7rcn44AS2YsX-Oj280=",
  "id": "rs_044005da99400505016ab41e8fc67887d098ec964eba12b7af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.145},\"note\":\"From the lifted position, the green bowl’s left rim lies between an outside finger and an inside finger. I’m closing while holding the gripper high, so the fingertips meet the rim rather than the bottom of the bowl.\"}",
  "call_id": "call_GP9bGo5ZqdpAddlGinZ7Unfa",
  "id": "fc_044005da99400505016ab41e9486e487d08d60aeba971fcb77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GP9bGo5ZqdpAddlGinZ7Unfa",
  "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]: [0.0917, 1.2282, 0.767, -0.3637, -0.0002, -0.0044, 0.0087, -0.0216, 0.8108, 0.5953, -0.4114, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3431 left_y=0.0352 left_z=0.1243 left_yaw=0.0938 left_pitch=-0.2542 left_roll=0.008 left_gripper=0.0087 right_x=0.2903 right_y=0.0002 right_z=0.165 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.559, 10.1675, 1.4774, -0.0659, 0.0806, 0.6178, 0.0205, -1.4701, 7.159, 1.8437, -0.0708, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a2acca05046ea790dbd7dcdcd70aa1fe0fcd9242d081a3fc4ca51429882f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c2fc0d13b1b2af882df0c0e3916827836b40268156ff4e41a6fcfd0516327b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f520f7ecb7203bcf691ea5622a9ac0c72b8111aa634d5110852e1ecbddd8549e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 1.346, 0.5625, 0.0772, -0.1272, -0.1013, 0.9944, -0.0216, 0.804, 0.598, -0.3935, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3645 left_y=-0.0115 left_z=0.0799 left_yaw=0.0597 left_pitch=-0.1287 left_roll=0.016 left_gripper=0.9944 right_x=0.2928 right_y=0.0001 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.4632, 6.9402, 2.2149, -0.0269, -0.0366, 0.0562, -0.0342, -1.4017, 7.159, 1.7558, -0.0464, -0.0269, -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]: [0.0887, 1.2335, 0.7231, -0.2623, -0.0044, 0.0044, 0.994, -0.0216, 0.8074, 0.5953, -0.3965, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3507 left_y=0.0356 left_z=0.1217 left_yaw=0.0895 left_pitch=-0.2019 left_roll=0.0173 left_gripper=0.994 right_x=0.2922 right_y=0.0002 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0404 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -5.4222, 9.6205, 1.5409, 0.0855, 0.2662, -0.4518, -0.0752, -1.4154, 7.0359, 1.6972, -0.0562, -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]: [0.0917, 1.2282, 0.767, -0.3637, -0.0002, -0.0044, 0.0087, -0.0216, 0.8108, 0.5953, -0.4114, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3431 left_y=0.0352 left_z=0.1243 left_yaw=0.0938 left_pitch=-0.2542 left_roll=0.008 left_gripper=0.0087 right_x=0.2903 right_y=0.0002 right_z=0.165 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.559, 10.1675, 1.4774, -0.0659, 0.0806, 0.6178, 0.0205, -1.4701, 7.159, 1.8437, -0.0708, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a2acca05046ea790dbd7dcdcd70aa1fe0fcd9242d081a3fc4ca51429882f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c2fc0d13b1b2af882df0c0e3916827836b40268156ff4e41a6fcfd0516327b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f520f7ecb7203bcf691ea5622a9ac0c72b8111aa634d5110852e1ecbddd8549e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6crbp8p6S62SidAjLS3v4ugO4qdvN0y3rukHrDpwlJzbQRBz_jbhcl0Ncep-2MaJ-0BqzpLaQFPRXWGPnsv3Va0xSAvLhtrLjyT_OE2ePGzeczaR0GfK6euVRFw_PNVhTC7XEnCByBLgwZi7j4SHPCwiqtt_qPH9nWgMCzHKN-8LvEluEnGl4qRc98MvhqfkeqEUGIfSNVe6Mnbdj8TpthCdjKP5ZCYfVITofvRWpoCCnw4BAOjpMGjVEywPjZfPfa72iizaD3DFXXqFdAcjLQO_aKz-v52Lo1toMobJpgmj3UB7o2vExUwLrKhe2Y1wAvZT8nHtjyDHQveY2qciYTKJV6fZfRFTtXjA8uT8YrAPPeaKvNfG2JBi2_yBc6oEqqkAkFpyWEVdvQq3BUUjZXCkkq_mvOSN530KQmfCHoPSU5TbDP2VtftuueY8KYrYN3GXIDngGXDx557dsu0KQOCbMeqDM1r7nP5AKNX_FUzMogtBe_w43v4Z_MyfcSQdBCqQoXzdgcRcqbi13fDwekmy3bbyNF_88wxDYv73AkJzw3i8J4eDw8oLzMO6JrIX_KCWQbOIDtXGLZEf_jUnBD5qGRkPyVTdc4Y8BB6ykNhy8qFssEWeHrHn8DrAw1tZ-sgRoohwFZZXbOd1vYhS7WapdAuQ1auVtRO_YUuA3ooQfTlrl7JB1MhaW2LkWnDHl1kHoEs0JEYvPfjCXVB4TvEOSGvVSwq2eT5F9gXz_yC8J2gNfQHiX5wp1Reh81IMJL1uJiUoaIuEqpD5LkEekzTwAGLDIvigXf_yCV6DKIDos8vvDpir34IDPCfslUN-3ilzvC0JPnD6egJmYd933XnxkBnuRemAxhgFQTLCPMPZZKs0HGRO7zdigKYGnPqaiVLrX8nEc0xK6f-PupdCzbmJjQNeqEL-i2Vgd8Zb7Qu2bhCBQbeBb8YzuW-tivGmXZCenl_ki88HRz1vrlAVMXz-7XE9MCl4AxbK3IxnuHPuSNtlF_SMCP5FkWAJ7Rf7jYx0f1QZoQU519i9beLayOtAA7ij5nnTUoyg6J4YBzz1tLLRRjxV802reKklf_teY3UmhfLIXix--ibSq4HtjpFLNwg4h8T6V8lGmODZz1bSPx9iOgRa7sI-c4ox-Jo_ENcMANepWXnBotTQf4zxL9hCI7vdeI0tGF_OuDCa5L7ixpJO97p3kgWHmJpTc2jxc3xIWpSEizUzV4jQNQJcRpBd-akAzk-SZwYRzPzofFYceRlGfjY7gg3RyIFsJ5_nUH25LcHGe0vGain9tWuLLS03s-N_LsLfSfRx2rvN4eN2uXoWIOwge4AmO3QhYAssGiB2UTXvqGvd20qEdvAwEHaLSUyUFdGs91p4XQ1SI2gA_-dDcWFTZT1MWINChBABI5ohTnizizyxGYRIa7Kol6BdHh_7chsRHJcv_bXypt_1gnPKBErVkpH2WsTEK53owgb7LMW6FKwJPksztae5Jd_JFrCOHVKjeq5_qvTL_4Fwdn4IpKMxIKSczGTx2-pwrcTVHquInrRS0J3flGOoxAsMcPo9tCF-fwruDCHEdZgbOrJ1G-a2b1HyHLELbmN_V34KAUYBiobRP5Y_n_Xwru3flEBFUw70udb7M3YiR0PNRcLzOGahO9lg7U9FeYBVjKrpGhoD_keOBdQl2sSTxeUGWnuDy3ZkV8cVpFa5TjkyYa8hEnnaCXC2xzMIANo0fRwyOhS5Ysg6qOqO4c7vz6SIxyhUyoCjLDKdqJpa5O8GIdN-crAaDZsHCKkv7NKUrGY1rh4H4hXq5ae3EwNMgQtw4zU9f-RgAMb8gpcbJockJINK3R-tiNM-7rAP9f5hRKe0BEU0qgJKb6-p4GDbYx6R-hXbBypn31G2G2TVh3yvHY8MMXFz48sel9ByzjEtEkq-I1lxDq27SBpwC3xjI82e3eS5C-2MItisW1Dc7suuftSHiPkBn4Up21sw-CouxznrdUyFiAxwLYIJI-6nIGwI6wgSYFg0gyYufurNMWS_SiNbIrRJo_3prT1JQfqW6U4qKCYujn89CgWBKPvbc_KXSHG4q4T3BhanyB4xTUy0lku8vXCrjLkChbt_nrfvp5riZpb0D3u9JXW1rC6cHGah41l_Q7c2NznmoDhwQylZXz0JLC-rhF4-fKRHZRE7jkaezEktzL1wPj7Xqj_Q-GWBnV7Lp5pcusAGCwrLE7nnv16p4DyDuCTR3chAVUCSYSz8Vjsbxv3UBGe0o33KJaTZmE-WFkzwDw-rnyJmiVJHrVuNlXv2sqq6AsYWEXONOWowW83-V9bB5JG2OO6ceFuPJJaMvdeBanvNWkfgOsRsgTPkHT8C8JtOox1CvKWyeUVhKpBSxSMuPqBV6vU32YmmC83YMSCt04cIuW8tOaDLZccNSvdhlhad8zA4oA3ER3xV6TaZWpnPvuMk8k_-s9ha1fkcauyTl7Pa3lp8BJudFMLYSMH-Ub-KGpL15Tmza8Rh409aaxB5NBtA-So07rFNRVybCDLYRocwekHUI1OejsCItfoBy7d4eZyfQT4YP1OR--OPRhblPUO3zQr8GCr2jUDEmAnt61I1-waoM5mqkuWxtOjenCAQU-VdzockQXPh7et04YuWIWDzidWSay2-lWCecogj11MrdNUp8PnnkPvSwmeHWn0ibeqLTg_2knT7RgcMHshRPM4uPbRGY-OqXGCHDrEUUbnAfhSlKrigWfcmD5lVaXqSZI60AVOaAnKxo0XA8Z476cdZolOHNZcsjTVAKlxVys7wDw8rkslOfyGWMv8IY8_07iIfD4wjpARXE1DAHW24kY_PvDr5PgpjY2yZkvQvKZMDRaMkbJivTYWdo19fE32jvn9tayCJJFcYul5H-FzutTQ9iP-8PKgtE5UGfkKJv22MG-kdOqoP9K8XT4LbcmsWkr4kwHQgH4sHmVGw0fhUbk6GP9kHEa6SWLyuKv3TMmJrfSgCmb3D7_VyymTM03Y3yEiaBQvWLJ0g0CYM1psOZKhI-DfjCs0UiEa1iYtq8IV_0WpWkUYh_UtxZ3pjeI1BDl4j9aGxfNjXMGbn7RITD3QdGmpFY6P7U7U5C7yHlYnRzk0eleAInKjoVxxPSMtgufYwmUIA20BHEUVxnfccHRzyV0BPoT4wMJBsRb20smfdXFn4iAdxDxn6b9i-P-01Fr2mWAngPvLqt5NTGvjsSmBY8BGNZSy0nnjW_m70aSn_z2RfFMbvE=",
  "id": "rs_044005da99400505016ab41e983a1087d08dcbade87a93be9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_y\":0.035,\"left_z\":0.14},\"note\":\"The edge close was empty, and the bowl is still fully visible ahead of the fingertip in the wrist view. I’m opening and moving forward about 5 cm at a safe height to put the actual grasp point at that rim.\"}",
  "call_id": "call_Uee6OCxZuTLQMt4Zml9gwNI4",
  "id": "fc_044005da99400505016ab41e9bbda887d0bc6a692ef163c423",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uee6OCxZuTLQMt4Zml9gwNI4",
  "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]: [0.0799, 1.4021, 0.9241, -0.3897, -0.0002, -0.0261, 0.9939, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.034 left_z=0.1248 left_yaw=0.0943 left_pitch=-0.297 left_roll=-0.0066 left_gripper=0.9939 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0005 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.7453, -5.4769, 9.6752, 1.5458, -0.1929, 0.0513, -0.3101, -0.294, -1.1145, 7.3504, 1.746, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89071ab151b0c2538cc64d1aa7c8a1e649310608737f8962225199d00064c4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c99ad1fd57da892cfae0ceeca60db2b515db9ecd7b5e0c2d2ac9c2758f5bc9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0645f705aad7a330d4ae9c4114dbb8bd3f3e2dd4d59acae9b7846eed50bc46d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 1.3632, 0.5327, 0.0811, -0.128, -0.1013, 0.0088, -0.0216, 0.8043, 0.5957, -0.3962, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3556 left_y=-0.0104 left_z=0.063 left_yaw=0.0614 left_pitch=-0.1711 left_roll=0.0236 left_gripper=0.0088 right_x=0.2922 right_y=0.0002 right_z=0.17 right_yaw=0.0004 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -6.2154, 8.4034, 1.5067, -0.0659, 0.0024, 0.6422, 0.0068, -1.306, 7.2274, 1.7558, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0917, 1.2282, 0.767, -0.3637, -0.0002, -0.0044, 0.0087, -0.0216, 0.8108, 0.5953, -0.4114, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3431 left_y=0.0352 left_z=0.1243 left_yaw=0.0938 left_pitch=-0.2542 left_roll=0.008 left_gripper=0.0087 right_x=0.2903 right_y=0.0002 right_z=0.165 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.559, 10.1675, 1.4774, -0.0659, 0.0806, 0.6178, 0.0205, -1.4701, 7.159, 1.8437, -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]: [0.0799, 1.4021, 0.9241, -0.3897, -0.0002, -0.0261, 0.9939, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.034 left_z=0.1248 left_yaw=0.0943 left_pitch=-0.297 left_roll=-0.0066 left_gripper=0.9939 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0005 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.7453, -5.4769, 9.6752, 1.5458, -0.1929, 0.0513, -0.3101, -0.294, -1.1145, 7.3504, 1.746, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89071ab151b0c2538cc64d1aa7c8a1e649310608737f8962225199d00064c4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c99ad1fd57da892cfae0ceeca60db2b515db9ecd7b5e0c2d2ac9c2758f5bc9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0645f705aad7a330d4ae9c4114dbb8bd3f3e2dd4d59acae9b7846eed50bc46d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6gkEGExwUgcDMAhWQgYkls4SUc9L2xR3KHKZq_QBrgK7WwlFbL1Ih4hkwrX-2eNS2qirRMbnX0higrvU88narkfYhhyAAR2Ujv38Dpz78JzzVnQQ3Jx7Uy7i5UWWNbbYChgILYTrANR5ifm5Am27yKxxiE9mVg0Nsefrq9jNVsLxcUqShVgNJGStG5y7ezemhQ45xZ4IxGZ8zrrLRnsu6ilKHTfJTo4f98Maf8Pay9YRWgz4KSVMstfgJIZLX_G-A1FcmRsi1gzvLBLyo_Py1NDiZgLYdr6Z5ymxvVqWOWPuByFMqgqZZLJ6ebicn1wteld1F6krjPIRZR-g_8YKCfmnedyPUttiehSKOqdE7JYXCQQ11foneUDeHXh-9xk04yaUhPuVE7fNBSBjyjyIUEPQW0K4clMrjufE6maABESm2im0UipcqNyHvjLddnnn1T1Un6LfwvRrSzoLs1aVAT8luWSro7yFrh11fR6uutiGYS7N1reSW-ckm8VMc-SUd13ZMmFkB3YTLWSTZTwsZA8Gw-UPhdm-igw9CAgjGpq4jSJ9_GSDN35sHtPjj3OWFu4N0ELY6KCpxV1pH2veUbsY33ef0DKjh-LGmP2kx9EUKoEuXROdGF93x1VfjCq-qFnDVaFr6cejlHmKpOlUIjqtLX628cCvNywt_gwRu6PqhkddCz_87CVOz08MvSPvl7jSZrAJO-UUpleDPZWZ5lxN6wDWJjxHm4knt1MiJ-erYZmTs7eNiBS3fKeCO13DSddybVAbXYsYJ_2H-3goCdgS446PcsOWw6VDtA25VPVBTWzAJMPqU66iyxC41tvXiwMT_uhXehkwovnEHiUBWRiAFXSLOPW6lImdysYGvRoD59isLCW7S6b4VTVwHxRxUY-HKua6NgJJ1gkY4FFzq2qUGFCSvtKmDQmcm9iS8Vs7IppjzYQZWkYdV6pha25olqKbv3BRPKEVv64385AH0iZSGMDrZxj1jwcMFA7zaCB2wxG9mFp3BA8doujlIFq02ffABh9pRQDwkT_xH5xMlCa8UhtW9RFfiHgGVYzFLraeLjG7-DZBTSgzhIcI54uFkCxA8-ihX0luZTTCsHt-Lja7dmukB6k9vut6r8_WRG_ChxI3HSid8gKIA1Bc4koYUh-gUaynMRrvu1XK-RCc3UL-ZBwj7iXWtJHPmyCXTNDAxdKNkW06r5Fdz5ucTQrlFQpwDzxvW1shXbJerBe4blX00NyqB2w2st2BKKUTmncN7LIYwczZchwf-fFdf0ivj--T-Iumj5hDRSmuzfGjH6sVsuXkQvjc4siyHG-ChHiqpaJprezgoojLEJ-0f93hD_vllgsPDFsiN5D_n71XEmBkoCuwkhHxoR_-kbGawNw96LjX7uyWgTHrDAZ_oiVyF-IarfLBsXO1idx891iwtab08K-BGjX_At76mfASSMhsH4EsrRywEXBDPGgUZ25A73OgMn7-aLcJWCL1Lo4leTJMXbeQDdbtkcb4y5PkCvg-Q=",
  "id": "rs_044005da99400505016ab41e9ed1ac87d0bd79638483a872ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.145},\"note\":\"After moving forward, the green bowl extends below the wrist image and its near rim sits at the jaw centre. I’m trying the rim pinch now, with the gripper kept above the bowl’s base.\"}",
  "call_id": "call_4VIm6jZ3NBKArTN6GoPDG008",
  "id": "fc_044005da99400505016ab41e9f563c87d0ba3ae1df3c5ef2ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4VIm6jZ3NBKArTN6GoPDG008",
  "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]: [0.0784, 1.4052, 0.9569, -0.4747, 0.0006, -0.0284, 0.009, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0338, 0.9966]\nstate[eef_state]: left_x=0.3708 left_y=0.0326 left_z=0.1237 left_yaw=0.0937 left_pitch=-0.3523 left_roll=-0.0079 left_gripper=0.009 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0648 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.3368, 9.6342, 1.5458, -0.0464, -0.0269, 0.5592, -0.0752, -1.2103, 7.159, 1.6532, -0.0464, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7f4053a04397c8e7be4ece1f2122dd11093a0747a7389894002c7d2731935c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f18d6a73ae3c1c6cdd5a85e204fafcb6f4245b5b99235d7fed13106c4f0419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa6d36f4b1b2302454e40e6f51a79c16d3aba5028224ba848a23a7d6018bc3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0887, 1.2335, 0.7231, -0.2623, -0.0044, 0.0044, 0.994, -0.0216, 0.8074, 0.5953, -0.3965, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3507 left_y=0.0356 left_z=0.1217 left_yaw=0.0895 left_pitch=-0.2019 left_roll=0.0173 left_gripper=0.994 right_x=0.2922 right_y=0.0002 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0404 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -5.4222, 9.6205, 1.5409, 0.0855, 0.2662, -0.4518, -0.0752, -1.4154, 7.0359, 1.6972, -0.0562, -0.0269, -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]: [0.0799, 1.4021, 0.9241, -0.3897, -0.0002, -0.0261, 0.9939, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.034 left_z=0.1248 left_yaw=0.0943 left_pitch=-0.297 left_roll=-0.0066 left_gripper=0.9939 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0005 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.7453, -5.4769, 9.6752, 1.5458, -0.1929, 0.0513, -0.3101, -0.294, -1.1145, 7.3504, 1.746, -0.0562, -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]: [0.0784, 1.4052, 0.9569, -0.4747, 0.0006, -0.0284, 0.009, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0338, 0.9966]\nstate[eef_state]: left_x=0.3708 left_y=0.0326 left_z=0.1237 left_yaw=0.0937 left_pitch=-0.3523 left_roll=-0.0079 left_gripper=0.009 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0648 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.3368, 9.6342, 1.5458, -0.0464, -0.0269, 0.5592, -0.0752, -1.2103, 7.159, 1.6532, -0.0464, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7f4053a04397c8e7be4ece1f2122dd11093a0747a7389894002c7d2731935c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f18d6a73ae3c1c6cdd5a85e204fafcb6f4245b5b99235d7fed13106c4f0419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa6d36f4b1b2302454e40e6f51a79c16d3aba5028224ba848a23a7d6018bc3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41ea223b487d0998b81cccf2735e4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6nNYA-02nxOUtHrtIK3Dyj0-bIIWIGWca_FaLhQLko9iKL_pp-uqtzjTxpvGgUaNYjjzHoEyA0CB1UCElTHPSVNxq0h_EknrYuJ6srxyWdjX4A1QXsGpLoaU9TUbVzZE_ineX4Lg9a-axutvHK5onU4OFh51b6X9cbyNt89HOdYBe0hcbC94Ia-iczmhZ8u2wHkX3icHw39OWP0layp7-t0Xd9hKwyjf-OdSd-wDxk9iyvfrdaUPhf_BkFH7UF6ajGJbY-hh1cTVc0RZjexYE9hbMgVwMicBR0O__M0v0EA_UQaKkAiPTqPaJ7v6BM57XnDQf1uOg8V8fJzPTw_HR_xK-JY6psL6tEn5TlEHU55jx4xN3ZgAR7E9g6nXlzL7jYBypsJbbnyziOqUwzWS0pPiP8YE61lOb9F8OcKlzMjuQEvUnVh6MnpYCQifrRRSvyJIQlklsVH5g8Ux6ygg1N2aTagTP8Vh61uGVadFCYE5W1FZC1S64YuQuEG2AyuNwFhJgE_SZGr2sF9q7NREhr_guAVa8lKgR29UHCcG4kSwTf0GHqmM_3MtyeI103YXTrVluhi77jXNO1MBXOKKKjc45R1GaGFCLc-8jf-DHWX1mOzTzg48ppQz2u4mXAPl3mTUN6FKfi4gjEfWo2NiR0Cp7h9_Zn8_EVXhkvsISw9TxD4jxnXzUpq6OaO_r1rnwKuRBEcpQNe5Y5cDkN5qCT3t1ms7d1wdRBo0xpMRagzt5k8cHQd_w472lEa4LJ7ypCobm7_xiEwjTS1WLmqOj1fvPEtQ1hEE-MwWX8BCp-JxvluKHTKUwRj_4KSf7mBr4nHx6YuDMtSHn4yoSTJnxgLWMuQOC3fD30c2Ngk_bkXjZjC2w87T76oMmGzwO9iEUArmvb8HAM9dDDZRbm4X-uWVL-QbIGounbHr077nKJQdptFmOiwuDdEm68RPAnEcyhJUjWEC34H37FSYRKfSY9Ore9jkLt52EUE7GDgmyu3tU3syvx3YNp98rLOiyunJwSEJNtj-bTeroZDO2FwjarT2xC2RDtZDpdFDS9OqpYMnjnSM2KrgLySjh0MQK_AIX6oAF5vUv_Yt9Ix6P8xQhKDSzwjxjXr1Ntg8udBseYzg-aoNDQg5FYjJNk5jcL-BP7s1t0669Z_VGrIZQWrhpKtHCQQ2wukJIIBHWaqk-rToKSGLucKP9c8tP11NUf2l2fXQMX3RF252LmN1Jw_xR7m-zUq23-fa_zRTdbI3TPtNoZc5jqZJPFKKLpm9SoBVUX",
  "id": "rs_044005da99400505016ab41ea6bb2087d0a51469bf474d0b67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"right_x\":0.37,\"right_y\":0.145,\"right_z\":0.15},\"note\":\"Several green-bowl rim attempts have closed empty, so I’m leaving it in place for now. I’m parking the left arm and moving the right arm over the pink bowl to try picking it up for a stack.\"}",
  "call_id": "call_96DR4ZHUJ93tsY0ykjGCLW8T",
  "id": "fc_044005da99400505016ab41ea6f83c87d084878ba125e457b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_96DR4ZHUJ93tsY0ykjGCLW8T",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0986, 0.8268, 0.6167, -0.4, -0.131, -0.1207, 0.9943, 0.5457, 1.3869, 0.8265, -0.2249, 0.3958, 0.2924, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=-0.0024 left_z=0.1735 left_yaw=0.0764 left_pitch=-0.0336 left_roll=-0.0134 left_gripper=0.9943 right_x=0.3549 right_y=0.14 right_z=0.1275 right_yaw=0.0426 right_pitch=-0.1432 right_roll=-0.0401 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.3333, 7.1179, 1.8779, -0.2222, 0.0757, -0.3785, 0.2667, -6.0513, 9.3333, 1.8486, 0.4518, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717b189ff2ca96f93457b0049f37670117d210caa1b232d7ceda1194226ef5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfa256aad85d243efc1e48136c15df8ac35eacfcb2aa39822fa9e89a67c2d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219bb25f628a6e73554c6f2d4a544adae93a701d2e2320ba934840b58103b0eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0917, 1.2282, 0.767, -0.3637, -0.0002, -0.0044, 0.0087, -0.0216, 0.8108, 0.5953, -0.4114, -0.0162, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3431 left_y=0.0352 left_z=0.1243 left_yaw=0.0938 left_pitch=-0.2542 left_roll=0.008 left_gripper=0.0087 right_x=0.2903 right_y=0.0002 right_z=0.165 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.6085, -5.559, 10.1675, 1.4774, -0.0659, 0.0806, 0.6178, 0.0205, -1.4701, 7.159, 1.8437, -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]: [0.0784, 1.4052, 0.9569, -0.4747, 0.0006, -0.0284, 0.009, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0338, 0.9966]\nstate[eef_state]: left_x=0.3708 left_y=0.0326 left_z=0.1237 left_yaw=0.0937 left_pitch=-0.3523 left_roll=-0.0079 left_gripper=0.009 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0648 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.3368, 9.6342, 1.5458, -0.0464, -0.0269, 0.5592, -0.0752, -1.2103, 7.159, 1.6532, -0.0464, 0.022, -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]: [-0.0986, 0.8268, 0.6167, -0.4, -0.131, -0.1207, 0.9943, 0.5457, 1.3869, 0.8265, -0.2249, 0.3958, 0.2924, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=-0.0024 left_z=0.1735 left_yaw=0.0764 left_pitch=-0.0336 left_roll=-0.0134 left_gripper=0.9943 right_x=0.3549 right_y=0.14 right_z=0.1275 right_yaw=0.0426 right_pitch=-0.1432 right_roll=-0.0401 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.3333, 7.1179, 1.8779, -0.2222, 0.0757, -0.3785, 0.2667, -6.0513, 9.3333, 1.8486, 0.4518, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717b189ff2ca96f93457b0049f37670117d210caa1b232d7ceda1194226ef5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfa256aad85d243efc1e48136c15df8ac35eacfcb2aa39822fa9e89a67c2d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219bb25f628a6e73554c6f2d4a544adae93a701d2e2320ba934840b58103b0eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6spcL5IuzXZtsw1OqmNg5p85wKXYOlUXltK98VXLaz-UBM618TMWSP7JvdhmE-QKOS9rMDN_Wg3oK6w92g4xuM9tJklqBP-0n4CdWFPmKDO_4SBHfPdKRs1D25tPlWFbLRzVNozXmgoQdA3sg2EW_1p8-RiCC-hipXTNcP3TaO61kOc5Qp-h6fbfUQnjMec19VScBlMiuDmyP6pjHPxWhAoLFsrg0xUP9cpKsf-5AAzCh3BQb7r5EHiblgx17tm85fpASMX01_VPiOZ7DktyItU3DfWNyPbe6kci_72wz3fABXYLonF9xA5E-Vz6jbdDZszqGC9UneqmrJzyg7W3pqS-rQKLOhrVwXVWgjb1BKKfW0TWex1gDVhfZHsySL0ri-lON1Jkd410F9g4eTEu6JT4PiXMS-Qe-Bg08wNM0_0WEGEq5QEvY5Z-kbs-wG4hUUyHxo0473Vp_6FcrieXWqT_ziIdcCn5KVaO-1wUu-Cu93TeuxeXspON5DAqJR3_GNvi3hI_a1soashf3adJI6FcHacsLmgY6BJgMw16oD5CLwR2yIksp4SQWqIZDh1M46f8m4Hmntkla9ey1UovsGD2PmbEwO2-enzT0HpM0Nn6sAixWlHPOWCI1RLVZA_-k6H-ub9Mqtf_OcNFKtPPOLJ5MrOW4z2R6n4SF02E2ncPlBe8Nc0o12y7-fUosqr6s90G3xd7OTPhTmJWVawFvo-jIrw0hrwFuWENPUFdW2dVL9_fflQ5HppB3TF6V9Rk8CZGym77qe0HLZzgcwTPcq3mNrFa8Ajex0Q2WjD5TR91Ip2q4Nj8hpBA_1eezoVjYLQHmpLN8fFKZnanLUj912WCOic3UCE21D0CKBvD9Ggn86Hf2KWbT1xNNusnxUqhzbs0hpMUv35DcCSCh8wDnBtSku1FC2o7jf2R9ZkuYaYxfAu0Mg3TIivuCgXxsQXC0VRqvd11ooWIKMRW65tQofqRGOeeyFeE9Gr1DVWFs-e_A17NjHw9Z8vdiEoySTMWYxPcv78QjrtXW3Mf7JdYY9DofG_9Saw6p8b4wJoaEqkfto6G6g8aGq3aoDzGJAuL_WHNI9Ok0LjWnZ-IQzxOaFdvXx4YZ-kfO-or-YT_kOafFtPeXSM_zgvBFkIKpqkFLlTV_soAu-xH7_Yjw9Il3omFqU4l6Nk0g3nBgEhspvBSVT2jDdn4ReictMvNHy1v5x48oJnmwj50GRGuCv_beGZcjAdsw05k3ceSSCLSj_cvyR_-L_0kyAG30UDjwl0z-nTGNI7426SsztfuelectfU7XWFxJvvlS9v2v7fam0R2bhb-grN5Ym_EW3BOOo9gNgLuss4M8q5DA3dUgeIiNjllvrj2pSurEi-BAUPY6vIm8aaQmBGECIpOd52SzKUxlO7JRZFp3QImdQbXOfzwAr6yZZxGmwIvzndQliy0xdfqrKYzlBgDrYEgayz1dfzy7YhJ5kkihPPkW4hsg9DybOeGCZfaA8jRUrFUQPtsMgnjBb2fKfXCrbyflKajev3Sh6rzY3iwSmbQAtDy_Wk21IGmGHw_uauM4yRxFIV3oxlDDy2DDGy6rSHMqRmQbqIzfWg_Rgw0j_K3EPwJxHH4zqlsu13pZX16hZTdYz14EgNg2sw7umtkLUJFLl8vUZXlKfnA649LCC2SkRMSFKm7E3YWixrI7HdzR9KV4IaPQ5W9cFp0GG9_somap9euPRGgn30ZCvj-BM0L37Sio81KD1bpP7tYIxJr0UrIYnPa17TsGRfSpJC6JFtZ33hTVPtglfaipZNH1lXg2rDfgffs6C1tHKs4l8JUvcKtO34_LUfnQHf5lGzrPhUslGwH6x8P6oLtuRK-nLL2hfAvSp3Bu4QLbnAAzUm1Z_B8fJE9MmvG9-fr0ftoM31b_-Kv_VtG11hacNdBspypY9BZwMoRddPAUN3_mFyoTVS4Hc-QPamHVHt_C-tbHqLe8VSEwzUZZRUTHI6QkqOB4iaT3VvxvDNVG8c2ekjHgrDhntDrpUYq5T8i7K2jy-tK6TQEXBxDZHQvqrPOg8RGNJi0AhK7Al8hzEPJvQetzp9xf-ioS2R9WcTmGh8beXBYth7QSYnM0ihOR552R718qs2evalMpridqdTbyWe-oFvwtOTFyCob-uux65VyeVH68EunEx6celbea3O5ubmvvWNk6Vx_JEjK--DRLi6m1bezsFDk7bbGUENf9KayoB63crcAVZYvVnNQipgQJ84UpsGqWqMyfQgvsHmR_HtctacLlRqSUCUgE=",
  "id": "rs_044005da99400505016ab41eaa7dd087d0a597e38bc1335404",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.15},\"note\":\"The pink bowl is centred between the right gripper’s open fingers in the wrist view. I’m closing at this height to see whether its rim is narrow enough for a secure pickup.\"}",
  "call_id": "call_0Twx0GSeZ5aLhqZZSmqMmXgo",
  "id": "fc_044005da99400505016ab41eac17e887d083783693028cd7ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Twx0GSeZ5aLhqZZSmqMmXgo",
  "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]: [-0.1028, 0.8326, 0.6128, -0.4072, -0.1398, -0.1238, 0.9945, 0.548, 1.3857, 0.8619, -0.3237, 0.3847, 0.2871, 0.0089]\nstate[eef_state]: left_x=0.2944 left_y=-0.002 left_z=0.1688 left_yaw=0.0813 left_pitch=-0.0492 left_roll=-0.0079 left_gripper=0.9945 right_x=0.3471 right_y=0.1384 right_z=0.1258 right_yaw=0.0514 right_pitch=-0.2018 right_roll=-0.0671 right_gripper=0.0089\nstate[joint_eff]: [0.1709, -1.5795, 7.4188, 1.7656, -0.0024, 0.0024, 0.0171, -0.3487, -7.2684, 9.853, 1.5946, 0.2271, 0.0122, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a256e88f1bb50a68e206000a04148dca8eb462ce9a624e465081de792f1b311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcaa5fb1ad7c795ee6b279dc8b407e2b467c6c2488c243d7f49799619e96812",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd4b565675b972b351077b83f75df6df1699628dcbf5d9fa7ec9a980803acda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 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]: [0.0799, 1.4021, 0.9241, -0.3897, -0.0002, -0.0261, 0.9939, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0341, 0.9966]\nstate[eef_state]: left_x=0.3789 left_y=0.034 left_z=0.1248 left_yaw=0.0943 left_pitch=-0.297 left_roll=-0.0066 left_gripper=0.9939 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0005 right_pitch=-0.0648 right_roll=0.0008 right_gripper=0.9966\nstate[joint_eff]: [-0.7453, -5.4769, 9.6752, 1.5458, -0.1929, 0.0513, -0.3101, -0.294, -1.1145, 7.3504, 1.746, -0.0562, -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]: [-0.0986, 0.8268, 0.6167, -0.4, -0.131, -0.1207, 0.9943, 0.5457, 1.3869, 0.8265, -0.2249, 0.3958, 0.2924, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=-0.0024 left_z=0.1735 left_yaw=0.0764 left_pitch=-0.0336 left_roll=-0.0134 left_gripper=0.9943 right_x=0.3549 right_y=0.14 right_z=0.1275 right_yaw=0.0426 right_pitch=-0.1432 right_roll=-0.0401 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.3333, 7.1179, 1.8779, -0.2222, 0.0757, -0.3785, 0.2667, -6.0513, 9.3333, 1.8486, 0.4518, 0.1685, -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]: [-0.1028, 0.8326, 0.6128, -0.4072, -0.1398, -0.1238, 0.9945, 0.548, 1.3857, 0.8619, -0.3237, 0.3847, 0.2871, 0.0089]\nstate[eef_state]: left_x=0.2944 left_y=-0.002 left_z=0.1688 left_yaw=0.0813 left_pitch=-0.0492 left_roll=-0.0079 left_gripper=0.9945 right_x=0.3471 right_y=0.1384 right_z=0.1258 right_yaw=0.0514 right_pitch=-0.2018 right_roll=-0.0671 right_gripper=0.0089\nstate[joint_eff]: [0.1709, -1.5795, 7.4188, 1.7656, -0.0024, 0.0024, 0.0171, -0.3487, -7.2684, 9.853, 1.5946, 0.2271, 0.0122, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a256e88f1bb50a68e206000a04148dca8eb462ce9a624e465081de792f1b311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcaa5fb1ad7c795ee6b279dc8b407e2b467c6c2488c243d7f49799619e96812",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd4b565675b972b351077b83f75df6df1699628dcbf5d9fa7ec9a980803acda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6y2EOYi4fC8XNBCtRSrCGFmUrq7bZc6wjx4chBTN6ve3spEGJtACDXhDqS0F4ZA54mpJduAKpYk7Sz7Hi_ZE0Yadf7ScfukbF2e7VAfYpVaA-RTrDyvm3Bace_h7y3GSGLeAcB624w6Er2EO-sQey7T2VzHqguFuguI5fdKzNvCxgS89etrrfVNRT6gUu3Zs6kGQibGwpvEj9oO6_OXKA4vUTEjiAEKzXwpan3RDNolweOtV79vZbMpLCCcVtHUL5IdRGArp1h1ixJe3meOcvITLchCVGPG2O23qco0lwr5DzPDjqCjBMKsC0MpxA2Tvv86OO8kMjoGveuBKwkfY72d5c4HA5xysUotMP55me4-uW5ORMOJhKoDPF4eo0EXdVape-6AG7wa-ENP7zxiQwRulnbKaIydpuqo4spnfwlZ7VjZMNvVJ0C9UjUAPpeLwb-PHZJV9VnH0ObuYLb-w5gOPSnS3QCv7d2OImVILxijfycndlcOgp72fFW5snOS5xC7D-_kZsGoA87cogav3iAjeDLB9airFYVgEJBlPPEx7an9GBhI9eklRSbUl_zazItuhnbT7MiyrDlXyZWRjYW9pec8GjF87yVOmlE9pDNXnBWf2ImfMnygR68k-qL-3XK9BvGWB2rzHfNTAsnKDLOh0PLle_9YyZ7UTvKnutXcf48ranGKk6deISk8nugQbNMyOiwZzkgUS8EGa1qLdPqnMsfQq3yW43Zn5FLSPbc9eotMoDzV4gJH7mpHykWnkkd8LxwwtnXwyqxfuROmENOr_sStfazxKx_dUSpdbXiGIGN5iVmBecKgvpFGMP0zOlVZ7QpjZvvAqOrWywYbyf7n9pZtbLf5JJQXNGywssbNyjJAxGDqMqOsxV7Uh_8m83dOWBbPnqBywPGyiPuYE6o8meJCox_G9YOsynLP2VYK4pVI3bDqi4kU5QA2V1OwHm-NhbCXjBs5NI8kJu8mVq-Sk024DJUWu4GeEV7yxwyzDcoXF93N0BskpOcBlBGfpkvaz-aSVIEt4FBOV_AgG3wKCzNjFEQr5F8LnyD7d1vD0xFzmlC7KfGsr42xoiWjTZ7SecfO25ZWmxTLJVizPXrT1I6jKqlXrx3R6NcNeS2eHd4ouzLVsApCYfglh9EjENjQ3uFflUL4AIm8JGzpwGe5_WoXlVuXcfOdgfCD-IksZU0iHUXJ1u8JDvVrvOc3rZsHRDU9_bCAWczxj-ZMv7RJso1BT8WkvsdHZnajOwfu7soKhOGlSuZ12QANwerx7yVjYIEVHjO1liwNqAV3PZOZkX1pF_pSj5O0B6TGvdhebI3mG3KRCXHUEZJFy7uPKEmUfa1wtWLMaypwG64eJGqRvacnvBEFL4AlLCwgSCjxgDqlRsBoi2BWouE02T0qvLKxVSMdFktF5ajL8KdA11AZr6eAnIeftFYpcHKx8VvSrAZz_fTI22n3eMI5BEIVBJTS_KPXz2Rd2ajEdO704XiO3CQacSWa5W3KkPs2eWh50tnBmin1l-WwMOXVnWrmZVIbgMqF1gVKruwvpJ7wnpU-e4L81DRvsqweERu7g_38LErTyR44GhsIhdJ54NSym-NAdYwA9k3TDjXL5bTWrz22lH8mIPulRxLy7uMJKisfvRK4lxBMEoUpf9YeGrrZ1ZHC3wvx4cKwx7hv3WEKRKuYQJfpXZdyGernomklbRYjOSvghTZw_jB2Bl9Yh5ZP6B9eLYUINgtF6SlS4PZexCtf_PYhL2-5IQv1ScihRmuOn0E7Ps12UP6pPtaUAGeQWtePaMZGNb7Snn2N_zxbV7oHI8NH2M8O_2m2F5x4YO9Mt_NPkObpNLyZUdt_axDT7vpJWNYlIe0KXssrKYOU-H3-zu9l4OjIMOLOP6Ki_D4RMd0IYoMVHYgIVB-pT62kld3lQz54PNz33zxrOWNGm-6pOxaqQmOIN3Z9vZ_Dl9bvjf_oIvDkKQ_vBuifI7tQUKCpXwGE9SYtN1tYy17O7OBFbO7o0uz1Djyu46IAfnBjiGZjuTTqX3VzlWkJkKqu29JkhiCBAo4J369Slhlq-6tYE7OFDygyJp4QJWCIAyH3ojguwDrMVnxoU-NZWIYcgIN9LTwRslbL_5ngjZMLJRGdD_02vBrCweeb0Jo8Pi4Rf8zgN1K40Lq-Ma90zR5qrBHm_sN_gNilLI1X4e7ap3r1gW6InJIFhAAgwr99xJ9okYpS_0WXp2IlyookYx2lNgDyoJddILhO7J7g6QjCnUS5_y6cEfOTlXebf1vFFjJ7XcqrJMmCWR9HvTekrvExSQzORrk3SOl8HfZSm_Ecxskb7b0TRSbIf5JxjqedRqALYSIWtzOhy8kFHG7lbb3aL8rEBl3N0EoOC1WqSCN5RBtbjiiH7Z2LNFFAA6EDycVITfYpva4Vuo8wbLRZC3yD8MlEivkbBDLhSLlXm0WG7UawA==",
  "id": "rs_044005da99400505016ab41eaf357887d0b41fb7f9b2d6da4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.38,\"right_y\":0.14,\"right_z\":0.095},\"note\":\"The pink-bowl close was empty; the wrist image shows its base just above the fingertip, so the grasp point was short of the bowl. I’m opening, advancing about 3 cm and lowering toward the bowl’s upper wall.\"}",
  "call_id": "call_K6krXrNTWBRcVORoMudgff9M",
  "id": "fc_044005da99400505016ab41eb16c9487d0ba1b8f2d75f252ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K6krXrNTWBRcVORoMudgff9M",
  "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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4988, 1.5333, 0.8577, -0.1993, 0.3504, 0.2367, 0.9953]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3699 right_y=0.1365 right_z=0.0884 right_yaw=0.0547 right_pitch=-0.2403 right_roll=-0.0925 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.6068, 6.9812, 1.6386, -0.0806, -0.0464, -0.0073, -0.7043, -5.7778, 7.4462, 1.6679, 0.0611, 0.1294, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f794547903f2fd53c2d1dba63dec51e25eb023b481fc8ae671c71ddcf08600bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36b8481f595166f8e28dc622da1a34553bd0d5cf1257bebaf7f237f23157469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a43123f033458ead26207020e6a20422d17b6b59154ba6bf282cea7d37052a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 63 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]: [0.0784, 1.4052, 0.9569, -0.4747, 0.0006, -0.0284, 0.009, -0.0216, 0.812, 0.5945, -0.4156, -0.0166, -0.0338, 0.9966]\nstate[eef_state]: left_x=0.3708 left_y=0.0326 left_z=0.1237 left_yaw=0.0937 left_pitch=-0.3523 left_roll=-0.0079 left_gripper=0.009 right_x=0.2896 right_y=0.0003 right_z=0.1635 right_yaw=0.0003 right_pitch=-0.0648 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -7.3368, 9.6342, 1.5458, -0.0464, -0.0269, 0.5592, -0.0752, -1.2103, 7.159, 1.6532, -0.0464, 0.022, -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]: [-0.1028, 0.8326, 0.6128, -0.4072, -0.1398, -0.1238, 0.9945, 0.548, 1.3857, 0.8619, -0.3237, 0.3847, 0.2871, 0.0089]\nstate[eef_state]: left_x=0.2944 left_y=-0.002 left_z=0.1688 left_yaw=0.0813 left_pitch=-0.0492 left_roll=-0.0079 left_gripper=0.9945 right_x=0.3471 right_y=0.1384 right_z=0.1258 right_yaw=0.0514 right_pitch=-0.2018 right_roll=-0.0671 right_gripper=0.0089\nstate[joint_eff]: [0.1709, -1.5795, 7.4188, 1.7656, -0.0024, 0.0024, 0.0171, -0.3487, -7.2684, 9.853, 1.5946, 0.2271, 0.0122, 0.7155]\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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4988, 1.5333, 0.8577, -0.1993, 0.3504, 0.2367, 0.9953]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3699 right_y=0.1365 right_z=0.0884 right_yaw=0.0547 right_pitch=-0.2403 right_roll=-0.0925 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.6068, 6.9812, 1.6386, -0.0806, -0.0464, -0.0073, -0.7043, -5.7778, 7.4462, 1.6679, 0.0611, 0.1294, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f794547903f2fd53c2d1dba63dec51e25eb023b481fc8ae671c71ddcf08600bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36b8481f595166f8e28dc622da1a34553bd0d5cf1257bebaf7f237f23157469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a43123f033458ead26207020e6a20422d17b6b59154ba6bf282cea7d37052a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB61X2DBMOTRKHOqgu6bDcK8xYWQuG2gXUyaQUdhesE3eIKRDGCFgEbpyUQR_PuKByhPNRPVuUO3xceYdKhTziEv0JAariQHbdq7tMD_tgfzaS048k-m0UcELUFQQVt0eF8eF50TfG428LzcbO-N_xIqH9ExbDDEricKzoabpJhcWA_HkgOSHEPuPFxjtAGgq1TEbuypHeY7VUMnmyXRe4aDKqOXO3bZFhKYlzxD91IS6C7kiils11LLLj09mq8Loj_0FvLpbUcD-JyR4JlJkvv-ZtwyEFN-pi30mTS--TqdUz5hltOLXApz_CqyOaNBzogh9wXLaa0xwT2bhQafVia1FVlNwctqGrEus5NMNNghUFiahmoon6gmvrtwkXW4TEqwVUCUtZRbXo7SSMmQt1ZhttyuAKzSN9w_glj8cHlONHhJb5cl9UCFjs89iZ2PJM8tmQ20ITDvJfGacsATnEYAGZX-rsk5XC8G53FQM1btDnuV1tsG69tVTNfP_jFyyP77noYYxlhCXrL1pDNNsXFlz4OnIy7zN4Ny5t5oBqY4O1tUGtkNJCn0Nb4yS61aRPJk_svQ6h8q-2ZPdBDyoY8j4O0LvpvOUXowR5VnHm2cCEdUbodjt_CDgLAGqxPjlSQ4piKNiNmHBQI08tpdIvMAsFChJB-l_zuXBsqDnIvqt2-4xa6TgFZBZl-wAdzZrBnQsK32SHNgXGoxZwu5cCRWxQfe54xnVIRWgIui36o8ifdnJXi7Up2T_CNON6WFYyqfQz8mKHkrIiEPoMJK8wKzH8UCOSfYwhWTP-nZtZ-apCgd3UkDdAhWglckpQ3yv2ixmrAZ5c4KT8F6XdArlgK7lqrm6v6heaEfWhPjd-arofSe9jyBeYO6YJKCF5fkIG4UEFI10nk80695RwrvZ0HIxAQdqSdHtYz8T4hGQHf6EOEzl-fJU7Fttav4-9kQgHuSbIRd5TGB-cvhNSTxyqzx3tQUvTKoLs5IoVPJdZ_8Wbct3gKBa7Ad5ZjDQRj0jWZZh5mj1LLeEGbYTkcGKGGWw_AhoxVIx_c_TUzfz6Ul2TJbsvovRw5joOfaEKuhctwWNFv2CcUkfDG8qU_lmHOFN1EgG6c314rU3OX4LBuyfyHceUPjMLeXoVdyInbi-XnYb2qB260mGtRrMCUFDtFYHWgrDvvrGlxFKylzIYtSCkFTmZXDcSWznnRmnKbzOmJSEZI5XNt5Iw5asl5WP3B-wY1UcMEGJo4g6Qyq0HXNKMkzGX_1JHUk9NtkEeU1428zHK7mHZsfeDj3fRuAXLyjoMLqpPIL6cz6cOFU0dd3WlqivoPfumzvuPMRNzMCN7fPIJhd74B50g8456K6ugSOMMl5FG0E3rgsFTLA6U1A7r8ZqQjGJXMVY6k6SaQXofX9zFv7yyKWKFy0cGk4EapDNSm847l7Au7RmD2VPBKa5ZySXpQrHpu0cahpuQ94nLqvpNeY2J3buBWBBUZzUI47Z_kXIRi1a2miZRVYzck1lulMKqV72_rdlHUPk9QK6V2q",
  "id": "rs_044005da99400505016ab41eb46ae487d08352ef5b42d421e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.11},\"note\":\"The right gripper now straddles the pink bowl’s sides at rim level, with its rounded wall spanning the finger opening. I’m closing here to try to capture it.\"}",
  "call_id": "call_9woEol3LJF5G4zZEwTp52rwi",
  "id": "fc_044005da99400505016ab41eb5088887d0a93d203ad278b594",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9woEol3LJF5G4zZEwTp52rwi",
  "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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4973, 1.5265, 0.881, -0.297, 0.35, 0.2302, 0.0087]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3602 right_y=0.1306 right_z=0.0855 right_yaw=0.0489 right_pitch=-0.3018 right_roll=-0.1269 right_gripper=0.0087\nstate[joint_eff]: [-0.3487, -1.5111, 6.9675, 1.6679, -0.0611, -0.0562, -0.0122, -0.0615, -8.4581, 9.5521, 1.3407, 0.1294, 0.0562, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200a21bba993211da33c138be31b428664f250d5b1b5aa33fbe8dd56a74180f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78eaf62b625c5f7b41529c921af2b62e3dc63fe375c010cc98cfc57a3d6b0d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d523b3e3de0a53f067c684ab391aea358bfd068d3aa49364386a4ca83757a61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.0986, 0.8268, 0.6167, -0.4, -0.131, -0.1207, 0.9943, 0.5457, 1.3869, 0.8265, -0.2249, 0.3958, 0.2924, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=-0.0024 left_z=0.1735 left_yaw=0.0764 left_pitch=-0.0336 left_roll=-0.0134 left_gripper=0.9943 right_x=0.3549 right_y=0.14 right_z=0.1275 right_yaw=0.0426 right_pitch=-0.1432 right_roll=-0.0401 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.3333, 7.1179, 1.8779, -0.2222, 0.0757, -0.3785, 0.2667, -6.0513, 9.3333, 1.8486, 0.4518, 0.1685, -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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4988, 1.5333, 0.8577, -0.1993, 0.3504, 0.2367, 0.9953]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3699 right_y=0.1365 right_z=0.0884 right_yaw=0.0547 right_pitch=-0.2403 right_roll=-0.0925 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.6068, 6.9812, 1.6386, -0.0806, -0.0464, -0.0073, -0.7043, -5.7778, 7.4462, 1.6679, 0.0611, 0.1294, -0.0659]\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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4973, 1.5265, 0.881, -0.297, 0.35, 0.2302, 0.0087]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3602 right_y=0.1306 right_z=0.0855 right_yaw=0.0489 right_pitch=-0.3018 right_roll=-0.1269 right_gripper=0.0087\nstate[joint_eff]: [-0.3487, -1.5111, 6.9675, 1.6679, -0.0611, -0.0562, -0.0122, -0.0615, -8.4581, 9.5521, 1.3407, 0.1294, 0.0562, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200a21bba993211da33c138be31b428664f250d5b1b5aa33fbe8dd56a74180f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78eaf62b625c5f7b41529c921af2b62e3dc63fe375c010cc98cfc57a3d6b0d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d523b3e3de0a53f067c684ab391aea358bfd068d3aa49364386a4ca83757a61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "content": [],
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  "id": "rs_044005da99400505016ab41eb88a8087d0946a404574921daf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7ATkJ63AdWMeW8miZoDJurxjc_SCQ9yUwimjP_nkpWz6VIsK4Rt7YNb5PuJBTZVjtRqdt3R_JBPaORsVqjtu76NfehhD0YxfGPLDlBmftjSmXyTcCUMZrMSygt3WXjriSiy0fkMIsJS1FkieqRw_i34hGdIwyJNXqUXn7hP9fVAaN_5SYumMCnE_hh3wx86hPvd0sclxLXkSAdaugWnngjXGCsDx__XU5snAk5nXRcfMLVSU8WebdJTOr7HVJv7UPJ5RK2vHixBcbZ445fFOTw22SabxZsdEZzbhD5Xs-ShbhNSqxh9sqLYEpfeLBpcc-hpdluye8GSrCr6yw75mxsWYlmfrOdr4Cc7z9qBkdhRIWQo825rLTsTwaN-WKjtQGBF6YrT8_TkikiHd66IjwNF4pYW37Fek9VkcaavB0U7yd4NK3qpSBGsB80zfDVkVBO2woiEkY0KPKoBie6g23i4l6UqP92M-wO7gyYVqXG44t9ICOAuT7Io6Y8s1pNivA1lyJyqPW_cbazkdIsKFFtKbllr-jm7m3PN73BFM060-5xtsDB0B7u6_uK5_A1rFavrHyuPjUKP7P1kWe1QWoL6kvXjgog98FZI8DETzfziwPpn4LgxuuZSgS8zc96NioC8LjgsU0CMx0MLOPnLApl8nmIAR67Fq2yCgt2AMGM-yVRx2TPTbsJwvTOuW_ORVBBBH5BMsf8rVvXnic0dxj_o_-XwwJikAvUzNYtImLbvFPbmGwLN7jTJvDE7rYEYk2lWt40AHLaSvwjDJvMZ_XUh8AC-RVPrU8O2cHAXTFVHH_4RJsH7AAzhpOBewqd7PS1u6YxORBgNQDlcplxzEzz3EzQdEys2g17wLAZspd_HYpHgevSdp5YVS7yX2rZD6uDpkJI4OeXYoGa5CiYwQbHesCtorHZ0AWkS-LdFPXqFLMBKkyMsn770jyjhXLpywgKaAkL7II1IydCM3FBxlwIDmA5iPUgPE5bSuhyF06MRqFG4DA84lI5kzSWSNvqJB8RuLvG-FxvaTbU3sq_oD6GFpzIzByQ0uzaVjhUUzHvcZGLwp7DX46x0mF8fr0rw722AO-uONP-nL6cYx6r3GdBoPyRXEFu6WKc_1Fz6APJL7vjG8avSlmJEWgfRLKgi0m3T0u_4AynF6HTWvLn8MmuoBp4AfXjfcPOYqO__-nGSQLBdSU6xgvDx0MaieS481ngk8eGKOyYoea9BEAouo3vcgI3UI_r0C2wKoByFbTbWmIWovo9a-Ash7NvbQUondaUW5THf_WBN2gWLMIhWqKoCLB97JTP3uTuNzoceBAOeL3pPrtbbJ5HDtYybOIUFcLReuW3uvE8fCUAZHkc5Z4uwzN_12Y3mJivYqM39CVvvPyWz12eryA7Bfcn5obYpXX28mo_eqeONdL_NQCRHtF82zfOwGzQ2z3umoT9TqzFnnZBnjOcdUjIhbC3-xe1l5r6xZhSfAQ0RyCQkLHgJ4kd6iIn_I8ysDjTLXVvGYhiZ9OeCEzI8M9AQeeUVKqfhyiQtijwgujDzebY3YQTUtBkH1EIz0PQJOHX77ZROGbHh-Lgwtz9ZeR9J7hFbdDWlJMNyx9pgJ4y7BwaPqeWNFxJ5pTuo8sQcwL2w7vz51SEBvI=",
  "id": "rs_044005da99400505016ab41ebdbd8c87d088546e6fc676b475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.17,\"right_yaw\":0.8,\"right_x\":0.345,\"right_y\":0.14},\"note\":\"The pink bowl also escaped a straight-across grasp: the fingers are ending up inside it. I’m lifting clear and turning the gripper so its jaws can pinch the bowl’s front rim from inside and outside instead.\"}",
  "call_id": "call_lsVHpjGvdwaWgh8Rx5bJ2lDG",
  "id": "fc_044005da99400505016ab41ebee54487d08e2ba51e9e3c8c0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lsVHpjGvdwaWgh8Rx5bJ2lDG",
  "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]: [-0.1032, 0.8379, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.2516, 1.3914, 1.0492, -0.577, -0.202, -0.4736, 0.9951]\nstate[eef_state]: left_x=0.2947 left_y=-0.0021 left_z=0.1674 left_yaw=0.0815 left_pitch=-0.0544 left_roll=-0.007 left_gripper=0.9946 right_x=0.3499 right_y=0.1302 right_z=0.1529 right_yaw=0.6889 right_pitch=-0.3317 right_roll=-0.1273 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.6342, 6.9675, 1.6923, -0.1001, -0.0513, -0.0122, -0.3624, -6.5026, 9.3607, 1.3895, -0.2906, 0.1832, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411f33db7362a7c5245b4eedaeb14ffc24c82a7d3cafc6d9843d471772dce1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ab1dfc7bb2ef7ad753cac63950b0c8b8fb50474c715168ab4aa5f62844b5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b7ed4697a2caee52753e9fafec7055cf9ae9ce8017cefe6aed2f54cb90fc45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 0.8326, 0.6128, -0.4072, -0.1398, -0.1238, 0.9945, 0.548, 1.3857, 0.8619, -0.3237, 0.3847, 0.2871, 0.0089]\nstate[eef_state]: left_x=0.2944 left_y=-0.002 left_z=0.1688 left_yaw=0.0813 left_pitch=-0.0492 left_roll=-0.0079 left_gripper=0.9945 right_x=0.3471 right_y=0.1384 right_z=0.1258 right_yaw=0.0514 right_pitch=-0.2018 right_roll=-0.0671 right_gripper=0.0089\nstate[joint_eff]: [0.1709, -1.5795, 7.4188, 1.7656, -0.0024, 0.0024, 0.0171, -0.3487, -7.2684, 9.853, 1.5946, 0.2271, 0.0122, 0.7155]\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]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4973, 1.5265, 0.881, -0.297, 0.35, 0.2302, 0.0087]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3602 right_y=0.1306 right_z=0.0855 right_yaw=0.0489 right_pitch=-0.3018 right_roll=-0.1269 right_gripper=0.0087\nstate[joint_eff]: [-0.3487, -1.5111, 6.9675, 1.6679, -0.0611, -0.0562, -0.0122, -0.0615, -8.4581, 9.5521, 1.3407, 0.1294, 0.0562, 0.7009]\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]: [-0.1032, 0.8379, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.2516, 1.3914, 1.0492, -0.577, -0.202, -0.4736, 0.9951]\nstate[eef_state]: left_x=0.2947 left_y=-0.0021 left_z=0.1674 left_yaw=0.0815 left_pitch=-0.0544 left_roll=-0.007 left_gripper=0.9946 right_x=0.3499 right_y=0.1302 right_z=0.1529 right_yaw=0.6889 right_pitch=-0.3317 right_roll=-0.1273 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.6342, 6.9675, 1.6923, -0.1001, -0.0513, -0.0122, -0.3624, -6.5026, 9.3607, 1.3895, -0.2906, 0.1832, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:411f33db7362a7c5245b4eedaeb14ffc24c82a7d3cafc6d9843d471772dce1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ab1dfc7bb2ef7ad753cac63950b0c8b8fb50474c715168ab4aa5f62844b5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b7ed4697a2caee52753e9fafec7055cf9ae9ce8017cefe6aed2f54cb90fc45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7FfbF8QeVtXn0ELbCviebkSVPpfeXkSnaNJQDpaSm5zh4qHWdy_-a1uTkrjpDwVlvxV-4pHjhdWdQ7-013-SjrVSmGsR-Z3OcKPlnYBjoRkvNkMqXqz-9HygdAaETT3Zzr__Q6mgqJN7OzRQJ0ufwSC3G1rrV7x2bd-S4yZ3eCwhxr3ilOTM6RZ5sZSt29Pc1_JbANNOXB2kEt2TawgblQTqods7JW9omjJoHfvUKIq0mMsSjrsthpm63-tAf5WVsW0f-oSAiuAEW6TdXR_kBRy07ENfvgg55qMgKNobS-Q9FBfTi6MRQ-PUYd91FjuMWBGq-R_27xRJrnK-Z0lN9yS3V4yZzLBZpen7iEwfr8KGkhghUvKhbg5Uh71DP2vv5A79aUgyEuEVuqeLseQs0iKHAmQBK0cnV7yLuETN-EpKcbnj3T5VMIfWRxFxr3nZFuMy9-sHuaWHUwpRC4HjvXtuJc9syoLt2h08WPRsxOD8Av9QS5SGx5kdt0f2jpt9brnjTWhsRIN2NwCmN0m9DWvTDJfPTw1xzDlypbpK1TJ88d2sOOV472KIEpkTq-hAGHHirnYxskk6S6J9WEWDMMdFqmxfCweyvuk77yk0f40-uQfaLsxhfotFdmrri0MmVtPBRgvBZZvLgwSHoc29BTzuSjAZu09FXt8PYIYmiRjci8Kt_GZKWPDeHEmhMOziusxTuJvUTtdvkbIKwapy2JyS8SlBUPZ_0NF4guZWkUMQ5An7w8YjUVDQt141hCp_H3O33X3cBphHLwm0pXR0aYNdAlbTAUFGvwhyuMLCoEXIXnciFiXEh04ePmlNnJC1YCXq6VxTAyf1hK_T1pZQfBwVW1iEEp46bn5_afH421216x-OBP2j7wK9ikVv_8eaIDvHkQCjqGF6EowtwYHj4q_dDnDlLa4H1XvOtWq9-hQrDKENK3E8OsI6rQh3mnJxv97TSSLFRqVu2iPdQ0OO38uuj5KaEU26igiS8-QyEDWe0KEJaSYaDkYfbiFTpFOZT5l3RfmmPPL2YyAJYA7DrwGS6SdWtWTnTgF5Ri0weGmptegW6wIfKHTbr51sUrtKUetVWPdA6O25JdaS7RlCeLky_2gfByiayYpqEyR9_fmRtV386N0XLhPrKCO8PlKMY6c-HsepycM-rEFYW2PbOF3gz3e_QmdB7GbrGq32Mn4au96m3djA4BW825MvpyDZyD51yDEhv-hQm_rkO9ZnoVZfcF6jaUvgM0NESOOyhvIUJwsyvJxZcikfJZjh7yKlfOPlP4Fgskkvrc8gMRh16nr1A7mhYKTmoIybFDHtugmb2OHhmec88fYAKvc5g0sfr35CnA6Hql-Ym_rHIFAPRnpiPTZO9nxSbaRXV4CNDxylEsgoANXip-FtDZ23kQDVQaHfc1vtkoSmDoO39mKtjMQ-8lZZf76DtJkzu_WvhcwqptTbIWsJ_oteoC-vHnm_z3uZ1JRHwTQaPMGpMa2B3gk-K_LwKceb67kgS75qk74Kenq7fgl9dCFDb8R3doaDyfAKrHMSGK0VxqJzyoTOythUUiA5P3HEiOoGEdUezE4OoktzmSUerut7ig531cqIIiAKaMHGljoGMNNmQHNUkq8Hj1LjQBtN6lMQ3ZOsC_dB9hKh0BcoINBZIoHhEk99kV-iNntHV0x0b9yFHhkI1DiB6QrTzFqPzP4AU4j_jHHG9td_pCx8_nuaN7XaBT23Zhxbuc2kMLwMAXzMyPbN0kqA2HBC9Ug3yRDR8XyI_zLBmMWjcUjwvJfHGgtqS5KwifRXsPF3Y05IAD5FALPp0EPopPGmjB246tAr1Rb6osBz2AqNeQFgqeAd_qAhMKhylC",
  "id": "rs_044005da99400505016ab41ec348ac87d0a8390c2ac43e05af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.55,\"right_x\":0.365,\"right_y\":0.14,\"right_z\":0.125},\"note\":\"The pink bowl is now visible just ahead of the lifted, partly rotated jaws. I’m finishing the quarter-turn and moving slightly forward and down to align the jaws across its near rim.\"}",
  "call_id": "call_Yg5lvu8rbFYJ9wHlZS1Q1dQN",
  "id": "fc_044005da99400505016ab41ec4ab6c87d0877acfd673895fbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yg5lvu8rbFYJ9wHlZS1Q1dQN",
  "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]: [-0.1032, 0.8425, 0.6128, -0.408, -0.1402, -0.1242, 0.9946, 0.0818, 1.8145, 1.4097, -0.9043, -0.58, -1.3113, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=-0.0021 left_z=0.166 left_yaw=0.0815 left_pitch=-0.0597 left_roll=-0.006 left_gripper=0.9946 right_x=0.3793 right_y=0.1318 right_z=0.1166 right_yaw=1.3779 right_pitch=-0.3778 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.6386, -0.1099, -0.0366, -0.0171, -0.6359, -9.6615, 7.1863, 0.1685, -0.5836, -0.0611, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5d0f1f47a360f6b597811f98ab5daaaae9c39210b09721104ab89bbb1c9b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6180109e58a3e8bf8ee523bca28bba94effe4181306d27b294e69e89b4df08b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897db89d5b71e472f72fec5c015d98f7e8c1cdaf3c8bdc15ed0c3508a556b454",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4988, 1.5333, 0.8577, -0.1993, 0.3504, 0.2367, 0.9953]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3699 right_y=0.1365 right_z=0.0884 right_yaw=0.0547 right_pitch=-0.2403 right_roll=-0.0925 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.6068, 6.9812, 1.6386, -0.0806, -0.0464, -0.0073, -0.7043, -5.7778, 7.4462, 1.6679, 0.0611, 0.1294, -0.0659]\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]: [-0.1032, 0.8379, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.2516, 1.3914, 1.0492, -0.577, -0.202, -0.4736, 0.9951]\nstate[eef_state]: left_x=0.2947 left_y=-0.0021 left_z=0.1674 left_yaw=0.0815 left_pitch=-0.0544 left_roll=-0.007 left_gripper=0.9946 right_x=0.3499 right_y=0.1302 right_z=0.1529 right_yaw=0.6889 right_pitch=-0.3317 right_roll=-0.1273 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.6342, 6.9675, 1.6923, -0.1001, -0.0513, -0.0122, -0.3624, -6.5026, 9.3607, 1.3895, -0.2906, 0.1832, 0.0366]\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]: [-0.1032, 0.8425, 0.6128, -0.408, -0.1402, -0.1242, 0.9946, 0.0818, 1.8145, 1.4097, -0.9043, -0.58, -1.3113, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=-0.0021 left_z=0.166 left_yaw=0.0815 left_pitch=-0.0597 left_roll=-0.006 left_gripper=0.9946 right_x=0.3793 right_y=0.1318 right_z=0.1166 right_yaw=1.3779 right_pitch=-0.3778 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.6386, -0.1099, -0.0366, -0.0171, -0.6359, -9.6615, 7.1863, 0.1685, -0.5836, -0.0611, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5d0f1f47a360f6b597811f98ab5daaaae9c39210b09721104ab89bbb1c9b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6180109e58a3e8bf8ee523bca28bba94effe4181306d27b294e69e89b4df08b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897db89d5b71e472f72fec5c015d98f7e8c1cdaf3c8bdc15ed0c3508a556b454",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
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  "id": "rs_044005da99400505016ab41ec735a487d0a37687ae0eb24a90",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7OZIK7jOuayBtsaa9A8JK4hPLps1GrafX6FDpzKfhxw0RxXkVe9tUZLs7EMtpxq5CMvvTHdbzgGWusqSwU0HNyCfzZsjuLiCM4bSbFXQV-4YcFkcZI21HUA9_EdW1J6psALN-TlMmOoW7T3rbSSMNUUBAFuOWOS6iAD-_d3fh_L8jfaIvkp8QhT2RWlBe4zyhowZlxBJSCtkjYimgog14c946uh6d-9hiwgoNqBBwph73i3Pd2qI15kgp_spds5djbXas83cDIRAjzTO4HcagzKbi9aJRH2PediNLGuQlVM1Zsc3pVS65jGvItmM8mERDrwxmNZbwrPKr3C0caM0IPyYVwt81r9CU6YbPNOMcs-iauPnjaldcbCDbjYeSjjsCYuN1Gqel86EVtqsFthmc9ZwbrjOrA_b7BMr_ItHUKcA1NoB4P_BgxxZd1m0AqnGsm7S3zhInfWsIn3IflbunXbJa0wi_vChie-yFVtHb3tqKj6GkVSe-hV7SNLqoTjLvHn-_0yHq_cs9EPQYKP5fk12rcH4FFx2fNv8-s_HphtuAmc09WD9ptvJyQbMusaz2HBSxnfQF_opJ9MQFDr3CAh031TNnsunz7UKpJQfWGqMez-ZxyV4uO2MFrMWntM5xujXI6ABxveg1ohfDbqTD8R5NjSxeNvJIgE-be9B4_qdR9IMUIjCLkzIwi3mK9hXfFBKna3jzVj1iD17Xd-zv7YGFOm21zdQZdd3v-xwnhZyWdg9NZo8RF0tQv2K7xAEgy2zFHGIlBsvzDn88qISFykw1jGM1uy9vu3EsDmCxW9eY_OwyIwpi3P10ukLF4t5jo2Jge8cpis31mAr3Xjw2HZ_UA4CCnPh0dsTpW3QSjiurxMVNiRAhviYsEaWCCe0pyvNwZOADL2N62OHqWMw3Br-tnJzCEe_MLCJ960Ia5vGFtRZdLZVcB4wi3rYcS828s5R6MhPKbbtba45Zn61RiaugM72HBWzRleUNBI3kGWADiWaNeZhIigHr8XAthDmjESQQn_kBdlK-F-OPFuNhYuQRKLZpeSX0Qybno3z1Ig6904ycEj5Vw08OuF9v-__P-SRb5Iy1Jho_OizshMxJ4t6k_1GJt4-zIRHE5XQ9PKLVcQ9IQMpnVqcnB9B22MMGmDhYBtlJNgezTdDx9H2baIEz4XpU6qSA_gnmcllewBAo5I-G0CNmpjwhnEQB3PzWcxgV1tqx8xp-9KvWN2NjMrMEva0Dula_TpZ403HUfqhOohbmgtrqNZM7pZVbKf3hsoofBLG4OeWn7T0lApNljnYsp3kJhTKvozikyniwu-GZ7eDqtZCDEjHEl8qfGxse2viV34mOTB7cOTaP7iPVR-8sH49Sd7eEIUftWLQ4heH8j8PqsWwWYDIdLHq_DmYy_SSFwxkSiW_SOiQKH7LtUFOnJz5pzozesasniof_eJLTpUn3w6lF5VfnNJieUvT9nFppCh8XVGYpoigTCTAyX7hUQcp_UrdFCh_SwBFLWONnA1_62PqaacNL71qP93XpCXITh6dpJ3omr7N0eTLDHboHW9UIE46ekM5gcVNsaosT9acOBdusvOI6yA05v7lc3XLuy7bE6bGao2a3qniQ82Dd5cJQEazRhbAQrr63Y23S2e0cY_BmGss7EiHa-w7jRX5dvpkjW-nmcGLXDYEEPom4SpwBzRom9wnOBPvJcgP3xsO6wugKMthH6ko9wdGyp",
  "id": "rs_044005da99400505016ab41ecbece887d099f6ba4f5491453a",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_yaw\":1.55,\"right_x\":0.352,\"right_y\":0.155,\"right_z\":0.075},\"note\":\"The rotated jaws are just to the right of the pink bowl in the overhead view. I’m moving slightly left and back and lowering toward the front lip, so one finger sits inside and the other outside.\"}",
  "call_id": "call_FXV9kHdJErk0jDS85E7642eL",
  "id": "fc_044005da99400505016ab41ecd292487d08788b3da1a8d45ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FXV9kHdJErk0jDS85E7642eL",
  "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]: [-0.1032, 0.844, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.128, 1.8397, 1.293, -0.8803, -0.6067, -1.4544, 0.9953]\nstate[eef_state]: left_x=0.295 left_y=-0.0022 left_z=0.1657 left_yaw=0.0812 left_pitch=-0.0605 left_roll=-0.0061 left_gripper=0.9946 right_x=0.3451 right_y=0.1496 right_z=0.0776 right_yaw=1.5606 right_pitch=-0.3834 right_roll=-0.068 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 6.9812, 1.6679, -0.0269, -0.0317, -0.0122, 0.1983, -8.4171, 7.0085, 0.8425, -0.359, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccef522136a703b47d37f3a03f2a65443f87fdc9c14bed37853d94db70baa50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a61767274a276e5e7edb67f359c0c4266969d7d9b2593d25ab0ce85a705e82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecd3073aa12ce2b36fbb484801c3ecf668765256682ccf3277e27d8bebcfa8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 89 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8341, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.4973, 1.5265, 0.881, -0.297, 0.35, 0.2302, 0.0087]\nstate[eef_state]: left_x=0.2945 left_y=-0.0021 left_z=0.1684 left_yaw=0.0811 left_pitch=-0.0507 left_roll=-0.0079 left_gripper=0.9946 right_x=0.3602 right_y=0.1306 right_z=0.0855 right_yaw=0.0489 right_pitch=-0.3018 right_roll=-0.1269 right_gripper=0.0087\nstate[joint_eff]: [-0.3487, -1.5111, 6.9675, 1.6679, -0.0611, -0.0562, -0.0122, -0.0615, -8.4581, 9.5521, 1.3407, 0.1294, 0.0562, 0.7009]\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]: [-0.1032, 0.8425, 0.6128, -0.408, -0.1402, -0.1242, 0.9946, 0.0818, 1.8145, 1.4097, -0.9043, -0.58, -1.3113, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=-0.0021 left_z=0.166 left_yaw=0.0815 left_pitch=-0.0597 left_roll=-0.006 left_gripper=0.9946 right_x=0.3793 right_y=0.1318 right_z=0.1166 right_yaw=1.3779 right_pitch=-0.3778 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.6386, -0.1099, -0.0366, -0.0171, -0.6359, -9.6615, 7.1863, 0.1685, -0.5836, -0.0611, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.844, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.128, 1.8397, 1.293, -0.8803, -0.6067, -1.4544, 0.9953]\nstate[eef_state]: left_x=0.295 left_y=-0.0022 left_z=0.1657 left_yaw=0.0812 left_pitch=-0.0605 left_roll=-0.0061 left_gripper=0.9946 right_x=0.3451 right_y=0.1496 right_z=0.0776 right_yaw=1.5606 right_pitch=-0.3834 right_roll=-0.068 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 6.9812, 1.6679, -0.0269, -0.0317, -0.0122, 0.1983, -8.4171, 7.0085, 0.8425, -0.359, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccef522136a703b47d37f3a03f2a65443f87fdc9c14bed37853d94db70baa50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a61767274a276e5e7edb67f359c0c4266969d7d9b2593d25ab0ce85a705e82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecd3073aa12ce2b36fbb484801c3ecf668765256682ccf3277e27d8bebcfa8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7Re6ASgTkcqgXs756_P7G0WWOOGXcvpUtL9IlRuv8wNneKrfcVxAO--oWLC6hWl60QGMaIWWkwBbE7IhgFovBPbnOIDslALVqfw_g9TeobEFUMxttOt8M_O1w8-Kk95PceO29d-Yiv17-m_QZYUH3btU3THiFXGWbn8EnJhFGAz_nUqtz6CZ0_XIp0Tq4-Ih3nWX-Kvi78UZsJv99muNhoDi51NMH2BXTsb8u0E2yncWxXpzNyBkg--Y4zCMvwgFoOZEN2qdYRgqhKnOkfBJYbMmcXNx60-ZjTVtWnNEm-Bgz5aVisBWCnI5KJGctXRJQ8lEUJvVCcb2MN3nR9ysdi_axNUt-5v02vUE6ejfV1_W2qGdG_ko0kZyP5zVKLWMYGpT9FQ3NL0zUbpcRPKmToCajjAD7EI_Kc3DfF2lbN428miFZZG1jsEhclj9jNOONur3qHaO4lGmBOGXgOP31XeyiG5YHCEZSeJTLhFHGKBPizbCZ2swf9p1myI2m20SAjV6enpj-wFnwIIcCycEZRsmSY-Mb6yNp3mU13lS27bmAGhOhM8QJ7Y91JdugzVwq_kKp1IqRH-dvD8zSX9oc2GXniXsSf4kiy3j-cvp5TZZfWq5MDuuqKmnBGXpSRn1tzhdYE-Jj4d6vcqwWdNgkpUUWgju-AuBJ1oCaK6GrN1_YoIM4AhFFME-rM5UoW-EjJJDCui9cxVI6-0UHwqd74_ve8YK_pQDObp1gww2lSop5jTDmi1yerAi-wItf6oEWlAm6KGVq4-yEPeTLdEksg2YHED8Fgw8LzrbF8bVrkjaxAbnMkXY9vxI8Uisn06h8LN7eOJAoRW9UXrTDy40-OKJwYzrl5LESa3XTewfr8biey8CW3CVA0R-HsvWC2l1tU5Pmyo1xZ2ImnuwpBG8Gn1SBIzBBRPBHtS6egBvGjQXHB6jREvJUgUX7jNrAvmBfaVtkfOH9XrYG67SIJTxb8dZVzhCaT0DFFQKlDhcK0swkEP_kJeATvqSgBj_nra6ZHpvqAMsYPtk_YIDITaUccoI0vgrxssGyHtOVf-PbEA4vMPbhMVem0mKF7w_RYFSbRbrrWO1NKZNTuZRksGFUdt5i6LlWYI1TUD4wqeDGgfVKLLWKQDDWihK_m-pb2aPv1ZEPeMvP9TmdGnSKFeaAl2ar9s8CFFqgR68Lj4n7qV9A9eY2loLXznbWryFUiAZz6CQvpco57Ba6gYHOgTodWs3_5RqyGNpudYIIRlV0_ePIIOOtWmRVvMCbNFfFLb0d_M9icWtBDyZhQnxlEtAo_FyRRO8oAPJyt39LgnFhHXDjswrVxBarCGvrWywYYXURTu1ls746O3iX3Gasy3gXUkWfubWXaky5pCT1K4UXXmUn_3c2k7Kyw-He1eBKlCC1VGjzE3Tyw_zS619GOUPUryxybGiDR0tOkHXp0CpiTiBh_GZzGmbgb3cuxQk4Jk7s4JIgrs21-GHfBVv9NvTljaz3H7aDdEGI8qbcCwFLf5_cJ7kGiATV6HvKECSnBqJa5oBnxRIfAc1ySlkTJFBHXmWObQELA_jbSiz1h0NuhYlr5ethlfMa6zVBKkC5OqDcf91_2YoTW3uuw6Wwlu51XTEANC8dDGdnoo0MkagGUA9dP-LJIOjukUENrMQ4Aki85cFeMkaxN4K7IeWOI1dLJ0zdO7QmkxDJ7welzNvpH1-c=",
  "id": "rs_044005da99400505016ab41ecfa1b087d0942e128d8fcba5e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.085},\"note\":\"The rotated right gripper is now at the front edge of the pink bowl, with its lip between the finger positions. I’m closing to test the inside-outside rim pinch.\"}",
  "call_id": "call_2Ldyokbt6icWXOqXgZfanGif",
  "id": "fc_044005da99400505016ab41ed09a7087d094a51826d9a5ff4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Ldyokbt6icWXOqXgZfanGif",
  "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]: [-0.1032, 0.8448, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1291, 1.8469, 1.2869, -0.8936, -0.6064, -1.459, 0.0092]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0612 left_roll=-0.0059 left_gripper=0.9946 right_x=0.34 right_y=0.1493 right_z=0.0731 right_yaw=1.575 right_pitch=-0.3874 right_roll=-0.0423 right_gripper=0.0092\nstate[joint_eff]: [-0.1983, -1.5795, 7.0769, 1.6777, -0.0904, -0.0659, -0.0171, -0.1573, -10.1538, 8.1436, 0.3346, -0.3443, 0.0317, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff22dc5b17f00fadf45aa25bba774b41cd8ea3d542214b55787d72aa5a005863",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356a498626a2da58170c168d655e35310675ed124b2ab1a50bd7b21b637ed03d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b3bbaa947aef1788a010b660862ba77284ded264577f96b697a06364b058a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8379, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.2516, 1.3914, 1.0492, -0.577, -0.202, -0.4736, 0.9951]\nstate[eef_state]: left_x=0.2947 left_y=-0.0021 left_z=0.1674 left_yaw=0.0815 left_pitch=-0.0544 left_roll=-0.007 left_gripper=0.9946 right_x=0.3499 right_y=0.1302 right_z=0.1529 right_yaw=0.6889 right_pitch=-0.3317 right_roll=-0.1273 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.6342, 6.9675, 1.6923, -0.1001, -0.0513, -0.0122, -0.3624, -6.5026, 9.3607, 1.3895, -0.2906, 0.1832, 0.0366]\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]: [-0.1032, 0.844, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.128, 1.8397, 1.293, -0.8803, -0.6067, -1.4544, 0.9953]\nstate[eef_state]: left_x=0.295 left_y=-0.0022 left_z=0.1657 left_yaw=0.0812 left_pitch=-0.0605 left_roll=-0.0061 left_gripper=0.9946 right_x=0.3451 right_y=0.1496 right_z=0.0776 right_yaw=1.5606 right_pitch=-0.3834 right_roll=-0.068 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 6.9812, 1.6679, -0.0269, -0.0317, -0.0122, 0.1983, -8.4171, 7.0085, 0.8425, -0.359, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8448, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1291, 1.8469, 1.2869, -0.8936, -0.6064, -1.459, 0.0092]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0612 left_roll=-0.0059 left_gripper=0.9946 right_x=0.34 right_y=0.1493 right_z=0.0731 right_yaw=1.575 right_pitch=-0.3874 right_roll=-0.0423 right_gripper=0.0092\nstate[joint_eff]: [-0.1983, -1.5795, 7.0769, 1.6777, -0.0904, -0.0659, -0.0171, -0.1573, -10.1538, 8.1436, 0.3346, -0.3443, 0.0317, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff22dc5b17f00fadf45aa25bba774b41cd8ea3d542214b55787d72aa5a005863",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356a498626a2da58170c168d655e35310675ed124b2ab1a50bd7b21b637ed03d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b3bbaa947aef1788a010b660862ba77284ded264577f96b697a06364b058a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7Xy48D2trehgNdCDqlwNBF20009BJP4bGVWdpVGCmfGzkuYDQwWHlczX6icBcIl_3rb24fdBTIzpK_fqYoXOWQB_CiwQHAAynujPI1AdGt2nsFMJ3Tk7bVfMvAMaJ9Yp496zBe1iv7uLEgW9s3ZJg-jOPTpw_RlDf6zfeQNrQ9X1LwN_mv2uic4lZsMVO050AC_wvco9T7BmiTUD_D3q6XdzR5D1ul6ocbtyk8Dr0NI6nceSjZx6C6_yJ8L4IsGlAMAXlUAdV0J_pd642qU2kbjEmfohPRiR7GZu3_1e2NipnILx89hgg5titdjT8mQtN2CsU4_28rYL1sD43ktXPtG4IowevH9UY1Fy6nGRIuxkfvlQZTEGOmwESOl8KUMiEB0OjDToRW3DISrbONchkRmHsbupjLe6bGsWXWOFY7Fai3F1f3el8jX2zG58JPSa6W8RQz5Kz4aQTfF_o91WAuBuuj4SgVD1Hml6sKobGqM7sdLJIjMnjziQznk1xTghxekmODhEfZbO9YfwBGTT0VGjiV_EsHujd9XP6ZjqAZn4idMKPFOre76QTz84EGEkO4UzxInTqiHXnvTiPQNGgx_Cwm3FDUPOK0P9_WPESIzZN23Or2yQAfnJ-qRrEJ1bV2rXrzyvM4yekDOSieq90_8jyAJWn2zhXnxS6ZjdA7G3_GqzePnToFWFrpn-a4zjhoh2Dh3mG0oPp1F1bEzl8XvwBsslZBiFrAclLH5ja52cGXZJaM0_7bm9QDXtUfTCGb7zW3nzWJYZxEckqC3mVL3h7My9VaxcXFQPklmpOxbWquU5MLVWdB45u70FU3941tvZMA-txKT20WWQSkk8vWOG2Ocv3KnEp_xGZ8wxzE71D7L_7W4Rz5uf4K_Ycdd3t9ESm9CyszlQMguxtBC90n6KpXNeZrYuDsK5H8kpZ7eGzh9kadpRnuv-xmI_6IvUPbCQDtWQYR50w-ZqETUGbYJJPI0j5T3oVEV39ekBo8eLDR8QB1QiH6BDPFAmjqsaKoGveO7cjuTIUbVyvOjgTaOF9kxePsmGG_0JgqY1h-En29bw1vXEvx2rkWQg0mVnblRnEzP4C8q4PIzYhRaO3qf4jqjirT_LXNDLUmkbyrrDMK_beTCAo-wN1cudB35oQiRYpw96pJPUGN3W6gEbkXIeWzNGj6Q69CpZM7oITJ0G21-79IXk9PNWTf-7_uMDW1kp_bI5h9W8v73jYt1Sv1Zyyi-UVXKb6A4UlPSJMYrU9GPr0PMvpMq56Cs9kS9mzpPUCOiQGpqzpAVnSV173CC4ArRhYob_ErdU6BRaE4WywqiaT6LHUdAFY4nTLwt70knVnNB9pDAxg5Nvi5NqlG-EeYgjwv3iY9QOk8PvE_JtmfkPBzSR0gWaGXQmKmew_a7WLPoakDoW9QwxYiHSyynj40AAbp27dBJxKyItQ0iu5j9nYE4iP1o6r3mM7XuXnqhItX-7tsJPYYzduURT2db9q65g1hoJlufcJMW4Jw2udUDa3DKUau7FzqTIpOTTfr5lknrWir4Fv62SymGf4Wd35vC2TEgBsqJehqccTnr4y68YRdVmgUuueUXP6gg_8e3GbWRR64gR8fJM4EhAUviAzLMAQbHJrLyhyypIF3kAk0ZW0n5FAye3-BPBrA6LJK5lJY--qs5IFOe6Abk88WLmIOUtNXiCkc-EZZgHL4zYTwliH40CrMP_-yh1WWTaxeA5DgJXEri_belCUEF4YrGK0dQp7ekkp2Rrlt2PqK7V-w2GPTNhOrXF0Jcwbp17P0JAxfdTHmM_L78rd6p7x5VDRkVjU2XNHGYIHKB1kdFcbdjhiYjUS-WPdTHupsikVcsli9Et8oqzmM5o-SQ8uD9sZzbAFL7y01kX516JxkomeHR9TmG2TBupkAdYHXz5DrY7SqSzHKEsRalZPVxXWVUUJF9ajFB5QoEH8Dm0hqLzJoK9HHTeINNc367I7ALZjVblaM4h_YXSrCGN0anGcfjRWhLEI3ByPDD72Q6Bbbg-CYBRtNTEWuxMg7GNy5Efr8JZPHLVevIjutsXeUImBU0yk_odsNfKspthCCGvBKNI2_Kx3wEllffLfz8LzmQ6n06AwmOOYyQJGnUSnyPU-mbk1zo-pSTXRLpR5aXrfBqr1Bg8uDRMR1gDjb5aWHtcRwGZfqVtb_MARLb9kk_K2fHZ_7w1F4yroRet1UNPJ65596jLQ8QtKnkVPJ91KK-YQwjKhLb5kqoX5HYHLbyC9gJrfcR75ULCawezG_YGhb25NwCuBBaTRUgLgBRzC6hnulbbdi79Yy8vl08Bj572CPMRHSLLrGwkDDd_tG3wpA8lTd_X3tZM8Z7AkMamECjO2WBzg_VQLRkbBP-ObcpoeP8hsO7F2iZ9bZBZSIkXhnB_rliEGp5GDvpBts0TifqIM3K6TmsMXOyKgieelHjUNBXjxU0OwJOcZns-bbYmW-2UhbJ9Yovp77fXJaSdl7BqxCD8sMyEa6TYuEmVdo2m1VB1tlNvgFwS_UgWUW9HGG1GoJIoge-nnNiOACEfwXC7MrvtPFEbjAmj0OSezWPBKURJlRm5w_mlxP3vjux6iEZMshMqx1XKK00Y_L4VnIgG1tMUEhyyptGOrzVEuAvUvYvEVT8wCo_5poQKZBOWEW0E3VB7-m7a1PxehryRZnWAGtbfg51iqb_hQzq3gYZerQ52wr9RuxDodMn_RqUWr7A-xyFnYnSUXbWh-Ch9quK0qt8ArrV-81Lvp0Bm0TxNpTX43VX38q-Eklix2xQoM4xc8zJjOdVB4RBKGhpewuzeovvCUabKcFlBB8n-hEiSQptUSNNJcV8yJ7T3jNK2vH6PpLmOgprMS-JcQ8bfy6iF1qEFDUhULP5069n-nhe582gsN0kwHrTMPvm8YU45RWFXVFHvLj0fgLyw6WQ9cjqzPpvB9oixaDrR7OPkV7xp-Xaw4QGWCAEJCzD_razG0QTvpzxm69oRy6AD5L1Kl7HvhFLUlO2ZNTmPQiRb2waTb0U-yP27_4M5mmC7_edguydeA=",
  "id": "rs_044005da99400505016ab41ed33fdc87d0a91f5afab71367b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.15,\"right_z\":0.055},\"note\":\"The rotated close was empty too; the fingertip is still over the pink bowl’s interior rather than its near lip. I’m reopening and moving back about 3 cm and lower to place the finger pair directly across that lip.\"}",
  "call_id": "call_evYLL9S6y83qmDLqSa2ObciU",
  "id": "fc_044005da99400505016ab41ed69cd087d0bccb3e2b8c6bd0e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_evYLL9S6y83qmDLqSa2ObciU",
  "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.1375, 1.7878, 1.1149, -0.8017, -0.6067, -1.4437, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1653 left_yaw=0.0816 left_pitch=-0.0619 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3089 right_y=0.1481 right_z=0.05 right_yaw=1.5831 right_pitch=-0.3894 right_roll=-0.0103 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 6.9812, 1.663, -0.0952, -0.0024, -0.0171, 0.3077, -9.9761, 4.9436, 0.6569, -0.398, -0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db872460ab93c154425bd70aae3a1aa6e25988895ae0a0f0778d5e57391a2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3815190523d1d075b9eab10550399925d2745c55d9f2b16bad675e4dfa3cdad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95eb3e84cfb007b3cdca199ff660331984e0914f8f04f119b26f294a0465af06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8425, 0.6128, -0.408, -0.1402, -0.1242, 0.9946, 0.0818, 1.8145, 1.4097, -0.9043, -0.58, -1.3113, 0.9953]\nstate[eef_state]: left_x=0.2948 left_y=-0.0021 left_z=0.166 left_yaw=0.0815 left_pitch=-0.0597 left_roll=-0.006 left_gripper=0.9946 right_x=0.3793 right_y=0.1318 right_z=0.1166 right_yaw=1.3779 right_pitch=-0.3778 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.7983, 7.0085, 1.6386, -0.1099, -0.0366, -0.0171, -0.6359, -9.6615, 7.1863, 0.1685, -0.5836, -0.0611, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8448, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1291, 1.8469, 1.2869, -0.8936, -0.6064, -1.459, 0.0092]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0612 left_roll=-0.0059 left_gripper=0.9946 right_x=0.34 right_y=0.1493 right_z=0.0731 right_yaw=1.575 right_pitch=-0.3874 right_roll=-0.0423 right_gripper=0.0092\nstate[joint_eff]: [-0.1983, -1.5795, 7.0769, 1.6777, -0.0904, -0.0659, -0.0171, -0.1573, -10.1538, 8.1436, 0.3346, -0.3443, 0.0317, 0.7009]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.1375, 1.7878, 1.1149, -0.8017, -0.6067, -1.4437, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1653 left_yaw=0.0816 left_pitch=-0.0619 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3089 right_y=0.1481 right_z=0.05 right_yaw=1.5831 right_pitch=-0.3894 right_roll=-0.0103 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 6.9812, 1.663, -0.0952, -0.0024, -0.0171, 0.3077, -9.9761, 4.9436, 0.6569, -0.398, -0.0611, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db872460ab93c154425bd70aae3a1aa6e25988895ae0a0f0778d5e57391a2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3815190523d1d075b9eab10550399925d2745c55d9f2b16bad675e4dfa3cdad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95eb3e84cfb007b3cdca199ff660331984e0914f8f04f119b26f294a0465af06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7iS3CcSIaFA8RVtqgvvqbuPFn6YmQT-CmwS64MQrVGtCG67A_q0361hxrUSLeU5tSk0xxtcuZ6HD8diR2gVgLOt21dnydT4ZMHnMKtuhEcBAKAyyx4sOb-Y8-5lYmR5CY49F4keQhWBD7CjqNQvHjuHrjJyJnyv9G8twl5C1I_uwBjMqVMM1Qjo973f0tEzRSvPmm-cRcjYby0QxbOmazDVYCUzUDjsxy58DfnJefO30CoBSFVYxuvAAX50xpCcoy6bQJKmUAkhCG9CQW5vbbQP0yZZRRbbQgLjTaKClFzi5sDpk80HeSoqNoq-6FG8-HzVWCsnn1G6nCDW8ElHo-avxr3EpUBaaZYQqdPmM2-f63ZgySGpzUIcZesPphaRHz_L6mbTk0p54ZZ5_SendUaL7AqJgc_mVRtc_Papz3mWSfTMUyNRdckqF_t6RfFk8HPrGC8BwmZblAmHbo3e9acmjFhvXGz5ljBEZYQdcRCV9wrJoh72DzPkETtq93GHO5iKSsFnY3gx0DmTLfVJ_ZoawrYXfubxAudvy--syyEOSOSU2QXXuv_CyiqvnMSsMPvbpi-VseRlx4HHUG6-Lsm6LNz93X6wIuUyz5tF0Wr3AvuLdAgx_XKNQT-dUgVvWxMnr2BF9RRg3lXxYIKgRL_C0ZI_7QqF15KXYOz-9PQ4wsOBXAmtA30fVS6lNSHtvF_NwYXW1yM0G5iH4QX2rnfnNOKoypJAUeS3BaKta0A_W-0zQHZDwTd8u1WqnnXoGzZ4Dgw7Ue5VX5ssME4kF4ifQ54tDfyLroH6lqA-Y23l0w1XPnDBjjBVbTomK_sl_7HlSXTujxW0dXjxhOt_QkMk5RNJQiOcNv383r5h3geGq6kQWzoGsTVtBc8Xj1_uckNnOwb8c5nObQW2XFO1vAoG53choApkBl1JVYU0W5sgFo519F1BTIBY-RxbihVsopBVhu2ZjWuylLgIuC4o8bHy-I53rk3XPtHv_cCZj3F4XsCtVOERnRygAQrKdv9q6KwudXyozi37slwiMNKUltVE4tRQ_RQMsEeH0M0BTYa8x58t_FfwOmnguwiliAxg145lubpJPKikxP1HDKAerpYFCRbFIhx4U4_pNjVEYeUBcDQPaA-oJb7z38BcsOb9Ywceu3y_lhsZ-5Ac2Aq8Mp__IAfqd0BU7yWPXyCvnzqNlnnOdOHVQ_keUcka9purADcYwSu7s7X-paJTVC2WwoeN9QKAWbED1juMj11GYXgjF2QFEdvVl6Q8ysuBtlqNmDPPRvFG1tjFtc42NT5g996Pza469SLggu9dU1SQ3qdhzj8FjJ9r9jPD0jiWVzDMb7Wo3eUlIPTq_gL6wDRGJsZA8PHsAarltaicpGgDBkQzCcQ_RlzD1Q-bll-w318wKur3P1-r1g_KgTfJrzsQHKuLZNlWT_7Oaiikz3Mjri_GK_qWW2kJvRAxsZ0mbEn7F10jgICjkAfiMJ6X6lCodYZ9Z1KeNW8Nzw68yLl7QtIKwth7ao1Aop_-EBlFjgVYzlIlieMpnByXZjCpw0TKHcMWXK43k3i2moEI7t1HpO1b5prv5zj_YvXPs8np9Jfr-qr328xxxq2rJjcna2HWDUcJEwWRf0TbuYnq8jvvifoBTkLfaO-ysw9YHINPQ8jdNdNcFguOQmTjoJIgMdZsdmbfEGJ0RJp6KQZtj39w990KdFY8uEBIZns8OSDNekECcp16WwVfvXG20zQFLyATICbedxrMNqQJKdppVGxeygEattH_J8eOGkA7EoChufrFeVLhWwx68hNm2_bDH0y_zwunfwfmUmziash3ON_2f-AosreNSAUfYHrwNh5fZD284RVsZ3wxpaS3JTEjYQYNvVtczD6ihYem8W59ohEOSDq4m5L0aoBRYn6TJQHDPIrEuFj9Z91QXs89kf-g8OnPuAmzQL7iT1ZyBNtDEl4ECqJfuksu8lK5oVl3oJct_pHfNVLHiBWz_NPOSLI3qmviBS6JfIgQBXZR9KqGbE0jU9fImKA9e3CW7vwOba--XGzmDhP8hU6HmIQvRRmEjCj5PAzitEa64RUnds_E-PQqiV2yfmL9ygJ2XiP5Jt9zOg5U2X61ColrWCizRKMb6FRtgVzsvxQaDaiF1DsiL4E3IuC9TCaBFg5kx0F4QoH_Aq5yaiwsFVjulsgE9Qwsp0tBSSi3gAtWkIF-yKb5OE-MrcXcZq23301asQrY0uA7cgawJknG5CR-BzraBub4Q5fO5YfUk7VASTN0nHGYLdHiI79kwk7-qBT4k5m72EXWv12eYm3gy3iQ-QyX3XAJPs4QOrUVD3EANKOi8U5iLrbBHk2ex2CRghlR0cxQd9KrDGMfZABw1up3Iywzp84LGt8RnHIMHxTu-_XWoOHGaFOGwROnE0Tj7xa0u_fio_35oE0mdVGKVg1LAD-tsxGHEGwns8MEOCTHLfiS_n2eaj1LMkphmUi_i9VQotuTTxBsR69qH-yUAGf-a8zX55LhvVgImwtI3dK5T0Weg6mqp1Q5lWIclY77eewO0B7ZIrIgCeUP2q6X08b7WhsFHWB5FBozjQ9FtCC6Q7Z28adGgLpPuzKWnph0_9axkSBnTpWx5KxCT0wBRwBkM-lkL87vVEmdpYZpAYlFIKV2k0G9e0bbvV2dMPQ-0wb12ZcKJCU-ildGcsJyVtiTUBxKeWutTx9REMuEPCgoCOjESn_wy2ug2uEwNGtWrezoAkxonExcV0DNfiiKSxF9ly0ve-P14oC-MvqZi0-hgmWpG2S0dXC5PFdVy73EcqXGeGAtuW5P46ygzFBQyN1RZpHqQvhcqkHhI5X-BGCjVBz8HABLUEuwpDGUlkW56OSjfOG-61WuaFSDQlUsm1johwJeW5a_AsMkFqp-XacaqOv_BW895XROjsjZD-ZzHQq1xVy1r7BkTiFKZR7R6f8SV41PqOmreodDDSBvfXMRigj-k-Bdi7WHa0an3de_uslDZY0wYL8rp3gK1q1LdBnpVv41asBt_7rWbftwH46lq4wFL5cJsUW_PpuhE86mF2qqN6DOiWNLEjV9r_N1lNHxH44Xhyp3HHU36j1ooGLjNoHc91pVycGmkPFo_M1O9cxliOoiwapC_QoCCnIEPvyOM_rhB9ENPEYtDQ8GLQHXieseTRmSekB-sHdt9MPMdmIIxFgM09cGkG_AoaRm3mqf47KpI2_-K_qFjCx5jBhiAEJri4e1Z7Y0J5qj0Mp7upDZVntwnmKL2b-gLP5Op2CMeCdDchYBwWH4L7LdYGi2lEboz0X0QoJAaQCgMcQZT47lCmUreLIRcZ5NQ0yVtezqVZvcxWsk0JOr58G25uEbROE76l_oPtlNOKsoEVNdFuG1xyo24x9FSKMAkSjGfqNVwoQCgCQ5iWWklzbf1a8BdTYt-J_7mAVeEPH5QxC6AmwH9eqgceqF4h66nCQ",
  "id": "rs_044005da99400505016ab41ed967e087d0b6b9a9b0431028eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.13,\"right_x\":0.31,\"right_z\":0.05},\"note\":\"The pink bowl’s side is now almost at the jaw centre, but the nearest rim sits a little to its right in the wrist view. I’m correcting sideways by less than 2 cm before closing.\"}",
  "call_id": "call_Adlcn2T23R4bDxBj0gBp4ggW",
  "id": "fc_044005da99400505016ab41edd9fc887d0a30de40d4a9839c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Adlcn2T23R4bDxBj0gBp4ggW",
  "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1074, 1.7882, 1.1122, -0.8074, -0.6098, -1.4746, 0.9959]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3111 right_y=0.1389 right_z=0.0494 right_yaw=1.575 right_pitch=-0.3877 right_roll=-0.0197 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5658, 6.9675, 1.663, -0.0952, -0.0611, -0.0122, -0.6906, -7.7197, 6.2701, 0.4469, -0.3834, -0.0952, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535a948709e151c926bd79f76e4ce861a1e8ef74df89420be361896a4f636d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebc991751f0e305e3af384c34d9cf2086e3dfefc4b25abcc8b171025b4830fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6c112bed8be326ec2527ab6e09e09ab45d3c94b2f10f979ff6bd44575fdb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.844, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.128, 1.8397, 1.293, -0.8803, -0.6067, -1.4544, 0.9953]\nstate[eef_state]: left_x=0.295 left_y=-0.0022 left_z=0.1657 left_yaw=0.0812 left_pitch=-0.0605 left_roll=-0.0061 left_gripper=0.9946 right_x=0.3451 right_y=0.1496 right_z=0.0776 right_yaw=1.5606 right_pitch=-0.3834 right_roll=-0.068 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.1419, 6.9812, 1.6679, -0.0269, -0.0317, -0.0122, 0.1983, -8.4171, 7.0085, 0.8425, -0.359, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.1375, 1.7878, 1.1149, -0.8017, -0.6067, -1.4437, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1653 left_yaw=0.0816 left_pitch=-0.0619 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3089 right_y=0.1481 right_z=0.05 right_yaw=1.5831 right_pitch=-0.3894 right_roll=-0.0103 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 6.9812, 1.663, -0.0952, -0.0024, -0.0171, 0.3077, -9.9761, 4.9436, 0.6569, -0.398, -0.0611, -0.149]\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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1074, 1.7882, 1.1122, -0.8074, -0.6098, -1.4746, 0.9959]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3111 right_y=0.1389 right_z=0.0494 right_yaw=1.575 right_pitch=-0.3877 right_roll=-0.0197 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5658, 6.9675, 1.663, -0.0952, -0.0611, -0.0122, -0.6906, -7.7197, 6.2701, 0.4469, -0.3834, -0.0952, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535a948709e151c926bd79f76e4ce861a1e8ef74df89420be361896a4f636d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ebc991751f0e305e3af384c34d9cf2086e3dfefc4b25abcc8b171025b4830fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd6c112bed8be326ec2527ab6e09e09ab45d3c94b2f10f979ff6bd44575fdb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7lDdgnliu4zOD2P2i_u2BLPKXTrl2x3c96Sgr581yAcSY_epUpWxJGba4SwF_6lzN5rrmHMZqWihPjrAkzgZSxAbJsN8Hq8EcU3A9c-O1RxirJ1WN_Ebp5HGXgUqbrbtHV78at7ZgV6MoX3h7TXnhMOThQQS1KB7QmU09WjSHI-8auGaLaY62YGvaaRZ36pd0obDXbs5mnfBXrZlk3WRE5S8XEkBy_zmbt6E6h8FtSOEIgy0WSrtnl-bSpCsfytEAnnss-Vi2XdRjOXX9Kyzm9gCfN4AxxtzJI-t0f1A2bQXMNc-cn_bg9TgMt127CggwQbBFriNewX3AHTI3xCSq3kWMf5B03JwsLaSH1fl85ppK1e1Hq3d8464w5-Xeyrq8puUo9a4v3YmvM4NZzQPoLwLwsCTdq-Ss8GeK2nkUGMaBqIrV5bugDl-z-87jK_LDcKas-YDgy6ShmKVrj21RnbLTA7FQF2QbiPKXzA4m5S770Fl_0NMuVtc2ixRMbO0XMenut-HD_TfGZDrGjGCz0DNp8zcz4I6ymAZGV8WRUhUACv8YwMMQ_EPfkY9pwa2RVmVJHO5gALJCy3GUR0vs2xLHR1VA0YGvvlVkL36z8Al1YYhTSO8D87nTKv6KJpAuuOplvNHgGl1RnaQaUsqiKq0gxeNSzLAksdsbPLgJ7fhQT-0LqEXbzcCoVSD5W-X3GQHWn_e7dzYlOEyBM3lJJhG5nnbeLL83BdPyn5PF7SK4qgz_I_YJf1IlfUdp8B0kh7OZpzg_f8_cJVgLSNnzWQMWodyaA4k7hUyLss6VE6RNsD-QbBWlLQQC_o75VFnOVm_ZU6gaXsyo6hEuT8uY0sTNJYDd85ZOmGMz6q5CLe7XxUHUToQ0LvX5ekkM5Zo9iUXJEIwIC5IWvJ8SlrGVtavym4bLUXhbXaifQayRJVIvtq1GkLRLgAT3dHc81675wsRdGKrxQAzXrbIYl9ibeEvm2F5JQeU3sLITqgpFdPmR9iqcUu-HcTLwbSZDPLXgCittKF6CDE-xrABJ0oSWwt3E27KHXRVYp5t4rOs3QD4bsd7jSaMH37gLpFvXAZEelMjTS_atkzWIXna0yt8uhAt-PHa0501fXaT0TtOtC--nqRx-KihrZhE9P647Xs4bTdqLqk3sQAViv3_TAigoRAP82MJPUTppOg1Zb0dRQ56CHccU9-gC5_XIR4s9Ujdgts2QO9ol4vEJhwFyUN2bC937LkCG7-om1oYQVG9I_RHccArJleAf5NRUUKZc8vjcR59m1GV7A0sH-S5Kn2maW0UVNn6Qi2ACNReeozpuKiqxfI3UG51usYl5UT3IRir8Ys6exG5qZdZYTi8ZJ4PvRYyFTKMUkxEDq71ww-tir9vyz7GhJrEaHeeYcbuJTYhJF3PuAqiKITR8KM2jA2RoEpIahNVoNmCKwL-nPW4JWLw-4qgyQE6BcaBES8S8_CP8iTquVzXNeMD1lyvRzBB1uECl7QSuPLz47A0BjJU15jfuZGuqaXyJpfjqpkLkVISzJgkqLDEdQUsfvgntqgxv4ivYy-0ktvC1_tn4F1ywQribqwcjWiPbgeYBufrzqjKwEyESAKlHhqXZz0t5BLp4wjvIWQpb7C3IZj7j5JoU_n4JYZpli5ZFoFQqnrLAMrGUmYK3QumRuFvf2gz-9u7RLdszZ7yXJ3lLw61AQ0hUEMj-mMpLKEROungnfHkZyuLGAR5PEpE3x0mZ0bvlv_wlRBs-5jcivG6OIVhH2KflCctrp2zc0Q5oQBlTIY03km8ext0j93Gk2M_ZRTLPwj4uRHk4hy7MPPb_lNLbtBMzw8kiNIwtYo2Nv-caYH1xBtkqLvjJyMzo4q2J1joMYHJPaVAhfxxkt_OxxwAowBfp7Kh9J7NqpH8cwFu29IlncotO78FEoWrRcKBqIr-pnC8hbb3cABsRBpKuBJdfYXpG8__fMGNgcAm_HdgesgNwttsC_C8zNwCRoaLKubcVQQv9QsQnEdxzNHNQhvG2gAaPYUr4b7KJQUR8wo6Zr-mYjoSZF",
  "id": "rs_044005da99400505016ab41ee35d1887d093f7c87bca27becb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.156,\"right_x\":0.31,\"right_z\":0.055,\"right_gripper\":0},\"note\":\"The short sideways correction moved the rim the wrong way in the rotated wrist view; the rim is now just right of the jaw centre. I’m shifting back the other way while closing at the bowl’s lip height.\"}",
  "call_id": "call_pyPgwgbG9ZvAwwFRl3PE2GUC",
  "id": "fc_044005da99400505016ab41ee4bf8c87d0a4579fb864a08113",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pyPgwgbG9ZvAwwFRl3PE2GUC",
  "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]: [-0.1032, 0.8455, 0.6128, -0.4076, -0.1402, -0.1242, 0.9946, 0.1574, 1.7882, 1.1122, -0.7986, -0.6056, -1.4212, 0.0087]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1652 left_yaw=0.0816 left_pitch=-0.0623 left_roll=-0.0055 left_gripper=0.9946 right_x=0.3058 right_y=0.154 right_z=0.0492 right_yaw=1.5897 right_pitch=-0.3904 right_roll=0.0035 right_gripper=0.0087\nstate[joint_eff]: [-0.2667, -1.4701, 7.1863, 1.6532, -0.1245, -0.0513, -0.0122, 0.5538, -9.0325, 5.9829, 0.6081, -0.3199, 0.0415, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf3a113fff05ffaa4bde66a3370196bc3140567ebe842665e6bc53fac57c02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e9e75bb0d653fa22a51cbe7fac01a018a069394a1fc23b2894cb3a3fd5e3f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62416319f397fe4325cde5de7ca4b01d43bc9dad10cb4ea229adf19f954f361b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8448, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1291, 1.8469, 1.2869, -0.8936, -0.6064, -1.459, 0.0092]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0612 left_roll=-0.0059 left_gripper=0.9946 right_x=0.34 right_y=0.1493 right_z=0.0731 right_yaw=1.575 right_pitch=-0.3874 right_roll=-0.0423 right_gripper=0.0092\nstate[joint_eff]: [-0.1983, -1.5795, 7.0769, 1.6777, -0.0904, -0.0659, -0.0171, -0.1573, -10.1538, 8.1436, 0.3346, -0.3443, 0.0317, 0.7009]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1074, 1.7882, 1.1122, -0.8074, -0.6098, -1.4746, 0.9959]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3111 right_y=0.1389 right_z=0.0494 right_yaw=1.575 right_pitch=-0.3877 right_roll=-0.0197 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5658, 6.9675, 1.663, -0.0952, -0.0611, -0.0122, -0.6906, -7.7197, 6.2701, 0.4469, -0.3834, -0.0952, 0.022]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4076, -0.1402, -0.1242, 0.9946, 0.1574, 1.7882, 1.1122, -0.7986, -0.6056, -1.4212, 0.0087]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1652 left_yaw=0.0816 left_pitch=-0.0623 left_roll=-0.0055 left_gripper=0.9946 right_x=0.3058 right_y=0.154 right_z=0.0492 right_yaw=1.5897 right_pitch=-0.3904 right_roll=0.0035 right_gripper=0.0087\nstate[joint_eff]: [-0.2667, -1.4701, 7.1863, 1.6532, -0.1245, -0.0513, -0.0122, 0.5538, -9.0325, 5.9829, 0.6081, -0.3199, 0.0415, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf3a113fff05ffaa4bde66a3370196bc3140567ebe842665e6bc53fac57c02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e9e75bb0d653fa22a51cbe7fac01a018a069394a1fc23b2894cb3a3fd5e3f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62416319f397fe4325cde5de7ca4b01d43bc9dad10cb4ea229adf19f954f361b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7q1nJi3t6SjnfxFZFXOg0xBNzHeUFhvGHl8HsO4rj8F0_5dFhja2PIi5Vdbx4Yzy4j8usWfz-dcvgvx2VREMJJxyVOsp2vxGz8tnjQfloXx_Qdbo-a8bvijq91crEwqHVtYtXlZ7kUSA7b01v0dlpmgo-A_6DC8CmHpi1NnXkqSpVXWDs_GkbiaHKNG6fWuzXiBxUQq1x8uQqt2lfTCW2tygFBrqKBhkq-FBp76NTNcZEnnJmHSH6u5Y7Tl6XggIc3qXxJN7l0UJp9uTycFFHFn_dIFT4kC1Uck5xQt01ErQx2gaVHQGcJcm21DKmhEZ9zmLMEIOqsC0JuI14Zl4cqZU0a26ABTWyWJYQzL2aYHTACjMR-ZrM-Ag1ilCqID0OUA7HSCR-W8Wc3tS9cw8FoIj4QyTUh6-L-A9zDVo928mNuiO1VBi8LzXYWGln43jCXTszjK2NjpViHCcyZvYe742tXBnpE_CAaX3yesHFaNQ-GNdvUolQZNZNhd5CxhbU3kI3mpBaXiGC9jSjbstLk-GUZ5YTX3yYOGnFO6CN9v1xrXJEXuchoLskCTUBclAaeXtEPKltQGo7l2Fiz_8z7hHE1kduZHVoPcp78PLGq-ODOeuuDKkhB4OPA83gUm6zNLoe4m4hwLLDK3dPKqApLb-884o61lg5emAwoapRwlNdLJsP-2WHiiLYqL9CRNRnFcYL-ERysAwG4h_zV-aBeT8457Nq1ldhFgMa0pZFrocPsjEzkcJ59hjjLhblGkcfNA3kHfznyvcNf3-LZarC9276ff0_odcEvEUkI29XuRkwMIDBNKdLmtqDM7JfdgwqnR-TZK3TcX2uC-FedkDbfvHLdGKujsGuGLNwkpI-6t7uQoFXI4EhpRvnFngoPa3TEmxpzxAxTFFP8AO45WfzxU2R8v1JK66eVhwXO-PEdDrtpFGrlGtH6d-jxxA9Rnp0r420Zck0B8sJe9IrUV9ma5CU4EHzbZ07OU4oI7CIUrgmH9W9RlOgL9gH0xd_AD1Ig62CoOtFI4v6WlG5bTfsYt7bZHen9N83fvdsfHXaZ7uKIcJREmmePa-6barvdmomccFvI7QRSdVzKXK7JhJubYQmrvIMd12VFkwggM2sUVLezpCH6mN4zZ5zxVbbA98bme-2gGCGFjujaL6in7N7W-_6pc4wqak_NoHZM8hv28s6Ykvzm4ddjKms6rcy2uJkICbItbPAYoSuIQJ9R2JFAMJW2Nqrd7n50CqlMF-k8lXhRXGVmKbMr9PK7NVK-6evX5xSvKs6IEpDv6ObbhQOBklnuBM4lH5aavgZ4yktIV-e2yrav0_xDesaZgc6-zzEH7FpRtG7DEJiD9T_mpKMl0t7bxClI-QZD7RWhMu-SyBi2vlHJcDLfwCgq8eI0_bhK8-PcZg9cCRkVJQrfRkQdtuFhAKuqzB6KJocwtFgr3oxiA0IJ3ABh1vII8C7ySL0k6u5mhXl0BF5p_QlRdcUESfhZFtvQbKHEskK6RsyH3dWCu0z4y4d1mBVKjIozqkqhDRrOAIkgsDHHoSxV63Hr2e6QoMI23CwwHNj4cf3TGs9IMWK2FMxeOYbUrJo-x-p8aCe0W2-paBcGGxWJXWCNQGHf_S-eh6Z6aHPPTKA5CdHtUraR6h8IR0XgxYr184QxTli5coQea91Jh6W7vsBqGnaDpSKeGAQJKQZXwO5cz4YVECMFckh0q_UkJu4gSjP1zAcfWd_c6xYyc5CfPcvFK-kH0Q-ACE3fDjkcHmmWKZ98fC0XdbMKvuO1H4fU3aAGbPzSZTpb9mC8Z9S1SDbOmP2QOiKAfHJpEsb_UHDO6mTxsdR0NomoEALGOjowOHk330o59w_Hq2Irl0EQ7sswOf67qPr3e4zICRYyqnuk5Xa3kOGKgbF0aXAKVD26nNGmc2ZbgyZomKd_A2ga39w6QnpglaHamdxoST9jghABpHOoSz_M-2WcorgOkbevcQxEvtbAZPpL33ehJycTL2tZmsp8273zdnx3uCPMc8lJrGjrtoo0EDrT7_cN8s2V5kYPwPlQuQ8y2n5Fvqir2w1BZejKzX-FHY7g5vJqTQRqwOys4yaMHBzd6e6LNs7zpyyKa7jFUefV1J_ZbLWg0dxcTs-xdfK_5dfRRlgueLqurP9mqoJ_-PyPyaek02tjFvjsMPhtjbVtBdAvnxq0AVnkusRgPYr8J-ubTJtgI6wP7l6CcA5umFgZwPQER6VWUJz9ZVFhwhHlCZgeKBz89RgGPMrB94xz7u7PDl4FQ5aGR5LhS5yRFCbiyNOZLRkQBO2OcNNBnHauvrcss879Ae8jK3zyRRVgY5Jj14kivJ_P5R9OLLbjH2JaHH8lUwNduC5YXqOsvneJbQ6R4SqmshoXrGVKZO4B9Ppg97pHKlzqn7A7oq3avlr_CNrIb_z01ecDolDuPqNQA9G7Fiv10BWosw==",
  "id": "rs_044005da99400505016ab41ee7a55487d08e8a3b4b9da6e492",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.195,\"right_x\":0.33,\"right_z\":0.055},\"note\":\"That close was empty; the pink rim still appears just outside the jaw contact point. I’m reopening and moving farther toward the rim so it will actually pass between the rotated fingers.\"}",
  "call_id": "call_NVkGsVGhReQ0jjgNelGV7yib",
  "id": "fc_044005da99400505016ab41eea044487d0b977d0ae20befd3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NVkGsVGhReQ0jjgNelGV7yib",
  "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.2611, 1.8687, 1.2198, -0.7792, -0.5842, -1.3151, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3214 right_y=0.1905 right_z=0.0491 right_yaw=1.6083 right_pitch=-0.4033 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.5658, 6.9675, 1.6679, -0.1001, -0.0464, -0.0171, 0.253, -8.0752, 7.9385, 0.6325, -0.4567, 0.1099, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7ca97d61ff127f39c8d596afab526a507fece3e7c08555ae4bc51c827774f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a43dd1dd3b6c34032480947648d041fc038e112b72077deca257a5da4ff8c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bf120bb4a8eb69d0b843a9b1648aee64ed8b027ce963f39e319f203883adbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1402, -0.1242, 0.9946, 0.1375, 1.7878, 1.1149, -0.8017, -0.6067, -1.4437, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1653 left_yaw=0.0816 left_pitch=-0.0619 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3089 right_y=0.1481 right_z=0.05 right_yaw=1.5831 right_pitch=-0.3894 right_roll=-0.0103 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 6.9812, 1.663, -0.0952, -0.0024, -0.0171, 0.3077, -9.9761, 4.9436, 0.6569, -0.398, -0.0611, -0.149]\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]: [-0.1032, 0.8455, 0.6128, -0.4076, -0.1402, -0.1242, 0.9946, 0.1574, 1.7882, 1.1122, -0.7986, -0.6056, -1.4212, 0.0087]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1652 left_yaw=0.0816 left_pitch=-0.0623 left_roll=-0.0055 left_gripper=0.9946 right_x=0.3058 right_y=0.154 right_z=0.0492 right_yaw=1.5897 right_pitch=-0.3904 right_roll=0.0035 right_gripper=0.0087\nstate[joint_eff]: [-0.2667, -1.4701, 7.1863, 1.6532, -0.1245, -0.0513, -0.0122, 0.5538, -9.0325, 5.9829, 0.6081, -0.3199, 0.0415, 0.7057]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.2611, 1.8687, 1.2198, -0.7792, -0.5842, -1.3151, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3214 right_y=0.1905 right_z=0.0491 right_yaw=1.6083 right_pitch=-0.4033 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.5658, 6.9675, 1.6679, -0.1001, -0.0464, -0.0171, 0.253, -8.0752, 7.9385, 0.6325, -0.4567, 0.1099, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7ca97d61ff127f39c8d596afab526a507fece3e7c08555ae4bc51c827774f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a43dd1dd3b6c34032480947648d041fc038e112b72077deca257a5da4ff8c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bf120bb4a8eb69d0b843a9b1648aee64ed8b027ce963f39e319f203883adbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7wsNZHouN4_jsnZ5xpBMbzAAcamCNzUpE7DvAG2MnnTaCL3jtieXVjZYd3n8hXD_DOj6q2Suht8yWiJy_nEZK5x48XtfdKV2BAo3-nqfPyLiqouG0tKnmsavRuXEObPEI_PgNyU3Sqh8XfbLoqgAKfX69AlNRFPGo-JsXaOpaTa3OeLAe-O8WBRGxG8wkTmOA9WoqfiEY9m3jLSbxkS3Rrl2YjorA9ccQ6WFxo7Zo8O7s3BXaxKkpWyVa94wau8tv7AeeNhMmRNwtp5nUPkA-EO0Ls4Jkuarir3lYMV06WDhQX_2fAsQIOJP_0Q6xItmjMwlQp6PPCUKaNkZogOvZmlJ5x8pt5aGMbE4lDjiDMKbS3OrShCENdjuuPw2eeHkLKWhAwfA2LCjibAKLWCPIGDGSVgsZmRalHIRV2By1oDEiFw0u5qRp5ecxj4s6yQFbmyz5UgdBBPUOnJg83iq3n5zJwYveBkx1A1Nb2fl3Gp1khn8kBmGhXZOBiSv7ktxLnMBL8r-wqTY2oi7wfaNxVoBxBfhTY9lRFsPgtdxgALMVmBod93wF90XGJU0ZNKvTrWyB1Pcdo8EvbfrzZFg86aF2Pc5anQSd6VP6KxHyRD7qqYvK1Hj2cwn8RGuA4j3_uSgyoe-VjGPrYJ0elWwSHxYn2IS1OQA4ZwV5gCbMWKsU4wwYAUgCjwOT82sMDZFQK00sSaJ62Se9GZx86Ja5e3KUCDThb10q4Jy015h7RiA3ORQZqvqN8cPR8cPPhDUo3sAxAZKzJp0RS0eVwKB6ZM3O7mWJtSdtRSxCHXl34sWKf2wWzpUsIqb_ORKTVoXQtnD98IK8G1DfdgkGapQ-pqF4zk9VvLx2_wI4EfPvTnZZ6HfMn0bn1G4uOCVK4rLJKYcHWQ6RK_GR6b-Z-v05jXlwuCSJG1S2He2mWjsWQQ-sn_iBUZWoErpvICFfvTShGg1VeMcEyAlEt3p98sTCgJ0uPrSNMIG_LKP95p3eUY6vxl-RD4TXAMCu3CQjmDFqzPK57YjN3Md2NtiCTHpjA4YgEzor7VrGlvnhJzbjwwjcmtSrZkL9jU5QBJbLTonZ8_kfq3yfwz1x7j4yyuUNjQ8yxcChBBcwk8ayUWgJcFKl5QFnqAnCHabdRPegVXXn2xDyyVZ4HvJsjnNTuYt6WywjJc4rG7L8yL-W7V5Buvy22oXhEWDZKNaX3vza8_3oDbBmv4QFpcLWaJyeKQXTO2vs0cCudMJbXwwQC593IE4ZIG8iAB8sQw2QVlj2YDER8VE5gnC00MYk4WAHF8hcTbVao-MDD50mxirwjfkP4Nmrl2IKc8k54Hp1jqY8k3sFCspmKS_0uDEx3bDhTZjgirZ56TMR21EJyR_xvzds7zCmWzuvZmQhEAPmAH5jGSbgfixwrOTwNcYVoZuA1ktSZeVufylXUmQR_iDoZzUwBKUZkRP98870SDjn9ZN-cDYcXXnQtpzZ7G-8MaQzMPgmyrDJ0QLoNqIf_4_J1b4BP3xERCWCchdo-BKPG4o9igUl9WEJxHZlKh0UIt_h5p_JBieC-mD3fNi0Jp1msfTh7oPFkMrZxPdz_AvHyPijjkiIwYOFtcoUlg8GsczARRE0BbWP4yQfcRgzR5u0WSHYXnwxGplBlDkRe3P-3fWyPRC2mn1DrxEw6RrRg0aMhbKowkOPYeyToQ9dbj_Ibi0JXrBVpKv0TJpdIbE6fMfyOy9kqUkK-oJbJi38PycvBlqSPOk10JIQQ9U3ktiElm5rfqncIe2utin9Bo5Yhby3Ikkpy9CNBhf-f2khMbsg9hbM3-haV9Epabr2YT5dn0Q97krrfimXEE5suoei0ApMpWmkD60mADIbGp2gJZlhBlrhD-J5gmziLT8Y-s-5YfnYOMDPapcxICduHC28-n7U6Zi-IRTdgsSz9NULzigHbGArBpcCeqNI9EiD_UI58BLYjadd-BvJFM71dw9i71ata5AbqN5hMEp2adJfDPMoFYcJ61WOY1KgNUyRCkfX1XqsRdFgJ22F0ErdBA8s4ZyvZJklX52BoZPzKWzZNGq2Izg3e__YM9hJkatdc4YjOiLJD26_ieasQhD8PqANs7CzvDG4c9L0vjE9HqLjHvZKxp4XRhdFJwv0cBpg4rE6O-PqU3GTxbVJeBTtu5EDDcqgwODhmNG_1nu4yHWv0kCdCFDttMHxTl-OR-BWZ8vCUmAtaELdUHeut9MrnxXzRJN55toUdh5GhNr7sv9ozf9xqRMeUqGFKLn-Dl-Q5Nj-4M1eLnr-2nkCNfic6drUH___Sl5e6gOCSWO2ThyIK9SN_qa2ATg1RyRHY_NHqllPicseyVKJlt_i9ehub05_AOgp3eANb-4y1eYKrx9TtnGxAmHp7BnIobpRhBRgwNBUwWbAAk9M8O5gt_eaoNqG2VQPde6Nf74lCWUncVIUVhYmKoJL7EkZPMJRTTlI2GOJ4AUVM1sXqmfnCDi0w0K1VD5MzF3lRM7XDA13B53aXD0Mso02lP6qtHvjEREpvwyRGdF-LY9EIAipyrQ7bByofZnhWkwpeeIR76NqUrG50I0VvHGRldtXXwoDH138yP_Qjk2MWlYllbJoKuZFKmb3yUNi8OepmJncS14j-KRBFipH_bdaHWnGsetGkaOsOk0i2F6bqXL9o3lJ-uBhlgBk3HQ03z2uiBDXpyblCDd-3PNFAY4jKHoiu5YtMlBz2IFVr6SPwKvUIHCWF852_eEco6YbHmZdBGBLcO-_nSTyEk--VE2G3RdOCvdcZBfQqbscFrbZLblyXCcgW9_H2Po5Q9giPekPlDJqCL1qcqifXUjLCxO9zK0yrOqAeofSJeDj1WrUIlHgPAbXlp_fwDzATtKyHUJKIjwkyRalRPAWAeQHQSes-7L6nCYFZRMpD6UAqLOCZnlme7u9Cz6svAkKk2zNcCEAvpCkpRImtch1ABqLVdzksFx9QNRuF7GXPF2YPo_ZJwcg=",
  "id": "rs_044005da99400505016ab41eecc64c87d09c696b0f7060aa6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.075},\"note\":\"The right gripper is now alongside the pink bowl’s left edge in the overhead view, rather than centred over its hollow. I’m closing here to pinch that edge and checking the settled jaw opening.\"}",
  "call_id": "call_D5Xe1n83XUqiscq0SaBcnNOd",
  "id": "fc_044005da99400505016ab41eeff20c87d081e2ac49728d9e6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D5Xe1n83XUqiscq0SaBcnNOd",
  "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]: [-0.1032, 0.8455, 0.6128, -0.4068, -0.1402, -0.1242, 0.9946, 0.2615, 1.8679, 1.2541, -0.8619, -0.5838, -1.3178, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=-0.0021 left_z=0.1654 left_yaw=0.0816 left_pitch=-0.0616 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3145 right_y=0.1887 right_z=0.0561 right_yaw=1.6303 right_pitch=-0.4137 right_roll=0.0643 right_gripper=0.0087\nstate[joint_eff]: [-0.1162, -1.5521, 7.159, 1.7265, -0.1148, -0.0562, -0.0122, -0.1436, -11.6444, 8.253, 0.3492, -0.3492, 0.0317, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7aefb0fe395316226d21bd88344c3795dbe686608aa354fa0e7b3c4bb7d864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702b7d17006249f05bf3a3de0523526939240265c8f80d096b927b7eb2bc5acc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9302e318d24080fd737ad34116bbf223e0e25e09c575cb7167dbb8ce297329b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.1074, 1.7882, 1.1122, -0.8074, -0.6098, -1.4746, 0.9959]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3111 right_y=0.1389 right_z=0.0494 right_yaw=1.575 right_pitch=-0.3877 right_roll=-0.0197 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5658, 6.9675, 1.663, -0.0952, -0.0611, -0.0122, -0.6906, -7.7197, 6.2701, 0.4469, -0.3834, -0.0952, 0.022]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.2611, 1.8687, 1.2198, -0.7792, -0.5842, -1.3151, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3214 right_y=0.1905 right_z=0.0491 right_yaw=1.6083 right_pitch=-0.4033 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.5658, 6.9675, 1.6679, -0.1001, -0.0464, -0.0171, 0.253, -8.0752, 7.9385, 0.6325, -0.4567, 0.1099, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4068, -0.1402, -0.1242, 0.9946, 0.2615, 1.8679, 1.2541, -0.8619, -0.5838, -1.3178, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=-0.0021 left_z=0.1654 left_yaw=0.0816 left_pitch=-0.0616 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3145 right_y=0.1887 right_z=0.0561 right_yaw=1.6303 right_pitch=-0.4137 right_roll=0.0643 right_gripper=0.0087\nstate[joint_eff]: [-0.1162, -1.5521, 7.159, 1.7265, -0.1148, -0.0562, -0.0122, -0.1436, -11.6444, 8.253, 0.3492, -0.3492, 0.0317, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7aefb0fe395316226d21bd88344c3795dbe686608aa354fa0e7b3c4bb7d864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702b7d17006249f05bf3a3de0523526939240265c8f80d096b927b7eb2bc5acc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9302e318d24080fd737ad34116bbf223e0e25e09c575cb7167dbb8ce297329b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB723hitirItnGiltAKZUpCDuzzzPHn_RjVdw4hYAzZNyPeBASzGPEmEWTsZgZ0-l8TB-eKPm2hDSOXzsWStxxADFvB7YvFHJMhFP2m0FaJFW-9ogeaglXZnv-pE_3qXhw0iU9chfLD0b_1LmKYjhrrtitBXijB7S7nB2Zft6i_21L3153Hm_OWCa48zTmgWmqpkNhpJzeNdg3K6aHra4GNxI2WmNi_rTAp4Wkq76GQhfk4iyssJBiRrivaDCwLzug9eWZyumIaWMeUWPV0QcVqmAQHupf6PWNL4eQ32PTkzw8xZGKxXyC68I3ZNZlQAyHk1O0KpMLPjBks4ZKzvGG1v7HbheJ_c9MVBEJnYDV_gD8iLXmfbGhw26g2Q9VEUTlxgvGTxkpBLv-pc98WgTKv7RPar-_Db_zIwsIwNJF4OaPvXUVv4yk0zpP3XvR_x204XVSRx-x7zreKgTRWI1J9kPzkBKnWyzCeiYlC_SWsOZkirt-HM9JXI9nUq65nn1dxNhZZ3cLUQSYMQTmgL98r1jrazNDpCyo8a_GimHBH7YZk0enyjvhhBAs0rdTwQ_0MH5cK3oktkJaVXThgABApjdoEX0XLi3O3M1pHK8FLZwmi5aGZgKepep2O1FeAY6hDbfAweEFgKWZyPDumybomAjnp57P3izGYjA_sf_FcqR6Qpj-DodBNJV8N3zI8t4C8sLZ2MqRwO3PP7Df47ykVSMvlzed8q1OfoAuF4D3eREe7gEanxJpK9E1TbgZN7vzlabtom4z1zBzUEIJJH_OjcqMu25WmBeFtBLt73dDAwjm4oFMy0i3fbnHp6Ch7v3d6gOztbMhnxiwK4KbsYbeosYzYA_d7khD6b6vkN0Ekx5vbYKEmIJ0WXnQ0Uo33JlNfxkcAXzrlFtcLzxONAB_OCrUfWNOr4b9XMUk2HjVc7d8shRoJ9NU7MRrXe8O8OgNVkg6est8KA14QvbIdEc6pF97eLe5OOlZ78OJVlHL0h11DWBUyUvu-TWBVBOddE9X67M-QaFZ2L6KqGoFf8Y9bOk9WXyBoPIzGqyUSJmtHbyo1QtKDyWlX1A2H7uau8M4ENsFnmQOhM2KqB-YeE700RIryC4apKHjL1_jhQJSiQ1jvuy260JgDPlTJktliW1aT0TyvkZe6tpMVFJr6Zxok4wRoxnsqwhYMYielRjur_tF7P6CNtwFnqkjbQCxka8E3hLuPjnjlc8n1v_Ad1sS_Pv1z41v95IwL1ze0pa_FqNib4OeT_a-QXx4sr7LYZt5hMr5ifwlq9BhktdzSl3ljroCXqAh0lXIuaKd8bWJHKqPHhxT_XXg4tG7Ku8Gsv-g115Nxys_mZsCLMFmtA5dRAWPg8gVGGb0727gn6bWqGnqUUTTV71HEKDyUjg_PJUHjob2f_FyDzZjQrSxCmy6T11ac8xcVBFsHkCIry7FJxJLZqfq2KMwWQWunUptwuPWpocCCHqzDVVfRoQ91T60OOfC0wy0Tv9RQkwBAM8I6_6o1k6AyUBm7PzT86Yj8QCjd_gGa_8THcLJZLKT5ENVdm_cdZQQulUOz0vl9wGizZYshsODsWiqyhfl9Db7-hhDm7xEzDJtUUg7KS11bUPD280DWnQYb7AErnJhFBt3QvH2Q_B0B2Ne8Vl0sTQEOmai8q5Rh8X6ZkvP31SUduvcjBnSoXARdYg3bcE15CL1lmNZDfHTiMg3rlViHrYepG3HkTA_EkrCBM9LeQD9uahWL7hWre9lN4CGTcFsMOwNZWtjwhbFNeKUYFBGwGd3dht3MXlzg9FEgpeETEa0ANx2RVjezlEPXv9PCSmrLuKP_asw3ufDpjUxHEkRc6HNMk_7nxRo0fZDtrfmmmBvceQBTeTILnv_vFG5rFV2F0VOLX0aCwh13PKj156aiLvYHHSrI3TZ_rf7oYoUBRSB6auDCvcCelHr68CuM4lkxkXnjMkebyioML11PIHcnaaFdFJT1t5LmS8mtiwfOqNAidGHT3nYeNwmsVruV11OWLSLAZkpMG1fO_p8xx7n7hf6ZlTytdcV6N57dV3PnnYGZSbUrsTr1ZUDSDWKje2l0-3nOf7L5VJmRR833li-XpI1Ai25-kt3bZFeGOIwgXBTy2Xt9kFcxAnHB8It1BLpEUKc0RaAZNFPaw-KKZg4p0Ebk6_sc6bkAnkGHF_dCsX6pBDPGldAiEYqwj9eNOZn53PHB2RPpWX0RCebvtxXmNQ-UATh4Pc8ankNEt3lGLEHDmHq0j-M03LC0Wi1dELjOgOGA7Oki8Mopgw2lnArIwV49ZEBET-jeJ2p9IJHN7jRF6VHj4qpnS0KPYqz0ce4CWeiANx5VFBDJJHodtETTq-_BruXVmenTRQHrEO6kb9dBGQ3nMYl2ELmyY8lUH-CPxaK6q8OHlXiDX79Xno9jslJqNkL8og3I-BQF7KU866lpL3FLGvw==",
  "id": "rs_044005da99400505016ab41ef2aa8c87d0b45477b24538b099",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"left_x\":0.365,\"left_y\":-0.26,\"left_z\":0.125},\"note\":\"The pink bowl is still on the table after repeated empty closes, so I’m changing bowls instead of repeating the same pinch. I’m parking the right arm and bringing the left gripper to the blue bowl in the centre.\"}",
  "call_id": "call_FVTbqlxAtgVaQ53dOuXZS90X",
  "id": "fc_044005da99400505016ab41ef5641487d09756202df087dd5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FVTbqlxAtgVaQ53dOuXZS90X",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8837, 1.7477, 1.1305, -0.3176, -0.6983, -0.712, 0.9946, -0.0429, 1.1511, 0.9836, -0.878, -0.1078, -0.0879, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.2527 left_z=0.1139 left_yaw=0.0684 left_pitch=-0.0931 left_roll=0.0145 left_gripper=0.9946 right_x=0.2879 right_y=0.0102 right_z=0.159 right_yaw=0.1004 right_pitch=-0.4694 right_roll=0.0685 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.5949, 8.3077, 1.243, -0.5641, -0.0464, -0.0122, -0.4444, -4.5197, 9.6889, 1.4139, 0.1343, 0.1099, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7fa4c3a1589f24dcad298e40a1339d7e0fb5c50f4fb6ca505ef1bbc0199307c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6e6598a565c4690aa2977421dbdcf8ee3d9a641b57220059047de6c5f9123b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86ac6c473eca0967b8dd9e88487418317a82f61a691651303ba313bcc475cb1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4076, -0.1402, -0.1242, 0.9946, 0.1574, 1.7882, 1.1122, -0.7986, -0.6056, -1.4212, 0.0087]\nstate[eef_state]: left_x=0.2951 left_y=-0.0021 left_z=0.1652 left_yaw=0.0816 left_pitch=-0.0623 left_roll=-0.0055 left_gripper=0.9946 right_x=0.3058 right_y=0.154 right_z=0.0492 right_yaw=1.5897 right_pitch=-0.3904 right_roll=0.0035 right_gripper=0.0087\nstate[joint_eff]: [-0.2667, -1.4701, 7.1863, 1.6532, -0.1245, -0.0513, -0.0122, 0.5538, -9.0325, 5.9829, 0.6081, -0.3199, 0.0415, 0.7057]",
      "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]: [-0.1032, 0.8455, 0.6128, -0.4068, -0.1402, -0.1242, 0.9946, 0.2615, 1.8679, 1.2541, -0.8619, -0.5838, -1.3178, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=-0.0021 left_z=0.1654 left_yaw=0.0816 left_pitch=-0.0616 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3145 right_y=0.1887 right_z=0.0561 right_yaw=1.6303 right_pitch=-0.4137 right_roll=0.0643 right_gripper=0.0087\nstate[joint_eff]: [-0.1162, -1.5521, 7.159, 1.7265, -0.1148, -0.0562, -0.0122, -0.1436, -11.6444, 8.253, 0.3492, -0.3492, 0.0317, 0.7009]\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]: [-0.8837, 1.7477, 1.1305, -0.3176, -0.6983, -0.712, 0.9946, -0.0429, 1.1511, 0.9836, -0.878, -0.1078, -0.0879, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.2527 left_z=0.1139 left_yaw=0.0684 left_pitch=-0.0931 left_roll=0.0145 left_gripper=0.9946 right_x=0.2879 right_y=0.0102 right_z=0.159 right_yaw=0.1004 right_pitch=-0.4694 right_roll=0.0685 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.5949, 8.3077, 1.243, -0.5641, -0.0464, -0.0122, -0.4444, -4.5197, 9.6889, 1.4139, 0.1343, 0.1099, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7fa4c3a1589f24dcad298e40a1339d7e0fb5c50f4fb6ca505ef1bbc0199307c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6e6598a565c4690aa2977421dbdcf8ee3d9a641b57220059047de6c5f9123b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86ac6c473eca0967b8dd9e88487418317a82f61a691651303ba313bcc475cb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_044005da99400505016ab41efacc6487d0a59c4252b065a4ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.277,\"left_x\":0.365,\"left_z\":0.073},\"note\":\"The blue bowl is just right of centre between the open left fingers, and its rim is visible at the fingertip depth. I’m shifting about 2 cm right and lowering to approach its sides symmetrically.\"}",
  "call_id": "call_7ZoN3z0912tXAO1BNhS5tLXc",
  "id": "fc_044005da99400505016ab41f0001a887d0a3bf9cc9f45637a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ZoN3z0912tXAO1BNhS5tLXc",
  "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]: [-0.9051, 1.8725, 1.1423, -0.2459, -0.7082, -0.7341, 0.9946, -0.046, 1.1477, 0.9833, -0.8875, -0.091, -0.0715, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.2693 left_z=0.0763 left_yaw=0.0687 left_pitch=-0.1098 left_roll=0.0357 left_gripper=0.9946 right_x=0.2857 right_y=0.0065 right_z=0.1583 right_yaw=0.0721 right_pitch=-0.4783 right_roll=0.0626 right_gripper=0.9961\nstate[joint_eff]: [-0.4991, -10.0855, 6.4342, 1.4042, -0.486, -0.1392, -0.0122, -0.0752, -2.7966, 6.5573, 1.2918, -0.2515, -0.0855, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c127cc8e370acfc22c2392425183fc8a06d50619c3cb879e92d1e9fe66109312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1b8820577307f975778bf2964fc11f764873daa0c2920710c7bd794ff034bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e2f61473fadb3ffec0071236afd5320ffd911d3fccbde89126fbedf534f38d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4072, -0.1398, -0.1242, 0.9946, 0.2611, 1.8687, 1.2198, -0.7792, -0.5842, -1.3151, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=-0.0022 left_z=0.1653 left_yaw=0.0812 left_pitch=-0.062 left_roll=-0.0058 left_gripper=0.9946 right_x=0.3214 right_y=0.1905 right_z=0.0491 right_yaw=1.6083 right_pitch=-0.4033 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.5658, 6.9675, 1.6679, -0.1001, -0.0464, -0.0171, 0.253, -8.0752, 7.9385, 0.6325, -0.4567, 0.1099, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8837, 1.7477, 1.1305, -0.3176, -0.6983, -0.712, 0.9946, -0.0429, 1.1511, 0.9836, -0.878, -0.1078, -0.0879, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.2527 left_z=0.1139 left_yaw=0.0684 left_pitch=-0.0931 left_roll=0.0145 left_gripper=0.9946 right_x=0.2879 right_y=0.0102 right_z=0.159 right_yaw=0.1004 right_pitch=-0.4694 right_roll=0.0685 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.5949, 8.3077, 1.243, -0.5641, -0.0464, -0.0122, -0.4444, -4.5197, 9.6889, 1.4139, 0.1343, 0.1099, -0.3248]",
      "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]: [-0.9051, 1.8725, 1.1423, -0.2459, -0.7082, -0.7341, 0.9946, -0.046, 1.1477, 0.9833, -0.8875, -0.091, -0.0715, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.2693 left_z=0.0763 left_yaw=0.0687 left_pitch=-0.1098 left_roll=0.0357 left_gripper=0.9946 right_x=0.2857 right_y=0.0065 right_z=0.1583 right_yaw=0.0721 right_pitch=-0.4783 right_roll=0.0626 right_gripper=0.9961\nstate[joint_eff]: [-0.4991, -10.0855, 6.4342, 1.4042, -0.486, -0.1392, -0.0122, -0.0752, -2.7966, 6.5573, 1.2918, -0.2515, -0.0855, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c127cc8e370acfc22c2392425183fc8a06d50619c3cb879e92d1e9fe66109312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1b8820577307f975778bf2964fc11f764873daa0c2920710c7bd794ff034bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e2f61473fadb3ffec0071236afd5320ffd911d3fccbde89126fbedf534f38d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8F9S5c4YFPwR06kh-Qz1A8fvT2dn44PcdJQfs9sWSgLiJ9OLPHvXtjkk4WtAWNQODUHJvm-q-Qo_JSaYZsC7kp4B55c7OXXCkrswyQAYAQq_66qgvJSAdk1GBbDuKoDHHhJR7ipNqZYcMAlOsSEOiubSY2RbbqvzAyjbi60vi-TyP1xTZ1zaBb2W0aS51qTUQUu-1x8u8CF7RIokN7g_gdL0oLdnQw0QGTUkwTs3llUYtTDBeIYVywLsa-oRc6QUrk_-ZHckJ61PpMWFKa4--3O2XRdVRPa37m3Jxaw8cAf1FLzZd4CwySonwvJEa-uarlBScCU0lfz38x3bvutz_h2o3myeQnfRgaR-uVYqw3erIHByjLnGduyRC8iHjIkKN18zE516a3JGugSIcyDFCGQELwq__WCUTa5RWKJuxtBk2UhqviMSD_Txjv6Z4Qy9EIvdDo4x8ETewqgix0U3hasyoY41PnUV0vYWZsxX6WfFahweW3rYaOyX7mgHbSfANbEw5s3H8oJyV2tdpYXAADqq2ZM0XkWvrpKsSWnclkYKlLs5D3SEeXvcVipVLEjb5HmBsDv7tQghet1YE8wt8uEpVaXquPt9GcQjvYPBfqxtxLhs7uuyFIhfDHlPeBn3Ngi9129SNa2esiqu8pzm6Elsovvp3JtcYgMf0qr4kI84spvx8Hjq_G9KgJGJpbUV_XW78rtGNaVAIiiBjiiqfSb70PsIdNUxfG34l2ydy-azzmBe6nhEn2rcv5eDFC2Gt72kmu4g2Um4BjleD0fmUKSA4Mh9T6Gd2BUpbJ6JeIrRRuRG3puTOaUqKu38T5tBsJwpqpAzixCHvfCwpt9bl72s9D-vEF3hUtyi0U-KHH0a6yqTMp9H8kedz9a_61eZT4XYB5M4s_bdz1cTdvylHUDES7XBquZ9wOXvetmyA3TwnQvaXX1WJ-4bmVQABMCgsaS-qUg2EAqXGjLQzf8Lo3KcGB5dio_v-ageuLhiWriDal1aCCZTod4YVfX09KBsMg5t9InVtNJJwi2wPhu8RPO_wSDYDAulqzKhQUfsVm5P2J8GjGWaMHUpAGXb2oI0Jhj7ACjjjJbEHu-vyylF6_4rSt-5eKoSQnvCOIPoof_4Vyr5fuBpgsEuF4fRzpQPJRdRfnih6vtufT5MCYiCzR_v0XpDlUwz49dB4BCFPv3hSDLaM57-v2wi3gGCGlm10eQWYmBwPxNEJY32zrWCiz3RGBgGAxR_fIteUa6vFymdgguCZytDprOBvC-yDajoowx-oFt4FoxZJgHSzO6Hiu4kZKvPD9Rhq6SPBzIBFVxdEydOQ8pZIqhKokhC1_oKj6FcMA93o-KT_ObzaXO_SEHKMsCer58ll50J45oDPtf3n8SUXCcBTUECSZ7gH60EZYUdT5i-JY_gN5GBcnlBJAHvelblv_WhNcnvXtIRDRFxvtQRQUBkKQMrVsa97tMZ0JI8mKVwKH4yAQgLAh0guU-4vjmF-AOXCxgw-zF_4XF0Cgqvc1d4J-2B6HpBgfGZU7L4xWwOhADyTUvyPYGNcyT_bJldCM1-ERvfDpcPULsWcWXyM1htJNDBxWH9Xoqpo8n1j9_gAx3u2NtMTp-Gy4hnrWVQsCN6O_gJMtcYyqqO0te0JX40wvD66w8GMDjKDIUJieZOiOGrz0CYMFNj0XdskC00TS5cbAFAq_fZc3SLEa6pb8pCFq7cau6wDkoYvXi74IjaLgbWz9ko6qjJ8smsk3lyHH_49OyBg2UWUA_RrnbZHvZazApal8mMkVV5023x1ZzHtOhFkZ7-0-hPafug==",
  "id": "rs_044005da99400505016ab41f037ce087d0aa843ee5e9a73c9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.09},\"note\":\"The blue bowl is now centred at the open jaws, with its sides between the fingers. I’m closing at this height and will use the settled opening to tell whether I actually caught it.\"}",
  "call_id": "call_FTOGai5tJWHgLnaXUOaIBK9v",
  "id": "fc_044005da99400505016ab41f046ad087d0afc288fb0789ca6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FTOGai5tJWHgLnaXUOaIBK9v",
  "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]: [-0.9127, 1.9152, 1.1408, -0.2195, -0.7052, -0.749, 0.0083, -0.046, 1.15, 0.9817, -0.8906, -0.0902, -0.0853, 0.996]\nstate[eef_state]: left_x=0.3612 left_y=-0.2742 left_z=0.0607 left_yaw=0.069 left_pitch=-0.1217 left_roll=0.0377 left_gripper=0.0083 right_x=0.2848 right_y=0.0064 right_z=0.1568 right_yaw=0.0801 right_pitch=-0.4848 right_roll=0.055 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -11.0017, 6.6667, 1.3211, -0.3883, 0.0024, 0.6422, -0.0342, -3.4256, 6.7214, 1.2527, -0.1099, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd00cf9f704fa4ecd5880079e6a1950d772a3772750035dcbdd323f7c600fed0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1eb2aa0c10802e185e95504b55b7ee4e1d089c1edb4e44a21b48091760d95a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235d91af6012d3a41a445fd7f22211c1f3a6d55d14630efbb6d51b1e272c7bd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8455, 0.6128, -0.4068, -0.1402, -0.1242, 0.9946, 0.2615, 1.8679, 1.2541, -0.8619, -0.5838, -1.3178, 0.0087]\nstate[eef_state]: left_x=0.2952 left_y=-0.0021 left_z=0.1654 left_yaw=0.0816 left_pitch=-0.0616 left_roll=-0.0056 left_gripper=0.9946 right_x=0.3145 right_y=0.1887 right_z=0.0561 right_yaw=1.6303 right_pitch=-0.4137 right_roll=0.0643 right_gripper=0.0087\nstate[joint_eff]: [-0.1162, -1.5521, 7.159, 1.7265, -0.1148, -0.0562, -0.0122, -0.1436, -11.6444, 8.253, 0.3492, -0.3492, 0.0317, 0.7009]\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]: [-0.9051, 1.8725, 1.1423, -0.2459, -0.7082, -0.7341, 0.9946, -0.046, 1.1477, 0.9833, -0.8875, -0.091, -0.0715, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.2693 left_z=0.0763 left_yaw=0.0687 left_pitch=-0.1098 left_roll=0.0357 left_gripper=0.9946 right_x=0.2857 right_y=0.0065 right_z=0.1583 right_yaw=0.0721 right_pitch=-0.4783 right_roll=0.0626 right_gripper=0.9961\nstate[joint_eff]: [-0.4991, -10.0855, 6.4342, 1.4042, -0.486, -0.1392, -0.0122, -0.0752, -2.7966, 6.5573, 1.2918, -0.2515, -0.0855, -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]: [-0.9127, 1.9152, 1.1408, -0.2195, -0.7052, -0.749, 0.0083, -0.046, 1.15, 0.9817, -0.8906, -0.0902, -0.0853, 0.996]\nstate[eef_state]: left_x=0.3612 left_y=-0.2742 left_z=0.0607 left_yaw=0.069 left_pitch=-0.1217 left_roll=0.0377 left_gripper=0.0083 right_x=0.2848 right_y=0.0064 right_z=0.1568 right_yaw=0.0801 right_pitch=-0.4848 right_roll=0.055 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -11.0017, 6.6667, 1.3211, -0.3883, 0.0024, 0.6422, -0.0342, -3.4256, 6.7214, 1.2527, -0.1099, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd00cf9f704fa4ecd5880079e6a1950d772a3772750035dcbdd323f7c600fed0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af1eb2aa0c10802e185e95504b55b7ee4e1d089c1edb4e44a21b48091760d95a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235d91af6012d3a41a445fd7f22211c1f3a6d55d14630efbb6d51b1e272c7bd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8MDIPmjjBTzsZ6TwSlDeSbe1cTS0IBgLekihBgEPtdCfoszlzC4aBJlKWSvRe_btS2QzWKxC0xulO3-caMQhIasfLBkuC6CBA-r5Y9-FKyz8trsctvtiZXXWTP1XbXKziYYcBBLyZY0DWVobFQaYdenzuMXDeKtHz5lpvU-GPkH0bGjrvGfGR7zhFZSV3VFAD8qxYtULD1knLJ-Z8aJ5dEXso7D--Ekb_JNx3La2Ht2Ao0LlqUAiu4YCXd986cDLfpgCEAQnuv66qffN7UXd3roafN4T39q1ftaDy5yBigzOlk6dOCD9rdWqCGYBvOZ06Lz7FdKDPlZM32tDfDSkH6daOxhBnE5IUOTTnpz_pBjbUvlwE343odYFOxNnN7BsrY4-vFhLlEeWvYwCJP-QvA0DnRDFM65Joe5YkhvzCHRjT7nKl-dnJl8TUDeW9bNws16OvF5SZ8-fiWrtBa5PWyRZD_FX-s_wAilgEQItqxQGhquELtntAL4hPMGUiSPbZV-ZvZuVxR-6BkhF6bXQPMa7VYuaWsUjwebGbUwFRsflxr0eoQY7icsDCcJv6-WpNYPe-pfTWqhSKODVmWiGmCbQaS79liRaH1WkMY_f7YVeunFT_uNW58iniF4b_mdOMia9Von1fau9ZroKNCDKGYdV_DaqOAmyzEIudMGXIKu2Oat7DT5mxbRJ7TydamWYN_oZ3HFcXa55D7PPHErpGTs6jmkLoauQM6Muob5RypFeiWpJwGUw4p01hGpiOzZmodMscFHCSOnhRPsmxbMfaHZgGXPUL511x-_8APLAfl1EIdG85HPTt6JOZwjpTbNV9iJKcUtOg3JDSRYRraTlD_CjHojjMc53R0Pz7zWZ5Unw3HLvsP8DiOTppJQjMHtxMyM4ewUGNpnlpmSgwXxKM-qyJiaWkphai-DtjsmgVk4ReJIhucs7nnL-4fdu3_meKkiwd4B2HQc-7TZuHLepoFDraLobsk_xHQvBPDaFRnJwHvsI05Bxv9FRP4G1wIDHFLUSyiB2wUKM1Wy13eyWTCBkYIjyNCgMQx3xnRViur3fRV6fHabI0rDroMUUOOyPqNx7sbVQZwhZqtJgdsUimX0DJgDjZuNuYF6hTXTXiIs2sMb8P_ycRemq9CbX8SVV43nIP5-A9ySFl7pr80ySNZLcSvAi3U8hAxE_2rNWW-Tr-kgtThWydizxC9tJ_hO3UL_vrBqVrBjiuEQWbxmoJ6At3u3TKRiSUt7JoaBB9TFZvZa9Iu8bj56n3pECrsLuYeQYquGUm17ELc-dEB0MuhaBmKZHP_JTUmLMgi2uWKRJWGMaGZSm_cvtF9vjGNUES-pfh61Uml0CXWtBoo-2IOGO_3ew5L-eRvBnlWQVNxiq1YOADf1ZlekltR4fUbutCOfiGe6qbDOpKZyxD8miot0QbI0WNz6g0hxPpTMXNXOex2pyGAZelmFEOwrJs2sKoJ_FtDBq665NDx3bQkpIJph0ouFbk1qEeWs_lTAmbzfAqC1frAS__lXULlo3nr-G4bJqEeO2Bxqx9BNAjkii9hmxb-vuB48dR3Y9lc3dVO2g_TQjK_3fQ-JnCepuC3dKyzAlEK1Ra2BBxmCW_ZdAucjGH-gv73NgnWAvwfgk0dK_972nWBR74vE2MVAIsL-p5Hlnb7v2SszUSCqyVV0wBxgPmFB3wLDoD7fwVLRbHsTY0nNqQjHyyuwrz2nO4-B8EMZFUML9-hP66WpVzRVPnBJkMUC7NgmQyjHXinOqtaFv932yrgRs1bOJu83DSF-ApahzNXBGhrozwYq4qDDHdeRriTKXkzw3KkLmiw8vrjXa53qDRlQgYNfcicM83S0Asrj3na8SyOi_S-n0wu0D9UTC4vy-Rs43w1u5rG7P2oXekA5EBqL6YMfvwXyK2wlv_7zlY6bqLlmY0VTGwO4l2CGFpz9t4z278CvfJKHqAZUPfL9U1nCIaAav-diNtKXdlmHILHHHiIJUD5Gz9S2UMuiIY4jGvrrwzTqNz0oDzAhPm0NArE7TBaUp05831qkq3aSbBBBHJPx2fIPwqDbRY-HMaAW6tYbH2sp7ByeUD09ifXNDrT4oVS_UO98ZH9ZgKph3kF2iqZGZr_mERBu4GEUOAceMKjUxrk31YxJROn-R-SCFjj_pm1MaQqiouB4DbldjmpCk_gNj15qRGrA3dPYT6BMUjRTxdKbzSbuS2lR3lUCitCBUKqhutk4bcWsfW_UtVmohEm-YnCjhyvBBuVMSIxwHs1cApFLG8COw1d4xquWreoWME4A2y2uAHThXY_rqjdfZmmgKVFPa74YA5kZlD2ZsBF2dIxEk059uKTFoDN25oCophMO02vd-mmwPVvrOyDyO-fHLLjv2TV-DduvIqeGAWTWkA9Rs6kmora76lkYXsxhyOa0H4YiEUWotAPVI96QmR7BMRRzjh4llXPa2hmjfTqGnbNVBHaVuHYydPrT6b2oMTUtuutuaYvXD2QM5wTrhEcd2HvTsBn3cQF-fqYPFe_jilJIB-PsQQq8IjE7BBfZdtj9sfiHKVLGwj0iiqTsMCLW_g3qXsKXN9dQgK4-cl4KL2UXP-CRYijvIltvpmE2lAv20w05r6hfZjqAFi0UBtaq68MA_dM9pUpVCIATKSwBJLGlwOfAnV59jr1rSpGBvc--Q9lxscw64tvc672kmmtBwGU_utpxMO5zKwfSnEe0X9psrkjamEeD0C0iCwgg2xn390Pu8mM21NJKJ66jAmwcOF6xQVIJobzYbIiKlJQ6HLUfl7KCT5KmulQZTVo0PvyNV9BIx_gKkYFfaAtoGYpH7SIWXsVHvG8BXvpuUBneSz6Cqcok7ayeu_7fpPF4exbYC61goza-PajpQSa05asbiC4DDv4UYZNTqeeL8FOtvbeT0Q8UX6VhrkUQKlONalJayGYCTUBqxIfSQrKHkJKiXGJSMr5RzmEvBfudBETUUwtk8LlsKMLc5o08WwcJzgnf-rtjOOcv-Vl-w3ghDR4Q_R_nM5pecZG1CiTHbpSMjnJiElCcZPXsY8rEpfTn5y4tZSdDeAM26mZ0TW15rwnB_VT5SNYkekr4W_xd8i8a1B8rjQ_cjit5PlrDbMSHPQyTpnARL7ttf4raPehsOnr9HrnhwQqHYN6pg==",
  "id": "rs_044005da99400505016ab41f0747e487d0b98d86306822ecaf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.225,\"left_x\":0.36,\"left_z\":0.065},\"note\":\"The left jaws closed empty inside the blue bowl; its opening is wider than the jaw span at this depth. I’m reopening and moving sideways to straddle just one rim instead of trying to grasp across the whole bowl.\"}",
  "call_id": "call_kUPIzVLazFJJobldVLFnANOo",
  "id": "fc_044005da99400505016ab41f0b23e887d09f046388fe5ab93f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kUPIzVLazFJJobldVLFnANOo",
  "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]: [-0.8291, 1.8027, 0.9688, -0.1413, -0.6617, -0.6769, 0.9938, -0.046, 1.15, 0.9817, -0.8913, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3578 left_y=-0.2245 left_z=0.0546 left_yaw=0.0844 left_pitch=-0.1417 left_roll=0.0566 left_gripper=0.9938 right_x=0.2847 right_y=0.0064 right_z=0.1567 right_yaw=0.0809 right_pitch=-0.4855 right_roll=0.0545 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -10.4821, 5.5453, 1.3651, -0.2515, 0.2125, -0.1832, -0.0205, -3.4256, 6.4889, 1.1697, -0.0757, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff721bbd5568e3404b1a180fdc2daa608fd2463703459076f7c1f95b731d2808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9241003eb02e2e1f10a3b7df581248c2a9a87374d4b133d938129f945234f3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12327bfc4dad1769438bdb6e6269166da6c6f6919f5d86a0ffc54fdf1193f98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8837, 1.7477, 1.1305, -0.3176, -0.6983, -0.712, 0.9946, -0.0429, 1.1511, 0.9836, -0.878, -0.1078, -0.0879, 0.9965]\nstate[eef_state]: left_x=0.3589 left_y=-0.2527 left_z=0.1139 left_yaw=0.0684 left_pitch=-0.0931 left_roll=0.0145 left_gripper=0.9946 right_x=0.2879 right_y=0.0102 right_z=0.159 right_yaw=0.1004 right_pitch=-0.4694 right_roll=0.0685 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.5949, 8.3077, 1.243, -0.5641, -0.0464, -0.0122, -0.4444, -4.5197, 9.6889, 1.4139, 0.1343, 0.1099, -0.3248]",
      "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]: [-0.9127, 1.9152, 1.1408, -0.2195, -0.7052, -0.749, 0.0083, -0.046, 1.15, 0.9817, -0.8906, -0.0902, -0.0853, 0.996]\nstate[eef_state]: left_x=0.3612 left_y=-0.2742 left_z=0.0607 left_yaw=0.069 left_pitch=-0.1217 left_roll=0.0377 left_gripper=0.0083 right_x=0.2848 right_y=0.0064 right_z=0.1568 right_yaw=0.0801 right_pitch=-0.4848 right_roll=0.055 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -11.0017, 6.6667, 1.3211, -0.3883, 0.0024, 0.6422, -0.0342, -3.4256, 6.7214, 1.2527, -0.1099, 0.0952, -0.022]",
      "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]: [-0.8291, 1.8027, 0.9688, -0.1413, -0.6617, -0.6769, 0.9938, -0.046, 1.15, 0.9817, -0.8913, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3578 left_y=-0.2245 left_z=0.0546 left_yaw=0.0844 left_pitch=-0.1417 left_roll=0.0566 left_gripper=0.9938 right_x=0.2847 right_y=0.0064 right_z=0.1567 right_yaw=0.0809 right_pitch=-0.4855 right_roll=0.0545 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -10.4821, 5.5453, 1.3651, -0.2515, 0.2125, -0.1832, -0.0205, -3.4256, 6.4889, 1.1697, -0.0757, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff721bbd5568e3404b1a180fdc2daa608fd2463703459076f7c1f95b731d2808",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9241003eb02e2e1f10a3b7df581248c2a9a87374d4b133d938129f945234f3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12327bfc4dad1769438bdb6e6269166da6c6f6919f5d86a0ffc54fdf1193f98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8S3_d7lhbCzBrfcs12XZLdw9XOTCUbnnEIX9St-5fjEFLbZ-aFsCbO5wP3-PQcwNeMRLHYJuPfGsGD1yCai2NDeoFxZ-DPPw-IXzTvDkq-WxwWi71L5EEfawUsMn6IXoYN0y0_yOK0sqLDQ7AxRj8jttijaKiD80P5QWZcDOEtEEyLlD0jIFFOGLJGF7D0K0CU94zE7JoXvX80wwblj_-iFVyN-HHyuIoTeHQPQ5oeS3ye76nkWhXlx54Bcmrbb6ke-T_xZ1Jz_j5nCwgcPt1O56WQAdNyLfO22EV8gRq1zVbU0kNi19YQysvwI-VGbRspI7eXG-8kEpGgpR2gR5wwJ0_xfO3HabD_WN5i2XtmSTfYJk5SdeDFVsPYSWZ_cXk0386ziiAd50xl9NoLl6O1AfsCl7zc_RmPflydDvIchhT19AV_8EYwHE3XImwPqrpqAflq-Jpnc0YFNUzxb-zHrDl8b75FocsZFw8yfBJiomw0FJJnv5qjh6hTJlwkEmWrZEGok6XBLHVBSi9tuaxxEiRw7Q_WLi7lIL2kfrxkwfXVHt5LmQmbIEhU6x_KFQDiuBLAPf2lxC8_qdUUVYmF55T2nIGy8KYt22B3OTQIO5pMBeh6RYId_hvX0Lu0sCq5VbZr9OVW-GGq2IZOekPgmVrD2rI53EoCRHdf67ZTTq4NWiYJgrg5mMlFALRUgCx8aCmYVD1mCl_XMa4oM8NgqSrSNsEN7A3qqIJhQhM9kcBdi_4TUu_yf36IZ_NzOrjfu6jgIbbxQw3BDILfxKT1OjzFueh9G_cqZhUWqrjLSBv6F8FlFduKYUI6PI75sTB8L_fWfzVt7wIz72yKdf8G_Kwx5xX3VmIxxwLAp1CYilcM93_jL9rIqxwZCO5YzsJVUvw1-xwxOphWUjoQv62pK8WkFjxr-XnIknQKZTQ7bQXwKIiUoIOvwrH06GwWA3Ybv34RmgCw721ZDEkD4aH8ZNQXG0hzV-ovgHL42KG-DIMqcn2LiR2DM33XD4w5Okb60G2nljTxfA8TqZ107d-7SrHg5CV9gOc6q2k5KlPgrM0cTvvYo9yrvNOwhuKsO_Kl_M1crlYYHUJ-KznIfkFy2-4Yd_qsr3npGbBN-3KdXNvpAu-OjjdHtfzMK4qPhFtOnFWbJVh81BaIFEDCTPO0SAXhFtEMruu6YKl_C9KxePmhTzByp6LlswcMq3O185o0bTaiGnJSoiHEM9XTxhdSG0j_n2yv2xUIPs9tEmXDbKFjDTwzPswfuPauJ3ISJxh-NQ4acEIUaNXhbOE3c2s-Gt_b5ZbZLuNMTpFyca4sZi5KcGA-vNe_dU-D-mJqp1p9Y5DjkF30YZWFJT48ZjEfwyiuz4lwWww-MlR67z8M8v3rgIz7tt9DMIMqnqLxu7MmyE5c-buLFUpARqKw8Ke_XFSi9IW4BKfQ_SsGGMyxVS0mldCVEcAVIel5u9e2Zh0qYEmzSNQqXxESS66wMaqlywWTsz4sXAZm77fXXFQ-z_Jo77lA8uUKWb5Fds4AwP5WkYzy_YhMci2VaKuTKaSawzJWIKTiFkPI_SqjonHjvbE5ZZCtQ-gS9rPJ-W7pgnx8U6hVyRdZhhbzUi2fEcb_rv5Wn4MHxjRU2CamPxgTuzVuFjcElCvFuIHfhMN_KNc--y3FMHPDJKLvuRf8fNU6pN16XewtTIOJaeEa4RE-Gtjm7BNGYi4YOaznKF1bv5XE4wxqyVo82-2OI-eat7INFmU3IVbZVS_2UjxtEzC4SqTcVR6PD-pxzAftHppPcTCwsT3rC6QR1Hna9eWjtbeovp_pp1rhKH3JRIWiGLb6s0u0ve4C26rs4GHegZak3c3n7lhuI7cxRGmmx7m59tehG-ZW4ZoXu-jCypibSXOn0qY=",
  "id": "rs_044005da99400505016ab41f0f52a087d0becdfe21593dc210",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.2,\"left_z\":0.06},\"note\":\"The blue bowl’s left rim is still slightly inside the finger opening in the wrist view. I’m making one more small sideways correction so the rim falls at the fingers’ closing point.\"}",
  "call_id": "call_vETnQGnE7khZaXVgTrBRn4Ju",
  "id": "fc_044005da99400505016ab41f10bf9487d095fbad90dea28944",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vETnQGnE7khZaXVgTrBRn4Ju",
  "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]: [-0.7876, 1.7649, 0.9024, -0.1238, -0.6357, -0.6464, 0.9944, -0.0463, 1.1503, 0.9817, -0.894, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.3541 left_y=-0.2019 left_z=0.0471 left_yaw=0.0942 left_pitch=-0.1664 left_roll=0.0748 left_gripper=0.9944 right_x=0.2841 right_y=0.0063 right_z=0.1563 right_yaw=0.0807 right_pitch=-0.4885 right_roll=0.0549 right_gripper=0.996\nstate[joint_eff]: [0.3077, -10.0718, 6.2974, 1.3797, -0.2515, 0.0904, 0.0513, -0.0479, -3.453, 6.4889, 1.243, -0.0904, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c41247ad8e6c3091736ad7fbbaeab5afbe35d890d0496c81f9470d81f5be1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1a54ca46eacd17ed2378e4848b4191fc534bcc5bc84c8ecc8b94e0ac4c90aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326f80e87de7ee25a21c944e3811ce8e365f21a0350c5e6d7fcb2ffc003fcec1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9051, 1.8725, 1.1423, -0.2459, -0.7082, -0.7341, 0.9946, -0.046, 1.1477, 0.9833, -0.8875, -0.091, -0.0715, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.2693 left_z=0.0763 left_yaw=0.0687 left_pitch=-0.1098 left_roll=0.0357 left_gripper=0.9946 right_x=0.2857 right_y=0.0065 right_z=0.1583 right_yaw=0.0721 right_pitch=-0.4783 right_roll=0.0626 right_gripper=0.9961\nstate[joint_eff]: [-0.4991, -10.0855, 6.4342, 1.4042, -0.486, -0.1392, -0.0122, -0.0752, -2.7966, 6.5573, 1.2918, -0.2515, -0.0855, -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]: [-0.8291, 1.8027, 0.9688, -0.1413, -0.6617, -0.6769, 0.9938, -0.046, 1.15, 0.9817, -0.8913, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3578 left_y=-0.2245 left_z=0.0546 left_yaw=0.0844 left_pitch=-0.1417 left_roll=0.0566 left_gripper=0.9938 right_x=0.2847 right_y=0.0064 right_z=0.1567 right_yaw=0.0809 right_pitch=-0.4855 right_roll=0.0545 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -10.4821, 5.5453, 1.3651, -0.2515, 0.2125, -0.1832, -0.0205, -3.4256, 6.4889, 1.1697, -0.0757, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7876, 1.7649, 0.9024, -0.1238, -0.6357, -0.6464, 0.9944, -0.0463, 1.1503, 0.9817, -0.894, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.3541 left_y=-0.2019 left_z=0.0471 left_yaw=0.0942 left_pitch=-0.1664 left_roll=0.0748 left_gripper=0.9944 right_x=0.2841 right_y=0.0063 right_z=0.1563 right_yaw=0.0807 right_pitch=-0.4885 right_roll=0.0549 right_gripper=0.996\nstate[joint_eff]: [0.3077, -10.0718, 6.2974, 1.3797, -0.2515, 0.0904, 0.0513, -0.0479, -3.453, 6.4889, 1.243, -0.0904, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8c41247ad8e6c3091736ad7fbbaeab5afbe35d890d0496c81f9470d81f5be1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1a54ca46eacd17ed2378e4848b4191fc534bcc5bc84c8ecc8b94e0ac4c90aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326f80e87de7ee25a21c944e3811ce8e365f21a0350c5e6d7fcb2ffc003fcec1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8VzkgmSTVnCtip-mjfjCQS9ODGVjRx3ycwahBUCrk-N_0BHvfPKcE_9W4QkMKz6ULbk8pYX2-38S4x-vLxy6yP9e0qT4sh_lBOFiiZoKvjdE4JqUhv1XQgL-C0oVQI_r_05kcwZPdpWHy-6HVXyEMc7osgnkNuxXpcliqb1DUM0SnoR-2TEsBFFodjWlRH1QS4DvmXlyuH5H6xvEFsQ0eIV7XGemWs2UqLWkorRX9CDcc9vROMg87gyf1rdf9mwG05vzo7P5Ie4mNVojA9MNrINRi2vZzMOdXTp5eNGdJ35__sfLJITW-FnFYmbqbpcYRNgiZquppyCYb24jrYrqQVkpclYwFibBnvuaDB7hlt24b01GnZKu2ssvtk-G44cD3BgIaltXooVKwuGDdWZ792juzwj-5hzqioa4FTJs-FWCmqAHX_DJJHb30bZPBSEBTHMG_UkihmxytUFtxonZc0qvvQd8DzcmV_ULMSHtjh2aXXb6eW2tPDVTuN-T-K3jvuzuMa91XQMKA25TZO0dK3lQpjZ5vVAxTgM69v7gZDjRcVeU_SGxoULGpGscaquitwAlI0V6It9aCRM6mPVm6cT3B0_HBndcZOska0rL6NeKEJDQPrEabWiqTo7MpS8SE3Xfp5wAWO4cJ8R4LPzBSnU9eX-sh9ezsQO8nHpNbHFwiaDJBhANrS_kUrNdBkLBNSbMJ-aueacbFNAcB10WBXDDu84JZ386x29Wl9aVp7w0oWyMdRXWNeckUDSYf34j-BFol2piDvRnLpVVb44oiXk8s0aQo5ghfrRKJXZURBPtWZHoNp5Wh_u1iqd_mz58fpdNUMNm0Kpq9dUwguxVcN_EI4Ky5R4ESETkXEA6uQptjEh3TOOSsBzXYE7YGjDi8h5BkZ4TqZFIEtb1sCwisgjPqEVrZ7QCt37tJ7U4FOEEv0Kf3ZYRiTRx934lt0KaoMCKnjd7JOqsTern4WE17tmBIp-gailACfW-36YtSx31tnM36MIoLO3aNNW3OMkp3xEHC7wlN2obyhldM7tG2kmmYNVT7m5bDwC53iFUehpgp43Hpx94GIX1wmJ-jn_oXYIkz7zRPh6PWUIWURewtH4iZue81PCuCjaqo7fHFES_97m1n4ktXOat6LoE3VgmN7j2TgfHBxo-eSx2F6ZGPw_qh-sf6WrsUJhZeGMeFmcdoZ7dgyTIgc2vBBxn0BeJn0ket_GGO-CihIEW2UsBwms-fTUbHpTl28-Knr4MIgNClLBTeeCvnEX5yu8vxD5p-GRxEplcocfX2-6yBdBKjmt48A_1FNjGmQ_f-m6QsUE7wjcWuE4n-ZcBQBBDiyMt7fBtWvGI_p2wELutts9dxUmk1uFwZmUhqLpEj2ZNuPXMJK31oPS07ODzKAq51z19mzxq-2K-HW380XF0LaEB72Dx8ERFfh41pmNxgYvfDao8_nFDKDjbjARYfUaSkH3mGNR5gcXisbYFEjTIWtAGnpxVTLRiClqNjHqqB3EVU8Tl7Tbqum6orrDMegq6QEDIcKg9jG-p0xD4R7l702dLMudiqcyduFsem1l6nnzPMbdl9JSpN2zPnW5p8EfBf4WpGEA81FvMda-vrA3MGytb5cJQ__qUpdk2zf1m_i1GoM8zcumPDciW_y7LRhl_ynQiKqw3J-AxLc4D8E8AWSa6_Raj8Bd1TGxlLGEcyfwnTyXaAz9DfgtXPcv4NKmwPe3jHjlXzc04qQHodsMtU_eqMzPA==",
  "id": "rs_044005da99400505016ab41f13c90887d0be0ea0abbe0b6447",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.075},\"note\":\"The blue bowl’s left wall now lines up with the jaw-closing point, with one finger inside and one outside. I’m closing here to pinch the rim rather than the bowl’s full diameter.\"}",
  "call_id": "call_fqq22ITCH2p0CR76xrfK3LSZ",
  "id": "fc_044005da99400505016ab41f14ddcc87d08c3452b8c828c10d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fqq22ITCH2p0CR76xrfK3LSZ",
  "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]: [-0.7723, 1.7481, 0.8936, -0.1211, -0.6285, -0.6277, 0.0091, -0.0463, 1.1503, 0.9817, -0.8944, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3558 left_y=-0.1966 left_z=0.0502 left_yaw=0.0932 left_pitch=-0.1648 left_roll=0.0767 left_gripper=0.0091 right_x=0.284 right_y=0.0063 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4889 right_roll=0.055 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -9.6205, 5.7641, 1.3407, -0.3394, 0.0317, 0.6081, -0.1162, -3.2889, 6.5026, 1.1404, -0.105, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ba129062a634f4cc7d72ce0d451cab9d5ed713c6d308521d3d93735448e5e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e00a63a421557f5c91da0b63dbc1cf4257951407d18ab4093d32e550ad900b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b6b1fbcc2e475aa1cfbd680841039b9e65a4333167f4c5f159d8b34219b834",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9127, 1.9152, 1.1408, -0.2195, -0.7052, -0.749, 0.0083, -0.046, 1.15, 0.9817, -0.8906, -0.0902, -0.0853, 0.996]\nstate[eef_state]: left_x=0.3612 left_y=-0.2742 left_z=0.0607 left_yaw=0.069 left_pitch=-0.1217 left_roll=0.0377 left_gripper=0.0083 right_x=0.2848 right_y=0.0064 right_z=0.1568 right_yaw=0.0801 right_pitch=-0.4848 right_roll=0.055 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -11.0017, 6.6667, 1.3211, -0.3883, 0.0024, 0.6422, -0.0342, -3.4256, 6.7214, 1.2527, -0.1099, 0.0952, -0.022]",
      "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]: [-0.7876, 1.7649, 0.9024, -0.1238, -0.6357, -0.6464, 0.9944, -0.0463, 1.1503, 0.9817, -0.894, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.3541 left_y=-0.2019 left_z=0.0471 left_yaw=0.0942 left_pitch=-0.1664 left_roll=0.0748 left_gripper=0.9944 right_x=0.2841 right_y=0.0063 right_z=0.1563 right_yaw=0.0807 right_pitch=-0.4885 right_roll=0.0549 right_gripper=0.996\nstate[joint_eff]: [0.3077, -10.0718, 6.2974, 1.3797, -0.2515, 0.0904, 0.0513, -0.0479, -3.453, 6.4889, 1.243, -0.0904, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7723, 1.7481, 0.8936, -0.1211, -0.6285, -0.6277, 0.0091, -0.0463, 1.1503, 0.9817, -0.8944, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3558 left_y=-0.1966 left_z=0.0502 left_yaw=0.0932 left_pitch=-0.1648 left_roll=0.0767 left_gripper=0.0091 right_x=0.284 right_y=0.0063 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4889 right_roll=0.055 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -9.6205, 5.7641, 1.3407, -0.3394, 0.0317, 0.6081, -0.1162, -3.2889, 6.5026, 1.1404, -0.105, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ba129062a634f4cc7d72ce0d451cab9d5ed713c6d308521d3d93735448e5e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e00a63a421557f5c91da0b63dbc1cf4257951407d18ab4093d32e550ad900b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b6b1fbcc2e475aa1cfbd680841039b9e65a4333167f4c5f159d8b34219b834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_044005da99400505016ab41f17d83487d0a815eee3e35bfe20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.398,\"left_y\":-0.2,\"left_z\":0.085},\"note\":\"The rim pinch was still empty even though the bowl’s edge lined up sideways; the fingertip appears short of that edge in depth. I’m reopening and advancing about 4 cm while lifting slightly, then I’ll reassess before another close.\"}",
  "call_id": "call_pLa9tcoyprCbBIvR9p1zxUJZ",
  "id": "fc_044005da99400505016ab41f1c2c3087d0a7881d7042d528aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pLa9tcoyprCbBIvR9p1zxUJZ",
  "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]: [-0.6983, 1.7775, 1.0607, -0.2298, -0.5903, -0.5751, 0.9939, -0.0463, 1.1503, 0.9817, -0.8948, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3911 left_y=-0.1952 left_z=0.0788 left_yaw=0.1093 left_pitch=-0.1704 left_roll=0.0731 left_gripper=0.9939 right_x=0.284 right_y=0.0064 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4893 right_roll=0.0551 right_gripper=0.9959\nstate[joint_eff]: [0.3077, -7.1863, 8.8137, 1.2381, -0.2369, 0.1685, -0.2076, -0.3487, -3.4256, 6.4889, 1.1306, -0.1148, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec6df5c0430ebad07e9c42fd013d93bd757f1e1ba2e990d29fac055dba674e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b374057ea3633fc47889fdba44e14d91d4a6e911d3643f8ac71d3f0fe23b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628e0789673232c1c325b8d130a676ee2585444550a13581761701e297966e63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 1.8027, 0.9688, -0.1413, -0.6617, -0.6769, 0.9938, -0.046, 1.15, 0.9817, -0.8913, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3578 left_y=-0.2245 left_z=0.0546 left_yaw=0.0844 left_pitch=-0.1417 left_roll=0.0566 left_gripper=0.9938 right_x=0.2847 right_y=0.0064 right_z=0.1567 right_yaw=0.0809 right_pitch=-0.4855 right_roll=0.0545 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -10.4821, 5.5453, 1.3651, -0.2515, 0.2125, -0.1832, -0.0205, -3.4256, 6.4889, 1.1697, -0.0757, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7723, 1.7481, 0.8936, -0.1211, -0.6285, -0.6277, 0.0091, -0.0463, 1.1503, 0.9817, -0.8944, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3558 left_y=-0.1966 left_z=0.0502 left_yaw=0.0932 left_pitch=-0.1648 left_roll=0.0767 left_gripper=0.0091 right_x=0.284 right_y=0.0063 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4889 right_roll=0.055 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -9.6205, 5.7641, 1.3407, -0.3394, 0.0317, 0.6081, -0.1162, -3.2889, 6.5026, 1.1404, -0.105, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6983, 1.7775, 1.0607, -0.2298, -0.5903, -0.5751, 0.9939, -0.0463, 1.1503, 0.9817, -0.8948, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3911 left_y=-0.1952 left_z=0.0788 left_yaw=0.1093 left_pitch=-0.1704 left_roll=0.0731 left_gripper=0.9939 right_x=0.284 right_y=0.0064 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4893 right_roll=0.0551 right_gripper=0.9959\nstate[joint_eff]: [0.3077, -7.1863, 8.8137, 1.2381, -0.2369, 0.1685, -0.2076, -0.3487, -3.4256, 6.4889, 1.1306, -0.1148, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec6df5c0430ebad07e9c42fd013d93bd757f1e1ba2e990d29fac055dba674e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b374057ea3633fc47889fdba44e14d91d4a6e911d3643f8ac71d3f0fe23b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628e0789673232c1c325b8d130a676ee2585444550a13581761701e297966e63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8jDNc-RwzF331JmyFzv4aLkSkp6DPVIZwrAQO3s9jNO9ZmAMeVP_aH3RnkCDjHuXfopCPYkzkpTOEJwD3Kiwqhf9XPR_W9AcgF9k5cyxupvyKWRkHNmXPUQVzRlu9zXm2V7qNuhTAri9Cg884z69iEWCsdo9KGlCQF_P_0osi3y2jIu_Jd0XExLasTrtTcO29AhktIUS086ZnRc2ZpUvNmo3eIhZokMOYf81mPIbVCmtJsfpzryQyQtNu6NhZcYD7CPiLVbt_qjq46NtKkhoHfiTqhHfsYJH7CAtbOx7ILd2_NiIu79b5RsZatW-7Wp0Bup_K-XZv-ARg-hNpW5jsZACIFab4waTBdwtkSRVXrUgZm1FC-tvYDIJSEm95pfScyM6fyhpQmFndh4UQfgc6zgOp4-8WuxKB_d8i2UgcOmESlZA_nQAN6Dxg-zAP3i8SnQnxpJ9ZE3Hm8G_2uwhgKDx14_4e_wE2z0Ri2tRLCeXJxFAJxe6c2oxavnJJZNdflxKFWJM3ayYvwG181xq8SPcJbFFLzbi_djcXNrdKMjYAfj9f2XpscwFCI87IS05gmp038a2o4r5FrtvhBeq0VdKJ0_nlvfZ0MZj_V-UyDCpyvWuE_kPguwnv32SMQxeyBinkMzvW5Dr33ciRewtNBaeF7tRxYp5mV3EHoJmmI84hap_J8fL8j9iuxAkvQIWraNvqKHpef-PrMxMtiF9M3Lgaj-Aygkz_pHpkCKEyJB9Ync10eQQPOdedKY-LaL8EWqxF9nA14iyCFvV0JMLGPiaisjhyim0VT01eansL2_pJ03RBpfsASjvjynnjGX6YbHCWbBvi4SgUyWExEfKIPER2j8PEt6qI6-HCnkFRYEf7YUoPTJEUhYgDrWMqAXig2yqR5GXrsNbRRkiCOKMvAY9_bMnv7XaB17evzinsLyGvG2qt0dMR06HAIrU-d3hgWpW21_VDmoKiorp8B_ONGzMeNqbLgsgaXejPys6T1CC7u2BpY8hGHs9-DKt7WO7Q7Dwck_Pb__vkqLU_d2MbcV4NAvrEb2ARlFntzyCx6qdUvpNb46KdhGfT90ij46y2YuqCcMt8ZomxMQ4Bz1SYol3dFRaZC4MwUD28HWYM1-ePt3B1LsNTsB_m9ajR1IqIkWaydr-LlG83mnQxkS0QgsSecRhb11rwFITsEjSq5H56B790FJy8kf1YeJi3X9TADo9sQTpMiQ7ai9tOlwidIwQyqbxv5NhXtUcnQdpD1Xc5Q9jAPO8RKrdmI47drXwrRCogGbVzN7fxdtTtBPhuqztAiv-pV3VrVp7-LTpq4r6Q5kPRr-nXSDWhNTG1wPlUdIdvICcpvQxSii7d-_ehjSC6pOUlRV1imMKlN-GCuxHx3OIjyemL1pZXx6cAxCqeK7zWRcF1xZ29gk8r7acJ8jxueNtF9cfOdkkUiilnF1KZ5gaYr6KZemVWUxbJZoHEhSgslqzYvv87kVGbHn1lpeaPXhy8hRycGQRICaX5f2ZTVYfPfpv0R4qvKyxZWGk5nlgCyLJwgCZ6sd1zs8b1RQTA4bF45rAi4PAbzz7aNMYIRr-Jbxqupo7imxhs_PsX8tN5Cqbf5XhLMsbGxRT6skzj28i2ddkNObDLg0_9CL8Ef14JilvxMhA6FwhoC3lY2306E0kfi8PgU8DjivVguyDa1rJpLoboLg9Sj5l32HvWWtVM2JGZxo6m7-lk8-7sV4YyF7Wf7yY2pPU2O-hOGm0FC-BZ7n3nblTrCBoRiWEj_3rJc3q5haGpOg-veBsdjNDcYIi56F6nVFtzc98LH6UhN6q4_nE0Xf1QwyuWvJjbi0x757RbnnRNg60F-beHbmwtmr264Ctj8Tn9_21YeM2wYOmtux4qhDYyP4CnPOiz3aHtuKrNuQ1eBh3e3utRYfVlS-EBdOZaCXDRFy6Igxg9X_PD_Vbh_frC-bGHsdAEtg1tAKUAm0hpwQNoV_LXIVLssxBzP1kVQIatXVPNNF28oXsdAXc27bNnFh2kDbFooP4ytkz2XShp1iCoovSR77IEmTcG3NtN-hSh-60aaaLgitG5cTVAbNUxRk90ckauKIVktrEf4ZOSTaA2sdXwh6vq_6LQ0bncRrxJaM_G5PH8u3Xk5R9CcikhsE1M5zt7HJc1VcZP0HSTzC1Nu9Rj8v8pqhrVyUVOgYUs_dghhE7P8gPy3YGl2OaW40u_EuFMVVnqDbgpUrVF1ylJvc5iC6dgb3ikQxxd9DiFTzJz7mKKk88UGOCvc4aBvw9h1wM93AAXQ_WrHBXuEy3g7fYGC",
  "id": "rs_044005da99400505016ab41f203c9487d08100382f58c20521",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.213,\"left_z\":0.105},\"note\":\"Moving forward brought the blue bowl’s rim right beside the fingertip in the wrist view. I’m making a 1–2 cm sideways adjustment and holding a little higher, then closing on that rim.\"}",
  "call_id": "call_DpyV24UsmSPCD4ZXocznPIwd",
  "id": "fc_044005da99400505016ab41f22955487d081f69f5e26142461",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DpyV24UsmSPCD4ZXocznPIwd",
  "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]: [-0.7136, 1.7805, 1.116, -0.321, -0.5995, -0.5919, 0.9944, -0.046, 1.1511, 0.9775, -0.9096, -0.0906, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3882 left_y=-0.1995 left_z=0.0865 left_yaw=0.1146 left_pitch=-0.1908 left_roll=0.0947 left_gripper=0.9944 right_x=0.2799 right_y=0.0067 right_z=0.1527 right_yaw=0.0829 right_pitch=-0.5089 right_roll=0.0583 right_gripper=0.9959\nstate[joint_eff]: [-1.1009, -8.253, 9.6479, 1.5067, -0.4078, 0.0659, 0.0464, -0.0205, -2.906, 6.8308, 1.3016, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed93ef704c40c98f66e2f4fee91107491affa56ba69d7e08f349a99cdb98b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ee7a72e4f12f3ce4fb01b740f3f9b9c0cd5a706c5c9cbdbc7d0d28e8d3606e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0ec4404cfc5ec0ff9ba406d4bc03a12e8c972c8326ccc1a91360f86cba9ce1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7876, 1.7649, 0.9024, -0.1238, -0.6357, -0.6464, 0.9944, -0.0463, 1.1503, 0.9817, -0.894, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.3541 left_y=-0.2019 left_z=0.0471 left_yaw=0.0942 left_pitch=-0.1664 left_roll=0.0748 left_gripper=0.9944 right_x=0.2841 right_y=0.0063 right_z=0.1563 right_yaw=0.0807 right_pitch=-0.4885 right_roll=0.0549 right_gripper=0.996\nstate[joint_eff]: [0.3077, -10.0718, 6.2974, 1.3797, -0.2515, 0.0904, 0.0513, -0.0479, -3.453, 6.4889, 1.243, -0.0904, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6983, 1.7775, 1.0607, -0.2298, -0.5903, -0.5751, 0.9939, -0.0463, 1.1503, 0.9817, -0.8948, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3911 left_y=-0.1952 left_z=0.0788 left_yaw=0.1093 left_pitch=-0.1704 left_roll=0.0731 left_gripper=0.9939 right_x=0.284 right_y=0.0064 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4893 right_roll=0.0551 right_gripper=0.9959\nstate[joint_eff]: [0.3077, -7.1863, 8.8137, 1.2381, -0.2369, 0.1685, -0.2076, -0.3487, -3.4256, 6.4889, 1.1306, -0.1148, -0.0024, -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]: [-0.7136, 1.7805, 1.116, -0.321, -0.5995, -0.5919, 0.9944, -0.046, 1.1511, 0.9775, -0.9096, -0.0906, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3882 left_y=-0.1995 left_z=0.0865 left_yaw=0.1146 left_pitch=-0.1908 left_roll=0.0947 left_gripper=0.9944 right_x=0.2799 right_y=0.0067 right_z=0.1527 right_yaw=0.0829 right_pitch=-0.5089 right_roll=0.0583 right_gripper=0.9959\nstate[joint_eff]: [-1.1009, -8.253, 9.6479, 1.5067, -0.4078, 0.0659, 0.0464, -0.0205, -2.906, 6.8308, 1.3016, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed93ef704c40c98f66e2f4fee91107491affa56ba69d7e08f349a99cdb98b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ee7a72e4f12f3ce4fb01b740f3f9b9c0cd5a706c5c9cbdbc7d0d28e8d3606e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0ec4404cfc5ec0ff9ba406d4bc03a12e8c972c8326ccc1a91360f86cba9ce1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8mTp6o2SWbii7xPeschs4eXvXa3abuS5fU6tFqmUGNvbkSNKDnN62iMuKlcwGeGDigc91WFGpCYVuKEIm6bHnyWbpc-0dEJLssHwtOu5N47HJLg_JcPyqxatD9lrYNFdweh-GB6xcs7e0DbjuSizJej6F_ucVP5tT59AFJ5U9PTQTyZqyaTa3fi_4R5AcQ6czfEpdBxr9kW2HI-lDqKFajGQu2yhhSlHzuWXwHxjiSW07nJ8oQ96MmZZHPW2WtUxXanXG29eIMAT8wNdU5QbzCW0UhvZa2dvX_mGQpl2avR93lCHyF8897VrXIc7ATRhqCARKA6z2yXDLxtUYfW2mXPfIC1JPYLy-JQ137YRK2Sy54IfG1hAyUgZtAX3xGPUK5ojGzi-D6snpwteJROrccoKgLSQ7Ql3IjDamxyN7vX1TQPSnKsAGG1VkkdQn38K9g4fVEDG8BxOyP7K-h8Q2xvZ0TV9ib8VhFbvgfEsC3t6cOckqmCjHRaUGcVr4tsVlqPUZWmwI_Ns1kEvyEozCbsi5lk0ySVMTXaYpK5rIvbS98K7lnjp7DGFmhrUYnLBp8DEIat_OKtnutCWCrn2dtWDUpwnW7k_SD6QDL_6I2aWAt_Z2butNhBOjSctG03J47fynpa-87Y0S2-ticJwtyubwziYkwdEuM6dtLly-5vSlVYNy2cGr4SBbfPrZa9vtdyNGJv5yMtB78zIQzS8EkP73SjYFknQMo_ZwX5bp3Di_V-ymBhgtdyNtw4FIF36R4ESrd1spYnWrZLEf5VWayOul8G_jC-dME4EzlbnY9exPKbJCAgNmY5Ft2LL6GtragWdExx-DUPWenRWDx9aX5Iu3Qj51QPUGabnPeiDihJzRM1c_KVSnzGC9gNujptdep2uo7LajgP-nPJJm5t48zklvnj33785MwtljN1-QIVGoDAHOjrl6TEfeaZC_AYhzbw85tUhNfqpWZ4meBdncRDiD5Q9dQ8fsxxaaVI8UPWjny3lW58ZvZIFCLFIh_sXw-UpvM0hs2C3FQzppg8W-shhGKnTBrf3ppFit6tv7lpadrn5Zzap75OisoUpyaXj6pg56F4YlaTgv1hKbmeCoG_mJZI1kcLQugj3VK33Ne5qDCMrl0BcUKg-Byb9amZwS_LcPDUXzFFWD1tiw-2aS85PdWqXS69eoQ44tlFoMeLaE71jynGYw4QtHV5z6aZfcvYRep0PqP-TJPuDdTmorurQ2mfz5RKJJjMr9xGv5mXPqkWSMqyTo13wihwChH8Us_wci7hITaBiP9icN5nGOVG9NChHTwCfkPGgaYo89GvgW9BGpYkkjf2xMiI4SiEowvHi0XNcPEGQlvVqjUoyrDnY8Jjgh1UfsSshiObUlNl3KE4gy8ZnUOqIGQy12AEB3FyllmEXc168e02AzXlS2SVTRJCDU1z6gA_JkARMGAg5GAMMzHGMrmTG9yMW5Dimf8ItPIr57yq_Yk4NNP0rsqQZlLU7LAkVZ8z-WDYGDjCX7ZrHerosXZmXsN_inADxRWWQvzvDbrfjnne3zzJq5JHNlqfAGMpi2UVLNvQ77sxP0=",
  "id": "rs_044005da99400505016ab41f2486d487d0acf2a3049b80901c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.235,\"left_z\":0.095},\"note\":\"The blue rim is still just to the right of the jaw centre because the previous short motion did not fully track. I’m completing the sideways correction before the final pickup attempt.\"}",
  "call_id": "call_18qwTGWA52XAtUUwcKY2sFSE",
  "id": "fc_044005da99400505016ab41f2544b487d09e633e3e9f662b8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_18qwTGWA52XAtUUwcKY2sFSE",
  "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]: [-0.7776, 1.8534, 1.2182, -0.4103, -0.6117, -0.6529, 0.9945, -0.0463, 1.1519, 0.9726, -0.9131, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.383 left_y=-0.2297 left_z=0.0829 left_yaw=0.1013 left_pitch=-0.2195 left_roll=0.1032 left_gripper=0.9945 right_x=0.2782 right_y=0.0066 right_z=0.1503 right_yaw=0.0828 right_pitch=-0.518 right_roll=0.0593 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -9.1829, 9.0462, 1.0867, -0.569, 0.0562, -0.0073, -0.1573, -3.4803, 7.3778, 1.1941, -0.1245, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5856f16405ee4d11d75f8655eedbee55a4decce3912a4ff8b591233cc50d695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb1477488deb8450aadd616946dcea88037ac63cf1fae94e8b4f26370d57db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d531f0728cf29cfb7a9e68c45654c18cfda681bebe0872cc8ae77193c4ab4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7723, 1.7481, 0.8936, -0.1211, -0.6285, -0.6277, 0.0091, -0.0463, 1.1503, 0.9817, -0.8944, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3558 left_y=-0.1966 left_z=0.0502 left_yaw=0.0932 left_pitch=-0.1648 left_roll=0.0767 left_gripper=0.0091 right_x=0.284 right_y=0.0063 right_z=0.1562 right_yaw=0.0807 right_pitch=-0.4889 right_roll=0.055 right_gripper=0.9959\nstate[joint_eff]: [-0.3214, -9.6205, 5.7641, 1.3407, -0.3394, 0.0317, 0.6081, -0.1162, -3.2889, 6.5026, 1.1404, -0.105, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.7805, 1.116, -0.321, -0.5995, -0.5919, 0.9944, -0.046, 1.1511, 0.9775, -0.9096, -0.0906, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.3882 left_y=-0.1995 left_z=0.0865 left_yaw=0.1146 left_pitch=-0.1908 left_roll=0.0947 left_gripper=0.9944 right_x=0.2799 right_y=0.0067 right_z=0.1527 right_yaw=0.0829 right_pitch=-0.5089 right_roll=0.0583 right_gripper=0.9959\nstate[joint_eff]: [-1.1009, -8.253, 9.6479, 1.5067, -0.4078, 0.0659, 0.0464, -0.0205, -2.906, 6.8308, 1.3016, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7776, 1.8534, 1.2182, -0.4103, -0.6117, -0.6529, 0.9945, -0.0463, 1.1519, 0.9726, -0.9131, -0.0902, -0.0864, 0.996]\nstate[eef_state]: left_x=0.383 left_y=-0.2297 left_z=0.0829 left_yaw=0.1013 left_pitch=-0.2195 left_roll=0.1032 left_gripper=0.9945 right_x=0.2782 right_y=0.0066 right_z=0.1503 right_yaw=0.0828 right_pitch=-0.518 right_roll=0.0593 right_gripper=0.996\nstate[joint_eff]: [-0.3077, -9.1829, 9.0462, 1.0867, -0.569, 0.0562, -0.0073, -0.1573, -3.4803, 7.3778, 1.1941, -0.1245, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5856f16405ee4d11d75f8655eedbee55a4decce3912a4ff8b591233cc50d695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb1477488deb8450aadd616946dcea88037ac63cf1fae94e8b4f26370d57db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d531f0728cf29cfb7a9e68c45654c18cfda681bebe0872cc8ae77193c4ab4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8pm6AUosTw8K2wbNTwKK_tF4DHyaHokABvo-yvY4CX7JVBb1Capjky9fy9WPqdZOIA1y7ypy_8v6UxMbSC8pfDirbGOzJyHQbPDiXxSuGs7s02k7vA2XAy1HM9NXvz4De2uZoiHTwqhgoWm2tdiQaBtj6BjE2BeYONC_vImA7ETfxMpAXpBCYrR6sBlAWsmdmlOpBm9WCBLcQvp90oeJr8KdFrG4olKUI90AXFbdUza2G9OIxQlElLjDxPb08gea4Hz99SL9JOU-jGSre7gmqy4GGnXeWMMAqTv0-cnI6FOP9l1JbLjguFtYZrlR56-5LVAoXW9UuWGqlI4SWI1qyMqSaawAj7o-gavySP9t2IZWkhYo7of109snptTBFOPsxJT-a_aQi5Vq-ptFSGuH9gyDo7aQLfCtGo6DQ7k8vT1scI711nKt7nnzuaOaaPn4K3zpOkrMiZPafcgKBK26ItBJefF8l4qo8b5TUzNhaJLmgFpoVpvQ9QYd3bgCFyeNOBFFXUcX24vqoolBApIgif7nQQWw3TYv1FKeMiRYHplYJt4JmY845ph0QDSHuqI0WXKwE4EqaoZXAnHHU3nJbxw69_6rUfih3jZeDBqZzrW5gwjJSbTRRD2BvCHvxsio80zMosNE2MPxrH4lJpueRrvDQL4Rx4oi6li-bcwvHwkDkbUq01pf3XLaooEguauUqGiurGTWDEdTfV0kHIy9ZJa4ioCLTl8_Bu-fqY7av4RqvcgRpFLC3FN7p1wleBtMPtHIzJGmUpyQVeKjKeywnsueb3ZRGKJ1CtwzdcHH3yaXIoJpfvwdYNXXgWWZVVPPNpuqVqKZ0PKu7B5Za4WqtujC-Y129wKz40Gxv4SUUt7DBlnOxZhNDH56sgdJ3ip8nhWCgA0jGSvGZsl527QFMw4sw92mQjASj5EtrTMwIUKIvRdKEhP8eu6nYLtVMUAI9qc_Z_6C5w3_0QlaPyKlqMO2OvesZaqKL6amj8flaLOKUUjjRkeBBtqfMtj8gPI-yIbnaJ0O4URowQj5rzB59LARMzsUIS-07IgYu0L8zD8ilc-U0uOeswIfkSNcd6KQSX3lCnQMucdDH9cgC29BPHTuaQ7Brpg2j6cULO-Kn_njO-g7i4s_7Lu5mK4JsuumZcNAm5xDmxCbHHNtJ-j_wi_NwNwUNtZiGP7-mS8Hn-XK_CFV0gaVUVvOWMuftyHRLh56aSHVQmWOGmS-QJ9ql1d1EPosuNNIVfzxWC-SD0l6I--ZFiLJt7jGx72mBPf35EWjW0669Zg7XJphY-FLgxAgDQ-UjYujJFC3J-SB4HTUOPMiXmlR91_4JVqsLbgMrJh1Sse0Iwtj6RP7ggmWPpf6OKmUqG-SzvULKJFtz2sHcsQ1CMbyCS5LpQOddYlABO2eXCP73-lz4-DMnHKG7v6ohBUBfUJ6v860uPrEO9N5s=",
  "id": "rs_044005da99400505016ab41f28284487d0b4ef0d7dedbb9791",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.105},\"note\":\"The blue bowl’s near-left rim now crosses the closing path of the fingers, with one finger outside and the other inside. I’m closing for one final rim-grasp check.\"}",
  "call_id": "call_XC1TDXg4K0lXxuxRHqo9Tulc",
  "id": "fc_044005da99400505016ab41f28a41887d0a9f36b0a4d9c0560",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XC1TDXg4K0lXxuxRHqo9Tulc",
  "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]: [-0.7895, 1.8561, 1.2324, -0.4332, -0.6258, -0.6739, 0.0088, -0.046, 1.1519, 0.9722, -0.9169, -0.0902, -0.0864, 0.9959]\nstate[eef_state]: left_x=0.381 left_y=-0.232 left_z=0.0854 left_yaw=0.1117 left_pitch=-0.2161 left_roll=0.1051 left_gripper=0.0088 right_x=0.2773 right_y=0.0068 right_z=0.1497 right_yaw=0.0835 right_pitch=-0.5222 right_roll=0.0599 right_gripper=0.9959\nstate[joint_eff]: [0.1846, -9.1829, 8.4171, 1.1648, -0.4322, 0.0513, 0.6374, -0.0205, -3.3846, 6.5026, 1.1941, -0.0855, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c546c299f9047091a6e6cb341ba0eaecb639d0b368ca8be5b9198c739145eed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c644fcdab685cd63ba3cf9b3a849f2c624588108396716b3d6a7751d7431116c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4cef0efe16579d2bd577d6474de114a2e4d1d1cf2801d31256e928a2d26c8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}